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[Bot] Place Articraft catalog assets using rest-pose bounds - #8
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| for (const x of [extent.min[0], extent.max[0]]) { | ||
| for (const y of [extent.min[1], extent.max[1]]) { | ||
| for (const z of [extent.min[2], extent.max[2]]) { | ||
| const point = transform(matrix, [x, y, z]) |
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When a sphere or cylinder visual has a non-axis-aligned joint or visual rotation, transforming the corners of its local AABB overestimates the actual bounds. For example, a unit sphere rotated 45° about X is reported as 2.828 m high rather than 2 m, so bottomCentreFrame offsets it upward by 1.414 m and leaves its real bottom about 0.414 m above the floor. Handle spheres analytically and compute the transformed cylinder support extents instead of treating every primitive extent as a box.
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Catalog entries described only by a mesh's raw size can place primitive-based or transformed URDF assets partly below the floor. This change measures rest-pose visual bounds through link and visual origins, converts them to Pascal's Y-up frame, and exports the dimensions and offset needed to stand the asset on its bottom centre.
Catalog records and nodes carry the optional offset. Both placement previews and placed nodes copy it, and the loaded visual applies it inside the node's transform. Existing joint poses and saved motion state remain intact when a node is saved and reopened.
Validation: package build and typecheck pass; all 29 tests pass (89 assertions), including primitive/mesh bounds, transformed joints, floor placement, and node serialization. Local validation used Bun 1.4.4 on macOS; GitHub CI is required before merge. Worker source is unchanged. Independent current-head review is pending.