feat(cam-viz): orientation ribbon + hexapod dump

patman commented

2026-08-18 05:45:42 +00:00

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SE(3) extension S-g (design section 7 optional step). ribbon.rs: commanded-orientation ribbon geometry, yaw recovered from the rotation matrix (structurally immune to quaternion double cover). hexapod.rs + hexapod-dump binary (BUCK+Cargo): tangent-aligned pass through all three Stewart IK orders, per-leg CSV. Showcase scenes untouched — pinned renders cannot shift. Try: buck2 run //CAM/viz:hexapod-dump. Opus review PASS.

patman added 1 commit

2026-08-18 05:45:42 +00:00

feat(cam-viz): orientation ribbon + hexapod actuator-stream dump

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939ea850e5

Stack step S-g of the SE(3) angular lowering design
(docs/superpowers/se3-lowering-design.md sections 5 and 7). Optional and
non-gating: presentation only. No lowering behaviour changes, no
certificate changes, and the showcase scenes do not call any of it, so
their pinned renders are untouched.

- src/ribbon.rs: samples the commanded tool orientation along a lowered
  pass and turns it into drawable geometry. A trajectory polyline shows
  where the tool goes but not how it is turned while going there; the
  ribbon draws a band whose half-width follows the tool's body +y, with
  periodic rungs, so the yaw swing through a corner blend is legible.
  Yaw is recovered from the pose's rotation matrix rather than from the
  quaternion components, which is correct for any rotation and sidesteps
  the double cover.
- src/hexapod.rs + src/bin/hexapod_dump.rs: a new rust_binary that pushes
  a tangent-aligned rounded-rect pass through the Stewart platform's three
  higher-order IK orders and emits per-leg length/rate/acceleration/jerk
  as CSV, with a summary header carrying the numbers a PR description
  wants. This is the reporting counterpart to cam-lower's stewart_e2e
  demo, which asserts the same chain's correctness.

BUCK and Cargo are both updated for the new binary (hexapod-dump), per
the dual-bookkeeping rule -- this one is not test-only.

Sample output from `buck2 run //CAM/viz:hexapod-dump`, MEASURED AT THIS
COMMIT:
  path_len_mm=631.3265 duration_s=12.789031 segments=25579 dt_s=0.0005
  peak_omega_rad_s=1.326477 peak_alpha_rad_s2=22.164002
  peak_zeta_rad_s3=717.237934
  cert_position_m=0.000583663 cert_orientation_rad=0.055577394
  cert_orientation_informative=true
  leg_extension_m=[0.411379,0.989294] peak_leg_jerk_m_s3=167.410471

NOTE for anyone running the binary from a later commit: the two
certificate-tightening commits stacked above this one (S-h feed-side
windowing, S-i seam-endpoint kappa'') lower the orientation bound, so at
the stack tip the same binary prints cert_orientation_rad=0.036141360
rather than 0.055577394. Nothing is wrong -- the bound got tighter. Every
other number above is unchanged, since neither lever touches the emitted
schedule or the translational certificate.

Tests: ribbon sampling count/span, yaw tracking the direction of travel
checked against the twist rather than the pose it was drawn from, a
fixed-vs-tangent-aligned contrast as the mutation guard, edge offsets, a
canvas-marking check, and for the dump its CSV shape, byte-level
determinism (no clock, no randomness), non-degenerate streams, and that
the fixture is gentle enough to certify informatively.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>

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2026-08-18 05:46:14 +00:00

patman added 1 commit

2026-08-21 06:44:29 +00:00

chore: normalize comments

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ee2072aa8e

Co-authored-by: patman-assist <patrick-ai@kgroo.co>

patman added 1 commit

2026-08-23 23:28:54 +00:00

style: rustfmt --edition 2024 drift fix

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6aa24d5260

Reformats files that predate the runner's current rustfmt; no code changes.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>

patman added 1 commit

2026-08-24 01:42:19 +00:00

merge: sync main into viz-ribbon (post track2 merge)

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802fb4d46d

Co-authored-by: patman-assist <patrick-ai@kgroo.co>

patman merged commit d63c4989ae into patman/stewart-e2e

2026-08-24 02:25:39 +00:00

patman referenced this pull request from a commit

2026-08-24 02:25:40 +00:00

Merge pull request 'feat(cam-viz): orientation ribbon + hexapod dump' (#130) from patman/viz-ribbon into patman/stewart-e2e

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feat(cam-viz): orientation ribbon + hexapod dump #130