Kernel rig: interference and clearance between placed occurrences

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

tests/kernel-cases/assemblies/cov-inspect-clearance-between-occurrences/expected.json

@@ -0,0 +1,21 @@
+{
+ "sources": [],
+ "what": "inspect.clearance of the arm lifted 5 mm off the base",
+ "source": "analytic",
+ "method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Arm moved by (0,0,5): its bottom (z 5) is 5 mm above Base's top (z 0) over x 0..10: distance 5",
+ "body_count": 2,
+ "volume_mm3": 8000.0,
+ "results": [
+  {
+   "step": 9,
+   "json": {
+    "overlaps": [],
+    "near": [
+     {
+      "distance_mm": 5.0
+     }
+    ]
+   }
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-clearance-between-occurrences/recipe.json

@@ -0,0 +1,92 @@
+{
+ "commands": [
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 20,
+    "width": 20,
+    "height": 10,
+    "corner": [
+     -10,
+     -10,
+     -10
+    ],
+    "operation": "new",
+    "body_name": "BaseBox"
+   }
+  },
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 40,
+    "width": 10,
+    "height": 10,
+    "corner": [
+     0,
+     -5,
+     0
+    ],
+    "operation": "new",
+    "body_name": "ArmBox"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Base",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "BaseBox"
+    ],
+    "component": "Base"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Arm",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "ArmBox"
+    ],
+    "component": "Arm"
+   }
+  },
+  {
+   "command": "occurrence.ground",
+   "params": {
+    "occurrence": "Base:1",
+    "grounded": true
+   }
+  },
+  {
+   "command": "occurrence.move",
+   "params": {
+    "occurrence": "Arm:1",
+    "translate": [
+     0,
+     0,
+     5
+    ]
+   }
+  },
+  {
+   "command": "inspect.clearance",
+   "params": {
+    "clearance": 10
+   }
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-clearance-turned-occurrence/expected.json

@@ -0,0 +1,21 @@
+{
+ "sources": [],
+ "what": "inspect.clearance between the arm turned 90 degrees and a grounded block",
+ "source": "analytic",
+ "method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); a block 10x10x10 from (20,0,0); hinge at 90 puts Arm at x -5..5, y 0..40: the gap to the block's face x = 20 is 15",
+ "body_count": 3,
+ "volume_mm3": 9000.0,
+ "results": [
+  {
+   "step": 14,
+   "json": {
+    "overlaps": [],
+    "near": [
+     {
+      "distance_mm": 15.0
+     }
+    ]
+   }
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-clearance-turned-occurrence/recipe.json

@@ -0,0 +1,169 @@
+{
+ "commands": [
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 20,
+    "width": 20,
+    "height": 10,
+    "corner": [
+     -10,
+     -10,
+     -10
+    ],
+    "operation": "new",
+    "body_name": "BaseBox"
+   }
+  },
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 40,
+    "width": 10,
+    "height": 10,
+    "corner": [
+     0,
+     -5,
+     0
+    ],
+    "operation": "new",
+    "body_name": "ArmBox"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Base",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "BaseBox"
+    ],
+    "component": "Base"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Arm",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "ArmBox"
+    ],
+    "component": "Arm"
+   }
+  },
+  {
+   "command": "occurrence.ground",
+   "params": {
+    "occurrence": "Base:1",
+    "grounded": true
+   }
+  },
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 10,
+    "width": 10,
+    "height": 10,
+    "corner": [
+     20,
+     0,
+     0
+    ],
+    "operation": "new",
+    "body_name": "PostBox"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Post",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "PostBox"
+    ],
+    "component": "Post"
+   }
+  },
+  {
+   "command": "occurrence.ground",
+   "params": {
+    "occurrence": "Post:1",
+    "grounded": true
+   }
+  },
+  {
+   "command": "joint.create",
+   "params": {
+    "type": "revolute",
+    "name": "Hinge",
+    "flip": true,
+    "a": {
+     "occurrence": "Base",
+     "point": [
+      0,
+      0,
+      0
+     ],
+     "z": [
+      0,
+      0,
+      1
+     ]
+    },
+    "b": {
+     "occurrence": "Arm",
+     "point": [
+      0,
+      0,
+      0
+     ],
+     "z": [
+      0,
+      0,
+      1
+     ]
+    },
+    "quiet": true
+   }
+  },
+  {
+   "command": "joint.drive",
+   "params": {
+    "joint": "Hinge",
+    "quiet": true,
+    "value": 90
+   }
+  },
+  {
+   "command": "inspect.clearance",
+   "params": {
+    "bodies": [
+     "ArmBox"
+    ],
+    "against": [
+     "PostBox"
+    ],
+    "clearance": 20
+   }
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-interference-between-occurrences/expected.json

@@ -0,0 +1,39 @@
+{
+ "sources": [],
+ "what": "inspect.interference of the arm sunk 5 mm into the base",
+ "source": "analytic",
+ "method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Arm moved by (0,0,-5): it shares x 0..10, y -5..5, z -5..0 with Base: 500 mm3, area 2(100+50+50) = 400, centre (5,0,-2.5)",
+ "body_count": 2,
+ "volume_mm3": 8000.0,
+ "results": [
+  {
+   "step": 9,
+   "json": {
+    "count": 1,
+    "interferences": [
+     {
+      "volume_mm3": 500.0,
+      "area_mm2": 400.0,
+      "center": [
+       5.0,
+       0.0,
+       -2.5
+      ],
+      "bbox": {
+       "min": [
+        0.0,
+        -5.0,
+        -5.0
+       ],
+       "max": [
+        10.0,
+        5.0,
+        0.0
+       ]
+      }
+     }
+    ]
+   }
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-interference-between-occurrences/recipe.json

@@ -0,0 +1,90 @@
+{
+ "commands": [
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 20,
+    "width": 20,
+    "height": 10,
+    "corner": [
+     -10,
+     -10,
+     -10
+    ],
+    "operation": "new",
+    "body_name": "BaseBox"
+   }
+  },
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 40,
+    "width": 10,
+    "height": 10,
+    "corner": [
+     0,
+     -5,
+     0
+    ],
+    "operation": "new",
+    "body_name": "ArmBox"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Base",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "BaseBox"
+    ],
+    "component": "Base"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Arm",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "ArmBox"
+    ],
+    "component": "Arm"
+   }
+  },
+  {
+   "command": "occurrence.ground",
+   "params": {
+    "occurrence": "Base:1",
+    "grounded": true
+   }
+  },
+  {
+   "command": "occurrence.move",
+   "params": {
+    "occurrence": "Arm:1",
+    "translate": [
+     0,
+     0,
+     -5
+    ]
+   }
+  },
+  {
+   "command": "inspect.interference",
+   "params": {}
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-interference-touching-occurrences/expected.json

@@ -0,0 +1,17 @@
+{
+ "sources": [],
+ "what": "inspect.interference of the arm standing on the base face to face",
+ "source": "analytic",
+ "method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); they meet on a face only: no overlap volume",
+ "body_count": 2,
+ "volume_mm3": 8000.0,
+ "results": [
+  {
+   "step": 8,
+   "json": {
+    "count": 0,
+    "interferences": []
+   }
+  }
+ ]
+}

tests/kernel-cases/assemblies/cov-inspect-interference-touching-occurrences/recipe.json

@@ -0,0 +1,79 @@
+{
+ "commands": [
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 20,
+    "width": 20,
+    "height": 10,
+    "corner": [
+     -10,
+     -10,
+     -10
+    ],
+    "operation": "new",
+    "body_name": "BaseBox"
+   }
+  },
+  {
+   "command": "solid.box",
+   "params": {
+    "length": 40,
+    "width": 10,
+    "height": 10,
+    "corner": [
+     0,
+     -5,
+     0
+    ],
+    "operation": "new",
+    "body_name": "ArmBox"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Base",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "BaseBox"
+    ],
+    "component": "Base"
+   }
+  },
+  {
+   "command": "component.create",
+   "params": {
+    "name": "Arm",
+    "parent": "root",
+    "activate": false
+   }
+  },
+  {
+   "command": "component.move_bodies",
+   "params": {
+    "bodies": [
+     "ArmBox"
+    ],
+    "component": "Arm"
+   }
+  },
+  {
+   "command": "occurrence.ground",
+   "params": {
+    "occurrence": "Base:1",
+    "grounded": true
+   }
+  },
+  {
+   "command": "inspect.interference",
+   "params": {}
+  }
+ ]
+}