diff --git a/models/README.md b/models/README.md
deleted file mode 100644
index fcb4c35f..00000000
--- a/models/README.md
+++ /dev/null
@@ -1,48 +0,0 @@
-# Demo Models
-
-Curated model fixtures and generator assets for text-to-cad workflows.
-
-This tree is intended to be committed with Git LFS for large CAD, mesh, robot,
-and G-code artifacts. Source generators and concise documentation remain normal
-text files.
-
-## Directory Map
-
-- [benchmarks/](benchmarks/README.md): build123d benchmark generators plus STEP
- and mesh outputs.
-- [fun/](fun/README.md): standalone generated CAD examples and printable
- outputs.
-- [gcode/](gcode/README.md): small slicer input/output fixtures.
-- [implicits/](implicits/README.md): browser-native implicit CAD examples.
-- [mechanisms/](mechanisms/README.md): flattened mechanism STEP demos and
- generated render sidecars.
-- [robots/](robots/README.md): URDF/SRDF robot fixtures, meshes, printable
- outputs, and selected robot STEP sources.
-- [simple/](simple/README.md): compact build123d generators and STEP outputs
- for basic parts.
-
-The larger `mechbench/` and `mechbench2/` external datasets are intentionally
-not included in this committed fixture tree.
-
-## Git LFS Fetching
-
-Repository LFS config excludes `models/**` from default LFS fetches so ordinary
-checkout and publish jobs can avoid downloading every model blob. Fetch the
-model artifacts explicitly when you need local bytes:
-
-```bash
-git lfs pull --include="models/**" --exclude=""
-```
-
-## Cleanup Policy
-
-- Keep canonical sources (`*.py`, `*.implicit.js`, `*.urdf`, `*.srdf`, and docs)
- readable in normal Git.
-- Keep durable generated fixtures (`*.step`, `*.stl`, `*.3mf`, `*.glb`,
- `*.gcode`, and `*.dxf`) in Git LFS.
-- Do not commit supplementary media or sidecar metadata such as `*.png`,
- `*.mp4`, `*.gif`, or `*.json` unless a future workflow defines them as a
- required model artifact.
-- Do not commit local runtime debris such as `.DS_Store`, `__pycache__/`,
- `.cache/`, logs, or one-off timestamped review snapshots.
-- Put temporary scratch artifacts under ignored local paths, not in this tree.
diff --git a/models/benchmarks/.benchmark_01_rectangular_calibration_block.step.glb b/models/benchmarks/.benchmark_01_rectangular_calibration_block.step.glb
deleted file mode 100644
index 3deaa917..00000000
--- a/models/benchmarks/.benchmark_01_rectangular_calibration_block.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:04218fad3d5a8fd55851850f00a6b5c09ba93ce13474d27dca497c94023b8564
-size 216928
diff --git a/models/benchmarks/.benchmark_02_circular_flange.step.glb b/models/benchmarks/.benchmark_02_circular_flange.step.glb
deleted file mode 100644
index 0f440a7a..00000000
--- a/models/benchmarks/.benchmark_02_circular_flange.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:17eea42429ae7b2cd37ec05f94d88f028078a0aaa5a0cf8977e7c1c491f43a5e
-size 915736
diff --git a/models/benchmarks/.benchmark_03_l_bracket.step.glb b/models/benchmarks/.benchmark_03_l_bracket.step.glb
deleted file mode 100644
index f468ab70..00000000
--- a/models/benchmarks/.benchmark_03_l_bracket.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f561aa1bbd5ef059de1b2ac17ed886daf220f0bb87f56999e672ea422d15184a
-size 256348
diff --git a/models/benchmarks/.benchmark_04_stepped_shaft_keyway.step.glb b/models/benchmarks/.benchmark_04_stepped_shaft_keyway.step.glb
deleted file mode 100644
index ca7ce61f..00000000
--- a/models/benchmarks/.benchmark_04_stepped_shaft_keyway.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:92930c56e5074e1d6ba54e8059517a98edd178d05f5be495f9a8f6aad4e699f4
-size 212884
diff --git a/models/benchmarks/.benchmark_05_open_top_electronics_enclosure.step.glb b/models/benchmarks/.benchmark_05_open_top_electronics_enclosure.step.glb
deleted file mode 100644
index 5fbe77e5..00000000
--- a/models/benchmarks/.benchmark_05_open_top_electronics_enclosure.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4ffda86900f9b4c4a10b3b4e4425ea2b40578f97e5f1a3d7f87509d9c15ed7f5
-size 451472
diff --git a/models/benchmarks/.benchmark_06_clevis_bracket_lightening_cutouts.step.glb b/models/benchmarks/.benchmark_06_clevis_bracket_lightening_cutouts.step.glb
deleted file mode 100644
index 4e316250..00000000
--- a/models/benchmarks/.benchmark_06_clevis_bracket_lightening_cutouts.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8bf8925a5816ca1a211a455867b54b47894b118cee6548cab79a4e3f355b7b38
-size 617556
diff --git a/models/benchmarks/.benchmark_07_radial_engine_cylinder.step.glb b/models/benchmarks/.benchmark_07_radial_engine_cylinder.step.glb
deleted file mode 100644
index 362e4566..00000000
--- a/models/benchmarks/.benchmark_07_radial_engine_cylinder.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b6fdb5d82e79d73412a7c7dd795379b4bbe83690c2d25ab2ecc82c1058f6d66f
-size 8589660
diff --git a/models/benchmarks/.benchmark_08_centrifugal_impeller.step.glb b/models/benchmarks/.benchmark_08_centrifugal_impeller.step.glb
deleted file mode 100644
index c03f2d68..00000000
--- a/models/benchmarks/.benchmark_08_centrifugal_impeller.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e4bc1f3f0b7dee2bca143d46e52e031c428f1a690007d05c8382c971b457371d
-size 1301648
diff --git a/models/benchmarks/.benchmark_09_spiral_staircase.step.glb b/models/benchmarks/.benchmark_09_spiral_staircase.step.glb
deleted file mode 100644
index 9ed74639..00000000
--- a/models/benchmarks/.benchmark_09_spiral_staircase.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dcca689dc15228fc29da875a779fc46c4e6a67155890411f17a27a8563bf018f
-size 2849852
diff --git a/models/benchmarks/.benchmark_10_planetary_gear_stage.step.glb b/models/benchmarks/.benchmark_10_planetary_gear_stage.step.glb
deleted file mode 100644
index a0ad69a6..00000000
--- a/models/benchmarks/.benchmark_10_planetary_gear_stage.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e2d1853a1d8ba3ccf75b24728626f46014a5aa0e7798f19c9675ed78a8a435b
-size 2007188
diff --git a/models/benchmarks/README.md b/models/benchmarks/README.md
deleted file mode 100644
index df0ae732..00000000
--- a/models/benchmarks/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# Benchmark Models
-
-Benchmark CAD fixtures for repeatable geometry generation, import/export, and
-viewer behavior checks. Each benchmark is intentionally more structured than the
-small examples in `../simple/` and is meant to exercise a distinct modeling
-surface.
-
-## Contents
-
-- `benchmark_*.py`: build123d generator source for each benchmark.
-- `benchmark_*.step`: canonical generated STEP output for each benchmark.
-- `.benchmark_*.step.glb`: generated render/selector sidecar paired with the
- STEP file.
-- `benchmark_common.py`: shared helper functions for benchmark generators.
-- `validate_benchmark.py`: local benchmark validation helper.
-
-## Coverage
-
-The benchmark set covers calibration blocks, flanges, brackets, shafts,
-enclosures, clevises, engine-like fins, impellers, spiral stairs, and planetary
-gear stages.
-
-Keep benchmark examples here when they are intended as regression fixtures or
-represent a richer version of a simpler shape.
diff --git a/models/benchmarks/benchmark_01_rectangular_calibration_block.py b/models/benchmarks/benchmark_01_rectangular_calibration_block.py
deleted file mode 100644
index a0badb4a..00000000
--- a/models/benchmarks/benchmark_01_rectangular_calibration_block.py
+++ /dev/null
@@ -1,31 +0,0 @@
-from build123d import Align, Box, BuildPart, Cylinder, Location, Locations, Mode
-
-from benchmark_common import line_edges_at_z, safe_chamfer
-
-
-LENGTH = 100.0
-WIDTH = 60.0
-HEIGHT = 20.0
-HOLE_DIAMETER = 8.0
-HOLE_LOCATIONS = ((-35.0, -20.0), (-35.0, 20.0), (35.0, -20.0), (35.0, 20.0))
-TOP_CHAMFER = 2.0
-
-
-def gen_step():
- """Return the rectangular calibration block benchmark model in millimeters."""
- with BuildPart() as block:
- Box(LENGTH, WIDTH, HEIGHT, align=(Align.CENTER, Align.CENTER, Align.MIN))
-
- for x_pos, y_pos in HOLE_LOCATIONS:
- with Locations(Location((x_pos, y_pos, -1.0))):
- Cylinder(
- radius=HOLE_DIAMETER / 2.0,
- height=HEIGHT + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = block.part
- part = safe_chamfer(part, line_edges_at_z(part, HEIGHT), length=TOP_CHAMFER)
- part.label = "benchmark_01_rectangular_calibration_block"
- return part
diff --git a/models/benchmarks/benchmark_01_rectangular_calibration_block.step b/models/benchmarks/benchmark_01_rectangular_calibration_block.step
deleted file mode 100644
index 1573635b..00000000
--- a/models/benchmarks/benchmark_01_rectangular_calibration_block.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f4622482394af6dd284eafc95dc89858e87ae62e798d078f0c5e3c75adcfaa5a
-size 43342
diff --git a/models/benchmarks/benchmark_02_circular_flange.py b/models/benchmarks/benchmark_02_circular_flange.py
deleted file mode 100644
index 5cb8ec76..00000000
--- a/models/benchmarks/benchmark_02_circular_flange.py
+++ /dev/null
@@ -1,50 +0,0 @@
-from math import tau
-
-from build123d import Align, BuildPart, Cylinder, Location, Locations, Mode
-
-from benchmark_common import circular_edges, polar_point, safe_fillet
-
-
-OUTER_DIAMETER = 80.0
-THICKNESS = 10.0
-CENTRAL_BORE_DIAMETER = 30.0
-BOLT_HOLE_COUNT = 6
-BOLT_HOLE_DIAMETER = 6.0
-BOLT_CIRCLE_DIAMETER = 60.0
-OUTER_FILLET = 1.5
-
-
-def gen_step():
- """Return the circular flange benchmark model in millimeters."""
- with BuildPart() as flange:
- Cylinder(
- radius=OUTER_DIAMETER / 2.0,
- height=THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- with Locations(Location((0.0, 0.0, -1.0))):
- Cylinder(
- radius=CENTRAL_BORE_DIAMETER / 2.0,
- height=THICKNESS + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- for index in range(BOLT_HOLE_COUNT):
- x_pos, y_pos = polar_point(BOLT_CIRCLE_DIAMETER / 2.0, tau * index / BOLT_HOLE_COUNT)
- with Locations(Location((x_pos, y_pos, -1.0))):
- Cylinder(
- radius=BOLT_HOLE_DIAMETER / 2.0,
- height=THICKNESS + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = flange.part
- edges = []
- edges.extend(circular_edges(part, radius=OUTER_DIAMETER / 2.0, axis="z", coordinate=0.0))
- edges.extend(circular_edges(part, radius=OUTER_DIAMETER / 2.0, axis="z", coordinate=THICKNESS))
- part = safe_fillet(part, edges, radius=OUTER_FILLET)
- part.label = "benchmark_02_circular_flange_bolt_pattern"
- return part
diff --git a/models/benchmarks/benchmark_02_circular_flange.step b/models/benchmarks/benchmark_02_circular_flange.step
deleted file mode 100644
index 8522520f..00000000
--- a/models/benchmarks/benchmark_02_circular_flange.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c563d4fe61b1be01099872467570e4cbb1595e082a2606c17e4a98e677f6731f
-size 40097
diff --git a/models/benchmarks/benchmark_03_l_bracket.py b/models/benchmarks/benchmark_03_l_bracket.py
deleted file mode 100644
index 4c39dd0f..00000000
--- a/models/benchmarks/benchmark_03_l_bracket.py
+++ /dev/null
@@ -1,113 +0,0 @@
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- add,
- extrude,
-)
-
-from benchmark_common import safe_fillet
-
-
-BASE_LENGTH = 80.0
-BASE_WIDTH = 50.0
-BASE_THICKNESS = 8.0
-
-BACK_LENGTH = 80.0
-BACK_THICKNESS = 8.0
-BACK_HEIGHT = 50.0
-BACK_CENTER_Y = BASE_WIDTH / 2.0 - BACK_THICKNESS / 2.0
-
-HOLE_DIAMETER = 6.0
-BASE_HOLE_LOCATIONS = ((-25.0, -10.0), (25.0, -10.0))
-BACK_HOLE_LOCATIONS = ((-25.0, 30.0), (25.0, 30.0))
-
-GUSSET_X_THICKNESS = 8.0
-GUSSET_X_LOCATIONS = (-20.0, 20.0)
-GUSSET_DEPTH = 30.0
-GUSSET_HEIGHT = 30.0
-TRANSITION_FILLET = 2.0
-
-
-def _make_gusset(x_center: float):
- back_front_y = BACK_CENTER_Y - BACK_THICKNESS / 2.0
- front_y = back_front_y - GUSSET_DEPTH
- top_z = BASE_THICKNESS + GUSSET_HEIGHT
-
- with BuildPart() as gusset:
- with BuildSketch(Plane.YZ):
- Polygon(
- [
- (back_front_y, BASE_THICKNESS),
- (front_y, BASE_THICKNESS),
- (back_front_y, top_z),
- ],
- align=None,
- )
- extrude(amount=GUSSET_X_THICKNESS)
-
- part = gusset.part.moved(Location((x_center - GUSSET_X_THICKNESS / 2.0, 0.0, 0.0)))
- part.label = f"gusset_x_{x_center:.0f}"
- return part
-
-
-def _transition_edges(part):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- if str(edge.geom_type).endswith("LINE"):
- if abs(bbox.min.Z - BASE_THICKNESS) < 0.05 and abs(bbox.max.Z - BASE_THICKNESS) < 0.05:
- center_y = bbox.center().Y
- if BACK_CENTER_Y - BACK_THICKNESS / 2.0 - 0.05 <= center_y <= BASE_WIDTH / 2.0 + 0.05:
- if bbox.size.X > 20.0:
- edges.append(edge)
- return edges
-
-
-def gen_step():
- """Return the L-bracket benchmark model in millimeters."""
- with BuildPart() as bracket:
- Box(BASE_LENGTH, BASE_WIDTH, BASE_THICKNESS, align=(Align.CENTER, Align.CENTER, Align.MIN))
-
- with Locations(Location((0.0, BACK_CENTER_Y, BASE_THICKNESS))):
- Box(
- BACK_LENGTH,
- BACK_THICKNESS,
- BACK_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
-
- for x_pos, y_pos in BASE_HOLE_LOCATIONS:
- with Locations(Location((x_pos, y_pos, -1.0))):
- Cylinder(
- radius=HOLE_DIAMETER / 2.0,
- height=BASE_THICKNESS + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- for x_pos, z_pos in BACK_HOLE_LOCATIONS:
- with Locations(Location((x_pos, BACK_CENTER_Y, z_pos))):
- Cylinder(
- radius=HOLE_DIAMETER / 2.0,
- height=BACK_THICKNESS + 2.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
-
- for x_center in GUSSET_X_LOCATIONS:
- add(_make_gusset(x_center), mode=Mode.ADD)
-
- part = bracket.part
- part = safe_fillet(part, _transition_edges(part), radius=TRANSITION_FILLET)
- part.label = "benchmark_03_l_bracket_gussets_two_hole_directions"
- return part
diff --git a/models/benchmarks/benchmark_03_l_bracket.step b/models/benchmarks/benchmark_03_l_bracket.step
deleted file mode 100644
index 3697378d..00000000
--- a/models/benchmarks/benchmark_03_l_bracket.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aeaebdd1637249b0f2566f12501945f3b06c28e41d4e4cb3eef5f61f5c614d4c
-size 91399
diff --git a/models/benchmarks/benchmark_04_stepped_shaft_keyway.py b/models/benchmarks/benchmark_04_stepped_shaft_keyway.py
deleted file mode 100644
index 99c73371..00000000
--- a/models/benchmarks/benchmark_04_stepped_shaft_keyway.py
+++ /dev/null
@@ -1,53 +0,0 @@
-from build123d import Align, Box, BuildPart, Cylinder, Location, Locations, Mode
-
-from benchmark_common import circular_edges, safe_chamfer
-
-
-TOTAL_LENGTH = 120.0
-LEFT_LENGTH = 30.0
-MIDDLE_LENGTH = 60.0
-RIGHT_LENGTH = 30.0
-SMALL_DIAMETER = 20.0
-MIDDLE_DIAMETER = 30.0
-END_CHAMFER = 1.0
-
-KEYWAY_X_START = 40.0
-KEYWAY_X_END = 80.0
-KEYWAY_WIDTH = 6.0
-KEYWAY_DEPTH = 3.0
-
-
-def _add_shaft_section(x_start: float, x_end: float, diameter: float):
- with Locations(Location(((x_start + x_end) / 2.0, 0.0, 0.0))):
- Cylinder(
- radius=diameter / 2.0,
- height=x_end - x_start,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.ADD,
- )
-
-
-def gen_step():
- """Return the stepped shaft with keyway benchmark model in millimeters."""
- with BuildPart() as shaft:
- _add_shaft_section(0.0, LEFT_LENGTH, SMALL_DIAMETER)
- _add_shaft_section(LEFT_LENGTH, LEFT_LENGTH + MIDDLE_LENGTH, MIDDLE_DIAMETER)
- _add_shaft_section(LEFT_LENGTH + MIDDLE_LENGTH, TOTAL_LENGTH, SMALL_DIAMETER)
-
- with Locations(Location(((KEYWAY_X_START + KEYWAY_X_END) / 2.0, 0.0, MIDDLE_DIAMETER / 2.0 - KEYWAY_DEPTH))):
- Box(
- KEYWAY_X_END - KEYWAY_X_START,
- KEYWAY_WIDTH,
- KEYWAY_DEPTH + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = shaft.part
- end_edges = []
- end_edges.extend(circular_edges(part, radius=SMALL_DIAMETER / 2.0, axis="x", coordinate=0.0))
- end_edges.extend(circular_edges(part, radius=SMALL_DIAMETER / 2.0, axis="x", coordinate=TOTAL_LENGTH))
- part = safe_chamfer(part, end_edges, length=END_CHAMFER)
- part.label = "benchmark_04_stepped_shaft_keyway"
- return part
diff --git a/models/benchmarks/benchmark_04_stepped_shaft_keyway.step b/models/benchmarks/benchmark_04_stepped_shaft_keyway.step
deleted file mode 100644
index 93f0e7c3..00000000
--- a/models/benchmarks/benchmark_04_stepped_shaft_keyway.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:25cd8bbe036ccf22355a0f574cbecf86b4ae0589380e5bba8db06b4e84ece723
-size 37096
diff --git a/models/benchmarks/benchmark_05_open_top_electronics_enclosure.py b/models/benchmarks/benchmark_05_open_top_electronics_enclosure.py
deleted file mode 100644
index 85d72587..00000000
--- a/models/benchmarks/benchmark_05_open_top_electronics_enclosure.py
+++ /dev/null
@@ -1,75 +0,0 @@
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- RectangleRounded,
- extrude,
-)
-
-
-OUTER_LENGTH = 100.0
-OUTER_WIDTH = 70.0
-OUTER_HEIGHT = 30.0
-WALL_THICKNESS = 3.0
-FLOOR_THICKNESS = 3.0
-OUTER_CORNER_RADIUS = 2.0
-
-STANDOFF_DIAMETER = 10.0
-STANDOFF_HEIGHT = 12.0
-STANDOFF_HOLE_DIAMETER = 3.0
-STANDOFF_HOLE_DEPTH = 8.0
-STANDOFF_LOCATIONS = ((-35.0, -25.0), (-35.0, 25.0), (35.0, -25.0), (35.0, 25.0))
-
-
-def gen_step():
- """Return the open-top electronics enclosure benchmark model in millimeters."""
- inner_length = OUTER_LENGTH - 2.0 * WALL_THICKNESS
- inner_width = OUTER_WIDTH - 2.0 * WALL_THICKNESS
- cavity_height = OUTER_HEIGHT - FLOOR_THICKNESS
- standoff_top_z = FLOOR_THICKNESS + STANDOFF_HEIGHT
-
- with BuildPart() as enclosure:
- with BuildSketch(Plane.XY):
- RectangleRounded(
- OUTER_LENGTH,
- OUTER_WIDTH,
- OUTER_CORNER_RADIUS,
- align=(Align.CENTER, Align.CENTER),
- )
- extrude(amount=OUTER_HEIGHT)
-
- with Locations(Location((0.0, 0.0, FLOOR_THICKNESS))):
- Box(
- inner_length,
- inner_width,
- cavity_height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- for x_pos, y_pos in STANDOFF_LOCATIONS:
- with Locations(Location((x_pos, y_pos, FLOOR_THICKNESS))):
- Cylinder(
- radius=STANDOFF_DIAMETER / 2.0,
- height=STANDOFF_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
-
- with Locations(Location((x_pos, y_pos, standoff_top_z))):
- Cylinder(
- radius=STANDOFF_HOLE_DIAMETER / 2.0,
- height=STANDOFF_HOLE_DEPTH,
- align=(Align.CENTER, Align.CENTER, Align.MAX),
- mode=Mode.SUBTRACT,
- )
-
- part = enclosure.part
- part.label = "benchmark_05_open_top_electronics_enclosure_bosses"
- return part
diff --git a/models/benchmarks/benchmark_05_open_top_electronics_enclosure.step b/models/benchmarks/benchmark_05_open_top_electronics_enclosure.step
deleted file mode 100644
index 39746d0c..00000000
--- a/models/benchmarks/benchmark_05_open_top_electronics_enclosure.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:10af95cd9aae287d046f6ee3db77700b5bb020a4ca954fb75d6212882b2371bd
-size 78896
diff --git a/models/benchmarks/benchmark_06_clevis_bracket_lightening_cutouts.py b/models/benchmarks/benchmark_06_clevis_bracket_lightening_cutouts.py
deleted file mode 100644
index e40f9e68..00000000
--- a/models/benchmarks/benchmark_06_clevis_bracket_lightening_cutouts.py
+++ /dev/null
@@ -1,164 +0,0 @@
-from math import cos, radians, sin
-
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- add,
- extrude,
-)
-
-from benchmark_common import rounded_triangle_points, safe_fillet
-
-
-BASE_LENGTH = 120.0
-BASE_WIDTH = 60.0
-BASE_THICKNESS = 10.0
-BASE_FILLET = 3.0
-
-LUG_X_EXTENT = 36.0
-LUG_RADIUS = 18.0
-LUG_HEIGHT_ABOVE_BASE = 42.0
-LUG_THICKNESS_Y = 18.0
-LUG_GAP_Y = 16.0
-LUG_FILLET = 2.0
-
-CLEVIS_HOLE_DIAMETER = 14.0
-CLEVIS_HOLE_CENTER_Z = 34.0
-
-BASE_HOLE_DIAMETER = 7.0
-BASE_HOLE_LOCATIONS = ((-45.0, -20.0), (-45.0, 20.0), (45.0, -20.0), (45.0, 20.0))
-
-CUTOUT_CORNER_RADIUS = 3.0
-RIB_THICKNESS_X = 6.0
-
-
-def _lug_profile_points() -> list[tuple[float, float]]:
- half_x = LUG_X_EXTENT / 2.0
- arc_center_z = BASE_THICKNESS + LUG_HEIGHT_ABOVE_BASE - LUG_RADIUS
- points = [(-half_x, BASE_THICKNESS), (half_x, BASE_THICKNESS), (half_x, arc_center_z)]
-
- for step in range(1, 12):
- angle = radians(180.0 * step / 12.0)
- points.append((LUG_RADIUS * cos(angle), arc_center_z + LUG_RADIUS * sin(angle)))
-
- points.append((-half_x, arc_center_z))
- return points
-
-
-def _make_lug(y_min: float, label: str):
- with BuildPart() as lug:
- with BuildSketch(Plane.XZ):
- Polygon(_lug_profile_points(), align=None)
- extrude(amount=LUG_THICKNESS_Y)
-
- part = lug.part.moved(Location((0.0, y_min, 0.0)))
- part.label = label
- return part
-
-
-def _make_rib(sign: float):
- outer_y = sign * (LUG_GAP_Y / 2.0 + LUG_THICKNESS_Y)
- foot_y = sign * (BASE_WIDTH / 2.0)
- top_z = BASE_THICKNESS + 28.0
-
- with BuildPart() as rib:
- with BuildSketch(Plane.YZ):
- Polygon(
- [
- (outer_y, BASE_THICKNESS),
- (foot_y, BASE_THICKNESS),
- (outer_y, top_z),
- ],
- align=None,
- )
- extrude(amount=RIB_THICKNESS_X)
-
- part = rib.part.moved(Location((-RIB_THICKNESS_X / 2.0, 0.0, 0.0)))
- part.label = "positive_y_diagonal_rib" if sign > 0.0 else "negative_y_diagonal_rib"
- return part
-
-
-def _outer_base_edges(part):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- center = bbox.center()
- on_outer_x = abs(abs(center.X) - BASE_LENGTH / 2.0) < 0.05
- on_outer_y = abs(abs(center.Y) - BASE_WIDTH / 2.0) < 0.05
- on_top_or_bottom = abs(center.Z - 0.0) < 0.05 or abs(center.Z - BASE_THICKNESS) < 0.05
- if (on_outer_x or on_outer_y) and on_top_or_bottom:
- edges.append(edge)
- return edges
-
-
-def _lug_base_edges(part):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- center = bbox.center()
- if abs(center.Z - BASE_THICKNESS) > 0.05:
- continue
- if abs(abs(center.Y) - LUG_GAP_Y / 2.0) < 0.05 and bbox.size.X > LUG_X_EXTENT - 1.0:
- edges.append(edge)
- return edges
-
-
-def _subtract_rounded_triangle(vertices: list[tuple[float, float]]):
- with BuildSketch(Plane.XY) as cutout:
- Polygon(
- rounded_triangle_points(vertices, radius=CUTOUT_CORNER_RADIUS, segments=5),
- align=None,
- )
- extrude(cutout.sketch, amount=BASE_THICKNESS + 2.0, mode=Mode.SUBTRACT)
-
-
-def gen_step():
- """Return the clevis bracket benchmark model in millimeters."""
- positive_lug_y_min = LUG_GAP_Y / 2.0 + LUG_THICKNESS_Y
- negative_lug_y_min = -LUG_GAP_Y / 2.0
-
- with BuildPart() as bracket:
- Box(BASE_LENGTH, BASE_WIDTH, BASE_THICKNESS, align=(Align.CENTER, Align.CENTER, Align.MIN))
-
- base = safe_fillet(bracket.part, _outer_base_edges(bracket.part), radius=BASE_FILLET)
-
- with BuildPart() as bracket:
- add(base, mode=Mode.ADD)
- add(_make_lug(positive_lug_y_min, "positive_y_clevis_lug"), mode=Mode.ADD)
- add(_make_lug(negative_lug_y_min, "negative_y_clevis_lug"), mode=Mode.ADD)
- add(_make_rib(1.0), mode=Mode.ADD)
- add(_make_rib(-1.0), mode=Mode.ADD)
-
- with Locations(Location((0.0, 0.0, CLEVIS_HOLE_CENTER_Z))):
- Cylinder(
- radius=CLEVIS_HOLE_DIAMETER / 2.0,
- height=BASE_WIDTH + 8.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
-
- for x_pos, y_pos in BASE_HOLE_LOCATIONS:
- with Locations(Location((x_pos, y_pos, -1.0))):
- Cylinder(
- radius=BASE_HOLE_DIAMETER / 2.0,
- height=BASE_THICKNESS + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- _subtract_rounded_triangle([(-54.0, -13.0), (-25.0, 0.0), (-54.0, 13.0)])
- _subtract_rounded_triangle([(54.0, -13.0), (25.0, 0.0), (54.0, 13.0)])
-
- part = bracket.part
- part = safe_fillet(part, _lug_base_edges(part), radius=LUG_FILLET)
- part.label = "benchmark_06_aerospace_clevis_bracket_lightening_cutouts"
- return part
diff --git a/models/benchmarks/benchmark_06_clevis_bracket_lightening_cutouts.step b/models/benchmarks/benchmark_06_clevis_bracket_lightening_cutouts.step
deleted file mode 100644
index dc4426c6..00000000
--- a/models/benchmarks/benchmark_06_clevis_bracket_lightening_cutouts.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9bfd3b90305115f0a1d67330b179dcb7e76fc998fb421837e907e5b8e9dbbf72
-size 380740
diff --git a/models/benchmarks/benchmark_07_radial_engine_cylinder.py b/models/benchmarks/benchmark_07_radial_engine_cylinder.py
deleted file mode 100644
index b381df51..00000000
--- a/models/benchmarks/benchmark_07_radial_engine_cylinder.py
+++ /dev/null
@@ -1,122 +0,0 @@
-from math import cos, radians, sin, tau
-
-from build123d import Align, BuildPart, Cylinder, Location, Locations, Mode
-
-from benchmark_common import circular_edges, polar_point, safe_fillet
-
-
-BARREL_DIAMETER = 36.0
-BARREL_HEIGHT = 70.0
-
-FIN_COUNT = 12
-FIN_DIAMETER = 62.0
-FIN_THICKNESS = 2.0
-FIN_Z_VALUES = tuple(10.0 + 5.0 * index for index in range(FIN_COUNT))
-
-BASE_FLANGE_DIAMETER = 70.0
-BASE_FLANGE_THICKNESS = 8.0
-MOUNT_HOLE_COUNT = 6
-MOUNT_HOLE_DIAMETER = 5.0
-MOUNT_BOLT_CIRCLE_DIAMETER = 56.0
-
-TOP_CAP_DIAMETER = 44.0
-TOP_CAP_BOTTOM_Z = 70.0
-TOP_CAP_HEIGHT = 8.0
-
-BOSS_DIAMETER = 12.0
-BOSS_LENGTH = 24.0
-BOSS_ANGLE_DEGREES = 35.0
-BOSS_BORE_DIAMETER = 5.0
-
-EDGE_FILLET = 0.95
-
-
-def _boss_center() -> tuple[float, float, float]:
- angle = radians(BOSS_ANGLE_DEGREES)
- start = (TOP_CAP_DIAMETER / 2.0 - 1.0, 0.0, TOP_CAP_BOTTOM_Z + TOP_CAP_HEIGHT / 2.0)
- direction = (cos(angle), 0.0, sin(angle))
- return (
- start[0] + direction[0] * BOSS_LENGTH / 2.0,
- 0.0,
- start[2] + direction[2] * BOSS_LENGTH / 2.0,
- )
-
-
-def _edge_fillets(part):
- edges = []
- for z_pos in FIN_Z_VALUES:
- edges.extend(circular_edges(part, radius=FIN_DIAMETER / 2.0, axis="z", coordinate=z_pos))
- edges.extend(circular_edges(part, radius=FIN_DIAMETER / 2.0, axis="z", coordinate=z_pos + FIN_THICKNESS))
- edges.extend(circular_edges(part, radius=BASE_FLANGE_DIAMETER / 2.0, axis="z", coordinate=0.0))
- edges.extend(circular_edges(part, radius=BASE_FLANGE_DIAMETER / 2.0, axis="z", coordinate=BASE_FLANGE_THICKNESS))
- return edges
-
-
-def gen_step():
- """Return the radial-engine-style cylinder benchmark model in millimeters."""
- boss_rotation_y = 90.0 - BOSS_ANGLE_DEGREES
- boss_center = _boss_center()
-
- with BuildPart() as cylinder:
- Cylinder(
- radius=BARREL_DIAMETER / 2.0,
- height=BARREL_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- Cylinder(
- radius=BASE_FLANGE_DIAMETER / 2.0,
- height=BASE_FLANGE_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
-
- for z_pos in FIN_Z_VALUES:
- with Locations(Location((0.0, 0.0, z_pos))):
- Cylinder(
- radius=FIN_DIAMETER / 2.0,
- height=FIN_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
-
- with Locations(Location((0.0, 0.0, TOP_CAP_BOTTOM_Z))):
- Cylinder(
- radius=TOP_CAP_DIAMETER / 2.0,
- height=TOP_CAP_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
-
- with Locations(Location(boss_center)):
- Cylinder(
- radius=BOSS_DIAMETER / 2.0,
- height=BOSS_LENGTH,
- rotation=(0.0, boss_rotation_y, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.ADD,
- )
-
- for index in range(MOUNT_HOLE_COUNT):
- x_pos, y_pos = polar_point(MOUNT_BOLT_CIRCLE_DIAMETER / 2.0, tau * index / MOUNT_HOLE_COUNT)
- with Locations(Location((x_pos, y_pos, -1.0))):
- Cylinder(
- radius=MOUNT_HOLE_DIAMETER / 2.0,
- height=BASE_FLANGE_THICKNESS + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- with Locations(Location(boss_center)):
- Cylinder(
- radius=BOSS_BORE_DIAMETER / 2.0,
- height=BOSS_LENGTH + 6.0,
- rotation=(0.0, boss_rotation_y, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
-
- part = cylinder.part
- part = safe_fillet(part, _edge_fillets(part), radius=EDGE_FILLET)
- part.label = "benchmark_07_radial_engine_cylinder_cooling_fins"
- return part
diff --git a/models/benchmarks/benchmark_07_radial_engine_cylinder.step b/models/benchmarks/benchmark_07_radial_engine_cylinder.step
deleted file mode 100644
index 7a32c81f..00000000
--- a/models/benchmarks/benchmark_07_radial_engine_cylinder.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9dde14a7f17decbaf8ea59e2daf7ecb8153772042920decf16b0d14d871cc9a7
-size 275923
diff --git a/models/benchmarks/benchmark_08_centrifugal_impeller.py b/models/benchmarks/benchmark_08_centrifugal_impeller.py
deleted file mode 100644
index 3515cad8..00000000
--- a/models/benchmarks/benchmark_08_centrifugal_impeller.py
+++ /dev/null
@@ -1,152 +0,0 @@
-from math import asin, cos, hypot, radians, sin, tau
-
-from build123d import (
- Align,
- BuildPart,
- BuildSketch,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- add,
- extrude,
-)
-
-from benchmark_common import circular_edges, polar_point, safe_fillet
-
-
-BACKPLATE_DIAMETER = 90.0
-BACKPLATE_THICKNESS = 6.0
-BACKPLATE_FILLET = 1.5
-HUB_DIAMETER = 26.0
-HUB_HEIGHT = 22.0
-BORE_DIAMETER = 8.0
-
-BLADE_COUNT = 12
-BLADE_ROOT_RADIUS = 18.0
-BLADE_TIP_RADIUS = 43.0
-BLADE_THICKNESS = 3.0
-BLADE_HEIGHT = 16.0
-BLADE_BACKWARD_SWEEP = radians(45.0)
-BLADE_SEGMENTS = 5
-BLADE_ROOT_FILLET = 1.0
-
-
-def _clamp_radius(point: tuple[float, float]) -> tuple[float, float]:
- radius = hypot(point[0], point[1])
- if radius < BLADE_ROOT_RADIUS:
- scale = BLADE_ROOT_RADIUS / radius
- return (point[0] * scale, point[1] * scale)
- if radius > BLADE_TIP_RADIUS:
- scale = BLADE_TIP_RADIUS / radius
- return (point[0] * scale, point[1] * scale)
- return point
-
-
-def _blade_center(base_angle: float, t: float) -> tuple[float, float]:
- radius = BLADE_ROOT_RADIUS + (BLADE_TIP_RADIUS - BLADE_ROOT_RADIUS) * t
- angle = base_angle - BLADE_BACKWARD_SWEEP * t
- return polar_point(radius, angle)
-
-
-def _blade_normal(base_angle: float, t: float) -> tuple[float, float]:
- radius = BLADE_ROOT_RADIUS + (BLADE_TIP_RADIUS - BLADE_ROOT_RADIUS) * t
- dr_dt = BLADE_TIP_RADIUS - BLADE_ROOT_RADIUS
- dtheta_dt = -BLADE_BACKWARD_SWEEP
- angle = base_angle + dtheta_dt * t
- dx_dt = dr_dt * cos(angle) - radius * sin(angle) * dtheta_dt
- dy_dt = dr_dt * sin(angle) + radius * cos(angle) * dtheta_dt
- length = hypot(dx_dt, dy_dt)
- return (-dy_dt / length, dx_dt / length)
-
-
-def _blade_end_points(base_angle: float, t: float) -> tuple[tuple[float, float], tuple[float, float]]:
- radius = BLADE_ROOT_RADIUS if t == 0.0 else BLADE_TIP_RADIUS
- angle = base_angle - BLADE_BACKWARD_SWEEP * t
- half_angle = asin((BLADE_THICKNESS / 2.0) / radius)
- return (polar_point(radius, angle + half_angle), polar_point(radius, angle - half_angle))
-
-
-def _blade_outline(base_angle: float) -> list[tuple[float, float]]:
- left_side = []
- right_side = []
- half_thickness = BLADE_THICKNESS / 2.0
-
- for index in range(BLADE_SEGMENTS + 1):
- t = index / BLADE_SEGMENTS
- if index == 0 or index == BLADE_SEGMENTS:
- left, right = _blade_end_points(base_angle, t)
- else:
- center = _blade_center(base_angle, t)
- normal = _blade_normal(base_angle, t)
- left = _clamp_radius((center[0] + normal[0] * half_thickness, center[1] + normal[1] * half_thickness))
- right = _clamp_radius((center[0] - normal[0] * half_thickness, center[1] - normal[1] * half_thickness))
- left_side.append(left)
- right_side.append(right)
-
- return left_side + list(reversed(right_side))
-
-
-def _make_blade(index: int):
- base_angle = tau * index / BLADE_COUNT
- with BuildPart() as blade:
- with BuildSketch(Plane.XY):
- Polygon(_blade_outline(base_angle), align=None)
- extrude(amount=BLADE_HEIGHT)
-
- part = blade.part.moved(Location((0.0, 0.0, BACKPLATE_THICKNESS)))
- part.label = f"backward_curved_blade_{index + 1:02d}"
- return part
-
-
-def _blade_root_edges(part):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- center = bbox.center()
- if abs(center.Z - BACKPLATE_THICKNESS) > 0.05:
- continue
- radial_distance = hypot(center.X, center.Y)
- if BLADE_ROOT_RADIUS - 3.0 <= radial_distance <= 30.0:
- if str(edge.geom_type).endswith("LINE"):
- edges.append(edge)
- return edges
-
-
-def gen_step():
- """Return the centrifugal impeller benchmark model in millimeters."""
- total_height = BACKPLATE_THICKNESS + HUB_HEIGHT
-
- with BuildPart() as impeller:
- Cylinder(
- radius=BACKPLATE_DIAMETER / 2.0,
- height=BACKPLATE_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- for blade_index in range(BLADE_COUNT):
- add(_make_blade(blade_index), mode=Mode.ADD)
- with Locations(Location((0.0, 0.0, BACKPLATE_THICKNESS))):
- Cylinder(
- radius=HUB_DIAMETER / 2.0,
- height=HUB_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
- with Locations(Location((0.0, 0.0, -1.0))):
- Cylinder(
- radius=BORE_DIAMETER / 2.0,
- height=total_height + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = impeller.part
- backplate_edges = []
- backplate_edges.extend(circular_edges(part, radius=BACKPLATE_DIAMETER / 2.0, axis="z", coordinate=0.0))
- backplate_edges.extend(circular_edges(part, radius=BACKPLATE_DIAMETER / 2.0, axis="z", coordinate=BACKPLATE_THICKNESS))
- part = safe_fillet(part, backplate_edges, radius=BACKPLATE_FILLET)
- part = safe_fillet(part, _blade_root_edges(part), radius=BLADE_ROOT_FILLET)
- part.label = "benchmark_08_centrifugal_impeller_backward_curved_blades"
- return part
diff --git a/models/benchmarks/benchmark_08_centrifugal_impeller.step b/models/benchmarks/benchmark_08_centrifugal_impeller.step
deleted file mode 100644
index 82ffc714..00000000
--- a/models/benchmarks/benchmark_08_centrifugal_impeller.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:63e50d63813686b90a75e72c905487599e6b12940851abeb037805dae6222b14
-size 909453
diff --git a/models/benchmarks/benchmark_09_spiral_staircase.py b/models/benchmarks/benchmark_09_spiral_staircase.py
deleted file mode 100644
index f9106e0f..00000000
--- a/models/benchmarks/benchmark_09_spiral_staircase.py
+++ /dev/null
@@ -1,149 +0,0 @@
-from math import cos, radians, sin
-
-from build123d import (
- Align,
- BuildLine,
- BuildPart,
- BuildSketch,
- CenterArc,
- Circle,
- Color,
- Compound,
- Cylinder,
- Edge,
- Line,
- Location,
- Plane,
- extrude,
- make_face,
- sweep,
-)
-
-
-BASE_DIAMETER = 90.0
-BASE_THICKNESS = 5.0
-COLUMN_DIAMETER = 14.0
-COLUMN_HEIGHT = 140.0
-
-TREAD_COUNT = 20
-TREAD_THICKNESS = 4.0
-TREAD_INNER_RADIUS = 10.0
-TREAD_OUTER_RADIUS = 62.0
-TREAD_SWEEP_DEGREES = 24.0
-TREAD_FIRST_BOTTOM_Z = 4.0
-TREAD_RISE = 6.0
-TREAD_ROTATION_DEGREES = 18.0
-
-HANDRAIL_RADIUS = 66.0
-HANDRAIL_DIAMETER = 5.0
-HANDRAIL_START_Z = 14.0
-HANDRAIL_END_Z = 130.0
-BALUSTER_DIAMETER = 3.0
-
-
-def _polar_point(radius: float, angle_degrees: float) -> tuple[float, float]:
- angle = radians(angle_degrees)
- return (radius * cos(angle), radius * sin(angle))
-
-
-def _make_base():
- with BuildPart() as base:
- Cylinder(
- radius=BASE_DIAMETER / 2.0,
- height=BASE_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- part = base.part
- part.label = "base_disk"
- part.color = Color(0.42, 0.43, 0.45, 1.0)
- return part
-
-
-def _make_column():
- with BuildPart() as column:
- Cylinder(
- radius=COLUMN_DIAMETER / 2.0,
- height=COLUMN_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- part = column.part
- part.label = "central_column"
- part.color = Color(0.70, 0.72, 0.74, 1.0)
- return part
-
-
-def _make_tread_profile():
- half_sweep = TREAD_SWEEP_DEGREES / 2.0
- with BuildPart() as tread:
- with BuildSketch(Plane.XY):
- with BuildLine():
- CenterArc((0.0, 0.0), TREAD_OUTER_RADIUS, -half_sweep, TREAD_SWEEP_DEGREES)
- Line(_polar_point(TREAD_OUTER_RADIUS, half_sweep), _polar_point(TREAD_INNER_RADIUS, half_sweep))
- CenterArc((0.0, 0.0), TREAD_INNER_RADIUS, half_sweep, -TREAD_SWEEP_DEGREES)
- Line(_polar_point(TREAD_INNER_RADIUS, -half_sweep), _polar_point(TREAD_OUTER_RADIUS, -half_sweep))
- make_face()
- extrude(amount=TREAD_THICKNESS)
- return tread.part
-
-
-def _make_tread(index: int):
- angle = index * TREAD_ROTATION_DEGREES
- bottom_z = TREAD_FIRST_BOTTOM_Z + index * TREAD_RISE
- part = _make_tread_profile().moved(Location((0.0, 0.0, bottom_z), (0.0, 0.0, angle)))
- part.label = f"helical_tread_{index + 1:02d}"
- part.color = Color(0.78, 0.58, 0.35, 1.0)
- return part
-
-
-def _handrail_center_z(angle_degrees: float) -> float:
- return HANDRAIL_START_Z + (HANDRAIL_END_Z - HANDRAIL_START_Z) * angle_degrees / 360.0
-
-
-def _make_handrail():
- rail_height = HANDRAIL_END_Z - HANDRAIL_START_Z
- path = Edge.make_helix(
- pitch=rail_height,
- height=rail_height,
- radius=HANDRAIL_RADIUS,
- center=(0.0, 0.0, HANDRAIL_START_Z),
- )
- profile_plane = Plane(
- origin=(HANDRAIL_RADIUS, 0.0, HANDRAIL_START_Z),
- x_dir=(1.0, 0.0, 0.0),
- z_dir=path.tangent_at(0.0),
- )
-
- with BuildPart() as rail:
- with BuildSketch(profile_plane):
- Circle(HANDRAIL_DIAMETER / 2.0)
- sweep(path=path, is_frenet=True)
- part = rail.part
- part.label = "helical_handrail"
- part.color = Color(0.22, 0.28, 0.34, 1.0)
- return part
-
-
-def _make_baluster(index: int):
- angle = index * TREAD_ROTATION_DEGREES
- tread_top_z = TREAD_FIRST_BOTTOM_Z + index * TREAD_RISE + TREAD_THICKNESS
- rail_center_z = _handrail_center_z(angle)
- x_pos, y_pos = _polar_point(TREAD_OUTER_RADIUS, angle)
- with BuildPart() as baluster:
- Cylinder(
- radius=BALUSTER_DIAMETER / 2.0,
- height=rail_center_z - tread_top_z,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- part = baluster.part.moved(Location((x_pos, y_pos, tread_top_z)))
- part.label = f"baluster_{index + 1:02d}"
- part.color = Color(0.30, 0.33, 0.36, 1.0)
- return part
-
-
-def gen_step():
- """Return the miniature spiral staircase benchmark model in millimeters."""
- parts = [_make_base(), _make_column()]
- parts.extend(_make_tread(index) for index in range(TREAD_COUNT))
- parts.append(_make_handrail())
- parts.extend(_make_baluster(index) for index in range(TREAD_COUNT))
- return Compound(obj=parts, children=parts, label="benchmark_09_spiral_staircase_helical_handrail")
diff --git a/models/benchmarks/benchmark_09_spiral_staircase.step b/models/benchmarks/benchmark_09_spiral_staircase.step
deleted file mode 100644
index 6de1656e..00000000
--- a/models/benchmarks/benchmark_09_spiral_staircase.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:452826d6f8ba2b53394b22358f9f6d9e4b548f52762691acb346b98b422d2122
-size 628279
diff --git a/models/benchmarks/benchmark_10_planetary_gear_stage.py b/models/benchmarks/benchmark_10_planetary_gear_stage.py
deleted file mode 100644
index cdbd84db..00000000
--- a/models/benchmarks/benchmark_10_planetary_gear_stage.py
+++ /dev/null
@@ -1,181 +0,0 @@
-from math import tau
-
-from build123d import (
- Align,
- BuildPart,
- BuildSketch,
- Color,
- Compound,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- extrude,
-)
-
-from benchmark_common import polar_point, trapezoid_tooth_profile
-
-
-GEAR_THICKNESS = 8.0
-SUN_TEETH = 24
-SUN_PITCH_DIAMETER = 48.0
-SUN_ROOT_DIAMETER = 42.0
-SUN_OUTSIDE_DIAMETER = 54.0
-SUN_BORE_DIAMETER = 10.0
-
-PLANET_COUNT = 3
-PLANET_TEETH = 18
-PLANET_PITCH_DIAMETER = 36.0
-PLANET_ROOT_DIAMETER = 31.0
-PLANET_OUTSIDE_DIAMETER = 41.0
-PLANET_CENTER_RADIUS = 42.0
-PLANET_BORE_DIAMETER = 6.8
-
-RING_TEETH = 60
-RING_INTERNAL_PITCH_DIAMETER = 120.0
-RING_INTERNAL_ROOT_DIAMETER = 126.0
-RING_INTERNAL_TIP_DIAMETER = 114.0
-RING_OUTSIDE_DIAMETER = 140.0
-
-CARRIER_DIAMETER = 105.0
-CARRIER_BOTTOM_Z = -5.0
-CARRIER_TOP_Z = -1.0
-CARRIER_THICKNESS = CARRIER_TOP_Z - CARRIER_BOTTOM_Z
-
-PIN_DIAMETER = 6.0
-PIN_HEIGHT = 14.0
-PIN_BOTTOM_Z = -5.0
-
-
-def _make_external_gear(
- *,
- label: str,
- teeth: int,
- root_diameter: float,
- outside_diameter: float,
- phase: float,
- center: tuple[float, float] = (0.0, 0.0),
- bore_diameter: float | None = None,
- color: Color | None = None,
-):
- with BuildPart() as gear:
- with BuildSketch(Plane.XY):
- Polygon(
- trapezoid_tooth_profile(
- teeth=teeth,
- root_radius=root_diameter / 2.0,
- tip_radius=outside_diameter / 2.0,
- phase=phase,
- ),
- align=None,
- )
- extrude(amount=GEAR_THICKNESS)
-
- if bore_diameter is not None:
- with Locations(Location((0.0, 0.0, -0.5))):
- Cylinder(
- radius=bore_diameter / 2.0,
- height=GEAR_THICKNESS + 1.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = gear.part.moved(Location((center[0], center[1], 0.0)))
- part.label = label
- part.color = color
- return part
-
-
-def _make_internal_ring_gear():
- with BuildPart() as ring:
- Cylinder(
- radius=RING_OUTSIDE_DIAMETER / 2.0,
- height=GEAR_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with BuildSketch(Plane.XY):
- Polygon(
- trapezoid_tooth_profile(
- teeth=RING_TEETH,
- root_radius=RING_INTERNAL_ROOT_DIAMETER / 2.0,
- tip_radius=RING_INTERNAL_TIP_DIAMETER / 2.0,
- phase=-tau / RING_TEETH / 2.0,
- root_span_fraction=0.68,
- tip_span_fraction=0.34,
- ),
- align=None,
- )
- extrude(amount=GEAR_THICKNESS, mode=Mode.SUBTRACT)
- part = ring.part
- part.label = "ring_gear_60_internal_teeth"
- part.color = Color(0.66, 0.68, 0.70, 1.0)
- return part
-
-
-def _make_carrier_plate():
- with BuildPart() as carrier:
- with Locations(Location((0.0, 0.0, CARRIER_BOTTOM_Z))):
- Cylinder(
- radius=CARRIER_DIAMETER / 2.0,
- height=CARRIER_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- part = carrier.part
- part.label = "carrier_plate"
- part.color = Color(0.52, 0.62, 0.58, 1.0)
- return part
-
-
-def _make_pin(label: str, center: tuple[float, float]):
- with BuildPart() as pin:
- with Locations(Location((center[0], center[1], PIN_BOTTOM_Z))):
- Cylinder(
- radius=PIN_DIAMETER / 2.0,
- height=PIN_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- part = pin.part
- part.label = label
- part.color = Color(0.22, 0.25, 0.29, 1.0)
- return part
-
-
-def _planet_center(index: int) -> tuple[float, float]:
- return polar_point(PLANET_CENTER_RADIUS, tau * index / PLANET_COUNT)
-
-
-def gen_step():
- """Return the simplified planetary gear benchmark assembly in millimeters."""
- parts = [
- _make_carrier_plate(),
- _make_internal_ring_gear(),
- _make_external_gear(
- label="sun_gear_24_external_teeth",
- teeth=SUN_TEETH,
- root_diameter=SUN_ROOT_DIAMETER,
- outside_diameter=SUN_OUTSIDE_DIAMETER,
- phase=-tau / SUN_TEETH / 2.0,
- bore_diameter=SUN_BORE_DIAMETER,
- color=Color(0.94, 0.60, 0.22, 1.0),
- ),
- ]
-
- for index in range(PLANET_COUNT):
- center = _planet_center(index)
- parts.append(
- _make_external_gear(
- label=f"planet_gear_{index + 1}_18_external_teeth",
- teeth=PLANET_TEETH,
- root_diameter=PLANET_ROOT_DIAMETER,
- outside_diameter=PLANET_OUTSIDE_DIAMETER,
- phase=tau * index / PLANET_COUNT,
- center=center,
- bore_diameter=PLANET_BORE_DIAMETER,
- color=Color(0.24, 0.51, 0.76, 1.0),
- )
- )
- parts.append(_make_pin(f"planet_pin_{index + 1}", center))
-
- return Compound(obj=parts, children=parts, label="benchmark_10_simplified_planetary_gear_stage")
diff --git a/models/benchmarks/benchmark_10_planetary_gear_stage.step b/models/benchmarks/benchmark_10_planetary_gear_stage.step
deleted file mode 100644
index ef92a6c0..00000000
--- a/models/benchmarks/benchmark_10_planetary_gear_stage.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:00723b6214041720aa70bd85d2f5fc005e3294b49a710a0a51774050100aa532
-size 2269736
diff --git a/models/benchmarks/benchmark_common.py b/models/benchmarks/benchmark_common.py
deleted file mode 100644
index 5c2d9548..00000000
--- a/models/benchmarks/benchmark_common.py
+++ /dev/null
@@ -1,177 +0,0 @@
-from __future__ import annotations
-
-from math import cos, hypot, sin, tau
-from typing import Iterable
-
-from build123d import Axis, BuildPart, Color, Location, Mode, chamfer, fillet
-
-
-TOLERANCE = 1e-6
-
-
-def polar_point(radius: float, angle: float) -> tuple[float, float]:
- return (radius * cos(angle), radius * sin(angle))
-
-
-def safe_fillet(part, edges: Iterable, radius: float):
- selected = list(edges)
- if not selected:
- return part
- try:
- return fillet(selected, radius=radius)
- except Exception:
- return part
-
-
-def safe_chamfer(part, edges: Iterable, length: float):
- selected = list(edges)
- if not selected:
- return part
- try:
- return chamfer(selected, length=length)
- except Exception:
- return part
-
-
-def line_edges_at_z(part, z_value: float, *, tol: float = 0.02):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- if abs(bbox.min.Z - z_value) <= tol and abs(bbox.max.Z - z_value) <= tol:
- if str(edge.geom_type).endswith("LINE"):
- edges.append(edge)
- return edges
-
-
-def circular_edges(
- part,
- *,
- radius: float | None = None,
- axis: str | None = None,
- coordinate: float | None = None,
- tol: float = 0.05,
-):
- edges = []
- for edge in part.edges():
- try:
- edge_radius = edge.radius
- edge_center = edge.arc_center
- edge_normal = edge.normal()
- except Exception:
- continue
-
- if radius is not None and abs(edge_radius - radius) > tol:
- continue
-
- if axis is not None:
- components = {
- "x": abs(edge_normal.X),
- "y": abs(edge_normal.Y),
- "z": abs(edge_normal.Z),
- }
- if components[axis] < 1.0 - 1e-4:
- continue
-
- if coordinate is not None:
- coord = {"x": edge_center.X, "y": edge_center.Y, "z": edge_center.Z}[axis or "z"]
- if abs(coord - coordinate) > tol:
- continue
-
- edges.append(edge)
-
- return edges
-
-
-def cylinder_axis_x(radius: float, length: float, center: tuple[float, float, float], *, mode=Mode.ADD):
- from build123d import Align, Cylinder
-
- return Cylinder(
- radius=radius,
- height=length,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=mode,
- ).locate(Location(center))
-
-
-def cylinder_axis_y(radius: float, length: float, center: tuple[float, float, float], *, mode=Mode.ADD):
- from build123d import Align, Cylinder
-
- return Cylinder(
- radius=radius,
- height=length,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=mode,
- ).locate(Location(center))
-
-
-def rounded_triangle_points(
- vertices: list[tuple[float, float]],
- *,
- radius: float,
- segments: int = 5,
-) -> list[tuple[float, float]]:
- """Approximate a rounded triangular loop with quadratic corner arcs."""
- points: list[tuple[float, float]] = []
- count = len(vertices)
-
- for index, vertex in enumerate(vertices):
- previous = vertices[(index - 1) % count]
- next_vertex = vertices[(index + 1) % count]
-
- to_previous = (previous[0] - vertex[0], previous[1] - vertex[1])
- to_next = (next_vertex[0] - vertex[0], next_vertex[1] - vertex[1])
- previous_length = hypot(*to_previous)
- next_length = hypot(*to_next)
- offset = min(radius, previous_length * 0.35, next_length * 0.35)
-
- start = (
- vertex[0] + to_previous[0] / previous_length * offset,
- vertex[1] + to_previous[1] / previous_length * offset,
- )
- end = (
- vertex[0] + to_next[0] / next_length * offset,
- vertex[1] + to_next[1] / next_length * offset,
- )
-
- for step in range(segments + 1):
- t = step / segments
- x_pos = (1.0 - t) ** 2 * start[0] + 2.0 * (1.0 - t) * t * vertex[0] + t**2 * end[0]
- y_pos = (1.0 - t) ** 2 * start[1] + 2.0 * (1.0 - t) * t * vertex[1] + t**2 * end[1]
- points.append((x_pos, y_pos))
-
- return points
-
-
-def trapezoid_tooth_profile(
- *,
- teeth: int,
- root_radius: float,
- tip_radius: float,
- phase: float,
- root_span_fraction: float = 0.72,
- tip_span_fraction: float = 0.38,
-) -> list[tuple[float, float]]:
- points: list[tuple[float, float]] = []
- pitch_angle = tau / teeth
-
- for tooth_index in range(teeth):
- center_angle = phase + tooth_index * pitch_angle
- points.extend(
- (
- polar_point(root_radius, center_angle - root_span_fraction * pitch_angle / 2.0),
- polar_point(tip_radius, center_angle - tip_span_fraction * pitch_angle / 2.0),
- polar_point(tip_radius, center_angle + tip_span_fraction * pitch_angle / 2.0),
- polar_point(root_radius, center_angle + root_span_fraction * pitch_angle / 2.0),
- )
- )
-
- return points
-
-
-def label(part, name: str, color: Color | None = None):
- part.label = name
- if color is not None:
- part.color = color
- return part
diff --git a/models/benchmarks/validate_benchmark.py b/models/benchmarks/validate_benchmark.py
deleted file mode 100644
index 5762279a..00000000
--- a/models/benchmarks/validate_benchmark.py
+++ /dev/null
@@ -1,269 +0,0 @@
-from __future__ import annotations
-
-from math import atan2, degrees, hypot
-from pathlib import Path
-
-from build123d import import_step
-
-
-ROOT = Path(__file__).resolve().parent
-BASIC_TOL = 0.2
-COMPLEX_TOL = 0.5
-ANGLE_TOL = 2.0
-
-
-class BenchmarkFailure(AssertionError):
- pass
-
-
-def close(actual: float, expected: float, tol: float = BASIC_TOL) -> bool:
- return abs(actual - expected) <= tol
-
-
-def check(condition: bool, message: str) -> None:
- if not condition:
- raise BenchmarkFailure(message)
-
-
-def bbox(shape):
- box = shape.bounding_box()
- return box.min, box.max, (
- box.max.X - box.min.X,
- box.max.Y - box.min.Y,
- box.max.Z - box.min.Z,
- )
-
-
-def assert_bbox(shape, expected_size, expected_min=None, tol: float = BASIC_TOL):
- min_v, max_v, size = bbox(shape)
- for actual, expected, axis in zip(size, expected_size, "xyz"):
- check(close(actual, expected, tol), f"bbox {axis} size {actual:.3f} != {expected:.3f}")
- if expected_min is not None:
- for actual, expected, axis in zip((min_v.X, min_v.Y, min_v.Z), expected_min, "xyz"):
- check(close(actual, expected, tol), f"bbox min {axis} {actual:.3f} != {expected:.3f}")
-
-
-def axis_name(direction) -> str:
- components = {"x": abs(direction.X), "y": abs(direction.Y), "z": abs(direction.Z)}
- return max(components, key=components.get)
-
-
-def cyl_faces(shape, *, radius: float | None = None, axis: str | None = None, tol: float = BASIC_TOL):
- faces = []
- for face in shape.faces():
- if "CYLINDER" not in str(face.geom_type):
- continue
- if radius is not None and not close(face.radius, radius, tol):
- continue
- if axis is not None and axis_name(face.axis_of_rotation.direction) != axis:
- continue
- faces.append(face)
- return faces
-
-
-def torus_count(shape) -> int:
- return sum(1 for face in shape.faces() if "TORUS" in str(face.geom_type))
-
-
-def cone_count(shape) -> int:
- return sum(1 for face in shape.faces() if "CONE" in str(face.geom_type))
-
-
-def cylinder_centers(shape, *, radius: float, axis: str):
- centers = []
- for face in cyl_faces(shape, radius=radius, axis=axis):
- pos = face.axis_of_rotation.position
- centers.append((pos.X, pos.Y, pos.Z))
- return centers
-
-
-def expect_cylinder_at(shape, *, radius: float, axis: str, x=None, y=None, z=None, tol: float = BASIC_TOL):
- for center in cylinder_centers(shape, radius=radius, axis=axis):
- if x is not None and not close(center[0], x, tol):
- continue
- if y is not None and not close(center[1], y, tol):
- continue
- if z is not None and not close(center[2], z, tol):
- continue
- return
- raise BenchmarkFailure(f"missing cylinder radius {radius} axis {axis} at x={x} y={y} z={z}")
-
-
-def plane_faces_at(shape, *, axis: str, coordinate: float, tol: float = BASIC_TOL):
- index = "xyz".index(axis)
- faces = []
- for face in shape.faces():
- if "PLANE" not in str(face.geom_type):
- continue
- box = face.bounding_box()
- mins = (box.min.X, box.min.Y, box.min.Z)
- maxs = (box.max.X, box.max.Y, box.max.Z)
- if close(mins[index], coordinate, tol) and close(maxs[index], coordinate, tol):
- faces.append(face)
- return faces
-
-
-def assert_common(shape, *, solids: int | None = None, min_solids: int | None = None):
- check(shape.is_valid, "STEP imports but imported B-rep is invalid")
- check(shape.is_manifold, "STEP imports but B-rep is non-manifold")
- if solids is not None:
- check(len(shape.solids()) == solids, f"solid count {len(shape.solids())} != {solids}")
- if min_solids is not None:
- check(len(shape.solids()) >= min_solids, f"solid count {len(shape.solids())} < {min_solids}")
-
-
-def validate_01(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (100.0, 60.0, 20.0), (-50.0, -30.0, 0.0))
- for x in (-35.0, 35.0):
- for y in (-20.0, 20.0):
- expect_cylinder_at(shape, radius=4.0, axis="z", x=x, y=y)
- check(len(cyl_faces(shape, radius=4.0, axis="z")) == 4, "expected four 8 mm through holes")
- top_faces = plane_faces_at(shape, axis="z", coordinate=20.0)
- check(any(close(face.bounding_box().size.X, 96.0) and close(face.bounding_box().size.Y, 56.0) for face in top_faces), "top chamfered face is not inset by 2 mm")
- check(cone_count(shape) == 0 and torus_count(shape) == 0, "unexpected hole chamfers/roundovers")
-
-
-def validate_02(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (80.0, 80.0, 10.0), (-40.0, -40.0, 0.0))
- expect_cylinder_at(shape, radius=15.0, axis="z", x=0.0, y=0.0)
- bolt_centers = cylinder_centers(shape, radius=3.0, axis="z")
- check(len(bolt_centers) == 6, "expected six bolt holes")
- angles = sorted(degrees(atan2(y, x)) % 360.0 for x, y, _ in bolt_centers)
- for x, y, _ in bolt_centers:
- check(close(hypot(x, y), 30.0, COMPLEX_TOL), "bolt hole is off 60 mm bolt circle")
- gaps = [(angles[(i + 1) % 6] - angles[i]) % 360.0 for i in range(6)]
- check(all(close(gap, 60.0, ANGLE_TOL) for gap in gaps), "bolt holes are not spaced 60 degrees apart")
- check(torus_count(shape) >= 2, "missing top/bottom outer edge fillets")
-
-
-def validate_03(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (80.0, 50.0, 58.0), (-40.0, -25.0, 0.0))
- for x in (-25.0, 25.0):
- expect_cylinder_at(shape, radius=3.0, axis="z", x=x, y=-10.0)
- expect_cylinder_at(shape, radius=3.0, axis="y", x=x, z=30.0)
- check(len(cyl_faces(shape, radius=3.0, axis="z")) == 2, "base hole count is not two")
- check(len(cyl_faces(shape, radius=3.0, axis="y")) == 2, "back plate hole count is not two")
- check(len(shape.faces()) >= 20, "missing gusset/fillet detail")
-
-
-def validate_04(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (120.0, 30.0, 30.0), (0.0, -15.0, -15.0))
- check(len(cyl_faces(shape, radius=10.0, axis="x")) == 2, "expected two 20 mm shaft sections")
- check(len(cyl_faces(shape, radius=15.0, axis="x")) == 1, "expected one 30 mm shaft section")
- keyway_planes = plane_faces_at(shape, axis="z", coordinate=12.0)
- check(any(close(face.bounding_box().size.X, 40.0) and close(face.bounding_box().size.Y, 6.0) for face in keyway_planes), "keyway floor is not 40 x 6 mm at 3 mm depth")
- check(cone_count(shape) >= 2, "missing 1 mm end chamfers")
-
-
-def validate_05(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (100.0, 70.0, 30.0), (-50.0, -35.0, 0.0))
- check(any(close(face.bounding_box().size.X, 94.0) and close(face.bounding_box().size.Y, 64.0) for face in plane_faces_at(shape, axis="z", coordinate=3.0)), "inside floor/wall thickness check failed")
- for x in (-35.0, 35.0):
- for y in (-25.0, 25.0):
- expect_cylinder_at(shape, radius=5.0, axis="z", x=x, y=y)
- expect_cylinder_at(shape, radius=1.5, axis="z", x=x, y=y)
- check(len(cyl_faces(shape, radius=5.0, axis="z")) == 4, "standoff count is not four")
- check(len(cyl_faces(shape, radius=1.5, axis="z")) == 4, "blind hole count is not four")
- check(len(cyl_faces(shape, radius=2.0, axis="z")) >= 4, "missing 2 mm outside vertical corner fillets")
-
-
-def validate_06(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (120.0, 60.0, 52.0), (-60.0, -30.0, 0.0))
- expect_cylinder_at(shape, radius=7.0, axis="y", x=0.0, z=34.0)
- for x in (-45.0, 45.0):
- for y in (-20.0, 20.0):
- expect_cylinder_at(shape, radius=3.5, axis="z", x=x, y=y)
- check(len(cyl_faces(shape, radius=7.0, axis="y")) == 2, "clevis through-hole should pass through two separate lugs")
- check(len(cyl_faces(shape, radius=3.5, axis="z")) == 4, "base mounting hole count is not four")
- check(len(cyl_faces(shape, radius=2.0, axis="x")) >= 2, "missing lug-to-base radius detail")
- check(len(shape.faces()) >= 90, "missing cutout/rib/lug detail")
-
-
-def validate_07(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (79.1, 70.0, 92.7), (-35.0, -35.0, 0.0), tol=COMPLEX_TOL)
- check(len(cyl_faces(shape, radius=31.0, axis="z")) == 12, "cooling fin count is not 12")
- check(len(cyl_faces(shape, radius=2.5, axis="z")) == 6, "mounting hole count is not six")
- check(len(cyl_faces(shape, radius=18.0, axis="z")) >= 1, "missing 36 mm barrel")
- check(len(cyl_faces(shape, radius=22.0, axis="z")) == 1, "missing 44 mm top cap")
- boss = cyl_faces(shape, radius=6.0)
- bore = [face for face in cyl_faces(shape, radius=2.5) if axis_name(face.axis_of_rotation.direction) == "x"]
- check(len(boss) == 1 and len(bore) == 1, "missing angled boss or boss bore")
- for face in (boss[0], bore[0]):
- direction = face.axis_of_rotation.direction
- angle = degrees(atan2(abs(direction.Z), abs(direction.X)))
- check(close(angle, 35.0, ANGLE_TOL), "boss axis is not 35 degrees upward")
- check(torus_count(shape) >= 24, "missing fin/flange edge fillets")
-
-
-def validate_08(shape):
- assert_common(shape, solids=1)
- assert_bbox(shape, (90.0, 90.0, 28.0), (-45.0, -45.0, 0.0), tol=COMPLEX_TOL)
- expect_cylinder_at(shape, radius=4.0, axis="z", x=0.0, y=0.0)
- check(len(cyl_faces(shape, radius=13.0, axis="z")) == 1, "missing 26 mm hub")
- check(len(shape.faces()) >= 220, "missing repeated curved blade detail")
- check(torus_count(shape) >= 2, "missing backplate edge fillets")
-
-
-def validate_09(shape):
- assert_common(shape, min_solids=43)
- assert_bbox(shape, (137.0, 137.0, 140.0), (-68.5, -68.5, 0.0), tol=COMPLEX_TOL)
- check(len(cyl_faces(shape, radius=7.0, axis="z")) == 1, "missing central column")
- check(len(cyl_faces(shape, radius=45.0, axis="z")) == 1, "missing base disk")
- check(len(cyl_faces(shape, radius=62.0, axis="z")) == 20, "tread outer radius/count failed")
- check(len(cyl_faces(shape, radius=10.0, axis="z")) == 20, "tread inner radius/count failed")
- check(len(cyl_faces(shape, radius=1.5, axis="z")) == 20, "baluster count failed")
- check(len(shape.solids()) == 43, "staircase assembly should have 43 solids")
-
-
-def validate_10(shape):
- assert_common(shape, solids=9)
- assert_bbox(shape, (140.0, 140.0, 14.0), (-70.0, -70.0, -5.0), tol=COMPLEX_TOL)
- check(len(cyl_faces(shape, radius=3.0, axis="z")) == 3, "planet pin count failed")
- check(len(cyl_faces(shape, radius=5.0, axis="z")) == 1, "sun bore failed")
- check(len(shape.faces()) >= 550 and len(shape.edges()) >= 1600, "gear tooth detail is missing")
-
-
-VALIDATORS = [
- ("1. Rectangular calibration block with four holes", "benchmark_01_rectangular_calibration_block.step", validate_01),
- ("2. Circular flange with bolt-hole pattern", "benchmark_02_circular_flange.step", validate_02),
- ("3. L-bracket with gussets and two hole directions", "benchmark_03_l_bracket.step", validate_03),
- ("4. Stepped shaft with keyway", "benchmark_04_stepped_shaft_keyway.step", validate_04),
- ("5. Open-top electronics enclosure with bosses", "benchmark_05_open_top_electronics_enclosure.step", validate_05),
- ("6. Aerospace-style clevis bracket with lightening cutouts", "benchmark_06_clevis_bracket_lightening_cutouts.step", validate_06),
- ("7. Radial-engine-style cylinder with cooling fins", "benchmark_07_radial_engine_cylinder.step", validate_07),
- ("8. Centrifugal impeller with backward-curved blades", "benchmark_08_centrifugal_impeller.step", validate_08),
- ("9. Spiral staircase with helical handrail", "benchmark_09_spiral_staircase.step", validate_09),
- ("10. Simplified planetary gear stage", "benchmark_10_planetary_gear_stage.step", validate_10),
-]
-
-
-def main() -> int:
- failures = []
- for title, filename, validator in VALIDATORS:
- step_path = ROOT / filename
- try:
- shape = import_step(step_path)
- validator(shape)
- except Exception as exc:
- failures.append((title, exc))
- print(f"FAIL {title}: {exc}")
- else:
- print(f"PASS {title}")
-
- if failures:
- print(f"\n{len(failures)} benchmark(s) failed.")
- return 1
-
- print("\nAll benchmark checks passed.")
- return 0
-
-
-if __name__ == "__main__":
- raise SystemExit(main())
diff --git a/models/fun/.centrifugal_impeller.step.glb b/models/fun/.centrifugal_impeller.step.glb
deleted file mode 100644
index 614098e0..00000000
--- a/models/fun/.centrifugal_impeller.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fe8d7d959847d34f9bd280fd606a70dbf7175ace94436b471037f068b7e3de66
-size 1426100
diff --git a/models/fun/.cutaway_turbofan_engine.step.glb b/models/fun/.cutaway_turbofan_engine.step.glb
deleted file mode 100644
index c31f5302..00000000
--- a/models/fun/.cutaway_turbofan_engine.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:31f2f670c14e01ff28765d3c1dcbf21cbabf653a6a87473996becd22d4eee1fb
-size 7749936
diff --git a/models/fun/.electronics_enclosure_base.step.glb b/models/fun/.electronics_enclosure_base.step.glb
deleted file mode 100644
index dfac51e6..00000000
--- a/models/fun/.electronics_enclosure_base.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:55cd500d838169a2a653186597e485df5b549c397702856f1ea661e61422e153
-size 450908
diff --git a/models/fun/.flying_car.step.glb b/models/fun/.flying_car.step.glb
deleted file mode 100644
index ed922d49..00000000
--- a/models/fun/.flying_car.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9cce1cec333b6ad8aaa66b6864c579f71f61895a155e831fe0eb15c2167c1d2f
-size 8869448
diff --git a/models/fun/.lunar_rover_corner_assembly.step.glb b/models/fun/.lunar_rover_corner_assembly.step.glb
deleted file mode 100644
index 3ec44d13..00000000
--- a/models/fun/.lunar_rover_corner_assembly.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bb7220bd2b56f149d6c9489a2dc296091570bbe8ce1171242b838437d0899473
-size 6807400
diff --git a/models/fun/.mechanical_iris_aperture.step.glb b/models/fun/.mechanical_iris_aperture.step.glb
deleted file mode 100644
index a4b5ee41..00000000
--- a/models/fun/.mechanical_iris_aperture.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bce05c4c02e513d7e1a96ca8401dfa83995a554ec8fd3f1af8a9fa68405dc68a
-size 14090228
diff --git a/models/fun/.miniature_spiral_staircase.step.glb b/models/fun/.miniature_spiral_staircase.step.glb
deleted file mode 100644
index e815b9d1..00000000
--- a/models/fun/.miniature_spiral_staircase.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3e941ba2be0c1d3666d18e15fa76a83fed06188c3839175004524a299d868112
-size 2852472
diff --git a/models/fun/.miniature_spiral_staircase_highres.step.glb b/models/fun/.miniature_spiral_staircase_highres.step.glb
deleted file mode 100644
index 0fbabc16..00000000
--- a/models/fun/.miniature_spiral_staircase_highres.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:43def8d3e6c4fa9c77a142b1857ab0b7ed907bfdaaaef7948620b0fcbda888cd
-size 2667716
diff --git a/models/fun/.pelican_riding_bicycle.step.glb b/models/fun/.pelican_riding_bicycle.step.glb
deleted file mode 100644
index ece1111a..00000000
--- a/models/fun/.pelican_riding_bicycle.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2e3a9b4954a68c42cad40b6eb987b5a2ac3f9169a0dbf0e0d9dd7b4fc50b753b
-size 5796604
diff --git a/models/fun/.photo_coffee_cup.step.glb b/models/fun/.photo_coffee_cup.step.glb
deleted file mode 100644
index 5ddf50d1..00000000
--- a/models/fun/.photo_coffee_cup.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b2761e2d39e49ae252cda3671f9a7feadabb4c80ee52b21d02f55a7c31c888f5
-size 10137856
diff --git a/models/fun/.planetary_gear_assembly.step.glb b/models/fun/.planetary_gear_assembly.step.glb
deleted file mode 100644
index a92ecc4b..00000000
--- a/models/fun/.planetary_gear_assembly.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e5d043540ab7e015b1eb0dbcfecf364f829d834edc13fe6e0339031ae35fac5a
-size 1455508
diff --git a/models/fun/.planetary_gear_assembly.step.js b/models/fun/.planetary_gear_assembly.step.js
deleted file mode 100644
index 0ea82962..00000000
--- a/models/fun/.planetary_gear_assembly.step.js
+++ /dev/null
@@ -1,205 +0,0 @@
-const Z_AXIS = [0, 0, 1];
-const ORIGIN = [0, 0, 0];
-const PLANETS = ["planet1", "planet2", "planet3"];
-const PINS = ["pin1", "pin2", "pin3"];
-const SUN_TEETH = 24;
-const PLANET_TEETH = 18;
-const RING_TEETH = 60;
-// Fixed-ring planetary kinematics: carrier follows the sun by Ns / (Ns + Nr).
-const CARRIER_RATIO_FIXED_RING = SUN_TEETH / (SUN_TEETH + RING_TEETH);
-// 3.5 sun revolutions returns the carrier to 360 deg and each gear to an equivalent tooth phase.
-const FULL_MESH_CYCLE_DEG = 1260;
-
-let orbitGuide = null;
-
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function radialUnit(feature) {
- const center = Array.isArray(feature?.center) ? feature.center : ORIGIN;
- const length = Math.hypot(center[0] || 0, center[1] || 0);
- if (length <= 1e-6) {
- return [1, 0, 0];
- }
- return [(center[0] || 0) / length, (center[1] || 0) / length, 0];
-}
-
-function scaled(vector, scale) {
- return vector.map((value) => value * scale);
-}
-
-function createOrbitGuide(THREE) {
- const radius = 42;
- const points = [];
- for (let index = 0; index < 144; index += 1) {
- const angle = (index / 144) * Math.PI * 2;
- points.push(new THREE.Vector3(Math.cos(angle) * radius, Math.sin(angle) * radius, 4));
- }
- const geometry = new THREE.BufferGeometry().setFromPoints(points);
- const material = new THREE.LineBasicMaterial({
- color: 0x94a3b8,
- transparent: true,
- opacity: 0.34,
- depthWrite: false
- });
- const line = new THREE.LineLoop(geometry, material);
- line.name = "planetary-gear-orbit-guide";
- line.renderOrder = 30;
- return line;
-}
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/fun/planetary_gear_assembly.step"
- },
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- carrier: { ref: "#o1.1.1", label: "Carrier plate", description: "The plate that carries planet pins around the sun axis." },
- ring: { ref: "#o1.2.1", label: "Ring gear", description: "Stationary internal gear, visually faded or hidden by controls." },
- sun: { ref: "#o1.3.1", label: "Sun gear", description: "Central driven gear." },
- planet1: { ref: "#o1.4.1", label: "Planet gear 1" },
- pin1: { ref: "#o1.5.1", label: "Planet pin 1" },
- planet2: { ref: "#o1.6.1", label: "Planet gear 2" },
- pin2: { ref: "#o1.7.1", label: "Planet pin 2" },
- planet3: { ref: "#o1.8.1", label: "Planet gear 3" },
- pin3: { ref: "#o1.9.1", label: "Planet pin 3" }
- },
- parameters: {
- drive: { type: "number", label: "Drive", description: "Sun gear input angle across one closed mesh cycle.", default: 0, min: 0, max: FULL_MESH_CYCLE_DEG, step: 1, unit: "deg" },
- explode: { type: "number", label: "Explode", description: "Radially separates meshing features for inspection.", default: 0, min: 0, max: 1, step: 0.01 },
- ringVisible: { type: "boolean", label: "Ring gear", default: true },
- orbitGuides: { type: "boolean", label: "Orbit guide", default: false },
- highlightMeshing: { type: "boolean", label: "Mesh highlight", default: false },
- viewMode: {
- type: "select",
- label: "View",
- default: "mesh",
- options: [
- { value: "mesh", label: "Mesh study" },
- { value: "cutaway", label: "Cutaway" },
- { value: "carrier", label: "Carrier focus" }
- ]
- }
- },
- animations: {
- meshCycle: {
- label: "Mesh cycle",
- duration: 6,
- loop: true,
- update({ cycle, set }) {
- set("drive", (cycle % 1) * FULL_MESH_CYCLE_DEG);
- }
- },
- inspectExplode: {
- label: "Explode inspect",
- duration: 5,
- loop: true,
- update({ progress, set }) {
- set("drive", progress * FULL_MESH_CYCLE_DEG);
- set("explode", Math.sin(progress * Math.PI));
- }
- }
- }
- },
-
- setup({ THREE, modelGroup, cleanup }) {
- if (!THREE || !modelGroup) {
- return;
- }
- orbitGuide = createOrbitGuide(THREE);
- modelGroup.add(orbitGuide);
- cleanup(() => {
- modelGroup.remove(orbitGuide);
- orbitGuide.geometry?.dispose?.();
- orbitGuide.material?.dispose?.();
- orbitGuide = null;
- });
- },
-
- update({ params, features, effects, time }) {
- const drive = finite(params.drive);
- const explode = finite(params.explode);
- const sunAngle = drive;
- const carrierAngle = sunAngle * CARRIER_RATIO_FIXED_RING;
- const planetSpinRelativeToCarrier = -(SUN_TEETH / PLANET_TEETH) * (sunAngle - carrierAngle);
- const lift = explode * 7;
- const cutaway = params.viewMode === "cutaway";
- const carrierFocus = params.viewMode === "carrier";
- const highlight = params.highlightMeshing === true &&
- (!time.playing || (time.progress > 0.45 && time.progress < 0.6));
-
- if (orbitGuide) {
- orbitGuide.visible = params.orbitGuides !== false;
- orbitGuide.rotation.z = (carrierAngle * Math.PI) / 180;
- }
-
- effects.visible("ring", params.ringVisible !== false);
- effects.style("ring", {
- opacity: cutaway ? 0.22 : 1,
- edgeOpacity: cutaway ? 0.38 : 1
- });
- effects.style("sun", {
- emissive: highlight ? "#7c2d12" : "",
- emissiveIntensity: highlight ? 0.32 : 0
- });
- effects.style(PLANETS, {
- emissive: highlight ? "#075985" : "",
- emissiveIntensity: highlight ? 0.22 : 0
- });
- effects.style(PINS, {
- opacity: 1
- });
- effects.style("carrier", {
- opacity: 1,
- emissive: carrierFocus ? "#14532d" : "",
- emissiveIntensity: carrierFocus ? 0.2 : 0
- });
-
- if (highlight) {
- effects.highlight(["sun", ...PLANETS], true);
- }
-
- effects.transform("sun", {
- transforms: [
- { rotate: { axis: Z_AXIS, origin: features.sun.center, angleDeg: sunAngle } },
- { translate: [0, 0, lift] }
- ]
- });
- effects.transform("carrier", {
- transforms: [
- { rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle } },
- { translate: [0, 0, -explode * 4] }
- ]
- });
-
- for (const planetId of PLANETS) {
- const radial = radialUnit(features[planetId]);
- effects.transform(planetId, {
- transforms: [
- { rotate: { axis: Z_AXIS, origin: features[planetId].center, angleDeg: planetSpinRelativeToCarrier } },
- { translate: scaled(radial, explode * 16) },
- { rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle } }
- ]
- });
- }
-
- for (const pinId of PINS) {
- const radial = radialUnit(features[pinId]);
- effects.transform(pinId, {
- transforms: [
- { translate: scaled(radial, explode * 16) },
- { rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle } },
- { translate: [0, 0, -explode * 4] }
- ]
- });
- }
- }
-};
diff --git a/models/fun/.robotic_hand_end_effector.step.glb b/models/fun/.robotic_hand_end_effector.step.glb
deleted file mode 100644
index 80a8a4b5..00000000
--- a/models/fun/.robotic_hand_end_effector.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4d00ad4f2d0b18f3c01a81dececda5d329d180040c6572c0b27515c49d0cc280
-size 17580768
diff --git a/models/fun/.six_axis_industrial_robot_arm.step.glb b/models/fun/.six_axis_industrial_robot_arm.step.glb
deleted file mode 100644
index cca7bf84..00000000
--- a/models/fun/.six_axis_industrial_robot_arm.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:62386fcc08e20972b115eea0d9d27384d570636fdb4d0eb3308a558d8606e738
-size 14253856
diff --git a/models/fun/.six_blade_open_propeller.step.glb b/models/fun/.six_blade_open_propeller.step.glb
deleted file mode 100644
index 64798b91..00000000
--- a/models/fun/.six_blade_open_propeller.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8897a55e441af2ded632895251abf3c33a2f2a67001cd057d93802c010516816
-size 6827056
diff --git a/models/fun/.thick_mobius_strip.step.glb b/models/fun/.thick_mobius_strip.step.glb
deleted file mode 100644
index 844d1d5b..00000000
--- a/models/fun/.thick_mobius_strip.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3303ff6c5d0786670cb7da8f8a29c50420ff0c6adef873e7a63628f6aa421cea
-size 30854804
diff --git a/models/fun/README.md b/models/fun/README.md
deleted file mode 100644
index 61586510..00000000
--- a/models/fun/README.md
+++ /dev/null
@@ -1,17 +0,0 @@
-# Fun Models
-
-Standalone generated CAD examples used for demos, visual inspection, and
-occasional print/export experiments. These models are more expressive than the
-benchmark fixtures and are not expected to form a systematic test suite.
-
-## Contents
-
-- `*.py`: build123d generator source for authored models.
-- `*.step`: canonical generated STEP output.
-- `.*.step.glb`: generated render/selector sidecars paired with STEP files.
-- `.*.step.js`: optional interaction sidecars paired with STEP files.
-- `*.stl`, `*.3mf`, and direct `*.glb`: durable exported/printable artifacts
- when the export itself is useful as a fixture.
-
-Avoid adding screenshots, videos, throwaway slicer profiles, or timestamped
-review captures here.
diff --git a/models/fun/centrifugal_impeller.py b/models/fun/centrifugal_impeller.py
deleted file mode 100644
index 6294a791..00000000
--- a/models/fun/centrifugal_impeller.py
+++ /dev/null
@@ -1,229 +0,0 @@
-from math import asin, cos, hypot, radians, sin, tau
-
-from build123d import (
- Align,
- BuildPart,
- BuildSketch,
- Color,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- add,
- extrude,
- fillet,
-)
-
-
-# Units: millimeters.
-# Origin: impeller axis centered at X=0, Y=0.
-# XY: backplate plane. +Z: vertical impeller axis.
-# Assumed rotation direction: counter-clockwise viewed from +Z, so blade tips
-# trail clockwise by the specified backward sweep.
-
-BACKPLATE_DIAMETER = 90.0
-BACKPLATE_RADIUS = BACKPLATE_DIAMETER / 2.0
-BACKPLATE_THICKNESS = 6.0
-BACKPLATE_OUTER_FILLET_RADIUS = 1.5
-
-HUB_DIAMETER = 26.0
-HUB_RADIUS = HUB_DIAMETER / 2.0
-HUB_HEIGHT_ABOVE_BACKPLATE = 22.0
-
-BORE_DIAMETER = 8.0
-BORE_RADIUS = BORE_DIAMETER / 2.0
-
-BLADE_COUNT = 12
-BLADE_ROOT_RADIUS = 18.0
-BLADE_TIP_RADIUS = 43.0
-BLADE_THICKNESS = 3.0
-BLADE_HEIGHT_ABOVE_BACKPLATE = 16.0
-BLADE_BACKWARD_SWEEP_ANGLE = radians(45.0)
-BLADE_CURVE_SEGMENTS = 5
-BLADE_ROOT_FILLET_RADIUS = 1.0
-BLADE_ROOT_FILLET_MAX_RADIUS = 30.0
-
-MODEL_LABEL = "centrifugal_impeller_12_backward_curved_blades"
-
-
-def _polar_point(radius: float, angle: float) -> tuple[float, float]:
- return (radius * cos(angle), radius * sin(angle))
-
-
-def _clamp_radius(point: tuple[float, float]) -> tuple[float, float]:
- x_pos, y_pos = point
- radius = hypot(x_pos, y_pos)
-
- if radius < BLADE_ROOT_RADIUS:
- scale = BLADE_ROOT_RADIUS / radius
- return (x_pos * scale, y_pos * scale)
- if radius > BLADE_TIP_RADIUS:
- scale = BLADE_TIP_RADIUS / radius
- return (x_pos * scale, y_pos * scale)
- return point
-
-
-def _blade_center_point(base_angle: float, t: float) -> tuple[float, float]:
- radius = BLADE_ROOT_RADIUS + (BLADE_TIP_RADIUS - BLADE_ROOT_RADIUS) * t
- angle = base_angle - BLADE_BACKWARD_SWEEP_ANGLE * t
- return _polar_point(radius, angle)
-
-
-def _blade_normal(base_angle: float, t: float) -> tuple[float, float]:
- radius = BLADE_ROOT_RADIUS + (BLADE_TIP_RADIUS - BLADE_ROOT_RADIUS) * t
- dr_dt = BLADE_TIP_RADIUS - BLADE_ROOT_RADIUS
- dtheta_dt = -BLADE_BACKWARD_SWEEP_ANGLE
- angle = base_angle + dtheta_dt * t
-
- dx_dt = dr_dt * cos(angle) - radius * sin(angle) * dtheta_dt
- dy_dt = dr_dt * sin(angle) + radius * cos(angle) * dtheta_dt
- length = hypot(dx_dt, dy_dt)
- return (-dy_dt / length, dx_dt / length)
-
-
-def _blade_endpoint_points(base_angle: float, t: float) -> tuple[tuple[float, float], tuple[float, float]]:
- radius = BLADE_ROOT_RADIUS if t == 0.0 else BLADE_TIP_RADIUS
- angle = base_angle - BLADE_BACKWARD_SWEEP_ANGLE * t
- half_angle = asin((BLADE_THICKNESS / 2.0) / radius)
- return (
- _polar_point(radius, angle + half_angle),
- _polar_point(radius, angle - half_angle),
- )
-
-
-def _blade_outline(base_angle: float) -> list[tuple[float, float]]:
- left_side: list[tuple[float, float]] = []
- right_side: list[tuple[float, float]] = []
- half_thickness = BLADE_THICKNESS / 2.0
-
- for index in range(BLADE_CURVE_SEGMENTS + 1):
- t = index / BLADE_CURVE_SEGMENTS
- if index == 0 or index == BLADE_CURVE_SEGMENTS:
- left_point, right_point = _blade_endpoint_points(base_angle, t)
- left_side.append(left_point)
- right_side.append(right_point)
- continue
-
- x_pos, y_pos = _blade_center_point(base_angle, t)
- nx, ny = _blade_normal(base_angle, t)
- left_side.append(
- _clamp_radius((x_pos + nx * half_thickness, y_pos + ny * half_thickness))
- )
- right_side.append(
- _clamp_radius((x_pos - nx * half_thickness, y_pos - ny * half_thickness))
- )
-
- return left_side + list(reversed(right_side))
-
-
-def _make_blade(index: int):
- base_angle = tau * index / BLADE_COUNT
-
- with BuildPart() as blade:
- with BuildSketch(Plane.XY):
- Polygon(_blade_outline(base_angle), align=None)
- extrude(amount=BLADE_HEIGHT_ABOVE_BACKPLATE)
-
- part = blade.part.moved(Location((0.0, 0.0, BACKPLATE_THICKNESS)))
- part.label = f"blade_{index + 1:02d}"
- return part
-
-
-def _make_backplate():
- with BuildPart() as backplate:
- Cylinder(
- radius=BACKPLATE_RADIUS,
- height=BACKPLATE_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- part = backplate.part
- outer_edges = []
- outer_edges.extend(_edges_near_z_radius(part, 0.0, BACKPLATE_RADIUS))
- outer_edges.extend(_edges_near_z_radius(part, BACKPLATE_THICKNESS, BACKPLATE_RADIUS))
- part = fillet(outer_edges, radius=BACKPLATE_OUTER_FILLET_RADIUS)
- part.label = "filleted_backplate"
- return part
-
-
-def _edge_z(edge) -> float:
- return edge.bounding_box().center().Z
-
-
-def _edge_xy_radius(edge) -> float:
- center = edge.bounding_box().center()
- return hypot(center.X, center.Y)
-
-
-def _circle_radius(edge) -> float | None:
- try:
- return edge.radius
- except ValueError:
- return None
-
-
-def _edges_near_z_radius(part, z_value: float, radius: float, tolerance: float = 0.02):
- edges = []
- for edge in part.edges():
- circle_radius = _circle_radius(edge)
- if circle_radius is None:
- continue
- if abs(_edge_z(edge) - z_value) <= tolerance and abs(circle_radius - radius) <= tolerance:
- edges.append(edge)
- return edges
-
-
-def _blade_root_edges(part):
- min_radius = BLADE_ROOT_RADIUS - BLADE_THICKNESS
- edges = []
-
- for edge in part.edges():
- if _circle_radius(edge) is not None:
- continue
- if abs(_edge_z(edge) - BACKPLATE_THICKNESS) > 0.02:
- continue
- if min_radius <= _edge_xy_radius(edge) <= BLADE_ROOT_FILLET_MAX_RADIUS:
- edges.append(edge)
-
- return edges
-
-
-def gen_step():
- """Return a single solid centrifugal impeller in millimeters."""
- total_height = BACKPLATE_THICKNESS + HUB_HEIGHT_ABOVE_BACKPLATE
- backplate = _make_backplate()
-
- with BuildPart() as impeller:
- add(backplate, mode=Mode.ADD)
-
- with Locations(Location((0.0, 0.0, BACKPLATE_THICKNESS))):
- Cylinder(
- radius=HUB_RADIUS,
- height=HUB_HEIGHT_ABOVE_BACKPLATE,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
-
- for blade_index in range(BLADE_COUNT):
- add(_make_blade(blade_index), mode=Mode.ADD)
-
- with Locations(Location((0.0, 0.0, -1.0))):
- Cylinder(
- radius=BORE_RADIUS,
- height=total_height + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = impeller.part
-
- root_edges = _blade_root_edges(part)
- root_edges.extend(_edges_near_z_radius(part, BACKPLATE_THICKNESS, HUB_RADIUS))
- if root_edges:
- part = fillet(root_edges, radius=BLADE_ROOT_FILLET_RADIUS)
-
- part.label = MODEL_LABEL
- part.color = Color(0.62, 0.66, 0.70, 1.0)
- return part
diff --git a/models/fun/centrifugal_impeller.step b/models/fun/centrifugal_impeller.step
deleted file mode 100644
index 8f73951c..00000000
--- a/models/fun/centrifugal_impeller.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0ed3487ca41eecf81d556b581c5574feeb5c6a021b4b5bad0106759b7ec411fd
-size 912708
diff --git a/models/fun/cutaway_turbofan_engine.py b/models/fun/cutaway_turbofan_engine.py
deleted file mode 100644
index 4a54ef9c..00000000
--- a/models/fun/cutaway_turbofan_engine.py
+++ /dev/null
@@ -1,646 +0,0 @@
-from __future__ import annotations
-
-from math import atan2, cos, degrees, hypot, radians, sin
-
-from build123d import (
- Align,
- Axis,
- BuildPart,
- BuildSketch,
- Color,
- Compound,
- Cone,
- Cylinder,
- Face,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- RectangleRounded,
- Torus,
- Wire,
- add,
- extrude,
- fillet,
- loft,
-)
-
-
-DISPLAY_NAME = "Cutaway miniature turbofan jet engine"
-
-# Units: millimeters.
-# Origin: front intake center at X=0 on the engine axis.
-# Engine axis: +X, centered through Y=0, Z=0.
-
-MODEL_LABEL = "cutaway_miniature_turbofan_engine"
-
-CUTAWAY_START_DEG = -5.0
-CUTAWAY_END_DEG = 95.0
-VISIBLE_SECTOR_START_DEG = CUTAWAY_END_DEG
-VISIBLE_SECTOR_END_DEG = 360.0 + CUTAWAY_START_DEG
-
-NACELLE_LENGTH = 180.0
-NACELLE_OUTER_RADIUS = 55.0
-NACELLE_INNER_RADIUS = 48.0
-
-BLADE_ROOT_OVERLAP = 1.5
-STATOR_TIP_OVERLAP = 1.0
-STRUT_OVERLAP = 0.8
-
-BASE_CENTER_X = 90.0
-BASE_LENGTH = 140.0
-BASE_WIDTH = 70.0
-BASE_THICKNESS = 8.0
-BASE_TOP_Z = -110.0
-BASE_BOTTOM_Z = BASE_TOP_Z - BASE_THICKNESS
-
-
-def _polar_yz(radius: float, angle_rad: float) -> tuple[float, float]:
- return (radius * cos(angle_rad), radius * sin(angle_rad))
-
-
-def _point_yz(x_pos: float, radius: float, angle_rad: float) -> tuple[float, float, float]:
- y_pos, z_pos = _polar_yz(radius, angle_rad)
- return (x_pos, y_pos, z_pos)
-
-
-def _annular_sector_points(
- *,
- outer_radius: float,
- inner_radius: float,
- start_deg: float = VISIBLE_SECTOR_START_DEG,
- end_deg: float = VISIBLE_SECTOR_END_DEG,
- segments: int = 96,
-) -> list[tuple[float, float]]:
- outer_points = []
- inner_points = []
- for index in range(segments + 1):
- angle = radians(start_deg + (end_deg - start_deg) * index / segments)
- outer_points.append(_polar_yz(outer_radius, angle))
- inner_points.append(_polar_yz(inner_radius, angle))
- return outer_points + list(reversed(inner_points))
-
-
-def _annular_sector_face(
- *,
- x_pos: float,
- outer_radius: float,
- inner_radius: float,
- start_deg: float = VISIBLE_SECTOR_START_DEG,
- end_deg: float = VISIBLE_SECTOR_END_DEG,
- segments: int = 72,
-) -> Face:
- points = []
- for index in range(segments + 1):
- angle = radians(start_deg + (end_deg - start_deg) * index / segments)
- points.append(_point_yz(x_pos, outer_radius, angle))
- for index in range(segments, -1, -1):
- angle = radians(start_deg + (end_deg - start_deg) * index / segments)
- points.append(_point_yz(x_pos, inner_radius, angle))
- return Face.make_surface(Wire.make_polygon(points, close=True))
-
-
-def _yz_angle_degrees(y_pos: float, z_pos: float) -> float:
- return degrees(atan2(z_pos, y_pos)) % 360.0
-
-
-def _angle_delta_deg(a: float, b: float) -> float:
- return abs((a - b + 180.0) % 360.0 - 180.0)
-
-
-def _in_cutaway(angle_deg: float) -> bool:
- angle = angle_deg % 360.0
- start = CUTAWAY_START_DEG % 360.0
- end = CUTAWAY_END_DEG % 360.0
- if start > end:
- return angle >= start or angle <= end
- return start <= angle <= end
-
-
-def _safe_fillet(part, edges, radius: float):
- if not edges:
- return part
- try:
- return fillet(edges, radius=radius)
- except Exception:
- return part
-
-
-def _label(part, label: str, color: Color | None = None):
- part.label = label
- if color is not None:
- part.color = color
- return part
-
-
-def _make_compound(label: str, parts: list, color: Color | None = None) -> Compound:
- compound = Compound(obj=parts, children=parts, label=label)
- if color is not None:
- compound.color = color
- return compound
-
-
-def _make_cylinder_x(
- *,
- label: str,
- x_start: float,
- x_end: float,
- radius: float,
- color: Color,
-) -> object:
- with BuildPart() as cylinder_part:
- with Locations(Location(((x_start + x_end) / 2.0, 0.0, 0.0))):
- Cylinder(
- radius=radius,
- height=x_end - x_start,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- return _label(cylinder_part.part, label, color)
-
-
-def _make_annular_sector(
- *,
- label: str,
- x_start: float,
- x_end: float,
- outer_radius: float,
- inner_radius: float,
- color: Color,
- fillet_cut_edges: float | None = None,
-) -> object:
- with BuildPart() as sector:
- with BuildSketch(Plane.YZ):
- Polygon(
- _annular_sector_points(
- outer_radius=outer_radius,
- inner_radius=inner_radius,
- ),
- align=None,
- )
- extrude(amount=x_end - x_start)
-
- part = sector.part.moved(Location((x_start, 0.0, 0.0)))
-
- if fillet_cut_edges is not None:
- cut_edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- center = bbox.center()
- if bbox.size.X < (x_end - x_start) * 0.85:
- continue
- angle = _yz_angle_degrees(center.Y, center.Z)
- radius = hypot(center.Y, center.Z)
- if (
- min(inner_radius, outer_radius) - 1.0
- <= radius
- <= max(inner_radius, outer_radius) + 1.0
- and (
- _angle_delta_deg(angle, CUTAWAY_START_DEG) < 1.0
- or _angle_delta_deg(angle, CUTAWAY_END_DEG) < 1.0
- )
- ):
- cut_edges.append(edge)
- part = _safe_fillet(part, cut_edges, fillet_cut_edges)
-
- return _label(part, label, color)
-
-
-def _make_tapered_annular_sector(
- *,
- label: str,
- x_start: float,
- x_end: float,
- outer_start_radius: float,
- inner_start_radius: float,
- outer_end_radius: float,
- inner_end_radius: float,
- color: Color,
-) -> object:
- part = loft(
- [
- _annular_sector_face(
- x_pos=x_start,
- outer_radius=outer_start_radius,
- inner_radius=inner_start_radius,
- ),
- _annular_sector_face(
- x_pos=x_end,
- outer_radius=outer_end_radius,
- inner_radius=inner_end_radius,
- ),
- ]
- )
- return _label(part, label, color)
-
-
-def _make_intake_lip() -> object:
- with BuildPart() as lip:
- with Locations(Location((5.0, 0.0, 0.0))):
- Torus(
- major_radius=50.0,
- minor_radius=5.0,
- major_angle=260.0,
- rotation=(0.0, 90.0, 0.0),
- )
- part = lip.part.rotate(Axis.X, -175.0)
- return _label(part, "rounded_intake_lip_5mm_radius", Color(0.74, 0.77, 0.78, 1.0))
-
-
-def _make_nacelle_shell() -> Compound:
- parts = [
- _make_annular_sector(
- label="nacelle_hollow_duct_100deg_cutaway",
- x_start=0.0,
- x_end=NACELLE_LENGTH,
- outer_radius=NACELLE_OUTER_RADIUS,
- inner_radius=NACELLE_INNER_RADIUS,
- color=Color(0.73, 0.76, 0.78, 1.0),
- fillet_cut_edges=2.0,
- ),
- _make_intake_lip(),
- _make_tapered_annular_sector(
- label="rear_exhaust_ring_od92_id74",
- x_start=160.0,
- x_end=180.0,
- outer_start_radius=48.0,
- inner_start_radius=39.0,
- outer_end_radius=46.0,
- inner_end_radius=37.0,
- color=Color(0.62, 0.65, 0.67, 1.0),
- ),
- ]
- return _make_compound("nacelle_shell", parts)
-
-
-def _normalized(vector: tuple[float, float, float]) -> tuple[float, float, float]:
- length = hypot(hypot(vector[0], vector[1]), vector[2])
- return (vector[0] / length, vector[1] / length, vector[2] / length)
-
-
-def _scale(vector: tuple[float, float, float], amount: float) -> tuple[float, float, float]:
- return (vector[0] * amount, vector[1] * amount, vector[2] * amount)
-
-
-def _add_vec(
- a: tuple[float, float, float],
- b: tuple[float, float, float],
-) -> tuple[float, float, float]:
- return (a[0] + b[0], a[1] + b[1], a[2] + b[2])
-
-
-def _section_face(
- *,
- center: tuple[float, float, float],
- chord_direction: tuple[float, float, float],
- thickness_direction: tuple[float, float, float],
- chord: float,
- thickness: float,
-) -> Face:
- chord_half = _scale(chord_direction, chord / 2.0)
- thickness_half = _scale(thickness_direction, thickness / 2.0)
- points = [
- _add_vec(_add_vec(center, chord_half), thickness_half),
- _add_vec(_add_vec(center, _scale(chord_half, -1.0)), thickness_half),
- _add_vec(_add_vec(center, _scale(chord_half, -1.0)), _scale(thickness_half, -1.0)),
- _add_vec(_add_vec(center, chord_half), _scale(thickness_half, -1.0)),
- ]
- return Face.make_surface(Wire.make_polygon(points, close=True))
-
-
-def _make_radial_blade(
- *,
- label: str,
- x_center: float,
- base_angle: float,
- root_radius: float,
- tip_radius: float,
- chord: float,
- thickness: float,
- sweep_deg: float,
- twist_root_deg: float,
- twist_tip_deg: float,
- color: Color,
- attachment_radius: float | None = None,
- axial_sweep: float = 0.0,
-) -> object:
- span = tip_radius - root_radius
- stations = []
- if attachment_radius is not None and attachment_radius < root_radius:
- stations.append((attachment_radius, 0.0, 0.52, 1.08))
- stations.extend(
- [
- (root_radius, 0.0, 1.00, 1.00),
- (root_radius + span * 0.38, 0.38, 1.04, 0.92),
- (root_radius + span * 0.72, 0.72, 0.96, 0.84),
- (tip_radius, 1.0, 0.78, 0.68),
- ]
- )
-
- faces = []
- for radius, t, chord_scale, thickness_scale in stations:
- angle = base_angle + radians(sweep_deg) * (t**1.25)
- twist = radians(twist_root_deg + (twist_tip_deg - twist_root_deg) * t)
- tangent = (0.0, -sin(angle), cos(angle))
- x_axis = (1.0, 0.0, 0.0)
- chord_direction = _normalized(
- (
- cos(twist) * x_axis[0] + sin(twist) * tangent[0],
- cos(twist) * x_axis[1] + sin(twist) * tangent[1],
- cos(twist) * x_axis[2] + sin(twist) * tangent[2],
- )
- )
- thickness_direction = _normalized(
- (
- -sin(twist) * x_axis[0] + cos(twist) * tangent[0],
- -sin(twist) * x_axis[1] + cos(twist) * tangent[1],
- -sin(twist) * x_axis[2] + cos(twist) * tangent[2],
- )
- )
- center = (
- x_center + axial_sweep * (t - 0.5),
- radius * cos(angle),
- radius * sin(angle),
- )
- faces.append(
- _section_face(
- center=center,
- chord_direction=chord_direction,
- thickness_direction=thickness_direction,
- chord=chord * chord_scale,
- thickness=thickness * thickness_scale,
- )
- )
-
- part = loft(faces, ruled=False)
- return _label(part, label, color)
-
-
-def _make_fan_rotor() -> Compound:
- parts = [
- _make_cylinder_x(
- label="fan_hub_d26_l18",
- x_start=19.0,
- x_end=37.0,
- radius=13.0,
- color=Color(0.31, 0.38, 0.43, 1.0),
- )
- ]
- for index in range(24):
- parts.append(
- _make_radial_blade(
- label=f"fan_blade_{index + 1:02d}",
- x_center=28.0,
- base_angle=radians(index * 360.0 / 24.0),
- root_radius=16.0,
- tip_radius=45.0,
- chord=18.0,
- thickness=2.0,
- sweep_deg=24.0,
- twist_root_deg=-20.0,
- twist_tip_deg=15.0,
- attachment_radius=13.0 - BLADE_ROOT_OVERLAP,
- axial_sweep=3.0,
- color=Color(0.77, 0.82, 0.86, 1.0),
- )
- )
- return _make_compound("fan_rotor", parts)
-
-
-def _make_compressor_rotor() -> Compound:
- parts = []
- stage_centers = [57.0, 69.0, 81.0, 93.0]
- for stage_index, x_center in enumerate(stage_centers):
- parts.append(
- _make_cylinder_x(
- label=f"compressor_stage_{stage_index + 1}_disk_d42",
- x_start=x_center - 2.0,
- x_end=x_center + 2.0,
- radius=21.0,
- color=Color(0.45, 0.50, 0.54, 1.0),
- )
- )
- phase = radians(stage_index * 10.0)
- stage_angle_offset = -4.0 if stage_index % 2 else 4.0
- for blade_index in range(18):
- parts.append(
- _make_radial_blade(
- label=f"compressor_s{stage_index + 1}_blade_{blade_index + 1:02d}",
- x_center=x_center,
- base_angle=phase + radians(blade_index * 360.0 / 18.0),
- root_radius=22.0,
- tip_radius=34.0,
- chord=8.0,
- thickness=1.2,
- sweep_deg=8.0 + stage_angle_offset,
- twist_root_deg=26.0 + stage_angle_offset,
- twist_tip_deg=12.0 + stage_angle_offset,
- attachment_radius=21.0 - BLADE_ROOT_OVERLAP,
- axial_sweep=1.2,
- color=Color(0.69, 0.73, 0.76, 1.0),
- )
- )
- return _make_compound("compressor_rotor_four_stages", parts)
-
-
-def _make_stator_vanes() -> Compound:
- parts = []
- for ring_index, x_center in enumerate([63.0, 75.0, 87.0]):
- phase = radians(360.0 / 32.0 + ring_index * 6.0)
- for vane_index in range(16):
- parts.append(
- _make_radial_blade(
- label=f"stator_r{ring_index + 1}_vane_{vane_index + 1:02d}",
- x_center=x_center,
- base_angle=phase + radians(vane_index * 360.0 / 16.0),
- root_radius=36.0,
- tip_radius=NACELLE_INNER_RADIUS + STATOR_TIP_OVERLAP,
- chord=7.5,
- thickness=1.0,
- sweep_deg=-7.0,
- twist_root_deg=-30.0,
- twist_tip_deg=-18.0,
- axial_sweep=-0.8,
- color=Color(0.79, 0.65, 0.37, 1.0),
- )
- )
- return _make_compound("stator_vanes_three_rings", parts)
-
-
-def _make_turbine_rotor() -> Compound:
- parts = []
- for stage_index, x_center in enumerate([128.0, 145.0]):
- parts.append(
- _make_cylinder_x(
- label=f"turbine_stage_{stage_index + 1}_disk_d46",
- x_start=x_center - 2.5,
- x_end=x_center + 2.5,
- radius=23.0,
- color=Color(0.49, 0.45, 0.41, 1.0),
- )
- )
- phase = radians(stage_index * 12.0)
- for blade_index in range(22):
- parts.append(
- _make_radial_blade(
- label=f"turbine_s{stage_index + 1}_blade_{blade_index + 1:02d}",
- x_center=x_center,
- base_angle=phase + radians(blade_index * 360.0 / 22.0),
- root_radius=24.0,
- tip_radius=40.0,
- chord=12.0,
- thickness=2.0,
- sweep_deg=-34.0,
- twist_root_deg=-44.0,
- twist_tip_deg=-8.0,
- attachment_radius=23.0 - BLADE_ROOT_OVERLAP,
- axial_sweep=2.2,
- color=Color(0.74, 0.59, 0.42, 1.0),
- )
- )
- return _make_compound("turbine_rotor_two_stages", parts)
-
-
-def _make_exhaust_cone() -> object:
- part = loft(
- [
- Face.make_surface(
- Wire.make_circle(
- 18.0,
- plane=Plane((145.0, 0.0, 0.0), x_dir=(0.0, 1.0, 0.0), z_dir=(1.0, 0.0, 0.0)),
- )
- ),
- Face.make_surface(
- Wire.make_circle(
- 7.0,
- plane=Plane((178.0, 0.0, 0.0), x_dir=(0.0, 1.0, 0.0), z_dir=(1.0, 0.0, 0.0)),
- )
- ),
- ]
- )
- return _label(part, "exhaust_cone_taper_d36_to_d14", Color(0.38, 0.40, 0.42, 1.0))
-
-
-def _make_support_strut(index: int, angle_deg: float, *, trimmed: bool = False) -> object:
- angle = radians(angle_deg)
- inner_radius = 4.0 - STRUT_OVERLAP
- outer_radius = 31.0 if trimmed else NACELLE_INNER_RADIUS + STRUT_OVERLAP
- radial_direction = (0.0, cos(angle), sin(angle))
- tangent_direction = (0.0, -sin(angle), cos(angle))
- x_direction = (1.0, 0.0, 0.0)
- faces = []
- for radius in (inner_radius, outer_radius):
- center = (110.0, radius * radial_direction[1], radius * radial_direction[2])
- faces.append(
- _section_face(
- center=center,
- chord_direction=x_direction,
- thickness_direction=tangent_direction,
- chord=5.0,
- thickness=4.0,
- )
- )
- part = loft(faces, ruled=True)
- suffix = "_trimmed" if trimmed else ""
- return _label(part, f"support_strut_{index}_{int(angle_deg)}deg{suffix}", Color(0.33, 0.36, 0.38, 1.0))
-
-
-def _make_support_struts() -> Compound:
- parts = []
- for index, angle_deg in enumerate([5.0, 95.0, 185.0, 275.0], start=1):
- trimmed = _in_cutaway(angle_deg) and _angle_delta_deg(angle_deg, CUTAWAY_END_DEG) > 0.5
- parts.append(_make_support_strut(index, angle_deg, trimmed=trimmed))
- return _make_compound("support_struts_cutaway_trimmed", parts)
-
-
-def _make_mounting_pylon() -> object:
- def pylon_face(z_pos: float, x_width: float, y_width: float, x_center: float) -> Face:
- points = [
- (x_center - x_width / 2.0, 0.0, z_pos),
- (x_center - x_width * 0.18, y_width / 2.0, z_pos),
- (x_center + x_width * 0.35, y_width / 2.0, z_pos),
- (x_center + x_width / 2.0, 0.0, z_pos),
- (x_center + x_width * 0.35, -y_width / 2.0, z_pos),
- (x_center - x_width * 0.18, -y_width / 2.0, z_pos),
- ]
- return Face.make_surface(Wire.make_polygon(points, close=True))
-
- part = loft(
- [
- pylon_face(BASE_TOP_Z, 22.0, 10.0, 90.0),
- pylon_face(-82.0, 19.0, 9.0, 90.0),
- pylon_face(-55.0, 18.0, 8.0, 90.0),
- ],
- ruled=False,
- )
- return _label(part, "mounting_pylon_swept_aero_support", Color(0.46, 0.49, 0.50, 1.0))
-
-
-def _make_display_base() -> object:
- with BuildPart() as base:
- with BuildSketch(Plane.XY):
- RectangleRounded(
- BASE_LENGTH,
- BASE_WIDTH,
- 5.0,
- align=(Align.CENTER, Align.CENTER),
- )
- extrude(amount=BASE_THICKNESS)
-
- for x_offset in (-50.0, 50.0):
- for y_pos in (-22.0, 22.0):
- x_pos = BASE_CENTER_X + x_offset
- with Locations(Location((x_pos - BASE_CENTER_X, y_pos, -0.5))):
- Cylinder(
- radius=3.0,
- height=BASE_THICKNESS + 1.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
- with Locations(Location((x_pos - BASE_CENTER_X, y_pos, BASE_THICKNESS))):
- Cone(
- bottom_radius=3.0,
- top_radius=5.5,
- height=2.6,
- align=(Align.CENTER, Align.CENTER, Align.MAX),
- mode=Mode.SUBTRACT,
- )
-
- part = base.part.moved(Location((BASE_CENTER_X, 0.0, BASE_BOTTOM_Z)))
- outer_edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- center = bbox.center()
- if abs(center.Z - BASE_BOTTOM_Z) > 0.03 and abs(center.Z - BASE_TOP_Z) > 0.03:
- continue
- if (
- abs(center.X - BASE_CENTER_X) > BASE_LENGTH / 2.0 - 6.0
- or abs(center.Y) > BASE_WIDTH / 2.0 - 6.0
- ):
- outer_edges.append(edge)
- part = _safe_fillet(part, outer_edges, 3.0)
- return _label(part, "display_base_rounded_rectangle_countersunk_holes", Color(0.22, 0.24, 0.25, 1.0))
-
-
-def gen_step():
- """Return a labeled multi-body cutaway turbofan display model."""
- bodies = [
- _make_nacelle_shell(),
- _make_fan_rotor(),
- _make_compressor_rotor(),
- _make_turbine_rotor(),
- _make_cylinder_x(
- label="central_shaft_d8_x15_to_x165",
- x_start=15.0,
- x_end=165.0,
- radius=4.0,
- color=Color(0.18, 0.20, 0.22, 1.0),
- ),
- _make_stator_vanes(),
- _make_exhaust_cone(),
- _make_support_struts(),
- _make_mounting_pylon(),
- _make_display_base(),
- ]
- return _make_compound(MODEL_LABEL, bodies)
diff --git a/models/fun/cutaway_turbofan_engine.step b/models/fun/cutaway_turbofan_engine.step
deleted file mode 100644
index 572476db..00000000
--- a/models/fun/cutaway_turbofan_engine.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cce167a538f3705ee7eaad5d1f9c5ffb143abfb6969d51e2d890a05aa1e5a046
-size 6989731
diff --git a/models/fun/electronics_enclosure_base.py b/models/fun/electronics_enclosure_base.py
deleted file mode 100644
index 8b55a69e..00000000
--- a/models/fun/electronics_enclosure_base.py
+++ /dev/null
@@ -1,79 +0,0 @@
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- RectangleRounded,
- extrude,
-)
-
-
-OUTER_LENGTH = 100.0
-OUTER_WIDTH = 70.0
-OUTER_HEIGHT = 30.0
-WALL_THICKNESS = 3.0
-FLOOR_THICKNESS = 3.0
-OUTER_CORNER_FILLET_RADIUS = 2.0
-
-STANDOFF_DIAMETER = 10.0
-STANDOFF_HEIGHT = 12.0
-STANDOFF_HOLE_DIAMETER = 3.0
-STANDOFF_HOLE_DEPTH = 8.0
-STANDOFF_LOCATIONS = (
- (-35.0, -25.0),
- (-35.0, 25.0),
- (35.0, -25.0),
- (35.0, 25.0),
-)
-
-
-def gen_step():
- """Return a single solid open-top electronics enclosure base in millimeters."""
- inner_length = OUTER_LENGTH - 2.0 * WALL_THICKNESS
- inner_width = OUTER_WIDTH - 2.0 * WALL_THICKNESS
- cavity_height = OUTER_HEIGHT - FLOOR_THICKNESS
- standoff_top_z = FLOOR_THICKNESS + STANDOFF_HEIGHT
-
- with BuildPart() as enclosure:
- with BuildSketch(Plane.XY):
- RectangleRounded(
- OUTER_LENGTH,
- OUTER_WIDTH,
- OUTER_CORNER_FILLET_RADIUS,
- align=(Align.CENTER, Align.CENTER),
- )
- extrude(amount=OUTER_HEIGHT)
-
- with Locations(Location((0.0, 0.0, FLOOR_THICKNESS))):
- Box(
- inner_length,
- inner_width,
- cavity_height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- for x_pos, y_pos in STANDOFF_LOCATIONS:
- with Locations(Location((x_pos, y_pos, FLOOR_THICKNESS))):
- Cylinder(
- radius=STANDOFF_DIAMETER / 2.0,
- height=STANDOFF_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.ADD,
- )
- with Locations(Location((x_pos, y_pos, standoff_top_z))):
- Cylinder(
- radius=STANDOFF_HOLE_DIAMETER / 2.0,
- height=STANDOFF_HOLE_DEPTH,
- align=(Align.CENTER, Align.CENTER, Align.MAX),
- mode=Mode.SUBTRACT,
- )
-
- part = enclosure.part
- part.label = "electronics_enclosure_base"
- return part
diff --git a/models/fun/electronics_enclosure_base.step b/models/fun/electronics_enclosure_base.step
deleted file mode 100644
index 59d04dd4..00000000
--- a/models/fun/electronics_enclosure_base.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7ab59a0a1fa48601e2e4260557040dc83b1b9d7c09795a7788c1b2c6c54378f9
-size 78773
diff --git a/models/fun/flying_car.py b/models/fun/flying_car.py
deleted file mode 100644
index ac2d777b..00000000
--- a/models/fun/flying_car.py
+++ /dev/null
@@ -1,426 +0,0 @@
-from __future__ import annotations
-
-import math
-from collections.abc import Sequence
-
-from build123d import (
- Box,
- Color,
- Compound,
- Cylinder,
- Face,
- Location,
- Plane,
- Polygon,
- Shape,
- Torus,
- Wire,
- BuildPart,
- BuildSketch,
- chamfer,
- extrude,
- fillet,
- loft,
-)
-from OCP.BRepPrimAPI import BRepPrimAPI_MakeCylinder
-from OCP.gp import gp_Ax2, gp_Dir, gp_Pnt
-
-
-DISPLAY_NAME = "Roadable VTOL flying car concept"
-
-# Units: millimeters.
-# Origin: center of the road car cabin footprint.
-# +X: forward/nose, +Y: driver-left/port side, +Z: up.
-
-MODEL_LABEL = "roadable_vtol_flying_car_concept"
-
-COLORS = {
- "pearl_body": (0.82, 0.86, 0.84, 1.0),
- "graphite": (0.03, 0.035, 0.04, 1.0),
- "dark_glass": (0.08, 0.16, 0.24, 0.58),
- "warm_lens": (1.0, 0.74, 0.28, 1.0),
- "red_lens": (0.95, 0.08, 0.05, 1.0),
- "titanium": (0.52, 0.56, 0.58, 1.0),
- "brushed_aluminum": (0.72, 0.74, 0.73, 1.0),
- "rotor_blue": (0.24, 0.42, 0.56, 1.0),
- "safety_orange": (1.0, 0.35, 0.06, 1.0),
- "rubber": (0.005, 0.006, 0.007, 1.0),
-}
-
-Vector3 = tuple[float, float, float]
-
-BODY_STATIONS = [
- (-182.0, 48.0, 24.0, 43.0),
- (-146.0, 82.0, 39.0, 42.0),
- (-78.0, 102.0, 50.0, 42.0),
- (20.0, 104.0, 54.0, 43.0),
- (105.0, 82.0, 44.0, 43.0),
- (162.0, 42.0, 28.0, 43.0),
- (183.0, 10.0, 10.0, 43.0),
-]
-
-CANOPY_STATIONS = [
- (-62.0, 45.0, 10.0, 65.0),
- (-22.0, 56.0, 24.0, 72.0),
- (32.0, 52.0, 25.0, 72.0),
- (74.0, 30.0, 10.0, 65.0),
-]
-
-DUCT_OUTER_RADIUS = 48.0
-DUCT_INNER_RADIUS = 36.0
-DUCT_HEIGHT = 12.0
-DUCT_Z = 58.0
-DUCT_FRONT_X = 112.0
-DUCT_REAR_X = -114.0
-DUCT_CENTER_Y = 112.0
-ROTOR_Z = DUCT_Z + 0.9
-
-
-def style(shape: Shape, label: str, color_name: str) -> Shape:
- shape.label = label
- shape.color = Color(*COLORS[color_name])
- return shape
-
-
-def group(label: str, children: Sequence[Shape], color_name: str | None = None) -> Compound:
- compound = Compound(obj=list(children), children=list(children), label=label)
- if color_name is not None:
- compound.color = Color(*COLORS[color_name])
- return compound
-
-
-def softened(shape: Shape, radius: float) -> Shape:
- if radius <= 0.0:
- return shape
- try:
- return fillet(shape.edges(), radius=radius)
- except Exception:
- try:
- return chamfer(shape.edges(), length=radius * 0.35)
- except Exception:
- return shape
-
-
-def superellipse_section(
- x_pos: float,
- width: float,
- height: float,
- z_center: float,
- *,
- exponent: float = 2.65,
- segments: int = 40,
-) -> Face:
- points: list[Vector3] = []
- half_width = width / 2.0
- half_height = height / 2.0
- for index in range(segments):
- angle = 2.0 * math.pi * index / segments
- y_pos = math.copysign(abs(math.cos(angle)) ** (2.0 / exponent), math.cos(angle)) * half_width
- z_pos = z_center + math.copysign(abs(math.sin(angle)) ** (2.0 / exponent), math.sin(angle)) * half_height
- points.append((x_pos, y_pos, z_pos))
- return Face.make_surface(Wire.make_polygon(points, close=True))
-
-
-def lofted_superellipse(label: str, stations: Sequence[tuple[float, float, float, float]], color_name: str) -> Shape:
- faces = [superellipse_section(*station) for station in stations]
- return style(softened(loft(faces, ruled=False), 0.75), label, color_name)
-
-
-def cylinder_x(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return style(Cylinder(radius, length, rotation=(0.0, 90.0, 0.0)).moved(Location(center)), label, color_name)
-
-
-def cylinder_y(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return style(Cylinder(radius, length, rotation=(90.0, 0.0, 0.0)).moved(Location(center)), label, color_name)
-
-
-def cylinder_z(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return style(Cylinder(radius, length).moved(Location(center)), label, color_name)
-
-
-def cylinder_between(label: str, p1: Vector3, p2: Vector3, radius: float, color_name: str) -> Shape:
- axis = (p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2])
- length = math.sqrt(axis[0] ** 2 + axis[1] ** 2 + axis[2] ** 2)
- direction = (axis[0] / length, axis[1] / length, axis[2] / length)
- wrapped = BRepPrimAPI_MakeCylinder(
- gp_Ax2(gp_Pnt(*p1), gp_Dir(*direction)),
- radius,
- length,
- ).Shape()
- return style(Shape(obj=wrapped), label, color_name)
-
-
-def annular_z(label: str, center: Vector3, outer_radius: float, inner_radius: float, height: float, color_name: str) -> Shape:
- outer = Cylinder(outer_radius, height).moved(Location(center))
- inner = Cylinder(inner_radius, height + 3.0).moved(Location(center))
- return style(softened(outer - inner, 0.65), label, color_name)
-
-
-def annular_x(label: str, center: Vector3, outer_radius: float, inner_radius: float, length: float, color_name: str) -> Shape:
- outer = Cylinder(outer_radius, length, rotation=(0.0, 90.0, 0.0)).moved(Location(center))
- inner = Cylinder(inner_radius, length + 3.0, rotation=(0.0, 90.0, 0.0)).moved(Location(center))
- return style(softened(outer - inner, 0.65), label, color_name)
-
-
-def annular_y(label: str, center: Vector3, outer_radius: float, inner_radius: float, length: float, color_name: str) -> Shape:
- outer = Cylinder(outer_radius, length, rotation=(90.0, 0.0, 0.0)).moved(Location(center))
- inner = Cylinder(inner_radius, length + 3.0, rotation=(90.0, 0.0, 0.0)).moved(Location(center))
- return style(softened(outer - inner, 0.55), label, color_name)
-
-
-def prism_from_xz(label: str, y_center: float, points_xz: Sequence[tuple[float, float]], thickness: float, color_name: str) -> Shape:
- faces = []
- for y_pos in (y_center - thickness / 2.0, y_center + thickness / 2.0):
- points = [(x_pos, y_pos, z_pos) for x_pos, z_pos in points_xz]
- faces.append(Face.make_surface(Wire.make_polygon(points, close=True)))
- return style(softened(loft(faces, ruled=True), 0.45), label, color_name)
-
-
-def prism_from_yz(label: str, x_center: float, points_yz: Sequence[tuple[float, float]], thickness: float, color_name: str) -> Shape:
- faces = []
- for x_pos in (x_center - thickness / 2.0, x_center + thickness / 2.0):
- points = [(x_pos, y_pos, z_pos) for y_pos, z_pos in points_yz]
- faces.append(Face.make_surface(Wire.make_polygon(points, close=True)))
- return style(softened(loft(faces, ruled=True), 0.35), label, color_name)
-
-
-def body_shell() -> Compound:
- fuselage = lofted_superellipse("one_piece_aero_road_car_fuselage", BODY_STATIONS, "pearl_body")
- belly = style(
- softened(Box(225.0, 42.0, 8.0).moved(Location((-18.0, 0.0, 18.0))), 1.2),
- "flat_structural_battery_spine",
- "graphite",
- )
- canopy = lofted_superellipse("teardrop_panoramic_canopy", CANOPY_STATIONS, "dark_glass")
-
- splitter = style(
- softened(Box(42.0, 54.0, 3.6).moved(Location((172.0, 0.0, 32.0))), 0.8),
- "front_aero_splitter_under_nose",
- "graphite",
- )
- rear_diffuser = style(
- softened(Box(58.0, 68.0, 5.0).moved(Location((-167.0, 0.0, 27.0))), 0.8),
- "rear_diffuser_plane",
- "graphite",
- )
-
- lights = [
- cylinder_x("left_warm_headlamp", (184.0, 17.5, 43.5), 4.2, 3.4, "warm_lens"),
- cylinder_x("right_warm_headlamp", (184.0, -17.5, 43.5), 4.2, 3.4, "warm_lens"),
- cylinder_x("left_rear_marker_lamp", (-184.0, 28.0, 42.0), 3.2, 3.4, "red_lens"),
- cylinder_x("right_rear_marker_lamp", (-184.0, -28.0, 42.0), 3.2, 3.4, "red_lens"),
- ]
-
- return group(
- "aero_car_body",
- [fuselage, belly, canopy, splitter, rear_diffuser, *lights],
- "pearl_body",
- )
-
-
-def wing_panel(label: str, side: float) -> Shape:
- base_points = [
- (74.0, 43.0),
- (96.0, 138.0),
- (-92.0, 128.0),
- (-66.0, 43.0),
- ]
- points = [(x_pos, side * y_pos) for x_pos, y_pos in base_points]
- if side < 0:
- points = list(reversed(points))
- with BuildPart() as wing:
- with BuildSketch(Plane.XY):
- Polygon(points, align=None)
- extrude(amount=5.2)
- panel = wing.part.moved(Location((0.0, 0.0, 51.5)))
- return style(softened(panel, 0.7), label, "brushed_aluminum")
-
-
-def stabilizers() -> Compound:
- fin_profile = [(-174.0, 54.0), (-129.0, 55.0), (-114.0, 108.0), (-166.0, 91.0)]
- return group(
- "twin_rear_vertical_stabilizers",
- [
- prism_from_xz("port_vertical_tail_fin", 36.0, fin_profile, 5.0, "safety_orange"),
- prism_from_xz("starboard_vertical_tail_fin", -36.0, fin_profile, 5.0, "safety_orange"),
- ],
- "safety_orange",
- )
-
-
-def lifting_wings() -> Compound:
- center_fairing = style(
- softened(Box(120.0, 96.0, 7.0).moved(Location((-2.0, 0.0, 53.0))), 1.0),
- "flush_wing_centerbox_between_ducts",
- "brushed_aluminum",
- )
- return group(
- "folding_lifting_wing_set",
- [
- center_fairing,
- wing_panel("port_deployable_lifting_wing", 1.0),
- wing_panel("starboard_deployable_lifting_wing", -1.0),
- stabilizers(),
- ],
- "brushed_aluminum",
- )
-
-
-def rotor_blade_z(label: str, center: Vector3, angle_deg: float, color_name: str) -> Shape:
- root_radius = 9.0
- tip_radius = DUCT_INNER_RADIUS - 4.0
- root_width = 9.0
- tip_width = 4.4
- angle = math.radians(angle_deg)
- radial = (math.cos(angle), math.sin(angle))
- tangent = (-math.sin(angle), math.cos(angle))
-
- corners = []
- for distance, half_width in (
- (root_radius, root_width / 2.0),
- (tip_radius, tip_width / 2.0),
- (tip_radius, -tip_width / 2.0),
- (root_radius, -root_width / 2.0),
- ):
- corners.append(
- (
- center[0] + radial[0] * distance + tangent[0] * half_width,
- center[1] + radial[1] * distance + tangent[1] * half_width,
- )
- )
- with BuildPart() as blade:
- with BuildSketch(Plane.XY):
- Polygon(corners, align=None)
- extrude(amount=1.8)
- return style(blade.part.moved(Location((0.0, 0.0, center[2] - 0.9))), label, color_name)
-
-
-def lift_duct_module(label: str, center: Vector3, front: bool, side: float) -> Compound:
- duct_label = "front" if front else "rear"
- side_label = "port" if side > 0 else "starboard"
- parts: list[Shape] = [
- annular_z(f"{side_label}_{duct_label}_protective_lift_duct_ring", center, DUCT_OUTER_RADIUS, DUCT_INNER_RADIUS, DUCT_HEIGHT, "graphite"),
- style(
- Torus(DUCT_OUTER_RADIUS - 2.4, 1.3).moved(Location((center[0], center[1], center[2] + DUCT_HEIGHT / 2.0))),
- f"{side_label}_{duct_label}_upper_guard_lip",
- "titanium",
- ),
- cylinder_z(f"{side_label}_{duct_label}_rotor_hub", (center[0], center[1], ROTOR_Z), 8.5, 6.0, "titanium"),
- ]
-
- for index in range(6):
- parts.append(
- rotor_blade_z(
- f"{side_label}_{duct_label}_lift_rotor_blade_{index + 1}",
- (center[0], center[1], ROTOR_Z + 1.6),
- index * 60.0 + (15.0 if front else -15.0),
- "rotor_blue",
- )
- )
-
- for index, angle_deg in enumerate((0.0, 90.0, 180.0, 270.0), start=1):
- angle = math.radians(angle_deg)
- p1 = (center[0], center[1], center[2])
- p2 = (
- center[0] + math.cos(angle) * (DUCT_INNER_RADIUS - 2.0),
- center[1] + math.sin(angle) * (DUCT_INNER_RADIUS - 2.0),
- center[2],
- )
- parts.append(cylinder_between(f"{side_label}_{duct_label}_duct_cross_strut_{index}", p1, p2, 1.8, "titanium"))
-
- body_attach = (center[0] + (-31.0 if front else 31.0), side * 50.0, center[2] - 3.0)
- parts.append(cylinder_between(f"{side_label}_{duct_label}_faired_duct_boom", body_attach, center, 4.8, "brushed_aluminum"))
- return group(label, parts, "graphite")
-
-
-def lift_system() -> Compound:
- duct_centers = [
- ("port_front_lift_fan_module", (DUCT_FRONT_X, DUCT_CENTER_Y, DUCT_Z), True, 1.0),
- ("starboard_front_lift_fan_module", (DUCT_FRONT_X, -DUCT_CENTER_Y, DUCT_Z), True, -1.0),
- ("port_rear_lift_fan_module", (DUCT_REAR_X, DUCT_CENTER_Y, DUCT_Z), False, 1.0),
- ("starboard_rear_lift_fan_module", (DUCT_REAR_X, -DUCT_CENTER_Y, DUCT_Z), False, -1.0),
- ]
- return group(
- "quad_tilt_lift_duct_system",
- [lift_duct_module(label, center, front, side) for label, center, front, side in duct_centers],
- "graphite",
- )
-
-
-def rear_blade_x(label: str, center: Vector3, angle_deg: float) -> Shape:
- root_radius = 7.0
- tip_radius = 20.5
- root_width = 6.0
- tip_width = 2.8
- angle = math.radians(angle_deg)
- radial = (math.cos(angle), math.sin(angle))
- tangent = (-math.sin(angle), math.cos(angle))
- points: list[tuple[float, float]] = []
- for distance, half_width in (
- (root_radius, root_width / 2.0),
- (tip_radius, tip_width / 2.0),
- (tip_radius, -tip_width / 2.0),
- (root_radius, -root_width / 2.0),
- ):
- y_pos = center[1] + radial[0] * distance + tangent[0] * half_width
- z_pos = center[2] + radial[1] * distance + tangent[1] * half_width
- points.append((y_pos, z_pos))
- return prism_from_yz(label, center[0], points, 1.8, "rotor_blue")
-
-
-def rear_thruster() -> Compound:
- center = (-201.0, 0.0, 56.0)
- parts: list[Shape] = [
- annular_x("rear_cruise_thrust_duct", center, 27.0, 20.5, 28.0, "graphite"),
- cylinder_x("rear_cruise_rotor_hub", center, 6.0, 16.0, "titanium"),
- cylinder_between("upper_rear_thruster_pylon", (-174.0, 0.0, 61.0), (-190.0, 0.0, 72.0), 3.4, "brushed_aluminum"),
- cylinder_between("lower_rear_thruster_pylon", (-174.0, 0.0, 39.0), (-190.0, 0.0, 42.0), 3.0, "brushed_aluminum"),
- ]
- for index in range(7):
- parts.append(rear_blade_x(f"rear_cruise_propulsor_blade_{index + 1}", center, index * 360.0 / 7.0 + 8.0))
- return group("rear_cruise_propulsor", parts, "graphite")
-
-
-def wheel_module(label: str, x_pos: float, side: float) -> Compound:
- y_pos = side * 61.0
- wheel_center = (x_pos, y_pos, 20.0)
- side_label = "port" if side > 0 else "starboard"
- axle_end = (x_pos, side * 45.0, 20.0)
- fairing = style(
- softened(Box(37.0, 17.0, 14.0).moved(Location((x_pos, side * 52.0, 31.0))), 2.0),
- f"{side_label}_{label}_flush_retractable_wheel_fairing",
- "pearl_body",
- )
- parts = [
- fairing,
- cylinder_between(f"{side_label}_{label}_short_axle", axle_end, wheel_center, 3.4, "titanium"),
- annular_y(f"{side_label}_{label}_low_profile_tire", wheel_center, 20.0, 11.0, 12.0, "rubber"),
- cylinder_y(f"{side_label}_{label}_silver_wheel_hub", wheel_center, 7.0, 15.0, "brushed_aluminum"),
- ]
- return group(f"{side_label}_{label}_road_wheel_module", parts, "rubber")
-
-
-def road_gear() -> Compound:
- return group(
- "retractable_road_wheel_set",
- [
- wheel_module("front", 108.0, 1.0),
- wheel_module("front", 108.0, -1.0),
- wheel_module("rear", -105.0, 1.0),
- wheel_module("rear", -105.0, -1.0),
- ],
- "rubber",
- )
-
-
-def gen_step():
- return group(
- MODEL_LABEL,
- [
- body_shell(),
- lifting_wings(),
- lift_system(),
- rear_thruster(),
- road_gear(),
- ],
- )
diff --git a/models/fun/flying_car.step b/models/fun/flying_car.step
deleted file mode 100644
index 3709d4e8..00000000
--- a/models/fun/flying_car.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f27ea5542060a7852811decf363e6d6bf58a751a3f334bc149a92c1e51230464
-size 8324722
diff --git a/models/fun/lunar_rover_corner_assembly.py b/models/fun/lunar_rover_corner_assembly.py
deleted file mode 100644
index 5a09535b..00000000
--- a/models/fun/lunar_rover_corner_assembly.py
+++ /dev/null
@@ -1,552 +0,0 @@
-from __future__ import annotations
-
-import math
-from collections.abc import Iterable, Sequence
-
-from build123d import *
-from build123d import Shape
-from OCP.BRepBuilderAPI import BRepBuilderAPI_Transform
-from OCP.BRepPrimAPI import BRepPrimAPI_MakeCylinder
-from OCP.gp import gp_Ax2, gp_Dir, gp_Pnt, gp_Trsf
-
-
-DISPLAY_NAME = "Futuristic lunar rover wheel suspension corner"
-
-# Coordinate convention:
-# - millimeters
-# - wheel axis is global Y
-# - visible outside wheel face points toward negative Y
-# - wheel center is fixed at X=0, Y=0, Z=80
-
-WHEEL_CENTER = (0.0, 0.0, 80.0)
-BASE_CENTER_X = -20.0
-BASE_TOP_Z = 8.0
-
-COLORS = {
- "dark_graphite": (0.005, 0.006, 0.007, 1.0),
- "matte_black": (0.002, 0.002, 0.002, 1.0),
- "satin_titanium": (0.42, 0.43, 0.40, 1.0),
- "pale_aluminum": (0.78, 0.80, 0.78, 1.0),
- "brushed_steel": (0.50, 0.52, 0.54, 1.0),
- "anodized_orange": (1.00, 0.34, 0.08, 1.0),
- "spring_orange": (1.00, 0.42, 0.02, 1.0),
- "brushed_aluminum": (0.66, 0.68, 0.66, 1.0),
- "fastener_steel": (0.18, 0.19, 0.20, 1.0),
-}
-
-
-Vector3 = tuple[float, float, float]
-
-
-def v_add(a: Vector3, b: Vector3) -> Vector3:
- return (a[0] + b[0], a[1] + b[1], a[2] + b[2])
-
-
-def v_sub(a: Vector3, b: Vector3) -> Vector3:
- return (a[0] - b[0], a[1] - b[1], a[2] - b[2])
-
-
-def v_mul(a: Vector3, scalar: float) -> Vector3:
- return (a[0] * scalar, a[1] * scalar, a[2] * scalar)
-
-
-def v_dot(a: Vector3, b: Vector3) -> float:
- return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]
-
-
-def v_cross(a: Vector3, b: Vector3) -> Vector3:
- return (
- a[1] * b[2] - a[2] * b[1],
- a[2] * b[0] - a[0] * b[2],
- a[0] * b[1] - a[1] * b[0],
- )
-
-
-def v_len(a: Vector3) -> float:
- return math.sqrt(v_dot(a, a))
-
-
-def v_norm(a: Vector3) -> Vector3:
- length = v_len(a)
- if length <= 1e-9:
- raise ValueError("zero-length vector")
- return (a[0] / length, a[1] / length, a[2] / length)
-
-
-def style(shape: Shape, label: str, color_name: str) -> Shape:
- shape.label = label
- shape.color = Color(*COLORS[color_name])
- return shape
-
-
-def group(label: str, children: Sequence[Shape], color_name: str | None = None) -> Compound:
- compound = Compound(obj=list(children), children=list(children), label=label)
- if color_name is not None:
- compound.color = Color(*COLORS[color_name])
- return compound
-
-
-def transformed(shape: Shape, center: Vector3, axis_x: Vector3, axis_y: Vector3, axis_z: Vector3) -> Shape:
- x_dir = v_norm(axis_x)
- y_dir = v_norm(axis_y)
- z_dir = v_norm(axis_z)
- trsf = gp_Trsf()
- trsf.SetValues(
- x_dir[0],
- y_dir[0],
- z_dir[0],
- center[0],
- x_dir[1],
- y_dir[1],
- z_dir[1],
- center[1],
- x_dir[2],
- y_dir[2],
- z_dir[2],
- center[2],
- )
- return Shape(obj=BRepBuilderAPI_Transform(shape.wrapped, trsf, True).Shape())
-
-
-def oriented_box(
- label: str,
- center: Vector3,
- size_x: float,
- size_y: float,
- size_z: float,
- axis_x: Vector3 = (1.0, 0.0, 0.0),
- axis_y: Vector3 = (0.0, 1.0, 0.0),
- axis_z: Vector3 = (0.0, 0.0, 1.0),
- color_name: str = "pale_aluminum",
- fillet_radius: float = 0.0,
-) -> Shape:
- shape = transformed(Box(size_x, size_y, size_z), center, axis_x, axis_y, axis_z)
- if fillet_radius > 0.0:
- shape = softened(shape, fillet_radius)
- return style(shape, label, color_name)
-
-
-def cylinder_between(label: str, p1: Vector3, p2: Vector3, radius: float, color_name: str) -> Shape:
- axis = v_sub(p2, p1)
- length = v_len(axis)
- if length <= 1e-6:
- return style(Sphere(radius).moved(Location(p1)), label, color_name)
- direction = v_norm(axis)
- wrapped = BRepPrimAPI_MakeCylinder(
- gp_Ax2(gp_Pnt(*p1), gp_Dir(*direction)),
- radius,
- length,
- ).Shape()
- return style(Shape(obj=wrapped), label, color_name)
-
-
-def cylinder_x(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return style(Cylinder(radius, length, rotation=(0, 90, 0)).moved(Location(center)), label, color_name)
-
-
-def cylinder_y(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return style(Cylinder(radius, length, rotation=(90, 0, 0)).moved(Location(center)), label, color_name)
-
-
-def cylinder_z(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return style(Cylinder(radius, length).moved(Location(center)), label, color_name)
-
-
-def softened(shape: Shape, radius: float) -> Shape:
- # Small repeated pads, spokes, tubes, and bolts dominate export time if every
- # edge receives a true BREP fillet. Major machined bodies still get rounded
- # edges below; small bodies rely on cylindrical profiles and crisp bevel-like
- # proportions to keep the STEP robust.
- if radius < 0.95:
- return shape
- try:
- return fillet(shape.edges(), radius=radius)
- except Exception:
- try:
- return chamfer(shape.edges(), length=radius * 0.35)
- except Exception:
- return shape
-
-
-def annular_y(label: str, center: Vector3, outer_radius: float, inner_radius: float, length: float, color_name: str) -> Shape:
- outer = Cylinder(outer_radius, length, rotation=(90, 0, 0)).moved(Location(center))
- inner = Cylinder(inner_radius, length + 4.0, rotation=(90, 0, 0)).moved(Location(center))
- return style(softened(outer - inner, 1.2), label, color_name)
-
-
-def wheel_lattice() -> Compound:
- center = WHEEL_CENTER
- parts: list[Shape] = [
- annular_y("wheel_outer_rim_ring", center, 65.0, 56.0, 42.0, "dark_graphite"),
- annular_y("wheel_inner_rim_ring", center, 38.0, 25.0, 40.0, "dark_graphite"),
- style(Torus(65.0, 1.8, rotation=(90, 0, 0)).moved(Location((0.0, -21.4, 80.0))), "wheel_outer_bead_visible", "dark_graphite"),
- style(Torus(65.0, 1.8, rotation=(90, 0, 0)).moved(Location((0.0, 21.4, 80.0))), "wheel_outer_bead_inner", "dark_graphite"),
- ]
-
- for index in range(16):
- theta_inner = (2.0 * math.pi * index) / 16.0
- theta_outer = theta_inner + math.radians(5.0)
- p1 = (
- math.cos(theta_inner) * 19.0,
- -13.5,
- 80.0 + math.sin(theta_inner) * 19.0,
- )
- p2 = (
- math.cos(theta_outer) * 56.0,
- 13.5,
- 80.0 + math.sin(theta_outer) * 56.0,
- )
- spoke = cylinder_between(f"wheel_angular_spoke_{index + 1:02d}", p1, p2, 2.8, "dark_graphite")
- parts.append(style(softened(spoke, 0.6), spoke.label or f"wheel_angular_spoke_{index + 1:02d}", "dark_graphite"))
-
- return group("wheel", parts, "dark_graphite")
-
-
-def tread_elements() -> Compound:
- parts: list[Shape] = []
- rim_radius = 65.0
- tread_height = 5.0
- # The diagonal chevron bars have tangent-wise corners, so the pad center is
- # tucked slightly below the nominal 65 mm rim surface to keep the full tread
- # envelope close to the requested 140 mm outside diameter.
- radial_center = rim_radius + tread_height / 2.0 - 1.1
- long_size = math.hypot(18.0, 10.0)
-
- for index in range(32):
- theta = (2.0 * math.pi * index) / 32.0
- normal = (math.cos(theta), 0.0, math.sin(theta))
- tangent = (-math.sin(theta), 0.0, math.cos(theta))
- chevron_sign = 1.0 if index % 2 == 0 else -1.0
- for side_name, y_sign in (("outside", -1.0), ("inside", 1.0)):
- axis_x = v_norm(v_add(v_mul((0.0, 1.0, 0.0), y_sign * 18.0), v_mul(tangent, chevron_sign * 10.0)))
- axis_z = normal
- axis_y = v_norm(v_cross(axis_z, axis_x))
- center = v_add(
- WHEEL_CENTER,
- v_add(
- v_mul(normal, radial_center),
- v_add(v_mul((0.0, 1.0, 0.0), y_sign * 9.0), v_mul(tangent, chevron_sign * 5.0)),
- ),
- )
- pad = oriented_box(
- f"tread_chevron_{index + 1:02d}_{side_name}",
- center,
- long_size,
- 5.8,
- tread_height,
- axis_x,
- axis_y,
- axis_z,
- "matte_black",
- fillet_radius=0.75,
- )
- parts.append(pad)
- return group("tire_tread_elements", parts, "matte_black")
-
-
-def hub_and_axle() -> tuple[Shape, Compound]:
- hub = cylinder_y("central_hub", WHEEL_CENTER, 17.0, 50.0, "pale_aluminum")
- hub = style(softened(hub, 1.2), "central_hub", "pale_aluminum")
-
- axle_parts: list[Shape] = [
- cylinder_y("axle_stub", (0.0, 8.0, 80.0), 8.0, 78.0, "fastener_steel"),
- cylinder_y("visible_axle_cap", (0.0, -29.0, 80.0), 12.0, 6.0, "fastener_steel"),
- ]
- axle_parts = [style(softened(part, 0.6), part.label or "axle_part", "fastener_steel") for part in axle_parts]
- return hub, group("axle_hardware", axle_parts, "fastener_steel")
-
-
-def brake_disc() -> Shape:
- disc = Cylinder(41.0, 5.0, rotation=(90, 0, 0)).moved(Location((0.0, 29.0, 80.0)))
- for index in range(24):
- theta = (2.0 * math.pi * index) / 24.0
- hole_center = (
- math.cos(theta) * 31.0,
- 29.0,
- 80.0 + math.sin(theta) * 31.0,
- )
- disc = disc - Cylinder(2.2, 8.0, rotation=(90, 0, 0)).moved(Location(hole_center))
- disc = softened(disc, 0.4)
- return style(disc, "brake_disc_82mm_vented", "brushed_steel")
-
-
-def brake_caliper() -> Compound:
- angle = math.radians(42.0)
- radial = (math.cos(angle), 0.0, math.sin(angle))
- tangent = (-math.sin(angle), 0.0, math.cos(angle))
- base = v_add(WHEEL_CENTER, v_mul(radial, 45.0))
- parts = [
- oriented_box(
- "brake_caliper_outer_half",
- v_add(base, (0.0, 20.8, 0.0)),
- 30.0,
- 7.0,
- 17.0,
- tangent,
- (0.0, 1.0, 0.0),
- radial,
- "anodized_orange",
- fillet_radius=2.0,
- ),
- oriented_box(
- "brake_caliper_inner_half",
- v_add(base, (0.0, 37.2, 0.0)),
- 30.0,
- 7.0,
- 17.0,
- tangent,
- (0.0, 1.0, 0.0),
- radial,
- "anodized_orange",
- fillet_radius=2.0,
- ),
- oriented_box(
- "brake_caliper_bridge",
- v_add(WHEEL_CENTER, v_add(v_mul(radial, 53.0), (0.0, 29.0, 0.0))),
- 28.0,
- 18.0,
- 5.5,
- tangent,
- (0.0, 1.0, 0.0),
- radial,
- "anodized_orange",
- fillet_radius=1.3,
- ),
- ]
- return group("brake_caliper", parts, "anodized_orange")
-
-
-def upright() -> Compound:
- parts: list[Shape] = [
- oriented_box("upright_machined_web", (-18.0, 40.0, 80.0), 15.0, 18.0, 72.0, color_name="pale_aluminum", fillet_radius=1.5),
- oriented_box("upright_upper_fork_lug", (-10.0, 40.0, 111.0), 30.0, 20.0, 17.0, color_name="pale_aluminum", fillet_radius=1.5),
- oriented_box("upright_lower_fork_lug", (-10.0, 40.0, 49.0), 30.0, 20.0, 17.0, color_name="pale_aluminum", fillet_radius=1.5),
- annular_y("upright_central_bearing", (0.0, 40.0, 80.0), 19.0, 9.0, 20.0, "pale_aluminum"),
- cylinder_y("upright_upper_bushing", (-21.0, 40.0, 111.0), 6.5, 24.0, "satin_titanium"),
- cylinder_y("upright_lower_bushing", (-23.0, 40.0, 49.0), 6.5, 24.0, "satin_titanium"),
- ]
- return group("upright", parts, "pale_aluminum")
-
-
-def bushing(label: str, center: Vector3, length: float = 15.0) -> Shape:
- return style(softened(cylinder_y(label, center, 6.2, length, "satin_titanium"), 0.5), label, "satin_titanium")
-
-
-def control_arms() -> tuple[Compound, Compound]:
- upper_upright = (-21.0, 40.0, 111.0)
- upper_front = (-94.0, -16.0, 118.0)
- upper_rear = (-94.0, 52.0, 118.0)
- lower_upright = (-23.0, 40.0, 49.0)
- lower_front = (-94.0, -20.0, 45.0)
- lower_rear = (-94.0, 52.0, 45.0)
-
- upper_parts = [
- cylinder_between("upper_control_arm_front_tube", upper_front, upper_upright, 3.5, "satin_titanium"),
- cylinder_between("upper_control_arm_rear_tube", upper_rear, upper_upright, 3.5, "satin_titanium"),
- cylinder_between("upper_control_arm_cross_tube", upper_front, upper_rear, 2.8, "satin_titanium"),
- bushing("upper_front_chassis_bushing", upper_front),
- bushing("upper_rear_chassis_bushing", upper_rear),
- bushing("upper_upright_outer_bushing", upper_upright, 18.0),
- ]
- upper_parts = [
- style(softened(part, 0.45), part.label or "upper_control_arm_part", "satin_titanium")
- if "tube" in (part.label or "")
- else part
- for part in upper_parts
- ]
-
- lower_parts = [
- cylinder_between("lower_control_arm_front_tube", lower_front, lower_upright, 3.5, "satin_titanium"),
- cylinder_between("lower_control_arm_rear_tube", lower_rear, lower_upright, 3.5, "satin_titanium"),
- cylinder_between("lower_control_arm_cross_tube", lower_front, lower_rear, 2.8, "satin_titanium"),
- bushing("lower_front_chassis_bushing", lower_front),
- bushing("lower_rear_chassis_bushing", lower_rear),
- bushing("lower_upright_outer_bushing", lower_upright, 18.0),
- ]
- lower_parts = [
- style(softened(part, 0.45), part.label or "lower_control_arm_part", "satin_titanium")
- if "tube" in (part.label or "")
- else part
- for part in lower_parts
- ]
-
- return (
- group("upper_control_arm", upper_parts, "satin_titanium"),
- group("lower_control_arm", lower_parts, "satin_titanium"),
- )
-
-
-def spring_along_axis(label: str, start: Vector3, end: Vector3) -> Compound:
- axis = v_sub(end, start)
- length = v_len(axis)
- axis_z = v_norm(axis)
- fallback = (0.0, 0.0, 1.0)
- if abs(v_dot(axis_z, fallback)) > 0.92:
- fallback = (1.0, 0.0, 0.0)
- axis_x = v_norm(v_cross(fallback, axis_z))
- axis_y = v_norm(v_cross(axis_z, axis_x))
-
- wire_radius = 1.5
- helix_radius = 10.5
- turns = 8
- segments_per_turn = 8
- total_segments = turns * segments_per_turn
-
- def helix_point(step: int) -> Vector3:
- angle = 2.0 * math.pi * turns * step / total_segments
- local = (
- math.cos(angle) * helix_radius,
- math.sin(angle) * helix_radius,
- length * step / total_segments,
- )
- return v_add(
- start,
- v_add(
- v_mul(axis_x, local[0]),
- v_add(v_mul(axis_y, local[1]), v_mul(axis_z, local[2])),
- ),
- )
-
- segments: list[Shape] = []
- previous = helix_point(0)
- for index in range(1, total_segments + 1):
- current = helix_point(index)
- segments.append(
- cylinder_between(
- f"{label}_segment_{index:02d}",
- previous,
- current,
- wire_radius,
- "spring_orange",
- )
- )
- previous = current
- return group(label, segments, "spring_orange")
-
-
-def coilover_shock() -> Compound:
- top = (-90.0, -8.0, 118.0)
- bottom = (-48.0, -24.0, 58.0)
- axis = v_norm(v_sub(top, bottom))
- length = v_len(v_sub(top, bottom))
- damper_start = v_add(bottom, v_mul(axis, 9.0))
- damper_end = v_add(bottom, v_mul(axis, length * 0.62))
- rod_start = v_add(bottom, v_mul(axis, length * 0.52))
- rod_end = v_add(top, v_mul(axis, -7.0))
- spring_start = v_add(bottom, v_mul(axis, 7.0))
- spring_end = v_add(top, v_mul(axis, -7.0))
-
- parts = [
- cylinder_between("coilover_damper_body", damper_start, damper_end, 5.0, "brushed_steel"),
- cylinder_between("coilover_piston_rod", rod_start, rod_end, 2.5, "fastener_steel"),
- spring_along_axis("coilover_helical_spring_8_turns", spring_start, spring_end),
- cylinder_y("coilover_top_eyelet", top, 6.0, 14.0, "satin_titanium"),
- cylinder_y("coilover_lower_eyelet", bottom, 6.0, 14.0, "satin_titanium"),
- ]
- return group("coilover_shock", parts, "satin_titanium")
-
-
-def triangular_cutout_tool(label: str, x_center: float, vertices_yz: Sequence[tuple[float, float]]) -> Shape:
- plane = Plane(origin=(x_center, 0.0, 0.0), x_dir=(0.0, 1.0, 0.0), z_dir=(1.0, 0.0, 0.0))
- with BuildPart() as tool:
- with BuildSketch(plane):
- Polygon(*vertices_yz)
- extrude(amount=13.0, both=True)
- tool.part.label = label
- return tool.part
-
-
-def chassis_bulkhead() -> tuple[Shape, Compound]:
- plate = Box(8.0, 70.0, 95.0).moved(Location((-95.0, 20.0, 80.0)))
- cutouts = [
- triangular_cutout_tool("bulkhead_upper_triangular_cutout", -95.0, [(3.0, 86.0), (37.0, 86.0), (20.0, 117.0)]),
- triangular_cutout_tool("bulkhead_lower_triangular_cutout", -95.0, [(3.0, 74.0), (37.0, 74.0), (20.0, 43.0)]),
- ]
- for tool in cutouts:
- plate = plate - tool
- for y, z in [(3.0, 86.0), (37.0, 86.0), (20.0, 117.0), (3.0, 74.0), (37.0, 74.0), (20.0, 43.0)]:
- plate = plate - cylinder_x("bulkhead_cutout_corner_radius_tool", (-95.0, y, z), 5.0, 13.0, "pale_aluminum")
- plate = style(softened(plate, 1.0), "chassis_bulkhead", "pale_aluminum")
-
- supports = group(
- "bulkhead_display_support_blocks",
- [
- oriented_box("bulkhead_left_support_block", (-95.0, -8.0, 20.25), 17.0, 12.0, 24.5, color_name="brushed_aluminum", fillet_radius=1.0),
- oriented_box("bulkhead_right_support_block", (-95.0, 48.0, 20.25), 17.0, 12.0, 24.5, color_name="brushed_aluminum", fillet_radius=1.0),
- ],
- "brushed_aluminum",
- )
- return plate, supports
-
-
-def countersunk_display_base() -> Shape:
- with BuildPart() as part:
- with BuildSketch():
- RectangleRounded(170.0, 110.0, 6.0)
- extrude(amount=8.0)
- base = part.part.moved(Location((BASE_CENTER_X, 0.0, 0.0)))
- hole_positions = [
- (BASE_CENTER_X - 70.0, -43.0),
- (BASE_CENTER_X + 70.0, -43.0),
- (BASE_CENTER_X - 70.0, 43.0),
- (BASE_CENTER_X + 70.0, 43.0),
- ]
- for x, y in hole_positions:
- base = base - Cylinder(3.2, 12.0).moved(Location((x, y, 4.0)))
- base = base - Cone(3.2, 6.4, 5.0).moved(Location((x, y, 6.3)))
- base = softened(base, 1.1)
- return style(base, "display_base_rounded_countersunk", "brushed_aluminum")
-
-
-def fasteners() -> Compound:
- parts: list[Shape] = []
- for index in range(6):
- theta = (2.0 * math.pi * index) / 6.0
- center = (math.cos(theta) * 22.0, -28.5, 80.0 + math.sin(theta) * 22.0)
- parts.append(style(softened(cylinder_y(f"hub_bolt_{index + 1:02d}", center, 2.6, 5.0, "fastener_steel"), 0.35), f"hub_bolt_{index + 1:02d}", "fastener_steel"))
-
- caliper_bolt_centers = [
- v_add(WHEEL_CENTER, (23.0, 17.0, 44.0)),
- v_add(WHEEL_CENTER, (43.0, 17.0, 24.0)),
- ]
- for index, center in enumerate(caliper_bolt_centers, start=1):
- parts.append(style(softened(cylinder_y(f"caliper_socket_bolt_{index}", center, 2.2, 4.0, "fastener_steel"), 0.3), f"caliper_socket_bolt_{index}", "fastener_steel"))
-
- for index, (y, z) in enumerate(
- [
- (-16.0, 118.0),
- (52.0, 118.0),
- (-20.0, 45.0),
- (52.0, 45.0),
- (-8.0, 34.0),
- (48.0, 34.0),
- (-8.0, 126.0),
- (48.0, 126.0),
- ],
- start=1,
- ):
- parts.append(style(softened(cylinder_x(f"bulkhead_bolt_head_{index:02d}", (-89.6, y, z), 2.8, 3.2, "fastener_steel"), 0.25), f"bulkhead_bolt_head_{index:02d}", "fastener_steel"))
- return group("fasteners", parts, "fastener_steel")
-
-
-def gen_step():
- upper_arm, lower_arm = control_arms()
- chassis_plate, support_blocks = chassis_bulkhead()
- hub, axle = hub_and_axle()
- children: list[Shape] = [
- countersunk_display_base(),
- support_blocks,
- wheel_lattice(),
- tread_elements(),
- hub,
- axle,
- brake_disc(),
- brake_caliper(),
- upright(),
- upper_arm,
- lower_arm,
- coilover_shock(),
- chassis_plate,
- fasteners(),
- ]
- return group("lunar_rover_wheel_suspension_corner", children)
diff --git a/models/fun/lunar_rover_corner_assembly.step b/models/fun/lunar_rover_corner_assembly.step
deleted file mode 100644
index 497374c2..00000000
--- a/models/fun/lunar_rover_corner_assembly.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:98de395fc3819f34f086f11c7365aed47bc879147f4a3f73afb42f9916d1d5c7
-size 2939753
diff --git a/models/fun/mechanical_iris_aperture.py b/models/fun/mechanical_iris_aperture.py
deleted file mode 100644
index d7e75ff6..00000000
--- a/models/fun/mechanical_iris_aperture.py
+++ /dev/null
@@ -1,546 +0,0 @@
-from __future__ import annotations
-
-from math import cos, degrees, radians, sin, tau
-from typing import Iterable
-
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Color,
- Compound,
- Cone,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- RegularPolygon,
- chamfer,
- extrude,
- fillet,
-)
-
-
-# Units: millimeters.
-# Origin: center of the aperture on the Z axis.
-# XY: ring/blade plane viewed from above. +Z: stack direction upward.
-
-MODEL_LABEL = "mechanical_iris_aperture_assembly"
-
-BRUSHED_STEEL = Color(0.64, 0.67, 0.68, 1.0)
-STEEL_HIGHLIGHT = Color(0.76, 0.78, 0.78, 1.0)
-GRAPHITE = Color(0.0, 0.0, 0.0, 1.0)
-BRASS = Color(0.95, 0.68, 0.25, 1.0)
-GUNMETAL = Color(0.13, 0.15, 0.17, 1.0)
-DARK_GRAY = Color(0.06, 0.065, 0.07, 1.0)
-APERTURE_BLACK = Color(0.0, 0.0, 0.0, 1.0)
-
-BASE_OD = 160.0
-BASE_ID = 52.0
-BASE_THICKNESS = 8.0
-BASE_TOP_Z = BASE_THICKNESS
-BASE_MOUNT_HOLE_COUNT = 6
-BASE_MOUNT_HOLE_DIAMETER = 5.0
-BASE_MOUNT_BCD = 130.0
-BASE_COUNTERSINK_TOP_DIAMETER = 10.5
-BASE_COUNTERSINK_DEPTH = 2.4
-
-RETAINING_ROOT_OD = 150.0
-RETAINING_TOOTH_TIP_OD = 154.0
-RETAINING_ID = 70.0
-RETAINING_Z_BOTTOM = 8.0
-RETAINING_Z_TOP = 13.0
-RETAINING_HEIGHT = RETAINING_Z_TOP - RETAINING_Z_BOTTOM
-RETAINING_TEETH = 120
-
-BLADE_COUNT = 12
-BLADE_THICKNESS = 1.2
-BLADE_Z_BOTTOM = 13.05
-BLADE_Z_STAGGER = 0.15
-BLADE_INNER_NOSE_RADIUS = 18.0
-BLADE_NOMINAL_INNER_RADIUS = 24.0
-BLADE_OUTER_RADIUS = 68.0
-BLADE_SPAN_DEGREES = 38.0
-BLADE_PIVOT_RADIUS = 62.0
-BLADE_PIVOT_LOCAL_ANGLE = radians(13.0)
-BLADE_PIVOT_HOLE_DIAMETER = 3.0
-BLADE_DRIVE_PIN_RADIUS = 46.0
-BLADE_DRIVE_PIN_LOCAL_ANGLE = radians(-8.0)
-
-ACTUATING_OD = 138.0
-ACTUATING_ID = 86.0
-ACTUATING_Z_BOTTOM = 14.0
-ACTUATING_Z_TOP = 17.0
-ACTUATING_HEIGHT = ACTUATING_Z_TOP - ACTUATING_Z_BOTTOM
-CAM_SLOT_RADIUS = BLADE_DRIVE_PIN_RADIUS
-CAM_SLOT_LENGTH = 18.0
-CAM_SLOT_WIDTH = 4.0
-
-FRONT_SCREW_COUNT = 6
-FRONT_SCREW_BCD = 120.0
-FRONT_SCREW_HEAD_DIAMETER = 7.0
-FRONT_SCREW_HEAD_HEIGHT = 3.0
-
-
-def _polar_point(radius: float, angle: float) -> tuple[float, float]:
- return (radius * cos(angle), radius * sin(angle))
-
-
-def _offset_point(
- radius: float,
- angle: float,
- tangent_offset: float,
-) -> tuple[float, float]:
- radial_x, radial_y = cos(angle), sin(angle)
- tangent_x, tangent_y = -sin(angle), cos(angle)
- return (
- radius * radial_x + tangent_offset * tangent_x,
- radius * radial_y + tangent_offset * tangent_y,
- )
-
-
-def _set_metadata(part, label: str, color: Color):
- part.label = label
- part.color = color
- return part
-
-
-def _safe_chamfer(part, edges: Iterable, length: float):
- selected = list(edges)
- if not selected:
- return part
- try:
- return chamfer(selected, length=length)
- except Exception:
- return part
-
-
-def _safe_fillet(part, edges: Iterable, radius: float):
- selected = list(edges)
- if not selected:
- return part
- try:
- return fillet(selected, radius=radius)
- except Exception:
- return part
-
-
-def _circular_edges(
- part,
- *,
- radius: float | None = None,
- coordinate: float | None = None,
- axis: str = "z",
- tolerance: float = 0.06,
-):
- edges = []
- for edge in part.edges():
- try:
- edge_radius = edge.radius
- edge_center = edge.arc_center
- edge_normal = edge.normal()
- except Exception:
- continue
-
- if radius is not None and abs(edge_radius - radius) > tolerance:
- continue
-
- components = {"x": abs(edge_normal.X), "y": abs(edge_normal.Y), "z": abs(edge_normal.Z)}
- if components[axis] < 1.0 - 1e-4:
- continue
-
- if coordinate is not None:
- coord = {"x": edge_center.X, "y": edge_center.Y, "z": edge_center.Z}[axis]
- if abs(coord - coordinate) > tolerance:
- continue
-
- edges.append(edge)
-
- return edges
-
-
-def _edges_at_z(part, z_value: float, *, tolerance: float = 0.04):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- if abs(bbox.min.Z - z_value) <= tolerance and abs(bbox.max.Z - z_value) <= tolerance:
- edges.append(edge)
- return edges
-
-
-def _tooth_profile(
- *,
- teeth: int,
- root_radius: float,
- tip_radius: float,
- phase: float = 0.0,
- root_span_fraction: float = 0.72,
- tip_span_fraction: float = 0.34,
-) -> list[tuple[float, float]]:
- points: list[tuple[float, float]] = []
- pitch_angle = tau / teeth
-
- for tooth_index in range(teeth):
- center_angle = phase + tooth_index * pitch_angle
- points.extend(
- (
- _polar_point(root_radius, center_angle - root_span_fraction * pitch_angle / 2.0),
- _polar_point(tip_radius, center_angle - tip_span_fraction * pitch_angle / 2.0),
- _polar_point(tip_radius, center_angle + tip_span_fraction * pitch_angle / 2.0),
- _polar_point(root_radius, center_angle + root_span_fraction * pitch_angle / 2.0),
- )
- )
-
- return points
-
-
-def _tick_rectangle_points(angle: float, inner_radius: float, outer_radius: float, width: float):
- tangent_x, tangent_y = -sin(angle), cos(angle)
- p1 = _polar_point(inner_radius, angle)
- p2 = _polar_point(outer_radius, angle)
- half_width = width / 2.0
- return [
- (p1[0] - tangent_x * half_width, p1[1] - tangent_y * half_width),
- (p2[0] - tangent_x * half_width, p2[1] - tangent_y * half_width),
- (p2[0] + tangent_x * half_width, p2[1] + tangent_y * half_width),
- (p1[0] + tangent_x * half_width, p1[1] + tangent_y * half_width),
- ]
-
-
-def _make_base_ring():
- with BuildPart() as base:
- Cylinder(
- radius=BASE_OD / 2.0,
- height=BASE_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- with Locations(Location((0.0, 0.0, -0.75))):
- Cylinder(
- radius=BASE_ID / 2.0,
- height=BASE_THICKNESS + 1.5,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- for index in range(BASE_MOUNT_HOLE_COUNT):
- x_pos, y_pos = _polar_point(BASE_MOUNT_BCD / 2.0, tau * index / BASE_MOUNT_HOLE_COUNT)
- with Locations(Location((x_pos, y_pos, -0.75))):
- Cylinder(
- radius=BASE_MOUNT_HOLE_DIAMETER / 2.0,
- height=BASE_THICKNESS + 1.5,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
- with Locations(Location((x_pos, y_pos, BASE_TOP_Z - BASE_COUNTERSINK_DEPTH))):
- Cone(
- bottom_radius=BASE_MOUNT_HOLE_DIAMETER / 2.0,
- top_radius=BASE_COUNTERSINK_TOP_DIAMETER / 2.0,
- height=BASE_COUNTERSINK_DEPTH + 0.2,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- with BuildSketch(Plane.XY.offset(BASE_TOP_Z - 0.22)):
- for index in range(72):
- angle = tau * index / 72
- major = index % 6 == 0
- inner_radius = 76.0 if major else 77.2
- outer_radius = 79.35
- width = 0.72 if major else 0.44
- Polygon(_tick_rectangle_points(angle, inner_radius, outer_radius, width), align=None)
- extrude(amount=0.36, mode=Mode.SUBTRACT)
-
- part = base.part
- chamfer_edges = []
- for radius in (BASE_OD / 2.0, BASE_ID / 2.0):
- chamfer_edges.extend(_circular_edges(part, radius=radius, coordinate=0.0))
- chamfer_edges.extend(_circular_edges(part, radius=radius, coordinate=BASE_THICKNESS))
- part = _safe_chamfer(part, chamfer_edges, 1.0)
- return _set_metadata(part, "base_ring_annular_disk_160od_52id_countersunk", BRUSHED_STEEL)
-
-
-def _make_tick_marks() -> list[object]:
- ticks = []
- for index in range(72):
- angle = tau * index / 72
- major = index % 6 == 0
- inner_radius = 76.0 if major else 77.2
- outer_radius = 79.35
- width = 0.72 if major else 0.44
- with BuildPart() as tick:
- with BuildSketch(Plane.XY.offset(BASE_TOP_Z - 0.18)):
- Polygon(_tick_rectangle_points(angle, inner_radius, outer_radius, width), align=None)
- extrude(amount=0.12)
- ticks.append(_set_metadata(tick.part, f"dark_engraved_radial_tick_{index + 1:02d}", DARK_GRAY))
- return ticks
-
-
-def _make_retaining_ring():
- root_radius = RETAINING_ROOT_OD / 2.0
- tip_radius = RETAINING_TOOTH_TIP_OD / 2.0
-
- with BuildPart() as retaining:
- with BuildSketch(Plane.XY.offset(RETAINING_Z_BOTTOM)):
- Polygon(
- _tooth_profile(
- teeth=RETAINING_TEETH,
- root_radius=root_radius,
- tip_radius=tip_radius,
- phase=-tau / RETAINING_TEETH / 2.0,
- root_span_fraction=0.72,
- tip_span_fraction=0.34,
- ),
- align=None,
- )
- extrude(amount=RETAINING_HEIGHT)
-
- with Locations(Location((0.0, 0.0, RETAINING_Z_BOTTOM - 0.5))):
- Cylinder(
- radius=RETAINING_ID / 2.0,
- height=RETAINING_HEIGHT + 1.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = retaining.part
- outer_chamfers = []
- outer_chamfers.extend(_edges_at_z(part, RETAINING_Z_BOTTOM))
- outer_chamfers.extend(_edges_at_z(part, RETAINING_Z_TOP))
- part = _safe_chamfer(part, outer_chamfers, 0.45)
- return _set_metadata(part, "front_retaining_ring_120_external_teeth_150od_70id", STEEL_HIGHLIGHT)
-
-
-def _blade_outline_points(center_angle: float) -> list[tuple[float, float]]:
- local_points: list[tuple[float, float]] = []
-
- for step in range(10):
- local_angle = radians(-BLADE_SPAN_DEGREES / 2.0) + radians(BLADE_SPAN_DEGREES) * step / 9
- local_points.append((BLADE_OUTER_RADIUS, local_angle))
-
- local_points.extend(
- (
- (54.0, radians(18.8)),
- (36.0, radians(18.2)),
- (BLADE_NOMINAL_INNER_RADIUS, radians(18.0)),
- (20.0, radians(17.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(14.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(10.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(6.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(2.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(-1.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(-5.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(-9.5)),
- (BLADE_INNER_NOSE_RADIUS, radians(-13.5)),
- (20.0, radians(-16.8)),
- (BLADE_NOMINAL_INNER_RADIUS, radians(-18.0)),
- (38.0, radians(-18.4)),
- (56.0, radians(-18.8)),
- )
- )
-
- return [_polar_point(radius, center_angle + local_angle) for radius, local_angle in local_points]
-
-
-def _blade_pivot_center(blade_angle: float) -> tuple[float, float]:
- return _polar_point(BLADE_PIVOT_RADIUS, blade_angle + BLADE_PIVOT_LOCAL_ANGLE)
-
-
-def _blade_drive_pin_center(blade_angle: float) -> tuple[float, float]:
- return _polar_point(BLADE_DRIVE_PIN_RADIUS, blade_angle + BLADE_DRIVE_PIN_LOCAL_ANGLE)
-
-
-def _make_iris_blade(index: int):
- blade_angle = tau * index / BLADE_COUNT
- z_bottom = BLADE_Z_BOTTOM + index * BLADE_Z_STAGGER
- pivot_x, pivot_y = _blade_pivot_center(blade_angle)
-
- with BuildPart() as blade:
- with BuildSketch(Plane.XY.offset(z_bottom)):
- Polygon(_blade_outline_points(blade_angle), align=None)
- extrude(amount=BLADE_THICKNESS)
-
- with Locations(Location((pivot_x, pivot_y, z_bottom - 0.2))):
- Cylinder(
- radius=BLADE_PIVOT_HOLE_DIAMETER / 2.0,
- height=BLADE_THICKNESS + 0.4,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = blade.part
- part = _safe_chamfer(part, part.edges(), 0.28)
- return _set_metadata(part, f"iris_blade_{index + 1:02d}_matte_black_graphite", GRAPHITE)
-
-
-def _curved_slot_points(center_angle: float) -> list[tuple[float, float]]:
- half_angle = (CAM_SLOT_LENGTH / CAM_SLOT_RADIUS) / 2.0
- inner_radius = CAM_SLOT_RADIUS - CAM_SLOT_WIDTH / 2.0
- outer_radius = CAM_SLOT_RADIUS + CAM_SLOT_WIDTH / 2.0
- start_angle = center_angle - half_angle
- end_angle = center_angle + half_angle
-
- points = []
- for step in range(8):
- angle = start_angle + (end_angle - start_angle) * step / 7
- points.append(_polar_point(outer_radius, angle))
- for step in range(7, -1, -1):
- angle = start_angle + (end_angle - start_angle) * step / 7
- points.append(_polar_point(inner_radius, angle))
- return points
-
-
-def _make_actuating_ring():
- with BuildPart() as actuator:
- with Locations(Location((0.0, 0.0, ACTUATING_Z_BOTTOM))):
- Cylinder(
- radius=ACTUATING_OD / 2.0,
- height=ACTUATING_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with Locations(Location((0.0, 0.0, ACTUATING_Z_BOTTOM - 0.5))):
- Cylinder(
- radius=ACTUATING_ID / 2.0,
- height=ACTUATING_HEIGHT + 1.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- with BuildSketch(Plane.XY.offset(ACTUATING_Z_BOTTOM - 0.2)):
- for index in range(BLADE_COUNT):
- blade_angle = tau * index / BLADE_COUNT
- slot_angle = blade_angle + BLADE_DRIVE_PIN_LOCAL_ANGLE
- Polygon(_curved_slot_points(slot_angle), align=None)
- extrude(amount=ACTUATING_HEIGHT + 0.4, mode=Mode.SUBTRACT)
-
- part = actuator.part
- chamfer_edges = []
- for radius in (ACTUATING_OD / 2.0, ACTUATING_ID / 2.0):
- chamfer_edges.extend(_circular_edges(part, radius=radius, coordinate=ACTUATING_Z_BOTTOM))
- chamfer_edges.extend(_circular_edges(part, radius=radius, coordinate=ACTUATING_Z_TOP))
- part = _safe_chamfer(part, chamfer_edges, 0.8)
- return _set_metadata(part, "actuating_ring_12_curved_cam_slots_138od_86id", BRUSHED_STEEL)
-
-
-def _make_pivot_screw(index: int):
- blade_angle = tau * index / BLADE_COUNT
- x_pos, y_pos = _blade_pivot_center(blade_angle)
- shaft_height = ACTUATING_Z_TOP - BLADE_Z_BOTTOM + 0.2
- head_height = 1.6
-
- with BuildPart() as screw:
- Cylinder(
- radius=1.25,
- height=shaft_height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with Locations(Location((0.0, 0.0, shaft_height))):
- Cylinder(
- radius=2.5,
- height=head_height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with BuildSketch(Plane.XY.offset(shaft_height + head_height - 0.72)):
- RegularPolygon(radius=1.35, side_count=6, major_radius=True, rotation=30.0)
- extrude(amount=0.82, mode=Mode.SUBTRACT)
-
- part = screw.part
- head_edges = []
- head_edges.extend(_circular_edges(part, radius=2.5, coordinate=shaft_height))
- head_edges.extend(_circular_edges(part, radius=2.5, coordinate=shaft_height + head_height))
- part = _safe_fillet(part, head_edges, 0.35)
- part = part.moved(Location((x_pos, y_pos, BLADE_Z_BOTTOM - 0.1)))
- return _set_metadata(part, f"pivot_screw_{index + 1:02d}_brass_head_and_shaft", BRASS)
-
-
-def _make_drive_pin(index: int):
- blade_angle = tau * index / BLADE_COUNT
- x_pos, y_pos = _blade_drive_pin_center(blade_angle)
-
- with BuildPart() as pin:
- Cylinder(
- radius=1.3,
- height=ACTUATING_Z_TOP - BLADE_Z_BOTTOM + 0.75,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- part = pin.part
- part = _safe_fillet(part, _circular_edges(part, radius=1.3, coordinate=ACTUATING_Z_TOP - BLADE_Z_BOTTOM + 0.75), 0.45)
- part = part.moved(Location((x_pos, y_pos, BLADE_Z_BOTTOM - 0.05)))
- return _set_metadata(part, f"drive_pin_{index + 1:02d}_brass_cam_follower", BRASS)
-
-
-def _make_front_socket_screw(index: int):
- angle = tau * index / FRONT_SCREW_COUNT + radians(30.0)
- x_pos, y_pos = _polar_point(FRONT_SCREW_BCD / 2.0, angle)
- shaft_radius = 2.5
- shaft_height = ACTUATING_Z_TOP - RETAINING_Z_BOTTOM + 0.2
- head_radius = FRONT_SCREW_HEAD_DIAMETER / 2.0
- socket_depth = 1.45
-
- with BuildPart() as screw:
- Cylinder(
- radius=shaft_radius,
- height=shaft_height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with Locations(Location((0.0, 0.0, shaft_height))):
- Cylinder(
- radius=head_radius,
- height=FRONT_SCREW_HEAD_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with BuildSketch(Plane.XY.offset(shaft_height + FRONT_SCREW_HEAD_HEIGHT - socket_depth)):
- RegularPolygon(radius=2.05, side_count=6, major_radius=True, rotation=30.0)
- extrude(amount=socket_depth + 0.15, mode=Mode.SUBTRACT)
-
- part = screw.part
- head_edges = []
- head_edges.extend(_circular_edges(part, radius=head_radius, coordinate=shaft_height))
- head_edges.extend(_circular_edges(part, radius=head_radius, coordinate=shaft_height + FRONT_SCREW_HEAD_HEIGHT))
- part = _safe_fillet(part, head_edges, 0.5)
- part = part.moved(Location((x_pos, y_pos, RETAINING_Z_BOTTOM - 0.1)))
- return _set_metadata(part, f"front_socket_head_cap_screw_{index + 1:02d}_gunmetal", GUNMETAL)
-
-
-def _make_aperture_shadow():
- with BuildPart() as shadow:
- with Locations(Location((0.0, 0.0, BLADE_Z_BOTTOM - 0.22))):
- Cylinder(
- radius=18.0,
- height=0.12,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- return _set_metadata(shadow.part, "dark_central_aperture_void_36mm_visual_shadow", APERTURE_BLACK)
-
-
-def gen_step():
- """Return a labeled mechanical iris aperture assembly in millimeters."""
- parts = [
- _make_aperture_shadow(),
- _make_base_ring(),
- *_make_tick_marks(),
- _make_retaining_ring(),
- ]
-
- for index in range(BLADE_COUNT):
- parts.append(_make_iris_blade(index))
-
- parts.append(_make_actuating_ring())
-
- for index in range(BLADE_COUNT):
- parts.append(_make_drive_pin(index))
- parts.append(_make_pivot_screw(index))
-
- for index in range(FRONT_SCREW_COUNT):
- parts.append(_make_front_socket_screw(index))
-
- assembly = Compound(
- obj=parts,
- children=parts,
- label=MODEL_LABEL,
- )
- return assembly
diff --git a/models/fun/mechanical_iris_aperture.step b/models/fun/mechanical_iris_aperture.step
deleted file mode 100644
index 11f4e451..00000000
--- a/models/fun/mechanical_iris_aperture.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b7381db48156166af3ba7c6737fded7365eaf29309b7f8bf2fab637b5e424bba
-size 13683014
diff --git a/models/fun/miniature_spiral_staircase.py b/models/fun/miniature_spiral_staircase.py
deleted file mode 100644
index 9eede52e..00000000
--- a/models/fun/miniature_spiral_staircase.py
+++ /dev/null
@@ -1,189 +0,0 @@
-from math import cos, radians, sin
-
-from build123d import (
- Align,
- BuildLine,
- BuildPart,
- BuildSketch,
- CenterArc,
- Circle,
- Color,
- Compound,
- Cylinder,
- Edge,
- Line,
- Location,
- Plane,
- extrude,
- make_face,
- sweep,
-)
-
-
-# Units: millimeters.
-# Origin: centered on the staircase axis; base/column bottom starts at Z=0.
-# XY: plan view. +Z: staircase rise direction.
-
-BASE_DIAMETER = 90.0
-BASE_THICKNESS = 5.0
-
-COLUMN_DIAMETER = 14.0
-COLUMN_HEIGHT = 140.0
-
-TREAD_COUNT = 20
-TREAD_THICKNESS = 4.0
-TREAD_INNER_RADIUS = 10.0
-TREAD_OUTER_RADIUS = 62.0
-TREAD_SWEEP_DEGREES = 24.0
-TREAD_FIRST_BOTTOM_Z = 4.0
-TREAD_RISE = 6.0
-TREAD_ROTATION_DEGREES = 18.0
-
-HANDRAIL_RADIUS = 66.0
-HANDRAIL_TUBE_DIAMETER = 5.0
-HANDRAIL_START_Z = 14.0
-HANDRAIL_END_Z = 130.0
-
-BALUSTER_DIAMETER = 3.0
-
-def _polar_point(radius: float, angle_degrees: float) -> tuple[float, float]:
- angle_radians = radians(angle_degrees)
- return (radius * cos(angle_radians), radius * sin(angle_radians))
-
-
-def _make_base():
- with BuildPart() as base:
- Cylinder(
- radius=BASE_DIAMETER / 2.0,
- height=BASE_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- part = base.part
- part.label = "circular_base_disk_diameter_90mm_thickness_5mm"
- part.color = Color(0.42, 0.43, 0.45, 1.0)
- return part
-
-
-def _make_column():
- with BuildPart() as column:
- Cylinder(
- radius=COLUMN_DIAMETER / 2.0,
- height=COLUMN_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- part = column.part
- part.label = "central_column_diameter_14mm_height_140mm"
- part.color = Color(0.70, 0.72, 0.74, 1.0)
- return part
-
-
-def _make_tread_profile():
- half_sweep = TREAD_SWEEP_DEGREES / 2.0
- start_angle = -half_sweep
- end_angle = half_sweep
-
- with BuildPart() as tread:
- with BuildSketch(Plane.XY):
- with BuildLine():
- CenterArc((0.0, 0.0), TREAD_OUTER_RADIUS, start_angle, TREAD_SWEEP_DEGREES)
- Line(
- _polar_point(TREAD_OUTER_RADIUS, end_angle),
- _polar_point(TREAD_INNER_RADIUS, end_angle),
- )
- CenterArc((0.0, 0.0), TREAD_INNER_RADIUS, end_angle, -TREAD_SWEEP_DEGREES)
- Line(
- _polar_point(TREAD_INNER_RADIUS, start_angle),
- _polar_point(TREAD_OUTER_RADIUS, start_angle),
- )
- make_face()
- extrude(amount=TREAD_THICKNESS)
-
- part = tread.part
- part.label = "tread_profile_inner_10mm_outer_62mm_sweep_24deg"
- part.color = Color(0.78, 0.58, 0.35, 1.0)
- return part
-
-
-def _make_tread(index: int):
- angle_degrees = index * TREAD_ROTATION_DEGREES
- bottom_z = TREAD_FIRST_BOTTOM_Z + index * TREAD_RISE
- tread_profile = _make_tread_profile()
- tread = tread_profile.moved(Location((0.0, 0.0, bottom_z), (0.0, 0.0, angle_degrees)))
- tread.label = f"tread_{index + 1:02d}_bottom_z_{bottom_z:.0f}mm_angle_{angle_degrees:.0f}deg"
- return tread
-
-
-def _handrail_center_z(angle_degrees: float) -> float:
- rail_rise = HANDRAIL_END_Z - HANDRAIL_START_Z
- return HANDRAIL_START_Z + rail_rise * angle_degrees / 360.0
-
-
-def _make_handrail():
- rail_height = HANDRAIL_END_Z - HANDRAIL_START_Z
- path = Edge.make_helix(
- pitch=rail_height,
- height=rail_height,
- radius=HANDRAIL_RADIUS,
- center=(0.0, 0.0, HANDRAIL_START_Z),
- )
- start_tangent = path.tangent_at(0.0)
- profile_plane = Plane(
- origin=(HANDRAIL_RADIUS, 0.0, HANDRAIL_START_Z),
- x_dir=(1.0, 0.0, 0.0),
- z_dir=start_tangent,
- )
-
- with BuildPart() as rail:
- with BuildSketch(profile_plane):
- Circle(HANDRAIL_TUBE_DIAMETER / 2.0)
- sweep(path=path, is_frenet=True)
-
- part = rail.part
- part.label = "helical_outer_handrail_radius_66mm_diameter_5mm"
- part.color = Color(0.22, 0.28, 0.34, 1.0)
- return part
-
-
-def _make_baluster(index: int):
- angle_degrees = index * TREAD_ROTATION_DEGREES
- tread_top_z = TREAD_FIRST_BOTTOM_Z + index * TREAD_RISE + TREAD_THICKNESS
- rail_center_z = _handrail_center_z(angle_degrees)
- x_pos, y_pos = _polar_point(TREAD_OUTER_RADIUS, angle_degrees)
- height = rail_center_z - tread_top_z
-
- with BuildPart() as baluster:
- Cylinder(
- radius=BALUSTER_DIAMETER / 2.0,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- part = baluster.part.moved(Location((x_pos, y_pos, tread_top_z)))
- part.label = f"baluster_{index + 1:02d}_diameter_3mm"
- part.color = Color(0.30, 0.33, 0.36, 1.0)
- return part
-
-
-def gen_step():
- """Return a labeled miniature spiral staircase STEP compound in millimeters."""
- parts = [
- _make_base(),
- _make_column(),
- ]
-
- for index in range(TREAD_COUNT):
- parts.append(_make_tread(index))
-
- parts.append(_make_handrail())
-
- for index in range(TREAD_COUNT):
- parts.append(_make_baluster(index))
-
- assembly = Compound(
- obj=parts,
- children=parts,
- label="miniature_spiral_staircase",
- )
- return assembly
diff --git a/models/fun/miniature_spiral_staircase.step b/models/fun/miniature_spiral_staircase.step
deleted file mode 100644
index 08af83dd..00000000
--- a/models/fun/miniature_spiral_staircase.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:72ce8ee7afd69d11a69a9b95440d6445661f1e514e50d53a38d2a04aa5522384
-size 629787
diff --git a/models/fun/miniature_spiral_staircase_highres.3mf b/models/fun/miniature_spiral_staircase_highres.3mf
deleted file mode 100644
index f984356e..00000000
--- a/models/fun/miniature_spiral_staircase_highres.3mf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bc12533cf9a596d67d4ecea5db64abea7ee923cad714076b7aeff652ebcadcfc
-size 1837721
diff --git a/models/fun/miniature_spiral_staircase_highres.glb b/models/fun/miniature_spiral_staircase_highres.glb
deleted file mode 100644
index ef80c959..00000000
--- a/models/fun/miniature_spiral_staircase_highres.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c8ec02f41991acebbaeedef0fc091f31001ce4162ce25bf983298f9668535db7
-size 3260204
diff --git a/models/fun/miniature_spiral_staircase_highres.step b/models/fun/miniature_spiral_staircase_highres.step
deleted file mode 100644
index 52eef3d5..00000000
--- a/models/fun/miniature_spiral_staircase_highres.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aec51b37f8728d5a9f04fc1b2e3b8a543130fa98cce972fc96098f7c156768f1
-size 626905
diff --git a/models/fun/miniature_spiral_staircase_highres.stl b/models/fun/miniature_spiral_staircase_highres.stl
deleted file mode 100644
index 7dcfebba..00000000
--- a/models/fun/miniature_spiral_staircase_highres.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58aa68a62507fee5bc1f826d1ce5120a19737c318d5accf4b1611fcc49071dc5
-size 6360184
diff --git a/models/fun/pelican_riding_bicycle.py b/models/fun/pelican_riding_bicycle.py
deleted file mode 100644
index 68172514..00000000
--- a/models/fun/pelican_riding_bicycle.py
+++ /dev/null
@@ -1,338 +0,0 @@
-from __future__ import annotations
-
-import math
-from collections.abc import Sequence
-
-from build123d import (
- Box,
- Color,
- Compound,
- Cone,
- Cylinder,
- Location,
- Shape,
- Sphere,
- Torus,
- chamfer,
- fillet,
- scale,
-)
-from OCP.BRepBuilderAPI import BRepBuilderAPI_Transform
-from OCP.BRepPrimAPI import BRepPrimAPI_MakeCylinder
-from OCP.gp import gp_Ax2, gp_Dir, gp_Pnt, gp_Trsf
-
-
-DISPLAY_NAME = "Pelican riding a bicycle"
-
-# Units: millimeters.
-# Origin: halfway between the wheel hubs on the bicycle center plane.
-# X: rear-to-front bicycle direction, Y: wheel axle direction, +Z: up.
-
-COLORS = {
- "rubber_black": (0.003, 0.003, 0.003, 1.0),
- "rim_silver": (0.70, 0.72, 0.70, 1.0),
- "spoke_steel": (0.82, 0.84, 0.82, 1.0),
- "frame_blue": (0.05, 0.28, 0.75, 1.0),
- "seat_brown": (0.28, 0.12, 0.05, 1.0),
- "pelican_white": (0.96, 0.95, 0.88, 1.0),
- "wing_gray": (0.66, 0.68, 0.64, 1.0),
- "feather_dark": (0.08, 0.08, 0.075, 1.0),
- "bill_yellow": (1.00, 0.78, 0.26, 1.0),
- "pouch_orange": (0.95, 0.45, 0.12, 1.0),
- "leg_orange": (0.98, 0.50, 0.12, 1.0),
- "eye_black": (0.0, 0.0, 0.0, 1.0),
-}
-
-Vector3 = tuple[float, float, float]
-
-
-def _v_add(a: Vector3, b: Vector3) -> Vector3:
- return (a[0] + b[0], a[1] + b[1], a[2] + b[2])
-
-
-def _v_sub(a: Vector3, b: Vector3) -> Vector3:
- return (a[0] - b[0], a[1] - b[1], a[2] - b[2])
-
-
-def _v_mul(a: Vector3, scalar: float) -> Vector3:
- return (a[0] * scalar, a[1] * scalar, a[2] * scalar)
-
-
-def _v_dot(a: Vector3, b: Vector3) -> float:
- return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]
-
-
-def _v_cross(a: Vector3, b: Vector3) -> Vector3:
- return (
- a[1] * b[2] - a[2] * b[1],
- a[2] * b[0] - a[0] * b[2],
- a[0] * b[1] - a[1] * b[0],
- )
-
-
-def _v_len(a: Vector3) -> float:
- return math.sqrt(_v_dot(a, a))
-
-
-def _v_norm(a: Vector3) -> Vector3:
- length = _v_len(a)
- if length <= 1e-9:
- raise ValueError("zero-length vector")
- return (a[0] / length, a[1] / length, a[2] / length)
-
-
-def _style(shape: Shape, label: str, color_name: str) -> Shape:
- shape.label = label
- shape.color = Color(*COLORS[color_name])
- return shape
-
-
-def _group(label: str, children: Sequence[Shape], color_name: str | None = None) -> Compound:
- compound = Compound(obj=list(children), children=list(children), label=label)
- if color_name is not None:
- compound.color = Color(*COLORS[color_name])
- return compound
-
-
-def _softened(shape: Shape, radius: float) -> Shape:
- try:
- return fillet(shape.edges(), radius=radius)
- except Exception:
- try:
- return chamfer(shape.edges(), length=radius * 0.45)
- except Exception:
- return shape
-
-
-def _transformed(shape: Shape, center: Vector3, axis_x: Vector3, axis_y: Vector3, axis_z: Vector3) -> Shape:
- x_dir = _v_norm(axis_x)
- y_dir = _v_norm(axis_y)
- z_dir = _v_norm(axis_z)
- trsf = gp_Trsf()
- trsf.SetValues(
- x_dir[0],
- y_dir[0],
- z_dir[0],
- center[0],
- x_dir[1],
- y_dir[1],
- z_dir[1],
- center[1],
- x_dir[2],
- y_dir[2],
- z_dir[2],
- center[2],
- )
- return Shape(obj=BRepBuilderAPI_Transform(shape.wrapped, trsf, True).Shape())
-
-
-def _oriented_box(
- label: str,
- center: Vector3,
- size_x: float,
- size_y: float,
- size_z: float,
- axis_x: Vector3,
- axis_y: Vector3,
- axis_z: Vector3,
- color_name: str,
- *,
- radius: float = 0.0,
-) -> Shape:
- shape = _transformed(Box(size_x, size_y, size_z), center, axis_x, axis_y, axis_z)
- if radius > 0.0:
- shape = _softened(shape, radius)
- return _style(shape, label, color_name)
-
-
-def _cylinder_between(label: str, p1: Vector3, p2: Vector3, radius: float, color_name: str) -> Shape:
- axis = _v_sub(p2, p1)
- length = _v_len(axis)
- if length <= 1e-6:
- return _style(Sphere(radius).moved(Location(p1)), label, color_name)
- direction = _v_norm(axis)
- wrapped = BRepPrimAPI_MakeCylinder(
- gp_Ax2(gp_Pnt(*p1), gp_Dir(*direction)),
- radius,
- length,
- ).Shape()
- return _style(Shape(obj=wrapped), label, color_name)
-
-
-def _cylinder_y(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return _style(Cylinder(radius, length, rotation=(90, 0, 0)).moved(Location(center)), label, color_name)
-
-
-def _cylinder_x(label: str, center: Vector3, radius: float, length: float, color_name: str) -> Shape:
- return _style(Cylinder(radius, length, rotation=(0, 90, 0)).moved(Location(center)), label, color_name)
-
-
-def _ellipsoid(label: str, center: Vector3, radii: Vector3, color_name: str) -> Shape:
- shape = scale(Sphere(1.0), by=radii).moved(Location(center))
- return _style(shape, label, color_name)
-
-
-def _flat_cone_x(
- label: str,
- center: Vector3,
- length: float,
- base_radius: float,
- tip_radius: float,
- y_scale: float,
- z_scale: float,
- color_name: str,
-) -> Shape:
- cone = Cone(base_radius, tip_radius, length, rotation=(0, 90, 0))
- shape = scale(cone, by=(1.0, y_scale, z_scale)).moved(Location(center))
- return _style(shape, label, color_name)
-
-
-def _make_wheel(label: str, center: Vector3) -> Compound:
- cx, cy, cz = center
- tire_major_radius = 40.0
- tire_minor_radius = 4.0
- rim_radius = 31.0
- spoke_radius = 0.72
- hub_radius = 4.2
- spoke_count = 20
-
- parts: list[Shape] = [
- _style(
- Torus(tire_major_radius, tire_minor_radius, rotation=(90, 0, 0)).moved(Location(center)),
- f"{label}_continuous_black_tire",
- "rubber_black",
- ),
- _style(
- Torus(rim_radius, 1.45, rotation=(90, 0, 0)).moved(Location(center)),
- f"{label}_silver_rim",
- "rim_silver",
- ),
- _cylinder_y(f"{label}_hub_barrel", center, hub_radius, 14.0, "rim_silver"),
- _cylinder_y(f"{label}_hub_axle_pin", center, 1.8, 24.0, "spoke_steel"),
- ]
-
- for index in range(spoke_count):
- theta = index * math.tau / spoke_count
- rim_point = (cx + math.cos(theta) * (rim_radius - 1.8), cy, cz + math.sin(theta) * (rim_radius - 1.8))
- opposite_offset = -0.9 if index % 2 == 0 else 0.9
- hub_point = (cx, cy + opposite_offset, cz)
- parts.append(_cylinder_between(f"{label}_radial_spoke_{index + 1:02d}", hub_point, rim_point, spoke_radius, "spoke_steel"))
-
- return _group(label, parts)
-
-
-def _make_bicycle() -> Compound:
- rear = (-55.0, 0.0, 44.0)
- front = (55.0, 0.0, 44.0)
- bottom = (0.0, 0.0, 49.0)
- seat_lug = (-15.0, 0.0, 86.0)
- head_low = (43.0, 0.0, 66.0)
- head_high = (38.0, 0.0, 88.0)
- handle_stem = (57.0, 0.0, 99.0)
-
- parts: list[Shape] = [
- _make_wheel("rear_wheel", rear),
- _make_wheel("front_wheel", front),
- _cylinder_between("frame_seat_tube", bottom, seat_lug, 2.3, "frame_blue"),
- _cylinder_between("frame_top_tube", seat_lug, head_high, 2.2, "frame_blue"),
- _cylinder_between("frame_down_tube", bottom, head_low, 2.5, "frame_blue"),
- _cylinder_between("frame_head_tube", head_low, head_high, 2.6, "frame_blue"),
- _cylinder_between("frame_left_chain_stay", (bottom[0], -4.2, bottom[2]), (rear[0], -4.2, rear[2]), 1.7, "frame_blue"),
- _cylinder_between("frame_right_chain_stay", (bottom[0], 4.2, bottom[2]), (rear[0], 4.2, rear[2]), 1.7, "frame_blue"),
- _cylinder_between("frame_left_seat_stay", (seat_lug[0], -3.8, seat_lug[2]), (rear[0], -3.8, rear[2]), 1.55, "frame_blue"),
- _cylinder_between("frame_right_seat_stay", (seat_lug[0], 3.8, seat_lug[2]), (rear[0], 3.8, rear[2]), 1.55, "frame_blue"),
- _cylinder_between("front_left_fork_blade", (head_low[0], -4.0, head_low[2]), (front[0], -4.0, front[2]), 1.7, "frame_blue"),
- _cylinder_between("front_right_fork_blade", (head_low[0], 4.0, head_low[2]), (front[0], 4.0, front[2]), 1.7, "frame_blue"),
- _cylinder_between("handlebar_stem", head_high, handle_stem, 1.8, "frame_blue"),
- _cylinder_y("handlebar_crossbar", (64.0, 0.0, 101.0), 1.6, 38.0, "frame_blue"),
- _cylinder_y("left_black_grip", (64.0, -22.5, 101.0), 2.2, 8.0, "rubber_black"),
- _cylinder_y("right_black_grip", (64.0, 22.5, 101.0), 2.2, 8.0, "rubber_black"),
- _cylinder_between("seat_post", seat_lug, (-17.0, 0.0, 95.0), 1.75, "spoke_steel"),
- _style(_softened(Box(24.0, 17.0, 5.0).moved(Location((-20.0, 0.0, 97.0))), 1.2), "brown_saddle", "seat_brown"),
- _style(Torus(7.5, 0.9, rotation=(90, 0, 0)).moved(Location(bottom)), "crank_ring", "spoke_steel"),
- _cylinder_y("bottom_bracket_axle", bottom, 3.3, 20.0, "rim_silver"),
- ]
-
- pedal_front = (12.5, -11.0, 38.5)
- pedal_back = (-12.5, 11.0, 60.5)
- parts.extend(
- [
- _cylinder_between("front_crank_arm", bottom, pedal_front, 1.0, "spoke_steel"),
- _cylinder_between("rear_crank_arm", bottom, pedal_back, 1.0, "spoke_steel"),
- _style(_softened(Box(15.0, 4.0, 2.5).moved(Location(pedal_front)), 0.7), "front_pedal_flat", "rubber_black"),
- _style(_softened(Box(15.0, 4.0, 2.5).moved(Location(pedal_back)), 0.7), "rear_pedal_flat", "rubber_black"),
- ]
- )
-
- return _group("bicycle", parts, "frame_blue")
-
-
-def _make_pelican() -> Compound:
- parts: list[Shape] = [
- _ellipsoid("pelican_round_body", (-12.0, 0.0, 120.0), (24.0, 15.0, 29.0), "pelican_white"),
- _ellipsoid("pelican_chest_belly_highlight", (1.0, 0.0, 112.0), (18.0, 13.0, 20.0), "pelican_white"),
- _ellipsoid("left_folded_wing", (-22.0, -13.0, 120.0), (19.0, 3.2, 25.0), "wing_gray"),
- _ellipsoid("right_folded_wing", (-22.0, 13.0, 120.0), (19.0, 3.2, 25.0), "wing_gray"),
- _ellipsoid("left_dark_wing_tip", (-33.0, -15.7, 104.0), (12.0, 2.2, 10.0), "feather_dark"),
- _ellipsoid("right_dark_wing_tip", (-33.0, 15.7, 104.0), (12.0, 2.2, 10.0), "feather_dark"),
- _cylinder_between("curved_neck_lower_segment", (-1.0, 0.0, 139.0), (12.0, 0.0, 151.0), 5.0, "pelican_white"),
- _cylinder_between("curved_neck_upper_segment", (12.0, 0.0, 151.0), (24.0, 0.0, 157.0), 4.4, "pelican_white"),
- _ellipsoid("pelican_head", (28.0, 0.0, 160.0), (10.5, 8.1, 9.5), "pelican_white"),
- _flat_cone_x("long_upper_bill", (52.0, 0.0, 160.5), 48.0, 5.2, 1.1, 1.45, 0.55, "bill_yellow"),
- _ellipsoid("rounded_lower_bill_pouch", (49.0, 0.0, 151.5), (23.0, 7.0, 7.2), "pouch_orange"),
- _cylinder_between("dark_bill_seam_left", (31.0, -7.3, 156.2), (70.0, -2.7, 157.0), 0.45, "feather_dark"),
- _cylinder_between("dark_bill_seam_right", (31.0, 7.3, 156.2), (70.0, 2.7, 157.0), 0.45, "feather_dark"),
- _ellipsoid("left_eye", (31.5, -7.4, 162.8), (1.45, 0.75, 1.45), "eye_black"),
- _ellipsoid("right_eye", (31.5, 7.4, 162.8), (1.45, 0.75, 1.45), "eye_black"),
- _ellipsoid("soft_head_crest", (19.0, 0.0, 168.0), (4.0, 4.0, 5.0), "pelican_white"),
- ]
-
- tail_roots = [(-34.0, -4.5, 108.0), (-38.0, 0.0, 110.0), (-34.0, 4.5, 108.0)]
- for index, center in enumerate(tail_roots, start=1):
- parts.append(_ellipsoid(f"short_tail_feather_{index}", center, (11.0, 2.0, 5.2), "feather_dark"))
-
- # Bent orange legs and webbed feet make the bird visibly seated on the cycle.
- left_hip = (-8.0, -5.7, 96.0)
- left_knee = (2.5, -7.5, 74.0)
- left_pedal = (12.5, -11.0, 38.5)
- right_hip = (-13.0, 5.7, 96.0)
- right_knee = (-19.0, 8.4, 74.0)
- right_pedal = (-12.5, 11.0, 60.5)
- parts.extend(
- [
- _cylinder_between("left_upper_leg", left_hip, left_knee, 1.8, "leg_orange"),
- _cylinder_between("left_lower_leg", left_knee, left_pedal, 1.6, "leg_orange"),
- _cylinder_between("right_upper_leg", right_hip, right_knee, 1.8, "leg_orange"),
- _cylinder_between("right_lower_leg", right_knee, right_pedal, 1.6, "leg_orange"),
- _ellipsoid("left_webbed_foot_on_forward_pedal", _v_add(left_pedal, (1.5, 0.0, 2.0)), (8.5, 3.5, 2.2), "leg_orange"),
- _ellipsoid("right_webbed_foot_on_rear_pedal", _v_add(right_pedal, (-1.5, 0.0, 2.0)), (8.5, 3.5, 2.2), "leg_orange"),
- ]
- )
-
- feather_line_specs = [
- ("left_wing_feather_line_1", (-17.0, -16.2, 136.0), (-33.0, -16.2, 112.0)),
- ("left_wing_feather_line_2", (-11.0, -16.4, 126.0), (-34.0, -16.4, 101.0)),
- ("right_wing_feather_line_1", (-17.0, 16.2, 136.0), (-33.0, 16.2, 112.0)),
- ("right_wing_feather_line_2", (-11.0, 16.4, 126.0), (-34.0, 16.4, 101.0)),
- ]
- for label, p1, p2 in feather_line_specs:
- parts.append(_cylinder_between(label, p1, p2, 0.55, "feather_dark"))
-
- return _group("pelican", parts, "pelican_white")
-
-
-def _make_ground_shadow() -> Compound:
- # Thin reference pads give the model a stable visual base without merging
- # into the wheels.
- front_pad = _style(_softened(Box(92.0, 28.0, 1.0).moved(Location((55.0, 0.0, -2.0))), 1.0), "front_wheel_ground_shadow", "rubber_black")
- rear_pad = _style(_softened(Box(92.0, 28.0, 1.0).moved(Location((-55.0, 0.0, -2.0))), 1.0), "rear_wheel_ground_shadow", "rubber_black")
- return _group("subtle_ground_shadow", [front_pad, rear_pad])
-
-
-def gen_step() -> Compound:
- bicycle = _make_bicycle()
- pelican = _make_pelican()
- ground = _make_ground_shadow()
- assembly = _group("pelican_riding_bicycle", [bicycle, pelican, ground])
- assembly.label = "pelican_riding_bicycle"
- return assembly
diff --git a/models/fun/pelican_riding_bicycle.step b/models/fun/pelican_riding_bicycle.step
deleted file mode 100644
index 09e0da13..00000000
--- a/models/fun/pelican_riding_bicycle.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d0f8704706e35f415ea28801f717ea5d01651bdbe07f55cee1a9f0be0bf885d2
-size 1055246
diff --git a/models/fun/photo_coffee_cup.py b/models/fun/photo_coffee_cup.py
deleted file mode 100644
index 7b42d6d7..00000000
--- a/models/fun/photo_coffee_cup.py
+++ /dev/null
@@ -1,537 +0,0 @@
-from __future__ import annotations
-
-from math import degrees, cos, sin, sqrt
-
-from build123d import (
- Align,
- BuildPart,
- BuildSketch,
- Color,
- Compound,
- Cone,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Rectangle,
- RectangleRounded,
- SlotOverall,
- Solid,
- Text,
- TextAlign,
- Torus,
- extrude,
-)
-
-
-# Units: millimeters.
-# Origin: center of the cup base footprint, XY on table plane, +Z upward.
-
-MODEL_LABEL = "photo_reference_takeaway_coffee_cup"
-
-PAPER = Color(0.86, 0.78, 0.64, 1.0)
-PAPER_EDGE = Color(0.90, 0.82, 0.69, 1.0)
-LID_WHITE = Color(0.96, 0.94, 0.90, 1.0)
-LID_HIGHLIGHT = Color(1.0, 0.985, 0.955, 1.0)
-LID_SHADOW = Color(0.82, 0.80, 0.76, 1.0)
-BLUE_LOGO = Color(0.00, 0.62, 0.78, 1.0)
-DARK_OPENING = Color(0.08, 0.075, 0.065, 1.0)
-
-BODY_HEIGHT = 108.0
-BODY_BOTTOM_RADIUS = 30.0
-BODY_TOP_RADIUS = 43.0
-BODY_WALL = 2.2
-BODY_BOTTOM_THICKNESS = 2.8
-
-LID_SKIRT_BOTTOM_Z = 103.5
-LID_TOP_Z = 127.0
-
-LOGO_LOCAL_BOTTOM_Z = -2.0
-LOGO_LOCAL_TOP_Z = 86.4
-LOGO_WORLD_BOTTOM_Z = 34.0
-LOGO_Z_SCALE = 0.56
-LOGO_X_SCALE = 0.70
-LOGO_WORLD_TOP_Z = LOGO_WORLD_BOTTOM_Z + (LOGO_LOCAL_TOP_Z - LOGO_LOCAL_BOTTOM_Z) * LOGO_Z_SCALE
-
-
-def _set_metadata(part, label: str, color: Color):
- part.label = label
- part.color = color
- return part
-
-
-def _radius_at_z(z_pos: float) -> float:
- slope = (BODY_TOP_RADIUS - BODY_BOTTOM_RADIUS) / BODY_HEIGHT
- return BODY_BOTTOM_RADIUS + slope * z_pos
-
-
-def _annular_cylinder(
- *,
- label: str,
- outer_radius: float,
- inner_radius: float,
- height: float,
- z_bottom: float,
- color: Color,
-) -> object:
- with BuildPart() as ring:
- with Locations(Location((0.0, 0.0, z_bottom))):
- Cylinder(
- radius=outer_radius,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with Locations(Location((0.0, 0.0, z_bottom - 0.75))):
- Cylinder(
- radius=inner_radius,
- height=height + 1.5,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- return _set_metadata(ring.part, label, color)
-
-
-def _solid_cylinder(
- *,
- label: str,
- radius: float,
- height: float,
- z_bottom: float,
- color: Color,
-) -> object:
- with BuildPart() as cylinder:
- with Locations(Location((0.0, 0.0, z_bottom))):
- Cylinder(
- radius=radius,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- return _set_metadata(cylinder.part, label, color)
-
-
-def _make_paper_cup_body() -> object:
- extra_cut_height = 4.0
- slope = (BODY_TOP_RADIUS - BODY_BOTTOM_RADIUS) / BODY_HEIGHT
- inner_bottom_radius = _radius_at_z(BODY_BOTTOM_THICKNESS) - BODY_WALL
- inner_top_radius = BODY_TOP_RADIUS - BODY_WALL + slope * extra_cut_height
-
- with BuildPart() as cup:
- Cone(
- bottom_radius=BODY_BOTTOM_RADIUS,
- top_radius=BODY_TOP_RADIUS,
- height=BODY_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- with Locations(Location((0.0, 0.0, BODY_BOTTOM_THICKNESS))):
- Cone(
- bottom_radius=inner_bottom_radius,
- top_radius=inner_top_radius,
- height=BODY_HEIGHT - BODY_BOTTOM_THICKNESS + extra_cut_height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- return _set_metadata(
- cup.part,
- "tapered_beige_paper_cup_open_shell_12oz",
- PAPER,
- )
-
-
-def _make_bottom_foot_ring() -> object:
- with BuildPart() as foot:
- with Locations(Location((0.0, 0.0, 3.2))):
- Torus(major_radius=BODY_BOTTOM_RADIUS - 2.0, minor_radius=1.25)
- return _set_metadata(foot.part, "subtle_rolled_bottom_paper_foot_ring", PAPER_EDGE)
-
-
-def _make_lid_skirt_parts() -> list[object]:
- parts: list[object] = []
- parts.append(
- _annular_cylinder(
- label="white_plastic_lid_lower_snap_skirt_overhanging_cup",
- outer_radius=47.8,
- inner_radius=38.8,
- height=8.0,
- z_bottom=LID_SKIRT_BOTTOM_Z,
- color=LID_WHITE,
- )
- )
- parts.append(
- _annular_cylinder(
- label="thin_shadow_groove_between_lid_beads",
- outer_radius=46.4,
- inner_radius=42.3,
- height=1.0,
- z_bottom=112.5,
- color=LID_SHADOW,
- )
- )
-
- for label, z_pos, major_radius, minor_radius in [
- ("rounded_lower_snap_lip_bead", 108.8, 45.9, 2.1),
- ("rounded_middle_lid_bead", 113.6, 45.2, 1.55),
- ("rounded_upper_lid_bead_under_dome", 117.2, 43.4, 1.25),
- ]:
- with BuildPart() as bead:
- with Locations(Location((0.0, 0.0, z_pos))):
- Torus(major_radius=major_radius, minor_radius=minor_radius)
- parts.append(_set_metadata(bead.part, label, LID_WHITE))
-
- return parts
-
-
-def _make_lid_top() -> list[object]:
- parts: list[object] = []
-
- with BuildPart() as dome:
- with Locations(Location((0.0, 0.0, 115.5))):
- Cone(
- bottom_radius=42.8,
- top_radius=39.0,
- height=9.4,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- parts.append(_set_metadata(dome.part, "shallow_sloped_lid_dome", LID_WHITE))
-
- parts.append(
- _solid_cylinder(
- label="flat_raised_top_lid_disk",
- radius=38.4,
- height=2.1,
- z_bottom=124.6,
- color=LID_HIGHLIGHT,
- )
- )
-
- with BuildPart() as top_outer_ring:
- with Locations(Location((0.0, 0.0, 126.9))):
- Torus(major_radius=36.4, minor_radius=0.85)
- parts.append(_set_metadata(top_outer_ring.part, "fine_raised_outer_top_emboss_ring", LID_HIGHLIGHT))
-
- with BuildPart() as top_inner_ring:
- with Locations(Location((0.0, 0.0, 127.15))):
- Torus(major_radius=18.0, minor_radius=0.38)
- parts.append(_set_metadata(top_inner_ring.part, "faint_central_emboss_circle", LID_HIGHLIGHT))
-
- return parts
-
-
-def _make_sip_feature() -> list[object]:
- parts: list[object] = []
- top_plane = Plane.XY.offset(LID_TOP_Z)
-
- with BuildPart() as raised_sip:
- with BuildSketch(top_plane):
- with Locations((11.0, 18.4)):
- SlotOverall(width=31.0, height=12.2, rotation=-9.0)
- extrude(amount=1.2)
- parts.append(_set_metadata(raised_sip.part, "raised_oval_sipping_platform_on_lid", LID_HIGHLIGHT))
-
- with BuildPart() as sip_opening:
- with BuildSketch(Plane.XY.offset(LID_TOP_Z + 1.22)):
- with Locations((15.2, 20.0)):
- SlotOverall(width=16.0, height=4.0, rotation=-9.0)
- extrude(amount=0.45)
- parts.append(_set_metadata(sip_opening.part, "dark_recessed_sip_slot_opening", DARK_OPENING))
-
- with BuildPart() as nose_ridge:
- with BuildSketch(Plane.XY.offset(LID_TOP_Z + 0.7)):
- with Locations((0.5, 7.5)):
- RectangleRounded(width=10.0, height=22.0, radius=2.0, rotation=-8.0)
- extrude(amount=0.75)
- parts.append(_set_metadata(nose_ridge.part, "low_centered_lid_drink_ridge", LID_HIGHLIGHT))
-
- return parts
-
-
-def _make_top_embossing() -> list[object]:
- parts: list[object] = []
- emboss_plane = Plane.XY.offset(LID_TOP_Z + 0.18)
-
- with BuildPart() as caution_text:
- with BuildSketch(emboss_plane):
- with Locations((-2.5, -10.5)):
- Text(
- "CAUTION HOT",
- font_size=4.0,
- text_align=(TextAlign.CENTER, TextAlign.CENTER),
- rotation=3.0,
- )
- with Locations((-4.0, 6.0)):
- Text(
- "PLEASE RECYCLE",
- font_size=3.0,
- text_align=(TextAlign.CENTER, TextAlign.CENTER),
- rotation=-4.0,
- )
- extrude(amount=0.28)
- parts.append(_set_metadata(caution_text.part, "low_raised_lid_embossed_warning_text", LID_HIGHLIGHT))
-
- for index, (x_pos, y_pos, width, height, rotation) in enumerate(
- [
- (-18.0, 4.5, 10.0, 1.1, 13.0),
- (18.0, 4.5, 10.0, 1.1, -13.0),
- (-15.0, -18.0, 8.5, 1.0, -16.0),
- (15.0, -18.0, 8.5, 1.0, 16.0),
- ],
- start=1,
- ):
- with BuildPart() as tick:
- with BuildSketch(Plane.XY.offset(LID_TOP_Z + 0.16)):
- with Locations((x_pos, y_pos)):
- Rectangle(width=width, height=height, rotation=rotation)
- extrude(amount=0.24)
- parts.append(_set_metadata(tick.part, f"short_emboss_tick_mark_{index:02d}", LID_HIGHLIGHT))
-
- return parts
-
-
-def _make_blue_logo() -> list[object]:
- bottle_cells: list[object] = []
- z_bottom = LOGO_WORLD_BOTTOM_Z
- z_top = LOGO_WORLD_TOP_Z
- dz = 0.58
-
- z_pos = z_bottom
- cell_index = 1
- while z_pos < z_top:
- z_next = min(z_pos + dz, z_top)
- for interval in _blue_bottle_intervals(z_pos, z_next):
- cell = _make_curved_decal_cell(
- label=f"blue_bottle_logo_curved_surface_cell_{cell_index:03d}",
- x_left_bottom=interval[0],
- x_right_bottom=interval[1],
- z_bottom=z_pos,
- x_left_top=interval[2],
- x_right_top=interval[3],
- z_top=z_next,
- color=BLUE_LOGO,
- )
- if cell is not None:
- bottle_cells.append(cell)
- cell_index += 1
- z_pos = z_next
-
- mark_cells: list[object] = []
- z_pos = 34.65
- while z_pos < 37.35:
- z_next = min(z_pos + 0.36, 37.35)
- interval = _registered_mark_interval((z_pos + z_next) / 2.0)
- if interval is not None:
- cell = _make_curved_decal_cell(
- label=f"blue_bottle_registered_mark_surface_cell_{len(mark_cells) + 1:02d}",
- x_left_bottom=interval[0],
- x_right_bottom=interval[1],
- z_bottom=z_pos,
- x_left_top=interval[0],
- x_right_top=interval[1],
- z_top=z_next,
- color=BLUE_LOGO,
- inner_offset=0.18,
- outer_offset=0.72,
- )
- if cell is not None:
- mark_cells.append(cell)
- z_pos = z_next
-
- logo = Compound(
- obj=bottle_cells + mark_cells,
- children=bottle_cells + mark_cells,
- label="front_blue_bottle_logo_wrapped_on_cup_surface",
- )
- logo.color = BLUE_LOGO
- return [logo]
-
-
-def _blue_bottle_intervals(
- z_bottom: float,
- z_top: float,
-) -> list[tuple[float, float, float, float]]:
- intervals: list[tuple[float, float, float, float]] = []
- bottom_intervals = _logo_outline_intervals_at(z_bottom + 1.0e-4)
- top_intervals = _logo_outline_intervals_at(z_top - 1.0e-4)
- for bottom_interval, top_interval in zip(bottom_intervals, top_intervals):
- intervals.append((bottom_interval[0], bottom_interval[1], top_interval[0], top_interval[1]))
- return intervals
-
-
-def _logo_outline_intervals_at(z_pos: float) -> list[tuple[float, float]]:
- local_z = (z_pos - LOGO_WORLD_BOTTOM_Z) / LOGO_Z_SCALE + LOGO_LOCAL_BOTTOM_Z
- if local_z < LOGO_LOCAL_BOTTOM_Z or local_z > LOGO_LOCAL_TOP_Z:
- return []
-
- outline = [
- (-4.6, 86.4),
- (-3.5, 86.1),
- (-2.1, 84.6),
- (-0.1, 83.7),
- (3.0, 83.2),
- (7.4, 83.1),
- (8.7, 83.4),
- (8.3, 82.2),
- (5.9, 81.4),
- (1.8, 81.2),
- (-2.7, 81.7),
- (-5.8, 82.0),
- (-6.7, 83.0),
- (-6.8, 84.8),
- (-6.2, 85.9),
- (-3.4, 80.7),
- (-3.4, 73.5),
- (-3.7, 68.2),
- (-4.7, 64.3),
- (-6.3, 61.1),
- (-8.6, 58.7),
- (-11.4, 56.8),
- (-13.4, 54.4),
- (-14.5, 50.8),
- (-15.1, 45.2),
- (-15.4, 37.0),
- (-15.2, 28.4),
- (-14.5, 20.0),
- (-13.5, 11.9),
- (-12.1, 4.1),
- (-10.7, 0.7),
- (-8.6, -0.8),
- (-4.6, -1.7),
- (-0.5, -2.0),
- (4.0, -1.8),
- (8.1, -0.9),
- (10.7, 0.8),
- (12.1, 4.5),
- (13.5, 11.2),
- (14.7, 19.4),
- (15.4, 28.1),
- (15.7, 37.2),
- (15.5, 45.9),
- (14.6, 52.0),
- (13.0, 56.3),
- (10.7, 59.8),
- (8.0, 62.2),
- (5.4, 63.7),
- (2.8, 64.8),
- (1.1, 66.5),
- (0.3, 69.8),
- (0.2, 74.9),
- (0.2, 80.4),
- ]
- xs: list[float] = []
- for index, (x1, z1) in enumerate(outline):
- x2, z2 = outline[(index + 1) % len(outline)]
- if z1 == z2:
- continue
- if (z1 <= local_z < z2) or (z2 <= local_z < z1):
- t = (local_z - z1) / (z2 - z1)
- xs.append(x1 + (x2 - x1) * t)
- xs.sort()
- return [
- (xs[index] * LOGO_X_SCALE, xs[index + 1] * LOGO_X_SCALE)
- for index in range(0, len(xs) - 1, 2)
- ]
-
-
-def _registered_mark_interval(z_pos: float) -> tuple[float, float] | None:
- center_x = 14.2
- center_z = 36.0
- radius = 1.25
- dy = z_pos - center_z
- if abs(dy) > radius:
- return None
- half_width = radius * sqrt(max(0.0, 1.0 - dy * dy / (radius * radius)))
- return (center_x - half_width, center_x + half_width)
-
-
-def _cup_surface_point(arc_x: float, z_pos: float, radial_offset: float) -> tuple[float, float, float]:
- radius = _radius_at_z(z_pos) + radial_offset
- angle = arc_x / radius
- return (radius * sin(angle), -radius * cos(angle), z_pos)
-
-
-def _make_curved_decal_cell(
- *,
- label: str,
- x_left_bottom: float,
- x_right_bottom: float,
- z_bottom: float,
- x_left_top: float,
- x_right_top: float,
- z_top: float,
- color: Color,
- inner_offset: float = 0.16,
- outer_offset: float = 0.78,
-) -> object | None:
- x_left = (x_left_bottom + x_left_top) / 2.0
- x_right = (x_right_bottom + x_right_top) / 2.0
- width = x_right - x_left
- height = z_top - z_bottom
- if width < 0.18 or height <= 0.0:
- return None
-
- z_center = (z_bottom + z_top) / 2.0
- thickness = outer_offset - inner_offset
- max_segment_width = 3.2
- segment_count = max(1, int(width / max_segment_width + 0.999))
- segment_parts = []
-
- for segment_index in range(segment_count):
- segment_left = x_left + width * segment_index / segment_count
- segment_right = x_left + width * (segment_index + 1) / segment_count
- segment_width = segment_right - segment_left
- x_center = (segment_left + segment_right) / 2.0
- segment_parts.append(
- _make_surface_decal_box(
- label=f"{label}_segment_{segment_index + 1:02d}",
- x_center=x_center,
- z_center=z_center,
- width=segment_width + 0.04,
- height=height + 0.035,
- thickness=thickness,
- radial_offset=inner_offset + thickness / 2.0,
- color=color,
- )
- )
-
- if len(segment_parts) == 1:
- return segment_parts[0]
-
- compound = Compound(obj=segment_parts, children=segment_parts, label=label)
- compound.color = color
- return compound
-
-
-def _make_surface_decal_box(
- *,
- label: str,
- x_center: float,
- z_center: float,
- width: float,
- height: float,
- thickness: float,
- radial_offset: float,
- color: Color,
-) -> object:
- radius = _radius_at_z(z_center) + radial_offset
- angle = x_center / radius
- center = _cup_surface_point(x_center, z_center, radial_offset)
- box = Solid.make_box(width, thickness, height)
- box = box.moved(Location((-width / 2.0, -thickness / 2.0, -height / 2.0)))
- box = box.moved(Location(center, (0.0, 0.0, degrees(angle))))
- return _set_metadata(box, label, color)
-
-
-def gen_step():
- """Return a photo-inspired takeaway coffee cup model in millimeters."""
- parts: list[object] = [
- _make_paper_cup_body(),
- _make_bottom_foot_ring(),
- ]
- parts.extend(_make_lid_skirt_parts())
- parts.extend(_make_lid_top())
- parts.extend(_make_sip_feature())
- parts.extend(_make_top_embossing())
- parts.extend(_make_blue_logo())
-
- return Compound(obj=parts, children=parts, label=MODEL_LABEL)
diff --git a/models/fun/photo_coffee_cup.step b/models/fun/photo_coffee_cup.step
deleted file mode 100644
index e2b9513e..00000000
--- a/models/fun/photo_coffee_cup.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6172f0d0a4903445e4a3a0543314e94b7dd8bc50cfb9db9dcdca7336a4b27609
-size 9305934
diff --git a/models/fun/planetary_gear_assembly.py b/models/fun/planetary_gear_assembly.py
deleted file mode 100644
index 4aea4a40..00000000
--- a/models/fun/planetary_gear_assembly.py
+++ /dev/null
@@ -1,282 +0,0 @@
-from math import cos, pi, sin, tau
-
-from build123d import (
- Align,
- BuildPart,
- BuildSketch,
- Color,
- Compound,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- extrude,
-)
-
-
-# Units: millimeters.
-# Origin: sun/ring center on the carrier axis.
-# XY: gear plane. +Z: gear and pin axes.
-
-GEAR_THICKNESS = 8.0
-GEAR_BOTTOM_Z = 0.0
-
-SUN_TEETH = 24
-SUN_PITCH_DIAMETER = 48.0
-SUN_ROOT_DIAMETER = 42.0
-SUN_OUTSIDE_DIAMETER = 54.0
-SUN_BORE_DIAMETER = 10.0
-
-PLANET_TEETH = 18
-PLANET_PITCH_DIAMETER = 36.0
-PLANET_ROOT_DIAMETER = 31.0
-PLANET_OUTSIDE_DIAMETER = 41.0
-PLANET_CENTER_RADIUS = 42.0
-PLANET_COUNT = 3
-PLANET_BORE_DIAMETER = 6.8
-
-EXTERNAL_TOOTH_ROOT_SPAN_FRACTION = 0.42
-EXTERNAL_TOOTH_TIP_SPAN_FRACTION = 0.18
-
-
-def _srgb_channel_to_linear(channel: int) -> float:
- value = channel / 255.0
- if value <= 0.04045:
- return value / 12.92
- return ((value + 0.055) / 1.055) ** 2.4
-
-
-def _srgb_color(hex_color: str) -> Color:
- value = hex_color.removeprefix("#")
- if len(value) != 6:
- raise ValueError(f"Expected #rrggbb color, got {hex_color!r}")
- return Color(
- _srgb_channel_to_linear(int(value[0:2], 16)),
- _srgb_channel_to_linear(int(value[2:4], 16)),
- _srgb_channel_to_linear(int(value[4:6], 16)),
- 1.0,
- )
-
-
-# Match the docs app's dark-mode hero render source colors.
-PLANET_COLORS = (
- _srgb_color("#61d4f6"),
- _srgb_color("#a6ea90"),
- _srgb_color("#ed9ee5"),
-)
-
-RING_TEETH = 60
-RING_INTERNAL_PITCH_DIAMETER = 120.0
-RING_INTERNAL_ROOT_DIAMETER = 126.0
-RING_INTERNAL_TIP_DIAMETER = 115.0
-RING_OUTSIDE_DIAMETER = 140.0
-RING_TOOTH_ROOT_SPAN_FRACTION = 0.68
-RING_TOOTH_TIP_SPAN_FRACTION = 0.34
-RING_COLOR = _srgb_color("#c5adef")
-SUN_COLOR = _srgb_color("#fdce76")
-CARRIER_COLOR = _srgb_color("#bfcec8")
-PIN_COLOR = _srgb_color("#818993")
-
-CARRIER_DIAMETER = 105.0
-CARRIER_BOTTOM_Z = -5.0
-CARRIER_TOP_Z = -1.0
-CARRIER_THICKNESS = CARRIER_TOP_Z - CARRIER_BOTTOM_Z
-
-PIN_DIAMETER = 6.0
-PIN_HEIGHT = 14.0
-PIN_BOTTOM_Z = -5.0
-PIN_CARRIER_CLEARANCE_DIAMETER = 6.4
-
-
-def _polar_point(radius: float, angle: float) -> tuple[float, float]:
- return (radius * cos(angle), radius * sin(angle))
-
-
-def _trapezoid_tooth_profile(
- *,
- teeth: int,
- root_radius: float,
- tip_radius: float,
- phase: float,
- root_span_fraction: float = 0.72,
- tip_span_fraction: float = 0.38,
-) -> list[tuple[float, float]]:
- """Return a closed-profile point loop with straight-sided schematic teeth."""
- pitch_angle = tau / teeth
- points: list[tuple[float, float]] = []
-
- for tooth_index in range(teeth):
- center_angle = phase + tooth_index * pitch_angle
- points.extend(
- (
- _polar_point(root_radius, center_angle - root_span_fraction * pitch_angle / 2.0),
- _polar_point(tip_radius, center_angle - tip_span_fraction * pitch_angle / 2.0),
- _polar_point(tip_radius, center_angle + tip_span_fraction * pitch_angle / 2.0),
- _polar_point(root_radius, center_angle + root_span_fraction * pitch_angle / 2.0),
- )
- )
-
- return points
-
-
-def _make_external_gear(
- *,
- label: str,
- teeth: int,
- root_diameter: float,
- outside_diameter: float,
- phase: float,
- center: tuple[float, float] = (0.0, 0.0),
- bore_diameter: float | None = None,
- color: Color | None = None,
-):
- with BuildPart() as gear:
- with BuildSketch(Plane.XY):
- Polygon(
- _trapezoid_tooth_profile(
- teeth=teeth,
- root_radius=root_diameter / 2.0,
- tip_radius=outside_diameter / 2.0,
- phase=phase,
- root_span_fraction=EXTERNAL_TOOTH_ROOT_SPAN_FRACTION,
- tip_span_fraction=EXTERNAL_TOOTH_TIP_SPAN_FRACTION,
- ),
- align=None,
- )
- extrude(amount=GEAR_THICKNESS)
-
- if bore_diameter is not None:
- with Locations(Location((0.0, 0.0, -0.5))):
- Cylinder(
- radius=bore_diameter / 2.0,
- height=GEAR_THICKNESS + 1.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = gear.part.moved(Location((center[0], center[1], GEAR_BOTTOM_Z)))
- part.label = label
- part.color = color
- return part
-
-
-def _make_internal_ring_gear(*, label: str, phase: float, color: Color | None = None):
- with BuildPart() as ring:
- Cylinder(
- radius=RING_OUTSIDE_DIAMETER / 2.0,
- height=GEAR_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- with BuildSketch(Plane.XY):
- Polygon(
- _trapezoid_tooth_profile(
- teeth=RING_TEETH,
- root_radius=RING_INTERNAL_ROOT_DIAMETER / 2.0,
- tip_radius=RING_INTERNAL_TIP_DIAMETER / 2.0,
- phase=phase,
- root_span_fraction=RING_TOOTH_ROOT_SPAN_FRACTION,
- tip_span_fraction=RING_TOOTH_TIP_SPAN_FRACTION,
- ),
- align=None,
- )
- extrude(amount=GEAR_THICKNESS, mode=Mode.SUBTRACT)
-
- part = ring.part
- part.label = label
- part.color = color
- return part
-
-
-def _make_carrier_plate():
- with BuildPart() as carrier:
- with Locations(Location((0.0, 0.0, CARRIER_BOTTOM_Z))):
- Cylinder(
- radius=CARRIER_DIAMETER / 2.0,
- height=CARRIER_THICKNESS,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- for index in range(PLANET_COUNT):
- center = _polar_point(PLANET_CENTER_RADIUS, tau * index / PLANET_COUNT)
- with Locations(Location((center[0], center[1], CARRIER_BOTTOM_Z - 0.1))):
- Cylinder(
- radius=PIN_CARRIER_CLEARANCE_DIAMETER / 2.0,
- height=CARRIER_THICKNESS + 0.2,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = carrier.part
- part.label = "carrier_plate"
- part.color = CARRIER_COLOR
- return part
-
-
-def _make_planet_pin(*, label: str, center: tuple[float, float]):
- with BuildPart() as pin:
- with Locations(Location((center[0], center[1], PIN_BOTTOM_Z))):
- Cylinder(
- radius=PIN_DIAMETER / 2.0,
- height=PIN_HEIGHT,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
-
- part = pin.part
- part.label = label
- part.color = PIN_COLOR
- return part
-
-
-def _planet_center(index: int) -> tuple[float, float]:
- angle = tau * index / PLANET_COUNT
- return _polar_point(PLANET_CENTER_RADIUS, angle)
-
-
-def gen_step():
- """Return a labeled simplified planetary gear assembly in millimeters."""
- sun_pitch_angle = tau / SUN_TEETH
- ring_pitch_angle = tau / RING_TEETH
-
- parts = [
- _make_carrier_plate(),
- _make_internal_ring_gear(
- label="ring_gear_60_internal_teeth",
- phase=-ring_pitch_angle / 2.0,
- color=RING_COLOR,
- ),
- _make_external_gear(
- label="sun_gear_24_teeth",
- teeth=SUN_TEETH,
- root_diameter=SUN_ROOT_DIAMETER,
- outside_diameter=SUN_OUTSIDE_DIAMETER,
- phase=-sun_pitch_angle / 2.0,
- bore_diameter=SUN_BORE_DIAMETER,
- color=SUN_COLOR,
- ),
- ]
-
- for index in range(PLANET_COUNT):
- planet_angle = tau * index / PLANET_COUNT
- center = _planet_center(index)
- parts.append(
- _make_external_gear(
- label=f"planet_gear_{index + 1}_18_teeth",
- teeth=PLANET_TEETH,
- root_diameter=PLANET_ROOT_DIAMETER,
- outside_diameter=PLANET_OUTSIDE_DIAMETER,
- phase=planet_angle,
- center=center,
- bore_diameter=PLANET_BORE_DIAMETER,
- color=PLANET_COLORS[index],
- )
- )
- parts.append(_make_planet_pin(label=f"planet_pin_{index + 1}", center=center))
-
- assembly = Compound(
- obj=parts,
- children=parts,
- label="simplified_planetary_gear_assembly",
- )
- return assembly
diff --git a/models/fun/planetary_gear_assembly.step b/models/fun/planetary_gear_assembly.step
deleted file mode 100644
index 8637d89a..00000000
--- a/models/fun/planetary_gear_assembly.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d4cf604e368a3e8249b104a8124001842e6d3015672a601dc7dddc9d0fcb6fbe
-size 2271325
diff --git a/models/fun/robotic_hand_end_effector.py b/models/fun/robotic_hand_end_effector.py
deleted file mode 100644
index ab191b6d..00000000
--- a/models/fun/robotic_hand_end_effector.py
+++ /dev/null
@@ -1,597 +0,0 @@
-from math import cos, radians, sin, tau
-
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Circle,
- Color,
- Compound,
- Cone,
- Cylinder,
- Edge,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- RectangleRounded,
- RegularPolygon,
- Torus,
- extrude,
- fillet,
- sweep,
-)
-
-
-# Units: millimeters.
-# Origin: centered on the palm frame.
-# XY: palm plane. +Z: back of hand/up. Fingers extend generally in +Y.
-
-PALM_WIDTH = 70.0
-PALM_LENGTH = 58.0
-PALM_THICKNESS = 8.0
-PALM_CORNER_RADIUS = 5.0
-PALM_TOP_Z = PALM_THICKNESS
-
-FINGER_LINK_WIDTH = 8.0
-FINGER_LINK_THICKNESS = 6.0
-FINGER_BASE_Z = PALM_TOP_Z + 4.5
-FINGER_YAW_DEGREES = {
- "index": 2.0,
- "middle": 0.0,
- "ring": -2.0,
- "little": -4.0,
-}
-MAIN_FINGER_BASES = {
- "index": (-24.0, 30.0, FINGER_BASE_Z),
- "middle": (-8.0, 30.5, FINGER_BASE_Z + 0.5),
- "ring": (8.0, 30.0, FINGER_BASE_Z),
- "little": (24.0, 29.0, FINGER_BASE_Z - 0.5),
-}
-MAIN_LINK_LENGTHS = {
- "index": (25.0, 20.0, 16.0),
- "middle": (25.0, 20.0, 16.0),
- "ring": (25.0, 20.0, 16.0),
- "little": (22.0, 17.0, 14.0),
-}
-MAIN_FINGER_FLEX = {
- "index": (15.0, 40.0, 60.0),
- "middle": (13.0, 37.0, 56.0),
- "ring": (16.0, 42.0, 62.0),
- "little": (18.0, 45.0, 65.0),
-}
-
-THUMB_BASE = (-42.0, -5.0, FINGER_BASE_Z - 1.0)
-THUMB_LINK_LENGTHS = (22.0, 18.0, 14.0)
-THUMB_YAWS = (50.0, 36.0, 22.0)
-THUMB_FLEX = (10.0, 30.0, 48.0)
-
-DISPLAY_BASE_BOTTOM_Z = -64.0
-DISPLAY_BASE_THICKNESS = 8.0
-DISPLAY_BASE_TOP_Z = DISPLAY_BASE_BOTTOM_Z + DISPLAY_BASE_THICKNESS
-WRIST_CENTER = (0.0, -45.0, -12.0)
-WRIST_RING_OUTER_RADIUS = 27.0
-WRIST_RING_INNER_RADIUS = 19.0
-
-BRUSHED_ALUMINUM = Color(0.72, 0.74, 0.74, 1.0)
-DARK_TITANIUM = Color(0.18, 0.20, 0.22, 1.0)
-MATTE_BLACK = Color(0.01, 0.011, 0.012, 1.0)
-DARK_GRAPHITE = Color(0.10, 0.105, 0.11, 1.0)
-POLISHED_STEEL = Color(0.86, 0.88, 0.88, 1.0)
-BLUE_ACCENT = Color(0.05, 0.33, 0.86, 1.0)
-AMBER_ACCENT = Color(1.0, 0.55, 0.12, 1.0)
-
-
-def _safe_fillet(edges, radius: float) -> None:
- """Apply a cosmetic fillet inside a BuildPart context when topology allows it."""
- try:
- fillet(edges, radius)
- except Exception:
- pass
-
-
-def _set_metadata(part, label: str, color: Color):
- part.label = label
- part.color = color
- return part
-
-
-def _teardrop_points(center: tuple[float, float], width: float, height: float) -> list[tuple[float, float]]:
- cx, cy = center
- return [
- (cx - width / 2.0, cy - height * 0.40),
- (cx + width / 2.0, cy - height * 0.40),
- (cx + width * 0.18, cy + height * 0.18),
- (cx, cy + height * 0.52),
- (cx - width * 0.18, cy + height * 0.18),
- ]
-
-
-def _add_teardrop_sketch(center: tuple[float, float], width: float, height: float) -> None:
- Polygon(_teardrop_points(center, width, height), align=None)
- Circle(width * 0.28, align=Align.CENTER).locate(
- Location((center[0], center[1] + height * 0.28, 0.0))
- )
-
-
-def _make_palm_frame():
- openings = [
- ((-20.0, 0.0), 12.5, 27.0),
- ((0.0, 5.0), 13.5, 31.0),
- ((20.0, 0.0), 12.5, 27.0),
- ]
-
- with BuildPart() as palm:
- with BuildSketch(Plane.XY):
- RectangleRounded(
- PALM_WIDTH,
- PALM_LENGTH,
- PALM_CORNER_RADIUS,
- align=(Align.CENTER, Align.CENTER),
- )
- extrude(amount=PALM_THICKNESS)
- _safe_fillet(palm.edges(), 0.8)
-
- for center, width, height in openings:
- with BuildSketch(Plane.XY.offset(-0.8)):
- _add_teardrop_sketch(center, width, height)
- extrude(amount=PALM_THICKNESS + 1.6, mode=Mode.SUBTRACT)
-
- return _set_metadata(palm.part, "skeletonized_palm_frame_70x58x8", BRUSHED_ALUMINUM)
-
-
-def _make_palm_ribs():
- ribs = []
- openings = [
- ("left", (-20.0, 0.0), 12.5, 27.0),
- ("center", (0.0, 5.0), 13.5, 31.0),
- ("right", (20.0, 0.0), 12.5, 27.0),
- ]
- for name, center, width, height in openings:
- with BuildPart() as rib:
- with BuildSketch(Plane.XY.offset(PALM_TOP_Z)):
- _add_teardrop_sketch(center, width + 6.0, height + 6.0)
- extrude(amount=2.0)
-
- with BuildSketch(Plane.XY.offset(PALM_TOP_Z - 0.4)):
- _add_teardrop_sketch(center, width + 0.6, height + 0.6)
- extrude(amount=3.0, mode=Mode.SUBTRACT)
- _safe_fillet(rib.edges(), 1.5)
-
- ribs.append(_set_metadata(rib.part, f"raised_palm_rib_{name}_3mm_lip", BRUSHED_ALUMINUM))
-
- return ribs
-
-
-def _make_display_base():
- with BuildPart() as base:
- with BuildSketch(Plane.XY):
- RectangleRounded(110.0, 80.0, 6.0, align=(Align.CENTER, Align.CENTER))
- extrude(amount=DISPLAY_BASE_THICKNESS)
- _safe_fillet(base.edges(), 3.0)
-
- for x_pos in (-44.0, 44.0):
- for y_pos in (-30.0, 30.0):
- with Locations(Location((x_pos, y_pos, -0.6))):
- Cylinder(
- radius=2.35,
- height=DISPLAY_BASE_THICKNESS + 1.2,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
- with Locations(Location((x_pos, y_pos, DISPLAY_BASE_THICKNESS - 2.7))):
- Cone(
- bottom_radius=2.35,
- top_radius=5.1,
- height=2.9,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- part = base.part.moved(Location((0.0, -5.0, DISPLAY_BASE_BOTTOM_Z)))
- return _set_metadata(part, "rounded_display_base_110x80x8_with_countersunk_holes", DARK_TITANIUM)
-
-
-def _make_support_post():
- height = WRIST_CENTER[2] - WRIST_RING_OUTER_RADIUS - DISPLAY_BASE_TOP_Z
- with BuildPart() as post:
- Cylinder(
- radius=6.5,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- _safe_fillet(post.edges(), 0.8)
-
- part = post.part.moved(Location((0.0, -45.0, DISPLAY_BASE_TOP_Z)))
- return _set_metadata(part, "vertical_support_post_to_wrist_gimbal", DARK_TITANIUM)
-
-
-def _make_wrist_gimbal():
- parts = []
-
- with BuildPart() as wrist_cylinder:
- Cylinder(
- radius=21.0,
- height=35.0,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- _safe_fillet(wrist_cylinder.edges(), 0.5)
- cylinder = wrist_cylinder.part.moved(Location(WRIST_CENTER, (90.0, 0.0, 0.0)))
- parts.append(_set_metadata(cylinder, "wrist_short_cylinder_axis_y_od42_length35", DARK_TITANIUM))
-
- with BuildPart() as ring:
- Cylinder(
- radius=WRIST_RING_OUTER_RADIUS,
- height=6.0,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- Cylinder(
- radius=WRIST_RING_INNER_RADIUS,
- height=7.0,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(ring.edges(), 0.5)
- roll_ring = ring.part.moved(Location(WRIST_CENTER, (90.0, 0.0, 0.0)))
- parts.append(_set_metadata(roll_ring, "perpendicular_wrist_roll_ring_od54_id38_thick6", DARK_TITANIUM))
-
- for side, y_offset in (("front", 3.9), ("rear", -3.9)):
- for index in range(8):
- angle = tau * index / 8.0
- x_pos = WRIST_CENTER[0] + 23.7 * cos(angle)
- z_pos = WRIST_CENTER[2] + 23.7 * sin(angle)
- with BuildPart() as bolt:
- Cylinder(radius=2.15, height=1.5, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(bolt.edges(), 0.5)
- part = bolt.part.moved(Location((x_pos, WRIST_CENTER[1] + y_offset, z_pos), (90.0, 0.0, 0.0)))
- parts.append(
- _set_metadata(
- part,
- f"wrist_ring_{side}_polished_bolt_head_{index + 1:02d}",
- POLISHED_STEEL,
- )
- )
-
- return parts
-
-
-def _make_servo_housing(label: str, center: tuple[float, float, float], accent_color: Color):
- with BuildPart() as servo:
- Box(12.0, 18.0, 8.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(servo.edges(), 1.2)
- body = servo.part.moved(Location(center))
- body = _set_metadata(body, f"dark_graphite_servo_housing_{label}_12x18x8", DARK_GRAPHITE)
-
- with BuildPart() as panel:
- Box(8.0, 2.8, 0.6, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(panel.edges(), 0.25)
- accent = panel.part.moved(Location((center[0], center[1] + 5.5, center[2] + 4.25)))
- accent = _set_metadata(accent, f"{label}_servo_blue_amber_accent_panel", accent_color)
-
- screws = []
- for sx in (-4.2, 4.2):
- for sy in (-6.3, 6.3):
- screws.append(
- _make_screw_head(
- f"{label}_servo_screw_{len(screws) + 1:02d}",
- (center[0] + sx, center[1] + sy, center[2] + 4.55),
- radius=1.05,
- height=0.55,
- axis="z",
- )
- )
-
- return [body, accent, *screws]
-
-
-def _make_screw_head(label: str, center: tuple[float, float, float], radius: float, height: float, axis: str):
- with BuildPart() as screw:
- Cylinder(radius=radius, height=height, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(screw.edges(), 0.35)
- rotations = {
- "x": (0.0, 90.0, 0.0),
- "y": (90.0, 0.0, 0.0),
- "z": (0.0, 0.0, 0.0),
- }
- part = screw.part.moved(Location(center, rotations[axis]))
- return _set_metadata(part, f"polished_steel_{label}", POLISHED_STEEL)
-
-
-def _make_palm_fasteners():
- parts = []
- locations = [
- (-29.0, -22.0),
- (29.0, -22.0),
- (-29.0, 22.0),
- (29.0, 22.0),
- (-11.0, -23.0),
- (11.0, -23.0),
- (-11.0, 24.0),
- (11.0, 24.0),
- ]
- for index, (x_pos, y_pos) in enumerate(locations, start=1):
- parts.append(
- _make_screw_head(
- f"palm_frame_socket_screw_{index:02d}",
- (x_pos, y_pos, PALM_TOP_Z + 0.45),
- radius=1.65,
- height=0.9,
- axis="z",
- )
- )
- return parts
-
-
-def _make_mechanical_link(label: str, length: float, start: tuple[float, float, float], flex: float, yaw: float):
- with BuildPart() as link:
- with BuildSketch(Plane.XY):
- RectangleRounded(
- FINGER_LINK_WIDTH,
- length,
- 2.0,
- align=(Align.CENTER, Align.MIN),
- )
- extrude(amount=FINGER_LINK_THICKNESS)
-
- with Locations(Location((0.0, length * 0.50, FINGER_LINK_THICKNESS - 0.55))):
- Box(
- FINGER_LINK_WIDTH * 0.48,
- max(5.0, length * 0.48),
- 1.3,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- for x_pos in (-FINGER_LINK_WIDTH / 2.0 - 0.15, FINGER_LINK_WIDTH / 2.0 + 0.15):
- with Locations(Location((x_pos, length * 0.52, FINGER_LINK_THICKNESS * 0.52))):
- Box(
- 1.15,
- max(5.0, length * 0.52),
- 3.3,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(link.edges(), 1.0)
-
- part = link.part.moved(Location((0.0, 0.0, -FINGER_LINK_THICKNESS / 2.0)))
- part = part.moved(Location(start, (-flex, 0.0, yaw)))
- return _set_metadata(part, f"brushed_aluminum_{label}_rounded_recessed_link", BRUSHED_ALUMINUM)
-
-
-def _segment_end(start: tuple[float, float, float], length: float, flex: float, yaw: float) -> tuple[float, float, float]:
- edge = Edge.make_line((0.0, 0.0, 0.0), (0.0, length, 0.0)).moved(
- Location(start, (-flex, 0.0, yaw))
- )
- candidates = [tuple(vertex) for vertex in edge.vertices()]
- return max(
- candidates,
- key=lambda point: (point[0] - start[0]) ** 2
- + (point[1] - start[1]) ** 2
- + (point[2] - start[2]) ** 2,
- )
-
-
-def _make_hinge_pin(label: str, center: tuple[float, float, float], yaw: float):
- parts = []
- with BuildPart() as pin:
- Cylinder(radius=4.0, height=12.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(pin.edges(), 0.5)
- body = pin.part.moved(Location(center, (0.0, 90.0, yaw)))
- parts.append(_set_metadata(body, f"polished_steel_{label}_hinge_pin_d8", POLISHED_STEEL))
-
- for side, x_local in (("left", -6.8), ("right", 6.8)):
- x_pos = center[0] + x_local * cos(radians(yaw))
- y_pos = center[1] + x_local * sin(radians(yaw))
- with BuildPart() as cap:
- Cylinder(radius=5.0, height=1.5, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(cap.edges(), 0.5)
- cap_part = cap.part.moved(Location((x_pos, y_pos, center[2]), (0.0, 90.0, yaw)))
- parts.append(_set_metadata(cap_part, f"polished_steel_{label}_{side}_circular_end_cap", POLISHED_STEEL))
-
- screw_offset = 0.85 if side == "right" else -0.85
- parts.append(
- _make_screw_head(
- f"{label}_{side}_visible_cap_screw",
- (
- center[0] + (x_local + screw_offset) * cos(radians(yaw)),
- center[1] + (x_local + screw_offset) * sin(radians(yaw)),
- center[2],
- ),
- radius=1.35,
- height=0.65,
- axis="x",
- )
- )
-
- return parts
-
-
-def _make_fingertip_pad(label: str, start: tuple[float, float, float], flex: float, yaw: float):
- pad_length = 7.2
- with BuildPart() as pad:
- with BuildSketch(Plane.XY):
- RectangleRounded(9.5, pad_length, 3.3, align=(Align.CENTER, Align.MIN))
- extrude(amount=7.2)
- _safe_fillet(pad.edges(), 1.0)
- part = pad.part.moved(Location((0.0, 0.0, -3.6)))
- part = part.moved(Location(start, (-flex, 0.0, yaw)))
- return _set_metadata(part, f"matte_black_rubber_{label}_rounded_fingertip_pad", MATTE_BLACK)
-
-
-def _make_thumb_saddle():
- with BuildPart() as saddle:
- Box(13.0, 20.0, 9.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(saddle.edges(), 1.0)
- part = saddle.part.moved(Location((-35.5, -4.0, PALM_TOP_Z + 1.5), (0.0, 0.0, -28.0)))
- return _set_metadata(part, "brushed_aluminum_left_side_thumb_mount_saddle", BRUSHED_ALUMINUM)
-
-
-def _make_fingers():
- parts = []
-
- for finger_name, base in MAIN_FINGER_BASES.items():
- yaw = FINGER_YAW_DEGREES[finger_name]
- lengths = MAIN_LINK_LENGTHS[finger_name]
- flex_angles = MAIN_FINGER_FLEX[finger_name]
- joint = base
-
- for joint_index, (length, flex_angle) in enumerate(zip(lengths, flex_angles), start=1):
- parts.extend(_make_hinge_pin(f"{finger_name}_joint_{joint_index}", joint, yaw))
- parts.append(
- _make_mechanical_link(
- f"{finger_name}_phalange_{joint_index}_length_{length:.0f}mm",
- length,
- joint,
- flex_angle,
- yaw,
- )
- )
- joint = _segment_end(joint, length, flex_angle, yaw)
-
- parts.append(_make_fingertip_pad(finger_name, joint, flex_angles[-1], yaw))
-
- parts.append(_make_thumb_saddle())
- thumb_joint = THUMB_BASE
- for joint_index, (length, flex_angle, yaw) in enumerate(
- zip(THUMB_LINK_LENGTHS, THUMB_FLEX, THUMB_YAWS),
- start=1,
- ):
- parts.extend(_make_hinge_pin(f"thumb_joint_{joint_index}", thumb_joint, yaw))
- parts.append(
- _make_mechanical_link(
- f"thumb_phalange_{joint_index}_length_{length:.0f}mm",
- length,
- thumb_joint,
- flex_angle,
- yaw,
- )
- )
- thumb_joint = _segment_end(thumb_joint, length, flex_angle, yaw)
-
- parts.append(_make_fingertip_pad("thumb", thumb_joint, THUMB_FLEX[-1], THUMB_YAWS[-1]))
- return parts
-
-
-def _tube_profile_plane(start: tuple[float, float, float], next_point: tuple[float, float, float]) -> Plane:
- tangent = (
- next_point[0] - start[0],
- next_point[1] - start[1],
- next_point[2] - start[2],
- )
- return Plane(origin=start, x_dir=(1.0, 0.0, 0.0), z_dir=tangent)
-
-
-def _make_tendon_tube(label: str, points: list[tuple[float, float, float]]):
- path = Edge.make_spline(points)
- with BuildPart() as tube:
- with BuildSketch(_tube_profile_plane(points[0], points[1])):
- Circle(1.0)
- sweep(path=path, is_frenet=True)
- _safe_fillet(tube.edges(), 0.2)
- return _set_metadata(tube.part, f"matte_black_tendon_tube_{label}_diameter_2mm", MATTE_BLACK)
-
-
-def _make_servos_and_tendons():
- parts = []
- servo_centers = {
- "thumb": (-24.0, -15.0, PALM_TOP_Z + 5.0),
- "index": (-12.0, -13.0, PALM_TOP_Z + 5.0),
- "middle": (0.0, -15.5, PALM_TOP_Z + 5.0),
- "ring": (12.0, -13.0, PALM_TOP_Z + 5.0),
- "little": (24.0, -15.0, PALM_TOP_Z + 5.0),
- }
-
- for index, (label, center) in enumerate(servo_centers.items()):
- parts.extend(_make_servo_housing(label, center, BLUE_ACCENT if index % 2 else AMBER_ACCENT))
-
- tendon_targets = {
- "thumb": THUMB_BASE,
- "index": MAIN_FINGER_BASES["index"],
- "middle": MAIN_FINGER_BASES["middle"],
- "ring": MAIN_FINGER_BASES["ring"],
- "little": MAIN_FINGER_BASES["little"],
- }
- for label, start_center in servo_centers.items():
- target = tendon_targets[label]
- start = (start_center[0], start_center[1] + 9.0, start_center[2] + 3.7)
- if label == "thumb":
- points = [
- start,
- (-36.0, -11.0, PALM_TOP_Z + 14.0),
- (-43.5, -3.0, PALM_TOP_Z + 8.0),
- (target[0], target[1], target[2] + 1.0),
- ]
- else:
- points = [
- start,
- (start[0] * 0.75, 7.0, PALM_TOP_Z + 14.0),
- (target[0] * 0.96, 22.0, PALM_TOP_Z + 8.5),
- (target[0], target[1] - 1.5, target[2] + 0.6),
- ]
- parts.append(_make_tendon_tube(label, points))
-
- return parts
-
-
-def _make_knuckle_yokes():
- parts = []
- for name, center in MAIN_FINGER_BASES.items():
- with BuildPart() as yoke:
- Box(12.0, 7.0, 7.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- Cylinder(
- radius=4.25,
- height=13.0,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- rotation=(0.0, 90.0, FINGER_YAW_DEGREES[name]),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(yoke.edges(), 0.8)
- part = yoke.part.moved(Location((center[0], center[1] - 2.5, center[2] - 0.6)))
- parts.append(_set_metadata(part, f"brushed_aluminum_{name}_base_knuckle_yoke", BRUSHED_ALUMINUM))
-
- return parts
-
-
-def _make_decorative_hex_fasteners():
- parts = []
- for index, (x_pos, y_pos, z_pos) in enumerate(
- [
- (-48.0, -36.0, DISPLAY_BASE_TOP_Z + 0.45),
- (48.0, -36.0, DISPLAY_BASE_TOP_Z + 0.45),
- (-48.0, 26.0, DISPLAY_BASE_TOP_Z + 0.45),
- (48.0, 26.0, DISPLAY_BASE_TOP_Z + 0.45),
- ],
- start=1,
- ):
- with BuildPart() as fastener:
- with BuildSketch(Plane.XY):
- RegularPolygon(3.2, 6, rotation=30.0)
- extrude(amount=0.9)
- _safe_fillet(fastener.edges(), 0.25)
- part = fastener.part.moved(Location((x_pos, y_pos, z_pos)))
- parts.append(_set_metadata(part, f"polished_steel_display_base_hex_fastener_{index:02d}", POLISHED_STEEL))
- return parts
-
-
-def gen_step():
- """Return a labeled cybernetic robotic hand end-effector STEP assembly."""
- parts = [
- _make_display_base(),
- _make_support_post(),
- _make_palm_frame(),
- *_make_palm_ribs(),
- *_make_palm_fasteners(),
- *_make_wrist_gimbal(),
- *_make_knuckle_yokes(),
- *_make_fingers(),
- *_make_servos_and_tendons(),
- *_make_decorative_hex_fasteners(),
- ]
-
- assembly = Compound(
- obj=parts,
- children=parts,
- label="articulated_cybernetic_robotic_hand_end_effector",
- )
- return assembly
diff --git a/models/fun/robotic_hand_end_effector.step b/models/fun/robotic_hand_end_effector.step
deleted file mode 100644
index f8b8774d..00000000
--- a/models/fun/robotic_hand_end_effector.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d2f58a2d464c140f576dfb6f8ec041201653a5ae9a129c3152768f518ff4baae
-size 5745283
diff --git a/models/fun/six_axis_industrial_robot_arm.py b/models/fun/six_axis_industrial_robot_arm.py
deleted file mode 100644
index 349adc69..00000000
--- a/models/fun/six_axis_industrial_robot_arm.py
+++ /dev/null
@@ -1,613 +0,0 @@
-from math import atan2, cos, degrees, radians, sin, tau
-
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Circle,
- Color,
- Compound,
- Cone,
- Cylinder,
- Edge,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- RectangleRounded,
- add,
- extrude,
- fillet,
- sweep,
-)
-
-
-# Units: millimeters.
-# Origin: axis 1/base yaw center at X=0, Y=0. XY is the floor/display plane, +Z is up.
-# Static display pose: raised shoulder, bent elbow, compact 3-axis wrist reaching mostly +X.
-
-DISPLAY_BASE_LENGTH = 180.0
-DISPLAY_BASE_WIDTH = 140.0
-DISPLAY_BASE_THICKNESS = 12.0
-DISPLAY_BASE_CENTER = (60.0, 0.0, 0.0)
-
-FIXED_BASE_DIAMETER = 82.0
-FIXED_BASE_BOTTOM_Z = 12.0
-FIXED_BASE_TOP_Z = 42.0
-
-TURNTABLE_DIAMETER = 72.0
-TURNTABLE_BOTTOM_Z = 42.0
-TURNTABLE_TOP_Z = 58.0
-
-SHOULDER_CENTER = (0.0, 0.0, 90.0)
-ELBOW_CENTER = (74.0, 0.0, 142.0)
-WRIST_ROLL_CENTER = (154.0, 0.0, 128.0)
-WRIST_PITCH_CENTER = (174.0, 0.0, 128.0)
-TOOL_ROLL_CENTER = (196.0, 0.0, 128.0)
-TOOL_FLANGE_CENTER = (216.0, 0.0, 128.0)
-
-MATTE_WHITE = Color(0.91, 0.92, 0.90, 1.0)
-LIGHT_GRAY = Color(0.73, 0.76, 0.76, 1.0)
-DARK_GRAPHITE = Color(0.10, 0.11, 0.12, 1.0)
-DEEP_GRAPHITE = Color(0.045, 0.048, 0.052, 1.0)
-BRUSHED_STEEL = Color(0.74, 0.76, 0.76, 1.0)
-DARK_STEEL = Color(0.24, 0.25, 0.26, 1.0)
-BLUE_ACCENT = Color(0.02, 0.30, 0.82, 1.0)
-ORANGE_ACCENT = Color(1.0, 0.46, 0.10, 1.0)
-MATTE_BLACK = Color(0.005, 0.006, 0.007, 1.0)
-
-
-def _set_metadata(part, label: str, color: Color):
- part.label = label
- part.color = color
- return part
-
-
-def _safe_fillet(edges, radius: float) -> None:
- selected = list(edges)
- if not selected:
- return
- try:
- fillet(selected, radius=radius)
- except Exception:
- pass
-
-
-def _axis_rotation(axis: str) -> tuple[float, float, float]:
- if axis == "x":
- return (0.0, 90.0, 0.0)
- if axis == "y":
- return (90.0, 0.0, 0.0)
- return (0.0, 0.0, 0.0)
-
-
-def _make_axis_cylinder(
- label: str,
- axis: str,
- center: tuple[float, float, float],
- radius: float,
- length: float,
- color: Color,
- fillet_radius: float = 0.0,
-):
- with BuildPart() as cyl:
- Cylinder(
- radius=radius,
- height=length,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- if fillet_radius > 0.0:
- _safe_fillet(cyl.edges(), fillet_radius)
- part = cyl.part.moved(Location(center, _axis_rotation(axis)))
- return _set_metadata(part, label, color)
-
-
-def _make_axis_ring(
- label: str,
- axis: str,
- center: tuple[float, float, float],
- outer_radius: float,
- inner_radius: float,
- thickness: float,
- color: Color,
-):
- with BuildPart() as ring:
- Cylinder(
- radius=outer_radius,
- height=thickness,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- Cylinder(
- radius=inner_radius,
- height=thickness + 0.4,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(ring.edges(), 0.25)
- part = ring.part.moved(Location(center, _axis_rotation(axis)))
- return _set_metadata(part, label, color)
-
-
-def _make_screw_head(
- label: str,
- axis: str,
- center: tuple[float, float, float],
- radius: float,
- height: float,
- color: Color = BRUSHED_STEEL,
-):
- with BuildPart() as screw:
- Cylinder(
- radius=radius,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- with Locations(Location((0.0, 0.0, height / 2.0 - 0.18))):
- Cylinder(
- radius=radius * 0.43,
- height=0.45,
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(screw.edges(), min(0.5, radius * 0.22))
- part = screw.part.moved(Location(center, _axis_rotation(axis)))
- return _set_metadata(part, label, color)
-
-
-def _make_rounded_box(
- label: str,
- size: tuple[float, float, float],
- center: tuple[float, float, float],
- radius: float,
- color: Color,
- rotation: tuple[float, float, float] = (0.0, 0.0, 0.0),
-):
- with BuildPart() as box:
- Box(*size, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- if radius > 0.0:
- _safe_fillet(box.edges(), radius)
- part = box.part.moved(Location(center, rotation))
- return _set_metadata(part, label, color)
-
-
-def _rounded_plate_profile_points(
- x_min: float,
- x_max: float,
- z_min: float,
- z_max: float,
- radius: float,
- steps: int = 8,
-) -> list[tuple[float, float]]:
- points: list[tuple[float, float]] = []
- centers = (
- (x_max - radius, z_min + radius, -90.0, 0.0),
- (x_max - radius, z_max - radius, 0.0, 90.0),
- (x_min + radius, z_max - radius, 90.0, 180.0),
- (x_min + radius, z_min + radius, 180.0, 270.0),
- )
- for cx, cz, start, end in centers:
- for step in range(steps + 1):
- angle = radians(start + (end - start) * step / steps)
- points.append((cx + radius * cos(angle), cz + radius * sin(angle)))
- return points
-
-
-def _outer_rect_edges(part, length: float, width: float, z_min: float, z_max: float, tol: float = 0.08):
- edges = []
- for edge in part.edges():
- bbox = edge.bounding_box()
- center = bbox.center()
- on_outer_x = abs(abs(center.X) - length / 2.0) <= tol
- on_outer_y = abs(abs(center.Y) - width / 2.0) <= tol
- on_top_or_bottom = abs(center.Z - z_min) <= tol or abs(center.Z - z_max) <= tol
- if (on_outer_x or on_outer_y) and on_top_or_bottom:
- edges.append(edge)
- return edges
-
-
-def _make_display_base():
- with BuildPart() as base:
- with BuildSketch(Plane.XY):
- RectangleRounded(
- DISPLAY_BASE_LENGTH,
- DISPLAY_BASE_WIDTH,
- 8.0,
- align=(Align.CENTER, Align.CENTER),
- )
- extrude(amount=DISPLAY_BASE_THICKNESS)
-
- for x_abs in (-20.0, 120.0):
- for y_pos in (-50.0, 50.0):
- x_pos = x_abs - DISPLAY_BASE_CENTER[0]
- with Locations(Location((x_pos, y_pos, -0.6))):
- Cylinder(
- radius=3.0,
- height=DISPLAY_BASE_THICKNESS + 1.2,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
- with Locations(Location((x_pos, y_pos, DISPLAY_BASE_THICKNESS - 3.2))):
- Cone(
- bottom_radius=3.0,
- top_radius=6.0,
- height=3.4,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
- _safe_fillet(
- _outer_rect_edges(base.part, DISPLAY_BASE_LENGTH, DISPLAY_BASE_WIDTH, 0.0, DISPLAY_BASE_THICKNESS),
- 3.0,
- )
-
- part = base.part.moved(Location(DISPLAY_BASE_CENTER))
- return _set_metadata(part, "rounded_rectangular_display_base_180x140x12_with_four_countersunk_holes", DARK_GRAPHITE)
-
-
-def _make_fixed_base():
- return _make_axis_cylinder(
- "fixed_cylindrical_base_axis1_od82_z12_to_z42",
- "z",
- (0.0, 0.0, (FIXED_BASE_BOTTOM_Z + FIXED_BASE_TOP_Z) / 2.0),
- FIXED_BASE_DIAMETER / 2.0,
- FIXED_BASE_TOP_Z - FIXED_BASE_BOTTOM_Z,
- LIGHT_GRAY,
- fillet_radius=2.0,
- )
-
-
-def _make_turntable():
- return _make_axis_cylinder(
- "rotating_base_turntable_axis1_od72_z42_to_z58",
- "z",
- (0.0, 0.0, (TURNTABLE_BOTTOM_Z + TURNTABLE_TOP_Z) / 2.0),
- TURNTABLE_DIAMETER / 2.0,
- TURNTABLE_TOP_Z - TURNTABLE_BOTTOM_Z,
- DARK_GRAPHITE,
- fillet_radius=1.5,
- )
-
-
-def _make_pedestal():
- with BuildPart() as pedestal:
- with BuildSketch(Plane.XY):
- RectangleRounded(46.0, 58.0, 7.0, align=(Align.CENTER, Align.CENTER))
- extrude(amount=43.0)
- _safe_fillet(pedestal.edges(), 2.5)
- part = pedestal.part.moved(Location((0.0, 0.0, 47.0)))
- return _set_metadata(part, "rounded_shoulder_pedestal_46x58x43_to_axis2_center", MATTE_WHITE)
-
-
-def _make_shoulder_lug(label: str, y_center: float):
- with BuildPart() as lug:
- with Locations(Location((3.0, y_center, 73.5))):
- Box(34.0, 12.0, 37.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- with Locations(Location((0.0, y_center, 90.0))):
- Cylinder(
- radius=22.0,
- height=12.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- Cylinder(
- radius=13.0,
- height=14.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(lug.edges(), 1.6)
- return _set_metadata(lug.part, label, MATTE_WHITE)
-
-
-def _make_upper_arm_link(label: str, y_center: float):
- shoulder = SHOULDER_CENTER
- elbow = ELBOW_CENTER
- dx = elbow[0] - shoulder[0]
- dz = elbow[2] - shoulder[2]
- link_length = (dx * dx + dz * dz) ** 0.5 + 8.0
- link_angle = -degrees(atan2(dz, dx))
- mid = ((shoulder[0] + elbow[0]) / 2.0, y_center, (shoulder[2] + elbow[2]) / 2.0)
-
- with BuildPart() as link:
- with BuildSketch(Plane.XZ.offset(-5.0)):
- RectangleRounded(link_length, 18.0, 8.0, align=(Align.CENTER, Align.CENTER))
- extrude(amount=10.0)
-
- with BuildSketch(Plane.XZ.offset(-6.2)):
- RectangleRounded(56.0, 7.4, 3.5, align=(Align.CENTER, Align.CENTER))
- extrude(amount=12.4, mode=Mode.SUBTRACT)
- _safe_fillet(link.edges(), 1.5)
-
- part = link.part.moved(Location(mid, (0.0, link_angle, 0.0)))
- return _set_metadata(part, label, MATTE_WHITE)
-
-
-def _make_forearm_housing():
- elbow = ELBOW_CENTER
- wrist = WRIST_ROLL_CENTER
- dx = wrist[0] - elbow[0]
- dz = wrist[2] - elbow[2]
- length = (dx * dx + dz * dz) ** 0.5
- angle = -degrees(atan2(dz, dx))
- center = ((elbow[0] + wrist[0]) / 2.0, 0.0, (elbow[2] + wrist[2]) / 2.0)
-
- with BuildPart() as forearm:
- Cone(
- bottom_radius=16.0,
- top_radius=12.0,
- height=length,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- _safe_fillet(forearm.edges(), 1.6)
-
- part = forearm.part.moved(Location(center, (0.0, angle, 0.0)))
- return _set_metadata(part, "tapered_rounded_forearm_housing_elbow_to_wrist_axis4", MATTE_WHITE)
-
-
-def _make_forearm_panel(label: str, side: float):
- elbow = ELBOW_CENTER
- wrist = WRIST_ROLL_CENTER
- dx = wrist[0] - elbow[0]
- dz = wrist[2] - elbow[2]
- angle = -degrees(atan2(dz, dx))
- center = ((elbow[0] + wrist[0]) / 2.0, 0.0, (elbow[2] + wrist[2]) / 2.0)
-
- with BuildPart() as panel:
- with Locations(Location((6.0, side * 15.3, 0.0))):
- Box(50.0, 1.2, 10.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- _safe_fillet(panel.edges(), 0.7)
-
- part = panel.part.moved(Location(center, (0.0, angle, 0.0)))
- return _set_metadata(part, label, DEEP_GRAPHITE)
-
-
-def _rotated_y_point(
- local: tuple[float, float, float],
- center: tuple[float, float, float],
- angle_deg: float,
-) -> tuple[float, float, float]:
- angle = radians(angle_deg)
- x_pos = center[0] + local[0] * cos(angle) + local[2] * sin(angle)
- y_pos = center[1] + local[1]
- z_pos = center[2] - local[0] * sin(angle) + local[2] * cos(angle)
- return (x_pos, y_pos, z_pos)
-
-
-def _forearm_panel_screws(parts: list):
- elbow = ELBOW_CENTER
- wrist = WRIST_ROLL_CENTER
- dx = wrist[0] - elbow[0]
- dz = wrist[2] - elbow[2]
- angle = -degrees(atan2(dz, dx))
- center = ((elbow[0] + wrist[0]) / 2.0, 0.0, (elbow[2] + wrist[2]) / 2.0)
- for side_name, side in (("positive_y", 1.0), ("negative_y", -1.0)):
- for index, local_x in enumerate((-16.0, 25.0), start=1):
- screw_center = _rotated_y_point((local_x, side * 16.1, 0.0), center, angle)
- parts.append(
- _make_screw_head(
- f"forearm_recessed_panel_{side_name}_socket_screw_{index}",
- "y",
- screw_center,
- 1.55,
- 1.0,
- )
- )
-
-
-def _add_circular_screws(
- parts: list,
- prefix: str,
- axis: str,
- axis_center: tuple[float, float, float],
- face_coordinates: tuple[float, ...],
- bolt_circle_radius: float,
- count: int,
- screw_radius: float,
- screw_height: float,
- start_angle: float = 0.0,
-):
- for face_index, face_coord in enumerate(face_coordinates, start=1):
- for index in range(count):
- angle = start_angle + tau * index / count
- if axis == "z":
- center = (
- axis_center[0] + bolt_circle_radius * cos(angle),
- axis_center[1] + bolt_circle_radius * sin(angle),
- face_coord,
- )
- elif axis == "y":
- center = (
- axis_center[0] + bolt_circle_radius * cos(angle),
- face_coord,
- axis_center[2] + bolt_circle_radius * sin(angle),
- )
- else:
- center = (
- face_coord,
- axis_center[1] + bolt_circle_radius * cos(angle),
- axis_center[2] + bolt_circle_radius * sin(angle),
- )
- parts.append(
- _make_screw_head(
- f"{prefix}_face_{face_index}_socket_head_screw_{index + 1:02d}",
- axis,
- center,
- screw_radius,
- screw_height,
- )
- )
-
-
-def _make_wrist_yoke_lug(label: str, y_center: float):
- with BuildPart() as lug:
- with Locations(Location((164.5, y_center, 128.0))):
- Box(25.0, 7.0, 17.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- with Locations(Location((174.0, y_center, 128.0))):
- Cylinder(
- radius=14.5,
- height=7.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- Cylinder(
- radius=8.0,
- height=8.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(lug.edges(), 1.0)
- return _set_metadata(lug.part, label, MATTE_WHITE)
-
-
-def _make_tool_flange():
- with BuildPart() as flange:
- Cylinder(
- radius=19.0,
- height=7.0,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- )
- Cylinder(
- radius=5.0,
- height=9.0,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- for index in range(6):
- angle = tau * index / 6.0
- y_pos = 14.0 * cos(angle)
- z_pos = 14.0 * sin(angle)
- with Locations(Location((0.0, y_pos, z_pos))):
- Cylinder(
- radius=2.0,
- height=9.0,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(flange.edges(), 0.6)
- part = flange.part.moved(Location(TOOL_FLANGE_CENTER))
- return _set_metadata(part, "standard_tool_flange_axis6_od38_thick7_with_10mm_bore_and_6x4mm_holes", BRUSHED_STEEL)
-
-
-def _make_cable_guide():
- points = [
- (-15.0, -31.0, 94.0),
- (8.0, -31.0, 101.0),
- (36.0, -30.0, 119.0),
- (66.0, -28.0, 139.0),
- (78.0, -27.0, 148.0),
- (104.0, -28.0, 142.0),
- (134.0, -27.0, 135.0),
- (155.0, -22.0, 132.0),
- (174.0, -18.0, 130.0),
- ]
- path = Edge.make_spline(points)
- tangent = (
- points[1][0] - points[0][0],
- points[1][1] - points[0][1],
- points[1][2] - points[0][2],
- )
- profile_plane = Plane(origin=points[0], x_dir=(0.0, 1.0, 0.0), z_dir=tangent)
-
- with BuildPart() as cable:
- with BuildSketch(profile_plane):
- Circle(2.0)
- sweep(path=path, is_frenet=True)
- _safe_fillet(cable.edges(), 0.2)
- return _set_metadata(cable.part, "matte_black_external_cable_guide_4mm_swept_tube_shoulder_to_wrist", MATTE_BLACK)
-
-
-def _make_cable_clamp(label: str, center: tuple[float, float, float], angle_y: float):
- with BuildPart() as clamp:
- Box(12.0, 6.0, 5.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
- Cylinder(
- radius=2.2,
- height=14.0,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
- _safe_fillet(clamp.edges(), 0.6)
- part = clamp.part.moved(Location(center, (0.0, angle_y, 0.0)))
- return _set_metadata(part, label, DARK_STEEL)
-
-
-def _make_axis_label_ring_set(parts: list):
- parts.append(_make_axis_ring("blue_accent_ring_axis1_base_yaw_vertical_z", "z", (0.0, 0.0, 58.9), 38.0, 35.4, 1.6, BLUE_ACCENT))
- parts.append(_make_axis_ring("orange_accent_ring_axis2_shoulder_pitch_y_left", "y", (0.0, -37.1, 90.0), 25.0, 22.0, 1.8, ORANGE_ACCENT))
- parts.append(_make_axis_ring("orange_accent_ring_axis2_shoulder_pitch_y_right", "y", (0.0, 37.1, 90.0), 25.0, 22.0, 1.8, ORANGE_ACCENT))
- parts.append(_make_axis_ring("blue_accent_ring_axis3_elbow_pitch_y_left", "y", (74.0, -34.6, 142.0), 24.0, 21.0, 1.8, BLUE_ACCENT))
- parts.append(_make_axis_ring("blue_accent_ring_axis3_elbow_pitch_y_right", "y", (74.0, 34.6, 142.0), 24.0, 21.0, 1.8, BLUE_ACCENT))
- parts.append(_make_axis_ring("orange_accent_ring_axis4_wrist_roll_x", "x", (154.0, 0.0, 128.0), 17.0, 15.0, 2.0, ORANGE_ACCENT))
- parts.append(_make_axis_ring("blue_accent_ring_axis5_wrist_pitch_y", "y", (174.0, 0.0, 128.0), 16.0, 14.0, 2.0, BLUE_ACCENT))
- parts.append(_make_axis_ring("orange_accent_ring_axis6_tool_roll_x", "x", (196.0, 0.0, 128.0), 14.0, 12.0, 2.0, ORANGE_ACCENT))
-
-
-def gen_step():
- """Return a labeled six-axis industrial robot arm display assembly in millimeters."""
- parts = [
- _make_display_base(),
- _make_fixed_base(),
- _make_turntable(),
- _make_axis_ring("dark_circular_seam_between_fixed_base_and_turntable_axis1", "z", (0.0, 0.0, 42.2), 41.4, 36.0, 0.8, DEEP_GRAPHITE),
- _make_pedestal(),
- _make_shoulder_lug("shoulder_yoke_negative_y_lug_with_axis2_bore", -24.0),
- _make_shoulder_lug("shoulder_yoke_positive_y_lug_with_axis2_bore", 24.0),
- _make_axis_cylinder("dark_graphite_shoulder_motor_housing_axis2_od44_length72", "y", SHOULDER_CENTER, 22.0, 72.0, DARK_GRAPHITE, 1.6),
- _make_axis_cylinder("left_shoulder_raised_joint_cap_od48_thick3", "y", (0.0, -37.5, 90.0), 24.0, 3.0, LIGHT_GRAY, 0.6),
- _make_axis_cylinder("right_shoulder_raised_joint_cap_od48_thick3", "y", (0.0, 37.5, 90.0), 24.0, 3.0, LIGHT_GRAY, 0.6),
- _make_upper_arm_link("upper_arm_negative_y_rounded_side_link_with_oval_lightening_cutout", -18.0),
- _make_upper_arm_link("upper_arm_positive_y_rounded_side_link_with_oval_lightening_cutout", 18.0),
- _make_axis_cylinder("dark_graphite_elbow_joint_housing_axis3_od42_length66", "y", ELBOW_CENTER, 21.0, 66.0, DARK_GRAPHITE, 1.8),
- _make_axis_cylinder("negative_y_elbow_raised_joint_cap_od46_thick3", "y", (74.0, -34.5, 142.0), 23.0, 3.0, LIGHT_GRAY, 0.6),
- _make_axis_cylinder("positive_y_elbow_raised_joint_cap_od46_thick3", "y", (74.0, 34.5, 142.0), 23.0, 3.0, LIGHT_GRAY, 0.6),
- _make_forearm_housing(),
- _make_forearm_panel("negative_y_dark_recessed_side_panel_on_tapered_forearm", -1.0),
- _make_forearm_panel("positive_y_dark_recessed_side_panel_on_tapered_forearm", 1.0),
- _make_axis_cylinder("dark_graphite_wrist_roll_housing_axis4_od30_length28", "x", WRIST_ROLL_CENTER, 15.0, 28.0, DARK_GRAPHITE, 1.1),
- _make_wrist_yoke_lug("wrist_pitch_fork_negative_y_lug_axis5", -20.0),
- _make_wrist_yoke_lug("wrist_pitch_fork_positive_y_lug_axis5", 20.0),
- _make_axis_cylinder("dark_graphite_wrist_pitch_joint_axis5_od28_length46", "y", WRIST_PITCH_CENTER, 14.0, 46.0, DARK_GRAPHITE, 1.0),
- _make_axis_cylinder("negative_y_wrist_pitch_cap_od31_thick2", "y", (174.0, -24.0, 128.0), 15.5, 2.0, LIGHT_GRAY, 0.4),
- _make_axis_cylinder("positive_y_wrist_pitch_cap_od31_thick2", "y", (174.0, 24.0, 128.0), 15.5, 2.0, LIGHT_GRAY, 0.4),
- _make_axis_cylinder("dark_graphite_final_wrist_tool_roll_cylinder_axis6_od24_length30", "x", TOOL_ROLL_CENTER, 12.0, 30.0, DARK_GRAPHITE, 0.9),
- _make_axis_cylinder("short_steel_tool_flange_pilot_hub_axis6_od18_length5", "x", (211.0, 0.0, 128.0), 9.0, 5.0, BRUSHED_STEEL, 0.4),
- _make_tool_flange(),
- _make_cable_guide(),
- ]
-
- _make_axis_label_ring_set(parts)
-
- _add_circular_screws(parts, "turntable_top_bolt_circle_58mm", "z", (0.0, 0.0, 0.0), (59.0,), 29.0, 8, 2.1, 1.7, start_angle=tau / 16.0)
- _add_circular_screws(parts, "shoulder_axis2_joint_cap", "y", SHOULDER_CENTER, (-39.0, 39.0), 17.0, 6, 1.6, 1.1, start_angle=tau / 12.0)
- _add_circular_screws(parts, "elbow_axis3_joint_cap", "y", ELBOW_CENTER, (-36.0, 36.0), 16.0, 6, 1.55, 1.1, start_angle=tau / 12.0)
- _add_circular_screws(parts, "wrist_pitch_axis5_cap", "y", WRIST_PITCH_CENTER, (-25.2, 25.2), 10.5, 4, 1.25, 0.9, start_angle=tau / 8.0)
- _add_circular_screws(parts, "wrist_roll_axis4_cap", "x", WRIST_ROLL_CENTER, (139.2, 168.8), 10.5, 4, 1.25, 0.9, start_angle=tau / 8.0)
- _add_circular_screws(parts, "tool_flange_visible_fastener_circle", "x", TOOL_FLANGE_CENTER, (220.0,), 14.0, 6, 1.35, 0.8, start_angle=tau / 12.0)
- _forearm_panel_screws(parts)
-
- upper_angle = -degrees(atan2(ELBOW_CENTER[2] - SHOULDER_CENTER[2], ELBOW_CENTER[0] - SHOULDER_CENTER[0]))
- forearm_angle = -degrees(atan2(WRIST_ROLL_CENTER[2] - ELBOW_CENTER[2], WRIST_ROLL_CENTER[0] - ELBOW_CENTER[0]))
- parts.extend(
- [
- _make_cable_clamp("shoulder_cable_saddle_clamp_attached_to_rear_yoke", (-8.0, -29.5, 97.0), 0.0),
- _make_cable_clamp("upper_arm_cable_saddle_clamp_following_raised_link", (39.0, -29.5, 121.0), upper_angle),
- _make_cable_clamp("elbow_cable_saddle_clamp_at_cross_over", (78.0, -27.5, 148.0), 0.0),
- _make_cable_clamp("forearm_cable_saddle_clamp_on_tapered_cover", (131.0, -27.5, 136.0), forearm_angle),
- _make_cable_clamp("wrist_cable_saddle_clamp_near_axis4", (158.0, -21.5, 132.0), 0.0),
- ]
- )
-
- assembly = Compound(
- obj=parts,
- children=parts,
- label="six_axis_industrial_robot_arm_static_display_pose",
- )
- return assembly
diff --git a/models/fun/six_axis_industrial_robot_arm.step b/models/fun/six_axis_industrial_robot_arm.step
deleted file mode 100644
index 0b8a95f6..00000000
--- a/models/fun/six_axis_industrial_robot_arm.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:526430aabcf5d61ee8cfcbbf783dbcc0919800374a27f19a50b060f179dae31f
-size 2704115
diff --git a/models/fun/six_blade_open_propeller.py b/models/fun/six_blade_open_propeller.py
deleted file mode 100644
index f589c701..00000000
--- a/models/fun/six_blade_open_propeller.py
+++ /dev/null
@@ -1,375 +0,0 @@
-from __future__ import annotations
-
-from math import cos, hypot, sin, tau
-
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Color,
- Compound,
- Cylinder,
- Face,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- Wire,
- chamfer,
- extrude,
- fillet,
- loft,
-)
-
-
-# Units: millimeters.
-# Origin: central tube axis. XY is the blade layout plane. +Z is upward through
-# the hollow hub. The image is interpreted as a stylized six-blade open propeller
-# with separate visible blade/rim/hub solids rather than a single fused casting.
-
-MODEL_LABEL = "six_blade_open_propeller_from_reference"
-
-WARM_IVORY = Color(0.82, 0.78, 0.65, 1.0)
-WARM_TAUPE = Color(0.72, 0.70, 0.61, 1.0)
-
-BLADE_COUNT = 6
-BLADE_ROOT_RADIUS = 10.8
-BLADE_TIP_RADIUS = 68.0
-BLADE_TIP_SWEEP = 14.5
-BLADE_CURVE_EXPONENT = 1.55
-BLADE_WIDTH = 31.5
-BLADE_THICKNESS = 2.8
-BLADE_SEGMENTS = 24
-BLADE_EDGE_BLEND_RADIUS = 0.55
-BLADE_EDGE_BLEND_MIN_SPAN = 0.2
-BLADE_Z_OFFSET = -0.35
-BLADE_TIP_TWIST_SPAN = 7.0
-BLADE_TIP_CENTER_Z_DROP = 1.4
-
-HUB_OUTER_RADIUS = 29.0
-HUB_INNER_RADIUS = 23.5
-HUB_HEIGHT = 30.0
-HUB_WALL_FILLET = 0.65
-HUB_CUTOUT_WIDTH = 10.0
-HUB_CUTOUT_DEPTH = (HUB_OUTER_RADIUS - HUB_INNER_RADIUS) * 0.5
-HUB_CUTOUT_BOTTOM_Z = -0.5
-HUB_CUTOUT_HEIGHT = HUB_HEIGHT + 1.0
-HUB_CUTOUT_BORE_OVERLAP = 1.0
-
-
-def _label(part, label: str, color: Color):
- part.label = label
- part.color = color
- return part
-
-
-def _safe_chamfer(part, length: float):
- try:
- return chamfer(part.edges(), length=length)
- except Exception:
- return part
-
-
-def _safe_fillet(part, radius: float):
- try:
- return fillet(part.edges(), radius=radius)
- except Exception:
- return part
-
-
-def _safe_fillet_edges(part, edges, radius: float):
- selected = list(edges)
- if not selected:
- return part
- try:
- return fillet(selected, radius=radius)
- except Exception:
- return part
-
-
-def _safe_chamfer_edges(part, edges, length: float):
- selected = list(edges)
- if not selected:
- return part
- try:
- return chamfer(selected, length=length)
- except Exception:
- return part
-
-
-def _circle_radius(edge) -> float | None:
- try:
- return edge.radius
- except Exception:
- return None
-
-
-def _edge_z(edge) -> float:
- return edge.bounding_box().center().Z
-
-
-def _edge_axis_spans(edge) -> tuple[float, float, float]:
- bbox = edge.bounding_box()
- return (
- bbox.max.X - bbox.min.X,
- bbox.max.Y - bbox.min.Y,
- bbox.max.Z - bbox.min.Z,
- )
-
-
-def _non_planar_oriented_edges(part):
- edges = []
- for edge in part.edges():
- if all(span > BLADE_EDGE_BLEND_MIN_SPAN for span in _edge_axis_spans(edge)):
- edges.append(edge)
- return edges
-
-
-def _hub_rim_edges(part, outer_radius: float, inner_radius: float, height: float):
- edges = []
- for edge in part.edges():
- radius = _circle_radius(edge)
- if radius is None:
- continue
- if min(abs(radius - outer_radius), abs(radius - inner_radius)) > 0.08:
- continue
- if min(abs(_edge_z(edge)), abs(_edge_z(edge) - height)) > 0.08:
- continue
- edges.append(edge)
- return edges
-
-
-def _blade_center(t: float, *, root_radius: float, tip_radius: float) -> tuple[float, float]:
- span = tip_radius - root_radius
- x_pos = root_radius + span * t
- y_pos = BLADE_TIP_SWEEP * (0.5 - t**BLADE_CURVE_EXPONENT)
- return (x_pos, y_pos)
-
-
-def _blade_tangent(t: float, *, root_radius: float, tip_radius: float) -> tuple[float, float]:
- low = max(0.0, t - 0.01)
- high = min(1.0, t + 0.01)
- x0, y0 = _blade_center(low, root_radius=root_radius, tip_radius=tip_radius)
- x1, y1 = _blade_center(high, root_radius=root_radius, tip_radius=tip_radius)
- dx = x1 - x0
- dy = y1 - y0
- length = hypot(dx, dy)
- return (dx / length, dy / length)
-
-
-def _blade_width(t: float, width_offset: float) -> float:
- return max(2.0, BLADE_WIDTH + width_offset)
-
-
-def _blade_outline(
- *,
- root_offset: float = 0.0,
- tip_offset: float = 0.0,
- width_offset: float = 0.0,
-) -> list[tuple[float, float]]:
- root_radius = BLADE_ROOT_RADIUS + root_offset
- tip_radius = BLADE_TIP_RADIUS + tip_offset
- left_side: list[tuple[float, float]] = []
- right_side: list[tuple[float, float]] = []
-
- for index in range(BLADE_SEGMENTS + 1):
- t = index / BLADE_SEGMENTS
- x_pos, y_pos = _blade_center(t, root_radius=root_radius, tip_radius=tip_radius)
- tangent_x, tangent_y = _blade_tangent(
- t,
- root_radius=root_radius,
- tip_radius=tip_radius,
- )
- normal_x, normal_y = -tangent_y, tangent_x
- half_width = _blade_width(t, width_offset) / 2.0
- left_side.append((x_pos + normal_x * half_width, y_pos + normal_y * half_width))
- right_side.append((x_pos - normal_x * half_width, y_pos - normal_y * half_width))
-
- tip_tangent_x, tip_tangent_y = _blade_tangent(
- 1.0,
- root_radius=root_radius,
- tip_radius=tip_radius,
- )
- tip_normal_x, tip_normal_y = -tip_tangent_y, tip_tangent_x
- tip_x, tip_y = _blade_center(1.0, root_radius=root_radius, tip_radius=tip_radius)
- tip_half_width = _blade_width(1.0, width_offset) / 2.0
- cap_points = []
- for index in range(1, 11):
- angle = index * tau / 20.0
- cap_points.append(
- (
- tip_x
- + tip_normal_x * cos(angle) * tip_half_width
- + tip_tangent_x * sin(angle) * tip_half_width,
- tip_y
- + tip_normal_y * cos(angle) * tip_half_width
- + tip_tangent_y * sin(angle) * tip_half_width,
- )
- )
-
- return left_side + cap_points + list(reversed(right_side))
-
-
-def _outline_solid(points: list[tuple[float, float]], height: float):
- with BuildPart() as part:
- with BuildSketch(Plane.XY):
- Polygon(points, align=None)
- extrude(amount=height)
- return part.part
-
-
-def _place_blade_part(part, index: int):
- blade_angle = index * 360.0 / BLADE_COUNT
- return part.moved(Location((0.0, 0.0, 0.0), (0.0, 0.0, blade_angle)))
-
-
-def _blade_twist_span(t: float) -> float:
- root_span = HUB_HEIGHT - BLADE_THICKNESS
- blend = t**0.85
- return root_span * (1.0 - blend) + BLADE_TIP_TWIST_SPAN * blend
-
-
-def _blade_center_z(t: float) -> float:
- return HUB_HEIGHT / 2.0 + BLADE_Z_OFFSET - BLADE_TIP_CENTER_Z_DROP * t
-
-
-def _make_blade_section_face(
- *,
- x_pos: float,
- y_pos: float,
- tangent_x: float,
- tangent_y: float,
- width: float,
- twist_span: float,
- center_z: float,
-) -> Face:
- normal_x, normal_y = -tangent_y, tangent_x
- half_width = width / 2.0
- half_thickness = BLADE_THICKNESS / 2.0
- half_twist_span = twist_span / 2.0
-
- high_edge = (
- x_pos + normal_x * half_width,
- y_pos + normal_y * half_width,
- center_z + half_twist_span,
- )
- low_edge = (
- x_pos - normal_x * half_width,
- y_pos - normal_y * half_width,
- center_z - half_twist_span,
- )
- points = [
- (high_edge[0], high_edge[1], high_edge[2] + half_thickness),
- (low_edge[0], low_edge[1], low_edge[2] + half_thickness),
- (low_edge[0], low_edge[1], low_edge[2] - half_thickness),
- (high_edge[0], high_edge[1], high_edge[2] - half_thickness),
- ]
- return Face.make_surface(Wire.make_polygon(points, close=True))
-
-
-def _make_section_face(t: float) -> Face:
- x_pos, y_pos = _blade_center(t, root_radius=BLADE_ROOT_RADIUS, tip_radius=BLADE_TIP_RADIUS)
- tangent_x, tangent_y = _blade_tangent(
- t,
- root_radius=BLADE_ROOT_RADIUS,
- tip_radius=BLADE_TIP_RADIUS,
- )
- return _make_blade_section_face(
- x_pos=x_pos,
- y_pos=y_pos,
- tangent_x=tangent_x,
- tangent_y=tangent_y,
- width=_blade_width(t, 0.0),
- twist_span=_blade_twist_span(t),
- center_z=_blade_center_z(t),
- )
-
-
-def _make_blade_body_local():
- faces = [
- _make_section_face(index / BLADE_SEGMENTS)
- for index in range(BLADE_SEGMENTS + 1)
- ]
- return loft(faces, ruled=False)
-
-
-def _make_blade_body(index: int):
- body = _make_blade_body_local()
- hub_trim = Cylinder(
- radius=HUB_OUTER_RADIUS,
- height=120.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- ).moved(Location((0.0, 0.0, -45.0)))
- body = body - hub_trim
- body = _safe_fillet_edges(
- body,
- _non_planar_oriented_edges(body),
- BLADE_EDGE_BLEND_RADIUS,
- )
- body = _place_blade_part(body, index)
- return _label(body, f"blade_{index + 1:02d}_broad_swept_petal", WARM_IVORY)
-
-
-def _annular_cylinder(
- *,
- label: str,
- outer_radius: float,
- inner_radius: float,
- height: float,
- z_bottom: float,
- color: Color,
-):
- with BuildPart() as ring:
- Cylinder(
- radius=outer_radius,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- )
- Cylinder(
- radius=inner_radius,
- height=height + 2.0,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
- # Internal keyway-style recess: open to the bore, blind before the
- # outside wall, matching the rectangular cut visible inside the hub.
- slot_depth = HUB_CUTOUT_DEPTH + HUB_CUTOUT_BORE_OVERLAP
- slot_x = inner_radius - HUB_CUTOUT_BORE_OVERLAP + slot_depth / 2.0
- slot_z = HUB_CUTOUT_BOTTOM_Z + HUB_CUTOUT_HEIGHT / 2.0
- with Locations(Location((slot_x, 0.0, slot_z))):
- Box(
- slot_depth,
- HUB_CUTOUT_WIDTH,
- HUB_CUTOUT_HEIGHT,
- mode=Mode.SUBTRACT,
- )
-
- part = ring.part.moved(Location((0.0, 0.0, z_bottom)))
- part = _safe_chamfer_edges(
- part,
- _hub_rim_edges(part, outer_radius, inner_radius, height),
- HUB_WALL_FILLET,
- )
- return _label(part, label, color)
-
-
-def _make_hub_shell():
- return _annular_cylinder(
- label="hollow_cylindrical_center_tube_open_bore",
- outer_radius=HUB_OUTER_RADIUS,
- inner_radius=HUB_INNER_RADIUS,
- height=HUB_HEIGHT,
- z_bottom=0.0,
- color=WARM_TAUPE,
- )
-
-
-def gen_step():
- parts = [_make_hub_shell()]
-
- for index in range(BLADE_COUNT):
- parts.append(_make_blade_body(index))
-
- return Compound(obj=parts, children=parts, label=MODEL_LABEL)
diff --git a/models/fun/six_blade_open_propeller.step b/models/fun/six_blade_open_propeller.step
deleted file mode 100644
index bc8de101..00000000
--- a/models/fun/six_blade_open_propeller.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:334b4a18ea4107835eb14dde08ab136c1ce638c9a87ff21dbe4cc4e1a0649702
-size 3036466
diff --git a/models/gcode/README.md b/models/gcode/README.md
deleted file mode 100644
index 8811cff9..00000000
--- a/models/gcode/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# G-code Fixtures
-
-Small FDM slicing fixtures used by the G-code skill and related validation
-workflows. This folder keeps both slicer inputs and durable generated G-code
-outputs for known simple parts.
-
-## Contents
-
-- `*_sample.stl`: mesh inputs used for slicing checks.
-- `*_sample.gcode`: canonical generated G-code outputs for those inputs.
-
-These files are intentionally sample-sized. Printer credentials, slicer
-profiles, logs, and transient dry-run outputs should not be committed here.
diff --git a/models/gcode/circular_flange_plate_sample.gcode b/models/gcode/circular_flange_plate_sample.gcode
deleted file mode 100644
index 199ef98d..00000000
--- a/models/gcode/circular_flange_plate_sample.gcode
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2ac3b9295593528ce8eda59f478e021c1601025d21ed10d7e624405fbcbfe9d6
-size 6281901
diff --git a/models/gcode/circular_flange_plate_sample.stl b/models/gcode/circular_flange_plate_sample.stl
deleted file mode 100644
index e601e474..00000000
--- a/models/gcode/circular_flange_plate_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c8a289509191b7811ee7b5a5a809f85d7ddcd313ca3f8e5d4f9c88ed962f7877
-size 304084
diff --git a/models/gcode/cylindrical_spacer_sleeve_sample.gcode b/models/gcode/cylindrical_spacer_sleeve_sample.gcode
deleted file mode 100644
index c0632df3..00000000
--- a/models/gcode/cylindrical_spacer_sleeve_sample.gcode
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:856a187639eda98d2a48cc623eea5ebf3f1756d99c2afe0a3a1a7b16aefc2ff0
-size 3895026
diff --git a/models/gcode/cylindrical_spacer_sleeve_sample.stl b/models/gcode/cylindrical_spacer_sleeve_sample.stl
deleted file mode 100644
index 44f57c7d..00000000
--- a/models/gcode/cylindrical_spacer_sleeve_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f591a8f33b6326b06260c67df534c85870e532c9a69aed9ddbcbbced53ed06bc
-size 1663284
diff --git a/models/gcode/flat_rectangular_plate_sample.gcode b/models/gcode/flat_rectangular_plate_sample.gcode
deleted file mode 100644
index 3ceff700..00000000
--- a/models/gcode/flat_rectangular_plate_sample.gcode
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:73abfa60ed0809774166db13ad4e3d97ea01bcd6590a1bd090c3088541efa297
-size 2224488
diff --git a/models/gcode/flat_rectangular_plate_sample.stl b/models/gcode/flat_rectangular_plate_sample.stl
deleted file mode 100644
index b0cb575d..00000000
--- a/models/gcode/flat_rectangular_plate_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0d3e138ec62effc4d02bcd8b8f2d034934afa6954c82ab121c17f6320723cc96
-size 103884
diff --git a/models/gcode/pulley_wheel_sample.gcode b/models/gcode/pulley_wheel_sample.gcode
deleted file mode 100644
index 388ff04f..00000000
--- a/models/gcode/pulley_wheel_sample.gcode
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cdffb0ba264fe3c76d9d4c3e4593623a42f4b8165be94dba86d51bac19f8ae71
-size 7004085
diff --git a/models/gcode/pulley_wheel_sample.stl b/models/gcode/pulley_wheel_sample.stl
deleted file mode 100644
index 230fe903..00000000
--- a/models/gcode/pulley_wheel_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f0ce7c23eef4e84efea0773ecba44922970f271c45804c1d211d80da4826dec9
-size 8444284
diff --git a/models/gcode/shaft_collar_sample.gcode b/models/gcode/shaft_collar_sample.gcode
deleted file mode 100644
index 8bfbd585..00000000
--- a/models/gcode/shaft_collar_sample.gcode
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:efbceee790ac14cedc1fa56056a7061ee8dc80cd211731bcab78dbc1dadf5403
-size 3051290
diff --git a/models/gcode/shaft_collar_sample.stl b/models/gcode/shaft_collar_sample.stl
deleted file mode 100644
index f6b0ae10..00000000
--- a/models/gcode/shaft_collar_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:36f0681bb11e2a84ae231ebda518a6fcc3da70f8a51ceddacd97f897d2202eb9
-size 148684
diff --git a/models/gcode/square_mounting_block_sample.gcode b/models/gcode/square_mounting_block_sample.gcode
deleted file mode 100644
index 4d4cbbfe..00000000
--- a/models/gcode/square_mounting_block_sample.gcode
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cd440d9c860d5805afae49117e334f7ce6b7e843cdf74b24ccfaf4266eec370b
-size 5219691
diff --git a/models/gcode/square_mounting_block_sample.stl b/models/gcode/square_mounting_block_sample.stl
deleted file mode 100644
index 8bd74ceb..00000000
--- a/models/gcode/square_mounting_block_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aedb98dfe0764461401bf00426e8a9867536d65c42537d6dabdb931d0a89e6ed
-size 78484
diff --git a/models/implicits/README.md b/models/implicits/README.md
deleted file mode 100644
index 1b874ef5..00000000
--- a/models/implicits/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# Implicit CAD Examples
-
-Browser-native implicit CAD examples for the implicit CAD runtime and CAD
-Viewer raymarching/export workflows. Each file is self-contained JavaScript
-describing one signed-distance-field model.
-
-## Contents
-
-- `*.implicit.js`: implicit CAD model definitions.
-
-There is no generated catalog sidecar in this committed tree. Viewers and tools
-should discover examples from the files in this directory or generate any local
-catalog as a transient artifact.
diff --git a/models/implicits/boys-surface-sculpture.implicit.js b/models/implicits/boys-surface-sculpture.implicit.js
deleted file mode 100644
index bc8da676..00000000
--- a/models/implicits/boys-surface-sculpture.implicit.js
+++ /dev/null
@@ -1,49 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float r = length(p);
- float theta = atan(p.y, p.x);
- float phi = atan(p.z, length(p.xy));
- float triLobe = sin(3.0 * theta) * cos(phi * 2.0) + 0.45 * cos(3.0 * phi);
- float shellRadius = radius + lobeDepth * triLobe;
- float shell = abs(r - shellRadius) - thickness;
- float selfFold = implicit_capsule(p, vec3(-radius * 0.55, 0.0, -radius * 0.3), vec3(radius * 0.55, 0.0, radius * 0.3), thickness * (2.2 + pinch));
- float pinchCut = implicit_torus(vec3(p.x, p.z, p.y), radius * 0.46, thickness * (1.1 + pinch));
- return implicit_union_round(implicit_intersect_round(shell, -pinchCut, thickness), selfFold, thickness * 1.4);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float fold = smoothstep(0.25, 0.95, abs(normal.x * 1.2 + normal.y * 0.4));
- float tri = 0.5 + 0.5 * sin(atan(p.y, p.x) * 3.0 + p.z * 0.08);
- return mix(mix(baseColor * 0.65, baseColor, tri), accentColor, fold * 0.52);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "boys surface sculpture",
- description: "Prompt 15: compact non-orientable Boy's-surface-inspired implicit sculpture.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 18, max: 42, step: 0.25, default: 30, unit: "mm" },
- lobeDepth: { type: "number", label: "Lobe depth", min: 1, max: 12, step: 0.25, default: 6.5, unit: "mm" },
- pinch: { type: "number", label: "Pinch", min: 0, max: 1, step: 0.02, default: 0.44 },
- thickness: { type: "number", label: "Shell thickness", min: 0.8, max: 6, step: 0.1, default: 2.4, unit: "mm" },
- baseColor: { type: "color", label: "Surface color", default: "#a78bfa" },
- accentColor: { type: "color", label: "Fold color", default: "#ffb86b" }
- },
- animations: {
- lobeTurn: {
- label: "Lobe turn",
- duration: 6.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("lobeDepth", 4 + (wave * 0.5 + 0.5) * 8);
- set("pinch", 0.22 + (1 - Math.abs(wave)) * 0.58);
- }
- }
- },
- bounds: [[-48, -48, -48], [48, 48, 48]],
- render: { steps: 310, epsilon: 0.0045, normalEpsilon: 0.048 },
- glsl: GLSL
-};
diff --git a/models/implicits/catenoid-ring-bridge.implicit.js b/models/implicits/catenoid-ring-bridge.implicit.js
deleted file mode 100644
index a36fdcd9..00000000
--- a/models/implicits/catenoid-ring-bridge.implicit.js
+++ /dev/null
@@ -1,48 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float z = clamp(p.z, -height * 0.5, height * 0.5);
- float profile = neckRadius * cosh(z / max(neckRadius, 0.1));
- float surface = abs(length(p.xy) - profile) - wallThickness;
- float clip = abs(p.z) - height * 0.5;
- float catenoid = max(surface, clip);
- float topRing = implicit_torus(p - vec3(0.0, 0.0, height * 0.5), profile + ringRadius * 0.25, ringRadius);
- float bottomRing = implicit_torus(p - vec3(0.0, 0.0, -height * 0.5), profile + ringRadius * 0.25, ringRadius);
- return implicit_union_round(implicit_union_round(catenoid, topRing, 1.8), bottomRing, 1.8);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float ring = smoothstep(height * 0.36, height * 0.52, abs(p.z));
- float contour = 0.5 + 0.5 * sin(p.z * 0.48);
- return mix(mix(baseColor * 0.65, baseColor, contour), accentColor, ring);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "catenoid ring bridge",
- description: "Prompt 11: catenoid minimal surface between two rings with controllable neck.",
- units: "mm",
- params: {
- neckRadius: { type: "number", label: "Neck radius", min: 7, max: 24, step: 0.25, default: 13, unit: "mm" },
- height: { type: "number", label: "Ring spacing", min: 22, max: 72, step: 1, default: 46, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 0.8, max: 5, step: 0.1, default: 2, unit: "mm" },
- ringRadius: { type: "number", label: "Ring radius", min: 2, max: 8, step: 0.25, default: 4.5, unit: "mm" },
- baseColor: { type: "color", label: "Neck color", default: "#ffb703" },
- accentColor: { type: "color", label: "Ring color", default: "#00d1ff" }
- },
- animations: {
- neckPulse: {
- label: "Neck pulse",
- duration: 5.4,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("neckRadius", 11 + (wave * 0.5 + 0.5) * 8);
- set("height", 38 + wave * 12);
- }
- }
- },
- bounds: [[-42, -42, -46], [42, 42, 46]],
- render: { steps: 270, epsilon: 0.004, normalEpsilon: 0.045 },
- glsl: GLSL
-};
diff --git a/models/implicits/chmutov-node-field.implicit.js b/models/implicits/chmutov-node-field.implicit.js
deleted file mode 100644
index e86a5b1b..00000000
--- a/models/implicits/chmutov-node-field.implicit.js
+++ /dev/null
@@ -1,57 +0,0 @@
-const GLSL = `
-float t4(float x) {
- float x2 = x * x;
- return 8.0 * x2 * x2 - 8.0 * x2 + 1.0;
-}
-
-float t5(float x) {
- float x2 = x * x;
- return 16.0 * x2 * x2 * x - 20.0 * x2 * x + 5.0 * x;
-}
-
-float sdf(vec3 p) {
- vec3 q = p / max(radius * 0.52, 0.1) * polynomialScale;
- float f4 = t4(q.x) + t4(q.y) + t4(q.z);
- float f5 = t5(q.x) + t5(q.y) + t5(q.z);
- float field = mix(f4, f5, orderMix) + mix(-0.55, 0.12, orderMix);
- float shell = abs(field) * radius * 0.055 - thickness;
- float clip = implicit_sphere(p, vec3(0.0), radius);
- return implicit_intersect_round(shell, clip, 1.0);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float nodes = 0.5 + 0.5 * sin((p.x * p.y + p.y * p.z + p.z * p.x) * 0.012);
- float saddle = smoothstep(0.15, 0.95, abs(normal.x * normal.y * normal.z) * 6.0);
- return mix(mix(baseColor * 0.62, baseColor, nodes), accentColor, saddle * 0.58);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "chmutov node field",
- description: "Prompt 18: Chmutov-style high-order algebraic surface with many nodes.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Clip radius", min: 22, max: 52, step: 0.5, default: 38, unit: "mm" },
- polynomialScale: { type: "number", label: "Polynomial scale", min: 0.6, max: 1.6, step: 0.02, default: 1.05 },
- orderMix: { type: "number", label: "Order mix", min: 0, max: 1, step: 0.02, default: 0.35 },
- thickness: { type: "number", label: "Thickness", min: 0.2, max: 3, step: 0.05, default: 0.9, unit: "mm" },
- baseColor: { type: "color", label: "Node color", default: "#38bdf8" },
- accentColor: { type: "color", label: "Saddle color", default: "#ff8a3d" }
- },
- animations: {
- orderDrift: {
- label: "Order drift",
- duration: 7,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("orderMix", wave * 0.5 + 0.5);
- set("polynomialScale", 0.92 + (1 - Math.abs(wave)) * 0.46);
- }
- }
- },
- bounds: [[-56, -56, -56], [56, 56, 56]],
- render: { steps: 356, epsilon: 0.005, normalEpsilon: 0.055 },
- glsl: GLSL
-};
diff --git a/models/implicits/dragon-curve-ribbon.implicit.js b/models/implicits/dragon-curve-ribbon.implicit.js
deleted file mode 100644
index 322e1912..00000000
--- a/models/implicits/dragon-curve-ribbon.implicit.js
+++ /dev/null
@@ -1,80 +0,0 @@
-const GLSL = `
-float sdSegment2(vec2 p, vec2 a, vec2 b) {
- vec2 pa = p - a;
- vec2 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-vec2 dragonPoint(float i) {
- float t = i / 72.0;
- float a = t * 11.4 + sin(t * 31.0) * 0.28;
- float r = size * (0.16 + 0.78 * sqrt(t));
- vec2 q = vec2(cos(a), sin(a)) * r;
- q += vec2(cos(a * 2.0 + 1.1), sin(a * 2.0 - 0.7)) * size * 0.10;
- if (mod(floor(i / 6.0), 2.0) > 0.5) {
- q = vec2(q.x - q.y, q.x + q.y) * 0.70710678118;
- }
- return q;
-}
-
-float dragonField(vec2 p) {
- float d = 100000.0;
- for (int i = 0; i < 72; i += 1) {
- float fi = float(i);
- d = min(d, sdSegment2(p, dragonPoint(fi), dragonPoint(fi + 1.0)));
- }
- return d;
-}
-
-float sdf(vec3 p) {
- float ribbon = dragonField(p.xy) - ribbonWidth;
- float slab = abs(p.z) - thickness * 0.5;
- return max(ribbon, slab);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float fold = 0.5 + 0.5 * sin(atan(p.y, p.x) * 5.0 + length(p.xy) * 0.16);
- vec3 c = mix(baseColor, accentColor, fold);
- return c * (0.58 + 0.42 * smoothstep(-0.2, 0.9, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Dragon curve ribbon",
- description: "A recursively folded dragon-curve-inspired ribbon, thickened into a smooth printable strip.",
- units: "mm",
- params: {
- size: { type: "number", label: "Fold size", min: 12, max: 34, step: 0.5, default: 24, unit: "mm" },
- ribbonWidth: { type: "number", label: "Ribbon width", min: 0.45, max: 2.6, step: 0.05, default: 1.05, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.8, max: 4, step: 0.1, default: 1.55, unit: "mm" },
- baseColor: { type: "color", label: "Inner color", default: "#5b8cff" },
- accentColor: { type: "color", label: "Fold color", default: "#ff5c8a" }
- },
- animations: {
- foldPulse: {
- label: "Fold pulse",
- duration: 5.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("ribbonWidth", 1.05 + wave * 0.32);
- set("thickness", 1.55 + (wave * 0.5 + 0.5) * 0.7);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size * 1.25 + params.ribbonWidth + 6;
- const z = params.thickness + 3;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 220,
- stepScale: 0.64,
- maxStep: Math.max(params.ribbonWidth * 3.2, 1.0),
- epsilon: Math.max(params.ribbonWidth * 0.012, 0.004),
- normalEpsilon: Math.max(params.ribbonWidth * 0.08, 0.032)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/dragon-folding-path-3d.implicit.js b/models/implicits/dragon-folding-path-3d.implicit.js
deleted file mode 100644
index 3001de51..00000000
--- a/models/implicits/dragon-folding-path-3d.implicit.js
+++ /dev/null
@@ -1,80 +0,0 @@
-const GLSL = `
-float sdSegment(vec3 p, vec3 a, vec3 b) {
- vec3 pa = p - a;
- vec3 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float smoothMin(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / max(k, 0.0001), 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-vec3 dragon3Point(float i) {
- float t = i / 54.0;
- float angle = t * 13.2 + sin(t * 23.0) * 0.34;
- float r = size * (0.2 + 0.72 * sqrt(t));
- vec3 q = vec3(cos(angle) * r, sin(angle) * r, sin(t * 18.8495559) * height);
- if (mod(floor(i / 5.0), 2.0) > 0.5) {
- q.xy = vec2(q.x - q.y, q.x + q.y) * 0.70710678118;
- q.z = -q.z * 0.78;
- }
- return q;
-}
-
-float sdf(vec3 p) {
- float d = 100000.0;
- for (int i = 0; i < 54; i += 1) {
- float fi = float(i);
- d = smoothMin(d, sdSegment(p, dragon3Point(fi), dragon3Point(fi + 1.0)), bendBlend);
- }
- return d - tubeRadius;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float fold = 0.5 + 0.5 * sin(length(p.xy) * 0.18 + p.z * 0.32);
- float light = pow(max(dot(normal, normalize(vec3(-0.52, 0.32, 0.79))), 0.0), 2.0);
- return mix(baseColor, accentColor, fold) * (0.58 + light * 0.48);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "3D dragon folding path",
- description: "A sculptural 3D recursive folding path inspired by dragon-curve turns.",
- units: "mm",
- params: {
- size: { type: "number", label: "Planar spread", min: 12, max: 34, step: 0.5, default: 23, unit: "mm" },
- height: { type: "number", label: "Vertical fold", min: 2, max: 16, step: 0.25, default: 7.5, unit: "mm" },
- tubeRadius: { type: "number", label: "Tube radius", min: 0.45, max: 2.5, step: 0.05, default: 1.05, unit: "mm" },
- bendBlend: { type: "number", label: "Bend blend", min: 0.1, max: 2.2, step: 0.05, default: 0.7, unit: "mm" },
- baseColor: { type: "color", label: "Base color", default: "#2df5a5" },
- accentColor: { type: "color", label: "Fold color", default: "#ffcc33" }
- },
- animations: {
- foldOrbit: {
- label: "Fold orbit",
- duration: 6.4,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("height", 7.5 + wave * 4.5);
- set("bendBlend", 0.7 + (wave * 0.5 + 0.5) * 0.85);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size * 1.28 + params.tubeRadius + 6;
- const z = params.height + params.tubeRadius + 6;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 220,
- stepScale: 0.64,
- maxStep: Math.max(params.tubeRadius * 3.2, 1.0),
- epsilon: Math.max(params.tubeRadius * 0.012, 0.0045),
- normalEpsilon: Math.max(params.tubeRadius * 0.075, 0.034)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/enneper-curvature-patch.implicit.js b/models/implicits/enneper-curvature-patch.implicit.js
deleted file mode 100644
index 34a07d53..00000000
--- a/models/implicits/enneper-curvature-patch.implicit.js
+++ /dev/null
@@ -1,48 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float r = length(p.xy);
- float x = p.x / max(saddleScale, 0.1);
- float y = p.y / max(saddleScale, 0.1);
- float enneperHeight = saddleScale * 0.42 * (x * x - y * y) * (1.0 - 0.18 * (x * x + y * y));
- enneperHeight += ripple * sin(atan(p.y, p.x) * 3.0) * smoothstep(radius, 0.0, r);
- float sheet = abs(p.z - enneperHeight) - thickness;
- float disk = r - radius;
- return implicit_intersect_round(sheet, disk, thickness * 1.25);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float contour = smoothstep(0.42, 0.5, abs(fract((p.z + length(p.xy) * 0.12) / 4.0) - 0.5));
- float curve = smoothstep(0.0, 0.95, abs(normal.z));
- return mix(mix(baseColor * 0.62, baseColor, curve), accentColor, contour * 0.62);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "enneper curvature patch",
- description: "Prompt 14: thickened Enneper-inspired minimal surface with contour coloring.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Patch radius", min: 16, max: 42, step: 0.25, default: 30, unit: "mm" },
- saddleScale: { type: "number", label: "Saddle scale", min: 12, max: 42, step: 0.5, default: 24, unit: "mm" },
- ripple: { type: "number", label: "Contour ripple", min: 0, max: 5, step: 0.1, default: 1.8, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.6, max: 5, step: 0.1, default: 1.8, unit: "mm" },
- baseColor: { type: "color", label: "Curvature color", default: "#ff8a3d" },
- accentColor: { type: "color", label: "Contour color", default: "#7c5cff" }
- },
- animations: {
- curvatureTide: {
- label: "Curvature tide",
- duration: 5.7,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("saddleScale", 21 + wave * 8);
- set("ripple", (wave * 0.5 + 0.5) * 4.5);
- }
- }
- },
- bounds: [[-46, -46, -34], [46, 46, 34]],
- render: { steps: 288, epsilon: 0.004, normalEpsilon: 0.046 },
- glsl: GLSL
-};
diff --git a/models/implicits/genus-2-double-torus.implicit.js b/models/implicits/genus-2-double-torus.implicit.js
deleted file mode 100644
index aa0e2e47..00000000
--- a/models/implicits/genus-2-double-torus.implicit.js
+++ /dev/null
@@ -1,57 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float left = implicit_torus(p - vec3(-(separation * 0.5), 0.0, 0.0), majorRadius, tubeRadius);
- float right = implicit_torus(p - vec3((separation * 0.5), 0.0, 0.0), majorRadius, tubeRadius);
- float bridge = implicit_capsule(p, vec3(-max((separation * 0.5) - tubeRadius * 0.6, tubeRadius), 0.0, 0.0), vec3(max((separation * 0.5) - tubeRadius * 0.6, tubeRadius), 0.0, 0.0), bridgeRadius);
- float handles = implicit_union_round(left, right, blend);
- return implicit_union_round(handles, bridge, max(blend * 0.78, 0.4));
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- float side = smoothstep(-18.0, 18.0, p.x);
- return mix(mix(leftColor, rightColor, side), highlightColor, smoothstep(0.65, 0.98, abs(normal.z)) * 0.28);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "genus-2 double torus",
- description: "Two toroidal handles smoothly fused into one symmetric watertight genus-2 solid.",
- units: "mm",
- params: {
- separation: { type: "number", label: "Handle spacing", min: 16, max: 34, step: 0.25, default: 26, unit: "mm" },
- majorRadius: { type: "number", label: "Major radius", min: 7, max: 15, step: 0.25, default: 10.5, unit: "mm" },
- tubeRadius: { type: "number", label: "Tube radius", min: 2.2, max: 6.5, step: 0.1, default: 4.2, unit: "mm" },
- bridgeRadius: { type: "number", label: "Bridge radius", min: 2.6, max: 7, step: 0.1, default: 5.2, unit: "mm" },
- blend: { type: "number", label: "Blend", min: 0.5, max: 6, step: 0.1, default: 3.8, unit: "mm" },
- leftColor: { type: "color", label: "Left handle", default: "#ff6fb1" },
- rightColor: { type: "color", label: "Right handle", default: "#7c83ff" },
- highlightColor: { type: "color", label: "Bridge light", default: "#fff06a" }
- },
- animations: {
- handleBreath: {
- label: "Handle breath",
- duration: 5.0,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("separation", 26 + wave * 5);
- set("tubeRadius", 4.2 + wave * 1.1);
- set("blend", 3.8 + wave * 2.0);
- }
- }
- },
- bounds: ({ params }) => {
- const halfSpacing = params.separation / 2;
- const x = halfSpacing + params.majorRadius + params.tubeRadius + params.blend + 8;
- const yz = params.majorRadius + params.tubeRadius + params.blend + 8;
- return [[-x, -yz, -yz], [x, yz, yz]];
- },
- render: ({ params }) => ({
- steps: 240,
- epsilon: Math.max(0.004, params.tubeRadius * 0.0014),
- normalEpsilon: Math.max(0.035, params.tubeRadius * 0.011)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/gosper-curve-tube.implicit.js b/models/implicits/gosper-curve-tube.implicit.js
deleted file mode 100644
index 9c8715ba..00000000
--- a/models/implicits/gosper-curve-tube.implicit.js
+++ /dev/null
@@ -1,79 +0,0 @@
-const GLSL = `
-float sdSegment(vec3 p, vec3 a, vec3 b) {
- vec3 pa = p - a;
- vec3 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float smoothMin(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / max(k, 0.0001), 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-vec3 gosperPoint(float i) {
- float t = i / 60.0;
- float angle = t * 6.28318530718 * 3.0 + sin(t * 6.28318530718 * 7.0) * 0.26;
- float hex = floor(mod(i, 6.0));
- float r = size * (0.25 + 0.55 * t + 0.12 * sin(t * 18.8495559));
- vec2 q = vec2(cos(angle), sin(angle)) * r;
- q += vec2(cos(hex * 1.0471975512), sin(hex * 1.0471975512)) * cellJitter;
- return vec3(q, sin(t * 12.566370614) * verticalLift);
-}
-
-float sdf(vec3 p) {
- float d = 100000.0;
- for (int i = 0; i < 60; i += 1) {
- float fi = float(i);
- d = smoothMin(d, sdSegment(p, gosperPoint(fi), gosperPoint(fi + 1.0)), bendBlend);
- }
- return d - tubeRadius;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float hexBand = 0.5 + 0.5 * sin(atan(p.y, p.x) * 6.0 + length(p.xy) * 0.16);
- vec3 c = mix(baseColor, accentColor, hexBand);
- return c * (0.56 + 0.44 * smoothstep(-0.25, 0.95, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Gosper curve tube",
- description: "A hexagonal Gosper-flow inspired tube with smooth recursive-looking bends.",
- units: "mm",
- params: {
- size: { type: "number", label: "Flow size", min: 14, max: 38, step: 0.5, default: 27, unit: "mm" },
- tubeRadius: { type: "number", label: "Tube radius", min: 0.45, max: 2.6, step: 0.05, default: 1.12, unit: "mm" },
- bendBlend: { type: "number", label: "Bend blend", min: 0.1, max: 2.4, step: 0.05, default: 0.82, unit: "mm" },
- cellJitter: { type: "number", label: "Hex offset", min: 0, max: 5, step: 0.1, default: 2.2, unit: "mm" },
- verticalLift: { type: "number", label: "Vertical lift", min: 0, max: 8, step: 0.1, default: 2.4, unit: "mm" },
- baseColor: { type: "color", label: "Base color", default: "#24e6c2" },
- accentColor: { type: "color", label: "Accent color", default: "#fff45a" }
- },
- animations: {
- hexFlow: {
- label: "Hex flow",
- duration: 6.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("cellJitter", 2.2 + wave * 1.4);
- set("verticalLift", 2.4 + (wave * 0.5 + 0.5) * 3.6);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size + params.cellJitter + params.tubeRadius + 6;
- const z = params.verticalLift + params.tubeRadius + 5;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 220,
- stepScale: 0.64,
- maxStep: Math.max(params.tubeRadius * 3.2, 1.0),
- epsilon: Math.max(params.tubeRadius * 0.012, 0.004),
- normalEpsilon: Math.max(params.tubeRadius * 0.075, 0.034)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/gyroid-unit-cell.implicit.js b/models/implicits/gyroid-unit-cell.implicit.js
deleted file mode 100644
index a4d3faea..00000000
--- a/models/implicits/gyroid-unit-cell.implicit.js
+++ /dev/null
@@ -1,53 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float field = implicit_tpms_gyroid(p, vec3(cellSize), vec3(1.0));
- float shell = implicit_shell(field, wallThickness, 0.0);
- float cell = implicit_box_centered(p, vec3(cellSize), vec3(0.0));
- return max(shell, cell) * fieldScale;
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- vec3 period = 0.5 + 0.5 * sin((p / cellSize) * 6.283185307179586 + vec3(0.0, 2.1, 4.2));
- vec3 body = mix(baseColor, accentColor, dot(period, vec3(0.28, 0.36, 0.36)));
- float rim = pow(max(dot(normal, normalize(vec3(0.24, -0.52, 0.82))), 0.0), 2.0);
- return mix(body, highlightColor, rim * 0.24);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "gyroid unit cell",
- description: "Finite-thickness gyroid minimal surface clipped to one cubic periodic unit cell.",
- units: "mm",
- params: {
- cellSize: { type: "number", label: "Cell size", min: 32, max: 72, step: 0.5, default: 48, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 1.2, max: 7, step: 0.1, default: 3.6, unit: "mm" },
- fieldScale: { type: "number", label: "Field scale", min: 0.35, max: 0.9, step: 0.01, default: 0.52 },
- baseColor: { type: "color", label: "Surface color", default: "#12f0c3" },
- accentColor: { type: "color", label: "Opening color", default: "#ffd166" },
- highlightColor: { type: "color", label: "Highlight color", default: "#b993ff" }
- },
- animations: {
- wallPulse: {
- label: "Wall pulse",
- duration: 5.4,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("wallThickness", 3.6 + wave * 2.0);
- set("fieldScale", 0.52 + wave * 0.16);
- }
- }
- },
- bounds: ({ params }) => {
- const half = params.cellSize / 2 + Math.max(params.wallThickness, 3);
- return [[-half, -half, -half], [half, half, half]];
- },
- render: ({ params }) => ({
- steps: 340,
- epsilon: Math.max(0.005, params.cellSize * 0.00014),
- normalEpsilon: Math.max(0.04, params.wallThickness * 0.014)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/gyroid-window.implicit.js b/models/implicits/gyroid-window.implicit.js
deleted file mode 100644
index 27ec1617..00000000
--- a/models/implicits/gyroid-window.implicit.js
+++ /dev/null
@@ -1,54 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = p / periodScale;
- float gyroid = implicit_tpms_gyroid(q, vec3(1.0), vec3(1.0));
- float sheet = implicit_shell(gyroid, wallThickness, 0.0) * periodScale;
- float roundedWindow = implicit_box_centered(p, vec3(windowSize), vec3(0.0));
- float roundover = implicit_sphere(p, vec3(0.0), outerRadius);
- return implicit_intersect_round(max(sheet, roundedWindow), roundover, roundover);
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- vec3 wave = 0.5 + 0.5 * sin((p * 0.095) + vec3(0.0, 2.1, 4.2));
- return mix(baseColor, accentColor, dot(wave, vec3(0.28, 0.36, 0.36)));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "gyroid window",
- units: "mm",
- params: {
- periodScale: { type: "number", label: "Period scale", min: 5, max: 13, step: 0.1, default: 8.5, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 0.14, max: 0.7, step: 0.01, default: 0.34 },
- windowSize: { type: "number", label: "Window size", min: 36, max: 66, step: 0.5, default: 52, unit: "mm" },
- outerRadius: { type: "number", label: "Outer radius", min: 24, max: 42, step: 0.5, default: 33.5, unit: "mm" },
- roundover: { type: "number", label: "Roundover", min: 0.5, max: 5, step: 0.1, default: 2.5, unit: "mm" },
- baseColor: { type: "color", label: "Window color", default: "#43e8ff" },
- accentColor: { type: "color", label: "Gold color", default: "#ffd166" }
- },
- animations: {
- windowPulse: {
- label: "Window pulse",
- duration: 5.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("wallThickness", 0.34 + wave * 0.16);
- set("roundover", 2.5 + wave * 1.5);
- set("windowSize", 52 + wave * 8);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = Math.max(params.windowSize * 0.5, params.outerRadius) + params.roundover + 4;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 280,
- epsilon: Math.max(0.004, params.periodScale * 0.0007),
- normalEpsilon: Math.max(0.04, params.periodScale * 0.006)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/h-tree-solid.implicit.js b/models/implicits/h-tree-solid.implicit.js
deleted file mode 100644
index 9d7c40db..00000000
--- a/models/implicits/h-tree-solid.implicit.js
+++ /dev/null
@@ -1,86 +0,0 @@
-const GLSL = `
-float sdSegment2(vec2 p, vec2 a, vec2 b) {
- vec2 pa = p - a;
- vec2 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float hLevel(vec2 p, float s, vec2 o) {
- float d = sdSegment2(p, o + vec2(-s, 0.0), o + vec2(s, 0.0));
- d = min(d, sdSegment2(p, o + vec2(-s, -s * 0.5), o + vec2(-s, s * 0.5)));
- d = min(d, sdSegment2(p, o + vec2(s, -s * 0.5), o + vec2(s, s * 0.5)));
- return d;
-}
-
-float hTree(vec2 p) {
- float d = hLevel(p, size, vec2(0.0));
- if (levels > 1.5) {
- d = min(d, hLevel(p, size * 0.5, vec2(-size, size * 0.5)));
- d = min(d, hLevel(p, size * 0.5, vec2(size, size * 0.5)));
- d = min(d, hLevel(p, size * 0.5, vec2(-size, -size * 0.5)));
- d = min(d, hLevel(p, size * 0.5, vec2(size, -size * 0.5)));
- }
- if (levels > 2.5) {
- float s = size * 0.25;
- for (int ix = 0; ix < 4; ix += 1) {
- float fx = float(ix);
- vec2 o = vec2((mod(fx, 2.0) * 2.0 - 1.0) * size * 1.5, (floor(fx / 2.0) * 2.0 - 1.0) * size * 0.75);
- d = min(d, hLevel(p, s, o));
- }
- }
- return d;
-}
-
-float sdf(vec3 p) {
- float beam = hTree(p.xy) - beamRadius;
- float slab = abs(p.z) - thickness * 0.5;
- return max(beam, slab);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float branch = 0.5 + 0.5 * sin((abs(p.x) + abs(p.y)) * 0.13);
- vec3 c = mix(baseColor, accentColor, branch);
- return c * (0.58 + 0.42 * smoothstep(-0.2, 0.9, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "H-tree solid",
- description: "A recursive H-tree beam structure for branching structural CAD demos.",
- units: "mm",
- params: {
- size: { type: "number", label: "Branch size", min: 8, max: 24, step: 0.5, default: 15, unit: "mm" },
- levels: { type: "number", label: "Levels", min: 1, max: 3, step: 1, default: 3 },
- beamRadius: { type: "number", label: "Beam radius", min: 0.35, max: 2.2, step: 0.05, default: 0.95, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 1, max: 5, step: 0.1, default: 2.4, unit: "mm" },
- baseColor: { type: "color", label: "Core color", default: "#60d5ff" },
- accentColor: { type: "color", label: "Branch color", default: "#b8ff7a" }
- },
- animations: {
- branchPulse: {
- label: "Branch pulse",
- duration: 4.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("beamRadius", 0.95 + wave * 0.28);
- set("thickness", 2.4 + (wave * 0.5 + 0.5) * 1.0);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size * 1.95 + params.beamRadius + 4;
- const z = params.thickness + 3;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 170,
- stepScale: 0.72,
- maxStep: Math.max(params.beamRadius * 3.4, 0.9),
- epsilon: Math.max(params.beamRadius * 0.012, 0.004),
- normalEpsilon: Math.max(params.beamRadius * 0.08, 0.032)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/helicoid-printable-ribbon.implicit.js b/models/implicits/helicoid-printable-ribbon.implicit.js
deleted file mode 100644
index 36b2bd03..00000000
--- a/models/implicits/helicoid-printable-ribbon.implicit.js
+++ /dev/null
@@ -1,53 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float theta = atan(p.y, p.x);
- float r = length(p.xy);
- float periodZ = max(pitch, 0.1);
- float phase = p.z - theta / 6.2831853 * periodZ;
- phase = mod(phase + periodZ * 0.5, periodZ) - periodZ * 0.5;
- float sheet = abs(phase) - thickness;
- float radialBand = abs(r - radius) - ribbonWidth * 0.5;
- float ribbon = max(sheet, radialBand);
- float zClip = abs(p.z) - height * 0.5;
- float hub = implicit_cylinder_capped(p, vec3(0.0, 0.0, -height * 0.52), vec3(0.0, 0.0, height * 0.52), thickness * 1.15);
- return implicit_union_round(max(ribbon, zClip), hub, thickness * 0.8);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float helix = fract((atan(p.y, p.x) / 6.2831853) + p.z / max(pitch, 0.1));
- float edge = smoothstep(ribbonWidth * 0.36, ribbonWidth * 0.55, abs(length(p.xy) - radius));
- vec3 body = mix(baseColor * 0.65, baseColor, helix);
- return mix(body, accentColor, edge * 0.75);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "helicoid printable ribbon",
- description: "Prompt 10: adjustable helicoid thickened into a printable screw-like ribbon.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 14, max: 38, step: 0.25, default: 26, unit: "mm" },
- pitch: { type: "number", label: "Pitch", min: 14, max: 48, step: 0.5, default: 28, unit: "mm" },
- height: { type: "number", label: "Height", min: 24, max: 82, step: 1, default: 58, unit: "mm" },
- ribbonWidth: { type: "number", label: "Ribbon width", min: 5, max: 24, step: 0.25, default: 13, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.8, max: 6, step: 0.1, default: 2.3, unit: "mm" },
- baseColor: { type: "color", label: "Ribbon color", default: "#c77dff" },
- accentColor: { type: "color", label: "Edge color", default: "#35f0ff" }
- },
- animations: {
- pitchSweep: {
- label: "Pitch sweep",
- duration: 6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("pitch", 24 + wave * 12);
- set("ribbonWidth", 10 + (1 - Math.abs(wave)) * 10);
- }
- }
- },
- bounds: [[-44, -44, -48], [44, 44, 48]],
- render: { steps: 280, epsilon: 0.004, normalEpsilon: 0.045 },
- glsl: GLSL
-};
diff --git a/models/implicits/hilbert-curve-3d.implicit.js b/models/implicits/hilbert-curve-3d.implicit.js
deleted file mode 100644
index 415c505e..00000000
--- a/models/implicits/hilbert-curve-3d.implicit.js
+++ /dev/null
@@ -1,129 +0,0 @@
-const GLSL = `
-float sdHilbertGridSegment(vec3 g, vec3 a, vec3 b) {
- vec3 mn = min(a, b);
- vec3 mx = max(a, b);
- vec3 q = max(max(mn - g, g - mx), vec3(0.0));
- return length(q) * cellSize;
-}
-
-float smoothMin(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / max(k, 0.0001), 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-float sdf(vec3 p) {
- vec3 g = p / max(cellSize, 0.0001) + vec3(1.5);
- float d = 100000.0;
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 0.0, 0.0), vec3(0.0, 1.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 1.0, 0.0), vec3(1.0, 1.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 1.0, 0.0), vec3(1.0, 0.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 0.0, 0.0), vec3(1.0, 0.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 0.0, 1.0), vec3(1.0, 1.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 1.0, 1.0), vec3(0.0, 1.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 1.0, 1.0), vec3(0.0, 0.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 0.0, 1.0), vec3(0.0, 0.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 0.0, 2.0), vec3(0.0, 0.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 0.0, 3.0), vec3(1.0, 0.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 0.0, 3.0), vec3(1.0, 0.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 0.0, 2.0), vec3(1.0, 1.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 1.0, 2.0), vec3(1.0, 1.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 1.0, 3.0), vec3(0.0, 1.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 1.0, 3.0), vec3(0.0, 1.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 1.0, 2.0), vec3(0.0, 2.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 2.0, 2.0), vec3(0.0, 2.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 2.0, 3.0), vec3(0.0, 3.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 3.0, 3.0), vec3(0.0, 3.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 3.0, 2.0), vec3(1.0, 3.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 3.0, 2.0), vec3(1.0, 3.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 3.0, 3.0), vec3(1.0, 2.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 2.0, 3.0), vec3(1.0, 2.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 2.0, 2.0), vec3(1.0, 2.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 2.0, 1.0), vec3(0.0, 2.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 2.0, 1.0), vec3(0.0, 3.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 3.0, 1.0), vec3(1.0, 3.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 3.0, 1.0), vec3(1.0, 3.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 3.0, 0.0), vec3(0.0, 3.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 3.0, 0.0), vec3(0.0, 2.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(0.0, 2.0, 0.0), vec3(1.0, 2.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(1.0, 2.0, 0.0), vec3(2.0, 2.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 2.0, 0.0), vec3(3.0, 2.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 2.0, 0.0), vec3(3.0, 3.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 3.0, 0.0), vec3(2.0, 3.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 3.0, 0.0), vec3(2.0, 3.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 3.0, 1.0), vec3(3.0, 3.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 3.0, 1.0), vec3(3.0, 2.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 2.0, 1.0), vec3(2.0, 2.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 2.0, 1.0), vec3(2.0, 2.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 2.0, 2.0), vec3(2.0, 2.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 2.0, 3.0), vec3(2.0, 3.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 3.0, 3.0), vec3(2.0, 3.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 3.0, 2.0), vec3(3.0, 3.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 3.0, 2.0), vec3(3.0, 3.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 3.0, 3.0), vec3(3.0, 2.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 2.0, 3.0), vec3(3.0, 2.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 2.0, 2.0), vec3(3.0, 1.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 1.0, 2.0), vec3(3.0, 1.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 1.0, 3.0), vec3(2.0, 1.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 1.0, 3.0), vec3(2.0, 1.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 1.0, 2.0), vec3(2.0, 0.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 0.0, 2.0), vec3(2.0, 0.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 0.0, 3.0), vec3(3.0, 0.0, 3.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 0.0, 3.0), vec3(3.0, 0.0, 2.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 0.0, 2.0), vec3(3.0, 0.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 0.0, 1.0), vec3(3.0, 1.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 1.0, 1.0), vec3(2.0, 1.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 1.0, 1.0), vec3(2.0, 0.0, 1.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 0.0, 1.0), vec3(2.0, 0.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 0.0, 0.0), vec3(2.0, 1.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(2.0, 1.0, 0.0), vec3(3.0, 1.0, 0.0)), cornerBlend);
- d = smoothMin(d, sdHilbertGridSegment(g, vec3(3.0, 1.0, 0.0), vec3(3.0, 0.0, 0.0)), cornerBlend);
- return d - tubeRadius;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float sweep = 0.5 + 0.5 * sin((p.x + p.y * 0.7 + p.z * 1.3) * 0.12);
- float glow = pow(max(dot(normal, normalize(vec3(-0.35, 0.42, 0.84))), 0.0), 2.0);
- vec3 c = mix(baseColor, midColor, smoothstep(0.0, 0.58, sweep));
- c = mix(c, accentColor, smoothstep(0.48, 1.0, sweep));
- return c * (0.62 + glow * 0.48) + vec3(0.04, 0.05, 0.08);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "3D Hilbert curve",
- description: "A true order-2 3D Hilbert traversal through a 4x4x4 lattice, thickened into a rounded tube.",
- units: "mm",
- params: {
- cellSize: { type: "number", label: "Cell size", min: 5, max: 11, step: 0.25, default: 7.2, unit: "mm" },
- tubeRadius: { type: "number", label: "Tube radius", min: 0.45, max: 2.6, step: 0.05, default: 1.2, unit: "mm" },
- cornerBlend: { type: "number", label: "Corner blend", min: 0.1, max: 2.6, step: 0.05, default: 0.85, unit: "mm" },
- baseColor: { type: "color", label: "Start color", default: "#35d0ff" },
- midColor: { type: "color", label: "Middle color", default: "#baff39" },
- accentColor: { type: "color", label: "End color", default: "#ff65b8" }
- },
- animations: {
- pathPulse: {
- label: "Path pulse",
- duration: 5.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("tubeRadius", 1.2 + wave * 0.38);
- set("cornerBlend", 0.85 + (wave * 0.5 + 0.5) * 0.9);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.cellSize * 2.05 + params.tubeRadius + params.cornerBlend + 6;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 220,
- stepScale: 0.62,
- maxStep: Math.max(params.tubeRadius * 3.2, 1.1),
- epsilon: Math.max(params.tubeRadius * 0.012, 0.005),
- normalEpsilon: Math.max(params.tubeRadius * 0.07, 0.035)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/hilbert-curve-block.implicit.js b/models/implicits/hilbert-curve-block.implicit.js
deleted file mode 100644
index 01fcac6e..00000000
--- a/models/implicits/hilbert-curve-block.implicit.js
+++ /dev/null
@@ -1,150 +0,0 @@
-const GLSL = `
-float sdBox(vec3 p, vec3 b) {
- vec3 q = abs(p) - b;
- return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
-}
-
-float sdSegment2(vec2 p, vec2 a, vec2 b) {
- vec2 pa = p - a;
- vec2 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-vec2 hilbertGridPoint2(float i) {
- float index = clamp(floor(i + 0.5), 0.0, 63.0);
- if (index < 0.5) { return vec2(0.0, 0.0); }
- if (index < 1.5) { return vec2(0.0, 1.0); }
- if (index < 2.5) { return vec2(1.0, 1.0); }
- if (index < 3.5) { return vec2(1.0, 0.0); }
- if (index < 4.5) { return vec2(2.0, 0.0); }
- if (index < 5.5) { return vec2(3.0, 0.0); }
- if (index < 6.5) { return vec2(3.0, 1.0); }
- if (index < 7.5) { return vec2(2.0, 1.0); }
- if (index < 8.5) { return vec2(2.0, 2.0); }
- if (index < 9.5) { return vec2(3.0, 2.0); }
- if (index < 10.5) { return vec2(3.0, 3.0); }
- if (index < 11.5) { return vec2(2.0, 3.0); }
- if (index < 12.5) { return vec2(1.0, 3.0); }
- if (index < 13.5) { return vec2(1.0, 2.0); }
- if (index < 14.5) { return vec2(0.0, 2.0); }
- if (index < 15.5) { return vec2(0.0, 3.0); }
- if (index < 16.5) { return vec2(0.0, 4.0); }
- if (index < 17.5) { return vec2(1.0, 4.0); }
- if (index < 18.5) { return vec2(1.0, 5.0); }
- if (index < 19.5) { return vec2(0.0, 5.0); }
- if (index < 20.5) { return vec2(0.0, 6.0); }
- if (index < 21.5) { return vec2(0.0, 7.0); }
- if (index < 22.5) { return vec2(1.0, 7.0); }
- if (index < 23.5) { return vec2(1.0, 6.0); }
- if (index < 24.5) { return vec2(2.0, 6.0); }
- if (index < 25.5) { return vec2(2.0, 7.0); }
- if (index < 26.5) { return vec2(3.0, 7.0); }
- if (index < 27.5) { return vec2(3.0, 6.0); }
- if (index < 28.5) { return vec2(3.0, 5.0); }
- if (index < 29.5) { return vec2(2.0, 5.0); }
- if (index < 30.5) { return vec2(2.0, 4.0); }
- if (index < 31.5) { return vec2(3.0, 4.0); }
- if (index < 32.5) { return vec2(4.0, 4.0); }
- if (index < 33.5) { return vec2(5.0, 4.0); }
- if (index < 34.5) { return vec2(5.0, 5.0); }
- if (index < 35.5) { return vec2(4.0, 5.0); }
- if (index < 36.5) { return vec2(4.0, 6.0); }
- if (index < 37.5) { return vec2(4.0, 7.0); }
- if (index < 38.5) { return vec2(5.0, 7.0); }
- if (index < 39.5) { return vec2(5.0, 6.0); }
- if (index < 40.5) { return vec2(6.0, 6.0); }
- if (index < 41.5) { return vec2(6.0, 7.0); }
- if (index < 42.5) { return vec2(7.0, 7.0); }
- if (index < 43.5) { return vec2(7.0, 6.0); }
- if (index < 44.5) { return vec2(7.0, 5.0); }
- if (index < 45.5) { return vec2(6.0, 5.0); }
- if (index < 46.5) { return vec2(6.0, 4.0); }
- if (index < 47.5) { return vec2(7.0, 4.0); }
- if (index < 48.5) { return vec2(7.0, 3.0); }
- if (index < 49.5) { return vec2(7.0, 2.0); }
- if (index < 50.5) { return vec2(6.0, 2.0); }
- if (index < 51.5) { return vec2(6.0, 3.0); }
- if (index < 52.5) { return vec2(5.0, 3.0); }
- if (index < 53.5) { return vec2(4.0, 3.0); }
- if (index < 54.5) { return vec2(4.0, 2.0); }
- if (index < 55.5) { return vec2(5.0, 2.0); }
- if (index < 56.5) { return vec2(5.0, 1.0); }
- if (index < 57.5) { return vec2(4.0, 1.0); }
- if (index < 58.5) { return vec2(4.0, 0.0); }
- if (index < 59.5) { return vec2(5.0, 0.0); }
- if (index < 60.5) { return vec2(6.0, 0.0); }
- if (index < 61.5) { return vec2(6.0, 1.0); }
- if (index < 62.5) { return vec2(7.0, 1.0); }
- return vec2(7.0, 0.0);
-}
-
-vec2 hilbertBlockPoint(float i) {
- return (hilbertGridPoint2(i) - vec2(3.5)) * cellSize;
-}
-
-float channelField(vec2 p) {
- float d = 100000.0;
- for (int i = 0; i < 63; i += 1) {
- float fi = float(i);
- d = min(d, sdSegment2(p, hilbertBlockPoint(fi), hilbertBlockPoint(fi + 1.0)));
- }
- return d;
-}
-
-float sdf(vec3 p) {
- float extent = cellSize * 4.1;
- float plate = sdBox(p + vec3(0.0, 0.0, plateThickness * 0.18), vec3(extent, extent, plateThickness * 0.42));
- float channel = max(channelField(p.xy) - channelWidth, abs(p.z - plateThickness * 0.18) - plateThickness * 0.34);
- float raisedRim = max(channelField(p.xy) - channelWidth * 1.35, abs(p.z - plateThickness * 0.42) - liftHeight * 0.36);
- return min(max(plate, -channel), raisedRim);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float path = smoothstep(channelWidth * 1.8, channelWidth * 0.35, channelField(p.xy));
- float grid = 0.5 + 0.5 * sin((p.x + p.y) * 0.22);
- vec3 plateColor = mix(baseColor * 0.52, baseColor, 0.45 + 0.55 * normal.z);
- vec3 pathColor = mix(accentColor * 0.72, accentColor, grid);
- return mix(plateColor, pathColor, path);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "2D Hilbert curve block",
- description: "A true order-3 planar Hilbert curve cut into a solid plate with a raised colored trace.",
- units: "mm",
- params: {
- cellSize: { type: "number", label: "Cell size", min: 3.5, max: 8, step: 0.1, default: 5.3, unit: "mm" },
- channelWidth: { type: "number", label: "Channel width", min: 0.45, max: 2.4, step: 0.05, default: 1.15, unit: "mm" },
- plateThickness: { type: "number", label: "Plate thickness", min: 1.6, max: 6, step: 0.1, default: 3.2, unit: "mm" },
- liftHeight: { type: "number", label: "Trace lift", min: 0.3, max: 2.4, step: 0.05, default: 1.0, unit: "mm" },
- baseColor: { type: "color", label: "Plate color", default: "#a5b4fc" },
- accentColor: { type: "color", label: "Trace color", default: "#ccff33" }
- },
- animations: {
- channelBreath: {
- label: "Channel breath",
- duration: 4.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("channelWidth", 1.15 + wave * 0.42);
- set("liftHeight", 1.0 + (wave * 0.5 + 0.5) * 0.75);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.cellSize * 4.45 + params.channelWidth + 4;
- const z = params.plateThickness + params.liftHeight + 3;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 190,
- stepScale: 0.7,
- maxStep: Math.max(params.channelWidth * 3.5, 1.1),
- epsilon: Math.max(params.channelWidth * 0.012, 0.004),
- normalEpsilon: Math.max(params.channelWidth * 0.08, 0.035)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/jerusalem-cube.implicit.js b/models/implicits/jerusalem-cube.implicit.js
deleted file mode 100644
index 544bb786..00000000
--- a/models/implicits/jerusalem-cube.implicit.js
+++ /dev/null
@@ -1,73 +0,0 @@
-const GLSL = `
-float sdBox(vec3 p, vec3 b) {
- vec3 q = abs(p) - b;
- return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
-}
-
-float crossVoid(vec3 p, float s) {
- float w = voidWidth * s;
- float tunnelX = max(abs(p.y) - w, abs(p.z) - w);
- float tunnelY = max(abs(p.x) - w, abs(p.z) - w);
- float tunnelZ = max(abs(p.x) - w, abs(p.y) - w);
- return min(tunnelX, min(tunnelY, tunnelZ));
-}
-
-float sdf(vec3 p) {
- float d = sdBox(p, vec3(size));
- float v = crossVoid(p, 1.0);
- if (levels > 1.5) {
- vec3 q = mod(p + size * 0.5, size) - size * 0.5;
- v = min(v, crossVoid(q, 0.42));
- }
- if (levels > 2.5) {
- vec3 r = mod(p + size * 0.22, size * 0.44) - size * 0.22;
- v = min(v, crossVoid(r, 0.18));
- }
- return max(d - roundness, -(v + roundness));
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float nested = 0.5 + 0.5 * sin((abs(p.x) + abs(p.y) + abs(p.z)) * 0.22);
- vec3 c = mix(baseColor, accentColor, nested);
- return c * (0.56 + 0.44 * pow(max(dot(normal, normalize(vec3(-0.38, 0.42, 0.82))), 0.0), 1.8));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Jerusalem cube",
- description: "A Jerusalem-cube-style fractal with nested orthogonal cutouts and rounded internal corners.",
- units: "mm",
- params: {
- size: { type: "number", label: "Half size", min: 12, max: 34, step: 0.5, default: 24, unit: "mm" },
- levels: { type: "number", label: "Levels", min: 1, max: 3, step: 1, default: 3 },
- voidWidth: { type: "number", label: "Void width", min: 1.2, max: 6.5, step: 0.1, default: 3.3, unit: "mm" },
- roundness: { type: "number", label: "Corner round", min: 0.05, max: 1.6, step: 0.05, default: 0.42, unit: "mm" },
- baseColor: { type: "color", label: "Cube color", default: "#ffd166" },
- accentColor: { type: "color", label: "Interior color", default: "#ff5c8a" }
- },
- animations: {
- nestedCuts: {
- label: "Nested cuts",
- duration: 5.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("voidWidth", 3.3 + wave * 1.2);
- set("roundness", 0.42 + (wave * 0.5 + 0.5) * 0.55);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size + params.roundness + 5;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 240,
- stepScale: 0.64,
- maxStep: Math.max(params.roundness * 5, 1.0),
- epsilon: Math.max(params.roundness * 0.014, 0.004),
- normalEpsilon: Math.max(params.roundness * 0.12, 0.036)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/klein-bottle-immersion.implicit.js b/models/implicits/klein-bottle-immersion.implicit.js
deleted file mode 100644
index f6085d0e..00000000
--- a/models/implicits/klein-bottle-immersion.implicit.js
+++ /dev/null
@@ -1,149 +0,0 @@
-const GLSL = `
-const float KLEIN_TAU = 6.283185307179586;
-
-float sdEllipsoid(vec3 p, vec3 r) {
- float k0 = length(p / r);
- float k1 = length(p / (r * r));
- return k0 * (k0 - 1.0) / max(k1, 0.0001);
-}
-
-float sdCapsuleLine(vec3 p, vec3 a, vec3 b) {
- vec3 pa = p - a;
- vec3 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float sdTorus(vec3 p, vec2 t) {
- vec2 q = vec2(length(p.xy) - t.x, p.z);
- return length(q) - t.y;
-}
-
-vec3 cubicBezier(vec3 a, vec3 b, vec3 c, vec3 d, float t) {
- float s = 1.0 - t;
- return s * s * s * a + 3.0 * s * s * t * b + 3.0 * s * t * t * c + t * t * t * d;
-}
-
-float neckCenterDistance(vec3 q) {
- vec3 p0 = vec3(0.0, -0.03, bulbHeight * 0.82);
- vec3 p1 = vec3(0.12, -bulbDepth * 0.18, bulbHeight + neckRise);
- vec3 p2 = vec3(-handleReach, -bulbDepth * 0.95, bulbHeight + neckRise * 0.72);
- vec3 p3 = vec3(-entryOffset, -bulbDepth * 1.02, 0.12);
- vec3 p4 = vec3(0.08, -bulbDepth * 0.22, -bulbHeight * 0.56);
-
- vec3 previous = p0;
- float d = 10000.0;
- for (int i = 1; i <= 28; i += 1) {
- float t = float(i) / 28.0;
- vec3 current = cubicBezier(p0, p1, p2, p3, t);
- d = min(d, sdCapsuleLine(q, previous, current));
- previous = current;
- }
-
- previous = p3;
- for (int i = 1; i <= 20; i += 1) {
- float t = float(i) / 20.0;
- vec3 current = cubicBezier(
- p3,
- vec3(-entryOffset * 0.7, -bulbDepth * 0.72, -0.34),
- vec3(0.16, -bulbDepth * 0.28, -bulbHeight * 0.86),
- p4,
- t
- );
- d = min(d, sdCapsuleLine(q, previous, current));
- previous = current;
- }
- return d;
-}
-
-float smoothUnion(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / k, 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-float sdf(vec3 p) {
- vec3 q = p / scale;
- q.z -= verticalOffset;
-
- vec3 bulbCenter = vec3(0.08, 0.0, -0.26);
- float shell = abs(sdEllipsoid(q - bulbCenter, vec3(bulbWidth, bulbDepth, bulbHeight))) - wallThickness / scale;
-
- vec3 entryPoint = vec3(-entryOffset, -bulbDepth * 1.02, 0.12);
- float entryHole = sdEllipsoid(q - entryPoint, vec3(neckRadius * 1.85, neckRadius * 1.34, neckRadius * 2.05));
- shell = max(shell, -entryHole);
-
- float neckCore = neckCenterDistance(q) - neckRadius;
- float neck = abs(neckCore) - wallThickness / scale;
-
- vec3 topPoint = q - vec3(0.0, -0.03, bulbHeight * 0.82);
- float topLip = abs(sdTorus(vec3(topPoint.x, topPoint.y, topPoint.z * 0.76), vec2(neckRadius, wallThickness / scale * 1.15))) - wallThickness / scale * 0.5;
-
- float body = smoothUnion(shell, neck, blendRadius);
- return min(body, topLip) * scale;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- vec3 q = p / max(scale, 0.0001);
- q.z -= verticalOffset;
- float neckBand = 1.0 - smoothstep(neckRadius + 0.02, neckRadius + 0.54, neckCenterDistance(q));
- float entryGlow = 1.0 - smoothstep(0.0, neckRadius * 2.1, length(q - vec3(-entryOffset, -bulbDepth * 1.02, 0.12)));
- float heightBand = smoothstep(-bulbHeight * 0.9, bulbHeight * 1.18, q.z);
- float swirl = 0.5 + 0.5 * sin(KLEIN_TAU * (atan(q.y, q.x) / KLEIN_TAU + q.z * 0.22));
- float rim = pow(max(dot(normal, normalize(vec3(-0.35, 0.56, 0.75))), 0.0), 2.0);
- vec3 body = mix(bulbColor, insideColor, heightBand * 0.24 + swirl * 0.12);
- body = mix(body, neckColor, neckBand * 0.82);
- body = mix(body, insideColor, entryGlow * 0.52);
- return mix(body, rimColor, rim * 0.35);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Klein bottle immersion",
- description: "A fast bounded classic Klein bottle model with a visible self-passing neck and front entry.",
- units: "mm",
- params: {
- scale: { type: "number", label: "Scale", min: 10, max: 30, step: 0.25, default: 17, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 0.25, max: 2.2, step: 0.05, default: 0.62, unit: "mm" },
- bulbWidth: { type: "number", label: "Bulb width", min: 1.0, max: 2.0, step: 0.02, default: 1.25 },
- bulbDepth: { type: "number", label: "Bulb depth", min: 0.75, max: 1.55, step: 0.02, default: 1.05 },
- bulbHeight: { type: "number", label: "Bulb height", min: 1.35, max: 2.55, step: 0.02, default: 1.88 },
- neckRadius: { type: "number", label: "Neck radius", min: 0.16, max: 0.58, step: 0.01, default: 0.29 },
- handleReach: { type: "number", label: "Handle reach", min: 1.1, max: 2.5, step: 0.02, default: 1.58 },
- neckRise: { type: "number", label: "Neck rise", min: 0.45, max: 1.45, step: 0.02, default: 1.08 },
- entryOffset: { type: "number", label: "Entry offset", min: -0.45, max: 0.85, step: 0.02, default: 0.14 },
- blendRadius: { type: "number", label: "Blend", min: 0.02, max: 0.28, step: 0.01, default: 0.08 },
- verticalOffset: { type: "number", label: "Vertical offset", min: -0.8, max: 0.8, step: 0.02, default: -0.04 },
- bulbColor: { type: "color", label: "Bulb color", default: "#b36bff" },
- neckColor: { type: "color", label: "Neck color", default: "#35e7ff" },
- insideColor: { type: "color", label: "Inside color", default: "#ff86ca" },
- rimColor: { type: "color", label: "Rim color", default: "#ffe066" }
- },
- animations: {
- bottleBreath: {
- label: "Bottle breath",
- duration: 5.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("handleReach", 1.58 + wave * 0.14);
- set("neckRise", 1.08 + wave * 0.08);
- set("wallThickness", 0.62 + wave * 0.08);
- }
- }
- },
- bounds: ({ params }) => {
- const x = params.scale * Math.max(params.bulbWidth + 0.45, params.handleReach + params.neckRadius + 0.35) + params.wallThickness + 5;
- const y = params.scale * (params.bulbDepth + params.neckRadius + 0.55) + params.wallThickness + 5;
- const z = params.scale * (params.bulbHeight + params.neckRise + params.neckRadius + Math.abs(params.verticalOffset) + 0.45) + params.wallThickness + 5;
- return [[-x, -y, -z], [x, y, z]];
- },
- render: ({ params }) => ({
- steps: 280,
- stepScale: 0.62,
- maxStep: Math.max(params.wallThickness * 2.5, params.scale * 0.05),
- epsilon: Math.max(0.004, params.wallThickness * 0.006),
- normalEpsilon: Math.max(0.035, params.wallThickness * 0.05)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/koch-snowflake-extrusion.implicit.js b/models/implicits/koch-snowflake-extrusion.implicit.js
deleted file mode 100644
index 9d08960c..00000000
--- a/models/implicits/koch-snowflake-extrusion.implicit.js
+++ /dev/null
@@ -1,75 +0,0 @@
-const GLSL = `
-float sdBox(vec3 p, vec3 b) {
- vec3 q = abs(p) - b;
- return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
-}
-
-float snowflakeRadius(float a) {
- float r = radius * (0.72 + 0.12 * cos(3.0 * a));
- if (depth > 1.5) {
- r += radius * 0.105 * cos(12.0 * a);
- }
- if (depth > 2.5) {
- r += radius * 0.055 * cos(48.0 * a);
- }
- if (depth > 3.5) {
- r += radius * 0.026 * cos(96.0 * a);
- }
- return r;
-}
-
-float sdf(vec3 p) {
- float a = atan(p.y, p.x);
- float radial = length(p.xy) - snowflakeRadius(a);
- float sideBevel = radial - edgeRound;
- float slab = abs(p.z) - thickness * 0.5 + edgeRound;
- return min(max(sideBevel, slab), 0.0) + length(max(vec2(sideBevel, slab), 0.0)) - edgeRound;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float a = atan(p.y, p.x);
- float ice = 0.5 + 0.5 * cos(a * 12.0 + length(p.xy) * 0.11);
- vec3 c = mix(baseColor, accentColor, ice);
- return c * (0.62 + 0.38 * smoothstep(-0.3, 0.95, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Koch snowflake extrusion",
- description: "A rounded extruded Koch-snowflake approximation with controllable recursive edge detail.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 14, max: 42, step: 0.5, default: 28, unit: "mm" },
- depth: { type: "number", label: "Recursion depth", min: 1, max: 4, step: 1, default: 4 },
- thickness: { type: "number", label: "Thickness", min: 1.5, max: 9, step: 0.1, default: 4.2, unit: "mm" },
- edgeRound: { type: "number", label: "Edge round", min: 0.05, max: 1.6, step: 0.05, default: 0.55, unit: "mm" },
- baseColor: { type: "color", label: "Ice color", default: "#e0fbff" },
- accentColor: { type: "color", label: "Edge color", default: "#00a6ff" }
- },
- animations: {
- frostBloom: {
- label: "Frost bloom",
- duration: 5.0,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("edgeRound", 0.55 + (wave * 0.5 + 0.5) * 0.75);
- set("thickness", 4.2 + wave * 1.2);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.radius + params.edgeRound + 7;
- const z = params.thickness + params.edgeRound + 4;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 180,
- stepScale: 0.72,
- maxStep: Math.max(params.edgeRound * 4.5, 1.0),
- epsilon: Math.max(params.edgeRound * 0.012, 0.004),
- normalEpsilon: Math.max(params.edgeRound * 0.09, 0.035)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/mandelbulb-distance-estimate.implicit.js b/models/implicits/mandelbulb-distance-estimate.implicit.js
deleted file mode 100644
index 3e869e99..00000000
--- a/models/implicits/mandelbulb-distance-estimate.implicit.js
+++ /dev/null
@@ -1,68 +0,0 @@
-const GLSL = `
-const float IMPLICIT_MOBIUS_TAU = 6.283185307179586;
-
-float mandelbulbDE(vec3 p) {
- vec3 z = p / max(radius * 0.72, 0.1) * detailScale;
- float dr = 1.0;
- float r = 0.0;
- for (int i = 0; i < 8; i++) {
- r = length(z);
- if (r > 2.0 || float(i) >= iterations) {
- break;
- }
- float theta = acos(clamp(z.z / max(r, 0.0001), -1.0, 1.0));
- float phi = atan(z.y, z.x);
- dr = pow(r, power - 1.0) * power * dr + 1.0;
- float zr = pow(r, power);
- theta *= power;
- phi *= power;
- z = zr * vec3(sin(theta) * cos(phi), sin(phi) * sin(theta), cos(theta)) + p / max(radius * 0.72, 0.1) * detailScale;
- }
- return 0.5 * log(max(r, 0.0001)) * r / max(dr, 0.0001) * radius * 0.72;
-}
-
-float sdf(vec3 p) {
- float bulb = mandelbulbDE(p);
- float clip = implicit_sphere(p, vec3(0.0), radius);
- return max(bulb, clip);
-}
-
-vec3 implicit_palette(float t) {
- return 0.58 + 0.42 * cos(IMPLICIT_MOBIUS_TAU * (vec3(0.02, 0.38, 0.72) + t));
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float orbit = atan(p.y, p.x) / IMPLICIT_MOBIUS_TAU + length(p) * 0.018;
- float ridge = pow(max(dot(normal, normalize(vec3(0.4, -0.7, 0.6))), 0.0), 2.0);
- vec3 body = implicit_palette(orbit + p.z * 0.018);
- return mix(body, vec3(1.0, 0.84, 0.48), ridge * 0.28);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "mandelbulb distance estimate",
- description: "Prompt 19: Mandelbulb-style implicit fractal using distance estimation.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Fractal radius", min: 16, max: 42, step: 0.5, default: 30, unit: "mm" },
- power: { type: "number", label: "Power", min: 4, max: 10, step: 0.1, default: 8 },
- iterations: { type: "number", label: "Iterations", min: 3, max: 8, step: 1, default: 7 },
- detailScale: { type: "number", label: "Detail scale", min: 0.65, max: 1.45, step: 0.02, default: 1 }
- },
- animations: {
- powerOrbit: {
- label: "Power orbit",
- duration: 7.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("power", 6.2 + (wave * 0.5 + 0.5) * 3.2);
- set("detailScale", 0.82 + (1 - Math.abs(wave)) * 0.48);
- }
- }
- },
- bounds: [[-44, -44, -44], [44, 44, 44]],
- render: { steps: 420, epsilon: 0.0035, normalEpsilon: 0.045, stepScale: 0.34 },
- glsl: GLSL
-};
diff --git a/models/implicits/menger-sponge.implicit.js b/models/implicits/menger-sponge.implicit.js
deleted file mode 100644
index 1cb58145..00000000
--- a/models/implicits/menger-sponge.implicit.js
+++ /dev/null
@@ -1,70 +0,0 @@
-const GLSL = `
-float sdBox(vec3 p, vec3 b) {
- vec3 q = abs(p) - b;
- return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
-}
-
-float menger(vec3 p) {
- vec3 q = p / size;
- float d = sdBox(q, vec3(1.0));
- float scale = 1.0;
- for (int i = 0; i < 4; i += 1) {
- if (float(i) < levels) {
- vec3 a = mod(q * scale + 1.0, 2.0) - 1.0;
- scale *= 3.0;
- vec3 r = abs(1.0 - 3.0 * abs(a));
- float cross = min(max(r.x, r.y), min(max(r.y, r.z), max(r.z, r.x))) / scale;
- d = max(d, cross);
- }
- }
- return d * size - bevel;
-}
-
-float sdf(vec3 p) {
- return menger(p);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float cavities = 0.5 + 0.5 * sin((abs(p.x) + abs(p.y) + abs(p.z)) * 0.34);
- vec3 c = mix(baseColor, accentColor, cavities);
- return c * (0.55 + 0.45 * pow(max(dot(normal, normalize(vec3(0.45, 0.36, 0.82))), 0.0), 1.8));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Menger sponge",
- description: "A recursive cubic sponge with orthogonal voids and softened printable interior edges.",
- units: "mm",
- params: {
- size: { type: "number", label: "Half size", min: 12, max: 34, step: 0.5, default: 24, unit: "mm" },
- levels: { type: "number", label: "Levels", min: 1, max: 4, step: 1, default: 3 },
- bevel: { type: "number", label: "Edge soften", min: 0.05, max: 1.4, step: 0.05, default: 0.34, unit: "mm" },
- baseColor: { type: "color", label: "Outer color", default: "#b8c0ff" },
- accentColor: { type: "color", label: "Void color", default: "#2df5ff" }
- },
- animations: {
- voidBreath: {
- label: "Void breath",
- duration: 5.5,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("bevel", 0.34 + (wave * 0.5 + 0.5) * 0.55);
- set("size", 24 + wave * 3.0);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size + params.bevel + 5;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 260,
- stepScale: 0.62,
- maxStep: Math.max(params.bevel * 5, 1.0),
- epsilon: Math.max(params.bevel * 0.015, 0.004),
- normalEpsilon: Math.max(params.bevel * 0.12, 0.036)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/metaball-molecule-cluster.implicit.js b/models/implicits/metaball-molecule-cluster.implicit.js
deleted file mode 100644
index 000d419b..00000000
--- a/models/implicits/metaball-molecule-cluster.implicit.js
+++ /dev/null
@@ -1,57 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float d = implicit_sphere(p, vec3(0.0), coreRadius);
- d = implicit_union_round(d, implicit_sphere(p, vec3(spacing, 0.0, 0.0), satelliteRadius), blend);
- d = implicit_union_round(d, implicit_sphere(p, vec3(-spacing, 0.0, 0.0), satelliteRadius), blend);
- d = implicit_union_round(d, implicit_sphere(p, vec3(0.0, spacing, 0.0), satelliteRadius), blend);
- d = implicit_union_round(d, implicit_sphere(p, vec3(0.0, -spacing, 0.0), satelliteRadius), blend);
- d = implicit_union_round(d, implicit_sphere(p, vec3(0.0, 0.0, spacing), satelliteRadius), blend);
- d = implicit_union_round(d, implicit_sphere(p, vec3(0.0, 0.0, -spacing), satelliteRadius), blend);
- return d;
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- vec3 directionTint = normalize(abs(p) + vec3(0.001));
- return xColor * directionTint.x + yColor * directionTint.y + zColor * directionTint.z;
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "metaball molecule cluster",
- description: "Seven overlapping spheres blended into one smooth organic implicit solid.",
- units: "mm",
- params: {
- coreRadius: { type: "number", label: "Core radius", min: 5, max: 14, step: 0.1, default: 9.5, unit: "mm" },
- satelliteRadius: { type: "number", label: "Satellite radius", min: 3.5, max: 10, step: 0.1, default: 7.2, unit: "mm" },
- spacing: { type: "number", label: "Spacing", min: 7, max: 20, step: 0.25, default: 13, unit: "mm" },
- blend: { type: "number", label: "Blend", min: 0.5, max: 8, step: 0.1, default: 5, unit: "mm" },
- xColor: { type: "color", label: "X lobes", default: "#4f8cff" },
- yColor: { type: "color", label: "Y lobes", default: "#5cff89" },
- zColor: { type: "color", label: "Z lobes", default: "#ff66d8" }
- },
- animations: {
- clusterPulse: {
- label: "Cluster pulse",
- duration: 4.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("spacing", 13 + wave * 4);
- set("blend", 5 + wave * 2.2);
- set("satelliteRadius", 7.2 + wave * 1.6);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.spacing + Math.max(params.coreRadius, params.satelliteRadius) + params.blend + 5;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 240,
- epsilon: Math.max(0.004, Math.min(params.coreRadius, params.satelliteRadius) * 0.0007),
- normalEpsilon: Math.max(0.035, params.blend * 0.009)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/mobius-strip.implicit.js b/models/implicits/mobius-strip.implicit.js
deleted file mode 100644
index 8ef3b678..00000000
--- a/models/implicits/mobius-strip.implicit.js
+++ /dev/null
@@ -1,61 +0,0 @@
-const GLSL = `
-const float IMPLICIT_MOBIUS_TAU = 6.283185307179586;
-
-float sdf(vec3 p) {
- float u = atan(p.y, p.x);
- vec2 section = vec2(length(p.xy) - radius, p.z);
- vec2 twistAxis = vec2(cos(0.5 * u), sin(0.5 * u));
- vec2 closest = twistAxis * clamp(dot(section, twistAxis), -(width * 0.5), (width * 0.5));
- return length(section - closest) - thickness;
-}
-
-
-vec3 implicit_palette(float t) {
- return 0.58 + 0.42 * cos(6.283185307179586 * (vec3(0.02, 0.38, 0.72) + t));
-}
-
-vec3 color(vec3 p, vec3 normal) {
- vec2 ring = vec2(p.x, p.y);
- float angle = atan(ring.y, ring.x) / 6.283185307179586;
- vec3 bandColor = implicit_palette(angle + p.z * 0.035);
- return mix(bandColor, vec3(1.0, 0.84, 0.48), smoothstep(0.25, 0.95, abs(normal.z)) * 0.28);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "mobius strip",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 14, max: 34, step: 0.25, default: 24, unit: "mm" },
- width: { type: "number", label: "Band width", min: 4, max: 22, step: 0.25, default: 13.6, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.25, max: 2.5, step: 0.05, default: 0.82, unit: "mm" }
- },
- animations: {
- bandBreath: {
- label: "Band breath",
- duration: 4.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("width", 13.6 + wave * 5.5);
- set("thickness", 0.82 + wave * 0.35);
- set("radius", 24 + wave * 4);
- }
- }
- },
- bounds: ({ params }) => {
- const halfWidth = params.width * 0.5;
- const radialExtent = params.radius + halfWidth + params.thickness + 6;
- const heightExtent = halfWidth + params.thickness + 6;
- return [[-radialExtent, -radialExtent, -heightExtent], [radialExtent, radialExtent, heightExtent]];
- },
- render: ({ params }) => ({
- steps: 192,
- stepScale: 0.72,
- maxStep: Math.max(params.thickness * 3.8, 1.4),
- epsilon: Math.max(params.thickness * 0.012, 0.006),
- normalEpsilon: Math.max(params.thickness * 0.075, 0.04)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/moore-curve-loop.implicit.js b/models/implicits/moore-curve-loop.implicit.js
deleted file mode 100644
index a5f381bd..00000000
--- a/models/implicits/moore-curve-loop.implicit.js
+++ /dev/null
@@ -1,81 +0,0 @@
-const GLSL = `
-float sdSegment(vec3 p, vec3 a, vec3 b) {
- vec3 pa = p - a;
- vec3 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float smoothMin(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / max(k, 0.0001), 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-vec3 moorePoint(float i) {
- float row = floor(i / 6.0);
- float col = mod(i, 6.0);
- if (mod(row, 2.0) > 0.5) {
- col = 5.0 - col;
- }
- vec2 planar = (vec2(col, row) - vec2(2.5)) * spacing;
- float z = sin(i * 1.57079632679) * verticalWave;
- return vec3(planar, z);
-}
-
-float sdf(vec3 p) {
- float d = 100000.0;
- for (int i = 0; i < 35; i += 1) {
- float fi = float(i);
- d = smoothMin(d, sdSegment(p, moorePoint(fi), moorePoint(fi + 1.0)), bendBlend);
- }
- d = smoothMin(d, sdSegment(p, moorePoint(35.0), moorePoint(0.0)), bendBlend);
- return d - tubeRadius;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float ring = atan(p.y, p.x) * 0.15915494309 + length(p.xy) * 0.018;
- float band = 0.5 + 0.5 * sin(ring * 6.28318530718 + p.z * 0.25);
- vec3 c = mix(baseColor, accentColor, band);
- return c * (0.58 + 0.42 * smoothstep(-0.4, 0.9, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Moore curve loop",
- description: "A closed Moore space-filling loop rendered as a continuous rounded tube.",
- units: "mm",
- params: {
- spacing: { type: "number", label: "Cell spacing", min: 4, max: 9, step: 0.1, default: 6.2, unit: "mm" },
- tubeRadius: { type: "number", label: "Tube radius", min: 0.4, max: 2.5, step: 0.05, default: 1.05, unit: "mm" },
- bendBlend: { type: "number", label: "Bend blend", min: 0.1, max: 2.4, step: 0.05, default: 0.72, unit: "mm" },
- verticalWave: { type: "number", label: "Vertical wave", min: 0, max: 5, step: 0.1, default: 1.4, unit: "mm" },
- baseColor: { type: "color", label: "Cool color", default: "#38d9ff" },
- accentColor: { type: "color", label: "Hot color", default: "#ff7ab6" }
- },
- animations: {
- loopWave: {
- label: "Loop wave",
- duration: 5.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("verticalWave", 1.4 + (wave * 0.5 + 0.5) * 3.2);
- set("tubeRadius", 1.05 + wave * 0.26);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.spacing * 3.2 + params.tubeRadius + 5;
- const z = params.verticalWave + params.tubeRadius + 5;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 210,
- stepScale: 0.66,
- maxStep: Math.max(params.tubeRadius * 3.4, 1.2),
- epsilon: Math.max(params.tubeRadius * 0.013, 0.005),
- normalEpsilon: Math.max(params.tubeRadius * 0.075, 0.035)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/morton-z-order-curve.implicit.js b/models/implicits/morton-z-order-curve.implicit.js
deleted file mode 100644
index 45bcfaa7..00000000
--- a/models/implicits/morton-z-order-curve.implicit.js
+++ /dev/null
@@ -1,77 +0,0 @@
-const GLSL = `
-float sdSegment(vec3 p, vec3 a, vec3 b) {
- vec3 pa = p - a;
- vec3 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float smoothMin(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / max(k, 0.0001), 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-float bitAt(float v, float place) {
- return mod(floor(v / place), 2.0);
-}
-
-vec3 mortonPoint(float i) {
- float x = bitAt(i, 1.0) + bitAt(i, 8.0) * 2.0;
- float y = bitAt(i, 2.0) + bitAt(i, 16.0) * 2.0;
- float z = bitAt(i, 4.0) + bitAt(i, 32.0) * 2.0;
- return (vec3(x, y, z) - vec3(1.5)) * spacing;
-}
-
-float sdf(vec3 p) {
- float d = 100000.0;
- for (int i = 0; i < 63; i += 1) {
- float fi = float(i);
- d = smoothMin(d, sdSegment(p, mortonPoint(fi), mortonPoint(fi + 1.0)), cornerBlend);
- }
- return d - beamRadius;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float codeBand = 0.5 + 0.5 * sin((p.x * 0.7 + p.y * 1.1 + p.z * 1.6) * 0.14);
- vec3 c = mix(baseColor, accentColor, codeBand);
- return c * (0.58 + 0.42 * pow(max(dot(normal, normalize(vec3(0.45, -0.36, 0.82))), 0.0), 1.8));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Morton Z-order curve",
- description: "A stepped 3D Z-order traversal through a 4x4x4 grid, thickened into a printable beam network.",
- units: "mm",
- params: {
- spacing: { type: "number", label: "Grid spacing", min: 4.5, max: 10.5, step: 0.1, default: 7.0, unit: "mm" },
- beamRadius: { type: "number", label: "Beam radius", min: 0.45, max: 2.4, step: 0.05, default: 1.05, unit: "mm" },
- cornerBlend: { type: "number", label: "Corner blend", min: 0.1, max: 2.2, step: 0.05, default: 0.62, unit: "mm" },
- baseColor: { type: "color", label: "Low bits", default: "#35e2ff" },
- accentColor: { type: "color", label: "High bits", default: "#c084fc" }
- },
- animations: {
- bitPulse: {
- label: "Bit pulse",
- duration: 5.5,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("spacing", 7.0 + wave * 1.25);
- set("beamRadius", 1.05 + (wave * 0.5 + 0.5) * 0.42);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.spacing * 2.05 + params.beamRadius + params.cornerBlend + 5;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 220,
- stepScale: 0.64,
- maxStep: Math.max(params.beamRadius * 3.2, 1.1),
- epsilon: Math.max(params.beamRadius * 0.012, 0.005),
- normalEpsilon: Math.max(params.beamRadius * 0.075, 0.035)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/neovius-porosity-cell.implicit.js b/models/implicits/neovius-porosity-cell.implicit.js
deleted file mode 100644
index 41b19fa3..00000000
--- a/models/implicits/neovius-porosity-cell.implicit.js
+++ /dev/null
@@ -1,45 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float field = implicit_tpms_neovius(p, vec3(period), vec3(1.0), schwarzBlend);
- float shell = implicit_shell(field * period * 0.13, wallThickness, 0.0);
- float cube = implicit_box_centered(p, vec3(cellSize), vec3(0.0));
- return implicit_intersect_round(shell, cube, 1.5);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- vec3 folded = abs(implicit_repeat_centered(p, vec3(period)));
- float node = smoothstep(period * 0.18, period * 0.48, length(folded));
- float glow = pow(max(dot(normal, normalize(vec3(0.35, -0.4, 0.84))), 0.0), 2.0);
- return mix(baseColor * (0.68 + 0.32 * glow), accentColor, node * 0.72);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "neovius porosity cell",
- description: "Prompt 8: Neovius periodic implicit surface with complex internal channels.",
- units: "mm",
- params: {
- cellSize: { type: "number", label: "Cell size", min: 30, max: 80, step: 1, default: 56, unit: "mm" },
- period: { type: "number", label: "Period", min: 14, max: 36, step: 0.5, default: 23, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 0.8, max: 6, step: 0.1, default: 2.3, unit: "mm" },
- schwarzBlend: { type: "number", label: "Schwarz blend", min: 0, max: 1, step: 0.02, default: 0.22 },
- baseColor: { type: "color", label: "Channel color", default: "#20e6b8" },
- accentColor: { type: "color", label: "Node color", default: "#ffe45c" }
- },
- animations: {
- channelBloom: {
- label: "Channel bloom",
- duration: 6.4,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("wallThickness", 1.4 + (wave * 0.5 + 0.5) * 4.2);
- set("schwarzBlend", 0.08 + (1 - Math.abs(wave)) * 0.74);
- }
- }
- },
- bounds: [[-46, -46, -46], [46, 46, 46]],
- render: { steps: 316, epsilon: 0.005, normalEpsilon: 0.055 },
- glsl: GLSL
-};
diff --git a/models/implicits/parametric-pulse.implicit.js b/models/implicits/parametric-pulse.implicit.js
deleted file mode 100644
index 8470a3b2..00000000
--- a/models/implicits/parametric-pulse.implicit.js
+++ /dev/null
@@ -1,47 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = implicit_rotate_axis(p, vec3(0.0), vec3(0.0, 0.0, 1.0), p.z * (twist * 0.018));
- float orb = implicit_sphere(q, vec3(0.0), radius);
- float ring = implicit_torus(q.xzy, radius * 0.72, shell);
- float groove = implicit_torus(q.yxz, radius * 0.54, shell * 0.62);
- float carved = implicit_intersect_round(orb, -groove, max(shell * 0.35, 0.4));
- return implicit_union_round(carved, ring, max(shell * 0.55, 0.5));
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float bands = 0.5 + 0.5 * sin(0.07 * p.z + 2.5 * twist + normal.z * 1.4);
- return mix(baseColor, accentColor, bands);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "parametric pulse",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 12, max: 34, step: 0.25, default: 22, unit: "mm" },
- twist: { type: "number", label: "Twist", min: -2.5, max: 2.5, step: 0.05, default: 0 },
- shell: { type: "number", label: "Shell", min: 1, max: 8, step: 0.1, default: 3.5, unit: "mm" },
- baseColor: { type: "color", label: "Cool color", default: "#20d9ff" },
- accentColor: { type: "color", label: "Pulse color", default: "#ff6b3d" }
- },
- animations: {
- breathe: {
- label: "Breathe",
- duration: 3.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("radius", 22 + wave * 7);
- set("twist", wave * 1.6);
- set("shell", 3.5 + wave * 1.8);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = Math.max(params.radius + params.shell + 10, 42);
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- glsl: GLSL,
- render: { steps: 224 }
-};
diff --git a/models/implicits/peano-curve-solid.implicit.js b/models/implicits/peano-curve-solid.implicit.js
deleted file mode 100644
index e195c67e..00000000
--- a/models/implicits/peano-curve-solid.implicit.js
+++ /dev/null
@@ -1,79 +0,0 @@
-const GLSL = `
-float sdSegment(vec3 p, vec3 a, vec3 b) {
- vec3 pa = p - a;
- vec3 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float smoothMin(float a, float b, float k) {
- float h = clamp(0.5 + 0.5 * (b - a) / max(k, 0.0001), 0.0, 1.0);
- return mix(b, a, h) - k * h * (1.0 - h);
-}
-
-vec3 peanoPoint(float i) {
- float row = floor(i / 9.0);
- float col = mod(i, 9.0);
- if (mod(row, 2.0) > 0.5) {
- col = 8.0 - col;
- }
- vec2 planar = (vec2(col, row) - vec2(4.0)) * spacing;
- float lift = sin((col * 2.0 + row) * 1.0471975512) * ripple;
- return vec3(planar, lift);
-}
-
-float sdf(vec3 p) {
- float d = 100000.0;
- for (int i = 0; i < 80; i += 1) {
- float fi = float(i);
- d = smoothMin(d, sdSegment(p, peanoPoint(fi), peanoPoint(fi + 1.0)), blendRadius);
- }
- return d - beamRadius;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float stripe = 0.5 + 0.5 * sin((p.x - p.y) * 0.26 + p.z * 0.45);
- vec3 c = mix(baseColor, accentColor, stripe);
- return c * (0.55 + 0.45 * smoothstep(-0.25, 0.9, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Peano curve solid",
- description: "A dense Peano-inspired recursive subdivision path thickened into a rounded solid beam.",
- units: "mm",
- params: {
- spacing: { type: "number", label: "Subdivision spacing", min: 2.6, max: 6.5, step: 0.1, default: 4.2, unit: "mm" },
- beamRadius: { type: "number", label: "Beam radius", min: 0.35, max: 1.9, step: 0.05, default: 0.82, unit: "mm" },
- blendRadius: { type: "number", label: "Turn fillet", min: 0.1, max: 1.7, step: 0.05, default: 0.52, unit: "mm" },
- ripple: { type: "number", label: "Surface ripple", min: 0, max: 3, step: 0.05, default: 0.75, unit: "mm" },
- baseColor: { type: "color", label: "Base color", default: "#9b5cff" },
- accentColor: { type: "color", label: "Accent color", default: "#fff36b" }
- },
- animations: {
- subdivisionPulse: {
- label: "Subdivision pulse",
- duration: 4.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("beamRadius", 0.82 + wave * 0.2);
- set("ripple", 0.75 + (wave * 0.5 + 0.5) * 1.55);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.spacing * 4.45 + params.beamRadius + 4;
- const z = params.ripple + params.beamRadius + 4;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 220,
- stepScale: 0.62,
- maxStep: Math.max(params.beamRadius * 3.0, 0.9),
- epsilon: Math.max(params.beamRadius * 0.012, 0.004),
- normalEpsilon: Math.max(params.beamRadius * 0.075, 0.032)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/pelican-bicycle.implicit.js b/models/implicits/pelican-bicycle.implicit.js
deleted file mode 100644
index aa7bd1fe..00000000
--- a/models/implicits/pelican-bicycle.implicit.js
+++ /dev/null
@@ -1,327 +0,0 @@
-export default {
- schema: "implicit.js/0.1.0",
- name: "Pelican on a Bicycle",
- description:
- "A cartoon pelican riding a classic diamond-frame bicycle. The crankAngle " +
- "parameter drives the cranks, level pedals, IK-bent legs, chain-geared " +
- "spoked wheels, and a gentle body bob; the Pedal animation loops one full " +
- "crank revolution seamlessly.",
- units: "mm",
- bounds: {
- min: [-134, -40, -3],
- max: [140, 40, 234],
- },
- params: {
- crankAngle: {
- type: "number",
- label: "Crank angle",
- min: 0,
- max: 360,
- default: 35,
- step: 1,
- unit: "deg",
- },
- },
- animations: {
- pedal: {
- label: "Pedal",
- duration: 2.4,
- update({ progress, set }) {
- set("crankAngle", progress * 360);
- },
- },
- },
- render: { steps: 256, epsilon: 0.003 },
- glsl: `
-// ---------- shared helpers ----------
-vec2 pb_rot2(vec2 v, float a) {
- float c = cos(a);
- float s = sin(a);
- return vec2(c * v.x - s * v.y, s * v.x + c * v.y);
-}
-
-float pb_ellipsoid(vec3 p, vec3 c, vec3 r) {
- vec3 q = (p - c) / r;
- float k0 = length(q);
- float k1 = length(q / r);
- return k0 * (k0 - 1.0) / max(k1, 0.000001);
-}
-
-float pb_crank() {
- // Negative = forward pedalling for a bike facing +X.
- return -crankAngle * 0.0174532925199433;
-}
-
-float pb_bob() {
- return sin(2.0 * pb_crank()) * 1.4;
-}
-
-// Pedal-spindle center (on the bike midplane) for side s (+1 right, -1 left).
-vec3 pb_pedal(float s) {
- float a = pb_crank() + (s > 0.0 ? 0.0 : 3.14159265358979);
- return vec3(3.0 + 20.0 * cos(a), 0.0, 45.0 + 20.0 * sin(a));
-}
-
-vec3 pb_hip(float s) {
- return vec3(-6.0, s * 13.0, 136.0 + pb_bob());
-}
-
-vec3 pb_ankle(float s) {
- vec3 pa = pb_pedal(s);
- return vec3(pa.x, s * 18.0, pa.z + 5.2);
-}
-
-// Two-bone IK knee (equal bone lengths), knee pushed forward (+X).
-vec3 pb_knee(vec3 hip, vec3 ankle) {
- float L = 54.0;
- vec3 d = ankle - hip;
- float dl = max(length(d), 0.0001);
- float dcl = min(dl, 2.0 * L - 2.0);
- vec3 n = d / dl;
- vec3 e = vec3(-n.z, 0.0, n.x);
- e = normalize(e) * (e.x < 0.0 ? -1.0 : 1.0);
- float h = sqrt(max(L * L - 0.25 * dcl * dcl, 0.0));
- return hip + n * (0.5 * dcl) + e * h;
-}
-
-// ---------- bicycle ----------
-float pb_dTires(vec3 p) {
- vec3 qr = p - vec3(-72.0, 0.0, 57.0);
- vec3 qf = p - vec3(78.0, 0.0, 57.0);
- float rear = implicit_torus(qr.xzy, 50.0, 7.0);
- float front = implicit_torus(qf.xzy, 50.0, 7.0);
- return min(rear, front);
-}
-
-float pb_wheelSilver(vec3 q, float spin) {
- float rim = implicit_torus(q.xzy, 44.0, 2.6);
- float hub = implicit_cylinder_capped(q, vec3(0.0, -9.0, 0.0), vec3(0.0, 9.0, 0.0), 4.5);
- vec2 w = pb_rot2(vec2(q.x, q.z), spin);
- float sect = 0.78539816339745; // 8 spokes
- float ang = atan(w.y, w.x);
- float snapped = floor(ang / sect + 0.5) * sect;
- vec2 r = pb_rot2(w, -snapped);
- float spokes = length(vec3(r.x - clamp(r.x, 8.0, 44.0), q.y, r.y)) - 1.1;
- return min(rim, min(hub, spokes));
-}
-
-float pb_dSilver(vec3 p) {
- // 1.25 wheel revs per crank rev: seamless loop (450 deg = 10 x 45 deg spoke
- // symmetry) and reads as forward motion even in low-fps GIF captures.
- // Negated because rotating the sample space by +a shows geometry at -a.
- float spin = -1.25 * pb_crank();
- float d = pb_wheelSilver(p - vec3(-72.0, 0.0, 57.0), spin);
- d = min(d, pb_wheelSilver(p - vec3(78.0, 0.0, 57.0), spin));
- // seatpost
- d = min(d, implicit_capsule(p, vec3(-24.0, 0.0, 108.0), vec3(-26.0, 0.0, 128.0), 3.4));
- // steerer, stem, handlebar
- d = min(d, implicit_capsule(p, vec3(50.0, 0.0, 110.0), vec3(42.4, 0.0, 124.5), 3.4));
- d = min(d, implicit_capsule(p, vec3(42.4, 0.0, 124.5), vec3(50.0, 0.0, 127.0), 3.2));
- d = min(d, implicit_capsule(p, vec3(50.0, -30.0, 127.0), vec3(50.0, 30.0, 127.0), 2.6));
- // crank arms + pedal spindles
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- vec3 pa = pb_pedal(s);
- d = min(d, implicit_cone_capsule(p, vec3(3.0, s * 11.0, 45.0), pa + vec3(0.0, s * 14.0, 0.0), 3.2, 2.7));
- d = min(d, implicit_capsule(p, pa + vec3(0.0, s * 13.0, 0.0), pa + vec3(0.0, s * 23.0, 0.0), 1.7));
- }
- return d;
-}
-
-float pb_dFrame(vec3 p) {
- vec3 BB = vec3(3.0, 0.0, 45.0);
- vec3 S = vec3(-24.0, 0.0, 108.0);
- vec3 H1 = vec3(50.0, 0.0, 110.0);
- vec3 H2 = vec3(64.0, 0.0, 83.5);
- float d = implicit_capsule(p, S, H1, 4.0); // top tube
- d = min(d, implicit_capsule(p, BB, H2, 4.6)); // down tube
- d = min(d, implicit_capsule(p, BB, S, 4.0)); // seat tube
- d = min(d, implicit_capsule(p, H1, H2, 5.0)); // head tube
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- vec3 axleR = vec3(-72.0, s * 7.0, 57.0);
- d = min(d, implicit_capsule(p, vec3(3.0, s * 5.0, 45.0), axleR, 3.0)); // chainstay
- d = min(d, implicit_capsule(p, vec3(-24.0, s * 3.5, 108.0), axleR, 2.8)); // seatstay
- d = min(d, implicit_capsule(p, vec3(64.0, s * 3.0, 83.5), vec3(78.0, s * 7.0, 57.0), 3.2)); // fork
- }
- return d;
-}
-
-float pb_dDark(vec3 p) {
- // chainring, rear cog, chain runs, pedal platforms
- float d = implicit_cylinder_capped(p, vec3(3.0, 9.5, 45.0), vec3(3.0, 13.0, 45.0), 15.0);
- d = min(d, implicit_cylinder_capped(p, vec3(-72.0, 9.5, 57.0), vec3(-72.0, 12.5, 57.0), 7.0));
- d = min(d, implicit_capsule(p, vec3(1.0, 11.2, 60.5), vec3(-72.0, 11.2, 64.5), 1.7));
- d = min(d, implicit_capsule(p, vec3(1.0, 11.2, 29.5), vec3(-72.0, 11.2, 50.5), 1.7));
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- vec3 pa = pb_pedal(s);
- d = min(d, implicit_box_centered(p, vec3(15.0, 6.0, 3.0), pa + vec3(0.0, s * 18.0, 0.0)) - 1.0);
- }
- return d;
-}
-
-float pb_dLeather(vec3 p) {
- // saddle
- float d = pb_ellipsoid(p, vec3(-31.0, 0.0, 130.5), vec3(8.5, 7.0, 3.0));
- d = implicit_union_round(d, pb_ellipsoid(p, vec3(-17.0, 0.0, 130.2), vec3(9.0, 3.4, 2.4)), 2.0);
- // grips
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- d = min(d, implicit_capsule(p, vec3(50.0, s * 19.0, 127.0), vec3(50.0, s * 29.5, 127.0), 4.2));
- }
- return d;
-}
-
-// ---------- pelican ----------
-float pb_dPlumage(vec3 p) {
- float bob = pb_bob();
- // body + breast
- float d = pb_ellipsoid(p, vec3(-18.0, 0.0, 152.0 + bob), vec3(36.0, 24.0, 26.0));
- d = implicit_union_round(d, implicit_sphere(p, vec3(6.0, 0.0, 143.0 + bob), 17.0), 10.0);
- // tail (flattened in y)
- vec3 tq = vec3(p.x, p.y * 1.6, p.z);
- float tail = implicit_cone_capsule(tq, vec3(-46.0, 0.0, 158.0 + bob), vec3(-74.0, 0.0, 174.0 + bob), 11.0, 3.0) * 0.62;
- d = implicit_union_round(d, tail, 5.0);
- // neck (S-curve) + head + crest
- float neck = implicit_cone_capsule(p, vec3(6.0, 0.0, 166.0 + bob), vec3(20.0, 0.0, 186.0 + bob), 9.5, 8.0);
- neck = implicit_union_round(neck, implicit_cone_capsule(p, vec3(20.0, 0.0, 186.0 + bob), vec3(24.0, 0.0, 203.0 + bob), 8.0, 7.2), 4.0);
- neck = implicit_union_round(neck, implicit_cone_capsule(p, vec3(24.0, 0.0, 203.0 + bob), vec3(33.0, 0.0, 213.0 + bob), 7.2, 7.0), 4.0);
- float head = implicit_sphere(p, vec3(37.0, 0.0, 215.0 + bob), 11.5);
- head = implicit_union_round(head, implicit_sphere(p, vec3(29.5, 0.0, 221.0 + bob), 6.5), 4.0);
- neck = implicit_union_round(neck, head, 4.0);
- d = implicit_union_round(d, neck, 7.0);
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- // folded wing bulge on the flank
- d = implicit_union_round(d, pb_ellipsoid(p, vec3(-24.0, s * 19.0, 158.0 + bob), vec3(26.0, 9.0, 17.0)), 6.0);
- // wing-arm reaching to the handlebar grip
- float arm = implicit_cone_capsule(p, vec3(2.0, s * 18.0, 160.0 + bob), vec3(28.0, s * 26.0, 138.0), 8.0, 5.5);
- arm = implicit_union_round(arm, implicit_cone_capsule(p, vec3(28.0, s * 26.0, 138.0), vec3(48.0, s * 27.5, 128.5), 5.5, 4.4), 3.5);
- arm = implicit_union_round(arm, implicit_sphere(p, vec3(52.0, s * 28.0, 127.5), 6.0), 3.5);
- d = implicit_union_round(d, arm, 5.0);
- // feathered thigh
- vec3 hip = pb_hip(s);
- vec3 ankle = pb_ankle(s);
- vec3 knee = pb_knee(hip, ankle);
- d = implicit_union_round(d, implicit_cone_capsule(p, hip, knee, 7.5, 4.6), 6.0);
- }
- return d;
-}
-
-float pb_dBill(vec3 p) {
- float bob = pb_bob();
- // upper mandible (flattened in z) + tip hook
- vec3 bq = vec3(p.x, p.y, (p.z - 214.5 - bob) * 1.7 + 214.5 + bob);
- float d = implicit_cone_capsule(bq, vec3(42.0, 0.0, 214.5 + bob), vec3(92.0, 0.0, 203.0 + bob), 4.0, 2.4) * 0.58;
- d = implicit_union_round(d, implicit_sphere(p, vec3(92.5, 0.0, 200.5 + bob), 2.6), 1.5);
- // throat pouch
- float pouch = implicit_cone_capsule(p, vec3(45.0, 0.0, 209.0 + bob), vec3(89.0, 0.0, 200.5 + bob), 2.4, 1.6);
- pouch = implicit_union_round(pouch, pb_ellipsoid(p, vec3(60.0, 0.0, 198.5 + bob), vec3(23.0, 6.5, 10.0)), 8.0);
- pouch = implicit_union_round(pouch, implicit_cone_capsule(p, vec3(28.0, 0.0, 196.0 + bob), vec3(50.0, 0.0, 200.0 + bob), 6.0, 5.0), 7.0);
- return implicit_union_round(d, pouch, 2.5);
-}
-
-float pb_dLegs(vec3 p) {
- float d = 1.0e6;
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- vec3 hip = pb_hip(s);
- vec3 ankle = pb_ankle(s);
- vec3 knee = pb_knee(hip, ankle);
- // bare tarsus
- d = min(d, implicit_cone_capsule(p, knee, ankle, 3.4, 2.4));
- // webbed foot (flattened in z)
- vec3 fq = vec3(p.x, p.y, (p.z - ankle.z) * 2.2 + ankle.z);
- d = min(d, implicit_cone_capsule(fq, ankle + vec3(-5.0, 0.0, -1.5), ankle + vec3(12.0, 0.0, -3.8), 2.5, 5.5) * 0.45);
- }
- return d;
-}
-
-// ---------- scene ----------
-float sdf(vec3 p) {
- float d = pb_dTires(p);
- d = min(d, pb_dSilver(p));
- d = min(d, pb_dFrame(p));
- d = min(d, pb_dDark(p));
- d = min(d, pb_dLeather(p));
- d = min(d, pb_dPlumage(p));
- d = min(d, pb_dBill(p));
- d = min(d, pb_dLegs(p));
- return d;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float bob = pb_bob();
- float dT = pb_dTires(p);
- float dS = pb_dSilver(p);
- float dF = pb_dFrame(p);
- float dD = pb_dDark(p);
- float dL = pb_dLeather(p);
- float dP = pb_dPlumage(p);
- float dB = pb_dBill(p);
- float dG = pb_dLegs(p);
- float best = min(min(min(dT, dS), min(dF, dD)), min(min(dL, dP), min(dB, dG)));
-
- float up = max(normal.z, 0.0);
-
- if (best == dP) {
- // warm white plumage
- vec3 col = vec3(0.985, 0.973, 0.95);
- col = mix(col, vec3(0.98, 0.95, 0.875), 0.4 * smoothstep(170.0, 140.0, p.z));
- // folded-wing feather streaks
- float wmask = smoothstep(12.0, 16.0, abs(p.y))
- * (1.0 - smoothstep(176.0, 182.0, p.z))
- * smoothstep(138.0, 146.0, p.z)
- * (1.0 - smoothstep(2.0, 10.0, p.x))
- * smoothstep(-54.0, -46.0, p.x);
- col *= 1.0 - 0.07 * wmask * (0.5 + 0.5 * sin(p.x * 0.5 + p.z * 0.15));
- // grey wing tips at the grips
- float tip = smoothstep(40.0, 50.0, p.x) * smoothstep(17.0, 23.0, abs(p.y)) * (1.0 - smoothstep(150.0, 175.0, p.z));
- col = mix(col, vec3(0.36, 0.37, 0.40), 0.85 * tip);
- // grey tail tips
- float ttip = (1.0 - smoothstep(-72.0, -56.0, p.x)) * smoothstep(146.0, 160.0, p.z);
- col = mix(col, vec3(0.46, 0.47, 0.50), 0.7 * ttip);
- // eyes
- for (int i = 0; i < 2; i++) {
- float s = 1.0 - 2.0 * float(i);
- vec3 E = vec3(43.6, s * 8.6, 219.0 + bob);
- float de = length(p - E);
- col = mix(col, vec3(0.94, 0.87, 0.60), smoothstep(4.2, 3.4, de));
- col = mix(col, vec3(0.06, 0.05, 0.05), smoothstep(2.6, 2.1, de));
- float dc = length(p - (E + vec3(0.8, s * 0.6, 1.1)));
- col = mix(col, vec3(1.0), smoothstep(1.0, 0.5, dc));
- }
- return col * (0.9 + 0.1 * up);
- }
- if (best == dB) {
- vec3 col = mix(vec3(0.95, 0.62, 0.16), vec3(0.99, 0.84, 0.33), smoothstep(40.0, 94.0, p.x));
- col = mix(col, vec3(0.97, 0.52, 0.30), 0.65 * smoothstep(206.0, 193.0, p.z));
- col = mix(col, vec3(0.75, 0.40, 0.12), 0.5 * smoothstep(88.0, 93.0, p.x));
- // painted mouth seam between upper bill and pouch
- float lz = 208.5 - (p.x - 45.0) * 0.16 + bob;
- float seam = smoothstep(1.1, 0.4, abs(p.z - lz)) * smoothstep(45.0, 52.0, p.x) * (1.0 - smoothstep(86.0, 91.0, p.x));
- col = mix(col, vec3(0.62, 0.33, 0.10), 0.6 * seam);
- return col * (0.9 + 0.1 * up);
- }
- if (best == dG) {
- return vec3(0.95, 0.55, 0.16) * (0.87 + 0.13 * up);
- }
- if (best == dF) {
- return vec3(0.72, 0.10, 0.14) * (0.88 + 0.12 * up);
- }
- if (best == dT) {
- float ax = (p.x > 3.0) ? 78.0 : -72.0;
- float rr = length(vec2(p.x - ax, p.z - 57.0));
- return mix(vec3(0.62, 0.50, 0.34), vec3(0.13, 0.13, 0.14), smoothstep(51.5, 53.5, rr));
- }
- if (best == dL) {
- return vec3(0.46, 0.28, 0.14) * (0.88 + 0.12 * up);
- }
- if (best == dD) {
- return vec3(0.15, 0.16, 0.18);
- }
- return vec3(0.78, 0.80, 0.84) * (0.82 + 0.18 * up);
-}
-`,
-};
diff --git a/models/implicits/planetary-gear.implicit.js b/models/implicits/planetary-gear.implicit.js
deleted file mode 100644
index 36c243de..00000000
--- a/models/implicits/planetary-gear.implicit.js
+++ /dev/null
@@ -1,326 +0,0 @@
-const GLSL = `
-const float PLANETARY_TAU = 6.283185307179586;
-
-float planetaryRoundedSunTeeth() {
- return clamp(floor(sunTeeth + 0.5), 12.0, 30.0);
-}
-
-float planetaryPlanetTeeth() {
- return max(floor(planetTeeth + 0.5), 3.0);
-}
-
-float planetarySunTeeth() {
- float sun = planetaryRoundedSunTeeth();
- float planet = planetaryPlanetTeeth();
- float remainder = mod(sun + planet, 3.0);
- float adjusted = sun;
- if (remainder > 0.5 && remainder < 1.5) {
- adjusted -= 1.0;
- } else if (remainder >= 1.5) {
- adjusted += 1.0;
- }
- if (adjusted < 12.0) {
- adjusted += 3.0;
- }
- if (adjusted > 30.0) {
- adjusted -= 3.0;
- }
- return max(adjusted, 3.0);
-}
-
-float planetaryRingTeeth() {
- return planetarySunTeeth() + planetaryPlanetTeeth() * 2.0;
-}
-
-float planetarySunPitch() {
- return gearModule * planetarySunTeeth() * 0.5;
-}
-
-float planetaryPlanetPitch() {
- return gearModule * planetaryPlanetTeeth() * 0.5;
-}
-
-float planetaryMeshSpread() {
- return max(meshOffset, 0.0);
-}
-
-float planetaryRingPitch() {
- return gearModule * planetaryRingTeeth() * 0.5 + planetaryMeshSpread();
-}
-
-float planetaryDriveRadians() {
- return meshPhase * 0.017453292519943295;
-}
-
-float planetaryCarrierRadians() {
- return carrierAngle * 0.017453292519943295;
-}
-
-float planetaryDrivenRingRadians() {
- float sun = planetarySunTeeth();
- float ring = planetaryRingTeeth();
- float carrier = planetaryCarrierRadians();
- return carrier - (sun / max(ring, 1.0)) * (planetaryDriveRadians() - carrier);
-}
-
-float planetaryRingRadians() {
- float oddPlanetOffset = mod(planetaryPlanetTeeth(), 2.0) * PLANETARY_TAU * 0.5 / max(planetaryRingTeeth(), 1.0);
- return ringPhase * 0.017453292519943295 + planetaryDrivenRingRadians() + oddPlanetOffset;
-}
-
-float planetaryToothWave(float angle, float teeth, float phase) {
- float wave = 0.5 + 0.5 * cos((angle - phase) * teeth);
- return wave * wave * (3.0 - 2.0 * wave);
-}
-
-float planetaryExtrude(float d2, float z, float halfHeight, float bevel) {
- vec2 q = vec2(d2, abs(z) - halfHeight + bevel);
- return min(max(q.x, q.y), 0.0) + length(max(q, 0.0)) - bevel;
-}
-
-float planetaryExternalGear2(vec2 p, float pitchRadius, float teeth, float phase) {
- float theta = atan(p.y, p.x);
- float tooth = planetaryToothWave(theta, teeth, phase);
- float root = toothDepth * 0.72;
- float addendum = toothDepth * 0.82;
- float meshClearance = max(backlash, max(gearModule * 0.05, toothDepth * 0.18));
- float boundary = pitchRadius - root + tooth * (root + addendum) - meshClearance * 0.52;
- return length(p) - boundary;
-}
-
-float planetaryInternalRing2(vec2 p, float pitchRadius, float teeth, float phase) {
- float theta = atan(p.y, p.x);
- float tooth = planetaryToothWave(theta, teeth, phase);
- float root = toothDepth * 0.78;
- float addendum = toothDepth * 0.9;
- float meshClearance = max(backlash, max(gearModule * 0.05, toothDepth * 0.18));
- float innerBoundary = pitchRadius + root - tooth * (root + addendum) + meshClearance * 0.86;
- float outerBoundary = pitchRadius + toothDepth * 2.55 + gearModule * 3.0;
- return max(innerBoundary - length(p), length(p) - outerBoundary);
-}
-
-float planetaryExternalGear(vec3 p, vec2 center, float pitchRadius, float teeth, float phase) {
- float gear = planetaryExternalGear2(p.xy - center, pitchRadius, teeth, phase);
- return planetaryExtrude(gear, p.z, thickness * 0.5, min(gearModule * 0.16, 0.38));
-}
-
-float planetaryRingGear(vec3 p) {
- float ring = planetaryInternalRing2(p.xy, planetaryRingPitch(), planetaryRingTeeth(), planetaryRingRadians());
- return planetaryExtrude(ring, p.z, thickness * 0.5, min(gearModule * 0.14, 0.34));
-}
-
-float planetarySunGear(vec3 p) {
- float gear = planetaryExternalGear(p, vec2(0.0), planetarySunPitch(), planetarySunTeeth(), planetaryDriveRadians());
- float bore = implicit_cylinder_capped(
- p,
- vec3(0.0, 0.0, -thickness),
- vec3(0.0, 0.0, thickness),
- max(gearModule * 1.15, planetarySunPitch() * 0.19)
- );
- float hub = planetaryExtrude(length(p.xy) - planetarySunPitch() * 0.42, p.z, thickness * 0.58, min(gearModule * 0.18, 0.42));
- return implicit_intersect_round(implicit_union_round(gear, hub, gearModule * 0.18), -bore, gearModule * 0.12);
-}
-
-vec2 planetaryPlanetCenter(float index) {
- float angle = planetaryCarrierRadians() + index * PLANETARY_TAU / 3.0;
- float orbit = planetarySunPitch() + planetaryPlanetPitch() + planetaryMeshSpread();
- return orbit * vec2(cos(angle), sin(angle));
-}
-
-float planetaryPlanetPhase(float index) {
- float planet = planetaryPlanetTeeth();
- float centerAngle = planetaryCarrierRadians() + index * PLANETARY_TAU / 3.0;
- float sunRatio = planetarySunTeeth() / max(planet, 1.0);
- float carrierRatio = (planetarySunTeeth() + planet) / max(planet, 1.0);
- float toothOffset = PLANETARY_TAU * 0.5 - PLANETARY_TAU * 0.5 / max(planet, 1.0);
- return centerAngle * carrierRatio - planetaryDriveRadians() * sunRatio + toothOffset;
-}
-
-float planetaryPlanetGear(vec3 p, float index) {
- vec2 center = planetaryPlanetCenter(index);
- float gear = planetaryExternalGear(p, center, planetaryPlanetPitch(), planetaryPlanetTeeth(), planetaryPlanetPhase(index));
- float bore = implicit_cylinder_capped(
- p,
- vec3(center, -thickness),
- vec3(center, thickness),
- max(gearModule * 0.86, planetaryPlanetPitch() * 0.2)
- );
- float pinBoss = planetaryExtrude(length(p.xy - center) - max(gearModule * 1.35, planetaryPlanetPitch() * 0.34), p.z, thickness * 0.54, min(gearModule * 0.16, 0.36));
- return implicit_intersect_round(implicit_union_round(gear, pinBoss, gearModule * 0.15), -bore, gearModule * 0.1);
-}
-
-float planetaryCarrierArm(vec3 p, vec2 center) {
- float zCenter = -thickness * 0.72;
- float arm2 = implicit_line_segment2(p.xy, vec2(0.0), center) - gearModule * 0.95;
- return planetaryExtrude(arm2, p.z - zCenter, thickness * 0.16, min(gearModule * 0.16, 0.35));
-}
-
-float planetaryCarrier(vec3 p) {
- float hub = planetaryExtrude(length(p.xy) - max(gearModule * 2.1, planetarySunPitch() * 0.34), p.z + thickness * 0.72, thickness * 0.17, min(gearModule * 0.16, 0.35));
- float carrier = hub;
- for (int i = 0; i < 3; i += 1) {
- vec2 center = planetaryPlanetCenter(float(i));
- float arm = planetaryCarrierArm(p, center);
- float pin = planetaryExtrude(length(p.xy - center) - max(gearModule * 1.05, planetaryPlanetPitch() * 0.26), p.z + thickness * 0.72, thickness * 0.33, min(gearModule * 0.16, 0.35));
- carrier = implicit_union_round(carrier, arm, gearModule * 0.32);
- carrier = implicit_union_round(carrier, pin, gearModule * 0.2);
- }
- return carrier;
-}
-
-float sdf(vec3 p) {
- float result = planetaryRingGear(p);
- result = min(result, planetarySunGear(p));
- for (int i = 0; i < 3; i += 1) {
- result = min(result, planetaryPlanetGear(p, float(i)));
- }
- if (showCarrier) {
- result = min(result, planetaryCarrier(p));
- }
- return result;
-}
-
-
-vec3 planetaryPalette(float component, vec3 p, vec3 normal) {
- vec3 color = ringColor;
- if (component > 0.5) {
- color = sunColor;
- }
- if (component >= 1.5) {
- color = planetAColor;
- }
- if (component >= 2.33) {
- color = planetBColor;
- }
- if (component >= 2.66) {
- color = planetCColor;
- }
- if (component >= 3.5) {
- color = carrierColor;
- }
- float toothLine = 0.5 + 0.5 * sin(atan(p.y, p.x) * planetaryRingTeeth());
- float faceLight = smoothstep(0.22, 1.0, abs(normal.z));
- color *= 0.92 + 0.15 * toothLine;
- color = mix(color * 0.72, min(color * 1.18 + vec3(0.05), vec3(1.0)), faceLight);
- return clamp(color, vec3(0.0), vec3(1.0));
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float best = planetaryRingGear(p);
- float component = 0.0;
-
- float sun = planetarySunGear(p);
- if (sun < best) {
- best = sun;
- component = 1.0;
- }
-
- for (int i = 0; i < 3; i += 1) {
- float planet = planetaryPlanetGear(p, float(i));
- if (planet < best) {
- best = planet;
- component = 2.0 + float(i) * 0.34;
- }
- }
-
- if (showCarrier) {
- float carrier = planetaryCarrier(p);
- if (carrier < best) {
- component = 4.0;
- }
- }
-
- return planetaryPalette(component, p, normal);
-}
-`;
-
-const PLANETARY_MIN_SUN_TEETH = 12;
-const PLANETARY_MAX_SUN_TEETH = 30;
-
-function roundedTeeth(value, fallback) {
- const numeric = Number(value);
- return Math.round(Number.isFinite(numeric) ? numeric : fallback);
-}
-
-function compatibleSunTeeth(params) {
- const planetTeeth = Math.max(3, roundedTeeth(params.planetTeeth, 12));
- const rawSunTeeth = Math.min(
- Math.max(roundedTeeth(params.sunTeeth, 18), PLANETARY_MIN_SUN_TEETH),
- PLANETARY_MAX_SUN_TEETH
- );
- const candidates = [rawSunTeeth - 1, rawSunTeeth, rawSunTeeth + 1, rawSunTeeth - 2, rawSunTeeth + 2]
- .filter((candidate) => candidate >= PLANETARY_MIN_SUN_TEETH && candidate <= PLANETARY_MAX_SUN_TEETH)
- .filter((candidate) => (candidate + planetTeeth) % 3 === 0);
- return candidates.length ? candidates[0] : rawSunTeeth;
-}
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "planetary gear",
- description: "A shader-parametric planetary gear set with a sun gear, three planet gears, internal ring teeth, and an under-carrier.",
- units: "mm",
- params: {
- sunTeeth: { type: "number", label: "Sun teeth", min: 12, max: 30, step: 1, default: 18 },
- planetTeeth: { type: "number", label: "Planet teeth", min: 8, max: 18, step: 1, default: 12 },
- gearModule: { type: "number", label: "Gear module", min: 1.2, max: 3.2, step: 0.05, default: 2.0, unit: "mm" },
- toothDepth: { type: "number", label: "Tooth depth", min: 0.6, max: 3.6, step: 0.05, default: 1.55, unit: "mm" },
- thickness: { type: "number", label: "Gear thickness", min: 3, max: 12, step: 0.25, default: 6.5, unit: "mm" },
- backlash: { type: "number", label: "Backlash", min: 0, max: 1.4, step: 0.02, default: 0.22, unit: "mm" },
- meshOffset: { type: "number", label: "Mesh spread", min: 0, max: 5, step: 0.05, default: 0, unit: "mm" },
- meshPhase: { type: "number", label: "Drive phase", min: 0, max: 360, step: 1, default: 16, unit: "deg" },
- carrierAngle: { type: "number", label: "Carrier orbit", min: -180, max: 180, step: 1, default: 0, unit: "deg" },
- ringPhase: { type: "number", label: "Ring phase", min: -180, max: 180, step: 1, default: 0, unit: "deg" },
- showCarrier: { type: "boolean", label: "Show carrier", default: true },
- ringColor: { type: "color", label: "Ring color", default: "#00a7ff" },
- sunColor: { type: "color", label: "Sun color", default: "#ffe83d" },
- planetAColor: { type: "color", label: "Planet A", default: "#ff5b2e" },
- planetBColor: { type: "color", label: "Planet B", default: "#d94dff" },
- planetCColor: { type: "color", label: "Planet C", default: "#7cff4f" },
- carrierColor: { type: "color", label: "Carrier color", default: "#8b6cff" }
- },
- animations: {
- meshCycle: {
- label: "Mesh cycle",
- duration: 8,
- loop: true,
- update({ progress, params, set }) {
- const drive = progress * 360;
- const sunTeeth = compatibleSunTeeth(params);
- const planetTeeth = Math.max(3, roundedTeeth(params.planetTeeth, 12));
- const ringTeeth = sunTeeth + planetTeeth * 2;
- const carrier = drive * sunTeeth / Math.max(sunTeeth + ringTeeth, 1);
- set("meshPhase", drive);
- set("carrierAngle", ((carrier + 180) % 360) - 180);
- set("ringPhase", 0);
- }
- },
- explodeMesh: {
- label: "Explode mesh",
- duration: 5.5,
- loop: true,
- update({ progress, set }) {
- const wave = 0.5 - 0.5 * Math.cos(progress * Math.PI * 2);
- set("meshOffset", wave * 4.2);
- set("carrierAngle", -28 + wave * 56);
- }
- }
- },
- bounds: ({ params }) => {
- const sunTeeth = compatibleSunTeeth(params);
- const planetTeeth = Math.max(3, roundedTeeth(params.planetTeeth, 12));
- const ringTeeth = sunTeeth + planetTeeth * 2;
- const spread = Math.max(params.meshOffset, 0);
- const ringPitch = params.gearModule * ringTeeth * 0.5 + spread;
- const ringOuter = ringPitch + params.toothDepth * 2.8 + params.gearModule * 3.4 + 2;
- const z = params.thickness * 0.92 + 5;
- return [[-ringOuter, -ringOuter, -z], [ringOuter, ringOuter, z]];
- },
- render: ({ params }) => ({
- steps: 320,
- epsilon: Math.max(0.005, params.gearModule * 0.0025),
- normalEpsilon: Math.max(0.038, params.gearModule * 0.018),
- stepScale: 0.5,
- maxStep: Math.max(params.gearModule * 0.62, 0.65)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/pythagoras-tree-solid.implicit.js b/models/implicits/pythagoras-tree-solid.implicit.js
deleted file mode 100644
index 8031079f..00000000
--- a/models/implicits/pythagoras-tree-solid.implicit.js
+++ /dev/null
@@ -1,77 +0,0 @@
-const GLSL = `
-float sdBox(vec3 p, vec3 b) {
- vec3 q = abs(p) - b;
- return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
-}
-
-float branchBox(vec3 p, vec2 center, vec2 halfSize, float zCenter) {
- return sdBox(p - vec3(center, zCenter), vec3(halfSize, thickness * 0.5));
-}
-
-float sdf(vec3 p) {
- float d = branchBox(p, vec2(0.0, -size * 0.25), vec2(size * 0.55, size * 0.32), 0.0);
- d = min(d, branchBox(p, vec2(-size * 0.36, size * 0.34), vec2(size * 0.36, size * 0.24), thickness * 0.04));
- d = min(d, branchBox(p, vec2(size * 0.36, size * 0.34), vec2(size * 0.36, size * 0.24), thickness * 0.04));
- if (levels > 1.5) {
- d = min(d, branchBox(p, vec2(-size * 0.72, size * 0.86), vec2(size * 0.24, size * 0.18), thickness * 0.1));
- d = min(d, branchBox(p, vec2(-size * 0.16, size * 0.92), vec2(size * 0.22, size * 0.17), thickness * 0.1));
- d = min(d, branchBox(p, vec2(size * 0.16, size * 0.92), vec2(size * 0.22, size * 0.17), thickness * 0.1));
- d = min(d, branchBox(p, vec2(size * 0.72, size * 0.86), vec2(size * 0.24, size * 0.18), thickness * 0.1));
- }
- if (levels > 2.5) {
- d = min(d, branchBox(p, vec2(-size * 0.95, size * 1.22), vec2(size * 0.16, size * 0.12), thickness * 0.16));
- d = min(d, branchBox(p, vec2(-size * 0.52, size * 1.32), vec2(size * 0.14, size * 0.11), thickness * 0.16));
- d = min(d, branchBox(p, vec2(0.0, size * 1.38), vec2(size * 0.14, size * 0.11), thickness * 0.16));
- d = min(d, branchBox(p, vec2(size * 0.52, size * 1.32), vec2(size * 0.14, size * 0.11), thickness * 0.16));
- d = min(d, branchBox(p, vec2(size * 0.95, size * 1.22), vec2(size * 0.16, size * 0.12), thickness * 0.16));
- }
- return d - cornerRound;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float leaf = smoothstep(size * 0.35, size * 1.35, p.y);
- vec3 c = mix(baseColor, accentColor, leaf);
- return c * (0.58 + 0.42 * smoothstep(-0.1, 0.9, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Pythagoras tree solid",
- description: "A stable 3D Pythagoras tree made from recursively arranged softened blocks.",
- units: "mm",
- params: {
- size: { type: "number", label: "Base size", min: 8, max: 22, step: 0.5, default: 14, unit: "mm" },
- levels: { type: "number", label: "Levels", min: 1, max: 3, step: 1, default: 3 },
- thickness: { type: "number", label: "Thickness", min: 1.5, max: 7, step: 0.1, default: 3.0, unit: "mm" },
- cornerRound: { type: "number", label: "Corner round", min: 0.05, max: 1.2, step: 0.05, default: 0.35, unit: "mm" },
- baseColor: { type: "color", label: "Trunk color", default: "#ff9f1c" },
- accentColor: { type: "color", label: "Canopy color", default: "#65f58a" }
- },
- animations: {
- canopySway: {
- label: "Canopy sway",
- duration: 5.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("cornerRound", 0.35 + (wave * 0.5 + 0.5) * 0.55);
- set("thickness", 3.0 + wave * 0.7);
- }
- }
- },
- bounds: ({ params }) => {
- const x = params.size * 1.25 + 6;
- const y = params.size * 1.65 + 6;
- const z = params.thickness + params.cornerRound + 4;
- return [[-x, -params.size - 4, -z], [x, y, z]];
- },
- render: ({ params }) => ({
- steps: 180,
- stepScale: 0.72,
- maxStep: Math.max(params.cornerRound * 5, 1.0),
- epsilon: Math.max(params.cornerRound * 0.012, 0.004),
- normalEpsilon: Math.max(params.cornerRound * 0.12, 0.035)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/roman-surface-section.implicit.js b/models/implicits/roman-surface-section.implicit.js
deleted file mode 100644
index 00205b6a..00000000
--- a/models/implicits/roman-surface-section.implicit.js
+++ /dev/null
@@ -1,48 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = p / max(radius, 0.1);
- float f = q.x * q.x * q.y * q.y + q.y * q.y * q.z * q.z + q.z * q.z * q.x * q.x - scale * q.x * q.y * q.z;
- float surface = abs(f) * radius * 2.8 - thickness;
- float ball = implicit_sphere(p, vec3(0.0), radius);
- vec3 n = normalize(vec3(cos(sectionAngle), sin(sectionAngle), 0.28));
- float sectionPlane = dot(p, n) - radius * 0.78;
- return implicit_intersect_round(implicit_intersect_round(surface, ball, 1.2), sectionPlane, 0.8);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- vec3 n = normalize(vec3(cos(sectionAngle), sin(sectionAngle), 0.28));
- float cut = smoothstep(radius * 0.70, radius * 0.80, dot(p, n));
- float self = smoothstep(0.45, 0.98, abs(normal.x * normal.y * normal.z) * 6.0);
- return mix(mix(baseColor * 0.7, baseColor, self), accentColor, cut * 0.78);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "roman surface section",
- description: "Prompt 16: Steiner Roman surface with smooth self-intersections and section visualization.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Clip radius", min: 18, max: 44, step: 0.25, default: 31, unit: "mm" },
- scale: { type: "number", label: "Roman scale", min: 0.45, max: 1.4, step: 0.02, default: 0.92 },
- thickness: { type: "number", label: "Thickness", min: 0.2, max: 4, step: 0.05, default: 1.15, unit: "mm" },
- sectionAngle: { type: "number", label: "Section angle", min: -1.57, max: 1.57, step: 0.02, default: 0.45, unit: "rad" },
- baseColor: { type: "color", label: "Surface color", default: "#ff5c8a" },
- accentColor: { type: "color", label: "Section color", default: "#fff06a" }
- },
- animations: {
- sectionTurn: {
- label: "Section turn",
- duration: 6.4,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("sectionAngle", wave * 1.25);
- set("scale", 0.78 + (1 - Math.abs(wave)) * 0.45);
- }
- }
- },
- bounds: [[-44, -44, -44], [44, 44, 44]],
- render: { steps: 320, epsilon: 0.0045, normalEpsilon: 0.05 },
- glsl: GLSL
-};
diff --git a/models/implicits/rounded-orb.implicit.js b/models/implicits/rounded-orb.implicit.js
deleted file mode 100644
index 6e2ed9b5..00000000
--- a/models/implicits/rounded-orb.implicit.js
+++ /dev/null
@@ -1,61 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float sphereBody = implicit_sphere(p, vec3(0.0, 0.0, 0.0), radius);
- float cutBox = implicit_box_centered(p, vec3(radius * 1.58, radius * 1.58, baseHeight), vec3(0.0, 0.0, -radius * 0.75));
- float bore = implicit_cylinder_capped(p, vec3(-radius * 1.25, 0.0, radius * 0.2), vec3(radius * 1.25, 0.0, radius * 0.2), boreRadius);
- return implicit_intersect_round(
- implicit_union_round(sphereBody, cutBox, blend),
- -bore,
- max(blend * 0.5, 0.35)
- );
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- float sphereBlend = smoothstep(-18.0, 18.0, p.z);
- vec3 base = mix(orbLowColor, orbHighColor, sphereBlend);
- float plinthMask = 1.0 - smoothstep(-17.0, -7.0, p.z);
- base = mix(base, baseColor, plinthMask * 0.9);
- float boreAccent = smoothstep(0.72, 0.98, abs(normal.x)) * smoothstep(-2.0, 12.0, p.z);
- return mix(base, accentColor, boreAccent);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "rounded orb",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 14, max: 32, step: 0.25, default: 24, unit: "mm" },
- baseHeight: { type: "number", label: "Base height", min: 8, max: 24, step: 0.25, default: 16, unit: "mm" },
- boreRadius: { type: "number", label: "Bore radius", min: 2, max: 11, step: 0.1, default: 7, unit: "mm" },
- blend: { type: "number", label: "Blend", min: 0.5, max: 6, step: 0.1, default: 3, unit: "mm" },
- orbLowColor: { type: "color", label: "Lower orb", default: "#22d3ee" },
- orbHighColor: { type: "color", label: "Upper orb", default: "#ff7ac8" },
- baseColor: { type: "color", label: "Base color", default: "#2df5a5" },
- accentColor: { type: "color", label: "Bore accent", default: "#ffd166" }
- },
- animations: {
- boreBreath: {
- label: "Bore breath",
- duration: 4.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("boreRadius", 7 + wave * 3);
- set("blend", 3 + wave * 2);
- set("baseHeight", 16 + wave * 5);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.radius + params.blend + 9;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 224,
- epsilon: Math.max(0.004, params.radius * 0.00025),
- normalEpsilon: Math.max(0.035, params.radius * 0.0018)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/schwarz-d-diamond-cell.implicit.js b/models/implicits/schwarz-d-diamond-cell.implicit.js
deleted file mode 100644
index 1216584a..00000000
--- a/models/implicits/schwarz-d-diamond-cell.implicit.js
+++ /dev/null
@@ -1,51 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = implicit_rotate_axis(p, vec3(0.0), vec3(0.0, 0.0, 1.0), twistBlend * 0.45);
- float field = implicit_tpms_diamond(q, vec3(period), vec3(1.0), twistBlend);
- float shell = implicit_shell(field * period * 0.15, wallThickness, 0.0);
- float cube = implicit_box_centered(p, vec3(cellSize), vec3(0.0));
- return implicit_intersect_round(shell, cube, 1.35);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float diagonal = 0.5 + 0.5 * sin((p.x + p.y + p.z) / max(period, 0.1) * 6.2831853);
- float crossBand = 0.5 + 0.5 * sin((p.x - p.y + p.z * 0.65) / max(period, 0.1) * 6.2831853 + 1.7);
- float channel = smoothstep(0.48, 0.96, abs(dot(normal, normalize(vec3(1.0, -1.0, 1.0)))));
- vec3 gold = vec3(1.0, 0.88, 0.18);
- vec3 mint = vec3(0.18, 1.0, 0.72);
- vec3 body = mix(baseColor, accentColor, diagonal);
- body = mix(body, mint, crossBand * 0.34);
- body = mix(body, gold, channel * 0.52);
- return mix(body, vec3(1.0), 0.10 + channel * 0.08);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "schwarz d diamond cell",
- description: "Prompt 7: Schwarz diamond minimal surface with uniform wall thickness.",
- units: "mm",
- params: {
- cellSize: { type: "number", label: "Cell size", min: 30, max: 78, step: 1, default: 54, unit: "mm" },
- period: { type: "number", label: "Period", min: 12, max: 34, step: 0.5, default: 21, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 0.8, max: 6, step: 0.1, default: 2.1, unit: "mm" },
- twistBlend: { type: "number", label: "Twist blend", min: 0, max: 1, step: 0.02, default: 0.08 },
- baseColor: { type: "color", label: "Diamond color", default: "#00d9ff" },
- accentColor: { type: "color", label: "Channel color", default: "#ff4fd8" }
- },
- animations: {
- diamondPhase: {
- label: "Diamond phase",
- duration: 6.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("twistBlend", 0.05 + (wave * 0.5 + 0.5) * 0.65);
- set("wallThickness", 1.6 + (1 - Math.abs(wave)) * 3.2);
- }
- }
- },
- bounds: [[-44, -44, -44], [44, 44, 44]],
- render: { steps: 300, epsilon: 0.005, normalEpsilon: 0.052 },
- glsl: GLSL
-};
diff --git a/models/implicits/schwarz-p-unit-cell.implicit.js b/models/implicits/schwarz-p-unit-cell.implicit.js
deleted file mode 100644
index f9142238..00000000
--- a/models/implicits/schwarz-p-unit-cell.implicit.js
+++ /dev/null
@@ -1,52 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float field = implicit_tpms_schwarz(p, vec3(cellSize), vec3(1.0), 0.0) + fieldOffset;
- float shell = implicit_shell(field, wallThickness, 0.0);
- float cell = implicit_box_centered(p, vec3(cellSize), vec3(0.0));
- return max(shell, cell) * fieldScale;
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- float chamber = 0.5 + 0.5 * cos((p.x + p.y - p.z) * 0.085);
- return mix(baseColor, accentColor, chamber);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Schwarz P unit cell",
- description: "Finite-thickness Schwarz P triply periodic shell clipped to one cubic unit cell.",
- units: "mm",
- params: {
- cellSize: { type: "number", label: "Cell size", min: 32, max: 72, step: 0.5, default: 48, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 1.2, max: 7, step: 0.1, default: 3.5, unit: "mm" },
- fieldOffset: { type: "number", label: "Field offset", min: -0.8, max: 0.8, step: 0.02, default: 0 },
- fieldScale: { type: "number", label: "Field scale", min: 0.35, max: 0.9, step: 0.01, default: 0.52 },
- baseColor: { type: "color", label: "Chamber color", default: "#58a6ff" },
- accentColor: { type: "color", label: "Mint color", default: "#a7ffdf" }
- },
- animations: {
- chamberPulse: {
- label: "Chamber pulse",
- duration: 5.4,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("wallThickness", 3.5 + wave * 2.0);
- set("fieldOffset", wave * 0.45);
- set("fieldScale", 0.52 + wave * 0.16);
- }
- }
- },
- bounds: ({ params }) => {
- const half = params.cellSize / 2 + Math.max(params.wallThickness, 3);
- return [[-half, -half, -half], [half, half, half]];
- },
- render: ({ params }) => ({
- steps: 340,
- epsilon: Math.max(0.005, params.cellSize * 0.00014),
- normalEpsilon: Math.max(0.04, params.wallThickness * 0.014)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/sierpinski-arrowhead-curve.implicit.js b/models/implicits/sierpinski-arrowhead-curve.implicit.js
deleted file mode 100644
index 6a770d3b..00000000
--- a/models/implicits/sierpinski-arrowhead-curve.implicit.js
+++ /dev/null
@@ -1,86 +0,0 @@
-const GLSL = `
-float sdSegment2(vec2 p, vec2 a, vec2 b) {
- vec2 pa = p - a;
- vec2 ba = b - a;
- float h = clamp(dot(pa, ba) / max(dot(ba, ba), 0.0001), 0.0, 1.0);
- return length(pa - ba * h);
-}
-
-float arrowMotif(vec2 p) {
- vec2 a = vec2(-0.86, -0.50);
- vec2 b = vec2(0.0, 0.98);
- vec2 c = vec2(0.86, -0.50);
- float d = sdSegment2(p, a, b);
- d = min(d, sdSegment2(p, b, c));
- d = min(d, sdSegment2(p, a, c) * 1.18);
- return d;
-}
-
-float recursiveArrow(vec2 p) {
- vec2 q = p / size;
- float d = arrowMotif(q) * size;
- float scale = 1.0;
- for (int i = 0; i < 5; i += 1) {
- if (float(i) < levels) {
- scale *= 2.0;
- vec2 r = q * scale;
- r = fract(r + vec2(0.5, 0.0)) - vec2(0.5);
- r.y += 0.16 * sin(float(i) * 2.1);
- d = min(d, arrowMotif(r * 2.0) * size / scale);
- }
- }
- return d;
-}
-
-float sdf(vec3 p) {
- float curve = recursiveArrow(p.xy) - pathRadius;
- float slab = abs(p.z) - thickness * 0.5;
- return max(curve, slab);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float recursiveBand = 0.5 + 0.5 * sin((abs(p.x) + abs(p.y) * 1.7) * 0.26);
- vec3 c = mix(baseColor, accentColor, recursiveBand);
- return c * (0.56 + 0.44 * smoothstep(-0.2, 0.9, normal.z));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Sierpinski arrowhead curve",
- description: "A raised recursive triangular arrowhead curve with sharp self-similar structure.",
- units: "mm",
- params: {
- size: { type: "number", label: "Triangle size", min: 16, max: 42, step: 0.5, default: 28, unit: "mm" },
- levels: { type: "number", label: "Recursion levels", min: 1, max: 5, step: 1, default: 4 },
- pathRadius: { type: "number", label: "Path radius", min: 0.25, max: 1.8, step: 0.05, default: 0.75, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.8, max: 4, step: 0.1, default: 1.8, unit: "mm" },
- baseColor: { type: "color", label: "Base color", default: "#24b7ff" },
- accentColor: { type: "color", label: "Recursive color", default: "#ff9f43" }
- },
- animations: {
- recursionPulse: {
- label: "Recursion pulse",
- duration: 5.0,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("pathRadius", 0.75 + wave * 0.24);
- set("thickness", 1.8 + (wave * 0.5 + 0.5) * 0.9);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size + params.pathRadius + 5;
- const z = params.thickness + 3;
- return [[-extent, -extent, -z], [extent, extent, z]];
- },
- render: ({ params }) => ({
- steps: 180,
- stepScale: 0.72,
- maxStep: Math.max(params.pathRadius * 3.5, 0.9),
- epsilon: Math.max(params.pathRadius * 0.014, 0.004),
- normalEpsilon: Math.max(params.pathRadius * 0.08, 0.03)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/sierpinski-tetrahedron.implicit.js b/models/implicits/sierpinski-tetrahedron.implicit.js
deleted file mode 100644
index 3ccdf275..00000000
--- a/models/implicits/sierpinski-tetrahedron.implicit.js
+++ /dev/null
@@ -1,75 +0,0 @@
-const GLSL = `
-float implicit_tetrahedron(vec3 p) {
- vec4 planes = vec4(
- p.x + p.y + p.z,
- p.x - p.y - p.z,
- -p.x + p.y - p.z,
- -p.x - p.y + p.z
- );
- return (max(max(planes.x, planes.y), max(planes.z, planes.w)) - 1.0) * 0.5773502691896258;
-}
-
-float sdf(vec3 p) {
- vec3 q = p / size;
- float scale = 1.0;
-
- for (int level = 0; level < 5; level += 1) {
- if (float(level) < levels) {
- if (q.x + q.y < 0.0) {
- q.xy = -q.yx;
- }
- if (q.x + q.z < 0.0) {
- q.xz = -q.zx;
- }
- if (q.y + q.z < 0.0) {
- q.zy = -q.yz;
- }
- q = q * 2.0 - vec3(1.0);
- scale *= 2.0;
- }
- }
-
- return implicit_tetrahedron(q) * size / scale - edgeThickness;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float levelBands = 0.5 + 0.5 * sin((abs(p.x) + abs(p.y) + abs(p.z)) * 0.38);
- return mix(baseColor, accentColor, levelBands);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Sierpinski tetrahedron approximation",
- description: "Four-level folded implicit approximation of a Sierpinski tetrahedron with readable triangular voids.",
- units: "mm",
- params: {
- size: { type: "number", label: "Size", min: 16, max: 36, step: 0.5, default: 25, unit: "mm" },
- levels: { type: "number", label: "Recursion levels", min: 1, max: 5, step: 1, default: 4 },
- edgeThickness: { type: "number", label: "Edge thickness", min: 0.1, max: 1.4, step: 0.05, default: 0.34, unit: "mm" },
- baseColor: { type: "color", label: "Void color", default: "#ff5c5c" },
- accentColor: { type: "color", label: "Edge color", default: "#ffd166" }
- },
- animations: {
- edgePulse: {
- label: "Edge pulse",
- duration: 5.0,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("size", 25 + wave * 6);
- set("edgeThickness", 0.34 + wave * 0.22);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.size + 7;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 360,
- epsilon: Math.max(0.005, params.edgeThickness * 0.016),
- normalEpsilon: Math.max(0.04, params.edgeThickness * 0.12)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/sphere-boolean-cuts.implicit.js b/models/implicits/sphere-boolean-cuts.implicit.js
deleted file mode 100644
index 69cf3cba..00000000
--- a/models/implicits/sphere-boolean-cuts.implicit.js
+++ /dev/null
@@ -1,62 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float body = implicit_sphere(p, vec3(0.0), radius);
- float d = body;
- if (sliceEnabled) {
- float belowSlice = p.z - sliceHeight;
- d = implicit_intersect_round(d, belowSlice, bevel);
- }
- if (boreEnabled && boreRadius > 0.01) {
- float bore = implicit_cylinder_capped(
- p,
- vec3(-radius * 1.15, 0.0, 0.0),
- vec3(radius * 1.15, 0.0, 0.0),
- boreRadius
- );
- d = implicit_intersect_round(d, -bore, max(bevel * 0.65, 0.25));
- }
- return d;
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float cap = sliceEnabled ? smoothstep(sliceHeight - 3.5, sliceHeight + 0.75, p.z) : 0.0;
- float bore = boreEnabled ? smoothstep(0.78, 0.98, abs(normal.x)) * (1.0 - smoothstep(boreRadius + 2.0, boreRadius + 9.0, length(p.yz))) : 0.0;
- float latitude = 0.5 + 0.5 * normal.z;
- vec3 body = mix(baseColor * 0.55, baseColor, latitude);
- body += vec3(0.08, 0.10, 0.12) * pow(max(dot(normal, normalize(vec3(-0.45, 0.35, 0.82))), 0.0), 3.0);
- return mix(body, accentColor, clamp(max(cap, bore) * 0.9, 0.0, 1.0));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "sphere boolean cuts",
- description: "Prompt 1: clean implicit sphere with smooth normals and optional boolean cuts.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 14, max: 44, step: 0.25, default: 28, unit: "mm" },
- sliceHeight: { type: "number", label: "Slice height", min: -10, max: 22, step: 0.25, default: 11, unit: "mm" },
- boreRadius: { type: "number", label: "Bore radius", min: 0, max: 14, step: 0.25, default: 7, unit: "mm" },
- bevel: { type: "number", label: "Cut bevel", min: 0.2, max: 5, step: 0.1, default: 2.4, unit: "mm" },
- sliceEnabled: { type: "boolean", label: "Slice cut", default: true },
- boreEnabled: { type: "boolean", label: "Bore cut", default: true },
- baseColor: { type: "color", label: "Base color", default: "#34d5ff" },
- accentColor: { type: "color", label: "Cut accent", default: "#ffd166" }
- },
- animations: {
- revealCuts: {
- label: "Reveal cuts",
- duration: 4.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("sliceHeight", 5 + wave * 13);
- set("boreRadius", 4 + (wave * 0.5 + 0.5) * 8);
- set("bevel", 1.2 + (wave * 0.5 + 0.5) * 2.8);
- }
- }
- },
- bounds: [[-42, -42, -42], [42, 42, 42]],
- render: { steps: 220, epsilon: 0.0045, normalEpsilon: 0.045 },
- glsl: GLSL
-};
diff --git a/models/implicits/superquadric-rounded-cube.implicit.js b/models/implicits/superquadric-rounded-cube.implicit.js
deleted file mode 100644
index 640e0005..00000000
--- a/models/implicits/superquadric-rounded-cube.implicit.js
+++ /dev/null
@@ -1,50 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = abs(p) / vec3(size, size, size * heightScale);
- float superquadric = pow(pow(q.x, exponent) + pow(q.y, exponent) + pow(q.z, exponent), 1.0 / exponent) - 1.0;
- return superquadric * size;
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- float face = pow(max(abs(normal.x), max(abs(normal.y), abs(normal.z))), 3.0);
- return mix(edgeColor, faceColor, face);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "superquadric rounded cube",
- description: "A high-even-exponent superquadric with flat faces and smoothly rounded edges and corners.",
- units: "mm",
- params: {
- size: { type: "number", label: "Size", min: 12, max: 34, step: 0.25, default: 21, unit: "mm" },
- exponent: { type: "number", label: "Squareness", min: 2, max: 16, step: 0.25, default: 8 },
- heightScale: { type: "number", label: "Height scale", min: 0.55, max: 1.45, step: 0.02, default: 1 },
- faceColor: { type: "color", label: "Face color", default: "#ffe45c" },
- edgeColor: { type: "color", label: "Edge color", default: "#ff7a66" }
- },
- animations: {
- cubeMorph: {
- label: "Cube morph",
- duration: 4.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("exponent", 8 + wave * 5.2);
- set("heightScale", 1 + wave * 0.28);
- }
- }
- },
- bounds: ({ params }) => {
- const xy = params.size + 9;
- const z = params.size * params.heightScale + 9;
- return [[-xy, -xy, -z], [xy, xy, z]];
- },
- render: ({ params }) => ({
- steps: 220,
- epsilon: Math.max(0.004, params.size * 0.00025),
- normalEpsilon: Math.max(0.035, params.size * 0.002)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/tanglecube-lobed-tunnels.implicit.js b/models/implicits/tanglecube-lobed-tunnels.implicit.js
deleted file mode 100644
index 9411394e..00000000
--- a/models/implicits/tanglecube-lobed-tunnels.implicit.js
+++ /dev/null
@@ -1,45 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = p / max(scale, 0.1);
- float f = q.x*q.x*q.x*q.x - 5.0*q.x*q.x + q.y*q.y*q.y*q.y - 5.0*q.y*q.y + q.z*q.z*q.z*q.z - 5.0*q.z*q.z + constant;
- float shell = abs(f) * scale * 0.42 - thickness;
- float clip = implicit_sphere(p, vec3(0.0), scale * 2.72);
- return implicit_intersect_round(shell, clip, max(tunnelRound, 0.25));
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float lobe = smoothstep(0.15, 0.94, max(max(abs(normal.x), abs(normal.y)), abs(normal.z)));
- float tunnel = 0.5 + 0.5 * sin((p.x + p.y + p.z) / max(scale, 0.1) * 2.6);
- return mix(baseColor * (0.7 + 0.3 * tunnel), accentColor, lobe * 0.46);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "tanglecube lobed tunnels",
- description: "Prompt 17: tanglecube algebraic surface with cubic symmetry and smooth tunnels.",
- units: "mm",
- params: {
- scale: { type: "number", label: "Scale", min: 10, max: 24, step: 0.25, default: 16, unit: "mm" },
- constant: { type: "number", label: "Constant", min: 8, max: 15, step: 0.05, default: 11.8 },
- thickness: { type: "number", label: "Shell thickness", min: 0.4, max: 4, step: 0.05, default: 1.1, unit: "mm" },
- tunnelRound: { type: "number", label: "Tunnel round", min: 0, max: 6, step: 0.1, default: 2.4, unit: "mm" },
- baseColor: { type: "color", label: "Lobe color", default: "#4ade80" },
- accentColor: { type: "color", label: "Tunnel color", default: "#a78bfa" }
- },
- animations: {
- nodeBloom: {
- label: "Node bloom",
- duration: 6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("constant", 10.5 + (wave * 0.5 + 0.5) * 2.6);
- set("tunnelRound", 1.2 + (1 - Math.abs(wave)) * 4.2);
- }
- }
- },
- bounds: [[-48, -48, -48], [48, 48, 48]],
- render: { steps: 330, epsilon: 0.0045, normalEpsilon: 0.05 },
- glsl: GLSL
-};
diff --git a/models/implicits/thickened-mobius-strip.implicit.js b/models/implicits/thickened-mobius-strip.implicit.js
deleted file mode 100644
index b71b0b82..00000000
--- a/models/implicits/thickened-mobius-strip.implicit.js
+++ /dev/null
@@ -1,68 +0,0 @@
-const GLSL = `
-const float IMPLICIT_MOBIUS_TAU = 6.283185307179586;
-
-float sdf(vec3 p) {
- float u = atan(p.y, p.x);
- vec2 section = vec2(length(p.xy) - radius, p.z);
- vec2 twistAxis = vec2(cos(0.5 * u), sin(0.5 * u));
- vec2 closest = twistAxis * clamp(dot(section, twistAxis), -(width * 0.5), (width * 0.5));
- return length(section - closest) - thickness;
-}
-
-
-vec3 implicit_palette(float t) {
- float waveA = 0.5 + 0.5 * cos(6.283185307179586 * (t + 0.1));
- float waveB = 0.5 + 0.5 * cos(6.283185307179586 * (t + 0.56));
- return mix(mix(baseColor, midColor, waveA), accentColor, waveB * 0.74);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- vec2 ring = vec2(p.x, p.y);
- float angle = atan(ring.y, ring.x) / 6.283185307179586;
- vec3 bandColor = implicit_palette(angle + p.z * 0.035);
- return mix(bandColor, edgeColor, smoothstep(0.25, 0.95, abs(normal.z)) * 0.28);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "thickened Mobius strip",
- description: "A manufacturable one-half-twist Mobius strip with rounded boundary and finite shell thickness.",
- units: "mm",
- params: {
- radius: { type: "number", label: "Radius", min: 14, max: 34, step: 0.25, default: 24, unit: "mm" },
- width: { type: "number", label: "Band width", min: 4, max: 22, step: 0.25, default: 13.6, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.25, max: 2.5, step: 0.05, default: 0.82, unit: "mm" },
- baseColor: { type: "color", label: "Rose color", default: "#ff4fa3" },
- midColor: { type: "color", label: "Lagoon color", default: "#7c5cff" },
- accentColor: { type: "color", label: "Iris color", default: "#35e6c9" },
- edgeColor: { type: "color", label: "Edge color", default: "#ffd166" }
- },
- animations: {
- bandBreath: {
- label: "Band breath",
- duration: 4.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("width", 13.6 + wave * 5.5);
- set("thickness", 0.82 + wave * 0.35);
- set("radius", 24 + wave * 4);
- }
- }
- },
- bounds: ({ params }) => {
- const halfWidth = params.width * 0.5;
- const radialExtent = params.radius + halfWidth + params.thickness + 6;
- const heightExtent = halfWidth + params.thickness + 6;
- return [[-radialExtent, -radialExtent, -heightExtent], [radialExtent, radialExtent, heightExtent]];
- },
- render: ({ params }) => ({
- steps: 192,
- stepScale: 0.72,
- maxStep: Math.max(params.thickness * 3.8, 1.4),
- epsilon: Math.max(params.thickness * 0.012, 0.006),
- normalEpsilon: Math.max(params.thickness * 0.075, 0.04)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/torus-boolean-lab.implicit.js b/models/implicits/torus-boolean-lab.implicit.js
deleted file mode 100644
index e46bb0bf..00000000
--- a/models/implicits/torus-boolean-lab.implicit.js
+++ /dev/null
@@ -1,54 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- float ring = implicit_torus(p, majorRadius, minorRadius);
- float beadA = implicit_sphere(p, vec3(majorRadius, 0.0, 0.0), beadRadius);
- float beadB = implicit_sphere(p, vec3(-majorRadius, 0.0, 0.0), beadRadius * 0.82);
- float joined = implicit_union_round(implicit_union_round(ring, beadA, blend), beadB, blend);
- float drill = implicit_cylinder_capped(p, vec3(0.0, -majorRadius * 1.55, 0.0), vec3(0.0, majorRadius * 1.55, 0.0), cutRadius);
- float window = implicit_box_centered(p, vec3(cutRadius * 2.4, majorRadius * 2.6, cutRadius * 1.2), vec3(0.0));
- return implicit_intersect_round(implicit_intersect_round(joined, -drill, blend), -window, blend * 0.6);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float theta = atan(p.y, p.x);
- float stripe = 0.5 + 0.5 * sin(theta * 5.0 + p.z * 0.2);
- float cutLight = smoothstep(0.65, 0.96, abs(normal.y)) * smoothstep(-6.0, 6.0, p.z);
- vec3 body = mix(baseColor * 0.62, baseColor, stripe);
- body = mix(body, highlightColor, smoothstep(0.78, 1.0, stripe) * 0.35);
- vec3 rim = mix(accentColor * 0.55, accentColor, 0.5 + 0.5 * normal.z);
- return mix(body, rim, clamp(cutLight, 0.0, 1.0));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "torus boolean lab",
- description: "Prompt 2: adjustable implicit torus with smooth union beads and subtractive cuts.",
- units: "mm",
- params: {
- majorRadius: { type: "number", label: "Major radius", min: 16, max: 42, step: 0.25, default: 28, unit: "mm" },
- minorRadius: { type: "number", label: "Minor radius", min: 3, max: 14, step: 0.25, default: 8, unit: "mm" },
- beadRadius: { type: "number", label: "Union bead", min: 0, max: 9, step: 0.25, default: 5.5, unit: "mm" },
- cutRadius: { type: "number", label: "Subtraction radius", min: 1, max: 12, step: 0.25, default: 6, unit: "mm" },
- blend: { type: "number", label: "Blend", min: 0.2, max: 5, step: 0.1, default: 2.2, unit: "mm" },
- baseColor: { type: "color", label: "Torus color", default: "#ff6b9a" },
- highlightColor: { type: "color", label: "Stripe highlight", default: "#fff06a" },
- accentColor: { type: "color", label: "Boolean accent", default: "#38f2b8" }
- },
- animations: {
- booleanSweep: {
- label: "Boolean sweep",
- duration: 5.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("minorRadius", 7 + wave * 3.5);
- set("cutRadius", 4 + (wave * 0.5 + 0.5) * 6);
- set("beadRadius", 3 + (1.0 - Math.abs(wave)) * 6);
- }
- }
- },
- bounds: [[-54, -54, -22], [54, 54, 22]],
- render: { steps: 240, epsilon: 0.004, normalEpsilon: 0.04 },
- glsl: GLSL
-};
diff --git a/models/implicits/trefoil-torus-knot-tube.implicit.js b/models/implicits/trefoil-torus-knot-tube.implicit.js
deleted file mode 100644
index d88d0652..00000000
--- a/models/implicits/trefoil-torus-knot-tube.implicit.js
+++ /dev/null
@@ -1,63 +0,0 @@
-const GLSL = `
-const float IMPLICIT_TREFOIL_TAU = 6.283185307179586;
-
-float sdf(vec3 p) {
- p.z /= verticalScale;
- float phi = atan(p.y, p.x);
- vec2 torusSection = vec2(length(p.xy) - majorRadius, p.z);
- float best = 1.0e6;
- for (int branchIndex = 0; branchIndex < 3; branchIndex += 1) {
- float t = (phi + IMPLICIT_TREFOIL_TAU * float(branchIndex)) / 3.0;
- vec2 knotCenter = knotRadius * vec2(cos(2.0 * t), sin(2.0 * t));
- best = min(best, length(torusSection - knotCenter));
- }
- return best - tubeRadius;
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- float sweep = atan(p.y, p.x) / IMPLICIT_TREFOIL_TAU + p.z * 0.018;
- return mix(baseColor, accentColor, 0.5 + 0.5 * sin(6.283185307179586 * sweep));
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "trefoil torus-knot tube",
- description: "A constant-radius solid tube following a closed trefoil torus knot path.",
- units: "mm",
- params: {
- majorRadius: { type: "number", label: "Major radius", min: 10, max: 24, step: 0.25, default: 16.5, unit: "mm" },
- knotRadius: { type: "number", label: "Lobe radius", min: 3.5, max: 10, step: 0.1, default: 6.9, unit: "mm" },
- tubeRadius: { type: "number", label: "Tube radius", min: 0.8, max: 4.5, step: 0.05, default: 2.05, unit: "mm" },
- verticalScale: { type: "number", label: "Vertical scale", min: 0.65, max: 1.6, step: 0.05, default: 1 },
- baseColor: { type: "color", label: "Copper color", default: "#ff7a33" },
- accentColor: { type: "color", label: "Cyan color", default: "#2ee8ff" }
- },
- animations: {
- knotBreath: {
- label: "Knot breath",
- duration: 5.2,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("tubeRadius", 2.05 + wave * 0.95);
- set("knotRadius", 6.9 + wave * 1.7);
- set("verticalScale", 1 + wave * 0.3);
- }
- }
- },
- bounds: ({ params }) => {
- const xy = params.majorRadius + params.knotRadius + params.tubeRadius + 5;
- const z = params.knotRadius * params.verticalScale + params.tubeRadius + 5;
- return [[-xy, -xy, -z], [xy, xy, z]];
- },
- render: ({ params }) => ({
- steps: 220,
- epsilon: Math.max(0.006, params.tubeRadius * 0.004),
- normalEpsilon: Math.max(0.04, params.tubeRadius * 0.028),
- stepScale: 0.72,
- maxStep: Math.max(params.tubeRadius * 0.68, 0.7)
- }),
- glsl: GLSL
-};
diff --git a/models/implicits/voronoi-foam-lattice.implicit.js b/models/implicits/voronoi-foam-lattice.implicit.js
deleted file mode 100644
index 060fa1c1..00000000
--- a/models/implicits/voronoi-foam-lattice.implicit.js
+++ /dev/null
@@ -1,76 +0,0 @@
-const GLSL = `
-vec3 hash33(vec3 p) {
- p = vec3(dot(p, vec3(127.1, 311.7, 74.7)), dot(p, vec3(269.5, 183.3, 246.1)), dot(p, vec3(113.5, 271.9, 124.6)));
- return fract(sin(p) * 43758.5453123);
-}
-
-float voronoiWall(vec3 p) {
- vec3 g = floor(p);
- vec3 f = fract(p);
- float f1 = 10.0;
- float f2 = 10.0;
- for (int z = -1; z <= 1; z++) {
- for (int y = -1; y <= 1; y++) {
- for (int x = -1; x <= 1; x++) {
- vec3 o = vec3(float(x), float(y), float(z));
- vec3 r = o + hash33(g + o) - f;
- float d = dot(r, r);
- if (d < f1) {
- f2 = f1;
- f1 = d;
- } else if (d < f2) {
- f2 = d;
- }
- }
- }
- }
- return abs(sqrt(f2) - sqrt(f1));
-}
-
-float sdf(vec3 p) {
- float wall = voronoiWall(p / max(cellSize, 0.1)) * cellSize - wallThickness;
- float roundedWall = wall - roundness * 0.22;
- float box = implicit_box_centered(p, vec3(boundsSize), vec3(0.0));
- return implicit_intersect_round(roundedWall, box, roundness);
-}
-
-vec3 color(vec3 p, vec3 normal) {
- float cell = voronoiWall(p / max(cellSize, 0.1));
- float veins = smoothstep(0.0, 0.32, cell);
- float depth = smoothstep(-boundsSize * 0.5, boundsSize * 0.5, p.z);
- float rim = pow(max(dot(normal, normalize(vec3(-0.45, 0.35, 0.82))), 0.0), 2.4);
- vec3 wall = mix(baseColor * (0.65 + 0.35 * depth), accentColor, veins * 0.62);
- return mix(wall, rimColor, rim * 0.32);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "voronoi foam lattice",
- description: "Prompt 20: bounded implicit Voronoi foam with rounded cell-wall transitions.",
- units: "mm",
- params: {
- boundsSize: { type: "number", label: "Bounds size", min: 34, max: 84, step: 1, default: 58, unit: "mm" },
- cellSize: { type: "number", label: "Cell size", min: 10, max: 28, step: 0.5, default: 18, unit: "mm" },
- wallThickness: { type: "number", label: "Wall thickness", min: 0.4, max: 4, step: 0.1, default: 1.4, unit: "mm" },
- roundness: { type: "number", label: "Roundness", min: 0.2, max: 4, step: 0.1, default: 1.7, unit: "mm" },
- baseColor: { type: "color", label: "Wall color", default: "#24e6c2" },
- accentColor: { type: "color", label: "Cell color", default: "#ff9f43" },
- rimColor: { type: "color", label: "Rim color", default: "#c4a7ff" }
- },
- animations: {
- foamBreath: {
- label: "Foam breath",
- duration: 6.6,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("wallThickness", 0.9 + (wave * 0.5 + 0.5) * 2.4);
- set("roundness", 0.8 + (1 - Math.abs(wave)) * 2.8);
- }
- }
- },
- bounds: [[-48, -48, -48], [48, 48, 48]],
- render: { steps: 340, epsilon: 0.005, normalEpsilon: 0.055 },
- glsl: GLSL
-};
diff --git a/models/implicits/whitney-umbrella.implicit.js b/models/implicits/whitney-umbrella.implicit.js
deleted file mode 100644
index 225db5a8..00000000
--- a/models/implicits/whitney-umbrella.implicit.js
+++ /dev/null
@@ -1,55 +0,0 @@
-const GLSL = `
-float sdf(vec3 p) {
- vec3 q = p / scale;
- float field = q.x * q.x - q.y * q.y * q.z;
- float gradientScale = pinchSharpness + length(vec3(2.0 * q.x, -2.0 * q.y * q.z, -q.y * q.y));
- float sheet = abs(field) / gradientScale * scale - thickness;
- float clip = implicit_sphere(p, vec3(0.0), clipRadius);
- return max(sheet, clip) * 0.28;
-}
-
-
-vec3 color(vec3 p, vec3 normal) {
- float pinch = 1.0 - smoothstep(0.0, 12.0, length(p.xy));
- return mix(mix(sheetLowColor, sheetHighColor, smoothstep(-14.0, 16.0, p.z)), pinchColor, pinch * 0.65);
-}
-`;
-
-export default {
- schema: "implicit.js/0.1.0",
- name: "Whitney umbrella bounded thickness",
- description: "A sphere-clipped thickened Whitney umbrella retaining the pinch and self-intersecting sheet structure.",
- units: "mm",
- params: {
- scale: { type: "number", label: "Field scale", min: 8, max: 20, step: 0.25, default: 13.5, unit: "mm" },
- thickness: { type: "number", label: "Thickness", min: 0.25, max: 2.2, step: 0.05, default: 0.95, unit: "mm" },
- clipRadius: { type: "number", label: "Clip radius", min: 16, max: 36, step: 0.5, default: 27, unit: "mm" },
- pinchSharpness: { type: "number", label: "Pinch sharpness", min: 0.25, max: 0.9, step: 0.01, default: 0.45 },
- sheetLowColor: { type: "color", label: "Lower sheet", default: "#8b5cf6" },
- sheetHighColor: { type: "color", label: "Upper sheet", default: "#38dff8" },
- pinchColor: { type: "color", label: "Pinch color", default: "#ff6fb1" }
- },
- animations: {
- pinchPulse: {
- label: "Pinch pulse",
- duration: 4.8,
- loop: true,
- update({ progress, set }) {
- const wave = Math.sin(progress * Math.PI * 2);
- set("thickness", 0.95 + wave * 0.55);
- set("pinchSharpness", 0.45 + wave * 0.18);
- set("clipRadius", 27 + wave * 6);
- }
- }
- },
- bounds: ({ params }) => {
- const extent = params.clipRadius + Math.max(params.thickness, 1) + 3;
- return [[-extent, -extent, -extent], [extent, extent, extent]];
- },
- render: ({ params }) => ({
- steps: 520,
- epsilon: Math.max(0.005, params.thickness * 0.009),
- normalEpsilon: Math.max(0.045, params.thickness * 0.055)
- }),
- glsl: GLSL
-};
diff --git a/models/mechanisms/.180_degree_flip_mechanism.step.glb b/models/mechanisms/.180_degree_flip_mechanism.step.glb
deleted file mode 100644
index 5c66e57d..00000000
--- a/models/mechanisms/.180_degree_flip_mechanism.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e6802ab7ac654eb1649d4ddb9a1463698b69a169ab81d0a9fd6dfb5a2e4e50f9
-size 2845048
diff --git a/models/mechanisms/.180_degree_flip_mechanism.step.js b/models/mechanisms/.180_degree_flip_mechanism.step.js
deleted file mode 100644
index fbee0bcd..00000000
--- a/models/mechanisms/.180_degree_flip_mechanism.step.js
+++ /dev/null
@@ -1,281 +0,0 @@
-const Z_AXIS = [0, 0, 1];
-const FLAT_ON_GROUND_TRANSFORM = [
- 0, 0, -1, 0,
- 0, 1, 0, 0,
- 1, 0, 0, -322.461928,
- 0, 0, 0, 1
-];
-
-// CAD coordinates measured from the STEP occurrence bounds. The side-view
-// mechanism is a toggle four-bar: the lower pink rocker drives the yellow/red
-// panel coupler out to an over-center tangent pose, then the coupler returns on
-// the opposite branch with the panel flipped.
-const PIVOTS = {
- upperFrame: [-15.002, 229.609, 0],
- lowerFrame: [104.981, 29.599, 0],
- lowerBoard: [45.03, 229.61, 0],
- upperBoard: [44.984, 420.401, 0]
-};
-
-const PANEL_COUPLER_PARTS = ["panel", "redLink", "driveRod", "hingeRod", "panelHardware"];
-const LOWER_ROCKER_PARTS = ["rocker2", "greenRod", "handleHardware"];
-const FRAME_DETAIL_PARTS = ["stopper", "bearings"];
-const FRAME_PARTS = ["frame", ...FRAME_DETAIL_PARTS, "frameHardware"];
-const HARDWARE = ["frameHardware", "handleHardware", "panelHardware"];
-const CROSS_RODS = ["hingeRod", "driveRod"];
-const MOVING_PARTS = ["rockerBlue", ...PANEL_COUPLER_PARTS, ...LOWER_ROCKER_PARTS];
-
-const INITIAL_PANEL_ANGLE_DEG = angleDeg2(PIVOTS.lowerBoard, PIVOTS.upperBoard);
-const INITIAL_BLUE_ANGLE_DEG = angleDeg2(PIVOTS.upperFrame, PIVOTS.upperBoard);
-const INITIAL_LOWER_ROCKER_ANGLE_DEG = angleDeg2(PIVOTS.lowerFrame, PIVOTS.lowerBoard);
-const LOWER_LINK_LENGTH = distance2(PIVOTS.lowerFrame, PIVOTS.lowerBoard);
-const UPPER_LINK_LENGTH = distance2(PIVOTS.upperFrame, PIVOTS.upperBoard);
-const COUPLER_LINK_LENGTH = distance2(PIVOTS.lowerBoard, PIVOTS.upperBoard);
-const OVER_CENTER_CRANK_ANGLE_DEG = -3.22068;
-
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function clamp(value, min, max) {
- return Math.min(Math.max(finite(value, min), min), max);
-}
-
-function clamp01(value) {
- return clamp(value, 0, 1);
-}
-
-function smooth01(value) {
- const t = clamp01(value);
- return t * t * (3 - (2 * t));
-}
-
-function lerp(start, end, t) {
- return start + ((end - start) * t);
-}
-
-function lerpPoint(start, end, t) {
- return [
- lerp(start[0], end[0], t),
- lerp(start[1], end[1], t),
- lerp(start[2] || 0, end[2] || 0, t)
- ];
-}
-
-function distance2(start, end) {
- return Math.hypot(end[0] - start[0], end[1] - start[1]);
-}
-
-function angleDeg2(start, end) {
- return Math.atan2(end[1] - start[1], end[0] - start[0]) * 180 / Math.PI;
-}
-
-function pointFromAngle(origin, length, angleDeg) {
- const angleRad = angleDeg * Math.PI / 180;
- return [
- origin[0] + (Math.cos(angleRad) * length),
- origin[1] + (Math.sin(angleRad) * length),
- origin[2] || 0
- ];
-}
-
-function circleIntersections(centerA, radiusA, centerB, radiusB) {
- const dx = centerB[0] - centerA[0];
- const dy = centerB[1] - centerA[1];
- const distance = Math.hypot(dx, dy);
- if (distance <= 1e-6) {
- return [centerA, centerA];
- }
- const maxDistance = radiusA + radiusB;
- const minDistance = Math.abs(radiusA - radiusB);
- const solvedDistance = clamp(distance, minDistance + 1e-6, maxDistance - 1e-6);
- const along = ((radiusA * radiusA) - (radiusB * radiusB) + (solvedDistance * solvedDistance)) / (2 * solvedDistance);
- const height = Math.sqrt(Math.max(0, (radiusA * radiusA) - (along * along)));
- const unitX = dx / distance;
- const unitY = dy / distance;
- const midX = centerA[0] + (along * unitX);
- const midY = centerA[1] + (along * unitY);
- const offsetX = -unitY * height;
- const offsetY = unitX * height;
- return [
- [midX + offsetX, midY + offsetY, centerA[2] || 0],
- [midX - offsetX, midY - offsetY, centerA[2] || 0]
- ];
-}
-
-function boardBranches(lower) {
- const branches = circleIntersections(PIVOTS.upperFrame, UPPER_LINK_LENGTH, lower, COUPLER_LINK_LENGTH);
- return branches.sort((a, b) => b[1] - a[1]);
-}
-
-function translateVector(start, end) {
- return [
- end[0] - start[0],
- end[1] - start[1],
- (end[2] || 0) - (start[2] || 0)
- ];
-}
-
-function cycleFlip(cycle) {
- const phase = ((finite(cycle, 0) % 1) + 1) % 1;
- return 0.5 - (0.5 * Math.cos(phase * Math.PI * 2));
-}
-
-function sampleMotion(rawFlip, { extension = 1, turnover = 1 } = {}) {
- const flip = clamp01(rawFlip);
- const travel = clamp(extension, 0.2, 1);
- const turnoverAmount = clamp(turnover, 0, 1);
- const extendedAngle = lerp(INITIAL_LOWER_ROCKER_ANGLE_DEG, OVER_CENTER_CRANK_ANGLE_DEG, travel);
- const firstHalf = flip <= 0.5;
- const legT = firstHalf ? smooth01(flip / 0.5) : smooth01((flip - 0.5) / 0.5);
- const lowerAngleDeg = firstHalf
- ? lerp(INITIAL_LOWER_ROCKER_ANGLE_DEG, extendedAngle, legT)
- : lerp(extendedAngle, INITIAL_LOWER_ROCKER_ANGLE_DEG, legT);
- const lower = pointFromAngle(PIVOTS.lowerFrame, LOWER_LINK_LENGTH, lowerAngleDeg);
- const [closedBranch, openBranch] = boardBranches(lower);
- const upper = !firstHalf && turnoverAmount > 0 ? openBranch : closedBranch;
- const angleDeg = angleDeg2(lower, upper);
- return { lower, upper, angleDeg, lowerAngleDeg };
-}
-
-function applyVisibility(effects, params) {
- effects.visible("*", true);
- effects.visible("frame", params.showFrame !== false);
- effects.visible(FRAME_DETAIL_PARTS, params.showFrame !== false && params.showDetails !== false);
- effects.visible("frameHardware", params.showFrame !== false && params.showHardware === true);
- effects.visible(["handleHardware", "panelHardware"], params.showHardware === true);
- effects.visible(CROSS_RODS, params.showCrossRods !== false);
-}
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/thang010146/180_degree_flip_mechanism.step"
- },
- label: "180 degree flip mechanism",
- description: "Planar four-bar viewer rig reconstructed from the reference video: blue upper link, pink lower rocker, red/board coupler, and an over-center turnover.",
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- frame: { ref: "#o1.1.1", label: "Frame", description: "Fixed frame body." },
- stopper: { ref: "#o1.1.2", label: "Stopper" },
- bearings: { ref: "#o1.1.3,o1.1.4", label: "Bearing blocks" },
- frameHardware: { ref: "#o1.1.5,o1.1.6,o1.1.7,o1.1.8,o1.1.9,o1.1.10,o1.1.11,o1.1.12,o1.1.13,o1.1.14,o1.1.15,o1.1.16,o1.1.17,o1.1.18,o1.1.19,o1.1.20,o1.1.21,o1.1.22,o1.1.23,o1.1.24,o1.1.25,o1.1.26,o1.1.27,o1.1.28", label: "Frame hardware" },
-
- rockerBlue: { ref: "#o1.2", label: "Blue upper link", description: "Upper 200 mm link rotating about the upper fixed pivot." },
- rocker2: { ref: "#o1.3.1", label: "Pink lower rocker", description: "Lower rocker arm rotating about the lower fixed pivot." },
- greenRod: { ref: "#o1.3.2", label: "Handle rod" },
- handleHardware: { ref: "#o1.3.3,o1.3.4", label: "Handle hardware" },
-
- redLink: { ref: "#o1.4.1", label: "Red coupler", description: "Rigid coupler between the upper and lower board pivots." },
- panel: { ref: "#o1.4.2", label: "Flip panel", description: "Panel fixed to the red coupler." },
- driveRod: { ref: "#o1.4.3", label: "Upper board rod" },
- hingeRod: { ref: "#o1.4.7", label: "Lower board rod" },
- panelHardware: { ref: "#o1.4.4,o1.4.5,o1.4.6,o1.4.8", label: "Panel nuts" }
- },
- parameters: {
- flip: { type: "number", label: "Flip", description: "Closed to open travel. The animation loops this 0 -> 1 -> 0.", default: 0, min: 0, max: 1, step: 0.01 },
- extension: { type: "number", label: "Extension", description: "How close the lower rocker drives to the over-center tangent pose.", default: 1, min: 0.2, max: 1, step: 0.01 },
- turnover: { type: "number", label: "Turnover", description: "Enables the returning coupler to use the open branch after the over-center pose.", default: 1, min: 0, max: 1, step: 1 },
- explode: { type: "number", label: "Explode", description: "Separates moving groups for inspection after the linkage motion is applied.", default: 0, min: 0, max: 1, step: 0.01 },
- showFrame: { type: "boolean", label: "Frame", default: true },
- showDetails: { type: "boolean", label: "Frame details", default: true },
- showCrossRods: { type: "boolean", label: "Cross rods", default: true },
- showHardware: { type: "boolean", label: "Hardware", default: true },
- highlightLinks: { type: "boolean", label: "Highlight moving parts", default: false }
- },
- animations: {
- flipLoop: {
- label: "Reference flip loop",
- description: "Closed -> over-center -> open -> over-center -> closed.",
- duration: 5,
- loop: true,
- update({ cycle, set }) {
- set("flip", cycleFlip(cycle));
- }
- },
- inspectExplode: {
- label: "Inspect explode",
- duration: 5,
- loop: true,
- update({ cycle, set }) {
- set("flip", cycleFlip(cycle));
- set("explode", Math.sin((((finite(cycle, 0) % 1) + 1) % 1) * Math.PI));
- }
- }
- }
- },
-
- update({ params, effects }) {
- const extension = clamp(params.extension, 0.2, 1);
- const turnover = clamp(params.turnover, 0, 1);
- const explode = clamp01(params.explode);
- const pose = sampleMotion(params.flip, { extension, turnover });
-
- const panelAngleDelta = pose.angleDeg - INITIAL_PANEL_ANGLE_DEG;
- const panelTranslate = translateVector(PIVOTS.lowerBoard, pose.lower);
- const blueAngleDelta = angleDeg2(PIVOTS.upperFrame, pose.upper) - INITIAL_BLUE_ANGLE_DEG;
- const lowerRockerAngleDelta = pose.lowerAngleDeg - INITIAL_LOWER_ROCKER_ANGLE_DEG;
-
- applyVisibility(effects, params);
-
- effects.style(FRAME_PARTS, { opacity: 1, edgeOpacity: 0.9 });
- effects.style(FRAME_DETAIL_PARTS, { opacity: 1, edgeOpacity: 0.8 });
- effects.style(HARDWARE, { opacity: 1, edgeOpacity: 0.7 });
- effects.style("panel", { opacity: 1, edgeOpacity: 1 });
- effects.style(["rocker2", "greenRod"], { opacity: 1, edgeOpacity: 1 });
- effects.style("rockerBlue", { opacity: 1, edgeOpacity: 1 });
- effects.style("redLink", { opacity: 1, edgeOpacity: 1 });
- effects.style(CROSS_RODS, { opacity: 1, edgeOpacity: 1 });
-
- if (params.highlightLinks !== false) {
- effects.highlight(MOVING_PARTS, true);
- }
-
- effects.transform(PANEL_COUPLER_PARTS, {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: PIVOTS.lowerBoard,
- angleDeg: panelAngleDelta
- }
- },
- { translate: [panelTranslate[0] + (explode * 16), panelTranslate[1] - (explode * 8), panelTranslate[2] + (explode * 24)] }
- ]
- });
-
- effects.transform("rockerBlue", {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: PIVOTS.upperFrame,
- angleDeg: blueAngleDelta
- }
- },
- { translate: [-explode * 10, -explode * 8, explode * 18] }
- ]
- });
-
- effects.transform(LOWER_ROCKER_PARTS, {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: PIVOTS.lowerFrame,
- angleDeg: lowerRockerAngleDelta
- }
- },
- { translate: [0, explode * 10, explode * 14] }
- ]
- });
-
- effects.transform("*", { matrix: FLAT_ON_GROUND_TRANSFORM });
- }
-};
diff --git a/models/mechanisms/.adjustable_height_table_2.step.glb b/models/mechanisms/.adjustable_height_table_2.step.glb
deleted file mode 100644
index c0992633..00000000
--- a/models/mechanisms/.adjustable_height_table_2.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:08b02a64c14ace53c62918a0cd13d0a5cced1778bbae8c8791b51f359ec0e603
-size 3391852
diff --git a/models/mechanisms/.adjustable_height_table_2.step.js b/models/mechanisms/.adjustable_height_table_2.step.js
deleted file mode 100644
index a81ed41d..00000000
--- a/models/mechanisms/.adjustable_height_table_2.step.js
+++ /dev/null
@@ -1,287 +0,0 @@
-const X_AXIS = [1, 0, 0];
-
-const BOTTOM_FIXED_PIVOT = [14.610456, -171.775187, 23.0];
-const TOP_FIXED_PIVOT_INITIAL = [14.610456, -171.775187, 69.00033];
-const ROLLER_PIVOT_INITIAL = [14.610456, 124.677119, 69.00033];
-const LOWER_ROLLER_CENTER_INITIAL = [14.610456, 124.677119, 23.0];
-const UPPER_ROLLER_CENTER_INITIAL = [14.610456, 124.677119, 69.00033];
-const ACTUATOR_PIVOT_INITIAL = [14.610456, -142.775187, 27.499913];
-
-const INITIAL_HEIGHT = TOP_FIXED_PIVOT_INITIAL[2] - BOTTOM_FIXED_PIVOT[2];
-const INITIAL_RUN = ROLLER_PIVOT_INITIAL[1] - BOTTOM_FIXED_PIVOT[1];
-const LINK_LENGTH = Math.hypot(INITIAL_RUN, INITIAL_HEIGHT);
-const INITIAL_LINK_ANGLE_DEG = angleDeg(INITIAL_HEIGHT, INITIAL_RUN);
-const ACTUATOR_Y_OFFSET = ACTUATOR_PIVOT_INITIAL[1] - BOTTOM_FIXED_PIVOT[1];
-const ROLLER_RADIUS = 20.0;
-const RUNWAY_MIN_Y = -2.775187;
-const RUNWAY_END_CLEARANCE = 12.0;
-const MAX_RAISED_HEIGHT = maxSafeRaisedHeight();
-const DEFAULT_RAISED_HEIGHT = 215;
-
-const TOP_ASSEMBLY = ["topAssembly"];
-const RISING_LINKAGE = ["risingLinkage"];
-const DESCENDING_LINKAGE = ["descendingLinkage"];
-const LOWER_ROLLERS = ["lowerRollers"];
-const UPPER_ROLLERS = ["upperRollers"];
-const ACTUATOR_ROD = ["piston", "actuatorCrossShaft"];
-const ACTUATOR_SLIDER = ["actuatorSlider"];
-const MOVING_PARTS = [
- ...TOP_ASSEMBLY,
- ...RISING_LINKAGE,
- ...DESCENDING_LINKAGE,
- ...LOWER_ROLLERS,
- ...UPPER_ROLLERS,
- ...ACTUATOR_ROD,
- ...ACTUATOR_SLIDER
-];
-
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function clamp(value, min, max) {
- return Math.min(Math.max(finite(value, min), min), max);
-}
-
-function clamp01(value) {
- return clamp(value, 0, 1);
-}
-
-function smooth01(value) {
- const t = clamp01(value);
- return t * t * (3 - (2 * t));
-}
-
-function lerp(start, end, t) {
- return start + ((end - start) * t);
-}
-
-function angleDeg(height, run) {
- return Math.atan2(height, run) * 180 / Math.PI;
-}
-
-function maxSafeRaisedHeight() {
- const minRollerCenterY = RUNWAY_MIN_Y + ROLLER_RADIUS + RUNWAY_END_CLEARANCE;
- const minRun = minRollerCenterY - BOTTOM_FIXED_PIVOT[1];
- return Math.sqrt(Math.max(0, (LINK_LENGTH * LINK_LENGTH) - (minRun * minRun)));
-}
-
-function cycleLift(cycle) {
- const phase = ((finite(cycle, 0) % 1) + 1) % 1;
- if (phase < 0.42) {
- return smooth01(phase / 0.42);
- }
- if (phase < 0.52) {
- return 1;
- }
- if (phase < 0.94) {
- return 1 - smooth01((phase - 0.52) / 0.42);
- }
- return 0;
-}
-
-function sampleLift(rawLift, rawRaisedHeight) {
- const lift = smooth01(rawLift);
- const raisedHeight = clamp(rawRaisedHeight, INITIAL_HEIGHT + 5, MAX_RAISED_HEIGHT);
- const height = lerp(INITIAL_HEIGHT, raisedHeight, lift);
- const run = Math.sqrt(Math.max(1e-6, (LINK_LENGTH * LINK_LENGTH) - (height * height)));
- const angle = angleDeg(height, run);
- const rollerY = BOTTOM_FIXED_PIVOT[1] + run;
- const heightDelta = height - INITIAL_HEIGHT;
- const rollerYDelta = rollerY - ROLLER_PIVOT_INITIAL[1];
-
- // The reference video shows the actuator rising vertically while a green
- // slider follows the lower blue link. Solve that slider by intersecting the
- // lower link with the fixed actuator centerline.
- const actuatorRatio = clamp(ACTUATOR_Y_OFFSET / run, 0, 1);
- const actuatorZ = BOTTOM_FIXED_PIVOT[2] + (height * actuatorRatio);
- const actuatorZDelta = actuatorZ - ACTUATOR_PIVOT_INITIAL[2];
- return {
- angle,
- heightDelta,
- rollerYDelta,
- actuatorZDelta,
- risingAngleDelta: angle - INITIAL_LINK_ANGLE_DEG,
- descendingAngleDelta: -(angle - INITIAL_LINK_ANGLE_DEG),
- wheelSpinDeg: -(rollerYDelta / (2 * Math.PI * ROLLER_RADIUS)) * 360
- };
-}
-
-function applyVisibility(effects, params) {
- effects.visible("*", true);
- effects.visible("actuator", params.showActuator !== false);
- effects.visible("hardware", params.showHardware !== false);
-}
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/thang010146/adjustable_height_table_2.step"
- },
- label: "Adjustable height table 2",
- description: "Viewer-time scissor-lift animation matched to the reference video: the top stays level, right pivots roll in the runways, and the vertical actuator drives the lower-link slider.",
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- baseAssembly: { ref: "#o1.1", label: "Base assembly" },
- basePlate: { ref: "#o1.1.1", label: "Base plate" },
- baseBearings: { ref: "#o1.1.2,o1.1.3", label: "Base fixed bearings" },
- baseRunways: { ref: "#o1.1.9,o1.1.10", label: "Base roller runways" },
- cylinder: { ref: "#o1.1.8", label: "Fixed cylinder" },
-
- topAssembly: { ref: "#o1.2", label: "Moving table top" },
- topPlate: { ref: "#o1.2.1", label: "Table top" },
- topBearings: { ref: "#o1.2.2,o1.2.3", label: "Top fixed bearings" },
- topRunways: { ref: "#o1.2.8,o1.2.9", label: "Top roller runways" },
-
- risingLinkage: { ref: "#o1.3", label: "Rising scissor links", description: "Links from the lower fixed pivots to the upper rolling pivots." },
- descendingLinkage: { ref: "#o1.4", label: "Descending scissor links", description: "Links from the upper fixed pivots to the lower rolling pivots." },
- centralPivot: { ref: "#o1.3.3,o1.3.4,o1.3.5", label: "Central scissor pivot" },
- upperRollerShafts: { ref: "#o1.3.6,o1.3.7,o1.3.8,o1.3.9,o1.3.10,o1.3.11", label: "Upper roller shafts" },
- lowerRollerShafts: { ref: "#o1.4.3,o1.4.4,o1.4.5,o1.4.6,o1.4.7,o1.4.8", label: "Lower roller shafts" },
- upperRollers: { ref: "#o1.8,o1.9", label: "Upper pink rollers" },
- lowerRollers: { ref: "#o1.6,o1.7", label: "Lower pink rollers" },
-
- piston: { ref: "#o1.5", label: "Piston rod" },
- actuatorSlider: { ref: "#o1.10", label: "Green actuator slider" },
- actuatorCrossShaft: { ref: "#o1.11", label: "Actuator cross shaft" },
- actuator: { ref: "#o1.1.8,o1.5,o1.10,o1.11", label: "Hydraulic actuator" },
- hardware: {
- ref: "#o1.1.4,o1.1.5,o1.1.6,o1.1.7,o1.2.4,o1.2.5,o1.2.6,o1.2.7,o1.3.4,o1.3.5,o1.3.7,o1.3.9,o1.3.10,o1.3.11,o1.4.4,o1.4.5,o1.4.7,o1.4.8",
- label: "Nuts and bolts"
- }
- },
- parameters: {
- lift: { type: "number", label: "Lift", description: "Collapsed to raised scissor-lift travel.", default: 0, min: 0, max: 1, step: 0.01 },
- raisedHeightMm: { type: "number", label: "Raised height", description: "Upper fixed-pivot height above the base fixed pivots at full lift; clamped so rollers stay inside the runways.", default: DEFAULT_RAISED_HEIGHT, min: 80, max: MAX_RAISED_HEIGHT, step: 1, unit: "mm" },
- explode: { type: "number", label: "Explode", description: "Separates the motion groups for inspection after the linkage pose is applied.", default: 0, min: 0, max: 1, step: 0.01 },
- showActuator: { type: "boolean", label: "Actuator", default: true },
- showHardware: { type: "boolean", label: "Hardware", default: true },
- highlightMoving: { type: "boolean", label: "Highlight moving parts", default: false }
- },
- animations: {
- liftLoop: {
- label: "Reference lift loop",
- description: "Low table, hydraulic lift to raised position, brief dwell, and return.",
- duration: 8,
- loop: true,
- update({ cycle, set }) {
- set("lift", cycleLift(cycle));
- }
- },
- inspectExplode: {
- label: "Lift with exploded groups",
- duration: 8,
- loop: true,
- update({ cycle, set }) {
- const lift = cycleLift(cycle);
- set("lift", lift);
- set("explode", Math.sin(lift * Math.PI));
- }
- }
- }
- },
-
- update({ params, effects }) {
- const pose = sampleLift(params.lift, params.raisedHeightMm);
- const explode = clamp01(params.explode);
-
- applyVisibility(effects, params);
-
- effects.style("basePlate", { opacity: 1, edgeOpacity: 0.8 });
- effects.style(["baseBearings", "topBearings"], { opacity: 1, edgeOpacity: 0.8 });
- effects.style(["baseRunways", "topRunways"], { opacity: 1, edgeOpacity: 0.9 });
- effects.style("topPlate", { opacity: 1, edgeOpacity: 0.85 });
- effects.style("risingLinkage", { opacity: 1, edgeOpacity: 1 });
- effects.style("descendingLinkage", { opacity: 1, edgeOpacity: 1 });
- effects.style("centralPivot", { opacity: 1, edgeOpacity: 1 });
- effects.style(["lowerRollerShafts", "upperRollerShafts", "actuatorCrossShaft"], { opacity: 1, edgeOpacity: 0.9 });
- effects.style(["lowerRollers", "upperRollers"], { opacity: 1, edgeOpacity: 1 });
- effects.style("cylinder", { opacity: 1, edgeOpacity: 1 });
- effects.style("piston", { opacity: 1, edgeOpacity: 1 });
- effects.style("actuatorSlider", { opacity: 1, edgeOpacity: 1 });
- effects.style("hardware", { opacity: 1, edgeOpacity: 0.7 });
-
- if (params.highlightMoving !== false) {
- effects.highlight(MOVING_PARTS, true);
- }
-
- effects.transform("topAssembly", {
- translate: [0, explode * -10, pose.heightDelta + (explode * 22)]
- });
-
- effects.transform("risingLinkage", {
- transforms: [
- {
- rotate: {
- axis: X_AXIS,
- origin: BOTTOM_FIXED_PIVOT,
- angleDeg: pose.risingAngleDelta
- }
- },
- { translate: [explode * 12, explode * -8, explode * 12] }
- ]
- });
-
- effects.transform("descendingLinkage", {
- transforms: [
- {
- rotate: {
- axis: X_AXIS,
- origin: TOP_FIXED_PIVOT_INITIAL,
- angleDeg: pose.descendingAngleDelta
- }
- },
- { translate: [explode * -12, explode * 8, pose.heightDelta + (explode * 12)] }
- ]
- });
-
- effects.transform("lowerRollers", {
- transforms: [
- {
- rotate: {
- axis: X_AXIS,
- origin: LOWER_ROLLER_CENTER_INITIAL,
- angleDeg: pose.wheelSpinDeg
- }
- },
- { translate: [0, pose.rollerYDelta + (explode * 10), explode * 8] }
- ]
- });
-
- effects.transform("upperRollers", {
- transforms: [
- {
- rotate: {
- axis: X_AXIS,
- origin: UPPER_ROLLER_CENTER_INITIAL,
- angleDeg: pose.wheelSpinDeg
- }
- },
- { translate: [0, pose.rollerYDelta + (explode * -10), pose.heightDelta + (explode * 18)] }
- ]
- });
-
- effects.transform(ACTUATOR_ROD, {
- translate: [0, 0, pose.actuatorZDelta + (explode * 10)]
- });
-
- effects.transform("actuatorSlider", {
- transforms: [
- {
- rotate: {
- axis: X_AXIS,
- origin: ACTUATOR_PIVOT_INITIAL,
- angleDeg: pose.risingAngleDelta
- }
- },
- { translate: [0, 0, pose.actuatorZDelta + (explode * 14)] }
- ]
- });
- }
-};
diff --git a/models/mechanisms/.circular_iris_shutter_2.step.glb b/models/mechanisms/.circular_iris_shutter_2.step.glb
deleted file mode 100644
index eb5c2062..00000000
--- a/models/mechanisms/.circular_iris_shutter_2.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:637efc96a27503262091b8a7c53b5d94ce6aae312d2da401f9e67278decba25c
-size 2539184
diff --git a/models/mechanisms/.deployable_drone.step.glb b/models/mechanisms/.deployable_drone.step.glb
deleted file mode 100644
index 0d13678c..00000000
--- a/models/mechanisms/.deployable_drone.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ae05209174842a654125481d3a1d3c6d69a55f082f59edba999fc733fdb1fab4
-size 4135708
diff --git a/models/mechanisms/.gear_rack_gripper.step.glb b/models/mechanisms/.gear_rack_gripper.step.glb
deleted file mode 100644
index 7cb18002..00000000
--- a/models/mechanisms/.gear_rack_gripper.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 3102568
diff --git a/models/mechanisms/.gear_rack_gripper.step.js b/models/mechanisms/.gear_rack_gripper.step.js
deleted file mode 100644
index ccc638ad..00000000
--- a/models/mechanisms/.gear_rack_gripper.step.js
+++ /dev/null
@@ -1,288 +0,0 @@
-const Z_AXIS = [0, 0, 1];
-
-const GEAR_PITCH_RADIUS_MM = 20;
-const MAX_GEAR_ANGLE_DEG = 82;
-
-const LEFT_GEAR_CENTER = [-40, 0, 14.000004];
-const RIGHT_GEAR_CENTER = [40, 0, 14.000004];
-const LEFT_CRANK_PIN_INITIAL = [-40, -15, 14.000004];
-const RIGHT_CRANK_PIN_INITIAL = [40, -15, 14.000004];
-const LEFT_PISTON_PIN_INITIAL = [-20, -10, 14.000004];
-const RIGHT_PISTON_PIN_INITIAL = [20, -10, 14.000004];
-
-const LINK_LENGTH_MM = distance2(LEFT_PISTON_PIN_INITIAL, LEFT_CRANK_PIN_INITIAL);
-const INITIAL_LEFT_LINK_ANGLE_DEG = angleDeg2(LEFT_PISTON_PIN_INITIAL, LEFT_CRANK_PIN_INITIAL);
-const INITIAL_RIGHT_LINK_ANGLE_DEG = angleDeg2(RIGHT_PISTON_PIN_INITIAL, RIGHT_CRANK_PIN_INITIAL);
-
-const MOVING_FEATURES = [
- "piston",
- "leftConrod",
- "rightConrod",
- "leftPinion",
- "rightPinion",
- "leftRack",
- "rightRack"
-];
-
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function clamp(value, min, max) {
- return Math.min(Math.max(finite(value, min), min), max);
-}
-
-function clamp01(value) {
- return clamp(value, 0, 1);
-}
-
-function smooth01(value) {
- const t = clamp01(value);
- return t * t * (3 - (2 * t));
-}
-
-function distance2(start, end) {
- return Math.hypot(end[0] - start[0], end[1] - start[1]);
-}
-
-function angleDeg2(start, end) {
- return Math.atan2(end[1] - start[1], end[0] - start[0]) * 180 / Math.PI;
-}
-
-function rotatePointZ(point, origin, angleDeg) {
- const angleRad = angleDeg * Math.PI / 180;
- const cosA = Math.cos(angleRad);
- const sinA = Math.sin(angleRad);
- const dx = point[0] - origin[0];
- const dy = point[1] - origin[1];
- return [
- origin[0] + (dx * cosA) - (dy * sinA),
- origin[1] + (dx * sinA) + (dy * cosA),
- point[2]
- ];
-}
-
-function normalizeAngleDeg(value) {
- let angle = finite(value, 0);
- while (angle > 180) angle -= 360;
- while (angle < -180) angle += 360;
- return angle;
-}
-
-function solvePistonY(leftCrankPin) {
- const dx = LEFT_PISTON_PIN_INITIAL[0] - leftCrankPin[0];
- const allowedDx = clamp(dx, -LINK_LENGTH_MM + 1e-6, LINK_LENGTH_MM - 1e-6);
- const dy = Math.sqrt(Math.max(1e-6, (LINK_LENGTH_MM * LINK_LENGTH_MM) - (allowedDx * allowedDx)));
-
- // The uploaded STEP starts with the piston pin slightly ahead of the crank
- // pin. Keep that same branch so the conrod never flips through the gear.
- return leftCrankPin[1] + dy;
-}
-
-function samplePose(rawStroke) {
- const stroke = smooth01(rawStroke);
- const leftGearAngleDeg = stroke * MAX_GEAR_ANGLE_DEG;
- const rightGearAngleDeg = -leftGearAngleDeg;
- const rackTravelMm = (leftGearAngleDeg * Math.PI / 180) * GEAR_PITCH_RADIUS_MM;
-
- const leftCrankPin = rotatePointZ(LEFT_CRANK_PIN_INITIAL, LEFT_GEAR_CENTER, leftGearAngleDeg);
- const rightCrankPin = rotatePointZ(RIGHT_CRANK_PIN_INITIAL, RIGHT_GEAR_CENTER, rightGearAngleDeg);
- const pistonY = solvePistonY(leftCrankPin);
- const pistonDeltaY = pistonY - LEFT_PISTON_PIN_INITIAL[1];
-
- const leftPistonPin = [LEFT_PISTON_PIN_INITIAL[0], pistonY, LEFT_PISTON_PIN_INITIAL[2]];
- const rightPistonPin = [RIGHT_PISTON_PIN_INITIAL[0], pistonY, RIGHT_PISTON_PIN_INITIAL[2]];
-
- return {
- stroke,
- pistonDeltaY,
- rackTravelMm,
- leftGearAngleDeg,
- rightGearAngleDeg,
- leftLinkAngleDeltaDeg: normalizeAngleDeg(angleDeg2(leftPistonPin, leftCrankPin) - INITIAL_LEFT_LINK_ANGLE_DEG),
- rightLinkAngleDeltaDeg: normalizeAngleDeg(angleDeg2(rightPistonPin, rightCrankPin) - INITIAL_RIGHT_LINK_ANGLE_DEG)
- };
-}
-
-function cycleStroke(cycle) {
- const phase = ((finite(cycle, 0) % 1) + 1) % 1;
- if (phase < 0.38) {
- return smooth01(phase / 0.38);
- }
- if (phase < 0.50) {
- return 1;
- }
- if (phase < 0.88) {
- return 1 - smooth01((phase - 0.50) / 0.38);
- }
- return 0;
-}
-
-function applyVisibility(effects, params) {
- effects.visible("*", true);
- effects.visible("hardware", params.showHardware !== false);
-}
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/thang010146/gear_rack_gripper.step"
- },
- label: "Robot gripper gear-rack assembly",
- description: "Uploaded STEP assembly with viewer-time animation based on the reference video: a sliding piston drives two blue conrods, counter-rotating pinions, and opposing rack jaws.",
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- base: { ref: "#o1.1.10", label: "Fixed base plate" },
- cylinder: { ref: "#o1.1.9", label: "Fixed green cylinder" },
- piston: { ref: "#o1.1.17", label: "Sliding piston rod" },
- leftRack: { ref: "#o1.1.11", label: "Left moving rack jaw" },
- rightRack: { ref: "#o1.1.12", label: "Right moving rack jaw" },
- leftPinion: {
- ref: "#o1.1.13",
- label: "Left yellow pinion and crank",
- origin: LEFT_GEAR_CENTER,
- axis: Z_AXIS
- },
- rightPinion: {
- ref: "#o1.1.14",
- label: "Right yellow pinion and crank",
- origin: RIGHT_GEAR_CENTER,
- axis: Z_AXIS
- },
- leftConrod: { ref: "#o1.1.15", label: "Left blue connecting rod" },
- rightConrod: { ref: "#o1.1.16", label: "Right blue connecting rod" },
- hardware: {
- ref: "#o1.1.1,#o1.1.2,#o1.1.3,#o1.1.4,#o1.1.5,#o1.1.6,#o1.1.7,#o1.1.8",
- label: "Fixed bolts and pins"
- },
- movingAssembly: {
- ref: "#o1.1.11,#o1.1.12,#o1.1.13,#o1.1.14,#o1.1.15,#o1.1.16,#o1.1.17",
- label: "Moving drive train"
- }
- },
- parameters: {
- stroke: {
- type: "number",
- label: "Stroke",
- description: "0 is the imported closed pose; 1 pushes the piston forward and opens the two rack jaws with the pinion pitch relationship preserved.",
- default: 0,
- min: 0,
- max: 1,
- step: 0.01
- },
- explode: {
- type: "number",
- label: "Explode",
- description: "Separates the moving groups after the solved pose for mechanism inspection.",
- default: 0,
- min: 0,
- max: 1,
- step: 0.01
- },
- showHardware: { type: "boolean", label: "Hardware", default: true },
- highlightMoving: { type: "boolean", label: "Highlight moving", default: false }
- },
- animations: {
- driveLoop: {
- label: "Piston rack drive",
- description: "Closed pose, piston-driven rack opening, short dwell, then return.",
- duration: 6,
- loop: true,
- update({ cycle, set }) {
- set("stroke", cycleStroke(cycle));
- }
- },
- inspectDrive: {
- label: "Exploded drive inspection",
- duration: 6,
- loop: true,
- update({ cycle, set }) {
- const stroke = cycleStroke(cycle);
- set("stroke", stroke);
- set("explode", Math.sin(stroke * Math.PI));
- }
- }
- }
- },
-
- update({ params, effects }) {
- const pose = samplePose(params.stroke);
- const explode = clamp01(params.explode);
-
- applyVisibility(effects, params);
-
- if (params.highlightMoving === true) {
- effects.highlight(MOVING_FEATURES, true);
- }
-
- effects.transform("piston", {
- translate: [0, pose.pistonDeltaY, explode * 12]
- });
-
- effects.transform("leftConrod", {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: LEFT_PISTON_PIN_INITIAL,
- angleDeg: pose.leftLinkAngleDeltaDeg
- }
- },
- { translate: [0, pose.pistonDeltaY, explode * 16] }
- ]
- });
-
- effects.transform("rightConrod", {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: RIGHT_PISTON_PIN_INITIAL,
- angleDeg: pose.rightLinkAngleDeltaDeg
- }
- },
- { translate: [0, pose.pistonDeltaY, explode * 16] }
- ]
- });
-
- effects.transform("leftPinion", {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: LEFT_GEAR_CENTER,
- angleDeg: pose.leftGearAngleDeg
- }
- },
- { translate: [-explode * 8, -explode * 5, explode * 18] }
- ]
- });
-
- effects.transform("rightPinion", {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: RIGHT_GEAR_CENTER,
- angleDeg: pose.rightGearAngleDeg
- }
- },
- { translate: [explode * 8, -explode * 5, explode * 18] }
- ]
- });
-
- effects.transform("leftRack", {
- translate: [-pose.rackTravelMm - (explode * 14), 0, explode * 8]
- });
-
- effects.transform("rightRack", {
- translate: [pose.rackTravelMm + (explode * 14), 0, explode * 8]
- });
- }
-};
diff --git a/models/mechanisms/.hinge_2_dof.step.glb b/models/mechanisms/.hinge_2_dof.step.glb
deleted file mode 100644
index 2ced36e0..00000000
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diff --git a/models/mechanisms/180_degree_flip_mechanism.step b/models/mechanisms/180_degree_flip_mechanism.step
deleted file mode 100644
index e212a688..00000000
--- a/models/mechanisms/180_degree_flip_mechanism.step
+++ /dev/null
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diff --git a/models/mechanisms/README.md b/models/mechanisms/README.md
deleted file mode 100644
index 51ca4816..00000000
--- a/models/mechanisms/README.md
+++ /dev/null
@@ -1,45 +0,0 @@
-# Mechanism STEP Demos
-
-Flattened STEP mechanism assemblies inspired by the YouTube channel
-[thang010146](https://www.youtube.com/@thang010146/videos). Original
-mechanism design, animation, and downloadable source files are credited to
-`thang010146`.
-
-This folder is intentionally flat so CAD Viewer can catalog the top-level STEP
-assemblies and their hidden sidecars directly.
-
-## Contents
-
-- `*.step`: canonical mechanism assemblies.
-- `.*.step.glb`: generated render/selector sidecars paired with STEP files.
-- `.*.step.js`: optional interaction sidecars paired with STEP files.
-
-Extracted source archives, Inventor files, SDF working files, videos, and
-intermediate generation scripts are intentionally omitted from this fixture
-bundle.
-
-## Manifest
-
-| Mechanism | STEP | Required sidecar | Optional sidecar | Source |
-|---|---|---|---|---|
-| 180 deg. flip mechanism | [180_degree_flip_mechanism.step](180_degree_flip_mechanism.step) | `.180_degree_flip_mechanism.step.glb` | `.180_degree_flip_mechanism.step.js` | [Video](https://www.youtube.com/watch?v=IGexfslM_5Y), [STEP archive](https://www.mediafire.com/file/pcjk004x96r6ibu/180FlipMechanismSTEP.zip/file) |
-| Table of adjustable height 2 | [adjustable_height_table_2.step](adjustable_height_table_2.step) | `.adjustable_height_table_2.step.glb` | `.adjustable_height_table_2.step.js` | [Video](https://www.youtube.com/watch?v=c30g2UszMws), [STEP archive](https://www.mediafire.com/file/ulf0n6zbbp1veo4/TableAdjustHeight2STEP.zip/file) |
-| Circular window iris shutter 2 | [circular_iris_shutter_2.step](circular_iris_shutter_2.step) | `.circular_iris_shutter_2.step.glb` | | [Video](https://www.youtube.com/watch?v=4ckPpHpe4TM), [STEP archive](https://www.mediafire.com/file/sz86hz0w9aknnen/CircularIrisShutter2STEP.zip/file) |
-| Deployable drone | [deployable_drone.step](deployable_drone.step) | `.deployable_drone.step.glb` | | [Video](https://www.youtube.com/watch?v=QYt_wUP52T0), [STEP archive](https://www.mediafire.com/file/7533syysab1zhrg/DeployableDroneSTEP.zip/file) |
-| Robot gripper of gear-rack drives | [gear_rack_gripper.step](gear_rack_gripper.step) | `.gear_rack_gripper.step.glb` | `.gear_rack_gripper.step.js` | [Video](https://www.youtube.com/watch?v=CP5q6YxyeQ8), user upload `RobotGripperGearRackSTEP.zip` |
-| Hinge of 2 DoF | [hinge_2_dof.step](hinge_2_dof.step) | `.hinge_2_dof.step.glb` | | [Video](https://www.youtube.com/watch?v=Mvmi2AyNqx0), [STEP archive](https://www.mediafire.com/file/nl2m3asaa31dvnf/Hinge2DoFSTEP.zip/file) |
-| Kinetic pyramid facade | [kinetic_pyramid_facade.step](kinetic_pyramid_facade.step) | `.kinetic_pyramid_facade.step.glb` | | [Video](https://www.youtube.com/watch?v=wA9d9uJIBGw), [STEP archive](https://www.mediafire.com/file/vri2hopfzj0k731/KineticPyramidFacadeSTEP.zip/file) |
-| Knuckle joint press | [knuckle_joint_press.step](knuckle_joint_press.step) | `.knuckle_joint_press.step.glb` | | [Video](https://www.youtube.com/watch?v=Vd-vErlQPPk), [STEP archive](https://www.mediafire.com/file/8cy26hg2dlovi1b/KnuckleJointPressSTEP.zip/file) |
-| Meat hash machine | [meat_hash_machine.step](meat_hash_machine.step) | `.meat_hash_machine.step.glb` | | [Video](https://www.youtube.com/watch?v=QVlepLAtYJk), [STEP archive](https://www.mediafire.com/file/q1hksit7cbdm8c6/MeatHashMachineSTEP.zip/file) |
-| Object moving along 8-shaped runway | [object_8_shaped_runway.step](object_8_shaped_runway.step) | `.object_8_shaped_runway.step.glb` | | [Video](https://www.youtube.com/watch?v=KUD4qqCNmZk), [STEP archive](https://www.mediafire.com/file/lrpeog3wavxumek/Object8runwaySTEP.zip/file) |
-| Planetary gearless mechanism 2 | [planetary_gearless_mechanism_2.step](planetary_gearless_mechanism_2.step) | `.planetary_gearless_mechanism_2.step.glb` | | [Video](https://www.youtube.com/watch?v=Vf1mpbv8DO4), [STEP archive](https://www.mediafire.com/file/jpwetalgq5ctqvr/PlanetaryGearlessMechanism2STEP.zip/file) |
-| RC plane retractable landing gear | [rc_plane_retractable_landing_gear.step](rc_plane_retractable_landing_gear.step) | `.rc_plane_retractable_landing_gear.step.glb` | | [Video](https://www.youtube.com/watch?v=J8K3uAWMSRo), [STEP archive](https://www.mediafire.com/file/ma5cw3isx7oncfw/RCPlaneRetractableLandingGearSTEP.zip/file) |
-| Screw 3-stage telescopic actuator 2b | [screw_3_stage_telescopic_actuator_2b.step](screw_3_stage_telescopic_actuator_2b.step) | `.screw_3_stage_telescopic_actuator_2b.step.glb` | | [Video](https://www.youtube.com/watch?v=LvDbXBtNrlQ), [STEP archive](https://www.mediafire.com/file/ohra998t0bjy8qj/Screw3stageTelescopicActuator2bSTEP.zip/file) |
-| Spatial planetary belt drive | [spatial_planetary_belt_drive.step](spatial_planetary_belt_drive.step) | `.spatial_planetary_belt_drive.step.glb` | | [Video](https://www.youtube.com/watch?v=wnk6a-lBYCg), [STEP archive](https://www.mediafire.com/file/gbmj0t4ad11ely9/SpatialPlanetaryBeltSTEP.zip/file) |
-| Static balancing mechanism using gears and spring | [static_balancing_gears_spring.step](static_balancing_gears_spring.step) | `.static_balancing_gears_spring.step.glb` | | [Video](https://www.youtube.com/watch?v=WnDc7tv79HM), [STEP archive](https://www.mediafire.com/file/1y4nqt4jer40uyc/StaticBalancingMechanismGearSpringSTEP.zip/file) |
-| Two cam mechanism for drawing rectangles | [two_cam_draw_rectangles.step](two_cam_draw_rectangles.step) | `.two_cam_draw_rectangles.step.glb` | | [Video](https://www.youtube.com/watch?v=rEmLvLY65E8), [STEP archive](https://www.mediafire.com/file/09cbcf5of21szpn/TwoCamDrawRectangleSTEP.zip/file) |
-| Two input shaft differential bevel gearbox | [two_input_shaft_differential_bevel_gearbox.step](two_input_shaft_differential_bevel_gearbox.step) | `.two_input_shaft_differential_bevel_gearbox.step.glb` | | [Video](https://www.youtube.com/watch?v=MLw1eTFPnDE), [STEP archive](https://www.mediafire.com/file/e09s8h9yoxe5luz/TwoInputShaftGearboxSTEP.zip/file) |
-| Two stage gear multiplier | [two_stage_gear_multiplier.step](two_stage_gear_multiplier.step) | `.two_stage_gear_multiplier.step.glb` | | [Video](https://www.youtube.com/watch?v=y9Z5eSPG2TU), [STEP archive](https://www.mediafire.com/file/yt8nu74susrgcv3/TwoStageGearMultiplierSTEP.zip/file) |
-| Converting two way linear motion into one way rotation 9b | [two_way_linear_to_one_way_rotation_9b.step](two_way_linear_to_one_way_rotation_9b.step) | `.two_way_linear_to_one_way_rotation_9b.step.glb` | | [Video](https://www.youtube.com/watch?v=PE_Wfw5BZXk), [STEP archive](https://www.mediafire.com/file/gue5rvk6b4dgt1s/Convert2WLto1WR9bSTEP.zip/file) |
-| Typewriter desk | [typewriter_desk.step](typewriter_desk.step) | `.typewriter_desk.step.glb` | | [Video](https://www.youtube.com/watch?v=OTLIxTTfnWk), [STEP archive](https://www.mediafire.com/file/xk4fsefxcdl3mtr/TypewriterDeskSTEP.zip/file) |
-| Wall mounted car shed | [wall_mounted_car_shed.step](wall_mounted_car_shed.step) | `.wall_mounted_car_shed.step.glb` | | [Video](https://www.youtube.com/watch?v=SnVo3Zg83Pk), [STEP archive](https://www.mediafire.com/file/gepccrx2g9h3d3b/WallMountedCarShedSTEP.zip/file) |
diff --git a/models/mechanisms/adjustable_height_table_2.step b/models/mechanisms/adjustable_height_table_2.step
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diff --git a/models/robots/README.md b/models/robots/README.md
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+++ /dev/null
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-# Robot Fixtures
-
-Robot description fixtures and supporting meshes for URDF, SRDF, STEP, STL,
-and CAD Viewer workflows.
-
-## Directory Map
-
-- `elrobot/`: ELRobot follower URDF/SRDF plus STL meshes.
-- `lekiwi/`: LeKiwi URDF/SRDF plus STL meshes for mobile-base and arm parts.
-- `lyra/`: authored dexterous humanoid-hand source (16 DOF), generated
- STEP/URDF/SRDF outputs, per-link 3MF meshes, and a CAD Viewer pose
- animation sidecar.
-- `openarm/`: OpenArm bimanual URDF/SRDF fixture.
-- `so101/`: SO-101 URDF/SRDF plus STL meshes.
-- `tom/`: authored text-to-cad robot arm source, generated STEP/URDF outputs,
- STL exports, gripper parts, and sheet-metal DXF fixtures.
-
-## Conventions
-
-- Keep URDF/SRDF text files readable in normal Git.
-- Keep mesh, STEP, STL, DXF, and render sidecar artifacts in Git LFS.
-- Do not commit simulator cache directories, generated preview media, local
- package-resolution experiments, or printer credentials.
-
-For TOM-specific generated CAD sources, keep Python generators near their
-corresponding STEP output so the fixture remains inspectable without a separate
-source tree.
diff --git a/models/robots/elrobot/elrobot-follower.srdf b/models/robots/elrobot/elrobot-follower.srdf
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diff --git a/models/robots/elrobot/elrobot-follower.urdf b/models/robots/elrobot/elrobot-follower.urdf
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--- a/models/robots/elrobot/meshes/Gripper_Base_v1_1.stl
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diff --git a/models/robots/juno/.juno.step.glb b/models/robots/juno/.juno.step.glb
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diff --git a/models/robots/juno/.juno.step.js b/models/robots/juno/.juno.step.js
deleted file mode 100644
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+++ /dev/null
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-// Walking-in-place animation for the juno humanoid STEP assembly.
-//
-// The STEP geometry is baked in the athletic ready stance (see juno.py /
-// juno_parts/chain.py). This module recomputes full-chain FK each frame at
-// (athletic pose + gait deltas) and applies, per link subtree, the rigid
-// delta matrix T_target * inverse(T_athletic) in the fixed model frame
-// (mm, +X forward, +Y robot-left, +Z up, pelvis waist-yaw center at the
-// origin).
-//
-// Gait design: an in-place march. Each leg swings inside its own window of
-// the cycle with a raised-cosine envelope that starts and ends at zero, and
-// is EXACTLY at the athletic pose for the rest of the cycle — so the stance
-// foot stays planted on the ground with no IK. The pelvis root is
-// intentionally static for the same reason. Arms swing continuously,
-// antiphase to their own-side leg; the torso counter-rotates about the
-// waist with a hint of roll, and the neck compensates so the head keeps
-// facing forward.
-
-const X = [1, 0, 0];
-const Y = [0, 1, 0];
-const Z = [0, 0, 1];
-
-const HIP_Y = 90;
-const SHOULDER_Y = 148;
-
-// Athletic ready stance angles (deg), mirrored from juno_parts/chain.py.
-const ATHLETIC = {
- HIP_PITCH: -16,
- KNEE: 32,
- ANKLE_PITCH: -16,
- HIP_ROLL_ABDUCT: 3,
- HIP_YAW: 0,
- WAIST_YAW: 0,
- SHOULDER_PITCH: -8,
- SHOULDER_ROLL_ABDUCT: 8,
- SHOULDER_YAW_INTERNAL: 8,
- ELBOW: -20,
- WRIST_ROLL: 0,
- WRIST_PITCH: -2,
- NECK_YAW: 0,
- NECK_PITCH: -2
-};
-
-// Gait amplitudes (deg) at parameter scale 1. Sign conventions follow the
-// chain ledger: pitch about +Y (negative = forward), roll about +X
-// (positive = toward robot-left), yaw about +Z (positive = turn left).
-const HIP_LIFT_DEG = 24; // swing-leg thigh raise (forward = negative pitch)
-const KNEE_FOLD_DEG = 44; // extra swing-leg knee flexion
-const TOE_POINT_DEG = 8; // slight toes-down of the airborne foot
-const ARM_SWING_DEG = 12; // shoulder pitch swing, antiphase to own-side leg
-const ELBOW_EXTRA_DEG = 10; // extra elbow flexion on the forward arm swing
-const WAIST_SWAY_DEG = 4; // torso counter-rotation about the waist yaw axis
-const TORSO_ROLL_DEG = 1.2; // weight-shift hint, roll about +X at the waist
-const NECK_COMPENSATION = 0.8; // head stabilization fraction against waist sway
-
-// Swing windows of the normalized cycle (left lifts first), with
-// double-support dwell between them.
-const SWING = { left: [0.05, 0.45], right: [0.55, 0.95] };
-
-// Stride gait (treadmill-style walk in place): the stance foot slides
-// backward flat on the ground while the swing leg passes through the air,
-// both solved with planar two-link leg IK in each leg's (slightly rolled)
-// sagittal plane. The athletic stance is exactly the IK solution at stride
-// center, so the gait converges to plain standing as strideLength -> 0.
-const THIGH_LEN = 290; // hip-pitch to knee (mm)
-const SHIN_LEN = 290; // knee to ankle-pitch (mm)
-const STANCE_FRACTION = 0.58; // ground-contact share of each leg cycle
-const STRIDE_LIFT_MM = 60; // swing-foot apex clearance at legLift 1
-const STRIDE_TOE_OFF_DEG = 14; // toes-down just after toe-off
-const STRIDE_HEEL_DEG = 10; // toes-up heel-first approach to contact
-const STRIDE_ARM_FACTOR = 1.5; // arms swing wider with long strides
-const STRIDE_SWAY_FACTOR = 1.25;
-const MAX_STRIDE_MM = 300; // keeps two-link IK inside reach at the extremes
-const DEFAULT_STRIDE_MM = 230; // lift/pitch accents are normalized to this
-const STRIDE_PHASE = { left: 0, right: 0.5 };
-// Mid-swing cycle positions (offset + stance + half the swing window).
-const STRIDE_MID_SWING = {
- left: (STRIDE_PHASE.left + STANCE_FRACTION + ((1 - STANCE_FRACTION) / 2)) % 1,
- right: (STRIDE_PHASE.right + STANCE_FRACTION + ((1 - STANCE_FRACTION) / 2)) % 1
-};
-
-// Run gait: short ground contacts with a FLIGHT phase between them (both
-// feet airborne), a vertical body bounce absorbed by the stance-leg IK
-// (lowest at mid-stance, highest at mid-flight), toe-pivot heel-off into
-// push-off, high heel-recovery swing, forward torso lean, and pumping bent
-// arms. Foot contact lands slightly ahead of the hip and pushes off well
-// behind it (asymmetric split of the stride travel).
-const RUN_STANCE_FRACTION = 0.35;
-const RUN_PHASE = { left: 0, right: 0.5 };
-const RUN_MID_STANCE = {
- left: RUN_STANCE_FRACTION / 2,
- right: (RUN_PHASE.right + (RUN_STANCE_FRACTION / 2)) % 1
-};
-const RUN_MID_SWING = {
- left: (RUN_STANCE_FRACTION + ((1 - RUN_STANCE_FRACTION) / 2)) % 1,
- right: (RUN_PHASE.right + RUN_STANCE_FRACTION + ((1 - RUN_STANCE_FRACTION) / 2)) % 1
-};
-const RUN_CONTACT_SHARE = 0.3; // stride share landing ahead of the hip
-const RUN_BOUNCE_MM = 22; // body bounce amplitude at legLift 1
-const RUN_APEX_MM = 140; // swing-ankle apex over flat stance (heel tuck)
-const RUN_HEEL_OFF_DEG = 26; // toe-pivot heel rise into push-off
-const RUN_HEEL_OFF_START = 0.62; // stance progress where the heel starts rising
-const RUN_HEEL_IN_DEG = 8; // toes-up into the next contact
-const RUN_TOE_PIVOT_X_MM = 112; // sole front edge (foot bbox +x) — pivoting
-const RUN_ANKLE_HEIGHT_MM = 56; // there keeps the toe from digging in
-const RUN_LEAN_DEG = 7; // forward torso lean (waist pitch extra)
-const RUN_ARM_SWING_DEG = 26; // shoulder pump amplitude
-const RUN_ELBOW_BASE_DEG = -60; // extra constant elbow flexion (runner's arms)
-const RUN_ELBOW_PUMP_DEG = 15; // extra flexion on the forward pump
-const RUN_SWAY_DEG = 5; // waist yaw counter-rotation
-const RUN_ROLL_DEG = 1.6; // lean toward the stance side
-
-// Jump gait: countermovement crouch -> push -> ballistic flight with toe
-// point and leg tuck -> springy landing (underdamped body-height response
-// absorbed by the leg IK) -> recover. Arms swing back in the crouch, sweep
-// overhead for the flight ("hands in the air"), dip with the landing
-// spring, and settle back. Both legs work symmetrically; takeoff/landing
-// fall out of the IK reach clamp (targets go out of reach -> legs straight
-// -> feet leave/meet the ground smoothly).
-const JUMP_TIMING = { crouch: 0.18, push: 0.3, land: 0.62, absorb: 0.74 };
-const JUMP_CROUCH_MM = 120; // countermovement depth at legLift 1
-const JUMP_TAKEOFF_MM = 20; // body rise at full leg extension (reach limit)
-const JUMP_APEX_MM = 160; // ballistic apex above standing at legLift 1
-const JUMP_TUCK_MM = 250; // mid-flight ankle tuck toward the body
-const JUMP_TOE_POINT_DEG = 25; // toes point down in the air
-const JUMP_LAND_DIP_MM = -80; // first landing compression
-const JUMP_SPRING_DECAY = 3.5; // landing spring: exp decay rate ...
-const JUMP_SPRING_CYCLES = 1.25; // ... and bounce count (ends at zero crossing)
-const JUMP_ARM_BACK_DEG = 30; // crouch arm backswing (shoulder pitch)
-const JUMP_ARM_UP_DEG = -155; // overhead shoulder pitch in flight
-const JUMP_ARM_V_DEG = 20; // shoulder roll abduction for an overhead V
-const JUMP_ARM_SPRING_DEG_PER_MM = 0.3; // landing arm dip coupled to body spring
-const JUMP_LEAN_DEG = 8; // crouch/landing forward lean
-const JUMP_HEAD_UP_DEG = -8; // look up slightly while airborne
-
-// Showpiece animations: karate kick, handstand, and the Elvis dance each
-// run as their own loop; every one starts and ends in the athletic stance.
-// Lateral pendulum for weight shifts: the hip-roll joint sits at z=-184 in
-// the pelvis frame; rolling there (with the ankle roll compensating) moves
-// the planted sole sideways by ~(soleZ - HIP_ROLL_Z) * sin(roll).
-const HIP_ROLL_Z_MM = -184;
-// Kick (segment-local): weight shifts over the left leg, the right leg
-// chambers and snaps a front kick at hip height with a guard up.
-const KICK_WEIGHT_SHIFT_MM = 42;
-const KICK_DIP_MM = 18;
-const KICK_CHAMBER_HIP_DEG = -70;
-const KICK_CHAMBER_KNEE_DEG = 115;
-const KICK_CHAMBER_ANKLE_DEG = 10;
-const KICK_EXTEND_HIP_DEG = -20; // added on top of the chamber
-const KICK_EXTEND_KNEE_DEG = -105; // snaps the shin out nearly straight
-const KICK_EXTEND_ANKLE_DEG = -25; // ball-of-foot strike (toes pulled back)
-const KICK_GUARD_SHOULDER_DEG = -45;
-const KICK_GUARD_ELBOW_DEG = -105;
-const KICK_GUARD_ROLL_OUT_DEG = 18;
-const KICK_HIP_TURN_DEG = -14; // hips rotate into the kick
-const KICK_LEAN_BACK_DEG = -7; // counterbalance during the snap
-// Handstand: keyframed root rotation about +Y with contact anchoring —
-// toe-pinned while folding, palm-pinned once the hands plant.
-const HS_PLANT_X_MM = 430; // hand plant line in front of the feet
-// Palm contact point in the hand frame: the hands plant palm-down with the
-// fingers pointing forward (total hand pitch -90 at the hold), so contact
-// is on the local -x palm face — the one extent that is symmetric between
-// the two hands (the posed finger curl differs in local z).
-const HS_PALM_LOCAL_MM = [-35, 0, -70];
-const HS_TOE_LOCAL_MM = [112, 0, -26]; // sole FRONT EDGE (pivoting there keeps the whole sole above ground)
-const HS_WOBBLE_DEG = 1.6; // leg wobble while holding the stand
-// Elvis dance (4 beats): weight over the right leg, left leg kicked out
-// to the left planted on a pointed toe (closed-form lateral+sagittal leg
-// IK), rubber-leg shake, right arm pointing up to the right with a beat
-// pulse, hip swivel, head turned toward the pointing hand.
-const ELVIS_BEATS = 4;
-const ELVIS_WEIGHT_SHIFT_MM = -55; // pelvis shifts over the right leg
-const ELVIS_DIP_MM = 20; // settled crouch on the stance leg
-const ELVIS_BOUNCE_MM = 8; // beat bounce on top of the dip
-const ELVIS_TOE_X_MM = 80; // kicked-out toe plant, forward of the hips
-const ELVIS_TOE_Y_MM = 330; // ... and out to the robot-left
-const ELVIS_TOE_SHAKE_MM = 28; // rubber-leg lateral toe shake (2x beat)
-const ELVIS_FOOT_POINT_DEG = 55; // pointed toe of the kicked-out foot
-const ELVIS_FOOT_POINT_SHAKE_DEG = 7;
-const ELVIS_TOE_TIP_LOCAL = { x: 112, drop: 56 }; // toe tip rel ankle-pitch (fwd, down)
-const ELVIS_POINT_ROLL_DEG = -115; // right arm raised out-and-up to the right
-const ELVIS_POINT_PITCH_DEG = -25;
-const ELVIS_POINT_ELBOW_DEG = -12; // nearly straight: the finger points
-const ELVIS_POINT_PULSE_DEG = 8; // beat pulse of the pointing arm
-const ELVIS_OFF_ARM_PITCH_DEG = -30; // left arm low and bent across
-const ELVIS_OFF_ARM_ELBOW_DEG = -70;
-const ELVIS_TWIST_DEG = 10; // hip swivel via the waist
-const ELVIS_LEAN_RIGHT_DEG = -3; // lean into the point
-const ELVIS_HEAD_TURN_DEG = -20; // look toward the pointing hand
-const ELVIS_CHIN_UP_DEG = -5;
-
-const SIDES = ["left", "right"];
-
-function sideSign(side) {
- return side === "left" ? 1 : -1;
-}
-
-// Kinematic chain in root-to-leaf order, mirrored from juno_parts/chain.py.
-// origin is the joint center in the parent link frame (mm); each child link
-// frame sits at its joint center.
-function buildJoints() {
- const joints = [
- { name: "waist_yaw", parent: "pelvis", child: "torso", origin: [0, 0, 0], axis: Z },
- { name: "neck_yaw", parent: "torso", child: "neck_collar", origin: [0, 0, 324], axis: Z },
- { name: "neck_pitch", parent: "neck_collar", child: "head", origin: [0, 0, 46], axis: Y }
- ];
- for (const side of SIDES) {
- const s = sideSign(side);
- joints.push(
- { name: `hip_yaw_${side}`, parent: "pelvis", child: `hip_bracket_${side}`, origin: [0, s * HIP_Y, -120], axis: Z },
- { name: `hip_roll_${side}`, parent: `hip_bracket_${side}`, child: `hip_carrier_${side}`, origin: [0, 0, -64], axis: X },
- { name: `hip_pitch_${side}`, parent: `hip_carrier_${side}`, child: `thigh_${side}`, origin: [0, 0, -78], axis: Y },
- { name: `knee_${side}`, parent: `thigh_${side}`, child: `shin_${side}`, origin: [0, 0, -290], axis: Y },
- { name: `ankle_pitch_${side}`, parent: `shin_${side}`, child: `ankle_link_${side}`, origin: [0, 0, -290], axis: Y },
- { name: `ankle_roll_${side}`, parent: `ankle_link_${side}`, child: `foot_${side}`, origin: [0, 0, -30], axis: X }
- );
- }
- for (const side of SIDES) {
- const s = sideSign(side);
- joints.push(
- { name: `shoulder_pitch_${side}`, parent: "torso", child: `shoulder_pod_${side}`, origin: [0, s * SHOULDER_Y, 290], axis: Y },
- { name: `shoulder_roll_${side}`, parent: `shoulder_pod_${side}`, child: `yaw_housing_${side}`, origin: [0, s * 34, -72], axis: X },
- { name: `shoulder_yaw_${side}`, parent: `yaw_housing_${side}`, child: `bicep_${side}`, origin: [0, 0, -24], axis: Z },
- { name: `elbow_${side}`, parent: `bicep_${side}`, child: `forearm_${side}`, origin: [0, 0, -156], axis: Y },
- { name: `wrist_roll_${side}`, parent: `forearm_${side}`, child: `wrist_carrier_${side}`, origin: [0, 0, -150], axis: Z },
- { name: `wrist_pitch_${side}`, parent: `wrist_carrier_${side}`, child: `hand_${side}`, origin: [0, 0, -28], axis: Y }
- );
- }
- return joints;
-}
-
-const JOINTS = buildJoints();
-
-// Optional artistic extras applied on top of joint FK, keyed by joint name:
-// { rollDeg } adds a small rotation about +X at the same joint center.
-function athleticAnglesDeg() {
- const angles = {
- waist_yaw: ATHLETIC.WAIST_YAW,
- neck_yaw: ATHLETIC.NECK_YAW,
- neck_pitch: ATHLETIC.NECK_PITCH
- };
- for (const side of SIDES) {
- const s = sideSign(side);
- angles[`hip_yaw_${side}`] = ATHLETIC.HIP_YAW;
- angles[`hip_roll_${side}`] = s * ATHLETIC.HIP_ROLL_ABDUCT;
- angles[`hip_pitch_${side}`] = ATHLETIC.HIP_PITCH;
- angles[`knee_${side}`] = ATHLETIC.KNEE;
- angles[`ankle_pitch_${side}`] = ATHLETIC.ANKLE_PITCH;
- angles[`ankle_roll_${side}`] = -s * ATHLETIC.HIP_ROLL_ABDUCT;
- angles[`shoulder_pitch_${side}`] = ATHLETIC.SHOULDER_PITCH;
- angles[`shoulder_roll_${side}`] = s * ATHLETIC.SHOULDER_ROLL_ABDUCT;
- angles[`shoulder_yaw_${side}`] = -s * ATHLETIC.SHOULDER_YAW_INTERNAL;
- angles[`elbow_${side}`] = ATHLETIC.ELBOW;
- angles[`wrist_roll_${side}`] = ATHLETIC.WRIST_ROLL;
- angles[`wrist_pitch_${side}`] = ATHLETIC.WRIST_PITCH;
- }
- return angles;
-}
-
-const ATHLETIC_ANGLES = athleticAnglesDeg();
-
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function clamp(value, min, max) {
- return Math.min(Math.max(finite(value, min), min), max);
-}
-
-const IDENTITY3 = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
-
-function rotAxisDeg(axis, deg) {
- const rad = (deg * Math.PI) / 180;
- const c = Math.cos(rad);
- const s = Math.sin(rad);
- if (axis === X) {
- return [[1, 0, 0], [0, c, -s], [0, s, c]];
- }
- if (axis === Y) {
- return [[c, 0, s], [0, 1, 0], [-s, 0, c]];
- }
- return [[c, -s, 0], [s, c, 0], [0, 0, 1]];
-}
-
-function matMul3(a, b) {
- const out = [[0, 0, 0], [0, 0, 0], [0, 0, 0]];
- for (let i = 0; i < 3; i += 1) {
- for (let j = 0; j < 3; j += 1) {
- out[i][j] = (a[i][0] * b[0][j]) + (a[i][1] * b[1][j]) + (a[i][2] * b[2][j]);
- }
- }
- return out;
-}
-
-function matVec3(a, v) {
- return [
- (a[0][0] * v[0]) + (a[0][1] * v[1]) + (a[0][2] * v[2]),
- (a[1][0] * v[0]) + (a[1][1] * v[1]) + (a[1][2] * v[2]),
- (a[2][0] * v[0]) + (a[2][1] * v[1]) + (a[2][2] * v[2])
- ];
-}
-
-function matTranspose3(a) {
- return [
- [a[0][0], a[1][0], a[2][0]],
- [a[0][1], a[1][1], a[2][1]],
- [a[0][2], a[1][2], a[2][2]]
- ];
-}
-
-// FK over the whole chain. extras[jointName] = { pitchDeg, rollDeg } folds
-// small artistic +Y/+X rotations in at that joint center (torso lean and
-// weight shift); rootOffset translates the pelvis (body bounce in the air
-// gaits — the stance-leg IK absorbs it on the ground side); rootPitchDeg
-// rotates the whole body about +Y at the pelvis (handstand inversion —
-// callers solve the matching translation so contacts stay put).
-function fkFrames(anglesDeg, extras = {}, rootOffset = [0, 0, 0], rootPitchDeg = 0) {
- const rootR = rootPitchDeg ? rotAxisDeg(Y, rootPitchDeg) : IDENTITY3;
- const frames = { pelvis: { R: rootR, p: [...rootOffset] } };
- for (const joint of JOINTS) {
- const parent = frames[joint.parent];
- const offset = matVec3(parent.R, joint.origin);
- const p = [parent.p[0] + offset[0], parent.p[1] + offset[1], parent.p[2] + offset[2]];
- let R = matMul3(parent.R, rotAxisDeg(joint.axis, finite(anglesDeg[joint.name], 0)));
- const extra = extras[joint.name];
- if (extra && finite(extra.pitchDeg, 0) !== 0) {
- R = matMul3(R, rotAxisDeg(Y, extra.pitchDeg));
- }
- if (extra && finite(extra.rollDeg, 0) !== 0) {
- R = matMul3(R, rotAxisDeg(X, extra.rollDeg));
- }
- frames[joint.child] = { R, p };
- }
- return frames;
-}
-
-const ATHLETIC_FRAMES = fkFrames(ATHLETIC_ANGLES);
-
-// Per-side stride-IK constants derived from the athletic FK: the hip-pitch
-// joint center stays fixed in the world (static pelvis, athletic hip
-// yaw/roll), and the compensated ankle roll keeps the foot flat, so the
-// ankle-pitch target maps exactly onto the rolled sagittal plane.
-const STRIDE_RIG = (() => {
- const rig = {};
- for (const side of SIDES) {
- const hip = ATHLETIC_FRAMES[`thigh_${side}`].p; // hip-pitch joint center
- const foot = ATHLETIC_FRAMES[`foot_${side}`];
- const rollRad = (sideSign(side) * ATHLETIC.HIP_ROLL_ABDUCT * Math.PI) / 180;
- // Sole plane and the flat-foot vertical offset from the ankle-pitch
- // joint: the 30 mm ankle-roll drop is still rolled by the hip roll, the
- // 26 mm sole sits below the roll-compensated (world-aligned) foot frame.
- const soleZ = foot.p[2] + matVec3(foot.R, [0, 0, -26])[2];
- const ankleToSole = (30 * Math.cos(rollRad)) + 26;
- rig[side] = { hipZ: hip[2], cosRoll: Math.cos(rollRad), soleZ, ankleToSole };
- }
- return rig;
-})();
-
-// Athletic left toe-tip world position (x, y): the Elvis kick-out leg IK
-// starts and ends its toe-target path here so the dance loop rests
-// exactly on the athletic stance.
-const ELVIS_ATHLETIC_TOE = (() => {
- const foot = ATHLETIC_FRAMES.foot_left;
- const toe = matVec3(foot.R, [112, 0, -26]).map((v, k) => v + foot.p[k]);
- return [toe[0], toe[1]];
-})();
-
-// Row-major 4x4 mapping the baked athletic placement of a link onto its
-// target placement: M = [R_t R_o^T | p_t - R_t R_o^T p_o].
-function deltaMatrixRowMajor(original, target) {
- const Rd = matMul3(target.R, matTranspose3(original.R));
- const moved = matVec3(Rd, original.p);
- const t = [target.p[0] - moved[0], target.p[1] - moved[1], target.p[2] - moved[2]];
- return [
- Rd[0][0], Rd[0][1], Rd[0][2], t[0],
- Rd[1][0], Rd[1][1], Rd[1][2], t[1],
- Rd[2][0], Rd[2][1], Rd[2][2], t[2],
- 0, 0, 0, 1
- ];
-}
-
-// Raised-cosine swing envelope: 0 at lift-off and touch-down, 1 mid-swing,
-// identically 0 outside the window so the stance foot never moves.
-function swingEnvelope(phase, [start, end]) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- if (p <= start || p >= end) {
- return 0;
- }
- const u = (p - start) / (end - start);
- const lobe = Math.sin(Math.PI * u);
- return lobe * lobe;
-}
-
-// Cosine forwardness peaking at the given cycle position.
-function forwardness(phase, peakAt) {
- return Math.cos(2 * Math.PI * (finite(phase, 0) - peakAt));
-}
-
-function gaitAnglesDeg(phase, { legLift = 1, armSwing = 1, torsoSway = 1 } = {}) {
- const angles = { ...ATHLETIC_ANGLES };
-
- for (const side of SIDES) {
- const env = swingEnvelope(phase, SWING[side]) * legLift;
- const hipDelta = -HIP_LIFT_DEG * env;
- const kneeDelta = KNEE_FOLD_DEG * env;
- // Cancel hip+knee so the airborne foot stays near level, then point
- // the toes down a touch mid-swing.
- const ankleDelta = -(hipDelta + kneeDelta) + (TOE_POINT_DEG * env);
- angles[`hip_pitch_${side}`] += hipDelta;
- angles[`knee_${side}`] += kneeDelta;
- angles[`ankle_pitch_${side}`] += ankleDelta;
-
- // Arms swing antiphase to the own-side leg: the left arm leads when the
- // right leg lifts (left swing centered at 0.25, right at 0.75).
- const ownLegPeak = side === "left" ? 0.25 : 0.75;
- const armForward = forwardness(phase, ownLegPeak + 0.5) * armSwing;
- angles[`shoulder_pitch_${side}`] += -ARM_SWING_DEG * armForward;
- angles[`elbow_${side}`] += -ELBOW_EXTRA_DEG * Math.max(0, armForward);
- }
-
- // Torso counter-rotation: turning left brings the right shoulder forward
- // exactly while the left leg swings; the neck compensates most of it so
- // the head keeps facing forward.
- const sway = WAIST_SWAY_DEG * torsoSway * Math.sin(2 * Math.PI * finite(phase, 0));
- angles.waist_yaw += sway;
- angles.neck_yaw += -sway * NECK_COMPENSATION;
-
- return angles;
-}
-
-function torsoRollExtras(phase, torsoSway) {
- // Lean toward the stance side: negative roll (lean robot-right) while the
- // left leg is lifted at phase 0.25.
- const rollDeg = -TORSO_ROLL_DEG * torsoSway * Math.sin(2 * Math.PI * finite(phase, 0));
- return { waist_yaw: { rollDeg } };
-}
-
-function smooth01(value) {
- const t = clamp(value, 0, 1);
- return t * t * (3 - (2 * t));
-}
-
-// Two-link planar leg IK in the rolled sagittal plane. Targets the
-// ankle-pitch joint at forward offset dx (mm, from the hip-pitch joint) and
-// plane depth d (mm); footPitchDeg is the desired world pitch of the foot.
-// Returns hip-pitch / knee / ankle-pitch angles in the chain's conventions
-// (hip negative = forward, knee positive = flexion).
-function legPitchIk(dx, d, footPitchDeg) {
- const dist = clamp(Math.hypot(dx, d), Math.abs(THIGH_LEN - SHIN_LEN) + 1, THIGH_LEN + SHIN_LEN - 1);
- const phi = Math.atan2(dx, d); // forward angle of the hip->ankle line from straight down
- const cosInterior = clamp(
- ((THIGH_LEN * THIGH_LEN) + (SHIN_LEN * SHIN_LEN) - (dist * dist)) / (2 * THIGH_LEN * SHIN_LEN),
- -1,
- 1
- );
- const kneeRad = Math.PI - Math.acos(cosInterior); // knee flexion, >= 0 (knee bends forward)
- const cosBeta = clamp(
- ((THIGH_LEN * THIGH_LEN) + (dist * dist) - (SHIN_LEN * SHIN_LEN)) / (2 * THIGH_LEN * dist),
- -1,
- 1
- );
- const thighRad = phi + Math.acos(cosBeta); // thigh angle from straight down, + forward
- const hipDeg = (-thighRad * 180) / Math.PI;
- const kneeDeg = (kneeRad * 180) / Math.PI;
- const ankleDeg = footPitchDeg - (hipDeg + kneeDeg);
- return { hipDeg, kneeDeg, ankleDeg };
-}
-
-// Treadmill stride: stance foot slides backward flat on the ground from
-// +stride/2 to -stride/2; the swing leg returns through the air with toe-off
-// and heel-strike accents. Both halves meet at zero velocity mismatch in
-// position, so the loop is seamless.
-function strideAnglesDeg(phase, { strideLength = 230, legLift = 1, armSwing = 1, torsoSway = 1 } = {}) {
- const angles = { ...ATHLETIC_ANGLES };
- const stride = clamp(strideLength, 0, MAX_STRIDE_MM);
-
- for (const side of SIDES) {
- const rig = STRIDE_RIG[side];
- const q = ((finite(phase, 0) + STRIDE_PHASE[side]) % 1 + 1) % 1;
- let ankleX;
- let soleTargetZ;
- let footPitchDeg;
- if (q < STANCE_FRACTION) {
- const s = q / STANCE_FRACTION;
- ankleX = (stride / 2) - (stride * s); // front contact -> push-off behind
- soleTargetZ = rig.soleZ;
- footPitchDeg = 0;
- } else {
- const u = (q - STANCE_FRACTION) / (1 - STANCE_FRACTION);
- ankleX = (-stride / 2) + (stride * smooth01(u));
- const lobe = Math.sin(Math.PI * u);
- // Clearance and toe-off/heel accents scale with the stride so a zero
- // stride degenerates to plain athletic standing.
- const reach = stride / DEFAULT_STRIDE_MM;
- soleTargetZ = rig.soleZ + (STRIDE_LIFT_MM * clamp(legLift, 0, 1.4) * lobe * reach);
- // Toes down right after toe-off, toes up (heel first) into contact.
- footPitchDeg = ((STRIDE_TOE_OFF_DEG * lobe * (1 - u)) - (STRIDE_HEEL_DEG * lobe * u)) * reach;
- }
- const ankleTargetZ = soleTargetZ + rig.ankleToSole;
- const depth = (rig.hipZ - ankleTargetZ) / rig.cosRoll;
- // ankleX is authored relative to the hip-pitch joint; the athletic ankle
- // sits exactly under the hip, so stride 0 reproduces the athletic legs.
- const ik = legPitchIk(ankleX, depth, footPitchDeg);
- angles[`hip_pitch_${side}`] = ik.hipDeg;
- angles[`knee_${side}`] = ik.kneeDeg;
- angles[`ankle_pitch_${side}`] = ik.ankleDeg;
-
- // Arms counter the opposite leg: forward peak at the other side's
- // mid-swing, wider than the march to match the longer stride.
- const otherSide = side === "left" ? "right" : "left";
- const armForward = forwardness(phase, STRIDE_MID_SWING[otherSide]) * armSwing * STRIDE_ARM_FACTOR;
- angles[`shoulder_pitch_${side}`] += -ARM_SWING_DEG * armForward;
- angles[`elbow_${side}`] += -ELBOW_EXTRA_DEG * Math.max(0, armForward);
- }
-
- // Shoulder girdle counters the hips: the right shoulder leads while the
- // right arm swings forward (right-arm peak == left leg mid-swing).
- const sway = WAIST_SWAY_DEG * STRIDE_SWAY_FACTOR * torsoSway
- * forwardness(phase, STRIDE_MID_SWING.left);
- angles.waist_yaw += sway;
- angles.neck_yaw += -sway * NECK_COMPENSATION;
-
- return angles;
-}
-
-function strideTorsoRollExtras(phase, torsoSway) {
- // Lean toward the stance side: robot-right lean while the left leg swings.
- const rollDeg = -TORSO_ROLL_DEG * STRIDE_SWAY_FACTOR * torsoSway
- * forwardness(phase, STRIDE_MID_SWING.left);
- return { waist_yaw: { rollDeg } };
-}
-
-// ------------------------------------------------------------------- run
-function runBounceMm(phase, legLift) {
- // Twice per cycle: lowest at each mid-stance, highest at mid-flight.
- return -RUN_BOUNCE_MM * clamp(legLift, 0, 1.4)
- * Math.cos(4 * Math.PI * (finite(phase, 0) - RUN_MID_STANCE.left));
-}
-
-// Stance-foot targets with a toe-pivot heel-off: the foot pivots about the
-// sole's front edge so the heel rises into push-off without the toe digging
-// below the ground.
-function runStanceTarget(s, stride, reach, rig) {
- const flatAnkleX = (stride * RUN_CONTACT_SHARE) - (stride * s);
- let pitchDeg = 0;
- if (s > RUN_HEEL_OFF_START) {
- pitchDeg = RUN_HEEL_OFF_DEG * reach * smooth01((s - RUN_HEEL_OFF_START) / (1 - RUN_HEEL_OFF_START));
- }
- const pitchRad = (pitchDeg * Math.PI) / 180;
- const c = Math.cos(pitchRad);
- const sn = Math.sin(pitchRad);
- // Ankle relative to the toe pivot when flat: (-RUN_TOE_PIVOT_X_MM, +ankle height).
- const ankleX = flatAnkleX + (RUN_TOE_PIVOT_X_MM * (1 - c)) + (RUN_ANKLE_HEIGHT_MM * sn);
- const ankleZ = rig.soleZ + (RUN_TOE_PIVOT_X_MM * sn) + (rig.ankleToSole * c);
- return { ankleX, ankleZ, pitchDeg };
-}
-
-function runAnglesDeg(phase, { strideLength = 230, legLift = 1, armSwing = 1, torsoSway = 1 } = {}) {
- const angles = { ...ATHLETIC_ANGLES };
- const stride = clamp(strideLength, 0, MAX_STRIDE_MM);
- const reach = stride / DEFAULT_STRIDE_MM;
- const lift = clamp(legLift, 0, 1.4);
- const bounce = runBounceMm(phase, legLift);
-
- for (const side of SIDES) {
- const rig = STRIDE_RIG[side];
- const q = ((finite(phase, 0) + RUN_PHASE[side]) % 1 + 1) % 1;
- let target;
- if (q < RUN_STANCE_FRACTION) {
- target = runStanceTarget(q / RUN_STANCE_FRACTION, stride, reach, rig);
- } else {
- const u = (q - RUN_STANCE_FRACTION) / (1 - RUN_STANCE_FRACTION);
- const t = smooth01(u);
- const end = runStanceTarget(1, stride, reach, rig);
- const contactX = stride * RUN_CONTACT_SHARE;
- const contactZ = rig.soleZ + rig.ankleToSole;
- target = {
- ankleX: end.ankleX + ((contactX - end.ankleX) * t),
- ankleZ: end.ankleZ + ((contactZ - end.ankleZ) * t)
- + (RUN_APEX_MM * lift * reach * Math.sin(Math.PI * u)),
- pitchDeg: (end.pitchDeg * (1 - t) * (1 - t))
- - (RUN_HEEL_IN_DEG * reach * Math.sin(Math.PI * u) * u)
- };
- }
- const depth = ((rig.hipZ + bounce) - target.ankleZ) / rig.cosRoll;
- const ik = legPitchIk(target.ankleX, depth, target.pitchDeg);
- angles[`hip_pitch_${side}`] = ik.hipDeg;
- angles[`knee_${side}`] = ik.kneeDeg;
- angles[`ankle_pitch_${side}`] = ik.ankleDeg;
-
- // Runner's arm pump: bent elbows, antiphase to the own-side leg.
- const otherSide = side === "left" ? "right" : "left";
- const armForward = forwardness(phase, RUN_MID_SWING[otherSide]) * armSwing;
- angles[`shoulder_pitch_${side}`] += -RUN_ARM_SWING_DEG * armForward;
- angles[`elbow_${side}`] += (RUN_ELBOW_BASE_DEG * clamp(armSwing, 0, 1.5))
- - (RUN_ELBOW_PUMP_DEG * Math.max(0, armForward));
- }
-
- // Shoulder girdle counters the hips; the head keeps level against both
- // the sway and the forward lean.
- const sway = RUN_SWAY_DEG * torsoSway * forwardness(phase, RUN_MID_SWING.left);
- angles.waist_yaw += sway;
- angles.neck_yaw += -sway * NECK_COMPENSATION;
- angles.neck_pitch += -RUN_LEAN_DEG * NECK_COMPENSATION;
-
- return angles;
-}
-
-function runTorsoExtras(phase, torsoSway) {
- // Constant forward lean plus a lean toward the stance side.
- const rollDeg = RUN_ROLL_DEG * torsoSway * forwardness(phase, RUN_MID_STANCE.left);
- return { waist_yaw: { pitchDeg: RUN_LEAN_DEG, rollDeg } };
-}
-
-// ------------------------------------------------------------------ jump
-function jumpBodyZMm(phase, lift) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- const { crouch, push, land, absorb } = JUMP_TIMING;
- if (p < crouch) {
- return -JUMP_CROUCH_MM * lift * smooth01(p / crouch);
- }
- if (p < push) {
- const t = smooth01((p - crouch) / (push - crouch));
- return (-JUMP_CROUCH_MM * lift) + (((JUMP_TAKEOFF_MM) + (JUMP_CROUCH_MM * lift)) * t);
- }
- if (p < land) {
- // Ballistic parabola between takeoff and landing at the same height.
- const t = (p - push) / (land - push);
- const apex = JUMP_APEX_MM * lift;
- return JUMP_TAKEOFF_MM + ((apex - JUMP_TAKEOFF_MM) * (1 - ((2 * t) - 1) * ((2 * t) - 1)));
- }
- if (p < absorb) {
- // Impact: ride down into the first compression.
- const t = smooth01((p - land) / (absorb - land));
- return JUMP_TAKEOFF_MM + (((JUMP_LAND_DIP_MM * lift) - JUMP_TAKEOFF_MM) * t);
- }
- // Springy recovery: underdamped wobble that ends exactly at zero.
- const t = (p - absorb) / (1 - absorb);
- return JUMP_LAND_DIP_MM * lift * Math.exp(-JUMP_SPRING_DECAY * t)
- * Math.cos(2 * Math.PI * JUMP_SPRING_CYCLES * t);
-}
-
-function jumpFlightProgress(phase) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- const { push, land } = JUMP_TIMING;
- if (p <= push || p >= land) {
- return 0;
- }
- return (p - push) / (land - push);
-}
-
-// Arms: backswing in the crouch, sweep overhead for the flight, dip with
-// the landing spring, settle back to athletic by the end of the cycle.
-function jumpShoulderPitchDeg(phase, bodyZ) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- const { crouch, push, land, absorb } = JUMP_TIMING;
- const athletic = ATHLETIC.SHOULDER_PITCH;
- if (p < crouch) {
- return athletic + ((JUMP_ARM_BACK_DEG - athletic) * smooth01(p / crouch));
- }
- if (p < push) {
- return JUMP_ARM_BACK_DEG + ((JUMP_ARM_UP_DEG - JUMP_ARM_BACK_DEG) * smooth01((p - crouch) / (push - crouch)));
- }
- if (p < land) {
- return JUMP_ARM_UP_DEG;
- }
- if (p < absorb) {
- // Dip with the impact: arms lower in proportion to the body drop.
- return JUMP_ARM_UP_DEG + (Math.abs(Math.min(0, bodyZ)) * JUMP_ARM_SPRING_DEG_PER_MM);
- }
- const t = smooth01((p - absorb) / (1 - absorb));
- const dipped = JUMP_ARM_UP_DEG + (Math.abs(Math.min(0, bodyZ)) * JUMP_ARM_SPRING_DEG_PER_MM);
- return dipped + ((athletic - dipped) * t);
-}
-
-function jumpAnglesDeg(phase, { legLift = 1, armSwing = 1 } = {}) {
- const angles = { ...ATHLETIC_ANGLES };
- const lift = clamp(legLift, 0, 1.4);
- const bodyZ = jumpBodyZMm(phase, lift);
- const flight = jumpFlightProgress(phase);
- const tuckLobe = Math.sin(Math.PI * flight);
-
- for (const side of SIDES) {
- const rig = STRIDE_RIG[side];
- // Feet stay planted under the hips; in flight the ankle target rises
- // (tuck) and the IK reach clamp straightens the legs at takeoff/landing.
- const ankleZ = rig.soleZ + rig.ankleToSole + (flight > 0 ? JUMP_TUCK_MM * lift * tuckLobe : 0);
- const pitchDeg = flight > 0 ? JUMP_TOE_POINT_DEG * tuckLobe : 0;
- const depth = ((rig.hipZ + bodyZ) - ankleZ) / rig.cosRoll;
- const ik = legPitchIk(0, depth, pitchDeg);
- angles[`hip_pitch_${side}`] = ik.hipDeg;
- angles[`knee_${side}`] = ik.kneeDeg;
- angles[`ankle_pitch_${side}`] = ik.ankleDeg;
-
- // Overhead V: pitch sweeps the arms up; roll spreads them outward in
- // proportion to how raised they are.
- const s = sideSign(side);
- const shoulderPitch = jumpShoulderPitchDeg(phase, bodyZ);
- const raised = clamp(
- (shoulderPitch - ATHLETIC.SHOULDER_PITCH) / (JUMP_ARM_UP_DEG - ATHLETIC.SHOULDER_PITCH),
- 0,
- 1
- );
- const armScale = clamp(armSwing, 0, 1.5);
- angles[`shoulder_pitch_${side}`] = ATHLETIC.SHOULDER_PITCH
- + ((shoulderPitch - ATHLETIC.SHOULDER_PITCH) * armScale);
- angles[`shoulder_roll_${side}`] += s * JUMP_ARM_V_DEG * raised * armScale;
- angles[`elbow_${side}`] = ATHLETIC.ELBOW + (5 * raised * armScale);
- }
-
- // Look up a touch while airborne.
- angles.neck_pitch += JUMP_HEAD_UP_DEG * tuckLobe;
- return { angles, bodyZ, flight };
-}
-
-function jumpTorsoExtras(phase, bodyZ, flight, torsoSway) {
- // Lean into the crouch and the landing compression, upright in the air.
- const compression = clamp(-Math.min(0, bodyZ) / JUMP_CROUCH_MM, 0, 1.2);
- const pitchDeg = JUMP_LEAN_DEG * compression * (1 - flight) * clamp(torsoSway, 0, 1.5);
- return { waist_yaw: { pitchDeg } };
-}
-
-// --------------------------------------------------------------- routine
-function wrap01(value) {
- return ((finite(value, 0) % 1) + 1) % 1;
-}
-
-// Smooth on/off window: ramps up over [inStart, inEnd], back down over
-// [outStart, outEnd], zero outside.
-function pulse(t, inStart, inEnd, outStart, outEnd) {
- return smooth01((t - inStart) / Math.max(1e-9, inEnd - inStart))
- * (1 - smooth01((t - outStart) / Math.max(1e-9, outEnd - outStart)));
-}
-
-// Planted-leg solve shared by the kick support leg and the dance: the
-// pitch IK keeps the sole at ground height under a bobbing pelvis, and a
-// hip/ankle roll pair absorbs a lateral pelvis shift dy (the second-order
-// foot lift from the roll arc is under 2 mm at these amplitudes).
-function plantedLegAngles(side, bodyZMm, pelvisDyMm) {
- const rig = STRIDE_RIG[side];
- const s = sideSign(side);
- const depth = ((rig.hipZ + bodyZMm) - (rig.soleZ + rig.ankleToSole)) / rig.cosRoll;
- const ik = legPitchIk(0, depth, 0);
- const lateralDrop = HIP_ROLL_Z_MM - rig.soleZ;
- const rollDeltaDeg = (Math.asin(clamp(pelvisDyMm / lateralDrop, -0.5, 0.5)) * 180) / Math.PI;
- return {
- [`hip_pitch_${side}`]: ik.hipDeg,
- [`knee_${side}`]: ik.kneeDeg,
- [`ankle_pitch_${side}`]: ik.ankleDeg,
- [`hip_roll_${side}`]: (s * ATHLETIC.HIP_ROLL_ABDUCT) - rollDeltaDeg,
- [`ankle_roll_${side}`]: -((s * ATHLETIC.HIP_ROLL_ABDUCT) - rollDeltaDeg)
- };
-}
-
-// ---- karate front kick (segment-local t): weight onto the left leg,
-// chamber, snap, re-chamber, plant.
-function kickPose(t) {
- const angles = { ...ATHLETIC_ANGLES };
- const weight = pulse(t, 0.0, 0.12, 0.86, 0.98);
- const chamber = pulse(t, 0.14, 0.3, 0.72, 0.88);
- const extend = pulse(t, 0.36, 0.48, 0.58, 0.7);
- const guard = pulse(t, 0.04, 0.16, 0.8, 0.94);
-
- const dy = KICK_WEIGHT_SHIFT_MM * weight;
- const bodyZ = -KICK_DIP_MM * chamber;
- Object.assign(angles, plantedLegAngles("left", bodyZ, dy));
-
- // Kicking leg, authored in joint space (airborne).
- angles.hip_pitch_right = ATHLETIC.HIP_PITCH
- + ((KICK_CHAMBER_HIP_DEG - ATHLETIC.HIP_PITCH) * chamber)
- + (KICK_EXTEND_HIP_DEG * extend);
- angles.knee_right = ATHLETIC.KNEE
- + ((KICK_CHAMBER_KNEE_DEG - ATHLETIC.KNEE) * chamber)
- + (KICK_EXTEND_KNEE_DEG * extend);
- angles.ankle_pitch_right = ATHLETIC.ANKLE_PITCH
- + ((KICK_CHAMBER_ANKLE_DEG - ATHLETIC.ANKLE_PITCH) * chamber)
- + (KICK_EXTEND_ANKLE_DEG * extend);
- angles.ankle_roll_right = -sideSign("right") * ATHLETIC.HIP_ROLL_ABDUCT;
-
- // Guard: both fists up, elbows tight.
- for (const side of SIDES) {
- const s = sideSign(side);
- angles[`shoulder_pitch_${side}`] = ATHLETIC.SHOULDER_PITCH
- + ((KICK_GUARD_SHOULDER_DEG - ATHLETIC.SHOULDER_PITCH) * guard);
- angles[`shoulder_roll_${side}`] = (s * ATHLETIC.SHOULDER_ROLL_ABDUCT)
- + (s * KICK_GUARD_ROLL_OUT_DEG * guard);
- angles[`elbow_${side}`] = ATHLETIC.ELBOW
- + ((KICK_GUARD_ELBOW_DEG - ATHLETIC.ELBOW) * guard);
- }
-
- const turn = KICK_HIP_TURN_DEG * ((0.5 * chamber) + (0.5 * extend));
- angles.waist_yaw += turn;
- angles.neck_yaw += -turn * NECK_COMPENSATION;
-
- return {
- angles,
- extras: { waist_yaw: { pitchDeg: KICK_LEAN_BACK_DEG * extend } },
- rootOffset: [0, dy, bodyZ],
- rootPitchDeg: 0
- };
-}
-
-// ---- handstand: keyframed whole-body rotation about +Y. While folding,
-// the root is anchored so the sole front edge stays at its athletic spot
-// (heels rise, toe pivot); once the hands plant, the root is anchored so
-// the palm contact point stays on the ground at the plant line. Anchors
-// are solved once at init by evaluating the FK and shifting the root.
-function anchoredRootOffset(angles, rootPitchDeg, link, localMm, targetMm) {
- const frames = fkFrames(angles, {}, [0, 0, 0], rootPitchDeg);
- const f = frames[link];
- const world = matVec3(f.R, localMm).map((v, k) => v + f.p[k]);
- // null target components leave that axis where the pose naturally put it.
- return targetMm.map((t, k) => (t === null ? 0 : t - world[k]));
-}
-
-function handstandKeyAngles(overrides) {
- const angles = { ...ATHLETIC_ANGLES };
- for (const side of SIDES) {
- // Square the limbs for the gymnastic line: no abduction or twist.
- angles[`hip_roll_${side}`] = 0;
- angles[`ankle_roll_${side}`] = 0;
- angles[`shoulder_yaw_${side}`] = 0;
- angles[`wrist_pitch_${side}`] = 0;
- for (const [name, value] of Object.entries(overrides.legs || {})) {
- angles[`${name}_${side}`] = value;
- }
- for (const [name, value] of Object.entries(overrides.arms || {})) {
- angles[`${name}_${side}`] = value;
- }
- }
- if (overrides.neckPitch !== undefined) {
- angles.neck_pitch = overrides.neckPitch;
- }
- return angles;
-}
-
-const HANDSTAND_KEYS = (() => {
- const toeFrame = ATHLETIC_FRAMES.foot_left;
- const toeWorld = matVec3(toeFrame.R, HS_TOE_LOCAL_MM).map((v, k) => v + toeFrame.p[k]);
- // Anchor x/z only; the lateral position stays where the pose puts it.
- const toeTarget = [toeWorld[0], null, toeWorld[2]];
- const ground = STRIDE_RIG.left.soleZ;
- const palmTarget = [HS_PLANT_X_MM, null, ground];
-
- // The arms stay roughly vertical under the rotating body — the world
- // arm direction is rootPitch + shoulderPitch, so the shoulder tracks
- // -rootPitch as the body goes over, reaching shoulder -180 / elbow -18 /
- // wrist -70 at the hold (total hand pitch -90: palms flat, fingers
- // forward), all inside the URDF joint limits.
- const HOLD_ARMS = { shoulder_pitch: -180, shoulder_roll: 0, elbow: -18, wrist_roll: 0, wrist_pitch: -70 };
- const spec = [
- { t: 0.0, pitch: 0, anchor: null, overrides: null },
- {
- t: 0.09, pitch: 12, anchor: "toe",
- overrides: {
- legs: { hip_pitch: -30, knee: 20, ankle_pitch: 3 }, // foot pitch +5: heel just off the ground
- arms: { shoulder_pitch: -52, shoulder_roll: 0, elbow: -10, wrist_roll: 0, wrist_pitch: -20 }
- }
- },
- {
- t: 0.2, pitch: 55, anchor: "toe",
- overrides: {
- legs: { hip_pitch: -100, knee: 30, ankle_pitch: 27 }, // foot pitch +12: heels rise in the fold
- arms: { shoulder_pitch: -70, shoulder_roll: 0, elbow: -8, wrist_roll: 0, wrist_pitch: -45 }
- }
- },
- {
- // Press position: palms planted, arms vertical, pike fold with the
- // toes still resting on the ground (hip solved at init below).
- t: 0.3, pitch: 95, anchor: "palm", solvePressHip: true,
- overrides: {
- legs: { hip_pitch: -80, knee: 8, ankle_pitch: 30 },
- arms: { shoulder_pitch: -95, shoulder_roll: 0, elbow: -20, wrist_roll: 0, wrist_pitch: -70 }
- }
- },
- {
- t: 0.4, pitch: 140, anchor: "palm",
- overrides: {
- legs: { hip_pitch: -45, knee: 25, ankle_pitch: 10 },
- arms: { shoulder_pitch: -145, shoulder_roll: 0, elbow: -18, wrist_roll: 0, wrist_pitch: -67 }
- }
- },
- {
- t: 0.48, pitch: 178, anchor: "palm",
- overrides: {
- legs: { hip_pitch: -6, knee: 4, ankle_pitch: 25 },
- arms: HOLD_ARMS
- }
- },
- {
- t: 0.58, pitch: 178, anchor: "palm",
- overrides: {
- legs: { hip_pitch: -6, knee: 4, ankle_pitch: 25 },
- arms: HOLD_ARMS
- }
- }
- ];
- // Mirror the way back down through the same shapes.
- const back = [
- { ...spec[4], t: 0.66 },
- { ...spec[3], t: 0.76 },
- { ...spec[2], t: 0.86 },
- { ...spec[1], t: 0.94 },
- { ...spec[0], t: 1.0 }
- ];
-
- // Resolve every key with its anchor TYPE plus the toe-line x position
- // it implies; the root translation itself is solved per frame at
- // runtime, so contacts stay exact through every interpolated pose.
- // Palm-typed keys still record their natural toe x so toe<->palm
- // boundary intervals can slide the toe target continuously.
- const resolved = [...spec, ...back].map((key) => {
- const angles = key.overrides ? handstandKeyAngles(key.overrides) : { ...ATHLETIC_ANGLES };
- const type = key.anchor === "palm" ? "palm" : "toe";
- if (key.solvePressHip) {
- // Bisect the pike fold so the toes rest exactly on the ground
- // behind the planted hands (toe height grows monotonically with
- // hip angle on the toes-behind branch). The palm anchor depends
- // only on the arm chain, so the hip search does not disturb it.
- const rootOffset = anchoredRootOffset(angles, key.pitch, "hand_left", HS_PALM_LOCAL_MM, palmTarget);
- let lo = -95;
- let hi = -40;
- for (let i = 0; i < 48; i += 1) {
- const mid = (lo + hi) / 2;
- for (const side of SIDES) {
- angles[`hip_pitch_${side}`] = mid;
- }
- const f = fkFrames(angles, {}, rootOffset, key.pitch).foot_left;
- const toeZ = f.p[2] + matVec3(f.R, HS_TOE_LOCAL_MM)[2];
- if (toeZ < ground) {
- lo = mid;
- } else {
- hi = mid;
- }
- }
- }
- const rootOffset = type === "palm"
- ? anchoredRootOffset(angles, key.pitch, "hand_left", HS_PALM_LOCAL_MM, palmTarget)
- : anchoredRootOffset(angles, key.pitch, "foot_left", HS_TOE_LOCAL_MM, toeTarget);
- const foot = fkFrames(angles, {}, rootOffset, key.pitch).foot_left;
- const toeX = foot.p[0] + matVec3(foot.R, HS_TOE_LOCAL_MM)[0];
- return { t: key.t, pitch: key.pitch, type, toeX, angles };
- });
- return { keys: resolved.sort((a, b) => a.t - b.t), toeZ: toeWorld[2], palmTarget };
-})();
-
-function handstandPose(t) {
- const { keys, toeZ, palmTarget } = HANDSTAND_KEYS;
- let a = keys[0];
- let b = keys[keys.length - 1];
- for (let i = 0; i < keys.length - 1; i += 1) {
- if (t >= keys[i].t && t <= keys[i + 1].t) {
- a = keys[i];
- b = keys[i + 1];
- break;
- }
- }
- const s = smooth01((t - a.t) / Math.max(1e-9, b.t - a.t));
- const angles = {};
- for (const name of Object.keys(ATHLETIC_ANGLES)) {
- angles[name] = a.angles[name] + ((b.angles[name] - a.angles[name]) * s);
- }
- // A breath of leg wobble during the hold (hips only, so the planted
- // hands stay put).
- const hold = pulse(t, 0.46, 0.5, 0.56, 0.6);
- const wobble = HS_WOBBLE_DEG * hold * Math.sin(2 * Math.PI * ((t - 0.46) / 0.14) * 2);
- for (const side of SIDES) {
- angles[`hip_pitch_${side}`] += wobble;
- angles[`knee_${side}`] += -wobble * 0.6;
- }
- const rootPitchDeg = a.pitch + ((b.pitch - a.pitch) * s);
- // Solve the contact anchor for THIS frame: palm-anchored only while both
- // bracketing keys are palm keys (the press key satisfies both contacts,
- // so the anchor handoff there is seamless); otherwise toe-anchored with
- // the toe target sliding along the ground line between the keys.
- let rootOffset;
- if (a.type === "palm" && b.type === "palm") {
- rootOffset = anchoredRootOffset(angles, rootPitchDeg, "hand_left", HS_PALM_LOCAL_MM, palmTarget);
- } else {
- const toeX = a.toeX + ((b.toeX - a.toeX) * s);
- rootOffset = anchoredRootOffset(angles, rootPitchDeg, "foot_left", HS_TOE_LOCAL_MM, [toeX, null, toeZ]);
- }
- return { angles, extras: {}, rootOffset, rootPitchDeg };
-}
-
-// ---- Elvis dance. The left leg kicks out to the robot-left and plants
-// on a pointed toe, solved with closed-form leg IK: the hip roll angle
-// follows directly from requiring the toe target to lie in the leg's
-// (rolled) pitch plane, then the in-plane two-link IK places the
-// ankle-pitch joint so the toe tip lands exactly on the target. The
-// ankle roll stays 0, so the pointed foot rolls onto its outer toe edge
-// with the leg — the classic look.
-function elvisKickOutLeg(bodyZMm, pelvisDyMm, toeXMm, toeYMm, footPointDeg, liftMm, edgeScale) {
- const rig = STRIDE_RIG.left;
- // Left hip-roll joint center in the world, with the shifted pelvis.
- const hipRoll = [0, HIP_Y + pelvisDyMm, HIP_ROLL_Z_MM + bodyZMm];
- // The foot rolls with the leg (ankle roll 0), so at full kick-out the
- // contact is the OUTER toe corner: lift the centerline target by the
- // rolled half foot width (scaled in with the pose; roll barely changes
- // with the lift, so one extra pass converges).
- let target = [toeXMm, toeYMm, rig.soleZ + liftMm];
- let v = [target[0] - hipRoll[0], target[1] - hipRoll[1], target[2] - hipRoll[2]];
- const edgeLift = ((35 * Math.abs(Math.sin(Math.atan2(v[1], -v[2])))) + 1) * edgeScale;
- target = [toeXMm, toeYMm, rig.soleZ + liftMm + edgeLift];
- v = [target[0] - hipRoll[0], target[1] - hipRoll[1], target[2] - hipRoll[2]];
- // Roll that brings the target into the leg's pitch plane.
- const rollRad = Math.atan2(v[1], -v[2]);
- const planeDepth = Math.hypot(v[1], v[2]); // hip-roll -> target, in-plane
- // Toe tip relative to the ankle-pitch joint at the pointed foot pitch.
- const pointRad = (footPointDeg * Math.PI) / 180;
- const toeForward = (ELVIS_TOE_TIP_LOCAL.x * Math.cos(pointRad))
- - (ELVIS_TOE_TIP_LOCAL.drop * Math.sin(pointRad));
- const toeDrop = (ELVIS_TOE_TIP_LOCAL.x * Math.sin(pointRad))
- + (ELVIS_TOE_TIP_LOCAL.drop * Math.cos(pointRad));
- // Ankle-pitch target measured from the hip-PITCH joint (78 mm further
- // down the plane from the hip-roll joint).
- const ik = legPitchIk(v[0] - toeForward, planeDepth - 78 - toeDrop, footPointDeg);
- const rollDeg = (rollRad * 180) / Math.PI;
- return {
- hip_pitch_left: ik.hipDeg,
- knee_left: ik.kneeDeg,
- ankle_pitch_left: ik.ankleDeg,
- hip_roll_left: rollDeg,
- // Flat (roll-compensated) foot at rest, rolling onto the outer toe
- // edge with the leg as the kick-out engages.
- ankle_roll_left: -rollDeg * (1 - edgeScale)
- };
-}
-
-function dancePose(t) {
- const angles = { ...ATHLETIC_ANGLES };
- const env = pulse(t, 0.0, 0.12, 0.88, 1.0);
- const beat = t * ELVIS_BEATS;
-
- const dy = ELVIS_WEIGHT_SHIFT_MM * env;
- const bodyZ = (-ELVIS_DIP_MM * env)
- - (ELVIS_BOUNCE_MM * env * Math.abs(Math.sin(Math.PI * beat)));
- // Stance leg: planted under the shifted, bobbing pelvis.
- Object.assign(angles, plantedLegAngles("right", bodyZ, dy));
-
- // Kicked-out leg: toe planted out to the left, shaking with the beat.
- // The whole transition is IK-driven — the toe target slides from the
- // athletic toe spot to the kick-out point with a lift bump mid-blend,
- // so the foot never sweeps through the floor (at env=0 the IK lands
- // exactly back on the athletic leg).
- const shake = env * Math.sin(2 * Math.PI * 2 * beat);
- const toeX = ELVIS_ATHLETIC_TOE[0] + ((ELVIS_TOE_X_MM - ELVIS_ATHLETIC_TOE[0]) * env);
- const toeY = ELVIS_ATHLETIC_TOE[1]
- + (((ELVIS_TOE_Y_MM + (ELVIS_TOE_SHAKE_MM * shake)) - ELVIS_ATHLETIC_TOE[1]) * env);
- const point = (ELVIS_FOOT_POINT_DEG * env) + (ELVIS_FOOT_POINT_SHAKE_DEG * shake);
- const lift = 45 * Math.sin(Math.PI * env);
- Object.assign(angles, elvisKickOutLeg(bodyZ, dy, toeX, toeY, point, lift, env));
-
- // The point: right arm up and out to the right, pulsing on the beat.
- const pulseDeg = ELVIS_POINT_PULSE_DEG * Math.sin(2 * Math.PI * beat);
- angles.shoulder_roll_right = (sideSign("right") * ATHLETIC.SHOULDER_ROLL_ABDUCT)
- + (((ELVIS_POINT_ROLL_DEG + pulseDeg) - (sideSign("right") * ATHLETIC.SHOULDER_ROLL_ABDUCT)) * env);
- angles.shoulder_pitch_right = ATHLETIC.SHOULDER_PITCH
- + ((ELVIS_POINT_PITCH_DEG - ATHLETIC.SHOULDER_PITCH) * env);
- angles.elbow_right = ATHLETIC.ELBOW + ((ELVIS_POINT_ELBOW_DEG - ATHLETIC.ELBOW) * env);
- // Off arm low and bent across the body.
- angles.shoulder_pitch_left = ATHLETIC.SHOULDER_PITCH
- + ((ELVIS_OFF_ARM_PITCH_DEG - ATHLETIC.SHOULDER_PITCH) * env);
- angles.elbow_left = ATHLETIC.ELBOW + ((ELVIS_OFF_ARM_ELBOW_DEG - ATHLETIC.ELBOW) * env);
-
- // Hip swivel, lean into the point, head to the pointing hand, chin up.
- const twist = ELVIS_TWIST_DEG * env * Math.sin(Math.PI * beat);
- angles.waist_yaw += twist;
- angles.neck_yaw += (ELVIS_HEAD_TURN_DEG * env) - (twist * 0.6);
- angles.neck_pitch += ELVIS_CHIN_UP_DEG * env;
-
- return {
- angles,
- extras: { waist_yaw: { rollDeg: ELVIS_LEAN_RIGHT_DEG * env } },
- rootOffset: [0, dy, bodyZ],
- rootPitchDeg: 0
- };
-}
-
-const FEATURE_BY_LINK = {
- pelvis: "pelvis",
- torso: "torso",
- neck_collar: "neckCollar",
- head: "head",
- hip_bracket_left: "hipBracketLeft",
- hip_carrier_left: "hipCarrierLeft",
- thigh_left: "thighLeft",
- shin_left: "shinLeft",
- ankle_link_left: "ankleLinkLeft",
- foot_left: "footLeft",
- shoulder_pod_left: "shoulderPodLeft",
- yaw_housing_left: "yawHousingLeft",
- bicep_left: "bicepLeft",
- forearm_left: "forearmLeft",
- wrist_carrier_left: "wristCarrierLeft",
- hand_left: "handLeft",
- hip_bracket_right: "hipBracketRight",
- hip_carrier_right: "hipCarrierRight",
- thigh_right: "thighRight",
- shin_right: "shinRight",
- ankle_link_right: "ankleLinkRight",
- foot_right: "footRight",
- shoulder_pod_right: "shoulderPodRight",
- yaw_housing_right: "yawHousingRight",
- bicep_right: "bicepRight",
- forearm_right: "forearmRight",
- wrist_carrier_right: "wristCarrierRight",
- hand_right: "handRight"
-};
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/robots/juno/juno.step"
- },
- label: "juno humanoid",
- description: "Walking-in-place march for the juno humanoid: alternating leg lift with planted stance feet, antiphase arm swing, torso counter-sway, and a head that keeps facing forward.",
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- pelvis: { ref: "#o1.1", label: "Pelvis", description: "Root link; static during the in-place march." },
- torso: { ref: "#o1.2", label: "Torso" },
- neckCollar: { ref: "#o1.3", label: "Neck collar" },
- head: { ref: "#o1.4", label: "Head" },
- hipBracketLeft: { ref: "#o1.5", label: "Left hip bracket" },
- hipCarrierLeft: { ref: "#o1.6", label: "Left hip carrier" },
- thighLeft: { ref: "#o1.7", label: "Left thigh" },
- shinLeft: { ref: "#o1.8", label: "Left shin" },
- ankleLinkLeft: { ref: "#o1.9", label: "Left ankle link" },
- footLeft: { ref: "#o1.10", label: "Left foot" },
- shoulderPodLeft: { ref: "#o1.11", label: "Left shoulder pod" },
- yawHousingLeft: { ref: "#o1.12", label: "Left yaw housing" },
- bicepLeft: { ref: "#o1.13", label: "Left bicep" },
- forearmLeft: { ref: "#o1.14", label: "Left forearm" },
- wristCarrierLeft: { ref: "#o1.15", label: "Left wrist carrier" },
- handLeft: { ref: "#o1.16", label: "Left hand" },
- hipBracketRight: { ref: "#o1.17", label: "Right hip bracket" },
- hipCarrierRight: { ref: "#o1.18", label: "Right hip carrier" },
- thighRight: { ref: "#o1.19", label: "Right thigh" },
- shinRight: { ref: "#o1.20", label: "Right shin" },
- ankleLinkRight: { ref: "#o1.21", label: "Right ankle link" },
- footRight: { ref: "#o1.22", label: "Right foot" },
- shoulderPodRight: { ref: "#o1.23", label: "Right shoulder pod" },
- yawHousingRight: { ref: "#o1.24", label: "Right yaw housing" },
- bicepRight: { ref: "#o1.25", label: "Right bicep" },
- forearmRight: { ref: "#o1.26", label: "Right forearm" },
- wristCarrierRight: { ref: "#o1.27", label: "Right wrist carrier" },
- handRight: { ref: "#o1.28", label: "Right hand" }
- },
- parameters: {
- phase: {
- type: "number",
- label: "Gait phase",
- description: "One full gait cycle; the walk animations drive this 0 -> 1.",
- default: 0,
- min: 0,
- max: 1,
- step: 0.001
- },
- gait: {
- type: "select",
- label: "Gait",
- description: "Showpieces (Elvis dance, handstand, karate kick) and in-place gaits (jump, run, stride, march). Each walk animation drives the matching mode.",
- default: "march",
- options: [
- { value: "dance", label: "Elvis dance" },
- { value: "handstand", label: "Handstand" },
- { value: "kick", label: "Karate kick" },
- { value: "jump", label: "Jump in place" },
- { value: "run", label: "Run in place" },
- { value: "stride", label: "Stride in place" },
- { value: "march", label: "March in place" }
- ]
- },
- strideLength: {
- type: "number",
- label: "Stride length",
- description: "Front-to-back foot travel (mm) of the stride gait; capped so the leg IK stays inside reach. Ignored by the march.",
- default: 230,
- min: 0,
- max: 300,
- step: 5
- },
- legLift: {
- type: "number",
- label: "Leg lift",
- description: "Scales hip raise, knee fold, and toe point of the swing leg. Stance feet stay planted at any value.",
- default: 1,
- min: 0,
- max: 1.4,
- step: 0.01
- },
- armSwing: {
- type: "number",
- label: "Arm swing",
- description: "Scales the antiphase shoulder swing and forward-arm elbow flexion.",
- default: 1,
- min: 0,
- max: 1.5,
- step: 0.01
- },
- torsoSway: {
- type: "number",
- label: "Torso sway",
- description: "Scales the waist counter-rotation and weight-shift roll; the head compensates to keep facing forward.",
- default: 1,
- min: 0,
- max: 1.5,
- step: 0.01
- }
- },
- // Ordered most exciting first — this is the order the viewer lists them.
- animations: {
- danceLoop: {
- label: "Elvis dance",
- description: "The King: weight on the right leg, left leg kicked out to the left on a shaking pointed toe, right finger pointing up to the right with a beat pulse, hip swivel and chin up.",
- duration: 3.2,
- loop: true,
- update({ cycle, set }) {
- set("gait", "dance");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- handstandLoop: {
- label: "Handstand",
- description: "Toe-pivot fold, press to a palms-flat inverted hold with a breathing wobble, and back up to the ready stance.",
- duration: 4.6,
- loop: true,
- update({ cycle, set }) {
- set("gait", "handstand");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- kickLoop: {
- label: "Karate kick",
- description: "Weight shifts over the left leg, the right leg chambers and snaps a ball-of-foot front kick at hip height behind a fists-up guard.",
- duration: 2.8,
- loop: true,
- update({ cycle, set }) {
- set("gait", "kick");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- jumpLoop: {
- label: "Jump in place",
- description: "Crouch, leap with hands overhead, and land with a springy knee-absorbed wobble before settling back to the ready stance.",
- duration: 1.8,
- loop: true,
- update({ cycle, set }) {
- set("gait", "jump");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- runLoop: {
- label: "Run in place",
- description: "Running cadence with flight phases: body bounce, toe-pivot push-off, high heel recovery, forward lean, and pumping bent arms.",
- duration: 0.8,
- loop: true,
- update({ cycle, set }) {
- set("gait", "run");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- strideLoop: {
- label: "Stride in place",
- description: "Bigger strides: legs sweep back and forward with the stance foot sliding flat on the ground, wider arm swing, stronger torso counter-sway.",
- duration: 1.9,
- loop: true,
- update({ cycle, set }) {
- set("gait", "stride");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- walkLoop: {
- label: "Walk in place",
- description: "Continuous march loop; scrub the gait phase or scale lift/swing/sway live.",
- duration: 1.5,
- loop: true,
- update({ cycle, set }) {
- set("gait", "march");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- }
- }
- },
-
- update({ params, effects }) {
- const phase = ((finite(params.phase, 0) % 1) + 1) % 1;
- const scales = {
- legLift: clamp(params.legLift, 0, 1.4),
- armSwing: clamp(params.armSwing, 0, 1.5),
- torsoSway: clamp(params.torsoSway, 0, 1.5),
- strideLength: clamp(params.strideLength, 0, MAX_STRIDE_MM)
- };
- const gait = String(params.gait || "march");
- let targetFrames;
- if (gait === "stride") {
- targetFrames = fkFrames(
- strideAnglesDeg(phase, scales),
- strideTorsoRollExtras(phase, scales.torsoSway)
- );
- } else if (gait === "run") {
- targetFrames = fkFrames(
- runAnglesDeg(phase, scales),
- runTorsoExtras(phase, scales.torsoSway),
- [0, 0, runBounceMm(phase, scales.legLift)]
- );
- } else if (gait === "jump") {
- const jump = jumpAnglesDeg(phase, scales);
- targetFrames = fkFrames(
- jump.angles,
- jumpTorsoExtras(phase, jump.bodyZ, jump.flight, scales.torsoSway),
- [0, 0, jump.bodyZ]
- );
- } else if (gait === "kick" || gait === "handstand" || gait === "dance") {
- const pose = gait === "kick"
- ? kickPose(phase)
- : gait === "handstand"
- ? handstandPose(phase)
- : dancePose(phase);
- targetFrames = fkFrames(pose.angles, pose.extras, pose.rootOffset, pose.rootPitchDeg);
- } else {
- targetFrames = fkFrames(
- gaitAnglesDeg(phase, scales),
- torsoRollExtras(phase, scales.torsoSway)
- );
- }
-
- // The pelvis root is included: it bobs in the run and jump gaits and
- // resolves to an identity delta in the march and stride.
- for (const [link, feature] of Object.entries(FEATURE_BY_LINK)) {
- effects.transform(feature, {
- matrix: deltaMatrixRowMajor(ATHLETIC_FRAMES[link], targetFrames[link])
- });
- }
- }
-};
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deleted file mode 100644
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diff --git a/models/robots/juno/README.md b/models/robots/juno/README.md
deleted file mode 100644
index 9d0a5859..00000000
--- a/models/robots/juno/README.md
+++ /dev/null
@@ -1,73 +0,0 @@
-# juno — compact humanoid robotics platform concept
-
-A sleek research-humanoid CAD concept with Unitree-G1-like proportions:
-~1.40 m tall, athletic ready stance, exposed cylindrical actuator modules at
-every joint, warm-porcelain composite shells over graphite structure with
-machined-aluminum joint rims, coral-orange accents on repeated functional
-details (actuator hubs, toe/heel bumpers, head vents, fingertip pads), a
-gloss midnight-blue sensor visor displaying cyan pixel-grid eyes (Anki
-Cozmo style), and dexterous five-digit hands. Clean industrial design,
-no logos.
-
-## Degrees of freedom (27 body DOF)
-
-| Group | Joints | DOF |
-| --- | --- | --- |
-| Each leg (x2) | hip yaw, hip roll, hip pitch, knee, ankle pitch, ankle roll | 12 |
-| Each arm (x2) | shoulder pitch, shoulder roll, shoulder yaw, elbow, wrist roll, wrist pitch | 12 |
-| Waist | yaw | 1 |
-| Neck | yaw, pitch | 2 |
-
-Hands add posed (cosmetic) finger articulation on top of the 27 counted DOF.
-
-## Files
-
-- `juno.py` — build123d generator (`gen_step()`); authoritative source.
- Pose angles are module-level parameters; joints are authored as
- `cadpy.assembly.AssemblyHelper` revolute frames driven by those angles.
- Also exposes `gen_urdf()` / `gen_srdf()` for the robot description.
-- `juno_parts/` — part-builder package (sculpted segments, joint hardware,
- shared style library). Each builder returns an identity-location labeled
- compound in its part-local frame. `chain.py` is the shared kinematic
- chain/pose/limit spec used by both the CAD assembly and the URDF/SRDF
- generators; `description.py` emits the URDF/SRDF XML; `mass_props.py`
- holds baked CAD volume/COM/inertia/bbox data.
-- `juno.step` — generated STEP assembly (derived artifact).
-- `.juno.step.js` — CAD Viewer animation sidecar with four in-place gaits
- built on per-frame chain FK plus two-link leg IK around the baked
- athletic stance: `walkLoop` (march, planted stance feet), `strideLoop`
- (treadmill-style strides, stance foot slides flat on the ground),
- `runLoop` (flight phases, body bounce, toe-pivot push-off, pumping bent
- arms, forward lean), and `jumpLoop` (countermovement hop with hands
- overhead and an underdamped springy landing). All gaits share antiphase
- arm swing, torso counter-sway, and head stabilization. Three showpiece
- loops: `danceLoop` (Elvis: right finger pointing up to the right, left
- leg kicked out to the left on a shaking planted toe via closed-form
- lateral+sagittal leg IK), `handstandLoop` (toe-pivot fold to a
- palms-flat inverted hold, whole-body root rotation with per-frame
- toe/palm contact anchoring), and `kickLoop` (chambered karate front
- kick behind a fists-up guard). Controls: `phase`, `gait`,
- `strideLength`, `legLift`, `armSwing`, `torsoSway`. Occurrence refs
- `#o1.1..#o1.28` follow the `asm.add` order in `juno.py`.
-- `juno.urdf` — generated URDF (derived artifact): a frame-only
- `base_footprint` ground root plus 28 physical links and 27 revolute
- joints (zero pose stands with soles on z = 0), per-link 3MF mesh
- visuals, bbox collisions, CAD-derived inertials at an assumed 35 kg
- total mass.
-- `juno.srdf` — generated MoveIt2 SRDF (derived artifact): limb/torso/head
- planning groups, hand end effectors, disabled collisions, and whole-body
- group states (`zero`, `athletic_ready`, `t_pose`, `wave_right`, `squat`).
-- `STEP/` — per-link wrapper sources (`gen_step()` per link) and their
- generated STEP parts; `3MF/` — per-link mm mesh sidecars referenced by
- the URDF.
-
-## Conventions
-
-Units mm. Pelvis waist-yaw joint center is the world origin; +X forward,
-+Y robot-left, +Z up. Soles rest near z = -774 in the default stance.
-Regenerate with the CAD skill: `python scripts/step models/robots/juno/juno.py`.
-Regenerate link meshes per link with the CAD skill, e.g.
-`python scripts/step models/robots/juno/STEP/.py --3mf ../3MF/.3mf`.
-Regenerate the robot description with the URDF/SRDF skills:
-`python scripts/urdf models/robots/juno/juno.py=models/robots/juno/juno.urdf`
-and `python scripts/srdf models/robots/juno/juno.py=models/robots/juno/juno.srdf`.
diff --git a/models/robots/juno/STEP/.ankle_link_left.step.glb b/models/robots/juno/STEP/.ankle_link_left.step.glb
deleted file mode 100644
index d941442b..00000000
--- a/models/robots/juno/STEP/.ankle_link_left.step.glb
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/models/robots/juno/STEP/__init__.py b/models/robots/juno/STEP/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/models/robots/juno/STEP/ankle_link_left.py b/models/robots/juno/STEP/ankle_link_left.py
deleted file mode 100644
index 346df38c..00000000
--- a/models/robots/juno/STEP/ankle_link_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left ankle link mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_ankle_link("left")` exactly; the URDF
-link frame coincides with this part-local frame (ankle link (ankle-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_ankle_link
-
-
-def gen_step():
- return build_ankle_link("left")
diff --git a/models/robots/juno/STEP/ankle_link_left.step b/models/robots/juno/STEP/ankle_link_left.step
deleted file mode 100644
index ada72f99..00000000
--- a/models/robots/juno/STEP/ankle_link_left.step
+++ /dev/null
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diff --git a/models/robots/juno/STEP/ankle_link_right.py b/models/robots/juno/STEP/ankle_link_right.py
deleted file mode 100644
index adc9aff8..00000000
--- a/models/robots/juno/STEP/ankle_link_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right ankle link mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_ankle_link("right")` exactly; the URDF
-link frame coincides with this part-local frame (ankle link (ankle-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_ankle_link
-
-
-def gen_step():
- return build_ankle_link("right")
diff --git a/models/robots/juno/STEP/ankle_link_right.step b/models/robots/juno/STEP/ankle_link_right.step
deleted file mode 100644
index eab53a44..00000000
--- a/models/robots/juno/STEP/ankle_link_right.step
+++ /dev/null
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-size 81893
diff --git a/models/robots/juno/STEP/bicep_left.py b/models/robots/juno/STEP/bicep_left.py
deleted file mode 100644
index bc0d9734..00000000
--- a/models/robots/juno/STEP/bicep_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left bicep mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.arms.build_bicep("left")` exactly; the URDF
-link frame coincides with this part-local frame (bicep link (shoulder-yaw joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.arms import build_bicep
-
-
-def gen_step():
- return build_bicep("left")
diff --git a/models/robots/juno/STEP/bicep_left.step b/models/robots/juno/STEP/bicep_left.step
deleted file mode 100644
index b7052aad..00000000
--- a/models/robots/juno/STEP/bicep_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/models/robots/juno/STEP/bicep_right.py b/models/robots/juno/STEP/bicep_right.py
deleted file mode 100644
index 124d55d1..00000000
--- a/models/robots/juno/STEP/bicep_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right bicep mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.arms.build_bicep("right")` exactly; the URDF
-link frame coincides with this part-local frame (bicep link (shoulder-yaw joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.arms import build_bicep
-
-
-def gen_step():
- return build_bicep("right")
diff --git a/models/robots/juno/STEP/bicep_right.step b/models/robots/juno/STEP/bicep_right.step
deleted file mode 100644
index f21fc38d..00000000
--- a/models/robots/juno/STEP/bicep_right.step
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@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1131f34e7536d6ed410963efb99c0be1d66c65b18602f0c047287b72dabe25f2
-size 955009
diff --git a/models/robots/juno/STEP/foot_left.py b/models/robots/juno/STEP/foot_left.py
deleted file mode 100644
index 2f00db48..00000000
--- a/models/robots/juno/STEP/foot_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left foot mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.legs.build_foot("left")` exactly; the URDF
-link frame coincides with this part-local frame (foot link (ankle-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.legs import build_foot
-
-
-def gen_step():
- return build_foot("left")
diff --git a/models/robots/juno/STEP/foot_left.step b/models/robots/juno/STEP/foot_left.step
deleted file mode 100644
index b5fc6d3c..00000000
--- a/models/robots/juno/STEP/foot_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cb1a27145edda97a67447ec8faeb9784ee896062ff978470bb896de99ef7a6e7
-size 1056745
diff --git a/models/robots/juno/STEP/foot_right.py b/models/robots/juno/STEP/foot_right.py
deleted file mode 100644
index c5629156..00000000
--- a/models/robots/juno/STEP/foot_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right foot mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.legs.build_foot("right")` exactly; the URDF
-link frame coincides with this part-local frame (foot link (ankle-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.legs import build_foot
-
-
-def gen_step():
- return build_foot("right")
diff --git a/models/robots/juno/STEP/foot_right.step b/models/robots/juno/STEP/foot_right.step
deleted file mode 100644
index 6d87a5a9..00000000
--- a/models/robots/juno/STEP/foot_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:db8754c3976a94a3f8cf4a60a03b88901f7b347fe5cc4e2180960896db12da8e
-size 1063487
diff --git a/models/robots/juno/STEP/forearm_left.py b/models/robots/juno/STEP/forearm_left.py
deleted file mode 100644
index c17c116e..00000000
--- a/models/robots/juno/STEP/forearm_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left forearm mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.arms.build_forearm("left")` exactly; the URDF
-link frame coincides with this part-local frame (forearm link (elbow joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.arms import build_forearm
-
-
-def gen_step():
- return build_forearm("left")
diff --git a/models/robots/juno/STEP/forearm_left.step b/models/robots/juno/STEP/forearm_left.step
deleted file mode 100644
index 0ce49c19..00000000
--- a/models/robots/juno/STEP/forearm_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0041aa340d6fe0f508273baea55ba3140b4329b5c415dc44c47acab722d882fd
-size 1254594
diff --git a/models/robots/juno/STEP/forearm_right.py b/models/robots/juno/STEP/forearm_right.py
deleted file mode 100644
index aef79fbe..00000000
--- a/models/robots/juno/STEP/forearm_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right forearm mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.arms.build_forearm("right")` exactly; the URDF
-link frame coincides with this part-local frame (forearm link (elbow joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.arms import build_forearm
-
-
-def gen_step():
- return build_forearm("right")
diff --git a/models/robots/juno/STEP/forearm_right.step b/models/robots/juno/STEP/forearm_right.step
deleted file mode 100644
index 625af070..00000000
--- a/models/robots/juno/STEP/forearm_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2a5f65b07179cb42f574d979d0ae1510229e56586f9d2b06ee0abdc57e74e3bc
-size 1257067
diff --git a/models/robots/juno/STEP/hand_left.py b/models/robots/juno/STEP/hand_left.py
deleted file mode 100644
index 54cdafaa..00000000
--- a/models/robots/juno/STEP/hand_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left hand mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.hand.build_hand("left")` exactly; the URDF
-link frame coincides with this part-local frame (hand link (wrist-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.hand import build_hand
-
-
-def gen_step():
- return build_hand("left")
diff --git a/models/robots/juno/STEP/hand_left.step b/models/robots/juno/STEP/hand_left.step
deleted file mode 100644
index 362fb287..00000000
--- a/models/robots/juno/STEP/hand_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:347cea5d1273261f8806089ca520bd2e5dacd3be5eeb4c25c27d4c0f73c7aabe
-size 2251992
diff --git a/models/robots/juno/STEP/hand_right.py b/models/robots/juno/STEP/hand_right.py
deleted file mode 100644
index 8cb673b7..00000000
--- a/models/robots/juno/STEP/hand_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right hand mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.hand.build_hand("right")` exactly; the URDF
-link frame coincides with this part-local frame (hand link (wrist-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.hand import build_hand
-
-
-def gen_step():
- return build_hand("right")
diff --git a/models/robots/juno/STEP/hand_right.step b/models/robots/juno/STEP/hand_right.step
deleted file mode 100644
index d59e814c..00000000
--- a/models/robots/juno/STEP/hand_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b3d02f608e504519bd4e19437e7369a0f3bd654aebb6200879374d56c2f53156
-size 2101231
diff --git a/models/robots/juno/STEP/head.py b/models/robots/juno/STEP/head.py
deleted file mode 100644
index 9c1ef8da..00000000
--- a/models/robots/juno/STEP/head.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Head mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.head.build_head()` exactly; the URDF
-link frame coincides with this part-local frame (head link (neck-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.head import build_head
-
-
-def gen_step():
- return build_head()
diff --git a/models/robots/juno/STEP/head.step b/models/robots/juno/STEP/head.step
deleted file mode 100644
index 01956d4b..00000000
--- a/models/robots/juno/STEP/head.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a50a7e8220b9c01bad82ebf7ac8b351cca8b73cecdc337c5e537ec9cdff2f314
-size 3592317
diff --git a/models/robots/juno/STEP/hip_bracket_left.py b/models/robots/juno/STEP/hip_bracket_left.py
deleted file mode 100644
index fcff0225..00000000
--- a/models/robots/juno/STEP/hip_bracket_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left hip bracket mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_hip_bracket("left")` exactly; the URDF
-link frame coincides with this part-local frame (hip bracket link (hip-yaw joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_hip_bracket
-
-
-def gen_step():
- return build_hip_bracket("left")
diff --git a/models/robots/juno/STEP/hip_bracket_left.step b/models/robots/juno/STEP/hip_bracket_left.step
deleted file mode 100644
index 2c5b95ac..00000000
--- a/models/robots/juno/STEP/hip_bracket_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ec79c608c9577394e119a0976e3b0e607d193cfddcce5ac56ae4ed474eb6de49
-size 88571
diff --git a/models/robots/juno/STEP/hip_bracket_right.py b/models/robots/juno/STEP/hip_bracket_right.py
deleted file mode 100644
index 438e6baa..00000000
--- a/models/robots/juno/STEP/hip_bracket_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right hip bracket mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_hip_bracket("right")` exactly; the URDF
-link frame coincides with this part-local frame (hip bracket link (hip-yaw joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_hip_bracket
-
-
-def gen_step():
- return build_hip_bracket("right")
diff --git a/models/robots/juno/STEP/hip_bracket_right.step b/models/robots/juno/STEP/hip_bracket_right.step
deleted file mode 100644
index b3e18507..00000000
--- a/models/robots/juno/STEP/hip_bracket_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:978ed16bd8d7e807cfe6f5a637a4c8f18e0d9345a80ab6fa81b44e21ac81088a
-size 88575
diff --git a/models/robots/juno/STEP/hip_carrier_left.py b/models/robots/juno/STEP/hip_carrier_left.py
deleted file mode 100644
index 016ae0f6..00000000
--- a/models/robots/juno/STEP/hip_carrier_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left hip carrier mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_hip_carrier("left")` exactly; the URDF
-link frame coincides with this part-local frame (hip carrier link (hip-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_hip_carrier
-
-
-def gen_step():
- return build_hip_carrier("left")
diff --git a/models/robots/juno/STEP/hip_carrier_left.step b/models/robots/juno/STEP/hip_carrier_left.step
deleted file mode 100644
index 07dc1d57..00000000
--- a/models/robots/juno/STEP/hip_carrier_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:992f18498ad43fc60c72b48d33785591971b1fbf6167bed5414feafdf3c52867
-size 69326
diff --git a/models/robots/juno/STEP/hip_carrier_right.py b/models/robots/juno/STEP/hip_carrier_right.py
deleted file mode 100644
index 1de2132e..00000000
--- a/models/robots/juno/STEP/hip_carrier_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right hip carrier mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_hip_carrier("right")` exactly; the URDF
-link frame coincides with this part-local frame (hip carrier link (hip-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_hip_carrier
-
-
-def gen_step():
- return build_hip_carrier("right")
diff --git a/models/robots/juno/STEP/hip_carrier_right.step b/models/robots/juno/STEP/hip_carrier_right.step
deleted file mode 100644
index f38cdf10..00000000
--- a/models/robots/juno/STEP/hip_carrier_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:453deef90f904bf11e98ac023801a6253070105c5d895b2ca9469bbdd7ba7b4c
-size 69279
diff --git a/models/robots/juno/STEP/neck_collar.py b/models/robots/juno/STEP/neck_collar.py
deleted file mode 100644
index 1f31503f..00000000
--- a/models/robots/juno/STEP/neck_collar.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Neck collar mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_neck_collar()` exactly; the URDF
-link frame coincides with this part-local frame (neck collar link (neck-yaw joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_neck_collar
-
-
-def gen_step():
- return build_neck_collar()
diff --git a/models/robots/juno/STEP/neck_collar.step b/models/robots/juno/STEP/neck_collar.step
deleted file mode 100644
index cbb8c6f1..00000000
--- a/models/robots/juno/STEP/neck_collar.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:609475438f3fec76e8feea723658739e70d665d6da9b6426a002352e80d97236
-size 134209
diff --git a/models/robots/juno/STEP/pelvis.py b/models/robots/juno/STEP/pelvis.py
deleted file mode 100644
index 582a94c2..00000000
--- a/models/robots/juno/STEP/pelvis.py
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/usr/bin/env python3
-"""Pelvis link mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.pelvis.build_pelvis()` exactly; the URDF
-link frame coincides with this part-local frame (waist-yaw joint center at
-the origin).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.pelvis import build_pelvis
-
-
-def gen_step():
- return build_pelvis()
diff --git a/models/robots/juno/STEP/pelvis.step b/models/robots/juno/STEP/pelvis.step
deleted file mode 100644
index bc4f99e7..00000000
--- a/models/robots/juno/STEP/pelvis.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3454b540b531b8da1f3c08224cd0e434ba363eb25a6ea838c7d0bc985fa1dcf7
-size 810774
diff --git a/models/robots/juno/STEP/shin_left.py b/models/robots/juno/STEP/shin_left.py
deleted file mode 100644
index 0b891477..00000000
--- a/models/robots/juno/STEP/shin_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left shin mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.legs.build_shin("left")` exactly; the URDF
-link frame coincides with this part-local frame (shin link (knee joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.legs import build_shin
-
-
-def gen_step():
- return build_shin("left")
diff --git a/models/robots/juno/STEP/shin_left.step b/models/robots/juno/STEP/shin_left.step
deleted file mode 100644
index a6448bf9..00000000
--- a/models/robots/juno/STEP/shin_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58dcdc673867d4dba775d7862afc8cbd358c89aeaef922fd208f58f268482cf7
-size 622355
diff --git a/models/robots/juno/STEP/shin_right.py b/models/robots/juno/STEP/shin_right.py
deleted file mode 100644
index 541c6642..00000000
--- a/models/robots/juno/STEP/shin_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right shin mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.legs.build_shin("right")` exactly; the URDF
-link frame coincides with this part-local frame (shin link (knee joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.legs import build_shin
-
-
-def gen_step():
- return build_shin("right")
diff --git a/models/robots/juno/STEP/shin_right.step b/models/robots/juno/STEP/shin_right.step
deleted file mode 100644
index bf6633d4..00000000
--- a/models/robots/juno/STEP/shin_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:966b897621fa0d177763a10d0e528346488df667d74930a6ca63cfeaeea59787
-size 645615
diff --git a/models/robots/juno/STEP/shoulder_pod_left.py b/models/robots/juno/STEP/shoulder_pod_left.py
deleted file mode 100644
index d6c87286..00000000
--- a/models/robots/juno/STEP/shoulder_pod_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left shoulder pod mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_shoulder_pod("left")` exactly; the URDF
-link frame coincides with this part-local frame (shoulder pod link (shoulder-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_shoulder_pod
-
-
-def gen_step():
- return build_shoulder_pod("left")
diff --git a/models/robots/juno/STEP/shoulder_pod_left.step b/models/robots/juno/STEP/shoulder_pod_left.step
deleted file mode 100644
index 9d91241c..00000000
--- a/models/robots/juno/STEP/shoulder_pod_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:db4a914cbd1f7257c4422aab270d442e5689a75640dfe39f07669c08a671eb39
-size 171644
diff --git a/models/robots/juno/STEP/shoulder_pod_right.py b/models/robots/juno/STEP/shoulder_pod_right.py
deleted file mode 100644
index 37ff841b..00000000
--- a/models/robots/juno/STEP/shoulder_pod_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right shoulder pod mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_shoulder_pod("right")` exactly; the URDF
-link frame coincides with this part-local frame (shoulder pod link (shoulder-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_shoulder_pod
-
-
-def gen_step():
- return build_shoulder_pod("right")
diff --git a/models/robots/juno/STEP/shoulder_pod_right.step b/models/robots/juno/STEP/shoulder_pod_right.step
deleted file mode 100644
index 96f8f08f..00000000
--- a/models/robots/juno/STEP/shoulder_pod_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58871bb2d1aa77b415fdb1d954513a887bf4d8cb2124d6a617f218e88040b8e6
-size 171694
diff --git a/models/robots/juno/STEP/thigh_left.py b/models/robots/juno/STEP/thigh_left.py
deleted file mode 100644
index 6b904fc8..00000000
--- a/models/robots/juno/STEP/thigh_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left thigh mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.legs.build_thigh("left")` exactly; the URDF
-link frame coincides with this part-local frame (thigh link (hip-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.legs import build_thigh
-
-
-def gen_step():
- return build_thigh("left")
diff --git a/models/robots/juno/STEP/thigh_left.step b/models/robots/juno/STEP/thigh_left.step
deleted file mode 100644
index 4b2210e6..00000000
--- a/models/robots/juno/STEP/thigh_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fc11e9c72fe370c5c854be27ba23fa30c8546067bb2f06647b16618e16ec7f59
-size 682272
diff --git a/models/robots/juno/STEP/thigh_right.py b/models/robots/juno/STEP/thigh_right.py
deleted file mode 100644
index 61a26d0a..00000000
--- a/models/robots/juno/STEP/thigh_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right thigh mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.legs.build_thigh("right")` exactly; the URDF
-link frame coincides with this part-local frame (thigh link (hip-pitch joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.legs import build_thigh
-
-
-def gen_step():
- return build_thigh("right")
diff --git a/models/robots/juno/STEP/thigh_right.step b/models/robots/juno/STEP/thigh_right.step
deleted file mode 100644
index e8946238..00000000
--- a/models/robots/juno/STEP/thigh_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:02e2bb616e603ebc3c313df267808fa8ea2798f61c005e01610cd983713a1256
-size 701432
diff --git a/models/robots/juno/STEP/torso.py b/models/robots/juno/STEP/torso.py
deleted file mode 100644
index b81ee6a1..00000000
--- a/models/robots/juno/STEP/torso.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Torso mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.torso.build_torso()` exactly; the URDF
-link frame coincides with this part-local frame (torso link (waist-yaw joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.torso import build_torso
-
-
-def gen_step():
- return build_torso()
diff --git a/models/robots/juno/STEP/torso.step b/models/robots/juno/STEP/torso.step
deleted file mode 100644
index d52581b8..00000000
--- a/models/robots/juno/STEP/torso.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1aed69fa1e28f952623dd13f7325e6dde0248594d8cd4c10b80a32b7912416f4
-size 4814277
diff --git a/models/robots/juno/STEP/wrist_carrier_left.py b/models/robots/juno/STEP/wrist_carrier_left.py
deleted file mode 100644
index 4114ee2e..00000000
--- a/models/robots/juno/STEP/wrist_carrier_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left wrist carrier mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_wrist_carrier("left")` exactly; the URDF
-link frame coincides with this part-local frame (wrist carrier link (wrist-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_wrist_carrier
-
-
-def gen_step():
- return build_wrist_carrier("left")
diff --git a/models/robots/juno/STEP/wrist_carrier_left.step b/models/robots/juno/STEP/wrist_carrier_left.step
deleted file mode 100644
index 5bc19ae9..00000000
--- a/models/robots/juno/STEP/wrist_carrier_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b872d27689ed7c94d03bd9043609b3c142601e774b89f127924b955f1d8215b
-size 101899
diff --git a/models/robots/juno/STEP/wrist_carrier_right.py b/models/robots/juno/STEP/wrist_carrier_right.py
deleted file mode 100644
index 5b4e7389..00000000
--- a/models/robots/juno/STEP/wrist_carrier_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right wrist carrier mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_wrist_carrier("right")` exactly; the URDF
-link frame coincides with this part-local frame (wrist carrier link (wrist-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_wrist_carrier
-
-
-def gen_step():
- return build_wrist_carrier("right")
diff --git a/models/robots/juno/STEP/wrist_carrier_right.step b/models/robots/juno/STEP/wrist_carrier_right.step
deleted file mode 100644
index f6c91b71..00000000
--- a/models/robots/juno/STEP/wrist_carrier_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8c238eb6c0034d54e7d5acaf48257a78d08c1ac17f9302979fc81d0a85b10779
-size 101903
diff --git a/models/robots/juno/STEP/yaw_housing_left.py b/models/robots/juno/STEP/yaw_housing_left.py
deleted file mode 100644
index 1a6561c8..00000000
--- a/models/robots/juno/STEP/yaw_housing_left.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Left yaw housing mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_yaw_housing("left")` exactly; the URDF
-link frame coincides with this part-local frame (yaw housing link (shoulder-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_yaw_housing
-
-
-def gen_step():
- return build_yaw_housing("left")
diff --git a/models/robots/juno/STEP/yaw_housing_left.step b/models/robots/juno/STEP/yaw_housing_left.step
deleted file mode 100644
index 5dd49789..00000000
--- a/models/robots/juno/STEP/yaw_housing_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2cc1376b7d91713c36342918634c602ec7007d3001e3218f3c2522a991629551
-size 110104
diff --git a/models/robots/juno/STEP/yaw_housing_right.py b/models/robots/juno/STEP/yaw_housing_right.py
deleted file mode 100644
index d01d801a..00000000
--- a/models/robots/juno/STEP/yaw_housing_right.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""Right yaw housing mesh source for the juno URDF (part-local frame, mm).
-
-The compound matches `juno_parts.joints.build_yaw_housing("right")` exactly; the URDF
-link frame coincides with this part-local frame (yaw housing link (shoulder-roll joint center at the origin)).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-JUNO_ROOT = Path(__file__).resolve().parents[1]
-if str(JUNO_ROOT) not in sys.path:
- sys.path.insert(0, str(JUNO_ROOT))
-
-from juno_parts.joints import build_yaw_housing
-
-
-def gen_step():
- return build_yaw_housing("right")
diff --git a/models/robots/juno/STEP/yaw_housing_right.step b/models/robots/juno/STEP/yaw_housing_right.step
deleted file mode 100644
index 9afe4642..00000000
--- a/models/robots/juno/STEP/yaw_housing_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fc99432be6c4848cfd4f3b4da813585e6230f5524171efa26cdd0ec15f5a4525
-size 110108
diff --git a/models/robots/juno/juno.py b/models/robots/juno/juno.py
deleted file mode 100644
index 1c1702a8..00000000
--- a/models/robots/juno/juno.py
+++ /dev/null
@@ -1,201 +0,0 @@
-"""juno — compact humanoid robotics platform concept.
-
-A sleek research humanoid with Unitree-G1-like proportions: ~1.40 m tall,
-athletic stance, exposed cylindrical actuator modules at every joint,
-warm-porcelain composite shells over graphite structure with machined
-aluminum joint rims, coral accents on repeated functional details, a gloss
-midnight-blue sensor visor with cyan pixel-grid eyes, and dexterous
-five-digit hands. No logos.
-
-Degrees of freedom (27 body DOF, statically posed):
- - each leg (x2): hip yaw, hip roll, hip pitch, knee pitch,
- ankle pitch, ankle roll -> 12
- - each arm (x2): shoulder pitch, shoulder roll, shoulder yaw,
- elbow pitch, wrist roll, wrist pitch -> 12
- - waist yaw -> 1
- - neck yaw, neck pitch -> 2
- Hands add cosmetic posed finger articulation (not counted).
-
-Coordinates: pelvis waist-yaw joint center = world origin, +X forward,
-+Y robot-left, +Z up. Soles rest near z = -876 in the athletic stance.
-
-Chain offsets (parent-local joint origins, mm):
- pelvis: waist yaw (0,0,0); hip yaw (0,+-90,-120)
- bracket: hip roll (0,0,-64)
- carrier: hip pitch (0,0,-78)
- thigh: knee (0,0,-290)
- shin: ankle pitch (0,0,-290)
- ankle: ankle roll (0,0,-30)
- foot: sole 26 below origin
- torso: shoulder pitch (0,+-148,290); neck yaw (0,0,324)
- pod: shoulder roll (0, s*34, -72)
- housing: shoulder yaw (0,0,-24)
- bicep: elbow (0,0,-156)
- forearm: wrist roll (0,0,-150)
- wrist: wrist pitch (0,0,-28)
- collar: neck pitch (0,0,46)
-
-Chain offsets and pose angles are shared with the URDF/SRDF generators via
-juno_parts/chain.py; gen_urdf()/gen_srdf() emit juno.urdf/juno.srdf from
-the same spec (see juno_parts/description.py).
-"""
-
-from __future__ import annotations
-
-from build123d import Compound
-
-from cadpy.assembly import AssemblyHelper
-
-from juno_parts import chain
-from juno_parts.arms import build_bicep, build_forearm
-from juno_parts.hand import build_hand
-from juno_parts.head import build_head
-from juno_parts.joints import (
- build_ankle_link,
- build_hip_bracket,
- build_hip_carrier,
- build_neck_collar,
- build_shoulder_pod,
- build_wrist_carrier,
- build_yaw_housing,
-)
-from juno_parts.juno_lib import revolute_attach
-from juno_parts.legs import build_foot, build_shin, build_thigh
-from juno_parts.pelvis import build_pelvis
-from juno_parts.torso import build_torso
-
-# ----------------------------------------------------------- pose (degrees)
-# Athletic ready stance: knees bent, feet flat, arms relaxed forward.
-# Pose angles and chain offsets are shared with the URDF/SRDF generators
-# through juno_parts/chain.py; edit them there.
-HIP_PITCH_DEG = chain.HIP_PITCH_DEG
-KNEE_DEG = chain.KNEE_DEG
-ANKLE_PITCH_DEG = chain.ANKLE_PITCH_DEG
-HIP_ROLL_ABDUCT_DEG = chain.HIP_ROLL_ABDUCT_DEG
-HIP_YAW_DEG = chain.HIP_YAW_DEG
-WAIST_YAW_DEG = chain.WAIST_YAW_DEG
-SHOULDER_PITCH_DEG = chain.SHOULDER_PITCH_DEG
-SHOULDER_ROLL_ABDUCT_DEG = chain.SHOULDER_ROLL_ABDUCT_DEG
-SHOULDER_YAW_INTERNAL_DEG = chain.SHOULDER_YAW_INTERNAL_DEG
-ELBOW_DEG = chain.ELBOW_DEG
-WRIST_ROLL_DEG = chain.WRIST_ROLL_DEG
-WRIST_PITCH_DEG = chain.WRIST_PITCH_DEG
-NECK_YAW_DEG = chain.NECK_YAW_DEG
-NECK_PITCH_DEG = chain.NECK_PITCH_DEG
-
-HIP_Y = chain.HIP_Y_MM
-SHOULDER_Y = chain.SHOULDER_Y_MM
-
-X = chain.X_AXIS
-Y = chain.Y_AXIS
-Z = chain.Z_AXIS
-
-_s = chain.side_sign
-
-
-def assemble() -> Compound:
- asm = AssemblyHelper("juno")
-
- pelvis = asm.add(build_pelvis(), "pelvis")
- torso = asm.add(build_torso(), "torso")
- revolute_attach(
- asm, pelvis, torso, "waist_yaw",
- chain.WAIST_YAW_ORIGIN_MM, Z, X, (0, 0, 0), Z, X, WAIST_YAW_DEG,
- )
-
- collar = asm.add(build_neck_collar(), "neck_collar")
- revolute_attach(
- asm, torso, collar, "neck_yaw",
- chain.NECK_YAW_ORIGIN_MM, Z, X, (0, 0, 0), Z, X, NECK_YAW_DEG,
- )
- head = asm.add(build_head(), "head")
- revolute_attach(
- asm, collar, head, "neck_pitch",
- chain.NECK_PITCH_ORIGIN_MM, Y, X, (0, 0, 0), Y, X, NECK_PITCH_DEG,
- )
-
- for side in ("left", "right"):
- s = _s(side)
-
- # ---- leg chain (6 DOF)
- bracket = asm.add(build_hip_bracket(side), f"hip_bracket_{side}")
- revolute_attach(
- asm, pelvis, bracket, f"hip_yaw_{side}",
- (0, s * HIP_Y, chain.HIP_YAW_DROP_Z_MM), Z, X, (0, 0, 0), Z, X, HIP_YAW_DEG,
- )
- carrier = asm.add(build_hip_carrier(side), f"hip_carrier_{side}")
- revolute_attach(
- asm, bracket, carrier, f"hip_roll_{side}",
- chain.HIP_ROLL_ORIGIN_MM, X, Y, (0, 0, 0), X, Y, s * HIP_ROLL_ABDUCT_DEG,
- )
- thigh = asm.add(build_thigh(side), f"thigh_{side}")
- revolute_attach(
- asm, carrier, thigh, f"hip_pitch_{side}",
- chain.HIP_PITCH_ORIGIN_MM, Y, X, (0, 0, 0), Y, X, HIP_PITCH_DEG,
- )
- shin = asm.add(build_shin(side), f"shin_{side}")
- revolute_attach(
- asm, thigh, shin, f"knee_{side}",
- chain.KNEE_ORIGIN_MM, Y, X, (0, 0, 0), Y, X, KNEE_DEG,
- )
- ankle = asm.add(build_ankle_link(side), f"ankle_link_{side}")
- revolute_attach(
- asm, shin, ankle, f"ankle_pitch_{side}",
- chain.ANKLE_PITCH_ORIGIN_MM, Y, X, (0, 0, 0), Y, X, ANKLE_PITCH_DEG,
- )
- foot = asm.add(build_foot(side), f"foot_{side}")
- revolute_attach(
- asm, ankle, foot, f"ankle_roll_{side}",
- chain.ANKLE_ROLL_ORIGIN_MM, X, Y, (0, 0, 0), X, Y, -s * HIP_ROLL_ABDUCT_DEG,
- )
-
- # ---- arm chain (6 DOF)
- pod = asm.add(build_shoulder_pod(side), f"shoulder_pod_{side}")
- revolute_attach(
- asm, torso, pod, f"shoulder_pitch_{side}",
- (0, s * SHOULDER_Y, chain.SHOULDER_PITCH_RAISE_Z_MM), Y, X, (0, 0, 0), Y, X, SHOULDER_PITCH_DEG,
- )
- housing = asm.add(build_yaw_housing(side), f"yaw_housing_{side}")
- revolute_attach(
- asm, pod, housing, f"shoulder_roll_{side}",
- (0, s * chain.SHOULDER_ROLL_Y_MM, chain.SHOULDER_ROLL_Z_MM), X, Y,
- (0, 0, 0), X, Y, s * SHOULDER_ROLL_ABDUCT_DEG,
- )
- bicep = asm.add(build_bicep(side), f"bicep_{side}")
- revolute_attach(
- asm, housing, bicep, f"shoulder_yaw_{side}",
- chain.SHOULDER_YAW_ORIGIN_MM, Z, X, (0, 0, 0), Z, X, -s * SHOULDER_YAW_INTERNAL_DEG,
- )
- forearm = asm.add(build_forearm(side), f"forearm_{side}")
- revolute_attach(
- asm, bicep, forearm, f"elbow_{side}",
- chain.ELBOW_ORIGIN_MM, Y, X, (0, 0, 0), Y, X, ELBOW_DEG,
- )
- wrist = asm.add(build_wrist_carrier(side), f"wrist_carrier_{side}")
- revolute_attach(
- asm, forearm, wrist, f"wrist_roll_{side}",
- chain.WRIST_ROLL_ORIGIN_MM, Z, X, (0, 0, 0), Z, X, WRIST_ROLL_DEG,
- )
- hand = asm.add(build_hand(side), f"hand_{side}")
- revolute_attach(
- asm, wrist, hand, f"wrist_pitch_{side}",
- chain.WRIST_PITCH_ORIGIN_MM, Y, X, (0, 0, 0), Y, X, WRIST_PITCH_DEG,
- )
-
- return asm.build()
-
-
-def gen_step():
- return assemble()
-
-
-def gen_urdf():
- from juno_parts.description import build_urdf
-
- return {"xml": build_urdf()}
-
-
-def gen_srdf():
- from juno_parts.description import build_srdf
-
- return {"xml": build_srdf(), "urdf": "juno.urdf"}
diff --git a/models/robots/juno/juno.srdf b/models/robots/juno/juno.srdf
deleted file mode 100644
index a0f5a6d3..00000000
--- a/models/robots/juno/juno.srdf
+++ /dev/null
@@ -1,223 +0,0 @@
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diff --git a/models/robots/juno/juno.step b/models/robots/juno/juno.step
deleted file mode 100644
index 9bdf7466..00000000
--- a/models/robots/juno/juno.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:580a8a4ade5ab1b8887cb88a73689de76b0cb7f56b989fda856a832fa00e7aa4
-size 25103342
diff --git a/models/robots/juno/juno.urdf b/models/robots/juno/juno.urdf
deleted file mode 100644
index a3b1b313..00000000
--- a/models/robots/juno/juno.urdf
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diff --git a/models/robots/juno/juno_parts/__init__.py b/models/robots/juno/juno_parts/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/models/robots/juno/juno_parts/arms.py b/models/robots/juno/juno_parts/arms.py
deleted file mode 100644
index d105ce22..00000000
--- a/models/robots/juno/juno_parts/arms.py
+++ /dev/null
@@ -1,228 +0,0 @@
-"""juno humanoid - arm segment builders (bicep, forearm).
-
-Local frames (units mm, robot faces +X, +Y robot-left, +Z up):
-- bicep: origin = shoulder-yaw joint center at the TOP of the bicep,
- segment extends down -Z; elbow axis = Y through (0, 0, -156).
-- forearm: origin = elbow joint center; wrist-roll seam at z = -150.
-
-Styling: graphite structural core with ice-gray clamshell panels split
-front/back (graphite reveal strips on the +-Y sides), machined-aluminum
-joint rims, exposed cylindrical elbow actuator.
-"""
-
-from __future__ import annotations
-
-import math # noqa: F401 (kept per module convention)
-import sys
-from pathlib import Path
-
-
-
-from build123d import (
- Axis,
- Box,
- Circle,
- Cylinder,
- Ellipse,
- Plane,
- Pos,
- RectangleRounded,
- Rot,
- chamfer,
- fillet,
- loft,
-)
-
-from .juno_lib import (
- ALU_COLOR,
- SHELL_COLOR,
- STRUCT_COLOR,
- actuator_solids,
- part_compound,
- styled,
-)
-
-
-# ---------------------------------------------------------------- helpers
-
-
-def _loft(specs):
- """Loft elliptical sections; specs = [(z, half_x, half_y), ...]."""
- return loft([Plane.XY.offset(z) * Ellipse(rx, ry) for z, rx, ry in specs])
-
-
-def _try_fillet(solid, edges, radius):
- try:
- return fillet(edges, radius)
- except Exception:
- return solid
-
-
-def _try_chamfer(solid, edges, length):
- try:
- return chamfer(edges, length)
- except Exception:
- return solid
-
-
-def _ring_groove(solid, z, r_out, depth=0.9, width=1.5):
- """Shallow machined groove around a Z-axis ring at height z."""
- try:
- g = Pos(0, 0, z) * (
- Cylinder(radius=r_out + 1.0, height=width)
- - Cylinder(radius=r_out - depth, height=width)
- )
- return solid - g
- except Exception:
- return solid
-
-
-def _y_cyl(y_center, z_center, radius, height):
- """Cylinder whose axis is Y, centered at (0, y_center, z_center)."""
- return Pos(0, y_center, z_center) * Rot(-90, 0, 0) * Cylinder(
- radius=radius, height=height
- )
-
-
-# ---------------------------------------------------------------- bicep
-
-
-def build_bicep(side: str):
- s = 1.0 if side == "left" else -1.0
- p = f"bicep_{side}"
- solids = []
-
- # -- shoulder-yaw rotation ring (LOCKED: dia 56, z 0..-10) --
- ring = Pos(0, 0, -5.0) * Cylinder(radius=28.0, height=10.0)
- ring = _try_chamfer(ring, ring.edges(), 0.8)
- solids.append(styled(ring, f"{p}_yaw_ring", ALU_COLOR))
-
- # -- upper-arm capsule: graphite core + clamshell panels (dia ~54 -> 46) --
- outer_specs = [
- (-10.0, 26.5, 26.5),
- (-44.0, 27.4, 27.4),
- (-78.0, 25.2, 25.2),
- (-106.0, 23.0, 23.0),
- ]
- core_specs = [(z, rx - 2.5, ry - 2.5) for z, rx, ry in outer_specs]
- core = _loft(core_specs)
- outer = _loft(outer_specs)
- blank = outer - core
- seam = 3.2 # graphite reveal half-width on each side
- front = blank & (Pos(45.0 + seam, 0, -58.0) * Box(90, 90, 130))
- rear = blank & (Pos(-45.0 - seam, 0, -58.0) * Box(90, 90, 130))
- front = _try_fillet(front, front.edges(), 0.8)
- rear = _try_fillet(rear, rear.edges(), 0.8)
- solids.append(styled(core, f"{p}_core", STRUCT_COLOR))
- solids.append(styled(front, f"{p}_shell_front", SHELL_COLOR))
- solids.append(styled(rear, f"{p}_shell_rear", SHELL_COLOR))
-
- # -- distal elbow fork (LOCKED: axis Y @ (0,0,-156), plates |y| 28..36,
- # bosses dia 44 @ (0,+-32,-156), blends in by z -110) --
- trans = loft(
- [
- Plane.XY.offset(-108.0) * Circle(22.9),
- Plane.XY.offset(-120.0) * RectangleRounded(44.0, 54.0, 14.0),
- Plane.XY.offset(-132.0) * RectangleRounded(50.0, 72.0, 10.0),
- ]
- )
- fork = trans
- for ys in (1.0, -1.0):
- slab = Pos(0, ys * 32.0, -144.0) * Box(50.0, 8.0, 24.0)
- # soften plate edges on the primitives (post-boolean chamfers on this
- # shape hang OCC, so detail is applied before fusing)
- slab = _try_fillet(slab, slab.edges().filter_by(Axis.Y), 2.0)
- tip = _y_cyl(ys * 32.0, -156.0, 25.0, 8.0)
- tip = _try_chamfer(tip, tip.edges(), 1.0)
- fork = fork + slab + tip
- # clearance arch for the forearm elbow can (dia 62 + margin, |y|<=27.2)
- fork = fork - _y_cyl(0.0, -156.0, 34.0, 54.4)
- # through-bores for the aluminum joint bosses
- for ys in (1.0, -1.0):
- fork = fork - _y_cyl(ys * 32.0, -156.0, 22.05, 8.4)
- solids.append(styled(fork, f"{p}_fork", STRUCT_COLOR))
-
- # -- aluminum elbow bosses (LOCKED dia 44 at (0,+-32,-156)) --
- for ys in (1.0, -1.0):
- tag = "outboard" if ys * s > 0 else "inboard"
- body = _y_cyl(ys * 32.0, -156.0, 21.9, 8.0)
- lip = _y_cyl(ys * 37.0, -156.0, 16.0, 2.0)
- boss = body + lip
- boss = _try_chamfer(boss, boss.edges(), 0.8)
- solids.append(styled(boss, f"{p}_elbow_boss_{tag}", ALU_COLOR))
-
- return part_compound(p, solids)
-
-
-# ---------------------------------------------------------------- forearm
-
-
-def build_forearm(side: str):
- s = 1.0 if side == "left" else -1.0
- p = f"forearm_{side}"
- solids = []
-
- # -- exposed elbow actuator (LOCKED: dia 62, len 50, axis Y) --
- # output hub faces outboard (+y on left, -y on right)
- act = actuator_solids(f"{p}_elbow", 62.0, 50.0, center=(0, 0, 0), axis=(0, s, 0))
- can, rest = act[0], act[1:]
- solids.extend(rest)
-
- # -- graphite chassis: yoke wrapping the can, tapering to a wrist flare --
- core_specs = [
- (-4.0, 24.0, 16.0),
- (-26.0, 26.0, 18.0),
- (-72.0, 19.0, 14.5),
- (-112.0, 15.5, 12.5),
- (-126.0, 15.2, 12.4),
- ]
- flare = loft(
- [
- Plane.XY.offset(-126.0) * Ellipse(15.2, 12.4),
- Plane.XY.offset(-140.0) * Ellipse(19.0, 19.0),
- ]
- )
- chassis = can + _loft(core_specs) + flare
- solids.append(styled(chassis, f"{p}_chassis", STRUCT_COLOR))
-
- # -- ice-gray clamshell panels over the chassis --
- outer_specs = [
- (-26.0, 28.5, 20.5),
- (-72.0, 21.5, 17.0),
- (-112.0, 18.0, 15.0),
- (-124.0, 17.6, 14.7),
- ]
- blank = _loft(outer_specs) - chassis
- # wrap the panel tops around the actuator with a 2.5mm reveal
- blank = blank - _y_cyl(0.0, 0.0, 33.5, 80.0)
- seam = 3.0
- front = blank & (Pos(45.0 + seam, 0, -76.0) * Box(90, 80, 110))
- rear = blank & (Pos(-45.0 - seam, 0, -76.0) * Box(90, 80, 110))
- front = _try_fillet(front, front.edges(), 0.8)
- rear = _try_fillet(rear, rear.edges(), 0.8)
- solids.append(styled(front, f"{p}_shell_front", SHELL_COLOR))
- solids.append(styled(rear, f"{p}_shell_rear", SHELL_COLOR))
-
- # -- wrist-roll collar (LOCKED: dia 44, z -140..-150) --
- collar = Pos(0, 0, -145.0) * Cylinder(radius=22.0, height=10.0)
- collar = _try_chamfer(collar, collar.edges(), 0.8)
- solids.append(styled(collar, f"{p}_wrist_collar", ALU_COLOR))
-
- return part_compound(p, solids)
-
-
-# ---------------------------------------------------------------- demo
-
-
-def gen_step():
- layout = [
- (build_bicep("left"), 0.0),
- (build_forearm("left"), 220.0),
- (build_bicep("right"), 440.0),
- (build_forearm("right"), 660.0),
- ]
- parts = []
- for comp, x in layout:
- comp.location = Pos(x, 0, 0)
- parts.append(comp)
- return part_compound("juno_arms", parts)
diff --git a/models/robots/juno/juno_parts/chain.py b/models/robots/juno/juno_parts/chain.py
deleted file mode 100644
index 5effea5a..00000000
--- a/models/robots/juno/juno_parts/chain.py
+++ /dev/null
@@ -1,412 +0,0 @@
-"""juno kinematic chain spec shared by the CAD assembly and URDF/SRDF.
-
-Stdlib-only (no build123d) so robot-description generators can import it
-cheaply. `juno.py` consumes the same offsets and CAD pose angles, keeping
-the STEP assembly and the URDF tree in lockstep.
-
-Design ledger (URDF):
-- Units: chain offsets are millimeters in each parent part's local frame;
- URDF emission converts to meters/radians. Frames follow REP-103: +X
- forward, +Y robot-left, +Z up. The pelvis waist-yaw joint center is the
- robot origin; every child link frame sits at its joint center with axes
- parallel to the parent at zero joint angle (pure translations).
-- Source: offsets and axes mirror the `revolute_attach()` calls in
- `juno.py` (the build123d assembly), which is the CAD source of truth.
-- Positive-motion conventions (verified against the CAD athletic stance):
- pitch joints rotate about +Y (positive swings the distal segment
- backward: knee flexion positive, hip/shoulder flexion forward negative);
- roll joints rotate about +X (positive moves the distal segment toward
- +Y, robot-left); yaw joints rotate about +Z (positive turns toward
- robot-left). Side-dependent signs (abduction, internal rotation) are
- encoded per side in limits and poses.
-- Joint limits, efforts, and velocities are ASSUMED plausible values for a
- 1.4 m research-humanoid concept (G1-class actuators); the CAD does not
- model hard stops. Documented here, not measured.
-"""
-
-from __future__ import annotations
-
-# Lateral offsets (mm) from juno.py.
-HIP_Y_MM = 90.0
-SHOULDER_Y_MM = 148.0
-
-# Parent-local joint origin offsets (mm); see juno.py chain-offset docstring.
-WAIST_YAW_ORIGIN_MM = (0.0, 0.0, 0.0)
-NECK_YAW_ORIGIN_MM = (0.0, 0.0, 324.0)
-NECK_PITCH_ORIGIN_MM = (0.0, 0.0, 46.0)
-HIP_YAW_DROP_Z_MM = -120.0
-HIP_ROLL_ORIGIN_MM = (0.0, 0.0, -64.0)
-HIP_PITCH_ORIGIN_MM = (0.0, 0.0, -78.0)
-KNEE_ORIGIN_MM = (0.0, 0.0, -290.0)
-ANKLE_PITCH_ORIGIN_MM = (0.0, 0.0, -290.0)
-ANKLE_ROLL_ORIGIN_MM = (0.0, 0.0, -30.0)
-SHOULDER_PITCH_RAISE_Z_MM = 290.0
-SHOULDER_ROLL_Y_MM = 34.0
-SHOULDER_ROLL_Z_MM = -72.0
-SHOULDER_YAW_ORIGIN_MM = (0.0, 0.0, -24.0)
-ELBOW_ORIGIN_MM = (0.0, 0.0, -156.0)
-WRIST_ROLL_ORIGIN_MM = (0.0, 0.0, -150.0)
-WRIST_PITCH_ORIGIN_MM = (0.0, 0.0, -28.0)
-
-X_AXIS = (1.0, 0.0, 0.0)
-Y_AXIS = (0.0, 1.0, 0.0)
-Z_AXIS = (0.0, 0.0, 1.0)
-
-# Sole plane below the foot link origin (foot part bbox bottom; the rubber
-# sole pads are modeled 26 mm under the ankle-roll center).
-SOLE_BELOW_FOOT_MM = 26.0
-
-# Standing pelvis height at the all-zero pose: the URDF roots a frame-only
-# `base_footprint` link at ground level and lifts the pelvis by this fixed
-# offset so the zero pose stands exactly on z = 0. Posed states with bent
-# knees (athletic_ready, squat) keep the pelvis fixed and hover slightly.
-BASE_FOOTPRINT_TO_PELVIS_Z_MM = -(
- HIP_YAW_DROP_Z_MM
- + HIP_ROLL_ORIGIN_MM[2]
- + HIP_PITCH_ORIGIN_MM[2]
- + KNEE_ORIGIN_MM[2]
- + ANKLE_PITCH_ORIGIN_MM[2]
- + ANKLE_ROLL_ORIGIN_MM[2]
- - SOLE_BELOW_FOOT_MM
-)
-
-SIDES = ("left", "right")
-
-
-def side_sign(side: str) -> float:
- """+1 for the robot-left side, -1 for the robot-right side."""
- return 1.0 if side == "left" else -1.0
-
-
-# CAD athletic ready stance (degrees), shared with juno.py and the SRDF
-# `athletic_ready` group state.
-HIP_PITCH_DEG = -16.0
-KNEE_DEG = 32.0
-ANKLE_PITCH_DEG = -16.0
-HIP_ROLL_ABDUCT_DEG = 3.0 # left +, right -; ankle roll compensates
-HIP_YAW_DEG = 0.0
-WAIST_YAW_DEG = 0.0
-SHOULDER_PITCH_DEG = -8.0 # negative swings the arm forward
-SHOULDER_ROLL_ABDUCT_DEG = 8.0 # elbows out
-SHOULDER_YAW_INTERNAL_DEG = 8.0
-ELBOW_DEG = -20.0 # negative flexes the forearm forward
-WRIST_ROLL_DEG = 0.0
-WRIST_PITCH_DEG = -2.0
-NECK_YAW_DEG = 0.0
-NECK_PITCH_DEG = -2.0
-
-
-# ---------------------------------------------------------------- limits
-# ASSUMED actuator classes (Nm rated torque / rad/s no-load class speed)
-# for a G1-class concept humanoid; the CAD does not model actuators' data.
-LEG_PRIMARY_EFFORT_NM = 120.0 # hip yaw/roll/pitch, knee
-LEG_PRIMARY_VELOCITY_RAD_S = 15.0
-ANKLE_EFFORT_NM = 50.0
-ANKLE_VELOCITY_RAD_S = 12.0
-WAIST_EFFORT_NM = 60.0
-WAIST_VELOCITY_RAD_S = 8.0
-SHOULDER_EFFORT_NM = 40.0
-SHOULDER_VELOCITY_RAD_S = 12.0
-ELBOW_EFFORT_NM = 35.0
-ELBOW_VELOCITY_RAD_S = 12.0
-WRIST_EFFORT_NM = 15.0
-WRIST_VELOCITY_RAD_S = 15.0
-NECK_EFFORT_NM = 8.0
-NECK_VELOCITY_RAD_S = 8.0
-
-# ASSUMED joint travel (degrees), humanoid-plausible and containing the CAD
-# athletic stance. Asymmetric ranges are authored for the LEFT side with
-# the convention noted; the right side mirrors lower/upper.
-WAIST_YAW_RANGE_DEG = (-150.0, 150.0)
-NECK_YAW_RANGE_DEG = (-90.0, 90.0)
-NECK_PITCH_RANGE_DEG = (-35.0, 45.0) # negative looks up, positive down
-HIP_YAW_RANGE_DEG = (-60.0, 60.0)
-HIP_ROLL_LEFT_RANGE_DEG = (-20.0, 45.0) # +abduction for the left leg
-HIP_PITCH_RANGE_DEG = (-120.0, 30.0) # negative flexes forward
-KNEE_RANGE_DEG = (-5.0, 140.0) # positive flexes backward
-ANKLE_PITCH_RANGE_DEG = (-30.0, 50.0) # negative toes-up
-ANKLE_ROLL_LEFT_RANGE_DEG = (-25.0, 25.0)
-SHOULDER_PITCH_RANGE_DEG = (-180.0, 60.0) # negative swings forward
-SHOULDER_ROLL_LEFT_RANGE_DEG = (-25.0, 160.0) # +abduction for the left arm
-SHOULDER_YAW_RANGE_DEG = (-120.0, 120.0)
-ELBOW_RANGE_DEG = (-145.0, 5.0) # negative flexes forward
-WRIST_ROLL_RANGE_DEG = (-170.0, 170.0)
-WRIST_PITCH_RANGE_DEG = (-70.0, 70.0)
-
-
-def _mirror_range(range_deg: tuple[float, float], side: str) -> tuple[float, float]:
- if side == "left":
- return range_deg
- lower, upper = range_deg
- return (-upper, -lower)
-
-
-def central_joints() -> list[dict]:
- """The three non-sided joints in root-to-leaf order."""
- return [
- {
- "name": "waist_yaw",
- "parent": "pelvis",
- "child": "torso",
- "origin_mm": WAIST_YAW_ORIGIN_MM,
- "axis": Z_AXIS,
- "range_deg": WAIST_YAW_RANGE_DEG,
- "effort_nm": WAIST_EFFORT_NM,
- "velocity_rad_s": WAIST_VELOCITY_RAD_S,
- },
- {
- "name": "neck_yaw",
- "parent": "torso",
- "child": "neck_collar",
- "origin_mm": NECK_YAW_ORIGIN_MM,
- "axis": Z_AXIS,
- "range_deg": NECK_YAW_RANGE_DEG,
- "effort_nm": NECK_EFFORT_NM,
- "velocity_rad_s": NECK_VELOCITY_RAD_S,
- },
- {
- "name": "neck_pitch",
- "parent": "neck_collar",
- "child": "head",
- "origin_mm": NECK_PITCH_ORIGIN_MM,
- "axis": Y_AXIS,
- "range_deg": NECK_PITCH_RANGE_DEG,
- "effort_nm": NECK_EFFORT_NM,
- "velocity_rad_s": NECK_VELOCITY_RAD_S,
- },
- ]
-
-
-def leg_joints(side: str) -> list[dict]:
- s = side_sign(side)
- return [
- {
- "name": f"hip_yaw_{side}",
- "parent": "pelvis",
- "child": f"hip_bracket_{side}",
- "origin_mm": (0.0, s * HIP_Y_MM, HIP_YAW_DROP_Z_MM),
- "axis": Z_AXIS,
- "range_deg": HIP_YAW_RANGE_DEG,
- "effort_nm": LEG_PRIMARY_EFFORT_NM,
- "velocity_rad_s": LEG_PRIMARY_VELOCITY_RAD_S,
- },
- {
- "name": f"hip_roll_{side}",
- "parent": f"hip_bracket_{side}",
- "child": f"hip_carrier_{side}",
- "origin_mm": HIP_ROLL_ORIGIN_MM,
- "axis": X_AXIS,
- "range_deg": _mirror_range(HIP_ROLL_LEFT_RANGE_DEG, side),
- "effort_nm": LEG_PRIMARY_EFFORT_NM,
- "velocity_rad_s": LEG_PRIMARY_VELOCITY_RAD_S,
- },
- {
- "name": f"hip_pitch_{side}",
- "parent": f"hip_carrier_{side}",
- "child": f"thigh_{side}",
- "origin_mm": HIP_PITCH_ORIGIN_MM,
- "axis": Y_AXIS,
- "range_deg": HIP_PITCH_RANGE_DEG,
- "effort_nm": LEG_PRIMARY_EFFORT_NM,
- "velocity_rad_s": LEG_PRIMARY_VELOCITY_RAD_S,
- },
- {
- "name": f"knee_{side}",
- "parent": f"thigh_{side}",
- "child": f"shin_{side}",
- "origin_mm": KNEE_ORIGIN_MM,
- "axis": Y_AXIS,
- "range_deg": KNEE_RANGE_DEG,
- "effort_nm": LEG_PRIMARY_EFFORT_NM,
- "velocity_rad_s": LEG_PRIMARY_VELOCITY_RAD_S,
- },
- {
- "name": f"ankle_pitch_{side}",
- "parent": f"shin_{side}",
- "child": f"ankle_link_{side}",
- "origin_mm": ANKLE_PITCH_ORIGIN_MM,
- "axis": Y_AXIS,
- "range_deg": ANKLE_PITCH_RANGE_DEG,
- "effort_nm": ANKLE_EFFORT_NM,
- "velocity_rad_s": ANKLE_VELOCITY_RAD_S,
- },
- {
- "name": f"ankle_roll_{side}",
- "parent": f"ankle_link_{side}",
- "child": f"foot_{side}",
- "origin_mm": ANKLE_ROLL_ORIGIN_MM,
- "axis": X_AXIS,
- "range_deg": _mirror_range(ANKLE_ROLL_LEFT_RANGE_DEG, side),
- "effort_nm": ANKLE_EFFORT_NM,
- "velocity_rad_s": ANKLE_VELOCITY_RAD_S,
- },
- ]
-
-
-def arm_joints(side: str) -> list[dict]:
- s = side_sign(side)
- return [
- {
- "name": f"shoulder_pitch_{side}",
- "parent": "torso",
- "child": f"shoulder_pod_{side}",
- "origin_mm": (0.0, s * SHOULDER_Y_MM, SHOULDER_PITCH_RAISE_Z_MM),
- "axis": Y_AXIS,
- "range_deg": SHOULDER_PITCH_RANGE_DEG,
- "effort_nm": SHOULDER_EFFORT_NM,
- "velocity_rad_s": SHOULDER_VELOCITY_RAD_S,
- },
- {
- "name": f"shoulder_roll_{side}",
- "parent": f"shoulder_pod_{side}",
- "child": f"yaw_housing_{side}",
- "origin_mm": (0.0, s * SHOULDER_ROLL_Y_MM, SHOULDER_ROLL_Z_MM),
- "axis": X_AXIS,
- "range_deg": _mirror_range(SHOULDER_ROLL_LEFT_RANGE_DEG, side),
- "effort_nm": SHOULDER_EFFORT_NM,
- "velocity_rad_s": SHOULDER_VELOCITY_RAD_S,
- },
- {
- "name": f"shoulder_yaw_{side}",
- "parent": f"yaw_housing_{side}",
- "child": f"bicep_{side}",
- "origin_mm": SHOULDER_YAW_ORIGIN_MM,
- "axis": Z_AXIS,
- "range_deg": SHOULDER_YAW_RANGE_DEG,
- "effort_nm": SHOULDER_EFFORT_NM,
- "velocity_rad_s": SHOULDER_VELOCITY_RAD_S,
- },
- {
- "name": f"elbow_{side}",
- "parent": f"bicep_{side}",
- "child": f"forearm_{side}",
- "origin_mm": ELBOW_ORIGIN_MM,
- "axis": Y_AXIS,
- "range_deg": ELBOW_RANGE_DEG,
- "effort_nm": ELBOW_EFFORT_NM,
- "velocity_rad_s": ELBOW_VELOCITY_RAD_S,
- },
- {
- "name": f"wrist_roll_{side}",
- "parent": f"forearm_{side}",
- "child": f"wrist_carrier_{side}",
- "origin_mm": WRIST_ROLL_ORIGIN_MM,
- "axis": Z_AXIS,
- "range_deg": WRIST_ROLL_RANGE_DEG,
- "effort_nm": WRIST_EFFORT_NM,
- "velocity_rad_s": WRIST_VELOCITY_RAD_S,
- },
- {
- "name": f"wrist_pitch_{side}",
- "parent": f"wrist_carrier_{side}",
- "child": f"hand_{side}",
- "origin_mm": WRIST_PITCH_ORIGIN_MM,
- "axis": Y_AXIS,
- "range_deg": WRIST_PITCH_RANGE_DEG,
- "effort_nm": WRIST_EFFORT_NM,
- "velocity_rad_s": WRIST_VELOCITY_RAD_S,
- },
- ]
-
-
-def all_joints() -> list[dict]:
- """All 27 movable joints in root-to-leaf order (legs then arms per side)."""
- joints = central_joints()
- for side in SIDES:
- joints.extend(leg_joints(side))
- for side in SIDES:
- joints.extend(arm_joints(side))
- return joints
-
-
-def all_links() -> list[str]:
- """All 28 link names, root first, in joint emission order."""
- links = ["pelvis"]
- for joint in all_joints():
- links.append(joint["child"])
- return links
-
-
-# ----------------------------------------------------------------- poses
-def _athletic_ready_deg() -> dict[str, float]:
- pose = {
- "waist_yaw": WAIST_YAW_DEG,
- "neck_yaw": NECK_YAW_DEG,
- "neck_pitch": NECK_PITCH_DEG,
- }
- for side in SIDES:
- s = side_sign(side)
- pose.update(
- {
- f"hip_yaw_{side}": HIP_YAW_DEG,
- f"hip_roll_{side}": s * HIP_ROLL_ABDUCT_DEG,
- f"hip_pitch_{side}": HIP_PITCH_DEG,
- f"knee_{side}": KNEE_DEG,
- f"ankle_pitch_{side}": ANKLE_PITCH_DEG,
- f"ankle_roll_{side}": -s * HIP_ROLL_ABDUCT_DEG,
- f"shoulder_pitch_{side}": SHOULDER_PITCH_DEG,
- f"shoulder_roll_{side}": s * SHOULDER_ROLL_ABDUCT_DEG,
- f"shoulder_yaw_{side}": -s * SHOULDER_YAW_INTERNAL_DEG,
- f"elbow_{side}": ELBOW_DEG,
- f"wrist_roll_{side}": WRIST_ROLL_DEG,
- f"wrist_pitch_{side}": WRIST_PITCH_DEG,
- }
- )
- return pose
-
-
-def _wave_right_deg() -> dict[str, float]:
- """Friendly right-hand wave on top of the athletic lower body.
-
- Right upper arm raised out to the side just above horizontal
- (shoulder roll), full external shoulder yaw so the 90 deg elbow
- carries the forearm vertically up, slight wrist-pitch flick, head
- turned toward the waving hand.
- """
- pose = _athletic_ready_deg()
- pose.update(
- {
- "shoulder_pitch_right": 0.0,
- "shoulder_roll_right": -115.0,
- "shoulder_yaw_right": -90.0,
- "elbow_right": -90.0,
- "wrist_roll_right": 0.0,
- "wrist_pitch_right": -15.0,
- "neck_yaw": -20.0,
- "neck_pitch": -5.0,
- }
- )
- return pose
-
-
-def _squat_deg() -> dict[str, float]:
- """Deep flat-footed squat: pitch sum stays zero so the soles stay level."""
- pose = _athletic_ready_deg()
- for side in SIDES:
- pose.update(
- {
- f"hip_pitch_{side}": -55.0,
- f"knee_{side}": 85.0,
- f"ankle_pitch_{side}": -30.0,
- }
- )
- return pose
-
-
-def _t_pose_deg() -> dict[str, float]:
- pose = {name: 0.0 for name in (joint["name"] for joint in all_joints())}
- pose["shoulder_roll_left"] = 90.0
- pose["shoulder_roll_right"] = -90.0
- return pose
-
-
-def named_poses_deg() -> dict[str, dict[str, float]]:
- """SRDF group-state poses (degrees) for the whole_body group."""
- zero = {name: 0.0 for name in (joint["name"] for joint in all_joints())}
- return {
- "zero": zero,
- "athletic_ready": _athletic_ready_deg(),
- "t_pose": _t_pose_deg(),
- "wave_right": _wave_right_deg(),
- "squat": _squat_deg(),
- }
diff --git a/models/robots/juno/juno_parts/description.py b/models/robots/juno/juno_parts/description.py
deleted file mode 100644
index cc51ca39..00000000
--- a/models/robots/juno/juno_parts/description.py
+++ /dev/null
@@ -1,284 +0,0 @@
-"""URDF and SRDF emission for the juno humanoid.
-
-Stdlib-only builders consumed by `juno.py` `gen_urdf()` / `gen_srdf()`.
-
-Design ledger (in addition to the chain ledger in `juno_parts/chain.py`):
-- Units: URDF output is meters/kilograms/radians; chain offsets and baked
- mass properties are millimeters (mesh sources are mm, hence the 0.001
- mesh scale). Frames: +X forward, +Y robot-left, +Z up; the pelvis link
- is the root with the waist-yaw joint center at its origin.
-- Link frames: every link frame coincides with its parent joint frame and
- with the part-local modeling frame of the matching `juno_parts` builder,
- so all visual mesh origins are identity.
-- Visual geometry: per-link 3MF meshes under `3MF/` exported from the
- `STEP/.py` wrapper sources (XCAF colors preserved).
-- Collision geometry: axis-aligned bounding boxes of each part in its
- link frame — intentionally coarse, for viewer/planning sanity rather
- than contact-accurate simulation.
-- Inertials: CAD volume properties (OCP BRepGProp) at an ASSUMED uniform
- density chosen so the whole robot masses ASSUMED_TOTAL_MASS_KG. COM and
- the full inertia tensor (about the COM, link frame) come from the CAD
- solids; only the density is assumed. Confidence: estimated.
-- SRDF: planning groups are the standard humanoid split (arms, legs,
- torso, head, hand end effectors, whole_body union). Group states are
- whole-body named poses from `chain.named_poses_deg()` converted to
- radians. Disabled collisions: URDF-adjacent pairs (reason Adjacent)
- plus pairs whose collision boxes already overlap in the zero pose
- (reason Default), computed from the chain offsets at import time.
-"""
-
-from __future__ import annotations
-
-import math
-import xml.etree.ElementTree as ET
-
-from juno_parts import chain
-from juno_parts.mass_props import LINK_MASS_PROPS, TOTAL_VOLUME_MM3
-
-ROBOT_NAME = "juno"
-
-# ~1.40 m G1-class research humanoid; the CAD models styled shells, not
-# component masses, so total mass is an assumption distributed by volume.
-ASSUMED_TOTAL_MASS_KG = 35.0
-UNIFORM_DENSITY_KG_PER_MM3 = ASSUMED_TOTAL_MASS_KG / TOTAL_VOLUME_MM3
-
-MM_TO_M = 0.001
-# Unit-density inertia integrates r^2 dV in mm^5; kg*m^2 = density * mm^5 * 1e-6.
-INERTIA_MM5_TO_KG_M2 = UNIFORM_DENSITY_KG_PER_MM3 * 1e-6
-MESH_DIR = "3MF"
-MESH_SCALE_FROM_MM = "0.001 0.001 0.001"
-
-HEADER_NOTE = (
- " Generated by juno.py (juno_parts/description.py) for CAD Viewer and "
- "external URDF consumers. Link frames coincide with juno_parts part-local "
- "frames; meshes are mm 3MF exports of the same builders. Inertials use CAD "
- "volume properties at a uniform assumed density totalling 35 kg; collision "
- "geometry is per-link CAD bounding boxes; joint limits/efforts are assumed "
- "G1-class values documented in juno_parts/chain.py. "
-)
-
-
-def _fmt(value: float) -> str:
- text = f"{value:.9f}".rstrip("0").rstrip(".")
- if text in ("-0", ""):
- return "0"
- return text
-
-
-def _vec(values, scale: float = 1.0) -> str:
- return " ".join(_fmt(v * scale) for v in values)
-
-
-def _link_element(robot: ET.Element, name: str) -> None:
- volume_mm3, com_mm, inertia_mm5, bbox_min_mm, bbox_max_mm = LINK_MASS_PROPS[name]
- link = ET.SubElement(robot, "link", {"name": name})
-
- inertial = ET.SubElement(link, "inertial")
- ET.SubElement(inertial, "origin", {"xyz": _vec(com_mm, MM_TO_M), "rpy": "0 0 0"})
- ET.SubElement(inertial, "mass", {"value": _fmt(volume_mm3 * UNIFORM_DENSITY_KG_PER_MM3)})
- ixx, iyy, izz, ixy, ixz, iyz = (v * INERTIA_MM5_TO_KG_M2 for v in inertia_mm5)
- ET.SubElement(
- inertial,
- "inertia",
- {
- "ixx": _fmt(ixx), "ixy": _fmt(ixy), "ixz": _fmt(ixz),
- "iyy": _fmt(iyy), "iyz": _fmt(iyz), "izz": _fmt(izz),
- },
- )
-
- visual = ET.SubElement(link, "visual")
- ET.SubElement(visual, "origin", {"xyz": "0 0 0", "rpy": "0 0 0"})
- geometry = ET.SubElement(visual, "geometry")
- ET.SubElement(
- geometry,
- "mesh",
- {"filename": f"{MESH_DIR}/{name}.3mf", "scale": MESH_SCALE_FROM_MM},
- )
-
- bbox_center_mm = [(lo + hi) / 2.0 for lo, hi in zip(bbox_min_mm, bbox_max_mm)]
- bbox_size_mm = [hi - lo for lo, hi in zip(bbox_min_mm, bbox_max_mm)]
- collision = ET.SubElement(link, "collision")
- ET.SubElement(collision, "origin", {"xyz": _vec(bbox_center_mm, MM_TO_M), "rpy": "0 0 0"})
- geometry = ET.SubElement(collision, "geometry")
- ET.SubElement(geometry, "box", {"size": _vec(bbox_size_mm, MM_TO_M)})
-
-
-def _joint_element(robot: ET.Element, joint: dict) -> None:
- element = ET.SubElement(robot, "joint", {"name": joint["name"], "type": "revolute"})
- ET.SubElement(element, "parent", {"link": joint["parent"]})
- ET.SubElement(element, "child", {"link": joint["child"]})
- ET.SubElement(element, "origin", {"xyz": _vec(joint["origin_mm"], MM_TO_M), "rpy": "0 0 0"})
- ET.SubElement(element, "axis", {"xyz": _vec(joint["axis"])})
- lower_deg, upper_deg = joint["range_deg"]
- ET.SubElement(
- element,
- "limit",
- {
- "lower": _fmt(math.radians(lower_deg)),
- "upper": _fmt(math.radians(upper_deg)),
- "effort": _fmt(joint["effort_nm"]),
- "velocity": _fmt(joint["velocity_rad_s"]),
- },
- )
-
-
-def build_urdf() -> ET.Element:
- robot = ET.Element("robot", {"name": ROBOT_NAME})
- robot.append(ET.Comment(HEADER_NOTE))
- # Frame-only ground root (no inertial/visual/collision by intent): the
- # pelvis is lifted so the all-zero pose stands with its soles on z = 0.
- ET.SubElement(robot, "link", {"name": "base_footprint"})
- for name in chain.all_links():
- _link_element(robot, name)
- footprint_joint = ET.SubElement(
- robot, "joint", {"name": "base_footprint_to_pelvis", "type": "fixed"}
- )
- ET.SubElement(footprint_joint, "parent", {"link": "base_footprint"})
- ET.SubElement(footprint_joint, "child", {"link": "pelvis"})
- ET.SubElement(
- footprint_joint,
- "origin",
- {"xyz": _vec((0.0, 0.0, chain.BASE_FOOTPRINT_TO_PELVIS_Z_MM), MM_TO_M), "rpy": "0 0 0"},
- )
- for joint in chain.all_joints():
- _joint_element(robot, joint)
- return robot
-
-
-# ------------------------------------------------------------------ SRDF
-def _link_origins_world_mm() -> dict[str, tuple[float, float, float]]:
- """Link-frame origins in the pelvis frame at the all-zero pose.
-
- At zero joint angles every chain transform is a pure translation, so
- origins are cumulative offset sums.
- """
- origins = {"pelvis": (0.0, 0.0, 0.0)}
- for joint in chain.all_joints():
- px, py, pz = origins[joint["parent"]]
- ox, oy, oz = joint["origin_mm"]
- origins[joint["child"]] = (px + ox, py + oy, pz + oz)
- return origins
-
-
-def _zero_pose_overlapping_pairs() -> list[tuple[str, str]]:
- """Collision-box pairs that already overlap in the zero pose."""
- origins = _link_origins_world_mm()
- boxes = {}
- for name in chain.all_links():
- _, _, _, bbox_min_mm, bbox_max_mm = LINK_MASS_PROPS[name]
- origin = origins[name]
- boxes[name] = (
- [o + lo for o, lo in zip(origin, bbox_min_mm)],
- [o + hi for o, hi in zip(origin, bbox_max_mm)],
- )
- names = chain.all_links()
- pairs = []
- for i, a in enumerate(names):
- a_min, a_max = boxes[a]
- for b in names[i + 1 :]:
- b_min, b_max = boxes[b]
- if all(a_min[k] < b_max[k] and a_max[k] > b_min[k] for k in range(3)):
- pairs.append((a, b))
- return pairs
-
-
-def _adjacent_pairs() -> list[tuple[str, str]]:
- return [(joint["parent"], joint["child"]) for joint in chain.all_joints()]
-
-
-def _arm_group(robot: ET.Element, side: str) -> None:
- # The arm chain tips at the wrist carrier (the end-effector attach link)
- # so the hand end-effector group shares no links with its parent group.
- group = ET.SubElement(robot, "group", {"name": f"{side}_arm"})
- ET.SubElement(group, "chain", {"base_link": "torso", "tip_link": f"wrist_carrier_{side}"})
-
-
-def _leg_group(robot: ET.Element, side: str) -> None:
- group = ET.SubElement(robot, "group", {"name": f"{side}_leg"})
- ET.SubElement(group, "chain", {"base_link": "pelvis", "tip_link": f"foot_{side}"})
-
-
-def build_srdf() -> ET.Element:
- robot = ET.Element("robot", {"name": ROBOT_NAME})
- robot.append(
- ET.Comment(
- " MoveIt2 planning semantics for juno.urdf. Groups: per-limb chains, "
- "torso/head joint groups, hand end-effector groups, and a whole_body "
- "union. Group states are whole-body named poses (radians) from "
- "juno_parts/chain.py. Disabled collisions: URDF-adjacent pairs plus "
- "zero-pose bounding-box overlaps (reason Default). "
- )
- )
-
- ET.SubElement(
- robot,
- "virtual_joint",
- {
- "name": "world_to_base",
- "type": "floating",
- "parent_frame": "world",
- "child_link": "base_footprint",
- },
- )
-
- torso_group = ET.SubElement(robot, "group", {"name": "torso"})
- ET.SubElement(torso_group, "joint", {"name": "waist_yaw"})
- head_group = ET.SubElement(robot, "group", {"name": "head"})
- ET.SubElement(head_group, "joint", {"name": "neck_yaw"})
- ET.SubElement(head_group, "joint", {"name": "neck_pitch"})
- for side in chain.SIDES:
- _leg_group(robot, side)
- for side in chain.SIDES:
- _arm_group(robot, side)
- for side in chain.SIDES:
- # Owns wrist_pitch (and thereby the hand link) so the end-effector
- # group is disjoint from the arm chain ending at wrist_carrier.
- hand_group = ET.SubElement(robot, "group", {"name": f"{side}_hand"})
- ET.SubElement(hand_group, "joint", {"name": f"wrist_pitch_{side}"})
-
- whole_body = ET.SubElement(robot, "group", {"name": "whole_body"})
- for name in (
- "torso", "head", "left_leg", "right_leg",
- "left_arm", "right_arm", "left_hand", "right_hand",
- ):
- ET.SubElement(whole_body, "group", {"name": name})
-
- joint_order = [joint["name"] for joint in chain.all_joints()]
- for pose_name, pose_deg in chain.named_poses_deg().items():
- state = ET.SubElement(robot, "group_state", {"name": pose_name, "group": "whole_body"})
- for joint_name in joint_order:
- ET.SubElement(
- state,
- "joint",
- {"name": joint_name, "value": _fmt(math.radians(pose_deg[joint_name]))},
- )
-
- for side in chain.SIDES:
- ET.SubElement(
- robot,
- "end_effector",
- {
- "name": f"{side}_hand_eef",
- "parent_link": f"wrist_carrier_{side}",
- "group": f"{side}_hand",
- "parent_group": f"{side}_arm",
- },
- )
-
- adjacent = _adjacent_pairs()
- adjacent_set = {frozenset(pair) for pair in adjacent}
- for link1, link2 in adjacent:
- ET.SubElement(
- robot,
- "disable_collisions",
- {"link1": link1, "link2": link2, "reason": "Adjacent"},
- )
- for link1, link2 in _zero_pose_overlapping_pairs():
- if frozenset((link1, link2)) in adjacent_set:
- continue
- ET.SubElement(
- robot,
- "disable_collisions",
- {"link1": link1, "link2": link2, "reason": "Default"},
- )
- return robot
diff --git a/models/robots/juno/juno_parts/hand.py b/models/robots/juno/juno_parts/hand.py
deleted file mode 100644
index 8af2583c..00000000
--- a/models/robots/juno/juno_parts/hand.py
+++ /dev/null
@@ -1,380 +0,0 @@
-"""juno humanoid: dexterous 5-digit hand (4 fingers + opposed thumb).
-
-Local frame: origin = wrist-pitch joint center, fingers extend -Z, thumb on
-the +X (forward) edge. RIGHT hand palm normal = +Y; LEFT is the XZ-mirror.
-
-Locked interfaces:
-- Clevis cheek plates normal to Y at y in [22,30] / [-30,-22], z 0..-44,
- x -20..+24, aluminum boss disc dia 34 coaxial with Y on each outer face.
-- Keep |y| < 21 clear for r < 26 around the Y axis near the origin
- (wrist-pitch actuator dia 48 x len 40 lives there; owned by the forearm).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-
-
-import math # noqa: F401 (kept for tuning)
-
-from build123d import (
- Axis,
- Box,
- Cone,
- Cylinder,
- Plane,
- Polyline,
- Pos,
- Rot,
- Sphere,
- chamfer,
- extrude,
- fillet,
- make_face,
- mirror,
-)
-
-from .juno_lib import (
- ACCENT_COLOR,
- ALU_COLOR,
- RUBBER_COLOR,
- SHELL_COLOR,
- STRUCT_COLOR,
- VISOR_COLOR,
- part_compound,
- styled,
-)
-
-# ---------------------------------------------------------------- helpers
-
-
-def _safe_chamfer(part, edges, length, length2=None):
- try:
- edges = list(edges)
- if not edges:
- return part
- if length2 is not None:
- return chamfer(edges, length, length2)
- return chamfer(edges, length)
- except Exception:
- return part
-
-
-def _safe_fillet(part, edges, radius):
- try:
- edges = list(edges)
- if not edges:
- return part
- return fillet(edges, radius)
- except Exception:
- return part
-
-
-def _xcyl(r, h):
- """Cylinder along +X centered at origin."""
- return Rot(0, 90, 0) * Cylinder(radius=r, height=h)
-
-
-def _ycyl(r, h):
- """Cylinder along +Y centered at origin."""
- return Rot(-90, 0, 0) * Cylinder(radius=r, height=h)
-
-
-# ---------------------------------------------------------------- wrist clevis
-
-CHEEK_X0, CHEEK_X1 = -20.0, 24.0
-CHEEK_Z0, CHEEK_Z1 = 0.0, -44.0
-LOBE_R = 24.0
-
-
-def _wrist_clevis():
- """Twin cheek plates + pivot lobes + lower cross bridge (one solid)."""
- cheeks = []
- for ys in (1.0, -1.0):
- yc = ys * 26.0
- plate = Pos(
- (CHEEK_X0 + CHEEK_X1) / 2.0, yc, (CHEEK_Z0 + CHEEK_Z1) / 2.0
- ) * Box(CHEEK_X1 - CHEEK_X0, 8.0, CHEEK_Z0 - CHEEK_Z1)
- lobe = Pos(0, yc, 0) * _ycyl(LOBE_R, 8.0)
- cheek = plate + lobe
- # bevel the face outlines (machined plate look)
- face_edges = []
- for f in cheek.faces().filter_by(Axis.Y):
- face_edges.extend(f.edges())
- cheek = _safe_chamfer(cheek, face_edges, 1.2)
- cheeks.append(cheek)
-
- bridge = Pos(2.0, 0.0, -37.0) * Box(44.0, 44.0, 14.0)
- bridge = _safe_chamfer(bridge, bridge.edges().filter_by(Axis.X), 2.0)
- bridge = _safe_chamfer(bridge, bridge.edges().filter_by(Axis.Y), 2.0)
-
- clevis = cheeks[0] + cheeks[1] + bridge
-
- # shallow turned ring groove on each outer face, around the boss disc
- for ys in (1.0, -1.0):
- try:
- ring = (Pos(0, ys * 30.0, 0) * _ycyl(21.0, 1.6)) - (
- Pos(0, ys * 30.0, 0) * _ycyl(19.0, 3.0)
- )
- clevis -= ring
- except Exception:
- pass
- return styled(clevis, "wrist_clevis", STRUCT_COLOR)
-
-
-def _cheek_bolts():
- out = []
- i = 0
- for ys in (1.0, -1.0):
- for bx in (-13.0, 17.0):
- bolt = Pos(bx, ys * 30.7, -37.0) * _ycyl(2.2, 1.4)
- bolt = _safe_chamfer(bolt, bolt.edges(), 0.5)
- out.append(styled(bolt, f"cheek_bolt_{i}", ALU_COLOR))
- i += 1
- return out
-
-
-def _boss_discs():
- out = []
- for ys, tag in ((1.0, "l"), (-1.0, "r")):
- boss = Pos(0, ys * 31.6, 0) * _ycyl(17.0, 3.2)
- boss = _safe_chamfer(boss, boss.edges(), 0.8)
- out.append(styled(boss, f"wrist_boss_{tag}", ALU_COLOR))
- return out
-
-
-# ---------------------------------------------------------------- palm
-
-KNUCKLE_Z = -112.0
-KNUCKLE_Y = -2.0
-KNUCKLE_XS = (-27.0, -9.0, 9.0, 27.0)
-
-# thumb CMC frame (root on the +X palm edge)
-THUMB_ROOT = (39.5, 2.0, -60.0)
-T_CMC = Pos(*THUMB_ROOT) * Rot(0, -28, 0) * Rot(0, 0, 38) # hinge axis = local X
-T_SEG1 = T_CMC * Rot(12, 0, 0) # CMC curl
-T_SEG2 = T_SEG1 * Pos(0, 0, -32.0) * Rot(30, 0, 0) # IP curl
-
-
-def _palm_outline_face(pts, y):
- pts3 = [(x, y, z) for x, z in pts]
- wire = Polyline(*pts3, close=True)
- return make_face(wire)
-
-
-def _palm_core():
- pts = [
- (-20.0, -44.0),
- (24.0, -44.0),
- (44.0, -58.0),
- (44.0, -96.0),
- (36.0, -108.0),
- (-36.0, -108.0),
- ]
- core = extrude(_palm_outline_face(pts, -16.0), amount=34.0, dir=(0, 1, 0))
- core = _safe_fillet(core, core.edges().filter_by(Axis.Y), 4.0)
-
- # raked palm-side bottom edge over the knuckle line
- rake = [
- e
- for e in core.edges()
- if e.center().Y > 16.5 and e.center().Z < -107.0
- ]
- core = _safe_chamfer(core, rake, 5.0)
-
- # knuckle scallops (clearance arches over the proximal barrels)
- for kx in KNUCKLE_XS:
- core -= Pos(kx, KNUCKLE_Y, KNUCKLE_Z) * _xcyl(8.0, 15.5)
-
- # thumb CMC pocket + diagonal thumb relief groove
- core -= T_CMC * _xcyl(9.5, 30.0)
- core -= T_SEG1 * Pos(0, 0, -14.0) * Rot(0, 90, 0) * Cylinder(
- radius=11.2, height=60.0
- )
-
- # palm sensor recess
- core -= Pos(2.0, 17.4, -80.0) * _ycyl(8.3, 3.2)
-
- return styled(core, "palm_core", STRUCT_COLOR)
-
-
-def _dorsal_cover():
- pts = [
- (-18.0, -46.0),
- (22.0, -46.0),
- (42.0, -59.0),
- (42.0, -95.0),
- (34.5, -106.0),
- (-34.0, -106.0),
- ]
- cover = extrude(_palm_outline_face(pts, -20.0), amount=4.0, dir=(0, 1, 0))
- cover = _safe_fillet(cover, cover.edges().filter_by(Axis.Y), 4.0)
- try:
- outer = cover.faces().sort_by(Axis.Y)[0]
- cover = _safe_chamfer(cover, outer.edges(), 1.2)
- except Exception:
- pass
- # shallow panel-line grooves on the outer face
- for gz in (-64.0, -69.0):
- try:
- cover -= Pos(2.0, -20.0, gz) * Box(52.0, 1.2, 1.5)
- except Exception:
- pass
- return styled(cover, "dorsal_cover", SHELL_COLOR)
-
-
-def _palm_sensor():
- ring_raw = Cylinder(radius=8.1, height=1.2) - Cylinder(radius=6.3, height=4.0)
- ring = Pos(2.0, 16.5, -80.0) * Rot(-90, 0, 0) * ring_raw
- lens = Pos(2.0, 16.7, -80.0) * _ycyl(6.1, 1.6)
- return [
- styled(ring, "palm_sensor_ring", ALU_COLOR),
- styled(lens, "palm_sensor_lens", VISOR_COLOR),
- ]
-
-
-# ---------------------------------------------------------------- digits
-
-
-def _link(length, width, r_a, r_b, shaft_w, shaft_d, slot_w, bore_r):
- """Phalanx link: barrel at z=0, shaft, forked barrel at z=-length."""
- barrel_a = _xcyl(r_a, width)
- shaft_h = length - 7.0
- shaft = Pos(0, 0, -(4.0 + shaft_h / 2.0)) * Box(shaft_w, shaft_d, shaft_h)
- barrel_b = Pos(0, 0, -length) * _xcyl(r_b, width)
- link = barrel_a + shaft + barrel_b
- link = _safe_chamfer(link, link.edges().filter_by(Axis.Z), 1.2)
- # fork slot for the next segment
- link -= Pos(0, 0, -(length + 0.5)) * Box(slot_w, 40.0, 15.0)
- # pin bores
- link -= _xcyl(bore_r, width + 8.0)
- link -= Pos(0, 0, -length) * _xcyl(bore_r, width + 8.0)
- return link
-
-
-def _tip_segment(r_barrel, w_barrel, r_top, r_tip, tip_z, cone_top_z, pad_c, pad_r, bore_r):
- """Distal segment: hinge barrel + tapered body + rounded tip.
-
- Returns (body, pad) where pad is a rubber fingertip cap split off the
- body by a boolean intersection (face-to-face, no overlap), or None.
- """
- barrel = _xcyl(r_barrel, w_barrel)
- cone_h = cone_top_z - tip_z
- cone = Pos(0, 0, (cone_top_z + tip_z) / 2.0) * Cone(
- bottom_radius=r_tip, top_radius=r_top, height=cone_h
- )
- tip = Pos(0, 0, tip_z) * Sphere(r_tip)
- body = barrel + cone + tip
- body -= _xcyl(bore_r, w_barrel + 8.0)
- pad = None
- try:
- zone = Pos(*pad_c) * Sphere(pad_r)
- cap = body & zone
- if cap.volume > 1.0:
- body = body - zone
- pad = cap
- except Exception:
- pad = None
- return body, pad
-
-
-def _pin(r, h):
- pin = _xcyl(r, h)
- return _safe_chamfer(pin, pin.edges(), 0.7)
-
-
-def _finger(idx, kx, curl1=21.0, curl2=25.0):
- t1 = Pos(kx, KNUCKLE_Y, KNUCKLE_Z) * Rot(curl1, 0, 0)
- t2 = t1 * Pos(0, 0, -36.0) * Rot(curl2, 0, 0)
-
- prox = _link(
- length=36.0, width=15.0, r_a=7.5, r_b=7.0,
- shaft_w=13.0, shaft_d=13.5, slot_w=9.5, bore_r=3.9,
- )
- body, pad = _tip_segment(
- r_barrel=6.6, w_barrel=9.0, r_top=6.2, r_tip=4.6,
- tip_z=-25.0, cone_top_z=-4.0,
- pad_c=(0, 1.9, -24.5), pad_r=5.5, bore_r=3.9,
- )
-
- solids = [
- styled(t1 * prox, f"finger{idx}_proximal", STRUCT_COLOR),
- styled(t2 * body, f"finger{idx}_distal", STRUCT_COLOR),
- styled(Pos(kx, KNUCKLE_Y, KNUCKLE_Z) * _pin(3.7, 17.5),
- f"finger{idx}_pin_mcp", ALU_COLOR),
- styled(t1 * Pos(0, 0, -36.0) * _pin(3.7, 17.5),
- f"finger{idx}_pin_pip", ALU_COLOR),
- ]
- if pad is not None:
- solids.append(styled(t2 * pad, f"finger{idx}_tip_pad", ACCENT_COLOR))
- return solids
-
-
-def _thumb():
- seg1 = _link(
- length=32.0, width=15.0, r_a=8.5, r_b=7.5,
- shaft_w=13.0, shaft_d=13.0, slot_w=9.7, bore_r=4.2,
- )
- body, pad = _tip_segment(
- r_barrel=6.7, w_barrel=9.2, r_top=6.2, r_tip=4.9,
- tip_z=-21.5, cone_top_z=-5.0,
- pad_c=(0, 1.8, -21.0), pad_r=5.7, bore_r=3.9,
- )
- solids = [
- styled(T_SEG1 * seg1, "thumb_proximal", STRUCT_COLOR),
- styled(T_SEG2 * body, "thumb_distal", STRUCT_COLOR),
- styled(T_CMC * _pin(4.0, 17.0), "thumb_pin_cmc", ALU_COLOR),
- styled(T_SEG1 * Pos(0, 0, -32.0) * _pin(3.7, 16.0),
- "thumb_pin_ip", ALU_COLOR),
- ]
- if pad is not None:
- solids.append(styled(T_SEG2 * pad, "thumb_tip_pad", ACCENT_COLOR))
- return solids
-
-
-# ---------------------------------------------------------------- assembly
-
-
-def _right_solids():
- solids = [_wrist_clevis()]
- solids += _boss_discs()
- solids += _cheek_bolts()
- solids.append(_palm_core())
- solids.append(_dorsal_cover())
- solids += _palm_sensor()
- for i, kx in enumerate(KNUCKLE_XS):
- solids += _finger(i, kx)
- solids += _thumb()
- return solids
-
-
-def _fallback_solids():
- blk = Pos(4, 0, -100) * Box(80, 36, 200)
- return [styled(blk, "hand_fallback", STRUCT_COLOR)]
-
-
-def build_hand(side: str):
- try:
- solids = _right_solids()
- if side == "left":
- mirrored = []
- for s in solids:
- lbl, col = s.label, s.color
- m = mirror(s, about=Plane.XZ)
- mirrored.append(styled(m, lbl, col))
- solids = mirrored
- for s in solids:
- s.label = f"{side}_{s.label}"
- except Exception:
- solids = _fallback_solids()
- return part_compound(f"hand_{side}", solids)
-
-
-def gen_step():
- right = build_hand("right")
- left = build_hand("left")
- right.location = Pos(0, -125, 0)
- left.location = Pos(0, 125, 0)
- return part_compound("hand_demo", [right, left])
diff --git a/models/robots/juno/juno_parts/head.py b/models/robots/juno/juno_parts/head.py
deleted file mode 100644
index c86e08d7..00000000
--- a/models/robots/juno/juno_parts/head.py
+++ /dev/null
@@ -1,230 +0,0 @@
-"""juno expressive sensor head.
-
-Local frame: origin at the neck-pitch joint center, +X face direction, +Z up.
-Envelope z +12..+150, |y| <= 69, x -58..+78. Below z=+12 kept clear within
-radius 45 (graphite neck guard starts at z=+12 >= +8 allowance).
-
-Construction notes:
-- The helmet is a smooth loft of rounded-rectangle sections built in a frame
- centered at HEAD_CTR so a uniform `scale()` (which scales about the origin
- for identity-location parts) yields a concentric "inflated" copy. The visor,
- chin sensor bar, and rear panel are each (inflated copy) & (band tool) -
- helmet, giving thin curved slabs ~2 mm proud that follow the shell surface.
-- Ear pods and camera dots are subtracted from the shell before being added as
- separate solids, so all contacts are exact face-to-face with no overlap.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-
-
-import math
-
-from build123d import (
- Axis,
- Box,
- Cone,
- Cylinder,
- GeomType,
- Pos,
- RectangleRounded,
- Rot,
- chamfer,
- fillet,
- loft,
- scale,
-)
-
-from .juno_lib import (
- ACCENT_COLOR,
- ALU_COLOR,
- EYE_COLOR,
- SHELL_COLOR,
- STRUCT_COLOR,
- VISOR_COLOR,
- part_compound,
- styled,
-)
-
-# Head-frame point all local modeling is centered on (also the scale center
-# for the inflated shell copies used to cut the visor/chin/rear slabs).
-HEAD_CTR = (7.0, 0.0, 89.0)
-
-
-def _try_fillet(solid, edges, radius):
- for r in (radius, radius * 0.6, radius * 0.35):
- try:
- return fillet(edges, r)
- except Exception:
- continue
- return solid
-
-
-def _try_chamfer(solid, edges, length):
- for c in (length, length * 0.5):
- try:
- return chamfer(edges, c)
- except Exception:
- continue
- return solid
-
-
-def _helmet_loft():
- """Smooth helmet: fuller cheeks low, widest at sensor band, tapered crown.
-
- Sections are (z, xc, depth_x, width_y, corner_frac) in LOCAL coords
- (head frame minus HEAD_CTR).
- """
- sections = [
- (-69.0, -3.0, 100.0, 98.0, 0.40), # jaw line (head z=20)
- (-41.0, 0.0, 114.0, 120.0, 0.42), # cheeks (head z=48)
- (-7.0, 0.0, 120.0, 130.0, 0.44), # sensor band, widest (head z=82)
- (23.0, -3.0, 110.0, 118.0, 0.45), # upper visor (head z=112)
- (47.0, -7.0, 88.0, 92.0, 0.46), # crown taper (head z=136)
- (57.0, -9.0, 62.0, 64.0, 0.47),
- (60.5, -10.0, 34.0, 34.0, 0.48), # crown top (head z=149.5)
- ]
- profiles = []
- for z, xc, d, w, rf in sections:
- profiles.append(Pos(xc, 0, z) * RectangleRounded(d, w, rf * min(d, w)))
- return loft(profiles)
-
-
-def build_head():
- """Expressive sensor head; origin at the neck-pitch joint center."""
- helmet = _helmet_loft()
-
- # Soften jaw line and dome the crown.
- helmet = _try_fillet(helmet, helmet.edges().group_by(Axis.Z)[0], 5.0)
- helmet = _try_fillet(helmet, helmet.edges().group_by(Axis.Z)[-1], 9.0)
-
- # Concentric inflated copy (~2 mm proud) for surface-following slabs.
- big = scale(helmet, by=1.032)
-
- # --- aluminum ear pods (dia 36, head z~88, outer face head y=+-67) ---
- pods, buttons = [], []
- for s in (1.0, -1.0):
- rot = Rot(-90, 0, 0) if s > 0 else Rot(90, 0, 0)
- pod = Pos(-7.0, s * 58.5, -1.0) * rot * Cylinder(radius=18.0, height=17.0)
- outer = [
- e
- for e in pod.edges().filter_by(GeomType.CIRCLE)
- if abs(e.arc_center.Y) > 66.0
- ]
- pod = _try_chamfer(pod, outer, 2.2)
- helmet -= pod
- pods.append(pod)
- btn = Pos(-7.0, s * 67.8, -1.0) * rot * Cylinder(radius=7.0, height=1.6)
- buttons.append(btn)
-
- # --- tiny camera dots below the visor (head z=51, y=+-13) ---
- dots = []
- for s in (1.0, -1.0):
- dot = Pos(53.0, s * 13.0, -38.0) * Rot(0, 90, 0) * Cylinder(
- radius=2.8, height=12.0
- )
- helmet -= dot
- dots.append(dot)
-
- # --- wraparound gloss visor (head z ~57..117 at front center) ---
- # Single sculpted tool: bottom plane tilted forward-down 6 deg, top plane
- # raked gently rear-down 4 deg, rear wrap edge raked 15 deg (wraps farther
- # back at the temples), corner edges filleted for a sporty
- # rounded-trapezoid side profile.
- bot_half = Pos(60.0, 0, -32.0) * Rot(0, 6, 0) * Pos(0, 0, 150.0) * Box(
- 360.0, 300.0, 300.0
- )
- top_half = Pos(60.0, 0, 28.0) * Rot(0, -4, 0) * Pos(0, 0, -150.0) * Box(
- 360.0, 300.0, 300.0
- )
- rear_half = Pos(13.0, 0, 0) * Rot(0, -15, 0) * Pos(150.0, 0, 0) * Box(
- 300.0, 320.0, 360.0
- )
- visor_tool = bot_half & top_half & rear_half
- corner_edges = [
- e
- for e in visor_tool.edges().filter_by(Axis.Y)
- if abs(e.center().X) < 45.0 and abs(e.center().Z) < 80.0
- ]
- visor_tool = _try_fillet(visor_tool, corner_edges, 12.0)
- visor = (big & visor_tool) - helmet
-
- # --- graphite chin sensor bar: head z 29..45, |y| <= 26, front ---
- chin_tool = Pos(53.0, 0, -52.0) * Box(60.0, 52.0, 16.0)
- chin_tool = _try_fillet(chin_tool, chin_tool.edges().filter_by(Axis.X), 5.0)
- chin = (big & chin_tool) - helmet
-
- # --- graphite rear vent louvers: three strips, head z 76..118 ---
- louvers = []
- for zc in (-8.0, 8.0, 24.0):
- tool = Pos(-71.0, 0, zc) * Box(60.0, 220.0, 10.0)
- tool = _try_fillet(tool, tool.edges().filter_by(Axis.Y), 4.0)
- louvers.append((big & tool) - helmet)
-
- # --- cute pixelated cyan eyes on the visor (Anki Cozmo style) ---
- # Each "pixel" rides the same surface family as the visor: the thin shell
- # between the visor outer copy (`big`, 1.032x) and a slightly larger copy
- # (`big_eye`), clipped to a small +X-facing square column. This makes the
- # tiles follow the curved screen and sit ~1.3 mm proud with exact contact.
- big_eye = scale(helmet, by=1.055)
- EYE_PITCH = 4.4 # tile center-to-center
- EYE_TILE = 3.6 # tile size (gaps read as the dark "screen" grid)
- EYE_Z = 6.0 # local z of the eye block (head z ~95)
- EYE_DY = 12.0 # half-separation between the two eyes
- # 4x4 grid with the four corners dropped -> rounded-square eye.
- eye_mask = [
- (c, r)
- for c in range(4)
- for r in range(4)
- if (c, r) not in {(0, 0), (0, 3), (3, 0), (3, 3)}
- ]
- eye_tiles = []
- for ysign, tag in ((1.0, "l"), (-1.0, "r")):
- yc = ysign * EYE_DY
- for c, r in eye_mask:
- ty = yc + (c - 1.5) * EYE_PITCH
- tz = EYE_Z + (r - 1.5) * EYE_PITCH
- tool = Pos(70.0, ty, tz) * Box(120.0, EYE_TILE, EYE_TILE)
- tool = _try_fillet(tool, tool.edges().filter_by(Axis.X), 0.9)
- tile = (big_eye & tool) - big
- eye_tiles.append((tile, f"head_eye_{tag}_{c}{r}"))
-
- # --- graphite neck guard: frustum head z 12..20 under the jaw ---
- guard = Pos(-3.0, 0, -73.0) * Cone(
- bottom_radius=33.0, top_radius=42.0, height=8.0
- )
- guard = _try_chamfer(
- guard,
- [
- e
- for e in guard.edges().filter_by(GeomType.CIRCLE)
- if e.arc_center.Z < -76.0
- ],
- 1.2,
- )
-
- at = Pos(*HEAD_CTR)
- children = [
- styled(at * helmet, "head_shell", SHELL_COLOR),
- styled(at * visor, "head_visor", VISOR_COLOR),
- styled(at * chin, "head_chin_sensor", STRUCT_COLOR),
- styled(at * guard, "head_neck_guard", STRUCT_COLOR),
- styled(at * pods[0], "head_ear_pod_l", ALU_COLOR),
- styled(at * pods[1], "head_ear_pod_r", ALU_COLOR),
- styled(at * buttons[0], "head_ear_button_l", ACCENT_COLOR),
- styled(at * buttons[1], "head_ear_button_r", ACCENT_COLOR),
- styled(at * dots[0], "head_cam_dot_l", VISOR_COLOR),
- styled(at * dots[1], "head_cam_dot_r", VISOR_COLOR),
- ]
- for i, louver in enumerate(louvers):
- children.append(styled(at * louver, f"head_vent_louver_{i}", ACCENT_COLOR))
- for tile, name in eye_tiles:
- children.append(styled(at * tile, name, EYE_COLOR))
- return part_compound("head", children)
-
-
-def gen_step():
- return build_head()
diff --git a/models/robots/juno/juno_parts/joints.py b/models/robots/juno/juno_parts/joints.py
deleted file mode 100644
index f637ee2e..00000000
--- a/models/robots/juno/juno_parts/joints.py
+++ /dev/null
@@ -1,162 +0,0 @@
-"""Connective joint hardware for juno: yokes, carriers, collars.
-
-These small machined parts link the sculpted body segments and carry the
-exposed actuator cans for the joints they own. Frames follow the chain table
-in juno.py; all builders return identity-location compounds.
-"""
-
-from __future__ import annotations
-
-from build123d import Box, Compound, Cylinder, Pos, Rot, chamfer
-
-from .juno_lib import (
- ACCENT_COLOR,
- ALU_COLOR,
- STRUCT_COLOR,
- actuator_solids,
- part_compound,
- styled,
-)
-
-
-def _s(side: str) -> float:
- return 1.0 if side == "left" else -1.0
-
-
-def build_hip_bracket(side: str) -> Compound:
- """Hip yaw can + C-yoke down to the hip-roll axis. Origin: hip-yaw center.
-
- Compact stack (proportion audit): yaw can dia 70 x 34, roll axis at
- z = -64, sized for the carrier's dia-56 roll housing (caps to |x| 30).
- """
- children = actuator_solids(
- "hip_yaw", 70, 34, center=(0, 0, -17), axis=(0, 0, 1), bolts=False
- )
- plates = []
- for sx in (1.0, -1.0):
- plates.append(Pos(sx * 38, 0, -65) * Box(12, 46, 54))
- bridge = Pos(0, 0, -38) * Box(88, 46, 8)
- yoke = plates[0].fuse(plates[1]).fuse(bridge)
- children.append(styled(yoke, "hip_yoke", STRUCT_COLOR))
- for sx in (1.0, -1.0):
- boss = Pos(sx * 47, 0, -64) * Rot(0, 90, 0) * Cylinder(radius=25, height=6)
- children.append(styled(boss, f"hip_roll_boss_{'f' if sx > 0 else 'b'}", ALU_COLOR))
- return part_compound(f"hip_bracket_{side}", children)
-
-
-def build_hip_carrier(side: str) -> Compound:
- """Hip roll housing + medial plate to the hip-pitch axis. Origin: roll center.
-
- Compact stack: dia-56 roll housing, hip-pitch axis at z = -78 (clears the
- thigh's dia-92 pitch can: 78 > 28 + 46).
- """
- s = _s(side)
- children = []
- housing = Rot(0, 90, 0) * Cylinder(radius=28, height=48)
- plate = Pos(0, -s * 44, -42) * Box(76, 8, 110)
- bridge = Pos(0, -s * 36, 0) * Box(56, 16, 50)
- body = housing.fuse(bridge).fuse(plate)
- children.append(styled(body, "hip_carrier_body", STRUCT_COLOR))
- for sx in (1.0, -1.0):
- cap = Pos(sx * 27, 0, 0) * Rot(0, 90, 0) * Cylinder(radius=30, height=6)
- children.append(styled(cap, f"hip_roll_cap_{'f' if sx > 0 else 'b'}", ALU_COLOR))
- boss = Pos(0, -s * 38.5, -78) * Rot(90, 0, 0) * Cylinder(radius=32, height=3)
- children.append(styled(boss, "hip_pitch_boss", ALU_COLOR))
- return part_compound(f"hip_carrier_{side}", children)
-
-
-def build_ankle_link(side: str) -> Compound:
- """Fused two-axis ankle block: pitch core at origin, roll core 30 below."""
- children = []
- pitch_core = Rot(90, 0, 0) * Cylinder(radius=27, height=36)
- roll_core = Pos(0, 0, -30) * Rot(0, 90, 0) * Cylinder(radius=22, height=28)
- neck = Pos(0, 0, -15) * Box(30, 30, 30)
- body = pitch_core.fuse(roll_core).fuse(neck)
- children.append(styled(body, "ankle_body", STRUCT_COLOR))
- for sy in (1.0, -1.0):
- cap = Pos(0, sy * 20.5, 0) * Rot(90, 0, 0) * Cylinder(radius=24, height=5)
- children.append(styled(cap, f"ankle_pitch_cap_{'l' if sy > 0 else 'r'}", ALU_COLOR))
- for sx in (1.0, -1.0):
- cap = Pos(sx * 16, 0, -30) * Rot(0, 90, 0) * Cylinder(radius=19, height=4)
- children.append(styled(cap, f"ankle_roll_cap_{'f' if sx > 0 else 'b'}", ALU_COLOR))
- return part_compound(f"ankle_link_{side}", children)
-
-
-def build_shoulder_pod(side: str) -> Compound:
- """Shoulder-pitch can + outboard drum + roll clevis. Origin: pitch center.
-
- The outboard module is a chamfered cylindrical drum capping the pitch can
- (reads as the shoulder actuator housing, per style review), with a blade
- dropping to the shoulder-roll clevis.
- """
- s = _s(side)
- children = actuator_solids(
- "shoulder_pitch", 72, 58, center=(0, s * 14, 0), axis=(0, 1, 0)
- )
- drum = Pos(0, s * 50, 0) * Rot(90, 0, 0) * Cylinder(radius=40, height=14)
- try:
- drum = chamfer(drum.edges(), 3.0)
- except Exception:
- pass
- blade = Pos(0, s * 50, -42) * Box(58, 14, 90)
- clevis_f = Pos(35, s * 34, -72) * Box(10, 48, 56)
- clevis_b = Pos(-35, s * 34, -72) * Box(10, 48, 56)
- body = drum.fuse(blade).fuse(clevis_f).fuse(clevis_b)
- children.append(styled(body, "pod_body", STRUCT_COLOR))
- face = Pos(0, s * 58.5, 0) * Rot(90, 0, 0) * Cylinder(radius=30, height=3)
- children.append(styled(face, "pod_face_ring", ALU_COLOR))
- hub = Pos(0, s * 61, 0) * Rot(90, 0, 0) * Cylinder(radius=12, height=2)
- children.append(styled(hub, "pod_face_hub", ACCENT_COLOR))
- for sx in (1.0, -1.0):
- boss = (
- Pos(sx * 43, s * 34, -72) * Rot(0, 90, 0) * Cylinder(radius=25, height=6)
- )
- children.append(styled(boss, f"roll_boss_{'f' if sx > 0 else 'b'}", ALU_COLOR))
- return part_compound(f"shoulder_pod_{side}", children)
-
-
-def build_yaw_housing(side: str) -> Compound:
- """Shoulder-roll can + saddle to the upper-arm yaw ring. Origin: roll center."""
- children = []
- parts = actuator_solids("shoulder_roll", 70, 56, center=(0, 0, 0), axis=(1, 0, 0))
- core = parts[0]
- saddle = Pos(0, 0, -14) * Cylinder(radius=26, height=16)
- core = styled(core.fuse(saddle), "shoulder_roll_can", STRUCT_COLOR)
- children.append(core)
- children.extend(parts[1:])
- ring = Pos(0, 0, -22) * Cylinder(radius=28, height=4)
- children.append(styled(ring, "yaw_ring", ALU_COLOR))
- return part_compound(f"yaw_housing_{side}", children)
-
-
-def build_wrist_carrier(side: str) -> Compound:
- """Wrist-roll disc + wrist-pitch can block. Origin: roll center."""
- children = []
- disc = Pos(0, 0, -2) * Cylinder(radius=22, height=4)
- children.append(styled(disc, "wrist_roll_disc", ALU_COLOR))
- parts = actuator_solids(
- "wrist_pitch", 48, 40, center=(0, 0, -28), axis=(0, 1, 0), bolts=False
- )
- core = parts[0]
- block = Pos(0, 0, -10) * Box(34, 34, 14)
- core = styled(core.fuse(block), "wrist_pitch_can", STRUCT_COLOR)
- children.append(core)
- children.extend(parts[1:])
- return part_compound(f"wrist_carrier_{side}", children)
-
-
-def build_neck_collar() -> Compound:
- """Neck yaw can + pitch clevis. Origin: neck-yaw joint center."""
- children = actuator_solids(
- "neck_yaw", 44, 30, center=(0, 0, 15), axis=(0, 0, 1), bolts=False
- )
- for sy in (1.0, -1.0):
- plate = Pos(0, sy * 19, 44) * Box(36, 6, 36)
- children.append(styled(plate, f"neck_clevis_{'l' if sy > 0 else 'r'}", STRUCT_COLOR))
- boss = Pos(0, sy * 23, 46) * Rot(90, 0, 0) * Cylinder(radius=14, height=3)
- children.append(styled(boss, f"neck_boss_{'l' if sy > 0 else 'r'}", ALU_COLOR))
- can = actuator_solids(
- "neck_pitch", 40, 28, center=(0, 0, 46), axis=(0, 1, 0), bolts=False
- )
- children.extend(can)
- return part_compound("neck_collar", children)
diff --git a/models/robots/juno/juno_parts/juno_lib.py b/models/robots/juno/juno_parts/juno_lib.py
deleted file mode 100644
index 6105684f..00000000
--- a/models/robots/juno/juno_parts/juno_lib.py
+++ /dev/null
@@ -1,191 +0,0 @@
-"""Shared helpers for the juno humanoid part modules.
-
-Conventions (all part modules must follow):
-- Units mm. Robot faces +X, +Y is robot-left, +Z is up.
-- Every part builder returns an identity-location build123d Compound whose
- children are closed, labeled, colored solids. Model geometry directly in the
- part's local frame (joint/mate origins as documented per part).
-- Limb segments: origin at the proximal joint center, segment extends -Z.
-- Exposed actuator cans: cylinder axis along the joint axis, centered at the
- joint center, built with `actuator_solids()`.
-
-Verified joint-attach math (see probe_joint.py): for build123d 0.10,
-`revolute_attach()` places the child so its joint plane coincides with the
-parent joint plane rotated `angle_deg` about the shared axis.
-"""
-
-from __future__ import annotations
-
-import math
-
-from build123d import (
- Axis,
- Box,
- Color,
- Compound,
- Cylinder,
- Location,
- Plane,
- Pos,
- Rot,
- Vector,
- chamfer,
- fillet,
-)
-
-# Palette: warm porcelain + graphite + aluminum, with a coral accent on
-# small repeated functional details (hub caps, bumpers, vents). No logos.
-SHELL = (0.82, 0.815, 0.79) # warm porcelain composite shells
-STRUCT = (0.16, 0.17, 0.19) # graphite structural cores
-ALU = (0.88, 0.90, 0.94) # bright machined-aluminum joint rims
-VISOR = (0.02, 0.05, 0.11) # gloss midnight-blue sensor glass
-RUBBER = (0.08, 0.08, 0.09) # sole / grip rubber
-ACCENT = (0.93, 0.38, 0.16) # coral-orange accent details
-EYE = (0.32, 0.90, 0.98) # bright cyan display "pixels" (Anki-style)
-
-SHELL_COLOR = Color(*SHELL)
-STRUCT_COLOR = Color(*STRUCT)
-ALU_COLOR = Color(*ALU)
-VISOR_COLOR = Color(*VISOR)
-RUBBER_COLOR = Color(*RUBBER)
-ACCENT_COLOR = Color(*ACCENT)
-EYE_COLOR = Color(*EYE)
-
-
-def styled(solid, label: str, color: Color):
- solid.label = label
- solid.color = color
- return solid
-
-
-def part_compound(label: str, children) -> Compound:
- comp = Compound(children=list(children))
- comp.label = label
- return comp
-
-
-def joint_plane(origin, axis_dir, x_ref) -> Location:
- return Plane(
- origin=Vector(origin), x_dir=Vector(x_ref), z_dir=Vector(axis_dir)
- ).location
-
-
-def revolute_attach(
- asm,
- parent,
- child,
- name: str,
- p_origin,
- p_axis,
- p_xref,
- c_origin,
- c_axis,
- c_xref,
- angle_deg: float,
-):
- """Author a parent revolute frame + child rigid frame and connect them.
-
- Joint origins/axes are given in each part's LOCAL modeling frame; the
- helper transforms them by each part's current location, so parts that were
- already repositioned by upstream connects keep correct joints (connect in
- root-to-leaf order). At angle 0 the child's c_xref direction aligns with
- the parent's p_xref direction about the shared axis.
- """
- j_p_world = parent.location * joint_plane(p_origin, p_axis, p_xref)
- z_tip = (j_p_world * Pos(0, 0, 1)).position
- axis_world = Axis(j_p_world.position, z_tip - j_p_world.position)
- f_parent = asm.revolute_frame(
- parent, f"{name}_axis", axis_world, angular_range=(-360.0, 360.0)
- )
- # The joint's stored frame may use any x-reference convention; read the
- # actual frame back and fold the constant Rz difference into the child
- # mount so the child's c_xref aligns with p_xref at angle 0.
- joint_obj = parent.joints[f"{name}_axis"]
- a_eff_world = parent.location * joint_obj.relative_axis.location
- delta = j_p_world.inverse() * a_eff_world # pure Rz about the joint axis
- j_c = joint_plane(c_origin, c_axis, c_xref)
- l_c_world = child.location * (j_c * delta)
- f_child = asm.rigid_frame(child, f"{name}_mount", l_c_world)
- asm.revolute(f_parent, f_child, angle=angle_deg, label=name)
-
-
-def _axis_rot(axis_dir) -> Rot:
- """Rotation taking +Z to axis_dir (for placing cylinders along a joint axis)."""
- d = Vector(axis_dir).normalized()
- if abs(d.Z) > 0.999:
- return Rot(0, 0, 0) if d.Z > 0 else Rot(180, 0, 0)
- if abs(d.Y) > 0.999:
- return Rot(-90, 0, 0) if d.Y > 0 else Rot(90, 0, 0)
- if abs(d.X) > 0.999:
- return Rot(0, 90, 0) if d.X > 0 else Rot(0, -90, 0)
- raise ValueError("actuator axis must be a principal axis")
-
-
-def actuator_solids(
- name: str,
- diameter: float,
- length: float,
- *,
- center=(0.0, 0.0, 0.0),
- axis=(0.0, 1.0, 0.0),
- bolts: bool = True,
-) -> list:
- """Exposed cylindrical actuator module centered on a joint.
-
- Graphite can, recessed aluminum end caps, shallow rim grooves, and an
- optional bolt circle on the +axis cap for larger sizes. Returns a list of
- labeled, colored solids.
- """
- r = diameter / 2.0
- rot = _axis_rot(axis)
- at = Pos(*center) * rot
- solids = []
-
- can_len = length * 0.78
- can = at * Cylinder(radius=r, height=can_len)
- can = fillet(can.edges(), min(2.2, r * 0.08))
- solids.append(styled(can, f"{name}_can", STRUCT_COLOR))
-
- cap_len = (length - can_len) / 2.0
- rim_r = r * 0.92
- for sign, tag in ((1.0, "out"), (-1.0, "in")):
- cap = at * Pos(0, 0, sign * (can_len / 2.0 + cap_len / 2.0)) * Cylinder(
- radius=rim_r, height=cap_len
- )
- cap = chamfer(cap.edges(), min(1.2, cap_len * 0.3))
- solids.append(styled(cap, f"{name}_cap_{tag}", ALU_COLOR))
-
- hub = at * Pos(0, 0, length / 2.0 + 1.0) * Cylinder(radius=r * 0.45, height=2.0)
- solids.append(styled(hub, f"{name}_hub", ACCENT_COLOR))
-
- if bolts and diameter >= 56.0:
- n = 8 if diameter >= 80 else 6
- bc_r = rim_r * 0.74
- for i in range(n):
- a = 2.0 * math.pi * i / n
- bolt = at * Pos(
- bc_r * math.cos(a), bc_r * math.sin(a), length / 2.0 + 0.6
- ) * Cylinder(radius=1.6, height=1.2)
- solids.append(styled(bolt, f"{name}_bolt_{i}", STRUCT_COLOR))
- return solids
-
-
-def rounded_box(
- label: str,
- color: Color,
- size,
- *,
- center=(0.0, 0.0, 0.0),
- radius: float = 3.0,
- axes: str = "z",
-):
- """Box with filleted edges along the given axes ("z", "xz", "xyz"...)."""
- sx, sy, sz = size
- box = Pos(*center) * Box(sx, sy, sz)
- edges = []
- for ax_name, ax in (("x", Axis.X), ("y", Axis.Y), ("z", Axis.Z)):
- if ax_name in axes:
- edges.extend(box.edges().filter_by(ax))
- if edges:
- box = fillet(edges, min(radius, min(sx, sy, sz) / 2.0 - 0.4))
- return styled(box, label, color)
diff --git a/models/robots/juno/juno_parts/legs.py b/models/robots/juno/juno_parts/legs.py
deleted file mode 100644
index eacf6064..00000000
--- a/models/robots/juno/juno_parts/legs.py
+++ /dev/null
@@ -1,427 +0,0 @@
-"""juno humanoid -- leg segments: thigh, shin, foot.
-
-Local frames (units mm, robot faces +X, +Y is robot-left, +Z up):
-- thigh: origin at hip-pitch joint center; knee axis = Y through (0,0,-245).
-- shin: origin at knee joint center; ankle-pitch axis = Y through (0,0,-245).
-- foot: origin at ankle-roll joint center, 26 mm above the sole bottom.
-
-Builders return identity-location Compounds of labeled, colored solids.
-Left/right mirror about the XZ plane.
-"""
-
-from __future__ import annotations
-
-import sys
-import traceback
-from pathlib import Path
-
-
-
-from build123d import (
- Axis,
- Box,
- Compound,
- Cylinder,
- GeomType,
- Plane,
- Pos,
- RectangleRounded,
- Rot,
- chamfer,
- fillet,
- loft,
- mirror,
-)
-
-from .juno_lib import (
- ACCENT_COLOR,
- ALU_COLOR,
- RUBBER_COLOR,
- SHELL_COLOR,
- STRUCT_COLOR,
- actuator_solids,
- part_compound,
- rounded_box,
- styled,
-)
-
-
-# --------------------------------------------------------------- helpers
-
-
-def _solo(shape):
- """Largest solid of a boolean result (keeps each child manifold)."""
- sols = shape.solids()
- if len(sols) == 1:
- return sols[0]
- return max(sols, key=lambda s: s.volume)
-
-
-def _solids_over(shape, min_volume=800.0):
- """All solids of a boolean result above a volume floor, biggest first."""
- sols = sorted(shape.solids(), key=lambda s: s.volume, reverse=True)
- return [s for s in sols if s.volume > min_volume] or sols[:1]
-
-
-def _try_fillet(shape, edges, radius):
- try:
- edges = list(edges)
- if edges:
- return _solo(fillet(edges, radius))
- except Exception:
- pass
- return shape
-
-
-def _try_chamfer(shape, edges, length):
- try:
- edges = list(edges)
- if edges:
- return _solo(chamfer(edges, length))
- except Exception:
- pass
- return shape
-
-
-def _cyl_y(radius, length, center=(0.0, 0.0, 0.0)):
- return Pos(*center) * Rot(-90, 0, 0) * Cylinder(radius, length)
-
-
-def _cyl_x(radius, length, center=(0.0, 0.0, 0.0)):
- return Pos(*center) * Rot(0, 90, 0) * Cylinder(radius, length)
-
-
-def _loft_z(specs):
- """Loft rounded-rectangle sections normal to Z.
-
- specs: iterable of (z, x_size, y_size, x_center, y_center, corner_r).
- """
- faces = [
- Pos(xc, yc, z) * RectangleRounded(w, d, r)
- for (z, w, d, xc, yc, r) in specs
- ]
- return _solo(loft(faces))
-
-
-def _loft_x(specs):
- """Loft rounded-rectangle sections normal to X.
-
- specs: iterable of (x, y_size, z_size, z_center, corner_r).
- """
- faces = [
- Plane.YZ.offset(x) * Pos(0, zc, 0) * RectangleRounded(wy, hz, r)
- for (x, wy, hz, zc, r) in specs
- ]
- return _solo(loft(faces))
-
-
-def _rim_chamfer(shape, radius, length):
- """Chamfer circular edges of a given radius (collar rims etc.)."""
- try:
- edges = [
- e
- for e in shape.edges().filter_by(GeomType.CIRCLE)
- if abs(e.radius - radius) < 0.6
- ]
- return _try_chamfer(shape, edges, length)
- except Exception:
- return shape
-
-
-def _yoke_fillet(shape, z_lo, z_hi, radius):
- """Fillet vertical (Z) edges whose centers lie in a z band."""
- try:
- edges = [
- e
- for e in shape.edges().filter_by(Axis.Z)
- if z_lo < e.center().Z < z_hi and e.length > 20
- ]
- return _try_fillet(shape, edges, radius)
- except Exception:
- return shape
-
-
-def _mirror_children(children):
- out = []
- for c in children:
- m = mirror(c, about=Plane.XZ)
- if m.volume < 0: # reversed orientation from the mirror
- try:
- m = m.fix()
- except Exception:
- pass
- out.append(styled(m, c.label, c.color))
- return out
-
-
-def _fallback(label, size):
- return [styled(Box(*size), f"{label}_fallback", STRUCT_COLOR)]
-
-
-# ----------------------------------------------------------------- thigh
-
-KNEE_Z = -290.0 # stretched +45 per proportion audit (G1-like leg ratio)
-
-
-def _thigh_children():
- ch = []
-
- # Exposed hip-pitch actuator (locked interface).
- ch += actuator_solids("hip_pitch", 92, 72, center=(0, 0, 0), axis=(0, 1, 0))
-
- # Graphite structural core: quad-like taper + full hip collar ring,
- # bored for the actuator can so faces stay clear.
- core = _loft_z(
- [
- (-30, 92, 72, 2, 0, 18),
- (-100, 98, 86, 8, 0, 22),
- (-185, 84, 76, 6, 0, 18),
- (-225, 60, 68, 2, 0, 14),
- ]
- )
- core = _solo(core + _cyl_y(55, 34)) # hip collar band |y|<=17
- core = _solo(core - _cyl_y(46.5, 130)) # can clearance bore
- core = _rim_chamfer(core, 55.0, 2.0)
- ch.append(styled(core, "thigh_core", STRUCT_COLOR))
-
- # Ice-gray fairing wrapping front + outer (robot-left) faces, split into
- # two shells by a panel reveal that exposes the graphite core.
- shell = _loft_z(
- [
- (-58, 94, 78, 11, 3, 18),
- (-105, 99, 88, 12, 4, 22),
- (-185, 84, 80, 11, 3, 18),
- (-221, 62, 70, 8, 2, 14),
- ]
- )
- shell = shell - core
- shell = shell - (Pos(0, 0, -140.5) * Box(320, 320, 3)) # panel reveal
- panels = _solids_over(shell)[:2]
- tags = ("upper", "lower")
- for sol, tag in zip(panels, tags):
- sol = _try_chamfer(sol, sol.edges(), 0.5)
- ch.append(styled(sol, f"thigh_fairing_{tag}", SHELL_COLOR))
-
- # Knee fork (locked): yoke + twin plates, inner faces y=+-38, outer
- # y=+-48, spanning z -225..-324, bored dia 56 on the knee axis.
- fork = Pos(0, 0, -241) * Box(58, 96, 32)
- for s in (1.0, -1.0):
- fork = fork + Pos(0, s * 43, -273) * Box(60, 10, 34)
- fork = fork + _cyl_y(34, 10, (0, s * 43, KNEE_Z))
- fork = _solo(fork - _cyl_y(28, 120, (0, 0, KNEE_Z)))
- # relief arch so the shin's knee can (dia 92, |y|<=33) swings clear
- fork = _solo(fork - _cyl_y(46.8, 67.6, (0, 0, KNEE_Z)))
- fork = _yoke_fillet(fork, -258, -224, 8.0)
- fork = _try_chamfer(fork, fork.edges(), 0.8)
- ch.append(styled(fork, "knee_fork", STRUCT_COLOR))
-
- # Aluminum bearing bosses dia 56 at (0,+-43,-245), through the plates.
- for s, tag in ((1.0, "out"), (-1.0, "in")):
- boss = _cyl_y(28, 10, (0, s * 43, KNEE_Z)) + _cyl_y(
- 30.5, 1.8, (0, s * 48.9, KNEE_Z)
- )
- boss = _solo(boss)
- boss = _try_chamfer(boss, boss.edges(), 0.6)
- ch.append(styled(boss, f"knee_boss_{tag}", ALU_COLOR))
-
- return ch
-
-
-def build_thigh(side="left"):
- label = f"thigh_{side}"
- try:
- ch = _thigh_children()
- except Exception:
- traceback.print_exc()
- ch = _fallback(label, (90, 90, 260))
- if side == "right":
- ch = _mirror_children(ch)
- return part_compound(label, ch)
-
-
-# ------------------------------------------------------------------ shin
-
-ANKLE_Z = -290.0 # stretched +45 per proportion audit (G1-like leg ratio)
-
-
-def _shin_children():
- ch = []
-
- # Exposed knee actuator (locked interface; dia 92 per torque hierarchy).
- ch += actuator_solids("knee", 92, 66, center=(0, 0, 0), axis=(0, 1, 0))
-
- # Graphite calf core: full upper rear (calf), slim near ankle.
- core = _loft_z(
- [
- (-26, 82, 60, 0, 0, 16),
- (-95, 84, 72, -6, 0, 18),
- (-185, 62, 58, -2, 0, 14),
- (-225, 44, 50, 0, 0, 11),
- ]
- )
- core = _solo(core + _cyl_y(53, 30)) # knee collar band |y|<=15
- core = _solo(core - _cyl_y(46.5, 120)) # can clearance bore
- core = _rim_chamfer(core, 53.0, 2.0)
- ch.append(styled(core, "shin_core", STRUCT_COLOR))
-
- # Front shin-guard ridge (ice-gray), split by a panel reveal.
- guard = _loft_z(
- [
- (-55, 78, 64, 7, 0, 16),
- (-100, 78, 64, 6, 0, 16),
- (-185, 64, 50, 6, 0, 12),
- (-223, 46, 40, 4, 0, 10),
- ]
- )
- guard = guard - core
- guard = guard - (Pos(0, 0, -145.5) * Box(320, 320, 3))
- panels = _solids_over(guard)[:2]
- for sol, tag in zip(panels, ("upper", "lower")):
- sol = _try_chamfer(sol, sol.edges(), 0.5)
- ch.append(styled(sol, f"shin_guard_{tag}", SHELL_COLOR))
-
- # Ankle fork (locked): plates inner y=+-26, outer y=+-34, bored dia 40
- # on the ankle-pitch axis through (0,0,-290).
- fork = Pos(0, 0, -241) * Box(46, 68, 28)
- for s in (1.0, -1.0):
- fork = fork + Pos(0, s * 30, -270.5) * Box(54, 8, 39)
- fork = fork + _cyl_y(27, 8, (0, s * 30, ANKLE_Z))
- fork = _solo(fork - _cyl_y(20, 100, (0, 0, ANKLE_Z)))
- fork = _yoke_fillet(fork, -256, -226, 7.0)
- fork = _try_chamfer(fork, fork.edges(), 0.8)
- ch.append(styled(fork, "ankle_fork", STRUCT_COLOR))
-
- # Aluminum bearing bosses dia 40 at (0,+-30,-245).
- for s, tag in ((1.0, "out"), (-1.0, "in")):
- boss = _cyl_y(20, 8, (0, s * 30, ANKLE_Z)) + _cyl_y(
- 22, 1.8, (0, s * 34.9, ANKLE_Z)
- )
- boss = _solo(boss)
- boss = _try_chamfer(boss, boss.edges(), 0.6)
- ch.append(styled(boss, f"ankle_boss_{tag}", ALU_COLOR))
-
- return ch
-
-
-def build_shin(side="left"):
- label = f"shin_{side}"
- try:
- ch = _shin_children()
- except Exception:
- traceback.print_exc()
- ch = _fallback(label, (80, 80, 260))
- if side == "right":
- ch = _mirror_children(ch)
- return part_compound(label, ch)
-
-
-# ------------------------------------------------------------------ foot
-
-
-def _foot_children():
- ch = []
-
- # Clearance for the ankle-roll can (dia 44, |x|<21 keep-clear r<24).
- roll_clear = _cyl_x(24.5, 43)
-
- # Rubber sole plate z -26..-19, x -68..112, width 70, toe-up + heel kick.
- sole = rounded_box(
- "sole_blank", RUBBER_COLOR, (180, 70, 7), center=(22, 0, -22.5),
- radius=16, axes="z",
- )
- sole = sole - roll_clear
- # toe-up wedge over the last ~30 mm (cut line (82,-26) -> (113,-20.4))
- sole = sole - (Pos(96.5, 0, -29.46) * Rot(0, -10.3, 0) * Box(44, 96, 12))
- # small heel kick (cut line (-58,-26) -> (-69,-22.5))
- sole = sole - (Pos(-63, 0, -29.66) * Rot(0, 17.65, 0) * Box(24, 96, 10))
- for gx in (-54.0, -36.0, -18.0, 36.0, 54.0, 72.0): # tread grooves
- sole = sole - (Pos(gx, 0, -25.8) * Box(4.5, 100, 4.5))
- ch.append(styled(_solo(sole), "sole", RUBBER_COLOR))
-
- # Sneaker-like wedge upper (ice-gray), lofted along X. Heights raised
- # ~+6 mm per the visual review (feet read too thin in profile).
- upper = _loft_x(
- [
- (-62, 54, 27, -5.5, 6),
- (-30, 62, 32, -3.0, 7),
- (30, 62, 30, -4.0, 7),
- (72, 56, 22, -8.0, 5),
- (104, 38, 10, -14.0, 2.4),
- ]
- )
- recess = rounded_box(
- "recess_cut", SHELL_COLOR, (66, 64, 20), center=(0, 0, 2),
- radius=9, axes="z",
- )
- upper = upper - recess # saddle recess down to z=-8
- upper = _solo(upper - roll_clear)
- ch.append(styled(upper, "foot_upper", SHELL_COLOR))
-
- # Top saddle (locked): twin plates normal to X at x 22..32 / -32..-22,
- # domed around the roll axis, tied by side rails outside the keep-clear.
- saddle = None
- for s in (1.0, -1.0):
- plate = Pos(27 * s, 0, -1) * Box(10, 62, 14)
- plate = plate + _cyl_x(19, 10, (27 * s, 0, 0))
- saddle = plate if saddle is None else saddle + plate
- saddle = saddle + Pos(0, s * 27.75, -2) * Box(64, 6.5, 12)
- saddle = saddle & (Pos(0, 0, 4) * Box(80, 90, 24)) # clip to z -8..16
- saddle = _solo(saddle)
- saddle = _try_chamfer(saddle, saddle.edges(), 0.8)
- ch.append(styled(saddle, "roll_saddle", STRUCT_COLOR))
-
- # Aluminum bearing bosses dia 34, coaxial with X through the origin.
- for s, tag in ((1.0, "out"), (-1.0, "in")):
- boss = _cyl_x(17, 5.5, (34.75 * s, 0, 0)) + _cyl_x(
- 9, 2, (38.5 * s, 0, 0)
- )
- boss = _solo(boss)
- boss = _try_chamfer(boss, boss.edges(), 0.6)
- ch.append(styled(boss, f"roll_boss_{tag}", ALU_COLOR))
-
- # Graphite toe bumper wrapping the toe box.
- toe = rounded_box(
- "toe_blank", STRUCT_COLOR, (13, 50, 10), center=(105.5, 0, -14),
- radius=5, axes="z",
- )
- toe = _solo(toe - upper)
- ch.append(styled(toe, "toe_bumper", ACCENT_COLOR))
-
- # Graphite heel bumper.
- heel = rounded_box(
- "heel_blank", STRUCT_COLOR, (10, 52, 11), center=(-63, 0, -13.5),
- radius=4, axes="z",
- )
- heel = _solo(heel - upper)
- ch.append(styled(heel, "heel_bumper", ACCENT_COLOR))
-
- return ch
-
-
-def build_foot(side="left"):
- label = f"foot_{side}"
- try:
- ch = _foot_children()
- except Exception:
- traceback.print_exc()
- ch = _fallback(label, (180, 70, 32))
- if side == "right":
- ch = _mirror_children(ch)
- return part_compound(label, ch)
-
-
-# ------------------------------------------------------------------ demo
-
-
-def gen_step():
- cols = []
- x = 0.0
- for side in ("left", "right"):
- for builder in (build_thigh, build_shin, build_foot):
- comp = builder(side)
- comp.location = Pos(x, 0, 0)
- cols.append(comp)
- x += 260.0
- demo = Compound(children=cols)
- demo.label = "juno_legs_demo"
- return demo
diff --git a/models/robots/juno/juno_parts/mass_props.py b/models/robots/juno/juno_parts/mass_props.py
deleted file mode 100644
index 7dd8a9b9..00000000
--- a/models/robots/juno/juno_parts/mass_props.py
+++ /dev/null
@@ -1,213 +0,0 @@
-"""Baked CAD mass properties and bounding boxes for juno links.
-
-Generated from the juno_parts builders with OCP BRepGProp volume
-properties at unit density in each part's local frame (== URDF link
-frame); MatrixOfInertia is reported about the center of mass. Units:
-mm^3 volume, mm COM/bbox, mm^5 unit-density inertia. Regenerate with a
-one-off BRepGProp pass over the builders if part geometry changes.
-"""
-
-from __future__ import annotations
-
-TOTAL_VOLUME_MM3 = 21995764.7
-
-# link: (volume_mm3, com_mm, inertia_com_mm5 (ixx, iyy, izz, ixy, ixz, iyz),
-# bbox_min_mm, bbox_max_mm)
-LINK_MASS_PROPS = {
- "pelvis": (
- 1851739.1,
- (0.530, 0.000, -60.660),
- (10575555495.5, 2986416959.4, 9648461832.1, -0.0, 27571603.0, 0.0),
- (-55.695, -132.500, -120.000),
- (55.695, 132.500, 2.000),
- ),
- "torso": (
- 6108265.6,
- (7.794, 0.000, 191.529),
- (62794957817.2, 52289642329.9, 24408631078.9, -4456.8, -624909761.4, 2396.0),
- (-60.697, -132.000, 2.000),
- (78.799, 132.000, 330.000),
- ),
- "neck_collar": (
- 97687.2,
- (0.000, 0.078, 31.736),
- (45359820.3, 40671978.2, 25110818.2, -0.0, -0.0, -108895.8),
- (-22.000, -24.500, -0.000),
- (22.000, 24.500, 66.000),
- ),
- "head": (
- 1430411.4,
- (5.892, 0.000, 78.745),
- (3007509481.7, 2878444626.8, 2616214902.5, 400.8, 75520856.9, -277.3),
- (-55.025, -68.600, 12.000),
- (69.718, 68.600, 149.500),
- ),
- "hip_bracket_left": (
- 238176.4,
- (-0.000, -0.000, -35.975),
- (202101382.9, 336364547.2, 246804392.9, 0.0, 0.0, -0.0),
- (-50.000, -35.000, -92.000),
- (50.000, 35.000, 2.000),
- ),
- "hip_bracket_right": (
- 238176.4,
- (-0.000, -0.000, -35.975),
- (202101382.9, 336364547.2, 246804392.9, 0.0, 0.0, -0.0),
- (-50.000, -35.000, -92.000),
- (50.000, 35.000, 2.000),
- ),
- "hip_carrier_left": (
- 264972.6,
- (0.000, -17.245, -13.249),
- (379036437.7, 330576905.5, 231821029.9, -0.0, -0.0, -89888016.9),
- (-38.000, -48.000, -110.000),
- (38.000, 30.000, 30.000),
- ),
- "hip_carrier_right": (
- 264972.6,
- (-0.000, 17.245, -13.249),
- (379036437.7, 330576905.5, 231821029.9, 0.0, -0.0, 89888016.9),
- (-38.000, -30.000, -110.000),
- (38.000, 48.000, 30.000),
- ),
- "thigh_left": (
- 2199611.8,
- (5.738, 1.309, -111.338),
- (18083649732.5, 18275231745.6, 2772515196.8, -32733791.4, 192056640.6, 56844098.9),
- (-55.000, -49.800, -324.000),
- (61.645, 49.800, 55.000),
- ),
- "thigh_right": (
- 2199611.8,
- (5.738, -1.309, -111.338),
- (18083649732.5, 18275231745.6, 2772515196.8, 32733791.4, 192056640.6, -56844098.9),
- (-55.000, -49.800, -324.000),
- (61.645, 49.800, 55.000),
- ),
- "shin_left": (
- 1538517.5,
- (-0.561, 0.061, -96.071),
- (11871561616.6, 12163653962.6, 1389886188.1, -52840.1, 50385797.6, -9043310.6),
- (-53.000, -36.030, -317.000),
- (53.000, 36.030, 53.000),
- ),
- "shin_right": (
- 1538517.5,
- (-0.561, -0.061, -96.071),
- (11871561616.6, 12163653962.6, 1389886188.1, 52840.1, 50385797.6, 9043310.6),
- (-53.000, -36.030, -317.000),
- (53.000, 36.030, 53.000),
- ),
- "ankle_link_left": (
- 137561.9,
- (-0.000, -0.000, -9.368),
- (74241221.1, 74983355.2, 43104451.9, -0.0, 0.0, 0.0),
- (-27.000, -23.000, -52.000),
- (27.000, 23.000, 27.000),
- ),
- "ankle_link_right": (
- 137561.9,
- (-0.000, -0.000, -9.368),
- (74241221.1, 74983355.2, 43104451.9, -0.0, 0.0, 0.0),
- (-27.000, -23.000, -52.000),
- (27.000, 23.000, 27.000),
- ),
- "foot_left": (
- 283123.4,
- (16.160, 0.000, -9.901),
- (123113764.4, 739379797.2, 802702130.6, 10.2, 20480873.7, -7.0),
- (-68.000, -35.000, -26.000),
- (112.000, 35.000, 17.000),
- ),
- "foot_right": (
- 283123.4,
- (16.160, -0.000, -9.901),
- (123113764.4, 739379797.2, 802702130.6, -10.2, 20480873.7, 7.0),
- (-68.000, -35.000, -26.000),
- (112.000, 35.000, 17.000),
- ),
- "shoulder_pod_left": (
- 425574.2,
- (-0.000, 28.050, -19.091),
- (714790487.6, 751008417.9, 407973611.1, 0.0, -0.0, 89264397.4),
- (-46.000, -15.000, -100.000),
- (46.000, 62.000, 40.000),
- ),
- "shoulder_pod_right": (
- 425574.2,
- (-0.000, -27.809, -19.091),
- (717642321.8, 751008417.9, 410825445.2, -0.0, -0.0, -91218689.8),
- (-46.000, -62.000, -100.000),
- (46.000, 17.000, 40.000),
- ),
- "yaw_housing_left": (
- 221220.3,
- (0.212, 0.000, -1.141),
- (129954916.4, 122383446.3, 119370777.6, 0.0, -53460.7, -0.0),
- (-28.000, -35.000, -35.000),
- (30.000, 35.000, 35.000),
- ),
- "yaw_housing_right": (
- 221220.3,
- (0.212, 0.000, -1.141),
- (129954916.4, 122383446.3, 119370777.6, 0.0, -53460.7, -0.0),
- (-28.000, -35.000, -35.000),
- (30.000, 35.000, 35.000),
- ),
- "bicep_left": (
- 301963.4,
- (0.000, -0.000, -71.359),
- (744624663.9, 710292803.0, 140767841.6, 0.1, -4.1, 0.6),
- (-28.000, -38.000, -181.000),
- (28.000, 38.000, 0.000),
- ),
- "bicep_right": (
- 301963.4,
- (0.000, -0.000, -71.359),
- (744624663.9, 710292803.0, 140767841.6, 0.1, -4.1, 0.6),
- (-28.000, -38.000, -181.000),
- (28.000, 38.000, 0.000),
- ),
- "forearm_left": (
- 283988.8,
- (0.000, 0.117, -40.459),
- (762882647.6, 775052016.1, 91527058.5, -74.9, 2642.2, -1346194.6),
- (-31.000, -25.000, -150.000),
- (31.000, 27.000, 31.000),
- ),
- "forearm_right": (
- 283988.6,
- (0.000, -0.117, -40.459),
- (762882302.6, 775051637.8, 91527008.7, 74.2, 2640.4, 1346197.1),
- (-31.000, -27.000, -150.000),
- (31.000, 25.000, 31.000),
- ),
- "wrist_carrier_left": (
- 80906.3,
- (-0.000, 0.190, -24.780),
- (25554672.8, 26183303.0, 21412679.7, -0.0, -0.0, 49549.1),
- (-24.000, -22.000, -52.000),
- (24.000, 22.000, 0.000),
- ),
- "wrist_carrier_right": (
- 80906.3,
- (-0.000, 0.190, -24.780),
- (25554672.8, 26183303.0, 21412679.7, -0.0, -0.0, 49549.1),
- (-24.000, -22.000, -52.000),
- (24.000, 22.000, 0.000),
- ),
- "hand_left": (
- 278214.4,
- (4.151, -1.046, -70.129),
- (533619427.8, 571570852.8, 168975930.2, 1937556.6, 3113956.1, -26275069.1),
- (-35.750, -33.485, -167.575),
- (61.183, 33.200, 24.000),
- ),
- "hand_right": (
- 278214.4,
- (4.151, 1.046, -70.129),
- (533619427.8, 571570852.8, 168975930.2, -1937556.6, 3113956.1, 26275069.1),
- (-35.750, -33.200, -167.575),
- (61.183, 33.485, 24.000),
- ),
-}
diff --git a/models/robots/juno/juno_parts/pelvis.py b/models/robots/juno/juno_parts/pelvis.py
deleted file mode 100644
index a2446a89..00000000
--- a/models/robots/juno/juno_parts/pelvis.py
+++ /dev/null
@@ -1,260 +0,0 @@
-"""juno pelvis: waist-yaw ring, graphite chassis, hip pods, shell fairings.
-
-Local frame: origin = waist-yaw joint center at the TOP of the pelvis.
-Geometry spans z -120..+2. Robot faces +X, +Y robot-left, +Z up.
-
-Locked interfaces (do not move):
-- Waist ring: aluminum cylinder dia 96, z -2..+2, centered on Z.
-- Hip pods: flat round mounting face dia 80 at z=-120 centered (0, +-90, -120);
- everything below z=-120 stays clear for the leg hip-yaw actuator (dia 76).
-- Envelope: x -65..+65, |y| <= 115 (pod faces at y=+-90 r40 reach 122 by the
- locked interface itself).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-
-
-import math
-
-from build123d import (
- Axis,
- Box,
- Cylinder,
- Plane,
- Pos,
- RectangleRounded,
- Rot,
- chamfer,
- extrude,
- fillet,
-)
-
-from .juno_lib import (
- ALU_COLOR,
- SHELL_COLOR,
- STRUCT_COLOR,
- part_compound,
- styled,
-)
-
-
-def _safe(op, solid):
- """Run a fillet/chamfer op; fall back to the input solid on any failure."""
- try:
- out = op(solid)
- if out is not None and out.volume > 1.0:
- return out
- except Exception:
- pass
- return solid
-
-
-def _zband(solid, lo, hi):
- return solid.edges().filter_by_position(Axis.Z, lo, hi)
-
-
-# ---------------------------------------------------------------- chassis ---
-
-def _waist_deck():
- deck = Pos(0, 0, -8) * Box(104, 118, 12)
- deck = _safe(lambda s: fillet(s.edges().filter_by(Axis.Z), 14), deck)
- deck = _safe(lambda s: chamfer(_zband(s, -2.01, -1.99), 2.0), deck)
- deck = _safe(lambda s: chamfer(_zband(s, -14.01, -13.99), 2.0), deck)
- return deck
-
-
-def _abdomen_column():
- try:
- sk = Plane(
- origin=(0, 0, -14), x_dir=(1, 0, 0), z_dir=(0, 0, -1)
- ) * RectangleRounded(86, 96, 13)
- col = extrude(sk, amount=58, taper=6)
- if col.volume > 1.0:
- return col
- except Exception:
- pass
- return Pos(0, 0, -43) * Box(80, 90, 58)
-
-
-def _hip_yoke():
- yoke = Pos(0, 0, -86) * Box(76, 164, 36)
- yoke = _safe(lambda s: chamfer(s.edges().filter_by(Axis.Y), 5.0), yoke)
- return yoke
-
-
-def _pod(side):
- return Pos(0, side * 90, -86) * Cylinder(radius=40, height=56)
-
-
-def _chassis():
- chassis = _waist_deck() + _abdomen_column() + _hip_yoke()
- chassis = chassis + _pod(+1) + _pod(-1)
-
- # Recessed service pockets on yoke front/back faces.
- for sx in (+1, -1):
- for sy in (+1, -1):
- chassis -= Pos(sx * 38, sy * 48, -86) * Box(4, 36, 22)
-
- # Panel seam groove around each pod above the aluminum rim.
- for sy in (+1, -1):
- ring = Pos(0, sy * 90, -100) * (
- Cylinder(radius=45, height=1.8) - Cylinder(radius=37.5, height=1.8)
- )
- chassis -= ring
- return styled(chassis, "pelvis_chassis", STRUCT_COLOR)
-
-
-# ----------------------------------------------------------------- accents ---
-
-def _waist_ring():
- ring = Cylinder(radius=48, height=4)
- ring = _safe(lambda s: chamfer(s.edges(), 0.8), ring)
- return styled(ring, "pelvis_waist_ring", ALU_COLOR)
-
-
-def _pod_rim(side, tag):
- rim = Pos(0, side * 90, -117) * Cylinder(radius=40, height=6)
- rim = _safe(lambda s: chamfer(_zband(s, -120.01, -119.9), 1.0), rim)
- rim = _safe(lambda s: chamfer(_zband(s, -114.1, -113.9), 0.8), rim)
- # machined witness groove
- rim -= Pos(0, side * 90, -116) * (
- Cylinder(radius=41, height=1.0) - Cylinder(radius=39, height=1.0)
- )
- return styled(rim, f"pelvis_pod_rim_{tag}", ALU_COLOR)
-
-
-def _pod_collar(side, tag):
- collar = Pos(0, side * 90, -83) * (
- Cylinder(radius=42.5, height=4) - Cylinder(radius=40, height=4)
- )
- collar = _safe(lambda s: chamfer(_zband(s, -85.01, -84.9), 0.7), collar)
- return styled(collar, f"pelvis_pod_collar_{tag}", ALU_COLOR)
-
-
-# ---------------------------------------------------------------- fairings ---
-
-def _fairing(side, tag):
- s = side
- # Volumetric upper hip shell: y 56..112, z -76..-12, x -58..58.
- blank = Pos(0, s * 84, -44) * Box(116, 56, 64)
- blank = _safe(lambda b: fillet(b.edges().filter_by(Axis.Z), 14), blank)
-
- # Plan-view 45 deg facets at the outer-front / outer-rear corners.
- blank -= (
- Pos(50, s * 100, -44) * Rot(0, 0, -s * 45.0) * Pos(16, 0, 0) * Box(32, 64, 84)
- )
- blank -= (
- Pos(-50, s * 100, -44) * Rot(0, 0, s * 45.0) * Pos(-16, 0, 0) * Box(32, 64, 84)
- )
- blank = _safe(lambda b: fillet(b.edges().filter_by(Axis.Z), 5.0), blank)
-
- # Gentle top-outer slope (hip shoulder).
- blank -= (
- Pos(0, s * 72, -12)
- * Rot(-18.0 * s, 0, 0)
- * Pos(0, 0, 36)
- * Box(150, 170, 72)
- )
- # Gentle front-top and rear-top slopes.
- blank -= Pos(38, s * 84, -13) * Rot(0, 20, 0) * Pos(0, 0, 36) * Box(110, 150, 72)
- blank -= Pos(-38, s * 84, -13) * Rot(0, -20, 0) * Pos(0, 0, 36) * Box(110, 150, 72)
-
- # Mild bottom tucks: lower edge rises toward front and rear.
- blank -= (
- Pos(28, s * 84, -76) * Rot(0, -14, 0) * Pos(0, 0, -36) * Box(130, 150, 72)
- )
- blank -= (
- Pos(-28, s * 84, -76) * Rot(0, 14, 0) * Pos(0, 0, -36) * Box(130, 150, 72)
- )
- # Angled under-edge: bottom rises inboard so the shell lower line meets
- # the yoke clearance (-64 at y=56) flush, no stepped notch.
- blank -= (
- Pos(0, s * 56, -64)
- * Rot(-12.0 * s, 0, 0)
- * Pos(0, 0, -36)
- * Box(150, 170, 72)
- )
- # NOTE: no post-cut fillets here. OCCT's fillet on the sloped-cut edge
- # network can throw inside ChFi3d and the unwind wedges the process under
- # Rosetta, so the sculpted creases stay crisp by design.
-
- # Clearance cuts: ride over the chassis with a visible seam gap.
- blank -= Pos(0, s * 90, -88) * Cylinder(radius=43.5, height=70) # pod dome
- blank -= Pos(0, s * 60, -86) * Box(84, 120, 44) # yoke
- blank -= Pos(0, 0, -7) * Box(110, 126, 14) # waist deck
-
- # Angled vent grooves on the front 45 deg facet.
- ux, uy = math.cos(math.radians(45)), math.sin(math.radians(45))
- for d in (-8.0, 0.0, 8.0):
- cx = 50.0 + d * ux + 2.5 * ux
- cy = s * (100.0 - d * uy + 2.5 * uy)
- blank -= Pos(cx, cy, -48) * Rot(0, 0, -s * 45.0) * Box(3.0, 8.0, 20.0)
-
- # Horizontal panel-line groove across the outer face.
- blank -= Pos(0, s * 112.8, -42) * Box(60.0, 4.0, 2.2)
-
- return styled(blank, f"pelvis_fairing_{tag}", SHELL_COLOR)
-
-
-# ------------------------------------------------------------- crotch guard --
-
-def _crotch_guard():
- # Faceted plate built in a local frame, then tilted and pushed to the
- # front of the yoke.
- p = Box(8, 46, 40)
- front_vert = (
- lambda g: chamfer(
- g.edges().filter_by(Axis.Z).filter_by_position(Axis.X, 3.9, 4.1),
- 6.0,
- )
- )
- p = _safe(front_vert, p)
- p = _safe(
- lambda g: chamfer(
- g.edges()
- .filter_by(Axis.Y)
- .filter_by_position(Axis.Z, -20.1, -19.9)
- .filter_by_position(Axis.X, 0.0, 4.2),
- 5.0,
- ),
- p,
- )
- p = _safe(
- lambda g: chamfer(
- g.edges()
- .filter_by(Axis.Y)
- .filter_by_position(Axis.Z, 19.9, 20.1)
- .filter_by_position(Axis.X, 0.0, 4.2),
- 3.0,
- ),
- p,
- )
- guard = Pos(50, 0, -86) * Rot(0, 4, 0) * p
- # Base wedge filling the gap back to the yoke front face (x=38).
- guard += Pos(42.75, 0, -88) * Box(9.5, 40, 32)
- return styled(guard, "pelvis_crotch_guard", STRUCT_COLOR)
-
-
-# ------------------------------------------------------------------- part ---
-
-def build_pelvis():
- children = [
- _chassis(),
- _waist_ring(),
- _pod_rim(+1, "left"),
- _pod_rim(-1, "right"),
- _pod_collar(+1, "left"),
- _pod_collar(-1, "right"),
- _fairing(+1, "left"),
- _fairing(-1, "right"),
- _crotch_guard(),
- ]
- return part_compound("pelvis", children)
-
-
-def gen_step():
- return build_pelvis()
diff --git a/models/robots/juno/juno_parts/torso.py b/models/robots/juno/juno_parts/torso.py
deleted file mode 100644
index f06744c6..00000000
--- a/models/robots/juno/juno_parts/torso.py
+++ /dev/null
@@ -1,204 +0,0 @@
-"""juno torso/chest.
-
-Local frame: origin at the waist-yaw joint center (bottom of torso),
-+X forward, +Y robot-left, +Z up. Units mm.
-
-Locked interfaces (do not change):
-- nothing below z=+2; graphite waist collar dia 100 spans z 2..36
-- chest volume z 36..320, |y| <= 118, x -78..+82
-- shoulder bosses: ALU cylinders along Y at (0, +-y, 290), |y| 112..132, dia 76
-- neck: ALU collar dia 52, z 318..324; z > 324 kept clear within r < 40
-- top deck <= z 330
-
-Construction: a graphite lofted core plus a 5 mm conformal shell ring
-(outer loft minus inner loft). Ice-gray armor panels are pieces of that
-ring clipped by rounded region boxes, so every seam is a 5 mm-deep
-recess exposing the graphite core (G1-style two-tone panel lines).
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-
-
-import math # noqa: F401 (kept for parity with sibling part modules)
-
-from build123d import (
- Axis,
- Box,
- Cylinder,
- Plane,
- Pos,
- RectangleRounded,
- Rot,
- SortBy,
- chamfer,
- fillet,
- loft,
-)
-
-from .juno_lib import (
- ALU_COLOR,
- SHELL_COLOR,
- STRUCT_COLOR,
- VISOR_COLOR,
- part_compound,
- styled,
-)
-
-# Loft sections: (z, depth_x, width_y, corner_r, center_x).
-# Front line bulges to x=+78 at the chest and pulls back at the top for a
-# slightly forward-leaning athletic silhouette; width V-tapers 148 -> 222.
-_OUTER = [
- (36.0, 104.0, 132.0, 22.0, 2.0),
- (90.0, 112.0, 150.0, 26.0, 5.0),
- (160.0, 122.0, 172.0, 30.0, 9.0),
- (225.0, 132.0, 196.0, 33.0, 12.0),
- (272.0, 138.0, 216.0, 35.0, 9.0),
- (300.0, 132.0, 222.0, 36.0, 6.0),
- (310.0, 124.0, 210.0, 34.0, 4.0),
-]
-_SHELL_T = 5.0
-_INNER = [
- (z, d - 2 * _SHELL_T, w - 2 * _SHELL_T, r - _SHELL_T, cx)
- for (z, d, w, r, cx) in _OUTER
-]
-
-
-def _loft_solid(specs):
- sections = [
- Plane.XY.offset(z) * Pos(cx, 0, 0) * RectangleRounded(d, w, r)
- for (z, d, w, r, cx) in specs
- ]
- return loft(sections)
-
-
-def _safe_fillet(solid, edges, radius):
- try:
- return fillet(edges, radius)
- except Exception:
- return solid
-
-
-def _safe_chamfer(solid, edges, length):
- try:
- return chamfer(edges, length)
- except Exception:
- return solid
-
-
-def _region(size, center, radius):
- """Clip volume with rounded Y/Z seam corners (edges along X filleted)."""
- box = Pos(*center) * Box(*size)
- try:
- box = fillet(box.edges().filter_by(Axis.X), radius)
- except Exception:
- pass
- return box
-
-
-def _clip_panel(ring, region):
- piece = ring & region
- solids = piece.solids()
- if len(solids) > 1:
- piece = solids.sort_by(SortBy.VOLUME)[-1]
- return _safe_fillet(piece, piece.edges(), 1.0)
-
-
-def build_torso():
- children = []
-
- # --- graphite waist collar (locked: dia 100, z 2..36) ----------------
- collar = Pos(0, 0, 19) * Cylinder(radius=50, height=34)
- collar = _safe_chamfer(collar, collar.edges(), 2.0)
- for zc in (9.0, 27.0):
- groove = Pos(0, 0, zc) * (
- Cylinder(radius=52, height=2.4) - Cylinder(radius=48, height=2.4)
- )
- collar = collar - groove
- children.append(styled(collar, "torso_waist_collar", STRUCT_COLOR))
-
- # --- graphite core + shoulder gusset barrels --------------------------
- outer = _loft_solid(_OUTER)
- inner = _loft_solid(_INNER)
- ring = outer - inner
-
- core = inner
- for sgn in (1.0, -1.0):
- gusset = Pos(0, sgn * 100.0, 290) * Rot(-90, 0, 0) * Cylinder(
- radius=40, height=24
- )
- gusset = _safe_chamfer(gusset, gusset.edges(), 1.5)
- core = core + gusset
-
- # side intake louvres: three slanted grooves cut into each flank
- for sgn in (1.0, -1.0):
- for xc in (-14.0, 4.0, 22.0):
- slot = Pos(xc, sgn * 90.0, 205) * Rot(0, -12, 0) * Box(9, 14, 64)
- core = core - slot
-
- # upper-chest sensor pocket (flat floor at x = 59)
- pocket = Pos(69.5, 0, 302) * Box(21, 48, 11)
- core = core - pocket
- children.append(styled(core, "torso_core", STRUCT_COLOR))
-
- # gloss-black sensor bar recessed in the pocket
- sensor = Pos(61.5, 0, 301.5) * Box(5, 44, 8)
- sensor = _safe_fillet(sensor, sensor.edges().filter_by(Axis.X), 2.0)
- children.append(styled(sensor, "torso_chest_sensor", VISOR_COLOR))
-
- # --- ice-gray armor panels (conformal ring pieces) --------------------
- # twin pectoral plates with a 10 mm center crease
- for sgn, tag in ((1.0, "l"), (-1.0, "r")):
- pec = _clip_panel(
- ring, _region((95, 68, 146), (47.5, sgn * 39.0, 223), 12)
- )
- children.append(styled(pec, f"torso_pec_panel_{tag}", SHELL_COLOR))
-
- # abdomen plate below an 8 mm horizontal reveal
- abdomen = _clip_panel(ring, _region((95, 90, 92), (47.5, 0, 98), 10))
- children.append(styled(abdomen, "torso_abdomen_panel", SHELL_COLOR))
-
- # thin backpack panels either side of the graphite spine column
- for sgn, tag in ((1.0, "l"), (-1.0, "r")):
- back = _clip_panel(
- ring, _region((65, 45, 220), (-62.5, sgn * 35.5, 180), 10)
- )
- children.append(styled(back, f"torso_back_panel_{tag}", SHELL_COLOR))
-
- # slim graphite spine column, flush with the back panels
- spine = _clip_panel(ring, _region((65, 16, 258), (-62.5, 0, 173), 6))
- children.append(styled(spine, "torso_spine_column", STRUCT_COLOR))
-
- # --- top deck + neck collar -------------------------------------------
- deck_specs = [
- (310.0, 110.0, 170.0, 30.0, 4.0),
- (318.0, 110.0, 170.0, 30.0, 4.0),
- ]
- deck = _loft_solid(deck_specs)
- deck = _safe_chamfer(deck, deck.edges().group_by(Axis.Z)[-1], 2.5)
- children.append(styled(deck, "torso_top_deck", SHELL_COLOR))
-
- neck = Pos(0, 0, 321) * Cylinder(radius=26, height=6)
- neck = _safe_chamfer(neck, neck.edges().group_by(Axis.Z)[-1], 1.0)
- children.append(styled(neck, "torso_neck_collar", ALU_COLOR))
-
- # --- aluminum shoulder bosses (locked: dia 76, |y| 112..132) ----------
- for sgn, tag in ((1.0, "l"), (-1.0, "r")):
- boss = Pos(0, sgn * 122.0, 290) * Rot(-90, 0, 0) * Cylinder(
- radius=38, height=20
- )
- boss = _safe_chamfer(boss, boss.edges(), 2.0)
- groove = Pos(0, sgn * 126.0, 290) * Rot(-90, 0, 0) * (
- Cylinder(radius=39, height=2.5) - Cylinder(radius=36.5, height=2.5)
- )
- boss = boss - groove
- children.append(styled(boss, f"torso_shoulder_boss_{tag}", ALU_COLOR))
-
- return part_compound("torso", children)
-
-
-def gen_step():
- return build_torso()
diff --git a/models/robots/lekiwi/lekiwi.srdf b/models/robots/lekiwi/lekiwi.srdf
deleted file mode 100644
index 44f7e748..00000000
--- a/models/robots/lekiwi/lekiwi.srdf
+++ /dev/null
@@ -1,81 +0,0 @@
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diff --git a/models/robots/lekiwi/lekiwi.urdf b/models/robots/lekiwi/lekiwi.urdf
deleted file mode 100644
index c4043cc2..00000000
--- a/models/robots/lekiwi/lekiwi.urdf
+++ /dev/null
@@ -1,1087 +0,0 @@
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diff --git a/models/robots/lyra/.lyra.step.js b/models/robots/lyra/.lyra.step.js
deleted file mode 100644
index 44a1b0a6..00000000
--- a/models/robots/lyra/.lyra.step.js
+++ /dev/null
@@ -1,519 +0,0 @@
-// Pose articulation animations for the lyra dexterous-hand STEP assembly.
-//
-// The STEP geometry is baked in the "relaxed" pose (see lyra.py /
-// lyra_parts/chain.py). This module recomputes full-chain FK each frame at
-// the target pose and applies, per link, the rigid delta matrix
-// T_target * inverse(T_relaxed) in the fixed model frame (mm, RIGHT hand,
-// +Z distal, +Y palmar, +X radial, wrist-flange face center at the origin).
-//
-// All pose tables mirror lyra_parts/chain.py named_poses_deg(); the joint
-// list mirrors chain.all_joints() (origins mm in the parent link frame,
-// axes: finger flexion about -X, thumb cmc yaw about +Z, thumb flexion
-// about -Y). Poses are blended in joint space with smoothstep easing —
-// every intermediate state of a serial digit chain is itself a valid pose,
-// so blends never break the mechanism. Every loop starts and ends on the
-// exact pose it began with.
-
-const FINGERS = ["index", "middle", "ring", "pinky"];
-
-// Chain offsets (mm), mirrored from lyra_parts/chain.py.
-const MCP = {
- index: [28.5, 0, 99],
- middle: [9.5, 0, 103],
- ring: [-9.5, 0, 99],
- pinky: [-28.5, 0, 90]
-};
-const SEG = { index: [44, 26], middle: [48, 29], ring: [44, 27], pinky: [35, 21] };
-const THUMB_CMC = [31, 4, 44];
-const THUMB_BASE_LEN = 13;
-const THUMB_METACARPAL_LEN = 46;
-const THUMB_PROXIMAL_LEN = 30;
-
-const NEG_X = [-1, 0, 0];
-const NEG_Y = [0, -1, 0];
-const Z = [0, 0, 1];
-
-function buildJoints() {
- const joints = [];
- for (const finger of FINGERS) {
- joints.push(
- { name: `${finger}_mcp`, parent: "palm", child: `${finger}_proximal`, origin: MCP[finger], axis: NEG_X },
- { name: `${finger}_pip`, parent: `${finger}_proximal`, child: `${finger}_middle`, origin: [0, 0, SEG[finger][0]], axis: NEG_X },
- { name: `${finger}_dip`, parent: `${finger}_middle`, child: `${finger}_distal`, origin: [0, 0, SEG[finger][1]], axis: NEG_X }
- );
- }
- joints.push(
- { name: "thumb_cmc_yaw", parent: "palm", child: "thumb_base", origin: THUMB_CMC, axis: Z },
- { name: "thumb_cmc_flex", parent: "thumb_base", child: "thumb_metacarpal", origin: [THUMB_BASE_LEN, 0, 0], axis: NEG_Y },
- { name: "thumb_mp", parent: "thumb_metacarpal", child: "thumb_proximal", origin: [THUMB_METACARPAL_LEN, 0, 0], axis: NEG_Y },
- { name: "thumb_ip", parent: "thumb_proximal", child: "thumb_distal", origin: [THUMB_PROXIMAL_LEN, 0, 0], axis: NEG_Y }
- );
- return joints;
-}
-
-const JOINTS = buildJoints();
-
-// ---------------------------------------------------------------- poses
-function fingerPose(curls, thumb) {
- const pose = {};
- for (const finger of FINGERS) {
- const [mcp, pip, dip] = curls[finger];
- pose[`${finger}_mcp`] = mcp;
- pose[`${finger}_pip`] = pip;
- pose[`${finger}_dip`] = dip;
- }
- const [yaw, flex, mp, ip] = thumb;
- pose.thumb_cmc_yaw = yaw;
- pose.thumb_cmc_flex = flex;
- pose.thumb_mp = mp;
- pose.thumb_ip = ip;
- return pose;
-}
-
-// Mirrored from chain.named_poses_deg().
-const POSES = {
- zero: fingerPose(
- { index: [0, 0, 0], middle: [0, 0, 0], ring: [0, 0, 0], pinky: [0, 0, 0] },
- [0, 0, 0, 0]
- ),
- relaxed: fingerPose(
- { index: [10, 14, 8], middle: [12, 16, 9], ring: [14, 18, 10], pinky: [16, 20, 12] },
- [34, 26, 14, 12]
- ),
- fist: fingerPose(
- { index: [78, 100, 60], middle: [78, 100, 60], ring: [78, 100, 60], pinky: [78, 100, 60] },
- [92, 13, 58, 74]
- ),
- precision_pinch: fingerPose(
- { index: [40, 48, 30], middle: [66, 92, 55], ring: [66, 92, 55], pinky: [66, 92, 55] },
- [91, 34, 29, 8]
- ),
- tripod_pinch: fingerPose(
- { index: [44, 52, 32], middle: [42, 50, 30], ring: [66, 92, 55], pinky: [66, 92, 55] },
- [100, 39, 0, 14]
- ),
- point: fingerPose(
- { index: [-6, 0, 0], middle: [80, 102, 62], ring: [80, 102, 62], pinky: [80, 102, 62] },
- [62, 30, 42, 45]
- ),
- ok_sign: fingerPose(
- { index: [42, 52, 32], middle: [6, 8, 4], ring: [10, 12, 6], pinky: [14, 16, 8] },
- [91, 26, 35, 20]
- )
-};
-
-const BAKED_POSE = POSES.relaxed;
-
-// ------------------------------------------------------------- math kit
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function clamp(value, min, max) {
- return Math.min(Math.max(finite(value, min), min), max);
-}
-
-function smoothstep(u) {
- const t = clamp(u, 0, 1);
- return t * t * (3 - 2 * t);
-}
-
-// Rodrigues rotation about a unit axis (covers -X, -Y, and Z here).
-function rotAxisDeg(axis, deg) {
- const rad = (deg * Math.PI) / 180;
- const c = Math.cos(rad);
- const s = Math.sin(rad);
- const t = 1 - c;
- const [ax, ay, az] = axis;
- return [
- [c + ax * ax * t, ax * ay * t - az * s, ax * az * t + ay * s],
- [ay * ax * t + az * s, c + ay * ay * t, ay * az * t - ax * s],
- [az * ax * t - ay * s, az * ay * t + ax * s, c + az * az * t]
- ];
-}
-
-function matMul3(a, b) {
- const out = [[0, 0, 0], [0, 0, 0], [0, 0, 0]];
- for (let i = 0; i < 3; i += 1) {
- for (let j = 0; j < 3; j += 1) {
- out[i][j] = (a[i][0] * b[0][j]) + (a[i][1] * b[1][j]) + (a[i][2] * b[2][j]);
- }
- }
- return out;
-}
-
-function matVec3(a, v) {
- return [
- (a[0][0] * v[0]) + (a[0][1] * v[1]) + (a[0][2] * v[2]),
- (a[1][0] * v[0]) + (a[1][1] * v[1]) + (a[1][2] * v[2]),
- (a[2][0] * v[0]) + (a[2][1] * v[1]) + (a[2][2] * v[2])
- ];
-}
-
-function matTranspose3(a) {
- return [
- [a[0][0], a[1][0], a[2][0]],
- [a[0][1], a[1][1], a[2][1]],
- [a[0][2], a[1][2], a[2][2]]
- ];
-}
-
-const IDENTITY3 = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
-
-function fkFrames(anglesDeg) {
- const frames = { palm: { R: IDENTITY3, p: [0, 0, 0] } };
- for (const joint of JOINTS) {
- const parent = frames[joint.parent];
- const offset = matVec3(parent.R, joint.origin);
- const p = [parent.p[0] + offset[0], parent.p[1] + offset[1], parent.p[2] + offset[2]];
- const R = matMul3(parent.R, rotAxisDeg(joint.axis, finite(anglesDeg[joint.name], 0)));
- frames[joint.child] = { R, p };
- }
- return frames;
-}
-
-const BAKED_FRAMES = fkFrames(BAKED_POSE);
-
-// Row-major 4x4 mapping the baked placement of a link onto its target
-// placement: M = [R_t R_o^T | p_t - R_t R_o^T p_o].
-function deltaMatrixRowMajor(original, target) {
- const Rd = matMul3(target.R, matTranspose3(original.R));
- const moved = matVec3(Rd, original.p);
- const t = [target.p[0] - moved[0], target.p[1] - moved[1], target.p[2] - moved[2]];
- return [
- Rd[0][0], Rd[0][1], Rd[0][2], t[0],
- Rd[1][0], Rd[1][1], Rd[1][2], t[1],
- Rd[2][0], Rd[2][1], Rd[2][2], t[2],
- 0, 0, 0, 1
- ];
-}
-
-function blendPoses(a, b, u) {
- const e = smoothstep(u);
- const out = {};
- for (const joint of JOINTS) {
- out[joint.name] = finite(a[joint.name], 0) + ((finite(b[joint.name], 0) - finite(a[joint.name], 0)) * e);
- }
- return out;
-}
-
-function addScaled(pose, delta, scale) {
- const out = {};
- for (const joint of JOINTS) {
- out[joint.name] = finite(pose[joint.name], 0) + (finite(delta[joint.name], 0) * scale);
- }
- return out;
-}
-
-// ---------------------------------------------------------------- modes
-// Keyframe cycle through the showpiece poses; each segment blends for 65%
-// of its window and dwells for 35%, and the cycle wraps back to its first
-// key so the loop is exact. Key order is chosen so every adjacent blend is
-// capsule-verified collision-free (the fist only neighbors tripod/relaxed;
-// blending it with pinch/point/ok would sweep the thumb through the index).
-const TOUR_KEYS = ["relaxed", "precision_pinch", "ok_sign", "point", "tripod_pinch", "fist"];
-// The tour opens with one finger-ripple wave (starts and ends exactly on
-// the relaxed pose, so it splices seamlessly before the first keyframe
-// blend) and spends the rest of the cycle on the pose keyframes.
-const TOUR_RIPPLE_FRAC = 0.22;
-
-function tourPose(phase) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- if (p < TOUR_RIPPLE_FRAC) {
- return ripplePose(p / TOUR_RIPPLE_FRAC, 1);
- }
- const q = (p - TOUR_RIPPLE_FRAC) / (1 - TOUR_RIPPLE_FRAC);
- const segCount = TOUR_KEYS.length;
- const seg = Math.min(Math.floor(q * segCount), segCount - 1);
- const u = (q * segCount) - seg;
- const from = POSES[TOUR_KEYS[seg]];
- const to = POSES[TOUR_KEYS[(seg + 1) % segCount]];
- return blendPoses(from, to, u / 0.65);
-}
-
-// Open-close power grasp: relaxed -> fist -> relaxed on a raised cosine.
-function graspPose(phase, grip) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- const wave = 0.5 * (1 - Math.cos(2 * Math.PI * p));
- return blendPoses(POSES.relaxed, POSES.fist, wave * grip);
-}
-
-// Precision pinch with a double pad tap while closed.
-const PINCH_TAP = fingerPose(
- { index: [-5, -7, -4], middle: [0, 0, 0], ring: [0, 0, 0], pinky: [0, 0, 0] },
- [0, 0, -7, -5]
-);
-
-function pinchPose(phase) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- if (p < 0.3) {
- return blendPoses(POSES.relaxed, POSES.precision_pinch, p / 0.3);
- }
- if (p < 0.72) {
- const u = (p - 0.3) / 0.42;
- const tap = Math.sin(2 * Math.PI * 2 * u);
- return addScaled(POSES.precision_pinch, PINCH_TAP, Math.max(0, tap));
- }
- return blendPoses(POSES.precision_pinch, POSES.relaxed, (p - 0.72) / 0.28);
-}
-
-// Traveling curl wave: each digit pulses inside its own window (raised
-// cosine, zero at both ends), thumb last. The windows are wide relative to
-// the digit spacing, so each digit starts curling while its neighbor is
-// still mid-pulse and the wave reads as one continuous motion.
-const RIPPLE_ORDER = ["index", "middle", "ring", "pinky", "thumb"];
-const RIPPLE_CURL = { mcp: 30, pip: 40, dip: 22, thumbFlex: 12, thumbMp: 30, thumbIp: 30 };
-const RIPPLE_WINDOW = 0.45;
-
-function ripplePose(phase, grip) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- const window = RIPPLE_WINDOW;
- const step = (1 - window) / (RIPPLE_ORDER.length - 1);
- const pose = {};
- for (const joint of JOINTS) {
- pose[joint.name] = BAKED_POSE[joint.name];
- }
- RIPPLE_ORDER.forEach((digit, i) => {
- const start = i * step;
- const u = (p - start) / window;
- if (u <= 0 || u >= 1) {
- return;
- }
- const lobe = Math.sin(Math.PI * u);
- const amp = lobe * lobe * grip;
- if (digit === "thumb") {
- pose.thumb_cmc_flex += RIPPLE_CURL.thumbFlex * amp;
- pose.thumb_mp += RIPPLE_CURL.thumbMp * amp;
- pose.thumb_ip += RIPPLE_CURL.thumbIp * amp;
- } else {
- pose[`${digit}_mcp`] += RIPPLE_CURL.mcp * amp;
- pose[`${digit}_pip`] += RIPPLE_CURL.pip * amp;
- pose[`${digit}_dip`] += RIPPLE_CURL.dip * amp;
- }
- });
- return pose;
-}
-
-// Count 1..5 from a fist (index first, thumb last), then close back. The
-// thumb lifts off to a hover clear of the fingers before any finger
-// extends, and only re-wraps once the fingers are curled again — every
-// adjacent blend is capsule-verified collision-free.
-const COUNT_EXTENDED = { index: [2, 2, 1], middle: [2, 2, 1], ring: [4, 4, 2], pinky: [6, 6, 3] };
-const COUNT_THUMB_FIST = [92, 13, 58, 74];
-const COUNT_THUMB_HOVER = [50, 30, 25, 20];
-const COUNT_THUMB_OPEN = [20, 10, 4, 4];
-
-function countKey(step, thumb) {
- const curls = {};
- FINGERS.forEach((finger, i) => {
- curls[finger] = step >= i + 1 ? COUNT_EXTENDED[finger] : [78, 100, 60];
- });
- return fingerPose(curls, thumb);
-}
-
-function countPose(phase) {
- const p = ((finite(phase, 0) % 1) + 1) % 1;
- // 8 segments: fist -> thumb hover -> 1 -> 2 -> 3 -> 4 -> 5 (thumb opens)
- // -> hover (fingers re-curl) -> wrap back to the fist.
- const keys = [
- countKey(0, COUNT_THUMB_FIST),
- countKey(0, COUNT_THUMB_HOVER),
- countKey(1, COUNT_THUMB_HOVER),
- countKey(2, COUNT_THUMB_HOVER),
- countKey(3, COUNT_THUMB_HOVER),
- countKey(4, COUNT_THUMB_HOVER),
- countKey(5, COUNT_THUMB_OPEN),
- countKey(0, COUNT_THUMB_HOVER)
- ];
- const segCount = keys.length;
- const seg = Math.min(Math.floor(p * segCount), segCount - 1);
- const u = (p * segCount) - seg;
- const from = keys[seg];
- const to = seg + 1 < segCount ? keys[seg + 1] : keys[0];
- return blendPoses(from, to, u / 0.6);
-}
-
-const FEATURE_BY_LINK = {
- palm: "palm",
- index_proximal: "indexProximal",
- index_middle: "indexMiddle",
- index_distal: "indexDistal",
- middle_proximal: "middleProximal",
- middle_middle: "middleMiddle",
- middle_distal: "middleDistal",
- ring_proximal: "ringProximal",
- ring_middle: "ringMiddle",
- ring_distal: "ringDistal",
- pinky_proximal: "pinkyProximal",
- pinky_middle: "pinkyMiddle",
- pinky_distal: "pinkyDistal",
- thumb_base: "thumbBase",
- thumb_metacarpal: "thumbMetacarpal",
- thumb_proximal: "thumbProximal",
- thumb_distal: "thumbDistal"
-};
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/robots/lyra/lyra.step"
- },
- label: "lyra dexterous hand",
- description: "16-DOF humanoid right hand: pose tour, power grasp, precision pinch with pad taps, finger ripple, and counting, all driven by per-frame chain FK against the baked relaxed pose.",
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- palm: { ref: "#o1.1", label: "Palm", description: "Root link; static during all hand animations." },
- indexProximal: { ref: "#o1.2", label: "Index proximal" },
- indexMiddle: { ref: "#o1.3", label: "Index middle" },
- indexDistal: { ref: "#o1.4", label: "Index distal" },
- middleProximal: { ref: "#o1.5", label: "Middle proximal" },
- middleMiddle: { ref: "#o1.6", label: "Middle middle" },
- middleDistal: { ref: "#o1.7", label: "Middle distal" },
- ringProximal: { ref: "#o1.8", label: "Ring proximal" },
- ringMiddle: { ref: "#o1.9", label: "Ring middle" },
- ringDistal: { ref: "#o1.10", label: "Ring distal" },
- pinkyProximal: { ref: "#o1.11", label: "Pinky proximal" },
- pinkyMiddle: { ref: "#o1.12", label: "Pinky middle" },
- pinkyDistal: { ref: "#o1.13", label: "Pinky distal" },
- thumbBase: { ref: "#o1.14", label: "Thumb CMC base" },
- thumbMetacarpal: { ref: "#o1.15", label: "Thumb metacarpal" },
- thumbProximal: { ref: "#o1.16", label: "Thumb proximal" },
- thumbDistal: { ref: "#o1.17", label: "Thumb distal" }
- },
- parameters: {
- phase: {
- type: "number",
- label: "Cycle phase",
- description: "One full cycle of the active mode; the animations drive this 0 -> 1.",
- default: 0,
- min: 0,
- max: 1,
- step: 0.001
- },
- mode: {
- type: "select",
- label: "Mode",
- description: "Which articulation cycle the phase scrubs. Each animation drives the matching mode; 'pose' holds the static pose picked below.",
- default: "tour",
- options: [
- { value: "tour", label: "Pose tour" },
- { value: "grasp", label: "Power grasp" },
- { value: "pinch", label: "Precision pinch" },
- { value: "ripple", label: "Finger ripple" },
- { value: "count", label: "Count to five" },
- { value: "pose", label: "Hold named pose" }
- ]
- },
- pose: {
- type: "select",
- label: "Named pose",
- description: "SRDF group-state pose held when mode is 'pose' (blend with Grip).",
- default: "relaxed",
- options: [
- { value: "zero", label: "Zero (flat open)" },
- { value: "relaxed", label: "Relaxed (baked)" },
- { value: "fist", label: "Fist" },
- { value: "precision_pinch", label: "Precision pinch" },
- { value: "tripod_pinch", label: "Tripod pinch" },
- { value: "point", label: "Point" },
- { value: "ok_sign", label: "OK sign" }
- ]
- },
- grip: {
- type: "number",
- label: "Grip",
- description: "Scales the grasp/ripple amplitude, and blends relaxed -> named pose in 'pose' mode.",
- default: 1,
- min: 0,
- max: 1,
- step: 0.01
- }
- },
- animations: {
- poseTour: {
- label: "Pose tour",
- description: "Opens with a finger ripple wave, then cycles relaxed -> precision pinch -> OK sign -> point -> tripod pinch -> fist and back, dwelling on each pose.",
- duration: 11.5,
- loop: true,
- update({ cycle, set }) {
- set("mode", "tour");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- graspLoop: {
- label: "Power grasp",
- description: "Full-hand open-close: all four fingers wrap and the thumb locks over them, then releases back to the relaxed pose.",
- duration: 2.6,
- loop: true,
- update({ cycle, set }) {
- set("mode", "grasp");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- pinchLoop: {
- label: "Precision pinch",
- description: "Thumb-index pad opposition with a double tap while closed; the other fingers curl clear.",
- duration: 2.8,
- loop: true,
- update({ cycle, set }) {
- set("mode", "pinch");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- rippleLoop: {
- label: "Finger ripple",
- description: "A curl wave travels index -> pinky and hands off to the thumb, like drumming fingers in the air.",
- duration: 2.6,
- loop: true,
- update({ cycle, set }) {
- set("mode", "ripple");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- },
- countLoop: {
- label: "Count to five",
- description: "From a fist: the thumb lifts clear, then index, middle, ring, pinky extend in turn and the thumb opens to a flat five before the hand closes again.",
- duration: 7.0,
- loop: true,
- update({ cycle, set }) {
- set("mode", "count");
- set("phase", ((finite(cycle, 0) % 1) + 1) % 1);
- }
- }
- }
- },
-
- update({ params, effects }) {
- const phase = ((finite(params.phase, 0) % 1) + 1) % 1;
- const grip = clamp(params.grip, 0, 1);
- const mode = String(params.mode || "tour");
- let target;
- if (mode === "grasp") {
- target = graspPose(phase, grip);
- } else if (mode === "pinch") {
- target = pinchPose(phase);
- } else if (mode === "ripple") {
- target = ripplePose(phase, grip);
- } else if (mode === "count") {
- target = countPose(phase);
- } else if (mode === "pose") {
- const named = POSES[String(params.pose || "relaxed")] || POSES.relaxed;
- target = blendPoses(POSES.relaxed, named, grip);
- } else {
- target = tourPose(phase);
- }
-
- const targetFrames = fkFrames(target);
- for (const [link, feature] of Object.entries(FEATURE_BY_LINK)) {
- effects.transform(feature, {
- matrix: deltaMatrixRowMajor(BAKED_FRAMES[link], targetFrames[link])
- });
- }
- }
-};
diff --git a/models/robots/lyra/3MF/index_distal.3mf b/models/robots/lyra/3MF/index_distal.3mf
deleted file mode 100644
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diff --git a/models/robots/lyra/README.md b/models/robots/lyra/README.md
deleted file mode 100644
index 91683bf8..00000000
--- a/models/robots/lyra/README.md
+++ /dev/null
@@ -1,80 +0,0 @@
-# lyra — dexterous humanoid hand concept
-
-An aesthetically refined five-digit robotic RIGHT hand for an advanced
-bipedal robot: slim pearl-composite shell tubes over an exposed graphite
-structural spine, machined-aluminum precision knuckle clevises with visible
-pivot pins and rim washers, tendon-driven architecture (dorsal tendon
-channel grooves fanning to each knuckle plus a five-dial tensioner row at
-the wrist), integrated tactile sensing (2x2 palm pad array, per-phalanx
-soft-touch strips, palmar fingertip caps, amber-ringed palm sensor), and a
-6-bolt wrist flange. Graceful human-like proportions (~198 mm flange to
-middle fingertip), clean industrial design, no logos.
-
-## Degrees of freedom (16)
-
-| Group | Joints | DOF |
-| --- | --- | --- |
-| Each finger (x4) | MCP, PIP, DIP flexion (about -X) | 12 |
-| Thumb | CMC yaw (opposition swing about +Z), CMC flex, MP, IP (about -Y) | 4 |
-
-MCP abduction/spread is intentionally omitted (documented tendon-budget
-trade in `lyra_parts/chain.py`). Named poses are capsule-tuned to small
-positive clearances (`lyra_parts/clearance.py`): `precision_pinch` and
-`ok_sign` kiss the thumb-index pads at ~0.7-0.8 mm surface clearance,
-`tripod_pinch` chuck-grips a virtual ~12 mm object, and the `fist` thumb
-rests on the index middle phalanx — no pose or animation blend
-interpenetrates.
-
-## Files
-
-- `lyra.py` — build123d generator (`gen_step()`); authoritative source.
- Joints are authored as `cadpy.assembly.AssemblyHelper` revolute frames
- driven by the baked `relaxed` pose. Also exposes `gen_urdf()` /
- `gen_srdf()` for the robot description.
-- `lyra_parts/` — part-builder package. `chain.py` is the shared kinematic
- chain/pose/limit spec (stdlib-only FK included) used by the CAD assembly,
- the URDF/SRDF generators, and the animation sidecar; `lib.py` holds the
- palette and the verified `revolute_attach()` joint math; `palm.py` /
- `digits.py` build the parts; `description.py` emits the URDF/SRDF XML;
- `mass_props.py` holds baked CAD volume/COM/inertia/bbox data;
- `clearance.py` is the stdlib capsule-collision self-check (run
- `python -m lyra_parts.clearance` from this directory after editing
- poses or animation key orders — it sweeps every named pose and every
- sidecar blend path).
-- `lyra.step` — generated STEP assembly (derived artifact), baked in the
- `relaxed` pose. Occurrence refs `#o1.1..#o1.17` follow the `asm.add`
- order in `lyra.py` (palm, then index/middle/ring/pinky
- proximal/middle/distal, then thumb base/metacarpal/proximal/distal).
-- `.lyra.step.js` — CAD Viewer animation sidecar driving per-frame chain FK
- deltas against the baked pose. Animations: `poseTour` (a finger-ripple
- wave, then relaxed -> precision pinch -> OK sign -> point -> tripod
- pinch -> fist; key order chosen so every blend is collision-free),
- `graspLoop` (power grasp), `pinchLoop` (pinch with pad double-tap),
- `rippleLoop` (traveling finger curl wave with overlapping per-digit
- pulses), `countLoop` (count to five from a fist; the thumb lifts to a
- hover before any finger extends).
- Controls: `phase`, `mode`, `pose` (named SRDF pose hold), `grip`.
-- `lyra.urdf` — generated URDF (derived artifact): a frame-only
- `wrist_mount` root plus 17 physical links and 16 revolute joints,
- per-link 3MF mesh visuals, bbox collisions, CAD-derived inertials at an
- assumed 0.62 kg total mass.
-- `lyra.srdf` — generated MoveIt2 SRDF (derived artifact): per-digit joint
- groups, `fingers`/`hand` unions, a palm-mounted `hand_eef` end effector,
- disabled collisions, and hand group states (`zero`, `relaxed`, `fist`,
- `precision_pinch`, `tripod_pinch`, `point`, `ok_sign`).
-- `STEP/` — per-link wrapper sources (`gen_step()` per link) and their
- generated STEP parts; `3MF/` — per-link mm mesh sidecars referenced by
- the URDF.
-
-## Conventions
-
-Units mm. RIGHT hand: the wrist-flange mount face center is the origin,
-+Z distal (fingers up), +Y palmar, +X radial (thumb side). Every link frame
-sits at its joint center with axes parallel to the palm at zero angles
-(URDF joints are pure translations). Positive joint angles flex/curl.
-Regenerate with the CAD skill: `python scripts/step models/robots/lyra/lyra.py`.
-Regenerate link meshes per link with the CAD skill, e.g.
-`python scripts/step models/robots/lyra/STEP/.py --3mf ../3MF/.3mf`.
-Regenerate the robot description with the URDF/SRDF skills:
-`python scripts/urdf models/robots/lyra/lyra.py=models/robots/lyra/lyra.urdf`
-and `python scripts/srdf models/robots/lyra/lyra.py=models/robots/lyra/lyra.srdf`.
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diff --git a/models/robots/lyra/STEP/.thumb_base.step.glb b/models/robots/lyra/STEP/.thumb_base.step.glb
deleted file mode 100644
index e0b029fd..00000000
--- a/models/robots/lyra/STEP/.thumb_base.step.glb
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index 84c1e12e..00000000
--- a/models/robots/lyra/STEP/.thumb_distal.step.glb
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-version https://git-lfs.github.com/spec/v1
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diff --git a/models/robots/lyra/STEP/.thumb_metacarpal.step.glb b/models/robots/lyra/STEP/.thumb_metacarpal.step.glb
deleted file mode 100644
index 0ae29bb2..00000000
--- a/models/robots/lyra/STEP/.thumb_metacarpal.step.glb
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/models/robots/lyra/STEP/.thumb_proximal.step.glb b/models/robots/lyra/STEP/.thumb_proximal.step.glb
deleted file mode 100644
index 9f9a55b9..00000000
--- a/models/robots/lyra/STEP/.thumb_proximal.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 706992
diff --git a/models/robots/lyra/STEP/index_distal.py b/models/robots/lyra/STEP/index_distal.py
deleted file mode 100644
index af9051e9..00000000
--- a/models/robots/lyra/STEP/index_distal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""index_distal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_distal("index")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_distal
-
-
-def gen_step():
- return build_finger_distal("index")
diff --git a/models/robots/lyra/STEP/index_distal.step b/models/robots/lyra/STEP/index_distal.step
deleted file mode 100644
index 4bf82984..00000000
--- a/models/robots/lyra/STEP/index_distal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:21c3c135c30c73c588621a6fc3f5d14de6430f9cfdd0451d8d256d7111278a1e
-size 148191
diff --git a/models/robots/lyra/STEP/index_middle.py b/models/robots/lyra/STEP/index_middle.py
deleted file mode 100644
index 3d5bbf3d..00000000
--- a/models/robots/lyra/STEP/index_middle.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""index_middle mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_middle("index")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_middle
-
-
-def gen_step():
- return build_finger_middle("index")
diff --git a/models/robots/lyra/STEP/index_middle.step b/models/robots/lyra/STEP/index_middle.step
deleted file mode 100644
index 45f925c2..00000000
--- a/models/robots/lyra/STEP/index_middle.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e86e1495647b0191bc3a8d356b2b67a1264ab8b57c171a4428f345989944c0fe
-size 278139
diff --git a/models/robots/lyra/STEP/index_proximal.py b/models/robots/lyra/STEP/index_proximal.py
deleted file mode 100644
index e2436e60..00000000
--- a/models/robots/lyra/STEP/index_proximal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""index_proximal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_proximal("index")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_proximal
-
-
-def gen_step():
- return build_finger_proximal("index")
diff --git a/models/robots/lyra/STEP/index_proximal.step b/models/robots/lyra/STEP/index_proximal.step
deleted file mode 100644
index 6e1c0ecc..00000000
--- a/models/robots/lyra/STEP/index_proximal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a43d7a15a8c6380715749d1b8cdefb2e41ef0486c75b4e9c2f607dec83f5e4a
-size 278439
diff --git a/models/robots/lyra/STEP/middle_distal.py b/models/robots/lyra/STEP/middle_distal.py
deleted file mode 100644
index 9ee87ff7..00000000
--- a/models/robots/lyra/STEP/middle_distal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""middle_distal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_distal("middle")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_distal
-
-
-def gen_step():
- return build_finger_distal("middle")
diff --git a/models/robots/lyra/STEP/middle_distal.step b/models/robots/lyra/STEP/middle_distal.step
deleted file mode 100644
index 53878f06..00000000
--- a/models/robots/lyra/STEP/middle_distal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bd028df4353bed14652d891fda0a5bf2dfff84cd31b1695c58a0360aa49cdf6f
-size 151716
diff --git a/models/robots/lyra/STEP/middle_middle.py b/models/robots/lyra/STEP/middle_middle.py
deleted file mode 100644
index f0385635..00000000
--- a/models/robots/lyra/STEP/middle_middle.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""middle_middle mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_middle("middle")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_middle
-
-
-def gen_step():
- return build_finger_middle("middle")
diff --git a/models/robots/lyra/STEP/middle_middle.step b/models/robots/lyra/STEP/middle_middle.step
deleted file mode 100644
index f5d14f8b..00000000
--- a/models/robots/lyra/STEP/middle_middle.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3fdeef70c1ce41b0924f38ca2c4d014c241930a1fde969408174f6d3fa1976f2
-size 281556
diff --git a/models/robots/lyra/STEP/middle_proximal.py b/models/robots/lyra/STEP/middle_proximal.py
deleted file mode 100644
index 396a29bf..00000000
--- a/models/robots/lyra/STEP/middle_proximal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""middle_proximal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_proximal("middle")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_proximal
-
-
-def gen_step():
- return build_finger_proximal("middle")
diff --git a/models/robots/lyra/STEP/middle_proximal.step b/models/robots/lyra/STEP/middle_proximal.step
deleted file mode 100644
index 45285ee3..00000000
--- a/models/robots/lyra/STEP/middle_proximal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:66bfbaec95e63a9c1963757e5d050320dc3c4a85d403a03bac65243ae6bb1c19
-size 281629
diff --git a/models/robots/lyra/STEP/palm.py b/models/robots/lyra/STEP/palm.py
deleted file mode 100644
index bce918f1..00000000
--- a/models/robots/lyra/STEP/palm.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""palm mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.palm.build_palm()` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.palm import build_palm
-
-
-def gen_step():
- return build_palm()
diff --git a/models/robots/lyra/STEP/palm.step b/models/robots/lyra/STEP/palm.step
deleted file mode 100644
index 5459da9e..00000000
--- a/models/robots/lyra/STEP/palm.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6d26f4b6468995bdea587a2798d67c79edb66999881ce8cc89a3bb9e3a1e2729
-size 1430524
diff --git a/models/robots/lyra/STEP/pinky_distal.py b/models/robots/lyra/STEP/pinky_distal.py
deleted file mode 100644
index c6d2d237..00000000
--- a/models/robots/lyra/STEP/pinky_distal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""pinky_distal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_distal("pinky")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_distal
-
-
-def gen_step():
- return build_finger_distal("pinky")
diff --git a/models/robots/lyra/STEP/pinky_distal.step b/models/robots/lyra/STEP/pinky_distal.step
deleted file mode 100644
index c572e37f..00000000
--- a/models/robots/lyra/STEP/pinky_distal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ee1ed00bb08c9bc946e86cc8480093f709d859e523677af8dc55aa3e5b971fc9
-size 141715
diff --git a/models/robots/lyra/STEP/pinky_middle.py b/models/robots/lyra/STEP/pinky_middle.py
deleted file mode 100644
index 8a2ce6d0..00000000
--- a/models/robots/lyra/STEP/pinky_middle.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""pinky_middle mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_middle("pinky")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_middle
-
-
-def gen_step():
- return build_finger_middle("pinky")
diff --git a/models/robots/lyra/STEP/pinky_middle.step b/models/robots/lyra/STEP/pinky_middle.step
deleted file mode 100644
index 00d03f75..00000000
--- a/models/robots/lyra/STEP/pinky_middle.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7048d757d4184eb383f0d1d5bb13b6e52f24ede56f0f0cb1cb553bf8fff8b1b3
-size 251581
diff --git a/models/robots/lyra/STEP/pinky_proximal.py b/models/robots/lyra/STEP/pinky_proximal.py
deleted file mode 100644
index 1416ee75..00000000
--- a/models/robots/lyra/STEP/pinky_proximal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""pinky_proximal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_proximal("pinky")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_proximal
-
-
-def gen_step():
- return build_finger_proximal("pinky")
diff --git a/models/robots/lyra/STEP/pinky_proximal.step b/models/robots/lyra/STEP/pinky_proximal.step
deleted file mode 100644
index b11f1d5c..00000000
--- a/models/robots/lyra/STEP/pinky_proximal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:71af37c2d84703e2b3c028e90f968fb1e1b335d81bd6b2f276959525d2750f7a
-size 267112
diff --git a/models/robots/lyra/STEP/ring_distal.py b/models/robots/lyra/STEP/ring_distal.py
deleted file mode 100644
index feb31ae7..00000000
--- a/models/robots/lyra/STEP/ring_distal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""ring_distal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_distal("ring")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_distal
-
-
-def gen_step():
- return build_finger_distal("ring")
diff --git a/models/robots/lyra/STEP/ring_distal.step b/models/robots/lyra/STEP/ring_distal.step
deleted file mode 100644
index fb5b549d..00000000
--- a/models/robots/lyra/STEP/ring_distal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d8cc29818ee707228dc95639c03fb3bef7a6fcb07703a98cd2a0e1e52b16617b
-size 142704
diff --git a/models/robots/lyra/STEP/ring_middle.py b/models/robots/lyra/STEP/ring_middle.py
deleted file mode 100644
index 7e4b645e..00000000
--- a/models/robots/lyra/STEP/ring_middle.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""ring_middle mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_middle("ring")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_middle
-
-
-def gen_step():
- return build_finger_middle("ring")
diff --git a/models/robots/lyra/STEP/ring_middle.step b/models/robots/lyra/STEP/ring_middle.step
deleted file mode 100644
index 0daea5d4..00000000
--- a/models/robots/lyra/STEP/ring_middle.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:125b1e7a2998276647e617af514d96e66d6fe28d55905e89727d45a1eaf84672
-size 281464
diff --git a/models/robots/lyra/STEP/ring_proximal.py b/models/robots/lyra/STEP/ring_proximal.py
deleted file mode 100644
index 8dbf2320..00000000
--- a/models/robots/lyra/STEP/ring_proximal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""ring_proximal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_finger_proximal("ring")` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_finger_proximal
-
-
-def gen_step():
- return build_finger_proximal("ring")
diff --git a/models/robots/lyra/STEP/ring_proximal.step b/models/robots/lyra/STEP/ring_proximal.step
deleted file mode 100644
index 314cd793..00000000
--- a/models/robots/lyra/STEP/ring_proximal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5df686d90478c5e3e470215a87e5d8477e54080df51e63953bb82a9c8194f76b
-size 281791
diff --git a/models/robots/lyra/STEP/thumb_base.py b/models/robots/lyra/STEP/thumb_base.py
deleted file mode 100644
index 3a392775..00000000
--- a/models/robots/lyra/STEP/thumb_base.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""thumb_base mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_thumb_base()` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_thumb_base
-
-
-def gen_step():
- return build_thumb_base()
diff --git a/models/robots/lyra/STEP/thumb_base.step b/models/robots/lyra/STEP/thumb_base.step
deleted file mode 100644
index 2c1cd2fa..00000000
--- a/models/robots/lyra/STEP/thumb_base.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ddfe2aa9a453d2cb1c42b6d54bb328f4513e1724386d7be9b1352448e0a7f5b8
-size 148971
diff --git a/models/robots/lyra/STEP/thumb_distal.py b/models/robots/lyra/STEP/thumb_distal.py
deleted file mode 100644
index 24b1ac65..00000000
--- a/models/robots/lyra/STEP/thumb_distal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""thumb_distal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_thumb_distal()` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_thumb_distal
-
-
-def gen_step():
- return build_thumb_distal()
diff --git a/models/robots/lyra/STEP/thumb_distal.step b/models/robots/lyra/STEP/thumb_distal.step
deleted file mode 100644
index bd9c5721..00000000
--- a/models/robots/lyra/STEP/thumb_distal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:745fb96505c8556a19a59ad62156a079adcb82909472cbd86a9dda2599b17e12
-size 128727
diff --git a/models/robots/lyra/STEP/thumb_metacarpal.py b/models/robots/lyra/STEP/thumb_metacarpal.py
deleted file mode 100644
index ba552bf9..00000000
--- a/models/robots/lyra/STEP/thumb_metacarpal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""thumb_metacarpal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_thumb_metacarpal()` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_thumb_metacarpal
-
-
-def gen_step():
- return build_thumb_metacarpal()
diff --git a/models/robots/lyra/STEP/thumb_metacarpal.step b/models/robots/lyra/STEP/thumb_metacarpal.step
deleted file mode 100644
index c3f2f154..00000000
--- a/models/robots/lyra/STEP/thumb_metacarpal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:95f840419d95abc0e040bc6862980487e3268ca7694476ed6b08fe030c6047f5
-size 289981
diff --git a/models/robots/lyra/STEP/thumb_proximal.py b/models/robots/lyra/STEP/thumb_proximal.py
deleted file mode 100644
index e1ab5e8f..00000000
--- a/models/robots/lyra/STEP/thumb_proximal.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-"""thumb_proximal mesh source for the lyra URDF (part-local frame, mm).
-
-The compound matches `lyra_parts.digits.build_thumb_proximal()` exactly; the
-URDF link frame coincides with this part-local frame.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-LYRA_ROOT = Path(__file__).resolve().parents[1]
-if str(LYRA_ROOT) not in sys.path:
- sys.path.insert(0, str(LYRA_ROOT))
-
-from lyra_parts.digits import build_thumb_proximal
-
-
-def gen_step():
- return build_thumb_proximal()
diff --git a/models/robots/lyra/STEP/thumb_proximal.step b/models/robots/lyra/STEP/thumb_proximal.step
deleted file mode 100644
index b30a0c80..00000000
--- a/models/robots/lyra/STEP/thumb_proximal.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b18f3fc421f1ce239c4c188fa86405b3c30bdd440fe9d6f36b3eda0a80f149fd
-size 298326
diff --git a/models/robots/lyra/lyra.py b/models/robots/lyra/lyra.py
deleted file mode 100644
index 2f25ad59..00000000
--- a/models/robots/lyra/lyra.py
+++ /dev/null
@@ -1,107 +0,0 @@
-"""lyra — dexterous humanoid right hand concept for an advanced biped.
-
-An aesthetically refined five-digit robotic hand: slim pearl-composite
-shells over a graphite structural core, machined-aluminum precision
-knuckle clevises with visible pivot pins, tendon-driven architecture
-(dorsal tendon channels with a tensioner dial row at the wrist), integrated
-tactile pads (palm array, per-phalanx strips, soft-touch fingertip caps),
-an amber-ringed palm sensor, and a bolt-circle wrist flange. No logos.
-
-Degrees of freedom (16, statically posed in the baked STEP):
- - each finger (index/middle/ring/pinky): MCP, PIP, DIP flexion -> 12
- - thumb: CMC yaw (opposition swing), CMC flex, MP, IP -> 4
-
-Coordinates: RIGHT hand; wrist-flange mount face center = origin,
-+Z distal (fingers up), +Y palmar, +X radial (thumb side). Units mm.
-
-Chain offsets, joint limits, and the baked "relaxed" pose live in
-lyra_parts/chain.py and are shared with the URDF/SRDF generators
-(lyra_parts/description.py) and the CAD Viewer animation sidecar
-(.lyra.step.js); edit them there.
-"""
-
-from __future__ import annotations
-
-from build123d import Compound
-
-from cadpy.assembly import AssemblyHelper
-
-from lyra_parts import chain
-from lyra_parts.digits import (
- build_finger_distal,
- build_finger_middle,
- build_finger_proximal,
- build_thumb_base,
- build_thumb_distal,
- build_thumb_metacarpal,
- build_thumb_proximal,
-)
-from lyra_parts.lib import revolute_attach
-from lyra_parts.palm import build_palm
-
-
-def _builders():
- builders = {}
- for finger in chain.FINGERS:
- builders[f"{finger}_proximal"] = lambda f=finger: build_finger_proximal(f)
- builders[f"{finger}_middle"] = lambda f=finger: build_finger_middle(f)
- builders[f"{finger}_distal"] = lambda f=finger: build_finger_distal(f)
- builders["thumb_base"] = build_thumb_base
- builders["thumb_metacarpal"] = build_thumb_metacarpal
- builders["thumb_proximal"] = build_thumb_proximal
- builders["thumb_distal"] = build_thumb_distal
- return builders
-
-
-def _xref_for(axis) -> tuple:
- return (0.0, 1.0, 0.0) if abs(axis[0]) > 0.9 else (1.0, 0.0, 0.0)
-
-
-def assemble() -> Compound:
- """Labeled assembly baked in the chain's relaxed pose.
-
- Occurrence order (#o1.N in the generated STEP) is palm first, then
- chain.all_joints() child order: index, middle, ring, pinky
- (proximal/middle/distal each), then thumb base/metacarpal/proximal/
- distal — the animation sidecar relies on this order.
- """
- asm = AssemblyHelper(chain.ROBOT_NAME)
- builders = _builders()
- pose = chain.named_poses_deg()[chain.BAKED_POSE_NAME]
-
- parts = {"palm": asm.add(build_palm(), "palm")}
- for joint in chain.all_joints():
- child = asm.add(builders[joint["child"]](), joint["child"])
- axis = joint["axis"]
- xref = _xref_for(axis)
- revolute_attach(
- asm,
- parts[joint["parent"]],
- child,
- joint["name"],
- joint["origin_mm"],
- axis,
- xref,
- (0.0, 0.0, 0.0),
- axis,
- xref,
- pose[joint["name"]],
- )
- parts[joint["child"]] = child
- return asm.build()
-
-
-def gen_step():
- return assemble()
-
-
-def gen_urdf():
- from lyra_parts.description import build_urdf
-
- return {"xml": build_urdf()}
-
-
-def gen_srdf():
- from lyra_parts.description import build_srdf
-
- return {"xml": build_srdf(), "urdf": "lyra.urdf"}
diff --git a/models/robots/lyra/lyra.srdf b/models/robots/lyra/lyra.srdf
deleted file mode 100644
index 0af88f17..00000000
--- a/models/robots/lyra/lyra.srdf
+++ /dev/null
@@ -1,190 +0,0 @@
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diff --git a/models/robots/lyra/lyra.step b/models/robots/lyra/lyra.step
deleted file mode 100644
index dfef786b..00000000
--- a/models/robots/lyra/lyra.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:12c4ec1a127e2ea73be6e4004b24a442939363a1e69e9bee1b12f0cfd5d854d3
-size 5258666
diff --git a/models/robots/lyra/lyra.urdf b/models/robots/lyra/lyra.urdf
deleted file mode 100644
index e9b260bd..00000000
--- a/models/robots/lyra/lyra.urdf
+++ /dev/null
@@ -1,447 +0,0 @@
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diff --git a/models/robots/lyra/lyra_parts/__init__.py b/models/robots/lyra/lyra_parts/__init__.py
deleted file mode 100644
index aee6e7e8..00000000
--- a/models/robots/lyra/lyra_parts/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-"""Part-builder package for the lyra dexterous humanoid hand."""
diff --git a/models/robots/lyra/lyra_parts/chain.py b/models/robots/lyra/lyra_parts/chain.py
deleted file mode 100644
index bf192ee5..00000000
--- a/models/robots/lyra/lyra_parts/chain.py
+++ /dev/null
@@ -1,375 +0,0 @@
-"""lyra kinematic chain spec shared by the CAD assembly and URDF/SRDF.
-
-Stdlib-only (no build123d) so robot-description generators can import it
-cheaply. `lyra.py` consumes the same offsets and CAD pose angles, keeping
-the STEP assembly, the URDF tree, and the viewer animation sidecar in
-lockstep.
-
-Design ledger:
-- Units: chain offsets are millimeters in each parent part's local frame;
- URDF emission converts to meters/radians. RIGHT hand frame: origin at the
- wrist-flange mount face center, +Z distal (fingers up), +Y palmar (the
- palm faces +Y), +X radial (thumb side). The palm link is the root; every
- child link frame sits at its joint center with axes parallel to the
- parent at zero joint angle (joints are pure translations).
-- Fingers (index/middle/ring/pinky): 3 flexion joints each (MCP, PIP, DIP)
- about -X, so positive angles curl toward the palm (+Y). Phalanges extend
- +Z local. MCP abduction/spread is intentionally omitted: the tendon
- routing budget of the compact palm is spent on flexion; documented
- design trade, not an oversight.
-- Thumb: 4 joints. `thumb_cmc_yaw` about +Z swings the column from radial
- (+X, the zero pose) across the palm front toward opposition;
- `thumb_cmc_flex`, `thumb_mp`, `thumb_ip` about -Y curl the column toward
- distal (+Z). Thumb segments extend +X local with the pad facing +Z, so a
- yawed-and-curled thumb meets the curled fingertips pad-to-pad.
-- Joint limits, efforts, and velocities are ASSUMED plausible values for a
- tendon-driven research-hand concept (documented here, not measured); the
- CAD does not model hard stops.
-"""
-
-from __future__ import annotations
-
-import math
-
-X_AXIS = (1.0, 0.0, 0.0)
-Y_AXIS = (0.0, 1.0, 0.0)
-Z_AXIS = (0.0, 0.0, 1.0)
-NEG_X_AXIS = (-1.0, 0.0, 0.0)
-NEG_Y_AXIS = (0.0, -1.0, 0.0)
-
-ROBOT_NAME = "lyra"
-
-FINGERS = ("index", "middle", "ring", "pinky")
-
-# MCP joint centers in the palm frame (mm): a gentle knuckle arch, the
-# middle finger proudest, the pinky lower and slightly palmar.
-MCP_ORIGIN_MM = {
- "index": (28.5, 0.0, 99.0),
- "middle": (9.5, 0.0, 103.0),
- "ring": (-9.5, 0.0, 99.0),
- "pinky": (-28.5, 0.0, 90.0),
-}
-
-# Segment lengths (mm): proximal (MCP->PIP), middle (PIP->DIP), and the
-# distal tip length (DIP->fingertip surface) used for pose design.
-SEGMENT_MM = {
- "index": (44.0, 26.0, 23.0),
- "middle": (48.0, 29.0, 24.5),
- "ring": (44.0, 27.0, 23.5),
- "pinky": (35.0, 21.0, 20.5),
-}
-
-# Thumb column offsets (mm).
-THUMB_CMC_ORIGIN_MM = (31.0, 4.0, 44.0) # turret center on the radial palm corner
-THUMB_BASE_LEN_MM = 13.0 # cmc_yaw -> cmc_flex along the column
-THUMB_METACARPAL_LEN_MM = 46.0 # cmc_flex -> MP
-THUMB_PROXIMAL_LEN_MM = 30.0 # MP -> IP
-THUMB_TIP_LEN_MM = 24.0 # IP -> thumb-pad surface (pose design)
-
-# ---------------------------------------------------------------- limits
-# ASSUMED tendon-driven actuator budget for a research-hand concept.
-FINGER_MCP_EFFORT_NM = 3.0
-FINGER_PIP_EFFORT_NM = 2.0
-FINGER_DIP_EFFORT_NM = 1.5
-THUMB_CMC_EFFORT_NM = 4.0
-THUMB_MP_EFFORT_NM = 2.5
-THUMB_IP_EFFORT_NM = 2.0
-FINGER_VELOCITY_RAD_S = 8.0
-THUMB_VELOCITY_RAD_S = 6.0
-
-# ASSUMED joint travel (degrees); positive = flexion (curl toward palm).
-MCP_RANGE_DEG = (-15.0, 95.0)
-PIP_RANGE_DEG = (-5.0, 105.0)
-DIP_RANGE_DEG = (-5.0, 95.0)
-THUMB_CMC_YAW_RANGE_DEG = (-10.0, 100.0) # positive sweeps toward opposition
-THUMB_CMC_FLEX_RANGE_DEG = (-10.0, 55.0) # positive lifts the column distal
-THUMB_MP_RANGE_DEG = (-10.0, 75.0)
-THUMB_IP_RANGE_DEG = (-15.0, 85.0)
-
-
-def finger_joints(finger: str) -> list[dict]:
- prox, mid, _tip = SEGMENT_MM[finger]
- return [
- {
- "name": f"{finger}_mcp",
- "parent": "palm",
- "child": f"{finger}_proximal",
- "origin_mm": MCP_ORIGIN_MM[finger],
- "axis": NEG_X_AXIS,
- "range_deg": MCP_RANGE_DEG,
- "effort_nm": FINGER_MCP_EFFORT_NM,
- "velocity_rad_s": FINGER_VELOCITY_RAD_S,
- },
- {
- "name": f"{finger}_pip",
- "parent": f"{finger}_proximal",
- "child": f"{finger}_middle",
- "origin_mm": (0.0, 0.0, prox),
- "axis": NEG_X_AXIS,
- "range_deg": PIP_RANGE_DEG,
- "effort_nm": FINGER_PIP_EFFORT_NM,
- "velocity_rad_s": FINGER_VELOCITY_RAD_S,
- },
- {
- "name": f"{finger}_dip",
- "parent": f"{finger}_middle",
- "child": f"{finger}_distal",
- "origin_mm": (0.0, 0.0, mid),
- "axis": NEG_X_AXIS,
- "range_deg": DIP_RANGE_DEG,
- "effort_nm": FINGER_DIP_EFFORT_NM,
- "velocity_rad_s": FINGER_VELOCITY_RAD_S,
- },
- ]
-
-
-def thumb_joints() -> list[dict]:
- return [
- {
- "name": "thumb_cmc_yaw",
- "parent": "palm",
- "child": "thumb_base",
- "origin_mm": THUMB_CMC_ORIGIN_MM,
- "axis": Z_AXIS,
- "range_deg": THUMB_CMC_YAW_RANGE_DEG,
- "effort_nm": THUMB_CMC_EFFORT_NM,
- "velocity_rad_s": THUMB_VELOCITY_RAD_S,
- },
- {
- "name": "thumb_cmc_flex",
- "parent": "thumb_base",
- "child": "thumb_metacarpal",
- "origin_mm": (THUMB_BASE_LEN_MM, 0.0, 0.0),
- "axis": NEG_Y_AXIS,
- "range_deg": THUMB_CMC_FLEX_RANGE_DEG,
- "effort_nm": THUMB_CMC_EFFORT_NM,
- "velocity_rad_s": THUMB_VELOCITY_RAD_S,
- },
- {
- "name": "thumb_mp",
- "parent": "thumb_metacarpal",
- "child": "thumb_proximal",
- "origin_mm": (THUMB_METACARPAL_LEN_MM, 0.0, 0.0),
- "axis": NEG_Y_AXIS,
- "range_deg": THUMB_MP_RANGE_DEG,
- "effort_nm": THUMB_MP_EFFORT_NM,
- "velocity_rad_s": THUMB_VELOCITY_RAD_S,
- },
- {
- "name": "thumb_ip",
- "parent": "thumb_proximal",
- "child": "thumb_distal",
- "origin_mm": (THUMB_PROXIMAL_LEN_MM, 0.0, 0.0),
- "axis": NEG_Y_AXIS,
- "range_deg": THUMB_IP_RANGE_DEG,
- "effort_nm": THUMB_IP_EFFORT_NM,
- "velocity_rad_s": THUMB_VELOCITY_RAD_S,
- },
- ]
-
-
-def all_joints() -> list[dict]:
- """All 16 movable joints in root-to-leaf order (fingers, then thumb)."""
- joints: list[dict] = []
- for finger in FINGERS:
- joints.extend(finger_joints(finger))
- joints.extend(thumb_joints())
- return joints
-
-
-def all_links() -> list[str]:
- """All 17 link names, root first, in joint emission order."""
- links = ["palm"]
- for joint in all_joints():
- links.append(joint["child"])
- return links
-
-
-# -------------------------------------------------------------------- FK
-def _rot_axis(axis, deg: float):
- """3x3 rotation about a principal-ish axis (unit vector), row-major."""
- ax, ay, az = axis
- rad = math.radians(deg)
- c, s = math.cos(rad), math.sin(rad)
- t = 1.0 - c
- return [
- [c + ax * ax * t, ax * ay * t - az * s, ax * az * t + ay * s],
- [ay * ax * t + az * s, c + ay * ay * t, ay * az * t - ax * s],
- [az * ax * t - ay * s, az * ay * t + ax * s, c + az * az * t],
- ]
-
-
-def _mat_mul(a, b):
- return [
- [sum(a[i][k] * b[k][j] for k in range(3)) for j in range(3)]
- for i in range(3)
- ]
-
-
-def _mat_vec(a, v):
- return tuple(sum(a[i][k] * v[k] for k in range(3)) for i in range(3))
-
-
-def fk_frames(pose_deg: dict[str, float]) -> dict[str, tuple]:
- """Link frames {link: (R 3x3, p mm)} in the palm frame for a pose."""
- identity = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
- frames = {"palm": (identity, (0.0, 0.0, 0.0))}
- for joint in all_joints():
- rot_parent, pos_parent = frames[joint["parent"]]
- offset = _mat_vec(rot_parent, joint["origin_mm"])
- pos = tuple(pos_parent[i] + offset[i] for i in range(3))
- rot = _mat_mul(
- rot_parent, _rot_axis(joint["axis"], pose_deg.get(joint["name"], 0.0))
- )
- frames[joint["child"]] = (rot, pos)
- return frames
-
-
-def tip_world_mm(pose_deg: dict[str, float], digit: str) -> tuple:
- """Pad-surface point of a digit tip in the palm frame (pose design aid)."""
- frames = fk_frames(pose_deg)
- if digit == "thumb":
- rot, pos = frames["thumb_distal"]
- local = (THUMB_TIP_LEN_MM, 0.0, 0.0)
- else:
- rot, pos = frames[f"{digit}_distal"]
- local = (0.0, 0.0, SEGMENT_MM[digit][2])
- offset = _mat_vec(rot, local)
- return tuple(pos[i] + offset[i] for i in range(3))
-
-
-# ----------------------------------------------------------------- poses
-def _zero_deg() -> dict[str, float]:
- return {joint["name"]: 0.0 for joint in all_joints()}
-
-
-def _relaxed_deg() -> dict[str, float]:
- """Gentle natural curl; this is the pose baked into lyra.step."""
- pose = _zero_deg()
- curl = {
- "index": (10.0, 14.0, 8.0),
- "middle": (12.0, 16.0, 9.0),
- "ring": (14.0, 18.0, 10.0),
- "pinky": (16.0, 20.0, 12.0),
- }
- for finger, (mcp, pip_deg, dip) in curl.items():
- pose[f"{finger}_mcp"] = mcp
- pose[f"{finger}_pip"] = pip_deg
- pose[f"{finger}_dip"] = dip
- pose.update(
- {
- "thumb_cmc_yaw": 34.0,
- "thumb_cmc_flex": 26.0,
- "thumb_mp": 14.0,
- "thumb_ip": 12.0,
- }
- )
- return pose
-
-
-def _fist_deg() -> dict[str, float]:
- pose = _zero_deg()
- for finger in FINGERS:
- pose[f"{finger}_mcp"] = 78.0
- pose[f"{finger}_pip"] = 100.0
- pose[f"{finger}_dip"] = 60.0
- # Capsule-tuned wrap: the thumb pad rests on the index middle phalanx
- # with ~0.8 mm surface clearance (no interpenetration at any digit).
- pose.update(
- {
- "thumb_cmc_yaw": 92.0,
- "thumb_cmc_flex": 13.0,
- "thumb_mp": 58.0,
- "thumb_ip": 74.0,
- }
- )
- return pose
-
-
-def _precision_pinch_deg() -> dict[str, float]:
- """Thumb-index pad opposition, capsule-tuned so the tip pads kiss with
- ~0.8 mm surface clearance (no tip-sphere interpenetration)."""
- pose = _zero_deg()
- pose.update({"index_mcp": 40.0, "index_pip": 48.0, "index_dip": 30.0})
- for finger in ("middle", "ring", "pinky"):
- pose[f"{finger}_mcp"] = 66.0
- pose[f"{finger}_pip"] = 92.0
- pose[f"{finger}_dip"] = 55.0
- pose.update(
- {
- "thumb_cmc_yaw": 91.0,
- "thumb_cmc_flex": 34.0,
- "thumb_mp": 29.0,
- "thumb_ip": 8.0,
- }
- )
- return pose
-
-
-def _tripod_pinch_deg() -> dict[str, float]:
- """Thumb opposed between index and middle pads, chuck-gripping a
- virtual object (capsule-tuned: ~12 mm pad-surface gap to both)."""
- pose = _precision_pinch_deg()
- pose.update({"index_mcp": 44.0, "index_pip": 52.0, "index_dip": 32.0})
- pose.update({"middle_mcp": 42.0, "middle_pip": 50.0, "middle_dip": 30.0})
- pose.update(
- {
- "thumb_cmc_yaw": 100.0,
- "thumb_cmc_flex": 39.0,
- "thumb_mp": 0.0,
- "thumb_ip": 14.0,
- }
- )
- return pose
-
-
-def _point_deg() -> dict[str, float]:
- pose = _zero_deg()
- pose.update({"index_mcp": -6.0, "index_pip": 0.0, "index_dip": 0.0})
- for finger in ("middle", "ring", "pinky"):
- pose[f"{finger}_mcp"] = 80.0
- pose[f"{finger}_pip"] = 102.0
- pose[f"{finger}_dip"] = 62.0
- pose.update(
- {
- "thumb_cmc_yaw": 62.0,
- "thumb_cmc_flex": 30.0,
- "thumb_mp": 42.0,
- "thumb_ip": 45.0,
- }
- )
- return pose
-
-
-def _ok_sign_deg() -> dict[str, float]:
- """Index-thumb ring closed, remaining fingers extended with a stagger."""
- pose = _zero_deg()
- pose.update({"index_mcp": 42.0, "index_pip": 52.0, "index_dip": 32.0})
- pose.update({"middle_mcp": 6.0, "middle_pip": 8.0, "middle_dip": 4.0})
- pose.update({"ring_mcp": 10.0, "ring_pip": 12.0, "ring_dip": 6.0})
- pose.update({"pinky_mcp": 14.0, "pinky_pip": 16.0, "pinky_dip": 8.0})
- pose.update(
- {
- "thumb_cmc_yaw": 91.0,
- "thumb_cmc_flex": 26.0,
- "thumb_mp": 35.0,
- "thumb_ip": 20.0,
- }
- )
- return pose
-
-
-BAKED_POSE_NAME = "relaxed"
-
-
-def named_poses_deg() -> dict[str, dict[str, float]]:
- """SRDF group-state poses (degrees) for the full hand."""
- return {
- "zero": _zero_deg(),
- "relaxed": _relaxed_deg(),
- "fist": _fist_deg(),
- "precision_pinch": _precision_pinch_deg(),
- "tripod_pinch": _tripod_pinch_deg(),
- "point": _point_deg(),
- "ok_sign": _ok_sign_deg(),
- }
diff --git a/models/robots/lyra/lyra_parts/clearance.py b/models/robots/lyra/lyra_parts/clearance.py
deleted file mode 100644
index b78e3f4f..00000000
--- a/models/robots/lyra/lyra_parts/clearance.py
+++ /dev/null
@@ -1,252 +0,0 @@
-"""Capsule-clearance self-check for lyra digit poses and animation paths.
-
-Stdlib-only. Each digit segment is approximated by a conservative capsule
-(segment + radius) in its link frame; a pose is collision-free when every
-thumb capsule clears every finger capsule. The named grip poses are tuned
-to small POSITIVE clearances (pads kiss at ~+0.7..0.8 mm, never overlap),
-and the animation key orders in `.lyra.step.js` are chosen so every
-adjacent smoothstep blend stays clear:
-
-- pose tour: relaxed -> precision_pinch -> ok_sign -> point ->
- tripod_pinch -> fist (the fist only neighbors tripod/relaxed; blending
- it with pinch/point/ok sweeps the thumb through the index).
-- count: the thumb lifts to a hover key before any finger extends and only
- re-wraps after the fingers curl back.
-
-Run after editing poses:
-
- ./.venv/bin/python -m lyra_parts.clearance (from models/robots/lyra)
-
-Exits nonzero if any named pose or animation path dips below zero.
-"""
-
-from __future__ import annotations
-
-import math
-
-from lyra_parts import chain
-
-# Conservative capsule radii (mm at finger scale 1; see digits.py widths).
-FINGER_SCALE = {"index": 1.0, "middle": 1.03, "ring": 0.97, "pinky": 0.88}
-PROX_R, MID_R, DIST_R = 7.0, 6.3, 5.2
-THUMB_META_R, THUMB_PROX_R, THUMB_DIST_R = 6.8, 6.2, 5.2
-FINGER_TIP_SPHERE_R = 4.4 # scaled; distal capsule ends at the tip-sphere center
-THUMB_TIP_SPHERE_R = 4.8
-
-
-def _seg_seg_dist(p1, q1, p2, q2):
- def sub(a, b):
- return [a[i] - b[i] for i in range(3)]
-
- def dot(a, b):
- return sum(a[i] * b[i] for i in range(3))
-
- d1, d2, r = sub(q1, p1), sub(q2, p2), sub(p1, p2)
- a, e, f = dot(d1, d1), dot(d2, d2), dot(d2, r)
- if a <= 1e-12 and e <= 1e-12:
- return math.dist(p1, p2)
- if a <= 1e-12:
- s, t = 0.0, max(0.0, min(1.0, f / e))
- else:
- c = dot(d1, r)
- if e <= 1e-12:
- t, s = 0.0, max(0.0, min(1.0, -c / a))
- else:
- b = dot(d1, d2)
- denom = a * e - b * b
- s = max(0.0, min(1.0, (b * f - c * e) / denom)) if denom > 1e-12 else 0.0
- t = (b * s + f) / e
- if t < 0:
- t, s = 0.0, max(0.0, min(1.0, -c / a))
- elif t > 1:
- t, s = 1.0, max(0.0, min(1.0, (b - c) / a))
- c1 = [p1[i] + d1[i] * s for i in range(3)]
- c2 = [p2[i] + d2[i] * t for i in range(3)]
- return math.dist(c1, c2)
-
-
-def _mv(rot, v):
- return [sum(rot[i][k] * v[k] for k in range(3)) for i in range(3)]
-
-
-def digit_capsules(pose_deg: dict[str, float]) -> dict[str, tuple]:
- """{name: (p0, p1, radius)} capsules in the palm frame for a pose."""
- frames = chain.fk_frames(pose_deg)
- caps = {}
- for finger in chain.FINGERS:
- s = FINGER_SCALE[finger]
- prox, mid, tip = chain.SEGMENT_MM[finger]
- spans = (
- ("prox", f"{finger}_proximal", prox, PROX_R * s),
- ("mid", f"{finger}_middle", mid, MID_R * s),
- ("dist", f"{finger}_distal", tip - FINGER_TIP_SPHERE_R * s, DIST_R * s),
- )
- for seg, link, length, radius in spans:
- rot, pos = frames[link]
- tip_pt = [pos[i] + _mv(rot, [0, 0, length])[i] for i in range(3)]
- caps[f"{finger}.{seg}"] = (list(pos), tip_pt, radius)
- spans = (
- ("meta", "thumb_metacarpal", chain.THUMB_METACARPAL_LEN_MM, THUMB_META_R),
- ("prox", "thumb_proximal", chain.THUMB_PROXIMAL_LEN_MM, THUMB_PROX_R),
- ("dist", "thumb_distal", chain.THUMB_TIP_LEN_MM - THUMB_TIP_SPHERE_R, THUMB_DIST_R),
- )
- for seg, link, length, radius in spans:
- rot, pos = frames[link]
- tip_pt = [pos[i] + _mv(rot, [length, 0, 0])[i] for i in range(3)]
- caps[f"thumb.{seg}"] = (list(pos), tip_pt, radius)
- return caps
-
-
-def worst_clearance(pose_deg: dict[str, float]) -> tuple[float, str, str]:
- """Smallest thumb-vs-finger capsule clearance (mm; negative = overlap)."""
- caps = digit_capsules(pose_deg)
- worst = (math.inf, "", "")
- for tname in ("thumb.meta", "thumb.prox", "thumb.dist"):
- p1, q1, r1 = caps[tname]
- for fname, (p2, q2, r2) in caps.items():
- if fname.startswith("thumb."):
- continue
- d = _seg_seg_dist(p1, q1, p2, q2) - r1 - r2
- if d < worst[0]:
- worst = (d, tname, fname)
- return worst
-
-
-def _smoothstep(u: float) -> float:
- t = max(0.0, min(1.0, u))
- return t * t * (3 - 2 * t)
-
-
-def path_worst(pose_a, pose_b, steps: int = 120) -> tuple[float, str, str, float]:
- """Worst clearance along the smoothstep blend a -> b (the sidecar path)."""
- names = [joint["name"] for joint in chain.all_joints()]
- worst = (math.inf, "", "", 0.0)
- for i in range(steps + 1):
- e = _smoothstep(i / steps)
- pose = {n: pose_a[n] + (pose_b[n] - pose_a[n]) * e for n in names}
- d, ca, cb = worst_clearance(pose)
- if d < worst[0]:
- worst = (d, ca, cb, i / steps)
- return worst
-
-
-# Animation key orders and ripple-wave constants mirrored from .lyra.step.js.
-TOUR_KEYS = ("relaxed", "precision_pinch", "ok_sign", "point", "tripod_pinch", "fist")
-RIPPLE_ORDER = ("index", "middle", "ring", "pinky", "thumb")
-RIPPLE_CURL = {"mcp": 30.0, "pip": 40.0, "dip": 22.0, "thumbFlex": 12.0, "thumbMp": 30.0, "thumbIp": 30.0}
-RIPPLE_WINDOW = 0.45
-
-
-def ripple_pose(phase: float, grip: float = 1.0) -> dict[str, float]:
- """Mirror of the sidecar ripplePose: overlapping per-digit curl pulses
- on top of the baked relaxed pose (the tour's opening wave)."""
- p = phase % 1.0
- step = (1.0 - RIPPLE_WINDOW) / (len(RIPPLE_ORDER) - 1)
- pose = dict(chain.named_poses_deg()[chain.BAKED_POSE_NAME])
- for i, digit in enumerate(RIPPLE_ORDER):
- u = (p - i * step) / RIPPLE_WINDOW
- if u <= 0.0 or u >= 1.0:
- continue
- lobe = math.sin(math.pi * u)
- amp = lobe * lobe * grip
- if digit == "thumb":
- pose["thumb_cmc_flex"] += RIPPLE_CURL["thumbFlex"] * amp
- pose["thumb_mp"] += RIPPLE_CURL["thumbMp"] * amp
- pose["thumb_ip"] += RIPPLE_CURL["thumbIp"] * amp
- else:
- pose[f"{digit}_mcp"] += RIPPLE_CURL["mcp"] * amp
- pose[f"{digit}_pip"] += RIPPLE_CURL["pip"] * amp
- pose[f"{digit}_dip"] += RIPPLE_CURL["dip"] * amp
- return pose
-COUNT_THUMB_FIST = (92.0, 13.0, 58.0, 74.0)
-COUNT_THUMB_HOVER = (50.0, 30.0, 25.0, 20.0)
-COUNT_THUMB_OPEN = (20.0, 10.0, 4.0, 4.0)
-COUNT_EXTENDED = {
- "index": (2.0, 2.0, 1.0),
- "middle": (2.0, 2.0, 1.0),
- "ring": (4.0, 4.0, 2.0),
- "pinky": (6.0, 6.0, 3.0),
-}
-
-
-def count_key(step: int, thumb) -> dict[str, float]:
- pose = {joint["name"]: 0.0 for joint in chain.all_joints()}
- for i, finger in enumerate(chain.FINGERS):
- mcp, pip_deg, dip = COUNT_EXTENDED[finger] if step >= i + 1 else (78.0, 100.0, 60.0)
- pose[f"{finger}_mcp"] = mcp
- pose[f"{finger}_pip"] = pip_deg
- pose[f"{finger}_dip"] = dip
- yaw, flex, mp, ip = thumb
- pose.update(
- {"thumb_cmc_yaw": yaw, "thumb_cmc_flex": flex, "thumb_mp": mp, "thumb_ip": ip}
- )
- return pose
-
-
-def count_keys() -> list[dict[str, float]]:
- return [
- count_key(0, COUNT_THUMB_FIST),
- count_key(0, COUNT_THUMB_HOVER),
- count_key(1, COUNT_THUMB_HOVER),
- count_key(2, COUNT_THUMB_HOVER),
- count_key(3, COUNT_THUMB_HOVER),
- count_key(4, COUNT_THUMB_HOVER),
- count_key(5, COUNT_THUMB_OPEN),
- count_key(0, COUNT_THUMB_HOVER),
- ]
-
-
-def run_checks(verbose: bool = True) -> list[str]:
- """Return a list of failure strings (empty = all poses/paths clear)."""
- failures = []
- poses = chain.named_poses_deg()
- for name, pose in poses.items():
- d, ca, cb = worst_clearance(pose)
- if verbose:
- print(f"pose {name:18s} clearance {d:7.2f} mm ({ca}|{cb})")
- if d < 0:
- failures.append(f"pose {name}: {d:.2f} mm overlap ({ca}|{cb})")
- for i in range(len(TOUR_KEYS)):
- a, b = TOUR_KEYS[i], TOUR_KEYS[(i + 1) % len(TOUR_KEYS)]
- d, ca, cb, u = path_worst(poses[a], poses[b])
- if verbose:
- print(f"tour {a} -> {b}: worst {d:7.2f} mm at u={u:.2f}")
- if d < 0:
- failures.append(f"tour {a}->{b}: {d:.2f} mm overlap at u={u:.2f} ({ca}|{cb})")
- keys = count_keys()
- for i in range(len(keys)):
- a, b = keys[i], keys[(i + 1) % len(keys)]
- d, ca, cb, u = path_worst(a, b)
- if verbose:
- print(f"count seg {i}: worst {d:7.2f} mm at u={u:.2f}")
- if d < 0:
- failures.append(f"count seg {i}: {d:.2f} mm overlap at u={u:.2f} ({ca}|{cb})")
- for a, b in (("relaxed", "fist"), ("relaxed", "precision_pinch")):
- d, ca, cb, u = path_worst(poses[a], poses[b])
- if verbose:
- print(f"loop {a} <-> {b}: worst {d:7.2f} mm at u={u:.2f}")
- if d < 0:
- failures.append(f"loop {a}<->{b}: {d:.2f} mm overlap ({ca}|{cb})")
- worst = (math.inf, "", "", 0.0)
- for i in range(241):
- u = i / 240.0
- d, ca, cb = worst_clearance(ripple_pose(u))
- if d < worst[0]:
- worst = (d, ca, cb, u)
- if verbose:
- print(f"ripple wave: worst {worst[0]:7.2f} mm at u={worst[3]:.2f}")
- if worst[0] < 0:
- failures.append(f"ripple wave: {worst[0]:.2f} mm overlap at u={worst[3]:.2f} ({worst[1]}|{worst[2]})")
- return failures
-
-
-if __name__ == "__main__":
- import sys
-
- fails = run_checks()
- if fails:
- print("\nFAILED:")
- for failure in fails:
- print(" ", failure)
- sys.exit(1)
- print("\nall poses and animation paths are collision-free")
diff --git a/models/robots/lyra/lyra_parts/description.py b/models/robots/lyra/lyra_parts/description.py
deleted file mode 100644
index 396650b4..00000000
--- a/models/robots/lyra/lyra_parts/description.py
+++ /dev/null
@@ -1,266 +0,0 @@
-"""URDF and SRDF emission for the lyra dexterous hand.
-
-Stdlib-only builders consumed by `lyra.py` `gen_urdf()` / `gen_srdf()`.
-
-Design ledger (in addition to the chain ledger in `lyra_parts/chain.py`):
-- Units: URDF output is meters/kilograms/radians; chain offsets and baked
- mass properties are millimeters (mesh sources are mm, hence the 0.001
- mesh scale). Frames: RIGHT hand, +Z distal, +Y palmar, +X radial; the
- palm link is the root body with the wrist-flange mount face center at
- its origin, plus a frame-only `wrist_mount` link at the same point for
- attaching the hand to a robot forearm.
-- Link frames: every link frame coincides with its parent joint frame and
- with the part-local modeling frame of the matching `lyra_parts` builder,
- so all visual mesh origins are identity.
-- Visual geometry: per-link 3MF meshes under `3MF/` exported from the
- `STEP/.py` wrapper sources (XCAF colors preserved).
-- Collision geometry: axis-aligned bounding boxes of each part in its
- link frame — intentionally coarse, for viewer/planning sanity rather
- than contact-accurate simulation.
-- Inertials: CAD volume properties (OCP BRepGProp) at an ASSUMED uniform
- density chosen so the whole hand masses ASSUMED_TOTAL_MASS_KG. COM and
- the full inertia tensor (about the COM, link frame) come from the CAD
- solids; only the density is assumed. Confidence: estimated.
-- SRDF: per-digit chain groups, a `fingers` union, and a whole-`hand`
- joint group; group states are the named poses from
- `chain.named_poses_deg()` converted to radians. Disabled collisions:
- URDF-adjacent pairs (reason Adjacent) plus pairs whose collision boxes
- already overlap in the zero pose (reason Default), computed from the
- chain offsets at import time.
-"""
-
-from __future__ import annotations
-
-import math
-import xml.etree.ElementTree as ET
-
-from lyra_parts import chain
-from lyra_parts.mass_props import LINK_MASS_PROPS, TOTAL_VOLUME_MM3
-
-ROBOT_NAME = chain.ROBOT_NAME
-
-# Tendon-driven research-hand concept: shells, spines, and pins only; the
-# CAD does not model actuators, so total mass is an assumption distributed
-# by CAD volume.
-ASSUMED_TOTAL_MASS_KG = 0.62
-UNIFORM_DENSITY_KG_PER_MM3 = ASSUMED_TOTAL_MASS_KG / TOTAL_VOLUME_MM3
-
-MM_TO_M = 0.001
-# Unit-density inertia integrates r^2 dV in mm^5; kg*m^2 = density * mm^5 * 1e-6.
-INERTIA_MM5_TO_KG_M2 = UNIFORM_DENSITY_KG_PER_MM3 * 1e-6
-MESH_DIR = "3MF"
-MESH_SCALE_FROM_MM = "0.001 0.001 0.001"
-
-HEADER_NOTE = (
- " Generated by lyra.py (lyra_parts/description.py) for CAD Viewer and "
- "external URDF consumers. Link frames coincide with lyra_parts part-local "
- "frames; meshes are mm 3MF exports of the same builders. Inertials use CAD "
- "volume properties at a uniform assumed density totalling 0.62 kg; "
- "collision geometry is per-link CAD bounding boxes; joint limits/efforts "
- "are assumed tendon-drive values documented in lyra_parts/chain.py. "
-)
-
-
-def _fmt(value: float) -> str:
- text = f"{value:.9f}".rstrip("0").rstrip(".")
- if text in ("-0", ""):
- return "0"
- return text
-
-
-def _vec(values, scale: float = 1.0) -> str:
- return " ".join(_fmt(v * scale) for v in values)
-
-
-def _link_element(robot: ET.Element, name: str) -> None:
- volume_mm3, com_mm, inertia_mm5, bbox_min_mm, bbox_max_mm = LINK_MASS_PROPS[name]
- link = ET.SubElement(robot, "link", {"name": name})
-
- inertial = ET.SubElement(link, "inertial")
- ET.SubElement(inertial, "origin", {"xyz": _vec(com_mm, MM_TO_M), "rpy": "0 0 0"})
- ET.SubElement(inertial, "mass", {"value": _fmt(volume_mm3 * UNIFORM_DENSITY_KG_PER_MM3)})
- ixx, iyy, izz, ixy, ixz, iyz = (v * INERTIA_MM5_TO_KG_M2 for v in inertia_mm5)
- ET.SubElement(
- inertial,
- "inertia",
- {
- "ixx": _fmt(ixx), "ixy": _fmt(ixy), "ixz": _fmt(ixz),
- "iyy": _fmt(iyy), "iyz": _fmt(iyz), "izz": _fmt(izz),
- },
- )
-
- visual = ET.SubElement(link, "visual")
- ET.SubElement(visual, "origin", {"xyz": "0 0 0", "rpy": "0 0 0"})
- geometry = ET.SubElement(visual, "geometry")
- ET.SubElement(
- geometry,
- "mesh",
- {"filename": f"{MESH_DIR}/{name}.3mf", "scale": MESH_SCALE_FROM_MM},
- )
-
- bbox_center_mm = [(lo + hi) / 2.0 for lo, hi in zip(bbox_min_mm, bbox_max_mm)]
- bbox_size_mm = [hi - lo for lo, hi in zip(bbox_min_mm, bbox_max_mm)]
- collision = ET.SubElement(link, "collision")
- ET.SubElement(collision, "origin", {"xyz": _vec(bbox_center_mm, MM_TO_M), "rpy": "0 0 0"})
- geometry = ET.SubElement(collision, "geometry")
- ET.SubElement(geometry, "box", {"size": _vec(bbox_size_mm, MM_TO_M)})
-
-
-def _joint_element(robot: ET.Element, joint: dict) -> None:
- element = ET.SubElement(robot, "joint", {"name": joint["name"], "type": "revolute"})
- ET.SubElement(element, "parent", {"link": joint["parent"]})
- ET.SubElement(element, "child", {"link": joint["child"]})
- ET.SubElement(element, "origin", {"xyz": _vec(joint["origin_mm"], MM_TO_M), "rpy": "0 0 0"})
- ET.SubElement(element, "axis", {"xyz": _vec(joint["axis"])})
- lower_deg, upper_deg = joint["range_deg"]
- ET.SubElement(
- element,
- "limit",
- {
- "lower": _fmt(math.radians(lower_deg)),
- "upper": _fmt(math.radians(upper_deg)),
- "effort": _fmt(joint["effort_nm"]),
- "velocity": _fmt(joint["velocity_rad_s"]),
- },
- )
-
-
-def build_urdf() -> ET.Element:
- robot = ET.Element("robot", {"name": ROBOT_NAME})
- robot.append(ET.Comment(HEADER_NOTE))
- # Frame-only mounting root (no inertial/visual/collision by intent):
- # external consumers attach the hand at the wrist-flange face frame.
- ET.SubElement(robot, "link", {"name": "wrist_mount"})
- for name in chain.all_links():
- _link_element(robot, name)
- mount_joint = ET.SubElement(
- robot, "joint", {"name": "wrist_mount_to_palm", "type": "fixed"}
- )
- ET.SubElement(mount_joint, "parent", {"link": "wrist_mount"})
- ET.SubElement(mount_joint, "child", {"link": "palm"})
- ET.SubElement(mount_joint, "origin", {"xyz": "0 0 0", "rpy": "0 0 0"})
- for joint in chain.all_joints():
- _joint_element(robot, joint)
- return robot
-
-
-# ------------------------------------------------------------------ SRDF
-def _link_origins_zero_mm() -> dict[str, tuple[float, float, float]]:
- """Link-frame origins in the palm frame at the all-zero pose.
-
- At zero joint angles every chain transform is a pure translation, so
- origins are cumulative offset sums.
- """
- origins = {"palm": (0.0, 0.0, 0.0)}
- for joint in chain.all_joints():
- px, py, pz = origins[joint["parent"]]
- ox, oy, oz = joint["origin_mm"]
- origins[joint["child"]] = (px + ox, py + oy, pz + oz)
- return origins
-
-
-def _zero_pose_overlapping_pairs() -> list[tuple[str, str]]:
- """Collision-box pairs that already overlap in the zero pose."""
- origins = _link_origins_zero_mm()
- boxes = {}
- for name in chain.all_links():
- _, _, _, bbox_min_mm, bbox_max_mm = LINK_MASS_PROPS[name]
- origin = origins[name]
- boxes[name] = (
- [o + lo for o, lo in zip(origin, bbox_min_mm)],
- [o + hi for o, hi in zip(origin, bbox_max_mm)],
- )
- names = chain.all_links()
- pairs = []
- for i, a in enumerate(names):
- a_min, a_max = boxes[a]
- for b in names[i + 1 :]:
- b_min, b_max = boxes[b]
- if all(a_min[k] < b_max[k] and a_max[k] > b_min[k] for k in range(3)):
- pairs.append((a, b))
- return pairs
-
-
-def _adjacent_pairs() -> list[tuple[str, str]]:
- return [(joint["parent"], joint["child"]) for joint in chain.all_joints()]
-
-
-def build_srdf() -> ET.Element:
- robot = ET.Element("robot", {"name": ROBOT_NAME})
- robot.append(
- ET.Comment(
- " MoveIt2 planning semantics for lyra.urdf. Groups: per-digit "
- "chains, a fingers union, and the whole-hand joint group. Group "
- "states are named hand poses (radians) from lyra_parts/chain.py. "
- "Disabled collisions: URDF-adjacent pairs plus zero-pose "
- "bounding-box overlaps (reason Default). "
- )
- )
-
- ET.SubElement(
- robot,
- "virtual_joint",
- {
- "name": "world_to_wrist",
- "type": "fixed",
- "parent_frame": "world",
- "child_link": "wrist_mount",
- },
- )
-
- # Per-digit groups own their flexion joints, so digit links are in the
- # group but the palm is not: the hand end effector can then attach at
- # the palm (adjacent to, not inside, the group).
- digits = list(chain.FINGERS) + ["thumb"]
- digit_joints = {finger: chain.finger_joints(finger) for finger in chain.FINGERS}
- digit_joints["thumb"] = chain.thumb_joints()
- for digit in digits:
- group = ET.SubElement(robot, "group", {"name": digit})
- for joint in digit_joints[digit]:
- ET.SubElement(group, "joint", {"name": joint["name"]})
-
- fingers_group = ET.SubElement(robot, "group", {"name": "fingers"})
- for finger in chain.FINGERS:
- ET.SubElement(fingers_group, "group", {"name": finger})
-
- hand_group = ET.SubElement(robot, "group", {"name": "hand"})
- for digit in digits:
- ET.SubElement(hand_group, "group", {"name": digit})
-
- joint_order = [joint["name"] for joint in chain.all_joints()]
- for pose_name, pose_deg in chain.named_poses_deg().items():
- state = ET.SubElement(robot, "group_state", {"name": pose_name, "group": "hand"})
- for joint_name in joint_order:
- ET.SubElement(
- state,
- "joint",
- {"name": joint_name, "value": _fmt(math.radians(pose_deg[joint_name]))},
- )
-
- ET.SubElement(
- robot,
- "end_effector",
- {
- "name": "hand_eef",
- "parent_link": "palm",
- "group": "hand",
- },
- )
-
- adjacent = _adjacent_pairs()
- adjacent_set = {frozenset(pair) for pair in adjacent}
- for link1, link2 in adjacent:
- ET.SubElement(
- robot,
- "disable_collisions",
- {"link1": link1, "link2": link2, "reason": "Adjacent"},
- )
- for link1, link2 in _zero_pose_overlapping_pairs():
- if frozenset((link1, link2)) in adjacent_set:
- continue
- ET.SubElement(
- robot,
- "disable_collisions",
- {"link1": link1, "link2": link2, "reason": "Default"},
- )
- return robot
diff --git a/models/robots/lyra/lyra_parts/digits.py b/models/robots/lyra/lyra_parts/digits.py
deleted file mode 100644
index 41a4e2ce..00000000
--- a/models/robots/lyra/lyra_parts/digits.py
+++ /dev/null
@@ -1,422 +0,0 @@
-"""lyra digit links: finger phalanges and the thumb column.
-
-Local frames (see lib.py):
-- Finger phalanges: origin at the proximal joint center, +Z distal along
- the segment, +Y palmar, flexion axis -X.
-- Thumb segments: origin at the proximal joint center, +X distal along the
- column, +Z palmar pad direction, flexion axis -Y (the thumb_base yaw
- turret tang spins about +Z).
-
-Each phalanx is a pearl composite shell TUBE over an exposed graphite
-structural spine: graphite tang barrel -> center spine bar -> fork
-crossbar -> clevis cheeks, one connected solid, with the spine visible at
-both joint ends (the "visible precision joints" design language). The
-soft-touch tactile strip rides the tube's palmar face.
-
-Articulation-safety rules (hold for every joint at any angle in range):
-- Full-width child geometry (the shell tube) starts beyond parent lobe
- radius + 0.4 from the joint axis; only the circular tang barrel and the
- narrow center spine (which never shares an x/y band with the parent
- cheeks, and stays clear of the pin bore radius) sit closer.
-- Fork crossbars sit >= 9 mm proximal of their own joint axis, outside the
- +/-43 deg corner sweep of the child spine at full flexion.
-
-Joint hardware ownership: the parent link owns clevis cheeks, aluminum rim
-washers, and the pivot pin; the child owns the bored tang barrel.
-"""
-
-from __future__ import annotations
-
-from build123d import Axis, Box, Cone, Pos, Rot, Sphere
-
-from .chain import (
- SEGMENT_MM,
- THUMB_METACARPAL_LEN_MM,
- THUMB_PROXIMAL_LEN_MM,
- THUMB_BASE_LEN_MM,
-)
-from .lib import (
- ALU_COLOR,
- GRAPHITE_COLOR,
- PAD_COLOR,
- PEARL_COLOR,
- part_compound,
- pin,
- safe_chamfer,
- safe_fillet,
- styled,
- xcyl,
- ycyl,
- zcyl,
-)
-
-# Per-finger width scale (lengths come from chain.SEGMENT_MM).
-FINGER_SCALE = {"index": 1.0, "middle": 1.03, "ring": 0.97, "pinky": 0.88}
-
-# Knuckle hardware (mm at scale 1). Tang widths match the parent fork gap
-# minus 0.6 clearance; bores give the parent-owned pin a 0.4 running fit.
-PALM_LOBE_R = 8.0 # palm knuckle lobe radius (palm.py uses this too)
-PROX_TANG_R, PROX_TANG_W, PROX_BORE_R = 7.2, 10.4, 3.0
-PROX_FORK_GAP, PROX_CHEEK_T, PROX_LOBE_R = 9.6, 2.6, 6.5
-PROX_PIN_R, PROX_RIM_R = 2.4, 4.4
-MID_TANG_R, MID_TANG_W, MID_BORE_R = 6.4, 9.0, 2.8
-MID_FORK_GAP, MID_CHEEK_T, MID_LOBE_R = 8.4, 2.4, 5.8
-MID_PIN_R, MID_RIM_R = 2.1, 3.8
-DIST_TANG_R, DIST_TANG_W, DIST_BORE_R = 5.6, 7.8, 2.5
-
-MCP_PIN_R = 2.6 # palm-owned; phalanx bore must clear it
-RIM_T = 1.2
-
-
-def _bored_xbarrel(r, w, bore_r):
- return xcyl(r, w) - xcyl(bore_r, w + 4.0)
-
-
-def _bored_ybarrel(r, w, bore_r):
- return ycyl(r, w) - ycyl(bore_r, w + 4.0)
-
-
-def _finger_fork(z, gap, cheek_t, lobe_r, pin_r, rim_r, body_d):
- """Distal clevis of a finger phalanx: cheeks + lobes (one solid, bored),
- rim washers, and the pivot pin."""
- half = gap / 2.0
- fork = None
- for sx in (1.0, -1.0):
- xc = sx * (half + cheek_t / 2.0)
- plate = Pos(xc, 0.2, z - 6.0) * Box(cheek_t, body_d, 12.0)
- lobe = Pos(xc, 0, z) * xcyl(lobe_r, cheek_t)
- cheek = plate + lobe
- fork = cheek if fork is None else fork + cheek
- fork = safe_chamfer(
- fork, [e for e in fork.edges().filter_by(Axis.X)], 0.8
- )
- fork -= Pos(0, 0, z) * xcyl(pin_r + 0.4, gap + 2 * cheek_t + 8.0)
- rims = []
- for sx in (1.0, -1.0):
- xr = sx * (half + cheek_t + RIM_T / 2.0)
- rim = Pos(xr, 0, z) * (
- xcyl(rim_r, RIM_T) - xcyl(pin_r + 0.4, RIM_T + 2.0)
- )
- rims.append(rim)
- pin_len = gap + 2 * cheek_t + 2 * RIM_T + 1.2
- pivot = Pos(0, 0, z) * pin("x", pin_r, pin_len)
- return fork, rims, pivot
-
-
-def _finger_phalanx(
- label_prefix,
- pin_name,
- s,
- length,
- tang_r,
- tang_w,
- bore_r,
- fork_gap,
- cheek_t,
- lobe_r,
- pin_r,
- rim_r,
- parent_lobe_r,
- body_w,
- body_d,
- y_shift,
-):
- """Pearl shell tube over an exposed graphite spine, plus fork hardware."""
- tube_z0 = parent_lobe_r + 0.4
- tube_z1 = length - 13.2 * s
- bar_w = 6.5 * s
- chan_w = bar_w + 0.5
-
- # Graphite spine: tang barrel + center bar + fork crossbar + clevis.
- core = _bored_xbarrel(tang_r, tang_w, bore_r)
- bar = Pos(0, y_shift, (4.5 * s + length - 9.0 * s) / 2.0) * Box(
- bar_w, bar_w, length - 9.0 * s - 4.5 * s
- )
- core += bar
- crossbar = Pos(0, 0.2, length - 11.0 * s) * Box(
- fork_gap + 2 * cheek_t, bar_w, 4.0 * s
- )
- core += crossbar
- fork, rims, pivot = _finger_fork(
- length, fork_gap, cheek_t, lobe_r, pin_r, rim_r, body_d
- )
- core += fork
-
- # Pearl composite shell tube around the spine.
- tube = Pos(0, y_shift, (tube_z0 + tube_z1) / 2.0) * Box(
- body_w, body_d, tube_z1 - tube_z0
- )
- tube = safe_fillet(tube, tube.edges().filter_by(Axis.Z), min(2.6, body_w / 4.5))
- tube -= Pos(0, y_shift, (tube_z0 + tube_z1) / 2.0) * Box(
- chan_w, chan_w, tube_z1 - tube_z0 + 4.0
- )
- tube = safe_chamfer(
- tube, [e for e in tube.edges().filter_by(Axis.X)], 0.7
- )
-
- # Soft-touch tactile strip on the palmar tube face.
- pad = Pos(0, y_shift + body_d / 2.0 + 0.5, (tube_z0 + tube_z1) / 2.0) * Box(
- body_w - 4.0 * s, 1.6, max((tube_z1 - tube_z0) * 0.72, 2.5)
- )
- pad = safe_fillet(pad, pad.edges().filter_by(Axis.Y), min(1.8 * s, 2.0))
-
- solids = [
- styled(core, f"{label_prefix}_spine", GRAPHITE_COLOR),
- styled(tube, f"{label_prefix}_shell", PEARL_COLOR),
- styled(pad, f"{label_prefix}_pad", PAD_COLOR),
- styled(pivot, f"{pin_name}_pin", ALU_COLOR),
- ]
- for i, rim in enumerate(rims):
- solids.append(styled(rim, f"{pin_name}_rim_{i}", ALU_COLOR))
- return solids
-
-
-def build_finger_proximal(finger: str):
- s = FINGER_SCALE[finger]
- solids = _finger_phalanx(
- f"{finger}_proximal", f"{finger}_pip", s, SEGMENT_MM[finger][0],
- PROX_TANG_R * s, PROX_TANG_W * s, PROX_BORE_R * s,
- PROX_FORK_GAP * s, PROX_CHEEK_T * s, PROX_LOBE_R * s,
- PROX_PIN_R * s, PROX_RIM_R * s, PALM_LOBE_R * s,
- 13.4 * s, 11.4 * s, 0.7 * s,
- )
- return part_compound(f"{finger}_proximal", solids)
-
-
-def build_finger_middle(finger: str):
- s = FINGER_SCALE[finger]
- solids = _finger_phalanx(
- f"{finger}_middle", f"{finger}_dip", s, SEGMENT_MM[finger][1],
- MID_TANG_R * s, MID_TANG_W * s, MID_BORE_R * s,
- MID_FORK_GAP * s, MID_CHEEK_T * s, MID_LOBE_R * s,
- MID_PIN_R * s, MID_RIM_R * s, PROX_LOBE_R * s,
- 12.2 * s, 10.6 * s, 0.6 * s,
- )
- return part_compound(f"{finger}_middle", solids)
-
-
-def build_finger_distal(finger: str):
- s = FINGER_SCALE[finger]
- length = SEGMENT_MM[finger][2]
- tip_r = 4.4 * s
- cone_z0 = MID_LOBE_R * s + 0.4
- tip_c = length - tip_r
-
- # Tang + connection collar (graphite, one solid). The collar is
- # center-band only, so it clears the parent pin bore and never shares
- # an x band with the parent cheeks.
- tang = _bored_xbarrel(DIST_TANG_R * s, DIST_TANG_W * s, DIST_BORE_R * s)
- collar_r = 4.0 * s
- collar_len = cone_z0 + 0.5 - 4.4
- tang += Pos(0, 0.4 * s, 4.4 + collar_len / 2.0) * zcyl(collar_r, collar_len)
-
- cone_h = tip_c - cone_z0
- body = Pos(0, 0.4 * s, cone_z0 + cone_h / 2.0) * Cone(
- bottom_radius=5.3 * s, top_radius=tip_r, height=cone_h
- )
- body += Pos(0, 0.4 * s, tip_c) * Sphere(tip_r)
- # Seat the pearl body on the collar shoulder (face contact, no overlap).
- body -= Pos(0, 0.4 * s, (cone_z0 + 0.5) / 2.0) * zcyl(collar_r + 0.05, cone_z0 + 0.5)
-
- # Soft-touch fingertip pad: split a palmar cap off the body with a
- # boolean sphere so the seam is face-to-face with no overlap.
- # Palmar-only soft cap: the zone center sits palmar of the tip sphere so
- # the apex and dorsal face stay pearl.
- pad = None
- try:
- zone = Pos(0, 3.6 * s, tip_c + 0.2) * Sphere(4.7 * s)
- cap = body & zone
- if cap.volume > 1.0:
- body = body - zone
- pad = cap
- except Exception:
- pad = None
-
- solids = [
- styled(tang, f"{finger}_distal_tang", GRAPHITE_COLOR),
- styled(body, f"{finger}_distal_body", PEARL_COLOR),
- ]
- if pad is not None:
- solids.append(styled(pad, f"{finger}_tip_pad", PAD_COLOR))
- return part_compound(f"{finger}_distal", solids)
-
-
-# ----------------------------------------------------------------- thumb
-
-T_PROX_LOBE_R = 7.0 # thumb_base flex-fork lobe radius (palm relief uses it)
-TB_TANG_R, TB_TANG_H, TB_BORE_R = 8.8, 9.5, 3.3
-TM_TANG_R, TM_TANG_W, TM_BORE_R = 6.8, 9.8, 2.9
-TM_FORK_GAP, TM_CHEEK_T, TM_LOBE_R = 9.8, 2.5, 6.4
-TM_PIN_R, TM_RIM_R = 2.3, 4.2
-TP_TANG_R, TP_TANG_W, TP_BORE_R = 6.2, 9.2, 2.7
-TP_FORK_GAP, TP_CHEEK_T, TP_LOBE_R = 8.6, 2.4, 5.6
-TP_PIN_R, TP_RIM_R = 2.1, 3.7
-TD_TANG_R, TD_TANG_W, TD_BORE_R = 5.2, 8.0, 2.5
-THUMB_TIP_R = 4.8
-THUMB_TIP_TOTAL_MM = 24.0 # matches chain.THUMB_TIP_LEN_MM
-
-
-def _thumb_fork(x, gap, cheek_t, lobe_r, pin_r, rim_r, body_d):
- """Distal clevis of a thumb segment: cheeks normal to Y."""
- half = gap / 2.0
- fork = None
- for sy in (1.0, -1.0):
- yc = sy * (half + cheek_t / 2.0)
- plate = Pos(x - 6.0, yc, 0.2) * Box(12.0, cheek_t, body_d)
- lobe = Pos(x, yc, 0) * ycyl(lobe_r, cheek_t)
- cheek = plate + lobe
- fork = cheek if fork is None else fork + cheek
- fork = safe_chamfer(
- fork, [e for e in fork.edges().filter_by(Axis.Y)], 0.8
- )
- fork -= Pos(x, 0, 0) * ycyl(pin_r + 0.4, gap + 2 * cheek_t + 8.0)
- rims = []
- for sy in (1.0, -1.0):
- yr = sy * (half + cheek_t + RIM_T / 2.0)
- rim = Pos(x, yr, 0) * (
- ycyl(rim_r, RIM_T) - ycyl(pin_r + 0.4, RIM_T + 2.0)
- )
- rims.append(rim)
- pin_len = gap + 2 * cheek_t + 2 * RIM_T + 1.2
- pivot = Pos(x, 0, 0) * pin("y", pin_r, pin_len)
- return fork, rims, pivot
-
-
-def _thumb_phalanx(
- label_prefix,
- pin_name,
- length,
- tang_r,
- tang_w,
- bore_r,
- fork_gap,
- cheek_t,
- lobe_r,
- pin_r,
- rim_r,
- parent_lobe_r,
- body_w,
- body_d,
- z_shift,
-):
- """Thumb segment along +X: pearl tube over graphite spine, Y-axis forks."""
- tube_x0 = parent_lobe_r + 0.4
- tube_x1 = length - 13.2
- bar_w = 6.5
- chan_w = bar_w + 0.5
-
- core = _bored_ybarrel(tang_r, tang_w, bore_r)
- bar = Pos((4.5 + length - 9.0) / 2.0, 0, z_shift) * Box(
- length - 9.0 - 4.5, bar_w, bar_w
- )
- core += bar
- # Fork cheeks are stacked in Y, so the crossbar spans the Y width.
- crossbar = Pos(length - 11.0, 0, 0.2) * Box(4.0, fork_gap + 2 * cheek_t, bar_w)
- core += crossbar
- fork, rims, pivot = _thumb_fork(
- length, fork_gap, cheek_t, lobe_r, pin_r, rim_r, body_d
- )
- core += fork
-
- tube = Pos((tube_x0 + tube_x1) / 2.0, 0, z_shift) * Box(
- tube_x1 - tube_x0, body_w, body_d
- )
- tube = safe_fillet(tube, tube.edges().filter_by(Axis.X), min(2.6, body_w / 4.5))
- tube -= Pos((tube_x0 + tube_x1) / 2.0, 0, z_shift) * Box(
- tube_x1 - tube_x0 + 4.0, chan_w, chan_w
- )
- tube = safe_chamfer(
- tube, [e for e in tube.edges().filter_by(Axis.Y)], 0.7
- )
-
- pad = Pos((tube_x0 + tube_x1) / 2.0, 0, z_shift + body_d / 2.0 + 0.5) * Box(
- max((tube_x1 - tube_x0) * 0.72, 2.5), body_w - 4.0, 1.6
- )
- pad = safe_fillet(pad, pad.edges().filter_by(Axis.Z), 1.8)
-
- solids = [
- styled(core, f"{label_prefix}_spine", GRAPHITE_COLOR),
- styled(tube, f"{label_prefix}_shell", PEARL_COLOR),
- styled(pad, f"{label_prefix}_pad", PAD_COLOR),
- styled(pivot, f"{pin_name}_pin", ALU_COLOR),
- ]
- for i, rim in enumerate(rims):
- solids.append(styled(rim, f"{pin_name}_rim_{i}", ALU_COLOR))
- return solids
-
-
-def build_thumb_base():
- """CMC turret tang (spins about +Z on the palm spindle) + flex clevis."""
- disc = zcyl(TB_TANG_R, TB_TANG_H) - zcyl(TB_BORE_R, TB_TANG_H + 4.0)
- disc = safe_chamfer(disc, disc.edges(), 0.8)
- neck = Pos(8.6, 0, 0) * Box(8.6, 12.6, 9.0)
- neck = safe_fillet(neck, neck.edges().filter_by(Axis.Z), 2.0)
- core = disc + neck
- fork, rims, pivot = _thumb_fork(
- THUMB_BASE_LEN_MM, TM_TANG_W + 0.6, 2.6, T_PROX_LOBE_R, 2.5, 4.5, 11.0
- )
- core += fork
- solids = [
- styled(core, "thumb_base_link", GRAPHITE_COLOR),
- styled(pivot, "thumb_cmc_flex_pin", ALU_COLOR),
- ]
- for i, rim in enumerate(rims):
- solids.append(styled(rim, f"thumb_cmc_flex_rim_{i}", ALU_COLOR))
- return part_compound("thumb_base", solids)
-
-
-def build_thumb_metacarpal():
- solids = _thumb_phalanx(
- "thumb_metacarpal", "thumb_mp", THUMB_METACARPAL_LEN_MM,
- TM_TANG_R, TM_TANG_W, TM_BORE_R,
- TM_FORK_GAP, TM_CHEEK_T, TM_LOBE_R, TM_PIN_R, TM_RIM_R,
- T_PROX_LOBE_R, 12.6, 13.0, 0.5,
- )
- return part_compound("thumb_metacarpal", solids)
-
-
-def build_thumb_proximal():
- solids = _thumb_phalanx(
- "thumb_proximal", "thumb_ip", THUMB_PROXIMAL_LEN_MM,
- TP_TANG_R, TP_TANG_W, TP_BORE_R,
- TP_FORK_GAP, TP_CHEEK_T, TP_LOBE_R, TP_PIN_R, TP_RIM_R,
- TM_LOBE_R, 11.6, 11.8, 0.4,
- )
- return part_compound("thumb_proximal", solids)
-
-
-def build_thumb_distal():
- length = THUMB_TIP_TOTAL_MM
- tip_r = THUMB_TIP_R
- cone_x0 = TP_LOBE_R + 0.4
- tip_c = length - tip_r
-
- tang = _bored_ybarrel(TD_TANG_R, TD_TANG_W, TD_BORE_R)
- collar_r = 4.0
- collar_len = cone_x0 + 0.5 - 4.4
- tang += Pos(4.4 + collar_len / 2.0, 0, 0.4) * xcyl(collar_r, collar_len)
-
- cone_h = tip_c - cone_x0
- body = Pos(cone_x0 + cone_h / 2.0, 0, 0.4) * Rot(0, 90, 0) * Cone(
- bottom_radius=5.4, top_radius=tip_r, height=cone_h
- )
- body += Pos(tip_c, 0, 0.4) * Sphere(tip_r)
- body -= Pos((cone_x0 + 0.5) / 2.0, 0, 0.4) * xcyl(collar_r + 0.05, cone_x0 + 0.5)
-
- pad = None
- try:
- zone = Pos(tip_c + 0.2, 0, 3.4) * Sphere(5.0)
- cap = body & zone
- if cap.volume > 1.0:
- body = body - zone
- pad = cap
- except Exception:
- pad = None
-
- solids = [
- styled(tang, "thumb_distal_tang", GRAPHITE_COLOR),
- styled(body, "thumb_distal_body", PEARL_COLOR),
- ]
- if pad is not None:
- solids.append(styled(pad, "thumb_tip_pad", PAD_COLOR))
- return part_compound("thumb_distal", solids)
diff --git a/models/robots/lyra/lyra_parts/lib.py b/models/robots/lyra/lyra_parts/lib.py
deleted file mode 100644
index 172a7b82..00000000
--- a/models/robots/lyra/lyra_parts/lib.py
+++ /dev/null
@@ -1,155 +0,0 @@
-"""Shared helpers for the lyra dexterous-hand part modules.
-
-Conventions (all part modules must follow):
-- Units mm. RIGHT hand: origin at the wrist-flange mount face center,
- +Z distal (fingers up), +Y palmar (palm faces +Y), +X radial (thumb side).
-- Every part builder returns an identity-location build123d Compound whose
- children are closed, labeled, colored solids, modeled in the part's local
- frame (origin at the part's proximal joint center).
-- Finger phalanges: segment extends +Z local, flexion axis -X local.
-- Thumb segments: segment extends +X local, palmar pad faces +Z local,
- flexion axis -Y local.
-- Joint hardware: the PARENT link owns the clevis cheeks and the aluminum
- pivot pin; the child owns the tang barrel. Everything touching a joint
- axis is a surface of revolution about that axis, so articulation never
- opens a visual gap.
-"""
-
-from __future__ import annotations
-
-from build123d import (
- Axis,
- Box,
- Color,
- Compound,
- Cylinder,
- Location,
- Plane,
- Pos,
- Rot,
- Vector,
- chamfer,
- fillet,
-)
-
-# Palette: warm pearl composite shells over a graphite structural core,
-# machined-aluminum joint hardware, near-black soft-touch tactile pads, and
-# a restrained amber accent on small functional details. No logos.
-PEARL = (0.91, 0.905, 0.89) # warm-white composite shells
-GRAPHITE = (0.15, 0.16, 0.18) # structural cores / phalanx links
-ALU = (0.87, 0.89, 0.93) # machined-aluminum rims, pins, flange
-PAD = (0.10, 0.10, 0.11) # soft-touch tactile pad rubber
-AMBER = (0.83, 0.50, 0.16) # amber accent (sensor ring, tensioners)
-SENSOR = (0.03, 0.06, 0.12) # gloss midnight sensor glass
-
-PEARL_COLOR = Color(*PEARL)
-GRAPHITE_COLOR = Color(*GRAPHITE)
-ALU_COLOR = Color(*ALU)
-PAD_COLOR = Color(*PAD)
-AMBER_COLOR = Color(*AMBER)
-SENSOR_COLOR = Color(*SENSOR)
-
-
-def styled(solid, label: str, color: Color):
- solid.label = label
- solid.color = color
- return solid
-
-
-def part_compound(label: str, children) -> Compound:
- comp = Compound(children=list(children))
- comp.label = label
- return comp
-
-
-def safe_chamfer(part, edges, length, length2=None):
- try:
- edges = list(edges)
- if not edges:
- return part
- if length2 is not None:
- return chamfer(edges, length, length2)
- return chamfer(edges, length)
- except Exception:
- return part
-
-
-def safe_fillet(part, edges, radius):
- try:
- edges = list(edges)
- if not edges:
- return part
- return fillet(edges, radius)
- except Exception:
- return part
-
-
-def xcyl(r, h):
- """Cylinder along +X centered at the origin."""
- return Rot(0, 90, 0) * Cylinder(radius=r, height=h)
-
-
-def ycyl(r, h):
- """Cylinder along +Y centered at the origin."""
- return Rot(-90, 0, 0) * Cylinder(radius=r, height=h)
-
-
-def zcyl(r, h):
- """Cylinder along +Z centered at the origin."""
- return Cylinder(radius=r, height=h)
-
-
-AXIS_CYL = {"x": xcyl, "y": ycyl, "z": zcyl}
-
-
-def pin(axis: str, r: float, h: float):
- """Chamfered aluminum pivot pin along a principal axis."""
- p = AXIS_CYL[axis](r, h)
- return safe_chamfer(p, p.edges(), 0.6)
-
-
-def joint_plane(origin, axis_dir, x_ref) -> Location:
- return Plane(
- origin=Vector(origin), x_dir=Vector(x_ref), z_dir=Vector(axis_dir)
- ).location
-
-
-def revolute_attach(
- asm,
- parent,
- child,
- name: str,
- p_origin,
- p_axis,
- p_xref,
- c_origin,
- c_axis,
- c_xref,
- angle_deg: float,
-):
- """Author a parent revolute frame + child rigid frame and connect them.
-
- Joint origins/axes are given in each part's LOCAL modeling frame; the
- helper transforms them by each part's current location, so parts that
- were already repositioned by upstream connects keep correct joints
- (connect in root-to-leaf order). At angle 0 the child's c_xref direction
- aligns with the parent's p_xref direction about the shared axis.
-
- (Same verified build123d-0.10 joint-attach math as the juno humanoid.)
- """
- j_p_world = parent.location * joint_plane(p_origin, p_axis, p_xref)
- z_tip = (j_p_world * Pos(0, 0, 1)).position
- axis_world = Axis(j_p_world.position, z_tip - j_p_world.position)
- f_parent = asm.revolute_frame(
- parent, f"{name}_axis", axis_world, angular_range=(-360.0, 360.0)
- )
- # The joint's stored frame may use any x-reference convention; read the
- # actual frame back and fold the constant Rz difference into the child
- # mount so the child's c_xref aligns with p_xref at angle 0.
- joint_obj = parent.joints[f"{name}_axis"]
- a_eff_world = parent.location * joint_obj.relative_axis.location
- delta = j_p_world.inverse() * a_eff_world # pure Rz about the joint axis
- j_c = joint_plane(c_origin, c_axis, c_xref)
- l_c_world = child.location * (j_c * delta)
- f_child = asm.rigid_frame(child, f"{name}_mount", l_c_world)
- asm.revolute(f_parent, f_child, angle=angle_deg, label=name)
diff --git a/models/robots/lyra/lyra_parts/mass_props.py b/models/robots/lyra/lyra_parts/mass_props.py
deleted file mode 100644
index 7b68d94e..00000000
--- a/models/robots/lyra/lyra_parts/mass_props.py
+++ /dev/null
@@ -1,136 +0,0 @@
-"""Baked CAD mass properties and bounding boxes for lyra links.
-
-Generated from the lyra_parts builders with OCP BRepGProp volume
-properties at unit density in each part's local frame (== URDF link
-frame); MatrixOfInertia is reported about the center of mass. Units:
-mm^3 volume, mm COM/bbox, mm^5 unit-density inertia. Regenerate with a
-one-off BRepGProp pass over the builders if part geometry changes.
-"""
-
-from __future__ import annotations
-
-TOTAL_VOLUME_MM3 = 183433.2
-
-# link: (volume_mm3, com_mm, inertia_com_mm5 (ixx, iyy, izz, ixy, ixz, iyz),
-# bbox_min_mm, bbox_max_mm)
-LINK_MASS_PROPS = {
- "palm": (
- 123973.6,
- (0.993, -0.096, 53.213),
- (98442492.1, 132133998.1, 45650708.9, -180950.0, -4422274.8, 267642.8),
- (-37.800, -23.000, 0.000),
- (42.200, 23.000, 111.240),
- ),
- "index_proximal": (
- 6607.3,
- (0.000, 0.620, 20.936),
- (1583385.9, 1622711.3, 195769.4, -0.0, -0.0, 2966.7),
- (-9.200, -7.200, -7.200),
- (9.200, 7.700, 50.500),
- ),
- "index_middle": (
- 3115.9,
- (-0.000, 0.306, 12.322),
- (358262.5, 380099.2, 79965.1, -0.0, -0.0, 1146.0),
- (-8.400, -6.400, -6.400),
- (8.400, 7.200, 31.800),
- ),
- "index_distal": (
- 1761.6,
- (-0.000, 0.268, 8.476),
- (110817.2, 107993.2, 21753.1, 0.0, 0.0, -2040.6),
- (-5.300, -5.600, -5.600),
- (5.300, 5.700, 23.000),
- ),
- "middle_proximal": (
- 7645.0,
- (0.000, 0.662, 22.857),
- (2101192.9, 2147398.6, 238274.3, 0.0, 0.0, 3717.1),
- (-9.422, -7.416, -7.416),
- (9.422, 7.892, 54.695),
- ),
- "middle_middle": (
- 3697.0,
- (-0.000, 0.371, 13.725),
- (489757.6, 515013.3, 99289.4, -0.0, 0.0, 1847.4),
- (-8.598, -6.592, -6.592),
- (8.598, 7.377, 34.974),
- ),
- "middle_distal": (
- 1989.4,
- (-0.000, 0.281, 9.129),
- (139234.0, 135954.3, 26039.1, -0.0, -0.0, -2463.6),
- (-5.459, -5.768, -5.768),
- (5.459, 5.871, 24.500),
- ),
- "ring_proximal": (
- 6221.7,
- (0.000, 0.624, 20.993),
- (1463887.2, 1497956.0, 173277.2, 0.0, 0.0, 2780.8),
- (-8.978, -6.984, -6.984),
- (8.978, 7.508, 50.305),
- ),
- "ring_middle": (
- 3059.6,
- (-0.000, 0.350, 12.820),
- (355245.3, 374190.6, 73452.1, -0.0, 0.0, 1337.2),
- (-8.202, -6.208, -6.208),
- (8.202, 7.023, 32.626),
- ),
- "ring_distal": (
- 1689.9,
- (0.000, 0.265, 8.812),
- (107760.6, 105339.2, 19599.9, 0.0, 0.0, -1880.2),
- (-5.141, -5.432, -5.432),
- (5.141, 5.529, 23.500),
- ),
- "pinky_proximal": (
- 4097.4,
- (0.000, 0.519, 16.725),
- (666458.6, 687445.5, 96382.6, -0.0, 0.0, 1444.0),
- (-8.312, -6.336, -6.336),
- (8.312, 6.932, 40.720),
- ),
- "pinky_middle": (
- 1978.8,
- (0.000, 0.233, 10.001),
- (160299.1, 172443.0, 40658.8, 0.0, -0.0, 412.6),
- (-7.608, -5.632, -5.632),
- (7.608, 6.492, 26.104),
- ),
- "pinky_distal": (
- 1211.2,
- (0.000, 0.233, 7.600),
- (60213.8, 58744.3, 11570.5, -0.0, 0.0, -1111.7),
- (-4.664, -4.928, -4.928),
- (4.664, 5.016, 20.500),
- ),
- "thumb_base": (
- 3735.7,
- (5.759, 0.000, 0.024),
- (133267.4, 225133.8, 298293.0, -0.0, 80.7, 0.0),
- (-8.800, -9.600, -7.000),
- (20.000, 9.600, 7.000),
- ),
- "thumb_metacarpal": (
- 7046.8,
- (22.244, -0.000, 0.572),
- (214637.6, 1669731.3, 1691338.0, -0.0, 4697.0, -0.0),
- (-6.800, -9.200, -6.800),
- (52.400, 9.200, 8.300),
- ),
- "thumb_proximal": (
- 3711.2,
- (14.338, -0.000, 0.347),
- (97250.4, 480703.7, 500682.0, -0.0, 1249.7, -0.0),
- (-6.200, -8.500, -6.200),
- (35.600, 8.500, 7.600),
- ),
- "thumb_distal": (
- 1891.1,
- (9.782, 0.000, 0.294),
- (23945.1, 120446.4, 118749.4, 0.0, -2004.1, 0.0),
- (-5.200, -5.400, -5.200),
- (24.000, 5.400, 5.800),
- ),
-}
diff --git a/models/robots/lyra/lyra_parts/palm.py b/models/robots/lyra/lyra_parts/palm.py
deleted file mode 100644
index 834516ee..00000000
--- a/models/robots/lyra/lyra_parts/palm.py
+++ /dev/null
@@ -1,301 +0,0 @@
-"""lyra palm: wrist flange, carpal core, palm slab, knuckle row, thumb turret.
-
-Local frame = robot root frame: origin at the wrist-flange mount face
-center, +Z distal, +Y palmar, +X radial. The palm owns all MCP clevis
-cheeks, knuckle pins, the thumb CMC turret pedestal/spindle, and the
-tactile palm pad.
-
-Articulation clearances baked into the shape:
-- Knuckle slots are open from y -14 to +15 so proximal phalanges sweep
- -15..+95 deg without touching the covers.
-- The palmar plate's top edge stays >= 8 mm proximal of each MCP axis,
- outside the swept envelope of the flexing proximal shaft.
-- A 15 mm radius relief is turned around the thumb turret so the yawing
- thumb base clevis never clips the radial palm corner.
-"""
-
-from __future__ import annotations
-
-from build123d import (
- Axis,
- Box,
- Plane,
- Polyline,
- Pos,
- Rot,
- RectangleRounded,
- extrude,
- loft,
- make_face,
-)
-
-from .chain import FINGERS, MCP_ORIGIN_MM, THUMB_CMC_ORIGIN_MM
-from .digits import (
- FINGER_SCALE,
- MCP_PIN_R,
- PALM_LOBE_R,
- PROX_TANG_W,
- TB_TANG_R,
- TB_TANG_H,
-)
-from .lib import (
- ALU_COLOR,
- AMBER_COLOR,
- GRAPHITE_COLOR,
- PAD_COLOR,
- PEARL_COLOR,
- SENSOR_COLOR,
- part_compound,
- pin,
- safe_chamfer,
- safe_fillet,
- styled,
- xcyl,
- ycyl,
- zcyl,
-)
-
-SLAB_HALF_Y = 9.5 # graphite core half-depth
-COVER_Y0, COVER_Y1 = -12.1, -9.5 # pearl dorsal cover
-PLATE_Y0, PLATE_Y1 = 9.5, 11.5 # pearl palmar plate
-MCP_PIN_LEN = 17.0
-
-# Thumb turret (axis +Z through chain.THUMB_CMC_ORIGIN_MM).
-TURRET_R = 10.5
-TURRET_RELIEF_R = 15.0
-SPINDLE_R = 2.7
-
-CX, CY, CZ = THUMB_CMC_ORIGIN_MM
-
-# Palm silhouette in the XZ plane (clockwise; +X radial, +Z distal). The
-# knuckle arch follows the MCP line (index 99 / middle 103 / ring 99 /
-# pinky 90); lobes added per knuckle crown above it.
-CORE_PTS = [
- (-25.0, 33.0), (-33.0, 50.0), (-36.5, 72.0), (-36.5, 87.0),
- (-30.0, 90.0), (-19.0, 95.0), (-9.5, 99.0), (0.0, 101.0),
- (9.5, 103.0), (19.0, 101.0), (28.5, 99.0), (34.0, 97.5),
- (37.5, 95.5), (37.5, 70.0), (30.0, 46.0), (25.0, 33.0),
-]
-COVER_PTS = [
- (-23.5, 35.0), (-31.3, 51.0), (-34.8, 72.0), (-34.8, 85.6),
- (-29.0, 88.4), (-18.6, 93.0), (-9.5, 97.0), (0.0, 99.0),
- (9.5, 101.0), (18.6, 99.0), (28.5, 97.0), (33.0, 95.6),
- (35.8, 93.8), (35.8, 71.0), (28.6, 47.5), (23.4, 35.0),
-]
-PLATE_PTS = [
- (-23.5, 35.0), (-31.0, 51.0), (-34.5, 72.0), (-34.5, 80.0),
- (-28.6, 82.5), (-18.6, 86.0), (-9.5, 91.0), (0.0, 93.0),
- (9.5, 95.0), (19.0, 93.0), (28.5, 91.0), (35.5, 87.5),
- (35.5, 71.0), (28.6, 47.5), (23.4, 35.0),
-]
-
-
-def _outline_solid(pts, y0, depth):
- pts3 = [(x, y0, z) for x, z in pts]
- face = make_face(Polyline(*pts3, close=True))
- return extrude(face, amount=depth, dir=(0, 1, 0))
-
-
-def _slot_gap(finger: str) -> float:
- return PROX_TANG_W * FINGER_SCALE[finger] + 0.7
-
-
-def _knuckle_cuts(solid):
- """Open the four MCP clevis slots and pin bores in a palm solid."""
- for finger in FINGERS:
- kx, _, kz = MCP_ORIGIN_MM[finger]
- gap = _slot_gap(finger)
- solid -= Pos(kx, 0.5, kz + 2.0) * Box(gap, 29.0, 26.0)
- solid -= Pos(kx, 0, kz) * xcyl(MCP_PIN_R + 0.4, 26.0)
- return solid
-
-
-def _thumb_relief(solid):
- """Turned clearance around the thumb turret for the yawing base clevis."""
- disc_z0 = CZ - TB_TANG_H / 2.0
- return solid - Pos(CX, CY, disc_z0 + 5.6) * zcyl(TURRET_RELIEF_R, 11.6)
-
-
-def _wrist_flange():
- flange = Pos(0, 0, 3.0) * zcyl(23.0, 6.0)
- flange = safe_chamfer(flange, flange.edges(), 1.2)
- heads = []
- for i in range(6):
- from math import cos, pi, sin
-
- a = 2.0 * pi * i / 6.0
- bx, by = 16.5 * cos(a), 16.5 * sin(a)
- flange -= Pos(bx, by, 1.5) * zcyl(3.6, 3.0)
- flange -= Pos(bx, by, 3.0) * zcyl(2.3, 8.0)
- head = Pos(bx, by, 1.4) * zcyl(3.3, 2.2)
- head = safe_chamfer(head, head.edges(), 0.5)
- heads.append(styled(head, f"flange_bolt_{i}", GRAPHITE_COLOR))
- return styled(flange, "wrist_flange", ALU_COLOR), heads
-
-
-def _carpal_core():
- try:
- f1 = Plane.XY.offset(6.0) * RectangleRounded(40.0, 17.5, 7.0)
- f2 = Plane.XY.offset(33.0) * RectangleRounded(50.0, 19.0, 8.0)
- carpal = loft([f1, f2])
- except Exception:
- carpal = Pos(0, 0, 19.5) * Box(46.0, 18.2, 27.0)
- carpal = safe_fillet(carpal, carpal.edges().filter_by(Axis.Z), 7.0)
- return styled(carpal, "carpal_core", GRAPHITE_COLOR)
-
-
-def _palm_core():
- core = _outline_solid(CORE_PTS, -SLAB_HALF_Y, 2 * SLAB_HALF_Y)
- core = safe_fillet(core, core.edges().filter_by(Axis.Y), 2.2)
-
- # Knuckle lobe crowns (cut by the clevis slots into cheek arcs).
- for finger in FINGERS:
- kx, _, kz = MCP_ORIGIN_MM[finger]
- s = FINGER_SCALE[finger]
- core += Pos(kx, 0, kz) * xcyl(PALM_LOBE_R * s, _slot_gap(finger) + 7.0)
-
- # Thumb turret pedestal (bored for the spindle), merged into the
- # radial-palmar corner.
- disc_z0 = CZ - TB_TANG_H / 2.0
- pedestal = Pos(CX, CY, disc_z0 - 3.4) * (zcyl(TURRET_R, 6.4) - zcyl(SPINDLE_R + 0.7, 9.0))
- pedestal = safe_chamfer(pedestal, pedestal.edges(), 1.0)
- core += pedestal
-
- core = _knuckle_cuts(core)
- core = _thumb_relief(core)
- return styled(core, "palm_core", GRAPHITE_COLOR)
-
-
-def _dorsal_cover():
- cover = _outline_solid(COVER_PTS, COVER_Y0, COVER_Y1 - COVER_Y0)
- cover = safe_fillet(cover, cover.edges().filter_by(Axis.Y), 2.0)
- try:
- outer = cover.faces().sort_by(Axis.Y)[0]
- cover = safe_chamfer(cover, outer.edges(), 1.0)
- except Exception:
- pass
- # Engraved tendon-channel lines running from the carpal exit to each
- # knuckle slot (clean covered cable routing, shown as shadow grooves).
- from math import atan2, degrees, hypot
-
- for finger in FINGERS:
- kx, _, kz = MCP_ORIGIN_MM[finger]
- ax, az = kx * 0.42, 40.0
- bx, bz = kx, kz - 12.0
- mx, mz = (ax + bx) / 2.0, (az + bz) / 2.0
- ang = degrees(atan2(bx - ax, bz - az))
- glen = hypot(bx - ax, bz - az)
- groove = Pos(mx, COVER_Y0 + 0.25, mz) * Rot(0, ang, 0) * Box(1.6, 1.0, glen)
- try:
- cover -= groove
- except Exception:
- pass
- cover = _knuckle_cuts(cover)
- cover = _thumb_relief(cover)
- return styled(cover, "dorsal_cover", PEARL_COLOR)
-
-
-def _palmar_plate():
- plate = _outline_solid(PLATE_PTS, PLATE_Y0, PLATE_Y1 - PLATE_Y0)
- plate = safe_fillet(plate, plate.edges().filter_by(Axis.Y), 2.0)
- try:
- outer = plate.faces().sort_by(Axis.Y)[-1]
- plate = safe_chamfer(plate, outer.edges(), 0.8)
- except Exception:
- pass
- # Pocket for the tactile pad (pad sits 0.4 into the plate).
- plate -= Pos(0, PLATE_Y1, 65.0) * Box(46.4, 2.0, 30.4)
- plate = _knuckle_cuts(plate)
- plate = _thumb_relief(plate)
- return styled(plate, "palmar_plate", PEARL_COLOR)
-
-
-def _palm_pad():
- pad = Pos(0, PLATE_Y1 - 0.4 + 0.85, 65.0) * Box(46.0, 1.7, 30.0)
- pad = safe_fillet(pad, pad.edges().filter_by(Axis.Y), 5.0)
- # Tactile zone split grooves (2 x 2 sensor array read as fine lines).
- for cut in (
- Pos(0, PLATE_Y1 + 1.3, 65.0) * Box(1.2, 1.0, 30.5),
- Pos(0, PLATE_Y1 + 1.3, 65.0) * Box(46.5, 1.0, 1.2),
- ):
- try:
- pad -= cut
- except Exception:
- pass
- pad = _thumb_relief(pad)
- return styled(pad, "palm_pad", PAD_COLOR)
-
-
-def _palm_sensor():
- ring = Pos(0, PLATE_Y1 + 0.3, 87.0) * (ycyl(5.0, 0.6) - ycyl(4.0, 3.0))
- lens = Pos(0, PLATE_Y1 + 0.2, 87.0) * ycyl(3.9, 0.8)
- return [
- styled(ring, "palm_sensor_ring", AMBER_COLOR),
- styled(lens, "palm_sensor_lens", SENSOR_COLOR),
- ]
-
-
-def _tensioners():
- """Tendon tensioner dial row on the dorsal carpal face."""
- out = []
- for i, dx in enumerate((-12.0, -6.0, 0.0, 6.0, 12.0)):
- face_y = -(8.75 + 0.75 * (20.0 - 6.0) / 27.0)
- dial = Pos(dx, face_y - 1.1, 20.0) * ycyl(2.6, 2.4)
- dial = safe_chamfer(dial, dial.edges(), 0.5)
- out.append(styled(dial, f"tensioner_dial_{i}", ALU_COLOR))
- dot = Pos(dx, face_y - 2.5, 20.0) * ycyl(1.0, 0.7)
- out.append(styled(dot, f"tensioner_dot_{i}", AMBER_COLOR))
- return out
-
-
-def _knuckle_hardware():
- """Palm-owned MCP pins plus rim washers on the outer index/pinky cheeks."""
- out = []
- for finger in FINGERS:
- kx, _, kz = MCP_ORIGIN_MM[finger]
- out.append(
- styled(
- Pos(kx, 0, kz) * pin("x", MCP_PIN_R, MCP_PIN_LEN),
- f"{finger}_mcp_pin",
- ALU_COLOR,
- )
- )
- for finger, xr in (("index", 38.2), ("pinky", -37.2)):
- kx, _, kz = MCP_ORIGIN_MM[finger]
- rim = Pos(xr, 0, kz) * (xcyl(4.6, 1.2) - xcyl(MCP_PIN_R + 0.4, 3.0))
- out.append(styled(rim, f"{finger}_mcp_rim", ALU_COLOR))
- return out
-
-
-def _turret_hardware():
- """Bearing collar + spindle/cap for the thumb CMC turret (palm side)."""
- disc_z0 = CZ - TB_TANG_H / 2.0
- disc_z1 = CZ + TB_TANG_H / 2.0
- collar = Pos(CX, CY, disc_z0 - 0.95) * (zcyl(TURRET_R + 0.7, 1.5) - zcyl(TB_TANG_R + 0.8, 3.0))
- collar = safe_chamfer(collar, collar.edges(), 0.4)
- spindle = Pos(CX, CY, (disc_z0 - 5.0 + disc_z1 + 0.4) / 2.0) * zcyl(
- SPINDLE_R, disc_z1 + 0.4 - (disc_z0 - 5.0)
- )
- cap = Pos(CX, CY, disc_z1 + 0.4 + 0.8) * zcyl(4.8, 1.6)
- cap = safe_chamfer(cap, cap.edges(), 0.5)
- spindle += cap
- return [
- styled(collar, "thumb_turret_collar", ALU_COLOR),
- styled(spindle, "thumb_turret_spindle", ALU_COLOR),
- ]
-
-
-def build_palm():
- flange, bolt_heads = _wrist_flange()
- solids = [flange]
- solids += bolt_heads
- solids.append(_carpal_core())
- solids.append(_palm_core())
- solids.append(_dorsal_cover())
- solids.append(_palmar_plate())
- solids.append(_palm_pad())
- solids += _palm_sensor()
- solids += _tensioners()
- solids += _knuckle_hardware()
- solids += _turret_hardware()
- return part_compound("palm", solids)
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link0_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link0_symp.stl
deleted file mode 100644
index 303161fd..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link0_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:baf52578e1d9e6225f3818cae82b6074a0b948d3cef8e9a3e6dfafca78507590
-size 40284
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link1_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link1_symp.stl
deleted file mode 100644
index f4cb78f2..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link1_symp.stl
+++ /dev/null
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-oid sha256:066113d13d5cc85098609003bc7ebb73c570015350877f5ed7162ef1b6601852
-size 17784
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link2_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link2_symp.stl
deleted file mode 100644
index 85d0cde7..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link2_symp.stl
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
-oid sha256:382ab32e4ae0880e8a1512e7a6ca6ce1f478a6c125db4efa977429ffb1d6b02a
-size 13384
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link3_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link3_symp.stl
deleted file mode 100644
index 48d72950..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link3_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:00c908cefab152c00416a570a48bf9aafed1549085f19ff2d882dc3f355d9f59
-size 156984
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link4_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link4_symp.stl
deleted file mode 100644
index cb96fbfc..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link4_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b54883b8c7c96268a68a5879f95998a53ad0b0c4fe74325fad63a6caef669c73
-size 1139984
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link5_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link5_symp.stl
deleted file mode 100644
index d165f462..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link5_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:678a2802906eff7b45a836d2f34a2d8e51def50b6599376968f888e05c72739e
-size 751484
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link6_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link6_symp.stl
deleted file mode 100644
index 16e23366..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link6_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:95529bec23733476dfdbbb266c7db0d25a473a568de73c8337a82440fe4a9ac3
-size 30084
diff --git a/models/robots/openarm/meshes/arm/v10/collision/link7_symp.stl b/models/robots/openarm/meshes/arm/v10/collision/link7_symp.stl
deleted file mode 100644
index 96f68d28..00000000
--- a/models/robots/openarm/meshes/arm/v10/collision/link7_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:434f207f21f75f5f0bd604e390b8e5bc7b62b619265222846770e06b3f9b5cfb
-size 23884
diff --git a/models/robots/openarm/meshes/body/v10/collision/body_link0_symp.stl b/models/robots/openarm/meshes/body/v10/collision/body_link0_symp.stl
deleted file mode 100644
index dad87333..00000000
--- a/models/robots/openarm/meshes/body/v10/collision/body_link0_symp.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6c18bbf7e86b03e3faf802e61e8eb438b38dcbcf146d97cffe6e808c65e9a72a
-size 293284
diff --git a/models/robots/openarm/meshes/ee/openarm_hand/collision/finger.stl b/models/robots/openarm/meshes/ee/openarm_hand/collision/finger.stl
deleted file mode 100644
index ad504060..00000000
--- a/models/robots/openarm/meshes/ee/openarm_hand/collision/finger.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8e96e1314618cf434908f70df78f68dd2b049c03538964e8d41fc99abe41564d
-size 13284
diff --git a/models/robots/openarm/meshes/ee/openarm_hand/collision/hand.stl b/models/robots/openarm/meshes/ee/openarm_hand/collision/hand.stl
deleted file mode 100644
index 381740b7..00000000
--- a/models/robots/openarm/meshes/ee/openarm_hand/collision/hand.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8e5d373ebbd3fd001b506058644062ad71a68f1ced5ca5d5ed0f6de20137956b
-size 18284
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deleted file mode 100644
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diff --git a/models/robots/qdd_actuator/.qdd_actuator.step.glb b/models/robots/qdd_actuator/.qdd_actuator.step.glb
deleted file mode 100644
index 2bafb97e..00000000
--- a/models/robots/qdd_actuator/.qdd_actuator.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b76dab2c1193026f65adf708a29963fb68665871a16be9f55fd3b2450ed52938
-size 10321136
diff --git a/models/robots/qdd_actuator/.qdd_actuator.step.js b/models/robots/qdd_actuator/.qdd_actuator.step.js
deleted file mode 100644
index 90e8db22..00000000
--- a/models/robots/qdd_actuator/.qdd_actuator.step.js
+++ /dev/null
@@ -1,345 +0,0 @@
-const Z_AXIS = [0, 0, 1];
-const ORIGIN = [0, 0, 0];
-
-// Gear-stage constants mirrored from qdd_actuator.py (module 1.0, fixed ring).
-const SUN_TEETH = 24;
-const PLANET_TEETH = 30;
-const RING_TEETH = 84;
-// Fixed-ring planetary reduction: carrier = sun / (1 + Nr/Ns) = sun / 4.5.
-const REDUCTION_RATIO = 1 + (RING_TEETH / SUN_TEETH);
-const PLANET_CENTER_R = 27;
-const PLANET_ANGLES_DEG = [90, 210, 330];
-
-// 4.5 sun revolutions per cycle returns the carrier to exactly 360 deg. The
-// rotor/sun end the cycle 180 deg from start, which is invisible: every
-// rotating part is 180-deg symmetric (28 alternating magnets = 14 pole pairs,
-// 24/30-tooth gears, 6x lightening + 4x coupling holes), so the loop is
-// seamless at tooth/pole phase.
-const DRIVE_CYCLE_DEG = REDUCTION_RATIO * 360;
-
-// Rotor-bearing ball cage runs near half the inner-race speed; 4/9 (~0.444 vs
-// the physical ~0.452 for this geometry) makes the 10-ball ring land exactly
-// on its 36-deg symmetry at the end of the drive cycle.
-const BALL_CAGE_RATIO = 4 / 9;
-// Cross-roller cage: outer race fixed, inner race at carrier speed -> cage at
-// half carrier speed. 16 alternating-tilt rollers repeat every 45 deg, and
-// (360 / 2) = 180 deg per cycle closes on that symmetry.
-const ROLLER_CAGE_RATIO = 0.5;
-
-// Documented static exploded layout from qdd_actuator.py EXPLODE_OFFSETS
-// (mm along Z at explode = 1), verified pairwise non-overlapping there.
-const EXPLODE_OFFSETS_MM = {
- connectorPower: -82,
- connectorSignal: -82,
- rearCover: -64,
- driverPcb: -46,
- encoderPcb: -32,
- housing: 0,
- encoderMagnetRing: 70,
- rearBearing: 78,
- stator: 94,
- rotor: 128,
- frontBearing: 154,
- ringGear: 168,
- sunGear: 196,
- planetGear: 222,
- carrier: 250,
- crossRollerBearing: 280,
- frontRetainer: 298,
- retainerScrews: 312,
- torqueSensor: 330,
- outputFlange: 348,
- cableTube: 360
-};
-const PLANET_EXPLODE_RADIAL_MM = 14;
-
-// The viewer floor sits at the assembled model's lowest geometry (the rear
-// connectors). Rebase the explosion so the lowest station is 0: every part
-// explodes upward or stays put, relative spacing is unchanged, and nothing
-// sinks through the floor. The rear connectors keep their assembled height.
-const FLOOR_LIFT_MM = -Math.min(...Object.values(EXPLODE_OFFSETS_MM));
-
-// "Keep gear mesh" station: ring, sun, and planets explode together as one
-// meshed cluster so the tooth engagement stays watchable; the carrier still
-// lifts to its own documented station so its plate does not cover the mesh.
-// The cluster spans z 6.8..20.5 mm; 210 keeps >60 mm clearance to the front
-// bearing station (154) below and ~28 mm to the carrier station (250) above.
-const GEAR_STAGE_CLUSTER_MM = 210;
-
-const PLANETS = [
- { id: "planet1", angleDeg: PLANET_ANGLES_DEG[0] },
- { id: "planet2", angleDeg: PLANET_ANGLES_DEG[1] },
- { id: "planet3", angleDeg: PLANET_ANGLES_DEG[2] }
-];
-
-const SHELL_PARTS = [
- "housing",
- "frontRetainer",
- "retainerScrews",
- "rearCover",
- "connectorPower",
- "connectorSignal"
-];
-const ELECTRONICS_PARTS = ["driverPcb", "encoderPcb"];
-const OUTPUT_STACK_PARTS = [
- "xrollerInner",
- "xrollerOuter",
- "xrollerRollers",
- "torqueSensor",
- "outputFlange"
-];
-const DRIVE_TRAIN_PARTS = ["sunGear", "planet1", "planet2", "planet3", "carrier"];
-
-function finite(value, fallback = 0) {
- const numericValue = Number(value);
- return Number.isFinite(numericValue) ? numericValue : fallback;
-}
-
-function clamp(value, min, max) {
- return Math.min(Math.max(finite(value, min), min), max);
-}
-
-function clamp01(value) {
- return clamp(value, 0, 1);
-}
-
-function wrap01(cycle) {
- return ((finite(cycle, 0) % 1) + 1) % 1;
-}
-
-function planetCenter(angleDeg) {
- const angleRad = angleDeg * Math.PI / 180;
- return [
- PLANET_CENTER_R * Math.cos(angleRad),
- PLANET_CENTER_R * Math.sin(angleRad),
- 14.5
- ];
-}
-
-function radialUnit(angleDeg) {
- const angleRad = angleDeg * Math.PI / 180;
- return [Math.cos(angleRad), Math.sin(angleRad), 0];
-}
-
-function applyVisibility(effects, params) {
- effects.visible("*", true);
- effects.visible(SHELL_PARTS, params.showShell !== false);
- effects.visible(ELECTRONICS_PARTS, params.showElectronics !== false);
- effects.visible(OUTPUT_STACK_PARTS, params.showOutputStack !== false);
-}
-
-export default {
- manifest: {
- schemaVersion: 1,
- step: {
- path: "models/robots/qdd_actuator/qdd_actuator.step"
- },
- label: "QDD actuator",
- description: "Quasi-direct-drive actuator with viewer-time drivetrain animation: the outrunner rotor spins the sun gear, three planets walk the fixed ring at the derived 4.5:1 reduction, and the carrier drives the torque sensor and output flange.",
- units: {
- length: "mm",
- angle: "deg",
- time: "s"
- },
- features: {
- housing: { ref: "#o1.1", label: "Housing", description: "Fixed finned aluminum housing." },
- frontRetainer: { ref: "#o1.2", label: "Front retainer ring" },
- rearCover: { ref: "#o1.3", label: "Rear cover" },
- retainerScrews: { ref: "#o1.4", label: "Retainer screws" },
- connectorPower: { ref: "#o1.5", label: "Power connector" },
- connectorSignal: { ref: "#o1.6", label: "Signal connector" },
- driverPcb: { ref: "#o1.7", label: "Driver PCB" },
- encoderPcb: { ref: "#o1.8", label: "Encoder PCB" },
- encoderMagnetRing: { ref: "#o1.9", label: "Encoder magnet ring", description: "Spins with the rotor for the rear magnetic encoder." },
- stator: { ref: "#o1.10", label: "Stator", description: "Fixed 24-slot stator and windings." },
- rotor: { ref: "#o1.11", label: "Rotor", description: "Outrunner rotor bell and 28-magnet ring; the animation input." },
- rearBearingInner: { ref: "#o1.12.1", label: "Rear bearing inner race" },
- rearBearingOuter: { ref: "#o1.12.2", label: "Rear bearing outer race" },
- rearBearingBalls: { ref: "#o1.12.3", label: "Rear bearing balls" },
- frontBearingInner: { ref: "#o1.13.1", label: "Front bearing inner race" },
- frontBearingOuter: { ref: "#o1.13.2", label: "Front bearing outer race" },
- frontBearingBalls: { ref: "#o1.13.3", label: "Front bearing balls" },
- sunGear: { ref: "#o1.14", label: "Sun gear (24T)", description: "Bolted to the rotor flange; rotates at input speed.", axis: Z_AXIS, origin: ORIGIN },
- ringGear: { ref: "#o1.15", label: "Ring gear (84T)", description: "Fixed internal gear pressed into the housing bore." },
- planet1: { ref: "#o1.16", label: "Planet gear 1 (30T)", axis: Z_AXIS, origin: planetCenter(PLANET_ANGLES_DEG[0]) },
- planet2: { ref: "#o1.17", label: "Planet gear 2 (30T)", axis: Z_AXIS, origin: planetCenter(PLANET_ANGLES_DEG[1]) },
- planet3: { ref: "#o1.18", label: "Planet gear 3 (30T)", axis: Z_AXIS, origin: planetCenter(PLANET_ANGLES_DEG[2]) },
- carrier: { ref: "#o1.19", label: "Planet carrier", description: "Output member at 1/4.5 of input speed.", axis: Z_AXIS, origin: ORIGIN },
- xrollerInner: { ref: "#o1.20.1", label: "Cross-roller inner ring", description: "Rotates with the output stage." },
- xrollerOuter: { ref: "#o1.20.2", label: "Cross-roller outer ring", description: "Fixed in the housing seat." },
- xrollerRollers: { ref: "#o1.20.3", label: "Cross-roller rollers" },
- torqueSensor: { ref: "#o1.21", label: "Torque sensor flexure", description: "Strain-gauge flexure between carrier and flange." },
- outputFlange: { ref: "#o1.22", label: "Output flange" },
- cableTube: { ref: "#o1.23", label: "Cable tube", description: "Static hollow-shaft cable conduit." }
- },
- parameters: {
- drive: {
- type: "number",
- label: "Drive",
- description: "Rotor/sun input angle over one closed mesh cycle (4.5 input revolutions = 1 carrier revolution).",
- default: 0,
- min: 0,
- max: DRIVE_CYCLE_DEG,
- step: 1,
- unit: "deg"
- },
- explode: {
- type: "number",
- label: "Explode",
- description: "Axial technical explosion from the documented build123d layout, applied after the gear motion.",
- default: 0,
- min: 0,
- max: 1,
- step: 0.01
- },
- keepGearMesh: {
- type: "boolean",
- label: "Keep gear mesh",
- description: "Explode the ring, sun, and planets together as one meshed cluster instead of separate stations; the carrier still lifts clear of the mesh.",
- default: true
- },
- showShell: { type: "boolean", label: "Housing shell", default: true },
- showElectronics: { type: "boolean", label: "Electronics", default: true },
- showOutputStack: { type: "boolean", label: "Output stack", default: true },
- highlightDrive: { type: "boolean", label: "Highlight gear train", default: false }
- },
- animations: {
- driveLoop: {
- label: "Drive 4.5:1 reduction",
- description: "Continuous rotor input: sun at input speed, planets walking the fixed ring, carrier and output flange at 1/4.5 speed.",
- duration: 12,
- loop: true,
- update({ cycle, set }) {
- set("drive", wrap01(cycle) * DRIVE_CYCLE_DEG);
- }
- },
- inspectExplode: {
- label: "Exploded drive inspection",
- description: "Same gear cycle while the stack separates into exploded stations and returns; the planetary stage stays meshed while 'Keep gear mesh' is on.",
- duration: 12,
- loop: true,
- update({ cycle, set }) {
- const phase = wrap01(cycle);
- set("drive", phase * DRIVE_CYCLE_DEG);
- set("explode", Math.sin(phase * Math.PI));
- }
- }
- }
- },
-
- update({ params, effects }) {
- const drive = finite(params.drive);
- const explode = clamp01(params.explode);
- const carrierAngle = drive / REDUCTION_RATIO;
- // Mesh-consistent planet spin about its own moving axis, relative to the
- // carrier frame: external sun/planet mesh reverses the relative rotation.
- const planetSpinRelativeToCarrier = -(SUN_TEETH / PLANET_TEETH) * (drive - carrierAngle);
- const ballOrbitAngle = drive * BALL_CAGE_RATIO;
- const rollerOrbitAngle = carrierAngle * ROLLER_CAGE_RATIO;
- const lift = (key) => (EXPLODE_OFFSETS_MM[key] + FLOOR_LIFT_MM) * explode;
- const keepGearMesh = params.keepGearMesh !== false;
- const gearLift = (key) => (keepGearMesh ? (GEAR_STAGE_CLUSTER_MM + FLOOR_LIFT_MM) * explode : lift(key));
- const planetRadialMm = keepGearMesh ? 0 : PLANET_EXPLODE_RADIAL_MM;
-
- applyVisibility(effects, params);
-
- if (params.highlightDrive === true) {
- effects.highlight(DRIVE_TRAIN_PARTS, true);
- }
-
- // Input group: rotor bell + magnets, encoder target ring, sun gear.
- effects.transform("rotor", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: drive },
- translate: [0, 0, lift("rotor")]
- });
- effects.transform("encoderMagnetRing", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: drive },
- translate: [0, 0, lift("encoderMagnetRing")]
- });
- effects.transform("sunGear", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: drive },
- translate: [0, 0, gearLift("sunGear")]
- });
-
- // Rotor support bearings: inner races spin with the hub, ball rings orbit
- // at cage speed, outer races stay seated in the housing sleeve.
- for (const [inner, balls, outer, key] of [
- ["rearBearingInner", "rearBearingBalls", "rearBearingOuter", "rearBearing"],
- ["frontBearingInner", "frontBearingBalls", "frontBearingOuter", "frontBearing"]
- ]) {
- effects.transform(inner, {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: drive },
- translate: [0, 0, lift(key)]
- });
- effects.transform(balls, {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: ballOrbitAngle },
- translate: [0, 0, lift(key)]
- });
- effects.transform(outer, { translate: [0, 0, lift(key)] });
- }
-
- // Planets: spin about their own (initial) axis, separate radially in the
- // exploded view, then orbit the sun axis with the carrier. Steps compose
- // in order in the fixed model frame, so the radial offset and orbit keep
- // the planets pointing outward at the current carrier angle.
- for (const planet of PLANETS) {
- const radial = radialUnit(planet.angleDeg);
- effects.transform(planet.id, {
- transforms: [
- {
- rotate: {
- axis: Z_AXIS,
- origin: planetCenter(planet.angleDeg),
- angleDeg: planetSpinRelativeToCarrier
- }
- },
- {
- translate: [
- radial[0] * planetRadialMm * explode,
- radial[1] * planetRadialMm * explode,
- gearLift("planetGear")
- ]
- },
- { rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle } }
- ]
- });
- }
-
- // Output group at carrier speed: carrier, torque sensor, flange, and the
- // cross-roller inner ring; the roller ring orbits at cage speed.
- effects.transform("carrier", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle },
- translate: [0, 0, lift("carrier")]
- });
- effects.transform("torqueSensor", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle },
- translate: [0, 0, lift("torqueSensor")]
- });
- effects.transform("outputFlange", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle },
- translate: [0, 0, lift("outputFlange")]
- });
- effects.transform("xrollerInner", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: carrierAngle },
- translate: [0, 0, lift("crossRollerBearing")]
- });
- effects.transform("xrollerRollers", {
- rotate: { axis: Z_AXIS, origin: ORIGIN, angleDeg: rollerOrbitAngle },
- translate: [0, 0, lift("crossRollerBearing")]
- });
- effects.transform("xrollerOuter", { translate: [0, 0, lift("crossRollerBearing")] });
-
- // Static parts only take their exploded-station offsets.
- effects.transform("housing", { translate: [0, 0, lift("housing")] });
- effects.transform("ringGear", { translate: [0, 0, gearLift("ringGear")] });
- effects.transform("stator", { translate: [0, 0, lift("stator")] });
- effects.transform("frontRetainer", { translate: [0, 0, lift("frontRetainer")] });
- effects.transform("retainerScrews", { translate: [0, 0, lift("retainerScrews")] });
- effects.transform("rearCover", { translate: [0, 0, lift("rearCover")] });
- effects.transform("connectorPower", { translate: [0, 0, lift("connectorPower")] });
- effects.transform("connectorSignal", { translate: [0, 0, lift("connectorSignal")] });
- effects.transform("driverPcb", { translate: [0, 0, lift("driverPcb")] });
- effects.transform("encoderPcb", { translate: [0, 0, lift("encoderPcb")] });
- effects.transform("cableTube", { translate: [0, 0, lift("cableTube")] });
- }
-};
diff --git a/models/robots/qdd_actuator/qdd_actuator.py b/models/robots/qdd_actuator/qdd_actuator.py
deleted file mode 100644
index 724ace96..00000000
--- a/models/robots/qdd_actuator/qdd_actuator.py
+++ /dev/null
@@ -1,912 +0,0 @@
-"""Compact quasi-direct-drive (QDD) actuator concept for a humanoid robot joint.
-
-Functional concept layout, manufacturable industrial design:
-- high-torque-density outrunner BLDC motor (24-slot stator, 28-magnet rotor)
-- low-ratio single-stage planetary reduction (sun 24T / planets 30T / ring 84T,
- module 1.0, fixed ring -> 4.5:1)
-- integrated rear magnetic encoder (rotor magnet ring + encoder PCB)
-- output torque sensing (4-spoke strain-gauge flexure between carrier and flange)
-- cross-roller output bearing (alternating +/-45 deg rollers in V-groove races)
-- hollow shaft cable routing (Ø14/Ø11 static tube through the full stack)
-- compact annular motor-driver PCB (FETs, bus capacitors, MCU)
-- aluminum housing with axial heat fins, bolted front retainer ring
-- sealed rear circular connectors (power + signal, o-ring glands)
-
-Coordinate convention:
-- Units mm. Origin on the actuator centerline (Z = rotation axis).
-- +Z is the output direction; the gear stage and output flange are at +Z,
- the driver electronics and sealed connectors are at -Z.
-
-The same parameterized builder produces the assembled model (explode=0) and an
-exploded technical layout (explode=1) used by qdd_actuator_exploded.py. The
-exploded translations are documented per-part static Locations along +/-Z.
-"""
-
-from __future__ import annotations
-
-import math
-
-from build123d import * # noqa: F401,F403
-from cadpy.assembly import AssemblyHelper
-
-# ---------------------------------------------------------------------------
-# Gear stage parameters (module-1.0 concept teeth, trapezoidal with backlash)
-# ---------------------------------------------------------------------------
-GEAR_MODULE = 1.0
-SUN_TEETH = 24
-PLANET_TEETH = 30
-RING_TEETH = 84 # = SUN_TEETH + 2 * PLANET_TEETH
-PLANET_COUNT = 3
-REDUCTION_RATIO = 1.0 + RING_TEETH / SUN_TEETH # 4.5:1, fixed ring gear
-
-SUN_PITCH_R = GEAR_MODULE * SUN_TEETH / 2 # 12.0
-PLANET_PITCH_R = GEAR_MODULE * PLANET_TEETH / 2 # 15.0
-RING_PITCH_R = GEAR_MODULE * RING_TEETH / 2 # 42.0
-PLANET_CENTER_R = SUN_PITCH_R + PLANET_PITCH_R # 27.0
-PLANET_ANGLES_DEG = (90.0, 210.0, 330.0)
-
-ADDENDUM = 1.0 * GEAR_MODULE
-DEDENDUM = 1.25 * GEAR_MODULE
-GEAR_WIDTH = 12.0
-GEAR_Z = (8.5, 20.5)
-
-SUN_ROOT_R = SUN_PITCH_R - DEDENDUM # 10.75
-SUN_TIP_R = SUN_PITCH_R + ADDENDUM # 13.0
-PLANET_ROOT_R = PLANET_PITCH_R - DEDENDUM # 13.75
-PLANET_TIP_R = PLANET_PITCH_R + ADDENDUM # 16.0
-RING_TIP_R = RING_PITCH_R - ADDENDUM # 41.0 (internal teeth point inward)
-RING_ROOT_R = RING_PITCH_R + DEDENDUM # 43.25
-RING_RIM_R = 46.0
-PLANET_BORE_R = 4.0
-
-# ---------------------------------------------------------------------------
-# Hollow shaft cable routing
-# ---------------------------------------------------------------------------
-TUBE_OUTER_R = 7.0 # Ø14 conduit
-TUBE_INNER_R = 5.5 # Ø11 cable bore
-# The static tube protrudes past the rear cover and the output flange so the
-# hollow-shaft cable path visibly enters and exits the actuator.
-TUBE_Z = (-36.5, 35.5)
-
-# ---------------------------------------------------------------------------
-# Outrunner BLDC motor
-# ---------------------------------------------------------------------------
-STATOR_SLOTS = 24
-STATOR_YOKE_IR = 28.0 # seats on the housing center sleeve
-STATOR_YOKE_OR = 33.0
-STATOR_TOOTH_TIP_R = 40.0
-STATOR_TOOTH_W = 5.0 # tangential tooth width
-STATOR_SHOE_W = 7.6 # tangential pole-shoe width
-STATOR_SHOE_IR = 38.8
-STATOR_STACK_Z = (-13.0, 1.0)
-
-WINDING_RADIAL = (33.4, 38.6) # clears yoke OD and pole shoes
-WINDING_TANGENTIAL = 8.0
-WINDING_AXIAL = 17.0 # end turns overhang the stack
-WINDING_HOLE_TANGENTIAL = 5.1
-WINDING_HOLE_AXIAL = 14.1
-
-MAGNET_COUNT = 28
-MAGNET_IR = 40.75 # 0.75 mm airgap over the stator tooth tips
-MAGNET_OR = 43.75
-MAGNET_W = 8.0
-MAGNET_Z = (-13.0, 1.0)
-BACK_IRON_R = (43.75, 45.5)
-BACK_IRON_Z = (-13.5, 2.5)
-
-ROTOR_HUB_R = (7.5, 11.0) # hollow hub over the cable tube
-ROTOR_HUB_Z = (-20.0, 5.5)
-ROTOR_WEB_Z = (2.5, 5.5) # front web (output-side bell)
-ROTOR_FLANGE_R = (7.5, 17.0) # sun-gear coupling flange
-ROTOR_FLANGE_Z = (5.5, 6.8)
-COUPLING_HOLE_R = 11.25 # 4x M3 rotor/sun coupling circle
-AIRGAP = MAGNET_IR - STATOR_TOOTH_TIP_R
-
-# Rotor support ball bearings (inner race on hub, outer race in sleeve bore)
-ROTOR_BRG_IR = (11.0, 12.4)
-ROTOR_BRG_OR = (13.6, 15.0)
-ROTOR_BRG_BALL_R = 1.25
-ROTOR_BRG_BALL_COUNT = 10
-ROTOR_BRG_REAR_Z = (-17.0, -12.0)
-ROTOR_BRG_FRONT_Z = (-3.5, 1.5)
-
-# ---------------------------------------------------------------------------
-# Housing (aluminum, axial heat fins) and front retainer
-# ---------------------------------------------------------------------------
-BARREL_R = (46.0, 50.0)
-BARREL_Z = (-31.0, 29.0)
-# Dense thin-fin array over the motor/electronics zone; deliberately many,
-# thin, and shallow so the array reads as heat-sink fins, not gear teeth.
-# Fins stop short of BOTH end faces so each rim keeps a machined solid band.
-FIN_COUNT = 64
-FIN_RADIAL = (49.5, 52.5)
-FIN_W = 1.4
-FIN_Z = (-26.5, 12.0)
-REAR_WALL_R = (13.0, 46.0)
-REAR_WALL_Z = (-22.0, -18.0)
-SLEEVE_R = (15.0, 28.0)
-SLEEVE_Z = (-18.0, 1.5)
-RETAINER_R = (41.5, 50.0)
-RETAINER_Z = (29.0, 31.0)
-FRONT_SCREW_CIRCLE_R = 48.0 # 8x M3 retainer screws into the barrel face
-FRONT_SCREW_COUNT = 8
-RETAINER_SCREW_HEAD_R = 2.75 # visible M3 socket-head fasteners in the ring
-RETAINER_SCREW_HEAD_H = 2.2
-RETAINER_SCREW_SOCKET_R = 1.45
-REAR_SCREW_CIRCLE_R = 48.0 # 8x M3 rear cover screws
-REAR_SCREW_COUNT = 8
-PHASE_WIRE_HOLE_R = 2.5 # 3x stator phase-wire passages through the rear wall
-PHASE_WIRE_CIRCLE_R = 34.0
-PHASE_WIRE_ANGLES = (15.0, 135.0, 255.0)
-
-ENC_STANDOFF_R = 2.5
-ENC_STANDOFF_CIRCLE_R = 17.5
-ENC_STANDOFF_Z = (-24.4, -22.0)
-ENC_STANDOFF_ANGLES = (90.0, 210.0, 330.0)
-DRV_STANDOFF_R = 3.0
-DRV_STANDOFF_CIRCLE_R = 40.0
-DRV_STANDOFF_Z = (-28.8, -22.0)
-DRV_STANDOFF_ANGLES = (30.0, 150.0, 270.0)
-
-# ---------------------------------------------------------------------------
-# Rear cover and sealed connectors
-# ---------------------------------------------------------------------------
-COVER_PLATE_Z = (-34.0, -31.0)
-COVER_R = 50.0
-COVER_LIP_R = (43.8, 45.8)
-COVER_LIP_Z = (-31.0, -29.5)
-COVER_BOSS_R = (7.05, 8.5)
-COVER_BOSS_Z = (-31.0, -29.0)
-CONNECTOR_CIRCLE_R = 28.0
-CONNECTOR_ANGLES = {"power": 135.0, "signal": 225.0}
-CONNECTOR_SCALE = {"power": 1.0, "signal": 0.82}
-ORING_MAJOR_R = 8.2 # scaled per connector
-ORING_MINOR_R = 0.6
-ORING_GLAND_MINOR_R = 0.7
-
-# ---------------------------------------------------------------------------
-# Electronics
-# ---------------------------------------------------------------------------
-DRIVER_BOARD_R = (9.0, 43.0)
-DRIVER_BOARD_Z = (-30.4, -28.8)
-FET_COUNT = 6
-FET_SIZE = (9.0, 7.0, 2.5) # radial, tangential, height
-FET_CIRCLE_R = 38.0
-CAP_COUNT = 6
-CAP_R = 4.0
-CAP_H = 5.0
-CAP_CIRCLE_R = 33.0
-MCU_SIZE = (10.0, 10.0, 1.5)
-MCU_CENTER = (0.0, 22.0) # az 90 deg
-
-ENCODER_BOARD_R = (8.0, 20.0)
-ENCODER_BOARD_Z = (-26.0, -24.4)
-ENCODER_CHIP_SIZE = (5.0, 5.0, 1.0)
-ENCODER_CHIP_CENTER = (0.0, -10.0) # az 270 deg, faces the rotor magnet ring
-ENC_MAGNET_R = (7.5, 12.0)
-ENC_MAGNET_Z = (-22.0, -20.0)
-
-# ---------------------------------------------------------------------------
-# Output: carrier, cross-roller bearing, torque sensor, flange
-# ---------------------------------------------------------------------------
-CARRIER_PIN_R = 3.75
-CARRIER_PIN_Z = (8.5, 21.0)
-CARRIER_PLATE_R = (8.0, 31.0)
-CARRIER_PLATE_Z = (21.0, 24.5)
-CARRIER_HUB_R = (8.0, 25.0)
-CARRIER_HUB_Z = (24.5, 26.0)
-CARRIER_LIGHTEN_HOLE_R = 4.0
-CARRIER_LIGHTEN_CIRCLE_R = 19.0
-CARRIER_LIGHTEN_ANGLES = (30.0, 150.0, 270.0)
-
-XROLLER_INNER_R = (33.0, 37.5)
-XROLLER_OUTER_R = (41.5, 46.0)
-XROLLER_Z = (21.0, 29.0)
-XROLLER_GROOVE_SQ = 5.65 # rotated-45deg square raceway profile
-XROLLER_PITCH_R = 39.5
-XROLLER_ROLLER_R = 2.75
-XROLLER_ROLLER_L = 5.5
-XROLLER_COUNT = 16
-
-FLEXURE_HUB_R = (8.0, 14.0)
-FLEXURE_HUB_Z = (26.0, 28.5)
-FLEXURE_SPOKE_COUNT = 4
-FLEXURE_SPOKE_L = 13.0
-FLEXURE_SPOKE_W = 6.0
-FLEXURE_SPOKE_Z = (26.5, 28.5)
-FLEXURE_RIM_R = (26.0, 32.0)
-FLEXURE_RIM_Z = (26.5, 29.0)
-GAUGE_SIZE = (8.0, 4.0, 0.3)
-GAUGE_Z = 28.5
-
-FLANGE_PLATE_R = (7.6, 36.0)
-FLANGE_PLATE_Z = (29.0, 33.0)
-FLANGE_BOSS_R = (14.0, 20.0)
-FLANGE_BOSS_Z = (33.0, 34.5)
-FLANGE_BOLT_CIRCLE_R = 28.0 # 6x M5 output bolt circle
-FLANGE_BOLT_R = 2.75
-FLANGE_BOLT_COUNT = 6
-FLANGE_PILOT_HOLE_R = 1.7 # 4x M3 on the pilot boss
-FLANGE_PILOT_CIRCLE_R = 17.0
-
-# ---------------------------------------------------------------------------
-# Exploded-view static translations (mm at explode=1.0), documented per part.
-# Pure +/-Z technical explosion with two-tier spacing rhythm: ~10-17 mm air
-# gaps between parts inside a subsystem and ~20-25 mm gaps at subsystem
-# boundaries (electronics | housing | motor | gear stage | output stage), so
-# every part owns a readable station. Verified pairwise non-overlapping at
-# factor 1.0.
-# ---------------------------------------------------------------------------
-EXPLODE_OFFSETS = {
- # rear: sealed connectors / cover / electronics (~12-18 mm internal gaps)
- "connector_power": -82.0,
- "connector_signal": -82.0,
- "rear_cover": -64.0,
- "driver_pcb": -46.0,
- "encoder_pcb": -32.0,
- # fixed root (housing | electronics boundary ~24 mm)
- "housing": 0.0,
- # motor group (housing | motor boundary ~19 mm, ~11-16 mm internal)
- "encoder_magnet_ring": 70.0,
- "rotor_bearing_rear": 78.0,
- "stator": 94.0,
- "rotor": 128.0,
- "rotor_bearing_front": 154.0,
- # gear stage (motor | gears boundary ~21 mm, ~14-16 mm internal)
- "ring_gear": 168.0,
- "sun_gear": 196.0,
- "planet_gear": 222.0,
- "planet_carrier": 250.0,
- # output stage (gears | output boundary ~25 mm, ~11-18 mm internal)
- "cross_roller_bearing": 280.0,
- "front_retainer": 298.0,
- "retainer_screws": 312.0,
- "torque_sensor": 330.0,
- "output_flange": 348.0,
- "cable_tube": 360.0,
-}
-# Planets additionally translate radially outward so the three gears separate
-# in projection instead of stacking behind each other.
-PLANET_EXPLODE_RADIAL = 14.0
-
-# ---------------------------------------------------------------------------
-# Concept material colors (production-actuator palette: dark anodized body,
-# machined-aluminum output hardware, one anodized accent ring)
-# ---------------------------------------------------------------------------
-AL_BODY = Color(0.13, 0.135, 0.15) # black-anodized housing
-AL_COVER = Color(0.115, 0.12, 0.13) # black-anodized rear cover
-AL_BRIGHT = Color(0.78, 0.79, 0.81) # machined aluminum (flange, carrier)
-AL_RETAINER = Color(0.85, 0.20, 0.01) # saturated anodized-orange accent ring
-STEEL = Color(0.62, 0.63, 0.66)
-STEEL_POLISHED = Color(0.76, 0.77, 0.79)
-STEEL_RACE = Color(0.24, 0.25, 0.29) # dark bearing-steel races vs aluminum
-STEEL_ROLLER = Color(0.85, 0.86, 0.88)
-LAMINATION = Color(0.30, 0.31, 0.34)
-COPPER = Color(0.80, 0.45, 0.18)
-ROTOR_DARK = Color(0.24, 0.25, 0.28)
-MAGNET_N = Color(0.10, 0.10, 0.12) # alternating pole colors: dark / nickel
-MAGNET_S = Color(0.68, 0.69, 0.71)
-FERRITE = Color(0.25, 0.08, 0.10)
-PCB_GREEN = Color(0.05, 0.30, 0.14)
-IC_BLACK = Color(0.08, 0.08, 0.09)
-CAP_GRAY = Color(0.22, 0.24, 0.30)
-PLASTIC_BLACK = Color(0.07, 0.07, 0.08)
-GUNMETAL = Color(0.34, 0.35, 0.38) # connector coupling nuts
-PIN_GOLD = Color(0.80, 0.64, 0.25) # connector contacts
-BLACK_OXIDE = Color(0.20, 0.20, 0.22) # socket-head fasteners
-RUBBER = Color(0.04, 0.04, 0.04)
-TITANIUM = Color(0.60, 0.59, 0.64)
-GAUGE_GOLD = Color(0.85, 0.72, 0.35)
-TUBE_BLACK = Color(0.32, 0.33, 0.35) # dark gunmetal, reads against the cover
-
-# ---------------------------------------------------------------------------
-# Consistency checks (concept-level fit, not tolerance engineering)
-# ---------------------------------------------------------------------------
-assert RING_TEETH == SUN_TEETH + 2 * PLANET_TEETH, "planetary tooth-count identity"
-assert (SUN_TEETH + RING_TEETH) % PLANET_COUNT == 0, "equal planet spacing condition"
-assert AIRGAP >= 0.5, "outrunner magnetic airgap"
-assert SUN_ROOT_R - TUBE_OUTER_R - 0.5 >= 2.5, "sun gear wall over hollow tube"
-assert MAGNET_OR <= BACK_IRON_R[0] + 1e-9, "magnets sit inside the back iron"
-assert BACK_IRON_R[1] < BARREL_R[0], "rotor bell clears the housing bore"
-assert XROLLER_INNER_R[1] < XROLLER_PITCH_R - 0.5, "roller pitch sits in the race gap"
-assert XROLLER_OUTER_R[0] > XROLLER_PITCH_R + 0.5, "roller pitch sits in the race gap"
-assert RING_RIM_R == BARREL_R[0], "ring gear rim seats in the housing bore"
-assert FLEXURE_RIM_R[1] < XROLLER_INNER_R[0], "torque flexure clears the bearing"
-
-
-def _tube_z(outer_r: float, inner_r: float, z: tuple[float, float]) -> Part:
- """Annular ring solid between z[0]..z[1]."""
- return Pos(0, 0, z[0]) * extrude(Circle(outer_r) - Circle(inner_r), amount=z[1] - z[0])
-
-
-def _cyl_z(r: float, z: tuple[float, float]) -> Part:
- return Pos(0, 0, z[0]) * extrude(Circle(r), amount=z[1] - z[0])
-
-
-def _external_gear(teeth: int, root_r: float, tip_r: float, bore_r: float) -> Part:
- """Concept gear: root cylinder + trapezoidal teeth with visible backlash."""
- half_arc = math.pi * GEAR_MODULE / 2
- wt = half_arc * 0.34 # half-width at tip (thinned for visible backlash)
- wr = half_arc * 0.55 # half-width at root
- h = tip_r - root_r
- rm = (tip_r + root_r) / 2
- tooth = Polygon(
- (-h / 2 - 0.4, -wr), (h / 2, -wt), (h / 2, wt), (-h / 2 - 0.4, wr), align=None
- )
- teeth_sk = [loc * tooth for loc in PolarLocations(rm, teeth)]
- sketch = Circle(root_r) + teeth_sk - Circle(bore_r)
- return extrude(sketch, amount=GEAR_WIDTH)
-
-
-def _internal_ring_gear() -> Part:
- """Internal ring gear with inward trapezoidal teeth and press-in rim."""
- half_arc = math.pi * GEAR_MODULE / 2
- wt = half_arc * 0.34
- wr = half_arc * 0.55
- h = RING_ROOT_R - RING_TIP_R
- rm = (RING_ROOT_R + RING_TIP_R) / 2
- # counter-clockwise point order so the face normal is +Z and the teeth
- # extrude in the same direction as the rim
- tooth = Polygon(
- (h / 2 + 0.4, -wr), (h / 2 + 0.4, wr), (-h / 2, wt), (-h / 2, -wt), align=None
- )
- teeth_sk = [loc * tooth for loc in PolarLocations(rm, RING_TEETH)]
- sketch = Circle(RING_RIM_R) - Circle(RING_ROOT_R) + teeth_sk
- return extrude(sketch, amount=GEAR_WIDTH)
-
-
-def make_housing() -> Part:
- """Finned aluminum housing: barrel, rear wall, stator sleeve, standoffs."""
- barrel = _tube_z(BARREL_R[1], BARREL_R[0], BARREL_Z)
- rear_wall = _tube_z(REAR_WALL_R[1], REAR_WALL_R[0], REAR_WALL_Z)
- sleeve = _tube_z(SLEEVE_R[1], SLEEVE_R[0], SLEEVE_Z)
-
- fin = Box(
- FIN_RADIAL[1] - FIN_RADIAL[0] + 0.5, # overlap into the barrel for fusing
- FIN_W,
- FIN_Z[1] - FIN_Z[0],
- )
- fin_loc = Pos((FIN_RADIAL[0] - 0.5 + FIN_RADIAL[1]) / 2, 0, (FIN_Z[0] + FIN_Z[1]) / 2)
- fins = [rot * (fin_loc * fin) for rot in PolarLocations(0, FIN_COUNT)]
-
- standoffs = []
- for az in ENC_STANDOFF_ANGLES:
- standoffs.append(
- Rotation(0, 0, az)
- * Pos(ENC_STANDOFF_CIRCLE_R, 0, 0)
- * _cyl_z(ENC_STANDOFF_R, ENC_STANDOFF_Z)
- )
- for az in DRV_STANDOFF_ANGLES:
- standoffs.append(
- Rotation(0, 0, az)
- * Pos(DRV_STANDOFF_CIRCLE_R, 0, 0)
- * _cyl_z(DRV_STANDOFF_R, DRV_STANDOFF_Z)
- )
-
- housing = barrel + [rear_wall, sleeve, *fins, *standoffs]
-
- cuts = []
- # 8x M3 retainer screw holes in the front barrel face
- for loc in PolarLocations(FRONT_SCREW_CIRCLE_R, FRONT_SCREW_COUNT, start_angle=22.5):
- cuts.append(loc * _cyl_z(1.7, (BARREL_Z[1] - 8.0, BARREL_Z[1] + 0.1)))
- # 8x M3 rear cover screw holes in the rear barrel face
- for loc in PolarLocations(REAR_SCREW_CIRCLE_R, REAR_SCREW_COUNT, start_angle=22.5):
- cuts.append(loc * _cyl_z(1.4, (BARREL_Z[0] - 0.1, BARREL_Z[0] + 5.0)))
- # 3x stator phase-wire passages through the rear wall
- for az in PHASE_WIRE_ANGLES:
- cuts.append(
- Rotation(0, 0, az)
- * Pos(PHASE_WIRE_CIRCLE_R, 0, 0)
- * _cyl_z(PHASE_WIRE_HOLE_R, (REAR_WALL_Z[0] - 0.1, REAR_WALL_Z[1] + 0.1))
- )
- return housing - cuts
-
-
-def make_front_retainer() -> Part:
- """Bolted bearing retainer ring (makes the front stack assemblable)."""
- ring = _tube_z(RETAINER_R[1], RETAINER_R[0], RETAINER_Z)
- holes = [
- loc * _cyl_z(1.7, (RETAINER_Z[0] - 0.1, RETAINER_Z[1] + 0.1))
- for loc in PolarLocations(FRONT_SCREW_CIRCLE_R, FRONT_SCREW_COUNT, start_angle=22.5)
- ]
- return ring - holes
-
-
-def make_retainer_screws() -> list[Part]:
- """8x M3 socket-head fasteners populating the retainer screw circle."""
- screws = []
- socket = extrude(RegularPolygon(RETAINER_SCREW_SOCKET_R, 6), amount=1.2)
- for loc in PolarLocations(FRONT_SCREW_CIRCLE_R, FRONT_SCREW_COUNT, start_angle=22.5):
- head = _cyl_z(
- RETAINER_SCREW_HEAD_R, (RETAINER_Z[1], RETAINER_Z[1] + RETAINER_SCREW_HEAD_H)
- )
- shank = _cyl_z(1.55, (RETAINER_Z[0] + 0.5, RETAINER_Z[1]))
- screw = (head + shank) - Pos(
- 0, 0, RETAINER_Z[1] + RETAINER_SCREW_HEAD_H - 1.1
- ) * socket
- screws.append(loc * screw)
- return screws
-
-
-def make_rear_cover() -> Part:
- """Sealed rear cover: plate, locating lip, tube boss, o-ring glands."""
- plate = _cyl_z(COVER_R, COVER_PLATE_Z)
- lip = _tube_z(COVER_LIP_R[1], COVER_LIP_R[0], COVER_LIP_Z)
- boss = _tube_z(COVER_BOSS_R[1], COVER_BOSS_R[0], COVER_BOSS_Z)
- cover = plate + [lip, boss]
-
- cuts = [_cyl_z(COVER_BOSS_R[0], (COVER_PLATE_Z[0] - 0.1, COVER_PLATE_Z[1] + 0.1))]
- # connector pass-throughs + o-ring glands on the rear face
- for name, az in CONNECTOR_ANGLES.items():
- hole_r = 5.0 if name == "power" else 4.0
- conn_loc = Rotation(0, 0, az) * Pos(CONNECTOR_CIRCLE_R, 0, 0)
- cuts.append(conn_loc * _cyl_z(hole_r, (COVER_PLATE_Z[0] - 0.1, COVER_PLATE_Z[1] + 0.1)))
- cuts.append(
- conn_loc
- * Pos(0, 0, COVER_PLATE_Z[0])
- * Torus(ORING_MAJOR_R * CONNECTOR_SCALE[name], ORING_GLAND_MINOR_R)
- )
- # 8x M3 counterbored cover screws
- for loc in PolarLocations(REAR_SCREW_CIRCLE_R, REAR_SCREW_COUNT, start_angle=22.5):
- cuts.append(loc * _cyl_z(1.7, (COVER_PLATE_Z[0] - 0.1, COVER_PLATE_Z[1] + 0.1)))
- cuts.append(loc * _cyl_z(3.0, (COVER_PLATE_Z[0] - 0.1, COVER_PLATE_Z[0] + 1.8)))
- return cover - cuts
-
-
-def make_connector(kind: str) -> list[Part]:
- """Sealed circular connector at the cover face.
-
- Body with shrouded keying cup, 12-flat coupling nut (knurl read), recessed
- insert floor with a gold pin array, and an o-ring seal at the flange.
- """
- az = CONNECTOR_ANGLES[kind]
- scale = CONNECTOR_SCALE[kind]
- z0 = COVER_PLATE_Z[0] # mounting face, body protrudes in -Z
- flange = _cyl_z(9.0 * scale, (z0 - 1.5, z0))
- barrel = _cyl_z(7.5 * scale, (z0 - 6.5, z0 - 1.5))
- core = _cyl_z(5.5 * scale, (z0 - 7.8, z0 - 1.5))
- shroud = _tube_z(6.0 * scale, 5.0 * scale, (z0 - 10.0, z0 - 7.5))
- insert_floor = _cyl_z(5.0 * scale, (z0 - 8.4, z0 - 7.5))
- body = flange + [barrel, core, shroud, insert_floor]
- # cut the gland into the connector flange as well so the o-ring seats cleanly
- body = body - Pos(0, 0, z0) * Torus(ORING_MAJOR_R * scale, ORING_GLAND_MINOR_R)
- collar = Pos(0, 0, z0 - 9.0) * extrude(
- RegularPolygon(8.5 * scale, 12) - Circle(6.2 * scale), amount=2.5
- )
- o_ring = Pos(0, 0, z0) * Torus(ORING_MAJOR_R * scale, ORING_MINOR_R)
- pin_count = 4 if kind == "power" else 6
- pin_r = 0.8 * scale if kind == "power" else 0.55
- pins = Compound(
- children=[
- loc * _cyl_z(pin_r, (z0 - 9.7, z0 - 8.4))
- for loc in PolarLocations(2.6 * scale, pin_count)
- ]
- )
- loc = Rotation(0, 0, az) * Pos(CONNECTOR_CIRCLE_R, 0, 0)
- return [loc * body, loc * collar, loc * o_ring, loc * pins]
-
-
-def make_driver_pcb() -> dict[str, object]:
- """Annular motor-driver PCB with FETs, bus capacitors, and MCU."""
- board = _tube_z(DRIVER_BOARD_R[1], DRIVER_BOARD_R[0], DRIVER_BOARD_Z)
- z_face = DRIVER_BOARD_Z[1]
- fets = []
- for i, loc in enumerate(PolarLocations(FET_CIRCLE_R, FET_COUNT, start_angle=15.0)):
- fets.append(
- loc * Pos(0, 0, z_face + FET_SIZE[2] / 2) * Box(FET_SIZE[0], FET_SIZE[1], FET_SIZE[2])
- )
- caps = [
- loc * Pos(0, 0, z_face + CAP_H / 2) * Cylinder(CAP_R, CAP_H)
- for loc in PolarLocations(CAP_CIRCLE_R, CAP_COUNT, start_angle=0.0)
- ]
- mcu = Pos(MCU_CENTER[0], MCU_CENTER[1], z_face + MCU_SIZE[2] / 2) * Box(*MCU_SIZE)
- return {"board": board, "fets": fets, "caps": caps, "mcu": mcu}
-
-
-def make_encoder_pcb() -> dict[str, object]:
- """Encoder PCB behind the rotor magnet ring."""
- board = _tube_z(ENCODER_BOARD_R[1], ENCODER_BOARD_R[0], ENCODER_BOARD_Z)
- chip = Pos(
- ENCODER_CHIP_CENTER[0], ENCODER_CHIP_CENTER[1], ENCODER_BOARD_Z[1] + ENCODER_CHIP_SIZE[2] / 2
- ) * Box(*ENCODER_CHIP_SIZE)
- return {"board": board, "chip": chip}
-
-
-def make_stator() -> dict[str, object]:
- """24-slot outrunner stator: laminated yoke/teeth and copper windings."""
- yoke = _tube_z(STATOR_YOKE_OR, STATOR_YOKE_IR, STATOR_STACK_Z)
- z_mid = (STATOR_STACK_Z[0] + STATOR_STACK_Z[1]) / 2
- stack_h = STATOR_STACK_Z[1] - STATOR_STACK_Z[0]
-
- tooth = Pos((STATOR_YOKE_OR - 0.5 + STATOR_TOOTH_TIP_R) / 2, 0, z_mid) * Box(
- STATOR_TOOTH_TIP_R - STATOR_YOKE_OR + 0.5, STATOR_TOOTH_W, stack_h
- )
- shoe = Pos((STATOR_SHOE_IR + STATOR_TOOTH_TIP_R) / 2, 0, z_mid) * Box(
- STATOR_TOOTH_TIP_R - STATOR_SHOE_IR, STATOR_SHOE_W, stack_h
- )
- tooth_unit = tooth + shoe
- teeth = [rot * tooth_unit for rot in PolarLocations(0, STATOR_SLOTS)]
- stack = yoke + teeth
-
- # one rectangular coil loop around a tooth, then a polar pattern of copies
- wind_r_mid = (WINDING_RADIAL[0] + WINDING_RADIAL[1]) / 2
- coil_outer = Pos(wind_r_mid, 0, z_mid) * Box(
- WINDING_RADIAL[1] - WINDING_RADIAL[0], WINDING_TANGENTIAL, WINDING_AXIAL
- )
- coil_hole = Pos(wind_r_mid, 0, z_mid) * Box(
- WINDING_RADIAL[1] - WINDING_RADIAL[0] + 1.0, WINDING_HOLE_TANGENTIAL, WINDING_HOLE_AXIAL
- )
- coil = coil_outer - coil_hole
- windings = [rot * coil for rot in PolarLocations(0, STATOR_SLOTS)]
- return {"stack": stack, "windings": windings}
-
-
-def make_rotor() -> dict[str, object]:
- """Outrunner rotor bell: hollow hub, front web, back iron, magnet ring."""
- hub = _tube_z(ROTOR_HUB_R[1], ROTOR_HUB_R[0], ROTOR_HUB_Z)
- web = _tube_z(BACK_IRON_R[1], ROTOR_HUB_R[0], ROTOR_WEB_Z)
- iron = _tube_z(BACK_IRON_R[1], BACK_IRON_R[0], BACK_IRON_Z)
- flange = _tube_z(ROTOR_FLANGE_R[1], ROTOR_FLANGE_R[0], ROTOR_FLANGE_Z)
- body = hub + [web, iron, flange]
-
- cuts = []
- # 6x web lightening holes
- for loc in PolarLocations(28.0, 6, start_angle=30.0):
- cuts.append(loc * _cyl_z(5.0, (ROTOR_WEB_Z[0] - 0.1, ROTOR_WEB_Z[1] + 0.1)))
- # 4x M3 sun-gear coupling holes
- for loc in PolarLocations(COUPLING_HOLE_R, 4, start_angle=45.0):
- cuts.append(loc * _cyl_z(1.6, (ROTOR_FLANGE_Z[0] - 0.1, ROTOR_FLANGE_Z[1] + 0.1)))
- body = body - cuts
-
- z_mid = (MAGNET_Z[0] + MAGNET_Z[1]) / 2
-
- # Two independent prototypes so the alternating pole groups keep distinct
- # exported materials (copies of one shape share a single STEP style).
- def magnet_proto() -> Part:
- return Pos((MAGNET_IR + MAGNET_OR) / 2, 0, z_mid) * Box(
- MAGNET_OR - MAGNET_IR, MAGNET_W, MAGNET_Z[1] - MAGNET_Z[0]
- )
-
- north_proto, south_proto = magnet_proto(), magnet_proto()
- locs = list(PolarLocations(0, MAGNET_COUNT))
- magnets_north = [locs[i] * north_proto for i in range(0, MAGNET_COUNT, 2)]
- magnets_south = [locs[i] * south_proto for i in range(1, MAGNET_COUNT, 2)]
- return {"body": body, "magnets_north": magnets_north, "magnets_south": magnets_south}
-
-
-def make_ball_bearing(z: tuple[float, float]) -> dict[str, object]:
- """Simplified deep-groove rotor support bearing: races + ball ring."""
- z_mid = (z[0] + z[1]) / 2
- ball_pitch_r = (ROTOR_BRG_IR[1] + ROTOR_BRG_OR[0]) / 2
- groove = Pos(0, 0, z_mid) * Torus(ball_pitch_r, ROTOR_BRG_BALL_R + 0.05)
- inner = _tube_z(ROTOR_BRG_IR[1], ROTOR_BRG_IR[0], z) - groove
- outer = _tube_z(ROTOR_BRG_OR[1], ROTOR_BRG_OR[0], z) - groove
- balls = [
- loc * Pos(0, 0, z_mid) * Sphere(ROTOR_BRG_BALL_R)
- for loc in PolarLocations(ball_pitch_r, ROTOR_BRG_BALL_COUNT)
- ]
- return {"inner": inner, "outer": outer, "balls": balls}
-
-
-def make_sun_gear() -> Part:
- """Sun gear with hollow bore and rotor coupling flange."""
- gear = Pos(0, 0, GEAR_Z[0]) * _external_gear(SUN_TEETH, SUN_ROOT_R, SUN_TIP_R, TUBE_OUTER_R + 0.5)
- neck = _tube_z(SUN_ROOT_R, TUBE_OUTER_R + 0.5, (ROTOR_FLANGE_Z[1], GEAR_Z[0]))
- flange = _tube_z(15.0, TUBE_OUTER_R + 0.5, (ROTOR_FLANGE_Z[1], ROTOR_FLANGE_Z[1] + 1.5))
- sun = gear + [neck, flange]
- holes = [
- loc * _cyl_z(1.6, (ROTOR_FLANGE_Z[1] - 0.1, ROTOR_FLANGE_Z[1] + 1.6))
- for loc in PolarLocations(COUPLING_HOLE_R, 4, start_angle=45.0)
- ]
- return sun - holes
-
-
-def make_planet_gear() -> Part:
- """One planet gear at the origin; placed with mesh-phase rotation."""
- return _external_gear(PLANET_TEETH, PLANET_ROOT_R, PLANET_TIP_R, PLANET_BORE_R)
-
-
-def planet_location(psi_deg: float) -> Location:
- """Planet placement: position on the carrier circle plus mesh phasing.
-
- With sun/ring tooth patterns starting at azimuth 0, a tooth of each faces
- the planet center whenever psi is a multiple of the sun/ring angular pitch
- (true for 90/210/330 with 24 and 84 teeth). Rotating the planet by
- psi + half a planet tooth pitch puts a tooth gap on the line of centers.
- """
- phase = psi_deg + 180.0 / PLANET_TEETH
- px = PLANET_CENTER_R * math.cos(math.radians(psi_deg))
- py = PLANET_CENTER_R * math.sin(math.radians(psi_deg))
- return Pos(px, py, GEAR_Z[0]) * Rotation(0, 0, phase)
-
-
-def make_carrier() -> Part:
- """Single-sided planet carrier: pins, plate, and torque-sensor hub."""
- plate = _tube_z(CARRIER_PLATE_R[1], CARRIER_PLATE_R[0], CARRIER_PLATE_Z)
- hub = _tube_z(CARRIER_HUB_R[1], CARRIER_HUB_R[0], CARRIER_HUB_Z)
- pins = [
- loc * _cyl_z(CARRIER_PIN_R, CARRIER_PIN_Z)
- for loc in PolarLocations(PLANET_CENTER_R, PLANET_COUNT, start_angle=90.0)
- ]
- carrier = plate + [hub, *pins]
- lighten = [
- Rotation(0, 0, az)
- * Pos(CARRIER_LIGHTEN_CIRCLE_R, 0, 0)
- * _cyl_z(CARRIER_LIGHTEN_HOLE_R, (CARRIER_PLATE_Z[0] - 0.1, CARRIER_PLATE_Z[1] + 0.1))
- for az in CARRIER_LIGHTEN_ANGLES
- ]
- return carrier - lighten
-
-
-def make_cross_roller_bearing() -> dict[str, object]:
- """Cross-roller output bearing: V-groove races, alternating 45-deg rollers."""
- z_mid = (XROLLER_Z[0] + XROLLER_Z[1]) / 2
- groove_profile = Plane.XZ * (
- Pos(XROLLER_PITCH_R, z_mid) * Rotation(0, 0, 45) * Rectangle(XROLLER_GROOVE_SQ, XROLLER_GROOVE_SQ)
- )
- groove = revolve(groove_profile, axis=Axis.Z)
- inner = _tube_z(XROLLER_INNER_R[1], XROLLER_INNER_R[0], XROLLER_Z) - groove
- outer = _tube_z(XROLLER_OUTER_R[1], XROLLER_OUTER_R[0], XROLLER_Z) - groove
-
- rollers = []
- for i in range(XROLLER_COUNT):
- az = 360.0 * i / XROLLER_COUNT
- tilt = 45.0 if i % 2 == 0 else -45.0
- rollers.append(
- Rotation(0, 0, az)
- * Pos(XROLLER_PITCH_R, 0, z_mid)
- * Rotation(0, tilt, 0)
- * Cylinder(XROLLER_ROLLER_R, XROLLER_ROLLER_L)
- )
- return {"inner": inner, "outer": outer, "rollers": rollers}
-
-
-def make_torque_sensor() -> dict[str, object]:
- """Spoked torque-sensing flexure with strain-gauge pads."""
- hub = _tube_z(FLEXURE_HUB_R[1], FLEXURE_HUB_R[0], FLEXURE_HUB_Z)
- rim = _tube_z(FLEXURE_RIM_R[1], FLEXURE_RIM_R[0], FLEXURE_RIM_Z)
- spoke_mid_r = (FLEXURE_HUB_R[1] + FLEXURE_RIM_R[0]) / 2
- spoke = Pos(spoke_mid_r, 0, (FLEXURE_SPOKE_Z[0] + FLEXURE_SPOKE_Z[1]) / 2) * Box(
- FLEXURE_SPOKE_L, FLEXURE_SPOKE_W, FLEXURE_SPOKE_Z[1] - FLEXURE_SPOKE_Z[0]
- )
- spokes = [rot * spoke for rot in PolarLocations(0, FLEXURE_SPOKE_COUNT)]
- flexure = hub + [rim, *spokes]
- gauges = [
- rot * Pos(spoke_mid_r, 0, GAUGE_Z + GAUGE_SIZE[2] / 2) * Box(*GAUGE_SIZE)
- for rot in PolarLocations(0, FLEXURE_SPOKE_COUNT)
- ]
- return {"flexure": flexure, "gauges": gauges}
-
-
-def make_output_flange() -> Part:
- """Output flange: bolt circle, pilot boss, hollow bore."""
- plate = _tube_z(FLANGE_PLATE_R[1], FLANGE_PLATE_R[0], FLANGE_PLATE_Z)
- boss = _tube_z(FLANGE_BOSS_R[1], FLANGE_BOSS_R[0], FLANGE_BOSS_Z)
- flange = plate + boss
- cuts = [
- loc * _cyl_z(FLANGE_BOLT_R, (FLANGE_PLATE_Z[0] - 0.1, FLANGE_PLATE_Z[1] + 0.1))
- for loc in PolarLocations(FLANGE_BOLT_CIRCLE_R, FLANGE_BOLT_COUNT)
- ]
- cuts += [
- loc * _cyl_z(FLANGE_PILOT_HOLE_R, (FLANGE_PLATE_Z[0] + 0.5, FLANGE_BOSS_Z[1] + 0.1))
- for loc in PolarLocations(FLANGE_PILOT_CIRCLE_R, 4, start_angle=45.0)
- ]
- return flange - cuts
-
-
-def make_cable_tube() -> Part:
- """Static hollow cable-routing tube through the full actuator stack."""
- return _tube_z(TUBE_OUTER_R, TUBE_INNER_R, TUBE_Z)
-
-
-def build_actuator(explode: float = 0.0) -> Compound:
- """Build the labeled actuator assembly.
-
- explode=0 returns the assembled model with source mate frames/joints.
- explode>0 translates each part along Z by EXPLODE_OFFSETS * explode as a
- documented static exploded layout (joints are omitted in that mode).
- """
- asm = AssemblyHelper("qdd_actuator")
-
- housing = asm.add(make_housing(), "housing", color=AL_BODY)
- retainer = asm.add(make_front_retainer(), "front_retainer", color=AL_RETAINER)
- cover = asm.add(make_rear_cover(), "rear_cover", color=AL_COVER)
-
- screws = make_retainer_screws()
- retainer_screws = asm.add(
- Compound(children=screws), "retainer_screws", color=BLACK_OXIDE
- )
-
- connectors = {}
- for kind in CONNECTOR_ANGLES:
- body, collar, o_ring, pins = make_connector(kind)
- asm.feature(body, "connector_body", kind, color=PLASTIC_BLACK)
- asm.feature(collar, "connector_collar", kind, color=GUNMETAL)
- asm.feature(o_ring, "connector_o_ring", kind, color=RUBBER)
- asm.feature(pins, "connector_pins", kind, color=PIN_GOLD)
- connectors[kind] = asm.add_module("connector", [body, collar, o_ring, pins], kind)
-
- drv = make_driver_pcb()
- asm.feature(drv["board"], "driver_board", color=PCB_GREEN)
- for i, fet in enumerate(drv["fets"], start=1):
- asm.feature(fet, "fet", f"q{i}", color=IC_BLACK)
- for i, cap in enumerate(drv["caps"], start=1):
- asm.feature(cap, "bus_capacitor", f"c{i}", color=CAP_GRAY)
- asm.feature(drv["mcu"], "mcu", color=IC_BLACK)
- driver_pcb = asm.add_module(
- "driver_pcb", [drv["board"], *drv["fets"], *drv["caps"], drv["mcu"]]
- )
-
- enc = make_encoder_pcb()
- asm.feature(enc["board"], "encoder_board", color=PCB_GREEN)
- asm.feature(enc["chip"], "encoder_ic", color=IC_BLACK)
- encoder_pcb = asm.add_module("encoder_pcb", [enc["board"], enc["chip"]])
-
- enc_magnet = asm.add(
- _tube_z(ENC_MAGNET_R[1], ENC_MAGNET_R[0], ENC_MAGNET_Z),
- "encoder_magnet_ring",
- color=FERRITE,
- )
-
- st = make_stator()
- asm.feature(st["stack"], "lamination_stack", color=LAMINATION)
- winding_compound = asm.feature(Compound(children=st["windings"]), "windings", color=COPPER)
- stator = asm.add_module("stator", [st["stack"], winding_compound])
-
- rt = make_rotor()
- asm.feature(rt["body"], "rotor_bell", color=ROTOR_DARK)
- mag_n = asm.feature(Compound(children=rt["magnets_north"]), "magnets_north", color=MAGNET_N)
- mag_s = asm.feature(Compound(children=rt["magnets_south"]), "magnets_south", color=MAGNET_S)
- rotor = asm.add_module("rotor", [rt["body"], mag_n, mag_s])
-
- bearings = {}
- for name, z in (("rear", ROTOR_BRG_REAR_Z), ("front", ROTOR_BRG_FRONT_Z)):
- brg = make_ball_bearing(z)
- asm.feature(brg["inner"], "inner_race", name, color=STEEL_POLISHED)
- asm.feature(brg["outer"], "outer_race", name, color=STEEL_POLISHED)
- balls = asm.feature(Compound(children=brg["balls"]), "balls", name, color=STEEL_ROLLER)
- bearings[name] = asm.add_module(
- "rotor_bearing", [brg["inner"], brg["outer"], balls], name
- )
-
- sun = asm.add(make_sun_gear(), "sun_gear", color=STEEL)
- ring = asm.add(Pos(0, 0, GEAR_Z[0]) * _internal_ring_gear(), "ring_gear", color=STEEL)
-
- planet_proto = make_planet_gear()
- planets = []
- for i, psi in enumerate(PLANET_ANGLES_DEG, start=1):
- planet = planet_location(psi) * planet_proto
- planets.append(asm.add(planet, "planet_gear", f"p{i}", color=STEEL))
-
- carrier = asm.add(make_carrier(), "planet_carrier", color=AL_BRIGHT)
-
- xr = make_cross_roller_bearing()
- asm.feature(xr["inner"], "inner_ring", color=STEEL_RACE)
- asm.feature(xr["outer"], "outer_ring", color=STEEL_RACE)
- rollers = asm.feature(Compound(children=xr["rollers"]), "rollers", color=STEEL_ROLLER)
- xroller = asm.add_module("cross_roller_bearing", [xr["inner"], xr["outer"], rollers])
-
- ts = make_torque_sensor()
- asm.feature(ts["flexure"], "flexure_disc", color=TITANIUM)
- for i, gauge in enumerate(ts["gauges"], start=1):
- asm.feature(gauge, "strain_gauge", f"g{i}", color=GAUGE_GOLD)
- torque_sensor = asm.add_module("torque_sensor", [ts["flexure"], *ts["gauges"]])
-
- flange = asm.add(make_output_flange(), "output_flange", color=AL_BRIGHT)
- tube = asm.add(make_cable_tube(), "cable_tube", color=TUBE_BLACK)
-
- by_name = {
- "housing": housing,
- "front_retainer": retainer,
- "retainer_screws": retainer_screws,
- "rear_cover": cover,
- "connector_power": connectors["power"],
- "connector_signal": connectors["signal"],
- "driver_pcb": driver_pcb,
- "encoder_pcb": encoder_pcb,
- "encoder_magnet_ring": enc_magnet,
- "stator": stator,
- "rotor": rotor,
- "rotor_bearing_rear": bearings["rear"],
- "rotor_bearing_front": bearings["front"],
- "sun_gear": sun,
- "ring_gear": ring,
- "planet_carrier": carrier,
- "cross_roller_bearing": xroller,
- "torque_sensor": torque_sensor,
- "output_flange": flange,
- "cable_tube": tube,
- }
-
- if explode:
- for name, part in by_name.items():
- offset = EXPLODE_OFFSETS.get(name, 0.0) * explode
- if offset:
- part.move(Location((0, 0, offset)))
- for psi, planet in zip(PLANET_ANGLES_DEG, planets):
- dx = PLANET_EXPLODE_RADIAL * explode * math.cos(math.radians(psi))
- dy = PLANET_EXPLODE_RADIAL * explode * math.sin(math.radians(psi))
- planet.move(Location((dx, dy, EXPLODE_OFFSETS["planet_gear"] * explode)))
- else:
- # Source mate frames + rigid connections (all identity by construction;
- # connect() re-derives placement from the named datums and records the
- # relationships for the exported topology).
- seat = asm.rigid_frame(housing, "stator_seat", Location((0, 0, STATOR_STACK_Z[0])))
- asm.face_to_face(seat, asm.rigid_frame(stator, "stack_rear", Location((0, 0, STATOR_STACK_Z[0]))))
-
- ring_seat = asm.rigid_frame(housing, "ring_gear_seat", Location((0, 0, GEAR_Z[0])))
- asm.face_to_face(ring_seat, asm.rigid_frame(ring, "rim_rear", Location((0, 0, GEAR_Z[0]))))
-
- cover_seat = asm.rigid_frame(housing, "cover_seat", Location((0, 0, BARREL_Z[0])))
- asm.face_to_face(cover_seat, asm.rigid_frame(cover, "lip_face", Location((0, 0, BARREL_Z[0]))))
-
- retainer_seat = asm.rigid_frame(housing, "retainer_seat", Location((0, 0, RETAINER_Z[0])))
- asm.face_to_face(
- retainer_seat, asm.rigid_frame(retainer, "ring_rear", Location((0, 0, RETAINER_Z[0])))
- )
- screw_seat = asm.rigid_frame(retainer, "screw_seats", Location((0, 0, RETAINER_Z[1])))
- asm.face_to_face(
- screw_seat,
- asm.rigid_frame(retainer_screws, "head_seats", Location((0, 0, RETAINER_Z[1]))),
- )
-
- for kind, module in connectors.items():
- az = math.radians(CONNECTOR_ANGLES[kind])
- mount = Location(
- (
- CONNECTOR_CIRCLE_R * math.cos(az),
- CONNECTOR_CIRCLE_R * math.sin(az),
- COVER_PLATE_Z[0],
- )
- )
- pad = asm.rigid_frame(cover, f"{kind}_pad", mount)
- asm.face_to_face(pad, asm.rigid_frame(module, "mount_face", mount))
-
- for name, module, z_seat in (
- ("driver_pcb", driver_pcb, DRV_STANDOFF_Z[0]),
- ("encoder_pcb", encoder_pcb, ENC_STANDOFF_Z[0]),
- ):
- seat_frame = asm.rigid_frame(housing, f"{name}_seat", Location((0, 0, z_seat)))
- asm.face_to_face(
- seat_frame, asm.rigid_frame(module, "mount_plane", Location((0, 0, z_seat)))
- )
-
- coupling = asm.rigid_frame(rotor, "sun_coupling", Location((0, 0, ROTOR_FLANGE_Z[1])))
- asm.face_to_face(
- coupling, asm.rigid_frame(sun, "flange_rear", Location((0, 0, ROTOR_FLANGE_Z[1])))
- )
- magnet_seat = asm.rigid_frame(rotor, "encoder_magnet_seat", Location((0, 0, ENC_MAGNET_Z[0])))
- asm.face_to_face(
- magnet_seat,
- asm.rigid_frame(enc_magnet, "ring_rear", Location((0, 0, ENC_MAGNET_Z[0]))),
- )
-
- sensor_seat = asm.rigid_frame(carrier, "sensor_seat", Location((0, 0, FLEXURE_HUB_Z[0])))
- asm.face_to_face(
- sensor_seat,
- asm.rigid_frame(torque_sensor, "hub_rear", Location((0, 0, FLEXURE_HUB_Z[0]))),
- )
- rim_face = asm.rigid_frame(torque_sensor, "rim_face", Location((0, 0, FLEXURE_RIM_Z[1])))
- asm.face_to_face(
- rim_face, asm.rigid_frame(flange, "mount_rear", Location((0, 0, FLEXURE_RIM_Z[1])))
- )
-
- xr_seat = asm.rigid_frame(housing, "bearing_seat", Location((0, 0, XROLLER_Z[0])))
- asm.face_to_face(
- xr_seat, asm.rigid_frame(xroller, "outer_ring_rear", Location((0, 0, XROLLER_Z[0])))
- )
-
- tube_bore = asm.rigid_frame(cover, "tube_bore", Location((0, 0, COVER_PLATE_Z[0])))
- asm.face_to_face(
- tube_bore, asm.rigid_frame(tube, "rear_end", Location((0, 0, COVER_PLATE_Z[0])))
- )
-
- # Motion datums (joint frames only; static pose is authored explicitly):
- asm.revolute_frame(housing, "rotor_axis", Axis((0, 0, 0), (0, 0, 1)))
- asm.revolute_frame(housing, "output_axis", Axis((0, 0, XROLLER_Z[1]), (0, 0, 1)))
-
- return asm.build()
-
-
-def gen_step():
- return build_actuator(explode=0.0)
diff --git a/models/robots/qdd_actuator/qdd_actuator.step b/models/robots/qdd_actuator/qdd_actuator.step
deleted file mode 100644
index ce1f5b1d..00000000
--- a/models/robots/qdd_actuator/qdd_actuator.step
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- 1
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- hardware_interface/PositionJointInterface
- 1
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- hardware_interface/PositionJointInterface
- 1
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- hardware_interface/PositionJointInterface
- 1
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- hardware_interface/PositionJointInterface
- 1
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/PositionJointInterface
-
-
- hardware_interface/PositionJointInterface
- 1
-
-
-
diff --git a/models/robots/tom/robot_common/__init__.py b/models/robots/tom/robot_common/__init__.py
deleted file mode 100644
index c0a98808..00000000
--- a/models/robots/tom/robot_common/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-"""Shared CAD generator helpers."""
diff --git a/models/robots/tom/robot_common/keyed_connection.py b/models/robots/tom/robot_common/keyed_connection.py
deleted file mode 100644
index 1c169afc..00000000
--- a/models/robots/tom/robot_common/keyed_connection.py
+++ /dev/null
@@ -1,232 +0,0 @@
-from __future__ import annotations
-
-from dataclasses import dataclass
-import math
-
-import build123d
-
-
-# Extracted from the legacy keyed plate profile.
-# Coordinates are relative to the cut center in an arbitrary in-plane basis `(u, v)`.
-
-
-@dataclass(frozen=True)
-class KeyedConnectionArcSpec:
- start_u: float
- start_v: float
- mid_u: float
- mid_v: float
- end_u: float
- end_v: float
-
-
-KEYED_CONNECTION_REF = "legacy keyed plate profile"
-KEYED_CONNECTION_ROTATION_DEG = 45.0
-
-KEYED_CONNECTION_ARC_SPECS_MM: tuple[KeyedConnectionArcSpec, ...] = (
- KeyedConnectionArcSpec(-2.634358, -4.828056, 0.0, -5.499997, 2.634358, -4.828056),
- KeyedConnectionArcSpec(2.634358, -4.828056, 3.095745, -4.818908, 3.368107, -5.19144),
- KeyedConnectionArcSpec(3.368107, -5.19144, 6.081117, -6.081114, 5.191444, -3.368104),
- KeyedConnectionArcSpec(5.191444, -3.368104, 4.818911, -3.095741, 4.82806, -2.634354),
- KeyedConnectionArcSpec(4.82806, -2.634354, 5.5, 0.000004, 4.82806, 2.634361),
- KeyedConnectionArcSpec(4.82806, 2.634361, 4.818911, 3.095748, 5.191444, 3.36811),
- KeyedConnectionArcSpec(5.191444, 3.36811, 6.081117, 6.08112, 3.368107, 5.191447),
- KeyedConnectionArcSpec(3.368107, 5.191447, 3.095745, 4.818915, 2.634358, 4.828063),
- KeyedConnectionArcSpec(2.634358, 4.828063, 0.0, 5.500003, -2.634358, 4.828063),
- KeyedConnectionArcSpec(-2.634358, 4.828063, -3.095745, 4.818915, -3.368107, 5.191447),
- KeyedConnectionArcSpec(-3.368107, 5.191447, -6.081117, 6.08112, -5.191444, 3.36811),
- KeyedConnectionArcSpec(-5.191444, 3.36811, -4.818911, 3.095748, -4.82806, 2.634361),
- KeyedConnectionArcSpec(-4.82806, 2.634361, -5.5, 0.000004, -4.82806, -2.634354),
- KeyedConnectionArcSpec(-4.82806, -2.634354, -4.818911, -3.095741, -5.191444, -3.368104),
- KeyedConnectionArcSpec(-5.191444, -3.368104, -6.081117, -6.081114, -3.368107, -5.19144),
- KeyedConnectionArcSpec(-3.368107, -5.19144, -3.095745, -4.818908, -2.634358, -4.828056),
-)
-
-# Conservative exact-profile half-span for bend-clearance checks. The exported
-# helper rotates this profile 45 degrees by default to match the plate cut
-# orientation used across the current parts.
-KEYED_CONNECTION_HALF_SPAN_MM = 6.549746
-
-
-def _to_global_point(
- *,
- origin: build123d.Vector,
- u_dir: build123d.Vector,
- v_dir: build123d.Vector,
- u: float,
- v: float,
-) -> build123d.Vector:
- return build123d.Vector(
- origin.X + (u * u_dir.X) + (v * v_dir.X),
- origin.Y + (u * u_dir.Y) + (v * v_dir.Y),
- origin.Z + (u * u_dir.Z) + (v * v_dir.Z),
- )
-
-
-def _rotated_in_plane_dirs(
- *,
- u_dir: build123d.Vector,
- v_dir: build123d.Vector,
- rotation_degrees: float,
-) -> tuple[build123d.Vector, build123d.Vector]:
- if abs(rotation_degrees) <= 1e-9:
- return u_dir, v_dir
-
- rotation_rad = math.radians(rotation_degrees)
- cos_theta = math.cos(rotation_rad)
- sin_theta = math.sin(rotation_rad)
- rotated_u = (u_dir * cos_theta) + (v_dir * sin_theta)
- rotated_v = (v_dir * cos_theta) - (u_dir * sin_theta)
- return rotated_u, rotated_v
-
-
-def make_keyed_connection_wire(
- *,
- origin: build123d.Vector,
- u_dir: build123d.Vector,
- v_dir: build123d.Vector,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> build123d.Wire:
- rotated_u_dir, rotated_v_dir = _rotated_in_plane_dirs(
- u_dir=u_dir,
- v_dir=v_dir,
- rotation_degrees=rotation_degrees,
- )
- edges = [
- build123d.Edge.make_three_point_arc(
- _to_global_point(origin=origin, u_dir=rotated_u_dir, v_dir=rotated_v_dir, u=spec.start_u, v=spec.start_v),
- _to_global_point(origin=origin, u_dir=rotated_u_dir, v_dir=rotated_v_dir, u=spec.mid_u, v=spec.mid_v),
- _to_global_point(origin=origin, u_dir=rotated_u_dir, v_dir=rotated_v_dir, u=spec.end_u, v=spec.end_v),
- )
- for spec in KEYED_CONNECTION_ARC_SPECS_MM
- ]
- wires = list(build123d.Wire.combine(edges))
- if len(wires) != 1:
- raise RuntimeError(f"Expected a single keyed-connection wire, found {len(wires)}")
- return wires[0]
-
-
-def make_keyed_connection_face(
- *,
- origin: build123d.Vector,
- u_dir: build123d.Vector,
- v_dir: build123d.Vector,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> build123d.Face:
- return build123d.Face(
- make_keyed_connection_wire(
- origin=origin,
- u_dir=u_dir,
- v_dir=v_dir,
- rotation_degrees=rotation_degrees,
- )
- )
-
-
-def make_keyed_connection_y_aligned_cutter(
- *,
- center: build123d.Vector,
- start_y: float,
- direction_y: float,
- thickness_mm: float,
- cut_extension_mm: float,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> build123d.Solid:
- length = thickness_mm + (2.0 * cut_extension_mm)
- face = make_keyed_connection_face(
- origin=build123d.Vector(center.X, start_y, center.Z),
- u_dir=build123d.Vector(1.0, 0.0, 0.0),
- v_dir=build123d.Vector(0.0, 0.0, 1.0),
- rotation_degrees=rotation_degrees,
- )
- return build123d.Solid.extrude(face, build123d.Vector(0.0, direction_y * length, 0.0))
-
-
-def make_keyed_connection_x_aligned_cutter(
- *,
- center: build123d.Vector,
- start_x: float,
- direction_x: float,
- thickness_mm: float,
- cut_extension_mm: float,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> build123d.Solid:
- length = thickness_mm + (2.0 * cut_extension_mm)
- face = make_keyed_connection_face(
- origin=build123d.Vector(start_x, center.Y, center.Z),
- u_dir=build123d.Vector(0.0, 1.0, 0.0),
- v_dir=build123d.Vector(0.0, 0.0, 1.0),
- rotation_degrees=rotation_degrees,
- )
- return build123d.Solid.extrude(face, build123d.Vector(direction_x * length, 0.0, 0.0))
-
-
-def cut_keyed_connection_y_aligned(
- shape: build123d.Shape,
- *,
- center: build123d.Vector,
- start_y: float,
- direction_y: float,
- thickness_mm: float,
- cut_extension_mm: float,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> build123d.Shape:
- return shape.cut(
- make_keyed_connection_y_aligned_cutter(
- center=center,
- start_y=start_y,
- direction_y=direction_y,
- thickness_mm=thickness_mm,
- cut_extension_mm=cut_extension_mm,
- rotation_degrees=rotation_degrees,
- )
- )
-
-
-def cut_keyed_connection_x_aligned(
- shape: build123d.Shape,
- *,
- center: build123d.Vector,
- start_x: float,
- direction_x: float,
- thickness_mm: float,
- cut_extension_mm: float,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> build123d.Shape:
- return shape.cut(
- make_keyed_connection_x_aligned_cutter(
- center=center,
- start_x=start_x,
- direction_x=direction_x,
- thickness_mm=thickness_mm,
- cut_extension_mm=cut_extension_mm,
- rotation_degrees=rotation_degrees,
- )
- )
-
-
-def sample_keyed_connection_outline(
- *,
- center_u: float,
- center_v: float,
- points_per_arc: int = 16,
- rotation_degrees: float = KEYED_CONNECTION_ROTATION_DEG,
-) -> list[tuple[float, float]]:
- if points_per_arc < 2:
- raise ValueError("points_per_arc must be at least 2")
-
- wire = make_keyed_connection_wire(
- origin=build123d.Vector(center_u, center_v, 0.0),
- u_dir=build123d.Vector(1.0, 0.0, 0.0),
- v_dir=build123d.Vector(0.0, 1.0, 0.0),
- rotation_degrees=rotation_degrees,
- )
- points: list[tuple[float, float]] = []
- for edge_index, edge in enumerate(wire.edges()):
- start_step = 0 if edge_index == 0 else 1
- for step in range(start_step, points_per_arc):
- point = edge.position_at(step / (points_per_arc - 1))
- points.append((point.X, point.Y))
- if len(points) > 1 and math.dist(points[0], points[-1]) <= 1e-9:
- points.pop()
- return points
diff --git a/models/robots/tom/robot_common/materials.py b/models/robots/tom/robot_common/materials.py
deleted file mode 100644
index 135a1aea..00000000
--- a/models/robots/tom/robot_common/materials.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from __future__ import annotations
-
-import build123d
-
-
-BLACK_ALUMINUM_RGBA = (0.168627, 0.184314, 0.2, 1.0)
-GRAY_ALUMINUM_RGBA = (0.643137, 0.670588, 0.701961, 1.0)
-MOUNT_PLATE_RGBA = (0.831373, 0.517647, 0.329412, 1.0)
-
-BLACK_ALUMINUM_COLOR = build123d.Color(*BLACK_ALUMINUM_RGBA)
-GRAY_ALUMINUM_COLOR = build123d.Color(*GRAY_ALUMINUM_RGBA)
-MOUNT_PLATE_COLOR = build123d.Color(*MOUNT_PLATE_RGBA)
diff --git a/models/robots/tom/robot_common/robot_arm.py b/models/robots/tom/robot_common/robot_arm.py
deleted file mode 100644
index b0bbdbb6..00000000
--- a/models/robots/tom/robot_common/robot_arm.py
+++ /dev/null
@@ -1,2135 +0,0 @@
-from __future__ import annotations
-
-from copy import deepcopy
-import math
-from pathlib import PurePosixPath
-import xml.etree.ElementTree as ET
-
-from robot_common.materials import BLACK_ALUMINUM_RGBA
-from v1.assemblies.base_link import (
- STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM as BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
-)
-
-
-EXTRUSION_2020_LENGTH_MM = 100.0
-SECONDARY_EXTRUSION_2020_LENGTH_MM = 150.0
-SECONDARY_EXTRUSION_EXTENSION_MM = SECONDARY_EXTRUSION_2020_LENGTH_MM - EXTRUSION_2020_LENGTH_MM
-EXTRUSION_BRACKET_INSERTION_THICKNESS_MM = 1.6
-HORN_YOKE_SWEEP_LIMIT_DEG = 135.0
-HORN_YOKE_SWEEP_LIMIT_RAD = math.radians(HORN_YOKE_SWEEP_LIMIT_DEG)
-BASE_PLATE_BOTTOM_LOCAL_Y_MM = -32.9752
-ROLL_LINK_SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM = 2.7308
-KGF_CM_TO_NM = 0.0980665
-
-# Mass and effort source values verified against online vendor/project data on
-# 2026-04-27:
-# - STS3250: https://www.feetechrc.com/en/562636.html
-# - STS3215: https://www.feetechrc.com/525603.html
-# - HFS5-2020: https://misumi.partcommunity.com/3d-cad-models/hfsmg5-2020-hfsfmg5-2020-hfs5-series-curved-extrusions-misumi
-# - 5052-H32: https://sendcutsend.com/materials/5052-aluminum/
-# - Robonine gripper: https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
-STS3250_MASS_KG = 0.0745
-STS3215_MASS_KG = 0.055
-STS3250_RATED_TORQUE_NM = 16.0 * KGF_CM_TO_NM
-STS3215_RATED_TORQUE_NM = 10.0 * KGF_CM_TO_NM
-STS3250_PEAK_STALL_TORQUE_NM = 50.0 * KGF_CM_TO_NM
-STS3215_STALL_TORQUE_NM = 30.0 * KGF_CM_TO_NM
-HFS5_2020_MASS_KG_PER_M = 0.5
-HFS5_2020_100_MASS_KG = HFS5_2020_MASS_KG_PER_M * 0.100
-HFS5_2020_150_MASS_KG = HFS5_2020_MASS_KG_PER_M * 0.150
-ALUMINUM_5052_H32_DENSITY_KG_PER_MM3 = 0.097 * 0.45359237 / (0.0254**3) / 1e9
-BASE_PLATE_MASS_KG = 5745.825053237387 * ALUMINUM_5052_H32_DENSITY_KG_PER_MM3
-SERVO_END_MOUNT_MASS_KG = 1934.588542178479 * ALUMINUM_5052_H32_DENSITY_KG_PER_MM3
-SERVO_HORN_YOKE_MASS_KG = 4126.128540235039 * ALUMINUM_5052_H32_DENSITY_KG_PER_MM3
-EXTRUSION_BRACKET_2020_MASS_KG = 2335.413008330946 * ALUMINUM_5052_H32_DENSITY_KG_PER_MM3
-GRIPPER_ASSEMBLY_MASS_KG = 0.250
-STS3250_JOINT_EFFORT_TEXT = f"{STS3250_RATED_TORQUE_NM:.6f}"
-STS3215_JOINT_EFFORT_TEXT = f"{STS3215_RATED_TORQUE_NM:.6f}"
-GRIPPER_SERVO_EFFORT_TEXT = f"{STS3215_STALL_TORQUE_NM:.6f}"
-
-
-def _translate_instance_world_vector(
- instance: dict[str, object],
- *,
- vector_xyz: tuple[float, float, float],
- distance_mm: float,
-) -> dict[str, object]:
- transform = [float(value) for value in instance["transform"]]
- transform[3] += vector_xyz[0] * distance_mm
- transform[7] += vector_xyz[1] * distance_mm
- transform[11] += vector_xyz[2] * distance_mm
- return {**instance, "transform": transform}
-
-
-def _instance_local_axis_world_vector(instance: dict[str, object], *, axis: str) -> tuple[float, float, float]:
- transform = [float(value) for value in instance["transform"]]
- return _transform_local_axis_world_vector(transform, axis=axis)
-
-
-def _transform_local_axis_world_vector(transform: list[float], *, axis: str) -> tuple[float, float, float]:
- axis_column = {"x": 0, "y": 1, "z": 2}[axis]
- return (
- transform[axis_column],
- transform[4 + axis_column],
- transform[8 + axis_column],
- )
-
-
-def _find_named_instance(instances: list[dict[str, object]], name: str) -> dict[str, object]:
- for instance in instances:
- if str(instance["name"]) == name:
- return instance
- raise RuntimeError(f"Missing assembly instance {name!r}")
-
-
-def _translate_named_instances_world_vector(
- instances: list[dict[str, object]],
- names: frozenset[str],
- *,
- vector_xyz: tuple[float, float, float],
- distance_mm: float,
-) -> None:
- for index, instance in enumerate(instances):
- if str(instance["name"]) in names:
- instances[index] = _translate_instance_world_vector(
- instance,
- vector_xyz=vector_xyz,
- distance_mm=distance_mm,
- )
-
-
-def _replace_named_instance(
- instances: list[dict[str, object]],
- *,
- name: str,
- replacement: dict[str, object],
-) -> None:
- for index, instance in enumerate(instances):
- if str(instance["name"]) == name:
- instances[index] = replacement
- return
- raise RuntimeError(f"Missing assembly instance {name!r}")
-
-
-def _base_ground_y_offset_mm() -> float:
- base_plate = _find_named_instance(ASSEMBLY_INSTANCES, "base_plate")
- base_plate_transform = [float(value) for value in base_plate["transform"]]
- return -(base_plate_transform[7] + BASE_PLATE_BOTTOM_LOCAL_Y_MM)
-
-
-def _grounded_top_level_transform(
- transform: list[float],
- *,
- y_offset_mm: float = 0.0,
-) -> list[float]:
- grounded = [float(value) for value in transform]
- grounded[7] += _base_ground_y_offset_mm() + y_offset_mm
- return grounded
-
-
-def _y_up_to_z_up_transform(transform: list[float]) -> list[float]:
- # Rotate exported top-level assembly placements so old +Y becomes standard +Z.
- source = [float(value) for value in transform]
- return [
- source[0], source[1], source[2], source[3],
- -source[8], -source[9], -source[10], -source[11],
- source[4], source[5], source[6], source[7],
- 0.0, 0.0, 0.0, 1.0,
- ]
-
-
-def _standard_ground_top_level_transform(
- transform: list[float],
- *,
- y_offset_mm: float = 0.0,
-) -> list[float]:
- return _y_up_to_z_up_transform(
- _grounded_top_level_transform(transform, y_offset_mm=y_offset_mm)
- )
-
-
-def _translate_transform_world_offset(
- transform: list[float],
- offset_xyz_mm: tuple[float, float, float],
-) -> list[float]:
- translated = [float(value) for value in transform]
- translated[3] += offset_xyz_mm[0]
- translated[7] += offset_xyz_mm[1]
- translated[11] += offset_xyz_mm[2]
- return translated
-
-
-def _insert_named_instance_before(
- instances: list[dict[str, object]],
- *,
- before_name: str,
- instance: dict[str, object],
-) -> None:
- for index, current in enumerate(instances):
- if str(current["name"]) == before_name:
- instances.insert(index, instance)
- return
- raise RuntimeError(f"Missing assembly instance {before_name!r}")
-
-
-def _extrusion_bracket_transform_from_extrusion(
- extrusion_instance: dict[str, object],
-) -> list[float]:
- transform = [float(value) for value in extrusion_instance["transform"]]
- # The wrap bracket uses the extrusion's frame, flipped 180 degrees around its
- # local x axis so the horn plate sits at the extrusion start plane.
- for index in (1, 5, 9, 2, 6, 10):
- transform[index] = -transform[index]
- return transform
-
-
-def _extrusion_end_bracket_transform_from_extrusion(
- extrusion_instance: dict[str, object],
- *,
- length_mm: float,
-) -> list[float]:
- transform = [float(value) for value in extrusion_instance["transform"]]
- # Match the extrusion frame at the downstream end plane so the bracket wraps
- # the far end without rotating the existing downstream chain.
- extrusion_z_world = _instance_local_axis_world_vector(extrusion_instance, axis="z")
- transform[3] += extrusion_z_world[0] * -length_mm
- transform[7] += extrusion_z_world[1] * -length_mm
- transform[11] += extrusion_z_world[2] * -length_mm
- return transform
-
-
-ASSEMBLY_INSTANCES = [{'path': 'imports/sts3250.step',
- 'name': 'sts3250_1',
- 'transform': [0.0,
- 1.0,
- 0.0,
- -1.264258,
- -1.0,
- 0.0,
- 0.0,
- 52.610399203721,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'servo_horn_yoke.step',
- 'name': 'servo_horn_yoke',
- 'transform': [0.0,
- 1.0,
- 0.0,
- -1.264258,
- -1.0,
- 0.0,
- 0.0,
- 52.610399203721,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/sts3250.step',
- 'name': 'sts3250_2',
- 'transform': [1.0,
- 0.0,
- 0.0,
- 15.135742000006,
- 0.0,
- 1.0,
- 0.0,
- 134.620798778311,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'extrusion_bracket_2020.step',
- 'name': 'secondary_servo_2020_connector',
- 'transform': [1.0,
- 0.0,
- 0.0,
- -10.364257999994,
- 0.0,
- 1.0,
- 0.0,
- 145.850798778311,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/hfs5_2020_150.step',
- 'name': 'secondary_servo_hfs5_2020',
- 'transform': [1.0,
- 0.0,
- 0.0,
- -10.364257999994,
- 0.0,
- 0.0,
- -1.0,
- 147.450798778311,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'servo_end_mount.step',
- 'name': 'quaternary_servo_end_mount',
- 'transform': [0.0,
- 1.0,
- 0.0,
- -0.764257999994,
- -1.0,
- 0.0,
- 0.0,
- 261.060997778311,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/sts3250.step',
- 'name': 'sts3250_4',
- 'transform': [0.0,
- 1.0,
- 0.0,
- -0.764257999994,
- -1.0,
- 0.0,
- 0.0,
- 261.060997778311,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'servo_horn_yoke.step',
- 'name': 'quinary_horn_yoke',
- 'transform': [-0.000376789973259,
- 0.999999858029296,
- 0.000376790000006,
- -0.777330838358056,
- -1.41970704e-07,
- 0.000376789973259,
- -0.999999929014646,
- 286.55752815855016,
- -0.999999929014646,
- -0.000376790000006,
- 0.0,
- -25.496532190119495,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/sts3215.step',
- 'name': 'sts3215_5',
- 'transform': [0.999999858029296,
- 0.000376789973259,
- 0.000376790000006,
- 15.653567529745356,
- 0.000376789973259,
- 1.41970704e-07,
- -0.999999929014646,
- 286.56371915718586,
- -0.000376790000006,
- 0.999999929014646,
- 0.0,
- 56.5076826323431,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'extrusion_bracket_2020.step',
- 'name': 'quinary_servo_2020_connector',
- 'transform': [0.999999858029296,
- 0.000376789973259,
- 0.000376790000006,
- -9.838731499094065,
- 0.000376789973259,
- 1.41970704e-07,
- -0.999999929014646,
- 286.55411391315283,
- -0.000376790000006,
- 0.999999929014646,
- 0.0,
- 67.74728867422357,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/hfs5_2020_100.step',
- 'name': 'quinary_servo_hfs5_2020',
- 'transform': [0.999999858029296,
- 0.000376790000006,
- -0.000376789973259,
- -9.83812863513685,
- 0.000376789973259,
- -0.999999929014646,
- -1.41970704e-07,
- 286.55411414030596,
- -0.000376790000006,
- 0.0,
- -0.999999929014646,
- 69.347288560647,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'servo_end_mount.step',
- 'name': 'senary_servo_end_mount',
- 'transform': [-0.000376789973259,
- 0.999999858029296,
- 0.000376790000006,
- -0.198788813720378,
- -1.41970704e-07,
- 0.000376789973259,
- -0.999999929014646,
- 286.5577461474151,
- -0.999999929014646,
- -0.000376790000006,
- 0.0,
- 182.95386361794084,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/sts3215.step',
- 'name': 'sts3215_6',
- 'transform': [-0.000376789973259,
- 0.999999858029296,
- 0.000376790000006,
- -0.198788813720378,
- -1.41970704e-07,
- 0.000376789973259,
- -0.999999929014646,
- 286.5577461474151,
- -0.999999929014646,
- -0.000376790000006,
- 0.0,
- 182.95386361794084,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'servo_horn_yoke.step',
- 'name': 'septenary_horn_yoke',
- 'transform': [-0.000376789973259,
- 0.999999858029296,
- 0.000376790000006,
- -0.198788813720376,
- -1.41970704e-07,
- 0.000376789973259,
- -0.999999929014646,
- 286.5577461474151,
- -0.999999929014646,
- -0.000376790000006,
- 0.0,
- 182.95386361794084,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/sts3215.step',
- 'name': 'sts3215_7',
- 'transform': [0.999999858029296,
- 0.000376789973259,
- 0.000376790000006,
- 16.232109554383037,
- 0.000376789973259,
- 1.41970704e-07,
- -0.999999929014646,
- 286.5639371460508,
- -0.000376790000006,
- 0.999999929014646,
- 0.0,
- 264.9580784404034,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'servo_end_mount.step',
- 'name': 'servo_end_mount',
- 'transform': [0.0,
- 1.0,
- 0.0,
- -1.264258,
- -1.0,
- 0.0,
- 0.0,
- 52.610399203721,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'imports/sts3250.step',
- 'name': 'sts3250_3',
- 'transform': [1.0,
- 0.0,
- 0.0,
- 14.635742,
- 0.0,
- 1.0,
- 0.0,
- 27.7702,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'base_plate.step',
- 'name': 'base_plate',
- 'transform': [1.0,
- 0.0,
- 0.0,
- 14.635742,
- 0.0,
- 1.0,
- 0.0,
- 27.7702,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0]},
- {'path': 'gripper/rb9_01_061_000_gripper.step',
- 'name': 'parallel_gripper',
- 'transform': [0.999999929014645,
- 0.0,
- 0.00037679,
- -9.277696917667,
- 0.0,
- 1.0,
- 0.0,
- 286.552253,
- -0.00037679,
- 0.0,
- 0.999999929014645,
- 326.167694693849,
- 0.0,
- 0.0,
- 0.0,
- 1.0]}]
-
-REMOVED_ROBOT_ARM_INSTANCE_NAMES = frozenset()
-SECONDARY_END_BRACKET_DOWNSTREAM_INSTANCE_NAMES = frozenset(
- {
- "quaternary_servo_end_mount",
- "sts3250_4",
- "quinary_horn_yoke",
- "sts3215_5",
- "quinary_servo_2020_connector",
- "quinary_servo_hfs5_2020",
- "quinary_servo_end_bracket",
- "senary_servo_end_mount",
- "sts3215_6",
- "septenary_horn_yoke",
- "sts3215_7",
- "parallel_gripper",
- }
-)
-QUINARY_END_BRACKET_DOWNSTREAM_INSTANCE_NAMES = frozenset(
- {
- "senary_servo_end_mount",
- "sts3215_6",
- "septenary_horn_yoke",
- "sts3215_7",
- "parallel_gripper",
- }
-)
-
-for connector_name, extrusion_name in (
- ("secondary_servo_2020_connector", "secondary_servo_hfs5_2020"),
- ("quinary_servo_2020_connector", "quinary_servo_hfs5_2020"),
-):
- connector_instance = _find_named_instance(ASSEMBLY_INSTANCES, connector_name)
- extrusion_instance = _find_named_instance(ASSEMBLY_INSTANCES, extrusion_name)
- _replace_named_instance(
- ASSEMBLY_INSTANCES,
- name=connector_name,
- replacement={
- **connector_instance,
- "path": "extrusion_bracket_2020.step",
- "transform": _extrusion_bracket_transform_from_extrusion(extrusion_instance),
- },
- )
-
-for bracket_name, extrusion_name, before_name in (
- ("secondary_servo_end_bracket", "secondary_servo_hfs5_2020", "quaternary_servo_end_mount"),
- ("quinary_servo_end_bracket", "quinary_servo_hfs5_2020", "senary_servo_end_mount"),
-):
- extrusion_instance = _find_named_instance(ASSEMBLY_INSTANCES, extrusion_name)
- bracket_length_mm = (
- SECONDARY_EXTRUSION_2020_LENGTH_MM
- if extrusion_name == "secondary_servo_hfs5_2020"
- else EXTRUSION_2020_LENGTH_MM
- )
- _insert_named_instance_before(
- ASSEMBLY_INSTANCES,
- before_name=before_name,
- instance={
- "path": "extrusion_bracket_2020.step",
- "name": bracket_name,
- "transform": _extrusion_end_bracket_transform_from_extrusion(
- extrusion_instance,
- length_mm=bracket_length_mm,
- ),
- },
- )
-
-_translate_named_instances_world_vector(
- ASSEMBLY_INSTANCES,
- SECONDARY_END_BRACKET_DOWNSTREAM_INSTANCE_NAMES,
- vector_xyz=tuple(
- -value
- for value in _instance_local_axis_world_vector(
- _find_named_instance(ASSEMBLY_INSTANCES, "secondary_servo_hfs5_2020"),
- axis="z",
- )
- ),
- distance_mm=SECONDARY_EXTRUSION_EXTENSION_MM,
-)
-_translate_named_instances_world_vector(
- ASSEMBLY_INSTANCES,
- SECONDARY_END_BRACKET_DOWNSTREAM_INSTANCE_NAMES,
- vector_xyz=tuple(
- -value
- for value in _instance_local_axis_world_vector(
- _find_named_instance(ASSEMBLY_INSTANCES, "secondary_servo_hfs5_2020"),
- axis="z",
- )
- ),
- distance_mm=EXTRUSION_BRACKET_INSERTION_THICKNESS_MM,
-)
-_translate_named_instances_world_vector(
- ASSEMBLY_INSTANCES,
- QUINARY_END_BRACKET_DOWNSTREAM_INSTANCE_NAMES,
- vector_xyz=tuple(
- -value
- for value in _instance_local_axis_world_vector(
- _find_named_instance(ASSEMBLY_INSTANCES, "quinary_servo_hfs5_2020"),
- axis="z",
- )
- ),
- distance_mm=EXTRUSION_BRACKET_INSERTION_THICKNESS_MM,
-)
-
-# Robonine gripper uses a module 0.5, 26-tooth pinion and a 76 mm full stroke.
-GRIPPER_CLAW_TRAVEL_M = 0.038
-GRIPPER_SERVO_CLOSE_DEG = 334.96
-GRIPPER_SERVO_CLOSE_RAD = math.radians(GRIPPER_SERVO_CLOSE_DEG)
-GRIPPER_RACK_TRAVEL_PER_RAD_M = GRIPPER_CLAW_TRAVEL_M / GRIPPER_SERVO_CLOSE_RAD
-GRIPPER_SERVO_VELOCITY_RAD_PER_S = 0.03 / GRIPPER_RACK_TRAVEL_PER_RAD_M
-
-# Mesh-derived gripper inertials. The Robonine gripper source gives a
-# 250 g assembly mass, but not per-link mass properties. These values
-# distribute that mass over the generated gripper mesh volume estimates.
-GRIPPER_STATIC_MESH_VOLUME_MM3 = 69789.45759247476
-GRIPPER_SERVO_GEAR_MESH_VOLUME_MM3 = 1118.1904419098348
-GRIPPER_CLAW_MESH_VOLUME_MM3 = 19529.73092604228
-GRIPPER_MESH_VOLUME_SUM_MM3 = (
- GRIPPER_STATIC_MESH_VOLUME_MM3
- + GRIPPER_SERVO_GEAR_MESH_VOLUME_MM3
- + (2.0 * GRIPPER_CLAW_MESH_VOLUME_MM3)
-)
-GRIPPER_MESH_DENSITY_KG_PER_MM3 = GRIPPER_ASSEMBLY_MASS_KG / GRIPPER_MESH_VOLUME_SUM_MM3
-
-
-def _mesh_estimated_mass_kg(volume_mm3: float) -> float:
- return volume_mm3 * GRIPPER_MESH_DENSITY_KG_PER_MM3
-
-
-def _mesh_center_m(center_xyz_mm: tuple[float, float, float]) -> tuple[float, float, float]:
- return tuple(value * 0.001 for value in center_xyz_mm)
-
-
-def _mesh_inertia_kg_m2(inertia_mm5: tuple[float, float, float]) -> tuple[float, float, float]:
- return tuple(value * GRIPPER_MESH_DENSITY_KG_PER_MM3 * 1e-6 for value in inertia_mm5)
-
-
-URDF_LINK_INERTIALS = {
- "base_link": {
- "mass": STS3250_MASS_KG + BASE_PLATE_MASS_KG,
- "origin_xyz": (-0.013065695, 0.018748416, -0.000001347),
- "inertia": (2.00286469315e-05, 3.27226966744e-05, 3.64056286856e-05),
- },
- "shoulder_yaw_link": {
- "mass": STS3250_MASS_KG + SERVO_END_MOUNT_MASS_KG,
- "origin_xyz": (0.001212643, 0.046188702, -0.000001520),
- "inertia": (2.19822684157e-05, 1.33477342495e-05, 2.72133948517e-05),
- },
- "shoulder_pitch_link": {
- "mass": STS3250_MASS_KG + SERVO_HORN_YOKE_MASS_KG,
- "origin_xyz": (-0.046864415, 0.009984643, -0.000001415),
- "inertia": (2.61354708556e-05, 5.11017950126e-05, 6.8521371663e-05),
- },
- "shoulder_roll_link": {
- "mass": (
- STS3250_MASS_KG
- + SERVO_END_MOUNT_MASS_KG
- + HFS5_2020_150_MASS_KG
- + 2 * EXTRUSION_BRACKET_2020_MASS_KG
- ),
- "origin_xyz": (0.000577873, 0.144167410, -0.000000724),
- "inertia": (0.000595051077045, 2.80096804783e-05, 0.0006060283843),
- },
- "elbow_pitch_link": {
- "mass": STS3215_MASS_KG + SERVO_HORN_YOKE_MASS_KG,
- "origin_xyz": (0.000001711, 0.009998836, 0.046867544),
- "inertia": (6.85659210126e-05, 5.11223026952e-05, 2.61742086504e-05),
- },
- "elbow_roll_link": {
- "mass": (
- STS3215_MASS_KG
- + SERVO_END_MOUNT_MASS_KG
- + HFS5_2020_100_MASS_KG
- + 2 * EXTRUSION_BRACKET_2020_MASS_KG
- ),
- "origin_xyz": (0.000680967, 0.113970513, -0.000000851),
- "inertia": (0.000292565038128, 2.38225119977e-05, 0.000301901347194),
- },
- "wrist_pitch_link": {
- "mass": STS3215_MASS_KG + SERVO_HORN_YOKE_MASS_KG,
- "origin_xyz": (-0.046864415, 0.009984643, -0.000001415),
- "inertia": (2.61354708556e-05, 5.11017950126e-05, 6.8521371663e-05),
- },
- "gripper_base_link": {
- "mass": _mesh_estimated_mass_kg(GRIPPER_STATIC_MESH_VOLUME_MM3),
- "origin_xyz": _mesh_center_m((-0.0126298648, 15.5220681, -11.3782697)),
- "inertia": _mesh_inertia_kg_m2((72377447.4, 94420670.5, 126870002.0)),
- },
- "gripper_servo_link": {
- "mass": _mesh_estimated_mass_kg(GRIPPER_SERVO_GEAR_MESH_VOLUME_MM3),
- "origin_xyz": _mesh_center_m((0.0000000329379318, -0.00000015359035, -0.668503477)),
- "inertia": _mesh_inertia_kg_m2((28356.08228658, 28356.0947249, 43883.87103322)),
- },
- "gripper_right_claw_link": {
- "mass": _mesh_estimated_mass_kg(GRIPPER_CLAW_MESH_VOLUME_MM3),
- "origin_xyz": _mesh_center_m((45.56599565, -1.48478733, 22.03617984)),
- "inertia": _mesh_inertia_kg_m2((10873354.67241446, 9338011.90258315, 5226795.70594811)),
- },
- "gripper_left_claw_link": {
- "mass": _mesh_estimated_mass_kg(GRIPPER_CLAW_MESH_VOLUME_MM3),
- "origin_xyz": _mesh_center_m((-45.56599565, 1.48478733, 22.03617984)),
- "inertia": _mesh_inertia_kg_m2((10873354.67241446, 9338011.90258318, 5226795.70594813)),
- },
-}
-
-
-def _urdf_numeric_text(value: float) -> str:
- numeric = float(value)
- if abs(numeric) < 0.5e-9:
- numeric = 0.0
- return f"{numeric:.9f}".rstrip("0").rstrip(".")
-
-
-def _urdf_link_inertial(link_name: str) -> dict[str, object]:
- inertial = URDF_LINK_INERTIALS[link_name]
- ixx, iyy, izz = inertial["inertia"]
- return {
- "origin_xyz": " ".join(_urdf_numeric_text(value) for value in inertial["origin_xyz"]),
- "origin_rpy": "0 0 0",
- "mass": _urdf_numeric_text(float(inertial["mass"])),
- "inertia": {
- "ixx": _urdf_numeric_text(ixx),
- "ixy": "0",
- "ixz": "0",
- "iyy": _urdf_numeric_text(iyy),
- "iyz": "0",
- "izz": _urdf_numeric_text(izz),
- },
- }
-
-
-URDF_LINKS = (
- {"name": "base_footprint"},
- {
- "name": "base_link",
- "inertial": _urdf_link_inertial("base_link"),
- "visuals": (
- {
- "instance_name": "sts3250_3",
- "origin_xyz": "0 0.030575 0",
- "origin_rpy": "0 0 0",
- },
- {
- "instance_name": "base_plate",
- "origin_xyz": "0 0.0329752 0",
- "origin_rpy": "0 0 0",
- },
- ),
- },
- {
- "name": "shoulder_yaw_link",
- "inertial": _urdf_link_inertial("shoulder_yaw_link"),
- "visuals": (
- {
- "instance_name": "sts3250_1",
- "origin_xyz": "0.0096 0.033940199 0",
- "origin_rpy": "0 0 -1.570796327",
- },
- {
- "instance_name": "servo_end_mount",
- "origin_xyz": "0.0096 0.033940199 0",
- "origin_rpy": "0 0 -1.570796327",
- },
- ),
- },
- {
- "name": "shoulder_pitch_link",
- "inertial": _urdf_link_inertial("shoulder_pitch_link"),
- "visuals": (
- {
- "instance_name": "servo_horn_yoke",
- "origin_xyz": "0.0255 0.0091 0",
- "origin_rpy": "0 0 0",
- },
- {
- "instance_name": "sts3250_2",
- "origin_xyz": "-0.0594 0.0255 0",
- "origin_rpy": "0 0 1.570796327",
- },
- ),
- },
- {
- "name": "shoulder_roll_link",
- "inertial": _urdf_link_inertial("shoulder_roll_link"),
- "visuals": (
- {
- "instance_name": "secondary_servo_2020_connector",
- "origin_xyz": "0 0.0190404 0",
- "origin_rpy": "-1.570796327 0 0",
- },
- {
- "instance_name": "secondary_servo_hfs5_2020",
- "origin_xyz": "0 0.0190404 0",
- "origin_rpy": "1.570796327 0 0",
- },
- {
- "instance_name": "secondary_servo_end_bracket",
- "origin_xyz": "0 0.1690404 0",
- "origin_rpy": "1.570796327 0 0",
- },
- {
- "instance_name": "quaternary_servo_end_mount",
- "origin_xyz": "0.0096 0.186981399 0",
- "origin_rpy": "0 0 -1.570796327",
- },
- {
- "instance_name": "sts3250_4",
- "origin_xyz": "0.0096 0.186981399 0",
- "origin_rpy": "0 0 -1.570796327",
- },
- ),
- },
- {
- "name": "elbow_pitch_link",
- "inertial": _urdf_link_inertial("elbow_pitch_link"),
- "visuals": (
- {
- "instance_name": "quinary_horn_yoke",
- "origin_xyz": "0.00000347 0.009086927 -0.025496532",
- "origin_rpy": "-1.570796327 1.570419537 -1.570419537",
- },
- {
- "instance_name": "sts3215_5",
- "origin_xyz": "-0.000002722 0.025518914 0.059397282",
- "origin_rpy": "1.570796327 0.00037679 1.571173117",
- },
- ),
- },
- {
- "name": "elbow_roll_link",
- "inertial": _urdf_link_inertial("elbow_roll_link"),
- "visuals": (
- {
- "instance_name": "quinary_servo_2020_connector",
- "origin_xyz": "0.000003466 0.0190404 0",
- "origin_rpy": "-1.570796327 0 0",
- },
- {
- "instance_name": "quinary_servo_hfs5_2020",
- "origin_xyz": "0.000003466 0.0190404 0",
- "origin_rpy": "1.570796327 0 0",
- },
- {
- "instance_name": "quinary_servo_end_bracket",
- "origin_xyz": "0.000003466 0.1190404 0",
- "origin_rpy": "1.570796327 0 0",
- },
- {
- "instance_name": "senary_servo_end_mount",
- "origin_xyz": "0.0096 0.136981399 0",
- "origin_rpy": "0 0 -1.570796327",
- },
- {
- "instance_name": "sts3215_6",
- "origin_xyz": "0.0096 0.136981399 0",
- "origin_rpy": "0 0 -1.570796327",
- },
- ),
- },
- {
- "name": "wrist_pitch_link",
- "inertial": _urdf_link_inertial("wrist_pitch_link"),
- "visuals": (
- {
- "instance_name": "septenary_horn_yoke",
- "origin_xyz": "0.0255 0.0091 0",
- "origin_rpy": "0 0 0",
- },
- {
- "instance_name": "sts3215_7",
- "origin_xyz": "-0.0594 0.0255 0",
- "origin_rpy": "0 0 1.570796327",
- },
- ),
- },
- {"name": "wrist_roll_link"},
- {
- "name": "gripper_base_link",
- "inertial": _urdf_link_inertial("gripper_base_link"),
- "visuals": (
- {
- "mesh_filename": "3MF/gripper_static.3mf",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- },
- ),
- },
- {
- "name": "gripper_servo_link",
- "inertial": _urdf_link_inertial("gripper_servo_link"),
- "visuals": (
- {
- "mesh_filename": "3MF/gripper_servo_gear.3mf",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- },
- ),
- },
- {
- "name": "gripper_right_claw_link",
- "inertial": _urdf_link_inertial("gripper_right_claw_link"),
- "visuals": (
- {
- "mesh_filename": "3MF/gripper_right_claw.3mf",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- },
- ),
- },
- {
- "name": "gripper_left_claw_link",
- "inertial": _urdf_link_inertial("gripper_left_claw_link"),
- "visuals": (
- {
- "mesh_filename": "3MF/gripper_left_claw.3mf",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- },
- ),
- },
-)
-
-URDF_JOINTS = (
- {
- "name": "base_footprint_to_base_link",
- "joint_type": "fixed",
- "parent": "base_footprint",
- "child": "base_link",
- "origin_xyz": "0.014635742 0 0",
- "origin_rpy": "1.570796327 0 0",
- },
- {
- "name": "base_yaw",
- "joint_type": "continuous",
- "parent": "base_link",
- "child": "shoulder_yaw_link",
- "origin_xyz": "-0.0255 0.021475 0",
- "origin_rpy": "0 0 0",
- "axis_xyz": "0 1 0",
- "limit": {
- "effort": STS3250_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "shoulder_pitch",
- "joint_type": "revolute",
- "parent": "shoulder_yaw_link",
- "child": "shoulder_pitch_link",
- "origin_xyz": "0.0005 0.059440199 0",
- "origin_rpy": "0 0 -1.570796327",
- "axis_xyz": "0 1 0",
- "limit": {
- "lower": f"{-HORN_YOKE_SWEEP_LIMIT_RAD:.9f}",
- "upper": f"{HORN_YOKE_SWEEP_LIMIT_RAD:.9f}",
- "effort": STS3250_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "shoulder_roll",
- "joint_type": "continuous",
- "parent": "shoulder_pitch_link",
- "child": "shoulder_roll_link",
- "origin_xyz": "-0.0503 0 0",
- "origin_rpy": "0 0 1.570796327",
- "axis_xyz": "0 1 0",
- "limit": {
- "effort": STS3250_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "elbow_pitch",
- "joint_type": "revolute",
- "parent": "shoulder_roll_link",
- "child": "elbow_pitch_link",
- "origin_xyz": "0.0005 0.212481399 0",
- "origin_rpy": "0 0 -1.570796327",
- "axis_xyz": "0 1 0",
- "limit": {
- "lower": f"{-HORN_YOKE_SWEEP_LIMIT_RAD:.9f}",
- "upper": f"{HORN_YOKE_SWEEP_LIMIT_RAD:.9f}",
- "effort": STS3250_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "elbow_roll",
- "joint_type": "continuous",
- "parent": "elbow_pitch_link",
- "child": "elbow_roll_link",
- "origin_xyz": "0.000006888 0.000015489 0.050306891",
- "origin_rpy": "1.570796327 0.00037679 1.571173117",
- "axis_xyz": "0 1 0",
- "limit": {
- "effort": STS3215_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "wrist_pitch",
- "joint_type": "revolute",
- "parent": "elbow_roll_link",
- "child": "wrist_pitch_link",
- "origin_xyz": "0.0005 0.162481399 0",
- "origin_rpy": "0 0 -1.570796327",
- "axis_xyz": "0 1 0",
- "limit": {
- "lower": f"{-HORN_YOKE_SWEEP_LIMIT_RAD:.9f}",
- "upper": f"{HORN_YOKE_SWEEP_LIMIT_RAD:.9f}",
- "effort": STS3215_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "wrist_roll",
- "joint_type": "continuous",
- "parent": "wrist_pitch_link",
- "child": "wrist_roll_link",
- "origin_xyz": "-0.0503 0 0",
- "origin_rpy": "0 0 1.570796327",
- "axis_xyz": "0 1 0",
- "limit": {
- "effort": STS3215_JOINT_EFFORT_TEXT,
- "velocity": "4.000000",
- },
- },
- {
- "name": "wrist_roll_to_gripper_base",
- "joint_type": "fixed",
- "parent": "wrist_roll_link",
- "child": "gripper_base_link",
- "origin_xyz": "-0.00003287 0.0674104 0.000002072",
- "origin_rpy": "-1.570796185 -0.00037679 0",
- },
- {
- "name": "gripper_servo",
- "joint_type": "revolute",
- "parent": "gripper_base_link",
- "child": "gripper_servo_link",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- "axis_xyz": "0 0 1",
- "attrs": {"default_deg": "0"},
- "limit": {
- "lower": "0",
- "upper": f"{GRIPPER_SERVO_CLOSE_RAD:.9f}",
- "effort": GRIPPER_SERVO_EFFORT_TEXT,
- "velocity": f"{GRIPPER_SERVO_VELOCITY_RAD_PER_S:.6f}",
- },
- },
- {
- "name": "gripper_right_claw_slide",
- "joint_type": "prismatic",
- "parent": "gripper_base_link",
- "child": "gripper_right_claw_link",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- "axis_xyz": "-1 0 0",
- "limit": {
- "lower": "0",
- "upper": f"{GRIPPER_CLAW_TRAVEL_M:.6f}",
- "effort": "150",
- "velocity": "0.03",
- },
- "mimic": {
- "joint": "gripper_servo",
- "multiplier": f"{GRIPPER_RACK_TRAVEL_PER_RAD_M:.12f}",
- "offset": "0",
- },
- },
- {
- "name": "gripper_left_claw_slide",
- "joint_type": "prismatic",
- "parent": "gripper_base_link",
- "child": "gripper_left_claw_link",
- "origin_xyz": "0 0 0",
- "origin_rpy": "0 0 0",
- "axis_xyz": "1 0 0",
- "limit": {
- "lower": "0",
- "upper": f"{GRIPPER_CLAW_TRAVEL_M:.6f}",
- "effort": "150",
- "velocity": "0.03",
- },
- "mimic": {
- "joint": "gripper_servo",
- "multiplier": f"{GRIPPER_RACK_TRAVEL_PER_RAD_M:.12f}",
- "offset": "0",
- },
- },
-)
-
-URDF_VISUAL_INSTANCE_NAMES = tuple(
- str(visual["instance_name"])
- for link in URDF_LINKS
- for visual in link.get("visuals", ())
- if "instance_name" in visual and str(visual["instance_name"]) not in REMOVED_ROBOT_ARM_INSTANCE_NAMES
-)
-
-URDF_MATERIALS = {
- "black_aluminum": BLACK_ALUMINUM_RGBA,
-}
-
-URDF_STEP_MATERIALS = {
- "imports/sts3250.step": "black_aluminum",
- "imports/sts3215.step": "black_aluminum",
-}
-
-PRESERVE_SOURCE_COLOR_STEP_PATHS = frozenset(
- {
- "imports/sts3250.step",
- "imports/sts3215.step",
- "gripper/rb9_01_061_000_gripper.step",
- }
-)
-EXPLORER_POSES = (
- {
- "name": "home",
- "joint_values": {
- "base_yaw": 0,
- "shoulder_pitch": 0,
- "shoulder_roll": 0,
- "elbow_pitch": 0,
- "elbow_roll": 0,
- "wrist_pitch": 0,
- "wrist_roll": 0,
- "gripper_servo": 0,
- },
- },
- {
- "name": "reach",
- "joint_values": {
- "base_yaw": 0,
- "shoulder_pitch": 90,
- "shoulder_roll": 0,
- "elbow_pitch": -90,
- "elbow_roll": 0,
- "wrist_pitch": 0,
- "wrist_roll": 0,
- "gripper_servo": 90,
- },
- },
- {
- "name": "action",
- "joint_values": {
- "base_yaw": 95,
- "shoulder_pitch": 32,
- "shoulder_roll": 35,
- "elbow_pitch": -20,
- "elbow_roll": -103,
- "wrist_pitch": 65,
- "wrist_roll": -71,
- "gripper_servo": 185,
- },
- },
-)
-ROBOT_ARM_LINK_ASSEMBLIES = (
- {
- "path": "assemblies/base_link.step",
- "name": "base_link",
- "anchor_instance_name": "base_plate",
- "top_level_y_offset_mm": BASE_PLATE_BOTTOM_LOCAL_Y_MM,
- "instance_names": frozenset(
- {
- "sts3250_3",
- "base_plate",
- }
- ),
- },
- {
- "path": "assemblies/shoulder_yaw_link.step",
- "name": "shoulder_yaw_link",
- "anchor_instance_name": "sts3250_1",
- "top_level_y_offset_mm": BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- "instance_names": frozenset(
- {
- "sts3250_1",
- "servo_end_mount",
- }
- ),
- },
- {
- "path": "assemblies/pitch_link_sts3250.step",
- "name": "shoulder_pitch_link",
- "anchor_instance_name": "servo_horn_yoke",
- "top_level_y_offset_mm": BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- "instance_names": frozenset(
- {
- "servo_horn_yoke",
- "sts3250_2",
- }
- ),
- },
- {
- "path": "assemblies/shoulder_roll_link.step",
- "name": "shoulder_roll_link",
- "anchor_instance_name": "secondary_servo_2020_connector",
- "top_level_y_offset_mm": BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- "instance_names": frozenset(
- {
- "secondary_servo_2020_connector",
- "secondary_servo_hfs5_2020",
- "secondary_servo_end_bracket",
- "quaternary_servo_end_mount",
- "sts3250_4",
- }
- ),
- },
- {
- "path": "assemblies/pitch_link_sts3215.step",
- "name": "elbow_pitch_link",
- "anchor_instance_name": "quinary_horn_yoke",
- "top_level_y_offset_mm": BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- "instance_names": frozenset(
- {
- "quinary_horn_yoke",
- "sts3215_5",
- }
- ),
- },
- {
- "path": "assemblies/elbow_roll_link.step",
- "name": "elbow_roll_link",
- "anchor_instance_name": "quinary_servo_2020_connector",
- "top_level_y_offset_mm": BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- "instance_names": frozenset(
- {
- "quinary_servo_2020_connector",
- "quinary_servo_hfs5_2020",
- "quinary_servo_end_bracket",
- "senary_servo_end_mount",
- "sts3215_6",
- }
- ),
- },
- {
- "path": "assemblies/pitch_link_sts3215.step",
- "name": "wrist_pitch_link",
- "anchor_instance_name": "septenary_horn_yoke",
- "top_level_y_offset_mm": BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- "instance_names": frozenset(
- {
- "septenary_horn_yoke",
- "sts3215_7",
- }
- ),
- },
-)
-
-
-def _xml(tag: str, attrs: dict[str, object] | None = None, children: tuple[ET.Element, ...] = ()) -> ET.Element:
- element = ET.Element(tag, {key: str(value) for key, value in (attrs or {}).items()})
- for child in children:
- element.append(child)
- return element
-
-
-def _urdf_inertial_element(inertial: dict[str, object]) -> ET.Element:
- return _xml(
- "inertial",
- children=(
- _xml("origin", {"xyz": inertial["origin_xyz"], "rpy": inertial["origin_rpy"]}),
- _xml("mass", {"value": inertial["mass"]}),
- _xml("inertia", dict(inertial["inertia"])),
- ),
- )
-
-
-def _urdf_mesh_filename_for_entry(entry: dict[str, object]) -> str:
- mesh_filename = entry.get("mesh_filename")
- if mesh_filename is None:
- mesh_filename = _urdf_mesh_filename(str(entry["instance_name"]))
- return str(mesh_filename)
-
-
-def _urdf_mesh_geometry_element(entry: dict[str, object]) -> ET.Element:
- mesh_filename = _urdf_mesh_filename_for_entry(entry)
- return _xml(
- "geometry",
- children=(
- _xml(
- "mesh",
- {
- "filename": mesh_filename,
- "scale": "0.001 0.001 0.001",
- },
- ),
- ),
- )
-
-
-def _urdf_visual_element(visual: dict[str, object]) -> ET.Element:
- children = [
- _xml("origin", {"xyz": visual["origin_xyz"], "rpy": visual["origin_rpy"]}),
- _urdf_mesh_geometry_element(visual),
- ]
- material_name = _urdf_visual_material_name(visual)
- if material_name:
- children.append(_xml("material", {"name": material_name}))
- return _xml(
- "visual",
- children=tuple(children),
- )
-
-
-def _urdf_collision_element(collision: dict[str, object]) -> ET.Element:
- return _xml(
- "collision",
- children=(
- _xml("origin", {"xyz": collision["origin_xyz"], "rpy": collision["origin_rpy"]}),
- _urdf_mesh_geometry_element(collision),
- ),
- )
-
-
-def _urdf_entry_is_removed(entry: dict[str, object]) -> bool:
- return "instance_name" in entry and str(entry["instance_name"]) in REMOVED_ROBOT_ARM_INSTANCE_NAMES
-
-
-def _urdf_link_element(link: dict[str, object]) -> ET.Element:
- children: list[ET.Element] = []
- inertial = link.get("inertial")
- if inertial is not None:
- children.append(_urdf_inertial_element(dict(inertial)))
- for visual in link.get("visuals", ()):
- if _urdf_entry_is_removed(dict(visual)):
- continue
- children.append(_urdf_visual_element(dict(visual)))
- collision_specs = link.get("collisions")
- if collision_specs is None:
- collision_specs = link.get("visuals", ())
- for collision in collision_specs:
- if _urdf_entry_is_removed(dict(collision)):
- continue
- children.append(_urdf_collision_element(dict(collision)))
- return _xml("link", {"name": link["name"]}, tuple(children))
-
-
-def _urdf_joint_element(joint: dict[str, object]) -> ET.Element:
- attrs = {"name": joint["name"], "type": joint["joint_type"]}
- attrs.update(dict(joint.get("urdf_attrs", {})))
- children = [
- _xml("parent", {"link": joint["parent"]}),
- _xml("child", {"link": joint["child"]}),
- _xml("origin", {"xyz": joint["origin_xyz"], "rpy": joint["origin_rpy"]}),
- ]
- axis_xyz = joint.get("axis_xyz")
- if axis_xyz is not None:
- children.append(_xml("axis", {"xyz": axis_xyz}))
- limit = joint.get("limit")
- if limit is not None:
- children.append(_xml("limit", dict(limit)))
- mimic = joint.get("mimic")
- if mimic is not None:
- children.append(_xml("mimic", dict(mimic)))
- return _xml("joint", attrs, tuple(children))
-
-
-def _explorer_numeric_value(value: float) -> float | int:
- numeric = float(value)
- return int(numeric) if numeric.is_integer() else numeric
-
-
-def _urdf_explorer_metadata(
- *,
- joints: tuple[dict[str, object], ...] = URDF_JOINTS,
- poses: tuple[dict[str, object], ...] = EXPLORER_POSES,
-) -> dict[str, object]:
- joint_defaults_by_name = {}
- for joint in joints:
- attrs = dict(joint.get("attrs", {}))
- if "default_deg" in attrs:
- joint_defaults_by_name[str(joint["name"])] = _explorer_numeric_value(float(attrs["default_deg"]))
- return {
- "schemaVersion": 3,
- "kind": "texttocad-urdf-explorer",
- "jointDefaultsByName": joint_defaults_by_name,
- "poses": [
- {
- "name": str(pose["name"]),
- "jointValuesByName": {
- str(joint_name): _explorer_numeric_value(float(joint_value))
- for joint_name, joint_value in dict(pose["joint_values"]).items()
- },
- }
- for pose in poses
- ],
- }
-
-
-def _urdf_root_element(
- *,
- links: tuple[dict[str, object], ...] = URDF_LINKS,
- joints: tuple[dict[str, object], ...] = URDF_JOINTS,
- robot_name: str = "tom",
- source_name: str = "tom.py",
-) -> ET.Element:
- root = _xml("robot", {"name": robot_name})
- root.append(ET.Comment(f" Generated by {source_name} for CAD Explorer and external URDF consumers. "))
- root.append(
- ET.Comment(
- " Link inertials use STS3250 mass 74.5 g and STS3215 mass 55 g from Feetech, HFS5-2020 profile "
- "mass 0.5 kg/m from MISUMI, 5052-H32 density 0.097 lb/in^3 from "
- "SendCutSend, and Robonine gripper assembly mass 250 g distributed "
- "across generated gripper mesh volume estimates. Arm joint effort "
- "uses each servo family's rated torque: STS3250 16 kg-cm "
- "and STS3215 10 kg-cm at 12 V. "
- )
- )
- used_material_names = sorted(
- {
- material_name
- for link in links
- for visual in link.get("visuals", ())
- if (material_name := _urdf_visual_material_name(visual))
- }
- )
- for material_name in used_material_names:
- rgba = URDF_MATERIALS[material_name]
- root.append(
- _xml(
- "material",
- {"name": material_name},
- (_xml("color", {"rgba": _urdf_rgba_text(rgba)}),),
- )
- )
- for link in links:
- root.append(_urdf_link_element(link))
- root.append(
- ET.Comment(
- " Joint frames use the horn-center line resolved from "
- "@cad[STEP/imports/sts3250#o1.4.f2,o1.5.f3]. "
- )
- )
- for joint in joints:
- root.append(_urdf_joint_element(joint))
- return root
-
-
-def _serialize_urdf(root: ET.Element) -> str:
- ET.indent(root, space=" ")
- return '\n' + ET.tostring(root, encoding="unicode")
-
-
-def _assembly_instances() -> list[dict[str, object]]:
- instances = []
- for instance in ASSEMBLY_INSTANCES:
- step_path = PurePosixPath(str(instance["path"])).as_posix()
- instances.append(
- {
- "path": step_path,
- "name": str(instance["name"]),
- "transform": [float(value) for value in instance["transform"]],
- "use_source_colors": step_path in PRESERVE_SOURCE_COLOR_STEP_PATHS,
- }
- )
- return instances
-
-
-def _assembly_children() -> list[dict[str, object]]:
- source_instances = _assembly_instances()
- source_by_name = {str(instance["name"]): instance for instance in source_instances}
- missing_anchors = [
- str(spec["anchor_instance_name"])
- for spec in ROBOT_ARM_LINK_ASSEMBLIES
- if str(spec["anchor_instance_name"]) not in source_by_name
- ]
- if missing_anchors:
- raise RuntimeError(f"Missing robot arm link assembly anchors: {missing_anchors!r}")
-
- children = []
- consumed_instance_names = set(REMOVED_ROBOT_ARM_INSTANCE_NAMES)
- downstream_offset_xyz_mm = (0.0, 0.0, 0.0)
- for link_spec in ROBOT_ARM_LINK_ASSEMBLIES:
- anchor = source_by_name[str(link_spec["anchor_instance_name"])]
- child_transform = _translate_transform_world_offset(
- _standard_ground_top_level_transform(
- anchor["transform"],
- y_offset_mm=float(link_spec["top_level_y_offset_mm"]),
- ),
- downstream_offset_xyz_mm,
- )
- children.append(
- {
- "path": str(link_spec["path"]),
- "name": str(link_spec["name"]),
- "transform": child_transform,
- "use_source_colors": True,
- }
- )
- consumed_instance_names.update(link_spec["instance_names"])
- if str(link_spec["name"]) in {"shoulder_roll_link", "elbow_roll_link"}:
- local_z_world = _transform_local_axis_world_vector(child_transform, axis="z")
- downstream_offset_xyz_mm = (
- downstream_offset_xyz_mm[0] + (local_z_world[0] * ROLL_LINK_SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM),
- downstream_offset_xyz_mm[1] + (local_z_world[1] * ROLL_LINK_SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM),
- downstream_offset_xyz_mm[2] + (local_z_world[2] * ROLL_LINK_SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM),
- )
-
- for instance in source_instances:
- instance_name = str(instance["name"])
- if instance_name in consumed_instance_names:
- continue
- child_transform = _standard_ground_top_level_transform(
- instance["transform"],
- y_offset_mm=BASE_LINK_STS3250_SOURCE_Y_OFFSET_MM,
- )
- if instance_name == "parallel_gripper":
- child_transform = _translate_transform_world_offset(child_transform, downstream_offset_xyz_mm)
- children.append(
- {
- **instance,
- "transform": child_transform,
- }
- )
- return children
-
-
-def _assembly_instance_by_name() -> dict[str, dict[str, object]]:
- instances = _assembly_instances()
- by_name = {str(instance["name"]): instance for instance in instances}
- if len(by_name) != len(instances):
- raise RuntimeError("assembly instance names must be unique")
- return by_name
-
-
-def _urdf_rgba_text(rgba: tuple[float, float, float, float]) -> str:
- return " ".join(f"{float(value):.6f}".rstrip("0").rstrip(".") for value in rgba)
-
-
-def _urdf_visual_material_name(visual: dict[str, object]) -> str:
- if str(_urdf_mesh_filename_for_entry(visual)).lower().endswith(".3mf"):
- return ""
- material_name = visual.get("material")
- if material_name is not None:
- return str(material_name)
- if "instance_name" not in visual:
- return ""
- by_name = _assembly_instance_by_name()
- instance_name = str(visual["instance_name"])
- try:
- instance = by_name[instance_name]
- except KeyError as exc:
- raise RuntimeError(f"URDF visual references missing assembly instance {instance_name!r}") from exc
- step_path = PurePosixPath(str(instance["path"])).as_posix()
- return URDF_STEP_MATERIALS.get(step_path, "")
-
-
-def _urdf_mesh_filename(instance_name: str) -> str:
- by_name = _assembly_instance_by_name()
- try:
- instance = by_name[instance_name]
- except KeyError as exc:
- raise RuntimeError(f"URDF visual references missing assembly instance {instance_name!r}") from exc
- step_path = PurePosixPath(str(instance["path"]))
- if step_path.suffix.lower() != ".step":
- raise RuntimeError(f"URDF visual instance {instance_name!r} does not reference a .step file")
- return f"3MF/{step_path.stem}.3mf"
-
-
-ROBOT_ARM_MOTION_JOINT_NAMES = [
- "base_yaw",
- "shoulder_pitch",
- "shoulder_roll",
- "elbow_pitch",
- "elbow_roll",
- "wrist_pitch",
- "wrist_roll",
-]
-
-ROBOT_ARM_MOTION_DISABLED_COLLISION_PAIRS = (
- ("wrist_pitch_link", "gripper_base_link"),
- ("elbow_pitch_link", "shoulder_roll_link"),
-)
-
-ROBOT_ARM_SRDF_INSPECTION_ARM_GROUP_STATE_DEG = {
- "base_yaw": 45.0,
- "shoulder_pitch": -27.0,
- "shoulder_roll": -53.001,
- "elbow_pitch": 3.0,
- "elbow_roll": 29.969,
- "wrist_pitch": 58.004,
- "wrist_roll": -56.0,
-}
-
-ROBOT_ARM_SRDF_INSPECTION_MIRRORED_ARM_GROUP_STATE_DEG = {
- "base_yaw": 45.0,
- "shoulder_pitch": -27.0,
- "shoulder_roll": 53.001,
- "elbow_pitch": 3.0,
- "elbow_roll": -29.969,
- "wrist_pitch": 58.004,
- "wrist_roll": 56.0,
-}
-
-ROBOT_ARM_SRDF_ARM_GROUP_STATES_DEG = (
- (
- "home",
- {
- "base_yaw": 0.0,
- "shoulder_pitch": 0.0,
- "shoulder_roll": 0.0,
- "elbow_pitch": 0.0,
- "elbow_roll": 0.0,
- "wrist_pitch": 0.0,
- "wrist_roll": 0.0,
- },
- ),
- (
- "reach_forward",
- {
- "base_yaw": 0.0,
- "shoulder_pitch": 60.0,
- "shoulder_roll": 0.0,
- "elbow_pitch": -90.0,
- "elbow_roll": 0.0,
- "wrist_pitch": 30.0,
- "wrist_roll": 0.0,
- },
- ),
- (
- "inspection",
- ROBOT_ARM_SRDF_INSPECTION_ARM_GROUP_STATE_DEG,
- ),
- (
- "inspection_mirrored",
- ROBOT_ARM_SRDF_INSPECTION_MIRRORED_ARM_GROUP_STATE_DEG,
- ),
-)
-
-ROBOT_ARM_SRDF_ARM_WITH_GRIPPER_GROUP_STATES_DEG = ()
-
-ROBOT_ARM_SRDF_GRIPPER_GROUP_STATES_RAD = (
- ("open", {"gripper_servo": 0.0}),
- ("half_closed", {"gripper_servo": GRIPPER_SERVO_CLOSE_RAD * 0.5}),
- ("closed", {"gripper_servo": GRIPPER_SERVO_CLOSE_RAD}),
-)
-
-
-def _joint_degrees_to_radians(joint_values_deg: dict[str, float]) -> dict[str, float]:
- return {
- joint_name: math.radians(float(value_deg))
- for joint_name, value_deg in joint_values_deg.items()
- }
-
-
-def _srdf_group_state_element(
- *,
- name: str,
- group: str,
- joint_values_rad: dict[str, float],
-) -> ET.Element:
- return _xml(
- "group_state",
- {"name": name, "group": group},
- tuple(
- _xml("joint", {"name": joint_name, "value": _urdf_numeric_text(value_rad)})
- for joint_name, value_rad in joint_values_rad.items()
- ),
- )
-
-
-def _srdf_adjacent_collision_pairs() -> tuple[tuple[str, str], ...]:
- pairs = []
- seen: set[tuple[str, str]] = set()
- for joint in URDF_JOINTS:
- parent = str(joint["parent"])
- child = str(joint["child"])
- if "base_footprint" in {parent, child}:
- continue
- key = tuple(sorted((parent, child)))
- if key in seen:
- continue
- seen.add(key)
- pairs.append((parent, child))
- return tuple(pairs)
-
-
-def _srdf_root_element(*, robot_name: str = "tom") -> ET.Element:
- root = _xml("robot", {"name": robot_name})
- root.append(ET.Comment(" Generated by tom.py for MoveIt2 and CAD Viewer test poses. "))
- root.append(
- _xml(
- "virtual_joint",
- {
- "name": "fixed_base",
- "type": "fixed",
- "parent_frame": "world",
- "child_link": "base_footprint",
- },
- )
- )
-
- arm_group = _xml("group", {"name": "arm"})
- arm_group.append(_xml("chain", {"base_link": "base_link", "tip_link": "wrist_roll_link"}))
- root.append(arm_group)
-
- tcp_group = _xml("group", {"name": "tcp"})
- tcp_group.append(_xml("link", {"name": "gripper_base_link"}))
- root.append(tcp_group)
-
- gripper_group = _xml("group", {"name": "gripper"})
- gripper_group.append(_xml("joint", {"name": "gripper_servo"}))
- root.append(gripper_group)
-
- arm_with_gripper_group = _xml("group", {"name": "arm_with_gripper"})
- arm_with_gripper_group.append(_xml("group", {"name": "arm"}))
- arm_with_gripper_group.append(_xml("group", {"name": "gripper"}))
- root.append(arm_with_gripper_group)
-
- root.append(
- _xml(
- "end_effector",
- {
- "name": "gripper_tcp",
- "parent_link": "wrist_roll_link",
- "group": "tcp",
- "parent_group": "arm",
- },
- )
- )
-
- for name, joint_values_deg in ROBOT_ARM_SRDF_ARM_GROUP_STATES_DEG:
- root.append(
- _srdf_group_state_element(
- name=name,
- group="arm",
- joint_values_rad=_joint_degrees_to_radians(joint_values_deg),
- )
- )
- for name, joint_values_rad in ROBOT_ARM_SRDF_GRIPPER_GROUP_STATES_RAD:
- root.append(
- _srdf_group_state_element(
- name=name,
- group="gripper",
- joint_values_rad=joint_values_rad,
- )
- )
- for name, joint_values_deg in ROBOT_ARM_SRDF_ARM_WITH_GRIPPER_GROUP_STATES_DEG:
- root.append(
- _srdf_group_state_element(
- name=name,
- group="arm_with_gripper",
- joint_values_rad=_joint_degrees_to_radians(joint_values_deg),
- )
- )
- for link1, link2 in _srdf_adjacent_collision_pairs():
- root.append(_xml("disable_collisions", {"link1": link1, "link2": link2, "reason": "Adjacent"}))
- return root
-
-ROBOT_ARM_2X_ARM_1_BASE_YAW_DEG = 90.0
-ROBOT_ARM_2X_ARM_2_BASE_YAW_DEG = -90.0
-ROBOT_ARM_2X_BASE_OFFSET_X_M = 0.395
-ROBOT_ARM_2X_HOLDING_HANDS_POSE_JOINT_VALUES = {
- "arm_1_base_yaw": 90,
- "arm_1_shoulder_pitch": 0,
- "arm_1_shoulder_roll": 0,
- "arm_1_elbow_pitch": 90,
- "arm_1_elbow_roll": 0,
- "arm_1_wrist_pitch": 0,
- "arm_1_wrist_roll": -24,
- "arm_1_gripper_servo": 208,
- "arm_2_base_yaw": -90,
- "arm_2_shoulder_pitch": 0,
- "arm_2_shoulder_roll": 0,
- "arm_2_elbow_pitch": 90,
- "arm_2_elbow_roll": 0,
- "arm_2_wrist_pitch": 0,
- "arm_2_wrist_roll": -45,
- "arm_2_gripper_servo": 334.95,
-}
-
-ROBOT_ARM_2X_ARM_SPECS = (
- {
- "name": "arm_1",
- "prefix": "arm_1_",
- "base_origin_xyz": (-ROBOT_ARM_2X_BASE_OFFSET_X_M, 0.0, 0.0),
- "base_origin_rpy": (0.0, 0.0, 0.0),
- "default_joint_degrees": {"base_yaw": ROBOT_ARM_2X_ARM_1_BASE_YAW_DEG},
- },
- {
- "name": "arm_2",
- "prefix": "arm_2_",
- "base_origin_xyz": (ROBOT_ARM_2X_BASE_OFFSET_X_M, 0.0, 0.0),
- "base_origin_rpy": (0.0, 0.0, 0.0),
- "default_joint_degrees": {"base_yaw": ROBOT_ARM_2X_ARM_2_BASE_YAW_DEG},
- },
-)
-
-ROBOT_ARM_2X_MOTION_JOINT_NAMES = [
- f"{spec['prefix']}{joint_name}"
- for spec in ROBOT_ARM_2X_ARM_SPECS
- for joint_name in ROBOT_ARM_MOTION_JOINT_NAMES
-]
-
-
-def _urdf_xyz_values(text: str) -> tuple[float, float, float]:
- values = tuple(float(value) for value in text.split())
- if len(values) != 3:
- raise RuntimeError(f"URDF xyz value must have exactly 3 components: {text!r}")
- return values
-
-
-def _urdf_xyz_text(values: tuple[float, float, float]) -> str:
- return " ".join(_urdf_numeric_text(value) for value in values)
-
-
-def _prefixed_robot_arm_link(link: dict[str, object], *, prefix: str) -> dict[str, object]:
- prefixed = deepcopy(link)
- prefixed["name"] = f"{prefix}{link['name']}"
- return prefixed
-
-
-def _prefixed_robot_arm_joint(
- joint: dict[str, object],
- *,
- prefix: str,
- base_origin_xyz: tuple[float, float, float],
- base_origin_rpy: tuple[float, float, float],
- default_joint_degrees: dict[str, float],
-) -> dict[str, object]:
- prefixed = deepcopy(joint)
- parent_name = str(joint["parent"])
- child_name = str(joint["child"])
- joint_name = str(joint["name"])
- prefixed["name"] = f"{prefix}{joint['name']}"
- prefixed["parent"] = "base_footprint" if parent_name == "base_footprint" else f"{prefix}{parent_name}"
- prefixed["child"] = f"{prefix}{child_name}"
- if parent_name == "base_footprint":
- prefixed["origin_xyz"] = _urdf_xyz_text(base_origin_xyz)
- prefixed["origin_rpy"] = _urdf_xyz_text(base_origin_rpy)
- if joint_name in default_joint_degrees:
- attrs = dict(prefixed.get("attrs", {}))
- attrs["default_deg"] = _urdf_numeric_text(float(default_joint_degrees[joint_name]))
- prefixed["attrs"] = attrs
- if "mimic" in prefixed:
- mimic = dict(prefixed["mimic"])
- mimic["joint"] = f"{prefix}{mimic['joint']}"
- prefixed["mimic"] = mimic
- return prefixed
-
-
-def _robot_arm_2x_links() -> tuple[dict[str, object], ...]:
- links = [{"name": "base_footprint"}]
- for spec in ROBOT_ARM_2X_ARM_SPECS:
- prefix = str(spec["prefix"])
- links.extend(
- _prefixed_robot_arm_link(link, prefix=prefix)
- for link in URDF_LINKS
- if str(link["name"]) != "base_footprint"
- )
- return tuple(links)
-
-
-def _robot_arm_2x_joints() -> tuple[dict[str, object], ...]:
- joints = []
- for spec in ROBOT_ARM_2X_ARM_SPECS:
- prefix = str(spec["prefix"])
- base_origin_xyz = tuple(float(value) for value in spec["base_origin_xyz"])
- base_origin_rpy = tuple(float(value) for value in spec["base_origin_rpy"])
- default_joint_degrees = {
- str(name): float(value)
- for name, value in dict(spec.get("default_joint_degrees", {})).items()
- }
- joints.extend(
- _prefixed_robot_arm_joint(
- joint,
- prefix=prefix,
- base_origin_xyz=base_origin_xyz,
- base_origin_rpy=base_origin_rpy,
- default_joint_degrees=default_joint_degrees,
- )
- for joint in URDF_JOINTS
- )
- return tuple(joints)
-
-
-def _explorer_pose_by_name(name: str) -> dict[str, object]:
- for pose in EXPLORER_POSES:
- if str(pose["name"]) == name:
- return pose
- raise RuntimeError(f"Missing explorer pose {name!r}")
-
-
-def _robot_arm_2x_default_joint_values() -> dict[str, object]:
- joint_values = {}
- home_pose = _explorer_pose_by_name("home")
- for spec in ROBOT_ARM_2X_ARM_SPECS:
- prefix = str(spec["prefix"])
- base_yaw_degrees = float(dict(spec.get("default_joint_degrees", {})).get("base_yaw", 0.0))
- joint_values.update(
- {
- f"{prefix}{joint_name}": (
- float(joint_value) + base_yaw_degrees
- if str(joint_name) == "base_yaw"
- else joint_value
- )
- for joint_name, joint_value in dict(home_pose["joint_values"]).items()
- }
- )
- return joint_values
-
-
-def _robot_arm_2x_explorer_pose(
- pose: dict[str, object],
-) -> dict[str, object]:
- joint_values = {}
- pose_joint_values = dict(pose["joint_values"])
- for spec in ROBOT_ARM_2X_ARM_SPECS:
- prefix = str(spec["prefix"])
- base_yaw_degrees = float(dict(spec.get("default_joint_degrees", {})).get("base_yaw", 0.0))
- joint_values.update(
- {
- f"{prefix}{joint_name}": (
- float(joint_value) + base_yaw_degrees
- if str(joint_name) == "base_yaw"
- else joint_value
- )
- for joint_name, joint_value in pose_joint_values.items()
- }
- )
- return {
- "name": str(pose["name"]),
- "joint_values": joint_values,
- }
-
-
-def _robot_arm_2x_explorer_poses() -> tuple[dict[str, object], ...]:
- return (
- *(_robot_arm_2x_explorer_pose(pose) for pose in EXPLORER_POSES),
- {
- "name": "holding_hands",
- "joint_values": ROBOT_ARM_2X_HOLDING_HANDS_POSE_JOINT_VALUES,
- },
- )
-
-
-def _prefixed_disabled_collision_pairs(*, prefix: str) -> list[list[str]]:
- return [
- [f"{prefix}{left}", f"{prefix}{right}"]
- for left, right in ROBOT_ARM_MOTION_DISABLED_COLLISION_PAIRS
- ]
-
-
-def _robot_arm_2x_disabled_collision_pairs() -> list[list[str]]:
- pairs = []
- for spec in ROBOT_ARM_2X_ARM_SPECS:
- pairs.extend(_prefixed_disabled_collision_pairs(prefix=str(spec["prefix"])))
- return pairs
-
-
-def _robot_arm_2x_motion_joint_names(*, prefix: str) -> list[str]:
- return [f"{prefix}{joint_name}" for joint_name in ROBOT_ARM_MOTION_JOINT_NAMES]
-
-
-def _robot_arm_2x_motion_planning_groups() -> list[dict[str, object]]:
- return [
- {
- "name": str(spec["name"]),
- "jointNames": _robot_arm_2x_motion_joint_names(prefix=str(spec["prefix"])),
- }
- for spec in ROBOT_ARM_2X_ARM_SPECS
- ]
-
-
-def _robot_arm_2x_default_motion_joint_values_rad(*, prefix: str) -> dict[str, float]:
- default_joint_values = _robot_arm_2x_default_joint_values()
- return {
- name: math.radians(float(default_joint_values[name]))
- for name in _robot_arm_2x_motion_joint_names(prefix=prefix)
- }
-
-
-def robot_arm_assembly_children() -> list[dict[str, object]]:
- return _assembly_children()
-
-
-def robot_arm_step_envelope() -> dict[str, object]:
- return {
- "children": robot_arm_assembly_children(),
- }
-
-
-def robot_arm_urdf_envelope(*, urdf_output: str = "tom.urdf") -> dict[str, object]:
- return {
- "xml": _serialize_urdf(_urdf_root_element()),
- "urdf_output": urdf_output,
- "explorer_metadata": _urdf_explorer_metadata(),
- }
-
-
-def robot_arm_2x_urdf_envelope(*, urdf_output: str = "robot_arm_2x.urdf") -> dict[str, object]:
- links = _robot_arm_2x_links()
- joints = _robot_arm_2x_joints()
- return {
- "xml": _serialize_urdf(
- _urdf_root_element(
- links=links,
- joints=joints,
- robot_name="robot_arm_2x",
- source_name="robot_arm_2x_urdf.py",
- )
- ),
- "urdf_output": urdf_output,
- "explorer_metadata": _urdf_explorer_metadata(
- joints=joints,
- poses=_robot_arm_2x_explorer_poses(),
- ),
- }
-
-
-def robot_arm_srdf_envelope(*, urdf: str = "tom.urdf") -> dict[str, object]:
- return {
- "xml": _serialize_urdf(_srdf_root_element()),
- "urdf": urdf,
- }
-
-
-def robot_arm_motion_envelope(*, urdf: str = "tom.urdf") -> dict[str, object]:
- return {
- "urdf": urdf,
- "provider": "moveit_py",
- "commands": ["urdf.solvePose", "urdf.planToPose"],
- "planningGroup": "arm",
- "jointNames": ROBOT_ARM_MOTION_JOINT_NAMES,
- "endEffectors": [
- {
- "name": "gripper",
- "link": "gripper_base_link",
- "frame": "base_link",
- "parentLink": "wrist_roll_link",
- "positionTolerance": 0.002,
- }
- ],
- "planner": {
- "pipeline": "ompl",
- "plannerId": "RRTConnectkConfigDefault",
- "planningTime": 1.0,
- },
- "disabledCollisionPairs": [list(pair) for pair in ROBOT_ARM_MOTION_DISABLED_COLLISION_PAIRS],
- "groupStates": [
- {
- "name": name,
- "jointValuesByNameRad": {
- joint_name: joint_values_rad[joint_name]
- for joint_name in ROBOT_ARM_MOTION_JOINT_NAMES
- },
- }
- for name, joint_values_deg in ROBOT_ARM_SRDF_ARM_GROUP_STATES_DEG
- for joint_values_rad in (_joint_degrees_to_radians(joint_values_deg),)
- ],
- }
-
-
-def robot_arm_2x_motion_envelope(*, urdf: str = "robot_arm_2x.urdf") -> dict[str, object]:
- default_group = str(ROBOT_ARM_2X_ARM_SPECS[0]["name"])
- default_prefix = str(ROBOT_ARM_2X_ARM_SPECS[0]["prefix"])
- return {
- "urdf": urdf,
- "provider": "moveit_py",
- "commands": ["urdf.solvePose", "urdf.planToPose"],
- "planningGroup": default_group,
- "jointNames": _robot_arm_2x_motion_joint_names(prefix=default_prefix),
- "planningGroups": _robot_arm_2x_motion_planning_groups(),
- "endEffectors": [
- {
- "name": f"{spec['name']}_gripper",
- "link": f"{spec['prefix']}gripper_base_link",
- "frame": f"{spec['prefix']}base_link",
- "parentLink": f"{spec['prefix']}wrist_roll_link",
- "planningGroup": str(spec["name"]),
- "jointNames": _robot_arm_2x_motion_joint_names(prefix=str(spec["prefix"])),
- "positionTolerance": 0.002,
- }
- for spec in ROBOT_ARM_2X_ARM_SPECS
- ],
- "planner": {
- "pipeline": "ompl",
- "plannerId": "RRTConnectkConfigDefault",
- "planningTime": 1.0,
- },
- "disabledCollisionPairs": _robot_arm_2x_disabled_collision_pairs(),
- "groupStates": [
- {
- "name": "home",
- "planningGroup": str(spec["name"]),
- "jointValuesByNameRad": _robot_arm_2x_default_motion_joint_values_rad(prefix=str(spec["prefix"])),
- }
- for spec in ROBOT_ARM_2X_ARM_SPECS
- ],
- }
diff --git a/models/robots/tom/robot_common/step_import.py b/models/robots/tom/robot_common/step_import.py
deleted file mode 100644
index 43c25a5d..00000000
--- a/models/robots/tom/robot_common/step_import.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from __future__ import annotations
-
-from pathlib import Path
-
-import build123d
-
-
-def _compound_from_shapes(
- shapes: list[build123d.Shape],
- *,
- label: str = "",
-) -> build123d.Compound:
- return build123d.Compound(obj=shapes, children=shapes, label=label)
-
-
-def import_as_shape(step_path: Path) -> build123d.Shape:
- imported = build123d.import_step(step_path)
- solids = imported.solids()
- if solids:
- return _compound_from_shapes(solids)
-
- if isinstance(imported, build123d.Shape):
- return imported
-
- if not imported.children:
- raise RuntimeError(f"No CAD shapes found in {step_path}")
- return _compound_from_shapes(imported.children)
diff --git a/models/robots/tom/v1/.tom.step.glb b/models/robots/tom/v1/.tom.step.glb
deleted file mode 100644
index 8fdd9133..00000000
--- a/models/robots/tom/v1/.tom.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7f0668093bb0ca1fd4af4adc3677b802d4f7b469a730da68f83bce0feda865cf
-size 34586788
diff --git a/models/robots/tom/v1/3MF/base_clamp.3mf b/models/robots/tom/v1/3MF/base_clamp.3mf
deleted file mode 100644
index a1d2e35b..00000000
--- a/models/robots/tom/v1/3MF/base_clamp.3mf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5f14c94226a85e85725599fa2ccde838fdcf81312657ccdbdbd3e915839bee10
-size 16127
diff --git a/models/robots/tom/v1/3MF/base_plate.3mf b/models/robots/tom/v1/3MF/base_plate.3mf
deleted file mode 100644
index dd7a0b46..00000000
--- a/models/robots/tom/v1/3MF/base_plate.3mf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f2fcaacf4da98988cb3605022cdd7f5690c59371713d92c55c4eff82bcbcfd24
-size 10096
diff --git a/models/robots/tom/v1/3MF/extrusion_bracket_2020.3mf b/models/robots/tom/v1/3MF/extrusion_bracket_2020.3mf
deleted file mode 100644
index 4964c7a6..00000000
--- a/models/robots/tom/v1/3MF/extrusion_bracket_2020.3mf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:050c3a2bddecca375212f45792d6c5714de3c6fecf2815c1419d60159c8845de
-size 11913
diff --git a/models/robots/tom/v1/3MF/gripper_left_claw.3mf b/models/robots/tom/v1/3MF/gripper_left_claw.3mf
deleted file mode 100644
index e7a32695..00000000
--- a/models/robots/tom/v1/3MF/gripper_left_claw.3mf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7cbffd50496caa60895ffad0087c1a612d3a7bad8de86c77aff9fe609b38de6d
-size 65609
diff --git a/models/robots/tom/v1/3MF/gripper_right_claw.3mf b/models/robots/tom/v1/3MF/gripper_right_claw.3mf
deleted file mode 100644
index 0c2049b9..00000000
--- a/models/robots/tom/v1/3MF/gripper_right_claw.3mf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
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--- a/models/robots/tom/v1/3MF/servo_end_mount.3mf
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--- a/models/robots/tom/v1/3MF/servo_horn_yoke.3mf
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--- a/models/robots/tom/v1/DXF/base_clamp.dxf
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deleted file mode 100644
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--- a/models/robots/tom/v1/DXF/servo_end_mount.dxf
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deleted file mode 100644
index 0f0acff6..00000000
--- a/models/robots/tom/v1/assemblies/.base_link.step.glb
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deleted file mode 100644
index d074c498..00000000
--- a/models/robots/tom/v1/assemblies/.elbow_roll_link.step.glb
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diff --git a/models/robots/tom/v1/assemblies/.pitch_link_sts3215.step.glb b/models/robots/tom/v1/assemblies/.pitch_link_sts3215.step.glb
deleted file mode 100644
index 4c527907..00000000
--- a/models/robots/tom/v1/assemblies/.pitch_link_sts3215.step.glb
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diff --git a/models/robots/tom/v1/assemblies/.pitch_link_sts3250.step.glb b/models/robots/tom/v1/assemblies/.pitch_link_sts3250.step.glb
deleted file mode 100644
index f0a3cb3e..00000000
--- a/models/robots/tom/v1/assemblies/.pitch_link_sts3250.step.glb
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deleted file mode 100644
index b8a9cd34..00000000
--- a/models/robots/tom/v1/assemblies/.shoulder_roll_link.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 3261028
diff --git a/models/robots/tom/v1/assemblies/.shoulder_yaw_link.step.glb b/models/robots/tom/v1/assemblies/.shoulder_yaw_link.step.glb
deleted file mode 100644
index b8aaa8bf..00000000
--- a/models/robots/tom/v1/assemblies/.shoulder_yaw_link.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cc622639a1bbe8242b8ffe7970a89ba98fe8082ff556d2cf0cc296142534982c
-size 3648636
diff --git a/models/robots/tom/v1/assemblies/base_link.py b/models/robots/tom/v1/assemblies/base_link.py
deleted file mode 100644
index d7678a33..00000000
--- a/models/robots/tom/v1/assemblies/base_link.py
+++ /dev/null
@@ -1,44 +0,0 @@
-from __future__ import annotations
-
-
-SOURCE_REF = "@cad[STEP/robot_arm#o1.19]"
-
-BASE_PLATE_BOTTOM_Y_MM = -32.9752
-BASE_PLATE_TOP_Y_MM = -29.8002
-BASE_LINK_FLOOR_Y_OFFSET_MM = -BASE_PLATE_BOTTOM_Y_MM
-STS3250_BASE_PLATE_FACE_LOCAL_Y_MM = -27.4
-STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM = (
- BASE_PLATE_TOP_Y_MM
- - STS3250_BASE_PLATE_FACE_LOCAL_Y_MM
-)
-
-STS3250_BASE_PLATE_TRANSFORM = [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, BASE_LINK_FLOOR_Y_OFFSET_MM + STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-BASE_PLATE_TRANSFORM = [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, BASE_LINK_FLOOR_Y_OFFSET_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250_3",
- "transform": STS3250_BASE_PLATE_TRANSFORM,
- },
- {
- "path": "../parts/base_plate.step",
- "name": "base_plate",
- "transform": BASE_PLATE_TRANSFORM,
- },
- ],
- }
diff --git a/models/robots/tom/v1/assemblies/base_link.step b/models/robots/tom/v1/assemblies/base_link.step
deleted file mode 100644
index e3600e72..00000000
--- a/models/robots/tom/v1/assemblies/base_link.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b6655c5419185aee436de6dc130a2f6da08bc2d1d27f65da1c36c0a84269413b
-size 2499702
diff --git a/models/robots/tom/v1/assemblies/elbow_roll_link.py b/models/robots/tom/v1/assemblies/elbow_roll_link.py
deleted file mode 100644
index 45bf4917..00000000
--- a/models/robots/tom/v1/assemblies/elbow_roll_link.py
+++ /dev/null
@@ -1,47 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from v1.assemblies.robot_arm_link_common import (
- rebased_robot_arm_instances,
- translated_instances,
-)
-
-
-SOURCE_REF = "@cad[STEP/robot_arm#o1.11,o1.12,o1.13,o1.14,o1.15]"
-ANCHOR_INSTANCE_NAME = "quinary_servo_2020_connector"
-EXTRACTED_INSTANCE_NAMES = (
- "quinary_servo_2020_connector",
- "quinary_servo_hfs5_2020",
- "quinary_servo_end_bracket",
- "senary_servo_end_mount",
- "sts3215_6",
-)
-SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM = 2.7308
-SERVO_END_MOUNT_INSTANCE_NAMES = frozenset(
- {
- "senary_servo_end_mount",
- "sts3215_6",
- }
-)
-
-
-def gen_step() -> dict[str, object]:
- instances = rebased_robot_arm_instances(
- source_ref=SOURCE_REF,
- anchor_instance_name=ANCHOR_INSTANCE_NAME,
- extracted_instance_names=EXTRACTED_INSTANCE_NAMES,
- )
- return {
- "instances": translated_instances(
- instances,
- names=SERVO_END_MOUNT_INSTANCE_NAMES,
- vector_xyz=(0.0, 0.0, 1.0),
- distance_mm=SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM,
- ),
- }
diff --git a/models/robots/tom/v1/assemblies/elbow_roll_link.step b/models/robots/tom/v1/assemblies/elbow_roll_link.step
deleted file mode 100644
index 1edf7854..00000000
--- a/models/robots/tom/v1/assemblies/elbow_roll_link.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:af32ba6e66cd88ceccfa5455d2a9d945c4b5e1c0fde22de078be5904b7db9790
-size 22535991
diff --git a/models/robots/tom/v1/assemblies/pitch_link_sts3215.py b/models/robots/tom/v1/assemblies/pitch_link_sts3215.py
deleted file mode 100644
index dfd0f9e6..00000000
--- a/models/robots/tom/v1/assemblies/pitch_link_sts3215.py
+++ /dev/null
@@ -1,40 +0,0 @@
-from __future__ import annotations
-
-
-YOKE_PLATE_FACE_X_MM = -57.5
-STS3215_YOKE_PLATE_FACE_LOCAL_Y_MM = -27.4
-
-STS3215_TRANSFORM = [
- 0.0,
- -1.0,
- 0.0,
- (
- YOKE_PLATE_FACE_X_MM
- + STS3215_YOKE_PLATE_FACE_LOCAL_Y_MM
- ),
- 1.0, 0.0, 0.0, 16.4,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
- ],
- },
- {
- "path": "../parts/imports/sts3215.step",
- "name": "sts3215",
- "transform": STS3215_TRANSFORM,
- },
- ],
- }
diff --git a/models/robots/tom/v1/assemblies/pitch_link_sts3215.step b/models/robots/tom/v1/assemblies/pitch_link_sts3215.step
deleted file mode 100644
index e4167d43..00000000
--- a/models/robots/tom/v1/assemblies/pitch_link_sts3215.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9e9abf3ac5cc6312a1b1757e4c2c4097d09555222b97df30ade66a0ca73c4c82
-size 22241228
diff --git a/models/robots/tom/v1/assemblies/pitch_link_sts3250.py b/models/robots/tom/v1/assemblies/pitch_link_sts3250.py
deleted file mode 100644
index 1eefcf0c..00000000
--- a/models/robots/tom/v1/assemblies/pitch_link_sts3250.py
+++ /dev/null
@@ -1,40 +0,0 @@
-from __future__ import annotations
-
-
-YOKE_PLATE_FACE_X_MM = -57.5
-STS3250_YOKE_PLATE_FACE_LOCAL_Y_MM = -27.4
-
-STS3250_TRANSFORM = [
- 0.0,
- -1.0,
- 0.0,
- (
- YOKE_PLATE_FACE_X_MM
- + STS3250_YOKE_PLATE_FACE_LOCAL_Y_MM
- ),
- 1.0, 0.0, 0.0, 16.4,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
- ],
- },
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250",
- "transform": STS3250_TRANSFORM,
- },
- ],
- }
diff --git a/models/robots/tom/v1/assemblies/pitch_link_sts3250.step b/models/robots/tom/v1/assemblies/pitch_link_sts3250.step
deleted file mode 100644
index 5d3b0c12..00000000
--- a/models/robots/tom/v1/assemblies/pitch_link_sts3250.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5cc6af5fca5f345655e28ead6bd27ed9f7bfc3d7c51722f178034ba12c25e85b
-size 2726671
diff --git a/models/robots/tom/v1/assemblies/robot_arm_link_common.py b/models/robots/tom/v1/assemblies/robot_arm_link_common.py
deleted file mode 100644
index 47c88362..00000000
--- a/models/robots/tom/v1/assemblies/robot_arm_link_common.py
+++ /dev/null
@@ -1,112 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-from pathlib import PurePosixPath
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common import robot_arm
-
-
-def _matrix(transform: list[float]) -> list[list[float]]:
- return [transform[index : index + 4] for index in range(0, 16, 4)]
-
-
-def _flatten(matrix: list[list[float]]) -> list[float]:
- return [value for row in matrix for value in row]
-
-
-def _matmul(left: list[list[float]], right: list[list[float]]) -> list[list[float]]:
- return [
- [
- sum(left[row][inner] * right[inner][col] for inner in range(4))
- for col in range(4)
- ]
- for row in range(4)
- ]
-
-
-def _invert_rigid_transform(transform: list[float]) -> list[list[float]]:
- matrix = _matrix(transform)
- rotation = [row[:3] for row in matrix[:3]]
- translation = [matrix[row][3] for row in range(3)]
- inverse_rotation = [[rotation[col][row] for col in range(3)] for row in range(3)]
- inverse_translation = [
- -sum(inverse_rotation[row][col] * translation[col] for col in range(3))
- for row in range(3)
- ]
- return [
- [*inverse_rotation[0], inverse_translation[0]],
- [*inverse_rotation[1], inverse_translation[1]],
- [*inverse_rotation[2], inverse_translation[2]],
- [0.0, 0.0, 0.0, 1.0],
- ]
-
-
-def _relative_step_path(path: str) -> str:
- step_path = PurePosixPath(path)
- if step_path.parts and step_path.parts[0] in {"imports", "gripper"}:
- return (PurePosixPath("..") / "parts" / step_path).as_posix()
- if step_path.parts and step_path.parts[0] == "assemblies":
- return (PurePosixPath("..") / step_path).as_posix()
- return (PurePosixPath("..") / "parts" / step_path.name).as_posix()
-
-
-def translated_instances(
- instances: list[dict[str, object]],
- *,
- names: frozenset[str],
- vector_xyz: tuple[float, float, float],
- distance_mm: float,
-) -> list[dict[str, object]]:
- translated: list[dict[str, object]] = []
- for instance in instances:
- transform = [float(value) for value in instance["transform"]]
- if str(instance["name"]) in names:
- transform[3] += vector_xyz[0] * distance_mm
- transform[7] += vector_xyz[1] * distance_mm
- transform[11] += vector_xyz[2] * distance_mm
- translated.append({**instance, "transform": transform})
- return translated
-
-
-def rebased_robot_arm_instances(
- *,
- source_ref: str,
- anchor_instance_name: str,
- extracted_instance_names: tuple[str, ...],
-) -> list[dict[str, object]]:
- source_instances = {
- str(instance["name"]): instance
- for instance in robot_arm._assembly_instances()
- }
- missing = [
- name for name in extracted_instance_names if name not in source_instances
- ]
- if missing:
- raise RuntimeError(f"{source_ref} references missing source instances: {missing!r}")
-
- anchor = source_instances[anchor_instance_name]
- anchor_inverse = _invert_rigid_transform(
- [float(value) for value in anchor["transform"]]
- )
-
- instances: list[dict[str, object]] = []
- for name in extracted_instance_names:
- source = source_instances[name]
- relative_transform = _matmul(
- anchor_inverse,
- _matrix([float(value) for value in source["transform"]]),
- )
- instances.append(
- {
- "path": _relative_step_path(str(source["path"])),
- "name": str(source["name"]),
- "transform": _flatten(relative_transform),
- "use_source_colors": bool(source.get("use_source_colors", True)),
- }
- )
- return instances
diff --git a/models/robots/tom/v1/assemblies/shoulder_roll_link.py b/models/robots/tom/v1/assemblies/shoulder_roll_link.py
deleted file mode 100644
index 302cb766..00000000
--- a/models/robots/tom/v1/assemblies/shoulder_roll_link.py
+++ /dev/null
@@ -1,47 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from v1.assemblies.robot_arm_link_common import (
- rebased_robot_arm_instances,
- translated_instances,
-)
-
-
-SOURCE_REF = "@cad[STEP/robot_arm#o1.4,o1.5,o1.6,o1.7,o1.8]"
-ANCHOR_INSTANCE_NAME = "secondary_servo_2020_connector"
-EXTRACTED_INSTANCE_NAMES = (
- "secondary_servo_2020_connector",
- "secondary_servo_hfs5_2020",
- "secondary_servo_end_bracket",
- "quaternary_servo_end_mount",
- "sts3250_4",
-)
-SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM = 2.7308
-SERVO_END_MOUNT_INSTANCE_NAMES = frozenset(
- {
- "quaternary_servo_end_mount",
- "sts3250_4",
- }
-)
-
-
-def gen_step() -> dict[str, object]:
- instances = rebased_robot_arm_instances(
- source_ref=SOURCE_REF,
- anchor_instance_name=ANCHOR_INSTANCE_NAME,
- extracted_instance_names=EXTRACTED_INSTANCE_NAMES,
- )
- return {
- "instances": translated_instances(
- instances,
- names=SERVO_END_MOUNT_INSTANCE_NAMES,
- vector_xyz=(0.0, 0.0, 1.0),
- distance_mm=SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM,
- ),
- }
diff --git a/models/robots/tom/v1/assemblies/shoulder_roll_link.step b/models/robots/tom/v1/assemblies/shoulder_roll_link.step
deleted file mode 100644
index f64a61db..00000000
--- a/models/robots/tom/v1/assemblies/shoulder_roll_link.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:05048892ad27c6e42f4acd73a387ce9daec6a83512109d5c69075450c08976b5
-size 3008817
diff --git a/models/robots/tom/v1/assemblies/shoulder_yaw_link.py b/models/robots/tom/v1/assemblies/shoulder_yaw_link.py
deleted file mode 100644
index d6caccef..00000000
--- a/models/robots/tom/v1/assemblies/shoulder_yaw_link.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from v1.assemblies.robot_arm_link_common import rebased_robot_arm_instances
-
-
-SOURCE_REF = "@cad[STEP/robot_arm#o1.2]"
-ANCHOR_INSTANCE_NAME = "sts3250_1"
-EXTRACTED_INSTANCE_NAMES = (
- "sts3250_1",
- "servo_end_mount",
-)
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": rebased_robot_arm_instances(
- source_ref=SOURCE_REF,
- anchor_instance_name=ANCHOR_INSTANCE_NAME,
- extracted_instance_names=EXTRACTED_INSTANCE_NAMES,
- ),
- }
diff --git a/models/robots/tom/v1/assemblies/shoulder_yaw_link.step b/models/robots/tom/v1/assemblies/shoulder_yaw_link.step
deleted file mode 100644
index 5f0297be..00000000
--- a/models/robots/tom/v1/assemblies/shoulder_yaw_link.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e0eb7caba749f82b62f1e7ff424884658855b65015bdf7212fa4a1ae133dbc51
-size 2601700
diff --git a/models/robots/tom/v1/parts/.base_clamp.step.glb b/models/robots/tom/v1/parts/.base_clamp.step.glb
deleted file mode 100644
index 6be7f029..00000000
--- a/models/robots/tom/v1/parts/.base_clamp.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1e7f8e2c2500f6a32759186b5f0e0968420cb82036b2bd36f7a0ad996359e576
-size 694864
diff --git a/models/robots/tom/v1/parts/.base_plate.step.glb b/models/robots/tom/v1/parts/.base_plate.step.glb
deleted file mode 100644
index 86a591ef..00000000
--- a/models/robots/tom/v1/parts/.base_plate.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0a2058816b11c12a77025f326f389d7e414b1022792652a8e973b2226c52a467
-size 440740
diff --git a/models/robots/tom/v1/parts/.extrusion_bracket_2020.step.glb b/models/robots/tom/v1/parts/.extrusion_bracket_2020.step.glb
deleted file mode 100644
index da872c34..00000000
--- a/models/robots/tom/v1/parts/.extrusion_bracket_2020.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e8ac4efa0103b4b59d7c78f7446c66e50a78fd2130d3e4e960b17d66b2a6c19a
-size 525348
diff --git a/models/robots/tom/v1/parts/.servo_end_mount.step.glb b/models/robots/tom/v1/parts/.servo_end_mount.step.glb
deleted file mode 100644
index 5f7492f1..00000000
--- a/models/robots/tom/v1/parts/.servo_end_mount.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dfbca60ceff9b42adc31cbe0e18a70a37323196ddc4e16c4a02d1d845fdad9a0
-size 558624
diff --git a/models/robots/tom/v1/parts/.servo_horn_yoke.step.glb b/models/robots/tom/v1/parts/.servo_horn_yoke.step.glb
deleted file mode 100644
index 8006e7ee..00000000
--- a/models/robots/tom/v1/parts/.servo_horn_yoke.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6136b17f95f5327732307d3c0124d90a2e1647839d2fe33a885aea07452c48fe
-size 1078356
diff --git a/models/robots/tom/v1/parts/base_clamp.py b/models/robots/tom/v1/parts/base_clamp.py
deleted file mode 100644
index 43301f7b..00000000
--- a/models/robots/tom/v1/parts/base_clamp.py
+++ /dev/null
@@ -1,765 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate a bent base clamp that wraps under the base servo footprint.
-
-The upper plate stays in the servo base frame, a side wall rises from the
-positive-x side, and a lower return closes the U so the part can clamp to a
-desk or fixture from below.
-"""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-import math
-import os
-import sys
-from pathlib import Path
-
-from OCP.BRepFilletAPI import BRepFilletAPI_MakeFillet
-
-V1_DIR = Path(__file__).resolve().parents[1]
-TOM_DIR = V1_DIR.parent
-_CACHE_HOME = V1_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import build123d
-import ezdxf
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-
-DISPLAY_NAME = "Base Clamp"
-PLATE_THICKNESS_MM = 25.4 * 0.125
-SADDLE_FOOTPRINT_X_BUFFER_MM = 2.0
-SIDE_WALL_THICKNESS_MM = PLATE_THICKNESS_MM
-BOOLEAN_OVERLAP_MM = 0.05
-CUT_EXTENSION_MM = 0.5
-CORNER_RADIUS_MM = 3.0
-RETURN_FACE_LENGTH_RATIO = 2.0 / 3.0
-M3_CLEARANCE_RADIUS_MM = 1.6
-BASE_CENTER_HORN_FACE_RADIUS_MM = 2.8
-BASE_CENTER_HORN_FACE_CLEARANCE_BUFFER_MM = 0.25
-BASE_CENTER_HORN_FACE_CLEARANCE_RADIUS_MM = (
- BASE_CENTER_HORN_FACE_RADIUS_MM + BASE_CENTER_HORN_FACE_CLEARANCE_BUFFER_MM
-)
-M8_CLEARANCE_DIAMETER_MM = 8.5
-M8_CLEARANCE_RADIUS_MM = 0.5 * M8_CLEARANCE_DIAMETER_MM
-SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM = 25.4 * 0.125
-SENDCUTSEND_K_FACTOR = 0.44
-SENDCUTSEND_BEND_DEDUCTION_90_MM = 25.4 * 0.216
-SENDCUTSEND_HALF_DIE_WIDTH_MM = 0.5 * (25.4 * 0.630)
-SENDCUTSEND_MIN_FLANGE_FORMED_MM = 25.4 * 0.476
-SENDCUTSEND_MOUNT_HOLE_TO_BEND_BUFFER_MM = 0.1
-
-# Base servo footprint bounds in robot-arm local coordinates.
-SADDLE_BASE_FACE_Y_MM = -29.8002
-SADDLE_BASE_X_MIN_MM = -35.61
-SADDLE_BASE_X_MAX_MM = 6.338516
-SADDLE_BASE_Z_MIN_MM = -15.960226
-SADDLE_BASE_Z_MAX_MM = 15.960224
-
-# 5x M3 lower-horn clearance pattern on the base plate.
-BASE_HORN_CONNECTION_HOLE_SPECS_MM: tuple[tuple[float, float, float], ...] = (
- (-32.5, 0.0, M3_CLEARANCE_RADIUS_MM),
- (-25.5, -7.0, M3_CLEARANCE_RADIUS_MM),
- (-25.5, 0.0, BASE_CENTER_HORN_FACE_CLEARANCE_RADIUS_MM),
- (-25.5, 7.0, M3_CLEARANCE_RADIUS_MM),
- (-18.5, 0.0, M3_CLEARANCE_RADIUS_MM),
-)
-
-# Resolved from:
-# @cad[STEP/imports/sts3250#o1.2.e920,o1.2.e922]
-# @cad[STEP/imports/sts3250#o1.2.e921,o1.2.e923]
-M2_CLEARANCE_RADIUS_MM = 1.1
-BASE_SERVO_M2_HOLE_SPECS_MM: tuple[tuple[float, float, float], ...] = (
- (-17.2, -10.25, M2_CLEARANCE_RADIUS_MM),
- (7.25, -10.25, M2_CLEARANCE_RADIUS_MM),
- (-17.2, 10.25, M2_CLEARANCE_RADIUS_MM),
- (7.25, 10.25, M2_CLEARANCE_RADIUS_MM),
-)
-BASE_ATTACHMENT_HOLES_MM: tuple[tuple[float, float, float], ...] = (
- BASE_HORN_CONNECTION_HOLE_SPECS_MM + BASE_SERVO_M2_HOLE_SPECS_MM
-)
-
-# Resolved from the four PCB spacer hole centers in the original SO-101 bus board.
-SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM: tuple[tuple[float, float], ...] = (
- (2.4930065, 2.4999875),
- (2.4930065, 30.4999925),
- (39.493009, 2.4999875),
- (39.505008000000004, 30.4999925),
-)
-SERVO_BUS_SPACER_CLEARANCE_RADIUS_MM = M3_CLEARANCE_RADIUS_MM
-SERVO_BUS_MOUNT_LOCAL_X_MIN_MM = min(x for x, _y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_X_MAX_MM = max(x for x, _y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_X_CENTER_MM = 0.5 * (SERVO_BUS_MOUNT_LOCAL_X_MIN_MM + SERVO_BUS_MOUNT_LOCAL_X_MAX_MM)
-SERVO_BUS_MOUNT_LOCAL_Y_MIN_MM = min(y for _x, y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_Y_MAX_MM = max(y for _x, y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_Y_CENTER_MM = 0.5 * (SERVO_BUS_MOUNT_LOCAL_Y_MIN_MM + SERVO_BUS_MOUNT_LOCAL_Y_MAX_MM)
-SENDCUTSEND_MIN_HOLE_TO_EDGE_QUOTE_MM = 0.97
-BASE_CLAMP_HOLE_TO_EDGE_BUFFER_MM = 0.53
-BASE_CLAMP_HOLE_TO_EDGE_TARGET_MM = (
- SENDCUTSEND_MIN_HOLE_TO_EDGE_QUOTE_MM + BASE_CLAMP_HOLE_TO_EDGE_BUFFER_MM
-)
-BASE_CLAMP_SERVO_BUS_SPACER_WIDTH_MM = (
- (SERVO_BUS_MOUNT_LOCAL_Y_MAX_MM - SERVO_BUS_MOUNT_LOCAL_Y_MIN_MM)
- + (2.0 * (SERVO_BUS_SPACER_CLEARANCE_RADIUS_MM + BASE_CLAMP_HOLE_TO_EDGE_TARGET_MM))
-)
-
-# SendCutSend's current .125" 5052 guideline uses a 0.630" die width for
-# bending; cut features should stay outside half of that die width from the
-# bend line. We size the wall from the mount-hole span plus that offset.
-SENDCUTSEND_5052_125_DIE_WIDTH_MM = 0.630 * 25.4
-SENDCUTSEND_FEATURE_TO_BEND_MIN_MM = (0.5 * SENDCUTSEND_5052_125_DIE_WIDTH_MM) + SERVO_BUS_SPACER_CLEARANCE_RADIUS_MM
-U_BRACKET_CLEARANCE_MM = (
- (SERVO_BUS_MOUNT_LOCAL_X_MAX_MM - SERVO_BUS_MOUNT_LOCAL_X_MIN_MM)
- + (2.0 * SENDCUTSEND_FEATURE_TO_BEND_MIN_MM)
- - (2.0 * PLATE_THICKNESS_MM)
-)
-
-# Resolved from @cad[STEP/imports/servo_bus].
-SERVO_BUS_LOCAL_X_MIN_MM = -0.390013
-SERVO_BUS_LOCAL_X_MAX_MM = 42.401989
-SERVO_BUS_LOCAL_Y_MIN_MM = -0.012095
-SERVO_BUS_LOCAL_Y_MAX_MM = 33.012075
-SERVO_BUS_LOCAL_Z_MIN_MM = -6.0
-SERVO_BUS_LOCAL_Z_MAX_MM = 1.599999
-BASE_PLATE_Z_WIDTH_MM = max(
- SERVO_BUS_LOCAL_Y_MAX_MM - SERVO_BUS_LOCAL_Y_MIN_MM,
- BASE_CLAMP_SERVO_BUS_SPACER_WIDTH_MM,
-)
-
-
-@dataclass(frozen=True)
-class BracketLayout:
- x_min: float
- x_max: float
- y_min: float
- y_max: float
- z_min: float
- z_max: float
- width: float
- height: float
- return_width: float
- return_x_min: float
- return_y_min: float
- return_y_max: float
- side_x_min: float
- side_x_max: float
- overall_y_min: float
- face_y: float
- attachment_holes: tuple[tuple[float, float, float], ...]
- return_mount_holes: tuple[tuple[float, float, float], ...]
- servo_bus_mount_holes_yzr: tuple[tuple[float, float, float], ...]
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- top_flange_flat_length_mm: float
- return_flange_flat_length_mm: float
- web_flat_start_mm: float
- web_flat_end_mm: float
- bend_line_positions_mm: tuple[float, float]
- cut_circles: tuple[tuple[float, float, float], ...]
- rounded_corner_radius_mm: float
- min_feature_to_bend_mm: float
-
-
-def _make_box(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _sendcutsend_outside_setback_90_mm() -> float:
- return SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + PLATE_THICKNESS_MM
-
-
-def _sendcutsend_bend_allowance_90_mm() -> float:
- return (math.pi * 0.5) * (
- SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + (SENDCUTSEND_K_FACTOR * PLATE_THICKNESS_MM)
- )
-
-
-def _validate_sendcutsend_bend_rule() -> None:
- bend_deduction_error = abs(
- SENDCUTSEND_BEND_DEDUCTION_90_MM
- - ((2.0 * _sendcutsend_outside_setback_90_mm()) - _sendcutsend_bend_allowance_90_mm())
- )
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def _cast_shape(obj: object) -> build123d.Shape:
- from build123d.topology import downcast
- from build123d.topology.shape_core import shapetype
-
- occt_shape = downcast(obj)
- shape_name = build123d.Shape.shape_LUT[shapetype(occt_shape)]
- shape_type = getattr(build123d, shape_name)
- return shape_type.cast(occt_shape)
-
-
-def _geom_type_name(shape: build123d.Shape) -> str:
- geom_type = shape.geom_type
- return geom_type.name if hasattr(geom_type, "name") else str(geom_type)
-
-
-def _build_bracket_layout() -> BracketLayout:
- x_min = SADDLE_BASE_X_MIN_MM - SADDLE_FOOTPRINT_X_BUFFER_MM
- x_max = SADDLE_BASE_X_MAX_MM + SADDLE_FOOTPRINT_X_BUFFER_MM
- required_x_max_for_mount_holes = max(
- x
- + radius
- + SENDCUTSEND_HALF_DIE_WIDTH_MM
- + SENDCUTSEND_MOUNT_HOLE_TO_BEND_BUFFER_MM
- for x, _z, radius in BASE_ATTACHMENT_HOLES_MM
- )
- x_max = max(x_max, required_x_max_for_mount_holes)
- z_center = 0.5 * (SADDLE_BASE_Z_MIN_MM + SADDLE_BASE_Z_MAX_MM)
- z_min = z_center - (0.5 * BASE_PLATE_Z_WIDTH_MM)
- z_max = z_center + (0.5 * BASE_PLATE_Z_WIDTH_MM)
- y_min = SADDLE_BASE_FACE_Y_MM - PLATE_THICKNESS_MM
- y_max = SADDLE_BASE_FACE_Y_MM
- return_y_max = y_min - U_BRACKET_CLEARANCE_MM
- return_y_min = return_y_max - PLATE_THICKNESS_MM
- side_x_min = x_max - BOOLEAN_OVERLAP_MM
- side_x_max = x_max + SIDE_WALL_THICKNESS_MM
- return_x_min = side_x_min - (RETURN_FACE_LENGTH_RATIO * (side_x_max - x_min))
- return_mount_holes = (
- (
- 0.5 * (return_x_min + side_x_min),
- 0.5 * (z_min + z_max),
- M8_CLEARANCE_RADIUS_MM,
- ),
- )
-
- servo_bus_mount_holes_yzr = _servo_bus_mount_holes_yzr(
- y_min=return_y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- )
-
- return BracketLayout(
- x_min=x_min,
- x_max=x_max,
- y_min=y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- width=x_max - x_min,
- height=z_max - z_min,
- return_width=side_x_max - return_x_min,
- return_x_min=return_x_min,
- return_y_min=return_y_min,
- return_y_max=return_y_max,
- side_x_min=side_x_min,
- side_x_max=side_x_max,
- overall_y_min=return_y_min,
- face_y=y_max,
- attachment_holes=BASE_ATTACHMENT_HOLES_MM,
- return_mount_holes=return_mount_holes,
- servo_bus_mount_holes_yzr=servo_bus_mount_holes_yzr,
- )
-
-
-def _fillet_plan_corners(
- plate: build123d.Solid,
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
- include_min_x: bool = True,
- include_max_x: bool = True,
-) -> build123d.Shape:
- matches: list[build123d.Edge] = []
- for edge in plate.edges():
- if _geom_type_name(edge) != "LINE":
- continue
- bb = edge.bounding_box()
- if abs((bb.max.Y - bb.min.Y) - (y_max - y_min)) > 1e-3:
- continue
- if (bb.max.X - bb.min.X) > 1e-3 or (bb.max.Z - bb.min.Z) > 1e-3:
- continue
- center = edge.center()
- if abs(abs(center.X - ((x_min + x_max) * 0.5)) - ((x_max - x_min) * 0.5)) > 1e-3:
- continue
- if abs(abs(center.Z - ((z_min + z_max) * 0.5)) - ((z_max - z_min) * 0.5)) > 1e-3:
- continue
- at_min_x = abs(center.X - x_min) <= 1e-3
- at_max_x = abs(center.X - x_max) <= 1e-3
- if at_min_x and not include_min_x:
- continue
- if at_max_x and not include_max_x:
- continue
- matches.append(edge)
-
- expected_count = (2 if include_min_x else 0) + (2 if include_max_x else 0)
- if len(matches) != expected_count:
- raise RuntimeError(f"Expected {expected_count} plan-view corner edges to fillet, found {len(matches)}")
-
- mk = BRepFilletAPI_MakeFillet(plate.wrapped)
- for edge in matches:
- mk.Add(CORNER_RADIUS_MM, edge.wrapped)
- mk.Build()
- if not mk.IsDone():
- raise RuntimeError("Failed to round U-bracket plate corners")
- return _cast_shape(mk.Shape())
-
-
-def _cut_y_holes(
- plate: build123d.Shape,
- *,
- holes_xzr: tuple[tuple[float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- hole_depth = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- for x, z, radius in holes_xzr:
- if not (x_min + radius <= x <= x_max - radius):
- raise RuntimeError(f"Hole at x={x:.3f} mm does not fit within the bracket x span")
- if not (z_min + radius <= z <= z_max - radius):
- raise RuntimeError(f"Hole at z={z:.3f} mm does not fit within the bracket z span")
- plate = plate.cut(
- _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(x, y_min - CUT_EXTENSION_MM, z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- )
- return plate
-
-
-def _cut_x_holes(
- bracket: build123d.Shape,
- *,
- holes_yzr: tuple[tuple[float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- hole_depth = (x_max - x_min) + (2.0 * CUT_EXTENSION_MM)
- for y, z, radius in holes_yzr:
- if not (y_min + radius <= y <= y_max - radius):
- raise RuntimeError(f"Hole at y={y:.3f} mm does not fit within the bracket y span")
- if not (z_min + radius <= z <= z_max - radius):
- raise RuntimeError(f"Hole at z={z:.3f} mm does not fit within the bracket z span")
- bracket = bracket.cut(
- _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(x_min - CUT_EXTENSION_MM, y, z),
- direction=build123d.Vector(1.0, 0.0, 0.0),
- )
- )
- return bracket
-
-
-def _cut_base_plate_mount_features(
- plate: build123d.Shape,
- *,
- holes_xzr: tuple[tuple[float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- return _cut_y_holes(
- plate,
- holes_xzr=holes_xzr,
- x_min=x_min,
- x_max=x_max,
- y_min=y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- )
-
-
-def _as_single_solid(shape: build123d.Shape) -> build123d.Solid:
- solids = list(shape.solids())
- if len(solids) != 1:
- raise RuntimeError(f"Expected a single solid, found {len(solids)}")
- return solids[0]
-
-
-def _make_lower_plate(layout: BracketLayout) -> build123d.Shape:
- plate = _make_box(
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _fillet_plan_corners(
- plate,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- include_min_x=True,
- include_max_x=False,
- )
- plate = _cut_base_plate_mount_features(
- plate,
- holes_xzr=layout.attachment_holes,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- return _as_single_solid(plate)
-
-
-def _servo_bus_mount_holes_yzr(
- *,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> tuple[tuple[float, float, float], ...]:
- target_center_y = 0.5 * (y_min + y_max)
- target_center_z = 0.5 * (z_min + z_max)
- bus_to_bracket_y_offset = target_center_y - SERVO_BUS_MOUNT_LOCAL_X_CENTER_MM
- bus_to_bracket_z_offset = target_center_z + SERVO_BUS_MOUNT_LOCAL_Y_CENTER_MM
-
- return tuple(
- (
- bus_x + bus_to_bracket_y_offset,
- bus_to_bracket_z_offset - bus_y,
- SERVO_BUS_SPACER_CLEARANCE_RADIUS_MM,
- )
- for bus_x, bus_y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM
- )
-
-
-def _make_return_plate(layout: BracketLayout) -> build123d.Shape:
- plate = _make_box(
- x_min=layout.return_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.return_y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _fillet_plan_corners(
- plate,
- x_min=layout.return_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.return_y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- include_min_x=True,
- include_max_x=False,
- )
- plate = _cut_y_holes(
- plate,
- holes_xzr=layout.return_mount_holes,
- x_min=layout.return_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.return_y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- return _as_single_solid(plate)
-
-
-def _make_side_wall(layout: BracketLayout) -> build123d.Shape:
- return _make_box(
- x_min=layout.side_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
-
-
-def build_bracket() -> build123d.Solid:
- layout = _build_bracket_layout()
-
- bracket = _make_lower_plate(layout)
- bracket = _as_single_solid(bracket.fuse(_make_side_wall(layout)))
- bracket = _as_single_solid(bracket.fuse(_make_return_plate(layout)))
- bracket = _as_single_solid(
- _cut_x_holes(
- bracket,
- holes_yzr=layout.servo_bus_mount_holes_yzr,
- x_min=layout.side_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- )
-
- print(
- f"{DISPLAY_NAME}: "
- f"lower_width={layout.width:.3f} mm, "
- f"return_width={layout.return_width:.3f} mm, "
- f"lower_height={layout.height:.3f} mm, "
- f"plate_thickness={PLATE_THICKNESS_MM:.3f} mm, "
- f"clearance={U_BRACKET_CLEARANCE_MM:.3f} mm, "
- f"overall_y_min={layout.overall_y_min:.4f} mm, "
- f"horn_m3_holes={len(BASE_HORN_CONNECTION_HOLE_SPECS_MM)}, "
- f"m2_mount_holes={len(BASE_SERVO_M2_HOLE_SPECS_MM)}, "
- f"return_mount_holes={len(layout.return_mount_holes)}, "
- f"servo_bus_holes={len(layout.servo_bus_mount_holes_yzr)}, "
- f"flush_y={layout.face_y:.4f} mm"
- )
- return bracket
-
-
-def _build_flat_pattern(layout: BracketLayout) -> FlatPattern:
- _validate_sendcutsend_bend_rule()
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- bend_allowance = _sendcutsend_bend_allowance_90_mm()
- top_flange_outside_length = layout.side_x_max - layout.x_min
- return_flange_outside_length = layout.return_width
- top_flange_flat_length = top_flange_outside_length - outside_setback
- return_flange_flat_length = return_flange_outside_length - outside_setback
- min_flange_outside_length = min(top_flange_outside_length, return_flange_outside_length)
- min_flange_flat_length = min(top_flange_flat_length, return_flange_flat_length)
- if min_flange_outside_length < SENDCUTSEND_MIN_FLANGE_FORMED_MM:
- raise RuntimeError(
- "Flange length is below the configured bend-rule minimum: "
- f"{min_flange_outside_length:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FORMED_MM:.3f} mm"
- )
- if min_flange_flat_length <= 0.0:
- raise RuntimeError(
- "Flat flange length implied by the bend rule is too short: "
- f"{min_flange_flat_length:.3f} mm"
- )
-
- web_outside_length = layout.y_max - layout.return_y_min
- web_flat_length = web_outside_length - (2.0 * SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM)
- if web_flat_length <= 0.0:
- raise RuntimeError(
- f"Web flat length implied by the bend rule is too short: {web_flat_length:.3f} mm"
- )
-
- web_flat_start = top_flange_flat_length + bend_allowance
- web_flat_end = web_flat_start + web_flat_length
- total_length = web_flat_end + bend_allowance + return_flange_flat_length
- width = layout.z_max - layout.z_min
- bend_line_positions = (
- top_flange_flat_length + (0.5 * bend_allowance),
- web_flat_end + (0.5 * bend_allowance),
- )
-
- top_tangent_y = layout.y_max - SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
- bottom_tangent_y = layout.return_y_min + SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
-
- feature_extents: list[tuple[float, float]] = []
- cut_circles: list[tuple[float, float, float]] = []
- for x, z, radius in layout.attachment_holes:
- circle = (x - layout.x_min, z - layout.z_min, radius)
- cut_circles.append(circle)
- feature_extents.append((circle[0], radius))
- for y, z, radius in layout.servo_bus_mount_holes_yzr:
- circle = (web_flat_start + (top_tangent_y - y), z - layout.z_min, radius)
- cut_circles.append(circle)
- feature_extents.append((circle[0], radius))
- for x, z, radius in layout.return_mount_holes:
- circle = (total_length - (x - layout.return_x_min), z - layout.z_min, radius)
- cut_circles.append(circle)
- feature_extents.append((circle[0], radius))
-
- min_feature_to_bend = min(
- min(abs(center_u - bend_u) - feature_radius for bend_u in bend_line_positions)
- for center_u, feature_radius in feature_extents
- )
-
- return FlatPattern(
- total_length_mm=total_length,
- width_mm=width,
- top_flange_flat_length_mm=top_flange_flat_length,
- return_flange_flat_length_mm=return_flange_flat_length,
- web_flat_start_mm=web_flat_start,
- web_flat_end_mm=web_flat_end,
- bend_line_positions_mm=bend_line_positions,
- cut_circles=tuple(cut_circles),
- rounded_corner_radius_mm=CORNER_RADIUS_MM,
- min_feature_to_bend_mm=min_feature_to_bend,
- )
-
-
-def _add_rounded_rect_outline(
- msp: ezdxf.layouts.Modelspace,
- *,
- length: float,
- width: float,
- radius: float,
-) -> None:
- if radius <= 0.0:
- raise RuntimeError(f"Corner radius must be positive, got {radius:.3f} mm")
- if width <= (2.0 * radius):
- raise RuntimeError(
- "Corner radius is too large for the base clamp flat-pattern width: "
- f"{radius:.3f} mm"
- )
- if length <= (2.0 * radius):
- raise RuntimeError(
- "Corner radius is too large for the base clamp flat-pattern length: "
- f"{radius:.3f} mm"
- )
-
- msp.add_line((radius, 0.0), (length - radius, 0.0), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(length - radius, radius),
- radius=radius,
- start_angle=-90.0,
- end_angle=0.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((length, radius), (length, width - radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(length - radius, width - radius),
- radius=radius,
- start_angle=0.0,
- end_angle=90.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((length - radius, width), (radius, width), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(radius, width - radius),
- radius=radius,
- start_angle=90.0,
- end_angle=180.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((0.0, width - radius), (0.0, radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(radius, radius),
- radius=radius,
- start_angle=180.0,
- end_angle=270.0,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def build_dxf() -> ezdxf.document.Drawing:
- layout = _build_bracket_layout()
- flat_pattern = _build_flat_pattern(layout)
-
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- msp = doc.modelspace()
- _add_rounded_rect_outline(
- msp,
- length=flat_pattern.total_length_mm,
- width=flat_pattern.width_mm,
- radius=flat_pattern.rounded_corner_radius_mm,
- )
- for center_u, center_v, radius in flat_pattern.cut_circles:
- msp.add_circle((center_u, center_v), radius, dxfattribs={"layer": "CUT"})
- for bend_line_u in flat_pattern.bend_line_positions_mm:
- msp.add_line(
- (bend_line_u, 0.0),
- (bend_line_u, flat_pattern.width_mm),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
-
- print(
- f"{DISPLAY_NAME} DXF: "
- f"stock_thickness={PLATE_THICKNESS_MM:.3f} mm, "
- f"flat_length={flat_pattern.total_length_mm:.3f} mm, "
- f"flat_width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"cut_circles={len(flat_pattern.cut_circles)}"
- )
- print(
- "DXF bend checks "
- f"top_flange_flat={flat_pattern.top_flange_flat_length_mm:.3f} mm, "
- f"return_flange_flat={flat_pattern.return_flange_flat_length_mm:.3f} mm, "
- f"feature_to_bend_min={flat_pattern.min_feature_to_bend_mm:.3f} mm, "
- f"feature_to_bend_required={SENDCUTSEND_HALF_DIE_WIDTH_MM:.3f} mm"
- )
- if flat_pattern.min_feature_to_bend_mm < SENDCUTSEND_HALF_DIE_WIDTH_MM:
- print(
- "Warning: flat-pattern features enter the bend die region by "
- f"{SENDCUTSEND_HALF_DIE_WIDTH_MM - flat_pattern.min_feature_to_bend_mm:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_bracket(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v1/parts/base_clamp.step b/models/robots/tom/v1/parts/base_clamp.step
deleted file mode 100644
index cbdf7298..00000000
--- a/models/robots/tom/v1/parts/base_clamp.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fa2966ceb525ece9fc041ec5cb86bbb7d413d972b59b678e9e3cda2c0dd8f511
-size 102864
diff --git a/models/robots/tom/v1/parts/base_plate.py b/models/robots/tom/v1/parts/base_plate.py
deleted file mode 100644
index 7d0d9300..00000000
--- a/models/robots/tom/v1/parts/base_plate.py
+++ /dev/null
@@ -1,141 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate a flat base plate derived from the top face of base_clamp.
-
-This part keeps the exact top-plate footprint and base-servo mounting pattern
-from the bent clamp, but strips away the side wall and lower return so it
-remains a single flat plate in the same local frame.
-"""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-import os
-import sys
-from pathlib import Path
-
-V1_DIR = Path(__file__).resolve().parents[1]
-TOM_DIR = V1_DIR.parent
-PARTS_DIR = Path(__file__).resolve().parent
-_CACHE_HOME = V1_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-
-import build123d
-
-for path in (TOM_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-from base_clamp import (
- BASE_HORN_CONNECTION_HOLE_SPECS_MM,
- BASE_SERVO_M2_HOLE_SPECS_MM,
- CORNER_RADIUS_MM,
- PLATE_THICKNESS_MM,
- _as_single_solid,
- _build_bracket_layout,
- _cut_base_plate_mount_features,
- _fillet_plan_corners,
- _make_box,
-)
-
-
-DISPLAY_NAME = "Base Plate"
-
-
-@dataclass(frozen=True)
-class PlateLayout:
- x_min: float
- x_max: float
- y_min: float
- y_max: float
- z_min: float
- z_max: float
- width: float
- height: float
- face_y: float
- attachment_holes: tuple[tuple[float, float, float], ...]
-
-
-def _build_plate_layout() -> PlateLayout:
- bracket_layout = _build_bracket_layout()
- x_min = bracket_layout.x_min
- x_max = bracket_layout.side_x_max
- y_min = bracket_layout.y_min
- y_max = bracket_layout.y_max
- z_min = bracket_layout.z_min
- z_max = bracket_layout.z_max
-
- return PlateLayout(
- x_min=x_min,
- x_max=x_max,
- y_min=y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- width=x_max - x_min,
- height=z_max - z_min,
- face_y=y_max,
- attachment_holes=bracket_layout.attachment_holes,
- )
-
-
-def build_plate() -> build123d.Solid:
- layout = _build_plate_layout()
-
- plate = _make_box(
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _fillet_plan_corners(
- plate,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- include_min_x=True,
- include_max_x=False,
- )
- plate = _cut_base_plate_mount_features(
- plate,
- holes_xzr=layout.attachment_holes,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _as_single_solid(plate)
-
- print(
- f"{DISPLAY_NAME}: "
- f"width={layout.width:.3f} mm, "
- f"height={layout.height:.3f} mm, "
- f"thickness={PLATE_THICKNESS_MM:.3f} mm, "
- f"corner_radius={CORNER_RADIUS_MM:.3f} mm, "
- f"horn_m3_holes={len(BASE_HORN_CONNECTION_HOLE_SPECS_MM)}, "
- f"m2_holes={len(BASE_SERVO_M2_HOLE_SPECS_MM)}, "
- f"flush_y={layout.face_y:.4f} mm"
- )
- return plate
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_plate(),
- }
-
-
-def gen() -> None:
- gen_step()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v1/parts/base_plate.step b/models/robots/tom/v1/parts/base_plate.step
deleted file mode 100644
index a7b422e4..00000000
--- a/models/robots/tom/v1/parts/base_plate.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bb7fc37ba0f58d2b769c4f5d5d801597f67bbda0a4864696cd1174cfa00a4b41
-size 58973
diff --git a/models/robots/tom/v1/parts/extrusion_bracket_2020.py b/models/robots/tom/v1/parts/extrusion_bracket_2020.py
deleted file mode 100644
index 3db4c8da..00000000
--- a/models/robots/tom/v1/parts/extrusion_bracket_2020.py
+++ /dev/null
@@ -1,496 +0,0 @@
-#!/usr/bin/env python3
-"""
-Bent-sheet end bracket for wrapping a 2020 extrusion end and two side faces.
-"""
-
-from __future__ import annotations
-
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-V1_DIR = Path(__file__).resolve().parents[1]
-TOM_DIR = V1_DIR.parent
-_CACHE_HOME = V1_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import build123d
-import ezdxf
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.keyed_connection import (
- KEYED_CONNECTION_HALF_SPAN_MM,
- KEYED_CONNECTION_REF,
- KEYED_CONNECTION_ROTATION_DEG,
- make_keyed_connection_face,
- sample_keyed_connection_outline,
-)
-
-
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Extrusion Bracket 2020"
-
-EXTRUSION_X_SPAN_MM = 20.0
-EXTRUSION_X_HALF_SPAN_MM = 0.5 * EXTRUSION_X_SPAN_MM
-EXTRUSION_Y_SPAN_MM = 20.0
-EXTRUSION_Y_HALF_SPAN_MM = 0.5 * EXTRUSION_Y_SPAN_MM
-# Keep the bracket seated tightly on the 2020 extrusion; any additional offset
-# should come from a future face redesign rather than opening the full wrap gap.
-EXTRUSION_CLEARANCE_MM = 0.5
-SHORT_SIDE_MM = EXTRUSION_X_SPAN_MM
-SHORT_SIDE_HALF_MM = 0.5 * SHORT_SIDE_MM
-SHEET_THICKNESS_MM = 1.6
-BRACKET_DEPTH_MM = 30.0
-FREE_END_CORNER_RADIUS_MM = 1.0
-M5_CLEARANCE_RADIUS_MM = 2.75
-# Keep the inner row a bit farther off the bend die region for SendCutSend.
-SIDE_FASTENER_Z_POSITIONS_MM = (10.0, 22.0)
-CUT_EXTENSION_MM = 1.0
-EDGE_MATCH_TOLERANCE_MM = 1e-3
-
-SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM = 25.4 * 0.038
-SENDCUTSEND_K_FACTOR = 0.48
-SENDCUTSEND_BEND_DEDUCTION_90_MM = (
- 2.0 * (SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + SHEET_THICKNESS_MM)
-) - (
- (math.pi * 0.5)
- * (SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + (SENDCUTSEND_K_FACTOR * SHEET_THICKNESS_MM))
-)
-SENDCUTSEND_MIN_FLANGE_FORMED_MM = 25.4 * 0.313
-SENDCUTSEND_MIN_FLANGE_FLAT_MM = 25.4 * 0.255
-SENDCUTSEND_HALF_DIE_WIDTH_MM = 0.5 * (25.4 * 0.472)
-
-INNER_X_MIN = -(EXTRUSION_X_HALF_SPAN_MM + EXTRUSION_CLEARANCE_MM)
-INNER_X_MAX = -INNER_X_MIN
-INNER_Y_MIN = -(EXTRUSION_Y_HALF_SPAN_MM + EXTRUSION_CLEARANCE_MM)
-INNER_Y_MAX = -INNER_Y_MIN
-OUTER_X_MIN = -SHORT_SIDE_HALF_MM
-OUTER_X_MAX = SHORT_SIDE_HALF_MM
-
-BASE_Z_MIN = -SHEET_THICKNESS_MM
-BASE_Z_MAX = 0.0
-SIDE_Z_MIN = BASE_Z_MIN
-SIDE_Z_MAX = BRACKET_DEPTH_MM
-
-LOWER_Y_MIN = INNER_Y_MIN - SHEET_THICKNESS_MM
-LOWER_Y_MAX = INNER_Y_MIN
-UPPER_Y_MIN = INNER_Y_MAX
-UPPER_Y_MAX = INNER_Y_MAX + SHEET_THICKNESS_MM
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- flange_flat_length_mm: float
- web_flat_start_mm: float
- web_flat_end_mm: float
- bend_line_positions_mm: tuple[float, float]
- cut_profile_centers: tuple[tuple[float, float], ...]
- cut_circles: tuple[tuple[float, float, float], ...]
- rounded_corner_radius_mm: float
- min_feature_to_bend_mm: float
-
-
-def _make_box(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _make_keyed_connection_cutter_along_z(
- *,
- center_x: float,
- center_y: float,
- start_z: float,
- height: float,
-) -> build123d.Solid:
- face = make_keyed_connection_face(
- origin=build123d.Vector(center_x, center_y, start_z),
- u_dir=build123d.Vector(1.0, 0.0, 0.0),
- v_dir=build123d.Vector(0.0, 1.0, 0.0),
- )
- return build123d.Solid.extrude(face, build123d.Vector(0.0, 0.0, height))
-
-
-def _sendcutsend_outside_setback_90_mm() -> float:
- return SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + SHEET_THICKNESS_MM
-
-
-def _sendcutsend_bend_allowance_90_mm() -> float:
- return (math.pi * 0.5) * (
- SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + (SENDCUTSEND_K_FACTOR * SHEET_THICKNESS_MM)
- )
-
-
-def _is_close(value: float, expected: float, tolerance: float = EDGE_MATCH_TOLERANCE_MM) -> bool:
- return abs(value - expected) <= tolerance
-
-
-def _validate_sendcutsend_bend_rule() -> None:
- bend_deduction_error = abs(
- SENDCUTSEND_BEND_DEDUCTION_90_MM
- - ((2.0 * _sendcutsend_outside_setback_90_mm()) - _sendcutsend_bend_allowance_90_mm())
- )
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def build_bracket() -> build123d.Shape:
- end_face = _make_box(
- x_min=OUTER_X_MIN,
- x_max=OUTER_X_MAX,
- y_min=INNER_Y_MIN,
- y_max=INNER_Y_MAX,
- z_min=BASE_Z_MIN,
- z_max=BASE_Z_MAX,
- )
-
- lower_flange = _make_box(
- x_min=OUTER_X_MIN,
- x_max=OUTER_X_MAX,
- y_min=LOWER_Y_MIN,
- y_max=LOWER_Y_MAX,
- z_min=SIDE_Z_MIN,
- z_max=SIDE_Z_MAX,
- )
-
- upper_flange = _make_box(
- x_min=OUTER_X_MIN,
- x_max=OUTER_X_MAX,
- y_min=UPPER_Y_MIN,
- y_max=UPPER_Y_MAX,
- z_min=SIDE_Z_MIN,
- z_max=SIDE_Z_MAX,
- )
-
- bracket = end_face.fuse(lower_flange).fuse(upper_flange)
-
- hole_length = SHEET_THICKNESS_MM + (2.0 * CUT_EXTENSION_MM)
- bracket = bracket.cut(
- _make_keyed_connection_cutter_along_z(
- center_x=0.0,
- center_y=0.0,
- start_z=BASE_Z_MIN - CUT_EXTENSION_MM,
- height=hole_length,
- )
- )
-
- for z_position in SIDE_FASTENER_Z_POSITIONS_MM:
- bracket = bracket.cut(
- _make_cylinder_along(
- radius=M5_CLEARANCE_RADIUS_MM,
- height=hole_length,
- origin=build123d.Vector(0.0, LOWER_Y_MIN - CUT_EXTENSION_MM, z_position),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- )
- bracket = bracket.cut(
- _make_cylinder_along(
- radius=M5_CLEARANCE_RADIUS_MM,
- height=hole_length,
- origin=build123d.Vector(0.0, UPPER_Y_MAX + CUT_EXTENSION_MM, z_position),
- direction=build123d.Vector(0.0, -1.0, 0.0),
- )
- )
-
- target_edge_centers = (
- build123d.Vector(
- -SHORT_SIDE_HALF_MM,
- LOWER_Y_MIN + (0.5 * SHEET_THICKNESS_MM),
- BRACKET_DEPTH_MM,
- ),
- build123d.Vector(
- SHORT_SIDE_HALF_MM,
- LOWER_Y_MIN + (0.5 * SHEET_THICKNESS_MM),
- BRACKET_DEPTH_MM,
- ),
- build123d.Vector(
- -SHORT_SIDE_HALF_MM,
- UPPER_Y_MAX - (0.5 * SHEET_THICKNESS_MM),
- BRACKET_DEPTH_MM,
- ),
- build123d.Vector(
- SHORT_SIDE_HALF_MM,
- UPPER_Y_MAX - (0.5 * SHEET_THICKNESS_MM),
- BRACKET_DEPTH_MM,
- ),
- )
- target_edges: list[build123d.Edge] = []
- for edge in bracket.edges():
- if edge.geom_type != build123d.GeomType.LINE:
- continue
- center = edge.center()
- if any(
- _is_close(center.X, target_center.X)
- and _is_close(center.Y, target_center.Y)
- and _is_close(center.Z, target_center.Z)
- for target_center in target_edge_centers
- ):
- target_edges.append(edge)
-
- if len(target_edges) != len(target_edge_centers):
- raise RuntimeError(
- "Expected to find the four flange free-end corners for rounding, "
- f"found {len(target_edges)}"
- )
-
- bracket = build123d.fillet(target_edges, FREE_END_CORNER_RADIUS_MM)
-
- solids = list(bracket.solids())
- if len(solids) != 1:
- raise RuntimeError(f"Expected one wrap bracket solid, found {len(solids)}")
-
- bracket = solids[0]
- bracket.label = PART_NAME
-
- bbox = bracket.bounding_box()
- print(
- "Bent-sheet 2020 end bracket: "
- f"clearance={EXTRUSION_CLEARANCE_MM:.3f} mm, "
- f"thickness={SHEET_THICKNESS_MM:.3f} mm, "
- f"depth={BRACKET_DEPTH_MM:.3f} mm, "
- f"free_corner_radius={FREE_END_CORNER_RADIUS_MM:.3f} mm, "
- f"size=({bbox.size.X:.3f}, {bbox.size.Y:.3f}, {bbox.size.Z:.3f}) mm, "
- f"plate_fasteners={2 * len(SIDE_FASTENER_Z_POSITIONS_MM)}, "
- f"connection_ref={KEYED_CONNECTION_REF}, "
- f"connection_rotation={KEYED_CONNECTION_ROTATION_DEG:.1f} deg, "
- f"hole_diameter={2.0 * M5_CLEARANCE_RADIUS_MM:.3f} mm"
- )
- return bracket
-
-
-def _build_flat_pattern() -> FlatPattern:
- _validate_sendcutsend_bend_rule()
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- bend_allowance = _sendcutsend_bend_allowance_90_mm()
- flange_outside_length = BRACKET_DEPTH_MM + SHEET_THICKNESS_MM
- flange_flat_length = flange_outside_length - outside_setback
- if flange_outside_length < SENDCUTSEND_MIN_FLANGE_FORMED_MM:
- raise RuntimeError(
- "Formed flange length is below the configured bend-rule minimum: "
- f"{flange_outside_length:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FORMED_MM:.3f} mm"
- )
- if flange_flat_length < SENDCUTSEND_MIN_FLANGE_FLAT_MM:
- raise RuntimeError(
- "Flat flange length is below the configured bend-rule minimum: "
- f"{flange_flat_length:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FLAT_MM:.3f} mm"
- )
-
- web_outside_length = INNER_Y_MAX - INNER_Y_MIN
- web_flat_length = web_outside_length - (2.0 * SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM)
- if web_flat_length <= 0.0:
- raise RuntimeError(f"Web flat length implied by the bend rule is too short: {web_flat_length:.3f} mm")
-
- web_flat_start = flange_flat_length + bend_allowance
- web_flat_end = web_flat_start + web_flat_length
- total_length = web_flat_end + bend_allowance + flange_flat_length
- width = OUTER_X_MAX - OUTER_X_MIN
- bend_line_positions = (
- flange_flat_length + (0.5 * bend_allowance),
- web_flat_end + (0.5 * bend_allowance),
- )
-
- def _v_from_x(x_coord: float) -> float:
- return x_coord - OUTER_X_MIN
-
- keyed_connection_center_u = web_flat_start + (-INNER_Y_MIN - SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM)
- cut_profile_centers = ((keyed_connection_center_u, _v_from_x(0.0)),)
- cut_circles: list[tuple[float, float, float]] = []
- for z_position in SIDE_FASTENER_Z_POSITIONS_MM:
- lower_u = BRACKET_DEPTH_MM - z_position
- upper_u = total_length - (BRACKET_DEPTH_MM - z_position)
- cut_circles.append((lower_u, _v_from_x(0.0), M5_CLEARANCE_RADIUS_MM))
- cut_circles.append((upper_u, _v_from_x(0.0), M5_CLEARANCE_RADIUS_MM))
-
- min_feature_to_bend = min(
- abs(keyed_connection_center_u - bend_u) - KEYED_CONNECTION_HALF_SPAN_MM
- for bend_u in bend_line_positions
- )
- min_feature_to_bend = min(
- min_feature_to_bend,
- min(
- abs(center_u - bend_u) - radius
- for center_u, _center_v, radius in cut_circles
- for bend_u in bend_line_positions
- ),
- )
- return FlatPattern(
- total_length_mm=total_length,
- width_mm=width,
- flange_flat_length_mm=flange_flat_length,
- web_flat_start_mm=web_flat_start,
- web_flat_end_mm=web_flat_end,
- bend_line_positions_mm=bend_line_positions,
- cut_profile_centers=cut_profile_centers,
- cut_circles=tuple(cut_circles),
- rounded_corner_radius_mm=FREE_END_CORNER_RADIUS_MM,
- min_feature_to_bend_mm=min_feature_to_bend,
- )
-
-
-def build_dxf() -> ezdxf.document.Drawing:
- flat_pattern = _build_flat_pattern()
-
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- msp = doc.modelspace()
- corner_radius = flat_pattern.rounded_corner_radius_mm
- if corner_radius <= 0.0:
- outline = (
- (0.0, 0.0),
- (flat_pattern.total_length_mm, 0.0),
- (flat_pattern.total_length_mm, flat_pattern.width_mm),
- (0.0, flat_pattern.width_mm),
- )
- msp.add_lwpolyline(outline, format="xy", close=True, dxfattribs={"layer": "CUT"})
- else:
- if (2.0 * corner_radius) >= flat_pattern.width_mm:
- raise RuntimeError(
- "Rounded flange corners exceed the flat-pattern width: "
- f"diameter {2.0 * corner_radius:.3f} mm >= width {flat_pattern.width_mm:.3f} mm"
- )
- msp.add_line(
- (corner_radius, 0.0),
- (flat_pattern.total_length_mm - corner_radius, 0.0),
- dxfattribs={"layer": "CUT"},
- )
- msp.add_arc(
- (corner_radius, corner_radius),
- corner_radius,
- 180.0,
- 270.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_arc(
- (flat_pattern.total_length_mm - corner_radius, corner_radius),
- corner_radius,
- 270.0,
- 360.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line(
- (flat_pattern.total_length_mm, corner_radius),
- (flat_pattern.total_length_mm, flat_pattern.width_mm - corner_radius),
- dxfattribs={"layer": "CUT"},
- )
- msp.add_arc(
- (flat_pattern.total_length_mm - corner_radius, flat_pattern.width_mm - corner_radius),
- corner_radius,
- 0.0,
- 90.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line(
- (flat_pattern.total_length_mm - corner_radius, flat_pattern.width_mm),
- (corner_radius, flat_pattern.width_mm),
- dxfattribs={"layer": "CUT"},
- )
- msp.add_arc(
- (corner_radius, flat_pattern.width_mm - corner_radius),
- corner_radius,
- 90.0,
- 180.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line(
- (0.0, flat_pattern.width_mm - corner_radius),
- (0.0, corner_radius),
- dxfattribs={"layer": "CUT"},
- )
-
- for center_u, center_v, radius in flat_pattern.cut_circles:
- msp.add_circle((center_u, center_v), radius, dxfattribs={"layer": "CUT"})
- for center_u, center_v in flat_pattern.cut_profile_centers:
- msp.add_lwpolyline(
- sample_keyed_connection_outline(center_u=center_u, center_v=center_v, points_per_arc=16),
- format="xy",
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
- for bend_line_u in flat_pattern.bend_line_positions_mm:
- msp.add_line(
- (bend_line_u, 0.0),
- (bend_line_u, flat_pattern.width_mm),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
-
- print(
- "Flat pattern "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"cut_profiles={len(flat_pattern.cut_profile_centers)}, "
- f"cut_circles={len(flat_pattern.cut_circles)}"
- )
- print(
- "DXF bend checks "
- f"flange_flat={flat_pattern.flange_flat_length_mm:.3f} mm, "
- f"flange_flat_required={SENDCUTSEND_MIN_FLANGE_FLAT_MM:.3f} mm, "
- f"feature_to_bend_min={flat_pattern.min_feature_to_bend_mm:.3f} mm, "
- f"feature_to_bend_required={SENDCUTSEND_HALF_DIE_WIDTH_MM:.3f} mm"
- )
- if flat_pattern.min_feature_to_bend_mm < SENDCUTSEND_HALF_DIE_WIDTH_MM:
- print(
- "Warning: flat-pattern keyed feature enters the bend die region by "
- f"{SENDCUTSEND_HALF_DIE_WIDTH_MM - flat_pattern.min_feature_to_bend_mm:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_bracket(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v1/parts/extrusion_bracket_2020.step b/models/robots/tom/v1/parts/extrusion_bracket_2020.step
deleted file mode 100644
index 6318edc1..00000000
--- a/models/robots/tom/v1/parts/extrusion_bracket_2020.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fe48f16f839a84bfffb00f0786d7aac49a941765ba5c476eda63962e0565ef02
-size 146224
diff --git a/models/robots/tom/v1/parts/gripper/.gripper_left_claw.step.glb b/models/robots/tom/v1/parts/gripper/.gripper_left_claw.step.glb
deleted file mode 100644
index b788d515..00000000
--- a/models/robots/tom/v1/parts/gripper/.gripper_left_claw.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b2fa4f22e767aac43ef6e92ae88f2d1c0bc4ca859de3024dee7ba97ba70c7946
-size 2295500
diff --git a/models/robots/tom/v1/parts/gripper/.gripper_right_claw.step.glb b/models/robots/tom/v1/parts/gripper/.gripper_right_claw.step.glb
deleted file mode 100644
index a0d860aa..00000000
--- a/models/robots/tom/v1/parts/gripper/.gripper_right_claw.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d3c17d29dbfd88399d956edc2be17b61f91cb15144018bbbf7b06d43f4c694e2
-size 2293600
diff --git a/models/robots/tom/v1/parts/gripper/.gripper_servo_gear.step.glb b/models/robots/tom/v1/parts/gripper/.gripper_servo_gear.step.glb
deleted file mode 100644
index f59e12a6..00000000
--- a/models/robots/tom/v1/parts/gripper/.gripper_servo_gear.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:adbb7fb23a179800910e34e0f206cb92c96c65af390796ea1841a96e85656f97
-size 1044524
diff --git a/models/robots/tom/v1/parts/gripper/.gripper_static.step.glb b/models/robots/tom/v1/parts/gripper/.gripper_static.step.glb
deleted file mode 100644
index d05ec9bb..00000000
--- a/models/robots/tom/v1/parts/gripper/.gripper_static.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8e9bde8782d7dfdd5c7d4393b01480c3e146b61bb4595077da86e7477c065263
-size 8858760
diff --git a/models/robots/tom/v1/parts/gripper/follower_gripper_165x165_bed.stl b/models/robots/tom/v1/parts/gripper/follower_gripper_165x165_bed.stl
deleted file mode 100644
index ef5ba3b2..00000000
--- a/models/robots/tom/v1/parts/gripper/follower_gripper_165x165_bed.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3592e09ea49c05a9f6b86ceb6796cb2d98f3d175c513ceac58976070511469ba
-size 534184
diff --git a/models/robots/tom/v1/parts/gripper/gripper_component_extract.py b/models/robots/tom/v1/parts/gripper/gripper_component_extract.py
deleted file mode 100644
index ab7efdb3..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_component_extract.py
+++ /dev/null
@@ -1,128 +0,0 @@
-from __future__ import annotations
-
-import os
-import re
-import sys
-from pathlib import Path
-
-REPO_ROOT = Path(__file__).resolve().parents[2]
-_CACHE_HOME = REPO_ROOT / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import build123d
-from build123d.topology import downcast
-from build123d.topology.shape_core import shapetype
-
-CAD_SCRIPT_PATH = Path(__file__).resolve().parents[6] / "skills" / "cad" / "scripts"
-if str(CAD_SCRIPT_PATH) not in sys.path:
- sys.path.insert(0, str(CAD_SCRIPT_PATH))
-
-from cadpy_common.package_path import ensure_cadpy_package_path
-
-ensure_cadpy_package_path()
-
-from cadpy.step_scene import _located_shape, load_step_scene, occurrence_selector_id
-
-
-SOURCE_STEP = Path(__file__).resolve().with_name("rb9_01_061_000_gripper.step")
-
-
-def _cast_shape(obj: object) -> build123d.Shape:
- occt_shape = downcast(obj)
- shape_name = build123d.Shape.shape_LUT[shapetype(occt_shape)]
- shape_type = getattr(build123d, shape_name)
- return shape_type.cast(occt_shape)
-
-
-def _safe_label(text: str | None, fallback: str) -> str:
- value = re.sub(r"[^A-Za-z0-9_.-]+", "_", text or "").strip("_")
- return value or fallback
-
-
-def _leaf_color(scene: object, leaf: object) -> tuple[float, float, float, float] | None:
- leaf_color = getattr(leaf, "color", None)
- if leaf_color is not None:
- return leaf_color
- prototype_key = getattr(leaf, "prototype_key", None)
- prototype_color = scene.prototype_colors.get(prototype_key)
- if prototype_color is not None:
- return prototype_color
- return None
-
-
-def _find_node(nodes: list[object], selector: str) -> object:
- stack = list(reversed(nodes))
- while stack:
- node = stack.pop()
- if occurrence_selector_id(node) == selector:
- return node
- stack.extend(reversed(node.children))
- raise RuntimeError(f"Selector {selector} not found in {SOURCE_STEP}")
-
-
-def _leaf_nodes(node: object) -> list[object]:
- leaves: list[object] = []
- stack = [node]
- while stack:
- current = stack.pop()
- if current.prototype_key is not None:
- leaves.append(current)
- stack.extend(reversed(current.children))
- return leaves
-
-
-def _selector_matches(selector: str, parent_selector: str) -> bool:
- return selector == parent_selector or selector.startswith(f"{parent_selector}.")
-
-
-def _compound_from_leaves(
- scene: object,
- leaves: list[object],
- *,
- label: str,
-) -> build123d.Compound:
- children: list[build123d.Shape] = []
- for leaf in leaves:
- if leaf.prototype_key not in scene.prototype_shapes:
- raise RuntimeError(f"Leaf {occurrence_selector_id(leaf)} has no prototype shape")
- child = _cast_shape(_located_shape(scene.prototype_shapes[leaf.prototype_key], leaf.location))
- child.label = _safe_label(
- leaf.source_name or leaf.name,
- occurrence_selector_id(leaf).replace(".", "_"),
- )
- color = _leaf_color(scene, leaf)
- if color is not None:
- child.color = build123d.Color(*color)
- children.append(child)
-
- if not children:
- raise RuntimeError(f"No gripper shapes extracted for {label}")
- return build123d.Compound(obj=children, children=children, label=label)
-
-
-def extract_occurrences(selectors: tuple[str, ...], *, label: str) -> build123d.Compound:
- if not SOURCE_STEP.exists():
- raise FileNotFoundError(f"Missing gripper source STEP: {SOURCE_STEP}")
-
- scene = load_step_scene(SOURCE_STEP)
- leaves: list[object] = []
- for selector in selectors:
- leaves.extend(_leaf_nodes(_find_node(scene.roots, selector)))
- return _compound_from_leaves(scene, leaves, label=label)
-
-
-def extract_all_except(excluded_selectors: tuple[str, ...], *, label: str) -> build123d.Compound:
- if not SOURCE_STEP.exists():
- raise FileNotFoundError(f"Missing gripper source STEP: {SOURCE_STEP}")
-
- scene = load_step_scene(SOURCE_STEP)
- leaves: list[object] = []
- for root in scene.roots:
- for leaf in _leaf_nodes(root):
- selector = occurrence_selector_id(leaf)
- if any(_selector_matches(selector, excluded) for excluded in excluded_selectors):
- continue
- leaves.append(leaf)
- return _compound_from_leaves(scene, leaves, label=label)
diff --git a/models/robots/tom/v1/parts/gripper/gripper_left_claw.py b/models/robots/tom/v1/parts/gripper/gripper_left_claw.py
deleted file mode 100644
index c57f8a12..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_left_claw.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import annotations
-
-from gripper_component_extract import extract_occurrences
-
-
-LEFT_CLAW_SELECTORS = (
- "o1.13", # RB9.01.061.020 Clamp
- "o1.29", # Gear rack
- "o1.14", # Upper linear bearing
- "o1.15", # Lower linear bearing
-)
-
-
-def build_left_claw():
- return extract_occurrences(LEFT_CLAW_SELECTORS, label="gripper_left_claw")
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_left_claw(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v1/parts/gripper/gripper_left_claw.step b/models/robots/tom/v1/parts/gripper/gripper_left_claw.step
deleted file mode 100644
index 2931fb8a..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_left_claw.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fe4604ea1e3925a76ecc99eaaff5d70ccaa5f9bedfc7da586fe90a6d2f15c4d3
-size 1918886
diff --git a/models/robots/tom/v1/parts/gripper/gripper_right_claw.py b/models/robots/tom/v1/parts/gripper/gripper_right_claw.py
deleted file mode 100644
index 86d91fc1..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_right_claw.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import annotations
-
-from gripper_component_extract import extract_occurrences
-
-
-RIGHT_CLAW_SELECTORS = (
- "o1.2", # RB9.01.061.020 Clamp
- "o1.3", # Gear rack
- "o1.7", # Upper linear bearing
- "o1.12", # Lower linear bearing
-)
-
-
-def build_right_claw():
- return extract_occurrences(RIGHT_CLAW_SELECTORS, label="gripper_right_claw")
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_right_claw(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v1/parts/gripper/gripper_right_claw.step b/models/robots/tom/v1/parts/gripper/gripper_right_claw.step
deleted file mode 100644
index 8350c3bc..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_right_claw.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b6187798f70606b80d4333321dbbef1fd481d77a8ff411833dd31f6dfebf1978
-size 1918889
diff --git a/models/robots/tom/v1/parts/gripper/gripper_servo_gear.py b/models/robots/tom/v1/parts/gripper/gripper_servo_gear.py
deleted file mode 100644
index e280732d..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_servo_gear.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import annotations
-
-from gripper_component_extract import extract_occurrences
-
-
-SERVO_GEAR_SELECTORS = ("o1.4",)
-
-
-def build_servo_gear():
- return extract_occurrences(SERVO_GEAR_SELECTORS, label="gripper_servo_gear")
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_servo_gear(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v1/parts/gripper/gripper_servo_gear.step b/models/robots/tom/v1/parts/gripper/gripper_servo_gear.step
deleted file mode 100644
index 5e47cb95..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_servo_gear.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:410c1c15d516c0fdb3b819fe3be26f17637ae7f209855ab2469c6c35c39d7cb4
-size 849460
diff --git a/models/robots/tom/v1/parts/gripper/gripper_static.py b/models/robots/tom/v1/parts/gripper/gripper_static.py
deleted file mode 100644
index 55020c81..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_static.py
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import annotations
-
-from gripper_component_extract import extract_all_except
-from gripper_left_claw import LEFT_CLAW_SELECTORS
-from gripper_right_claw import RIGHT_CLAW_SELECTORS
-from gripper_servo_gear import SERVO_GEAR_SELECTORS
-
-
-STATIC_EXCLUDED_SELECTORS = RIGHT_CLAW_SELECTORS + LEFT_CLAW_SELECTORS + SERVO_GEAR_SELECTORS
-
-
-def build_static_gripper():
- return extract_all_except(STATIC_EXCLUDED_SELECTORS, label="gripper_static")
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_static_gripper(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v1/parts/gripper/gripper_static.step b/models/robots/tom/v1/parts/gripper/gripper_static.step
deleted file mode 100644
index 97fe0466..00000000
--- a/models/robots/tom/v1/parts/gripper/gripper_static.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:99f5718cae21bfc97334b741865e5002a910a7b5a63d15aac48759781ac27c37
-size 8165381
diff --git a/models/robots/tom/v1/parts/gripper/rb9_01_061_000_gripper.step b/models/robots/tom/v1/parts/gripper/rb9_01_061_000_gripper.step
deleted file mode 100644
index 3c537f91..00000000
--- a/models/robots/tom/v1/parts/gripper/rb9_01_061_000_gripper.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:24e36ec30a7b517bf75f0dd021ee2ebfb611c21656b9d96f9b0421bbcf67c848
-size 11058995
diff --git a/models/robots/tom/v1/parts/imports/.hfs5_2020_100.step.glb b/models/robots/tom/v1/parts/imports/.hfs5_2020_100.step.glb
deleted file mode 100644
index 0da85aa4..00000000
--- a/models/robots/tom/v1/parts/imports/.hfs5_2020_100.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:150235915ee34fc6b79a9132f0ad61cae26693693b6e394192a61d3009a193e1
-size 188056
diff --git a/models/robots/tom/v1/parts/imports/.hfs5_2020_150.step.glb b/models/robots/tom/v1/parts/imports/.hfs5_2020_150.step.glb
deleted file mode 100644
index 9e860581..00000000
--- a/models/robots/tom/v1/parts/imports/.hfs5_2020_150.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c401fdb05d9c4fc7d2f957f6ef6da2c924c883e7d56d4ea4bccdd1643f48e4e3
-size 187980
diff --git a/models/robots/tom/v1/parts/imports/.sts3215.step.glb b/models/robots/tom/v1/parts/imports/.sts3215.step.glb
deleted file mode 100644
index 935c3d5c..00000000
--- a/models/robots/tom/v1/parts/imports/.sts3215.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0a70ab3f328a922409a622a52e449f8083505522424ebc6780064b2d0fe71bfb
-size 9407056
diff --git a/models/robots/tom/v1/parts/imports/.sts3250.step.glb b/models/robots/tom/v1/parts/imports/.sts3250.step.glb
deleted file mode 100644
index 88389c60..00000000
--- a/models/robots/tom/v1/parts/imports/.sts3250.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ddc6b41fbda2ae4fee080d3f2b82d68ac803c68b0b80e2a3c9b6c722380bf9cc
-size 3245664
diff --git a/models/robots/tom/v1/parts/imports/hfs5_2020_100.step b/models/robots/tom/v1/parts/imports/hfs5_2020_100.step
deleted file mode 100644
index 51f5fc1d..00000000
--- a/models/robots/tom/v1/parts/imports/hfs5_2020_100.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1c8a231f14e3aad8edf84edc82add9196d82dc998d184fba365f1bcda80ad525
-size 238428
diff --git a/models/robots/tom/v1/parts/imports/hfs5_2020_150.step b/models/robots/tom/v1/parts/imports/hfs5_2020_150.step
deleted file mode 100644
index 4ad3bb28..00000000
--- a/models/robots/tom/v1/parts/imports/hfs5_2020_150.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6869e2743ae88f4035e847fc01a5220ef939cbee7aee9d5ded709f2467169ee4
-size 238693
diff --git a/models/robots/tom/v1/parts/imports/sts3215.step b/models/robots/tom/v1/parts/imports/sts3215.step
deleted file mode 100644
index 6e59375d..00000000
--- a/models/robots/tom/v1/parts/imports/sts3215.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c116e2088d9b1c013c89c640d89093749e8edef93ddaf0f4c13371669da65b0
-size 21941724
diff --git a/models/robots/tom/v1/parts/imports/sts3250.step b/models/robots/tom/v1/parts/imports/sts3250.step
deleted file mode 100644
index 746b3e65..00000000
--- a/models/robots/tom/v1/parts/imports/sts3250.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5358f001dbdb3a059d625b79f3e0272a4f93dfb7f1e2a50d07803b709a337d29
-size 2299283
diff --git a/models/robots/tom/v1/parts/servo_end_mount.py b/models/robots/tom/v1/parts/servo_end_mount.py
deleted file mode 100644
index 0072a7df..00000000
--- a/models/robots/tom/v1/parts/servo_end_mount.py
+++ /dev/null
@@ -1,1225 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate the localized end mount.
-
-The part is authored in the imported STS3250 local frame so assemblies can place
-it with the same transform as the reference servo geometry.
-
-Usage:
- python STEP/servo_end_mount.py
-"""
-
-from __future__ import annotations
-
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-# Keep CAD library caches inside the workspace to avoid permission issues.
-V1_DIR = Path(__file__).resolve().parents[1]
-TOM_DIR = V1_DIR.parent
-_CACHE_HOME = V1_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import ezdxf
-import build123d
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.keyed_connection import (
- KEYED_CONNECTION_REF,
- KEYED_CONNECTION_ROTATION_DEG,
- cut_keyed_connection_x_aligned,
- sample_keyed_connection_outline,
-)
-from robot_common.step_import import import_as_shape
-
-
-CAD_DIR = Path(__file__).resolve().parent
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Servo End Mount"
-
-SERVO_STEP = V1_DIR / "parts" / "imports" / "sts3250.step"
-
-SENDCUTSEND_MIN_BEND_LINE_EDGE_CLEARANCE_MM = 25.4 * 0.255
-SENDCUTSEND_SHEET_THICKNESS_MM = 25.4 * 0.063
-CENTER_BRIDGE_BEND_LINE_EDGE_BUFFER_MM = 25.4 * 0.010
-CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM = (
- SENDCUTSEND_MIN_BEND_LINE_EDGE_CLEARANCE_MM
- + CENTER_BRIDGE_BEND_LINE_EDGE_BUFFER_MM
-)
-BRACKET_FACE_CLEARANCE_MM = CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM - SENDCUTSEND_SHEET_THICKNESS_MM
-SENDCUTSEND_REFERENCE_SHEET_THICKNESS_MM = 25.4 * 0.080
-SENDCUTSEND_DIE_REGION_RULE_SCALE = SENDCUTSEND_SHEET_THICKNESS_MM / SENDCUTSEND_REFERENCE_SHEET_THICKNESS_MM
-SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM = 25.4 * 0.035
-SENDCUTSEND_K_FACTOR = 0.48
-SENDCUTSEND_BEND_DEDUCTION_90_MM = (2.0 * (SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + SENDCUTSEND_SHEET_THICKNESS_MM)) - (
- (math.pi * 0.5)
- * (SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + (SENDCUTSEND_K_FACTOR * SENDCUTSEND_SHEET_THICKNESS_MM))
-)
-SENDCUTSEND_DIE_WIDTH_MM = 25.4 * 0.472
-SENDCUTSEND_HALF_DIE_WIDTH_MM = (0.5 * SENDCUTSEND_DIE_WIDTH_MM) * SENDCUTSEND_DIE_REGION_RULE_SCALE
-SENDCUTSEND_MIN_FLANGE_FLAT_MM = SENDCUTSEND_MIN_BEND_LINE_EDGE_CLEARANCE_MM
-SENDCUTSEND_MIN_FLANGE_FORMED_MM = (
- SENDCUTSEND_MIN_FLANGE_FLAT_MM
- + SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
- + SENDCUTSEND_SHEET_THICKNESS_MM
-)
-SENDCUTSEND_BEND_RELIEF_DEPTH_MM = 25.4 * 0.118
-SENDCUTSEND_MIN_CORNER_RELIEF_DISTANCE_MM = 25.4 * 0.037
-SENDCUTSEND_MIN_ANODIZE_SHORTEST_DIM_MM = 25.4
-BEND_DIE_REGION_TOLERANCE_MM = 0.1
-# The theoretical outer radius is inner radius + thickness, but the split tab
-# geometry cannot accept the full value as a direct solid fillet. Clamp the
-# modeled exterior bend to a stable radius that still reads as a formed bend.
-BEND_OUTER_RADIUS_MM = min(2.0, SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + SENDCUTSEND_SHEET_THICKNESS_MM)
-FLANGE_FREE_CORNER_RADIUS_MM = 1.0
-FLANGE_FREE_CORNER_SAMPLE_COUNT = 8
-MOUNT_PLANE_CLEARANCE_MM = 0.25
-MOUNT_HOLE_EDGE_X_WEB_MM = 1.55
-MOUNT_HOLE_OUTBOARD_Z_WEB_MM = 2.15
-MOUNT_HOLE_INBOARD_Z_WEB_MM = 2.15
-MOUNT_HOLE_TRIMMED_OUTBOARD_Z_WEB_WARN_MM = 1.0
-CUT_EXTENSION_MM = 2.0
-MAX_FACE_TARGET_ERROR_MM = 1.0
-FACE_TARGET_CENTERS_MM: dict[str, tuple[float, float, float]] = {
- "end_face": (9.61, -7.65, 0.0),
- "end_wrap_neg": (8.843, -7.65, -11.593),
- "end_wrap_pos": (8.843, -7.65, 11.593),
- "upper_top_neg": (-6.561, 6.4, -9.484),
- "upper_top_pos": (-6.561, 6.4, 9.484),
- "main_bottom": (-0.881, -25.6, 0.0),
-}
-@dataclass(frozen=True)
-class BracketLayout:
- z_min: float
- z_max: float
- top_holes: tuple[tuple[build123d.Vector, float], ...]
- bottom_holes: tuple[tuple[build123d.Vector, float], ...]
- top_tab_x_min: float
- bottom_tab_x_min: float
- bracket_face_inner_x: float
- bracket_face_outer_x: float
- top_tab_y_min: float
- top_tab_y_max: float
- bottom_tab_y_min: float
- bottom_tab_y_max: float
- tab_bands: tuple[tuple[float, float], ...]
- bend_bands: tuple[tuple[float, float], ...]
- center_bridge_x_min: float | None
- front_face_center_y: float
- outer_flush_gap: float
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- top_flat_length_mm: float
- web_flat_start_mm: float
- web_flat_end_mm: float
- bottom_flat_start_mm: float
- bend_line_positions_mm: tuple[float, float]
- bend_line_segments_mm: tuple[tuple[float, float, float], ...]
- cut_circles: tuple[tuple[float, float, float], ...]
- cut_profile_centers: tuple[tuple[float, float], ...]
- cut_segments: tuple[tuple[str, tuple[tuple[float, float], ...]], ...]
-
-
-def _geom_type_name(shape: build123d.Shape) -> str:
- geom_type = shape.geom_type
- return geom_type.name if hasattr(geom_type, "name") else str(geom_type)
-
-
-def _face_from_wire(
- exterior: build123d.Wire,
- interior_wires: list[build123d.Wire] | None = None,
-) -> build123d.Face:
- holes = list(interior_wires or [])
- return build123d.Face(exterior, holes) if holes else build123d.Face(exterior)
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _vector_to_tuple(vector: build123d.Vector) -> tuple[float, float, float]:
- return (vector.X, vector.Y, vector.Z)
-
-
-def _make_box(*, x_min: float, x_max: float, y_min: float, y_max: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _assemble_wire(edges: list[build123d.Edge]) -> build123d.Wire:
- wires = list(build123d.Wire.combine(edges))
- if len(wires) != 1:
- raise RuntimeError(f"Expected a single assembled wire, found {len(wires)}")
- return wires[0]
-
-
-def _arc_angles_xz(
- *,
- center_x: float,
- center_z: float,
- start_point: tuple[float, float],
- end_point: tuple[float, float],
-) -> tuple[float, float, build123d.AngularDirection]:
- start_angle = math.degrees(math.atan2(start_point[1] - center_z, start_point[0] - center_x))
- end_angle = math.degrees(math.atan2(end_point[1] - center_z, end_point[0] - center_x))
- ccw_span = (end_angle - start_angle) % 360.0
- if ccw_span <= 180.0:
- return start_angle, end_angle, build123d.AngularDirection.COUNTER_CLOCKWISE
- return start_angle, end_angle, build123d.AngularDirection.CLOCKWISE
-
-
-def _make_arc_edge_xz(
- *,
- center_x: float,
- center_z: float,
- radius: float,
- start_point: tuple[float, float],
- end_point: tuple[float, float],
-) -> build123d.Edge:
- start_angle, end_angle, angular_direction = _arc_angles_xz(
- center_x=center_x,
- center_z=center_z,
- start_point=start_point,
- end_point=end_point,
- )
- return build123d.Edge.make_circle(
- radius,
- plane=build123d.Plane(origin=(center_x, 0.0, center_z), x_dir=(1.0, 0.0, 0.0), z_dir=(0.0, -1.0, 0.0)),
- start_angle=start_angle,
- end_angle=end_angle,
- angular_direction=angular_direction,
- )
-
-
-def _make_wire_prism_y(
- *,
- edges_xz: list[build123d.Edge],
- y_min: float,
- y_max: float,
-) -> build123d.Solid:
- face = _face_from_wire(_assemble_wire(edges_xz))
- solid = build123d.Solid.extrude(face, build123d.Vector(0.0, y_max - y_min, 0.0))
- return solid.translate((0.0, y_min, 0.0))
-
-
-def _make_rounded_flange_tab(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
- radius: float,
-) -> build123d.Shape:
- radius = min(radius, 0.5 * (z_max - z_min), x_max - x_min)
- if radius <= 1e-6:
- return _make_box(x_min=x_min, x_max=x_max, y_min=y_min, y_max=y_max, z_min=z_min, z_max=z_max)
-
- lower_tangent = (x_min + radius, z_min)
- right_lower = (x_max, z_min)
- right_upper = (x_max, z_max)
- upper_tangent = (x_min + radius, z_max)
- left_upper = (x_min, z_max - radius)
- left_lower = (x_min, z_min + radius)
-
- return _make_wire_prism_y(
- edges_xz=[
- build123d.Edge.make_line((lower_tangent[0], 0.0, lower_tangent[1]), (right_lower[0], 0.0, right_lower[1])),
- build123d.Edge.make_line((right_lower[0], 0.0, right_lower[1]), (right_upper[0], 0.0, right_upper[1])),
- build123d.Edge.make_line((right_upper[0], 0.0, right_upper[1]), (upper_tangent[0], 0.0, upper_tangent[1])),
- _make_arc_edge_xz(
- center_x=x_min + radius,
- center_z=z_max - radius,
- radius=radius,
- start_point=upper_tangent,
- end_point=left_upper,
- ),
- build123d.Edge.make_line((left_upper[0], 0.0, left_upper[1]), (left_lower[0], 0.0, left_lower[1])),
- _make_arc_edge_xz(
- center_x=x_min + radius,
- center_z=z_min + radius,
- radius=radius,
- start_point=left_lower,
- end_point=lower_tangent,
- ),
- ],
- y_min=y_min,
- y_max=y_max,
- )
-
-
-def _find_face_near(shape: build123d.Shape, target: tuple[float, float, float], *, geom_type: str | None = None) -> build123d.Face:
- target_vec = build123d.Vector(*target)
- best: tuple[float, build123d.Face] | None = None
- for face in shape.faces():
- if geom_type is not None and _geom_type_name(face) != geom_type:
- continue
- dist = face.center().sub(target_vec).length
- if best is None or dist < best[0]:
- best = (dist, face)
-
- if best is None:
- raise RuntimeError(f"No planar face found near {target}")
- if best[0] > MAX_FACE_TARGET_ERROR_MM:
- raise RuntimeError(
- f"Resolved face near {target} was {best[0]:.3f} mm away, which exceeds the tolerance"
- )
- return best[1]
-
-
-def _wire_area(wire: build123d.Wire) -> float:
- return abs(_face_from_wire(wire).area)
-
-
-def _outer_wire_and_inner_wires(face: build123d.Face) -> tuple[build123d.Wire, list[build123d.Wire]]:
- wires = list(face.wires())
- if not wires:
- raise RuntimeError("Face has no wires")
-
- outer_wire = max(wires, key=_wire_area)
- inner_wires = [wire for wire in wires if not wire.is_same(outer_wire)]
- return outer_wire, inner_wires
-
-
-def _extract_inner_hole_profiles(face: build123d.Face) -> list[tuple[build123d.Vector, float]]:
- _outer_wire, inner_wires = _outer_wire_and_inner_wires(face)
- profiles: list[tuple[build123d.Vector, float]] = []
- for wire in inner_wires:
- circle_edges = [edge for edge in wire.edges() if _geom_type_name(edge) == "CIRCLE"]
- if not circle_edges:
- continue
- center = _face_from_wire(wire).center()
- radius = max(edge.radius for edge in circle_edges)
- profiles.append((center, radius))
- return profiles
-
-
-def _select_near_end_holes(
- profiles: list[tuple[build123d.Vector, float]],
- *,
- count: int,
-) -> list[tuple[build123d.Vector, float]]:
- if len(profiles) < count:
- raise RuntimeError(f"Expected at least {count} mount holes, found {len(profiles)}")
-
- selected = sorted(profiles, key=lambda item: (item[0].X, abs(item[0].Z)), reverse=True)[:count]
- selected.sort(key=lambda item: item[0].Z)
- return selected
-
-
-def _cut_mount_holes(
- body: build123d.Shape,
- *,
- profiles: list[tuple[build123d.Vector, float]],
- start_y: float,
- direction_y: float,
-) -> build123d.Shape:
- hole_depth = SENDCUTSEND_SHEET_THICKNESS_MM + (2.0 * CUT_EXTENSION_MM)
- for center, radius in profiles:
- cutter = _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(center.X, start_y, center.Z),
- direction=build123d.Vector(0.0, direction_y, 0.0),
- )
- body = body.cut(cutter)
- return body
-
-
-def _cut_front_face_connection_frame(
- body: build123d.Shape,
- *,
- face_center_y: float,
- x_max: float,
-) -> build123d.Shape:
- body_bb = body.bounding_box()
- return cut_keyed_connection_x_aligned(
- body,
- center=build123d.Vector(x_max, face_center_y, 0.0),
- start_x=x_max + CUT_EXTENSION_MM,
- direction_x=-1.0,
- thickness_mm=body_bb.size.X,
- cut_extension_mm=CUT_EXTENSION_MM,
- )
-
-
-def _apply_bends_and_end_rounds(
- bracket: build123d.Shape,
- *,
- bracket_face_inner_x: float,
- bracket_face_outer_x: float,
- top_tab_x_min: float,
- bottom_tab_x_min: float,
- top_tab_y_min: float,
- top_tab_y_max: float,
- bottom_tab_y_min: float,
- bottom_tab_y_max: float,
- bend_bands: tuple[tuple[float, float], ...],
-) -> build123d.Shape:
- return bracket
-
-
-def _min_mount_hole_distance_to_bend_line(
- profiles: list[tuple[build123d.Vector, float]],
- *,
- bend_line_x: float,
-) -> float:
- return min(abs(center.X - bend_line_x) for center, _radius in profiles)
-
-
-def _merge_z_bands(
- bands: list[tuple[float, float]] | tuple[tuple[float, float], ...],
- *,
- tolerance: float = 1e-6,
-) -> tuple[tuple[float, float], ...]:
- merged: list[tuple[float, float]] = []
- for start, end in sorted(bands, key=lambda band: band[0]):
- if end - start <= tolerance:
- continue
- if not merged or start > merged[-1][1] + tolerance:
- merged.append((start, end))
- continue
- merged[-1] = (merged[-1][0], max(merged[-1][1], end))
- return tuple(merged)
-
-
-def _build_layout(
- servo_shape: build123d.Shape,
- *,
- include_top_center_bridge: bool = True,
-) -> BracketLayout:
- faces = {
- "end_face": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_face"], geom_type="PLANE"),
- "end_wrap_neg": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_wrap_neg"]),
- "end_wrap_pos": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_wrap_pos"]),
- "upper_top_neg": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["upper_top_neg"], geom_type="PLANE"),
- "upper_top_pos": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["upper_top_pos"], geom_type="PLANE"),
- "main_bottom": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["main_bottom"], geom_type="PLANE"),
- }
-
- end_face_bb = faces["end_face"].bounding_box()
- end_wrap_neg_bb = faces["end_wrap_neg"].bounding_box()
- end_wrap_pos_bb = faces["end_wrap_pos"].bounding_box()
- z_min = min(
- end_face_bb.min.Z,
- end_wrap_neg_bb.min.Z,
- end_wrap_pos_bb.min.Z,
- )
- z_max = max(
- end_face_bb.max.Z,
- end_wrap_neg_bb.max.Z,
- end_wrap_pos_bb.max.Z,
- )
-
- top_holes = _select_near_end_holes(_extract_inner_hole_profiles(faces["upper_top_neg"]), count=1)
- top_holes += _select_near_end_holes(_extract_inner_hole_profiles(faces["upper_top_pos"]), count=1)
- top_holes.sort(key=lambda item: item[0].Z)
-
- bottom_holes = _select_near_end_holes(_extract_inner_hole_profiles(faces["main_bottom"]), count=2)
-
- top_mount_y = sum(center.Y for center, _radius in top_holes) / len(top_holes)
- bottom_mount_y = sum(center.Y for center, _radius in bottom_holes) / len(bottom_holes)
- top_tab_y_min = top_mount_y + MOUNT_PLANE_CLEARANCE_MM
- top_tab_y_max = top_tab_y_min + SENDCUTSEND_SHEET_THICKNESS_MM
- bottom_tab_y_max = bottom_mount_y - MOUNT_PLANE_CLEARANCE_MM
- bottom_tab_y_min = bottom_tab_y_max - SENDCUTSEND_SHEET_THICKNESS_MM
-
- side_profiles = {
- "neg": [top_holes[0], bottom_holes[0]],
- "pos": [top_holes[1], bottom_holes[1]],
- }
- tab_bands: list[tuple[float, float]] = []
- for top_profile, bottom_profile in side_profiles.values():
- profiles = (top_profile, bottom_profile)
- if sum(center.Z for center, _radius in profiles) < 0.0:
- z_band_min = min(center.Z - radius - MOUNT_HOLE_OUTBOARD_Z_WEB_MM for center, radius in profiles)
- z_band_max = max(center.Z + radius + MOUNT_HOLE_INBOARD_Z_WEB_MM for center, radius in profiles)
- else:
- z_band_min = min(center.Z - radius - MOUNT_HOLE_INBOARD_Z_WEB_MM for center, radius in profiles)
- z_band_max = max(center.Z + radius + MOUNT_HOLE_OUTBOARD_Z_WEB_MM for center, radius in profiles)
- z_band_min = max(z_band_min, z_min)
- z_band_max = min(z_band_max, z_max)
- tab_bands.append((z_band_min, z_band_max))
-
- sorted_tab_bands = sorted(tab_bands, key=lambda band: band[0])
- bend_bands = _merge_z_bands(sorted_tab_bands)
-
- top_tab_x_min = min(center.X - radius - MOUNT_HOLE_EDGE_X_WEB_MM for center, radius in top_holes)
- bottom_tab_x_min = min(center.X - radius - MOUNT_HOLE_EDGE_X_WEB_MM for center, radius in bottom_holes)
- bracket_face_clearance = BRACKET_FACE_CLEARANCE_MM
- bracket_face_inner_x = end_face_bb.max.X + bracket_face_clearance
- bracket_face_outer_x = bracket_face_inner_x + SENDCUTSEND_SHEET_THICKNESS_MM
- center_bridge_x_min: float | None = None
- if include_top_center_bridge and len(sorted_tab_bands) >= 2:
- center_gap_z_min = sorted_tab_bands[0][1]
- center_gap_z_max = sorted_tab_bands[-1][0]
- if center_gap_z_max - center_gap_z_min > 1e-3:
- candidate_center_bridge_x_min = max(
- bracket_face_outer_x - CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM,
- top_tab_x_min,
- )
- if candidate_center_bridge_x_min < bracket_face_outer_x - 1e-3:
- center_bridge_x_min = candidate_center_bridge_x_min
- bend_bands = _merge_z_bands((*sorted_tab_bands, (center_gap_z_min, center_gap_z_max)))
-
- min_hole_to_bend_line = min(
- _min_mount_hole_distance_to_bend_line(top_holes, bend_line_x=bracket_face_inner_x),
- _min_mount_hole_distance_to_bend_line(bottom_holes, bend_line_x=bracket_face_inner_x),
- )
- if min_hole_to_bend_line + BEND_DIE_REGION_TOLERANCE_MM < SENDCUTSEND_HALF_DIE_WIDTH_MM:
- raise RuntimeError(
- "Mount holes are too close to the bend line for the configured sheet-metal bend rule: "
- f"{min_hole_to_bend_line:.3f} mm < {SENDCUTSEND_HALF_DIE_WIDTH_MM:.3f} mm"
- )
-
- front_face_center_y = 0.5 * (bottom_tab_y_min + top_tab_y_max)
- outer_flush_gap = min(
- min(
- z_max - (center.Z + radius) if center.Z >= 0.0 else (center.Z - radius) - z_min
- for center, radius in top_holes
- ),
- min(
- z_max - (center.Z + radius) if center.Z >= 0.0 else (center.Z - radius) - z_min
- for center, radius in bottom_holes
- ),
- )
- if outer_flush_gap <= 0.0:
- raise RuntimeError(f"Trimmed mount width cuts into a mounting hole: outboard web {outer_flush_gap:.3f} mm")
-
- return BracketLayout(
- z_min=z_min,
- z_max=z_max,
- top_holes=tuple(top_holes),
- bottom_holes=tuple(bottom_holes),
- top_tab_x_min=top_tab_x_min,
- bottom_tab_x_min=bottom_tab_x_min,
- bracket_face_inner_x=bracket_face_inner_x,
- bracket_face_outer_x=bracket_face_outer_x,
- top_tab_y_min=top_tab_y_min,
- top_tab_y_max=top_tab_y_max,
- bottom_tab_y_min=bottom_tab_y_min,
- bottom_tab_y_max=bottom_tab_y_max,
- tab_bands=tuple(sorted_tab_bands),
- bend_bands=bend_bands,
- center_bridge_x_min=center_bridge_x_min,
- front_face_center_y=front_face_center_y,
- outer_flush_gap=outer_flush_gap,
- )
-
-
-def build_bracket(
- servo_shape: build123d.Shape,
- *,
- include_top_center_bridge: bool = True,
-) -> tuple[build123d.Shape, BracketLayout]:
- layout = _build_layout(servo_shape, include_top_center_bridge=include_top_center_bridge)
-
- bracket: build123d.Shape = _make_box(
- x_min=layout.bracket_face_inner_x,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.bottom_tab_y_min,
- y_max=layout.top_tab_y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
-
- for z_band_min, z_band_max in layout.tab_bands:
- bracket = bracket.fuse(
- _make_rounded_flange_tab(
- x_min=layout.top_tab_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.top_tab_y_min,
- y_max=layout.top_tab_y_max,
- z_min=z_band_min,
- z_max=z_band_max,
- radius=FLANGE_FREE_CORNER_RADIUS_MM,
- )
- )
-
- if layout.center_bridge_x_min is not None and len(layout.tab_bands) >= 2:
- center_gap_z_min = layout.tab_bands[0][1]
- center_gap_z_max = layout.tab_bands[-1][0]
- bracket = bracket.fuse(
- _make_box(
- x_min=layout.center_bridge_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.top_tab_y_min,
- y_max=layout.top_tab_y_max,
- z_min=center_gap_z_min,
- z_max=center_gap_z_max,
- )
- )
-
- bracket = bracket.fuse(
- _make_rounded_flange_tab(
- x_min=layout.bottom_tab_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.bottom_tab_y_min,
- y_max=layout.bottom_tab_y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- radius=FLANGE_FREE_CORNER_RADIUS_MM,
- )
- )
-
- bracket = _apply_bends_and_end_rounds(
- bracket,
- bracket_face_inner_x=layout.bracket_face_inner_x,
- bracket_face_outer_x=layout.bracket_face_outer_x,
- top_tab_x_min=layout.top_tab_x_min,
- bottom_tab_x_min=layout.bottom_tab_x_min,
- top_tab_y_min=layout.top_tab_y_min,
- top_tab_y_max=layout.top_tab_y_max,
- bottom_tab_y_min=layout.bottom_tab_y_min,
- bottom_tab_y_max=layout.bottom_tab_y_max,
- bend_bands=layout.bend_bands,
- )
-
- bracket = _cut_front_face_connection_frame(
- bracket,
- face_center_y=layout.front_face_center_y,
- x_max=layout.bracket_face_outer_x,
- )
- bracket = _cut_mount_holes(
- bracket,
- profiles=list(layout.top_holes),
- start_y=layout.top_tab_y_max + CUT_EXTENSION_MM,
- direction_y=-1.0,
- )
- bracket = _cut_mount_holes(
- bracket,
- profiles=list(layout.bottom_holes),
- start_y=layout.bottom_tab_y_min - CUT_EXTENSION_MM,
- direction_y=1.0,
- )
-
- return bracket, layout
-
-
-def _sendcutsend_outside_setback_90_mm() -> float:
- return SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + SENDCUTSEND_SHEET_THICKNESS_MM
-
-
-def _sendcutsend_bend_allowance_90_mm() -> float:
- return (math.pi * 0.5) * (
- SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + (SENDCUTSEND_K_FACTOR * SENDCUTSEND_SHEET_THICKNESS_MM)
- )
-
-
-def _validate_sendcutsend_bend_rule() -> None:
- bend_deduction_error = abs(
- SENDCUTSEND_BEND_DEDUCTION_90_MM
- - ((2.0 * _sendcutsend_outside_setback_90_mm()) - _sendcutsend_bend_allowance_90_mm())
- )
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def _min_flange_outside_length(layout: BracketLayout) -> float:
- return min(
- layout.bracket_face_outer_x - layout.top_tab_x_min,
- layout.bracket_face_outer_x - layout.bottom_tab_x_min,
- )
-
-
-def _supported_bend_fraction(layout: BracketLayout) -> float:
- bend_width = layout.z_max - layout.z_min
- if bend_width <= 0.0:
- return 0.0
- supported_width = sum(z_band_max - z_band_min for z_band_min, z_band_max in layout.bend_bands)
- return supported_width / bend_width
-
-
-def _min_bend_segment_length(layout: BracketLayout) -> float:
- return min(z_band_max - z_band_min for z_band_min, z_band_max in layout.bend_bands)
-
-
-def _center_bridge_z_range(layout: BracketLayout) -> tuple[float, float] | None:
- if layout.center_bridge_x_min is None or len(layout.tab_bands) < 2:
- return None
-
- z_min = layout.tab_bands[0][1]
- z_max = layout.tab_bands[-1][0]
- if z_max - z_min <= 1e-6:
- return None
- return z_min, z_max
-
-
-def _center_bridge_formed_length(layout: BracketLayout) -> float | None:
- if layout.center_bridge_x_min is None:
- return None
- return layout.bracket_face_inner_x - layout.center_bridge_x_min
-
-
-def _center_bridge_bend_edge_distance(layout: BracketLayout) -> float | None:
- if layout.center_bridge_x_min is None:
- return None
- return layout.bracket_face_outer_x - layout.center_bridge_x_min
-
-
-def _center_bridge_flat_length(layout: BracketLayout, flat_pattern: FlatPattern) -> float | None:
- formed_length = _center_bridge_formed_length(layout)
- if formed_length is None:
- return None
-
- # Keep the flat-pattern edge at least the required distance from the drawn
- # bend line while preserving the formed center-bridge length in the 3D part.
- bend_line_clearance_flat_length = (
- CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM
- - (flat_pattern.bend_line_positions_mm[0] - flat_pattern.top_flat_length_mm)
- )
- return max(formed_length, bend_line_clearance_flat_length)
-
-
-def _center_bridge_flat_bend_line_to_edge_distance(layout: BracketLayout, flat_pattern: FlatPattern) -> float | None:
- flat_length = _center_bridge_flat_length(layout, flat_pattern)
- if flat_length is None:
- return None
- return flat_length + (flat_pattern.bend_line_positions_mm[0] - flat_pattern.top_flat_length_mm)
-
-
-def _build_flat_pattern(
- layout: BracketLayout,
-) -> FlatPattern:
- _validate_sendcutsend_bend_rule()
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- bend_allowance = _sendcutsend_bend_allowance_90_mm()
- top_outside_length = layout.bracket_face_outer_x - layout.top_tab_x_min
- bottom_outside_length = layout.bracket_face_outer_x - layout.bottom_tab_x_min
- top_flat_length = top_outside_length - outside_setback
- bottom_flat_length = bottom_outside_length - outside_setback
- if top_flat_length <= 0.0 or bottom_flat_length <= 0.0:
- raise RuntimeError(
- "Flat flange length implied by the bend rule is too short: "
- f"top={top_flat_length:.3f} mm, bottom={bottom_flat_length:.3f} mm"
- )
- flange_outside_min = _min_flange_outside_length(layout)
- flange_flat_min = flange_outside_min - outside_setback
- center_bridge_bend_edge_distance = _center_bridge_bend_edge_distance(layout)
- if (
- center_bridge_bend_edge_distance is not None
- and center_bridge_bend_edge_distance < CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM
- ):
- raise RuntimeError(
- "Top center bridge bend-edge distance is below the configured clearance target: "
- f"{center_bridge_bend_edge_distance:.3f} mm < {CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM:.3f} mm"
- )
- if flange_outside_min < SENDCUTSEND_MIN_FLANGE_FORMED_MM:
- raise RuntimeError(
- "Formed flange length is below the configured bend-rule minimum: "
- f"{flange_outside_min:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FORMED_MM:.3f} mm"
- )
- if flange_flat_min < SENDCUTSEND_MIN_FLANGE_FLAT_MM:
- raise RuntimeError(
- "Flat flange length is below the configured bend-rule minimum: "
- f"{flange_flat_min:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FLAT_MM:.3f} mm"
- )
-
- top_web_tangent_y = layout.top_tab_y_min - SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
- bottom_web_tangent_y = layout.bottom_tab_y_max + SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
- web_flat_length = top_web_tangent_y - bottom_web_tangent_y
- if web_flat_length <= 0.0:
- raise RuntimeError(f"Web flat length implied by the bend rule is too short: {web_flat_length:.3f} mm")
-
- web_flat_start = top_flat_length + bend_allowance
- web_flat_end = web_flat_start + web_flat_length
- bottom_flat_start = web_flat_end + bend_allowance
- total_length = bottom_flat_start + bottom_flat_length
- width = layout.z_max - layout.z_min
- top_bend_line_x = top_flat_length + (0.5 * bend_allowance)
- bottom_bend_line_x = web_flat_end + (0.5 * bend_allowance)
- bend_line_segments = (
- (top_bend_line_x, 0.0, width),
- (bottom_bend_line_x, 0.0, width),
- )
-
- cut_circles: list[tuple[float, float, float]] = []
- for center, radius in layout.top_holes:
- cut_circles.append(
- (
- center.X - layout.top_tab_x_min,
- center.Z - layout.z_min,
- radius,
- )
- )
- for center, radius in layout.bottom_holes:
- cut_circles.append(
- (
- total_length - (center.X - layout.bottom_tab_x_min),
- center.Z - layout.z_min,
- radius,
- )
- )
- cut_profile_centers = (
- (
- web_flat_start + (top_web_tangent_y - layout.front_face_center_y),
- -layout.z_min,
- ),
- )
- return FlatPattern(
- total_length_mm=total_length,
- width_mm=width,
- top_flat_length_mm=top_flat_length,
- web_flat_start_mm=web_flat_start,
- web_flat_end_mm=web_flat_end,
- bottom_flat_start_mm=bottom_flat_start,
- bend_line_positions_mm=(top_bend_line_x, bottom_bend_line_x),
- bend_line_segments_mm=bend_line_segments,
- cut_circles=tuple(cut_circles),
- cut_profile_centers=cut_profile_centers,
- cut_segments=(),
- )
-
-
-def _flat_rectangles(layout: BracketLayout, flat_pattern: FlatPattern) -> tuple[tuple[float, float, float, float], ...]:
- rectangles: list[tuple[float, float, float, float]] = [
- (
- flat_pattern.top_flat_length_mm,
- 0.0,
- flat_pattern.bottom_flat_start_mm,
- flat_pattern.width_mm,
- )
- ]
-
- for z_band_min, z_band_max in layout.tab_bands:
- y_min = z_band_min - layout.z_min
- y_max = z_band_max - layout.z_min
- rectangles.append((0.0, y_min, flat_pattern.top_flat_length_mm, y_max))
-
- center_bridge_z_range = _center_bridge_z_range(layout)
- center_bridge_flat_length = _center_bridge_flat_length(layout, flat_pattern)
- if center_bridge_z_range is not None and center_bridge_flat_length is not None:
- y_min = center_bridge_z_range[0] - layout.z_min
- y_max = center_bridge_z_range[1] - layout.z_min
- x_min = flat_pattern.top_flat_length_mm - center_bridge_flat_length
- rectangles.append((x_min, y_min, flat_pattern.top_flat_length_mm, y_max))
-
- rectangles.append((flat_pattern.bottom_flat_start_mm, 0.0, flat_pattern.total_length_mm, flat_pattern.width_mm))
-
- return tuple(rectangle for rectangle in rectangles if rectangle[2] - rectangle[0] > 1e-6 and rectangle[3] - rectangle[1] > 1e-6)
-
-
-def _flange_free_corner_points(
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> set[tuple[float, float]]:
- points: set[tuple[float, float]] = set()
- for z_band_min, z_band_max in layout.tab_bands:
- flat_z_min = z_band_min - layout.z_min
- flat_z_max = z_band_max - layout.z_min
- points.add((0.0, flat_z_min))
- points.add((0.0, flat_z_max))
- points.add((flat_pattern.total_length_mm, 0.0))
- points.add((flat_pattern.total_length_mm, flat_pattern.width_mm))
- return points
-
-
-def _sample_short_arc_2d(
- *,
- center: tuple[float, float],
- start: tuple[float, float],
- end: tuple[float, float],
- count: int,
-) -> list[tuple[float, float]]:
- start_angle = math.atan2(start[1] - center[1], start[0] - center[0])
- end_angle = math.atan2(end[1] - center[1], end[0] - center[0])
- ccw_span = (end_angle - start_angle) % (2.0 * math.pi)
- if ccw_span <= math.pi:
- span = ccw_span
- else:
- span = -((start_angle - end_angle) % (2.0 * math.pi))
-
- samples = max(count, 2)
- radius = math.hypot(start[0] - center[0], start[1] - center[1])
- return [
- (
- center[0] + (radius * math.cos(start_angle + (span * index / (samples - 1)))),
- center[1] + (radius * math.sin(start_angle + (span * index / (samples - 1)))),
- )
- for index in range(samples)
- ]
-
-
-def _rounded_outline_loop_points(
- loop: list[tuple[float, float]],
- *,
- rounded_corners: set[tuple[float, float]],
- radius: float,
-) -> list[tuple[float, float]]:
- if radius <= 1e-6:
- return loop
-
- rounded_loop: list[tuple[float, float]] = []
- for index, point in enumerate(loop):
- if point not in rounded_corners:
- rounded_loop.append(point)
- continue
-
- previous_point = loop[index - 1]
- next_point = loop[(index + 1) % len(loop)]
- prev_vec = (previous_point[0] - point[0], previous_point[1] - point[1])
- next_vec = (next_point[0] - point[0], next_point[1] - point[1])
- prev_len = math.hypot(*prev_vec)
- next_len = math.hypot(*next_vec)
- corner_radius = min(radius, 0.5 * prev_len, 0.5 * next_len)
- if corner_radius <= 1e-6:
- rounded_loop.append(point)
- continue
-
- prev_unit = (prev_vec[0] / prev_len, prev_vec[1] / prev_len)
- next_unit = (next_vec[0] / next_len, next_vec[1] / next_len)
- tangent_in = (
- point[0] + (prev_unit[0] * corner_radius),
- point[1] + (prev_unit[1] * corner_radius),
- )
- tangent_out = (
- point[0] + (next_unit[0] * corner_radius),
- point[1] + (next_unit[1] * corner_radius),
- )
- center = (
- point[0] + ((prev_unit[0] + next_unit[0]) * corner_radius),
- point[1] + ((prev_unit[1] + next_unit[1]) * corner_radius),
- )
- arc_points = _sample_short_arc_2d(
- center=center,
- start=tangent_in,
- end=tangent_out,
- count=FLANGE_FREE_CORNER_SAMPLE_COUNT,
- )
- rounded_loop.extend(arc_points)
-
- return rounded_loop
-
-
-def _outline_loops_from_rectangles(
- rectangles: tuple[tuple[float, float, float, float], ...],
-) -> list[list[tuple[float, float]]]:
- x_coords = sorted({coord for x0, _y0, x1, _y1 in rectangles for coord in (x0, x1)})
- y_coords = sorted({coord for _x0, y0, _x1, y1 in rectangles for coord in (y0, y1)})
- filled_cells: set[tuple[int, int]] = set()
-
- for x_index in range(len(x_coords) - 1):
- for y_index in range(len(y_coords) - 1):
- x_mid = 0.5 * (x_coords[x_index] + x_coords[x_index + 1])
- y_mid = 0.5 * (y_coords[y_index] + y_coords[y_index + 1])
- if any(x0 < x_mid < x1 and y0 < y_mid < y1 for x0, y0, x1, y1 in rectangles):
- filled_cells.add((x_index, y_index))
-
- edges: dict[tuple[tuple[float, float], tuple[float, float]], None] = {}
-
- def add_edge(start: tuple[float, float], end: tuple[float, float]) -> None:
- reverse = (end, start)
- if reverse in edges:
- del edges[reverse]
- return
- edges[(start, end)] = None
-
- for x_index, y_index in filled_cells:
- x0 = x_coords[x_index]
- x1 = x_coords[x_index + 1]
- y0 = y_coords[y_index]
- y1 = y_coords[y_index + 1]
- add_edge((x0, y0), (x1, y0))
- add_edge((x1, y0), (x1, y1))
- add_edge((x1, y1), (x0, y1))
- add_edge((x0, y1), (x0, y0))
-
- outgoing: dict[tuple[float, float], list[tuple[float, float]]] = {}
- for start, end in edges:
- outgoing.setdefault(start, []).append(end)
-
- loops: list[list[tuple[float, float]]] = []
- while outgoing:
- start = min(outgoing)
- loop = [start]
- current = start
- while True:
- next_points = outgoing.get(current)
- if not next_points:
- raise RuntimeError("Flat-pattern outline could not be assembled from panel rectangles")
- next_point = next_points.pop()
- if not next_points:
- del outgoing[current]
- if next_point == start:
- break
- loop.append(next_point)
- current = next_point
-
- area = _polygon_area(loop)
- if area < 0.0:
- loop.reverse()
- loops.append(loop)
-
- return loops
-
-
-def _polygon_area(points: list[tuple[float, float]]) -> float:
- return 0.5 * sum(
- (points[index][0] * points[(index + 1) % len(points)][1])
- - (points[(index + 1) % len(points)][0] * points[index][1])
- for index in range(len(points))
- )
-
-
-def _add_reference_arc(
- msp: ezdxf.layouts.Modelspace,
- *,
- start: tuple[float, float],
- midpoint: tuple[float, float],
- end: tuple[float, float],
-) -> None:
- from ezdxf.math import ConstructionArc
-
- arc = ConstructionArc.from_3p(start, end, def_point=midpoint, ccw=True)
- center = (arc.center.x, arc.center.y)
- start_angle = math.atan2(start[1] - center[1], start[0] - center[0])
- mid_angle = math.atan2(midpoint[1] - center[1], midpoint[0] - center[0])
- end_angle = math.atan2(end[1] - center[1], end[0] - center[0])
- ccw_sweep = (end_angle - start_angle) % (2.0 * math.pi)
- mid_sweep = (mid_angle - start_angle) % (2.0 * math.pi)
- if mid_sweep <= ccw_sweep + 1e-6:
- msp.add_arc(
- center=center,
- radius=arc.radius,
- start_angle=math.degrees(start_angle),
- end_angle=math.degrees(end_angle),
- dxfattribs={"layer": "CUT"},
- )
- return
-
- msp.add_arc(
- center=center,
- radius=arc.radius,
- start_angle=math.degrees(end_angle),
- end_angle=math.degrees(start_angle),
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _build_flat_pattern_dxf(flat_pattern: FlatPattern, layout: BracketLayout) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- msp = doc.modelspace()
- rounded_corners = _flange_free_corner_points(layout, flat_pattern)
- for loop in _outline_loops_from_rectangles(_flat_rectangles(layout, flat_pattern)):
- rounded_loop = _rounded_outline_loop_points(
- loop,
- rounded_corners=rounded_corners,
- radius=FLANGE_FREE_CORNER_RADIUS_MM,
- )
- for index, point in enumerate(rounded_loop):
- msp.add_line(point, rounded_loop[(index + 1) % len(rounded_loop)], dxfattribs={"layer": "CUT"})
-
- for x, y, cut_radius in flat_pattern.cut_circles:
- msp.add_circle((x, y), cut_radius, dxfattribs={"layer": "CUT"})
-
- for center_x, center_y in flat_pattern.cut_profile_centers:
- msp.add_lwpolyline(
- sample_keyed_connection_outline(center_u=center_x, center_v=center_y, points_per_arc=16),
- format="xy",
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
- for segment_type, points in flat_pattern.cut_segments:
- if segment_type == "LINE":
- msp.add_line(points[0], points[-1], dxfattribs={"layer": "CUT"})
- elif segment_type == "ARC":
- _add_reference_arc(msp, start=points[0], midpoint=points[1], end=points[-1])
- else:
- raise RuntimeError(f"Unsupported flat-pattern cut segment type: {segment_type}")
-
- for bend_line_x, bend_y_min, bend_y_max in flat_pattern.bend_line_segments_mm:
- msp.add_line(
- (bend_line_x, bend_y_min),
- (bend_line_x, bend_y_max),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def build_step(
- *,
- include_top_center_bridge: bool = True,
-) -> build123d.Shape:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
-
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {SERVO_STEP}")
-
- servo_shape = import_as_shape(SERVO_STEP)
- bracket, layout = build_bracket(servo_shape, include_top_center_bridge=include_top_center_bridge)
- flat_pattern = _build_flat_pattern(layout)
-
- solids = bracket.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected bracket solid, found {len(solids)}")
-
- intersection_volume = servo_shape.intersect(bracket).volume
- if intersection_volume > 1e-3:
- raise RuntimeError(f"Bracket intersects the servo by {intersection_volume:.6f} mm^3")
-
- bracket.label = PART_NAME
-
- bracket_bb = bracket.bounding_box()
- print(
- "Bracket envelope "
- f"X={bracket_bb.size.X:.3f} mm, "
- f"Y={bracket_bb.size.Y:.3f} mm, "
- f"Z={bracket_bb.size.Z:.3f} mm"
- )
- print(
- "SendCutSend setup "
- f"material=5052-H32, thickness={SENDCUTSEND_SHEET_THICKNESS_MM:.3f} mm, "
- f"bend_radius={SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM:.3f} mm, "
- f"k_factor={SENDCUTSEND_K_FACTOR:.2f}, "
- f"bend_deduction_90={SENDCUTSEND_BEND_DEDUCTION_90_MM:.3f} mm, "
- f"anodize_min_short_dim={SENDCUTSEND_MIN_ANODIZE_SHORTEST_DIM_MM:.3f} mm"
- )
- sendcutsend_checks = (
- "SendCutSend checks "
- f"hole_to_bend_min={min(abs(center.X - layout.bracket_face_inner_x) for center, _radius in [*layout.top_holes, *layout.bottom_holes]):.3f} mm, "
- f"bend_segment_min={_min_bend_segment_length(layout):.3f} mm, "
- f"bend_support={_supported_bend_fraction(layout):.1%}, "
- f"outboard_hole_edge_web={layout.outer_flush_gap:.3f} mm, "
- f"flange_free_corner_radius={FLANGE_FREE_CORNER_RADIUS_MM:.3f} mm"
- )
- print(sendcutsend_checks)
- if layout.outer_flush_gap < MOUNT_HOLE_TRIMMED_OUTBOARD_Z_WEB_WARN_MM:
- print(
- "Warning: trimmed outer side leaves a small hole edge web: "
- f"{layout.outer_flush_gap:.3f} mm < {MOUNT_HOLE_TRIMMED_OUTBOARD_Z_WEB_WARN_MM:.3f} mm"
- )
- end_face_x = _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_face"], geom_type="PLANE").bounding_box().max.X
- print(f"Bracket face clearance: {layout.bracket_face_inner_x - end_face_x:.3f} mm")
- center_bridge_bend_edge_distance = _center_bridge_bend_edge_distance(layout)
- center_bridge_flat_clearance = _center_bridge_flat_bend_line_to_edge_distance(layout, flat_pattern)
- if center_bridge_bend_edge_distance is not None and center_bridge_flat_clearance is not None:
- print(
- "Top center bridge "
- f"bend_edge_distance={center_bridge_bend_edge_distance:.3f} mm, "
- f"flat_bend_line_to_edge={center_bridge_flat_clearance:.3f} mm"
- )
- print(f"Bracket face inner X: {layout.bracket_face_inner_x:.3f} mm")
- print(
- "Front-face keyed connection "
- f"ref={KEYED_CONNECTION_REF}, "
- f"center=(x=max, y={layout.front_face_center_y:.6f}, z=0.000000) mm, "
- f"rotation={KEYED_CONNECTION_ROTATION_DEG:.1f} deg, "
- "profiles=1"
- )
- print(
- "Top mount holes used (x, y, z) mm: "
- + ", ".join(str(tuple(round(value, 6) for value in _vector_to_tuple(center))) for center, _radius in layout.top_holes)
- )
- print(
- "Bottom mount holes used (x, y, z) mm: "
- + ", ".join(str(tuple(round(value, 6) for value in _vector_to_tuple(center))) for center, _radius in layout.bottom_holes)
- )
- print(f"Servo/bracket interference volume (mm^3): {intersection_volume:.6f}")
- return bracket
-
-
-def build_dxf(
- *,
- include_top_center_bridge: bool = True,
-) -> ezdxf.document.Drawing:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
-
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {SERVO_STEP}")
-
- servo_shape = import_as_shape(SERVO_STEP)
- layout = _build_layout(servo_shape, include_top_center_bridge=include_top_center_bridge)
- flat_pattern = _build_flat_pattern(layout)
- doc = _build_flat_pattern_dxf(flat_pattern, layout)
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- flange_outside_min = _min_flange_outside_length(layout)
- print(
- "Flat pattern "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"bend_segments={len(flat_pattern.bend_line_segments_mm)}, "
- f"cut_circles={len(flat_pattern.cut_circles)}, "
- f"front_cut_profiles={len(flat_pattern.cut_profile_centers)}, "
- f"front_cut_segments={len(flat_pattern.cut_segments)}"
- )
- dxf_bend_checks = (
- "DXF bend checks "
- f"flange_outside_min={flange_outside_min:.3f} mm, "
- f"flange_flat_min={flange_outside_min - outside_setback:.3f} mm, "
- f"flange_flat_required={SENDCUTSEND_MIN_FLANGE_FLAT_MM:.3f} mm, "
- f"bend_segment_min={_min_bend_segment_length(layout):.3f} mm, "
- f"bend_support={_supported_bend_fraction(layout):.1%}, "
- f"hole_to_bend_min={min(abs(center.X - layout.bracket_face_inner_x) for center, _radius in [*layout.top_holes, *layout.bottom_holes]):.3f} mm, "
- f"outboard_hole_edge_web={layout.outer_flush_gap:.3f} mm"
- )
- print(dxf_bend_checks)
- center_bridge_bend_edge_distance = _center_bridge_bend_edge_distance(layout)
- center_bridge_flat_clearance = _center_bridge_flat_bend_line_to_edge_distance(layout, flat_pattern)
- if center_bridge_bend_edge_distance is not None and center_bridge_flat_clearance is not None:
- print(
- "DXF center bridge "
- f"bend_edge_distance={center_bridge_bend_edge_distance:.3f} mm, "
- f"flat_bend_line_to_edge={center_bridge_flat_clearance:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v1/parts/servo_end_mount.step b/models/robots/tom/v1/parts/servo_end_mount.step
deleted file mode 100644
index 01cf3999..00000000
--- a/models/robots/tom/v1/parts/servo_end_mount.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cbf40e6ac92ae150e1c13d4d9591a6fa5404844099b15a2718c7cbe566e49914
-size 156879
diff --git a/models/robots/tom/v1/parts/servo_horn_yoke.py b/models/robots/tom/v1/parts/servo_horn_yoke.py
deleted file mode 100644
index 1f905e06..00000000
--- a/models/robots/tom/v1/parts/servo_horn_yoke.py
+++ /dev/null
@@ -1,1116 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate the localized horn-mounted yoke.
-
-This variant preserves the existing horn interface geometry, uses keyed cuts
-at the horn flanges and closing web, and adds servo-aligned M2 holes on the
-closing web.
-
-Usage:
- python STEP/servo_horn_yoke.py
-"""
-
-from __future__ import annotations
-
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-# Keep CAD library caches inside the workspace to avoid permission issues.
-V1_DIR = Path(__file__).resolve().parents[1]
-TOM_DIR = V1_DIR.parent
-_CACHE_HOME = V1_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import ezdxf
-import build123d
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.keyed_connection import (
- KEYED_CONNECTION_HALF_SPAN_MM,
- KEYED_CONNECTION_REF,
- KEYED_CONNECTION_ROTATION_DEG,
- cut_keyed_connection_x_aligned,
- cut_keyed_connection_y_aligned,
- sample_keyed_connection_outline,
-)
-from robot_common.step_import import import_as_shape
-
-
-CAD_DIR = Path(__file__).resolve().parent
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Servo Horn Yoke"
-
-SERVO_STEP = V1_DIR / "parts" / "imports" / "sts3250.step"
-
-UPPER_HORN_SELECTOR = "xcaf:1.4"
-LOWER_HORN_SELECTOR = "xcaf:1.5"
-UPPER_HORN_NAME = "4"
-LOWER_HORN_NAME = "5"
-
-# Keep the rotating web outside the primary servo's left-side corner sweep.
-# This is measured from the flange servo horn axis to the yoke web's outer face.
-YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM = 32.0
-SERVO_HORN_AXIS_X_MM = -25.5
-SERVO_REFERENCE_FACE_TARGET_CENTER_MM = (-35.61, -7.65, 0.0)
-SERVO_REFERENCE_FACE_MAX_ERROR_MM = 0.5
-HORN_FACE_GAP_MM = 0.25
-MOUNT_HOLE_MIN_OFFSET_MM = 3.0
-CUT_EXTENSION_MM = 2.0
-WEB_M2_CLEARANCE_RADIUS_MM = 1.1
-WEB_SERVO_M2_HOLE_CENTERS_YZ_MM = (
- (-17.4, -10.25),
- (-17.4, 10.25),
- (-0.8, -10.25),
- (-0.8, 10.25),
-)
-REFERENCE_SHEET_THICKNESS_MM = 25.4 * 0.080
-SHEET_THICKNESS_MM = 25.4 * 0.063
-SHEET_RULE_SCALE = SHEET_THICKNESS_MM / REFERENCE_SHEET_THICKNESS_MM
-
-
-@dataclass(frozen=True)
-class BendRule:
- material_name: str
- thickness_mm: float
- effective_inside_radius_mm: float
- k_factor: float
- bend_deduction_90_mm: float
- half_die_width_mm: float
- min_flange_flat_mm: float
- min_flange_formed_mm: float
- min_acute_centerline_length_mm: float
- channel_one_to_one_max_flange_mm: float
- channel_narrow_min_base_mm: float
- channel_base_spacing_min_mm: float
- max_bend_angle_deg: float
-
- @property
- def outside_setback_90_mm(self) -> float:
- return self.effective_inside_radius_mm + self.thickness_mm
-
- @property
- def bend_allowance_90_mm(self) -> float:
- return (math.pi * 0.5) * (self.effective_inside_radius_mm + (self.k_factor * self.thickness_mm))
-
- @property
- def outer_radius_mm(self) -> float:
- return self.effective_inside_radius_mm + self.thickness_mm
-
- def flat_length_from_outside_length_90(self, outside_length_mm: float) -> float:
- return outside_length_mm - self.outside_setback_90_mm
-
-
-SHEET_RULE = BendRule(
- material_name="5052-H32 1.6 mm",
- thickness_mm=SHEET_THICKNESS_MM,
- effective_inside_radius_mm=25.4 * 0.038,
- k_factor=0.48,
- bend_deduction_90_mm=(2.0 * ((25.4 * 0.038) + SHEET_THICKNESS_MM))
- - ((math.pi * 0.5) * ((25.4 * 0.038) + (0.48 * SHEET_THICKNESS_MM))),
- half_die_width_mm=(0.5 * (25.4 * 0.472)) * SHEET_RULE_SCALE,
- min_flange_flat_mm=(25.4 * 0.255) * SHEET_RULE_SCALE,
- min_flange_formed_mm=(25.4 * 0.313) * SHEET_RULE_SCALE,
- min_acute_centerline_length_mm=(25.4 * 0.332) * SHEET_RULE_SCALE,
- channel_one_to_one_max_flange_mm=25.4 * 3.000,
- channel_narrow_min_base_mm=25.4 * 1.000,
- channel_base_spacing_min_mm=(2.0 * (25.4 * 0.255)) * SHEET_RULE_SCALE,
- max_bend_angle_deg=130.0,
-)
-
-
-@dataclass(frozen=True)
-class HornMountSpec:
- name: str
- mount_face_y: float
- mount_face_center: build123d.Vector
- mount_face_bbox: build123d.BoundBox
- half_width_z: float
- center_clearance_radius: float
- mount_holes: tuple[tuple[build123d.Vector, float], ...]
-
-
-@dataclass(frozen=True)
-class BracketLayout:
- web_inner_x: float
- web_outer_x: float
- top_y_min: float
- top_y_max: float
- bottom_y_min: float
- bottom_y_max: float
- top_z_min: float
- top_z_max: float
- bottom_z_min: float
- bottom_z_max: float
- global_z_min: float
- global_z_max: float
-
-
-@dataclass(frozen=True)
-class BracketMetrics:
- min_flange_outside_length_mm: float
- min_flange_flat_length_mm: float
- bend_line_spacing_mm: float
- min_hole_edge_to_bend_mm: float
- min_web_feature_edge_to_bend_mm: float
- base_to_flange_ratio: float
- bend_deduction_formula_mm: float
-
-
-@dataclass(frozen=True)
-class GeneratorInputs:
- servo_shape: build123d.Shape
- reference_face_x: float
- sheet_half_width_z: float
- upper_horn: HornMountSpec
- lower_horn: HornMountSpec
-
-
-@dataclass(frozen=True)
-class CutProfileSpec:
- center_x: float
- center_y: float
- rotation_degrees: float
-
-
-@dataclass(frozen=True)
-class WebHoleSpec:
- center_y: float
- center_z: float
- radius: float
-
-
-@dataclass(frozen=True)
-class CircleProfileSpec:
- center_x: float
- center_y: float
- radius: float
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- cap_radius_mm: float
- bend_line_positions_mm: tuple[float, float]
- cut_profiles: tuple[CutProfileSpec, ...]
- round_hole_profiles: tuple[CircleProfileSpec, ...]
-
-
-def _cast_shape(obj: object) -> build123d.Shape:
- from build123d.topology import downcast
- from build123d.topology.shape_core import shapetype
-
- occt_shape = downcast(obj)
- shape_name = build123d.Shape.shape_LUT[shapetype(occt_shape)]
- shape_type = getattr(build123d, shape_name)
- return shape_type.cast(occt_shape)
-
-
-def _geom_type_name(shape: build123d.Shape) -> str:
- geom_type = shape.geom_type
- return geom_type.name if hasattr(geom_type, "name") else str(geom_type)
-
-
-def _face_from_wire(
- exterior: build123d.Wire,
- interior_wires: list[build123d.Wire] | None = None,
-) -> build123d.Face:
- holes = list(interior_wires or [])
- return build123d.Face(exterior, holes) if holes else build123d.Face(exterior)
-
-
-def _assemble_wire(edges: list[build123d.Edge]) -> build123d.Wire:
- wires = list(build123d.Wire.combine(edges))
- if len(wires) != 1:
- raise RuntimeError(f"Expected a single assembled wire, found {len(wires)}")
- return wires[0]
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _vector_to_tuple(vector: build123d.Vector) -> tuple[float, float, float]:
- return (vector.X, vector.Y, vector.Z)
-
-
-def _validate_bend_rule(rule: BendRule) -> None:
- bend_deduction_error = abs(rule.bend_deduction_90_mm - ((2.0 * rule.outside_setback_90_mm) - rule.bend_allowance_90_mm))
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def _extract_selector_shape(step_path: Path, selector: str) -> tuple[str, build123d.Shape]:
- from OCP.STEPCAFControl import STEPCAFControl_Reader
- from OCP.TCollection import TCollection_ExtendedString
- from OCP.TDataStd import TDataStd_Name
- from OCP.TDF import TDF_Label, TDF_LabelSequence
- from OCP.TDocStd import TDocStd_Document
- from OCP.XCAFApp import XCAFApp_Application
- from OCP.XCAFDoc import XCAFDoc_DocumentTool, XCAFDoc_ShapeTool
-
- def _label_name(label: object) -> str:
- name = TDataStd_Name()
- if not label.FindAttribute(TDataStd_Name.GetID_s(), name):
- return ""
- return name.Get().ToExtString()
-
- def _resolve_label(shape_tool: object, label: object) -> object:
- if not shape_tool.IsReference_s(label):
- return label
- referred = TDF_Label()
- if shape_tool.GetReferredShape_s(label, referred):
- return referred
- return label
-
- def _child_components(shape_tool: object, label: object) -> list[object]:
- children = TDF_LabelSequence()
- ok = XCAFDoc_ShapeTool.GetComponents_s(label, children, False)
- resolved = _resolve_label(shape_tool, label)
- if (not ok or children.Length() <= 0) and resolved != label:
- children = TDF_LabelSequence()
- ok = XCAFDoc_ShapeTool.GetComponents_s(resolved, children, False)
- if not ok or children.Length() <= 0:
- return []
- return [children.Value(index) for index in range(1, children.Length() + 1)]
-
- def _shape_location(shape: object) -> build123d.Location:
- try:
- return build123d.Location(shape.Location().Transformation())
- except Exception:
- return build123d.Location()
-
- def _located_shape(shape: object, location: build123d.Location | None) -> object:
- if location is None:
- return shape
- return shape.Located(location.wrapped)
-
- app = XCAFApp_Application.GetApplication_s()
- doc = TDocStd_Document(TCollection_ExtendedString("servo_horn_yoke_doc"))
- app.NewDocument(TCollection_ExtendedString("MDTV-XCAF"), doc)
-
- reader = STEPCAFControl_Reader()
- read_status = reader.ReadFile(str(step_path))
- if int(read_status) != 1:
- raise RuntimeError(f"Could not read {step_path} (status={int(read_status)})")
- if not reader.Transfer(doc):
- raise RuntimeError(f"Could not transfer STEP document from {step_path}")
-
- shape_tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
- free_labels = TDF_LabelSequence()
- shape_tool.GetFreeShapes(free_labels)
- if free_labels.Length() <= 0:
- raise RuntimeError(f"No free shapes found in {step_path}")
-
- if not selector.startswith("xcaf:"):
- raise ValueError(f"Unsupported selector format: {selector}")
- segments = [int(value) for value in selector.split(":", 1)[1].split(".") if value]
- if not segments:
- raise ValueError(f"Selector does not contain XCAF path segments: {selector}")
- if segments[0] < 1 or segments[0] > free_labels.Length():
- raise RuntimeError(f"Selector root index is out of range for {step_path}: {selector}")
-
- label = free_labels.Value(segments[0])
- current_location: build123d.Location | None = None
- for index in segments[1:]:
- parent_location = _shape_location(shape_tool.GetShape_s(label))
- current_location = parent_location if current_location is None else current_location * parent_location
- children = _child_components(shape_tool, label)
- if index < 1 or index > len(children):
- raise RuntimeError(f"Selector segment {index} is out of range for {selector}")
- label = children[index - 1]
-
- resolved = _resolve_label(shape_tool, label)
- instance_shape = shape_tool.GetShape_s(label)
- resolved_shape = shape_tool.GetShape_s(resolved)
- base_shape = instance_shape if not instance_shape.IsNull() else resolved_shape
- if base_shape.IsNull():
- raise RuntimeError(f"Selector {selector} did not resolve to a shape")
-
- base_location = _shape_location(base_shape)
- current_location = base_location if current_location is None else current_location * base_location
- extracted = _cast_shape(_located_shape(base_shape, current_location))
- return _label_name(label), extracted
-
-
-def _wire_area(wire: build123d.Wire) -> float:
- return abs(_face_from_wire(wire).area)
-
-
-def _outer_wire_and_inner_wires(face: build123d.Face) -> tuple[build123d.Wire, list[build123d.Wire]]:
- wires = list(face.wires())
- if not wires:
- raise RuntimeError("Face has no wires")
-
- outer_wire = max(wires, key=_wire_area)
- inner_wires = [wire for wire in wires if not wire.is_same(outer_wire)]
- return outer_wire, inner_wires
-
-
-def _select_mount_face(shape: build123d.Shape, *, outward_sign: float) -> build123d.Face:
- shape_bb = shape.bounding_box()
- target_y = shape_bb.max.Y if outward_sign > 0.0 else shape_bb.min.Y
- candidates: list[tuple[float, build123d.Face]] = []
- for face in shape.faces():
- if face.geom_type.name != "PLANE":
- continue
- normal = face.normal_at()
- if outward_sign > 0.0 and normal.Y < 0.99:
- continue
- if outward_sign < 0.0 and normal.Y > -0.99:
- continue
- if abs(face.center().Y - target_y) > 0.25:
- continue
- candidates.append((face.area, face))
-
- if not candidates:
- raise RuntimeError(f"Could not find a horn mount face on y sign {outward_sign}")
- return max(candidates, key=lambda item: item[0])[1]
-
-
-def _extract_circular_wire_profiles(face: build123d.Face) -> list[tuple[build123d.Vector, float]]:
- _outer_wire, inner_wires = _outer_wire_and_inner_wires(face)
- profiles: list[tuple[build123d.Vector, float]] = []
- for wire in inner_wires:
- circle_edges = [edge for edge in wire.edges() if edge.geom_type.name == "CIRCLE"]
- if not circle_edges:
- continue
- center = _face_from_wire(wire).center()
- radius = max(edge.radius for edge in circle_edges)
- profiles.append((center, radius))
- return profiles
-
-
-def _extract_horn_mount_spec(shape: build123d.Shape, *, name: str, outward_sign: float) -> HornMountSpec:
- mount_face = _select_mount_face(shape, outward_sign=outward_sign)
- face_center = mount_face.center()
- shape_bbox = shape.bounding_box()
- profiles = _extract_circular_wire_profiles(mount_face)
- if not profiles:
- raise RuntimeError(f"No circular profiles found on horn mount face for {name}")
-
- center_profiles = [
- (center, radius)
- for center, radius in profiles
- if center.sub(face_center).length <= MOUNT_HOLE_MIN_OFFSET_MM
- ]
- if not center_profiles:
- raise RuntimeError(f"No center clearance profile found on horn mount face for {name}")
- center_clearance_radius = max(radius for _center, radius in center_profiles)
-
- mount_holes = [
- (center, radius)
- for center, radius in profiles
- if center.sub(face_center).length > MOUNT_HOLE_MIN_OFFSET_MM
- ]
- if len(mount_holes) != 4:
- raise RuntimeError(f"Expected 4 horn mount holes on {name}, found {len(mount_holes)}")
-
- mount_holes.sort(key=lambda item: (item[0].X, item[0].Z))
- return HornMountSpec(
- name=name,
- mount_face_y=face_center.Y,
- mount_face_center=face_center,
- mount_face_bbox=mount_face.bounding_box(),
- half_width_z=max(face_center.Z - shape_bbox.min.Z, shape_bbox.max.Z - face_center.Z),
- center_clearance_radius=center_clearance_radius,
- mount_holes=tuple(mount_holes),
- )
-
-
-def _find_reference_face_x(shape: build123d.Shape) -> float:
- target = build123d.Vector(*SERVO_REFERENCE_FACE_TARGET_CENTER_MM)
- candidates: list[tuple[float, float, build123d.Face]] = []
- for face in shape.faces():
- if face.geom_type.name != "PLANE":
- continue
- normal = face.normal_at()
- if normal.X > -0.99:
- continue
- center = face.center()
- dist = center.sub(target).length
- candidates.append((dist, -face.area, face))
-
- if not candidates:
- raise RuntimeError("Could not find the requested negative-X reference face on the servo")
-
- dist, _neg_area, face = min(candidates, key=lambda item: (item[0], item[1]))
- if dist > SERVO_REFERENCE_FACE_MAX_ERROR_MM:
- raise RuntimeError(
- "Resolved servo reference face is too far from the requested target center: "
- f"{dist:.3f} mm > {SERVO_REFERENCE_FACE_MAX_ERROR_MM:.3f} mm"
- )
- return face.bounding_box().min.X
-
-
-def _shape_half_width_z(shape: build123d.Shape) -> float:
- bbox = shape.bounding_box()
- return max(abs(bbox.min.Z), abs(bbox.max.Z))
-
-
-def _load_generator_inputs() -> GeneratorInputs:
- _validate_bend_rule(SHEET_RULE)
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing servo STEP: {SERVO_STEP}")
-
- servo_shape = import_as_shape(SERVO_STEP)
- reference_face_x = _find_reference_face_x(servo_shape)
-
- upper_label, upper_horn_shape = _extract_selector_shape(SERVO_STEP, UPPER_HORN_SELECTOR)
- lower_label, lower_horn_shape = _extract_selector_shape(SERVO_STEP, LOWER_HORN_SELECTOR)
- if upper_label != UPPER_HORN_NAME:
- raise RuntimeError(
- f"Expected upper horn selector {UPPER_HORN_SELECTOR} to resolve to {UPPER_HORN_NAME}, got {upper_label}"
- )
- if lower_label != LOWER_HORN_NAME:
- raise RuntimeError(
- f"Expected lower horn selector {LOWER_HORN_SELECTOR} to resolve to {LOWER_HORN_NAME}, got {lower_label}"
- )
-
- upper_horn = _extract_horn_mount_spec(upper_horn_shape, name=upper_label, outward_sign=1.0)
- lower_horn = _extract_horn_mount_spec(lower_horn_shape, name=lower_label, outward_sign=-1.0)
- return GeneratorInputs(
- servo_shape=servo_shape,
- reference_face_x=reference_face_x,
- sheet_half_width_z=_shape_half_width_z(servo_shape),
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- )
-
-
-def _make_box(*, x_min: float, x_max: float, y_min: float, y_max: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _make_capped_flange(
- *,
- face_center: build123d.Vector,
- web_inner_x: float,
- y_min: float,
- y_max: float,
- cap_radius: float,
-) -> build123d.Shape:
- strip = _make_box(
- x_min=web_inner_x,
- x_max=face_center.X,
- y_min=y_min,
- y_max=y_max,
- z_min=face_center.Z - cap_radius,
- z_max=face_center.Z + cap_radius,
- )
- cap = _make_cylinder_along(
- radius=cap_radius,
- height=y_max - y_min,
- origin=build123d.Vector(face_center.X, y_min, face_center.Z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- return strip.fuse(cap)
-
-
-def _web_pattern_center_from_values(
- *,
- web_outer_x: float,
- top_y_max: float,
- bottom_y_min: float,
- z_center: float,
-) -> build123d.Vector:
- return build123d.Vector(
- web_outer_x,
- 0.5 * (bottom_y_min + top_y_max),
- z_center,
- )
-
-
-def _web_pattern_center(layout: BracketLayout) -> build123d.Vector:
- return _web_pattern_center_from_values(
- web_outer_x=layout.web_outer_x,
- top_y_max=layout.top_y_max,
- bottom_y_min=layout.bottom_y_min,
- z_center=0.5 * (layout.global_z_min + layout.global_z_max),
- )
-
-
-def _web_m2_hole_specs() -> tuple[WebHoleSpec, ...]:
- return tuple(
- WebHoleSpec(center_y=center_y, center_z=center_z, radius=WEB_M2_CLEARANCE_RADIUS_MM)
- for center_y, center_z in WEB_SERVO_M2_HOLE_CENTERS_YZ_MM
- )
-
-
-def _web_round_hole_specs(layout: BracketLayout) -> tuple[WebHoleSpec, ...]:
- return _web_m2_hole_specs()
-
-
-def _cut_round_web_holes(
- shape: build123d.Shape,
- *,
- layout: BracketLayout,
- rule: BendRule,
-) -> build123d.Shape:
- start_x = layout.web_outer_x - CUT_EXTENSION_MM
- for hole in _web_round_hole_specs(layout):
- cutter = _make_cylinder_along(
- radius=hole.radius,
- height=rule.thickness_mm + (2.0 * CUT_EXTENSION_MM),
- origin=build123d.Vector(start_x, hole.center_y, hole.center_z),
- direction=build123d.Vector(1.0, 0.0, 0.0),
- )
- shape = shape.cut(cutter)
- return shape
-
-
-def _make_bent_channel_body(
- *,
- top_end_x: float,
- bottom_end_x: float,
- layout: BracketLayout,
-) -> build123d.Shape:
- # Build the channel body with sharp corners instead of formed bend radii.
- x_inner = layout.web_inner_x
- x_outer = layout.web_outer_x
-
- profile_points = [
- build123d.Vector(top_end_x, layout.top_y_max, 0.0),
- build123d.Vector(x_outer, layout.top_y_max, 0.0),
- build123d.Vector(x_outer, layout.bottom_y_min, 0.0),
- build123d.Vector(bottom_end_x, layout.bottom_y_min, 0.0),
- build123d.Vector(bottom_end_x, layout.bottom_y_max, 0.0),
- build123d.Vector(x_inner, layout.bottom_y_max, 0.0),
- build123d.Vector(x_inner, layout.top_y_min, 0.0),
- build123d.Vector(top_end_x, layout.top_y_min, 0.0),
- ]
- profile_edges = [
- build123d.Edge.make_line(profile_points[0], profile_points[1]),
- build123d.Edge.make_line(profile_points[1], profile_points[2]),
- build123d.Edge.make_line(profile_points[2], profile_points[3]),
- build123d.Edge.make_line(profile_points[3], profile_points[4]),
- build123d.Edge.make_line(profile_points[4], profile_points[5]),
- build123d.Edge.make_line(profile_points[5], profile_points[6]),
- build123d.Edge.make_line(profile_points[6], profile_points[7]),
- build123d.Edge.make_line(profile_points[7], profile_points[0]),
- ]
- face = _face_from_wire(_assemble_wire(profile_edges))
- return build123d.Solid.extrude(
- face,
- build123d.Vector(0.0, 0.0, layout.global_z_max - layout.global_z_min),
- ).translate((0.0, 0.0, layout.global_z_min))
-
-
-def _min_keyed_cut_edge_to_bend_line(center_u: float, *, bend_line_u: float) -> float:
- return (center_u - KEYED_CONNECTION_HALF_SPAN_MM) - bend_line_u
-
-
-def _min_web_feature_edge_to_bend_lines(
- *,
- layout: BracketLayout,
-) -> float:
- center = _web_pattern_center(layout)
- distances: list[float] = []
- distances.append((center.Y - KEYED_CONNECTION_HALF_SPAN_MM) - layout.bottom_y_max)
- distances.append(layout.top_y_min - (center.Y + KEYED_CONNECTION_HALF_SPAN_MM))
- for hole in _web_round_hole_specs(layout):
- distances.append((hole.center_y - hole.radius) - layout.bottom_y_max)
- distances.append(layout.top_y_min - (hole.center_y + hole.radius))
- return min(distances)
-
-
-def _build_metrics(
- *,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- layout: BracketLayout,
- rule: BendRule,
-) -> BracketMetrics:
- upper_outside_length = upper_horn.mount_face_center.X - layout.web_outer_x
- lower_outside_length = lower_horn.mount_face_center.X - layout.web_outer_x
- min_flange_outside_length = min(upper_outside_length, lower_outside_length)
- min_flange_flat_length = rule.flat_length_from_outside_length_90(min_flange_outside_length)
- bend_line_spacing = layout.top_y_min - layout.bottom_y_max
-
- min_hole_edge_to_bend = min(
- _min_keyed_cut_edge_to_bend_line(upper_horn.mount_face_center.X, bend_line_u=layout.web_inner_x),
- _min_keyed_cut_edge_to_bend_line(lower_horn.mount_face_center.X, bend_line_u=layout.web_inner_x),
- )
- min_web_feature_edge_to_bend = _min_web_feature_edge_to_bend_lines(layout=layout)
-
- max_flange_outside = max(upper_outside_length, lower_outside_length)
- base_to_flange_ratio = bend_line_spacing / max_flange_outside
-
- return BracketMetrics(
- min_flange_outside_length_mm=min_flange_outside_length,
- min_flange_flat_length_mm=min_flange_flat_length,
- bend_line_spacing_mm=bend_line_spacing,
- min_hole_edge_to_bend_mm=min_hole_edge_to_bend,
- min_web_feature_edge_to_bend_mm=min_web_feature_edge_to_bend,
- base_to_flange_ratio=base_to_flange_ratio,
- bend_deduction_formula_mm=(2.0 * rule.outside_setback_90_mm) - rule.bend_allowance_90_mm,
- )
-
-
-def _validate_metrics(metrics: BracketMetrics, *, rule: BendRule) -> None:
- if metrics.min_flange_outside_length_mm < rule.min_flange_formed_mm:
- raise RuntimeError(
- "Flange is shorter than the configured bend-rule formed minimum: "
- f"{metrics.min_flange_outside_length_mm:.3f} mm < {rule.min_flange_formed_mm:.3f} mm"
- )
- if metrics.min_flange_flat_length_mm < rule.min_flange_flat_mm:
- raise RuntimeError(
- "Flat flange length implied by the bend rule is too short: "
- f"{metrics.min_flange_flat_length_mm:.3f} mm < {rule.min_flange_flat_mm:.3f} mm"
- )
- if metrics.bend_line_spacing_mm < rule.channel_base_spacing_min_mm:
- raise RuntimeError(
- "Channel base spacing is below the SendCutSend consecutive-bend minimum: "
- f"{metrics.bend_line_spacing_mm:.3f} mm < {rule.channel_base_spacing_min_mm:.3f} mm"
- )
- if metrics.min_hole_edge_to_bend_mm < rule.half_die_width_mm:
- raise RuntimeError(
- "Horn flange features are too close to the bend die region: "
- f"{metrics.min_hole_edge_to_bend_mm:.3f} mm < {rule.half_die_width_mm:.3f} mm"
- )
- if metrics.min_web_feature_edge_to_bend_mm < rule.half_die_width_mm:
- raise RuntimeError(
- "Closing-face horn pattern is too close to a bend die region: "
- f"{metrics.min_web_feature_edge_to_bend_mm:.3f} mm < {rule.half_die_width_mm:.3f} mm"
- )
- if metrics.min_flange_outside_length_mm <= rule.channel_one_to_one_max_flange_mm and metrics.base_to_flange_ratio < 1.0:
- raise RuntimeError(
- "U-channel base-to-flange ratio is below the configured 1:1 manufacturing check for this stock: "
- f"{metrics.base_to_flange_ratio:.3f} < 1.000"
- )
-
-
-def _build_layout(
- reference_face_x: float,
- *,
- sheet_half_width_z: float,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
-) -> tuple[BracketLayout, float]:
- web_outer_x = SERVO_HORN_AXIS_X_MM - YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
- web_inner_x = web_outer_x + rule.thickness_mm
-
- top_y_min = upper_horn.mount_face_y + HORN_FACE_GAP_MM
- top_y_max = top_y_min + rule.thickness_mm
- bottom_y_max = lower_horn.mount_face_y - HORN_FACE_GAP_MM
- bottom_y_min = bottom_y_max - rule.thickness_mm
-
- cap_radius = max(upper_horn.half_width_z, lower_horn.half_width_z, sheet_half_width_z)
-
- top_z_min = upper_horn.mount_face_center.Z - cap_radius
- top_z_max = upper_horn.mount_face_center.Z + cap_radius
- bottom_z_min = lower_horn.mount_face_center.Z - cap_radius
- bottom_z_max = lower_horn.mount_face_center.Z + cap_radius
- global_z_min = min(top_z_min, bottom_z_min)
- global_z_max = max(top_z_max, bottom_z_max)
-
- layout = BracketLayout(
- web_inner_x=web_inner_x,
- web_outer_x=web_outer_x,
- top_y_min=top_y_min,
- top_y_max=top_y_max,
- bottom_y_min=bottom_y_min,
- bottom_y_max=bottom_y_max,
- top_z_min=top_z_min,
- top_z_max=top_z_max,
- bottom_z_min=bottom_z_min,
- bottom_z_max=bottom_z_max,
- global_z_min=global_z_min,
- global_z_max=global_z_max,
- )
- return layout, cap_radius
-
-
-def build_bracket(
- reference_face_x: float,
- *,
- sheet_half_width_z: float,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
-) -> tuple[build123d.Shape, BracketLayout, BracketMetrics]:
- layout, cap_radius = _build_layout(
- reference_face_x,
- sheet_half_width_z=sheet_half_width_z,
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- rule=rule,
- )
- web_inner_x = layout.web_inner_x
- web_outer_x = layout.web_outer_x
- top_y_min = layout.top_y_min
- top_y_max = layout.top_y_max
- bottom_y_min = layout.bottom_y_min
- bottom_y_max = layout.bottom_y_max
- global_z_min = layout.global_z_min
- global_z_max = layout.global_z_max
-
- bracket = _make_bent_channel_body(
- top_end_x=upper_horn.mount_face_center.X + cap_radius,
- bottom_end_x=lower_horn.mount_face_center.X + cap_radius,
- layout=layout,
- )
- cap_mask = (
- _make_box(
- x_min=web_outer_x,
- x_max=web_inner_x,
- y_min=bottom_y_min,
- y_max=top_y_max,
- z_min=global_z_min,
- z_max=global_z_max,
- )
- .fuse(
- _make_capped_flange(
- face_center=upper_horn.mount_face_center,
- web_inner_x=web_inner_x,
- y_min=top_y_min,
- y_max=top_y_max,
- cap_radius=cap_radius,
- )
- )
- .fuse(
- _make_capped_flange(
- face_center=lower_horn.mount_face_center,
- web_inner_x=web_inner_x,
- y_min=bottom_y_min,
- y_max=bottom_y_max,
- cap_radius=cap_radius,
- )
- )
- )
- bracket = bracket.intersect(cap_mask)
-
- top_start_y = top_y_max + CUT_EXTENSION_MM
- bracket = cut_keyed_connection_y_aligned(
- bracket,
- center=upper_horn.mount_face_center,
- start_y=top_start_y,
- direction_y=-1.0,
- thickness_mm=rule.thickness_mm,
- cut_extension_mm=CUT_EXTENSION_MM,
- )
-
- bottom_start_y = bottom_y_min - CUT_EXTENSION_MM
- bracket = cut_keyed_connection_y_aligned(
- bracket,
- center=lower_horn.mount_face_center,
- start_y=bottom_start_y,
- direction_y=1.0,
- thickness_mm=rule.thickness_mm,
- cut_extension_mm=CUT_EXTENSION_MM,
- )
-
- web_hole_start_x = web_outer_x - CUT_EXTENSION_MM
- bracket = cut_keyed_connection_x_aligned(
- bracket,
- center=_web_pattern_center(layout),
- start_x=web_hole_start_x,
- direction_x=1.0,
- thickness_mm=rule.thickness_mm,
- cut_extension_mm=CUT_EXTENSION_MM,
- )
-
- bracket = _cut_round_web_holes(
- bracket,
- layout=layout,
- rule=rule,
- )
- metrics = _build_metrics(
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- layout=layout,
- rule=rule,
- )
- _validate_metrics(metrics, rule=rule)
- return bracket, layout, metrics
-
-
-def build_flat_pattern(
- reference_face_x: float,
- *,
- sheet_half_width_z: float,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
-) -> tuple[FlatPattern, BracketMetrics]:
- if abs(upper_horn.mount_face_center.Z - lower_horn.mount_face_center.Z) > 1e-6:
- raise RuntimeError("Flat-pattern export currently requires the horn faces to share the same Z centerline")
-
- layout, cap_radius = _build_layout(
- reference_face_x,
- sheet_half_width_z=sheet_half_width_z,
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- rule=rule,
- )
- metrics = _build_metrics(
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- layout=layout,
- rule=rule,
- )
- _validate_metrics(metrics, rule=rule)
-
- top_end_x = upper_horn.mount_face_center.X + cap_radius
- bottom_end_x = lower_horn.mount_face_center.X + cap_radius
- top_outside_length = top_end_x - layout.web_outer_x
- bottom_outside_length = bottom_end_x - layout.web_outer_x
- top_flat_length = top_outside_length - rule.outside_setback_90_mm
- bottom_flat_length = bottom_outside_length - rule.outside_setback_90_mm
-
- bend_allowance = rule.bend_allowance_90_mm
- top_web_tangent_y = layout.top_y_min - rule.effective_inside_radius_mm
- bottom_web_tangent_y = layout.bottom_y_max + rule.effective_inside_radius_mm
- web_flat_length = top_web_tangent_y - bottom_web_tangent_y
- total_flat_length = top_flat_length + bend_allowance + web_flat_length + bend_allowance + bottom_flat_length
- flat_width = layout.global_z_max - layout.global_z_min
- top_bend_line_x = top_flat_length + (0.5 * bend_allowance)
- bottom_bend_line_x = top_flat_length + bend_allowance + web_flat_length + (0.5 * bend_allowance)
-
- web_center = _web_pattern_center(layout)
- cut_profiles = (
- CutProfileSpec(
- center_x=top_end_x - upper_horn.mount_face_center.X,
- center_y=upper_horn.mount_face_center.Z - layout.global_z_min,
- rotation_degrees=KEYED_CONNECTION_ROTATION_DEG,
- ),
- CutProfileSpec(
- center_x=top_flat_length + bend_allowance + (top_web_tangent_y - web_center.Y),
- center_y=web_center.Z - layout.global_z_min,
- rotation_degrees=KEYED_CONNECTION_ROTATION_DEG,
- ),
- CutProfileSpec(
- center_x=total_flat_length - (bottom_end_x - lower_horn.mount_face_center.X),
- center_y=lower_horn.mount_face_center.Z - layout.global_z_min,
- rotation_degrees=KEYED_CONNECTION_ROTATION_DEG,
- ),
- )
- round_hole_profiles = tuple(
- CircleProfileSpec(
- center_x=top_flat_length + bend_allowance + (top_web_tangent_y - hole.center_y),
- center_y=hole.center_z - layout.global_z_min,
- radius=hole.radius,
- )
- for hole in _web_round_hole_specs(layout)
- )
-
- return (
- FlatPattern(
- total_length_mm=total_flat_length,
- width_mm=flat_width,
- cap_radius_mm=cap_radius,
- bend_line_positions_mm=(top_bend_line_x, bottom_bend_line_x),
- cut_profiles=cut_profiles,
- round_hole_profiles=round_hole_profiles,
- ),
- metrics,
- )
-
-
-def _build_flat_pattern_dxf(flat_pattern: FlatPattern) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- msp = doc.modelspace()
- radius = flat_pattern.cap_radius_mm
- width = flat_pattern.width_mm
- total_length = flat_pattern.total_length_mm
-
- msp.add_line((radius, 0.0), (total_length - radius, 0.0), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(total_length - radius, radius),
- radius=radius,
- start_angle=-90.0,
- end_angle=90.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((total_length - radius, width), (radius, width), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(radius, radius),
- radius=radius,
- start_angle=90.0,
- end_angle=270.0,
- dxfattribs={"layer": "CUT"},
- )
-
- for cut_profile in flat_pattern.cut_profiles:
- msp.add_lwpolyline(
- sample_keyed_connection_outline(
- center_u=cut_profile.center_x,
- center_v=cut_profile.center_y,
- points_per_arc=16,
- rotation_degrees=cut_profile.rotation_degrees,
- ),
- format="xy",
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
- for round_hole in flat_pattern.round_hole_profiles:
- msp.add_circle(
- (round_hole.center_x, round_hole.center_y),
- radius=round_hole.radius,
- dxfattribs={"layer": "CUT"},
- )
-
- for bend_line_x in flat_pattern.bend_line_positions_mm:
- msp.add_line(
- (bend_line_x, 0.0),
- (bend_line_x, width),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def build_step() -> build123d.Shape:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
- inputs = _load_generator_inputs()
- bracket, layout, metrics = build_bracket(
- inputs.reference_face_x,
- sheet_half_width_z=inputs.sheet_half_width_z,
- upper_horn=inputs.upper_horn,
- lower_horn=inputs.lower_horn,
- rule=SHEET_RULE,
- )
-
- solids = bracket.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected bracket solid, found {len(solids)}")
-
- interference_volume = inputs.servo_shape.intersect(bracket).volume
- if interference_volume > 1e-3:
- raise RuntimeError(f"Bracket intersects the servo by {interference_volume:.6f} mm^3")
-
- bracket_bb = bracket.bounding_box()
- print(
- "Bracket envelope "
- f"X={bracket_bb.size.X:.3f} mm, "
- f"Y={bracket_bb.size.Y:.3f} mm, "
- f"Z={bracket_bb.size.Z:.3f} mm"
- )
- print(
- "Connection features "
- f"ref={KEYED_CONNECTION_REF}, "
- f"horn_keyed_half_span={KEYED_CONNECTION_HALF_SPAN_MM:.3f} mm, "
- f"web_keyed_half_span={KEYED_CONNECTION_HALF_SPAN_MM:.3f} mm, "
- f"web_m2_holes={len(WEB_SERVO_M2_HOLE_CENTERS_YZ_MM)}x{2.0 * WEB_M2_CLEARANCE_RADIUS_MM:.3f} mm"
- )
- print(
- "SendCutSend bend rule "
- f"material={SHEET_RULE.material_name}, "
- f"thickness={SHEET_RULE.thickness_mm:.3f} mm, "
- f"inside_radius={SHEET_RULE.effective_inside_radius_mm:.3f} mm, "
- f"outer_radius={SHEET_RULE.outer_radius_mm:.3f} mm, "
- f"k_factor={SHEET_RULE.k_factor:.2f}, "
- f"bend_deduction_90={SHEET_RULE.bend_deduction_90_mm:.3f} mm"
- )
- print(
- "SendCutSend checks "
- f"flange_outside_min={metrics.min_flange_outside_length_mm:.3f} mm, "
- f"flange_flat_min={metrics.min_flange_flat_length_mm:.3f} mm, "
- f"bend_spacing={metrics.bend_line_spacing_mm:.3f} mm, "
- f"hole_edge_to_bend_min={metrics.min_hole_edge_to_bend_mm:.3f} mm, "
- f"web_feature_edge_to_bend_min={metrics.min_web_feature_edge_to_bend_mm:.3f} mm, "
- f"base_to_flange_ratio={metrics.base_to_flange_ratio:.3f}"
- )
- print(
- "Bracket placement "
- f"inner_web_x={layout.web_inner_x:.3f} mm, "
- f"outer_web_x={layout.web_outer_x:.3f} mm, "
- f"yoke_length={YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM:.3f} mm, "
- f"reference_face_x={inputs.reference_face_x:.3f} mm, "
- f"reference_clearance={inputs.reference_face_x - layout.web_inner_x:.3f} mm"
- )
- print(
- "Upper horn "
- f"selector={UPPER_HORN_SELECTOR}, face_y={inputs.upper_horn.mount_face_y:.3f} mm, "
- "connection_profiles=1"
- )
- print(
- "Lower horn "
- f"selector={LOWER_HORN_SELECTOR}, face_y={inputs.lower_horn.mount_face_y:.3f} mm, "
- "connection_profiles=1"
- )
- print(f"Servo/bracket interference volume (mm^3): {interference_volume:.6f}")
- return bracket
-
-
-def build_dxf() -> ezdxf.document.Drawing:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
- inputs = _load_generator_inputs()
- flat_pattern, metrics = build_flat_pattern(
- inputs.reference_face_x,
- sheet_half_width_z=inputs.sheet_half_width_z,
- upper_horn=inputs.upper_horn,
- lower_horn=inputs.lower_horn,
- rule=SHEET_RULE,
- )
- doc = _build_flat_pattern_dxf(flat_pattern)
- print(
- "Flat pattern "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"keyed_profiles={len(flat_pattern.cut_profiles)}, "
- f"round_holes={len(flat_pattern.round_hole_profiles)}"
- )
- print(
- "DXF checks "
- f"flange_flat_min={metrics.min_flange_flat_length_mm:.3f} mm, "
- f"bend_spacing={metrics.bend_line_spacing_mm:.3f} mm, "
- f"hole_edge_to_bend_min={metrics.min_hole_edge_to_bend_mm:.3f} mm, "
- f"web_feature_edge_to_bend_min={metrics.min_web_feature_edge_to_bend_mm:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v1/parts/servo_horn_yoke.step b/models/robots/tom/v1/parts/servo_horn_yoke.step
deleted file mode 100644
index 29f8747b..00000000
--- a/models/robots/tom/v1/parts/servo_horn_yoke.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ce221d084347d1e7c59df7f4bdb2023ab9b3d3fb6928d865df200b202eaed216
-size 277031
diff --git a/models/robots/tom/v1/tom.py b/models/robots/tom/v1/tom.py
deleted file mode 100644
index 5253efb0..00000000
--- a/models/robots/tom/v1/tom.py
+++ /dev/null
@@ -1,50 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import PurePosixPath, Path
-
-TOM_DIR = Path(__file__).resolve().parent.parent
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.robot_arm import (
- robot_arm_assembly_children,
- robot_arm_motion_envelope,
- robot_arm_srdf_envelope,
- robot_arm_urdf_envelope,
-)
-
-
-def _v1_step_path(path: str) -> str:
- step_path = PurePosixPath(path)
- if step_path.parts and step_path.parts[0] == "assemblies":
- return step_path.as_posix()
- if step_path.parts and step_path.parts[0] in {"imports", "gripper"}:
- return (PurePosixPath("parts") / step_path).as_posix()
- return (PurePosixPath("parts") / step_path.name).as_posix()
-
-
-def gen_step() -> dict[str, object]:
- children = [
- {
- **child,
- "path": _v1_step_path(str(child["path"])),
- }
- for child in robot_arm_assembly_children()
- ]
- return {
- "children": children,
- }
-
-
-def gen_urdf() -> dict[str, object]:
- payload = robot_arm_urdf_envelope(urdf_output="tom.urdf")
- return {"xml": payload["xml"]}
-
-
-def gen_srdf() -> dict[str, object]:
- return robot_arm_srdf_envelope(urdf="tom.urdf")
-
-
-def gen_motion() -> dict[str, object]:
- return robot_arm_motion_envelope(urdf="tom.urdf")
diff --git a/models/robots/tom/v1/tom.srdf b/models/robots/tom/v1/tom.srdf
deleted file mode 100644
index b74b2d12..00000000
--- a/models/robots/tom/v1/tom.srdf
+++ /dev/null
@@ -1,77 +0,0 @@
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diff --git a/models/robots/tom/v1/tom.step b/models/robots/tom/v1/tom.step
deleted file mode 100644
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deleted file mode 100644
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--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/.base_hub_shell.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
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deleted file mode 100644
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--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/.m2_5_hex_spacer_6mm.step.glb
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deleted file mode 100644
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--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/.m2_5_spacer_12mm.step.glb
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deleted file mode 100644
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--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/.m2_spacer_5mm.step.glb
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diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp.py b/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp.py
deleted file mode 100644
index 4e12c266..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp.py
+++ /dev/null
@@ -1,1733 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate a bent base clamp that wraps under the base servo footprint.
-
-The upper plate stays in the servo base frame, a side wall rises from the
-positive-x side, and a lower return closes the U so the part can clamp to a
-desk or fixture from below.
-"""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-import math
-import os
-import sys
-from pathlib import Path
-
-from OCP.BRepFilletAPI import BRepFilletAPI_MakeFillet
-
-TOM_DIR = Path(__file__).resolve().parents[3]
-V2_DIR = Path(__file__).resolve().parents[2]
-PARTS_DIR = V2_DIR / "parts"
-REPO_ROOT = TOM_DIR
-_CACHE_HOME = V2_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import build123d
-import ezdxf
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(REPO_ROOT) not in sys.path:
- sys.path.insert(0, str(REPO_ROOT))
-if str(PARTS_DIR) not in sys.path:
- sys.path.insert(0, str(PARTS_DIR))
-
-from robot_common.materials import GRAY_ALUMINUM_COLOR
-import dxf_topology
-
-
-DISPLAY_NAME = "Base Clamp"
-INCLUDE_BOTTOM_SURFACE_MOUNT_FEATURES = False
-INCLUDE_RETURN_SURFACE_MOUNT_FEATURES = True
-PLATE_THICKNESS_MM = 25.4 * 0.125
-STANDARD_DESK_CLAMP_CLEARANCE_MM = 65.0
-STANDARD_DESK_CLAMP_CONTACT_WIDTH_MM = 33.5
-SADDLE_FOOTPRINT_X_BUFFER_MM = 2.0
-SIDE_WALL_THICKNESS_MM = PLATE_THICKNESS_MM
-BOOLEAN_OVERLAP_MM = 0.05
-CUT_EXTENSION_MM = 0.5
-CORNER_RADIUS_MM = 3.0
-RETURN_FACE_LENGTH_RATIO = 2.0 / 3.0
-M3_CLEARANCE_RADIUS_MM = 1.6
-BASE_CENTER_HORN_FACE_RADIUS_MM = 2.8
-BASE_CENTER_HORN_FACE_CLEARANCE_BUFFER_MM = 0.25
-BASE_CENTER_HORN_FACE_CLEARANCE_RADIUS_MM = (
- BASE_CENTER_HORN_FACE_RADIUS_MM + BASE_CENTER_HORN_FACE_CLEARANCE_BUFFER_MM
-)
-M8_CLEARANCE_DIAMETER_MM = 8.5
-M8_CLEARANCE_RADIUS_MM = 0.5 * M8_CLEARANCE_DIAMETER_MM
-SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM = 25.4 * 0.125
-SENDCUTSEND_K_FACTOR = 0.44
-SENDCUTSEND_BEND_DEDUCTION_90_MM = 25.4 * 0.216
-SENDCUTSEND_HALF_DIE_WIDTH_MM = 0.5 * (25.4 * 0.630)
-SENDCUTSEND_MIN_FLANGE_FORMED_MM = 25.4 * 0.476
-SENDCUTSEND_BEND_RELIEF_DEPTH_MM = 25.4 * 0.270
-SENDCUTSEND_MIN_CORNER_RELIEF_FROM_BEND_MM = 25.4 * 0.032
-SENDCUTSEND_COUNTERSINK_CENTER_TO_EDGE_MIN_MM = 25.4 * 0.246
-SENDCUTSEND_COUNTERSINK_CENTER_TO_BEND_MIN_MM = 25.4 * 0.517
-SENDCUTSEND_COUNTERSINK_CENTER_TO_EDGE_BUFFER_MM = 0.5
-SENDCUTSEND_MOUNT_HOLE_TO_BEND_BUFFER_MM = 0.5
-BEND_INNER_RADIUS_MM = 0.0
-BEND_OUTER_RADIUS_MM = 0.0
-
-# Base servo footprint bounds in robot-arm local coordinates.
-SADDLE_BASE_FACE_Y_MM = -29.8002
-SADDLE_BASE_X_MIN_MM = -35.61
-SADDLE_BASE_X_MAX_MM = 6.338516
-SADDLE_BASE_Z_MIN_MM = -15.960226
-SADDLE_BASE_Z_MAX_MM = 15.960224
-
-BASE_SERVO_FOOTPRINT_X_MIN_MM = SADDLE_BASE_X_MIN_MM - SADDLE_FOOTPRINT_X_BUFFER_MM
-BASE_SERVO_FOOTPRINT_X_MAX_MM = SADDLE_BASE_X_MAX_MM + SADDLE_FOOTPRINT_X_BUFFER_MM
-BASE_SERVO_SIDE_X_MIN_MM = BASE_SERVO_FOOTPRINT_X_MAX_MM - BOOLEAN_OVERLAP_MM
-BASE_SERVO_SIDE_X_MAX_MM = BASE_SERVO_SIDE_X_MIN_MM + SIDE_WALL_THICKNESS_MM
-BASE_SERVO_END_FOR_END_PIVOT_LOCAL_X_MM = 0.5 * (
- BASE_SERVO_FOOTPRINT_X_MIN_MM + BASE_SERVO_SIDE_X_MAX_MM
-)
-BASE_SERVO_END_FOR_END_PIVOT_LOCAL_Z_MM = 0.5 * (SADDLE_BASE_Z_MIN_MM + SADDLE_BASE_Z_MAX_MM)
-
-SERVO_STANDOFF_HEIGHT_MM = 5.0
-SERVO_STANDOFF_BODY_DIAMETER_MM = 3.2
-SERVO_MOUNT_X_SHIFT_FOR_UNDER_ACCESS_MM = BASE_SERVO_FOOTPRINT_X_MIN_MM
-BASE_PLATE_SERVO_MOUNT_HOLE_EDGE_BUFFER_MM = 3.0
-BASE_PLATE_UNDER_ACCESS_CLEARANCE_MM = 5.0
-
-# 5x M3 lower-horn clearance pattern on the base plate.
-BASE_HORN_CONNECTION_HOLE_SPECS_MM: tuple[tuple[float, float, float], ...] = (
- (-32.5, 0.0, M3_CLEARANCE_RADIUS_MM),
- (-25.5, -7.0, M3_CLEARANCE_RADIUS_MM),
- (-25.5, 0.0, BASE_CENTER_HORN_FACE_CLEARANCE_RADIUS_MM),
- (-25.5, 7.0, M3_CLEARANCE_RADIUS_MM),
- (-18.5, 0.0, M3_CLEARANCE_RADIUS_MM),
-)
-BASE_SERVO_HORN_LOCAL_X_MM = -25.5
-
-# Resolved from:
-# @cad[STEP/imports/sts3250#o1.2.e920,o1.2.e922]
-# @cad[STEP/imports/sts3250#o1.2.e921,o1.2.e923]
-M2_CLEARANCE_RADIUS_MM = 1.1
-M2_FLAT_HEAD_COUNTERSINK_MAJOR_RADIUS_MM = 2.15
-M2_UNDERSIDE_COUNTERSINK_DEPTH_MM = 1.05
-M2_5_CLEARANCE_RADIUS_MM = 0.5 * 2.7
-M2_5_FLAT_HEAD_COUNTERSINK_MAJOR_RADIUS_MM = 2.5
-M2_5_UNDERSIDE_COUNTERSINK_DEPTH_MM = 1.15
-SERVO_BUS_STANDOFF_HEIGHT_MM = 6.0
-SERVO_BUS_STANDOFF_HEX_ACROSS_FLATS_MM = 5.0
-BASE_SERVO_M2_HOLE_SPECS_MM: tuple[tuple[float, float, float], ...] = (
- (-17.2, -10.25, M2_CLEARANCE_RADIUS_MM),
- (7.25, -10.25, M2_CLEARANCE_RADIUS_MM),
- (-17.2, 10.25, M2_CLEARANCE_RADIUS_MM),
- (7.25, 10.25, M2_CLEARANCE_RADIUS_MM),
-)
-BASE_SERVO_STANDOFF_MOUNT_HOLES_MM: tuple[tuple[float, float, float], ...] = tuple(
- (
- (2.0 * BASE_SERVO_END_FOR_END_PIVOT_LOCAL_X_MM)
- - x
- + SERVO_MOUNT_X_SHIFT_FOR_UNDER_ACCESS_MM,
- (2.0 * BASE_SERVO_END_FOR_END_PIVOT_LOCAL_Z_MM) - z,
- M2_CLEARANCE_RADIUS_MM,
- )
- for x, z, _radius in BASE_SERVO_M2_HOLE_SPECS_MM
-)
-BASE_SERVO_MOUNTED_FOOTPRINT_X_MIN_MM = (
- (2.0 * BASE_SERVO_END_FOR_END_PIVOT_LOCAL_X_MM)
- + SERVO_MOUNT_X_SHIFT_FOR_UNDER_ACCESS_MM
- - SADDLE_BASE_X_MAX_MM
- - SADDLE_FOOTPRINT_X_BUFFER_MM
-)
-BASE_SERVO_MOUNTED_FOOTPRINT_X_MAX_MM = BASE_SERVO_MOUNTED_FOOTPRINT_X_MIN_MM + (
- BASE_SERVO_FOOTPRINT_X_MAX_MM - BASE_SERVO_FOOTPRINT_X_MIN_MM
-)
-BASE_SERVO_MOUNTED_HORN_CENTER_X_MM = (
- (2.0 * BASE_SERVO_END_FOR_END_PIVOT_LOCAL_X_MM)
- + SERVO_MOUNT_X_SHIFT_FOR_UNDER_ACCESS_MM
- - BASE_SERVO_HORN_LOCAL_X_MM
-)
-BASE_ATTACHMENT_HOLES_MM: tuple[tuple[float, float, float], ...] = (
- BASE_SERVO_STANDOFF_MOUNT_HOLES_MM
- + (
- BASE_HORN_CONNECTION_HOLE_SPECS_MM + BASE_SERVO_M2_HOLE_SPECS_MM
- if INCLUDE_BOTTOM_SURFACE_MOUNT_FEATURES
- else ()
- )
-)
-
-# Resolved from the four PCB spacer hole centers in the original SO-101 bus board.
-SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM: tuple[tuple[float, float], ...] = (
- (2.4930065, 2.4999875),
- (2.4930065, 30.4999925),
- (39.493009, 2.4999875),
- (39.505008000000004, 30.4999925),
-)
-SERVO_BUS_PLATE_CLEARANCE_RADIUS_MM = M2_5_CLEARANCE_RADIUS_MM
-SERVO_BUS_MOUNT_LOCAL_X_MIN_MM = min(x for x, _y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_X_MAX_MM = max(x for x, _y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_X_CENTER_MM = 0.5 * (SERVO_BUS_MOUNT_LOCAL_X_MIN_MM + SERVO_BUS_MOUNT_LOCAL_X_MAX_MM)
-SERVO_BUS_MOUNT_LOCAL_Y_MIN_MM = min(y for _x, y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_Y_MAX_MM = max(y for _x, y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM)
-SERVO_BUS_MOUNT_LOCAL_Y_CENTER_MM = 0.5 * (SERVO_BUS_MOUNT_LOCAL_Y_MIN_MM + SERVO_BUS_MOUNT_LOCAL_Y_MAX_MM)
-SENDCUTSEND_MIN_HOLE_TO_EDGE_QUOTE_MM = 0.97
-BASE_CLAMP_HOLE_TO_EDGE_BUFFER_MM = 0.53
-BASE_CLAMP_HOLE_TO_EDGE_TARGET_MM = (
- SENDCUTSEND_MIN_HOLE_TO_EDGE_QUOTE_MM + BASE_CLAMP_HOLE_TO_EDGE_BUFFER_MM
-)
-BASE_CLAMP_SERVO_BUS_SPACER_WIDTH_MM = (
- (SERVO_BUS_MOUNT_LOCAL_Y_MAX_MM - SERVO_BUS_MOUNT_LOCAL_Y_MIN_MM)
- + (2.0 * (SERVO_BUS_PLATE_CLEARANCE_RADIUS_MM + BASE_CLAMP_HOLE_TO_EDGE_TARGET_MM))
-)
-
-# SendCutSend's current .125" 5052 guideline uses a 0.630" die width for
-# bending; cut features should stay outside half of that die width from the
-# bend line. We size the wall from the mount-hole span plus that offset.
-SENDCUTSEND_5052_125_DIE_WIDTH_MM = 0.630 * 25.4
-SENDCUTSEND_FEATURE_TO_BEND_MIN_MM = (0.5 * SENDCUTSEND_5052_125_DIE_WIDTH_MM) + SERVO_BUS_PLATE_CLEARANCE_RADIUS_MM
-U_BRACKET_CLEARANCE_MM = (
- max(
- STANDARD_DESK_CLAMP_CLEARANCE_MM,
- (SERVO_BUS_MOUNT_LOCAL_X_MAX_MM - SERVO_BUS_MOUNT_LOCAL_X_MIN_MM)
- + (2.0 * SENDCUTSEND_FEATURE_TO_BEND_MIN_MM)
- - (2.0 * PLATE_THICKNESS_MM),
- )
-)
-
-# Resolved from @cad[STEP/imports/servo_bus].
-SERVO_BUS_LOCAL_X_MIN_MM = -0.390013
-SERVO_BUS_LOCAL_X_MAX_MM = 42.401989
-SERVO_BUS_LOCAL_Y_MIN_MM = -0.012095
-SERVO_BUS_LOCAL_Y_MAX_MM = 33.012075
-SERVO_BUS_LOCAL_Z_MIN_MM = -6.0
-SERVO_BUS_LOCAL_Z_MAX_MM = 1.599999
-SERVO_BUS_HOLE_CENTER_TO_BOARD_X_EDGE_MIN_MM = min(
- min(bus_x - SERVO_BUS_LOCAL_X_MIN_MM, SERVO_BUS_LOCAL_X_MAX_MM - bus_x)
- for bus_x, _bus_y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM
-)
-SERVO_BUS_TOP_EDGE_BUFFER_MM = max(
- 2.0,
- SENDCUTSEND_COUNTERSINK_CENTER_TO_EDGE_MIN_MM
- + SENDCUTSEND_COUNTERSINK_CENTER_TO_EDGE_BUFFER_MM
- - SERVO_BUS_HOLE_CENTER_TO_BOARD_X_EDGE_MIN_MM,
-)
-SERVO_BUS_TO_SERVO_CLEARANCE_MM = 2.0
-SERVO_BUS_TOP_BOARD_X_MIN_MM = (
- BASE_SERVO_MOUNTED_FOOTPRINT_X_MIN_MM
- + (BASE_SERVO_FOOTPRINT_X_MAX_MM - BASE_SERVO_FOOTPRINT_X_MIN_MM)
- + SERVO_BUS_TO_SERVO_CLEARANCE_MM
-)
-SERVO_BUS_TOP_BOARD_X_MAX_MM = SERVO_BUS_TOP_BOARD_X_MIN_MM + (
- SERVO_BUS_LOCAL_Y_MAX_MM - SERVO_BUS_LOCAL_Y_MIN_MM
-)
-TOP_PLATE_NECK_CLEARANCE_AFTER_BUS_MM = 2.0
-TOP_PLATE_NECK_START_X_MM = SERVO_BUS_TOP_BOARD_X_MAX_MM + TOP_PLATE_NECK_CLEARANCE_AFTER_BUS_MM
-TOP_PLATE_NECK_TO_BEND_MIN_MM = SENDCUTSEND_BEND_RELIEF_DEPTH_MM + 2.0
-TOP_PLATE_SHOULDER_WIDTH_MM = TOP_PLATE_NECK_TO_BEND_MIN_MM + SIDE_WALL_THICKNESS_MM
-SERVO_BUS_TOP_TO_BASE_CLAMP_X_OFFSET_MM = SERVO_BUS_TOP_BOARD_X_MIN_MM - SERVO_BUS_LOCAL_Y_MIN_MM
-SERVO_BUS_TOP_TO_BASE_CLAMP_Z_OFFSET_MM = -SERVO_BUS_MOUNT_LOCAL_X_CENTER_MM
-SERVO_BUS_TOP_MOUNT_HOLES_MM: tuple[tuple[float, float, float], ...] = tuple(
- (
- bus_y + SERVO_BUS_TOP_TO_BASE_CLAMP_X_OFFSET_MM,
- bus_x + SERVO_BUS_TOP_TO_BASE_CLAMP_Z_OFFSET_MM,
- SERVO_BUS_PLATE_CLEARANCE_RADIUS_MM,
- )
- for bus_x, bus_y in SERVO_BUS_BOARD_SPACER_CENTERS_XY_MM
-)
-BASE_ATTACHMENT_HOLES_MM = BASE_ATTACHMENT_HOLES_MM + SERVO_BUS_TOP_MOUNT_HOLES_MM
-BASE_PLATE_CASE_MIN_WIDTH_MM = 68.0
-BASE_PLATE_Z_WIDTH_MM = max(
- SERVO_BUS_LOCAL_Y_MAX_MM - SERVO_BUS_LOCAL_Y_MIN_MM,
- BASE_CLAMP_SERVO_BUS_SPACER_WIDTH_MM,
- (SERVO_BUS_LOCAL_X_MAX_MM - SERVO_BUS_LOCAL_X_MIN_MM)
- + (2.0 * SERVO_BUS_TOP_EDGE_BUFFER_MM),
- STANDARD_DESK_CLAMP_CONTACT_WIDTH_MM + (2.0 * TOP_PLATE_SHOULDER_WIDTH_MM),
- STANDARD_DESK_CLAMP_CONTACT_WIDTH_MM,
- BASE_PLATE_CASE_MIN_WIDTH_MM,
-)
-BASE_PLATE_HUB_SLOT_LENGTH_MM = 26.0
-BASE_PLATE_HUB_SLOT_WIDTH_MM = 4.0
-BASE_PLATE_HUB_SLOT_EDGE_INSET_MM = 5.5
-BASE_PLATE_HUB_END_SLOT_X_INSET_MM = 6.0
-BASE_PLATE_HUB_SIDE_SLOT_COUNT = 2
-BASE_PLATE_OCTAGON_LEFT_CHAMFER_X_MM = 10.0
-BASE_PLATE_OCTAGON_LEFT_CHAMFER_Z_MM = 10.0
-BASE_PLATE_MAIN_SURFACE_CENTER_X_MM = BASE_SERVO_MOUNTED_HORN_CENTER_X_MM
-BASE_PLATE_LEFT_EDGE_EXTRA_INSET_MM = 0.0
-BASE_PLATE_SHARP_NECK_CORNER_INDICES = (2, 5)
-
-
-@dataclass(frozen=True)
-class BracketLayout:
- x_min: float
- x_max: float
- y_min: float
- y_max: float
- z_min: float
- z_max: float
- clamp_z_min: float
- clamp_z_max: float
- neck_start_x: float
- width: float
- height: float
- clamp_height: float
- return_width: float
- return_x_min: float
- return_y_min: float
- return_y_max: float
- side_x_min: float
- side_x_max: float
- overall_y_min: float
- face_y: float
- attachment_holes: tuple[tuple[float, float, float], ...]
- return_mount_holes: tuple[tuple[float, float, float], ...]
- servo_bus_mount_holes_xzr: tuple[tuple[float, float, float], ...]
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- top_flange_flat_length_mm: float
- return_flange_flat_length_mm: float
- web_flat_start_mm: float
- web_flat_end_mm: float
- bend_line_positions_mm: tuple[float, float]
- cut_circles: tuple[tuple[float, float, float], ...]
- cut_slots: tuple[tuple[float, float, float, float, float], ...]
- rounded_corner_radius_mm: float
- min_feature_to_bend_mm: float
-
-
-def _make_box(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _make_xz_outline_solid(
- points_xz: tuple[tuple[float, float], ...],
- *,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- points_xyz = tuple((x, y_min, z) for x, z in points_xz)
- face = build123d.make_face(build123d.Polyline(*points_xyz, close=True))
- return build123d.extrude(face, amount=y_max - y_min, dir=(0.0, 1.0, 0.0))
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _make_cone_along(
- *,
- base_radius: float,
- top_radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cone(
- base_radius,
- top_radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _sendcutsend_outside_setback_90_mm() -> float:
- return SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + PLATE_THICKNESS_MM
-
-
-def _sendcutsend_bend_allowance_90_mm() -> float:
- return (2.0 * _sendcutsend_outside_setback_90_mm()) - SENDCUTSEND_BEND_DEDUCTION_90_MM
-
-
-def _validate_sendcutsend_bend_rule() -> None:
- bend_deduction_error = abs(
- SENDCUTSEND_BEND_DEDUCTION_90_MM
- - ((2.0 * _sendcutsend_outside_setback_90_mm()) - _sendcutsend_bend_allowance_90_mm())
- )
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def _cast_shape(obj: object) -> build123d.Shape:
- from build123d.topology import downcast
- from build123d.topology.shape_core import shapetype
-
- occt_shape = downcast(obj)
- shape_name = build123d.Shape.shape_LUT[shapetype(occt_shape)]
- shape_type = getattr(build123d, shape_name)
- return shape_type.cast(occt_shape)
-
-
-def _geom_type_name(shape: build123d.Shape) -> str:
- geom_type = shape.geom_type
- return geom_type.name if hasattr(geom_type, "name") else str(geom_type)
-
-
-def _build_bracket_layout() -> BracketLayout:
- x_min = min(
- BASE_SERVO_FOOTPRINT_X_MIN_MM,
- BASE_SERVO_MOUNTED_FOOTPRINT_X_MIN_MM,
- min(
- x - radius - BASE_PLATE_SERVO_MOUNT_HOLE_EDGE_BUFFER_MM
- for x, _z, radius in BASE_SERVO_STANDOFF_MOUNT_HOLES_MM
- ),
- )
- x_max = BASE_SERVO_FOOTPRINT_X_MAX_MM
- if BASE_ATTACHMENT_HOLES_MM:
- required_x_max_for_mount_holes = max(
- x
- + SENDCUTSEND_COUNTERSINK_CENTER_TO_BEND_MIN_MM
- + SENDCUTSEND_MOUNT_HOLE_TO_BEND_BUFFER_MM
- for x, _z, _radius in BASE_ATTACHMENT_HOLES_MM
- )
- x_max = max(x_max, required_x_max_for_mount_holes)
- x_max = max(x_max, TOP_PLATE_NECK_START_X_MM + TOP_PLATE_NECK_TO_BEND_MIN_MM)
- required_x_min = x_min
- x_min = (
- (2.0 * BASE_PLATE_MAIN_SURFACE_CENTER_X_MM)
- - TOP_PLATE_NECK_START_X_MM
- + BASE_PLATE_LEFT_EDGE_EXTRA_INSET_MM
- )
- if x_min > required_x_min:
- raise RuntimeError(
- "Base plate main-surface centering would clip required geometry: "
- f"x_min={x_min:.3f} mm > required_x_min={required_x_min:.3f} mm"
- )
- z_center = 0.5 * (SADDLE_BASE_Z_MIN_MM + SADDLE_BASE_Z_MAX_MM)
- z_min = z_center - (0.5 * BASE_PLATE_Z_WIDTH_MM)
- z_max = z_center + (0.5 * BASE_PLATE_Z_WIDTH_MM)
- clamp_z_min = z_center - (0.5 * STANDARD_DESK_CLAMP_CONTACT_WIDTH_MM)
- clamp_z_max = z_center + (0.5 * STANDARD_DESK_CLAMP_CONTACT_WIDTH_MM)
- y_min = SADDLE_BASE_FACE_Y_MM - PLATE_THICKNESS_MM
- y_max = SADDLE_BASE_FACE_Y_MM
- return_y_max = y_min - U_BRACKET_CLEARANCE_MM
- return_y_min = return_y_max - PLATE_THICKNESS_MM
- side_x_max = x_max
- side_x_min = side_x_max - SIDE_WALL_THICKNESS_MM
- return_x_min = side_x_min - (
- RETURN_FACE_LENGTH_RATIO * (side_x_max - BASE_SERVO_FOOTPRINT_X_MIN_MM)
- )
- standoff_under_access_clearance = return_x_min - max(
- x for x, _z, _radius in BASE_SERVO_STANDOFF_MOUNT_HOLES_MM
- )
- if standoff_under_access_clearance < BASE_PLATE_UNDER_ACCESS_CLEARANCE_MM:
- raise RuntimeError(
- "Base servo standoff holes are too close to the lower return face for "
- "driver access: "
- f"{standoff_under_access_clearance:.3f} mm < "
- f"{BASE_PLATE_UNDER_ACCESS_CLEARANCE_MM:.3f} mm"
- )
- return_mount_holes = (
- (
- 0.5 * (return_x_min + side_x_min),
- 0.5 * (clamp_z_min + clamp_z_max),
- M8_CLEARANCE_RADIUS_MM,
- ),
- ) if INCLUDE_RETURN_SURFACE_MOUNT_FEATURES else ()
-
- return BracketLayout(
- x_min=x_min,
- x_max=x_max,
- y_min=y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- clamp_z_min=clamp_z_min,
- clamp_z_max=clamp_z_max,
- neck_start_x=TOP_PLATE_NECK_START_X_MM,
- width=x_max - x_min,
- height=z_max - z_min,
- clamp_height=clamp_z_max - clamp_z_min,
- return_width=side_x_max - return_x_min,
- return_x_min=return_x_min,
- return_y_min=return_y_min,
- return_y_max=return_y_max,
- side_x_min=side_x_min,
- side_x_max=side_x_max,
- overall_y_min=return_y_min,
- face_y=y_max,
- attachment_holes=BASE_ATTACHMENT_HOLES_MM,
- return_mount_holes=return_mount_holes,
- servo_bus_mount_holes_xzr=SERVO_BUS_TOP_MOUNT_HOLES_MM,
- )
-
-
-def _min_servo_bus_hole_center_to_plate_edge(layout: BracketLayout) -> float:
- if not SERVO_BUS_TOP_MOUNT_HOLES_MM:
- return math.inf
- return min(
- min(z - layout.z_min, layout.z_max - z)
- for _x, z, _radius in SERVO_BUS_TOP_MOUNT_HOLES_MM
- )
-
-
-def _fillet_plan_corners(
- plate: build123d.Solid,
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
- include_min_x: bool = True,
- include_max_x: bool = True,
-) -> build123d.Shape:
- matches: list[build123d.Edge] = []
- for edge in plate.edges():
- if _geom_type_name(edge) != "LINE":
- continue
- bb = edge.bounding_box()
- if abs((bb.max.Y - bb.min.Y) - (y_max - y_min)) > 1e-3:
- continue
- if (bb.max.X - bb.min.X) > 1e-3 or (bb.max.Z - bb.min.Z) > 1e-3:
- continue
- center = edge.center()
- if abs(abs(center.X - ((x_min + x_max) * 0.5)) - ((x_max - x_min) * 0.5)) > 1e-3:
- continue
- if abs(abs(center.Z - ((z_min + z_max) * 0.5)) - ((z_max - z_min) * 0.5)) > 1e-3:
- continue
- at_min_x = abs(center.X - x_min) <= 1e-3
- at_max_x = abs(center.X - x_max) <= 1e-3
- if at_min_x and not include_min_x:
- continue
- if at_max_x and not include_max_x:
- continue
- matches.append(edge)
-
- expected_count = (2 if include_min_x else 0) + (2 if include_max_x else 0)
- if len(matches) != expected_count:
- raise RuntimeError(f"Expected {expected_count} plan-view corner edges to fillet, found {len(matches)}")
-
- mk = BRepFilletAPI_MakeFillet(plate.wrapped)
- for edge in matches:
- mk.Add(CORNER_RADIUS_MM, edge.wrapped)
- mk.Build()
- if not mk.IsDone():
- raise RuntimeError("Failed to round U-bracket plate corners")
- return _cast_shape(mk.Shape())
-
-
-def _fillet_vertical_plan_edges(
- plate: build123d.Shape,
- *,
- x: float,
- z_values: tuple[float, ...],
- y_min: float,
- y_max: float,
- radius: float,
-) -> build123d.Shape:
- matches: list[build123d.Edge] = []
- for edge in plate.edges():
- if _geom_type_name(edge) != "LINE":
- continue
- bb = edge.bounding_box()
- if abs((bb.max.Y - bb.min.Y) - (y_max - y_min)) > 1e-3:
- continue
- if (bb.max.X - bb.min.X) > 1e-3 or (bb.max.Z - bb.min.Z) > 1e-3:
- continue
- center = edge.center()
- if abs(center.X - x) > 1e-3:
- continue
- if not any(abs(center.Z - z) <= 1e-3 for z in z_values):
- continue
- matches.append(edge)
-
- if len(matches) != len(z_values):
- raise RuntimeError(
- f"Expected {len(z_values)} vertical plan edges to fillet, found {len(matches)}"
- )
-
- mk = BRepFilletAPI_MakeFillet(plate.wrapped)
- for edge in matches:
- mk.Add(radius, edge.wrapped)
- mk.Build()
- if not mk.IsDone():
- raise RuntimeError("Failed to round selected vertical plan edges")
- return _cast_shape(mk.Shape())
-
-
-def _fillet_plan_outline_vertices(
- plate: build123d.Shape,
- *,
- points_xz: tuple[tuple[float, float], ...],
- y_min: float,
- y_max: float,
- radius: float,
-) -> build123d.Shape:
- matches: list[build123d.Edge] = []
- for edge in plate.edges():
- if _geom_type_name(edge) != "LINE":
- continue
- bb = edge.bounding_box()
- if abs((bb.max.Y - bb.min.Y) - (y_max - y_min)) > 1e-3:
- continue
- if (bb.max.X - bb.min.X) > 1e-3 or (bb.max.Z - bb.min.Z) > 1e-3:
- continue
- center = edge.center()
- if not any(
- abs(center.X - point_x) <= 1e-3 and abs(center.Z - point_z) <= 1e-3
- for point_x, point_z in points_xz
- ):
- continue
- matches.append(edge)
-
- if len(matches) != len(points_xz):
- raise RuntimeError(
- f"Expected {len(points_xz)} outline vertex edges to fillet, found {len(matches)}"
- )
-
- mk = BRepFilletAPI_MakeFillet(plate.wrapped)
- for edge in matches:
- mk.Add(radius, edge.wrapped)
- mk.Build()
- if not mk.IsDone():
- raise RuntimeError("Failed to round top-plate outline")
- return _cast_shape(mk.Shape())
-
-
-def _cut_y_holes(
- plate: build123d.Shape,
- *,
- holes_xzr: tuple[tuple[float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- hole_depth = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- for x, z, radius in holes_xzr:
- if not (x_min + radius <= x <= x_max - radius):
- raise RuntimeError(f"Hole at x={x:.3f} mm does not fit within the bracket x span")
- if not (z_min + radius <= z <= z_max - radius):
- raise RuntimeError(f"Hole at z={z:.3f} mm does not fit within the bracket z span")
- plate = plate.cut(
- _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(x, y_min - CUT_EXTENSION_MM, z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- )
- return plate
-
-
-def _cut_y_slots(
- plate: build123d.Shape,
- *,
- slots_xzlw: tuple[tuple[float, float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- slot_depth = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- for x, z, length, width in slots_xzlw:
- if length <= width:
- raise RuntimeError(
- f"Slot length must exceed slot width, got {length:.3f} x {width:.3f} mm"
- )
- if not (x_min + (0.5 * length) <= x <= x_max - (0.5 * length)):
- raise RuntimeError(f"Slot at x={x:.3f} mm does not fit within the bracket x span")
- if not (z_min + (0.5 * width) <= z <= z_max - (0.5 * width)):
- raise RuntimeError(f"Slot at z={z:.3f} mm does not fit within the bracket z span")
-
- radius = 0.5 * width
- half_straight = 0.5 * (length - width)
- plate = plate.cut(
- _make_box(
- x_min=x - half_straight,
- x_max=x + half_straight,
- y_min=y_min - CUT_EXTENSION_MM,
- y_max=y_min - CUT_EXTENSION_MM + slot_depth,
- z_min=z - radius,
- z_max=z + radius,
- )
- )
- for end_x in (x - half_straight, x + half_straight):
- plate = plate.cut(
- _make_cylinder_along(
- radius=radius,
- height=slot_depth,
- origin=build123d.Vector(end_x, y_min - CUT_EXTENSION_MM, z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- )
- return plate
-
-
-def _cut_y_oriented_slots(
- plate: build123d.Shape,
- *,
- slots_xzlwr: tuple[tuple[float, float, float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- slot_depth = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- for x, z, length, width, rotation_deg in slots_xzlwr:
- if length <= width:
- raise RuntimeError(
- f"Slot length must exceed slot width, got {length:.3f} x {width:.3f} mm"
- )
- angle = math.radians(rotation_deg)
- unit_x = math.cos(angle)
- unit_z = math.sin(angle)
- perp_x = -unit_z
- perp_z = unit_x
- radius = 0.5 * width
- half_straight = 0.5 * (length - width)
- half_length = 0.5 * length
- projected_half_x = abs(unit_x) * half_length + abs(perp_x) * radius
- projected_half_z = abs(unit_z) * half_length + abs(perp_z) * radius
- if not (x_min + projected_half_x <= x <= x_max - projected_half_x):
- raise RuntimeError(f"Oriented slot at x={x:.3f} mm does not fit within the bracket x span")
- if not (z_min + projected_half_z <= z <= z_max - projected_half_z):
- raise RuntimeError(f"Oriented slot at z={z:.3f} mm does not fit within the bracket z span")
-
- rect_points = (
- (
- x - (half_straight * unit_x) - (radius * perp_x),
- z - (half_straight * unit_z) - (radius * perp_z),
- ),
- (
- x + (half_straight * unit_x) - (radius * perp_x),
- z + (half_straight * unit_z) - (radius * perp_z),
- ),
- (
- x + (half_straight * unit_x) + (radius * perp_x),
- z + (half_straight * unit_z) + (radius * perp_z),
- ),
- (
- x - (half_straight * unit_x) + (radius * perp_x),
- z - (half_straight * unit_z) + (radius * perp_z),
- ),
- )
- plate = plate.cut(
- _make_xz_outline_solid(
- rect_points,
- y_min=y_min - CUT_EXTENSION_MM,
- y_max=y_min - CUT_EXTENSION_MM + slot_depth,
- )
- )
- for sign in (-1.0, 1.0):
- plate = plate.cut(
- _make_cylinder_along(
- radius=radius,
- height=slot_depth,
- origin=build123d.Vector(
- x + (sign * half_straight * unit_x),
- y_min - CUT_EXTENSION_MM,
- z + (sign * half_straight * unit_z),
- ),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- )
- return plate
-
-
-def _cut_x_holes(
- bracket: build123d.Shape,
- *,
- holes_yzr: tuple[tuple[float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- hole_depth = (x_max - x_min) + (2.0 * CUT_EXTENSION_MM)
- for y, z, radius in holes_yzr:
- if not (y_min + radius <= y <= y_max - radius):
- raise RuntimeError(f"Hole at y={y:.3f} mm does not fit within the bracket y span")
- if not (z_min + radius <= z <= z_max - radius):
- raise RuntimeError(f"Hole at z={z:.3f} mm does not fit within the bracket z span")
- bracket = bracket.cut(
- _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(x_min - CUT_EXTENSION_MM, y, z),
- direction=build123d.Vector(1.0, 0.0, 0.0),
- )
- )
- return bracket
-
-
-def _cut_base_plate_mount_features(
- plate: build123d.Shape,
- *,
- holes_xzr: tuple[tuple[float, float, float], ...],
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Shape:
- return _cut_y_holes(
- plate,
- holes_xzr=holes_xzr,
- x_min=x_min,
- x_max=x_max,
- y_min=y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- )
-
-
-def _cut_underside_countersinks(
- plate: build123d.Shape,
- *,
- holes_xzr: tuple[tuple[float, float, float], ...],
- y_min: float,
- clearance_radius: float,
- countersink_major_radius: float,
- countersink_depth: float,
-) -> build123d.Shape:
- for x, z, radius in holes_xzr:
- if abs(radius - clearance_radius) > 1e-6:
- continue
- plate = plate.cut(
- _make_cone_along(
- base_radius=countersink_major_radius,
- top_radius=radius,
- height=countersink_depth,
- origin=build123d.Vector(x, y_min, z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- )
- return plate
-
-
-def _as_single_solid(shape: build123d.Shape) -> build123d.Solid:
- solids = list(shape.solids())
- if len(solids) != 1:
- raise RuntimeError(f"Expected a single solid, found {len(solids)}")
- return solids[0]
-
-
-def _top_plate_outline_points(layout: BracketLayout) -> tuple[tuple[float, float], ...]:
- left_flat_x = min(
- layout.x_min + BASE_PLATE_OCTAGON_LEFT_CHAMFER_X_MM,
- layout.neck_start_x - BASE_PLATE_HUB_SLOT_LENGTH_MM,
- )
- left_lower_z = min(
- layout.z_min + BASE_PLATE_OCTAGON_LEFT_CHAMFER_Z_MM,
- layout.clamp_z_min - BASE_PLATE_HUB_SLOT_WIDTH_MM,
- )
- left_upper_z = max(
- layout.z_max - BASE_PLATE_OCTAGON_LEFT_CHAMFER_Z_MM,
- layout.clamp_z_max + BASE_PLATE_HUB_SLOT_WIDTH_MM,
- )
- return (
- (left_flat_x, layout.z_min),
- (layout.neck_start_x, layout.z_min),
- (layout.neck_start_x, layout.clamp_z_min),
- (layout.x_max, layout.clamp_z_min),
- (layout.x_max, layout.clamp_z_max),
- (layout.neck_start_x, layout.clamp_z_max),
- (layout.neck_start_x, layout.z_max),
- (left_flat_x, layout.z_max),
- (layout.x_min, left_upper_z),
- (layout.x_min, left_lower_z),
- )
-
-
-def _top_plate_hub_slot_specs(layout: BracketLayout) -> tuple[tuple[float, float, float, float, float], ...]:
- outline_points = _top_plate_outline_points(layout)
- side_start_x = outline_points[0][0]
- side_end_x = layout.neck_start_x
- side_span = side_end_x - side_start_x
- side_slot_gap = (
- side_span - (BASE_PLATE_HUB_SIDE_SLOT_COUNT * BASE_PLATE_HUB_SLOT_LENGTH_MM)
- ) / (BASE_PLATE_HUB_SIDE_SLOT_COUNT + 1)
- if side_slot_gap <= BASE_PLATE_HUB_SLOT_WIDTH_MM:
- raise RuntimeError(
- "Side case-retention slots cannot be evenly spaced with the current "
- f"edge span: {side_span:.3f} mm"
- )
- slot_z_abs = (0.5 * layout.height) - BASE_PLATE_HUB_SLOT_EDGE_INSET_MM
- side_slot_xs = tuple(
- side_start_x
- + side_slot_gap
- + (0.5 * BASE_PLATE_HUB_SLOT_LENGTH_MM)
- + (index * (BASE_PLATE_HUB_SLOT_LENGTH_MM + side_slot_gap))
- for index in range(BASE_PLATE_HUB_SIDE_SLOT_COUNT)
- )
- slots: list[tuple[float, float, float, float, float]] = []
- for slot_x in side_slot_xs:
- for slot_z in (-slot_z_abs, slot_z_abs):
- slots.append(
- (
- slot_x,
- slot_z,
- BASE_PLATE_HUB_SLOT_LENGTH_MM,
- BASE_PLATE_HUB_SLOT_WIDTH_MM,
- 0.0,
- )
- )
- slots.append(
- (
- layout.x_min + BASE_PLATE_HUB_END_SLOT_X_INSET_MM,
- 0.5 * (layout.z_min + layout.z_max),
- BASE_PLATE_HUB_SLOT_LENGTH_MM,
- BASE_PLATE_HUB_SLOT_WIDTH_MM,
- 90.0,
- )
- )
- return tuple(slots)
-
-
-def _make_lower_plate(layout: BracketLayout) -> build123d.Shape:
- outline_points = _top_plate_outline_points(layout)
- plate = _make_xz_outline_solid(
- outline_points,
- y_min=layout.y_min,
- y_max=layout.y_max,
- )
- rounded_outline_points = tuple(
- point
- for index, point in enumerate(outline_points)
- if index not in BASE_PLATE_SHARP_NECK_CORNER_INDICES
- )
- plate = _fillet_plan_outline_vertices(
- plate,
- points_xz=rounded_outline_points,
- y_min=layout.y_min,
- y_max=layout.y_max,
- radius=CORNER_RADIUS_MM,
- )
- plate = _cut_base_plate_mount_features(
- plate,
- holes_xzr=layout.attachment_holes,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _cut_y_oriented_slots(
- plate,
- slots_xzlwr=_top_plate_hub_slot_specs(layout),
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _cut_underside_countersinks(
- plate,
- holes_xzr=BASE_SERVO_STANDOFF_MOUNT_HOLES_MM,
- y_min=layout.y_min,
- clearance_radius=M2_CLEARANCE_RADIUS_MM,
- countersink_major_radius=M2_FLAT_HEAD_COUNTERSINK_MAJOR_RADIUS_MM,
- countersink_depth=M2_UNDERSIDE_COUNTERSINK_DEPTH_MM,
- )
- plate = _cut_underside_countersinks(
- plate,
- holes_xzr=layout.servo_bus_mount_holes_xzr,
- y_min=layout.y_min,
- clearance_radius=SERVO_BUS_PLATE_CLEARANCE_RADIUS_MM,
- countersink_major_radius=M2_5_FLAT_HEAD_COUNTERSINK_MAJOR_RADIUS_MM,
- countersink_depth=M2_5_UNDERSIDE_COUNTERSINK_DEPTH_MM,
- )
- return _as_single_solid(plate)
-
-
-def _make_return_plate(layout: BracketLayout) -> build123d.Shape:
- plate = _make_box(
- x_min=layout.return_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.return_y_max,
- z_min=layout.clamp_z_min,
- z_max=layout.clamp_z_max,
- )
- plate = _fillet_plan_corners(
- plate,
- x_min=layout.return_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.return_y_max,
- z_min=layout.clamp_z_min,
- z_max=layout.clamp_z_max,
- include_min_x=True,
- include_max_x=False,
- )
- plate = _cut_y_holes(
- plate,
- holes_xzr=layout.return_mount_holes,
- x_min=layout.return_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.return_y_max,
- z_min=layout.clamp_z_min,
- z_max=layout.clamp_z_max,
- )
- return _as_single_solid(plate)
-
-
-def _make_side_wall(layout: BracketLayout) -> build123d.Shape:
- return _make_box(
- x_min=layout.side_x_min,
- x_max=layout.side_x_max,
- y_min=layout.return_y_min,
- y_max=layout.y_max,
- z_min=layout.clamp_z_min,
- z_max=layout.clamp_z_max,
- )
-
-
-def _long_z_edges_near(
- shape: build123d.Shape,
- *,
- x: float,
- y: float,
- z_min: float,
- z_max: float,
- tolerance: float = 0.08,
-) -> build123d.ShapeList:
- matches = build123d.ShapeList()
- min_length = 0.8 * (z_max - z_min)
- for edge in shape.edges():
- if _geom_type_name(edge) != "LINE":
- continue
- bb = edge.bounding_box()
- if (bb.max.X - bb.min.X) > 1e-3 or (bb.max.Y - bb.min.Y) > 1e-3:
- continue
- if (bb.max.Z - bb.min.Z) < min_length:
- continue
- center = edge.center()
- if abs(center.X - x) > tolerance or abs(center.Y - y) > tolerance:
- continue
- matches.append(edge)
- return matches
-
-
-def _apply_sendcutsend_bend_radii(
- bracket: build123d.Shape,
- *,
- layout: BracketLayout,
-) -> build123d.Shape:
- if BEND_INNER_RADIUS_MM < 0.0 or BEND_OUTER_RADIUS_MM < 0.0:
- raise ValueError("Bend radii must be >= 0")
- if BEND_INNER_RADIUS_MM == 0.0 and BEND_OUTER_RADIUS_MM == 0.0:
- return bracket
-
- inner_bend_edges = build123d.ShapeList()
- for bend_y in (layout.y_min, layout.return_y_max):
- inner_bend_edges.extend(
- _long_z_edges_near(
- bracket,
- x=layout.side_x_min,
- y=bend_y,
- z_min=layout.clamp_z_min,
- z_max=layout.clamp_z_max,
- )
- )
- if len(inner_bend_edges) != 2:
- raise RuntimeError(f"Expected two inside bend edges to fillet, found {len(inner_bend_edges)}")
-
- if BEND_INNER_RADIUS_MM > 0.0:
- bracket = bracket.fillet(BEND_INNER_RADIUS_MM, inner_bend_edges)
-
- outer_bend_edges = build123d.ShapeList()
- for bend_y in (layout.y_max, layout.return_y_min):
- outer_bend_edges.extend(
- _long_z_edges_near(
- bracket,
- x=layout.side_x_max,
- y=bend_y,
- z_min=layout.clamp_z_min,
- z_max=layout.clamp_z_max,
- tolerance=0.25,
- )
- )
- if len(outer_bend_edges) != 2:
- raise RuntimeError(f"Expected two outside bend edges to fillet, found {len(outer_bend_edges)}")
-
- if BEND_OUTER_RADIUS_MM > 0.0:
- bracket = bracket.fillet(BEND_OUTER_RADIUS_MM, outer_bend_edges)
-
- return bracket
-
-
-def build_bracket() -> build123d.Solid:
- layout = _build_bracket_layout()
- hub_slot_specs = _top_plate_hub_slot_specs(layout)
- standoff_under_access_clearance = layout.return_x_min - max(
- x for x, _z, _radius in BASE_SERVO_STANDOFF_MOUNT_HOLES_MM
- )
- servo_bus_countersink_edge_clearance = _min_servo_bus_hole_center_to_plate_edge(layout)
- if servo_bus_countersink_edge_clearance < SENDCUTSEND_COUNTERSINK_CENTER_TO_EDGE_MIN_MM:
- raise RuntimeError(
- "Servo bus countersunk holes are too close to the plate edge: "
- f"{servo_bus_countersink_edge_clearance:.3f} mm < "
- f"{SENDCUTSEND_COUNTERSINK_CENTER_TO_EDGE_MIN_MM:.3f} mm"
- )
-
- bracket = _make_lower_plate(layout)
- bracket = _as_single_solid(bracket.fuse(_make_side_wall(layout)))
- bracket = _as_single_solid(bracket.fuse(_make_return_plate(layout)))
- bracket = _as_single_solid(_apply_sendcutsend_bend_radii(bracket, layout=layout))
-
- print(
- f"{DISPLAY_NAME}: "
- f"lower_width={layout.width:.3f} mm, "
- f"return_width={layout.return_width:.3f} mm, "
- f"lower_height={layout.height:.3f} mm, "
- f"plate_thickness={PLATE_THICKNESS_MM:.3f} mm, "
- f"clearance={U_BRACKET_CLEARANCE_MM:.3f} mm, "
- f"overall_y_min={layout.overall_y_min:.4f} mm, "
- f"top_surface_holes={len(layout.attachment_holes)}, "
- f"bottom_surface_holes={len(layout.return_mount_holes)}, "
- f"horn_m3_holes={len(BASE_HORN_CONNECTION_HOLE_SPECS_MM) if INCLUDE_BOTTOM_SURFACE_MOUNT_FEATURES else 0}, "
- f"m2_mount_holes={len(BASE_SERVO_M2_HOLE_SPECS_MM) if INCLUDE_BOTTOM_SURFACE_MOUNT_FEATURES else 0}, "
- f"m2_standoff_mount_holes={len(BASE_SERVO_STANDOFF_MOUNT_HOLES_MM)}, "
- f"m2_standoff_height={SERVO_STANDOFF_HEIGHT_MM:.3f} mm, "
- f"m2_plate_clearance_diameter={2.0 * M2_CLEARANCE_RADIUS_MM:.3f} mm, "
- f"m2_countersink_major_diameter={2.0 * M2_FLAT_HEAD_COUNTERSINK_MAJOR_RADIUS_MM:.3f} mm, "
- f"m2_under_access_clearance={standoff_under_access_clearance:.3f} mm, "
- f"return_mount_holes={len(layout.return_mount_holes)}, "
- f"servo_bus_top_holes={len(layout.servo_bus_mount_holes_xzr)}, "
- f"case_retention_slots={len(hub_slot_specs)}x"
- f"{BASE_PLATE_HUB_SLOT_LENGTH_MM:.3f}x{BASE_PLATE_HUB_SLOT_WIDTH_MM:.3f} mm, "
- f"case_retention_slot_centers={[(round(slot[0], 3), round(slot[1], 3)) for slot in hub_slot_specs]}, "
- f"servo_bus_standoff_height={SERVO_BUS_STANDOFF_HEIGHT_MM:.3f} mm, "
- f"servo_bus_plate_clearance_diameter={2.0 * SERVO_BUS_PLATE_CLEARANCE_RADIUS_MM:.3f} mm, "
- f"servo_bus_countersink_major_diameter={2.0 * M2_5_FLAT_HEAD_COUNTERSINK_MAJOR_RADIUS_MM:.3f} mm, "
- f"servo_bus_countersink_center_to_edge={servo_bus_countersink_edge_clearance:.3f} mm, "
- f"servo_bus_countersink_center_to_bend_min={SENDCUTSEND_COUNTERSINK_CENTER_TO_BEND_MIN_MM:.3f} mm, "
- f"neck_to_bend_min={TOP_PLATE_NECK_TO_BEND_MIN_MM:.3f} mm, "
- f"bend_radii_inner_outer=({BEND_INNER_RADIUS_MM:.3f}, {BEND_OUTER_RADIUS_MM:.3f}) mm, "
- f"horn_center_x={BASE_SERVO_MOUNTED_HORN_CENTER_X_MM:.3f} mm, "
- f"flush_y={layout.face_y:.4f} mm"
- )
- bracket.color = GRAY_ALUMINUM_COLOR
- return bracket
-
-
-def _build_flat_pattern(layout: BracketLayout) -> FlatPattern:
- _validate_sendcutsend_bend_rule()
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- bend_allowance = _sendcutsend_bend_allowance_90_mm()
- top_flange_outside_length = layout.side_x_max - layout.x_min
- return_flange_outside_length = layout.return_width
- top_flange_flat_length = top_flange_outside_length - outside_setback
- return_flange_flat_length = return_flange_outside_length - outside_setback
- min_flange_outside_length = min(top_flange_outside_length, return_flange_outside_length)
- min_flange_flat_length = min(top_flange_flat_length, return_flange_flat_length)
- if min_flange_outside_length < SENDCUTSEND_MIN_FLANGE_FORMED_MM:
- raise RuntimeError(
- "Flange length is below the configured bend-rule minimum: "
- f"{min_flange_outside_length:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FORMED_MM:.3f} mm"
- )
- if min_flange_flat_length <= 0.0:
- raise RuntimeError(
- "Flat flange length implied by the bend rule is too short: "
- f"{min_flange_flat_length:.3f} mm"
- )
-
- web_outside_length = layout.y_max - layout.return_y_min
- web_flat_length = web_outside_length - (2.0 * SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM)
- if web_flat_length <= 0.0:
- raise RuntimeError(
- f"Web flat length implied by the bend rule is too short: {web_flat_length:.3f} mm"
- )
-
- web_flat_start = top_flange_flat_length + bend_allowance
- web_flat_end = web_flat_start + web_flat_length
- total_length = web_flat_end + bend_allowance + return_flange_flat_length
- flat_width = layout.z_max - layout.z_min
- bend_line_positions = (
- top_flange_flat_length + (0.5 * bend_allowance),
- web_flat_end + (0.5 * bend_allowance),
- )
-
- feature_extents: list[tuple[float, float]] = []
- cut_circles: list[tuple[float, float, float]] = []
- cut_slots: list[tuple[float, float, float, float, float]] = []
- for x, z, radius in layout.attachment_holes:
- circle = (x - layout.x_min, z - layout.z_min, radius)
- cut_circles.append(circle)
- feature_extents.append((circle[0], radius))
- for x, z, length, slot_width, rotation_deg in _top_plate_hub_slot_specs(layout):
- slot = (x - layout.x_min, z - layout.z_min, length, slot_width, rotation_deg)
- cut_slots.append(slot)
- feature_extents.append((slot[0], 0.5 * (length if abs(rotation_deg) < 45.0 else slot_width)))
- for x, z, radius in layout.return_mount_holes:
- circle = (total_length - (x - layout.return_x_min), z - layout.z_min, radius)
- cut_circles.append(circle)
- feature_extents.append((circle[0], radius))
-
- min_feature_to_bend = min(
- min(abs(center_u - bend_u) - feature_radius for bend_u in bend_line_positions)
- for center_u, feature_radius in feature_extents
- )
-
- return FlatPattern(
- total_length_mm=total_length,
- width_mm=flat_width,
- top_flange_flat_length_mm=top_flange_flat_length,
- return_flange_flat_length_mm=return_flange_flat_length,
- web_flat_start_mm=web_flat_start,
- web_flat_end_mm=web_flat_end,
- bend_line_positions_mm=bend_line_positions,
- cut_circles=tuple(cut_circles),
- cut_slots=tuple(cut_slots),
- rounded_corner_radius_mm=CORNER_RADIUS_MM,
- min_feature_to_bend_mm=min_feature_to_bend,
- )
-
-
-def _add_rounded_rect_outline(
- msp: ezdxf.layouts.Modelspace,
- *,
- length: float,
- width: float,
- radius: float,
-) -> None:
- if radius <= 0.0:
- raise RuntimeError(f"Corner radius must be positive, got {radius:.3f} mm")
- if width <= (2.0 * radius):
- raise RuntimeError(
- "Corner radius is too large for the base clamp flat-pattern width: "
- f"{radius:.3f} mm"
- )
- if length <= (2.0 * radius):
- raise RuntimeError(
- "Corner radius is too large for the base clamp flat-pattern length: "
- f"{radius:.3f} mm"
- )
-
- msp.add_line((radius, 0.0), (length - radius, 0.0), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(length - radius, radius),
- radius=radius,
- start_angle=-90.0,
- end_angle=0.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((length, radius), (length, width - radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(length - radius, width - radius),
- radius=radius,
- start_angle=0.0,
- end_angle=90.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((length - radius, width), (radius, width), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(radius, width - radius),
- radius=radius,
- start_angle=90.0,
- end_angle=180.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((0.0, width - radius), (0.0, radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(radius, radius),
- radius=radius,
- start_angle=180.0,
- end_angle=270.0,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _add_horizontal_slot_outline(
- msp: ezdxf.layouts.Modelspace,
- *,
- center_u: float,
- center_v: float,
- length: float,
- width: float,
-) -> None:
- if length <= width:
- raise RuntimeError(f"Slot length must exceed slot width, got {length:.3f} x {width:.3f} mm")
- radius = 0.5 * width
- half_straight = 0.5 * (length - width)
- left_u = center_u - half_straight
- right_u = center_u + half_straight
-
- msp.add_line((left_u, center_v - radius), (right_u, center_v - radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(right_u, center_v),
- radius=radius,
- start_angle=-90.0,
- end_angle=90.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((right_u, center_v + radius), (left_u, center_v + radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(left_u, center_v),
- radius=radius,
- start_angle=90.0,
- end_angle=270.0,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _add_oriented_slot_outline(
- msp: ezdxf.layouts.Modelspace,
- *,
- center_u: float,
- center_v: float,
- length: float,
- width: float,
- rotation_deg: float,
-) -> None:
- if abs(rotation_deg) <= 1e-6:
- _add_horizontal_slot_outline(
- msp,
- center_u=center_u,
- center_v=center_v,
- length=length,
- width=width,
- )
- return
-
- if length <= width:
- raise RuntimeError(f"Slot length must exceed slot width, got {length:.3f} x {width:.3f} mm")
- angle = math.radians(rotation_deg)
- unit_u = math.cos(angle)
- unit_v = math.sin(angle)
- perp_u = -unit_v
- perp_v = unit_u
- radius = 0.5 * width
- half_straight = 0.5 * (length - width)
- start_u = center_u - (half_straight * unit_u)
- start_v = center_v - (half_straight * unit_v)
- end_u = center_u + (half_straight * unit_u)
- end_v = center_v + (half_straight * unit_v)
-
- line_a_start = (start_u + (radius * perp_u), start_v + (radius * perp_v))
- line_a_end = (end_u + (radius * perp_u), end_v + (radius * perp_v))
- line_b_start = (start_u - (radius * perp_u), start_v - (radius * perp_v))
- line_b_end = (end_u - (radius * perp_u), end_v - (radius * perp_v))
- msp.add_line(line_a_start, line_a_end, dxfattribs={"layer": "CUT"})
- msp.add_line(line_b_end, line_b_start, dxfattribs={"layer": "CUT"})
-
- perp_angle = math.degrees(math.atan2(perp_v, perp_u))
- msp.add_arc(
- center=(end_u, end_v),
- radius=radius,
- start_angle=perp_angle,
- end_angle=perp_angle + 180.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_arc(
- center=(start_u, start_v),
- radius=radius,
- start_angle=perp_angle + 180.0,
- end_angle=perp_angle + 360.0,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _slot_profile_points(
- *,
- center_u: float,
- center_v: float,
- length: float,
- width: float,
- rotation_deg: float,
-) -> list[tuple[float, float]]:
- if length <= width:
- raise RuntimeError(f"Slot length must exceed slot width, got {length:.3f} x {width:.3f} mm")
- from shapely.geometry import LineString
-
- angle = math.radians(rotation_deg)
- half_straight = 0.5 * (length - width)
- start = (
- center_u - (half_straight * math.cos(angle)),
- center_v - (half_straight * math.sin(angle)),
- )
- end = (
- center_u + (half_straight * math.cos(angle)),
- center_v + (half_straight * math.sin(angle)),
- )
- profile = LineString([start, end]).buffer(0.5 * width, cap_style=1, resolution=16)
- points = [(float(x), float(y)) for x, y in profile.exterior.coords]
- if points and points[0] == points[-1]:
- points.pop()
- return points
-
-
-def _strip_cutout_interiors_from_geometry(geometry):
- from shapely.geometry import Polygon
- from shapely.ops import unary_union
-
- polygons = [geometry] if geometry.geom_type == "Polygon" else list(geometry.geoms)
- stripped = [Polygon(polygon.exterior) for polygon in polygons]
- result = unary_union(stripped).buffer(0)
- if not result.is_valid:
- result = result.buffer(0)
- if result.is_empty:
- raise RuntimeError("Base clamp topology DXF produced empty exterior geometry")
- return result
-
-
-def _add_flat_pattern_service_cutouts(
- msp: ezdxf.layouts.Modelspace,
- flat_pattern: FlatPattern,
-) -> None:
- # SendCutSend's secondary-service detector is much happier when round
- # service holes are exact circular contours rather than sampled polylines.
- # Use arc-bulge LWPOLYLINEs to avoid extra entity types in the upload.
- for center_u, center_v, radius in flat_pattern.cut_circles:
- dxf_topology.add_circle_polyline(
- msp,
- (center_u, center_v),
- radius,
- layer="CUT",
- )
- for center_u, center_v, length, width, rotation_deg in flat_pattern.cut_slots:
- msp.add_lwpolyline(
- _slot_profile_points(
- center_u=center_u,
- center_v=center_v,
- length=length,
- width=width,
- rotation_deg=rotation_deg,
- ),
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _flat_u_from_step_x(
- x: float,
- *,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> float:
- if abs(x - layout.side_x_max) <= 1e-3:
- return flat_pattern.top_flange_flat_length_mm
- return x - layout.x_min
-
-
-def _flat_v_from_step_z(z: float, *, layout: BracketLayout) -> float:
- return z - layout.z_min
-
-
-def _flat_point_from_step_vector(
- point: build123d.Vector,
- *,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> tuple[float, float]:
- return (
- _flat_u_from_step_x(point.X, layout=layout, flat_pattern=flat_pattern),
- _flat_v_from_step_z(point.Z, layout=layout),
- )
-
-
-def _is_top_bend_edge(edge: build123d.Edge, *, layout: BracketLayout) -> bool:
- if _geom_type_name(edge) != "LINE":
- return False
- bb = edge.bounding_box()
- return (
- abs(bb.min.X - layout.side_x_max) <= 1e-3
- and abs(bb.max.X - layout.side_x_max) <= 1e-3
- and abs(bb.min.Z - layout.clamp_z_min) <= 1e-3
- and abs(bb.max.Z - layout.clamp_z_max) <= 1e-3
- )
-
-
-def _angle_deg(point: tuple[float, float], center: tuple[float, float]) -> float:
- return math.degrees(math.atan2(point[1] - center[1], point[0] - center[0]))
-
-
-def _ccw_delta_deg(start: float, end: float) -> float:
- return (end - start) % 360.0
-
-
-def _add_step_projected_edge(
- msp: ezdxf.layouts.Modelspace,
- edge: build123d.Edge,
- *,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> None:
- edge_type = _geom_type_name(edge)
- vertices = list(edge.vertices())
- if edge_type == "LINE":
- if len(vertices) < 2:
- raise RuntimeError("STEP line edge is missing vertices for DXF projection")
- msp.add_line(
- _flat_point_from_step_vector(vertices[0].center(), layout=layout, flat_pattern=flat_pattern),
- _flat_point_from_step_vector(vertices[1].center(), layout=layout, flat_pattern=flat_pattern),
- dxfattribs={"layer": "CUT"},
- )
- return
-
- if edge_type != "CIRCLE":
- raise RuntimeError(f"Unsupported STEP top-face edge type for DXF projection: {edge_type}")
-
- center_point = edge.arc_center
- center = _flat_point_from_step_vector(center_point, layout=layout, flat_pattern=flat_pattern)
- radius = float(edge.radius)
- if len(vertices) < 2 or abs(edge.length - (2.0 * math.pi * radius)) <= 1e-3:
- msp.add_circle(center, radius, dxfattribs={"layer": "CUT"})
- return
-
- start = _flat_point_from_step_vector(vertices[0].center(), layout=layout, flat_pattern=flat_pattern)
- end = _flat_point_from_step_vector(vertices[1].center(), layout=layout, flat_pattern=flat_pattern)
- mid = _flat_point_from_step_vector(edge.center(), layout=layout, flat_pattern=flat_pattern)
- start_angle = _angle_deg(start, center)
- end_angle = _angle_deg(end, center)
- mid_angle = _angle_deg(mid, center)
- ccw_span = _ccw_delta_deg(start_angle, end_angle)
- mid_span = _ccw_delta_deg(start_angle, mid_angle)
- if mid_span > ccw_span + 1e-3:
- start_angle, end_angle = end_angle, start_angle
- msp.add_arc(
- center=center,
- radius=radius,
- start_angle=start_angle,
- end_angle=end_angle,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _step_top_face(shape: build123d.Shape, *, layout: BracketLayout) -> build123d.Face:
- matches = []
- for face in shape.faces():
- bb = face.bounding_box()
- if abs(bb.min.Y - layout.y_max) <= 1e-3 and abs(bb.max.Y - layout.y_max) <= 1e-3:
- matches.append(face)
- if not matches:
- raise RuntimeError("Could not find the base clamp top face in the generated STEP file")
- return max(matches, key=lambda face: face.area)
-
-
-def _add_step_projected_top_flange(
- msp: ezdxf.layouts.Modelspace,
- *,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> Path:
- step_path = Path(__file__).with_suffix(".step")
- if not step_path.exists():
- raise RuntimeError(f"STEP-derived DXF requires the generated STEP file: {step_path}")
- shape = build123d.import_step(step_path)
- top_face = _step_top_face(shape, layout=layout)
- projected_edges = 0
- for edge in top_face.edges():
- if _is_top_bend_edge(edge, layout=layout):
- continue
- _add_step_projected_edge(
- msp,
- edge,
- layout=layout,
- flat_pattern=flat_pattern,
- )
- projected_edges += 1
- if projected_edges <= 0:
- raise RuntimeError("No STEP top-face edges were projected into the DXF")
- return step_path
-
-
-def _add_web_and_return_flat_outline(
- msp: ezdxf.layouts.Modelspace,
- *,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> None:
- start_u = flat_pattern.top_flange_flat_length_mm
- end_u = flat_pattern.total_length_mm
- min_v = layout.clamp_z_min - layout.z_min
- max_v = layout.clamp_z_max - layout.z_min
- radius = min(CORNER_RADIUS_MM, 0.5 * (max_v - min_v), flat_pattern.return_flange_flat_length_mm)
-
- if radius <= 0.0:
- msp.add_line((start_u, min_v), (end_u, min_v), dxfattribs={"layer": "CUT"})
- msp.add_line((end_u, min_v), (end_u, max_v), dxfattribs={"layer": "CUT"})
- msp.add_line((end_u, max_v), (start_u, max_v), dxfattribs={"layer": "CUT"})
- return
-
- msp.add_line((start_u, min_v), (end_u - radius, min_v), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(end_u - radius, min_v + radius),
- radius=radius,
- start_angle=-90.0,
- end_angle=0.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((end_u, min_v + radius), (end_u, max_v - radius), dxfattribs={"layer": "CUT"})
- msp.add_arc(
- center=(end_u - radius, max_v - radius),
- radius=radius,
- start_angle=0.0,
- end_angle=90.0,
- dxfattribs={"layer": "CUT"},
- )
- msp.add_line((end_u - radius, max_v), (start_u, max_v), dxfattribs={"layer": "CUT"})
-
-
-def _topology_flat_pattern_dxf(
- bracket: build123d.Shape,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- return_start_u = flat_pattern.total_length_mm - flat_pattern.return_flange_flat_length_mm
- web_source_span = layout.y_max - layout.return_y_min
- web_flat_span = return_start_u - flat_pattern.top_flange_flat_length_mm
- if web_source_span <= 0.0 or web_flat_span <= 0.0:
- raise RuntimeError("Base clamp topology DXF has invalid web span")
-
- def project_top(point: build123d.Vector) -> tuple[float, float]:
- return (
- _flat_u_from_step_x(point.X, layout=layout, flat_pattern=flat_pattern),
- _flat_v_from_step_z(point.Z, layout=layout),
- )
-
- def project_web(point: build123d.Vector) -> tuple[float, float]:
- t = (layout.y_max - point.Y) / web_source_span
- return (
- flat_pattern.top_flange_flat_length_mm + (t * web_flat_span),
- _flat_v_from_step_z(point.Z, layout=layout),
- )
-
- def project_return(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.X - layout.side_x_max) <= 1e-3:
- u = return_start_u
- else:
- u = flat_pattern.total_length_mm - (point.X - layout.return_x_min)
- return (u, _flat_v_from_step_z(point.Z, layout=layout))
-
- top_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="y",
- normal_sign=1.0,
- coordinate_axis="y",
- coordinate=layout.y_max,
- )
- web_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="x",
- normal_sign=1.0,
- coordinate_axis="x",
- coordinate=layout.side_x_max,
- )
- return_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="y",
- normal_sign=-1.0,
- coordinate_axis="y",
- coordinate=layout.return_y_min,
- )
- geometry = dxf_topology.union_projected_faces(
- (
- (top_faces, project_top),
- (web_faces, project_web),
- (return_faces, project_return),
- )
- )
- geometry = _strip_cutout_interiors_from_geometry(geometry)
- dxf_topology.add_shapely_geometry(doc.modelspace(), geometry, layer="CUT")
- _add_flat_pattern_service_cutouts(doc.modelspace(), flat_pattern)
-
- for bend_line_u in flat_pattern.bend_line_positions_mm:
- doc.modelspace().add_line(
- (bend_line_u, layout.clamp_z_min - layout.z_min),
- (bend_line_u, layout.clamp_z_max - layout.z_min),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def build_dxf() -> ezdxf.document.Drawing:
- layout = _build_bracket_layout()
- flat_pattern = _build_flat_pattern(layout)
- doc = _topology_flat_pattern_dxf(build_bracket(), layout, flat_pattern)
-
- print(
- f"{DISPLAY_NAME} DXF: "
- f"stock_thickness={PLATE_THICKNESS_MM:.3f} mm, "
- f"flat_length={flat_pattern.total_length_mm:.3f} mm, "
- f"flat_width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- "derived_from_topology=build_bracket()"
- )
- print(
- "DXF bend checks "
- f"top_flange_flat={flat_pattern.top_flange_flat_length_mm:.3f} mm, "
- f"return_flange_flat={flat_pattern.return_flange_flat_length_mm:.3f} mm, "
- f"feature_to_bend_min={flat_pattern.min_feature_to_bend_mm:.3f} mm, "
- f"feature_to_bend_required={SENDCUTSEND_HALF_DIE_WIDTH_MM:.3f} mm"
- )
- if flat_pattern.min_feature_to_bend_mm < SENDCUTSEND_HALF_DIE_WIDTH_MM:
- print(
- "Warning: flat-pattern features enter the bend die region by "
- f"{SENDCUTSEND_HALF_DIE_WIDTH_MM - flat_pattern.min_feature_to_bend_mm:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_bracket(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp.step
deleted file mode 100644
index af35cbbd..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:874d91d43ae4d86773930300153926504b186d3707e70c24bbd14f52a62fc26c
-size 244162
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp_assembly.py b/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp_assembly.py
deleted file mode 100644
index d9094a28..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp_assembly.py
+++ /dev/null
@@ -1,180 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-ASSEMBLY_DIR = Path(__file__).resolve().parent
-if str(ASSEMBLY_DIR) not in sys.path:
- sys.path.insert(0, str(ASSEMBLY_DIR))
-
-import base_clamp
-
-
-def multiply_transforms(
- left: list[float] | tuple[float, ...],
- right: list[float] | tuple[float, ...],
-) -> list[float]:
- return [
- sum(float(left[row * 4 + inner]) * float(right[inner * 4 + col]) for inner in range(4))
- for row in range(4)
- for col in range(4)
- ]
-
-
-BASE_CLAMP_LAYOUT = base_clamp._build_bracket_layout()
-STS3250_BASE_PLATE_FACE_LOCAL_Y_MM = -27.4
-STS3250_UNDERSIDE_M2_MOUNT_FACE_LOCAL_Y_MM = -25.6
-STS3250_BASE_PLATE_CLEARANCE_MM = base_clamp.SERVO_STANDOFF_HEIGHT_MM - (
- STS3250_UNDERSIDE_M2_MOUNT_FACE_LOCAL_Y_MM - STS3250_BASE_PLATE_FACE_LOCAL_Y_MM
-)
-STS3250_END_FOR_END_PIVOT_LOCAL_X_MM = base_clamp.BASE_SERVO_END_FOR_END_PIVOT_LOCAL_X_MM
-STS3250_END_FOR_END_PIVOT_LOCAL_Z_MM = base_clamp.BASE_SERVO_END_FOR_END_PIVOT_LOCAL_Z_MM
-STS3250_END_FOR_END_ROTATION_TRANSFORM = [
- -1.0,
- 0.0,
- 0.0,
- (2.0 * STS3250_END_FOR_END_PIVOT_LOCAL_X_MM)
- + base_clamp.SERVO_MOUNT_X_SHIFT_FOR_UNDER_ACCESS_MM,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, -1.0, 2.0 * STS3250_END_FOR_END_PIVOT_LOCAL_Z_MM,
- 0.0, 0.0, 0.0, 1.0,
-]
-STS3250_BASE_PLATE_TO_CLAMP_FACE_TRANSFORM = [
- 1.0, 0.0, 0.0, 0.0,
- 0.0,
- 1.0,
- 0.0,
- base_clamp.SADDLE_BASE_FACE_Y_MM
- + STS3250_BASE_PLATE_CLEARANCE_MM
- - STS3250_BASE_PLATE_FACE_LOCAL_Y_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-STS3250_TO_BASE_CLAMP_TRANSFORM = multiply_transforms(
- STS3250_BASE_PLATE_TO_CLAMP_FACE_TRANSFORM,
- STS3250_END_FOR_END_ROTATION_TRANSFORM,
-)
-BASE_CLAMP_F12_TO_FLOOR_TRANSFORM = [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, -1.0, 0.0,
- 0.0, 1.0, 0.0, -BASE_CLAMP_LAYOUT.overall_y_min,
- 0.0, 0.0, 0.0, 1.0,
-]
-STS3250_FLOOR_TRANSFORM = multiply_transforms(
- BASE_CLAMP_F12_TO_FLOOR_TRANSFORM,
- STS3250_TO_BASE_CLAMP_TRANSFORM,
-)
-BASE_CLAMP_TOP_FACE_WORLD_Z_MM = base_clamp.SADDLE_BASE_FACE_Y_MM - BASE_CLAMP_LAYOUT.overall_y_min
-M2_STANDOFF_FLOOR_TRANSFORMS = tuple(
- [
- 1.0, 0.0, 0.0, x,
- 0.0, 1.0, 0.0, -z,
- 0.0, 0.0, 1.0, BASE_CLAMP_TOP_FACE_WORLD_Z_MM,
- 0.0, 0.0, 0.0, 1.0,
- ]
- for x, z, _radius in base_clamp.BASE_SERVO_STANDOFF_MOUNT_HOLES_MM
-)
-M2_5_BUS_STANDOFF_FLOOR_TRANSFORMS = tuple(
- [
- 1.0, 0.0, 0.0, x,
- 0.0, 1.0, 0.0, -z,
- 0.0, 0.0, 1.0, BASE_CLAMP_TOP_FACE_WORLD_Z_MM,
- 0.0, 0.0, 0.0, 1.0,
- ]
- for x, z, _radius in base_clamp.SERVO_BUS_TOP_MOUNT_HOLES_MM
-)
-
-WAVESHARE_BUS_PCB_BOTTOM_LOCAL_Z_MM = -1.599999
-WAVESHARE_BUS_LOWEST_LOCAL_Z_MM = -11.499994
-WAVESHARE_BUS_UNDERSIDE_CLEARANCE_MM = base_clamp.SERVO_BUS_STANDOFF_HEIGHT_MM - (
- WAVESHARE_BUS_PCB_BOTTOM_LOCAL_Z_MM - WAVESHARE_BUS_LOWEST_LOCAL_Z_MM
-)
-WAVESHARE_BUS_MOUNT_CENTER_LOCAL_X_MM = base_clamp.SERVO_BUS_MOUNT_LOCAL_X_CENTER_MM
-WAVESHARE_BUS_MOUNT_CENTER_LOCAL_Y_MM = base_clamp.SERVO_BUS_MOUNT_LOCAL_Y_CENTER_MM
-WAVESHARE_BUS_UNFLIPPED_WORLD_X_MM = base_clamp.SERVO_BUS_TOP_TO_BASE_CLAMP_X_OFFSET_MM
-WAVESHARE_BUS_UNFLIPPED_WORLD_Y_MM = -base_clamp.SERVO_BUS_TOP_TO_BASE_CLAMP_Z_OFFSET_MM
-
-WAVESHARE_BUS_FLOOR_TRANSFORM = [
- 0.0,
- -1.0,
- 0.0,
- WAVESHARE_BUS_UNFLIPPED_WORLD_X_MM
- + (2.0 * WAVESHARE_BUS_MOUNT_CENTER_LOCAL_Y_MM),
- 1.0,
- 0.0,
- 0.0,
- WAVESHARE_BUS_UNFLIPPED_WORLD_Y_MM
- - (2.0 * WAVESHARE_BUS_MOUNT_CENTER_LOCAL_X_MM),
- 0.0,
- 0.0,
- 1.0,
- BASE_CLAMP_TOP_FACE_WORLD_Z_MM
- + base_clamp.SERVO_BUS_STANDOFF_HEIGHT_MM
- - WAVESHARE_BUS_PCB_BOTTOM_LOCAL_Z_MM,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
-]
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "sts3250.step",
- "name": "sts3250",
- "transform": STS3250_FLOOR_TRANSFORM,
- },
- *(
- {
- "path": "m2_spacer_5mm.step",
- "name": f"m2_spacer_{index}",
- "transform": transform,
- "use_source_colors": True,
- }
- for index, transform in enumerate(M2_STANDOFF_FLOOR_TRANSFORMS, start=1)
- ),
- {
- "path": "base_clamp.step",
- "name": "base_clamp",
- "transform": BASE_CLAMP_F12_TO_FLOOR_TRANSFORM,
- },
- *(
- {
- "path": "m2_5_hex_spacer_6mm.step",
- "name": f"m2_5_bus_spacer_{index}",
- "transform": transform,
- "use_source_colors": True,
- }
- for index, transform in enumerate(M2_5_BUS_STANDOFF_FLOOR_TRANSFORMS, start=1)
- ),
- {
- "path": "waveshare_bus_servo_adapter_a.step",
- "name": "waveshare_bus_servo_adapter_a",
- "transform": WAVESHARE_BUS_FLOOR_TRANSFORM,
- "use_source_colors": True,
- },
- ],
- "assembly_mates": [
- {
- "sourceLabel": "base_servo_to_base_clamp",
- "type": "rigid",
- "relation": "rigid",
- "fixed": "base_clamp:top_servo_face",
- "moving": "sts3250:base_plate_face",
- "parameters": {
- "base_plate_clearance_mm": STS3250_BASE_PLATE_CLEARANCE_MM,
- "underside_m2_mount_face_clearance_mm": base_clamp.SERVO_STANDOFF_HEIGHT_MM,
- },
- "fixedEndpoint": {
- "part": "base_clamp",
- "frame": "top_servo_face",
- },
- "movingEndpoint": {
- "part": "sts3250",
- "frame": "base_plate_face",
- },
- },
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp_assembly.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp_assembly.step
deleted file mode 100644
index 95b7c7aa..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_clamp_assembly.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eaa05fe5afaac7ed8c41dfbe72822f9e05720bf7c4c3ef358ae4576caff2787b
-size 29209846
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_hub_shell.py b/models/robots/tom/v2/assemblies/base_clamp_assembly/base_hub_shell.py
deleted file mode 100644
index 2f38dcfd..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_hub_shell.py
+++ /dev/null
@@ -1,165 +0,0 @@
-#!/usr/bin/env python3
-"""Generate a lightweight printed shell that keys into the base clamp slots."""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-import build123d
-
-ASSEMBLY_DIR = Path(__file__).resolve().parent
-if str(ASSEMBLY_DIR) not in sys.path:
- sys.path.insert(0, str(ASSEMBLY_DIR))
-
-import base_clamp
-
-
-DISPLAY_NAME = "Base Hub Shell"
-PLASTIC_SHELL_COLOR = build123d.Color(0.18, 0.42, 0.78, 0.34)
-PLASTIC_SHELL_EDGE_INSET_MM = 3.0
-PLASTIC_SHELL_WALL_MM = 2.4
-PLASTIC_SHELL_HEIGHT_MM = 18.0
-PLASTIC_SHELL_BOTTOM_LIFT_MM = 0.15
-PLASTIC_SHELL_LEFT_CHAMFER_X_MM = 13.0
-PLASTIC_SHELL_LEFT_CHAMFER_Z_MM = 10.0
-PLASTIC_SHELL_TAB_CLEARANCE_MM = 0.65
-PLASTIC_SHELL_TAB_LENGTH_CLEARANCE_MM = 4.0
-PLASTIC_SHELL_TAB_DROP_BELOW_PLATE_MM = 0.4
-PLASTIC_SHELL_TAB_RISE_ABOVE_PLATE_MM = 1.4
-PLASTIC_SHELL_RIGHT_SERVICE_OPENING_EXTRA_MM = 0.5
-
-
-def _shell_outline_points(
- layout: base_clamp.BracketLayout,
- *,
- inset: float,
-) -> tuple[tuple[float, float], ...]:
- x_min = layout.x_min + PLASTIC_SHELL_EDGE_INSET_MM + inset
- x_max = layout.neck_start_x - PLASTIC_SHELL_EDGE_INSET_MM - inset
- z_min = layout.z_min + PLASTIC_SHELL_EDGE_INSET_MM + inset
- z_max = layout.z_max - PLASTIC_SHELL_EDGE_INSET_MM - inset
- chamfer_x = x_min + max(PLASTIC_SHELL_LEFT_CHAMFER_X_MM - inset, PLASTIC_SHELL_WALL_MM)
- lower_left_z = z_min + max(PLASTIC_SHELL_LEFT_CHAMFER_Z_MM - inset, PLASTIC_SHELL_WALL_MM)
- upper_left_z = z_max - max(PLASTIC_SHELL_LEFT_CHAMFER_Z_MM - inset, PLASTIC_SHELL_WALL_MM)
- if x_max <= chamfer_x or upper_left_z <= lower_left_z:
- raise RuntimeError("Plastic shell outline collapsed; reduce shell inset or wall thickness")
- return (
- (chamfer_x, z_min),
- (x_max, z_min),
- (x_max, z_max),
- (chamfer_x, z_max),
- (x_min, upper_left_z),
- (x_min, lower_left_z),
- )
-
-
-def _make_oriented_tab(
- *,
- x: float,
- z: float,
- length: float,
- width: float,
- rotation_deg: float,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- import math
-
- angle = math.radians(rotation_deg)
- unit_x = math.cos(angle)
- unit_z = math.sin(angle)
- perp_x = -unit_z
- perp_z = unit_x
- half_length = 0.5 * length
- half_width = 0.5 * width
- points = (
- (
- x - (half_length * unit_x) - (half_width * perp_x),
- z - (half_length * unit_z) - (half_width * perp_z),
- ),
- (
- x + (half_length * unit_x) - (half_width * perp_x),
- z + (half_length * unit_z) - (half_width * perp_z),
- ),
- (
- x + (half_length * unit_x) + (half_width * perp_x),
- z + (half_length * unit_z) + (half_width * perp_z),
- ),
- (
- x - (half_length * unit_x) + (half_width * perp_x),
- z - (half_length * unit_z) + (half_width * perp_z),
- ),
- )
- return base_clamp._make_xz_outline_solid(points, y_min=y_min, y_max=y_max)
-
-
-def build_shell() -> build123d.Solid:
- layout = base_clamp._build_bracket_layout()
- y_min = layout.y_max + PLASTIC_SHELL_BOTTOM_LIFT_MM
- y_max = y_min + PLASTIC_SHELL_HEIGHT_MM
- outer = base_clamp._make_xz_outline_solid(
- _shell_outline_points(layout, inset=0.0),
- y_min=y_min,
- y_max=y_max,
- )
- inner = base_clamp._make_xz_outline_solid(
- _shell_outline_points(layout, inset=PLASTIC_SHELL_WALL_MM),
- y_min=y_min - base_clamp.CUT_EXTENSION_MM,
- y_max=y_max + base_clamp.CUT_EXTENSION_MM,
- )
- shell = outer.cut(inner)
- shell_x_max = layout.neck_start_x - PLASTIC_SHELL_EDGE_INSET_MM
- shell = shell.cut(
- base_clamp._make_box(
- x_min=shell_x_max
- - PLASTIC_SHELL_WALL_MM
- - PLASTIC_SHELL_RIGHT_SERVICE_OPENING_EXTRA_MM,
- x_max=shell_x_max + PLASTIC_SHELL_RIGHT_SERVICE_OPENING_EXTRA_MM,
- y_min=y_min - base_clamp.CUT_EXTENSION_MM,
- y_max=y_max + base_clamp.CUT_EXTENSION_MM,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- )
-
- tab_length = base_clamp.BASE_PLATE_HUB_SLOT_LENGTH_MM - PLASTIC_SHELL_TAB_LENGTH_CLEARANCE_MM
- tab_width = base_clamp.BASE_PLATE_HUB_SLOT_WIDTH_MM - PLASTIC_SHELL_TAB_CLEARANCE_MM
- if tab_length <= tab_width:
- raise RuntimeError(
- f"Plastic shell tab is too short: {tab_length:.3f} x {tab_width:.3f} mm"
- )
- for x, z, _slot_length, _slot_width, rotation_deg in base_clamp._top_plate_hub_slot_specs(layout):
- shell = shell.fuse(
- _make_oriented_tab(
- x=x,
- z=z,
- length=tab_length,
- width=tab_width,
- rotation_deg=rotation_deg,
- y_min=layout.y_min - PLASTIC_SHELL_TAB_DROP_BELOW_PLATE_MM,
- y_max=layout.y_max + PLASTIC_SHELL_TAB_RISE_ABOVE_PLATE_MM,
- )
- )
-
- shell = base_clamp._as_single_solid(shell)
- shell.color = PLASTIC_SHELL_COLOR
- print(
- f"{DISPLAY_NAME}: "
- f"wall={PLASTIC_SHELL_WALL_MM:.3f} mm, "
- f"height={PLASTIC_SHELL_HEIGHT_MM:.3f} mm, "
- f"right_service_opening_start_x={shell_x_max - PLASTIC_SHELL_WALL_MM - PLASTIC_SHELL_RIGHT_SERVICE_OPENING_EXTRA_MM:.3f} mm, "
- f"tabs={len(base_clamp._top_plate_hub_slot_specs(layout))}, "
- f"tab_size={tab_length:.3f}x{tab_width:.3f} mm"
- )
- return shell
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_shell(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_hub_shell.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/base_hub_shell.step
deleted file mode 100644
index 1cffbc9d..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/base_hub_shell.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5506dc08316ac6b1b949b5ea1bfae79586069b56c076f6adfd87ec6a6b47796e
-size 165630
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_hex_spacer_6mm.py b/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_hex_spacer_6mm.py
deleted file mode 100644
index e1dfddbe..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_hex_spacer_6mm.py
+++ /dev/null
@@ -1,101 +0,0 @@
-#!/usr/bin/env python3
-"""
-6 mm M2.5 hex spacer for the Waveshare bus board on the tom v2 base clamp.
-
-The simplified body represents an off-the-shelf female-female hex spacer. It is
-authored upright on +Z so the assembly can place it between the clamp plate and
-the Waveshare board mounting holes.
-"""
-
-from __future__ import annotations
-
-import math
-import sys
-from pathlib import Path
-
-ASSEMBLY_DIR = Path(__file__).resolve().parent
-if str(ASSEMBLY_DIR) not in sys.path:
- sys.path.insert(0, str(ASSEMBLY_DIR))
-
-import build123d
-
-import base_clamp
-
-
-PART_NAME = Path(__file__).stem
-M2_5_THREAD_MINOR_RADIUS_MM = 0.5 * 2.05
-THREAD_ENTRY_RADIUS_MM = 1.35
-THREAD_ENTRY_DEPTH_MM = 0.7
-CUT_EXTENSION_MM = 0.5
-BRASS_COLOR = build123d.Color(0.82, 0.63, 0.31, 1.0)
-
-
-def _make_z_cylinder(*, radius: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- z_max - z_min,
- plane=build123d.Plane(
- origin=build123d.Vector(0.0, 0.0, z_min),
- z_dir=build123d.Vector(0.0, 0.0, 1.0),
- ),
- )
-
-
-def _make_hex_prism(*, across_flats: float, height: float) -> build123d.Shape:
- circumradius = across_flats / math.sqrt(3.0)
- with build123d.BuildPart() as spacer:
- with build123d.BuildSketch():
- build123d.RegularPolygon(circumradius, 6, rotation=30.0)
- build123d.extrude(amount=height)
- return spacer.part
-
-
-def build_step() -> build123d.Shape:
- height = base_clamp.SERVO_BUS_STANDOFF_HEIGHT_MM
- across_flats = base_clamp.SERVO_BUS_STANDOFF_HEX_ACROSS_FLATS_MM
- if height <= 0.0:
- raise ValueError("SERVO_BUS_STANDOFF_HEIGHT_MM must be positive")
- if across_flats <= (2.0 * THREAD_ENTRY_RADIUS_MM):
- raise ValueError("M2.5 spacer hex body is too small for the thread entry")
-
- body = _make_hex_prism(across_flats=across_flats, height=height)
- body = body.cut(
- _make_z_cylinder(
- radius=M2_5_THREAD_MINOR_RADIUS_MM,
- z_min=-CUT_EXTENSION_MM,
- z_max=height + CUT_EXTENSION_MM,
- )
- )
- for z_min in (0.0, height - THREAD_ENTRY_DEPTH_MM):
- body = body.cut(
- _make_z_cylinder(
- radius=THREAD_ENTRY_RADIUS_MM,
- z_min=z_min - CUT_EXTENSION_MM,
- z_max=z_min + THREAD_ENTRY_DEPTH_MM + CUT_EXTENSION_MM,
- )
- )
-
- solids = list(body.solids())
- if len(solids) != 1:
- raise RuntimeError(f"Expected one M2.5 hex spacer solid, found {len(solids)}")
-
- spacer = solids[0]
- spacer.label = PART_NAME
- spacer.color = BRASS_COLOR
- print(
- "M2.5 bus hex spacer "
- f"height={height:.3f} mm, "
- f"across_flats={across_flats:.3f} mm, "
- f"thread_minor_diameter={2.0 * M2_5_THREAD_MINOR_RADIUS_MM:.3f} mm"
- )
- return spacer
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_hex_spacer_6mm.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_hex_spacer_6mm.step
deleted file mode 100644
index 2f29bf9e..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_hex_spacer_6mm.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:295a78211fd019033166f85dd5649d46e646ad7e1460534e9eba5539292d740f
-size 36506
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_spacer_12mm.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_spacer_12mm.step
deleted file mode 100644
index 06365a7b..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_5_spacer_12mm.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cf0328d98df31401bfc222ee3719117b96b48efc87e7754f2548d8fad1a18337
-size 18508
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_3mm.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_3mm.step
deleted file mode 100644
index df28c048..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_3mm.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b0c3323e3cc58ede93dfcd4d7110abef5c0eb8bcee6c71fc70d2e34dab904b72
-size 18466
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_5mm.py b/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_5mm.py
deleted file mode 100644
index 043af6a2..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_5mm.py
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/env python3
-"""
-M2 spacer for the tom v2 base clamp servo mount.
-
-The simplified body represents an off-the-shelf M2 PCB/servo spacer. It is
-authored upright on +Z so the assembly can drop it directly between the base
-plate and the selected underside mount face on the servo.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-ASSEMBLY_DIR = Path(__file__).resolve().parent
-if str(ASSEMBLY_DIR) not in sys.path:
- sys.path.insert(0, str(ASSEMBLY_DIR))
-
-import build123d
-
-import base_clamp
-
-
-PART_NAME = Path(__file__).stem
-M2_THREAD_MINOR_RADIUS_MM = 0.8
-THREAD_ENTRY_RADIUS_MM = 1.05
-THREAD_ENTRY_DEPTH_MM = 0.6
-CUT_EXTENSION_MM = 0.5
-BRASS_COLOR = build123d.Color(0.82, 0.63, 0.31, 1.0)
-
-
-def _make_z_cylinder(*, radius: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- z_max - z_min,
- plane=build123d.Plane(
- origin=build123d.Vector(0.0, 0.0, z_min),
- z_dir=build123d.Vector(0.0, 0.0, 1.0),
- ),
- )
-
-
-def build_step() -> build123d.Shape:
- height = base_clamp.SERVO_STANDOFF_HEIGHT_MM
- outer_radius = 0.5 * base_clamp.SERVO_STANDOFF_BODY_DIAMETER_MM
- if height <= 0.0:
- raise ValueError("SERVO_STANDOFF_HEIGHT_MM must be positive")
- if outer_radius <= THREAD_ENTRY_RADIUS_MM:
- raise ValueError("M2 spacer outer diameter is too small for the thread entry")
-
- body: build123d.Shape = _make_z_cylinder(radius=outer_radius, z_min=0.0, z_max=height)
- body = body.cut(
- _make_z_cylinder(
- radius=M2_THREAD_MINOR_RADIUS_MM,
- z_min=-CUT_EXTENSION_MM,
- z_max=height + CUT_EXTENSION_MM,
- )
- )
- for z_min in (0.0, height - THREAD_ENTRY_DEPTH_MM):
- body = body.cut(
- _make_z_cylinder(
- radius=THREAD_ENTRY_RADIUS_MM,
- z_min=z_min - CUT_EXTENSION_MM,
- z_max=z_min + THREAD_ENTRY_DEPTH_MM + CUT_EXTENSION_MM,
- )
- )
-
- solids = list(body.solids())
- if len(solids) != 1:
- raise RuntimeError(f"Expected one M2 spacer solid, found {len(solids)}")
-
- spacer = solids[0]
- spacer.label = PART_NAME
- spacer.color = BRASS_COLOR
- print(
- "M2 spacer "
- f"height={height:.3f} mm, "
- f"outer_diameter={base_clamp.SERVO_STANDOFF_BODY_DIAMETER_MM:.3f} mm, "
- f"thread_minor_diameter={2.0 * M2_THREAD_MINOR_RADIUS_MM:.3f} mm"
- )
- return spacer
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_5mm.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_5mm.step
deleted file mode 100644
index 9fc7e35f..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/m2_spacer_5mm.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d8d0f83d14a8d863c85fea892f46b8799db5d3cc8e4fd9f0385711792b74fbfd
-size 18466
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/sts3250.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/sts3250.step
deleted file mode 100644
index 746b3e65..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/sts3250.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5358f001dbdb3a059d625b79f3e0272a4f93dfb7f1e2a50d07803b709a337d29
-size 2299283
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_servo_adapter_a.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_servo_adapter_a.step
deleted file mode 100644
index 593f0b94..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_servo_adapter_a.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b04c6802fe661c3f3f2ed02c4decdb2f557bc0d8a85376b6ad6c38db2bb667f
-size 26606280
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_stripped.py b/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_stripped.py
deleted file mode 100644
index 81b903da..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_stripped.py
+++ /dev/null
@@ -1,92 +0,0 @@
-#!/usr/bin/env python3
-"""
-Stripped Waveshare bus board envelope for base-clamp fit checks.
-
-This intentionally models only the PCB outline and the four M2.5 mounting
-holes, leaving connectors and electronics out so the clamp assembly stays easy
-to inspect.
-"""
-
-from __future__ import annotations
-
-from pathlib import Path
-
-import build123d
-
-
-PART_NAME = Path(__file__).stem
-BOARD_X_MIN_MM = -0.390013
-BOARD_X_MAX_MM = 42.401989
-BOARD_Y_MIN_MM = -0.012095
-BOARD_Y_MAX_MM = 33.012075
-BOARD_THICKNESS_MM = 1.6
-MOUNT_HOLE_RADIUS_MM = 1.25
-CUT_EXTENSION_MM = 0.5
-BOARD_COLOR = build123d.Color(0.08, 0.24, 0.2, 1.0)
-
-MOUNT_HOLE_CENTERS_XY_MM: tuple[tuple[float, float], ...] = (
- (2.4930065, 2.4999875),
- (2.4930065, 30.4999925),
- (39.493009, 2.4999875),
- (39.505008000000004, 30.4999925),
-)
-
-
-def _make_z_cylinder(*, radius: float, x: float, y: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- z_max - z_min,
- plane=build123d.Plane(
- origin=build123d.Vector(x, y, z_min),
- z_dir=build123d.Vector(0.0, 0.0, 1.0),
- ),
- )
-
-
-def build_step() -> build123d.Solid:
- board: build123d.Shape = build123d.Solid.make_box(
- BOARD_X_MAX_MM - BOARD_X_MIN_MM,
- BOARD_Y_MAX_MM - BOARD_Y_MIN_MM,
- BOARD_THICKNESS_MM,
- plane=build123d.Plane(
- origin=build123d.Vector(BOARD_X_MIN_MM, BOARD_Y_MIN_MM, 0.0),
- z_dir=build123d.Vector(0.0, 0.0, 1.0),
- ),
- )
-
- for x, y in MOUNT_HOLE_CENTERS_XY_MM:
- board = board.cut(
- _make_z_cylinder(
- radius=MOUNT_HOLE_RADIUS_MM,
- x=x,
- y=y,
- z_min=-CUT_EXTENSION_MM,
- z_max=BOARD_THICKNESS_MM + CUT_EXTENSION_MM,
- )
- )
-
- solids = list(board.solids())
- if len(solids) != 1:
- raise RuntimeError(f"Expected one stripped bus solid, found {len(solids)}")
-
- stripped_bus = solids[0]
- stripped_bus.label = PART_NAME
- stripped_bus.color = BOARD_COLOR
- print(
- "Waveshare bus stripped "
- f"size={BOARD_X_MAX_MM - BOARD_X_MIN_MM:.3f}x"
- f"{BOARD_Y_MAX_MM - BOARD_Y_MIN_MM:.3f}x{BOARD_THICKNESS_MM:.3f} mm, "
- f"mount_holes={len(MOUNT_HOLE_CENTERS_XY_MM)}, "
- f"hole_diameter={2.0 * MOUNT_HOLE_RADIUS_MM:.3f} mm"
- )
- return stripped_bus
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_stripped.step b/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_stripped.step
deleted file mode 100644
index 55b92123..00000000
--- a/models/robots/tom/v2/assemblies/base_clamp_assembly/waveshare_bus_stripped.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:badec954c6e7abb91432ca5e4244a7b5fb91a703436c0e0d295221c27f69e833
-size 32161
diff --git a/models/robots/tom/v2/assemblies/base_link.py b/models/robots/tom/v2/assemblies/base_link.py
deleted file mode 100644
index ec2ff551..00000000
--- a/models/robots/tom/v2/assemblies/base_link.py
+++ /dev/null
@@ -1,45 +0,0 @@
-from __future__ import annotations
-
-
-SOURCE_REF = "@cad[STEP/robot_arm#o1.19]"
-
-BASE_PLATE_TOP_Y_MM = -29.8002
-BASE_PLATE_THICKNESS_MM = 25.4 * 0.080
-BASE_PLATE_BOTTOM_Y_MM = BASE_PLATE_TOP_Y_MM - BASE_PLATE_THICKNESS_MM
-BASE_LINK_FLOOR_Y_OFFSET_MM = -BASE_PLATE_BOTTOM_Y_MM
-STS3250_BASE_PLATE_FACE_LOCAL_Y_MM = -27.4
-STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM = (
- BASE_PLATE_TOP_Y_MM
- - STS3250_BASE_PLATE_FACE_LOCAL_Y_MM
-)
-
-STS3250_BASE_PLATE_TRANSFORM = [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, BASE_LINK_FLOOR_Y_OFFSET_MM + STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-BASE_PLATE_TRANSFORM = [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, BASE_LINK_FLOOR_Y_OFFSET_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250_3",
- "transform": STS3250_BASE_PLATE_TRANSFORM,
- },
- {
- "path": "../parts/base_plate.step",
- "name": "base_plate",
- "transform": BASE_PLATE_TRANSFORM,
- },
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/base_link.step b/models/robots/tom/v2/assemblies/base_link.step
deleted file mode 100644
index c6acaffe..00000000
--- a/models/robots/tom/v2/assemblies/base_link.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f487fab31bf8e01de92d69365935b406d01c4ffc243d0919bdcb773e6da0001a
-size 2672431
diff --git a/models/robots/tom/v2/assemblies/link_assembly.py b/models/robots/tom/v2/assemblies/link_assembly.py
deleted file mode 100644
index 0652f2b0..00000000
--- a/models/robots/tom/v2/assemblies/link_assembly.py
+++ /dev/null
@@ -1,249 +0,0 @@
-#!/usr/bin/env python3
-"""
-Verification assembly for the tom v2 link bracket pair.
-
-Both servos sit exactly as in the case-mount variation. One two-bend wrap
-plate connects them along the +Y side; a mirrored instance of the same
-plate connects the -Y side.
-
-Usage:
- python v2/assemblies/link_assembly.py
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[1]
-ASSEMBLIES_DIR = Path(__file__).resolve().parent
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR, ASSEMBLIES_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import link_common as lc
-import link_bracket
-import pitch_link_sts3250
-import servo_horn_yoke
-
-
-YOKE_HORN_SPAN_CENTER_LOCAL_Y_MM = -9.1
-IDENTITY_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-MIRROR_Y_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, -1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-
-YOKE_ON_SERVO_HORNS_TRANSFORM = tuple(
- servo_horn_yoke.STANDALONE_YOKE_ON_SERVO_HORNS_TRANSFORM
-)
-
-
-def _matrix(transform: list[float] | tuple[float, ...]) -> list[list[float]]:
- return [list(transform[index : index + 4]) for index in range(0, 16, 4)]
-
-
-def _flatten(matrix: list[list[float]]) -> list[float]:
- return [value for row in matrix for value in row]
-
-
-def _matmul(
- left: list[float] | tuple[float, ...],
- right: list[float] | tuple[float, ...],
-) -> list[float]:
- left_matrix = _matrix(left)
- right_matrix = _matrix(right)
- return _flatten(
- [
- [
- sum(left_matrix[row][inner] * right_matrix[inner][col] for inner in range(4))
- for col in range(4)
- ]
- for row in range(4)
- ]
- )
-
-
-def _invert_rigid_transform(transform: list[float] | tuple[float, ...]) -> list[float]:
- matrix = _matrix(transform)
- rotation = [row[:3] for row in matrix[:3]]
- translation = [matrix[row][3] for row in range(3)]
- inverse_rotation = [[rotation[col][row] for col in range(3)] for row in range(3)]
- inverse_translation = [
- -sum(inverse_rotation[row][col] * translation[col] for col in range(3))
- for row in range(3)
- ]
- return _flatten(
- [
- [*inverse_rotation[0], inverse_translation[0]],
- [*inverse_rotation[1], inverse_translation[1]],
- [*inverse_rotation[2], inverse_translation[2]],
- [0.0, 0.0, 0.0, 1.0],
- ]
- )
-
-
-YOKE_WEB_ON_BOTTOM_SERVO_OUTPUT_HORN_TRANSFORM = _matmul(
- lc.BOTTOM_SERVO_TRANSFORM,
- _invert_rigid_transform(pitch_link_sts3250.STS3250_TRANSFORM),
-)
-
-THIRD_SERVO_HORNS_IN_YOKE_TRANSFORM = _matmul(
- YOKE_WEB_ON_BOTTOM_SERVO_OUTPUT_HORN_TRANSFORM,
- _invert_rigid_transform(YOKE_ON_SERVO_HORNS_TRANSFORM),
-)
-
-TOP_SERVO_FACE_TO_FLANGE_TRANSFORM = link_bracket.top_servo_case_transform(
- case_span_centering_offset_mm=link_bracket.TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM,
-)
-
-
-def _translation_transform(x: float, y: float, z: float) -> list[float]:
- return [
- 1.0, 0.0, 0.0, x,
- 0.0, 1.0, 0.0, y,
- 0.0, 0.0, 1.0, z,
- 0.0, 0.0, 0.0, 1.0,
- ]
-
-
-def _standoff_children() -> list[dict[str, object]]:
- return [
- {
- "path": "../parts/link_standoff_m3_35.step",
- "name": f"link_standoff_{label}",
- "transform": _translation_transform(x, 0.0, z),
- "use_source_colors": True,
- }
- for label, x, z in link_bracket.STANDOFF_CENTER_XZ_MM
- ]
-
-
-def _mate(
- source_label: str,
- *,
- fixed: str,
- moving: str,
- relation: str = "rigid",
-) -> dict[str, object]:
- fixed_part, fixed_frame = fixed.split(":", 1)
- moving_part, moving_frame = moving.split(":", 1)
- return {
- "sourceLabel": source_label,
- "type": relation,
- "relation": relation,
- "fixed": fixed,
- "moving": moving,
- "parameters": {},
- "fixedEndpoint": {
- "part": fixed_part,
- "frame": fixed_frame,
- },
- "movingEndpoint": {
- "part": moving_part,
- "frame": moving_frame,
- },
- }
-
-
-def _standoff_mates() -> list[dict[str, object]]:
- mates: list[dict[str, object]] = []
- for label, _x, _z in link_bracket.STANDOFF_CENTER_XZ_MM:
- mates.append(
- _mate(
- f"{label}_standoff_to_right_bracket",
- fixed=f"link_bracket_right:{label}_standoff_hole",
- moving=f"link_standoff_{label}:positive_y_thread",
- )
- )
- mates.append(
- _mate(
- f"{label}_standoff_to_left_bracket",
- fixed=f"link_bracket_left:{label}_standoff_hole",
- moving=f"link_standoff_{label}:negative_y_thread",
- )
- )
- return mates
-
-
-def gen_step() -> dict[str, object]:
- return {
- "children": [
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250_top",
- "transform": list(TOP_SERVO_FACE_TO_FLANGE_TRANSFORM),
- },
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250_bottom",
- "transform": list(lc.BOTTOM_SERVO_TRANSFORM),
- "use_source_colors": True,
- },
- {
- "path": "../parts/link_bracket_right.step",
- "name": "link_bracket_right",
- "transform": list(IDENTITY_TRANSFORM),
- },
- {
- "path": "../parts/link_bracket_left.step",
- "name": "link_bracket_left",
- "transform": list(IDENTITY_TRANSFORM),
- },
- *_standoff_children(),
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": YOKE_WEB_ON_BOTTOM_SERVO_OUTPUT_HORN_TRANSFORM,
- },
- {
- "path": "../parts/imports/sts3215.step",
- "name": "sts3215_yoke_servo",
- "transform": THIRD_SERVO_HORNS_IN_YOKE_TRANSFORM,
- "use_source_colors": True,
- },
- ],
- "assembly_mates": [
- _mate(
- "bottom_servo_to_right_bracket",
- fixed="sts3250_bottom:upstream_case",
- moving="link_bracket_right:bottom_servo_mount",
- ),
- _mate(
- "bottom_servo_to_left_bracket",
- fixed="sts3250_bottom:upstream_case",
- moving="link_bracket_left:bottom_servo_mount",
- ),
- _mate(
- "right_bracket_to_top_servo",
- fixed="link_bracket_right:top_servo_mount",
- moving="sts3250_top:case_mount",
- ),
- _mate(
- "left_bracket_to_top_servo",
- fixed="link_bracket_left:top_servo_mount",
- moving="sts3250_top:case_mount",
- ),
- _mate(
- "bottom_servo_output_horn_to_yoke_web",
- fixed="sts3250_bottom:horn_axis",
- moving="servo_horn_yoke:web_horn_axis",
- ),
- _mate(
- "third_servo_horns_to_yoke",
- fixed="servo_horn_yoke:horn_axis",
- moving="sts3215_yoke_servo:horn_axis",
- ),
- *_standoff_mates(),
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/link_assembly.step b/models/robots/tom/v2/assemblies/link_assembly.step
deleted file mode 100644
index 4b4ec7b4..00000000
--- a/models/robots/tom/v2/assemblies/link_assembly.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f3a612816d2c39f042cec27378d1981f4074bc391c99db55d2b1ab0aa90dcbcd
-size 25967744
diff --git a/models/robots/tom/v2/assemblies/pitch_link_sts3215.py b/models/robots/tom/v2/assemblies/pitch_link_sts3215.py
deleted file mode 100644
index 0eb84f33..00000000
--- a/models/robots/tom/v2/assemblies/pitch_link_sts3215.py
+++ /dev/null
@@ -1,103 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[1]
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import servo_horn_yoke
-
-
-YOKE_PLATE_FACE_X_MM = (
- servo_horn_yoke.SERVO_HORN_AXIS_X_MM
- - servo_horn_yoke.YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
-)
-YOKE_HORN_AXIS_Y_MM = -9.1
-YOKE_HORN_AXIS_Z_MM = 0.0
-# The horn's outer contact face seats directly on the outside yoke plate face.
-YOKE_HORN_MATING_FACE_X_MM = YOKE_PLATE_FACE_X_MM
-# Use the output horn face against the yoke plate so the servo's case-bottom
-# cable face points toward the next roll-link bracket instead of away from it.
-STS3215_OUTPUT_HORN_AXIS_LOCAL_X_MM = -25.5
-STS3215_OUTPUT_HORN_FACE_LOCAL_Y_MM = 9.2
-MATE_TOLERANCE_MM = 1e-6
-
-STS3215_DESIGN_TRANSFORM = [
- 0.0,
- 1.0,
- 0.0,
- (
- YOKE_HORN_MATING_FACE_X_MM
- - STS3215_OUTPUT_HORN_FACE_LOCAL_Y_MM
- ),
- -1.0,
- 0.0,
- 0.0,
- YOKE_HORN_AXIS_Y_MM + STS3215_OUTPUT_HORN_AXIS_LOCAL_X_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-STS3215_TRANSFORM = list(
- servo_horn_yoke.multiply_transforms(
- servo_horn_yoke.DESIGN_TO_STANDALONE_TRANSFORM,
- STS3215_DESIGN_TRANSFORM,
- )
-)
-
-
-def _validate_sts3215_transform() -> None:
- design_transform = servo_horn_yoke.multiply_transforms(
- servo_horn_yoke.STANDALONE_TO_DESIGN_TRANSFORM,
- STS3215_TRANSFORM,
- )
- horn_face_x = (
- design_transform[1] * STS3215_OUTPUT_HORN_FACE_LOCAL_Y_MM
- + design_transform[3]
- )
- if abs(horn_face_x - YOKE_HORN_MATING_FACE_X_MM) > MATE_TOLERANCE_MM:
- raise RuntimeError(
- "STS3215 output horn face is not seated on the yoke horn mating face: "
- f"{horn_face_x:.6f} != {YOKE_HORN_MATING_FACE_X_MM:.6f}"
- )
- horn_axis_y = (
- design_transform[4] * STS3215_OUTPUT_HORN_AXIS_LOCAL_X_MM
- + design_transform[7]
- )
- if abs(horn_axis_y - YOKE_HORN_AXIS_Y_MM) > MATE_TOLERANCE_MM:
- raise RuntimeError(
- "STS3215 output horn axis is not centered on the yoke horn face: "
- f"{horn_axis_y:.6f} != {YOKE_HORN_AXIS_Y_MM:.6f}"
- )
- horn_axis_z = design_transform[11]
- if abs(horn_axis_z - YOKE_HORN_AXIS_Z_MM) > MATE_TOLERANCE_MM:
- raise RuntimeError(
- "STS3215 output horn axis Z is not centered on the yoke horn face: "
- f"{horn_axis_z:.6f} != {YOKE_HORN_AXIS_Z_MM:.6f}"
- )
-
-
-def gen_step() -> dict[str, object]:
- _validate_sts3215_transform()
- return {
- "instances": [
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
- ],
- },
- {
- "path": "../parts/imports/sts3215.step",
- "name": "sts3215",
- "transform": STS3215_TRANSFORM,
- },
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/pitch_link_sts3215.step b/models/robots/tom/v2/assemblies/pitch_link_sts3215.step
deleted file mode 100644
index a791ffee..00000000
--- a/models/robots/tom/v2/assemblies/pitch_link_sts3215.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bf019acb6a8d15439ab206c760018e43c0bda12cff3d051952eb32642b9d18bf
-size 22664831
diff --git a/models/robots/tom/v2/assemblies/pitch_link_sts3250.py b/models/robots/tom/v2/assemblies/pitch_link_sts3250.py
deleted file mode 100644
index d6448489..00000000
--- a/models/robots/tom/v2/assemblies/pitch_link_sts3250.py
+++ /dev/null
@@ -1,103 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[1]
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import servo_horn_yoke
-
-
-YOKE_PLATE_FACE_X_MM = (
- servo_horn_yoke.SERVO_HORN_AXIS_X_MM
- - servo_horn_yoke.YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
-)
-YOKE_HORN_AXIS_Y_MM = -9.1
-YOKE_HORN_AXIS_Z_MM = 0.0
-# The horn's outer contact face seats directly on the outside yoke plate face.
-YOKE_HORN_MATING_FACE_X_MM = YOKE_PLATE_FACE_X_MM
-# Use the output horn face against the yoke plate so the servo's case-bottom
-# cable face points toward the next roll-link bracket instead of away from it.
-STS3250_OUTPUT_HORN_AXIS_LOCAL_X_MM = -25.5
-STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM = 9.2
-MATE_TOLERANCE_MM = 1e-6
-
-STS3250_DESIGN_TRANSFORM = [
- 0.0,
- 1.0,
- 0.0,
- (
- YOKE_HORN_MATING_FACE_X_MM
- - STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM
- ),
- -1.0,
- 0.0,
- 0.0,
- YOKE_HORN_AXIS_Y_MM + STS3250_OUTPUT_HORN_AXIS_LOCAL_X_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-]
-STS3250_TRANSFORM = list(
- servo_horn_yoke.multiply_transforms(
- servo_horn_yoke.DESIGN_TO_STANDALONE_TRANSFORM,
- STS3250_DESIGN_TRANSFORM,
- )
-)
-
-
-def _validate_sts3250_transform() -> None:
- design_transform = servo_horn_yoke.multiply_transforms(
- servo_horn_yoke.STANDALONE_TO_DESIGN_TRANSFORM,
- STS3250_TRANSFORM,
- )
- horn_face_x = (
- design_transform[1] * STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM
- + design_transform[3]
- )
- if abs(horn_face_x - YOKE_HORN_MATING_FACE_X_MM) > MATE_TOLERANCE_MM:
- raise RuntimeError(
- "STS3250 output horn face is not seated on the yoke horn mating face: "
- f"{horn_face_x:.6f} != {YOKE_HORN_MATING_FACE_X_MM:.6f}"
- )
- horn_axis_y = (
- design_transform[4] * STS3250_OUTPUT_HORN_AXIS_LOCAL_X_MM
- + design_transform[7]
- )
- if abs(horn_axis_y - YOKE_HORN_AXIS_Y_MM) > MATE_TOLERANCE_MM:
- raise RuntimeError(
- "STS3250 output horn axis is not centered on the yoke horn face: "
- f"{horn_axis_y:.6f} != {YOKE_HORN_AXIS_Y_MM:.6f}"
- )
- horn_axis_z = design_transform[11]
- if abs(horn_axis_z - YOKE_HORN_AXIS_Z_MM) > MATE_TOLERANCE_MM:
- raise RuntimeError(
- "STS3250 output horn axis Z is not centered on the yoke horn face: "
- f"{horn_axis_z:.6f} != {YOKE_HORN_AXIS_Z_MM:.6f}"
- )
-
-
-def gen_step() -> dict[str, object]:
- _validate_sts3250_transform()
- return {
- "instances": [
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
- ],
- },
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250",
- "transform": STS3250_TRANSFORM,
- },
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/pitch_link_sts3250.step b/models/robots/tom/v2/assemblies/pitch_link_sts3250.step
deleted file mode 100644
index 8ddf6912..00000000
--- a/models/robots/tom/v2/assemblies/pitch_link_sts3250.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0804e9bc42c6c53e98cc289f2532edb5c3d4ed03be2ebb36b0f88736b5d910f2
-size 2749017
diff --git a/models/robots/tom/v2/assemblies/servo_end_mount_sts3250.py b/models/robots/tom/v2/assemblies/servo_end_mount_sts3250.py
deleted file mode 100644
index 53f5d026..00000000
--- a/models/robots/tom/v2/assemblies/servo_end_mount_sts3250.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-"""
-Verification assembly for the tom v2 servo end mount on an STS3250.
-
-The mount is authored directly in the imported STS3250 local frame, so both
-parts use identity transforms here. This keeps the assembly useful as a direct
-fit check for the flange wrap clearances and screw-hole placement.
-"""
-
-from __future__ import annotations
-
-
-IDENTITY_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250",
- "transform": list(IDENTITY_TRANSFORM),
- "use_source_colors": True,
- },
- {
- "path": "../parts/servo_end_mount.step",
- "name": "servo_end_mount",
- "transform": list(IDENTITY_TRANSFORM),
- "use_source_colors": True,
- },
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/servo_end_mount_sts3250.step b/models/robots/tom/v2/assemblies/servo_end_mount_sts3250.step
deleted file mode 100644
index c337492a..00000000
--- a/models/robots/tom/v2/assemblies/servo_end_mount_sts3250.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bd0501f4e4a884e8c821ff37ca550ad6754bb4f433ba4f67c8bab22e070555fb
-size 2790735
diff --git a/models/robots/tom/v2/assemblies/servo_horn_yoke_double.py b/models/robots/tom/v2/assemblies/servo_horn_yoke_double.py
deleted file mode 100644
index 2f351121..00000000
--- a/models/robots/tom/v2/assemblies/servo_horn_yoke_double.py
+++ /dev/null
@@ -1,124 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[1]
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import link_common as lc
-
-
-SIDE_BY_SIDE_CLEARANCE_MM = 2.0
-SERVO_CENTER_SPACING_Y_MM = (2.0 * abs(lc.SERVO_REAR_EXTREME_LOCAL_Y_MM)) + SIDE_BY_SIDE_CLEARANCE_MM
-SERVO_CENTER_OFFSET_Y_MM = 0.5 * SERVO_CENTER_SPACING_Y_MM
-YOKE_HORN_FACE_CLEARANCE_MM = 0.0
-
-IDENTITY_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-
-def _translate_y(y_mm: float) -> list[float]:
- transform = list(IDENTITY_TRANSFORM)
- transform[7] = y_mm
- return transform
-
-
-def _flip_about_x_then_translate_y(y_mm: float) -> list[float]:
- return [
- 1.0, 0.0, 0.0, 0.0,
- 0.0, -1.0, 0.0, y_mm,
- 0.0, 0.0, -1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
- ]
-
-
-def _mate(
- source_label: str,
- *,
- fixed: str,
- moving: str,
- clearance_mm: float = YOKE_HORN_FACE_CLEARANCE_MM,
-) -> dict[str, object]:
- fixed_part, fixed_frame = fixed.split(":", 1)
- moving_part, moving_frame = moving.split(":", 1)
- return {
- "sourceLabel": source_label,
- "type": "rigid",
- "relation": "rigid",
- "fixed": fixed,
- "moving": moving,
- "parameters": {"clearance_mm": clearance_mm},
- "fixedEndpoint": {
- "part": fixed_part,
- "frame": fixed_frame,
- },
- "movingEndpoint": {
- "part": moving_part,
- "frame": moving_frame,
- },
- }
-
-
-def _servo_instance(label: str, transform: list[float]) -> dict[str, object]:
- return {
- "path": "../parts/imports/sts3250.step",
- "name": f"sts3250_{label}",
- "transform": transform,
- "use_source_colors": True,
- }
-
-
-def _servo_yoke_mates() -> list[dict[str, object]]:
- yoke = "servo_horn_yoke_double_horn"
- mount = "servo_end_mount_double"
- return [
- _mate(
- "rear_servo_outer_horn_to_double_horn",
- fixed="sts3250_rear:output_horn_face",
- moving=f"{yoke}:rear_outer_horn_plate",
- ),
- _mate(
- "front_servo_outer_horn_to_double_horn",
- fixed="sts3250_front:output_horn_face",
- moving=f"{yoke}:front_outer_horn_plate",
- ),
- _mate(
- "rear_servo_case_top_to_double_mount",
- fixed="sts3250_rear:case_top_face",
- moving=f"{mount}:rear_case_wrap_flange",
- ),
- _mate(
- "front_servo_case_top_to_double_mount",
- fixed="sts3250_front:case_top_face",
- moving=f"{mount}:front_case_wrap_flange",
- ),
- ]
-
-
-def gen_step() -> dict[str, object]:
- instances = [
- _servo_instance("rear", _flip_about_x_then_translate_y(-SERVO_CENTER_OFFSET_Y_MM)),
- _servo_instance("front", _translate_y(SERVO_CENTER_OFFSET_Y_MM)),
- {
- "path": "../parts/servo_horn_yoke_double_horn.step",
- "name": "servo_horn_yoke_double_horn",
- "transform": IDENTITY_TRANSFORM,
- },
- {
- "path": "../parts/servo_end_mount_double.step",
- "name": "servo_end_mount_double",
- "transform": IDENTITY_TRANSFORM,
- },
- ]
- return {
- "instances": instances,
- "assembly_mates": _servo_yoke_mates(),
- }
diff --git a/models/robots/tom/v2/assemblies/servo_horn_yoke_double.step b/models/robots/tom/v2/assemblies/servo_horn_yoke_double.step
deleted file mode 100644
index bb9a47eb..00000000
--- a/models/robots/tom/v2/assemblies/servo_horn_yoke_double.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2c5a66ec9d7a6ce64c9dd4fd8ad57742caa3db797cd596f4307f364d7d9800d8
-size 2936234
diff --git a/models/robots/tom/v2/assemblies/servo_horn_yoke_mount.py b/models/robots/tom/v2/assemblies/servo_horn_yoke_mount.py
deleted file mode 100644
index c438f978..00000000
--- a/models/robots/tom/v2/assemblies/servo_horn_yoke_mount.py
+++ /dev/null
@@ -1,90 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[1]
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import servo_horn_yoke
-
-# Demonstration assembly for the servo horn yoke's intended mate: the yoke
-# straddles both the output horn and rear horn, with the yoke flipped 180 degrees
-# about its web axis so the web remains outside the servo case.
-YOKE_HORN_SPAN_CENTER_LOCAL_Y_MM = -9.1
-YOKE_HORN_FACE_CLEARANCE_MM = 0.0
-YOKE_180_ABOUT_WEB_AXIS_TRANSFORM = list(
- servo_horn_yoke.STANDALONE_YOKE_ON_SERVO_HORNS_TRANSFORM
-)
-
-
-def gen_step() -> dict[str, object]:
- return {
- "instances": [
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250",
- "transform": [
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- ],
- "use_source_colors": True,
- },
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": YOKE_180_ABOUT_WEB_AXIS_TRANSFORM,
- },
- ],
- "assembly_mates": [
- {
- "sourceLabel": "yoke_rear_plate_to_output_horn",
- "type": "rigid",
- "relation": "rigid",
- "fixed": "sts3250:output_horn_face",
- "moving": "servo_horn_yoke:rear_horn_plate",
- "parameters": {"clearance_mm": YOKE_HORN_FACE_CLEARANCE_MM},
- "fixedEndpoint": {
- "part": "sts3250",
- "frame": "output_horn_face",
- },
- "movingEndpoint": {
- "part": "servo_horn_yoke",
- "frame": "rear_horn_plate",
- },
- },
- {
- "sourceLabel": "yoke_output_plate_to_rear_horn",
- "type": "rigid",
- "relation": "rigid",
- "fixed": "sts3250:rear_horn_face",
- "moving": "servo_horn_yoke:output_horn_plate",
- "parameters": {"clearance_mm": YOKE_HORN_FACE_CLEARANCE_MM},
- "fixedEndpoint": {
- "part": "sts3250",
- "frame": "rear_horn_face",
- },
- "movingEndpoint": {
- "part": "servo_horn_yoke",
- "frame": "output_horn_plate",
- },
- },
- ],
- }
diff --git a/models/robots/tom/v2/assemblies/servo_horn_yoke_mount.step b/models/robots/tom/v2/assemblies/servo_horn_yoke_mount.step
deleted file mode 100644
index 48cc81ef..00000000
--- a/models/robots/tom/v2/assemblies/servo_horn_yoke_mount.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f8d899f1f08fc365af92982772779c219b10ab4c87c8ce67ee849068093133aa
-size 2748942
diff --git a/models/robots/tom/v2/assemblies/shoulder_yaw_link.py b/models/robots/tom/v2/assemblies/shoulder_yaw_link.py
deleted file mode 100644
index a0e081eb..00000000
--- a/models/robots/tom/v2/assemblies/shoulder_yaw_link.py
+++ /dev/null
@@ -1,33 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from v1.assemblies.robot_arm_link_common import rebased_robot_arm_instances
-
-
-SOURCE_REF = "@cad[STEP/robot_arm#o1.2]"
-ANCHOR_INSTANCE_NAME = "sts3250_1"
-EXTRACTED_INSTANCE_NAMES = (
- "sts3250_1",
- "servo_end_mount",
-)
-
-
-def gen_step() -> dict[str, object]:
- instances = rebased_robot_arm_instances(
- source_ref=SOURCE_REF,
- anchor_instance_name=ANCHOR_INSTANCE_NAME,
- extracted_instance_names=EXTRACTED_INSTANCE_NAMES,
- )
- for instance in instances:
- if instance.get("name") == "servo_end_mount":
- instance["path"] = "../parts/servo_end_mount.step"
- instance["use_source_colors"] = True
- return {
- "instances": instances,
- }
diff --git a/models/robots/tom/v2/assemblies/shoulder_yaw_link.step b/models/robots/tom/v2/assemblies/shoulder_yaw_link.step
deleted file mode 100644
index 4cbdb6c4..00000000
--- a/models/robots/tom/v2/assemblies/shoulder_yaw_link.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a82d900ea84046d5a56708f44370780a1407cfcbc520ef0bba19b118777857a4
-size 2790717
diff --git a/models/robots/tom/v2/assemblies/v2_roll_link_common.py b/models/robots/tom/v2/assemblies/v2_roll_link_common.py
deleted file mode 100644
index 4a4ede80..00000000
--- a/models/robots/tom/v2/assemblies/v2_roll_link_common.py
+++ /dev/null
@@ -1,290 +0,0 @@
-from __future__ import annotations
-
-from dataclasses import dataclass
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[1]
-TOM_DIR = V2_DIR.parent
-ASSEMBLIES_DIR = V2_DIR / "assemblies"
-PARTS_DIR = V2_DIR / "parts"
-for path in (TOM_DIR, V2_DIR, PARTS_DIR, ASSEMBLIES_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import link_common as lc
-import link_bracket
-import pitch_link_sts3215
-import pitch_link_sts3250
-from robot_common import robot_arm
-
-
-MATE_TRANSFORM_TOLERANCE = 1e-6
-RIGHT_BRACKET_PATH = "../parts/link_bracket_right.step"
-LEFT_BRACKET_PATH = "../parts/link_bracket_left.step"
-LINK_STANDOFF_PATH = "../parts/link_standoff_m3_35.step"
-TOP_SERVO_FACE_TO_FLANGE_TRANSFORM = tuple(
- link_bracket.top_servo_case_transform(
- case_span_centering_offset_mm=link_bracket.TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM,
- )
-)
-
-
-@dataclass(frozen=True)
-class RollLinkMateSpec:
- anchor: str
- upstream_anchor: str
- upstream_servo: str
- upstream_servo_transform: tuple[float, ...]
- downstream_servo: str
- downstream_servo_path: str
-
-
-@dataclass(frozen=True)
-class RollLinkMates:
- spec: RollLinkMateSpec
- bracket_local: list[float]
- downstream_shift_local: tuple[float, float, float]
- downstream_servo_local: list[float]
-
-
-ROLL_LINK_SPECS = {
- "shoulder": RollLinkMateSpec(
- anchor="secondary_servo_2020_connector",
- upstream_anchor="servo_horn_yoke",
- upstream_servo="sts3250_2",
- upstream_servo_transform=tuple(pitch_link_sts3250.STS3250_DESIGN_TRANSFORM),
- downstream_servo="sts3250_4",
- downstream_servo_path="../parts/imports/sts3250.step",
- ),
- "elbow": RollLinkMateSpec(
- anchor="quinary_servo_2020_connector",
- upstream_anchor="quinary_horn_yoke",
- upstream_servo="sts3215_5",
- upstream_servo_transform=tuple(pitch_link_sts3215.STS3215_DESIGN_TRANSFORM),
- downstream_servo="sts3215_6",
- downstream_servo_path="../parts/imports/sts3215.step",
- ),
-}
-
-
-def _matrix(transform: list[float] | tuple[float, ...]) -> list[list[float]]:
- return [list(transform[index : index + 4]) for index in range(0, 16, 4)]
-
-
-def _flatten(matrix: list[list[float]]) -> list[float]:
- return [value for row in matrix for value in row]
-
-
-def _matmul(left: list[list[float]], right: list[list[float]]) -> list[list[float]]:
- return [
- [
- sum(left[row][inner] * right[inner][col] for inner in range(4))
- for col in range(4)
- ]
- for row in range(4)
- ]
-
-
-def invert_rigid_transform(transform: list[float] | tuple[float, ...]) -> list[float]:
- matrix = _matrix(transform)
- rotation = [row[:3] for row in matrix[:3]]
- translation = [matrix[row][3] for row in range(3)]
- inverse_rotation = [[rotation[col][row] for col in range(3)] for row in range(3)]
- inverse_translation = [
- -sum(inverse_rotation[row][col] * translation[col] for col in range(3))
- for row in range(3)
- ]
- return _flatten(
- [
- [*inverse_rotation[0], inverse_translation[0]],
- [*inverse_rotation[1], inverse_translation[1]],
- [*inverse_rotation[2], inverse_translation[2]],
- [0.0, 0.0, 0.0, 1.0],
- ]
- )
-
-
-def relative_transform(
- *,
- anchor_transform: list[float] | tuple[float, ...],
- transform: list[float] | tuple[float, ...],
-) -> list[float]:
- return multiply_transforms(invert_rigid_transform(anchor_transform), transform)
-
-
-def multiply_transforms(
- left: list[float] | tuple[float, ...],
- right: list[float] | tuple[float, ...],
-) -> list[float]:
- return _flatten(_matmul(_matrix(left), _matrix(right)))
-
-
-def translate_transform(
- transform: list[float] | tuple[float, ...],
- delta_xyz: tuple[float, float, float],
-) -> list[float]:
- translated = [float(value) for value in transform]
- translated[3] += delta_xyz[0]
- translated[7] += delta_xyz[1]
- translated[11] += delta_xyz[2]
- return translated
-
-
-def translation_transform(x: float, y: float, z: float) -> list[float]:
- return [
- 1.0, 0.0, 0.0, x,
- 0.0, 1.0, 0.0, y,
- 0.0, 0.0, 1.0, z,
- 0.0, 0.0, 0.0, 1.0,
- ]
-
-
-def transform_local_vector_world(
- transform: list[float] | tuple[float, ...],
- vector_xyz_mm: tuple[float, float, float],
-) -> tuple[float, float, float]:
- return (
- transform[0] * vector_xyz_mm[0]
- + transform[1] * vector_xyz_mm[1]
- + transform[2] * vector_xyz_mm[2],
- transform[4] * vector_xyz_mm[0]
- + transform[5] * vector_xyz_mm[1]
- + transform[6] * vector_xyz_mm[2],
- transform[8] * vector_xyz_mm[0]
- + transform[9] * vector_xyz_mm[1]
- + transform[10] * vector_xyz_mm[2],
- )
-
-
-def _max_transform_delta(
- left: list[float] | tuple[float, ...],
- right: list[float] | tuple[float, ...],
-) -> float:
- return max(abs(float(left[index]) - float(right[index])) for index in range(16))
-
-
-def _validate_roll_link_mates(kind: str, mates: RollLinkMates, upstream_servo_local: list[float]) -> None:
- bottom_servo_relative = multiply_transforms(
- invert_rigid_transform(mates.bracket_local),
- upstream_servo_local,
- )
- bottom_delta = _max_transform_delta(bottom_servo_relative, lc.BOTTOM_SERVO_TRANSFORM)
- if bottom_delta > MATE_TRANSFORM_TOLERANCE:
- raise RuntimeError(
- f"{kind} roll-link bottom servo mate drifted by {bottom_delta:.9f}; "
- "the bracket is no longer seated on the authored bottom-servo frame"
- )
-
- cable_face_normal = transform_local_vector_world(bottom_servo_relative, (0.0, -1.0, 0.0))
- cable_delta = max(
- abs(cable_face_normal[index] - expected)
- for index, expected in enumerate((0.0, 0.0, 1.0))
- )
- if cable_delta > MATE_TRANSFORM_TOLERANCE:
- raise RuntimeError(
- f"{kind} roll-link bottom servo cable face is not pointing up: "
- f"{tuple(round(value, 6) for value in cable_face_normal)}"
- )
-
- top_servo_relative = multiply_transforms(
- invert_rigid_transform(mates.bracket_local),
- mates.downstream_servo_local,
- )
- top_delta = _max_transform_delta(top_servo_relative, TOP_SERVO_FACE_TO_FLANGE_TRANSFORM)
- if top_delta > MATE_TRANSFORM_TOLERANCE:
- raise RuntimeError(
- f"{kind} roll-link top servo mate drifted by {top_delta:.9f}; "
- "the downstream servo is no longer seated on the authored top-servo frame"
- )
-
-
-def _source_instances_by_name() -> dict[str, dict[str, object]]:
- return {
- str(instance["name"]): instance
- for instance in robot_arm._assembly_instances()
- }
-
-
-def roll_link_mates(kind: str) -> RollLinkMates:
- spec = ROLL_LINK_SPECS[kind]
- source_instances = _source_instances_by_name()
- anchor = [float(value) for value in source_instances[spec.anchor]["transform"]]
- upstream_anchor_transform = [
- float(value) for value in source_instances[spec.upstream_anchor]["transform"]
- ]
- upstream_servo_transform = multiply_transforms(
- upstream_anchor_transform,
- spec.upstream_servo_transform,
- )
- upstream_servo_local = relative_transform(
- anchor_transform=anchor,
- transform=upstream_servo_transform,
- )
- old_downstream_servo_local = relative_transform(
- anchor_transform=anchor,
- transform=[
- float(value) for value in source_instances[spec.downstream_servo]["transform"]
- ],
- )
- bracket_local = multiply_transforms(
- upstream_servo_local,
- invert_rigid_transform(lc.BOTTOM_SERVO_TRANSFORM),
- )
- downstream_servo_local = multiply_transforms(
- bracket_local,
- TOP_SERVO_FACE_TO_FLANGE_TRANSFORM,
- )
- downstream_shift_local = tuple(
- downstream_servo_local[index] - old_downstream_servo_local[index]
- for index in (3, 7, 11)
- )
-
- mates = RollLinkMates(
- spec=spec,
- bracket_local=bracket_local,
- downstream_shift_local=downstream_shift_local,
- downstream_servo_local=downstream_servo_local,
- )
- _validate_roll_link_mates(kind, mates, upstream_servo_local)
- return mates
-
-
-def downstream_mate_shift_local(kind: str) -> tuple[float, float, float]:
- return roll_link_mates(kind).downstream_shift_local
-
-
-def roll_link_instances(kind: str) -> list[dict[str, object]]:
- mates = roll_link_mates(kind)
- spec = mates.spec
-
- return [
- {
- "path": RIGHT_BRACKET_PATH,
- "name": f"{kind}_link_bracket_right",
- "transform": mates.bracket_local,
- },
- {
- "path": LEFT_BRACKET_PATH,
- "name": f"{kind}_link_bracket_left",
- "transform": mates.bracket_local,
- },
- *[
- {
- "path": LINK_STANDOFF_PATH,
- "name": f"{kind}_link_standoff_{label}",
- "transform": multiply_transforms(
- mates.bracket_local,
- translation_transform(x, 0.0, z),
- ),
- "use_source_colors": True,
- }
- for label, x, z in link_bracket.STANDOFF_CENTER_XZ_MM
- ],
- {
- "path": spec.downstream_servo_path,
- "name": spec.downstream_servo,
- "transform": mates.downstream_servo_local,
- "use_source_colors": True,
- },
- ]
diff --git a/models/robots/tom/v2/parts/.base_plate.step.glb b/models/robots/tom/v2/parts/.base_plate.step.glb
deleted file mode 100644
index 014c95fc..00000000
--- a/models/robots/tom/v2/parts/.base_plate.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3bb48717ded98ae53ad2b2e2d94ed536211a23230bbdd6a4cecb765979a447bb
-size 440800
diff --git a/models/robots/tom/v2/parts/.link_bracket_left.step.glb b/models/robots/tom/v2/parts/.link_bracket_left.step.glb
deleted file mode 100644
index 6c7bdb77..00000000
--- a/models/robots/tom/v2/parts/.link_bracket_left.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:542f8f1f3b7e5bc6426e9f53f4d39b17498943edf0e8ae4d1a756e8a3c10fadc
-size 791984
diff --git a/models/robots/tom/v2/parts/.link_bracket_right.step.glb b/models/robots/tom/v2/parts/.link_bracket_right.step.glb
deleted file mode 100644
index c2167919..00000000
--- a/models/robots/tom/v2/parts/.link_bracket_right.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:872518114f1aaeefa9a01ef6f88a9e120f0389821061c65b61db2025d14135f4
-size 790916
diff --git a/models/robots/tom/v2/parts/.link_standoff_m3_35.step.glb b/models/robots/tom/v2/parts/.link_standoff_m3_35.step.glb
deleted file mode 100644
index dd5d898b..00000000
--- a/models/robots/tom/v2/parts/.link_standoff_m3_35.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:558e4e741ac952c9f612ca45af747e23fdafff92ba11790dce08123c9ab0e299
-size 186252
diff --git a/models/robots/tom/v2/parts/.servo_end_mount.step.glb b/models/robots/tom/v2/parts/.servo_end_mount.step.glb
deleted file mode 100644
index 250ed0b6..00000000
--- a/models/robots/tom/v2/parts/.servo_end_mount.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e8a724ab9137046324052a028917613e6db5228671edbb3bbb955ffbe2a3b56
-size 634064
diff --git a/models/robots/tom/v2/parts/.servo_end_mount_double.step.glb b/models/robots/tom/v2/parts/.servo_end_mount_double.step.glb
deleted file mode 100644
index 7a66767c..00000000
--- a/models/robots/tom/v2/parts/.servo_end_mount_double.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9b3032520bb1582d1911222052827a3bdabd65d75f4cbfc4eb4bb4d4cf699548
-size 794692
diff --git a/models/robots/tom/v2/parts/.servo_horn_yoke.step.glb b/models/robots/tom/v2/parts/.servo_horn_yoke.step.glb
deleted file mode 100644
index a1c29dee..00000000
--- a/models/robots/tom/v2/parts/.servo_horn_yoke.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:75fdbc4e3728c52d2c410084f9b545baa70a094623f4445dd6f215849e11da89
-size 743444
diff --git a/models/robots/tom/v2/parts/.servo_horn_yoke_double_horn.step.glb b/models/robots/tom/v2/parts/.servo_horn_yoke_double_horn.step.glb
deleted file mode 100644
index 9adfcf28..00000000
--- a/models/robots/tom/v2/parts/.servo_horn_yoke_double_horn.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9d64d15d0b8ad4ed8912dc30a19e94e7fd869bf77c1451413936b706807e66b8
-size 744108
diff --git a/models/robots/tom/v2/parts/base_plate.py b/models/robots/tom/v2/parts/base_plate.py
deleted file mode 100644
index c710c30b..00000000
--- a/models/robots/tom/v2/parts/base_plate.py
+++ /dev/null
@@ -1,143 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate a flat base plate derived from the top face of base_clamp.
-
-This part keeps the exact top-plate footprint and base-servo mounting pattern
-from the bent clamp, but strips away the side wall and lower return so it
-remains a single flat plate in the same local frame.
-"""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-import os
-import sys
-from pathlib import Path
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-V2_DIR = Path(__file__).resolve().parents[1]
-BASE_CLAMP_ASSEMBLY_DIR = V2_DIR / "assemblies" / "base_clamp_assembly"
-_CACHE_HOME = V2_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-
-import build123d
-
-for path in (TOM_DIR, BASE_CLAMP_ASSEMBLY_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-from base_clamp import (
- BASE_HORN_CONNECTION_HOLE_SPECS_MM,
- BASE_SERVO_M2_HOLE_SPECS_MM,
- CORNER_RADIUS_MM,
- _as_single_solid,
- _build_bracket_layout,
- _cut_base_plate_mount_features,
- _fillet_plan_corners,
- _make_box,
-)
-from robot_common.materials import GRAY_ALUMINUM_COLOR
-
-
-DISPLAY_NAME = "Base Plate"
-PLATE_THICKNESS_MM = 25.4 * 0.080
-
-
-@dataclass(frozen=True)
-class PlateLayout:
- x_min: float
- x_max: float
- y_min: float
- y_max: float
- z_min: float
- z_max: float
- width: float
- height: float
- face_y: float
- attachment_holes: tuple[tuple[float, float, float], ...]
-
-
-def _build_plate_layout() -> PlateLayout:
- bracket_layout = _build_bracket_layout()
- x_min = bracket_layout.x_min
- x_max = bracket_layout.side_x_max
- y_max = bracket_layout.y_max
- y_min = y_max - PLATE_THICKNESS_MM
- z_min = bracket_layout.z_min
- z_max = bracket_layout.z_max
-
- return PlateLayout(
- x_min=x_min,
- x_max=x_max,
- y_min=y_min,
- y_max=y_max,
- z_min=z_min,
- z_max=z_max,
- width=x_max - x_min,
- height=z_max - z_min,
- face_y=y_max,
- attachment_holes=bracket_layout.attachment_holes,
- )
-
-
-def build_plate() -> build123d.Solid:
- layout = _build_plate_layout()
-
- plate = _make_box(
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _fillet_plan_corners(
- plate,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- include_min_x=True,
- include_max_x=False,
- )
- plate = _cut_base_plate_mount_features(
- plate,
- holes_xzr=layout.attachment_holes,
- x_min=layout.x_min,
- x_max=layout.x_max,
- y_min=layout.y_min,
- y_max=layout.y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
- plate = _as_single_solid(plate)
- plate.color = GRAY_ALUMINUM_COLOR
-
- print(
- f"{DISPLAY_NAME}: "
- f"width={layout.width:.3f} mm, "
- f"height={layout.height:.3f} mm, "
- f"thickness={PLATE_THICKNESS_MM:.3f} mm, "
- f"corner_radius={CORNER_RADIUS_MM:.3f} mm, "
- f"horn_m3_holes={len(BASE_HORN_CONNECTION_HOLE_SPECS_MM)}, "
- f"m2_holes={len(BASE_SERVO_M2_HOLE_SPECS_MM)}, "
- f"flush_y={layout.face_y:.4f} mm"
- )
- return plate
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_plate(),
- }
-
-
-def gen() -> None:
- gen_step()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v2/parts/base_plate.step b/models/robots/tom/v2/parts/base_plate.step
deleted file mode 100644
index a1692c37..00000000
--- a/models/robots/tom/v2/parts/base_plate.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a95aa7c8a0085f23536f117ae5e0302175d18470c0c4f10445db8df599d5437
-size 59422
diff --git a/models/robots/tom/v2/parts/dxf_topology.py b/models/robots/tom/v2/parts/dxf_topology.py
deleted file mode 100644
index a894f775..00000000
--- a/models/robots/tom/v2/parts/dxf_topology.py
+++ /dev/null
@@ -1,301 +0,0 @@
-from __future__ import annotations
-
-import math
-from typing import Callable, Iterable
-
-import build123d
-
-
-Point2D = tuple[float, float]
-ProjectFn = Callable[[build123d.Vector], Point2D]
-MIN_CUT_CONTOUR_AREA_MM2 = 0.05
-# Drop micron-scale duplicate edges from topology projection before writing DXF.
-# This is far below fabrication tolerance but keeps upload parsers from seeing
-# accidental stray/duplicate cut fragments.
-POINT_MERGE_TOLERANCE_MM = 0.01
-
-
-def axis_value(vector: build123d.Vector, axis: str) -> float:
- return {"x": vector.X, "y": vector.Y, "z": vector.Z}[axis]
-
-
-def snap(value: float, source: float, target: float, *, tolerance: float = 1e-3) -> float:
- return target if abs(value - source) <= tolerance else value
-
-
-def planar_faces(
- shape: build123d.Shape,
- *,
- normal_axis: str,
- normal_sign: float,
- coordinate_axis: str,
- coordinate: float,
- tolerance: float = 0.02,
- min_area: float = 1e-5,
-) -> tuple[build123d.Face, ...]:
- matches: list[build123d.Face] = []
- for face in shape.faces():
- if face.geom_type != build123d.GeomType.PLANE:
- continue
- normal = face.normal_at()
- center = face.center()
- if abs(axis_value(normal, normal_axis) - normal_sign) > 0.02:
- continue
- if abs(axis_value(center, coordinate_axis) - coordinate) > tolerance:
- continue
- if face.area <= min_area:
- continue
- matches.append(face)
- if not matches:
- raise RuntimeError(
- "Could not find planar topology faces for DXF projection: "
- f"normal {normal_sign:+.0f}{normal_axis}, {coordinate_axis}={coordinate:.3f}"
- )
- return tuple(matches)
-
-
-def project_wire_points(
- wire: build123d.Wire,
- project: ProjectFn,
- *,
- max_segment_mm: float = 0.25,
-) -> list[Point2D]:
- sample_count = max(16, int(math.ceil(wire.length / max_segment_mm)))
- points: list[Point2D] = []
- for index in range(sample_count):
- point = project(wire.position_at(index / sample_count))
- if not points or math.dist(points[-1], point) > 1e-6:
- points.append(point)
- if len(points) >= 2 and math.dist(points[0], points[-1]) < 1e-6:
- points.pop()
- return points
-
-
-def project_face_polygon(face: build123d.Face, project: ProjectFn):
- from shapely.geometry import Polygon
-
- outer = project_wire_points(face.outer_wire(), project)
- holes = [
- project_wire_points(wire, project)
- for wire in face.inner_wires()
- if wire.length > 1e-6
- ]
- polygon = Polygon(outer, holes)
- if not polygon.is_valid:
- polygon = polygon.buffer(0)
- if polygon.is_empty:
- raise RuntimeError("Projected topology face produced an empty DXF polygon")
- return polygon
-
-
-def union_projected_faces(
- face_groups: Iterable[tuple[Iterable[build123d.Face], ProjectFn]],
- *,
- merge_touching_tolerance_mm: float = 0.0,
-):
- from shapely.ops import unary_union
-
- polygons = [
- project_face_polygon(face, project)
- for faces, project in face_groups
- for face in faces
- ]
- if not polygons:
- raise RuntimeError("No topology faces were projected into the DXF")
- if merge_touching_tolerance_mm > 0.0:
- expanded = [
- polygon.buffer(merge_touching_tolerance_mm, join_style=2)
- for polygon in polygons
- ]
- geometry = unary_union(expanded).buffer(
- -merge_touching_tolerance_mm,
- join_style=2,
- )
- else:
- geometry = unary_union(polygons)
- geometry = geometry.buffer(0)
- if not geometry.is_valid:
- geometry = geometry.buffer(0)
- if geometry.is_empty:
- raise RuntimeError("Projected topology union produced an empty DXF geometry")
- return geometry
-
-
-def polyline_points_from_ring(ring) -> list[Point2D]:
- points = [(float(x), float(y)) for x, y in ring.coords]
- if (
- len(points) >= 2
- and math.dist(points[0], points[-1]) <= POINT_MERGE_TOLERANCE_MM
- ):
- points.pop()
- return clean_closed_polyline_points(points)
-
-
-def clean_closed_polyline_points(
- points: list[Point2D],
- *,
- tolerance_mm: float = POINT_MERGE_TOLERANCE_MM,
-) -> list[Point2D]:
- cleaned: list[Point2D] = []
- for point in points:
- if not cleaned or math.dist(cleaned[-1], point) > tolerance_mm:
- cleaned.append(point)
-
- while (
- len(cleaned) >= 2
- and math.dist(cleaned[0], cleaned[-1]) <= tolerance_mm
- ):
- cleaned.pop()
-
- index = 0
- while len(cleaned) >= 2 and index < len(cleaned):
- next_index = (index + 1) % len(cleaned)
- if math.dist(cleaned[index], cleaned[next_index]) <= tolerance_mm:
- del cleaned[next_index]
- if next_index < index:
- index = 0
- continue
- index += 1
-
- return cleaned
-
-
-def polygon_area(points: list[Point2D]) -> float:
- if len(points) < 3:
- return 0.0
- area = 0.0
- for index, point in enumerate(points):
- next_point = points[(index + 1) % len(points)]
- area += (point[0] * next_point[1]) - (next_point[0] * point[1])
- return abs(0.5 * area)
-
-
-def circle_from_ring(
- ring,
- *,
- tolerance_mm: float = 0.03,
- min_points: int = 12,
-) -> tuple[Point2D, float] | None:
- points = polyline_points_from_ring(ring)
- if len(points) < min_points:
- return None
- matrix = [[0.0, 0.0, 0.0] for _ in range(3)]
- vector = [0.0, 0.0, 0.0]
- for x, y in points:
- row = (x, y, 1.0)
- rhs = -(x * x + y * y)
- for i in range(3):
- vector[i] += row[i] * rhs
- for j in range(3):
- matrix[i][j] += row[i] * row[j]
- try:
- coeff_a, coeff_b, coeff_c = _solve_3x3(matrix, vector)
- except ZeroDivisionError:
- return None
- center = (-0.5 * coeff_a, -0.5 * coeff_b)
- radius_squared = (center[0] * center[0]) + (center[1] * center[1]) - coeff_c
- if radius_squared <= 0.0:
- return None
- radius = math.sqrt(radius_squared)
- xs = [point[0] for point in points]
- ys = [point[1] for point in points]
- min_x = min(xs)
- max_x = max(xs)
- min_y = min(ys)
- max_y = max(ys)
- width = max_x - min_x
- height = max_y - min_y
- if abs(width - height) > max(tolerance_mm, 0.04 * radius):
- return None
- radial_errors = [
- abs(math.dist(point, center) - radius)
- for point in points
- ]
- if max(radial_errors) > max(tolerance_mm, 0.02 * radius):
- return None
- return center, radius
-
-
-def _solve_3x3(matrix: list[list[float]], vector: list[float]) -> tuple[float, float, float]:
- augmented = [row[:] + [value] for row, value in zip(matrix, vector)]
- for column in range(3):
- pivot_row = max(range(column, 3), key=lambda row: abs(augmented[row][column]))
- if abs(augmented[pivot_row][column]) < 1e-12:
- raise ZeroDivisionError("singular circle fit")
- if pivot_row != column:
- augmented[column], augmented[pivot_row] = augmented[pivot_row], augmented[column]
- pivot = augmented[column][column]
- for item in range(column, 4):
- augmented[column][item] /= pivot
- for row in range(3):
- if row == column:
- continue
- factor = augmented[row][column]
- for item in range(column, 4):
- augmented[row][item] -= factor * augmented[column][item]
- return (augmented[0][3], augmented[1][3], augmented[2][3])
-
-
-def add_closed_polyline(msp, points: list[Point2D], *, layer: str = "CUT") -> None:
- points = clean_closed_polyline_points(points)
- if len(points) < 3:
- return
- msp.add_lwpolyline(points, close=True, dxfattribs={"layer": layer})
-
-
-def add_circle_polyline(
- msp,
- center: Point2D,
- radius: float,
- *,
- layer: str = "CUT",
- segments: int = 72,
-) -> None:
- # Keep circles as plain closed polylines. Bulge arcs are valid DXF, but
- # some upload parsers classify them as unexpected entity data.
- if radius <= 0.0:
- return
- center_x, center_y = center
- point_count = max(24, int(segments))
- points = [
- (
- center_x + (radius * math.cos((2.0 * math.pi * index) / point_count)),
- center_y + (radius * math.sin((2.0 * math.pi * index) / point_count)),
- )
- for index in range(point_count)
- ]
- msp.add_lwpolyline(
- points,
- close=True,
- dxfattribs={"layer": layer},
- )
-
-
-def add_ring(
- msp,
- ring,
- *,
- layer: str = "CUT",
- prefer_circle: bool = False,
- min_area_mm2: float = MIN_CUT_CONTOUR_AREA_MM2,
-) -> None:
- points = polyline_points_from_ring(ring)
- if polygon_area(points) < min_area_mm2:
- return
- if prefer_circle:
- circle = circle_from_ring(ring)
- if circle is not None:
- center, radius = circle
- add_circle_polyline(msp, center, radius, layer=layer)
- return
- add_closed_polyline(msp, points, layer=layer)
-
-
-def add_shapely_geometry(msp, geometry, *, layer: str = "CUT") -> None:
- polygons = [geometry] if geometry.geom_type == "Polygon" else list(geometry.geoms)
- for polygon in polygons:
- if polygon.area < MIN_CUT_CONTOUR_AREA_MM2:
- continue
- add_ring(msp, polygon.exterior, layer=layer)
- for interior in polygon.interiors:
- add_ring(msp, interior, layer=layer, prefer_circle=True)
diff --git a/models/robots/tom/v2/parts/gripper/.rb9_01_061_000_gripper.step.glb b/models/robots/tom/v2/parts/gripper/.rb9_01_061_000_gripper.step.glb
deleted file mode 100644
index 7f37340d..00000000
--- a/models/robots/tom/v2/parts/gripper/.rb9_01_061_000_gripper.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f53b779f1f429274f09df018d56f89d076cabc140fdc989d9bbfa6fd5756b102
-size 11204868
diff --git a/models/robots/tom/v2/parts/gripper/gripper_component_extract.py b/models/robots/tom/v2/parts/gripper/gripper_component_extract.py
deleted file mode 100644
index 84fd8462..00000000
--- a/models/robots/tom/v2/parts/gripper/gripper_component_extract.py
+++ /dev/null
@@ -1,128 +0,0 @@
-from __future__ import annotations
-
-import os
-import re
-import sys
-from pathlib import Path
-
-REPO_ROOT = Path(__file__).resolve().parents[2]
-_CACHE_HOME = REPO_ROOT / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import build123d
-from build123d.topology import downcast
-from build123d.topology.shape_core import shapetype
-
-CAD_SCRIPT_PATH = Path(__file__).resolve().parents[5] / "skills" / "cad" / "scripts"
-if str(CAD_SCRIPT_PATH) not in sys.path:
- sys.path.insert(0, str(CAD_SCRIPT_PATH))
-
-from cadpy_common.package_path import ensure_cadpy_package_path
-
-ensure_cadpy_package_path()
-
-from cadpy.step_scene import _located_shape, load_step_scene, occurrence_selector_id
-
-
-SOURCE_STEP = Path(__file__).resolve().with_name("rb9_01_061_000_gripper.step")
-
-
-def _cast_shape(obj: object) -> build123d.Shape:
- occt_shape = downcast(obj)
- shape_name = build123d.Shape.shape_LUT[shapetype(occt_shape)]
- shape_type = getattr(build123d, shape_name)
- return shape_type.cast(occt_shape)
-
-
-def _safe_label(text: str | None, fallback: str) -> str:
- value = re.sub(r"[^A-Za-z0-9_.-]+", "_", text or "").strip("_")
- return value or fallback
-
-
-def _leaf_color(scene: object, leaf: object) -> tuple[float, float, float, float] | None:
- leaf_color = getattr(leaf, "color", None)
- if leaf_color is not None:
- return leaf_color
- prototype_key = getattr(leaf, "prototype_key", None)
- prototype_color = scene.prototype_colors.get(prototype_key)
- if prototype_color is not None:
- return prototype_color
- return None
-
-
-def _find_node(nodes: list[object], selector: str) -> object:
- stack = list(reversed(nodes))
- while stack:
- node = stack.pop()
- if occurrence_selector_id(node) == selector:
- return node
- stack.extend(reversed(node.children))
- raise RuntimeError(f"Selector {selector} not found in {SOURCE_STEP}")
-
-
-def _leaf_nodes(node: object) -> list[object]:
- leaves: list[object] = []
- stack = [node]
- while stack:
- current = stack.pop()
- if current.prototype_key is not None:
- leaves.append(current)
- stack.extend(reversed(current.children))
- return leaves
-
-
-def _selector_matches(selector: str, parent_selector: str) -> bool:
- return selector == parent_selector or selector.startswith(f"{parent_selector}.")
-
-
-def _compound_from_leaves(
- scene: object,
- leaves: list[object],
- *,
- label: str,
-) -> build123d.Compound:
- children: list[build123d.Shape] = []
- for leaf in leaves:
- if leaf.prototype_key not in scene.prototype_shapes:
- raise RuntimeError(f"Leaf {occurrence_selector_id(leaf)} has no prototype shape")
- child = _cast_shape(_located_shape(scene.prototype_shapes[leaf.prototype_key], leaf.location))
- child.label = _safe_label(
- leaf.source_name or leaf.name,
- occurrence_selector_id(leaf).replace(".", "_"),
- )
- color = _leaf_color(scene, leaf)
- if color is not None:
- child.color = build123d.Color(*color)
- children.append(child)
-
- if not children:
- raise RuntimeError(f"No gripper shapes extracted for {label}")
- return build123d.Compound(obj=children, children=children, label=label)
-
-
-def extract_occurrences(selectors: tuple[str, ...], *, label: str) -> build123d.Compound:
- if not SOURCE_STEP.exists():
- raise FileNotFoundError(f"Missing gripper source STEP: {SOURCE_STEP}")
-
- scene = load_step_scene(SOURCE_STEP)
- leaves: list[object] = []
- for selector in selectors:
- leaves.extend(_leaf_nodes(_find_node(scene.roots, selector)))
- return _compound_from_leaves(scene, leaves, label=label)
-
-
-def extract_all_except(excluded_selectors: tuple[str, ...], *, label: str) -> build123d.Compound:
- if not SOURCE_STEP.exists():
- raise FileNotFoundError(f"Missing gripper source STEP: {SOURCE_STEP}")
-
- scene = load_step_scene(SOURCE_STEP)
- leaves: list[object] = []
- for root in scene.roots:
- for leaf in _leaf_nodes(root):
- selector = occurrence_selector_id(leaf)
- if any(_selector_matches(selector, excluded) for excluded in excluded_selectors):
- continue
- leaves.append(leaf)
- return _compound_from_leaves(scene, leaves, label=label)
diff --git a/models/robots/tom/v2/parts/gripper/rb9_01_061_000_gripper.step b/models/robots/tom/v2/parts/gripper/rb9_01_061_000_gripper.step
deleted file mode 100644
index 3c537f91..00000000
--- a/models/robots/tom/v2/parts/gripper/rb9_01_061_000_gripper.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:24e36ec30a7b517bf75f0dd021ee2ebfb611c21656b9d96f9b0421bbcf67c848
-size 11058995
diff --git a/models/robots/tom/v2/parts/imports/.sts3215.step.glb b/models/robots/tom/v2/parts/imports/.sts3215.step.glb
deleted file mode 100644
index 1d87a2c3..00000000
--- a/models/robots/tom/v2/parts/imports/.sts3215.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:caceb32bdc491c5b04cea16b9e12e01b9aa3664e8fafa132eb41e4f646f4fa50
-size 11326536
diff --git a/models/robots/tom/v2/parts/imports/.sts3250.step.glb b/models/robots/tom/v2/parts/imports/.sts3250.step.glb
deleted file mode 100644
index 6269f9de..00000000
--- a/models/robots/tom/v2/parts/imports/.sts3250.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ae5ac94f12fbe3d208054021347997498763afab72505a1d1408b028360345ee
-size 3245664
diff --git a/models/robots/tom/v2/parts/imports/.sts3250_no_rear_horn.step.glb b/models/robots/tom/v2/parts/imports/.sts3250_no_rear_horn.step.glb
deleted file mode 100644
index 4df5e72e..00000000
--- a/models/robots/tom/v2/parts/imports/.sts3250_no_rear_horn.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fe4452db1b44e238e8b6ee6522bc854e225f8d65d3efdfece5e923ebe054d731
-size 2973160
diff --git a/models/robots/tom/v2/parts/imports/sts3215.step b/models/robots/tom/v2/parts/imports/sts3215.step
deleted file mode 100644
index 6e59375d..00000000
--- a/models/robots/tom/v2/parts/imports/sts3215.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c116e2088d9b1c013c89c640d89093749e8edef93ddaf0f4c13371669da65b0
-size 21941724
diff --git a/models/robots/tom/v2/parts/imports/sts3250.step b/models/robots/tom/v2/parts/imports/sts3250.step
deleted file mode 100644
index 746b3e65..00000000
--- a/models/robots/tom/v2/parts/imports/sts3250.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5358f001dbdb3a059d625b79f3e0272a4f93dfb7f1e2a50d07803b709a337d29
-size 2299283
diff --git a/models/robots/tom/v2/parts/imports/sts3250_no_rear_horn.py b/models/robots/tom/v2/parts/imports/sts3250_no_rear_horn.py
deleted file mode 100644
index f7c969dd..00000000
--- a/models/robots/tom/v2/parts/imports/sts3250_no_rear_horn.py
+++ /dev/null
@@ -1,116 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate an STS3250 variant with the rear (bottom) servo horn removed.
-
-The stock import at STEP/imports/sts3250.step contains five solids; the
-fifth is the detachable rear-journal horn disk (diameter 19.2 mm, 3.1 mm
-thick, on the case-bottom side). The tom v2 link seats bracket feet
-directly on the bottom servo's case-bottom face, so this variant drops
-that horn solid. The case's rear journal/screw stub (about 6 mm across,
-protruding 2.6 mm past the case-bottom plane) belongs to the case solid
-and remains.
-
-The remaining solids are tinted black aluminum to match the uniform
-source color of the stock import, which would otherwise be lost when
-re-exporting through the Python generator.
-
-Usage:
- python v2/imports/sts3250_no_rear_horn.py
-"""
-
-from __future__ import annotations
-
-import os
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parents[2]
-TOM_DIR = V2_DIR.parent
-_CACHE_HOME = V2_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-
-import build123d
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.materials import BLACK_ALUMINUM_COLOR
-from robot_common.step_import import import_as_shape
-
-
-PART_NAME = Path(__file__).stem
-
-SERVO_STEP = V2_DIR / "parts" / "imports" / "sts3250.step"
-
-REAR_HORN_DIAMETER_MM = 19.2
-REAR_HORN_THICKNESS_MM = 3.1
-REAR_HORN_CENTER_Y_MM = -25.85
-SOLID_MATCH_TOLERANCE_MM = 0.2
-EXPECTED_SOLID_COUNT = 5
-
-
-def _is_rear_horn(solid: build123d.Solid) -> bool:
- bb = solid.bounding_box()
- return (
- abs(bb.size.X - REAR_HORN_DIAMETER_MM) <= SOLID_MATCH_TOLERANCE_MM
- and abs(bb.size.Z - REAR_HORN_DIAMETER_MM) <= SOLID_MATCH_TOLERANCE_MM
- and abs(bb.size.Y - REAR_HORN_THICKNESS_MM) <= SOLID_MATCH_TOLERANCE_MM
- and abs(bb.center().Y - REAR_HORN_CENTER_Y_MM) <= SOLID_MATCH_TOLERANCE_MM
- )
-
-
-def build_step() -> build123d.Compound:
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {SERVO_STEP}")
-
- servo = import_as_shape(SERVO_STEP)
- solids = servo.solids()
- if len(solids) != EXPECTED_SOLID_COUNT:
- raise RuntimeError(
- f"Expected {EXPECTED_SOLID_COUNT} solids in the STS3250 import, found {len(solids)}"
- )
-
- rear_horns = [solid for solid in solids if _is_rear_horn(solid)]
- if len(rear_horns) != 1:
- raise RuntimeError(
- f"Expected exactly one rear horn solid in the STS3250 import, found {len(rear_horns)}"
- )
-
- kept = [solid for solid in solids if not solid.is_same(rear_horns[0])]
- for solid in kept:
- solid.color = BLACK_ALUMINUM_COLOR
-
- variant = build123d.Compound(children=kept, label=PART_NAME)
-
- bb = variant.bounding_box()
- source_bb = servo.bounding_box()
- for measured, expected, axis in (
- (bb.size.X, source_bb.size.X, "X"),
- (bb.size.Y, source_bb.size.Y, "Y"),
- (bb.size.Z, source_bb.size.Z, "Z"),
- ):
- if abs(measured - expected) > 0.01:
- raise RuntimeError(
- f"Variant {axis} extent {measured:.4f} mm deviates from the stock servo {expected:.4f} mm; "
- "removing the rear horn must not change the body envelope"
- )
-
- horn_bb = rear_horns[0].bounding_box()
- print(
- "Removed rear horn solid: "
- f"bb min=({horn_bb.min.X:.2f}, {horn_bb.min.Y:.2f}, {horn_bb.min.Z:.2f}) mm, "
- f"max=({horn_bb.max.X:.2f}, {horn_bb.max.Y:.2f}, {horn_bb.max.Z:.2f}) mm"
- )
- print(f"Variant solids: {len(kept)}; envelope X={bb.size.X:.3f} Y={bb.size.Y:.3f} Z={bb.size.Z:.3f} mm")
- return variant
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/parts/imports/sts3250_no_rear_horn.step b/models/robots/tom/v2/parts/imports/sts3250_no_rear_horn.step
deleted file mode 100644
index 94a06f75..00000000
--- a/models/robots/tom/v2/parts/imports/sts3250_no_rear_horn.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8be5f78673ae505dc70d114f13af7d34a048b9d7b83d8e1c690c4f5064f7b134
-size 2383014
diff --git a/models/robots/tom/v2/parts/link_bracket.py b/models/robots/tom/v2/parts/link_bracket.py
deleted file mode 100644
index cb7eed2e..00000000
--- a/models/robots/tom/v2/parts/link_bracket.py
+++ /dev/null
@@ -1,1149 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate the tom v2 wrap link plate: one sheet part with two bend lines
-connecting the two servos along the +Y side of the link.
-
-Geometry per the side-view draft and the referenced features:
-- foot: lies on the bottom servo's case-bottom (up-facing) plane,
- connecting the two +Y mount holes at (X = 8.3 | 32.75, Y = 10.25),
- its inner edge wrapping around the cable bay with a 0.4 mm overhang
- and clearing the raised center zone,
-- bend 1 (axis X): split into two segments over the hole zones, each
- with a 7.7 mm formed flange,
-- riser leg: lies flat against the top servo's +Y side face (the
- referenced face spans X 7.9..15.2, Z 102.1..129.3), full foot width
- at the bottom and cut partway up to the face's width ("finishing
- width"), with a corner extension past the servo's case-top corner,
-- bend 2 (axis Z, full length): wraps onto the case-top face plane and
- connects to its two +Y screw holes at (Y = 10.25, Z = 106 | 126.7).
- The flange stands 1.5 mm off the face on spacers (5x M2 washers or a
- 1.5 mm spacer per screw) so it clears the case-top center ridge
- (1.1 mm proud) and the output horn boss (1.3 mm proud), allowing a
- full-depth rectangular flange that meets the published minimum
- flange length.
-
-Advisory (not in SendCutSend's published ruleset): the servo's holes
-sit 2.1 mm from its case corners, so both bends run 2.7-3.2 mm from
-screw holes - inside the press-brake die span. Expect minor hole
-distortion; ream after forming if screws bind.
-
-Usage:
- python v2/link_bracket.py
-"""
-
-from __future__ import annotations
-
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parent
-if str(V2_DIR) not in sys.path:
- sys.path.insert(0, str(V2_DIR))
-
-import build123d
-
-import dxf_topology
-import link_common as lc
-
-
-PART_NAME = Path(__file__).stem
-
-CUT_EXTENSION_MM = 2.0
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- outside_setback_mm: float
- bend_allowance_mm: float
- bend_deduction_mm: float
- panel_join_shift_mm: float
- foot_bend_line_y_mm: float
- wrap_bend_line_x_mm: float
-
-
-def _env_float(name: str, default: float) -> float:
- raw = os.environ.get(name)
- if raw is None:
- return default
- try:
- return float(raw)
- except ValueError as exc:
- raise ValueError(f"{name} must be a floating point number, got {raw!r}") from exc
-
-
-def _env_float_any(names: tuple[str, ...], default: float) -> float:
- for name in names:
- raw = os.environ.get(name)
- if raw is None:
- continue
- try:
- return float(raw)
- except ValueError as exc:
- raise ValueError(f"{name} must be a floating point number, got {raw!r}") from exc
- return default
-
-# Plate planes. The paired brackets are spaced to accept off-the-shelf
-# female-female M3 cross standoffs. The flange seats close to the case-top
-# face (0.25 mm) so it bolts down flush rather than floating; its inner edge
-# stays outboard of the case-top center ridge (proud only over Y 5-7). The
-# bend position follows FLANGE_INNER_X parametrically.
-CASE_SPAN_CENTERING_OFFSET_MM = _env_float(
- "TOM_V2_CASE_SPAN_CENTERING_OFFSET_MM",
- lc.CASE_SPAN_CENTERING_OFFSET_MM,
-)
-BASELINE_LINK_BRACKET_OVERALL_HEIGHT_MM = lc.TOP_PIVOT_Z_MM - lc.FOOT_BOTTOM_Z_MM
-DEFAULT_LINK_BRACKET_OVERALL_HEIGHT_MM = 150.0
-LINK_BRACKET_OVERALL_HEIGHT_MM = _env_float_any(
- (
- "TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM",
- "TOM_V2_LINK_BRACKET_HEIGHT_MM",
- ),
- DEFAULT_LINK_BRACKET_OVERALL_HEIGHT_MM,
-)
-if LINK_BRACKET_OVERALL_HEIGHT_MM < 100.0:
- raise ValueError(
- "TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM must be at least 100 mm "
- "to keep the top servo mount above the sloped web"
- )
-HEIGHT_SCALE = LINK_BRACKET_OVERALL_HEIGHT_MM / BASELINE_LINK_BRACKET_OVERALL_HEIGHT_MM
-TOP_PIVOT_Z_MM = lc.FOOT_BOTTOM_Z_MM + LINK_BRACKET_OVERALL_HEIGHT_MM
-TOP_BODY_DOWN_Z_OFFSET_MM = TOP_PIVOT_Z_MM + lc.SERVO_SHAFT_LOCAL_X_MM
-CASE_FLUSH_HOLE_Z_MM = TOP_BODY_DOWN_Z_OFFSET_MM - lc.SERVO_MOUNT_HOLE_LOCAL_X_MM[1]
-CASE_OFFSET_HOLE_Z_MM = TOP_BODY_DOWN_Z_OFFSET_MM - lc.SERVO_TOP_MOUNT_HOLE_LOCAL_X_MM[1]
-LINK_STANDOFF_LENGTH_MM = _env_float("TOM_V2_LINK_STANDOFF_LENGTH_MM", 35.0)
-LEG_INNER_Y_MM = 0.5 * LINK_STANDOFF_LENGTH_MM
-LEG_FACE_CLEARANCE_MM = LEG_INNER_Y_MM - lc.SERVO_HALF_WIDTH_MM
-if LEG_FACE_CLEARANCE_MM < 1.5:
- raise ValueError(
- "TOM_V2_LINK_STANDOFF_LENGTH_MM leaves too little side clearance around the servo body"
- )
-FLANGE_FACE_CLEARANCE_MM = 0.25
-LEG_OUTER_Y_MM = LEG_INNER_Y_MM + lc.SHEET_THICKNESS_MM
-CASE_TOP_FACE_X_MM = lc.SERVO_CASE_TOP_LOCAL_Y_MM + CASE_SPAN_CENTERING_OFFSET_MM
-FLANGE_INNER_X_MM = CASE_TOP_FACE_X_MM + FLANGE_FACE_CLEARANCE_MM
-FLANGE_OUTER_X_MM = FLANGE_INNER_X_MM + lc.SHEET_THICKNESS_MM
-# Output-horn relief: concentric with the servo's output horn boss on the pitch
-# axis, so the flange's curved cut is inline with the horn and symmetric.
-# Keep this tunable because this gap is a tight tradeoff: reducing the relief
-# radius gives the top flange screw more web, while increasing it gives the horn
-# more radial clearance.
-OUTPUT_HORN_RADIUS_MM = lc.SERVO_OUTPUT_HORN_BOSS_RADIUS_MM
-DEFAULT_OUTPUT_HORN_RELIEF_RADIUS_MM = 11.0
-OUTPUT_HORN_RELIEF_RADIUS_MM = _env_float(
- "TOM_V2_OUTPUT_HORN_RELIEF_RADIUS_MM",
- DEFAULT_OUTPUT_HORN_RELIEF_RADIUS_MM,
-)
-
-# Foot outline. The foot keeps a short Y=7.5 tab around each servo screw
-# (left X 6.0-10.6, right X 30.4-35.0 - matching widths) and is set back to
-# Y=9.6 everywhere between them, clearing both the cable hole and the
-# raised center panel. The left tab is sized to match the right tab.
-FOOT_X_MIN_MM = 6.0
-FOOT_X_MAX_MM = 35.0
-FOOT_EDGE_DEFAULT_Y_MM = 7.5
-FOOT_EDGE_RAISED_Y_MM = 9.6
-LEFT_TAB_RIGHT_X_MM = 10.6 # 4.6 mm tab (X 6.0-10.6) around the left screw at 8.3
-RAISED_ZONE_X_MM = (LEFT_TAB_RIGHT_X_MM, 30.4)
-
-# Leg profile (in the X-Z plane). The side-view layout is three constant-width
-# bands from the bottom-servo mounting plane to the 180 mm top pitch axis:
-# lower vertical section, centered sloped transition, and upper vertical
-# section that carries the top-servo face features. A local 2t rectangular web
-# ear gives the interrupted wrap bend room before the one-thickness flange turns
-# onto the servo case face.
-SECTION_WIDTH_MM = FOOT_X_MAX_MM - FOOT_X_MIN_MM
-TOP_FLANGE_BEND_LEEWAY_MM = 2.0 * lc.SHEET_THICKNESS_MM
-# Keep the top servo body vertically in line with the yoke-mounted servo body:
-# both servos use the same local orientation, so matching the case transform's
-# X translation makes their body centers share the same world X coordinate.
-TOP_SERVO_ALIGNED_CASE_SPAN_CENTERING_OFFSET_MM = lc.HORN_SPAN_CENTERING_OFFSET_MM
-FLANGE_WRAP_INNER_X_MM = (
- TOP_SERVO_ALIGNED_CASE_SPAN_CENTERING_OFFSET_MM + lc.SERVO_CASE_TOP_LOCAL_Y_MM
-)
-FLANGE_WRAP_OUTER_X_MM = FLANGE_WRAP_INNER_X_MM + lc.SHEET_THICKNESS_MM
-TOP_FLANGE_EAR_X_MAX_MM = FLANGE_WRAP_INNER_X_MM
-TOP_FLANGE_EAR_X_MIN_MM = TOP_FLANGE_EAR_X_MAX_MM - TOP_FLANGE_BEND_LEEWAY_MM
-UPPER_X_MAX_MM = TOP_FLANGE_EAR_X_MIN_MM
-UPPER_X_MIN_MM = UPPER_X_MAX_MM - SECTION_WIDTH_MM
-TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM = (
- FLANGE_WRAP_INNER_X_MM - lc.SERVO_CASE_TOP_LOCAL_Y_MM
-)
-TOP_SERVO_FACE_TO_FLANGE_X_OFFSET_MM = (
- TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM - CASE_SPAN_CENTERING_OFFSET_MM
-)
-RIGHT_SLOPE_BOTTOM_Z_MM = lc.FOOT_BOTTOM_Z_MM + (60.0 - lc.FOOT_BOTTOM_Z_MM) * HEIGHT_SCALE
-RIGHT_SLOPE_TOP_Z_MM = lc.FOOT_BOTTOM_Z_MM + (120.0 - lc.FOOT_BOTTOM_Z_MM) * HEIGHT_SCALE
-SLOPE_SECTION_HEIGHT_MM = RIGHT_SLOPE_TOP_Z_MM - RIGHT_SLOPE_BOTTOM_Z_MM
-SLOPE_RUN_X_MM = abs(FOOT_X_MAX_MM - UPPER_X_MAX_MM)
-LOW_X_SLOPE_Z_SHIFT_DOWN_MM = SECTION_WIDTH_MM * (
- math.hypot(SLOPE_RUN_X_MM, SLOPE_SECTION_HEIGHT_MM) - SLOPE_SECTION_HEIGHT_MM
-) / SLOPE_RUN_X_MM
-LEFT_SLOPE_BOTTOM_Z_MM = RIGHT_SLOPE_BOTTOM_Z_MM - LOW_X_SLOPE_Z_SHIFT_DOWN_MM
-LEFT_SLOPE_TOP_Z_MM = RIGHT_SLOPE_TOP_Z_MM - LOW_X_SLOPE_Z_SHIFT_DOWN_MM
-SLOPE_DX_PER_Z_MM = (UPPER_X_MAX_MM - FOOT_X_MAX_MM) / SLOPE_SECTION_HEIGHT_MM
-SLOPE_HIGH_X_INTERCEPT_MM = FOOT_X_MAX_MM - SLOPE_DX_PER_Z_MM * RIGHT_SLOPE_BOTTOM_Z_MM
-SLOPE_LOW_X_INTERCEPT_MM = FOOT_X_MIN_MM - SLOPE_DX_PER_Z_MM * LEFT_SLOPE_BOTTOM_Z_MM
-SLOPED_BAND_NORMAL_WIDTH_MM = abs(
- SLOPE_HIGH_X_INTERCEPT_MM - SLOPE_LOW_X_INTERCEPT_MM
-) / math.hypot(1.0, SLOPE_DX_PER_Z_MM)
-SLOPE_SECTION_CENTER_Z_MM = 0.25 * (
- LEFT_SLOPE_BOTTOM_Z_MM
- + RIGHT_SLOPE_BOTTOM_Z_MM
- + LEFT_SLOPE_TOP_Z_MM
- + RIGHT_SLOPE_TOP_Z_MM
-)
-# The local bend ear carries the wrap lead-in; the flange box itself remains
-# one sheet thickness.
-LEG_RUN_X_MM = (
- min(FOOT_X_MIN_MM, UPPER_X_MIN_MM),
- max(FOOT_X_MAX_MM, FLANGE_WRAP_OUTER_X_MM),
-)
-# Servo face #o1.1.1.1.f19 in link_assembly, expressed in STS3250 local X.
-# Keeping this in local coordinates makes the bracket top track height changes.
-TOP_SERVO_INLINE_FACE_LOCAL_X_MM = -20.038516
-LEG_TOP_Z_MM = TOP_BODY_DOWN_Z_OFFSET_MM - TOP_SERVO_INLINE_FACE_LOCAL_X_MM
-OUTPUT_HORN_TOP_EDGE_GAP_MM = TOP_PIVOT_Z_MM - LEG_TOP_Z_MM
-FLANGE_BOTTOM_Z_MM = CASE_OFFSET_HOLE_Z_MM - 4.0
-BASELINE_TRANSITION_CORNER_FILLET_RADIUS_MM = 24.0
-DEFAULT_TRANSITION_CORNER_FILLET_RADIUS_MM = 0.5 * BASELINE_TRANSITION_CORNER_FILLET_RADIUS_MM
-TRANSITION_CORNER_FILLET_RADIUS_MM = _env_float(
- "TOM_V2_TRANSITION_CORNER_FILLET_RADIUS_MM",
- DEFAULT_TRANSITION_CORNER_FILLET_RADIUS_MM,
-)
-FORMED_FLANGE_CORNER_FILLET_RADIUS_MM = 0.8
-# Uniform flange inner edge. Place it at the case-top ridge clearance datum
-# (ridge half-width 7.0 mm plus 0.5 mm tolerance clearance) so the wrap flange
-# reaches closer to the servo face while leaving the horn relief, not the free
-# edge, as the limiting boundary near the top screw hole.
-FLANGE_EDGE_Y_MM = lc.CASE_OFFSET_RELIEF_HALF_WIDTH_MM
-TOP_FLANGE_UPPER_HOLE_Z_MM = TOP_BODY_DOWN_Z_OFFSET_MM + 17.2
-TOP_FLANGE_HOLE_TO_RELIEF_EDGE_GAP_MM = (
- math.hypot(lc.HOLE_SIDE_OFFSET_MM, TOP_PIVOT_Z_MM - TOP_FLANGE_UPPER_HOLE_Z_MM)
- - lc.SERVO_MOUNT_HOLE_RADIUS_MM
- - OUTPUT_HORN_RELIEF_RADIUS_MM
-)
-
-# Side-web lightening slots, paired per sketch in the lower, sloped, and
-# upper bands. Slots cut through the sheet along Y and are kept away from
-# the bend reliefs and servo screw holes.
-SLOT_CUT_Y_OFFSET_MM = LEG_OUTER_Y_MM + CUT_EXTENSION_MM
-SLOT_CUT_Y_SPAN_MM = lc.SHEET_THICKNESS_MM + 2.0 * CUT_EXTENSION_MM
-SLOT_WIDTH_MM = 4.0
-TOP_SLOT_WIDTH_MM = 4.0
-BASELINE_LOWER_SLOT_LENGTH_MM = 38.0
-BASELINE_MIDDLE_SLOT_LENGTH_MM = 38.0
-BASELINE_TOP_SLOT_LENGTH_MM = 34.0
-LOWER_SLOT_LENGTH_MM = BASELINE_LOWER_SLOT_LENGTH_MM * HEIGHT_SCALE
-MIDDLE_SLOT_LENGTH_MM = BASELINE_MIDDLE_SLOT_LENGTH_MM * HEIGHT_SCALE
-TOP_SLOT_LENGTH_MM = BASELINE_TOP_SLOT_LENGTH_MM * HEIGHT_SCALE
-LOWER_SLOT_CENTER_Z_MM = 0.5 * (lc.FOOT_BOTTOM_Z_MM + RIGHT_SLOPE_BOTTOM_Z_MM)
-MIDDLE_SLOT_CENTER_Z_MM = SLOPE_SECTION_CENTER_Z_MM
-TOP_SLOT_CENTER_Z_MM = 0.5 * (RIGHT_SLOPE_TOP_Z_MM + LEG_TOP_Z_MM)
-LOWER_SLOT_CENTER_X_MM = (14.0, 27.0)
-MIDDLE_SLOT_CENTER_SPACING_X_MM = 13.0
-MIDDLE_SLOT_PAIR_CENTER_X_MM = 0.5 * (
- (SLOPE_DX_PER_Z_MM * MIDDLE_SLOT_CENTER_Z_MM + SLOPE_LOW_X_INTERCEPT_MM)
- + (SLOPE_DX_PER_Z_MM * MIDDLE_SLOT_CENTER_Z_MM + SLOPE_HIGH_X_INTERCEPT_MM)
-)
-MIDDLE_SLOT_CENTER_X_MM = (
- MIDDLE_SLOT_PAIR_CENTER_X_MM - 0.5 * MIDDLE_SLOT_CENTER_SPACING_X_MM,
- MIDDLE_SLOT_PAIR_CENTER_X_MM + 0.5 * MIDDLE_SLOT_CENTER_SPACING_X_MM,
-)
-MIDDLE_SLOT_CENTER_XZ_MM = tuple(
- (slot_x, MIDDLE_SLOT_CENTER_Z_MM) for slot_x in MIDDLE_SLOT_CENTER_X_MM
-)
-MIDDLE_SLOT_CENTER_NORMAL_MM = tuple(
- (slot_x - SLOPE_DX_PER_Z_MM * MIDDLE_SLOT_CENTER_Z_MM - SLOPE_LOW_X_INTERCEPT_MM)
- / math.hypot(1.0, SLOPE_DX_PER_Z_MM)
- for slot_x in MIDDLE_SLOT_CENTER_X_MM
-)
-MIDDLE_SLOT_LOW_EDGE_MARGIN_MM = MIDDLE_SLOT_CENTER_NORMAL_MM[0] - 0.5 * SLOT_WIDTH_MM
-MIDDLE_SLOT_HIGH_EDGE_MARGIN_MM = (
- SLOPED_BAND_NORMAL_WIDTH_MM - MIDDLE_SLOT_CENTER_NORMAL_MM[1] - 0.5 * SLOT_WIDTH_MM
-)
-MIDDLE_SLOT_ROTATION_DEG = math.degrees(
- math.atan2(
- 0.5 * (LEFT_SLOPE_TOP_Z_MM + RIGHT_SLOPE_TOP_Z_MM)
- - 0.5 * (LEFT_SLOPE_BOTTOM_Z_MM + RIGHT_SLOPE_BOTTOM_Z_MM),
- UPPER_X_MAX_MM - FOOT_X_MAX_MM,
- )
-)
-VERTICAL_SLOT_ROTATION_DEG = 90.0
-TOP_SLOT_PAIR_CENTER_X_MM = 0.5 * (UPPER_X_MIN_MM + UPPER_X_MAX_MM)
-TOP_SLOT_CENTER_SPACING_X_MM = 13.0
-TOP_SLOT_CENTER_X_MM = (
- TOP_SLOT_PAIR_CENTER_X_MM - 0.5 * TOP_SLOT_CENTER_SPACING_X_MM,
- TOP_SLOT_PAIR_CENTER_X_MM + 0.5 * TOP_SLOT_CENTER_SPACING_X_MM,
-)
-M3_STANDOFF_CLEARANCE_RADIUS_MM = 1.7
-MIDDLE_SLOT_HALF_DX_MM = (
- math.cos(math.radians(MIDDLE_SLOT_ROTATION_DEG)) * 0.5 * MIDDLE_SLOT_LENGTH_MM
-)
-MIDDLE_SLOT_HALF_DZ_MM = (
- math.sin(math.radians(MIDDLE_SLOT_ROTATION_DEG)) * 0.5 * MIDDLE_SLOT_LENGTH_MM
-)
-LOWER_SLOT_TOP_Z_MM = LOWER_SLOT_CENTER_Z_MM + 0.5 * LOWER_SLOT_LENGTH_MM
-MIDDLE_SLOT_LOWER_END_X_MM = tuple(
- slot_x - MIDDLE_SLOT_HALF_DX_MM for slot_x in MIDDLE_SLOT_CENTER_X_MM
-)
-MIDDLE_SLOT_LOWER_END_Z_MM = MIDDLE_SLOT_CENTER_Z_MM - MIDDLE_SLOT_HALF_DZ_MM
-MIDDLE_SLOT_UPPER_END_X_MM = tuple(
- slot_x + MIDDLE_SLOT_HALF_DX_MM for slot_x in MIDDLE_SLOT_CENTER_X_MM
-)
-MIDDLE_SLOT_UPPER_END_Z_MM = MIDDLE_SLOT_CENTER_Z_MM + MIDDLE_SLOT_HALF_DZ_MM
-TOP_SLOT_BOTTOM_Z_MM = TOP_SLOT_CENTER_Z_MM - 0.5 * TOP_SLOT_LENGTH_MM
-
-
-def _side_profile_x_bounds_at_z(z_mm: float) -> tuple[float, float]:
- if z_mm < LEFT_SLOPE_BOTTOM_Z_MM:
- left_x = FOOT_X_MIN_MM
- elif z_mm <= LEFT_SLOPE_TOP_Z_MM:
- left_x = SLOPE_DX_PER_Z_MM * z_mm + SLOPE_LOW_X_INTERCEPT_MM
- else:
- left_x = UPPER_X_MIN_MM
-
- if z_mm < RIGHT_SLOPE_BOTTOM_Z_MM:
- right_x = FOOT_X_MAX_MM
- elif z_mm <= RIGHT_SLOPE_TOP_Z_MM:
- right_x = SLOPE_DX_PER_Z_MM * z_mm + SLOPE_HIGH_X_INTERCEPT_MM
- else:
- right_x = UPPER_X_MAX_MM
-
- return left_x, right_x
-
-
-def _centered_pair_x_at_z(z_mm: float) -> tuple[float, float]:
- left_x, right_x = _side_profile_x_bounds_at_z(z_mm)
- width = right_x - left_x
- return left_x + 0.25 * width, left_x + 0.75 * width
-
-
-LOWER_INTER_SLOT_STANDOFF_CENTER_Z_MM = 0.5 * (
- LOWER_SLOT_TOP_Z_MM + MIDDLE_SLOT_LOWER_END_Z_MM
-)
-LOWER_INTER_SLOT_STANDOFF_CENTER_X_MM = _centered_pair_x_at_z(
- LOWER_INTER_SLOT_STANDOFF_CENTER_Z_MM
-)
-UPPER_INTER_SLOT_STANDOFF_CENTER_Z_MM = 0.5 * (
- MIDDLE_SLOT_UPPER_END_Z_MM + TOP_SLOT_BOTTOM_Z_MM
-)
-UPPER_INTER_SLOT_STANDOFF_CENTER_X_MM = _centered_pair_x_at_z(
- UPPER_INTER_SLOT_STANDOFF_CENTER_Z_MM
-)
-STANDOFF_CENTER_XZ_MM = (
- ("lower_left", LOWER_INTER_SLOT_STANDOFF_CENTER_X_MM[0], LOWER_INTER_SLOT_STANDOFF_CENTER_Z_MM),
- ("lower_right", LOWER_INTER_SLOT_STANDOFF_CENTER_X_MM[1], LOWER_INTER_SLOT_STANDOFF_CENTER_Z_MM),
- ("upper_left", UPPER_INTER_SLOT_STANDOFF_CENTER_X_MM[0], UPPER_INTER_SLOT_STANDOFF_CENTER_Z_MM),
- ("upper_right", UPPER_INTER_SLOT_STANDOFF_CENTER_X_MM[1], UPPER_INTER_SLOT_STANDOFF_CENTER_Z_MM),
-)
-
-
-def top_servo_case_transform(
- case_span_centering_offset_mm: float = CASE_SPAN_CENTERING_OFFSET_MM,
-) -> tuple[float, ...]:
- return (
- 0.0, 1.0, 0.0, case_span_centering_offset_mm,
- 0.0, 0.0, -1.0, 0.0,
- -1.0, 0.0, 0.0, TOP_BODY_DOWN_Z_OFFSET_MM,
- 0.0, 0.0, 0.0, 1.0,
- )
-
-
-def _verify_top_servo_case_holes(
- placed_servo: build123d.Shape,
- *,
- case_span_centering_offset_mm: float,
-) -> None:
- lc._verify_holes(
- lc._planar_hole_centers(
- placed_servo,
- axis="x",
- plane_coordinate=lc.SERVO_CASE_BOTTOM_LOCAL_Y_MM + case_span_centering_offset_mm,
- ),
- expected=tuple(
- (side * lc.HOLE_SIDE_OFFSET_MM, CASE_FLUSH_HOLE_Z_MM)
- for side in (-1.0, 1.0)
- ),
- radius=lc.SERVO_MOUNT_HOLE_RADIUS_MM,
- label="case-bottom-face",
- )
- lc._verify_holes(
- lc._planar_hole_centers(
- placed_servo,
- axis="x",
- plane_coordinate=lc.SERVO_CASE_TOP_LOCAL_Y_MM + case_span_centering_offset_mm,
- ),
- expected=tuple(
- (side * lc.HOLE_SIDE_OFFSET_MM, CASE_OFFSET_HOLE_Z_MM)
- for side in (-1.0, 1.0)
- ),
- radius=lc.SERVO_MOUNT_HOLE_RADIUS_MM,
- label="case-top-face",
- )
-
-
-def _placed_link_servos_case() -> tuple[build123d.Shape, build123d.Shape]:
- top = lc.place_servo(
- lc._load_servo_shape(lc.SERVO_STEP),
- top_servo_case_transform(TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM),
- )
- bottom = lc.place_servo(
- lc._load_servo_shape(lc.SERVO_NO_REAR_HORN_STEP),
- lc.BOTTOM_SERVO_TRANSFORM,
- )
- _verify_top_servo_case_holes(
- top,
- case_span_centering_offset_mm=TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM,
- )
- lc.verify_bottom_servo_mount_holes(bottom)
- return top, bottom
-
-
-def _xz_unit(vector: tuple[float, float]) -> tuple[float, float]:
- length = math.hypot(vector[0], vector[1])
- if length <= 1e-9:
- raise ValueError("Cannot normalize a zero-length X-Z vector")
- return (vector[0] / length, vector[1] / length)
-
-
-def _xz_add(
- left: tuple[float, float],
- right: tuple[float, float],
-) -> tuple[float, float]:
- return (left[0] + right[0], left[1] + right[1])
-
-
-def _xz_scale(vector: tuple[float, float], scale: float) -> tuple[float, float]:
- return (vector[0] * scale, vector[1] * scale)
-
-
-def _profile_point(point: tuple[float, float]) -> tuple[float, float, float]:
- return (point[0], LEG_INNER_Y_MM, point[1])
-
-
-def _rounded_profile_edges(
- points: list[tuple[float, float]],
- *,
- rounded_indices: set[int],
- radius: float,
-) -> list[build123d.Edge]:
- if radius < 0.0:
- raise ValueError("TRANSITION_CORNER_FILLET_RADIUS_MM must be >= 0")
-
- corner_data: list[tuple[tuple[float, float], tuple[float, float], tuple[float, float] | None]] = []
- for index, corner in enumerate(points):
- if index not in rounded_indices or radius <= 0.0:
- corner_data.append((corner, corner, None))
- continue
-
- previous = points[index - 1]
- next_point = points[(index + 1) % len(points)]
- toward_previous = _xz_unit((previous[0] - corner[0], previous[1] - corner[1]))
- toward_next = _xz_unit((next_point[0] - corner[0], next_point[1] - corner[1]))
- dot = max(
- -1.0,
- min(1.0, toward_previous[0] * toward_next[0] + toward_previous[1] * toward_next[1]),
- )
- angle = math.acos(dot)
- tangent = radius / math.tan(0.5 * angle)
- previous_length = math.dist(previous, corner)
- next_length = math.dist(next_point, corner)
- if tangent >= min(previous_length, next_length):
- raise ValueError(
- "TRANSITION_CORNER_FILLET_RADIUS_MM is too large for the current "
- f"profile: radius={radius:.3f} mm at point {corner}"
- )
-
- start = _xz_add(corner, _xz_scale(toward_previous, tangent))
- end = _xz_add(corner, _xz_scale(toward_next, tangent))
- bisector = _xz_unit(_xz_add(toward_previous, toward_next))
- center_distance = radius / math.sin(0.5 * angle)
- center = _xz_add(corner, _xz_scale(bisector, center_distance))
- start_radius = (start[0] - center[0], start[1] - center[1])
- end_radius = (end[0] - center[0], end[1] - center[1])
- mid_radius = _xz_unit(_xz_add(start_radius, end_radius))
- midpoint = _xz_add(center, _xz_scale(mid_radius, radius))
- corner_data.append((start, end, midpoint))
-
- edges: list[build123d.Edge] = []
- for index, (_start, end, _midpoint) in enumerate(corner_data):
- next_start, next_end, next_midpoint = corner_data[(index + 1) % len(corner_data)]
- if math.dist(end, next_start) > 1e-6:
- edges.append(build123d.Edge.make_line(_profile_point(end), _profile_point(next_start)))
- if next_midpoint is not None:
- edges.append(
- build123d.Edge.make_three_point_arc(
- _profile_point(next_start),
- _profile_point(next_midpoint),
- _profile_point(next_end),
- )
- )
- return edges
-
-
-def _leg_profile() -> build123d.Face:
- points = [
- (FOOT_X_MIN_MM, lc.FOOT_BOTTOM_Z_MM),
- (FOOT_X_MAX_MM, lc.FOOT_BOTTOM_Z_MM),
- (FOOT_X_MAX_MM, RIGHT_SLOPE_BOTTOM_Z_MM),
- (UPPER_X_MAX_MM, RIGHT_SLOPE_TOP_Z_MM),
- (UPPER_X_MAX_MM, LEG_TOP_Z_MM),
- (UPPER_X_MIN_MM, LEG_TOP_Z_MM),
- (UPPER_X_MIN_MM, LEFT_SLOPE_TOP_Z_MM),
- (FOOT_X_MIN_MM, LEFT_SLOPE_BOTTOM_Z_MM),
- ]
- profile_edges = _rounded_profile_edges(
- points,
- rounded_indices={2, 3, 6, 7},
- radius=TRANSITION_CORNER_FILLET_RADIUS_MM,
- )
- wires = list(build123d.Wire.combine(profile_edges))
- if len(wires) != 1:
- raise RuntimeError(f"Leg profile produced {len(wires)} wires")
- return build123d.Face(wires[0])
-
-
-def _slot_cut(
- *,
- x: float,
- z: float,
- length: float,
- width: float,
- rotation: float,
-) -> build123d.Shape:
- with build123d.BuildPart() as slot:
- with build123d.BuildSketch(build123d.Plane.XZ):
- with build123d.Locations((x, z)):
- build123d.SlotOverall(width=length, height=width, rotation=rotation)
- build123d.extrude(amount=SLOT_CUT_Y_SPAN_MM)
-
- return slot.part.moved(build123d.Location((0.0, SLOT_CUT_Y_OFFSET_MM, 0.0)))
-
-
-def _slot_cuts() -> list[build123d.Shape]:
- slots: list[build123d.Shape] = []
- for slot_x in LOWER_SLOT_CENTER_X_MM:
- slots.append(
- _slot_cut(
- x=slot_x,
- z=LOWER_SLOT_CENTER_Z_MM,
- length=LOWER_SLOT_LENGTH_MM,
- width=SLOT_WIDTH_MM,
- rotation=VERTICAL_SLOT_ROTATION_DEG,
- )
- )
- for slot_x, slot_z in MIDDLE_SLOT_CENTER_XZ_MM:
- slots.append(
- _slot_cut(
- x=slot_x,
- z=slot_z,
- length=MIDDLE_SLOT_LENGTH_MM,
- width=SLOT_WIDTH_MM,
- rotation=MIDDLE_SLOT_ROTATION_DEG,
- )
- )
- for slot_x in TOP_SLOT_CENTER_X_MM:
- slots.append(
- _slot_cut(
- x=slot_x,
- z=TOP_SLOT_CENTER_Z_MM,
- length=TOP_SLOT_LENGTH_MM,
- width=TOP_SLOT_WIDTH_MM,
- rotation=VERTICAL_SLOT_ROTATION_DEG,
- )
- )
- return slots
-
-
-def _transition_corner_edges(bracket: build123d.Shape) -> list[build123d.Edge]:
- corner_points = (
- (FOOT_X_MAX_MM, RIGHT_SLOPE_BOTTOM_Z_MM),
- (UPPER_X_MAX_MM, RIGHT_SLOPE_TOP_Z_MM),
- (UPPER_X_MIN_MM, LEFT_SLOPE_TOP_Z_MM),
- (FOOT_X_MIN_MM, LEFT_SLOPE_BOTTOM_Z_MM),
- )
- return list(
- bracket.edges().filter_by(build123d.Axis.Y).filter_by(
- lambda e: any(
- abs(e.center().X - x) < 0.05
- and abs(e.center().Z - z) < 0.05
- and abs(e.length - lc.SHEET_THICKNESS_MM) < 0.05
- for x, z in corner_points
- )
- )
- )
-
-
-def build_bracket() -> build123d.Shape:
- leg = build123d.Solid.extrude(
- _leg_profile(), build123d.Vector(0.0, lc.SHEET_THICKNESS_MM, 0.0)
- )
- foot = lc.make_box(
- x_min=FOOT_X_MIN_MM,
- x_max=FOOT_X_MAX_MM,
- y_min=FOOT_EDGE_DEFAULT_Y_MM,
- y_max=LEG_OUTER_Y_MM,
- z_min=lc.FOOT_BOTTOM_Z_MM,
- z_max=lc.FOOT_TOP_Z_MM,
- )
- bend_ear = lc.make_box(
- x_min=TOP_FLANGE_EAR_X_MIN_MM,
- x_max=TOP_FLANGE_EAR_X_MAX_MM,
- y_min=LEG_INNER_Y_MM,
- y_max=LEG_OUTER_Y_MM,
- z_min=FLANGE_BOTTOM_Z_MM,
- z_max=LEG_TOP_Z_MM,
- )
- flange = lc.make_box(
- x_min=FLANGE_WRAP_INNER_X_MM,
- x_max=FLANGE_WRAP_OUTER_X_MM,
- y_min=FLANGE_EDGE_Y_MM,
- y_max=LEG_OUTER_Y_MM,
- z_min=FLANGE_BOTTOM_Z_MM,
- z_max=LEG_TOP_Z_MM,
- )
- bracket: build123d.Shape = leg.fuse(foot).fuse(bend_ear).fuse(flange)
-
- # Raised-panel clearance: the only setback in the otherwise straight,
- # flush foot inner edge. The servo's raised center panel protrudes to
- # Z=1.9 over this X-span, so the foot edge steps out to clear it. The
- # bay is a recess, so the foot covers it flush with no setback.
- bracket = bracket.cut(
- lc.make_box(
- x_min=RAISED_ZONE_X_MM[0],
- x_max=RAISED_ZONE_X_MM[1],
- y_min=FOOT_EDGE_DEFAULT_Y_MM - CUT_EXTENSION_MM,
- y_max=FOOT_EDGE_RAISED_Y_MM,
- z_min=lc.FOOT_BOTTOM_Z_MM - CUT_EXTENSION_MM,
- z_max=lc.FOOT_TOP_Z_MM + CUT_EXTENSION_MM,
- )
- )
- for slot in _slot_cuts():
- bracket = bracket.cut(slot)
-
- # M3 cross-standoff holes. These bridge the left/right plates with
- # 35 mm female-female standoffs, turning the pair into a ladder frame.
- for _label, standoff_x, standoff_z in STANDOFF_CENTER_XZ_MM:
- bracket = bracket.cut(
- lc.make_y_cylinder(
- x=standoff_x,
- z=standoff_z,
- radius=M3_STANDOFF_CLEARANCE_RADIUS_MM,
- y_min=LEG_INNER_Y_MM - CUT_EXTENSION_MM,
- y_max=LEG_OUTER_Y_MM + CUT_EXTENSION_MM,
- )
- )
-
- # Foot servo holes.
- for hole_x in (lc.HOLE_NEAR_OFFSET_MM, lc.HOLE_FAR_OFFSET_MM):
- bracket = bracket.cut(
- lc.make_z_cylinder(
- x=hole_x,
- y=lc.HOLE_SIDE_OFFSET_MM,
- radius=lc.SERVO_MOUNT_HOLE_RADIUS_MM,
- z_min=lc.FOOT_BOTTOM_Z_MM - CUT_EXTENSION_MM,
- z_max=lc.FOOT_TOP_Z_MM + CUT_EXTENSION_MM,
- )
- )
- # Horn clearance: the output horn boss sits on the pitch axis and reaches
- # toward the wrap flange. The relief arc stays concentric with the horn so
- # the remaining screw web can be measured directly from that axis.
- bracket = bracket.cut(
- lc.make_x_cylinder(
- y=0.0,
- z=TOP_PIVOT_Z_MM,
- radius=OUTPUT_HORN_RELIEF_RADIUS_MM,
- x_min=FLANGE_WRAP_INNER_X_MM - CUT_EXTENSION_MM,
- x_max=FLANGE_WRAP_OUTER_X_MM + CUT_EXTENSION_MM,
- )
- )
- # Flange servo holes (the case-top +Y pair).
- for hole_z in (CASE_OFFSET_HOLE_Z_MM, TOP_FLANGE_UPPER_HOLE_Z_MM):
- bracket = bracket.cut(
- lc.make_x_cylinder(
- y=lc.HOLE_SIDE_OFFSET_MM,
- z=hole_z,
- radius=lc.SERVO_MOUNT_HOLE_RADIUS_MM,
- x_min=FLANGE_WRAP_INNER_X_MM - CUT_EXTENSION_MM,
- x_max=FLANGE_WRAP_OUTER_X_MM + CUT_EXTENSION_MM,
- )
- )
-
- # Round the foot-tab inside corners (Z-direction edges at Y=7.5 where
- # the tabs meet the setback) and the leg top corner.
- foot_tab_x = (FOOT_X_MIN_MM, LEFT_TAB_RIGHT_X_MM, RAISED_ZONE_X_MM[1], FOOT_X_MAX_MM)
- leg_x = LEG_RUN_X_MM[0]
- foot_tab_corners = bracket.edges().filter_by(build123d.Axis.Z).filter_by(
- lambda e: abs(e.center().Y - FOOT_EDGE_DEFAULT_Y_MM) < 0.05
- and any(abs(e.center().X - x) < 0.05 for x in foot_tab_x)
- and abs(e.length - lc.SHEET_THICKNESS_MM) < 0.05
- )
- bracket = bracket.fillet(FORMED_FLANGE_CORNER_FILLET_RADIUS_MM, foot_tab_corners)
-
- wrap_flange_bottom_free_edges = bracket.edges().filter_by(build123d.Axis.X).filter_by(
- lambda e: abs(e.center().Y - FLANGE_EDGE_Y_MM) < 0.05
- and abs(e.center().Z - FLANGE_BOTTOM_Z_MM) < 0.05
- and abs(e.length - lc.SHEET_THICKNESS_MM) < 0.05
- )
- if len(wrap_flange_bottom_free_edges) != 1:
- raise RuntimeError(
- "Expected one wrap flange bottom free corner to fillet, "
- f"found {len(wrap_flange_bottom_free_edges)}"
- )
- bracket = bracket.fillet(
- FORMED_FLANGE_CORNER_FILLET_RADIUS_MM,
- wrap_flange_bottom_free_edges,
- )
-
- leg_top_corners = bracket.edges().filter_by(build123d.Axis.Y).filter_by(
- lambda e: abs(e.center().X - leg_x) < 0.05
- and abs(e.center().Z - LEG_TOP_Z_MM) < 0.05
- and abs(e.length - lc.SHEET_THICKNESS_MM) < 0.05
- )
- bracket = bracket.fillet(1.5, leg_top_corners)
-
- return bracket
-
-
-def build_step() -> build123d.Shape:
- bracket = build_bracket()
-
- solids = bracket.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected plate solid, found {len(solids)}")
-
- top_servo, bottom_servo = _placed_link_servos_case()
- top_volume = lc.verify_no_interference(bracket, top_servo, label="the top servo")
- bottom_volume = lc.verify_no_interference(bracket, bottom_servo, label="the bottom servo")
-
- bracket.label = PART_NAME
- bracket.color = lc.BRACKET_COLOR
-
- bb = bracket.bounding_box()
- foot_flange = LEG_OUTER_Y_MM - FOOT_EDGE_DEFAULT_Y_MM
- foot_flange_raised = LEG_OUTER_Y_MM - FOOT_EDGE_RAISED_Y_MM
- wrap_flange = LEG_OUTER_Y_MM - FLANGE_EDGE_Y_MM
- # Worst-case wrap-flange depth at the horn-relief intrusion (top of flange).
- horn_intrusion_y = (
- OUTPUT_HORN_RELIEF_RADIUS_MM**2 - (TOP_PIVOT_Z_MM - LEG_TOP_Z_MM) ** 2
- ) ** 0.5
- wrap_flange_at_horn = LEG_OUTER_Y_MM - horn_intrusion_y
- hole_to_bend = LEG_OUTER_Y_MM - lc.HOLE_SIDE_OFFSET_MM
- half_die = lc.SCS_HALF_DIE_WIDTH_MM
- min_flange = lc.SCS_MIN_FLANGE_AFTER_BEND_MM
- flange_check_status = (
- "PASS"
- if min(foot_flange, foot_flange_raised, wrap_flange, wrap_flange_at_horn)
- + 1e-6
- >= min_flange
- else "CHECK"
- )
- hole_to_bend_status = "PASS" if hole_to_bend + 1e-6 >= half_die else "CHECK"
- print(
- "Wrap plate envelope "
- f"X={bb.size.X:.3f} mm, Y={bb.size.Y:.3f} mm, Z={bb.size.Z:.3f} mm"
- )
- print(
- f"Height parameter: overall={LINK_BRACKET_OVERALL_HEIGHT_MM:.3f} mm "
- f"(scale {HEIGHT_SCALE:.4f} from the 180 mm baseline)"
- )
- print(
- "Top case centering offset "
- f"{TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM:.3f} mm "
- f"(face-to-flange shift {TOP_SERVO_FACE_TO_FLANGE_X_OFFSET_MM:.3f} mm); "
- f"case-top face X={FLANGE_WRAP_INNER_X_MM:.3f} mm"
- )
- print(
- f"Side profile bands: lower to low/high-X Z="
- f"{LEFT_SLOPE_BOTTOM_Z_MM:.1f}/{RIGHT_SLOPE_BOTTOM_Z_MM:.1f} mm, "
- f"steeper slope to low/high-X Z="
- f"{LEFT_SLOPE_TOP_Z_MM:.1f}/{RIGHT_SLOPE_TOP_Z_MM:.1f} mm, "
- f"upper to axis Z={TOP_PIVOT_Z_MM:.1f} mm; "
- f"top servo pitch axis Z={TOP_PIVOT_Z_MM:.1f} mm"
- )
- print(
- f"Web width check: lower/upper bands {SECTION_WIDTH_MM:.3f} mm, "
- f"local flange bend leeway {TOP_FLANGE_BEND_LEEWAY_MM:.3f} mm, "
- f"sloped band normal width {SLOPED_BAND_NORMAL_WIDTH_MM:.3f} mm, "
- f"low-X transition shift {LOW_X_SLOPE_Z_SHIFT_DOWN_MM:.3f} mm down"
- )
- print(
- "Transition corner radius: "
- + (
- "disabled"
- if TRANSITION_CORNER_FILLET_RADIUS_MM == 0.0
- else f"{TRANSITION_CORNER_FILLET_RADIUS_MM:.1f} mm"
- )
- )
- print(
- "Slots: 2x lower vertical, 2x sloped transition, 2x upper vertical "
- f"(lengths {LOWER_SLOT_LENGTH_MM:.1f}/{MIDDLE_SLOT_LENGTH_MM:.1f}/"
- f"{TOP_SLOT_LENGTH_MM:.1f} mm, widths {SLOT_WIDTH_MM:.1f}/{TOP_SLOT_WIDTH_MM:.1f} mm)"
- )
- print(
- "Cross standoffs: "
- f"{len(STANDOFF_CENTER_XZ_MM)}x M3 female-female, length={LINK_STANDOFF_LENGTH_MM:.3f} mm, "
- f"inner bracket gap={2.0 * LEG_INNER_Y_MM:.3f} mm, "
- f"clearance per servo side={LEG_FACE_CLEARANCE_MM:.3f} mm"
- )
- print(
- f"Sloped slot margins: low edge {MIDDLE_SLOT_LOW_EDGE_MARGIN_MM:.3f} mm, "
- f"high edge {MIDDLE_SLOT_HIGH_EDGE_MARGIN_MM:.3f} mm"
- )
- print(
- "Sheet setup "
- f"material=5052-H32 (ALU-063), thickness={lc.SHEET_THICKNESS_MM:.4f} mm, "
- "bends=2 (continuous foot bend, full-length wrap bend)"
- )
- print(
- "SendCutSend flange checks (min after-bend "
- f"{min_flange:.3f} mm): "
- f"foot default {foot_flange:.2f} mm, "
- f"foot raised-zone setback {foot_flange_raised:.2f} mm, "
- f"wrap main {wrap_flange:.2f} mm, "
- f"wrap at horn-relief Z={LEG_TOP_Z_MM:.1f} {wrap_flange_at_horn:.2f} mm "
- f"-- {flange_check_status}"
- )
- print(
- f"SendCutSend hole-to-bend checks (half die {half_die:.3f} mm): "
- f"foot screws {hole_to_bend:.2f} mm, wrap-flange screws {hole_to_bend:.2f} mm "
- f"-- {hole_to_bend_status}"
- )
- print(
- "Top flange hole-to-horn-relief web: "
- f"{TOP_FLANGE_HOLE_TO_RELIEF_EDGE_GAP_MM:.3f} mm "
- f"(relief radius {OUTPUT_HORN_RELIEF_RADIUS_MM:.3f} mm)"
- )
- print(
- f"Clearances: leg gap {LEG_FACE_CLEARANCE_MM:.1f} mm off the servo side face; "
- f"bend-ear gives {TOP_FLANGE_BEND_LEEWAY_MM:.3f} mm of flat lead-in; "
- "flange inner face seats on the aligned top servo case face; "
- f"flange inner edge at Y={FLANGE_EDGE_Y_MM} clears the case-top ridge"
- )
- print(f"Top servo interference volume (mm^3): {top_volume:.6f}")
- print(f"Bottom servo interference volume (mm^3): {bottom_volume:.6f}")
- return bracket
-
-
-def _polyline_points_from_ring(ring) -> list[tuple[float, float]]:
- points = [(float(x), float(y)) for x, y in ring.coords]
- if points and points[0] == points[-1]:
- points.pop()
- return points
-
-
-def _add_closed_polyline(msp, points: list[tuple[float, float]], *, layer: str) -> None:
- if len(points) < 3:
- return
- msp.add_lwpolyline(points, close=True, dxfattribs={"layer": layer})
-
-
-def _axis_value(vector: build123d.Vector, axis: str) -> float:
- return {"x": vector.X, "y": vector.Y, "z": vector.Z}[axis]
-
-
-def _select_planar_face(
- shape: build123d.Shape,
- *,
- normal_axis: str,
- normal_sign: float,
- coordinate_axis: str,
- coordinate: float,
-) -> build123d.Face:
- candidates = []
- for face in shape.faces():
- if face.geom_type != build123d.GeomType.PLANE:
- continue
- normal = face.normal_at()
- center = face.center()
- if abs(_axis_value(normal, normal_axis) - normal_sign) > 0.01:
- continue
- if abs(_axis_value(center, coordinate_axis) - coordinate) > 0.05:
- continue
- candidates.append(face)
- if not candidates:
- raise RuntimeError(
- "Could not find topology face for DXF unfolding: "
- f"normal {normal_sign:+.0f}{normal_axis}, {coordinate_axis}={coordinate:.3f}"
- )
- return max(candidates, key=lambda face: face.area)
-
-
-def _project_wire_points(
- wire: build123d.Wire,
- project,
- *,
- max_segment_mm: float = 0.25,
-) -> list[tuple[float, float]]:
- sample_count = max(16, int(math.ceil(wire.length / max_segment_mm)))
- points: list[tuple[float, float]] = []
- for index in range(sample_count):
- point = project(wire.position_at(index / sample_count))
- if not points or math.dist(points[-1], point) > 1e-6:
- points.append(point)
- if len(points) >= 2 and math.dist(points[0], points[-1]) < 1e-6:
- points.pop()
- return points
-
-
-def _project_face_polygon(face: build123d.Face, project):
- from shapely.geometry import Polygon
-
- outer = _project_wire_points(face.outer_wire(), project)
- holes = [
- _project_wire_points(wire, project)
- for wire in face.inner_wires()
- if wire.length > 1e-6
- ]
- polygon = Polygon(outer, holes)
- if not polygon.is_valid:
- polygon = polygon.buffer(0)
- if polygon.is_empty:
- raise RuntimeError("Projected STEP topology face produced an empty flat-pattern polygon")
- return polygon
-
-
-def _validate_sendcutsend_bend_rule() -> None:
- expected_bend_allowance = (
- 2.0 * lc.SCS_OUTSIDE_SETBACK_90_MM
- ) - lc.SCS_BEND_DEDUCTION_90_MM
- if abs(expected_bend_allowance - lc.SCS_BEND_ALLOWANCE_90_MM) > 0.01:
- raise RuntimeError(
- "Inconsistent SendCutSend bend rule constants: "
- f"outside_setback={lc.SCS_OUTSIDE_SETBACK_90_MM:.3f} mm, "
- f"bend_deduction={lc.SCS_BEND_DEDUCTION_90_MM:.3f} mm, "
- f"bend_allowance={lc.SCS_BEND_ALLOWANCE_90_MM:.3f} mm, "
- f"expected={expected_bend_allowance:.3f} mm"
- )
-
-
-def _build_flat_pattern() -> FlatPattern:
- _validate_sendcutsend_bend_rule()
-
- outside_setback = lc.SCS_OUTSIDE_SETBACK_90_MM
- bend_allowance = lc.SCS_BEND_ALLOWANCE_90_MM
- panel_join_shift = bend_allowance - outside_setback
- return FlatPattern(
- outside_setback_mm=outside_setback,
- bend_allowance_mm=bend_allowance,
- bend_deduction_mm=lc.SCS_BEND_DEDUCTION_90_MM,
- panel_join_shift_mm=panel_join_shift,
- foot_bend_line_y_mm=lc.FOOT_BOTTOM_Z_MM + (0.5 * bend_allowance),
- wrap_bend_line_x_mm=(
- FLANGE_WRAP_INNER_X_MM + panel_join_shift + (0.5 * bend_allowance)
- ),
- )
-
-
-def _flat_pattern_geometry_from_step_topology():
- from shapely.ops import unary_union
-
- flat_pattern = _build_flat_pattern()
- outside_setback = flat_pattern.outside_setback_mm
- panel_join_shift = flat_pattern.panel_join_shift_mm
-
- bracket = build_bracket()
- leg_face = _select_planar_face(
- bracket,
- normal_axis="y",
- normal_sign=1.0,
- coordinate_axis="y",
- coordinate=LEG_OUTER_Y_MM,
- )
- foot_face = _select_planar_face(
- bracket,
- normal_axis="z",
- normal_sign=-1.0,
- coordinate_axis="z",
- coordinate=lc.FOOT_BOTTOM_Z_MM,
- )
- wrap_flange_face = _select_planar_face(
- bracket,
- normal_axis="x",
- normal_sign=1.0,
- coordinate_axis="x",
- coordinate=FLANGE_WRAP_OUTER_X_MM,
- )
-
- def project_leg(point: build123d.Vector) -> tuple[float, float]:
- flat_x = point.X
- flat_z = point.Z
- if abs(point.X - FLANGE_WRAP_INNER_X_MM) <= 1e-3:
- flat_x = FLANGE_WRAP_INNER_X_MM + panel_join_shift
- if abs(point.Z - lc.FOOT_BOTTOM_Z_MM) <= 1e-3:
- flat_z = lc.FOOT_BOTTOM_Z_MM
- elif point.Z > lc.FOOT_BOTTOM_Z_MM:
- flat_z = point.Z + panel_join_shift
- return (flat_x, flat_z)
-
- def project_foot(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.Y - LEG_OUTER_Y_MM) <= 1e-3:
- flat_y = lc.FOOT_BOTTOM_Z_MM
- else:
- flat_y = point.Y - LEG_OUTER_Y_MM + outside_setback
- return (point.X, flat_y)
-
- def project_wrap_flange(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.Y - LEG_OUTER_Y_MM) <= 1e-3:
- flat_x = FLANGE_WRAP_INNER_X_MM + panel_join_shift
- else:
- flat_x = (
- FLANGE_WRAP_INNER_X_MM
- + panel_join_shift
- + (LEG_OUTER_Y_MM - point.Y)
- - outside_setback
- + flat_pattern.bend_allowance_mm
- )
- flat_z = point.Z + panel_join_shift if point.Z > lc.FOOT_BOTTOM_Z_MM else point.Z
- return (flat_x, flat_z)
-
- leg = _project_face_polygon(leg_face, project_leg)
- foot = _project_face_polygon(
- foot_face,
- project_foot,
- )
- wrap_flange = _project_face_polygon(
- wrap_flange_face,
- project_wrap_flange,
- )
- _validate_projected_flange_depths(foot, wrap_flange, flat_pattern)
-
- flat_geometry = unary_union([leg, foot, wrap_flange]).buffer(0)
- if not flat_geometry.is_valid:
- flat_geometry = flat_geometry.buffer(0)
- # Keep the linework compact while preserving the sampled STEP curves within
- # a few microns. The samples still originate from the formed solid topology.
- flat_geometry = flat_geometry.simplify(0.002, preserve_topology=True)
-
- from shapely.geometry import LineString
-
- foot_bounds = foot_face.bounding_box()
- wrap_bounds = wrap_flange_face.bounding_box()
- bend_lines = (
- LineString(
- [
- (foot_bounds.min.X, lc.FOOT_BOTTOM_Z_MM),
- (foot_bounds.max.X, lc.FOOT_BOTTOM_Z_MM),
- ]
- ),
- LineString(
- [
- (
- flat_pattern.wrap_bend_line_x_mm,
- wrap_bounds.min.Z + panel_join_shift,
- ),
- (
- flat_pattern.wrap_bend_line_x_mm,
- wrap_bounds.max.Z + panel_join_shift,
- ),
- ]
- ),
- )
- bend_lines = (
- LineString(
- [
- (foot_bounds.min.X, flat_pattern.foot_bend_line_y_mm),
- (foot_bounds.max.X, flat_pattern.foot_bend_line_y_mm),
- ]
- ),
- bend_lines[1],
- )
- return flat_geometry, bend_lines, flat_pattern
-
-
-def _validate_projected_flange_depths(
- foot,
- wrap_flange,
- flat_pattern: FlatPattern,
-) -> None:
- foot_formed_depth = LEG_OUTER_Y_MM - FOOT_EDGE_DEFAULT_Y_MM
- wrap_formed_depth = LEG_OUTER_Y_MM - FLANGE_EDGE_Y_MM
- foot_expected = (
- foot_formed_depth
- - flat_pattern.outside_setback_mm
- + (0.5 * flat_pattern.bend_allowance_mm)
- )
- wrap_expected = (
- wrap_formed_depth
- - flat_pattern.outside_setback_mm
- + (0.5 * flat_pattern.bend_allowance_mm)
- )
- foot_actual = flat_pattern.foot_bend_line_y_mm - foot.bounds[1]
- wrap_actual = wrap_flange.bounds[2] - flat_pattern.wrap_bend_line_x_mm
-
- checks = (
- ("bottom flange", foot_actual, foot_expected),
- ("top wrap flange", wrap_actual, wrap_expected),
- )
- for name, actual, expected in checks:
- if abs(actual - expected) > 0.01:
- raise RuntimeError(
- f"Projected {name} DXF depth is inconsistent with bend math: "
- f"actual={actual:.3f} mm, expected={expected:.3f} mm"
- )
-
- if abs(foot_formed_depth - wrap_formed_depth) <= 0.01 and abs(foot_actual - wrap_actual) > 0.01:
- raise RuntimeError(
- "Projected link bracket flange depths are not equal despite equal formed depths: "
- f"bottom={foot_actual:.3f} mm, top={wrap_actual:.3f} mm"
- )
-
-
-def _add_flat_pattern_entities(msp, flat_geometry, bend_lines) -> None:
- polygons = [flat_geometry] if flat_geometry.geom_type == "Polygon" else list(flat_geometry.geoms)
- for polygon in polygons:
- dxf_topology.add_ring(msp, polygon.exterior, layer="CUT")
- for interior in polygon.interiors:
- dxf_topology.add_ring(msp, interior, layer="CUT", prefer_circle=True)
-
- for line in bend_lines:
- coords = list(line.coords)
- msp.add_line(
- coords[0],
- coords[-1],
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
-
-
-def build_dxf(*, part_name: str = PART_NAME):
- import ezdxf
- from ezdxf.units import MM as DXF_UNIT_MM
-
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
- flat_geometry, bend_lines, flat_pattern = _flat_pattern_geometry_from_step_topology()
- _add_flat_pattern_entities(doc.modelspace(), flat_geometry, bend_lines)
-
- min_x, min_y, max_x, max_y = flat_geometry.bounds
- print(
- f"{part_name} flat DXF "
- f"overall_height={LINK_BRACKET_OVERALL_HEIGHT_MM:.3f} mm, "
- f"bounds=({max_x - min_x:.3f} x {max_y - min_y:.3f}) mm, "
- f"topology_unfold_faces=3, bend_deduction_90={flat_pattern.bend_deduction_mm:.3f} mm, "
- f"bend_allowance_90={flat_pattern.bend_allowance_mm:.3f} mm, "
- f"bend_lines={len(bend_lines)}, layers=CUT/BEND"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/parts/link_bracket_left.py b/models/robots/tom/v2/parts/link_bracket_left.py
deleted file mode 100644
index d1e46b68..00000000
--- a/models/robots/tom/v2/parts/link_bracket_left.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from __future__ import annotations
-
-from pathlib import Path
-
-from v2_variant_common import finish_part, loaded_v2_module, mirror_y
-
-
-PART_NAME = Path(__file__).stem
-
-
-def build_step():
- with loaded_v2_module("link_bracket") as module:
- return finish_part(mirror_y(module.build_step()), PART_NAME)
-
-
-def build_dxf():
- with loaded_v2_module("link_bracket") as module:
- return module.build_dxf(part_name=PART_NAME)
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
diff --git a/models/robots/tom/v2/parts/link_bracket_left.step b/models/robots/tom/v2/parts/link_bracket_left.step
deleted file mode 100644
index 6492f4df..00000000
--- a/models/robots/tom/v2/parts/link_bracket_left.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c5c6178adc2dc5d6649904f29998d1e2fcd777afcb6a81fae6480f95a329ebeb
-size 245709
diff --git a/models/robots/tom/v2/parts/link_bracket_right.py b/models/robots/tom/v2/parts/link_bracket_right.py
deleted file mode 100644
index 90e17dfa..00000000
--- a/models/robots/tom/v2/parts/link_bracket_right.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from __future__ import annotations
-
-from pathlib import Path
-
-from v2_variant_common import finish_part, loaded_v2_module
-
-
-PART_NAME = Path(__file__).stem
-
-
-def build_step():
- with loaded_v2_module("link_bracket") as module:
- return finish_part(module.build_step(), PART_NAME)
-
-
-def build_dxf():
- with loaded_v2_module("link_bracket") as module:
- return module.build_dxf(part_name=PART_NAME)
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
diff --git a/models/robots/tom/v2/parts/link_bracket_right.step b/models/robots/tom/v2/parts/link_bracket_right.step
deleted file mode 100644
index a6129479..00000000
--- a/models/robots/tom/v2/parts/link_bracket_right.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eb4ea32b712ccba38deec849dcb86cd9ea1b387cbb5f469ad2b622d17808fac8
-size 267080
diff --git a/models/robots/tom/v2/parts/link_common.py b/models/robots/tom/v2/parts/link_common.py
deleted file mode 100644
index 2b587e4e..00000000
--- a/models/robots/tom/v2/parts/link_common.py
+++ /dev/null
@@ -1,651 +0,0 @@
-#!/usr/bin/env python3
-"""
-Shared layout for the tom v2 servo-to-servo link brackets.
-
-Link frame convention (millimeters, Z-up):
-- +Z is up. The bottom servo's output shaft is coaxial with the link's
- vertical centerline (X = Y = 0) and points down (-Z); its case-bottom
- face is up at Z = 0 and its body runs along +X (rear end at
- X = -10.11, front end at X = +35.11). It uses the rear-horn-less
- variant (parts/imports/sts3250_no_rear_horn.step) so bracket feet seat flat
- on its case-bottom face; only the case's small rear journal/screw stub
- still protrudes there.
-- The top servo forms a horizontal pitch joint: it stands on end with
- its horn axis along X at (Y = 0, Z = TOP_PIVOT_Z_MM) and the
- horn-to-horn span centered on the link centerline (output horn face at
- X = +18.3, rear horn face at X = -18.3). Two mounting variations are
- supported:
- - horn mount: the bracket horn plates bolt to both horn faces
- (4x M3-pattern screws per side) and the servo body, which belongs to
- the next link, is flipped to stand above the pivot so it rotates
- freely.
- - case mount: the brackets bolt to the servo case with 2x M2 screws
- per side (flush side into the case-bottom face holes at
- Y = +/-10.25, Z = 102.25; offset side into the case-top face holes
- at Y = +/-10.25, Z = 106.0), the body hangs down into the link, and
- the next link's yoke grabs the free horns.
-
-All brackets are authored directly in this link frame so the bracket
-STEP files and the verification assemblies compose with identity
-transforms for the brackets.
-
-Servo source geometry (STS3250 local frame, from
-parts/imports/sts3250.step):
-- body bounds x [-35.61, 9.61], y [-28.2, 9.2], z [-12.36, +12.36]
-- output shaft axis at (x, z) = (-25.5, 0), pointing +y; output horn
- face at y = +9.2, rear horn face at y = -27.4, each with four
- diameter-3.2 screw holes on a 7 mm circle plus a center hole; the rear
- journal/screw stub protrudes to y = -28.2
-- case-bottom plane y = -25.6 with four M2 holes (r 1.1) at
- x in {-17.2, +7.25}, z = +/-10.25, facing -y
-- case-top plane y = +6.4 with four M2 holes (r 1.1) at
- x in {-17.2, +3.5}, z = +/-10.25, facing +y, around the output horn
- boss (radius 11.2)
-"""
-
-from __future__ import annotations
-
-import os
-import sys
-from pathlib import Path
-
-TOM_DIR = Path(__file__).resolve().parents[2]
-V2_DIR = Path(__file__).resolve().parents[1]
-_CACHE_HOME = V2_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-
-import build123d
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.materials import GRAY_ALUMINUM_COLOR
-from robot_common.step_import import import_as_shape
-
-
-# Plain bare-aluminum tint for the v2 brackets. Without an explicit source
-# color the viewer falls back to its dark theme paint, which reads as a
-# deliberately colored part.
-BRACKET_COLOR = GRAY_ALUMINUM_COLOR
-
-SERVO_STEP = V2_DIR / "parts" / "imports" / "sts3250.step"
-SERVO_NO_REAR_HORN_STEP = V2_DIR / "parts" / "imports" / "sts3250_no_rear_horn.step"
-
-def _env_float(name: str, default: float) -> float:
- value = os.environ.get(name)
- if value is None:
- return default
- try:
- parsed = float(value)
- except ValueError as exc:
- raise ValueError(f"{name} must be a number, got {value!r}") from exc
- if parsed <= 0.0:
- raise ValueError(f"{name} must be positive, got {parsed!r}")
- return parsed
-
-
-# Sheet stock for the v2 aluminum brackets (SendCutSend 0.063 in 5052-H32).
-SENDCUTSEND_ALU_063_THICKNESS_MM = 25.4 * 0.063
-SHEET_THICKNESS_MM = _env_float(
- "TOM_V2_SHEET_THICKNESS_MM",
- SENDCUTSEND_ALU_063_THICKNESS_MM,
-)
-SCS_EFFECTIVE_BEND_RADIUS_MM = 25.4 * 0.035
-SCS_K_FACTOR = 0.42
-SCS_BEND_DEDUCTION_90_MM = 25.4 * 0.096
-SCS_OUTSIDE_SETBACK_90_MM = SCS_EFFECTIVE_BEND_RADIUS_MM + SHEET_THICKNESS_MM
-SCS_BEND_ALLOWANCE_90_MM = (2.0 * SCS_OUTSIDE_SETBACK_90_MM) - SCS_BEND_DEDUCTION_90_MM
-MOUNT_PLANE_CLEARANCE_MM = 0.0
-SIDE_FACE_CLEARANCE_MM = 0.25
-# Gap between a horn mount face and its bracket horn plate, matching the
-# v1 servo_horn_yoke convention. Also used for case-face plates.
-HORN_FACE_GAP_MM = 0.25
-ROTATING_PART_CLEARANCE_MM = 0.5
-
-# STS3250 local-frame facts (verified at build time against the STEP).
-SERVO_HALF_WIDTH_MM = 12.360025
-SERVO_BODY_X_MIN_MM = -35.610023
-SERVO_BODY_X_MAX_MM = 9.610026
-SERVO_SHAFT_LOCAL_X_MM = -25.5
-SERVO_CASE_BOTTOM_LOCAL_Y_MM = -25.6
-SERVO_CASE_TOP_LOCAL_Y_MM = 6.4
-SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM = 9.2
-SERVO_REAR_HORN_FACE_LOCAL_Y_MM = -27.4
-# The rear journal/screw stub protrudes 0.8 mm past the rear horn face.
-SERVO_REAR_EXTREME_LOCAL_Y_MM = -28.2
-SERVO_MOUNT_HOLE_LOCAL_X_MM = (-17.2, 7.25)
-SERVO_TOP_MOUNT_HOLE_LOCAL_X_MM = (-17.2, 3.5)
-SERVO_MOUNT_HOLE_LOCAL_Z_MM = 10.25
-SERVO_MOUNT_HOLE_RADIUS_MM = 1.1
-SERVO_HORN_SCREW_CIRCLE_RADIUS_MM = 7.0
-SERVO_HORN_SCREW_HOLE_RADIUS_MM = 1.6
-SERVO_REAR_HORN_DISK_RADIUS_MM = 9.6
-SERVO_OUTPUT_HORN_BOSS_RADIUS_MM = 11.2
-SERVO_REAR_JOURNAL_RADIUS_MM = 3.05
-REAR_JOURNAL_CLEARANCE_RADIUS_MM = 3.75
-
-# Link-frame layout derived from the facts above.
-BOTTOM_FACE_Z_MM = 0.0
-PLATE_HALF_SPAN_MM = SERVO_HALF_WIDTH_MM
-PLATE_INNER_OFFSET_MM = SERVO_HALF_WIDTH_MM + SIDE_FACE_CLEARANCE_MM
-PLATE_OUTER_OFFSET_MM = PLATE_INNER_OFFSET_MM + SHEET_THICKNESS_MM
-# Servo body extents measured from the shaft axis along the body direction.
-BODY_REAR_OVERHANG_MM = -(SERVO_BODY_X_MIN_MM - SERVO_SHAFT_LOCAL_X_MM) # 10.11
-BODY_FRONT_REACH_MM = SERVO_BODY_X_MAX_MM - SERVO_SHAFT_LOCAL_X_MM # 35.11
-# Mount hole columns measured from the shaft axis along the body direction.
-HOLE_NEAR_OFFSET_MM = SERVO_MOUNT_HOLE_LOCAL_X_MM[0] - SERVO_SHAFT_LOCAL_X_MM # 8.3
-HOLE_FAR_OFFSET_MM = SERVO_MOUNT_HOLE_LOCAL_X_MM[1] - SERVO_SHAFT_LOCAL_X_MM # 32.75
-HOLE_SIDE_OFFSET_MM = SERVO_MOUNT_HOLE_LOCAL_Z_MM # 10.25
-
-# The offset-side web sits outboard of the bottom servo's front end face.
-# Its position is set by SendCutSend's U/C-channel rule: the jog channel
-# base (web inner face to offset-wall outer face) must be at least 2x the
-# screw-tab flange height. 39.5 gives a 22.15 mm base vs a 21.62 mm
-# requirement.
-OUTER_WEB_INNER_X_MM = 39.5
-OUTER_WEB_OUTER_X_MM = OUTER_WEB_INNER_X_MM + SHEET_THICKNESS_MM
-OUTER_WEB_CLEARANCE_MM = OUTER_WEB_INNER_X_MM - BODY_FRONT_REACH_MM
-
-# Top pitch joint: the horn axis runs along X at this height. For the
-# case-mounted link, center the visible case span on the link centerline so
-# the top servo body reads centered over the bottom horn axis; the pitch axis
-# still intersects that vertical axis at X = Y = 0.
-TOP_PIVOT_Z_MM = 180.0
-HORN_HALF_SPAN_MM = 0.5 * (
- SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM - SERVO_REAR_HORN_FACE_LOCAL_Y_MM
-) # 18.3
-# Offset that centers the horn span: local y -> X = y + this value.
-HORN_SPAN_CENTERING_OFFSET_MM = HORN_HALF_SPAN_MM - SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM # 9.1
-# Offset that centers the case side faces for the case-mounted top servo.
-CASE_SPAN_CENTERING_OFFSET_MM = -0.5 * (
- SERVO_CASE_BOTTOM_LOCAL_Y_MM + SERVO_CASE_TOP_LOCAL_Y_MM
-) # 9.6
-# Z mapping constants for the two top-servo orientations.
-TOP_BODY_DOWN_Z_OFFSET_MM = TOP_PIVOT_Z_MM + SERVO_SHAFT_LOCAL_X_MM # Z = 109.5 - x
-TOP_BODY_UP_Z_OFFSET_MM = TOP_PIVOT_Z_MM - SERVO_SHAFT_LOCAL_X_MM # Z = x + 160.5
-
-# Horn-mount plates (horn variation).
-HORN_PLATE_INNER_X_MM = HORN_HALF_SPAN_MM + HORN_FACE_GAP_MM
-HORN_PLATE_OUTER_X_MM = HORN_PLATE_INNER_X_MM + SHEET_THICKNESS_MM
-HORN_PLATE_TOP_Z_MM = TOP_PIVOT_Z_MM + 13.0
-
-# Case-mount plates (case variation). The plates sit against the case
-# faces and stop below the rotating horn parts.
-CASE_BOTTOM_FACE_X_MM = SERVO_CASE_BOTTOM_LOCAL_Y_MM + CASE_SPAN_CENTERING_OFFSET_MM # -16.0
-CASE_TOP_FACE_X_MM = SERVO_CASE_TOP_LOCAL_Y_MM + CASE_SPAN_CENTERING_OFFSET_MM # +16.0
-CASE_FLUSH_PLATE_INNER_X_MM = -(abs(CASE_BOTTOM_FACE_X_MM) + HORN_FACE_GAP_MM) # -16.75
-CASE_FLUSH_PLATE_OUTER_X_MM = CASE_FLUSH_PLATE_INNER_X_MM - SHEET_THICKNESS_MM
-CASE_OFFSET_PLATE_INNER_X_MM = CASE_TOP_FACE_X_MM + HORN_FACE_GAP_MM # +15.75
-CASE_OFFSET_PLATE_OUTER_X_MM = CASE_OFFSET_PLATE_INNER_X_MM + SHEET_THICKNESS_MM
-CASE_FLUSH_PLATE_TOP_Z_MM = (
- TOP_PIVOT_Z_MM - SERVO_REAR_HORN_DISK_RADIUS_MM - ROTATING_PART_CLEARANCE_MM
-) # 124.9
-CASE_OFFSET_PLATE_TOP_Z_MM = (
- TOP_PIVOT_Z_MM - SERVO_OUTPUT_HORN_BOSS_RADIUS_MM - ROTATING_PART_CLEARANCE_MM
-) # 123.3
-# Case-mount screw hole heights (Z = TOP_BODY_DOWN_Z_OFFSET_MM - local x).
-CASE_FLUSH_HOLE_Z_MM = TOP_BODY_DOWN_Z_OFFSET_MM - SERVO_MOUNT_HOLE_LOCAL_X_MM[1] # 102.25
-CASE_OFFSET_HOLE_Z_MM = TOP_BODY_DOWN_Z_OFFSET_MM - SERVO_TOP_MOUNT_HOLE_LOCAL_X_MM[1] # 106.0
-# Both case faces carry raised center sections that stand proud of the
-# screw-boss planes (measured from the STEP): a 1.9 mm panel within
-# Y +/-9.242 starting at Z = 105.3 on the case-bottom side, and a 1.1 mm
-# ridge within Y +/-7.0 starting at the body's lower end (Z = 99.89) on
-# the case-top side. The case plates get open-top relief notches around
-# them and seat on the flat outer margins.
-CASE_FLUSH_RELIEF_HALF_WIDTH_MM = 9.242 + ROTATING_PART_CLEARANCE_MM
-CASE_FLUSH_RELIEF_BOTTOM_Z_MM = 105.297 - ROTATING_PART_CLEARANCE_MM
-CASE_OFFSET_RELIEF_HALF_WIDTH_MM = 7.0 + ROTATING_PART_CLEARANCE_MM
-CASE_OFFSET_RELIEF_BOTTOM_Z_MM = 99.894 - ROTATING_PART_CLEARANCE_MM
-
-# Case-mount brackets: two separate formed parts (split per SendCutSend's
-# U/C-channel forming rule). The flush wall ends flat below the
-# case-bottom raised panel; the offset wall ends just above its M2 screws
-# as two short tabs whose bend is split through the middle (the case-top
-# holes sit above the center-ridge relief line, so a continuous bend
-# there would leave an under-minimum local flange).
-CASE_FLUSH_WALL_TOP_Z_MM = CASE_FLUSH_RELIEF_BOTTOM_Z_MM # 104.797
-CASE_OFFSET_TAB_TOP_Z_MM = (
- CASE_OFFSET_HOLE_Z_MM + SERVO_MOUNT_HOLE_RADIUS_MM + 1.5
-) # 108.6
-# SendCutSend ALU-063 bend-service rule values for 5052-H32 0.063 in.
-SCS_MIN_FLANGE_BEFORE_BEND_MM = 25.4 * 0.255
-SCS_MIN_FLANGE_AFTER_BEND_MM = 25.4 * 0.303
-SCS_CHANNEL_BASE_TO_FLANGE_RATIO = 2.0
-SCS_DIE_WIDTH_MM = 25.4 * 0.472
-SCS_HALF_DIE_WIDTH_MM = 0.5 * SCS_DIE_WIDTH_MM
-SCS_BEND_RELIEF_DEPTH_MM = 25.4 * 0.118
-SCS_MIN_CORNER_RELIEF_DISTANCE_FROM_BEND_LINE_MM = 25.4 * 0.030
-
-# Bottom-servo up-face obstacles (extents measured from the STEP, with
-# clearance margins): the cable bay and the raised center zone that runs
-# from the bay through the raised panel.
-CABLE_BAY_X_MIN_MM = 11.65 - ROTATING_PART_CLEARANCE_MM
-CABLE_BAY_X_MAX_MM = 16.25 + ROTATING_PART_CLEARANCE_MM
-CABLE_BAY_HALF_WIDTH_MM = 9.1 + ROTATING_PART_CLEARANCE_MM
-BOTTOM_PANEL_X_MAX_MM = 24.59 + 0.5 * 9.63 + ROTATING_PART_CLEARANCE_MM # 29.905
-
-# Bracket bodies are 25.8 mm wide (0.54 mm clear of the servo width per
-# side). The flush foot's stiffening lips are protruding tabs folded down
-# at the body edge, so each lip bend line terminates at free edges of the
-# flat blank and needs no bend relief.
-BODY_HALF_WIDTH_MM = 12.9
-LIP_OUTER_HALF_WIDTH_MM = BODY_HALF_WIDTH_MM + SHEET_THICKNESS_MM
-LIP_X_MIN_MM = -13.8
-LIP_X_MAX_MM = 2.0
-
-FOOT_BOTTOM_Z_MM = BOTTOM_FACE_Z_MM + MOUNT_PLANE_CLEARANCE_MM
-FOOT_TOP_Z_MM = FOOT_BOTTOM_Z_MM + SHEET_THICKNESS_MM
-# Lip legs hang 9.5 mm (formed outside length) below the foot, keeping
-# the flat flange 0.5 mm above the before-bend minimum.
-LIP_BOTTOM_Z_MM = FOOT_TOP_Z_MM - 9.5
-# The shelf tucks 0.5 mm under the hanging top servo's lower end face so
-# the screw-tab flange above it stays as short as possible (jog channel
-# 2:1 rule).
-SHELF_TOP_Z_MM = CASE_OFFSET_RELIEF_BOTTOM_Z_MM # 99.394
-SHELF_BOTTOM_Z_MM = SHELF_TOP_Z_MM - SHEET_THICKNESS_MM # 97.362
-
-# Feet stop clear of the cable bay (flush side) and the raised panel
-# (offset side), so the split feet need no windows.
-FLUSH_FOOT_REACH_X_MM = CABLE_BAY_X_MIN_MM # 11.15
-OFFSET_FOOT_REACH_X_MM = BOTTOM_PANEL_X_MAX_MM # 29.905
-
-# Single-bend offset bracket: the case-top plate descends to the bottom
-# servo and one bend turns it outboard across the servo's up-face. The
-# foot keeps two side rails seated on the servo's Z=0 rim strips
-# (inner rim edges at Y = +/-12.06) and a window around the raised
-# center zone (measured at Y <= +/-9.242, proud up to Z = 1.9).
-OFFSET_FOOT_END_X_MM = 35.5
-OFFSET_WINDOW_HALF_WIDTH_MM = 9.7
-# The window also relieves the plate's bottom edge between the rails so
-# the interrupted foot bend terminates at free edges, and doubles as the
-# bottom servo's cable exit slot over its cable bay. The extra 1.5 mm
-# keeps the relief past the published minimum regardless of where the
-# flat-pattern bend line lands within the bend allowance.
-OFFSET_PLATE_RELIEF_TOP_Z_MM = FOOT_TOP_Z_MM + SCS_BEND_RELIEF_DEPTH_MM + 1.5 # 7.342
-# The bend zone and foot flare outboard so each interrupted-bend rail is
-# three sheet thicknesses wide instead of the two-thickness rule-of-thumb
-# minimum; the flare wings end at free edges above the bend.
-OFFSET_FOOT_FLARE_HALF_WIDTH_MM = 14.5
-OFFSET_FLARE_TOP_Z_MM = 8.0
-
-INTERFERENCE_VOLUME_LIMIT_MM3 = 1e-3
-HOLE_MATCH_TOLERANCE_MM = 0.05
-
-# --- Carbon-tube link variant (RoArm-style) ---------------------------
-# Off-the-shelf clamps: SK10 (base-mount shaft support, holds the tube
-# against the vertical top plate) and SHF10 (flange-mount shaft support,
-# holds the tube on the horizontal bottom plate). step.parts only hosts
-# generic envelopes for these SKUs, so the assembly uses true-dimension
-# envelopes built from the standard SK10/SHF10 catalog dimensions below.
-# Verify against the sourced vendor's datasheet before cutting plates.
-# The carbon tube itself is a step.parts catalog miss (recorded
-# 2026-06-13); it is generic 3K roll-wrapped 10 x 8 mm stock cut to
-# length.
-SK10_CENTER_HEIGHT_MM = 20.0
-SK10_BOLT_PITCH_MM = 32.0
-SK10_BASE_WIDTH_MM = 42.0
-SK10_THICKNESS_MM = 14.0
-SK10_DEPTH_MM = 27.0
-SK10_BASE_SLAB_MM = 8.0
-SHF10_BOLT_PITCH_MM = 35.0
-SHF10_FLANGE_WIDTH_MM = 46.5
-SHF10_FLANGE_THICKNESS_MM = 7.0
-SHF10_HUB_RADIUS_MM = 10.0
-SHF10_HUB_HEIGHT_MM = 13.0
-CLAMP_BOLT_CLEARANCE_RADIUS_MM = 2.9 # M5 clearance
-TUBE_OUTER_RADIUS_MM = 5.0
-TUBE_INNER_RADIUS_MM = 4.0
-TUBE_BORE_CLEARANCE_MM = 0.05
-
-# Tube-link layout. The flat plates are 0.125 in 5052 so the bottom
-# servo's rear journal/screw stub (2.6 mm proud) is buried inside the
-# bottom plate's through hole.
-TUBE_PLATE_THICKNESS_MM = 25.4 * 0.125 # 3.175
-TUBE_TOP_PLATE_INNER_X_MM = CASE_TOP_FACE_X_MM + HORN_FACE_GAP_MM # 15.75
-TUBE_TOP_PLATE_OUTER_X_MM = TUBE_TOP_PLATE_INNER_X_MM + TUBE_PLATE_THICKNESS_MM
-TUBE_AXIS_X_MM = TUBE_TOP_PLATE_INNER_X_MM - SK10_CENTER_HEIGHT_MM # -4.25
-BOTTOM_PLATE_TOP_Z_MM = FOOT_BOTTOM_Z_MM + TUBE_PLATE_THICKNESS_MM # 3.425
-TUBE_BOTTOM_Z_MM = 5.0
-TUBE_TOP_Z_MM = 95.0
-SK10_CENTER_Z_MM = 85.0
-TUBE_TOP_PLATE_BOTTOM_Z_MM = 70.0
-TUBE_TOP_PLATE_FLARE_HALF_WIDTH_MM = 19.5
-BOTTOM_PLATE_FLARE_HALF_WIDTH_MM = 21.0
-BOTTOM_PLATE_X_MIN_MM = -14.5
-BOTTOM_PLATE_X_MAX_MM = 35.5
-BOTTOM_PLATE_FLARE_X_MAX_MM = 6.0
-
-# Row-major 4x4 transforms placing the servos in the link frame.
-# Horn variation: body up (local x -> +Z), output horn toward +X.
-TOP_SERVO_HORN_TRANSFORM = (
- 0.0, 1.0, 0.0, HORN_SPAN_CENTERING_OFFSET_MM,
- 0.0, 0.0, 1.0, 0.0,
- 1.0, 0.0, 0.0, TOP_BODY_UP_Z_OFFSET_MM,
- 0.0, 0.0, 0.0, 1.0,
-)
-def top_servo_case_transform(case_span_centering_offset_mm: float = CASE_SPAN_CENTERING_OFFSET_MM) -> tuple[float, ...]:
- # Case variation: body down (local x -> -Z), output horn toward +X.
- return (
- 0.0, 1.0, 0.0, case_span_centering_offset_mm,
- 0.0, 0.0, -1.0, 0.0,
- -1.0, 0.0, 0.0, TOP_BODY_DOWN_Z_OFFSET_MM,
- 0.0, 0.0, 0.0, 1.0,
- )
-
-
-TOP_SERVO_CASE_TRANSFORM = top_servo_case_transform()
-BOTTOM_SERVO_TRANSFORM = (
- 1.0, 0.0, 0.0, -SERVO_SHAFT_LOCAL_X_MM,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, -1.0, 0.0, SERVO_CASE_BOTTOM_LOCAL_Y_MM,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-# Expected hole centers in the link frame.
-BOTTOM_SERVO_MOUNT_HOLES_XY_MM = tuple(
- (x_offset, side * HOLE_SIDE_OFFSET_MM)
- for x_offset in (HOLE_NEAR_OFFSET_MM, HOLE_FAR_OFFSET_MM)
- for side in (-1.0, 1.0)
-)
-# Horn screw holes on each horn face, as (y, z) in the link frame.
-HORN_SCREW_HOLES_YZ_MM = (
- (0.0, TOP_PIVOT_Z_MM + SERVO_HORN_SCREW_CIRCLE_RADIUS_MM),
- (0.0, TOP_PIVOT_Z_MM - SERVO_HORN_SCREW_CIRCLE_RADIUS_MM),
- (SERVO_HORN_SCREW_CIRCLE_RADIUS_MM, TOP_PIVOT_Z_MM),
- (-SERVO_HORN_SCREW_CIRCLE_RADIUS_MM, TOP_PIVOT_Z_MM),
-)
-# Case-mount screw holes, as (y, z) in the link frame.
-CASE_FLUSH_HOLES_YZ_MM = tuple(
- (side * HOLE_SIDE_OFFSET_MM, CASE_FLUSH_HOLE_Z_MM) for side in (-1.0, 1.0)
-)
-CASE_OFFSET_HOLES_YZ_MM = tuple(
- (side * HOLE_SIDE_OFFSET_MM, CASE_OFFSET_HOLE_Z_MM) for side in (-1.0, 1.0)
-)
-
-
-def make_box(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def make_z_cylinder(
- *,
- x: float,
- y: float,
- radius: float,
- z_min: float,
- z_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x, y, z_min), z_dir=(0.0, 0.0, 1.0)),
- )
-
-
-def make_x_cylinder(
- *,
- y: float,
- z: float,
- radius: float,
- x_min: float,
- x_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- x_max - x_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y, z), z_dir=(1.0, 0.0, 0.0)),
- )
-
-
-def make_y_cylinder(
- *,
- x: float,
- z: float,
- radius: float,
- y_min: float,
- y_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- y_max - y_min,
- plane=build123d.Plane(origin=build123d.Vector(x, y_min, z), z_dir=(0.0, 1.0, 0.0)),
- )
-
-
-def _transform_location(transform: tuple[float, ...]) -> build123d.Location:
- return build123d.Location(
- build123d.Plane(
- origin=(transform[3], transform[7], transform[11]),
- x_dir=(transform[0], transform[4], transform[8]),
- z_dir=(transform[2], transform[6], transform[10]),
- )
- )
-
-
-def _load_servo_shape(step_path: Path) -> build123d.Shape:
- if not step_path.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {step_path}")
- shape = import_as_shape(step_path)
- bb = shape.bounding_box()
- for measured, expected in (
- (bb.min.X, SERVO_BODY_X_MIN_MM),
- (bb.max.X, SERVO_BODY_X_MAX_MM),
- (bb.min.Z, -SERVO_HALF_WIDTH_MM),
- (bb.max.Z, SERVO_HALF_WIDTH_MM),
- (bb.min.Y, SERVO_REAR_EXTREME_LOCAL_Y_MM),
- (bb.max.Y, SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM),
- ):
- if abs(measured - expected) > 0.01:
- raise RuntimeError(
- f"{step_path.name} no longer matches the v2 layout facts: "
- f"measured {measured:.4f}, expected {expected:.4f}"
- )
- return shape
-
-
-def place_servo(shape: build123d.Shape, transform: tuple[float, ...]) -> build123d.Shape:
- return shape.moved(_transform_location(transform))
-
-
-def _planar_hole_centers(
- shape: build123d.Shape,
- *,
- axis: str,
- plane_coordinate: float,
-) -> list[tuple[float, float, float]]:
- """Inner circular wire centers on planar faces at the given axis plane.
-
- Returns (a, b, radius) where (a, b) are the in-plane coordinates: (x, y)
- for a Z-normal plane and (y, z) for an X-normal plane.
- """
- centers: list[tuple[float, float, float]] = []
- for face in shape.faces():
- if face.geom_type.name != "PLANE":
- continue
- face_center = face.center()
- coordinate = face_center.Z if axis == "z" else face_center.X
- if abs(coordinate - plane_coordinate) > 0.05:
- continue
- normal = face.normal_at(face_center)
- component = normal.Z if axis == "z" else normal.X
- if abs(abs(component) - 1.0) > 1e-3:
- continue
- wires = list(face.wires())
- if len(wires) < 2:
- continue
- outer = max(wires, key=lambda wire: abs(build123d.Face(wire).area))
- for wire in wires:
- if wire.is_same(outer):
- continue
- circle_edges = [edge for edge in wire.edges() if edge.geom_type.name == "CIRCLE"]
- if not circle_edges:
- continue
- center = build123d.Face(wire).center()
- radius = max(edge.radius for edge in circle_edges)
- if axis == "z":
- centers.append((center.X, center.Y, radius))
- else:
- centers.append((center.Y, center.Z, radius))
- return centers
-
-
-def _verify_holes(
- found: list[tuple[float, float, float]],
- *,
- expected: tuple[tuple[float, float], ...],
- radius: float,
- label: str,
-) -> None:
- for expected_a, expected_b in expected:
- if not any(
- abs(a - expected_a) <= HOLE_MATCH_TOLERANCE_MM
- and abs(b - expected_b) <= HOLE_MATCH_TOLERANCE_MM
- and abs(found_radius - radius) <= HOLE_MATCH_TOLERANCE_MM
- for a, b, found_radius in found
- ):
- raise RuntimeError(
- f"Placed STS3250 is missing an expected {label} hole at "
- f"({expected_a:.3f}, {expected_b:.3f}); found {found!r}"
- )
-
-
-def verify_bottom_servo_mount_holes(placed_servo: build123d.Shape) -> None:
- _verify_holes(
- _planar_hole_centers(placed_servo, axis="z", plane_coordinate=BOTTOM_FACE_Z_MM),
- expected=BOTTOM_SERVO_MOUNT_HOLES_XY_MM,
- radius=SERVO_MOUNT_HOLE_RADIUS_MM,
- label="bottom-servo case-bottom",
- )
-
-
-def verify_top_servo_horn_holes(placed_servo: build123d.Shape, *, side: float) -> None:
- _verify_holes(
- _planar_hole_centers(placed_servo, axis="x", plane_coordinate=side * HORN_HALF_SPAN_MM),
- expected=HORN_SCREW_HOLES_YZ_MM,
- radius=SERVO_HORN_SCREW_HOLE_RADIUS_MM,
- label=f"horn-face (side {side:+.0f})",
- )
-
-
-def verify_top_servo_case_holes(
- placed_servo: build123d.Shape,
- *,
- case_span_centering_offset_mm: float = CASE_SPAN_CENTERING_OFFSET_MM,
-) -> None:
- _verify_holes(
- _planar_hole_centers(
- placed_servo,
- axis="x",
- plane_coordinate=SERVO_CASE_BOTTOM_LOCAL_Y_MM + case_span_centering_offset_mm,
- ),
- expected=CASE_FLUSH_HOLES_YZ_MM,
- radius=SERVO_MOUNT_HOLE_RADIUS_MM,
- label="case-bottom-face",
- )
- _verify_holes(
- _planar_hole_centers(
- placed_servo,
- axis="x",
- plane_coordinate=SERVO_CASE_TOP_LOCAL_Y_MM + case_span_centering_offset_mm,
- ),
- expected=CASE_OFFSET_HOLES_YZ_MM,
- radius=SERVO_MOUNT_HOLE_RADIUS_MM,
- label="case-top-face",
- )
-
-
-def verify_no_interference(
- bracket: build123d.Shape,
- placed_servo: build123d.Shape,
- *,
- label: str,
-) -> float:
- volume = placed_servo.intersect(bracket).volume
- if volume > INTERFERENCE_VOLUME_LIMIT_MM3:
- raise RuntimeError(f"Bracket intersects {label} by {volume:.6f} mm^3")
- return volume
-
-
-def placed_link_servos_horn() -> tuple[build123d.Shape, build123d.Shape]:
- top = place_servo(_load_servo_shape(SERVO_STEP), TOP_SERVO_HORN_TRANSFORM)
- bottom = place_servo(_load_servo_shape(SERVO_NO_REAR_HORN_STEP), BOTTOM_SERVO_TRANSFORM)
- verify_top_servo_horn_holes(top, side=1.0)
- verify_top_servo_horn_holes(top, side=-1.0)
- verify_bottom_servo_mount_holes(bottom)
- return top, bottom
-
-
-def placed_link_servos_case(
- *,
- case_span_centering_offset_mm: float = CASE_SPAN_CENTERING_OFFSET_MM,
-) -> tuple[build123d.Shape, build123d.Shape]:
- top = place_servo(
- _load_servo_shape(SERVO_STEP),
- top_servo_case_transform(case_span_centering_offset_mm),
- )
- bottom = place_servo(_load_servo_shape(SERVO_NO_REAR_HORN_STEP), BOTTOM_SERVO_TRANSFORM)
- verify_top_servo_case_holes(
- top,
- case_span_centering_offset_mm=case_span_centering_offset_mm,
- )
- verify_bottom_servo_mount_holes(bottom)
- return top, bottom
-
-
-def horn_plate(*, side: float, z_min: float = SHELF_BOTTOM_Z_MM) -> build123d.Shape:
- """Vertical horn plate for one side: a sheet panel bolted to the horn
- face at X = side * 18.3, carrying the four 7 mm-circle screw holes and
- a center clearance hole on the pitch axis."""
- x_inner = side * HORN_PLATE_INNER_X_MM
- x_outer = side * HORN_PLATE_OUTER_X_MM
- plate: build123d.Shape = make_box(
- x_min=min(x_inner, x_outer),
- x_max=max(x_inner, x_outer),
- y_min=-PLATE_HALF_SPAN_MM,
- y_max=PLATE_HALF_SPAN_MM,
- z_min=z_min,
- z_max=HORN_PLATE_TOP_Z_MM,
- )
- cut_x_min = min(x_inner, x_outer) - 2.0
- cut_x_max = max(x_inner, x_outer) + 2.0
- for hole_y, hole_z in HORN_SCREW_HOLES_YZ_MM:
- plate = plate.cut(
- make_x_cylinder(
- y=hole_y,
- z=hole_z,
- radius=SERVO_HORN_SCREW_HOLE_RADIUS_MM,
- x_min=cut_x_min,
- x_max=cut_x_max,
- )
- )
- # The rear (-X) side needs a larger center hole: the case's rear
- # journal/screw stub protrudes 0.8 mm past the rear horn face, through
- # the plate plane. The output (+X) side only needs access to the horn's
- # center screw.
- center_clearance_radius = (
- REAR_JOURNAL_CLEARANCE_RADIUS_MM if side < 0.0 else SERVO_HORN_SCREW_HOLE_RADIUS_MM
- )
- plate = plate.cut(
- make_x_cylinder(
- y=0.0,
- z=TOP_PIVOT_Z_MM,
- radius=center_clearance_radius,
- x_min=cut_x_min,
- x_max=cut_x_max,
- )
- )
- return plate
diff --git a/models/robots/tom/v2/parts/link_standoff_m3_35.py b/models/robots/tom/v2/parts/link_standoff_m3_35.py
deleted file mode 100644
index 82521fea..00000000
--- a/models/robots/tom/v2/parts/link_standoff_m3_35.py
+++ /dev/null
@@ -1,92 +0,0 @@
-#!/usr/bin/env python3
-"""
-35 mm M3 female-female round aluminum spacer for the tom v2 link bracket pair.
-
-The part is authored centered on the link frame Y axis so assemblies can place
-it by translating to the bracket web hole center. The simplified thread is a
-continuous M3 minor-diameter bore. Outside dimensions match the MECCANIXITY
-M3x35 round aluminum female-threaded spacer: 5 mm OD, 35 mm length.
-"""
-
-from __future__ import annotations
-
-import os
-import sys
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parent
-if str(V2_DIR) not in sys.path:
- sys.path.insert(0, str(V2_DIR))
-
-import build123d
-
-import link_common as lc
-
-
-PART_NAME = Path(__file__).stem
-
-STANDOFF_LENGTH_MM = float(os.environ.get("TOM_V2_LINK_STANDOFF_LENGTH_MM", "35.0"))
-ROUND_OUTER_DIAMETER_MM = float(os.environ.get("TOM_V2_LINK_STANDOFF_OD_MM", "5.0"))
-M3_THREAD_MINOR_RADIUS_MM = float(os.environ.get("TOM_V2_LINK_STANDOFF_THREAD_MINOR_RADIUS_MM", "1.25"))
-END_ENTRY_RADIUS_MM = float(os.environ.get("TOM_V2_LINK_STANDOFF_THREAD_ENTRY_RADIUS_MM", "1.65"))
-END_ENTRY_DEPTH_MM = 1.2
-CUT_EXTENSION_MM = 1.0
-SILVER_ALUMINUM_COLOR = build123d.Color(0.78, 0.80, 0.82, 1.0)
-
-
-def build_step() -> build123d.Shape:
- if STANDOFF_LENGTH_MM <= 0.0:
- raise ValueError("TOM_V2_LINK_STANDOFF_LENGTH_MM must be positive")
- if ROUND_OUTER_DIAMETER_MM <= 2.0 * END_ENTRY_RADIUS_MM:
- raise ValueError("Round body OD is too small for the requested M3 thread entry")
-
- body: build123d.Shape = lc.make_y_cylinder(
- x=0.0,
- z=0.0,
- radius=0.5 * ROUND_OUTER_DIAMETER_MM,
- y_min=-0.5 * STANDOFF_LENGTH_MM,
- y_max=0.5 * STANDOFF_LENGTH_MM,
- )
- body = body.cut(
- lc.make_y_cylinder(
- x=0.0,
- z=0.0,
- radius=M3_THREAD_MINOR_RADIUS_MM,
- y_min=-0.5 * STANDOFF_LENGTH_MM - CUT_EXTENSION_MM,
- y_max=0.5 * STANDOFF_LENGTH_MM + CUT_EXTENSION_MM,
- )
- )
- for end_y in (-0.5 * STANDOFF_LENGTH_MM, 0.5 * STANDOFF_LENGTH_MM - END_ENTRY_DEPTH_MM):
- body = body.cut(
- lc.make_y_cylinder(
- x=0.0,
- z=0.0,
- radius=END_ENTRY_RADIUS_MM,
- y_min=end_y - CUT_EXTENSION_MM,
- y_max=end_y + END_ENTRY_DEPTH_MM + CUT_EXTENSION_MM,
- )
- )
-
- solids = body.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one standoff solid, found {len(solids)}")
-
- body.label = PART_NAME
- body.color = SILVER_ALUMINUM_COLOR
- bb = body.bounding_box()
- print(
- "M3 female-female round aluminum link spacer "
- f"length={bb.size.Y:.3f} mm, outer_diameter={ROUND_OUTER_DIAMETER_MM:.3f} mm, "
- f"thread_minor_diameter={2.0 * M3_THREAD_MINOR_RADIUS_MM:.3f} mm"
- )
- return body
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/parts/link_standoff_m3_35.step b/models/robots/tom/v2/parts/link_standoff_m3_35.step
deleted file mode 100644
index 42f4cc27..00000000
--- a/models/robots/tom/v2/parts/link_standoff_m3_35.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:30b1c634c4891c04cb96ae03415da18a2e0cc2bd17f4d1db56bd00122af9289f
-size 18551
diff --git a/models/robots/tom/v2/parts/servo_end_mount.py b/models/robots/tom/v2/parts/servo_end_mount.py
deleted file mode 100644
index 8528be2a..00000000
--- a/models/robots/tom/v2/parts/servo_end_mount.py
+++ /dev/null
@@ -1,1719 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate the localized end mount.
-
-The part is authored in the imported STS3250 local frame so assemblies can place
-it with the same transform as the reference servo geometry.
-
-Usage:
- python STEP/servo_end_mount.py
-"""
-
-from __future__ import annotations
-
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-# Keep CAD library caches inside the workspace to avoid permission issues.
-TOM_DIR = Path(__file__).resolve().parents[2]
-V2_DIR = Path(__file__).resolve().parents[1]
-_CACHE_HOME = V2_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import ezdxf
-import build123d
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.materials import GRAY_ALUMINUM_COLOR
-from robot_common.step_import import import_as_shape
-import dxf_topology
-
-
-CAD_DIR = Path(__file__).resolve().parent
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Servo End Mount"
-
-SERVO_STEP = V2_DIR / "parts" / "imports" / "sts3250.step"
-
-
-def _env_float(name: str, default: float) -> float:
- value = os.environ.get(name)
- if value is None:
- return default
- try:
- parsed = float(value)
- except ValueError as exc:
- raise ValueError(f"{name} must be a number, got {value!r}") from exc
- if parsed <= 0.0:
- raise ValueError(f"{name} must be positive, got {parsed!r}")
- return parsed
-
-
-def _env_nonnegative_float(name: str, default: float) -> float:
- value = os.environ.get(name)
- if value is None:
- return default
- try:
- parsed = float(value)
- except ValueError as exc:
- raise ValueError(f"{name} must be a number, got {value!r}") from exc
- if parsed < 0.0:
- raise ValueError(f"{name} must be non-negative, got {parsed!r}")
- return parsed
-
-
-def front_horn_mount_face_center_local_mm() -> tuple[float, float, float]:
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {SERVO_STEP}")
- servo_shape = import_as_shape(SERVO_STEP)
- layout = _build_layout(servo_shape, include_top_center_bridge=True)
- return (
- layout.bracket_face_outer_x,
- layout.front_face_center_y,
- 0.0,
- )
-
-
-SENDCUTSEND_MIN_BEND_LINE_EDGE_CLEARANCE_MM = 25.4 * 0.255
-SENDCUTSEND_SHEET_THICKNESS_MM = _env_float("TOM_V2_SHEET_THICKNESS_MM", 25.4 * 0.063)
-CENTER_BRIDGE_BEND_LINE_EDGE_BUFFER_MM = 25.4 * 0.010
-CENTER_BRIDGE_FLANGE_LENGTH_EXTENSION_MM = _env_nonnegative_float(
- "TOM_V2_SERVO_END_MOUNT_CENTER_BRIDGE_FLANGE_LENGTH_EXTENSION_MM",
- 7.9,
-)
-CENTER_BRIDGE_SIDE_FACE_LENGTH_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_CENTER_BRIDGE_SIDE_FACE_LENGTH_MM",
- 8.0,
-)
-CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM = (
- SENDCUTSEND_MIN_BEND_LINE_EDGE_CLEARANCE_MM
- + CENTER_BRIDGE_BEND_LINE_EDGE_BUFFER_MM
- + CENTER_BRIDGE_FLANGE_LENGTH_EXTENSION_MM
-)
-SENDCUTSEND_CENTER_BRIDGE_MIN_AFTER_BEND_MM = 25.4 * 0.303
-CENTER_BRIDGE_BEND_EDGE_DISTANCE_BUFFER_MM = 0.035
-CENTER_BRIDGE_BEND_EDGE_DISTANCE_TARGET_MM = (
- SENDCUTSEND_CENTER_BRIDGE_MIN_AFTER_BEND_MM
- + CENTER_BRIDGE_BEND_EDGE_DISTANCE_BUFFER_MM
-)
-BRACKET_FACE_CLEARANCE_MM = (
- CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM
- - SENDCUTSEND_SHEET_THICKNESS_MM
-)
-SENDCUTSEND_REFERENCE_SHEET_THICKNESS_MM = 25.4 * 0.080
-SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM = 25.4 * 0.035
-SENDCUTSEND_K_FACTOR = 0.42
-SENDCUTSEND_BEND_DEDUCTION_90_MM = 25.4 * 0.096
-SENDCUTSEND_DIE_WIDTH_MM = 25.4 * 0.472
-SENDCUTSEND_HALF_DIE_WIDTH_MM = 0.5 * SENDCUTSEND_DIE_WIDTH_MM
-SENDCUTSEND_MIN_FLANGE_FLAT_MM = SENDCUTSEND_MIN_BEND_LINE_EDGE_CLEARANCE_MM
-SENDCUTSEND_MIN_FLANGE_FORMED_MM = (
- 25.4 * 0.303
-)
-SENDCUTSEND_BEND_RELIEF_DEPTH_MM = 25.4 * 0.118
-SENDCUTSEND_MIN_CORNER_RELIEF_DISTANCE_MM = 25.4 * 0.030
-SENDCUTSEND_MIN_ANODIZE_SHORTEST_DIM_MM = 25.4
-BEND_DIE_REGION_TOLERANCE_MM = 0.1
-TOPOLOGY_FLAT_PANEL_JOIN_TOLERANCE_MM = 0.02
-# Display the formed bracket with sharp 90-degree bends. The SendCutSend bend
-# allowance/radius constants above still drive the flat-pattern math.
-BEND_OUTER_RADIUS_MM = 0.0
-BEND_INNER_RADIUS_MM = 0.0
-FLANGE_FREE_CORNER_RADIUS_MM = 1.0
-FLANGE_FREE_CORNER_SAMPLE_COUNT = 8
-YOKE_MATCHED_SLOT_WIDTH_MM = 3.0
-YOKE_MATCHED_SLOT_LENGTH_MM = 13.0
-SLOT_WIDTH_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_SLOT_WIDTH_MM",
- YOKE_MATCHED_SLOT_WIDTH_MM,
-)
-SLOT_LENGTH_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_SLOT_LENGTH_MM",
- YOKE_MATCHED_SLOT_LENGTH_MM,
-)
-SLOT_SIDE_END_GAP_MM = _env_float("TOM_V2_SERVO_END_MOUNT_SLOT_SIDE_END_GAP_MM", 4.0)
-SLOT_EDGE_TO_BEND_MM = _env_float("TOM_V2_SERVO_END_MOUNT_SLOT_EDGE_TO_BEND_MM", 6.0)
-SLOT_CENTER_BRIDGE_WEB_MIN_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_SLOT_CENTER_BRIDGE_WEB_MIN_MM",
- 2.0,
-)
-# Keep the servo-hole axes fixed; the default model seats the wrap directly
-# against the servo faces unless an environment override adds clearance.
-MOUNT_PLANE_CLEARANCE_MM = _env_float("TOM_V2_SERVO_END_MOUNT_WRAP_CLEARANCE_MM", 0.0)
-TOP_MOUNT_PLANE_CLEARANCE_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_TOP_CLEARANCE_MM",
- MOUNT_PLANE_CLEARANCE_MM,
-)
-BOTTOM_MOUNT_PLANE_CLEARANCE_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_BOTTOM_CLEARANCE_MM",
- MOUNT_PLANE_CLEARANCE_MM,
-)
-SIDE_WRAP_CLEARANCE_MM = _env_nonnegative_float("TOM_V2_SERVO_END_MOUNT_SIDE_CLEARANCE_MM", 0.0)
-TOP_CENTER_BRIDGE_SERVO_END_CLEARANCE_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_CENTER_BRIDGE_END_CLEARANCE_MM",
- 1.0,
-)
-TOP_CENTER_RELIEF_SIDE_CLEARANCE_MM = _env_float(
- "TOM_V2_SERVO_END_MOUNT_CENTER_RELIEF_SIDE_CLEARANCE_MM",
- 0.0,
-)
-FLANGE_LENGTH_EXTENSION_MM = _env_nonnegative_float("TOM_V2_SERVO_END_MOUNT_FLANGE_EXTENSION_MM", 0.0)
-TOP_FLANGE_LENGTH_EXTENSION_MM = _env_nonnegative_float(
- "TOM_V2_SERVO_END_MOUNT_TOP_FLANGE_EXTENSION_MM",
- FLANGE_LENGTH_EXTENSION_MM,
-)
-BOTTOM_FLANGE_LENGTH_EXTENSION_MM = _env_nonnegative_float(
- "TOM_V2_SERVO_END_MOUNT_BOTTOM_FLANGE_EXTENSION_MM",
- FLANGE_LENGTH_EXTENSION_MM,
-)
-MOUNT_HOLE_EDGE_X_WEB_MM = 1.55
-MOUNT_HOLE_OUTBOARD_Z_WEB_MM = 2.15
-MOUNT_HOLE_INBOARD_Z_WEB_MM = 2.15
-MOUNT_HOLE_TRIMMED_OUTBOARD_Z_WEB_WARN_MM = 1.0
-FRONT_HORN_SCREW_CIRCLE_RADIUS_MM = 7.0
-FRONT_HORN_M3_CLEARANCE_RADIUS_MM = 1.7
-FRONT_HORN_CENTER_CLEARANCE_RADIUS_MM = 3.25
-CUT_EXTENSION_MM = 2.0
-MAX_FACE_TARGET_ERROR_MM = 1.0
-FACE_TARGET_CENTERS_MM: dict[str, tuple[float, float, float]] = {
- "end_face": (9.61, -7.65, 0.0),
- "end_wrap_neg": (8.843, -7.65, -11.593),
- "end_wrap_pos": (8.843, -7.65, 11.593),
- "upper_top_neg": (-6.561, 6.4, -9.484),
- "upper_top_pos": (-6.561, 6.4, 9.484),
- "main_bottom": (-0.881, -25.6, 0.0),
-}
-@dataclass(frozen=True)
-class BracketLayout:
- z_min: float
- z_max: float
- top_holes: tuple[tuple[build123d.Vector, float], ...]
- bottom_holes: tuple[tuple[build123d.Vector, float], ...]
- top_tab_x_min: float
- bottom_tab_x_min: float
- bracket_face_inner_x: float
- bracket_face_outer_x: float
- top_tab_y_min: float
- top_tab_y_max: float
- bottom_tab_y_min: float
- bottom_tab_y_max: float
- tab_bands: tuple[tuple[float, float], ...]
- bend_bands: tuple[tuple[float, float], ...]
- center_bridge_x_min: float | None
- front_face_center_y: float
- outer_flush_gap: float
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- top_flat_length_mm: float
- web_flat_start_mm: float
- web_flat_end_mm: float
- bottom_flat_start_mm: float
- bend_line_positions_mm: tuple[float, float]
- bend_line_segments_mm: tuple[tuple[float, float, float], ...]
- cut_circles: tuple[tuple[float, float, float], ...]
- cut_segments: tuple[tuple[str, tuple[tuple[float, float], ...]], ...]
-
-
-def _geom_type_name(shape: build123d.Shape) -> str:
- geom_type = shape.geom_type
- return geom_type.name if hasattr(geom_type, "name") else str(geom_type)
-
-
-def _face_from_wire(
- exterior: build123d.Wire,
- interior_wires: list[build123d.Wire] | None = None,
-) -> build123d.Face:
- holes = list(interior_wires or [])
- return build123d.Face(exterior, holes) if holes else build123d.Face(exterior)
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _vector_to_tuple(vector: build123d.Vector) -> tuple[float, float, float]:
- return (vector.X, vector.Y, vector.Z)
-
-
-def _make_box(*, x_min: float, x_max: float, y_min: float, y_max: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _slot_profile_points(
- *,
- center_x: float,
- center_y: float,
- length: float,
- width: float,
- segments_per_cap: int = 12,
-) -> list[tuple[float, float]]:
- radius = 0.5 * width
- half_straight = 0.5 * length - radius
- bottom_y = center_y - half_straight
- top_y = center_y + half_straight
-
- points: list[tuple[float, float]] = []
- for index in range(segments_per_cap + 1):
- angle = 0.0 + (180.0 * index / segments_per_cap)
- points.append(
- (
- center_x + radius * math.cos(math.radians(angle)),
- top_y + radius * math.sin(math.radians(angle)),
- )
- )
- for index in range(segments_per_cap + 1):
- angle = 180.0 + (180.0 * index / segments_per_cap)
- points.append(
- (
- center_x + radius * math.cos(math.radians(angle)),
- bottom_y + radius * math.sin(math.radians(angle)),
- )
- )
- return points
-
-
-def _z_slot_cut(
- *,
- center_x: float,
- center_z: float,
- length: float,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- radius = 0.5 * SLOT_WIDTH_MM
- half_straight = 0.5 * length - radius
- y_start = y_min - CUT_EXTENSION_MM
- y_height = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- body: build123d.Shape = _make_box(
- x_min=center_x - radius,
- x_max=center_x + radius,
- y_min=y_start,
- y_max=y_start + y_height,
- z_min=center_z - half_straight,
- z_max=center_z + half_straight,
- )
- for end_z in (center_z - half_straight, center_z + half_straight):
- cap = _make_cylinder_along(
- radius=radius,
- height=y_height,
- origin=build123d.Vector(center_x, y_start, end_z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- body = body.fuse(cap)
- return body
-
-
-def _slot_length(layout: BracketLayout) -> float:
- available_length = (layout.z_max - layout.z_min) - (2.0 * SLOT_SIDE_END_GAP_MM)
- if SLOT_LENGTH_MM > available_length + 1e-6:
- raise RuntimeError(
- "Servo end mount slot does not fit across the flange width with the "
- "configured end gaps: "
- f"{SLOT_LENGTH_MM:.3f} mm > {available_length:.3f} mm"
- )
- if SLOT_LENGTH_MM <= SLOT_WIDTH_MM:
- raise RuntimeError(
- "Servo end mount slot does not fit across the flange width: "
- f"{SLOT_LENGTH_MM:.3f} mm <= {SLOT_WIDTH_MM:.3f} mm"
- )
- return SLOT_LENGTH_MM
-
-
-def _slot_center_x(layout: BracketLayout) -> float:
- return layout.bracket_face_inner_x - SLOT_EDGE_TO_BEND_MM - (0.5 * SLOT_WIDTH_MM)
-
-
-def _slot_specs(layout: BracketLayout) -> tuple[tuple[str, float, float, float], ...]:
- center_x = _slot_center_x(layout)
- center_z = 0.5 * (layout.z_min + layout.z_max)
- length = _slot_length(layout)
- return (
- ("top", center_x, center_z, length),
- ("bottom", center_x, center_z, length),
- )
-
-
-def _cut_slots(shape: build123d.Shape, layout: BracketLayout) -> build123d.Shape:
- for name, center_x, center_z, length in _slot_specs(layout):
- if name == "top":
- y_min = layout.top_tab_y_min
- y_max = layout.top_tab_y_max
- else:
- y_min = layout.bottom_tab_y_min
- y_max = layout.bottom_tab_y_max
- shape = shape.cut(
- _z_slot_cut(
- center_x=center_x,
- center_z=center_z,
- length=length,
- y_min=y_min,
- y_max=y_max,
- )
- )
- return shape
-
-
-def _slot_clearance_metrics(layout: BracketLayout) -> dict[str, float]:
- specs = _slot_specs(layout)
- min_slot_edge_to_bend = min(
- layout.bracket_face_inner_x - (center_x + (0.5 * SLOT_WIDTH_MM))
- for _name, center_x, _center_z, _length in specs
- )
- min_side_end_gap = min(
- min(
- (center_z - (0.5 * length)) - layout.z_min,
- layout.z_max - (center_z + (0.5 * length)),
- )
- for _name, _center_x, center_z, length in specs
- )
- min_slot_to_mount_hole_x = min(
- abs(center.X - _slot_center_x(layout)) - (radius + (0.5 * SLOT_WIDTH_MM))
- for center, radius in [*layout.top_holes, *layout.bottom_holes]
- )
- center_bridge_margin = (
- (_slot_center_x(layout) - (0.5 * SLOT_WIDTH_MM))
- - (layout.center_bridge_x_min or layout.bracket_face_inner_x)
- )
- return {
- "slot_side_end_gap_min_mm": min_side_end_gap,
- "slot_to_mount_hole_x_min_mm": min_slot_to_mount_hole_x,
- "slot_center_bridge_margin_mm": center_bridge_margin,
- "slot_edge_to_bend_min_mm": min_slot_edge_to_bend,
- "slot_edge_to_bend_leeway_mm": min_slot_edge_to_bend - SENDCUTSEND_HALF_DIE_WIDTH_MM,
- }
-
-
-def _validate_slot_clearances(layout: BracketLayout) -> None:
- metrics = _slot_clearance_metrics(layout)
- if metrics["slot_edge_to_bend_leeway_mm"] < -1e-6:
- raise RuntimeError(
- "Slot is too close to the bend for the SendCutSend die clearance: "
- f"{metrics['slot_edge_to_bend_min_mm']:.3f} mm < {SENDCUTSEND_HALF_DIE_WIDTH_MM:.3f} mm"
- )
- if metrics["slot_center_bridge_margin_mm"] + 1e-6 < SLOT_CENTER_BRIDGE_WEB_MIN_MM:
- raise RuntimeError(
- "Slot is not sufficiently supported by the center bridge: "
- f"{metrics['slot_center_bridge_margin_mm']:.3f} mm < "
- f"{SLOT_CENTER_BRIDGE_WEB_MIN_MM:.3f} mm"
- )
-
-
-def _assemble_wire(edges: list[build123d.Edge]) -> build123d.Wire:
- wires = list(build123d.Wire.combine(edges))
- if len(wires) != 1:
- raise RuntimeError(f"Expected a single assembled wire, found {len(wires)}")
- return wires[0]
-
-
-def _arc_angles_xz(
- *,
- center_x: float,
- center_z: float,
- start_point: tuple[float, float],
- end_point: tuple[float, float],
-) -> tuple[float, float, build123d.AngularDirection]:
- start_angle = math.degrees(math.atan2(start_point[1] - center_z, start_point[0] - center_x))
- end_angle = math.degrees(math.atan2(end_point[1] - center_z, end_point[0] - center_x))
- ccw_span = (end_angle - start_angle) % 360.0
- if ccw_span <= 180.0:
- return start_angle, end_angle, build123d.AngularDirection.COUNTER_CLOCKWISE
- return start_angle, end_angle, build123d.AngularDirection.CLOCKWISE
-
-
-def _make_arc_edge_xz(
- *,
- center_x: float,
- center_z: float,
- radius: float,
- start_point: tuple[float, float],
- end_point: tuple[float, float],
-) -> build123d.Edge:
- start_angle, end_angle, angular_direction = _arc_angles_xz(
- center_x=center_x,
- center_z=center_z,
- start_point=start_point,
- end_point=end_point,
- )
- return build123d.Edge.make_circle(
- radius,
- plane=build123d.Plane(origin=(center_x, 0.0, center_z), x_dir=(1.0, 0.0, 0.0), z_dir=(0.0, -1.0, 0.0)),
- start_angle=start_angle,
- end_angle=end_angle,
- angular_direction=angular_direction,
- )
-
-
-def _make_wire_prism_y(
- *,
- edges_xz: list[build123d.Edge],
- y_min: float,
- y_max: float,
-) -> build123d.Solid:
- face = _face_from_wire(_assemble_wire(edges_xz))
- solid = build123d.Solid.extrude(face, build123d.Vector(0.0, y_max - y_min, 0.0))
- return solid.translate((0.0, y_min, 0.0))
-
-
-def _make_rounded_flange_tab(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
- radius: float,
-) -> build123d.Shape:
- radius = min(radius, 0.5 * (z_max - z_min), x_max - x_min)
- if radius <= 1e-6:
- return _make_box(x_min=x_min, x_max=x_max, y_min=y_min, y_max=y_max, z_min=z_min, z_max=z_max)
-
- lower_tangent = (x_min + radius, z_min)
- right_lower = (x_max, z_min)
- right_upper = (x_max, z_max)
- upper_tangent = (x_min + radius, z_max)
- left_upper = (x_min, z_max - radius)
- left_lower = (x_min, z_min + radius)
-
- return _make_wire_prism_y(
- edges_xz=[
- build123d.Edge.make_line((lower_tangent[0], 0.0, lower_tangent[1]), (right_lower[0], 0.0, right_lower[1])),
- build123d.Edge.make_line((right_lower[0], 0.0, right_lower[1]), (right_upper[0], 0.0, right_upper[1])),
- build123d.Edge.make_line((right_upper[0], 0.0, right_upper[1]), (upper_tangent[0], 0.0, upper_tangent[1])),
- _make_arc_edge_xz(
- center_x=x_min + radius,
- center_z=z_max - radius,
- radius=radius,
- start_point=upper_tangent,
- end_point=left_upper,
- ),
- build123d.Edge.make_line((left_upper[0], 0.0, left_upper[1]), (left_lower[0], 0.0, left_lower[1])),
- _make_arc_edge_xz(
- center_x=x_min + radius,
- center_z=z_min + radius,
- radius=radius,
- start_point=left_lower,
- end_point=lower_tangent,
- ),
- ],
- y_min=y_min,
- y_max=y_max,
- )
-
-
-def _find_face_near(shape: build123d.Shape, target: tuple[float, float, float], *, geom_type: str | None = None) -> build123d.Face:
- target_vec = build123d.Vector(*target)
- best: tuple[float, build123d.Face] | None = None
- for face in shape.faces():
- if geom_type is not None and _geom_type_name(face) != geom_type:
- continue
- dist = face.center().sub(target_vec).length
- if best is None or dist < best[0]:
- best = (dist, face)
-
- if best is None:
- raise RuntimeError(f"No planar face found near {target}")
- if best[0] > MAX_FACE_TARGET_ERROR_MM:
- raise RuntimeError(
- f"Resolved face near {target} was {best[0]:.3f} mm away, which exceeds the tolerance"
- )
- return best[1]
-
-
-def _wire_area(wire: build123d.Wire) -> float:
- return abs(_face_from_wire(wire).area)
-
-
-def _outer_wire_and_inner_wires(face: build123d.Face) -> tuple[build123d.Wire, list[build123d.Wire]]:
- wires = list(face.wires())
- if not wires:
- raise RuntimeError("Face has no wires")
-
- outer_wire = max(wires, key=_wire_area)
- inner_wires = [wire for wire in wires if not wire.is_same(outer_wire)]
- return outer_wire, inner_wires
-
-
-def _extract_inner_hole_profiles(face: build123d.Face) -> list[tuple[build123d.Vector, float]]:
- _outer_wire, inner_wires = _outer_wire_and_inner_wires(face)
- profiles: list[tuple[build123d.Vector, float]] = []
- for wire in inner_wires:
- circle_edges = [edge for edge in wire.edges() if _geom_type_name(edge) == "CIRCLE"]
- if not circle_edges:
- continue
- center = _face_from_wire(wire).center()
- radius = max(edge.radius for edge in circle_edges)
- profiles.append((center, radius))
- return profiles
-
-
-def _select_near_end_holes(
- profiles: list[tuple[build123d.Vector, float]],
- *,
- count: int,
-) -> list[tuple[build123d.Vector, float]]:
- if len(profiles) < count:
- raise RuntimeError(f"Expected at least {count} mount holes, found {len(profiles)}")
-
- selected = sorted(profiles, key=lambda item: (item[0].X, abs(item[0].Z)), reverse=True)[:count]
- selected.sort(key=lambda item: item[0].Z)
- return selected
-
-
-def _cut_mount_holes(
- body: build123d.Shape,
- *,
- profiles: list[tuple[build123d.Vector, float]],
- start_y: float,
- direction_y: float,
-) -> build123d.Shape:
- hole_depth = SENDCUTSEND_SHEET_THICKNESS_MM + (2.0 * CUT_EXTENSION_MM)
- for center, radius in profiles:
- cutter = _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(center.X, start_y, center.Z),
- direction=build123d.Vector(0.0, direction_y, 0.0),
- )
- body = body.cut(cutter)
- return body
-
-
-def _front_horn_mount_hole_profiles(layout: BracketLayout) -> tuple[tuple[float, float, float], ...]:
- center_y = layout.front_face_center_y
- center_z = 0.0
- radius = FRONT_HORN_SCREW_CIRCLE_RADIUS_MM
- return (
- (center_y, center_z, FRONT_HORN_CENTER_CLEARANCE_RADIUS_MM),
- (center_y, center_z + radius, FRONT_HORN_M3_CLEARANCE_RADIUS_MM),
- (center_y, center_z - radius, FRONT_HORN_M3_CLEARANCE_RADIUS_MM),
- (center_y + radius, center_z, FRONT_HORN_M3_CLEARANCE_RADIUS_MM),
- (center_y - radius, center_z, FRONT_HORN_M3_CLEARANCE_RADIUS_MM),
- )
-
-
-def _cut_front_horn_mount_holes(body: build123d.Shape, *, layout: BracketLayout) -> build123d.Shape:
- hole_depth = SENDCUTSEND_SHEET_THICKNESS_MM + (2.0 * CUT_EXTENSION_MM)
- start_x = layout.bracket_face_outer_x + CUT_EXTENSION_MM
- for center_y, center_z, radius in _front_horn_mount_hole_profiles(layout):
- cutter = _make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(start_x, center_y, center_z),
- direction=build123d.Vector(-1.0, 0.0, 0.0),
- )
- body = body.cut(cutter)
- return body
-
-
-def _apply_bends_and_end_rounds(
- bracket: build123d.Shape,
- *,
- bracket_face_inner_x: float,
- bracket_face_outer_x: float,
- top_tab_x_min: float,
- bottom_tab_x_min: float,
- top_tab_y_min: float,
- top_tab_y_max: float,
- bottom_tab_y_min: float,
- bottom_tab_y_max: float,
- bend_bands: tuple[tuple[float, float], ...],
-) -> build123d.Shape:
- if BEND_INNER_RADIUS_MM < 0.0 or BEND_OUTER_RADIUS_MM < 0.0:
- raise ValueError("Bend radii must be >= 0")
- if BEND_INNER_RADIUS_MM == 0.0 and BEND_OUTER_RADIUS_MM == 0.0:
- return bracket
-
- def _long_z_edge_near(*, x: float, y: float, tolerance: float = 0.08) -> build123d.ShapeList:
- return bracket.edges().filter_by(build123d.Axis.Z).filter_by(
- lambda edge: abs(edge.center().X - x) <= tolerance
- and abs(edge.center().Y - y) <= tolerance
- and edge.length > 0.5 * (max(z_max - z_min for z_min, z_max in bend_bands))
- )
-
- inner_bend_edges = build123d.ShapeList()
- for bend_y in (top_tab_y_min, bottom_tab_y_max):
- inner_bend_edges.extend(_long_z_edge_near(x=bracket_face_inner_x, y=bend_y))
- if len(inner_bend_edges) != 2:
- raise RuntimeError(f"Expected two inside bend edges to fillet, found {len(inner_bend_edges)}")
-
- if BEND_INNER_RADIUS_MM > 0.0:
- bracket = bracket.fillet(BEND_INNER_RADIUS_MM, inner_bend_edges)
-
- def _outer_long_z_edge_near(*, x: float, y: float, tolerance: float = 0.65) -> build123d.ShapeList:
- return bracket.edges().filter_by(build123d.Axis.Z).filter_by(
- lambda edge: abs(edge.center().X - x) <= tolerance
- and abs(edge.center().Y - y) <= tolerance
- and edge.length > 0.5 * (max(z_max - z_min for z_min, z_max in bend_bands))
- )
-
- outer_bend_edges = build123d.ShapeList()
- for bend_y in (top_tab_y_max, bottom_tab_y_min):
- outer_bend_edges.extend(_outer_long_z_edge_near(x=bracket_face_outer_x, y=bend_y))
- if len(outer_bend_edges) != 2:
- raise RuntimeError(f"Expected two outside bend edges to fillet, found {len(outer_bend_edges)}")
-
- if BEND_OUTER_RADIUS_MM > 0.0:
- bracket = bracket.fillet(BEND_OUTER_RADIUS_MM, outer_bend_edges)
-
- return bracket
-
-
-def _min_mount_hole_distance_to_bend_line(
- profiles: list[tuple[build123d.Vector, float]],
- *,
- bend_line_x: float,
-) -> float:
- return min(abs(center.X - bend_line_x) for center, _radius in profiles)
-
-
-def _merge_z_bands(
- bands: list[tuple[float, float]] | tuple[tuple[float, float], ...],
- *,
- tolerance: float = 1e-6,
-) -> tuple[tuple[float, float], ...]:
- merged: list[tuple[float, float]] = []
- for start, end in sorted(bands, key=lambda band: band[0]):
- if end - start <= tolerance:
- continue
- if not merged or start > merged[-1][1] + tolerance:
- merged.append((start, end))
- continue
- merged[-1] = (merged[-1][0], max(merged[-1][1], end))
- return tuple(merged)
-
-
-def _build_layout(
- servo_shape: build123d.Shape,
- *,
- include_top_center_bridge: bool = True,
- validate_bend_rule: bool = True,
-) -> BracketLayout:
- faces = {
- "end_face": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_face"], geom_type="PLANE"),
- "end_wrap_neg": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_wrap_neg"]),
- "end_wrap_pos": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_wrap_pos"]),
- "upper_top_neg": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["upper_top_neg"], geom_type="PLANE"),
- "upper_top_pos": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["upper_top_pos"], geom_type="PLANE"),
- "main_bottom": _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["main_bottom"], geom_type="PLANE"),
- }
-
- servo_bb = servo_shape.bounding_box()
- end_face_bb = faces["end_face"].bounding_box()
- servo_z_center = 0.5 * (servo_bb.min.Z + servo_bb.max.Z)
- servo_half_width_z = 0.5 * (servo_bb.max.Z - servo_bb.min.Z)
- mount_half_width_z = servo_half_width_z + SIDE_WRAP_CLEARANCE_MM
- z_min = servo_z_center - mount_half_width_z
- z_max = servo_z_center + mount_half_width_z
-
- top_holes = _select_near_end_holes(_extract_inner_hole_profiles(faces["upper_top_neg"]), count=1)
- top_holes += _select_near_end_holes(_extract_inner_hole_profiles(faces["upper_top_pos"]), count=1)
- top_holes.sort(key=lambda item: item[0].Z)
-
- bottom_holes = _select_near_end_holes(_extract_inner_hole_profiles(faces["main_bottom"]), count=2)
-
- top_mount_y = sum(center.Y for center, _radius in top_holes) / len(top_holes)
- bottom_mount_y = sum(center.Y for center, _radius in bottom_holes) / len(bottom_holes)
- top_tab_y_min = top_mount_y + TOP_MOUNT_PLANE_CLEARANCE_MM
- top_tab_y_max = top_tab_y_min + SENDCUTSEND_SHEET_THICKNESS_MM
- bottom_tab_y_max = bottom_mount_y - BOTTOM_MOUNT_PLANE_CLEARANCE_MM
- bottom_tab_y_min = bottom_tab_y_max - SENDCUTSEND_SHEET_THICKNESS_MM
-
- side_profiles = {
- "neg": [top_holes[0], bottom_holes[0]],
- "pos": [top_holes[1], bottom_holes[1]],
- }
- tab_bands: list[tuple[float, float]] = []
- for top_profile, bottom_profile in side_profiles.values():
- profiles = (top_profile, bottom_profile)
- if sum(center.Z for center, _radius in profiles) < 0.0:
- z_band_min = min(center.Z - radius - MOUNT_HOLE_OUTBOARD_Z_WEB_MM for center, radius in profiles)
- z_band_max = max(center.Z + radius + MOUNT_HOLE_INBOARD_Z_WEB_MM for center, radius in profiles)
- else:
- z_band_min = min(center.Z - radius - MOUNT_HOLE_INBOARD_Z_WEB_MM for center, radius in profiles)
- z_band_max = max(center.Z + radius + MOUNT_HOLE_OUTBOARD_Z_WEB_MM for center, radius in profiles)
- z_band_min = max(z_band_min, z_min)
- z_band_max = min(z_band_max, z_max)
- tab_bands.append((z_band_min, z_band_max))
-
- sorted_tab_bands = sorted(tab_bands, key=lambda band: band[0])
- if include_top_center_bridge and len(sorted_tab_bands) >= 2:
- lower_z_min, lower_z_max = sorted_tab_bands[0]
- upper_z_min, upper_z_max = sorted_tab_bands[-1]
- adjusted_lower_z_max = lower_z_max - TOP_CENTER_RELIEF_SIDE_CLEARANCE_MM
- adjusted_upper_z_min = upper_z_min + TOP_CENTER_RELIEF_SIDE_CLEARANCE_MM
- if adjusted_lower_z_max <= lower_z_min or adjusted_upper_z_min >= upper_z_max:
- raise RuntimeError(
- "Top center relief side clearance consumes the mount tab bands: "
- f"clearance={TOP_CENTER_RELIEF_SIDE_CLEARANCE_MM:.3f} mm"
- )
- sorted_tab_bands = [
- (lower_z_min, adjusted_lower_z_max),
- *sorted_tab_bands[1:-1],
- (adjusted_upper_z_min, upper_z_max),
- ]
- bend_bands = _merge_z_bands(sorted_tab_bands)
-
- top_tab_x_min = (
- min(center.X - radius - MOUNT_HOLE_EDGE_X_WEB_MM for center, radius in top_holes)
- - TOP_FLANGE_LENGTH_EXTENSION_MM
- )
- bottom_tab_x_min = (
- min(center.X - radius - MOUNT_HOLE_EDGE_X_WEB_MM for center, radius in bottom_holes)
- - BOTTOM_FLANGE_LENGTH_EXTENSION_MM
- )
- side_face_target_center_bridge_x_min = (
- top_tab_x_min
- + FLANGE_FREE_CORNER_RADIUS_MM
- + CENTER_BRIDGE_SIDE_FACE_LENGTH_MM
- )
- base_bracket_face_outer_x = (
- end_face_bb.max.X
- + BRACKET_FACE_CLEARANCE_MM
- + SENDCUTSEND_SHEET_THICKNESS_MM
- )
- side_face_bracket_face_outer_x = (
- side_face_target_center_bridge_x_min
- + CENTER_BRIDGE_BEND_EDGE_DISTANCE_TARGET_MM
- )
- bracket_face_outer_x = max(base_bracket_face_outer_x, side_face_bracket_face_outer_x)
- bracket_face_inner_x = bracket_face_outer_x - SENDCUTSEND_SHEET_THICKNESS_MM
- center_bridge_x_min: float | None = None
- if include_top_center_bridge and len(sorted_tab_bands) >= 2:
- center_gap_z_min = sorted_tab_bands[0][1]
- center_gap_z_max = sorted_tab_bands[-1][0]
- if center_gap_z_max - center_gap_z_min > 1e-3:
- candidate_center_bridge_x_min = max(
- bracket_face_outer_x - CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM,
- top_tab_x_min,
- end_face_bb.max.X + TOP_CENTER_BRIDGE_SERVO_END_CLEARANCE_MM,
- side_face_target_center_bridge_x_min,
- )
- if candidate_center_bridge_x_min < bracket_face_outer_x - 1e-3:
- center_bridge_x_min = candidate_center_bridge_x_min
- bend_bands = _merge_z_bands((*sorted_tab_bands, (center_gap_z_min, center_gap_z_max)))
-
- min_hole_to_bend_line = min(
- _min_mount_hole_distance_to_bend_line(top_holes, bend_line_x=bracket_face_inner_x),
- _min_mount_hole_distance_to_bend_line(bottom_holes, bend_line_x=bracket_face_inner_x),
- )
- if (
- validate_bend_rule
- and min_hole_to_bend_line + BEND_DIE_REGION_TOLERANCE_MM < SENDCUTSEND_HALF_DIE_WIDTH_MM
- ):
- raise RuntimeError(
- "Mount holes are too close to the bend line for the configured sheet-metal bend rule: "
- f"{min_hole_to_bend_line:.3f} mm < {SENDCUTSEND_HALF_DIE_WIDTH_MM:.3f} mm"
- )
-
- front_face_center_y = 0.5 * (bottom_tab_y_min + top_tab_y_max)
- outer_flush_gap = min(
- min(
- z_max - (center.Z + radius) if center.Z >= 0.0 else (center.Z - radius) - z_min
- for center, radius in top_holes
- ),
- min(
- z_max - (center.Z + radius) if center.Z >= 0.0 else (center.Z - radius) - z_min
- for center, radius in bottom_holes
- ),
- )
- if outer_flush_gap <= 0.0:
- raise RuntimeError(f"Trimmed mount width cuts into a mounting hole: outboard web {outer_flush_gap:.3f} mm")
-
- return BracketLayout(
- z_min=z_min,
- z_max=z_max,
- top_holes=tuple(top_holes),
- bottom_holes=tuple(bottom_holes),
- top_tab_x_min=top_tab_x_min,
- bottom_tab_x_min=bottom_tab_x_min,
- bracket_face_inner_x=bracket_face_inner_x,
- bracket_face_outer_x=bracket_face_outer_x,
- top_tab_y_min=top_tab_y_min,
- top_tab_y_max=top_tab_y_max,
- bottom_tab_y_min=bottom_tab_y_min,
- bottom_tab_y_max=bottom_tab_y_max,
- tab_bands=tuple(sorted_tab_bands),
- bend_bands=bend_bands,
- center_bridge_x_min=center_bridge_x_min,
- front_face_center_y=front_face_center_y,
- outer_flush_gap=outer_flush_gap,
- )
-
-
-def build_bracket(
- servo_shape: build123d.Shape,
- *,
- include_top_center_bridge: bool = True,
- validate_bend_rule: bool = True,
-) -> tuple[build123d.Shape, BracketLayout]:
- layout = _build_layout(
- servo_shape,
- include_top_center_bridge=include_top_center_bridge,
- validate_bend_rule=validate_bend_rule,
- )
-
- bracket: build123d.Shape = _make_box(
- x_min=layout.bracket_face_inner_x,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.bottom_tab_y_min,
- y_max=layout.top_tab_y_max,
- z_min=layout.z_min,
- z_max=layout.z_max,
- )
-
- for z_band_min, z_band_max in layout.tab_bands:
- bracket = bracket.fuse(
- _make_rounded_flange_tab(
- x_min=layout.top_tab_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.top_tab_y_min,
- y_max=layout.top_tab_y_max,
- z_min=z_band_min,
- z_max=z_band_max,
- radius=FLANGE_FREE_CORNER_RADIUS_MM,
- )
- )
-
- if layout.center_bridge_x_min is not None and len(layout.tab_bands) >= 2:
- center_gap_z_min = layout.tab_bands[0][1]
- center_gap_z_max = layout.tab_bands[-1][0]
- bracket = bracket.fuse(
- _make_box(
- x_min=layout.center_bridge_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.top_tab_y_min,
- y_max=layout.top_tab_y_max,
- z_min=center_gap_z_min,
- z_max=center_gap_z_max,
- )
- )
-
- for z_band_min, z_band_max in layout.tab_bands:
- bracket = bracket.fuse(
- _make_rounded_flange_tab(
- x_min=layout.bottom_tab_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.bottom_tab_y_min,
- y_max=layout.bottom_tab_y_max,
- z_min=z_band_min,
- z_max=z_band_max,
- radius=FLANGE_FREE_CORNER_RADIUS_MM,
- )
- )
-
- if layout.center_bridge_x_min is not None and len(layout.tab_bands) >= 2:
- center_gap_z_min = layout.tab_bands[0][1]
- center_gap_z_max = layout.tab_bands[-1][0]
- bracket = bracket.fuse(
- _make_box(
- x_min=layout.center_bridge_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=layout.bottom_tab_y_min,
- y_max=layout.bottom_tab_y_max,
- z_min=center_gap_z_min,
- z_max=center_gap_z_max,
- )
- )
-
- bracket = _apply_bends_and_end_rounds(
- bracket,
- bracket_face_inner_x=layout.bracket_face_inner_x,
- bracket_face_outer_x=layout.bracket_face_outer_x,
- top_tab_x_min=layout.top_tab_x_min,
- bottom_tab_x_min=layout.bottom_tab_x_min,
- top_tab_y_min=layout.top_tab_y_min,
- top_tab_y_max=layout.top_tab_y_max,
- bottom_tab_y_min=layout.bottom_tab_y_min,
- bottom_tab_y_max=layout.bottom_tab_y_max,
- bend_bands=layout.bend_bands,
- )
-
- bracket = _cut_mount_holes(
- bracket,
- profiles=list(layout.top_holes),
- start_y=layout.top_tab_y_max + CUT_EXTENSION_MM,
- direction_y=-1.0,
- )
- bracket = _cut_mount_holes(
- bracket,
- profiles=list(layout.bottom_holes),
- start_y=layout.bottom_tab_y_min - CUT_EXTENSION_MM,
- direction_y=1.0,
- )
- bracket = _cut_front_horn_mount_holes(bracket, layout=layout)
-
- return bracket, layout
-
-
-def _sendcutsend_outside_setback_90_mm() -> float:
- return SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM + SENDCUTSEND_SHEET_THICKNESS_MM
-
-
-def _sendcutsend_bend_allowance_90_mm() -> float:
- return (2.0 * _sendcutsend_outside_setback_90_mm()) - SENDCUTSEND_BEND_DEDUCTION_90_MM
-
-
-def _validate_sendcutsend_bend_rule() -> None:
- bend_deduction_error = abs(
- SENDCUTSEND_BEND_DEDUCTION_90_MM
- - ((2.0 * _sendcutsend_outside_setback_90_mm()) - _sendcutsend_bend_allowance_90_mm())
- )
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def _min_flange_outside_length(layout: BracketLayout) -> float:
- return min(
- layout.bracket_face_outer_x - layout.top_tab_x_min,
- layout.bracket_face_outer_x - layout.bottom_tab_x_min,
- )
-
-
-def _supported_bend_fraction(layout: BracketLayout) -> float:
- bend_width = layout.z_max - layout.z_min
- if bend_width <= 0.0:
- return 0.0
- supported_width = sum(z_band_max - z_band_min for z_band_min, z_band_max in layout.bend_bands)
- return supported_width / bend_width
-
-
-def _min_bend_segment_length(layout: BracketLayout) -> float:
- return min(z_band_max - z_band_min for z_band_min, z_band_max in layout.bend_bands)
-
-
-def _center_bridge_z_range(layout: BracketLayout) -> tuple[float, float] | None:
- if layout.center_bridge_x_min is None or len(layout.tab_bands) < 2:
- return None
-
- z_min = layout.tab_bands[0][1]
- z_max = layout.tab_bands[-1][0]
- if z_max - z_min <= 1e-6:
- return None
- return z_min, z_max
-
-
-def _center_bridge_formed_length(layout: BracketLayout) -> float | None:
- if layout.center_bridge_x_min is None:
- return None
- return layout.bracket_face_inner_x - layout.center_bridge_x_min
-
-
-def _center_bridge_bend_edge_distance(layout: BracketLayout) -> float | None:
- if layout.center_bridge_x_min is None:
- return None
- return layout.bracket_face_outer_x - layout.center_bridge_x_min
-
-
-def _center_bridge_side_face_length(layout: BracketLayout) -> float | None:
- if layout.center_bridge_x_min is None:
- return None
- return layout.center_bridge_x_min - (layout.top_tab_x_min + FLANGE_FREE_CORNER_RADIUS_MM)
-
-
-def _center_bridge_flat_length(layout: BracketLayout, flat_pattern: FlatPattern) -> float | None:
- formed_length = _center_bridge_formed_length(layout)
- if formed_length is None:
- return None
-
- # Keep the flat-pattern edge at least the required distance from the drawn
- # bend line while preserving the formed center-bridge length in the 3D part.
- bend_line_clearance_flat_length = (
- CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM
- - (flat_pattern.bend_line_positions_mm[0] - flat_pattern.top_flat_length_mm)
- )
- return max(formed_length, bend_line_clearance_flat_length)
-
-
-def _center_bridge_flat_bend_line_to_edge_distance(layout: BracketLayout, flat_pattern: FlatPattern) -> float | None:
- flat_length = _center_bridge_flat_length(layout, flat_pattern)
- if flat_length is None:
- return None
- return flat_length + (flat_pattern.bend_line_positions_mm[0] - flat_pattern.top_flat_length_mm)
-
-
-def _build_flat_pattern(
- layout: BracketLayout,
-) -> FlatPattern:
- _validate_sendcutsend_bend_rule()
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- bend_allowance = _sendcutsend_bend_allowance_90_mm()
- top_outside_length = layout.bracket_face_outer_x - layout.top_tab_x_min
- bottom_outside_length = layout.bracket_face_outer_x - layout.bottom_tab_x_min
- top_flat_length = top_outside_length - outside_setback
- bottom_flat_length = bottom_outside_length - outside_setback
- if top_flat_length <= 0.0 or bottom_flat_length <= 0.0:
- raise RuntimeError(
- "Flat flange length implied by the bend rule is too short: "
- f"top={top_flat_length:.3f} mm, bottom={bottom_flat_length:.3f} mm"
- )
- flange_outside_min = _min_flange_outside_length(layout)
- flange_flat_min = flange_outside_min - outside_setback
- if flange_outside_min < SENDCUTSEND_MIN_FLANGE_FORMED_MM:
- raise RuntimeError(
- "Formed flange length is below the configured bend-rule minimum: "
- f"{flange_outside_min:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FORMED_MM:.3f} mm"
- )
- if flange_flat_min < SENDCUTSEND_MIN_FLANGE_FLAT_MM:
- raise RuntimeError(
- "Flat flange length is below the configured bend-rule minimum: "
- f"{flange_flat_min:.3f} mm < {SENDCUTSEND_MIN_FLANGE_FLAT_MM:.3f} mm"
- )
-
- top_web_tangent_y = layout.top_tab_y_min - SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
- bottom_web_tangent_y = layout.bottom_tab_y_max + SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM
- web_flat_length = top_web_tangent_y - bottom_web_tangent_y
- if web_flat_length <= 0.0:
- raise RuntimeError(f"Web flat length implied by the bend rule is too short: {web_flat_length:.3f} mm")
-
- web_flat_start = top_flat_length + bend_allowance
- web_flat_end = web_flat_start + web_flat_length
- bottom_flat_start = web_flat_end + bend_allowance
- total_length = bottom_flat_start + bottom_flat_length
- width = layout.z_max - layout.z_min
- top_bend_line_x = top_flat_length + (0.5 * bend_allowance)
- bottom_bend_line_x = web_flat_end + (0.5 * bend_allowance)
- bend_line_segments = (
- (top_bend_line_x, 0.0, width),
- (bottom_bend_line_x, 0.0, width),
- )
-
- cut_circles: list[tuple[float, float, float]] = []
- for center, radius in layout.top_holes:
- cut_circles.append(
- (
- center.X - layout.top_tab_x_min,
- center.Z - layout.z_min,
- radius,
- )
- )
- for center, radius in layout.bottom_holes:
- cut_circles.append(
- (
- total_length - (center.X - layout.bottom_tab_x_min),
- center.Z - layout.z_min,
- radius,
- )
- )
- for center_y, center_z, radius in _front_horn_mount_hole_profiles(layout):
- cut_circles.append(
- (
- web_flat_start + (top_web_tangent_y - center_y),
- center_z - layout.z_min,
- radius,
- )
- )
- flat_pattern = FlatPattern(
- total_length_mm=total_length,
- width_mm=width,
- top_flat_length_mm=top_flat_length,
- web_flat_start_mm=web_flat_start,
- web_flat_end_mm=web_flat_end,
- bottom_flat_start_mm=bottom_flat_start,
- bend_line_positions_mm=(top_bend_line_x, bottom_bend_line_x),
- bend_line_segments_mm=bend_line_segments,
- cut_circles=tuple(cut_circles),
- cut_segments=(),
- )
- center_bridge_flat_clearance = _center_bridge_flat_bend_line_to_edge_distance(layout, flat_pattern)
- if (
- center_bridge_flat_clearance is not None
- and center_bridge_flat_clearance + 1e-6 < CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM
- ):
- raise RuntimeError(
- "Top center bridge flat bend-line clearance is below the configured target: "
- f"{center_bridge_flat_clearance:.3f} mm < {CENTER_BRIDGE_BEND_LINE_EDGE_TARGET_MM:.3f} mm"
- )
- return flat_pattern
-
-
-def _flat_rectangles(layout: BracketLayout, flat_pattern: FlatPattern) -> tuple[tuple[float, float, float, float], ...]:
- rectangles: list[tuple[float, float, float, float]] = [
- (
- flat_pattern.top_flat_length_mm,
- 0.0,
- flat_pattern.bottom_flat_start_mm,
- flat_pattern.width_mm,
- )
- ]
-
- for z_band_min, z_band_max in layout.tab_bands:
- y_min = z_band_min - layout.z_min
- y_max = z_band_max - layout.z_min
- rectangles.append((0.0, y_min, flat_pattern.top_flat_length_mm, y_max))
-
- center_bridge_z_range = _center_bridge_z_range(layout)
- center_bridge_flat_length = _center_bridge_flat_length(layout, flat_pattern)
- if center_bridge_z_range is not None and center_bridge_flat_length is not None:
- y_min = center_bridge_z_range[0] - layout.z_min
- y_max = center_bridge_z_range[1] - layout.z_min
- x_min = flat_pattern.top_flat_length_mm - center_bridge_flat_length
- rectangles.append((x_min, y_min, flat_pattern.top_flat_length_mm, y_max))
-
- for z_band_min, z_band_max in layout.tab_bands:
- y_min = z_band_min - layout.z_min
- y_max = z_band_max - layout.z_min
- rectangles.append((flat_pattern.bottom_flat_start_mm, y_min, flat_pattern.total_length_mm, y_max))
-
- if center_bridge_z_range is not None and center_bridge_flat_length is not None:
- y_min = center_bridge_z_range[0] - layout.z_min
- y_max = center_bridge_z_range[1] - layout.z_min
- x_max = flat_pattern.bottom_flat_start_mm + center_bridge_flat_length
- rectangles.append((flat_pattern.bottom_flat_start_mm, y_min, x_max, y_max))
-
- return tuple(rectangle for rectangle in rectangles if rectangle[2] - rectangle[0] > 1e-6 and rectangle[3] - rectangle[1] > 1e-6)
-
-
-def _flange_free_corner_points(
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> set[tuple[float, float]]:
- points: set[tuple[float, float]] = set()
- for z_band_min, z_band_max in layout.tab_bands:
- flat_z_min = z_band_min - layout.z_min
- flat_z_max = z_band_max - layout.z_min
- points.add((0.0, flat_z_min))
- points.add((0.0, flat_z_max))
- for z_band_min, z_band_max in layout.tab_bands:
- flat_z_min = z_band_min - layout.z_min
- flat_z_max = z_band_max - layout.z_min
- points.add((flat_pattern.total_length_mm, flat_z_min))
- points.add((flat_pattern.total_length_mm, flat_z_max))
- return points
-
-
-def _sample_short_arc_2d(
- *,
- center: tuple[float, float],
- start: tuple[float, float],
- end: tuple[float, float],
- count: int,
-) -> list[tuple[float, float]]:
- start_angle = math.atan2(start[1] - center[1], start[0] - center[0])
- end_angle = math.atan2(end[1] - center[1], end[0] - center[0])
- ccw_span = (end_angle - start_angle) % (2.0 * math.pi)
- if ccw_span <= math.pi:
- span = ccw_span
- else:
- span = -((start_angle - end_angle) % (2.0 * math.pi))
-
- samples = max(count, 2)
- radius = math.hypot(start[0] - center[0], start[1] - center[1])
- return [
- (
- center[0] + (radius * math.cos(start_angle + (span * index / (samples - 1)))),
- center[1] + (radius * math.sin(start_angle + (span * index / (samples - 1)))),
- )
- for index in range(samples)
- ]
-
-
-def _rounded_outline_loop_points(
- loop: list[tuple[float, float]],
- *,
- rounded_corners: set[tuple[float, float]],
- radius: float,
-) -> list[tuple[float, float]]:
- if radius <= 1e-6:
- return loop
-
- rounded_loop: list[tuple[float, float]] = []
- for index, point in enumerate(loop):
- if point not in rounded_corners:
- rounded_loop.append(point)
- continue
-
- previous_point = loop[index - 1]
- next_point = loop[(index + 1) % len(loop)]
- prev_vec = (previous_point[0] - point[0], previous_point[1] - point[1])
- next_vec = (next_point[0] - point[0], next_point[1] - point[1])
- prev_len = math.hypot(*prev_vec)
- next_len = math.hypot(*next_vec)
- corner_radius = min(radius, 0.5 * prev_len, 0.5 * next_len)
- if corner_radius <= 1e-6:
- rounded_loop.append(point)
- continue
-
- prev_unit = (prev_vec[0] / prev_len, prev_vec[1] / prev_len)
- next_unit = (next_vec[0] / next_len, next_vec[1] / next_len)
- tangent_in = (
- point[0] + (prev_unit[0] * corner_radius),
- point[1] + (prev_unit[1] * corner_radius),
- )
- tangent_out = (
- point[0] + (next_unit[0] * corner_radius),
- point[1] + (next_unit[1] * corner_radius),
- )
- center = (
- point[0] + ((prev_unit[0] + next_unit[0]) * corner_radius),
- point[1] + ((prev_unit[1] + next_unit[1]) * corner_radius),
- )
- arc_points = _sample_short_arc_2d(
- center=center,
- start=tangent_in,
- end=tangent_out,
- count=FLANGE_FREE_CORNER_SAMPLE_COUNT,
- )
- rounded_loop.extend(arc_points)
-
- return rounded_loop
-
-
-def _outline_loops_from_rectangles(
- rectangles: tuple[tuple[float, float, float, float], ...],
-) -> list[list[tuple[float, float]]]:
- x_coords = sorted({coord for x0, _y0, x1, _y1 in rectangles for coord in (x0, x1)})
- y_coords = sorted({coord for _x0, y0, _x1, y1 in rectangles for coord in (y0, y1)})
- filled_cells: set[tuple[int, int]] = set()
-
- for x_index in range(len(x_coords) - 1):
- for y_index in range(len(y_coords) - 1):
- x_mid = 0.5 * (x_coords[x_index] + x_coords[x_index + 1])
- y_mid = 0.5 * (y_coords[y_index] + y_coords[y_index + 1])
- if any(x0 < x_mid < x1 and y0 < y_mid < y1 for x0, y0, x1, y1 in rectangles):
- filled_cells.add((x_index, y_index))
-
- edges: dict[tuple[tuple[float, float], tuple[float, float]], None] = {}
-
- def add_edge(start: tuple[float, float], end: tuple[float, float]) -> None:
- reverse = (end, start)
- if reverse in edges:
- del edges[reverse]
- return
- edges[(start, end)] = None
-
- for x_index, y_index in filled_cells:
- x0 = x_coords[x_index]
- x1 = x_coords[x_index + 1]
- y0 = y_coords[y_index]
- y1 = y_coords[y_index + 1]
- add_edge((x0, y0), (x1, y0))
- add_edge((x1, y0), (x1, y1))
- add_edge((x1, y1), (x0, y1))
- add_edge((x0, y1), (x0, y0))
-
- outgoing: dict[tuple[float, float], list[tuple[float, float]]] = {}
- for start, end in edges:
- outgoing.setdefault(start, []).append(end)
-
- loops: list[list[tuple[float, float]]] = []
- while outgoing:
- start = min(outgoing)
- loop = [start]
- current = start
- while True:
- next_points = outgoing.get(current)
- if not next_points:
- raise RuntimeError("Flat-pattern outline could not be assembled from panel rectangles")
- next_point = next_points.pop()
- if not next_points:
- del outgoing[current]
- if next_point == start:
- break
- loop.append(next_point)
- current = next_point
-
- area = _polygon_area(loop)
- if area < 0.0:
- loop.reverse()
- loops.append(loop)
-
- return loops
-
-
-def _polygon_area(points: list[tuple[float, float]]) -> float:
- return 0.5 * sum(
- (points[index][0] * points[(index + 1) % len(points)][1])
- - (points[(index + 1) % len(points)][0] * points[index][1])
- for index in range(len(points))
- )
-
-
-def _add_reference_arc(
- msp: ezdxf.layouts.Modelspace,
- *,
- start: tuple[float, float],
- midpoint: tuple[float, float],
- end: tuple[float, float],
-) -> None:
- from ezdxf.math import ConstructionArc
-
- arc = ConstructionArc.from_3p(start, end, def_point=midpoint, ccw=True)
- center = (arc.center.x, arc.center.y)
- start_angle = math.atan2(start[1] - center[1], start[0] - center[0])
- mid_angle = math.atan2(midpoint[1] - center[1], midpoint[0] - center[0])
- end_angle = math.atan2(end[1] - center[1], end[0] - center[0])
- ccw_sweep = (end_angle - start_angle) % (2.0 * math.pi)
- mid_sweep = (mid_angle - start_angle) % (2.0 * math.pi)
- if mid_sweep <= ccw_sweep + 1e-6:
- msp.add_arc(
- center=center,
- radius=arc.radius,
- start_angle=math.degrees(start_angle),
- end_angle=math.degrees(end_angle),
- dxfattribs={"layer": "CUT"},
- )
- return
-
- msp.add_arc(
- center=center,
- radius=arc.radius,
- start_angle=math.degrees(end_angle),
- end_angle=math.degrees(start_angle),
- dxfattribs={"layer": "CUT"},
- )
-
-
-def _build_flat_pattern_dxf(flat_pattern: FlatPattern, layout: BracketLayout) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- msp = doc.modelspace()
- rounded_corners = _flange_free_corner_points(layout, flat_pattern)
- for loop in _outline_loops_from_rectangles(_flat_rectangles(layout, flat_pattern)):
- rounded_loop = _rounded_outline_loop_points(
- loop,
- rounded_corners=rounded_corners,
- radius=FLANGE_FREE_CORNER_RADIUS_MM,
- )
- for index, point in enumerate(rounded_loop):
- msp.add_line(point, rounded_loop[(index + 1) % len(rounded_loop)], dxfattribs={"layer": "CUT"})
-
- for x, y, cut_radius in flat_pattern.cut_circles:
- msp.add_circle((x, y), cut_radius, dxfattribs={"layer": "CUT"})
-
- for segment_type, points in flat_pattern.cut_segments:
- if segment_type == "LINE":
- msp.add_line(points[0], points[-1], dxfattribs={"layer": "CUT"})
- elif segment_type == "ARC":
- _add_reference_arc(msp, start=points[0], midpoint=points[1], end=points[-1])
- else:
- raise RuntimeError(f"Unsupported flat-pattern cut segment type: {segment_type}")
-
- for bend_line_x, bend_y_min, bend_y_max in flat_pattern.bend_line_segments_mm:
- msp.add_line(
- (bend_line_x, bend_y_min),
- (bend_line_x, bend_y_max),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def _topology_flat_pattern_dxf(
- bracket: build123d.Shape,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
-) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- web_source_span = layout.top_tab_y_min - layout.bottom_tab_y_max
- web_flat_span = flat_pattern.bottom_flat_start_mm - flat_pattern.top_flat_length_mm
- if web_source_span <= 0.0 or web_flat_span <= 0.0:
- raise RuntimeError("Servo end mount topology DXF has invalid web span")
-
- def project_top(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.X - layout.bracket_face_outer_x) <= 1e-3:
- u = flat_pattern.top_flat_length_mm
- else:
- u = point.X - layout.top_tab_x_min
- return (u, point.Z - layout.z_min)
-
- def project_web(point: build123d.Vector) -> tuple[float, float]:
- t = (layout.top_tab_y_min - point.Y) / web_source_span
- return (
- flat_pattern.top_flat_length_mm + (t * web_flat_span),
- point.Z - layout.z_min,
- )
-
- def project_bottom(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.X - layout.bracket_face_outer_x) <= 1e-3:
- u = flat_pattern.bottom_flat_start_mm
- else:
- u = flat_pattern.total_length_mm - (point.X - layout.bottom_tab_x_min)
- return (u, point.Z - layout.z_min)
-
- top_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="y",
- normal_sign=1.0,
- coordinate_axis="y",
- coordinate=layout.top_tab_y_max,
- )
- web_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="x",
- normal_sign=-1.0,
- coordinate_axis="x",
- coordinate=layout.bracket_face_inner_x,
- )
- bottom_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="y",
- normal_sign=-1.0,
- coordinate_axis="y",
- coordinate=layout.bottom_tab_y_min,
- )
- geometry = dxf_topology.union_projected_faces(
- (
- (top_faces, project_top),
- (web_faces, project_web),
- (bottom_faces, project_bottom),
- ),
- merge_touching_tolerance_mm=TOPOLOGY_FLAT_PANEL_JOIN_TOLERANCE_MM,
- )
- dxf_topology.add_shapely_geometry(doc.modelspace(), geometry, layer="CUT")
-
- for bend_line_x, bend_y_min, bend_y_max in flat_pattern.bend_line_segments_mm:
- doc.modelspace().add_line(
- (bend_line_x, bend_y_min),
- (bend_line_x, bend_y_max),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def build_step(
- *,
- include_top_center_bridge: bool = True,
-) -> build123d.Shape:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
-
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {SERVO_STEP}")
-
- servo_shape = import_as_shape(SERVO_STEP)
- bracket, layout = build_bracket(servo_shape, include_top_center_bridge=include_top_center_bridge)
- _validate_slot_clearances(layout)
- bracket = _cut_slots(bracket, layout)
- flat_pattern = _build_flat_pattern(layout)
-
- solids = bracket.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected bracket solid, found {len(solids)}")
-
- intersection_volume = servo_shape.intersect(bracket).volume
- if intersection_volume > 1e-3:
- raise RuntimeError(f"Bracket intersects the servo by {intersection_volume:.6f} mm^3")
-
- bracket.label = PART_NAME
- bracket.color = GRAY_ALUMINUM_COLOR
-
- bracket_bb = bracket.bounding_box()
- slot_metrics = _slot_clearance_metrics(layout)
- print(
- "Bracket envelope "
- f"X={bracket_bb.size.X:.3f} mm, "
- f"Y={bracket_bb.size.Y:.3f} mm, "
- f"Z={bracket_bb.size.Z:.3f} mm"
- )
- print(
- "SendCutSend setup "
- f"material=5052-H32, thickness={SENDCUTSEND_SHEET_THICKNESS_MM:.3f} mm, "
- f"bend_radius={SENDCUTSEND_EFFECTIVE_BEND_RADIUS_MM:.3f} mm, "
- f"k_factor={SENDCUTSEND_K_FACTOR:.2f}, "
- f"bend_deduction_90={SENDCUTSEND_BEND_DEDUCTION_90_MM:.3f} mm, "
- f"anodize_min_short_dim={SENDCUTSEND_MIN_ANODIZE_SHORTEST_DIM_MM:.3f} mm"
- )
- sendcutsend_checks = (
- "SendCutSend checks "
- f"hole_to_bend_min={min(abs(center.X - layout.bracket_face_inner_x) for center, _radius in [*layout.top_holes, *layout.bottom_holes]):.3f} mm, "
- f"bend_segment_min={_min_bend_segment_length(layout):.3f} mm, "
- f"bend_support={_supported_bend_fraction(layout):.1%}, "
- f"outboard_hole_edge_web={layout.outer_flush_gap:.3f} mm, "
- f"flange_free_corner_radius={FLANGE_FREE_CORNER_RADIUS_MM:.3f} mm"
- )
- print(sendcutsend_checks)
- print(
- "Slot checks "
- f"slot_count={len(_slot_specs(layout))}, "
- f"slot={_slot_length(layout):.3f}x{SLOT_WIDTH_MM:.3f} mm, "
- f"side_end_gap_min={slot_metrics['slot_side_end_gap_min_mm']:.3f} mm, "
- f"slot_to_mount_hole_x_min={slot_metrics['slot_to_mount_hole_x_min_mm']:.3f} mm, "
- f"center_bridge_margin={slot_metrics['slot_center_bridge_margin_mm']:.3f} mm, "
- f"slot_edge_to_bend_min={slot_metrics['slot_edge_to_bend_min_mm']:.3f} mm, "
- f"slot_edge_to_bend_leeway={slot_metrics['slot_edge_to_bend_leeway_mm']:.3f} mm"
- )
- if layout.outer_flush_gap < MOUNT_HOLE_TRIMMED_OUTBOARD_Z_WEB_WARN_MM:
- print(
- "Warning: trimmed outer side leaves a small hole edge web: "
- f"{layout.outer_flush_gap:.3f} mm < {MOUNT_HOLE_TRIMMED_OUTBOARD_Z_WEB_WARN_MM:.3f} mm"
- )
- end_face_x = _find_face_near(servo_shape, FACE_TARGET_CENTERS_MM["end_face"], geom_type="PLANE").bounding_box().max.X
- servo_bb = servo_shape.bounding_box()
- side_gap_neg = servo_bb.min.Z - layout.z_min
- side_gap_pos = layout.z_max - servo_bb.max.Z
- print(f"Bracket face clearance: {layout.bracket_face_inner_x - end_face_x:.3f} mm")
- print(
- "Servo width check "
- f"servo_z_width={servo_bb.size.Z:.3f} mm, "
- f"mount_z_width={layout.z_max - layout.z_min:.3f} mm, "
- f"side_gaps={side_gap_neg:.3f}/{side_gap_pos:.3f} mm"
- )
- print(
- "Wrap clearances "
- f"top={TOP_MOUNT_PLANE_CLEARANCE_MM:.3f} mm, "
- f"bottom={BOTTOM_MOUNT_PLANE_CLEARANCE_MM:.3f} mm, "
- f"side_each={SIDE_WRAP_CLEARANCE_MM:.3f} mm, "
- f"center_bridge_end={TOP_CENTER_BRIDGE_SERVO_END_CLEARANCE_MM:.3f} mm, "
- f"center_bridge_flange_extension={CENTER_BRIDGE_FLANGE_LENGTH_EXTENSION_MM:.3f} mm, "
- f"center_bridge_side_face_target={CENTER_BRIDGE_SIDE_FACE_LENGTH_MM:.3f} mm, "
- f"center_relief_side_extra={TOP_CENTER_RELIEF_SIDE_CLEARANCE_MM:.3f} mm, "
- f"top_flange_extension={TOP_FLANGE_LENGTH_EXTENSION_MM:.3f} mm, "
- f"bottom_flange_extension={BOTTOM_FLANGE_LENGTH_EXTENSION_MM:.3f} mm"
- )
- center_bridge_bend_edge_distance = _center_bridge_bend_edge_distance(layout)
- center_bridge_flat_clearance = _center_bridge_flat_bend_line_to_edge_distance(layout, flat_pattern)
- center_bridge_side_face_length = _center_bridge_side_face_length(layout)
- if center_bridge_bend_edge_distance is not None and center_bridge_flat_clearance is not None:
- print(
- "Top center bridge "
- f"bend_edge_distance={center_bridge_bend_edge_distance:.3f} mm, "
- f"flat_bend_line_to_edge={center_bridge_flat_clearance:.3f} mm, "
- f"side_face_length={center_bridge_side_face_length:.3f} mm, "
- f"servo_end_clearance={layout.center_bridge_x_min - end_face_x:.3f} mm"
- )
- print(f"Bracket face inner X: {layout.bracket_face_inner_x:.3f} mm")
- print(
- "Top mount holes used (x, y, z) mm: "
- + ", ".join(str(tuple(round(value, 6) for value in _vector_to_tuple(center))) for center, _radius in layout.top_holes)
- )
- print(
- "Bottom mount holes used (x, y, z) mm: "
- + ", ".join(str(tuple(round(value, 6) for value in _vector_to_tuple(center))) for center, _radius in layout.bottom_holes)
- )
- print(
- "Front horn face holes (y, z, radius) mm: "
- + ", ".join(
- str(tuple(round(value, 6) for value in profile))
- for profile in _front_horn_mount_hole_profiles(layout)
- )
- )
- print(f"Servo/bracket interference volume (mm^3): {intersection_volume:.6f}")
- return bracket
-
-
-def build_dxf(
- *,
- include_top_center_bridge: bool = True,
-) -> ezdxf.document.Drawing:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
-
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {SERVO_STEP}")
-
- servo_shape = import_as_shape(SERVO_STEP)
- bracket, layout = build_bracket(
- servo_shape,
- include_top_center_bridge=include_top_center_bridge,
- )
- _validate_slot_clearances(layout)
- bracket = _cut_slots(bracket, layout)
- flat_pattern = _build_flat_pattern(layout)
- doc = _topology_flat_pattern_dxf(bracket, layout, flat_pattern)
-
- outside_setback = _sendcutsend_outside_setback_90_mm()
- flange_outside_min = _min_flange_outside_length(layout)
- slot_metrics = _slot_clearance_metrics(layout)
- print(
- "Flat pattern "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"bend_segments={len(flat_pattern.bend_line_segments_mm)}, "
- f"cut_circles={len(flat_pattern.cut_circles)}, "
- f"front_cut_segments={len(flat_pattern.cut_segments)}"
- )
- dxf_bend_checks = (
- "DXF bend checks "
- f"flange_outside_min={flange_outside_min:.3f} mm, "
- f"flange_flat_min={flange_outside_min - outside_setback:.3f} mm, "
- f"flange_flat_required={SENDCUTSEND_MIN_FLANGE_FLAT_MM:.3f} mm, "
- f"bend_segment_min={_min_bend_segment_length(layout):.3f} mm, "
- f"bend_support={_supported_bend_fraction(layout):.1%}, "
- f"hole_to_bend_min={min(abs(center.X - layout.bracket_face_inner_x) for center, _radius in [*layout.top_holes, *layout.bottom_holes]):.3f} mm, "
- f"outboard_hole_edge_web={layout.outer_flush_gap:.3f} mm, "
- f"center_bridge_end_clearance={TOP_CENTER_BRIDGE_SERVO_END_CLEARANCE_MM:.3f} mm, "
- f"center_relief_side_extra={TOP_CENTER_RELIEF_SIDE_CLEARANCE_MM:.3f} mm"
- )
- print(dxf_bend_checks)
- print(
- "DXF slot checks "
- f"slot_count={len(_slot_specs(layout))}, "
- f"slot={_slot_length(layout):.3f}x{SLOT_WIDTH_MM:.3f} mm, "
- f"side_end_gap_min={slot_metrics['slot_side_end_gap_min_mm']:.3f} mm, "
- f"slot_to_mount_hole_x_min={slot_metrics['slot_to_mount_hole_x_min_mm']:.3f} mm, "
- f"center_bridge_margin={slot_metrics['slot_center_bridge_margin_mm']:.3f} mm, "
- f"slot_edge_to_bend_min={slot_metrics['slot_edge_to_bend_min_mm']:.3f} mm"
- )
- center_bridge_bend_edge_distance = _center_bridge_bend_edge_distance(layout)
- center_bridge_flat_clearance = _center_bridge_flat_bend_line_to_edge_distance(layout, flat_pattern)
- center_bridge_side_face_length = _center_bridge_side_face_length(layout)
- if center_bridge_bend_edge_distance is not None and center_bridge_flat_clearance is not None:
- print(
- "DXF center bridge "
- f"bend_edge_distance={center_bridge_bend_edge_distance:.3f} mm, "
- f"flat_bend_line_to_edge={center_bridge_flat_clearance:.3f} mm, "
- f"side_face_length={center_bridge_side_face_length:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v2/parts/servo_end_mount.step b/models/robots/tom/v2/parts/servo_end_mount.step
deleted file mode 100644
index fe91e622..00000000
--- a/models/robots/tom/v2/parts/servo_end_mount.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8cc83029027f32a492331fbb2cf81c86643ad763463245b3a11a3b00e897f3a6
-size 174315
diff --git a/models/robots/tom/v2/parts/servo_end_mount_double.py b/models/robots/tom/v2/parts/servo_end_mount_double.py
deleted file mode 100644
index 82d306a1..00000000
--- a/models/robots/tom/v2/parts/servo_end_mount_double.py
+++ /dev/null
@@ -1,444 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-import build123d
-
-V2_DIR = Path(__file__).resolve().parents[1]
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import link_common as lc
-import servo_end_mount as sem
-
-
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Double Servo End Mount"
-
-SIDE_BY_SIDE_CLEARANCE_MM = 2.0
-SERVO_CENTER_SPACING_Y_MM = (2.0 * abs(lc.SERVO_REAR_EXTREME_LOCAL_Y_MM)) + SIDE_BY_SIDE_CLEARANCE_MM
-SERVO_CENTER_OFFSET_Y_MM = 0.5 * SERVO_CENTER_SPACING_Y_MM
-REAR_SERVO_CENTER_Y_MM = -SERVO_CENTER_OFFSET_Y_MM
-FRONT_SERVO_CENTER_Y_MM = SERVO_CENTER_OFFSET_Y_MM
-OUTER_FLANGE_WIDTH_SCALE = 2.0
-SLOT_WIDTH_SCALE = 1.0
-# Run the slot end-to-end between the vertical midlines of the two mount-hole
-# rows so the slot grows with the widened double-servo side plate.
-SLOT_LENGTH_MM = 2.0 * lc.SERVO_MOUNT_HOLE_LOCAL_Z_MM
-CENTER_RELIEF_EDGE_CLEARANCE_MM = 1.0
-# Match the output-horn relief used by link_bracket.py on link_assembly
-# #o1.4.f4. This radius keeps the near M2 screw web at the same distance
-# from the horn relief while clearing the rotating horn boss.
-OUTPUT_HORN_RELIEF_RADIUS_MM = 11.0
-EXTENDED_TOP_MOUNT_HOLES = tuple(
- (
- build123d.Vector(x_mm, 0.0, z_mm),
- lc.SERVO_MOUNT_HOLE_RADIUS_MM,
- )
- for x_mm in lc.SERVO_TOP_MOUNT_HOLE_LOCAL_X_MM
- for z_mm in (-lc.SERVO_MOUNT_HOLE_LOCAL_Z_MM, lc.SERVO_MOUNT_HOLE_LOCAL_Z_MM)
-)
-
-
-def _load_single_layout() -> sem.BracketLayout:
- if not sem.SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing STS3250 servo STEP: {sem.SERVO_STEP}")
- servo_shape = sem.import_as_shape(sem.SERVO_STEP)
- return sem._build_layout(servo_shape, include_top_center_bridge=True)
-
-
-def _translated_band(y_min: float, y_max: float, y_offset: float) -> tuple[float, float]:
- return y_min + y_offset, y_max + y_offset
-
-
-def _x_flipped_band(y_min: float, y_max: float, y_offset: float) -> tuple[float, float]:
- return y_offset - y_max, y_offset - y_min
-
-
-def _extended_top_tab_x_min() -> float:
- return (
- min(center.X - radius - sem.MOUNT_HOLE_EDGE_X_WEB_MM for center, radius in EXTENDED_TOP_MOUNT_HOLES)
- - sem.TOP_FLANGE_LENGTH_EXTENSION_MM
- )
-
-
-def _expanded_z_bounds(layout: sem.BracketLayout) -> tuple[float, float]:
- lower_z_min, lower_z_inner = layout.tab_bands[0]
- _upper_z_inner, upper_z_max = layout.tab_bands[-1]
- lower_width = lower_z_inner - lower_z_min
- width_extension = (OUTER_FLANGE_WIDTH_SCALE - 1.0) * lower_width
- return (
- lower_z_min - width_extension,
- upper_z_max + width_extension,
- )
-
-
-def _slot_center_z(layout: sem.BracketLayout) -> float:
- z_min, z_max = _expanded_z_bounds(layout)
- return 0.5 * (z_min + z_max)
-
-
-def _expanded_tab_bands(layout: sem.BracketLayout) -> tuple[tuple[float, float], ...]:
- z_min, z_max = _expanded_z_bounds(layout)
- _lower_z_min, lower_z_max = layout.tab_bands[0]
- upper_z_min, _upper_z_max = layout.tab_bands[-1]
- lower_z_max -= CENTER_RELIEF_EDGE_CLEARANCE_MM
- upper_z_min += CENTER_RELIEF_EDGE_CLEARANCE_MM
- return (
- (z_min, lower_z_max),
- (upper_z_min, z_max),
- )
-
-
-def _z_slot_cut(
- *,
- center_x: float,
- center_z: float,
- length: float,
- width: float,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- radius = 0.5 * width
- half_straight = 0.5 * length - radius
- y_start = y_min - sem.CUT_EXTENSION_MM
- y_height = (y_max - y_min) + (2.0 * sem.CUT_EXTENSION_MM)
- body: build123d.Shape = sem._make_box(
- x_min=center_x - radius,
- x_max=center_x + radius,
- y_min=y_start,
- y_max=y_start + y_height,
- z_min=center_z - half_straight,
- z_max=center_z + half_straight,
- )
- for end_z in (center_z - half_straight, center_z + half_straight):
- cap = sem._make_cylinder_along(
- radius=radius,
- height=y_height,
- origin=build123d.Vector(center_x, y_start, end_z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- body = body.fuse(cap)
- return body
-
-
-def _fuse_outer_flange(
- bracket: build123d.Shape,
- *,
- layout: sem.BracketLayout,
- x_min: float,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- for z_band_min, z_band_max in _expanded_tab_bands(layout):
- bracket = bracket.fuse(
- sem._make_rounded_flange_tab(
- x_min=x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=y_min,
- y_max=y_max,
- z_min=z_band_min,
- z_max=z_band_max,
- radius=sem.FLANGE_FREE_CORNER_RADIUS_MM,
- )
- )
-
- if layout.center_bridge_x_min is not None and len(layout.tab_bands) >= 2:
- center_gap_z_min = layout.tab_bands[0][1] - CENTER_RELIEF_EDGE_CLEARANCE_MM
- center_gap_z_max = layout.tab_bands[-1][0] + CENTER_RELIEF_EDGE_CLEARANCE_MM
- bracket = bracket.fuse(
- sem._make_box(
- x_min=layout.center_bridge_x_min,
- x_max=layout.bracket_face_outer_x,
- y_min=y_min,
- y_max=y_max,
- z_min=center_gap_z_min,
- z_max=center_gap_z_max,
- )
- )
- return bracket
-
-
-def _cut_outer_flange_slots(
- bracket: build123d.Shape,
- *,
- layout: sem.BracketLayout,
- rear_y_min: float,
- rear_y_max: float,
- front_y_min: float,
- front_y_max: float,
-) -> build123d.Shape:
- scaled_slot_width = sem.SLOT_WIDTH_MM * SLOT_WIDTH_SCALE
- slot_center_z = _slot_center_z(layout)
- for name, center_x, _center_z, _length in sem._slot_specs(layout):
- if name == "top":
- y_min, y_max = front_y_min, front_y_max
- else:
- y_min, y_max = rear_y_min, rear_y_max
- bracket = bracket.cut(
- _z_slot_cut(
- center_x=center_x,
- center_z=slot_center_z,
- length=SLOT_LENGTH_MM,
- width=scaled_slot_width,
- y_min=y_min,
- y_max=y_max,
- )
- )
- return bracket
-
-
-def _cut_rear_output_horn_relief(
- bracket: build123d.Shape,
- *,
- rear_y_min: float,
- rear_y_max: float,
-) -> build123d.Shape:
- cutter = sem._make_cylinder_along(
- radius=OUTPUT_HORN_RELIEF_RADIUS_MM,
- height=(rear_y_max - rear_y_min) + (2.0 * sem.CUT_EXTENSION_MM),
- origin=build123d.Vector(
- lc.SERVO_SHAFT_LOCAL_X_MM,
- rear_y_min - sem.CUT_EXTENSION_MM,
- 0.0,
- ),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- return bracket.cut(cutter)
-
-
-def _cut_centered_front_horn_holes(
- bracket: build123d.Shape,
- *,
- layout: sem.BracketLayout,
-) -> build123d.Shape:
- hole_depth = sem.SENDCUTSEND_SHEET_THICKNESS_MM + (2.0 * sem.CUT_EXTENSION_MM)
- start_x = layout.bracket_face_outer_x + sem.CUT_EXTENSION_MM
- rear_outer_horn_y = REAR_SERVO_CENTER_Y_MM - lc.SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM
- front_outer_horn_y = FRONT_SERVO_CENTER_Y_MM + lc.SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM
- front_horn_center_y = 0.5 * (rear_outer_horn_y + front_outer_horn_y)
- center_y_delta = front_horn_center_y - layout.front_face_center_y
- for center_y, center_z, radius in sem._front_horn_mount_hole_profiles(layout):
- cutter = sem._make_cylinder_along(
- radius=radius,
- height=hole_depth,
- origin=build123d.Vector(start_x, center_y + center_y_delta, center_z),
- direction=build123d.Vector(-1.0, 0.0, 0.0),
- )
- bracket = bracket.cut(cutter)
- return bracket
-
-
-def _front_horn_center_y(layout: sem.BracketLayout) -> float:
- rear_outer_horn_y = REAR_SERVO_CENTER_Y_MM - lc.SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM
- front_outer_horn_y = FRONT_SERVO_CENTER_Y_MM + lc.SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM
- return 0.5 * (rear_outer_horn_y + front_outer_horn_y)
-
-
-def _build_double_flat_layout() -> sem.BracketLayout:
- single = _load_single_layout()
- extended_top_tab_x_min = _extended_top_tab_x_min()
- z_min, z_max = _expanded_z_bounds(single)
- rear_y_min, rear_y_max = _x_flipped_band(
- single.top_tab_y_min,
- single.top_tab_y_max,
- REAR_SERVO_CENTER_Y_MM,
- )
- front_y_min, front_y_max = _translated_band(
- single.top_tab_y_min,
- single.top_tab_y_max,
- FRONT_SERVO_CENTER_Y_MM,
- )
- tab_bands = _expanded_tab_bands(single)
- center_bridge_x_min = single.center_bridge_x_min
- bend_bands = sem._merge_z_bands(
- (
- *tab_bands,
- (
- tab_bands[0][1],
- tab_bands[-1][0],
- ),
- )
- )
- return sem.BracketLayout(
- z_min=z_min,
- z_max=z_max,
- top_holes=EXTENDED_TOP_MOUNT_HOLES,
- bottom_holes=EXTENDED_TOP_MOUNT_HOLES,
- top_tab_x_min=extended_top_tab_x_min,
- bottom_tab_x_min=extended_top_tab_x_min,
- bracket_face_inner_x=single.bracket_face_inner_x,
- bracket_face_outer_x=single.bracket_face_outer_x,
- top_tab_y_min=front_y_min,
- top_tab_y_max=front_y_max,
- bottom_tab_y_min=rear_y_min,
- bottom_tab_y_max=rear_y_max,
- tab_bands=tab_bands,
- bend_bands=bend_bands,
- center_bridge_x_min=center_bridge_x_min,
- front_face_center_y=_front_horn_center_y(single),
- outer_flush_gap=single.outer_flush_gap,
- )
-
-
-def _add_double_slots_to_dxf(doc, flat_pattern: sem.FlatPattern, layout: sem.BracketLayout) -> None:
- msp = doc.modelspace()
- slot_center_x = sem._slot_center_x(layout)
- slot_center_z = _slot_center_z(layout)
- slot_width = sem.SLOT_WIDTH_MM * SLOT_WIDTH_SCALE
- for name in ("top", "bottom"):
- if name == "top":
- flat_center_x = slot_center_x - layout.top_tab_x_min
- else:
- flat_center_x = flat_pattern.total_length_mm - (slot_center_x - layout.bottom_tab_x_min)
- flat_center_y = slot_center_z - layout.z_min
- msp.add_lwpolyline(
- sem._slot_profile_points(
- center_x=flat_center_x,
- center_y=flat_center_y,
- length=SLOT_LENGTH_MM,
- width=slot_width,
- ),
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
-
-def build_step() -> build123d.Shape:
- layout = _load_single_layout()
- extended_top_tab_x_min = _extended_top_tab_x_min()
- z_min, z_max = _expanded_z_bounds(layout)
- rear_y_min, rear_y_max = _x_flipped_band(
- layout.top_tab_y_min,
- layout.top_tab_y_max,
- REAR_SERVO_CENTER_Y_MM,
- )
- front_y_min, front_y_max = _translated_band(
- layout.top_tab_y_min,
- layout.top_tab_y_max,
- FRONT_SERVO_CENTER_Y_MM,
- )
-
- bracket: build123d.Shape = sem._make_box(
- x_min=layout.bracket_face_inner_x,
- x_max=layout.bracket_face_outer_x,
- y_min=rear_y_min,
- y_max=front_y_max,
- z_min=z_min,
- z_max=z_max,
- )
- bracket = _fuse_outer_flange(
- bracket,
- layout=layout,
- x_min=extended_top_tab_x_min,
- y_min=rear_y_min,
- y_max=rear_y_max,
- )
- bracket = _fuse_outer_flange(
- bracket,
- layout=layout,
- x_min=extended_top_tab_x_min,
- y_min=front_y_min,
- y_max=front_y_max,
- )
-
- bracket = sem._cut_mount_holes(
- bracket,
- profiles=list(EXTENDED_TOP_MOUNT_HOLES),
- start_y=rear_y_min - sem.CUT_EXTENSION_MM,
- direction_y=1.0,
- )
- bracket = sem._cut_mount_holes(
- bracket,
- profiles=list(EXTENDED_TOP_MOUNT_HOLES),
- start_y=front_y_max + sem.CUT_EXTENSION_MM,
- direction_y=-1.0,
- )
- bracket = _cut_rear_output_horn_relief(
- bracket,
- rear_y_min=rear_y_min,
- rear_y_max=rear_y_max,
- )
- bracket = _cut_centered_front_horn_holes(bracket, layout=layout)
- bracket = _cut_outer_flange_slots(
- bracket,
- layout=layout,
- rear_y_min=rear_y_min,
- rear_y_max=rear_y_max,
- front_y_min=front_y_min,
- front_y_max=front_y_max,
- )
-
- solids = bracket.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected double servo end mount solid, found {len(solids)}")
-
- bracket.label = PART_NAME
- bracket.color = lc.BRACKET_COLOR
- bb = bracket.bounding_box()
- print(
- f"{DISPLAY_NAME}: "
- f"servo_center_spacing_y={SERVO_CENTER_SPACING_Y_MM:.3f} mm, "
- f"span_y={bb.size.Y:.3f} mm, "
- f"span_z={bb.size.Z:.3f} mm, "
- f"flange_x_min={extended_top_tab_x_min:.3f} mm, "
- f"slot={SLOT_LENGTH_MM:.3f}x"
- f"{sem.SLOT_WIDTH_MM * SLOT_WIDTH_SCALE:.3f} mm, "
- f"slot_center_z={_slot_center_z(layout):.3f} mm, "
- f"center_relief_edge_clearance={CENTER_RELIEF_EDGE_CLEARANCE_MM:.3f} mm, "
- f"rear_horn_relief_radius={OUTPUT_HORN_RELIEF_RADIUS_MM:.3f} mm, "
- f"mount_face_x={layout.bracket_face_outer_x:.4f} mm, "
- f"thickness={sem.SENDCUTSEND_SHEET_THICKNESS_MM:.4f} mm, "
- f"front_horn_patterns=1"
- )
- return bracket
-
-
-def build_dxf():
- layout = _build_double_flat_layout()
- flat_pattern = sem._build_flat_pattern(layout)
- bracket = build_step()
- doc = sem._topology_flat_pattern_dxf(bracket, layout, flat_pattern)
- slot_edge_to_bend_min = layout.bracket_face_inner_x - (
- sem._slot_center_x(layout) + (0.5 * sem.SLOT_WIDTH_MM * SLOT_WIDTH_SCALE)
- )
- slot_side_end_gap = min(
- (_slot_center_z(layout) - (0.5 * SLOT_LENGTH_MM)) - layout.z_min,
- layout.z_max - (_slot_center_z(layout) + (0.5 * SLOT_LENGTH_MM)),
- )
- print(
- f"{DISPLAY_NAME} DXF: "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, "
- f"{flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"cut_circles={len(flat_pattern.cut_circles)}, "
- f"slots=2x{SLOT_LENGTH_MM:.3f}x{sem.SLOT_WIDTH_MM * SLOT_WIDTH_SCALE:.3f} mm, "
- f"slot_edge_to_bend_min={slot_edge_to_bend_min:.3f} mm, "
- f"slot_side_end_gap={slot_side_end_gap:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v2/parts/servo_end_mount_double.step b/models/robots/tom/v2/parts/servo_end_mount_double.step
deleted file mode 100644
index 9a4c2828..00000000
--- a/models/robots/tom/v2/parts/servo_end_mount_double.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4859a62e7641eae3c08b290bd424fdc5ff831dc686aeaba99b36c72bae94d151
-size 193997
diff --git a/models/robots/tom/v2/parts/servo_horn_yoke.py b/models/robots/tom/v2/parts/servo_horn_yoke.py
deleted file mode 100644
index cda2ecba..00000000
--- a/models/robots/tom/v2/parts/servo_horn_yoke.py
+++ /dev/null
@@ -1,1616 +0,0 @@
-#!/usr/bin/env python3
-"""
-Generate the localized horn-mounted yoke.
-
-This variant preserves the existing horn interface geometry while shortening
-the horn-side end into a single flange that forks into two circular cap
-flanges. The horn flanges carry the two outer M3 holes plus the inboard horn
-hole, and intentionally omit the previous center clearance and far-side M3
-hole.
-
-Usage:
- python STEP/servo_horn_yoke.py
-"""
-
-from __future__ import annotations
-
-import math
-import os
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-# Keep CAD library caches inside the workspace to avoid permission issues.
-TOM_DIR = Path(__file__).resolve().parents[2]
-V2_DIR = Path(__file__).resolve().parents[1]
-_CACHE_HOME = V2_DIR / ".cache"
-_CACHE_HOME.mkdir(parents=True, exist_ok=True)
-os.environ.setdefault("XDG_CACHE_HOME", str(_CACHE_HOME))
-os.environ.setdefault("EZDXF_CACHE_HOME", str(_CACHE_HOME / "ezdxf"))
-
-import ezdxf
-import build123d
-from ezdxf.units import MM as DXF_UNIT_MM
-
-if str(TOM_DIR) not in sys.path:
- sys.path.insert(0, str(TOM_DIR))
-
-from robot_common.materials import GRAY_ALUMINUM_COLOR
-from robot_common.step_import import import_as_shape
-import dxf_topology
-
-
-CAD_DIR = Path(__file__).resolve().parent
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Servo Horn Yoke"
-
-SERVO_STEP = V2_DIR / "parts" / "imports" / "sts3250.step"
-
-UPPER_HORN_SELECTOR = "xcaf:1.4"
-LOWER_HORN_SELECTOR = "xcaf:1.5"
-UPPER_HORN_NAME = "4"
-LOWER_HORN_NAME = "5"
-
-SERVO_HORN_AXIS_X_MM = -25.5
-YOKE_HORN_SPAN_CENTER_Y_MM = -9.1
-SERVO_REFERENCE_FACE_TARGET_CENTER_MM = (-35.61, -7.65, 0.0)
-SERVO_REFERENCE_FACE_MAX_ERROR_MM = 0.5
-HORN_FACE_GAP_MM = 0.0
-MOUNT_HOLE_MIN_OFFSET_MM = 3.0
-CUT_EXTENSION_MM = 2.0
-M3_CLEARANCE_RADIUS_MM = 1.7
-HORN_CENTER_CLEARANCE_RADIUS_MM = 3.25
-YOKE_LENGTH_REDUCTION_MM = 6.5
-HORN_CAP_FLANGE_RADIUS_MM = 10.0 - YOKE_LENGTH_REDUCTION_MM
-YOKE_FULL_FLANGE_OUTER_LENGTH_MM = 30.0
-# Keep the rotating web outside the primary servo's left-side corner sweep.
-# This is measured from the flange servo horn axis to the yoke web's outer face.
-YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM = (
- YOKE_FULL_FLANGE_OUTER_LENGTH_MM - HORN_CAP_FLANGE_RADIUS_MM
-)
-HORN_CAP_FLANGE_HOLE_X_TOLERANCE_MM = 0.25
-HORN_FORK_SLOT_RADIUS_MM = HORN_CAP_FLANGE_RADIUS_MM
-REFERENCE_SHEET_THICKNESS_MM = 25.4 * 0.080
-BOTTOM_FACE_SLOT_WIDTH_MM = 3.0
-# Keep the side-flange slot away from the bend/root so the yoke keeps a
-# stronger uninterrupted load path into the base.
-BOTTOM_FACE_SLOT_BEND_EDGE_CLEARANCE_MM = 10.0
-BOTTOM_FACE_SLOT_END_GAP_MM = 4.0
-STANDALONE_FLOOR_ROTATION_AXIS = build123d.Axis.Y
-STANDALONE_FLOOR_ROTATION_DEG = -90.0
-DESIGN_OUTER_WEB_X_MM = SERVO_HORN_AXIS_X_MM - YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
-
-
-def multiply_transforms(
- left: list[float] | tuple[float, ...],
- right: list[float] | tuple[float, ...],
-) -> tuple[float, ...]:
- return tuple(
- sum(float(left[row * 4 + inner]) * float(right[inner * 4 + col]) for inner in range(4))
- for row in range(4)
- for col in range(4)
- )
-
-
-# The standalone yoke STEP is rotated to sit on the floor for inspection.
-# Assemblies still need the original horn/yoke design frame, so these matrices
-# bridge standalone STEP coordinates and design coordinates.
-STANDALONE_TO_DESIGN_TRANSFORM = (
- 0.0, 0.0, 1.0, DESIGN_OUTER_WEB_X_MM,
- 0.0, 1.0, 0.0, 0.0,
- -1.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-DESIGN_TO_STANDALONE_TRANSFORM = (
- 0.0, 0.0, -1.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 1.0, 0.0, 0.0, -DESIGN_OUTER_WEB_X_MM,
- 0.0, 0.0, 0.0, 1.0,
-)
-YOKE_180_ABOUT_WEB_AXIS_DESIGN_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, -1.0, 0.0, 2.0 * YOKE_HORN_SPAN_CENTER_Y_MM,
- 0.0, 0.0, -1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-YOKE_180_ABOUT_WEB_AXIS_STANDALONE_TRANSFORM = multiply_transforms(
- DESIGN_TO_STANDALONE_TRANSFORM,
- multiply_transforms(
- YOKE_180_ABOUT_WEB_AXIS_DESIGN_TRANSFORM,
- STANDALONE_TO_DESIGN_TRANSFORM,
- ),
-)
-STANDALONE_YOKE_ON_SERVO_HORNS_TRANSFORM = multiply_transforms(
- YOKE_180_ABOUT_WEB_AXIS_DESIGN_TRANSFORM,
- STANDALONE_TO_DESIGN_TRANSFORM,
-)
-
-
-def _env_float(name: str, default: float) -> float:
- value = os.environ.get(name)
- if value is None:
- return default
- try:
- parsed = float(value)
- except ValueError as exc:
- raise ValueError(f"{name} must be a number, got {value!r}") from exc
- if parsed <= 0.0:
- raise ValueError(f"{name} must be positive, got {parsed!r}")
- return parsed
-
-
-SHEET_THICKNESS_MM = _env_float("TOM_V2_SHEET_THICKNESS_MM", 25.4 * 0.063)
-SHEET_RULE_SCALE = SHEET_THICKNESS_MM / REFERENCE_SHEET_THICKNESS_MM
-
-
-@dataclass(frozen=True)
-class BendRule:
- material_name: str
- thickness_mm: float
- effective_inside_radius_mm: float
- k_factor: float
- bend_deduction_90_mm: float
- half_die_width_mm: float
- min_flange_flat_mm: float
- min_flange_formed_mm: float
- min_acute_centerline_length_mm: float
- channel_one_to_one_max_flange_mm: float
- channel_narrow_min_base_mm: float
- channel_base_spacing_min_mm: float
- max_bend_angle_deg: float
-
- @property
- def outside_setback_90_mm(self) -> float:
- return self.effective_inside_radius_mm + self.thickness_mm
-
- @property
- def bend_allowance_90_mm(self) -> float:
- return (2.0 * self.outside_setback_90_mm) - self.bend_deduction_90_mm
-
- @property
- def outer_radius_mm(self) -> float:
- return self.effective_inside_radius_mm + self.thickness_mm
-
- def flat_length_from_outside_length_90(self, outside_length_mm: float) -> float:
- return outside_length_mm - self.outside_setback_90_mm
-
-
-SHEET_RULE = BendRule(
- material_name="5052-H32 ALU-063",
- thickness_mm=SHEET_THICKNESS_MM,
- effective_inside_radius_mm=25.4 * 0.035,
- k_factor=0.42,
- bend_deduction_90_mm=25.4 * 0.096,
- half_die_width_mm=0.5 * (25.4 * 0.472),
- min_flange_flat_mm=25.4 * 0.255,
- min_flange_formed_mm=25.4 * 0.303,
- min_acute_centerline_length_mm=(25.4 * 0.332) * SHEET_RULE_SCALE,
- channel_one_to_one_max_flange_mm=25.4 * 3.000,
- channel_narrow_min_base_mm=25.4 * 1.000,
- channel_base_spacing_min_mm=2.0 * (25.4 * 0.255),
- max_bend_angle_deg=130.0,
-)
-
-
-@dataclass(frozen=True)
-class HornMountSpec:
- name: str
- mount_face_y: float
- mount_face_center: build123d.Vector
- mount_face_bbox: build123d.BoundBox
- half_width_z: float
- center_clearance_radius: float
- mount_holes: tuple[tuple[build123d.Vector, float], ...]
-
-
-@dataclass(frozen=True)
-class BracketLayout:
- web_inner_x: float
- web_outer_x: float
- top_y_min: float
- top_y_max: float
- bottom_y_min: float
- bottom_y_max: float
- top_z_min: float
- top_z_max: float
- bottom_z_min: float
- bottom_z_max: float
- global_z_min: float
- global_z_max: float
-
-
-@dataclass(frozen=True)
-class BracketMetrics:
- min_flange_outside_length_mm: float
- min_flange_flat_length_mm: float
- bend_line_spacing_mm: float
- min_hole_edge_to_bend_mm: float
- min_slot_edge_to_bend_mm: float
- min_web_feature_edge_to_bend_mm: float
- base_to_flange_ratio: float
- bend_deduction_formula_mm: float
-
-
-@dataclass(frozen=True)
-class GeneratorInputs:
- servo_shape: build123d.Shape
- reference_face_x: float
- sheet_half_width_z: float
- upper_horn: HornMountSpec
- lower_horn: HornMountSpec
-
-
-@dataclass(frozen=True)
-class WebHoleSpec:
- center_y: float
- center_z: float
- radius: float
-
-
-@dataclass(frozen=True)
-class SlotSpec:
- center_x: float
- center_z: float
- length: float
- width: float
-
-
-@dataclass(frozen=True)
-class CircleProfileSpec:
- center_x: float
- center_y: float
- radius: float
-
-
-@dataclass(frozen=True)
-class SlotProfileSpec:
- center_x: float
- center_y: float
- length: float
- width: float
-
-
-@dataclass(frozen=True)
-class FlatPattern:
- total_length_mm: float
- width_mm: float
- cap_radius_mm: float
- bend_line_positions_mm: tuple[float, float]
- round_hole_profiles: tuple[CircleProfileSpec, ...]
- slot_profiles: tuple[SlotProfileSpec, ...]
-
-
-def _cast_shape(obj: object) -> build123d.Shape:
- from build123d.topology import downcast
- from build123d.topology.shape_core import shapetype
-
- occt_shape = downcast(obj)
- shape_name = build123d.Shape.shape_LUT[shapetype(occt_shape)]
- shape_type = getattr(build123d, shape_name)
- return shape_type.cast(occt_shape)
-
-
-def _geom_type_name(shape: build123d.Shape) -> str:
- geom_type = shape.geom_type
- return geom_type.name if hasattr(geom_type, "name") else str(geom_type)
-
-
-def _face_from_wire(
- exterior: build123d.Wire,
- interior_wires: list[build123d.Wire] | None = None,
-) -> build123d.Face:
- holes = list(interior_wires or [])
- return build123d.Face(exterior, holes) if holes else build123d.Face(exterior)
-
-
-def _assemble_wire(edges: list[build123d.Edge]) -> build123d.Wire:
- wires = list(build123d.Wire.combine(edges))
- if len(wires) != 1:
- raise RuntimeError(f"Expected a single assembled wire, found {len(wires)}")
- return wires[0]
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _vector_to_tuple(vector: build123d.Vector) -> tuple[float, float, float]:
- return (vector.X, vector.Y, vector.Z)
-
-
-def _validate_bend_rule(rule: BendRule) -> None:
- bend_deduction_error = abs(rule.bend_deduction_90_mm - ((2.0 * rule.outside_setback_90_mm) - rule.bend_allowance_90_mm))
- if bend_deduction_error > 0.05:
- raise RuntimeError(
- "SendCutSend bend-rule constants are inconsistent: "
- f"bend deduction error {bend_deduction_error:.3f} mm is too large"
- )
-
-
-def _extract_selector_shape(step_path: Path, selector: str) -> tuple[str, build123d.Shape]:
- from OCP.STEPCAFControl import STEPCAFControl_Reader
- from OCP.TCollection import TCollection_ExtendedString
- from OCP.TDataStd import TDataStd_Name
- from OCP.TDF import TDF_Label, TDF_LabelSequence
- from OCP.TDocStd import TDocStd_Document
- from OCP.XCAFApp import XCAFApp_Application
- from OCP.XCAFDoc import XCAFDoc_DocumentTool, XCAFDoc_ShapeTool
-
- def _label_name(label: object) -> str:
- name = TDataStd_Name()
- if not label.FindAttribute(TDataStd_Name.GetID_s(), name):
- return ""
- return name.Get().ToExtString()
-
- def _resolve_label(shape_tool: object, label: object) -> object:
- if not shape_tool.IsReference_s(label):
- return label
- referred = TDF_Label()
- if shape_tool.GetReferredShape_s(label, referred):
- return referred
- return label
-
- def _child_components(shape_tool: object, label: object) -> list[object]:
- children = TDF_LabelSequence()
- ok = XCAFDoc_ShapeTool.GetComponents_s(label, children, False)
- resolved = _resolve_label(shape_tool, label)
- if (not ok or children.Length() <= 0) and resolved != label:
- children = TDF_LabelSequence()
- ok = XCAFDoc_ShapeTool.GetComponents_s(resolved, children, False)
- if not ok or children.Length() <= 0:
- return []
- return [children.Value(index) for index in range(1, children.Length() + 1)]
-
- def _shape_location(shape: object) -> build123d.Location:
- try:
- return build123d.Location(shape.Location().Transformation())
- except Exception:
- return build123d.Location()
-
- def _located_shape(shape: object, location: build123d.Location | None) -> object:
- if location is None:
- return shape
- return shape.Located(location.wrapped)
-
- app = XCAFApp_Application.GetApplication_s()
- doc = TDocStd_Document(TCollection_ExtendedString("servo_horn_yoke_doc"))
- app.NewDocument(TCollection_ExtendedString("MDTV-XCAF"), doc)
-
- reader = STEPCAFControl_Reader()
- read_status = reader.ReadFile(str(step_path))
- if int(read_status) != 1:
- raise RuntimeError(f"Could not read {step_path} (status={int(read_status)})")
- if not reader.Transfer(doc):
- raise RuntimeError(f"Could not transfer STEP document from {step_path}")
-
- shape_tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
- free_labels = TDF_LabelSequence()
- shape_tool.GetFreeShapes(free_labels)
- if free_labels.Length() <= 0:
- raise RuntimeError(f"No free shapes found in {step_path}")
-
- if not selector.startswith("xcaf:"):
- raise ValueError(f"Unsupported selector format: {selector}")
- segments = [int(value) for value in selector.split(":", 1)[1].split(".") if value]
- if not segments:
- raise ValueError(f"Selector does not contain XCAF path segments: {selector}")
- if segments[0] < 1 or segments[0] > free_labels.Length():
- raise RuntimeError(f"Selector root index is out of range for {step_path}: {selector}")
-
- label = free_labels.Value(segments[0])
- current_location: build123d.Location | None = None
- for index in segments[1:]:
- parent_location = _shape_location(shape_tool.GetShape_s(label))
- current_location = parent_location if current_location is None else current_location * parent_location
- children = _child_components(shape_tool, label)
- if index < 1 or index > len(children):
- raise RuntimeError(f"Selector segment {index} is out of range for {selector}")
- label = children[index - 1]
-
- resolved = _resolve_label(shape_tool, label)
- instance_shape = shape_tool.GetShape_s(label)
- resolved_shape = shape_tool.GetShape_s(resolved)
- base_shape = instance_shape if not instance_shape.IsNull() else resolved_shape
- if base_shape.IsNull():
- raise RuntimeError(f"Selector {selector} did not resolve to a shape")
-
- base_location = _shape_location(base_shape)
- current_location = base_location if current_location is None else current_location * base_location
- extracted = _cast_shape(_located_shape(base_shape, current_location))
- return _label_name(label), extracted
-
-
-def _wire_area(wire: build123d.Wire) -> float:
- return abs(_face_from_wire(wire).area)
-
-
-def _outer_wire_and_inner_wires(face: build123d.Face) -> tuple[build123d.Wire, list[build123d.Wire]]:
- wires = list(face.wires())
- if not wires:
- raise RuntimeError("Face has no wires")
-
- outer_wire = max(wires, key=_wire_area)
- inner_wires = [wire for wire in wires if not wire.is_same(outer_wire)]
- return outer_wire, inner_wires
-
-
-def _select_mount_face(shape: build123d.Shape, *, outward_sign: float) -> build123d.Face:
- shape_bb = shape.bounding_box()
- target_y = shape_bb.max.Y if outward_sign > 0.0 else shape_bb.min.Y
- candidates: list[tuple[float, build123d.Face]] = []
- for face in shape.faces():
- if face.geom_type.name != "PLANE":
- continue
- normal = face.normal_at()
- if outward_sign > 0.0 and normal.Y < 0.99:
- continue
- if outward_sign < 0.0 and normal.Y > -0.99:
- continue
- if abs(face.center().Y - target_y) > 0.25:
- continue
- candidates.append((face.area, face))
-
- if not candidates:
- raise RuntimeError(f"Could not find a horn mount face on y sign {outward_sign}")
- return max(candidates, key=lambda item: item[0])[1]
-
-
-def _extract_circular_wire_profiles(face: build123d.Face) -> list[tuple[build123d.Vector, float]]:
- _outer_wire, inner_wires = _outer_wire_and_inner_wires(face)
- profiles: list[tuple[build123d.Vector, float]] = []
- for wire in inner_wires:
- circle_edges = [edge for edge in wire.edges() if edge.geom_type.name == "CIRCLE"]
- if not circle_edges:
- continue
- center = _face_from_wire(wire).center()
- radius = max(edge.radius for edge in circle_edges)
- profiles.append((center, radius))
- return profiles
-
-
-def _extract_horn_mount_spec(shape: build123d.Shape, *, name: str, outward_sign: float) -> HornMountSpec:
- mount_face = _select_mount_face(shape, outward_sign=outward_sign)
- face_center = mount_face.center()
- shape_bbox = shape.bounding_box()
- profiles = _extract_circular_wire_profiles(mount_face)
- if not profiles:
- raise RuntimeError(f"No circular profiles found on horn mount face for {name}")
-
- center_profiles = [
- (center, radius)
- for center, radius in profiles
- if center.sub(face_center).length <= MOUNT_HOLE_MIN_OFFSET_MM
- ]
- if not center_profiles:
- raise RuntimeError(f"No center clearance profile found on horn mount face for {name}")
- center_clearance_radius = max(radius for _center, radius in center_profiles)
-
- mount_holes = [
- (center, radius)
- for center, radius in profiles
- if center.sub(face_center).length > MOUNT_HOLE_MIN_OFFSET_MM
- ]
- if len(mount_holes) != 4:
- raise RuntimeError(f"Expected 4 horn mount holes on {name}, found {len(mount_holes)}")
-
- mount_holes.sort(key=lambda item: (item[0].X, item[0].Z))
- return HornMountSpec(
- name=name,
- mount_face_y=face_center.Y,
- mount_face_center=face_center,
- mount_face_bbox=mount_face.bounding_box(),
- half_width_z=max(face_center.Z - shape_bbox.min.Z, shape_bbox.max.Z - face_center.Z),
- center_clearance_radius=center_clearance_radius,
- mount_holes=tuple(mount_holes),
- )
-
-
-def _find_reference_face_x(shape: build123d.Shape) -> float:
- target = build123d.Vector(*SERVO_REFERENCE_FACE_TARGET_CENTER_MM)
- candidates: list[tuple[float, float, build123d.Face]] = []
- for face in shape.faces():
- if face.geom_type.name != "PLANE":
- continue
- normal = face.normal_at()
- if normal.X > -0.99:
- continue
- center = face.center()
- dist = center.sub(target).length
- candidates.append((dist, -face.area, face))
-
- if not candidates:
- raise RuntimeError("Could not find the requested negative-X reference face on the servo")
-
- dist, _neg_area, face = min(candidates, key=lambda item: (item[0], item[1]))
- if dist > SERVO_REFERENCE_FACE_MAX_ERROR_MM:
- raise RuntimeError(
- "Resolved servo reference face is too far from the requested target center: "
- f"{dist:.3f} mm > {SERVO_REFERENCE_FACE_MAX_ERROR_MM:.3f} mm"
- )
- return face.bounding_box().min.X
-
-
-def _shape_half_width_z(shape: build123d.Shape) -> float:
- bbox = shape.bounding_box()
- return max(abs(bbox.min.Z), abs(bbox.max.Z))
-
-
-def _load_generator_inputs() -> GeneratorInputs:
- _validate_bend_rule(SHEET_RULE)
- if not SERVO_STEP.exists():
- raise FileNotFoundError(f"Missing servo STEP: {SERVO_STEP}")
-
- servo_shape = import_as_shape(SERVO_STEP)
- reference_face_x = _find_reference_face_x(servo_shape)
-
- upper_label, upper_horn_shape = _extract_selector_shape(SERVO_STEP, UPPER_HORN_SELECTOR)
- lower_label, lower_horn_shape = _extract_selector_shape(SERVO_STEP, LOWER_HORN_SELECTOR)
- if upper_label != UPPER_HORN_NAME:
- raise RuntimeError(
- f"Expected upper horn selector {UPPER_HORN_SELECTOR} to resolve to {UPPER_HORN_NAME}, got {upper_label}"
- )
- if lower_label != LOWER_HORN_NAME:
- raise RuntimeError(
- f"Expected lower horn selector {LOWER_HORN_SELECTOR} to resolve to {LOWER_HORN_NAME}, got {lower_label}"
- )
-
- upper_horn = _extract_horn_mount_spec(upper_horn_shape, name=upper_label, outward_sign=1.0)
- lower_horn = _extract_horn_mount_spec(lower_horn_shape, name=lower_label, outward_sign=-1.0)
- return GeneratorInputs(
- servo_shape=servo_shape,
- reference_face_x=reference_face_x,
- sheet_half_width_z=_shape_half_width_z(servo_shape),
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- )
-
-
-def _make_box(*, x_min: float, x_max: float, y_min: float, y_max: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _cap_hole_specs(horn: HornMountSpec) -> tuple[tuple[build123d.Vector, float], ...]:
- cap_holes = tuple(
- (center, M3_CLEARANCE_RADIUS_MM)
- for center, _radius in horn.mount_holes
- if abs(center.X - horn.mount_face_center.X) <= HORN_CAP_FLANGE_HOLE_X_TOLERANCE_MM
- and abs(center.Z - horn.mount_face_center.Z) > MOUNT_HOLE_MIN_OFFSET_MM
- )
- if len(cap_holes) != 2:
- raise RuntimeError(f"Expected 2 yoke cap holes on horn {horn.name}, found {len(cap_holes)}")
- return tuple(sorted(cap_holes, key=lambda item: item[0].Z))
-
-
-def _web_side_hole_spec(horn: HornMountSpec) -> tuple[build123d.Vector, float]:
- side_holes = tuple(
- (center, radius)
- for center, radius in horn.mount_holes
- if center.X < horn.mount_face_center.X - HORN_CAP_FLANGE_HOLE_X_TOLERANCE_MM
- and abs(center.Z - horn.mount_face_center.Z) <= MOUNT_HOLE_MIN_OFFSET_MM
- )
- if len(side_holes) != 1:
- raise RuntimeError(f"Expected 1 web-side horn hole on horn {horn.name}, found {len(side_holes)}")
- return side_holes[0]
-
-
-def _cap_z_bounds(horn: HornMountSpec, *, cap_radius: float) -> tuple[float, float]:
- cap_holes = _cap_hole_specs(horn)
- return (
- min(center.Z - cap_radius for center, _radius in cap_holes),
- max(center.Z + cap_radius for center, _radius in cap_holes),
- )
-
-
-def _cap_end_x(horn: HornMountSpec, *, cap_radius: float) -> float:
- return max(center.X + cap_radius for center, _radius in _cap_hole_specs(horn))
-
-
-def _capped_hole_flange_shapes(
- *,
- horn: HornMountSpec,
- web_inner_x: float,
- y_min: float,
- y_max: float,
- cap_radius: float,
-) -> tuple[build123d.Shape, ...]:
- cap_holes = _cap_hole_specs(horn)
- side_center, _side_radius = _web_side_hole_spec(horn)
- slot_radius = HORN_FORK_SLOT_RADIUS_MM
- slot_center_x = horn.mount_face_center.X
- slot_left_x = slot_center_x - slot_radius
- cap_center_x = max(center.X for center, _radius in cap_holes)
- if abs(slot_center_x - cap_center_x) > HORN_CAP_FLANGE_HOLE_X_TOLERANCE_MM:
- raise RuntimeError(
- f"Expected yoke cap holes to share the fork slot center X on horn {horn.name}: "
- f"slot_center_x={slot_center_x:.3f}, cap_center_x={cap_center_x:.3f}"
- )
- if not web_inner_x < slot_left_x < slot_center_x:
- raise RuntimeError(
- f"Invalid yoke flange fork slot for horn {horn.name}: "
- f"web_inner_x={web_inner_x:.3f}, slot_left_x={slot_left_x:.3f}, "
- f"slot_center_x={slot_center_x:.3f}"
- )
-
- flange_shape: build123d.Shape = _make_box(
- x_min=web_inner_x,
- x_max=slot_center_x,
- y_min=y_min,
- y_max=y_max,
- z_min=min(center.Z - cap_radius for center, _radius in cap_holes),
- z_max=max(center.Z + cap_radius for center, _radius in cap_holes),
- )
- for center, _radius in cap_holes:
- cap = _make_cylinder_along(
- radius=cap_radius,
- height=y_max - y_min,
- origin=build123d.Vector(center.X, y_min, center.Z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- flange_shape = flange_shape.fuse(cap)
-
- fork_slot = _make_cylinder_along(
- radius=slot_radius,
- height=(y_max - y_min) + (2.0 * CUT_EXTENSION_MM),
- origin=build123d.Vector(slot_center_x, y_min - CUT_EXTENSION_MM, side_center.Z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- flange_shape = flange_shape.cut(fork_slot)
- return (flange_shape,)
-
-
-def _web_pattern_center_from_values(
- *,
- web_outer_x: float,
- top_y_max: float,
- bottom_y_min: float,
- z_center: float,
-) -> build123d.Vector:
- return build123d.Vector(
- web_outer_x,
- 0.5 * (bottom_y_min + top_y_max),
- z_center,
- )
-
-
-def _web_pattern_center(layout: BracketLayout) -> build123d.Vector:
- return _web_pattern_center_from_values(
- web_outer_x=layout.web_outer_x,
- top_y_max=layout.top_y_max,
- bottom_y_min=layout.bottom_y_min,
- z_center=0.5 * (layout.global_z_min + layout.global_z_max),
- )
-
-
-def _center_hole_radius(horn: HornMountSpec) -> float:
- return max(HORN_CENTER_CLEARANCE_RADIUS_MM, horn.center_clearance_radius)
-
-
-def _horn_face_hole_specs(horn: HornMountSpec) -> tuple[tuple[build123d.Vector, float], ...]:
- side_center, _side_radius = _web_side_hole_spec(horn)
- return (
- (side_center, M3_CLEARANCE_RADIUS_MM),
- *_cap_hole_specs(horn),
- )
-
-
-def _web_round_hole_specs(
- layout: BracketLayout,
- *,
- horn: HornMountSpec,
-) -> tuple[WebHoleSpec, ...]:
- center = _web_pattern_center(layout)
- specs = [
- WebHoleSpec(
- center_y=center.Y,
- center_z=center.Z,
- radius=_center_hole_radius(horn),
- )
- ]
- for mount_center, _radius in horn.mount_holes:
- specs.append(
- WebHoleSpec(
- center_y=center.Y + (mount_center.X - horn.mount_face_center.X),
- center_z=center.Z + (mount_center.Z - horn.mount_face_center.Z),
- radius=M3_CLEARANCE_RADIUS_MM,
- )
- )
- return tuple(specs)
-
-
-def _bottom_face_slot_specs(layout: BracketLayout) -> tuple[SlotSpec, ...]:
- center_x = (
- layout.web_inner_x
- + BOTTOM_FACE_SLOT_BEND_EDGE_CLEARANCE_MM
- + (0.5 * BOTTOM_FACE_SLOT_WIDTH_MM)
- )
- slot_z_min = layout.global_z_min + BOTTOM_FACE_SLOT_END_GAP_MM
- slot_z_max = layout.global_z_max - BOTTOM_FACE_SLOT_END_GAP_MM
- slot_length = slot_z_max - slot_z_min
- if slot_length <= BOTTOM_FACE_SLOT_WIDTH_MM:
- raise ValueError(
- "Bottom face slot does not have enough length across the flange width "
- "after applying the flange-end gaps"
- )
-
- return (
- SlotSpec(
- center_x=center_x,
- center_z=0.5 * (slot_z_min + slot_z_max),
- length=slot_length,
- width=BOTTOM_FACE_SLOT_WIDTH_MM,
- ),
- )
-
-
-def _make_y_slot_cut(
- *,
- slot: SlotSpec,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- radius = 0.5 * slot.width
- half_straight = 0.5 * slot.length - radius
- y_start = y_min - CUT_EXTENSION_MM
- y_height = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- body: build123d.Shape = _make_box(
- x_min=slot.center_x - radius,
- x_max=slot.center_x + radius,
- y_min=y_start,
- y_max=y_start + y_height,
- z_min=slot.center_z - half_straight,
- z_max=slot.center_z + half_straight,
- )
- for end_z in (slot.center_z - half_straight, slot.center_z + half_straight):
- cap = _make_cylinder_along(
- radius=radius,
- height=y_height,
- origin=build123d.Vector(slot.center_x, y_start, end_z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- body = body.fuse(cap)
- return body
-
-
-def _cut_round_horn_face_holes(
- shape: build123d.Shape,
- *,
- horn: HornMountSpec,
- start_y: float,
- direction_y: float,
- rule: BendRule,
-) -> build123d.Shape:
- for center, radius in _horn_face_hole_specs(horn):
- cutter = _make_cylinder_along(
- radius=radius,
- height=rule.thickness_mm + (2.0 * CUT_EXTENSION_MM),
- origin=build123d.Vector(center.X, start_y, center.Z),
- direction=build123d.Vector(0.0, direction_y, 0.0),
- )
- shape = shape.cut(cutter)
- return shape
-
-
-def _cut_bottom_face_slots(
- shape: build123d.Shape,
- *,
- layout: BracketLayout,
-) -> build123d.Shape:
- for y_min, y_max in (
- (layout.top_y_min, layout.top_y_max),
- (layout.bottom_y_min, layout.bottom_y_max),
- ):
- for slot in _bottom_face_slot_specs(layout):
- shape = shape.cut(_make_y_slot_cut(slot=slot, y_min=y_min, y_max=y_max))
- return shape
-
-
-def _cut_round_web_holes(
- shape: build123d.Shape,
- *,
- layout: BracketLayout,
- horn: HornMountSpec,
- rule: BendRule,
-) -> build123d.Shape:
- start_x = layout.web_outer_x - CUT_EXTENSION_MM
- for hole in _web_round_hole_specs(layout, horn=horn):
- cutter = _make_cylinder_along(
- radius=hole.radius,
- height=rule.thickness_mm + (2.0 * CUT_EXTENSION_MM),
- origin=build123d.Vector(start_x, hole.center_y, hole.center_z),
- direction=build123d.Vector(1.0, 0.0, 0.0),
- )
- shape = shape.cut(cutter)
- return shape
-
-
-def _make_bent_channel_body(
- *,
- top_end_x: float,
- bottom_end_x: float,
- layout: BracketLayout,
-) -> build123d.Shape:
- # Build the channel body with sharp corners instead of formed bend radii.
- x_inner = layout.web_inner_x
- x_outer = layout.web_outer_x
-
- profile_points = [
- build123d.Vector(top_end_x, layout.top_y_max, 0.0),
- build123d.Vector(x_outer, layout.top_y_max, 0.0),
- build123d.Vector(x_outer, layout.bottom_y_min, 0.0),
- build123d.Vector(bottom_end_x, layout.bottom_y_min, 0.0),
- build123d.Vector(bottom_end_x, layout.bottom_y_max, 0.0),
- build123d.Vector(x_inner, layout.bottom_y_max, 0.0),
- build123d.Vector(x_inner, layout.top_y_min, 0.0),
- build123d.Vector(top_end_x, layout.top_y_min, 0.0),
- ]
- profile_edges = [
- build123d.Edge.make_line(profile_points[0], profile_points[1]),
- build123d.Edge.make_line(profile_points[1], profile_points[2]),
- build123d.Edge.make_line(profile_points[2], profile_points[3]),
- build123d.Edge.make_line(profile_points[3], profile_points[4]),
- build123d.Edge.make_line(profile_points[4], profile_points[5]),
- build123d.Edge.make_line(profile_points[5], profile_points[6]),
- build123d.Edge.make_line(profile_points[6], profile_points[7]),
- build123d.Edge.make_line(profile_points[7], profile_points[0]),
- ]
- face = _face_from_wire(_assemble_wire(profile_edges))
- return build123d.Solid.extrude(
- face,
- build123d.Vector(0.0, 0.0, layout.global_z_max - layout.global_z_min),
- ).translate((0.0, 0.0, layout.global_z_min))
-
-
-def _min_horn_face_feature_edge_to_bend_line(
- horn: HornMountSpec,
- *,
- bend_line_u: float,
-) -> float:
- return min(
- (center.X - radius) - bend_line_u
- for center, radius in _horn_face_hole_specs(horn)
- )
-
-
-def _min_web_feature_edge_to_bend_lines(
- *,
- layout: BracketLayout,
- horn: HornMountSpec,
-) -> float:
- distances: list[float] = []
- for hole in _web_round_hole_specs(layout, horn=horn):
- distances.append((hole.center_y - hole.radius) - layout.bottom_y_max)
- distances.append(layout.top_y_min - (hole.center_y + hole.radius))
- return min(distances)
-
-
-def _min_bottom_face_slot_edge_to_bend_line(layout: BracketLayout) -> float:
- return min(
- (slot.center_x - (0.5 * slot.width)) - layout.web_inner_x
- for slot in _bottom_face_slot_specs(layout)
- )
-
-
-def _build_metrics(
- *,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- layout: BracketLayout,
- rule: BendRule,
-) -> BracketMetrics:
- upper_outside_length = upper_horn.mount_face_center.X - layout.web_outer_x
- lower_outside_length = lower_horn.mount_face_center.X - layout.web_outer_x
- min_flange_outside_length = min(upper_outside_length, lower_outside_length)
- min_flange_flat_length = rule.flat_length_from_outside_length_90(min_flange_outside_length)
- bend_line_spacing = layout.top_y_min - layout.bottom_y_max
-
- min_hole_edge_to_bend = min(
- _min_horn_face_feature_edge_to_bend_line(upper_horn, bend_line_u=layout.web_inner_x),
- _min_horn_face_feature_edge_to_bend_line(lower_horn, bend_line_u=layout.web_inner_x),
- )
- min_slot_edge_to_bend = _min_bottom_face_slot_edge_to_bend_line(layout)
- min_web_feature_edge_to_bend = _min_web_feature_edge_to_bend_lines(
- layout=layout,
- horn=upper_horn,
- )
-
- max_flange_outside = max(upper_outside_length, lower_outside_length)
- base_to_flange_ratio = bend_line_spacing / max_flange_outside
-
- return BracketMetrics(
- min_flange_outside_length_mm=min_flange_outside_length,
- min_flange_flat_length_mm=min_flange_flat_length,
- bend_line_spacing_mm=bend_line_spacing,
- min_hole_edge_to_bend_mm=min_hole_edge_to_bend,
- min_slot_edge_to_bend_mm=min_slot_edge_to_bend,
- min_web_feature_edge_to_bend_mm=min_web_feature_edge_to_bend,
- base_to_flange_ratio=base_to_flange_ratio,
- bend_deduction_formula_mm=(2.0 * rule.outside_setback_90_mm) - rule.bend_allowance_90_mm,
- )
-
-
-def _validate_metrics(metrics: BracketMetrics, *, rule: BendRule) -> None:
- if metrics.min_flange_outside_length_mm < rule.min_flange_formed_mm:
- raise RuntimeError(
- "Flange is shorter than the configured bend-rule formed minimum: "
- f"{metrics.min_flange_outside_length_mm:.3f} mm < {rule.min_flange_formed_mm:.3f} mm"
- )
- if metrics.min_flange_flat_length_mm < rule.min_flange_flat_mm:
- raise RuntimeError(
- "Flat flange length implied by the bend rule is too short: "
- f"{metrics.min_flange_flat_length_mm:.3f} mm < {rule.min_flange_flat_mm:.3f} mm"
- )
- if metrics.bend_line_spacing_mm < rule.channel_base_spacing_min_mm:
- raise RuntimeError(
- "Channel base spacing is below the SendCutSend consecutive-bend minimum: "
- f"{metrics.bend_line_spacing_mm:.3f} mm < {rule.channel_base_spacing_min_mm:.3f} mm"
- )
- if metrics.min_hole_edge_to_bend_mm < rule.half_die_width_mm:
- raise RuntimeError(
- "Horn flange features are too close to the bend die region: "
- f"{metrics.min_hole_edge_to_bend_mm:.3f} mm < {rule.half_die_width_mm:.3f} mm"
- )
- if metrics.min_slot_edge_to_bend_mm < rule.half_die_width_mm:
- raise RuntimeError(
- "Horn flange bottom slots are too close to the bend die region: "
- f"{metrics.min_slot_edge_to_bend_mm:.3f} mm < {rule.half_die_width_mm:.3f} mm"
- )
- if metrics.min_web_feature_edge_to_bend_mm < rule.half_die_width_mm:
- raise RuntimeError(
- "Closing-face horn pattern is too close to a bend die region: "
- f"{metrics.min_web_feature_edge_to_bend_mm:.3f} mm < {rule.half_die_width_mm:.3f} mm"
- )
- if metrics.min_flange_outside_length_mm <= rule.channel_one_to_one_max_flange_mm and metrics.base_to_flange_ratio < 1.0:
- raise RuntimeError(
- "U-channel base-to-flange ratio is below the configured 1:1 manufacturing check for this stock: "
- f"{metrics.base_to_flange_ratio:.3f} < 1.000"
- )
-
-
-def _build_layout(
- reference_face_x: float,
- *,
- sheet_half_width_z: float,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
-) -> tuple[BracketLayout, float]:
- web_outer_x = SERVO_HORN_AXIS_X_MM - YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
- web_inner_x = web_outer_x + rule.thickness_mm
-
- top_y_min = upper_horn.mount_face_y + HORN_FACE_GAP_MM
- top_y_max = top_y_min + rule.thickness_mm
- bottom_y_max = lower_horn.mount_face_y - HORN_FACE_GAP_MM
- bottom_y_min = bottom_y_max - rule.thickness_mm
-
- cap_radius = HORN_CAP_FLANGE_RADIUS_MM
-
- top_z_min, top_z_max = _cap_z_bounds(upper_horn, cap_radius=cap_radius)
- bottom_z_min, bottom_z_max = _cap_z_bounds(lower_horn, cap_radius=cap_radius)
- global_z_min = min(top_z_min, bottom_z_min)
- global_z_max = max(top_z_max, bottom_z_max)
-
- layout = BracketLayout(
- web_inner_x=web_inner_x,
- web_outer_x=web_outer_x,
- top_y_min=top_y_min,
- top_y_max=top_y_max,
- bottom_y_min=bottom_y_min,
- bottom_y_max=bottom_y_max,
- top_z_min=top_z_min,
- top_z_max=top_z_max,
- bottom_z_min=bottom_z_min,
- bottom_z_max=bottom_z_max,
- global_z_min=global_z_min,
- global_z_max=global_z_max,
- )
- return layout, cap_radius
-
-
-def build_bracket(
- reference_face_x: float,
- *,
- sheet_half_width_z: float,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
- validate_metrics: bool = True,
-) -> tuple[build123d.Shape, BracketLayout, BracketMetrics]:
- layout, cap_radius = _build_layout(
- reference_face_x,
- sheet_half_width_z=sheet_half_width_z,
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- rule=rule,
- )
- web_inner_x = layout.web_inner_x
- web_outer_x = layout.web_outer_x
- top_y_min = layout.top_y_min
- top_y_max = layout.top_y_max
- bottom_y_min = layout.bottom_y_min
- bottom_y_max = layout.bottom_y_max
- global_z_min = layout.global_z_min
- global_z_max = layout.global_z_max
-
- bracket = _make_bent_channel_body(
- top_end_x=_cap_end_x(upper_horn, cap_radius=cap_radius),
- bottom_end_x=_cap_end_x(lower_horn, cap_radius=cap_radius),
- layout=layout,
- )
- cap_mask: build123d.Shape = _make_box(
- x_min=web_outer_x,
- x_max=web_inner_x,
- y_min=bottom_y_min,
- y_max=top_y_max,
- z_min=global_z_min,
- z_max=global_z_max,
- )
- for flange_shape in (
- *_capped_hole_flange_shapes(
- horn=upper_horn,
- web_inner_x=web_inner_x,
- y_min=top_y_min,
- y_max=top_y_max,
- cap_radius=cap_radius,
- ),
- *_capped_hole_flange_shapes(
- horn=lower_horn,
- web_inner_x=web_inner_x,
- y_min=bottom_y_min,
- y_max=bottom_y_max,
- cap_radius=cap_radius,
- ),
- ):
- cap_mask = cap_mask.fuse(flange_shape)
- bracket = bracket.intersect(cap_mask)
-
- top_start_y = top_y_max + CUT_EXTENSION_MM
- bracket = _cut_round_horn_face_holes(
- bracket,
- horn=upper_horn,
- start_y=top_start_y,
- direction_y=-1.0,
- rule=rule,
- )
-
- bottom_start_y = bottom_y_min - CUT_EXTENSION_MM
- bracket = _cut_round_horn_face_holes(
- bracket,
- horn=lower_horn,
- start_y=bottom_start_y,
- direction_y=1.0,
- rule=rule,
- )
-
- bracket = _cut_bottom_face_slots(
- bracket,
- layout=layout,
- )
-
- bracket = _cut_round_web_holes(
- bracket,
- layout=layout,
- horn=upper_horn,
- rule=rule,
- )
- metrics = _build_metrics(
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- layout=layout,
- rule=rule,
- )
- if validate_metrics:
- _validate_metrics(metrics, rule=rule)
- return bracket, layout, metrics
-
-
-def build_flat_pattern(
- reference_face_x: float,
- *,
- sheet_half_width_z: float,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
-) -> tuple[FlatPattern, BracketMetrics]:
- if abs(upper_horn.mount_face_center.Z - lower_horn.mount_face_center.Z) > 1e-6:
- raise RuntimeError("Flat-pattern export currently requires the horn faces to share the same Z centerline")
-
- layout, cap_radius = _build_layout(
- reference_face_x,
- sheet_half_width_z=sheet_half_width_z,
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- rule=rule,
- )
- metrics = _build_metrics(
- upper_horn=upper_horn,
- lower_horn=lower_horn,
- layout=layout,
- rule=rule,
- )
- _validate_metrics(metrics, rule=rule)
-
- top_end_x = _cap_end_x(upper_horn, cap_radius=cap_radius)
- bottom_end_x = _cap_end_x(lower_horn, cap_radius=cap_radius)
- top_outside_length = top_end_x - layout.web_outer_x
- bottom_outside_length = bottom_end_x - layout.web_outer_x
- top_flat_length = top_outside_length - rule.outside_setback_90_mm
- bottom_flat_length = bottom_outside_length - rule.outside_setback_90_mm
-
- bend_allowance = rule.bend_allowance_90_mm
- top_web_tangent_y = layout.top_y_min - rule.effective_inside_radius_mm
- bottom_web_tangent_y = layout.bottom_y_max + rule.effective_inside_radius_mm
- web_flat_length = top_web_tangent_y - bottom_web_tangent_y
- total_flat_length = top_flat_length + bend_allowance + web_flat_length + bend_allowance + bottom_flat_length
- flat_width = layout.global_z_max - layout.global_z_min
- top_bend_line_x = top_flat_length + (0.5 * bend_allowance)
- bottom_bend_line_x = top_flat_length + bend_allowance + web_flat_length + (0.5 * bend_allowance)
-
- upper_hole_profiles = tuple(
- CircleProfileSpec(
- center_x=top_end_x - center.X,
- center_y=center.Z - layout.global_z_min,
- radius=radius,
- )
- for center, radius in _horn_face_hole_specs(upper_horn)
- )
- web_hole_profiles = tuple(
- CircleProfileSpec(
- center_x=top_flat_length + bend_allowance + (top_web_tangent_y - hole.center_y),
- center_y=hole.center_z - layout.global_z_min,
- radius=hole.radius,
- )
- for hole in _web_round_hole_specs(layout, horn=upper_horn)
- )
- lower_hole_profiles = tuple(
- CircleProfileSpec(
- center_x=total_flat_length - (bottom_end_x - center.X),
- center_y=center.Z - layout.global_z_min,
- radius=radius,
- )
- for center, radius in _horn_face_hole_specs(lower_horn)
- )
- round_hole_profiles = upper_hole_profiles + web_hole_profiles + lower_hole_profiles
- upper_slot_profiles = tuple(
- SlotProfileSpec(
- center_x=top_end_x - slot.center_x,
- center_y=slot.center_z - layout.global_z_min,
- length=slot.length,
- width=slot.width,
- )
- for slot in _bottom_face_slot_specs(layout)
- )
- lower_slot_profiles = tuple(
- SlotProfileSpec(
- center_x=total_flat_length - (bottom_end_x - slot.center_x),
- center_y=slot.center_z - layout.global_z_min,
- length=slot.length,
- width=slot.width,
- )
- for slot in _bottom_face_slot_specs(layout)
- )
-
- return (
- FlatPattern(
- total_length_mm=total_flat_length,
- width_mm=flat_width,
- cap_radius_mm=cap_radius,
- bend_line_positions_mm=(top_bend_line_x, bottom_bend_line_x),
- round_hole_profiles=round_hole_profiles,
- slot_profiles=upper_slot_profiles + lower_slot_profiles,
- ),
- metrics,
- )
-
-
-def _slot_profile_points(slot: SlotProfileSpec, *, segments_per_cap: int = 12) -> list[tuple[float, float]]:
- radius = 0.5 * slot.width
- half_straight = 0.5 * slot.length - radius
- bottom_y = slot.center_y - half_straight
- top_y = slot.center_y + half_straight
-
- points: list[tuple[float, float]] = []
- for index in range(segments_per_cap + 1):
- angle = 0.0 + (180.0 * index / segments_per_cap)
- points.append(
- (
- slot.center_x + radius * math.cos(math.radians(angle)),
- top_y + radius * math.sin(math.radians(angle)),
- )
- )
- for index in range(segments_per_cap + 1):
- angle = 180.0 + (180.0 * index / segments_per_cap)
- points.append(
- (
- slot.center_x + radius * math.cos(math.radians(angle)),
- bottom_y + radius * math.sin(math.radians(angle)),
- )
- )
- return points
-
-
-def _arc_points_2d(
- *,
- center: tuple[float, float],
- radius: float,
- start_deg: float,
- end_deg: float,
- segments: int,
- include_start: bool = False,
-) -> list[tuple[float, float]]:
- start_index = 0 if include_start else 1
- return [
- (
- center[0] + radius * math.cos(math.radians(start_deg + ((end_deg - start_deg) * index / segments))),
- center[1] + radius * math.sin(math.radians(start_deg + ((end_deg - start_deg) * index / segments))),
- )
- for index in range(start_index, segments + 1)
- ]
-
-
-def _outer_outline_points(flat_pattern: FlatPattern, *, segments_per_lobe: int = 24) -> list[tuple[float, float]]:
- radius = flat_pattern.cap_radius_mm
- width = flat_pattern.width_mm
- total_length = flat_pattern.total_length_mm
- lower_lobe_top_y = 2.0 * radius
- upper_lobe_bottom_y = width - (2.0 * radius)
- if upper_lobe_bottom_y < lower_lobe_top_y - 1e-6:
- raise RuntimeError(
- "Yoke flat-pattern cap lobes overlap; closed outline export needs a wider flat pattern "
- f"or smaller cap radius (width={width:.3f}, radius={radius:.3f})"
- )
-
- right_x = total_length - radius
- left_x = radius
- points: list[tuple[float, float]] = [
- (left_x, 0.0),
- (right_x, 0.0),
- ]
- points.extend(
- _arc_points_2d(
- center=(right_x, radius),
- radius=radius,
- start_deg=-90.0,
- end_deg=90.0,
- segments=segments_per_lobe,
- )
- )
- if upper_lobe_bottom_y > lower_lobe_top_y + 1e-6:
- points.append((right_x, upper_lobe_bottom_y))
- points.extend(
- _arc_points_2d(
- center=(right_x, width - radius),
- radius=radius,
- start_deg=-90.0,
- end_deg=90.0,
- segments=segments_per_lobe,
- )
- )
- points.append((left_x, width))
- points.extend(
- _arc_points_2d(
- center=(left_x, width - radius),
- radius=radius,
- start_deg=90.0,
- end_deg=270.0,
- segments=segments_per_lobe,
- )
- )
- if upper_lobe_bottom_y > lower_lobe_top_y + 1e-6:
- points.append((left_x, lower_lobe_top_y))
- points.extend(
- _arc_points_2d(
- center=(left_x, radius),
- radius=radius,
- start_deg=90.0,
- end_deg=270.0,
- segments=segments_per_lobe,
- )
- )
- if points[-1] == points[0]:
- points.pop()
- return points
-
-
-def _build_flat_pattern_dxf(flat_pattern: FlatPattern) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- msp = doc.modelspace()
- msp.add_lwpolyline(
- _outer_outline_points(flat_pattern),
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
- for round_hole in flat_pattern.round_hole_profiles:
- msp.add_circle(
- (round_hole.center_x, round_hole.center_y),
- radius=round_hole.radius,
- dxfattribs={"layer": "CUT"},
- )
- for slot in flat_pattern.slot_profiles:
- msp.add_lwpolyline(
- _slot_profile_points(slot),
- close=True,
- dxfattribs={"layer": "CUT"},
- )
-
- for bend_line_x in flat_pattern.bend_line_positions_mm:
- msp.add_line(
- (bend_line_x, 0.0),
- (bend_line_x, flat_pattern.width_mm),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def _topology_flat_pattern_dxf(
- bracket: build123d.Shape,
- layout: BracketLayout,
- flat_pattern: FlatPattern,
- *,
- upper_horn: HornMountSpec,
- lower_horn: HornMountSpec,
- rule: BendRule,
-) -> ezdxf.document.Drawing:
- doc = ezdxf.new("R2010", setup=True)
- doc.units = DXF_UNIT_MM
- if "CUT" not in doc.layers:
- doc.layers.add("CUT")
- if "BEND" not in doc.layers:
- doc.layers.add("BEND", linetype="DASHED")
-
- top_end_x = _cap_end_x(upper_horn, cap_radius=flat_pattern.cap_radius_mm)
- bottom_end_x = _cap_end_x(lower_horn, cap_radius=flat_pattern.cap_radius_mm)
- top_flat_length = (top_end_x - layout.web_outer_x) - rule.outside_setback_90_mm
- bottom_flat_length = (bottom_end_x - layout.web_outer_x) - rule.outside_setback_90_mm
- bottom_flat_start = flat_pattern.total_length_mm - bottom_flat_length
- web_source_span = layout.top_y_min - layout.bottom_y_max
- web_flat_span = bottom_flat_start - top_flat_length
- if top_flat_length <= 0.0 or bottom_flat_length <= 0.0 or web_source_span <= 0.0 or web_flat_span <= 0.0:
- raise RuntimeError("Yoke topology DXF has invalid flat-pattern spans")
-
- def project_top(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.X - layout.web_outer_x) <= 1e-3:
- u = top_flat_length
- else:
- u = top_end_x - point.X
- return (u, point.Z - layout.global_z_min)
-
- def project_web(point: build123d.Vector) -> tuple[float, float]:
- t = (layout.top_y_min - point.Y) / web_source_span
- return (
- top_flat_length + (t * web_flat_span),
- point.Z - layout.global_z_min,
- )
-
- def project_bottom(point: build123d.Vector) -> tuple[float, float]:
- if abs(point.X - layout.web_outer_x) <= 1e-3:
- u = bottom_flat_start
- else:
- u = flat_pattern.total_length_mm - (bottom_end_x - point.X)
- return (u, point.Z - layout.global_z_min)
-
- top_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="y",
- normal_sign=1.0,
- coordinate_axis="y",
- coordinate=layout.top_y_max,
- )
- web_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="x",
- normal_sign=1.0,
- coordinate_axis="x",
- coordinate=layout.web_inner_x,
- )
- bottom_faces = dxf_topology.planar_faces(
- bracket,
- normal_axis="y",
- normal_sign=-1.0,
- coordinate_axis="y",
- coordinate=layout.bottom_y_min,
- )
- geometry = dxf_topology.union_projected_faces(
- (
- (top_faces, project_top),
- (web_faces, project_web),
- (bottom_faces, project_bottom),
- )
- )
- dxf_topology.add_shapely_geometry(doc.modelspace(), geometry, layer="CUT")
-
- for bend_line_x in flat_pattern.bend_line_positions_mm:
- doc.modelspace().add_line(
- (bend_line_x, 0.0),
- (bend_line_x, flat_pattern.width_mm),
- dxfattribs={"layer": "BEND", "linetype": "DASHED"},
- )
- return doc
-
-
-def _orient_for_standalone_floor(shape: build123d.Shape) -> build123d.Shape:
- rotated = shape.rotate(STANDALONE_FLOOR_ROTATION_AXIS, STANDALONE_FLOOR_ROTATION_DEG)
- rotated_bb = rotated.bounding_box()
- return rotated.translate((0.0, 0.0, -rotated_bb.min.Z))
-
-
-def build_step() -> build123d.Shape:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
- inputs = _load_generator_inputs()
- bracket, layout, metrics = build_bracket(
- inputs.reference_face_x,
- sheet_half_width_z=inputs.sheet_half_width_z,
- upper_horn=inputs.upper_horn,
- lower_horn=inputs.lower_horn,
- rule=SHEET_RULE,
- )
-
- solids = bracket.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected bracket solid, found {len(solids)}")
-
- interference_volume = inputs.servo_shape.intersect(bracket).volume
- if interference_volume > 1e-3:
- raise RuntimeError(f"Bracket intersects the servo by {interference_volume:.6f} mm^3")
-
- bracket_bb = bracket.bounding_box()
- bottom_slots = _bottom_face_slot_specs(layout)
- bottom_slot_length = bottom_slots[0].length if bottom_slots else 0.0
- print(
- "Bracket envelope "
- f"X={bracket_bb.size.X:.3f} mm, "
- f"Y={bracket_bb.size.Y:.3f} mm, "
- f"Z={bracket_bb.size.Z:.3f} mm"
- )
- print(
- "Connection features "
- f"face_patterns=3, "
- f"horn_flange_m3_holes_per_pattern={len(_horn_face_hole_specs(inputs.upper_horn))}x"
- f"{2.0 * M3_CLEARANCE_RADIUS_MM:.3f} mm, "
- f"cap_flange_radius={HORN_CAP_FLANGE_RADIUS_MM:.3f} mm, "
- f"fork_slot_radius={HORN_FORK_SLOT_RADIUS_MM:.3f} mm, "
- f"bottom_slots={2 * len(bottom_slots)}x"
- f"{bottom_slot_length:.3f}x{BOTTOM_FACE_SLOT_WIDTH_MM:.3f} mm, "
- f"removed_center_and_far_side_hole=true"
- )
- print(
- "SendCutSend bend rule "
- f"material={SHEET_RULE.material_name}, "
- f"thickness={SHEET_RULE.thickness_mm:.3f} mm, "
- f"inside_radius={SHEET_RULE.effective_inside_radius_mm:.3f} mm, "
- f"outer_radius={SHEET_RULE.outer_radius_mm:.3f} mm, "
- f"k_factor={SHEET_RULE.k_factor:.2f}, "
- f"bend_deduction_90={SHEET_RULE.bend_deduction_90_mm:.3f} mm"
- )
- print(
- "SendCutSend checks "
- f"flange_outside_min={metrics.min_flange_outside_length_mm:.3f} mm, "
- f"flange_flat_min={metrics.min_flange_flat_length_mm:.3f} mm, "
- f"bend_spacing={metrics.bend_line_spacing_mm:.3f} mm, "
- f"hole_edge_to_bend_min={metrics.min_hole_edge_to_bend_mm:.3f} mm, "
- f"slot_edge_to_bend_min={metrics.min_slot_edge_to_bend_mm:.3f} mm, "
- f"web_feature_edge_to_bend_min={metrics.min_web_feature_edge_to_bend_mm:.3f} mm, "
- f"base_to_flange_ratio={metrics.base_to_flange_ratio:.3f}"
- )
- print(
- "Bracket placement "
- f"inner_web_x={layout.web_inner_x:.3f} mm, "
- f"outer_web_x={layout.web_outer_x:.3f} mm, "
- f"outer_web_to_horn_axis={YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM:.3f} mm, "
- f"outer_web_to_cap_tip={bracket_bb.size.X:.3f} mm, "
- f"reference_face_x={inputs.reference_face_x:.3f} mm, "
- f"reference_clearance={inputs.reference_face_x - layout.web_inner_x:.3f} mm"
- )
- print(
- "Upper horn "
- f"selector={UPPER_HORN_SELECTOR}, face_y={inputs.upper_horn.mount_face_y:.3f} mm, "
- f"m3_holes={len(_horn_face_hole_specs(inputs.upper_horn))}, "
- f"cap_flange_radius={HORN_CAP_FLANGE_RADIUS_MM:.3f} mm"
- )
- print(
- "Lower horn "
- f"selector={LOWER_HORN_SELECTOR}, face_y={inputs.lower_horn.mount_face_y:.3f} mm, "
- f"m3_holes={len(_horn_face_hole_specs(inputs.lower_horn))}, "
- f"cap_flange_radius={HORN_CAP_FLANGE_RADIUS_MM:.3f} mm"
- )
- print(f"Servo/bracket interference volume (mm^3): {interference_volume:.6f}")
-
- oriented_bracket = _orient_for_standalone_floor(bracket)
- oriented_bb = oriented_bracket.bounding_box()
- print(
- "Standalone orientation "
- f"rotate_axis=Y, rotate={STANDALONE_FLOOR_ROTATION_DEG:.1f} deg, "
- f"floor_z={oriented_bb.min.Z:.3f} mm, "
- f"oriented_envelope X={oriented_bb.size.X:.3f} mm, "
- f"Y={oriented_bb.size.Y:.3f} mm, "
- f"Z={oriented_bb.size.Z:.3f} mm"
- )
- oriented_bracket.label = PART_NAME
- oriented_bracket.color = GRAY_ALUMINUM_COLOR
- return oriented_bracket
-
-
-def build_dxf() -> ezdxf.document.Drawing:
- CAD_DIR.mkdir(parents=True, exist_ok=True)
- inputs = _load_generator_inputs()
- bracket, layout, metrics = build_bracket(
- inputs.reference_face_x,
- sheet_half_width_z=inputs.sheet_half_width_z,
- upper_horn=inputs.upper_horn,
- lower_horn=inputs.lower_horn,
- rule=SHEET_RULE,
- )
- flat_pattern, metrics = build_flat_pattern(
- inputs.reference_face_x,
- sheet_half_width_z=inputs.sheet_half_width_z,
- upper_horn=inputs.upper_horn,
- lower_horn=inputs.lower_horn,
- rule=SHEET_RULE,
- )
- doc = _topology_flat_pattern_dxf(
- bracket,
- layout,
- flat_pattern,
- upper_horn=inputs.upper_horn,
- lower_horn=inputs.lower_horn,
- rule=SHEET_RULE,
- )
- print(
- "Flat pattern "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, {flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"round_holes={len(flat_pattern.round_hole_profiles)}, "
- f"slots={len(flat_pattern.slot_profiles)}"
- )
- print(
- "DXF checks "
- f"flange_flat_min={metrics.min_flange_flat_length_mm:.3f} mm, "
- f"bend_spacing={metrics.bend_line_spacing_mm:.3f} mm, "
- f"hole_edge_to_bend_min={metrics.min_hole_edge_to_bend_mm:.3f} mm, "
- f"slot_edge_to_bend_min={metrics.min_slot_edge_to_bend_mm:.3f} mm, "
- f"web_feature_edge_to_bend_min={metrics.min_web_feature_edge_to_bend_mm:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v2/parts/servo_horn_yoke.step b/models/robots/tom/v2/parts/servo_horn_yoke.step
deleted file mode 100644
index 5a740120..00000000
--- a/models/robots/tom/v2/parts/servo_horn_yoke.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f6f53f29df90f58a95066963ba8e99e3372bcca21dccdd1c8dcfca5bc1c38f65
-size 132697
diff --git a/models/robots/tom/v2/parts/servo_horn_yoke_double_horn.py b/models/robots/tom/v2/parts/servo_horn_yoke_double_horn.py
deleted file mode 100644
index e09fce38..00000000
--- a/models/robots/tom/v2/parts/servo_horn_yoke_double_horn.py
+++ /dev/null
@@ -1,444 +0,0 @@
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-import build123d
-
-V2_DIR = Path(__file__).resolve().parents[1]
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import link_common as lc
-import servo_horn_yoke
-
-
-PART_NAME = Path(__file__).stem
-DISPLAY_NAME = "Double Servo Horn Yoke Horn"
-
-SIDE_BY_SIDE_CLEARANCE_MM = 2.0
-SERVO_CENTER_SPACING_Y_MM = (2.0 * abs(lc.SERVO_REAR_EXTREME_LOCAL_Y_MM)) + SIDE_BY_SIDE_CLEARANCE_MM
-SERVO_CENTER_OFFSET_Y_MM = 0.5 * SERVO_CENTER_SPACING_Y_MM
-YOKE_SINGLE_HALF_WIDTH_Z_MM = 10.5
-
-SHEET_THICKNESS_MM = lc.SHEET_THICKNESS_MM
-CUT_EXTENSION_MM = 2.0
-M3_CLEARANCE_RADIUS_MM = servo_horn_yoke.M3_CLEARANCE_RADIUS_MM
-HORN_CENTER_CLEARANCE_RADIUS_MM = servo_horn_yoke.HORN_CENTER_CLEARANCE_RADIUS_MM
-HORN_SCREW_CIRCLE_RADIUS_MM = lc.SERVO_HORN_SCREW_CIRCLE_RADIUS_MM
-BOTTOM_FACE_SLOT_WIDTH_MM = servo_horn_yoke.BOTTOM_FACE_SLOT_WIDTH_MM
-BOTTOM_FACE_SLOT_BEND_EDGE_CLEARANCE_MM = servo_horn_yoke.BOTTOM_FACE_SLOT_BEND_EDGE_CLEARANCE_MM
-BOTTOM_FACE_SLOT_END_GAP_MM = servo_horn_yoke.BOTTOM_FACE_SLOT_END_GAP_MM
-
-WEB_OUTER_X_MM = (
- lc.SERVO_SHAFT_LOCAL_X_MM
- - servo_horn_yoke.YOKE_HORN_AXIS_TO_WEB_OUTER_LENGTH_MM
-)
-WEB_INNER_X_MM = WEB_OUTER_X_MM + SHEET_THICKNESS_MM
-HORN_AXIS_X_MM = lc.SERVO_SHAFT_LOCAL_X_MM
-HORN_FLANGE_END_X_MM = HORN_AXIS_X_MM + servo_horn_yoke.HORN_CAP_FLANGE_RADIUS_MM
-
-OUTPUT_HORN_FACE_Y_MM = lc.SERVO_OUTPUT_HORN_FACE_LOCAL_Y_MM
-
-REAR_SERVO_CENTER_Y_MM = -SERVO_CENTER_OFFSET_Y_MM
-FRONT_SERVO_CENTER_Y_MM = SERVO_CENTER_OFFSET_Y_MM
-REAR_OUTER_HORN_FACE_Y_MM = REAR_SERVO_CENTER_Y_MM - OUTPUT_HORN_FACE_Y_MM
-FRONT_OUTER_HORN_FACE_Y_MM = FRONT_SERVO_CENTER_Y_MM + OUTPUT_HORN_FACE_Y_MM
-WEB_PATTERN_CENTER_Y_MM = 0.5 * (REAR_OUTER_HORN_FACE_Y_MM + FRONT_OUTER_HORN_FACE_Y_MM)
-
-Z_MIN_MM = -YOKE_SINGLE_HALF_WIDTH_Z_MM
-Z_MAX_MM = YOKE_SINGLE_HALF_WIDTH_Z_MM
-HORN_PATTERN_CENTER_Z_MM = 0.0
-
-
-def _make_cylinder_along(
- *,
- radius: float,
- height: float,
- origin: build123d.Vector,
- direction: build123d.Vector,
-) -> build123d.Solid:
- return build123d.Solid.make_cylinder(
- radius,
- height,
- plane=build123d.Plane(origin=origin, z_dir=direction),
- )
-
-
-def _make_box(*, x_min: float, x_max: float, y_min: float, y_max: float, z_min: float, z_max: float) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _face_from_wire(wire: build123d.Wire) -> build123d.Face:
- return build123d.Face(wire)
-
-
-def _assemble_wire(edges: list[build123d.Edge]) -> build123d.Wire:
- wires = list(build123d.Wire.combine(edges))
- if len(wires) != 1:
- raise RuntimeError(f"Expected a single assembled wire, found {len(wires)}")
- return wires[0]
-
-
-def _make_channel_body() -> build123d.Shape:
- rear_outer_y = REAR_OUTER_HORN_FACE_Y_MM - SHEET_THICKNESS_MM
- output_outer_y = FRONT_OUTER_HORN_FACE_Y_MM + SHEET_THICKNESS_MM
-
- body: build123d.Shape = _make_box(
- x_min=WEB_OUTER_X_MM,
- x_max=WEB_INNER_X_MM,
- y_min=rear_outer_y,
- y_max=output_outer_y,
- z_min=Z_MIN_MM,
- z_max=Z_MAX_MM,
- )
- body = body.fuse(
- _make_capped_horn_flange(
- y_min=rear_outer_y,
- y_max=REAR_OUTER_HORN_FACE_Y_MM,
- )
- )
- body = body.fuse(
- _make_capped_horn_flange(
- y_min=FRONT_OUTER_HORN_FACE_Y_MM,
- y_max=output_outer_y,
- )
- )
- return body
-
-
-def _make_capped_horn_flange(*, y_min: float, y_max: float) -> build123d.Shape:
- cap_radius = servo_horn_yoke.HORN_CAP_FLANGE_RADIUS_MM
- slot_radius = servo_horn_yoke.HORN_FORK_SLOT_RADIUS_MM
- cap_z_min = HORN_PATTERN_CENTER_Z_MM - HORN_SCREW_CIRCLE_RADIUS_MM - cap_radius
- cap_z_max = HORN_PATTERN_CENTER_Z_MM + HORN_SCREW_CIRCLE_RADIUS_MM + cap_radius
-
- flange: build123d.Shape = _make_box(
- x_min=WEB_INNER_X_MM,
- x_max=HORN_AXIS_X_MM,
- y_min=y_min,
- y_max=y_max,
- z_min=cap_z_min,
- z_max=cap_z_max,
- )
- for cap_z in (
- HORN_PATTERN_CENTER_Z_MM - HORN_SCREW_CIRCLE_RADIUS_MM,
- HORN_PATTERN_CENTER_Z_MM + HORN_SCREW_CIRCLE_RADIUS_MM,
- ):
- cap = _make_cylinder_along(
- radius=cap_radius,
- height=y_max - y_min,
- origin=build123d.Vector(HORN_AXIS_X_MM, y_min, cap_z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- flange = flange.fuse(cap)
-
- fork_slot = _make_cylinder_along(
- radius=slot_radius,
- height=(y_max - y_min) + (2.0 * CUT_EXTENSION_MM),
- origin=build123d.Vector(
- HORN_AXIS_X_MM,
- y_min - CUT_EXTENSION_MM,
- HORN_PATTERN_CENTER_Z_MM,
- ),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- return flange.cut(fork_slot)
-
-
-def _horn_face_m3_holes() -> tuple[tuple[float, float, float], ...]:
- return (
- (
- HORN_AXIS_X_MM - HORN_SCREW_CIRCLE_RADIUS_MM,
- HORN_PATTERN_CENTER_Z_MM,
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- HORN_AXIS_X_MM,
- HORN_PATTERN_CENTER_Z_MM - HORN_SCREW_CIRCLE_RADIUS_MM,
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- HORN_AXIS_X_MM,
- HORN_PATTERN_CENTER_Z_MM + HORN_SCREW_CIRCLE_RADIUS_MM,
- M3_CLEARANCE_RADIUS_MM,
- ),
- )
-
-
-def _web_holes(center_y: float) -> tuple[tuple[float, float, float], ...]:
- circle = HORN_SCREW_CIRCLE_RADIUS_MM
- return (
- (
- center_y,
- HORN_PATTERN_CENTER_Z_MM,
- HORN_CENTER_CLEARANCE_RADIUS_MM,
- ),
- (
- center_y - circle,
- HORN_PATTERN_CENTER_Z_MM,
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- center_y + circle,
- HORN_PATTERN_CENTER_Z_MM,
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- center_y,
- HORN_PATTERN_CENTER_Z_MM - circle,
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- center_y,
- HORN_PATTERN_CENTER_Z_MM + circle,
- M3_CLEARANCE_RADIUS_MM,
- ),
- )
-
-
-def _double_horn_mount_holes(face_y: float) -> tuple[tuple[build123d.Vector, float], ...]:
- circle = HORN_SCREW_CIRCLE_RADIUS_MM
- return (
- (
- build123d.Vector(HORN_AXIS_X_MM - circle, face_y, HORN_PATTERN_CENTER_Z_MM),
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- build123d.Vector(HORN_AXIS_X_MM + circle, face_y, HORN_PATTERN_CENTER_Z_MM),
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- build123d.Vector(HORN_AXIS_X_MM, face_y, HORN_PATTERN_CENTER_Z_MM - circle),
- M3_CLEARANCE_RADIUS_MM,
- ),
- (
- build123d.Vector(HORN_AXIS_X_MM, face_y, HORN_PATTERN_CENTER_Z_MM + circle),
- M3_CLEARANCE_RADIUS_MM,
- ),
- )
-
-
-def _horn_mount_spec(name: str, face_y: float) -> servo_horn_yoke.HornMountSpec:
- bbox = _make_box(
- x_min=WEB_OUTER_X_MM,
- x_max=HORN_FLANGE_END_X_MM,
- y_min=face_y,
- y_max=face_y + SHEET_THICKNESS_MM,
- z_min=Z_MIN_MM,
- z_max=Z_MAX_MM,
- ).bounding_box()
- return servo_horn_yoke.HornMountSpec(
- name=name,
- mount_face_y=face_y,
- mount_face_center=build123d.Vector(HORN_AXIS_X_MM, face_y, HORN_PATTERN_CENTER_Z_MM),
- mount_face_bbox=bbox,
- half_width_z=YOKE_SINGLE_HALF_WIDTH_Z_MM,
- center_clearance_radius=HORN_CENTER_CLEARANCE_RADIUS_MM,
- mount_holes=_double_horn_mount_holes(face_y),
- )
-
-
-def _bottom_face_slot() -> tuple[float, float, float, float]:
- center_x = (
- WEB_INNER_X_MM
- + BOTTOM_FACE_SLOT_BEND_EDGE_CLEARANCE_MM
- + (0.5 * BOTTOM_FACE_SLOT_WIDTH_MM)
- )
- slot_z_min = Z_MIN_MM + BOTTOM_FACE_SLOT_END_GAP_MM
- slot_z_max = Z_MAX_MM - BOTTOM_FACE_SLOT_END_GAP_MM
- slot_length = slot_z_max - slot_z_min
- if slot_length <= BOTTOM_FACE_SLOT_WIDTH_MM:
- raise ValueError(
- "Double yoke bottom-face slot does not have enough length across "
- "the flange width after applying the flange-end gaps"
- )
- return (
- center_x,
- 0.5 * (slot_z_min + slot_z_max),
- slot_length,
- BOTTOM_FACE_SLOT_WIDTH_MM,
- )
-
-
-def _make_y_slot_cut(
- *,
- center_x: float,
- center_z: float,
- length: float,
- width: float,
- y_min: float,
- y_max: float,
-) -> build123d.Shape:
- radius = 0.5 * width
- half_straight = 0.5 * length - radius
- y_start = y_min - CUT_EXTENSION_MM
- y_height = (y_max - y_min) + (2.0 * CUT_EXTENSION_MM)
- body: build123d.Shape = _make_box(
- x_min=center_x - radius,
- x_max=center_x + radius,
- y_min=y_start,
- y_max=y_start + y_height,
- z_min=center_z - half_straight,
- z_max=center_z + half_straight,
- )
- for end_z in (center_z - half_straight, center_z + half_straight):
- cap = _make_cylinder_along(
- radius=radius,
- height=y_height,
- origin=build123d.Vector(center_x, y_start, end_z),
- direction=build123d.Vector(0.0, 1.0, 0.0),
- )
- body = body.fuse(cap)
- return body
-
-
-def _cut_horn_face_holes(shape: build123d.Shape) -> build123d.Shape:
- cut_height = SHEET_THICKNESS_MM + (2.0 * CUT_EXTENSION_MM)
- for face_y, direction_y in (
- (REAR_OUTER_HORN_FACE_Y_MM - SHEET_THICKNESS_MM - CUT_EXTENSION_MM, 1.0),
- (FRONT_OUTER_HORN_FACE_Y_MM - CUT_EXTENSION_MM, 1.0),
- ):
- for center_x, center_z, radius in _horn_face_m3_holes():
- cutter = _make_cylinder_along(
- radius=radius,
- height=cut_height,
- origin=build123d.Vector(center_x, face_y, center_z),
- direction=build123d.Vector(0.0, direction_y, 0.0),
- )
- shape = shape.cut(cutter)
- return shape
-
-
-def _cut_outer_horn_slots(shape: build123d.Shape) -> build123d.Shape:
- center_x, center_z, length, width = _bottom_face_slot()
- for y_min, y_max in (
- (
- REAR_OUTER_HORN_FACE_Y_MM - SHEET_THICKNESS_MM,
- REAR_OUTER_HORN_FACE_Y_MM,
- ),
- (
- FRONT_OUTER_HORN_FACE_Y_MM,
- FRONT_OUTER_HORN_FACE_Y_MM + SHEET_THICKNESS_MM,
- ),
- ):
- shape = shape.cut(
- _make_y_slot_cut(
- center_x=center_x,
- center_z=center_z,
- length=length,
- width=width,
- y_min=y_min,
- y_max=y_max,
- )
- )
- return shape
-
-
-def _cut_web_holes(shape: build123d.Shape) -> build123d.Shape:
- cut_height = SHEET_THICKNESS_MM + (2.0 * CUT_EXTENSION_MM)
- start_x = WEB_OUTER_X_MM - CUT_EXTENSION_MM
- for center_y, center_z, radius in _web_holes(WEB_PATTERN_CENTER_Y_MM):
- cutter = _make_cylinder_along(
- radius=radius,
- height=cut_height,
- origin=build123d.Vector(start_x, center_y, center_z),
- direction=build123d.Vector(1.0, 0.0, 0.0),
- )
- shape = shape.cut(cutter)
- return shape
-
-
-def build_step() -> build123d.Shape:
- horn = _make_channel_body()
- horn = _cut_horn_face_holes(horn)
- horn = _cut_outer_horn_slots(horn)
- horn = _cut_web_holes(horn)
-
- solids = horn.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one connected double horn solid, found {len(solids)}")
-
- horn.label = PART_NAME
- horn.color = lc.BRACKET_COLOR
-
- bb = horn.bounding_box()
- _slot_center_x, _slot_center_z, slot_length, slot_width = _bottom_face_slot()
- print(
- f"{DISPLAY_NAME}: "
- f"servo_center_spacing_y={SERVO_CENTER_SPACING_Y_MM:.3f} mm, "
- f"span_y={bb.size.Y:.3f} mm, "
- f"span_z={bb.size.Z:.3f} mm, "
- f"web_face_x={WEB_INNER_X_MM:.4f} mm, "
- f"thickness={SHEET_THICKNESS_MM:.4f} mm, "
- f"horn_patterns=2, "
- f"outer_horn_slots=2x{slot_length:.3f}x{slot_width:.3f} mm"
- )
- return horn
-
-
-def build_dxf():
- front_horn = _horn_mount_spec("double_front_horn", FRONT_OUTER_HORN_FACE_Y_MM)
- rear_horn = _horn_mount_spec("double_rear_horn", REAR_OUTER_HORN_FACE_Y_MM)
- layout, _cap_radius = servo_horn_yoke._build_layout(
- WEB_INNER_X_MM,
- sheet_half_width_z=YOKE_SINGLE_HALF_WIDTH_Z_MM,
- upper_horn=front_horn,
- lower_horn=rear_horn,
- rule=servo_horn_yoke.SHEET_RULE,
- )
- flat_pattern, metrics = servo_horn_yoke.build_flat_pattern(
- WEB_INNER_X_MM,
- sheet_half_width_z=YOKE_SINGLE_HALF_WIDTH_Z_MM,
- upper_horn=front_horn,
- lower_horn=rear_horn,
- rule=servo_horn_yoke.SHEET_RULE,
- )
- doc = servo_horn_yoke._topology_flat_pattern_dxf(
- build_step(),
- layout,
- flat_pattern,
- upper_horn=front_horn,
- lower_horn=rear_horn,
- rule=servo_horn_yoke.SHEET_RULE,
- )
- print(
- f"{DISPLAY_NAME} DXF: "
- f"length={flat_pattern.total_length_mm:.3f} mm, "
- f"width={flat_pattern.width_mm:.3f} mm, "
- f"bend_lines=({flat_pattern.bend_line_positions_mm[0]:.3f}, "
- f"{flat_pattern.bend_line_positions_mm[1]:.3f}) mm, "
- f"round_holes={len(flat_pattern.round_hole_profiles)}, "
- f"slots={len(flat_pattern.slot_profiles)}, "
- f"flange_flat_min={metrics.min_flange_flat_length_mm:.3f} mm, "
- f"slot_edge_to_bend_min={metrics.min_slot_edge_to_bend_mm:.3f} mm"
- )
- return doc
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-def gen_dxf() -> dict[str, object]:
- return {
- "document": build_dxf(),
- }
-
-
-def gen() -> None:
- gen_step()
- gen_dxf()
-
-
-if __name__ == "__main__":
- gen()
diff --git a/models/robots/tom/v2/parts/servo_horn_yoke_double_horn.step b/models/robots/tom/v2/parts/servo_horn_yoke_double_horn.step
deleted file mode 100644
index 6b36cbf5..00000000
--- a/models/robots/tom/v2/parts/servo_horn_yoke_double_horn.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a6e2766e98316d481253f56d646b8b22b647ffacbf6dc22729ddb1ae5453bdb0
-size 119137
diff --git a/models/robots/tom/v2/parts/v2_variant_common.py b/models/robots/tom/v2/parts/v2_variant_common.py
deleted file mode 100644
index 69d70a47..00000000
--- a/models/robots/tom/v2/parts/v2_variant_common.py
+++ /dev/null
@@ -1,142 +0,0 @@
-from __future__ import annotations
-
-from contextlib import contextmanager
-import copy
-import importlib.util
-import math
-import os
-import sys
-from pathlib import Path
-
-import build123d
-
-
-PARTS_DIR = Path(__file__).resolve().parent
-V2_DIR = PARTS_DIR.parent
-TOM_DIR = V2_DIR.parent
-
-
-def _env_float(name: str, default: float) -> float:
- raw = os.environ.get(name)
- if raw is None:
- return default
- try:
- return float(raw)
- except ValueError as exc:
- raise ValueError(f"{name} must be a floating point number, got {raw!r}") from exc
-
-
-ALUMINUM_5052_SHEET_THICKNESS_MM = _env_float(
- "TOM_V2_ALUMINUM_5052_SHEET_THICKNESS_MM",
- 25.4 * 0.063,
-)
-ALUMINUM_5052_YIELD_MPA = _env_float("TOM_V2_ALUMINUM_5052_YIELD_MPA", 193.0)
-PRINTABLE_EFFECTIVE_STRENGTH_MPA = _env_float(
- "TOM_V2_PRINTABLE_EFFECTIVE_STRENGTH_MPA",
- 21.449805890625,
-)
-PRINTABLE_BENDING_STRENGTH_MATCH_THICKNESS_MM = (
- ALUMINUM_5052_SHEET_THICKNESS_MM
- * math.sqrt(ALUMINUM_5052_YIELD_MPA / PRINTABLE_EFFECTIVE_STRENGTH_MPA)
-)
-PRINTABLE_EQUIVALENT_THICKNESS_MM = float(
- os.environ.get(
- "TOM_V2_PRINTABLE_THICKNESS_MM",
- f"{PRINTABLE_BENDING_STRENGTH_MATCH_THICKNESS_MM:.9f}",
- )
-)
-PRINTABLE_COLOR = build123d.Color(0.72, 0.74, 0.72, 1.0)
-
-
-def _module_path(module_name: str) -> Path:
- return PARTS_DIR / f"{module_name}.py"
-
-
-@contextmanager
-def loaded_v2_module(
- module_name: str,
- *,
- sheet_thickness_mm: float | None = None,
- case_span_centering_offset_mm: float | None = None,
- link_bracket_height_mm: float | None = None,
-):
- old_env = os.environ.get("TOM_V2_SHEET_THICKNESS_MM")
- old_case_offset_env = os.environ.get("TOM_V2_CASE_SPAN_CENTERING_OFFSET_MM")
- old_link_height_env = os.environ.get("TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM")
- if sheet_thickness_mm is None:
- os.environ.pop("TOM_V2_SHEET_THICKNESS_MM", None)
- else:
- os.environ["TOM_V2_SHEET_THICKNESS_MM"] = f"{sheet_thickness_mm:.9f}"
- if case_span_centering_offset_mm is None:
- os.environ.pop("TOM_V2_CASE_SPAN_CENTERING_OFFSET_MM", None)
- else:
- os.environ["TOM_V2_CASE_SPAN_CENTERING_OFFSET_MM"] = (
- f"{case_span_centering_offset_mm:.9f}"
- )
- if link_bracket_height_mm is None:
- os.environ.pop("TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM", None)
- else:
- os.environ["TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM"] = (
- f"{link_bracket_height_mm:.9f}"
- )
-
- stale_modules = {module_name}
- if module_name == "link_bracket":
- stale_modules.add("link_common")
- previous_modules = {name: sys.modules.get(name) for name in stale_modules}
- for name in stale_modules:
- sys.modules.pop(name, None)
-
- old_sys_path = list(sys.path)
- for path in (TOM_DIR, V2_DIR, PARTS_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
- module_file = _module_path(module_name)
- synthetic_name = (
- f"_tom_v2_variant_{module_name}_"
- f"{abs(hash((module_file, sheet_thickness_mm, case_span_centering_offset_mm, link_bracket_height_mm)))}"
- )
- spec = importlib.util.spec_from_file_location(synthetic_name, module_file)
- if spec is None or spec.loader is None:
- raise RuntimeError(f"Unable to load {module_file}")
- module = importlib.util.module_from_spec(spec)
-
- try:
- sys.modules[module_name] = module
- sys.modules[synthetic_name] = module
- spec.loader.exec_module(module)
- yield module
- finally:
- sys.path[:] = old_sys_path
- sys.modules.pop(synthetic_name, None)
- for name in stale_modules:
- sys.modules.pop(name, None)
- previous = previous_modules[name]
- if previous is not None:
- sys.modules[name] = previous
- if old_env is None:
- os.environ.pop("TOM_V2_SHEET_THICKNESS_MM", None)
- else:
- os.environ["TOM_V2_SHEET_THICKNESS_MM"] = old_env
- if old_case_offset_env is None:
- os.environ.pop("TOM_V2_CASE_SPAN_CENTERING_OFFSET_MM", None)
- else:
- os.environ["TOM_V2_CASE_SPAN_CENTERING_OFFSET_MM"] = old_case_offset_env
- if old_link_height_env is None:
- os.environ.pop("TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM", None)
- else:
- os.environ["TOM_V2_LINK_BRACKET_OVERALL_HEIGHT_MM"] = old_link_height_env
-
-
-def mirror_y(shape: build123d.Shape) -> build123d.Shape:
- mirrored = copy.deepcopy(shape)
- mirrored = mirrored.mirror(build123d.Plane.XZ)
- return mirrored
-
-
-def finish_part(shape: build123d.Shape, label: str, *, printable: bool = False) -> build123d.Shape:
- shape.label = label
- if printable:
- shape.color = PRINTABLE_COLOR
- return shape
diff --git a/models/robots/tom/v2/printable/link_assembly.py b/models/robots/tom/v2/printable/link_assembly.py
deleted file mode 100644
index 5dca92a8..00000000
--- a/models/robots/tom/v2/printable/link_assembly.py
+++ /dev/null
@@ -1,307 +0,0 @@
-#!/usr/bin/env python3
-"""Printable-side tom v2 link assembly with straight tongue shell halves added.
-
-This is a working copy of the regular link assembly in the printable folder.
-It keeps the original servo, bracket, standoff, and yoke layout, then adds the
-current straight four-tongue plastic shell halves on both link brackets. The
-right shell has printed male dovetail rails; the left shell has matching
-female dovetail channels. Future printable connector iterations can target this
-assembly without keeping assemblies/link_assembly.py in sync.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-PRINTABLE_DIR = Path(__file__).resolve().parent
-V2_DIR = PRINTABLE_DIR.parent
-ASSEMBLIES_DIR = V2_DIR / "assemblies"
-PARTS_DIR = V2_DIR / "parts"
-for path in (V2_DIR, ASSEMBLIES_DIR, PARTS_DIR, PRINTABLE_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-import link_common as lc
-import link_bracket
-import link_bracket_slot_pair_straight_sample as connector
-import pitch_link_sts3250
-import servo_horn_yoke
-
-
-YOKE_HORN_SPAN_CENTER_LOCAL_Y_MM = -9.1
-IDENTITY_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, 1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-MIRROR_Y_TRANSFORM = (
- 1.0, 0.0, 0.0, 0.0,
- 0.0, -1.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0,
- 0.0, 0.0, 0.0, 1.0,
-)
-
-YOKE_ON_SERVO_HORNS_TRANSFORM = tuple(
- servo_horn_yoke.STANDALONE_YOKE_ON_SERVO_HORNS_TRANSFORM
-)
-
-
-def _matrix(transform: list[float] | tuple[float, ...]) -> list[list[float]]:
- return [list(transform[index : index + 4]) for index in range(0, 16, 4)]
-
-
-def _flatten(matrix: list[list[float]]) -> list[float]:
- return [value for row in matrix for value in row]
-
-
-def _matmul(
- left: list[float] | tuple[float, ...],
- right: list[float] | tuple[float, ...],
-) -> list[float]:
- left_matrix = _matrix(left)
- right_matrix = _matrix(right)
- return _flatten(
- [
- [
- sum(left_matrix[row][inner] * right_matrix[inner][col] for inner in range(4))
- for col in range(4)
- ]
- for row in range(4)
- ]
- )
-
-
-def _invert_rigid_transform(transform: list[float] | tuple[float, ...]) -> list[float]:
- matrix = _matrix(transform)
- rotation = [row[:3] for row in matrix[:3]]
- translation = [matrix[row][3] for row in range(3)]
- inverse_rotation = [[rotation[col][row] for col in range(3)] for row in range(3)]
- inverse_translation = [
- -sum(inverse_rotation[row][col] * translation[col] for col in range(3))
- for row in range(3)
- ]
- return _flatten(
- [
- [*inverse_rotation[0], inverse_translation[0]],
- [*inverse_rotation[1], inverse_translation[1]],
- [*inverse_rotation[2], inverse_translation[2]],
- [0.0, 0.0, 0.0, 1.0],
- ]
- )
-
-
-YOKE_WEB_ON_BOTTOM_SERVO_OUTPUT_HORN_TRANSFORM = _matmul(
- lc.BOTTOM_SERVO_TRANSFORM,
- _invert_rigid_transform(pitch_link_sts3250.STS3250_TRANSFORM),
-)
-
-THIRD_SERVO_HORNS_IN_YOKE_TRANSFORM = _matmul(
- YOKE_WEB_ON_BOTTOM_SERVO_OUTPUT_HORN_TRANSFORM,
- _invert_rigid_transform(YOKE_ON_SERVO_HORNS_TRANSFORM),
-)
-
-TOP_SERVO_FACE_TO_FLANGE_TRANSFORM = link_bracket.top_servo_case_transform(
- case_span_centering_offset_mm=link_bracket.TOP_SERVO_MATED_CASE_SPAN_CENTERING_OFFSET_MM,
-)
-
-LOWER_SLOT_PAIR_CENTER_X_MM = 0.5 * (
- link_bracket.LOWER_SLOT_CENTER_X_MM[0] + link_bracket.LOWER_SLOT_CENTER_X_MM[1]
-)
-
-# Map shell local coordinates into the right bracket slot frame:
-# connector X (section offset and tongue length) -> bracket Z
-# connector Y (slot-pair spacing and upper-section offset) -> bracket -X
-# connector Z (insertion depth) -> bracket -Y, seated from the right bracket outside face
-SHELL_ON_RIGHT_BRACKET_TRANSFORM = [
- 0.0, -1.0, 0.0, LOWER_SLOT_PAIR_CENTER_X_MM,
- 0.0, 0.0, -1.0, link_bracket.LEG_OUTER_Y_MM + connector.BASE_THICKNESS_MM,
- 1.0, 0.0, 0.0, link_bracket.LOWER_SLOT_CENTER_Z_MM,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-# Same shell half mirrored to the other bracket. Local Z still runs from the
-# outside plastic face through the bracket slots and on to the Y=0 center plane.
-SHELL_ON_LEFT_BRACKET_TRANSFORM = [
- 0.0, -1.0, 0.0, LOWER_SLOT_PAIR_CENTER_X_MM,
- 0.0, 0.0, 1.0, -(link_bracket.LEG_OUTER_Y_MM + connector.BASE_THICKNESS_MM),
- 1.0, 0.0, 0.0, link_bracket.LOWER_SLOT_CENTER_Z_MM,
- 0.0, 0.0, 0.0, 1.0,
-]
-
-
-def _translation_transform(x: float, y: float, z: float) -> list[float]:
- return [
- 1.0, 0.0, 0.0, x,
- 0.0, 1.0, 0.0, y,
- 0.0, 0.0, 1.0, z,
- 0.0, 0.0, 0.0, 1.0,
- ]
-
-
-def _standoff_children() -> list[dict[str, object]]:
- return [
- {
- "path": "../parts/link_standoff_m3_35.step",
- "name": f"link_standoff_{label}",
- "transform": _translation_transform(x, 0.0, z),
- "use_source_colors": True,
- }
- for label, x, z in link_bracket.STANDOFF_CENTER_XZ_MM
- ]
-
-
-def _mate(
- source_label: str,
- *,
- fixed: str,
- moving: str,
- relation: str = "rigid",
-) -> dict[str, object]:
- fixed_part, fixed_frame = fixed.split(":", 1)
- moving_part, moving_frame = moving.split(":", 1)
- return {
- "sourceLabel": source_label,
- "type": relation,
- "relation": relation,
- "fixed": fixed,
- "moving": moving,
- "parameters": {},
- "fixedEndpoint": {
- "part": fixed_part,
- "frame": fixed_frame,
- },
- "movingEndpoint": {
- "part": moving_part,
- "frame": moving_frame,
- },
- }
-
-
-def _standoff_mates() -> list[dict[str, object]]:
- mates: list[dict[str, object]] = []
- for label, _x, _z in link_bracket.STANDOFF_CENTER_XZ_MM:
- mates.append(
- _mate(
- f"{label}_standoff_to_right_bracket",
- fixed=f"link_bracket_right:{label}_standoff_hole",
- moving=f"link_standoff_{label}:positive_y_thread",
- )
- )
- mates.append(
- _mate(
- f"{label}_standoff_to_left_bracket",
- fixed=f"link_bracket_left:{label}_standoff_hole",
- moving=f"link_standoff_{label}:negative_y_thread",
- )
- )
- return mates
-
-
-def _children() -> list[dict[str, object]]:
- return [
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250_top",
- "transform": list(TOP_SERVO_FACE_TO_FLANGE_TRANSFORM),
- },
- {
- "path": "../parts/imports/sts3250.step",
- "name": "sts3250_bottom",
- "transform": list(lc.BOTTOM_SERVO_TRANSFORM),
- "use_source_colors": True,
- },
- {
- "path": "../parts/link_bracket_right.step",
- "name": "link_bracket_right",
- "transform": list(IDENTITY_TRANSFORM),
- },
- {
- "path": "../parts/link_bracket_left.step",
- "name": "link_bracket_left",
- "transform": list(IDENTITY_TRANSFORM),
- },
- *_standoff_children(),
- {
- "path": "../parts/servo_horn_yoke.step",
- "name": "servo_horn_yoke",
- "transform": YOKE_WEB_ON_BOTTOM_SERVO_OUTPUT_HORN_TRANSFORM,
- },
- {
- "path": "../parts/imports/sts3215.step",
- "name": "sts3215_yoke_servo",
- "transform": THIRD_SERVO_HORNS_IN_YOKE_TRANSFORM,
- "use_source_colors": True,
- },
- {
- "path": "link_bracket_slot_pair_straight_sample.step",
- "name": "straight_slot_shell_right",
- "transform": SHELL_ON_RIGHT_BRACKET_TRANSFORM,
- "use_source_colors": True,
- },
- {
- "path": "link_bracket_slot_pair_straight_socket_sample.step",
- "name": "straight_slot_shell_left",
- "transform": SHELL_ON_LEFT_BRACKET_TRANSFORM,
- "use_source_colors": True,
- },
- ]
-
-
-def _assembly_mates() -> list[dict[str, object]]:
- return [
- _mate(
- "bottom_servo_to_right_bracket",
- fixed="sts3250_bottom:upstream_case",
- moving="link_bracket_right:bottom_servo_mount",
- ),
- _mate(
- "bottom_servo_to_left_bracket",
- fixed="sts3250_bottom:upstream_case",
- moving="link_bracket_left:bottom_servo_mount",
- ),
- _mate(
- "right_bracket_to_top_servo",
- fixed="link_bracket_right:top_servo_mount",
- moving="sts3250_top:case_mount",
- ),
- _mate(
- "left_bracket_to_top_servo",
- fixed="link_bracket_left:top_servo_mount",
- moving="sts3250_top:case_mount",
- ),
- _mate(
- "bottom_servo_output_horn_to_yoke_web",
- fixed="sts3250_bottom:horn_axis",
- moving="servo_horn_yoke:web_horn_axis",
- ),
- _mate(
- "third_servo_horns_to_yoke",
- fixed="servo_horn_yoke:horn_axis",
- moving="sts3215_yoke_servo:horn_axis",
- ),
- *_standoff_mates(),
- ]
-
-
-def gen_step() -> dict[str, object]:
- children = _children()
- print(
- "Printable link assembly with straight shell halves "
- f"children={len(children)}; connector lower slot center x={LOWER_SLOT_PAIR_CENTER_X_MM:.3f} mm, "
- f"lower slot center z={link_bracket.LOWER_SLOT_CENTER_Z_MM:.3f} mm, "
- f"tongue depth={connector.TONGUE_INSERTION_DEPTH_MM:.3f} mm, "
- f"base sheet={connector.BASE_LENGTH_MM:.3f} x {connector.BASE_WIDTH_MM:.3f} mm, "
- f"shell half depth={connector.SHELL_HALF_DEPTH_MM:.3f} mm, "
- "printed dovetail slide seam"
- )
- return {
- "children": children,
- "assembly_mates": _assembly_mates(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/printable/link_assembly.step b/models/robots/tom/v2/printable/link_assembly.step
deleted file mode 100644
index a41da6aa..00000000
--- a/models/robots/tom/v2/printable/link_assembly.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3b9f775d1eb4e4acecdbe1ee86480e53bfd3d2ab2f66ae31e4f772095cc1fce0
-size 26274057
diff --git a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.py b/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.py
deleted file mode 100644
index 2a709e0a..00000000
--- a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.py
+++ /dev/null
@@ -1,428 +0,0 @@
-#!/usr/bin/env python3
-"""Printable four-slot straight tongue dovetail half-shell for tom v2 link brackets.
-
-This intentionally keeps the slot interface simple: raised rounded tongues
-locate in the nominal lower and upper lightening slots, while side return rails
-wrap around the bracket plate to the link center plane. The default generated
-part is the male half of an all-printed PLA dovetail; a matching female half is
-generated by link_bracket_slot_pair_straight_socket_sample.py.
-"""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-import build123d
-
-PRINTABLE_DIR = Path(__file__).resolve().parent
-V2_DIR = PRINTABLE_DIR.parent
-PARTS_DIR = V2_DIR / "parts"
-if str(PARTS_DIR) not in sys.path:
- sys.path.insert(0, str(PARTS_DIR))
-
-import link_bracket as lb
-import link_common as lc
-from v2_variant_common import finish_part
-
-
-PART_NAME = Path(__file__).stem
-PLASTIC_COLOR = build123d.Color(1.0, 1.0, 1.0, 1.0)
-
-FIT_CLEARANCE_TOTAL_MM = 0.0
-SLOT_LENGTH_CLEARANCE_TOTAL_MM = 0.0
-ORIGINAL_EXTRA_THROUGH_DEPTH_MM = 0.40
-
-SLOT_WIDTH_MM = lb.SLOT_WIDTH_MM
-TOP_SLOT_WIDTH_MM = lb.TOP_SLOT_WIDTH_MM
-LOWER_SLOT_LENGTH_MM = lb.LOWER_SLOT_LENGTH_MM
-TOP_SLOT_LENGTH_MM = lb.TOP_SLOT_LENGTH_MM
-SHEET_THICKNESS_MM = lc.SHEET_THICKNESS_MM
-LOWER_SLOT_PAIR_CENTER_X_MM = 0.5 * (
- lb.LOWER_SLOT_CENTER_X_MM[0] + lb.LOWER_SLOT_CENTER_X_MM[1]
-)
-TOP_SLOT_PAIR_CENTER_X_MM = 0.5 * (
- lb.TOP_SLOT_CENTER_X_MM[0] + lb.TOP_SLOT_CENTER_X_MM[1]
-)
-LOWER_SLOT_PAIR_CENTER_SPACING_MM = (
- lb.LOWER_SLOT_CENTER_X_MM[1] - lb.LOWER_SLOT_CENTER_X_MM[0]
-)
-TOP_SLOT_PAIR_CENTER_SPACING_MM = (
- lb.TOP_SLOT_CENTER_X_MM[1] - lb.TOP_SLOT_CENTER_X_MM[0]
-)
-TOP_SECTION_OFFSET_X_MM = lb.TOP_SLOT_CENTER_Z_MM - lb.LOWER_SLOT_CENTER_Z_MM
-TOP_SECTION_OFFSET_Y_MM = LOWER_SLOT_PAIR_CENTER_X_MM - TOP_SLOT_PAIR_CENTER_X_MM
-
-TONGUE_WIDTH_MM = SLOT_WIDTH_MM - FIT_CLEARANCE_TOTAL_MM
-TOP_TONGUE_WIDTH_MM = TOP_SLOT_WIDTH_MM - FIT_CLEARANCE_TOTAL_MM
-ORIGINAL_TONGUE_INSERTION_DEPTH_MM = SHEET_THICKNESS_MM + ORIGINAL_EXTRA_THROUGH_DEPTH_MM
-TONGUE_INSERTION_DEPTH_MM = ORIGINAL_TONGUE_INSERTION_DEPTH_MM
-EXTRA_THROUGH_DEPTH_MM = TONGUE_INSERTION_DEPTH_MM - SHEET_THICKNESS_MM
-BASE_END_MARGIN_MM = 2.0
-BASE_SIDE_MARGIN_MM = 6.0
-LOWER_TONGUE_LENGTH_MM = LOWER_SLOT_LENGTH_MM - SLOT_LENGTH_CLEARANCE_TOTAL_MM
-TOP_TONGUE_LENGTH_MM = TOP_SLOT_LENGTH_MM - SLOT_LENGTH_CLEARANCE_TOTAL_MM
-LOWER_BASE_LENGTH_MM = LOWER_TONGUE_LENGTH_MM + 2.0 * BASE_END_MARGIN_MM
-TOP_BASE_LENGTH_MM = TOP_TONGUE_LENGTH_MM + 2.0 * BASE_END_MARGIN_MM
-LOWER_BASE_WIDTH_MM = (
- LOWER_SLOT_PAIR_CENTER_SPACING_MM + TONGUE_WIDTH_MM + 2.0 * BASE_SIDE_MARGIN_MM
-)
-TOP_BASE_WIDTH_MM = (
- TOP_SLOT_PAIR_CENTER_SPACING_MM + TOP_TONGUE_WIDTH_MM + 2.0 * BASE_SIDE_MARGIN_MM
-)
-# In the printable link assembly, connector local X maps to assembly world Z.
-# These world-Z limits match the link bracket plate extents in the printable
-# assembly: link_bracket_right/left #o1.3 and #o1.4.
-BASE_TARGET_WORLD_Z_MIN_MM = 0.0
-BASE_TARGET_WORLD_Z_MAX_MM = 144.538516
-BASE_TARGET_LOCAL_X_MIN_MM = BASE_TARGET_WORLD_Z_MIN_MM - lb.LOWER_SLOT_CENTER_Z_MM
-BASE_TARGET_LOCAL_X_MAX_MM = BASE_TARGET_WORLD_Z_MAX_MM - lb.LOWER_SLOT_CENTER_Z_MM
-BASE_X_MIN_MM = min(
- -0.5 * LOWER_BASE_LENGTH_MM,
- TOP_SECTION_OFFSET_X_MM - 0.5 * TOP_BASE_LENGTH_MM,
- BASE_TARGET_LOCAL_X_MIN_MM,
-)
-BASE_X_MAX_MM = max(
- 0.5 * LOWER_BASE_LENGTH_MM,
- TOP_SECTION_OFFSET_X_MM + 0.5 * TOP_BASE_LENGTH_MM,
- BASE_TARGET_LOCAL_X_MAX_MM,
-)
-# Connector local Y maps to bracket/assembly -X. Keep the wrap rails just
-# outside the nearby servo envelopes so the shell wraps the plates instead of
-# intersecting the servo bodies.
-BASE_TARGET_WORLD_X_MIN_MM = -20.0
-BASE_TARGET_WORLD_X_MAX_MM = 36.0
-BASE_TARGET_LOCAL_Y_MIN_MM = LOWER_SLOT_PAIR_CENTER_X_MM - BASE_TARGET_WORLD_X_MAX_MM
-BASE_TARGET_LOCAL_Y_MAX_MM = LOWER_SLOT_PAIR_CENTER_X_MM - BASE_TARGET_WORLD_X_MIN_MM
-BASE_Y_MIN_MM = min(
- -0.5 * LOWER_BASE_WIDTH_MM,
- TOP_SECTION_OFFSET_Y_MM - 0.5 * TOP_BASE_WIDTH_MM,
- BASE_TARGET_LOCAL_Y_MIN_MM,
-)
-BASE_Y_MAX_MM = max(
- 0.5 * LOWER_BASE_WIDTH_MM,
- TOP_SECTION_OFFSET_Y_MM + 0.5 * TOP_BASE_WIDTH_MM,
- BASE_TARGET_LOCAL_Y_MAX_MM,
-)
-BASE_LENGTH_MM = BASE_X_MAX_MM - BASE_X_MIN_MM
-BASE_WIDTH_MM = BASE_Y_MAX_MM - BASE_Y_MIN_MM
-BASE_THICKNESS_MM = 1.8
-SHELL_HALF_DEPTH_MM = lb.LEG_OUTER_Y_MM + BASE_THICKNESS_MM
-WRAP_RAIL_WIDTH_MM = 7.0
-WRAP_RAIL_OVERLAP_MM = 0.05
-OUTER_CORNER_FILLET_MM = 7.0
-END_COVERAGE_THICKNESS_MM = 2.2
-SERVO_HALF_Y_CLEARANCE_MM = lb.LEG_OUTER_Y_MM
-END_COVERAGE_DEPTH_MM = SHELL_HALF_DEPTH_MM - SERVO_HALF_Y_CLEARANCE_MM
-DOVETAIL_Y_CENTERS_MM = (
- BASE_Y_MIN_MM - 0.5 * WRAP_RAIL_WIDTH_MM,
- BASE_Y_MAX_MM + 0.5 * WRAP_RAIL_WIDTH_MM,
-)
-DOVETAIL_X_END_RELIEF_MM = 0.0
-DOVETAIL_NECK_WIDTH_MM = 3.2
-DOVETAIL_HEAD_WIDTH_MM = 4.8
-DOVETAIL_ENGAGEMENT_DEPTH_MM = 2.2
-DOVETAIL_ROOT_OVERLAP_MM = 0.15
-DOVETAIL_CLEARANCE_MM = 0.0
-DOVETAIL_MALE_X_MIN_MM = BASE_X_MIN_MM + DOVETAIL_X_END_RELIEF_MM
-DOVETAIL_MALE_X_MAX_MM = BASE_X_MAX_MM - DOVETAIL_X_END_RELIEF_MM
-DOVETAIL_SOCKET_X_MIN_MM = BASE_X_MIN_MM - 1.0
-DOVETAIL_SOCKET_X_MAX_MM = BASE_X_MAX_MM + 1.0
-LOWER_TONGUE_CENTERS_MM = (
- (0.0, -0.5 * LOWER_SLOT_PAIR_CENTER_SPACING_MM),
- (0.0, 0.5 * LOWER_SLOT_PAIR_CENTER_SPACING_MM),
-)
-TOP_TONGUE_CENTERS_MM = (
- (TOP_SECTION_OFFSET_X_MM, TOP_SECTION_OFFSET_Y_MM - 0.5 * TOP_SLOT_PAIR_CENTER_SPACING_MM),
- (TOP_SECTION_OFFSET_X_MM, TOP_SECTION_OFFSET_Y_MM + 0.5 * TOP_SLOT_PAIR_CENTER_SPACING_MM),
-)
-
-
-def _slot_prism_xy(
- *,
- length: float,
- width: float,
- z_min: float,
- z_max: float,
- rotation_deg: float = 0.0,
-) -> build123d.Shape:
- with build123d.BuildPart() as part:
- with build123d.BuildSketch(build123d.Plane.XY):
- build123d.SlotOverall(width=length, height=width, rotation=rotation_deg)
- build123d.extrude(amount=z_max - z_min)
- return part.part.moved(build123d.Location((0.0, 0.0, z_min)))
-
-
-def _box(
- *,
- x_min: float,
- x_max: float,
- y_min: float,
- y_max: float,
- z_min: float,
- z_max: float,
-) -> build123d.Solid:
- return build123d.Solid.make_box(
- x_max - x_min,
- y_max - y_min,
- z_max - z_min,
- plane=build123d.Plane(origin=build123d.Vector(x_min, y_min, z_min)),
- )
-
-
-def _base_sheet() -> build123d.Shape:
- return _box(
- x_min=BASE_X_MIN_MM,
- x_max=BASE_X_MAX_MM,
- y_min=BASE_Y_MIN_MM,
- y_max=BASE_Y_MAX_MM,
- z_min=0.0,
- z_max=BASE_THICKNESS_MM,
- )
-
-
-def _end_coverage_caps() -> list[build123d.Shape]:
- y_min = BASE_Y_MIN_MM - WRAP_RAIL_WIDTH_MM
- y_max = BASE_Y_MAX_MM + WRAP_RAIL_WIDTH_MM
- return [
- _box(
- x_min=BASE_X_MIN_MM,
- x_max=BASE_X_MIN_MM + END_COVERAGE_THICKNESS_MM,
- y_min=y_min,
- y_max=y_max,
- z_min=0.0,
- z_max=END_COVERAGE_DEPTH_MM,
- ),
- _box(
- x_min=BASE_X_MAX_MM - END_COVERAGE_THICKNESS_MM,
- x_max=BASE_X_MAX_MM,
- y_min=y_min,
- y_max=y_max,
- z_min=0.0,
- z_max=END_COVERAGE_DEPTH_MM,
- ),
- ]
-
-
-def _wrap_rails() -> list[build123d.Shape]:
- return [
- _box(
- x_min=BASE_X_MIN_MM,
- x_max=BASE_X_MAX_MM,
- y_min=BASE_Y_MIN_MM - WRAP_RAIL_WIDTH_MM,
- y_max=BASE_Y_MIN_MM + WRAP_RAIL_OVERLAP_MM,
- z_min=0.0,
- z_max=SHELL_HALF_DEPTH_MM,
- ),
- _box(
- x_min=BASE_X_MIN_MM,
- x_max=BASE_X_MAX_MM,
- y_min=BASE_Y_MAX_MM - WRAP_RAIL_OVERLAP_MM,
- y_max=BASE_Y_MAX_MM + WRAP_RAIL_WIDTH_MM,
- z_min=0.0,
- z_max=SHELL_HALF_DEPTH_MM,
- ),
- ]
-
-
-def _straight_tongue(*, length: float, width: float) -> build123d.Shape:
- return _slot_prism_xy(
- length=length,
- width=width,
- z_min=BASE_THICKNESS_MM,
- z_max=BASE_THICKNESS_MM + TONGUE_INSERTION_DEPTH_MM,
- )
-
-
-def _dovetail_prism_x(
- *,
- x_min: float,
- x_max: float,
- y_center: float,
- z_root: float,
- z_tip: float,
- root_width: float,
- tip_width: float,
-) -> build123d.Shape:
- with build123d.BuildPart() as part:
- with build123d.BuildSketch(build123d.Plane.YZ):
- build123d.Polygon(
- (y_center - 0.5 * root_width, z_root),
- (y_center + 0.5 * root_width, z_root),
- (y_center + 0.5 * tip_width, z_tip),
- (y_center - 0.5 * tip_width, z_tip),
- align=None,
- )
- build123d.extrude(amount=x_max - x_min)
- return part.part.moved(build123d.Location((x_min, 0.0, 0.0)))
-
-
-def _dovetail_male_rails() -> list[build123d.Shape]:
- return [
- _dovetail_prism_x(
- x_min=DOVETAIL_MALE_X_MIN_MM,
- x_max=DOVETAIL_MALE_X_MAX_MM,
- y_center=center_y,
- z_root=SHELL_HALF_DEPTH_MM - DOVETAIL_ROOT_OVERLAP_MM,
- z_tip=SHELL_HALF_DEPTH_MM + DOVETAIL_ENGAGEMENT_DEPTH_MM,
- root_width=DOVETAIL_NECK_WIDTH_MM,
- tip_width=DOVETAIL_HEAD_WIDTH_MM,
- )
- for center_y in DOVETAIL_Y_CENTERS_MM
- ]
-
-
-def _dovetail_socket_cutters() -> list[build123d.Shape]:
- cutters: list[build123d.Shape] = []
- opening_width = DOVETAIL_NECK_WIDTH_MM + 2.0 * DOVETAIL_CLEARANCE_MM
- captured_width = DOVETAIL_HEAD_WIDTH_MM + 2.0 * DOVETAIL_CLEARANCE_MM
- for center_y in DOVETAIL_Y_CENTERS_MM:
- cutters.append(
- _dovetail_prism_x(
- x_min=DOVETAIL_SOCKET_X_MIN_MM,
- x_max=DOVETAIL_SOCKET_X_MAX_MM,
- y_center=center_y,
- z_root=SHELL_HALF_DEPTH_MM + DOVETAIL_CLEARANCE_MM,
- z_tip=(
- SHELL_HALF_DEPTH_MM
- - DOVETAIL_ENGAGEMENT_DEPTH_MM
- - DOVETAIL_CLEARANCE_MM
- ),
- root_width=opening_width,
- tip_width=captured_width,
- )
- )
- return cutters
-
-
-def _outside_face_corner_edges(shell: build123d.Shape) -> build123d.ShapeList[build123d.Edge]:
- outer_y_values = (
- BASE_Y_MIN_MM - WRAP_RAIL_WIDTH_MM,
- BASE_Y_MAX_MM + WRAP_RAIL_WIDTH_MM,
- )
- edges = shell.edges().filter_by(build123d.Axis.X).filter_by(
- lambda edge: abs(edge.center().Z) < 0.05
- and abs(edge.length - BASE_LENGTH_MM) < 0.05
- and any(abs(edge.center().Y - y) < 0.05 for y in outer_y_values)
- )
- if len(edges) != 2:
- raise RuntimeError(
- "Expected two outside face corner edges to fillet, "
- f"found {len(edges)}"
- )
- return edges
-
-
-def build_step(*, dovetail_role: str = "male") -> build123d.Shape:
- if DOVETAIL_MALE_X_MIN_MM >= DOVETAIL_MALE_X_MAX_MM:
- raise ValueError("Dovetail end relief is longer than the connector")
- if DOVETAIL_HEAD_WIDTH_MM >= WRAP_RAIL_WIDTH_MM:
- raise ValueError("Dovetail head must fit inside the wrap rail width")
- if DOVETAIL_NECK_WIDTH_MM >= DOVETAIL_HEAD_WIDTH_MM:
- raise ValueError("Dovetail neck must be narrower than the captured head")
- if (
- DOVETAIL_HEAD_WIDTH_MM + 2.0 * DOVETAIL_CLEARANCE_MM
- >= WRAP_RAIL_WIDTH_MM - 1.0
- ):
- raise ValueError("Dovetail socket leaves too little rail wall for PLA")
- if DOVETAIL_ENGAGEMENT_DEPTH_MM + DOVETAIL_CLEARANCE_MM >= SHELL_HALF_DEPTH_MM:
- raise ValueError("Dovetail engagement is deeper than the shell half")
- if TONGUE_WIDTH_MM <= 0.0:
- raise ValueError("Fit clearance is larger than the bracket slot width")
- if TOP_TONGUE_WIDTH_MM <= 0.0:
- raise ValueError("Fit clearance is larger than the top bracket slot width")
- if TONGUE_WIDTH_MM > SLOT_WIDTH_MM:
- raise ValueError("Tongue width must not exceed the bracket slot")
- if TOP_TONGUE_WIDTH_MM > TOP_SLOT_WIDTH_MM:
- raise ValueError("Top tongue width must not exceed the top bracket slot")
- if LOWER_TONGUE_LENGTH_MM > LOWER_SLOT_LENGTH_MM:
- raise ValueError("Lower tongue length must not exceed the lower bracket slot")
- if TOP_TONGUE_LENGTH_MM > TOP_SLOT_LENGTH_MM:
- raise ValueError("Top tongue length must not exceed the top bracket slot")
- if TONGUE_INSERTION_DEPTH_MM <= SHEET_THICKNESS_MM:
- raise ValueError("Tongue insertion depth must pass through the bracket sheet")
- if abs(TOP_SLOT_PAIR_CENTER_SPACING_MM - LOWER_SLOT_PAIR_CENTER_SPACING_MM) > 0.01:
- raise ValueError(
- f"Top slot pair spacing {TOP_SLOT_PAIR_CENTER_SPACING_MM:.3f} mm "
- f"does not match lower slot spacing {LOWER_SLOT_PAIR_CENTER_SPACING_MM:.3f} mm"
- )
-
- sample: build123d.Shape = _base_sheet()
- for rail in _wrap_rails():
- sample = sample.fuse(rail)
- for cap in _end_coverage_caps():
- sample = sample.fuse(cap)
-
- for center_x, center_y in LOWER_TONGUE_CENTERS_MM:
- tongue = _straight_tongue(
- length=LOWER_TONGUE_LENGTH_MM,
- width=TONGUE_WIDTH_MM,
- ).moved(build123d.Location((center_x, center_y, 0.0)))
- sample = sample.fuse(tongue)
- for center_x, center_y in TOP_TONGUE_CENTERS_MM:
- tongue = _straight_tongue(
- length=TOP_TONGUE_LENGTH_MM,
- width=TOP_TONGUE_WIDTH_MM,
- ).moved(build123d.Location((center_x, center_y, 0.0)))
- sample = sample.fuse(tongue)
-
- if dovetail_role == "male":
- for rail in _dovetail_male_rails():
- sample = sample.fuse(rail)
- elif dovetail_role == "female":
- for cutter in _dovetail_socket_cutters():
- sample = sample.cut(cutter)
- else:
- raise ValueError(f"Unsupported dovetail_role {dovetail_role!r}")
-
- sample = sample.fillet(
- OUTER_CORNER_FILLET_MM,
- _outside_face_corner_edges(sample),
- )
-
- solids = sample.solids()
- if len(solids) != 1:
- raise RuntimeError(f"Expected one printable sample solid, found {len(solids)}")
-
- sample = finish_part(sample, PART_NAME, printable=True)
- sample.color = PLASTIC_COLOR
- bb = sample.bounding_box()
- print(
- "Link bracket four-slot straight sample "
- f"envelope={bb.size.X:.3f} x {bb.size.Y:.3f} x {bb.size.Z:.3f} mm; "
- f"lower_tongues=2x {LOWER_TONGUE_LENGTH_MM:.3f} x {TONGUE_WIDTH_MM:.3f} x "
- f"{TONGUE_INSERTION_DEPTH_MM:.3f} mm, "
- f"top_tongues=2x {TOP_TONGUE_LENGTH_MM:.3f} x {TOP_TONGUE_WIDTH_MM:.3f} x "
- f"{TONGUE_INSERTION_DEPTH_MM:.3f} mm, "
- f"slot_width={SLOT_WIDTH_MM:.3f} mm, total_clearance={FIT_CLEARANCE_TOTAL_MM:.3f} mm, "
- f"lower_slot_length={LOWER_SLOT_LENGTH_MM:.3f} mm, "
- f"top_slot_length={TOP_SLOT_LENGTH_MM:.3f} mm, "
- f"base_sheet={BASE_LENGTH_MM:.3f} x {BASE_WIDTH_MM:.3f} mm, "
- f"assembly_z_span={BASE_TARGET_WORLD_Z_MIN_MM:.3f}..{BASE_TARGET_WORLD_Z_MAX_MM:.3f} mm, "
- f"shell_half_depth={SHELL_HALF_DEPTH_MM:.3f} mm, "
- f"outer_corner_fillet={OUTER_CORNER_FILLET_MM:.3f} mm, "
- f"dovetail_role={dovetail_role}"
- )
- print(
- "Straight insertion depth "
- f"{TONGUE_INSERTION_DEPTH_MM:.3f} mm from sheet_thickness={SHEET_THICKNESS_MM:.4f} mm "
- f"+ extra_depth={EXTRA_THROUGH_DEPTH_MM:.3f} mm; "
- f"top section offset=({TOP_SECTION_OFFSET_X_MM:.3f}, {TOP_SECTION_OFFSET_Y_MM:.3f}) mm; "
- f"seam rails={WRAP_RAIL_WIDTH_MM:.3f} mm wide with "
- f"{len(DOVETAIL_Y_CENTERS_MM)} continuous dovetail slide rails, "
- f"neck={DOVETAIL_NECK_WIDTH_MM:.3f} mm, "
- f"head={DOVETAIL_HEAD_WIDTH_MM:.3f} mm, "
- f"engagement={DOVETAIL_ENGAGEMENT_DEPTH_MM:.3f} mm, "
- f"clearance={DOVETAIL_CLEARANCE_MM:.3f} mm"
- )
- return sample
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.step b/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.step
deleted file mode 100644
index 61f9ab69..00000000
--- a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:45bc32c736b292ca1a2c9c6ace411b605ff857af677d16f53883b3040cbe870b
-size 140214
diff --git a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.stl b/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.stl
deleted file mode 100644
index d3a3bc97..00000000
--- a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d3bacf52f76202cc5f21116d17706c8de8b7346da1cdec84ee0683b7b78f669a
-size 382684
diff --git a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.py b/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.py
deleted file mode 100644
index 54cfb93e..00000000
--- a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-"""Matching female dovetail half for the printable straight tongue shell."""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-
-PRINTABLE_DIR = Path(__file__).resolve().parent
-if str(PRINTABLE_DIR) not in sys.path:
- sys.path.insert(0, str(PRINTABLE_DIR))
-
-import link_bracket_slot_pair_straight_sample as connector_shell
-
-
-PART_NAME = Path(__file__).stem
-
-
-def build_step():
- shell = connector_shell.build_step(dovetail_role="female")
- shell.label = PART_NAME
- shell.color = connector_shell.PLASTIC_COLOR
- return shell
-
-
-def gen_step() -> dict[str, object]:
- return {
- "shape": build_step(),
- }
-
-
-if __name__ == "__main__":
- gen_step()
diff --git a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.step b/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.step
deleted file mode 100644
index 6ac94e42..00000000
--- a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3f599f93afc7f6f07d38bb8d4ce4218cc97cc5d4adadf459f2dd66e38ffc9c19
-size 141560
diff --git a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.stl b/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.stl
deleted file mode 100644
index 51fd4053..00000000
--- a/models/robots/tom/v2/printable/link_bracket_slot_pair_straight_socket_sample.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6bccfd39a27e7dbe55f4facdd542ecfa3d25ad97f4f8e4939cfcf837f3b31276
-size 382684
diff --git a/models/robots/tom/v2/srdf_planning_ledger.md b/models/robots/tom/v2/srdf_planning_ledger.md
deleted file mode 100644
index 1737b9d6..00000000
--- a/models/robots/tom/v2/srdf_planning_ledger.md
+++ /dev/null
@@ -1,76 +0,0 @@
-# TOM v2 SRDF planning ledger
-
-## URDF dependency
-
-| Field | tom | tom_double | tom_with_gripper |
-|---|---|---|---|
-| URDF path | `tom.urdf` | `tom_double.urdf` | `tom_with_gripper.urdf` |
-| SRDF output path | `tom.srdf` | `tom_double.srdf` | `tom_with_gripper.srdf` |
-| Robot name | `tom_v2` | `tom_v2_double` | `tom_v2_with_gripper` |
-| Root link | `base_footprint` | `base_footprint` | `base_footprint` |
-| Active arm joints | `base_yaw`, `shoulder_pitch`, `shoulder_roll`, `elbow_pitch`, `elbow_roll`, `wrist_pitch`, `wrist_roll`; v2 rebases the named home pose at `elbow_pitch=-90 deg` | same, with double STS3250 effort on `shoulder_pitch` in URDF | same |
-| Fixed joints | `base_footprint_to_base_link` | `base_footprint_to_base_link` | `base_footprint_to_base_link`, `wrist_roll_to_gripper_base` |
-| Mimic joints | none | none | `gripper_right_claw_slide`, `gripper_left_claw_slide` mimic `gripper_servo` |
-| Passive joints | none | none | none |
-| Known URDF limitations | Arm collision geometry is intentionally omitted pending simplified collision models. | same | Gripper collision meshes are present; arm collision geometry is intentionally omitted. |
-
-## Planning task
-
-| Field | Value |
-|---|---|
-| Main task | Fixed-base arm plan-to-pose / named-state review, plus gripper states for `tom_with_gripper`. |
-| Primary planning group | `arm` |
-| Expected end-effector or TCP | `wrist_roll_link` for no-gripper variants; `gripper_base_link` via `gripper_tcp` for `tom_with_gripper`. |
-| Required solver or planner | Not specified; MoveIt setup remains downstream. |
-| Position-only IK | Not specified. |
-| Orientation constraints | Not specified. |
-
-## Virtual joints
-
-| Name | Type | Parent frame | Child link | Required? | Rationale |
-|---|---|---|---|---|---|
-| `fixed_base` | fixed | `world` | `base_footprint` | yes | Matches v1 fixed-base semantics and gives MoveIt an explicit world attachment. |
-
-## Planning groups
-
-| Group | Representation | Members | Base link | Tip link | Purpose |
-|---|---|---|---|---|---|
-| `arm` | chain | `base_link` to `wrist_roll_link` | `base_link` | `wrist_roll_link` | Main serial manipulator group. |
-| `tcp` | link | `gripper_base_link` | n/a | n/a | TCP/end-effector target group for `tom_with_gripper` only. |
-| `gripper` | joint | `gripper_servo` | n/a | n/a | Active gripper actuator for `tom_with_gripper` only. |
-| `arm_with_gripper` | subgroups | `arm`, `gripper` | n/a | n/a | Convenience group for `tom_with_gripper` only. |
-
-## End effectors
-
-| Name | End-effector group | Parent group | Parent link | Target/TCP link | Notes |
-|---|---|---|---|---|---|
-| `gripper_tcp` | `tcp` | `arm` | `wrist_roll_link` | `gripper_base_link` | Used only by `tom_with_gripper`; `wrist_roll_to_gripper_base` is the adjacent fixed attachment. |
-
-## Group states
-
-| State | Group | Unit check | Limit check | Purpose |
-|---|---|---|---|---|
-| `home` | `arm` | revolute/continuous values generated in radians; `elbow_pitch=-90 deg` | within URDF limits | V2 calibrated home pose. |
-| `reach_forward` | `arm` | radians; explicit v2 review pose uses `base_yaw=0 deg`, `shoulder_pitch=90 deg`, `shoulder_roll=0 deg`, `elbow_pitch=0 deg`, `elbow_roll=0 deg`, `wrist_pitch=0 deg`, `wrist_roll=0 deg` | within URDF limits | Forward reach review pose selected from viewer review. |
-| `inspection` | `arm` | radians; explicit v2 review pose uses `base_yaw=45 deg`, `shoulder_pitch=-27 deg`, `shoulder_roll=66 deg`, `elbow_pitch=-87 deg`, `elbow_roll=121.995 deg`, `wrist_pitch=83 deg`, `wrist_roll=-99 deg` | within URDF limits | Angled inspection pose selected from viewer review. |
-| `inspection_mirrored` | `arm` | radians; mirrors the inspection roll joints to `shoulder_roll=-66 deg`, `elbow_roll=-121.995 deg`, `wrist_roll=99 deg` while keeping the other inspection values | within URDF limits | Mirrored inspection pose using the same roll-sign convention as v1. |
-| `open` | `gripper` | radians | within URDF limits | Gripper open state for `tom_with_gripper`. |
-| `half_closed` | `gripper` | radians | within URDF limits | Gripper mid travel state for `tom_with_gripper`. |
-| `closed` | `gripper` | radians | within URDF limits | Gripper closed state for `tom_with_gripper`. |
-
-## Disabled collisions
-
-Disabled collisions are generated from the linked URDF kinematic adjacency list only, excluding the world/base-footprint fixed joint. No sampled self-collision matrix is available yet.
-
-## MoveIt smoke tests
-
-MoveIt Setup Assistant and runtime IK/path planning were not run in this change. The generated SRDFs are validated by the SRDF generator against their linked URDFs and handed to CAD Viewer for review links.
-
-## Assumptions to report
-
-- The v2 arm planning group intentionally mirrors the v1 `arm` chain from `base_link` to `wrist_roll_link`.
-- `home` keeps the v2-only `elbow_pitch=-90 deg` home offset.
-- `reach_forward` is an explicit v2 viewer-selected pose with `elbow_roll=0 deg`.
-- `inspection` is an explicit v2 viewer-selected pose, and `inspection_mirrored` flips the roll-joint signs from that pose.
-- Collision disables are adjacency-only; no broad manual or sampled-safe collision matrix was added.
-- `tom_with_gripper` uses `gripper_base_link` as the TCP target link, matching v1 semantics.
diff --git a/models/robots/tom/v2/tom.py b/models/robots/tom/v2/tom.py
deleted file mode 100644
index f5e19f63..00000000
--- a/models/robots/tom/v2/tom.py
+++ /dev/null
@@ -1,1731 +0,0 @@
-from __future__ import annotations
-
-from functools import lru_cache
-import importlib.util
-import math
-import sys
-import xml.etree.ElementTree as ET
-from pathlib import Path
-
-V2_DIR = Path(__file__).resolve().parent
-TOM_DIR = V2_DIR.parent
-ASSEMBLIES_DIR = V2_DIR / "assemblies"
-PARTS_DIR = V2_DIR / "parts"
-for path in (TOM_DIR, V2_DIR, PARTS_DIR, ASSEMBLIES_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-from robot_common import robot_arm
-from robot_common.materials import BLACK_ALUMINUM_RGBA, GRAY_ALUMINUM_RGBA
-import link_bracket
-import servo_end_mount
-import servo_horn_yoke
-from v2_roll_link_common import (
- invert_rigid_transform,
- multiply_transforms,
- roll_link_mates,
- roll_link_instances,
-)
-
-
-LINK_ASSEMBLY_MODULES = {
- "base_link": ASSEMBLIES_DIR / "base_link.py",
- "shoulder_yaw_link": ASSEMBLIES_DIR / "shoulder_yaw_link.py",
- "shoulder_pitch_link": ASSEMBLIES_DIR / "pitch_link_sts3250.py",
- "elbow_pitch_link": ASSEMBLIES_DIR / "pitch_link_sts3215.py",
- "wrist_pitch_link": ASSEMBLIES_DIR / "pitch_link_sts3215.py",
-}
-
-ROLL_LINK_REPLACEMENTS = {
- "shoulder_roll_link": "shoulder",
- "elbow_roll_link": "elbow",
-}
-
-GRIPPER_CHILD_NAME = "parallel_gripper"
-V2_GRIPPER_SERVO_INSTANCE_NAME = "wrist_pitch_link__sts3215"
-
-NEXT_PITCH_LINK_BY_ROLL_LINK = {
- "shoulder": "elbow_pitch_link",
- "elbow": "wrist_pitch_link",
-}
-
-YOKE_HORN_SPAN_CENTER_LOCAL_Y_MM = -9.1
-# Source STEP face datums for the terminal gripper mate:
-# - sts3215 #o1.16.f14 is the rear horn face at local y=-27.4.
-# - gripper #o1.5.f82 is the mounting face at local z=-52.
-STS3215_HORN_AXIS_LOCAL_X_MM = -25.5
-STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM = 9.2
-STS3215_REAR_HORN_FACE_LOCAL_Y_MM = -27.4
-GRIPPER_MOUNT_FACE_CENTER_LOCAL_MM = (0.032382, 0.002077, -52.0)
-BASE_TO_SHOULDER_YAW_HORN_CLEARANCE_MM = 0.0
-SERVO_END_MOUNT_FRONT_HORN_FACE_CENTER_LOCAL_MM = (
- servo_end_mount.front_horn_mount_face_center_local_mm()
-)
-YOKE_180_ABOUT_WEB_AXIS_TRANSFORM = tuple(
- servo_horn_yoke.YOKE_180_ABOUT_WEB_AXIS_DESIGN_TRANSFORM
-)
-PITCH_MODULE_STANDALONE_TO_DESIGN_TRANSFORM = tuple(
- servo_horn_yoke.STANDALONE_TO_DESIGN_TRANSFORM
-)
-
-URDF_MATERIALS = {
- "aluminum_5052": GRAY_ALUMINUM_RGBA,
- "dark_servo": BLACK_ALUMINUM_RGBA,
- "silver_aluminum_alloy": (0.78, 0.80, 0.82, 1.0),
-}
-
-URDF_MESH_BY_STEP_BASENAME = {
- "base_plate.step": "3MF/base_plate.3mf",
- "servo_end_mount.step": "3MF/servo_end_mount.3mf",
- "servo_horn_yoke.step": "3MF/servo_horn_yoke.3mf",
- "link_bracket_right.step": "3MF/link_bracket_right.3mf",
- "link_bracket_left.step": "3MF/link_bracket_left.3mf",
- "link_standoff_m3_35.step": "3MF/link_standoff_m3_35.3mf",
- "sts3250.step": "3MF/sts3250.3mf",
- "sts3215.step": "3MF/sts3215.3mf",
-}
-
-URDF_MATERIAL_BY_STEP_BASENAME = {
- "base_plate.step": "aluminum_5052",
- "servo_end_mount.step": "aluminum_5052",
- "servo_horn_yoke.step": "aluminum_5052",
- "link_bracket_right.step": "aluminum_5052",
- "link_bracket_left.step": "aluminum_5052",
- "link_standoff_m3_35.step": "silver_aluminum_alloy",
- "sts3250.step": "dark_servo",
- "sts3215.step": "dark_servo",
-}
-
-KGF_CM_TO_NM = robot_arm.KGF_CM_TO_NM
-STS3250_MASS_KG = robot_arm.STS3250_MASS_KG
-STS3215_MASS_KG = robot_arm.STS3215_MASS_KG
-STS3250_STALL_TORQUE_NM = 50.0 * KGF_CM_TO_NM
-STS3215_STALL_TORQUE_NM = 30.0 * KGF_CM_TO_NM
-STS3250_NO_LOAD_SPEED_RAD_S = math.radians(60.0) / 0.133
-STS3215_NO_LOAD_SPEED_RAD_S = math.radians(60.0) / 0.222
-ALUMINUM_5052_DENSITY_KG_PER_MM3 = robot_arm.ALUMINUM_5052_H32_DENSITY_KG_PER_MM3
-SERVO_MASS_KG_BY_STEP_BASENAME = {
- "sts3250.step": STS3250_MASS_KG,
- "sts3215.step": STS3215_MASS_KG,
-}
-MATERIAL_DENSITY_KG_PER_MM3 = {
- "aluminum_5052": ALUMINUM_5052_DENSITY_KG_PER_MM3,
- "silver_aluminum_alloy": ALUMINUM_5052_DENSITY_KG_PER_MM3,
-}
-URDF_JOINT_EFFORT_NM_BY_NAME = {
- "base_yaw": STS3250_STALL_TORQUE_NM,
- "shoulder_pitch": STS3250_STALL_TORQUE_NM,
- "shoulder_roll": STS3250_STALL_TORQUE_NM,
- "elbow_pitch": STS3250_STALL_TORQUE_NM,
- "elbow_roll": STS3215_STALL_TORQUE_NM,
- "wrist_pitch": STS3215_STALL_TORQUE_NM,
- "wrist_roll": STS3215_STALL_TORQUE_NM,
-}
-URDF_JOINT_VELOCITY_RAD_S_BY_NAME = {
- "base_yaw": STS3250_NO_LOAD_SPEED_RAD_S,
- "shoulder_pitch": STS3250_NO_LOAD_SPEED_RAD_S,
- "shoulder_roll": STS3250_NO_LOAD_SPEED_RAD_S,
- "elbow_pitch": STS3250_NO_LOAD_SPEED_RAD_S,
- "elbow_roll": STS3215_NO_LOAD_SPEED_RAD_S,
- "wrist_pitch": STS3215_NO_LOAD_SPEED_RAD_S,
- "wrist_roll": STS3215_NO_LOAD_SPEED_RAD_S,
-}
-V2_HOME_ELBOW_PITCH_DEG = -90.0
-V2_SRDF_REACH_ARM_GROUP_STATE_DEG = {
- "base_yaw": 0.0,
- "shoulder_pitch": 90.0,
- "shoulder_roll": 0.0,
- "elbow_pitch": 0.0,
- "elbow_roll": 0.0,
- "wrist_pitch": 0.0,
- "wrist_roll": 0.0,
-}
-V2_SRDF_INSPECTION_ARM_GROUP_STATE_DEG = {
- "base_yaw": 45.0,
- "shoulder_pitch": -27.0,
- "shoulder_roll": 66.0,
- "elbow_pitch": -87.0,
- "elbow_roll": 121.995,
- "wrist_pitch": 83.0,
- "wrist_roll": -99.0,
-}
-V2_SRDF_INSPECTION_MIRRORED_ARM_GROUP_STATE_DEG = {
- **V2_SRDF_INSPECTION_ARM_GROUP_STATE_DEG,
- "shoulder_roll": -V2_SRDF_INSPECTION_ARM_GROUP_STATE_DEG["shoulder_roll"],
- "elbow_roll": -V2_SRDF_INSPECTION_ARM_GROUP_STATE_DEG["elbow_roll"],
- "wrist_roll": -V2_SRDF_INSPECTION_ARM_GROUP_STATE_DEG["wrist_roll"],
-}
-
-NO_GRIPPER_LINK_NAMES = (
- "base_footprint",
- "base_link",
- "shoulder_yaw_link",
- "shoulder_pitch_link",
- "shoulder_roll_link",
- "elbow_pitch_link",
- "elbow_roll_link",
- "wrist_pitch_link",
- "wrist_roll_link",
-)
-GRIPPER_LINK_NAMES = (
- "gripper_base_link",
- "gripper_servo_link",
- "gripper_right_claw_link",
- "gripper_left_claw_link",
-)
-WITH_GRIPPER_LINK_NAMES = (*NO_GRIPPER_LINK_NAMES, *GRIPPER_LINK_NAMES)
-
-URDF_SERVO_AXIS_INSTANCE_BY_JOINT = {
- "base_yaw": "base_link__sts3250_3",
- "shoulder_pitch": "shoulder_yaw_link__sts3250_1",
- "shoulder_roll": "shoulder_pitch_link__sts3250",
- "elbow_pitch": "shoulder_roll_link__sts3250_4",
- "elbow_roll": "elbow_pitch_link__sts3215",
- "wrist_pitch": "elbow_roll_link__sts3215_6",
- "wrist_roll": "wrist_pitch_link__sts3215",
-}
-
-URDF_VISUAL_MODULE_BY_LINK = {
- "base_link": LINK_ASSEMBLY_MODULES["base_link"],
- "shoulder_yaw_link": LINK_ASSEMBLY_MODULES["shoulder_yaw_link"],
- "shoulder_pitch_link": LINK_ASSEMBLY_MODULES["shoulder_pitch_link"],
- "elbow_pitch_link": LINK_ASSEMBLY_MODULES["elbow_pitch_link"],
- "wrist_pitch_link": LINK_ASSEMBLY_MODULES["wrist_pitch_link"],
-}
-
-URDF_PITCH_MODULE_SERVO_BY_LINK = {
- "shoulder_pitch_link": "sts3250",
- "elbow_pitch_link": "sts3215",
- "wrist_pitch_link": "sts3215",
-}
-
-URDF_ROLL_BOTTOM_SERVO_SOURCE_BY_LINK = {
- "shoulder_roll_link": ("shoulder_pitch_link", "sts3250"),
- "elbow_roll_link": ("elbow_pitch_link", "sts3215"),
- "wrist_roll_link": ("wrist_pitch_link", "sts3215"),
-}
-
-
-def _mate(
- source_label: str,
- *,
- fixed: str,
- moving: str,
- relation: str = "rigid",
- parameters: dict[str, object] | None = None,
-) -> dict[str, object]:
- fixed_part, fixed_frame = fixed.split(":", 1)
- moving_part, moving_frame = moving.split(":", 1)
- return {
- "sourceLabel": source_label,
- "type": relation,
- "relation": relation,
- "fixed": fixed,
- "moving": moving,
- "parameters": dict(parameters or {}),
- "fixedEndpoint": {
- "part": fixed_part,
- "frame": fixed_frame,
- },
- "movingEndpoint": {
- "part": moving_part,
- "frame": moving_frame,
- },
- }
-
-
-def _roll_link_standoff_mates(parent_name: str, kind: str) -> list[dict[str, object]]:
- mates: list[dict[str, object]] = []
- for label, _x, _z in link_bracket.STANDOFF_CENTER_XZ_MM:
- standoff = f"{parent_name}__{kind}_link_standoff_{label}"
- mates.append(
- _mate(
- f"{parent_name}_{label}_standoff_to_right_bracket",
- fixed=f"{parent_name}__{kind}_link_bracket_right:{label}_standoff_hole",
- moving=f"{standoff}:positive_y_thread",
- )
- )
- mates.append(
- _mate(
- f"{parent_name}_{label}_standoff_to_left_bracket",
- fixed=f"{parent_name}__{kind}_link_bracket_left:{label}_standoff_hole",
- moving=f"{standoff}:negative_y_thread",
- )
- )
- return mates
-
-
-def _assembly_mates(*, include_gripper: bool) -> list[dict[str, object]]:
- mates = [
- _mate(
- "base_servo_to_base_plate",
- fixed="base_link__base_plate:top_plate",
- moving="base_link__sts3250_3:case_mount",
- ),
- _mate(
- "base_servo_horn_to_shoulder_yaw_mount",
- fixed="base_link__sts3250_3:output_horn_face",
- moving="shoulder_yaw_link__servo_end_mount:front_horn_mount_face",
- parameters={"clearance_mm": BASE_TO_SHOULDER_YAW_HORN_CLEARANCE_MM},
- ),
- _mate(
- "shoulder_yaw_mount_to_servo",
- fixed="shoulder_yaw_link__sts3250_1:rear_case",
- moving="shoulder_yaw_link__servo_end_mount:servo_face",
- ),
- _mate(
- "shoulder_pitch_yoke_to_servo",
- fixed="shoulder_pitch_link__servo_horn_yoke:horn_axis",
- moving="shoulder_pitch_link__sts3250:horn_axis",
- ),
- _mate(
- "shoulder_pitch_servo_to_roll_bracket_right",
- fixed="shoulder_pitch_link__sts3250:upstream_case",
- moving="shoulder_roll_link__shoulder_link_bracket_right:bottom_servo_mount",
- ),
- _mate(
- "shoulder_pitch_servo_to_roll_bracket_left",
- fixed="shoulder_pitch_link__sts3250:upstream_case",
- moving="shoulder_roll_link__shoulder_link_bracket_left:bottom_servo_mount",
- ),
- _mate(
- "shoulder_roll_bracket_right_to_servo",
- fixed="shoulder_roll_link__shoulder_link_bracket_right:top_servo_mount",
- moving="shoulder_roll_link__sts3250_4:case_mount",
- ),
- _mate(
- "shoulder_roll_bracket_left_to_servo",
- fixed="shoulder_roll_link__shoulder_link_bracket_left:top_servo_mount",
- moving="shoulder_roll_link__sts3250_4:case_mount",
- ),
- _mate(
- "elbow_pitch_yoke_to_shoulder_roll_servo",
- fixed="shoulder_roll_link__sts3250_4:horn_axis",
- moving="elbow_pitch_link__servo_horn_yoke:horn_axis",
- ),
- _mate(
- "elbow_pitch_servo_to_roll_bracket_right",
- fixed="elbow_pitch_link__sts3215:upstream_case",
- moving="elbow_roll_link__elbow_link_bracket_right:bottom_servo_mount",
- ),
- _mate(
- "elbow_pitch_servo_to_roll_bracket_left",
- fixed="elbow_pitch_link__sts3215:upstream_case",
- moving="elbow_roll_link__elbow_link_bracket_left:bottom_servo_mount",
- ),
- _mate(
- "elbow_roll_bracket_right_to_servo",
- fixed="elbow_roll_link__elbow_link_bracket_right:top_servo_mount",
- moving="elbow_roll_link__sts3215_6:case_mount",
- ),
- _mate(
- "elbow_roll_bracket_left_to_servo",
- fixed="elbow_roll_link__elbow_link_bracket_left:top_servo_mount",
- moving="elbow_roll_link__sts3215_6:case_mount",
- ),
- _mate(
- "wrist_pitch_yoke_to_elbow_roll_servo",
- fixed="elbow_roll_link__sts3215_6:horn_axis",
- moving="wrist_pitch_link__servo_horn_yoke:horn_axis",
- ),
- ]
- if include_gripper:
- mates.append(
- _mate(
- "gripper_mount_face_to_wrist_servo_horn",
- fixed="wrist_pitch_link__sts3215:rear_horn_face",
- moving="parallel_gripper:mount_face",
- )
- )
- mates.extend(_roll_link_standoff_mates("shoulder_roll_link", "shoulder"))
- mates.extend(_roll_link_standoff_mates("elbow_roll_link", "elbow"))
- return mates
-
-
-def _module_gen_step(module_path: Path) -> dict[str, object]:
- module_name = f"_tom_v2_{module_path.stem}_{abs(hash(module_path))}"
- spec = importlib.util.spec_from_file_location(module_name, module_path)
- if spec is None or spec.loader is None:
- raise RuntimeError(f"Unable to load {module_path}")
- module = importlib.util.module_from_spec(spec)
- sys.modules[module_name] = module
- spec.loader.exec_module(module)
- gen_step = getattr(module, "gen_step", None)
- if not callable(gen_step):
- raise RuntimeError(f"{module_path} does not define gen_step()")
- envelope = gen_step()
- if not isinstance(envelope, dict) or "instances" not in envelope:
- raise RuntimeError(f"{module_path} must return an instances assembly")
- instances = envelope["instances"]
- if not isinstance(instances, list) or not instances:
- raise RuntimeError(f"{module_path} returned no instances")
- return envelope
-
-
-def _instances_from_module(module_path: Path) -> list[dict[str, object]]:
- return [
- dict(instance)
- for instance in _module_gen_step(module_path)["instances"] # type: ignore[index]
- ]
-
-
-def _rebase_step_path(path: str, *, source_dir: Path) -> str:
- resolved = (source_dir / path).resolve()
- try:
- return resolved.relative_to(V2_DIR.resolve()).as_posix()
- except ValueError as exc:
- raise RuntimeError(f"{path} resolves outside the v2 assembly folder") from exc
-
-
-def _v2_source_child_path(path: str) -> str:
- source_path = Path(path)
- if source_path.parts and source_path.parts[0] in {"imports", "gripper"}:
- return (Path("parts") / source_path).as_posix()
- return source_path.as_posix()
-
-
-def _flatten_instances(
- *,
- parent_name: str,
- parent_transform: list[float],
- local_instances: list[dict[str, object]],
- local_source_dir: Path,
- instance_transform_overrides: dict[str, list[float]] | None = None,
-) -> list[dict[str, object]]:
- flattened: list[dict[str, object]] = []
- transform_overrides = instance_transform_overrides or {}
- for local in local_instances:
- local_name = str(local["name"])
- local_transform = [float(value) for value in local["transform"]]
- world_transform = transform_overrides.get(local_name)
- if world_transform is None:
- world_transform = multiply_transforms(parent_transform, local_transform)
- flattened.append(
- {
- "path": _rebase_step_path(str(local["path"]), source_dir=local_source_dir),
- "name": f"{parent_name}__{local_name}",
- "transform": world_transform,
- "use_source_colors": bool(local.get("use_source_colors", True)),
- }
- )
- return flattened
-
-
-def _flat_child_instances(
- *,
- child_name: str,
- child_transform: list[float],
- instance_transform_overrides: dict[str, list[float]] | None = None,
-) -> list[dict[str, object]]:
- replacement_kind = ROLL_LINK_REPLACEMENTS.get(child_name)
- if replacement_kind is not None:
- return _flatten_instances(
- parent_name=child_name,
- parent_transform=child_transform,
- local_instances=roll_link_instances(replacement_kind),
- local_source_dir=ASSEMBLIES_DIR,
- instance_transform_overrides=instance_transform_overrides,
- )
-
- module_path = LINK_ASSEMBLY_MODULES[child_name]
- return _flatten_instances(
- parent_name=child_name,
- parent_transform=child_transform,
- local_instances=_instances_from_module(module_path),
- local_source_dir=module_path.parent,
- instance_transform_overrides=instance_transform_overrides,
- )
-
-
-def _module_transform_for_child(
- *,
- child_name: str,
- design_child_transform: list[float],
-) -> list[float]:
- if child_name in URDF_PITCH_MODULE_SERVO_BY_LINK:
- return list(
- multiply_transforms(
- design_child_transform,
- PITCH_MODULE_STANDALONE_TO_DESIGN_TRANSFORM,
- )
- )
- return design_child_transform
-
-
-def _yoke_transform_for_servo_horn(
- *,
- upstream_servo_transform: list[float],
-) -> list[float]:
- return multiply_transforms(
- upstream_servo_transform,
- YOKE_180_ABOUT_WEB_AXIS_TRANSFORM,
- )
-
-
-def _identity_transform() -> list[float]:
- return [
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- ]
-
-
-def _transform_point(
- transform: list[float],
- point: tuple[float, float, float],
-) -> tuple[float, float, float]:
- x, y, z = point
- return (
- transform[0] * x + transform[1] * y + transform[2] * z + transform[3],
- transform[4] * x + transform[5] * y + transform[6] * z + transform[7],
- transform[8] * x + transform[9] * y + transform[10] * z + transform[11],
- )
-
-
-def _transform_direction(
- transform: list[float],
- direction: tuple[float, float, float],
-) -> tuple[float, float, float]:
- x, y, z = direction
- return (
- transform[0] * x + transform[1] * y + transform[2] * z,
- transform[4] * x + transform[5] * y + transform[6] * z,
- transform[8] * x + transform[9] * y + transform[10] * z,
- )
-
-
-def _axis_angle_transform(
- *,
- axis_point_mm: tuple[float, float, float],
- axis_direction: tuple[float, float, float],
- angle_deg: float,
-) -> list[float]:
- ux, uy, uz = _normalized_vector(axis_direction)
- theta = math.radians(angle_deg)
- c = math.cos(theta)
- s = math.sin(theta)
- one_minus_c = 1.0 - c
- rotation = (
- (
- c + ux * ux * one_minus_c,
- ux * uy * one_minus_c - uz * s,
- ux * uz * one_minus_c + uy * s,
- ),
- (
- uy * ux * one_minus_c + uz * s,
- c + uy * uy * one_minus_c,
- uy * uz * one_minus_c - ux * s,
- ),
- (
- uz * ux * one_minus_c - uy * s,
- uz * uy * one_minus_c + ux * s,
- c + uz * uz * one_minus_c,
- ),
- )
- px, py, pz = axis_point_mm
- rotated_point = (
- rotation[0][0] * px + rotation[0][1] * py + rotation[0][2] * pz,
- rotation[1][0] * px + rotation[1][1] * py + rotation[1][2] * pz,
- rotation[2][0] * px + rotation[2][1] * py + rotation[2][2] * pz,
- )
- translation = (
- px - rotated_point[0],
- py - rotated_point[1],
- pz - rotated_point[2],
- )
- return [
- rotation[0][0], rotation[0][1], rotation[0][2], translation[0],
- rotation[1][0], rotation[1][1], rotation[1][2], translation[1],
- rotation[2][0], rotation[2][1], rotation[2][2], translation[2],
- 0.0, 0.0, 0.0, 1.0,
- ]
-
-
-def _rotate_transform_about_axis(
- transform: list[float],
- *,
- axis_point_mm: tuple[float, float, float],
- axis_direction: tuple[float, float, float],
- angle_deg: float,
-) -> list[float]:
- if abs(angle_deg) <= 1e-9:
- return list(transform)
- return multiply_transforms(
- _axis_angle_transform(
- axis_point_mm=axis_point_mm,
- axis_direction=axis_direction,
- angle_deg=angle_deg,
- ),
- transform,
- )
-
-
-def _apply_v2_step_home_pose_to_elbow_pitch(
- *,
- child_transform: list[float],
- instance_transforms_by_name: dict[str, list[float]],
-) -> list[float]:
- elbow_pitch_servo = instance_transforms_by_name.get(
- URDF_SERVO_AXIS_INSTANCE_BY_JOINT["elbow_pitch"]
- )
- if elbow_pitch_servo is None:
- raise RuntimeError("Cannot apply v2 STEP elbow home pose before elbow servo exists")
- axis_center_world, axis_direction_world = _servo_horn_axis_from_transform(
- elbow_pitch_servo
- )
- return _rotate_transform_about_axis(
- child_transform,
- axis_point_mm=axis_center_world,
- axis_direction=axis_direction_world,
- angle_deg=V2_HOME_ELBOW_PITCH_DEG,
- )
-
-
-def _translate_transform(
- transform: list[float],
- delta: tuple[float, float, float],
-) -> list[float]:
- adjusted = list(transform)
- adjusted[3] += delta[0]
- adjusted[7] += delta[1]
- adjusted[11] += delta[2]
- return adjusted
-
-
-def _mate_shoulder_yaw_mount_to_base_servo_horn(
- *,
- shoulder_yaw_transform: list[float],
- base_servo_transform: list[float],
-) -> list[float]:
- base_horn_face_center = _transform_point(
- base_servo_transform,
- (
- STS3215_HORN_AXIS_LOCAL_X_MM,
- STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM,
- 0.0,
- ),
- )
- base_horn_face_normal = _transform_direction(base_servo_transform, (0.0, 1.0, 0.0))
- target = tuple(
- base_horn_face_center[index]
- + (BASE_TO_SHOULDER_YAW_HORN_CLEARANCE_MM * base_horn_face_normal[index])
- for index in range(3)
- )
- moving = _transform_point(
- shoulder_yaw_transform,
- SERVO_END_MOUNT_FRONT_HORN_FACE_CENTER_LOCAL_MM,
- )
- return _translate_transform(
- shoulder_yaw_transform,
- (
- target[0] - moving[0],
- target[1] - moving[1],
- target[2] - moving[2],
- ),
- )
-
-
-def _mate_gripper_to_terminal_servo_horn(
- *,
- gripper_transform: list[float],
- terminal_servo_transform: list[float],
-) -> list[float]:
- target = _transform_point(
- terminal_servo_transform,
- (
- STS3215_HORN_AXIS_LOCAL_X_MM,
- STS3215_REAR_HORN_FACE_LOCAL_Y_MM,
- 0.0,
- ),
- )
- moving = _transform_point(gripper_transform, GRIPPER_MOUNT_FACE_CENTER_LOCAL_MM)
- return _translate_transform(
- gripper_transform,
- (
- target[0] - moving[0],
- target[1] - moving[1],
- target[2] - moving[2],
- ),
- )
-
-
-def gen_step_with_options(*, include_gripper: bool = False) -> dict[str, object]:
- instances: list[dict[str, object]] = []
- instance_transforms_by_name: dict[str, list[float]] = {}
- downstream_correction = _identity_transform()
- pending_child_transform_overrides: dict[str, list[float]] = {}
-
- for source_child in robot_arm.robot_arm_assembly_children():
- child_name = str(source_child["name"])
- source_child_transform = [float(value) for value in source_child["transform"]]
- child_transform = pending_child_transform_overrides.pop(child_name, None)
- if child_transform is not None:
- downstream_correction = multiply_transforms(
- child_transform,
- invert_rigid_transform(source_child_transform),
- )
- else:
- child_transform = multiply_transforms(
- downstream_correction,
- source_child_transform,
- )
-
- if child_name == "shoulder_yaw_link":
- base_servo_transform = instance_transforms_by_name.get("base_link__sts3250_3")
- if base_servo_transform is not None:
- child_transform = _mate_shoulder_yaw_mount_to_base_servo_horn(
- shoulder_yaw_transform=child_transform,
- base_servo_transform=base_servo_transform,
- )
- downstream_correction = multiply_transforms(
- child_transform,
- invert_rigid_transform(source_child_transform),
- )
-
- if child_name == "elbow_pitch_link":
- child_transform = _apply_v2_step_home_pose_to_elbow_pitch(
- child_transform=child_transform,
- instance_transforms_by_name=instance_transforms_by_name,
- )
- downstream_correction = multiply_transforms(
- child_transform,
- invert_rigid_transform(source_child_transform),
- )
-
- if child_name == GRIPPER_CHILD_NAME:
- if not include_gripper:
- continue
- terminal_servo_transform = instance_transforms_by_name.get(
- V2_GRIPPER_SERVO_INSTANCE_NAME
- )
- if terminal_servo_transform is not None:
- child_transform = _mate_gripper_to_terminal_servo_horn(
- gripper_transform=child_transform,
- terminal_servo_transform=terminal_servo_transform,
- )
- instances.append(
- {
- "path": _v2_source_child_path(str(source_child["path"])),
- "name": child_name,
- "transform": child_transform,
- "use_source_colors": bool(source_child.get("use_source_colors", True)),
- }
- )
- instance_transforms_by_name[child_name] = child_transform
- continue
-
- module_child_transform = _module_transform_for_child(
- child_name=child_name,
- design_child_transform=child_transform,
- )
- child_instances = _flat_child_instances(
- child_name=child_name,
- child_transform=module_child_transform,
- )
- instances.extend(child_instances)
- for instance in child_instances:
- instance_transforms_by_name[str(instance["name"])] = [
- float(value) for value in instance["transform"]
- ]
-
- replacement_kind = ROLL_LINK_REPLACEMENTS.get(child_name)
- if replacement_kind is not None:
- mates = roll_link_mates(replacement_kind)
- next_pitch_child_name = NEXT_PITCH_LINK_BY_ROLL_LINK.get(replacement_kind)
- if next_pitch_child_name is not None:
- upstream_servo_transform = multiply_transforms(
- child_transform,
- mates.downstream_servo_local,
- )
- pending_child_transform_overrides[next_pitch_child_name] = (
- _yoke_transform_for_servo_horn(
- upstream_servo_transform=upstream_servo_transform,
- )
- )
-
- return {
- "instances": instances,
- "assembly_mates": _assembly_mates(include_gripper=include_gripper),
- }
-
-
-def gen_step() -> dict[str, object]:
- envelope = gen_step_with_options(include_gripper=False)
- return {
- "instances": envelope["instances"],
- "assembly_mates": envelope.get("assembly_mates", []),
- }
-
-
-def _xml(
- tag: str,
- attrs: dict[str, str] | None = None,
- children: tuple[ET.Element, ...] = (),
-) -> ET.Element:
- element = ET.Element(tag, attrs or {})
- for child in children:
- element.append(child)
- return element
-
-
-def _serialize_urdf(root: ET.Element) -> str:
- ET.indent(root, space=" ")
- return '\n' + ET.tostring(root, encoding="unicode")
-
-
-def _urdf_number(value: float) -> str:
- numeric = 0.0 if abs(value) < 5e-10 else float(value)
- text = f"{numeric:.9f}".rstrip("0").rstrip(".")
- return text if text and text != "-0" else "0"
-
-
-def _rgba_text(rgba: tuple[float, float, float, float]) -> str:
- return " ".join(_urdf_number(float(value)) for value in rgba)
-
-
-def _rpy_from_transform(transform: list[float] | tuple[float, ...]) -> tuple[float, float, float]:
- r00 = float(transform[0])
- r10 = float(transform[4])
- r20 = float(transform[8])
- r21 = float(transform[9])
- r22 = float(transform[10])
- r01 = float(transform[1])
- r11 = float(transform[5])
-
- pitch = math.asin(max(-1.0, min(1.0, -r20)))
- cp = math.cos(pitch)
- if abs(cp) > 1e-9:
- roll = math.atan2(r21, r22)
- yaw = math.atan2(r10, r00)
- else:
- roll = 0.0
- yaw = math.atan2(-r01, r11)
- return roll, pitch, yaw
-
-
-def _urdf_origin_attrs_from_transform(
- transform: list[float] | tuple[float, ...],
-) -> dict[str, str]:
- xyz = (
- float(transform[3]) * 0.001,
- float(transform[7]) * 0.001,
- float(transform[11]) * 0.001,
- )
- rpy = _rpy_from_transform(transform)
- return {
- "xyz": " ".join(_urdf_number(value) for value in xyz),
- "rpy": " ".join(_urdf_number(value) for value in rpy),
- }
-
-
-def _transform_from_urdf_origin_attrs(xyz: str, rpy: str) -> list[float]:
- x, y, z = (float(value) * 1000.0 for value in xyz.split())
- roll, pitch, yaw = (float(value) for value in rpy.split())
- sr = math.sin(roll)
- cr = math.cos(roll)
- sp = math.sin(pitch)
- cp = math.cos(pitch)
- sy = math.sin(yaw)
- cy = math.cos(yaw)
- return [
- cy * cp,
- cy * sp * sr - sy * cr,
- cy * sp * cr + sy * sr,
- x,
- sy * cp,
- sy * sp * sr + cy * cr,
- sy * sp * cr - cy * sr,
- y,
- -sp,
- cp * sr,
- cp * cr,
- z,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- ]
-
-
-def _world_vector_to_local(
- frame_transform: list[float] | tuple[float, ...],
- vector: tuple[float, float, float],
-) -> tuple[float, float, float]:
- x, y, z = vector
- return (
- frame_transform[0] * x + frame_transform[4] * y + frame_transform[8] * z,
- frame_transform[1] * x + frame_transform[5] * y + frame_transform[9] * z,
- frame_transform[2] * x + frame_transform[6] * y + frame_transform[10] * z,
- )
-
-
-def _normalized_vector(vector: tuple[float, float, float]) -> tuple[float, float, float]:
- length = math.sqrt(sum(component * component for component in vector))
- if length <= 1e-9:
- raise RuntimeError("Cannot normalize a zero-length vector")
- return tuple(component / length for component in vector) # type: ignore[return-value]
-
-
-def _axis_attrs(vector: tuple[float, float, float]) -> str:
- axis = _normalized_vector(vector)
- return " ".join(_urdf_number(value) for value in axis)
-
-
-def _with_translation(
- transform: list[float] | tuple[float, ...],
- point: tuple[float, float, float],
-) -> list[float]:
- adjusted = [float(value) for value in transform]
- adjusted[3], adjusted[7], adjusted[11] = point
- return adjusted
-
-
-def _servo_horn_axis_from_transform(
- transform: list[float] | tuple[float, ...],
-) -> tuple[tuple[float, float, float], tuple[float, float, float]]:
- rear = _transform_point(
- list(transform),
- (
- STS3215_HORN_AXIS_LOCAL_X_MM,
- STS3215_REAR_HORN_FACE_LOCAL_Y_MM,
- 0.0,
- ),
- )
- front = _transform_point(
- list(transform),
- (
- STS3215_HORN_AXIS_LOCAL_X_MM,
- STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM,
- 0.0,
- ),
- )
- center = tuple(0.5 * (rear[index] + front[index]) for index in range(3))
- direction = _normalized_vector(
- tuple(front[index] - rear[index] for index in range(3))
- )
- return center, direction
-
-
-def _zero_pose_source_frames_and_instances(
- *,
- include_gripper: bool = False,
-) -> tuple[dict[str, list[float]], dict[str, list[float]]]:
- frames: dict[str, list[float]] = {"base_footprint": _identity_transform()}
- instance_transforms_by_name: dict[str, list[float]] = {}
- downstream_correction = _identity_transform()
- pending_child_transform_overrides: dict[str, list[float]] = {}
-
- for source_child in robot_arm.robot_arm_assembly_children():
- child_name = str(source_child["name"])
- source_child_transform = [float(value) for value in source_child["transform"]]
- child_transform = pending_child_transform_overrides.pop(child_name, None)
- if child_transform is not None:
- downstream_correction = multiply_transforms(
- child_transform,
- invert_rigid_transform(source_child_transform),
- )
- else:
- child_transform = multiply_transforms(
- downstream_correction,
- source_child_transform,
- )
-
- if child_name == "shoulder_yaw_link":
- base_servo_transform = instance_transforms_by_name.get("base_link__sts3250_3")
- if base_servo_transform is not None:
- child_transform = _mate_shoulder_yaw_mount_to_base_servo_horn(
- shoulder_yaw_transform=child_transform,
- base_servo_transform=base_servo_transform,
- )
- downstream_correction = multiply_transforms(
- child_transform,
- invert_rigid_transform(source_child_transform),
- )
-
- if child_name == GRIPPER_CHILD_NAME:
- if include_gripper:
- frames[child_name] = child_transform
- continue
-
- module_child_transform = _module_transform_for_child(
- child_name=child_name,
- design_child_transform=child_transform,
- )
- frames[child_name] = module_child_transform
- child_instances = _flat_child_instances(
- child_name=child_name,
- child_transform=module_child_transform,
- )
- for instance in child_instances:
- instance_transforms_by_name[str(instance["name"])] = [
- float(value) for value in instance["transform"]
- ]
-
- replacement_kind = ROLL_LINK_REPLACEMENTS.get(child_name)
- if replacement_kind is not None:
- mates = roll_link_mates(replacement_kind)
- next_pitch_child_name = NEXT_PITCH_LINK_BY_ROLL_LINK.get(replacement_kind)
- if next_pitch_child_name is not None:
- upstream_servo_transform = multiply_transforms(
- child_transform,
- mates.downstream_servo_local,
- )
- pending_child_transform_overrides[next_pitch_child_name] = (
- _yoke_transform_for_servo_horn(
- upstream_servo_transform=upstream_servo_transform,
- )
- )
-
- wrist_pitch = frames.get("wrist_pitch_link")
- if wrist_pitch is not None and "wrist_roll_link" not in frames:
- wrist_roll_joint = next(
- joint
- for joint in robot_arm.URDF_JOINTS
- if str(joint["name"]) == "wrist_roll"
- )
- frames["wrist_roll_link"] = multiply_transforms(
- wrist_pitch,
- _transform_from_urdf_origin_attrs(
- str(wrist_roll_joint["origin_xyz"]),
- str(wrist_roll_joint["origin_rpy"]),
- ),
- )
- return frames, instance_transforms_by_name
-
-
-def _urdf_link_frames_and_axes(
- *,
- include_gripper: bool = False,
-) -> tuple[
- dict[str, list[float]],
- dict[str, list[float]],
- dict[str, str],
-]:
- source_frames, instance_transforms = _zero_pose_source_frames_and_instances(
- include_gripper=include_gripper,
- )
- if include_gripper and GRIPPER_CHILD_NAME in source_frames:
- source_frames["gripper_base_link"] = list(source_frames[GRIPPER_CHILD_NAME])
- urdf_frames = {name: list(transform) for name, transform in source_frames.items()}
- axes_by_joint: dict[str, str] = {}
-
- for joint in _no_gripper_joints():
- joint_name = str(joint["name"])
- servo_instance_name = URDF_SERVO_AXIS_INSTANCE_BY_JOINT.get(joint_name)
- if not servo_instance_name:
- continue
- servo_transform = instance_transforms.get(servo_instance_name)
- if servo_transform is None:
- raise RuntimeError(
- f"Missing servo instance {servo_instance_name!r} for URDF joint {joint_name!r}"
- )
-
- axis_center_world, axis_direction_world = _servo_horn_axis_from_transform(
- servo_transform,
- )
- child_link = str(joint["child"])
- if child_link not in urdf_frames:
- parent_frame = urdf_frames.get(str(joint["parent"]))
- if parent_frame is None:
- raise RuntimeError(f"Missing parent frame for URDF joint {joint_name!r}")
- urdf_frames[child_link] = list(parent_frame)
- urdf_frames[child_link] = _with_translation(
- urdf_frames[child_link],
- axis_center_world,
- )
- axis_in_joint_frame = _world_vector_to_local(
- urdf_frames[child_link],
- axis_direction_world,
- )
- axes_by_joint[joint_name] = _axis_attrs(axis_in_joint_frame)
-
- return source_frames, urdf_frames, axes_by_joint
-
-
-def _instances_for_urdf_link(link_name: str) -> list[dict[str, object]]:
- instances: list[dict[str, object]] = []
- bottom_servo_source = URDF_ROLL_BOTTOM_SERVO_SOURCE_BY_LINK.get(link_name)
- if bottom_servo_source is not None:
- source_link_name, source_instance_name = bottom_servo_source
- source_module_path = URDF_VISUAL_MODULE_BY_LINK[source_link_name]
- source_instances = _module_gen_step(source_module_path)["instances"] # type: ignore[index]
- for instance in source_instances:
- if str(instance["name"]) == source_instance_name:
- moved_instance = dict(instance)
- moved_instance["source_link_name"] = source_link_name
- instances.append(moved_instance)
- break
- else:
- raise RuntimeError(
- f"Missing bottom roll servo {source_instance_name!r} "
- f"in source link {source_link_name!r}"
- )
-
- if link_name == "shoulder_roll_link":
- instances.extend(dict(instance) for instance in roll_link_instances("shoulder"))
- return instances
- if link_name == "elbow_roll_link":
- instances.extend(dict(instance) for instance in roll_link_instances("elbow"))
- return instances
- if link_name == "wrist_roll_link":
- return instances
-
- module_path = URDF_VISUAL_MODULE_BY_LINK.get(link_name)
- if module_path is None:
- return instances
- skipped_servo_name = URDF_PITCH_MODULE_SERVO_BY_LINK.get(link_name)
- return [
- dict(instance)
- for instance in _module_gen_step(module_path)["instances"] # type: ignore[index]
- if str(instance["name"]) != skipped_servo_name
- ]
-
-
-def _mesh_filename_for_step_path(step_path: str) -> str:
- basename = Path(step_path).name
- mesh = URDF_MESH_BY_STEP_BASENAME.get(basename)
- if mesh is None:
- raise RuntimeError(f"No v2 URDF 3MF mesh mapping for {step_path!r}")
- return mesh
-
-
-def _material_name_for_step_path(step_path: str) -> str:
- basename = Path(step_path).name
- material = URDF_MATERIAL_BY_STEP_BASENAME.get(basename)
- if material is None:
- raise RuntimeError(f"No v2 URDF material mapping for {step_path!r}")
- return material
-
-
-def _source_dir_for_urdf_instance(
- instance: dict[str, object],
- *,
- link_name: str,
-) -> Path:
- source_link_name = str(instance.get("source_link_name", link_name))
- module_path = URDF_VISUAL_MODULE_BY_LINK.get(source_link_name)
- if module_path is not None:
- return module_path.parent
- if source_link_name in ROLL_LINK_REPLACEMENTS:
- return ASSEMBLIES_DIR
- return V2_DIR
-
-
-def _resolved_step_path(
- step_path: str,
- *,
- source_dir: Path,
-) -> Path:
- path = Path(step_path)
- candidates = [
- (source_dir / path).resolve(),
- (V2_DIR / path).resolve(),
- (PARTS_DIR / path.name).resolve(),
- (PARTS_DIR / "imports" / path.name).resolve(),
- (PARTS_DIR / "gripper" / path.name).resolve(),
- ]
- for candidate in candidates:
- if candidate.exists():
- return candidate
- raise FileNotFoundError(f"Unable to resolve STEP path {step_path!r}")
-
-
-def _build123d_vector_xyz(vector: object) -> tuple[float, float, float]:
- return (
- float(getattr(vector, "X")),
- float(getattr(vector, "Y")),
- float(getattr(vector, "Z")),
- )
-
-
-@lru_cache(maxsize=None)
-def _step_geometry_properties(step_file: str) -> dict[str, object]:
- from build123d import import_step
-
- shape = import_step(step_file)
- bbox = shape.bounding_box()
- return {
- "volume_mm3": float(shape.volume),
- "center_mm": _build123d_vector_xyz(shape.center()),
- "size_mm": _build123d_vector_xyz(bbox.size),
- }
-
-
-def _part_mass_properties(
- step_path: str,
- *,
- source_dir: Path,
-) -> dict[str, object]:
- step_file = _resolved_step_path(step_path, source_dir=source_dir)
- basename = step_file.name
- geometry = _step_geometry_properties(step_file.as_posix())
- mass_kg = SERVO_MASS_KG_BY_STEP_BASENAME.get(basename)
- if mass_kg is None:
- material = _material_name_for_step_path(basename)
- density = MATERIAL_DENSITY_KG_PER_MM3.get(material)
- if density is None:
- raise RuntimeError(f"No density for v2 URDF material {material!r}")
- mass_kg = float(geometry["volume_mm3"]) * density
- return {
- "mass_kg": mass_kg,
- "center_mm": geometry["center_mm"],
- "size_mm": geometry["size_mm"],
- }
-
-
-def _mat3_mul(left: list[list[float]], right: list[list[float]]) -> list[list[float]]:
- return [
- [
- sum(left[row][inner] * right[inner][col] for inner in range(3))
- for col in range(3)
- ]
- for row in range(3)
- ]
-
-
-def _mat3_transpose(matrix: list[list[float]]) -> list[list[float]]:
- return [[matrix[col][row] for col in range(3)] for row in range(3)]
-
-
-def _rotation_matrix(transform: list[float] | tuple[float, ...]) -> list[list[float]]:
- return [
- [float(transform[0]), float(transform[1]), float(transform[2])],
- [float(transform[4]), float(transform[5]), float(transform[6])],
- [float(transform[8]), float(transform[9]), float(transform[10])],
- ]
-
-
-def _rotated_box_inertia_kg_m2(
- *,
- mass_kg: float,
- size_mm: tuple[float, float, float],
- transform: list[float],
-) -> list[list[float]]:
- sx, sy, sz = (dimension * 0.001 for dimension in size_mm)
- local = [
- [mass_kg * (sy * sy + sz * sz) / 12.0, 0.0, 0.0],
- [0.0, mass_kg * (sx * sx + sz * sz) / 12.0, 0.0],
- [0.0, 0.0, mass_kg * (sx * sx + sy * sy) / 12.0],
- ]
- rotation = _rotation_matrix(transform)
- return _mat3_mul(_mat3_mul(rotation, local), _mat3_transpose(rotation))
-
-
-def _add_parallel_axis(
- inertia: list[list[float]],
- *,
- mass_kg: float,
- offset_m: tuple[float, float, float],
-) -> None:
- x, y, z = offset_m
- distance_squared = x * x + y * y + z * z
- offsets = (x, y, z)
- for row in range(3):
- for col in range(3):
- inertia[row][col] += mass_kg * (
- (distance_squared if row == col else 0.0)
- - offsets[row] * offsets[col]
- )
-
-
-def _inertial_element_for_instances(
- instances: list[dict[str, object]],
- *,
- link_name: str,
- source_frames: dict[str, list[float]],
- urdf_link_frame: list[float],
-) -> ET.Element | None:
- placed_parts: list[dict[str, object]] = []
- total_mass_kg = 0.0
- weighted_center_mm = [0.0, 0.0, 0.0]
-
- for instance in instances:
- source_link_name = str(instance.get("source_link_name", link_name))
- source_link_frame = source_frames.get(
- source_link_name,
- _identity_transform(),
- )
- source_local_transform = [float(value) for value in instance["transform"]]
- world_transform = multiply_transforms(source_link_frame, source_local_transform)
- link_transform = multiply_transforms(
- invert_rigid_transform(urdf_link_frame),
- world_transform,
- )
- properties = _part_mass_properties(
- str(instance["path"]),
- source_dir=_source_dir_for_urdf_instance(instance, link_name=link_name),
- )
- mass_kg = float(properties["mass_kg"])
- center_link_mm = _transform_point(
- link_transform,
- properties["center_mm"], # type: ignore[arg-type]
- )
- total_mass_kg += mass_kg
- for axis in range(3):
- weighted_center_mm[axis] += mass_kg * center_link_mm[axis]
- placed_parts.append(
- {
- "mass_kg": mass_kg,
- "center_link_mm": center_link_mm,
- "size_mm": properties["size_mm"],
- "link_transform": link_transform,
- }
- )
-
- if total_mass_kg <= 0.0:
- return None
-
- center_m = tuple(
- (weighted_center_mm[axis] / total_mass_kg) * 0.001
- for axis in range(3)
- )
- inertia = [[0.0, 0.0, 0.0] for _ in range(3)]
- for part in placed_parts:
- part_inertia = _rotated_box_inertia_kg_m2(
- mass_kg=float(part["mass_kg"]),
- size_mm=part["size_mm"], # type: ignore[arg-type]
- transform=part["link_transform"], # type: ignore[arg-type]
- )
- center_link_m = tuple(
- component * 0.001
- for component in part["center_link_mm"] # type: ignore[union-attr]
- )
- offset_m = tuple(center_link_m[index] - center_m[index] for index in range(3))
- _add_parallel_axis(
- part_inertia,
- mass_kg=float(part["mass_kg"]),
- offset_m=offset_m, # type: ignore[arg-type]
- )
- for row in range(3):
- for col in range(3):
- inertia[row][col] += part_inertia[row][col]
-
- return _xml(
- "inertial",
- children=(
- _xml(
- "origin",
- {
- "xyz": " ".join(_urdf_number(value) for value in center_m),
- "rpy": "0 0 0",
- },
- ),
- _xml("mass", {"value": _urdf_number(total_mass_kg)}),
- _xml(
- "inertia",
- {
- "ixx": _urdf_number(inertia[0][0]),
- "ixy": _urdf_number(inertia[0][1]),
- "ixz": _urdf_number(inertia[0][2]),
- "iyy": _urdf_number(inertia[1][1]),
- "iyz": _urdf_number(inertia[1][2]),
- "izz": _urdf_number(inertia[2][2]),
- },
- ),
- ),
- )
-
-
-def _visual_element_for_instance(
- instance: dict[str, object],
- *,
- source_link_frame: list[float],
- urdf_link_frame: list[float],
-) -> ET.Element:
- step_path = str(instance["path"])
- source_local_transform = [float(value) for value in instance["transform"]]
- world_transform = multiply_transforms(source_link_frame, source_local_transform)
- transform = multiply_transforms(
- invert_rigid_transform(urdf_link_frame),
- world_transform,
- )
- return _xml(
- "visual",
- children=(
- _xml("origin", _urdf_origin_attrs_from_transform(transform)),
- _xml(
- "geometry",
- children=(
- _xml(
- "mesh",
- {
- "filename": _mesh_filename_for_step_path(step_path),
- "scale": "0.001 0.001 0.001",
- },
- ),
- ),
- ),
- _xml("material", {"name": _material_name_for_step_path(step_path)}),
- ),
- )
-
-
-def _link_element(
- link_name: str,
- *,
- source_frames: dict[str, list[float]],
- urdf_frames: dict[str, list[float]],
-) -> ET.Element:
- owner_source_link_frame = source_frames.get(
- link_name,
- urdf_frames.get(link_name, _identity_transform()),
- )
- urdf_link_frame = urdf_frames.get(link_name, owner_source_link_frame)
- instances = _instances_for_urdf_link(link_name)
- children: list[ET.Element] = []
- inertial = _inertial_element_for_instances(
- instances,
- link_name=link_name,
- source_frames=source_frames,
- urdf_link_frame=urdf_link_frame,
- )
- if inertial is not None:
- children.append(inertial)
- children.extend(
- _visual_element_for_instance(
- instance,
- source_link_frame=source_frames.get(
- str(instance.get("source_link_name", link_name)),
- urdf_frames.get(
- str(instance.get("source_link_name", link_name)),
- _identity_transform(),
- ),
- ),
- urdf_link_frame=urdf_link_frame,
- )
- for instance in instances
- )
- return _xml(
- "link",
- {"name": link_name},
- tuple(children),
- )
-
-
-def _joint_element(
- joint: dict[str, object],
- *,
- link_frames: dict[str, list[float]],
- axes_by_joint: dict[str, str],
-) -> ET.Element:
- parent = str(joint["parent"])
- child = str(joint["child"])
- attrs = {"name": str(joint["name"]), "type": str(joint["joint_type"])}
- attrs.update({str(key): str(value) for key, value in dict(joint.get("urdf_attrs", {})).items()})
-
- if parent in link_frames and child in link_frames:
- relative = multiply_transforms(
- invert_rigid_transform(link_frames[parent]),
- link_frames[child],
- )
- origin_attrs = _urdf_origin_attrs_from_transform(relative)
- else:
- origin_attrs = {
- "xyz": str(joint["origin_xyz"]),
- "rpy": str(joint["origin_rpy"]),
- }
-
- children = [
- _xml("parent", {"link": parent}),
- _xml("child", {"link": child}),
- _xml("origin", origin_attrs),
- ]
- axis_xyz = axes_by_joint.get(str(joint["name"]), joint.get("axis_xyz"))
- if axis_xyz is not None:
- children.append(_xml("axis", {"xyz": str(axis_xyz)}))
- limit = joint.get("limit")
- if limit is not None:
- limit_attrs = {str(key): str(value) for key, value in dict(limit).items()}
- effort_nm = URDF_JOINT_EFFORT_NM_BY_NAME.get(str(joint["name"]))
- if effort_nm is not None:
- limit_attrs["effort"] = _urdf_number(effort_nm)
- velocity_rad_s = URDF_JOINT_VELOCITY_RAD_S_BY_NAME.get(str(joint["name"]))
- if velocity_rad_s is not None:
- limit_attrs["velocity"] = _urdf_number(velocity_rad_s)
- children.append(_xml("limit", limit_attrs))
- mimic = joint.get("mimic")
- if mimic is not None:
- children.append(_xml("mimic", {str(key): str(value) for key, value in dict(mimic).items()}))
- return _xml("joint", attrs, tuple(children))
-
-
-def _joints_for_link_names(link_names: tuple[str, ...]) -> tuple[dict[str, object], ...]:
- link_name_set = set(link_names)
- return tuple(
- dict(joint)
- for joint in robot_arm.URDF_JOINTS
- if str(joint["parent"]) in link_name_set and str(joint["child"]) in link_name_set
- )
-
-
-def _no_gripper_joints() -> tuple[dict[str, object], ...]:
- return _joints_for_link_names(NO_GRIPPER_LINK_NAMES)
-
-
-def _robot_common_link(name: str) -> dict[str, object]:
- for link in robot_arm.URDF_LINKS:
- if str(link["name"]) == name:
- return dict(link)
- raise RuntimeError(f"Missing shared URDF link {name!r}")
-
-
-def gen_urdf_with_options(
- *,
- include_gripper: bool = False,
- robot_name: str = "tom_v2",
- source_name: str = "models/robots/tom/v2/tom.py",
-) -> dict[str, object]:
- """Jointed v2 URDF using 3MF visual meshes.
-
- Design ledger:
- - Robot name: tom_v2 or tom_v2_with_gripper.
- - Target consumers: CAD Viewer, RViz/robot_state_publisher-style display.
- - Units: URDF meters/radians; v2 STEP/3MF meshes are authored in millimeters.
- - Frame convention: each moving child link frame is placed on its incoming
- servo axis, measured as the line between the rear and output horn face
- centers. Link visuals are rebased from the v2 source link frames into
- those horn-axis URDF frames.
- - Roll joints: the upstream yoke remains on the pitch link, while the
- bottom servo body is owned by the child roll link so the servo case
- rotates with the bracket/link body.
- - Mesh source: 3MF visual meshes only. V2 brackets, mounts, standoffs,
- stock servos, and optional gripper component meshes live in v2/3MF.
- - Kinematics: the default tom.urdf stops at wrist_roll_link; the
- tom_with_gripper.urdf variant adds the Robonine gripper base, servo gear,
- claw slide links, and mimic joints.
- - Inertials: link masses are assembled from the same STEP instances as the
- visuals. Servos use Feetech published masses; aluminum plates and
- standoffs use 5052 density and current STEP volumes. Gripper inertials
- reuse the shared Robonine mesh-derived estimates. Arm inertia tensors use
- transformed bounding-box approximations around the computed center of
- mass. Collision elements are intentionally omitted for the arm pending
- simplified collision geometry.
- """
- source_frames, urdf_frames, axes_by_joint = _urdf_link_frames_and_axes(
- include_gripper=include_gripper,
- )
- link_names = WITH_GRIPPER_LINK_NAMES if include_gripper else NO_GRIPPER_LINK_NAMES
- joints = _joints_for_link_names(link_names)
-
- robot = _xml("robot", {"name": robot_name})
- robot.append(ET.Comment(f" Generated by {source_name}. "))
- robot.append(
- ET.Comment(
- " Jointed v2 URDF; all visual meshes are 3MF in "
- "millimeters with scale 0.001 0.001 0.001. Link inertials use "
- "Feetech STS3250 74.5 g / STS3215 55 g masses and 5052 aluminum "
- "density for plates/standoffs; gripper inertials use shared "
- "Robonine mesh-derived estimates when included. Joint efforts use "
- "50/30 kg-cm stall torque converted to N-m for arm joints; joint "
- "velocities use Feetech no-load speed at 12 V converted to rad/s. "
- )
- )
- for material_name, rgba in URDF_MATERIALS.items():
- robot.append(
- _xml(
- "material",
- {"name": material_name},
- (_xml("color", {"rgba": _rgba_text(rgba)}),),
- )
- )
- for link_name in link_names:
- if link_name in GRIPPER_LINK_NAMES:
- robot.append(robot_arm._urdf_link_element(_robot_common_link(link_name)))
- else:
- robot.append(
- _link_element(
- link_name,
- source_frames=source_frames,
- urdf_frames=urdf_frames,
- )
- )
- for joint in joints:
- robot.append(
- _joint_element(
- joint,
- link_frames=urdf_frames,
- axes_by_joint=axes_by_joint,
- )
- )
- return {"xml": _serialize_urdf(robot)}
-
-
-def gen_urdf() -> dict[str, object]:
- """Jointed no-gripper URDF using 3MF visual meshes."""
- return gen_urdf_with_options(include_gripper=False)
-
-
-def _srdf_joint_degrees_to_radians(joint_values_deg: dict[str, float]) -> dict[str, float]:
- return {
- joint_name: math.radians(float(value_deg))
- for joint_name, value_deg in joint_values_deg.items()
- }
-
-
-def _srdf_group_state_element(
- *,
- name: str,
- group: str,
- joint_values_rad: dict[str, float],
-) -> ET.Element:
- return _xml(
- "group_state",
- {"name": name, "group": group},
- tuple(
- _xml("joint", {"name": joint_name, "value": _urdf_number(value_rad)})
- for joint_name, value_rad in joint_values_rad.items()
- ),
- )
-
-
-def _srdf_arm_group_states_deg() -> tuple[tuple[str, dict[str, float]], ...]:
- old_home_elbow_pitch_deg = 0.0
- for state_name, joint_values_deg in robot_arm.ROBOT_ARM_SRDF_ARM_GROUP_STATES_DEG:
- if state_name == "home":
- old_home_elbow_pitch_deg = float(joint_values_deg.get("elbow_pitch", 0.0))
- break
- elbow_pitch_offset_deg = V2_HOME_ELBOW_PITCH_DEG - old_home_elbow_pitch_deg
- states: list[tuple[str, dict[str, float]]] = []
- for state_name, joint_values_deg in robot_arm.ROBOT_ARM_SRDF_ARM_GROUP_STATES_DEG:
- next_values = dict(joint_values_deg)
- next_values["elbow_pitch"] = float(next_values.get("elbow_pitch", 0.0)) + elbow_pitch_offset_deg
- if state_name == "reach_forward":
- next_values = dict(V2_SRDF_REACH_ARM_GROUP_STATE_DEG)
- elif state_name == "inspection":
- next_values = dict(V2_SRDF_INSPECTION_ARM_GROUP_STATE_DEG)
- elif state_name == "inspection_mirrored":
- next_values = dict(V2_SRDF_INSPECTION_MIRRORED_ARM_GROUP_STATE_DEG)
- states.append((state_name, next_values))
- return tuple(states)
-
-
-def _srdf_adjacent_collision_pairs_from_urdf(urdf: str) -> tuple[tuple[str, str], ...]:
- urdf_root = ET.parse(V2_DIR / urdf).getroot()
- pairs: list[tuple[str, str]] = []
- seen: set[tuple[str, str]] = set()
- for joint in urdf_root.findall("joint"):
- parent = joint.find("parent")
- child = joint.find("child")
- if parent is None or child is None:
- continue
- parent_link = str(parent.attrib.get("link", ""))
- child_link = str(child.attrib.get("link", ""))
- if not parent_link or not child_link or "base_footprint" in {parent_link, child_link}:
- continue
- key = tuple(sorted((parent_link, child_link)))
- if key in seen:
- continue
- seen.add(key)
- pairs.append((parent_link, child_link))
- return tuple(pairs)
-
-
-def _srdf_root_element(
- *,
- robot_name: str,
- urdf: str,
- include_gripper: bool,
-) -> ET.Element:
- root = _xml("robot", {"name": robot_name})
- root.append(ET.Comment(f" Generated by models/robots/tom/v2/{Path(urdf).stem}.py for MoveIt2 and CAD Viewer test poses. "))
- root.append(
- _xml(
- "virtual_joint",
- {
- "name": "fixed_base",
- "type": "fixed",
- "parent_frame": "world",
- "child_link": "base_footprint",
- },
- )
- )
-
- arm_group = _xml("group", {"name": "arm"})
- arm_group.append(_xml("chain", {"base_link": "base_link", "tip_link": "wrist_roll_link"}))
- root.append(arm_group)
-
- if include_gripper:
- tcp_group = _xml("group", {"name": "tcp"})
- tcp_group.append(_xml("link", {"name": "gripper_base_link"}))
- root.append(tcp_group)
-
- gripper_group = _xml("group", {"name": "gripper"})
- gripper_group.append(_xml("joint", {"name": "gripper_servo"}))
- root.append(gripper_group)
-
- arm_with_gripper_group = _xml("group", {"name": "arm_with_gripper"})
- arm_with_gripper_group.append(_xml("group", {"name": "arm"}))
- arm_with_gripper_group.append(_xml("group", {"name": "gripper"}))
- root.append(arm_with_gripper_group)
-
- root.append(
- _xml(
- "end_effector",
- {
- "name": "gripper_tcp",
- "parent_link": "wrist_roll_link",
- "group": "tcp",
- "parent_group": "arm",
- },
- )
- )
-
- for name, joint_values_deg in _srdf_arm_group_states_deg():
- root.append(
- _srdf_group_state_element(
- name=name,
- group="arm",
- joint_values_rad=_srdf_joint_degrees_to_radians(joint_values_deg),
- )
- )
-
- if include_gripper:
- for name, joint_values_rad in robot_arm.ROBOT_ARM_SRDF_GRIPPER_GROUP_STATES_RAD:
- root.append(
- _srdf_group_state_element(
- name=name,
- group="gripper",
- joint_values_rad=joint_values_rad,
- )
- )
-
- for link1, link2 in _srdf_adjacent_collision_pairs_from_urdf(urdf):
- root.append(_xml("disable_collisions", {"link1": link1, "link2": link2, "reason": "Adjacent"}))
- return root
-
-
-def gen_srdf_with_options(
- *,
- include_gripper: bool = False,
- robot_name: str = "tom_v2",
- urdf: str = "tom.urdf",
-) -> dict[str, object]:
- """MoveIt semantic groups and named states for the v2 URDF variants."""
- return {
- "xml": _serialize_urdf(
- _srdf_root_element(
- robot_name=robot_name,
- urdf=urdf,
- include_gripper=include_gripper,
- )
- ),
- "urdf": urdf,
- }
-
-
-def gen_srdf() -> dict[str, object]:
- """MoveIt semantic groups and named states for the no-gripper v2 arm."""
- return gen_srdf_with_options(include_gripper=False)
diff --git a/models/robots/tom/v2/tom.srdf b/models/robots/tom/v2/tom.srdf
deleted file mode 100644
index cf0fcd36..00000000
--- a/models/robots/tom/v2/tom.srdf
+++ /dev/null
@@ -1,53 +0,0 @@
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diff --git a/models/robots/tom/v2/tom.step b/models/robots/tom/v2/tom.step
deleted file mode 100644
index df643801..00000000
--- a/models/robots/tom/v2/tom.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0de4a3767dbd830f7bf3174b96d196870d6ffc4dff8d1b476d081dda3c9e2d37
-size 26232257
diff --git a/models/robots/tom/v2/tom.urdf b/models/robots/tom/v2/tom.urdf
deleted file mode 100644
index a85bb674..00000000
--- a/models/robots/tom/v2/tom.urdf
+++ /dev/null
@@ -1,295 +0,0 @@
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diff --git a/models/robots/tom/v2/tom_double.py b/models/robots/tom/v2/tom_double.py
deleted file mode 100644
index 8348cb0b..00000000
--- a/models/robots/tom/v2/tom_double.py
+++ /dev/null
@@ -1,662 +0,0 @@
-from __future__ import annotations
-
-import importlib.util
-import sys
-from pathlib import Path
-
-
-V2_DIR = Path(__file__).resolve().parent
-TOM_SOURCE = V2_DIR / "tom.py"
-DOUBLE_SOURCE = V2_DIR / "assemblies" / "servo_horn_yoke_double.py"
-ASSEMBLIES_DIR = V2_DIR / "assemblies"
-PARTS_DIR = V2_DIR / "parts"
-
-for path in (V2_DIR.parent, V2_DIR, PARTS_DIR, ASSEMBLIES_DIR):
- if str(path) not in sys.path:
- sys.path.insert(0, str(path))
-
-SHOULDER_DOUBLE_CHILD_NAME = "shoulder_yaw_link"
-SHOULDER_DOUBLE_PRIMARY_SERVO = "sts3250_rear"
-SHOULDER_DOUBLE_ORIGINAL_SERVO_INSTANCE = "shoulder_yaw_link__sts3250_1"
-SHOULDER_DOUBLE_REPLACED_MATES = frozenset(
- {
- "base_servo_horn_to_shoulder_yaw_mount",
- "shoulder_yaw_mount_to_servo",
- "shoulder_pitch_yoke_to_servo",
- }
-)
-SHOULDER_DOUBLE_REMOVED_INSTANCES = frozenset(
- {
- "shoulder_pitch_link__servo_horn_yoke",
- }
-)
-SHOULDER_DOUBLE_URDF_MESH_BY_STEP_BASENAME = {
- "servo_horn_yoke_double_horn.step": "3MF/servo_horn_yoke_double_horn.3mf",
- "servo_end_mount_double.step": "3MF/servo_end_mount_double.3mf",
-}
-SHOULDER_DOUBLE_URDF_MATERIAL_BY_STEP_BASENAME = {
- "servo_horn_yoke_double_horn.step": "aluminum_5052",
- "servo_end_mount_double.step": "aluminum_5052",
-}
-
-
-def _load_module(path: Path, module_label: str):
- module_name = f"_tom_v2_{module_label}_{abs(hash(path))}"
- spec = importlib.util.spec_from_file_location(module_name, path)
- if spec is None or spec.loader is None:
- raise RuntimeError(f"Unable to load {path}")
- module = importlib.util.module_from_spec(spec)
- sys.modules[module_name] = module
- spec.loader.exec_module(module)
- return module
-
-
-def _prefix_mate(parent_name: str, mate: dict[str, object]) -> dict[str, object]:
- fixed_part, fixed_frame = str(mate["fixed"]).split(":", 1)
- moving_part, moving_frame = str(mate["moving"]).split(":", 1)
- fixed = f"{parent_name}__{fixed_part}:{fixed_frame}"
- moving = f"{parent_name}__{moving_part}:{moving_frame}"
- return {
- **mate,
- "sourceLabel": f"{parent_name}_{mate['sourceLabel']}",
- "fixed": fixed,
- "moving": moving,
- "fixedEndpoint": {
- "part": fixed.split(":", 1)[0],
- "frame": fixed_frame,
- },
- "movingEndpoint": {
- "part": moving.split(":", 1)[0],
- "frame": moving_frame,
- },
- }
-
-
-def _replace_shoulder_double_mates(
- *,
- tom_module,
- double_module_envelope: dict[str, object],
- include_gripper: bool,
-) -> list[dict[str, object]]:
- mates = [
- mate
- for mate in tom_module._assembly_mates(include_gripper=include_gripper)
- if str(mate["sourceLabel"]) not in SHOULDER_DOUBLE_REPLACED_MATES
- ]
- mates.extend(
- _prefix_mate(SHOULDER_DOUBLE_CHILD_NAME, mate)
- for mate in double_module_envelope.get("assembly_mates", [])
- )
- mates.append(
- tom_module._mate(
- "base_servo_horn_to_shoulder_yaw_double_mount",
- fixed="base_link__sts3250_3:output_horn_face",
- moving=f"{SHOULDER_DOUBLE_CHILD_NAME}__servo_end_mount_double:front_horn_mount_face",
- parameters={"clearance_mm": tom_module.BASE_TO_SHOULDER_YAW_HORN_CLEARANCE_MM},
- )
- )
- return mates
-
-
-def _local_transform_by_name(
- instances: list[dict[str, object]],
- name: str,
-) -> list[float]:
- for instance in instances:
- if str(instance["name"]) == name:
- return [float(value) for value in instance["transform"]]
- raise RuntimeError(f"Unable to find local transform for {name}")
-
-
-def _shoulder_double_parent_transform(
- *,
- tom_module,
- child_name: str,
- design_child_transform: list[float],
- double_module_envelope: dict[str, object],
- base_servo_transform: list[float],
-) -> list[float]:
- original_module_transform = tom_module._module_transform_for_child(
- child_name=child_name,
- design_child_transform=design_child_transform,
- )
- original_instances = tom_module._flat_child_instances(
- child_name=child_name,
- child_transform=original_module_transform,
- )
- original_servo_transform = _local_transform_by_name(
- original_instances,
- SHOULDER_DOUBLE_ORIGINAL_SERVO_INSTANCE,
- )
- primary_servo_local = _local_transform_by_name(
- double_module_envelope["instances"],
- f"sts3250_{SHOULDER_DOUBLE_PRIMARY_SERVO.removeprefix('sts3250_')}",
- )
- parent_transform = tom_module.multiply_transforms(
- original_servo_transform,
- tom_module.invert_rigid_transform(primary_servo_local),
- )
- base_horn_face_center = tom_module._transform_point(
- base_servo_transform,
- (
- tom_module.STS3215_HORN_AXIS_LOCAL_X_MM,
- tom_module.STS3250_OUTPUT_HORN_FACE_LOCAL_Y_MM,
- 0.0,
- ),
- )
- double_mount_face_center = tom_module._transform_point(
- parent_transform,
- (
- tom_module.SERVO_END_MOUNT_FRONT_HORN_FACE_CENTER_LOCAL_MM[0],
- 0.0,
- 0.0,
- ),
- )
- return tom_module._translate_transform(
- parent_transform,
- (
- base_horn_face_center[0] - double_mount_face_center[0],
- base_horn_face_center[1] - double_mount_face_center[1],
- base_horn_face_center[2] - double_mount_face_center[2],
- ),
- )
-
-
-def gen_step_with_options(*, include_gripper: bool = False) -> dict[str, object]:
- tom_module = _load_module(TOM_SOURCE, "tom_double_base")
- double_module = _load_module(DOUBLE_SOURCE, "shoulder_double")
- double_envelope = double_module.gen_step()
-
- instances: list[dict[str, object]] = []
- instance_transforms_by_name: dict[str, list[float]] = {}
- downstream_correction = tom_module._identity_transform()
- pending_child_transform_overrides: dict[str, list[float]] = {}
-
- for source_child in tom_module.robot_arm.robot_arm_assembly_children():
- child_name = str(source_child["name"])
- source_child_transform = [float(value) for value in source_child["transform"]]
- child_transform = pending_child_transform_overrides.pop(child_name, None)
- if child_transform is not None:
- downstream_correction = tom_module.multiply_transforms(
- child_transform,
- tom_module.invert_rigid_transform(source_child_transform),
- )
- else:
- child_transform = tom_module.multiply_transforms(
- downstream_correction,
- source_child_transform,
- )
-
- if child_name == "shoulder_yaw_link":
- base_servo_transform = instance_transforms_by_name.get("base_link__sts3250_3")
- if base_servo_transform is not None:
- child_transform = tom_module._mate_shoulder_yaw_mount_to_base_servo_horn(
- shoulder_yaw_transform=child_transform,
- base_servo_transform=base_servo_transform,
- )
- downstream_correction = tom_module.multiply_transforms(
- child_transform,
- tom_module.invert_rigid_transform(source_child_transform),
- )
-
- if child_name == "elbow_pitch_link":
- child_transform = tom_module._apply_v2_step_home_pose_to_elbow_pitch(
- child_transform=child_transform,
- instance_transforms_by_name=instance_transforms_by_name,
- )
- downstream_correction = tom_module.multiply_transforms(
- child_transform,
- tom_module.invert_rigid_transform(source_child_transform),
- )
-
- if child_name == tom_module.GRIPPER_CHILD_NAME:
- if not include_gripper:
- continue
- terminal_servo_transform = instance_transforms_by_name.get(
- tom_module.V2_GRIPPER_SERVO_INSTANCE_NAME
- )
- if terminal_servo_transform is not None:
- child_transform = tom_module._mate_gripper_to_terminal_servo_horn(
- gripper_transform=child_transform,
- terminal_servo_transform=terminal_servo_transform,
- )
- instances.append(
- {
- "path": str(source_child["path"]),
- "name": child_name,
- "transform": child_transform,
- "use_source_colors": bool(source_child.get("use_source_colors", True)),
- }
- )
- instance_transforms_by_name[child_name] = child_transform
- continue
-
- if child_name == SHOULDER_DOUBLE_CHILD_NAME:
- base_servo_transform = instance_transforms_by_name.get("base_link__sts3250_3")
- if base_servo_transform is None:
- raise RuntimeError("Cannot place shoulder double before base servo is available")
- double_parent_transform = _shoulder_double_parent_transform(
- tom_module=tom_module,
- child_name=child_name,
- design_child_transform=child_transform,
- double_module_envelope=double_envelope,
- base_servo_transform=base_servo_transform,
- )
- child_instances = tom_module._flatten_instances(
- parent_name=child_name,
- parent_transform=double_parent_transform,
- local_instances=double_envelope["instances"],
- local_source_dir=ASSEMBLIES_DIR,
- )
- instances.extend(child_instances)
- for instance in child_instances:
- instance_transforms_by_name[str(instance["name"])] = [
- float(value) for value in instance["transform"]
- ]
- continue
-
- module_child_transform = tom_module._module_transform_for_child(
- child_name=child_name,
- design_child_transform=child_transform,
- )
- child_instances = tom_module._flat_child_instances(
- child_name=child_name,
- child_transform=module_child_transform,
- )
- child_instances = [
- instance
- for instance in child_instances
- if str(instance["name"]) not in SHOULDER_DOUBLE_REMOVED_INSTANCES
- ]
- instances.extend(child_instances)
- for instance in child_instances:
- instance_transforms_by_name[str(instance["name"])] = [
- float(value) for value in instance["transform"]
- ]
-
- replacement_kind = tom_module.ROLL_LINK_REPLACEMENTS.get(child_name)
- if replacement_kind is not None:
- mates = tom_module.roll_link_mates(replacement_kind)
- next_pitch_child_name = tom_module.NEXT_PITCH_LINK_BY_ROLL_LINK.get(replacement_kind)
- if next_pitch_child_name is not None:
- upstream_servo_transform = tom_module.multiply_transforms(
- child_transform,
- mates.downstream_servo_local,
- )
- pending_child_transform_overrides[next_pitch_child_name] = (
- tom_module._yoke_transform_for_servo_horn(
- upstream_servo_transform=upstream_servo_transform,
- )
- )
-
- return {
- "instances": instances,
- "assembly_mates": _replace_shoulder_double_mates(
- tom_module=tom_module,
- double_module_envelope=double_envelope,
- include_gripper=include_gripper,
- ),
- }
-
-
-def gen_step() -> dict[str, object]:
- envelope = gen_step_with_options(include_gripper=False)
- return {
- "instances": envelope["instances"],
- "assembly_mates": envelope.get("assembly_mates", []),
- }
-
-
-def _zero_pose_source_frames_instances_and_double_visuals(
- *,
- tom_module,
- double_module_envelope: dict[str, object],
-) -> tuple[
- dict[str, list[float]],
- dict[str, list[float]],
- dict[str, list[dict[str, object]]],
-]:
- frames: dict[str, list[float]] = {"base_footprint": tom_module._identity_transform()}
- instance_transforms_by_name: dict[str, list[float]] = {}
- visual_instances_by_link: dict[str, list[dict[str, object]]] = {}
- downstream_correction = tom_module._identity_transform()
- pending_child_transform_overrides: dict[str, list[float]] = {}
-
- for source_child in tom_module.robot_arm.robot_arm_assembly_children():
- child_name = str(source_child["name"])
- source_child_transform = [float(value) for value in source_child["transform"]]
- child_transform = pending_child_transform_overrides.pop(child_name, None)
- if child_transform is not None:
- downstream_correction = tom_module.multiply_transforms(
- child_transform,
- tom_module.invert_rigid_transform(source_child_transform),
- )
- else:
- child_transform = tom_module.multiply_transforms(
- downstream_correction,
- source_child_transform,
- )
-
- if child_name == "shoulder_yaw_link":
- base_servo_transform = instance_transforms_by_name.get("base_link__sts3250_3")
- if base_servo_transform is not None:
- child_transform = tom_module._mate_shoulder_yaw_mount_to_base_servo_horn(
- shoulder_yaw_transform=child_transform,
- base_servo_transform=base_servo_transform,
- )
- downstream_correction = tom_module.multiply_transforms(
- child_transform,
- tom_module.invert_rigid_transform(source_child_transform),
- )
-
- if child_name == tom_module.GRIPPER_CHILD_NAME:
- continue
-
- if child_name == SHOULDER_DOUBLE_CHILD_NAME:
- base_servo_transform = instance_transforms_by_name.get("base_link__sts3250_3")
- if base_servo_transform is None:
- raise RuntimeError("Cannot place shoulder double before base servo is available")
- frames[child_name] = child_transform
- double_parent_transform = _shoulder_double_parent_transform(
- tom_module=tom_module,
- child_name=child_name,
- design_child_transform=child_transform,
- double_module_envelope=double_module_envelope,
- base_servo_transform=base_servo_transform,
- )
- child_instances = tom_module._flatten_instances(
- parent_name=child_name,
- parent_transform=double_parent_transform,
- local_instances=double_module_envelope["instances"],
- local_source_dir=ASSEMBLIES_DIR,
- )
- visual_instances_by_link[child_name] = []
- inverse_source_frame = tom_module.invert_rigid_transform(child_transform)
- for instance in child_instances:
- world_transform = [float(value) for value in instance["transform"]]
- instance_transforms_by_name[str(instance["name"])] = world_transform
- visual_instance = dict(instance)
- visual_instance["transform"] = tom_module.multiply_transforms(
- inverse_source_frame,
- world_transform,
- )
- visual_instances_by_link[child_name].append(visual_instance)
- continue
-
- module_child_transform = tom_module._module_transform_for_child(
- child_name=child_name,
- design_child_transform=child_transform,
- )
- frames[child_name] = module_child_transform
- child_instances = tom_module._flat_child_instances(
- child_name=child_name,
- child_transform=module_child_transform,
- )
- child_instances = [
- instance
- for instance in child_instances
- if str(instance["name"]) not in SHOULDER_DOUBLE_REMOVED_INSTANCES
- ]
- for instance in child_instances:
- instance_transforms_by_name[str(instance["name"])] = [
- float(value) for value in instance["transform"]
- ]
-
- replacement_kind = tom_module.ROLL_LINK_REPLACEMENTS.get(child_name)
- if replacement_kind is not None:
- mates = tom_module.roll_link_mates(replacement_kind)
- next_pitch_child_name = tom_module.NEXT_PITCH_LINK_BY_ROLL_LINK.get(replacement_kind)
- if next_pitch_child_name is not None:
- upstream_servo_transform = tom_module.multiply_transforms(
- child_transform,
- mates.downstream_servo_local,
- )
- pending_child_transform_overrides[next_pitch_child_name] = (
- tom_module._yoke_transform_for_servo_horn(
- upstream_servo_transform=upstream_servo_transform,
- )
- )
-
- wrist_pitch = frames.get("wrist_pitch_link")
- if wrist_pitch is not None and "wrist_roll_link" not in frames:
- wrist_roll_joint = next(
- joint
- for joint in tom_module.robot_arm.URDF_JOINTS
- if str(joint["name"]) == "wrist_roll"
- )
- frames["wrist_roll_link"] = tom_module.multiply_transforms(
- wrist_pitch,
- tom_module._transform_from_urdf_origin_attrs(
- str(wrist_roll_joint["origin_xyz"]),
- str(wrist_roll_joint["origin_rpy"]),
- ),
- )
-
- return frames, instance_transforms_by_name, visual_instances_by_link
-
-
-def _double_horn_axis(
- tom_module,
- instance_transforms_by_name: dict[str, list[float]],
-) -> tuple[tuple[float, float, float], tuple[float, float, float]]:
- horn_transform = instance_transforms_by_name.get(
- f"{SHOULDER_DOUBLE_CHILD_NAME}__servo_horn_yoke_double_horn"
- )
- if horn_transform is None:
- raise RuntimeError("Missing double horn transform for shoulder_pitch URDF axis")
- center = tom_module._transform_point(
- horn_transform,
- (
- tom_module.STS3215_HORN_AXIS_LOCAL_X_MM,
- 0.0,
- 0.0,
- ),
- )
- direction = tom_module._normalized_vector(
- tom_module._transform_direction(horn_transform, (0.0, 1.0, 0.0))
- )
- return center, direction
-
-
-def _urdf_link_frames_axes_and_double_visuals(
- *,
- tom_module,
- double_module_envelope: dict[str, object],
-) -> tuple[
- dict[str, list[float]],
- dict[str, list[float]],
- dict[str, str],
- dict[str, list[dict[str, object]]],
-]:
- source_frames, instance_transforms, double_visuals = (
- _zero_pose_source_frames_instances_and_double_visuals(
- tom_module=tom_module,
- double_module_envelope=double_module_envelope,
- )
- )
- urdf_frames = {name: list(transform) for name, transform in source_frames.items()}
- axes_by_joint: dict[str, str] = {}
- servo_axis_instance_by_joint = dict(tom_module.URDF_SERVO_AXIS_INSTANCE_BY_JOINT)
-
- for joint in tom_module._no_gripper_joints():
- joint_name = str(joint["name"])
- if joint_name == "shoulder_pitch":
- axis_center_world, axis_direction_world = _double_horn_axis(
- tom_module,
- instance_transforms,
- )
- else:
- servo_instance_name = servo_axis_instance_by_joint.get(joint_name)
- if not servo_instance_name:
- continue
- servo_transform = instance_transforms.get(servo_instance_name)
- if servo_transform is None:
- raise RuntimeError(
- f"Missing servo instance {servo_instance_name!r} "
- f"for URDF joint {joint_name!r}"
- )
- axis_center_world, axis_direction_world = tom_module._servo_horn_axis_from_transform(
- servo_transform,
- )
-
- child_link = str(joint["child"])
- if child_link not in urdf_frames:
- parent_frame = urdf_frames.get(str(joint["parent"]))
- if parent_frame is None:
- raise RuntimeError(f"Missing parent frame for URDF joint {joint_name!r}")
- urdf_frames[child_link] = list(parent_frame)
- urdf_frames[child_link] = tom_module._with_translation(
- urdf_frames[child_link],
- axis_center_world,
- )
- axis_in_joint_frame = tom_module._world_vector_to_local(
- urdf_frames[child_link],
- axis_direction_world,
- )
- axes_by_joint[joint_name] = tom_module._axis_attrs(axis_in_joint_frame)
-
- return source_frames, urdf_frames, axes_by_joint, double_visuals
-
-
-def _instances_for_urdf_link_double(
- *,
- tom_module,
- link_name: str,
- double_visuals: dict[str, list[dict[str, object]]],
-) -> list[dict[str, object]]:
- if link_name == SHOULDER_DOUBLE_CHILD_NAME:
- return [dict(instance) for instance in double_visuals.get(link_name, [])]
- if link_name == "shoulder_pitch_link":
- return []
- return tom_module._instances_for_urdf_link(link_name)
-
-
-def _link_element_double(
- *,
- tom_module,
- link_name: str,
- source_frames: dict[str, list[float]],
- urdf_frames: dict[str, list[float]],
- double_visuals: dict[str, list[dict[str, object]]],
-):
- owner_source_link_frame = source_frames.get(
- link_name,
- urdf_frames.get(link_name, tom_module._identity_transform()),
- )
- urdf_link_frame = urdf_frames.get(link_name, owner_source_link_frame)
- instances = _instances_for_urdf_link_double(
- tom_module=tom_module,
- link_name=link_name,
- double_visuals=double_visuals,
- )
- children = []
- inertial = tom_module._inertial_element_for_instances(
- instances,
- link_name=link_name,
- source_frames=source_frames,
- urdf_link_frame=urdf_link_frame,
- )
- if inertial is not None:
- children.append(inertial)
- children.extend(
- tom_module._visual_element_for_instance(
- instance,
- source_link_frame=source_frames.get(
- str(instance.get("source_link_name", link_name)),
- urdf_frames.get(
- str(instance.get("source_link_name", link_name)),
- tom_module._identity_transform(),
- ),
- ),
- urdf_link_frame=urdf_link_frame,
- )
- for instance in instances
- )
- return tom_module._xml(
- "link",
- {"name": link_name},
- tuple(children),
- )
-
-
-def gen_urdf() -> dict[str, object]:
- """Jointed no-gripper URDF for the tom_double shoulder-yaw variant.
-
- Design ledger:
- - Based on tom_v2's no-gripper URDF and 3MF visual mesh convention.
- - The shoulder-yaw single STS3250/end-mount visual module is replaced by
- the side-by-side double servo horn/mount assembly.
- - The shoulder_pitch joint frame/axis is derived from the double horn plate
- centerline, not from either offset servo body.
- - Inertials use the same vendor servo masses and 5052 STEP-volume
- plate/standoff mass model as tom.urdf. Gripper links and collision
- elements are intentionally omitted to match tom.urdf's current scope.
- """
- tom_module = _load_module(TOM_SOURCE, "tom_double_urdf_base")
- double_module = _load_module(DOUBLE_SOURCE, "tom_double_urdf_shoulder_double")
- double_envelope = double_module.gen_step()
- tom_module.URDF_JOINT_EFFORT_NM_BY_NAME = dict(
- tom_module.URDF_JOINT_EFFORT_NM_BY_NAME
- )
- tom_module.URDF_JOINT_EFFORT_NM_BY_NAME["shoulder_pitch"] = (
- 2.0 * tom_module.STS3250_STALL_TORQUE_NM
- )
- tom_module.URDF_MESH_BY_STEP_BASENAME.update(SHOULDER_DOUBLE_URDF_MESH_BY_STEP_BASENAME)
- tom_module.URDF_MATERIAL_BY_STEP_BASENAME.update(
- SHOULDER_DOUBLE_URDF_MATERIAL_BY_STEP_BASENAME
- )
-
- source_frames, urdf_frames, axes_by_joint, double_visuals = (
- _urdf_link_frames_axes_and_double_visuals(
- tom_module=tom_module,
- double_module_envelope=double_envelope,
- )
- )
- robot = tom_module._xml("robot", {"name": "tom_v2_double"})
- robot.append(tom_module.ET.Comment(" Generated by models/robots/tom/v2/tom_double.py. "))
- robot.append(
- tom_module.ET.Comment(
- " Jointed no-gripper URDF for the double shoulder-yaw variant; "
- "all visual meshes are 3MF in millimeters with scale 0.001 0.001 0.001. "
- "Link inertials use Feetech STS3250 74.5 g / STS3215 55 g masses, "
- "5052 aluminum density for plates/standoffs, 2x STS3250 stall torque "
- "on shoulder_pitch, and single-servo stall torque plus no-load speeds "
- "elsewhere converted to SI units. "
- )
- )
- for material_name, rgba in tom_module.URDF_MATERIALS.items():
- robot.append(
- tom_module._xml(
- "material",
- {"name": material_name},
- (tom_module._xml("color", {"rgba": tom_module._rgba_text(rgba)}),),
- )
- )
- for link_name in tom_module.NO_GRIPPER_LINK_NAMES:
- robot.append(
- _link_element_double(
- tom_module=tom_module,
- link_name=link_name,
- source_frames=source_frames,
- urdf_frames=urdf_frames,
- double_visuals=double_visuals,
- )
- )
- for joint in tom_module._no_gripper_joints():
- robot.append(
- tom_module._joint_element(
- joint,
- link_frames=urdf_frames,
- axes_by_joint=axes_by_joint,
- )
- )
- return {"xml": tom_module._serialize_urdf(robot)}
-
-
-def gen_srdf() -> dict[str, object]:
- """MoveIt semantic groups and named states for the double shoulder v2 arm."""
- return _load_module(TOM_SOURCE, "tom_double_srdf_base").gen_srdf_with_options(
- include_gripper=False,
- robot_name="tom_v2_double",
- urdf="tom_double.urdf",
- )
diff --git a/models/robots/tom/v2/tom_double.srdf b/models/robots/tom/v2/tom_double.srdf
deleted file mode 100644
index 6c5c223a..00000000
--- a/models/robots/tom/v2/tom_double.srdf
+++ /dev/null
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diff --git a/models/robots/tom/v2/tom_double.step b/models/robots/tom/v2/tom_double.step
deleted file mode 100644
index 97cc8652..00000000
--- a/models/robots/tom/v2/tom_double.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b14ad4c9e331e13ae371abbc6abf75ede32bce52dc6255b7deb3fce74c73d6c3
-size 26383560
diff --git a/models/robots/tom/v2/tom_double.urdf b/models/robots/tom/v2/tom_double.urdf
deleted file mode 100644
index fbb4715c..00000000
--- a/models/robots/tom/v2/tom_double.urdf
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diff --git a/models/robots/tom/v2/tom_with_gripper.py b/models/robots/tom/v2/tom_with_gripper.py
deleted file mode 100644
index 511c264e..00000000
--- a/models/robots/tom/v2/tom_with_gripper.py
+++ /dev/null
@@ -1,44 +0,0 @@
-from __future__ import annotations
-
-import importlib.util
-import sys
-from pathlib import Path
-
-
-V2_DIR = Path(__file__).resolve().parent
-TOM_SOURCE = V2_DIR / "tom.py"
-
-
-def _load_tom_module():
- module_name = f"_tom_v2_with_gripper_source_{abs(hash(TOM_SOURCE))}"
- spec = importlib.util.spec_from_file_location(module_name, TOM_SOURCE)
- if spec is None or spec.loader is None:
- raise RuntimeError(f"Unable to load {TOM_SOURCE}")
- module = importlib.util.module_from_spec(spec)
- sys.modules[module_name] = module
- spec.loader.exec_module(module)
- return module
-
-
-def gen_step() -> dict[str, object]:
- envelope = _load_tom_module().gen_step_with_options(include_gripper=True)
- return {
- "instances": envelope["instances"],
- "assembly_mates": envelope.get("assembly_mates", []),
- }
-
-
-def gen_urdf() -> dict[str, object]:
- return _load_tom_module().gen_urdf_with_options(
- include_gripper=True,
- robot_name="tom_v2_with_gripper",
- source_name="models/robots/tom/v2/tom_with_gripper.py",
- )
-
-
-def gen_srdf() -> dict[str, object]:
- return _load_tom_module().gen_srdf_with_options(
- include_gripper=True,
- robot_name="tom_v2_with_gripper",
- urdf="tom_with_gripper.urdf",
- )
diff --git a/models/robots/tom/v2/tom_with_gripper.srdf b/models/robots/tom/v2/tom_with_gripper.srdf
deleted file mode 100644
index 19c33022..00000000
--- a/models/robots/tom/v2/tom_with_gripper.srdf
+++ /dev/null
@@ -1,77 +0,0 @@
-
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diff --git a/models/robots/tom/v2/tom_with_gripper.step b/models/robots/tom/v2/tom_with_gripper.step
deleted file mode 100644
index 0af5b0b4..00000000
--- a/models/robots/tom/v2/tom_with_gripper.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:42d79ef155eea6875318bf3932c7b89a1f27d491dc7195f80506eedd322c2bb3
-size 38275110
diff --git a/models/robots/tom/v2/tom_with_gripper.urdf b/models/robots/tom/v2/tom_with_gripper.urdf
deleted file mode 100644
index 1abe3146..00000000
--- a/models/robots/tom/v2/tom_with_gripper.urdf
+++ /dev/null
@@ -1,399 +0,0 @@
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diff --git a/models/simple/.basic_shape_mating_test_fixture.step.glb b/models/simple/.basic_shape_mating_test_fixture.step.glb
deleted file mode 100644
index 7e9801f4..00000000
--- a/models/simple/.basic_shape_mating_test_fixture.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8f4df75c0f4f6cd38fe02f3cc79b7e4151d165c7d0b76145353678f2002a15d5
-size 1070752
diff --git a/models/simple/.cam_follower_roller.step.glb b/models/simple/.cam_follower_roller.step.glb
deleted file mode 100644
index 58fb6365..00000000
--- a/models/simple/.cam_follower_roller.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:10b25e3aaa66c507d367e18d0ba7e2da55a21887356fc4bbfc862546974bd9e3
-size 1179932
diff --git a/models/simple/.cylindrical_cap.step.glb b/models/simple/.cylindrical_cap.step.glb
deleted file mode 100644
index 60ac10f0..00000000
--- a/models/simple/.cylindrical_cap.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1cc9f3b1fa5108f65dce99581d07a4479f2a8831cb07bfd94c275760b206fe95
-size 1760780
diff --git a/models/simple/.cylindrical_spacer_sleeve.step.glb b/models/simple/.cylindrical_spacer_sleeve.step.glb
deleted file mode 100644
index 8a7121b8..00000000
--- a/models/simple/.cylindrical_spacer_sleeve.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f2a50b0aa6f28f28e0ef99b8652301eae348e453810b3ff6b0972c4e6cbe4030
-size 1180000
diff --git a/models/simple/.flywheel_disk.step.glb b/models/simple/.flywheel_disk.step.glb
deleted file mode 100644
index b2bbb317..00000000
--- a/models/simple/.flywheel_disk.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c5fadf028df0361f955b7c839796fad9143c10aedca955603e02e43929fd8ccd
-size 5827452
diff --git a/models/simple/.gusset_plate.step.glb b/models/simple/.gusset_plate.step.glb
deleted file mode 100644
index 3e375c35..00000000
--- a/models/simple/.gusset_plate.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:72bc380cfe24cf8c63733f403d7edb24f42b10cc55753f6587e06f6fc4fb40f3
-size 996276
diff --git a/models/simple/.keyed_shaft_hub.step.glb b/models/simple/.keyed_shaft_hub.step.glb
deleted file mode 100644
index 3af31ac4..00000000
--- a/models/simple/.keyed_shaft_hub.step.glb
+++ /dev/null
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-oid sha256:ec141e719fdef643c9a1d5261fb439402f535e0ed421e1ea402d19629832adc0
-size 639108
diff --git a/models/simple/.mounting_plate.step.glb b/models/simple/.mounting_plate.step.glb
deleted file mode 100644
index 80222cd2..00000000
--- a/models/simple/.mounting_plate.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:47645f13c3ff9ce40cac7d8264252ec95af5d39bd8a50ef92ea11add4ad0bb8a
-size 1552184
diff --git a/models/simple/.pulley_wheel.step.glb b/models/simple/.pulley_wheel.step.glb
deleted file mode 100644
index 82521c3e..00000000
--- a/models/simple/.pulley_wheel.step.glb
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:425fbdfbe89901f26975a062a195f06160aef236895914b5c2be5a974545fd02
-size 4643012
diff --git a/models/simple/.rectangular_clamp_block.step.glb b/models/simple/.rectangular_clamp_block.step.glb
deleted file mode 100644
index 5605209d..00000000
--- a/models/simple/.rectangular_clamp_block.step.glb
+++ /dev/null
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-oid sha256:d040616b1e17f22251b85031c229e7ffcc6973fc2e38bdc80d8d4300cbade0c7
-size 287492
diff --git a/models/simple/.retainer_plate.step.glb b/models/simple/.retainer_plate.step.glb
deleted file mode 100644
index aa3dac19..00000000
--- a/models/simple/.retainer_plate.step.glb
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
-oid sha256:5de2215e803975d87e8e38e5374d874e38d44f7c1be615053143987fe60dd2ae
-size 261472
diff --git a/models/simple/.shaft_collar.step.glb b/models/simple/.shaft_collar.step.glb
deleted file mode 100644
index 2d782035..00000000
--- a/models/simple/.shaft_collar.step.glb
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
-oid sha256:4658b472e230f2d9bcb046fb5aa895e075313296d262e9a1dfb5eca46f63dcfd
-size 272736
diff --git a/models/simple/.small_enclosure_cover.step.glb b/models/simple/.small_enclosure_cover.step.glb
deleted file mode 100644
index f77a2903..00000000
--- a/models/simple/.small_enclosure_cover.step.glb
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
-oid sha256:61f5bc9582d4725b78055113d7ab3712fb214af3747314106cea09e07e16f55c
-size 271080
diff --git a/models/simple/.spur_gear_blank.step.glb b/models/simple/.spur_gear_blank.step.glb
deleted file mode 100644
index bcd2be48..00000000
--- a/models/simple/.spur_gear_blank.step.glb
+++ /dev/null
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-oid sha256:e01e534f679feac9e7cd467fbf74e79ade2399108f90a8170f910b0913e9199f
-size 573312
diff --git a/models/simple/.square_mounting_block.step.glb b/models/simple/.square_mounting_block.step.glb
deleted file mode 100644
index 57cdd3f5..00000000
--- a/models/simple/.square_mounting_block.step.glb
+++ /dev/null
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-size 197860
diff --git a/models/simple/.t_slot_slider_block.step.glb b/models/simple/.t_slot_slider_block.step.glb
deleted file mode 100644
index c3a90c59..00000000
--- a/models/simple/.t_slot_slider_block.step.glb
+++ /dev/null
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-size 297444
diff --git a/models/simple/README.md b/models/simple/README.md
deleted file mode 100644
index fb3ae322..00000000
--- a/models/simple/README.md
+++ /dev/null
@@ -1,33 +0,0 @@
-# Simple CAD Examples
-
-These examples cover compact part generators that are not already represented
-by the benchmark suite.
-
-The remaining prompts are:
-
-1. Cylindrical spacer sleeve with a central through-bore and rounded rim edges.
-2. Square mounting block with a vertical through-hole and two side clearance holes.
-3. Gusset plate with a triangular web, base holes, and softened perimeter edges.
-4. Rectangular clamp block with a split slot and two transverse screw holes.
-5. Shaft collar with a central bore, radial set-screw hole, and chamfered faces.
-6. Pulley wheel with a central hub, outer groove, and circular through-bore.
-7. Spur gear blank with central bore, raised hub, and simplified perimeter teeth.
-8. Flywheel disk with central bore, annular rim, and lightening holes.
-9. Cam follower roller with central bearing bore and rounded outer profile.
-10. Small enclosure cover with raised rim, corner screw holes, and shallow recessed center.
-11. Cylindrical cap with hollow interior, top boss, and rounded external edges.
-12. Retainer plate with elongated slot, two circular holes, and chamfered perimeter.
-13. Keyed shaft hub with central bore, keyway slot, and bolt-hole pattern.
-14. T-slot slider block with central channel, side relief cuts, and mounting holes.
-15. Mounting plate with central circular cutout, elongated side slot, four corner holes, and rounded edges.
-16. Basic shape mating test fixture for assembly-helper surface and collision checks.
-
-The flat rectangular plate, circular flange, L-bracket, U/clevis bracket, and
-open-top electronics enclosure examples are intentionally omitted here because
-`models/benchmarks/` already carries richer versions.
-
-## Files
-
-- `*.step`: Primary STEP files for each simple example.
-- `*.py`: Python generators for each example.
-- `simple_model_library.py`: Shared build123d implementation helpers used by the generators.
diff --git a/models/simple/basic_shape_mating_test_fixture.py b/models/simple/basic_shape_mating_test_fixture.py
deleted file mode 100644
index fff1d715..00000000
--- a/models/simple/basic_shape_mating_test_fixture.py
+++ /dev/null
@@ -1,307 +0,0 @@
-from __future__ import annotations
-
-from math import sqrt
-
-from build123d import *
-from cadpy.assembly import AssemblyHelper
-
-
-# Units: millimeters.
-# Origin: base plate center, XY on plate center plane, +Z upward.
-# The cone uses a shallow visible seat because it is taller than the 10 mm base.
-# The triangular prism uses a full-depth V-groove so the matching angled faces
-# visibly nest while the part remains a separate component.
-# Two seats are intentionally over-inserted to exercise the viewer's collision
-# analysis overlay. The square block is exactly seated to exercise contact
-# surface highlighting.
-
-BASE_LENGTH = 120.0
-BASE_WIDTH = 70.0
-BASE_THICKNESS = 10.0
-BASE_TOP_Z = BASE_THICKNESS / 2
-CLEARANCE = 0.2
-
-PEG_DIAMETER = 16.0
-PEG_HEIGHT = 25.0
-BLOCK_SIZE = 18.0
-CONE_BASE_DIAMETER = 22.0
-CONE_HEIGHT = 25.0
-SPHERE_DIAMETER = 20.0
-PRISM_LENGTH = 35.0
-PRISM_SIDE = 18.0
-PRISM_HEIGHT = sqrt(3.0) * PRISM_SIDE / 2.0
-
-POCKET_DEPTH = 3.0
-CONE_SEAT_DEPTH = 5.0
-SPHERE_CUP_RADIUS = SPHERE_DIAMETER / 2.0 + CLEARANCE / 2.0
-V_GROOVE_DEPTH = BASE_THICKNESS
-V_GROOVE_SIDE_CLEARANCE = CLEARANCE / 2.0
-V_GROOVE_BOTTOM_WIDTH = 4.0 * V_GROOVE_SIDE_CLEARANCE / sqrt(3.0)
-V_GROOVE_TOP_WIDTH = 2.0 * (V_GROOVE_DEPTH + 2.0 * V_GROOVE_SIDE_CLEARANCE) / sqrt(3.0)
-PEG_COLLISION_DEPTH = 0.8
-PRISM_COLLISION_DEPTH = 1.0
-BLOCK_CONTACT_OFFSET = 0.0
-
-CUBE_TOP_PAD_SIZE = 14.0
-CUBE_TOP_PAD_HEIGHT = 2.5
-CUBE_TOP_POST_RADIUS = 1.8
-CUBE_TOP_POST_HEIGHT = 7.0
-CUBE_TOP_POST_SPACING = 8.0
-CUBE_TOP_CAP_LENGTH = 13.0
-CUBE_TOP_CAP_WIDTH = 4.5
-CUBE_TOP_CAP_HEIGHT = 2.5
-CUBE_TOP_BEAD_DIAMETER = 4.5
-
-STATIONS = {
- "cylindrical_peg": (-48.0, 0.0),
- "square_block": (-24.0, 0.0),
- "cone": (0.0, 0.0),
- "sphere": (24.0, 0.0),
- "triangular_prism": (48.0, 0.0),
-}
-
-
-def _triangular_prism(side: float, length: float):
- height = sqrt(3.0) * side / 2.0
- with BuildPart() as prism:
- with BuildSketch(Plane.XZ):
- Polygon(
- (-side / 2.0, height / 2.0),
- (side / 2.0, height / 2.0),
- (0.0, -height / 2.0),
- )
- extrude(amount=length)
- return prism.part.moved(Location((0.0, length / 2.0, 0.0)))
-
-
-def _v_groove_tool(depth: float, length: float, side_clearance: float):
- top_half_width = (depth + 2.0 * side_clearance) / sqrt(3.0)
- bottom_half_width = 2.0 * side_clearance / sqrt(3.0)
- with BuildPart() as groove:
- with BuildSketch(Plane.XZ):
- Polygon(
- (-top_half_width, 0.0),
- (top_half_width, 0.0),
- (bottom_half_width, -depth),
- (-bottom_half_width, -depth),
- )
- extrude(amount=length)
- return groove.part.moved(Location((0.0, length / 2.0, 0.0)))
-
-
-def _make_base():
- base = Box(BASE_LENGTH, BASE_WIDTH, BASE_THICKNESS)
-
- peg_x, peg_y = STATIONS["cylindrical_peg"]
- peg_pocket = Cylinder(
- radius=(PEG_DIAMETER + CLEARANCE) / 2.0,
- height=POCKET_DEPTH + 0.4,
- ).moved(Location((peg_x, peg_y, BASE_TOP_Z - POCKET_DEPTH / 2.0 + 0.2)))
- base = base - peg_pocket
-
- block_x, block_y = STATIONS["square_block"]
- block_pocket = Box(
- BLOCK_SIZE + CLEARANCE,
- BLOCK_SIZE + CLEARANCE,
- POCKET_DEPTH + 0.4,
- ).moved(Location((block_x, block_y, BASE_TOP_Z - POCKET_DEPTH / 2.0 + 0.2)))
- base = base - block_pocket
-
- cone_x, cone_y = STATIONS["cone"]
- cone_seat = Cone(
- 0.0,
- (CONE_BASE_DIAMETER + CLEARANCE) / 2.0,
- CONE_SEAT_DEPTH,
- ).moved(Location((cone_x, cone_y, BASE_TOP_Z - CONE_SEAT_DEPTH / 2.0)))
- base = base - cone_seat
-
- sphere_x, sphere_y = STATIONS["sphere"]
- sphere_cup = Sphere(SPHERE_CUP_RADIUS).moved(Location((sphere_x, sphere_y, BASE_TOP_Z)))
- base = base - sphere_cup
-
- prism_x, prism_y = STATIONS["triangular_prism"]
- groove = _v_groove_tool(
- V_GROOVE_DEPTH,
- PRISM_LENGTH + CLEARANCE,
- V_GROOVE_SIDE_CLEARANCE,
- ).moved(Location((prism_x, prism_y, 0.0)))
- base = base - groove
-
- base.label = "base_plate"
- base.color = Color(0.58, 0.62, 0.66, 1.0)
- return base
-
-
-def _make_peg():
- peg = Cylinder(radius=PEG_DIAMETER / 2.0, height=PEG_HEIGHT)
- peg.label = "cylindrical_peg"
- peg.color = Color(0.86, 0.24, 0.20, 1.0)
- return peg
-
-
-def _make_block():
- block = Box(BLOCK_SIZE, BLOCK_SIZE, BLOCK_SIZE)
- block.label = "square_block"
- block.color = Color(0.18, 0.53, 0.88, 1.0)
- return block
-
-
-def _make_cone():
- cone = Cone(0.0, CONE_BASE_DIAMETER / 2.0, CONE_HEIGHT)
- cone.label = "cone"
- cone.color = Color(0.95, 0.64, 0.16, 1.0)
- return cone
-
-
-def _make_sphere():
- sphere = Sphere(SPHERE_DIAMETER / 2.0)
- sphere.label = "sphere"
- sphere.color = Color(0.45, 0.72, 0.34, 1.0)
- return sphere
-
-
-def _make_prism():
- prism = _triangular_prism(PRISM_SIDE, PRISM_LENGTH)
- prism.label = "triangular_prism"
- prism.color = Color(0.58, 0.34, 0.74, 1.0)
- return prism
-
-
-def _make_cube_top_pad():
- pad = Box(CUBE_TOP_PAD_SIZE, CUBE_TOP_PAD_SIZE, CUBE_TOP_PAD_HEIGHT).moved(
- Location((0.0, 0.0, CUBE_TOP_PAD_HEIGHT / 2.0))
- )
- pad.label = "cube_top_pad"
- pad.color = Color(0.10, 0.14, 0.20, 1.0)
- return pad
-
-
-def _make_cube_top_post(x_offset: float, name: str):
- post = Cylinder(radius=CUBE_TOP_POST_RADIUS, height=CUBE_TOP_POST_HEIGHT).moved(
- Location((x_offset, 0.0, CUBE_TOP_PAD_HEIGHT + CUBE_TOP_POST_HEIGHT / 2.0))
- )
- post.label = name
- post.color = Color(0.84, 0.30, 0.50, 1.0)
- return post
-
-
-def _make_cube_top_cap():
- cap = Box(CUBE_TOP_CAP_LENGTH, CUBE_TOP_CAP_WIDTH, CUBE_TOP_CAP_HEIGHT).moved(
- Location(
- (
- 0.0,
- 0.0,
- CUBE_TOP_PAD_HEIGHT + CUBE_TOP_POST_HEIGHT + CUBE_TOP_CAP_HEIGHT / 2.0,
- )
- )
- )
- cap.label = "cube_top_bridge_cap"
- cap.color = Color(0.12, 0.70, 0.74, 1.0)
- return cap
-
-
-def _make_cube_top_bead():
- bead_radius = CUBE_TOP_BEAD_DIAMETER / 2.0
- bead = Sphere(bead_radius).moved(
- Location(
- (
- 0.0,
- 0.0,
- CUBE_TOP_PAD_HEIGHT + CUBE_TOP_POST_HEIGHT + CUBE_TOP_CAP_HEIGHT + bead_radius,
- )
- )
- )
- bead.label = "cube_top_bead"
- bead.color = Color(0.98, 0.86, 0.20, 1.0)
- return bead
-
-
-def _make_cube_top_subassembly():
- subassembly = AssemblyHelper("cube_top_subassembly")
- subassembly.add(_make_cube_top_pad(), "cube_top_pad")
- subassembly.add(
- _make_cube_top_post(-CUBE_TOP_POST_SPACING / 2.0, "cube_top_left_post"),
- "cube_top_left_post",
- )
- subassembly.add(
- _make_cube_top_post(CUBE_TOP_POST_SPACING / 2.0, "cube_top_right_post"),
- "cube_top_right_post",
- )
- subassembly.add(_make_cube_top_cap(), "cube_top_bridge_cap")
- subassembly.add(_make_cube_top_bead(), "cube_top_bead")
- return subassembly.build()
-
-
-def gen_step():
- asm = AssemblyHelper("basic_shape_mating_test_fixture")
-
- base = asm.add(_make_base(), "base_plate")
- peg = asm.add(_make_peg(), "cylindrical_peg")
- block = asm.add(_make_block(), "square_block")
- cone = asm.add(_make_cone(), "cone")
- sphere = asm.add(_make_sphere(), "sphere")
- prism = asm.add(_make_prism(), "triangular_prism")
- cube_top_subassembly = asm.add(
- _make_cube_top_subassembly(),
- "cube_top_subassembly",
- )
-
- peg_x, peg_y = STATIONS["cylindrical_peg"]
- peg_seat = asm.rigid_frame(base, "peg_pocket_floor", Location((peg_x, peg_y, BASE_TOP_Z - POCKET_DEPTH)))
- peg_bottom = asm.rigid_frame(peg, "bottom_center", Location((0.0, 0.0, -PEG_HEIGHT / 2.0)))
- asm.face_to_face(peg_seat, peg_bottom, offset=-PEG_COLLISION_DEPTH)
-
- block_x, block_y = STATIONS["square_block"]
- block_seat = asm.rigid_frame(
- base,
- "block_pocket_floor",
- Location((block_x, block_y, BASE_TOP_Z - POCKET_DEPTH)),
- )
- block_bottom = asm.rigid_frame(block, "bottom_center", Location((0.0, 0.0, -BLOCK_SIZE / 2.0)))
- asm.face_to_face(block_seat, block_bottom, offset=BLOCK_CONTACT_OFFSET)
-
- asm.rigid_frame(block, "top_center", Location((0.0, 0.0, BLOCK_SIZE / 2.0)))
- cube_top_seat = asm.rigid_frame(
- base,
- "cube_top_subassembly_seat",
- Location((block_x, block_y, BASE_TOP_Z - POCKET_DEPTH + BLOCK_CONTACT_OFFSET + BLOCK_SIZE)),
- )
- cube_top_subassembly_bottom = asm.rigid_frame(
- cube_top_subassembly,
- "bottom_center",
- Location((0.0, 0.0, 0.0)),
- )
- asm.face_to_face(
- cube_top_seat,
- cube_top_subassembly_bottom,
- label="cube_top_subassembly_on_square_block",
- )
-
- cone_x, cone_y = STATIONS["cone"]
- cone_tip_seat = asm.rigid_frame(
- base,
- "cone_countersink_tip",
- Location((cone_x, cone_y, BASE_TOP_Z - CONE_SEAT_DEPTH)),
- )
- cone_tip = asm.rigid_frame(cone, "tip", Location((0.0, 0.0, -CONE_HEIGHT / 2.0)))
- asm.coaxial(cone_tip_seat, cone_tip, offset=0.1)
-
- sphere_x, sphere_y = STATIONS["sphere"]
- sphere_cup_center = asm.rigid_frame(base, "sphere_cup_center", Location((sphere_x, sphere_y, BASE_TOP_Z)))
- sphere_center = asm.rigid_frame(sphere, "center", Location((0.0, 0.0, 0.0)))
- asm.coaxial(sphere_cup_center, sphere_center, offset=0.1)
-
- prism_x, prism_y = STATIONS["triangular_prism"]
- prism_v_bottom = asm.rigid_frame(
- base,
- "v_groove_bottom",
- Location((prism_x, prism_y, BASE_TOP_Z - V_GROOVE_DEPTH)),
- )
- prism_bottom_vertex = asm.rigid_frame(
- prism,
- "bottom_vertex",
- Location((0.0, 0.0, -PRISM_HEIGHT / 2.0)),
- )
- asm.face_to_face(prism_v_bottom, prism_bottom_vertex, offset=-PRISM_COLLISION_DEPTH)
-
- return asm.build()
diff --git a/models/simple/basic_shape_mating_test_fixture.step b/models/simple/basic_shape_mating_test_fixture.step
deleted file mode 100644
index e35090b1..00000000
--- a/models/simple/basic_shape_mating_test_fixture.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:edcb73a7aeb10615b5449cc99bd726268b31ef238ffc359d0c4e52e5bdf5ff8b
-size 156314
diff --git a/models/simple/cam_follower_roller.py b/models/simple/cam_follower_roller.py
deleted file mode 100644
index 115bf91d..00000000
--- a/models/simple/cam_follower_roller.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Cam follower roller with central bearing bore and rounded outer profile.
-
-from simple_model_library import make_cam_follower_roller
-
-
-def gen_step():
- return make_cam_follower_roller()
diff --git a/models/simple/cam_follower_roller.step b/models/simple/cam_follower_roller.step
deleted file mode 100644
index 6d18acd8..00000000
--- a/models/simple/cam_follower_roller.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:da7988b2d483cc980a992c9587f23b98c1330ea3e6724a76810609088e199101
-size 23872
diff --git a/models/simple/cylindrical_cap.py b/models/simple/cylindrical_cap.py
deleted file mode 100644
index 285634e6..00000000
--- a/models/simple/cylindrical_cap.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Cylindrical cap with hollow interior, top boss, and rounded external edges.
-
-from simple_model_library import make_cylindrical_cap
-
-
-def gen_step():
- return make_cylindrical_cap()
diff --git a/models/simple/cylindrical_cap.step b/models/simple/cylindrical_cap.step
deleted file mode 100644
index 6a5413ba..00000000
--- a/models/simple/cylindrical_cap.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1b237279481b097db7793a53718d7bafd164324de2008d8c8947baf3f6b94fff
-size 31035
diff --git a/models/simple/cylindrical_spacer_sleeve.py b/models/simple/cylindrical_spacer_sleeve.py
deleted file mode 100644
index 26248175..00000000
--- a/models/simple/cylindrical_spacer_sleeve.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Cylindrical spacer sleeve with a central through-bore and rounded rim edges.
-
-from simple_model_library import make_cylindrical_spacer_sleeve
-
-
-def gen_step():
- return make_cylindrical_spacer_sleeve()
diff --git a/models/simple/cylindrical_spacer_sleeve.step b/models/simple/cylindrical_spacer_sleeve.step
deleted file mode 100644
index 061a00ce..00000000
--- a/models/simple/cylindrical_spacer_sleeve.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2d591885636e0d95af93b9987bb3d5f016878e92a26d66da6731a40da7297cb0
-size 23885
diff --git a/models/simple/flywheel_disk.py b/models/simple/flywheel_disk.py
deleted file mode 100644
index 6b079b49..00000000
--- a/models/simple/flywheel_disk.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Flywheel disk with central bore, annular rim, and lightening holes.
-
-from simple_model_library import make_flywheel_disk
-
-
-def gen_step():
- return make_flywheel_disk()
diff --git a/models/simple/flywheel_disk.step b/models/simple/flywheel_disk.step
deleted file mode 100644
index 20d5f3a2..00000000
--- a/models/simple/flywheel_disk.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eb9623b0dc6d2e901a0d106497993561d98ebc6ca48b38fcfb046da5bea33973
-size 99180
diff --git a/models/simple/gusset_plate.py b/models/simple/gusset_plate.py
deleted file mode 100644
index 630721f1..00000000
--- a/models/simple/gusset_plate.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Gusset plate with a triangular web, base holes, and softened perimeter edges.
-
-from simple_model_library import make_gusset_plate
-
-
-def gen_step():
- return make_gusset_plate()
diff --git a/models/simple/gusset_plate.step b/models/simple/gusset_plate.step
deleted file mode 100644
index b73f1f60..00000000
--- a/models/simple/gusset_plate.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:78043648cb7ed61b1a0837ee69506f1a463cd26fce62649906bd5e3a42c5eb92
-size 144041
diff --git a/models/simple/keyed_shaft_hub.py b/models/simple/keyed_shaft_hub.py
deleted file mode 100644
index bf1857ca..00000000
--- a/models/simple/keyed_shaft_hub.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Keyed shaft hub with central bore, keyway slot, and bolt-hole pattern.
-
-from simple_model_library import make_keyed_shaft_hub
-
-
-def gen_step():
- return make_keyed_shaft_hub()
diff --git a/models/simple/keyed_shaft_hub.step b/models/simple/keyed_shaft_hub.step
deleted file mode 100644
index d15a8dbd..00000000
--- a/models/simple/keyed_shaft_hub.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fdd480145af3a2666d3a5232d3fd44a5af2e1cc079ad01510ba30b6ef65977e4
-size 78311
diff --git a/models/simple/mounting_plate.py b/models/simple/mounting_plate.py
deleted file mode 100644
index 707690b5..00000000
--- a/models/simple/mounting_plate.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Mounting plate with central circular cutout, elongated side slot, four corner holes, and rounded edges.
-
-from simple_model_library import make_mounting_plate
-
-
-def gen_step():
- return make_mounting_plate()
diff --git a/models/simple/mounting_plate.step b/models/simple/mounting_plate.step
deleted file mode 100644
index cfd2090c..00000000
--- a/models/simple/mounting_plate.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:93702accf447872799ff117900d409d00667f6215564342d442650160f16e55e
-size 137219
diff --git a/models/simple/pulley_wheel.py b/models/simple/pulley_wheel.py
deleted file mode 100644
index b43ee934..00000000
--- a/models/simple/pulley_wheel.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Pulley wheel with a central hub, outer groove, and circular through-bore.
-
-from simple_model_library import make_pulley_wheel
-
-
-def gen_step():
- return make_pulley_wheel()
diff --git a/models/simple/pulley_wheel.step b/models/simple/pulley_wheel.step
deleted file mode 100644
index ada86202..00000000
--- a/models/simple/pulley_wheel.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e5cde67cb0d6cf7008634b878a76ee30f2be3c652ff4fd91e0aef7d11cfb1de4
-size 78410
diff --git a/models/simple/rectangular_clamp_block.py b/models/simple/rectangular_clamp_block.py
deleted file mode 100644
index b603b0fe..00000000
--- a/models/simple/rectangular_clamp_block.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Rectangular clamp block with a split slot and two transverse screw holes.
-
-from simple_model_library import make_rectangular_clamp_block
-
-
-def gen_step():
- return make_rectangular_clamp_block()
diff --git a/models/simple/rectangular_clamp_block.step b/models/simple/rectangular_clamp_block.step
deleted file mode 100644
index bc55ba2b..00000000
--- a/models/simple/rectangular_clamp_block.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7249c7aaa98452b60101e6cd97616d80c35b53eb283f066364120bc44361b54b
-size 150504
diff --git a/models/simple/retainer_plate.py b/models/simple/retainer_plate.py
deleted file mode 100644
index bc3fee0c..00000000
--- a/models/simple/retainer_plate.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Retainer plate with elongated slot, two circular holes, and chamfered perimeter.
-
-from simple_model_library import make_retainer_plate
-
-
-def gen_step():
- return make_retainer_plate()
diff --git a/models/simple/retainer_plate.step b/models/simple/retainer_plate.step
deleted file mode 100644
index b83e6ec8..00000000
--- a/models/simple/retainer_plate.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:09c1bca17ba3773d6f906a86bf5464a89559f8a66c7f5badaa9d406d643d4a39
-size 112168
diff --git a/models/simple/shaft_collar.py b/models/simple/shaft_collar.py
deleted file mode 100644
index e4b8f428..00000000
--- a/models/simple/shaft_collar.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Shaft collar with a central bore, radial set-screw hole, and chamfered faces.
-
-from simple_model_library import make_shaft_collar
-
-
-def gen_step():
- return make_shaft_collar()
diff --git a/models/simple/shaft_collar.step b/models/simple/shaft_collar.step
deleted file mode 100644
index e7adf30e..00000000
--- a/models/simple/shaft_collar.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:484ad2ba9bd41c56e74e01188489cd71ba793d53505689e4251dbd6111f739aa
-size 52898
diff --git a/models/simple/simple_model_library.py b/models/simple/simple_model_library.py
deleted file mode 100644
index 1f83dbe5..00000000
--- a/models/simple/simple_model_library.py
+++ /dev/null
@@ -1,451 +0,0 @@
-# Prompt: Shared implementation library for the simple CAD prompt scripts.
-
-from math import cos, sin, tau
-
-from build123d import (
- Align,
- Box,
- BuildPart,
- BuildSketch,
- Color,
- Cylinder,
- Location,
- Locations,
- Mode,
- Plane,
- Polygon,
- RectangleRounded,
- Torus,
- add,
- chamfer,
- extrude,
- fillet,
-)
-
-
-def _polar_point(radius: float, angle: float) -> tuple[float, float]:
- return (radius * cos(angle), radius * sin(angle))
-
-
-def _safe_fillet(shape, edges, radius: float):
- selected = list(edges)
- if not selected:
- return shape
- try:
- return fillet(selected, radius=radius)
- except Exception:
- return shape
-
-
-def _safe_chamfer(shape, edges, length: float):
- selected = list(edges)
- if not selected:
- return shape
- try:
- return chamfer(selected, length=length)
- except Exception:
- return shape
-
-
-def _line_edges(shape):
- return [edge for edge in shape.edges() if str(edge.geom_type).endswith("LINE")]
-
-
-def _circular_edges(shape, *, radius: float | None = None, axis: str | None = None, coordinate: float | None = None):
- edges = []
- for edge in shape.edges():
- try:
- edge_radius = edge.radius
- edge_center = edge.arc_center
- edge_normal = edge.normal()
- except Exception:
- continue
-
- if radius is not None and abs(edge_radius - radius) > 0.08:
- continue
-
- if axis is not None:
- components = {
- "x": abs(edge_normal.X),
- "y": abs(edge_normal.Y),
- "z": abs(edge_normal.Z),
- }
- if components[axis] < 1.0 - 1e-4:
- continue
-
- if coordinate is not None:
- coord = {"x": edge_center.X, "y": edge_center.Y, "z": edge_center.Z}[axis or "z"]
- if abs(coord - coordinate) > 0.08:
- continue
-
- edges.append(edge)
- return edges
-
-
-def _finish(shape, label: str, color: Color):
- shape.label = label
- shape.color = color
- return shape
-
-
-def _hole_z(diameter: float, height: float, x: float, y: float, z_min: float = -1.0):
- with Locations(Location((x, y, z_min))):
- Cylinder(
- radius=diameter / 2.0,
- height=height,
- align=(Align.CENTER, Align.CENTER, Align.MIN),
- mode=Mode.SUBTRACT,
- )
-
-
-def _hole_x(diameter: float, length: float, x: float, y: float, z: float):
- with Locations(Location((x, y, z))):
- Cylinder(
- radius=diameter / 2.0,
- height=length,
- rotation=(0.0, 90.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
-
-
-def _hole_y(diameter: float, length: float, x: float, y: float, z: float):
- with Locations(Location((x, y, z))):
- Cylinder(
- radius=diameter / 2.0,
- height=length,
- rotation=(90.0, 0.0, 0.0),
- align=(Align.CENTER, Align.CENTER, Align.CENTER),
- mode=Mode.SUBTRACT,
- )
-
-
-def _slot_z(length: float, width: float, height: float, center: tuple[float, float], z_min: float, *, axis: str = "x"):
- span = max(0.0, length - width)
- if axis == "x":
- if span > 0.01:
- with Locations(Location((center[0], center[1], z_min))):
- Box(span, width, height, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- for x_offset in (-span / 2.0, span / 2.0):
- _hole_z(width, height, center[0] + x_offset, center[1], z_min)
- else:
- if span > 0.01:
- with Locations(Location((center[0], center[1], z_min))):
- Box(width, span, height, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- for y_offset in (-span / 2.0, span / 2.0):
- _hole_z(width, height, center[0], center[1] + y_offset, z_min)
-
-
-def _trapezoid_tooth_profile(
- *,
- teeth: int,
- root_radius: float,
- tip_radius: float,
- phase: float,
- root_span_fraction: float = 0.72,
- tip_span_fraction: float = 0.38,
-):
- points = []
- pitch_angle = tau / teeth
- for tooth_index in range(teeth):
- center_angle = phase + tooth_index * pitch_angle
- points.extend(
- (
- _polar_point(root_radius, center_angle - root_span_fraction * pitch_angle / 2.0),
- _polar_point(tip_radius, center_angle - tip_span_fraction * pitch_angle / 2.0),
- _polar_point(tip_radius, center_angle + tip_span_fraction * pitch_angle / 2.0),
- _polar_point(root_radius, center_angle + root_span_fraction * pitch_angle / 2.0),
- )
- )
- return points
-
-
-def make_cylindrical_spacer_sleeve():
- outer_radius = 15.0
- bore_radius = 5.0
- height = 28.0
-
- with BuildPart() as model:
- Cylinder(outer_radius, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- _hole_z(bore_radius * 2.0, height + 2.0, 0.0, 0.0)
-
- rim_edges = []
- for z_pos in (0.0, height):
- rim_edges.extend(_circular_edges(model.part, radius=outer_radius, axis="z", coordinate=z_pos))
- rim_edges.extend(_circular_edges(model.part, radius=bore_radius, axis="z", coordinate=z_pos))
- part = _safe_fillet(model.part, rim_edges, 1.1)
- return _finish(part, "cylindrical_spacer_sleeve_through_bore_rounded_rims", Color(0.68, 0.68, 0.64, 1.0))
-
-
-def make_square_mounting_block():
- size = 48.0
- height = 28.0
-
- with BuildPart() as model:
- Box(size, size, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- _hole_z(12.0, height + 2.0, 0.0, 0.0)
- for y_pos in (-14.0, 14.0):
- _hole_x(5.5, size + 2.0, 0.0, y_pos, height / 2.0)
-
- part = _safe_chamfer(model.part, _line_edges(model.part), 0.8)
- return _finish(part, "square_mounting_block_vertical_and_side_clearance_holes", Color(0.50, 0.58, 0.64, 1.0))
-
-
-def make_gusset_plate():
- base_length = 88.0
- base_width = 30.0
- base_thickness = 6.0
- web_thickness = 8.0
- web_height = 48.0
-
- with BuildPart() as web:
- with BuildSketch(Plane.YZ):
- Polygon(
- [
- (-12.0, base_thickness),
- (12.0, base_thickness),
- (12.0, base_thickness + web_height),
- ],
- align=None,
- )
- extrude(amount=web_thickness)
- web_part = web.part.moved(Location((-web_thickness / 2.0, 0.0, 0.0)))
-
- with BuildPart() as model:
- Box(base_length, base_width, base_thickness, align=(Align.CENTER, Align.CENTER, Align.MIN))
- add(web_part, mode=Mode.ADD)
- for x_pos in (-28.0, 28.0):
- _hole_z(6.0, base_thickness + 2.0, x_pos, -6.0)
-
- part = _safe_fillet(model.part, _line_edges(model.part), 0.9)
- return _finish(part, "gusset_plate_triangular_web_base_holes_softened_edges", Color(0.58, 0.63, 0.58, 1.0))
-
-
-def make_rectangular_clamp_block():
- length = 70.0
- width = 34.0
- height = 28.0
-
- with BuildPart() as model:
- Box(length, width, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- with Locations(Location((0.0, 0.0, -1.0))):
- Box(length + 2.0, 4.0, height + 2.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- for x_pos in (-20.0, 20.0):
- _hole_y(5.5, width + 2.0, x_pos, 0.0, height / 2.0)
-
- part = _safe_chamfer(model.part, _line_edges(model.part), 0.7)
- return _finish(part, "rectangular_clamp_block_split_slot_two_transverse_screw_holes", Color(0.57, 0.60, 0.64, 1.0))
-
-
-def make_shaft_collar():
- outer_radius = 21.0
- bore_radius = 10.0
- height = 16.0
-
- with BuildPart() as model:
- Cylinder(outer_radius, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- _hole_z(bore_radius * 2.0, height + 2.0, 0.0, 0.0)
- _hole_x(5.0, outer_radius + 3.0, outer_radius / 2.0, 0.0, height / 2.0)
-
- edge_set = []
- for z_pos in (0.0, height):
- edge_set.extend(_circular_edges(model.part, axis="z", coordinate=z_pos))
- part = _safe_chamfer(model.part, edge_set, 0.8)
- return _finish(part, "shaft_collar_bore_radial_set_screw_hole_chamfered_faces", Color(0.46, 0.50, 0.55, 1.0))
-
-
-def make_pulley_wheel():
- outer_radius = 35.0
- thickness = 16.0
- hub_radius = 18.0
- hub_height = 24.0
-
- with BuildPart() as model:
- Cylinder(outer_radius, thickness, align=(Align.CENTER, Align.CENTER, Align.MIN))
- with Locations(Location((0.0, 0.0, thickness / 2.0))):
- Cylinder(hub_radius, hub_height, align=(Align.CENTER, Align.CENTER, Align.CENTER), mode=Mode.ADD)
- Torus(outer_radius - 1.2, 3.0, mode=Mode.SUBTRACT)
- _hole_z(10.0, hub_height + 4.0, 0.0, 0.0, z_min=-4.0)
-
- part = _safe_fillet(model.part, _circular_edges(model.part, axis="z"), 0.8)
- return _finish(part, "pulley_wheel_central_hub_outer_groove_through_bore", Color(0.42, 0.46, 0.50, 1.0))
-
-
-def make_spur_gear_blank():
- thickness = 10.0
- teeth = 24
- root_radius = 35.0
- tip_radius = 39.0
- hub_radius = 17.0
- hub_height = 16.0
-
- with BuildPart() as model:
- with BuildSketch(Plane.XY):
- Polygon(
- _trapezoid_tooth_profile(
- teeth=teeth,
- root_radius=root_radius,
- tip_radius=tip_radius,
- phase=-tau / teeth / 2.0,
- ),
- align=None,
- )
- extrude(amount=thickness)
- with Locations(Location((0.0, 0.0, -3.0))):
- Cylinder(hub_radius, hub_height, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.ADD)
- _hole_z(18.0, hub_height + 4.0, 0.0, 0.0, z_min=-4.0)
-
- part = _safe_chamfer(model.part, _circular_edges(model.part, axis="z"), 0.6)
- return _finish(part, "spur_gear_blank_central_bore_raised_hub_simplified_teeth", Color(0.70, 0.58, 0.36, 1.0))
-
-
-def make_flywheel_disk():
- radius = 45.0
- thickness = 12.0
-
- with BuildPart() as model:
- Cylinder(radius, thickness, align=(Align.CENTER, Align.CENTER, Align.MIN))
- with Locations(Location((0.0, 0.0, thickness - 2.2))):
- Cylinder(34.0, 3.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- with Locations(Location((0.0, 0.0, -0.8))):
- Cylinder(34.0, 3.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- _hole_z(18.0, thickness + 2.0, 0.0, 0.0)
- for index in range(6):
- x_pos, y_pos = _polar_point(25.0, tau * index / 6)
- _hole_z(10.0, thickness + 2.0, x_pos, y_pos)
-
- part = _safe_fillet(model.part, _circular_edges(model.part, axis="z"), 0.8)
- return _finish(part, "flywheel_disk_central_bore_annular_rim_lightening_holes", Color(0.59, 0.61, 0.63, 1.0))
-
-
-def make_cam_follower_roller():
- radius = 16.0
- width = 18.0
-
- with BuildPart() as model:
- Cylinder(radius, width, align=(Align.CENTER, Align.CENTER, Align.MIN))
- _hole_z(12.0, width + 2.0, 0.0, 0.0)
-
- edge_set = []
- for z_pos in (0.0, width):
- edge_set.extend(_circular_edges(model.part, radius=radius, axis="z", coordinate=z_pos))
- edge_set.extend(_circular_edges(model.part, radius=6.0, axis="z", coordinate=z_pos))
- part = _safe_fillet(model.part, edge_set, 1.8)
- return _finish(part, "cam_follower_roller_bearing_bore_rounded_outer_profile", Color(0.60, 0.64, 0.67, 1.0))
-
-
-def make_small_enclosure_cover():
- length = 90.0
- width = 60.0
- base_thickness = 4.0
- rim_height = 3.0
-
- with BuildPart() as model:
- with BuildSketch(Plane.XY):
- RectangleRounded(length, width, 4.0, align=(Align.CENTER, Align.CENTER))
- extrude(amount=base_thickness)
- with Locations(Location((0.0, 0.0, base_thickness))):
- with BuildSketch(Plane.XY):
- RectangleRounded(length - 10.0, width - 10.0, 3.0, align=(Align.CENTER, Align.CENTER))
- extrude(amount=rim_height, mode=Mode.ADD)
- with Locations(Location((0.0, 0.0, base_thickness - 0.8))):
- Box(58.0, 28.0, rim_height + 1.2, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- with Locations(Location((0.0, 0.0, base_thickness))):
- Box(66.0, 36.0, rim_height + 1.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- for x_pos in (-35.0, 35.0):
- for y_pos in (-22.0, 22.0):
- _hole_z(4.2, base_thickness + 1.5, x_pos, y_pos)
-
- part = _safe_fillet(model.part, _line_edges(model.part), 0.5)
- return _finish(part, "small_enclosure_cover_raised_rim_corner_screw_holes_recessed_center", Color(0.38, 0.51, 0.62, 1.0))
-
-
-def make_cylindrical_cap():
- outer_radius = 21.0
- height = 28.0
- wall = 3.0
- top_thickness = 4.0
-
- with BuildPart() as model:
- Cylinder(outer_radius, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- with Locations(Location((0.0, 0.0, -1.0))):
- Cylinder(outer_radius - wall, height - top_thickness + 1.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- with Locations(Location((0.0, 0.0, height))):
- Cylinder(10.0, 6.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.ADD)
-
- part = _safe_fillet(model.part, _circular_edges(model.part, axis="z"), 1.0)
- return _finish(part, "cylindrical_cap_hollow_interior_top_boss_rounded_external_edges", Color(0.52, 0.57, 0.61, 1.0))
-
-
-def make_retainer_plate():
- length = 82.0
- width = 34.0
- thickness = 6.0
-
- with BuildPart() as model:
- Box(length, width, thickness, align=(Align.CENTER, Align.CENTER, Align.MIN))
- _slot_z(36.0, 10.0, thickness + 2.0, (0.0, 0.0), -1.0)
- for x_pos in (-30.0, 30.0):
- _hole_z(7.0, thickness + 2.0, x_pos, 0.0)
-
- part = _safe_chamfer(model.part, _line_edges(model.part), 0.8)
- return _finish(part, "retainer_plate_elongated_slot_two_holes_chamfered_perimeter", Color(0.60, 0.62, 0.66, 1.0))
-
-
-def make_keyed_shaft_hub():
- outer_radius = 27.0
- height = 22.0
- bore_radius = 10.0
-
- with BuildPart() as model:
- Cylinder(outer_radius, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- _hole_z(bore_radius * 2.0, height + 2.0, 0.0, 0.0)
- with Locations(Location((0.0, bore_radius + 2.0, -1.0))):
- Box(6.0, 7.0, height + 2.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- for index in range(4):
- x_pos, y_pos = _polar_point(19.5, tau * index / 4.0 + tau / 8.0)
- _hole_z(5.5, height + 2.0, x_pos, y_pos)
-
- part = _safe_chamfer(model.part, _circular_edges(model.part, axis="z"), 0.7)
- return _finish(part, "keyed_shaft_hub_central_bore_keyway_bolt_hole_pattern", Color(0.49, 0.52, 0.56, 1.0))
-
-
-def make_t_slot_slider_block():
- length = 80.0
- width = 36.0
- height = 18.0
-
- with BuildPart() as model:
- Box(length, width, height, align=(Align.CENTER, Align.CENTER, Align.MIN))
- with Locations(Location((0.0, 0.0, 6.0))):
- Box(length + 2.0, 24.0, 6.0, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- with Locations(Location((0.0, 0.0, 6.0))):
- Box(length + 2.0, 10.0, height, align=(Align.CENTER, Align.CENTER, Align.MIN), mode=Mode.SUBTRACT)
- for y_pos in (-18.0, 18.0):
- with Locations(Location((0.0, y_pos, 8.0))):
- Box(48.0, 5.0, 8.0, align=(Align.CENTER, Align.CENTER, Align.CENTER), mode=Mode.SUBTRACT)
- for x_pos in (-28.0, 28.0):
- for y_pos in (-14.0, 14.0):
- _hole_z(4.5, height + 2.0, x_pos, y_pos)
-
- part = _safe_chamfer(model.part, _line_edges(model.part), 0.5)
- return _finish(part, "t_slot_slider_block_central_channel_side_reliefs_mounting_holes", Color(0.47, 0.53, 0.55, 1.0))
-
-
-def make_mounting_plate():
- length = 100.0
- width = 70.0
- thickness = 8.0
-
- with BuildPart() as model:
- with BuildSketch(Plane.XY):
- RectangleRounded(length, width, 5.0, align=(Align.CENTER, Align.CENTER))
- extrude(amount=thickness)
- _hole_z(28.0, thickness + 2.0, 0.0, 0.0)
- _slot_z(30.0, 8.0, thickness + 2.0, (32.0, 0.0), -1.0, axis="y")
- for x_pos in (-38.0, 38.0):
- for y_pos in (-24.0, 24.0):
- _hole_z(5.5, thickness + 2.0, x_pos, y_pos)
-
- part = _safe_fillet(model.part, _line_edges(model.part), 0.8)
- return _finish(part, "mounting_plate_central_cutout_side_slot_four_corner_holes_rounded_edges", Color(0.58, 0.65, 0.69, 1.0))
diff --git a/models/simple/small_enclosure_cover.py b/models/simple/small_enclosure_cover.py
deleted file mode 100644
index cff6a209..00000000
--- a/models/simple/small_enclosure_cover.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Small enclosure cover with raised rim, corner screw holes, and shallow recessed center.
-
-from simple_model_library import make_small_enclosure_cover
-
-
-def gen_step():
- return make_small_enclosure_cover()
diff --git a/models/simple/small_enclosure_cover.step b/models/simple/small_enclosure_cover.step
deleted file mode 100644
index c4db584a..00000000
--- a/models/simple/small_enclosure_cover.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3b9b9283a21e60e9961f6276fd887093e7e180af38b58346ec73946ad4d78396
-size 62599
diff --git a/models/simple/spur_gear_blank.py b/models/simple/spur_gear_blank.py
deleted file mode 100644
index 01b8399c..00000000
--- a/models/simple/spur_gear_blank.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Spur gear blank with central bore, raised hub, and simplified perimeter teeth.
-
-from simple_model_library import make_spur_gear_blank
-
-
-def gen_step():
- return make_spur_gear_blank()
diff --git a/models/simple/spur_gear_blank.step b/models/simple/spur_gear_blank.step
deleted file mode 100644
index ad0f6b2c..00000000
--- a/models/simple/spur_gear_blank.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cb93dd5516f1e6ebe83febc8795a70cc05008e4217b43cbe9b1a87181df8d4c7
-size 400871
diff --git a/models/simple/square_mounting_block.py b/models/simple/square_mounting_block.py
deleted file mode 100644
index d4670b92..00000000
--- a/models/simple/square_mounting_block.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: Square mounting block with a vertical through-hole and two side clearance holes.
-
-from simple_model_library import make_square_mounting_block
-
-
-def gen_step():
- return make_square_mounting_block()
diff --git a/models/simple/square_mounting_block.step b/models/simple/square_mounting_block.step
deleted file mode 100644
index df96e7fb..00000000
--- a/models/simple/square_mounting_block.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0ad5e1f7227d0759dacf1184d310cdd4e5b3832a60b609a6e83ce1e6ad66f3e4
-size 77492
diff --git a/models/simple/t_slot_slider_block.py b/models/simple/t_slot_slider_block.py
deleted file mode 100644
index a18af584..00000000
--- a/models/simple/t_slot_slider_block.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# Prompt: T-slot slider block with central channel, side relief cuts, and mounting holes.
-
-from simple_model_library import make_t_slot_slider_block
-
-
-def gen_step():
- return make_t_slot_slider_block()
diff --git a/models/simple/t_slot_slider_block.step b/models/simple/t_slot_slider_block.step
deleted file mode 100644
index 6b9119db..00000000
--- a/models/simple/t_slot_slider_block.step
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fd67187450ecd6d6ef769f07d853781482314e10b87791be02b13306d3c744b0
-size 122834
diff --git a/plugins/cad/skills/bambu-labs b/plugins/cad/skills/bambu-labs
deleted file mode 120000
index 8ef6e683..00000000
--- a/plugins/cad/skills/bambu-labs
+++ /dev/null
@@ -1 +0,0 @@
-../../../skills/bambu-labs
\ No newline at end of file
diff --git a/plugins/cad/skills/bambu-labs/LICENSE b/plugins/cad/skills/bambu-labs/LICENSE
new file mode 100644
index 00000000..eabcff2c
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 earthtojake
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/plugins/cad/skills/bambu-labs/SKILL.md b/plugins/cad/skills/bambu-labs/SKILL.md
new file mode 100644
index 00000000..e9bc7154
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/SKILL.md
@@ -0,0 +1,209 @@
+---
+name: bambu-labs
+description: Dry-run, upload, and cautiously initiate local Bambu Lab print jobs from validated plain `.gcode`, using Bambu LAN FTPS/MQTT handoffs.
+---
+
+# Bambu Labs
+
+Provenance: maintained in [earthtojake/text-to-cad](https://github.com/earthtojake/text-to-cad).
+Use the installed local skill files as the runtime source of truth; the
+repository link is only for provenance and release review.
+
+Use this skill for local-network Bambu Lab print handoffs after a plain `.gcode`
+file already exists and has been validated. This skill does not slice models.
+
+## Safety Rules
+
+- Default to dry-run plans. Real printer traffic requires `--execute`.
+- Never start a print without `--execute --confirm-start-print`.
+- Pause and cancel controls are live printer requests; default to dry-run plans.
+ Canceling a print requires `--execute --confirm-cancel-print`.
+- Treat an explicit user request to print or start a specific job as live-start
+ authorization; do not pause for a second confirmation solely for physical
+ checks. Still validate the G-code, inspect the dry-run payload, read printer
+ status, prefer upload-only before upload-start, state the physical checks, and
+ stop if validation/status/intent is unsafe or ambiguous.
+- Do not ask for the printer serial by default; fetch it from the printer TLS certificate with `serial` or let `send` cache it.
+- Prefer workspace-root `bambu-printers.json` over repeating access codes in commands. The file is local config and should be ignored by Git.
+- Before a live start, state the physical checks: clear build plate, correct plate/filament/nozzle, safe surroundings, and operator nearby.
+- Publishing MQTT is only a start request. Confirm acceptance with printer status/UI and physical observation.
+
+## CAD Viewer Handoff
+
+After completing Bambu work that creates or modifies a local supported print artifact such as `.gcode` or `.3mf`, you must ALWAYS hand the explicit file path to `$cad-viewer` when that skill is installed. `$cad-viewer` must start CAD Viewer if it is not already running and return link(s) to the relevant created or updated file(s); if `$cad-viewer` is unavailable or startup fails, report that instead of silently omitting the handoff.
+
+## Workflow
+
+1. Generate and validate plain G-code with `$gcode`.
+ If no slicer is installed, install OrcaSlicer and retry; do not treat the missing slicer as a blocker. On macOS, prefer `brew install --cask orcaslicer`.
+2. Configure the printer. The user can either give the IP/access code in the thread and let the agent write JSON, or edit `bambu-printers.json` directly.
+ For a new printer setup or onboarding request, read
+ `references/new-printer-onboarding.md` first. Walk the user through the
+ model-specific touchscreen steps to find the IP and LAN access code, and make
+ **Enable LAN Only** plus **Enable Developer Mode** explicit before running
+ local start workflows.
+
+```bash
+python scripts/bambu_lan_print.py config set \
+ --printer a1-mini \
+ --host 192.168.1.34 \
+ --access-code 12345678 \
+ --model a1-mini \
+ --fetch-serial
+```
+
+Manual JSON shape:
+
+```json
+{
+ "printers": {
+ "a1-mini": {
+ "host": "192.168.1.34",
+ "access_code": "12345678",
+ "model": "a1-mini"
+ }
+ }
+}
+```
+
+On A1/A1 Mini, find the IP and LAN access code on the printer touchscreen under
+network/LAN settings. Enable LAN Only and Developer Mode when offered, then
+power-cycle before retrying local start commands.
+
+3. Read status before live work:
+
+```bash
+python scripts/bambu_lan_print.py status \
+ --printer a1-mini \
+ --push-all \
+ --wait-seconds 10
+```
+
+4. Dry-run the exact handoff, inspect the JSON payload, then run upload-only.
+Only after upload succeeds should you run upload-start. If the user explicitly
+asked to print or start the job, proceed to `upload-start --execute
+--confirm-start-print` after the validation, status, and upload checks pass. If
+the user only asked to prepare, slice, upload, or review, stop before the start
+request.
+
+## Handoff Modes
+
+`--handoff template-project` is the validated A1 Mini path from this repo's LAN
+debugging. It starts from validated plain `.gcode`, copies a known-good
+same-printer `.gcode.3mf` template, replaces `Metadata/plate_N.gcode`, writes
+the plate MD5, uploads the project to the FTPS root, and publishes
+`print.project_file` with `url: ftp:///.gcode.3mf`.
+
+```bash
+python scripts/bambu_lan_print.py send \
+ --printer a1-mini \
+ --gcode /tmp/job.gcode \
+ --handoff template-project \
+ --template-project /path/to/same-printer-template.gcode.3mf \
+ --action upload-start
+```
+
+Execute after review when the user explicitly asked to print or start, or after
+physical confirmation when intent is unclear:
+
+```bash
+python scripts/bambu_lan_print.py send \
+ --printer a1-mini \
+ --gcode /tmp/job.gcode \
+ --handoff template-project \
+ --template-project /path/to/same-printer-template.gcode.3mf \
+ --action upload-start \
+ --execute \
+ --confirm-start-print
+```
+
+`--handoff plain` uploads `cache/.gcode` and publishes
+`print.gcode_file`. Keep it for diagnostics or printers/firmware where this is
+known to work. On the tested A1 Mini, direct plain G-code was uploaded
+successfully but `gcode_file` failed or was ignored, so do not use it as the
+A1 Mini live-start path.
+
+`--handoff bambox-project` packages plain `.gcode` with `bambox`, uploads the
+`.gcode.3mf` project to FTPS root, and publishes `print.project_file`.
+Currently enabled only for `p1s-0.4` with `PLA`, `ASA`, or `PETG-CF`.
+Known but disabled until validated profiles exist: `a1-mini-0.4`, `a1-0.4`,
+`x1c-0.4`, and `p1p-0.4`.
+
+## Common Debugging Commands
+
+Fetch/cache serial:
+
+```bash
+python scripts/bambu_lan_print.py serial \
+ --printer a1-mini \
+ --json
+```
+
+Clear a stale printer error after fixing the underlying cause:
+
+```bash
+python scripts/bambu_lan_print.py clear-error \
+ --printer a1-mini \
+ --execute
+```
+
+Use `--mqtt-qos 1 --wait-after-publish 10` on `send` when debugging whether the
+printer acknowledged the MQTT publish and what status it reported immediately
+afterward.
+
+## Print Controls
+
+For a running print, use dedicated print-control commands rather than ad hoc
+MQTT snippets. These commands publish only a control request; they do not upload
+files or start a new job. Read status after execution to confirm the printer
+state changed.
+
+Dry-run pause payload:
+
+```bash
+python scripts/bambu_lan_print.py pause \
+ --printer a1-mini
+```
+
+Execute pause and collect printer reports:
+
+```bash
+python scripts/bambu_lan_print.py pause \
+ --printer a1-mini \
+ --execute \
+ --mqtt-qos 1 \
+ --wait-after-publish 10
+```
+
+Dry-run cancel payload. The Bambu LAN command sent to the printer is `stop`:
+
+```bash
+python scripts/bambu_lan_print.py cancel \
+ --printer a1-mini
+```
+
+Execute cancel only when the user explicitly asks to cancel/stop the print or
+after confirmation when intent is ambiguous:
+
+```bash
+python scripts/bambu_lan_print.py cancel \
+ --printer a1-mini \
+ --execute \
+ --confirm-cancel-print \
+ --mqtt-qos 1 \
+ --wait-after-publish 10
+```
+
+## Failure Modes
+
+- `gcode_file` returns `result: fail` or leaves the printer `IDLE`: plain G-code upload worked, but the firmware rejected or ignored direct local start. For A1 Mini, switch to `template-project`.
+- Project uploaded under `cache/` starts then fails with `print_error: 83935248` or `0500-C010`: clear the error, upload project handoffs to FTPS root, and use `ftp:///.gcode.3mf`.
+- `file:///sdcard/cache/...` or local HTTP URLs appear accepted but nothing starts: stop using those URL forms for this workflow.
+- Bambu Studio or OrcaSlicer project export crashes on macOS: do not keep retrying GUI-backed project export. Use OrcaSlicer for plain `.gcode`, then this skill for handoff.
+- Stale `gcode_state: FAILED` or HMS after enabling Developer Mode: clear the printer error and power-cycle before retrying.
+- FTPS login works but upload fails with `553` or missing `cache/`: check printer storage/SD card status before MQTT start.
+- MQTT status works but start does not: confirm serial, access code, Developer Mode/LAN Only status, and the exact handoff payload before retrying.
+
+Read `references/new-printer-onboarding.md` for new printer setup,
+`references/local-lan-protocol.md` for protocol details, and
+`references/real-printer-checklist.md` before first live use on a new printer.
diff --git a/plugins/cad/skills/bambu-labs/agents/openai.yaml b/plugins/cad/skills/bambu-labs/agents/openai.yaml
new file mode 100644
index 00000000..53d49ceb
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/agents/openai.yaml
@@ -0,0 +1,4 @@
+interface:
+ display_name: "Bambu Labs"
+ short_description: "Dry-run and start local Bambu G-code handoffs"
+ default_prompt: "Use $bambu-labs to dry-run a validated plain G-code handoff before starting it."
diff --git a/plugins/cad/skills/bambu-labs/references/local-lan-protocol.md b/plugins/cad/skills/bambu-labs/references/local-lan-protocol.md
new file mode 100644
index 00000000..fe4802a9
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/references/local-lan-protocol.md
@@ -0,0 +1,123 @@
+# Bambu Lab Local LAN Protocol Notes
+
+Use this reference only when planning or debugging against a real local printer.
+Bambu does not provide this skill with a stable public local-print API
+contract, so treat these as observed FTPS/MQTT behaviors.
+
+## Required Inputs
+
+- Validated plain `.gcode`.
+- Printer LAN IP/hostname.
+- Printer access code.
+- Printer serial for MQTT topic `device/{serial}/request`; fetch it from the
+ printer TLS certificate with `serial` or let `send` fetch/cache it.
+- Handoff mode: `template-project`, `plain`, or `bambox-project`.
+
+Workspace-root `bambu-printers.json` stores printer IDs, hostnames, access codes, models,
+and cached serials. It is local config and should be ignored by Git.
+
+## Transport
+
+- FTPS upload: implicit TLS on port `990`.
+- MQTT control/status: TLS on port `8883`.
+- Username: `bblp`.
+- Password: printer access code.
+- TLS verification is off by default because local printers commonly use
+ device/self-signed certificates.
+- The helper rejects public IPs/hostnames unless `--allow-nonprivate-host` is
+ set.
+- FTPS data connections may require TLS session reuse. The helper reuses the
+ control TLS session for uploads and listings.
+
+## MQTT Topics
+
+- Request topic: `device/{serial}/request`.
+- Report topic: `device/{serial}/report`.
+- `status --push-all` subscribes to reports, then publishes `pushing.pushall`
+ to request a full state report.
+- Publishing a start payload is a request, not proof of accepted motion.
+
+## Handoff Payloads
+
+### Template Project
+
+Validated on an A1 Mini during local LAN debugging:
+
+1. Start from a validated plain `.gcode`.
+2. Copy a known-good same-printer `.gcode.3mf` template.
+3. Replace `Metadata/plate_N.gcode` and update `Metadata/plate_N.gcode.md5`.
+4. Upload the resulting `.gcode.3mf` to FTPS root, not `cache/`.
+5. Publish `print.project_file` with root FTP URL.
+
+Representative payload:
+
+```json
+{
+ "print": {
+ "command": "project_file",
+ "param": "Metadata/plate_1.gcode",
+ "project_id": "0",
+ "profile_id": "0",
+ "task_id": "0",
+ "subtask_id": "0",
+ "subtask_name": "job",
+ "url": "ftp:///job.gcode.3mf",
+ "md5": "PROJECT_MD5_UPPERCASE",
+ "timelapse": false,
+ "bed_type": "auto",
+ "bed_levelling": true,
+ "flow_cali": true,
+ "vibration_cali": false,
+ "layer_inspect": true,
+ "use_ams": false,
+ "ams_mapping": ""
+ }
+}
+```
+
+### Plain G-code
+
+The plain path uploads `cache/.gcode` and publishes:
+
+```json
+{
+ "print": {
+ "command": "gcode_file",
+ "param": "cache/job.gcode"
+ }
+}
+```
+
+On the tested A1 Mini, byte-for-byte verified uploads still produced
+`gcode_file` failure/idle behavior. Use this path only for diagnostics or
+printer firmware where it has been validated.
+
+### Bambox Project
+
+The optional `bambox-project` path packages plain G-code into `.gcode.3mf` for
+enabled profiles, validates the archive, uploads it to FTPS root, and publishes
+the same `project_file` shape as template projects. Current enabled profile is
+`p1s-0.4`; A1/A1 Mini are disabled until a validated bambox profile exists.
+
+## Observed Failure Modes
+
+- **Direct G-code rejected:** MQTT report after `gcode_file` may include
+ `{"command":"gcode_file","result":"fail","reason":"error string"}`. Stop and
+ use a project handoff.
+- **Direct G-code ignored:** uploaded file exists, HMS is empty, target
+ temperatures stay at zero, and `gcode_state` remains `IDLE`. Do not keep
+ cycling path variants.
+- **Project in `cache/` fails:** `project_file` can be accepted and then fail
+ with `print_error: 83935248` / `0500-C010`. Clear the error and upload project
+ files to FTPS root with `ftp:///.gcode.3mf`.
+- **HTTP/file URLs inert:** `file:///sdcard/cache/...` and local HTTP URLs may
+ be accepted without fetching or starting. Do not use them for this workflow.
+- **Bambu/Orca project export crash:** GUI-backed CLI project export on macOS
+ can crash inside AppKit/BambuStudio. Use slicer CLI only for plain `.gcode`.
+- **Stale printer state:** after LAN Only/Developer Mode changes, clear errors
+ and power-cycle. Status can retain stale `FAILED`/HMS values.
+- **Storage unavailable:** if FTPS auth works but upload fails with `553`, or
+ status reports no SD/storage, resolve storage before MQTT start.
+
+Use `clear-error --execute` only after the underlying cause is fixed. It
+publishes `print.clean_print_error` and does not start motion.
diff --git a/plugins/cad/skills/bambu-labs/references/new-printer-onboarding.md b/plugins/cad/skills/bambu-labs/references/new-printer-onboarding.md
new file mode 100644
index 00000000..6538124c
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/references/new-printer-onboarding.md
@@ -0,0 +1,139 @@
+# New Printer Onboarding
+
+Use this reference whenever the user asks to set up, add, pair, configure, or
+test a new Bambu Lab printer for local LAN handoff. The goal is a calm,
+step-by-step setup where the user always knows what is safe, what is private,
+and what the agent will do next.
+
+## Agent Flow
+
+1. Start by confirming this is setup only. Say that no upload or print will
+ happen during onboarding unless the user explicitly asks later.
+2. Ask for the printer model or family if it is not already known. Use a stable
+ local printer id such as `a1-mini`, `a1`, `p1s`, `p1p`, `x1c`, or `h2d`.
+3. Tell the user you need two values from the printer touchscreen:
+ printer IP address and LAN access code. Explain that the serial is fetched
+ from the printer certificate and should not be requested by default.
+4. Immediately give the model-specific touchscreen steps below. Do not just ask
+ for the IP and access code without helping the user find them.
+5. Make the LAN prerequisites very explicit: the user must **Enable LAN Only**
+ and **Enable Developer Mode** before live local start commands. If either
+ option exists and is off, stop setup and ask them to enable it first.
+6. After the user provides the IP and access code, store them with `config set`
+ in workspace-root `bambu-printers.json`, using `--fetch-serial`. Do not repeat the
+ access code in the final response.
+7. Run `status --push-all --wait-seconds 10` and summarize the result in plain
+ language: reachable or not, idle/running/error, SD/storage present, and any
+ `print_error` or HMS entries.
+8. If setup succeeds, offer the next safe step as a dry-run handoff plan. Do not
+ upload or start anything during onboarding unless the user explicitly asks.
+
+## What To Say First
+
+Use a short, reassuring prompt like this:
+
+```text
+I can set this up safely. I need the printer's LAN IP address and LAN access
+code from the touchscreen. Before you send them, please enable LAN Only and
+Developer Mode; local starts often fail or become read-only if Developer Mode is
+off. I will store the code only in the workspace-local ignored config and fetch the
+serial from the printer automatically.
+```
+
+Then give the matching steps for their printer family.
+
+## Touchscreen Steps By Printer Family
+
+### A1 / A1 Mini
+
+1. On the printer touchscreen, open **Settings**.
+2. Open **Network** or **WLAN**.
+3. Connect the printer to the same trusted local network as this computer.
+4. **Enable LAN Only**.
+5. **Enable Developer Mode** in the same network/LAN area when shown.
+6. Record the IPv4 address shown on the network screen.
+7. Record the LAN access code shown near the LAN Only or Developer Mode
+ controls. If it is all zeros, refresh/regenerate it or toggle LAN Only off
+ and on, then record the new code.
+8. Power-cycle the printer after changing LAN Only or Developer Mode.
+
+### P1P / P1S
+
+1. On the printer screen, open **Settings**.
+2. Open **Network** or **WLAN**.
+3. Confirm the printer is on the same trusted local network as this computer.
+4. **Enable LAN Only**.
+5. **Enable Developer Mode**. If it is not visible, update firmware or stop
+ before live local start workflows.
+6. Record the printer IPv4 address.
+7. Record the LAN access code. If the code is all zeros or blank, refresh it or
+ toggle LAN Only off and on, then record the new code.
+8. Power-cycle the printer before the first local status check.
+
+### X1 / X1C / X1E
+
+1. On the printer touchscreen, open **Settings**.
+2. Open **Network** or **WLAN**.
+3. Confirm the printer is connected to the same trusted local network.
+4. **Enable LAN Only**.
+5. **Enable Developer Mode**. If it is not visible, update firmware or stop
+ before live local start workflows.
+6. Record the IPv4 address.
+7. Record the LAN access code from the LAN/network screen.
+8. Power-cycle the printer after changing LAN settings.
+
+### H2D / Newer Bambu Printers
+
+1. Open **Settings** on the printer touchscreen.
+2. Open **Network**, **WLAN**, or the printer's LAN settings panel.
+3. Confirm local network connectivity.
+4. **Enable LAN Only**.
+5. **Enable Developer Mode**.
+6. Record the IPv4 address and LAN access code.
+7. Power-cycle after changing LAN settings.
+
+For an unknown Bambu model, guide the user to the printer's network/WLAN
+settings, then require the same four items before continuing: same local
+network, **Enable LAN Only**, **Enable Developer Mode**, and collect IP plus
+LAN access code.
+
+## Agent Commands
+
+Use the active Python environment:
+
+```bash
+python scripts/bambu_lan_print.py config set \
+ --printer a1-mini \
+ --host 192.168.1.34 \
+ --access-code 12345678 \
+ --model a1-mini \
+ --fetch-serial
+```
+
+Then check status:
+
+```bash
+python scripts/bambu_lan_print.py status \
+ --printer a1-mini \
+ --push-all \
+ --wait-seconds 10
+```
+
+Use the model-specific printer id in both commands. If sandboxing blocks local
+network access, rerun the same command with permission to contact the printer.
+
+## Smooth Failure Handling
+
+- If the printer is unreachable, ask the user to confirm the IP, same Wi-Fi or
+ VLAN reachability, and that the printer is awake.
+- If MQTT status fails but TLS serial fetch worked, first confirm **Developer
+ Mode** is enabled, then power-cycle and retry status.
+- If the access code is rejected or all zeros, ask the user to refresh the LAN
+ access code on the printer and rerun `config set --fetch-serial`.
+- If status returns stale `FAILED`, `print_error`, or HMS entries after enabling
+ LAN Only or Developer Mode, stop. Ask the user to resolve the physical issue,
+ power-cycle, then retry status. Use `clear-error --execute` only after the
+ underlying cause is fixed.
+- If setup succeeds, do not imply that live printing is validated. Say that LAN
+ connectivity is configured and status works; live printing still requires the
+ real-printer checklist, a dry-run plan, upload-only, and supervised start.
diff --git a/plugins/cad/skills/bambu-labs/references/real-printer-checklist.md b/plugins/cad/skills/bambu-labs/references/real-printer-checklist.md
new file mode 100644
index 00000000..362ff4b3
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/references/real-printer-checklist.md
@@ -0,0 +1,56 @@
+# Real Printer Checklist
+
+Use this before any `--execute` run against a physical Bambu Lab printer.
+
+## Credentials And Network
+
+- Confirm the printer IP/hostname is on the trusted local network.
+- Confirm LAN Only/Developer Mode is enabled when the printer exposes it,
+ especially on A1/A1 Mini.
+- Store the access code in workspace-root `bambu-printers.json` with `config set`; do not
+ print it in final messages.
+- Fetch/cache serial with `serial` or `config set --fetch-serial`.
+- Run `status --push-all` and verify the intended printer responds.
+- If LAN settings changed after failed starts, clear stale errors and
+ power-cycle before retrying.
+
+## Job
+
+- Confirm `$gcode` generated and validated the plain `.gcode`.
+- Confirm scale, orientation, supports, material profile, nozzle, and bed type.
+- For A1 Mini LAN start, prefer `--handoff template-project` with a known-good
+ same-printer `.gcode.3mf` template.
+- Use `--handoff plain` only for diagnostics or firmware where `gcode_file` is
+ already validated.
+- Use `--handoff bambox-project` only when the exact printer/nozzle profile is
+ enabled by the script.
+- For project handoffs, upload to FTPS root and use `ftp:///.gcode.3mf`.
+
+## Physical Printer
+
+If the current user request explicitly asks to print or start the job, treat that
+request as live-start authorization for this checklist. State these physical
+checks before the live command and proceed if automated validation and printer
+status are healthy. Ask for another confirmation only when the request intent is
+ambiguous or a validation/status check raises concern.
+
+- Build plate is installed, clear, clean, and appropriate for the material.
+- No failed-print remnants, loose tools, tape scraps, or debris are in the
+ printer.
+- Filament is loaded and appropriate for the sliced file.
+- Operator is nearby for heat-up, homing, and first-layer observation.
+- Camera or direct observation is available.
+
+## First Live Sequence
+
+1. Run the exact `send` command without `--execute` and inspect the plan.
+2. Run `send --action upload --execute` first.
+3. Check status/UI/storage if possible.
+4. Re-run the dry `send --action upload-start` plan.
+5. Run `send --action upload-start --execute --confirm-start-print` when the
+ user explicitly asked to print/start, or after confirmation when intent is
+ unclear.
+6. Poll status and watch the printer until the first layer is clearly normal.
+
+If status reports `print_error` or HMS after a failed attempt, stop. Resolve the
+cause, optionally run `clear-error --execute`, then poll status before retrying.
diff --git a/plugins/cad/skills/bambu-labs/scripts/bambu_lan_print.py b/plugins/cad/skills/bambu-labs/scripts/bambu_lan_print.py
new file mode 100644
index 00000000..f5da8fd8
--- /dev/null
+++ b/plugins/cad/skills/bambu-labs/scripts/bambu_lan_print.py
@@ -0,0 +1,1771 @@
+#!/usr/bin/env python3
+"""Dry-run-first helpers for local Bambu Lab print workflows.
+
+The default behavior is non-networked. Start from a validated plain .gcode file,
+then either upload/start it directly with the printer's gcode_file command or,
+for explicitly supported printer profiles, package it with bambox into a
+.gcode.3mf project and start that with project_file.
+"""
+
+from __future__ import annotations
+
+import argparse
+import ftplib
+import hashlib
+import ipaddress
+import json
+import os
+import re
+import shutil
+import socket
+import ssl
+import subprocess
+import sys
+import tempfile
+import time
+import zipfile
+from dataclasses import asdict, dataclass
+from pathlib import Path
+from typing import Any, Union
+
+
+BAMBU_USERNAME = "bblp"
+DEFAULT_FTPS_PORT = 990
+DEFAULT_MQTT_PORT = 8883
+DEFAULT_REMOTE_DIR = "cache"
+PLATE_RE = re.compile(r"^Metadata/plate_(\d+)\.gcode$")
+IPAddress = Union[ipaddress.IPv4Address, ipaddress.IPv6Address]
+
+
+def default_workspace_root() -> Path:
+ init_cwd = str(os.environ.get("INIT_CWD") or "").strip()
+ return Path(init_cwd).expanduser().resolve() if init_cwd else Path.cwd().resolve()
+
+
+DEFAULT_CONFIG_PATH = default_workspace_root() / "bambu-printers.json"
+
+
+class BambuPrintError(RuntimeError):
+ """Raised for expected user-facing workflow errors."""
+
+
+@dataclass(frozen=True)
+class GCodeInspection:
+ path: str
+ size_bytes: int
+ md5: str
+
+
+@dataclass(frozen=True)
+class PlateInfo:
+ index: int
+ path: str
+ size_bytes: int
+
+
+@dataclass(frozen=True)
+class ProjectInspection:
+ path: str
+ size_bytes: int
+ md5: str
+ plates: list[PlateInfo]
+
+
+@dataclass(frozen=True)
+class BamboxProfile:
+ key: str
+ machine: str
+ nozzle_diameter: str
+ enabled: bool
+ reason: str
+ allowed_filaments: set[str]
+
+
+BAMBOX_PROFILES: dict[str, BamboxProfile] = {
+ "p1s-0.4": BamboxProfile(
+ key="p1s-0.4",
+ machine="p1s",
+ nozzle_diameter="0.4",
+ enabled=True,
+ reason="bambox 0.5.0 bundles and hardware-validates the Bambu Lab P1S 0.4 profile.",
+ allowed_filaments={"PLA", "ASA", "PETG-CF"},
+ ),
+ "a1-mini-0.4": BamboxProfile(
+ key="a1-mini-0.4",
+ machine="a1-mini",
+ nozzle_diameter="0.4",
+ enabled=False,
+ reason="no validated bambox A1 Mini profile is present.",
+ allowed_filaments=set(),
+ ),
+ "a1-0.4": BamboxProfile(
+ key="a1-0.4",
+ machine="a1",
+ nozzle_diameter="0.4",
+ enabled=False,
+ reason="no validated bambox A1 profile is present.",
+ allowed_filaments=set(),
+ ),
+ "x1c-0.4": BamboxProfile(
+ key="x1c-0.4",
+ machine="x1c",
+ nozzle_diameter="0.4",
+ enabled=False,
+ reason="no validated bambox X1C profile is present.",
+ allowed_filaments=set(),
+ ),
+ "p1p-0.4": BamboxProfile(
+ key="p1p-0.4",
+ machine="p1p",
+ nozzle_diameter="0.4",
+ enabled=False,
+ reason="no validated bambox P1P profile is present.",
+ allowed_filaments=set(),
+ ),
+}
+
+
+class ImplicitFTP_TLS(ftplib.FTP_TLS):
+ """FTP_TLS variant for implicit FTPS servers such as Bambu printers."""
+
+ def connect(self, host: str = "", port: int = 0, timeout: float | None = -999, source_address=None):
+ if host:
+ self.host = host
+ if port:
+ self.port = port
+ if timeout != -999:
+ self.timeout = timeout
+ if source_address is not None:
+ self.source_address = source_address
+ raw_sock = socket.create_connection(
+ (self.host, self.port),
+ self.timeout,
+ source_address=self.source_address,
+ )
+ self.af = raw_sock.family
+ self.sock = self.context.wrap_socket(raw_sock, server_hostname=self.host)
+ self.file = self.sock.makefile("r", encoding=self.encoding)
+ self.welcome = self.getresp()
+ return self.welcome
+
+ def ntransfercmd(self, cmd: str, rest: Any = None):
+ conn, size = ftplib.FTP.ntransfercmd(self, cmd, rest)
+ if self._prot_p:
+ conn = self.context.wrap_socket(conn, server_hostname=self.host, session=self.sock.session)
+ return conn, size
+
+
+def config_path_from_args(args: argparse.Namespace) -> Path:
+ return Path(getattr(args, "config", None) or DEFAULT_CONFIG_PATH).expanduser().resolve()
+
+
+def load_config(path: Path) -> dict[str, Any]:
+ if not path.is_file():
+ return {"printers": {}}
+ try:
+ data = json.loads(path.read_text(encoding="utf-8"))
+ except json.JSONDecodeError as exc:
+ raise BambuPrintError(f"Printer config is not valid JSON: {path}: {exc}") from exc
+ if not isinstance(data, dict):
+ raise BambuPrintError(f"Printer config must be a JSON object: {path}")
+ printers = data.setdefault("printers", {})
+ if not isinstance(printers, dict):
+ raise BambuPrintError("Printer config field printers must be an object.")
+ return data
+
+
+def save_config(path: Path, data: dict[str, Any]) -> None:
+ path.parent.mkdir(parents=True, exist_ok=True)
+ path.write_text(json.dumps(data, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+
+
+def sanitized_printer_entry(entry: dict[str, Any]) -> dict[str, Any]:
+ return {key: value for key, value in entry.items() if key != "access_code"}
+
+
+def printer_entry(data: dict[str, Any], printer_id: str) -> dict[str, Any]:
+ printers = data.get("printers", {})
+ entry = printers.get(printer_id)
+ if not isinstance(entry, dict):
+ known = ", ".join(sorted(printers)) or ""
+ raise BambuPrintError(f"Printer {printer_id!r} is not configured. Known printers: {known}")
+ return entry
+
+
+def apply_printer_config(args: argparse.Namespace) -> None:
+ printer_id = getattr(args, "printer", "") or ""
+ if not printer_id:
+ return
+ data = load_config(config_path_from_args(args))
+ entry = printer_entry(data, printer_id)
+ for attr, key in (
+ ("host", "host"),
+ ("access_code", "access_code"),
+ ("serial", "serial"),
+ ("model", "model"),
+ ):
+ if hasattr(args, attr) and not getattr(args, attr, "") and entry.get(key):
+ setattr(args, attr, str(entry[key]))
+
+
+def cache_printer_serial(args: argparse.Namespace, serial: str) -> None:
+ printer_id = getattr(args, "printer", "") or ""
+ if not printer_id:
+ return
+ path = config_path_from_args(args)
+ data = load_config(path)
+ entry = printer_entry(data, printer_id)
+ if entry.get("serial") == serial:
+ return
+ entry["serial"] = serial
+ entry["serial_source"] = "printer_tls_certificate_common_name"
+ entry["updated_at"] = time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime())
+ save_config(path, data)
+
+
+def md5_and_size(path: Path) -> tuple[str, int]:
+ digest = hashlib.md5()
+ size = 0
+ with path.open("rb") as handle:
+ for chunk in iter(lambda: handle.read(1024 * 1024), b""):
+ size += len(chunk)
+ digest.update(chunk)
+ return digest.hexdigest(), size
+
+
+def inspect_gcode_file(path: Path) -> GCodeInspection:
+ if not path.is_file():
+ raise BambuPrintError(f"G-code input file does not exist: {path}")
+ name = path.name.lower()
+ if name.endswith(".gcode.3mf") or path.suffix.lower() == ".3mf":
+ raise BambuPrintError("Expected plain .gcode, not a Bambu .gcode.3mf or .3mf archive.")
+ if path.suffix.lower() != ".gcode":
+ raise BambuPrintError(f"Expected a plain .gcode input, got: {path.name}")
+ md5, size = md5_and_size(path)
+ if size == 0:
+ raise BambuPrintError(f"G-code input is empty: {path}")
+ return GCodeInspection(path=str(path), size_bytes=size, md5=md5)
+
+
+def inspect_sliced_3mf(path: Path) -> ProjectInspection:
+ if not path.is_file():
+ raise BambuPrintError(f"Packaged project file does not exist: {path}")
+
+ md5, size = md5_and_size(path)
+ try:
+ archive = zipfile.ZipFile(path)
+ except zipfile.BadZipFile as exc:
+ raise BambuPrintError(f"Packaged project is not a readable 3MF/ZIP archive: {path}") from exc
+
+ plates: list[PlateInfo] = []
+ with archive:
+ for info in archive.infolist():
+ match = PLATE_RE.match(info.filename)
+ if match:
+ plates.append(
+ PlateInfo(
+ index=int(match.group(1)),
+ path=info.filename,
+ size_bytes=info.file_size,
+ )
+ )
+
+ if not plates:
+ raise BambuPrintError("Packaged project has no Metadata/plate_N.gcode entries.")
+
+ plates.sort(key=lambda item: item.index)
+ return ProjectInspection(path=str(path), size_bytes=size, md5=md5, plates=plates)
+
+
+def sanitize_remote_name(name: str) -> str:
+ base = Path(name).name.strip()
+ if not base:
+ raise BambuPrintError("Remote filename cannot be empty.")
+ return re.sub(r"[^A-Za-z0-9._+-]", "_", base)
+
+
+def join_remote_path(remote_dir: str, remote_name: str) -> str:
+ clean_dir = remote_dir.strip("/")
+ clean_name = sanitize_remote_name(remote_name)
+ return f"{clean_dir}/{clean_name}" if clean_dir else clean_name
+
+
+def default_project_name(gcode_path: Path) -> str:
+ if gcode_path.name.lower().endswith(".gcode"):
+ return f"{gcode_path.name}.3mf"
+ return f"{gcode_path.name}.gcode.3mf"
+
+
+def project_subtask_name(remote_path: str) -> str:
+ name = Path(remote_path).name
+ for suffix in (".gcode.3mf", ".3mf", ".gcode"):
+ if name.lower().endswith(suffix):
+ name = name[: -len(suffix)]
+ return name or "local_print"
+
+
+def is_local_address(address: IPAddress) -> bool:
+ return address.is_private or address.is_loopback or address.is_link_local
+
+
+def resolve_host_addresses(host: str) -> list[IPAddress]:
+ clean_host = host.strip("[]")
+ try:
+ return [ipaddress.ip_address(clean_host)]
+ except ValueError:
+ pass
+
+ try:
+ results = socket.getaddrinfo(clean_host, None, type=socket.SOCK_STREAM)
+ except socket.gaierror as exc:
+ raise BambuPrintError(f"Could not resolve printer host {host!r}: {exc}") from exc
+
+ addresses = sorted({ipaddress.ip_address(item[4][0]) for item in results}, key=str)
+ if not addresses:
+ raise BambuPrintError(f"Could not resolve printer host {host!r}.")
+ return addresses
+
+
+def validate_local_host(host: str, allow_nonprivate: bool) -> None:
+ if not host:
+ raise BambuPrintError("Printer host/IP is required for network actions.")
+ if allow_nonprivate:
+ return
+
+ addresses = resolve_host_addresses(host)
+ nonprivate = [str(address) for address in addresses if not is_local_address(address)]
+ if nonprivate:
+ raise BambuPrintError(
+ f"{host} resolves to non-private address(es): {', '.join(nonprivate)}. "
+ "Refusing unless --allow-nonprivate-host is set."
+ )
+
+
+def common_name_from_decoded_cert(decoded: dict[str, Any]) -> str:
+ for subject_item in decoded.get("subject", ()):
+ for key, value in subject_item:
+ if key == "commonName":
+ return str(value)
+ return ""
+
+
+def decode_der_certificate(der_cert: bytes) -> dict[str, Any]:
+ pem = ssl.DER_cert_to_PEM_cert(der_cert)
+ temp_path = ""
+ try:
+ with tempfile.NamedTemporaryFile("w", encoding="utf-8", suffix=".pem", delete=False) as handle:
+ temp_path = handle.name
+ handle.write(pem)
+ return ssl._ssl._test_decode_cert(temp_path) # type: ignore[attr-defined]
+ finally:
+ if temp_path:
+ try:
+ Path(temp_path).unlink()
+ except FileNotFoundError:
+ pass
+
+
+def discover_printer_serial(
+ *,
+ host: str,
+ port: int = DEFAULT_MQTT_PORT,
+ timeout: float = 20.0,
+ tls_verify: bool = False,
+ allow_nonprivate_host: bool = False,
+) -> str:
+ validate_local_host(host, allow_nonprivate_host)
+ context = ssl.create_default_context()
+ if not tls_verify:
+ context.check_hostname = False
+ context.verify_mode = ssl.CERT_NONE
+ with socket.create_connection((host, port), timeout=timeout) as raw_sock:
+ with context.wrap_socket(raw_sock, server_hostname=host) as sock:
+ der_cert = sock.getpeercert(binary_form=True)
+ if not der_cert:
+ raise BambuPrintError("Printer did not provide a TLS certificate for serial discovery.")
+ serial = common_name_from_decoded_cert(decode_der_certificate(der_cert)).strip()
+ if not serial:
+ raise BambuPrintError("Could not find printer serial in the local TLS certificate common name.")
+ return serial
+
+
+def ensure_printer_serial(args: argparse.Namespace) -> str:
+ if getattr(args, "serial", ""):
+ return args.serial
+ if not getattr(args, "host", ""):
+ return ""
+ args.serial = discover_printer_serial(
+ host=args.host,
+ port=args.mqtt_port,
+ timeout=args.timeout,
+ tls_verify=args.tls_verify,
+ allow_nonprivate_host=args.allow_nonprivate_host,
+ )
+ cache_printer_serial(args, args.serial)
+ return args.serial
+
+
+def selected_plate(inspection: ProjectInspection, requested: int | None) -> PlateInfo:
+ if requested is None:
+ return inspection.plates[0]
+ for plate in inspection.plates:
+ if plate.index == requested:
+ return plate
+ available = ", ".join(str(plate.index) for plate in inspection.plates)
+ raise BambuPrintError(f"Plate {requested} not found. Available plates: {available}")
+
+
+def sequence_id(value: str | None) -> str:
+ if value:
+ return value
+ return str(int(time.time() * 1000))
+
+
+def build_gcode_file_payload(*, remote_path: str, args: argparse.Namespace) -> dict[str, Any]:
+ return {
+ "print": {
+ "sequence_id": sequence_id(args.sequence_id),
+ "command": "gcode_file",
+ "param": args.gcode_param or remote_path,
+ }
+ }
+
+
+def build_clean_print_error_payload(args: argparse.Namespace) -> dict[str, Any]:
+ return {
+ "print": {
+ "sequence_id": sequence_id(args.sequence_id),
+ "command": "clean_print_error",
+ }
+ }
+
+
+def build_print_control_payload(args: argparse.Namespace) -> dict[str, Any]:
+ command = "stop" if args.action == "cancel" else args.action
+ payload = {
+ "print": {
+ "sequence_id": sequence_id(args.sequence_id),
+ "command": command,
+ }
+ }
+ if command == "stop":
+ payload["print"]["param"] = ""
+ return payload
+
+
+def build_project_file_payload(
+ *,
+ plate: PlateInfo,
+ remote_path: str,
+ remote_url: str,
+ md5: str | None,
+ args: argparse.Namespace,
+) -> dict[str, Any]:
+ return {
+ "print": {
+ "sequence_id": sequence_id(args.sequence_id),
+ "command": "project_file",
+ "param": plate.path,
+ "project_id": "0",
+ "profile_id": "0",
+ "task_id": "0",
+ "subtask_id": "0",
+ "subtask_name": project_subtask_name(remote_path),
+ "url": remote_url,
+ "md5": md5.upper() if md5 else None,
+ "timelapse": False,
+ "bed_type": "auto",
+ "bed_levelling": True,
+ "flow_cali": True,
+ "vibration_cali": False,
+ "layer_inspect": True,
+ "use_ams": False,
+ "ams_mapping": "",
+ }
+ }
+
+
+def bambox_profile(profile_key: str) -> BamboxProfile:
+ try:
+ profile = BAMBOX_PROFILES[profile_key]
+ except KeyError as exc:
+ known = ", ".join(sorted(BAMBOX_PROFILES))
+ raise BambuPrintError(f"Unknown bambox profile {profile_key!r}. Known profiles: {known}") from exc
+ if not profile.enabled:
+ raise BambuPrintError(f"{profile.key} is not enabled because {profile.reason}")
+ return profile
+
+
+def bambox_profile_payload(profile: BamboxProfile) -> dict[str, Any]:
+ return {
+ "key": profile.key,
+ "machine": profile.machine,
+ "nozzle_diameter": profile.nozzle_diameter,
+ "enabled": profile.enabled,
+ "reason": profile.reason,
+ "allowed_filaments": sorted(profile.allowed_filaments),
+ }
+
+
+def bambox_filament_type(spec: str) -> str:
+ parts = spec.split(":")
+ if len(parts) >= 2 and parts[0].isdigit():
+ value = parts[1]
+ else:
+ value = parts[0]
+ return value.strip().upper()
+
+
+def validate_bambox_filaments(profile: BamboxProfile, filaments: list[str] | None) -> list[str]:
+ if not filaments:
+ raise BambuPrintError("At least one --filament is required for bambox packaging.")
+ for spec in filaments:
+ filament_type = bambox_filament_type(spec)
+ if filament_type not in profile.allowed_filaments:
+ allowed = ", ".join(sorted(profile.allowed_filaments))
+ raise BambuPrintError(
+ f"Filament {filament_type!r} is not enabled for {profile.key}. Allowed filaments: {allowed}"
+ )
+ return filaments
+
+
+def resolve_bambox_bin(requested: str | None, *, require_exists: bool) -> str:
+ candidate = requested or os.environ.get("BAMBOX_BIN") or "bambox"
+ if not require_exists:
+ return candidate
+ resolved = shutil.which(candidate) if Path(candidate).name == candidate else candidate
+ if not resolved or not Path(resolved).exists():
+ raise BambuPrintError("bambox CLI was not found. Install it separately or set BAMBOX_BIN.")
+ return resolved
+
+
+def build_bambox_pack_command(
+ *,
+ gcode_path: Path,
+ output_path: Path,
+ profile_key: str,
+ filaments: list[str] | None,
+ bambox_bin: str | None = None,
+ require_bambox: bool = False,
+) -> list[str]:
+ profile = bambox_profile(profile_key)
+ safe_filaments = validate_bambox_filaments(profile, filaments)
+ command = [
+ resolve_bambox_bin(bambox_bin, require_exists=require_bambox),
+ "pack",
+ str(gcode_path),
+ "-o",
+ str(output_path),
+ "-m",
+ profile.machine,
+ "--nozzle-diameter",
+ profile.nozzle_diameter,
+ ]
+ for filament in safe_filaments:
+ command.extend(["-f", filament])
+ return command
+
+
+def build_bambox_validate_command(*, project_path: Path, bambox_bin: str | None = None, require_bambox: bool = False) -> list[str]:
+ return [
+ resolve_bambox_bin(bambox_bin, require_exists=require_bambox),
+ "validate",
+ str(project_path),
+ "--json",
+ "--strict",
+ ]
+
+
+def run_checked_command(command: list[str], label: str) -> dict[str, Any]:
+ result = subprocess.run(command, check=False, capture_output=True, text=True)
+ payload: dict[str, Any] = {"command": command, "returncode": result.returncode}
+ if result.stdout:
+ payload["stdout_tail"] = tail_text(result.stdout)
+ if result.stderr:
+ payload["stderr_tail"] = tail_text(result.stderr)
+ if result.returncode != 0:
+ raise BambuPrintError(f"{label} failed: {json.dumps(payload, indent=2)}")
+ return payload
+
+
+def package_with_bambox(args: argparse.Namespace, output_path: Path) -> dict[str, Any]:
+ gcode_path = Path(args.gcode).expanduser().resolve()
+ inspect_gcode_file(gcode_path)
+ pack_command = build_bambox_pack_command(
+ gcode_path=gcode_path,
+ output_path=output_path,
+ profile_key=args.bambox_profile,
+ filaments=args.filament,
+ bambox_bin=args.bambox_bin,
+ require_bambox=True,
+ )
+ validate_command = build_bambox_validate_command(
+ project_path=output_path,
+ bambox_bin=args.bambox_bin,
+ require_bambox=True,
+ )
+ pack_result = run_checked_command(pack_command, "bambox pack")
+ if not output_path.is_file():
+ raise BambuPrintError(f"bambox pack did not create expected output: {output_path}")
+ project_inspection = inspect_sliced_3mf(output_path)
+ validate_result = run_checked_command(validate_command, "bambox validate")
+ return {
+ "pack": pack_result,
+ "validate": validate_result,
+ "project": asdict(project_inspection),
+ }
+
+
+def package_with_template_project(args: argparse.Namespace, output_path: Path) -> dict[str, Any]:
+ gcode_path = Path(args.gcode).expanduser().resolve()
+ inspection = inspect_gcode_file(gcode_path)
+ if not args.template_project:
+ raise BambuPrintError("--template-project is required for template-project packaging.")
+ template_path = Path(args.template_project).expanduser().resolve()
+ template_inspection = inspect_sliced_3mf(template_path)
+ plate = selected_plate(template_inspection, args.plate)
+
+ output_path.parent.mkdir(parents=True, exist_ok=True)
+ gcode_bytes = gcode_path.read_bytes()
+ gcode_md5 = hashlib.md5(gcode_bytes).hexdigest().upper()
+ md5_path = f"{plate.path}.md5"
+ found_plate = False
+ found_md5 = False
+
+ with zipfile.ZipFile(template_path, "r") as source, zipfile.ZipFile(
+ output_path, "w", compression=zipfile.ZIP_DEFLATED
+ ) as target:
+ for info in source.infolist():
+ data = source.read(info.filename)
+ if info.filename == plate.path:
+ data = gcode_bytes
+ found_plate = True
+ elif info.filename == md5_path:
+ data = gcode_md5.encode("ascii")
+ found_md5 = True
+ target.writestr(info, data)
+ if not found_md5:
+ target.writestr(md5_path, gcode_md5)
+
+ if not found_plate:
+ raise BambuPrintError(f"Template project plate G-code entry not found: {plate.path}")
+
+ project_inspection = inspect_sliced_3mf(output_path)
+ return {
+ "pack": {
+ "template": str(template_path),
+ "output": str(output_path),
+ "replaced_plate": plate.path,
+ "plate_gcode_md5": gcode_md5,
+ "input": asdict(inspection),
+ },
+ "project": asdict(project_inspection),
+ }
+
+
+def build_package_plan(args: argparse.Namespace) -> dict[str, Any]:
+ gcode_path = Path(args.gcode).expanduser().resolve()
+ inspection = inspect_gcode_file(gcode_path)
+ output_path = Path(args.output).expanduser().resolve()
+ pack_command = build_bambox_pack_command(
+ gcode_path=gcode_path,
+ output_path=output_path,
+ profile_key=args.bambox_profile,
+ filaments=args.filament,
+ bambox_bin=args.bambox_bin,
+ require_bambox=False,
+ )
+ validate_command = build_bambox_validate_command(
+ project_path=output_path,
+ bambox_bin=args.bambox_bin,
+ require_bambox=False,
+ )
+ return {
+ "dry_run": not args.execute,
+ "action": "package",
+ "input": asdict(inspection),
+ "output": str(output_path),
+ "bambox": {
+ "profile": bambox_profile_payload(bambox_profile(args.bambox_profile)),
+ "filaments": args.filament,
+ "pack_command": pack_command,
+ "validate_command": validate_command,
+ },
+ "notes": [
+ "bambox is optional and must be installed separately.",
+ "Only enabled bambox profiles can be packaged.",
+ "A1 Mini is intentionally disabled until a validated bambox profile is available.",
+ ],
+ }
+
+
+def build_plain_send_plan(args: argparse.Namespace) -> dict[str, Any]:
+ gcode_path = Path(args.gcode).expanduser().resolve()
+ inspection = inspect_gcode_file(gcode_path)
+ remote_name = sanitize_remote_name(args.remote_name or gcode_path.name)
+ remote_path = join_remote_path(args.remote_dir or DEFAULT_REMOTE_DIR, remote_name)
+ payload = build_gcode_file_payload(remote_path=remote_path, args=args)
+ return build_common_send_plan(
+ args=args,
+ input_payload={**asdict(inspection), "kind": "plain_gcode"},
+ local_path=str(gcode_path),
+ remote_path=remote_path,
+ remote_url=None,
+ payload=payload,
+ )
+
+
+def build_bambox_project_send_plan(args: argparse.Namespace, project_path: Path | None = None) -> dict[str, Any]:
+ gcode_path = Path(args.gcode).expanduser().resolve()
+ inspection = inspect_gcode_file(gcode_path)
+ remote_name = sanitize_remote_name(args.remote_name or default_project_name(gcode_path))
+ remote_path = join_remote_path(args.remote_dir or "", remote_name)
+ remote_url = f"ftp:///{remote_path}"
+ output_path = project_path or Path(tempfile.gettempdir()) / default_project_name(gcode_path)
+ pack_command = build_bambox_pack_command(
+ gcode_path=gcode_path,
+ output_path=output_path,
+ profile_key=args.bambox_profile,
+ filaments=args.filament,
+ bambox_bin=args.bambox_bin,
+ require_bambox=False,
+ )
+ validate_command = build_bambox_validate_command(
+ project_path=output_path,
+ bambox_bin=args.bambox_bin,
+ require_bambox=False,
+ )
+
+ project: dict[str, Any] | None = None
+ payload: dict[str, Any]
+ if project_path is not None:
+ project_inspection = inspect_sliced_3mf(project_path)
+ plate = selected_plate(project_inspection, args.plate)
+ project = {**asdict(project_inspection), "selected_plate": asdict(plate)}
+ payload = build_project_file_payload(
+ plate=plate,
+ remote_path=remote_path,
+ remote_url=remote_url,
+ md5=project_inspection.md5,
+ args=args,
+ )
+ else:
+ payload = build_project_file_payload(
+ plate=PlateInfo(index=1, path="Metadata/plate_1.gcode", size_bytes=0),
+ remote_path=remote_path,
+ remote_url=remote_url,
+ md5=None,
+ args=args,
+ )
+
+ return build_common_send_plan(
+ args=args,
+ input_payload={
+ **asdict(inspection),
+ "kind": "plain_gcode",
+ "bambox_project": project,
+ "bambox": {
+ "profile": bambox_profile_payload(bambox_profile(args.bambox_profile)),
+ "filaments": args.filament,
+ "pack_command": pack_command,
+ "validate_command": validate_command,
+ },
+ },
+ local_path=str(project_path) if project_path is not None else None,
+ remote_path=remote_path,
+ remote_url=remote_url,
+ payload=payload,
+ )
+
+
+def build_template_project_send_plan(args: argparse.Namespace, project_path: Path | None = None) -> dict[str, Any]:
+ gcode_path = Path(args.gcode).expanduser().resolve()
+ inspection = inspect_gcode_file(gcode_path)
+ template_path = Path(args.template_project).expanduser().resolve() if args.template_project else None
+ if template_path is None:
+ raise BambuPrintError("--template-project is required for --handoff template-project.")
+ inspect_sliced_3mf(template_path)
+ remote_name = sanitize_remote_name(args.remote_name or default_project_name(gcode_path))
+ remote_path = join_remote_path(args.remote_dir or "", remote_name)
+ remote_url = f"ftp:///{remote_path}"
+ output_path = project_path or Path(tempfile.gettempdir()) / default_project_name(gcode_path)
+
+ project: dict[str, Any] | None = None
+ if project_path is not None:
+ project_inspection = inspect_sliced_3mf(project_path)
+ plate = selected_plate(project_inspection, args.plate)
+ project = {**asdict(project_inspection), "selected_plate": asdict(plate)}
+ payload = build_project_file_payload(
+ plate=plate,
+ remote_path=remote_path,
+ remote_url=remote_url,
+ md5=project_inspection.md5,
+ args=args,
+ )
+ else:
+ payload = build_project_file_payload(
+ plate=PlateInfo(index=1, path="Metadata/plate_1.gcode", size_bytes=0),
+ remote_path=remote_path,
+ remote_url=remote_url,
+ md5=None,
+ args=args,
+ )
+
+ return build_common_send_plan(
+ args=args,
+ input_payload={
+ **asdict(inspection),
+ "kind": "plain_gcode",
+ "template_project": {
+ "template": str(template_path),
+ "output": str(output_path),
+ "packaged_project": project,
+ "note": "Experimental A1/A1 Mini path: replaces Metadata/plate_1.gcode in a same-printer template project.",
+ },
+ },
+ local_path=str(project_path) if project_path is not None else None,
+ remote_path=remote_path,
+ remote_url=remote_url,
+ payload=payload,
+ )
+
+
+def build_common_send_plan(
+ *,
+ args: argparse.Namespace,
+ input_payload: dict[str, Any],
+ local_path: str | None,
+ remote_path: str,
+ remote_url: str | None,
+ payload: dict[str, Any],
+) -> dict[str, Any]:
+ serial = getattr(args, "serial", "") or ""
+ topic = f"device/{serial}/request" if serial else None
+ will_upload = args.action in {"upload", "upload-start"}
+ will_publish = args.action in {"start", "upload-start"}
+
+ ftps: dict[str, Any] = {
+ "host": args.host,
+ "port": args.ftps_port,
+ "username": BAMBU_USERNAME,
+ "remote_path": remote_path,
+ "will_upload": will_upload,
+ }
+ if remote_url:
+ ftps["url"] = remote_url
+
+ return {
+ "dry_run": not args.execute,
+ "action": args.action,
+ "handoff": args.handoff,
+ "input": input_payload,
+ "local_upload_path": local_path,
+ "ftps": ftps,
+ "mqtt": {
+ "host": args.host,
+ "port": args.mqtt_port,
+ "username": BAMBU_USERNAME,
+ "topic": topic,
+ "payload": payload,
+ "will_publish": will_publish,
+ },
+ "safety": [
+ "Dry-run is the default; network actions require --execute.",
+ "Starting a print requires --confirm-start-print.",
+ "MQTT start publishes a request only; watch the printer UI/state for acceptance and progress.",
+ "Verify the build plate is clear, filament/path are correct, and the printer is physically safe before execution.",
+ ],
+ }
+
+
+def build_clear_error_plan(args: argparse.Namespace) -> dict[str, Any]:
+ serial = getattr(args, "serial", "") or ""
+ topic = f"device/{serial}/request" if serial else None
+ return {
+ "dry_run": not args.execute,
+ "action": "clear-error",
+ "printer": args.printer or None,
+ "host": args.host,
+ "mqtt": {
+ "host": args.host,
+ "port": args.mqtt_port,
+ "username": BAMBU_USERNAME,
+ "topic": topic,
+ "payload": build_clean_print_error_payload(args),
+ "will_publish": bool(args.execute),
+ },
+ "notes": [
+ "This publishes clean_print_error only; it does not upload files or start a print.",
+ "Use after resolving the underlying cause of a stale printer error, then read status before retrying.",
+ ],
+ }
+
+
+def build_print_control_plan(args: argparse.Namespace) -> dict[str, Any]:
+ serial = getattr(args, "serial", "") or ""
+ topic = f"device/{serial}/request" if serial else None
+ return {
+ "dry_run": not args.execute,
+ "action": args.action,
+ "printer": args.printer or None,
+ "host": args.host,
+ "mqtt": {
+ "host": args.host,
+ "port": args.mqtt_port,
+ "username": BAMBU_USERNAME,
+ "topic": topic,
+ "payload": build_print_control_payload(args),
+ "will_publish": bool(args.execute),
+ },
+ "notes": [
+ "This publishes a print-control request only; it does not upload files or start a print.",
+ "Read printer status after publishing to confirm the state changed as intended.",
+ ],
+ }
+
+
+def build_send_plan(args: argparse.Namespace, project_path: Path | None = None) -> dict[str, Any]:
+ apply_printer_config(args)
+ if args.handoff == "plain":
+ return build_plain_send_plan(args)
+ if args.handoff == "bambox-project":
+ return build_bambox_project_send_plan(args, project_path=project_path)
+ if args.handoff == "template-project":
+ return build_template_project_send_plan(args, project_path=project_path)
+ raise BambuPrintError(f"Unsupported handoff: {args.handoff}")
+
+
+def upload_ftps(args: argparse.Namespace, local_path: Path, remote_path: str) -> None:
+ access_code = access_code_from_args(args)
+ validate_local_host(args.host, args.allow_nonprivate_host)
+ context = ssl.create_default_context()
+ if not args.tls_verify:
+ context.check_hostname = False
+ context.verify_mode = ssl.CERT_NONE
+ ftp = ImplicitFTP_TLS(context=context, timeout=args.timeout)
+ ftp.connect(args.host, args.ftps_port)
+ try:
+ ftp.login(BAMBU_USERNAME, access_code)
+ ftp.prot_p()
+ remote_dir = remote_path.rsplit("/", 1)[0] if "/" in remote_path else ""
+ remote_name = Path(remote_path).name
+ if remote_dir:
+ try:
+ ftp.cwd(remote_dir)
+ except ftplib.error_perm:
+ ftp.mkd(remote_dir)
+ ftp.cwd(remote_dir)
+ with local_path.open("rb") as handle:
+ storbinary_with_bambu_timeout_tolerance(ftp, f"STOR {remote_name}", handle)
+ finally:
+ try:
+ ftp.quit()
+ except Exception:
+ ftp.close()
+
+
+def storbinary_with_bambu_timeout_tolerance(ftp: ftplib.FTP_TLS, command: str, handle: Any) -> None:
+ try:
+ ftp.storbinary(command, handle)
+ except socket.timeout as exc:
+ try:
+ ftp.voidresp()
+ except Exception as confirm_exc:
+ raise BambuPrintError(
+ "FTPS upload timed out before the printer confirmed completion. "
+ "The file may be partially uploaded; retry upload-only after checking printer storage."
+ ) from confirm_exc
+ # Some Bambu FTPS firmware completes STOR but does not close the TLS data
+ # channel the way Python's ftplib expects. A 226 control response is enough.
+
+
+def encode_mqtt_string(value: str) -> bytes:
+ encoded = value.encode("utf-8")
+ if len(encoded) > 65535:
+ raise BambuPrintError("MQTT string is too long.")
+ return len(encoded).to_bytes(2, "big") + encoded
+
+
+def encode_remaining_length(length: int) -> bytes:
+ out = bytearray()
+ while True:
+ byte = length % 128
+ length //= 128
+ if length:
+ byte |= 0x80
+ out.append(byte)
+ if not length:
+ return bytes(out)
+
+
+def read_exact(sock: ssl.SSLSocket, size: int) -> bytes:
+ chunks = bytearray()
+ while len(chunks) < size:
+ chunk = sock.recv(size - len(chunks))
+ if not chunk:
+ raise BambuPrintError("MQTT connection closed unexpectedly.")
+ chunks.extend(chunk)
+ return bytes(chunks)
+
+
+def read_mqtt_packet(sock: ssl.SSLSocket) -> tuple[int, bytes]:
+ header = read_exact(sock, 1)[0]
+ multiplier = 1
+ remaining = 0
+ while True:
+ digit = read_exact(sock, 1)[0]
+ remaining += (digit & 127) * multiplier
+ if not digit & 128:
+ break
+ multiplier *= 128
+ if multiplier > 128 * 128 * 128:
+ raise BambuPrintError("Malformed MQTT remaining length.")
+ return header, read_exact(sock, remaining)
+
+
+def mqtt_connect_packet(client_id: str, username: str, password: str, keepalive: int = 30) -> bytes:
+ variable = encode_mqtt_string("MQTT") + bytes([4, 0xC2]) + keepalive.to_bytes(2, "big")
+ payload = encode_mqtt_string(client_id) + encode_mqtt_string(username) + encode_mqtt_string(password)
+ remaining = variable + payload
+ return bytes([0x10]) + encode_remaining_length(len(remaining)) + remaining
+
+
+def mqtt_publish_packet(topic: str, payload: bytes, *, qos: int = 0, packet_id: int = 1) -> bytes:
+ if qos not in {0, 1}:
+ raise BambuPrintError("Only MQTT QoS 0 and QoS 1 are supported.")
+ variable = encode_mqtt_string(topic)
+ if qos:
+ variable += packet_id.to_bytes(2, "big")
+ remaining = variable + payload
+ return bytes([0x30 | (qos << 1)]) + encode_remaining_length(len(remaining)) + remaining
+
+
+def mqtt_subscribe_packet(packet_id: int, topic: str) -> bytes:
+ variable = packet_id.to_bytes(2, "big")
+ payload = encode_mqtt_string(topic) + bytes([0])
+ remaining = variable + payload
+ return bytes([0x82]) + encode_remaining_length(len(remaining)) + remaining
+
+
+def parse_mqtt_publish(header: int, body: bytes) -> tuple[str, bytes]:
+ if header & 0xF0 != 0x30:
+ raise BambuPrintError(f"Expected MQTT PUBLISH packet, got header=0x{header:02x}.")
+ if len(body) < 2:
+ raise BambuPrintError("Malformed MQTT PUBLISH packet.")
+ topic_length = int.from_bytes(body[:2], "big")
+ topic_start = 2
+ topic_end = topic_start + topic_length
+ topic = body[topic_start:topic_end].decode("utf-8", errors="replace")
+ payload_start = topic_end
+ qos = (header & 0x06) >> 1
+ if qos:
+ payload_start += 2
+ return topic, body[payload_start:]
+
+
+def format_hms_code(attr: Any, code: Any) -> str:
+ try:
+ attr_int = int(attr)
+ code_int = int(code)
+ except (TypeError, ValueError) as exc:
+ raise BambuPrintError("HMS attr/code values must be integers.") from exc
+ return f"{(attr_int >> 16) & 0xFFFF:04X}-{attr_int & 0xFFFF:04X}-{(code_int >> 16) & 0xFFFF:04X}-{code_int & 0xFFFF:04X}"
+
+
+def annotate_hms_codes(message: dict[str, Any]) -> None:
+ payload = message.get("json")
+ if not isinstance(payload, dict):
+ return
+ print_payload = payload.get("print")
+ if not isinstance(print_payload, dict):
+ return
+ hms_items = print_payload.get("hms")
+ if not isinstance(hms_items, list):
+ return
+ decoded: list[dict[str, Any]] = []
+ for item in hms_items:
+ if not isinstance(item, dict) or "attr" not in item or "code" not in item:
+ continue
+ decoded.append({**item, "hms_code": format_hms_code(item["attr"], item["code"])})
+ if decoded:
+ message["hms"] = decoded
+
+
+def mqtt_puback_packet(packet_id: int) -> bytes:
+ return bytes([0x40, 0x02]) + packet_id.to_bytes(2, "big")
+
+
+def read_mqtt_reports_until(
+ sock: ssl.SSLSocket,
+ *,
+ deadline: float,
+ timeout: float,
+ expected_puback_packet_id: int | None = None,
+ stop_after_puback: bool = False,
+) -> dict[str, Any]:
+ messages: list[dict[str, Any]] = []
+ puback_received = expected_puback_packet_id is None
+ while time.monotonic() < deadline:
+ sock.settimeout(max(0.1, min(timeout, deadline - time.monotonic())))
+ try:
+ header, body = read_mqtt_packet(sock)
+ except socket.timeout:
+ break
+ if header == 0x40:
+ packet_id = int.from_bytes(body[:2], "big") if len(body) >= 2 else None
+ if packet_id == expected_puback_packet_id:
+ puback_received = True
+ if stop_after_puback:
+ break
+ continue
+ if header & 0xF0 != 0x30:
+ continue
+ message_topic, report_payload = parse_mqtt_publish(header, body)
+ text = report_payload.decode("utf-8", errors="replace")
+ item: dict[str, Any] = {"topic": message_topic, "payload": text}
+ try:
+ item["json"] = json.loads(text)
+ except json.JSONDecodeError:
+ pass
+ annotate_hms_codes(item)
+ messages.append(item)
+ qos = (header & 0x06) >> 1
+ if qos == 1:
+ topic_length = int.from_bytes(body[:2], "big")
+ publish_packet_id_start = 2 + topic_length
+ packet_id = int.from_bytes(body[publish_packet_id_start : publish_packet_id_start + 2], "big")
+ sock.sendall(mqtt_puback_packet(packet_id))
+ return {"puback_received": puback_received, "messages": messages}
+
+
+def publish_mqtt(
+ args: argparse.Namespace,
+ topic: str,
+ payload: dict[str, Any],
+ *,
+ report_topic: str | None = None,
+) -> dict[str, Any]:
+ access_code = access_code_from_args(args)
+ validate_local_host(args.host, args.allow_nonprivate_host)
+ context = ssl.create_default_context()
+ if not args.tls_verify:
+ context.check_hostname = False
+ context.verify_mode = ssl.CERT_NONE
+ payload_bytes = json.dumps(payload, separators=(",", ":"), ensure_ascii=False).encode("utf-8")
+ client_id = args.client_id or args.serial or f"codex-bambu-{int(time.time())}"
+ raw_mqtt_qos = getattr(args, "mqtt_qos", 0)
+ if not isinstance(raw_mqtt_qos, (int, float, str)):
+ raw_mqtt_qos = 0
+ mqtt_qos = int(raw_mqtt_qos)
+ publish_packet_id = 2
+ raw_wait_after_publish = getattr(args, "wait_after_publish", 0.0)
+ if not isinstance(raw_wait_after_publish, (int, float, str)):
+ raw_wait_after_publish = 0.0
+ wait_after_publish = float(raw_wait_after_publish or 0.0)
+ diagnostics: dict[str, Any] = {
+ "qos": mqtt_qos,
+ "puback_required": mqtt_qos == 1,
+ "puback_received": mqtt_qos == 0,
+ "report_topic": report_topic if wait_after_publish and report_topic else None,
+ "messages": [],
+ }
+ with socket.create_connection((args.host, args.mqtt_port), timeout=args.timeout) as raw_sock:
+ with context.wrap_socket(raw_sock, server_hostname=args.host) as sock:
+ sock.sendall(mqtt_connect_packet(client_id, BAMBU_USERNAME, access_code))
+ header, body = read_mqtt_packet(sock)
+ if header != 0x20 or len(body) != 2 or body[1] != 0:
+ raise BambuPrintError(f"MQTT CONNACK failed: header=0x{header:02x} body={body.hex()}")
+ if wait_after_publish and report_topic:
+ sock.sendall(mqtt_subscribe_packet(1, report_topic))
+ header, body = read_mqtt_packet(sock)
+ if header != 0x90 or len(body) < 3 or body[-1] == 0x80:
+ raise BambuPrintError(f"MQTT SUBACK failed: header=0x{header:02x} body={body.hex()}")
+ sock.sendall(mqtt_publish_packet(topic, payload_bytes, qos=mqtt_qos, packet_id=publish_packet_id))
+ if mqtt_qos == 1 or wait_after_publish:
+ wait_seconds = wait_after_publish if wait_after_publish else args.timeout
+ observed = read_mqtt_reports_until(
+ sock,
+ deadline=time.monotonic() + wait_seconds,
+ timeout=args.timeout,
+ expected_puback_packet_id=publish_packet_id if mqtt_qos == 1 else None,
+ stop_after_puback=mqtt_qos == 1 and not wait_after_publish,
+ )
+ diagnostics.update(observed)
+ sock.sendall(bytes([0xE0, 0x00]))
+ return diagnostics
+
+
+def subscribe_mqtt_reports(
+ args: argparse.Namespace,
+ topic: str,
+ wait_seconds: float,
+ *,
+ push_all_topic: str | None = None,
+ max_messages: int = 1,
+) -> list[dict[str, Any]]:
+ access_code = access_code_from_args(args)
+ validate_local_host(args.host, args.allow_nonprivate_host)
+ context = ssl.create_default_context()
+ if not args.tls_verify:
+ context.check_hostname = False
+ context.verify_mode = ssl.CERT_NONE
+ client_id = args.client_id or args.serial or f"codex-bambu-status-{int(time.time())}"
+ messages: list[dict[str, Any]] = []
+ deadline = time.monotonic() + wait_seconds
+ with socket.create_connection((args.host, args.mqtt_port), timeout=args.timeout) as raw_sock:
+ with context.wrap_socket(raw_sock, server_hostname=args.host) as sock:
+ sock.sendall(mqtt_connect_packet(client_id, BAMBU_USERNAME, access_code))
+ header, body = read_mqtt_packet(sock)
+ if header != 0x20 or len(body) != 2 or body[1] != 0:
+ raise BambuPrintError(f"MQTT CONNACK failed: header=0x{header:02x} body={body.hex()}")
+ sock.sendall(mqtt_subscribe_packet(1, topic))
+ header, body = read_mqtt_packet(sock)
+ if header != 0x90 or len(body) < 3 or body[-1] == 0x80:
+ raise BambuPrintError(f"MQTT SUBACK failed: header=0x{header:02x} body={body.hex()}")
+ if push_all_topic:
+ payload = {
+ "pushing": {
+ "sequence_id": sequence_id(args.sequence_id),
+ "command": "pushall",
+ "version": 1,
+ "push_target": 1,
+ }
+ }
+ sock.sendall(mqtt_publish_packet(push_all_topic, json.dumps(payload, separators=(",", ":")).encode()))
+ while time.monotonic() < deadline:
+ sock.settimeout(max(0.1, min(args.timeout, deadline - time.monotonic())))
+ try:
+ header, body = read_mqtt_packet(sock)
+ except socket.timeout:
+ break
+ if header & 0xF0 != 0x30:
+ continue
+ message_topic, payload = parse_mqtt_publish(header, body)
+ text = payload.decode("utf-8", errors="replace")
+ item: dict[str, Any] = {"topic": message_topic, "payload": text}
+ try:
+ item["json"] = json.loads(text)
+ except json.JSONDecodeError:
+ pass
+ annotate_hms_codes(item)
+ messages.append(item)
+ if len(messages) >= max_messages:
+ break
+ payload_json = item.get("json")
+ if (
+ push_all_topic
+ and isinstance(payload_json, dict)
+ and isinstance(payload_json.get("print"), dict)
+ and payload_json["print"].get("command") == "push_status"
+ and payload_json["print"].get("msg") == 0
+ ):
+ break
+ sock.sendall(bytes([0xE0, 0x00]))
+ return messages
+
+
+def access_code_from_args(args: argparse.Namespace) -> str:
+ access_code = args.access_code or ""
+ if not access_code:
+ raise BambuPrintError("Access code is required for --execute. Configure --printer with config set or pass --access-code.")
+ if set(access_code) == {"0"}:
+ raise BambuPrintError("Access code is all zeros; refresh the printer access code before execution.")
+ return access_code
+
+
+def tail_text(value: str, *, max_lines: int = 80) -> str:
+ lines = value.splitlines()
+ if len(lines) <= max_lines:
+ return value
+ return "\n".join(lines[-max_lines:])
+
+
+def package_main(args: argparse.Namespace) -> int:
+ plan = build_package_plan(args)
+ if not args.execute:
+ print(json.dumps(plan, indent=2))
+ return 0
+
+ output_path = Path(args.output).expanduser().resolve()
+ result = package_with_bambox(args, output_path)
+ plan["dry_run"] = False
+ plan["executed"] = ["bambox_pack", "bambox_validate"]
+ plan["result"] = result
+ print(json.dumps(plan, indent=2))
+ return 0
+
+
+def config_set_main(args: argparse.Namespace) -> int:
+ path = config_path_from_args(args)
+ data = load_config(path)
+ printers = data.setdefault("printers", {})
+ entry = printers.get(args.printer)
+ if not isinstance(entry, dict):
+ entry = {}
+ printers[args.printer] = entry
+ if args.host:
+ entry["host"] = args.host
+ if args.access_code:
+ entry["access_code"] = args.access_code
+ if args.model:
+ entry["model"] = args.model
+ if args.notes:
+ entry["notes"] = args.notes
+ serial = args.serial or ""
+ if args.fetch_serial:
+ host = args.host or str(entry.get("host") or "")
+ if not host:
+ raise BambuPrintError("Cannot fetch serial without --host or an existing host in the printer config.")
+ serial = discover_printer_serial(
+ host=host,
+ port=args.mqtt_port,
+ timeout=args.timeout,
+ tls_verify=args.tls_verify,
+ allow_nonprivate_host=args.allow_nonprivate_host,
+ )
+ entry["serial_source"] = "printer_tls_certificate_common_name"
+ if serial:
+ entry["serial"] = serial
+ entry["updated_at"] = time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime())
+ save_config(path, data)
+ print(json.dumps({"ok": True, "config": str(path), "printer": args.printer, "entry": sanitized_printer_entry(entry)}, indent=2))
+ return 0
+
+
+def config_list_main(args: argparse.Namespace) -> int:
+ path = config_path_from_args(args)
+ data = load_config(path)
+ printers = data.get("printers", {})
+ payload = {
+ "config": str(path),
+ "printers": {printer_id: sanitized_printer_entry(entry) for printer_id, entry in sorted(printers.items())},
+ }
+ print(json.dumps(payload, indent=2))
+ return 0
+
+
+def config_show_main(args: argparse.Namespace) -> int:
+ path = config_path_from_args(args)
+ data = load_config(path)
+ entry = printer_entry(data, args.printer)
+ print(json.dumps({"config": str(path), "printer": args.printer, "entry": sanitized_printer_entry(entry)}, indent=2))
+ return 0
+
+
+def serial_main(args: argparse.Namespace) -> int:
+ apply_printer_config(args)
+ serial = discover_printer_serial(
+ host=args.host,
+ port=args.mqtt_port,
+ timeout=args.timeout,
+ tls_verify=args.tls_verify,
+ allow_nonprivate_host=args.allow_nonprivate_host,
+ )
+ args.serial = serial
+ cache_printer_serial(args, serial)
+ payload = {
+ "ok": True,
+ "printer": args.printer or None,
+ "host": args.host,
+ "config": str(config_path_from_args(args)) if args.printer else None,
+ "port": args.mqtt_port,
+ "serial": serial,
+ "source": "printer_tls_certificate_common_name",
+ }
+ if args.json:
+ print(json.dumps(payload, indent=2))
+ else:
+ print(serial)
+ return 0
+
+
+def status_main(args: argparse.Namespace) -> int:
+ apply_printer_config(args)
+ serial = ensure_printer_serial(args)
+ if not serial:
+ raise BambuPrintError("Printer serial is required for status; configure --printer or pass --serial.")
+ topic = args.topic or f"device/{serial}/report"
+ push_all_topic = f"device/{serial}/request" if args.push_all else None
+ messages = subscribe_mqtt_reports(
+ args,
+ topic,
+ args.wait_seconds,
+ push_all_topic=push_all_topic,
+ max_messages=args.max_messages,
+ )
+ payload = {
+ "ok": bool(messages),
+ "printer": args.printer or None,
+ "host": args.host,
+ "topic": topic,
+ "push_all_requested": bool(args.push_all),
+ "messages": messages,
+ }
+ if not messages:
+ payload["warning"] = f"No report message received within {args.wait_seconds:g} seconds."
+ print(json.dumps(payload, indent=2))
+ return 0 if messages else 1
+
+
+def clear_error_main(args: argparse.Namespace) -> int:
+ apply_printer_config(args)
+ if args.execute and not ensure_printer_serial(args):
+ raise BambuPrintError("Printer serial is required to publish clean_print_error.")
+ plan = build_clear_error_plan(args)
+ if not args.execute:
+ print(json.dumps(plan, indent=2))
+ return 0
+ publish_result = publish_mqtt(
+ args,
+ plan["mqtt"]["topic"],
+ plan["mqtt"]["payload"],
+ report_topic=f"device/{args.serial}/report" if getattr(args, "serial", "") else None,
+ )
+ plan["dry_run"] = False
+ plan["executed"] = ["publish_clean_print_error"]
+ plan["mqtt_publish_result"] = publish_result
+ print(json.dumps(plan, indent=2))
+ return 0
+
+
+def print_control_main(args: argparse.Namespace) -> int:
+ apply_printer_config(args)
+ if args.execute and args.action == "cancel" and not args.confirm_cancel_print:
+ raise BambuPrintError("Canceling a print requires --confirm-cancel-print.")
+ if args.execute and not ensure_printer_serial(args):
+ raise BambuPrintError("Printer serial is required to publish a print-control command.")
+ plan = build_print_control_plan(args)
+ if not args.execute:
+ print(json.dumps(plan, indent=2))
+ return 0
+ publish_result = publish_mqtt(
+ args,
+ plan["mqtt"]["topic"],
+ plan["mqtt"]["payload"],
+ report_topic=f"device/{args.serial}/report" if getattr(args, "serial", "") else None,
+ )
+ plan["dry_run"] = False
+ plan["executed"] = [f"publish_{args.action}_request"]
+ plan["mqtt_publish_result"] = publish_result
+ print(json.dumps(plan, indent=2))
+ return 0
+
+
+def send_main(args: argparse.Namespace) -> int:
+ apply_printer_config(args)
+ if args.execute and args.action == "plan":
+ raise BambuPrintError("--execute has no effect with --action plan.")
+ if args.execute and args.action in {"start", "upload-start"} and not args.confirm_start_print:
+ raise BambuPrintError("Starting a print requires --confirm-start-print.")
+ if args.execute and args.action in {"start", "upload-start"} and not ensure_printer_serial(args):
+ raise BambuPrintError("Printer serial is required to publish a start command.")
+ plan = build_send_plan(args)
+
+ if args.handoff == "plain":
+ local_path = Path(args.gcode).expanduser().resolve()
+ if not args.execute:
+ print(json.dumps(plan, indent=2))
+ return 0
+ return execute_send(args, plan, local_path)
+
+ if not args.execute:
+ print(json.dumps(plan, indent=2))
+ return 0
+
+ if args.handoff == "template-project":
+ with tempfile.TemporaryDirectory(prefix="bambu-template-project-") as tmp:
+ project_path = Path(tmp) / default_project_name(Path(args.gcode).expanduser())
+ package_result = package_with_template_project(args, project_path)
+ plan = build_send_plan(args, project_path=project_path)
+ plan["template_project_execution"] = package_result
+ return execute_send(args, plan, project_path)
+
+ with tempfile.TemporaryDirectory(prefix="bambu-bambox-") as tmp:
+ project_path = Path(tmp) / default_project_name(Path(args.gcode).expanduser())
+ package_result = package_with_bambox(args, project_path)
+ plan = build_send_plan(args, project_path=project_path)
+ plan["bambox_execution"] = package_result
+ return execute_send(args, plan, project_path)
+
+
+def execute_send(args: argparse.Namespace, plan: dict[str, Any], local_path: Path) -> int:
+ executed: list[str] = []
+ if args.action in {"upload", "upload-start"}:
+ upload_ftps(args, local_path, plan["ftps"]["remote_path"])
+ executed.append("upload")
+ if args.action in {"start", "upload-start"}:
+ publish_result = publish_mqtt(
+ args,
+ plan["mqtt"]["topic"],
+ plan["mqtt"]["payload"],
+ report_topic=f"device/{args.serial}/report" if getattr(args, "serial", "") else None,
+ )
+ if isinstance(publish_result, dict):
+ plan["mqtt_publish_result"] = publish_result
+ executed.append("publish_start_request")
+ plan["dry_run"] = False
+ plan["local_upload_path"] = str(local_path)
+ plan["executed"] = executed
+ if "publish_start_request" in executed:
+ plan["execution_notes"] = [
+ "MQTT start was published as a request; this helper does not confirm printer acceptance or print progress."
+ ]
+ print(json.dumps(plan, indent=2))
+ return 0
+
+
+def add_package_parser(subparsers: argparse._SubParsersAction) -> None:
+ parser = subparsers.add_parser("package", help="Package plain G-code into a supported bambox .gcode.3mf project.")
+ parser.add_argument("--gcode", required=True, help="Validated plain .gcode input.")
+ parser.add_argument("--output", required=True, help="Output .gcode.3mf path.")
+ parser.add_argument("--bambox-profile", required=True, help="Enabled bambox compatibility profile such as p1s-0.4.")
+ parser.add_argument("--filament", action="append", help="bambox filament spec. Repeat for multi-filament jobs.")
+ parser.add_argument("--bambox-bin", help="Path to bambox CLI. Defaults to BAMBOX_BIN or bambox on PATH.")
+ mode = parser.add_mutually_exclusive_group()
+ mode.add_argument("--dry-run", dest="execute", action="store_false", help="Print the packaging plan without running bambox.")
+ mode.add_argument("--execute", dest="execute", action="store_true", help="Run bambox pack and bambox validate.")
+ parser.set_defaults(execute=False, func=package_main)
+
+
+def add_config_parser(subparsers: argparse._SubParsersAction) -> None:
+ parser = subparsers.add_parser("config", help="Read and write local Bambu printer JSON config.")
+ parser.add_argument("--config", default=str(DEFAULT_CONFIG_PATH), help="Printer config JSON path.")
+ config_subparsers = parser.add_subparsers(dest="config_command", required=True)
+
+ set_parser = config_subparsers.add_parser("set", help="Create or update a configured printer.")
+ set_parser.add_argument("--printer", required=True, help="Local printer id, for example a1-mini.")
+ set_parser.add_argument("--host", help="Printer LAN IP or hostname.")
+ set_parser.add_argument("--access-code", help="Printer LAN access code.")
+ set_parser.add_argument("--model", help="Printer model, for example a1-mini.")
+ set_parser.add_argument("--serial", help="Printer serial. Usually omitted; use --fetch-serial.")
+ set_parser.add_argument("--notes", help="Optional operator notes.")
+ set_parser.add_argument("--fetch-serial", action="store_true", help="Fetch and cache serial from the printer TLS certificate.")
+ set_parser.add_argument("--mqtt-port", type=int, default=DEFAULT_MQTT_PORT)
+ set_parser.add_argument("--timeout", type=float, default=20.0)
+ set_parser.add_argument("--tls-verify", action="store_true", help="Verify printer TLS certificates.")
+ set_parser.add_argument(
+ "--allow-nonprivate-host",
+ action="store_true",
+ help="Allow printer hosts that resolve outside private/link-local/loopback ranges.",
+ )
+ set_parser.set_defaults(func=config_set_main)
+
+ list_parser = config_subparsers.add_parser("list", help="List configured printers.")
+ list_parser.set_defaults(func=config_list_main)
+
+ show_parser = config_subparsers.add_parser("show", help="Show one configured printer without printing the access code.")
+ show_parser.add_argument("--printer", required=True)
+ show_parser.set_defaults(func=config_show_main)
+
+
+def add_serial_parser(subparsers: argparse._SubParsersAction) -> None:
+ parser = subparsers.add_parser("serial", help="Fetch the printer serial from its local TLS certificate.")
+ parser.add_argument("--config", default=str(DEFAULT_CONFIG_PATH), help="Printer config JSON path.")
+ parser.add_argument("--printer", help="Configured printer id.")
+ parser.add_argument("--host", default="", help="Printer LAN IP or hostname.")
+ parser.add_argument("--mqtt-port", type=int, default=DEFAULT_MQTT_PORT)
+ parser.add_argument("--timeout", type=float, default=20.0)
+ parser.add_argument("--tls-verify", action="store_true", help="Verify printer TLS certificates.")
+ parser.add_argument(
+ "--allow-nonprivate-host",
+ action="store_true",
+ help="Allow printer hosts that resolve outside private/link-local/loopback ranges.",
+ )
+ parser.add_argument("--json", action="store_true")
+ parser.set_defaults(func=serial_main)
+
+
+def add_status_parser(subparsers: argparse._SubParsersAction) -> None:
+ parser = subparsers.add_parser("status", help="Read one MQTT report message from a configured local printer.")
+ parser.add_argument("--config", default=str(DEFAULT_CONFIG_PATH), help="Printer config JSON path.")
+ parser.add_argument("--printer", help="Configured printer id.")
+ parser.add_argument("--host", default="", help="Printer LAN IP or hostname.")
+ parser.add_argument(
+ "--serial",
+ default="",
+ help="Printer serial number for MQTT topic. Usually loaded from config or fetched automatically.",
+ )
+ parser.add_argument("--access-code", help="Printer access code for one-off use. Prefer --printer config.")
+ parser.add_argument("--topic", help="MQTT report topic. Defaults to device/{serial}/report.")
+ parser.add_argument("--push-all", action="store_true", help="Request a full status report after subscribing.")
+ parser.add_argument("--wait-seconds", type=float, default=10.0)
+ parser.add_argument("--max-messages", type=int, default=1, help="Maximum report messages to collect before returning.")
+ parser.add_argument("--sequence-id", help="MQTT sequence id for --push-all. Defaults to current timestamp milliseconds.")
+ parser.add_argument("--mqtt-port", type=int, default=DEFAULT_MQTT_PORT)
+ parser.add_argument("--timeout", type=float, default=20.0)
+ parser.add_argument("--tls-verify", action="store_true", help="Verify printer TLS certificates.")
+ parser.add_argument(
+ "--allow-nonprivate-host",
+ action="store_true",
+ help="Allow printer hosts that resolve outside private/link-local/loopback ranges.",
+ )
+ parser.add_argument("--client-id", help="MQTT client id. Defaults to the printer serial.")
+ parser.set_defaults(func=status_main)
+
+
+def add_clear_error_parser(subparsers: argparse._SubParsersAction) -> None:
+ parser = subparsers.add_parser("clear-error", help="Publish Bambu clean_print_error; dry-run by default.")
+ parser.add_argument("--config", default=str(DEFAULT_CONFIG_PATH), help="Printer config JSON path.")
+ parser.add_argument("--printer", help="Configured printer id.")
+ parser.add_argument("--host", default="", help="Printer LAN IP or hostname.")
+ parser.add_argument(
+ "--serial",
+ default="",
+ help="Printer serial number for MQTT topic. Usually loaded from config or fetched automatically.",
+ )
+ parser.add_argument("--access-code", help="Printer access code for one-off use. Prefer --printer config.")
+ parser.add_argument("--execute", action="store_true", help="Publish clean_print_error to the printer.")
+ parser.add_argument("--mqtt-port", type=int, default=DEFAULT_MQTT_PORT)
+ parser.add_argument("--timeout", type=float, default=20.0)
+ parser.add_argument("--tls-verify", action="store_true", help="Verify printer TLS certificates.")
+ parser.add_argument(
+ "--allow-nonprivate-host",
+ action="store_true",
+ help="Allow printer hosts that resolve outside private/link-local/loopback ranges.",
+ )
+ parser.add_argument("--client-id", help="MQTT client id. Defaults to the printer serial.")
+ parser.add_argument("--sequence-id", help="MQTT sequence id. Defaults to current timestamp milliseconds.")
+ parser.add_argument(
+ "--mqtt-qos",
+ type=int,
+ choices=[0, 1],
+ default=0,
+ help="MQTT publish QoS. Default 0; use 1 for protocol diagnostics.",
+ )
+ parser.add_argument(
+ "--wait-after-publish",
+ type=float,
+ default=0.0,
+ help="After publishing, stay connected for this many seconds and capture report messages.",
+ )
+ parser.set_defaults(func=clear_error_main)
+
+
+def add_print_control_parser(subparsers: argparse._SubParsersAction, action: str) -> None:
+ help_text = "Pause the active local print; dry-run by default." if action == "pause" else "Cancel the active local print; dry-run by default."
+ parser = subparsers.add_parser(action, help=help_text)
+ parser.add_argument("--config", default=str(DEFAULT_CONFIG_PATH), help="Printer config JSON path.")
+ parser.add_argument("--printer", help="Configured printer id.")
+ parser.add_argument("--host", default="", help="Printer LAN IP or hostname.")
+ parser.add_argument(
+ "--serial",
+ default="",
+ help="Printer serial number for MQTT topic. Usually loaded from config or fetched automatically.",
+ )
+ parser.add_argument("--access-code", help="Printer access code for one-off use. Prefer --printer config.")
+ parser.add_argument("--execute", action="store_true", help=f"Publish the {action} request to the printer.")
+ if action == "cancel":
+ parser.add_argument(
+ "--confirm-cancel-print",
+ action="store_true",
+ help="Required with --execute because canceling stops the active print job.",
+ )
+ parser.add_argument("--mqtt-port", type=int, default=DEFAULT_MQTT_PORT)
+ parser.add_argument("--timeout", type=float, default=20.0)
+ parser.add_argument("--tls-verify", action="store_true", help="Verify printer TLS certificates.")
+ parser.add_argument(
+ "--allow-nonprivate-host",
+ action="store_true",
+ help="Allow printer hosts that resolve outside private/link-local/loopback ranges.",
+ )
+ parser.add_argument("--client-id", help="MQTT client id. Defaults to the printer serial.")
+ parser.add_argument("--sequence-id", help="MQTT sequence id. Defaults to current timestamp milliseconds.")
+ parser.add_argument(
+ "--mqtt-qos",
+ type=int,
+ choices=[0, 1],
+ default=0,
+ help="MQTT publish QoS. Default 0; use 1 for protocol diagnostics.",
+ )
+ parser.add_argument(
+ "--wait-after-publish",
+ type=float,
+ default=0.0,
+ help="After publishing, stay connected for this many seconds and capture report messages.",
+ )
+ parser.set_defaults(action=action, func=print_control_main)
+
+
+def add_send_parser(subparsers: argparse._SubParsersAction) -> None:
+ parser = subparsers.add_parser("send", help="Inspect, upload, and optionally start a validated plain G-code job.")
+ parser.add_argument("--config", default=str(DEFAULT_CONFIG_PATH), help="Printer config JSON path.")
+ parser.add_argument("--printer", help="Configured printer id. Preferred over repeating host/access-code flags.")
+ parser.add_argument("--gcode", required=True, help="Validated plain .gcode input.")
+ parser.add_argument("--handoff", choices=["plain", "bambox-project", "template-project"], default="plain")
+ parser.add_argument("--host", default="", help="Printer LAN IP or hostname.")
+ parser.add_argument(
+ "--serial",
+ default="",
+ help="Printer serial number for MQTT topic. Usually omitted; the helper fetches it from the printer TLS certificate.",
+ )
+ parser.add_argument("--access-code", help="Printer access code for one-off use. Prefer --printer config for repeated use.")
+ parser.add_argument("--action", choices=["plan", "upload", "start", "upload-start"], default="plan")
+ parser.add_argument("--execute", action="store_true", help="Perform network action selected by --action.")
+ parser.add_argument("--confirm-start-print", action="store_true", help="Required for --action start or upload-start with --execute.")
+ parser.add_argument(
+ "--remote-dir",
+ default=None,
+ help="Remote directory. Defaults to cache for plain G-code and printer root for project handoffs.",
+ )
+ parser.add_argument("--remote-name", help="Filename to store on the printer.")
+ parser.add_argument("--gcode-param", help="Override MQTT gcode_file param. Defaults to the uploaded remote path.")
+ parser.add_argument("--plate", type=int, help="Plate number for packaged projects. Defaults to the first plate.")
+ parser.add_argument("--bambox-profile", default="p1s-0.4", help="Enabled bambox profile for --handoff bambox-project.")
+ parser.add_argument("--filament", action="append", help="bambox filament spec. Repeat for multi-filament jobs.")
+ parser.add_argument("--bambox-bin", help="Path to bambox CLI. Defaults to BAMBOX_BIN or bambox on PATH.")
+ parser.add_argument(
+ "--template-project",
+ help="Same-printer sliced .gcode.3mf template for --handoff template-project.",
+ )
+ parser.add_argument("--ftps-port", type=int, default=DEFAULT_FTPS_PORT)
+ parser.add_argument("--mqtt-port", type=int, default=DEFAULT_MQTT_PORT)
+ parser.add_argument("--timeout", type=float, default=20.0)
+ parser.add_argument("--tls-verify", action="store_true", help="Verify printer TLS certificates.")
+ parser.add_argument(
+ "--allow-nonprivate-host",
+ action="store_true",
+ help="Allow printer hosts that resolve outside private/link-local/loopback ranges.",
+ )
+ parser.add_argument("--client-id", help="MQTT client id. Defaults to the printer serial for start commands.")
+ parser.add_argument("--sequence-id", help="MQTT sequence id. Defaults to current timestamp milliseconds.")
+ parser.add_argument(
+ "--mqtt-qos",
+ type=int,
+ choices=[0, 1],
+ default=0,
+ help="MQTT publish QoS for start commands. Default 0; use 1 for protocol diagnostics.",
+ )
+ parser.add_argument(
+ "--wait-after-publish",
+ type=float,
+ default=0.0,
+ help="After publishing a start command, stay connected for this many seconds and capture report messages.",
+ )
+ parser.set_defaults(func=send_main)
+
+
+def parse_args(argv: list[str]) -> argparse.Namespace:
+ parser = argparse.ArgumentParser(description=__doc__)
+ subparsers = parser.add_subparsers(dest="command", required=True)
+ add_package_parser(subparsers)
+ add_config_parser(subparsers)
+ add_serial_parser(subparsers)
+ add_status_parser(subparsers)
+ add_clear_error_parser(subparsers)
+ add_print_control_parser(subparsers, "pause")
+ add_print_control_parser(subparsers, "cancel")
+ add_send_parser(subparsers)
+ return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+ args = parse_args(argv if argv is not None else sys.argv[1:])
+ try:
+ return args.func(args)
+ except BambuPrintError as exc:
+ print(json.dumps({"error": str(exc)}, indent=2), file=sys.stderr)
+ return 2
+
+
+if __name__ == "__main__":
+ raise SystemExit(main())
diff --git a/plugins/cad/skills/cad b/plugins/cad/skills/cad
deleted file mode 120000
index 2081dcdf..00000000
--- a/plugins/cad/skills/cad
+++ /dev/null
@@ -1 +0,0 @@
-../../../skills/cad
\ No newline at end of file
diff --git a/plugins/cad/skills/cad-viewer b/plugins/cad/skills/cad-viewer
deleted file mode 120000
index ee8c5061..00000000
--- a/plugins/cad/skills/cad-viewer
+++ /dev/null
@@ -1 +0,0 @@
-../../../skills/cad-viewer
\ No newline at end of file
diff --git a/plugins/cad/skills/cad-viewer/LICENSE b/plugins/cad/skills/cad-viewer/LICENSE
new file mode 100644
index 00000000..eabcff2c
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 earthtojake
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/plugins/cad/skills/cad-viewer/SKILL.md b/plugins/cad/skills/cad-viewer/SKILL.md
new file mode 100644
index 00000000..8653a2d6
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/SKILL.md
@@ -0,0 +1,95 @@
+---
+name: cad-viewer
+description: Start or reuse CAD Viewer and return review links for explicit CAD, implicit CAD, robot-description, and G-code files. Use when visually reviewing `.step`, `.stp`, `.implicit.js`, `.implicit.mjs`, `.glb`, `.stl`, `.3mf`, `.gcode`, `.dxf`, `.urdf`, `.srdf`, or `.sdf` files, especially when handed off from CAD, implicit-cad, G-code, URDF, SRDF, or SDF generation skills.
+---
+
+# CAD Viewer
+
+Provenance: maintained in [earthtojake/text-to-cad](https://github.com/earthtojake/text-to-cad).
+Use the installed local skill files as the runtime source of truth; the
+repository link is only for provenance and release review.
+
+Use this skill to open existing or newly generated CAD, implicit CAD,
+robot-description, DXF, or plain FDM G-code files in CAD Viewer and hand back
+live review links. The expected input is one or more explicit file paths.
+
+## Start Viewer
+
+Start or reuse one local CAD Viewer with `npm run agent:start`, passing the
+absolute artifact directory as `--dir`. The `agent:start` launcher owns port
+selection, compatible-server reuse, directory activation, and the `?dir=` query
+parameter. Dev-mode viewers are reused only for matching git identities; dist
+bundle viewers can be reused across git branches when their viewer versions
+match. It activates reused servers through the Viewer's lightweight directory
+activation API, without requiring agents to probe ports or trigger catalog
+scans manually. Use the Viewer URL printed by `agent:start` as-is, then add only
+a `file=` query value for the artifact you want to review.
+
+Choose `--dir` as the absolute directory that contains the model
+artifacts and sidecars, commonly `/models` or the consuming project's
+equivalent model directory. The `file=` value must be relative to that `--dir`.
+Do not manually choose ports, probe servers, rewrite `?dir=`, or start a
+separate Viewer just to change directories.
+
+Run from this skill directory:
+
+```bash
+npm --prefix scripts/viewer run agent:start -- --host 127.0.0.1 --dir
+```
+
+Use the printed Viewer URL and append `file=`:
+
+```bash
+http://127.0.0.1:/?dir=/absolute/project/models&file=path/to/model.step
+```
+
+If a non-Viewer process or another worktree's Viewer occupies the candidate
+port, the launcher will continue automatically. In sandboxed agent environments,
+local binding or probe failures such as `EPERM` or `EACCES` can be expected;
+rerun the same command with the needed permission/escalation.
+
+## Links
+
+- Before returning any `file=` link, resolve `/` and confirm the
+ artifact exists. Pass the generated artifact (e.g. `.step`), not its
+ generator source (e.g. `.py`). If the resolved path is missing, do not
+ return the link, and instead report the problem and point to the correct
+ generated artifact path.
+- Return one Viewer URL per requested file.
+- Start/reuse the Viewer once per absolute directory `--dir`, then append
+ `file=` for each requested file. The file path must be relative to
+ `--dir`.
+- For directory-only review links, return the URL printed by `agent:start`
+ without adding `file=`.
+- Do not stop an existing Viewer server unless the user asks.
+- If Viewer startup fails, report the failure and continue with the owning skill's non-GUI validation or artifacts.
+
+## Claude Preview
+
+The viewer port is dynamic — it is chosen at startup and may differ across
+worktrees. To integrate with the Claude Preview tool, add `--json` to the
+`agent:start` command:
+
+```bash
+npm --prefix scripts/viewer run agent:start -- --host 127.0.0.1 --dir --json
+```
+
+The launcher writes a JSON result line to stdout after the human-readable lines.
+Parse it by taking the last line of stdout that begins with `{`:
+
+```json
+{"url":"http://127.0.0.1:/?dir=","port":,"action":"reuse"}
+```
+
+`action` is `"reuse"` when an existing server was reused and is immediately
+ready, or `"start"` when a new server process was spawned and may still be
+initializing. For a `"start"` result, probe `GET /__cad/server` on the base
+URL (e.g. `http://127.0.0.1:/__cad/server`) until it returns HTTP 200
+before passing the `url` value to the Claude Preview tool.
+
+## References
+
+- Read `references/development.md` when the user asks to modify, debug, or
+ iterate on CAD Viewer source.
+- Read `references/viewer-features.md` when you need supported file types, Viewer controls, or file-specific feature details.
+- Read `references/moveit2-server.md` only when the user specifically needs optional SRDF MoveIt2 IK or path-planning controls.
diff --git a/plugins/cad/skills/cad-viewer/agents/openai.yaml b/plugins/cad/skills/cad-viewer/agents/openai.yaml
new file mode 100644
index 00000000..e754081f
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/agents/openai.yaml
@@ -0,0 +1,4 @@
+interface:
+ display_name: "CAD Viewer"
+ short_description: "Open CAD, G-code, and robot files in Viewer."
+ default_prompt: "Use $cad-viewer to start CAD Viewer and return review links for explicit CAD, G-code, or robot-description files."
diff --git a/plugins/cad/skills/cad-viewer/references/development.md b/plugins/cad/skills/cad-viewer/references/development.md
new file mode 100644
index 00000000..e9d5c04a
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/references/development.md
@@ -0,0 +1,12 @@
+# CAD Viewer Development
+
+Use this reference only when the user asks to modify, debug, or iterate on CAD
+Viewer source.
+
+CAD Viewer source development happens in the root
+source workspace, not inside this generated skill runtime.
+
+If you are not currently working directly in the editable source workspace, ask
+the user for the correct checkout and run the agent from that repository.
+
+Once inside the repository, read root `AGENTS.md` for guidance on modifying and running the Viewer.
diff --git a/plugins/cad/skills/cad-viewer/references/moveit2-server.md b/plugins/cad/skills/cad-viewer/references/moveit2-server.md
new file mode 100644
index 00000000..b2208e12
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/references/moveit2-server.md
@@ -0,0 +1,29 @@
+# MoveIt2 Server
+
+Load this only when the user specifically needs CAD Viewer's optional SRDF IK or path-planning controls. Plain SRDF review and normal Viewer links do not require MoveIt2.
+
+## Start
+
+Run from the `cad-viewer` skill directory:
+
+```bash
+npm --prefix scripts/viewer run moveit2:setup
+npm --prefix scripts/viewer run moveit2:check
+npm --prefix scripts/viewer run moveit2:serve
+```
+
+The server defaults to `ws://127.0.0.1:8765/ws`. CAD Viewer connects to that URL when `VIEWER_MOVEIT2_WS_URL` or the browser `?moveit2Ws=` query points at it.
+
+Use the configured ROS 2 / MoveIt2 environment. Do not install ROS 2 or MoveIt2 packages into the repository CAD `.venv`.
+
+## Viewer Controls
+
+Open an `.srdf` file, expand the right-side `MoveIt2` sheet, and use:
+
+- Status: linked SRDF and MoveIt2 server status.
+- Target: planning group, end effector, target frame, and X/Y/Z target coordinates.
+- Solver: IK timeout, attempts, and tolerance.
+- Planning: pipeline, planner ID, plan time, velocity scale, and acceleration scale.
+- Actions: select pose from the model, reset to the current pose, solve pose, or plan to pose.
+
+Report whether the environment check passed, whether pose solving/planning worked, and any viewer/server error text.
diff --git a/plugins/cad/skills/cad-viewer/references/viewer-features.md b/plugins/cad/skills/cad-viewer/references/viewer-features.md
new file mode 100644
index 00000000..70c5c30a
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/references/viewer-features.md
@@ -0,0 +1,22 @@
+# CAD Viewer Features
+
+Load this only when a task needs Viewer file-support details or UI control guidance.
+
+## Supported Files
+
+- `.step`, `.stp`: STEP/STP review through hidden GLB sidecars; supports assembly trees, part hide/show, inspect/focus, face/edge/vertex/part selection, copied `#...` CAD references, display modes, clip planes, and optional STEP module parameters/animations when a sidecar module exists.
+- `.stl`, `.3mf`, `.glb`: mesh viewing with orbit/pan/zoom, screenshots, appearance controls, and solid/wireframe display where available.
+- `.dxf`: read-only flat-pattern viewing, plus plate thickness and bend direction/angle controls when bend preview data is available.
+- `.gcode`: diagnostic toolpath preview; shows layer-colored extrusion ribbons, optional travel moves, visible-layer and detail controls, feature markers, movement stats, bounds, and parser warnings. It does not reslice, simulate firmware, or replace G-code validation.
+- `.urdf`: robot link/mesh viewing with movable joint sliders, reset pose, and copied joint values.
+- `.srdf`: linked-URDF viewing with planning groups, group-state presets, joint controls, and optional MoveIt2 IK/planning controls.
+- `.sdf`: SDF model/world viewing with metadata, counts, warnings, and joint controls when available.
+
+## Controls
+
+- Navigation: left-drag to orbit, right/middle-drag to pan, wheel or pinch to zoom, and Arrow/WASD keys to orbit. Use the view sphere for top/bottom/front/back/left/right views; click its center for the default isometric view.
+- File browser: toggle the left CAD Viewer sidebar, search files/ids/paths, expand folders, select entries, or switch files from the breadcrumb menus.
+- Floating toolbar: `Select` copies STEP topology references, `Draw` opens annotation tools, `Select Pose` appears for robot target picking when available, `Open orbit preview` starts an auto-rotating preview, and the copy/download buttons capture screenshots.
+- Drawing tools: freehand, line, arrow, expand, rectangle, circle, fill, erase, undo, redo, and clear.
+- File sheet: open the right sheet for file-specific controls such as STEP tree/parameters, G-code layers/detail/travel, DXF thickness/bends, URDF/SRDF/SDF joints and metadata, plus display and appearance controls.
+- Display/appearance: use the file sheet and theme menu for solid/wireframe/x-ray modes, STEP clipping, an independent Explode toggle for animated vertical STEP disassembly, surface colors, edge visibility/detail, highlight styling, backdrop, floor/grid, lighting, theme presets, and color mode.
diff --git a/plugins/cad/skills/cad-viewer/requirements.txt b/plugins/cad/skills/cad-viewer/requirements.txt
new file mode 100644
index 00000000..271f36ff
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/requirements.txt
@@ -0,0 +1 @@
+--editable ./scripts/viewer/packages/cadpy
diff --git a/plugins/cad/skills/cad-viewer/scripts/viewer/.gitignore b/plugins/cad/skills/cad-viewer/scripts/viewer/.gitignore
new file mode 100644
index 00000000..92dad316
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/scripts/viewer/.gitignore
@@ -0,0 +1,12 @@
+node_modules
+.env
+.env.*
+!.env.example
+!.env.*.example
+__pycache__
+*.py[cod]
+.pytest_cache
+tmp
+
+!dist
+!dist/**
diff --git a/plugins/cad/skills/cad-viewer/scripts/viewer/backend/server.mjs b/plugins/cad/skills/cad-viewer/scripts/viewer/backend/server.mjs
new file mode 100755
index 00000000..edb0c978
--- /dev/null
+++ b/plugins/cad/skills/cad-viewer/scripts/viewer/backend/server.mjs
@@ -0,0 +1,28692 @@
+#!/usr/bin/env node
+var __create = Object.create;
+var __defProp = Object.defineProperty;
+var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
+var __getOwnPropNames = Object.getOwnPropertyNames;
+var __getProtoOf = Object.getPrototypeOf;
+var __hasOwnProp = Object.prototype.hasOwnProperty;
+var __require = /* @__PURE__ */ ((x) => typeof require !== "undefined" ? require : typeof Proxy !== "undefined" ? new Proxy(x, {
+ get: (a, b) => (typeof require !== "undefined" ? require : a)[b]
+}) : x)(function(x) {
+ if (typeof require !== "undefined") return require.apply(this, arguments);
+ throw Error('Dynamic require of "' + x + '" is not supported');
+});
+var __esm = (fn, res) => function __init() {
+ return fn && (res = (0, fn[__getOwnPropNames(fn)[0]])(fn = 0)), res;
+};
+var __commonJS = (cb, mod2) => function __require2() {
+ return mod2 || (0, cb[__getOwnPropNames(cb)[0]])((mod2 = { exports: {} }).exports, mod2), mod2.exports;
+};
+var __export = (target, all) => {
+ for (var name in all)
+ __defProp(target, name, { get: all[name], enumerable: true });
+};
+var __copyProps = (to, from, except, desc) => {
+ if (from && typeof from === "object" || typeof from === "function") {
+ for (let key of __getOwnPropNames(from))
+ if (!__hasOwnProp.call(to, key) && key !== except)
+ __defProp(to, key, { get: () => from[key], enumerable: !(desc = __getOwnPropDesc(from, key)) || desc.enumerable });
+ }
+ return to;
+};
+var __toESM = (mod2, isNodeMode, target) => (target = mod2 != null ? __create(__getProtoOf(mod2)) : {}, __copyProps(
+ // If the importer is in node compatibility mode or this is not an ESM
+ // file that has been converted to a CommonJS file using a Babel-
+ // compatible transform (i.e. "__esModule" has not been set), then set
+ // "default" to the CommonJS "module.exports" for node compatibility.
+ isNodeMode || !mod2 || !mod2.__esModule ? __defProp(target, "default", { value: mod2, enumerable: true }) : target,
+ mod2
+));
+
+// viewer/node_modules/is-node-process/lib/index.mjs
+function isNodeProcess() {
+ if (typeof navigator !== "undefined" && navigator.product === "ReactNative") {
+ return true;
+ }
+ if (typeof process !== "undefined") {
+ const type = process.type;
+ if (type === "renderer" || type === "worker") {
+ return false;
+ }
+ return !!(process.versions && process.versions.node);
+ }
+ return false;
+}
+var init_lib = __esm({
+ "viewer/node_modules/is-node-process/lib/index.mjs"() {
+ }
+});
+
+// viewer/node_modules/is-buffer/index.js
+var require_is_buffer = __commonJS({
+ "viewer/node_modules/is-buffer/index.js"(exports, module) {
+ module.exports = function isBuffer2(obj) {
+ return obj != null && obj.constructor != null && typeof obj.constructor.isBuffer === "function" && obj.constructor.isBuffer(obj);
+ };
+ }
+});
+
+// viewer/node_modules/retry/lib/retry_operation.js
+var require_retry_operation = __commonJS({
+ "viewer/node_modules/retry/lib/retry_operation.js"(exports, module) {
+ function RetryOperation(timeouts, options) {
+ if (typeof options === "boolean") {
+ options = { forever: options };
+ }
+ this._originalTimeouts = JSON.parse(JSON.stringify(timeouts));
+ this._timeouts = timeouts;
+ this._options = options || {};
+ this._maxRetryTime = options && options.maxRetryTime || Infinity;
+ this._fn = null;
+ this._errors = [];
+ this._attempts = 1;
+ this._operationTimeout = null;
+ this._operationTimeoutCb = null;
+ this._timeout = null;
+ this._operationStart = null;
+ this._timer = null;
+ if (this._options.forever) {
+ this._cachedTimeouts = this._timeouts.slice(0);
+ }
+ }
+ module.exports = RetryOperation;
+ RetryOperation.prototype.reset = function() {
+ this._attempts = 1;
+ this._timeouts = this._originalTimeouts.slice(0);
+ };
+ RetryOperation.prototype.stop = function() {
+ if (this._timeout) {
+ clearTimeout(this._timeout);
+ }
+ if (this._timer) {
+ clearTimeout(this._timer);
+ }
+ this._timeouts = [];
+ this._cachedTimeouts = null;
+ };
+ RetryOperation.prototype.retry = function(err) {
+ if (this._timeout) {
+ clearTimeout(this._timeout);
+ }
+ if (!err) {
+ return false;
+ }
+ var currentTime = (/* @__PURE__ */ new Date()).getTime();
+ if (err && currentTime - this._operationStart >= this._maxRetryTime) {
+ this._errors.push(err);
+ this._errors.unshift(new Error("RetryOperation timeout occurred"));
+ return false;
+ }
+ this._errors.push(err);
+ var timeout = this._timeouts.shift();
+ if (timeout === void 0) {
+ if (this._cachedTimeouts) {
+ this._errors.splice(0, this._errors.length - 1);
+ timeout = this._cachedTimeouts.slice(-1);
+ } else {
+ return false;
+ }
+ }
+ var self = this;
+ this._timer = setTimeout(function() {
+ self._attempts++;
+ if (self._operationTimeoutCb) {
+ self._timeout = setTimeout(function() {
+ self._operationTimeoutCb(self._attempts);
+ }, self._operationTimeout);
+ if (self._options.unref) {
+ self._timeout.unref();
+ }
+ }
+ self._fn(self._attempts);
+ }, timeout);
+ if (this._options.unref) {
+ this._timer.unref();
+ }
+ return true;
+ };
+ RetryOperation.prototype.attempt = function(fn, timeoutOps) {
+ this._fn = fn;
+ if (timeoutOps) {
+ if (timeoutOps.timeout) {
+ this._operationTimeout = timeoutOps.timeout;
+ }
+ if (timeoutOps.cb) {
+ this._operationTimeoutCb = timeoutOps.cb;
+ }
+ }
+ var self = this;
+ if (this._operationTimeoutCb) {
+ this._timeout = setTimeout(function() {
+ self._operationTimeoutCb();
+ }, self._operationTimeout);
+ }
+ this._operationStart = (/* @__PURE__ */ new Date()).getTime();
+ this._fn(this._attempts);
+ };
+ RetryOperation.prototype.try = function(fn) {
+ console.log("Using RetryOperation.try() is deprecated");
+ this.attempt(fn);
+ };
+ RetryOperation.prototype.start = function(fn) {
+ console.log("Using RetryOperation.start() is deprecated");
+ this.attempt(fn);
+ };
+ RetryOperation.prototype.start = RetryOperation.prototype.try;
+ RetryOperation.prototype.errors = function() {
+ return this._errors;
+ };
+ RetryOperation.prototype.attempts = function() {
+ return this._attempts;
+ };
+ RetryOperation.prototype.mainError = function() {
+ if (this._errors.length === 0) {
+ return null;
+ }
+ var counts = {};
+ var mainError = null;
+ var mainErrorCount = 0;
+ for (var i = 0; i < this._errors.length; i++) {
+ var error = this._errors[i];
+ var message = error.message;
+ var count = (counts[message] || 0) + 1;
+ counts[message] = count;
+ if (count >= mainErrorCount) {
+ mainError = error;
+ mainErrorCount = count;
+ }
+ }
+ return mainError;
+ };
+ }
+});
+
+// viewer/node_modules/retry/lib/retry.js
+var require_retry = __commonJS({
+ "viewer/node_modules/retry/lib/retry.js"(exports) {
+ var RetryOperation = require_retry_operation();
+ exports.operation = function(options) {
+ var timeouts = exports.timeouts(options);
+ return new RetryOperation(timeouts, {
+ forever: options && (options.forever || options.retries === Infinity),
+ unref: options && options.unref,
+ maxRetryTime: options && options.maxRetryTime
+ });
+ };
+ exports.timeouts = function(options) {
+ if (options instanceof Array) {
+ return [].concat(options);
+ }
+ var opts = {
+ retries: 10,
+ factor: 2,
+ minTimeout: 1 * 1e3,
+ maxTimeout: Infinity,
+ randomize: false
+ };
+ for (var key in options) {
+ opts[key] = options[key];
+ }
+ if (opts.minTimeout > opts.maxTimeout) {
+ throw new Error("minTimeout is greater than maxTimeout");
+ }
+ var timeouts = [];
+ for (var i = 0; i < opts.retries; i++) {
+ timeouts.push(this.createTimeout(i, opts));
+ }
+ if (options && options.forever && !timeouts.length) {
+ timeouts.push(this.createTimeout(i, opts));
+ }
+ timeouts.sort(function(a, b) {
+ return a - b;
+ });
+ return timeouts;
+ };
+ exports.createTimeout = function(attempt, opts) {
+ var random = opts.randomize ? Math.random() + 1 : 1;
+ var timeout = Math.round(random * Math.max(opts.minTimeout, 1) * Math.pow(opts.factor, attempt));
+ timeout = Math.min(timeout, opts.maxTimeout);
+ return timeout;
+ };
+ exports.wrap = function(obj, options, methods) {
+ if (options instanceof Array) {
+ methods = options;
+ options = null;
+ }
+ if (!methods) {
+ methods = [];
+ for (var key in obj) {
+ if (typeof obj[key] === "function") {
+ methods.push(key);
+ }
+ }
+ }
+ for (var i = 0; i < methods.length; i++) {
+ var method = methods[i];
+ var original = obj[method];
+ obj[method] = function retryWrapper(original2) {
+ var op = exports.operation(options);
+ var args = Array.prototype.slice.call(arguments, 1);
+ var callback = args.pop();
+ args.push(function(err) {
+ if (op.retry(err)) {
+ return;
+ }
+ if (err) {
+ arguments[0] = op.mainError();
+ }
+ callback.apply(this, arguments);
+ });
+ op.attempt(function() {
+ original2.apply(obj, args);
+ });
+ }.bind(obj, original);
+ obj[method].options = options;
+ }
+ };
+ }
+});
+
+// viewer/node_modules/retry/index.js
+var require_retry2 = __commonJS({
+ "viewer/node_modules/retry/index.js"(exports, module) {
+ module.exports = require_retry();
+ }
+});
+
+// viewer/node_modules/async-retry/lib/index.js
+var require_lib = __commonJS({
+ "viewer/node_modules/async-retry/lib/index.js"(exports, module) {
+ var retrier = require_retry2();
+ function retry2(fn, opts) {
+ function run(resolve, reject) {
+ var options = opts || {};
+ var op;
+ if (!("randomize" in options)) {
+ options.randomize = true;
+ }
+ op = retrier.operation(options);
+ function bail(err) {
+ reject(err || new Error("Aborted"));
+ }
+ function onError(err, num) {
+ if (err.bail) {
+ bail(err);
+ return;
+ }
+ if (!op.retry(err)) {
+ reject(op.mainError());
+ } else if (options.onRetry) {
+ options.onRetry(err, num);
+ }
+ }
+ function runAttempt(num) {
+ var val;
+ try {
+ val = fn(bail, num);
+ } catch (err) {
+ onError(err, num);
+ return;
+ }
+ Promise.resolve(val).then(resolve).catch(function catchIt(err) {
+ onError(err, num);
+ });
+ }
+ op.attempt(runAttempt);
+ }
+ return new Promise(run);
+ }
+ module.exports = retry2;
+ }
+});
+
+// viewer/node_modules/undici/lib/core/symbols.js
+var require_symbols = __commonJS({
+ "viewer/node_modules/undici/lib/core/symbols.js"(exports, module) {
+ module.exports = {
+ kClose: /* @__PURE__ */ Symbol("close"),
+ kDestroy: /* @__PURE__ */ Symbol("destroy"),
+ kDispatch: /* @__PURE__ */ Symbol("dispatch"),
+ kUrl: /* @__PURE__ */ Symbol("url"),
+ kWriting: /* @__PURE__ */ Symbol("writing"),
+ kResuming: /* @__PURE__ */ Symbol("resuming"),
+ kQueue: /* @__PURE__ */ Symbol("queue"),
+ kConnect: /* @__PURE__ */ Symbol("connect"),
+ kConnecting: /* @__PURE__ */ Symbol("connecting"),
+ kKeepAliveDefaultTimeout: /* @__PURE__ */ Symbol("default keep alive timeout"),
+ kKeepAliveMaxTimeout: /* @__PURE__ */ Symbol("max keep alive timeout"),
+ kKeepAliveTimeoutThreshold: /* @__PURE__ */ Symbol("keep alive timeout threshold"),
+ kKeepAliveTimeoutValue: /* @__PURE__ */ Symbol("keep alive timeout"),
+ kKeepAlive: /* @__PURE__ */ Symbol("keep alive"),
+ kHeadersTimeout: /* @__PURE__ */ Symbol("headers timeout"),
+ kBodyTimeout: /* @__PURE__ */ Symbol("body timeout"),
+ kServerName: /* @__PURE__ */ Symbol("server name"),
+ kLocalAddress: /* @__PURE__ */ Symbol("local address"),
+ kHost: /* @__PURE__ */ Symbol("host"),
+ kNoRef: /* @__PURE__ */ Symbol("no ref"),
+ kBodyUsed: /* @__PURE__ */ Symbol("used"),
+ kBody: /* @__PURE__ */ Symbol("abstracted request body"),
+ kRunning: /* @__PURE__ */ Symbol("running"),
+ kBlocking: /* @__PURE__ */ Symbol("blocking"),
+ kPending: /* @__PURE__ */ Symbol("pending"),
+ kSize: /* @__PURE__ */ Symbol("size"),
+ kBusy: /* @__PURE__ */ Symbol("busy"),
+ kQueued: /* @__PURE__ */ Symbol("queued"),
+ kFree: /* @__PURE__ */ Symbol("free"),
+ kConnected: /* @__PURE__ */ Symbol("connected"),
+ kClosed: /* @__PURE__ */ Symbol("closed"),
+ kNeedDrain: /* @__PURE__ */ Symbol("need drain"),
+ kReset: /* @__PURE__ */ Symbol("reset"),
+ kDestroyed: /* @__PURE__ */ Symbol.for("nodejs.stream.destroyed"),
+ kResume: /* @__PURE__ */ Symbol("resume"),
+ kOnError: /* @__PURE__ */ Symbol("on error"),
+ kMaxHeadersSize: /* @__PURE__ */ Symbol("max headers size"),
+ kRunningIdx: /* @__PURE__ */ Symbol("running index"),
+ kPendingIdx: /* @__PURE__ */ Symbol("pending index"),
+ kError: /* @__PURE__ */ Symbol("error"),
+ kClients: /* @__PURE__ */ Symbol("clients"),
+ kClient: /* @__PURE__ */ Symbol("client"),
+ kParser: /* @__PURE__ */ Symbol("parser"),
+ kOnDestroyed: /* @__PURE__ */ Symbol("destroy callbacks"),
+ kPipelining: /* @__PURE__ */ Symbol("pipelining"),
+ kSocket: /* @__PURE__ */ Symbol("socket"),
+ kHostHeader: /* @__PURE__ */ Symbol("host header"),
+ kConnector: /* @__PURE__ */ Symbol("connector"),
+ kStrictContentLength: /* @__PURE__ */ Symbol("strict content length"),
+ kMaxRedirections: /* @__PURE__ */ Symbol("maxRedirections"),
+ kMaxRequests: /* @__PURE__ */ Symbol("maxRequestsPerClient"),
+ kProxy: /* @__PURE__ */ Symbol("proxy agent options"),
+ kCounter: /* @__PURE__ */ Symbol("socket request counter"),
+ kInterceptors: /* @__PURE__ */ Symbol("dispatch interceptors"),
+ kMaxResponseSize: /* @__PURE__ */ Symbol("max response size"),
+ kHTTP2Session: /* @__PURE__ */ Symbol("http2Session"),
+ kHTTP2SessionState: /* @__PURE__ */ Symbol("http2Session state"),
+ kRetryHandlerDefaultRetry: /* @__PURE__ */ Symbol("retry agent default retry"),
+ kConstruct: /* @__PURE__ */ Symbol("constructable"),
+ kListeners: /* @__PURE__ */ Symbol("listeners"),
+ kHTTPContext: /* @__PURE__ */ Symbol("http context"),
+ kMaxConcurrentStreams: /* @__PURE__ */ Symbol("max concurrent streams"),
+ kNoProxyAgent: /* @__PURE__ */ Symbol("no proxy agent"),
+ kHttpProxyAgent: /* @__PURE__ */ Symbol("http proxy agent"),
+ kHttpsProxyAgent: /* @__PURE__ */ Symbol("https proxy agent")
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/errors.js
+var require_errors = __commonJS({
+ "viewer/node_modules/undici/lib/core/errors.js"(exports, module) {
+ "use strict";
+ var kUndiciError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR");
+ var UndiciError = class extends Error {
+ constructor(message) {
+ super(message);
+ this.name = "UndiciError";
+ this.code = "UND_ERR";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kUndiciError] === true;
+ }
+ [kUndiciError] = true;
+ };
+ var kConnectTimeoutError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_CONNECT_TIMEOUT");
+ var ConnectTimeoutError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "ConnectTimeoutError";
+ this.message = message || "Connect Timeout Error";
+ this.code = "UND_ERR_CONNECT_TIMEOUT";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kConnectTimeoutError] === true;
+ }
+ [kConnectTimeoutError] = true;
+ };
+ var kHeadersTimeoutError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_HEADERS_TIMEOUT");
+ var HeadersTimeoutError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "HeadersTimeoutError";
+ this.message = message || "Headers Timeout Error";
+ this.code = "UND_ERR_HEADERS_TIMEOUT";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kHeadersTimeoutError] === true;
+ }
+ [kHeadersTimeoutError] = true;
+ };
+ var kHeadersOverflowError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_HEADERS_OVERFLOW");
+ var HeadersOverflowError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "HeadersOverflowError";
+ this.message = message || "Headers Overflow Error";
+ this.code = "UND_ERR_HEADERS_OVERFLOW";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kHeadersOverflowError] === true;
+ }
+ [kHeadersOverflowError] = true;
+ };
+ var kBodyTimeoutError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_BODY_TIMEOUT");
+ var BodyTimeoutError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "BodyTimeoutError";
+ this.message = message || "Body Timeout Error";
+ this.code = "UND_ERR_BODY_TIMEOUT";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kBodyTimeoutError] === true;
+ }
+ [kBodyTimeoutError] = true;
+ };
+ var kResponseStatusCodeError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_RESPONSE_STATUS_CODE");
+ var ResponseStatusCodeError = class extends UndiciError {
+ constructor(message, statusCode, headers, body) {
+ super(message);
+ this.name = "ResponseStatusCodeError";
+ this.message = message || "Response Status Code Error";
+ this.code = "UND_ERR_RESPONSE_STATUS_CODE";
+ this.body = body;
+ this.status = statusCode;
+ this.statusCode = statusCode;
+ this.headers = headers;
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kResponseStatusCodeError] === true;
+ }
+ [kResponseStatusCodeError] = true;
+ };
+ var kInvalidArgumentError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_INVALID_ARG");
+ var InvalidArgumentError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "InvalidArgumentError";
+ this.message = message || "Invalid Argument Error";
+ this.code = "UND_ERR_INVALID_ARG";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kInvalidArgumentError] === true;
+ }
+ [kInvalidArgumentError] = true;
+ };
+ var kInvalidReturnValueError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_INVALID_RETURN_VALUE");
+ var InvalidReturnValueError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "InvalidReturnValueError";
+ this.message = message || "Invalid Return Value Error";
+ this.code = "UND_ERR_INVALID_RETURN_VALUE";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kInvalidReturnValueError] === true;
+ }
+ [kInvalidReturnValueError] = true;
+ };
+ var kAbortError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_ABORT");
+ var AbortError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "AbortError";
+ this.message = message || "The operation was aborted";
+ this.code = "UND_ERR_ABORT";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kAbortError] === true;
+ }
+ [kAbortError] = true;
+ };
+ var kRequestAbortedError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_ABORTED");
+ var RequestAbortedError = class extends AbortError {
+ constructor(message) {
+ super(message);
+ this.name = "AbortError";
+ this.message = message || "Request aborted";
+ this.code = "UND_ERR_ABORTED";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kRequestAbortedError] === true;
+ }
+ [kRequestAbortedError] = true;
+ };
+ var kInformationalError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_INFO");
+ var InformationalError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "InformationalError";
+ this.message = message || "Request information";
+ this.code = "UND_ERR_INFO";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kInformationalError] === true;
+ }
+ [kInformationalError] = true;
+ };
+ var kRequestContentLengthMismatchError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_REQ_CONTENT_LENGTH_MISMATCH");
+ var RequestContentLengthMismatchError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "RequestContentLengthMismatchError";
+ this.message = message || "Request body length does not match content-length header";
+ this.code = "UND_ERR_REQ_CONTENT_LENGTH_MISMATCH";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kRequestContentLengthMismatchError] === true;
+ }
+ [kRequestContentLengthMismatchError] = true;
+ };
+ var kResponseContentLengthMismatchError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_RES_CONTENT_LENGTH_MISMATCH");
+ var ResponseContentLengthMismatchError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "ResponseContentLengthMismatchError";
+ this.message = message || "Response body length does not match content-length header";
+ this.code = "UND_ERR_RES_CONTENT_LENGTH_MISMATCH";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kResponseContentLengthMismatchError] === true;
+ }
+ [kResponseContentLengthMismatchError] = true;
+ };
+ var kClientDestroyedError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_DESTROYED");
+ var ClientDestroyedError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "ClientDestroyedError";
+ this.message = message || "The client is destroyed";
+ this.code = "UND_ERR_DESTROYED";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kClientDestroyedError] === true;
+ }
+ [kClientDestroyedError] = true;
+ };
+ var kClientClosedError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_CLOSED");
+ var ClientClosedError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "ClientClosedError";
+ this.message = message || "The client is closed";
+ this.code = "UND_ERR_CLOSED";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kClientClosedError] === true;
+ }
+ [kClientClosedError] = true;
+ };
+ var kSocketError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_SOCKET");
+ var SocketError = class extends UndiciError {
+ constructor(message, socket) {
+ super(message);
+ this.name = "SocketError";
+ this.message = message || "Socket error";
+ this.code = "UND_ERR_SOCKET";
+ this.socket = socket;
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kSocketError] === true;
+ }
+ [kSocketError] = true;
+ };
+ var kNotSupportedError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_NOT_SUPPORTED");
+ var NotSupportedError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "NotSupportedError";
+ this.message = message || "Not supported error";
+ this.code = "UND_ERR_NOT_SUPPORTED";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kNotSupportedError] === true;
+ }
+ [kNotSupportedError] = true;
+ };
+ var kBalancedPoolMissingUpstreamError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_BPL_MISSING_UPSTREAM");
+ var BalancedPoolMissingUpstreamError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "MissingUpstreamError";
+ this.message = message || "No upstream has been added to the BalancedPool";
+ this.code = "UND_ERR_BPL_MISSING_UPSTREAM";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kBalancedPoolMissingUpstreamError] === true;
+ }
+ [kBalancedPoolMissingUpstreamError] = true;
+ };
+ var kHTTPParserError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_HTTP_PARSER");
+ var HTTPParserError = class extends Error {
+ constructor(message, code, data) {
+ super(message);
+ this.name = "HTTPParserError";
+ this.code = code ? `HPE_${code}` : void 0;
+ this.data = data ? data.toString() : void 0;
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kHTTPParserError] === true;
+ }
+ [kHTTPParserError] = true;
+ };
+ var kResponseExceededMaxSizeError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_RES_EXCEEDED_MAX_SIZE");
+ var ResponseExceededMaxSizeError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "ResponseExceededMaxSizeError";
+ this.message = message || "Response content exceeded max size";
+ this.code = "UND_ERR_RES_EXCEEDED_MAX_SIZE";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kResponseExceededMaxSizeError] === true;
+ }
+ [kResponseExceededMaxSizeError] = true;
+ };
+ var kRequestRetryError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_REQ_RETRY");
+ var RequestRetryError = class extends UndiciError {
+ constructor(message, code, { headers, data }) {
+ super(message);
+ this.name = "RequestRetryError";
+ this.message = message || "Request retry error";
+ this.code = "UND_ERR_REQ_RETRY";
+ this.statusCode = code;
+ this.data = data;
+ this.headers = headers;
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kRequestRetryError] === true;
+ }
+ [kRequestRetryError] = true;
+ };
+ var kResponseError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_RESPONSE");
+ var ResponseError = class extends UndiciError {
+ constructor(message, code, { headers, data }) {
+ super(message);
+ this.name = "ResponseError";
+ this.message = message || "Response error";
+ this.code = "UND_ERR_RESPONSE";
+ this.statusCode = code;
+ this.data = data;
+ this.headers = headers;
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kResponseError] === true;
+ }
+ [kResponseError] = true;
+ };
+ var kSecureProxyConnectionError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_PRX_TLS");
+ var SecureProxyConnectionError = class extends UndiciError {
+ constructor(cause, message, options) {
+ super(message, { cause, ...options ?? {} });
+ this.name = "SecureProxyConnectionError";
+ this.message = message || "Secure Proxy Connection failed";
+ this.code = "UND_ERR_PRX_TLS";
+ this.cause = cause;
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kSecureProxyConnectionError] === true;
+ }
+ [kSecureProxyConnectionError] = true;
+ };
+ var kMessageSizeExceededError = /* @__PURE__ */ Symbol.for("undici.error.UND_ERR_WS_MESSAGE_SIZE_EXCEEDED");
+ var MessageSizeExceededError = class extends UndiciError {
+ constructor(message) {
+ super(message);
+ this.name = "MessageSizeExceededError";
+ this.message = message || "Max decompressed message size exceeded";
+ this.code = "UND_ERR_WS_MESSAGE_SIZE_EXCEEDED";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kMessageSizeExceededError] === true;
+ }
+ get [kMessageSizeExceededError]() {
+ return true;
+ }
+ };
+ module.exports = {
+ AbortError,
+ HTTPParserError,
+ UndiciError,
+ HeadersTimeoutError,
+ HeadersOverflowError,
+ BodyTimeoutError,
+ RequestContentLengthMismatchError,
+ ConnectTimeoutError,
+ ResponseStatusCodeError,
+ InvalidArgumentError,
+ InvalidReturnValueError,
+ RequestAbortedError,
+ ClientDestroyedError,
+ ClientClosedError,
+ InformationalError,
+ SocketError,
+ NotSupportedError,
+ ResponseContentLengthMismatchError,
+ BalancedPoolMissingUpstreamError,
+ ResponseExceededMaxSizeError,
+ RequestRetryError,
+ ResponseError,
+ SecureProxyConnectionError,
+ MessageSizeExceededError
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/constants.js
+var require_constants = __commonJS({
+ "viewer/node_modules/undici/lib/core/constants.js"(exports, module) {
+ "use strict";
+ var headerNameLowerCasedRecord = {};
+ var wellknownHeaderNames = [
+ "Accept",
+ "Accept-Encoding",
+ "Accept-Language",
+ "Accept-Ranges",
+ "Access-Control-Allow-Credentials",
+ "Access-Control-Allow-Headers",
+ "Access-Control-Allow-Methods",
+ "Access-Control-Allow-Origin",
+ "Access-Control-Expose-Headers",
+ "Access-Control-Max-Age",
+ "Access-Control-Request-Headers",
+ "Access-Control-Request-Method",
+ "Age",
+ "Allow",
+ "Alt-Svc",
+ "Alt-Used",
+ "Authorization",
+ "Cache-Control",
+ "Clear-Site-Data",
+ "Connection",
+ "Content-Disposition",
+ "Content-Encoding",
+ "Content-Language",
+ "Content-Length",
+ "Content-Location",
+ "Content-Range",
+ "Content-Security-Policy",
+ "Content-Security-Policy-Report-Only",
+ "Content-Type",
+ "Cookie",
+ "Cross-Origin-Embedder-Policy",
+ "Cross-Origin-Opener-Policy",
+ "Cross-Origin-Resource-Policy",
+ "Date",
+ "Device-Memory",
+ "Downlink",
+ "ECT",
+ "ETag",
+ "Expect",
+ "Expect-CT",
+ "Expires",
+ "Forwarded",
+ "From",
+ "Host",
+ "If-Match",
+ "If-Modified-Since",
+ "If-None-Match",
+ "If-Range",
+ "If-Unmodified-Since",
+ "Keep-Alive",
+ "Last-Modified",
+ "Link",
+ "Location",
+ "Max-Forwards",
+ "Origin",
+ "Permissions-Policy",
+ "Pragma",
+ "Proxy-Authenticate",
+ "Proxy-Authorization",
+ "RTT",
+ "Range",
+ "Referer",
+ "Referrer-Policy",
+ "Refresh",
+ "Retry-After",
+ "Sec-WebSocket-Accept",
+ "Sec-WebSocket-Extensions",
+ "Sec-WebSocket-Key",
+ "Sec-WebSocket-Protocol",
+ "Sec-WebSocket-Version",
+ "Server",
+ "Server-Timing",
+ "Service-Worker-Allowed",
+ "Service-Worker-Navigation-Preload",
+ "Set-Cookie",
+ "SourceMap",
+ "Strict-Transport-Security",
+ "Supports-Loading-Mode",
+ "TE",
+ "Timing-Allow-Origin",
+ "Trailer",
+ "Transfer-Encoding",
+ "Upgrade",
+ "Upgrade-Insecure-Requests",
+ "User-Agent",
+ "Vary",
+ "Via",
+ "WWW-Authenticate",
+ "X-Content-Type-Options",
+ "X-DNS-Prefetch-Control",
+ "X-Frame-Options",
+ "X-Permitted-Cross-Domain-Policies",
+ "X-Powered-By",
+ "X-Requested-With",
+ "X-XSS-Protection"
+ ];
+ for (let i = 0; i < wellknownHeaderNames.length; ++i) {
+ const key = wellknownHeaderNames[i];
+ const lowerCasedKey = key.toLowerCase();
+ headerNameLowerCasedRecord[key] = headerNameLowerCasedRecord[lowerCasedKey] = lowerCasedKey;
+ }
+ Object.setPrototypeOf(headerNameLowerCasedRecord, null);
+ module.exports = {
+ wellknownHeaderNames,
+ headerNameLowerCasedRecord
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/tree.js
+var require_tree = __commonJS({
+ "viewer/node_modules/undici/lib/core/tree.js"(exports, module) {
+ "use strict";
+ var {
+ wellknownHeaderNames,
+ headerNameLowerCasedRecord
+ } = require_constants();
+ var TstNode = class _TstNode {
+ /** @type {any} */
+ value = null;
+ /** @type {null | TstNode} */
+ left = null;
+ /** @type {null | TstNode} */
+ middle = null;
+ /** @type {null | TstNode} */
+ right = null;
+ /** @type {number} */
+ code;
+ /**
+ * @param {string} key
+ * @param {any} value
+ * @param {number} index
+ */
+ constructor(key, value, index) {
+ if (index === void 0 || index >= key.length) {
+ throw new TypeError("Unreachable");
+ }
+ const code = this.code = key.charCodeAt(index);
+ if (code > 127) {
+ throw new TypeError("key must be ascii string");
+ }
+ if (key.length !== ++index) {
+ this.middle = new _TstNode(key, value, index);
+ } else {
+ this.value = value;
+ }
+ }
+ /**
+ * @param {string} key
+ * @param {any} value
+ */
+ add(key, value) {
+ const length2 = key.length;
+ if (length2 === 0) {
+ throw new TypeError("Unreachable");
+ }
+ let index = 0;
+ let node = this;
+ while (true) {
+ const code = key.charCodeAt(index);
+ if (code > 127) {
+ throw new TypeError("key must be ascii string");
+ }
+ if (node.code === code) {
+ if (length2 === ++index) {
+ node.value = value;
+ break;
+ } else if (node.middle !== null) {
+ node = node.middle;
+ } else {
+ node.middle = new _TstNode(key, value, index);
+ break;
+ }
+ } else if (node.code < code) {
+ if (node.left !== null) {
+ node = node.left;
+ } else {
+ node.left = new _TstNode(key, value, index);
+ break;
+ }
+ } else if (node.right !== null) {
+ node = node.right;
+ } else {
+ node.right = new _TstNode(key, value, index);
+ break;
+ }
+ }
+ }
+ /**
+ * @param {Uint8Array} key
+ * @return {TstNode | null}
+ */
+ search(key) {
+ const keylength = key.length;
+ let index = 0;
+ let node = this;
+ while (node !== null && index < keylength) {
+ let code = key[index];
+ if (code <= 90 && code >= 65) {
+ code |= 32;
+ }
+ while (node !== null) {
+ if (code === node.code) {
+ if (keylength === ++index) {
+ return node;
+ }
+ node = node.middle;
+ break;
+ }
+ node = node.code < code ? node.left : node.right;
+ }
+ }
+ return null;
+ }
+ };
+ var TernarySearchTree = class {
+ /** @type {TstNode | null} */
+ node = null;
+ /**
+ * @param {string} key
+ * @param {any} value
+ * */
+ insert(key, value) {
+ if (this.node === null) {
+ this.node = new TstNode(key, value, 0);
+ } else {
+ this.node.add(key, value);
+ }
+ }
+ /**
+ * @param {Uint8Array} key
+ * @return {any}
+ */
+ lookup(key) {
+ return this.node?.search(key)?.value ?? null;
+ }
+ };
+ var tree = new TernarySearchTree();
+ for (let i = 0; i < wellknownHeaderNames.length; ++i) {
+ const key = headerNameLowerCasedRecord[wellknownHeaderNames[i]];
+ tree.insert(key, key);
+ }
+ module.exports = {
+ TernarySearchTree,
+ tree
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/util.js
+var require_util = __commonJS({
+ "viewer/node_modules/undici/lib/core/util.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { kDestroyed, kBodyUsed, kListeners, kBody } = require_symbols();
+ var { IncomingMessage } = __require("node:http");
+ var stream = __require("node:stream");
+ var net = __require("node:net");
+ var { Blob: Blob2 } = __require("node:buffer");
+ var nodeUtil = __require("node:util");
+ var { stringify } = __require("node:querystring");
+ var { EventEmitter: EE } = __require("node:events");
+ var { InvalidArgumentError } = require_errors();
+ var { headerNameLowerCasedRecord } = require_constants();
+ var { tree } = require_tree();
+ var [nodeMajor, nodeMinor] = process.versions.node.split(".").map((v) => Number(v));
+ var BodyAsyncIterable = class {
+ constructor(body) {
+ this[kBody] = body;
+ this[kBodyUsed] = false;
+ }
+ async *[Symbol.asyncIterator]() {
+ assert(!this[kBodyUsed], "disturbed");
+ this[kBodyUsed] = true;
+ yield* this[kBody];
+ }
+ };
+ function wrapRequestBody(body) {
+ if (isStream2(body)) {
+ if (bodyLength(body) === 0) {
+ body.on("data", function() {
+ assert(false);
+ });
+ }
+ if (typeof body.readableDidRead !== "boolean") {
+ body[kBodyUsed] = false;
+ EE.prototype.on.call(body, "data", function() {
+ this[kBodyUsed] = true;
+ });
+ }
+ return body;
+ } else if (body && typeof body.pipeTo === "function") {
+ return new BodyAsyncIterable(body);
+ } else if (body && typeof body !== "string" && !ArrayBuffer.isView(body) && isIterable(body)) {
+ return new BodyAsyncIterable(body);
+ } else {
+ return body;
+ }
+ }
+ function nop() {
+ }
+ function isStream2(obj) {
+ return obj && typeof obj === "object" && typeof obj.pipe === "function" && typeof obj.on === "function";
+ }
+ function isBlobLike(object) {
+ if (object === null) {
+ return false;
+ } else if (object instanceof Blob2) {
+ return true;
+ } else if (typeof object !== "object") {
+ return false;
+ } else {
+ const sTag = object[Symbol.toStringTag];
+ return (sTag === "Blob" || sTag === "File") && ("stream" in object && typeof object.stream === "function" || "arrayBuffer" in object && typeof object.arrayBuffer === "function");
+ }
+ }
+ function buildURL(url, queryParams) {
+ if (url.includes("?") || url.includes("#")) {
+ throw new Error('Query params cannot be passed when url already contains "?" or "#".');
+ }
+ const stringified = stringify(queryParams);
+ if (stringified) {
+ url += "?" + stringified;
+ }
+ return url;
+ }
+ function isValidPort(port2) {
+ const value = parseInt(port2, 10);
+ return value === Number(port2) && value >= 0 && value <= 65535;
+ }
+ function isHttpOrHttpsPrefixed(value) {
+ return value != null && value[0] === "h" && value[1] === "t" && value[2] === "t" && value[3] === "p" && (value[4] === ":" || value[4] === "s" && value[5] === ":");
+ }
+ function parseURL(url) {
+ if (typeof url === "string") {
+ url = new URL(url);
+ if (!isHttpOrHttpsPrefixed(url.origin || url.protocol)) {
+ throw new InvalidArgumentError("Invalid URL protocol: the URL must start with `http:` or `https:`.");
+ }
+ return url;
+ }
+ if (!url || typeof url !== "object") {
+ throw new InvalidArgumentError("Invalid URL: The URL argument must be a non-null object.");
+ }
+ if (!(url instanceof URL)) {
+ if (url.port != null && url.port !== "" && isValidPort(url.port) === false) {
+ throw new InvalidArgumentError("Invalid URL: port must be a valid integer or a string representation of an integer.");
+ }
+ if (url.path != null && typeof url.path !== "string") {
+ throw new InvalidArgumentError("Invalid URL path: the path must be a string or null/undefined.");
+ }
+ if (url.pathname != null && typeof url.pathname !== "string") {
+ throw new InvalidArgumentError("Invalid URL pathname: the pathname must be a string or null/undefined.");
+ }
+ if (url.hostname != null && typeof url.hostname !== "string") {
+ throw new InvalidArgumentError("Invalid URL hostname: the hostname must be a string or null/undefined.");
+ }
+ if (url.origin != null && typeof url.origin !== "string") {
+ throw new InvalidArgumentError("Invalid URL origin: the origin must be a string or null/undefined.");
+ }
+ if (!isHttpOrHttpsPrefixed(url.origin || url.protocol)) {
+ throw new InvalidArgumentError("Invalid URL protocol: the URL must start with `http:` or `https:`.");
+ }
+ const port2 = url.port != null ? url.port : url.protocol === "https:" ? 443 : 80;
+ let origin = url.origin != null ? url.origin : `${url.protocol || ""}//${url.hostname || ""}:${port2}`;
+ let path14 = url.path != null ? url.path : `${url.pathname || ""}${url.search || ""}`;
+ if (origin[origin.length - 1] === "/") {
+ origin = origin.slice(0, origin.length - 1);
+ }
+ if (path14 && path14[0] !== "/") {
+ path14 = `/${path14}`;
+ }
+ return new URL(`${origin}${path14}`);
+ }
+ if (!isHttpOrHttpsPrefixed(url.origin || url.protocol)) {
+ throw new InvalidArgumentError("Invalid URL protocol: the URL must start with `http:` or `https:`.");
+ }
+ return url;
+ }
+ function parseOrigin(url) {
+ url = parseURL(url);
+ if (url.pathname !== "/" || url.search || url.hash) {
+ throw new InvalidArgumentError("invalid url");
+ }
+ return url;
+ }
+ function getHostname(host2) {
+ if (host2[0] === "[") {
+ const idx2 = host2.indexOf("]");
+ assert(idx2 !== -1);
+ return host2.substring(1, idx2);
+ }
+ const idx = host2.indexOf(":");
+ if (idx === -1) return host2;
+ return host2.substring(0, idx);
+ }
+ function getServerName(host2) {
+ if (!host2) {
+ return null;
+ }
+ assert(typeof host2 === "string");
+ const servername = getHostname(host2);
+ if (net.isIP(servername)) {
+ return "";
+ }
+ return servername;
+ }
+ function deepClone(obj) {
+ return JSON.parse(JSON.stringify(obj));
+ }
+ function isAsyncIterable(obj) {
+ return !!(obj != null && typeof obj[Symbol.asyncIterator] === "function");
+ }
+ function isIterable(obj) {
+ return !!(obj != null && (typeof obj[Symbol.iterator] === "function" || typeof obj[Symbol.asyncIterator] === "function"));
+ }
+ function bodyLength(body) {
+ if (body == null) {
+ return 0;
+ } else if (isStream2(body)) {
+ const state = body._readableState;
+ return state && state.objectMode === false && state.ended === true && Number.isFinite(state.length) ? state.length : null;
+ } else if (isBlobLike(body)) {
+ return body.size != null ? body.size : null;
+ } else if (isBuffer2(body)) {
+ return body.byteLength;
+ }
+ return null;
+ }
+ function isDestroyed(body) {
+ return body && !!(body.destroyed || body[kDestroyed] || stream.isDestroyed?.(body));
+ }
+ function destroy(stream2, err) {
+ if (stream2 == null || !isStream2(stream2) || isDestroyed(stream2)) {
+ return;
+ }
+ if (typeof stream2.destroy === "function") {
+ if (Object.getPrototypeOf(stream2).constructor === IncomingMessage) {
+ stream2.socket = null;
+ }
+ stream2.destroy(err);
+ } else if (err) {
+ queueMicrotask(() => {
+ stream2.emit("error", err);
+ });
+ }
+ if (stream2.destroyed !== true) {
+ stream2[kDestroyed] = true;
+ }
+ }
+ var KEEPALIVE_TIMEOUT_EXPR = /timeout=(\d+)/;
+ function parseKeepAliveTimeout(val) {
+ const m = val.toString().match(KEEPALIVE_TIMEOUT_EXPR);
+ return m ? parseInt(m[1], 10) * 1e3 : null;
+ }
+ function headerNameToString(value) {
+ return typeof value === "string" ? headerNameLowerCasedRecord[value] ?? value.toLowerCase() : tree.lookup(value) ?? value.toString("latin1").toLowerCase();
+ }
+ function bufferToLowerCasedHeaderName(value) {
+ return tree.lookup(value) ?? value.toString("latin1").toLowerCase();
+ }
+ function parseHeaders(headers, obj) {
+ if (obj === void 0) obj = {};
+ for (let i = 0; i < headers.length; i += 2) {
+ const key = headerNameToString(headers[i]);
+ let val = obj[key];
+ if (val) {
+ if (typeof val === "string") {
+ val = [val];
+ obj[key] = val;
+ }
+ val.push(headers[i + 1].toString("utf8"));
+ } else {
+ const headersValue = headers[i + 1];
+ if (typeof headersValue === "string") {
+ obj[key] = headersValue;
+ } else {
+ obj[key] = Array.isArray(headersValue) ? headersValue.map((x) => x.toString("utf8")) : headersValue.toString("utf8");
+ }
+ }
+ }
+ if ("content-length" in obj && "content-disposition" in obj) {
+ obj["content-disposition"] = Buffer.from(obj["content-disposition"]).toString("latin1");
+ }
+ return obj;
+ }
+ function parseRawHeaders(headers) {
+ const len = headers.length;
+ const ret = new Array(len);
+ let hasContentLength = false;
+ let contentDispositionIdx = -1;
+ let key;
+ let val;
+ let kLen = 0;
+ for (let n = 0; n < headers.length; n += 2) {
+ key = headers[n];
+ val = headers[n + 1];
+ typeof key !== "string" && (key = key.toString());
+ typeof val !== "string" && (val = val.toString("utf8"));
+ kLen = key.length;
+ if (kLen === 14 && key[7] === "-" && (key === "content-length" || key.toLowerCase() === "content-length")) {
+ hasContentLength = true;
+ } else if (kLen === 19 && key[7] === "-" && (key === "content-disposition" || key.toLowerCase() === "content-disposition")) {
+ contentDispositionIdx = n + 1;
+ }
+ ret[n] = key;
+ ret[n + 1] = val;
+ }
+ if (hasContentLength && contentDispositionIdx !== -1) {
+ ret[contentDispositionIdx] = Buffer.from(ret[contentDispositionIdx]).toString("latin1");
+ }
+ return ret;
+ }
+ function isBuffer2(buffer) {
+ return buffer instanceof Uint8Array || Buffer.isBuffer(buffer);
+ }
+ function validateHandler(handler, method, upgrade) {
+ if (!handler || typeof handler !== "object") {
+ throw new InvalidArgumentError("handler must be an object");
+ }
+ if (typeof handler.onConnect !== "function") {
+ throw new InvalidArgumentError("invalid onConnect method");
+ }
+ if (typeof handler.onError !== "function") {
+ throw new InvalidArgumentError("invalid onError method");
+ }
+ if (typeof handler.onBodySent !== "function" && handler.onBodySent !== void 0) {
+ throw new InvalidArgumentError("invalid onBodySent method");
+ }
+ if (upgrade || method === "CONNECT") {
+ if (typeof handler.onUpgrade !== "function") {
+ throw new InvalidArgumentError("invalid onUpgrade method");
+ }
+ } else {
+ if (typeof handler.onHeaders !== "function") {
+ throw new InvalidArgumentError("invalid onHeaders method");
+ }
+ if (typeof handler.onData !== "function") {
+ throw new InvalidArgumentError("invalid onData method");
+ }
+ if (typeof handler.onComplete !== "function") {
+ throw new InvalidArgumentError("invalid onComplete method");
+ }
+ }
+ }
+ function isDisturbed(body) {
+ return !!(body && (stream.isDisturbed(body) || body[kBodyUsed]));
+ }
+ function isErrored(body) {
+ return !!(body && stream.isErrored(body));
+ }
+ function isReadable(body) {
+ return !!(body && stream.isReadable(body));
+ }
+ function getSocketInfo(socket) {
+ return {
+ localAddress: socket.localAddress,
+ localPort: socket.localPort,
+ remoteAddress: socket.remoteAddress,
+ remotePort: socket.remotePort,
+ remoteFamily: socket.remoteFamily,
+ timeout: socket.timeout,
+ bytesWritten: socket.bytesWritten,
+ bytesRead: socket.bytesRead
+ };
+ }
+ function ReadableStreamFrom(iterable) {
+ let iterator;
+ return new ReadableStream(
+ {
+ async start() {
+ iterator = iterable[Symbol.asyncIterator]();
+ },
+ async pull(controller) {
+ const { done, value } = await iterator.next();
+ if (done) {
+ queueMicrotask(() => {
+ controller.close();
+ controller.byobRequest?.respond(0);
+ });
+ } else {
+ const buf = Buffer.isBuffer(value) ? value : Buffer.from(value);
+ if (buf.byteLength) {
+ controller.enqueue(new Uint8Array(buf));
+ }
+ }
+ return controller.desiredSize > 0;
+ },
+ async cancel(reason) {
+ await iterator.return();
+ },
+ type: "bytes"
+ }
+ );
+ }
+ function isFormDataLike(object) {
+ return object && typeof object === "object" && typeof object.append === "function" && typeof object.delete === "function" && typeof object.get === "function" && typeof object.getAll === "function" && typeof object.has === "function" && typeof object.set === "function" && object[Symbol.toStringTag] === "FormData";
+ }
+ function addAbortListener(signal, listener) {
+ if ("addEventListener" in signal) {
+ signal.addEventListener("abort", listener, { once: true });
+ return () => signal.removeEventListener("abort", listener);
+ }
+ signal.addListener("abort", listener);
+ return () => signal.removeListener("abort", listener);
+ }
+ var hasToWellFormed = typeof String.prototype.toWellFormed === "function";
+ var hasIsWellFormed = typeof String.prototype.isWellFormed === "function";
+ function toUSVString(val) {
+ return hasToWellFormed ? `${val}`.toWellFormed() : nodeUtil.toUSVString(val);
+ }
+ function isUSVString(val) {
+ return hasIsWellFormed ? `${val}`.isWellFormed() : toUSVString(val) === `${val}`;
+ }
+ function isTokenCharCode(c) {
+ switch (c) {
+ case 34:
+ case 40:
+ case 41:
+ case 44:
+ case 47:
+ case 58:
+ case 59:
+ case 60:
+ case 61:
+ case 62:
+ case 63:
+ case 64:
+ case 91:
+ case 92:
+ case 93:
+ case 123:
+ case 125:
+ return false;
+ default:
+ return c >= 33 && c <= 126;
+ }
+ }
+ function isValidHTTPToken(characters) {
+ if (characters.length === 0) {
+ return false;
+ }
+ for (let i = 0; i < characters.length; ++i) {
+ if (!isTokenCharCode(characters.charCodeAt(i))) {
+ return false;
+ }
+ }
+ return true;
+ }
+ var headerCharRegex = /[^\t\x20-\x7e\x80-\xff]/;
+ function isValidHeaderValue(characters) {
+ return !headerCharRegex.test(characters);
+ }
+ function parseRangeHeader(range) {
+ if (range == null || range === "") return { start: 0, end: null, size: null };
+ const m = range ? range.match(/^bytes (\d+)-(\d+)\/(\d+)?$/) : null;
+ return m ? {
+ start: parseInt(m[1]),
+ end: m[2] ? parseInt(m[2]) : null,
+ size: m[3] ? parseInt(m[3]) : null
+ } : null;
+ }
+ function addListener(obj, name, listener) {
+ const listeners = obj[kListeners] ??= [];
+ listeners.push([name, listener]);
+ obj.on(name, listener);
+ return obj;
+ }
+ function removeAllListeners(obj) {
+ for (const [name, listener] of obj[kListeners] ?? []) {
+ obj.removeListener(name, listener);
+ }
+ obj[kListeners] = null;
+ }
+ function errorRequest(client, request, err) {
+ try {
+ request.onError(err);
+ assert(request.aborted);
+ } catch (err2) {
+ client.emit("error", err2);
+ }
+ }
+ var kEnumerableProperty = /* @__PURE__ */ Object.create(null);
+ kEnumerableProperty.enumerable = true;
+ var normalizedMethodRecordsBase = {
+ delete: "DELETE",
+ DELETE: "DELETE",
+ get: "GET",
+ GET: "GET",
+ head: "HEAD",
+ HEAD: "HEAD",
+ options: "OPTIONS",
+ OPTIONS: "OPTIONS",
+ post: "POST",
+ POST: "POST",
+ put: "PUT",
+ PUT: "PUT"
+ };
+ var normalizedMethodRecords = {
+ ...normalizedMethodRecordsBase,
+ patch: "patch",
+ PATCH: "PATCH"
+ };
+ Object.setPrototypeOf(normalizedMethodRecordsBase, null);
+ Object.setPrototypeOf(normalizedMethodRecords, null);
+ module.exports = {
+ kEnumerableProperty,
+ nop,
+ isDisturbed,
+ isErrored,
+ isReadable,
+ toUSVString,
+ isUSVString,
+ isBlobLike,
+ parseOrigin,
+ parseURL,
+ getServerName,
+ isStream: isStream2,
+ isIterable,
+ isAsyncIterable,
+ isDestroyed,
+ headerNameToString,
+ bufferToLowerCasedHeaderName,
+ addListener,
+ removeAllListeners,
+ errorRequest,
+ parseRawHeaders,
+ parseHeaders,
+ parseKeepAliveTimeout,
+ destroy,
+ bodyLength,
+ deepClone,
+ ReadableStreamFrom,
+ isBuffer: isBuffer2,
+ validateHandler,
+ getSocketInfo,
+ isFormDataLike,
+ buildURL,
+ addAbortListener,
+ isValidHTTPToken,
+ isValidHeaderValue,
+ isTokenCharCode,
+ parseRangeHeader,
+ normalizedMethodRecordsBase,
+ normalizedMethodRecords,
+ isValidPort,
+ isHttpOrHttpsPrefixed,
+ nodeMajor,
+ nodeMinor,
+ safeHTTPMethods: ["GET", "HEAD", "OPTIONS", "TRACE"],
+ wrapRequestBody
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/diagnostics.js
+var require_diagnostics = __commonJS({
+ "viewer/node_modules/undici/lib/core/diagnostics.js"(exports, module) {
+ "use strict";
+ var diagnosticsChannel = __require("node:diagnostics_channel");
+ var util = __require("node:util");
+ var undiciDebugLog = util.debuglog("undici");
+ var fetchDebuglog = util.debuglog("fetch");
+ var websocketDebuglog = util.debuglog("websocket");
+ var isClientSet = false;
+ var channels = {
+ // Client
+ beforeConnect: diagnosticsChannel.channel("undici:client:beforeConnect"),
+ connected: diagnosticsChannel.channel("undici:client:connected"),
+ connectError: diagnosticsChannel.channel("undici:client:connectError"),
+ sendHeaders: diagnosticsChannel.channel("undici:client:sendHeaders"),
+ // Request
+ create: diagnosticsChannel.channel("undici:request:create"),
+ bodySent: diagnosticsChannel.channel("undici:request:bodySent"),
+ headers: diagnosticsChannel.channel("undici:request:headers"),
+ trailers: diagnosticsChannel.channel("undici:request:trailers"),
+ error: diagnosticsChannel.channel("undici:request:error"),
+ // WebSocket
+ open: diagnosticsChannel.channel("undici:websocket:open"),
+ close: diagnosticsChannel.channel("undici:websocket:close"),
+ socketError: diagnosticsChannel.channel("undici:websocket:socket_error"),
+ ping: diagnosticsChannel.channel("undici:websocket:ping"),
+ pong: diagnosticsChannel.channel("undici:websocket:pong")
+ };
+ if (undiciDebugLog.enabled || fetchDebuglog.enabled) {
+ const debuglog = fetchDebuglog.enabled ? fetchDebuglog : undiciDebugLog;
+ diagnosticsChannel.channel("undici:client:beforeConnect").subscribe((evt) => {
+ const {
+ connectParams: { version, protocol, port: port2, host: host2 }
+ } = evt;
+ debuglog(
+ "connecting to %s using %s%s",
+ `${host2}${port2 ? `:${port2}` : ""}`,
+ protocol,
+ version
+ );
+ });
+ diagnosticsChannel.channel("undici:client:connected").subscribe((evt) => {
+ const {
+ connectParams: { version, protocol, port: port2, host: host2 }
+ } = evt;
+ debuglog(
+ "connected to %s using %s%s",
+ `${host2}${port2 ? `:${port2}` : ""}`,
+ protocol,
+ version
+ );
+ });
+ diagnosticsChannel.channel("undici:client:connectError").subscribe((evt) => {
+ const {
+ connectParams: { version, protocol, port: port2, host: host2 },
+ error
+ } = evt;
+ debuglog(
+ "connection to %s using %s%s errored - %s",
+ `${host2}${port2 ? `:${port2}` : ""}`,
+ protocol,
+ version,
+ error.message
+ );
+ });
+ diagnosticsChannel.channel("undici:client:sendHeaders").subscribe((evt) => {
+ const {
+ request: { method, path: path14, origin }
+ } = evt;
+ debuglog("sending request to %s %s/%s", method, origin, path14);
+ });
+ diagnosticsChannel.channel("undici:request:headers").subscribe((evt) => {
+ const {
+ request: { method, path: path14, origin },
+ response: { statusCode }
+ } = evt;
+ debuglog(
+ "received response to %s %s/%s - HTTP %d",
+ method,
+ origin,
+ path14,
+ statusCode
+ );
+ });
+ diagnosticsChannel.channel("undici:request:trailers").subscribe((evt) => {
+ const {
+ request: { method, path: path14, origin }
+ } = evt;
+ debuglog("trailers received from %s %s/%s", method, origin, path14);
+ });
+ diagnosticsChannel.channel("undici:request:error").subscribe((evt) => {
+ const {
+ request: { method, path: path14, origin },
+ error
+ } = evt;
+ debuglog(
+ "request to %s %s/%s errored - %s",
+ method,
+ origin,
+ path14,
+ error.message
+ );
+ });
+ isClientSet = true;
+ }
+ if (websocketDebuglog.enabled) {
+ if (!isClientSet) {
+ const debuglog = undiciDebugLog.enabled ? undiciDebugLog : websocketDebuglog;
+ diagnosticsChannel.channel("undici:client:beforeConnect").subscribe((evt) => {
+ const {
+ connectParams: { version, protocol, port: port2, host: host2 }
+ } = evt;
+ debuglog(
+ "connecting to %s%s using %s%s",
+ host2,
+ port2 ? `:${port2}` : "",
+ protocol,
+ version
+ );
+ });
+ diagnosticsChannel.channel("undici:client:connected").subscribe((evt) => {
+ const {
+ connectParams: { version, protocol, port: port2, host: host2 }
+ } = evt;
+ debuglog(
+ "connected to %s%s using %s%s",
+ host2,
+ port2 ? `:${port2}` : "",
+ protocol,
+ version
+ );
+ });
+ diagnosticsChannel.channel("undici:client:connectError").subscribe((evt) => {
+ const {
+ connectParams: { version, protocol, port: port2, host: host2 },
+ error
+ } = evt;
+ debuglog(
+ "connection to %s%s using %s%s errored - %s",
+ host2,
+ port2 ? `:${port2}` : "",
+ protocol,
+ version,
+ error.message
+ );
+ });
+ diagnosticsChannel.channel("undici:client:sendHeaders").subscribe((evt) => {
+ const {
+ request: { method, path: path14, origin }
+ } = evt;
+ debuglog("sending request to %s %s/%s", method, origin, path14);
+ });
+ }
+ diagnosticsChannel.channel("undici:websocket:open").subscribe((evt) => {
+ const {
+ address: { address, port: port2 }
+ } = evt;
+ websocketDebuglog("connection opened %s%s", address, port2 ? `:${port2}` : "");
+ });
+ diagnosticsChannel.channel("undici:websocket:close").subscribe((evt) => {
+ const { websocket, code, reason } = evt;
+ websocketDebuglog(
+ "closed connection to %s - %s %s",
+ websocket.url,
+ code,
+ reason
+ );
+ });
+ diagnosticsChannel.channel("undici:websocket:socket_error").subscribe((err) => {
+ websocketDebuglog("connection errored - %s", err.message);
+ });
+ diagnosticsChannel.channel("undici:websocket:ping").subscribe((evt) => {
+ websocketDebuglog("ping received");
+ });
+ diagnosticsChannel.channel("undici:websocket:pong").subscribe((evt) => {
+ websocketDebuglog("pong received");
+ });
+ }
+ module.exports = {
+ channels
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/request.js
+var require_request = __commonJS({
+ "viewer/node_modules/undici/lib/core/request.js"(exports, module) {
+ "use strict";
+ var {
+ InvalidArgumentError,
+ NotSupportedError
+ } = require_errors();
+ var assert = __require("node:assert");
+ var {
+ isValidHTTPToken,
+ isValidHeaderValue,
+ isStream: isStream2,
+ destroy,
+ isBuffer: isBuffer2,
+ isFormDataLike,
+ isIterable,
+ isBlobLike,
+ buildURL,
+ validateHandler,
+ getServerName,
+ normalizedMethodRecords
+ } = require_util();
+ var { channels } = require_diagnostics();
+ var { headerNameLowerCasedRecord } = require_constants();
+ var invalidPathRegex = /[^\u0021-\u00ff]/;
+ var kHandler = /* @__PURE__ */ Symbol("handler");
+ var Request2 = class {
+ constructor(origin, {
+ path: path14,
+ method,
+ body,
+ headers,
+ query,
+ idempotent,
+ blocking,
+ upgrade,
+ headersTimeout,
+ bodyTimeout,
+ reset,
+ throwOnError,
+ expectContinue,
+ servername
+ }, handler) {
+ if (typeof path14 !== "string") {
+ throw new InvalidArgumentError("path must be a string");
+ } else if (path14[0] !== "/" && !(path14.startsWith("http://") || path14.startsWith("https://")) && method !== "CONNECT") {
+ throw new InvalidArgumentError("path must be an absolute URL or start with a slash");
+ } else if (invalidPathRegex.test(path14)) {
+ throw new InvalidArgumentError("invalid request path");
+ }
+ if (typeof method !== "string") {
+ throw new InvalidArgumentError("method must be a string");
+ } else if (normalizedMethodRecords[method] === void 0 && !isValidHTTPToken(method)) {
+ throw new InvalidArgumentError("invalid request method");
+ }
+ if (upgrade && typeof upgrade !== "string") {
+ throw new InvalidArgumentError("upgrade must be a string");
+ }
+ if (upgrade && !isValidHeaderValue(upgrade)) {
+ throw new InvalidArgumentError("invalid upgrade header");
+ }
+ if (headersTimeout != null && (!Number.isFinite(headersTimeout) || headersTimeout < 0)) {
+ throw new InvalidArgumentError("invalid headersTimeout");
+ }
+ if (bodyTimeout != null && (!Number.isFinite(bodyTimeout) || bodyTimeout < 0)) {
+ throw new InvalidArgumentError("invalid bodyTimeout");
+ }
+ if (reset != null && typeof reset !== "boolean") {
+ throw new InvalidArgumentError("invalid reset");
+ }
+ if (expectContinue != null && typeof expectContinue !== "boolean") {
+ throw new InvalidArgumentError("invalid expectContinue");
+ }
+ this.headersTimeout = headersTimeout;
+ this.bodyTimeout = bodyTimeout;
+ this.throwOnError = throwOnError === true;
+ this.method = method;
+ this.abort = null;
+ if (body == null) {
+ this.body = null;
+ } else if (isStream2(body)) {
+ this.body = body;
+ const rState = this.body._readableState;
+ if (!rState || !rState.autoDestroy) {
+ this.endHandler = function autoDestroy() {
+ destroy(this);
+ };
+ this.body.on("end", this.endHandler);
+ }
+ this.errorHandler = (err) => {
+ if (this.abort) {
+ this.abort(err);
+ } else {
+ this.error = err;
+ }
+ };
+ this.body.on("error", this.errorHandler);
+ } else if (isBuffer2(body)) {
+ this.body = body.byteLength ? body : null;
+ } else if (ArrayBuffer.isView(body)) {
+ this.body = body.buffer.byteLength ? Buffer.from(body.buffer, body.byteOffset, body.byteLength) : null;
+ } else if (body instanceof ArrayBuffer) {
+ this.body = body.byteLength ? Buffer.from(body) : null;
+ } else if (typeof body === "string") {
+ this.body = body.length ? Buffer.from(body) : null;
+ } else if (isFormDataLike(body) || isIterable(body) || isBlobLike(body)) {
+ this.body = body;
+ } else {
+ throw new InvalidArgumentError("body must be a string, a Buffer, a Readable stream, an iterable, or an async iterable");
+ }
+ this.completed = false;
+ this.aborted = false;
+ this.upgrade = upgrade || null;
+ this.path = query ? buildURL(path14, query) : path14;
+ this.origin = origin;
+ this.idempotent = idempotent == null ? method === "HEAD" || method === "GET" : idempotent;
+ this.blocking = blocking == null ? false : blocking;
+ this.reset = reset == null ? null : reset;
+ this.host = null;
+ this.contentLength = null;
+ this.contentType = null;
+ this.headers = [];
+ this.expectContinue = expectContinue != null ? expectContinue : false;
+ if (Array.isArray(headers)) {
+ if (headers.length % 2 !== 0) {
+ throw new InvalidArgumentError("headers array must be even");
+ }
+ for (let i = 0; i < headers.length; i += 2) {
+ processHeader(this, headers[i], headers[i + 1]);
+ }
+ } else if (headers && typeof headers === "object") {
+ if (headers[Symbol.iterator]) {
+ for (const header of headers) {
+ if (!Array.isArray(header) || header.length !== 2) {
+ throw new InvalidArgumentError("headers must be in key-value pair format");
+ }
+ processHeader(this, header[0], header[1]);
+ }
+ } else {
+ const keys = Object.keys(headers);
+ for (let i = 0; i < keys.length; ++i) {
+ processHeader(this, keys[i], headers[keys[i]]);
+ }
+ }
+ } else if (headers != null) {
+ throw new InvalidArgumentError("headers must be an object or an array");
+ }
+ validateHandler(handler, method, upgrade);
+ this.servername = servername || getServerName(this.host);
+ this[kHandler] = handler;
+ if (channels.create.hasSubscribers) {
+ channels.create.publish({ request: this });
+ }
+ }
+ onBodySent(chunk) {
+ if (this[kHandler].onBodySent) {
+ try {
+ return this[kHandler].onBodySent(chunk);
+ } catch (err) {
+ this.abort(err);
+ }
+ }
+ }
+ onRequestSent() {
+ if (channels.bodySent.hasSubscribers) {
+ channels.bodySent.publish({ request: this });
+ }
+ if (this[kHandler].onRequestSent) {
+ try {
+ return this[kHandler].onRequestSent();
+ } catch (err) {
+ this.abort(err);
+ }
+ }
+ }
+ onConnect(abort) {
+ assert(!this.aborted);
+ assert(!this.completed);
+ if (this.error) {
+ abort(this.error);
+ } else {
+ this.abort = abort;
+ return this[kHandler].onConnect(abort);
+ }
+ }
+ onResponseStarted() {
+ return this[kHandler].onResponseStarted?.();
+ }
+ onHeaders(statusCode, headers, resume, statusText) {
+ assert(!this.aborted);
+ assert(!this.completed);
+ if (channels.headers.hasSubscribers) {
+ channels.headers.publish({ request: this, response: { statusCode, headers, statusText } });
+ }
+ try {
+ return this[kHandler].onHeaders(statusCode, headers, resume, statusText);
+ } catch (err) {
+ this.abort(err);
+ }
+ }
+ onData(chunk) {
+ assert(!this.aborted);
+ assert(!this.completed);
+ try {
+ return this[kHandler].onData(chunk);
+ } catch (err) {
+ this.abort(err);
+ return false;
+ }
+ }
+ onUpgrade(statusCode, headers, socket) {
+ assert(!this.aborted);
+ assert(!this.completed);
+ return this[kHandler].onUpgrade(statusCode, headers, socket);
+ }
+ onComplete(trailers) {
+ this.onFinally();
+ assert(!this.aborted);
+ this.completed = true;
+ if (channels.trailers.hasSubscribers) {
+ channels.trailers.publish({ request: this, trailers });
+ }
+ try {
+ return this[kHandler].onComplete(trailers);
+ } catch (err) {
+ this.onError(err);
+ }
+ }
+ onError(error) {
+ this.onFinally();
+ if (channels.error.hasSubscribers) {
+ channels.error.publish({ request: this, error });
+ }
+ if (this.aborted) {
+ return;
+ }
+ this.aborted = true;
+ return this[kHandler].onError(error);
+ }
+ onFinally() {
+ if (this.errorHandler) {
+ this.body.off("error", this.errorHandler);
+ this.errorHandler = null;
+ }
+ if (this.endHandler) {
+ this.body.off("end", this.endHandler);
+ this.endHandler = null;
+ }
+ }
+ addHeader(key, value) {
+ processHeader(this, key, value);
+ return this;
+ }
+ };
+ function processHeader(request, key, val) {
+ if (val && (typeof val === "object" && !Array.isArray(val))) {
+ throw new InvalidArgumentError(`invalid ${key} header`);
+ } else if (val === void 0) {
+ return;
+ }
+ let headerName = headerNameLowerCasedRecord[key];
+ if (headerName === void 0) {
+ headerName = key.toLowerCase();
+ if (headerNameLowerCasedRecord[headerName] === void 0 && !isValidHTTPToken(headerName)) {
+ throw new InvalidArgumentError("invalid header key");
+ }
+ }
+ if (Array.isArray(val)) {
+ const arr = [];
+ for (let i = 0; i < val.length; i++) {
+ if (typeof val[i] === "string") {
+ if (!isValidHeaderValue(val[i])) {
+ throw new InvalidArgumentError(`invalid ${key} header`);
+ }
+ arr.push(val[i]);
+ } else if (val[i] === null) {
+ arr.push("");
+ } else if (typeof val[i] === "object") {
+ throw new InvalidArgumentError(`invalid ${key} header`);
+ } else {
+ arr.push(`${val[i]}`);
+ }
+ }
+ val = arr;
+ } else if (typeof val === "string") {
+ if (!isValidHeaderValue(val)) {
+ throw new InvalidArgumentError(`invalid ${key} header`);
+ }
+ } else if (val === null) {
+ val = "";
+ } else {
+ val = `${val}`;
+ }
+ if (headerName === "host") {
+ if (request.host !== null) {
+ throw new InvalidArgumentError("duplicate host header");
+ }
+ if (typeof val !== "string") {
+ throw new InvalidArgumentError("invalid host header");
+ }
+ request.host = val;
+ } else if (headerName === "content-length") {
+ if (request.contentLength !== null) {
+ throw new InvalidArgumentError("duplicate content-length header");
+ }
+ request.contentLength = parseInt(val, 10);
+ if (!Number.isFinite(request.contentLength)) {
+ throw new InvalidArgumentError("invalid content-length header");
+ }
+ } else if (request.contentType === null && headerName === "content-type") {
+ request.contentType = val;
+ request.headers.push(key, val);
+ } else if (headerName === "transfer-encoding" || headerName === "keep-alive" || headerName === "upgrade") {
+ throw new InvalidArgumentError(`invalid ${headerName} header`);
+ } else if (headerName === "connection") {
+ const value = typeof val === "string" ? val.toLowerCase() : null;
+ if (value !== "close" && value !== "keep-alive") {
+ throw new InvalidArgumentError("invalid connection header");
+ }
+ if (value === "close") {
+ request.reset = true;
+ }
+ } else if (headerName === "expect") {
+ throw new NotSupportedError("expect header not supported");
+ } else {
+ request.headers.push(key, val);
+ }
+ }
+ module.exports = Request2;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/dispatcher.js
+var require_dispatcher = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/dispatcher.js"(exports, module) {
+ "use strict";
+ var EventEmitter = __require("node:events");
+ var Dispatcher = class extends EventEmitter {
+ dispatch() {
+ throw new Error("not implemented");
+ }
+ close() {
+ throw new Error("not implemented");
+ }
+ destroy() {
+ throw new Error("not implemented");
+ }
+ compose(...args) {
+ const interceptors = Array.isArray(args[0]) ? args[0] : args;
+ let dispatch = this.dispatch.bind(this);
+ for (const interceptor of interceptors) {
+ if (interceptor == null) {
+ continue;
+ }
+ if (typeof interceptor !== "function") {
+ throw new TypeError(`invalid interceptor, expected function received ${typeof interceptor}`);
+ }
+ dispatch = interceptor(dispatch);
+ if (dispatch == null || typeof dispatch !== "function" || dispatch.length !== 2) {
+ throw new TypeError("invalid interceptor");
+ }
+ }
+ return new ComposedDispatcher(this, dispatch);
+ }
+ };
+ var ComposedDispatcher = class extends Dispatcher {
+ #dispatcher = null;
+ #dispatch = null;
+ constructor(dispatcher, dispatch) {
+ super();
+ this.#dispatcher = dispatcher;
+ this.#dispatch = dispatch;
+ }
+ dispatch(...args) {
+ this.#dispatch(...args);
+ }
+ close(...args) {
+ return this.#dispatcher.close(...args);
+ }
+ destroy(...args) {
+ return this.#dispatcher.destroy(...args);
+ }
+ };
+ module.exports = Dispatcher;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/dispatcher-base.js
+var require_dispatcher_base = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/dispatcher-base.js"(exports, module) {
+ "use strict";
+ var Dispatcher = require_dispatcher();
+ var {
+ ClientDestroyedError,
+ ClientClosedError,
+ InvalidArgumentError
+ } = require_errors();
+ var { kDestroy, kClose, kClosed, kDestroyed, kDispatch, kInterceptors } = require_symbols();
+ var kOnDestroyed = /* @__PURE__ */ Symbol("onDestroyed");
+ var kOnClosed = /* @__PURE__ */ Symbol("onClosed");
+ var kInterceptedDispatch = /* @__PURE__ */ Symbol("Intercepted Dispatch");
+ var kWebSocketOptions = /* @__PURE__ */ Symbol("webSocketOptions");
+ var DispatcherBase = class extends Dispatcher {
+ constructor(opts) {
+ super();
+ this[kDestroyed] = false;
+ this[kOnDestroyed] = null;
+ this[kClosed] = false;
+ this[kOnClosed] = [];
+ this[kWebSocketOptions] = opts?.webSocket ?? {};
+ }
+ get webSocketOptions() {
+ return {
+ maxPayloadSize: this[kWebSocketOptions].maxPayloadSize ?? 128 * 1024 * 1024
+ };
+ }
+ get destroyed() {
+ return this[kDestroyed];
+ }
+ get closed() {
+ return this[kClosed];
+ }
+ get interceptors() {
+ return this[kInterceptors];
+ }
+ set interceptors(newInterceptors) {
+ if (newInterceptors) {
+ for (let i = newInterceptors.length - 1; i >= 0; i--) {
+ const interceptor = this[kInterceptors][i];
+ if (typeof interceptor !== "function") {
+ throw new InvalidArgumentError("interceptor must be an function");
+ }
+ }
+ }
+ this[kInterceptors] = newInterceptors;
+ }
+ close(callback) {
+ if (callback === void 0) {
+ return new Promise((resolve, reject) => {
+ this.close((err, data) => {
+ return err ? reject(err) : resolve(data);
+ });
+ });
+ }
+ if (typeof callback !== "function") {
+ throw new InvalidArgumentError("invalid callback");
+ }
+ if (this[kDestroyed]) {
+ queueMicrotask(() => callback(new ClientDestroyedError(), null));
+ return;
+ }
+ if (this[kClosed]) {
+ if (this[kOnClosed]) {
+ this[kOnClosed].push(callback);
+ } else {
+ queueMicrotask(() => callback(null, null));
+ }
+ return;
+ }
+ this[kClosed] = true;
+ this[kOnClosed].push(callback);
+ const onClosed = () => {
+ const callbacks = this[kOnClosed];
+ this[kOnClosed] = null;
+ for (let i = 0; i < callbacks.length; i++) {
+ callbacks[i](null, null);
+ }
+ };
+ this[kClose]().then(() => this.destroy()).then(() => {
+ queueMicrotask(onClosed);
+ });
+ }
+ destroy(err, callback) {
+ if (typeof err === "function") {
+ callback = err;
+ err = null;
+ }
+ if (callback === void 0) {
+ return new Promise((resolve, reject) => {
+ this.destroy(err, (err2, data) => {
+ return err2 ? (
+ /* istanbul ignore next: should never error */
+ reject(err2)
+ ) : resolve(data);
+ });
+ });
+ }
+ if (typeof callback !== "function") {
+ throw new InvalidArgumentError("invalid callback");
+ }
+ if (this[kDestroyed]) {
+ if (this[kOnDestroyed]) {
+ this[kOnDestroyed].push(callback);
+ } else {
+ queueMicrotask(() => callback(null, null));
+ }
+ return;
+ }
+ if (!err) {
+ err = new ClientDestroyedError();
+ }
+ this[kDestroyed] = true;
+ this[kOnDestroyed] = this[kOnDestroyed] || [];
+ this[kOnDestroyed].push(callback);
+ const onDestroyed = () => {
+ const callbacks = this[kOnDestroyed];
+ this[kOnDestroyed] = null;
+ for (let i = 0; i < callbacks.length; i++) {
+ callbacks[i](null, null);
+ }
+ };
+ this[kDestroy](err).then(() => {
+ queueMicrotask(onDestroyed);
+ });
+ }
+ [kInterceptedDispatch](opts, handler) {
+ if (!this[kInterceptors] || this[kInterceptors].length === 0) {
+ this[kInterceptedDispatch] = this[kDispatch];
+ return this[kDispatch](opts, handler);
+ }
+ let dispatch = this[kDispatch].bind(this);
+ for (let i = this[kInterceptors].length - 1; i >= 0; i--) {
+ dispatch = this[kInterceptors][i](dispatch);
+ }
+ this[kInterceptedDispatch] = dispatch;
+ return dispatch(opts, handler);
+ }
+ dispatch(opts, handler) {
+ if (!handler || typeof handler !== "object") {
+ throw new InvalidArgumentError("handler must be an object");
+ }
+ try {
+ if (!opts || typeof opts !== "object") {
+ throw new InvalidArgumentError("opts must be an object.");
+ }
+ if (this[kDestroyed] || this[kOnDestroyed]) {
+ throw new ClientDestroyedError();
+ }
+ if (this[kClosed]) {
+ throw new ClientClosedError();
+ }
+ return this[kInterceptedDispatch](opts, handler);
+ } catch (err) {
+ if (typeof handler.onError !== "function") {
+ throw new InvalidArgumentError("invalid onError method");
+ }
+ handler.onError(err);
+ return false;
+ }
+ }
+ };
+ module.exports = DispatcherBase;
+ }
+});
+
+// viewer/node_modules/undici/lib/util/timers.js
+var require_timers = __commonJS({
+ "viewer/node_modules/undici/lib/util/timers.js"(exports, module) {
+ "use strict";
+ var fastNow = 0;
+ var RESOLUTION_MS = 1e3;
+ var TICK_MS = (RESOLUTION_MS >> 1) - 1;
+ var fastNowTimeout;
+ var kFastTimer = /* @__PURE__ */ Symbol("kFastTimer");
+ var fastTimers = [];
+ var NOT_IN_LIST = -2;
+ var TO_BE_CLEARED = -1;
+ var PENDING = 0;
+ var ACTIVE = 1;
+ function onTick() {
+ fastNow += TICK_MS;
+ let idx = 0;
+ let len = fastTimers.length;
+ while (idx < len) {
+ const timer = fastTimers[idx];
+ if (timer._state === PENDING) {
+ timer._idleStart = fastNow - TICK_MS;
+ timer._state = ACTIVE;
+ } else if (timer._state === ACTIVE && fastNow >= timer._idleStart + timer._idleTimeout) {
+ timer._state = TO_BE_CLEARED;
+ timer._idleStart = -1;
+ timer._onTimeout(timer._timerArg);
+ }
+ if (timer._state === TO_BE_CLEARED) {
+ timer._state = NOT_IN_LIST;
+ if (--len !== 0) {
+ fastTimers[idx] = fastTimers[len];
+ }
+ } else {
+ ++idx;
+ }
+ }
+ fastTimers.length = len;
+ if (fastTimers.length !== 0) {
+ refreshTimeout();
+ }
+ }
+ function refreshTimeout() {
+ if (fastNowTimeout) {
+ fastNowTimeout.refresh();
+ } else {
+ clearTimeout(fastNowTimeout);
+ fastNowTimeout = setTimeout(onTick, TICK_MS);
+ if (fastNowTimeout.unref) {
+ fastNowTimeout.unref();
+ }
+ }
+ }
+ var FastTimer = class {
+ [kFastTimer] = true;
+ /**
+ * The state of the timer, which can be one of the following:
+ * - NOT_IN_LIST (-2)
+ * - TO_BE_CLEARED (-1)
+ * - PENDING (0)
+ * - ACTIVE (1)
+ *
+ * @type {-2|-1|0|1}
+ * @private
+ */
+ _state = NOT_IN_LIST;
+ /**
+ * The number of milliseconds to wait before calling the callback.
+ *
+ * @type {number}
+ * @private
+ */
+ _idleTimeout = -1;
+ /**
+ * The time in milliseconds when the timer was started. This value is used to
+ * calculate when the timer should expire.
+ *
+ * @type {number}
+ * @default -1
+ * @private
+ */
+ _idleStart = -1;
+ /**
+ * The function to be executed when the timer expires.
+ * @type {Function}
+ * @private
+ */
+ _onTimeout;
+ /**
+ * The argument to be passed to the callback when the timer expires.
+ *
+ * @type {*}
+ * @private
+ */
+ _timerArg;
+ /**
+ * @constructor
+ * @param {Function} callback A function to be executed after the timer
+ * expires.
+ * @param {number} delay The time, in milliseconds that the timer should wait
+ * before the specified function or code is executed.
+ * @param {*} arg
+ */
+ constructor(callback, delay, arg) {
+ this._onTimeout = callback;
+ this._idleTimeout = delay;
+ this._timerArg = arg;
+ this.refresh();
+ }
+ /**
+ * Sets the timer's start time to the current time, and reschedules the timer
+ * to call its callback at the previously specified duration adjusted to the
+ * current time.
+ * Using this on a timer that has already called its callback will reactivate
+ * the timer.
+ *
+ * @returns {void}
+ */
+ refresh() {
+ if (this._state === NOT_IN_LIST) {
+ fastTimers.push(this);
+ }
+ if (!fastNowTimeout || fastTimers.length === 1) {
+ refreshTimeout();
+ }
+ this._state = PENDING;
+ }
+ /**
+ * The `clear` method cancels the timer, preventing it from executing.
+ *
+ * @returns {void}
+ * @private
+ */
+ clear() {
+ this._state = TO_BE_CLEARED;
+ this._idleStart = -1;
+ }
+ };
+ module.exports = {
+ /**
+ * The setTimeout() method sets a timer which executes a function once the
+ * timer expires.
+ * @param {Function} callback A function to be executed after the timer
+ * expires.
+ * @param {number} delay The time, in milliseconds that the timer should
+ * wait before the specified function or code is executed.
+ * @param {*} [arg] An optional argument to be passed to the callback function
+ * when the timer expires.
+ * @returns {NodeJS.Timeout|FastTimer}
+ */
+ setTimeout(callback, delay, arg) {
+ return delay <= RESOLUTION_MS ? setTimeout(callback, delay, arg) : new FastTimer(callback, delay, arg);
+ },
+ /**
+ * The clearTimeout method cancels an instantiated Timer previously created
+ * by calling setTimeout.
+ *
+ * @param {NodeJS.Timeout|FastTimer} timeout
+ */
+ clearTimeout(timeout) {
+ if (timeout[kFastTimer]) {
+ timeout.clear();
+ } else {
+ clearTimeout(timeout);
+ }
+ },
+ /**
+ * The setFastTimeout() method sets a fastTimer which executes a function once
+ * the timer expires.
+ * @param {Function} callback A function to be executed after the timer
+ * expires.
+ * @param {number} delay The time, in milliseconds that the timer should
+ * wait before the specified function or code is executed.
+ * @param {*} [arg] An optional argument to be passed to the callback function
+ * when the timer expires.
+ * @returns {FastTimer}
+ */
+ setFastTimeout(callback, delay, arg) {
+ return new FastTimer(callback, delay, arg);
+ },
+ /**
+ * The clearTimeout method cancels an instantiated FastTimer previously
+ * created by calling setFastTimeout.
+ *
+ * @param {FastTimer} timeout
+ */
+ clearFastTimeout(timeout) {
+ timeout.clear();
+ },
+ /**
+ * The now method returns the value of the internal fast timer clock.
+ *
+ * @returns {number}
+ */
+ now() {
+ return fastNow;
+ },
+ /**
+ * Trigger the onTick function to process the fastTimers array.
+ * Exported for testing purposes only.
+ * Marking as deprecated to discourage any use outside of testing.
+ * @deprecated
+ * @param {number} [delay=0] The delay in milliseconds to add to the now value.
+ */
+ tick(delay = 0) {
+ fastNow += delay - RESOLUTION_MS + 1;
+ onTick();
+ onTick();
+ },
+ /**
+ * Reset FastTimers.
+ * Exported for testing purposes only.
+ * Marking as deprecated to discourage any use outside of testing.
+ * @deprecated
+ */
+ reset() {
+ fastNow = 0;
+ fastTimers.length = 0;
+ clearTimeout(fastNowTimeout);
+ fastNowTimeout = null;
+ },
+ /**
+ * Exporting for testing purposes only.
+ * Marking as deprecated to discourage any use outside of testing.
+ * @deprecated
+ */
+ kFastTimer
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/core/connect.js
+var require_connect = __commonJS({
+ "viewer/node_modules/undici/lib/core/connect.js"(exports, module) {
+ "use strict";
+ var net = __require("node:net");
+ var assert = __require("node:assert");
+ var util = require_util();
+ var { InvalidArgumentError, ConnectTimeoutError } = require_errors();
+ var timers = require_timers();
+ function noop() {
+ }
+ var tls;
+ var SessionCache;
+ if (global.FinalizationRegistry && !(process.env.NODE_V8_COVERAGE || process.env.UNDICI_NO_FG)) {
+ SessionCache = class WeakSessionCache {
+ constructor(maxCachedSessions) {
+ this._maxCachedSessions = maxCachedSessions;
+ this._sessionCache = /* @__PURE__ */ new Map();
+ this._sessionRegistry = new global.FinalizationRegistry((key) => {
+ if (this._sessionCache.size < this._maxCachedSessions) {
+ return;
+ }
+ const ref = this._sessionCache.get(key);
+ if (ref !== void 0 && ref.deref() === void 0) {
+ this._sessionCache.delete(key);
+ }
+ });
+ }
+ get(sessionKey) {
+ const ref = this._sessionCache.get(sessionKey);
+ return ref ? ref.deref() : null;
+ }
+ set(sessionKey, session) {
+ if (this._maxCachedSessions === 0) {
+ return;
+ }
+ this._sessionCache.set(sessionKey, new WeakRef(session));
+ this._sessionRegistry.register(session, sessionKey);
+ }
+ };
+ } else {
+ SessionCache = class SimpleSessionCache {
+ constructor(maxCachedSessions) {
+ this._maxCachedSessions = maxCachedSessions;
+ this._sessionCache = /* @__PURE__ */ new Map();
+ }
+ get(sessionKey) {
+ return this._sessionCache.get(sessionKey);
+ }
+ set(sessionKey, session) {
+ if (this._maxCachedSessions === 0) {
+ return;
+ }
+ if (this._sessionCache.size >= this._maxCachedSessions) {
+ const { value: oldestKey } = this._sessionCache.keys().next();
+ this._sessionCache.delete(oldestKey);
+ }
+ this._sessionCache.set(sessionKey, session);
+ }
+ };
+ }
+ function buildConnector({ allowH2, maxCachedSessions, socketPath, timeout, session: customSession, ...opts }) {
+ if (maxCachedSessions != null && (!Number.isInteger(maxCachedSessions) || maxCachedSessions < 0)) {
+ throw new InvalidArgumentError("maxCachedSessions must be a positive integer or zero");
+ }
+ const options = { path: socketPath, ...opts };
+ const sessionCache = new SessionCache(maxCachedSessions == null ? 100 : maxCachedSessions);
+ timeout = timeout == null ? 1e4 : timeout;
+ allowH2 = allowH2 != null ? allowH2 : false;
+ return function connect({ hostname, host: host2, protocol, port: port2, servername, localAddress, httpSocket }, callback) {
+ let socket;
+ if (protocol === "https:") {
+ if (!tls) {
+ tls = __require("node:tls");
+ }
+ servername = servername || options.servername || util.getServerName(host2) || null;
+ const sessionKey = servername || hostname;
+ assert(sessionKey);
+ const session = customSession || sessionCache.get(sessionKey) || null;
+ port2 = port2 || 443;
+ socket = tls.connect({
+ highWaterMark: 16384,
+ // TLS in node can't have bigger HWM anyway...
+ ...options,
+ servername,
+ session,
+ localAddress,
+ // TODO(HTTP/2): Add support for h2c
+ ALPNProtocols: allowH2 ? ["http/1.1", "h2"] : ["http/1.1"],
+ socket: httpSocket,
+ // upgrade socket connection
+ port: port2,
+ host: hostname
+ });
+ socket.on("session", function(session2) {
+ sessionCache.set(sessionKey, session2);
+ });
+ } else {
+ assert(!httpSocket, "httpSocket can only be sent on TLS update");
+ port2 = port2 || 80;
+ socket = net.connect({
+ highWaterMark: 64 * 1024,
+ // Same as nodejs fs streams.
+ ...options,
+ localAddress,
+ port: port2,
+ host: hostname
+ });
+ }
+ if (options.keepAlive == null || options.keepAlive) {
+ const keepAliveInitialDelay = options.keepAliveInitialDelay === void 0 ? 6e4 : options.keepAliveInitialDelay;
+ socket.setKeepAlive(true, keepAliveInitialDelay);
+ }
+ const clearConnectTimeout = setupConnectTimeout(new WeakRef(socket), { timeout, hostname, port: port2 });
+ socket.setNoDelay(true).once(protocol === "https:" ? "secureConnect" : "connect", function() {
+ queueMicrotask(clearConnectTimeout);
+ if (callback) {
+ const cb = callback;
+ callback = null;
+ cb(null, this);
+ }
+ }).on("error", function(err) {
+ queueMicrotask(clearConnectTimeout);
+ if (callback) {
+ const cb = callback;
+ callback = null;
+ cb(err);
+ }
+ });
+ return socket;
+ };
+ }
+ var setupConnectTimeout = process.platform === "win32" ? (socketWeakRef, opts) => {
+ if (!opts.timeout) {
+ return noop;
+ }
+ let s1 = null;
+ let s2 = null;
+ const fastTimer = timers.setFastTimeout(() => {
+ s1 = setImmediate(() => {
+ s2 = setImmediate(() => onConnectTimeout(socketWeakRef.deref(), opts));
+ });
+ }, opts.timeout);
+ return () => {
+ timers.clearFastTimeout(fastTimer);
+ clearImmediate(s1);
+ clearImmediate(s2);
+ };
+ } : (socketWeakRef, opts) => {
+ if (!opts.timeout) {
+ return noop;
+ }
+ let s1 = null;
+ const fastTimer = timers.setFastTimeout(() => {
+ s1 = setImmediate(() => {
+ onConnectTimeout(socketWeakRef.deref(), opts);
+ });
+ }, opts.timeout);
+ return () => {
+ timers.clearFastTimeout(fastTimer);
+ clearImmediate(s1);
+ };
+ };
+ function onConnectTimeout(socket, opts) {
+ if (socket == null) {
+ return;
+ }
+ let message = "Connect Timeout Error";
+ if (Array.isArray(socket.autoSelectFamilyAttemptedAddresses)) {
+ message += ` (attempted addresses: ${socket.autoSelectFamilyAttemptedAddresses.join(", ")},`;
+ } else {
+ message += ` (attempted address: ${opts.hostname}:${opts.port},`;
+ }
+ message += ` timeout: ${opts.timeout}ms)`;
+ util.destroy(socket, new ConnectTimeoutError(message));
+ }
+ module.exports = buildConnector;
+ }
+});
+
+// viewer/node_modules/undici/lib/llhttp/utils.js
+var require_utils = __commonJS({
+ "viewer/node_modules/undici/lib/llhttp/utils.js"(exports) {
+ "use strict";
+ Object.defineProperty(exports, "__esModule", { value: true });
+ exports.enumToMap = void 0;
+ function enumToMap(obj) {
+ const res = {};
+ Object.keys(obj).forEach((key) => {
+ const value = obj[key];
+ if (typeof value === "number") {
+ res[key] = value;
+ }
+ });
+ return res;
+ }
+ exports.enumToMap = enumToMap;
+ }
+});
+
+// viewer/node_modules/undici/lib/llhttp/constants.js
+var require_constants2 = __commonJS({
+ "viewer/node_modules/undici/lib/llhttp/constants.js"(exports) {
+ "use strict";
+ Object.defineProperty(exports, "__esModule", { value: true });
+ exports.SPECIAL_HEADERS = exports.HEADER_STATE = exports.MINOR = exports.MAJOR = exports.CONNECTION_TOKEN_CHARS = exports.HEADER_CHARS = exports.TOKEN = exports.STRICT_TOKEN = exports.HEX = exports.URL_CHAR = exports.STRICT_URL_CHAR = exports.USERINFO_CHARS = exports.MARK = exports.ALPHANUM = exports.NUM = exports.HEX_MAP = exports.NUM_MAP = exports.ALPHA = exports.FINISH = exports.H_METHOD_MAP = exports.METHOD_MAP = exports.METHODS_RTSP = exports.METHODS_ICE = exports.METHODS_HTTP = exports.METHODS = exports.LENIENT_FLAGS = exports.FLAGS = exports.TYPE = exports.ERROR = void 0;
+ var utils_1 = require_utils();
+ var ERROR;
+ (function(ERROR2) {
+ ERROR2[ERROR2["OK"] = 0] = "OK";
+ ERROR2[ERROR2["INTERNAL"] = 1] = "INTERNAL";
+ ERROR2[ERROR2["STRICT"] = 2] = "STRICT";
+ ERROR2[ERROR2["LF_EXPECTED"] = 3] = "LF_EXPECTED";
+ ERROR2[ERROR2["UNEXPECTED_CONTENT_LENGTH"] = 4] = "UNEXPECTED_CONTENT_LENGTH";
+ ERROR2[ERROR2["CLOSED_CONNECTION"] = 5] = "CLOSED_CONNECTION";
+ ERROR2[ERROR2["INVALID_METHOD"] = 6] = "INVALID_METHOD";
+ ERROR2[ERROR2["INVALID_URL"] = 7] = "INVALID_URL";
+ ERROR2[ERROR2["INVALID_CONSTANT"] = 8] = "INVALID_CONSTANT";
+ ERROR2[ERROR2["INVALID_VERSION"] = 9] = "INVALID_VERSION";
+ ERROR2[ERROR2["INVALID_HEADER_TOKEN"] = 10] = "INVALID_HEADER_TOKEN";
+ ERROR2[ERROR2["INVALID_CONTENT_LENGTH"] = 11] = "INVALID_CONTENT_LENGTH";
+ ERROR2[ERROR2["INVALID_CHUNK_SIZE"] = 12] = "INVALID_CHUNK_SIZE";
+ ERROR2[ERROR2["INVALID_STATUS"] = 13] = "INVALID_STATUS";
+ ERROR2[ERROR2["INVALID_EOF_STATE"] = 14] = "INVALID_EOF_STATE";
+ ERROR2[ERROR2["INVALID_TRANSFER_ENCODING"] = 15] = "INVALID_TRANSFER_ENCODING";
+ ERROR2[ERROR2["CB_MESSAGE_BEGIN"] = 16] = "CB_MESSAGE_BEGIN";
+ ERROR2[ERROR2["CB_HEADERS_COMPLETE"] = 17] = "CB_HEADERS_COMPLETE";
+ ERROR2[ERROR2["CB_MESSAGE_COMPLETE"] = 18] = "CB_MESSAGE_COMPLETE";
+ ERROR2[ERROR2["CB_CHUNK_HEADER"] = 19] = "CB_CHUNK_HEADER";
+ ERROR2[ERROR2["CB_CHUNK_COMPLETE"] = 20] = "CB_CHUNK_COMPLETE";
+ ERROR2[ERROR2["PAUSED"] = 21] = "PAUSED";
+ ERROR2[ERROR2["PAUSED_UPGRADE"] = 22] = "PAUSED_UPGRADE";
+ ERROR2[ERROR2["PAUSED_H2_UPGRADE"] = 23] = "PAUSED_H2_UPGRADE";
+ ERROR2[ERROR2["USER"] = 24] = "USER";
+ })(ERROR = exports.ERROR || (exports.ERROR = {}));
+ var TYPE;
+ (function(TYPE2) {
+ TYPE2[TYPE2["BOTH"] = 0] = "BOTH";
+ TYPE2[TYPE2["REQUEST"] = 1] = "REQUEST";
+ TYPE2[TYPE2["RESPONSE"] = 2] = "RESPONSE";
+ })(TYPE = exports.TYPE || (exports.TYPE = {}));
+ var FLAGS;
+ (function(FLAGS2) {
+ FLAGS2[FLAGS2["CONNECTION_KEEP_ALIVE"] = 1] = "CONNECTION_KEEP_ALIVE";
+ FLAGS2[FLAGS2["CONNECTION_CLOSE"] = 2] = "CONNECTION_CLOSE";
+ FLAGS2[FLAGS2["CONNECTION_UPGRADE"] = 4] = "CONNECTION_UPGRADE";
+ FLAGS2[FLAGS2["CHUNKED"] = 8] = "CHUNKED";
+ FLAGS2[FLAGS2["UPGRADE"] = 16] = "UPGRADE";
+ FLAGS2[FLAGS2["CONTENT_LENGTH"] = 32] = "CONTENT_LENGTH";
+ FLAGS2[FLAGS2["SKIPBODY"] = 64] = "SKIPBODY";
+ FLAGS2[FLAGS2["TRAILING"] = 128] = "TRAILING";
+ FLAGS2[FLAGS2["TRANSFER_ENCODING"] = 512] = "TRANSFER_ENCODING";
+ })(FLAGS = exports.FLAGS || (exports.FLAGS = {}));
+ var LENIENT_FLAGS;
+ (function(LENIENT_FLAGS2) {
+ LENIENT_FLAGS2[LENIENT_FLAGS2["HEADERS"] = 1] = "HEADERS";
+ LENIENT_FLAGS2[LENIENT_FLAGS2["CHUNKED_LENGTH"] = 2] = "CHUNKED_LENGTH";
+ LENIENT_FLAGS2[LENIENT_FLAGS2["KEEP_ALIVE"] = 4] = "KEEP_ALIVE";
+ })(LENIENT_FLAGS = exports.LENIENT_FLAGS || (exports.LENIENT_FLAGS = {}));
+ var METHODS;
+ (function(METHODS2) {
+ METHODS2[METHODS2["DELETE"] = 0] = "DELETE";
+ METHODS2[METHODS2["GET"] = 1] = "GET";
+ METHODS2[METHODS2["HEAD"] = 2] = "HEAD";
+ METHODS2[METHODS2["POST"] = 3] = "POST";
+ METHODS2[METHODS2["PUT"] = 4] = "PUT";
+ METHODS2[METHODS2["CONNECT"] = 5] = "CONNECT";
+ METHODS2[METHODS2["OPTIONS"] = 6] = "OPTIONS";
+ METHODS2[METHODS2["TRACE"] = 7] = "TRACE";
+ METHODS2[METHODS2["COPY"] = 8] = "COPY";
+ METHODS2[METHODS2["LOCK"] = 9] = "LOCK";
+ METHODS2[METHODS2["MKCOL"] = 10] = "MKCOL";
+ METHODS2[METHODS2["MOVE"] = 11] = "MOVE";
+ METHODS2[METHODS2["PROPFIND"] = 12] = "PROPFIND";
+ METHODS2[METHODS2["PROPPATCH"] = 13] = "PROPPATCH";
+ METHODS2[METHODS2["SEARCH"] = 14] = "SEARCH";
+ METHODS2[METHODS2["UNLOCK"] = 15] = "UNLOCK";
+ METHODS2[METHODS2["BIND"] = 16] = "BIND";
+ METHODS2[METHODS2["REBIND"] = 17] = "REBIND";
+ METHODS2[METHODS2["UNBIND"] = 18] = "UNBIND";
+ METHODS2[METHODS2["ACL"] = 19] = "ACL";
+ METHODS2[METHODS2["REPORT"] = 20] = "REPORT";
+ METHODS2[METHODS2["MKACTIVITY"] = 21] = "MKACTIVITY";
+ METHODS2[METHODS2["CHECKOUT"] = 22] = "CHECKOUT";
+ METHODS2[METHODS2["MERGE"] = 23] = "MERGE";
+ METHODS2[METHODS2["M-SEARCH"] = 24] = "M-SEARCH";
+ METHODS2[METHODS2["NOTIFY"] = 25] = "NOTIFY";
+ METHODS2[METHODS2["SUBSCRIBE"] = 26] = "SUBSCRIBE";
+ METHODS2[METHODS2["UNSUBSCRIBE"] = 27] = "UNSUBSCRIBE";
+ METHODS2[METHODS2["PATCH"] = 28] = "PATCH";
+ METHODS2[METHODS2["PURGE"] = 29] = "PURGE";
+ METHODS2[METHODS2["MKCALENDAR"] = 30] = "MKCALENDAR";
+ METHODS2[METHODS2["LINK"] = 31] = "LINK";
+ METHODS2[METHODS2["UNLINK"] = 32] = "UNLINK";
+ METHODS2[METHODS2["SOURCE"] = 33] = "SOURCE";
+ METHODS2[METHODS2["PRI"] = 34] = "PRI";
+ METHODS2[METHODS2["DESCRIBE"] = 35] = "DESCRIBE";
+ METHODS2[METHODS2["ANNOUNCE"] = 36] = "ANNOUNCE";
+ METHODS2[METHODS2["SETUP"] = 37] = "SETUP";
+ METHODS2[METHODS2["PLAY"] = 38] = "PLAY";
+ METHODS2[METHODS2["PAUSE"] = 39] = "PAUSE";
+ METHODS2[METHODS2["TEARDOWN"] = 40] = "TEARDOWN";
+ METHODS2[METHODS2["GET_PARAMETER"] = 41] = "GET_PARAMETER";
+ METHODS2[METHODS2["SET_PARAMETER"] = 42] = "SET_PARAMETER";
+ METHODS2[METHODS2["REDIRECT"] = 43] = "REDIRECT";
+ METHODS2[METHODS2["RECORD"] = 44] = "RECORD";
+ METHODS2[METHODS2["FLUSH"] = 45] = "FLUSH";
+ })(METHODS = exports.METHODS || (exports.METHODS = {}));
+ exports.METHODS_HTTP = [
+ METHODS.DELETE,
+ METHODS.GET,
+ METHODS.HEAD,
+ METHODS.POST,
+ METHODS.PUT,
+ METHODS.CONNECT,
+ METHODS.OPTIONS,
+ METHODS.TRACE,
+ METHODS.COPY,
+ METHODS.LOCK,
+ METHODS.MKCOL,
+ METHODS.MOVE,
+ METHODS.PROPFIND,
+ METHODS.PROPPATCH,
+ METHODS.SEARCH,
+ METHODS.UNLOCK,
+ METHODS.BIND,
+ METHODS.REBIND,
+ METHODS.UNBIND,
+ METHODS.ACL,
+ METHODS.REPORT,
+ METHODS.MKACTIVITY,
+ METHODS.CHECKOUT,
+ METHODS.MERGE,
+ METHODS["M-SEARCH"],
+ METHODS.NOTIFY,
+ METHODS.SUBSCRIBE,
+ METHODS.UNSUBSCRIBE,
+ METHODS.PATCH,
+ METHODS.PURGE,
+ METHODS.MKCALENDAR,
+ METHODS.LINK,
+ METHODS.UNLINK,
+ METHODS.PRI,
+ // TODO(indutny): should we allow it with HTTP?
+ METHODS.SOURCE
+ ];
+ exports.METHODS_ICE = [
+ METHODS.SOURCE
+ ];
+ exports.METHODS_RTSP = [
+ METHODS.OPTIONS,
+ METHODS.DESCRIBE,
+ METHODS.ANNOUNCE,
+ METHODS.SETUP,
+ METHODS.PLAY,
+ METHODS.PAUSE,
+ METHODS.TEARDOWN,
+ METHODS.GET_PARAMETER,
+ METHODS.SET_PARAMETER,
+ METHODS.REDIRECT,
+ METHODS.RECORD,
+ METHODS.FLUSH,
+ // For AirPlay
+ METHODS.GET,
+ METHODS.POST
+ ];
+ exports.METHOD_MAP = utils_1.enumToMap(METHODS);
+ exports.H_METHOD_MAP = {};
+ Object.keys(exports.METHOD_MAP).forEach((key) => {
+ if (/^H/.test(key)) {
+ exports.H_METHOD_MAP[key] = exports.METHOD_MAP[key];
+ }
+ });
+ var FINISH;
+ (function(FINISH2) {
+ FINISH2[FINISH2["SAFE"] = 0] = "SAFE";
+ FINISH2[FINISH2["SAFE_WITH_CB"] = 1] = "SAFE_WITH_CB";
+ FINISH2[FINISH2["UNSAFE"] = 2] = "UNSAFE";
+ })(FINISH = exports.FINISH || (exports.FINISH = {}));
+ exports.ALPHA = [];
+ for (let i = "A".charCodeAt(0); i <= "Z".charCodeAt(0); i++) {
+ exports.ALPHA.push(String.fromCharCode(i));
+ exports.ALPHA.push(String.fromCharCode(i + 32));
+ }
+ exports.NUM_MAP = {
+ 0: 0,
+ 1: 1,
+ 2: 2,
+ 3: 3,
+ 4: 4,
+ 5: 5,
+ 6: 6,
+ 7: 7,
+ 8: 8,
+ 9: 9
+ };
+ exports.HEX_MAP = {
+ 0: 0,
+ 1: 1,
+ 2: 2,
+ 3: 3,
+ 4: 4,
+ 5: 5,
+ 6: 6,
+ 7: 7,
+ 8: 8,
+ 9: 9,
+ A: 10,
+ B: 11,
+ C: 12,
+ D: 13,
+ E: 14,
+ F: 15,
+ a: 10,
+ b: 11,
+ c: 12,
+ d: 13,
+ e: 14,
+ f: 15
+ };
+ exports.NUM = [
+ "0",
+ "1",
+ "2",
+ "3",
+ "4",
+ "5",
+ "6",
+ "7",
+ "8",
+ "9"
+ ];
+ exports.ALPHANUM = exports.ALPHA.concat(exports.NUM);
+ exports.MARK = ["-", "_", ".", "!", "~", "*", "'", "(", ")"];
+ exports.USERINFO_CHARS = exports.ALPHANUM.concat(exports.MARK).concat(["%", ";", ":", "&", "=", "+", "$", ","]);
+ exports.STRICT_URL_CHAR = [
+ "!",
+ '"',
+ "$",
+ "%",
+ "&",
+ "'",
+ "(",
+ ")",
+ "*",
+ "+",
+ ",",
+ "-",
+ ".",
+ "/",
+ ":",
+ ";",
+ "<",
+ "=",
+ ">",
+ "@",
+ "[",
+ "\\",
+ "]",
+ "^",
+ "_",
+ "`",
+ "{",
+ "|",
+ "}",
+ "~"
+ ].concat(exports.ALPHANUM);
+ exports.URL_CHAR = exports.STRICT_URL_CHAR.concat([" ", "\f"]);
+ for (let i = 128; i <= 255; i++) {
+ exports.URL_CHAR.push(i);
+ }
+ exports.HEX = exports.NUM.concat(["a", "b", "c", "d", "e", "f", "A", "B", "C", "D", "E", "F"]);
+ exports.STRICT_TOKEN = [
+ "!",
+ "#",
+ "$",
+ "%",
+ "&",
+ "'",
+ "*",
+ "+",
+ "-",
+ ".",
+ "^",
+ "_",
+ "`",
+ "|",
+ "~"
+ ].concat(exports.ALPHANUM);
+ exports.TOKEN = exports.STRICT_TOKEN.concat([" "]);
+ exports.HEADER_CHARS = [" "];
+ for (let i = 32; i <= 255; i++) {
+ if (i !== 127) {
+ exports.HEADER_CHARS.push(i);
+ }
+ }
+ exports.CONNECTION_TOKEN_CHARS = exports.HEADER_CHARS.filter((c) => c !== 44);
+ exports.MAJOR = exports.NUM_MAP;
+ exports.MINOR = exports.MAJOR;
+ var HEADER_STATE;
+ (function(HEADER_STATE2) {
+ HEADER_STATE2[HEADER_STATE2["GENERAL"] = 0] = "GENERAL";
+ HEADER_STATE2[HEADER_STATE2["CONNECTION"] = 1] = "CONNECTION";
+ HEADER_STATE2[HEADER_STATE2["CONTENT_LENGTH"] = 2] = "CONTENT_LENGTH";
+ HEADER_STATE2[HEADER_STATE2["TRANSFER_ENCODING"] = 3] = "TRANSFER_ENCODING";
+ HEADER_STATE2[HEADER_STATE2["UPGRADE"] = 4] = "UPGRADE";
+ HEADER_STATE2[HEADER_STATE2["CONNECTION_KEEP_ALIVE"] = 5] = "CONNECTION_KEEP_ALIVE";
+ HEADER_STATE2[HEADER_STATE2["CONNECTION_CLOSE"] = 6] = "CONNECTION_CLOSE";
+ HEADER_STATE2[HEADER_STATE2["CONNECTION_UPGRADE"] = 7] = "CONNECTION_UPGRADE";
+ HEADER_STATE2[HEADER_STATE2["TRANSFER_ENCODING_CHUNKED"] = 8] = "TRANSFER_ENCODING_CHUNKED";
+ })(HEADER_STATE = exports.HEADER_STATE || (exports.HEADER_STATE = {}));
+ exports.SPECIAL_HEADERS = {
+ "connection": HEADER_STATE.CONNECTION,
+ "content-length": HEADER_STATE.CONTENT_LENGTH,
+ "proxy-connection": HEADER_STATE.CONNECTION,
+ "transfer-encoding": HEADER_STATE.TRANSFER_ENCODING,
+ "upgrade": HEADER_STATE.UPGRADE
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/llhttp/llhttp-wasm.js
+var require_llhttp_wasm = __commonJS({
+ "viewer/node_modules/undici/lib/llhttp/llhttp-wasm.js"(exports, module) {
+ "use strict";
+ var { Buffer: Buffer2 } = __require("node:buffer");
+ module.exports = Buffer2.from("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", "base64");
+ }
+});
+
+// viewer/node_modules/undici/lib/llhttp/llhttp_simd-wasm.js
+var require_llhttp_simd_wasm = __commonJS({
+ "viewer/node_modules/undici/lib/llhttp/llhttp_simd-wasm.js"(exports, module) {
+ "use strict";
+ var { Buffer: Buffer2 } = __require("node:buffer");
+ module.exports = Buffer2.from("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", "base64");
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/constants.js
+var require_constants3 = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/constants.js"(exports, module) {
+ "use strict";
+ var corsSafeListedMethods = (
+ /** @type {const} */
+ ["GET", "HEAD", "POST"]
+ );
+ var corsSafeListedMethodsSet = new Set(corsSafeListedMethods);
+ var nullBodyStatus = (
+ /** @type {const} */
+ [101, 204, 205, 304]
+ );
+ var redirectStatus = (
+ /** @type {const} */
+ [301, 302, 303, 307, 308]
+ );
+ var redirectStatusSet = new Set(redirectStatus);
+ var badPorts = (
+ /** @type {const} */
+ [
+ "1",
+ "7",
+ "9",
+ "11",
+ "13",
+ "15",
+ "17",
+ "19",
+ "20",
+ "21",
+ "22",
+ "23",
+ "25",
+ "37",
+ "42",
+ "43",
+ "53",
+ "69",
+ "77",
+ "79",
+ "87",
+ "95",
+ "101",
+ "102",
+ "103",
+ "104",
+ "109",
+ "110",
+ "111",
+ "113",
+ "115",
+ "117",
+ "119",
+ "123",
+ "135",
+ "137",
+ "139",
+ "143",
+ "161",
+ "179",
+ "389",
+ "427",
+ "465",
+ "512",
+ "513",
+ "514",
+ "515",
+ "526",
+ "530",
+ "531",
+ "532",
+ "540",
+ "548",
+ "554",
+ "556",
+ "563",
+ "587",
+ "601",
+ "636",
+ "989",
+ "990",
+ "993",
+ "995",
+ "1719",
+ "1720",
+ "1723",
+ "2049",
+ "3659",
+ "4045",
+ "4190",
+ "5060",
+ "5061",
+ "6000",
+ "6566",
+ "6665",
+ "6666",
+ "6667",
+ "6668",
+ "6669",
+ "6679",
+ "6697",
+ "10080"
+ ]
+ );
+ var badPortsSet = new Set(badPorts);
+ var referrerPolicy = (
+ /** @type {const} */
+ [
+ "",
+ "no-referrer",
+ "no-referrer-when-downgrade",
+ "same-origin",
+ "origin",
+ "strict-origin",
+ "origin-when-cross-origin",
+ "strict-origin-when-cross-origin",
+ "unsafe-url"
+ ]
+ );
+ var referrerPolicySet = new Set(referrerPolicy);
+ var requestRedirect = (
+ /** @type {const} */
+ ["follow", "manual", "error"]
+ );
+ var safeMethods = (
+ /** @type {const} */
+ ["GET", "HEAD", "OPTIONS", "TRACE"]
+ );
+ var safeMethodsSet = new Set(safeMethods);
+ var requestMode = (
+ /** @type {const} */
+ ["navigate", "same-origin", "no-cors", "cors"]
+ );
+ var requestCredentials = (
+ /** @type {const} */
+ ["omit", "same-origin", "include"]
+ );
+ var requestCache = (
+ /** @type {const} */
+ [
+ "default",
+ "no-store",
+ "reload",
+ "no-cache",
+ "force-cache",
+ "only-if-cached"
+ ]
+ );
+ var requestBodyHeader = (
+ /** @type {const} */
+ [
+ "content-encoding",
+ "content-language",
+ "content-location",
+ "content-type",
+ // See https://github.com/nodejs/undici/issues/2021
+ // 'Content-Length' is a forbidden header name, which is typically
+ // removed in the Headers implementation. However, undici doesn't
+ // filter out headers, so we add it here.
+ "content-length"
+ ]
+ );
+ var requestDuplex = (
+ /** @type {const} */
+ [
+ "half"
+ ]
+ );
+ var forbiddenMethods = (
+ /** @type {const} */
+ ["CONNECT", "TRACE", "TRACK"]
+ );
+ var forbiddenMethodsSet = new Set(forbiddenMethods);
+ var subresource = (
+ /** @type {const} */
+ [
+ "audio",
+ "audioworklet",
+ "font",
+ "image",
+ "manifest",
+ "paintworklet",
+ "script",
+ "style",
+ "track",
+ "video",
+ "xslt",
+ ""
+ ]
+ );
+ var subresourceSet = new Set(subresource);
+ module.exports = {
+ subresource,
+ forbiddenMethods,
+ requestBodyHeader,
+ referrerPolicy,
+ requestRedirect,
+ requestMode,
+ requestCredentials,
+ requestCache,
+ redirectStatus,
+ corsSafeListedMethods,
+ nullBodyStatus,
+ safeMethods,
+ badPorts,
+ requestDuplex,
+ subresourceSet,
+ badPortsSet,
+ redirectStatusSet,
+ corsSafeListedMethodsSet,
+ safeMethodsSet,
+ forbiddenMethodsSet,
+ referrerPolicySet
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/global.js
+var require_global = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/global.js"(exports, module) {
+ "use strict";
+ var globalOrigin = /* @__PURE__ */ Symbol.for("undici.globalOrigin.1");
+ function getGlobalOrigin() {
+ return globalThis[globalOrigin];
+ }
+ function setGlobalOrigin(newOrigin) {
+ if (newOrigin === void 0) {
+ Object.defineProperty(globalThis, globalOrigin, {
+ value: void 0,
+ writable: true,
+ enumerable: false,
+ configurable: false
+ });
+ return;
+ }
+ const parsedURL = new URL(newOrigin);
+ if (parsedURL.protocol !== "http:" && parsedURL.protocol !== "https:") {
+ throw new TypeError(`Only http & https urls are allowed, received ${parsedURL.protocol}`);
+ }
+ Object.defineProperty(globalThis, globalOrigin, {
+ value: parsedURL,
+ writable: true,
+ enumerable: false,
+ configurable: false
+ });
+ }
+ module.exports = {
+ getGlobalOrigin,
+ setGlobalOrigin
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/data-url.js
+var require_data_url = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/data-url.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var encoder = new TextEncoder();
+ var HTTP_TOKEN_CODEPOINTS = /^[!#$%&'*+\-.^_|~A-Za-z0-9]+$/;
+ var HTTP_WHITESPACE_REGEX = /[\u000A\u000D\u0009\u0020]/;
+ var ASCII_WHITESPACE_REPLACE_REGEX = /[\u0009\u000A\u000C\u000D\u0020]/g;
+ var HTTP_QUOTED_STRING_TOKENS = /^[\u0009\u0020-\u007E\u0080-\u00FF]+$/;
+ function dataURLProcessor(dataURL) {
+ assert(dataURL.protocol === "data:");
+ let input = URLSerializer(dataURL, true);
+ input = input.slice(5);
+ const position = { position: 0 };
+ let mimeType = collectASequenceOfCodePointsFast(
+ ",",
+ input,
+ position
+ );
+ const mimeTypeLength = mimeType.length;
+ mimeType = removeASCIIWhitespace(mimeType, true, true);
+ if (position.position >= input.length) {
+ return "failure";
+ }
+ position.position++;
+ const encodedBody = input.slice(mimeTypeLength + 1);
+ let body = stringPercentDecode(encodedBody);
+ if (/;(\u0020){0,}base64$/i.test(mimeType)) {
+ const stringBody = isomorphicDecode(body);
+ body = forgivingBase64(stringBody);
+ if (body === "failure") {
+ return "failure";
+ }
+ mimeType = mimeType.slice(0, -6);
+ mimeType = mimeType.replace(/(\u0020)+$/, "");
+ mimeType = mimeType.slice(0, -1);
+ }
+ if (mimeType.startsWith(";")) {
+ mimeType = "text/plain" + mimeType;
+ }
+ let mimeTypeRecord = parseMIMEType(mimeType);
+ if (mimeTypeRecord === "failure") {
+ mimeTypeRecord = parseMIMEType("text/plain;charset=US-ASCII");
+ }
+ return { mimeType: mimeTypeRecord, body };
+ }
+ function URLSerializer(url, excludeFragment = false) {
+ if (!excludeFragment) {
+ return url.href;
+ }
+ const href = url.href;
+ const hashLength = url.hash.length;
+ const serialized = hashLength === 0 ? href : href.substring(0, href.length - hashLength);
+ if (!hashLength && href.endsWith("#")) {
+ return serialized.slice(0, -1);
+ }
+ return serialized;
+ }
+ function collectASequenceOfCodePoints(condition, input, position) {
+ let result = "";
+ while (position.position < input.length && condition(input[position.position])) {
+ result += input[position.position];
+ position.position++;
+ }
+ return result;
+ }
+ function collectASequenceOfCodePointsFast(char, input, position) {
+ const idx = input.indexOf(char, position.position);
+ const start = position.position;
+ if (idx === -1) {
+ position.position = input.length;
+ return input.slice(start);
+ }
+ position.position = idx;
+ return input.slice(start, position.position);
+ }
+ function stringPercentDecode(input) {
+ const bytes2 = encoder.encode(input);
+ return percentDecode(bytes2);
+ }
+ function isHexCharByte(byte) {
+ return byte >= 48 && byte <= 57 || byte >= 65 && byte <= 70 || byte >= 97 && byte <= 102;
+ }
+ function hexByteToNumber(byte) {
+ return (
+ // 0-9
+ byte >= 48 && byte <= 57 ? byte - 48 : (byte & 223) - 55
+ );
+ }
+ function percentDecode(input) {
+ const length2 = input.length;
+ const output = new Uint8Array(length2);
+ let j = 0;
+ for (let i = 0; i < length2; ++i) {
+ const byte = input[i];
+ if (byte !== 37) {
+ output[j++] = byte;
+ } else if (byte === 37 && !(isHexCharByte(input[i + 1]) && isHexCharByte(input[i + 2]))) {
+ output[j++] = 37;
+ } else {
+ output[j++] = hexByteToNumber(input[i + 1]) << 4 | hexByteToNumber(input[i + 2]);
+ i += 2;
+ }
+ }
+ return length2 === j ? output : output.subarray(0, j);
+ }
+ function parseMIMEType(input) {
+ input = removeHTTPWhitespace(input, true, true);
+ const position = { position: 0 };
+ const type = collectASequenceOfCodePointsFast(
+ "/",
+ input,
+ position
+ );
+ if (type.length === 0 || !HTTP_TOKEN_CODEPOINTS.test(type)) {
+ return "failure";
+ }
+ if (position.position > input.length) {
+ return "failure";
+ }
+ position.position++;
+ let subtype = collectASequenceOfCodePointsFast(
+ ";",
+ input,
+ position
+ );
+ subtype = removeHTTPWhitespace(subtype, false, true);
+ if (subtype.length === 0 || !HTTP_TOKEN_CODEPOINTS.test(subtype)) {
+ return "failure";
+ }
+ const typeLowercase = type.toLowerCase();
+ const subtypeLowercase = subtype.toLowerCase();
+ const mimeType = {
+ type: typeLowercase,
+ subtype: subtypeLowercase,
+ /** @type {Map} */
+ parameters: /* @__PURE__ */ new Map(),
+ // https://mimesniff.spec.whatwg.org/#mime-type-essence
+ essence: `${typeLowercase}/${subtypeLowercase}`
+ };
+ while (position.position < input.length) {
+ position.position++;
+ collectASequenceOfCodePoints(
+ // https://fetch.spec.whatwg.org/#http-whitespace
+ (char) => HTTP_WHITESPACE_REGEX.test(char),
+ input,
+ position
+ );
+ let parameterName = collectASequenceOfCodePoints(
+ (char) => char !== ";" && char !== "=",
+ input,
+ position
+ );
+ parameterName = parameterName.toLowerCase();
+ if (position.position < input.length) {
+ if (input[position.position] === ";") {
+ continue;
+ }
+ position.position++;
+ }
+ if (position.position > input.length) {
+ break;
+ }
+ let parameterValue = null;
+ if (input[position.position] === '"') {
+ parameterValue = collectAnHTTPQuotedString(input, position, true);
+ collectASequenceOfCodePointsFast(
+ ";",
+ input,
+ position
+ );
+ } else {
+ parameterValue = collectASequenceOfCodePointsFast(
+ ";",
+ input,
+ position
+ );
+ parameterValue = removeHTTPWhitespace(parameterValue, false, true);
+ if (parameterValue.length === 0) {
+ continue;
+ }
+ }
+ if (parameterName.length !== 0 && HTTP_TOKEN_CODEPOINTS.test(parameterName) && (parameterValue.length === 0 || HTTP_QUOTED_STRING_TOKENS.test(parameterValue)) && !mimeType.parameters.has(parameterName)) {
+ mimeType.parameters.set(parameterName, parameterValue);
+ }
+ }
+ return mimeType;
+ }
+ function forgivingBase64(data) {
+ data = data.replace(ASCII_WHITESPACE_REPLACE_REGEX, "");
+ let dataLength = data.length;
+ if (dataLength % 4 === 0) {
+ if (data.charCodeAt(dataLength - 1) === 61) {
+ --dataLength;
+ if (data.charCodeAt(dataLength - 1) === 61) {
+ --dataLength;
+ }
+ }
+ }
+ if (dataLength % 4 === 1) {
+ return "failure";
+ }
+ if (/[^+/0-9A-Za-z]/.test(data.length === dataLength ? data : data.substring(0, dataLength))) {
+ return "failure";
+ }
+ const buffer = Buffer.from(data, "base64");
+ return new Uint8Array(buffer.buffer, buffer.byteOffset, buffer.byteLength);
+ }
+ function collectAnHTTPQuotedString(input, position, extractValue) {
+ const positionStart = position.position;
+ let value = "";
+ assert(input[position.position] === '"');
+ position.position++;
+ while (true) {
+ value += collectASequenceOfCodePoints(
+ (char) => char !== '"' && char !== "\\",
+ input,
+ position
+ );
+ if (position.position >= input.length) {
+ break;
+ }
+ const quoteOrBackslash = input[position.position];
+ position.position++;
+ if (quoteOrBackslash === "\\") {
+ if (position.position >= input.length) {
+ value += "\\";
+ break;
+ }
+ value += input[position.position];
+ position.position++;
+ } else {
+ assert(quoteOrBackslash === '"');
+ break;
+ }
+ }
+ if (extractValue) {
+ return value;
+ }
+ return input.slice(positionStart, position.position);
+ }
+ function serializeAMimeType(mimeType) {
+ assert(mimeType !== "failure");
+ const { parameters, essence } = mimeType;
+ let serialization = essence;
+ for (let [name, value] of parameters.entries()) {
+ serialization += ";";
+ serialization += name;
+ serialization += "=";
+ if (!HTTP_TOKEN_CODEPOINTS.test(value)) {
+ value = value.replace(/(\\|")/g, "\\$1");
+ value = '"' + value;
+ value += '"';
+ }
+ serialization += value;
+ }
+ return serialization;
+ }
+ function isHTTPWhiteSpace(char) {
+ return char === 13 || char === 10 || char === 9 || char === 32;
+ }
+ function removeHTTPWhitespace(str, leading = true, trailing = true) {
+ return removeChars(str, leading, trailing, isHTTPWhiteSpace);
+ }
+ function isASCIIWhitespace(char) {
+ return char === 13 || char === 10 || char === 9 || char === 12 || char === 32;
+ }
+ function removeASCIIWhitespace(str, leading = true, trailing = true) {
+ return removeChars(str, leading, trailing, isASCIIWhitespace);
+ }
+ function removeChars(str, leading, trailing, predicate) {
+ let lead = 0;
+ let trail = str.length - 1;
+ if (leading) {
+ while (lead < str.length && predicate(str.charCodeAt(lead))) lead++;
+ }
+ if (trailing) {
+ while (trail > 0 && predicate(str.charCodeAt(trail))) trail--;
+ }
+ return lead === 0 && trail === str.length - 1 ? str : str.slice(lead, trail + 1);
+ }
+ function isomorphicDecode(input) {
+ const length2 = input.length;
+ if ((2 << 15) - 1 > length2) {
+ return String.fromCharCode.apply(null, input);
+ }
+ let result = "";
+ let i = 0;
+ let addition = (2 << 15) - 1;
+ while (i < length2) {
+ if (i + addition > length2) {
+ addition = length2 - i;
+ }
+ result += String.fromCharCode.apply(null, input.subarray(i, i += addition));
+ }
+ return result;
+ }
+ function minimizeSupportedMimeType(mimeType) {
+ switch (mimeType.essence) {
+ case "application/ecmascript":
+ case "application/javascript":
+ case "application/x-ecmascript":
+ case "application/x-javascript":
+ case "text/ecmascript":
+ case "text/javascript":
+ case "text/javascript1.0":
+ case "text/javascript1.1":
+ case "text/javascript1.2":
+ case "text/javascript1.3":
+ case "text/javascript1.4":
+ case "text/javascript1.5":
+ case "text/jscript":
+ case "text/livescript":
+ case "text/x-ecmascript":
+ case "text/x-javascript":
+ return "text/javascript";
+ case "application/json":
+ case "text/json":
+ return "application/json";
+ case "image/svg+xml":
+ return "image/svg+xml";
+ case "text/xml":
+ case "application/xml":
+ return "application/xml";
+ }
+ if (mimeType.subtype.endsWith("+json")) {
+ return "application/json";
+ }
+ if (mimeType.subtype.endsWith("+xml")) {
+ return "application/xml";
+ }
+ return "";
+ }
+ module.exports = {
+ dataURLProcessor,
+ URLSerializer,
+ collectASequenceOfCodePoints,
+ collectASequenceOfCodePointsFast,
+ stringPercentDecode,
+ parseMIMEType,
+ collectAnHTTPQuotedString,
+ serializeAMimeType,
+ removeChars,
+ removeHTTPWhitespace,
+ minimizeSupportedMimeType,
+ HTTP_TOKEN_CODEPOINTS,
+ isomorphicDecode
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/webidl.js
+var require_webidl = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/webidl.js"(exports, module) {
+ "use strict";
+ var { types, inspect } = __require("node:util");
+ var { markAsUncloneable } = __require("node:worker_threads");
+ var { toUSVString } = require_util();
+ var webidl = {};
+ webidl.converters = {};
+ webidl.util = {};
+ webidl.errors = {};
+ webidl.errors.exception = function(message) {
+ return new TypeError(`${message.header}: ${message.message}`);
+ };
+ webidl.errors.conversionFailed = function(context) {
+ const plural = context.types.length === 1 ? "" : " one of";
+ const message = `${context.argument} could not be converted to${plural}: ${context.types.join(", ")}.`;
+ return webidl.errors.exception({
+ header: context.prefix,
+ message
+ });
+ };
+ webidl.errors.invalidArgument = function(context) {
+ return webidl.errors.exception({
+ header: context.prefix,
+ message: `"${context.value}" is an invalid ${context.type}.`
+ });
+ };
+ webidl.brandCheck = function(V, I, opts) {
+ if (opts?.strict !== false) {
+ if (!(V instanceof I)) {
+ const err = new TypeError("Illegal invocation");
+ err.code = "ERR_INVALID_THIS";
+ throw err;
+ }
+ } else {
+ if (V?.[Symbol.toStringTag] !== I.prototype[Symbol.toStringTag]) {
+ const err = new TypeError("Illegal invocation");
+ err.code = "ERR_INVALID_THIS";
+ throw err;
+ }
+ }
+ };
+ webidl.argumentLengthCheck = function({ length: length2 }, min, ctx) {
+ if (length2 < min) {
+ throw webidl.errors.exception({
+ message: `${min} argument${min !== 1 ? "s" : ""} required, but${length2 ? " only" : ""} ${length2} found.`,
+ header: ctx
+ });
+ }
+ };
+ webidl.illegalConstructor = function() {
+ throw webidl.errors.exception({
+ header: "TypeError",
+ message: "Illegal constructor"
+ });
+ };
+ webidl.util.Type = function(V) {
+ switch (typeof V) {
+ case "undefined":
+ return "Undefined";
+ case "boolean":
+ return "Boolean";
+ case "string":
+ return "String";
+ case "symbol":
+ return "Symbol";
+ case "number":
+ return "Number";
+ case "bigint":
+ return "BigInt";
+ case "function":
+ case "object": {
+ if (V === null) {
+ return "Null";
+ }
+ return "Object";
+ }
+ }
+ };
+ webidl.util.markAsUncloneable = markAsUncloneable || (() => {
+ });
+ webidl.util.ConvertToInt = function(V, bitLength, signedness, opts) {
+ let upperBound;
+ let lowerBound;
+ if (bitLength === 64) {
+ upperBound = Math.pow(2, 53) - 1;
+ if (signedness === "unsigned") {
+ lowerBound = 0;
+ } else {
+ lowerBound = Math.pow(-2, 53) + 1;
+ }
+ } else if (signedness === "unsigned") {
+ lowerBound = 0;
+ upperBound = Math.pow(2, bitLength) - 1;
+ } else {
+ lowerBound = Math.pow(-2, bitLength) - 1;
+ upperBound = Math.pow(2, bitLength - 1) - 1;
+ }
+ let x = Number(V);
+ if (x === 0) {
+ x = 0;
+ }
+ if (opts?.enforceRange === true) {
+ if (Number.isNaN(x) || x === Number.POSITIVE_INFINITY || x === Number.NEGATIVE_INFINITY) {
+ throw webidl.errors.exception({
+ header: "Integer conversion",
+ message: `Could not convert ${webidl.util.Stringify(V)} to an integer.`
+ });
+ }
+ x = webidl.util.IntegerPart(x);
+ if (x < lowerBound || x > upperBound) {
+ throw webidl.errors.exception({
+ header: "Integer conversion",
+ message: `Value must be between ${lowerBound}-${upperBound}, got ${x}.`
+ });
+ }
+ return x;
+ }
+ if (!Number.isNaN(x) && opts?.clamp === true) {
+ x = Math.min(Math.max(x, lowerBound), upperBound);
+ if (Math.floor(x) % 2 === 0) {
+ x = Math.floor(x);
+ } else {
+ x = Math.ceil(x);
+ }
+ return x;
+ }
+ if (Number.isNaN(x) || x === 0 && Object.is(0, x) || x === Number.POSITIVE_INFINITY || x === Number.NEGATIVE_INFINITY) {
+ return 0;
+ }
+ x = webidl.util.IntegerPart(x);
+ x = x % Math.pow(2, bitLength);
+ if (signedness === "signed" && x >= Math.pow(2, bitLength) - 1) {
+ return x - Math.pow(2, bitLength);
+ }
+ return x;
+ };
+ webidl.util.IntegerPart = function(n) {
+ const r = Math.floor(Math.abs(n));
+ if (n < 0) {
+ return -1 * r;
+ }
+ return r;
+ };
+ webidl.util.Stringify = function(V) {
+ const type = webidl.util.Type(V);
+ switch (type) {
+ case "Symbol":
+ return `Symbol(${V.description})`;
+ case "Object":
+ return inspect(V);
+ case "String":
+ return `"${V}"`;
+ default:
+ return `${V}`;
+ }
+ };
+ webidl.sequenceConverter = function(converter) {
+ return (V, prefix, argument, Iterable) => {
+ if (webidl.util.Type(V) !== "Object") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `${argument} (${webidl.util.Stringify(V)}) is not iterable.`
+ });
+ }
+ const method = typeof Iterable === "function" ? Iterable() : V?.[Symbol.iterator]?.();
+ const seq = [];
+ let index = 0;
+ if (method === void 0 || typeof method.next !== "function") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `${argument} is not iterable.`
+ });
+ }
+ while (true) {
+ const { done, value } = method.next();
+ if (done) {
+ break;
+ }
+ seq.push(converter(value, prefix, `${argument}[${index++}]`));
+ }
+ return seq;
+ };
+ };
+ webidl.recordConverter = function(keyConverter, valueConverter) {
+ return (O, prefix, argument) => {
+ if (webidl.util.Type(O) !== "Object") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `${argument} ("${webidl.util.Type(O)}") is not an Object.`
+ });
+ }
+ const result = {};
+ if (!types.isProxy(O)) {
+ const keys2 = [...Object.getOwnPropertyNames(O), ...Object.getOwnPropertySymbols(O)];
+ for (const key of keys2) {
+ const typedKey = keyConverter(key, prefix, argument);
+ const typedValue = valueConverter(O[key], prefix, argument);
+ result[typedKey] = typedValue;
+ }
+ return result;
+ }
+ const keys = Reflect.ownKeys(O);
+ for (const key of keys) {
+ const desc = Reflect.getOwnPropertyDescriptor(O, key);
+ if (desc?.enumerable) {
+ const typedKey = keyConverter(key, prefix, argument);
+ const typedValue = valueConverter(O[key], prefix, argument);
+ result[typedKey] = typedValue;
+ }
+ }
+ return result;
+ };
+ };
+ webidl.interfaceConverter = function(i) {
+ return (V, prefix, argument, opts) => {
+ if (opts?.strict !== false && !(V instanceof i)) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `Expected ${argument} ("${webidl.util.Stringify(V)}") to be an instance of ${i.name}.`
+ });
+ }
+ return V;
+ };
+ };
+ webidl.dictionaryConverter = function(converters) {
+ return (dictionary, prefix, argument) => {
+ const type = webidl.util.Type(dictionary);
+ const dict = {};
+ if (type === "Null" || type === "Undefined") {
+ return dict;
+ } else if (type !== "Object") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `Expected ${dictionary} to be one of: Null, Undefined, Object.`
+ });
+ }
+ for (const options of converters) {
+ const { key, defaultValue, required, converter } = options;
+ if (required === true) {
+ if (!Object.hasOwn(dictionary, key)) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `Missing required key "${key}".`
+ });
+ }
+ }
+ let value = dictionary[key];
+ const hasDefault = Object.hasOwn(options, "defaultValue");
+ if (hasDefault && value !== null) {
+ value ??= defaultValue();
+ }
+ if (required || hasDefault || value !== void 0) {
+ value = converter(value, prefix, `${argument}.${key}`);
+ if (options.allowedValues && !options.allowedValues.includes(value)) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `${value} is not an accepted type. Expected one of ${options.allowedValues.join(", ")}.`
+ });
+ }
+ dict[key] = value;
+ }
+ }
+ return dict;
+ };
+ };
+ webidl.nullableConverter = function(converter) {
+ return (V, prefix, argument) => {
+ if (V === null) {
+ return V;
+ }
+ return converter(V, prefix, argument);
+ };
+ };
+ webidl.converters.DOMString = function(V, prefix, argument, opts) {
+ if (V === null && opts?.legacyNullToEmptyString) {
+ return "";
+ }
+ if (typeof V === "symbol") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `${argument} is a symbol, which cannot be converted to a DOMString.`
+ });
+ }
+ return String(V);
+ };
+ webidl.converters.ByteString = function(V, prefix, argument) {
+ const x = webidl.converters.DOMString(V, prefix, argument);
+ for (let index = 0; index < x.length; index++) {
+ if (x.charCodeAt(index) > 255) {
+ throw new TypeError(
+ `Cannot convert argument to a ByteString because the character at index ${index} has a value of ${x.charCodeAt(index)} which is greater than 255.`
+ );
+ }
+ }
+ return x;
+ };
+ webidl.converters.USVString = toUSVString;
+ webidl.converters.boolean = function(V) {
+ const x = Boolean(V);
+ return x;
+ };
+ webidl.converters.any = function(V) {
+ return V;
+ };
+ webidl.converters["long long"] = function(V, prefix, argument) {
+ const x = webidl.util.ConvertToInt(V, 64, "signed", void 0, prefix, argument);
+ return x;
+ };
+ webidl.converters["unsigned long long"] = function(V, prefix, argument) {
+ const x = webidl.util.ConvertToInt(V, 64, "unsigned", void 0, prefix, argument);
+ return x;
+ };
+ webidl.converters["unsigned long"] = function(V, prefix, argument) {
+ const x = webidl.util.ConvertToInt(V, 32, "unsigned", void 0, prefix, argument);
+ return x;
+ };
+ webidl.converters["unsigned short"] = function(V, prefix, argument, opts) {
+ const x = webidl.util.ConvertToInt(V, 16, "unsigned", opts, prefix, argument);
+ return x;
+ };
+ webidl.converters.ArrayBuffer = function(V, prefix, argument, opts) {
+ if (webidl.util.Type(V) !== "Object" || !types.isAnyArrayBuffer(V)) {
+ throw webidl.errors.conversionFailed({
+ prefix,
+ argument: `${argument} ("${webidl.util.Stringify(V)}")`,
+ types: ["ArrayBuffer"]
+ });
+ }
+ if (opts?.allowShared === false && types.isSharedArrayBuffer(V)) {
+ throw webidl.errors.exception({
+ header: "ArrayBuffer",
+ message: "SharedArrayBuffer is not allowed."
+ });
+ }
+ if (V.resizable || V.growable) {
+ throw webidl.errors.exception({
+ header: "ArrayBuffer",
+ message: "Received a resizable ArrayBuffer."
+ });
+ }
+ return V;
+ };
+ webidl.converters.TypedArray = function(V, T, prefix, name, opts) {
+ if (webidl.util.Type(V) !== "Object" || !types.isTypedArray(V) || V.constructor.name !== T.name) {
+ throw webidl.errors.conversionFailed({
+ prefix,
+ argument: `${name} ("${webidl.util.Stringify(V)}")`,
+ types: [T.name]
+ });
+ }
+ if (opts?.allowShared === false && types.isSharedArrayBuffer(V.buffer)) {
+ throw webidl.errors.exception({
+ header: "ArrayBuffer",
+ message: "SharedArrayBuffer is not allowed."
+ });
+ }
+ if (V.buffer.resizable || V.buffer.growable) {
+ throw webidl.errors.exception({
+ header: "ArrayBuffer",
+ message: "Received a resizable ArrayBuffer."
+ });
+ }
+ return V;
+ };
+ webidl.converters.DataView = function(V, prefix, name, opts) {
+ if (webidl.util.Type(V) !== "Object" || !types.isDataView(V)) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: `${name} is not a DataView.`
+ });
+ }
+ if (opts?.allowShared === false && types.isSharedArrayBuffer(V.buffer)) {
+ throw webidl.errors.exception({
+ header: "ArrayBuffer",
+ message: "SharedArrayBuffer is not allowed."
+ });
+ }
+ if (V.buffer.resizable || V.buffer.growable) {
+ throw webidl.errors.exception({
+ header: "ArrayBuffer",
+ message: "Received a resizable ArrayBuffer."
+ });
+ }
+ return V;
+ };
+ webidl.converters.BufferSource = function(V, prefix, name, opts) {
+ if (types.isAnyArrayBuffer(V)) {
+ return webidl.converters.ArrayBuffer(V, prefix, name, { ...opts, allowShared: false });
+ }
+ if (types.isTypedArray(V)) {
+ return webidl.converters.TypedArray(V, V.constructor, prefix, name, { ...opts, allowShared: false });
+ }
+ if (types.isDataView(V)) {
+ return webidl.converters.DataView(V, prefix, name, { ...opts, allowShared: false });
+ }
+ throw webidl.errors.conversionFailed({
+ prefix,
+ argument: `${name} ("${webidl.util.Stringify(V)}")`,
+ types: ["BufferSource"]
+ });
+ };
+ webidl.converters["sequence"] = webidl.sequenceConverter(
+ webidl.converters.ByteString
+ );
+ webidl.converters["sequence>"] = webidl.sequenceConverter(
+ webidl.converters["sequence"]
+ );
+ webidl.converters["record"] = webidl.recordConverter(
+ webidl.converters.ByteString,
+ webidl.converters.ByteString
+ );
+ module.exports = {
+ webidl
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/util.js
+var require_util2 = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/util.js"(exports, module) {
+ "use strict";
+ var { Transform } = __require("node:stream");
+ var zlib = __require("node:zlib");
+ var { redirectStatusSet, referrerPolicySet: referrerPolicyTokens, badPortsSet } = require_constants3();
+ var { getGlobalOrigin } = require_global();
+ var { collectASequenceOfCodePoints, collectAnHTTPQuotedString, removeChars, parseMIMEType } = require_data_url();
+ var { performance: performance2 } = __require("node:perf_hooks");
+ var { isBlobLike, ReadableStreamFrom, isValidHTTPToken, normalizedMethodRecordsBase } = require_util();
+ var assert = __require("node:assert");
+ var { isUint8Array } = __require("node:util/types");
+ var { webidl } = require_webidl();
+ var supportedHashes = [];
+ var crypto2;
+ try {
+ crypto2 = __require("node:crypto");
+ const possibleRelevantHashes = ["sha256", "sha384", "sha512"];
+ supportedHashes = crypto2.getHashes().filter((hash) => possibleRelevantHashes.includes(hash));
+ } catch {
+ }
+ function responseURL(response) {
+ const urlList = response.urlList;
+ const length2 = urlList.length;
+ return length2 === 0 ? null : urlList[length2 - 1].toString();
+ }
+ function responseLocationURL(response, requestFragment) {
+ if (!redirectStatusSet.has(response.status)) {
+ return null;
+ }
+ let location = response.headersList.get("location", true);
+ if (location !== null && isValidHeaderValue(location)) {
+ if (!isValidEncodedURL(location)) {
+ location = normalizeBinaryStringToUtf8(location);
+ }
+ location = new URL(location, responseURL(response));
+ }
+ if (location && !location.hash) {
+ location.hash = requestFragment;
+ }
+ return location;
+ }
+ function isValidEncodedURL(url) {
+ for (let i = 0; i < url.length; ++i) {
+ const code = url.charCodeAt(i);
+ if (code > 126 || // Non-US-ASCII + DEL
+ code < 32) {
+ return false;
+ }
+ }
+ return true;
+ }
+ function normalizeBinaryStringToUtf8(value) {
+ return Buffer.from(value, "binary").toString("utf8");
+ }
+ function requestCurrentURL(request) {
+ return request.urlList[request.urlList.length - 1];
+ }
+ function requestBadPort(request) {
+ const url = requestCurrentURL(request);
+ if (urlIsHttpHttpsScheme(url) && badPortsSet.has(url.port)) {
+ return "blocked";
+ }
+ return "allowed";
+ }
+ function isErrorLike(object) {
+ return object instanceof Error || (object?.constructor?.name === "Error" || object?.constructor?.name === "DOMException");
+ }
+ function isValidReasonPhrase(statusText) {
+ for (let i = 0; i < statusText.length; ++i) {
+ const c = statusText.charCodeAt(i);
+ if (!(c === 9 || // HTAB
+ c >= 32 && c <= 126 || // SP / VCHAR
+ c >= 128 && c <= 255)) {
+ return false;
+ }
+ }
+ return true;
+ }
+ var isValidHeaderName = isValidHTTPToken;
+ function isValidHeaderValue(potentialValue) {
+ return (potentialValue[0] === " " || potentialValue[0] === " " || potentialValue[potentialValue.length - 1] === " " || potentialValue[potentialValue.length - 1] === " " || potentialValue.includes("\n") || potentialValue.includes("\r") || potentialValue.includes("\0")) === false;
+ }
+ function setRequestReferrerPolicyOnRedirect(request, actualResponse) {
+ const { headersList } = actualResponse;
+ const policyHeader = (headersList.get("referrer-policy", true) ?? "").split(",");
+ let policy = "";
+ if (policyHeader.length > 0) {
+ for (let i = policyHeader.length; i !== 0; i--) {
+ const token = policyHeader[i - 1].trim();
+ if (referrerPolicyTokens.has(token)) {
+ policy = token;
+ break;
+ }
+ }
+ }
+ if (policy !== "") {
+ request.referrerPolicy = policy;
+ }
+ }
+ function crossOriginResourcePolicyCheck() {
+ return "allowed";
+ }
+ function corsCheck() {
+ return "success";
+ }
+ function TAOCheck() {
+ return "success";
+ }
+ function appendFetchMetadata(httpRequest) {
+ let header = null;
+ header = httpRequest.mode;
+ httpRequest.headersList.set("sec-fetch-mode", header, true);
+ }
+ function appendRequestOriginHeader(request) {
+ let serializedOrigin = request.origin;
+ if (serializedOrigin === "client" || serializedOrigin === void 0) {
+ return;
+ }
+ if (request.responseTainting === "cors" || request.mode === "websocket") {
+ request.headersList.append("origin", serializedOrigin, true);
+ } else if (request.method !== "GET" && request.method !== "HEAD") {
+ switch (request.referrerPolicy) {
+ case "no-referrer":
+ serializedOrigin = null;
+ break;
+ case "no-referrer-when-downgrade":
+ case "strict-origin":
+ case "strict-origin-when-cross-origin":
+ if (request.origin && urlHasHttpsScheme(request.origin) && !urlHasHttpsScheme(requestCurrentURL(request))) {
+ serializedOrigin = null;
+ }
+ break;
+ case "same-origin":
+ if (!sameOrigin(request, requestCurrentURL(request))) {
+ serializedOrigin = null;
+ }
+ break;
+ default:
+ }
+ request.headersList.append("origin", serializedOrigin, true);
+ }
+ }
+ function coarsenTime(timestamp, crossOriginIsolatedCapability) {
+ return timestamp;
+ }
+ function clampAndCoarsenConnectionTimingInfo(connectionTimingInfo, defaultStartTime, crossOriginIsolatedCapability) {
+ if (!connectionTimingInfo?.startTime || connectionTimingInfo.startTime < defaultStartTime) {
+ return {
+ domainLookupStartTime: defaultStartTime,
+ domainLookupEndTime: defaultStartTime,
+ connectionStartTime: defaultStartTime,
+ connectionEndTime: defaultStartTime,
+ secureConnectionStartTime: defaultStartTime,
+ ALPNNegotiatedProtocol: connectionTimingInfo?.ALPNNegotiatedProtocol
+ };
+ }
+ return {
+ domainLookupStartTime: coarsenTime(connectionTimingInfo.domainLookupStartTime, crossOriginIsolatedCapability),
+ domainLookupEndTime: coarsenTime(connectionTimingInfo.domainLookupEndTime, crossOriginIsolatedCapability),
+ connectionStartTime: coarsenTime(connectionTimingInfo.connectionStartTime, crossOriginIsolatedCapability),
+ connectionEndTime: coarsenTime(connectionTimingInfo.connectionEndTime, crossOriginIsolatedCapability),
+ secureConnectionStartTime: coarsenTime(connectionTimingInfo.secureConnectionStartTime, crossOriginIsolatedCapability),
+ ALPNNegotiatedProtocol: connectionTimingInfo.ALPNNegotiatedProtocol
+ };
+ }
+ function coarsenedSharedCurrentTime(crossOriginIsolatedCapability) {
+ return coarsenTime(performance2.now(), crossOriginIsolatedCapability);
+ }
+ function createOpaqueTimingInfo(timingInfo) {
+ return {
+ startTime: timingInfo.startTime ?? 0,
+ redirectStartTime: 0,
+ redirectEndTime: 0,
+ postRedirectStartTime: timingInfo.startTime ?? 0,
+ finalServiceWorkerStartTime: 0,
+ finalNetworkResponseStartTime: 0,
+ finalNetworkRequestStartTime: 0,
+ endTime: 0,
+ encodedBodySize: 0,
+ decodedBodySize: 0,
+ finalConnectionTimingInfo: null
+ };
+ }
+ function makePolicyContainer() {
+ return {
+ referrerPolicy: "strict-origin-when-cross-origin"
+ };
+ }
+ function clonePolicyContainer(policyContainer) {
+ return {
+ referrerPolicy: policyContainer.referrerPolicy
+ };
+ }
+ function determineRequestsReferrer(request) {
+ const policy = request.referrerPolicy;
+ assert(policy);
+ let referrerSource = null;
+ if (request.referrer === "client") {
+ const globalOrigin = getGlobalOrigin();
+ if (!globalOrigin || globalOrigin.origin === "null") {
+ return "no-referrer";
+ }
+ referrerSource = new URL(globalOrigin);
+ } else if (request.referrer instanceof URL) {
+ referrerSource = request.referrer;
+ }
+ let referrerURL = stripURLForReferrer(referrerSource);
+ const referrerOrigin = stripURLForReferrer(referrerSource, true);
+ if (referrerURL.toString().length > 4096) {
+ referrerURL = referrerOrigin;
+ }
+ const areSameOrigin = sameOrigin(request, referrerURL);
+ const isNonPotentiallyTrustWorthy = isURLPotentiallyTrustworthy(referrerURL) && !isURLPotentiallyTrustworthy(request.url);
+ switch (policy) {
+ case "origin":
+ return referrerOrigin != null ? referrerOrigin : stripURLForReferrer(referrerSource, true);
+ case "unsafe-url":
+ return referrerURL;
+ case "same-origin":
+ return areSameOrigin ? referrerOrigin : "no-referrer";
+ case "origin-when-cross-origin":
+ return areSameOrigin ? referrerURL : referrerOrigin;
+ case "strict-origin-when-cross-origin": {
+ const currentURL = requestCurrentURL(request);
+ if (sameOrigin(referrerURL, currentURL)) {
+ return referrerURL;
+ }
+ if (isURLPotentiallyTrustworthy(referrerURL) && !isURLPotentiallyTrustworthy(currentURL)) {
+ return "no-referrer";
+ }
+ return referrerOrigin;
+ }
+ case "strict-origin":
+ // eslint-disable-line
+ /**
+ * 1. If referrerURL is a potentially trustworthy URL and
+ * request’s current URL is not a potentially trustworthy URL,
+ * then return no referrer.
+ * 2. Return referrerOrigin
+ */
+ case "no-referrer-when-downgrade":
+ // eslint-disable-line
+ /**
+ * 1. If referrerURL is a potentially trustworthy URL and
+ * request’s current URL is not a potentially trustworthy URL,
+ * then return no referrer.
+ * 2. Return referrerOrigin
+ */
+ default:
+ return isNonPotentiallyTrustWorthy ? "no-referrer" : referrerOrigin;
+ }
+ }
+ function stripURLForReferrer(url, originOnly) {
+ assert(url instanceof URL);
+ url = new URL(url);
+ if (url.protocol === "file:" || url.protocol === "about:" || url.protocol === "blank:") {
+ return "no-referrer";
+ }
+ url.username = "";
+ url.password = "";
+ url.hash = "";
+ if (originOnly) {
+ url.pathname = "";
+ url.search = "";
+ }
+ return url;
+ }
+ function isURLPotentiallyTrustworthy(url) {
+ if (!(url instanceof URL)) {
+ return false;
+ }
+ if (url.href === "about:blank" || url.href === "about:srcdoc") {
+ return true;
+ }
+ if (url.protocol === "data:") return true;
+ if (url.protocol === "file:") return true;
+ return isOriginPotentiallyTrustworthy(url.origin);
+ function isOriginPotentiallyTrustworthy(origin) {
+ if (origin == null || origin === "null") return false;
+ const originAsURL = new URL(origin);
+ if (originAsURL.protocol === "https:" || originAsURL.protocol === "wss:") {
+ return true;
+ }
+ if (/^127(?:\.[0-9]+){0,2}\.[0-9]+$|^\[(?:0*:)*?:?0*1\]$/.test(originAsURL.hostname) || (originAsURL.hostname === "localhost" || originAsURL.hostname.includes("localhost.")) || originAsURL.hostname.endsWith(".localhost")) {
+ return true;
+ }
+ return false;
+ }
+ }
+ function bytesMatch(bytes2, metadataList) {
+ if (crypto2 === void 0) {
+ return true;
+ }
+ const parsedMetadata = parseMetadata(metadataList);
+ if (parsedMetadata === "no metadata") {
+ return true;
+ }
+ if (parsedMetadata.length === 0) {
+ return true;
+ }
+ const strongest = getStrongestMetadata(parsedMetadata);
+ const metadata = filterMetadataListByAlgorithm(parsedMetadata, strongest);
+ for (const item of metadata) {
+ const algorithm = item.algo;
+ const expectedValue = item.hash;
+ let actualValue = crypto2.createHash(algorithm).update(bytes2).digest("base64");
+ if (actualValue[actualValue.length - 1] === "=") {
+ if (actualValue[actualValue.length - 2] === "=") {
+ actualValue = actualValue.slice(0, -2);
+ } else {
+ actualValue = actualValue.slice(0, -1);
+ }
+ }
+ if (compareBase64Mixed(actualValue, expectedValue)) {
+ return true;
+ }
+ }
+ return false;
+ }
+ var parseHashWithOptions = /(?sha256|sha384|sha512)-((?[A-Za-z0-9+/]+|[A-Za-z0-9_-]+)={0,2}(?:\s|$)( +[!-~]*)?)?/i;
+ function parseMetadata(metadata) {
+ const result = [];
+ let empty = true;
+ for (const token of metadata.split(" ")) {
+ empty = false;
+ const parsedToken = parseHashWithOptions.exec(token);
+ if (parsedToken === null || parsedToken.groups === void 0 || parsedToken.groups.algo === void 0) {
+ continue;
+ }
+ const algorithm = parsedToken.groups.algo.toLowerCase();
+ if (supportedHashes.includes(algorithm)) {
+ result.push(parsedToken.groups);
+ }
+ }
+ if (empty === true) {
+ return "no metadata";
+ }
+ return result;
+ }
+ function getStrongestMetadata(metadataList) {
+ let algorithm = metadataList[0].algo;
+ if (algorithm[3] === "5") {
+ return algorithm;
+ }
+ for (let i = 1; i < metadataList.length; ++i) {
+ const metadata = metadataList[i];
+ if (metadata.algo[3] === "5") {
+ algorithm = "sha512";
+ break;
+ } else if (algorithm[3] === "3") {
+ continue;
+ } else if (metadata.algo[3] === "3") {
+ algorithm = "sha384";
+ }
+ }
+ return algorithm;
+ }
+ function filterMetadataListByAlgorithm(metadataList, algorithm) {
+ if (metadataList.length === 1) {
+ return metadataList;
+ }
+ let pos = 0;
+ for (let i = 0; i < metadataList.length; ++i) {
+ if (metadataList[i].algo === algorithm) {
+ metadataList[pos++] = metadataList[i];
+ }
+ }
+ metadataList.length = pos;
+ return metadataList;
+ }
+ function compareBase64Mixed(actualValue, expectedValue) {
+ if (actualValue.length !== expectedValue.length) {
+ return false;
+ }
+ for (let i = 0; i < actualValue.length; ++i) {
+ if (actualValue[i] !== expectedValue[i]) {
+ if (actualValue[i] === "+" && expectedValue[i] === "-" || actualValue[i] === "/" && expectedValue[i] === "_") {
+ continue;
+ }
+ return false;
+ }
+ }
+ return true;
+ }
+ function tryUpgradeRequestToAPotentiallyTrustworthyURL(request) {
+ }
+ function sameOrigin(A, B) {
+ if (A.origin === B.origin && A.origin === "null") {
+ return true;
+ }
+ if (A.protocol === B.protocol && A.hostname === B.hostname && A.port === B.port) {
+ return true;
+ }
+ return false;
+ }
+ function createDeferredPromise() {
+ let res;
+ let rej;
+ const promise = new Promise((resolve, reject) => {
+ res = resolve;
+ rej = reject;
+ });
+ return { promise, resolve: res, reject: rej };
+ }
+ function isAborted(fetchParams) {
+ return fetchParams.controller.state === "aborted";
+ }
+ function isCancelled(fetchParams) {
+ return fetchParams.controller.state === "aborted" || fetchParams.controller.state === "terminated";
+ }
+ function normalizeMethod(method) {
+ return normalizedMethodRecordsBase[method.toLowerCase()] ?? method;
+ }
+ function serializeJavascriptValueToJSONString(value) {
+ const result = JSON.stringify(value);
+ if (result === void 0) {
+ throw new TypeError("Value is not JSON serializable");
+ }
+ assert(typeof result === "string");
+ return result;
+ }
+ var esIteratorPrototype = Object.getPrototypeOf(Object.getPrototypeOf([][Symbol.iterator]()));
+ function createIterator(name, kInternalIterator, keyIndex = 0, valueIndex = 1) {
+ class FastIterableIterator {
+ /** @type {any} */
+ #target;
+ /** @type {'key' | 'value' | 'key+value'} */
+ #kind;
+ /** @type {number} */
+ #index;
+ /**
+ * @see https://webidl.spec.whatwg.org/#dfn-default-iterator-object
+ * @param {unknown} target
+ * @param {'key' | 'value' | 'key+value'} kind
+ */
+ constructor(target, kind) {
+ this.#target = target;
+ this.#kind = kind;
+ this.#index = 0;
+ }
+ next() {
+ if (typeof this !== "object" || this === null || !(#target in this)) {
+ throw new TypeError(
+ `'next' called on an object that does not implement interface ${name} Iterator.`
+ );
+ }
+ const index = this.#index;
+ const values = this.#target[kInternalIterator];
+ const len = values.length;
+ if (index >= len) {
+ return {
+ value: void 0,
+ done: true
+ };
+ }
+ const { [keyIndex]: key, [valueIndex]: value } = values[index];
+ this.#index = index + 1;
+ let result;
+ switch (this.#kind) {
+ case "key":
+ result = key;
+ break;
+ case "value":
+ result = value;
+ break;
+ case "key+value":
+ result = [key, value];
+ break;
+ }
+ return {
+ value: result,
+ done: false
+ };
+ }
+ }
+ delete FastIterableIterator.prototype.constructor;
+ Object.setPrototypeOf(FastIterableIterator.prototype, esIteratorPrototype);
+ Object.defineProperties(FastIterableIterator.prototype, {
+ [Symbol.toStringTag]: {
+ writable: false,
+ enumerable: false,
+ configurable: true,
+ value: `${name} Iterator`
+ },
+ next: { writable: true, enumerable: true, configurable: true }
+ });
+ return function(target, kind) {
+ return new FastIterableIterator(target, kind);
+ };
+ }
+ function iteratorMixin(name, object, kInternalIterator, keyIndex = 0, valueIndex = 1) {
+ const makeIterator = createIterator(name, kInternalIterator, keyIndex, valueIndex);
+ const properties = {
+ keys: {
+ writable: true,
+ enumerable: true,
+ configurable: true,
+ value: function keys() {
+ webidl.brandCheck(this, object);
+ return makeIterator(this, "key");
+ }
+ },
+ values: {
+ writable: true,
+ enumerable: true,
+ configurable: true,
+ value: function values() {
+ webidl.brandCheck(this, object);
+ return makeIterator(this, "value");
+ }
+ },
+ entries: {
+ writable: true,
+ enumerable: true,
+ configurable: true,
+ value: function entries() {
+ webidl.brandCheck(this, object);
+ return makeIterator(this, "key+value");
+ }
+ },
+ forEach: {
+ writable: true,
+ enumerable: true,
+ configurable: true,
+ value: function forEach(callbackfn, thisArg = globalThis) {
+ webidl.brandCheck(this, object);
+ webidl.argumentLengthCheck(arguments, 1, `${name}.forEach`);
+ if (typeof callbackfn !== "function") {
+ throw new TypeError(
+ `Failed to execute 'forEach' on '${name}': parameter 1 is not of type 'Function'.`
+ );
+ }
+ for (const { 0: key, 1: value } of makeIterator(this, "key+value")) {
+ callbackfn.call(thisArg, value, key, this);
+ }
+ }
+ }
+ };
+ return Object.defineProperties(object.prototype, {
+ ...properties,
+ [Symbol.iterator]: {
+ writable: true,
+ enumerable: false,
+ configurable: true,
+ value: properties.entries.value
+ }
+ });
+ }
+ async function fullyReadBody(body, processBody, processBodyError) {
+ const successSteps = processBody;
+ const errorSteps = processBodyError;
+ let reader;
+ try {
+ reader = body.stream.getReader();
+ } catch (e) {
+ errorSteps(e);
+ return;
+ }
+ try {
+ successSteps(await readAllBytes(reader));
+ } catch (e) {
+ errorSteps(e);
+ }
+ }
+ function isReadableStreamLike(stream) {
+ return stream instanceof ReadableStream || stream[Symbol.toStringTag] === "ReadableStream" && typeof stream.tee === "function";
+ }
+ function readableStreamClose(controller) {
+ try {
+ controller.close();
+ controller.byobRequest?.respond(0);
+ } catch (err) {
+ if (!err.message.includes("Controller is already closed") && !err.message.includes("ReadableStream is already closed")) {
+ throw err;
+ }
+ }
+ }
+ var invalidIsomorphicEncodeValueRegex = /[^\x00-\xFF]/;
+ function isomorphicEncode(input) {
+ assert(!invalidIsomorphicEncodeValueRegex.test(input));
+ return input;
+ }
+ async function readAllBytes(reader) {
+ const bytes2 = [];
+ let byteLength = 0;
+ while (true) {
+ const { done, value: chunk } = await reader.read();
+ if (done) {
+ return Buffer.concat(bytes2, byteLength);
+ }
+ if (!isUint8Array(chunk)) {
+ throw new TypeError("Received non-Uint8Array chunk");
+ }
+ bytes2.push(chunk);
+ byteLength += chunk.length;
+ }
+ }
+ function urlIsLocal(url) {
+ assert("protocol" in url);
+ const protocol = url.protocol;
+ return protocol === "about:" || protocol === "blob:" || protocol === "data:";
+ }
+ function urlHasHttpsScheme(url) {
+ return typeof url === "string" && url[5] === ":" && url[0] === "h" && url[1] === "t" && url[2] === "t" && url[3] === "p" && url[4] === "s" || url.protocol === "https:";
+ }
+ function urlIsHttpHttpsScheme(url) {
+ assert("protocol" in url);
+ const protocol = url.protocol;
+ return protocol === "http:" || protocol === "https:";
+ }
+ function simpleRangeHeaderValue(value, allowWhitespace) {
+ const data = value;
+ if (!data.startsWith("bytes")) {
+ return "failure";
+ }
+ const position = { position: 5 };
+ if (allowWhitespace) {
+ collectASequenceOfCodePoints(
+ (char) => char === " " || char === " ",
+ data,
+ position
+ );
+ }
+ if (data.charCodeAt(position.position) !== 61) {
+ return "failure";
+ }
+ position.position++;
+ if (allowWhitespace) {
+ collectASequenceOfCodePoints(
+ (char) => char === " " || char === " ",
+ data,
+ position
+ );
+ }
+ const rangeStart = collectASequenceOfCodePoints(
+ (char) => {
+ const code = char.charCodeAt(0);
+ return code >= 48 && code <= 57;
+ },
+ data,
+ position
+ );
+ const rangeStartValue = rangeStart.length ? Number(rangeStart) : null;
+ if (allowWhitespace) {
+ collectASequenceOfCodePoints(
+ (char) => char === " " || char === " ",
+ data,
+ position
+ );
+ }
+ if (data.charCodeAt(position.position) !== 45) {
+ return "failure";
+ }
+ position.position++;
+ if (allowWhitespace) {
+ collectASequenceOfCodePoints(
+ (char) => char === " " || char === " ",
+ data,
+ position
+ );
+ }
+ const rangeEnd = collectASequenceOfCodePoints(
+ (char) => {
+ const code = char.charCodeAt(0);
+ return code >= 48 && code <= 57;
+ },
+ data,
+ position
+ );
+ const rangeEndValue = rangeEnd.length ? Number(rangeEnd) : null;
+ if (position.position < data.length) {
+ return "failure";
+ }
+ if (rangeEndValue === null && rangeStartValue === null) {
+ return "failure";
+ }
+ if (rangeStartValue > rangeEndValue) {
+ return "failure";
+ }
+ return { rangeStartValue, rangeEndValue };
+ }
+ function buildContentRange(rangeStart, rangeEnd, fullLength) {
+ let contentRange = "bytes ";
+ contentRange += isomorphicEncode(`${rangeStart}`);
+ contentRange += "-";
+ contentRange += isomorphicEncode(`${rangeEnd}`);
+ contentRange += "/";
+ contentRange += isomorphicEncode(`${fullLength}`);
+ return contentRange;
+ }
+ var InflateStream = class extends Transform {
+ #zlibOptions;
+ /** @param {zlib.ZlibOptions} [zlibOptions] */
+ constructor(zlibOptions) {
+ super();
+ this.#zlibOptions = zlibOptions;
+ }
+ _transform(chunk, encoding, callback) {
+ if (!this._inflateStream) {
+ if (chunk.length === 0) {
+ callback();
+ return;
+ }
+ this._inflateStream = (chunk[0] & 15) === 8 ? zlib.createInflate(this.#zlibOptions) : zlib.createInflateRaw(this.#zlibOptions);
+ this._inflateStream.on("data", this.push.bind(this));
+ this._inflateStream.on("end", () => this.push(null));
+ this._inflateStream.on("error", (err) => this.destroy(err));
+ }
+ this._inflateStream.write(chunk, encoding, callback);
+ }
+ _final(callback) {
+ if (this._inflateStream) {
+ this._inflateStream.end();
+ this._inflateStream = null;
+ }
+ callback();
+ }
+ };
+ function createInflate(zlibOptions) {
+ return new InflateStream(zlibOptions);
+ }
+ function extractMimeType(headers) {
+ let charset = null;
+ let essence = null;
+ let mimeType = null;
+ const values = getDecodeSplit("content-type", headers);
+ if (values === null) {
+ return "failure";
+ }
+ for (const value of values) {
+ const temporaryMimeType = parseMIMEType(value);
+ if (temporaryMimeType === "failure" || temporaryMimeType.essence === "*/*") {
+ continue;
+ }
+ mimeType = temporaryMimeType;
+ if (mimeType.essence !== essence) {
+ charset = null;
+ if (mimeType.parameters.has("charset")) {
+ charset = mimeType.parameters.get("charset");
+ }
+ essence = mimeType.essence;
+ } else if (!mimeType.parameters.has("charset") && charset !== null) {
+ mimeType.parameters.set("charset", charset);
+ }
+ }
+ if (mimeType == null) {
+ return "failure";
+ }
+ return mimeType;
+ }
+ function gettingDecodingSplitting(value) {
+ const input = value;
+ const position = { position: 0 };
+ const values = [];
+ let temporaryValue = "";
+ while (position.position < input.length) {
+ temporaryValue += collectASequenceOfCodePoints(
+ (char) => char !== '"' && char !== ",",
+ input,
+ position
+ );
+ if (position.position < input.length) {
+ if (input.charCodeAt(position.position) === 34) {
+ temporaryValue += collectAnHTTPQuotedString(
+ input,
+ position
+ );
+ if (position.position < input.length) {
+ continue;
+ }
+ } else {
+ assert(input.charCodeAt(position.position) === 44);
+ position.position++;
+ }
+ }
+ temporaryValue = removeChars(temporaryValue, true, true, (char) => char === 9 || char === 32);
+ values.push(temporaryValue);
+ temporaryValue = "";
+ }
+ return values;
+ }
+ function getDecodeSplit(name, list2) {
+ const value = list2.get(name, true);
+ if (value === null) {
+ return null;
+ }
+ return gettingDecodingSplitting(value);
+ }
+ var textDecoder = new TextDecoder();
+ function utf8DecodeBytes(buffer) {
+ if (buffer.length === 0) {
+ return "";
+ }
+ if (buffer[0] === 239 && buffer[1] === 187 && buffer[2] === 191) {
+ buffer = buffer.subarray(3);
+ }
+ const output = textDecoder.decode(buffer);
+ return output;
+ }
+ var EnvironmentSettingsObjectBase = class {
+ get baseUrl() {
+ return getGlobalOrigin();
+ }
+ get origin() {
+ return this.baseUrl?.origin;
+ }
+ policyContainer = makePolicyContainer();
+ };
+ var EnvironmentSettingsObject = class {
+ settingsObject = new EnvironmentSettingsObjectBase();
+ };
+ var environmentSettingsObject = new EnvironmentSettingsObject();
+ module.exports = {
+ isAborted,
+ isCancelled,
+ isValidEncodedURL,
+ createDeferredPromise,
+ ReadableStreamFrom,
+ tryUpgradeRequestToAPotentiallyTrustworthyURL,
+ clampAndCoarsenConnectionTimingInfo,
+ coarsenedSharedCurrentTime,
+ determineRequestsReferrer,
+ makePolicyContainer,
+ clonePolicyContainer,
+ appendFetchMetadata,
+ appendRequestOriginHeader,
+ TAOCheck,
+ corsCheck,
+ crossOriginResourcePolicyCheck,
+ createOpaqueTimingInfo,
+ setRequestReferrerPolicyOnRedirect,
+ isValidHTTPToken,
+ requestBadPort,
+ requestCurrentURL,
+ responseURL,
+ responseLocationURL,
+ isBlobLike,
+ isURLPotentiallyTrustworthy,
+ isValidReasonPhrase,
+ sameOrigin,
+ normalizeMethod,
+ serializeJavascriptValueToJSONString,
+ iteratorMixin,
+ createIterator,
+ isValidHeaderName,
+ isValidHeaderValue,
+ isErrorLike,
+ fullyReadBody,
+ bytesMatch,
+ isReadableStreamLike,
+ readableStreamClose,
+ isomorphicEncode,
+ urlIsLocal,
+ urlHasHttpsScheme,
+ urlIsHttpHttpsScheme,
+ readAllBytes,
+ simpleRangeHeaderValue,
+ buildContentRange,
+ parseMetadata,
+ createInflate,
+ extractMimeType,
+ getDecodeSplit,
+ utf8DecodeBytes,
+ environmentSettingsObject
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/symbols.js
+var require_symbols2 = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/symbols.js"(exports, module) {
+ "use strict";
+ module.exports = {
+ kUrl: /* @__PURE__ */ Symbol("url"),
+ kHeaders: /* @__PURE__ */ Symbol("headers"),
+ kSignal: /* @__PURE__ */ Symbol("signal"),
+ kState: /* @__PURE__ */ Symbol("state"),
+ kDispatcher: /* @__PURE__ */ Symbol("dispatcher")
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/file.js
+var require_file = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/file.js"(exports, module) {
+ "use strict";
+ var { Blob: Blob2, File } = __require("node:buffer");
+ var { kState } = require_symbols2();
+ var { webidl } = require_webidl();
+ var FileLike = class _FileLike {
+ constructor(blobLike, fileName, options = {}) {
+ const n = fileName;
+ const t = options.type;
+ const d = options.lastModified ?? Date.now();
+ this[kState] = {
+ blobLike,
+ name: n,
+ type: t,
+ lastModified: d
+ };
+ }
+ stream(...args) {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].blobLike.stream(...args);
+ }
+ arrayBuffer(...args) {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].blobLike.arrayBuffer(...args);
+ }
+ slice(...args) {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].blobLike.slice(...args);
+ }
+ text(...args) {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].blobLike.text(...args);
+ }
+ get size() {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].blobLike.size;
+ }
+ get type() {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].blobLike.type;
+ }
+ get name() {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].name;
+ }
+ get lastModified() {
+ webidl.brandCheck(this, _FileLike);
+ return this[kState].lastModified;
+ }
+ get [Symbol.toStringTag]() {
+ return "File";
+ }
+ };
+ webidl.converters.Blob = webidl.interfaceConverter(Blob2);
+ function isFileLike(object) {
+ return object instanceof File || object && (typeof object.stream === "function" || typeof object.arrayBuffer === "function") && object[Symbol.toStringTag] === "File";
+ }
+ module.exports = { FileLike, isFileLike };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/formdata.js
+var require_formdata = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/formdata.js"(exports, module) {
+ "use strict";
+ var { isBlobLike, iteratorMixin } = require_util2();
+ var { kState } = require_symbols2();
+ var { kEnumerableProperty } = require_util();
+ var { FileLike, isFileLike } = require_file();
+ var { webidl } = require_webidl();
+ var { File: NativeFile } = __require("node:buffer");
+ var nodeUtil = __require("node:util");
+ var File = globalThis.File ?? NativeFile;
+ var FormData = class _FormData {
+ constructor(form) {
+ webidl.util.markAsUncloneable(this);
+ if (form !== void 0) {
+ throw webidl.errors.conversionFailed({
+ prefix: "FormData constructor",
+ argument: "Argument 1",
+ types: ["undefined"]
+ });
+ }
+ this[kState] = [];
+ }
+ append(name, value, filename = void 0) {
+ webidl.brandCheck(this, _FormData);
+ const prefix = "FormData.append";
+ webidl.argumentLengthCheck(arguments, 2, prefix);
+ if (arguments.length === 3 && !isBlobLike(value)) {
+ throw new TypeError(
+ "Failed to execute 'append' on 'FormData': parameter 2 is not of type 'Blob'"
+ );
+ }
+ name = webidl.converters.USVString(name, prefix, "name");
+ value = isBlobLike(value) ? webidl.converters.Blob(value, prefix, "value", { strict: false }) : webidl.converters.USVString(value, prefix, "value");
+ filename = arguments.length === 3 ? webidl.converters.USVString(filename, prefix, "filename") : void 0;
+ const entry = makeEntry(name, value, filename);
+ this[kState].push(entry);
+ }
+ delete(name) {
+ webidl.brandCheck(this, _FormData);
+ const prefix = "FormData.delete";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ name = webidl.converters.USVString(name, prefix, "name");
+ this[kState] = this[kState].filter((entry) => entry.name !== name);
+ }
+ get(name) {
+ webidl.brandCheck(this, _FormData);
+ const prefix = "FormData.get";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ name = webidl.converters.USVString(name, prefix, "name");
+ const idx = this[kState].findIndex((entry) => entry.name === name);
+ if (idx === -1) {
+ return null;
+ }
+ return this[kState][idx].value;
+ }
+ getAll(name) {
+ webidl.brandCheck(this, _FormData);
+ const prefix = "FormData.getAll";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ name = webidl.converters.USVString(name, prefix, "name");
+ return this[kState].filter((entry) => entry.name === name).map((entry) => entry.value);
+ }
+ has(name) {
+ webidl.brandCheck(this, _FormData);
+ const prefix = "FormData.has";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ name = webidl.converters.USVString(name, prefix, "name");
+ return this[kState].findIndex((entry) => entry.name === name) !== -1;
+ }
+ set(name, value, filename = void 0) {
+ webidl.brandCheck(this, _FormData);
+ const prefix = "FormData.set";
+ webidl.argumentLengthCheck(arguments, 2, prefix);
+ if (arguments.length === 3 && !isBlobLike(value)) {
+ throw new TypeError(
+ "Failed to execute 'set' on 'FormData': parameter 2 is not of type 'Blob'"
+ );
+ }
+ name = webidl.converters.USVString(name, prefix, "name");
+ value = isBlobLike(value) ? webidl.converters.Blob(value, prefix, "name", { strict: false }) : webidl.converters.USVString(value, prefix, "name");
+ filename = arguments.length === 3 ? webidl.converters.USVString(filename, prefix, "name") : void 0;
+ const entry = makeEntry(name, value, filename);
+ const idx = this[kState].findIndex((entry2) => entry2.name === name);
+ if (idx !== -1) {
+ this[kState] = [
+ ...this[kState].slice(0, idx),
+ entry,
+ ...this[kState].slice(idx + 1).filter((entry2) => entry2.name !== name)
+ ];
+ } else {
+ this[kState].push(entry);
+ }
+ }
+ [nodeUtil.inspect.custom](depth, options) {
+ const state = this[kState].reduce((a, b) => {
+ if (a[b.name]) {
+ if (Array.isArray(a[b.name])) {
+ a[b.name].push(b.value);
+ } else {
+ a[b.name] = [a[b.name], b.value];
+ }
+ } else {
+ a[b.name] = b.value;
+ }
+ return a;
+ }, { __proto__: null });
+ options.depth ??= depth;
+ options.colors ??= true;
+ const output = nodeUtil.formatWithOptions(options, state);
+ return `FormData ${output.slice(output.indexOf("]") + 2)}`;
+ }
+ };
+ iteratorMixin("FormData", FormData, kState, "name", "value");
+ Object.defineProperties(FormData.prototype, {
+ append: kEnumerableProperty,
+ delete: kEnumerableProperty,
+ get: kEnumerableProperty,
+ getAll: kEnumerableProperty,
+ has: kEnumerableProperty,
+ set: kEnumerableProperty,
+ [Symbol.toStringTag]: {
+ value: "FormData",
+ configurable: true
+ }
+ });
+ function makeEntry(name, value, filename) {
+ if (typeof value === "string") {
+ } else {
+ if (!isFileLike(value)) {
+ value = value instanceof Blob ? new File([value], "blob", { type: value.type }) : new FileLike(value, "blob", { type: value.type });
+ }
+ if (filename !== void 0) {
+ const options = {
+ type: value.type,
+ lastModified: value.lastModified
+ };
+ value = value instanceof NativeFile ? new File([value], filename, options) : new FileLike(value, filename, options);
+ }
+ }
+ return { name, value };
+ }
+ module.exports = { FormData, makeEntry };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/formdata-parser.js
+var require_formdata_parser = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/formdata-parser.js"(exports, module) {
+ "use strict";
+ var { isUSVString, bufferToLowerCasedHeaderName } = require_util();
+ var { utf8DecodeBytes } = require_util2();
+ var { HTTP_TOKEN_CODEPOINTS, isomorphicDecode } = require_data_url();
+ var { isFileLike } = require_file();
+ var { makeEntry } = require_formdata();
+ var assert = __require("node:assert");
+ var { File: NodeFile } = __require("node:buffer");
+ var File = globalThis.File ?? NodeFile;
+ var formDataNameBuffer = Buffer.from('form-data; name="');
+ var filenameBuffer = Buffer.from("; filename");
+ var dd = Buffer.from("--");
+ var ddcrlf = Buffer.from("--\r\n");
+ function isAsciiString(chars) {
+ for (let i = 0; i < chars.length; ++i) {
+ if ((chars.charCodeAt(i) & ~127) !== 0) {
+ return false;
+ }
+ }
+ return true;
+ }
+ function validateBoundary(boundary) {
+ const length2 = boundary.length;
+ if (length2 < 27 || length2 > 70) {
+ return false;
+ }
+ for (let i = 0; i < length2; ++i) {
+ const cp = boundary.charCodeAt(i);
+ if (!(cp >= 48 && cp <= 57 || cp >= 65 && cp <= 90 || cp >= 97 && cp <= 122 || cp === 39 || cp === 45 || cp === 95)) {
+ return false;
+ }
+ }
+ return true;
+ }
+ function multipartFormDataParser(input, mimeType) {
+ assert(mimeType !== "failure" && mimeType.essence === "multipart/form-data");
+ const boundaryString = mimeType.parameters.get("boundary");
+ if (boundaryString === void 0) {
+ return "failure";
+ }
+ const boundary = Buffer.from(`--${boundaryString}`, "utf8");
+ const entryList = [];
+ const position = { position: 0 };
+ while (input[position.position] === 13 && input[position.position + 1] === 10) {
+ position.position += 2;
+ }
+ let trailing = input.length;
+ while (input[trailing - 1] === 10 && input[trailing - 2] === 13) {
+ trailing -= 2;
+ }
+ if (trailing !== input.length) {
+ input = input.subarray(0, trailing);
+ }
+ while (true) {
+ if (input.subarray(position.position, position.position + boundary.length).equals(boundary)) {
+ position.position += boundary.length;
+ } else {
+ return "failure";
+ }
+ if (position.position === input.length - 2 && bufferStartsWith(input, dd, position) || position.position === input.length - 4 && bufferStartsWith(input, ddcrlf, position)) {
+ return entryList;
+ }
+ if (input[position.position] !== 13 || input[position.position + 1] !== 10) {
+ return "failure";
+ }
+ position.position += 2;
+ const result = parseMultipartFormDataHeaders(input, position);
+ if (result === "failure") {
+ return "failure";
+ }
+ let { name, filename, contentType, encoding } = result;
+ position.position += 2;
+ let body;
+ {
+ const boundaryIndex = input.indexOf(boundary.subarray(2), position.position);
+ if (boundaryIndex === -1) {
+ return "failure";
+ }
+ body = input.subarray(position.position, boundaryIndex - 4);
+ position.position += body.length;
+ if (encoding === "base64") {
+ body = Buffer.from(body.toString(), "base64");
+ }
+ }
+ if (input[position.position] !== 13 || input[position.position + 1] !== 10) {
+ return "failure";
+ } else {
+ position.position += 2;
+ }
+ let value;
+ if (filename !== null) {
+ contentType ??= "text/plain";
+ if (!isAsciiString(contentType)) {
+ contentType = "";
+ }
+ value = new File([body], filename, { type: contentType });
+ } else {
+ value = utf8DecodeBytes(Buffer.from(body));
+ }
+ assert(isUSVString(name));
+ assert(typeof value === "string" && isUSVString(value) || isFileLike(value));
+ entryList.push(makeEntry(name, value, filename));
+ }
+ }
+ function parseMultipartFormDataHeaders(input, position) {
+ let name = null;
+ let filename = null;
+ let contentType = null;
+ let encoding = null;
+ while (true) {
+ if (input[position.position] === 13 && input[position.position + 1] === 10) {
+ if (name === null) {
+ return "failure";
+ }
+ return { name, filename, contentType, encoding };
+ }
+ let headerName = collectASequenceOfBytes(
+ (char) => char !== 10 && char !== 13 && char !== 58,
+ input,
+ position
+ );
+ headerName = removeChars(headerName, true, true, (char) => char === 9 || char === 32);
+ if (!HTTP_TOKEN_CODEPOINTS.test(headerName.toString())) {
+ return "failure";
+ }
+ if (input[position.position] !== 58) {
+ return "failure";
+ }
+ position.position++;
+ collectASequenceOfBytes(
+ (char) => char === 32 || char === 9,
+ input,
+ position
+ );
+ switch (bufferToLowerCasedHeaderName(headerName)) {
+ case "content-disposition": {
+ name = filename = null;
+ if (!bufferStartsWith(input, formDataNameBuffer, position)) {
+ return "failure";
+ }
+ position.position += 17;
+ name = parseMultipartFormDataName(input, position);
+ if (name === null) {
+ return "failure";
+ }
+ if (bufferStartsWith(input, filenameBuffer, position)) {
+ let check = position.position + filenameBuffer.length;
+ if (input[check] === 42) {
+ position.position += 1;
+ check += 1;
+ }
+ if (input[check] !== 61 || input[check + 1] !== 34) {
+ return "failure";
+ }
+ position.position += 12;
+ filename = parseMultipartFormDataName(input, position);
+ if (filename === null) {
+ return "failure";
+ }
+ }
+ break;
+ }
+ case "content-type": {
+ let headerValue = collectASequenceOfBytes(
+ (char) => char !== 10 && char !== 13,
+ input,
+ position
+ );
+ headerValue = removeChars(headerValue, false, true, (char) => char === 9 || char === 32);
+ contentType = isomorphicDecode(headerValue);
+ break;
+ }
+ case "content-transfer-encoding": {
+ let headerValue = collectASequenceOfBytes(
+ (char) => char !== 10 && char !== 13,
+ input,
+ position
+ );
+ headerValue = removeChars(headerValue, false, true, (char) => char === 9 || char === 32);
+ encoding = isomorphicDecode(headerValue);
+ break;
+ }
+ default: {
+ collectASequenceOfBytes(
+ (char) => char !== 10 && char !== 13,
+ input,
+ position
+ );
+ }
+ }
+ if (input[position.position] !== 13 && input[position.position + 1] !== 10) {
+ return "failure";
+ } else {
+ position.position += 2;
+ }
+ }
+ }
+ function parseMultipartFormDataName(input, position) {
+ assert(input[position.position - 1] === 34);
+ let name = collectASequenceOfBytes(
+ (char) => char !== 10 && char !== 13 && char !== 34,
+ input,
+ position
+ );
+ if (input[position.position] !== 34) {
+ return null;
+ } else {
+ position.position++;
+ }
+ name = new TextDecoder().decode(name).replace(/%0A/ig, "\n").replace(/%0D/ig, "\r").replace(/%22/g, '"');
+ return name;
+ }
+ function collectASequenceOfBytes(condition, input, position) {
+ let start = position.position;
+ while (start < input.length && condition(input[start])) {
+ ++start;
+ }
+ return input.subarray(position.position, position.position = start);
+ }
+ function removeChars(buf, leading, trailing, predicate) {
+ let lead = 0;
+ let trail = buf.length - 1;
+ if (leading) {
+ while (lead < buf.length && predicate(buf[lead])) lead++;
+ }
+ if (trailing) {
+ while (trail > 0 && predicate(buf[trail])) trail--;
+ }
+ return lead === 0 && trail === buf.length - 1 ? buf : buf.subarray(lead, trail + 1);
+ }
+ function bufferStartsWith(buffer, start, position) {
+ if (buffer.length < start.length) {
+ return false;
+ }
+ for (let i = 0; i < start.length; i++) {
+ if (start[i] !== buffer[position.position + i]) {
+ return false;
+ }
+ }
+ return true;
+ }
+ module.exports = {
+ multipartFormDataParser,
+ validateBoundary
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/body.js
+var require_body = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/body.js"(exports, module) {
+ "use strict";
+ var util = require_util();
+ var {
+ ReadableStreamFrom,
+ isBlobLike,
+ isReadableStreamLike,
+ readableStreamClose,
+ createDeferredPromise,
+ fullyReadBody,
+ extractMimeType,
+ utf8DecodeBytes
+ } = require_util2();
+ var { FormData } = require_formdata();
+ var { kState } = require_symbols2();
+ var { webidl } = require_webidl();
+ var { Blob: Blob2 } = __require("node:buffer");
+ var assert = __require("node:assert");
+ var { isErrored, isDisturbed } = __require("node:stream");
+ var { isArrayBuffer } = __require("node:util/types");
+ var { serializeAMimeType } = require_data_url();
+ var { multipartFormDataParser } = require_formdata_parser();
+ var random;
+ try {
+ const crypto2 = __require("node:crypto");
+ random = (max) => crypto2.randomInt(0, max);
+ } catch {
+ random = (max) => Math.floor(Math.random(max));
+ }
+ var textEncoder2 = new TextEncoder();
+ function noop() {
+ }
+ var hasFinalizationRegistry = globalThis.FinalizationRegistry && process.version.indexOf("v18") !== 0;
+ var streamRegistry;
+ if (hasFinalizationRegistry) {
+ streamRegistry = new FinalizationRegistry((weakRef) => {
+ const stream = weakRef.deref();
+ if (stream && !stream.locked && !isDisturbed(stream) && !isErrored(stream)) {
+ stream.cancel("Response object has been garbage collected").catch(noop);
+ }
+ });
+ }
+ function extractBody(object, keepalive = false) {
+ let stream = null;
+ if (object instanceof ReadableStream) {
+ stream = object;
+ } else if (isBlobLike(object)) {
+ stream = object.stream();
+ } else {
+ stream = new ReadableStream({
+ async pull(controller) {
+ const buffer = typeof source === "string" ? textEncoder2.encode(source) : source;
+ if (buffer.byteLength) {
+ controller.enqueue(buffer);
+ }
+ queueMicrotask(() => readableStreamClose(controller));
+ },
+ start() {
+ },
+ type: "bytes"
+ });
+ }
+ assert(isReadableStreamLike(stream));
+ let action = null;
+ let source = null;
+ let length2 = null;
+ let type = null;
+ if (typeof object === "string") {
+ source = object;
+ type = "text/plain;charset=UTF-8";
+ } else if (object instanceof URLSearchParams) {
+ source = object.toString();
+ type = "application/x-www-form-urlencoded;charset=UTF-8";
+ } else if (isArrayBuffer(object)) {
+ source = new Uint8Array(object.slice());
+ } else if (ArrayBuffer.isView(object)) {
+ source = new Uint8Array(object.buffer.slice(object.byteOffset, object.byteOffset + object.byteLength));
+ } else if (util.isFormDataLike(object)) {
+ const boundary = `----formdata-undici-0${`${random(1e11)}`.padStart(11, "0")}`;
+ const prefix = `--${boundary}\r
+Content-Disposition: form-data`;
+ const escape = (str) => str.replace(/\n/g, "%0A").replace(/\r/g, "%0D").replace(/"/g, "%22");
+ const normalizeLinefeeds = (value) => value.replace(/\r?\n|\r/g, "\r\n");
+ const blobParts = [];
+ const rn = new Uint8Array([13, 10]);
+ length2 = 0;
+ let hasUnknownSizeValue = false;
+ for (const [name, value] of object) {
+ if (typeof value === "string") {
+ const chunk2 = textEncoder2.encode(prefix + `; name="${escape(normalizeLinefeeds(name))}"\r
+\r
+${normalizeLinefeeds(value)}\r
+`);
+ blobParts.push(chunk2);
+ length2 += chunk2.byteLength;
+ } else {
+ const chunk2 = textEncoder2.encode(`${prefix}; name="${escape(normalizeLinefeeds(name))}"` + (value.name ? `; filename="${escape(value.name)}"` : "") + `\r
+Content-Type: ${value.type || "application/octet-stream"}\r
+\r
+`);
+ blobParts.push(chunk2, value, rn);
+ if (typeof value.size === "number") {
+ length2 += chunk2.byteLength + value.size + rn.byteLength;
+ } else {
+ hasUnknownSizeValue = true;
+ }
+ }
+ }
+ const chunk = textEncoder2.encode(`--${boundary}--\r
+`);
+ blobParts.push(chunk);
+ length2 += chunk.byteLength;
+ if (hasUnknownSizeValue) {
+ length2 = null;
+ }
+ source = object;
+ action = async function* () {
+ for (const part of blobParts) {
+ if (part.stream) {
+ yield* part.stream();
+ } else {
+ yield part;
+ }
+ }
+ };
+ type = `multipart/form-data; boundary=${boundary}`;
+ } else if (isBlobLike(object)) {
+ source = object;
+ length2 = object.size;
+ if (object.type) {
+ type = object.type;
+ }
+ } else if (typeof object[Symbol.asyncIterator] === "function") {
+ if (keepalive) {
+ throw new TypeError("keepalive");
+ }
+ if (util.isDisturbed(object) || object.locked) {
+ throw new TypeError(
+ "Response body object should not be disturbed or locked"
+ );
+ }
+ stream = object instanceof ReadableStream ? object : ReadableStreamFrom(object);
+ }
+ if (typeof source === "string" || util.isBuffer(source)) {
+ length2 = Buffer.byteLength(source);
+ }
+ if (action != null) {
+ let iterator;
+ stream = new ReadableStream({
+ async start() {
+ iterator = action(object)[Symbol.asyncIterator]();
+ },
+ async pull(controller) {
+ const { value, done } = await iterator.next();
+ if (done) {
+ queueMicrotask(() => {
+ controller.close();
+ controller.byobRequest?.respond(0);
+ });
+ } else {
+ if (!isErrored(stream)) {
+ const buffer = new Uint8Array(value);
+ if (buffer.byteLength) {
+ controller.enqueue(buffer);
+ }
+ }
+ }
+ return controller.desiredSize > 0;
+ },
+ async cancel(reason) {
+ await iterator.return();
+ },
+ type: "bytes"
+ });
+ }
+ const body = { stream, source, length: length2 };
+ return [body, type];
+ }
+ function safelyExtractBody(object, keepalive = false) {
+ if (object instanceof ReadableStream) {
+ assert(!util.isDisturbed(object), "The body has already been consumed.");
+ assert(!object.locked, "The stream is locked.");
+ }
+ return extractBody(object, keepalive);
+ }
+ function cloneBody(instance, body) {
+ const [out1, out2] = body.stream.tee();
+ body.stream = out1;
+ return {
+ stream: out2,
+ length: body.length,
+ source: body.source
+ };
+ }
+ function throwIfAborted(state) {
+ if (state.aborted) {
+ throw new DOMException("The operation was aborted.", "AbortError");
+ }
+ }
+ function bodyMixinMethods(instance) {
+ const methods = {
+ blob() {
+ return consumeBody(this, (bytes2) => {
+ let mimeType = bodyMimeType(this);
+ if (mimeType === null) {
+ mimeType = "";
+ } else if (mimeType) {
+ mimeType = serializeAMimeType(mimeType);
+ }
+ return new Blob2([bytes2], { type: mimeType });
+ }, instance);
+ },
+ arrayBuffer() {
+ return consumeBody(this, (bytes2) => {
+ return new Uint8Array(bytes2).buffer;
+ }, instance);
+ },
+ text() {
+ return consumeBody(this, utf8DecodeBytes, instance);
+ },
+ json() {
+ return consumeBody(this, parseJSONFromBytes, instance);
+ },
+ formData() {
+ return consumeBody(this, (value) => {
+ const mimeType = bodyMimeType(this);
+ if (mimeType !== null) {
+ switch (mimeType.essence) {
+ case "multipart/form-data": {
+ const parsed = multipartFormDataParser(value, mimeType);
+ if (parsed === "failure") {
+ throw new TypeError("Failed to parse body as FormData.");
+ }
+ const fd = new FormData();
+ fd[kState] = parsed;
+ return fd;
+ }
+ case "application/x-www-form-urlencoded": {
+ const entries = new URLSearchParams(value.toString());
+ const fd = new FormData();
+ for (const [name, value2] of entries) {
+ fd.append(name, value2);
+ }
+ return fd;
+ }
+ }
+ }
+ throw new TypeError(
+ 'Content-Type was not one of "multipart/form-data" or "application/x-www-form-urlencoded".'
+ );
+ }, instance);
+ },
+ bytes() {
+ return consumeBody(this, (bytes2) => {
+ return new Uint8Array(bytes2);
+ }, instance);
+ }
+ };
+ return methods;
+ }
+ function mixinBody(prototype) {
+ Object.assign(prototype.prototype, bodyMixinMethods(prototype));
+ }
+ async function consumeBody(object, convertBytesToJSValue, instance) {
+ webidl.brandCheck(object, instance);
+ if (bodyUnusable(object)) {
+ throw new TypeError("Body is unusable: Body has already been read");
+ }
+ throwIfAborted(object[kState]);
+ const promise = createDeferredPromise();
+ const errorSteps = (error) => promise.reject(error);
+ const successSteps = (data) => {
+ try {
+ promise.resolve(convertBytesToJSValue(data));
+ } catch (e) {
+ errorSteps(e);
+ }
+ };
+ if (object[kState].body == null) {
+ successSteps(Buffer.allocUnsafe(0));
+ return promise.promise;
+ }
+ await fullyReadBody(object[kState].body, successSteps, errorSteps);
+ return promise.promise;
+ }
+ function bodyUnusable(object) {
+ const body = object[kState].body;
+ return body != null && (body.stream.locked || util.isDisturbed(body.stream));
+ }
+ function parseJSONFromBytes(bytes2) {
+ return JSON.parse(utf8DecodeBytes(bytes2));
+ }
+ function bodyMimeType(requestOrResponse) {
+ const headers = requestOrResponse[kState].headersList;
+ const mimeType = extractMimeType(headers);
+ if (mimeType === "failure") {
+ return null;
+ }
+ return mimeType;
+ }
+ module.exports = {
+ extractBody,
+ safelyExtractBody,
+ cloneBody,
+ mixinBody,
+ streamRegistry,
+ hasFinalizationRegistry,
+ bodyUnusable
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/client-h1.js
+var require_client_h1 = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/client-h1.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var util = require_util();
+ var { channels } = require_diagnostics();
+ var timers = require_timers();
+ var {
+ RequestContentLengthMismatchError,
+ ResponseContentLengthMismatchError,
+ RequestAbortedError,
+ HeadersTimeoutError,
+ HeadersOverflowError,
+ SocketError,
+ InformationalError,
+ BodyTimeoutError,
+ HTTPParserError,
+ ResponseExceededMaxSizeError
+ } = require_errors();
+ var {
+ kUrl,
+ kReset,
+ kClient,
+ kParser,
+ kBlocking,
+ kRunning,
+ kPending,
+ kSize,
+ kWriting,
+ kQueue,
+ kNoRef,
+ kKeepAliveDefaultTimeout,
+ kHostHeader,
+ kPendingIdx,
+ kRunningIdx,
+ kError,
+ kPipelining,
+ kSocket,
+ kKeepAliveTimeoutValue,
+ kMaxHeadersSize,
+ kKeepAliveMaxTimeout,
+ kKeepAliveTimeoutThreshold,
+ kHeadersTimeout,
+ kBodyTimeout,
+ kStrictContentLength,
+ kMaxRequests,
+ kCounter,
+ kMaxResponseSize,
+ kOnError,
+ kResume,
+ kHTTPContext
+ } = require_symbols();
+ var constants = require_constants2();
+ var EMPTY_BUF = Buffer.alloc(0);
+ var FastBuffer = Buffer[Symbol.species];
+ var addListener = util.addListener;
+ var removeAllListeners = util.removeAllListeners;
+ var extractBody;
+ async function lazyllhttp() {
+ const llhttpWasmData = process.env.JEST_WORKER_ID ? require_llhttp_wasm() : void 0;
+ let mod2;
+ try {
+ mod2 = await WebAssembly.compile(require_llhttp_simd_wasm());
+ } catch (e) {
+ mod2 = await WebAssembly.compile(llhttpWasmData || require_llhttp_wasm());
+ }
+ return await WebAssembly.instantiate(mod2, {
+ env: {
+ /* eslint-disable camelcase */
+ wasm_on_url: (p, at, len) => {
+ return 0;
+ },
+ wasm_on_status: (p, at, len) => {
+ assert(currentParser.ptr === p);
+ const start = at - currentBufferPtr + currentBufferRef.byteOffset;
+ return currentParser.onStatus(new FastBuffer(currentBufferRef.buffer, start, len)) || 0;
+ },
+ wasm_on_message_begin: (p) => {
+ assert(currentParser.ptr === p);
+ return currentParser.onMessageBegin() || 0;
+ },
+ wasm_on_header_field: (p, at, len) => {
+ assert(currentParser.ptr === p);
+ const start = at - currentBufferPtr + currentBufferRef.byteOffset;
+ return currentParser.onHeaderField(new FastBuffer(currentBufferRef.buffer, start, len)) || 0;
+ },
+ wasm_on_header_value: (p, at, len) => {
+ assert(currentParser.ptr === p);
+ const start = at - currentBufferPtr + currentBufferRef.byteOffset;
+ return currentParser.onHeaderValue(new FastBuffer(currentBufferRef.buffer, start, len)) || 0;
+ },
+ wasm_on_headers_complete: (p, statusCode, upgrade, shouldKeepAlive) => {
+ assert(currentParser.ptr === p);
+ return currentParser.onHeadersComplete(statusCode, Boolean(upgrade), Boolean(shouldKeepAlive)) || 0;
+ },
+ wasm_on_body: (p, at, len) => {
+ assert(currentParser.ptr === p);
+ const start = at - currentBufferPtr + currentBufferRef.byteOffset;
+ return currentParser.onBody(new FastBuffer(currentBufferRef.buffer, start, len)) || 0;
+ },
+ wasm_on_message_complete: (p) => {
+ assert(currentParser.ptr === p);
+ return currentParser.onMessageComplete() || 0;
+ }
+ /* eslint-enable camelcase */
+ }
+ });
+ }
+ var llhttpInstance = null;
+ var llhttpPromise = lazyllhttp();
+ llhttpPromise.catch();
+ var currentParser = null;
+ var currentBufferRef = null;
+ var currentBufferSize = 0;
+ var currentBufferPtr = null;
+ var USE_NATIVE_TIMER = 0;
+ var USE_FAST_TIMER = 1;
+ var TIMEOUT_HEADERS = 2 | USE_FAST_TIMER;
+ var TIMEOUT_BODY = 4 | USE_FAST_TIMER;
+ var TIMEOUT_KEEP_ALIVE = 8 | USE_NATIVE_TIMER;
+ var Parser2 = class {
+ constructor(client, socket, { exports: exports2 }) {
+ assert(Number.isFinite(client[kMaxHeadersSize]) && client[kMaxHeadersSize] > 0);
+ this.llhttp = exports2;
+ this.ptr = this.llhttp.llhttp_alloc(constants.TYPE.RESPONSE);
+ this.client = client;
+ this.socket = socket;
+ this.timeout = null;
+ this.timeoutValue = null;
+ this.timeoutType = null;
+ this.statusCode = null;
+ this.statusText = "";
+ this.upgrade = false;
+ this.headers = [];
+ this.headersSize = 0;
+ this.headersMaxSize = client[kMaxHeadersSize];
+ this.shouldKeepAlive = false;
+ this.paused = false;
+ this.resume = this.resume.bind(this);
+ this.bytesRead = 0;
+ this.keepAlive = "";
+ this.contentLength = "";
+ this.connection = "";
+ this.maxResponseSize = client[kMaxResponseSize];
+ }
+ setTimeout(delay, type) {
+ if (delay !== this.timeoutValue || type & USE_FAST_TIMER ^ this.timeoutType & USE_FAST_TIMER) {
+ if (this.timeout) {
+ timers.clearTimeout(this.timeout);
+ this.timeout = null;
+ }
+ if (delay) {
+ if (type & USE_FAST_TIMER) {
+ this.timeout = timers.setFastTimeout(onParserTimeout, delay, new WeakRef(this));
+ } else {
+ this.timeout = setTimeout(onParserTimeout, delay, new WeakRef(this));
+ this.timeout.unref();
+ }
+ }
+ this.timeoutValue = delay;
+ } else if (this.timeout) {
+ if (this.timeout.refresh) {
+ this.timeout.refresh();
+ }
+ }
+ this.timeoutType = type;
+ }
+ resume() {
+ if (this.socket.destroyed || !this.paused) {
+ return;
+ }
+ assert(this.ptr != null);
+ assert(currentParser == null);
+ this.llhttp.llhttp_resume(this.ptr);
+ assert(this.timeoutType === TIMEOUT_BODY);
+ if (this.timeout) {
+ if (this.timeout.refresh) {
+ this.timeout.refresh();
+ }
+ }
+ this.paused = false;
+ this.execute(this.socket.read() || EMPTY_BUF);
+ this.readMore();
+ }
+ readMore() {
+ while (!this.paused && this.ptr) {
+ const chunk = this.socket.read();
+ if (chunk === null) {
+ break;
+ }
+ this.execute(chunk);
+ }
+ }
+ execute(data) {
+ assert(this.ptr != null);
+ assert(currentParser == null);
+ assert(!this.paused);
+ const { socket, llhttp } = this;
+ if (data.length > currentBufferSize) {
+ if (currentBufferPtr) {
+ llhttp.free(currentBufferPtr);
+ }
+ currentBufferSize = Math.ceil(data.length / 4096) * 4096;
+ currentBufferPtr = llhttp.malloc(currentBufferSize);
+ }
+ new Uint8Array(llhttp.memory.buffer, currentBufferPtr, currentBufferSize).set(data);
+ try {
+ let ret;
+ try {
+ currentBufferRef = data;
+ currentParser = this;
+ ret = llhttp.llhttp_execute(this.ptr, currentBufferPtr, data.length);
+ } catch (err) {
+ throw err;
+ } finally {
+ currentParser = null;
+ currentBufferRef = null;
+ }
+ const offset = llhttp.llhttp_get_error_pos(this.ptr) - currentBufferPtr;
+ if (ret !== constants.ERROR.OK) {
+ const body = data.subarray(offset);
+ if (ret === constants.ERROR.PAUSED_UPGRADE) {
+ this.onUpgrade(body);
+ } else if (ret === constants.ERROR.PAUSED) {
+ this.paused = true;
+ socket.unshift(body);
+ } else {
+ throw this.createError(ret, body);
+ }
+ }
+ } catch (err) {
+ util.destroy(socket, err);
+ }
+ }
+ finish() {
+ assert(currentParser === null);
+ assert(this.ptr != null);
+ assert(!this.paused);
+ const { llhttp } = this;
+ let ret;
+ try {
+ currentParser = this;
+ ret = llhttp.llhttp_finish(this.ptr);
+ } finally {
+ currentParser = null;
+ }
+ if (ret === constants.ERROR.OK) {
+ return null;
+ }
+ if (ret === constants.ERROR.PAUSED || ret === constants.ERROR.PAUSED_UPGRADE) {
+ this.paused = true;
+ return null;
+ }
+ return this.createError(ret, EMPTY_BUF);
+ }
+ createError(ret, data) {
+ const { llhttp, contentLength, bytesRead } = this;
+ if (contentLength && bytesRead !== parseInt(contentLength, 10)) {
+ return new ResponseContentLengthMismatchError();
+ }
+ const ptr = llhttp.llhttp_get_error_reason(this.ptr);
+ let message = "";
+ if (ptr) {
+ const len = new Uint8Array(llhttp.memory.buffer, ptr).indexOf(0);
+ message = "Response does not match the HTTP/1.1 protocol (" + Buffer.from(llhttp.memory.buffer, ptr, len).toString() + ")";
+ }
+ return new HTTPParserError(message, constants.ERROR[ret], data);
+ }
+ destroy() {
+ assert(this.ptr != null);
+ assert(currentParser == null);
+ this.llhttp.llhttp_free(this.ptr);
+ this.ptr = null;
+ this.timeout && timers.clearTimeout(this.timeout);
+ this.timeout = null;
+ this.timeoutValue = null;
+ this.timeoutType = null;
+ this.paused = false;
+ }
+ onStatus(buf) {
+ this.statusText = buf.toString();
+ }
+ onMessageBegin() {
+ const { socket, client } = this;
+ if (socket.destroyed) {
+ return -1;
+ }
+ const request = client[kQueue][client[kRunningIdx]];
+ if (!request) {
+ return -1;
+ }
+ request.onResponseStarted();
+ }
+ onHeaderField(buf) {
+ const len = this.headers.length;
+ if ((len & 1) === 0) {
+ this.headers.push(buf);
+ } else {
+ this.headers[len - 1] = Buffer.concat([this.headers[len - 1], buf]);
+ }
+ this.trackHeader(buf.length);
+ }
+ onHeaderValue(buf) {
+ let len = this.headers.length;
+ if ((len & 1) === 1) {
+ this.headers.push(buf);
+ len += 1;
+ } else {
+ this.headers[len - 1] = Buffer.concat([this.headers[len - 1], buf]);
+ }
+ const key = this.headers[len - 2];
+ if (key.length === 10) {
+ const headerName = util.bufferToLowerCasedHeaderName(key);
+ if (headerName === "keep-alive") {
+ this.keepAlive += buf.toString();
+ } else if (headerName === "connection") {
+ this.connection += buf.toString();
+ }
+ } else if (key.length === 14 && util.bufferToLowerCasedHeaderName(key) === "content-length") {
+ this.contentLength += buf.toString();
+ }
+ this.trackHeader(buf.length);
+ }
+ trackHeader(len) {
+ this.headersSize += len;
+ if (this.headersSize >= this.headersMaxSize) {
+ util.destroy(this.socket, new HeadersOverflowError());
+ }
+ }
+ onUpgrade(head2) {
+ const { upgrade, client, socket, headers, statusCode } = this;
+ assert(upgrade);
+ assert(client[kSocket] === socket);
+ assert(!socket.destroyed);
+ assert(!this.paused);
+ assert((headers.length & 1) === 0);
+ const request = client[kQueue][client[kRunningIdx]];
+ assert(request);
+ assert(request.upgrade || request.method === "CONNECT");
+ this.statusCode = null;
+ this.statusText = "";
+ this.shouldKeepAlive = null;
+ this.headers = [];
+ this.headersSize = 0;
+ socket.unshift(head2);
+ socket[kParser].destroy();
+ socket[kParser] = null;
+ socket[kClient] = null;
+ socket[kError] = null;
+ removeAllListeners(socket);
+ client[kSocket] = null;
+ client[kHTTPContext] = null;
+ client[kQueue][client[kRunningIdx]++] = null;
+ client.emit("disconnect", client[kUrl], [client], new InformationalError("upgrade"));
+ try {
+ request.onUpgrade(statusCode, headers, socket);
+ } catch (err) {
+ util.destroy(socket, err);
+ }
+ client[kResume]();
+ }
+ onHeadersComplete(statusCode, upgrade, shouldKeepAlive) {
+ const { client, socket, headers, statusText } = this;
+ if (socket.destroyed) {
+ return -1;
+ }
+ const request = client[kQueue][client[kRunningIdx]];
+ if (!request) {
+ return -1;
+ }
+ assert(!this.upgrade);
+ assert(this.statusCode < 200);
+ if (statusCode === 100) {
+ util.destroy(socket, new SocketError("bad response", util.getSocketInfo(socket)));
+ return -1;
+ }
+ if (upgrade && !request.upgrade) {
+ util.destroy(socket, new SocketError("bad upgrade", util.getSocketInfo(socket)));
+ return -1;
+ }
+ assert(this.timeoutType === TIMEOUT_HEADERS);
+ this.statusCode = statusCode;
+ this.shouldKeepAlive = shouldKeepAlive || // Override llhttp value which does not allow keepAlive for HEAD.
+ request.method === "HEAD" && !socket[kReset] && this.connection.toLowerCase() === "keep-alive";
+ if (this.statusCode >= 200) {
+ const bodyTimeout = request.bodyTimeout != null ? request.bodyTimeout : client[kBodyTimeout];
+ this.setTimeout(bodyTimeout, TIMEOUT_BODY);
+ } else if (this.timeout) {
+ if (this.timeout.refresh) {
+ this.timeout.refresh();
+ }
+ }
+ if (request.method === "CONNECT") {
+ assert(client[kRunning] === 1);
+ this.upgrade = true;
+ return 2;
+ }
+ if (upgrade) {
+ assert(client[kRunning] === 1);
+ this.upgrade = true;
+ return 2;
+ }
+ assert((this.headers.length & 1) === 0);
+ this.headers = [];
+ this.headersSize = 0;
+ if (this.shouldKeepAlive && client[kPipelining]) {
+ const keepAliveTimeout = this.keepAlive ? util.parseKeepAliveTimeout(this.keepAlive) : null;
+ if (keepAliveTimeout != null) {
+ const timeout = Math.min(
+ keepAliveTimeout - client[kKeepAliveTimeoutThreshold],
+ client[kKeepAliveMaxTimeout]
+ );
+ if (timeout <= 0) {
+ socket[kReset] = true;
+ } else {
+ client[kKeepAliveTimeoutValue] = timeout;
+ }
+ } else {
+ client[kKeepAliveTimeoutValue] = client[kKeepAliveDefaultTimeout];
+ }
+ } else {
+ socket[kReset] = true;
+ }
+ const pause = request.onHeaders(statusCode, headers, this.resume, statusText) === false;
+ if (request.aborted) {
+ return -1;
+ }
+ if (request.method === "HEAD") {
+ return 1;
+ }
+ if (statusCode < 200) {
+ return 1;
+ }
+ if (socket[kBlocking]) {
+ socket[kBlocking] = false;
+ client[kResume]();
+ }
+ return pause ? constants.ERROR.PAUSED : 0;
+ }
+ onBody(buf) {
+ const { client, socket, statusCode, maxResponseSize } = this;
+ if (socket.destroyed) {
+ return -1;
+ }
+ const request = client[kQueue][client[kRunningIdx]];
+ assert(request);
+ assert(this.timeoutType === TIMEOUT_BODY);
+ if (this.timeout) {
+ if (this.timeout.refresh) {
+ this.timeout.refresh();
+ }
+ }
+ assert(statusCode >= 200);
+ if (maxResponseSize > -1 && this.bytesRead + buf.length > maxResponseSize) {
+ util.destroy(socket, new ResponseExceededMaxSizeError());
+ return -1;
+ }
+ this.bytesRead += buf.length;
+ if (request.onData(buf) === false) {
+ return constants.ERROR.PAUSED;
+ }
+ }
+ onMessageComplete() {
+ const { client, socket, statusCode, upgrade, headers, contentLength, bytesRead, shouldKeepAlive } = this;
+ if (socket.destroyed && (!statusCode || shouldKeepAlive)) {
+ return -1;
+ }
+ if (upgrade) {
+ return;
+ }
+ assert(statusCode >= 100);
+ assert((this.headers.length & 1) === 0);
+ const request = client[kQueue][client[kRunningIdx]];
+ assert(request);
+ this.statusCode = null;
+ this.statusText = "";
+ this.bytesRead = 0;
+ this.contentLength = "";
+ this.keepAlive = "";
+ this.connection = "";
+ this.headers = [];
+ this.headersSize = 0;
+ if (statusCode < 200) {
+ return;
+ }
+ if (request.method !== "HEAD" && contentLength && bytesRead !== parseInt(contentLength, 10)) {
+ util.destroy(socket, new ResponseContentLengthMismatchError());
+ return -1;
+ }
+ request.onComplete(headers);
+ client[kQueue][client[kRunningIdx]++] = null;
+ if (socket[kWriting]) {
+ assert(client[kRunning] === 0);
+ util.destroy(socket, new InformationalError("reset"));
+ return constants.ERROR.PAUSED;
+ } else if (!shouldKeepAlive) {
+ util.destroy(socket, new InformationalError("reset"));
+ return constants.ERROR.PAUSED;
+ } else if (socket[kReset] && client[kRunning] === 0) {
+ util.destroy(socket, new InformationalError("reset"));
+ return constants.ERROR.PAUSED;
+ } else if (client[kPipelining] == null || client[kPipelining] === 1) {
+ setImmediate(() => client[kResume]());
+ } else {
+ client[kResume]();
+ }
+ }
+ };
+ function onParserTimeout(parser) {
+ const { socket, timeoutType, client, paused } = parser.deref();
+ if (timeoutType === TIMEOUT_HEADERS) {
+ if (!socket[kWriting] || socket.writableNeedDrain || client[kRunning] > 1) {
+ assert(!paused, "cannot be paused while waiting for headers");
+ util.destroy(socket, new HeadersTimeoutError());
+ }
+ } else if (timeoutType === TIMEOUT_BODY) {
+ if (!paused) {
+ util.destroy(socket, new BodyTimeoutError());
+ }
+ } else if (timeoutType === TIMEOUT_KEEP_ALIVE) {
+ assert(client[kRunning] === 0 && client[kKeepAliveTimeoutValue]);
+ util.destroy(socket, new InformationalError("socket idle timeout"));
+ }
+ }
+ async function connectH1(client, socket) {
+ client[kSocket] = socket;
+ if (!llhttpInstance) {
+ llhttpInstance = await llhttpPromise;
+ llhttpPromise = null;
+ }
+ socket[kNoRef] = false;
+ socket[kWriting] = false;
+ socket[kReset] = false;
+ socket[kBlocking] = false;
+ socket[kParser] = new Parser2(client, socket, llhttpInstance);
+ addListener(socket, "error", function(err) {
+ assert(err.code !== "ERR_TLS_CERT_ALTNAME_INVALID");
+ const parser = this[kParser];
+ if (err.code === "ECONNRESET" && parser.statusCode && !parser.shouldKeepAlive) {
+ const parserErr = parser.finish();
+ if (parserErr) {
+ this[kError] = parserErr;
+ this[kClient][kOnError](parserErr);
+ }
+ return;
+ }
+ this[kError] = err;
+ this[kClient][kOnError](err);
+ });
+ addListener(socket, "readable", function() {
+ const parser = this[kParser];
+ if (parser) {
+ parser.readMore();
+ }
+ });
+ addListener(socket, "end", function() {
+ const parser = this[kParser];
+ if (parser.statusCode && !parser.shouldKeepAlive) {
+ const parserErr = parser.finish();
+ if (parserErr) {
+ util.destroy(this, parserErr);
+ }
+ return;
+ }
+ util.destroy(this, new SocketError("other side closed", util.getSocketInfo(this)));
+ });
+ addListener(socket, "close", function() {
+ const client2 = this[kClient];
+ const parser = this[kParser];
+ if (parser) {
+ if (!this[kError] && parser.statusCode && !parser.shouldKeepAlive) {
+ this[kError] = parser.finish() || this[kError];
+ }
+ this[kParser].destroy();
+ this[kParser] = null;
+ }
+ const err = this[kError] || new SocketError("closed", util.getSocketInfo(this));
+ client2[kSocket] = null;
+ client2[kHTTPContext] = null;
+ if (client2.destroyed) {
+ assert(client2[kPending] === 0);
+ const requests = client2[kQueue].splice(client2[kRunningIdx]);
+ for (let i = 0; i < requests.length; i++) {
+ const request = requests[i];
+ util.errorRequest(client2, request, err);
+ }
+ } else if (client2[kRunning] > 0 && err.code !== "UND_ERR_INFO") {
+ const request = client2[kQueue][client2[kRunningIdx]];
+ client2[kQueue][client2[kRunningIdx]++] = null;
+ util.errorRequest(client2, request, err);
+ }
+ client2[kPendingIdx] = client2[kRunningIdx];
+ assert(client2[kRunning] === 0);
+ client2.emit("disconnect", client2[kUrl], [client2], err);
+ client2[kResume]();
+ });
+ let closed = false;
+ socket.on("close", () => {
+ closed = true;
+ });
+ return {
+ version: "h1",
+ defaultPipelining: 1,
+ write(...args) {
+ return writeH1(client, ...args);
+ },
+ resume() {
+ resumeH1(client);
+ },
+ destroy(err, callback) {
+ if (closed) {
+ queueMicrotask(callback);
+ } else {
+ socket.destroy(err).on("close", callback);
+ }
+ },
+ get destroyed() {
+ return socket.destroyed;
+ },
+ busy(request) {
+ if (socket[kWriting] || socket[kReset] || socket[kBlocking]) {
+ return true;
+ }
+ if (request) {
+ if (client[kRunning] > 0 && !request.idempotent) {
+ return true;
+ }
+ if (client[kRunning] > 0 && (request.upgrade || request.method === "CONNECT")) {
+ return true;
+ }
+ if (client[kRunning] > 0 && util.bodyLength(request.body) !== 0 && (util.isStream(request.body) || util.isAsyncIterable(request.body) || util.isFormDataLike(request.body))) {
+ return true;
+ }
+ }
+ return false;
+ }
+ };
+ }
+ function resumeH1(client) {
+ const socket = client[kSocket];
+ if (socket && !socket.destroyed) {
+ if (client[kSize] === 0) {
+ if (!socket[kNoRef] && socket.unref) {
+ socket.unref();
+ socket[kNoRef] = true;
+ }
+ } else if (socket[kNoRef] && socket.ref) {
+ socket.ref();
+ socket[kNoRef] = false;
+ }
+ if (client[kSize] === 0) {
+ if (socket[kParser].timeoutType !== TIMEOUT_KEEP_ALIVE) {
+ socket[kParser].setTimeout(client[kKeepAliveTimeoutValue], TIMEOUT_KEEP_ALIVE);
+ }
+ } else if (client[kRunning] > 0 && socket[kParser].statusCode < 200) {
+ if (socket[kParser].timeoutType !== TIMEOUT_HEADERS) {
+ const request = client[kQueue][client[kRunningIdx]];
+ const headersTimeout = request.headersTimeout != null ? request.headersTimeout : client[kHeadersTimeout];
+ socket[kParser].setTimeout(headersTimeout, TIMEOUT_HEADERS);
+ }
+ }
+ }
+ }
+ function shouldSendContentLength(method) {
+ return method !== "GET" && method !== "HEAD" && method !== "OPTIONS" && method !== "TRACE" && method !== "CONNECT";
+ }
+ function writeH1(client, request) {
+ const { method, path: path14, host: host2, upgrade, blocking, reset } = request;
+ let { body, headers, contentLength } = request;
+ const expectsPayload = method === "PUT" || method === "POST" || method === "PATCH" || method === "QUERY" || method === "PROPFIND" || method === "PROPPATCH";
+ if (util.isFormDataLike(body)) {
+ if (!extractBody) {
+ extractBody = require_body().extractBody;
+ }
+ const [bodyStream, contentType] = extractBody(body);
+ if (request.contentType == null) {
+ headers.push("content-type", contentType);
+ }
+ body = bodyStream.stream;
+ contentLength = bodyStream.length;
+ } else if (util.isBlobLike(body) && request.contentType == null && body.type) {
+ headers.push("content-type", body.type);
+ }
+ if (body && typeof body.read === "function") {
+ body.read(0);
+ }
+ const bodyLength = util.bodyLength(body);
+ contentLength = bodyLength ?? contentLength;
+ if (contentLength === null) {
+ contentLength = request.contentLength;
+ }
+ if (contentLength === 0 && !expectsPayload) {
+ contentLength = null;
+ }
+ if (shouldSendContentLength(method) && contentLength > 0 && request.contentLength !== null && request.contentLength !== contentLength) {
+ if (client[kStrictContentLength]) {
+ util.errorRequest(client, request, new RequestContentLengthMismatchError());
+ return false;
+ }
+ process.emitWarning(new RequestContentLengthMismatchError());
+ }
+ const socket = client[kSocket];
+ const abort = (err) => {
+ if (request.aborted || request.completed) {
+ return;
+ }
+ util.errorRequest(client, request, err || new RequestAbortedError());
+ util.destroy(body);
+ util.destroy(socket, new InformationalError("aborted"));
+ };
+ try {
+ request.onConnect(abort);
+ } catch (err) {
+ util.errorRequest(client, request, err);
+ }
+ if (request.aborted) {
+ return false;
+ }
+ if (method === "HEAD") {
+ socket[kReset] = true;
+ }
+ if (upgrade || method === "CONNECT") {
+ socket[kReset] = true;
+ }
+ if (reset != null) {
+ socket[kReset] = reset;
+ }
+ if (client[kMaxRequests] && socket[kCounter]++ >= client[kMaxRequests]) {
+ socket[kReset] = true;
+ }
+ if (blocking) {
+ socket[kBlocking] = true;
+ }
+ let header = `${method} ${path14} HTTP/1.1\r
+`;
+ if (typeof host2 === "string") {
+ header += `host: ${host2}\r
+`;
+ } else {
+ header += client[kHostHeader];
+ }
+ if (upgrade) {
+ header += `connection: upgrade\r
+upgrade: ${upgrade}\r
+`;
+ } else if (client[kPipelining] && !socket[kReset]) {
+ header += "connection: keep-alive\r\n";
+ } else {
+ header += "connection: close\r\n";
+ }
+ if (Array.isArray(headers)) {
+ for (let n = 0; n < headers.length; n += 2) {
+ const key = headers[n + 0];
+ const val = headers[n + 1];
+ if (Array.isArray(val)) {
+ for (let i = 0; i < val.length; i++) {
+ header += `${key}: ${val[i]}\r
+`;
+ }
+ } else {
+ header += `${key}: ${val}\r
+`;
+ }
+ }
+ }
+ if (channels.sendHeaders.hasSubscribers) {
+ channels.sendHeaders.publish({ request, headers: header, socket });
+ }
+ if (!body || bodyLength === 0) {
+ writeBuffer(abort, null, client, request, socket, contentLength, header, expectsPayload);
+ } else if (util.isBuffer(body)) {
+ writeBuffer(abort, body, client, request, socket, contentLength, header, expectsPayload);
+ } else if (util.isBlobLike(body)) {
+ if (typeof body.stream === "function") {
+ writeIterable(abort, body.stream(), client, request, socket, contentLength, header, expectsPayload);
+ } else {
+ writeBlob(abort, body, client, request, socket, contentLength, header, expectsPayload);
+ }
+ } else if (util.isStream(body)) {
+ writeStream(abort, body, client, request, socket, contentLength, header, expectsPayload);
+ } else if (util.isIterable(body)) {
+ writeIterable(abort, body, client, request, socket, contentLength, header, expectsPayload);
+ } else {
+ assert(false);
+ }
+ return true;
+ }
+ function writeStream(abort, body, client, request, socket, contentLength, header, expectsPayload) {
+ assert(contentLength !== 0 || client[kRunning] === 0, "stream body cannot be pipelined");
+ let finished = false;
+ const writer = new AsyncWriter({ abort, socket, request, contentLength, client, expectsPayload, header });
+ const onData = function(chunk) {
+ if (finished) {
+ return;
+ }
+ try {
+ if (!writer.write(chunk) && this.pause) {
+ this.pause();
+ }
+ } catch (err) {
+ util.destroy(this, err);
+ }
+ };
+ const onDrain = function() {
+ if (finished) {
+ return;
+ }
+ if (body.resume) {
+ body.resume();
+ }
+ };
+ const onClose = function() {
+ queueMicrotask(() => {
+ body.removeListener("error", onFinished);
+ });
+ if (!finished) {
+ const err = new RequestAbortedError();
+ queueMicrotask(() => onFinished(err));
+ }
+ };
+ const onFinished = function(err) {
+ if (finished) {
+ return;
+ }
+ finished = true;
+ assert(socket.destroyed || socket[kWriting] && client[kRunning] <= 1);
+ socket.off("drain", onDrain).off("error", onFinished);
+ body.removeListener("data", onData).removeListener("end", onFinished).removeListener("close", onClose);
+ if (!err) {
+ try {
+ writer.end();
+ } catch (er) {
+ err = er;
+ }
+ }
+ writer.destroy(err);
+ if (err && (err.code !== "UND_ERR_INFO" || err.message !== "reset")) {
+ util.destroy(body, err);
+ } else {
+ util.destroy(body);
+ }
+ };
+ body.on("data", onData).on("end", onFinished).on("error", onFinished).on("close", onClose);
+ if (body.resume) {
+ body.resume();
+ }
+ socket.on("drain", onDrain).on("error", onFinished);
+ if (body.errorEmitted ?? body.errored) {
+ setImmediate(() => onFinished(body.errored));
+ } else if (body.endEmitted ?? body.readableEnded) {
+ setImmediate(() => onFinished(null));
+ }
+ if (body.closeEmitted ?? body.closed) {
+ setImmediate(onClose);
+ }
+ }
+ function writeBuffer(abort, body, client, request, socket, contentLength, header, expectsPayload) {
+ try {
+ if (!body) {
+ if (contentLength === 0) {
+ socket.write(`${header}content-length: 0\r
+\r
+`, "latin1");
+ } else {
+ assert(contentLength === null, "no body must not have content length");
+ socket.write(`${header}\r
+`, "latin1");
+ }
+ } else if (util.isBuffer(body)) {
+ assert(contentLength === body.byteLength, "buffer body must have content length");
+ socket.cork();
+ socket.write(`${header}content-length: ${contentLength}\r
+\r
+`, "latin1");
+ socket.write(body);
+ socket.uncork();
+ request.onBodySent(body);
+ if (!expectsPayload && request.reset !== false) {
+ socket[kReset] = true;
+ }
+ }
+ request.onRequestSent();
+ client[kResume]();
+ } catch (err) {
+ abort(err);
+ }
+ }
+ async function writeBlob(abort, body, client, request, socket, contentLength, header, expectsPayload) {
+ assert(contentLength === body.size, "blob body must have content length");
+ try {
+ if (contentLength != null && contentLength !== body.size) {
+ throw new RequestContentLengthMismatchError();
+ }
+ const buffer = Buffer.from(await body.arrayBuffer());
+ socket.cork();
+ socket.write(`${header}content-length: ${contentLength}\r
+\r
+`, "latin1");
+ socket.write(buffer);
+ socket.uncork();
+ request.onBodySent(buffer);
+ request.onRequestSent();
+ if (!expectsPayload && request.reset !== false) {
+ socket[kReset] = true;
+ }
+ client[kResume]();
+ } catch (err) {
+ abort(err);
+ }
+ }
+ async function writeIterable(abort, body, client, request, socket, contentLength, header, expectsPayload) {
+ assert(contentLength !== 0 || client[kRunning] === 0, "iterator body cannot be pipelined");
+ let callback = null;
+ function onDrain() {
+ if (callback) {
+ const cb = callback;
+ callback = null;
+ cb();
+ }
+ }
+ const waitForDrain = () => new Promise((resolve, reject) => {
+ assert(callback === null);
+ if (socket[kError]) {
+ reject(socket[kError]);
+ } else {
+ callback = resolve;
+ }
+ });
+ socket.on("close", onDrain).on("drain", onDrain);
+ const writer = new AsyncWriter({ abort, socket, request, contentLength, client, expectsPayload, header });
+ try {
+ for await (const chunk of body) {
+ if (socket[kError]) {
+ throw socket[kError];
+ }
+ if (!writer.write(chunk)) {
+ await waitForDrain();
+ }
+ }
+ writer.end();
+ } catch (err) {
+ writer.destroy(err);
+ } finally {
+ socket.off("close", onDrain).off("drain", onDrain);
+ }
+ }
+ var AsyncWriter = class {
+ constructor({ abort, socket, request, contentLength, client, expectsPayload, header }) {
+ this.socket = socket;
+ this.request = request;
+ this.contentLength = contentLength;
+ this.client = client;
+ this.bytesWritten = 0;
+ this.expectsPayload = expectsPayload;
+ this.header = header;
+ this.abort = abort;
+ socket[kWriting] = true;
+ }
+ write(chunk) {
+ const { socket, request, contentLength, client, bytesWritten, expectsPayload, header } = this;
+ if (socket[kError]) {
+ throw socket[kError];
+ }
+ if (socket.destroyed) {
+ return false;
+ }
+ const len = Buffer.byteLength(chunk);
+ if (!len) {
+ return true;
+ }
+ if (contentLength !== null && bytesWritten + len > contentLength) {
+ if (client[kStrictContentLength]) {
+ throw new RequestContentLengthMismatchError();
+ }
+ process.emitWarning(new RequestContentLengthMismatchError());
+ }
+ socket.cork();
+ if (bytesWritten === 0) {
+ if (!expectsPayload && request.reset !== false) {
+ socket[kReset] = true;
+ }
+ if (contentLength === null) {
+ socket.write(`${header}transfer-encoding: chunked\r
+`, "latin1");
+ } else {
+ socket.write(`${header}content-length: ${contentLength}\r
+\r
+`, "latin1");
+ }
+ }
+ if (contentLength === null) {
+ socket.write(`\r
+${len.toString(16)}\r
+`, "latin1");
+ }
+ this.bytesWritten += len;
+ const ret = socket.write(chunk);
+ socket.uncork();
+ request.onBodySent(chunk);
+ if (!ret) {
+ if (socket[kParser].timeout && socket[kParser].timeoutType === TIMEOUT_HEADERS) {
+ if (socket[kParser].timeout.refresh) {
+ socket[kParser].timeout.refresh();
+ }
+ }
+ }
+ return ret;
+ }
+ end() {
+ const { socket, contentLength, client, bytesWritten, expectsPayload, header, request } = this;
+ request.onRequestSent();
+ socket[kWriting] = false;
+ if (socket[kError]) {
+ throw socket[kError];
+ }
+ if (socket.destroyed) {
+ return;
+ }
+ if (bytesWritten === 0) {
+ if (expectsPayload) {
+ socket.write(`${header}content-length: 0\r
+\r
+`, "latin1");
+ } else {
+ socket.write(`${header}\r
+`, "latin1");
+ }
+ } else if (contentLength === null) {
+ socket.write("\r\n0\r\n\r\n", "latin1");
+ }
+ if (contentLength !== null && bytesWritten !== contentLength) {
+ if (client[kStrictContentLength]) {
+ throw new RequestContentLengthMismatchError();
+ } else {
+ process.emitWarning(new RequestContentLengthMismatchError());
+ }
+ }
+ if (socket[kParser].timeout && socket[kParser].timeoutType === TIMEOUT_HEADERS) {
+ if (socket[kParser].timeout.refresh) {
+ socket[kParser].timeout.refresh();
+ }
+ }
+ client[kResume]();
+ }
+ destroy(err) {
+ const { socket, client, abort } = this;
+ socket[kWriting] = false;
+ if (err) {
+ assert(client[kRunning] <= 1, "pipeline should only contain this request");
+ abort(err);
+ }
+ }
+ };
+ module.exports = connectH1;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/client-h2.js
+var require_client_h2 = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/client-h2.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { pipeline } = __require("node:stream");
+ var util = require_util();
+ var {
+ RequestContentLengthMismatchError,
+ RequestAbortedError,
+ SocketError,
+ InformationalError
+ } = require_errors();
+ var {
+ kUrl,
+ kReset,
+ kClient,
+ kRunning,
+ kPending,
+ kQueue,
+ kPendingIdx,
+ kRunningIdx,
+ kError,
+ kSocket,
+ kStrictContentLength,
+ kOnError,
+ kMaxConcurrentStreams,
+ kHTTP2Session,
+ kResume,
+ kSize,
+ kHTTPContext
+ } = require_symbols();
+ var kOpenStreams = /* @__PURE__ */ Symbol("open streams");
+ var extractBody;
+ var h2ExperimentalWarned = false;
+ var http2;
+ try {
+ http2 = __require("node:http2");
+ } catch {
+ http2 = { constants: {} };
+ }
+ var {
+ constants: {
+ HTTP2_HEADER_AUTHORITY,
+ HTTP2_HEADER_METHOD,
+ HTTP2_HEADER_PATH,
+ HTTP2_HEADER_SCHEME,
+ HTTP2_HEADER_CONTENT_LENGTH,
+ HTTP2_HEADER_EXPECT,
+ HTTP2_HEADER_STATUS
+ }
+ } = http2;
+ function parseH2Headers(headers) {
+ const result = [];
+ for (const [name, value] of Object.entries(headers)) {
+ if (Array.isArray(value)) {
+ for (const subvalue of value) {
+ result.push(Buffer.from(name), Buffer.from(subvalue));
+ }
+ } else {
+ result.push(Buffer.from(name), Buffer.from(value));
+ }
+ }
+ return result;
+ }
+ async function connectH2(client, socket) {
+ client[kSocket] = socket;
+ if (!h2ExperimentalWarned) {
+ h2ExperimentalWarned = true;
+ process.emitWarning("H2 support is experimental, expect them to change at any time.", {
+ code: "UNDICI-H2"
+ });
+ }
+ const session = http2.connect(client[kUrl], {
+ createConnection: () => socket,
+ peerMaxConcurrentStreams: client[kMaxConcurrentStreams]
+ });
+ session[kOpenStreams] = 0;
+ session[kClient] = client;
+ session[kSocket] = socket;
+ util.addListener(session, "error", onHttp2SessionError);
+ util.addListener(session, "frameError", onHttp2FrameError);
+ util.addListener(session, "end", onHttp2SessionEnd);
+ util.addListener(session, "goaway", onHTTP2GoAway);
+ util.addListener(session, "close", function() {
+ const { [kClient]: client2 } = this;
+ const { [kSocket]: socket2 } = client2;
+ const err = this[kSocket][kError] || this[kError] || new SocketError("closed", util.getSocketInfo(socket2));
+ client2[kHTTP2Session] = null;
+ if (client2.destroyed) {
+ assert(client2[kPending] === 0);
+ const requests = client2[kQueue].splice(client2[kRunningIdx]);
+ for (let i = 0; i < requests.length; i++) {
+ const request = requests[i];
+ util.errorRequest(client2, request, err);
+ }
+ }
+ });
+ session.unref();
+ client[kHTTP2Session] = session;
+ socket[kHTTP2Session] = session;
+ util.addListener(socket, "error", function(err) {
+ assert(err.code !== "ERR_TLS_CERT_ALTNAME_INVALID");
+ this[kError] = err;
+ this[kClient][kOnError](err);
+ });
+ util.addListener(socket, "end", function() {
+ util.destroy(this, new SocketError("other side closed", util.getSocketInfo(this)));
+ });
+ util.addListener(socket, "close", function() {
+ const err = this[kError] || new SocketError("closed", util.getSocketInfo(this));
+ client[kSocket] = null;
+ if (this[kHTTP2Session] != null) {
+ this[kHTTP2Session].destroy(err);
+ }
+ client[kPendingIdx] = client[kRunningIdx];
+ assert(client[kRunning] === 0);
+ client.emit("disconnect", client[kUrl], [client], err);
+ client[kResume]();
+ });
+ let closed = false;
+ socket.on("close", () => {
+ closed = true;
+ });
+ return {
+ version: "h2",
+ defaultPipelining: Infinity,
+ write(...args) {
+ return writeH2(client, ...args);
+ },
+ resume() {
+ resumeH2(client);
+ },
+ destroy(err, callback) {
+ if (closed) {
+ queueMicrotask(callback);
+ } else {
+ socket.destroy(err).on("close", callback);
+ }
+ },
+ get destroyed() {
+ return socket.destroyed;
+ },
+ busy() {
+ return false;
+ }
+ };
+ }
+ function resumeH2(client) {
+ const socket = client[kSocket];
+ if (socket?.destroyed === false) {
+ if (client[kSize] === 0 && client[kMaxConcurrentStreams] === 0) {
+ socket.unref();
+ client[kHTTP2Session].unref();
+ } else {
+ socket.ref();
+ client[kHTTP2Session].ref();
+ }
+ }
+ }
+ function onHttp2SessionError(err) {
+ assert(err.code !== "ERR_TLS_CERT_ALTNAME_INVALID");
+ this[kSocket][kError] = err;
+ this[kClient][kOnError](err);
+ }
+ function onHttp2FrameError(type, code, id) {
+ if (id === 0) {
+ const err = new InformationalError(`HTTP/2: "frameError" received - type ${type}, code ${code}`);
+ this[kSocket][kError] = err;
+ this[kClient][kOnError](err);
+ }
+ }
+ function onHttp2SessionEnd() {
+ const err = new SocketError("other side closed", util.getSocketInfo(this[kSocket]));
+ this.destroy(err);
+ util.destroy(this[kSocket], err);
+ }
+ function onHTTP2GoAway(code) {
+ const err = this[kError] || new SocketError(`HTTP/2: "GOAWAY" frame received with code ${code}`, util.getSocketInfo(this));
+ const client = this[kClient];
+ client[kSocket] = null;
+ client[kHTTPContext] = null;
+ if (this[kHTTP2Session] != null) {
+ this[kHTTP2Session].destroy(err);
+ this[kHTTP2Session] = null;
+ }
+ util.destroy(this[kSocket], err);
+ if (client[kRunningIdx] < client[kQueue].length) {
+ const request = client[kQueue][client[kRunningIdx]];
+ client[kQueue][client[kRunningIdx]++] = null;
+ util.errorRequest(client, request, err);
+ client[kPendingIdx] = client[kRunningIdx];
+ }
+ assert(client[kRunning] === 0);
+ client.emit("disconnect", client[kUrl], [client], err);
+ client[kResume]();
+ }
+ function shouldSendContentLength(method) {
+ return method !== "GET" && method !== "HEAD" && method !== "OPTIONS" && method !== "TRACE" && method !== "CONNECT";
+ }
+ function writeH2(client, request) {
+ const session = client[kHTTP2Session];
+ const { method, path: path14, host: host2, upgrade, expectContinue, signal, headers: reqHeaders } = request;
+ let { body } = request;
+ if (upgrade) {
+ util.errorRequest(client, request, new Error("Upgrade not supported for H2"));
+ return false;
+ }
+ const headers = {};
+ for (let n = 0; n < reqHeaders.length; n += 2) {
+ const key = reqHeaders[n + 0];
+ const val = reqHeaders[n + 1];
+ if (Array.isArray(val)) {
+ for (let i = 0; i < val.length; i++) {
+ if (headers[key]) {
+ headers[key] += `,${val[i]}`;
+ } else {
+ headers[key] = val[i];
+ }
+ }
+ } else {
+ headers[key] = val;
+ }
+ }
+ let stream;
+ const { hostname, port: port2 } = client[kUrl];
+ headers[HTTP2_HEADER_AUTHORITY] = host2 || `${hostname}${port2 ? `:${port2}` : ""}`;
+ headers[HTTP2_HEADER_METHOD] = method;
+ const abort = (err) => {
+ if (request.aborted || request.completed) {
+ return;
+ }
+ err = err || new RequestAbortedError();
+ util.errorRequest(client, request, err);
+ if (stream != null) {
+ util.destroy(stream, err);
+ }
+ util.destroy(body, err);
+ client[kQueue][client[kRunningIdx]++] = null;
+ client[kResume]();
+ };
+ try {
+ request.onConnect(abort);
+ } catch (err) {
+ util.errorRequest(client, request, err);
+ }
+ if (request.aborted) {
+ return false;
+ }
+ if (method === "CONNECT") {
+ session.ref();
+ stream = session.request(headers, { endStream: false, signal });
+ if (stream.id && !stream.pending) {
+ request.onUpgrade(null, null, stream);
+ ++session[kOpenStreams];
+ client[kQueue][client[kRunningIdx]++] = null;
+ } else {
+ stream.once("ready", () => {
+ request.onUpgrade(null, null, stream);
+ ++session[kOpenStreams];
+ client[kQueue][client[kRunningIdx]++] = null;
+ });
+ }
+ stream.once("close", () => {
+ session[kOpenStreams] -= 1;
+ if (session[kOpenStreams] === 0) session.unref();
+ });
+ return true;
+ }
+ headers[HTTP2_HEADER_PATH] = path14;
+ headers[HTTP2_HEADER_SCHEME] = "https";
+ const expectsPayload = method === "PUT" || method === "POST" || method === "PATCH";
+ if (body && typeof body.read === "function") {
+ body.read(0);
+ }
+ let contentLength = util.bodyLength(body);
+ if (util.isFormDataLike(body)) {
+ extractBody ??= require_body().extractBody;
+ const [bodyStream, contentType] = extractBody(body);
+ headers["content-type"] = contentType;
+ body = bodyStream.stream;
+ contentLength = bodyStream.length;
+ }
+ if (contentLength == null) {
+ contentLength = request.contentLength;
+ }
+ if (contentLength === 0 || !expectsPayload) {
+ contentLength = null;
+ }
+ if (shouldSendContentLength(method) && contentLength > 0 && request.contentLength != null && request.contentLength !== contentLength) {
+ if (client[kStrictContentLength]) {
+ util.errorRequest(client, request, new RequestContentLengthMismatchError());
+ return false;
+ }
+ process.emitWarning(new RequestContentLengthMismatchError());
+ }
+ if (contentLength != null) {
+ assert(body, "no body must not have content length");
+ headers[HTTP2_HEADER_CONTENT_LENGTH] = `${contentLength}`;
+ }
+ session.ref();
+ const shouldEndStream = method === "GET" || method === "HEAD" || body === null;
+ if (expectContinue) {
+ headers[HTTP2_HEADER_EXPECT] = "100-continue";
+ stream = session.request(headers, { endStream: shouldEndStream, signal });
+ stream.once("continue", writeBodyH2);
+ } else {
+ stream = session.request(headers, {
+ endStream: shouldEndStream,
+ signal
+ });
+ writeBodyH2();
+ }
+ ++session[kOpenStreams];
+ stream.once("response", (headers2) => {
+ const { [HTTP2_HEADER_STATUS]: statusCode, ...realHeaders } = headers2;
+ request.onResponseStarted();
+ if (request.aborted) {
+ const err = new RequestAbortedError();
+ util.errorRequest(client, request, err);
+ util.destroy(stream, err);
+ return;
+ }
+ if (request.onHeaders(Number(statusCode), parseH2Headers(realHeaders), stream.resume.bind(stream), "") === false) {
+ stream.pause();
+ }
+ stream.on("data", (chunk) => {
+ if (request.onData(chunk) === false) {
+ stream.pause();
+ }
+ });
+ });
+ stream.once("end", () => {
+ if (stream.state?.state == null || stream.state.state < 6) {
+ request.onComplete([]);
+ }
+ if (session[kOpenStreams] === 0) {
+ session.unref();
+ }
+ abort(new InformationalError("HTTP/2: stream half-closed (remote)"));
+ client[kQueue][client[kRunningIdx]++] = null;
+ client[kPendingIdx] = client[kRunningIdx];
+ client[kResume]();
+ });
+ stream.once("close", () => {
+ session[kOpenStreams] -= 1;
+ if (session[kOpenStreams] === 0) {
+ session.unref();
+ }
+ });
+ stream.once("error", function(err) {
+ abort(err);
+ });
+ stream.once("frameError", (type, code) => {
+ abort(new InformationalError(`HTTP/2: "frameError" received - type ${type}, code ${code}`));
+ });
+ return true;
+ function writeBodyH2() {
+ if (!body || contentLength === 0) {
+ writeBuffer(
+ abort,
+ stream,
+ null,
+ client,
+ request,
+ client[kSocket],
+ contentLength,
+ expectsPayload
+ );
+ } else if (util.isBuffer(body)) {
+ writeBuffer(
+ abort,
+ stream,
+ body,
+ client,
+ request,
+ client[kSocket],
+ contentLength,
+ expectsPayload
+ );
+ } else if (util.isBlobLike(body)) {
+ if (typeof body.stream === "function") {
+ writeIterable(
+ abort,
+ stream,
+ body.stream(),
+ client,
+ request,
+ client[kSocket],
+ contentLength,
+ expectsPayload
+ );
+ } else {
+ writeBlob(
+ abort,
+ stream,
+ body,
+ client,
+ request,
+ client[kSocket],
+ contentLength,
+ expectsPayload
+ );
+ }
+ } else if (util.isStream(body)) {
+ writeStream(
+ abort,
+ client[kSocket],
+ expectsPayload,
+ stream,
+ body,
+ client,
+ request,
+ contentLength
+ );
+ } else if (util.isIterable(body)) {
+ writeIterable(
+ abort,
+ stream,
+ body,
+ client,
+ request,
+ client[kSocket],
+ contentLength,
+ expectsPayload
+ );
+ } else {
+ assert(false);
+ }
+ }
+ }
+ function writeBuffer(abort, h2stream, body, client, request, socket, contentLength, expectsPayload) {
+ try {
+ if (body != null && util.isBuffer(body)) {
+ assert(contentLength === body.byteLength, "buffer body must have content length");
+ h2stream.cork();
+ h2stream.write(body);
+ h2stream.uncork();
+ h2stream.end();
+ request.onBodySent(body);
+ }
+ if (!expectsPayload) {
+ socket[kReset] = true;
+ }
+ request.onRequestSent();
+ client[kResume]();
+ } catch (error) {
+ abort(error);
+ }
+ }
+ function writeStream(abort, socket, expectsPayload, h2stream, body, client, request, contentLength) {
+ assert(contentLength !== 0 || client[kRunning] === 0, "stream body cannot be pipelined");
+ const pipe = pipeline(
+ body,
+ h2stream,
+ (err) => {
+ if (err) {
+ util.destroy(pipe, err);
+ abort(err);
+ } else {
+ util.removeAllListeners(pipe);
+ request.onRequestSent();
+ if (!expectsPayload) {
+ socket[kReset] = true;
+ }
+ client[kResume]();
+ }
+ }
+ );
+ util.addListener(pipe, "data", onPipeData);
+ function onPipeData(chunk) {
+ request.onBodySent(chunk);
+ }
+ }
+ async function writeBlob(abort, h2stream, body, client, request, socket, contentLength, expectsPayload) {
+ assert(contentLength === body.size, "blob body must have content length");
+ try {
+ if (contentLength != null && contentLength !== body.size) {
+ throw new RequestContentLengthMismatchError();
+ }
+ const buffer = Buffer.from(await body.arrayBuffer());
+ h2stream.cork();
+ h2stream.write(buffer);
+ h2stream.uncork();
+ h2stream.end();
+ request.onBodySent(buffer);
+ request.onRequestSent();
+ if (!expectsPayload) {
+ socket[kReset] = true;
+ }
+ client[kResume]();
+ } catch (err) {
+ abort(err);
+ }
+ }
+ async function writeIterable(abort, h2stream, body, client, request, socket, contentLength, expectsPayload) {
+ assert(contentLength !== 0 || client[kRunning] === 0, "iterator body cannot be pipelined");
+ let callback = null;
+ function onDrain() {
+ if (callback) {
+ const cb = callback;
+ callback = null;
+ cb();
+ }
+ }
+ const waitForDrain = () => new Promise((resolve, reject) => {
+ assert(callback === null);
+ if (socket[kError]) {
+ reject(socket[kError]);
+ } else {
+ callback = resolve;
+ }
+ });
+ h2stream.on("close", onDrain).on("drain", onDrain);
+ try {
+ for await (const chunk of body) {
+ if (socket[kError]) {
+ throw socket[kError];
+ }
+ const res = h2stream.write(chunk);
+ request.onBodySent(chunk);
+ if (!res) {
+ await waitForDrain();
+ }
+ }
+ h2stream.end();
+ request.onRequestSent();
+ if (!expectsPayload) {
+ socket[kReset] = true;
+ }
+ client[kResume]();
+ } catch (err) {
+ abort(err);
+ } finally {
+ h2stream.off("close", onDrain).off("drain", onDrain);
+ }
+ }
+ module.exports = connectH2;
+ }
+});
+
+// viewer/node_modules/undici/lib/handler/redirect-handler.js
+var require_redirect_handler = __commonJS({
+ "viewer/node_modules/undici/lib/handler/redirect-handler.js"(exports, module) {
+ "use strict";
+ var util = require_util();
+ var { kBodyUsed } = require_symbols();
+ var assert = __require("node:assert");
+ var { InvalidArgumentError } = require_errors();
+ var EE = __require("node:events");
+ var redirectableStatusCodes = [300, 301, 302, 303, 307, 308];
+ var kBody = /* @__PURE__ */ Symbol("body");
+ var BodyAsyncIterable = class {
+ constructor(body) {
+ this[kBody] = body;
+ this[kBodyUsed] = false;
+ }
+ async *[Symbol.asyncIterator]() {
+ assert(!this[kBodyUsed], "disturbed");
+ this[kBodyUsed] = true;
+ yield* this[kBody];
+ }
+ };
+ var RedirectHandler = class {
+ constructor(dispatch, maxRedirections, opts, handler) {
+ if (maxRedirections != null && (!Number.isInteger(maxRedirections) || maxRedirections < 0)) {
+ throw new InvalidArgumentError("maxRedirections must be a positive number");
+ }
+ util.validateHandler(handler, opts.method, opts.upgrade);
+ this.dispatch = dispatch;
+ this.location = null;
+ this.abort = null;
+ this.opts = { ...opts, maxRedirections: 0 };
+ this.maxRedirections = maxRedirections;
+ this.handler = handler;
+ this.history = [];
+ this.redirectionLimitReached = false;
+ if (util.isStream(this.opts.body)) {
+ if (util.bodyLength(this.opts.body) === 0) {
+ this.opts.body.on("data", function() {
+ assert(false);
+ });
+ }
+ if (typeof this.opts.body.readableDidRead !== "boolean") {
+ this.opts.body[kBodyUsed] = false;
+ EE.prototype.on.call(this.opts.body, "data", function() {
+ this[kBodyUsed] = true;
+ });
+ }
+ } else if (this.opts.body && typeof this.opts.body.pipeTo === "function") {
+ this.opts.body = new BodyAsyncIterable(this.opts.body);
+ } else if (this.opts.body && typeof this.opts.body !== "string" && !ArrayBuffer.isView(this.opts.body) && util.isIterable(this.opts.body)) {
+ this.opts.body = new BodyAsyncIterable(this.opts.body);
+ }
+ }
+ onConnect(abort) {
+ this.abort = abort;
+ this.handler.onConnect(abort, { history: this.history });
+ }
+ onUpgrade(statusCode, headers, socket) {
+ this.handler.onUpgrade(statusCode, headers, socket);
+ }
+ onError(error) {
+ this.handler.onError(error);
+ }
+ onHeaders(statusCode, headers, resume, statusText) {
+ this.location = this.history.length >= this.maxRedirections || util.isDisturbed(this.opts.body) ? null : parseLocation(statusCode, headers);
+ if (this.opts.throwOnMaxRedirect && this.history.length >= this.maxRedirections) {
+ if (this.request) {
+ this.request.abort(new Error("max redirects"));
+ }
+ this.redirectionLimitReached = true;
+ this.abort(new Error("max redirects"));
+ return;
+ }
+ if (this.opts.origin) {
+ this.history.push(new URL(this.opts.path, this.opts.origin));
+ }
+ if (!this.location) {
+ return this.handler.onHeaders(statusCode, headers, resume, statusText);
+ }
+ const { origin, pathname, search } = util.parseURL(new URL(this.location, this.opts.origin && new URL(this.opts.path, this.opts.origin)));
+ const path14 = search ? `${pathname}${search}` : pathname;
+ this.opts.headers = cleanRequestHeaders(this.opts.headers, statusCode === 303, this.opts.origin !== origin);
+ this.opts.path = path14;
+ this.opts.origin = origin;
+ this.opts.maxRedirections = 0;
+ this.opts.query = null;
+ if (statusCode === 303 && this.opts.method !== "HEAD") {
+ this.opts.method = "GET";
+ this.opts.body = null;
+ }
+ }
+ onData(chunk) {
+ if (this.location) {
+ } else {
+ return this.handler.onData(chunk);
+ }
+ }
+ onComplete(trailers) {
+ if (this.location) {
+ this.location = null;
+ this.abort = null;
+ this.dispatch(this.opts, this);
+ } else {
+ this.handler.onComplete(trailers);
+ }
+ }
+ onBodySent(chunk) {
+ if (this.handler.onBodySent) {
+ this.handler.onBodySent(chunk);
+ }
+ }
+ };
+ function parseLocation(statusCode, headers) {
+ if (redirectableStatusCodes.indexOf(statusCode) === -1) {
+ return null;
+ }
+ for (let i = 0; i < headers.length; i += 2) {
+ if (headers[i].length === 8 && util.headerNameToString(headers[i]) === "location") {
+ return headers[i + 1];
+ }
+ }
+ }
+ function shouldRemoveHeader(header, removeContent, unknownOrigin) {
+ if (header.length === 4) {
+ return util.headerNameToString(header) === "host";
+ }
+ if (removeContent && util.headerNameToString(header).startsWith("content-")) {
+ return true;
+ }
+ if (unknownOrigin && (header.length === 13 || header.length === 6 || header.length === 19)) {
+ const name = util.headerNameToString(header);
+ return name === "authorization" || name === "cookie" || name === "proxy-authorization";
+ }
+ return false;
+ }
+ function cleanRequestHeaders(headers, removeContent, unknownOrigin) {
+ const ret = [];
+ if (Array.isArray(headers)) {
+ for (let i = 0; i < headers.length; i += 2) {
+ if (!shouldRemoveHeader(headers[i], removeContent, unknownOrigin)) {
+ ret.push(headers[i], headers[i + 1]);
+ }
+ }
+ } else if (headers && typeof headers === "object") {
+ for (const key of Object.keys(headers)) {
+ if (!shouldRemoveHeader(key, removeContent, unknownOrigin)) {
+ ret.push(key, headers[key]);
+ }
+ }
+ } else {
+ assert(headers == null, "headers must be an object or an array");
+ }
+ return ret;
+ }
+ module.exports = RedirectHandler;
+ }
+});
+
+// viewer/node_modules/undici/lib/interceptor/redirect-interceptor.js
+var require_redirect_interceptor = __commonJS({
+ "viewer/node_modules/undici/lib/interceptor/redirect-interceptor.js"(exports, module) {
+ "use strict";
+ var RedirectHandler = require_redirect_handler();
+ function createRedirectInterceptor({ maxRedirections: defaultMaxRedirections }) {
+ return (dispatch) => {
+ return function Intercept(opts, handler) {
+ const { maxRedirections = defaultMaxRedirections } = opts;
+ if (!maxRedirections) {
+ return dispatch(opts, handler);
+ }
+ const redirectHandler = new RedirectHandler(dispatch, maxRedirections, opts, handler);
+ opts = { ...opts, maxRedirections: 0 };
+ return dispatch(opts, redirectHandler);
+ };
+ };
+ }
+ module.exports = createRedirectInterceptor;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/client.js
+var require_client = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/client.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var net = __require("node:net");
+ var http2 = __require("node:http");
+ var util = require_util();
+ var { channels } = require_diagnostics();
+ var Request2 = require_request();
+ var DispatcherBase = require_dispatcher_base();
+ var {
+ InvalidArgumentError,
+ InformationalError,
+ ClientDestroyedError
+ } = require_errors();
+ var buildConnector = require_connect();
+ var {
+ kUrl,
+ kServerName,
+ kClient,
+ kBusy,
+ kConnect,
+ kResuming,
+ kRunning,
+ kPending,
+ kSize,
+ kQueue,
+ kConnected,
+ kConnecting,
+ kNeedDrain,
+ kKeepAliveDefaultTimeout,
+ kHostHeader,
+ kPendingIdx,
+ kRunningIdx,
+ kError,
+ kPipelining,
+ kKeepAliveTimeoutValue,
+ kMaxHeadersSize,
+ kKeepAliveMaxTimeout,
+ kKeepAliveTimeoutThreshold,
+ kHeadersTimeout,
+ kBodyTimeout,
+ kStrictContentLength,
+ kConnector,
+ kMaxRedirections,
+ kMaxRequests,
+ kCounter,
+ kClose,
+ kDestroy,
+ kDispatch,
+ kInterceptors,
+ kLocalAddress,
+ kMaxResponseSize,
+ kOnError,
+ kHTTPContext,
+ kMaxConcurrentStreams,
+ kResume
+ } = require_symbols();
+ var connectH1 = require_client_h1();
+ var connectH2 = require_client_h2();
+ var deprecatedInterceptorWarned = false;
+ var kClosedResolve = /* @__PURE__ */ Symbol("kClosedResolve");
+ var noop = () => {
+ };
+ function getPipelining(client) {
+ return client[kPipelining] ?? client[kHTTPContext]?.defaultPipelining ?? 1;
+ }
+ var Client = class extends DispatcherBase {
+ /**
+ *
+ * @param {string|URL} url
+ * @param {import('../../types/client.js').Client.Options} options
+ */
+ constructor(url, {
+ interceptors,
+ maxHeaderSize,
+ headersTimeout,
+ socketTimeout,
+ requestTimeout,
+ connectTimeout,
+ bodyTimeout,
+ idleTimeout,
+ keepAlive,
+ keepAliveTimeout,
+ maxKeepAliveTimeout,
+ keepAliveMaxTimeout,
+ keepAliveTimeoutThreshold,
+ socketPath,
+ pipelining,
+ tls,
+ strictContentLength,
+ maxCachedSessions,
+ maxRedirections,
+ connect: connect2,
+ maxRequestsPerClient,
+ localAddress,
+ maxResponseSize,
+ autoSelectFamily,
+ autoSelectFamilyAttemptTimeout,
+ // h2
+ maxConcurrentStreams,
+ allowH2,
+ webSocket
+ } = {}) {
+ super({ webSocket });
+ if (keepAlive !== void 0) {
+ throw new InvalidArgumentError("unsupported keepAlive, use pipelining=0 instead");
+ }
+ if (socketTimeout !== void 0) {
+ throw new InvalidArgumentError("unsupported socketTimeout, use headersTimeout & bodyTimeout instead");
+ }
+ if (requestTimeout !== void 0) {
+ throw new InvalidArgumentError("unsupported requestTimeout, use headersTimeout & bodyTimeout instead");
+ }
+ if (idleTimeout !== void 0) {
+ throw new InvalidArgumentError("unsupported idleTimeout, use keepAliveTimeout instead");
+ }
+ if (maxKeepAliveTimeout !== void 0) {
+ throw new InvalidArgumentError("unsupported maxKeepAliveTimeout, use keepAliveMaxTimeout instead");
+ }
+ if (maxHeaderSize != null && !Number.isFinite(maxHeaderSize)) {
+ throw new InvalidArgumentError("invalid maxHeaderSize");
+ }
+ if (socketPath != null && typeof socketPath !== "string") {
+ throw new InvalidArgumentError("invalid socketPath");
+ }
+ if (connectTimeout != null && (!Number.isFinite(connectTimeout) || connectTimeout < 0)) {
+ throw new InvalidArgumentError("invalid connectTimeout");
+ }
+ if (keepAliveTimeout != null && (!Number.isFinite(keepAliveTimeout) || keepAliveTimeout <= 0)) {
+ throw new InvalidArgumentError("invalid keepAliveTimeout");
+ }
+ if (keepAliveMaxTimeout != null && (!Number.isFinite(keepAliveMaxTimeout) || keepAliveMaxTimeout <= 0)) {
+ throw new InvalidArgumentError("invalid keepAliveMaxTimeout");
+ }
+ if (keepAliveTimeoutThreshold != null && !Number.isFinite(keepAliveTimeoutThreshold)) {
+ throw new InvalidArgumentError("invalid keepAliveTimeoutThreshold");
+ }
+ if (headersTimeout != null && (!Number.isInteger(headersTimeout) || headersTimeout < 0)) {
+ throw new InvalidArgumentError("headersTimeout must be a positive integer or zero");
+ }
+ if (bodyTimeout != null && (!Number.isInteger(bodyTimeout) || bodyTimeout < 0)) {
+ throw new InvalidArgumentError("bodyTimeout must be a positive integer or zero");
+ }
+ if (connect2 != null && typeof connect2 !== "function" && typeof connect2 !== "object") {
+ throw new InvalidArgumentError("connect must be a function or an object");
+ }
+ if (maxRedirections != null && (!Number.isInteger(maxRedirections) || maxRedirections < 0)) {
+ throw new InvalidArgumentError("maxRedirections must be a positive number");
+ }
+ if (maxRequestsPerClient != null && (!Number.isInteger(maxRequestsPerClient) || maxRequestsPerClient < 0)) {
+ throw new InvalidArgumentError("maxRequestsPerClient must be a positive number");
+ }
+ if (localAddress != null && (typeof localAddress !== "string" || net.isIP(localAddress) === 0)) {
+ throw new InvalidArgumentError("localAddress must be valid string IP address");
+ }
+ if (maxResponseSize != null && (!Number.isInteger(maxResponseSize) || maxResponseSize < -1)) {
+ throw new InvalidArgumentError("maxResponseSize must be a positive number");
+ }
+ if (autoSelectFamilyAttemptTimeout != null && (!Number.isInteger(autoSelectFamilyAttemptTimeout) || autoSelectFamilyAttemptTimeout < -1)) {
+ throw new InvalidArgumentError("autoSelectFamilyAttemptTimeout must be a positive number");
+ }
+ if (allowH2 != null && typeof allowH2 !== "boolean") {
+ throw new InvalidArgumentError("allowH2 must be a valid boolean value");
+ }
+ if (maxConcurrentStreams != null && (typeof maxConcurrentStreams !== "number" || maxConcurrentStreams < 1)) {
+ throw new InvalidArgumentError("maxConcurrentStreams must be a positive integer, greater than 0");
+ }
+ if (typeof connect2 !== "function") {
+ connect2 = buildConnector({
+ ...tls,
+ maxCachedSessions,
+ allowH2,
+ socketPath,
+ timeout: connectTimeout,
+ ...autoSelectFamily ? { autoSelectFamily, autoSelectFamilyAttemptTimeout } : void 0,
+ ...connect2
+ });
+ }
+ if (interceptors?.Client && Array.isArray(interceptors.Client)) {
+ this[kInterceptors] = interceptors.Client;
+ if (!deprecatedInterceptorWarned) {
+ deprecatedInterceptorWarned = true;
+ process.emitWarning("Client.Options#interceptor is deprecated. Use Dispatcher#compose instead.", {
+ code: "UNDICI-CLIENT-INTERCEPTOR-DEPRECATED"
+ });
+ }
+ } else {
+ this[kInterceptors] = [createRedirectInterceptor({ maxRedirections })];
+ }
+ this[kUrl] = util.parseOrigin(url);
+ this[kConnector] = connect2;
+ this[kPipelining] = pipelining != null ? pipelining : 1;
+ this[kMaxHeadersSize] = maxHeaderSize || http2.maxHeaderSize;
+ this[kKeepAliveDefaultTimeout] = keepAliveTimeout == null ? 4e3 : keepAliveTimeout;
+ this[kKeepAliveMaxTimeout] = keepAliveMaxTimeout == null ? 6e5 : keepAliveMaxTimeout;
+ this[kKeepAliveTimeoutThreshold] = keepAliveTimeoutThreshold == null ? 2e3 : keepAliveTimeoutThreshold;
+ this[kKeepAliveTimeoutValue] = this[kKeepAliveDefaultTimeout];
+ this[kServerName] = null;
+ this[kLocalAddress] = localAddress != null ? localAddress : null;
+ this[kResuming] = 0;
+ this[kNeedDrain] = 0;
+ this[kHostHeader] = `host: ${this[kUrl].hostname}${this[kUrl].port ? `:${this[kUrl].port}` : ""}\r
+`;
+ this[kBodyTimeout] = bodyTimeout != null ? bodyTimeout : 3e5;
+ this[kHeadersTimeout] = headersTimeout != null ? headersTimeout : 3e5;
+ this[kStrictContentLength] = strictContentLength == null ? true : strictContentLength;
+ this[kMaxRedirections] = maxRedirections;
+ this[kMaxRequests] = maxRequestsPerClient;
+ this[kClosedResolve] = null;
+ this[kMaxResponseSize] = maxResponseSize > -1 ? maxResponseSize : -1;
+ this[kMaxConcurrentStreams] = maxConcurrentStreams != null ? maxConcurrentStreams : 100;
+ this[kHTTPContext] = null;
+ this[kQueue] = [];
+ this[kRunningIdx] = 0;
+ this[kPendingIdx] = 0;
+ this[kResume] = (sync) => resume(this, sync);
+ this[kOnError] = (err) => onError(this, err);
+ }
+ get pipelining() {
+ return this[kPipelining];
+ }
+ set pipelining(value) {
+ this[kPipelining] = value;
+ this[kResume](true);
+ }
+ get [kPending]() {
+ return this[kQueue].length - this[kPendingIdx];
+ }
+ get [kRunning]() {
+ return this[kPendingIdx] - this[kRunningIdx];
+ }
+ get [kSize]() {
+ return this[kQueue].length - this[kRunningIdx];
+ }
+ get [kConnected]() {
+ return !!this[kHTTPContext] && !this[kConnecting] && !this[kHTTPContext].destroyed;
+ }
+ get [kBusy]() {
+ return Boolean(
+ this[kHTTPContext]?.busy(null) || this[kSize] >= (getPipelining(this) || 1) || this[kPending] > 0
+ );
+ }
+ /* istanbul ignore: only used for test */
+ [kConnect](cb) {
+ connect(this);
+ this.once("connect", cb);
+ }
+ [kDispatch](opts, handler) {
+ const origin = opts.origin || this[kUrl].origin;
+ const request = new Request2(origin, opts, handler);
+ this[kQueue].push(request);
+ if (this[kResuming]) {
+ } else if (util.bodyLength(request.body) == null && util.isIterable(request.body)) {
+ this[kResuming] = 1;
+ queueMicrotask(() => resume(this));
+ } else {
+ this[kResume](true);
+ }
+ if (this[kResuming] && this[kNeedDrain] !== 2 && this[kBusy]) {
+ this[kNeedDrain] = 2;
+ }
+ return this[kNeedDrain] < 2;
+ }
+ async [kClose]() {
+ return new Promise((resolve) => {
+ if (this[kSize]) {
+ this[kClosedResolve] = resolve;
+ } else {
+ resolve(null);
+ }
+ });
+ }
+ async [kDestroy](err) {
+ return new Promise((resolve) => {
+ const requests = this[kQueue].splice(this[kPendingIdx]);
+ for (let i = 0; i < requests.length; i++) {
+ const request = requests[i];
+ util.errorRequest(this, request, err);
+ }
+ const callback = () => {
+ if (this[kClosedResolve]) {
+ this[kClosedResolve]();
+ this[kClosedResolve] = null;
+ }
+ resolve(null);
+ };
+ if (this[kHTTPContext]) {
+ this[kHTTPContext].destroy(err, callback);
+ this[kHTTPContext] = null;
+ } else {
+ queueMicrotask(callback);
+ }
+ this[kResume]();
+ });
+ }
+ };
+ var createRedirectInterceptor = require_redirect_interceptor();
+ function onError(client, err) {
+ if (client[kRunning] === 0 && err.code !== "UND_ERR_INFO" && err.code !== "UND_ERR_SOCKET") {
+ assert(client[kPendingIdx] === client[kRunningIdx]);
+ const requests = client[kQueue].splice(client[kRunningIdx]);
+ for (let i = 0; i < requests.length; i++) {
+ const request = requests[i];
+ util.errorRequest(client, request, err);
+ }
+ assert(client[kSize] === 0);
+ }
+ }
+ async function connect(client) {
+ assert(!client[kConnecting]);
+ assert(!client[kHTTPContext]);
+ let { host: host2, hostname, protocol, port: port2 } = client[kUrl];
+ if (hostname[0] === "[") {
+ const idx = hostname.indexOf("]");
+ assert(idx !== -1);
+ const ip = hostname.substring(1, idx);
+ assert(net.isIP(ip));
+ hostname = ip;
+ }
+ client[kConnecting] = true;
+ if (channels.beforeConnect.hasSubscribers) {
+ channels.beforeConnect.publish({
+ connectParams: {
+ host: host2,
+ hostname,
+ protocol,
+ port: port2,
+ version: client[kHTTPContext]?.version,
+ servername: client[kServerName],
+ localAddress: client[kLocalAddress]
+ },
+ connector: client[kConnector]
+ });
+ }
+ try {
+ const socket = await new Promise((resolve, reject) => {
+ client[kConnector]({
+ host: host2,
+ hostname,
+ protocol,
+ port: port2,
+ servername: client[kServerName],
+ localAddress: client[kLocalAddress]
+ }, (err, socket2) => {
+ if (err) {
+ reject(err);
+ } else {
+ resolve(socket2);
+ }
+ });
+ });
+ if (client.destroyed) {
+ util.destroy(socket.on("error", noop), new ClientDestroyedError());
+ return;
+ }
+ assert(socket);
+ try {
+ client[kHTTPContext] = socket.alpnProtocol === "h2" ? await connectH2(client, socket) : await connectH1(client, socket);
+ } catch (err) {
+ socket.destroy().on("error", noop);
+ throw err;
+ }
+ client[kConnecting] = false;
+ socket[kCounter] = 0;
+ socket[kMaxRequests] = client[kMaxRequests];
+ socket[kClient] = client;
+ socket[kError] = null;
+ if (channels.connected.hasSubscribers) {
+ channels.connected.publish({
+ connectParams: {
+ host: host2,
+ hostname,
+ protocol,
+ port: port2,
+ version: client[kHTTPContext]?.version,
+ servername: client[kServerName],
+ localAddress: client[kLocalAddress]
+ },
+ connector: client[kConnector],
+ socket
+ });
+ }
+ client.emit("connect", client[kUrl], [client]);
+ } catch (err) {
+ if (client.destroyed) {
+ return;
+ }
+ client[kConnecting] = false;
+ if (channels.connectError.hasSubscribers) {
+ channels.connectError.publish({
+ connectParams: {
+ host: host2,
+ hostname,
+ protocol,
+ port: port2,
+ version: client[kHTTPContext]?.version,
+ servername: client[kServerName],
+ localAddress: client[kLocalAddress]
+ },
+ connector: client[kConnector],
+ error: err
+ });
+ }
+ if (err.code === "ERR_TLS_CERT_ALTNAME_INVALID") {
+ assert(client[kRunning] === 0);
+ while (client[kPending] > 0 && client[kQueue][client[kPendingIdx]].servername === client[kServerName]) {
+ const request = client[kQueue][client[kPendingIdx]++];
+ util.errorRequest(client, request, err);
+ }
+ } else {
+ onError(client, err);
+ }
+ client.emit("connectionError", client[kUrl], [client], err);
+ }
+ client[kResume]();
+ }
+ function emitDrain(client) {
+ client[kNeedDrain] = 0;
+ client.emit("drain", client[kUrl], [client]);
+ }
+ function resume(client, sync) {
+ if (client[kResuming] === 2) {
+ return;
+ }
+ client[kResuming] = 2;
+ _resume(client, sync);
+ client[kResuming] = 0;
+ if (client[kRunningIdx] > 256) {
+ client[kQueue].splice(0, client[kRunningIdx]);
+ client[kPendingIdx] -= client[kRunningIdx];
+ client[kRunningIdx] = 0;
+ }
+ }
+ function _resume(client, sync) {
+ while (true) {
+ if (client.destroyed) {
+ assert(client[kPending] === 0);
+ return;
+ }
+ if (client[kClosedResolve] && !client[kSize]) {
+ client[kClosedResolve]();
+ client[kClosedResolve] = null;
+ return;
+ }
+ if (client[kHTTPContext]) {
+ client[kHTTPContext].resume();
+ }
+ if (client[kBusy]) {
+ client[kNeedDrain] = 2;
+ } else if (client[kNeedDrain] === 2) {
+ if (sync) {
+ client[kNeedDrain] = 1;
+ queueMicrotask(() => emitDrain(client));
+ } else {
+ emitDrain(client);
+ }
+ continue;
+ }
+ if (client[kPending] === 0) {
+ return;
+ }
+ if (client[kRunning] >= (getPipelining(client) || 1)) {
+ return;
+ }
+ const request = client[kQueue][client[kPendingIdx]];
+ if (client[kUrl].protocol === "https:" && client[kServerName] !== request.servername) {
+ if (client[kRunning] > 0) {
+ return;
+ }
+ client[kServerName] = request.servername;
+ client[kHTTPContext]?.destroy(new InformationalError("servername changed"), () => {
+ client[kHTTPContext] = null;
+ resume(client);
+ });
+ }
+ if (client[kConnecting]) {
+ return;
+ }
+ if (!client[kHTTPContext]) {
+ connect(client);
+ return;
+ }
+ if (client[kHTTPContext].destroyed) {
+ return;
+ }
+ if (client[kHTTPContext].busy(request)) {
+ return;
+ }
+ if (!request.aborted && client[kHTTPContext].write(request)) {
+ client[kPendingIdx]++;
+ } else {
+ client[kQueue].splice(client[kPendingIdx], 1);
+ }
+ }
+ }
+ module.exports = Client;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/fixed-queue.js
+var require_fixed_queue = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/fixed-queue.js"(exports, module) {
+ "use strict";
+ var kSize = 2048;
+ var kMask = kSize - 1;
+ var FixedCircularBuffer = class {
+ constructor() {
+ this.bottom = 0;
+ this.top = 0;
+ this.list = new Array(kSize);
+ this.next = null;
+ }
+ isEmpty() {
+ return this.top === this.bottom;
+ }
+ isFull() {
+ return (this.top + 1 & kMask) === this.bottom;
+ }
+ push(data) {
+ this.list[this.top] = data;
+ this.top = this.top + 1 & kMask;
+ }
+ shift() {
+ const nextItem = this.list[this.bottom];
+ if (nextItem === void 0)
+ return null;
+ this.list[this.bottom] = void 0;
+ this.bottom = this.bottom + 1 & kMask;
+ return nextItem;
+ }
+ };
+ module.exports = class FixedQueue {
+ constructor() {
+ this.head = this.tail = new FixedCircularBuffer();
+ }
+ isEmpty() {
+ return this.head.isEmpty();
+ }
+ push(data) {
+ if (this.head.isFull()) {
+ this.head = this.head.next = new FixedCircularBuffer();
+ }
+ this.head.push(data);
+ }
+ shift() {
+ const tail = this.tail;
+ const next = tail.shift();
+ if (tail.isEmpty() && tail.next !== null) {
+ this.tail = tail.next;
+ }
+ return next;
+ }
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/pool-stats.js
+var require_pool_stats = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/pool-stats.js"(exports, module) {
+ var { kFree, kConnected, kPending, kQueued, kRunning, kSize } = require_symbols();
+ var kPool = /* @__PURE__ */ Symbol("pool");
+ var PoolStats = class {
+ constructor(pool) {
+ this[kPool] = pool;
+ }
+ get connected() {
+ return this[kPool][kConnected];
+ }
+ get free() {
+ return this[kPool][kFree];
+ }
+ get pending() {
+ return this[kPool][kPending];
+ }
+ get queued() {
+ return this[kPool][kQueued];
+ }
+ get running() {
+ return this[kPool][kRunning];
+ }
+ get size() {
+ return this[kPool][kSize];
+ }
+ };
+ module.exports = PoolStats;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/pool-base.js
+var require_pool_base = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/pool-base.js"(exports, module) {
+ "use strict";
+ var DispatcherBase = require_dispatcher_base();
+ var FixedQueue = require_fixed_queue();
+ var { kConnected, kSize, kRunning, kPending, kQueued, kBusy, kFree, kUrl, kClose, kDestroy, kDispatch } = require_symbols();
+ var PoolStats = require_pool_stats();
+ var kClients = /* @__PURE__ */ Symbol("clients");
+ var kNeedDrain = /* @__PURE__ */ Symbol("needDrain");
+ var kQueue = /* @__PURE__ */ Symbol("queue");
+ var kClosedResolve = /* @__PURE__ */ Symbol("closed resolve");
+ var kOnDrain = /* @__PURE__ */ Symbol("onDrain");
+ var kOnConnect = /* @__PURE__ */ Symbol("onConnect");
+ var kOnDisconnect = /* @__PURE__ */ Symbol("onDisconnect");
+ var kOnConnectionError = /* @__PURE__ */ Symbol("onConnectionError");
+ var kGetDispatcher = /* @__PURE__ */ Symbol("get dispatcher");
+ var kAddClient = /* @__PURE__ */ Symbol("add client");
+ var kRemoveClient = /* @__PURE__ */ Symbol("remove client");
+ var kStats = /* @__PURE__ */ Symbol("stats");
+ var PoolBase = class extends DispatcherBase {
+ constructor(opts) {
+ super(opts);
+ this[kQueue] = new FixedQueue();
+ this[kClients] = [];
+ this[kQueued] = 0;
+ const pool = this;
+ this[kOnDrain] = function onDrain(origin, targets) {
+ const queue = pool[kQueue];
+ let needDrain = false;
+ while (!needDrain) {
+ const item = queue.shift();
+ if (!item) {
+ break;
+ }
+ pool[kQueued]--;
+ needDrain = !this.dispatch(item.opts, item.handler);
+ }
+ this[kNeedDrain] = needDrain;
+ if (!this[kNeedDrain] && pool[kNeedDrain]) {
+ pool[kNeedDrain] = false;
+ pool.emit("drain", origin, [pool, ...targets]);
+ }
+ if (pool[kClosedResolve] && queue.isEmpty()) {
+ Promise.all(pool[kClients].map((c) => c.close())).then(pool[kClosedResolve]);
+ }
+ };
+ this[kOnConnect] = (origin, targets) => {
+ pool.emit("connect", origin, [pool, ...targets]);
+ };
+ this[kOnDisconnect] = (origin, targets, err) => {
+ pool.emit("disconnect", origin, [pool, ...targets], err);
+ };
+ this[kOnConnectionError] = (origin, targets, err) => {
+ pool.emit("connectionError", origin, [pool, ...targets], err);
+ };
+ this[kStats] = new PoolStats(this);
+ }
+ get [kBusy]() {
+ return this[kNeedDrain];
+ }
+ get [kConnected]() {
+ return this[kClients].filter((client) => client[kConnected]).length;
+ }
+ get [kFree]() {
+ return this[kClients].filter((client) => client[kConnected] && !client[kNeedDrain]).length;
+ }
+ get [kPending]() {
+ let ret = this[kQueued];
+ for (const { [kPending]: pending } of this[kClients]) {
+ ret += pending;
+ }
+ return ret;
+ }
+ get [kRunning]() {
+ let ret = 0;
+ for (const { [kRunning]: running } of this[kClients]) {
+ ret += running;
+ }
+ return ret;
+ }
+ get [kSize]() {
+ let ret = this[kQueued];
+ for (const { [kSize]: size } of this[kClients]) {
+ ret += size;
+ }
+ return ret;
+ }
+ get stats() {
+ return this[kStats];
+ }
+ async [kClose]() {
+ if (this[kQueue].isEmpty()) {
+ await Promise.all(this[kClients].map((c) => c.close()));
+ } else {
+ await new Promise((resolve) => {
+ this[kClosedResolve] = resolve;
+ });
+ }
+ }
+ async [kDestroy](err) {
+ while (true) {
+ const item = this[kQueue].shift();
+ if (!item) {
+ break;
+ }
+ item.handler.onError(err);
+ }
+ await Promise.all(this[kClients].map((c) => c.destroy(err)));
+ }
+ [kDispatch](opts, handler) {
+ const dispatcher = this[kGetDispatcher]();
+ if (!dispatcher) {
+ this[kNeedDrain] = true;
+ this[kQueue].push({ opts, handler });
+ this[kQueued]++;
+ } else if (!dispatcher.dispatch(opts, handler)) {
+ dispatcher[kNeedDrain] = true;
+ this[kNeedDrain] = !this[kGetDispatcher]();
+ }
+ return !this[kNeedDrain];
+ }
+ [kAddClient](client) {
+ client.on("drain", this[kOnDrain]).on("connect", this[kOnConnect]).on("disconnect", this[kOnDisconnect]).on("connectionError", this[kOnConnectionError]);
+ this[kClients].push(client);
+ if (this[kNeedDrain]) {
+ queueMicrotask(() => {
+ if (this[kNeedDrain]) {
+ this[kOnDrain](client[kUrl], [this, client]);
+ }
+ });
+ }
+ return this;
+ }
+ [kRemoveClient](client) {
+ client.close(() => {
+ const idx = this[kClients].indexOf(client);
+ if (idx !== -1) {
+ this[kClients].splice(idx, 1);
+ }
+ });
+ this[kNeedDrain] = this[kClients].some((dispatcher) => !dispatcher[kNeedDrain] && dispatcher.closed !== true && dispatcher.destroyed !== true);
+ }
+ };
+ module.exports = {
+ PoolBase,
+ kClients,
+ kNeedDrain,
+ kAddClient,
+ kRemoveClient,
+ kGetDispatcher
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/pool.js
+var require_pool = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/pool.js"(exports, module) {
+ "use strict";
+ var {
+ PoolBase,
+ kClients,
+ kNeedDrain,
+ kAddClient,
+ kGetDispatcher
+ } = require_pool_base();
+ var Client = require_client();
+ var {
+ InvalidArgumentError
+ } = require_errors();
+ var util = require_util();
+ var { kUrl, kInterceptors } = require_symbols();
+ var buildConnector = require_connect();
+ var kOptions = /* @__PURE__ */ Symbol("options");
+ var kConnections = /* @__PURE__ */ Symbol("connections");
+ var kFactory = /* @__PURE__ */ Symbol("factory");
+ function defaultFactory(origin, opts) {
+ return new Client(origin, opts);
+ }
+ var Pool = class extends PoolBase {
+ constructor(origin, {
+ connections,
+ factory = defaultFactory,
+ connect,
+ connectTimeout,
+ tls,
+ maxCachedSessions,
+ socketPath,
+ autoSelectFamily,
+ autoSelectFamilyAttemptTimeout,
+ allowH2,
+ ...options
+ } = {}) {
+ if (connections != null && (!Number.isFinite(connections) || connections < 0)) {
+ throw new InvalidArgumentError("invalid connections");
+ }
+ if (typeof factory !== "function") {
+ throw new InvalidArgumentError("factory must be a function.");
+ }
+ if (connect != null && typeof connect !== "function" && typeof connect !== "object") {
+ throw new InvalidArgumentError("connect must be a function or an object");
+ }
+ if (typeof connect !== "function") {
+ connect = buildConnector({
+ ...tls,
+ maxCachedSessions,
+ allowH2,
+ socketPath,
+ timeout: connectTimeout,
+ ...autoSelectFamily ? { autoSelectFamily, autoSelectFamilyAttemptTimeout } : void 0,
+ ...connect
+ });
+ }
+ super(options);
+ this[kInterceptors] = options.interceptors?.Pool && Array.isArray(options.interceptors.Pool) ? options.interceptors.Pool : [];
+ this[kConnections] = connections || null;
+ this[kUrl] = util.parseOrigin(origin);
+ this[kOptions] = { ...util.deepClone(options), connect, allowH2 };
+ this[kOptions].interceptors = options.interceptors ? { ...options.interceptors } : void 0;
+ this[kFactory] = factory;
+ this.on("connectionError", (origin2, targets, error) => {
+ for (const target of targets) {
+ const idx = this[kClients].indexOf(target);
+ if (idx !== -1) {
+ this[kClients].splice(idx, 1);
+ }
+ }
+ });
+ }
+ [kGetDispatcher]() {
+ for (const client of this[kClients]) {
+ if (!client[kNeedDrain]) {
+ return client;
+ }
+ }
+ if (!this[kConnections] || this[kClients].length < this[kConnections]) {
+ const dispatcher = this[kFactory](this[kUrl], this[kOptions]);
+ this[kAddClient](dispatcher);
+ return dispatcher;
+ }
+ }
+ };
+ module.exports = Pool;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/balanced-pool.js
+var require_balanced_pool = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/balanced-pool.js"(exports, module) {
+ "use strict";
+ var {
+ BalancedPoolMissingUpstreamError,
+ InvalidArgumentError
+ } = require_errors();
+ var {
+ PoolBase,
+ kClients,
+ kNeedDrain,
+ kAddClient,
+ kRemoveClient,
+ kGetDispatcher
+ } = require_pool_base();
+ var Pool = require_pool();
+ var { kUrl, kInterceptors } = require_symbols();
+ var { parseOrigin } = require_util();
+ var kFactory = /* @__PURE__ */ Symbol("factory");
+ var kOptions = /* @__PURE__ */ Symbol("options");
+ var kGreatestCommonDivisor = /* @__PURE__ */ Symbol("kGreatestCommonDivisor");
+ var kCurrentWeight = /* @__PURE__ */ Symbol("kCurrentWeight");
+ var kIndex = /* @__PURE__ */ Symbol("kIndex");
+ var kWeight = /* @__PURE__ */ Symbol("kWeight");
+ var kMaxWeightPerServer = /* @__PURE__ */ Symbol("kMaxWeightPerServer");
+ var kErrorPenalty = /* @__PURE__ */ Symbol("kErrorPenalty");
+ function getGreatestCommonDivisor(a, b) {
+ if (a === 0) return b;
+ while (b !== 0) {
+ const t = b;
+ b = a % b;
+ a = t;
+ }
+ return a;
+ }
+ function defaultFactory(origin, opts) {
+ return new Pool(origin, opts);
+ }
+ var BalancedPool = class extends PoolBase {
+ constructor(upstreams = [], { factory = defaultFactory, ...opts } = {}) {
+ super();
+ this[kOptions] = opts;
+ this[kIndex] = -1;
+ this[kCurrentWeight] = 0;
+ this[kMaxWeightPerServer] = this[kOptions].maxWeightPerServer || 100;
+ this[kErrorPenalty] = this[kOptions].errorPenalty || 15;
+ if (!Array.isArray(upstreams)) {
+ upstreams = [upstreams];
+ }
+ if (typeof factory !== "function") {
+ throw new InvalidArgumentError("factory must be a function.");
+ }
+ this[kInterceptors] = opts.interceptors?.BalancedPool && Array.isArray(opts.interceptors.BalancedPool) ? opts.interceptors.BalancedPool : [];
+ this[kFactory] = factory;
+ for (const upstream of upstreams) {
+ this.addUpstream(upstream);
+ }
+ this._updateBalancedPoolStats();
+ }
+ addUpstream(upstream) {
+ const upstreamOrigin = parseOrigin(upstream).origin;
+ if (this[kClients].find((pool2) => pool2[kUrl].origin === upstreamOrigin && pool2.closed !== true && pool2.destroyed !== true)) {
+ return this;
+ }
+ const pool = this[kFactory](upstreamOrigin, Object.assign({}, this[kOptions]));
+ this[kAddClient](pool);
+ pool.on("connect", () => {
+ pool[kWeight] = Math.min(this[kMaxWeightPerServer], pool[kWeight] + this[kErrorPenalty]);
+ });
+ pool.on("connectionError", () => {
+ pool[kWeight] = Math.max(1, pool[kWeight] - this[kErrorPenalty]);
+ this._updateBalancedPoolStats();
+ });
+ pool.on("disconnect", (...args) => {
+ const err = args[2];
+ if (err && err.code === "UND_ERR_SOCKET") {
+ pool[kWeight] = Math.max(1, pool[kWeight] - this[kErrorPenalty]);
+ this._updateBalancedPoolStats();
+ }
+ });
+ for (const client of this[kClients]) {
+ client[kWeight] = this[kMaxWeightPerServer];
+ }
+ this._updateBalancedPoolStats();
+ return this;
+ }
+ _updateBalancedPoolStats() {
+ let result = 0;
+ for (let i = 0; i < this[kClients].length; i++) {
+ result = getGreatestCommonDivisor(this[kClients][i][kWeight], result);
+ }
+ this[kGreatestCommonDivisor] = result;
+ }
+ removeUpstream(upstream) {
+ const upstreamOrigin = parseOrigin(upstream).origin;
+ const pool = this[kClients].find((pool2) => pool2[kUrl].origin === upstreamOrigin && pool2.closed !== true && pool2.destroyed !== true);
+ if (pool) {
+ this[kRemoveClient](pool);
+ }
+ return this;
+ }
+ get upstreams() {
+ return this[kClients].filter((dispatcher) => dispatcher.closed !== true && dispatcher.destroyed !== true).map((p) => p[kUrl].origin);
+ }
+ [kGetDispatcher]() {
+ if (this[kClients].length === 0) {
+ throw new BalancedPoolMissingUpstreamError();
+ }
+ const dispatcher = this[kClients].find((dispatcher2) => !dispatcher2[kNeedDrain] && dispatcher2.closed !== true && dispatcher2.destroyed !== true);
+ if (!dispatcher) {
+ return;
+ }
+ const allClientsBusy = this[kClients].map((pool) => pool[kNeedDrain]).reduce((a, b) => a && b, true);
+ if (allClientsBusy) {
+ return;
+ }
+ let counter = 0;
+ let maxWeightIndex = this[kClients].findIndex((pool) => !pool[kNeedDrain]);
+ while (counter++ < this[kClients].length) {
+ this[kIndex] = (this[kIndex] + 1) % this[kClients].length;
+ const pool = this[kClients][this[kIndex]];
+ if (pool[kWeight] > this[kClients][maxWeightIndex][kWeight] && !pool[kNeedDrain]) {
+ maxWeightIndex = this[kIndex];
+ }
+ if (this[kIndex] === 0) {
+ this[kCurrentWeight] = this[kCurrentWeight] - this[kGreatestCommonDivisor];
+ if (this[kCurrentWeight] <= 0) {
+ this[kCurrentWeight] = this[kMaxWeightPerServer];
+ }
+ }
+ if (pool[kWeight] >= this[kCurrentWeight] && !pool[kNeedDrain]) {
+ return pool;
+ }
+ }
+ this[kCurrentWeight] = this[kClients][maxWeightIndex][kWeight];
+ this[kIndex] = maxWeightIndex;
+ return this[kClients][maxWeightIndex];
+ }
+ };
+ module.exports = BalancedPool;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/agent.js
+var require_agent = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/agent.js"(exports, module) {
+ "use strict";
+ var { InvalidArgumentError } = require_errors();
+ var { kClients, kRunning, kClose, kDestroy, kDispatch, kInterceptors } = require_symbols();
+ var DispatcherBase = require_dispatcher_base();
+ var Pool = require_pool();
+ var Client = require_client();
+ var util = require_util();
+ var createRedirectInterceptor = require_redirect_interceptor();
+ var kOnConnect = /* @__PURE__ */ Symbol("onConnect");
+ var kOnDisconnect = /* @__PURE__ */ Symbol("onDisconnect");
+ var kOnConnectionError = /* @__PURE__ */ Symbol("onConnectionError");
+ var kMaxRedirections = /* @__PURE__ */ Symbol("maxRedirections");
+ var kOnDrain = /* @__PURE__ */ Symbol("onDrain");
+ var kFactory = /* @__PURE__ */ Symbol("factory");
+ var kOptions = /* @__PURE__ */ Symbol("options");
+ function defaultFactory(origin, opts) {
+ return opts && opts.connections === 1 ? new Client(origin, opts) : new Pool(origin, opts);
+ }
+ var Agent = class extends DispatcherBase {
+ constructor({ factory = defaultFactory, maxRedirections = 0, connect, ...options } = {}) {
+ if (typeof factory !== "function") {
+ throw new InvalidArgumentError("factory must be a function.");
+ }
+ if (connect != null && typeof connect !== "function" && typeof connect !== "object") {
+ throw new InvalidArgumentError("connect must be a function or an object");
+ }
+ if (!Number.isInteger(maxRedirections) || maxRedirections < 0) {
+ throw new InvalidArgumentError("maxRedirections must be a positive number");
+ }
+ super(options);
+ if (connect && typeof connect !== "function") {
+ connect = { ...connect };
+ }
+ this[kInterceptors] = options.interceptors?.Agent && Array.isArray(options.interceptors.Agent) ? options.interceptors.Agent : [createRedirectInterceptor({ maxRedirections })];
+ this[kOptions] = { ...util.deepClone(options), connect };
+ this[kOptions].interceptors = options.interceptors ? { ...options.interceptors } : void 0;
+ this[kMaxRedirections] = maxRedirections;
+ this[kFactory] = factory;
+ this[kClients] = /* @__PURE__ */ new Map();
+ this[kOnDrain] = (origin, targets) => {
+ this.emit("drain", origin, [this, ...targets]);
+ };
+ this[kOnConnect] = (origin, targets) => {
+ this.emit("connect", origin, [this, ...targets]);
+ };
+ this[kOnDisconnect] = (origin, targets, err) => {
+ this.emit("disconnect", origin, [this, ...targets], err);
+ };
+ this[kOnConnectionError] = (origin, targets, err) => {
+ this.emit("connectionError", origin, [this, ...targets], err);
+ };
+ }
+ get [kRunning]() {
+ let ret = 0;
+ for (const client of this[kClients].values()) {
+ ret += client[kRunning];
+ }
+ return ret;
+ }
+ [kDispatch](opts, handler) {
+ let key;
+ if (opts.origin && (typeof opts.origin === "string" || opts.origin instanceof URL)) {
+ key = String(opts.origin);
+ } else {
+ throw new InvalidArgumentError("opts.origin must be a non-empty string or URL.");
+ }
+ let dispatcher = this[kClients].get(key);
+ if (!dispatcher) {
+ dispatcher = this[kFactory](opts.origin, this[kOptions]).on("drain", this[kOnDrain]).on("connect", this[kOnConnect]).on("disconnect", this[kOnDisconnect]).on("connectionError", this[kOnConnectionError]);
+ this[kClients].set(key, dispatcher);
+ }
+ return dispatcher.dispatch(opts, handler);
+ }
+ async [kClose]() {
+ const closePromises = [];
+ for (const client of this[kClients].values()) {
+ closePromises.push(client.close());
+ }
+ this[kClients].clear();
+ await Promise.all(closePromises);
+ }
+ async [kDestroy](err) {
+ const destroyPromises = [];
+ for (const client of this[kClients].values()) {
+ destroyPromises.push(client.destroy(err));
+ }
+ this[kClients].clear();
+ await Promise.all(destroyPromises);
+ }
+ };
+ module.exports = Agent;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/proxy-agent.js
+var require_proxy_agent = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/proxy-agent.js"(exports, module) {
+ "use strict";
+ var { kProxy, kClose, kDestroy, kDispatch, kInterceptors } = require_symbols();
+ var { URL: URL2 } = __require("node:url");
+ var Agent = require_agent();
+ var Pool = require_pool();
+ var DispatcherBase = require_dispatcher_base();
+ var { InvalidArgumentError, RequestAbortedError, SecureProxyConnectionError } = require_errors();
+ var buildConnector = require_connect();
+ var Client = require_client();
+ var kAgent = /* @__PURE__ */ Symbol("proxy agent");
+ var kClient = /* @__PURE__ */ Symbol("proxy client");
+ var kProxyHeaders = /* @__PURE__ */ Symbol("proxy headers");
+ var kRequestTls = /* @__PURE__ */ Symbol("request tls settings");
+ var kProxyTls = /* @__PURE__ */ Symbol("proxy tls settings");
+ var kConnectEndpoint = /* @__PURE__ */ Symbol("connect endpoint function");
+ var kTunnelProxy = /* @__PURE__ */ Symbol("tunnel proxy");
+ function defaultProtocolPort(protocol) {
+ return protocol === "https:" ? 443 : 80;
+ }
+ function defaultFactory(origin, opts) {
+ return new Pool(origin, opts);
+ }
+ var noop = () => {
+ };
+ function defaultAgentFactory(origin, opts) {
+ if (opts.connections === 1) {
+ return new Client(origin, opts);
+ }
+ return new Pool(origin, opts);
+ }
+ var Http1ProxyWrapper = class extends DispatcherBase {
+ #client;
+ constructor(proxyUrl, { headers = {}, connect, factory }) {
+ super();
+ if (!proxyUrl) {
+ throw new InvalidArgumentError("Proxy URL is mandatory");
+ }
+ this[kProxyHeaders] = headers;
+ if (factory) {
+ this.#client = factory(proxyUrl, { connect });
+ } else {
+ this.#client = new Client(proxyUrl, { connect });
+ }
+ }
+ [kDispatch](opts, handler) {
+ const onHeaders = handler.onHeaders;
+ handler.onHeaders = function(statusCode, data, resume) {
+ if (statusCode === 407) {
+ if (typeof handler.onError === "function") {
+ handler.onError(new InvalidArgumentError("Proxy Authentication Required (407)"));
+ }
+ return;
+ }
+ if (onHeaders) onHeaders.call(this, statusCode, data, resume);
+ };
+ const {
+ origin,
+ path: path14 = "/",
+ headers = {}
+ } = opts;
+ opts.path = origin + path14;
+ if (!("host" in headers) && !("Host" in headers)) {
+ const { host: host2 } = new URL2(origin);
+ headers.host = host2;
+ }
+ opts.headers = { ...this[kProxyHeaders], ...headers };
+ return this.#client[kDispatch](opts, handler);
+ }
+ async [kClose]() {
+ return this.#client.close();
+ }
+ async [kDestroy](err) {
+ return this.#client.destroy(err);
+ }
+ };
+ var ProxyAgent = class extends DispatcherBase {
+ constructor(opts) {
+ super();
+ if (!opts || typeof opts === "object" && !(opts instanceof URL2) && !opts.uri) {
+ throw new InvalidArgumentError("Proxy uri is mandatory");
+ }
+ const { clientFactory = defaultFactory } = opts;
+ if (typeof clientFactory !== "function") {
+ throw new InvalidArgumentError("Proxy opts.clientFactory must be a function.");
+ }
+ const { proxyTunnel = true } = opts;
+ const url = this.#getUrl(opts);
+ const { href, origin, port: port2, protocol, username, password, hostname: proxyHostname } = url;
+ this[kProxy] = { uri: href, protocol };
+ this[kInterceptors] = opts.interceptors?.ProxyAgent && Array.isArray(opts.interceptors.ProxyAgent) ? opts.interceptors.ProxyAgent : [];
+ this[kRequestTls] = opts.requestTls;
+ this[kProxyTls] = opts.proxyTls;
+ this[kProxyHeaders] = opts.headers || {};
+ this[kTunnelProxy] = proxyTunnel;
+ if (opts.auth && opts.token) {
+ throw new InvalidArgumentError("opts.auth cannot be used in combination with opts.token");
+ } else if (opts.auth) {
+ this[kProxyHeaders]["proxy-authorization"] = `Basic ${opts.auth}`;
+ } else if (opts.token) {
+ this[kProxyHeaders]["proxy-authorization"] = opts.token;
+ } else if (username && password) {
+ this[kProxyHeaders]["proxy-authorization"] = `Basic ${Buffer.from(`${decodeURIComponent(username)}:${decodeURIComponent(password)}`).toString("base64")}`;
+ }
+ const connect = buildConnector({ ...opts.proxyTls });
+ this[kConnectEndpoint] = buildConnector({ ...opts.requestTls });
+ const agentFactory = opts.factory || defaultAgentFactory;
+ const factory = (origin2, options) => {
+ const { protocol: protocol2 } = new URL2(origin2);
+ if (!this[kTunnelProxy] && protocol2 === "http:" && this[kProxy].protocol === "http:") {
+ return new Http1ProxyWrapper(this[kProxy].uri, {
+ headers: this[kProxyHeaders],
+ connect,
+ factory: agentFactory
+ });
+ }
+ return agentFactory(origin2, options);
+ };
+ this[kClient] = clientFactory(url, { connect });
+ this[kAgent] = new Agent({
+ ...opts,
+ factory,
+ connect: async (opts2, callback) => {
+ let requestedPath = opts2.host;
+ if (!opts2.port) {
+ requestedPath += `:${defaultProtocolPort(opts2.protocol)}`;
+ }
+ try {
+ const { socket, statusCode } = await this[kClient].connect({
+ origin,
+ port: port2,
+ path: requestedPath,
+ signal: opts2.signal,
+ headers: {
+ ...this[kProxyHeaders],
+ host: opts2.host
+ },
+ servername: this[kProxyTls]?.servername || proxyHostname
+ });
+ if (statusCode !== 200) {
+ socket.on("error", noop).destroy();
+ callback(new RequestAbortedError(`Proxy response (${statusCode}) !== 200 when HTTP Tunneling`));
+ }
+ if (opts2.protocol !== "https:") {
+ callback(null, socket);
+ return;
+ }
+ let servername;
+ if (this[kRequestTls]) {
+ servername = this[kRequestTls].servername;
+ } else {
+ servername = opts2.servername;
+ }
+ this[kConnectEndpoint]({ ...opts2, servername, httpSocket: socket }, callback);
+ } catch (err) {
+ if (err.code === "ERR_TLS_CERT_ALTNAME_INVALID") {
+ callback(new SecureProxyConnectionError(err));
+ } else {
+ callback(err);
+ }
+ }
+ }
+ });
+ }
+ dispatch(opts, handler) {
+ const headers = buildHeaders(opts.headers);
+ throwIfProxyAuthIsSent(headers);
+ if (headers && !("host" in headers) && !("Host" in headers)) {
+ const { host: host2 } = new URL2(opts.origin);
+ headers.host = host2;
+ }
+ return this[kAgent].dispatch(
+ {
+ ...opts,
+ headers
+ },
+ handler
+ );
+ }
+ /**
+ * @param {import('../types/proxy-agent').ProxyAgent.Options | string | URL} opts
+ * @returns {URL}
+ */
+ #getUrl(opts) {
+ if (typeof opts === "string") {
+ return new URL2(opts);
+ } else if (opts instanceof URL2) {
+ return opts;
+ } else {
+ return new URL2(opts.uri);
+ }
+ }
+ async [kClose]() {
+ await this[kAgent].close();
+ await this[kClient].close();
+ }
+ async [kDestroy]() {
+ await this[kAgent].destroy();
+ await this[kClient].destroy();
+ }
+ };
+ function buildHeaders(headers) {
+ if (Array.isArray(headers)) {
+ const headersPair = {};
+ for (let i = 0; i < headers.length; i += 2) {
+ headersPair[headers[i]] = headers[i + 1];
+ }
+ return headersPair;
+ }
+ return headers;
+ }
+ function throwIfProxyAuthIsSent(headers) {
+ const existProxyAuth = headers && Object.keys(headers).find((key) => key.toLowerCase() === "proxy-authorization");
+ if (existProxyAuth) {
+ throw new InvalidArgumentError("Proxy-Authorization should be sent in ProxyAgent constructor");
+ }
+ }
+ module.exports = ProxyAgent;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/env-http-proxy-agent.js
+var require_env_http_proxy_agent = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/env-http-proxy-agent.js"(exports, module) {
+ "use strict";
+ var DispatcherBase = require_dispatcher_base();
+ var { kClose, kDestroy, kClosed, kDestroyed, kDispatch, kNoProxyAgent, kHttpProxyAgent, kHttpsProxyAgent } = require_symbols();
+ var ProxyAgent = require_proxy_agent();
+ var Agent = require_agent();
+ var DEFAULT_PORTS = {
+ "http:": 80,
+ "https:": 443
+ };
+ var experimentalWarned = false;
+ var EnvHttpProxyAgent = class extends DispatcherBase {
+ #noProxyValue = null;
+ #noProxyEntries = null;
+ #opts = null;
+ constructor(opts = {}) {
+ super();
+ this.#opts = opts;
+ if (!experimentalWarned) {
+ experimentalWarned = true;
+ process.emitWarning("EnvHttpProxyAgent is experimental, expect them to change at any time.", {
+ code: "UNDICI-EHPA"
+ });
+ }
+ const { httpProxy, httpsProxy, noProxy, ...agentOpts } = opts;
+ this[kNoProxyAgent] = new Agent(agentOpts);
+ const HTTP_PROXY = httpProxy ?? process.env.http_proxy ?? process.env.HTTP_PROXY;
+ if (HTTP_PROXY) {
+ this[kHttpProxyAgent] = new ProxyAgent({ ...agentOpts, uri: HTTP_PROXY });
+ } else {
+ this[kHttpProxyAgent] = this[kNoProxyAgent];
+ }
+ const HTTPS_PROXY = httpsProxy ?? process.env.https_proxy ?? process.env.HTTPS_PROXY;
+ if (HTTPS_PROXY) {
+ this[kHttpsProxyAgent] = new ProxyAgent({ ...agentOpts, uri: HTTPS_PROXY });
+ } else {
+ this[kHttpsProxyAgent] = this[kHttpProxyAgent];
+ }
+ this.#parseNoProxy();
+ }
+ [kDispatch](opts, handler) {
+ const url = new URL(opts.origin);
+ const agent = this.#getProxyAgentForUrl(url);
+ return agent.dispatch(opts, handler);
+ }
+ async [kClose]() {
+ await this[kNoProxyAgent].close();
+ if (!this[kHttpProxyAgent][kClosed]) {
+ await this[kHttpProxyAgent].close();
+ }
+ if (!this[kHttpsProxyAgent][kClosed]) {
+ await this[kHttpsProxyAgent].close();
+ }
+ }
+ async [kDestroy](err) {
+ await this[kNoProxyAgent].destroy(err);
+ if (!this[kHttpProxyAgent][kDestroyed]) {
+ await this[kHttpProxyAgent].destroy(err);
+ }
+ if (!this[kHttpsProxyAgent][kDestroyed]) {
+ await this[kHttpsProxyAgent].destroy(err);
+ }
+ }
+ #getProxyAgentForUrl(url) {
+ let { protocol, host: hostname, port: port2 } = url;
+ hostname = hostname.replace(/:\d*$/, "").toLowerCase();
+ port2 = Number.parseInt(port2, 10) || DEFAULT_PORTS[protocol] || 0;
+ if (!this.#shouldProxy(hostname, port2)) {
+ return this[kNoProxyAgent];
+ }
+ if (protocol === "https:") {
+ return this[kHttpsProxyAgent];
+ }
+ return this[kHttpProxyAgent];
+ }
+ #shouldProxy(hostname, port2) {
+ if (this.#noProxyChanged) {
+ this.#parseNoProxy();
+ }
+ if (this.#noProxyEntries.length === 0) {
+ return true;
+ }
+ if (this.#noProxyValue === "*") {
+ return false;
+ }
+ for (let i = 0; i < this.#noProxyEntries.length; i++) {
+ const entry = this.#noProxyEntries[i];
+ if (entry.port && entry.port !== port2) {
+ continue;
+ }
+ if (!/^[.*]/.test(entry.hostname)) {
+ if (hostname === entry.hostname) {
+ return false;
+ }
+ } else {
+ if (hostname.endsWith(entry.hostname.replace(/^\*/, ""))) {
+ return false;
+ }
+ }
+ }
+ return true;
+ }
+ #parseNoProxy() {
+ const noProxyValue = this.#opts.noProxy ?? this.#noProxyEnv;
+ const noProxySplit = noProxyValue.split(/[,\s]/);
+ const noProxyEntries = [];
+ for (let i = 0; i < noProxySplit.length; i++) {
+ const entry = noProxySplit[i];
+ if (!entry) {
+ continue;
+ }
+ const parsed = entry.match(/^(.+):(\d+)$/);
+ noProxyEntries.push({
+ hostname: (parsed ? parsed[1] : entry).toLowerCase(),
+ port: parsed ? Number.parseInt(parsed[2], 10) : 0
+ });
+ }
+ this.#noProxyValue = noProxyValue;
+ this.#noProxyEntries = noProxyEntries;
+ }
+ get #noProxyChanged() {
+ if (this.#opts.noProxy !== void 0) {
+ return false;
+ }
+ return this.#noProxyValue !== this.#noProxyEnv;
+ }
+ get #noProxyEnv() {
+ return process.env.no_proxy ?? process.env.NO_PROXY ?? "";
+ }
+ };
+ module.exports = EnvHttpProxyAgent;
+ }
+});
+
+// viewer/node_modules/undici/lib/handler/retry-handler.js
+var require_retry_handler = __commonJS({
+ "viewer/node_modules/undici/lib/handler/retry-handler.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { kRetryHandlerDefaultRetry } = require_symbols();
+ var { RequestRetryError } = require_errors();
+ var {
+ isDisturbed,
+ parseHeaders,
+ parseRangeHeader,
+ wrapRequestBody
+ } = require_util();
+ function calculateRetryAfterHeader(retryAfter) {
+ const current = Date.now();
+ return new Date(retryAfter).getTime() - current;
+ }
+ var RetryHandler = class _RetryHandler {
+ constructor(opts, handlers) {
+ const { retryOptions, ...dispatchOpts } = opts;
+ const {
+ // Retry scoped
+ retry: retryFn,
+ maxRetries,
+ maxTimeout,
+ minTimeout,
+ timeoutFactor,
+ // Response scoped
+ methods,
+ errorCodes,
+ retryAfter,
+ statusCodes
+ } = retryOptions ?? {};
+ this.dispatch = handlers.dispatch;
+ this.handler = handlers.handler;
+ this.opts = { ...dispatchOpts, body: wrapRequestBody(opts.body) };
+ this.abort = null;
+ this.aborted = false;
+ this.retryOpts = {
+ retry: retryFn ?? _RetryHandler[kRetryHandlerDefaultRetry],
+ retryAfter: retryAfter ?? true,
+ maxTimeout: maxTimeout ?? 30 * 1e3,
+ // 30s,
+ minTimeout: minTimeout ?? 500,
+ // .5s
+ timeoutFactor: timeoutFactor ?? 2,
+ maxRetries: maxRetries ?? 5,
+ // What errors we should retry
+ methods: methods ?? ["GET", "HEAD", "OPTIONS", "PUT", "DELETE", "TRACE"],
+ // Indicates which errors to retry
+ statusCodes: statusCodes ?? [500, 502, 503, 504, 429],
+ // List of errors to retry
+ errorCodes: errorCodes ?? [
+ "ECONNRESET",
+ "ECONNREFUSED",
+ "ENOTFOUND",
+ "ENETDOWN",
+ "ENETUNREACH",
+ "EHOSTDOWN",
+ "EHOSTUNREACH",
+ "EPIPE",
+ "UND_ERR_SOCKET"
+ ]
+ };
+ this.retryCount = 0;
+ this.retryCountCheckpoint = 0;
+ this.start = 0;
+ this.end = null;
+ this.etag = null;
+ this.resume = null;
+ this.handler.onConnect((reason) => {
+ this.aborted = true;
+ if (this.abort) {
+ this.abort(reason);
+ } else {
+ this.reason = reason;
+ }
+ });
+ }
+ onRequestSent() {
+ if (this.handler.onRequestSent) {
+ this.handler.onRequestSent();
+ }
+ }
+ onUpgrade(statusCode, headers, socket) {
+ if (this.handler.onUpgrade) {
+ this.handler.onUpgrade(statusCode, headers, socket);
+ }
+ }
+ onConnect(abort) {
+ if (this.aborted) {
+ abort(this.reason);
+ } else {
+ this.abort = abort;
+ }
+ }
+ onBodySent(chunk) {
+ if (this.handler.onBodySent) return this.handler.onBodySent(chunk);
+ }
+ static [kRetryHandlerDefaultRetry](err, { state, opts }, cb) {
+ const { statusCode, code, headers } = err;
+ const { method, retryOptions } = opts;
+ const {
+ maxRetries,
+ minTimeout,
+ maxTimeout,
+ timeoutFactor,
+ statusCodes,
+ errorCodes,
+ methods
+ } = retryOptions;
+ const { counter } = state;
+ if (code && code !== "UND_ERR_REQ_RETRY" && !errorCodes.includes(code)) {
+ cb(err);
+ return;
+ }
+ if (Array.isArray(methods) && !methods.includes(method)) {
+ cb(err);
+ return;
+ }
+ if (statusCode != null && Array.isArray(statusCodes) && !statusCodes.includes(statusCode)) {
+ cb(err);
+ return;
+ }
+ if (counter > maxRetries) {
+ cb(err);
+ return;
+ }
+ let retryAfterHeader = headers?.["retry-after"];
+ if (retryAfterHeader) {
+ retryAfterHeader = Number(retryAfterHeader);
+ retryAfterHeader = Number.isNaN(retryAfterHeader) ? calculateRetryAfterHeader(retryAfterHeader) : retryAfterHeader * 1e3;
+ }
+ const retryTimeout = retryAfterHeader > 0 ? Math.min(retryAfterHeader, maxTimeout) : Math.min(minTimeout * timeoutFactor ** (counter - 1), maxTimeout);
+ setTimeout(() => cb(null), retryTimeout);
+ }
+ onHeaders(statusCode, rawHeaders, resume, statusMessage) {
+ const headers = parseHeaders(rawHeaders);
+ this.retryCount += 1;
+ if (statusCode >= 300) {
+ if (this.retryOpts.statusCodes.includes(statusCode) === false) {
+ return this.handler.onHeaders(
+ statusCode,
+ rawHeaders,
+ resume,
+ statusMessage
+ );
+ } else {
+ this.abort(
+ new RequestRetryError("Request failed", statusCode, {
+ headers,
+ data: {
+ count: this.retryCount
+ }
+ })
+ );
+ return false;
+ }
+ }
+ if (this.resume != null) {
+ this.resume = null;
+ if (statusCode !== 206 && (this.start > 0 || statusCode !== 200)) {
+ this.abort(
+ new RequestRetryError("server does not support the range header and the payload was partially consumed", statusCode, {
+ headers,
+ data: { count: this.retryCount }
+ })
+ );
+ return false;
+ }
+ const contentRange = parseRangeHeader(headers["content-range"]);
+ if (!contentRange) {
+ this.abort(
+ new RequestRetryError("Content-Range mismatch", statusCode, {
+ headers,
+ data: { count: this.retryCount }
+ })
+ );
+ return false;
+ }
+ if (this.etag != null && this.etag !== headers.etag) {
+ this.abort(
+ new RequestRetryError("ETag mismatch", statusCode, {
+ headers,
+ data: { count: this.retryCount }
+ })
+ );
+ return false;
+ }
+ const { start, size, end = size - 1 } = contentRange;
+ assert(this.start === start, "content-range mismatch");
+ assert(this.end == null || this.end === end, "content-range mismatch");
+ this.resume = resume;
+ return true;
+ }
+ if (this.end == null) {
+ if (statusCode === 206) {
+ const range = parseRangeHeader(headers["content-range"]);
+ if (range == null) {
+ return this.handler.onHeaders(
+ statusCode,
+ rawHeaders,
+ resume,
+ statusMessage
+ );
+ }
+ const { start, size, end = size - 1 } = range;
+ assert(
+ start != null && Number.isFinite(start),
+ "content-range mismatch"
+ );
+ assert(end != null && Number.isFinite(end), "invalid content-length");
+ this.start = start;
+ this.end = end;
+ }
+ if (this.end == null) {
+ const contentLength = headers["content-length"];
+ this.end = contentLength != null ? Number(contentLength) - 1 : null;
+ }
+ assert(Number.isFinite(this.start));
+ assert(
+ this.end == null || Number.isFinite(this.end),
+ "invalid content-length"
+ );
+ this.resume = resume;
+ this.etag = headers.etag != null ? headers.etag : null;
+ if (this.etag != null && this.etag.startsWith("W/")) {
+ this.etag = null;
+ }
+ return this.handler.onHeaders(
+ statusCode,
+ rawHeaders,
+ resume,
+ statusMessage
+ );
+ }
+ const err = new RequestRetryError("Request failed", statusCode, {
+ headers,
+ data: { count: this.retryCount }
+ });
+ this.abort(err);
+ return false;
+ }
+ onData(chunk) {
+ this.start += chunk.length;
+ return this.handler.onData(chunk);
+ }
+ onComplete(rawTrailers) {
+ this.retryCount = 0;
+ return this.handler.onComplete(rawTrailers);
+ }
+ onError(err) {
+ if (this.aborted || isDisturbed(this.opts.body)) {
+ return this.handler.onError(err);
+ }
+ if (this.retryCount - this.retryCountCheckpoint > 0) {
+ this.retryCount = this.retryCountCheckpoint + (this.retryCount - this.retryCountCheckpoint);
+ } else {
+ this.retryCount += 1;
+ }
+ this.retryOpts.retry(
+ err,
+ {
+ state: { counter: this.retryCount },
+ opts: { retryOptions: this.retryOpts, ...this.opts }
+ },
+ onRetry.bind(this)
+ );
+ function onRetry(err2) {
+ if (err2 != null || this.aborted || isDisturbed(this.opts.body)) {
+ return this.handler.onError(err2);
+ }
+ if (this.start !== 0) {
+ const headers = { range: `bytes=${this.start}-${this.end ?? ""}` };
+ if (this.etag != null) {
+ headers["if-match"] = this.etag;
+ }
+ this.opts = {
+ ...this.opts,
+ headers: {
+ ...this.opts.headers,
+ ...headers
+ }
+ };
+ }
+ try {
+ this.retryCountCheckpoint = this.retryCount;
+ this.dispatch(this.opts, this);
+ } catch (err3) {
+ this.handler.onError(err3);
+ }
+ }
+ }
+ };
+ module.exports = RetryHandler;
+ }
+});
+
+// viewer/node_modules/undici/lib/dispatcher/retry-agent.js
+var require_retry_agent = __commonJS({
+ "viewer/node_modules/undici/lib/dispatcher/retry-agent.js"(exports, module) {
+ "use strict";
+ var Dispatcher = require_dispatcher();
+ var RetryHandler = require_retry_handler();
+ var RetryAgent = class extends Dispatcher {
+ #agent = null;
+ #options = null;
+ constructor(agent, options = {}) {
+ super(options);
+ this.#agent = agent;
+ this.#options = options;
+ }
+ dispatch(opts, handler) {
+ const retry2 = new RetryHandler({
+ ...opts,
+ retryOptions: this.#options
+ }, {
+ dispatch: this.#agent.dispatch.bind(this.#agent),
+ handler
+ });
+ return this.#agent.dispatch(opts, retry2);
+ }
+ close() {
+ return this.#agent.close();
+ }
+ destroy() {
+ return this.#agent.destroy();
+ }
+ };
+ module.exports = RetryAgent;
+ }
+});
+
+// viewer/node_modules/undici/lib/api/readable.js
+var require_readable = __commonJS({
+ "viewer/node_modules/undici/lib/api/readable.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { Readable: Readable2 } = __require("node:stream");
+ var { RequestAbortedError, NotSupportedError, InvalidArgumentError, AbortError } = require_errors();
+ var util = require_util();
+ var { ReadableStreamFrom } = require_util();
+ var kConsume = /* @__PURE__ */ Symbol("kConsume");
+ var kReading = /* @__PURE__ */ Symbol("kReading");
+ var kBody = /* @__PURE__ */ Symbol("kBody");
+ var kAbort = /* @__PURE__ */ Symbol("kAbort");
+ var kContentType = /* @__PURE__ */ Symbol("kContentType");
+ var kContentLength = /* @__PURE__ */ Symbol("kContentLength");
+ var noop = () => {
+ };
+ var BodyReadable = class extends Readable2 {
+ constructor({
+ resume,
+ abort,
+ contentType = "",
+ contentLength,
+ highWaterMark = 64 * 1024
+ // Same as nodejs fs streams.
+ }) {
+ super({
+ autoDestroy: true,
+ read: resume,
+ highWaterMark
+ });
+ this._readableState.dataEmitted = false;
+ this[kAbort] = abort;
+ this[kConsume] = null;
+ this[kBody] = null;
+ this[kContentType] = contentType;
+ this[kContentLength] = contentLength;
+ this[kReading] = false;
+ }
+ destroy(err) {
+ if (!err && !this._readableState.endEmitted) {
+ err = new RequestAbortedError();
+ }
+ if (err) {
+ this[kAbort]();
+ }
+ return super.destroy(err);
+ }
+ _destroy(err, callback) {
+ if (!this[kReading]) {
+ setImmediate(() => {
+ callback(err);
+ });
+ } else {
+ callback(err);
+ }
+ }
+ on(ev, ...args) {
+ if (ev === "data" || ev === "readable") {
+ this[kReading] = true;
+ }
+ return super.on(ev, ...args);
+ }
+ addListener(ev, ...args) {
+ return this.on(ev, ...args);
+ }
+ off(ev, ...args) {
+ const ret = super.off(ev, ...args);
+ if (ev === "data" || ev === "readable") {
+ this[kReading] = this.listenerCount("data") > 0 || this.listenerCount("readable") > 0;
+ }
+ return ret;
+ }
+ removeListener(ev, ...args) {
+ return this.off(ev, ...args);
+ }
+ push(chunk) {
+ if (this[kConsume] && chunk !== null) {
+ consumePush(this[kConsume], chunk);
+ return this[kReading] ? super.push(chunk) : true;
+ }
+ return super.push(chunk);
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-text
+ async text() {
+ return consume(this, "text");
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-json
+ async json() {
+ return consume(this, "json");
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-blob
+ async blob() {
+ return consume(this, "blob");
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-bytes
+ async bytes() {
+ return consume(this, "bytes");
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-arraybuffer
+ async arrayBuffer() {
+ return consume(this, "arrayBuffer");
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-formdata
+ async formData() {
+ throw new NotSupportedError();
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-bodyused
+ get bodyUsed() {
+ return util.isDisturbed(this);
+ }
+ // https://fetch.spec.whatwg.org/#dom-body-body
+ get body() {
+ if (!this[kBody]) {
+ this[kBody] = ReadableStreamFrom(this);
+ if (this[kConsume]) {
+ this[kBody].getReader();
+ assert(this[kBody].locked);
+ }
+ }
+ return this[kBody];
+ }
+ async dump(opts) {
+ let limit = Number.isFinite(opts?.limit) ? opts.limit : 128 * 1024;
+ const signal = opts?.signal;
+ if (signal != null && (typeof signal !== "object" || !("aborted" in signal))) {
+ throw new InvalidArgumentError("signal must be an AbortSignal");
+ }
+ signal?.throwIfAborted();
+ if (this._readableState.closeEmitted) {
+ return null;
+ }
+ return await new Promise((resolve, reject) => {
+ if (this[kContentLength] > limit) {
+ this.destroy(new AbortError());
+ }
+ const onAbort = () => {
+ this.destroy(signal.reason ?? new AbortError());
+ };
+ signal?.addEventListener("abort", onAbort);
+ this.on("close", function() {
+ signal?.removeEventListener("abort", onAbort);
+ if (signal?.aborted) {
+ reject(signal.reason ?? new AbortError());
+ } else {
+ resolve(null);
+ }
+ }).on("error", noop).on("data", function(chunk) {
+ limit -= chunk.length;
+ if (limit <= 0) {
+ this.destroy();
+ }
+ }).resume();
+ });
+ }
+ };
+ function isLocked(self) {
+ return self[kBody] && self[kBody].locked === true || self[kConsume];
+ }
+ function isUnusable(self) {
+ return util.isDisturbed(self) || isLocked(self);
+ }
+ async function consume(stream, type) {
+ assert(!stream[kConsume]);
+ return new Promise((resolve, reject) => {
+ if (isUnusable(stream)) {
+ const rState = stream._readableState;
+ if (rState.destroyed && rState.closeEmitted === false) {
+ stream.on("error", (err) => {
+ reject(err);
+ }).on("close", () => {
+ reject(new TypeError("unusable"));
+ });
+ } else {
+ reject(rState.errored ?? new TypeError("unusable"));
+ }
+ } else {
+ queueMicrotask(() => {
+ stream[kConsume] = {
+ type,
+ stream,
+ resolve,
+ reject,
+ length: 0,
+ body: []
+ };
+ stream.on("error", function(err) {
+ consumeFinish(this[kConsume], err);
+ }).on("close", function() {
+ if (this[kConsume].body !== null) {
+ consumeFinish(this[kConsume], new RequestAbortedError());
+ }
+ });
+ consumeStart(stream[kConsume]);
+ });
+ }
+ });
+ }
+ function consumeStart(consume2) {
+ if (consume2.body === null) {
+ return;
+ }
+ const { _readableState: state } = consume2.stream;
+ if (state.bufferIndex) {
+ const start = state.bufferIndex;
+ const end = state.buffer.length;
+ for (let n = start; n < end; n++) {
+ consumePush(consume2, state.buffer[n]);
+ }
+ } else {
+ for (const chunk of state.buffer) {
+ consumePush(consume2, chunk);
+ }
+ }
+ if (state.endEmitted) {
+ consumeEnd(this[kConsume]);
+ } else {
+ consume2.stream.on("end", function() {
+ consumeEnd(this[kConsume]);
+ });
+ }
+ consume2.stream.resume();
+ while (consume2.stream.read() != null) {
+ }
+ }
+ function chunksDecode(chunks, length2) {
+ if (chunks.length === 0 || length2 === 0) {
+ return "";
+ }
+ const buffer = chunks.length === 1 ? chunks[0] : Buffer.concat(chunks, length2);
+ const bufferLength = buffer.length;
+ const start = bufferLength > 2 && buffer[0] === 239 && buffer[1] === 187 && buffer[2] === 191 ? 3 : 0;
+ return buffer.utf8Slice(start, bufferLength);
+ }
+ function chunksConcat(chunks, length2) {
+ if (chunks.length === 0 || length2 === 0) {
+ return new Uint8Array(0);
+ }
+ if (chunks.length === 1) {
+ return new Uint8Array(chunks[0]);
+ }
+ const buffer = new Uint8Array(Buffer.allocUnsafeSlow(length2).buffer);
+ let offset = 0;
+ for (let i = 0; i < chunks.length; ++i) {
+ const chunk = chunks[i];
+ buffer.set(chunk, offset);
+ offset += chunk.length;
+ }
+ return buffer;
+ }
+ function consumeEnd(consume2) {
+ const { type, body, resolve, stream, length: length2 } = consume2;
+ try {
+ if (type === "text") {
+ resolve(chunksDecode(body, length2));
+ } else if (type === "json") {
+ resolve(JSON.parse(chunksDecode(body, length2)));
+ } else if (type === "arrayBuffer") {
+ resolve(chunksConcat(body, length2).buffer);
+ } else if (type === "blob") {
+ resolve(new Blob(body, { type: stream[kContentType] }));
+ } else if (type === "bytes") {
+ resolve(chunksConcat(body, length2));
+ }
+ consumeFinish(consume2);
+ } catch (err) {
+ stream.destroy(err);
+ }
+ }
+ function consumePush(consume2, chunk) {
+ consume2.length += chunk.length;
+ consume2.body.push(chunk);
+ }
+ function consumeFinish(consume2, err) {
+ if (consume2.body === null) {
+ return;
+ }
+ if (err) {
+ consume2.reject(err);
+ } else {
+ consume2.resolve();
+ }
+ consume2.type = null;
+ consume2.stream = null;
+ consume2.resolve = null;
+ consume2.reject = null;
+ consume2.length = 0;
+ consume2.body = null;
+ }
+ module.exports = { Readable: BodyReadable, chunksDecode };
+ }
+});
+
+// viewer/node_modules/undici/lib/api/util.js
+var require_util3 = __commonJS({
+ "viewer/node_modules/undici/lib/api/util.js"(exports, module) {
+ var assert = __require("node:assert");
+ var {
+ ResponseStatusCodeError
+ } = require_errors();
+ var { chunksDecode } = require_readable();
+ var CHUNK_LIMIT = 128 * 1024;
+ async function getResolveErrorBodyCallback({ callback, body, contentType, statusCode, statusMessage, headers }) {
+ assert(body);
+ let chunks = [];
+ let length2 = 0;
+ try {
+ for await (const chunk of body) {
+ chunks.push(chunk);
+ length2 += chunk.length;
+ if (length2 > CHUNK_LIMIT) {
+ chunks = [];
+ length2 = 0;
+ break;
+ }
+ }
+ } catch {
+ chunks = [];
+ length2 = 0;
+ }
+ const message = `Response status code ${statusCode}${statusMessage ? `: ${statusMessage}` : ""}`;
+ if (statusCode === 204 || !contentType || !length2) {
+ queueMicrotask(() => callback(new ResponseStatusCodeError(message, statusCode, headers)));
+ return;
+ }
+ const stackTraceLimit = Error.stackTraceLimit;
+ Error.stackTraceLimit = 0;
+ let payload;
+ try {
+ if (isContentTypeApplicationJson(contentType)) {
+ payload = JSON.parse(chunksDecode(chunks, length2));
+ } else if (isContentTypeText(contentType)) {
+ payload = chunksDecode(chunks, length2);
+ }
+ } catch {
+ } finally {
+ Error.stackTraceLimit = stackTraceLimit;
+ }
+ queueMicrotask(() => callback(new ResponseStatusCodeError(message, statusCode, headers, payload)));
+ }
+ var isContentTypeApplicationJson = (contentType) => {
+ return contentType.length > 15 && contentType[11] === "/" && contentType[0] === "a" && contentType[1] === "p" && contentType[2] === "p" && contentType[3] === "l" && contentType[4] === "i" && contentType[5] === "c" && contentType[6] === "a" && contentType[7] === "t" && contentType[8] === "i" && contentType[9] === "o" && contentType[10] === "n" && contentType[12] === "j" && contentType[13] === "s" && contentType[14] === "o" && contentType[15] === "n";
+ };
+ var isContentTypeText = (contentType) => {
+ return contentType.length > 4 && contentType[4] === "/" && contentType[0] === "t" && contentType[1] === "e" && contentType[2] === "x" && contentType[3] === "t";
+ };
+ module.exports = {
+ getResolveErrorBodyCallback,
+ isContentTypeApplicationJson,
+ isContentTypeText
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/api/api-request.js
+var require_api_request = __commonJS({
+ "viewer/node_modules/undici/lib/api/api-request.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { Readable: Readable2 } = require_readable();
+ var { InvalidArgumentError, RequestAbortedError } = require_errors();
+ var util = require_util();
+ var { getResolveErrorBodyCallback } = require_util3();
+ var { AsyncResource } = __require("node:async_hooks");
+ var RequestHandler = class extends AsyncResource {
+ constructor(opts, callback) {
+ if (!opts || typeof opts !== "object") {
+ throw new InvalidArgumentError("invalid opts");
+ }
+ const { signal, method, opaque, body, onInfo, responseHeaders, throwOnError, highWaterMark } = opts;
+ try {
+ if (typeof callback !== "function") {
+ throw new InvalidArgumentError("invalid callback");
+ }
+ if (highWaterMark && (typeof highWaterMark !== "number" || highWaterMark < 0)) {
+ throw new InvalidArgumentError("invalid highWaterMark");
+ }
+ if (signal && typeof signal.on !== "function" && typeof signal.addEventListener !== "function") {
+ throw new InvalidArgumentError("signal must be an EventEmitter or EventTarget");
+ }
+ if (method === "CONNECT") {
+ throw new InvalidArgumentError("invalid method");
+ }
+ if (onInfo && typeof onInfo !== "function") {
+ throw new InvalidArgumentError("invalid onInfo callback");
+ }
+ super("UNDICI_REQUEST");
+ } catch (err) {
+ if (util.isStream(body)) {
+ util.destroy(body.on("error", util.nop), err);
+ }
+ throw err;
+ }
+ this.method = method;
+ this.responseHeaders = responseHeaders || null;
+ this.opaque = opaque || null;
+ this.callback = callback;
+ this.res = null;
+ this.abort = null;
+ this.body = body;
+ this.trailers = {};
+ this.context = null;
+ this.onInfo = onInfo || null;
+ this.throwOnError = throwOnError;
+ this.highWaterMark = highWaterMark;
+ this.signal = signal;
+ this.reason = null;
+ this.removeAbortListener = null;
+ if (util.isStream(body)) {
+ body.on("error", (err) => {
+ this.onError(err);
+ });
+ }
+ if (this.signal) {
+ if (this.signal.aborted) {
+ this.reason = this.signal.reason ?? new RequestAbortedError();
+ } else {
+ this.removeAbortListener = util.addAbortListener(this.signal, () => {
+ this.reason = this.signal.reason ?? new RequestAbortedError();
+ if (this.res) {
+ util.destroy(this.res.on("error", util.nop), this.reason);
+ } else if (this.abort) {
+ this.abort(this.reason);
+ }
+ if (this.removeAbortListener) {
+ this.res?.off("close", this.removeAbortListener);
+ this.removeAbortListener();
+ this.removeAbortListener = null;
+ }
+ });
+ }
+ }
+ }
+ onConnect(abort, context) {
+ if (this.reason) {
+ abort(this.reason);
+ return;
+ }
+ assert(this.callback);
+ this.abort = abort;
+ this.context = context;
+ }
+ onHeaders(statusCode, rawHeaders, resume, statusMessage) {
+ const { callback, opaque, abort, context, responseHeaders, highWaterMark } = this;
+ const headers = responseHeaders === "raw" ? util.parseRawHeaders(rawHeaders) : util.parseHeaders(rawHeaders);
+ if (statusCode < 200) {
+ if (this.onInfo) {
+ this.onInfo({ statusCode, headers });
+ }
+ return;
+ }
+ const parsedHeaders = responseHeaders === "raw" ? util.parseHeaders(rawHeaders) : headers;
+ const contentType = parsedHeaders["content-type"];
+ const contentLength = parsedHeaders["content-length"];
+ const res = new Readable2({
+ resume,
+ abort,
+ contentType,
+ contentLength: this.method !== "HEAD" && contentLength ? Number(contentLength) : null,
+ highWaterMark
+ });
+ if (this.removeAbortListener) {
+ res.on("close", this.removeAbortListener);
+ }
+ this.callback = null;
+ this.res = res;
+ if (callback !== null) {
+ if (this.throwOnError && statusCode >= 400) {
+ this.runInAsyncScope(
+ getResolveErrorBodyCallback,
+ null,
+ { callback, body: res, contentType, statusCode, statusMessage, headers }
+ );
+ } else {
+ this.runInAsyncScope(callback, null, null, {
+ statusCode,
+ headers,
+ trailers: this.trailers,
+ opaque,
+ body: res,
+ context
+ });
+ }
+ }
+ }
+ onData(chunk) {
+ return this.res.push(chunk);
+ }
+ onComplete(trailers) {
+ util.parseHeaders(trailers, this.trailers);
+ this.res.push(null);
+ }
+ onError(err) {
+ const { res, callback, body, opaque } = this;
+ if (callback) {
+ this.callback = null;
+ queueMicrotask(() => {
+ this.runInAsyncScope(callback, null, err, { opaque });
+ });
+ }
+ if (res) {
+ this.res = null;
+ queueMicrotask(() => {
+ util.destroy(res, err);
+ });
+ }
+ if (body) {
+ this.body = null;
+ util.destroy(body, err);
+ }
+ if (this.removeAbortListener) {
+ res?.off("close", this.removeAbortListener);
+ this.removeAbortListener();
+ this.removeAbortListener = null;
+ }
+ }
+ };
+ function request(opts, callback) {
+ if (callback === void 0) {
+ return new Promise((resolve, reject) => {
+ request.call(this, opts, (err, data) => {
+ return err ? reject(err) : resolve(data);
+ });
+ });
+ }
+ try {
+ this.dispatch(opts, new RequestHandler(opts, callback));
+ } catch (err) {
+ if (typeof callback !== "function") {
+ throw err;
+ }
+ const opaque = opts?.opaque;
+ queueMicrotask(() => callback(err, { opaque }));
+ }
+ }
+ module.exports = request;
+ module.exports.RequestHandler = RequestHandler;
+ }
+});
+
+// viewer/node_modules/undici/lib/api/abort-signal.js
+var require_abort_signal = __commonJS({
+ "viewer/node_modules/undici/lib/api/abort-signal.js"(exports, module) {
+ var { addAbortListener } = require_util();
+ var { RequestAbortedError } = require_errors();
+ var kListener = /* @__PURE__ */ Symbol("kListener");
+ var kSignal = /* @__PURE__ */ Symbol("kSignal");
+ function abort(self) {
+ if (self.abort) {
+ self.abort(self[kSignal]?.reason);
+ } else {
+ self.reason = self[kSignal]?.reason ?? new RequestAbortedError();
+ }
+ removeSignal(self);
+ }
+ function addSignal(self, signal) {
+ self.reason = null;
+ self[kSignal] = null;
+ self[kListener] = null;
+ if (!signal) {
+ return;
+ }
+ if (signal.aborted) {
+ abort(self);
+ return;
+ }
+ self[kSignal] = signal;
+ self[kListener] = () => {
+ abort(self);
+ };
+ addAbortListener(self[kSignal], self[kListener]);
+ }
+ function removeSignal(self) {
+ if (!self[kSignal]) {
+ return;
+ }
+ if ("removeEventListener" in self[kSignal]) {
+ self[kSignal].removeEventListener("abort", self[kListener]);
+ } else {
+ self[kSignal].removeListener("abort", self[kListener]);
+ }
+ self[kSignal] = null;
+ self[kListener] = null;
+ }
+ module.exports = {
+ addSignal,
+ removeSignal
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/api/api-stream.js
+var require_api_stream = __commonJS({
+ "viewer/node_modules/undici/lib/api/api-stream.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { finished, PassThrough } = __require("node:stream");
+ var { InvalidArgumentError, InvalidReturnValueError } = require_errors();
+ var util = require_util();
+ var { getResolveErrorBodyCallback } = require_util3();
+ var { AsyncResource } = __require("node:async_hooks");
+ var { addSignal, removeSignal } = require_abort_signal();
+ var StreamHandler = class extends AsyncResource {
+ constructor(opts, factory, callback) {
+ if (!opts || typeof opts !== "object") {
+ throw new InvalidArgumentError("invalid opts");
+ }
+ const { signal, method, opaque, body, onInfo, responseHeaders, throwOnError } = opts;
+ try {
+ if (typeof callback !== "function") {
+ throw new InvalidArgumentError("invalid callback");
+ }
+ if (typeof factory !== "function") {
+ throw new InvalidArgumentError("invalid factory");
+ }
+ if (signal && typeof signal.on !== "function" && typeof signal.addEventListener !== "function") {
+ throw new InvalidArgumentError("signal must be an EventEmitter or EventTarget");
+ }
+ if (method === "CONNECT") {
+ throw new InvalidArgumentError("invalid method");
+ }
+ if (onInfo && typeof onInfo !== "function") {
+ throw new InvalidArgumentError("invalid onInfo callback");
+ }
+ super("UNDICI_STREAM");
+ } catch (err) {
+ if (util.isStream(body)) {
+ util.destroy(body.on("error", util.nop), err);
+ }
+ throw err;
+ }
+ this.responseHeaders = responseHeaders || null;
+ this.opaque = opaque || null;
+ this.factory = factory;
+ this.callback = callback;
+ this.res = null;
+ this.abort = null;
+ this.context = null;
+ this.trailers = null;
+ this.body = body;
+ this.onInfo = onInfo || null;
+ this.throwOnError = throwOnError || false;
+ if (util.isStream(body)) {
+ body.on("error", (err) => {
+ this.onError(err);
+ });
+ }
+ addSignal(this, signal);
+ }
+ onConnect(abort, context) {
+ if (this.reason) {
+ abort(this.reason);
+ return;
+ }
+ assert(this.callback);
+ this.abort = abort;
+ this.context = context;
+ }
+ onHeaders(statusCode, rawHeaders, resume, statusMessage) {
+ const { factory, opaque, context, callback, responseHeaders } = this;
+ const headers = responseHeaders === "raw" ? util.parseRawHeaders(rawHeaders) : util.parseHeaders(rawHeaders);
+ if (statusCode < 200) {
+ if (this.onInfo) {
+ this.onInfo({ statusCode, headers });
+ }
+ return;
+ }
+ this.factory = null;
+ let res;
+ if (this.throwOnError && statusCode >= 400) {
+ const parsedHeaders = responseHeaders === "raw" ? util.parseHeaders(rawHeaders) : headers;
+ const contentType = parsedHeaders["content-type"];
+ res = new PassThrough();
+ this.callback = null;
+ this.runInAsyncScope(
+ getResolveErrorBodyCallback,
+ null,
+ { callback, body: res, contentType, statusCode, statusMessage, headers }
+ );
+ } else {
+ if (factory === null) {
+ return;
+ }
+ res = this.runInAsyncScope(factory, null, {
+ statusCode,
+ headers,
+ opaque,
+ context
+ });
+ if (!res || typeof res.write !== "function" || typeof res.end !== "function" || typeof res.on !== "function") {
+ throw new InvalidReturnValueError("expected Writable");
+ }
+ finished(res, { readable: false }, (err) => {
+ const { callback: callback2, res: res2, opaque: opaque2, trailers, abort } = this;
+ this.res = null;
+ if (err || !res2.readable) {
+ util.destroy(res2, err);
+ }
+ this.callback = null;
+ this.runInAsyncScope(callback2, null, err || null, { opaque: opaque2, trailers });
+ if (err) {
+ abort();
+ }
+ });
+ }
+ res.on("drain", resume);
+ this.res = res;
+ const needDrain = res.writableNeedDrain !== void 0 ? res.writableNeedDrain : res._writableState?.needDrain;
+ return needDrain !== true;
+ }
+ onData(chunk) {
+ const { res } = this;
+ return res ? res.write(chunk) : true;
+ }
+ onComplete(trailers) {
+ const { res } = this;
+ removeSignal(this);
+ if (!res) {
+ return;
+ }
+ this.trailers = util.parseHeaders(trailers);
+ res.end();
+ }
+ onError(err) {
+ const { res, callback, opaque, body } = this;
+ removeSignal(this);
+ this.factory = null;
+ if (res) {
+ this.res = null;
+ util.destroy(res, err);
+ } else if (callback) {
+ this.callback = null;
+ queueMicrotask(() => {
+ this.runInAsyncScope(callback, null, err, { opaque });
+ });
+ }
+ if (body) {
+ this.body = null;
+ util.destroy(body, err);
+ }
+ }
+ };
+ function stream(opts, factory, callback) {
+ if (callback === void 0) {
+ return new Promise((resolve, reject) => {
+ stream.call(this, opts, factory, (err, data) => {
+ return err ? reject(err) : resolve(data);
+ });
+ });
+ }
+ try {
+ this.dispatch(opts, new StreamHandler(opts, factory, callback));
+ } catch (err) {
+ if (typeof callback !== "function") {
+ throw err;
+ }
+ const opaque = opts?.opaque;
+ queueMicrotask(() => callback(err, { opaque }));
+ }
+ }
+ module.exports = stream;
+ }
+});
+
+// viewer/node_modules/undici/lib/api/api-pipeline.js
+var require_api_pipeline = __commonJS({
+ "viewer/node_modules/undici/lib/api/api-pipeline.js"(exports, module) {
+ "use strict";
+ var {
+ Readable: Readable2,
+ Duplex,
+ PassThrough
+ } = __require("node:stream");
+ var {
+ InvalidArgumentError,
+ InvalidReturnValueError,
+ RequestAbortedError
+ } = require_errors();
+ var util = require_util();
+ var { AsyncResource } = __require("node:async_hooks");
+ var { addSignal, removeSignal } = require_abort_signal();
+ var assert = __require("node:assert");
+ var kResume = /* @__PURE__ */ Symbol("resume");
+ var PipelineRequest = class extends Readable2 {
+ constructor() {
+ super({ autoDestroy: true });
+ this[kResume] = null;
+ }
+ _read() {
+ const { [kResume]: resume } = this;
+ if (resume) {
+ this[kResume] = null;
+ resume();
+ }
+ }
+ _destroy(err, callback) {
+ this._read();
+ callback(err);
+ }
+ };
+ var PipelineResponse = class extends Readable2 {
+ constructor(resume) {
+ super({ autoDestroy: true });
+ this[kResume] = resume;
+ }
+ _read() {
+ this[kResume]();
+ }
+ _destroy(err, callback) {
+ if (!err && !this._readableState.endEmitted) {
+ err = new RequestAbortedError();
+ }
+ callback(err);
+ }
+ };
+ var PipelineHandler = class extends AsyncResource {
+ constructor(opts, handler) {
+ if (!opts || typeof opts !== "object") {
+ throw new InvalidArgumentError("invalid opts");
+ }
+ if (typeof handler !== "function") {
+ throw new InvalidArgumentError("invalid handler");
+ }
+ const { signal, method, opaque, onInfo, responseHeaders } = opts;
+ if (signal && typeof signal.on !== "function" && typeof signal.addEventListener !== "function") {
+ throw new InvalidArgumentError("signal must be an EventEmitter or EventTarget");
+ }
+ if (method === "CONNECT") {
+ throw new InvalidArgumentError("invalid method");
+ }
+ if (onInfo && typeof onInfo !== "function") {
+ throw new InvalidArgumentError("invalid onInfo callback");
+ }
+ super("UNDICI_PIPELINE");
+ this.opaque = opaque || null;
+ this.responseHeaders = responseHeaders || null;
+ this.handler = handler;
+ this.abort = null;
+ this.context = null;
+ this.onInfo = onInfo || null;
+ this.req = new PipelineRequest().on("error", util.nop);
+ this.ret = new Duplex({
+ readableObjectMode: opts.objectMode,
+ autoDestroy: true,
+ read: () => {
+ const { body } = this;
+ if (body?.resume) {
+ body.resume();
+ }
+ },
+ write: (chunk, encoding, callback) => {
+ const { req } = this;
+ if (req.push(chunk, encoding) || req._readableState.destroyed) {
+ callback();
+ } else {
+ req[kResume] = callback;
+ }
+ },
+ destroy: (err, callback) => {
+ const { body, req, res, ret, abort } = this;
+ if (!err && !ret._readableState.endEmitted) {
+ err = new RequestAbortedError();
+ }
+ if (abort && err) {
+ abort();
+ }
+ util.destroy(body, err);
+ util.destroy(req, err);
+ util.destroy(res, err);
+ removeSignal(this);
+ callback(err);
+ }
+ }).on("prefinish", () => {
+ const { req } = this;
+ req.push(null);
+ });
+ this.res = null;
+ addSignal(this, signal);
+ }
+ onConnect(abort, context) {
+ const { ret, res } = this;
+ if (this.reason) {
+ abort(this.reason);
+ return;
+ }
+ assert(!res, "pipeline cannot be retried");
+ assert(!ret.destroyed);
+ this.abort = abort;
+ this.context = context;
+ }
+ onHeaders(statusCode, rawHeaders, resume) {
+ const { opaque, handler, context } = this;
+ if (statusCode < 200) {
+ if (this.onInfo) {
+ const headers = this.responseHeaders === "raw" ? util.parseRawHeaders(rawHeaders) : util.parseHeaders(rawHeaders);
+ this.onInfo({ statusCode, headers });
+ }
+ return;
+ }
+ this.res = new PipelineResponse(resume);
+ let body;
+ try {
+ this.handler = null;
+ const headers = this.responseHeaders === "raw" ? util.parseRawHeaders(rawHeaders) : util.parseHeaders(rawHeaders);
+ body = this.runInAsyncScope(handler, null, {
+ statusCode,
+ headers,
+ opaque,
+ body: this.res,
+ context
+ });
+ } catch (err) {
+ this.res.on("error", util.nop);
+ throw err;
+ }
+ if (!body || typeof body.on !== "function") {
+ throw new InvalidReturnValueError("expected Readable");
+ }
+ body.on("data", (chunk) => {
+ const { ret, body: body2 } = this;
+ if (!ret.push(chunk) && body2.pause) {
+ body2.pause();
+ }
+ }).on("error", (err) => {
+ const { ret } = this;
+ util.destroy(ret, err);
+ }).on("end", () => {
+ const { ret } = this;
+ ret.push(null);
+ }).on("close", () => {
+ const { ret } = this;
+ if (!ret._readableState.ended) {
+ util.destroy(ret, new RequestAbortedError());
+ }
+ });
+ this.body = body;
+ }
+ onData(chunk) {
+ const { res } = this;
+ return res.push(chunk);
+ }
+ onComplete(trailers) {
+ const { res } = this;
+ res.push(null);
+ }
+ onError(err) {
+ const { ret } = this;
+ this.handler = null;
+ util.destroy(ret, err);
+ }
+ };
+ function pipeline(opts, handler) {
+ try {
+ const pipelineHandler = new PipelineHandler(opts, handler);
+ this.dispatch({ ...opts, body: pipelineHandler.req }, pipelineHandler);
+ return pipelineHandler.ret;
+ } catch (err) {
+ return new PassThrough().destroy(err);
+ }
+ }
+ module.exports = pipeline;
+ }
+});
+
+// viewer/node_modules/undici/lib/api/api-upgrade.js
+var require_api_upgrade = __commonJS({
+ "viewer/node_modules/undici/lib/api/api-upgrade.js"(exports, module) {
+ "use strict";
+ var { InvalidArgumentError, SocketError } = require_errors();
+ var { AsyncResource } = __require("node:async_hooks");
+ var util = require_util();
+ var { addSignal, removeSignal } = require_abort_signal();
+ var assert = __require("node:assert");
+ var UpgradeHandler = class extends AsyncResource {
+ constructor(opts, callback) {
+ if (!opts || typeof opts !== "object") {
+ throw new InvalidArgumentError("invalid opts");
+ }
+ if (typeof callback !== "function") {
+ throw new InvalidArgumentError("invalid callback");
+ }
+ const { signal, opaque, responseHeaders } = opts;
+ if (signal && typeof signal.on !== "function" && typeof signal.addEventListener !== "function") {
+ throw new InvalidArgumentError("signal must be an EventEmitter or EventTarget");
+ }
+ super("UNDICI_UPGRADE");
+ this.responseHeaders = responseHeaders || null;
+ this.opaque = opaque || null;
+ this.callback = callback;
+ this.abort = null;
+ this.context = null;
+ addSignal(this, signal);
+ }
+ onConnect(abort, context) {
+ if (this.reason) {
+ abort(this.reason);
+ return;
+ }
+ assert(this.callback);
+ this.abort = abort;
+ this.context = null;
+ }
+ onHeaders() {
+ throw new SocketError("bad upgrade", null);
+ }
+ onUpgrade(statusCode, rawHeaders, socket) {
+ assert(statusCode === 101);
+ const { callback, opaque, context } = this;
+ removeSignal(this);
+ this.callback = null;
+ const headers = this.responseHeaders === "raw" ? util.parseRawHeaders(rawHeaders) : util.parseHeaders(rawHeaders);
+ this.runInAsyncScope(callback, null, null, {
+ headers,
+ socket,
+ opaque,
+ context
+ });
+ }
+ onError(err) {
+ const { callback, opaque } = this;
+ removeSignal(this);
+ if (callback) {
+ this.callback = null;
+ queueMicrotask(() => {
+ this.runInAsyncScope(callback, null, err, { opaque });
+ });
+ }
+ }
+ };
+ function upgrade(opts, callback) {
+ if (callback === void 0) {
+ return new Promise((resolve, reject) => {
+ upgrade.call(this, opts, (err, data) => {
+ return err ? reject(err) : resolve(data);
+ });
+ });
+ }
+ try {
+ const upgradeHandler = new UpgradeHandler(opts, callback);
+ this.dispatch({
+ ...opts,
+ method: opts.method || "GET",
+ upgrade: opts.protocol || "Websocket"
+ }, upgradeHandler);
+ } catch (err) {
+ if (typeof callback !== "function") {
+ throw err;
+ }
+ const opaque = opts?.opaque;
+ queueMicrotask(() => callback(err, { opaque }));
+ }
+ }
+ module.exports = upgrade;
+ }
+});
+
+// viewer/node_modules/undici/lib/api/api-connect.js
+var require_api_connect = __commonJS({
+ "viewer/node_modules/undici/lib/api/api-connect.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { AsyncResource } = __require("node:async_hooks");
+ var { InvalidArgumentError, SocketError } = require_errors();
+ var util = require_util();
+ var { addSignal, removeSignal } = require_abort_signal();
+ var ConnectHandler = class extends AsyncResource {
+ constructor(opts, callback) {
+ if (!opts || typeof opts !== "object") {
+ throw new InvalidArgumentError("invalid opts");
+ }
+ if (typeof callback !== "function") {
+ throw new InvalidArgumentError("invalid callback");
+ }
+ const { signal, opaque, responseHeaders } = opts;
+ if (signal && typeof signal.on !== "function" && typeof signal.addEventListener !== "function") {
+ throw new InvalidArgumentError("signal must be an EventEmitter or EventTarget");
+ }
+ super("UNDICI_CONNECT");
+ this.opaque = opaque || null;
+ this.responseHeaders = responseHeaders || null;
+ this.callback = callback;
+ this.abort = null;
+ addSignal(this, signal);
+ }
+ onConnect(abort, context) {
+ if (this.reason) {
+ abort(this.reason);
+ return;
+ }
+ assert(this.callback);
+ this.abort = abort;
+ this.context = context;
+ }
+ onHeaders() {
+ throw new SocketError("bad connect", null);
+ }
+ onUpgrade(statusCode, rawHeaders, socket) {
+ const { callback, opaque, context } = this;
+ removeSignal(this);
+ this.callback = null;
+ let headers = rawHeaders;
+ if (headers != null) {
+ headers = this.responseHeaders === "raw" ? util.parseRawHeaders(rawHeaders) : util.parseHeaders(rawHeaders);
+ }
+ this.runInAsyncScope(callback, null, null, {
+ statusCode,
+ headers,
+ socket,
+ opaque,
+ context
+ });
+ }
+ onError(err) {
+ const { callback, opaque } = this;
+ removeSignal(this);
+ if (callback) {
+ this.callback = null;
+ queueMicrotask(() => {
+ this.runInAsyncScope(callback, null, err, { opaque });
+ });
+ }
+ }
+ };
+ function connect(opts, callback) {
+ if (callback === void 0) {
+ return new Promise((resolve, reject) => {
+ connect.call(this, opts, (err, data) => {
+ return err ? reject(err) : resolve(data);
+ });
+ });
+ }
+ try {
+ const connectHandler = new ConnectHandler(opts, callback);
+ this.dispatch({ ...opts, method: "CONNECT" }, connectHandler);
+ } catch (err) {
+ if (typeof callback !== "function") {
+ throw err;
+ }
+ const opaque = opts?.opaque;
+ queueMicrotask(() => callback(err, { opaque }));
+ }
+ }
+ module.exports = connect;
+ }
+});
+
+// viewer/node_modules/undici/lib/api/index.js
+var require_api = __commonJS({
+ "viewer/node_modules/undici/lib/api/index.js"(exports, module) {
+ "use strict";
+ module.exports.request = require_api_request();
+ module.exports.stream = require_api_stream();
+ module.exports.pipeline = require_api_pipeline();
+ module.exports.upgrade = require_api_upgrade();
+ module.exports.connect = require_api_connect();
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-errors.js
+var require_mock_errors = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-errors.js"(exports, module) {
+ "use strict";
+ var { UndiciError } = require_errors();
+ var kMockNotMatchedError = /* @__PURE__ */ Symbol.for("undici.error.UND_MOCK_ERR_MOCK_NOT_MATCHED");
+ var MockNotMatchedError = class _MockNotMatchedError extends UndiciError {
+ constructor(message) {
+ super(message);
+ Error.captureStackTrace(this, _MockNotMatchedError);
+ this.name = "MockNotMatchedError";
+ this.message = message || "The request does not match any registered mock dispatches";
+ this.code = "UND_MOCK_ERR_MOCK_NOT_MATCHED";
+ }
+ static [Symbol.hasInstance](instance) {
+ return instance && instance[kMockNotMatchedError] === true;
+ }
+ [kMockNotMatchedError] = true;
+ };
+ module.exports = {
+ MockNotMatchedError
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-symbols.js
+var require_mock_symbols = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-symbols.js"(exports, module) {
+ "use strict";
+ module.exports = {
+ kAgent: /* @__PURE__ */ Symbol("agent"),
+ kOptions: /* @__PURE__ */ Symbol("options"),
+ kFactory: /* @__PURE__ */ Symbol("factory"),
+ kDispatches: /* @__PURE__ */ Symbol("dispatches"),
+ kDispatchKey: /* @__PURE__ */ Symbol("dispatch key"),
+ kDefaultHeaders: /* @__PURE__ */ Symbol("default headers"),
+ kDefaultTrailers: /* @__PURE__ */ Symbol("default trailers"),
+ kContentLength: /* @__PURE__ */ Symbol("content length"),
+ kMockAgent: /* @__PURE__ */ Symbol("mock agent"),
+ kMockAgentSet: /* @__PURE__ */ Symbol("mock agent set"),
+ kMockAgentGet: /* @__PURE__ */ Symbol("mock agent get"),
+ kMockDispatch: /* @__PURE__ */ Symbol("mock dispatch"),
+ kClose: /* @__PURE__ */ Symbol("close"),
+ kOriginalClose: /* @__PURE__ */ Symbol("original agent close"),
+ kOrigin: /* @__PURE__ */ Symbol("origin"),
+ kIsMockActive: /* @__PURE__ */ Symbol("is mock active"),
+ kNetConnect: /* @__PURE__ */ Symbol("net connect"),
+ kGetNetConnect: /* @__PURE__ */ Symbol("get net connect"),
+ kConnected: /* @__PURE__ */ Symbol("connected")
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-utils.js
+var require_mock_utils = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-utils.js"(exports, module) {
+ "use strict";
+ var { MockNotMatchedError } = require_mock_errors();
+ var {
+ kDispatches,
+ kMockAgent,
+ kOriginalDispatch,
+ kOrigin,
+ kGetNetConnect
+ } = require_mock_symbols();
+ var { buildURL } = require_util();
+ var { STATUS_CODES } = __require("node:http");
+ var {
+ types: {
+ isPromise
+ }
+ } = __require("node:util");
+ function matchValue(match, value) {
+ if (typeof match === "string") {
+ return match === value;
+ }
+ if (match instanceof RegExp) {
+ return match.test(value);
+ }
+ if (typeof match === "function") {
+ return match(value) === true;
+ }
+ return false;
+ }
+ function lowerCaseEntries(headers) {
+ return Object.fromEntries(
+ Object.entries(headers).map(([headerName, headerValue]) => {
+ return [headerName.toLocaleLowerCase(), headerValue];
+ })
+ );
+ }
+ function getHeaderByName(headers, key) {
+ if (Array.isArray(headers)) {
+ for (let i = 0; i < headers.length; i += 2) {
+ if (headers[i].toLocaleLowerCase() === key.toLocaleLowerCase()) {
+ return headers[i + 1];
+ }
+ }
+ return void 0;
+ } else if (typeof headers.get === "function") {
+ return headers.get(key);
+ } else {
+ return lowerCaseEntries(headers)[key.toLocaleLowerCase()];
+ }
+ }
+ function buildHeadersFromArray(headers) {
+ const clone = headers.slice();
+ const entries = [];
+ for (let index = 0; index < clone.length; index += 2) {
+ entries.push([clone[index], clone[index + 1]]);
+ }
+ return Object.fromEntries(entries);
+ }
+ function matchHeaders(mockDispatch2, headers) {
+ if (typeof mockDispatch2.headers === "function") {
+ if (Array.isArray(headers)) {
+ headers = buildHeadersFromArray(headers);
+ }
+ return mockDispatch2.headers(headers ? lowerCaseEntries(headers) : {});
+ }
+ if (typeof mockDispatch2.headers === "undefined") {
+ return true;
+ }
+ if (typeof headers !== "object" || typeof mockDispatch2.headers !== "object") {
+ return false;
+ }
+ for (const [matchHeaderName, matchHeaderValue] of Object.entries(mockDispatch2.headers)) {
+ const headerValue = getHeaderByName(headers, matchHeaderName);
+ if (!matchValue(matchHeaderValue, headerValue)) {
+ return false;
+ }
+ }
+ return true;
+ }
+ function safeUrl(path14) {
+ if (typeof path14 !== "string") {
+ return path14;
+ }
+ const pathSegments = path14.split("?");
+ if (pathSegments.length !== 2) {
+ return path14;
+ }
+ const qp = new URLSearchParams(pathSegments.pop());
+ qp.sort();
+ return [...pathSegments, qp.toString()].join("?");
+ }
+ function matchKey(mockDispatch2, { path: path14, method, body, headers }) {
+ const pathMatch = matchValue(mockDispatch2.path, path14);
+ const methodMatch = matchValue(mockDispatch2.method, method);
+ const bodyMatch = typeof mockDispatch2.body !== "undefined" ? matchValue(mockDispatch2.body, body) : true;
+ const headersMatch = matchHeaders(mockDispatch2, headers);
+ return pathMatch && methodMatch && bodyMatch && headersMatch;
+ }
+ function getResponseData(data) {
+ if (Buffer.isBuffer(data)) {
+ return data;
+ } else if (data instanceof Uint8Array) {
+ return data;
+ } else if (data instanceof ArrayBuffer) {
+ return data;
+ } else if (typeof data === "object") {
+ return JSON.stringify(data);
+ } else {
+ return data.toString();
+ }
+ }
+ function getMockDispatch(mockDispatches, key) {
+ const basePath = key.query ? buildURL(key.path, key.query) : key.path;
+ const resolvedPath = typeof basePath === "string" ? safeUrl(basePath) : basePath;
+ let matchedMockDispatches = mockDispatches.filter(({ consumed }) => !consumed).filter(({ path: path14 }) => matchValue(safeUrl(path14), resolvedPath));
+ if (matchedMockDispatches.length === 0) {
+ throw new MockNotMatchedError(`Mock dispatch not matched for path '${resolvedPath}'`);
+ }
+ matchedMockDispatches = matchedMockDispatches.filter(({ method }) => matchValue(method, key.method));
+ if (matchedMockDispatches.length === 0) {
+ throw new MockNotMatchedError(`Mock dispatch not matched for method '${key.method}' on path '${resolvedPath}'`);
+ }
+ matchedMockDispatches = matchedMockDispatches.filter(({ body }) => typeof body !== "undefined" ? matchValue(body, key.body) : true);
+ if (matchedMockDispatches.length === 0) {
+ throw new MockNotMatchedError(`Mock dispatch not matched for body '${key.body}' on path '${resolvedPath}'`);
+ }
+ matchedMockDispatches = matchedMockDispatches.filter((mockDispatch2) => matchHeaders(mockDispatch2, key.headers));
+ if (matchedMockDispatches.length === 0) {
+ const headers = typeof key.headers === "object" ? JSON.stringify(key.headers) : key.headers;
+ throw new MockNotMatchedError(`Mock dispatch not matched for headers '${headers}' on path '${resolvedPath}'`);
+ }
+ return matchedMockDispatches[0];
+ }
+ function addMockDispatch(mockDispatches, key, data) {
+ const baseData = { timesInvoked: 0, times: 1, persist: false, consumed: false };
+ const replyData = typeof data === "function" ? { callback: data } : { ...data };
+ const newMockDispatch = { ...baseData, ...key, pending: true, data: { error: null, ...replyData } };
+ mockDispatches.push(newMockDispatch);
+ return newMockDispatch;
+ }
+ function deleteMockDispatch(mockDispatches, key) {
+ const index = mockDispatches.findIndex((dispatch) => {
+ if (!dispatch.consumed) {
+ return false;
+ }
+ return matchKey(dispatch, key);
+ });
+ if (index !== -1) {
+ mockDispatches.splice(index, 1);
+ }
+ }
+ function buildKey(opts) {
+ const { path: path14, method, body, headers, query } = opts;
+ return {
+ path: path14,
+ method,
+ body,
+ headers,
+ query
+ };
+ }
+ function generateKeyValues(data) {
+ const keys = Object.keys(data);
+ const result = [];
+ for (let i = 0; i < keys.length; ++i) {
+ const key = keys[i];
+ const value = data[key];
+ const name = Buffer.from(`${key}`);
+ if (Array.isArray(value)) {
+ for (let j = 0; j < value.length; ++j) {
+ result.push(name, Buffer.from(`${value[j]}`));
+ }
+ } else {
+ result.push(name, Buffer.from(`${value}`));
+ }
+ }
+ return result;
+ }
+ function getStatusText(statusCode) {
+ return STATUS_CODES[statusCode] || "unknown";
+ }
+ async function getResponse(body) {
+ const buffers = [];
+ for await (const data of body) {
+ buffers.push(data);
+ }
+ return Buffer.concat(buffers).toString("utf8");
+ }
+ function mockDispatch(opts, handler) {
+ const key = buildKey(opts);
+ const mockDispatch2 = getMockDispatch(this[kDispatches], key);
+ mockDispatch2.timesInvoked++;
+ if (mockDispatch2.data.callback) {
+ mockDispatch2.data = { ...mockDispatch2.data, ...mockDispatch2.data.callback(opts) };
+ }
+ const { data: { statusCode, data, headers, trailers, error }, delay, persist } = mockDispatch2;
+ const { timesInvoked, times } = mockDispatch2;
+ mockDispatch2.consumed = !persist && timesInvoked >= times;
+ mockDispatch2.pending = timesInvoked < times;
+ if (error !== null) {
+ deleteMockDispatch(this[kDispatches], key);
+ handler.onError(error);
+ return true;
+ }
+ if (typeof delay === "number" && delay > 0) {
+ setTimeout(() => {
+ handleReply(this[kDispatches]);
+ }, delay);
+ } else {
+ handleReply(this[kDispatches]);
+ }
+ function handleReply(mockDispatches, _data = data) {
+ const optsHeaders = Array.isArray(opts.headers) ? buildHeadersFromArray(opts.headers) : opts.headers;
+ const body = typeof _data === "function" ? _data({ ...opts, headers: optsHeaders }) : _data;
+ if (isPromise(body)) {
+ body.then((newData) => handleReply(mockDispatches, newData));
+ return;
+ }
+ const responseData = getResponseData(body);
+ const responseHeaders = generateKeyValues(headers);
+ const responseTrailers = generateKeyValues(trailers);
+ handler.onConnect?.((err) => handler.onError(err), null);
+ handler.onHeaders?.(statusCode, responseHeaders, resume, getStatusText(statusCode));
+ handler.onData?.(Buffer.from(responseData));
+ handler.onComplete?.(responseTrailers);
+ deleteMockDispatch(mockDispatches, key);
+ }
+ function resume() {
+ }
+ return true;
+ }
+ function buildMockDispatch() {
+ const agent = this[kMockAgent];
+ const origin = this[kOrigin];
+ const originalDispatch = this[kOriginalDispatch];
+ return function dispatch(opts, handler) {
+ if (agent.isMockActive) {
+ try {
+ mockDispatch.call(this, opts, handler);
+ } catch (error) {
+ if (error instanceof MockNotMatchedError) {
+ const netConnect = agent[kGetNetConnect]();
+ if (netConnect === false) {
+ throw new MockNotMatchedError(`${error.message}: subsequent request to origin ${origin} was not allowed (net.connect disabled)`);
+ }
+ if (checkNetConnect(netConnect, origin)) {
+ originalDispatch.call(this, opts, handler);
+ } else {
+ throw new MockNotMatchedError(`${error.message}: subsequent request to origin ${origin} was not allowed (net.connect is not enabled for this origin)`);
+ }
+ } else {
+ throw error;
+ }
+ }
+ } else {
+ originalDispatch.call(this, opts, handler);
+ }
+ };
+ }
+ function checkNetConnect(netConnect, origin) {
+ const url = new URL(origin);
+ if (netConnect === true) {
+ return true;
+ } else if (Array.isArray(netConnect) && netConnect.some((matcher) => matchValue(matcher, url.host))) {
+ return true;
+ }
+ return false;
+ }
+ function buildMockOptions(opts) {
+ if (opts) {
+ const { agent, ...mockOptions } = opts;
+ return mockOptions;
+ }
+ }
+ module.exports = {
+ getResponseData,
+ getMockDispatch,
+ addMockDispatch,
+ deleteMockDispatch,
+ buildKey,
+ generateKeyValues,
+ matchValue,
+ getResponse,
+ getStatusText,
+ mockDispatch,
+ buildMockDispatch,
+ checkNetConnect,
+ buildMockOptions,
+ getHeaderByName,
+ buildHeadersFromArray
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-interceptor.js
+var require_mock_interceptor = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-interceptor.js"(exports, module) {
+ "use strict";
+ var { getResponseData, buildKey, addMockDispatch } = require_mock_utils();
+ var {
+ kDispatches,
+ kDispatchKey,
+ kDefaultHeaders,
+ kDefaultTrailers,
+ kContentLength,
+ kMockDispatch
+ } = require_mock_symbols();
+ var { InvalidArgumentError } = require_errors();
+ var { buildURL } = require_util();
+ var MockScope = class {
+ constructor(mockDispatch) {
+ this[kMockDispatch] = mockDispatch;
+ }
+ /**
+ * Delay a reply by a set amount in ms.
+ */
+ delay(waitInMs) {
+ if (typeof waitInMs !== "number" || !Number.isInteger(waitInMs) || waitInMs <= 0) {
+ throw new InvalidArgumentError("waitInMs must be a valid integer > 0");
+ }
+ this[kMockDispatch].delay = waitInMs;
+ return this;
+ }
+ /**
+ * For a defined reply, never mark as consumed.
+ */
+ persist() {
+ this[kMockDispatch].persist = true;
+ return this;
+ }
+ /**
+ * Allow one to define a reply for a set amount of matching requests.
+ */
+ times(repeatTimes) {
+ if (typeof repeatTimes !== "number" || !Number.isInteger(repeatTimes) || repeatTimes <= 0) {
+ throw new InvalidArgumentError("repeatTimes must be a valid integer > 0");
+ }
+ this[kMockDispatch].times = repeatTimes;
+ return this;
+ }
+ };
+ var MockInterceptor = class {
+ constructor(opts, mockDispatches) {
+ if (typeof opts !== "object") {
+ throw new InvalidArgumentError("opts must be an object");
+ }
+ if (typeof opts.path === "undefined") {
+ throw new InvalidArgumentError("opts.path must be defined");
+ }
+ if (typeof opts.method === "undefined") {
+ opts.method = "GET";
+ }
+ if (typeof opts.path === "string") {
+ if (opts.query) {
+ opts.path = buildURL(opts.path, opts.query);
+ } else {
+ const parsedURL = new URL(opts.path, "data://");
+ opts.path = parsedURL.pathname + parsedURL.search;
+ }
+ }
+ if (typeof opts.method === "string") {
+ opts.method = opts.method.toUpperCase();
+ }
+ this[kDispatchKey] = buildKey(opts);
+ this[kDispatches] = mockDispatches;
+ this[kDefaultHeaders] = {};
+ this[kDefaultTrailers] = {};
+ this[kContentLength] = false;
+ }
+ createMockScopeDispatchData({ statusCode, data, responseOptions }) {
+ const responseData = getResponseData(data);
+ const contentLength = this[kContentLength] ? { "content-length": responseData.length } : {};
+ const headers = { ...this[kDefaultHeaders], ...contentLength, ...responseOptions.headers };
+ const trailers = { ...this[kDefaultTrailers], ...responseOptions.trailers };
+ return { statusCode, data, headers, trailers };
+ }
+ validateReplyParameters(replyParameters) {
+ if (typeof replyParameters.statusCode === "undefined") {
+ throw new InvalidArgumentError("statusCode must be defined");
+ }
+ if (typeof replyParameters.responseOptions !== "object" || replyParameters.responseOptions === null) {
+ throw new InvalidArgumentError("responseOptions must be an object");
+ }
+ }
+ /**
+ * Mock an undici request with a defined reply.
+ */
+ reply(replyOptionsCallbackOrStatusCode) {
+ if (typeof replyOptionsCallbackOrStatusCode === "function") {
+ const wrappedDefaultsCallback = (opts) => {
+ const resolvedData = replyOptionsCallbackOrStatusCode(opts);
+ if (typeof resolvedData !== "object" || resolvedData === null) {
+ throw new InvalidArgumentError("reply options callback must return an object");
+ }
+ const replyParameters2 = { data: "", responseOptions: {}, ...resolvedData };
+ this.validateReplyParameters(replyParameters2);
+ return {
+ ...this.createMockScopeDispatchData(replyParameters2)
+ };
+ };
+ const newMockDispatch2 = addMockDispatch(this[kDispatches], this[kDispatchKey], wrappedDefaultsCallback);
+ return new MockScope(newMockDispatch2);
+ }
+ const replyParameters = {
+ statusCode: replyOptionsCallbackOrStatusCode,
+ data: arguments[1] === void 0 ? "" : arguments[1],
+ responseOptions: arguments[2] === void 0 ? {} : arguments[2]
+ };
+ this.validateReplyParameters(replyParameters);
+ const dispatchData = this.createMockScopeDispatchData(replyParameters);
+ const newMockDispatch = addMockDispatch(this[kDispatches], this[kDispatchKey], dispatchData);
+ return new MockScope(newMockDispatch);
+ }
+ /**
+ * Mock an undici request with a defined error.
+ */
+ replyWithError(error) {
+ if (typeof error === "undefined") {
+ throw new InvalidArgumentError("error must be defined");
+ }
+ const newMockDispatch = addMockDispatch(this[kDispatches], this[kDispatchKey], { error });
+ return new MockScope(newMockDispatch);
+ }
+ /**
+ * Set default reply headers on the interceptor for subsequent replies
+ */
+ defaultReplyHeaders(headers) {
+ if (typeof headers === "undefined") {
+ throw new InvalidArgumentError("headers must be defined");
+ }
+ this[kDefaultHeaders] = headers;
+ return this;
+ }
+ /**
+ * Set default reply trailers on the interceptor for subsequent replies
+ */
+ defaultReplyTrailers(trailers) {
+ if (typeof trailers === "undefined") {
+ throw new InvalidArgumentError("trailers must be defined");
+ }
+ this[kDefaultTrailers] = trailers;
+ return this;
+ }
+ /**
+ * Set reply content length header for replies on the interceptor
+ */
+ replyContentLength() {
+ this[kContentLength] = true;
+ return this;
+ }
+ };
+ module.exports.MockInterceptor = MockInterceptor;
+ module.exports.MockScope = MockScope;
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-client.js
+var require_mock_client = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-client.js"(exports, module) {
+ "use strict";
+ var { promisify } = __require("node:util");
+ var Client = require_client();
+ var { buildMockDispatch } = require_mock_utils();
+ var {
+ kDispatches,
+ kMockAgent,
+ kClose,
+ kOriginalClose,
+ kOrigin,
+ kOriginalDispatch,
+ kConnected
+ } = require_mock_symbols();
+ var { MockInterceptor } = require_mock_interceptor();
+ var Symbols = require_symbols();
+ var { InvalidArgumentError } = require_errors();
+ var MockClient = class extends Client {
+ constructor(origin, opts) {
+ super(origin, opts);
+ if (!opts || !opts.agent || typeof opts.agent.dispatch !== "function") {
+ throw new InvalidArgumentError("Argument opts.agent must implement Agent");
+ }
+ this[kMockAgent] = opts.agent;
+ this[kOrigin] = origin;
+ this[kDispatches] = [];
+ this[kConnected] = 1;
+ this[kOriginalDispatch] = this.dispatch;
+ this[kOriginalClose] = this.close.bind(this);
+ this.dispatch = buildMockDispatch.call(this);
+ this.close = this[kClose];
+ }
+ get [Symbols.kConnected]() {
+ return this[kConnected];
+ }
+ /**
+ * Sets up the base interceptor for mocking replies from undici.
+ */
+ intercept(opts) {
+ return new MockInterceptor(opts, this[kDispatches]);
+ }
+ async [kClose]() {
+ await promisify(this[kOriginalClose])();
+ this[kConnected] = 0;
+ this[kMockAgent][Symbols.kClients].delete(this[kOrigin]);
+ }
+ };
+ module.exports = MockClient;
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-pool.js
+var require_mock_pool = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-pool.js"(exports, module) {
+ "use strict";
+ var { promisify } = __require("node:util");
+ var Pool = require_pool();
+ var { buildMockDispatch } = require_mock_utils();
+ var {
+ kDispatches,
+ kMockAgent,
+ kClose,
+ kOriginalClose,
+ kOrigin,
+ kOriginalDispatch,
+ kConnected
+ } = require_mock_symbols();
+ var { MockInterceptor } = require_mock_interceptor();
+ var Symbols = require_symbols();
+ var { InvalidArgumentError } = require_errors();
+ var MockPool = class extends Pool {
+ constructor(origin, opts) {
+ super(origin, opts);
+ if (!opts || !opts.agent || typeof opts.agent.dispatch !== "function") {
+ throw new InvalidArgumentError("Argument opts.agent must implement Agent");
+ }
+ this[kMockAgent] = opts.agent;
+ this[kOrigin] = origin;
+ this[kDispatches] = [];
+ this[kConnected] = 1;
+ this[kOriginalDispatch] = this.dispatch;
+ this[kOriginalClose] = this.close.bind(this);
+ this.dispatch = buildMockDispatch.call(this);
+ this.close = this[kClose];
+ }
+ get [Symbols.kConnected]() {
+ return this[kConnected];
+ }
+ /**
+ * Sets up the base interceptor for mocking replies from undici.
+ */
+ intercept(opts) {
+ return new MockInterceptor(opts, this[kDispatches]);
+ }
+ async [kClose]() {
+ await promisify(this[kOriginalClose])();
+ this[kConnected] = 0;
+ this[kMockAgent][Symbols.kClients].delete(this[kOrigin]);
+ }
+ };
+ module.exports = MockPool;
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/pluralizer.js
+var require_pluralizer = __commonJS({
+ "viewer/node_modules/undici/lib/mock/pluralizer.js"(exports, module) {
+ "use strict";
+ var singulars = {
+ pronoun: "it",
+ is: "is",
+ was: "was",
+ this: "this"
+ };
+ var plurals = {
+ pronoun: "they",
+ is: "are",
+ was: "were",
+ this: "these"
+ };
+ module.exports = class Pluralizer {
+ constructor(singular, plural) {
+ this.singular = singular;
+ this.plural = plural;
+ }
+ pluralize(count) {
+ const one = count === 1;
+ const keys = one ? singulars : plurals;
+ const noun = one ? this.singular : this.plural;
+ return { ...keys, count, noun };
+ }
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/pending-interceptors-formatter.js
+var require_pending_interceptors_formatter = __commonJS({
+ "viewer/node_modules/undici/lib/mock/pending-interceptors-formatter.js"(exports, module) {
+ "use strict";
+ var { Transform } = __require("node:stream");
+ var { Console } = __require("node:console");
+ var PERSISTENT = process.versions.icu ? "\u2705" : "Y ";
+ var NOT_PERSISTENT = process.versions.icu ? "\u274C" : "N ";
+ module.exports = class PendingInterceptorsFormatter {
+ constructor({ disableColors } = {}) {
+ this.transform = new Transform({
+ transform(chunk, _enc, cb) {
+ cb(null, chunk);
+ }
+ });
+ this.logger = new Console({
+ stdout: this.transform,
+ inspectOptions: {
+ colors: !disableColors && !process.env.CI
+ }
+ });
+ }
+ format(pendingInterceptors) {
+ const withPrettyHeaders = pendingInterceptors.map(
+ ({ method, path: path14, data: { statusCode }, persist, times, timesInvoked, origin }) => ({
+ Method: method,
+ Origin: origin,
+ Path: path14,
+ "Status code": statusCode,
+ Persistent: persist ? PERSISTENT : NOT_PERSISTENT,
+ Invocations: timesInvoked,
+ Remaining: persist ? Infinity : times - timesInvoked
+ })
+ );
+ this.logger.table(withPrettyHeaders);
+ return this.transform.read().toString();
+ }
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/mock/mock-agent.js
+var require_mock_agent = __commonJS({
+ "viewer/node_modules/undici/lib/mock/mock-agent.js"(exports, module) {
+ "use strict";
+ var { kClients } = require_symbols();
+ var Agent = require_agent();
+ var {
+ kAgent,
+ kMockAgentSet,
+ kMockAgentGet,
+ kDispatches,
+ kIsMockActive,
+ kNetConnect,
+ kGetNetConnect,
+ kOptions,
+ kFactory
+ } = require_mock_symbols();
+ var MockClient = require_mock_client();
+ var MockPool = require_mock_pool();
+ var { matchValue, buildMockOptions } = require_mock_utils();
+ var { InvalidArgumentError, UndiciError } = require_errors();
+ var Dispatcher = require_dispatcher();
+ var Pluralizer = require_pluralizer();
+ var PendingInterceptorsFormatter = require_pending_interceptors_formatter();
+ var MockAgent = class extends Dispatcher {
+ constructor(opts) {
+ super(opts);
+ this[kNetConnect] = true;
+ this[kIsMockActive] = true;
+ if (opts?.agent && typeof opts.agent.dispatch !== "function") {
+ throw new InvalidArgumentError("Argument opts.agent must implement Agent");
+ }
+ const agent = opts?.agent ? opts.agent : new Agent(opts);
+ this[kAgent] = agent;
+ this[kClients] = agent[kClients];
+ this[kOptions] = buildMockOptions(opts);
+ }
+ get(origin) {
+ let dispatcher = this[kMockAgentGet](origin);
+ if (!dispatcher) {
+ dispatcher = this[kFactory](origin);
+ this[kMockAgentSet](origin, dispatcher);
+ }
+ return dispatcher;
+ }
+ dispatch(opts, handler) {
+ this.get(opts.origin);
+ return this[kAgent].dispatch(opts, handler);
+ }
+ async close() {
+ await this[kAgent].close();
+ this[kClients].clear();
+ }
+ deactivate() {
+ this[kIsMockActive] = false;
+ }
+ activate() {
+ this[kIsMockActive] = true;
+ }
+ enableNetConnect(matcher) {
+ if (typeof matcher === "string" || typeof matcher === "function" || matcher instanceof RegExp) {
+ if (Array.isArray(this[kNetConnect])) {
+ this[kNetConnect].push(matcher);
+ } else {
+ this[kNetConnect] = [matcher];
+ }
+ } else if (typeof matcher === "undefined") {
+ this[kNetConnect] = true;
+ } else {
+ throw new InvalidArgumentError("Unsupported matcher. Must be one of String|Function|RegExp.");
+ }
+ }
+ disableNetConnect() {
+ this[kNetConnect] = false;
+ }
+ // This is required to bypass issues caused by using global symbols - see:
+ // https://github.com/nodejs/undici/issues/1447
+ get isMockActive() {
+ return this[kIsMockActive];
+ }
+ [kMockAgentSet](origin, dispatcher) {
+ this[kClients].set(origin, dispatcher);
+ }
+ [kFactory](origin) {
+ const mockOptions = Object.assign({ agent: this }, this[kOptions]);
+ return this[kOptions] && this[kOptions].connections === 1 ? new MockClient(origin, mockOptions) : new MockPool(origin, mockOptions);
+ }
+ [kMockAgentGet](origin) {
+ const client = this[kClients].get(origin);
+ if (client) {
+ return client;
+ }
+ if (typeof origin !== "string") {
+ const dispatcher = this[kFactory]("http://localhost:9999");
+ this[kMockAgentSet](origin, dispatcher);
+ return dispatcher;
+ }
+ for (const [keyMatcher, nonExplicitDispatcher] of Array.from(this[kClients])) {
+ if (nonExplicitDispatcher && typeof keyMatcher !== "string" && matchValue(keyMatcher, origin)) {
+ const dispatcher = this[kFactory](origin);
+ this[kMockAgentSet](origin, dispatcher);
+ dispatcher[kDispatches] = nonExplicitDispatcher[kDispatches];
+ return dispatcher;
+ }
+ }
+ }
+ [kGetNetConnect]() {
+ return this[kNetConnect];
+ }
+ pendingInterceptors() {
+ const mockAgentClients = this[kClients];
+ return Array.from(mockAgentClients.entries()).flatMap(([origin, scope]) => scope[kDispatches].map((dispatch) => ({ ...dispatch, origin }))).filter(({ pending }) => pending);
+ }
+ assertNoPendingInterceptors({ pendingInterceptorsFormatter = new PendingInterceptorsFormatter() } = {}) {
+ const pending = this.pendingInterceptors();
+ if (pending.length === 0) {
+ return;
+ }
+ const pluralizer = new Pluralizer("interceptor", "interceptors").pluralize(pending.length);
+ throw new UndiciError(`
+${pluralizer.count} ${pluralizer.noun} ${pluralizer.is} pending:
+
+${pendingInterceptorsFormatter.format(pending)}
+`.trim());
+ }
+ };
+ module.exports = MockAgent;
+ }
+});
+
+// viewer/node_modules/undici/lib/global.js
+var require_global2 = __commonJS({
+ "viewer/node_modules/undici/lib/global.js"(exports, module) {
+ "use strict";
+ var globalDispatcher = /* @__PURE__ */ Symbol.for("undici.globalDispatcher.1");
+ var { InvalidArgumentError } = require_errors();
+ var Agent = require_agent();
+ if (getGlobalDispatcher() === void 0) {
+ setGlobalDispatcher(new Agent());
+ }
+ function setGlobalDispatcher(agent) {
+ if (!agent || typeof agent.dispatch !== "function") {
+ throw new InvalidArgumentError("Argument agent must implement Agent");
+ }
+ Object.defineProperty(globalThis, globalDispatcher, {
+ value: agent,
+ writable: true,
+ enumerable: false,
+ configurable: false
+ });
+ }
+ function getGlobalDispatcher() {
+ return globalThis[globalDispatcher];
+ }
+ module.exports = {
+ setGlobalDispatcher,
+ getGlobalDispatcher
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/handler/decorator-handler.js
+var require_decorator_handler = __commonJS({
+ "viewer/node_modules/undici/lib/handler/decorator-handler.js"(exports, module) {
+ "use strict";
+ module.exports = class DecoratorHandler {
+ #handler;
+ constructor(handler) {
+ if (typeof handler !== "object" || handler === null) {
+ throw new TypeError("handler must be an object");
+ }
+ this.#handler = handler;
+ }
+ onConnect(...args) {
+ return this.#handler.onConnect?.(...args);
+ }
+ onError(...args) {
+ return this.#handler.onError?.(...args);
+ }
+ onUpgrade(...args) {
+ return this.#handler.onUpgrade?.(...args);
+ }
+ onResponseStarted(...args) {
+ return this.#handler.onResponseStarted?.(...args);
+ }
+ onHeaders(...args) {
+ return this.#handler.onHeaders?.(...args);
+ }
+ onData(...args) {
+ return this.#handler.onData?.(...args);
+ }
+ onComplete(...args) {
+ return this.#handler.onComplete?.(...args);
+ }
+ onBodySent(...args) {
+ return this.#handler.onBodySent?.(...args);
+ }
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/interceptor/redirect.js
+var require_redirect = __commonJS({
+ "viewer/node_modules/undici/lib/interceptor/redirect.js"(exports, module) {
+ "use strict";
+ var RedirectHandler = require_redirect_handler();
+ module.exports = (opts) => {
+ const globalMaxRedirections = opts?.maxRedirections;
+ return (dispatch) => {
+ return function redirectInterceptor(opts2, handler) {
+ const { maxRedirections = globalMaxRedirections, ...baseOpts } = opts2;
+ if (!maxRedirections) {
+ return dispatch(opts2, handler);
+ }
+ const redirectHandler = new RedirectHandler(
+ dispatch,
+ maxRedirections,
+ opts2,
+ handler
+ );
+ return dispatch(baseOpts, redirectHandler);
+ };
+ };
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/interceptor/retry.js
+var require_retry3 = __commonJS({
+ "viewer/node_modules/undici/lib/interceptor/retry.js"(exports, module) {
+ "use strict";
+ var RetryHandler = require_retry_handler();
+ module.exports = (globalOpts) => {
+ return (dispatch) => {
+ return function retryInterceptor(opts, handler) {
+ return dispatch(
+ opts,
+ new RetryHandler(
+ { ...opts, retryOptions: { ...globalOpts, ...opts.retryOptions } },
+ {
+ handler,
+ dispatch
+ }
+ )
+ );
+ };
+ };
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/interceptor/dump.js
+var require_dump = __commonJS({
+ "viewer/node_modules/undici/lib/interceptor/dump.js"(exports, module) {
+ "use strict";
+ var util = require_util();
+ var { InvalidArgumentError, RequestAbortedError } = require_errors();
+ var DecoratorHandler = require_decorator_handler();
+ var DumpHandler = class extends DecoratorHandler {
+ #maxSize = 1024 * 1024;
+ #abort = null;
+ #dumped = false;
+ #aborted = false;
+ #size = 0;
+ #reason = null;
+ #handler = null;
+ constructor({ maxSize }, handler) {
+ super(handler);
+ if (maxSize != null && (!Number.isFinite(maxSize) || maxSize < 1)) {
+ throw new InvalidArgumentError("maxSize must be a number greater than 0");
+ }
+ this.#maxSize = maxSize ?? this.#maxSize;
+ this.#handler = handler;
+ }
+ onConnect(abort) {
+ this.#abort = abort;
+ this.#handler.onConnect(this.#customAbort.bind(this));
+ }
+ #customAbort(reason) {
+ this.#aborted = true;
+ this.#reason = reason;
+ }
+ // TODO: will require adjustment after new hooks are out
+ onHeaders(statusCode, rawHeaders, resume, statusMessage) {
+ const headers = util.parseHeaders(rawHeaders);
+ const contentLength = headers["content-length"];
+ if (contentLength != null && contentLength > this.#maxSize) {
+ throw new RequestAbortedError(
+ `Response size (${contentLength}) larger than maxSize (${this.#maxSize})`
+ );
+ }
+ if (this.#aborted) {
+ return true;
+ }
+ return this.#handler.onHeaders(
+ statusCode,
+ rawHeaders,
+ resume,
+ statusMessage
+ );
+ }
+ onError(err) {
+ if (this.#dumped) {
+ return;
+ }
+ err = this.#reason ?? err;
+ this.#handler.onError(err);
+ }
+ onData(chunk) {
+ this.#size = this.#size + chunk.length;
+ if (this.#size >= this.#maxSize) {
+ this.#dumped = true;
+ if (this.#aborted) {
+ this.#handler.onError(this.#reason);
+ } else {
+ this.#handler.onComplete([]);
+ }
+ }
+ return true;
+ }
+ onComplete(trailers) {
+ if (this.#dumped) {
+ return;
+ }
+ if (this.#aborted) {
+ this.#handler.onError(this.reason);
+ return;
+ }
+ this.#handler.onComplete(trailers);
+ }
+ };
+ function createDumpInterceptor({ maxSize: defaultMaxSize } = {
+ maxSize: 1024 * 1024
+ }) {
+ return (dispatch) => {
+ return function Intercept(opts, handler) {
+ const { dumpMaxSize = defaultMaxSize } = opts;
+ const dumpHandler = new DumpHandler(
+ { maxSize: dumpMaxSize },
+ handler
+ );
+ return dispatch(opts, dumpHandler);
+ };
+ };
+ }
+ module.exports = createDumpInterceptor;
+ }
+});
+
+// viewer/node_modules/undici/lib/interceptor/dns.js
+var require_dns = __commonJS({
+ "viewer/node_modules/undici/lib/interceptor/dns.js"(exports, module) {
+ "use strict";
+ var { isIP } = __require("node:net");
+ var { lookup } = __require("node:dns");
+ var DecoratorHandler = require_decorator_handler();
+ var { InvalidArgumentError, InformationalError } = require_errors();
+ var maxInt = Math.pow(2, 31) - 1;
+ var DNSInstance = class {
+ #maxTTL = 0;
+ #maxItems = 0;
+ #records = /* @__PURE__ */ new Map();
+ dualStack = true;
+ affinity = null;
+ lookup = null;
+ pick = null;
+ constructor(opts) {
+ this.#maxTTL = opts.maxTTL;
+ this.#maxItems = opts.maxItems;
+ this.dualStack = opts.dualStack;
+ this.affinity = opts.affinity;
+ this.lookup = opts.lookup ?? this.#defaultLookup;
+ this.pick = opts.pick ?? this.#defaultPick;
+ }
+ get full() {
+ return this.#records.size === this.#maxItems;
+ }
+ runLookup(origin, opts, cb) {
+ const ips = this.#records.get(origin.hostname);
+ if (ips == null && this.full) {
+ cb(null, origin.origin);
+ return;
+ }
+ const newOpts = {
+ affinity: this.affinity,
+ dualStack: this.dualStack,
+ lookup: this.lookup,
+ pick: this.pick,
+ ...opts.dns,
+ maxTTL: this.#maxTTL,
+ maxItems: this.#maxItems
+ };
+ if (ips == null) {
+ this.lookup(origin, newOpts, (err, addresses) => {
+ if (err || addresses == null || addresses.length === 0) {
+ cb(err ?? new InformationalError("No DNS entries found"));
+ return;
+ }
+ this.setRecords(origin, addresses);
+ const records = this.#records.get(origin.hostname);
+ const ip = this.pick(
+ origin,
+ records,
+ newOpts.affinity
+ );
+ let port2;
+ if (typeof ip.port === "number") {
+ port2 = `:${ip.port}`;
+ } else if (origin.port !== "") {
+ port2 = `:${origin.port}`;
+ } else {
+ port2 = "";
+ }
+ cb(
+ null,
+ `${origin.protocol}//${ip.family === 6 ? `[${ip.address}]` : ip.address}${port2}`
+ );
+ });
+ } else {
+ const ip = this.pick(
+ origin,
+ ips,
+ newOpts.affinity
+ );
+ if (ip == null) {
+ this.#records.delete(origin.hostname);
+ this.runLookup(origin, opts, cb);
+ return;
+ }
+ let port2;
+ if (typeof ip.port === "number") {
+ port2 = `:${ip.port}`;
+ } else if (origin.port !== "") {
+ port2 = `:${origin.port}`;
+ } else {
+ port2 = "";
+ }
+ cb(
+ null,
+ `${origin.protocol}//${ip.family === 6 ? `[${ip.address}]` : ip.address}${port2}`
+ );
+ }
+ }
+ #defaultLookup(origin, opts, cb) {
+ lookup(
+ origin.hostname,
+ {
+ all: true,
+ family: this.dualStack === false ? this.affinity : 0,
+ order: "ipv4first"
+ },
+ (err, addresses) => {
+ if (err) {
+ return cb(err);
+ }
+ const results = /* @__PURE__ */ new Map();
+ for (const addr of addresses) {
+ results.set(`${addr.address}:${addr.family}`, addr);
+ }
+ cb(null, results.values());
+ }
+ );
+ }
+ #defaultPick(origin, hostnameRecords, affinity) {
+ let ip = null;
+ const { records, offset } = hostnameRecords;
+ let family;
+ if (this.dualStack) {
+ if (affinity == null) {
+ if (offset == null || offset === maxInt) {
+ hostnameRecords.offset = 0;
+ affinity = 4;
+ } else {
+ hostnameRecords.offset++;
+ affinity = (hostnameRecords.offset & 1) === 1 ? 6 : 4;
+ }
+ }
+ if (records[affinity] != null && records[affinity].ips.length > 0) {
+ family = records[affinity];
+ } else {
+ family = records[affinity === 4 ? 6 : 4];
+ }
+ } else {
+ family = records[affinity];
+ }
+ if (family == null || family.ips.length === 0) {
+ return ip;
+ }
+ if (family.offset == null || family.offset === maxInt) {
+ family.offset = 0;
+ } else {
+ family.offset++;
+ }
+ const position = family.offset % family.ips.length;
+ ip = family.ips[position] ?? null;
+ if (ip == null) {
+ return ip;
+ }
+ if (Date.now() - ip.timestamp > ip.ttl) {
+ family.ips.splice(position, 1);
+ return this.pick(origin, hostnameRecords, affinity);
+ }
+ return ip;
+ }
+ setRecords(origin, addresses) {
+ const timestamp = Date.now();
+ const records = { records: { 4: null, 6: null } };
+ for (const record of addresses) {
+ record.timestamp = timestamp;
+ if (typeof record.ttl === "number") {
+ record.ttl = Math.min(record.ttl, this.#maxTTL);
+ } else {
+ record.ttl = this.#maxTTL;
+ }
+ const familyRecords = records.records[record.family] ?? { ips: [] };
+ familyRecords.ips.push(record);
+ records.records[record.family] = familyRecords;
+ }
+ this.#records.set(origin.hostname, records);
+ }
+ getHandler(meta, opts) {
+ return new DNSDispatchHandler(this, meta, opts);
+ }
+ };
+ var DNSDispatchHandler = class extends DecoratorHandler {
+ #state = null;
+ #opts = null;
+ #dispatch = null;
+ #handler = null;
+ #origin = null;
+ constructor(state, { origin, handler, dispatch }, opts) {
+ super(handler);
+ this.#origin = origin;
+ this.#handler = handler;
+ this.#opts = { ...opts };
+ this.#state = state;
+ this.#dispatch = dispatch;
+ }
+ onError(err) {
+ switch (err.code) {
+ case "ETIMEDOUT":
+ case "ECONNREFUSED": {
+ if (this.#state.dualStack) {
+ this.#state.runLookup(this.#origin, this.#opts, (err2, newOrigin) => {
+ if (err2) {
+ return this.#handler.onError(err2);
+ }
+ const dispatchOpts = {
+ ...this.#opts,
+ origin: newOrigin
+ };
+ this.#dispatch(dispatchOpts, this);
+ });
+ return;
+ }
+ this.#handler.onError(err);
+ return;
+ }
+ case "ENOTFOUND":
+ this.#state.deleteRecord(this.#origin);
+ // eslint-disable-next-line no-fallthrough
+ default:
+ this.#handler.onError(err);
+ break;
+ }
+ }
+ };
+ module.exports = (interceptorOpts) => {
+ if (interceptorOpts?.maxTTL != null && (typeof interceptorOpts?.maxTTL !== "number" || interceptorOpts?.maxTTL < 0)) {
+ throw new InvalidArgumentError("Invalid maxTTL. Must be a positive number");
+ }
+ if (interceptorOpts?.maxItems != null && (typeof interceptorOpts?.maxItems !== "number" || interceptorOpts?.maxItems < 1)) {
+ throw new InvalidArgumentError(
+ "Invalid maxItems. Must be a positive number and greater than zero"
+ );
+ }
+ if (interceptorOpts?.affinity != null && interceptorOpts?.affinity !== 4 && interceptorOpts?.affinity !== 6) {
+ throw new InvalidArgumentError("Invalid affinity. Must be either 4 or 6");
+ }
+ if (interceptorOpts?.dualStack != null && typeof interceptorOpts?.dualStack !== "boolean") {
+ throw new InvalidArgumentError("Invalid dualStack. Must be a boolean");
+ }
+ if (interceptorOpts?.lookup != null && typeof interceptorOpts?.lookup !== "function") {
+ throw new InvalidArgumentError("Invalid lookup. Must be a function");
+ }
+ if (interceptorOpts?.pick != null && typeof interceptorOpts?.pick !== "function") {
+ throw new InvalidArgumentError("Invalid pick. Must be a function");
+ }
+ const dualStack = interceptorOpts?.dualStack ?? true;
+ let affinity;
+ if (dualStack) {
+ affinity = interceptorOpts?.affinity ?? null;
+ } else {
+ affinity = interceptorOpts?.affinity ?? 4;
+ }
+ const opts = {
+ maxTTL: interceptorOpts?.maxTTL ?? 1e4,
+ // Expressed in ms
+ lookup: interceptorOpts?.lookup ?? null,
+ pick: interceptorOpts?.pick ?? null,
+ dualStack,
+ affinity,
+ maxItems: interceptorOpts?.maxItems ?? Infinity
+ };
+ const instance = new DNSInstance(opts);
+ return (dispatch) => {
+ return function dnsInterceptor(origDispatchOpts, handler) {
+ const origin = origDispatchOpts.origin.constructor === URL ? origDispatchOpts.origin : new URL(origDispatchOpts.origin);
+ if (isIP(origin.hostname) !== 0) {
+ return dispatch(origDispatchOpts, handler);
+ }
+ instance.runLookup(origin, origDispatchOpts, (err, newOrigin) => {
+ if (err) {
+ return handler.onError(err);
+ }
+ let dispatchOpts = null;
+ dispatchOpts = {
+ ...origDispatchOpts,
+ servername: origin.hostname,
+ // For SNI on TLS
+ origin: newOrigin,
+ headers: {
+ host: origin.hostname,
+ ...origDispatchOpts.headers
+ }
+ };
+ dispatch(
+ dispatchOpts,
+ instance.getHandler({ origin, dispatch, handler }, origDispatchOpts)
+ );
+ });
+ return true;
+ };
+ };
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/headers.js
+var require_headers = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/headers.js"(exports, module) {
+ "use strict";
+ var { kConstruct } = require_symbols();
+ var { kEnumerableProperty } = require_util();
+ var {
+ iteratorMixin,
+ isValidHeaderName,
+ isValidHeaderValue
+ } = require_util2();
+ var { webidl } = require_webidl();
+ var assert = __require("node:assert");
+ var util = __require("node:util");
+ var kHeadersMap = /* @__PURE__ */ Symbol("headers map");
+ var kHeadersSortedMap = /* @__PURE__ */ Symbol("headers map sorted");
+ function isHTTPWhiteSpaceCharCode(code) {
+ return code === 10 || code === 13 || code === 9 || code === 32;
+ }
+ function headerValueNormalize(potentialValue) {
+ let i = 0;
+ let j = potentialValue.length;
+ while (j > i && isHTTPWhiteSpaceCharCode(potentialValue.charCodeAt(j - 1))) --j;
+ while (j > i && isHTTPWhiteSpaceCharCode(potentialValue.charCodeAt(i))) ++i;
+ return i === 0 && j === potentialValue.length ? potentialValue : potentialValue.substring(i, j);
+ }
+ function fill(headers, object) {
+ if (Array.isArray(object)) {
+ for (let i = 0; i < object.length; ++i) {
+ const header = object[i];
+ if (header.length !== 2) {
+ throw webidl.errors.exception({
+ header: "Headers constructor",
+ message: `expected name/value pair to be length 2, found ${header.length}.`
+ });
+ }
+ appendHeader(headers, header[0], header[1]);
+ }
+ } else if (typeof object === "object" && object !== null) {
+ const keys = Object.keys(object);
+ for (let i = 0; i < keys.length; ++i) {
+ appendHeader(headers, keys[i], object[keys[i]]);
+ }
+ } else {
+ throw webidl.errors.conversionFailed({
+ prefix: "Headers constructor",
+ argument: "Argument 1",
+ types: ["sequence>", "record"]
+ });
+ }
+ }
+ function appendHeader(headers, name, value) {
+ value = headerValueNormalize(value);
+ if (!isValidHeaderName(name)) {
+ throw webidl.errors.invalidArgument({
+ prefix: "Headers.append",
+ value: name,
+ type: "header name"
+ });
+ } else if (!isValidHeaderValue(value)) {
+ throw webidl.errors.invalidArgument({
+ prefix: "Headers.append",
+ value,
+ type: "header value"
+ });
+ }
+ if (getHeadersGuard(headers) === "immutable") {
+ throw new TypeError("immutable");
+ }
+ return getHeadersList(headers).append(name, value, false);
+ }
+ function compareHeaderName(a, b) {
+ return a[0] < b[0] ? -1 : 1;
+ }
+ var HeadersList = class _HeadersList {
+ /** @type {[string, string][]|null} */
+ cookies = null;
+ constructor(init) {
+ if (init instanceof _HeadersList) {
+ this[kHeadersMap] = new Map(init[kHeadersMap]);
+ this[kHeadersSortedMap] = init[kHeadersSortedMap];
+ this.cookies = init.cookies === null ? null : [...init.cookies];
+ } else {
+ this[kHeadersMap] = new Map(init);
+ this[kHeadersSortedMap] = null;
+ }
+ }
+ /**
+ * @see https://fetch.spec.whatwg.org/#header-list-contains
+ * @param {string} name
+ * @param {boolean} isLowerCase
+ */
+ contains(name, isLowerCase) {
+ return this[kHeadersMap].has(isLowerCase ? name : name.toLowerCase());
+ }
+ clear() {
+ this[kHeadersMap].clear();
+ this[kHeadersSortedMap] = null;
+ this.cookies = null;
+ }
+ /**
+ * @see https://fetch.spec.whatwg.org/#concept-header-list-append
+ * @param {string} name
+ * @param {string} value
+ * @param {boolean} isLowerCase
+ */
+ append(name, value, isLowerCase) {
+ this[kHeadersSortedMap] = null;
+ const lowercaseName = isLowerCase ? name : name.toLowerCase();
+ const exists = this[kHeadersMap].get(lowercaseName);
+ if (exists) {
+ const delimiter = lowercaseName === "cookie" ? "; " : ", ";
+ this[kHeadersMap].set(lowercaseName, {
+ name: exists.name,
+ value: `${exists.value}${delimiter}${value}`
+ });
+ } else {
+ this[kHeadersMap].set(lowercaseName, { name, value });
+ }
+ if (lowercaseName === "set-cookie") {
+ (this.cookies ??= []).push(value);
+ }
+ }
+ /**
+ * @see https://fetch.spec.whatwg.org/#concept-header-list-set
+ * @param {string} name
+ * @param {string} value
+ * @param {boolean} isLowerCase
+ */
+ set(name, value, isLowerCase) {
+ this[kHeadersSortedMap] = null;
+ const lowercaseName = isLowerCase ? name : name.toLowerCase();
+ if (lowercaseName === "set-cookie") {
+ this.cookies = [value];
+ }
+ this[kHeadersMap].set(lowercaseName, { name, value });
+ }
+ /**
+ * @see https://fetch.spec.whatwg.org/#concept-header-list-delete
+ * @param {string} name
+ * @param {boolean} isLowerCase
+ */
+ delete(name, isLowerCase) {
+ this[kHeadersSortedMap] = null;
+ if (!isLowerCase) name = name.toLowerCase();
+ if (name === "set-cookie") {
+ this.cookies = null;
+ }
+ this[kHeadersMap].delete(name);
+ }
+ /**
+ * @see https://fetch.spec.whatwg.org/#concept-header-list-get
+ * @param {string} name
+ * @param {boolean} isLowerCase
+ * @returns {string | null}
+ */
+ get(name, isLowerCase) {
+ return this[kHeadersMap].get(isLowerCase ? name : name.toLowerCase())?.value ?? null;
+ }
+ *[Symbol.iterator]() {
+ for (const { 0: name, 1: { value } } of this[kHeadersMap]) {
+ yield [name, value];
+ }
+ }
+ get entries() {
+ const headers = {};
+ if (this[kHeadersMap].size !== 0) {
+ for (const { name, value } of this[kHeadersMap].values()) {
+ headers[name] = value;
+ }
+ }
+ return headers;
+ }
+ rawValues() {
+ return this[kHeadersMap].values();
+ }
+ get entriesList() {
+ const headers = [];
+ if (this[kHeadersMap].size !== 0) {
+ for (const { 0: lowerName, 1: { name, value } } of this[kHeadersMap]) {
+ if (lowerName === "set-cookie") {
+ for (const cookie of this.cookies) {
+ headers.push([name, cookie]);
+ }
+ } else {
+ headers.push([name, value]);
+ }
+ }
+ }
+ return headers;
+ }
+ // https://fetch.spec.whatwg.org/#convert-header-names-to-a-sorted-lowercase-set
+ toSortedArray() {
+ const size = this[kHeadersMap].size;
+ const array = new Array(size);
+ if (size <= 32) {
+ if (size === 0) {
+ return array;
+ }
+ const iterator = this[kHeadersMap][Symbol.iterator]();
+ const firstValue = iterator.next().value;
+ array[0] = [firstValue[0], firstValue[1].value];
+ assert(firstValue[1].value !== null);
+ for (let i = 1, j = 0, right = 0, left = 0, pivot = 0, x, value; i < size; ++i) {
+ value = iterator.next().value;
+ x = array[i] = [value[0], value[1].value];
+ assert(x[1] !== null);
+ left = 0;
+ right = i;
+ while (left < right) {
+ pivot = left + (right - left >> 1);
+ if (array[pivot][0] <= x[0]) {
+ left = pivot + 1;
+ } else {
+ right = pivot;
+ }
+ }
+ if (i !== pivot) {
+ j = i;
+ while (j > left) {
+ array[j] = array[--j];
+ }
+ array[left] = x;
+ }
+ }
+ if (!iterator.next().done) {
+ throw new TypeError("Unreachable");
+ }
+ return array;
+ } else {
+ let i = 0;
+ for (const { 0: name, 1: { value } } of this[kHeadersMap]) {
+ array[i++] = [name, value];
+ assert(value !== null);
+ }
+ return array.sort(compareHeaderName);
+ }
+ }
+ };
+ var Headers2 = class _Headers {
+ #guard;
+ #headersList;
+ constructor(init = void 0) {
+ webidl.util.markAsUncloneable(this);
+ if (init === kConstruct) {
+ return;
+ }
+ this.#headersList = new HeadersList();
+ this.#guard = "none";
+ if (init !== void 0) {
+ init = webidl.converters.HeadersInit(init, "Headers contructor", "init");
+ fill(this, init);
+ }
+ }
+ // https://fetch.spec.whatwg.org/#dom-headers-append
+ append(name, value) {
+ webidl.brandCheck(this, _Headers);
+ webidl.argumentLengthCheck(arguments, 2, "Headers.append");
+ const prefix = "Headers.append";
+ name = webidl.converters.ByteString(name, prefix, "name");
+ value = webidl.converters.ByteString(value, prefix, "value");
+ return appendHeader(this, name, value);
+ }
+ // https://fetch.spec.whatwg.org/#dom-headers-delete
+ delete(name) {
+ webidl.brandCheck(this, _Headers);
+ webidl.argumentLengthCheck(arguments, 1, "Headers.delete");
+ const prefix = "Headers.delete";
+ name = webidl.converters.ByteString(name, prefix, "name");
+ if (!isValidHeaderName(name)) {
+ throw webidl.errors.invalidArgument({
+ prefix: "Headers.delete",
+ value: name,
+ type: "header name"
+ });
+ }
+ if (this.#guard === "immutable") {
+ throw new TypeError("immutable");
+ }
+ if (!this.#headersList.contains(name, false)) {
+ return;
+ }
+ this.#headersList.delete(name, false);
+ }
+ // https://fetch.spec.whatwg.org/#dom-headers-get
+ get(name) {
+ webidl.brandCheck(this, _Headers);
+ webidl.argumentLengthCheck(arguments, 1, "Headers.get");
+ const prefix = "Headers.get";
+ name = webidl.converters.ByteString(name, prefix, "name");
+ if (!isValidHeaderName(name)) {
+ throw webidl.errors.invalidArgument({
+ prefix,
+ value: name,
+ type: "header name"
+ });
+ }
+ return this.#headersList.get(name, false);
+ }
+ // https://fetch.spec.whatwg.org/#dom-headers-has
+ has(name) {
+ webidl.brandCheck(this, _Headers);
+ webidl.argumentLengthCheck(arguments, 1, "Headers.has");
+ const prefix = "Headers.has";
+ name = webidl.converters.ByteString(name, prefix, "name");
+ if (!isValidHeaderName(name)) {
+ throw webidl.errors.invalidArgument({
+ prefix,
+ value: name,
+ type: "header name"
+ });
+ }
+ return this.#headersList.contains(name, false);
+ }
+ // https://fetch.spec.whatwg.org/#dom-headers-set
+ set(name, value) {
+ webidl.brandCheck(this, _Headers);
+ webidl.argumentLengthCheck(arguments, 2, "Headers.set");
+ const prefix = "Headers.set";
+ name = webidl.converters.ByteString(name, prefix, "name");
+ value = webidl.converters.ByteString(value, prefix, "value");
+ value = headerValueNormalize(value);
+ if (!isValidHeaderName(name)) {
+ throw webidl.errors.invalidArgument({
+ prefix,
+ value: name,
+ type: "header name"
+ });
+ } else if (!isValidHeaderValue(value)) {
+ throw webidl.errors.invalidArgument({
+ prefix,
+ value,
+ type: "header value"
+ });
+ }
+ if (this.#guard === "immutable") {
+ throw new TypeError("immutable");
+ }
+ this.#headersList.set(name, value, false);
+ }
+ // https://fetch.spec.whatwg.org/#dom-headers-getsetcookie
+ getSetCookie() {
+ webidl.brandCheck(this, _Headers);
+ const list2 = this.#headersList.cookies;
+ if (list2) {
+ return [...list2];
+ }
+ return [];
+ }
+ // https://fetch.spec.whatwg.org/#concept-header-list-sort-and-combine
+ get [kHeadersSortedMap]() {
+ if (this.#headersList[kHeadersSortedMap]) {
+ return this.#headersList[kHeadersSortedMap];
+ }
+ const headers = [];
+ const names = this.#headersList.toSortedArray();
+ const cookies = this.#headersList.cookies;
+ if (cookies === null || cookies.length === 1) {
+ return this.#headersList[kHeadersSortedMap] = names;
+ }
+ for (let i = 0; i < names.length; ++i) {
+ const { 0: name, 1: value } = names[i];
+ if (name === "set-cookie") {
+ for (let j = 0; j < cookies.length; ++j) {
+ headers.push([name, cookies[j]]);
+ }
+ } else {
+ headers.push([name, value]);
+ }
+ }
+ return this.#headersList[kHeadersSortedMap] = headers;
+ }
+ [util.inspect.custom](depth, options) {
+ options.depth ??= depth;
+ return `Headers ${util.formatWithOptions(options, this.#headersList.entries)}`;
+ }
+ static getHeadersGuard(o) {
+ return o.#guard;
+ }
+ static setHeadersGuard(o, guard) {
+ o.#guard = guard;
+ }
+ static getHeadersList(o) {
+ return o.#headersList;
+ }
+ static setHeadersList(o, list2) {
+ o.#headersList = list2;
+ }
+ };
+ var { getHeadersGuard, setHeadersGuard, getHeadersList, setHeadersList } = Headers2;
+ Reflect.deleteProperty(Headers2, "getHeadersGuard");
+ Reflect.deleteProperty(Headers2, "setHeadersGuard");
+ Reflect.deleteProperty(Headers2, "getHeadersList");
+ Reflect.deleteProperty(Headers2, "setHeadersList");
+ iteratorMixin("Headers", Headers2, kHeadersSortedMap, 0, 1);
+ Object.defineProperties(Headers2.prototype, {
+ append: kEnumerableProperty,
+ delete: kEnumerableProperty,
+ get: kEnumerableProperty,
+ has: kEnumerableProperty,
+ set: kEnumerableProperty,
+ getSetCookie: kEnumerableProperty,
+ [Symbol.toStringTag]: {
+ value: "Headers",
+ configurable: true
+ },
+ [util.inspect.custom]: {
+ enumerable: false
+ }
+ });
+ webidl.converters.HeadersInit = function(V, prefix, argument) {
+ if (webidl.util.Type(V) === "Object") {
+ const iterator = Reflect.get(V, Symbol.iterator);
+ if (!util.types.isProxy(V) && iterator === Headers2.prototype.entries) {
+ try {
+ return getHeadersList(V).entriesList;
+ } catch {
+ }
+ }
+ if (typeof iterator === "function") {
+ return webidl.converters["sequence>"](V, prefix, argument, iterator.bind(V));
+ }
+ return webidl.converters["record"](V, prefix, argument);
+ }
+ throw webidl.errors.conversionFailed({
+ prefix: "Headers constructor",
+ argument: "Argument 1",
+ types: ["sequence>", "record"]
+ });
+ };
+ module.exports = {
+ fill,
+ // for test.
+ compareHeaderName,
+ Headers: Headers2,
+ HeadersList,
+ getHeadersGuard,
+ setHeadersGuard,
+ setHeadersList,
+ getHeadersList
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/response.js
+var require_response = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/response.js"(exports, module) {
+ "use strict";
+ var { Headers: Headers2, HeadersList, fill, getHeadersGuard, setHeadersGuard, setHeadersList } = require_headers();
+ var { extractBody, cloneBody, mixinBody, hasFinalizationRegistry, streamRegistry, bodyUnusable } = require_body();
+ var util = require_util();
+ var nodeUtil = __require("node:util");
+ var { kEnumerableProperty } = util;
+ var {
+ isValidReasonPhrase,
+ isCancelled,
+ isAborted,
+ isBlobLike,
+ serializeJavascriptValueToJSONString,
+ isErrorLike,
+ isomorphicEncode,
+ environmentSettingsObject: relevantRealm
+ } = require_util2();
+ var {
+ redirectStatusSet,
+ nullBodyStatus
+ } = require_constants3();
+ var { kState, kHeaders } = require_symbols2();
+ var { webidl } = require_webidl();
+ var { FormData } = require_formdata();
+ var { URLSerializer } = require_data_url();
+ var { kConstruct } = require_symbols();
+ var assert = __require("node:assert");
+ var { types } = __require("node:util");
+ var textEncoder2 = new TextEncoder("utf-8");
+ var Response2 = class _Response {
+ // Creates network error Response.
+ static error() {
+ const responseObject = fromInnerResponse(makeNetworkError(), "immutable");
+ return responseObject;
+ }
+ // https://fetch.spec.whatwg.org/#dom-response-json
+ static json(data, init = {}) {
+ webidl.argumentLengthCheck(arguments, 1, "Response.json");
+ if (init !== null) {
+ init = webidl.converters.ResponseInit(init);
+ }
+ const bytes2 = textEncoder2.encode(
+ serializeJavascriptValueToJSONString(data)
+ );
+ const body = extractBody(bytes2);
+ const responseObject = fromInnerResponse(makeResponse({}), "response");
+ initializeResponse(responseObject, init, { body: body[0], type: "application/json" });
+ return responseObject;
+ }
+ // Creates a redirect Response that redirects to url with status status.
+ static redirect(url, status = 302) {
+ webidl.argumentLengthCheck(arguments, 1, "Response.redirect");
+ url = webidl.converters.USVString(url);
+ status = webidl.converters["unsigned short"](status);
+ let parsedURL;
+ try {
+ parsedURL = new URL(url, relevantRealm.settingsObject.baseUrl);
+ } catch (err) {
+ throw new TypeError(`Failed to parse URL from ${url}`, { cause: err });
+ }
+ if (!redirectStatusSet.has(status)) {
+ throw new RangeError(`Invalid status code ${status}`);
+ }
+ const responseObject = fromInnerResponse(makeResponse({}), "immutable");
+ responseObject[kState].status = status;
+ const value = isomorphicEncode(URLSerializer(parsedURL));
+ responseObject[kState].headersList.append("location", value, true);
+ return responseObject;
+ }
+ // https://fetch.spec.whatwg.org/#dom-response
+ constructor(body = null, init = {}) {
+ webidl.util.markAsUncloneable(this);
+ if (body === kConstruct) {
+ return;
+ }
+ if (body !== null) {
+ body = webidl.converters.BodyInit(body);
+ }
+ init = webidl.converters.ResponseInit(init);
+ this[kState] = makeResponse({});
+ this[kHeaders] = new Headers2(kConstruct);
+ setHeadersGuard(this[kHeaders], "response");
+ setHeadersList(this[kHeaders], this[kState].headersList);
+ let bodyWithType = null;
+ if (body != null) {
+ const [extractedBody, type] = extractBody(body);
+ bodyWithType = { body: extractedBody, type };
+ }
+ initializeResponse(this, init, bodyWithType);
+ }
+ // Returns response’s type, e.g., "cors".
+ get type() {
+ webidl.brandCheck(this, _Response);
+ return this[kState].type;
+ }
+ // Returns response’s URL, if it has one; otherwise the empty string.
+ get url() {
+ webidl.brandCheck(this, _Response);
+ const urlList = this[kState].urlList;
+ const url = urlList[urlList.length - 1] ?? null;
+ if (url === null) {
+ return "";
+ }
+ return URLSerializer(url, true);
+ }
+ // Returns whether response was obtained through a redirect.
+ get redirected() {
+ webidl.brandCheck(this, _Response);
+ return this[kState].urlList.length > 1;
+ }
+ // Returns response’s status.
+ get status() {
+ webidl.brandCheck(this, _Response);
+ return this[kState].status;
+ }
+ // Returns whether response’s status is an ok status.
+ get ok() {
+ webidl.brandCheck(this, _Response);
+ return this[kState].status >= 200 && this[kState].status <= 299;
+ }
+ // Returns response’s status message.
+ get statusText() {
+ webidl.brandCheck(this, _Response);
+ return this[kState].statusText;
+ }
+ // Returns response’s headers as Headers.
+ get headers() {
+ webidl.brandCheck(this, _Response);
+ return this[kHeaders];
+ }
+ get body() {
+ webidl.brandCheck(this, _Response);
+ return this[kState].body ? this[kState].body.stream : null;
+ }
+ get bodyUsed() {
+ webidl.brandCheck(this, _Response);
+ return !!this[kState].body && util.isDisturbed(this[kState].body.stream);
+ }
+ // Returns a clone of response.
+ clone() {
+ webidl.brandCheck(this, _Response);
+ if (bodyUnusable(this)) {
+ throw webidl.errors.exception({
+ header: "Response.clone",
+ message: "Body has already been consumed."
+ });
+ }
+ const clonedResponse = cloneResponse(this[kState]);
+ if (hasFinalizationRegistry && this[kState].body?.stream) {
+ streamRegistry.register(this, new WeakRef(this[kState].body.stream));
+ }
+ return fromInnerResponse(clonedResponse, getHeadersGuard(this[kHeaders]));
+ }
+ [nodeUtil.inspect.custom](depth, options) {
+ if (options.depth === null) {
+ options.depth = 2;
+ }
+ options.colors ??= true;
+ const properties = {
+ status: this.status,
+ statusText: this.statusText,
+ headers: this.headers,
+ body: this.body,
+ bodyUsed: this.bodyUsed,
+ ok: this.ok,
+ redirected: this.redirected,
+ type: this.type,
+ url: this.url
+ };
+ return `Response ${nodeUtil.formatWithOptions(options, properties)}`;
+ }
+ };
+ mixinBody(Response2);
+ Object.defineProperties(Response2.prototype, {
+ type: kEnumerableProperty,
+ url: kEnumerableProperty,
+ status: kEnumerableProperty,
+ ok: kEnumerableProperty,
+ redirected: kEnumerableProperty,
+ statusText: kEnumerableProperty,
+ headers: kEnumerableProperty,
+ clone: kEnumerableProperty,
+ body: kEnumerableProperty,
+ bodyUsed: kEnumerableProperty,
+ [Symbol.toStringTag]: {
+ value: "Response",
+ configurable: true
+ }
+ });
+ Object.defineProperties(Response2, {
+ json: kEnumerableProperty,
+ redirect: kEnumerableProperty,
+ error: kEnumerableProperty
+ });
+ function cloneResponse(response) {
+ if (response.internalResponse) {
+ return filterResponse(
+ cloneResponse(response.internalResponse),
+ response.type
+ );
+ }
+ const newResponse = makeResponse({ ...response, body: null });
+ if (response.body != null) {
+ newResponse.body = cloneBody(newResponse, response.body);
+ }
+ return newResponse;
+ }
+ function makeResponse(init) {
+ return {
+ aborted: false,
+ rangeRequested: false,
+ timingAllowPassed: false,
+ requestIncludesCredentials: false,
+ type: "default",
+ status: 200,
+ timingInfo: null,
+ cacheState: "",
+ statusText: "",
+ ...init,
+ headersList: init?.headersList ? new HeadersList(init?.headersList) : new HeadersList(),
+ urlList: init?.urlList ? [...init.urlList] : []
+ };
+ }
+ function makeNetworkError(reason) {
+ const isError2 = isErrorLike(reason);
+ return makeResponse({
+ type: "error",
+ status: 0,
+ error: isError2 ? reason : new Error(reason ? String(reason) : reason),
+ aborted: reason && reason.name === "AbortError"
+ });
+ }
+ function isNetworkError2(response) {
+ return (
+ // A network error is a response whose type is "error",
+ response.type === "error" && // status is 0
+ response.status === 0
+ );
+ }
+ function makeFilteredResponse(response, state) {
+ state = {
+ internalResponse: response,
+ ...state
+ };
+ return new Proxy(response, {
+ get(target, p) {
+ return p in state ? state[p] : target[p];
+ },
+ set(target, p, value) {
+ assert(!(p in state));
+ target[p] = value;
+ return true;
+ }
+ });
+ }
+ function filterResponse(response, type) {
+ if (type === "basic") {
+ return makeFilteredResponse(response, {
+ type: "basic",
+ headersList: response.headersList
+ });
+ } else if (type === "cors") {
+ return makeFilteredResponse(response, {
+ type: "cors",
+ headersList: response.headersList
+ });
+ } else if (type === "opaque") {
+ return makeFilteredResponse(response, {
+ type: "opaque",
+ urlList: Object.freeze([]),
+ status: 0,
+ statusText: "",
+ body: null
+ });
+ } else if (type === "opaqueredirect") {
+ return makeFilteredResponse(response, {
+ type: "opaqueredirect",
+ status: 0,
+ statusText: "",
+ headersList: [],
+ body: null
+ });
+ } else {
+ assert(false);
+ }
+ }
+ function makeAppropriateNetworkError(fetchParams, err = null) {
+ assert(isCancelled(fetchParams));
+ return isAborted(fetchParams) ? makeNetworkError(Object.assign(new DOMException("The operation was aborted.", "AbortError"), { cause: err })) : makeNetworkError(Object.assign(new DOMException("Request was cancelled."), { cause: err }));
+ }
+ function initializeResponse(response, init, body) {
+ if (init.status !== null && (init.status < 200 || init.status > 599)) {
+ throw new RangeError('init["status"] must be in the range of 200 to 599, inclusive.');
+ }
+ if ("statusText" in init && init.statusText != null) {
+ if (!isValidReasonPhrase(String(init.statusText))) {
+ throw new TypeError("Invalid statusText");
+ }
+ }
+ if ("status" in init && init.status != null) {
+ response[kState].status = init.status;
+ }
+ if ("statusText" in init && init.statusText != null) {
+ response[kState].statusText = init.statusText;
+ }
+ if ("headers" in init && init.headers != null) {
+ fill(response[kHeaders], init.headers);
+ }
+ if (body) {
+ if (nullBodyStatus.includes(response.status)) {
+ throw webidl.errors.exception({
+ header: "Response constructor",
+ message: `Invalid response status code ${response.status}`
+ });
+ }
+ response[kState].body = body.body;
+ if (body.type != null && !response[kState].headersList.contains("content-type", true)) {
+ response[kState].headersList.append("content-type", body.type, true);
+ }
+ }
+ }
+ function fromInnerResponse(innerResponse, guard) {
+ const response = new Response2(kConstruct);
+ response[kState] = innerResponse;
+ response[kHeaders] = new Headers2(kConstruct);
+ setHeadersList(response[kHeaders], innerResponse.headersList);
+ setHeadersGuard(response[kHeaders], guard);
+ if (hasFinalizationRegistry && innerResponse.body?.stream) {
+ streamRegistry.register(response, new WeakRef(innerResponse.body.stream));
+ }
+ return response;
+ }
+ webidl.converters.ReadableStream = webidl.interfaceConverter(
+ ReadableStream
+ );
+ webidl.converters.FormData = webidl.interfaceConverter(
+ FormData
+ );
+ webidl.converters.URLSearchParams = webidl.interfaceConverter(
+ URLSearchParams
+ );
+ webidl.converters.XMLHttpRequestBodyInit = function(V, prefix, name) {
+ if (typeof V === "string") {
+ return webidl.converters.USVString(V, prefix, name);
+ }
+ if (isBlobLike(V)) {
+ return webidl.converters.Blob(V, prefix, name, { strict: false });
+ }
+ if (ArrayBuffer.isView(V) || types.isArrayBuffer(V)) {
+ return webidl.converters.BufferSource(V, prefix, name);
+ }
+ if (util.isFormDataLike(V)) {
+ return webidl.converters.FormData(V, prefix, name, { strict: false });
+ }
+ if (V instanceof URLSearchParams) {
+ return webidl.converters.URLSearchParams(V, prefix, name);
+ }
+ return webidl.converters.DOMString(V, prefix, name);
+ };
+ webidl.converters.BodyInit = function(V, prefix, argument) {
+ if (V instanceof ReadableStream) {
+ return webidl.converters.ReadableStream(V, prefix, argument);
+ }
+ if (V?.[Symbol.asyncIterator]) {
+ return V;
+ }
+ return webidl.converters.XMLHttpRequestBodyInit(V, prefix, argument);
+ };
+ webidl.converters.ResponseInit = webidl.dictionaryConverter([
+ {
+ key: "status",
+ converter: webidl.converters["unsigned short"],
+ defaultValue: () => 200
+ },
+ {
+ key: "statusText",
+ converter: webidl.converters.ByteString,
+ defaultValue: () => ""
+ },
+ {
+ key: "headers",
+ converter: webidl.converters.HeadersInit
+ }
+ ]);
+ module.exports = {
+ isNetworkError: isNetworkError2,
+ makeNetworkError,
+ makeResponse,
+ makeAppropriateNetworkError,
+ filterResponse,
+ Response: Response2,
+ cloneResponse,
+ fromInnerResponse
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/dispatcher-weakref.js
+var require_dispatcher_weakref = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/dispatcher-weakref.js"(exports, module) {
+ "use strict";
+ var { kConnected, kSize } = require_symbols();
+ var CompatWeakRef = class {
+ constructor(value) {
+ this.value = value;
+ }
+ deref() {
+ return this.value[kConnected] === 0 && this.value[kSize] === 0 ? void 0 : this.value;
+ }
+ };
+ var CompatFinalizer = class {
+ constructor(finalizer) {
+ this.finalizer = finalizer;
+ }
+ register(dispatcher, key) {
+ if (dispatcher.on) {
+ dispatcher.on("disconnect", () => {
+ if (dispatcher[kConnected] === 0 && dispatcher[kSize] === 0) {
+ this.finalizer(key);
+ }
+ });
+ }
+ }
+ unregister(key) {
+ }
+ };
+ module.exports = function() {
+ if (process.env.NODE_V8_COVERAGE && process.version.startsWith("v18")) {
+ process._rawDebug("Using compatibility WeakRef and FinalizationRegistry");
+ return {
+ WeakRef: CompatWeakRef,
+ FinalizationRegistry: CompatFinalizer
+ };
+ }
+ return { WeakRef, FinalizationRegistry };
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/request.js
+var require_request2 = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/request.js"(exports, module) {
+ "use strict";
+ var { extractBody, mixinBody, cloneBody, bodyUnusable } = require_body();
+ var { Headers: Headers2, fill: fillHeaders, HeadersList, setHeadersGuard, getHeadersGuard, setHeadersList, getHeadersList } = require_headers();
+ var { FinalizationRegistry: FinalizationRegistry2 } = require_dispatcher_weakref()();
+ var util = require_util();
+ var nodeUtil = __require("node:util");
+ var {
+ isValidHTTPToken,
+ sameOrigin,
+ environmentSettingsObject
+ } = require_util2();
+ var {
+ forbiddenMethodsSet,
+ corsSafeListedMethodsSet,
+ referrerPolicy,
+ requestRedirect,
+ requestMode,
+ requestCredentials,
+ requestCache,
+ requestDuplex
+ } = require_constants3();
+ var { kEnumerableProperty, normalizedMethodRecordsBase, normalizedMethodRecords } = util;
+ var { kHeaders, kSignal, kState, kDispatcher } = require_symbols2();
+ var { webidl } = require_webidl();
+ var { URLSerializer } = require_data_url();
+ var { kConstruct } = require_symbols();
+ var assert = __require("node:assert");
+ var { getMaxListeners, setMaxListeners, getEventListeners, defaultMaxListeners } = __require("node:events");
+ var kAbortController = /* @__PURE__ */ Symbol("abortController");
+ var requestFinalizer = new FinalizationRegistry2(({ signal, abort }) => {
+ signal.removeEventListener("abort", abort);
+ });
+ var dependentControllerMap = /* @__PURE__ */ new WeakMap();
+ function buildAbort(acRef) {
+ return abort;
+ function abort() {
+ const ac = acRef.deref();
+ if (ac !== void 0) {
+ requestFinalizer.unregister(abort);
+ this.removeEventListener("abort", abort);
+ ac.abort(this.reason);
+ const controllerList = dependentControllerMap.get(ac.signal);
+ if (controllerList !== void 0) {
+ if (controllerList.size !== 0) {
+ for (const ref of controllerList) {
+ const ctrl = ref.deref();
+ if (ctrl !== void 0) {
+ ctrl.abort(this.reason);
+ }
+ }
+ controllerList.clear();
+ }
+ dependentControllerMap.delete(ac.signal);
+ }
+ }
+ }
+ }
+ var patchMethodWarning = false;
+ var Request2 = class _Request {
+ // https://fetch.spec.whatwg.org/#dom-request
+ constructor(input, init = {}) {
+ webidl.util.markAsUncloneable(this);
+ if (input === kConstruct) {
+ return;
+ }
+ const prefix = "Request constructor";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ input = webidl.converters.RequestInfo(input, prefix, "input");
+ init = webidl.converters.RequestInit(init, prefix, "init");
+ let request = null;
+ let fallbackMode = null;
+ const baseUrl = environmentSettingsObject.settingsObject.baseUrl;
+ let signal = null;
+ if (typeof input === "string") {
+ this[kDispatcher] = init.dispatcher;
+ let parsedURL;
+ try {
+ parsedURL = new URL(input, baseUrl);
+ } catch (err) {
+ throw new TypeError("Failed to parse URL from " + input, { cause: err });
+ }
+ if (parsedURL.username || parsedURL.password) {
+ throw new TypeError(
+ "Request cannot be constructed from a URL that includes credentials: " + input
+ );
+ }
+ request = makeRequest({ urlList: [parsedURL] });
+ fallbackMode = "cors";
+ } else {
+ this[kDispatcher] = init.dispatcher || input[kDispatcher];
+ assert(input instanceof _Request);
+ request = input[kState];
+ signal = input[kSignal];
+ }
+ const origin = environmentSettingsObject.settingsObject.origin;
+ let window2 = "client";
+ if (request.window?.constructor?.name === "EnvironmentSettingsObject" && sameOrigin(request.window, origin)) {
+ window2 = request.window;
+ }
+ if (init.window != null) {
+ throw new TypeError(`'window' option '${window2}' must be null`);
+ }
+ if ("window" in init) {
+ window2 = "no-window";
+ }
+ request = makeRequest({
+ // URL request’s URL.
+ // undici implementation note: this is set as the first item in request's urlList in makeRequest
+ // method request’s method.
+ method: request.method,
+ // header list A copy of request’s header list.
+ // undici implementation note: headersList is cloned in makeRequest
+ headersList: request.headersList,
+ // unsafe-request flag Set.
+ unsafeRequest: request.unsafeRequest,
+ // client This’s relevant settings object.
+ client: environmentSettingsObject.settingsObject,
+ // window window.
+ window: window2,
+ // priority request’s priority.
+ priority: request.priority,
+ // origin request’s origin. The propagation of the origin is only significant for navigation requests
+ // being handled by a service worker. In this scenario a request can have an origin that is different
+ // from the current client.
+ origin: request.origin,
+ // referrer request’s referrer.
+ referrer: request.referrer,
+ // referrer policy request’s referrer policy.
+ referrerPolicy: request.referrerPolicy,
+ // mode request’s mode.
+ mode: request.mode,
+ // credentials mode request’s credentials mode.
+ credentials: request.credentials,
+ // cache mode request’s cache mode.
+ cache: request.cache,
+ // redirect mode request’s redirect mode.
+ redirect: request.redirect,
+ // integrity metadata request’s integrity metadata.
+ integrity: request.integrity,
+ // keepalive request’s keepalive.
+ keepalive: request.keepalive,
+ // reload-navigation flag request’s reload-navigation flag.
+ reloadNavigation: request.reloadNavigation,
+ // history-navigation flag request’s history-navigation flag.
+ historyNavigation: request.historyNavigation,
+ // URL list A clone of request’s URL list.
+ urlList: [...request.urlList]
+ });
+ const initHasKey = Object.keys(init).length !== 0;
+ if (initHasKey) {
+ if (request.mode === "navigate") {
+ request.mode = "same-origin";
+ }
+ request.reloadNavigation = false;
+ request.historyNavigation = false;
+ request.origin = "client";
+ request.referrer = "client";
+ request.referrerPolicy = "";
+ request.url = request.urlList[request.urlList.length - 1];
+ request.urlList = [request.url];
+ }
+ if (init.referrer !== void 0) {
+ const referrer = init.referrer;
+ if (referrer === "") {
+ request.referrer = "no-referrer";
+ } else {
+ let parsedReferrer;
+ try {
+ parsedReferrer = new URL(referrer, baseUrl);
+ } catch (err) {
+ throw new TypeError(`Referrer "${referrer}" is not a valid URL.`, { cause: err });
+ }
+ if (parsedReferrer.protocol === "about:" && parsedReferrer.hostname === "client" || origin && !sameOrigin(parsedReferrer, environmentSettingsObject.settingsObject.baseUrl)) {
+ request.referrer = "client";
+ } else {
+ request.referrer = parsedReferrer;
+ }
+ }
+ }
+ if (init.referrerPolicy !== void 0) {
+ request.referrerPolicy = init.referrerPolicy;
+ }
+ let mode;
+ if (init.mode !== void 0) {
+ mode = init.mode;
+ } else {
+ mode = fallbackMode;
+ }
+ if (mode === "navigate") {
+ throw webidl.errors.exception({
+ header: "Request constructor",
+ message: "invalid request mode navigate."
+ });
+ }
+ if (mode != null) {
+ request.mode = mode;
+ }
+ if (init.credentials !== void 0) {
+ request.credentials = init.credentials;
+ }
+ if (init.cache !== void 0) {
+ request.cache = init.cache;
+ }
+ if (request.cache === "only-if-cached" && request.mode !== "same-origin") {
+ throw new TypeError(
+ "'only-if-cached' can be set only with 'same-origin' mode"
+ );
+ }
+ if (init.redirect !== void 0) {
+ request.redirect = init.redirect;
+ }
+ if (init.integrity != null) {
+ request.integrity = String(init.integrity);
+ }
+ if (init.keepalive !== void 0) {
+ request.keepalive = Boolean(init.keepalive);
+ }
+ if (init.method !== void 0) {
+ let method = init.method;
+ const mayBeNormalized = normalizedMethodRecords[method];
+ if (mayBeNormalized !== void 0) {
+ request.method = mayBeNormalized;
+ } else {
+ if (!isValidHTTPToken(method)) {
+ throw new TypeError(`'${method}' is not a valid HTTP method.`);
+ }
+ const upperCase = method.toUpperCase();
+ if (forbiddenMethodsSet.has(upperCase)) {
+ throw new TypeError(`'${method}' HTTP method is unsupported.`);
+ }
+ method = normalizedMethodRecordsBase[upperCase] ?? method;
+ request.method = method;
+ }
+ if (!patchMethodWarning && request.method === "patch") {
+ process.emitWarning("Using `patch` is highly likely to result in a `405 Method Not Allowed`. `PATCH` is much more likely to succeed.", {
+ code: "UNDICI-FETCH-patch"
+ });
+ patchMethodWarning = true;
+ }
+ }
+ if (init.signal !== void 0) {
+ signal = init.signal;
+ }
+ this[kState] = request;
+ const ac = new AbortController();
+ this[kSignal] = ac.signal;
+ if (signal != null) {
+ if (!signal || typeof signal.aborted !== "boolean" || typeof signal.addEventListener !== "function") {
+ throw new TypeError(
+ "Failed to construct 'Request': member signal is not of type AbortSignal."
+ );
+ }
+ if (signal.aborted) {
+ ac.abort(signal.reason);
+ } else {
+ this[kAbortController] = ac;
+ const acRef = new WeakRef(ac);
+ const abort = buildAbort(acRef);
+ try {
+ if (typeof getMaxListeners === "function" && getMaxListeners(signal) === defaultMaxListeners) {
+ setMaxListeners(1500, signal);
+ } else if (getEventListeners(signal, "abort").length >= defaultMaxListeners) {
+ setMaxListeners(1500, signal);
+ }
+ } catch {
+ }
+ util.addAbortListener(signal, abort);
+ requestFinalizer.register(ac, { signal, abort }, abort);
+ }
+ }
+ this[kHeaders] = new Headers2(kConstruct);
+ setHeadersList(this[kHeaders], request.headersList);
+ setHeadersGuard(this[kHeaders], "request");
+ if (mode === "no-cors") {
+ if (!corsSafeListedMethodsSet.has(request.method)) {
+ throw new TypeError(
+ `'${request.method} is unsupported in no-cors mode.`
+ );
+ }
+ setHeadersGuard(this[kHeaders], "request-no-cors");
+ }
+ if (initHasKey) {
+ const headersList = getHeadersList(this[kHeaders]);
+ const headers = init.headers !== void 0 ? init.headers : new HeadersList(headersList);
+ headersList.clear();
+ if (headers instanceof HeadersList) {
+ for (const { name, value } of headers.rawValues()) {
+ headersList.append(name, value, false);
+ }
+ headersList.cookies = headers.cookies;
+ } else {
+ fillHeaders(this[kHeaders], headers);
+ }
+ }
+ const inputBody = input instanceof _Request ? input[kState].body : null;
+ if ((init.body != null || inputBody != null) && (request.method === "GET" || request.method === "HEAD")) {
+ throw new TypeError("Request with GET/HEAD method cannot have body.");
+ }
+ let initBody = null;
+ if (init.body != null) {
+ const [extractedBody, contentType] = extractBody(
+ init.body,
+ request.keepalive
+ );
+ initBody = extractedBody;
+ if (contentType && !getHeadersList(this[kHeaders]).contains("content-type", true)) {
+ this[kHeaders].append("content-type", contentType);
+ }
+ }
+ const inputOrInitBody = initBody ?? inputBody;
+ if (inputOrInitBody != null && inputOrInitBody.source == null) {
+ if (initBody != null && init.duplex == null) {
+ throw new TypeError("RequestInit: duplex option is required when sending a body.");
+ }
+ if (request.mode !== "same-origin" && request.mode !== "cors") {
+ throw new TypeError(
+ 'If request is made from ReadableStream, mode should be "same-origin" or "cors"'
+ );
+ }
+ request.useCORSPreflightFlag = true;
+ }
+ let finalBody = inputOrInitBody;
+ if (initBody == null && inputBody != null) {
+ if (bodyUnusable(input)) {
+ throw new TypeError(
+ "Cannot construct a Request with a Request object that has already been used."
+ );
+ }
+ const identityTransform = new TransformStream();
+ inputBody.stream.pipeThrough(identityTransform);
+ finalBody = {
+ source: inputBody.source,
+ length: inputBody.length,
+ stream: identityTransform.readable
+ };
+ }
+ this[kState].body = finalBody;
+ }
+ // Returns request’s HTTP method, which is "GET" by default.
+ get method() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].method;
+ }
+ // Returns the URL of request as a string.
+ get url() {
+ webidl.brandCheck(this, _Request);
+ return URLSerializer(this[kState].url);
+ }
+ // Returns a Headers object consisting of the headers associated with request.
+ // Note that headers added in the network layer by the user agent will not
+ // be accounted for in this object, e.g., the "Host" header.
+ get headers() {
+ webidl.brandCheck(this, _Request);
+ return this[kHeaders];
+ }
+ // Returns the kind of resource requested by request, e.g., "document"
+ // or "script".
+ get destination() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].destination;
+ }
+ // Returns the referrer of request. Its value can be a same-origin URL if
+ // explicitly set in init, the empty string to indicate no referrer, and
+ // "about:client" when defaulting to the global’s default. This is used
+ // during fetching to determine the value of the `Referer` header of the
+ // request being made.
+ get referrer() {
+ webidl.brandCheck(this, _Request);
+ if (this[kState].referrer === "no-referrer") {
+ return "";
+ }
+ if (this[kState].referrer === "client") {
+ return "about:client";
+ }
+ return this[kState].referrer.toString();
+ }
+ // Returns the referrer policy associated with request.
+ // This is used during fetching to compute the value of the request’s
+ // referrer.
+ get referrerPolicy() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].referrerPolicy;
+ }
+ // Returns the mode associated with request, which is a string indicating
+ // whether the request will use CORS, or will be restricted to same-origin
+ // URLs.
+ get mode() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].mode;
+ }
+ // Returns the credentials mode associated with request,
+ // which is a string indicating whether credentials will be sent with the
+ // request always, never, or only when sent to a same-origin URL.
+ get credentials() {
+ return this[kState].credentials;
+ }
+ // Returns the cache mode associated with request,
+ // which is a string indicating how the request will
+ // interact with the browser’s cache when fetching.
+ get cache() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].cache;
+ }
+ // Returns the redirect mode associated with request,
+ // which is a string indicating how redirects for the
+ // request will be handled during fetching. A request
+ // will follow redirects by default.
+ get redirect() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].redirect;
+ }
+ // Returns request’s subresource integrity metadata, which is a
+ // cryptographic hash of the resource being fetched. Its value
+ // consists of multiple hashes separated by whitespace. [SRI]
+ get integrity() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].integrity;
+ }
+ // Returns a boolean indicating whether or not request can outlive the
+ // global in which it was created.
+ get keepalive() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].keepalive;
+ }
+ // Returns a boolean indicating whether or not request is for a reload
+ // navigation.
+ get isReloadNavigation() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].reloadNavigation;
+ }
+ // Returns a boolean indicating whether or not request is for a history
+ // navigation (a.k.a. back-forward navigation).
+ get isHistoryNavigation() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].historyNavigation;
+ }
+ // Returns the signal associated with request, which is an AbortSignal
+ // object indicating whether or not request has been aborted, and its
+ // abort event handler.
+ get signal() {
+ webidl.brandCheck(this, _Request);
+ return this[kSignal];
+ }
+ get body() {
+ webidl.brandCheck(this, _Request);
+ return this[kState].body ? this[kState].body.stream : null;
+ }
+ get bodyUsed() {
+ webidl.brandCheck(this, _Request);
+ return !!this[kState].body && util.isDisturbed(this[kState].body.stream);
+ }
+ get duplex() {
+ webidl.brandCheck(this, _Request);
+ return "half";
+ }
+ // Returns a clone of request.
+ clone() {
+ webidl.brandCheck(this, _Request);
+ if (bodyUnusable(this)) {
+ throw new TypeError("unusable");
+ }
+ const clonedRequest = cloneRequest(this[kState]);
+ const ac = new AbortController();
+ if (this.signal.aborted) {
+ ac.abort(this.signal.reason);
+ } else {
+ let list2 = dependentControllerMap.get(this.signal);
+ if (list2 === void 0) {
+ list2 = /* @__PURE__ */ new Set();
+ dependentControllerMap.set(this.signal, list2);
+ }
+ const acRef = new WeakRef(ac);
+ list2.add(acRef);
+ util.addAbortListener(
+ ac.signal,
+ buildAbort(acRef)
+ );
+ }
+ return fromInnerRequest(clonedRequest, ac.signal, getHeadersGuard(this[kHeaders]));
+ }
+ [nodeUtil.inspect.custom](depth, options) {
+ if (options.depth === null) {
+ options.depth = 2;
+ }
+ options.colors ??= true;
+ const properties = {
+ method: this.method,
+ url: this.url,
+ headers: this.headers,
+ destination: this.destination,
+ referrer: this.referrer,
+ referrerPolicy: this.referrerPolicy,
+ mode: this.mode,
+ credentials: this.credentials,
+ cache: this.cache,
+ redirect: this.redirect,
+ integrity: this.integrity,
+ keepalive: this.keepalive,
+ isReloadNavigation: this.isReloadNavigation,
+ isHistoryNavigation: this.isHistoryNavigation,
+ signal: this.signal
+ };
+ return `Request ${nodeUtil.formatWithOptions(options, properties)}`;
+ }
+ };
+ mixinBody(Request2);
+ function makeRequest(init) {
+ return {
+ method: init.method ?? "GET",
+ localURLsOnly: init.localURLsOnly ?? false,
+ unsafeRequest: init.unsafeRequest ?? false,
+ body: init.body ?? null,
+ client: init.client ?? null,
+ reservedClient: init.reservedClient ?? null,
+ replacesClientId: init.replacesClientId ?? "",
+ window: init.window ?? "client",
+ keepalive: init.keepalive ?? false,
+ serviceWorkers: init.serviceWorkers ?? "all",
+ initiator: init.initiator ?? "",
+ destination: init.destination ?? "",
+ priority: init.priority ?? null,
+ origin: init.origin ?? "client",
+ policyContainer: init.policyContainer ?? "client",
+ referrer: init.referrer ?? "client",
+ referrerPolicy: init.referrerPolicy ?? "",
+ mode: init.mode ?? "no-cors",
+ useCORSPreflightFlag: init.useCORSPreflightFlag ?? false,
+ credentials: init.credentials ?? "same-origin",
+ useCredentials: init.useCredentials ?? false,
+ cache: init.cache ?? "default",
+ redirect: init.redirect ?? "follow",
+ integrity: init.integrity ?? "",
+ cryptoGraphicsNonceMetadata: init.cryptoGraphicsNonceMetadata ?? "",
+ parserMetadata: init.parserMetadata ?? "",
+ reloadNavigation: init.reloadNavigation ?? false,
+ historyNavigation: init.historyNavigation ?? false,
+ userActivation: init.userActivation ?? false,
+ taintedOrigin: init.taintedOrigin ?? false,
+ redirectCount: init.redirectCount ?? 0,
+ responseTainting: init.responseTainting ?? "basic",
+ preventNoCacheCacheControlHeaderModification: init.preventNoCacheCacheControlHeaderModification ?? false,
+ done: init.done ?? false,
+ timingAllowFailed: init.timingAllowFailed ?? false,
+ urlList: init.urlList,
+ url: init.urlList[0],
+ headersList: init.headersList ? new HeadersList(init.headersList) : new HeadersList()
+ };
+ }
+ function cloneRequest(request) {
+ const newRequest = makeRequest({ ...request, body: null });
+ if (request.body != null) {
+ newRequest.body = cloneBody(newRequest, request.body);
+ }
+ return newRequest;
+ }
+ function fromInnerRequest(innerRequest, signal, guard) {
+ const request = new Request2(kConstruct);
+ request[kState] = innerRequest;
+ request[kSignal] = signal;
+ request[kHeaders] = new Headers2(kConstruct);
+ setHeadersList(request[kHeaders], innerRequest.headersList);
+ setHeadersGuard(request[kHeaders], guard);
+ return request;
+ }
+ Object.defineProperties(Request2.prototype, {
+ method: kEnumerableProperty,
+ url: kEnumerableProperty,
+ headers: kEnumerableProperty,
+ redirect: kEnumerableProperty,
+ clone: kEnumerableProperty,
+ signal: kEnumerableProperty,
+ duplex: kEnumerableProperty,
+ destination: kEnumerableProperty,
+ body: kEnumerableProperty,
+ bodyUsed: kEnumerableProperty,
+ isHistoryNavigation: kEnumerableProperty,
+ isReloadNavigation: kEnumerableProperty,
+ keepalive: kEnumerableProperty,
+ integrity: kEnumerableProperty,
+ cache: kEnumerableProperty,
+ credentials: kEnumerableProperty,
+ attribute: kEnumerableProperty,
+ referrerPolicy: kEnumerableProperty,
+ referrer: kEnumerableProperty,
+ mode: kEnumerableProperty,
+ [Symbol.toStringTag]: {
+ value: "Request",
+ configurable: true
+ }
+ });
+ webidl.converters.Request = webidl.interfaceConverter(
+ Request2
+ );
+ webidl.converters.RequestInfo = function(V, prefix, argument) {
+ if (typeof V === "string") {
+ return webidl.converters.USVString(V, prefix, argument);
+ }
+ if (V instanceof Request2) {
+ return webidl.converters.Request(V, prefix, argument);
+ }
+ return webidl.converters.USVString(V, prefix, argument);
+ };
+ webidl.converters.AbortSignal = webidl.interfaceConverter(
+ AbortSignal
+ );
+ webidl.converters.RequestInit = webidl.dictionaryConverter([
+ {
+ key: "method",
+ converter: webidl.converters.ByteString
+ },
+ {
+ key: "headers",
+ converter: webidl.converters.HeadersInit
+ },
+ {
+ key: "body",
+ converter: webidl.nullableConverter(
+ webidl.converters.BodyInit
+ )
+ },
+ {
+ key: "referrer",
+ converter: webidl.converters.USVString
+ },
+ {
+ key: "referrerPolicy",
+ converter: webidl.converters.DOMString,
+ // https://w3c.github.io/webappsec-referrer-policy/#referrer-policy
+ allowedValues: referrerPolicy
+ },
+ {
+ key: "mode",
+ converter: webidl.converters.DOMString,
+ // https://fetch.spec.whatwg.org/#concept-request-mode
+ allowedValues: requestMode
+ },
+ {
+ key: "credentials",
+ converter: webidl.converters.DOMString,
+ // https://fetch.spec.whatwg.org/#requestcredentials
+ allowedValues: requestCredentials
+ },
+ {
+ key: "cache",
+ converter: webidl.converters.DOMString,
+ // https://fetch.spec.whatwg.org/#requestcache
+ allowedValues: requestCache
+ },
+ {
+ key: "redirect",
+ converter: webidl.converters.DOMString,
+ // https://fetch.spec.whatwg.org/#requestredirect
+ allowedValues: requestRedirect
+ },
+ {
+ key: "integrity",
+ converter: webidl.converters.DOMString
+ },
+ {
+ key: "keepalive",
+ converter: webidl.converters.boolean
+ },
+ {
+ key: "signal",
+ converter: webidl.nullableConverter(
+ (signal) => webidl.converters.AbortSignal(
+ signal,
+ "RequestInit",
+ "signal",
+ { strict: false }
+ )
+ )
+ },
+ {
+ key: "window",
+ converter: webidl.converters.any
+ },
+ {
+ key: "duplex",
+ converter: webidl.converters.DOMString,
+ allowedValues: requestDuplex
+ },
+ {
+ key: "dispatcher",
+ // undici specific option
+ converter: webidl.converters.any
+ }
+ ]);
+ module.exports = { Request: Request2, makeRequest, fromInnerRequest, cloneRequest };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fetch/index.js
+var require_fetch = __commonJS({
+ "viewer/node_modules/undici/lib/web/fetch/index.js"(exports, module) {
+ "use strict";
+ var {
+ makeNetworkError,
+ makeAppropriateNetworkError,
+ filterResponse,
+ makeResponse,
+ fromInnerResponse
+ } = require_response();
+ var { HeadersList } = require_headers();
+ var { Request: Request2, cloneRequest } = require_request2();
+ var zlib = __require("node:zlib");
+ var {
+ bytesMatch,
+ makePolicyContainer,
+ clonePolicyContainer,
+ requestBadPort,
+ TAOCheck,
+ appendRequestOriginHeader,
+ responseLocationURL,
+ requestCurrentURL,
+ setRequestReferrerPolicyOnRedirect,
+ tryUpgradeRequestToAPotentiallyTrustworthyURL,
+ createOpaqueTimingInfo,
+ appendFetchMetadata,
+ corsCheck,
+ crossOriginResourcePolicyCheck,
+ determineRequestsReferrer,
+ coarsenedSharedCurrentTime,
+ createDeferredPromise,
+ isBlobLike,
+ sameOrigin,
+ isCancelled,
+ isAborted,
+ isErrorLike,
+ fullyReadBody,
+ readableStreamClose,
+ isomorphicEncode,
+ urlIsLocal,
+ urlIsHttpHttpsScheme,
+ urlHasHttpsScheme,
+ clampAndCoarsenConnectionTimingInfo,
+ simpleRangeHeaderValue,
+ buildContentRange,
+ createInflate,
+ extractMimeType
+ } = require_util2();
+ var { kState, kDispatcher } = require_symbols2();
+ var assert = __require("node:assert");
+ var { safelyExtractBody, extractBody } = require_body();
+ var {
+ redirectStatusSet,
+ nullBodyStatus,
+ safeMethodsSet,
+ requestBodyHeader,
+ subresourceSet
+ } = require_constants3();
+ var EE = __require("node:events");
+ var { Readable: Readable2, pipeline, finished } = __require("node:stream");
+ var { addAbortListener, isErrored, isReadable, bufferToLowerCasedHeaderName } = require_util();
+ var { dataURLProcessor, serializeAMimeType, minimizeSupportedMimeType } = require_data_url();
+ var { getGlobalDispatcher } = require_global2();
+ var { webidl } = require_webidl();
+ var { STATUS_CODES } = __require("node:http");
+ var GET_OR_HEAD = ["GET", "HEAD"];
+ var defaultUserAgent = typeof __UNDICI_IS_NODE__ !== "undefined" || typeof esbuildDetection !== "undefined" ? "node" : "undici";
+ var resolveObjectURL;
+ var Fetch = class extends EE {
+ constructor(dispatcher) {
+ super();
+ this.dispatcher = dispatcher;
+ this.connection = null;
+ this.dump = false;
+ this.state = "ongoing";
+ }
+ terminate(reason) {
+ if (this.state !== "ongoing") {
+ return;
+ }
+ this.state = "terminated";
+ this.connection?.destroy(reason);
+ this.emit("terminated", reason);
+ }
+ // https://fetch.spec.whatwg.org/#fetch-controller-abort
+ abort(error) {
+ if (this.state !== "ongoing") {
+ return;
+ }
+ this.state = "aborted";
+ if (!error) {
+ error = new DOMException("The operation was aborted.", "AbortError");
+ }
+ this.serializedAbortReason = error;
+ this.connection?.destroy(error);
+ this.emit("terminated", error);
+ }
+ };
+ function handleFetchDone(response) {
+ finalizeAndReportTiming(response, "fetch");
+ }
+ function fetch3(input, init = void 0) {
+ webidl.argumentLengthCheck(arguments, 1, "globalThis.fetch");
+ let p = createDeferredPromise();
+ let requestObject;
+ try {
+ requestObject = new Request2(input, init);
+ } catch (e) {
+ p.reject(e);
+ return p.promise;
+ }
+ const request = requestObject[kState];
+ if (requestObject.signal.aborted) {
+ abortFetch(p, request, null, requestObject.signal.reason);
+ return p.promise;
+ }
+ const globalObject = request.client.globalObject;
+ if (globalObject?.constructor?.name === "ServiceWorkerGlobalScope") {
+ request.serviceWorkers = "none";
+ }
+ let responseObject = null;
+ let locallyAborted = false;
+ let controller = null;
+ addAbortListener(
+ requestObject.signal,
+ () => {
+ locallyAborted = true;
+ assert(controller != null);
+ controller.abort(requestObject.signal.reason);
+ const realResponse = responseObject?.deref();
+ abortFetch(p, request, realResponse, requestObject.signal.reason);
+ }
+ );
+ const processResponse = (response) => {
+ if (locallyAborted) {
+ return;
+ }
+ if (response.aborted) {
+ abortFetch(p, request, responseObject, controller.serializedAbortReason);
+ return;
+ }
+ if (response.type === "error") {
+ p.reject(new TypeError("fetch failed", { cause: response.error }));
+ return;
+ }
+ responseObject = new WeakRef(fromInnerResponse(response, "immutable"));
+ p.resolve(responseObject.deref());
+ p = null;
+ };
+ controller = fetching({
+ request,
+ processResponseEndOfBody: handleFetchDone,
+ processResponse,
+ dispatcher: requestObject[kDispatcher]
+ // undici
+ });
+ return p.promise;
+ }
+ function finalizeAndReportTiming(response, initiatorType = "other") {
+ if (response.type === "error" && response.aborted) {
+ return;
+ }
+ if (!response.urlList?.length) {
+ return;
+ }
+ const originalURL = response.urlList[0];
+ let timingInfo = response.timingInfo;
+ let cacheState = response.cacheState;
+ if (!urlIsHttpHttpsScheme(originalURL)) {
+ return;
+ }
+ if (timingInfo === null) {
+ return;
+ }
+ if (!response.timingAllowPassed) {
+ timingInfo = createOpaqueTimingInfo({
+ startTime: timingInfo.startTime
+ });
+ cacheState = "";
+ }
+ timingInfo.endTime = coarsenedSharedCurrentTime();
+ response.timingInfo = timingInfo;
+ markResourceTiming(
+ timingInfo,
+ originalURL.href,
+ initiatorType,
+ globalThis,
+ cacheState
+ );
+ }
+ var markResourceTiming = performance.markResourceTiming;
+ function abortFetch(p, request, responseObject, error) {
+ if (p) {
+ p.reject(error);
+ }
+ if (request.body != null && isReadable(request.body?.stream)) {
+ request.body.stream.cancel(error).catch((err) => {
+ if (err.code === "ERR_INVALID_STATE") {
+ return;
+ }
+ throw err;
+ });
+ }
+ if (responseObject == null) {
+ return;
+ }
+ const response = responseObject[kState];
+ if (response.body != null && isReadable(response.body?.stream)) {
+ response.body.stream.cancel(error).catch((err) => {
+ if (err.code === "ERR_INVALID_STATE") {
+ return;
+ }
+ throw err;
+ });
+ }
+ }
+ function fetching({
+ request,
+ processRequestBodyChunkLength,
+ processRequestEndOfBody,
+ processResponse,
+ processResponseEndOfBody,
+ processResponseConsumeBody,
+ useParallelQueue = false,
+ dispatcher = getGlobalDispatcher()
+ // undici
+ }) {
+ assert(dispatcher);
+ let taskDestination = null;
+ let crossOriginIsolatedCapability = false;
+ if (request.client != null) {
+ taskDestination = request.client.globalObject;
+ crossOriginIsolatedCapability = request.client.crossOriginIsolatedCapability;
+ }
+ const currentTime = coarsenedSharedCurrentTime(crossOriginIsolatedCapability);
+ const timingInfo = createOpaqueTimingInfo({
+ startTime: currentTime
+ });
+ const fetchParams = {
+ controller: new Fetch(dispatcher),
+ request,
+ timingInfo,
+ processRequestBodyChunkLength,
+ processRequestEndOfBody,
+ processResponse,
+ processResponseConsumeBody,
+ processResponseEndOfBody,
+ taskDestination,
+ crossOriginIsolatedCapability
+ };
+ assert(!request.body || request.body.stream);
+ if (request.window === "client") {
+ request.window = request.client?.globalObject?.constructor?.name === "Window" ? request.client : "no-window";
+ }
+ if (request.origin === "client") {
+ request.origin = request.client.origin;
+ }
+ if (request.policyContainer === "client") {
+ if (request.client != null) {
+ request.policyContainer = clonePolicyContainer(
+ request.client.policyContainer
+ );
+ } else {
+ request.policyContainer = makePolicyContainer();
+ }
+ }
+ if (!request.headersList.contains("accept", true)) {
+ const value = "*/*";
+ request.headersList.append("accept", value, true);
+ }
+ if (!request.headersList.contains("accept-language", true)) {
+ request.headersList.append("accept-language", "*", true);
+ }
+ if (request.priority === null) {
+ }
+ if (subresourceSet.has(request.destination)) {
+ }
+ mainFetch(fetchParams).catch((err) => {
+ fetchParams.controller.terminate(err);
+ });
+ return fetchParams.controller;
+ }
+ async function mainFetch(fetchParams, recursive = false) {
+ const request = fetchParams.request;
+ let response = null;
+ if (request.localURLsOnly && !urlIsLocal(requestCurrentURL(request))) {
+ response = makeNetworkError("local URLs only");
+ }
+ tryUpgradeRequestToAPotentiallyTrustworthyURL(request);
+ if (requestBadPort(request) === "blocked") {
+ response = makeNetworkError("bad port");
+ }
+ if (request.referrerPolicy === "") {
+ request.referrerPolicy = request.policyContainer.referrerPolicy;
+ }
+ if (request.referrer !== "no-referrer") {
+ request.referrer = determineRequestsReferrer(request);
+ }
+ if (response === null) {
+ response = await (async () => {
+ const currentURL = requestCurrentURL(request);
+ if (
+ // - request’s current URL’s origin is same origin with request’s origin,
+ // and request’s response tainting is "basic"
+ sameOrigin(currentURL, request.url) && request.responseTainting === "basic" || // request’s current URL’s scheme is "data"
+ currentURL.protocol === "data:" || // - request’s mode is "navigate" or "websocket"
+ (request.mode === "navigate" || request.mode === "websocket")
+ ) {
+ request.responseTainting = "basic";
+ return await schemeFetch(fetchParams);
+ }
+ if (request.mode === "same-origin") {
+ return makeNetworkError('request mode cannot be "same-origin"');
+ }
+ if (request.mode === "no-cors") {
+ if (request.redirect !== "follow") {
+ return makeNetworkError(
+ 'redirect mode cannot be "follow" for "no-cors" request'
+ );
+ }
+ request.responseTainting = "opaque";
+ return await schemeFetch(fetchParams);
+ }
+ if (!urlIsHttpHttpsScheme(requestCurrentURL(request))) {
+ return makeNetworkError("URL scheme must be a HTTP(S) scheme");
+ }
+ request.responseTainting = "cors";
+ return await httpFetch(fetchParams);
+ })();
+ }
+ if (recursive) {
+ return response;
+ }
+ if (response.status !== 0 && !response.internalResponse) {
+ if (request.responseTainting === "cors") {
+ }
+ if (request.responseTainting === "basic") {
+ response = filterResponse(response, "basic");
+ } else if (request.responseTainting === "cors") {
+ response = filterResponse(response, "cors");
+ } else if (request.responseTainting === "opaque") {
+ response = filterResponse(response, "opaque");
+ } else {
+ assert(false);
+ }
+ }
+ let internalResponse = response.status === 0 ? response : response.internalResponse;
+ if (internalResponse.urlList.length === 0) {
+ internalResponse.urlList.push(...request.urlList);
+ }
+ if (!request.timingAllowFailed) {
+ response.timingAllowPassed = true;
+ }
+ if (response.type === "opaque" && internalResponse.status === 206 && internalResponse.rangeRequested && !request.headers.contains("range", true)) {
+ response = internalResponse = makeNetworkError();
+ }
+ if (response.status !== 0 && (request.method === "HEAD" || request.method === "CONNECT" || nullBodyStatus.includes(internalResponse.status))) {
+ internalResponse.body = null;
+ fetchParams.controller.dump = true;
+ }
+ if (request.integrity) {
+ const processBodyError = (reason) => fetchFinale(fetchParams, makeNetworkError(reason));
+ if (request.responseTainting === "opaque" || response.body == null) {
+ processBodyError(response.error);
+ return;
+ }
+ const processBody = (bytes2) => {
+ if (!bytesMatch(bytes2, request.integrity)) {
+ processBodyError("integrity mismatch");
+ return;
+ }
+ response.body = safelyExtractBody(bytes2)[0];
+ fetchFinale(fetchParams, response);
+ };
+ await fullyReadBody(response.body, processBody, processBodyError);
+ } else {
+ fetchFinale(fetchParams, response);
+ }
+ }
+ function schemeFetch(fetchParams) {
+ if (isCancelled(fetchParams) && fetchParams.request.redirectCount === 0) {
+ return Promise.resolve(makeAppropriateNetworkError(fetchParams));
+ }
+ const { request } = fetchParams;
+ const { protocol: scheme } = requestCurrentURL(request);
+ switch (scheme) {
+ case "about:": {
+ return Promise.resolve(makeNetworkError("about scheme is not supported"));
+ }
+ case "blob:": {
+ if (!resolveObjectURL) {
+ resolveObjectURL = __require("node:buffer").resolveObjectURL;
+ }
+ const blobURLEntry = requestCurrentURL(request);
+ if (blobURLEntry.search.length !== 0) {
+ return Promise.resolve(makeNetworkError("NetworkError when attempting to fetch resource."));
+ }
+ const blob = resolveObjectURL(blobURLEntry.toString());
+ if (request.method !== "GET" || !isBlobLike(blob)) {
+ return Promise.resolve(makeNetworkError("invalid method"));
+ }
+ const response = makeResponse();
+ const fullLength = blob.size;
+ const serializedFullLength = isomorphicEncode(`${fullLength}`);
+ const type = blob.type;
+ if (!request.headersList.contains("range", true)) {
+ const bodyWithType = extractBody(blob);
+ response.statusText = "OK";
+ response.body = bodyWithType[0];
+ response.headersList.set("content-length", serializedFullLength, true);
+ response.headersList.set("content-type", type, true);
+ } else {
+ response.rangeRequested = true;
+ const rangeHeader = request.headersList.get("range", true);
+ const rangeValue = simpleRangeHeaderValue(rangeHeader, true);
+ if (rangeValue === "failure") {
+ return Promise.resolve(makeNetworkError("failed to fetch the data URL"));
+ }
+ let { rangeStartValue: rangeStart, rangeEndValue: rangeEnd } = rangeValue;
+ if (rangeStart === null) {
+ rangeStart = fullLength - rangeEnd;
+ rangeEnd = rangeStart + rangeEnd - 1;
+ } else {
+ if (rangeStart >= fullLength) {
+ return Promise.resolve(makeNetworkError("Range start is greater than the blob's size."));
+ }
+ if (rangeEnd === null || rangeEnd >= fullLength) {
+ rangeEnd = fullLength - 1;
+ }
+ }
+ const slicedBlob = blob.slice(rangeStart, rangeEnd, type);
+ const slicedBodyWithType = extractBody(slicedBlob);
+ response.body = slicedBodyWithType[0];
+ const serializedSlicedLength = isomorphicEncode(`${slicedBlob.size}`);
+ const contentRange = buildContentRange(rangeStart, rangeEnd, fullLength);
+ response.status = 206;
+ response.statusText = "Partial Content";
+ response.headersList.set("content-length", serializedSlicedLength, true);
+ response.headersList.set("content-type", type, true);
+ response.headersList.set("content-range", contentRange, true);
+ }
+ return Promise.resolve(response);
+ }
+ case "data:": {
+ const currentURL = requestCurrentURL(request);
+ const dataURLStruct = dataURLProcessor(currentURL);
+ if (dataURLStruct === "failure") {
+ return Promise.resolve(makeNetworkError("failed to fetch the data URL"));
+ }
+ const mimeType = serializeAMimeType(dataURLStruct.mimeType);
+ return Promise.resolve(makeResponse({
+ statusText: "OK",
+ headersList: [
+ ["content-type", { name: "Content-Type", value: mimeType }]
+ ],
+ body: safelyExtractBody(dataURLStruct.body)[0]
+ }));
+ }
+ case "file:": {
+ return Promise.resolve(makeNetworkError("not implemented... yet..."));
+ }
+ case "http:":
+ case "https:": {
+ return httpFetch(fetchParams).catch((err) => makeNetworkError(err));
+ }
+ default: {
+ return Promise.resolve(makeNetworkError("unknown scheme"));
+ }
+ }
+ }
+ function finalizeResponse(fetchParams, response) {
+ fetchParams.request.done = true;
+ if (fetchParams.processResponseDone != null) {
+ queueMicrotask(() => fetchParams.processResponseDone(response));
+ }
+ }
+ function fetchFinale(fetchParams, response) {
+ let timingInfo = fetchParams.timingInfo;
+ const processResponseEndOfBody = () => {
+ const unsafeEndTime = Date.now();
+ if (fetchParams.request.destination === "document") {
+ fetchParams.controller.fullTimingInfo = timingInfo;
+ }
+ fetchParams.controller.reportTimingSteps = () => {
+ if (fetchParams.request.url.protocol !== "https:") {
+ return;
+ }
+ timingInfo.endTime = unsafeEndTime;
+ let cacheState = response.cacheState;
+ const bodyInfo = response.bodyInfo;
+ if (!response.timingAllowPassed) {
+ timingInfo = createOpaqueTimingInfo(timingInfo);
+ cacheState = "";
+ }
+ let responseStatus = 0;
+ if (fetchParams.request.mode !== "navigator" || !response.hasCrossOriginRedirects) {
+ responseStatus = response.status;
+ const mimeType = extractMimeType(response.headersList);
+ if (mimeType !== "failure") {
+ bodyInfo.contentType = minimizeSupportedMimeType(mimeType);
+ }
+ }
+ if (fetchParams.request.initiatorType != null) {
+ markResourceTiming(timingInfo, fetchParams.request.url.href, fetchParams.request.initiatorType, globalThis, cacheState, bodyInfo, responseStatus);
+ }
+ };
+ const processResponseEndOfBodyTask = () => {
+ fetchParams.request.done = true;
+ if (fetchParams.processResponseEndOfBody != null) {
+ queueMicrotask(() => fetchParams.processResponseEndOfBody(response));
+ }
+ if (fetchParams.request.initiatorType != null) {
+ fetchParams.controller.reportTimingSteps();
+ }
+ };
+ queueMicrotask(() => processResponseEndOfBodyTask());
+ };
+ if (fetchParams.processResponse != null) {
+ queueMicrotask(() => {
+ fetchParams.processResponse(response);
+ fetchParams.processResponse = null;
+ });
+ }
+ const internalResponse = response.type === "error" ? response : response.internalResponse ?? response;
+ if (internalResponse.body == null) {
+ processResponseEndOfBody();
+ } else {
+ finished(internalResponse.body.stream, () => {
+ processResponseEndOfBody();
+ });
+ }
+ }
+ async function httpFetch(fetchParams) {
+ const request = fetchParams.request;
+ let response = null;
+ let actualResponse = null;
+ const timingInfo = fetchParams.timingInfo;
+ if (request.serviceWorkers === "all") {
+ }
+ if (response === null) {
+ if (request.redirect === "follow") {
+ request.serviceWorkers = "none";
+ }
+ actualResponse = response = await httpNetworkOrCacheFetch(fetchParams);
+ if (request.responseTainting === "cors" && corsCheck(request, response) === "failure") {
+ return makeNetworkError("cors failure");
+ }
+ if (TAOCheck(request, response) === "failure") {
+ request.timingAllowFailed = true;
+ }
+ }
+ if ((request.responseTainting === "opaque" || response.type === "opaque") && crossOriginResourcePolicyCheck(
+ request.origin,
+ request.client,
+ request.destination,
+ actualResponse
+ ) === "blocked") {
+ return makeNetworkError("blocked");
+ }
+ if (redirectStatusSet.has(actualResponse.status)) {
+ if (request.redirect !== "manual") {
+ fetchParams.controller.connection.destroy(void 0, false);
+ }
+ if (request.redirect === "error") {
+ response = makeNetworkError("unexpected redirect");
+ } else if (request.redirect === "manual") {
+ response = actualResponse;
+ } else if (request.redirect === "follow") {
+ response = await httpRedirectFetch(fetchParams, response);
+ } else {
+ assert(false);
+ }
+ }
+ response.timingInfo = timingInfo;
+ return response;
+ }
+ function httpRedirectFetch(fetchParams, response) {
+ const request = fetchParams.request;
+ const actualResponse = response.internalResponse ? response.internalResponse : response;
+ let locationURL;
+ try {
+ locationURL = responseLocationURL(
+ actualResponse,
+ requestCurrentURL(request).hash
+ );
+ if (locationURL == null) {
+ return response;
+ }
+ } catch (err) {
+ return Promise.resolve(makeNetworkError(err));
+ }
+ if (!urlIsHttpHttpsScheme(locationURL)) {
+ return Promise.resolve(makeNetworkError("URL scheme must be a HTTP(S) scheme"));
+ }
+ if (request.redirectCount === 20) {
+ return Promise.resolve(makeNetworkError("redirect count exceeded"));
+ }
+ request.redirectCount += 1;
+ if (request.mode === "cors" && (locationURL.username || locationURL.password) && !sameOrigin(request, locationURL)) {
+ return Promise.resolve(makeNetworkError('cross origin not allowed for request mode "cors"'));
+ }
+ if (request.responseTainting === "cors" && (locationURL.username || locationURL.password)) {
+ return Promise.resolve(makeNetworkError(
+ 'URL cannot contain credentials for request mode "cors"'
+ ));
+ }
+ if (actualResponse.status !== 303 && request.body != null && request.body.source == null) {
+ return Promise.resolve(makeNetworkError());
+ }
+ if ([301, 302].includes(actualResponse.status) && request.method === "POST" || actualResponse.status === 303 && !GET_OR_HEAD.includes(request.method)) {
+ request.method = "GET";
+ request.body = null;
+ for (const headerName of requestBodyHeader) {
+ request.headersList.delete(headerName);
+ }
+ }
+ if (!sameOrigin(requestCurrentURL(request), locationURL)) {
+ request.headersList.delete("authorization", true);
+ request.headersList.delete("proxy-authorization", true);
+ request.headersList.delete("cookie", true);
+ request.headersList.delete("host", true);
+ }
+ if (request.body != null) {
+ assert(request.body.source != null);
+ request.body = safelyExtractBody(request.body.source)[0];
+ }
+ const timingInfo = fetchParams.timingInfo;
+ timingInfo.redirectEndTime = timingInfo.postRedirectStartTime = coarsenedSharedCurrentTime(fetchParams.crossOriginIsolatedCapability);
+ if (timingInfo.redirectStartTime === 0) {
+ timingInfo.redirectStartTime = timingInfo.startTime;
+ }
+ request.urlList.push(locationURL);
+ setRequestReferrerPolicyOnRedirect(request, actualResponse);
+ return mainFetch(fetchParams, true);
+ }
+ async function httpNetworkOrCacheFetch(fetchParams, isAuthenticationFetch = false, isNewConnectionFetch = false) {
+ const request = fetchParams.request;
+ let httpFetchParams = null;
+ let httpRequest = null;
+ let response = null;
+ const httpCache = null;
+ const revalidatingFlag = false;
+ if (request.window === "no-window" && request.redirect === "error") {
+ httpFetchParams = fetchParams;
+ httpRequest = request;
+ } else {
+ httpRequest = cloneRequest(request);
+ httpFetchParams = { ...fetchParams };
+ httpFetchParams.request = httpRequest;
+ }
+ const includeCredentials = request.credentials === "include" || request.credentials === "same-origin" && request.responseTainting === "basic";
+ const contentLength = httpRequest.body ? httpRequest.body.length : null;
+ let contentLengthHeaderValue = null;
+ if (httpRequest.body == null && ["POST", "PUT"].includes(httpRequest.method)) {
+ contentLengthHeaderValue = "0";
+ }
+ if (contentLength != null) {
+ contentLengthHeaderValue = isomorphicEncode(`${contentLength}`);
+ }
+ if (contentLengthHeaderValue != null) {
+ httpRequest.headersList.append("content-length", contentLengthHeaderValue, true);
+ }
+ if (contentLength != null && httpRequest.keepalive) {
+ }
+ if (httpRequest.referrer instanceof URL) {
+ httpRequest.headersList.append("referer", isomorphicEncode(httpRequest.referrer.href), true);
+ }
+ appendRequestOriginHeader(httpRequest);
+ appendFetchMetadata(httpRequest);
+ if (!httpRequest.headersList.contains("user-agent", true)) {
+ httpRequest.headersList.append("user-agent", defaultUserAgent);
+ }
+ if (httpRequest.cache === "default" && (httpRequest.headersList.contains("if-modified-since", true) || httpRequest.headersList.contains("if-none-match", true) || httpRequest.headersList.contains("if-unmodified-since", true) || httpRequest.headersList.contains("if-match", true) || httpRequest.headersList.contains("if-range", true))) {
+ httpRequest.cache = "no-store";
+ }
+ if (httpRequest.cache === "no-cache" && !httpRequest.preventNoCacheCacheControlHeaderModification && !httpRequest.headersList.contains("cache-control", true)) {
+ httpRequest.headersList.append("cache-control", "max-age=0", true);
+ }
+ if (httpRequest.cache === "no-store" || httpRequest.cache === "reload") {
+ if (!httpRequest.headersList.contains("pragma", true)) {
+ httpRequest.headersList.append("pragma", "no-cache", true);
+ }
+ if (!httpRequest.headersList.contains("cache-control", true)) {
+ httpRequest.headersList.append("cache-control", "no-cache", true);
+ }
+ }
+ if (httpRequest.headersList.contains("range", true)) {
+ httpRequest.headersList.append("accept-encoding", "identity", true);
+ }
+ if (!httpRequest.headersList.contains("accept-encoding", true)) {
+ if (urlHasHttpsScheme(requestCurrentURL(httpRequest))) {
+ httpRequest.headersList.append("accept-encoding", "br, gzip, deflate", true);
+ } else {
+ httpRequest.headersList.append("accept-encoding", "gzip, deflate", true);
+ }
+ }
+ httpRequest.headersList.delete("host", true);
+ if (includeCredentials) {
+ }
+ if (httpCache == null) {
+ httpRequest.cache = "no-store";
+ }
+ if (httpRequest.cache !== "no-store" && httpRequest.cache !== "reload") {
+ }
+ if (response == null) {
+ if (httpRequest.cache === "only-if-cached") {
+ return makeNetworkError("only if cached");
+ }
+ const forwardResponse = await httpNetworkFetch(
+ httpFetchParams,
+ includeCredentials,
+ isNewConnectionFetch
+ );
+ if (!safeMethodsSet.has(httpRequest.method) && forwardResponse.status >= 200 && forwardResponse.status <= 399) {
+ }
+ if (revalidatingFlag && forwardResponse.status === 304) {
+ }
+ if (response == null) {
+ response = forwardResponse;
+ }
+ }
+ response.urlList = [...httpRequest.urlList];
+ if (httpRequest.headersList.contains("range", true)) {
+ response.rangeRequested = true;
+ }
+ response.requestIncludesCredentials = includeCredentials;
+ if (response.status === 407) {
+ if (request.window === "no-window") {
+ return makeNetworkError();
+ }
+ if (isCancelled(fetchParams)) {
+ return makeAppropriateNetworkError(fetchParams);
+ }
+ return makeNetworkError("proxy authentication required");
+ }
+ if (
+ // response’s status is 421
+ response.status === 421 && // isNewConnectionFetch is false
+ !isNewConnectionFetch && // request’s body is null, or request’s body is non-null and request’s body’s source is non-null
+ (request.body == null || request.body.source != null)
+ ) {
+ if (isCancelled(fetchParams)) {
+ return makeAppropriateNetworkError(fetchParams);
+ }
+ fetchParams.controller.connection.destroy();
+ response = await httpNetworkOrCacheFetch(
+ fetchParams,
+ isAuthenticationFetch,
+ true
+ );
+ }
+ if (isAuthenticationFetch) {
+ }
+ return response;
+ }
+ async function httpNetworkFetch(fetchParams, includeCredentials = false, forceNewConnection = false) {
+ assert(!fetchParams.controller.connection || fetchParams.controller.connection.destroyed);
+ fetchParams.controller.connection = {
+ abort: null,
+ destroyed: false,
+ destroy(err, abort = true) {
+ if (!this.destroyed) {
+ this.destroyed = true;
+ if (abort) {
+ this.abort?.(err ?? new DOMException("The operation was aborted.", "AbortError"));
+ }
+ }
+ }
+ };
+ const request = fetchParams.request;
+ let response = null;
+ const timingInfo = fetchParams.timingInfo;
+ const httpCache = null;
+ if (httpCache == null) {
+ request.cache = "no-store";
+ }
+ const newConnection = forceNewConnection ? "yes" : "no";
+ if (request.mode === "websocket") {
+ } else {
+ }
+ let requestBody = null;
+ if (request.body == null && fetchParams.processRequestEndOfBody) {
+ queueMicrotask(() => fetchParams.processRequestEndOfBody());
+ } else if (request.body != null) {
+ const processBodyChunk = async function* (bytes2) {
+ if (isCancelled(fetchParams)) {
+ return;
+ }
+ yield bytes2;
+ fetchParams.processRequestBodyChunkLength?.(bytes2.byteLength);
+ };
+ const processEndOfBody = () => {
+ if (isCancelled(fetchParams)) {
+ return;
+ }
+ if (fetchParams.processRequestEndOfBody) {
+ fetchParams.processRequestEndOfBody();
+ }
+ };
+ const processBodyError = (e) => {
+ if (isCancelled(fetchParams)) {
+ return;
+ }
+ if (e.name === "AbortError") {
+ fetchParams.controller.abort();
+ } else {
+ fetchParams.controller.terminate(e);
+ }
+ };
+ requestBody = (async function* () {
+ try {
+ for await (const bytes2 of request.body.stream) {
+ yield* processBodyChunk(bytes2);
+ }
+ processEndOfBody();
+ } catch (err) {
+ processBodyError(err);
+ }
+ })();
+ }
+ try {
+ const { body, status, statusText, headersList, socket } = await dispatch({ body: requestBody });
+ if (socket) {
+ response = makeResponse({ status, statusText, headersList, socket });
+ } else {
+ const iterator = body[Symbol.asyncIterator]();
+ fetchParams.controller.next = () => iterator.next();
+ response = makeResponse({ status, statusText, headersList });
+ }
+ } catch (err) {
+ if (err.name === "AbortError") {
+ fetchParams.controller.connection.destroy();
+ return makeAppropriateNetworkError(fetchParams, err);
+ }
+ return makeNetworkError(err);
+ }
+ const pullAlgorithm = async () => {
+ await fetchParams.controller.resume();
+ };
+ const cancelAlgorithm = (reason) => {
+ if (!isCancelled(fetchParams)) {
+ fetchParams.controller.abort(reason);
+ }
+ };
+ const stream = new ReadableStream(
+ {
+ async start(controller) {
+ fetchParams.controller.controller = controller;
+ },
+ async pull(controller) {
+ await pullAlgorithm(controller);
+ },
+ async cancel(reason) {
+ await cancelAlgorithm(reason);
+ },
+ type: "bytes"
+ }
+ );
+ response.body = { stream, source: null, length: null };
+ fetchParams.controller.onAborted = onAborted;
+ fetchParams.controller.on("terminated", onAborted);
+ fetchParams.controller.resume = async () => {
+ while (true) {
+ let bytes2;
+ let isFailure;
+ try {
+ const { done, value } = await fetchParams.controller.next();
+ if (isAborted(fetchParams)) {
+ break;
+ }
+ bytes2 = done ? void 0 : value;
+ } catch (err) {
+ if (fetchParams.controller.ended && !timingInfo.encodedBodySize) {
+ bytes2 = void 0;
+ } else {
+ bytes2 = err;
+ isFailure = true;
+ }
+ }
+ if (bytes2 === void 0) {
+ readableStreamClose(fetchParams.controller.controller);
+ finalizeResponse(fetchParams, response);
+ return;
+ }
+ timingInfo.decodedBodySize += bytes2?.byteLength ?? 0;
+ if (isFailure) {
+ fetchParams.controller.terminate(bytes2);
+ return;
+ }
+ const buffer = new Uint8Array(bytes2);
+ if (buffer.byteLength) {
+ fetchParams.controller.controller.enqueue(buffer);
+ }
+ if (isErrored(stream)) {
+ fetchParams.controller.terminate();
+ return;
+ }
+ if (fetchParams.controller.controller.desiredSize <= 0) {
+ return;
+ }
+ }
+ };
+ function onAborted(reason) {
+ if (isAborted(fetchParams)) {
+ response.aborted = true;
+ if (isReadable(stream)) {
+ fetchParams.controller.controller.error(
+ fetchParams.controller.serializedAbortReason
+ );
+ }
+ } else {
+ if (isReadable(stream)) {
+ fetchParams.controller.controller.error(new TypeError("terminated", {
+ cause: isErrorLike(reason) ? reason : void 0
+ }));
+ }
+ }
+ fetchParams.controller.connection.destroy();
+ }
+ return response;
+ function dispatch({ body }) {
+ const url = requestCurrentURL(request);
+ const agent = fetchParams.controller.dispatcher;
+ return new Promise((resolve, reject) => agent.dispatch(
+ {
+ path: url.pathname + url.search,
+ origin: url.origin,
+ method: request.method,
+ body: agent.isMockActive ? request.body && (request.body.source || request.body.stream) : body,
+ headers: request.headersList.entries,
+ maxRedirections: 0,
+ upgrade: request.mode === "websocket" ? "websocket" : void 0
+ },
+ {
+ body: null,
+ abort: null,
+ onConnect(abort) {
+ const { connection } = fetchParams.controller;
+ timingInfo.finalConnectionTimingInfo = clampAndCoarsenConnectionTimingInfo(void 0, timingInfo.postRedirectStartTime, fetchParams.crossOriginIsolatedCapability);
+ if (connection.destroyed) {
+ abort(new DOMException("The operation was aborted.", "AbortError"));
+ } else {
+ fetchParams.controller.on("terminated", abort);
+ this.abort = connection.abort = abort;
+ }
+ timingInfo.finalNetworkRequestStartTime = coarsenedSharedCurrentTime(fetchParams.crossOriginIsolatedCapability);
+ },
+ onResponseStarted() {
+ timingInfo.finalNetworkResponseStartTime = coarsenedSharedCurrentTime(fetchParams.crossOriginIsolatedCapability);
+ },
+ onHeaders(status, rawHeaders, resume, statusText) {
+ if (status < 200) {
+ return;
+ }
+ let location = "";
+ const headersList = new HeadersList();
+ for (let i = 0; i < rawHeaders.length; i += 2) {
+ headersList.append(bufferToLowerCasedHeaderName(rawHeaders[i]), rawHeaders[i + 1].toString("latin1"), true);
+ }
+ location = headersList.get("location", true);
+ this.body = new Readable2({ read: resume });
+ const decoders = [];
+ const willFollow = location && request.redirect === "follow" && redirectStatusSet.has(status);
+ if (request.method !== "HEAD" && request.method !== "CONNECT" && !nullBodyStatus.includes(status) && !willFollow) {
+ const contentEncoding = headersList.get("content-encoding", true);
+ const codings = contentEncoding ? contentEncoding.toLowerCase().split(",") : [];
+ const maxContentEncodings = 5;
+ if (codings.length > maxContentEncodings) {
+ reject(new Error(`too many content-encodings in response: ${codings.length}, maximum allowed is ${maxContentEncodings}`));
+ return true;
+ }
+ for (let i = codings.length - 1; i >= 0; --i) {
+ const coding = codings[i].trim();
+ if (coding === "x-gzip" || coding === "gzip") {
+ decoders.push(zlib.createGunzip({
+ // Be less strict when decoding compressed responses, since sometimes
+ // servers send slightly invalid responses that are still accepted
+ // by common browsers.
+ // Always using Z_SYNC_FLUSH is what cURL does.
+ flush: zlib.constants.Z_SYNC_FLUSH,
+ finishFlush: zlib.constants.Z_SYNC_FLUSH
+ }));
+ } else if (coding === "deflate") {
+ decoders.push(createInflate({
+ flush: zlib.constants.Z_SYNC_FLUSH,
+ finishFlush: zlib.constants.Z_SYNC_FLUSH
+ }));
+ } else if (coding === "br") {
+ decoders.push(zlib.createBrotliDecompress({
+ flush: zlib.constants.BROTLI_OPERATION_FLUSH,
+ finishFlush: zlib.constants.BROTLI_OPERATION_FLUSH
+ }));
+ } else {
+ decoders.length = 0;
+ break;
+ }
+ }
+ }
+ const onError = this.onError.bind(this);
+ resolve({
+ status,
+ statusText,
+ headersList,
+ body: decoders.length ? pipeline(this.body, ...decoders, (err) => {
+ if (err) {
+ this.onError(err);
+ }
+ }).on("error", onError) : this.body.on("error", onError)
+ });
+ return true;
+ },
+ onData(chunk) {
+ if (fetchParams.controller.dump) {
+ return;
+ }
+ const bytes2 = chunk;
+ timingInfo.encodedBodySize += bytes2.byteLength;
+ return this.body.push(bytes2);
+ },
+ onComplete() {
+ if (this.abort) {
+ fetchParams.controller.off("terminated", this.abort);
+ }
+ if (fetchParams.controller.onAborted) {
+ fetchParams.controller.off("terminated", fetchParams.controller.onAborted);
+ }
+ fetchParams.controller.ended = true;
+ this.body.push(null);
+ },
+ onError(error) {
+ if (this.abort) {
+ fetchParams.controller.off("terminated", this.abort);
+ }
+ this.body?.destroy(error);
+ fetchParams.controller.terminate(error);
+ reject(error);
+ },
+ onUpgrade(status, rawHeaders, socket) {
+ if (status !== 101) {
+ return;
+ }
+ const headersList = new HeadersList();
+ for (let i = 0; i < rawHeaders.length; i += 2) {
+ headersList.append(bufferToLowerCasedHeaderName(rawHeaders[i]), rawHeaders[i + 1].toString("latin1"), true);
+ }
+ resolve({
+ status,
+ statusText: STATUS_CODES[status],
+ headersList,
+ socket
+ });
+ return true;
+ }
+ }
+ ));
+ }
+ }
+ module.exports = {
+ fetch: fetch3,
+ Fetch,
+ fetching,
+ finalizeAndReportTiming
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fileapi/symbols.js
+var require_symbols3 = __commonJS({
+ "viewer/node_modules/undici/lib/web/fileapi/symbols.js"(exports, module) {
+ "use strict";
+ module.exports = {
+ kState: /* @__PURE__ */ Symbol("FileReader state"),
+ kResult: /* @__PURE__ */ Symbol("FileReader result"),
+ kError: /* @__PURE__ */ Symbol("FileReader error"),
+ kLastProgressEventFired: /* @__PURE__ */ Symbol("FileReader last progress event fired timestamp"),
+ kEvents: /* @__PURE__ */ Symbol("FileReader events"),
+ kAborted: /* @__PURE__ */ Symbol("FileReader aborted")
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fileapi/progressevent.js
+var require_progressevent = __commonJS({
+ "viewer/node_modules/undici/lib/web/fileapi/progressevent.js"(exports, module) {
+ "use strict";
+ var { webidl } = require_webidl();
+ var kState = /* @__PURE__ */ Symbol("ProgressEvent state");
+ var ProgressEvent = class _ProgressEvent extends Event {
+ constructor(type, eventInitDict = {}) {
+ type = webidl.converters.DOMString(type, "ProgressEvent constructor", "type");
+ eventInitDict = webidl.converters.ProgressEventInit(eventInitDict ?? {});
+ super(type, eventInitDict);
+ this[kState] = {
+ lengthComputable: eventInitDict.lengthComputable,
+ loaded: eventInitDict.loaded,
+ total: eventInitDict.total
+ };
+ }
+ get lengthComputable() {
+ webidl.brandCheck(this, _ProgressEvent);
+ return this[kState].lengthComputable;
+ }
+ get loaded() {
+ webidl.brandCheck(this, _ProgressEvent);
+ return this[kState].loaded;
+ }
+ get total() {
+ webidl.brandCheck(this, _ProgressEvent);
+ return this[kState].total;
+ }
+ };
+ webidl.converters.ProgressEventInit = webidl.dictionaryConverter([
+ {
+ key: "lengthComputable",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "loaded",
+ converter: webidl.converters["unsigned long long"],
+ defaultValue: () => 0
+ },
+ {
+ key: "total",
+ converter: webidl.converters["unsigned long long"],
+ defaultValue: () => 0
+ },
+ {
+ key: "bubbles",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "cancelable",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "composed",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ }
+ ]);
+ module.exports = {
+ ProgressEvent
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fileapi/encoding.js
+var require_encoding = __commonJS({
+ "viewer/node_modules/undici/lib/web/fileapi/encoding.js"(exports, module) {
+ "use strict";
+ function getEncoding(label) {
+ if (!label) {
+ return "failure";
+ }
+ switch (label.trim().toLowerCase()) {
+ case "unicode-1-1-utf-8":
+ case "unicode11utf8":
+ case "unicode20utf8":
+ case "utf-8":
+ case "utf8":
+ case "x-unicode20utf8":
+ return "UTF-8";
+ case "866":
+ case "cp866":
+ case "csibm866":
+ case "ibm866":
+ return "IBM866";
+ case "csisolatin2":
+ case "iso-8859-2":
+ case "iso-ir-101":
+ case "iso8859-2":
+ case "iso88592":
+ case "iso_8859-2":
+ case "iso_8859-2:1987":
+ case "l2":
+ case "latin2":
+ return "ISO-8859-2";
+ case "csisolatin3":
+ case "iso-8859-3":
+ case "iso-ir-109":
+ case "iso8859-3":
+ case "iso88593":
+ case "iso_8859-3":
+ case "iso_8859-3:1988":
+ case "l3":
+ case "latin3":
+ return "ISO-8859-3";
+ case "csisolatin4":
+ case "iso-8859-4":
+ case "iso-ir-110":
+ case "iso8859-4":
+ case "iso88594":
+ case "iso_8859-4":
+ case "iso_8859-4:1988":
+ case "l4":
+ case "latin4":
+ return "ISO-8859-4";
+ case "csisolatincyrillic":
+ case "cyrillic":
+ case "iso-8859-5":
+ case "iso-ir-144":
+ case "iso8859-5":
+ case "iso88595":
+ case "iso_8859-5":
+ case "iso_8859-5:1988":
+ return "ISO-8859-5";
+ case "arabic":
+ case "asmo-708":
+ case "csiso88596e":
+ case "csiso88596i":
+ case "csisolatinarabic":
+ case "ecma-114":
+ case "iso-8859-6":
+ case "iso-8859-6-e":
+ case "iso-8859-6-i":
+ case "iso-ir-127":
+ case "iso8859-6":
+ case "iso88596":
+ case "iso_8859-6":
+ case "iso_8859-6:1987":
+ return "ISO-8859-6";
+ case "csisolatingreek":
+ case "ecma-118":
+ case "elot_928":
+ case "greek":
+ case "greek8":
+ case "iso-8859-7":
+ case "iso-ir-126":
+ case "iso8859-7":
+ case "iso88597":
+ case "iso_8859-7":
+ case "iso_8859-7:1987":
+ case "sun_eu_greek":
+ return "ISO-8859-7";
+ case "csiso88598e":
+ case "csisolatinhebrew":
+ case "hebrew":
+ case "iso-8859-8":
+ case "iso-8859-8-e":
+ case "iso-ir-138":
+ case "iso8859-8":
+ case "iso88598":
+ case "iso_8859-8":
+ case "iso_8859-8:1988":
+ case "visual":
+ return "ISO-8859-8";
+ case "csiso88598i":
+ case "iso-8859-8-i":
+ case "logical":
+ return "ISO-8859-8-I";
+ case "csisolatin6":
+ case "iso-8859-10":
+ case "iso-ir-157":
+ case "iso8859-10":
+ case "iso885910":
+ case "l6":
+ case "latin6":
+ return "ISO-8859-10";
+ case "iso-8859-13":
+ case "iso8859-13":
+ case "iso885913":
+ return "ISO-8859-13";
+ case "iso-8859-14":
+ case "iso8859-14":
+ case "iso885914":
+ return "ISO-8859-14";
+ case "csisolatin9":
+ case "iso-8859-15":
+ case "iso8859-15":
+ case "iso885915":
+ case "iso_8859-15":
+ case "l9":
+ return "ISO-8859-15";
+ case "iso-8859-16":
+ return "ISO-8859-16";
+ case "cskoi8r":
+ case "koi":
+ case "koi8":
+ case "koi8-r":
+ case "koi8_r":
+ return "KOI8-R";
+ case "koi8-ru":
+ case "koi8-u":
+ return "KOI8-U";
+ case "csmacintosh":
+ case "mac":
+ case "macintosh":
+ case "x-mac-roman":
+ return "macintosh";
+ case "iso-8859-11":
+ case "iso8859-11":
+ case "iso885911":
+ case "tis-620":
+ case "windows-874":
+ return "windows-874";
+ case "cp1250":
+ case "windows-1250":
+ case "x-cp1250":
+ return "windows-1250";
+ case "cp1251":
+ case "windows-1251":
+ case "x-cp1251":
+ return "windows-1251";
+ case "ansi_x3.4-1968":
+ case "ascii":
+ case "cp1252":
+ case "cp819":
+ case "csisolatin1":
+ case "ibm819":
+ case "iso-8859-1":
+ case "iso-ir-100":
+ case "iso8859-1":
+ case "iso88591":
+ case "iso_8859-1":
+ case "iso_8859-1:1987":
+ case "l1":
+ case "latin1":
+ case "us-ascii":
+ case "windows-1252":
+ case "x-cp1252":
+ return "windows-1252";
+ case "cp1253":
+ case "windows-1253":
+ case "x-cp1253":
+ return "windows-1253";
+ case "cp1254":
+ case "csisolatin5":
+ case "iso-8859-9":
+ case "iso-ir-148":
+ case "iso8859-9":
+ case "iso88599":
+ case "iso_8859-9":
+ case "iso_8859-9:1989":
+ case "l5":
+ case "latin5":
+ case "windows-1254":
+ case "x-cp1254":
+ return "windows-1254";
+ case "cp1255":
+ case "windows-1255":
+ case "x-cp1255":
+ return "windows-1255";
+ case "cp1256":
+ case "windows-1256":
+ case "x-cp1256":
+ return "windows-1256";
+ case "cp1257":
+ case "windows-1257":
+ case "x-cp1257":
+ return "windows-1257";
+ case "cp1258":
+ case "windows-1258":
+ case "x-cp1258":
+ return "windows-1258";
+ case "x-mac-cyrillic":
+ case "x-mac-ukrainian":
+ return "x-mac-cyrillic";
+ case "chinese":
+ case "csgb2312":
+ case "csiso58gb231280":
+ case "gb2312":
+ case "gb_2312":
+ case "gb_2312-80":
+ case "gbk":
+ case "iso-ir-58":
+ case "x-gbk":
+ return "GBK";
+ case "gb18030":
+ return "gb18030";
+ case "big5":
+ case "big5-hkscs":
+ case "cn-big5":
+ case "csbig5":
+ case "x-x-big5":
+ return "Big5";
+ case "cseucpkdfmtjapanese":
+ case "euc-jp":
+ case "x-euc-jp":
+ return "EUC-JP";
+ case "csiso2022jp":
+ case "iso-2022-jp":
+ return "ISO-2022-JP";
+ case "csshiftjis":
+ case "ms932":
+ case "ms_kanji":
+ case "shift-jis":
+ case "shift_jis":
+ case "sjis":
+ case "windows-31j":
+ case "x-sjis":
+ return "Shift_JIS";
+ case "cseuckr":
+ case "csksc56011987":
+ case "euc-kr":
+ case "iso-ir-149":
+ case "korean":
+ case "ks_c_5601-1987":
+ case "ks_c_5601-1989":
+ case "ksc5601":
+ case "ksc_5601":
+ case "windows-949":
+ return "EUC-KR";
+ case "csiso2022kr":
+ case "hz-gb-2312":
+ case "iso-2022-cn":
+ case "iso-2022-cn-ext":
+ case "iso-2022-kr":
+ case "replacement":
+ return "replacement";
+ case "unicodefffe":
+ case "utf-16be":
+ return "UTF-16BE";
+ case "csunicode":
+ case "iso-10646-ucs-2":
+ case "ucs-2":
+ case "unicode":
+ case "unicodefeff":
+ case "utf-16":
+ case "utf-16le":
+ return "UTF-16LE";
+ case "x-user-defined":
+ return "x-user-defined";
+ default:
+ return "failure";
+ }
+ }
+ module.exports = {
+ getEncoding
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fileapi/util.js
+var require_util4 = __commonJS({
+ "viewer/node_modules/undici/lib/web/fileapi/util.js"(exports, module) {
+ "use strict";
+ var {
+ kState,
+ kError,
+ kResult,
+ kAborted,
+ kLastProgressEventFired
+ } = require_symbols3();
+ var { ProgressEvent } = require_progressevent();
+ var { getEncoding } = require_encoding();
+ var { serializeAMimeType, parseMIMEType } = require_data_url();
+ var { types } = __require("node:util");
+ var { StringDecoder } = __require("string_decoder");
+ var { btoa: btoa2 } = __require("node:buffer");
+ var staticPropertyDescriptors = {
+ enumerable: true,
+ writable: false,
+ configurable: false
+ };
+ function readOperation(fr, blob, type, encodingName) {
+ if (fr[kState] === "loading") {
+ throw new DOMException("Invalid state", "InvalidStateError");
+ }
+ fr[kState] = "loading";
+ fr[kResult] = null;
+ fr[kError] = null;
+ const stream = blob.stream();
+ const reader = stream.getReader();
+ const bytes2 = [];
+ let chunkPromise = reader.read();
+ let isFirstChunk = true;
+ (async () => {
+ while (!fr[kAborted]) {
+ try {
+ const { done, value } = await chunkPromise;
+ if (isFirstChunk && !fr[kAborted]) {
+ queueMicrotask(() => {
+ fireAProgressEvent("loadstart", fr);
+ });
+ }
+ isFirstChunk = false;
+ if (!done && types.isUint8Array(value)) {
+ bytes2.push(value);
+ if ((fr[kLastProgressEventFired] === void 0 || Date.now() - fr[kLastProgressEventFired] >= 50) && !fr[kAborted]) {
+ fr[kLastProgressEventFired] = Date.now();
+ queueMicrotask(() => {
+ fireAProgressEvent("progress", fr);
+ });
+ }
+ chunkPromise = reader.read();
+ } else if (done) {
+ queueMicrotask(() => {
+ fr[kState] = "done";
+ try {
+ const result = packageData(bytes2, type, blob.type, encodingName);
+ if (fr[kAborted]) {
+ return;
+ }
+ fr[kResult] = result;
+ fireAProgressEvent("load", fr);
+ } catch (error) {
+ fr[kError] = error;
+ fireAProgressEvent("error", fr);
+ }
+ if (fr[kState] !== "loading") {
+ fireAProgressEvent("loadend", fr);
+ }
+ });
+ break;
+ }
+ } catch (error) {
+ if (fr[kAborted]) {
+ return;
+ }
+ queueMicrotask(() => {
+ fr[kState] = "done";
+ fr[kError] = error;
+ fireAProgressEvent("error", fr);
+ if (fr[kState] !== "loading") {
+ fireAProgressEvent("loadend", fr);
+ }
+ });
+ break;
+ }
+ }
+ })();
+ }
+ function fireAProgressEvent(e, reader) {
+ const event = new ProgressEvent(e, {
+ bubbles: false,
+ cancelable: false
+ });
+ reader.dispatchEvent(event);
+ }
+ function packageData(bytes2, type, mimeType, encodingName) {
+ switch (type) {
+ case "DataURL": {
+ let dataURL = "data:";
+ const parsed = parseMIMEType(mimeType || "application/octet-stream");
+ if (parsed !== "failure") {
+ dataURL += serializeAMimeType(parsed);
+ }
+ dataURL += ";base64,";
+ const decoder = new StringDecoder("latin1");
+ for (const chunk of bytes2) {
+ dataURL += btoa2(decoder.write(chunk));
+ }
+ dataURL += btoa2(decoder.end());
+ return dataURL;
+ }
+ case "Text": {
+ let encoding = "failure";
+ if (encodingName) {
+ encoding = getEncoding(encodingName);
+ }
+ if (encoding === "failure" && mimeType) {
+ const type2 = parseMIMEType(mimeType);
+ if (type2 !== "failure") {
+ encoding = getEncoding(type2.parameters.get("charset"));
+ }
+ }
+ if (encoding === "failure") {
+ encoding = "UTF-8";
+ }
+ return decode(bytes2, encoding);
+ }
+ case "ArrayBuffer": {
+ const sequence = combineByteSequences(bytes2);
+ return sequence.buffer;
+ }
+ case "BinaryString": {
+ let binaryString = "";
+ const decoder = new StringDecoder("latin1");
+ for (const chunk of bytes2) {
+ binaryString += decoder.write(chunk);
+ }
+ binaryString += decoder.end();
+ return binaryString;
+ }
+ }
+ }
+ function decode(ioQueue, encoding) {
+ const bytes2 = combineByteSequences(ioQueue);
+ const BOMEncoding = BOMSniffing(bytes2);
+ let slice = 0;
+ if (BOMEncoding !== null) {
+ encoding = BOMEncoding;
+ slice = BOMEncoding === "UTF-8" ? 3 : 2;
+ }
+ const sliced = bytes2.slice(slice);
+ return new TextDecoder(encoding).decode(sliced);
+ }
+ function BOMSniffing(ioQueue) {
+ const [a, b, c] = ioQueue;
+ if (a === 239 && b === 187 && c === 191) {
+ return "UTF-8";
+ } else if (a === 254 && b === 255) {
+ return "UTF-16BE";
+ } else if (a === 255 && b === 254) {
+ return "UTF-16LE";
+ }
+ return null;
+ }
+ function combineByteSequences(sequences) {
+ const size = sequences.reduce((a, b) => {
+ return a + b.byteLength;
+ }, 0);
+ let offset = 0;
+ return sequences.reduce((a, b) => {
+ a.set(b, offset);
+ offset += b.byteLength;
+ return a;
+ }, new Uint8Array(size));
+ }
+ module.exports = {
+ staticPropertyDescriptors,
+ readOperation,
+ fireAProgressEvent
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/fileapi/filereader.js
+var require_filereader = __commonJS({
+ "viewer/node_modules/undici/lib/web/fileapi/filereader.js"(exports, module) {
+ "use strict";
+ var {
+ staticPropertyDescriptors,
+ readOperation,
+ fireAProgressEvent
+ } = require_util4();
+ var {
+ kState,
+ kError,
+ kResult,
+ kEvents,
+ kAborted
+ } = require_symbols3();
+ var { webidl } = require_webidl();
+ var { kEnumerableProperty } = require_util();
+ var FileReader = class _FileReader extends EventTarget {
+ constructor() {
+ super();
+ this[kState] = "empty";
+ this[kResult] = null;
+ this[kError] = null;
+ this[kEvents] = {
+ loadend: null,
+ error: null,
+ abort: null,
+ load: null,
+ progress: null,
+ loadstart: null
+ };
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#dfn-readAsArrayBuffer
+ * @param {import('buffer').Blob} blob
+ */
+ readAsArrayBuffer(blob) {
+ webidl.brandCheck(this, _FileReader);
+ webidl.argumentLengthCheck(arguments, 1, "FileReader.readAsArrayBuffer");
+ blob = webidl.converters.Blob(blob, { strict: false });
+ readOperation(this, blob, "ArrayBuffer");
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#readAsBinaryString
+ * @param {import('buffer').Blob} blob
+ */
+ readAsBinaryString(blob) {
+ webidl.brandCheck(this, _FileReader);
+ webidl.argumentLengthCheck(arguments, 1, "FileReader.readAsBinaryString");
+ blob = webidl.converters.Blob(blob, { strict: false });
+ readOperation(this, blob, "BinaryString");
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#readAsDataText
+ * @param {import('buffer').Blob} blob
+ * @param {string?} encoding
+ */
+ readAsText(blob, encoding = void 0) {
+ webidl.brandCheck(this, _FileReader);
+ webidl.argumentLengthCheck(arguments, 1, "FileReader.readAsText");
+ blob = webidl.converters.Blob(blob, { strict: false });
+ if (encoding !== void 0) {
+ encoding = webidl.converters.DOMString(encoding, "FileReader.readAsText", "encoding");
+ }
+ readOperation(this, blob, "Text", encoding);
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#dfn-readAsDataURL
+ * @param {import('buffer').Blob} blob
+ */
+ readAsDataURL(blob) {
+ webidl.brandCheck(this, _FileReader);
+ webidl.argumentLengthCheck(arguments, 1, "FileReader.readAsDataURL");
+ blob = webidl.converters.Blob(blob, { strict: false });
+ readOperation(this, blob, "DataURL");
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#dfn-abort
+ */
+ abort() {
+ if (this[kState] === "empty" || this[kState] === "done") {
+ this[kResult] = null;
+ return;
+ }
+ if (this[kState] === "loading") {
+ this[kState] = "done";
+ this[kResult] = null;
+ }
+ this[kAborted] = true;
+ fireAProgressEvent("abort", this);
+ if (this[kState] !== "loading") {
+ fireAProgressEvent("loadend", this);
+ }
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#dom-filereader-readystate
+ */
+ get readyState() {
+ webidl.brandCheck(this, _FileReader);
+ switch (this[kState]) {
+ case "empty":
+ return this.EMPTY;
+ case "loading":
+ return this.LOADING;
+ case "done":
+ return this.DONE;
+ }
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#dom-filereader-result
+ */
+ get result() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kResult];
+ }
+ /**
+ * @see https://w3c.github.io/FileAPI/#dom-filereader-error
+ */
+ get error() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kError];
+ }
+ get onloadend() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kEvents].loadend;
+ }
+ set onloadend(fn) {
+ webidl.brandCheck(this, _FileReader);
+ if (this[kEvents].loadend) {
+ this.removeEventListener("loadend", this[kEvents].loadend);
+ }
+ if (typeof fn === "function") {
+ this[kEvents].loadend = fn;
+ this.addEventListener("loadend", fn);
+ } else {
+ this[kEvents].loadend = null;
+ }
+ }
+ get onerror() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kEvents].error;
+ }
+ set onerror(fn) {
+ webidl.brandCheck(this, _FileReader);
+ if (this[kEvents].error) {
+ this.removeEventListener("error", this[kEvents].error);
+ }
+ if (typeof fn === "function") {
+ this[kEvents].error = fn;
+ this.addEventListener("error", fn);
+ } else {
+ this[kEvents].error = null;
+ }
+ }
+ get onloadstart() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kEvents].loadstart;
+ }
+ set onloadstart(fn) {
+ webidl.brandCheck(this, _FileReader);
+ if (this[kEvents].loadstart) {
+ this.removeEventListener("loadstart", this[kEvents].loadstart);
+ }
+ if (typeof fn === "function") {
+ this[kEvents].loadstart = fn;
+ this.addEventListener("loadstart", fn);
+ } else {
+ this[kEvents].loadstart = null;
+ }
+ }
+ get onprogress() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kEvents].progress;
+ }
+ set onprogress(fn) {
+ webidl.brandCheck(this, _FileReader);
+ if (this[kEvents].progress) {
+ this.removeEventListener("progress", this[kEvents].progress);
+ }
+ if (typeof fn === "function") {
+ this[kEvents].progress = fn;
+ this.addEventListener("progress", fn);
+ } else {
+ this[kEvents].progress = null;
+ }
+ }
+ get onload() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kEvents].load;
+ }
+ set onload(fn) {
+ webidl.brandCheck(this, _FileReader);
+ if (this[kEvents].load) {
+ this.removeEventListener("load", this[kEvents].load);
+ }
+ if (typeof fn === "function") {
+ this[kEvents].load = fn;
+ this.addEventListener("load", fn);
+ } else {
+ this[kEvents].load = null;
+ }
+ }
+ get onabort() {
+ webidl.brandCheck(this, _FileReader);
+ return this[kEvents].abort;
+ }
+ set onabort(fn) {
+ webidl.brandCheck(this, _FileReader);
+ if (this[kEvents].abort) {
+ this.removeEventListener("abort", this[kEvents].abort);
+ }
+ if (typeof fn === "function") {
+ this[kEvents].abort = fn;
+ this.addEventListener("abort", fn);
+ } else {
+ this[kEvents].abort = null;
+ }
+ }
+ };
+ FileReader.EMPTY = FileReader.prototype.EMPTY = 0;
+ FileReader.LOADING = FileReader.prototype.LOADING = 1;
+ FileReader.DONE = FileReader.prototype.DONE = 2;
+ Object.defineProperties(FileReader.prototype, {
+ EMPTY: staticPropertyDescriptors,
+ LOADING: staticPropertyDescriptors,
+ DONE: staticPropertyDescriptors,
+ readAsArrayBuffer: kEnumerableProperty,
+ readAsBinaryString: kEnumerableProperty,
+ readAsText: kEnumerableProperty,
+ readAsDataURL: kEnumerableProperty,
+ abort: kEnumerableProperty,
+ readyState: kEnumerableProperty,
+ result: kEnumerableProperty,
+ error: kEnumerableProperty,
+ onloadstart: kEnumerableProperty,
+ onprogress: kEnumerableProperty,
+ onload: kEnumerableProperty,
+ onabort: kEnumerableProperty,
+ onerror: kEnumerableProperty,
+ onloadend: kEnumerableProperty,
+ [Symbol.toStringTag]: {
+ value: "FileReader",
+ writable: false,
+ enumerable: false,
+ configurable: true
+ }
+ });
+ Object.defineProperties(FileReader, {
+ EMPTY: staticPropertyDescriptors,
+ LOADING: staticPropertyDescriptors,
+ DONE: staticPropertyDescriptors
+ });
+ module.exports = {
+ FileReader
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cache/symbols.js
+var require_symbols4 = __commonJS({
+ "viewer/node_modules/undici/lib/web/cache/symbols.js"(exports, module) {
+ "use strict";
+ module.exports = {
+ kConstruct: require_symbols().kConstruct
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cache/util.js
+var require_util5 = __commonJS({
+ "viewer/node_modules/undici/lib/web/cache/util.js"(exports, module) {
+ "use strict";
+ var assert = __require("node:assert");
+ var { URLSerializer } = require_data_url();
+ var { isValidHeaderName } = require_util2();
+ function urlEquals(A, B, excludeFragment = false) {
+ const serializedA = URLSerializer(A, excludeFragment);
+ const serializedB = URLSerializer(B, excludeFragment);
+ return serializedA === serializedB;
+ }
+ function getFieldValues(header) {
+ assert(header !== null);
+ const values = [];
+ for (let value of header.split(",")) {
+ value = value.trim();
+ if (isValidHeaderName(value)) {
+ values.push(value);
+ }
+ }
+ return values;
+ }
+ module.exports = {
+ urlEquals,
+ getFieldValues
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cache/cache.js
+var require_cache = __commonJS({
+ "viewer/node_modules/undici/lib/web/cache/cache.js"(exports, module) {
+ "use strict";
+ var { kConstruct } = require_symbols4();
+ var { urlEquals, getFieldValues } = require_util5();
+ var { kEnumerableProperty, isDisturbed } = require_util();
+ var { webidl } = require_webidl();
+ var { Response: Response2, cloneResponse, fromInnerResponse } = require_response();
+ var { Request: Request2, fromInnerRequest } = require_request2();
+ var { kState } = require_symbols2();
+ var { fetching } = require_fetch();
+ var { urlIsHttpHttpsScheme, createDeferredPromise, readAllBytes } = require_util2();
+ var assert = __require("node:assert");
+ var Cache = class _Cache {
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#dfn-relevant-request-response-list
+ * @type {requestResponseList}
+ */
+ #relevantRequestResponseList;
+ constructor() {
+ if (arguments[0] !== kConstruct) {
+ webidl.illegalConstructor();
+ }
+ webidl.util.markAsUncloneable(this);
+ this.#relevantRequestResponseList = arguments[1];
+ }
+ async match(request, options = {}) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.match";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ request = webidl.converters.RequestInfo(request, prefix, "request");
+ options = webidl.converters.CacheQueryOptions(options, prefix, "options");
+ const p = this.#internalMatchAll(request, options, 1);
+ if (p.length === 0) {
+ return;
+ }
+ return p[0];
+ }
+ async matchAll(request = void 0, options = {}) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.matchAll";
+ if (request !== void 0) request = webidl.converters.RequestInfo(request, prefix, "request");
+ options = webidl.converters.CacheQueryOptions(options, prefix, "options");
+ return this.#internalMatchAll(request, options);
+ }
+ async add(request) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.add";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ request = webidl.converters.RequestInfo(request, prefix, "request");
+ const requests = [request];
+ const responseArrayPromise = this.addAll(requests);
+ return await responseArrayPromise;
+ }
+ async addAll(requests) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.addAll";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ const responsePromises = [];
+ const requestList = [];
+ for (let request of requests) {
+ if (request === void 0) {
+ throw webidl.errors.conversionFailed({
+ prefix,
+ argument: "Argument 1",
+ types: ["undefined is not allowed"]
+ });
+ }
+ request = webidl.converters.RequestInfo(request);
+ if (typeof request === "string") {
+ continue;
+ }
+ const r = request[kState];
+ if (!urlIsHttpHttpsScheme(r.url) || r.method !== "GET") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: "Expected http/s scheme when method is not GET."
+ });
+ }
+ }
+ const fetchControllers = [];
+ for (const request of requests) {
+ const r = new Request2(request)[kState];
+ if (!urlIsHttpHttpsScheme(r.url)) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: "Expected http/s scheme."
+ });
+ }
+ r.initiator = "fetch";
+ r.destination = "subresource";
+ requestList.push(r);
+ const responsePromise = createDeferredPromise();
+ fetchControllers.push(fetching({
+ request: r,
+ processResponse(response) {
+ if (response.type === "error" || response.status === 206 || response.status < 200 || response.status > 299) {
+ responsePromise.reject(webidl.errors.exception({
+ header: "Cache.addAll",
+ message: "Received an invalid status code or the request failed."
+ }));
+ } else if (response.headersList.contains("vary")) {
+ const fieldValues = getFieldValues(response.headersList.get("vary"));
+ for (const fieldValue of fieldValues) {
+ if (fieldValue === "*") {
+ responsePromise.reject(webidl.errors.exception({
+ header: "Cache.addAll",
+ message: "invalid vary field value"
+ }));
+ for (const controller of fetchControllers) {
+ controller.abort();
+ }
+ return;
+ }
+ }
+ }
+ },
+ processResponseEndOfBody(response) {
+ if (response.aborted) {
+ responsePromise.reject(new DOMException("aborted", "AbortError"));
+ return;
+ }
+ responsePromise.resolve(response);
+ }
+ }));
+ responsePromises.push(responsePromise.promise);
+ }
+ const p = Promise.all(responsePromises);
+ const responses = await p;
+ const operations = [];
+ let index = 0;
+ for (const response of responses) {
+ const operation = {
+ type: "put",
+ // 7.3.2
+ request: requestList[index],
+ // 7.3.3
+ response
+ // 7.3.4
+ };
+ operations.push(operation);
+ index++;
+ }
+ const cacheJobPromise = createDeferredPromise();
+ let errorData = null;
+ try {
+ this.#batchCacheOperations(operations);
+ } catch (e) {
+ errorData = e;
+ }
+ queueMicrotask(() => {
+ if (errorData === null) {
+ cacheJobPromise.resolve(void 0);
+ } else {
+ cacheJobPromise.reject(errorData);
+ }
+ });
+ return cacheJobPromise.promise;
+ }
+ async put(request, response) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.put";
+ webidl.argumentLengthCheck(arguments, 2, prefix);
+ request = webidl.converters.RequestInfo(request, prefix, "request");
+ response = webidl.converters.Response(response, prefix, "response");
+ let innerRequest = null;
+ if (request instanceof Request2) {
+ innerRequest = request[kState];
+ } else {
+ innerRequest = new Request2(request)[kState];
+ }
+ if (!urlIsHttpHttpsScheme(innerRequest.url) || innerRequest.method !== "GET") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: "Expected an http/s scheme when method is not GET"
+ });
+ }
+ const innerResponse = response[kState];
+ if (innerResponse.status === 206) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: "Got 206 status"
+ });
+ }
+ if (innerResponse.headersList.contains("vary")) {
+ const fieldValues = getFieldValues(innerResponse.headersList.get("vary"));
+ for (const fieldValue of fieldValues) {
+ if (fieldValue === "*") {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: "Got * vary field value"
+ });
+ }
+ }
+ }
+ if (innerResponse.body && (isDisturbed(innerResponse.body.stream) || innerResponse.body.stream.locked)) {
+ throw webidl.errors.exception({
+ header: prefix,
+ message: "Response body is locked or disturbed"
+ });
+ }
+ const clonedResponse = cloneResponse(innerResponse);
+ const bodyReadPromise = createDeferredPromise();
+ if (innerResponse.body != null) {
+ const stream = innerResponse.body.stream;
+ const reader = stream.getReader();
+ readAllBytes(reader).then(bodyReadPromise.resolve, bodyReadPromise.reject);
+ } else {
+ bodyReadPromise.resolve(void 0);
+ }
+ const operations = [];
+ const operation = {
+ type: "put",
+ // 14.
+ request: innerRequest,
+ // 15.
+ response: clonedResponse
+ // 16.
+ };
+ operations.push(operation);
+ const bytes2 = await bodyReadPromise.promise;
+ if (clonedResponse.body != null) {
+ clonedResponse.body.source = bytes2;
+ }
+ const cacheJobPromise = createDeferredPromise();
+ let errorData = null;
+ try {
+ this.#batchCacheOperations(operations);
+ } catch (e) {
+ errorData = e;
+ }
+ queueMicrotask(() => {
+ if (errorData === null) {
+ cacheJobPromise.resolve();
+ } else {
+ cacheJobPromise.reject(errorData);
+ }
+ });
+ return cacheJobPromise.promise;
+ }
+ async delete(request, options = {}) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.delete";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ request = webidl.converters.RequestInfo(request, prefix, "request");
+ options = webidl.converters.CacheQueryOptions(options, prefix, "options");
+ let r = null;
+ if (request instanceof Request2) {
+ r = request[kState];
+ if (r.method !== "GET" && !options.ignoreMethod) {
+ return false;
+ }
+ } else {
+ assert(typeof request === "string");
+ r = new Request2(request)[kState];
+ }
+ const operations = [];
+ const operation = {
+ type: "delete",
+ request: r,
+ options
+ };
+ operations.push(operation);
+ const cacheJobPromise = createDeferredPromise();
+ let errorData = null;
+ let requestResponses;
+ try {
+ requestResponses = this.#batchCacheOperations(operations);
+ } catch (e) {
+ errorData = e;
+ }
+ queueMicrotask(() => {
+ if (errorData === null) {
+ cacheJobPromise.resolve(!!requestResponses?.length);
+ } else {
+ cacheJobPromise.reject(errorData);
+ }
+ });
+ return cacheJobPromise.promise;
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#dom-cache-keys
+ * @param {any} request
+ * @param {import('../../types/cache').CacheQueryOptions} options
+ * @returns {Promise}
+ */
+ async keys(request = void 0, options = {}) {
+ webidl.brandCheck(this, _Cache);
+ const prefix = "Cache.keys";
+ if (request !== void 0) request = webidl.converters.RequestInfo(request, prefix, "request");
+ options = webidl.converters.CacheQueryOptions(options, prefix, "options");
+ let r = null;
+ if (request !== void 0) {
+ if (request instanceof Request2) {
+ r = request[kState];
+ if (r.method !== "GET" && !options.ignoreMethod) {
+ return [];
+ }
+ } else if (typeof request === "string") {
+ r = new Request2(request)[kState];
+ }
+ }
+ const promise = createDeferredPromise();
+ const requests = [];
+ if (request === void 0) {
+ for (const requestResponse of this.#relevantRequestResponseList) {
+ requests.push(requestResponse[0]);
+ }
+ } else {
+ const requestResponses = this.#queryCache(r, options);
+ for (const requestResponse of requestResponses) {
+ requests.push(requestResponse[0]);
+ }
+ }
+ queueMicrotask(() => {
+ const requestList = [];
+ for (const request2 of requests) {
+ const requestObject = fromInnerRequest(
+ request2,
+ new AbortController().signal,
+ "immutable"
+ );
+ requestList.push(requestObject);
+ }
+ promise.resolve(Object.freeze(requestList));
+ });
+ return promise.promise;
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#batch-cache-operations-algorithm
+ * @param {CacheBatchOperation[]} operations
+ * @returns {requestResponseList}
+ */
+ #batchCacheOperations(operations) {
+ const cache = this.#relevantRequestResponseList;
+ const backupCache = [...cache];
+ const addedItems = [];
+ const resultList = [];
+ try {
+ for (const operation of operations) {
+ if (operation.type !== "delete" && operation.type !== "put") {
+ throw webidl.errors.exception({
+ header: "Cache.#batchCacheOperations",
+ message: 'operation type does not match "delete" or "put"'
+ });
+ }
+ if (operation.type === "delete" && operation.response != null) {
+ throw webidl.errors.exception({
+ header: "Cache.#batchCacheOperations",
+ message: "delete operation should not have an associated response"
+ });
+ }
+ if (this.#queryCache(operation.request, operation.options, addedItems).length) {
+ throw new DOMException("???", "InvalidStateError");
+ }
+ let requestResponses;
+ if (operation.type === "delete") {
+ requestResponses = this.#queryCache(operation.request, operation.options);
+ if (requestResponses.length === 0) {
+ return [];
+ }
+ for (const requestResponse of requestResponses) {
+ const idx = cache.indexOf(requestResponse);
+ assert(idx !== -1);
+ cache.splice(idx, 1);
+ }
+ } else if (operation.type === "put") {
+ if (operation.response == null) {
+ throw webidl.errors.exception({
+ header: "Cache.#batchCacheOperations",
+ message: "put operation should have an associated response"
+ });
+ }
+ const r = operation.request;
+ if (!urlIsHttpHttpsScheme(r.url)) {
+ throw webidl.errors.exception({
+ header: "Cache.#batchCacheOperations",
+ message: "expected http or https scheme"
+ });
+ }
+ if (r.method !== "GET") {
+ throw webidl.errors.exception({
+ header: "Cache.#batchCacheOperations",
+ message: "not get method"
+ });
+ }
+ if (operation.options != null) {
+ throw webidl.errors.exception({
+ header: "Cache.#batchCacheOperations",
+ message: "options must not be defined"
+ });
+ }
+ requestResponses = this.#queryCache(operation.request);
+ for (const requestResponse of requestResponses) {
+ const idx = cache.indexOf(requestResponse);
+ assert(idx !== -1);
+ cache.splice(idx, 1);
+ }
+ cache.push([operation.request, operation.response]);
+ addedItems.push([operation.request, operation.response]);
+ }
+ resultList.push([operation.request, operation.response]);
+ }
+ return resultList;
+ } catch (e) {
+ this.#relevantRequestResponseList.length = 0;
+ this.#relevantRequestResponseList = backupCache;
+ throw e;
+ }
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#query-cache
+ * @param {any} requestQuery
+ * @param {import('../../types/cache').CacheQueryOptions} options
+ * @param {requestResponseList} targetStorage
+ * @returns {requestResponseList}
+ */
+ #queryCache(requestQuery, options, targetStorage) {
+ const resultList = [];
+ const storage = targetStorage ?? this.#relevantRequestResponseList;
+ for (const requestResponse of storage) {
+ const [cachedRequest, cachedResponse] = requestResponse;
+ if (this.#requestMatchesCachedItem(requestQuery, cachedRequest, cachedResponse, options)) {
+ resultList.push(requestResponse);
+ }
+ }
+ return resultList;
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#request-matches-cached-item-algorithm
+ * @param {any} requestQuery
+ * @param {any} request
+ * @param {any | null} response
+ * @param {import('../../types/cache').CacheQueryOptions | undefined} options
+ * @returns {boolean}
+ */
+ #requestMatchesCachedItem(requestQuery, request, response = null, options) {
+ const queryURL = new URL(requestQuery.url);
+ const cachedURL = new URL(request.url);
+ if (options?.ignoreSearch) {
+ cachedURL.search = "";
+ queryURL.search = "";
+ }
+ if (!urlEquals(queryURL, cachedURL, true)) {
+ return false;
+ }
+ if (response == null || options?.ignoreVary || !response.headersList.contains("vary")) {
+ return true;
+ }
+ const fieldValues = getFieldValues(response.headersList.get("vary"));
+ for (const fieldValue of fieldValues) {
+ if (fieldValue === "*") {
+ return false;
+ }
+ const requestValue = request.headersList.get(fieldValue);
+ const queryValue = requestQuery.headersList.get(fieldValue);
+ if (requestValue !== queryValue) {
+ return false;
+ }
+ }
+ return true;
+ }
+ #internalMatchAll(request, options, maxResponses = Infinity) {
+ let r = null;
+ if (request !== void 0) {
+ if (request instanceof Request2) {
+ r = request[kState];
+ if (r.method !== "GET" && !options.ignoreMethod) {
+ return [];
+ }
+ } else if (typeof request === "string") {
+ r = new Request2(request)[kState];
+ }
+ }
+ const responses = [];
+ if (request === void 0) {
+ for (const requestResponse of this.#relevantRequestResponseList) {
+ responses.push(requestResponse[1]);
+ }
+ } else {
+ const requestResponses = this.#queryCache(r, options);
+ for (const requestResponse of requestResponses) {
+ responses.push(requestResponse[1]);
+ }
+ }
+ const responseList = [];
+ for (const response of responses) {
+ const responseObject = fromInnerResponse(response, "immutable");
+ responseList.push(responseObject.clone());
+ if (responseList.length >= maxResponses) {
+ break;
+ }
+ }
+ return Object.freeze(responseList);
+ }
+ };
+ Object.defineProperties(Cache.prototype, {
+ [Symbol.toStringTag]: {
+ value: "Cache",
+ configurable: true
+ },
+ match: kEnumerableProperty,
+ matchAll: kEnumerableProperty,
+ add: kEnumerableProperty,
+ addAll: kEnumerableProperty,
+ put: kEnumerableProperty,
+ delete: kEnumerableProperty,
+ keys: kEnumerableProperty
+ });
+ var cacheQueryOptionConverters = [
+ {
+ key: "ignoreSearch",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "ignoreMethod",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "ignoreVary",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ }
+ ];
+ webidl.converters.CacheQueryOptions = webidl.dictionaryConverter(cacheQueryOptionConverters);
+ webidl.converters.MultiCacheQueryOptions = webidl.dictionaryConverter([
+ ...cacheQueryOptionConverters,
+ {
+ key: "cacheName",
+ converter: webidl.converters.DOMString
+ }
+ ]);
+ webidl.converters.Response = webidl.interfaceConverter(Response2);
+ webidl.converters["sequence"] = webidl.sequenceConverter(
+ webidl.converters.RequestInfo
+ );
+ module.exports = {
+ Cache
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cache/cachestorage.js
+var require_cachestorage = __commonJS({
+ "viewer/node_modules/undici/lib/web/cache/cachestorage.js"(exports, module) {
+ "use strict";
+ var { kConstruct } = require_symbols4();
+ var { Cache } = require_cache();
+ var { webidl } = require_webidl();
+ var { kEnumerableProperty } = require_util();
+ var CacheStorage = class _CacheStorage {
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#dfn-relevant-name-to-cache-map
+ * @type {Map}
+ */
+ async has(cacheName) {
+ webidl.brandCheck(this, _CacheStorage);
+ const prefix = "CacheStorage.has";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ cacheName = webidl.converters.DOMString(cacheName, prefix, "cacheName");
+ return this.#caches.has(cacheName);
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#dom-cachestorage-open
+ * @param {string} cacheName
+ * @returns {Promise}
+ */
+ async open(cacheName) {
+ webidl.brandCheck(this, _CacheStorage);
+ const prefix = "CacheStorage.open";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ cacheName = webidl.converters.DOMString(cacheName, prefix, "cacheName");
+ if (this.#caches.has(cacheName)) {
+ const cache2 = this.#caches.get(cacheName);
+ return new Cache(kConstruct, cache2);
+ }
+ const cache = [];
+ this.#caches.set(cacheName, cache);
+ return new Cache(kConstruct, cache);
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#cache-storage-delete
+ * @param {string} cacheName
+ * @returns {Promise}
+ */
+ async delete(cacheName) {
+ webidl.brandCheck(this, _CacheStorage);
+ const prefix = "CacheStorage.delete";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ cacheName = webidl.converters.DOMString(cacheName, prefix, "cacheName");
+ return this.#caches.delete(cacheName);
+ }
+ /**
+ * @see https://w3c.github.io/ServiceWorker/#cache-storage-keys
+ * @returns {Promise}
+ */
+ async keys() {
+ webidl.brandCheck(this, _CacheStorage);
+ const keys = this.#caches.keys();
+ return [...keys];
+ }
+ };
+ Object.defineProperties(CacheStorage.prototype, {
+ [Symbol.toStringTag]: {
+ value: "CacheStorage",
+ configurable: true
+ },
+ match: kEnumerableProperty,
+ has: kEnumerableProperty,
+ open: kEnumerableProperty,
+ delete: kEnumerableProperty,
+ keys: kEnumerableProperty
+ });
+ module.exports = {
+ CacheStorage
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cookies/constants.js
+var require_constants4 = __commonJS({
+ "viewer/node_modules/undici/lib/web/cookies/constants.js"(exports, module) {
+ "use strict";
+ var maxAttributeValueSize = 1024;
+ var maxNameValuePairSize = 4096;
+ module.exports = {
+ maxAttributeValueSize,
+ maxNameValuePairSize
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cookies/util.js
+var require_util6 = __commonJS({
+ "viewer/node_modules/undici/lib/web/cookies/util.js"(exports, module) {
+ "use strict";
+ function isCTLExcludingHtab(value) {
+ for (let i = 0; i < value.length; ++i) {
+ const code = value.charCodeAt(i);
+ if (code >= 0 && code <= 8 || code >= 10 && code <= 31 || code === 127) {
+ return true;
+ }
+ }
+ return false;
+ }
+ function validateCookieName(name) {
+ for (let i = 0; i < name.length; ++i) {
+ const code = name.charCodeAt(i);
+ if (code < 33 || // exclude CTLs (0-31), SP and HT
+ code > 126 || // exclude non-ascii and DEL
+ code === 34 || // "
+ code === 40 || // (
+ code === 41 || // )
+ code === 60 || // <
+ code === 62 || // >
+ code === 64 || // @
+ code === 44 || // ,
+ code === 59 || // ;
+ code === 58 || // :
+ code === 92 || // \
+ code === 47 || // /
+ code === 91 || // [
+ code === 93 || // ]
+ code === 63 || // ?
+ code === 61 || // =
+ code === 123 || // {
+ code === 125) {
+ throw new Error("Invalid cookie name");
+ }
+ }
+ }
+ function validateCookieValue(value) {
+ let len = value.length;
+ let i = 0;
+ if (value[0] === '"') {
+ if (len === 1 || value[len - 1] !== '"') {
+ throw new Error("Invalid cookie value");
+ }
+ --len;
+ ++i;
+ }
+ while (i < len) {
+ const code = value.charCodeAt(i++);
+ if (code < 33 || // exclude CTLs (0-31)
+ code > 126 || // non-ascii and DEL (127)
+ code === 34 || // "
+ code === 44 || // ,
+ code === 59 || // ;
+ code === 92) {
+ throw new Error("Invalid cookie value");
+ }
+ }
+ }
+ function validateCookiePath(path14) {
+ for (let i = 0; i < path14.length; ++i) {
+ const code = path14.charCodeAt(i);
+ if (code < 32 || // exclude CTLs (0-31)
+ code === 127 || // DEL
+ code === 59) {
+ throw new Error("Invalid cookie path");
+ }
+ }
+ }
+ function validateCookieDomain(domain) {
+ if (domain.startsWith("-") || domain.endsWith(".") || domain.endsWith("-")) {
+ throw new Error("Invalid cookie domain");
+ }
+ }
+ var IMFDays = [
+ "Sun",
+ "Mon",
+ "Tue",
+ "Wed",
+ "Thu",
+ "Fri",
+ "Sat"
+ ];
+ var IMFMonths = [
+ "Jan",
+ "Feb",
+ "Mar",
+ "Apr",
+ "May",
+ "Jun",
+ "Jul",
+ "Aug",
+ "Sep",
+ "Oct",
+ "Nov",
+ "Dec"
+ ];
+ var IMFPaddedNumbers = Array(61).fill(0).map((_, i) => i.toString().padStart(2, "0"));
+ function toIMFDate(date) {
+ if (typeof date === "number") {
+ date = new Date(date);
+ }
+ return `${IMFDays[date.getUTCDay()]}, ${IMFPaddedNumbers[date.getUTCDate()]} ${IMFMonths[date.getUTCMonth()]} ${date.getUTCFullYear()} ${IMFPaddedNumbers[date.getUTCHours()]}:${IMFPaddedNumbers[date.getUTCMinutes()]}:${IMFPaddedNumbers[date.getUTCSeconds()]} GMT`;
+ }
+ function validateCookieMaxAge(maxAge) {
+ if (maxAge < 0) {
+ throw new Error("Invalid cookie max-age");
+ }
+ }
+ function stringify(cookie) {
+ if (cookie.name.length === 0) {
+ return null;
+ }
+ validateCookieName(cookie.name);
+ validateCookieValue(cookie.value);
+ const out = [`${cookie.name}=${cookie.value}`];
+ if (cookie.name.startsWith("__Secure-")) {
+ cookie.secure = true;
+ }
+ if (cookie.name.startsWith("__Host-")) {
+ cookie.secure = true;
+ cookie.domain = null;
+ cookie.path = "/";
+ }
+ if (cookie.secure) {
+ out.push("Secure");
+ }
+ if (cookie.httpOnly) {
+ out.push("HttpOnly");
+ }
+ if (typeof cookie.maxAge === "number") {
+ validateCookieMaxAge(cookie.maxAge);
+ out.push(`Max-Age=${cookie.maxAge}`);
+ }
+ if (cookie.domain) {
+ validateCookieDomain(cookie.domain);
+ out.push(`Domain=${cookie.domain}`);
+ }
+ if (cookie.path) {
+ validateCookiePath(cookie.path);
+ out.push(`Path=${cookie.path}`);
+ }
+ if (cookie.expires && cookie.expires.toString() !== "Invalid Date") {
+ out.push(`Expires=${toIMFDate(cookie.expires)}`);
+ }
+ if (cookie.sameSite) {
+ out.push(`SameSite=${cookie.sameSite}`);
+ }
+ for (const part of cookie.unparsed) {
+ if (!part.includes("=")) {
+ throw new Error("Invalid unparsed");
+ }
+ const [key, ...value] = part.split("=");
+ out.push(`${key.trim()}=${value.join("=")}`);
+ }
+ return out.join("; ");
+ }
+ module.exports = {
+ isCTLExcludingHtab,
+ validateCookieName,
+ validateCookiePath,
+ validateCookieValue,
+ toIMFDate,
+ stringify
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cookies/parse.js
+var require_parse = __commonJS({
+ "viewer/node_modules/undici/lib/web/cookies/parse.js"(exports, module) {
+ "use strict";
+ var { maxNameValuePairSize, maxAttributeValueSize } = require_constants4();
+ var { isCTLExcludingHtab } = require_util6();
+ var { collectASequenceOfCodePointsFast } = require_data_url();
+ var assert = __require("node:assert");
+ function parseSetCookie(header) {
+ if (isCTLExcludingHtab(header)) {
+ return null;
+ }
+ let nameValuePair = "";
+ let unparsedAttributes = "";
+ let name = "";
+ let value = "";
+ if (header.includes(";")) {
+ const position = { position: 0 };
+ nameValuePair = collectASequenceOfCodePointsFast(";", header, position);
+ unparsedAttributes = header.slice(position.position);
+ } else {
+ nameValuePair = header;
+ }
+ if (!nameValuePair.includes("=")) {
+ value = nameValuePair;
+ } else {
+ const position = { position: 0 };
+ name = collectASequenceOfCodePointsFast(
+ "=",
+ nameValuePair,
+ position
+ );
+ value = nameValuePair.slice(position.position + 1);
+ }
+ name = name.trim();
+ value = value.trim();
+ if (name.length + value.length > maxNameValuePairSize) {
+ return null;
+ }
+ return {
+ name,
+ value,
+ ...parseUnparsedAttributes(unparsedAttributes)
+ };
+ }
+ function parseUnparsedAttributes(unparsedAttributes, cookieAttributeList = {}) {
+ if (unparsedAttributes.length === 0) {
+ return cookieAttributeList;
+ }
+ assert(unparsedAttributes[0] === ";");
+ unparsedAttributes = unparsedAttributes.slice(1);
+ let cookieAv = "";
+ if (unparsedAttributes.includes(";")) {
+ cookieAv = collectASequenceOfCodePointsFast(
+ ";",
+ unparsedAttributes,
+ { position: 0 }
+ );
+ unparsedAttributes = unparsedAttributes.slice(cookieAv.length);
+ } else {
+ cookieAv = unparsedAttributes;
+ unparsedAttributes = "";
+ }
+ let attributeName = "";
+ let attributeValue = "";
+ if (cookieAv.includes("=")) {
+ const position = { position: 0 };
+ attributeName = collectASequenceOfCodePointsFast(
+ "=",
+ cookieAv,
+ position
+ );
+ attributeValue = cookieAv.slice(position.position + 1);
+ } else {
+ attributeName = cookieAv;
+ }
+ attributeName = attributeName.trim();
+ attributeValue = attributeValue.trim();
+ if (attributeValue.length > maxAttributeValueSize) {
+ return parseUnparsedAttributes(unparsedAttributes, cookieAttributeList);
+ }
+ const attributeNameLowercase = attributeName.toLowerCase();
+ if (attributeNameLowercase === "expires") {
+ const expiryTime = new Date(attributeValue);
+ cookieAttributeList.expires = expiryTime;
+ } else if (attributeNameLowercase === "max-age") {
+ const charCode = attributeValue.charCodeAt(0);
+ if ((charCode < 48 || charCode > 57) && attributeValue[0] !== "-") {
+ return parseUnparsedAttributes(unparsedAttributes, cookieAttributeList);
+ }
+ if (!/^\d+$/.test(attributeValue)) {
+ return parseUnparsedAttributes(unparsedAttributes, cookieAttributeList);
+ }
+ const deltaSeconds = Number(attributeValue);
+ cookieAttributeList.maxAge = deltaSeconds;
+ } else if (attributeNameLowercase === "domain") {
+ let cookieDomain = attributeValue;
+ if (cookieDomain[0] === ".") {
+ cookieDomain = cookieDomain.slice(1);
+ }
+ cookieDomain = cookieDomain.toLowerCase();
+ cookieAttributeList.domain = cookieDomain;
+ } else if (attributeNameLowercase === "path") {
+ let cookiePath = "";
+ if (attributeValue.length === 0 || attributeValue[0] !== "/") {
+ cookiePath = "/";
+ } else {
+ cookiePath = attributeValue;
+ }
+ cookieAttributeList.path = cookiePath;
+ } else if (attributeNameLowercase === "secure") {
+ cookieAttributeList.secure = true;
+ } else if (attributeNameLowercase === "httponly") {
+ cookieAttributeList.httpOnly = true;
+ } else if (attributeNameLowercase === "samesite") {
+ let enforcement = "Default";
+ const attributeValueLowercase = attributeValue.toLowerCase();
+ if (attributeValueLowercase.includes("none")) {
+ enforcement = "None";
+ }
+ if (attributeValueLowercase.includes("strict")) {
+ enforcement = "Strict";
+ }
+ if (attributeValueLowercase.includes("lax")) {
+ enforcement = "Lax";
+ }
+ cookieAttributeList.sameSite = enforcement;
+ } else {
+ cookieAttributeList.unparsed ??= [];
+ cookieAttributeList.unparsed.push(`${attributeName}=${attributeValue}`);
+ }
+ return parseUnparsedAttributes(unparsedAttributes, cookieAttributeList);
+ }
+ module.exports = {
+ parseSetCookie,
+ parseUnparsedAttributes
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/cookies/index.js
+var require_cookies = __commonJS({
+ "viewer/node_modules/undici/lib/web/cookies/index.js"(exports, module) {
+ "use strict";
+ var { parseSetCookie } = require_parse();
+ var { stringify } = require_util6();
+ var { webidl } = require_webidl();
+ var { Headers: Headers2 } = require_headers();
+ function getCookies(headers) {
+ webidl.argumentLengthCheck(arguments, 1, "getCookies");
+ webidl.brandCheck(headers, Headers2, { strict: false });
+ const cookie = headers.get("cookie");
+ const out = {};
+ if (!cookie) {
+ return out;
+ }
+ for (const piece of cookie.split(";")) {
+ const [name, ...value] = piece.split("=");
+ out[name.trim()] = value.join("=");
+ }
+ return out;
+ }
+ function deleteCookie(headers, name, attributes) {
+ webidl.brandCheck(headers, Headers2, { strict: false });
+ const prefix = "deleteCookie";
+ webidl.argumentLengthCheck(arguments, 2, prefix);
+ name = webidl.converters.DOMString(name, prefix, "name");
+ attributes = webidl.converters.DeleteCookieAttributes(attributes);
+ setCookie(headers, {
+ name,
+ value: "",
+ expires: /* @__PURE__ */ new Date(0),
+ ...attributes
+ });
+ }
+ function getSetCookies(headers) {
+ webidl.argumentLengthCheck(arguments, 1, "getSetCookies");
+ webidl.brandCheck(headers, Headers2, { strict: false });
+ const cookies = headers.getSetCookie();
+ if (!cookies) {
+ return [];
+ }
+ return cookies.map((pair) => parseSetCookie(pair));
+ }
+ function setCookie(headers, cookie) {
+ webidl.argumentLengthCheck(arguments, 2, "setCookie");
+ webidl.brandCheck(headers, Headers2, { strict: false });
+ cookie = webidl.converters.Cookie(cookie);
+ const str = stringify(cookie);
+ if (str) {
+ headers.append("Set-Cookie", str);
+ }
+ }
+ webidl.converters.DeleteCookieAttributes = webidl.dictionaryConverter([
+ {
+ converter: webidl.nullableConverter(webidl.converters.DOMString),
+ key: "path",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.nullableConverter(webidl.converters.DOMString),
+ key: "domain",
+ defaultValue: () => null
+ }
+ ]);
+ webidl.converters.Cookie = webidl.dictionaryConverter([
+ {
+ converter: webidl.converters.DOMString,
+ key: "name"
+ },
+ {
+ converter: webidl.converters.DOMString,
+ key: "value"
+ },
+ {
+ converter: webidl.nullableConverter((value) => {
+ if (typeof value === "number") {
+ return webidl.converters["unsigned long long"](value);
+ }
+ return new Date(value);
+ }),
+ key: "expires",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.nullableConverter(webidl.converters["long long"]),
+ key: "maxAge",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.nullableConverter(webidl.converters.DOMString),
+ key: "domain",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.nullableConverter(webidl.converters.DOMString),
+ key: "path",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.nullableConverter(webidl.converters.boolean),
+ key: "secure",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.nullableConverter(webidl.converters.boolean),
+ key: "httpOnly",
+ defaultValue: () => null
+ },
+ {
+ converter: webidl.converters.USVString,
+ key: "sameSite",
+ allowedValues: ["Strict", "Lax", "None"]
+ },
+ {
+ converter: webidl.sequenceConverter(webidl.converters.DOMString),
+ key: "unparsed",
+ defaultValue: () => new Array(0)
+ }
+ ]);
+ module.exports = {
+ getCookies,
+ deleteCookie,
+ getSetCookies,
+ setCookie
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/events.js
+var require_events = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/events.js"(exports, module) {
+ "use strict";
+ var { webidl } = require_webidl();
+ var { kEnumerableProperty } = require_util();
+ var { kConstruct } = require_symbols();
+ var { MessagePort } = __require("node:worker_threads");
+ var MessageEvent = class _MessageEvent extends Event {
+ #eventInit;
+ constructor(type, eventInitDict = {}) {
+ if (type === kConstruct) {
+ super(arguments[1], arguments[2]);
+ webidl.util.markAsUncloneable(this);
+ return;
+ }
+ const prefix = "MessageEvent constructor";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ type = webidl.converters.DOMString(type, prefix, "type");
+ eventInitDict = webidl.converters.MessageEventInit(eventInitDict, prefix, "eventInitDict");
+ super(type, eventInitDict);
+ this.#eventInit = eventInitDict;
+ webidl.util.markAsUncloneable(this);
+ }
+ get data() {
+ webidl.brandCheck(this, _MessageEvent);
+ return this.#eventInit.data;
+ }
+ get origin() {
+ webidl.brandCheck(this, _MessageEvent);
+ return this.#eventInit.origin;
+ }
+ get lastEventId() {
+ webidl.brandCheck(this, _MessageEvent);
+ return this.#eventInit.lastEventId;
+ }
+ get source() {
+ webidl.brandCheck(this, _MessageEvent);
+ return this.#eventInit.source;
+ }
+ get ports() {
+ webidl.brandCheck(this, _MessageEvent);
+ if (!Object.isFrozen(this.#eventInit.ports)) {
+ Object.freeze(this.#eventInit.ports);
+ }
+ return this.#eventInit.ports;
+ }
+ initMessageEvent(type, bubbles = false, cancelable = false, data = null, origin = "", lastEventId = "", source = null, ports = []) {
+ webidl.brandCheck(this, _MessageEvent);
+ webidl.argumentLengthCheck(arguments, 1, "MessageEvent.initMessageEvent");
+ return new _MessageEvent(type, {
+ bubbles,
+ cancelable,
+ data,
+ origin,
+ lastEventId,
+ source,
+ ports
+ });
+ }
+ static createFastMessageEvent(type, init) {
+ const messageEvent = new _MessageEvent(kConstruct, type, init);
+ messageEvent.#eventInit = init;
+ messageEvent.#eventInit.data ??= null;
+ messageEvent.#eventInit.origin ??= "";
+ messageEvent.#eventInit.lastEventId ??= "";
+ messageEvent.#eventInit.source ??= null;
+ messageEvent.#eventInit.ports ??= [];
+ return messageEvent;
+ }
+ };
+ var { createFastMessageEvent } = MessageEvent;
+ delete MessageEvent.createFastMessageEvent;
+ var CloseEvent = class _CloseEvent extends Event {
+ #eventInit;
+ constructor(type, eventInitDict = {}) {
+ const prefix = "CloseEvent constructor";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ type = webidl.converters.DOMString(type, prefix, "type");
+ eventInitDict = webidl.converters.CloseEventInit(eventInitDict);
+ super(type, eventInitDict);
+ this.#eventInit = eventInitDict;
+ webidl.util.markAsUncloneable(this);
+ }
+ get wasClean() {
+ webidl.brandCheck(this, _CloseEvent);
+ return this.#eventInit.wasClean;
+ }
+ get code() {
+ webidl.brandCheck(this, _CloseEvent);
+ return this.#eventInit.code;
+ }
+ get reason() {
+ webidl.brandCheck(this, _CloseEvent);
+ return this.#eventInit.reason;
+ }
+ };
+ var ErrorEvent = class _ErrorEvent extends Event {
+ #eventInit;
+ constructor(type, eventInitDict) {
+ const prefix = "ErrorEvent constructor";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ super(type, eventInitDict);
+ webidl.util.markAsUncloneable(this);
+ type = webidl.converters.DOMString(type, prefix, "type");
+ eventInitDict = webidl.converters.ErrorEventInit(eventInitDict ?? {});
+ this.#eventInit = eventInitDict;
+ }
+ get message() {
+ webidl.brandCheck(this, _ErrorEvent);
+ return this.#eventInit.message;
+ }
+ get filename() {
+ webidl.brandCheck(this, _ErrorEvent);
+ return this.#eventInit.filename;
+ }
+ get lineno() {
+ webidl.brandCheck(this, _ErrorEvent);
+ return this.#eventInit.lineno;
+ }
+ get colno() {
+ webidl.brandCheck(this, _ErrorEvent);
+ return this.#eventInit.colno;
+ }
+ get error() {
+ webidl.brandCheck(this, _ErrorEvent);
+ return this.#eventInit.error;
+ }
+ };
+ Object.defineProperties(MessageEvent.prototype, {
+ [Symbol.toStringTag]: {
+ value: "MessageEvent",
+ configurable: true
+ },
+ data: kEnumerableProperty,
+ origin: kEnumerableProperty,
+ lastEventId: kEnumerableProperty,
+ source: kEnumerableProperty,
+ ports: kEnumerableProperty,
+ initMessageEvent: kEnumerableProperty
+ });
+ Object.defineProperties(CloseEvent.prototype, {
+ [Symbol.toStringTag]: {
+ value: "CloseEvent",
+ configurable: true
+ },
+ reason: kEnumerableProperty,
+ code: kEnumerableProperty,
+ wasClean: kEnumerableProperty
+ });
+ Object.defineProperties(ErrorEvent.prototype, {
+ [Symbol.toStringTag]: {
+ value: "ErrorEvent",
+ configurable: true
+ },
+ message: kEnumerableProperty,
+ filename: kEnumerableProperty,
+ lineno: kEnumerableProperty,
+ colno: kEnumerableProperty,
+ error: kEnumerableProperty
+ });
+ webidl.converters.MessagePort = webidl.interfaceConverter(MessagePort);
+ webidl.converters["sequence"] = webidl.sequenceConverter(
+ webidl.converters.MessagePort
+ );
+ var eventInit = [
+ {
+ key: "bubbles",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "cancelable",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "composed",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ }
+ ];
+ webidl.converters.MessageEventInit = webidl.dictionaryConverter([
+ ...eventInit,
+ {
+ key: "data",
+ converter: webidl.converters.any,
+ defaultValue: () => null
+ },
+ {
+ key: "origin",
+ converter: webidl.converters.USVString,
+ defaultValue: () => ""
+ },
+ {
+ key: "lastEventId",
+ converter: webidl.converters.DOMString,
+ defaultValue: () => ""
+ },
+ {
+ key: "source",
+ // Node doesn't implement WindowProxy or ServiceWorker, so the only
+ // valid value for source is a MessagePort.
+ converter: webidl.nullableConverter(webidl.converters.MessagePort),
+ defaultValue: () => null
+ },
+ {
+ key: "ports",
+ converter: webidl.converters["sequence"],
+ defaultValue: () => new Array(0)
+ }
+ ]);
+ webidl.converters.CloseEventInit = webidl.dictionaryConverter([
+ ...eventInit,
+ {
+ key: "wasClean",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "code",
+ converter: webidl.converters["unsigned short"],
+ defaultValue: () => 0
+ },
+ {
+ key: "reason",
+ converter: webidl.converters.USVString,
+ defaultValue: () => ""
+ }
+ ]);
+ webidl.converters.ErrorEventInit = webidl.dictionaryConverter([
+ ...eventInit,
+ {
+ key: "message",
+ converter: webidl.converters.DOMString,
+ defaultValue: () => ""
+ },
+ {
+ key: "filename",
+ converter: webidl.converters.USVString,
+ defaultValue: () => ""
+ },
+ {
+ key: "lineno",
+ converter: webidl.converters["unsigned long"],
+ defaultValue: () => 0
+ },
+ {
+ key: "colno",
+ converter: webidl.converters["unsigned long"],
+ defaultValue: () => 0
+ },
+ {
+ key: "error",
+ converter: webidl.converters.any
+ }
+ ]);
+ module.exports = {
+ MessageEvent,
+ CloseEvent,
+ ErrorEvent,
+ createFastMessageEvent
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/constants.js
+var require_constants5 = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/constants.js"(exports, module) {
+ "use strict";
+ var uid = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11";
+ var staticPropertyDescriptors = {
+ enumerable: true,
+ writable: false,
+ configurable: false
+ };
+ var states = {
+ CONNECTING: 0,
+ OPEN: 1,
+ CLOSING: 2,
+ CLOSED: 3
+ };
+ var sentCloseFrameState = {
+ NOT_SENT: 0,
+ PROCESSING: 1,
+ SENT: 2
+ };
+ var opcodes = {
+ CONTINUATION: 0,
+ TEXT: 1,
+ BINARY: 2,
+ CLOSE: 8,
+ PING: 9,
+ PONG: 10
+ };
+ var maxUnsigned16Bit = 2 ** 16 - 1;
+ var parserStates = {
+ INFO: 0,
+ PAYLOADLENGTH_16: 2,
+ PAYLOADLENGTH_64: 3,
+ READ_DATA: 4
+ };
+ var emptyBuffer = Buffer.allocUnsafe(0);
+ var sendHints = {
+ string: 1,
+ typedArray: 2,
+ arrayBuffer: 3,
+ blob: 4
+ };
+ module.exports = {
+ uid,
+ sentCloseFrameState,
+ staticPropertyDescriptors,
+ states,
+ opcodes,
+ maxUnsigned16Bit,
+ parserStates,
+ emptyBuffer,
+ sendHints
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/symbols.js
+var require_symbols5 = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/symbols.js"(exports, module) {
+ "use strict";
+ module.exports = {
+ kWebSocketURL: /* @__PURE__ */ Symbol("url"),
+ kReadyState: /* @__PURE__ */ Symbol("ready state"),
+ kController: /* @__PURE__ */ Symbol("controller"),
+ kResponse: /* @__PURE__ */ Symbol("response"),
+ kBinaryType: /* @__PURE__ */ Symbol("binary type"),
+ kSentClose: /* @__PURE__ */ Symbol("sent close"),
+ kReceivedClose: /* @__PURE__ */ Symbol("received close"),
+ kByteParser: /* @__PURE__ */ Symbol("byte parser")
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/util.js
+var require_util7 = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/util.js"(exports, module) {
+ "use strict";
+ var { kReadyState, kController, kResponse, kBinaryType, kWebSocketURL } = require_symbols5();
+ var { states, opcodes } = require_constants5();
+ var { ErrorEvent, createFastMessageEvent } = require_events();
+ var { isUtf8 } = __require("node:buffer");
+ var { collectASequenceOfCodePointsFast, removeHTTPWhitespace } = require_data_url();
+ function isConnecting(ws) {
+ return ws[kReadyState] === states.CONNECTING;
+ }
+ function isEstablished(ws) {
+ return ws[kReadyState] === states.OPEN;
+ }
+ function isClosing(ws) {
+ return ws[kReadyState] === states.CLOSING;
+ }
+ function isClosed(ws) {
+ return ws[kReadyState] === states.CLOSED;
+ }
+ function fireEvent(e, target, eventFactory = (type, init) => new Event(type, init), eventInitDict = {}) {
+ const event = eventFactory(e, eventInitDict);
+ target.dispatchEvent(event);
+ }
+ function websocketMessageReceived(ws, type, data) {
+ if (ws[kReadyState] !== states.OPEN) {
+ return;
+ }
+ let dataForEvent;
+ if (type === opcodes.TEXT) {
+ try {
+ dataForEvent = utf8Decode(data);
+ } catch {
+ failWebsocketConnection(ws, "Received invalid UTF-8 in text frame.");
+ return;
+ }
+ } else if (type === opcodes.BINARY) {
+ if (ws[kBinaryType] === "blob") {
+ dataForEvent = new Blob([data]);
+ } else {
+ dataForEvent = toArrayBuffer(data);
+ }
+ }
+ fireEvent("message", ws, createFastMessageEvent, {
+ origin: ws[kWebSocketURL].origin,
+ data: dataForEvent
+ });
+ }
+ function toArrayBuffer(buffer) {
+ if (buffer.byteLength === buffer.buffer.byteLength) {
+ return buffer.buffer;
+ }
+ return buffer.buffer.slice(buffer.byteOffset, buffer.byteOffset + buffer.byteLength);
+ }
+ function isValidSubprotocol(protocol) {
+ if (protocol.length === 0) {
+ return false;
+ }
+ for (let i = 0; i < protocol.length; ++i) {
+ const code = protocol.charCodeAt(i);
+ if (code < 33 || // CTL, contains SP (0x20) and HT (0x09)
+ code > 126 || code === 34 || // "
+ code === 40 || // (
+ code === 41 || // )
+ code === 44 || // ,
+ code === 47 || // /
+ code === 58 || // :
+ code === 59 || // ;
+ code === 60 || // <
+ code === 61 || // =
+ code === 62 || // >
+ code === 63 || // ?
+ code === 64 || // @
+ code === 91 || // [
+ code === 92 || // \
+ code === 93 || // ]
+ code === 123 || // {
+ code === 125) {
+ return false;
+ }
+ }
+ return true;
+ }
+ function isValidStatusCode(code) {
+ if (code >= 1e3 && code < 1015) {
+ return code !== 1004 && // reserved
+ code !== 1005 && // "MUST NOT be set as a status code"
+ code !== 1006;
+ }
+ return code >= 3e3 && code <= 4999;
+ }
+ function failWebsocketConnection(ws, reason) {
+ const { [kController]: controller, [kResponse]: response } = ws;
+ controller.abort();
+ if (response?.socket && !response.socket.destroyed) {
+ response.socket.destroy();
+ }
+ if (reason) {
+ fireEvent("error", ws, (type, init) => new ErrorEvent(type, init), {
+ error: new Error(reason),
+ message: reason
+ });
+ }
+ }
+ function isControlFrame(opcode) {
+ return opcode === opcodes.CLOSE || opcode === opcodes.PING || opcode === opcodes.PONG;
+ }
+ function isContinuationFrame(opcode) {
+ return opcode === opcodes.CONTINUATION;
+ }
+ function isTextBinaryFrame(opcode) {
+ return opcode === opcodes.TEXT || opcode === opcodes.BINARY;
+ }
+ function isValidOpcode(opcode) {
+ return isTextBinaryFrame(opcode) || isContinuationFrame(opcode) || isControlFrame(opcode);
+ }
+ function parseExtensions(extensions) {
+ const position = { position: 0 };
+ const extensionList = /* @__PURE__ */ new Map();
+ while (position.position < extensions.length) {
+ const pair = collectASequenceOfCodePointsFast(";", extensions, position);
+ const [name, value = ""] = pair.split("=");
+ extensionList.set(
+ removeHTTPWhitespace(name, true, false),
+ removeHTTPWhitespace(value, false, true)
+ );
+ position.position++;
+ }
+ return extensionList;
+ }
+ function isValidClientWindowBits(value) {
+ if (value.length === 0) {
+ return false;
+ }
+ for (let i = 0; i < value.length; i++) {
+ const byte = value.charCodeAt(i);
+ if (byte < 48 || byte > 57) {
+ return false;
+ }
+ }
+ const num = Number.parseInt(value, 10);
+ return num >= 8 && num <= 15;
+ }
+ var hasIntl = typeof process.versions.icu === "string";
+ var fatalDecoder = hasIntl ? new TextDecoder("utf-8", { fatal: true }) : void 0;
+ var utf8Decode = hasIntl ? fatalDecoder.decode.bind(fatalDecoder) : function(buffer) {
+ if (isUtf8(buffer)) {
+ return buffer.toString("utf-8");
+ }
+ throw new TypeError("Invalid utf-8 received.");
+ };
+ module.exports = {
+ isConnecting,
+ isEstablished,
+ isClosing,
+ isClosed,
+ fireEvent,
+ isValidSubprotocol,
+ isValidStatusCode,
+ failWebsocketConnection,
+ websocketMessageReceived,
+ utf8Decode,
+ isControlFrame,
+ isContinuationFrame,
+ isTextBinaryFrame,
+ isValidOpcode,
+ parseExtensions,
+ isValidClientWindowBits
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/frame.js
+var require_frame = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/frame.js"(exports, module) {
+ "use strict";
+ var { maxUnsigned16Bit } = require_constants5();
+ var BUFFER_SIZE = 16386;
+ var crypto2;
+ var buffer = null;
+ var bufIdx = BUFFER_SIZE;
+ try {
+ crypto2 = __require("node:crypto");
+ } catch {
+ crypto2 = {
+ // not full compatibility, but minimum.
+ randomFillSync: function randomFillSync(buffer2, _offset, _size) {
+ for (let i = 0; i < buffer2.length; ++i) {
+ buffer2[i] = Math.random() * 255 | 0;
+ }
+ return buffer2;
+ }
+ };
+ }
+ function generateMask() {
+ if (bufIdx === BUFFER_SIZE) {
+ bufIdx = 0;
+ crypto2.randomFillSync(buffer ??= Buffer.allocUnsafe(BUFFER_SIZE), 0, BUFFER_SIZE);
+ }
+ return [buffer[bufIdx++], buffer[bufIdx++], buffer[bufIdx++], buffer[bufIdx++]];
+ }
+ var WebsocketFrameSend = class {
+ /**
+ * @param {Buffer|undefined} data
+ */
+ constructor(data) {
+ this.frameData = data;
+ }
+ createFrame(opcode) {
+ const frameData = this.frameData;
+ const maskKey = generateMask();
+ const bodyLength = frameData?.byteLength ?? 0;
+ let payloadLength = bodyLength;
+ let offset = 6;
+ if (bodyLength > maxUnsigned16Bit) {
+ offset += 8;
+ payloadLength = 127;
+ } else if (bodyLength > 125) {
+ offset += 2;
+ payloadLength = 126;
+ }
+ const buffer2 = Buffer.allocUnsafe(bodyLength + offset);
+ buffer2[0] = buffer2[1] = 0;
+ buffer2[0] |= 128;
+ buffer2[0] = (buffer2[0] & 240) + opcode;
+ buffer2[offset - 4] = maskKey[0];
+ buffer2[offset - 3] = maskKey[1];
+ buffer2[offset - 2] = maskKey[2];
+ buffer2[offset - 1] = maskKey[3];
+ buffer2[1] = payloadLength;
+ if (payloadLength === 126) {
+ buffer2.writeUInt16BE(bodyLength, 2);
+ } else if (payloadLength === 127) {
+ buffer2[2] = buffer2[3] = 0;
+ buffer2.writeUIntBE(bodyLength, 4, 6);
+ }
+ buffer2[1] |= 128;
+ for (let i = 0; i < bodyLength; ++i) {
+ buffer2[offset + i] = frameData[i] ^ maskKey[i & 3];
+ }
+ return buffer2;
+ }
+ };
+ module.exports = {
+ WebsocketFrameSend
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/connection.js
+var require_connection = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/connection.js"(exports, module) {
+ "use strict";
+ var { uid, states, sentCloseFrameState, emptyBuffer, opcodes } = require_constants5();
+ var {
+ kReadyState,
+ kSentClose,
+ kByteParser,
+ kReceivedClose,
+ kResponse
+ } = require_symbols5();
+ var { fireEvent, failWebsocketConnection, isClosing, isClosed, isEstablished, parseExtensions } = require_util7();
+ var { channels } = require_diagnostics();
+ var { CloseEvent } = require_events();
+ var { makeRequest } = require_request2();
+ var { fetching } = require_fetch();
+ var { Headers: Headers2, getHeadersList } = require_headers();
+ var { getDecodeSplit } = require_util2();
+ var { WebsocketFrameSend } = require_frame();
+ var crypto2;
+ try {
+ crypto2 = __require("node:crypto");
+ } catch {
+ }
+ function establishWebSocketConnection(url, protocols, client, ws, onEstablish, options) {
+ const requestURL = url;
+ requestURL.protocol = url.protocol === "ws:" ? "http:" : "https:";
+ const request = makeRequest({
+ urlList: [requestURL],
+ client,
+ serviceWorkers: "none",
+ referrer: "no-referrer",
+ mode: "websocket",
+ credentials: "include",
+ cache: "no-store",
+ redirect: "error"
+ });
+ if (options.headers) {
+ const headersList = getHeadersList(new Headers2(options.headers));
+ request.headersList = headersList;
+ }
+ const keyValue = crypto2.randomBytes(16).toString("base64");
+ request.headersList.append("sec-websocket-key", keyValue);
+ request.headersList.append("sec-websocket-version", "13");
+ for (const protocol of protocols) {
+ request.headersList.append("sec-websocket-protocol", protocol);
+ }
+ const permessageDeflate = "permessage-deflate; client_max_window_bits";
+ request.headersList.append("sec-websocket-extensions", permessageDeflate);
+ const controller = fetching({
+ request,
+ useParallelQueue: true,
+ dispatcher: options.dispatcher,
+ processResponse(response) {
+ if (response.type === "error" || response.status !== 101) {
+ failWebsocketConnection(ws, "Received network error or non-101 status code.");
+ return;
+ }
+ if (protocols.length !== 0 && !response.headersList.get("Sec-WebSocket-Protocol")) {
+ failWebsocketConnection(ws, "Server did not respond with sent protocols.");
+ return;
+ }
+ if (response.headersList.get("Upgrade")?.toLowerCase() !== "websocket") {
+ failWebsocketConnection(ws, 'Server did not set Upgrade header to "websocket".');
+ return;
+ }
+ if (response.headersList.get("Connection")?.toLowerCase() !== "upgrade") {
+ failWebsocketConnection(ws, 'Server did not set Connection header to "upgrade".');
+ return;
+ }
+ const secWSAccept = response.headersList.get("Sec-WebSocket-Accept");
+ const digest = crypto2.createHash("sha1").update(keyValue + uid).digest("base64");
+ if (secWSAccept !== digest) {
+ failWebsocketConnection(ws, "Incorrect hash received in Sec-WebSocket-Accept header.");
+ return;
+ }
+ const secExtension = response.headersList.get("Sec-WebSocket-Extensions");
+ let extensions;
+ if (secExtension !== null) {
+ extensions = parseExtensions(secExtension);
+ if (!extensions.has("permessage-deflate")) {
+ failWebsocketConnection(ws, "Sec-WebSocket-Extensions header does not match.");
+ return;
+ }
+ }
+ const secProtocol = response.headersList.get("Sec-WebSocket-Protocol");
+ if (secProtocol !== null) {
+ const requestProtocols = getDecodeSplit("sec-websocket-protocol", request.headersList);
+ if (!requestProtocols.includes(secProtocol)) {
+ failWebsocketConnection(ws, "Protocol was not set in the opening handshake.");
+ return;
+ }
+ }
+ response.socket.on("data", onSocketData);
+ response.socket.on("close", onSocketClose);
+ response.socket.on("error", onSocketError);
+ if (channels.open.hasSubscribers) {
+ channels.open.publish({
+ address: response.socket.address(),
+ protocol: secProtocol,
+ extensions: secExtension
+ });
+ }
+ onEstablish(response, extensions);
+ }
+ });
+ return controller;
+ }
+ function closeWebSocketConnection(ws, code, reason, reasonByteLength) {
+ if (isClosing(ws) || isClosed(ws)) {
+ } else if (!isEstablished(ws)) {
+ failWebsocketConnection(ws, "Connection was closed before it was established.");
+ ws[kReadyState] = states.CLOSING;
+ } else if (ws[kSentClose] === sentCloseFrameState.NOT_SENT) {
+ ws[kSentClose] = sentCloseFrameState.PROCESSING;
+ const frame = new WebsocketFrameSend();
+ if (code !== void 0 && reason === void 0) {
+ frame.frameData = Buffer.allocUnsafe(2);
+ frame.frameData.writeUInt16BE(code, 0);
+ } else if (code !== void 0 && reason !== void 0) {
+ frame.frameData = Buffer.allocUnsafe(2 + reasonByteLength);
+ frame.frameData.writeUInt16BE(code, 0);
+ frame.frameData.write(reason, 2, "utf-8");
+ } else {
+ frame.frameData = emptyBuffer;
+ }
+ const socket = ws[kResponse].socket;
+ socket.write(frame.createFrame(opcodes.CLOSE));
+ ws[kSentClose] = sentCloseFrameState.SENT;
+ ws[kReadyState] = states.CLOSING;
+ } else {
+ ws[kReadyState] = states.CLOSING;
+ }
+ }
+ function onSocketData(chunk) {
+ if (!this.ws[kByteParser].write(chunk)) {
+ this.pause();
+ }
+ }
+ function onSocketClose() {
+ const { ws } = this;
+ const { [kResponse]: response } = ws;
+ response.socket.off("data", onSocketData);
+ response.socket.off("close", onSocketClose);
+ response.socket.off("error", onSocketError);
+ const wasClean = ws[kSentClose] === sentCloseFrameState.SENT && ws[kReceivedClose];
+ let code = 1005;
+ let reason = "";
+ const result = ws[kByteParser].closingInfo;
+ if (result && !result.error) {
+ code = result.code ?? 1005;
+ reason = result.reason;
+ } else if (!ws[kReceivedClose]) {
+ code = 1006;
+ }
+ ws[kReadyState] = states.CLOSED;
+ fireEvent("close", ws, (type, init) => new CloseEvent(type, init), {
+ wasClean,
+ code,
+ reason
+ });
+ if (channels.close.hasSubscribers) {
+ channels.close.publish({
+ websocket: ws,
+ code,
+ reason
+ });
+ }
+ }
+ function onSocketError(error) {
+ const { ws } = this;
+ ws[kReadyState] = states.CLOSING;
+ if (channels.socketError.hasSubscribers) {
+ channels.socketError.publish(error);
+ }
+ this.destroy();
+ }
+ module.exports = {
+ establishWebSocketConnection,
+ closeWebSocketConnection
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/permessage-deflate.js
+var require_permessage_deflate = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/permessage-deflate.js"(exports, module) {
+ "use strict";
+ var { createInflateRaw, Z_DEFAULT_WINDOWBITS } = __require("node:zlib");
+ var { isValidClientWindowBits } = require_util7();
+ var { MessageSizeExceededError } = require_errors();
+ var tail = Buffer.from([0, 0, 255, 255]);
+ var kBuffer = /* @__PURE__ */ Symbol("kBuffer");
+ var kLength = /* @__PURE__ */ Symbol("kLength");
+ var PerMessageDeflate = class {
+ /** @type {import('node:zlib').InflateRaw} */
+ #inflate;
+ #options = {};
+ #maxPayloadSize = 0;
+ /**
+ * @param {Map} extensions
+ */
+ constructor(extensions, options) {
+ this.#options.serverNoContextTakeover = extensions.has("server_no_context_takeover");
+ this.#options.serverMaxWindowBits = extensions.get("server_max_window_bits");
+ this.#maxPayloadSize = options.maxPayloadSize;
+ }
+ /**
+ * Decompress a compressed payload.
+ * @param {Buffer} chunk Compressed data
+ * @param {boolean} fin Final fragment flag
+ * @param {Function} callback Callback function
+ */
+ decompress(chunk, fin, callback) {
+ if (!this.#inflate) {
+ let windowBits = Z_DEFAULT_WINDOWBITS;
+ if (this.#options.serverMaxWindowBits) {
+ if (!isValidClientWindowBits(this.#options.serverMaxWindowBits)) {
+ callback(new Error("Invalid server_max_window_bits"));
+ return;
+ }
+ windowBits = Number.parseInt(this.#options.serverMaxWindowBits);
+ }
+ try {
+ this.#inflate = createInflateRaw({ windowBits });
+ } catch (err) {
+ callback(err);
+ return;
+ }
+ this.#inflate[kBuffer] = [];
+ this.#inflate[kLength] = 0;
+ this.#inflate.on("data", (data) => {
+ this.#inflate[kLength] += data.length;
+ if (this.#maxPayloadSize > 0 && this.#inflate[kLength] > this.#maxPayloadSize) {
+ callback(new MessageSizeExceededError());
+ this.#inflate.removeAllListeners();
+ this.#inflate = null;
+ return;
+ }
+ this.#inflate[kBuffer].push(data);
+ });
+ this.#inflate.on("error", (err) => {
+ this.#inflate = null;
+ callback(err);
+ });
+ }
+ this.#inflate.write(chunk);
+ if (fin) {
+ this.#inflate.write(tail);
+ }
+ this.#inflate.flush(() => {
+ if (!this.#inflate) {
+ return;
+ }
+ const full = Buffer.concat(this.#inflate[kBuffer], this.#inflate[kLength]);
+ this.#inflate[kBuffer].length = 0;
+ this.#inflate[kLength] = 0;
+ callback(null, full);
+ });
+ }
+ };
+ module.exports = { PerMessageDeflate };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/receiver.js
+var require_receiver = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/receiver.js"(exports, module) {
+ "use strict";
+ var { Writable } = __require("node:stream");
+ var assert = __require("node:assert");
+ var { parserStates, opcodes, states, emptyBuffer, sentCloseFrameState } = require_constants5();
+ var { kReadyState, kSentClose, kResponse, kReceivedClose } = require_symbols5();
+ var { channels } = require_diagnostics();
+ var {
+ isValidStatusCode,
+ isValidOpcode,
+ failWebsocketConnection,
+ websocketMessageReceived,
+ utf8Decode,
+ isControlFrame,
+ isTextBinaryFrame,
+ isContinuationFrame
+ } = require_util7();
+ var { WebsocketFrameSend } = require_frame();
+ var { closeWebSocketConnection } = require_connection();
+ var { PerMessageDeflate } = require_permessage_deflate();
+ var { MessageSizeExceededError } = require_errors();
+ var ByteParser = class extends Writable {
+ #buffers = [];
+ #fragmentsBytes = 0;
+ #byteOffset = 0;
+ #loop = false;
+ #state = parserStates.INFO;
+ #info = {};
+ #fragments = [];
+ /** @type {Map} */
+ #extensions;
+ /** @type {number} */
+ #maxPayloadSize;
+ /**
+ * @param {import('./websocket').WebSocket} ws
+ * @param {Map|null} extensions
+ * @param {{ maxPayloadSize?: number }} [options]
+ */
+ constructor(ws, extensions, options = {}) {
+ super();
+ this.ws = ws;
+ this.#extensions = extensions == null ? /* @__PURE__ */ new Map() : extensions;
+ this.#maxPayloadSize = options.maxPayloadSize ?? 0;
+ if (this.#extensions.has("permessage-deflate")) {
+ this.#extensions.set("permessage-deflate", new PerMessageDeflate(extensions, options));
+ }
+ }
+ /**
+ * @param {Buffer} chunk
+ * @param {() => void} callback
+ */
+ _write(chunk, _, callback) {
+ this.#buffers.push(chunk);
+ this.#byteOffset += chunk.length;
+ this.#loop = true;
+ this.run(callback);
+ }
+ #validatePayloadLength() {
+ if (this.#maxPayloadSize > 0 && !isControlFrame(this.#info.opcode) && this.#info.payloadLength > this.#maxPayloadSize) {
+ failWebsocketConnection(this.ws, "Payload size exceeds maximum allowed size");
+ return false;
+ }
+ return true;
+ }
+ /**
+ * Runs whenever a new chunk is received.
+ * Callback is called whenever there are no more chunks buffering,
+ * or not enough bytes are buffered to parse.
+ */
+ run(callback) {
+ while (this.#loop) {
+ if (this.#state === parserStates.INFO) {
+ if (this.#byteOffset < 2) {
+ return callback();
+ }
+ const buffer = this.consume(2);
+ const fin = (buffer[0] & 128) !== 0;
+ const opcode = buffer[0] & 15;
+ const masked = (buffer[1] & 128) === 128;
+ const fragmented = !fin && opcode !== opcodes.CONTINUATION;
+ const payloadLength = buffer[1] & 127;
+ const rsv1 = buffer[0] & 64;
+ const rsv2 = buffer[0] & 32;
+ const rsv3 = buffer[0] & 16;
+ if (!isValidOpcode(opcode)) {
+ failWebsocketConnection(this.ws, "Invalid opcode received");
+ return callback();
+ }
+ if (masked) {
+ failWebsocketConnection(this.ws, "Frame cannot be masked");
+ return callback();
+ }
+ if (rsv1 !== 0 && !this.#extensions.has("permessage-deflate")) {
+ failWebsocketConnection(this.ws, "Expected RSV1 to be clear.");
+ return;
+ }
+ if (rsv2 !== 0 || rsv3 !== 0) {
+ failWebsocketConnection(this.ws, "RSV1, RSV2, RSV3 must be clear");
+ return;
+ }
+ if (fragmented && !isTextBinaryFrame(opcode)) {
+ failWebsocketConnection(this.ws, "Invalid frame type was fragmented.");
+ return;
+ }
+ if (isTextBinaryFrame(opcode) && this.#fragments.length > 0) {
+ failWebsocketConnection(this.ws, "Expected continuation frame");
+ return;
+ }
+ if (this.#info.fragmented && fragmented) {
+ failWebsocketConnection(this.ws, "Fragmented frame exceeded 125 bytes.");
+ return;
+ }
+ if ((payloadLength > 125 || fragmented) && isControlFrame(opcode)) {
+ failWebsocketConnection(this.ws, "Control frame either too large or fragmented");
+ return;
+ }
+ if (isContinuationFrame(opcode) && this.#fragments.length === 0 && !this.#info.compressed) {
+ failWebsocketConnection(this.ws, "Unexpected continuation frame");
+ return;
+ }
+ if (payloadLength <= 125) {
+ this.#info.payloadLength = payloadLength;
+ this.#state = parserStates.READ_DATA;
+ if (!this.#validatePayloadLength()) {
+ return;
+ }
+ } else if (payloadLength === 126) {
+ this.#state = parserStates.PAYLOADLENGTH_16;
+ } else if (payloadLength === 127) {
+ this.#state = parserStates.PAYLOADLENGTH_64;
+ }
+ if (isTextBinaryFrame(opcode)) {
+ this.#info.binaryType = opcode;
+ this.#info.compressed = rsv1 !== 0;
+ }
+ this.#info.opcode = opcode;
+ this.#info.masked = masked;
+ this.#info.fin = fin;
+ this.#info.fragmented = fragmented;
+ } else if (this.#state === parserStates.PAYLOADLENGTH_16) {
+ if (this.#byteOffset < 2) {
+ return callback();
+ }
+ const buffer = this.consume(2);
+ this.#info.payloadLength = buffer.readUInt16BE(0);
+ this.#state = parserStates.READ_DATA;
+ if (!this.#validatePayloadLength()) {
+ return;
+ }
+ } else if (this.#state === parserStates.PAYLOADLENGTH_64) {
+ if (this.#byteOffset < 8) {
+ return callback();
+ }
+ const buffer = this.consume(8);
+ const upper = buffer.readUInt32BE(0);
+ const lower = buffer.readUInt32BE(4);
+ if (upper !== 0 || lower > 2 ** 31 - 1) {
+ failWebsocketConnection(this.ws, "Received payload length > 2^31 bytes.");
+ return;
+ }
+ this.#info.payloadLength = lower;
+ this.#state = parserStates.READ_DATA;
+ if (!this.#validatePayloadLength()) {
+ return;
+ }
+ } else if (this.#state === parserStates.READ_DATA) {
+ if (this.#byteOffset < this.#info.payloadLength) {
+ return callback();
+ }
+ const body = this.consume(this.#info.payloadLength);
+ if (isControlFrame(this.#info.opcode)) {
+ this.#loop = this.parseControlFrame(body);
+ this.#state = parserStates.INFO;
+ } else {
+ if (!this.#info.compressed) {
+ this.writeFragments(body);
+ if (this.#maxPayloadSize > 0 && this.#fragmentsBytes > this.#maxPayloadSize) {
+ failWebsocketConnection(this.ws, new MessageSizeExceededError().message);
+ return;
+ }
+ if (!this.#info.fragmented && this.#info.fin) {
+ websocketMessageReceived(this.ws, this.#info.binaryType, this.consumeFragments());
+ }
+ this.#state = parserStates.INFO;
+ } else {
+ this.#extensions.get("permessage-deflate").decompress(
+ body,
+ this.#info.fin,
+ (error, data) => {
+ if (error) {
+ failWebsocketConnection(this.ws, error.message);
+ return;
+ }
+ this.writeFragments(data);
+ if (this.#maxPayloadSize > 0 && this.#fragmentsBytes > this.#maxPayloadSize) {
+ failWebsocketConnection(this.ws, new MessageSizeExceededError().message);
+ return;
+ }
+ if (!this.#info.fin) {
+ this.#state = parserStates.INFO;
+ this.#loop = true;
+ this.run(callback);
+ return;
+ }
+ websocketMessageReceived(this.ws, this.#info.binaryType, this.consumeFragments());
+ this.#loop = true;
+ this.#state = parserStates.INFO;
+ this.run(callback);
+ }
+ );
+ this.#loop = false;
+ break;
+ }
+ }
+ }
+ }
+ }
+ /**
+ * Take n bytes from the buffered Buffers
+ * @param {number} n
+ * @returns {Buffer}
+ */
+ consume(n) {
+ if (n > this.#byteOffset) {
+ throw new Error("Called consume() before buffers satiated.");
+ } else if (n === 0) {
+ return emptyBuffer;
+ }
+ if (this.#buffers[0].length === n) {
+ this.#byteOffset -= this.#buffers[0].length;
+ return this.#buffers.shift();
+ }
+ const buffer = Buffer.allocUnsafe(n);
+ let offset = 0;
+ while (offset !== n) {
+ const next = this.#buffers[0];
+ const { length: length2 } = next;
+ if (length2 + offset === n) {
+ buffer.set(this.#buffers.shift(), offset);
+ break;
+ } else if (length2 + offset > n) {
+ buffer.set(next.subarray(0, n - offset), offset);
+ this.#buffers[0] = next.subarray(n - offset);
+ break;
+ } else {
+ buffer.set(this.#buffers.shift(), offset);
+ offset += next.length;
+ }
+ }
+ this.#byteOffset -= n;
+ return buffer;
+ }
+ writeFragments(fragment) {
+ this.#fragmentsBytes += fragment.length;
+ this.#fragments.push(fragment);
+ }
+ consumeFragments() {
+ const fragments = this.#fragments;
+ if (fragments.length === 1) {
+ this.#fragmentsBytes = 0;
+ return fragments.shift();
+ }
+ const output = Buffer.concat(fragments, this.#fragmentsBytes);
+ this.#fragments = [];
+ this.#fragmentsBytes = 0;
+ return output;
+ }
+ parseCloseBody(data) {
+ assert(data.length !== 1);
+ let code;
+ if (data.length >= 2) {
+ code = data.readUInt16BE(0);
+ }
+ if (code !== void 0 && !isValidStatusCode(code)) {
+ return { code: 1002, reason: "Invalid status code", error: true };
+ }
+ let reason = data.subarray(2);
+ if (reason[0] === 239 && reason[1] === 187 && reason[2] === 191) {
+ reason = reason.subarray(3);
+ }
+ try {
+ reason = utf8Decode(reason);
+ } catch {
+ return { code: 1007, reason: "Invalid UTF-8", error: true };
+ }
+ return { code, reason, error: false };
+ }
+ /**
+ * Parses control frames.
+ * @param {Buffer} body
+ */
+ parseControlFrame(body) {
+ const { opcode, payloadLength } = this.#info;
+ if (opcode === opcodes.CLOSE) {
+ if (payloadLength === 1) {
+ failWebsocketConnection(this.ws, "Received close frame with a 1-byte body.");
+ return false;
+ }
+ this.#info.closeInfo = this.parseCloseBody(body);
+ if (this.#info.closeInfo.error) {
+ const { code, reason } = this.#info.closeInfo;
+ closeWebSocketConnection(this.ws, code, reason, reason.length);
+ failWebsocketConnection(this.ws, reason);
+ return false;
+ }
+ if (this.ws[kSentClose] !== sentCloseFrameState.SENT) {
+ let body2 = emptyBuffer;
+ if (this.#info.closeInfo.code) {
+ body2 = Buffer.allocUnsafe(2);
+ body2.writeUInt16BE(this.#info.closeInfo.code, 0);
+ }
+ const closeFrame = new WebsocketFrameSend(body2);
+ this.ws[kResponse].socket.write(
+ closeFrame.createFrame(opcodes.CLOSE),
+ (err) => {
+ if (!err) {
+ this.ws[kSentClose] = sentCloseFrameState.SENT;
+ }
+ }
+ );
+ }
+ this.ws[kReadyState] = states.CLOSING;
+ this.ws[kReceivedClose] = true;
+ return false;
+ } else if (opcode === opcodes.PING) {
+ if (!this.ws[kReceivedClose]) {
+ const frame = new WebsocketFrameSend(body);
+ this.ws[kResponse].socket.write(frame.createFrame(opcodes.PONG));
+ if (channels.ping.hasSubscribers) {
+ channels.ping.publish({
+ payload: body
+ });
+ }
+ }
+ } else if (opcode === opcodes.PONG) {
+ if (channels.pong.hasSubscribers) {
+ channels.pong.publish({
+ payload: body
+ });
+ }
+ }
+ return true;
+ }
+ get closingInfo() {
+ return this.#info.closeInfo;
+ }
+ };
+ module.exports = {
+ ByteParser
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/sender.js
+var require_sender = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/sender.js"(exports, module) {
+ "use strict";
+ var { WebsocketFrameSend } = require_frame();
+ var { opcodes, sendHints } = require_constants5();
+ var FixedQueue = require_fixed_queue();
+ var FastBuffer = Buffer[Symbol.species];
+ var SendQueue = class {
+ /**
+ * @type {FixedQueue}
+ */
+ #queue = new FixedQueue();
+ /**
+ * @type {boolean}
+ */
+ #running = false;
+ /** @type {import('node:net').Socket} */
+ #socket;
+ constructor(socket) {
+ this.#socket = socket;
+ }
+ add(item, cb, hint) {
+ if (hint !== sendHints.blob) {
+ const frame = createFrame(item, hint);
+ if (!this.#running) {
+ this.#socket.write(frame, cb);
+ } else {
+ const node2 = {
+ promise: null,
+ callback: cb,
+ frame
+ };
+ this.#queue.push(node2);
+ }
+ return;
+ }
+ const node = {
+ promise: item.arrayBuffer().then((ab) => {
+ node.promise = null;
+ node.frame = createFrame(ab, hint);
+ }),
+ callback: cb,
+ frame: null
+ };
+ this.#queue.push(node);
+ if (!this.#running) {
+ this.#run();
+ }
+ }
+ async #run() {
+ this.#running = true;
+ const queue = this.#queue;
+ while (!queue.isEmpty()) {
+ const node = queue.shift();
+ if (node.promise !== null) {
+ await node.promise;
+ }
+ this.#socket.write(node.frame, node.callback);
+ node.callback = node.frame = null;
+ }
+ this.#running = false;
+ }
+ };
+ function createFrame(data, hint) {
+ return new WebsocketFrameSend(toBuffer(data, hint)).createFrame(hint === sendHints.string ? opcodes.TEXT : opcodes.BINARY);
+ }
+ function toBuffer(data, hint) {
+ switch (hint) {
+ case sendHints.string:
+ return Buffer.from(data);
+ case sendHints.arrayBuffer:
+ case sendHints.blob:
+ return new FastBuffer(data);
+ case sendHints.typedArray:
+ return new FastBuffer(data.buffer, data.byteOffset, data.byteLength);
+ }
+ }
+ module.exports = { SendQueue };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/websocket/websocket.js
+var require_websocket = __commonJS({
+ "viewer/node_modules/undici/lib/web/websocket/websocket.js"(exports, module) {
+ "use strict";
+ var { webidl } = require_webidl();
+ var { URLSerializer } = require_data_url();
+ var { environmentSettingsObject } = require_util2();
+ var { staticPropertyDescriptors, states, sentCloseFrameState, sendHints } = require_constants5();
+ var {
+ kWebSocketURL,
+ kReadyState,
+ kController,
+ kBinaryType,
+ kResponse,
+ kSentClose,
+ kByteParser
+ } = require_symbols5();
+ var {
+ isConnecting,
+ isEstablished,
+ isClosing,
+ isValidSubprotocol,
+ fireEvent
+ } = require_util7();
+ var { establishWebSocketConnection, closeWebSocketConnection } = require_connection();
+ var { ByteParser } = require_receiver();
+ var { kEnumerableProperty, isBlobLike } = require_util();
+ var { getGlobalDispatcher } = require_global2();
+ var { types } = __require("node:util");
+ var { ErrorEvent, CloseEvent } = require_events();
+ var { SendQueue } = require_sender();
+ var WebSocket = class _WebSocket extends EventTarget {
+ #events = {
+ open: null,
+ error: null,
+ close: null,
+ message: null
+ };
+ #bufferedAmount = 0;
+ #protocol = "";
+ #extensions = "";
+ /** @type {SendQueue} */
+ #sendQueue;
+ /**
+ * @param {string} url
+ * @param {string|string[]} protocols
+ */
+ constructor(url, protocols = []) {
+ super();
+ webidl.util.markAsUncloneable(this);
+ const prefix = "WebSocket constructor";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ const options = webidl.converters["DOMString or sequence or WebSocketInit"](protocols, prefix, "options");
+ url = webidl.converters.USVString(url, prefix, "url");
+ protocols = options.protocols;
+ const baseURL = environmentSettingsObject.settingsObject.baseUrl;
+ let urlRecord;
+ try {
+ urlRecord = new URL(url, baseURL);
+ } catch (e) {
+ throw new DOMException(e, "SyntaxError");
+ }
+ if (urlRecord.protocol === "http:") {
+ urlRecord.protocol = "ws:";
+ } else if (urlRecord.protocol === "https:") {
+ urlRecord.protocol = "wss:";
+ }
+ if (urlRecord.protocol !== "ws:" && urlRecord.protocol !== "wss:") {
+ throw new DOMException(
+ `Expected a ws: or wss: protocol, got ${urlRecord.protocol}`,
+ "SyntaxError"
+ );
+ }
+ if (urlRecord.hash || urlRecord.href.endsWith("#")) {
+ throw new DOMException("Got fragment", "SyntaxError");
+ }
+ if (typeof protocols === "string") {
+ protocols = [protocols];
+ }
+ if (protocols.length !== new Set(protocols.map((p) => p.toLowerCase())).size) {
+ throw new DOMException("Invalid Sec-WebSocket-Protocol value", "SyntaxError");
+ }
+ if (protocols.length > 0 && !protocols.every((p) => isValidSubprotocol(p))) {
+ throw new DOMException("Invalid Sec-WebSocket-Protocol value", "SyntaxError");
+ }
+ this[kWebSocketURL] = new URL(urlRecord.href);
+ const client = environmentSettingsObject.settingsObject;
+ this[kController] = establishWebSocketConnection(
+ urlRecord,
+ protocols,
+ client,
+ this,
+ (response, extensions) => this.#onConnectionEstablished(response, extensions),
+ options
+ );
+ this[kReadyState] = _WebSocket.CONNECTING;
+ this[kSentClose] = sentCloseFrameState.NOT_SENT;
+ this[kBinaryType] = "blob";
+ }
+ /**
+ * @see https://websockets.spec.whatwg.org/#dom-websocket-close
+ * @param {number|undefined} code
+ * @param {string|undefined} reason
+ */
+ close(code = void 0, reason = void 0) {
+ webidl.brandCheck(this, _WebSocket);
+ const prefix = "WebSocket.close";
+ if (code !== void 0) {
+ code = webidl.converters["unsigned short"](code, prefix, "code", { clamp: true });
+ }
+ if (reason !== void 0) {
+ reason = webidl.converters.USVString(reason, prefix, "reason");
+ }
+ if (code !== void 0) {
+ if (code !== 1e3 && (code < 3e3 || code > 4999)) {
+ throw new DOMException("invalid code", "InvalidAccessError");
+ }
+ }
+ let reasonByteLength = 0;
+ if (reason !== void 0) {
+ reasonByteLength = Buffer.byteLength(reason);
+ if (reasonByteLength > 123) {
+ throw new DOMException(
+ `Reason must be less than 123 bytes; received ${reasonByteLength}`,
+ "SyntaxError"
+ );
+ }
+ }
+ closeWebSocketConnection(this, code, reason, reasonByteLength);
+ }
+ /**
+ * @see https://websockets.spec.whatwg.org/#dom-websocket-send
+ * @param {NodeJS.TypedArray|ArrayBuffer|Blob|string} data
+ */
+ send(data) {
+ webidl.brandCheck(this, _WebSocket);
+ const prefix = "WebSocket.send";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ data = webidl.converters.WebSocketSendData(data, prefix, "data");
+ if (isConnecting(this)) {
+ throw new DOMException("Sent before connected.", "InvalidStateError");
+ }
+ if (!isEstablished(this) || isClosing(this)) {
+ return;
+ }
+ if (typeof data === "string") {
+ const length2 = Buffer.byteLength(data);
+ this.#bufferedAmount += length2;
+ this.#sendQueue.add(data, () => {
+ this.#bufferedAmount -= length2;
+ }, sendHints.string);
+ } else if (types.isArrayBuffer(data)) {
+ this.#bufferedAmount += data.byteLength;
+ this.#sendQueue.add(data, () => {
+ this.#bufferedAmount -= data.byteLength;
+ }, sendHints.arrayBuffer);
+ } else if (ArrayBuffer.isView(data)) {
+ this.#bufferedAmount += data.byteLength;
+ this.#sendQueue.add(data, () => {
+ this.#bufferedAmount -= data.byteLength;
+ }, sendHints.typedArray);
+ } else if (isBlobLike(data)) {
+ this.#bufferedAmount += data.size;
+ this.#sendQueue.add(data, () => {
+ this.#bufferedAmount -= data.size;
+ }, sendHints.blob);
+ }
+ }
+ get readyState() {
+ webidl.brandCheck(this, _WebSocket);
+ return this[kReadyState];
+ }
+ get bufferedAmount() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#bufferedAmount;
+ }
+ get url() {
+ webidl.brandCheck(this, _WebSocket);
+ return URLSerializer(this[kWebSocketURL]);
+ }
+ get extensions() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#extensions;
+ }
+ get protocol() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#protocol;
+ }
+ get onopen() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#events.open;
+ }
+ set onopen(fn) {
+ webidl.brandCheck(this, _WebSocket);
+ if (this.#events.open) {
+ this.removeEventListener("open", this.#events.open);
+ }
+ if (typeof fn === "function") {
+ this.#events.open = fn;
+ this.addEventListener("open", fn);
+ } else {
+ this.#events.open = null;
+ }
+ }
+ get onerror() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#events.error;
+ }
+ set onerror(fn) {
+ webidl.brandCheck(this, _WebSocket);
+ if (this.#events.error) {
+ this.removeEventListener("error", this.#events.error);
+ }
+ if (typeof fn === "function") {
+ this.#events.error = fn;
+ this.addEventListener("error", fn);
+ } else {
+ this.#events.error = null;
+ }
+ }
+ get onclose() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#events.close;
+ }
+ set onclose(fn) {
+ webidl.brandCheck(this, _WebSocket);
+ if (this.#events.close) {
+ this.removeEventListener("close", this.#events.close);
+ }
+ if (typeof fn === "function") {
+ this.#events.close = fn;
+ this.addEventListener("close", fn);
+ } else {
+ this.#events.close = null;
+ }
+ }
+ get onmessage() {
+ webidl.brandCheck(this, _WebSocket);
+ return this.#events.message;
+ }
+ set onmessage(fn) {
+ webidl.brandCheck(this, _WebSocket);
+ if (this.#events.message) {
+ this.removeEventListener("message", this.#events.message);
+ }
+ if (typeof fn === "function") {
+ this.#events.message = fn;
+ this.addEventListener("message", fn);
+ } else {
+ this.#events.message = null;
+ }
+ }
+ get binaryType() {
+ webidl.brandCheck(this, _WebSocket);
+ return this[kBinaryType];
+ }
+ set binaryType(type) {
+ webidl.brandCheck(this, _WebSocket);
+ if (type !== "blob" && type !== "arraybuffer") {
+ this[kBinaryType] = "blob";
+ } else {
+ this[kBinaryType] = type;
+ }
+ }
+ /**
+ * @see https://websockets.spec.whatwg.org/#feedback-from-the-protocol
+ */
+ #onConnectionEstablished(response, parsedExtensions) {
+ this[kResponse] = response;
+ const maxPayloadSize = this[kController]?.dispatcher?.webSocketOptions?.maxPayloadSize;
+ const parser = new ByteParser(this, parsedExtensions, {
+ maxPayloadSize
+ });
+ parser.on("drain", onParserDrain);
+ parser.on("error", onParserError.bind(this));
+ response.socket.ws = this;
+ this[kByteParser] = parser;
+ this.#sendQueue = new SendQueue(response.socket);
+ this[kReadyState] = states.OPEN;
+ const extensions = response.headersList.get("sec-websocket-extensions");
+ if (extensions !== null) {
+ this.#extensions = extensions;
+ }
+ const protocol = response.headersList.get("sec-websocket-protocol");
+ if (protocol !== null) {
+ this.#protocol = protocol;
+ }
+ fireEvent("open", this);
+ }
+ };
+ WebSocket.CONNECTING = WebSocket.prototype.CONNECTING = states.CONNECTING;
+ WebSocket.OPEN = WebSocket.prototype.OPEN = states.OPEN;
+ WebSocket.CLOSING = WebSocket.prototype.CLOSING = states.CLOSING;
+ WebSocket.CLOSED = WebSocket.prototype.CLOSED = states.CLOSED;
+ Object.defineProperties(WebSocket.prototype, {
+ CONNECTING: staticPropertyDescriptors,
+ OPEN: staticPropertyDescriptors,
+ CLOSING: staticPropertyDescriptors,
+ CLOSED: staticPropertyDescriptors,
+ url: kEnumerableProperty,
+ readyState: kEnumerableProperty,
+ bufferedAmount: kEnumerableProperty,
+ onopen: kEnumerableProperty,
+ onerror: kEnumerableProperty,
+ onclose: kEnumerableProperty,
+ close: kEnumerableProperty,
+ onmessage: kEnumerableProperty,
+ binaryType: kEnumerableProperty,
+ send: kEnumerableProperty,
+ extensions: kEnumerableProperty,
+ protocol: kEnumerableProperty,
+ [Symbol.toStringTag]: {
+ value: "WebSocket",
+ writable: false,
+ enumerable: false,
+ configurable: true
+ }
+ });
+ Object.defineProperties(WebSocket, {
+ CONNECTING: staticPropertyDescriptors,
+ OPEN: staticPropertyDescriptors,
+ CLOSING: staticPropertyDescriptors,
+ CLOSED: staticPropertyDescriptors
+ });
+ webidl.converters["sequence"] = webidl.sequenceConverter(
+ webidl.converters.DOMString
+ );
+ webidl.converters["DOMString or sequence"] = function(V, prefix, argument) {
+ if (webidl.util.Type(V) === "Object" && Symbol.iterator in V) {
+ return webidl.converters["sequence"](V);
+ }
+ return webidl.converters.DOMString(V, prefix, argument);
+ };
+ webidl.converters.WebSocketInit = webidl.dictionaryConverter([
+ {
+ key: "protocols",
+ converter: webidl.converters["DOMString or sequence"],
+ defaultValue: () => new Array(0)
+ },
+ {
+ key: "dispatcher",
+ converter: webidl.converters.any,
+ defaultValue: () => getGlobalDispatcher()
+ },
+ {
+ key: "headers",
+ converter: webidl.nullableConverter(webidl.converters.HeadersInit)
+ }
+ ]);
+ webidl.converters["DOMString or sequence or WebSocketInit"] = function(V) {
+ if (webidl.util.Type(V) === "Object" && !(Symbol.iterator in V)) {
+ return webidl.converters.WebSocketInit(V);
+ }
+ return { protocols: webidl.converters["DOMString or sequence"](V) };
+ };
+ webidl.converters.WebSocketSendData = function(V) {
+ if (webidl.util.Type(V) === "Object") {
+ if (isBlobLike(V)) {
+ return webidl.converters.Blob(V, { strict: false });
+ }
+ if (ArrayBuffer.isView(V) || types.isArrayBuffer(V)) {
+ return webidl.converters.BufferSource(V);
+ }
+ }
+ return webidl.converters.USVString(V);
+ };
+ function onParserDrain() {
+ this.ws[kResponse].socket.resume();
+ }
+ function onParserError(err) {
+ let message;
+ let code;
+ if (err instanceof CloseEvent) {
+ message = err.reason;
+ code = err.code;
+ } else {
+ message = err.message;
+ }
+ fireEvent("error", this, () => new ErrorEvent("error", { error: err, message }));
+ closeWebSocketConnection(this, code);
+ }
+ module.exports = {
+ WebSocket
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/eventsource/util.js
+var require_util8 = __commonJS({
+ "viewer/node_modules/undici/lib/web/eventsource/util.js"(exports, module) {
+ "use strict";
+ function isValidLastEventId(value) {
+ return value.indexOf("\0") === -1;
+ }
+ function isASCIINumber(value) {
+ if (value.length === 0) return false;
+ for (let i = 0; i < value.length; i++) {
+ if (value.charCodeAt(i) < 48 || value.charCodeAt(i) > 57) return false;
+ }
+ return true;
+ }
+ function delay(ms) {
+ return new Promise((resolve) => {
+ setTimeout(resolve, ms).unref();
+ });
+ }
+ module.exports = {
+ isValidLastEventId,
+ isASCIINumber,
+ delay
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/eventsource/eventsource-stream.js
+var require_eventsource_stream = __commonJS({
+ "viewer/node_modules/undici/lib/web/eventsource/eventsource-stream.js"(exports, module) {
+ "use strict";
+ var { Transform } = __require("node:stream");
+ var { isASCIINumber, isValidLastEventId } = require_util8();
+ var BOM = [239, 187, 191];
+ var LF = 10;
+ var CR = 13;
+ var COLON = 58;
+ var SPACE = 32;
+ var EventSourceStream = class extends Transform {
+ /**
+ * @type {eventSourceSettings}
+ */
+ state = null;
+ /**
+ * Leading byte-order-mark check.
+ * @type {boolean}
+ */
+ checkBOM = true;
+ /**
+ * @type {boolean}
+ */
+ crlfCheck = false;
+ /**
+ * @type {boolean}
+ */
+ eventEndCheck = false;
+ /**
+ * @type {Buffer}
+ */
+ buffer = null;
+ pos = 0;
+ event = {
+ data: void 0,
+ event: void 0,
+ id: void 0,
+ retry: void 0
+ };
+ /**
+ * @param {object} options
+ * @param {eventSourceSettings} options.eventSourceSettings
+ * @param {Function} [options.push]
+ */
+ constructor(options = {}) {
+ options.readableObjectMode = true;
+ super(options);
+ this.state = options.eventSourceSettings || {};
+ if (options.push) {
+ this.push = options.push;
+ }
+ }
+ /**
+ * @param {Buffer} chunk
+ * @param {string} _encoding
+ * @param {Function} callback
+ * @returns {void}
+ */
+ _transform(chunk, _encoding, callback) {
+ if (chunk.length === 0) {
+ callback();
+ return;
+ }
+ if (this.buffer) {
+ this.buffer = Buffer.concat([this.buffer, chunk]);
+ } else {
+ this.buffer = chunk;
+ }
+ if (this.checkBOM) {
+ switch (this.buffer.length) {
+ case 1:
+ if (this.buffer[0] === BOM[0]) {
+ callback();
+ return;
+ }
+ this.checkBOM = false;
+ callback();
+ return;
+ case 2:
+ if (this.buffer[0] === BOM[0] && this.buffer[1] === BOM[1]) {
+ callback();
+ return;
+ }
+ this.checkBOM = false;
+ break;
+ case 3:
+ if (this.buffer[0] === BOM[0] && this.buffer[1] === BOM[1] && this.buffer[2] === BOM[2]) {
+ this.buffer = Buffer.alloc(0);
+ this.checkBOM = false;
+ callback();
+ return;
+ }
+ this.checkBOM = false;
+ break;
+ default:
+ if (this.buffer[0] === BOM[0] && this.buffer[1] === BOM[1] && this.buffer[2] === BOM[2]) {
+ this.buffer = this.buffer.subarray(3);
+ }
+ this.checkBOM = false;
+ break;
+ }
+ }
+ while (this.pos < this.buffer.length) {
+ if (this.eventEndCheck) {
+ if (this.crlfCheck) {
+ if (this.buffer[this.pos] === LF) {
+ this.buffer = this.buffer.subarray(this.pos + 1);
+ this.pos = 0;
+ this.crlfCheck = false;
+ continue;
+ }
+ this.crlfCheck = false;
+ }
+ if (this.buffer[this.pos] === LF || this.buffer[this.pos] === CR) {
+ if (this.buffer[this.pos] === CR) {
+ this.crlfCheck = true;
+ }
+ this.buffer = this.buffer.subarray(this.pos + 1);
+ this.pos = 0;
+ if (this.event.data !== void 0 || this.event.event || this.event.id || this.event.retry) {
+ this.processEvent(this.event);
+ }
+ this.clearEvent();
+ continue;
+ }
+ this.eventEndCheck = false;
+ continue;
+ }
+ if (this.buffer[this.pos] === LF || this.buffer[this.pos] === CR) {
+ if (this.buffer[this.pos] === CR) {
+ this.crlfCheck = true;
+ }
+ this.parseLine(this.buffer.subarray(0, this.pos), this.event);
+ this.buffer = this.buffer.subarray(this.pos + 1);
+ this.pos = 0;
+ this.eventEndCheck = true;
+ continue;
+ }
+ this.pos++;
+ }
+ callback();
+ }
+ /**
+ * @param {Buffer} line
+ * @param {EventStreamEvent} event
+ */
+ parseLine(line, event) {
+ if (line.length === 0) {
+ return;
+ }
+ const colonPosition = line.indexOf(COLON);
+ if (colonPosition === 0) {
+ return;
+ }
+ let field = "";
+ let value = "";
+ if (colonPosition !== -1) {
+ field = line.subarray(0, colonPosition).toString("utf8");
+ let valueStart = colonPosition + 1;
+ if (line[valueStart] === SPACE) {
+ ++valueStart;
+ }
+ value = line.subarray(valueStart).toString("utf8");
+ } else {
+ field = line.toString("utf8");
+ value = "";
+ }
+ switch (field) {
+ case "data":
+ if (event[field] === void 0) {
+ event[field] = value;
+ } else {
+ event[field] += `
+${value}`;
+ }
+ break;
+ case "retry":
+ if (isASCIINumber(value)) {
+ event[field] = value;
+ }
+ break;
+ case "id":
+ if (isValidLastEventId(value)) {
+ event[field] = value;
+ }
+ break;
+ case "event":
+ if (value.length > 0) {
+ event[field] = value;
+ }
+ break;
+ }
+ }
+ /**
+ * @param {EventSourceStreamEvent} event
+ */
+ processEvent(event) {
+ if (event.retry && isASCIINumber(event.retry)) {
+ this.state.reconnectionTime = parseInt(event.retry, 10);
+ }
+ if (event.id && isValidLastEventId(event.id)) {
+ this.state.lastEventId = event.id;
+ }
+ if (event.data !== void 0) {
+ this.push({
+ type: event.event || "message",
+ options: {
+ data: event.data,
+ lastEventId: this.state.lastEventId,
+ origin: this.state.origin
+ }
+ });
+ }
+ }
+ clearEvent() {
+ this.event = {
+ data: void 0,
+ event: void 0,
+ id: void 0,
+ retry: void 0
+ };
+ }
+ };
+ module.exports = {
+ EventSourceStream
+ };
+ }
+});
+
+// viewer/node_modules/undici/lib/web/eventsource/eventsource.js
+var require_eventsource = __commonJS({
+ "viewer/node_modules/undici/lib/web/eventsource/eventsource.js"(exports, module) {
+ "use strict";
+ var { pipeline } = __require("node:stream");
+ var { fetching } = require_fetch();
+ var { makeRequest } = require_request2();
+ var { webidl } = require_webidl();
+ var { EventSourceStream } = require_eventsource_stream();
+ var { parseMIMEType } = require_data_url();
+ var { createFastMessageEvent } = require_events();
+ var { isNetworkError: isNetworkError2 } = require_response();
+ var { delay } = require_util8();
+ var { kEnumerableProperty } = require_util();
+ var { environmentSettingsObject } = require_util2();
+ var experimentalWarned = false;
+ var defaultReconnectionTime = 3e3;
+ var CONNECTING = 0;
+ var OPEN = 1;
+ var CLOSED = 2;
+ var ANONYMOUS = "anonymous";
+ var USE_CREDENTIALS = "use-credentials";
+ var EventSource = class _EventSource extends EventTarget {
+ #events = {
+ open: null,
+ error: null,
+ message: null
+ };
+ #url = null;
+ #withCredentials = false;
+ #readyState = CONNECTING;
+ #request = null;
+ #controller = null;
+ #dispatcher;
+ /**
+ * @type {import('./eventsource-stream').eventSourceSettings}
+ */
+ #state;
+ /**
+ * Creates a new EventSource object.
+ * @param {string} url
+ * @param {EventSourceInit} [eventSourceInitDict]
+ * @see https://html.spec.whatwg.org/multipage/server-sent-events.html#the-eventsource-interface
+ */
+ constructor(url, eventSourceInitDict = {}) {
+ super();
+ webidl.util.markAsUncloneable(this);
+ const prefix = "EventSource constructor";
+ webidl.argumentLengthCheck(arguments, 1, prefix);
+ if (!experimentalWarned) {
+ experimentalWarned = true;
+ process.emitWarning("EventSource is experimental, expect them to change at any time.", {
+ code: "UNDICI-ES"
+ });
+ }
+ url = webidl.converters.USVString(url, prefix, "url");
+ eventSourceInitDict = webidl.converters.EventSourceInitDict(eventSourceInitDict, prefix, "eventSourceInitDict");
+ this.#dispatcher = eventSourceInitDict.dispatcher;
+ this.#state = {
+ lastEventId: "",
+ reconnectionTime: defaultReconnectionTime
+ };
+ const settings = environmentSettingsObject;
+ let urlRecord;
+ try {
+ urlRecord = new URL(url, settings.settingsObject.baseUrl);
+ this.#state.origin = urlRecord.origin;
+ } catch (e) {
+ throw new DOMException(e, "SyntaxError");
+ }
+ this.#url = urlRecord.href;
+ let corsAttributeState = ANONYMOUS;
+ if (eventSourceInitDict.withCredentials) {
+ corsAttributeState = USE_CREDENTIALS;
+ this.#withCredentials = true;
+ }
+ const initRequest = {
+ redirect: "follow",
+ keepalive: true,
+ // @see https://html.spec.whatwg.org/multipage/urls-and-fetching.html#cors-settings-attributes
+ mode: "cors",
+ credentials: corsAttributeState === "anonymous" ? "same-origin" : "omit",
+ referrer: "no-referrer"
+ };
+ initRequest.client = environmentSettingsObject.settingsObject;
+ initRequest.headersList = [["accept", { name: "accept", value: "text/event-stream" }]];
+ initRequest.cache = "no-store";
+ initRequest.initiator = "other";
+ initRequest.urlList = [new URL(this.#url)];
+ this.#request = makeRequest(initRequest);
+ this.#connect();
+ }
+ /**
+ * Returns the state of this EventSource object's connection. It can have the
+ * values described below.
+ * @returns {0|1|2}
+ * @readonly
+ */
+ get readyState() {
+ return this.#readyState;
+ }
+ /**
+ * Returns the URL providing the event stream.
+ * @readonly
+ * @returns {string}
+ */
+ get url() {
+ return this.#url;
+ }
+ /**
+ * Returns a boolean indicating whether the EventSource object was
+ * instantiated with CORS credentials set (true), or not (false, the default).
+ */
+ get withCredentials() {
+ return this.#withCredentials;
+ }
+ #connect() {
+ if (this.#readyState === CLOSED) return;
+ this.#readyState = CONNECTING;
+ const fetchParams = {
+ request: this.#request,
+ dispatcher: this.#dispatcher
+ };
+ const processEventSourceEndOfBody = (response) => {
+ if (isNetworkError2(response)) {
+ this.dispatchEvent(new Event("error"));
+ this.close();
+ }
+ this.#reconnect();
+ };
+ fetchParams.processResponseEndOfBody = processEventSourceEndOfBody;
+ fetchParams.processResponse = (response) => {
+ if (isNetworkError2(response)) {
+ if (response.aborted) {
+ this.close();
+ this.dispatchEvent(new Event("error"));
+ return;
+ } else {
+ this.#reconnect();
+ return;
+ }
+ }
+ const contentType = response.headersList.get("content-type", true);
+ const mimeType = contentType !== null ? parseMIMEType(contentType) : "failure";
+ const contentTypeValid = mimeType !== "failure" && mimeType.essence === "text/event-stream";
+ if (response.status !== 200 || contentTypeValid === false) {
+ this.close();
+ this.dispatchEvent(new Event("error"));
+ return;
+ }
+ this.#readyState = OPEN;
+ this.dispatchEvent(new Event("open"));
+ this.#state.origin = response.urlList[response.urlList.length - 1].origin;
+ const eventSourceStream = new EventSourceStream({
+ eventSourceSettings: this.#state,
+ push: (event) => {
+ this.dispatchEvent(createFastMessageEvent(
+ event.type,
+ event.options
+ ));
+ }
+ });
+ pipeline(
+ response.body.stream,
+ eventSourceStream,
+ (error) => {
+ if (error?.aborted === false) {
+ this.close();
+ this.dispatchEvent(new Event("error"));
+ }
+ }
+ );
+ };
+ this.#controller = fetching(fetchParams);
+ }
+ /**
+ * @see https://html.spec.whatwg.org/multipage/server-sent-events.html#sse-processing-model
+ * @returns {Promise}
+ */
+ async #reconnect() {
+ if (this.#readyState === CLOSED) return;
+ this.#readyState = CONNECTING;
+ this.dispatchEvent(new Event("error"));
+ await delay(this.#state.reconnectionTime);
+ if (this.#readyState !== CONNECTING) return;
+ if (this.#state.lastEventId.length) {
+ this.#request.headersList.set("last-event-id", this.#state.lastEventId, true);
+ }
+ this.#connect();
+ }
+ /**
+ * Closes the connection, if any, and sets the readyState attribute to
+ * CLOSED.
+ */
+ close() {
+ webidl.brandCheck(this, _EventSource);
+ if (this.#readyState === CLOSED) return;
+ this.#readyState = CLOSED;
+ this.#controller.abort();
+ this.#request = null;
+ }
+ get onopen() {
+ return this.#events.open;
+ }
+ set onopen(fn) {
+ if (this.#events.open) {
+ this.removeEventListener("open", this.#events.open);
+ }
+ if (typeof fn === "function") {
+ this.#events.open = fn;
+ this.addEventListener("open", fn);
+ } else {
+ this.#events.open = null;
+ }
+ }
+ get onmessage() {
+ return this.#events.message;
+ }
+ set onmessage(fn) {
+ if (this.#events.message) {
+ this.removeEventListener("message", this.#events.message);
+ }
+ if (typeof fn === "function") {
+ this.#events.message = fn;
+ this.addEventListener("message", fn);
+ } else {
+ this.#events.message = null;
+ }
+ }
+ get onerror() {
+ return this.#events.error;
+ }
+ set onerror(fn) {
+ if (this.#events.error) {
+ this.removeEventListener("error", this.#events.error);
+ }
+ if (typeof fn === "function") {
+ this.#events.error = fn;
+ this.addEventListener("error", fn);
+ } else {
+ this.#events.error = null;
+ }
+ }
+ };
+ var constantsPropertyDescriptors = {
+ CONNECTING: {
+ __proto__: null,
+ configurable: false,
+ enumerable: true,
+ value: CONNECTING,
+ writable: false
+ },
+ OPEN: {
+ __proto__: null,
+ configurable: false,
+ enumerable: true,
+ value: OPEN,
+ writable: false
+ },
+ CLOSED: {
+ __proto__: null,
+ configurable: false,
+ enumerable: true,
+ value: CLOSED,
+ writable: false
+ }
+ };
+ Object.defineProperties(EventSource, constantsPropertyDescriptors);
+ Object.defineProperties(EventSource.prototype, constantsPropertyDescriptors);
+ Object.defineProperties(EventSource.prototype, {
+ close: kEnumerableProperty,
+ onerror: kEnumerableProperty,
+ onmessage: kEnumerableProperty,
+ onopen: kEnumerableProperty,
+ readyState: kEnumerableProperty,
+ url: kEnumerableProperty,
+ withCredentials: kEnumerableProperty
+ });
+ webidl.converters.EventSourceInitDict = webidl.dictionaryConverter([
+ {
+ key: "withCredentials",
+ converter: webidl.converters.boolean,
+ defaultValue: () => false
+ },
+ {
+ key: "dispatcher",
+ // undici only
+ converter: webidl.converters.any
+ }
+ ]);
+ module.exports = {
+ EventSource,
+ defaultReconnectionTime
+ };
+ }
+});
+
+// viewer/node_modules/undici/index.js
+var require_undici = __commonJS({
+ "viewer/node_modules/undici/index.js"(exports, module) {
+ "use strict";
+ var Client = require_client();
+ var Dispatcher = require_dispatcher();
+ var Pool = require_pool();
+ var BalancedPool = require_balanced_pool();
+ var Agent = require_agent();
+ var ProxyAgent = require_proxy_agent();
+ var EnvHttpProxyAgent = require_env_http_proxy_agent();
+ var RetryAgent = require_retry_agent();
+ var errors = require_errors();
+ var util = require_util();
+ var { InvalidArgumentError } = errors;
+ var api = require_api();
+ var buildConnector = require_connect();
+ var MockClient = require_mock_client();
+ var MockAgent = require_mock_agent();
+ var MockPool = require_mock_pool();
+ var mockErrors = require_mock_errors();
+ var RetryHandler = require_retry_handler();
+ var { getGlobalDispatcher, setGlobalDispatcher } = require_global2();
+ var DecoratorHandler = require_decorator_handler();
+ var RedirectHandler = require_redirect_handler();
+ var createRedirectInterceptor = require_redirect_interceptor();
+ Object.assign(Dispatcher.prototype, api);
+ module.exports.Dispatcher = Dispatcher;
+ module.exports.Client = Client;
+ module.exports.Pool = Pool;
+ module.exports.BalancedPool = BalancedPool;
+ module.exports.Agent = Agent;
+ module.exports.ProxyAgent = ProxyAgent;
+ module.exports.EnvHttpProxyAgent = EnvHttpProxyAgent;
+ module.exports.RetryAgent = RetryAgent;
+ module.exports.RetryHandler = RetryHandler;
+ module.exports.DecoratorHandler = DecoratorHandler;
+ module.exports.RedirectHandler = RedirectHandler;
+ module.exports.createRedirectInterceptor = createRedirectInterceptor;
+ module.exports.interceptors = {
+ redirect: require_redirect(),
+ retry: require_retry3(),
+ dump: require_dump(),
+ dns: require_dns()
+ };
+ module.exports.buildConnector = buildConnector;
+ module.exports.errors = errors;
+ module.exports.util = {
+ parseHeaders: util.parseHeaders,
+ headerNameToString: util.headerNameToString
+ };
+ function makeDispatcher(fn) {
+ return (url, opts, handler) => {
+ if (typeof opts === "function") {
+ handler = opts;
+ opts = null;
+ }
+ if (!url || typeof url !== "string" && typeof url !== "object" && !(url instanceof URL)) {
+ throw new InvalidArgumentError("invalid url");
+ }
+ if (opts != null && typeof opts !== "object") {
+ throw new InvalidArgumentError("invalid opts");
+ }
+ if (opts && opts.path != null) {
+ if (typeof opts.path !== "string") {
+ throw new InvalidArgumentError("invalid opts.path");
+ }
+ let path14 = opts.path;
+ if (!opts.path.startsWith("/")) {
+ path14 = `/${path14}`;
+ }
+ url = new URL(util.parseOrigin(url).origin + path14);
+ } else {
+ if (!opts) {
+ opts = typeof url === "object" ? url : {};
+ }
+ url = util.parseURL(url);
+ }
+ const { agent, dispatcher = getGlobalDispatcher() } = opts;
+ if (agent) {
+ throw new InvalidArgumentError("unsupported opts.agent. Did you mean opts.client?");
+ }
+ return fn.call(dispatcher, {
+ ...opts,
+ origin: url.origin,
+ path: url.search ? `${url.pathname}${url.search}` : url.pathname,
+ method: opts.method || (opts.body ? "PUT" : "GET")
+ }, handler);
+ };
+ }
+ module.exports.setGlobalDispatcher = setGlobalDispatcher;
+ module.exports.getGlobalDispatcher = getGlobalDispatcher;
+ var fetchImpl = require_fetch().fetch;
+ module.exports.fetch = async function fetch3(init, options = void 0) {
+ try {
+ return await fetchImpl(init, options);
+ } catch (err) {
+ if (err && typeof err === "object") {
+ Error.captureStackTrace(err);
+ }
+ throw err;
+ }
+ };
+ module.exports.Headers = require_headers().Headers;
+ module.exports.Response = require_response().Response;
+ module.exports.Request = require_request2().Request;
+ module.exports.FormData = require_formdata().FormData;
+ module.exports.File = globalThis.File ?? __require("node:buffer").File;
+ module.exports.FileReader = require_filereader().FileReader;
+ var { setGlobalOrigin, getGlobalOrigin } = require_global();
+ module.exports.setGlobalOrigin = setGlobalOrigin;
+ module.exports.getGlobalOrigin = getGlobalOrigin;
+ var { CacheStorage } = require_cachestorage();
+ var { kConstruct } = require_symbols4();
+ module.exports.caches = new CacheStorage(kConstruct);
+ var { deleteCookie, getCookies, getSetCookies, setCookie } = require_cookies();
+ module.exports.deleteCookie = deleteCookie;
+ module.exports.getCookies = getCookies;
+ module.exports.getSetCookies = getSetCookies;
+ module.exports.setCookie = setCookie;
+ var { parseMIMEType, serializeAMimeType } = require_data_url();
+ module.exports.parseMIMEType = parseMIMEType;
+ module.exports.serializeAMimeType = serializeAMimeType;
+ var { CloseEvent, ErrorEvent, MessageEvent } = require_events();
+ module.exports.WebSocket = require_websocket().WebSocket;
+ module.exports.CloseEvent = CloseEvent;
+ module.exports.ErrorEvent = ErrorEvent;
+ module.exports.MessageEvent = MessageEvent;
+ module.exports.request = makeDispatcher(api.request);
+ module.exports.stream = makeDispatcher(api.stream);
+ module.exports.pipeline = makeDispatcher(api.pipeline);
+ module.exports.connect = makeDispatcher(api.connect);
+ module.exports.upgrade = makeDispatcher(api.upgrade);
+ module.exports.MockClient = MockClient;
+ module.exports.MockPool = MockPool;
+ module.exports.MockAgent = MockAgent;
+ module.exports.mockErrors = mockErrors;
+ var { EventSource } = require_eventsource();
+ module.exports.EventSource = EventSource;
+ }
+});
+
+// viewer/node_modules/throttleit/index.js
+var require_throttleit = __commonJS({
+ "viewer/node_modules/throttleit/index.js"(exports, module) {
+ function throttle3(function_, wait) {
+ if (typeof function_ !== "function") {
+ throw new TypeError(`Expected the first argument to be a \`function\`, got \`${typeof function_}\`.`);
+ }
+ let timeoutId;
+ let lastCallTime = 0;
+ return function throttled(...arguments_) {
+ clearTimeout(timeoutId);
+ const now = Date.now();
+ const timeSinceLastCall = now - lastCallTime;
+ const delayForNextCall = wait - timeSinceLastCall;
+ if (delayForNextCall <= 0) {
+ lastCallTime = now;
+ function_.apply(this, arguments_);
+ } else {
+ timeoutId = setTimeout(() => {
+ lastCallTime = Date.now();
+ function_.apply(this, arguments_);
+ }, delayForNextCall);
+ }
+ };
+ }
+ module.exports = throttle3;
+ }
+});
+
+// viewer/node_modules/@vercel/blob/dist/chunk-3D2SZ6M2.js
+import { Readable } from "stream";
+async function toReadableStream(value) {
+ if (value instanceof ReadableStream) {
+ return value;
+ }
+ if (value instanceof Blob) {
+ return value.stream();
+ }
+ if (isNodeJsReadableStream(value)) {
+ return Readable.toWeb(value);
+ }
+ let streamValue;
+ if (value instanceof ArrayBuffer) {
+ streamValue = new Uint8Array(value);
+ } else if (isNodeJsBuffer(value)) {
+ streamValue = value;
+ } else {
+ streamValue = stringToUint8Array(value);
+ }
+ if (await supportsNewBlobFromArrayBuffer) {
+ return new Blob([streamValue]).stream();
+ }
+ return new ReadableStream({
+ start(controller) {
+ controller.enqueue(streamValue);
+ controller.close();
+ }
+ });
+}
+function isNodeJsReadableStream(value) {
+ return typeof value === "object" && typeof value.pipe === "function" && value.readable && typeof value._read === "function" && // @ts-expect-error _readableState does exists on Readable
+ typeof value._readableState === "object";
+}
+function stringToUint8Array(s) {
+ const enc = new TextEncoder();
+ return enc.encode(s);
+}
+function isNodeJsBuffer(value) {
+ return (0, import_is_buffer.default)(value);
+}
+function readEnv(name) {
+ try {
+ const value = process.env[name];
+ return typeof value === "string" && value.trim() !== "" ? value.trim() : void 0;
+ } catch {
+ return void 0;
+ }
+}
+function getVercelOidcToken() {
+ var _a3;
+ const tokenFromContext = (_a3 = getContext().headers) == null ? void 0 : _a3["x-vercel-oidc-token"];
+ if (typeof tokenFromContext === "string" && tokenFromContext.trim() !== "") {
+ return tokenFromContext.trim();
+ }
+ return readEnv("VERCEL_OIDC_TOKEN");
+}
+function bytes(val) {
+ if (typeof val === "number" && !Number.isNaN(val)) {
+ return val;
+ }
+ if (typeof val !== "string") {
+ return null;
+ }
+ const results = parseRegExp.exec(val);
+ let floatValue;
+ let unit = "b";
+ if (!results) {
+ floatValue = parseInt(val, 10);
+ } else {
+ const [, res, , , unitMatch] = results;
+ if (!res) {
+ return null;
+ }
+ floatValue = parseFloat(res);
+ if (unitMatch) {
+ unit = unitMatch.toLowerCase();
+ }
+ }
+ if (Number.isNaN(floatValue)) {
+ return null;
+ }
+ return Math.floor(map[unit] * floatValue);
+}
+function readEnv2(name) {
+ try {
+ const value = process.env[name];
+ return typeof value === "string" && value.trim() !== "" ? value.trim() : void 0;
+ } catch {
+ return void 0;
+ }
+}
+function parseStoreIdFromReadWriteToken(token) {
+ const [, , , storeId = ""] = token.split("_");
+ return storeId;
+}
+function base64UrlDecodeDelegationSegment(segment) {
+ let base64 = segment.replace(/-/g, "+").replace(/_/g, "/");
+ const padding = 4 - base64.length % 4;
+ if (padding !== 4) {
+ base64 += "=".repeat(padding);
+ }
+ if (typeof atob === "function") {
+ return atob(base64);
+ }
+ if (typeof Buffer !== "undefined") {
+ return Buffer.from(base64, "base64").toString("utf8");
+ }
+ throw new BlobError("Cannot decode base64: no atob or Buffer available.");
+}
+function parseStoreIdFromDelegationToken(delegationToken) {
+ const dot3 = delegationToken.indexOf(".");
+ if (dot3 < 0) {
+ throw new BlobError("Invalid delegation token format.");
+ }
+ const payloadSeg = delegationToken.slice(0, dot3);
+ let parsed;
+ try {
+ parsed = JSON.parse(base64UrlDecodeDelegationSegment(payloadSeg));
+ } catch {
+ throw new BlobError("Invalid delegation token payload.");
+ }
+ if (!parsed.storeId || typeof parsed.storeId !== "string") {
+ throw new BlobError("Delegation token payload is missing `storeId`.");
+ }
+ return normalizeStoreId(parsed.storeId);
+}
+function parseStoreIdFromPresignedUrl(presignedUrlPayload) {
+ const delegation = presignedUrlPayload.delegationToken;
+ return parseStoreIdFromDelegationToken(delegation);
+}
+function normalizeStoreId(storeId) {
+ return storeId.startsWith("store_") ? storeId.slice("store_".length) : storeId;
+}
+function resolveBlobAuth(options) {
+ var _a3, _b2;
+ if (options == null ? void 0 : options.presignedUrlPayload) {
+ const storeId = parseStoreIdFromDelegationToken(
+ options.presignedUrlPayload.delegationToken
+ );
+ return { kind: "presigned", storeId };
+ }
+ if (options == null ? void 0 : options.token) {
+ const storeId = parseStoreIdFromReadWriteToken(options.token);
+ return { kind: "readWrite", token: options.token, storeId };
+ }
+ const manualOidcToken = (_a3 = options == null ? void 0 : options.oidcToken) == null ? void 0 : _a3.trim();
+ const oidcToken = manualOidcToken || getVercelOidcToken();
+ if (oidcToken) {
+ const manualStoreId = (_b2 = options == null ? void 0 : options.storeId) == null ? void 0 : _b2.trim();
+ if (manualStoreId) {
+ return {
+ kind: "oidc",
+ token: oidcToken,
+ storeId: normalizeStoreId(manualStoreId)
+ };
+ }
+ const blobStoreId = readEnv2("BLOB_STORE_ID");
+ if (blobStoreId) {
+ return {
+ kind: "oidc",
+ token: oidcToken,
+ storeId: normalizeStoreId(blobStoreId)
+ };
+ }
+ if (manualOidcToken) {
+ throw new BlobError(
+ "oidcToken was passed, but no storeId was found. Pass a `storeId` option or set `BLOB_STORE_ID` to use OIDC auth"
+ );
+ }
+ }
+ const readWrite = readEnv2("BLOB_READ_WRITE_TOKEN");
+ if (readWrite) {
+ const storeId = parseStoreIdFromReadWriteToken(readWrite);
+ return { kind: "readWrite", token: readWrite, storeId };
+ }
+ throw new BlobError(
+ "No blob credentials found. Pass a `token` option, set `BLOB_READ_WRITE_TOKEN`, or use `oidcToken` (or `VERCEL_OIDC_TOKEN`) with `storeId` or `BLOB_STORE_ID`."
+ );
+}
+function getDownloadUrl(blobUrl) {
+ const url = new URL(blobUrl);
+ url.searchParams.set("download", "1");
+ return url.toString();
+}
+function isPlainObject(value) {
+ if (typeof value !== "object" || value === null) {
+ return false;
+ }
+ const prototype = Object.getPrototypeOf(value);
+ return (prototype === null || prototype === Object.prototype || Object.getPrototypeOf(prototype) === null) && !(Symbol.toStringTag in value) && !(Symbol.iterator in value);
+}
+function getApiUrl(pathname = "") {
+ let baseUrl = null;
+ try {
+ baseUrl = process.env.VERCEL_BLOB_API_URL || process.env.NEXT_PUBLIC_VERCEL_BLOB_API_URL;
+ } catch {
+ }
+ return `${baseUrl || defaultVercelBlobApiUrl}${pathname}`;
+}
+function computeBodyLength(body) {
+ if (!body) {
+ return 0;
+ }
+ if (typeof body === "string") {
+ if (TEXT_ENCODER) {
+ return TEXT_ENCODER.encode(body).byteLength;
+ }
+ return new Blob([body]).size;
+ }
+ if ("byteLength" in body && typeof body.byteLength === "number") {
+ return body.byteLength;
+ }
+ if ("size" in body && typeof body.size === "number") {
+ return body.size;
+ }
+ return 0;
+}
+function isReadableStream(value) {
+ return globalThis.ReadableStream && // TODO: Can be removed once Node.js 16 is no more required internally
+ value instanceof ReadableStream;
+}
+function isStream(value) {
+ if (isReadableStream(value)) {
+ return true;
+ }
+ if (isNodeJsReadableStream(value)) {
+ return true;
+ }
+ return false;
+}
+function isUrl(urlOrPathname) {
+ return urlOrPathname.startsWith("http://") || urlOrPathname.startsWith("https://");
+}
+function constructBlobUrl(storeId, pathname, access) {
+ return `https://${storeId}.${access}.blob.vercel-storage.com/${pathname}`;
+}
+function debug(message, ...args) {
+ if (debugIsActive) {
+ console.debug(`vercel-blob: ${message}`, ...args);
+ }
+}
+function isNetworkError(error) {
+ const isValid = error && isError(error) && error.name === "TypeError" && typeof error.message === "string";
+ if (!isValid) {
+ return false;
+ }
+ if (error.message === "Load failed") {
+ return error.stack === void 0;
+ }
+ return errorMessages.has(error.message);
+}
+function getApiVersion() {
+ let versionOverride = null;
+ try {
+ versionOverride = process.env.VERCEL_BLOB_API_VERSION_OVERRIDE || process.env.NEXT_PUBLIC_VERCEL_BLOB_API_VERSION_OVERRIDE;
+ } catch {
+ }
+ return `${versionOverride != null ? versionOverride : BLOB_API_VERSION}`;
+}
+function getRetries() {
+ try {
+ const retries = process.env.VERCEL_BLOB_RETRIES || "10";
+ return parseInt(retries, 10);
+ } catch {
+ return 10;
+ }
+}
+function createBlobServiceRateLimited(response) {
+ const retryAfter = response.headers.get("retry-after");
+ return new BlobServiceRateLimited(
+ retryAfter ? parseInt(retryAfter, 10) : void 0
+ );
+}
+async function getBlobError(response) {
+ var _a3, _b2, _c;
+ let code;
+ let message;
+ try {
+ const data = await response.json();
+ code = (_b2 = (_a3 = data.error) == null ? void 0 : _a3.code) != null ? _b2 : "unknown_error";
+ message = (_c = data.error) == null ? void 0 : _c.message;
+ } catch {
+ code = "unknown_error";
+ }
+ if ((message == null ? void 0 : message.includes("contentType")) && message.includes("is not allowed")) {
+ code = "content_type_not_allowed";
+ }
+ if ((message == null ? void 0 : message.includes('"pathname"')) && message.includes("does not match the token payload")) {
+ code = "client_token_pathname_mismatch";
+ }
+ if (message === "Token expired") {
+ code = "client_token_expired";
+ }
+ if (message == null ? void 0 : message.includes("the file length cannot be greater than")) {
+ code = "file_too_large";
+ }
+ if ((message == null ? void 0 : message.startsWith("OIDC is enabled for this project, but not for the")) && message.includes("environment.")) {
+ code = "oidc_environment_not_allowed";
+ }
+ let error;
+ switch (code) {
+ case "store_suspended":
+ error = new BlobStoreSuspendedError();
+ break;
+ case "forbidden":
+ error = new BlobAccessError();
+ break;
+ case "oidc_environment_not_allowed":
+ error = new BlobOidcEnvironmentNotAllowedError(message);
+ break;
+ case "content_type_not_allowed":
+ error = new BlobContentTypeNotAllowedError(message);
+ break;
+ case "client_token_pathname_mismatch":
+ error = new BlobPathnameMismatchError(message);
+ break;
+ case "client_token_expired":
+ error = new BlobClientTokenExpiredError();
+ break;
+ case "file_too_large":
+ error = new BlobFileTooLargeError(message);
+ break;
+ case "not_found":
+ error = new BlobNotFoundError();
+ break;
+ case "client_token_not_allowed":
+ error = new BlobError(
+ message != null ? message : "This operation is not available when using a client token. Use a read\u2013write or OIDC token on the server."
+ );
+ break;
+ case "store_not_found":
+ error = new BlobStoreNotFoundError();
+ break;
+ case "bad_request":
+ error = new BlobError(message != null ? message : "Bad request");
+ break;
+ case "service_unavailable":
+ error = new BlobServiceNotAvailable();
+ break;
+ case "rate_limited":
+ error = createBlobServiceRateLimited(response);
+ break;
+ case "precondition_failed":
+ error = new BlobPreconditionFailedError();
+ break;
+ case "unknown_error":
+ case "not_allowed":
+ default:
+ error = new BlobUnknownError();
+ break;
+ }
+ return { code, error };
+}
+async function requestApi(pathname, init, commandOptions) {
+ const apiVersion = getApiVersion();
+ const auth = resolveBlobAuth(commandOptions);
+ const bearerToken = auth.kind === "presigned" ? void 0 : auth.token;
+ const extraHeaders = getProxyThroughAlternativeApiHeaderFromEnv();
+ let requestInput = getApiUrl(pathname);
+ if (commandOptions == null ? void 0 : commandOptions.presignedUrlPayload) {
+ requestInput = addPresignedParams(
+ requestInput,
+ commandOptions.presignedUrlPayload
+ );
+ }
+ const requestId = `${auth.storeId}:${Date.now()}:${Math.random().toString(16).slice(2)}`;
+ let retryCount = 0;
+ let bodyLength = 0;
+ let totalLoaded = 0;
+ const sendBodyLength = (commandOptions == null ? void 0 : commandOptions.onUploadProgress) || shouldUseXContentLength();
+ if (init.body && // 1. For upload progress we always need to know the total size of the body
+ // 2. In development we need the header for put() to work correctly when passing a stream
+ sendBodyLength) {
+ bodyLength = computeBodyLength(init.body);
+ }
+ if (commandOptions == null ? void 0 : commandOptions.onUploadProgress) {
+ commandOptions.onUploadProgress({
+ loaded: 0,
+ total: bodyLength,
+ percentage: 0
+ });
+ }
+ const apiResponse = await (0, import_async_retry.default)(
+ async (bail) => {
+ let res;
+ try {
+ res = await blobRequest({
+ input: requestInput,
+ init: {
+ ...init,
+ headers: {
+ "x-api-blob-request-id": requestId,
+ // Store ID is not encoded in OIDC token, so pass it separately as a header
+ "x-vercel-blob-store-id": auth.storeId,
+ "x-api-blob-request-attempt": String(retryCount),
+ "x-api-version": apiVersion,
+ ...sendBodyLength ? { "x-content-length": String(bodyLength) } : {},
+ ...bearerToken !== void 0 ? { authorization: `Bearer ${bearerToken}` } : {},
+ ...extraHeaders,
+ ...init.headers
+ }
+ },
+ onUploadProgress: (commandOptions == null ? void 0 : commandOptions.onUploadProgress) ? (loaded) => {
+ var _a3;
+ const total = bodyLength !== 0 ? bodyLength : loaded;
+ totalLoaded = loaded;
+ const percentage = bodyLength > 0 ? Number((loaded / total * 100).toFixed(2)) : 0;
+ if (percentage === 100 && bodyLength > 0) {
+ return;
+ }
+ (_a3 = commandOptions.onUploadProgress) == null ? void 0 : _a3.call(commandOptions, {
+ loaded,
+ // When passing a stream to put(), we have no way to know the total size of the body.
+ // Instead of defining total as total?: number we decided to set the total to the currently
+ // loaded number. This is not inaccurate and way more practical for DX.
+ // Passing down a stream to put() is very rare
+ total,
+ percentage
+ });
+ } : void 0
+ });
+ } catch (error2) {
+ if (error2 instanceof DOMException2 && error2.name === "AbortError") {
+ bail(new BlobRequestAbortedError());
+ return;
+ }
+ if (isNetworkError(error2)) {
+ throw error2;
+ }
+ if (error2 instanceof TypeError) {
+ bail(error2);
+ return;
+ }
+ throw error2;
+ }
+ if (res.ok) {
+ return res;
+ }
+ const { code, error } = await getBlobError(res);
+ if (code === "unknown_error" || code === "service_unavailable" || code === "internal_server_error") {
+ throw error;
+ }
+ bail(error);
+ },
+ {
+ retries: getRetries(),
+ onRetry: (error) => {
+ if (error instanceof Error) {
+ debug(`retrying API request to ${pathname}`, error.message);
+ }
+ retryCount = retryCount + 1;
+ }
+ }
+ );
+ if (!apiResponse) {
+ throw new BlobUnknownError();
+ }
+ if (commandOptions == null ? void 0 : commandOptions.onUploadProgress) {
+ commandOptions.onUploadProgress({
+ loaded: totalLoaded,
+ total: totalLoaded,
+ percentage: 100
+ });
+ }
+ return await apiResponse.json();
+}
+function getProxyThroughAlternativeApiHeaderFromEnv() {
+ const extraHeaders = {};
+ try {
+ if ("VERCEL_BLOB_PROXY_THROUGH_ALTERNATIVE_API" in process.env && process.env.VERCEL_BLOB_PROXY_THROUGH_ALTERNATIVE_API !== void 0) {
+ extraHeaders["x-proxy-through-alternative-api"] = process.env.VERCEL_BLOB_PROXY_THROUGH_ALTERNATIVE_API;
+ } else if ("NEXT_PUBLIC_VERCEL_BLOB_PROXY_THROUGH_ALTERNATIVE_API" in process.env && process.env.NEXT_PUBLIC_VERCEL_BLOB_PROXY_THROUGH_ALTERNATIVE_API !== void 0) {
+ extraHeaders["x-proxy-through-alternative-api"] = process.env.NEXT_PUBLIC_VERCEL_BLOB_PROXY_THROUGH_ALTERNATIVE_API;
+ }
+ } catch {
+ }
+ return extraHeaders;
+}
+function shouldUseXContentLength() {
+ try {
+ return process.env.VERCEL_BLOB_USE_X_CONTENT_LENGTH === "1";
+ } catch {
+ return false;
+ }
+}
+function createPutHeaders(allowedOptions, options) {
+ const headers = {};
+ headers[putOptionHeaderMap.access] = options.access;
+ if (allowedOptions.includes("contentType") && options.contentType) {
+ headers[putOptionHeaderMap.contentType] = options.contentType;
+ }
+ if (allowedOptions.includes("addRandomSuffix") && options.addRandomSuffix !== void 0) {
+ headers[putOptionHeaderMap.addRandomSuffix] = options.addRandomSuffix ? "1" : "0";
+ }
+ if (allowedOptions.includes("ifMatch") && options.ifMatch) {
+ if (options.allowOverwrite === false) {
+ throw new BlobError(
+ "ifMatch and allowOverwrite: false are contradictory. ifMatch is used for conditional overwrites, which requires allowOverwrite to be true."
+ );
+ }
+ headers[putOptionHeaderMap.ifMatch] = options.ifMatch;
+ if (allowedOptions.includes("allowOverwrite") && options.allowOverwrite === void 0) {
+ headers[putOptionHeaderMap.allowOverwrite] = "1";
+ }
+ }
+ if (allowedOptions.includes("allowOverwrite") && options.allowOverwrite !== void 0) {
+ headers[putOptionHeaderMap.allowOverwrite] = options.allowOverwrite ? "1" : "0";
+ }
+ if (allowedOptions.includes("cacheControlMaxAge") && options.cacheControlMaxAge !== void 0) {
+ headers[putOptionHeaderMap.cacheControlMaxAge] = options.cacheControlMaxAge.toString();
+ }
+ return headers;
+}
+async function createPutOptions({
+ pathname,
+ options,
+ extraChecks,
+ getToken
+}) {
+ if (!pathname) {
+ throw new BlobError("pathname is required");
+ }
+ if (pathname.length > MAXIMUM_PATHNAME_LENGTH) {
+ throw new BlobError(
+ `pathname is too long, maximum length is ${MAXIMUM_PATHNAME_LENGTH}`
+ );
+ }
+ for (const invalidCharacter of disallowedPathnameCharacters) {
+ if (pathname.includes(invalidCharacter)) {
+ throw new BlobError(
+ `pathname cannot contain "${invalidCharacter}", please encode it if needed`
+ );
+ }
+ }
+ if (!options) {
+ throw new BlobError("missing options, see usage");
+ }
+ if (options.access !== "public" && options.access !== "private") {
+ throw new BlobError(
+ 'access must be "private" or "public", see https://vercel.com/docs/vercel-blob'
+ );
+ }
+ if (extraChecks) {
+ extraChecks(options);
+ }
+ if (getToken) {
+ options.token = await getToken(pathname, options);
+ }
+ return options;
+}
+function createCompleteMultipartUploadMethod({ allowedOptions, getToken, extraChecks }) {
+ return async (pathname, parts, optionsInput) => {
+ const options = await createPutOptions({
+ pathname,
+ options: optionsInput,
+ extraChecks,
+ getToken
+ });
+ const headers = createPutHeaders(allowedOptions, options);
+ return completeMultipartUpload({
+ uploadId: options.uploadId,
+ key: options.key,
+ pathname,
+ headers,
+ options,
+ parts
+ });
+ };
+}
+async function completeMultipartUpload({
+ uploadId,
+ key,
+ pathname,
+ parts,
+ headers,
+ options
+}) {
+ const params = new URLSearchParams({ pathname });
+ try {
+ const response = await requestApi(
+ `/mpu?${params.toString()}`,
+ {
+ method: "POST",
+ headers: {
+ ...headers,
+ "content-type": "application/json",
+ "x-mpu-action": "complete",
+ "x-mpu-upload-id": uploadId,
+ // key can be any utf8 character so we need to encode it as HTTP headers can only be us-ascii
+ // https://www.rfc-editor.org/rfc/rfc7230#swection-3.2.4
+ "x-mpu-key": encodeURIComponent(key)
+ },
+ body: JSON.stringify(parts),
+ signal: options.abortSignal
+ },
+ options
+ );
+ debug("mpu: complete", response);
+ return response;
+ } catch (error) {
+ if (error instanceof TypeError && (error.message === "Failed to fetch" || error.message === "fetch failed")) {
+ throw new BlobServiceNotAvailable();
+ } else {
+ throw error;
+ }
+ }
+}
+function createCreateMultipartUploadMethod({ allowedOptions, getToken, extraChecks }) {
+ return async (pathname, optionsInput) => {
+ const options = await createPutOptions({
+ pathname,
+ options: optionsInput,
+ extraChecks,
+ getToken
+ });
+ const headers = createPutHeaders(allowedOptions, options);
+ const createMultipartUploadResponse = await createMultipartUpload(
+ pathname,
+ headers,
+ options
+ );
+ return {
+ key: createMultipartUploadResponse.key,
+ uploadId: createMultipartUploadResponse.uploadId
+ };
+ };
+}
+async function createMultipartUpload(pathname, headers, options) {
+ debug("mpu: create", "pathname:", pathname);
+ const params = new URLSearchParams({ pathname });
+ try {
+ const response = await requestApi(
+ `/mpu?${params.toString()}`,
+ {
+ method: "POST",
+ headers: {
+ ...headers,
+ "x-mpu-action": "create"
+ },
+ signal: options.abortSignal
+ },
+ options
+ );
+ debug("mpu: create", response);
+ return response;
+ } catch (error) {
+ if (error instanceof TypeError && (error.message === "Failed to fetch" || error.message === "fetch failed")) {
+ throw new BlobServiceNotAvailable();
+ }
+ throw error;
+ }
+}
+function createUploadPartMethod({ allowedOptions, getToken, extraChecks }) {
+ return async (pathname, body, optionsInput) => {
+ const options = await createPutOptions({
+ pathname,
+ options: optionsInput,
+ extraChecks,
+ getToken
+ });
+ const headers = createPutHeaders(allowedOptions, options);
+ if (isPlainObject(body)) {
+ throw new BlobError(
+ "Body must be a string, buffer or stream. You sent a plain JavaScript object, double check what you're trying to upload."
+ );
+ }
+ const result = await uploadPart({
+ uploadId: options.uploadId,
+ key: options.key,
+ pathname,
+ part: { blob: body, partNumber: options.partNumber },
+ headers,
+ options
+ });
+ return {
+ etag: result.etag,
+ partNumber: options.partNumber
+ };
+ };
+}
+async function uploadPart({
+ uploadId,
+ key,
+ pathname,
+ headers,
+ options,
+ internalAbortController = new AbortController(),
+ part
+}) {
+ var _a3, _b2, _c;
+ const params = new URLSearchParams({ pathname });
+ const responsePromise = requestApi(
+ `/mpu?${params.toString()}`,
+ {
+ signal: internalAbortController.signal,
+ method: "POST",
+ headers: {
+ ...headers,
+ "x-mpu-action": "upload",
+ "x-mpu-key": encodeURIComponent(key),
+ "x-mpu-upload-id": uploadId,
+ "x-mpu-part-number": part.partNumber.toString()
+ },
+ // weird things between undici types and native fetch types
+ body: part.blob
+ },
+ options
+ );
+ function handleAbort() {
+ internalAbortController.abort();
+ }
+ if ((_a3 = options.abortSignal) == null ? void 0 : _a3.aborted) {
+ handleAbort();
+ } else {
+ (_b2 = options.abortSignal) == null ? void 0 : _b2.addEventListener("abort", handleAbort);
+ }
+ const response = await responsePromise;
+ (_c = options.abortSignal) == null ? void 0 : _c.removeEventListener("abort", handleAbort);
+ return response;
+}
+function uploadAllParts({
+ uploadId,
+ key,
+ pathname,
+ stream,
+ headers,
+ options,
+ totalToLoad
+}) {
+ debug("mpu: upload init", "key:", key);
+ const internalAbortController = new AbortController();
+ return new Promise((resolve, reject) => {
+ const partsToUpload = [];
+ const completedParts = [];
+ const reader = stream.getReader();
+ let activeUploads = 0;
+ let reading = false;
+ let currentPartNumber = 1;
+ let rejected = false;
+ let currentBytesInMemory = 0;
+ let doneReading = false;
+ let bytesSent = 0;
+ let arrayBuffers = [];
+ let currentPartBytesRead = 0;
+ let onUploadProgress;
+ const totalLoadedPerPartNumber = {};
+ if (options.onUploadProgress) {
+ onUploadProgress = (0, import_throttleit.default)(() => {
+ var _a3;
+ const loaded = Object.values(totalLoadedPerPartNumber).reduce(
+ (acc, cur) => {
+ return acc + cur;
+ },
+ 0
+ );
+ const total = totalToLoad || loaded;
+ const percentage = totalToLoad > 0 ? Number(((loaded / totalToLoad || loaded) * 100).toFixed(2)) : 0;
+ (_a3 = options.onUploadProgress) == null ? void 0 : _a3.call(options, { loaded, total, percentage });
+ }, 150);
+ }
+ read().catch(cancel);
+ async function read() {
+ debug(
+ "mpu: upload read start",
+ "activeUploads:",
+ activeUploads,
+ "currentBytesInMemory:",
+ `${bytes(currentBytesInMemory)}/${bytes(maxBytesInMemory)}`,
+ "bytesSent:",
+ bytes(bytesSent)
+ );
+ reading = true;
+ while (currentBytesInMemory < maxBytesInMemory && !rejected) {
+ try {
+ const { value, done } = await reader.read();
+ if (done) {
+ doneReading = true;
+ debug("mpu: upload read consumed the whole stream");
+ if (arrayBuffers.length > 0) {
+ partsToUpload.push({
+ partNumber: currentPartNumber++,
+ blob: new Blob(arrayBuffers, {
+ type: "application/octet-stream"
+ })
+ });
+ sendParts();
+ } else if (activeUploads === 0) {
+ reader.releaseLock();
+ resolve(completedParts);
+ }
+ reading = false;
+ return;
+ }
+ currentBytesInMemory += value.byteLength;
+ let valueOffset = 0;
+ while (valueOffset < value.byteLength) {
+ const remainingPartSize = partSizeInBytes - currentPartBytesRead;
+ const endOffset = Math.min(
+ valueOffset + remainingPartSize,
+ value.byteLength
+ );
+ const chunk = value.slice(valueOffset, endOffset);
+ arrayBuffers.push(chunk);
+ currentPartBytesRead += chunk.byteLength;
+ valueOffset = endOffset;
+ if (currentPartBytesRead === partSizeInBytes) {
+ partsToUpload.push({
+ partNumber: currentPartNumber++,
+ blob: new Blob(arrayBuffers, {
+ type: "application/octet-stream"
+ })
+ });
+ arrayBuffers = [];
+ currentPartBytesRead = 0;
+ sendParts();
+ }
+ }
+ } catch (error) {
+ cancel(error);
+ }
+ }
+ debug(
+ "mpu: upload read end",
+ "activeUploads:",
+ activeUploads,
+ "currentBytesInMemory:",
+ `${bytes(currentBytesInMemory)}/${bytes(maxBytesInMemory)}`,
+ "bytesSent:",
+ bytes(bytesSent)
+ );
+ reading = false;
+ }
+ async function sendPart(part) {
+ activeUploads++;
+ debug(
+ "mpu: upload send part start",
+ "partNumber:",
+ part.partNumber,
+ "size:",
+ part.blob.size,
+ "activeUploads:",
+ activeUploads,
+ "currentBytesInMemory:",
+ `${bytes(currentBytesInMemory)}/${bytes(maxBytesInMemory)}`,
+ "bytesSent:",
+ bytes(bytesSent)
+ );
+ try {
+ const uploadProgressForPart = options.onUploadProgress ? (event) => {
+ totalLoadedPerPartNumber[part.partNumber] = event.loaded;
+ if (onUploadProgress) {
+ onUploadProgress();
+ }
+ } : void 0;
+ const completedPart = await uploadPart({
+ uploadId,
+ key,
+ pathname,
+ headers,
+ options: {
+ ...options,
+ onUploadProgress: uploadProgressForPart
+ },
+ internalAbortController,
+ part
+ });
+ debug(
+ "mpu: upload send part end",
+ "partNumber:",
+ part.partNumber,
+ "activeUploads",
+ activeUploads,
+ "currentBytesInMemory:",
+ `${bytes(currentBytesInMemory)}/${bytes(maxBytesInMemory)}`,
+ "bytesSent:",
+ bytes(bytesSent)
+ );
+ if (rejected) {
+ return;
+ }
+ completedParts.push({
+ partNumber: part.partNumber,
+ etag: completedPart.etag
+ });
+ currentBytesInMemory -= part.blob.size;
+ activeUploads--;
+ bytesSent += part.blob.size;
+ if (partsToUpload.length > 0) {
+ sendParts();
+ }
+ if (doneReading) {
+ if (activeUploads === 0) {
+ reader.releaseLock();
+ resolve(completedParts);
+ }
+ return;
+ }
+ if (!reading) {
+ read().catch(cancel);
+ }
+ } catch (error) {
+ cancel(error);
+ }
+ }
+ function sendParts() {
+ if (rejected) {
+ return;
+ }
+ debug(
+ "send parts",
+ "activeUploads",
+ activeUploads,
+ "partsToUpload",
+ partsToUpload.length
+ );
+ while (activeUploads < maxConcurrentUploads && partsToUpload.length > 0) {
+ const partToSend = partsToUpload.shift();
+ if (partToSend) {
+ void sendPart(partToSend);
+ }
+ }
+ }
+ function cancel(error) {
+ if (rejected) {
+ return;
+ }
+ rejected = true;
+ internalAbortController.abort();
+ reader.releaseLock();
+ if (error instanceof TypeError && (error.message === "Failed to fetch" || error.message === "fetch failed")) {
+ reject(new BlobServiceNotAvailable());
+ } else {
+ reject(error);
+ }
+ }
+ });
+}
+function createCreateMultipartUploaderMethod({ allowedOptions, getToken, extraChecks }) {
+ return async (pathname, optionsInput) => {
+ const options = await createPutOptions({
+ pathname,
+ options: optionsInput,
+ extraChecks,
+ getToken
+ });
+ const headers = createPutHeaders(allowedOptions, options);
+ const createMultipartUploadResponse = await createMultipartUpload(
+ pathname,
+ headers,
+ options
+ );
+ return {
+ key: createMultipartUploadResponse.key,
+ uploadId: createMultipartUploadResponse.uploadId,
+ async uploadPart(partNumber, body) {
+ if (isPlainObject(body)) {
+ throw new BlobError(
+ "Body must be a string, buffer or stream. You sent a plain JavaScript object, double check what you're trying to upload."
+ );
+ }
+ const result = await uploadPart({
+ uploadId: createMultipartUploadResponse.uploadId,
+ key: createMultipartUploadResponse.key,
+ pathname,
+ part: { partNumber, blob: body },
+ headers,
+ options
+ });
+ return {
+ etag: result.etag,
+ partNumber
+ };
+ },
+ async complete(parts) {
+ return completeMultipartUpload({
+ uploadId: createMultipartUploadResponse.uploadId,
+ key: createMultipartUploadResponse.key,
+ pathname,
+ parts,
+ headers,
+ options
+ });
+ }
+ };
+ };
+}
+async function uncontrolledMultipartUpload(pathname, body, headers, options) {
+ debug("mpu: init", "pathname:", pathname, "headers:", headers);
+ const optionsWithoutOnUploadProgress = {
+ ...options,
+ onUploadProgress: void 0
+ };
+ if (options.maximumSizeInBytes !== void 0 && !isStream(body) && computeBodyLength(body) > options.maximumSizeInBytes) {
+ throw new BlobError(
+ `Body size of ${computeBodyLength(body)} bytes exceeds the maximum allowed size of ${options.maximumSizeInBytes} bytes`
+ );
+ }
+ const createMultipartUploadResponse = await createMultipartUpload(
+ pathname,
+ headers,
+ optionsWithoutOnUploadProgress
+ );
+ const totalToLoad = computeBodyLength(body);
+ const stream = await toReadableStream(body);
+ const parts = await uploadAllParts({
+ uploadId: createMultipartUploadResponse.uploadId,
+ key: createMultipartUploadResponse.key,
+ pathname,
+ // @ts-expect-error ReadableStream is compatible at runtime
+ stream,
+ headers,
+ options,
+ totalToLoad
+ });
+ const blob = await completeMultipartUpload({
+ uploadId: createMultipartUploadResponse.uploadId,
+ key: createMultipartUploadResponse.key,
+ pathname,
+ parts,
+ headers,
+ options: optionsWithoutOnUploadProgress
+ });
+ return blob;
+}
+function createPutMethod({
+ allowedOptions,
+ getToken,
+ getPresignedUrlPayload,
+ extraChecks
+}) {
+ return async function put2(pathname, body, optionsInput) {
+ if (!body) {
+ throw new BlobError("body is required");
+ }
+ if (isPlainObject(body)) {
+ throw new BlobError(
+ "Body must be a string, buffer or stream. You sent a plain JavaScript object, double check what you're trying to upload."
+ );
+ }
+ const options = await createPutOptions({
+ pathname,
+ options: optionsInput,
+ extraChecks,
+ getToken
+ });
+ const presignedUrlPayload = await (getPresignedUrlPayload == null ? void 0 : getPresignedUrlPayload(
+ pathname,
+ options
+ ));
+ const optionsWithPresignedUrlPayload = {
+ ...options,
+ presignedUrlPayload
+ };
+ const headers = createPutHeaders(allowedOptions, options);
+ if (options.multipart === true) {
+ return uncontrolledMultipartUpload(
+ pathname,
+ body,
+ headers,
+ optionsWithPresignedUrlPayload
+ );
+ }
+ const onUploadProgress = options.onUploadProgress ? (0, import_throttleit2.default)(options.onUploadProgress, 100) : void 0;
+ const params = new URLSearchParams({ pathname });
+ const response = await requestApi(
+ `/?${params.toString()}`,
+ {
+ method: "PUT",
+ body,
+ headers,
+ signal: options.abortSignal
+ },
+ {
+ ...optionsWithPresignedUrlPayload,
+ onUploadProgress
+ }
+ );
+ return {
+ url: response.url,
+ downloadUrl: response.downloadUrl,
+ pathname: response.pathname,
+ contentType: response.contentType,
+ contentDisposition: response.contentDisposition,
+ etag: response.etag
+ };
+ };
+}
+function contentTypeAllowedByList(contentType, allowed) {
+ const [type] = contentType.split("/");
+ const wildcard = `${type}/*`;
+ return allowed.includes(contentType) || (type ? allowed.includes(wildcard) : false);
+}
+function assertAllowedContentTypesSubset(optionsTypes, delegationTypes, label) {
+ if (!(optionsTypes == null ? void 0 : optionsTypes.length)) {
+ return;
+ }
+ if (!(delegationTypes == null ? void 0 : delegationTypes.length)) {
+ return;
+ }
+ for (const ct of optionsTypes) {
+ if (!contentTypeAllowedByList(ct, delegationTypes)) {
+ throw new Error(
+ `${label}: allowedContentTypes entry "${ct}" is not permitted by the delegation token.`
+ );
+ }
+ }
+}
+function assertNumberSubset(name, optionVal, delegationVal, label, mode) {
+ if (optionVal === void 0) {
+ return;
+ }
+ if (delegationVal === void 0) {
+ return;
+ }
+ if (mode === "lte" && optionVal > delegationVal) {
+ throw new Error(
+ `${label}: ${name} must be \u2264 delegation (${String(delegationVal)}).`
+ );
+ }
+}
+function isPlausibleAbsoluteUrl(s) {
+ if (typeof URL !== "undefined" && typeof URL.canParse === "function") {
+ return URL.canParse(s);
+ }
+ try {
+ new URL(s);
+ return true;
+ } catch {
+ return false;
+ }
+}
+function validatePresignUrlOnUploadCompletedWire(opt, label) {
+ if (!opt) {
+ return;
+ }
+ if (typeof opt.callbackUrl !== "string" || opt.callbackUrl.length === 0) {
+ throw new Error(
+ `${label}: onUploadCompleted.callbackUrl must be a non-empty string.`
+ );
+ }
+ if (opt.callbackUrl.length > MAX_PRESIGN_CALLBACK_URL_CHARS) {
+ throw new Error(`${label}: onUploadCompleted.callbackUrl is too long.`);
+ }
+ if (!isPlausibleAbsoluteUrl(opt.callbackUrl)) {
+ throw new Error(
+ `${label}: onUploadCompleted.callbackUrl must be a valid URL.`
+ );
+ }
+ if (opt.tokenPayload !== void 0 && opt.tokenPayload !== null) {
+ if (typeof opt.tokenPayload !== "string") {
+ throw new Error(
+ `${label}: onUploadCompleted.tokenPayload must be a string.`
+ );
+ }
+ if (opt.tokenPayload.length > MAX_PRESIGN_CALLBACK_TOKEN_PAYLOAD_CHARS) {
+ throw new Error(`${label}: onUploadCompleted.tokenPayload is too long.`);
+ }
+ }
+}
+function validateUrlOnlyPresignUploadOptions(urlOptions, label) {
+ if (urlOptions.cacheControlMaxAge !== void 0) {
+ const n = urlOptions.cacheControlMaxAge;
+ if (!Number.isInteger(n) || n < 0 || n > MAX_PRESIGN_CACHE_CONTROL_MAX_AGE_SECONDS) {
+ throw new Error(
+ `${label}: cacheControlMaxAge must be an integer between 0 and ${MAX_PRESIGN_CACHE_CONTROL_MAX_AGE_SECONDS}.`
+ );
+ }
+ }
+ if (urlOptions.ifMatch !== void 0) {
+ const im = urlOptions.ifMatch;
+ if (typeof im !== "string" || im.length === 0) {
+ throw new Error(`${label}: ifMatch must be a non-empty string.`);
+ }
+ if (im.length > MAX_PRESIGN_IF_MATCH_LENGTH) {
+ throw new Error(`${label}: ifMatch is too long.`);
+ }
+ if (IF_MATCH_CONTROL_CHARS_RE.test(im)) {
+ throw new Error(
+ `${label}: ifMatch contains disallowed control characters.`
+ );
+ }
+ }
+}
+function sortedContentTypesCsv(types) {
+ return [...types].sort((a, b) => a < b ? -1 : a > b ? 1 : 0).join(",");
+}
+function resolvePresignUrlValidUntilMs(args) {
+ const { delegationValidUntil, urlOptions, nowMs } = args;
+ let t;
+ if ((urlOptions == null ? void 0 : urlOptions.validUntil) !== void 0) {
+ if (typeof urlOptions.validUntil !== "number" || !Number.isFinite(urlOptions.validUntil)) {
+ throw new Error("presignUrl: validUntil must be a finite number (ms).");
+ }
+ t = Math.trunc(urlOptions.validUntil);
+ } else {
+ t = Math.trunc(delegationValidUntil);
+ }
+ if (Number.isFinite(delegationValidUntil)) {
+ t = Math.min(t, Math.trunc(delegationValidUntil));
+ }
+ if (t <= nowMs) {
+ throw new Error(
+ "presignUrl: resolved URL expiry is not after the current time; issue a new delegation token or pass a later validUntil."
+ );
+ }
+ return t;
+}
+function buildPresignCanonicalQueryEntries(args) {
+ const { operation, delegation, urlOptions, nowMs } = args;
+ const label = "presignUrl";
+ const resolvedUntil = resolvePresignUrlValidUntilMs({
+ delegationValidUntil: delegation.validUntil,
+ urlOptions,
+ nowMs
+ });
+ const delegUntil = Math.trunc(delegation.validUntil);
+ const entries = [];
+ if (resolvedUntil < delegUntil) {
+ entries.push([BLOB_PRESIGN_QUERY_VALID_UNTIL, String(resolvedUntil)]);
+ }
+ if (operation === "delete") {
+ if ((urlOptions == null ? void 0 : urlOptions.ifMatch) !== void 0) {
+ entries.push([BLOB_PRESIGN_QUERY_IF_MATCH, urlOptions.ifMatch]);
+ }
+ return entries;
+ }
+ if (operation !== "put" || !urlOptions) {
+ return entries;
+ }
+ assertAllowedContentTypesSubset(
+ urlOptions.allowedContentTypes,
+ delegation.allowedContentTypes,
+ label
+ );
+ assertNumberSubset(
+ "maximumSizeInBytes",
+ urlOptions.maximumSizeInBytes,
+ delegation.maximumSizeInBytes,
+ label,
+ "lte"
+ );
+ validateUrlOnlyPresignUploadOptions(urlOptions, label);
+ validatePresignUrlOnUploadCompletedWire(urlOptions.onUploadCompleted, label);
+ if (urlOptions.allowedContentTypes !== void 0) {
+ const csv = sortedContentTypesCsv(urlOptions.allowedContentTypes);
+ if (csv.length > 16384) {
+ throw new Error(`${label}: allowedContentTypes query value is too long.`);
+ }
+ entries.push([BLOB_PRESIGN_QUERY_ALLOWED_CONTENT_TYPES, csv]);
+ }
+ if (urlOptions.maximumSizeInBytes !== void 0) {
+ entries.push([
+ BLOB_PRESIGN_QUERY_MAXIMUM_SIZE,
+ String(Math.trunc(urlOptions.maximumSizeInBytes))
+ ]);
+ }
+ if (urlOptions.addRandomSuffix !== void 0) {
+ entries.push([
+ BLOB_PRESIGN_QUERY_ADD_RANDOM_SUFFIX,
+ urlOptions.addRandomSuffix ? "true" : "false"
+ ]);
+ }
+ if (urlOptions.allowOverwrite !== void 0) {
+ entries.push([
+ BLOB_PRESIGN_QUERY_ALLOW_OVERWRITE,
+ urlOptions.allowOverwrite ? "true" : "false"
+ ]);
+ }
+ if (urlOptions.cacheControlMaxAge !== void 0) {
+ entries.push([
+ BLOB_PRESIGN_QUERY_CACHE_CONTROL_MAX_AGE,
+ String(Math.trunc(urlOptions.cacheControlMaxAge))
+ ]);
+ }
+ if (urlOptions.ifMatch !== void 0) {
+ entries.push([BLOB_PRESIGN_QUERY_IF_MATCH, urlOptions.ifMatch]);
+ }
+ if (urlOptions.onUploadCompleted !== void 0) {
+ const { callbackUrl, tokenPayload } = urlOptions.onUploadCompleted;
+ if (callbackUrl.length > MAX_PRESIGN_CALLBACK_URL_CHARS) {
+ throw new Error(`${label}: onUploadCompleted.callbackUrl is too long.`);
+ }
+ entries.push([BLOB_PRESIGN_QUERY_CALLBACK_URL, callbackUrl]);
+ if (tokenPayload !== void 0 && tokenPayload !== null && tokenPayload !== "") {
+ if (tokenPayload.length > MAX_PRESIGN_CALLBACK_TOKEN_PAYLOAD_CHARS) {
+ throw new Error(
+ `${label}: onUploadCompleted.tokenPayload is too long.`
+ );
+ }
+ entries.push([BLOB_PRESIGN_QUERY_CALLBACK_TOKEN_PAYLOAD, tokenPayload]);
+ }
+ }
+ return entries;
+}
+function assertIssueSignedTokenValidUntilOption(validUntil) {
+ const now = Date.now();
+ if (typeof validUntil !== "number" || !Number.isInteger(validUntil) || !Number.isFinite(validUntil)) {
+ throw new BlobError(
+ "`issueSignedToken`: validUntil must be an integer milliseconds timestamp."
+ );
+ }
+ if (validUntil <= now) {
+ throw new BlobError(
+ "`issueSignedToken`: validUntil must be in the future."
+ );
+ }
+}
+async function issueSignedToken(options) {
+ if (!options) {
+ throw new BlobError("`issueSignedToken` requires an options object");
+ }
+ const body = {};
+ if (options.pathname !== void 0) {
+ body.pathname = options.pathname;
+ }
+ if (options.operations !== void 0) {
+ if (options.operations.length === 0) {
+ throw new BlobError("`operations` must be a non-empty array if provided");
+ }
+ body.operations = dedupeOps(options.operations);
+ }
+ if (options.validUntil !== void 0) {
+ assertIssueSignedTokenValidUntilOption(options.validUntil);
+ body.validUntil = options.validUntil;
+ }
+ if (options.maximumSizeInBytes !== void 0) {
+ body.maximumSizeInBytes = options.maximumSizeInBytes;
+ }
+ if (options.allowedContentTypes !== void 0) {
+ body.allowedContentTypes = options.allowedContentTypes;
+ }
+ return requestApi(
+ "/signed-token",
+ {
+ method: "POST",
+ headers: { "content-type": "application/json" },
+ body: JSON.stringify(body),
+ signal: options.abortSignal
+ },
+ options
+ );
+}
+function dedupeOps(operations) {
+ return Array.from(new Set(operations));
+}
+function base64UrlDecodeToString(segment) {
+ let base64 = segment.replace(/-/g, "+").replace(/_/g, "/");
+ const padding = 4 - base64.length % 4;
+ if (padding !== 4) {
+ base64 += "=".repeat(padding);
+ }
+ if (typeof atob === "function") {
+ return atob(base64);
+ }
+ if (typeof Buffer !== "undefined") {
+ return Buffer.from(base64, "base64").toString("utf8");
+ }
+ throw new BlobError("Cannot decode base64: no atob or Buffer available.");
+}
+function tryDecodePayload(delegationToken) {
+ const dot3 = delegationToken.indexOf(".");
+ if (dot3 < 0) {
+ return null;
+ }
+ const payloadSeg = delegationToken.slice(0, dot3);
+ try {
+ return JSON.parse(
+ base64UrlDecodeToString(payloadSeg)
+ );
+ } catch {
+ return null;
+ }
+}
+function uint8ToBase64(bytes2) {
+ if (typeof Buffer !== "undefined") {
+ return Buffer.from(
+ bytes2.buffer,
+ bytes2.byteOffset,
+ bytes2.byteLength
+ ).toString("base64");
+ }
+ let s = "";
+ for (let i = 0; i < bytes2.length; i++) {
+ s += String.fromCharCode(bytes2[i]);
+ }
+ return btoa(s);
+}
+async function hmacSha256Base64Url(key, data) {
+ var _a3;
+ if (!((_a3 = globalThis.crypto) == null ? void 0 : _a3.subtle)) {
+ throw new BlobError(
+ "HMAC is not available: expected globalThis.crypto.subtle (Node 20+ or a modern browser)."
+ );
+ }
+ const enc = new TextEncoder();
+ const cryptoKey = await globalThis.crypto.subtle.importKey(
+ "raw",
+ enc.encode(key),
+ { name: "HMAC", hash: "SHA-256" },
+ false,
+ ["sign"]
+ );
+ const buf = await globalThis.crypto.subtle.sign(
+ "HMAC",
+ cryptoKey,
+ enc.encode(data)
+ );
+ return toBase64Url(uint8ToBase64(new Uint8Array(buf)));
+}
+function toBase64Url(base64) {
+ return base64.replace(/\+/g, "-").replace(/\//g, "_").replace(/=+$/, "");
+}
+async function presign(signedToken, options) {
+ var _a3, _b2, _c, _d;
+ if (!(signedToken == null ? void 0 : signedToken.clientSigningToken) || !(signedToken == null ? void 0 : signedToken.delegationToken)) {
+ throw new BlobError(
+ "`clientSigningToken` and `delegationToken` from `issueSignedToken` are required."
+ );
+ }
+ const scope = tryDecodePayload(signedToken.delegationToken);
+ if (!scope) {
+ throw new BlobError("Invalid or unreadable `delegationToken` payload.");
+ }
+ const p = scope.pathname;
+ if (p && p !== "*") {
+ if (options.pathname !== p) {
+ throw new BlobError(
+ `Blob path does not match the signed token scope; expected \`${p}\`, got \`${options.pathname}\`.`
+ );
+ }
+ }
+ if (Number.isFinite(scope.validUntil) && Date.now() > scope.validUntil) {
+ throw new BlobError(
+ "The signed delegation has expired; issue a new token first."
+ );
+ }
+ if (options.operation === "get" && !((_a3 = scope.operations) == null ? void 0 : _a3.includes("get"))) {
+ throw new BlobError(
+ 'The delegation token is not valid for `GET` requests. Include `"get"` in `operations` when calling `issueSignedToken`.'
+ );
+ }
+ if (options.operation === "head" && !((_b2 = scope.operations) == null ? void 0 : _b2.includes("head"))) {
+ throw new BlobError(
+ 'The delegation token is not valid for `HEAD` requests. Include `"head"` in `operations` when calling `issueSignedToken`.'
+ );
+ }
+ if (options.operation === "put" && !((_c = scope.operations) == null ? void 0 : _c.includes("put"))) {
+ throw new BlobError(
+ 'The delegation token is not valid for presigned write requests. Include `"put"` in `operations` when calling `issueSignedToken`.'
+ );
+ }
+ if (options.operation === "delete" && !((_d = scope.operations) == null ? void 0 : _d.includes("delete"))) {
+ throw new BlobError(
+ 'The delegation token is not valid for presigned delete requests. Include `"delete"` in `operations` when calling `issueSignedToken`.'
+ );
+ }
+ const delegationForOptions = {
+ validUntil: scope.validUntil,
+ maximumSizeInBytes: scope.maximumSizeInBytes,
+ allowedContentTypes: scope.allowedContentTypes
+ };
+ let presignEntries;
+ try {
+ presignEntries = buildPresignCanonicalQueryEntries({
+ operation: options.operation,
+ delegation: delegationForOptions,
+ urlOptions: options,
+ nowMs: Date.now()
+ });
+ } catch (e) {
+ const msg = e instanceof Error ? e.message : String(e);
+ throw new BlobError(msg);
+ }
+ const canonical = canonicalString(
+ options.pathname,
+ presignEntries,
+ options.operation
+ );
+ const signature = await hmacSha256Base64Url(
+ signedToken.clientSigningToken,
+ canonical
+ );
+ return {
+ delegationToken: signedToken.delegationToken,
+ signature,
+ params: Object.fromEntries(presignEntries)
+ };
+}
+function buildPresignedGetUrl(pathnameOrUrl, presignedUrlPayload, options) {
+ const storeId = parseStoreIdFromDelegationToken(
+ presignedUrlPayload.delegationToken
+ );
+ const blobUrl = isUrl(pathnameOrUrl) ? pathnameOrUrl : constructBlobUrl(storeId, pathnameOrUrl, options.access);
+ return addPresignedParams(blobUrl, presignedUrlPayload);
+}
+function buildPresignedPutUrl(pathname, presignedUrlPayload) {
+ const params = new URLSearchParams({ pathname });
+ const apiUrl = getApiUrl(`/?${params.toString()}`);
+ return addPresignedParams(apiUrl, presignedUrlPayload);
+}
+function buildPresignedDeleteUrl(pathname, presignedUrlPayload) {
+ const params = new URLSearchParams({ pathname });
+ const apiUrl = getApiUrl(`/?${params.toString()}`);
+ return addPresignedParams(apiUrl, presignedUrlPayload);
+}
+async function presignUrl(signedToken, options) {
+ const payload = await presign(signedToken, options);
+ if (options.operation === "get" || options.operation === "head") {
+ return {
+ presignedUrl: buildPresignedGetUrl(options.pathname, payload, options)
+ };
+ }
+ if (options.operation === "put") {
+ return {
+ presignedUrl: buildPresignedPutUrl(options.pathname, payload)
+ };
+ }
+ if (options.operation === "delete") {
+ return {
+ presignedUrl: buildPresignedDeleteUrl(options.pathname, payload)
+ };
+ }
+ throw new BlobError(`Unknown operation`);
+}
+function canonicalString(pathname, presignEntries, operation) {
+ var _a3;
+ const lines = [`operation=${operation}`, `pathname=${pathname}`];
+ for (const k of PRESIGN_CANONICAL_QUERY_KEYS) {
+ const v = (_a3 = presignEntries.find(([key]) => key === k)) == null ? void 0 : _a3[1];
+ if (v) {
+ lines.push(`${k}=${v}`);
+ }
+ }
+ lines.sort((a, b) => compareUtf8(a, b));
+ return lines.join("\n");
+}
+function compareUtf8(a, b) {
+ const ab = utf8Encoder.encode(a);
+ const bb = utf8Encoder.encode(b);
+ const n = Math.min(ab.length, bb.length);
+ for (let i = 0; i < n; i++) {
+ const d = ab[i] - bb[i];
+ if (d !== 0) {
+ return d;
+ }
+ }
+ return ab.length - bb.length;
+}
+async function createFolder(pathname, options = { access: "public" }) {
+ var _a3;
+ const access = (_a3 = options.access) != null ? _a3 : "public";
+ const folderPathname = pathname.endsWith("/") ? pathname : `${pathname}/`;
+ const headers = {};
+ headers[putOptionHeaderMap.access] = access;
+ headers[putOptionHeaderMap.addRandomSuffix] = "0";
+ const params = new URLSearchParams({ pathname: folderPathname });
+ const response = await requestApi(
+ `/?${params.toString()}`,
+ {
+ method: "PUT",
+ headers,
+ signal: options.abortSignal
+ },
+ options
+ );
+ return {
+ url: response.url,
+ pathname: response.pathname
+ };
+}
+var import_is_buffer, import_async_retry, import_undici, import_throttleit, import_throttleit2, supportsNewBlobFromArrayBuffer, SYMBOL_FOR_REQ_CONTEXT, getContext, parseRegExp, map, defaultVercelBlobApiUrl, BlobError, disallowedPathnameCharacters, supportsRequestStreams, TEXT_ENCODER, createChunkTransformStream, addPresignedParams, debugIsActive, _a, _b, _a2, DOMException2, objectToString, isError, errorMessages, hasFetch, hasFetchWithUploadProgress, CHUNK_SIZE, blobFetch, hasXhr, blobXhr, blobRequest, MAXIMUM_PATHNAME_LENGTH, BlobAccessError, BlobOidcEnvironmentNotAllowedError, BlobContentTypeNotAllowedError, BlobPathnameMismatchError, BlobClientTokenExpiredError, BlobFileTooLargeError, BlobStoreNotFoundError, BlobStoreSuspendedError, BlobUnknownError, BlobNotFoundError, BlobServiceNotAvailable, BlobServiceRateLimited, BlobRequestAbortedError, BlobPreconditionFailedError, BLOB_API_VERSION, putOptionHeaderMap, maxConcurrentUploads, partSizeInBytes, maxBytesInMemory, BLOB_PRESIGN_QUERY_VALID_UNTIL, BLOB_PRESIGN_QUERY_MAXIMUM_SIZE, BLOB_PRESIGN_QUERY_ALLOWED_CONTENT_TYPES, BLOB_PRESIGN_QUERY_ADD_RANDOM_SUFFIX, BLOB_PRESIGN_QUERY_ALLOW_OVERWRITE, BLOB_PRESIGN_QUERY_CACHE_CONTROL_MAX_AGE, BLOB_PRESIGN_QUERY_IF_MATCH, BLOB_PRESIGN_QUERY_CALLBACK_URL, BLOB_PRESIGN_QUERY_CALLBACK_TOKEN_PAYLOAD, PRESIGN_CANONICAL_QUERY_KEYS, MAX_PRESIGN_CALLBACK_URL_CHARS, MAX_PRESIGN_CALLBACK_TOKEN_PAYLOAD_CHARS, MAX_PRESIGN_CACHE_CONTROL_MAX_AGE_SECONDS, MAX_PRESIGN_IF_MATCH_LENGTH, IF_MATCH_CONTROL_CHARS_RE, utf8Encoder;
+var init_chunk_3D2SZ6M2 = __esm({
+ "viewer/node_modules/@vercel/blob/dist/chunk-3D2SZ6M2.js"() {
+ init_lib();
+ import_is_buffer = __toESM(require_is_buffer(), 1);
+ import_async_retry = __toESM(require_lib(), 1);
+ import_undici = __toESM(require_undici(), 1);
+ import_throttleit = __toESM(require_throttleit(), 1);
+ import_throttleit2 = __toESM(require_throttleit(), 1);
+ supportsNewBlobFromArrayBuffer = new Promise((resolve) => {
+ try {
+ const helloAsArrayBuffer = new Uint8Array([104, 101, 108, 108, 111]);
+ const blob = new Blob([helloAsArrayBuffer]);
+ blob.text().then((text) => {
+ resolve(text === "hello");
+ }).catch(() => {
+ resolve(false);
+ });
+ } catch {
+ resolve(false);
+ }
+ });
+ SYMBOL_FOR_REQ_CONTEXT = /* @__PURE__ */ Symbol.for("@vercel/request-context");
+ getContext = () => {
+ var _a3, _b2, _c;
+ const fromSymbol = globalThis;
+ return (_c = (_b2 = (_a3 = fromSymbol[SYMBOL_FOR_REQ_CONTEXT]) == null ? void 0 : _a3.get) == null ? void 0 : _b2.call(_a3)) != null ? _c : {};
+ };
+ parseRegExp = /^((-|\+)?(\d+(?:\.\d+)?)) *(kb|mb|gb|tb|pb)$/i;
+ map = {
+ b: 1,
+ kb: 1 << 10,
+ mb: 1 << 20,
+ gb: 1 << 30,
+ tb: 1024 ** 4,
+ pb: 1024 ** 5
+ };
+ defaultVercelBlobApiUrl = "https://vercel.com/api/blob";
+ BlobError = class extends Error {
+ constructor(message) {
+ super(`Vercel Blob: ${message}`);
+ }
+ };
+ disallowedPathnameCharacters = ["//"];
+ supportsRequestStreams = (() => {
+ if (isNodeProcess()) {
+ return true;
+ }
+ const apiUrl = getApiUrl();
+ if (apiUrl.startsWith("http://localhost")) {
+ return false;
+ }
+ let duplexAccessed = false;
+ const hasContentType = new Request(getApiUrl(), {
+ body: new ReadableStream(),
+ method: "POST",
+ // @ts-expect-error -- TypeScript doesn't yet have duplex but it's in the spec: https://github.com/microsoft/TypeScript-DOM-lib-generator/pull/1729
+ get duplex() {
+ duplexAccessed = true;
+ return "half";
+ }
+ }).headers.has("Content-Type");
+ return duplexAccessed && !hasContentType;
+ })();
+ TEXT_ENCODER = typeof TextEncoder === "function" ? new TextEncoder() : null;
+ createChunkTransformStream = (chunkSize, onProgress) => {
+ let buffer = new Uint8Array(0);
+ return new TransformStream({
+ transform(chunk, controller) {
+ const newBuffer = new Uint8Array(buffer.length + chunk.byteLength);
+ newBuffer.set(buffer);
+ newBuffer.set(new Uint8Array(chunk), buffer.length);
+ buffer = newBuffer;
+ while (buffer.length >= chunkSize) {
+ const newChunk = buffer.slice(0, chunkSize);
+ controller.enqueue(newChunk);
+ onProgress == null ? void 0 : onProgress(newChunk.byteLength);
+ buffer = buffer.slice(chunkSize);
+ }
+ },
+ flush(controller) {
+ if (buffer.length > 0) {
+ controller.enqueue(buffer);
+ onProgress == null ? void 0 : onProgress(buffer.byteLength);
+ }
+ }
+ });
+ };
+ addPresignedParams = (url, presignedUrlPayload) => {
+ const urlObj = new URL(url);
+ for (const [key, value] of Object.entries(presignedUrlPayload.params)) {
+ urlObj.searchParams.set(key, value);
+ }
+ urlObj.searchParams.set(
+ "vercel-blob-delegation",
+ presignedUrlPayload.delegationToken
+ );
+ urlObj.searchParams.set(
+ "vercel-blob-signature",
+ presignedUrlPayload.signature
+ );
+ return urlObj.toString();
+ };
+ debugIsActive = false;
+ try {
+ if (((_a = process.env.DEBUG) == null ? void 0 : _a.includes("blob")) || ((_b = process.env.NEXT_PUBLIC_DEBUG) == null ? void 0 : _b.includes("blob"))) {
+ debugIsActive = true;
+ }
+ } catch {
+ }
+ DOMException2 = (_a2 = globalThis.DOMException) != null ? _a2 : (() => {
+ try {
+ atob("~");
+ } catch (err) {
+ return Object.getPrototypeOf(err).constructor;
+ }
+ })();
+ objectToString = Object.prototype.toString;
+ isError = (value) => objectToString.call(value) === "[object Error]";
+ errorMessages = /* @__PURE__ */ new Set([
+ "network error",
+ // Chrome
+ "Failed to fetch",
+ // Chrome
+ "NetworkError when attempting to fetch resource.",
+ // Firefox
+ "The Internet connection appears to be offline.",
+ // Safari 16
+ "Load failed",
+ // Safari 17+
+ "Network request failed",
+ // `cross-fetch`
+ "fetch failed",
+ // Undici (Node.js)
+ "terminated"
+ // Undici (Node.js)
+ ]);
+ hasFetch = typeof import_undici.fetch === "function";
+ hasFetchWithUploadProgress = hasFetch && supportsRequestStreams;
+ CHUNK_SIZE = 64 * 1024;
+ blobFetch = async ({
+ input,
+ init,
+ onUploadProgress
+ }) => {
+ debug("using fetch");
+ let body;
+ if (init.body) {
+ if (onUploadProgress) {
+ const stream = await toReadableStream(init.body);
+ let loaded = 0;
+ const chunkTransformStream = createChunkTransformStream(
+ CHUNK_SIZE,
+ (newLoaded) => {
+ loaded += newLoaded;
+ onUploadProgress(loaded);
+ }
+ );
+ body = stream.pipeThrough(chunkTransformStream);
+ } else {
+ body = init.body;
+ }
+ }
+ const duplex = supportsRequestStreams && body && isStream(body) ? "half" : void 0;
+ return (0, import_undici.fetch)(
+ input,
+ // @ts-expect-error -- Blob and Nodejs Blob are triggering type errors, fine with it
+ {
+ ...init,
+ ...init.body ? { body } : {},
+ duplex
+ }
+ );
+ };
+ hasXhr = typeof XMLHttpRequest !== "undefined";
+ blobXhr = async ({
+ input,
+ init,
+ onUploadProgress
+ }) => {
+ debug("using xhr");
+ let body = null;
+ if (init.body) {
+ if (isReadableStream(init.body)) {
+ body = await new Response(init.body).blob();
+ } else {
+ body = init.body;
+ }
+ }
+ return new Promise((resolve, reject) => {
+ const xhr = new XMLHttpRequest();
+ xhr.open(init.method || "GET", input.toString(), true);
+ if (onUploadProgress) {
+ xhr.upload.addEventListener("progress", (event) => {
+ if (event.lengthComputable) {
+ onUploadProgress(event.loaded);
+ }
+ });
+ }
+ xhr.onload = () => {
+ var _a3;
+ if ((_a3 = init.signal) == null ? void 0 : _a3.aborted) {
+ reject(new DOMException("The user aborted the request.", "AbortError"));
+ return;
+ }
+ const headers = new Headers();
+ const rawHeaders = xhr.getAllResponseHeaders().trim().split(/[\r\n]+/);
+ rawHeaders.forEach((line) => {
+ const parts = line.split(": ");
+ const key = parts.shift();
+ const value = parts.join(": ");
+ if (key) headers.set(key.toLowerCase(), value);
+ });
+ const response = new Response(xhr.response, {
+ status: xhr.status,
+ statusText: xhr.statusText,
+ headers
+ });
+ resolve(response);
+ };
+ xhr.onerror = () => {
+ reject(new TypeError("Network request failed"));
+ };
+ xhr.ontimeout = () => {
+ reject(new TypeError("Network request timed out"));
+ };
+ xhr.onabort = () => {
+ reject(new DOMException("The user aborted a request.", "AbortError"));
+ };
+ if (init.headers) {
+ const headers = new Headers(init.headers);
+ headers.forEach((value, key) => {
+ xhr.setRequestHeader(key, value);
+ });
+ }
+ if (init.signal) {
+ init.signal.addEventListener("abort", () => {
+ xhr.abort();
+ });
+ if (init.signal.aborted) {
+ xhr.abort();
+ return;
+ }
+ }
+ xhr.send(body);
+ });
+ };
+ blobRequest = async ({
+ input,
+ init,
+ onUploadProgress
+ }) => {
+ if (onUploadProgress) {
+ if (hasFetchWithUploadProgress) {
+ return blobFetch({ input, init, onUploadProgress });
+ }
+ if (hasXhr) {
+ return blobXhr({ input, init, onUploadProgress });
+ }
+ }
+ if (hasFetch) {
+ return blobFetch({ input, init });
+ }
+ if (hasXhr) {
+ return blobXhr({ input, init });
+ }
+ throw new Error("No request implementation available");
+ };
+ MAXIMUM_PATHNAME_LENGTH = 950;
+ BlobAccessError = class extends BlobError {
+ constructor() {
+ super("Access denied, please provide a valid token for this resource.");
+ }
+ };
+ BlobOidcEnvironmentNotAllowedError = class extends BlobError {
+ constructor(message) {
+ super(
+ message != null ? message : "OIDC is enabled for this project, but not for this token's environment."
+ );
+ }
+ };
+ BlobContentTypeNotAllowedError = class extends BlobError {
+ constructor(message) {
+ super(`Content type mismatch, ${message}.`);
+ }
+ };
+ BlobPathnameMismatchError = class extends BlobError {
+ constructor(message) {
+ super(
+ `Pathname mismatch, ${message}. Check the pathname used in upload() or put() matches the one from the client token.`
+ );
+ }
+ };
+ BlobClientTokenExpiredError = class extends BlobError {
+ constructor() {
+ super("Client token has expired.");
+ }
+ };
+ BlobFileTooLargeError = class extends BlobError {
+ constructor(message) {
+ super(`File is too large, ${message}.`);
+ }
+ };
+ BlobStoreNotFoundError = class extends BlobError {
+ constructor() {
+ super("This store does not exist.");
+ }
+ };
+ BlobStoreSuspendedError = class extends BlobError {
+ constructor() {
+ super("This store has been suspended.");
+ }
+ };
+ BlobUnknownError = class extends BlobError {
+ constructor() {
+ super("Unknown error, please visit https://vercel.com/help.");
+ }
+ };
+ BlobNotFoundError = class extends BlobError {
+ constructor() {
+ super("The requested blob does not exist");
+ }
+ };
+ BlobServiceNotAvailable = class extends BlobError {
+ constructor() {
+ super("The blob service is currently not available. Please try again.");
+ }
+ };
+ BlobServiceRateLimited = class extends BlobError {
+ constructor(seconds) {
+ super(
+ `Too many requests please lower the number of concurrent requests ${seconds ? ` - try again in ${seconds} seconds` : ""}.`
+ );
+ this.retryAfter = seconds != null ? seconds : 0;
+ }
+ };
+ BlobRequestAbortedError = class extends BlobError {
+ constructor() {
+ super("The request was aborted.");
+ }
+ };
+ BlobPreconditionFailedError = class extends BlobError {
+ constructor() {
+ super("Precondition failed: ETag mismatch.");
+ }
+ };
+ BLOB_API_VERSION = 12;
+ putOptionHeaderMap = {
+ cacheControlMaxAge: "x-cache-control-max-age",
+ addRandomSuffix: "x-add-random-suffix",
+ allowOverwrite: "x-allow-overwrite",
+ contentType: "x-content-type",
+ access: "x-vercel-blob-access",
+ ifMatch: "x-if-match"
+ };
+ maxConcurrentUploads = typeof window !== "undefined" ? 6 : 8;
+ partSizeInBytes = 8 * 1024 * 1024;
+ maxBytesInMemory = maxConcurrentUploads * partSizeInBytes * 2;
+ BLOB_PRESIGN_QUERY_VALID_UNTIL = "vercel-blob-valid-until";
+ BLOB_PRESIGN_QUERY_MAXIMUM_SIZE = "vercel-blob-maximum-size-in-bytes";
+ BLOB_PRESIGN_QUERY_ALLOWED_CONTENT_TYPES = "vercel-blob-allowed-content-types";
+ BLOB_PRESIGN_QUERY_ADD_RANDOM_SUFFIX = "vercel-blob-add-random-suffix";
+ BLOB_PRESIGN_QUERY_ALLOW_OVERWRITE = "vercel-blob-allow-overwrite";
+ BLOB_PRESIGN_QUERY_CACHE_CONTROL_MAX_AGE = "vercel-blob-cache-control-max-age";
+ BLOB_PRESIGN_QUERY_IF_MATCH = "vercel-blob-if-match";
+ BLOB_PRESIGN_QUERY_CALLBACK_URL = "vercel-blob-callback-url";
+ BLOB_PRESIGN_QUERY_CALLBACK_TOKEN_PAYLOAD = "vercel-blob-callback-token-payload";
+ PRESIGN_CANONICAL_QUERY_KEYS = [
+ BLOB_PRESIGN_QUERY_ADD_RANDOM_SUFFIX,
+ BLOB_PRESIGN_QUERY_ALLOW_OVERWRITE,
+ BLOB_PRESIGN_QUERY_ALLOWED_CONTENT_TYPES,
+ BLOB_PRESIGN_QUERY_CACHE_CONTROL_MAX_AGE,
+ BLOB_PRESIGN_QUERY_CALLBACK_TOKEN_PAYLOAD,
+ BLOB_PRESIGN_QUERY_CALLBACK_URL,
+ BLOB_PRESIGN_QUERY_IF_MATCH,
+ BLOB_PRESIGN_QUERY_MAXIMUM_SIZE,
+ BLOB_PRESIGN_QUERY_VALID_UNTIL
+ ];
+ MAX_PRESIGN_CALLBACK_URL_CHARS = 4096;
+ MAX_PRESIGN_CALLBACK_TOKEN_PAYLOAD_CHARS = 8192;
+ MAX_PRESIGN_CACHE_CONTROL_MAX_AGE_SECONDS = 365 * 24 * 60 * 60;
+ MAX_PRESIGN_IF_MATCH_LENGTH = 256;
+ IF_MATCH_CONTROL_CHARS_RE = /[\x00-\x1f\x7f]/;
+ utf8Encoder = new TextEncoder();
+ }
+});
+
+// viewer/node_modules/@vercel/blob/dist/index.js
+var dist_exports = {};
+__export(dist_exports, {
+ BlobAccessError: () => BlobAccessError,
+ BlobClientTokenExpiredError: () => BlobClientTokenExpiredError,
+ BlobContentTypeNotAllowedError: () => BlobContentTypeNotAllowedError,
+ BlobError: () => BlobError,
+ BlobFileTooLargeError: () => BlobFileTooLargeError,
+ BlobNotFoundError: () => BlobNotFoundError,
+ BlobPathnameMismatchError: () => BlobPathnameMismatchError,
+ BlobPreconditionFailedError: () => BlobPreconditionFailedError,
+ BlobRequestAbortedError: () => BlobRequestAbortedError,
+ BlobServiceNotAvailable: () => BlobServiceNotAvailable,
+ BlobServiceRateLimited: () => BlobServiceRateLimited,
+ BlobStoreNotFoundError: () => BlobStoreNotFoundError,
+ BlobStoreSuspendedError: () => BlobStoreSuspendedError,
+ BlobUnknownError: () => BlobUnknownError,
+ completeMultipartUpload: () => completeMultipartUpload2,
+ copy: () => copy,
+ createFolder: () => createFolder,
+ createMultipartUpload: () => createMultipartUpload2,
+ createMultipartUploader: () => createMultipartUploader,
+ del: () => del,
+ get: () => get,
+ getDownloadUrl: () => getDownloadUrl,
+ head: () => head,
+ issueSignedToken: () => issueSignedToken,
+ list: () => list,
+ parseStoreIdFromDelegationToken: () => parseStoreIdFromDelegationToken,
+ parseStoreIdFromPresignedUrl: () => parseStoreIdFromPresignedUrl,
+ presignUrl: () => presignUrl,
+ put: () => put,
+ uploadPart: () => uploadPart2
+});
+async function del(urlOrPathname, options) {
+ const urls = Array.isArray(urlOrPathname) ? urlOrPathname : [urlOrPathname];
+ if ((options == null ? void 0 : options.ifMatch) && urls.length > 1) {
+ throw new BlobError("ifMatch can only be used when deleting a single URL.");
+ }
+ const headers = {
+ "content-type": "application/json"
+ };
+ if (options == null ? void 0 : options.ifMatch) {
+ headers["x-if-match"] = options.ifMatch;
+ }
+ await requestApi(
+ "/delete",
+ {
+ method: "POST",
+ headers,
+ body: JSON.stringify({ urls }),
+ signal: options == null ? void 0 : options.abortSignal
+ },
+ options
+ );
+}
+async function head(urlOrPathname, options) {
+ const searchParams = new URLSearchParams({ url: urlOrPathname });
+ const response = await requestApi(
+ `?${searchParams.toString()}`,
+ // HEAD can't have body as a response, so we use GET
+ {
+ method: "GET",
+ signal: options == null ? void 0 : options.abortSignal
+ },
+ options
+ );
+ return {
+ url: response.url,
+ downloadUrl: response.downloadUrl,
+ pathname: response.pathname,
+ size: response.size,
+ contentType: response.contentType,
+ contentDisposition: response.contentDisposition,
+ cacheControl: response.cacheControl,
+ uploadedAt: new Date(response.uploadedAt),
+ etag: response.etag
+ };
+}
+function extractPathnameFromUrl(url) {
+ try {
+ const parsedUrl = new URL(url);
+ return parsedUrl.pathname.slice(1);
+ } catch {
+ return url;
+ }
+}
+async function get(urlOrPathname, options) {
+ if (!urlOrPathname) {
+ throw new BlobError("url or pathname is required");
+ }
+ if (!options) {
+ throw new BlobError("missing options, see usage");
+ }
+ if (options.access !== "public" && options.access !== "private") {
+ throw new BlobError(
+ 'access must be "private" or "public", see https://vercel.com/docs/vercel-blob'
+ );
+ }
+ const auth = resolveBlobAuth(options);
+ if (auth.kind === "presigned") {
+ throw new BlobError("Presigned URLs are not supported for the get method");
+ }
+ let blobUrl;
+ let pathname;
+ const access = options.access;
+ if (isUrl(urlOrPathname)) {
+ blobUrl = urlOrPathname;
+ pathname = extractPathnameFromUrl(urlOrPathname);
+ try {
+ const { hostname } = new URL(blobUrl);
+ if (!hostname.endsWith(".blob.vercel-storage.com")) {
+ throw new BlobError(
+ "Invalid URL: the URL does not point to a Vercel Blob store. Use a pathname instead, see https://vercel.com/docs/vercel-blob"
+ );
+ }
+ } catch (error) {
+ if (error instanceof BlobError) throw error;
+ throw new BlobError("Invalid URL: unable to parse the provided URL");
+ }
+ } else {
+ if (!auth.storeId) {
+ throw new BlobError("Invalid token: unable to extract store ID");
+ }
+ pathname = urlOrPathname;
+ blobUrl = constructBlobUrl(auth.storeId, pathname, access);
+ }
+ const requestHeaders = {
+ ...options.ifNoneMatch ? { "If-None-Match": options.ifNoneMatch } : {},
+ authorization: `Bearer ${auth.token}`,
+ ...options.headers
+ // low-level escape hatch, applied last to override anything
+ };
+ let fetchUrl = blobUrl;
+ if (options.useCache === false) {
+ const url = new URL(blobUrl);
+ url.searchParams.set("cache", "0");
+ fetchUrl = url.toString();
+ }
+ const response = await (0, import_undici2.fetch)(fetchUrl, {
+ method: "GET",
+ headers: requestHeaders,
+ signal: options.abortSignal
+ });
+ if (response.status === 304) {
+ const downloadUrlObj = new URL(blobUrl);
+ downloadUrlObj.searchParams.set("download", "1");
+ const lastModified2 = response.headers.get("last-modified");
+ return {
+ statusCode: 304,
+ stream: null,
+ headers: response.headers,
+ blob: {
+ url: blobUrl,
+ downloadUrl: downloadUrlObj.toString(),
+ pathname,
+ contentType: null,
+ contentDisposition: response.headers.get("content-disposition") || "",
+ cacheControl: response.headers.get("cache-control") || "",
+ size: null,
+ uploadedAt: lastModified2 ? new Date(lastModified2) : /* @__PURE__ */ new Date(),
+ etag: response.headers.get("etag") || ""
+ }
+ };
+ }
+ if (response.status === 404) {
+ return null;
+ }
+ if (!response.ok) {
+ throw new BlobError(
+ `Failed to fetch blob: ${response.status} ${response.statusText}`
+ );
+ }
+ const stream = response.body;
+ if (!stream) {
+ throw new BlobError("Response body is null");
+ }
+ const contentLength = response.headers.get("content-length");
+ const lastModified = response.headers.get("last-modified");
+ const downloadUrl = new URL(blobUrl);
+ downloadUrl.searchParams.set("download", "1");
+ return {
+ statusCode: 200,
+ stream,
+ headers: response.headers,
+ blob: {
+ url: blobUrl,
+ downloadUrl: downloadUrl.toString(),
+ pathname,
+ contentType: response.headers.get("content-type") || "application/octet-stream",
+ contentDisposition: response.headers.get("content-disposition") || "",
+ cacheControl: response.headers.get("cache-control") || "",
+ size: contentLength ? parseInt(contentLength, 10) : 0,
+ uploadedAt: lastModified ? new Date(lastModified) : /* @__PURE__ */ new Date(),
+ etag: response.headers.get("etag") || ""
+ }
+ };
+}
+async function list(options) {
+ var _a3;
+ const searchParams = new URLSearchParams();
+ if (options == null ? void 0 : options.limit) {
+ searchParams.set("limit", options.limit.toString());
+ }
+ if (options == null ? void 0 : options.prefix) {
+ searchParams.set("prefix", options.prefix);
+ }
+ if (options == null ? void 0 : options.cursor) {
+ searchParams.set("cursor", options.cursor);
+ }
+ if (options == null ? void 0 : options.mode) {
+ searchParams.set("mode", options.mode);
+ }
+ const response = await requestApi(
+ `?${searchParams.toString()}`,
+ {
+ method: "GET",
+ signal: options == null ? void 0 : options.abortSignal
+ },
+ options
+ );
+ if ((options == null ? void 0 : options.mode) === "folded") {
+ return {
+ folders: (_a3 = response.folders) != null ? _a3 : [],
+ cursor: response.cursor,
+ hasMore: response.hasMore,
+ blobs: response.blobs.map(mapBlobResult)
+ };
+ }
+ return {
+ cursor: response.cursor,
+ hasMore: response.hasMore,
+ blobs: response.blobs.map(mapBlobResult)
+ };
+}
+function mapBlobResult(blobResult) {
+ return {
+ url: blobResult.url,
+ downloadUrl: blobResult.downloadUrl,
+ pathname: blobResult.pathname,
+ size: blobResult.size,
+ uploadedAt: new Date(blobResult.uploadedAt),
+ etag: blobResult.etag
+ };
+}
+async function copy(fromUrlOrPathname, toPathname, options) {
+ if (!options) {
+ throw new BlobError("missing options, see usage");
+ }
+ if (options.access !== "public" && options.access !== "private") {
+ throw new BlobError(
+ 'access must be "private" or "public", see https://vercel.com/docs/vercel-blob'
+ );
+ }
+ if (toPathname.length > MAXIMUM_PATHNAME_LENGTH) {
+ throw new BlobError(
+ `pathname is too long, maximum length is ${MAXIMUM_PATHNAME_LENGTH}`
+ );
+ }
+ for (const invalidCharacter of disallowedPathnameCharacters) {
+ if (toPathname.includes(invalidCharacter)) {
+ throw new BlobError(
+ `pathname cannot contain "${invalidCharacter}", please encode it if needed`
+ );
+ }
+ }
+ const headers = {};
+ headers["x-vercel-blob-access"] = options.access;
+ if (options.addRandomSuffix !== void 0) {
+ headers["x-add-random-suffix"] = options.addRandomSuffix ? "1" : "0";
+ }
+ if (options.allowOverwrite !== void 0) {
+ headers["x-allow-overwrite"] = options.allowOverwrite ? "1" : "0";
+ }
+ if (options.contentType) {
+ headers["x-content-type"] = options.contentType;
+ }
+ if (options.cacheControlMaxAge !== void 0) {
+ headers["x-cache-control-max-age"] = options.cacheControlMaxAge.toString();
+ }
+ if (options.ifMatch) {
+ headers["x-if-match"] = options.ifMatch;
+ }
+ const params = new URLSearchParams({
+ pathname: toPathname,
+ fromUrl: fromUrlOrPathname
+ });
+ const response = await requestApi(
+ `?${params.toString()}`,
+ {
+ method: "PUT",
+ headers,
+ signal: options.abortSignal
+ },
+ options
+ );
+ return {
+ url: response.url,
+ downloadUrl: response.downloadUrl,
+ pathname: response.pathname,
+ contentType: response.contentType,
+ contentDisposition: response.contentDisposition,
+ etag: response.etag
+ };
+}
+var import_undici2, put, createMultipartUpload2, createMultipartUploader, uploadPart2, completeMultipartUpload2;
+var init_dist = __esm({
+ "viewer/node_modules/@vercel/blob/dist/index.js"() {
+ init_chunk_3D2SZ6M2();
+ import_undici2 = __toESM(require_undici(), 1);
+ put = createPutMethod({
+ allowedOptions: [
+ "cacheControlMaxAge",
+ "addRandomSuffix",
+ "allowOverwrite",
+ "contentType",
+ "ifMatch"
+ ]
+ });
+ createMultipartUpload2 = createCreateMultipartUploadMethod({
+ allowedOptions: [
+ "cacheControlMaxAge",
+ "addRandomSuffix",
+ "allowOverwrite",
+ "contentType",
+ "ifMatch"
+ ]
+ });
+ createMultipartUploader = createCreateMultipartUploaderMethod({
+ allowedOptions: [
+ "cacheControlMaxAge",
+ "addRandomSuffix",
+ "allowOverwrite",
+ "contentType",
+ "ifMatch"
+ ]
+ });
+ uploadPart2 = createUploadPartMethod({
+ allowedOptions: [
+ "cacheControlMaxAge",
+ "addRandomSuffix",
+ "allowOverwrite",
+ "contentType"
+ ]
+ });
+ completeMultipartUpload2 = createCompleteMultipartUploadMethod({
+ allowedOptions: [
+ "cacheControlMaxAge",
+ "addRandomSuffix",
+ "allowOverwrite",
+ "contentType"
+ ]
+ });
+ }
+});
+
+// viewer/src/server/server.mjs
+import fs9 from "node:fs";
+import http from "node:http";
+import path13 from "node:path";
+import { fileURLToPath as fileURLToPath2 } from "node:url";
+
+// viewer/src/server/localAssetBackend.mjs
+import fs7 from "node:fs";
+import path8 from "node:path";
+import { spawn as spawn2 } from "node:child_process";
+
+// viewer/src/server/catalog/cadDirectoryScanner.mjs
+import crypto from "node:crypto";
+import fs2 from "node:fs";
+import path3 from "node:path";
+
+// viewer/packages/cadjs/src/common/stepSidecars.mjs
+import path from "node:path";
+function isPerStepViewerDirectoryName(name) {
+ const normalized = String(name || "").toLowerCase();
+ return normalized.startsWith(".") && (normalized.endsWith(".step") || normalized.endsWith(".stp"));
+}
+function isInlineStepGlbArtifactPath(filePath) {
+ const name = path.basename(String(filePath || "")).toLowerCase();
+ return name.startsWith(".") && (name.endsWith(".step.glb") || name.endsWith(".stp.glb"));
+}
+function isInlineStepParameterPath(filePath) {
+ const name = path.basename(String(filePath || "")).toLowerCase();
+ return name.startsWith(".") && name.endsWith(".step.js");
+}
+function isPathInsidePerStepViewerDirectory(filePath) {
+ return String(filePath || "").split(path.sep).some((part) => isPerStepViewerDirectoryName(part));
+}
+function inlineStepGlbArtifactPathForSource(sourcePath) {
+ return path.join(path.dirname(sourcePath), `.${path.basename(sourcePath)}.glb`);
+}
+function stepParameterPathForStepSource(sourcePath) {
+ const stem = path.basename(sourcePath, path.extname(sourcePath));
+ return path.join(path.dirname(sourcePath), `.${stem}.step.js`);
+}
+
+// viewer/packages/cadjs/src/common/stepTopology.mjs
+var STEP_TOPOLOGY_EXTENSION = "STEP_topology";
+var STEP_TOPOLOGY_SCHEMA_VERSION = 2;
+var STEP_EDGE_BARYCENTRIC_ATTRIBUTE = "_CAD_EDGE_BARYCENTRIC";
+var STEP_EDGE_CLASS_ATTRIBUTE = "_CAD_EDGE_CLASS";
+var STEP_EDGE_FLAGS = Object.freeze({
+ DEGENERATE: 1 << 1,
+ SEAM: 1 << 2,
+ NOT_REFERENCEABLE: 1 << 3,
+ BOUNDARY: 1 << 4,
+ NON_MANIFOLD: 1 << 5,
+ HARD: 1 << 6,
+ TANGENT: 1 << 7,
+ UNKNOWN_CONTINUITY: 1 << 8
+});
+var STEP_EDGE_VISIBILITY_CLASSES = Object.freeze({
+ FEATURE: "feature",
+ TANGENT: "tangent",
+ SEAM: "seam",
+ DEGENERATE: "degenerate",
+ BOUNDARY: "boundary",
+ NON_MANIFOLD: "nonManifold",
+ UNKNOWN: "unknown"
+});
+var STEP_EDGE_SURFACE_CLASS_CODES = Object.freeze({
+ none: 0,
+ feature: 1,
+ tangent: 2,
+ seam: 3,
+ degenerate: 4,
+ boundary: 5,
+ nonManifold: 6,
+ unknown: 7
+});
+var STEP_EDGE_RENDER_VISIBILITY_CLASSES = Object.freeze([
+ STEP_EDGE_VISIBILITY_CLASSES.FEATURE,
+ STEP_EDGE_VISIBILITY_CLASSES.TANGENT,
+ STEP_EDGE_VISIBILITY_CLASSES.SEAM,
+ STEP_EDGE_VISIBILITY_CLASSES.DEGENERATE
+]);
+function isCurrentStepTopologySchemaVersion(value) {
+ return Number(value) === STEP_TOPOLOGY_SCHEMA_VERSION;
+}
+
+// viewer/packages/cadjs/src/lib/pathUtils.mjs
+import path2 from "node:path";
+function toPosixPath(value) {
+ return String(value || "").split(path2.sep).join("/");
+}
+function relativePathStaysInsideRoot(relativePath) {
+ return relativePath === "" || relativePath !== ".." && !relativePath.startsWith(`..${path2.sep}`) && !path2.isAbsolute(relativePath);
+}
+function pathIsInside(childPath, parentPath) {
+ const relativePath = path2.relative(path2.resolve(parentPath), path2.resolve(childPath));
+ return Boolean(relativePath) && relativePathStaysInsideRoot(relativePath);
+}
+
+// viewer/src/server/step/stepMetadata.mjs
+import fs from "node:fs";
+var TEXT_TO_CAD_GENERATOR_PROPERTY = "cadpy:generator";
+var TEXT_TO_CAD_ENTRY_KIND_PROPERTY = "cadpy:entryKind";
+var TEXT_TO_CAD_SOURCE_PATH_PROPERTY = "cadpy:sourcePath";
+var TEXT_TO_CAD_SOURCE_HASH_PROPERTY = "cadpy:sourceHash";
+var STEP_STRING_PATTERN = "'(?:''|[^'])*'";
+function unescapeStepString(value) {
+ const raw = String(value || "").trim();
+ const unquoted = raw.startsWith("'") && raw.endsWith("'") ? raw.slice(1, -1) : raw;
+ return unquoted.replace(/''/g, "'");
+}
+function normalizeTextToCadEntryKind(value) {
+ const normalized = String(value || "").trim().toLowerCase();
+ return normalized === "part" || normalized === "assembly" ? normalized : "";
+}
+function readTextToCadStepMetadataText(stepText) {
+ const text = String(stepText || "");
+ const descriptiveItems = /* @__PURE__ */ new Map();
+ const descriptivePattern = new RegExp(
+ `#(\\d+)\\s*=\\s*DESCRIPTIVE_REPRESENTATION_ITEM\\s*\\(\\s*(${STEP_STRING_PATTERN})\\s*,\\s*(${STEP_STRING_PATTERN})\\s*\\)\\s*;`,
+ "gis"
+ );
+ for (const match of text.matchAll(descriptivePattern)) {
+ descriptiveItems.set(`#${match[1]}`, {
+ value: unescapeStepString(match[3])
+ });
+ }
+ const representations = /* @__PURE__ */ new Map();
+ const representationPattern = new RegExp(
+ `#(\\d+)\\s*=\\s*REPRESENTATION\\s*\\(\\s*(${STEP_STRING_PATTERN})\\s*,\\s*\\(([^)]*)\\)\\s*,\\s*#\\d+\\s*\\)\\s*;`,
+ "gis"
+ );
+ for (const match of text.matchAll(representationPattern)) {
+ representations.set(`#${match[1]}`, {
+ itemRefs: Array.from(String(match[3] || "").matchAll(/#\d+/g), (itemMatch) => itemMatch[0])
+ });
+ }
+ const propertyDefinitions = /* @__PURE__ */ new Map();
+ const propertyPattern = new RegExp(
+ `#(\\d+)\\s*=\\s*PROPERTY_DEFINITION\\s*\\(\\s*(${STEP_STRING_PATTERN})\\s*,\\s*(${STEP_STRING_PATTERN})\\s*,\\s*#[0-9]+\\s*\\)\\s*;`,
+ "gis"
+ );
+ for (const match of text.matchAll(propertyPattern)) {
+ const propertyName = unescapeStepString(match[3]);
+ if (propertyName === TEXT_TO_CAD_GENERATOR_PROPERTY || propertyName === TEXT_TO_CAD_ENTRY_KIND_PROPERTY || propertyName === TEXT_TO_CAD_SOURCE_PATH_PROPERTY || propertyName === TEXT_TO_CAD_SOURCE_HASH_PROPERTY || propertyName === "cadpy:entry_kind") {
+ propertyDefinitions.set(`#${match[1]}`, propertyName);
+ }
+ }
+ const metadata = {};
+ const linkPattern = /#\d+\s*=\s*PROPERTY_DEFINITION_REPRESENTATION\s*\(\s*(#\d+)\s*,\s*(#\d+)\s*\)\s*;/gis;
+ for (const match of text.matchAll(linkPattern)) {
+ const propertyName = propertyDefinitions.get(match[1]);
+ const representation = representations.get(match[2]);
+ if (!propertyName || !representation) {
+ continue;
+ }
+ const item = representation.itemRefs.map((itemRef) => descriptiveItems.get(itemRef)).find(Boolean);
+ if (!item) {
+ continue;
+ }
+ if (propertyName === TEXT_TO_CAD_GENERATOR_PROPERTY) {
+ metadata.generator = item.value;
+ } else if (propertyName === TEXT_TO_CAD_ENTRY_KIND_PROPERTY || propertyName === "cadpy:entry_kind") {
+ const entryKind = normalizeTextToCadEntryKind(item.value);
+ if (entryKind) {
+ metadata.entryKind = entryKind;
+ }
+ } else if (propertyName === TEXT_TO_CAD_SOURCE_HASH_PROPERTY) {
+ metadata.sourceHash = item.value;
+ } else if (propertyName === TEXT_TO_CAD_SOURCE_PATH_PROPERTY) {
+ metadata.sourcePath = item.value;
+ }
+ }
+ return metadata;
+}
+function readTextToCadStepMetadataFile(stepPath) {
+ return readTextToCadStepMetadataText(fs.readFileSync(stepPath, "utf-8"));
+}
+
+// viewer/src/server/catalog/cadDirectoryScanner.mjs
+var DEFAULT_VIEWER_ROOT_DIR = "";
+var CAD_CATALOG_SCHEMA_VERSION = 4;
+var SOURCE_EXTENSIONS = /* @__PURE__ */ new Set([".step", ".stp", ".stl", ".3mf", ".glb", ".gcode", ".dxf", ".urdf", ".srdf", ".sdf"]);
+var IMPLICIT_CAD_EXTENSIONS = Object.freeze([".implicit.js", ".implicit.mjs"]);
+var REGENERATE_STEP_COMMAND = "python -m cadpy.step_artifact --repo-root . --step";
+var VIEWER_SKIPPED_DIRECTORIES = /* @__PURE__ */ new Set([
+ ".agents",
+ ".cache",
+ ".viewer",
+ ".git",
+ ".venv",
+ "__pycache__",
+ "build",
+ "coverage",
+ "dist",
+ "node_modules",
+ "viewer"
+]);
+var SRDF_URDF_METADATA_PATTERN = /<\s*(?:tcad|explorer):urdf\b[^>]*\bpath\s*=\s*["']([^"']+)["'][^>]*>/i;
+var STEP_EDGE_RENDER_CLASS_ORDER = Object.freeze(["feature", "tangent", "seam", "degenerate"]);
+var TEXT_TO_CAD_COMMENT_METADATA_RE = //g;
+var PYTHON_GENERATOR_BY_KIND = Object.freeze({
+ dxf: "gen_dxf",
+ step: "gen_step",
+ stp: "gen_step",
+ urdf: "gen_urdf",
+ srdf: "gen_srdf",
+ sdf: "gen_sdf"
+});
+function encodeUrlPath(repoRelativePath2) {
+ return `/${repoRelativePath2.split("/").map((part) => encodeURIComponent(part)).join("/")}`;
+}
+function pathIsImplicitCadSource(value = "") {
+ const pathname = String(value || "").split(/[?#]/, 1)[0].toLowerCase();
+ return IMPLICIT_CAD_EXTENSIONS.some((extension) => pathname.endsWith(extension));
+}
+function relativePathStaysInsideRoot2(relativePath) {
+ return relativePath === "" || relativePath !== ".." && !relativePath.startsWith(`..${path3.sep}`) && !path3.isAbsolute(relativePath);
+}
+function normalizeStepEdgeRenderVisibilityClasses(value) {
+ const rawValues = Array.isArray(value) ? value : value === void 0 || value === null ? [] : [value];
+ const validValues = new Set(Object.values(STEP_EDGE_VISIBILITY_CLASSES));
+ const normalized = [];
+ for (const raw of rawValues) {
+ const classId = String(raw || "").trim();
+ if (validValues.has(classId) && !normalized.includes(classId)) {
+ normalized.push(classId);
+ }
+ }
+ if (!normalized.includes(STEP_EDGE_VISIBILITY_CLASSES.FEATURE)) {
+ normalized.unshift(STEP_EDGE_VISIBILITY_CLASSES.FEATURE);
+ }
+ return [
+ ...STEP_EDGE_RENDER_CLASS_ORDER.filter((classId) => normalized.includes(classId)),
+ ...normalized.filter((classId) => !STEP_EDGE_RENDER_CLASS_ORDER.includes(classId))
+ ];
+}
+function normalizeViewerRootDir(value = DEFAULT_VIEWER_ROOT_DIR) {
+ const rawValue = String(value ?? "").trim();
+ const slashNormalized = rawValue.replace(/\\/g, "/");
+ const normalized = path3.posix.normalize(slashNormalized);
+ if (!normalized || normalized === ".") {
+ return DEFAULT_VIEWER_ROOT_DIR;
+ }
+ if (normalized === ".." || normalized.startsWith("../")) {
+ throw new Error(`CAD Viewer root directory must stay inside the directory root: ${rawValue}`);
+ }
+ return normalized.replace(/(?!^\/)\/+$/, "");
+}
+function resolveViewerRoot(repoRoot, rootDir = DEFAULT_VIEWER_ROOT_DIR) {
+ const normalizedDir = normalizeViewerRootDir(rootDir);
+ const resolvedRepoRoot = path3.resolve(repoRoot);
+ const rootPath = normalizedDir ? path3.resolve(resolvedRepoRoot, normalizedDir) : resolvedRepoRoot;
+ const relativePath = path3.relative(resolvedRepoRoot, rootPath);
+ if (!relativePathStaysInsideRoot2(relativePath)) {
+ throw new Error(`CAD Viewer root directory must stay inside the directory root: ${normalizedDir}`);
+ }
+ return {
+ dir: normalizedDir,
+ rootPath,
+ rootName: normalizedDir ? path3.basename(rootPath) : path3.basename(resolvedRepoRoot)
+ };
+}
+function repoRelativePath(repoRoot, filePath) {
+ return toPosixPath(path3.relative(path3.resolve(repoRoot), path3.resolve(filePath)));
+}
+function scanRelativePath(rootPath, filePath) {
+ return toPosixPath(path3.relative(path3.resolve(rootPath), path3.resolve(filePath)));
+}
+function fileStats(filePath) {
+ try {
+ const stats = fs2.statSync(filePath, { bigint: true });
+ return stats.isFile() ? stats : null;
+ } catch {
+ return null;
+ }
+}
+function sha256File(filePath) {
+ const hash = crypto.createHash("sha256");
+ const fd = fs2.openSync(filePath, "r");
+ try {
+ const buffer = Buffer.alloc(1024 * 1024);
+ let bytesRead = 0;
+ do {
+ bytesRead = fs2.readSync(fd, buffer, 0, buffer.length, null);
+ if (bytesRead > 0) {
+ hash.update(buffer.subarray(0, bytesRead));
+ }
+ } while (bytesRead > 0);
+ } finally {
+ fs2.closeSync(fd);
+ }
+ return hash.digest("hex");
+}
+function pathIsInside2(filePath, rootPath) {
+ const relative = path3.relative(path3.resolve(rootPath), path3.resolve(filePath));
+ return relativePathStaysInsideRoot2(relative);
+}
+function dedupePaths(paths) {
+ const result = [];
+ const seen = /* @__PURE__ */ new Set();
+ for (const rawPath of paths) {
+ const resolved = path3.resolve(rawPath);
+ if (!seen.has(resolved)) {
+ seen.add(resolved);
+ result.push(resolved);
+ }
+ }
+ return result;
+}
+function normalizeManifestPath(manifestPath) {
+ const value = String(manifestPath || "").trim();
+ if (!value || value.includes("\0")) {
+ return "";
+ }
+ return value.replace(/\\/g, "/");
+}
+function resolveManifestSourcePath(repoRoot, manifestPath, baseDir = repoRoot) {
+ const value = normalizeManifestPath(manifestPath);
+ if (!value) {
+ return null;
+ }
+ const resolved = path3.isAbsolute(value) ? path3.resolve(value) : path3.resolve(baseDir, value);
+ if (!pathIsInside2(resolved, repoRoot)) {
+ return null;
+ }
+ return resolved;
+}
+function normalizeManifestRelativePath(manifestPath) {
+ const value = String(manifestPath || "").trim().replace(/\\/g, "/").replace(/^\/+/, "");
+ if (!value || value === "." || value.startsWith("../")) {
+ return "";
+ }
+ return value;
+}
+function manifestIdentityRootForStep(repoRoot, actualStepPath, manifestStepPath) {
+ const resolvedRepoRoot = path3.resolve(repoRoot);
+ const normalizedStepPath = normalizeManifestRelativePath(manifestStepPath);
+ if (!normalizedStepPath || !actualStepPath) {
+ return resolvedRepoRoot;
+ }
+ const actualRepoPath = repoRelativePath(resolvedRepoRoot, actualStepPath);
+ if (actualRepoPath === normalizedStepPath) {
+ return resolvedRepoRoot;
+ }
+ if (!actualRepoPath.endsWith(`/${normalizedStepPath}`)) {
+ return resolvedRepoRoot;
+ }
+ const prefix = actualRepoPath.slice(0, actualRepoPath.length - normalizedStepPath.length).replace(/\/+$/, "");
+ if (!prefix) {
+ return resolvedRepoRoot;
+ }
+ const resolvedPrefix = path3.resolve(resolvedRepoRoot, ...prefix.split("/").filter(Boolean));
+ return pathIsInside2(resolvedPrefix, resolvedRepoRoot) ? resolvedPrefix : resolvedRepoRoot;
+}
+function sourcePathFromManifest(repoRoot, manifestPath, { identityRoot = null, baseDir = null } = {}) {
+ const value = normalizeManifestPath(manifestPath);
+ if (!value) {
+ return { sourcePath: "", manifestSourcePath: "", filePath: null, identityRoot: path3.resolve(repoRoot) };
+ }
+ const resolvedRepoRoot = path3.resolve(repoRoot);
+ const resolvedIdentityRoot = identityRoot && pathIsInside2(identityRoot, resolvedRepoRoot) ? path3.resolve(identityRoot) : resolvedRepoRoot;
+ const roots = dedupePaths([
+ baseDir ? path3.resolve(baseDir) : null,
+ resolvedIdentityRoot,
+ resolvedRepoRoot
+ ].filter(Boolean));
+ const candidates = [];
+ for (const root of roots) {
+ if (!pathIsInside2(root, resolvedRepoRoot)) {
+ continue;
+ }
+ const filePath2 = resolveManifestSourcePath(resolvedRepoRoot, value, root);
+ if (!filePath2) {
+ continue;
+ }
+ candidates.push({
+ sourcePath: repoRelativePath(resolvedRepoRoot, filePath2),
+ manifestSourcePath: value,
+ filePath: filePath2,
+ identityRoot: resolvedIdentityRoot
+ });
+ }
+ const candidate = candidates.find((entry) => fileStats(entry.filePath)) || candidates[0];
+ if (candidate) {
+ return candidate;
+ }
+ const filePath = resolveManifestSourcePath(resolvedRepoRoot, value, resolvedRepoRoot);
+ return {
+ sourcePath: value,
+ manifestSourcePath: value,
+ filePath,
+ identityRoot: resolvedIdentityRoot
+ };
+}
+function fileHasGenStep(filePath) {
+ try {
+ return /\bgen_step\s*\(/.test(fs2.readFileSync(filePath, "utf-8"));
+ } catch {
+ return false;
+ }
+}
+function generatorSourcePathFromManifest(repoRoot, manifestPath, { identityRoot = null, baseDir = null } = {}) {
+ const candidate = sourcePathFromManifest(repoRoot, manifestPath, { identityRoot, baseDir });
+ if (candidate.sourcePath && candidate.filePath && path3.extname(candidate.filePath).toLowerCase() === ".py" && path3.basename(candidate.filePath) !== "__init__.py" && fileHasGenStep(candidate.filePath)) {
+ return candidate;
+ }
+ return {
+ sourcePath: "",
+ manifestSourcePath: candidate.manifestSourcePath || "",
+ filePath: null,
+ identityRoot: candidate.identityRoot || path3.resolve(repoRoot)
+ };
+}
+function fileHasPythonGenerator(filePath, generatorName) {
+ if (!generatorName) {
+ return false;
+ }
+ try {
+ const source = fs2.readFileSync(filePath, "utf-8");
+ return new RegExp(`\\b${generatorName}\\s*\\(`).test(source);
+ } catch {
+ return false;
+ }
+}
+function generatorSourcePathFromMetadata(repoRoot, manifestPath, generatorName, { baseDir = null } = {}) {
+ const candidate = sourcePathFromManifest(repoRoot, manifestPath, { baseDir });
+ if (candidate.sourcePath && candidate.filePath && path3.extname(candidate.filePath).toLowerCase() === ".py" && path3.basename(candidate.filePath) !== "__init__.py" && fileHasPythonGenerator(candidate.filePath, generatorName)) {
+ return candidate;
+ }
+ return { sourcePath: "", filePath: null };
+}
+function readXmlTextToCadMetadata(filePath) {
+ let text = "";
+ try {
+ text = fs2.readFileSync(filePath, "utf-8");
+ } catch {
+ return {};
+ }
+ const metadata = {};
+ for (const match of text.matchAll(TEXT_TO_CAD_COMMENT_METADATA_RE)) {
+ metadata[String(match[1] || "").trim()] = String(match[2] || "").trim();
+ }
+ return metadata;
+}
+function readDxfTextToCadMetadata(filePath) {
+ let lines = [];
+ try {
+ lines = fs2.readFileSync(filePath, "utf-8").split(/\r?\n/);
+ } catch {
+ return {};
+ }
+ const metadata = {};
+ for (let index = 0; index + 1 < lines.length; index += 1) {
+ if (String(lines[index] || "").trim() !== "999") {
+ continue;
+ }
+ const value = String(lines[index + 1] || "").trim();
+ if (!value.startsWith("cadpy:")) {
+ continue;
+ }
+ const [key, ...rest] = value.slice("cadpy:".length).split("=");
+ const normalizedKey = String(key || "").trim();
+ if (rest.length && /^[A-Za-z][A-Za-z0-9]*$/.test(normalizedKey)) {
+ metadata[normalizedKey] = rest.join("=").trim();
+ }
+ }
+ return metadata;
+}
+function readGeneratedFileMetadata(filePath, kind) {
+ const normalizedKind = String(kind || "").trim().toLowerCase();
+ if (normalizedKind === "dxf") {
+ return readDxfTextToCadMetadata(filePath);
+ }
+ if (["urdf", "srdf", "sdf"].includes(normalizedKind)) {
+ return readXmlTextToCadMetadata(filePath);
+ }
+ if (normalizedKind === "step" || normalizedKind === "stp") {
+ try {
+ return readTextToCadStepMetadataFile(filePath);
+ } catch {
+ return {};
+ }
+ }
+ return {};
+}
+function generatedSourceStatusForFile({ repoRoot, sourcePath, kind }) {
+ const normalizedKind = String(kind || "").trim().toLowerCase();
+ const generatorName = PYTHON_GENERATOR_BY_KIND[normalizedKind] || "";
+ if (!generatorName) {
+ return null;
+ }
+ const metadata = readGeneratedFileMetadata(sourcePath, normalizedKind);
+ const metadataSourcePath = String(metadata.sourcePath || "").trim();
+ if (!metadataSourcePath) {
+ return null;
+ }
+ const sourceIdentity = generatorSourcePathFromMetadata(
+ repoRoot,
+ metadataSourcePath,
+ generatorName,
+ { baseDir: path3.dirname(sourcePath) }
+ );
+ const base = {
+ sourceKind: "python",
+ source: {
+ file: sourceIdentity.sourcePath || metadataSourcePath,
+ sourcePath: sourceIdentity.sourcePath || metadataSourcePath,
+ ...metadata.sourceHash ? { sourceHash: String(metadata.sourceHash) } : {}
+ }
+ };
+ if (!sourceIdentity.filePath) {
+ return {
+ ...base,
+ sourceStatus: {
+ ok: false,
+ status: "missing",
+ stale: false,
+ sourceKind: "python",
+ sourcePath: metadataSourcePath,
+ message: "Python generator source is unavailable."
+ }
+ };
+ }
+ return {
+ ...base,
+ source: {
+ ...base.source,
+ file: sourceIdentity.sourcePath,
+ sourcePath: sourceIdentity.sourcePath,
+ sourceHash: String(metadata.sourceHash || "")
+ }
+ };
+}
+function assetForPath(repoRoot, filePath) {
+ const stats = fileStats(filePath);
+ if (!stats) {
+ return null;
+ }
+ const version = `${stats.size.toString(36)}-${stats.mtimeNs.toString(36)}`;
+ const repoPath = repoRelativePath(repoRoot, filePath);
+ return {
+ url: `${encodeUrlPath(repoPath)}?v=${encodeURIComponent(version)}`,
+ hash: sha256File(filePath),
+ bytes: Number(stats.size)
+ };
+}
+function assetUrlForPath(repoRoot, filePath) {
+ return encodeUrlPath(repoRelativePath(repoRoot, filePath));
+}
+function readExact(fd, length2, position) {
+ const buffer = Buffer.alloc(length2);
+ const bytesRead = fs2.readSync(fd, buffer, 0, length2, position);
+ return bytesRead === length2 ? buffer : null;
+}
+function glbBufferViewRange(gltf, binOffset, binLength, viewIndex) {
+ const view = Array.isArray(gltf?.bufferViews) ? gltf.bufferViews[Number(viewIndex)] : null;
+ if (!view || Number(view.buffer || 0) !== 0) {
+ return null;
+ }
+ const byteOffset = binOffset + Number(view.byteOffset || 0);
+ const byteLength = Number(view.byteLength || 0);
+ if (!Number.isFinite(byteOffset) || !Number.isFinite(byteLength) || byteLength < 0) {
+ return null;
+ }
+ if (byteOffset < binOffset || byteOffset + byteLength > binOffset + binLength) {
+ return null;
+ }
+ return { byteOffset, byteLength };
+}
+function parseJsonBufferView(fd, gltf, binOffset, binLength, viewIndex, encoding = "utf-8") {
+ const range = glbBufferViewRange(gltf, binOffset, binLength, viewIndex);
+ if (!range) {
+ throw new Error("STEP topology buffer view range is invalid");
+ }
+ const bytes2 = readExact(fd, range.byteLength, range.byteOffset);
+ if (!bytes2) {
+ throw new Error("STEP topology buffer view range is invalid");
+ }
+ const payload = JSON.parse(bytes2.toString(String(encoding || "utf-8")));
+ if (!payload || typeof payload !== "object" || Array.isArray(payload)) {
+ throw new Error("STEP topology JSON buffer view is not an object");
+ }
+ return payload;
+}
+function gltfPrimitivesHaveSurfaceEdgeAttributes(gltf) {
+ const meshes = Array.isArray(gltf?.meshes) ? gltf.meshes : [];
+ let primitiveCount = 0;
+ for (const mesh of meshes) {
+ for (const primitive of Array.isArray(mesh?.primitives) ? mesh.primitives : []) {
+ primitiveCount += 1;
+ const attributes = primitive?.attributes || {};
+ if (attributes[STEP_EDGE_BARYCENTRIC_ATTRIBUTE] === void 0 || attributes[STEP_EDGE_CLASS_ATTRIBUTE] === void 0) {
+ return false;
+ }
+ }
+ }
+ return primitiveCount > 0;
+}
+function readGlbTopologyContainer(filePath) {
+ let fd = null;
+ try {
+ fd = fs2.openSync(filePath, "r");
+ const header = readExact(fd, 12, 0);
+ if (!header || header.readUInt32LE(0) !== 1179937895 || header.readUInt32LE(4) !== 2) {
+ throw new Error("Not a GLB v2 file");
+ }
+ const totalLength = Math.min(header.readUInt32LE(8), fs2.fstatSync(fd).size);
+ let offset = 12;
+ let gltf = null;
+ let binOffset = 0;
+ let binLength = 0;
+ while (offset + 8 <= totalLength) {
+ const chunkHeader = readExact(fd, 8, offset);
+ if (!chunkHeader) {
+ throw new Error("Invalid GLB chunk header");
+ }
+ const chunkLength = chunkHeader.readUInt32LE(0);
+ const chunkType = chunkHeader.toString("latin1", 4, 8);
+ offset += 8;
+ if (offset + chunkLength > totalLength) {
+ throw new Error("Invalid GLB chunk length");
+ }
+ if (chunkType === "JSON") {
+ const jsonBytes = readExact(fd, chunkLength, offset);
+ if (!jsonBytes) {
+ throw new Error("GLB is missing JSON chunk");
+ }
+ gltf = JSON.parse(jsonBytes.toString("utf8").trim());
+ } else if (chunkType === "BIN\0") {
+ binOffset = offset;
+ binLength = chunkLength;
+ }
+ offset += chunkLength;
+ }
+ return {
+ fd,
+ gltf,
+ binOffset,
+ binLength
+ };
+ } catch {
+ if (fd !== null) {
+ fs2.closeSync(fd);
+ }
+ throw new Error("Invalid GLB topology container");
+ }
+}
+function stepArtifactError({ code, reason, repoRoot, cadPath, sourcePath, glbPath, details = {} }) {
+ const glbRelPath = repoRelativePath(repoRoot, glbPath);
+ return {
+ ok: false,
+ error: {
+ code,
+ message: `${reason}: ${glbRelPath}.`,
+ cadPath,
+ stepPath: repoRelativePath(repoRoot, sourcePath),
+ glbPath: glbRelPath,
+ regenerateCommand: REGENERATE_STEP_COMMAND,
+ ...details
+ }
+ };
+}
+function staleStepArtifactError({
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ manifestSourcePath = "",
+ sourceKind = "step",
+ artifactHash,
+ currentHash
+}) {
+ return stepArtifactError({
+ code: "stale_step_artifact",
+ reason: "Generated GLB doesn't match the hash of the STEP file",
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: {
+ stale: true,
+ sourceKind,
+ ...manifestSourcePath ? { sourcePath: manifestSourcePath } : {},
+ artifactHash,
+ currentHash
+ }
+ });
+}
+function validateStepTopologyArtifact({ repoRoot, sourcePath, cadPath }) {
+ const glbPath = inlineStepGlbArtifactPathForSource(sourcePath);
+ let stepHash = "";
+ let sourceHash = "";
+ let artifactSourcePath = "";
+ const fail = (code, reason) => ({
+ topology: null,
+ stepArtifact: stepArtifactError({ code, reason, repoRoot, cadPath, sourcePath, glbPath }),
+ glbPath,
+ stepHash,
+ sourceHash
+ });
+ if (!fileStats(glbPath)) {
+ return fail(
+ "missing_glb",
+ "STEP topology validation requires the generated GLB artifact, but it is missing"
+ );
+ }
+ let container = null;
+ try {
+ container = readGlbTopologyContainer(glbPath);
+ const extension = container.gltf?.extensions?.[STEP_TOPOLOGY_EXTENSION];
+ if (!extension || typeof extension !== "object" || Array.isArray(extension)) {
+ return fail(
+ "missing_step_topology",
+ "STEP topology validation requires readable STEP_topology indexView in the GLB"
+ );
+ }
+ if (!isCurrentStepTopologySchemaVersion(extension.schemaVersion)) {
+ return fail(
+ "unsupported_step_topology",
+ `STEP topology validation requires STEP_topology schemaVersion ${STEP_TOPOLOGY_SCHEMA_VERSION} in the GLB`
+ );
+ }
+ const manifest = parseJsonBufferView(
+ container.fd,
+ container.gltf,
+ container.binOffset,
+ container.binLength,
+ extension.indexView,
+ extension.encoding
+ );
+ const topology = {
+ index: manifest,
+ entryKind: String(extension.entryKind || manifest.entryKind || "").trim().toLowerCase(),
+ hasSelector: false,
+ hasDisplayEdges: false
+ };
+ if (!isCurrentStepTopologySchemaVersion(manifest.schemaVersion)) {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "unsupported_step_topology",
+ reason: `STEP topology validation requires STEP_topology schemaVersion ${STEP_TOPOLOGY_SCHEMA_VERSION} in the GLB`,
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath
+ }),
+ glbPath,
+ stepHash
+ };
+ }
+ const artifactSourceKind = String(manifest.sourceKind || "step").trim().toLowerCase();
+ const artifactUsesPythonSource = artifactSourceKind === "python";
+ const artifactNormalizedSourceKind = artifactUsesPythonSource ? "python" : "step";
+ const artifactIdentityDetails = () => ({
+ sourceKind: artifactNormalizedSourceKind,
+ ...artifactSourcePath ? { sourcePath: artifactSourcePath } : {}
+ });
+ const manifestIdentityRoot = manifestIdentityRootForStep(repoRoot, sourcePath, manifest.stepPath);
+ const sourceIdentity = artifactUsesPythonSource ? generatorSourcePathFromManifest(repoRoot, manifest.sourcePath, {
+ identityRoot: manifestIdentityRoot,
+ baseDir: path3.dirname(glbPath)
+ }) : sourcePathFromManifest(repoRoot, manifest.sourcePath, {
+ identityRoot: manifestIdentityRoot,
+ baseDir: path3.dirname(glbPath)
+ });
+ artifactSourcePath = sourceIdentity.sourcePath;
+ if (!artifactSourcePath || !sourceIdentity.filePath) {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "missing_source_path",
+ reason: "GLB STEP_topology is missing required sourcePath identity",
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: {
+ sourceKind: artifactNormalizedSourceKind
+ }
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ stepHash = String(manifest.stepHash || "").trim();
+ sourceHash = String(manifest.sourceHash || "").trim();
+ if (!stepHash && fileStats(sourcePath)) {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "missing_step_hash",
+ reason: "GLB STEP_topology is missing STEP file identity",
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: artifactIdentityDetails()
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ const currentStepHash = fileStats(sourcePath) ? sha256File(sourcePath) : "";
+ if (currentStepHash && stepHash !== currentStepHash) {
+ return {
+ topology,
+ stepArtifact: staleStepArtifactError({
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ manifestSourcePath: artifactSourcePath,
+ sourceKind: artifactNormalizedSourceKind,
+ artifactHash: stepHash,
+ currentHash: currentStepHash
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ let edgeRendering = null;
+ try {
+ const edgeManifest = parseJsonBufferView(
+ container.fd,
+ container.gltf,
+ container.binOffset,
+ container.binLength,
+ extension.edgeView,
+ extension.encoding
+ );
+ const edgeVisibilityClasses = edgeManifest?.edgeRendering && typeof edgeManifest.edgeRendering === "object" ? normalizeStepEdgeRenderVisibilityClasses(edgeManifest.edgeRendering.visibilityClasses) : [];
+ const indexEdgeVisibilityClasses = manifest?.edgeRendering && typeof manifest.edgeRendering === "object" ? normalizeStepEdgeRenderVisibilityClasses(manifest.edgeRendering.visibilityClasses) : [];
+ if (!isCurrentStepTopologySchemaVersion(edgeManifest.schemaVersion) || String(edgeManifest.profile || "") !== "surface-edges" || String(edgeManifest.sourcePath || "").trim() !== String(manifest.sourcePath || "").trim() || stepHash && String(edgeManifest.stepHash || "").trim() !== stepHash || !edgeVisibilityClasses.length || edgeVisibilityClasses.join("\n") !== indexEdgeVisibilityClasses.join("\n") || !edgeVisibilityClasses.includes(STEP_EDGE_VISIBILITY_CLASSES.FEATURE) || !edgeManifest?.buffers?.views?.surfaceHalfEdges) {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "missing_edge_topology",
+ reason: `STEP topology validation requires STEP_topology edgeView schemaVersion ${STEP_TOPOLOGY_SCHEMA_VERSION} in the GLB`,
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: artifactIdentityDetails()
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ edgeRendering = edgeManifest.edgeRendering && typeof edgeManifest.edgeRendering === "object" ? {
+ visibilityClasses: edgeVisibilityClasses,
+ generatedVisibilityClasses: (Array.isArray(edgeManifest.edgeRendering.generatedVisibilityClasses) ? edgeManifest.edgeRendering.generatedVisibilityClasses : edgeVisibilityClasses).map((classId) => String(classId || "").trim()).filter((classId, index, list2) => edgeVisibilityClasses.includes(classId) && STEP_EDGE_RENDER_CLASS_ORDER.includes(classId) && list2.indexOf(classId) === index),
+ visibilityClassCounts: edgeManifest.edgeRendering.visibilityClassCounts || {},
+ generatedVisibilityClassCounts: edgeManifest.edgeRendering.generatedVisibilityClassCounts || {}
+ } : null;
+ if (!gltfPrimitivesHaveSurfaceEdgeAttributes(container.gltf)) {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "missing_surface_edge_attributes",
+ reason: `STEP topology validation requires ${STEP_EDGE_BARYCENTRIC_ATTRIBUTE} and ${STEP_EDGE_CLASS_ATTRIBUTE} on every STEP mesh primitive`,
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: artifactIdentityDetails()
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ } catch {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "missing_edge_topology",
+ reason: "STEP topology validation requires readable STEP_topology edgeView in the GLB",
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: artifactIdentityDetails()
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ topology.hasDisplayEdges = true;
+ try {
+ const selectorManifest = parseJsonBufferView(
+ container.fd,
+ container.gltf,
+ container.binOffset,
+ container.binLength,
+ extension.selectorView,
+ extension.encoding
+ );
+ if (!isCurrentStepTopologySchemaVersion(selectorManifest.schemaVersion)) {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "unsupported_step_topology",
+ reason: `STEP topology validation requires STEP_topology schemaVersion ${STEP_TOPOLOGY_SCHEMA_VERSION} in the GLB`,
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: artifactIdentityDetails()
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ } catch {
+ return {
+ topology,
+ stepArtifact: stepArtifactError({
+ code: "missing_selector_topology",
+ reason: "STEP topology validation requires readable STEP_topology selectorView in the GLB",
+ repoRoot,
+ cadPath,
+ sourcePath,
+ glbPath,
+ details: artifactIdentityDetails()
+ }),
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ }
+ topology.hasSelector = true;
+ const stepArtifact = {
+ ok: true,
+ glbPath: repoRelativePath(repoRoot, glbPath),
+ ...artifactSourcePath ? { sourcePath: artifactSourcePath } : {},
+ sourceKind: artifactUsesPythonSource ? "python" : "step",
+ ...edgeRendering ? { edgeRendering } : {},
+ ...artifactUsesPythonSource ? {
+ sourceHash,
+ ...stepHash ? { stepHash } : {}
+ } : {
+ stepHash
+ }
+ };
+ return {
+ topology,
+ stepArtifact,
+ glbPath,
+ stepHash,
+ sourceHash
+ };
+ } catch {
+ return fail(
+ "missing_step_topology",
+ "STEP topology validation requires readable STEP_topology indexView in the GLB"
+ );
+ } finally {
+ if (container?.fd !== null && container?.fd !== void 0) {
+ try {
+ fs2.closeSync(container.fd);
+ } catch {
+ }
+ }
+ }
+}
+function readStepSourceStatus({
+ repoRoot,
+ stepPath,
+ pythonSourcePath = "",
+ cadPath = ""
+} = {}) {
+ if (!repoRoot) {
+ throw new Error("repoRoot is required");
+ }
+ if (!stepPath) {
+ throw new Error("stepPath is required");
+ }
+ const resolvedRepoRoot = path3.resolve(repoRoot);
+ const resolvedStepPath = path3.resolve(stepPath);
+ const extension = path3.extname(resolvedStepPath) || ".step";
+ const normalizedCadPath = cadPath || cadPathForStepSource(resolvedRepoRoot, resolvedStepPath, extension);
+ const validation = validateStepTopologyArtifact({
+ repoRoot: resolvedRepoRoot,
+ sourcePath: resolvedStepPath,
+ cadPath: normalizedCadPath
+ });
+ const stepArtifact = validation.stepArtifact || {};
+ const artifact = catalogArtifactFromValidation(stepArtifact) || null;
+ const normalizedPythonSourcePath = pythonSourcePath ? repoRelativePath(
+ resolvedRepoRoot,
+ path3.isAbsolute(pythonSourcePath) ? path3.resolve(pythonSourcePath) : path3.resolve(resolvedRepoRoot, pythonSourcePath)
+ ) : "";
+ const hasPythonSource = Boolean(normalizedPythonSourcePath) || String(stepArtifact.sourceKind || artifact?.sourceKind || "").trim().toLowerCase() === "python";
+ const sourceKind = hasPythonSource ? "python" : "step";
+ const file = repoRelativePath(resolvedRepoRoot, resolvedStepPath);
+ const sourcePath = String(stepArtifact.sourcePath || artifact?.sourcePath || normalizedPythonSourcePath || "").trim();
+ const base = {
+ ok: true,
+ file,
+ stepPath: file,
+ sourceKind,
+ artifact,
+ ...sourcePath ? { sourcePath } : {}
+ };
+ if (!fileStats(resolvedStepPath)) {
+ return {
+ ...base,
+ ok: false,
+ step: {
+ ok: false,
+ status: "missing",
+ missing: true,
+ stale: false,
+ message: "STEP file is missing."
+ }
+ };
+ }
+ return {
+ ...base,
+ step: {
+ ok: true,
+ status: "current",
+ missing: false,
+ stale: false,
+ currentHash: sha256File(resolvedStepPath)
+ }
+ };
+}
+function stepKindFromTopology(topology) {
+ const index = topology?.index && typeof topology.index === "object" ? topology.index : topology;
+ if (topology?.entryKind === "assembly" || index?.entryKind === "assembly") {
+ return "assembly";
+ }
+ return index?.assembly?.root && typeof index.assembly.root === "object" ? "assembly" : "part";
+}
+function sourceFormatFromExtension(extension) {
+ const normalized = extension.toLowerCase().replace(/^\./, "");
+ return normalized === "stp" ? "stp" : normalized;
+}
+function sourceFormatForPath(sourcePath, extension = path3.extname(sourcePath)) {
+ return pathIsImplicitCadSource(sourcePath) ? "implicit" : sourceFormatFromExtension(extension);
+}
+function isPerUrdfViewerDirectoryName(name) {
+ const normalized = String(name || "").toLowerCase();
+ return normalized.startsWith(".") && normalized.endsWith(".urdf");
+}
+function isHiddenDirectoryName(name) {
+ return String(name || "").startsWith(".");
+}
+function isPathInsidePerUrdfViewerDirectory(filePath) {
+ return String(filePath || "").split(path3.sep).some((part) => isPerUrdfViewerDirectoryName(part));
+}
+function fileRefForSource(rootPath, sourcePath) {
+ return scanRelativePath(rootPath, sourcePath);
+}
+function cadPathForStepSource(repoRoot, sourcePath, extension) {
+ const relativePath = repoRelativePath(repoRoot, sourcePath);
+ return relativePath.slice(0, -extension.length);
+}
+function sourcePathForInlineStepGlbArtifact(glbPath) {
+ const name = path3.basename(glbPath);
+ if (!isInlineStepGlbArtifactPath(glbPath)) {
+ return null;
+ }
+ return path3.join(path3.dirname(glbPath), name.slice(1, -".glb".length));
+}
+function sourcePathForInlineStepParameter(parameterPath) {
+ const name = path3.basename(parameterPath);
+ if (!isInlineStepParameterPath(parameterPath)) {
+ return null;
+ }
+ return path3.join(path3.dirname(parameterPath), name.slice(1, -".js".length));
+}
+function catalogArtifactFromValidation(stepArtifact) {
+ if (!stepArtifact || typeof stepArtifact !== "object") {
+ return void 0;
+ }
+ if (stepArtifact.ok) {
+ return void 0;
+ }
+ const rawError = stepArtifact.error && typeof stepArtifact.error === "object" ? stepArtifact.error : {};
+ const error = String(rawError.code || stepArtifact.error || "step_artifact_error").trim();
+ const message = String(rawError.message || "").trim();
+ const sourceKind = String(rawError.sourceKind || "").trim();
+ const artifactHash = String(rawError.artifactHash || "").trim();
+ const currentHash = String(rawError.currentHash || "").trim();
+ const sourceHash = String(rawError.sourceHash || "").trim();
+ const stepPath = String(rawError.stepPath || "").trim();
+ const glbPath = String(rawError.glbPath || "").trim();
+ const cadPath = String(rawError.cadPath || "").trim();
+ return {
+ ok: false,
+ error,
+ ...rawError.stale ? { stale: true } : {},
+ ...stepPath ? { stepPath } : {},
+ ...glbPath ? { glbPath } : {},
+ ...cadPath ? { cadPath } : {},
+ ...sourceKind ? { sourceKind } : {},
+ ...sourceHash ? { sourceHash } : {},
+ ...artifactHash ? { artifactHash } : {},
+ ...currentHash ? { currentHash } : {},
+ ...message ? { message } : {}
+ };
+}
+function readStepCatalogMetadata({ repoRoot, glbPath, sourcePath = "" } = {}) {
+ if (!fileStats(glbPath)) {
+ return {};
+ }
+ let container = null;
+ try {
+ container = readGlbTopologyContainer(glbPath);
+ const extension = container.gltf?.extensions?.[STEP_TOPOLOGY_EXTENSION];
+ if (!extension || typeof extension !== "object" || Array.isArray(extension)) {
+ return {};
+ }
+ if (!isCurrentStepTopologySchemaVersion(extension.schemaVersion)) {
+ return {};
+ }
+ const manifest = parseJsonBufferView(
+ container.fd,
+ container.gltf,
+ container.binOffset,
+ container.binLength,
+ extension.indexView,
+ extension.encoding
+ );
+ const sourceKind = String(manifest?.sourceKind || "step").trim().toLowerCase() === "python" ? "python" : "step";
+ const manifestIdentityRoot = manifestIdentityRootForStep(repoRoot, sourcePathForInlineStepGlbArtifact(glbPath) || sourcePath, manifest?.stepPath);
+ const sourceIdentity = sourceKind === "python" ? generatorSourcePathFromManifest(repoRoot, manifest?.sourcePath, {
+ identityRoot: manifestIdentityRoot,
+ baseDir: path3.dirname(glbPath)
+ }) : sourcePathFromManifest(repoRoot, manifest?.sourcePath, {
+ identityRoot: manifestIdentityRoot,
+ baseDir: path3.dirname(glbPath)
+ });
+ return {
+ topology: {
+ index: manifest,
+ entryKind: String(extension.entryKind || manifest?.entryKind || "").trim().toLowerCase(),
+ hasSelector: Boolean(extension.selectorView),
+ hasDisplayEdges: Boolean(extension.edgeView)
+ },
+ sourceKind,
+ sourcePath: sourceIdentity.sourcePath,
+ sourceHash: String(manifest?.sourceHash || ""),
+ stepHash: String(manifest?.stepHash || "")
+ };
+ } catch {
+ return {};
+ } finally {
+ if (container?.fd !== null && container?.fd !== void 0) {
+ try {
+ fs2.closeSync(container.fd);
+ } catch {
+ }
+ }
+ }
+}
+function pythonStepSourceFromStepMetadata(repoRoot, stepPath) {
+ const metadata = readGeneratedFileMetadata(stepPath, "step");
+ const metadataSourcePath = String(metadata.sourcePath || "").trim();
+ if (!metadataSourcePath) {
+ return null;
+ }
+ const sourceIdentity = sourcePathFromManifest(repoRoot, metadataSourcePath, { baseDir: path3.dirname(stepPath) });
+ if (!sourceIdentity.sourcePath) {
+ return null;
+ }
+ const sourceExtension = path3.extname(sourceIdentity.filePath || sourceIdentity.sourcePath).toLowerCase();
+ if (sourceExtension !== ".py") {
+ return null;
+ }
+ return {
+ sourcePath: sourceIdentity.sourcePath,
+ sourceHash: String(metadata.sourceHash || "")
+ };
+}
+function createStepEntry({ repoRoot, rootPath, sourcePath, extension, includeArtifactStatus = true }) {
+ const cadPath = cadPathForStepSource(repoRoot, sourcePath, extension);
+ const validation = includeArtifactStatus ? validateStepTopologyArtifact({
+ repoRoot,
+ sourcePath,
+ cadPath
+ }) : null;
+ const glbPath = validation?.glbPath || inlineStepGlbArtifactPathForSource(sourcePath);
+ const catalogMetadata = includeArtifactStatus ? {} : readStepCatalogMetadata({ repoRoot, glbPath, sourcePath });
+ const topology = validation?.topology || catalogMetadata.topology || null;
+ const stepArtifact = validation?.stepArtifact || {};
+ const glbAsset = assetForPath(repoRoot, glbPath);
+ const stepModuleAsset = assetForPath(repoRoot, stepParameterPathForStepSource(sourcePath));
+ const artifact = includeArtifactStatus ? catalogArtifactFromValidation(stepArtifact) : void 0;
+ const artifactSourceKind = String(
+ stepArtifact.sourceKind || stepArtifact.error?.sourceKind || catalogMetadata.sourceKind || artifact?.sourceKind || ""
+ ).trim().toLowerCase();
+ const metadataPythonSource = (!includeArtifactStatus || artifact) && artifactSourceKind !== "python" ? pythonStepSourceFromStepMetadata(repoRoot, sourcePath) : null;
+ const sourceKind = artifactSourceKind === "python" || metadataPythonSource ? "python" : "step";
+ const artifactSourcePath = String(
+ stepArtifact.sourcePath || stepArtifact.error?.sourcePath || catalogMetadata.sourcePath || ""
+ ).trim();
+ const pythonSourcePath = artifactSourcePath || metadataPythonSource?.sourcePath || "";
+ return {
+ file: fileRefForSource(rootPath, sourcePath),
+ kind: stepKindFromTopology(topology),
+ url: glbAsset?.url || assetUrlForPath(repoRoot, glbPath),
+ hash: glbAsset?.hash || "",
+ bytes: glbAsset?.bytes || 0,
+ sourceKind,
+ ...sourceKind === "python" && pythonSourcePath ? {
+ source: {
+ file: pythonSourcePath,
+ sourcePath: pythonSourcePath,
+ ...stepArtifact.sourceHash || catalogMetadata.sourceHash || metadataPythonSource?.sourceHash ? { sourceHash: stepArtifact.sourceHash || catalogMetadata.sourceHash || metadataPythonSource.sourceHash } : {}
+ }
+ } : {},
+ ...stepModuleAsset ? { moduleUrl: stepModuleAsset.url } : {},
+ ...artifact ? { artifact } : {}
+ };
+}
+function linkedUrdfPathForSrdf(sourcePath, repoRoot) {
+ let xmlText = "";
+ try {
+ xmlText = fs2.readFileSync(sourcePath, "utf-8");
+ } catch {
+ return null;
+ }
+ const match = SRDF_URDF_METADATA_PATTERN.exec(xmlText);
+ const rawRef = String(match?.[1] || "").trim();
+ if (!rawRef || rawRef.includes("\\") || rawRef.startsWith("/")) {
+ return null;
+ }
+ const resolved = path3.resolve(path3.dirname(sourcePath), rawRef);
+ const relativeToRepo = path3.relative(path3.resolve(repoRoot), resolved);
+ if (!relativePathStaysInsideRoot2(relativeToRepo) || path3.extname(resolved).toLowerCase() !== ".urdf") {
+ return null;
+ }
+ return fileStats(resolved) ? resolved : null;
+}
+function createSingleAssetEntry({ repoRoot, rootPath, sourcePath, extension }) {
+ const kind = sourceFormatForPath(sourcePath, extension);
+ const asset = assetForPath(repoRoot, sourcePath);
+ const file = fileRefForSource(rootPath, sourcePath);
+ const generatedSource = generatedSourceStatusForFile({ repoRoot, sourcePath, kind });
+ const entry = {
+ file,
+ kind,
+ url: asset?.url || assetUrlForPath(repoRoot, sourcePath),
+ hash: asset?.hash || "",
+ bytes: asset?.bytes || 0,
+ ...generatedSource?.sourceKind === "python" ? { sourceKind: "python" } : {},
+ ...generatedSource?.source ? { source: generatedSource.source } : {},
+ ...generatedSource?.sourceStatus ? { sourceStatus: generatedSource.sourceStatus } : {}
+ };
+ if (kind === "srdf") {
+ const linkedUrdfPath = linkedUrdfPathForSrdf(sourcePath, repoRoot);
+ if (linkedUrdfPath) {
+ const urdfAsset = assetForPath(repoRoot, linkedUrdfPath);
+ if (urdfAsset) {
+ entry.relations = {
+ urdf: {
+ file: fileRefForSource(rootPath, linkedUrdfPath),
+ ...urdfAsset
+ }
+ };
+ }
+ }
+ }
+ return entry;
+}
+function shouldSkipDirectory(name) {
+ return VIEWER_SKIPPED_DIRECTORIES.has(name) || isHiddenDirectoryName(name) || isPerStepViewerDirectoryName(name) || isPerUrdfViewerDirectoryName(name);
+}
+function scanPathIncluded(includePath, rootPath, entryPath, isDirectory) {
+ if (typeof includePath !== "function") {
+ return true;
+ }
+ return includePath({
+ filePath: entryPath,
+ relativePath: scanRelativePath(rootPath, entryPath),
+ isDirectory
+ }) !== false;
+}
+function collectCadSourceFiles(rootPath, { scanRootPath = rootPath, includePath = null } = {}, result = []) {
+ let entries = [];
+ try {
+ entries = fs2.readdirSync(rootPath, { withFileTypes: true });
+ } catch {
+ return result;
+ }
+ for (const entry of entries) {
+ const entryPath = path3.join(rootPath, entry.name);
+ if (entry.isDirectory()) {
+ if (!shouldSkipDirectory(entry.name) && scanPathIncluded(includePath, scanRootPath, entryPath, true)) {
+ collectCadSourceFiles(entryPath, { scanRootPath, includePath }, result);
+ }
+ continue;
+ }
+ if (!entry.isFile()) {
+ continue;
+ }
+ if (!scanPathIncluded(includePath, scanRootPath, entryPath, false)) {
+ continue;
+ }
+ const extension = path3.extname(entry.name).toLowerCase();
+ if (isInlineStepGlbArtifactPath(entryPath)) {
+ const sourcePath = sourcePathForInlineStepGlbArtifact(entryPath);
+ if (sourcePath && !fileStats(sourcePath)) {
+ result.push(entryPath);
+ }
+ continue;
+ }
+ if ((SOURCE_EXTENSIONS.has(extension) || pathIsImplicitCadSource(entryPath)) && !isInlineStepGlbArtifactPath(entryPath)) {
+ result.push(entryPath);
+ continue;
+ }
+ }
+ return result;
+}
+function compareEntries(a, b) {
+ return String(a.file || "").localeCompare(String(b.file || ""), void 0, {
+ numeric: true,
+ sensitivity: "base"
+ });
+}
+function pathHasSkippedDirectory(rootPath, filePath) {
+ const relativePath = scanRelativePath(rootPath, filePath);
+ if (!relativePathStaysInsideRoot2(relativePath)) {
+ return true;
+ }
+ const parts = relativePath.split("/").filter(Boolean);
+ return parts.slice(0, -1).some((part) => shouldSkipDirectory(part));
+}
+function logicalStepSourcePathForInlineArtifactPath(filePath) {
+ if (isInlineStepGlbArtifactPath(filePath)) {
+ return sourcePathForInlineStepGlbArtifact(filePath);
+ }
+ if (isInlineStepParameterPath(filePath)) {
+ return sourcePathForInlineStepParameter(filePath);
+ }
+ return null;
+}
+function logicalStepSourceExistsForSidecar(sourcePath) {
+ return Boolean(
+ sourcePath && (fileStats(sourcePath) || fileStats(inlineStepGlbArtifactPathForSource(sourcePath)) || fileStats(stepParameterPathForStepSource(sourcePath)))
+ );
+}
+function catalogFileRefForPath({ repoRoot, rootDir = DEFAULT_VIEWER_ROOT_DIR, filePath } = {}) {
+ if (!repoRoot) {
+ throw new Error("repoRoot is required");
+ }
+ if (!filePath) {
+ throw new Error("filePath is required");
+ }
+ const resolved = resolveViewerRoot(repoRoot, rootDir);
+ const resolvedFilePath = path3.resolve(filePath);
+ if (!pathIsInside2(resolvedFilePath, resolved.rootPath) || pathHasSkippedDirectory(resolved.rootPath, resolvedFilePath)) {
+ return "";
+ }
+ const logicalStepSourcePath = logicalStepSourcePathForInlineArtifactPath(resolvedFilePath);
+ if (logicalStepSourcePath) {
+ return fileRefForSource(resolved.rootPath, logicalStepSourcePath);
+ }
+ if (isPathInsidePerStepViewerDirectory(resolvedFilePath) || isPathInsidePerUrdfViewerDirectory(resolvedFilePath)) {
+ return "";
+ }
+ const extension = path3.extname(resolvedFilePath).toLowerCase();
+ return SOURCE_EXTENSIONS.has(extension) || pathIsImplicitCadSource(resolvedFilePath) ? fileRefForSource(resolved.rootPath, resolvedFilePath) : "";
+}
+function scanCadFile({
+ repoRoot,
+ rootDir = DEFAULT_VIEWER_ROOT_DIR,
+ filePath,
+ includeArtifactStatus = true
+} = {}) {
+ if (!repoRoot) {
+ throw new Error("repoRoot is required");
+ }
+ if (!filePath) {
+ throw new Error("filePath is required");
+ }
+ const resolved = resolveViewerRoot(repoRoot, rootDir);
+ const resolvedFilePath = path3.resolve(filePath);
+ if (!pathIsInside2(resolvedFilePath, resolved.rootPath) || pathHasSkippedDirectory(resolved.rootPath, resolvedFilePath)) {
+ return null;
+ }
+ const logicalStepSourcePath = logicalStepSourcePathForInlineArtifactPath(resolvedFilePath);
+ if (logicalStepSourcePath) {
+ if (!logicalStepSourceExistsForSidecar(logicalStepSourcePath)) {
+ return null;
+ }
+ return createStepEntry({
+ repoRoot,
+ rootPath: resolved.rootPath,
+ sourcePath: logicalStepSourcePath,
+ extension: path3.extname(logicalStepSourcePath).toLowerCase(),
+ includeArtifactStatus
+ });
+ }
+ if (isPathInsidePerStepViewerDirectory(resolvedFilePath) || isPathInsidePerUrdfViewerDirectory(resolvedFilePath)) {
+ return null;
+ }
+ const extension = path3.extname(resolvedFilePath).toLowerCase();
+ if (!SOURCE_EXTENSIONS.has(extension) && !pathIsImplicitCadSource(resolvedFilePath) || !fileStats(resolvedFilePath)) {
+ if ((extension === ".step" || extension === ".stp") && fileStats(inlineStepGlbArtifactPathForSource(resolvedFilePath))) {
+ return createStepEntry({
+ repoRoot,
+ rootPath: resolved.rootPath,
+ sourcePath: resolvedFilePath,
+ extension,
+ includeArtifactStatus
+ });
+ }
+ return null;
+ }
+ if (extension === ".step" || extension === ".stp") {
+ return createStepEntry({
+ repoRoot,
+ rootPath: resolved.rootPath,
+ sourcePath: resolvedFilePath,
+ extension,
+ includeArtifactStatus
+ });
+ }
+ return createSingleAssetEntry({
+ repoRoot,
+ rootPath: resolved.rootPath,
+ sourcePath: resolvedFilePath,
+ extension
+ });
+}
+function scanCadDirectory({
+ repoRoot,
+ rootDir = DEFAULT_VIEWER_ROOT_DIR,
+ includePath = null,
+ includeArtifactStatus = true
+} = {}) {
+ if (!repoRoot) {
+ throw new Error("repoRoot is required");
+ }
+ const resolved = resolveViewerRoot(repoRoot, rootDir);
+ const entries = collectCadSourceFiles(resolved.rootPath, {
+ scanRootPath: resolved.rootPath,
+ includePath
+ }).map((sourcePath) => {
+ const logicalSourcePath = isInlineStepGlbArtifactPath(sourcePath) ? sourcePathForInlineStepGlbArtifact(sourcePath) : sourcePath;
+ const extension = path3.extname(logicalSourcePath).toLowerCase();
+ if (extension === ".step" || extension === ".stp") {
+ return createStepEntry({
+ repoRoot,
+ rootPath: resolved.rootPath,
+ sourcePath: logicalSourcePath,
+ extension,
+ includeArtifactStatus
+ });
+ }
+ return createSingleAssetEntry({
+ repoRoot,
+ rootPath: resolved.rootPath,
+ sourcePath,
+ extension
+ });
+ }).sort(compareEntries);
+ return {
+ schemaVersion: CAD_CATALOG_SCHEMA_VERSION,
+ entries
+ };
+}
+function sortCatalogEntries(entries) {
+ return [...Array.isArray(entries) ? entries : []].sort(compareEntries);
+}
+function isServedCadAsset(filePath) {
+ const extension = path3.extname(filePath).toLowerCase();
+ if (isInlineStepGlbArtifactPath(filePath)) {
+ return true;
+ }
+ if (isInlineStepParameterPath(filePath)) {
+ return true;
+ }
+ if (isPathInsidePerStepViewerDirectory(filePath)) {
+ return false;
+ }
+ if (isPathInsidePerUrdfViewerDirectory(filePath)) {
+ return false;
+ }
+ if (SOURCE_EXTENSIONS.has(extension) || pathIsImplicitCadSource(filePath)) {
+ return true;
+ }
+ return false;
+}
+
+// viewer/src/server/catalog/generationStatus.mjs
+import fs3 from "node:fs";
+import path4 from "node:path";
+var GENERATION_STATUS_SCHEMA_VERSION = 1;
+var GENERATION_LOCK_SUFFIX = ".generation.lock.json";
+var DEFAULT_ACTIVE_STATUS_MAX_AGE_MS = 3e4;
+var IGNORED_STATUS_SCAN_DIRS = /* @__PURE__ */ new Set([
+ ".cache",
+ ".git",
+ ".hg",
+ ".mypy_cache",
+ ".pytest_cache",
+ ".ruff_cache",
+ ".svn",
+ ".tox",
+ ".venv",
+ "build",
+ "dist",
+ "env",
+ "node_modules",
+ "site-packages",
+ "venv",
+ "__pycache__"
+]);
+function emptyGenerationStatus() {
+ return {
+ schemaVersion: GENERATION_STATUS_SCHEMA_VERSION,
+ runs: [],
+ files: {}
+ };
+}
+function generationStatusDir(repoRoot, rootDir = DEFAULT_VIEWER_ROOT_DIR) {
+ const resolvedRepoRoot = path4.resolve(repoRoot);
+ return resolveViewerRoot(resolvedRepoRoot, normalizeViewerRootDir(rootDir)).rootPath;
+}
+function pathIsInside3(filePath, rootPath) {
+ const relative = path4.relative(path4.resolve(rootPath), path4.resolve(filePath));
+ return relative === "" || relative !== ".." && !relative.startsWith(`..${path4.sep}`) && !path4.isAbsolute(relative);
+}
+function isGenerationLockFileName(name) {
+ return String(name || "").startsWith(".") && String(name || "").endsWith(GENERATION_LOCK_SUFFIX);
+}
+function resolveStatusPath(repoRoot, value, { statusPath = "", rootPath = "" } = {}) {
+ const raw = String(value || "").trim();
+ if (!raw) {
+ return "";
+ }
+ if (raw.includes("\0")) {
+ return "";
+ }
+ if (path4.isAbsolute(raw)) {
+ return path4.resolve(raw);
+ }
+ const normalized = raw.replace(/\\/g, "/");
+ const statusDir = statusPath ? path4.dirname(statusPath) : "";
+ const repoCandidate = path4.resolve(repoRoot, normalized);
+ const shouldPreferStatusDir = statusDir && (normalized.startsWith("../") || normalized.startsWith("./") || !normalized.includes("/"));
+ if (shouldPreferStatusDir) {
+ return path4.resolve(statusDir, normalized);
+ }
+ if (rootPath && pathIsInside3(repoCandidate, rootPath)) {
+ return repoCandidate;
+ }
+ return repoCandidate;
+}
+function processIsAlive(pid) {
+ const normalizedPid = Number(pid);
+ if (!Number.isInteger(normalizedPid) || normalizedPid <= 0) {
+ return false;
+ }
+ try {
+ process.kill(normalizedPid, 0);
+ return true;
+ } catch (error) {
+ return error?.code === "EPERM";
+ }
+}
+function timestampMs(value) {
+ const ms = Date.parse(String(value || ""));
+ return Number.isFinite(ms) ? ms : 0;
+}
+function statusIsActive(payload, { nowMs = Date.now(), maxAgeMs = DEFAULT_ACTIVE_STATUS_MAX_AGE_MS } = {}) {
+ if (String(payload?.status || "").trim().toLowerCase() !== "running") {
+ return false;
+ }
+ if (!processIsAlive(payload?.pid)) {
+ return false;
+ }
+ const updatedAtMs = timestampMs(payload?.updatedAt || payload?.startedAt);
+ return !updatedAtMs || nowMs - updatedAtMs <= maxAgeMs;
+}
+function readStatusPayload(statusPath) {
+ try {
+ const payload = JSON.parse(fs3.readFileSync(statusPath, "utf8"));
+ return payload && typeof payload === "object" ? payload : null;
+ } catch {
+ return null;
+ }
+}
+function listStatusFiles(repoRoot, rootDir = DEFAULT_VIEWER_ROOT_DIR) {
+ const statusRoot = generationStatusDir(repoRoot, rootDir);
+ const statusFiles = [];
+ const visit = (directory) => {
+ let entries = [];
+ try {
+ entries = fs3.readdirSync(directory, { withFileTypes: true });
+ } catch {
+ return;
+ }
+ for (const entry of entries) {
+ const entryPath = path4.join(directory, entry.name);
+ if (entry.isDirectory()) {
+ if (!IGNORED_STATUS_SCAN_DIRS.has(entry.name)) {
+ visit(entryPath);
+ }
+ continue;
+ }
+ if (entry.isFile() && isGenerationLockFileName(entry.name)) {
+ statusFiles.push(entryPath);
+ }
+ }
+ };
+ visit(statusRoot);
+ return statusFiles;
+}
+function outputEntries(payload) {
+ return (Array.isArray(payload?.outputs) ? payload.outputs : []).map((output) => {
+ if (typeof output === "string") {
+ return { path: output, kind: path4.extname(output).toLowerCase().replace(".", "") };
+ }
+ return {
+ path: String(output?.path || "").trim(),
+ kind: String(output?.kind || "").trim().toLowerCase()
+ };
+ }).filter((output) => output.path);
+}
+function readGenerationStatus({
+ repoRoot,
+ rootDir = DEFAULT_VIEWER_ROOT_DIR,
+ nowMs = Date.now(),
+ maxAgeMs = DEFAULT_ACTIVE_STATUS_MAX_AGE_MS
+} = {}) {
+ if (!repoRoot) {
+ throw new Error("repoRoot is required");
+ }
+ const resolvedRepoRoot = path4.resolve(repoRoot);
+ const resolvedRoot = resolveViewerRoot(resolvedRepoRoot, normalizeViewerRootDir(rootDir));
+ const status = emptyGenerationStatus();
+ const runsById = /* @__PURE__ */ new Map();
+ for (const statusPath of listStatusFiles(resolvedRepoRoot, rootDir)) {
+ const payload = readStatusPayload(statusPath);
+ if (!payload || !statusIsActive(payload, { nowMs, maxAgeMs })) {
+ continue;
+ }
+ const runId = String(payload.id || path4.basename(statusPath, GENERATION_LOCK_SUFFIX));
+ let run = runsById.get(runId);
+ if (!run) {
+ run = {
+ id: runId,
+ pid: Number(payload.pid) || 0,
+ startedAt: String(payload.startedAt || ""),
+ updatedAt: String(payload.updatedAt || ""),
+ sourcePath: sourcePathFromStatusPayload(resolvedRepoRoot, payload.sourcePath, statusPath),
+ generator: String(payload.generator || ""),
+ files: []
+ };
+ runsById.set(runId, run);
+ }
+ for (const output of outputEntries(payload)) {
+ const outputPath = resolveStatusPath(resolvedRepoRoot, output.path, {
+ statusPath,
+ rootPath: resolvedRoot.rootPath
+ });
+ if (!outputPath || !pathIsInside3(outputPath, resolvedRoot.rootPath)) {
+ continue;
+ }
+ const file = toPosixPath(path4.relative(resolvedRoot.rootPath, outputPath));
+ if (!file || file.startsWith("../")) {
+ continue;
+ }
+ const fileStatus = {
+ running: true,
+ runId: run.id,
+ pid: run.pid,
+ startedAt: run.startedAt,
+ updatedAt: run.updatedAt,
+ sourcePath: run.sourcePath,
+ generator: run.generator,
+ kind: output.kind
+ };
+ status.files[file] = fileStatus;
+ if (!run.files.includes(file)) {
+ run.files.push(file);
+ }
+ }
+ }
+ status.runs = Array.from(runsById.values()).filter((run) => run.files.length);
+ return status;
+}
+function sourcePathFromStatusPayload(repoRoot, value, statusPath) {
+ const raw = String(value || "").trim();
+ if (!raw) {
+ return "";
+ }
+ const resolved = resolveStatusPath(repoRoot, raw, { statusPath, rootPath: repoRoot });
+ return resolved && pathIsInside3(resolved, repoRoot) ? toPosixPath(path4.relative(path4.resolve(repoRoot), resolved)) : raw.replace(/\\/g, "/");
+}
+
+// viewer/src/server/step/stepArtifactCompiler.mjs
+import fs5 from "node:fs";
+import path6 from "node:path";
+
+// viewer/src/server/step/pythonStepArtifact.mjs
+import { spawn } from "node:child_process";
+import fs4 from "node:fs";
+import path5 from "node:path";
+import { fileURLToPath } from "node:url";
+var MODULE_DIR = path5.dirname(fileURLToPath(import.meta.url));
+var PACKAGE_ROOT = path5.resolve(MODULE_DIR, "../../..");
+function firstExistingFile(paths) {
+ return paths.find((candidate) => fs4.existsSync(candidate)) || "";
+}
+function firstExistingDirectory(paths) {
+ return paths.find((candidate) => {
+ try {
+ return fs4.statSync(candidate).isDirectory();
+ } catch {
+ return false;
+ }
+ }) || "";
+}
+function findUpFile(relativePath) {
+ let current = MODULE_DIR;
+ for (; ; ) {
+ const candidate = path5.join(current, relativePath);
+ if (fs4.existsSync(candidate)) {
+ return candidate;
+ }
+ const next = path5.dirname(current);
+ if (next === current) {
+ return "";
+ }
+ current = next;
+ }
+}
+function findUpDirectory(relativePath) {
+ let current = MODULE_DIR;
+ for (; ; ) {
+ const candidate = path5.join(current, relativePath);
+ if (firstExistingDirectory([candidate])) {
+ return candidate;
+ }
+ const next = path5.dirname(current);
+ if (next === current) {
+ return "";
+ }
+ current = next;
+ }
+}
+function cadPythonExecutable(repoRoot) {
+ const configured = String(process.env.VIEWER_CAD_PYTHON || process.env.CAD_PYTHON || "").trim();
+ if (configured) {
+ return configured;
+ }
+ const resolvedRepoRoot = path5.resolve(repoRoot || "");
+ return firstExistingFile([
+ path5.join(resolvedRepoRoot, ".venv", "bin", "python"),
+ path5.join(process.cwd(), ".venv", "bin", "python"),
+ path5.join(PACKAGE_ROOT, ".venv", "bin", "python"),
+ findUpFile(path5.join(".venv", "bin", "python"))
+ ]) || "python3";
+}
+function cadPythonEnv() {
+ const pythonPathEntries = [];
+ for (const configured of [
+ process.env.VIEWER_CAD_PYTHONPATH,
+ process.env.CAD_PYTHONPATH,
+ process.env.VIEWER_CADPY_PYTHONPATH
+ ]) {
+ const value = String(configured || "").trim();
+ if (value) {
+ pythonPathEntries.push(value);
+ }
+ }
+ for (const discovered of [
+ findUpDirectory(path5.join("scripts", "packages", "cadpy", "src")),
+ findUpDirectory(path5.join("scripts", "packages")),
+ findUpDirectory(path5.join("viewer", "packages", "cadpy", "src")),
+ findUpDirectory(path5.join("packages", "cadpy", "src")),
+ path5.join(PACKAGE_ROOT, "vendor", "python"),
+ findUpDirectory(path5.join("runtime", "vendor", "python")),
+ findUpDirectory(path5.join("vendor", "python"))
+ ]) {
+ if (discovered) {
+ pythonPathEntries.push(discovered);
+ }
+ }
+ const existingPythonPath = String(process.env.PYTHONPATH || "").trim();
+ if (existingPythonPath) {
+ pythonPathEntries.push(existingPythonPath);
+ }
+ return {
+ ...process.env,
+ ...pythonPathEntries.length ? { PYTHONPATH: pythonPathEntries.join(path5.delimiter) } : {}
+ };
+}
+function ensurePythonStepTopologyArtifact({
+ repoRoot,
+ stepPath,
+ sourcePath = "",
+ force = false,
+ skipStepWrite = false,
+ writeStepAfterArtifact = false,
+ resolveOnFirstResult = false,
+ verbose = false,
+ meshTolerance = null,
+ meshAngularTolerance = null
+} = {}) {
+ const resolvedRepoRoot = path5.resolve(repoRoot || "");
+ const resolvedStepPath = path5.resolve(stepPath || "");
+ const args = [
+ "-m",
+ "cadpy.step_artifact",
+ "--repo-root",
+ resolvedRepoRoot,
+ "--step",
+ resolvedStepPath
+ ];
+ const resolvedSourcePath = sourcePath ? path5.resolve(sourcePath) : "";
+ if (resolvedSourcePath) {
+ args.push("--source-path", resolvedSourcePath);
+ }
+ if (force) {
+ args.push("--force");
+ }
+ if (skipStepWrite) {
+ args.push("--skip-step-write");
+ }
+ if (writeStepAfterArtifact) {
+ args.push("--write-step-after-artifact");
+ }
+ if (meshTolerance !== null && meshTolerance !== void 0) {
+ args.push("--mesh-tolerance", String(meshTolerance));
+ }
+ if (meshAngularTolerance !== null && meshAngularTolerance !== void 0) {
+ args.push("--mesh-angular-tolerance", String(meshAngularTolerance));
+ }
+ if (verbose || process.env.VIEWER_STEP_ARTIFACT_VERBOSE === "1") {
+ args.push("--verbose");
+ }
+ return new Promise((resolve) => {
+ let resolved = false;
+ const resolveOnce = (result) => {
+ if (resolved) {
+ return;
+ }
+ resolved = true;
+ resolve(result);
+ };
+ const normalizeResult = (result) => {
+ if (result?.ok) {
+ result.stepPath = resolvedStepPath;
+ result.glbPath = inlineStepGlbArtifactPathForSource(resolvedStepPath);
+ }
+ return result;
+ };
+ const maybeResolveEarly = () => {
+ if (!resolveOnFirstResult || resolved) {
+ return;
+ }
+ for (const line of stdout.split(/\r?\n/)) {
+ const trimmed = line.trim();
+ if (!trimmed.startsWith("{")) {
+ continue;
+ }
+ try {
+ const result = normalizeResult(JSON.parse(trimmed));
+ if (result?.ok) {
+ resolveOnce(result);
+ return;
+ }
+ } catch {
+ }
+ }
+ };
+ const child = spawn(cadPythonExecutable(resolvedRepoRoot), args, {
+ cwd: resolvedRepoRoot,
+ env: cadPythonEnv(resolvedRepoRoot),
+ stdio: ["ignore", "pipe", "pipe"]
+ });
+ let stdout = "";
+ let stderr = "";
+ child.stdout.setEncoding("utf8");
+ child.stderr.setEncoding("utf8");
+ child.stdout.on("data", (chunk) => {
+ stdout += chunk;
+ maybeResolveEarly();
+ });
+ child.stderr.on("data", (chunk) => {
+ stderr += chunk;
+ });
+ child.on("error", (error) => {
+ resolveOnce({
+ ok: false,
+ stepPath: resolvedStepPath,
+ error: error instanceof Error ? error.message : String(error)
+ });
+ });
+ child.on("close", (code) => {
+ const output = stdout.trim();
+ const lastJsonLine = output.split(/\r?\n/).reverse().find((line) => line.trim().startsWith("{"));
+ if (code === 0 && lastJsonLine) {
+ try {
+ resolveOnce(normalizeResult(JSON.parse(lastJsonLine)));
+ return;
+ } catch {
+ }
+ }
+ resolveOnce({
+ ok: false,
+ stepPath: resolvedStepPath,
+ exitCode: code,
+ error: (stderr || stdout || `STEP artifact generator exited with code ${code}`).trim()
+ });
+ });
+ });
+}
+
+// viewer/src/server/step/stepArtifactCompiler.mjs
+var STEP_SUFFIXES = /* @__PURE__ */ new Set([".step", ".stp"]);
+function sameStemPythonGeneratorPath(stepPath) {
+ const extension = path6.extname(stepPath).toLowerCase();
+ if (!STEP_SUFFIXES.has(extension)) {
+ return "";
+ }
+ const candidatePath = path6.join(
+ path6.dirname(stepPath),
+ `${path6.basename(stepPath, extension)}.py`
+ );
+ try {
+ return /\bgen_step\s*\(/.test(fs5.readFileSync(candidatePath, "utf-8")) ? candidatePath : "";
+ } catch {
+ return "";
+ }
+}
+function cadPathForStepSource2(repoRoot, sourcePath) {
+ const relativePath = repoRelativePath(repoRoot, sourcePath);
+ return relativePath.slice(0, -path6.extname(relativePath).length);
+}
+function canBuildStepArtifact(artifact) {
+ const code = String(artifact?.stepArtifact?.error?.code || "");
+ return !artifact?.stepArtifact?.ok && [
+ "missing_glb",
+ "missing_step_topology",
+ "missing_edge_topology",
+ "missing_surface_edge_attributes",
+ "missing_selector_topology",
+ "missing_source_path",
+ "missing_step_hash",
+ "stale_step_artifact",
+ "unsupported_step_topology"
+ ].includes(code);
+}
+async function compileStepTopologyArtifact({
+ repoRoot,
+ stepPath,
+ sourcePath = "",
+ targetPath = inlineStepGlbArtifactPathForSource(stepPath),
+ force = true,
+ skipStepWrite = false,
+ writeStepAfterArtifact = false,
+ meshTolerance = null,
+ meshAngularTolerance = null
+} = {}) {
+ if (!repoRoot) {
+ throw new Error("repoRoot is required");
+ }
+ if (!stepPath) {
+ throw new Error("stepPath is required");
+ }
+ const resolvedRepoRoot = path6.resolve(repoRoot);
+ const resolvedStepPath = path6.resolve(stepPath);
+ const resolvedSourcePath = sourcePath ? path6.resolve(sourcePath) : "";
+ const resolvedTargetPath = path6.resolve(targetPath);
+ const pythonResult = await ensurePythonStepTopologyArtifact({
+ repoRoot: resolvedRepoRoot,
+ stepPath: resolvedStepPath,
+ sourcePath: resolvedSourcePath,
+ force,
+ skipStepWrite,
+ writeStepAfterArtifact,
+ resolveOnFirstResult: writeStepAfterArtifact,
+ meshTolerance,
+ meshAngularTolerance
+ });
+ if (!pythonResult?.ok) {
+ throw new Error(pythonResult?.error || `Failed to generate STEP topology artifact: ${resolvedStepPath}`);
+ }
+ const pythonGlbPath = path6.resolve(pythonResult.glbPath || inlineStepGlbArtifactPathForSource(resolvedStepPath));
+ if (pythonGlbPath !== resolvedTargetPath) {
+ fs5.mkdirSync(path6.dirname(resolvedTargetPath), { recursive: true });
+ fs5.copyFileSync(pythonGlbPath, resolvedTargetPath);
+ }
+ return {
+ ...pythonResult,
+ ok: true,
+ stepPath: resolvedStepPath,
+ glbPath: resolvedTargetPath
+ };
+}
+async function ensureStepTopologyArtifact({
+ repoRoot,
+ stepPath,
+ sourcePath = "",
+ force = false,
+ skipStepWrite = false,
+ writeStepAfterArtifact = false,
+ meshTolerance = null,
+ meshAngularTolerance = null
+} = {}) {
+ const resolvedRepoRoot = path6.resolve(repoRoot);
+ const resolvedStepPath = path6.resolve(stepPath);
+ const resolvedSourcePath = sourcePath ? path6.resolve(sourcePath) : "";
+ const cadPath = cadPathForStepSource2(resolvedRepoRoot, resolvedStepPath);
+ const current = validateStepTopologyArtifact({
+ repoRoot: resolvedRepoRoot,
+ sourcePath: resolvedStepPath,
+ cadPath
+ });
+ const currentArtifactError = current.stepArtifact?.error && typeof current.stepArtifact.error === "object" ? current.stepArtifact.error : {};
+ const currentSourceKind = String(
+ current.stepArtifact?.sourceKind || currentArtifactError.sourceKind || ""
+ ).trim().toLowerCase();
+ const currentSourcePath = String(
+ current.stepArtifact?.sourcePath || currentArtifactError.sourcePath || ""
+ ).trim();
+ const stepFileExists = fs5.existsSync(resolvedStepPath);
+ const shouldInferPythonSource = Boolean(
+ resolvedSourcePath || skipStepWrite || writeStepAfterArtifact || !stepFileExists
+ );
+ const inferredSourcePath = shouldInferPythonSource ? resolvedSourcePath || (currentSourceKind === "python" && currentSourcePath ? path6.resolve(resolvedRepoRoot, currentSourcePath) : "") || sameStemPythonGeneratorPath(resolvedStepPath) : "";
+ const resolvedSkipStepWrite = Boolean(
+ skipStepWrite || inferredSourcePath
+ );
+ const hasMeshOverride = meshTolerance !== null && meshTolerance !== void 0 || meshAngularTolerance !== null && meshAngularTolerance !== void 0;
+ if (!force && !hasMeshOverride && (current.stepArtifact?.ok || !current.stepArtifact?.ok && !canBuildStepArtifact(current))) {
+ return {
+ ok: Boolean(current.stepArtifact?.ok),
+ skipped: true,
+ reason: current.stepArtifact?.error?.code || "",
+ stepPath: resolvedStepPath,
+ glbPath: current.glbPath,
+ validation: current.stepArtifact
+ };
+ }
+ const targetPath = inlineStepGlbArtifactPathForSource(resolvedStepPath);
+ const result = await compileStepTopologyArtifact({
+ repoRoot: resolvedRepoRoot,
+ stepPath: resolvedStepPath,
+ sourcePath: inferredSourcePath || void 0,
+ targetPath,
+ force,
+ skipStepWrite: resolvedSkipStepWrite,
+ writeStepAfterArtifact: Boolean(writeStepAfterArtifact && resolvedSkipStepWrite),
+ meshTolerance,
+ meshAngularTolerance
+ });
+ const next = validateStepTopologyArtifact({
+ repoRoot: resolvedRepoRoot,
+ sourcePath: resolvedStepPath,
+ cadPath
+ });
+ return {
+ ...result,
+ ok: Boolean(next.stepArtifact?.ok),
+ validation: next.stepArtifact
+ };
+}
+
+// viewer/packages/implicitjs/src/lib/implicitCad/export.js
+import fs6 from "node:fs/promises";
+import path7 from "node:path";
+import { pathToFileURL } from "node:url";
+
+// viewer/packages/implicitjs/src/common/parameters.js
+var HEX_COLOR_RE = /^#(?:[0-9a-fA-F]{3}|[0-9a-fA-F]{6})$/;
+function isObject(value) {
+ return !!value && typeof value === "object" && !Array.isArray(value);
+}
+function normalizeString(value, fallback = "") {
+ const text = String(value ?? fallback).trim();
+ return text || fallback;
+}
+function toFiniteNumber(value, fallback = 0) {
+ const numericValue = Number(value);
+ return Number.isFinite(numericValue) ? numericValue : fallback;
+}
+function clamp(value, min, max) {
+ return Math.min(Math.max(value, min), max);
+}
+function normalizeParameterType(value) {
+ const type = normalizeString(value, "number").toLowerCase();
+ if (["number", "boolean", "enum", "select", "color", "string", "button"].includes(type)) {
+ return type === "select" ? "enum" : type;
+ }
+ return "number";
+}
+function normalizeParameterOptions(value) {
+ return (Array.isArray(value) ? value : []).map((option) => {
+ if (isObject(option)) {
+ const valueText2 = normalizeString(option.value);
+ return valueText2 ? {
+ value: valueText2,
+ label: normalizeString(option.label, valueText2)
+ } : null;
+ }
+ const valueText = normalizeString(option);
+ return valueText ? { value: valueText, label: valueText } : null;
+ }).filter(Boolean);
+}
+function normalizeParameterValue(definition, value) {
+ const type = normalizeParameterType(definition?.type);
+ if (type === "boolean") {
+ return value === true;
+ }
+ if (type === "color") {
+ const color = normalizeString(value, normalizeString(definition?.defaultValue, "#ffffff"));
+ return HEX_COLOR_RE.test(color) ? color : "#ffffff";
+ }
+ if (type === "enum") {
+ const options = Array.isArray(definition?.options) ? definition.options : [];
+ const valueText = normalizeString(value, options[0]?.value || "");
+ return options.some((option) => option.value === valueText) ? valueText : options[0]?.value || "";
+ }
+ if (type === "string") {
+ return String(value ?? "");
+ }
+ if (type === "button") {
+ return Math.max(0, Math.floor(toFiniteNumber(value, 0)));
+ }
+ const min = toFiniteNumber(definition?.min, 0);
+ const max = Math.max(toFiniteNumber(definition?.max, min), min);
+ return clamp(toFiniteNumber(value, toFiniteNumber(definition?.defaultValue, min)), min, max);
+}
+function normalizeParameterDefinition(id, rawDefinition) {
+ const raw = isObject(rawDefinition) ? rawDefinition : {};
+ const type = normalizeParameterType(raw.type);
+ const min = toFiniteNumber(raw.min, 0);
+ const max = Math.max(toFiniteNumber(raw.max, type === "number" ? 1 : min), min);
+ const options = normalizeParameterOptions(raw.options || raw.values);
+ const fallbackDefault = type === "boolean" ? false : type === "color" ? "#ffffff" : type === "enum" ? options[0]?.value || "" : type === "string" ? "" : 0;
+ return {
+ id,
+ type,
+ label: normalizeString(raw.label, id),
+ description: normalizeString(raw.description),
+ unit: normalizeString(raw.unit),
+ min,
+ max,
+ step: Math.max(toFiniteNumber(raw.step, type === "number" ? 0.01 : 1), 0),
+ defaultValue: normalizeParameterValue({ type, min, max, options }, raw.default ?? raw.defaultValue ?? fallbackDefault),
+ options
+ };
+}
+function normalizeParameterDefinitions(value) {
+ const entries = Array.isArray(value) ? value.map((definition) => [definition?.id, definition]) : Object.entries(isObject(value) ? value : {});
+ return entries.map(([id, rawDefinition]) => normalizeParameterDefinition(normalizeString(id), rawDefinition)).filter((definition) => definition.id);
+}
+function parameterMapForDefinitions(parameters) {
+ return Object.fromEntries(
+ (Array.isArray(parameters) ? parameters : []).filter((parameter) => parameter?.id).map((parameter) => [parameter.id, parameter])
+ );
+}
+function normalizeParameterValues(definition, values = {}) {
+ const parameterMap = definition?.parameterMap || {};
+ return Object.fromEntries(
+ Object.values(parameterMap).map((parameter) => [
+ parameter.id,
+ normalizeParameterValue(parameter, isObject(values) && Object.hasOwn(values, parameter.id) ? values[parameter.id] : parameter.defaultValue)
+ ])
+ );
+}
+function normalizeParameterAnimations(value) {
+ const entries = Array.isArray(value) ? value.map((animation) => [animation?.id, animation]) : Object.entries(isObject(value) ? value : {});
+ return entries.map(([id, rawAnimation]) => {
+ const raw = isObject(rawAnimation) ? rawAnimation : {};
+ const animationId = normalizeString(id);
+ return animationId ? {
+ id: animationId,
+ label: normalizeString(raw.label, animationId),
+ description: normalizeString(raw.description),
+ duration: Math.max(toFiniteNumber(raw.duration ?? raw.durationSeconds, 1), 1e-3),
+ loop: raw.loop !== false,
+ update: typeof raw.update === "function" ? raw.update : null,
+ raw
+ } : null;
+ }).filter(Boolean);
+}
+
+// viewer/packages/implicitjs/src/lib/implicitCad/sdfEvaluator.js
+function isVector(value) {
+ return Array.isArray(value);
+}
+function finiteNumber(value, fallback = 0) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) ? numeric : fallback;
+}
+function truthy(value) {
+ if (isVector(value)) {
+ return value.some((component) => truthy(component));
+ }
+ return Boolean(value);
+}
+function vec(args, size) {
+ const flat = [];
+ for (const arg of args) {
+ if (isVector(arg)) {
+ flat.push(...arg);
+ } else {
+ flat.push(arg);
+ }
+ }
+ if (flat.length === 0) {
+ flat.push(0);
+ }
+ if (flat.length === 1) {
+ return Array.from({ length: size }, () => finiteNumber(flat[0]));
+ }
+ return Array.from({ length: size }, (_, index) => finiteNumber(flat[index], 0));
+}
+function vec2(x = 0, y = void 0) {
+ return vec(y === void 0 ? [x] : [x, y], 2);
+}
+function vec3(x = 0, y = void 0, z = void 0) {
+ return vec(y === void 0 && z === void 0 ? [x] : [x, y, z], 3);
+}
+function vec4(x = 0, y = void 0, z = void 0, w = void 0) {
+ return vec(y === void 0 && z === void 0 && w === void 0 ? [x] : [x, y, z, w], 4);
+}
+function mapUnary(value, fn) {
+ return isVector(value) ? value.map((component) => fn(component)) : fn(value);
+}
+function mapBinary(a, b, fn) {
+ if (isVector(a) && isVector(b)) {
+ const size = Math.max(a.length, b.length);
+ return Array.from({ length: size }, (_, index) => fn(a[index] ?? 0, b[index] ?? 0));
+ }
+ if (isVector(a)) {
+ return a.map((component) => fn(component, b));
+ }
+ if (isVector(b)) {
+ return b.map((component) => fn(a, component));
+ }
+ return fn(a, b);
+}
+function add(a, b) {
+ return mapBinary(a, b, (x, y) => x + y);
+}
+function sub(a, b) {
+ return mapBinary(a, b, (x, y) => x - y);
+}
+function mul(a, b) {
+ return mapBinary(a, b, (x, y) => x * y);
+}
+function div(a, b) {
+ return mapBinary(a, b, (x, y) => x / y);
+}
+function neg(value) {
+ return mapUnary(value, (component) => -component);
+}
+function abs(value) {
+ return mapUnary(value, Math.abs);
+}
+function minValue(a, b) {
+ return mapBinary(a, b, Math.min);
+}
+function maxValue(a, b) {
+ return mapBinary(a, b, Math.max);
+}
+function clamp2(value, low, high) {
+ return minValue(maxValue(value, low), high);
+}
+function mix(a, b, t) {
+ return add(mul(a, sub(1, t)), mul(b, t));
+}
+function smoothstep(edge0, edge1, value) {
+ const t = clamp2(div(sub(value, edge0), sub(edge1, edge0)), 0, 1);
+ return mul(mul(t, t), sub(3, mul(2, t)));
+}
+function mod(a, b) {
+ return mapBinary(a, b, (x, y) => x - y * Math.floor(x / y));
+}
+function length(value) {
+ if (!isVector(value)) {
+ return Math.abs(value);
+ }
+ return Math.hypot(...value);
+}
+function dot(a, b) {
+ const va = isVector(a) ? a : [a];
+ const vb = isVector(b) ? b : [b];
+ const size = Math.max(va.length, vb.length);
+ let sum = 0;
+ for (let index = 0; index < size; index += 1) {
+ sum += (va[index] ?? 0) * (vb[index] ?? 0);
+ }
+ return sum;
+}
+function cross(a, b) {
+ const va = vec3(a);
+ const vb = vec3(b);
+ return [
+ va[1] * vb[2] - va[2] * vb[1],
+ va[2] * vb[0] - va[0] * vb[2],
+ va[0] * vb[1] - va[1] * vb[0]
+ ];
+}
+function normalize(value) {
+ const len = length(value);
+ return len > 1e-12 ? div(value, len) : mul(value, 0);
+}
+function swizzleIndices(swizzle) {
+ const lookup = {
+ x: 0,
+ y: 1,
+ z: 2,
+ w: 3,
+ r: 0,
+ g: 1,
+ b: 2,
+ a: 3,
+ s: 0,
+ t: 1,
+ p: 2,
+ q: 3
+ };
+ return String(swizzle || "").split("").map((component) => lookup[component]);
+}
+function getSwizzle(value, swizzle) {
+ const indices = swizzleIndices(swizzle);
+ if (!indices.length || indices.some((index) => index === void 0)) {
+ throw new Error(`Unsupported GLSL member access: .${swizzle}`);
+ }
+ const source = isVector(value) ? value : [value];
+ const result = indices.map((index) => source[index] ?? 0);
+ return result.length === 1 ? result[0] : result;
+}
+function setSwizzle(target, swizzle, value) {
+ if (!isVector(target)) {
+ throw new Error(`Cannot assign .${swizzle} on a scalar value`);
+ }
+ const indices = swizzleIndices(swizzle);
+ const values = isVector(value) ? value : [value];
+ indices.forEach((targetIndex, index) => {
+ if (targetIndex === void 0) {
+ throw new Error(`Unsupported GLSL member assignment: .${swizzle}`);
+ }
+ target[targetIndex] = finiteNumber(values[index], values[0] ?? 0);
+ });
+ return target;
+}
+function implicit_linear_map(value, inMin, inMax, outMin, outMax) {
+ const slope = (outMax - outMin) / (inMax - inMin);
+ return (value - inMin) * slope + outMin;
+}
+function implicit_ramp(value, inMin, inMax, outMin, outMax) {
+ return Math.min(Math.max(implicit_linear_map(value, inMin, inMax, outMin, outMax), outMin), outMax);
+}
+function implicit_two_body_field(a, b) {
+ return (a - b) / (a + b);
+}
+function implicit_two_body_polar(a, b, angle) {
+ return a * Math.cos(angle) + b * Math.sin(angle);
+}
+function implicit_triangle_wave_even(value, period) {
+ if (isVector(value) || isVector(period)) {
+ return mapBinary(value, period, implicit_triangle_wave_even);
+ }
+ const halfPeriod = period * 0.5;
+ const quarterPeriod = period * 0.25;
+ const wrapped = mod(value + halfPeriod, period);
+ return quarterPeriod - Math.abs(wrapped - halfPeriod);
+}
+function implicit_triangle_wave_even_positive(value, period) {
+ return add(implicit_triangle_wave_even(value, period), mul(period, 0.25));
+}
+function implicit_triangle_wave_odd(value, period) {
+ return implicit_triangle_wave_even(sub(value, mul(period, 0.5)), period);
+}
+function implicit_triangle_wave_odd_positive(value, period) {
+ return add(implicit_triangle_wave_odd(value, period), mul(period, 0.25));
+}
+function implicit_repeat_centered(p, period) {
+ return sub(mod(add(p, mul(period, 0.5)), period), mul(period, 0.5));
+}
+function implicit_intersect_round(a, b, radius) {
+ const k = Math.max(radius, 0);
+ const q = maxValue(add(vec2(a, b), k), 0);
+ return Math.min(-k, Math.max(a, b)) + length(q);
+}
+function implicit_intersect_chamfer(a, b, radius) {
+ return Math.max(Math.max(a, b), (a + b + radius) * 0.7071067811865476);
+}
+function implicit_intersect_exp(a, b, radius) {
+ const k = Math.max(radius, 1e-6) * 0.5;
+ return k * Math.log(Math.exp(a / k) + Math.exp(b / k));
+}
+function implicit_intersect_lp_norm(a, b, radius, normPower) {
+ const k = Math.max(radius, 0);
+ const p = Math.max(normPower, 1e-6);
+ const q = maxValue(add(vec2(a, b), k), 0);
+ return Math.min(-k, Math.max(a, b)) + Math.pow(Math.pow(q[0], p) + Math.pow(q[1], p), 1 / p);
+}
+function implicit_intersect_rvachev(a, b, radius) {
+ const sharp = Math.max(a, b);
+ const k = Math.max(radius, 0);
+ if (k <= 0) {
+ return sharp;
+ }
+ const r0 = a + b - Math.sqrt(a * a + b * b);
+ const t = Math.min(Math.max((sharp + k) / k, 0), 1);
+ const s = t * t * (3 - 2 * t);
+ return sharp < -k ? sharp : mix(sharp, r0, s);
+}
+var BUILTINS = {
+ float: (value = 0) => finiteNumber(value),
+ int: (value = 0) => Math.trunc(finiteNumber(value)),
+ bool: (value = false) => truthy(value),
+ vec2,
+ vec3,
+ vec4,
+ abs,
+ min: minValue,
+ max: maxValue,
+ clamp: clamp2,
+ mix,
+ smoothstep,
+ mod,
+ length,
+ dot,
+ cross,
+ normalize,
+ sin: (value) => mapUnary(value, Math.sin),
+ cos: (value) => mapUnary(value, Math.cos),
+ tan: (value) => mapUnary(value, Math.tan),
+ atan: (...args) => args.length >= 2 ? Math.atan2(args[0], args[1]) : mapUnary(args[0], Math.atan),
+ pow: (a, b) => mapBinary(a, b, Math.pow),
+ sqrt: (value) => mapUnary(value, Math.sqrt),
+ exp: (value) => mapUnary(value, Math.exp),
+ log: (value) => mapUnary(value, Math.log),
+ floor: (value) => mapUnary(value, Math.floor),
+ ceil: (value) => mapUnary(value, Math.ceil),
+ fract: (value) => mapUnary(value, (component) => component - Math.floor(component)),
+ sign: (value) => mapUnary(value, Math.sign),
+ implicit_clamp01: (value) => clamp2(value, 0, 1),
+ implicit_linear_map,
+ implicit_ramp,
+ implicit_two_body_field,
+ implicit_two_body_polar,
+ implicit_triangle_wave_even,
+ implicit_triangle_wave_even_positive,
+ implicit_triangle_wave_odd,
+ implicit_triangle_wave_odd_positive,
+ implicit_repeat_centered,
+ implicit_intersect_sharp: (a, b) => Math.max(a, b),
+ implicit_union_sharp: (a, b) => Math.min(a, b),
+ implicit_intersect_round,
+ implicit_union_round: (a, b, radius) => -implicit_intersect_round(-a, -b, radius),
+ implicit_intersect_chamfer,
+ implicit_union_chamfer: (a, b, radius) => -implicit_intersect_chamfer(-a, -b, radius),
+ implicit_intersect_exp,
+ implicit_union_exp: (a, b, radius) => -implicit_intersect_exp(-a, -b, radius),
+ implicit_intersect_lp_norm,
+ implicit_union_lp_norm: (a, b, radius, normPower) => -implicit_intersect_lp_norm(-a, -b, radius, normPower),
+ implicit_intersect_rvachev,
+ implicit_union_rvachev: (a, b, radius) => -implicit_intersect_rvachev(-a, -b, radius),
+ implicit_plane2: (p, origin, normal) => dot(sub(p, origin), normalize(normal)),
+ implicit_line_segment2: (p, a, b) => {
+ const segment = sub(b, a);
+ const segmentLengthSq = dot(segment, segment);
+ if (segmentLengthSq < 1e-12) {
+ return length(sub(p, a));
+ }
+ const t = clamp2(dot(sub(p, a), segment) / segmentLengthSq, 0, 1);
+ return length(sub(p, add(a, mul(t, segment))));
+ },
+ implicit_sphere: (p, center, radius) => length(sub(p, center)) - radius,
+ implicit_box_centered: (p, size, center) => {
+ const q = sub(abs(sub(p, center)), mul(size, 0.5));
+ return length(maxValue(q, 0)) + Math.min(Math.max(q[0], Math.max(q[1], q[2])), 0);
+ },
+ implicit_plane: (p, origin, normal) => dot(sub(p, origin), normalize(normal)),
+ implicit_line_segment: (p, a, b) => {
+ const segment = sub(b, a);
+ const segmentLengthSq = dot(segment, segment);
+ if (segmentLengthSq < 1e-12) {
+ return length(sub(p, a));
+ }
+ const t = clamp2(dot(sub(p, a), segment) / segmentLengthSq, 0, 1);
+ return length(sub(p, add(a, mul(t, segment))));
+ },
+ implicit_torus: (p, majorRadius, minorRadius) => {
+ const q = vec2(length(getSwizzle(p, "xy")) - majorRadius, getSwizzle(p, "z"));
+ return length(q) - minorRadius;
+ },
+ implicit_axis: (p, origin, direction) => {
+ const directionLength = length(direction);
+ if (directionLength < 1e-12) {
+ return length(sub(p, origin));
+ }
+ const axis = div(direction, directionLength);
+ const toPoint = sub(p, origin);
+ return length(sub(toPoint, mul(dot(toPoint, axis), axis)));
+ },
+ implicit_cylinder: (p, origin, direction, radius) => BUILTINS.implicit_axis(p, origin, direction) - radius,
+ implicit_cylinder_capped: (p, a, b, radius) => {
+ const axis = sub(b, a);
+ const side = BUILTINS.implicit_cylinder(p, a, axis, radius);
+ const capA = -BUILTINS.implicit_plane(p, a, axis);
+ const capB = BUILTINS.implicit_plane(p, b, axis);
+ return Math.max(side, Math.max(capA, capB));
+ },
+ implicit_capsule: (p, a, b, radius) => BUILTINS.implicit_line_segment(p, a, b) - radius,
+ implicit_cone_capsule: (p, a, b, radiusA, radiusB) => {
+ const axis = sub(b, a);
+ const axisLengthSq = dot(axis, axis);
+ if (axisLengthSq < 1e-12) {
+ return BUILTINS.implicit_sphere(p, a, radiusA);
+ }
+ const t = clamp2(dot(sub(p, a), axis) / axisLengthSq, 0, 1);
+ const radius = mix(radiusA, radiusB, t);
+ return length(sub(p, add(a, mul(t, axis)))) - radius;
+ },
+ implicit_cone: (p, apex, direction, halfAngle) => {
+ const directionLength = length(direction);
+ if (directionLength < 1e-12) {
+ return length(sub(p, apex));
+ }
+ const axis = div(direction, directionLength);
+ const toPoint = sub(p, apex);
+ const axial = dot(toPoint, axis);
+ const perpendicular = length(sub(toPoint, mul(axial, axis)));
+ return perpendicular - axial * Math.tan(halfAngle);
+ },
+ implicit_cone_capped: (p, a, b, radiusA, radiusB) => {
+ const axis = sub(b, a);
+ const axisLength = length(axis);
+ if (axisLength < 1e-12) {
+ return BUILTINS.implicit_sphere(p, a, radiusA);
+ }
+ const halfAngle = Math.atan2(Math.abs(radiusB - radiusA), axisLength);
+ const coneDistance = radiusA < radiusB ? BUILTINS.implicit_cone(p, a, axis, halfAngle) - radiusA : BUILTINS.implicit_cone(p, b, neg(axis), halfAngle) - radiusB;
+ const capA = -BUILTINS.implicit_plane(p, a, axis);
+ const capB = BUILTINS.implicit_plane(p, b, axis);
+ return Math.max(coneDistance, Math.max(capA, capB));
+ },
+ implicit_shell: (distanceValue, thickness, bias = 0) => Math.abs(distanceValue + bias * thickness * 0.5) - thickness * 0.5,
+ implicit_rotate_axis: (p, origin, direction, angle) => {
+ const k = normalize(direction);
+ const local = sub(p, origin);
+ const c = Math.cos(angle);
+ const s = Math.sin(angle);
+ return add(add(add(origin, mul(local, c)), mul(cross(k, local), s)), mul(k, dot(k, local) * (1 - c)));
+ },
+ implicit_remap_cylindrical: (p, circumference) => {
+ const radial = length(getSwizzle(p, "xy"));
+ const theta = Math.atan2(p[1], p[0]);
+ return vec3(radial, theta * (circumference / (Math.PI * 2)), p[2]);
+ },
+ implicit_tpms_gyroid: (p, period, drop) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const yzx = getSwizzle(xyz, "yzx");
+ const field = dot(drop, mul(BUILTINS.sin(xyz), BUILTINS.cos(yzx)));
+ return field * (period[0] + period[1] + period[2]) / 18;
+ },
+ implicit_tpms_schwarz: (p, period, drop, gyroidBlend) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const yzx = getSwizzle(xyz, "yzx");
+ const mixTerm = add(vec3(-(1 - gyroidBlend)), mul(BUILTINS.sin(xyz), gyroidBlend));
+ const field = dot(drop, mul(BUILTINS.cos(yzx), mixTerm));
+ return field * (period[0] + period[1] + period[2]) / 36;
+ },
+ implicit_diamond: () => 0
+};
+BUILTINS.implicit_tpms_diamond = (p, period, drop, gyroidBlend) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const yzx = getSwizzle(xyz, "yzx");
+ const zxy = getSwizzle(xyz, "zxy");
+ const sinXyz = BUILTINS.sin(xyz);
+ const cosYzx = BUILTINS.cos(yzx);
+ const cosZxy = BUILTINS.cos(zxy);
+ const blendFactor = 1 - gyroidBlend;
+ const term1 = blendFactor * sinXyz[0] * sinXyz[1] * sinXyz[2];
+ const term2 = dot(drop, mul(mul(sinXyz, cosYzx), add(mul(cosZxy, blendFactor), vec3(gyroidBlend))));
+ return (term1 + term2) * (period[0] + period[1] + period[2]) / (6 * 2.8284271247461903 * 2);
+};
+BUILTINS.implicit_tpms_lidinoid = (p, period, drop, gyroidBlend) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const yzx = getSwizzle(xyz, "yzx");
+ const zxy = getSwizzle(xyz, "zxy");
+ const cos2Xyz = BUILTINS.cos(mul(2, xyz));
+ const cos2Yzx = getSwizzle(cos2Xyz, "yzx");
+ const blendFactor = 1 - gyroidBlend;
+ const term1 = dot(drop, mul(mul(BUILTINS.sin(zxy), BUILTINS.cos(yzx)), add(mul(BUILTINS.sin(mul(2, xyz)), blendFactor), vec3(gyroidBlend))));
+ const term2 = blendFactor * dot(cos2Xyz, cos2Yzx);
+ return (term1 - term2) * (period[0] + period[1] + period[2]) / 72;
+};
+BUILTINS.implicit_tpms_neovius = (p, period, drop, schwarzBlend) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const cosDrop = mul(BUILTINS.cos(xyz), drop);
+ const term1 = -dot(cosDrop, vec3(1));
+ const term2 = (1 - schwarzBlend) * (4 / 3) * cosDrop[0] * cosDrop[1] * cosDrop[2];
+ return (term1 - term2) * (period[0] + period[1] + period[2]) / (6 * (26 / 3));
+};
+BUILTINS.implicit_tpms_split_p = (p, period, lidinoidBlend, gyroidOctave, schwarzOctave) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const yzx = getSwizzle(xyz, "yzx");
+ const zxy = getSwizzle(xyz, "zxy");
+ const sin2Xyz = BUILTINS.sin(mul(2, xyz));
+ const cos2Xyz = BUILTINS.cos(mul(2, xyz));
+ const term1 = -lidinoidBlend * dot(mul(mul(sin2Xyz, BUILTINS.cos(yzx)), BUILTINS.sin(zxy)), vec3(1));
+ const term2 = gyroidOctave * dot(mul(sin2Xyz, cos2Xyz), vec3(1));
+ const term3 = schwarzOctave * dot(cos2Xyz, vec3(1));
+ return (term1 + term2 + term3) * (period[0] + period[1] + period[2]) / 36;
+};
+BUILTINS.implicit_tpms_iwp = (p, period, drop) => {
+ const xyz = mul(p, div(Math.PI * 2, period));
+ const yzx = getSwizzle(xyz, "yzx");
+ const term1 = 2 * dot(mul(mul(drop, BUILTINS.cos(xyz)), BUILTINS.cos(yzx)), vec3(1));
+ const term2 = dot(BUILTINS.cos(mul(2, xyz)), vec3(1));
+ return (term1 - term2) * (period[0] + period[1] + period[2]) / 48;
+};
+BUILTINS.implicit_cubic_grid = (p, size) => {
+ const d = implicit_triangle_wave_even_positive(p, size);
+ return Math.min(d[0], Math.min(d[1], d[2]));
+};
+BUILTINS.implicit_square_honeycomb = (p, size) => {
+ const d = implicit_triangle_wave_even_positive(getSwizzle(p, "xy"), size);
+ return Math.min(d[0], d[1]);
+};
+BUILTINS.implicit_square_honeycomb_reinforced = (p, size, rotation, rotation2, hasRotation2) => {
+ const pxy = getSwizzle(p, "xy");
+ const grid = implicit_triangle_wave_even_positive(pxy, size);
+ const squareGrid = Math.min(grid[0], grid[1]);
+ const repeated = implicit_repeat_centered(pxy, size);
+ const angle = Math.PI * rotation;
+ let diagonal = Math.abs(BUILTINS.implicit_plane2(repeated, vec2(0), vec2(Math.cos(angle), Math.sin(angle))));
+ if (hasRotation2 > 0.5) {
+ const angle2 = Math.PI * rotation2;
+ const diagonal2 = Math.abs(BUILTINS.implicit_plane2(repeated, vec2(0), vec2(Math.cos(angle2), Math.sin(angle2))));
+ diagonal = Math.min(diagonal, diagonal2);
+ }
+ return Math.min(squareGrid, diagonal);
+};
+BUILTINS.implicit_square_diagonal_honeycomb = (p, size) => {
+ const period = vec2(size[0] + size[1]);
+ const repeated = implicit_repeat_centered(getSwizzle(p, "xy"), period);
+ const positive = Math.abs(BUILTINS.implicit_plane2(repeated, vec2(0), vec2(size[1], size[0])));
+ const negative = Math.abs(BUILTINS.implicit_plane2(repeated, vec2(0), vec2(size[1], -size[0])));
+ return Math.min(positive, negative);
+};
+BUILTINS.implicit_octet_honeycomb = (p, size) => {
+ const pxy = getSwizzle(p, "xy");
+ const square = BUILTINS.implicit_square_honeycomb(p, size);
+ const oddGrid = implicit_triangle_wave_odd_positive(pxy, size);
+ const planeGrid = Math.min(oddGrid[0], oddGrid[1]);
+ const diagonalPeriod = length(size) * 0.5;
+ const rotated = vec2((pxy[0] + pxy[1]) / 1.4142135623730951, (pxy[0] - pxy[1]) / 1.4142135623730951);
+ const diagonal = implicit_triangle_wave_odd_positive(rotated, vec2(diagonalPeriod));
+ return Math.min(Math.min(square, planeGrid), Math.min(diagonal[0], diagonal[1]));
+};
+BUILTINS.implicit_hexagonal_honeycomb = (p, size, setback) => {
+ const pxy = getSwizzle(p, "xy");
+ const halfSize = mul(size, 0.5);
+ const quarterSize = mul(size, 0.25);
+ const starCenter = vec2(0, (1 - setback) * halfSize[1]);
+ const transition = vec2(halfSize[0], setback * halfSize[1]);
+ const folded = abs(implicit_repeat_centered(pxy, size));
+ const reflected = vec2(folded[0] - halfSize[0], halfSize[1] - folded[1]);
+ const foldedStar = Math.min(
+ BUILTINS.implicit_line_segment2(folded, starCenter, vec2(0, size[1])),
+ Math.min(
+ BUILTINS.implicit_line_segment2(folded, starCenter, transition),
+ BUILTINS.implicit_line_segment2(folded, starCenter, vec2(-transition[0], transition[1]))
+ )
+ );
+ const reflectedStar = Math.min(
+ BUILTINS.implicit_line_segment2(reflected, starCenter, vec2(0, size[1])),
+ Math.min(
+ BUILTINS.implicit_line_segment2(reflected, starCenter, transition),
+ BUILTINS.implicit_line_segment2(reflected, starCenter, vec2(-transition[0], transition[1]))
+ )
+ );
+ return folded[0] < quarterSize[0] ? foldedStar : reflectedStar;
+};
+BUILTINS.implicit_triangular_honeycomb = (p, size) => {
+ const folded = abs(implicit_repeat_centered(getSwizzle(p, "xy"), size));
+ const halfSize = mul(size, 0.5);
+ const quarterSize = mul(size, 0.25);
+ const normalH = vec2(0, 1);
+ const normalP60 = normalize(vec2(size[1], size[0]));
+ const normalN60 = normalize(vec2(size[1], -size[0]));
+ const foldedStar = Math.min(
+ Math.abs(dot(folded, normalH)),
+ Math.min(Math.abs(dot(folded, normalP60)), Math.abs(dot(folded, normalN60)))
+ );
+ const shifted = sub(folded, halfSize);
+ const shiftedStar = Math.min(
+ Math.abs(dot(shifted, normalH)),
+ Math.min(Math.abs(dot(shifted, normalP60)), Math.abs(dot(shifted, normalN60)))
+ );
+ return folded[1] < quarterSize[1] ? foldedStar : shiftedStar;
+};
+var TYPE_KEYWORDS = /* @__PURE__ */ new Set(["float", "int", "bool", "vec2", "vec3", "vec4"]);
+var QUALIFIERS = /* @__PURE__ */ new Set(["const", "highp", "mediump", "lowp", "in", "out", "uniform", "varying"]);
+var OPERATORS = ["<=", ">=", "==", "!=", "&&", "||", "+=", "-=", "*=", "/=", "++", "--"];
+function stripComments(source) {
+ return String(source || "").replace(/\/\*[\s\S]*?\*\//g, "").replace(/\/\/.*$/gm, "");
+}
+function tokenize(source) {
+ const tokens = [];
+ const text = stripComments(source);
+ let index = 0;
+ while (index < text.length) {
+ const char = text[index];
+ if (/\s/.test(char)) {
+ index += 1;
+ continue;
+ }
+ const numberMatch = text.slice(index).match(/^(?:\d+\.\d*|\.\d+|\d+)(?:[eE][+-]?\d+)?/);
+ if (numberMatch) {
+ tokens.push({ type: "number", value: Number(numberMatch[0]) });
+ index += numberMatch[0].length;
+ continue;
+ }
+ const identifierMatch = text.slice(index).match(/^[A-Za-z_][A-Za-z0-9_]*/);
+ if (identifierMatch) {
+ tokens.push({ type: "identifier", value: identifierMatch[0] });
+ index += identifierMatch[0].length;
+ continue;
+ }
+ const op = OPERATORS.find((candidate) => text.startsWith(candidate, index));
+ if (op) {
+ tokens.push({ type: "operator", value: op });
+ index += op.length;
+ continue;
+ }
+ tokens.push({ type: "punct", value: char });
+ index += 1;
+ }
+ return tokens;
+}
+var Parser = class {
+ constructor(tokens) {
+ this.tokens = tokens;
+ this.index = 0;
+ }
+ peek(offset = 0) {
+ return this.tokens[this.index + offset] || null;
+ }
+ consume(value = null) {
+ const token = this.peek();
+ if (!token) {
+ throw new Error(`Expected ${value || "token"}, reached end of GLSL source`);
+ }
+ if (value !== null && token.value !== value) {
+ throw new Error(`Expected ${value}, got ${token.value}`);
+ }
+ this.index += 1;
+ return token;
+ }
+ match(value) {
+ if (this.peek()?.value === value) {
+ this.index += 1;
+ return true;
+ }
+ return false;
+ }
+ skipQualifiers() {
+ while (QUALIFIERS.has(this.peek()?.value)) {
+ this.consume();
+ }
+ }
+ parseProgram() {
+ const globals = [];
+ const functions = /* @__PURE__ */ new Map();
+ while (this.peek()) {
+ this.skipQualifiers();
+ const type = this.peek()?.value;
+ if (!TYPE_KEYWORDS.has(type) && type !== "void") {
+ this.consume();
+ continue;
+ }
+ this.consume();
+ const name = this.consume().value;
+ if (this.match("(")) {
+ const params = [];
+ if (!this.match(")")) {
+ do {
+ this.skipQualifiers();
+ const paramType = this.consume().value;
+ const paramName = this.consume().value;
+ params.push({ type: paramType, name: paramName });
+ } while (this.match(","));
+ this.consume(")");
+ }
+ functions.set(name, {
+ name,
+ params,
+ returnType: type,
+ body: this.parseBlock()
+ });
+ } else {
+ let init = { type: "literal", value: 0 };
+ if (this.match("=")) {
+ init = this.parseExpression();
+ }
+ this.consume(";");
+ globals.push({ type: "var", varType: type, name, init });
+ }
+ }
+ return { globals, functions };
+ }
+ parseBlock() {
+ this.consume("{");
+ const body = [];
+ while (this.peek() && this.peek().value !== "}") {
+ body.push(this.parseStatement());
+ }
+ this.consume("}");
+ return { type: "block", body };
+ }
+ parseStatement() {
+ if (this.peek()?.value === "{") {
+ return this.parseBlock();
+ }
+ if (this.match(";")) {
+ return { type: "empty" };
+ }
+ if (this.match("return")) {
+ const expression2 = this.parseExpression();
+ this.consume(";");
+ return { type: "return", expression: expression2 };
+ }
+ if (this.match("if")) {
+ this.consume("(");
+ const condition = this.parseExpression();
+ this.consume(")");
+ const consequent = this.parseStatement();
+ const alternate = this.match("else") ? this.parseStatement() : null;
+ return { type: "if", condition, consequent, alternate };
+ }
+ if (this.match("for")) {
+ this.consume("(");
+ const init = this.parseForPart(";");
+ this.consume(";");
+ const condition = this.peek()?.value === ";" ? null : this.parseExpression();
+ this.consume(";");
+ const update = this.peek()?.value === ")" ? null : this.parseExpression();
+ this.consume(")");
+ return { type: "for", init, condition, update, body: this.parseStatement() };
+ }
+ if (TYPE_KEYWORDS.has(this.peek()?.value) || QUALIFIERS.has(this.peek()?.value) && TYPE_KEYWORDS.has(this.peek(1)?.value)) {
+ const statement = this.parseVariableDeclaration();
+ this.consume(";");
+ return statement;
+ }
+ const expression = this.parseExpression();
+ this.consume(";");
+ return { type: "expr", expression };
+ }
+ parseForPart() {
+ if (TYPE_KEYWORDS.has(this.peek()?.value) || QUALIFIERS.has(this.peek()?.value) && TYPE_KEYWORDS.has(this.peek(1)?.value)) {
+ return this.parseVariableDeclaration();
+ }
+ if (this.peek()?.value === ";") {
+ return { type: "empty" };
+ }
+ return { type: "expr", expression: this.parseExpression() };
+ }
+ parseVariableDeclaration() {
+ this.skipQualifiers();
+ const varType = this.consume().value;
+ const name = this.consume().value;
+ let init = { type: "literal", value: defaultValueForType(varType) };
+ if (this.match("=")) {
+ init = this.parseExpression();
+ }
+ return { type: "var", varType, name, init };
+ }
+ parseExpression() {
+ return this.parseAssignment();
+ }
+ parseAssignment() {
+ const left = this.parseTernary();
+ const op = this.peek()?.value;
+ if (["=", "+=", "-=", "*=", "/="].includes(op)) {
+ this.consume();
+ return { type: "assign", op, left, right: this.parseAssignment() };
+ }
+ return left;
+ }
+ parseTernary() {
+ const condition = this.parseLogicalOr();
+ if (!this.match("?")) {
+ return condition;
+ }
+ const consequent = this.parseExpression();
+ this.consume(":");
+ return { type: "ternary", condition, consequent, alternate: this.parseExpression() };
+ }
+ parseLogicalOr() {
+ let node = this.parseLogicalAnd();
+ while (this.match("||")) {
+ node = { type: "binary", op: "||", left: node, right: this.parseLogicalAnd() };
+ }
+ return node;
+ }
+ parseLogicalAnd() {
+ let node = this.parseEquality();
+ while (this.match("&&")) {
+ node = { type: "binary", op: "&&", left: node, right: this.parseEquality() };
+ }
+ return node;
+ }
+ parseEquality() {
+ let node = this.parseComparison();
+ while (["==", "!="].includes(this.peek()?.value)) {
+ const op = this.consume().value;
+ node = { type: "binary", op, left: node, right: this.parseComparison() };
+ }
+ return node;
+ }
+ parseComparison() {
+ let node = this.parseAdditive();
+ while (["<", ">", "<=", ">="].includes(this.peek()?.value)) {
+ const op = this.consume().value;
+ node = { type: "binary", op, left: node, right: this.parseAdditive() };
+ }
+ return node;
+ }
+ parseAdditive() {
+ let node = this.parseMultiplicative();
+ while (["+", "-"].includes(this.peek()?.value)) {
+ const op = this.consume().value;
+ node = { type: "binary", op, left: node, right: this.parseMultiplicative() };
+ }
+ return node;
+ }
+ parseMultiplicative() {
+ let node = this.parseUnary();
+ while (["*", "/"].includes(this.peek()?.value)) {
+ const op = this.consume().value;
+ node = { type: "binary", op, left: node, right: this.parseUnary() };
+ }
+ return node;
+ }
+ parseUnary() {
+ if (this.match("+")) {
+ return this.parseUnary();
+ }
+ if (this.match("-")) {
+ return { type: "unary", op: "-", argument: this.parseUnary() };
+ }
+ if (this.match("!")) {
+ return { type: "unary", op: "!", argument: this.parseUnary() };
+ }
+ if (this.match("++")) {
+ return { type: "update", op: "++", argument: this.parseUnary(), prefix: true };
+ }
+ if (this.match("--")) {
+ return { type: "update", op: "--", argument: this.parseUnary(), prefix: true };
+ }
+ return this.parsePostfix();
+ }
+ parsePostfix() {
+ let node = this.parsePrimary();
+ for (; ; ) {
+ if (this.match(".")) {
+ node = { type: "member", object: node, property: this.consume().value };
+ continue;
+ }
+ if (this.match("(")) {
+ const args = [];
+ if (!this.match(")")) {
+ do {
+ args.push(this.parseExpression());
+ } while (this.match(","));
+ this.consume(")");
+ }
+ node = { type: "call", callee: node, args };
+ continue;
+ }
+ if (this.match("++")) {
+ node = { type: "update", op: "++", argument: node, prefix: false };
+ continue;
+ }
+ if (this.match("--")) {
+ node = { type: "update", op: "--", argument: node, prefix: false };
+ continue;
+ }
+ break;
+ }
+ return node;
+ }
+ parsePrimary() {
+ const token = this.consume();
+ if (token.type === "number") {
+ return { type: "literal", value: token.value };
+ }
+ if (token.value === "true" || token.value === "false") {
+ return { type: "literal", value: token.value === "true" };
+ }
+ if (token.value === "(") {
+ const expression = this.parseExpression();
+ this.consume(")");
+ return expression;
+ }
+ if (token.type === "identifier") {
+ return { type: "identifier", name: token.value };
+ }
+ throw new Error(`Unexpected GLSL token: ${token.value}`);
+ }
+};
+function defaultValueForType(type) {
+ if (type === "bool") {
+ return false;
+ }
+ if (type === "vec2") {
+ return vec2(0);
+ }
+ if (type === "vec3") {
+ return vec3(0);
+ }
+ if (type === "vec4") {
+ return vec4(0);
+ }
+ return 0;
+}
+var ReturnValue = class extends Error {
+ constructor(value) {
+ super("return");
+ this.value = value;
+ }
+};
+var Scope = class {
+ constructor(parent = null) {
+ this.parent = parent;
+ this.values = /* @__PURE__ */ new Map();
+ }
+ has(name) {
+ return this.values.has(name) || Boolean(this.parent?.has(name));
+ }
+ get(name) {
+ if (this.values.has(name)) {
+ return this.values.get(name);
+ }
+ if (this.parent) {
+ return this.parent.get(name);
+ }
+ throw new Error(`Unknown GLSL identifier: ${name}`);
+ }
+ set(name, value) {
+ if (this.values.has(name)) {
+ this.values.set(name, cloneValue(value));
+ return;
+ }
+ if (this.parent?.has(name)) {
+ this.parent.set(name, value);
+ return;
+ }
+ this.values.set(name, cloneValue(value));
+ }
+ define(name, value) {
+ this.values.set(name, cloneValue(value));
+ }
+};
+function cloneValue(value) {
+ return isVector(value) ? [...value] : value;
+}
+function castValue(value, type) {
+ if (type === "int") {
+ return Math.trunc(finiteNumber(value));
+ }
+ if (type === "float") {
+ return finiteNumber(value);
+ }
+ if (type === "bool") {
+ return truthy(value);
+ }
+ if (type === "vec2") {
+ return vec2(value);
+ }
+ if (type === "vec3") {
+ return vec3(value);
+ }
+ if (type === "vec4") {
+ return vec4(value);
+ }
+ return value;
+}
+function binaryValue(op, left, right) {
+ switch (op) {
+ case "+":
+ return add(left, right);
+ case "-":
+ return sub(left, right);
+ case "*":
+ return mul(left, right);
+ case "/":
+ return div(left, right);
+ case "<":
+ return left < right;
+ case ">":
+ return left > right;
+ case "<=":
+ return left <= right;
+ case ">=":
+ return left >= right;
+ case "==":
+ return left === right;
+ case "!=":
+ return left !== right;
+ case "&&":
+ return truthy(left) && truthy(right);
+ case "||":
+ return truthy(left) || truthy(right);
+ default:
+ throw new Error(`Unsupported GLSL operator: ${op}`);
+ }
+}
+function evalLValue(node, scope, runtime2) {
+ if (node.type === "identifier") {
+ return {
+ get: () => scope.get(node.name),
+ set: (value) => {
+ scope.set(node.name, value);
+ return value;
+ }
+ };
+ }
+ if (node.type === "member") {
+ const objectLValue = evalLValue(node.object, scope, runtime2);
+ return {
+ get: () => getSwizzle(objectLValue.get(), node.property),
+ set: (value) => {
+ const target = objectLValue.get();
+ setSwizzle(target, node.property, value);
+ objectLValue.set(target);
+ return value;
+ }
+ };
+ }
+ throw new Error("Unsupported GLSL assignment target");
+}
+function evalExpression(node, scope, runtime2) {
+ switch (node.type) {
+ case "literal":
+ return cloneValue(node.value);
+ case "identifier":
+ return scope.get(node.name);
+ case "member":
+ return getSwizzle(evalExpression(node.object, scope, runtime2), node.property);
+ case "unary": {
+ const value = evalExpression(node.argument, scope, runtime2);
+ if (node.op === "-") {
+ return neg(value);
+ }
+ if (node.op === "!") {
+ return !truthy(value);
+ }
+ return value;
+ }
+ case "update": {
+ const lvalue = evalLValue(node.argument, scope, runtime2);
+ const current = lvalue.get();
+ const next = node.op === "++" ? add(current, 1) : sub(current, 1);
+ lvalue.set(next);
+ return node.prefix ? next : current;
+ }
+ case "binary":
+ if (node.op === "&&") {
+ return truthy(evalExpression(node.left, scope, runtime2)) && truthy(evalExpression(node.right, scope, runtime2));
+ }
+ if (node.op === "||") {
+ return truthy(evalExpression(node.left, scope, runtime2)) || truthy(evalExpression(node.right, scope, runtime2));
+ }
+ return binaryValue(node.op, evalExpression(node.left, scope, runtime2), evalExpression(node.right, scope, runtime2));
+ case "ternary":
+ return truthy(evalExpression(node.condition, scope, runtime2)) ? evalExpression(node.consequent, scope, runtime2) : evalExpression(node.alternate, scope, runtime2);
+ case "assign": {
+ const lvalue = evalLValue(node.left, scope, runtime2);
+ const right = evalExpression(node.right, scope, runtime2);
+ const current = lvalue.get();
+ const value = node.op === "=" ? right : node.op === "+=" ? add(current, right) : node.op === "-=" ? sub(current, right) : node.op === "*=" ? mul(current, right) : div(current, right);
+ return lvalue.set(value);
+ }
+ case "call": {
+ const callee = node.callee.type === "identifier" ? node.callee.name : "";
+ const args = node.args.map((arg) => evalExpression(arg, scope, runtime2));
+ if (BUILTINS[callee]) {
+ return BUILTINS[callee](...args);
+ }
+ return runtime2.call(callee, args);
+ }
+ default:
+ throw new Error(`Unsupported GLSL expression node: ${node.type}`);
+ }
+}
+function executeStatement(statement, scope, runtime2) {
+ switch (statement.type) {
+ case "empty":
+ return;
+ case "block":
+ for (const child of statement.body) {
+ executeStatement(child, scope, runtime2);
+ }
+ return;
+ case "var":
+ scope.define(statement.name, castValue(evalExpression(statement.init, scope, runtime2), statement.varType));
+ return;
+ case "expr":
+ evalExpression(statement.expression, scope, runtime2);
+ return;
+ case "return":
+ throw new ReturnValue(evalExpression(statement.expression, scope, runtime2));
+ case "if":
+ if (truthy(evalExpression(statement.condition, scope, runtime2))) {
+ executeStatement(statement.consequent, scope, runtime2);
+ } else if (statement.alternate) {
+ executeStatement(statement.alternate, scope, runtime2);
+ }
+ return;
+ case "for": {
+ executeStatement(statement.init, scope, runtime2);
+ for (let guard = 0; guard < 1e4; guard += 1) {
+ if (statement.condition && !truthy(evalExpression(statement.condition, scope, runtime2))) {
+ return;
+ }
+ executeStatement(statement.body, scope, runtime2);
+ if (statement.update) {
+ evalExpression(statement.update, scope, runtime2);
+ }
+ }
+ throw new Error("GLSL for-loop exceeded exporter safety limit");
+ }
+ default:
+ throw new Error(`Unsupported GLSL statement node: ${statement.type}`);
+ }
+}
+function normalizedDistanceSource(source) {
+ const text = String(source || "").trim();
+ if (!text) {
+ throw new Error("Implicit CAD model has no GLSL source");
+ }
+ return `${text}
+
+float implicit_distance(vec3 p) {
+ return sdf(p);
+}
+`;
+}
+function normalizedColorSource(source) {
+ const text = String(source || "").trim();
+ if (!text) {
+ throw new Error("Implicit CAD model has no GLSL source");
+ }
+ const hasColorFunction = /\bvec3\s+color\s*\(/.test(text);
+ return `${text}
+
+vec3 implicit_color(vec3 p, vec3 normal) {
+ ${hasColorFunction ? "return color(p, normal);" : "return vec3(0.831372549, 0.831372549, 0.847058824);"}
+}
+`;
+}
+function createImplicitCadProgramRuntime(model, source, functionName) {
+ const program = new Parser(tokenize(source)).parseProgram();
+ if (!program.functions.has(functionName)) {
+ throw new Error(`Implicit CAD GLSL source did not define ${functionName}`);
+ }
+ const globals = new Scope();
+ for (const [name, value] of Object.entries({
+ PI: Math.PI,
+ TWO_PI: Math.PI * 2
+ })) {
+ globals.define(name, value);
+ }
+ for (const [name, uniform] of Object.entries(model?.uniforms || {})) {
+ globals.define(name, castValue(uniform?.value, uniform?.type));
+ }
+ const runtime2 = {
+ call(name, args) {
+ const fn = program.functions.get(name);
+ if (!fn) {
+ throw new Error(`Unknown GLSL function: ${name}`);
+ }
+ const scope = new Scope(globals);
+ fn.params.forEach((param, index) => {
+ scope.define(param.name, castValue(args[index], param.type));
+ });
+ try {
+ executeStatement(fn.body, scope, runtime2);
+ } catch (error) {
+ if (error instanceof ReturnValue) {
+ return castValue(error.value, fn.returnType);
+ }
+ throw error;
+ }
+ return defaultValueForType(fn.returnType);
+ }
+ };
+ for (const global2 of program.globals) {
+ executeStatement(global2, globals, runtime2);
+ }
+ return runtime2;
+}
+function createImplicitCadSdfEvaluator(model) {
+ const source = normalizedDistanceSource(model?.glslSource || model?.distanceSource);
+ const runtime2 = createImplicitCadProgramRuntime(model, source, "implicit_distance");
+ return (x, y, z) => finiteNumber(runtime2.call("implicit_distance", [vec3(x, y, z)]), 1e6);
+}
+function createImplicitCadColorEvaluator(model) {
+ const source = normalizedColorSource(model?.colorSource || model?.glslSource || model?.distanceSource);
+ const runtime2 = createImplicitCadProgramRuntime(model, source, "implicit_color");
+ return (point, normal = [0, 0, 1]) => {
+ const value = runtime2.call("implicit_color", [vec3(point), vec3(normal)]);
+ return vec3(value).map((component) => Math.min(Math.max(finiteNumber(component, 0), 0), 1));
+ };
+}
+
+// viewer/packages/implicitjs/src/lib/implicitCad/schema.js
+var IMPLICIT_CAD_SCHEMA = "implicit.js/0.1.0";
+var IMPLICIT_CAD_KIND = "implicit";
+var IMPLICIT_CAD_EXTENSIONS2 = Object.freeze([".implicit.js", ".implicit.mjs"]);
+
+// viewer/packages/implicitjs/src/lib/implicitCad/model.js
+var DEFAULT_BOUNDS = Object.freeze({
+ min: [-50, -50, -50],
+ max: [50, 50, 50]
+});
+var AUTO_BOUNDS_RADII = Object.freeze([4, 8, 16, 32, 64, 128, 256, 512]);
+var AUTO_BOUNDS_SCAN_SAMPLES = 5;
+var AUTO_BOUNDS_REFINE_SAMPLES = 9;
+var AUTO_BOUNDS_CACHE_LIMIT = 32;
+var DEFAULT_COLOR = "#f4f4f5";
+var HEX_COLOR_PATTERN = /^#(?:[0-9a-fA-F]{3}){1,2}$/;
+var GLSL_IDENTIFIER_PATTERN = /^[A-Za-z_][A-Za-z0-9_]*$/;
+var UNIFORM_TYPES = Object.freeze(/* @__PURE__ */ new Set(["float", "int", "bool", "vec2", "vec3", "vec4"]));
+var PARAM_UNIFORM_TYPES = Object.freeze({
+ number: "float",
+ boolean: "bool",
+ color: "vec3",
+ button: "int"
+});
+function isObject2(value) {
+ return Boolean(value) && typeof value === "object" && !Array.isArray(value);
+}
+function finiteNumber2(value, fallback = 0) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) ? numeric : fallback;
+}
+function finitePositiveNumber(value, fallback) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) && numeric > 0 ? numeric : fallback;
+}
+function finiteVec3(value, fallback) {
+ const source = Array.isArray(value) || ArrayBuffer.isView(value) ? value : [];
+ return [0, 1, 2].map((index) => finiteNumber2(source[index], fallback[index] || 0));
+}
+function finiteVector(value, length2, fallback = []) {
+ const source = Array.isArray(value) || ArrayBuffer.isView(value) ? value : [];
+ return Array.from({ length: length2 }, (_, index) => finiteNumber2(source[index], fallback[index] || 0));
+}
+function normalizeBounds(value, fallback = DEFAULT_BOUNDS) {
+ const radius = finitePositiveNumber(value, null);
+ const raw = radius ? { min: [-radius, -radius, -radius], max: [radius, radius, radius] } : Array.isArray(value) && value.length >= 2 ? { min: value[0], max: value[1] } : isObject2(value) ? value : fallback;
+ const min = finiteVec3(raw.min, DEFAULT_BOUNDS.min);
+ const max = finiteVec3(raw.max, DEFAULT_BOUNDS.max);
+ for (let axis = 0; axis < 3; axis += 1) {
+ if (max[axis] <= min[axis]) {
+ const center = (min[axis] + max[axis]) / 2;
+ min[axis] = center - 0.5;
+ max[axis] = center + 0.5;
+ }
+ }
+ return { min, max };
+}
+function cloneBounds(bounds) {
+ return {
+ min: [...bounds.min],
+ max: [...bounds.max]
+ };
+}
+function hasExplicitBounds(value) {
+ if (value === void 0 || value === null) {
+ return false;
+ }
+ if (String(value).trim().toLowerCase() === "auto") {
+ return false;
+ }
+ return !(isObject2(value) && value.auto === true);
+}
+function boundsSize(bounds) {
+ return [
+ bounds.max[0] - bounds.min[0],
+ bounds.max[1] - bounds.min[1],
+ bounds.max[2] - bounds.min[2]
+ ];
+}
+function expandBounds(min, max, margin) {
+ const safeMargin = Math.max(finiteNumber2(margin, 0), 0.25);
+ return normalizeBounds({
+ min: [min[0] - safeMargin, min[1] - safeMargin, min[2] - safeMargin],
+ max: [max[0] + safeMargin, max[1] + safeMargin, max[2] + safeMargin]
+ });
+}
+function sampleAutoBounds(sdf, bounds, samples) {
+ const size = boundsSize(bounds);
+ const steps = size.map((axisSize) => axisSize / Math.max(samples - 1, 1));
+ const threshold = Math.max(Math.min(...steps) * 0.35, 2e-3);
+ const hitMin = [Infinity, Infinity, Infinity];
+ const hitMax = [-Infinity, -Infinity, -Infinity];
+ let hitCount = 0;
+ let boundaryTouch = false;
+ for (let iz = 0; iz < samples; iz += 1) {
+ const z = bounds.min[2] + steps[2] * iz;
+ for (let iy = 0; iy < samples; iy += 1) {
+ const y = bounds.min[1] + steps[1] * iy;
+ for (let ix = 0; ix < samples; ix += 1) {
+ const x = bounds.min[0] + steps[0] * ix;
+ const value = finiteNumber2(sdf(x, y, z), 1e6);
+ if (value > threshold) {
+ continue;
+ }
+ hitCount += 1;
+ hitMin[0] = Math.min(hitMin[0], x);
+ hitMin[1] = Math.min(hitMin[1], y);
+ hitMin[2] = Math.min(hitMin[2], z);
+ hitMax[0] = Math.max(hitMax[0], x);
+ hitMax[1] = Math.max(hitMax[1], y);
+ hitMax[2] = Math.max(hitMax[2], z);
+ if (value <= 0 && (ix === 0 || iy === 0 || iz === 0 || ix === samples - 1 || iy === samples - 1 || iz === samples - 1)) {
+ boundaryTouch = true;
+ }
+ }
+ }
+ }
+ return {
+ hitCount,
+ hitMin,
+ hitMax,
+ boundaryTouch,
+ step: steps,
+ threshold
+ };
+}
+function estimateAutoBoundsStartRadius(definition, params) {
+ const largest = definition.parameters.filter((parameter) => parameter.type === "number").filter((parameter) => !likelyPoseParameter(parameter)).reduce((maxValue2, parameter) => {
+ const value = Math.abs(finiteNumber2(params[parameter.id], 0));
+ return Math.max(maxValue2, value);
+ }, 1);
+ const target = Math.max(largest * 3, 4);
+ return AUTO_BOUNDS_RADII.find((radius) => radius >= target) || AUTO_BOUNDS_RADII[AUTO_BOUNDS_RADII.length - 1];
+}
+function estimateImplicitCadAutoBounds(partialModel, definition, context) {
+ let sdf = null;
+ try {
+ sdf = createImplicitCadSdfEvaluator(partialModel);
+ } catch {
+ return cloneBounds(DEFAULT_BOUNDS);
+ }
+ let candidate = null;
+ const startRadius = estimateAutoBoundsStartRadius(definition, context.params);
+ for (const radius of AUTO_BOUNDS_RADII.filter((candidateRadius) => candidateRadius >= startRadius)) {
+ const bounds = normalizeBounds(radius);
+ const scan = sampleAutoBounds(sdf, bounds, AUTO_BOUNDS_SCAN_SAMPLES);
+ if (!scan.hitCount) {
+ continue;
+ }
+ const margin = Math.max(Math.max(...scan.step) * 1.5, radius * 0.06, 0.5);
+ candidate = expandBounds(scan.hitMin, scan.hitMax, margin);
+ if (!scan.boundaryTouch) {
+ break;
+ }
+ }
+ if (!candidate) {
+ return cloneBounds(DEFAULT_BOUNDS);
+ }
+ for (let pass = 0; pass < 1; pass += 1) {
+ const scan = sampleAutoBounds(sdf, candidate, AUTO_BOUNDS_REFINE_SAMPLES);
+ if (!scan.hitCount) {
+ break;
+ }
+ const margin = Math.max(Math.max(...scan.step) * 1.1, Math.max(...boundsSize(candidate)) * 0.025, 0.25);
+ candidate = expandBounds(scan.hitMin, scan.hitMax, margin);
+ }
+ return candidate;
+}
+function likelyPoseParameter(parameter) {
+ const unit = String(parameter?.unit || "").trim().toLowerCase();
+ if (unit === "deg" || unit === "rad") {
+ return true;
+ }
+ const text = `${parameter?.id || ""} ${parameter?.label || ""}`.toLowerCase();
+ return [
+ "angle",
+ "phase",
+ "rotation",
+ "rotate",
+ "orbit",
+ "spin",
+ "yaw",
+ "pitch",
+ "roll"
+ ].some((token) => text.includes(token));
+}
+function autoBoundsCacheKey(definition, params, glslSource) {
+ const values = definition.parameters.filter((parameter) => !likelyPoseParameter(parameter)).filter((parameter) => PARAM_UNIFORM_TYPES[parameter.type]).filter((parameter) => parameter.type !== "color").map((parameter) => {
+ const value = params[parameter.id];
+ if (typeof value === "number") {
+ return `${parameter.id}:${Number.isFinite(value) ? value.toPrecision(8) : "0"}`;
+ }
+ if (typeof value === "boolean") {
+ return `${parameter.id}:${value ? "1" : "0"}`;
+ }
+ return `${parameter.id}:${String(value ?? "")}`;
+ }).join(";");
+ return `${glslSource.length}:${values}`;
+}
+function readCachedAutoBounds(cache, key, animationPlaying) {
+ if (!cache) {
+ return null;
+ }
+ if (cache.map.has(key)) {
+ return cloneBounds(cache.map.get(key));
+ }
+ if (animationPlaying && cache.last) {
+ return cloneBounds(cache.last);
+ }
+ return null;
+}
+function rememberAutoBounds(cache, key, bounds) {
+ if (!cache) {
+ return;
+ }
+ const cloned = cloneBounds(bounds);
+ cache.map.set(key, cloned);
+ cache.last = cloned;
+ while (cache.map.size > AUTO_BOUNDS_CACHE_LIMIT) {
+ const oldestKey = cache.map.keys().next().value;
+ cache.map.delete(oldestKey);
+ }
+}
+function resolveImplicitCadBounds(value, partialModel, definition, context, cache) {
+ if (hasExplicitBounds(value)) {
+ return {
+ bounds: normalizeBounds(value),
+ source: "explicit"
+ };
+ }
+ const key = autoBoundsCacheKey(definition, context.params, partialModel.glslSource);
+ const cached = readCachedAutoBounds(cache, key, context.animationState.playing);
+ if (cached) {
+ return {
+ bounds: cached,
+ source: "auto"
+ };
+ }
+ const estimated = estimateImplicitCadAutoBounds(partialModel, definition, context);
+ rememberAutoBounds(cache, key, estimated);
+ return {
+ bounds: estimated,
+ source: "auto"
+ };
+}
+function normalizeHexColor(value, fallback = DEFAULT_COLOR) {
+ const color = String(value || "").trim();
+ return HEX_COLOR_PATTERN.test(color) ? color : fallback;
+}
+function hexToRgb01(hex, fallback = DEFAULT_COLOR) {
+ const value = normalizeHexColor(hex, fallback);
+ const expanded = value.length === 4 ? `${value[1]}${value[1]}${value[2]}${value[2]}${value[3]}${value[3]}` : value.slice(1);
+ return [
+ parseInt(expanded.slice(0, 2), 16) / 255,
+ parseInt(expanded.slice(2, 4), 16) / 255,
+ parseInt(expanded.slice(4, 6), 16) / 255
+ ];
+}
+function evaluateValue(value, context) {
+ return typeof value === "function" ? value(context) : value;
+}
+function normalizeMaterial() {
+ const material = {};
+ return {
+ color: normalizeHexColor(material.color, DEFAULT_COLOR),
+ roughness: Math.min(Math.max(finiteNumber2(material.roughness, 0.75), 0), 1),
+ metalness: Math.min(Math.max(finiteNumber2(material.metalness, 0.02), 0), 1)
+ };
+}
+function unwrapModuleExports(moduleValue) {
+ if (typeof moduleValue === "function") {
+ return moduleValue();
+ }
+ if (!isObject2(moduleValue)) {
+ return moduleValue;
+ }
+ if (moduleValue.default !== void 0) {
+ return typeof moduleValue.default === "function" ? moduleValue.default() : moduleValue.default;
+ }
+ if (moduleValue.model !== void 0) {
+ return typeof moduleValue.model === "function" ? moduleValue.model() : moduleValue.model;
+ }
+ return moduleValue;
+}
+function normalizeUniformValue(rawValue, context = {}) {
+ const raw = evaluateValue(rawValue, context);
+ const value = isObject2(raw) && Object.hasOwn(raw, "value") ? evaluateValue(raw.value, context) : raw;
+ const explicitType = isObject2(raw) ? String(raw.type || raw.kind || "").trim().toLowerCase() : "";
+ const type = UNIFORM_TYPES.has(explicitType) ? explicitType : typeof value === "boolean" ? "bool" : typeof value === "number" ? "float" : typeof value === "string" && HEX_COLOR_PATTERN.test(value) ? "vec3" : Array.isArray(value) || ArrayBuffer.isView(value) ? `vec${Math.min(Math.max(value.length, 2), 4)}` : "";
+ if (!UNIFORM_TYPES.has(type)) {
+ return null;
+ }
+ if (type === "bool") {
+ return { type, value: value === true };
+ }
+ if (type === "int") {
+ return { type, value: Math.trunc(finiteNumber2(value, 0)) };
+ }
+ if (type === "float") {
+ return { type, value: finiteNumber2(value, 0) };
+ }
+ if (typeof value === "string" && HEX_COLOR_PATTERN.test(value)) {
+ return { type, value: hexToRgb01(value) };
+ }
+ const length2 = Number(type.slice(3));
+ const fallback = Array.from({ length: length2 }, () => 0);
+ return {
+ type,
+ value: finiteVector(value, length2, fallback)
+ };
+}
+function uniformsFromParams(parameters = [], params = {}) {
+ return Object.fromEntries(
+ parameters.map((parameter) => {
+ const uniformName = String(parameter?.id || "").trim();
+ if (!GLSL_IDENTIFIER_PATTERN.test(uniformName) || uniformName.startsWith("gl_")) {
+ throw new Error(`Implicit CAD param "${uniformName}" is not a valid GLSL uniform identifier.`);
+ }
+ const type = PARAM_UNIFORM_TYPES[parameter.type];
+ if (!type) {
+ return null;
+ }
+ const uniform = normalizeUniformValue({ type, value: params[parameter.id] });
+ return uniform ? [uniformName, uniform] : null;
+ }).filter(Boolean)
+ );
+}
+function glslSourceFromModel(model, context = {}) {
+ return String(evaluateValue(model.glsl ?? model.glslSource, context) || "").trim();
+}
+function pathIsImplicitCadSource2(value = "") {
+ const pathname = String(value || "").split(/[?#]/, 1)[0].toLowerCase();
+ return IMPLICIT_CAD_EXTENSIONS2.some((extension) => pathname.endsWith(extension));
+}
+function normalizeAnimationState(value = {}) {
+ const activeId = String(value?.activeId || "").trim();
+ return {
+ activeId,
+ playing: value?.playing === true,
+ elapsedSec: Math.max(finiteNumber2(value?.elapsedSec ?? value?.elapsed, 0), 0),
+ speed: Math.min(Math.max(finiteNumber2(value?.speed, 1), 0.1), 5)
+ };
+}
+function findAnimation(definition, animationId) {
+ const animations = Array.isArray(definition?.animations) ? definition.animations : [];
+ if (!animations.length) {
+ return null;
+ }
+ const normalizedId = String(animationId || "").trim();
+ return animations.find((animation) => animation.id === normalizedId) || animations[0] || null;
+}
+function buildImplicitCadContext(definition, parameterValues = {}, animationState = {}) {
+ const params = normalizeParameterValues(definition, parameterValues);
+ const normalizedAnimationState = normalizeAnimationState(animationState);
+ const animation = findAnimation(definition, normalizedAnimationState.activeId);
+ const duration = Math.max(Number(animation?.duration) || 0, 1e-3);
+ const elapsedSec = Math.min(normalizedAnimationState.elapsedSec, duration);
+ const progress = animation ? Math.min(Math.max(elapsedSec / duration, 0), 1) : 0;
+ return {
+ ...params,
+ params,
+ parameterValues: params,
+ animation,
+ animationState: {
+ ...normalizedAnimationState,
+ activeId: animation?.id || normalizedAnimationState.activeId,
+ duration: animation?.duration || 0,
+ loop: animation?.loop !== false
+ },
+ elapsed: elapsedSec,
+ elapsedSec,
+ duration: animation?.duration || 0,
+ progress,
+ cycle: duration > 0 ? elapsedSec / duration : 0,
+ t: elapsedSec,
+ time: elapsedSec
+ };
+}
+function normalizeImplicitCadRuntimeModel(rawModel, definition, parameterValues = {}, animationState = {}, { sourceUrl = "", autoBoundsCache = null } = {}) {
+ const context = buildImplicitCadContext(definition, parameterValues, animationState);
+ const model = rawModel;
+ if (!isObject2(model)) {
+ throw new Error("Implicit CAD module must export an object, or a function returning an object.");
+ }
+ const uniforms = uniformsFromParams(definition.parameters, context.params);
+ const glslSource = glslSourceFromModel(model, context);
+ if (!glslSource) {
+ throw new Error("Implicit CAD module must export GLSL code in glsl.");
+ }
+ const resolvedBounds = resolveImplicitCadBounds(
+ evaluateValue(model.bounds, context),
+ { glslSource, uniforms },
+ definition,
+ context,
+ autoBoundsCache
+ );
+ const bounds = resolvedBounds.bounds;
+ const size = [
+ bounds.max[0] - bounds.min[0],
+ bounds.max[1] - bounds.min[1],
+ bounds.max[2] - bounds.min[2]
+ ];
+ const center = [
+ (bounds.min[0] + bounds.max[0]) / 2,
+ (bounds.min[1] + bounds.max[1]) / 2,
+ (bounds.min[2] + bounds.max[2]) / 2
+ ];
+ const radius = Math.max(Math.hypot(size[0], size[1], size[2]) / 2, 1e-3);
+ const evaluatedRender = evaluateValue(model.render, context);
+ const render = isObject2(evaluatedRender) ? evaluatedRender : {};
+ const epsilon = finitePositiveNumber(evaluateValue(render.epsilon, context), Math.max(radius * 7e-4, 2e-3));
+ const normalEpsilon = finitePositiveNumber(
+ evaluateValue(render.normalEpsilon, context),
+ Math.max(epsilon * 2.5, radius * 1e-3)
+ );
+ const stepScale = Math.min(
+ Math.max(finiteNumber2(evaluateValue(render.stepScale, context), 0.45), 0.05),
+ 1
+ );
+ const maxStep = finitePositiveNumber(
+ evaluateValue(render.maxStep, context),
+ Math.max(radius * 0.035, epsilon * 10)
+ );
+ return {
+ schema: String(model.schema || IMPLICIT_CAD_SCHEMA),
+ kind: IMPLICIT_CAD_KIND,
+ name: String(model.name || model.title || "Implicit CAD").trim() || "Implicit CAD",
+ description: String(model.description || "").trim(),
+ units: String(model.units || "mm").trim() || "mm",
+ sourceUrl: String(sourceUrl || model.sourceUrl || "").trim(),
+ parameters: definition.parameters,
+ parameterMap: definition.parameterMap,
+ defaultParameterValues: definition.defaultParameterValues,
+ parameterValues: context.params,
+ animations: definition.animations,
+ animationState: context.animationState,
+ glslSource,
+ distanceSource: glslSource,
+ colorSource: /\bvec3\s+color\s*\(/.test(glslSource) ? glslSource : "",
+ uniforms,
+ uniformSignature: Object.entries(uniforms).map(([name, uniform]) => `${name}:${uniform.type}`).sort().join(";"),
+ bounds,
+ boundsSource: resolvedBounds.source,
+ center,
+ size,
+ radius,
+ material: normalizeMaterial(),
+ background: {},
+ maxSteps: Math.max(16, Math.min(Math.floor(finiteNumber2(evaluateValue(render.steps, context), 192)), 768)),
+ maxDistance: finitePositiveNumber(evaluateValue(render.maxDistance, context), radius * 8),
+ stepScale,
+ maxStep,
+ epsilon,
+ normalEpsilon
+ };
+}
+function normalizeImplicitCadDefinition(moduleValue, { sourceUrl = "" } = {}) {
+ const model = unwrapModuleExports(moduleValue);
+ if (!isObject2(model)) {
+ throw new Error("Implicit CAD module must export an object, or a function returning an object.");
+ }
+ if (model.kind === IMPLICIT_CAD_KIND && model.glslSource && Array.isArray(model.parameters)) {
+ return model.definition ? model : { ...model, definition: null };
+ }
+ const parameters = normalizeParameterDefinitions(model.params);
+ const parameterMap = parameterMapForDefinitions(parameters);
+ const autoBoundsCache = {
+ map: /* @__PURE__ */ new Map(),
+ last: null
+ };
+ const definition = {
+ schema: String(model.schema || IMPLICIT_CAD_SCHEMA),
+ kind: IMPLICIT_CAD_KIND,
+ name: String(model.name || model.title || "Implicit CAD").trim() || "Implicit CAD",
+ description: String(model.description || "").trim(),
+ units: String(model.units || "mm").trim() || "mm",
+ sourceUrl: String(sourceUrl || model.sourceUrl || "").trim(),
+ parameters,
+ parameterMap,
+ defaultParameterValues: {},
+ animations: normalizeParameterAnimations(model.animations),
+ buildModel(parameterValues = {}, animationState = {}) {
+ return normalizeImplicitCadRuntimeModel(model, definition, parameterValues, animationState, { sourceUrl, autoBoundsCache });
+ }
+ };
+ definition.defaultParameterValues = normalizeParameterValues(
+ definition,
+ model.values || {}
+ );
+ const defaultModel = definition.buildModel(definition.defaultParameterValues);
+ return {
+ ...defaultModel,
+ definition
+ };
+}
+function normalizeImplicitCadModel(moduleValue, { sourceUrl = "" } = {}) {
+ return normalizeImplicitCadDefinition(moduleValue, { sourceUrl });
+}
+
+// viewer/packages/implicitjs/src/lib/implicitCad/animation.js
+function finiteNumber3(value, fallback = 0) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) ? numeric : fallback;
+}
+function clamp3(value, min, max) {
+ return Math.min(Math.max(value, min), max);
+}
+function findImplicitAnimation(definition, animationId = "") {
+ const animations = Array.isArray(definition?.animations) ? definition.animations : [];
+ if (!animations.length) {
+ return null;
+ }
+ const id = String(animationId || "").trim();
+ return animations.find((animation) => animation.id === id) || animations[0] || null;
+}
+function normalizeImplicitAnimationElapsed(elapsedSec, animation) {
+ const duration = Math.max(finiteNumber3(animation?.duration, 1), 1e-3);
+ const elapsed = Math.max(finiteNumber3(elapsedSec, 0), 0);
+ return animation?.loop === false ? Math.min(elapsed, duration) : elapsed % duration;
+}
+function animatedImplicitParameterValues(definition, animationOrId, baseValues = {}, elapsedSec = 0) {
+ const animation = typeof animationOrId === "string" ? findImplicitAnimation(definition, animationOrId) : animationOrId;
+ const normalizedBase = normalizeParameterValues(definition, baseValues);
+ if (!definition || typeof animation?.update !== "function") {
+ return normalizedBase;
+ }
+ const duration = Math.max(finiteNumber3(animation.duration, 1), 1e-3);
+ const elapsed = normalizeImplicitAnimationElapsed(elapsedSec, animation);
+ const nextValues = { ...normalizedBase };
+ const set = (parameterId, value) => {
+ const id = String(parameterId || "").trim();
+ const parameter = definition.parameterMap?.[id];
+ if (parameter) {
+ nextValues[id] = normalizeParameterValue(parameter, value);
+ }
+ };
+ animation.update({
+ ...normalizedBase,
+ elapsed,
+ elapsedSec: elapsed,
+ duration,
+ progress: clamp3(elapsed / duration, 0, 1),
+ cycle: elapsed / duration,
+ t: elapsed,
+ time: elapsed,
+ loop: animation.loop !== false,
+ params: normalizedBase,
+ set
+ });
+ return nextValues;
+}
+function buildImplicitAnimatedModel(definition, {
+ animationId = "",
+ elapsedSec = 0,
+ params = null,
+ parameterValues = null,
+ playing = false,
+ speed = 1
+} = {}) {
+ if (!definition?.buildModel) {
+ throw new Error("Implicit animation export requires a compiled implicit definition.");
+ }
+ const animation = findImplicitAnimation(definition, animationId);
+ const baseValues = params || parameterValues || definition.defaultParameterValues || {};
+ const animatedValues = animatedImplicitParameterValues(definition, animation, baseValues, elapsedSec);
+ return definition.buildModel(animatedValues, {
+ activeId: animation?.id || animationId,
+ elapsedSec: normalizeImplicitAnimationElapsed(elapsedSec, animation),
+ playing,
+ speed
+ });
+}
+
+// viewer/packages/implicitjs/src/lib/implicitCad/mesh.js
+var DEFAULT_RESOLUTION = 96;
+var DEFAULT_MAX_CELLS = 25e5;
+var TETRAHEDRA = Object.freeze([
+ [0, 5, 1, 6],
+ [0, 1, 2, 6],
+ [0, 2, 3, 6],
+ [0, 3, 7, 6],
+ [0, 7, 4, 6],
+ [0, 4, 5, 6]
+]);
+var CUBE_OFFSETS = Object.freeze([
+ [0, 0, 0],
+ [1, 0, 0],
+ [1, 1, 0],
+ [0, 1, 0],
+ [0, 0, 1],
+ [1, 0, 1],
+ [1, 1, 1],
+ [0, 1, 1]
+]);
+function finiteNumber4(value, fallback = 0) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) ? numeric : fallback;
+}
+function clamp4(value, min, max) {
+ return Math.min(Math.max(value, min), max);
+}
+function normalizeResolution(value = DEFAULT_RESOLUTION) {
+ return Math.max(8, Math.min(192, Math.floor(finiteNumber4(value, DEFAULT_RESOLUTION))));
+}
+function normalizedGrid(model, { resolution = DEFAULT_RESOLUTION, maxCells = DEFAULT_MAX_CELLS } = {}) {
+ const bounds = model.bounds;
+ const size = model.size;
+ const longest = Math.max(size[0], size[1], size[2], 1e-6);
+ const targetResolution = normalizeResolution(resolution);
+ const cellSize = longest / targetResolution;
+ let nx = Math.max(2, Math.ceil(size[0] / cellSize));
+ let ny = Math.max(2, Math.ceil(size[1] / cellSize));
+ let nz = Math.max(2, Math.ceil(size[2] / cellSize));
+ const maxCellCount = Math.max(4096, Math.floor(finiteNumber4(maxCells, DEFAULT_MAX_CELLS)));
+ const cellCount = nx * ny * nz;
+ if (cellCount > maxCellCount) {
+ const scale = Math.cbrt(maxCellCount / cellCount);
+ nx = Math.max(2, Math.floor(nx * scale));
+ ny = Math.max(2, Math.floor(ny * scale));
+ nz = Math.max(2, Math.floor(nz * scale));
+ }
+ return {
+ min: bounds.min,
+ max: bounds.max,
+ size,
+ nx,
+ ny,
+ nz,
+ step: [
+ size[0] / nx,
+ size[1] / ny,
+ size[2] / nz
+ ]
+ };
+}
+function pointAt(grid, ix, iy, iz) {
+ return [
+ grid.min[0] + ix * grid.step[0],
+ grid.min[1] + iy * grid.step[1],
+ grid.min[2] + iz * grid.step[2]
+ ];
+}
+function subtract(a, b) {
+ return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+function cross2(a, b) {
+ return [
+ a[1] * b[2] - a[2] * b[1],
+ a[2] * b[0] - a[0] * b[2],
+ a[0] * b[1] - a[1] * b[0]
+ ];
+}
+function dot2(a, b) {
+ return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function normalize2(v) {
+ const len = Math.hypot(v[0], v[1], v[2]);
+ return len > 1e-12 ? [v[0] / len, v[1] / len, v[2] / len] : [0, 0, 1];
+}
+function midpoint(a, b, c) {
+ return [
+ (a[0] + b[0] + c[0]) / 3,
+ (a[1] + b[1] + c[1]) / 3,
+ (a[2] + b[2] + c[2]) / 3
+ ];
+}
+function estimateGradient(sdf, point, epsilon) {
+ const [x, y, z] = point;
+ return normalize2([
+ sdf(x + epsilon, y, z) - sdf(x - epsilon, y, z),
+ sdf(x, y + epsilon, z) - sdf(x, y - epsilon, z),
+ sdf(x, y, z + epsilon) - sdf(x, y, z - epsilon)
+ ]);
+}
+function offsetPoint(point, direction, distance) {
+ return [
+ point[0] + direction[0] * distance,
+ point[1] + direction[1] * distance,
+ point[2] + direction[2] * distance
+ ];
+}
+function normalFacesOutward(sdf, point, normal, epsilon) {
+ const positive = finiteNumber4(sdf(...offsetPoint(point, normal, epsilon)), 1e6);
+ const negative = finiteNumber4(sdf(...offsetPoint(point, normal, -epsilon)), 1e6);
+ return positive >= negative;
+}
+function smoothNormalForVertex(sdf, vertex, epsilon, normalCache) {
+ const key = `${vertex[0].toPrecision(12)},${vertex[1].toPrecision(12)},${vertex[2].toPrecision(12)}`;
+ let normal = normalCache.get(key);
+ if (!normal) {
+ normal = estimateGradient(sdf, vertex, epsilon);
+ normalCache.set(key, normal);
+ }
+ return normal;
+}
+function interpolateVertex(a, b, iso = 0) {
+ const denominator = b.value - a.value;
+ const t = Math.abs(denominator) < 1e-12 ? 0.5 : clamp4((iso - a.value) / denominator, 0, 1);
+ return [
+ a.position[0] + (b.position[0] - a.position[0]) * t,
+ a.position[1] + (b.position[1] - a.position[1]) * t,
+ a.position[2] + (b.position[2] - a.position[2]) * t
+ ];
+}
+function pushTriangle(mesh, sdf, normalEpsilon, a, b, c, {
+ normalCache = null,
+ orientByGradient = false,
+ orientBySdf = true,
+ orientationEpsilon = normalEpsilon,
+ smoothNormals = false
+} = {}) {
+ let v0 = a;
+ let v1 = b;
+ let v2 = c;
+ let normal = normalize2(cross2(subtract(v1, v0), subtract(v2, v0)));
+ const triangleMidpoint = midpoint(v0, v1, v2);
+ const gradient = orientByGradient ? estimateGradient(sdf, triangleMidpoint, normalEpsilon) : null;
+ const facesOutward = gradient ? dot2(normal, gradient) >= 0 : !orientBySdf || normalFacesOutward(sdf, triangleMidpoint, normal, orientationEpsilon);
+ if (!facesOutward) {
+ v1 = c;
+ v2 = b;
+ normal = [-normal[0], -normal[1], -normal[2]];
+ }
+ for (const vertex of [v0, v1, v2]) {
+ const vertexNormal = smoothNormals && normalCache ? smoothNormalForVertex(sdf, vertex, normalEpsilon, normalCache) : normal;
+ const alignedNormal = dot2(vertexNormal, normal) < 0 ? [-vertexNormal[0], -vertexNormal[1], -vertexNormal[2]] : vertexNormal;
+ mesh.positions.push(vertex[0], vertex[1], vertex[2]);
+ mesh.normals.push(alignedNormal[0], alignedNormal[1], alignedNormal[2]);
+ }
+}
+function polygonizeTetra(mesh, sdf, normalEpsilon, corners, iso = 0, options = {}) {
+ const inside = [];
+ const outside = [];
+ for (const corner of corners) {
+ if (corner.value <= iso) {
+ inside.push(corner);
+ } else {
+ outside.push(corner);
+ }
+ }
+ if (inside.length === 0 || inside.length === 4) {
+ return;
+ }
+ const edge = (a2, b2) => interpolateVertex(a2, b2, iso);
+ if (inside.length === 1) {
+ pushTriangle(mesh, sdf, normalEpsilon, edge(inside[0], outside[0]), edge(inside[0], outside[1]), edge(inside[0], outside[2]), options);
+ return;
+ }
+ if (inside.length === 3) {
+ pushTriangle(mesh, sdf, normalEpsilon, edge(outside[0], inside[0]), edge(outside[0], inside[2]), edge(outside[0], inside[1]), options);
+ return;
+ }
+ const a = edge(inside[0], outside[0]);
+ const b = edge(inside[1], outside[0]);
+ const c = edge(inside[1], outside[1]);
+ const d = edge(inside[0], outside[1]);
+ pushTriangle(mesh, sdf, normalEpsilon, a, b, c, options);
+ pushTriangle(mesh, sdf, normalEpsilon, a, c, d, options);
+}
+function sampledValueIndex(grid, ix, iy, iz) {
+ return ix + (grid.nx + 1) * (iy + (grid.ny + 1) * iz);
+}
+function meshImplicitCadModel(modelValue, options = {}) {
+ const model = normalizeImplicitCadModel(modelValue);
+ const sdf = typeof options.sdf === "function" ? options.sdf : createImplicitCadSdfEvaluator(model);
+ const grid = normalizedGrid(model, options);
+ const valueCount = (grid.nx + 1) * (grid.ny + 1) * (grid.nz + 1);
+ const values = new Float32Array(valueCount);
+ for (let iz = 0; iz <= grid.nz; iz += 1) {
+ for (let iy = 0; iy <= grid.ny; iy += 1) {
+ for (let ix = 0; ix <= grid.nx; ix += 1) {
+ const p = pointAt(grid, ix, iy, iz);
+ values[sampledValueIndex(grid, ix, iy, iz)] = finiteNumber4(sdf(p[0], p[1], p[2]), 1e6);
+ }
+ }
+ }
+ const mesh = {
+ positions: [],
+ normals: [],
+ format: "triangle-list",
+ sourceModel: model,
+ grid: {
+ resolution: [grid.nx, grid.ny, grid.nz],
+ step: grid.step
+ }
+ };
+ const normalEpsilon = Math.max(finiteNumber4(options.normalEpsilon, model.normalEpsilon), 1e-5);
+ const orientationEpsilon = Math.max(Math.min(...grid.step) * 0.15, 1e-5);
+ const normalCache = options.smoothNormals === true ? /* @__PURE__ */ new Map() : null;
+ for (let iz = 0; iz < grid.nz; iz += 1) {
+ for (let iy = 0; iy < grid.ny; iy += 1) {
+ for (let ix = 0; ix < grid.nx; ix += 1) {
+ const corners = CUBE_OFFSETS.map(([dx, dy, dz]) => {
+ const cx = ix + dx;
+ const cy = iy + dy;
+ const cz = iz + dz;
+ return {
+ position: pointAt(grid, cx, cy, cz),
+ value: values[sampledValueIndex(grid, cx, cy, cz)]
+ };
+ });
+ for (const tetra of TETRAHEDRA) {
+ polygonizeTetra(mesh, sdf, normalEpsilon, tetra.map((index) => corners[index]), 0, {
+ normalCache,
+ orientByGradient: options.orientByGradient === true,
+ orientBySdf: options.orientBySdf !== false,
+ orientationEpsilon,
+ smoothNormals: options.smoothNormals === true
+ });
+ }
+ }
+ }
+ }
+ return {
+ ...mesh,
+ positions: new Float32Array(mesh.positions),
+ normals: new Float32Array(mesh.normals),
+ vertexCount: mesh.positions.length / 3,
+ triangleCount: mesh.positions.length / 9
+ };
+}
+
+// viewer/packages/implicitjs/src/lib/implicitCad/exporters.js
+var NativeBuffer = globalThis.Buffer;
+var textEncoder = typeof TextEncoder !== "undefined" ? new TextEncoder() : null;
+function finiteNumber5(value, fallback = 0) {
+ const numeric = Number(value);
+ return Number.isFinite(numeric) ? numeric : fallback;
+}
+function clamp01(value) {
+ return Math.min(Math.max(finiteNumber5(value), 0), 1);
+}
+function bytesFromString(value, encoding = "utf-8") {
+ if (NativeBuffer?.from) {
+ return NativeBuffer.from(String(value), encoding);
+ }
+ if (encoding !== "utf-8" && encoding !== "utf8") {
+ const text = String(value);
+ const bytes2 = new Uint8Array(text.length);
+ for (let index = 0; index < text.length; index += 1) {
+ bytes2[index] = text.charCodeAt(index) & 255;
+ }
+ return bytes2;
+ }
+ return textEncoder.encode(String(value));
+}
+function allocBytes(length2, fill = 0) {
+ if (NativeBuffer?.alloc) {
+ return NativeBuffer.alloc(length2, fill);
+ }
+ const bytes2 = new Uint8Array(length2);
+ if (fill) {
+ bytes2.fill(fill);
+ }
+ return bytes2;
+}
+function concatBytes(parts, totalLength = void 0) {
+ if (NativeBuffer?.concat) {
+ return NativeBuffer.concat(parts, totalLength);
+ }
+ const length2 = totalLength ?? parts.reduce((sum, part) => sum + part.length, 0);
+ const bytes2 = new Uint8Array(length2);
+ let offset = 0;
+ for (const part of parts) {
+ bytes2.set(part, offset);
+ offset += part.length;
+ }
+ return bytes2;
+}
+function typedArrayBytes(array) {
+ return new Uint8Array(array.buffer, array.byteOffset, array.byteLength);
+}
+function viewFor(bytes2) {
+ return new DataView(bytes2.buffer, bytes2.byteOffset, bytes2.byteLength);
+}
+function writeUInt16LE(bytes2, offset, value) {
+ viewFor(bytes2).setUint16(offset, value, true);
+}
+function writeUInt32LE(bytes2, offset, value) {
+ viewFor(bytes2).setUint32(offset, value, true);
+}
+function writeFloatLE(bytes2, offset, value) {
+ viewFor(bytes2).setFloat32(offset, value, true);
+}
+function writeAscii(bytes2, offset, text, maxLength) {
+ const source = String(text).slice(0, maxLength);
+ for (let index = 0; index < source.length; index += 1) {
+ bytes2[offset + index] = source.charCodeAt(index) & 127;
+ }
+}
+function align4Buffer(buffer, fill = 32) {
+ const padding = (4 - buffer.length % 4) % 4;
+ return padding ? concatBytes([buffer, allocBytes(padding, fill)]) : buffer;
+}
+function hexToRgb012(hex, fallback = "#d4d4d8") {
+ const raw = String(hex || fallback).trim();
+ const value = /^#(?:[0-9a-fA-F]{3}){1,2}$/.test(raw) ? raw : fallback;
+ const expanded = value.length === 4 ? `${value[1]}${value[1]}${value[2]}${value[2]}${value[3]}${value[3]}` : value.slice(1);
+ return [
+ parseInt(expanded.slice(0, 2), 16) / 255,
+ parseInt(expanded.slice(2, 4), 16) / 255,
+ parseInt(expanded.slice(4, 6), 16) / 255
+ ];
+}
+function hexTo3mfDisplayColor(hex, fallback = "#d4d4d8") {
+ const toChannel = (component) => Math.round(clamp01(component) * 255).toString(16).padStart(2, "0").toUpperCase();
+ const rgb = hexToRgb012(hex, fallback);
+ return `#${toChannel(rgb[0])}${toChannel(rgb[1])}${toChannel(rgb[2])}FF`;
+}
+function triangleNormal(positions, offset) {
+ const ax = positions[offset];
+ const ay = positions[offset + 1];
+ const az = positions[offset + 2];
+ const bx = positions[offset + 3];
+ const by = positions[offset + 4];
+ const bz = positions[offset + 5];
+ const cx = positions[offset + 6];
+ const cy = positions[offset + 7];
+ const cz = positions[offset + 8];
+ const ux = bx - ax;
+ const uy = by - ay;
+ const uz = bz - az;
+ const vx = cx - ax;
+ const vy = cy - ay;
+ const vz = cz - az;
+ const nx = uy * vz - uz * vy;
+ const ny = uz * vx - ux * vz;
+ const nz = ux * vy - uy * vx;
+ const length2 = Math.hypot(nx, ny, nz);
+ return length2 > 1e-12 ? [nx / length2, ny / length2, nz / length2] : [0, 0, 1];
+}
+function sanitizeName(value, fallback = "implicit-cad") {
+ return String(value || fallback).trim().replace(/[\x00-\x1f<>:"/\\|?*]+/g, "-") || fallback;
+}
+function boundsForPositions(positions) {
+ const min = [Infinity, Infinity, Infinity];
+ const max = [-Infinity, -Infinity, -Infinity];
+ for (let index = 0; index < positions.length; index += 3) {
+ min[0] = Math.min(min[0], positions[index]);
+ min[1] = Math.min(min[1], positions[index + 1]);
+ min[2] = Math.min(min[2], positions[index + 2]);
+ max[0] = Math.max(max[0], positions[index]);
+ max[1] = Math.max(max[1], positions[index + 1]);
+ max[2] = Math.max(max[2], positions[index + 2]);
+ }
+ return {
+ min: min.map((value) => Number.isFinite(value) ? value : 0),
+ max: max.map((value) => Number.isFinite(value) ? value : 0)
+ };
+}
+function buildGlb(gltf, binaryParts) {
+ const binaryChunk = align4Buffer(concatBytes(binaryParts), 0);
+ gltf.buffers = [{ byteLength: binaryChunk.length }];
+ const jsonChunk = align4Buffer(bytesFromString(JSON.stringify(gltf)), 32);
+ const totalLength = 12 + 8 + jsonChunk.length + 8 + binaryChunk.length;
+ const header = allocBytes(12);
+ writeUInt32LE(header, 0, 1179937895);
+ writeUInt32LE(header, 4, 2);
+ writeUInt32LE(header, 8, totalLength);
+ const jsonHeader = allocBytes(8);
+ writeUInt32LE(jsonHeader, 0, jsonChunk.length);
+ writeUInt32LE(jsonHeader, 4, 1313821514);
+ const binHeader = allocBytes(8);
+ writeUInt32LE(binHeader, 0, binaryChunk.length);
+ writeUInt32LE(binHeader, 4, 5130562);
+ return concatBytes([header, jsonHeader, jsonChunk, binHeader, binaryChunk], totalLength);
+}
+function meshToBinaryStl(mesh, { name = "implicit-cad" } = {}) {
+ const positions = mesh.positions || new Float32Array();
+ const triangleCount = Math.floor(positions.length / 9);
+ const buffer = allocBytes(84 + triangleCount * 50);
+ writeAscii(buffer, 0, `implicit-cad ${sanitizeName(name)}`, 80);
+ writeUInt32LE(buffer, 80, triangleCount);
+ let offset = 84;
+ for (let triangle = 0; triangle < triangleCount; triangle += 1) {
+ const positionOffset = triangle * 9;
+ const normal = triangleNormal(positions, positionOffset);
+ for (const component of normal) {
+ writeFloatLE(buffer, offset, component);
+ offset += 4;
+ }
+ for (let vertex = 0; vertex < 9; vertex += 1) {
+ writeFloatLE(buffer, offset, positions[positionOffset + vertex]);
+ offset += 4;
+ }
+ writeUInt16LE(buffer, offset, 0);
+ offset += 2;
+ }
+ return buffer;
+}
+function meshToGlb(mesh, { name = "Implicit CAD", color = "#d4d4d8" } = {}) {
+ const positions = mesh.positions || new Float32Array();
+ const normals = mesh.normals && mesh.normals.length === positions.length ? mesh.normals : new Float32Array(positions.length);
+ const vertexCount = Math.floor(positions.length / 3);
+ const positionBuffer = typedArrayBytes(positions);
+ const normalBuffer = typedArrayBytes(normals);
+ const positionBounds = boundsForPositions(positions);
+ const baseColor = hexToRgb012(color);
+ const gltf = {
+ asset: { version: "2.0", generator: "implicitjs exporter" },
+ scene: 0,
+ scenes: [{ nodes: [0] }],
+ nodes: [{
+ mesh: 0,
+ name: sanitizeName(name, "Implicit CAD"),
+ extras: {
+ cadOccurrenceId: "implicit-cad:0",
+ cadSourceKind: "implicit-cad",
+ cadUnits: "mm"
+ }
+ }],
+ meshes: [{
+ primitives: [{
+ attributes: { POSITION: 0, NORMAL: 1 },
+ material: 0,
+ mode: 4
+ }]
+ }],
+ materials: [{
+ name: "Implicit material",
+ doubleSided: true,
+ extras: { cadSourceColor: true },
+ pbrMetallicRoughness: {
+ baseColorFactor: [...baseColor.map(clamp01), 1],
+ roughnessFactor: 0.72,
+ metallicFactor: 0.02
+ }
+ }],
+ bufferViews: [
+ { buffer: 0, byteOffset: 0, byteLength: positionBuffer.length, target: 34962 },
+ { buffer: 0, byteOffset: positionBuffer.length, byteLength: normalBuffer.length, target: 34962 }
+ ],
+ accessors: [
+ {
+ bufferView: 0,
+ byteOffset: 0,
+ componentType: 5126,
+ count: vertexCount,
+ type: "VEC3",
+ min: positionBounds.min,
+ max: positionBounds.max
+ },
+ {
+ bufferView: 1,
+ byteOffset: 0,
+ componentType: 5126,
+ count: vertexCount,
+ type: "VEC3"
+ }
+ ]
+ };
+ return buildGlb(gltf, [positionBuffer, normalBuffer]);
+}
+function meshToAnimatedGlb(mesh, {
+ name = "Implicit CAD",
+ color = "#d4d4d8",
+ duration = 4,
+ times = [],
+ targetPositions = []
+} = {}) {
+ const positions = mesh.positions || new Float32Array();
+ const normals = mesh.normals && mesh.normals.length === positions.length ? mesh.normals : new Float32Array(positions.length);
+ const vertexCount = Math.floor(positions.length / 3);
+ const positionBuffer = typedArrayBytes(positions);
+ const normalBuffer = typedArrayBytes(normals);
+ const positionBounds = boundsForPositions(positions);
+ const cleanTargets = targetPositions.filter((target) => target && target.length === positions.length).map((target) => {
+ const delta = new Float32Array(positions.length);
+ for (let index = 0; index < positions.length; index += 1) {
+ delta[index] = finiteNumber5(target[index], positions[index]) - positions[index];
+ }
+ return delta;
+ });
+ if (!cleanTargets.length) {
+ throw new Error("Animated GLB export needs at least one compatible animation frame.");
+ }
+ const keyTimes = Array.isArray(times) && times.length >= 2 ? times.map((value) => Math.max(finiteNumber5(value, 0), 0)) : [0, Math.max(finiteNumber5(duration, 4), 1e-3)];
+ const targetCount = cleanTargets.length;
+ const weightValues = new Float32Array(keyTimes.length * targetCount);
+ for (let key = 0; key < keyTimes.length; key += 1) {
+ const targetIndex = key - 1;
+ if (targetIndex >= 0 && targetIndex < targetCount) {
+ weightValues[key * targetCount + targetIndex] = 1;
+ }
+ }
+ const targetBuffers = cleanTargets.map((target) => typedArrayBytes(target));
+ const timeValues = new Float32Array(keyTimes);
+ const timeBuffer = typedArrayBytes(timeValues);
+ const weightBuffer = typedArrayBytes(weightValues);
+ const offsets = [];
+ let byteOffset = 0;
+ for (const part of [positionBuffer, normalBuffer, ...targetBuffers, timeBuffer, weightBuffer]) {
+ offsets.push(byteOffset);
+ byteOffset += part.length;
+ }
+ const baseColor = hexToRgb012(color);
+ const targetAccessorStart = 2;
+ const timeAccessor = targetAccessorStart + targetCount;
+ const weightAccessor = timeAccessor + 1;
+ const gltf = {
+ asset: { version: "2.0", generator: "implicitjs animated exporter" },
+ scene: 0,
+ scenes: [{ nodes: [0] }],
+ nodes: [{
+ mesh: 0,
+ name: sanitizeName(name, "Implicit CAD"),
+ weights: Array.from({ length: targetCount }, () => 0),
+ extras: {
+ cadOccurrenceId: "implicit-cad:0",
+ cadSourceKind: "implicit-cad",
+ cadUnits: "mm",
+ implicitjsAnimated: true
+ }
+ }],
+ meshes: [{
+ weights: Array.from({ length: targetCount }, () => 0),
+ primitives: [{
+ attributes: { POSITION: 0, NORMAL: 1 },
+ targets: cleanTargets.map((_, index) => ({ POSITION: targetAccessorStart + index })),
+ material: 0,
+ mode: 4
+ }]
+ }],
+ materials: [{
+ name: "Implicit material",
+ doubleSided: true,
+ extras: { cadSourceColor: true },
+ pbrMetallicRoughness: {
+ baseColorFactor: [...baseColor.map(clamp01), 1],
+ roughnessFactor: 0.72,
+ metallicFactor: 0.02
+ }
+ }],
+ animations: [{
+ name: "Implicit parameter animation",
+ channels: [{ sampler: 0, target: { node: 0, path: "weights" } }],
+ samplers: [{ input: timeAccessor, output: weightAccessor, interpolation: "LINEAR" }]
+ }],
+ bufferViews: [
+ { buffer: 0, byteOffset: offsets[0], byteLength: positionBuffer.length, target: 34962 },
+ { buffer: 0, byteOffset: offsets[1], byteLength: normalBuffer.length, target: 34962 },
+ ...targetBuffers.map((target, index) => ({
+ buffer: 0,
+ byteOffset: offsets[2 + index],
+ byteLength: target.length,
+ target: 34962
+ })),
+ { buffer: 0, byteOffset: offsets[2 + targetCount], byteLength: timeBuffer.length },
+ { buffer: 0, byteOffset: offsets[3 + targetCount], byteLength: weightBuffer.length }
+ ],
+ accessors: [
+ {
+ bufferView: 0,
+ byteOffset: 0,
+ componentType: 5126,
+ count: vertexCount,
+ type: "VEC3",
+ min: positionBounds.min,
+ max: positionBounds.max
+ },
+ {
+ bufferView: 1,
+ byteOffset: 0,
+ componentType: 5126,
+ count: vertexCount,
+ type: "VEC3"
+ },
+ ...cleanTargets.map((target, index) => {
+ const bounds = boundsForPositions(target);
+ return {
+ bufferView: targetAccessorStart + index,
+ byteOffset: 0,
+ componentType: 5126,
+ count: vertexCount,
+ type: "VEC3",
+ min: bounds.min,
+ max: bounds.max
+ };
+ }),
+ {
+ bufferView: timeAccessor,
+ byteOffset: 0,
+ componentType: 5126,
+ count: timeValues.length,
+ type: "SCALAR",
+ min: [Math.min(...keyTimes)],
+ max: [Math.max(...keyTimes)]
+ },
+ {
+ bufferView: weightAccessor,
+ byteOffset: 0,
+ componentType: 5126,
+ count: weightValues.length,
+ type: "SCALAR",
+ min: [0],
+ max: [1]
+ }
+ ]
+ };
+ return buildGlb(gltf, [positionBuffer, normalBuffer, ...targetBuffers, timeBuffer, weightBuffer]);
+}
+function xmlEscape(value) {
+ return String(value ?? "").replace(/&/g, "&").replace(//g, ">").replace(/"/g, """);
+}
+function crc32(buffer) {
+ let table = crc32.table;
+ if (!table) {
+ table = new Uint32Array(256);
+ for (let index = 0; index < 256; index += 1) {
+ let c = index;
+ for (let bit = 0; bit < 8; bit += 1) {
+ c = c & 1 ? 3988292384 ^ c >>> 1 : c >>> 1;
+ }
+ table[index] = c >>> 0;
+ }
+ crc32.table = table;
+ }
+ let crc = 4294967295;
+ for (const byte of buffer) {
+ crc = table[(crc ^ byte) & 255] ^ crc >>> 8;
+ }
+ return (crc ^ 4294967295) >>> 0;
+}
+function dosDateTime(date = /* @__PURE__ */ new Date()) {
+ const year = Math.max(date.getFullYear(), 1980);
+ const dosTime = date.getHours() << 11 | date.getMinutes() << 5 | Math.floor(date.getSeconds() / 2);
+ const dosDate = year - 1980 << 9 | date.getMonth() + 1 << 5 | date.getDate();
+ return { dosTime, dosDate };
+}
+function zipStore(files) {
+ const localParts = [];
+ const centralParts = [];
+ let offset = 0;
+ const { dosTime, dosDate } = dosDateTime();
+ for (const file of files) {
+ const nameBuffer = bytesFromString(file.name);
+ const body = file.body instanceof Uint8Array ? file.body : bytesFromString(String(file.body || ""));
+ const crc = crc32(body);
+ const local = allocBytes(30);
+ writeUInt32LE(local, 0, 67324752);
+ writeUInt16LE(local, 4, 20);
+ writeUInt16LE(local, 6, 0);
+ writeUInt16LE(local, 8, 0);
+ writeUInt16LE(local, 10, dosTime);
+ writeUInt16LE(local, 12, dosDate);
+ writeUInt32LE(local, 14, crc);
+ writeUInt32LE(local, 18, body.length);
+ writeUInt32LE(local, 22, body.length);
+ writeUInt16LE(local, 26, nameBuffer.length);
+ writeUInt16LE(local, 28, 0);
+ localParts.push(local, nameBuffer, body);
+ const central = allocBytes(46);
+ writeUInt32LE(central, 0, 33639248);
+ writeUInt16LE(central, 4, 20);
+ writeUInt16LE(central, 6, 20);
+ writeUInt16LE(central, 8, 0);
+ writeUInt16LE(central, 10, 0);
+ writeUInt16LE(central, 12, dosTime);
+ writeUInt16LE(central, 14, dosDate);
+ writeUInt32LE(central, 16, crc);
+ writeUInt32LE(central, 20, body.length);
+ writeUInt32LE(central, 24, body.length);
+ writeUInt16LE(central, 28, nameBuffer.length);
+ writeUInt16LE(central, 30, 0);
+ writeUInt16LE(central, 32, 0);
+ writeUInt16LE(central, 34, 0);
+ writeUInt16LE(central, 36, 0);
+ writeUInt32LE(central, 38, 0);
+ writeUInt32LE(central, 42, offset);
+ centralParts.push(central, nameBuffer);
+ offset += local.length + nameBuffer.length + body.length;
+ }
+ const centralStart = offset;
+ const centralDirectory = concatBytes(centralParts);
+ const end = allocBytes(22);
+ writeUInt32LE(end, 0, 101010256);
+ writeUInt16LE(end, 4, 0);
+ writeUInt16LE(end, 6, 0);
+ writeUInt16LE(end, 8, files.length);
+ writeUInt16LE(end, 10, files.length);
+ writeUInt32LE(end, 12, centralDirectory.length);
+ writeUInt32LE(end, 16, centralStart);
+ writeUInt16LE(end, 20, 0);
+ return concatBytes([...localParts, centralDirectory, end]);
+}
+function meshTo3mf(mesh, { name = "Implicit CAD", color = "#d4d4d8" } = {}) {
+ const positions = mesh.positions || new Float32Array();
+ const vertexCount = Math.floor(positions.length / 3);
+ const triangleCount = Math.floor(positions.length / 9);
+ const displayColor = hexTo3mfDisplayColor(color);
+ const vertices = [];
+ for (let index = 0; index < vertexCount; index += 1) {
+ const offset = index * 3;
+ vertices.push(``);
+ }
+ const triangles = [];
+ for (let index = 0; index < triangleCount; index += 1) {
+ const base = index * 3;
+ triangles.push(``);
+ }
+ const modelXml = `
+
+ ${xmlEscape(name)}
+
+
+
+
+
+
+
+