DrawingBotV3 experiments

Single physical acquisition

tatbot drawingbot generate JOB --out NEW_DIRECTORY --app INSTALLATION acquires one drawing without loading Inkmap, ROS or the simulator. A tatbot.dbv3-job/3 document supplies id, source (file, exact sha256, provenance in the shared ArtworkSource format), size_mm: [width, height], pen_width_mm, pfm, native settings including an explicit integer Random Seed, drawing_set, and state with all drawing-area and export settings. Source paths resolve relative to the job. Use scripts/lib/drawingbot/defaults/state.json as the explicit state template. Use scripts/lib/drawingbot/defaults/drawing-set.json as the explicit pen-table template. Each pen has a unique id, a human name, a type label, enabled, 8-bit rgba, integer weight, and stroke_factor. The set records its name, type, distribution_order, distribution_type, color_separation and ordered pens. One set with fixed opaque colors and Default separation is supported. Unsupported native distribution choices fail readback.

Native pen names carry the logical IDs so the normal %NAME% SVG layer export preserves identity even when human names and colors repeat. Effective readback records the actual native name/type, set/row IDs and export group; requested_name retains the human label. svgLayerNaming must be %NAME%. Keep disabled and zero-path pens in the requested table; their settings remain in recipe evidence. Changing colors or factors requires a new acquisition.

The worker verifies source bytes before launching the app, reads back page dimensions, physical pen width, the full pen table and requested PFM settings, and checks the export’s physical dimensions. A successful acquisition publishes result.json only after these checks. Outputs retain a portable job, native tatbot.dbv3-recipe/3 bundle, effective settings, raw/normalized export, artwork.json (shared InkmapArtwork/2 containing TattooProgram/1 metric paths), a derived preview.svg, and decoding.json with decoder/runtime identities; failures retain diagnostic artifacts. An output directory is never reused. Portable native projects omit cached drawings, UI state and temporary batch directories. This command is native acquisition; production artwork preparation runs separately and no robot is contacted.

The bounded native decoder preserves exported pen groups, path order, direction, subpaths, closedness and repeated passes. It admits absolute M/L/Q/C/Z centerlines and uniform matrix transforms; unsupported paint or geometry fails acquisition. Quadratic/cubic subdivision has a 5 micrometre chord bound and a finite point/depth budget. It also checks control-polygon length so collinear reversals survive. This bound concerns decoding the exported curves, not the upstream DBV3 simplification error or physical ink. SVG’s rounded display widths are checked against each pen’s native generation width (with a recorded 1% serialization tolerance); saved path widths use that explicit base width multiplied by the effective native stroke factor. The decoder refuses unknown/disabled groups, duplicate group IDs, color drift and width drift. Measured deposited width remains a tool property.

Job and recipe version 2 inputs are refused with a version error. For a new single-black job, change its schema to version 3 and add the pen-table template; existing frozen artwork remains valid input to ROS preparation. A historical recipe needs a new acquisition rather than silently adding missing pen evidence.

Prepare and review

tatbot drawingbot generate /path/to/job.json --out /path/to/new-acquisition --app /path/to/drawingbotv3
tatbot ros compile /path/to/new-acquisition/artwork.json --at=0,0 --width 20 --speed 3.5 -o /path/to/prepared

Install and activate Premium 1.6.22 normally. The version-specific bridge uses Java 21, JavaFX and Xvfb; it is not an official headless API. Application and activation remain private. Native acquisition needs javac, java and xvfb-run. Install uv for the drawing commands: tatbot drawingbot, tatbot research and local ROS artwork preparation resolve the same locked Python 3.12.14 environment with NumPy 2.5.3 and PyYAML 6.0.3. The first command downloads missing runtime dependencies into uv’s cache; subsequent commands reuse them. The repository and an unrelated active virtual environment do not supply those dependencies. Neither route requires Inkmap’s Node dependencies or the simulator.

The runtime definition is scripts/lib/drawing_python.py and its adjacent lockfile. Change them together with uv lock --script scripts/lib/drawing_python.py --default-index https://pypi.org/simple; a stale lock refuses execution. The launcher resolves the interpreter first, then executes Python directly so uv is absent from the cancellation path. ROS node processes retain their deployed ROS environment.

Open artwork.json in Inkmap, or inspect the acquired preview.svg and the prepared preview.svg. Preparation preserves DBV3 order and physical size; --width is an assertion, and changing size requires regeneration. Multiple pens require explicit ink bindings. See ROS preparation in ros/README.md, section 4.2.

Study comparisons use File → Review study… in Inkmap. Build a portable review with tatbot research review, then import downloaded human observations with tatbot research feedback; see research. Both review and ordinary placement render the shared acquired artwork. The separate gallery server and its CLI have been removed. Original experiment galleries and their preferences remain historical files, without a maintained legacy review route.

Native replay and container

tatbot drawingbot export /path/to/acquisition/recipe --out /path/to/new-replay --app /path/to/drawingbotv3

Each job owns a fresh JavaFX/Xvfb worker. A saved recipe contains source bytes, a portable native project, explicit export/global settings, application and bridge hashes, Java identity and rendering flags. Replay verifies these inputs and reports exact normalized-export matches separately from identity. It does not compile a robot program or transfer appearance preferences. --migrate-runtime explicitly records a new native runtime baseline.

tatbot drawingbot container build|smoke|export --out DIRECTORY retains the private mounted-application container workflow. Use --app, --recipe and a dedicated activated --state directory for export. Never copy a host’s activation into an image. A container smoke test verifies JavaFX/bridge startup; licensed generation requires a separate successful job.

Physical assumptions

Generation width is the DBV3 drawing-area pen width, distinct from its pen factor and the measured deposited line. The worker retains the requested logical pen table and verifies native readback, including disabled and zero-path pens. Size, seed and native PFM settings are explicit job inputs. No stock source count, fixed 50 × 75 mm size or 24-variant requirement remains in acquisition/preparation. Unknown image-model versions and seeds stay null.

Ballpoints use cartridge ink and never dip. A 3RL designation supplies no measured deposited width or replenishment budget. Future dip/lift policies need measurements and an implementation in the existing ROS executor.

Paired robot trials use DBV3 research: frozen candidates, both prepared sides, persistent slot ownership and the existing ROS draw/inspect workflow. The legacy compiler-selection runner is not part of that route.

Bundled acquired examples

Inkmap’s default catalogue is dbv3-acquired-v1: three public-safe original raster sources acquired with the installed Premium 1.6.22 native worker. Each 30 × 30 mm acquisition uses a 0.3 mm black pen and retains the unmodified InkmapArtwork/2, version 3 job/recipe, effective pen table, raw export, normalized export and decoding receipt under web/inkmap/public/designs/. Application and activation data are excluded. Regenerate the included job into a new directory to change physical dimensions or pen settings; previews cannot serve as acquisition input to Inkmap or ROS preparation.