@hatiolab/figure-model 0.1.55 → 0.1.57

package/dist/index.d.ts

@@ -17,7 +17,7 @@ export { V3_KERNEL_VERSION } from './v3-kernel-version.ts';
 export { V3_FACE_NORMALS } from './v3-surface.ts';
 export { v3CostOf, v3TrianglesOf, type V3Cost } from './v3-cost.ts';
 export { v3ScoreOf, v3PartCountOf, v3PartBudgetOf, v3GradeOf, v3MaterialKeyOf, v3IndependentBodiesOf, V3_GRADE_SCALE, V3_BUDGET_KEYS, V3_PER_INSTANCE, type V3Score, type V3BudgetUse, type V3BudgetKey } from './v3-score.ts';
-export { applyV3Authoring, proposeV3Occupancy, v3AttachmentsOf, v3BindingsOf, V3_FACES, type V3BindingPlace, type V3AuthoringAction, type V3DimensionSource, type V3Measure, type V3FaceAlignment, type V3Face, type V3MotionRequest, type V3OccupancyProposal } from './v3-authoring-actions.ts';
+export { applyV3Authoring, proposeV3Occupancy, v3AttachmentsOf, v3BindingsOf, V3_FACES, type V3BindingPlace, type V3AuthoringAction, type V3DimensionSource, type V3Measure, type V3FaceAlignment, type V3Face, type V3MotionRequest, type V3OccupancyProposal, type V3Joint, type V3JointType, type V3JointAxis, V3_JOINT_TYPES, checkV3Joints } from './v3-authoring-actions.ts';
 export { convertV2ToV3, compareV2WithV3, v2WorldBoxes, v3WorldBoxes, eulerXYZ, V3_SIZE_INPUTS, SAME_TOLERANCE_MM, SAME_TOLERANCE_DEG, type V3ConversionOptions, type V3ConversionResult, type V3ConversionRefusal, type V3ConversionLoss, type V3ConversionNote, type V2MotionState, type V3CompareOptions, paletteHash, v2ClipDuration, v3StateOverrides, axisAngle, repeatBoundaryScales, type V3ConversionMethod, type V3RangeChange, type V3SameReport, type V3SameDifference, type WorldBox } from './v3-from-v2.ts';
 export type * from './v3-asset-types.ts';
 export type { V3Unit, V3Dimensions, V3ValueType, V3GraphInput, V3GraphConstant, V3GraphNode, V3Graph, V3Pose, V3Shape, V3PlacedValue, V3PlacedGeometry, V3ScalarGeometry, V3Geometry, V3RuntimeValue, V3GraphEvaluation, V3CompiledGraph } from './v3-graph-types.ts';
@@ -34,4 +34,5 @@ export { sizingReport, sizingReportOf, sizingFixCandidatesOf, SIZING_WAYS, type
 export { contractChanges, breaksContract, type ContractChange, type ContractChangeCode } from './release-contract.ts';
 export { V3_INSTANCE_SIZE_DEFAULT, V3_INSTANCE_SIZE_INPUTS, V3_SIZE_POSITIVE_STEP, defaultInstanceSizeRange, foldInstanceSizeRange, v3InstanceSizeLimitsOf, type V3SizeLimit, type V3SizeRange, type V3SizeRangeMove } from './v3-instance-size.ts';
 export { v3ContractChanges, type V3ContractChange, type V3ContractChangeCode } from './v3-release-contract.ts';
+export { robotArmV3, ROBOT_ARM_CHAIN } from './v3-examples.ts';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -29,7 +29,7 @@ export { V3_KERNEL_VERSION } from "./v3-kernel-version.js";
 export { V3_FACE_NORMALS } from "./v3-surface.js";
 export { v3CostOf, v3TrianglesOf } from "./v3-cost.js";
 export { v3ScoreOf, v3PartCountOf, v3PartBudgetOf, v3GradeOf, v3MaterialKeyOf, v3IndependentBodiesOf, V3_GRADE_SCALE, V3_BUDGET_KEYS, V3_PER_INSTANCE } from "./v3-score.js";
-export { applyV3Authoring, proposeV3Occupancy, v3AttachmentsOf, v3BindingsOf, V3_FACES } from "./v3-authoring-actions.js";
+export { applyV3Authoring, proposeV3Occupancy, v3AttachmentsOf, v3BindingsOf, V3_FACES, V3_JOINT_TYPES, checkV3Joints } from "./v3-authoring-actions.js";
 export { convertV2ToV3, compareV2WithV3, v2WorldBoxes, v3WorldBoxes, eulerXYZ, V3_SIZE_INPUTS, SAME_TOLERANCE_MM, SAME_TOLERANCE_DEG, paletteHash, v2ClipDuration, v3StateOverrides, axisAngle, repeatBoundaryScales } from "./v3-from-v2.js";
 export { assertV3Json, parseV3Json, v3Utf8ByteLength, V3_JSON_MAX_BYTES, V3_JSON_MAX_DEPTH } from "./v3-json.js";
 export { validate } from "./validate.js";
@@ -51,4 +51,5 @@ export { sizingReport, sizingReportOf, sizingFixCandidatesOf, SIZING_WAYS } from
 export { contractChanges, breaksContract } from "./release-contract.js";
 export { V3_INSTANCE_SIZE_DEFAULT, V3_INSTANCE_SIZE_INPUTS, V3_SIZE_POSITIVE_STEP, defaultInstanceSizeRange, foldInstanceSizeRange, v3InstanceSizeLimitsOf } from "./v3-instance-size.js";
 export { v3ContractChanges } from "./v3-release-contract.js";
+export { robotArmV3, ROBOT_ARM_CHAIN } from "./v3-examples.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/v3-asset-types.d.ts

@@ -1,3 +1,4 @@
+import type { V3Joint } from './v3-authoring-actions.ts';
 import type { V3Graph, V3Geometry, V3Pose, V3RuntimeValue, V3ValueType } from './v3-graph-types.ts';
 export interface V3SurfaceReference {
     placement: string;
@@ -233,6 +234,11 @@ export interface V3Asset {
      * before a part is added, not after. Absent: no part limit.
      */
     detailLevel?: 'S' | 'M' | 'L';
+    /**
+     * The joints, URDF's records with V3 values (ADR-0093): the canon of how parts hang together and move. Their graph
+     * nodes are made from them; an asset whose nodes disagree with them is refused on reading.
+     */
+    joints?: V3Joint[];
 }
 export type V3AssetGeometry = V3Geometry & Omit<V3Appearance, 'target' | 'visibility'> & {
     /** Whether the consumer draws this body. False bodies are still evaluated, placed and gated. */

package/dist/v3-asset-types.d.ts.map

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+{"version":3,"file":"v3-asset-types.d.ts","sourceRoot":"","sources":["../src/v3-asset-types.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,2BAA2B,CAAA;AACxD,OAAO,KAAK,EAAE,OAAO,EAAE,UAAU,EAAE,MAAM,EAAE,cAAc,EAAE,WAAW,EAAE,MAAM,qBAAqB,CAAA;AAEnG,MAAM,WAAW,kBAAkB;IACjC,SAAS,EAAE,MAAM,CAAA;IACjB,OAAO,EAAE,MAAM,CAAA;CAChB;AACD,MAAM,WAAW,oBAAoB;IACnC,EAAE,EAAE,MAAM,CAAA;IACV,KAAK,EAAE,MAAM,CAAA;IACb,IAAI,EAAE,MAAM,GAAG,MAAM,CAAA;IACrB,KAAK,EAAE,MAAM,CAAA;IACb,IAAI,EAAE,MAAM,GAAG,kBAAkB,CAAA;IACjC,OAAO,EAAE,MAAM,EAAE,CAAA;IACjB,QAAQ,EAAE,MAAM,CAAA;IAChB,MAAM,CAAC,EAAE;QAAE,IAAI,EAAE,cAAc,CAAC;QAAC,UAAU,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;KAAE,CAAA;IACvE,QAAQ,CAAC,EAAE,kBAAkB,EAAE,CAAA;CAChC;AACD,MAAM,WAAW,cAAc;IAC7B,OAAO,EAAE,iBAAiB,CAAA;IAC1B,UAAU,EAAE,MAAM,CAAA;IAClB,QAAQ,EAAE,oBAAoB,EAAE,CAAA;IAChC;;;OAGG;IACH,KAAK,CAAC,EAAE,MAAM,EAAE,CAAA;CACjB;AAED;;;;;;;;;;;;;;;;GAgBG;AACH,MAAM,WAAW,WAAW;IAC1B,MAAM,EAAE;QACN,CAAC,EAAE;YAAE,GAAG,EAAE,MAAM,CAAC;YAAC,GAAG,EAAE,MAAM,CAAA;SAAE,CAAA;QAC/B,CAAC,EAAE;YAAE,GAAG,EAAE,MAAM,CAAC;YAAC,GAAG,EAAE,MAAM,CAAA;SAAE,CAAA;QAC/B,CAAC,EAAE;YAAE,GAAG,EAAE,MAAM,CAAC;YAAC,GAAG,EAAE,MAAM,CAAA;SAAE,CAAA;KAChC,CAAA;IACD,SAAS,EAAE,OAAO,GAAG,SAAS,GAAG,QAAQ,CAAA;IACzC;;;;;;;;;;;;;OAaG;IACH,OAAO,CAAC,EAAE;QAAE,KAAK,EAAE,gBAAgB,CAAC;QAAC,OAAO,EAAE,kBAAkB,CAAA;KAAE,CAAA;CACnE;AACD,MAAM,WAAW,UAAU;IACzB,OAAO,EAAE,uBAAuB,CAAA;IAChC,KAAK,EAAE,OAAO,CAAA;IACd,YAAY,EAAE,cAAc,CAAA;CAC7B;AACD,MAAM,WAAW,gBAAgB;IAC/B,IAAI,EAAE,MAAM,CAAA;IACZ,QAAQ,EAAE,MAAM,CAAA;CACjB;AACD,MAAM,MAAM,OAAO,GAAG;IAAE,MAAM,EAAE,YAAY,CAAC;IAAC,MAAM,EAAE,MAAM,CAAA;CAAE,GAAG;IAAE,MAAM,EAAE,WAAW,GAAG,QAAQ,CAAC;IAAC,OAAO,CAAC,EAAE,MAAM,EAAE,CAAA;CAAE,CAAA;AACvH,MAAM,WAAW,kBAAmB,SAAQ,kBAAkB;IAC5D,UAAU,EAAE,MAAM,CAAA;IAClB,QAAQ,EAAE,MAAM,CAAA;IAChB,IAAI,EAAE,MAAM,CAAA;IACZ,IAAI,EAAE,MAAM,CAAA;IACZ,MAAM,EAAE,MAAM,EAAE,CAAA;IAChB,UAAU,EAAE,yBAAyB,CAAA;CACtC;AACD,MAAM,WAAW,kBAAkB;IACjC,EAAE,EAAE,MAAM,CAAA;IACV,KAAK,EAAE,MAAM,CAAA;IACb,IAAI,EAAE,MAAM,GAAG,MAAM,CAAA;IACrB,KAAK,EAAE,MAAM,CAAA;IACb,IAAI,EAAE,MAAM,CAAA;IACZ,gBAAgB,CAAC,EAAE,MAAM,CAAA;IACzB,MAAM,EAAE;QAAE,IAAI,EAAE,cAAc,CAAC;QAAC,UAAU,EAAE,MAAM,EAAE,CAAA;KAAE,GAAG,IAAI,CAAA;IAC7D,QAAQ,EAAE,kBAAkB,EAAE,CAAA;IAC9B,MAAM,EAAE;QAAE,WAAW,EAAE,OAAO,CAAC;QAAC,WAAW,EAAE,OAAO,CAAC;QAAC,OAAO,EAAE,OAAO,CAAC;QAAC,SAAS,EAAE,OAAO,CAAC;QAAC,MAAM,EAAE,OAAO,CAAA;KAAE,CAAA;CAC9G;AACD,MAAM,WAAW,sBAAsB;IACrC,QAAQ,EAAE,UAAU,EAAE,CAAA;IACtB,QAAQ,EAAE,kBAAkB,EAAE,CAAA;IAC9B,mHAAmH;IACnH,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,cAAc,CAAC,CAAA;CACvC;AACD,MAAM,WAAW,sBAAsB;IACrC,wGAAwG;IACxG,WAAW,EAAE,MAAM,CAAC,MAAM,EAAE,WAAW,CAAC,CAAA;IACxC,8EAA8E;IAC9E,UAAU,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,CAAC,CAAA;IACpC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,EAAE,QAAQ,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,gBAAgB,CAAC,GAAG,sBAAsB,CAAA;CAC9G;AACD,MAAM,WAAW,UAAU;IACzB,KAAK,EAAE,MAAM,CAAA;IACb,MAAM,CAAC,EAAE,SAAS,GAAG,OAAO,GAAG,OAAO,GAAG,SAAS,GAAG,MAAM,GAAG,SAAS,GAAG,QAAQ,CAAA;IAClF,WAAW,CAAC,EAAE,OAAO,CAAA;IACrB,QAAQ,CAAC,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,SAAS,EAAE,MAAM,CAAC;QAAC,EAAE,EAAE,OAAO,CAAA;KAAE,CAAA;CAC7D;AACD,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,MAAM,CAAA;IACd,QAAQ,EAAE,UAAU,CAAA;IACpB,QAAQ,CAAC,EAAE,MAAM,CAAA;IACjB;;;;;;;;;;OAUG;IACH,UAAU,CAAC,EAAE,MAAM,CAAA;CACpB;AACD;;;GAGG;AACH,MAAM,WAAW,QAAQ;IACvB,mGAAmG;IACnG,EAAE,EAAE,MAAM,CAAA;IACV;;;OAGG;IACH,IAAI,EAAE,MAAM,CAAA;IACZ,gEAAgE;IAChE,KAAK,EAAE,MAAM,CAAA;IACb,qEAAqE;IACrE,IAAI,EAAE;QAAE,IAAI,EAAE,GAAG,CAAC;QAAC,QAAQ,EAAE,MAAM,CAAA;KAAE,CAAA;IACrC,IAAI,EAAE,KAAK,CAAC;QAAE,EAAE,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,CAAC,CAAA;IAC1C,aAAa,EAAE,QAAQ,GAAG,MAAM,CAAA;IAChC,gHAAgH;IAChH,IAAI,EAAE,MAAM,GAAG,MAAM,CAAA;IACrB,qHAAqH;IACrH,WAAW,EAAE,OAAO,CAAA;CACrB;AAED;;;GAGG;AACH,MAAM,WAAW,kBAAkB;IACjC,wGAAwG;IACxG,KAAK,CAAC,EAAE,MAAM,CAAA;IACd;;;;;;OAMG;IACH,KAAK,CAAC,EAAE,MAAM,CAAA;CACf;AAED,MAAM,WAAW,OAAO;IACtB,OAAO,EAAE,mBAAmB,CAAA;IAC5B,IAAI,EAAE,MAAM,CAAA;IACZ,QAAQ,EAAE,UAAU,CAAA;IACpB,YAAY,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IACpC,aAAa,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IACrC,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IAC/B,UAAU,EAAE,YAAY,EAAE,CAAA;IAC1B,SAAS,CAAC,EAAE,WAAW,CAAA;IACvB,OAAO,CAAC,EAAE,QAAQ,EAAE,CAAA;IACpB,mGAAmG;IACnG,WAAW,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,kBAAkB,CAAC,CAAA;IAChD;;;;;OAKG;IACH,MAAM,CAAC,EAAE,SAAS,CAAA;IAClB;;;;OAIG;IACH,WAAW,CAAC,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;IAC7B;;;OAGG;IACH,MAAM,CAAC,EAAE,OAAO,EAAE,CAAA;CACnB;AACD,MAAM,MAAM,eAAe,GAAG,UAAU,GACtC,IAAI,CAAC,YAAY,EAAE,QAAQ,GAAG,YAAY,CAAC,GAAG;IAC5C,gGAAgG;IAChG,OAAO,EAAE,OAAO,CAAA;CACjB,CAAA;AACH,MAAM,WAAW,iBAAiB;IAChC,QAAQ,EAAE,eAAe,EAAE,CAAA;IAC3B,QAAQ,EAAE,kBAAkB,EAAE,CAAA;IAC9B,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IAC9B,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;CAChC;AACD,MAAM,WAAW,eAAe;IAC9B,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,iBAAiB,CAAA;CACrE"}

package/dist/v3-asset.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"v3-asset.d.ts","sourceRoot":"","sources":["../src/v3-asset.ts"],"names":[],"mappings":"AAQA,OAAO,KAAK,EAAE,OAAO,EAAE,eAAe,EAAqB,MAAM,qBAAqB,CAAA;AAetF,wBAAgB,cAAc,CAAC,MAAM,EAAE,OAAO,GAAG,eAAe,CAE/D;AA6ID,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,OAAO,UAG9C;AACD,wBAAgB,YAAY,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAIlD;AACD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,OAAO,EACd,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,EAC9B,OAAO,GAAE;IAAE,oBAAoB,CAAC,EAAE,OAAO,CAAA;CAAO,GAC/C,OAAO,CAeT"}
+{"version":3,"file":"v3-asset.d.ts","sourceRoot":"","sources":["../src/v3-asset.ts"],"names":[],"mappings":"AASA,OAAO,KAAK,EAAE,OAAO,EAAE,eAAe,EAAqB,MAAM,qBAAqB,CAAA;AAetF,wBAAgB,cAAc,CAAC,MAAM,EAAE,OAAO,GAAG,eAAe,CAE/D;AA6ID,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,OAAO,UAG9C;AACD,wBAAgB,YAAY,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAOlD;AACD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,OAAO,EACd,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,EAC9B,OAAO,GAAE;IAAE,oBAAoB,CAAC,EAAE,OAAO,CAAA;CAAO,GAC/C,OAAO,CAeT"}

package/dist/v3-asset.js

@@ -1,4 +1,5 @@
 // Self-contained experimental asset envelope; no product DB/file writes.
+import { checkV3Joints } from "./v3-authoring-actions.js";
 import { compileV3Document as compileDocument } from "./v3-document.js";
 import { assertV3Json as jsonOnly, parseV3Json as parseStrictJson, V3_JSON_MAX_BYTES as MAX_BYTES, v3Utf8ByteLength } from "./v3-json.js";
 import { V3ContractError as ContractError } from "./v3-contract.js";
@@ -25,7 +26,7 @@ function compileAsset(source) {
     jsonOnly(source);
     if (v3Utf8ByteLength(JSON.stringify(source)) > MAX_BYTES)
         fail('DOCUMENT_LIMIT', 'asset', 'over 1 MiB');
-    fields(source, ['version', 'name', 'document', 'designInputs', 'stateDefaults', 'palette', 'appearance'], ['occupancy', 'drivers', 'stateInputs', 'sizing', 'detailLevel'], 'asset');
+    fields(source, ['version', 'name', 'document', 'designInputs', 'stateDefaults', 'palette', 'appearance'], ['occupancy', 'drivers', 'stateInputs', 'sizing', 'detailLevel', 'joints'], 'asset');
     if (source.version !== 'figure-v3-asset-1')
         fail('VERSION', 'asset', source.version);
     if (typeof source.name !== 'string' || !source.name.trim())
@@ -160,6 +161,10 @@ export function serializeV3Asset(asset) {
 export function parseV3Asset(text) {
     const asset = parseStrictJson(text);
     compileAsset(asset);
+    if (asset.joints !== undefined && !Array.isArray(asset.joints))
+        fail('ASSET_SCHEMA', 'joints', 'joints is a list');
+    // The joint records are the canon; nodes edited apart from them are refused (ADR-0093).
+    checkV3Joints(asset);
     return asset;
 }
 export function captureV3AuthoredInputs(asset, inputs, options = {}) {

package/dist/v3-asset.js.map

@@ -1 +1 @@
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package/dist/v3-authoring-actions.d.ts

@@ -10,6 +10,74 @@ export declare const V3_FACES: {
     readonly front: "z";
 };
 export type V3Face = keyof typeof V3_FACES;
+/**
+ * UsdPhysics's joint types (ADR-0093, amended 2026-09-25: the joint follows USD). A `fixed` joint is a fastening; a
+ * `revolute` joint turns -- with no limits it turns without end, its value a phase (-180..180), as USD's revolute
+ * joint without limits does; a `prismatic` joint slides.
+ */
+export declare const V3_JOINT_TYPES: readonly ["fixed", "revolute", "prismatic"];
+export type V3JointType = (typeof V3_JOINT_TYPES)[number];
+/** UsdPhysics's axis tokens. */
+export type V3JointAxis = 'X' | 'Y' | 'Z';
+/**
+ * A joint, in UsdPhysics's words (ADR-0093): `body0` is what it hangs from -- a part's face, or the plane the figure is
+ * mounted on -- and `body1` the part it carries, by one of its faces. The joint frame is on body0's face (USD's
+ * `localPos0`), body1's face lies in it (`localPos1`); a moving joint turns about or slides along `axis` there.
+ * Angles are degrees and lengths millimetres, as in a USD stage with `metersPerUnit = 0.001`. The rest pose is every
+ * joint at 0.
+ *
+ * V3 extensions, which USD has no field for: every length may be an expression of the figure's design inputs (a
+ * joint on a link moves when the link grows); the faces are named features; `mimic` (URDF's, and PhysX's and Newton's
+ * extensions); `travel`, a slide whose length follows a part's size.
+ */
+export interface V3Joint {
+    id: string;
+    type: V3JointType;
+    body0: {
+        part: string;
+        face: V3Face;
+    } | {
+        plane: 'mounting-plane';
+    };
+    body1: {
+        part: string;
+        face: V3Face;
+    };
+    /** Where on body0's face, and how body1 stands in the joint frame (quarter turns only, in degrees). */
+    origin?: {
+        facing?: 'meet' | 'flush';
+        gap?: V3Measure;
+        align?: Partial<Record<Axis, V3FaceAlignment>>;
+        turn?: Partial<Record<Axis, number>>;
+    };
+    /** The axis a moving joint turns about or slides along, in the joint frame (USD `physics:axis`). */
+    axis?: V3JointAxis;
+    /** USD `physics:lowerLimit` / `physics:upperLimit`: degrees for revolute, millimetres for prismatic. */
+    lowerLimit?: number;
+    upperLimit?: number;
+    /**
+     * V3 extension: a prismatic joint whose distance follows the figure -- its value is a share (0..1 unless the limits
+     * say otherwise) of this length: a part's width, the instance's, times and plus.
+     */
+    travel?: {
+        source?: V3DimensionSource;
+        times?: number;
+        plus?: number;
+    };
+    /** The state input that is the joint's value: its id (the joint's by default), label, starting value and sweep. */
+    state?: {
+        id?: string;
+        label?: string;
+        start?: number;
+        sweep?: number;
+    };
+    /** V3 extension (URDF's mimic): the value is the leader's times `multiplier` plus `offset`, in this joint's unit. */
+    mimic?: {
+        joint: string;
+        multiplier: number;
+        offset?: number;
+    };
+}
 /**
  * What a dimension follows. Named rather than implied, because "as wide as the gate" and "as wide as the
  * opening" and "as wide as the rail" are three different intentions that happen to agree at one size.
@@ -103,12 +171,19 @@ export type V3AuthoringAction =
     kind: 'detach';
     part: string;
 }
-/** "This part moves like this" — see `V3MotionRequest`. */
- | V3MotionRequest
-/** "This part does not move any more." The control it created and the clip that drove it go with it. */
+/**
+ * "This is a joint" -- URDF's joint record, with V3 values (ADR-0093): which face of the child sits on which face
+ * of the parent, and whether it stays fixed, turns (revolute, continuous) or slides (prismatic). The record is the
+ * canon; the joint's graph nodes are made from it. `id` names it; a record with an id already there replaces it.
+ */
  | {
-    kind: 'remove-motion';
-    part: string;
+    kind: 'set-joint';
+    joint: V3Joint;
+}
+/** "This joint is gone." Its child stays where it stands, fastened to nothing. */
+ | {
+    kind: 'remove-joint';
+    id: string;
 }
 /**
  * "This is the room it takes up" — a proposal the author has looked at, confirmed as it stands. `padding` widens
@@ -201,6 +276,22 @@ export type V3AuthoringAction =
     part: string;
     pitch: number;
 }
+/**
+ * "Move this part by so much, turn it by so much" -- a drag on the canvas. The part keeps how its place is worked out
+ * (V2's anchor rules, as the converter wrote them, follow the figure's size) and gets the drag added as its own
+ * number: `<part>.position.nudge.<axis>` beside a worked-out place, the part's own `<part>.position.<axis>` where it
+ * had a plain number. Turns likewise, in degrees. `grow` multiplies a measure by the drag's factor and keeps how it
+ * is worked out: `<part>.dimension.scale.<axis>` beside the measure's rule, so the part still follows the figure's
+ * size, times what the author gave it (V2 scaled any part's authored size the same way). A cylinder's X and Z are its
+ * one radius. A part carried by a joint or fastened to another is placed by that and is refused.
+ */
+ | {
+    kind: 'nudge-part';
+    part: string;
+    by?: Partial<Record<Axis, number>>;
+    turn?: Partial<Record<Axis, number>>;
+    grow?: Partial<Record<Axis, number>>;
+}
 /**
  * "Things are held here." A seat (things rest on it) or a grip (things are held in it), on a face of a part. The
  * place is that face as the part stands, so it follows the part through its resizes and its motion: a grip on a
@@ -238,6 +329,11 @@ export type V3AuthoringAction =
 export declare function applyV3Authoring(source: V3Asset, action: V3AuthoringAction): V3Asset;
 /** What each part is fastened to, for a reader that wants the structure rather than the graph. */
 export declare function v3AttachmentsOf(asset: V3Asset): Record<string, string | null>;
+/**
+ * The records are the canon: made again from them, the joints' nodes must be the nodes the asset holds. An asset
+ * whose nodes or records were edited apart is refused, not quietly rebuilt (ADR-0093, chief architect's condition).
+ */
+export declare function checkV3Joints(asset: V3Asset): void;
 /**
  * "This part moves like this."
  *

package/dist/v3-authoring-actions.d.ts.map

@@ -1 +1 @@
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