@franzenzenhofer/asanakit 0.1.0 → 0.3.0

package/README.md

@@ -1,44 +1,70 @@
 # asanakit
 
-**Programmatic stick-figure and anatomical infographics for yoga and surf postures.**
+**Programmatic stick-figure and body-posture visualization for yoga and surf, in 2D and 3D.**
 
-Describe a posture as data. Get a correct, deterministic, machine-readable illustration.
+Describe a posture as data. Get a correct, deterministic, machine-readable illustration -
+from any camera angle - plus an interactive 3D viewer, a GLB model, and physics-correct
+positioning when you ask for it.
 
 ```bash
 npx @franzenzenhofer/asanakit render adho-mukha-svanasana -o downdog.svg --style anatomy --title
+npx @franzenzenhofer/asanakit render virabhadrasana-b --camera three-quarter -o warrior.png
+npx @franzenzenhofer/asanakit view utthita-trikonasana --open      # orbit it in 3D, offline
+npx @franzenzenhofer/asanakit html --all -o library.html --open    # the whole library in ONE page
+npx @franzenzenhofer/asanakit gltf navasana -o boat.glb            # a model any 3D viewer opens
 npx @franzenzenhofer/asanakit sheet --sequence ashtanga-primary -o primary-series.png --columns 6 --numbered
 ```
 
-asanakit is CLI-first, has no browser and no DOM, and renders the same bytes on every
-machine. It ships with the **full Ashtanga Primary Series** - 37 asanas, 60 steps - authored
-in its own pose format, plus 8 surf postures.
+Every pose solves to a real **3D skeleton** (quaternion forward kinematics over a 20-bone
+rig). The 2D pictures are camera projections of that solve - front, back, side, any azimuth
+and elevation - rendered without a browser or a GPU, byte-identical on every machine. It
+ships with the **full Ashtanga Primary Series** - 37 asanas, 60 steps - plus 8 surf postures.
 
 ![The Ashtanga Primary Series rendered by asanakit](examples/ashtanga-primary-series.png)
 
+## One pose, any viewpoint
+
+The posture is the data; the viewpoint is just a parameter:
+
+![Warrior II orbited through five cameras](examples/orbit.png)
+
 ---
 
 ## Why it exists
 
 Every other option is a dead end. Traced SVG artwork is unposeable. Pose-estimation
 datasets give you keypoints scraped from photos, with no joint angles, no licence you can
-use, and no way to say "now bend that knee ten degrees more". 3D mannequin libraries are
-GPL, or need a GPU, or both.
+use, and no way to say "now bend that knee ten degrees more". 3D mannequin tools are GPL,
+or need a GPU, or both.
 
-asanakit takes the third path: a **20-bone kinematic rig** plus a **declarative pose format**.
-The posture is the data. The picture is a pure function of it.
+asanakit takes the third path: a **20-bone 3D kinematic rig** plus a **declarative pose
+format**. The posture is the data. Every picture - flat or interactive - is a pure
+function of it.
 
 ## What you get
 
-- **A pose format** (`.pose.yaml`) with a published JSON Schema. Joint angles, absolute bone
-  directions, props, annotations, muscle activation, teaching cues.
-- **Forward kinematics** over a 20-bone humanoid rig with anatomical proportions.
+- **A pose format** (`.pose.yaml`) with a published JSON Schema. Anatomical joint rotations
+  (`flex` / `abduct` / `twist`), absolute bone directions (`azimuth` / `elevation`), a
+  default camera, props, annotations, muscle activation, teaching cues.
+- **3D forward kinematics** over a 20-bone humanoid rig with anatomical proportions. The
+  rotation axes live in the rig as data, so left and right are exact mirrors by construction.
+- **Any-angle 2D rendering.** Orthographic camera, depth-sorted painter's algorithm,
+  deterministic SVG/PNG with `data-bone` / `data-muscle` / `data-annotation` hooks. No GPU.
+- **An interactive 3D viewer.** `asanakit view` writes ONE self-contained offline HTML file
+  (three.js inlined): drag to orbit, scroll to zoom, white background.
+- **Showcase pages.** `asanakit html` (and `render -o pose.html`) embed EVERYTHING in one
+  offline file: the interactive viewer with a pose picker plus a gallery of deterministic
+  inline SVG renders - a whole sequence, the whole library, or one pose orbited.
+- **GLB / glTF export** via three.js - open the posture in any 3D viewer, rotatable and
+  zoomable, muscles colored.
+- **Physics when necessary.** `--settle` (or `physics: settle` in the pose) drops the figure
+  onto the ground plane with [Rapier](https://rapier.rs) and lets it rest on its true
+  support. The authored pose is preserved exactly; only position and orientation change.
 - **An anatomical validator.** Knees and elbows that bend backwards are rejected. A pose
   declares which parts of the body touch the floor, and asanakit checks that they do.
 - **Seven styles**, all pure token data: `stick`, `anatomy`, `silhouette`, `blueprint`,
   `ink`, `poster`, `minimal`.
-- **SVG and PNG.** Deterministic, HTML-safe, and every element carries `data-bone`,
-  `data-muscle`, `data-annotation` hooks so the output stays machine-readable.
-- **Keypoint export** to MediaPipe-33 and COCO-17 for interop with pose-estimation tooling.
+- **Keypoint export** to MediaPipe-33 and COCO-17 - now with real z.
 - **Contact sheets and sequences** - render a whole practice in one command.
 
 ## The same posture, seven ways
@@ -48,8 +74,8 @@ The posture is the data. The picture is a pure function of it.
 ## Anatomy, not decoration
 
 Muscles are displaced in two anatomical planes - lateral (left/right) and sagittal
-(front/back) - so the chest is never drawn behind the back. Engaged muscles shade one way,
-stretched muscles the other.
+(front/back) - and fade between them continuously as the camera orbits, so the chest is
+never drawn behind the back. Engaged muscles shade one way, stretched muscles the other.
 
 ![Downward dog with muscle activation](examples/anatomy.png)
 
@@ -70,33 +96,31 @@ The npm registry refuses the bare name `asanakit` (too close to the unrelated
 ## The format
 
 ```yaml
-asanakit: 1
+asanakit: 2
 id: utthita-trikonasana
 name: Extended Triangle
 sanskrit: Utthita Trikoṇāsana
 discipline: yoga
 family: standing
-breath: inhale
+breath: exhale
 drishti: hastagrai
 cues:
-  - Lengthen both sides of the waist
-  - Stack the top shoulder over the bottom one
-contact: [toeL, toeR, handTipR]
+  - Reach sideways out of the waist before you tilt down
+contact: [toeL, toeR, handTipL]
+camera: front                                    # the pose's default viewpoint
 figure:
-  view: front
-  world:               # absolute bone directions, in degrees
-    thighL: -55        # 0 = right, 90 = up, -90 = down
-    thighR: -125
-    spine: 35
-    upperArmL: 35
-    upperArmR: -145
+  root:
+    roll: -65                                    # the torso cartwheels over the front leg
+  world:                                         # absolute directions: azimuth on the body's
+    thighL: { azimuth: 90, elevation: -45 }      # compass (0 = forward, 90 = the figure's left),
+    thighR: { azimuth: -90, elevation: -45 }     # elevation from horizontal (90 = up)
+    spine: { azimuth: 90, elevation: 25 }
+    upperArmL: { azimuth: 90, elevation: -80 }
+    upperArmR: { azimuth: -90, elevation: 80 }
+  joints:                                        # or anatomical rotations relative to the parent
+    footL: { abduct: 10 }                        # flex / abduct / twist, in degrees
 props:
   - type: mat
-annotations:
-  - type: angle
-    at: kneeL
-    from: hipJointL
-    to: ankleL
 muscles:
   engaged: [obliques, quadriceps]
   stretched: [hamstrings, adductors]
@@ -109,45 +133,59 @@ Full guide: **[docs/AUTHORING.md](docs/AUTHORING.md)**.
 | Command | What it does |
 |---|---|
 | `asanakit render <pose> -o out.svg` | render one pose (`.svg` or `.png`) |
+| `asanakit render <pose> --camera back` | ...from any preset or `"azimuth=30,elevation=15"` |
+| `asanakit view <pose> --open` | interactive 3D viewer: one offline HTML file |
+| `asanakit html --sequence ashtanga-primary -o series.html` | ONE self-contained page: 3D viewer with pose picker + SVG gallery |
+| `asanakit render <pose> -o pose.html` | single-pose showcase: 3D viewer + the orbit strip |
+| `asanakit gltf <pose> -o pose.glb` | export a 3D model (`.glb` or `.gltf`) |
 | `asanakit sheet --all -o sheet.png` | contact sheet of many poses |
 | `asanakit sequence <id> -o dir/` | every pose of a sequence, in practice order |
 | `asanakit lint [poses...]` | check poses against the limits of a real body |
 | `asanakit list` | what is in the library |
-| `asanakit vocab` | every joint, landmark, muscle and style name |
+| `asanakit vocab` | every joint, landmark, muscle, style and camera name |
 | `asanakit schema` | the JSON Schema for the pose format |
-| `asanakit keypoints <pose>` | export as MediaPipe-33 / COCO-17 keypoints |
-| `asanakit landmarks <pose>` | the solved skeleton, as JSON |
+| `asanakit keypoints <pose>` | export as MediaPipe-33 / COCO-17 keypoints (x, y, z) |
+| `asanakit landmarks <pose>` | the solved 3D skeleton, as JSON |
 
-Options: `--style`, `--width`, `--height`, `--title`, `--caption`, `--muscles`,
-`--background`, `--optimize`, `--scale`, `--lib <dir>`.
+Options: `--camera`, `--settle`, `--style`, `--width`, `--height`, `--title`, `--caption`,
+`--muscles`, `--background`, `--optimize`, `--scale`, `--lib <dir>`.
 
 ## Library API
 
 ```ts
-import { parsePose, renderSvg, renderPng, validatePose, solveSkeleton } from '@franzenzenhofer/asanakit';
+import { parsePose, renderSvg, renderPng, validatePose, solvePose, exportGlb, buildViewerHtml } from '@franzenzenhofer/asanakit';
 
 const pose = parsePose(yamlSource, 'triangle.pose.yaml');
 
-const issues = validatePose(pose);          // [] means anatomically sound
-const svg = renderSvg(pose, { style: 'anatomy', title: true });
+const issues = validatePose(pose);                          // [] means anatomically sound
+const svg = renderSvg(pose, { style: 'anatomy', camera: 'three-quarter', title: true });
 const png = renderPng(svg, { width: 1200 });
+
+const skeleton = await solvePose(pose, { settle: true });   // physics lives behind this await
+const glb = await exportGlb(skeleton);
+const html = await buildViewerHtml(skeleton, { title: pose.name, camera: { azimuth: 30, elevation: 15, roll: 0 } });
 ```
 
+Physics is lazy: importing the package never loads the Rapier WASM; only `solvePose`
+with settling (or `import '@franzenzenhofer/asanakit/physics'`) does.
+
 ## Built for machines as well as people
 
 - Errors name the field and the file, and report every problem at once.
 - `asanakit schema` and `asanakit vocab` are the full contract - a model can discover the
   entire vocabulary without reading the source.
 - `asanakit lint` turns "does this look right" into a check that either passes or fails.
-- Rendering is deterministic, so output diffs are meaningful in review.
+- Rendering is deterministic, so output diffs are meaningful in review. (Physics-settled
+  output is deterministic per machine: fixed timestep, two runs are identical.)
 
 ## Licence
 
 MIT.
 
-Dependencies are all permissive: `gl-matrix` (MIT), `d3-shape`/`d3-path` (ISC),
-`xmlbuilder2` (MIT), `commander` (MIT), `zod` (MIT), `yaml` (ISC), `svgo` (MIT),
-`@resvg/resvg-js` (MPL-2.0, used unmodified as a dependency).
+Dependencies are all permissive: `three` (MIT), `@dimforge/rapier3d-compat` (Apache-2.0),
+`gl-matrix` (MIT), `d3-shape`/`d3-path` (ISC), `xmlbuilder2` (MIT), `commander` (MIT),
+`zod` (MIT), `yaml` (ISC), `svgo` (MIT), `@resvg/resvg-js` (MPL-2.0, used unmodified as a
+dependency).
 
 The MediaPipe-33 and COCO-17 keypoint layouts restate the public layouts published by the
 Apache-2.0 licensed MediaPipe and tfjs-models projects.

package/dist/anatomy/muscles.d.ts

@@ -1,4 +1,4 @@
-import type { BoneId, ViewId } from '../core/types.js';
+import type { BoneId } from '../core/types.js';
 /**
  * Muscles are modelled as capsules laid over the bone they act on: a span
  * `t0..t1` along the bone, pushed off it, and drawn `width` thick.
@@ -44,12 +44,15 @@ export interface MuscleInstance {
     readonly offset: number;
 }
 /**
- * Resolve a muscle to the concrete bellies drawn for a given view.
+ * Resolve a muscle to the concrete bellies drawn for a camera azimuth.
  *
- * Face-on, a paired torso muscle is two bellies either side of the spine and its
- * front/back displacement is invisible. In profile it is one belly, placed in
- * front of or behind the spine. Limb muscles are always drawn on both limbs -
- * in profile the two simply overlap, which is exactly what you see.
+ * The two displacement planes fade continuously with the viewpoint: the
+ * left/right split is fully visible face-on (azimuth 0) and collapses in
+ * profile; the front/back displacement does the opposite, signed by which
+ * profile the camera stands on. Face-on, a paired torso muscle is two bellies
+ * either side of the spine; in profile it is one belly, in front of or behind
+ * it. Limb muscles are always drawn on both limbs - in profile the two simply
+ * overlap, which is exactly what you see.
  */
-export declare const muscleInstances: (muscle: MuscleDef, view: ViewId) => MuscleInstance[];
+export declare const muscleInstances: (muscle: MuscleDef, azimuthDeg: number) => MuscleInstance[];
 //# sourceMappingURL=muscles.d.ts.map

package/dist/anatomy/muscles.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"muscles.d.ts","sourceRoot":"","sources":["../../src/anatomy/muscles.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,MAAM,EAAE,MAAM,kBAAkB,CAAC;AAE/C;;;;;;;;;;;;;;;;;;;GAmBG;AACH,MAAM,WAAW,SAAS;IACxB,QAAQ,CAAC,EAAE,EAAE,QAAQ,CAAC;IACtB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,MAAM,EAAE,OAAO,GAAG,MAAM,GAAG,OAAO,CAAC;IAC5C,QAAQ,CAAC,IAAI,EAAE,QAAQ,CAAC;IACxB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,mFAAmF;IACnF,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,6EAA6E;IAC7E,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;CACxB;AAED,MAAM,MAAM,QAAQ,GAChB,QAAQ,GACR,OAAO,GACP,MAAM,GACN,MAAM,GACN,UAAU,GACV,UAAU,GACV,SAAS,GACT,MAAM,GACN,KAAK,GACL,OAAO,GACP,MAAM,GACN,MAAM,CAAC;AAOX,eAAO,MAAM,UAAU,wRAoBb,CAAC;AAEX,MAAM,MAAM,QAAQ,GAAG,CAAC,OAAO,UAAU,CAAC,CAAC,MAAM,CAAC,CAAC;AAEnD,eAAO,MAAM,OAAO,EAAE,MAAM,CAAC,QAAQ,EAAE,SAAS,CAsB/C,CAAC;AAEF,eAAO,MAAM,UAAU,GAAI,OAAO,MAAM,KAAG,KAAK,IAAI,QAA4B,CAAC;AAEjF,MAAM,WAAW,cAAc;IAC7B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,4EAA4E;IAC5E,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;CACzB;AAOD;;;;;;;;;;GAUG;AACH,eAAO,MAAM,eAAe,GAAI,QAAQ,SAAS,EAAE,YAAY,MAAM,KAAG,cAAc,EAqBrF,CAAC"}

package/dist/anatomy/muscles.js

@@ -1,4 +1,4 @@
-import { VIEWS } from '../core/rig.js';
+import { degToRad } from '../core/angles.js';
 /** Torso bones run upwards, limb bones hang downwards, so their left-normals point opposite ways. */
 const TORSO_BONES = ['pelvis', 'spine', 'neck', 'head', 'clavicle', 'hip'];
 const anteriorSign = (bone) => (TORSO_BONES.includes(bone) ? -1 : 1);
@@ -46,31 +46,35 @@ export const MUSCLES = {
 };
 export const isMuscleId = (value) => value in MUSCLES;
 const isTorsoMuscle = (muscle) => TORSO_BONES.includes(muscle.bone);
+/** A pair of bellies this close together reads as one; draw it once. */
+const PAIR_MERGE = 0.01;
 /**
- * Resolve a muscle to the concrete bellies drawn for a given view.
+ * Resolve a muscle to the concrete bellies drawn for a camera azimuth.
  *
- * Face-on, a paired torso muscle is two bellies either side of the spine and its
- * front/back displacement is invisible. In profile it is one belly, placed in
- * front of or behind the spine. Limb muscles are always drawn on both limbs -
- * in profile the two simply overlap, which is exactly what you see.
+ * The two displacement planes fade continuously with the viewpoint: the
+ * left/right split is fully visible face-on (azimuth 0) and collapses in
+ * profile; the front/back displacement does the opposite, signed by which
+ * profile the camera stands on. Face-on, a paired torso muscle is two bellies
+ * either side of the spine; in profile it is one belly, in front of or behind
+ * it. Limb muscles are always drawn on both limbs - in profile the two simply
+ * overlap, which is exactly what you see.
  */
-export const muscleInstances = (muscle, view) => {
-    const profile = VIEWS[view].lateralScale < 1;
-    const sagittal = muscle.sagittal * anteriorSign(muscle.bone);
+export const muscleInstances = (muscle, azimuthDeg) => {
+    const az = degToRad(azimuthDeg);
+    const lateralVis = Math.cos(az);
+    const sagittalVis = -Math.sin(az);
+    const sagittal = muscle.sagittal * anteriorSign(muscle.bone) * sagittalVis;
     if (isTorsoMuscle(muscle)) {
         const bone = muscle.bone;
-        if (profile)
+        const split = muscle.lateral * lateralVis;
+        if (Math.abs(split) < PAIR_MERGE)
             return [{ bone, offset: sagittal }];
-        if (muscle.lateral === 0)
-            return [{ bone, offset: 0 }];
         return [
-            { bone, offset: muscle.lateral },
-            { bone, offset: -muscle.lateral },
+            { bone, offset: sagittal + split },
+            { bone, offset: sagittal - split },
         ];
     }
-    // A limb muscle rides its own bone; only its front/back displacement is ever
-    // visible, and face-on that displacement points at the viewer and collapses.
-    const offset = profile ? sagittal : muscle.lateral;
+    const offset = muscle.lateral * lateralVis + sagittal;
     return [
         { bone: `${muscle.bone}L`, offset },
         { bone: `${muscle.bone}R`, offset },

package/dist/anatomy/muscles.js.map

@@ -1 +1 @@
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package/dist/anatomy/validate.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"validate.d.ts","sourceRoot":"","sources":["../../src/anatomy/validate.ts"],"names":[],"mappings":"AAGA,OAAO,KAAK,EAAsB,GAAG,EAAY,MAAM,kBAAkB,CAAC;AAC1E,OAAO,EAAiB,KAAK,QAAQ,EAAE,MAAM,mBAAmB,CAAC;AAEjE,MAAM,MAAM,SAAS,GACjB,qBAAqB,GACrB,kBAAkB,GAClB,sBAAsB,GACtB,mBAAmB,GACnB,cAAc,GACd,mBAAmB,GACnB,oBAAoB,CAAC;AAEzB,MAAM,WAAW,KAAK;IACpB,QAAQ,CAAC,IAAI,EAAE,SAAS,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,OAAO,GAAG,SAAS,CAAC;CACxC;AA6GD,yFAAyF;AACzF,eAAO,MAAM,YAAY,GAAI,MAAM,QAAQ,EAAE,MAAK,GAAiB,KAAG,KAAK,EAG1E,CAAC"}
+{"version":3,"file":"validate.d.ts","sourceRoot":"","sources":["../../src/anatomy/validate.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAsB,GAAG,EAAY,MAAM,kBAAkB,CAAC;AAE1E,OAAO,EAAiB,KAAK,QAAQ,EAAE,MAAM,mBAAmB,CAAC;AAEjE,MAAM,MAAM,SAAS,GACjB,qBAAqB,GACrB,kBAAkB,GAClB,sBAAsB,GACtB,mBAAmB,GACnB,cAAc,GACd,mBAAmB,GACnB,oBAAoB,CAAC;AAEzB,MAAM,WAAW,KAAK;IACpB,QAAQ,CAAC,IAAI,EAAE,SAAS,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,OAAO,GAAG,SAAS,CAAC;CACxC;AAmHD,yFAAyF;AACzF,eAAO,MAAM,YAAY,GAAI,MAAM,QAAQ,EAAE,MAAK,GAAiB,KAAG,KAAK,EAG1E,CAAC"}

package/dist/anatomy/validate.js

@@ -1,6 +1,8 @@
-import { normalizeDeg } from '../core/angles.js';
+import { radToDeg } from '../core/angles.js';
 import { DEFAULT_RIG } from '../core/rig.js';
-import { sideSign, solveSkeleton } from '../core/skeleton.js';
+import { rotateVec3 } from '../core/quat.js';
+import { solveSkeleton } from '../core/skeleton.js';
+import { cross3, dot3, normalize3, sub3 } from '../core/vec3.js';
 import { resolveFigure } from '../model/index.js';
 const KNEE = { maxFlexion: 160, hyper: 'knee-hyperextension', over: 'knee-overflexion' };
 const ELBOW = { maxFlexion: 155, hyper: 'elbow-hyperextension', over: 'elbow-overflexion' };
@@ -15,9 +17,10 @@ const HYPEREXTENSION_SLACK = 8;
 const GROUND_TOLERANCE = 0.02;
 const CONTACT_TOLERANCE = 0.035;
 /**
- * Flexion of a bone away from its parent, in the joint's own frame. Right-side
- * bones mirror, so their world delta runs the other way - undo that, and both
- * elbows report flexion as a positive number.
+ * Signed flexion of a bone away from its parent: the angle between the two
+ * bone directions, signed by the child's own flexion axis (carried into world
+ * space by the parent's orientation). Positive is the way the joint actually
+ * bends - the axis in the rig says which way that is.
  */
 const flexion = (skeleton, hinge, rig) => {
     const child = skeleton.bones[hinge.child];
@@ -25,9 +28,12 @@ const flexion = (skeleton, hinge, rig) => {
     const def = rig.bones.find((b) => b.id === hinge.child);
     if (def === undefined)
         throw new Error(`Rig "${rig.name}" has no bone "${hinge.child}"`);
-    // Read the joint the same way the solver writes it, or a mirrored limb reports
-    // a perfectly good elbow as bending backwards.
-    return normalizeDeg(child.worldAngle - parent.worldAngle) * sideSign(def, skeleton.view) * (def.flexSign ?? 1);
+    const parentDir = normalize3(sub3(parent.end, parent.start));
+    const childDir = normalize3(sub3(child.end, child.start));
+    const cos = Math.min(1, Math.max(-1, dot3(parentDir, childDir)));
+    const angle = radToDeg(Math.acos(cos));
+    const axis = rotateVec3(parent.orientation, def.flexAxis);
+    return dot3(cross3(parentDir, childDir), axis) >= 0 ? angle : -angle;
 };
 const jointIssues = (skeleton, rig) => {
     const issues = [];
@@ -57,14 +63,14 @@ const groundIssues = (skeleton) => {
         issues.push({
             code: 'below-ground',
             severity: 'error',
-            message: `The figure sinks ${Math.abs(lowest).toFixed(2)} below the ground line. Raise it, or set "grounded: true".`,
+            message: `The figure sinks ${Math.abs(lowest).toFixed(2)} below the ground plane. Raise it, or set "grounded: true".`,
         });
     }
     else if (lowest > GROUND_TOLERANCE) {
         issues.push({
             code: 'no-ground-contact',
             severity: 'error',
-            message: `The figure floats ${lowest.toFixed(2)} above the ground line and touches nothing.`,
+            message: `The figure floats ${lowest.toFixed(2)} above the ground plane and touches nothing.`,
         });
     }
     return issues;

package/dist/anatomy/validate.js.map

@@ -1 +1 @@
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package/dist/cli/commands/export.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"export.d.ts","sourceRoot":"","sources":["../../../src/cli/commands/export.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AASzC,eAAO,MAAM,sBAAsB,GAAI,SAAS,OAAO,KAAG,IAiDzD,CAAC"}
+{"version":3,"file":"export.d.ts","sourceRoot":"","sources":["../../../src/cli/commands/export.ts"],"names":[],"mappings":"AAEA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AAWzC,eAAO,MAAM,sBAAsB,GAAI,SAAS,OAAO,KAAG,IAmEzD,CAAC"}

package/dist/cli/commands/export.js

@@ -1,10 +1,33 @@
+import { mkdir, writeFile } from 'node:fs/promises';
+import { dirname, extname } from 'node:path';
 import { DEFAULT_RIG } from '../../core/rig.js';
 import { solveSkeleton } from '../../core/skeleton.js';
+import { exportGlb, exportGltf } from '../../export3d/index.js';
 import { resolveFigure } from '../../model/index.js';
+import { solvePose } from '../../solve.js';
 import { toKeypoints } from '../../standards/keypoints.js';
 import { resolvePose } from '../resolve.js';
 const FORMATS = ['mediapipe33', 'coco17'];
 export const registerExportCommands = (program) => {
+    program
+        .command('gltf <pose>')
+        .description('Export a pose as a 3D model any glTF viewer can orbit and zoom (.glb or .gltf)')
+        .requiredOption('-o, --out <file>', 'output path; the extension picks binary .glb or JSON .gltf')
+        .option('--settle', 'drop the figure onto the ground with the physics engine first')
+        .option('--lib <dir>', 'load poses from this directory')
+        .action(async (ref, options) => {
+        const pose = await resolvePose(ref, options.lib);
+        const skeleton = await solvePose(pose, options.settle === undefined ? {} : { settle: options.settle });
+        const sceneOptions = { engaged: pose.muscles.engaged, stretched: pose.muscles.stretched };
+        await mkdir(dirname(options.out), { recursive: true });
+        if (extname(options.out).toLowerCase() === '.gltf') {
+            await writeFile(options.out, await exportGltf(skeleton, sceneOptions));
+        }
+        else {
+            await writeFile(options.out, await exportGlb(skeleton, sceneOptions));
+        }
+        process.stdout.write(`${options.out}\n`);
+    });
     program
         .command('keypoints <pose>')
         .description('Export a pose as pose-estimation keypoints (MediaPipe 33 or COCO 17)')
@@ -31,13 +54,12 @@ export const registerExportCommands = (program) => {
         const skeleton = solveSkeleton(resolveFigure(pose.figure), DEFAULT_RIG);
         process.stdout.write(`${JSON.stringify({
             pose: pose.id,
-            view: skeleton.view,
             height: skeleton.height,
             bounds: skeleton.bounds,
             landmarks: skeleton.landmarks,
             bones: Object.fromEntries(Object.entries(skeleton.bones).map(([id, b]) => [
                 id,
-                { start: b.start, end: b.end, angle: b.worldAngle, length: b.length },
+                { start: b.start, end: b.end, orientation: b.orientation, length: b.length },
             ])),
         }, null, 2)}\n`);
     });

package/dist/cli/commands/export.js.map

@@ -1 +1 @@
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package/dist/cli/commands/info.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"info.d.ts","sourceRoot":"","sources":["../../../src/cli/commands/info.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AAYzC,eAAO,MAAM,oBAAoB,GAAI,SAAS,OAAO,KAAG,IAgGvD,CAAC"}
+{"version":3,"file":"info.d.ts","sourceRoot":"","sources":["../../../src/cli/commands/info.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,WAAW,CAAC;AAazC,eAAO,MAAM,oBAAoB,GAAI,SAAS,OAAO,KAAG,IAiGvD,CAAC"}

package/dist/cli/commands/info.js

@@ -1,6 +1,7 @@
 import { readFile } from 'node:fs/promises';
 import { MUSCLES, MUSCLE_IDS } from '../../anatomy/muscles.js';
 import { validatePose } from '../../anatomy/validate.js';
+import { CAMERA_PRESET_IDS } from '../../core/camera.js';
 import { BONE_IDS, LANDMARK_IDS } from '../../core/types.js';
 import { parsePose, poseJsonSchema, sequenceJsonSchema } from '../../model/index.js';
 import { STYLES, STYLE_IDS } from '../../render/index.js';
@@ -91,10 +92,11 @@ export const registerInfoCommands = (program) => {
         .action(() => {
         json({
             joints: BONE_IDS,
+            jointAxes: ['flex', 'abduct', 'twist'],
             landmarks: LANDMARK_IDS,
             muscles: MUSCLE_IDS.map((id) => ({ id, label: MUSCLES[id].label, region: MUSCLES[id].region })),
             styles: STYLE_IDS.map((id) => ({ id, label: STYLES[id].label })),
-            views: ['front', 'back', 'side', 'three-quarter'],
+            cameras: CAMERA_PRESET_IDS,
         });
     });
 };

package/dist/cli/commands/info.js.map

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package/dist/cli/commands/render.d.ts.map

@@ -1 +1 @@
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