Racks roll out flush with the tub face: travel -0.5425 / -0.5195

frigidaire_fdpc4221as/parameters.json

@@ -620,11 +620,11 @@
       90.0
     ],
     "lower_slide": [
-      -0.49,
+      -0.5425,
       0.0
     ],
     "upper_slide": [
-      -0.44,
+      -0.5195,
       0.0
     ]
   },

frigidaire_fdpc4221as/source/asset.py

@@ -22,7 +22,39 @@ COMPONENT_FILES = {"Cabinet": "cabinet.usdc", "Door": "door.usdc",
                    "LowerRack": "lower_rack.usdc", "UpperRack": "upper_rack.usdc",
                    "SilverwareBasket": "silverware_basket.usdc"}
 BODY_POSITIONS = {name: tuple(position) for name, position in PARAMETERS["origins"].items()}
-JOINT_LIMITS = {"door_hinge": (0., 90.), "lower_slide": (-.49, 0.), "upper_slide": (-.44, 0.)}
+
+
+def _solid_max_y(spec):
+    """The largest local y of a component solid (the racks carry X-axis wheel cylinders)."""
+    c = float(spec["center"][1])
+    if spec["kind"] == "cylinder":
+        return c + (float(spec["height"]) / 2 if spec.get("axis") == "Y" else float(spec["radius"]))
+    if spec["kind"] == "box":
+        return c + float(spec["size"][1]) / 2
+    return c
+
+
+def _flush_slide_limits():
+    """The racks fully rolled out (plans/2026-10-29-racks-out.md; the user: "the robot can use all space above the racks"):
+    each slide's travel puts its rack's rearmost geometry, pushed in (every wire centreline + its radius, mesh point and
+    solid, in the rack body frame at its origin), flush with the tub's front face, the cabinet's opening_center y (-0.254):
+    travel = body origin y + rear extent - face y (lower 0.5425 m, upper 0.5195 m). It replaces the authored -0.49 / -0.44,
+    which left 7 cm of the lower rack inside the tub mouth under the upper rack."""
+    from geometry import build_components
+    comps = build_components()
+    face_y = float(comps["Cabinet"]["sites"]["opening_center"][1])
+    out = {}
+    for joint, rack in (("lower_slide", "LowerRack"), ("upper_slide", "UpperRack")):
+        c = comps[rack]
+        ys = [float(np.max(np.asarray(pts, dtype=float)[:, 1])) + float(r) for _, pts, r in c["wires"]]
+        ys += [float(np.max(np.asarray(m.points, dtype=float)[:, 1])) for m in c["meshes"].values()]
+        ys += [_solid_max_y(sp) for sp in c["solids"]]
+        rear = float(PARAMETERS["origins"][rack][1]) + max(ys)
+        out[joint] = (-round(rear - face_y, 4), 0.)
+    return out
+
+
+JOINT_LIMITS = {"door_hinge": (0., 90.), **_flush_slide_limits()}
 MATERIALS = {
     "CoatedWire": ((.61, .65, .68), 0.03, .31),
     "BasketPlastic": ((.045, .050, .055), 0., .48),
@@ -677,7 +709,8 @@ def build(output_dir=ASSET_DIR, component=None):
         "Open fdpc4221as.usdc for the appliance, or example_scene.usda for a lit scene. "
         "Copy this entire directory to preserve relative component references.\n\n"
         "Meters, Z up, front -Y, width X. Default prim /FrigidaireFDPC4221AS. "
-        "Door 0..90 degrees; lower_slide -0.49..0 m; upper_slide -0.44..0 m. "
+        f"Door 0..90 degrees; lower_slide {JOINT_LIMITS['lower_slide'][0]:g}..0 m; upper_slide {JOINT_LIMITS['upper_slide'][0]:g}..0 m "
+        "(each rack's rear wall flush with the tub's front face when out). "
         "The basket is an independent rigid body.\n\n"
         "For scripted motion or passive spring counterbalance, use dishsim_frigidaire.asset.spawn "
         "and code/initialization/frigidaire/frigidaire_demo.py in the source repository. "

frigidaire_fdpc4221as/source/frigidaire_asset_evidence.py

@@ -49,9 +49,11 @@ import torch  # noqa: E402
 from pxr import Gf, Usd, UsdGeom, UsdPhysics  # noqa: E402
 
 from dishsim.media import release_sim_for_close  # noqa: E402
+from dishsim_frigidaire.asset import JOINT_LIMITS  # noqa: E402  (the shipped parameters.json joint_limits_usd)
 
 JOINTS = ("door_hinge", "lower_slide", "upper_slide")
-EXTENDED = {"door_hinge": math.pi / 2, "lower_slide": -.49, "upper_slide": -.44}
+EXTENDED = {"door_hinge": math.pi / 2, "lower_slide": JOINT_LIMITS["lower_slide"][0],      # the racks' rear walls flush with
+            "upper_slide": JOINT_LIMITS["upper_slide"][0]}                                # the tub face (asset.JOINT_LIMITS)
 TOLERANCE = {"door_hinge": math.radians(.5), "lower_slide": .005, "upper_slide": .005}
 COMMAND_SPEED = {"door_hinge": .35, "lower_slide": .10, "upper_slide": .10}
 COMPONENTS = {"cabinet": "Cabinet", "door": "Door", "lower_rack": "LowerRack",