The overlap check in the knife block's report, and its contributor session recorded again on the new physics
97ba36c verified | // A set's validation report: each probe's MuJoCo trace replayed in 3D, as delivered and after the fix, beside the | |
| // hidden checks in MuJoCo and Genesis, the static tipping margin, the per-knife numbers, how far anything went into | |
| // anything else, and the MJCF + OBJ export. | |
| import { SimViewer } from "./viewer.js"; | |
| const $ = (id) => document.getElementById(id); | |
| const el = (tag, cls, text) => { const e = document.createElement(tag); if (cls) e.className = cls; if (text !== undefined) e.textContent = text; return e; }; | |
| const PROBES = { rest: "Rest", seat: "Insert", extract: "Pull", tip: "Lean" }; | |
| const ABOUT = { | |
| rest: "Every body starts at its designed pose and settles for 1.5 s: how far each knife ends from its seat.", | |
| seat: "Each knife is dropped into its slot from 2 cm above: does it go all the way in?", | |
| extract: "Each knife in turn is pulled out along its slot, the force rising to 3 times its weight: when does it start to come out, and does the block lift?", | |
| tip: "The table tilts toward the block's back, the way it and the handles lean, in 5° steps: the first angle where something gives.", | |
| }; | |
| export async function mount(name) { | |
| const r = await (await fetch(`validation/${name}.json`)).json(); | |
| const meta = await (await fetch(`scenes/${name}.json`)).json(); | |
| const v = new SimViewer($("vr-view"), { onFrame: (st) => { $("vr-label").hidden = !(st && st.label); $("vr-label").textContent = (st && st.label) || ""; } }); | |
| await v.load(`scenes/${name}.glb`, meta); | |
| $("vr-grid").textContent = v.gridLabel; | |
| let state = 0, probe = "seat"; | |
| r.states.forEach((s, i) => { | |
| const b = el("button", "btn", s.label); | |
| b.onclick = () => { state = i; draw(); }; | |
| $("vr-states").append(b); | |
| }); | |
| for (const [k, lab] of Object.entries(PROBES)) { | |
| const b = el("button", "btn", lab); | |
| b.dataset.k = k; | |
| b.onclick = () => { probe = k; draw(); }; | |
| $("vr-probes").append(b); | |
| } | |
| $("vr-replay").onclick = () => v.play(r.states[state].probes[probe].trace); | |
| $("vr-export").href = r.export; | |
| const names = Object.fromEntries(r.bodies.map((b) => [b.name, b.label || b.name])); | |
| names.floor = "the floor"; | |
| const say = (o) => `${names[o.body] || o.body} ${o.mm.toFixed(1)} mm into ${names[o.into] || o.into}`; | |
| // how far anything went into anything else in the run on screen (for the lean, the angle replayed), with a button | |
| // that stops the replay at that moment and lights up the body | |
| function overlap(p) { | |
| const box = $("vr-overlap"); | |
| box.textContent = ""; | |
| const ov = p.trace.kind === "tip" ? (p.result.rows.find((x) => x.deg === p.trace.lean_deg) || {}).overlap : p.result.overlap; | |
| if (!ov) return; | |
| const deep = ov.pairs[0], end = ov.end.pairs[0]; | |
| box.append(el("b", "", "Overlap. ")); | |
| if (!deep) { box.append("Nothing goes into anything else in this run."); return; } | |
| box.append(`Deepest: ${say(deep)}, at ${deep.t.toFixed(2)} s. `); | |
| const b = el("button", "btn", "Show it"); | |
| b.onclick = () => { | |
| v.seek(deep.t, true); | |
| v.playing = false; | |
| v.highlight(v.meta.geoms.filter((g) => g.link === deep.body).map((g) => g.part)); | |
| }; | |
| box.append(b, ` Once it settles: ${end ? say(end) : "nothing is inside anything else"}.`); | |
| } | |
| function draw() { | |
| const s = r.states[state], p = s.probes[probe]; | |
| [...$("vr-states").children].forEach((b, i) => b.classList.toggle("pri", i === state)); | |
| [...$("vr-probes").children].forEach((b) => b.classList.toggle("pri", b.dataset.k === probe)); | |
| $("vr-about").textContent = ABOUT[probe]; | |
| v.play(p.trace); | |
| // checks: MuJoCo grades; Genesis gives a second opinion on the checks it runs | |
| const g = Object.fromEntries(s.second_opinion.checks.map((c) => [c.id, c.result])); | |
| const t = $("vr-checks"); | |
| t.textContent = ""; | |
| const head = el("tr"); | |
| for (const h of ["Check", "MuJoCo", "Genesis", "What it measured"]) head.append(el("th", "", h)); | |
| t.append(head); | |
| for (const c of s.checks) { | |
| const tr = el("tr"); | |
| tr.append(el("td", "", c.id), el("td", c.result ? "ok" : "bad", c.result ? "pass" : "fail"), | |
| el("td", c.id in g ? (g[c.id] ? "ok" : "bad") : "na", c.id in g ? (g[c.id] ? "pass" : "fail") : "not run"), el("td", "", c.description)); | |
| t.append(tr); | |
| } | |
| $("vr-verdict").textContent = `${s.label}: ${s.passed ? "passes every check" : `fails ${s.checks.filter((c) => !c.result).length} of ${s.checks.length}`}` + | |
| (s.second_opinion.disagree.length ? `; Genesis disagrees on ${s.second_opinion.disagree.join(", ")}` : "; Genesis agrees wherever it runs"); | |
| $("vr-verdict").className = "vr-verdict " + (s.passed ? "ok" : "bad"); | |
| // per knife, for this probe | |
| const k = $("vr-knives"); | |
| k.textContent = ""; | |
| const res = p.result; | |
| const cols = probe === "extract" ? ["Knife", "Starts to come out at", "Block lift"] : probe === "tip" ? ["Tilt", "What happens", "Block tilt", "Left inside, at rest"] : ["Knife", "Out of its slot", "Turned"]; | |
| const hr = el("tr"); | |
| cols.forEach((c) => hr.append(el("th", "", c))); | |
| k.append(hr); | |
| if (probe === "tip") { | |
| for (const row of res.rows.slice(0, 6)) { | |
| const tr = el("tr"); | |
| const e = row.overlap && row.overlap.end.pairs[0]; | |
| tr.append(el("td", "", `${row.deg}°`), el("td", row.mode === "holds" ? "ok" : "bad", row.mode.replace(/_/g, " ")), el("td", "", `${row.block_tilt_deg}°`), | |
| el("td", e && e.mm > 0.5 ? "bad" : "", e ? `${e.mm.toFixed(1)} mm` : "none")); | |
| k.append(tr); | |
| } | |
| } else { | |
| for (const [n, x] of Object.entries(res.knives)) { | |
| const tr = el("tr"); | |
| const lab = (res.labels && res.labels[n]) || n; | |
| if (probe === "extract") { | |
| const f = x.freed_at_weight_ratio; | |
| tr.append(el("td", "", lab), el("td", f !== null && f <= 2 ? "ok" : "bad", f === null ? "stuck" : `${f.toFixed(2)}× its weight`), el("td", "", `${x.block_lift_mm} mm`)); | |
| } else { | |
| const o = x.out_of_slot_mm; | |
| tr.append(el("td", "", lab), el("td", Math.abs(o) <= 2 ? "ok" : "bad", `${o.toFixed(1)} mm`), el("td", "", `${x.rotation_deg}°`)); | |
| } | |
| k.append(tr); | |
| } | |
| } | |
| overlap(p); | |
| // stability: how far it can tilt each way before its centre of mass passes the edge of its footprint | |
| const st = s.stability.tip_angle_deg; | |
| $("vr-stab").textContent = ""; | |
| for (const [side, a] of Object.entries(st)) { | |
| const d = el("div", a < 12 ? "bad" : ""); | |
| d.append(el("span", "", side), el("b", "", `${a}°`)); | |
| $("vr-stab").append(d); | |
| } | |
| $("vr-load").textContent = s.load_check | |
| ? `Loads in plain MuJoCo ${s.load_check.mujoco}: ${Object.keys(s.load_check.objects).length} object files and a scene that settles within ${Math.max(...Object.values(s.load_check.scene.drift_mm_after_1s)).toFixed(1)} mm in 1 s.` | |
| : ""; | |
| } | |
| draw(); | |
| } | |