@hatiolab/figure-model 0.1.32 → 0.1.34

package/dist/v3-graph.js

@@ -90,6 +90,22 @@ const ops = {
         },
         run: ([a]) => [Math.sin(a)]
     },
+    // The radius of a round section whose two cross axes follow the instance differently (ADR-0087,
+    // 2026-09-22 user decision). sqrt(a·b) keeps the section a circle and grows it between the two factors.
+    // This is the one node that is not affine in the design inputs; it never iterates.
+    'geomean@1': {
+        ports: ['value'],
+        types(t, p) {
+            if (t.length < 2 || t.length > 3 || !t.every(Array.isArray) || !t.every(x => eq(x, t[0])))
+                fail('TYPE', p, 'geometric mean needs two or three scalars of the same dimension');
+            return [t[0]];
+        },
+        run: (a, p) => {
+            if (a.some((x) => x < 0))
+                fail('DOMAIN', p, 'geometric mean of a negative value');
+            return [Math.pow(a.reduce((s, x) => s * x, 1), 1 / a.length)];
+        }
+    },
     'between@1': {
         ports: ['length', 'center'],
         types(t, p) {
@@ -369,6 +385,44 @@ Object.assign(ops, {
             ];
         }
     },
+    // Motion (docs/v3-motion-contract.md). The axis is a unit vector in the `to` frame; right-handed rotation.
+    // axis-turn@1 is rigid in space but sin/cos in q: not affine in a state input.
+    'axis-turn@1': {
+        ports: ['pose'],
+        params: ['from', 'to'],
+        types(t, p, n) {
+            requireTypes(t, [ratio, ratio, ratio, angle], p);
+            return [transformType(n.params.from, n.params.to)];
+        },
+        run: ([ax, ay, az, q], p) => {
+            if (Math.abs(Math.hypot(ax, ay, az) - 1) > 1e-9)
+                fail('AXIS', p, 'unit axis required');
+            const c = Math.cos(q), s = Math.sin(q), k = 1 - c;
+            return [
+                {
+                    r: [
+                        [c + ax * ax * k, ax * ay * k - az * s, ax * az * k + ay * s],
+                        [ay * ax * k + az * s, c + ay * ay * k, ay * az * k - ax * s],
+                        [az * ax * k - ay * s, az * ay * k + ax * s, c + az * az * k]
+                    ],
+                    t: [0, 0, 0]
+                }
+            ];
+        }
+    },
+    'axis-slide@1': {
+        ports: ['pose'],
+        params: ['from', 'to'],
+        types(t, p, n) {
+            requireTypes(t, [ratio, ratio, ratio, length], p);
+            return [transformType(n.params.from, n.params.to)];
+        },
+        run: ([ax, ay, az, q], p) => {
+            if (Math.abs(Math.hypot(ax, ay, az) - 1) > 1e-9)
+                fail('AXIS', p, 'unit axis required');
+            return [{ r: identity(), t: [ax * q, ay * q, az * q] }];
+        }
+    },
     'compose@1': {
         ports: ['pose'],
         types(t, p) {
@@ -443,6 +497,73 @@ Object.assign(ops, {
             return [{ provider: 'cylinder', dimensions: { radius, length } }];
         }
     },
+    // Providers added for the V2 → V3 move (ADR-0087): every shape V2 could draw has a V3 provider.
+    'sphere-shape@1': {
+        ports: ['shape'],
+        params: ['frame'],
+        types(t, p, n) {
+            requireTypes(t, [length, length, length], p);
+            return [{ kind: 'shape', provider: 'sphere', frame: n.params.frame }];
+        },
+        run: ([radiusX, radiusY, radiusZ], p) => {
+            if ([radiusX, radiusY, radiusZ].some(x => !(x > 0)))
+                fail('GEOMETRY_DOMAIN', p, 'positive sphere radii required');
+            return [{ provider: 'sphere', dimensions: { radiusX, radiusY, radiusZ } }];
+        }
+    },
+    // A cylinder whose two ends have different radii (ADR-0087 decision 2 ruling 1). Equal radii make a cylinder,
+    // a zero radius a cone. The axis is local Y; `radiusTop` is at +Y as three's CylinderGeometry orders them.
+    'frustum-shape@1': {
+        ports: ['shape'],
+        params: ['frame'],
+        types(t, p, n) {
+            requireTypes(t, [length, length, length], p);
+            return [{ kind: 'shape', provider: 'frustum', frame: n.params.frame }];
+        },
+        run: ([radiusTop, radiusBottom, height], p) => {
+            if (!(height > 0 && radiusTop >= 0 && radiusBottom >= 0 && radiusTop + radiusBottom > 0))
+                fail('GEOMETRY_DOMAIN', p, 'positive height and non-negative radii, not both zero, required');
+            return [{ provider: 'frustum', dimensions: { radiusTop, radiusBottom, height } }];
+        }
+    },
+    // A closed section in the local X–Z plane (profile x → X, profile y → Z, as V2 draws it), pushed along Y.
+    'polygon-shape@1': {
+        ports: ['shape'],
+        params: ['frame'],
+        types(t, p, n) {
+            if (t.length < 7 || t.length % 2 === 0 || !t.every(x => eq(x, length)))
+                fail('TYPE', p, 'height then at least three (x, z) length pairs required');
+            return [{ kind: 'shape', provider: 'polygon', frame: n.params.frame }];
+        },
+        run: ([height, ...coords], p) => {
+            if (!(height > 0))
+                fail('GEOMETRY_DOMAIN', p, 'positive height required');
+            const profile = [];
+            for (let i = 0; i < coords.length; i += 2)
+                profile.push({ id: `p${i / 2}`, x: coords[i], y: coords[i + 1] });
+            const xs = profile.map(q => q.x), ys = profile.map(q => q.y);
+            const width = Math.max(...xs) - Math.min(...xs), depth = Math.max(...ys) - Math.min(...ys);
+            if (!(width > 0 && depth > 0))
+                fail('GEOMETRY_DOMAIN', p, 'section must span both axes');
+            return [{ provider: 'polygon', dimensions: { height, width, depth }, profile }];
+        }
+    },
+    // A rounded box with the inside removed: walls of two thicknesses and a floor, as V2's `hollow` draws it.
+    'hollow-box@1': {
+        ports: ['shape'],
+        params: ['frame'],
+        types(t, p, n) {
+            requireTypes(t, Array(7).fill(length), p);
+            return [{ kind: 'shape', provider: 'hollowBox', frame: n.params.frame }];
+        },
+        run: ([width, height, depth, round, wallX, wallZ, floor], p) => {
+            if (!(width > 0 && height > 0 && depth > 0 && round >= 0 && round <= Math.min(width, depth) / 2))
+                fail('GEOMETRY_DOMAIN', p, 'positive dimensions and valid XZ corner radius required');
+            if (!(wallX > 0 && wallZ > 0 && wallX < width / 2 && wallZ < depth / 2 && floor >= 0 && floor < height))
+                fail('GEOMETRY_DOMAIN', p, 'walls thinner than half the section and a floor thinner than the height required');
+            return [{ provider: 'hollowBox', dimensions: { width, height, depth, round, wallX, wallZ, floor } }];
+        }
+    },
     'feature@1': {
         ports: ['pose'],
         params: ['frame', 'name'],
@@ -451,9 +572,13 @@ Object.assign(ops, {
                 fail('TYPE', p, 'shape required');
             const names = t[0].provider === 'portal'
                 ? ['top', 'bottomLeft', 'bottomRight', 'openingTop', 'frontTop']
-                : ['box', 'roundedBox'].includes(t[0].provider)
+                : ['box', 'roundedBox', 'sphere', 'hollowBox'].includes(t[0].provider)
                     ? ['left', 'right', 'bottom', 'top', 'back', 'front']
-                    : ['start', 'end', 'radialBottom'];
+                    : t[0].provider === 'polygon'
+                        ? ['bottom', 'top']
+                        : t[0].provider === 'frustum'
+                            ? ['start', 'end']
+                            : ['start', 'end', 'radialBottom'];
             if (!names.includes(n.params.name))
                 fail('UNKNOWN_FEATURE', p, n.params.name);
             // Provider-aligned feature axes, not outward-normal mating axes.
@@ -468,16 +593,29 @@ Object.assign(ops, {
                     openingTop: [(d.openingLeft + d.openingRight) / 2, d.openingTop, 0],
                     frontTop: [(d.left + d.right) / 2, d.top, d.depth / 2]
                 }
-                : ['box', 'roundedBox'].includes(s.provider)
+                : s.provider === 'sphere'
                     ? {
-                        left: [-d.width / 2, 0, 0],
-                        right: [d.width / 2, 0, 0],
-                        bottom: [0, -d.height / 2, 0],
-                        top: [0, d.height / 2, 0],
-                        back: [0, 0, -d.depth / 2],
-                        front: [0, 0, d.depth / 2]
+                        left: [-d.radiusX, 0, 0],
+                        right: [d.radiusX, 0, 0],
+                        bottom: [0, -d.radiusY, 0],
+                        top: [0, d.radiusY, 0],
+                        back: [0, 0, -d.radiusZ],
+                        front: [0, 0, d.radiusZ]
                     }
-                    : { start: [0, -d.length / 2, 0], end: [0, d.length / 2, 0], radialBottom: [0, 0, -d.radius] };
+                    : s.provider === 'polygon'
+                        ? { bottom: [0, -d.height / 2, 0], top: [0, d.height / 2, 0] }
+                        : s.provider === 'frustum'
+                            ? { start: [0, -d.height / 2, 0], end: [0, d.height / 2, 0] }
+                            : ['box', 'roundedBox', 'hollowBox'].includes(s.provider)
+                                ? {
+                                    left: [-d.width / 2, 0, 0],
+                                    right: [d.width / 2, 0, 0],
+                                    bottom: [0, -d.height / 2, 0],
+                                    top: [0, d.height / 2, 0],
+                                    back: [0, 0, -d.depth / 2],
+                                    front: [0, 0, d.depth / 2]
+                                }
+                                : { start: [0, -d.length / 2, 0], end: [0, d.length / 2, 0], radialBottom: [0, 0, -d.radius] };
             return [{ r: identity(), t: points[n.params.name] }];
         }
     },
@@ -494,6 +632,20 @@ Object.assign(ops, {
 });
 // Template members are values, not separately rendered placements.
 ops['member@1'] = { ...ops['place@1'], geometry: undefined };
+/** Every operator the kernel knows, by name. `v3-graph.test.ts` holds the list still. */
+export const V3_OPERATORS = Object.freeze(Object.keys(ops));
+/**
+ * The operators whose output is not affine in the **design** inputs. `geomean@1` is the only one
+ * (ADR-0087 decision 2 addendum). Adding a second means another ADR conversation, and the test that
+ * pins this list goes red until it has happened.
+ */
+export const V3_NON_AFFINE_OPERATORS = Object.freeze(['geomean@1']);
+/**
+ * The operators whose output is not affine in a **state** input: a rotation matrix is sin/cos in the joint
+ * angle (motion contract, "two corrections"). Rigid in space, so placement stays rigid; the 8-size check is a
+ * rest-pose regression check and says nothing about motion.
+ */
+export const V3_STATE_NON_AFFINE_OPERATORS = Object.freeze(['axis-turn@1']);
 function checkedValue(value, type, path) {
     if (Array.isArray(type))
         return num(value, path);

package/dist/v3-graph.js.map

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package/docs/prototypes/v3-asset-samples.mjs

@@ -9,7 +9,7 @@ export function sampleAsset(kind){
  const pair=kind==='robot'?robotBinding():kind==='forklift'?forkliftBindings():{model:sample.fullModel(),declaration:{version:'r3-capability-3',assetFrame:'world',bindings:[]}}
  const designInputs={},stateDefaults={}
  for(const i of pair.model.inputs)(i.role==='state'?stateDefaults:designInputs)[i.id]=sample.defaults[i.id]
- return {version:'figure-v3-asset-experiment-1',name:sample.seed.type,document:{version:'figure-v3-prototype-1',model:pair.model,capabilities:pair.declaration},designInputs,stateDefaults,
+ return {version:'figure-v3-asset-1',name:sample.seed.type,document:{version:'figure-v3-prototype-1',model:pair.model,capabilities:pair.declaration},designInputs,stateDefaults,
   palette:{'palette.primary':'#154473','palette.accent':'#f79c40','palette.neutral':'#96989b','palette.dark':'#27292c','palette.light':'#d6d7d9','palette.surface':'#56585b','palette.status-danger':'#f61b30','palette.status-warning':'#e68d1a','palette.status-info':'#158bde','palette.status-success':'#1cb648'},
   appearance:sample.seed.parts.map(p=>({target:p.name,material:structuredClone(p.material??{token:'palette.neutral'}),...(p.primitive==='cylinder'?{segments:p.segments??8}:{}),...(p.capability?{legacyCapability:structuredClone(p.capability)}:{})}))}
 }

package/docs/prototypes/v3-asset.schema.json

@@ -4,7 +4,7 @@
   "type": "object", "additionalProperties": false,
   "required": ["version", "name", "document", "designInputs", "stateDefaults", "palette", "appearance"],
   "properties": {
-    "version": {"const": "figure-v3-asset-experiment-1"},
+    "version": {"const": "figure-v3-asset-1"},
     "name": {"type": "string", "minLength": 1},
     "document": {"$ref": "v3-document.schema.json"},
     "designInputs": {"type": "object", "additionalProperties": {"type": "number"}},

package/docs/v3-asset-persistence.md

@@ -11,7 +11,7 @@
 - [네 대표 모델 자산 생성 예제](prototypes/v3-asset-samples.mjs)
 - [검증 테스트](prototypes/v3-asset.test.mjs)
 
-버전은 `figure-v3-asset-experiment-1`이다. **정식 Figure V3 전체 포맷 또는 V2 전체 변환 완료를 뜻하지 않는다.**
+버전은 `figure-v3-asset-1`이다. **정식 Figure V3 전체 포맷 또는 V2 전체 변환 완료를 뜻하지 않는다.**
 
 ## 저장 항목
 
@@ -23,6 +23,8 @@
 | palette | 사용한 토큰의 색상 snapshot. 미정의 토큰은 거부 |
 | appearance | source placement/member별 재질과 품질 설정 |
 | name | 자산 이름 |
+| occupancy | 선언한 점유 부피(`extent`: 그래프의 길이 값 셋)와 놓이는 면(`placement`). ADR-0044·0045 를 V3 로 다시 세운 것(ADR-0087 결정 3). 없으면 `inspectV3Asset` 이 `OCCUPANCY_UNDECLARED` 를 낸다 |
+| document.capabilities.names | 도형 수준 능력 이름. `FIGURE_CAPABILITIES` 목록 그대로 검사한다(ADR-0051 ④) |
 
 메시·계산된 pose·과거 성공 판정은 저장하지 않는다. 다시 로드하면 선언에서 재계산한다. 이 프로토타입은 팔레트 색상을 고정 snapshot으로 저장한다. 제품 공통 테마를 따라갈지 자산 색상을 유지할지는 별도 정책이 필요하다. 조명·환경맵·카메라는 이 계약에 포함되지 않아 모든 화면의 픽셀 동일성을 보장하지 않는다.
 

package/docs/v3-design.md

@@ -70,6 +70,9 @@ M은 최종 rigid 배치 행렬이다. material과 geometry spec은 별도 참
 5. 반복 개수 변화는 별도의 유한한 topology 구간으로 취급한다.
 
 고정 topology와 고정 배분 활성 집합 안에서는 치수와 정지 위치가 d에 대한 아핀함수다.
+예외는 하나다 — 단면을 원으로 지키는 부품의 반지름은 두 교차축 배율의 기하평균(`geomean@1`)이다
+(ADR-0087, 2026-09-22 사용자 결정). 이 노드는 반복하지 않고 결정적이며, 8 꼭짓점 평가와 동치라는
+아래 §의 주장은 이 반지름에는 적용되지 않는다.
 위상 순서는 여러 개일 수 있지만 단일 writer의 결정적 함수로 평가한 결과는 유일하다.
 일반 제약 시스템에 대한 임의 반복·수치 최적화·수렴 추정이 필요하지 않다.
 범위 밖 표현은 확장 kernel의 별도 계약이 필요하다.

package/docs/v3-motion-contract.md

@@ -0,0 +1,178 @@
+# V3 motion contract — joints, parameters, animations
+
+Status: **contract, fixed 2026-09-22; revised the same day after the chief architect's review; implemented the
+same day** (ADR-0087 decision 2, ruling 4). Implementation: `src/v3-graph.ts` (`axis-turn@1`, `axis-slide@1`),
+`src/v3-driver.ts` (`driverValue`, `driverStates`, `validateV3Drivers`), the motion part of `src/v3-from-v2.ts`
+(`planMotion`), tests in `src/v3-motion.test.ts`. The converter and every consumer use this contract; none of them
+defines motion on its own. Not yet covered by the converter: prismatic joints (none in the live assets; V2 scaled
+their travel by the instance, the contract does not), scale channels (refused as shape deformation), a rotation
+channel with a pivot off the part centre, channels that vary more than one axis, and parameter curves other than
+two linear keys. The review changed three things: the direction of every transform is written down, continuous
+rotation is split into an accumulated amount and a phase, and drivers carry an explicit time convention.
+
+## What a person sees
+
+An author opens the six-axis robot arm. The arm stands in its rest pose. A panel lists six joint values, each with
+its unit and range, and the default is where the arm was drawn. Dragging the elbow value bends the forearm about the
+elbow, and everything hung from the forearm (wrist, tool flange, the box in the gripper) comes along. Nothing else
+moves. Setting the value back to its default puts the arm exactly where it was drawn.
+
+On a board, the same arm has the same six values. A connector writes them; the arm follows. Stretching the arm's
+instance size does not change where its joints turn: a joint sits on the part that carries it and moves with that
+part under sizing, as ADR-0066 decision 3 already says for V2.
+
+## One rule for how a child moves, with every direction written down
+
+`X → Y` below means "takes coordinates written in X and gives them in Y".
+
+| value | transform direction |
+|---|---|
+| parent world pose | parent → world |
+| parent joint frame | jointParent → parent |
+| `A = compose(parent world pose, parent joint frame)` | jointParent → world |
+| `O = motion(q)` | **jointChild → jointParent** |
+| `B` = child joint frame | jointChild → child |
+| `attach@1(A, O, B) = A × O × inverse(B)` | child → world |
+
+- `jointParent` and `jointChild` are two named frames per joint, `<joint>.onParent` and `<joint>.onChild`. They
+  **coincide at `q = 0`**: `motion(0)` is the identity, and the two frames are placed so that the child then sits in
+  its rest pose.
+- A part with no joint to its parent has `motion = identity` (V2 `FigurePart.parent` without a joint).
+- The parent and child joint frames come from the rest pose and sizing (`jointOriginPosition`), so a joint moves
+  with the part that carries it when the instance is resized.
+- `attach@1` already computes `A × O × inverse(B)`, and its type checker refuses a chain whose frames do not meet.
+  No parent-chain node is added; `compose@1` and `attach@1` are enough.
+
+**`q = 0` is the rest pose. That is not the same claim as "the default is the rest pose."** A V2 parameter whose
+default is not 0 drew its rest pose at that default. The converter keeps V2's meaning: the joint frames are placed
+for the drawn pose, and the state default stays what V2 stored. It never subtracts the default or forces it to 0.
+
+## Joint kinds, their state input, and the two motion operators
+
+```
+axis-turn@1   args [ax, ay, az (ratio), q (angle)]   params { from, to }
+              → pose from → to: right-handed rotation about the unit axis (ax, ay, az) by q, no translation
+axis-slide@1  args [ax, ay, az (ratio), q (length)]  params { from, to }
+              → pose from → to: translation by q along the unit axis (ax, ay, az), identity rotation
+```
+
+- The axis is a unit vector **written in the jointParent frame**. Both operators fail on a non-unit axis
+  (|a| − 1 beyond 1e-9).
+- Right-handed: looking down the axis toward the origin, positive `q` turns counter-clockwise. Positive `q` on a
+  slide moves along the axis direction.
+- For a joint, `from = <joint>.onChild`, `to = <joint>.onParent`, so the operator's output is `O` above.
+- An arbitrary axis is carried as three numbers and turned with axis–angle. It is **never** collapsed into one
+  Euler component.
+
+| V2 `FigureJoint.type` | state input | unit stored | `motion(q)` |
+|---|---|---|---|
+| `revolute` | one angle, `role: 'state'`, V2 limits as range | rad (an input may declare `deg`; the kernel converts) | `axis-turn@1` |
+| `prismatic` | one length, `role: 'state'`, V2 limits as range | mm | `axis-slide@1` |
+| `continuous` | one **phase** angle, `role: 'state'`, range `[−180°, 180°)` | rad | `axis-turn@1` |
+
+### Continuous rotation: an amount and a phase, not a limit
+
+A finite input range on a continuous joint is **not** a mechanical limit. Refusing 361° would make it not
+continuous. So the value is split:
+
+- **Accumulated rotation** (turns, total angle) lives at the boundary that produces it: the driver or the external
+  input. If turn counts are product data, they are preserved there, outside the kernel.
+- **Phase** is what the kernel receives: the accumulated angle normalised into `[−180°, 180°)`. The kernel's finite
+  range is the range of poses it can express, nothing more.
+
+**Normalise after interpolating, never before.** A driver going forward from 350° to 370° interpolates in
+accumulated angle (350 → 360 → 370) and normalises each sample afterwards (350 → −180/180 → 10). Wrapping the key
+values first would interpolate 350 → 10 and turn the wrong way. Widening the range does not fix this; the split does.
+
+## Parameters
+
+A V2 `FigureParameter` keeps its **name, unit, range, default and target**. In V3 it is the state input itself:
+`id` = the parameter name, `unit` and `min`/`max` from the range, `role: 'state'`, and the asset's `stateDefaults`
+carries the default as V2 stored it. Its target is the joint (or part channel) whose `motion(q)` reads it. A
+parameter that V2 let drive several joints becomes one input read by several `axis-turn@1` nodes: one writer, many
+readers, which the graph already allows.
+
+## Drivers: the asset declares, figure-model evaluates, the consumer owns time
+
+The kernel has **no clock**. Same inputs, same result, always. A V2 `AnimationClip` becomes a **driver**
+declaration on the asset, not a graph node. Responsibilities:
+
+| who | does |
+|---|---|
+| the asset | carries the driver data |
+| figure-model | the one pure evaluation function `driverValue(driver, time) → state value`, and the validation rules |
+| the consumer (things-scene, a thumbnail renderer, a test) | supplies time, plays and stops, chooses which control source is active |
+| the spatial kernel | receives final state values and evaluates shape and pose |
+
+**No consumer implements interpolation or looping on its own.** All of them call the same function.
+
+```
+drivers: [{
+  id: 'run',
+  state: 'roller.spin',              // the state input it writes
+  time: { unit: 's', duration: 0.833 },
+  keys: [{ at: 0, value: 0 }, { at: 1, value: 360 }],   // `at` is a fraction 0..1 of duration
+  interpolation: 'linear',
+  loop: 'wrap',                      // 'wrap' | 'hold'
+  accumulates: true                  // continuous: keys are accumulated angle; the phase is taken after interpolation
+}]
+```
+
+- **Time convention, one for all drivers.** `time.unit` is seconds; `duration` is the clip length in seconds; every
+  key `at` is a fraction of the duration in `[0, 1]`. The converter normalises V2's two habits (seconds in
+  `duration`, fractions in `at`, ADR-0051 ②) into exactly this and records the source form in the report. A driver
+  with a missing or non-positive duration is refused.
+- **Loop end.** `wrap`: time `t` maps to `t mod duration`, and the sample at `duration` equals the sample at 0 (the
+  last key's value is reached at `at = 1` and the next period starts from key 0). For an accumulating driver, wrapping
+  adds the full-period delta to the accumulated value, so the roller keeps turning rather than snapping back.
+  `hold`: for `t ≥ duration` the value stays at the last key.
+- **One writer per state at a time.** A state input may be named by a driver and also written by a connector. The
+  asset's stateDefaults, drivers and external inputs are three sources; the consumer selects the **active control
+  source per state** explicitly (`driver` or `external`). Values are never summed and "last call wins" is not a
+  rule. figure-model's validation refuses two drivers naming the same state.
+
+A V2 part channel (`path: 'rotation'` on a part with no joint, like the conveyor roller) converts to a continuous
+state input on that part, `<part>.spin`, driving an `axis-turn@1` about the part's own axis, and a driver for the
+clip with `accumulates: true`. The conveyor's rotation animation is therefore carried, not lost.
+
+## What the converter does with the seven motion assets
+
+1. For every `FigureJoint`: two joint frames from the rest pose and sizing, one state input, one `axis-turn@1` or
+   `axis-slide@1`, one `attach@1`, and the child's `place@1` reads the attached pose.
+2. For every part with `parent` and no joint: `compose@1` of the parent's pose and the rigid offset.
+3. For every `parameter`: a state input as above; refuse (`PARAMETER_TARGET`) if its target is not a joint or a part
+   channel this contract covers.
+4. For every animation clip: a driver, with the clip's channels mapped to state inputs; refuse
+   (`ANIMATION_CHANNEL`) for a channel path this contract does not cover (`scale`).
+
+## Two corrections to earlier wording
+
+- **Rigid does not mean affine in the state.** A rigid pose is affine in the spatial coordinates it maps, but a
+  rotation matrix is a sin/cos function of the joint angle. So `axis-turn@1` is **not affine in `q`**, and the
+  operator-list guard is restated: `geomean@1` is the only node that is non-affine in the *design inputs*;
+  `axis-turn@1` is non-affine in a *state input*. The 8-size comparison therefore stays a limited regression check for
+  the rest pose and does not become a proof of equivalence under motion.
+- **Rotation is compared as a relative angle**, the angle of `R₂ · R₁ᵀ`, never as a difference of Euler components.
+
+## "The same" for motion (completion criterion)
+
+For every converted motion asset, V2 and V3 are compared at the base size and the doubled sizes with:
+
+- each joint at its default, its mid-point and both limits;
+- **parent and child joints changed at the same time**, not one at a time;
+- at least one joint with an arbitrary (non-principal) axis;
+- a non-zero default, checked at the default and away from it;
+- a continuous joint just before and just after the phase boundary (e.g. 179° and 181°);
+- a looping driver just before and just after the loop end (e.g. 0.99 and 1.01 durations), and a `hold` driver past
+  its end.
+
+Same part list, same centre and extents within 1 mm, same relative rotation within 0.1°. For each driver, the state
+value at time 0, half and end must equal V2's clip value at those times. Exact conversion and deliberate
+re-authoring are marked separately in the report.
+
+## Not in this contract
+
+- Inverse kinematics, reach checks, collision between links. Consumers may add them on top; the kernel does not.
+- Physical time (velocity limits, easing between commanded values). ADR-0051 ② puts transition time on the instance;
+  a driver may implement it, the graph does not know it.
+- Per-axis corner radii (ruling 6) and theme mapping (ruling 5): reviewed separately before the renderer starts.