@hatiolab/figure-model 0.1.22 → 0.1.24

package/dist/types.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"validate.d.ts","sourceRoot":"","sources":["../src/validate.ts"],"names":[],"mappings":"AAqBA,OAAO,EAyBL,KAAK,WAAW,EAIhB,KAAK,SAAS,EAMf,MAAM,YAAY,CAAA;AASnB,MAAM,WAAW,cAAc;IAC7B,MAAM,EAAE,WAAW,EAAE,CAAA;IACrB,UAAU,EAAE,SAAS,EAAE,CAAA;CACxB;AAy5BD,wBAAgB,QAAQ,CAAC,MAAM,EAAE,OAAO,GAAG,cAAc,CAgFxD"}
+{"version":3,"file":"validate.d.ts","sourceRoot":"","sources":["../src/validate.ts"],"names":[],"mappings":"AAqBA,OAAO,EAyBL,KAAK,WAAW,EAIhB,KAAK,SAAS,EAQf,MAAM,YAAY,CAAA;AASnB,MAAM,WAAW,cAAc;IAC7B,MAAM,EAAE,WAAW,EAAE,CAAA;IACrB,UAAU,EAAE,SAAS,EAAE,CAAA;CACxB;AAmmCD,wBAAgB,QAAQ,CAAC,MAAM,EAAE,OAAO,GAAG,cAAc,CAqFxD"}

package/dist/validate.js

@@ -18,8 +18,8 @@
  * 결측을 기본값으로 갈음하지 않는다. 값이 없는 것과 0 인 것은 다르고, 갈음하면
  * 저작자가 빠뜨린 것을 알 수 없다.
  */
-import { ANCHOR_RULES, AXES, CAPABILITY_NEEDS, FIGURE_CAPABILITIES, CURVED_PRIMITIVES, EXTRUDE_PRIMITIVES, CHANNEL_PATHS, DEFAULT_SIZING, DETAIL_LEVELS, FIGURE_PLACEMENTS, LABEL_WHENS, LIMITS, MATERIAL_PRESETS, MATERIAL_SLOTS, INTERPOLATIONS, PART_LIMIT, PART_ROLES, PRIMITIVE_KINDS, SEGMENTED_PRIMITIVES, SEGMENT_PRESETS, SIZING_RULES, SKIN, SURFACE_KINDS, isPlaceholderType, TYPE_LENGTH, TYPE_PATTERN, FIGURE_SOURCE_VERSION } from "./types.js";
-import { drawCallsOf, isDrawn, movingNames } from "./grouping.js";
+import { ANCHOR_RULES, AXES, CAPABILITY_NEEDS, FIGURE_CAPABILITIES, CURVED_PRIMITIVES, EXTRUDE_PRIMITIVES, CHANNEL_PATHS, DEFAULT_SIZING, DETAIL_LEVELS, FIGURE_PLACEMENTS, LABEL_WHENS, LIMITS, MATERIAL_PRESETS, MATERIAL_SLOTS, INTERPOLATIONS, PART_LIMIT, PART_ROLES, PRIMITIVE_KINDS, SEGMENTED_PRIMITIVES, SEGMENT_PRESETS, SIZING_RULES, SKIN, SURFACE_KINDS, isPlaceholderType, TYPE_LENGTH, TYPE_PATTERN, FIGURE_SOURCE_VERSION, JOINT_TYPES } from "./types.js";
+import { drawCallsOf, isDrawn, jointFrames, movingNames } from "./grouping.js";
 import { rotatedExtentOf } from "./blueprint.js";
 import { centredSource } from "./origin.js";
 import { groupKeyOf } from "./keys.js";
@@ -365,6 +365,10 @@ function validatePart(c, raw, index, seen) {
             */
         }
     }
+    // Parent. Whether it names a part and whether the chain ends is checked once every name is known.
+    if (raw.parent !== undefined && !isNonEmptyString(raw.parent)) {
+        c.error('unknown-parent', `${path}.parent`, 'parent 는 부품 이름이어야 한다');
+    }
     // 라벨
     if (raw.label !== undefined) {
         if (!isObject(raw.label)) {
@@ -400,7 +404,7 @@ function validatePart(c, raw, index, seen) {
  * 둘의 자세 표현이 같은 모양이라서다(ADR-0051 — 「포즈 데이터는 glTF 꼴 한 벌」). 여기를
  * 포크하면 한쪽에만 검사가 붙고, 어느 쪽이 덜 검사받는지는 아무도 모르게 된다.
  */
-function checkChannels(c, channels, path, parts) {
+function checkChannels(c, channels, path, parts, joints = NO_JOINTS) {
     if (!Array.isArray(channels) || channels.length === 0) {
         c.error('missing-channels', `${path}.channels`, 'channels 가 없다 — 무엇을 움직이는지 모른다');
         return;
@@ -412,11 +416,16 @@ function checkChannels(c, channels, path, parts) {
             return;
         }
         const channel = rawChannel;
+        const joint = isNonEmptyString(channel.target) ? joints.get(channel.target) : undefined;
+        if (joint !== undefined) {
+            checkJointChannel(c, channel, where, joint);
+            return;
+        }
         if (!isNonEmptyString(channel.target)) {
             c.error('unknown-channel-target', `${where}.target`, 'target 이 없다 — 어느 부품인지 모른다');
         }
         else if (!parts.has(channel.target)) {
-            c.error('unknown-channel-target', `${where}.target`, `그런 부품이 없다: ${channel.target}`);
+            c.error('unknown-channel-target', `${where}.target`, `그런 부품이나 관절이 없다: ${channel.target}`);
         }
         const pathOk = c.oneOf(channel.path, CHANNEL_PATHS, `${where}.path`, 'path');
         if (channel.interpolation !== undefined) {
@@ -453,7 +462,175 @@ function checkChannels(c, channels, path, parts) {
         });
     });
 }
-function checkAnimations(c, source) {
+const NO_JOINTS = new Map();
+/**
+ * A channel that drives a joint (ADR-0066 decision 2).
+ *
+ * It names no `path` or `pivot`, because the joint already says what moves and about which point. Each
+ * key's value is the joint coordinate: degrees for revolute and continuous, millimetres for prismatic. A
+ * value outside the joint's limits is a pose the machine cannot take.
+ */
+function checkJointChannel(c, channel, where, joint) {
+    if (channel.path !== undefined) {
+        c.error('not-allowed', `${where}.path`, '관절을 모는 channel 에는 path 를 적지 않는다 — 관절이 이미 무엇이 움직이는지 말한다');
+    }
+    if (channel.pivot !== undefined) {
+        c.error('not-allowed', `${where}.pivot`, '관절을 모는 channel 에는 pivot 을 적지 않는다 — 중심은 관절의 origin 이다');
+    }
+    if (channel.interpolation !== undefined) {
+        c.oneOf(channel.interpolation, INTERPOLATIONS, `${where}.interpolation`, 'interpolation');
+    }
+    if (!Array.isArray(channel.keys) || channel.keys.length < 2) {
+        c.error('too-few-keys', `${where}.keys`, '키가 둘은 있어야 한다 — 하나는 움직임이 아니라 자세다');
+        return;
+    }
+    let previous = -Infinity;
+    channel.keys.forEach((rawKey, k) => {
+        const spot = `${where}.keys[${k}]`;
+        if (!isObject(rawKey)) {
+            c.error('not-object', spot, '키는 { at, value } 여야 한다');
+            return;
+        }
+        if (c.finite(rawKey.at, `${spot}.at`, 'at')) {
+            const now = rawKey.at;
+            if (now < 0)
+                c.error('not-positive', `${spot}.at`, '키의 시각은 0 이상이어야 한다');
+            else if (now <= previous) {
+                c.error('keys-out-of-order', `${spot}.at`, '키의 시각은 앞의 것보다 커야 한다');
+            }
+            previous = now;
+        }
+        if (!c.finite(rawKey.value, `${spot}.value`, '관절 값'))
+            return;
+        const value = rawKey.value;
+        if (joint.limits && (value < joint.limits.min || value > joint.limits.max)) {
+            c.error('out-of-range', `${spot}.value`, `관절 값 ${value} 이 가동 범위 ${joint.limits.min}~${joint.limits.max} 밖이다`);
+        }
+    });
+}
+/**
+ * Parents (ADR-0066 decision 1). Every `parent` names a part, and following parents from any part ends at
+ * the figure frame. A cycle is reported on each part in it.
+ */
+function checkHierarchy(c, source) {
+    const parentOf = new Map();
+    source.parts.forEach((part, index) => {
+        if (!isObject(part) || !isNonEmptyString(part.name) || !isNonEmptyString(part.parent))
+            return;
+        if (!source.parts.some(other => isObject(other) && other.name === part.parent)) {
+            c.error('unknown-parent', `parts[${index}].parent`, `그런 부품이 없다: ${part.parent}`);
+            return;
+        }
+        parentOf.set(part.name, part.parent);
+    });
+    source.parts.forEach((part, index) => {
+        if (!isObject(part) || !parentOf.has(part.name))
+            return;
+        const seen = new Set([part.name]);
+        let at = parentOf.get(part.name);
+        while (at !== undefined) {
+            if (at === part.name) {
+                c.error('parent-cycle', `parts[${index}].parent`, `부모를 따라가면 '${part.name}' 으로 돌아온다 — 틀에 닿지 않는다`);
+                return;
+            }
+            if (seen.has(at))
+                return;
+            seen.add(at);
+            at = parentOf.get(at);
+        }
+    });
+}
+/**
+ * Joints (ADR-0066). Returns the joints channels may target, keyed by name.
+ *
+ * A joint name shares the name space with parts, so a channel target never means two things. A part is
+ * the child of at most one joint. `limits` must contain 0, because the rest pose every `transform`
+ * describes is joint value 0.
+ */
+function checkJoints(c, source) {
+    const said = source.joints;
+    const seen = new Map();
+    if (said === undefined)
+        return seen;
+    if (!Array.isArray(said)) {
+        c.error('not-object', 'joints', 'joints 는 배열이어야 한다');
+        return seen;
+    }
+    const parts = new Set(source.parts.map(part => part?.name).filter(isNonEmptyString));
+    const names = new Set();
+    const children = new Set();
+    said.forEach((raw, at) => {
+        const path = `joints[${at}]`;
+        if (!isObject(raw)) {
+            c.error('not-object', path, '관절은 객체여야 한다');
+            return;
+        }
+        let named = false;
+        if (!isNonEmptyString(raw.name)) {
+            c.error('missing-name', `${path}.name`, '관절 이름이 없다 — channel 이 이 이름으로 관절을 몬다');
+        }
+        else if (names.has(raw.name) || parts.has(raw.name)) {
+            c.error('duplicate-name', `${path}.name`, `이름이 겹친다: ${raw.name} — 관절과 부품은 이름을 나눠 쓴다`);
+        }
+        else {
+            names.add(raw.name);
+            named = true;
+        }
+        if (!isNonEmptyString(raw.child) || !parts.has(raw.child)) {
+            c.error('unknown-joint-child', `${path}.child`, `child 가 부품 이름이 아니다: ${String(raw.child)}`);
+        }
+        else if (children.has(raw.child)) {
+            c.error('joint-child-taken', `${path}.child`, `'${raw.child}' 은 이미 다른 관절의 child 다 — 한 부품에 관절은 하나다`);
+        }
+        else {
+            children.add(raw.child);
+        }
+        const typed = c.oneOf(raw.type, JOINT_TYPES, `${path}.type`, 'type');
+        validateVec3(c, raw.origin, `${path}.origin`, 'origin');
+        if (!isObject(raw.axis)) {
+            validateVec3(c, raw.axis, `${path}.axis`, 'axis');
+        }
+        else {
+            const { x, y, z } = raw.axis;
+            if (c.finite(x, `${path}.axis.x`, 'axis.x') && c.finite(y, `${path}.axis.y`, 'axis.y') && c.finite(z, `${path}.axis.z`, 'axis.z')) {
+                if (Math.hypot(x, y, z) === 0) {
+                    c.error('bad-joint-axis', `${path}.axis`, 'axis 가 0 벡터다 — 어느 쪽으로 움직이는지 없다');
+                }
+            }
+        }
+        let limits;
+        if (raw.limits !== undefined) {
+            if (typed && raw.type === 'continuous') {
+                c.error('not-allowed', `${path}.limits`, 'continuous 관절에는 limits 가 없다 — 끝없이 돈다');
+            }
+            else if (!isObject(raw.limits)) {
+                c.error('not-object', `${path}.limits`, 'limits 는 { min, max } 여야 한다');
+            }
+            else {
+                const lo = c.finite(raw.limits.min, `${path}.limits.min`, 'min');
+                const hi = c.finite(raw.limits.max, `${path}.limits.max`, 'max');
+                if (lo && hi) {
+                    const min = raw.limits.min;
+                    const max = raw.limits.max;
+                    if (max <= min) {
+                        c.error('bad-range', `${path}.limits`, 'max 는 min 보다 커야 한다 — 같으면 움직일 자리가 없다');
+                    }
+                    else if (min > 0 || max < 0) {
+                        c.error('out-of-range', `${path}.limits`, 'limits 가 0 을 품어야 한다 — 그린 자세가 관절 값 0 이다');
+                    }
+                    else {
+                        limits = { min, max };
+                    }
+                }
+            }
+        }
+        if (named && typed) {
+            seen.set(raw.name, limits ? { type: raw.type, limits } : { type: raw.type });
+        }
+    });
+    return seen;
+}
+function checkAnimations(c, source, joints = NO_JOINTS) {
     const clips = source.animations;
     if (clips === undefined)
         return;
@@ -486,7 +663,7 @@ function checkAnimations(c, source) {
         if (raw.drive !== undefined) {
             c.error('not-allowed', `${path}.drive`, 'drive 칸은 없어졌다. 값으로 움직이는 자세는 parameters 에 적는다');
         }
-        checkChannels(c, raw.channels, path, parts);
+        checkChannels(c, raw.channels, path, parts, joints);
     });
 }
 /**
@@ -563,7 +740,7 @@ function validatePartCapability(c, raw, path) {
  * 이름이 clip 이름과 겹치는지도 본다. 인스턴스는 둘을 이름으로 부르므로, 겹치면 어느 쪽에 값을
  * 준 것인지 알 수 없다.
  */
-function checkParameters(c, source, clipNames) {
+function checkParameters(c, source, clipNames, joints = NO_JOINTS) {
     const said = source.parameters;
     if (said === undefined)
         return;
@@ -617,7 +794,7 @@ function checkParameters(c, source, clipNames) {
             c.error('not-object', `${path}.clip`, 'clip 이 없다 — 값이 무슨 자세를 만드는지 모른다');
             return;
         }
-        checkChannels(c, clip.channels, `${path}.clip`, parts);
+        checkChannels(c, clip.channels, `${path}.clip`, parts, joints);
         /*
           Transition time. 0 is accepted because it means instant. A negative value has no meaning.
         */
@@ -728,7 +905,8 @@ function checkPolicy(c, source) {
       author was told the asset was cheap by the one number that did not measure
       the cost.
     */
-    const calls = drawCallsOf(parts, source.base, moving);
+    // Parts merge only within one joint frame, as compile groups them (ADR-0066 decision 4).
+    const calls = drawCallsOf(parts, source.base, moving, jointFrames(source));
     if (calls > LIMITS.materialGroups) {
         c.violate('too-many-material-groups', 'draw call 이 많다 — 한 도면에 놓을 수 있는 개수가 준다', calls, LIMITS.materialGroups);
     }
@@ -869,8 +1047,11 @@ export function validate(source) {
     }
     const seen = new Set();
     source.parts.forEach((part, i) => validatePart(c, part, i, seen));
+    // Parents and joints need every part name; channels need the joints.
+    checkHierarchy(c, source);
+    const joints = checkJoints(c, source);
     // 부품 이름을 다 읽은 뒤라야 channel 의 target 이 가리키는 것이 있는지 볼 수 있다
-    checkAnimations(c, source);
+    checkAnimations(c, source, joints);
     /*
       clip 이름을 함께 넘긴다 — 파라미터와 clip 이 같은 이름을 쓰면 인스턴스가 어느 쪽에 값을 준
       것인지 알 수 없다. `animations` 가 배열이 아닌 것은 `checkAnimations` 가 이미 말했으므로
@@ -879,7 +1060,7 @@ export function validate(source) {
     const clips = source.animations;
     checkParameters(c, source, new Set((Array.isArray(clips) ? clips : [])
         .map((clip) => clip?.name)
-        .filter(isNonEmptyString)));
+        .filter(isNonEmptyString)), joints);
     /* 능력 선언의 모양 — 부품과 무관하므로 순서를 따지지 않는다 */
     checkCapabilities(c, source);
     // 정책 검사는 형식이 성립할 때만 뜻이 있다

package/dist/validate.js.map

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package/docs/format.md

@@ -111,6 +111,7 @@ center    공중에 뜬다. 기준 면이 없다            드론 · 센서
 | `repeat`    | `{ axis, pitch }` |      | `sizing` 이 `'repeat'` 일 때 필수 (`pitch` 단위: mm)                                                        |
 | `capability`| `PartCapability`  |      | 부품이 갖는 닻(능력). 그리지 않고 자리(`slot`) 또는 문(`port`)으로 컴파일된다                               |
 | `label`     | `LabelSpec`       |      | 텍스트. 아래 표                                                                                              |
+| `parent`    | `string`          |      | 붙어 있는 부품의 이름. 없으면 figure 의 틀에 붙는다. **부모를 적는 자리는 여기 하나다** — 아래 「관절」 |
 
 ### `PrimitiveKind`
 
@@ -216,7 +217,7 @@ FigureSource.parameters[]        값이 자세를 만드는 것
 
 | 필드            | 타입                                     | 뜻                                                        |
 | --------------- | ---------------------------------------- | ---------------------------------------------------------- |
-| `target`        | `string`                                 | 어느 부품인가. `FigurePart.name`                          |
+| `target`        | `string`                                 | 어느 부품인가. `FigurePart.name`. **관절 이름이면 관절을 모는 channel 이다** — 아래 「관절」 |
 | `path`          | `'translation' \| 'rotation' \| 'scale'` | 무엇을 움직이나                                           |
 | `pivot`         | `Vec3`                                   | 회전 중심. `rotation` 에서만. 안 적으면 부품 제 중심      |
 | `interpolation` | `'linear' \| 'step'`                     | 안 적으면 `linear`                                        |
@@ -241,7 +242,7 @@ scale         배율. 1 이 제 크기
 | --- | --- | --- |
 | `target` 이 부품 **이름** | 노드 인덱스 | 이 형식은 처음부터 이름으로 가리킨다 |
 | 회전 키가 **오일러 도** | 쿼터니언 | 손으로 적는 형식이다. `transform.rotation` 과 같은 약속 |
-| `pivot` 이 채널에 | 부모 노드를 끼운다 | 부품이 겹치지 않아 끼울 노드가 없다 |
+| `pivot` 이 채널에 | 부모 노드를 끼운다 | 부품이 겹치지 않아 끼울 노드가 없다. 부모에 대해 도는 부품은 관절(`joints`)이 그 노드다 |
 | `weights` 없음 | 있음 | 모프 타깃이 없다 |
 | 값이 모는 곡선을 따로 갖는다(`parameters`) | 전부 애니메이션 | 트윈은 타임라인을 재생하지 않는다 |
 | 채널·샘플러를 합침 | 나뉨 | 나눔은 정점 데이터를 아끼는 장치다. 손으로 적을 때는 한 겹일 뿐 |
@@ -316,6 +317,70 @@ clip 의 `drive` 칸은 없다. 옛 원본의 `drive: 'hold'` 는 판 2 로 옮
 이름은 **두 목록이 나눠 쓴다.** 인스턴스는 이름 하나로 값을 주므로 clip 과 파라미터가 같은
 이름을 가지면 어느 쪽에 준 것인지 알 수 없고, 검증이 그것을 막는다.
 
+### 관절 — `FigureSource.joints`
+
+> ADR-0066 (`operato-twin/design/04-decisions.md`)
+
+로봇 팔의 어깨가 돌면 팔꿈치 · 손목 · 집게가 **함께** 돈다. 부품 하나를 `pivot` 중심으로 돌리는 channel 로는
+이것을 적을 수 없다. 부품마다 곡선이 따로라 어깨와 팔꿈치가 따로 움직일 때 회전이 합쳐지지 않는다. 관절이 그
+부모 · 자식을 준다. URDF 의 link · joint 트리, glTF 의 노드 계층과 같은 모양이다.
+
+**부모는 부품이 말하고, 움직임은 관절이 말한다.**
+
+- `FigurePart.parent` 가 「이 부품은 어느 부품에 붙어 있나」다. 부모를 적는 자리는 여기 하나다.
+- 관절은 「그 부품(`child`)이 부모에 대해 어떻게 움직이나」만 말한다. 관절에는 `parent` 칸이 없다. 관절의 부모는
+  `child` 부품의 `parent` 다.
+- 관절 없이 `parent` 만 있는 부품은 부모와 **함께** 움직인다(고정 부착). URDF 로 내보내면 한 link 의 visual 여럿이 된다.
+- 부모를 따라가면 figure 의 틀에 닿아야 한다. 되돌아오면 `parent-cycle` 이다. 한 부품에 관절은 하나다.
+
+| 필드     | 타입                                          | 뜻                                                                                   |
+| -------- | --------------------------------------------- | ------------------------------------------------------------------------------------- |
+| `name`   | `string`                                      | **저장되는 식별자.** channel 이 이 이름으로 관절을 몬다. 부품 이름과 겹칠 수 없다     |
+| `child`  | `string`                                      | 움직이는 부품                                                                         |
+| `type`   | `'revolute' \| 'prismatic' \| 'continuous'` | 도는가(한계 안), 미끄러지는가(한계 안), 끝없이 도는가                                  |
+| `origin` | `Vec3`                                        | 돌거나 미끄러지는 기준점. figure 좌표(판 2 — y 는 상자 밑면에서)                       |
+| `axis`   | `Vec3`                                        | 방향. 회전은 오른손 법칙. 길이는 상관없고 0 은 안 된다                                  |
+| `limits` | `{ min, max }`                                | revolute 는 도, prismatic 은 mm. **0 을 품어야 한다.** continuous 에는 적지 않는다      |
+
+**그린 자세가 관절 값 0 이다.** 모든 부품의 `transform` 은 지금처럼 휴지 자세를 figure 좌표로 적는다. 계층은
+compile 이 만든다. 그래서 `limits` 는 0 을 품어야 한다 — 그린 자세가 그 기계가 취할 수 없는 자세일 수는 없다.
+
+#### 관절을 모는 channel
+
+값의 문은 `parameters` 하나다(ADR-0051). `parameters[].clip.channels` 의 `target` 이 관절 이름을 가리키면
+그 channel 은 관절을 몬다. 끝없이 도는 관절은 지금처럼 loop clip(`animations`)으로 몰 수 있다.
+
+- **`path` 도 `pivot` 도 적지 않는다.** 축과 중심은 관절이 이미 말했다.
+- **키의 값은 관절의 좌표 하나다** — revolute · continuous 는 도, prismatic 은 mm. `limits` 밖이면 `out-of-range`.
+- 노드의 회전(glTF 로 내보낼 때의 quaternion 포함)은 관절의 축에서 만든다.
+- 부품을 모는 channel(`path` · `pivot`)은 그대로 쓴다. 그 부품이 관절 아래에 있으면 **그 관절의 틀 안에서** 움직인다.
+
+```js
+// 팔꿈치를 -150° ~ 150° 로, 3 초에 전 구간
+{ name: 'elbow-flex', range: { unit: 'deg', min: -150, max: 150 },
+  clip: { duration: 3, channels: [{ target: 'elbow-flex', keys: [{ at: 0, value: -150 }, { at: 1, value: 150 }] }] } }
+```
+
+#### 묶음 · 닻 · 크기 반응
+
+- **묶음은 (관절의 틀, 재질)로 합친다.** 합친 geometry 는 변환을 하나만 받으므로 다른 틀에 있는 부품은 합칠 수
+  없다. 부품의 틀은 부모를 따라 올라가며 처음 만나는 관절이다(자기 자신이 `child` 면 그 관절). 게이트의 draw call 셈도
+  같은 함수(`mergeKeyOf`)를 쓴다.
+- **slot · port 의 닻은 자기 부품의 틀을 따라 움직인다**(`BlueprintAnchor.joint`).
+- **크기 반응은 휴지 자세에서 먼저 푼다.** 관절의 `origin` 은 `child` 의 부모 부품이 받는 크기 반응을 따라 옮겨진다
+  (`jointOriginPosition`). 관절 노드에는 배율을 걸지 않는다 — 축마다 배율이 다른 인스턴스에서 자식을 돌려도 찌그러지지
+  않는다.
+- **옮김의 크기는 배율을 따른다.** 부품을 옮기는 channel(`translation`)은 인스턴스 배율이 걸린 틀 안에서 더해지므로
+  축마다 인스턴스 배율만큼 늘어난다 — 높이를 두 배로 놓은 호이스트의 200mm 는 400mm 를 간다(things-scene
+  `FigureRealObject` 가 `object3d.scale` 에 인스턴스 배율을 걸고 그 안에서 옮긴다). prismatic 관절의 행정도 이것과
+  **같게** 한다: 관절의 부모 틀에서 `axis × 값` 의 각 축 성분에 그 축의 인스턴스 배율을 곱한다. 같은 figure 안에서
+  옮김의 거동이 둘이면 안 되기 때문이다(ADR-0066 결정 3).
+
+#### 짓지 않은 것
+
+IK(`ikChains`) · 감쇠 스프링 · `coupling` · `maxSpeed` · `acceleration` · `smoothing` 은 형식에 없다. 소비처가 생기면
+그때 따로 판정한다. 관절이 있는지는 형식에서 읽히므로 능력 어휘(`capabilities`)에 관절용 이름을 두지 않는다.
+
 ### `FigureSource.capabilities` — 이 도형이 흐름에서 무엇을 하나
 
 파렛트는 물건을 **담고**, 컨베이어는 **흘리고**, 신호탑은 아무것도 담지 않는다. 그리는
@@ -485,6 +550,7 @@ sizing: 'fixed', anchor: { x: 'span', y: 'max', z: 'span' }
 | `groups`                   | `BlueprintGroup[]`      | 재질별로 병합된 묶음                      |
 | `animations`               | `BlueprintClip[]`       | 움직임. 원본에 적은 것 그대로               |
 | `labels`                   | `BlueprintLabel[]`      | 라벨. `at` 이 부품 이름                   |
+| `joints`                   | `BlueprintJoint[]`      | 관절. **부모가 먼저 온다.** 원본에 관절이 없으면 칸 자체가 없다 |
 | `violations`               | `Violation[]`           | 정책을 넘은 것. 저작 화면이 보인다        |
 
 ### `BlueprintGroup` — 병합 단위 = draw call 하나
@@ -496,6 +562,17 @@ sizing: 'fixed', anchor: { x: 'span', y: 'max', z: 'span' }
 | `materialSlot` | 재질 슬롯                                          |
 | `animated`    | clip 이나 parameter 가 움직이는 부품이 든 그룹인지. **그러면 부품을 하나만 갖는다** |
 | `members`     | `BlueprintMember[]`                                 |
+| `joint`       | 이 묶음이 움직이는 관절의 틀. 없으면 figure 의 틀   |
+
+### `BlueprintJoint` — 관절 노드
+
+| 필드               | 뜻                                                                         |
+| ------------------ | --------------------------------------------------------------------------- |
+| `name` · `type` · `child` · `limits` | 원본에서                                                  |
+| `origin`           | 휴지 자세의 기준점. **상자 중심 좌표** — 청사진의 다른 자리와 같다          |
+| `axis`             | 길이 1 로 맞춘 방향                                                         |
+| `parent`           | 이 관절이 놓이는 관절의 틀. 없으면 figure 의 틀                             |
+| `attach`           | `child` 의 부모 부품. 크기 반응에서 `origin` 이 이 부품을 따라간다. 없으면 figure 의 틀에 붙은 관절이다 |
 
 ### `BlueprintMember` — 묶음 안의 부품
 

package/docs/validation.md

@@ -138,6 +138,26 @@ clip 의 이름은 부품과 같은 코드를 쓴다 — 없으면 `missing-name
 `Transferable` 은 자리를 찾는 일을 `Capacity` 에게 맡기므로 혼자 못 선다. 씬이 조립할 때도
 같은 이유로 던지는데, **그때는 이미 발행된 뒤다** — 그래서 여기서 본다.
 
+### 부모와 관절 (`parent` · `joints`)
+
+> ADR-0066 (`operato-twin/design/04-decisions.md`)
+
+| 코드                  | 언제                                                         | 왜                                                                 |
+| --------------------- | ------------------------------------------------------------ | ------------------------------------------------------------------ |
+| `unknown-parent`      | `parent` 가 부품 이름이 아니거나 없는 부품을 가리킨다          | 붙을 자리가 없다                                                   |
+| `parent-cycle`        | 부모를 따라가면 제자리로 돌아온다                              | figure 의 틀에 닿지 않아 어느 틀에서 움직이는지 정할 수 없다        |
+| `unknown-joint-child` | 관절의 `child` 가 없는 부품이다                                | 움직일 것이 없다                                                   |
+| `joint-child-taken`   | 한 부품이 두 관절의 `child` 다                                 | 한 부품이 부모에 대해 움직이는 방법은 하나다                       |
+| `bad-joint-axis`      | `axis` 가 0 벡터다                                             | 어느 쪽으로 움직이는지 없다                                        |
+
+관절 이름이 없으면 `missing-name`, 다른 관절이나 **부품** 이름과 겹치면 `duplicate-name` 이다 — channel 의 `target` 이
+두 가지를 뜻하면 안 된다. `type` 이 목록 밖이면 `not-allowed`. `limits` 는 `max` 가 `min` 이하면 `bad-range`, **0 을
+품지 않으면 `out-of-range`** 다 — 그린 자세가 관절 값 0 이다. continuous 관절에 `limits` 를 적으면 `not-allowed`.
+
+**관절을 모는 channel** 은 `target` 이 관절 이름인 것이다. `path` 나 `pivot` 을 적으면 `not-allowed`(관절이 이미
+말했다), 키의 `value` 가 수가 아니면 `not-finite`, `limits` 밖이면 `out-of-range` 다. `target` 이 부품도 관절도 아니면
+`unknown-channel-target`.
+
 ### 파라미터 (`parameters`)
 
 > ADR-0051 (`operato-twin/design/04-decisions.md`)