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…iling first Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
The host ships @pascal-app/core 1.0.3 on three 0.186, which the <1.0.0 and ^0.185 ranges excluded, so strict installs refused the plugin. Dev dependencies follow the host (core/editor/viewer 1.0.3, three 0.186.0, @types/three 0.184.1 as in pascalorg/editor). Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Every slider passed restoreOnCommit={false}: SliderControl pauses history for
the drag and, with the flag off, resumes without a tracked write, so a drag of
scale, position, rotation or a joint left no undo step. The default restores
the pre-drag value and writes the final one as a single tracked change.
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Continuous joints (wheels, fans, knobs: 20.8 % of the catalog's movable joints) followed the same sine sweep as limited ones, over a fallback range of ±π, so they rocked back and forth. They now turn one full revolution per motion period, live and in the exported loop clip, which stays seamless. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Placement wrote motionEnabled: true and the inspector toggled it through updateNode, so every placed asset animated forever by default and Start/Stop went into undo, autosave and collaboration. Playback now lives in a transient per-asset store: assets start still, the scene keeps only the rest pose (jointValues), and stopping returns every joint to it. The saved flag is dropped from the schema; older scenes that saved it load still. The placement preview shows the rest pose too. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Catalog dimensions came from raw OBJ vertices only, so primitive-only records fell back to [1, 1, 1] and the rest ignored primitives, origins and mesh scale; assets whose rest pose extends below their origin sank into the floor. urdfRestBounds computes the rest-pose bounds from every visual (box, cylinder, sphere, mesh) through link, joint and visual origins and mesh scale, in Pascal's Y-up frame; bottomCentreFrame turns them into dimensions and an offset. Nodes carry the catalog offset, and the renderer moves the loaded asset by it, so the asset stands on the floor centred on its footprint, like the placeholder box. Nodes without an offset render as before. On the audit's 200-record sample (seed 20260926): dimensions off by more than 10 % 188 -> 0 (max 0.3 % against an independent reference), sinking into the floor 48 -> 0, footprint centre off by more than 10 % 67 -> 0. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
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This was referenced Sep 27, 2026
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Stacked on #4 (and #1–#3); until they merge this diff includes their commits.
What and why
A catalog record's
dimensionsdrive the floor footprint, the drag box, the rotate handle, the 2D plan and the loading box. The catalog sync computed them from raw OBJ vertices only, so:[1, 1, 1](3,135 of 9,996 records);scale;This PR:
urdfRestBounds(urdf, meshExtent): the rest-pose bounds (every joint at 0) from every visual through link, joint and visual origins and mesh scale, in Pascal's Y-up frame. Same conventions as urdf-loader (fixed-axis rpy, Z-aligned cylinders, all root links at the origin). Exported, withobjExtentandbottomCentreFrame, for hosts that sync a catalog.bottomCentreFrame(bounds):dimensionsplus anoffsetthat stands the asset on its bottom centre at the node origin (rounded to 0.1 mm).offset; placement copies it; the renderer moves the loaded asset by it. The asset now stands on the floor, centred on its footprint, like the placeholder box. Nodes without an offset render exactly as before (no silent move of placed assets).Numbers (the audit's 200-record sample, seed 20260926, public index of 2026-08-11)
"After" is checked against an independent Python reference on the same files (floor and centre agree within 0.05 mm). 2 of the 200 are unit outliers (>30 m, OBJ in millimetres with no
scale); they keep their true size.Failing case first
Commit
e1b34be:bounds.test.ts(box, cylinder under a rotated joint, a millimetre mesh withscale, comments and declarations in the XML) and the offset case incatalog-node.test.tsfail onmain.Proof
bun test: 40 pass, 0 fail.bun run check-types: clean.bun run build: ok.The catalog index itself is rewritten by the host's sync (next step there); records synced before it keep
[1,1,1]and no offset until then.🤖 Generated with Claude Code