@hatiolab/figure-model 0.1.56 → 0.1.58

package/dist/v3-examples.d.ts

@@ -0,0 +1,21 @@
+import { type V3PrimitiveCreation } from './v3-create.ts';
+import type { V3Asset } from './v3-asset-types.ts';
+type Part = V3PrimitiveCreation;
+/** The chain, from the floor up: each part's bottom on the top of the one before. */
+export declare const ROBOT_ARM_CHAIN: {
+    part: Part;
+    joint?: {
+        id: string;
+        axis: 'Y' | 'Z';
+        min: number;
+        max: number;
+        continuous?: true;
+    };
+}[];
+/**
+ * A six-axis arm: each link joined to the one before at a joint, which is the one relation the arm needs; every size is
+ * the part's own number. The room it takes is worked out.
+ */
+export declare function robotArmV3(): V3Asset;
+export {};
+//# sourceMappingURL=v3-examples.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/v3-examples.js

@@ -0,0 +1,52 @@
+/*
+ * Figures authored in V3 terms, with the commands the modeller and the AI share -- examples, acceptance tests of the
+ * authoring language, and the seeds a new domain starts with. None is converted from V2.
+ */
+import { applyV3Authoring, proposeV3Occupancy } from "./v3-authoring-actions.js";
+import { addV3Primitive, createV3Asset } from "./v3-create.js";
+const box = (id, width, height, depth, token = 'palette.primary') => ({ id, kind: 'box', dimensions: { width, height, depth }, position: { x: 0, y: 0, z: 0 }, material: { token, preset: 'metal' } });
+const cylinder = (id, radius, length, token = 'palette.dark') => ({ id, kind: 'cylinder', dimensions: { radius, length }, position: { x: 0, y: 0, z: 0 }, material: { token, preset: 'metal' } });
+/** The chain, from the floor up: each part's bottom on the top of the one before. */
+export const ROBOT_ARM_CHAIN = [
+    { part: cylinder('base', 180, 120) },
+    { part: cylinder('turret', 150, 140), joint: { id: 'j1-base', axis: 'Y', min: -180, max: 180 } },
+    { part: box('shoulder', 220, 160, 220, 'palette.accent') },
+    { part: box('upper-arm', 140, 600, 140), joint: { id: 'j2-shoulder', axis: 'Z', min: -90, max: 90 } },
+    { part: box('elbow', 170, 140, 170, 'palette.accent') },
+    { part: box('forearm', 120, 520, 120), joint: { id: 'j3-elbow', axis: 'Z', min: -150, max: 150 } },
+    { part: cylinder('wrist-roll', 60, 90), joint: { id: 'j4-wrist-roll', axis: 'Y', min: -180, max: 180 } },
+    { part: box('wrist-pitch', 110, 110, 110, 'palette.accent'), joint: { id: 'j5-wrist-pitch', axis: 'Z', min: -120, max: 120 } },
+    { part: cylinder('flange', 50, 40, 'palette.neutral'), joint: { id: 'j6-tool-roll', axis: 'Y', min: -180, max: 180, continuous: true } },
+    { part: box('gripper', 150, 50, 70, 'palette.dark') }
+];
+/**
+ * A six-axis arm: each link joined to the one before at a joint, which is the one relation the arm needs; every size is
+ * the part's own number. The room it takes is worked out.
+ */
+export function robotArmV3() {
+    let asset = createV3Asset('6축 로봇암');
+    asset.palette = { 'palette.primary': '#477b9e', 'palette.dark': '#2b2b2b', 'palette.accent': '#f79c40', 'palette.neutral': '#9a9a9a' };
+    const run = (action) => (asset = applyV3Authoring(asset, action));
+    ROBOT_ARM_CHAIN.forEach(({ part }) => (asset = addV3Primitive(asset, part)));
+    run({ kind: 'set-joint', joint: { id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base', face: 'bottom' } } });
+    ROBOT_ARM_CHAIN.forEach(({ part, joint }, i) => {
+        if (i === 0)
+            return;
+        const hang = { body0: { part: ROBOT_ARM_CHAIN[i - 1].part.id, face: 'top' }, body1: { part: part.id, face: 'bottom' } };
+        if (!joint)
+            run({ kind: 'set-joint', joint: { id: part.id, type: 'fixed', ...hang } });
+        else if (joint.continuous)
+            run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis } });
+        else
+            run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max } });
+    });
+    /* Two fingers on the gripper's top, at its two ends, closing towards each other from one value (0..45 mm): the right one mimics. */
+    asset = addV3Primitive(asset, box('finger-left', 20, 90, 40, 'palette.neutral'));
+    asset = addV3Primitive(asset, box('finger-right', 20, 90, 40, 'palette.neutral'));
+    run({ kind: 'set-joint', joint: { id: 'gripper', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left', face: 'bottom' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 45 } });
+    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right', face: 'bottom' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'gripper', multiplier: -1 } } });
+    run({ kind: 'set-detail-level', level: 'L' });
+    run({ kind: 'declare-occupancy', proposal: proposeV3Occupancy(asset, { over: 'range' }), placement: 'floor' });
+    return asset;
+}
+//# sourceMappingURL=v3-examples.js.map

package/dist/v3-examples.js.map

@@ -0,0 +1 @@
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package/dist/v3-graph.d.ts

@@ -8,6 +8,21 @@ import type { V3CompiledGraph } from './v3-graph-types.ts';
  * no list of banned operators to keep in sync: the policy is on the operator itself.
  */
 export type V3StatePolicy = 'follows' | 'refuses';
+/**
+ * A flat face of a shape, in the shape's own frame: the axis it faces along, which way it faces, and where its plane
+ * lies -- a sum of the shape's arguments times factors (a box's right face is half its width, a portal's is its right
+ * side as given). The six named `left`..`front` are the shape's outer faces; a shape may have more (a portal's opening).
+ */
+export interface V3ShapeFace {
+    axis: 'x' | 'y' | 'z';
+    normal: 1 | -1;
+    plane: ReadonlyArray<{
+        arg: number;
+        k: number;
+    }>;
+}
+/** The flat faces a shape operator declares, or undefined when it has none (a sphere). */
+export declare function v3ShapeFaces(op: string): Readonly<Record<string, V3ShapeFace>> | undefined;
 export { ContractError };
 /** Every operator's state policy, by name, for the guard test and for readers of the contract. */
 export declare const V3_OPERATOR_STATE_POLICY: Readonly<Record<string, V3StatePolicy>>;

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

@@ -1 +1 @@
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package/dist/v3-graph.js

@@ -1,5 +1,23 @@
 // V3 experimental graph evaluator. Operator semantics are checked at compile and evaluation boundaries.
 import { V3ContractError as ContractError } from "./v3-contract.js";
+/** The six outer faces of a body centred on its origin, from the arguments that hold its extent on each axis. */
+function centredFaces(x, y, z) {
+    const pair = (axis, e, lo, hi) => ({
+        [lo]: { axis, normal: -1, plane: [{ arg: e.arg, k: -e.k / 2 }] },
+        [hi]: { axis, normal: 1, plane: [{ arg: e.arg, k: e.k / 2 }] }
+    });
+    return { ...pair('x', x, 'left', 'right'), ...pair('y', y, 'bottom', 'top'), ...pair('z', z, 'back', 'front') };
+}
+const BOX_FACES = centredFaces({ arg: 0, k: 1 }, { arg: 1, k: 1 }, { arg: 2, k: 1 });
+/** Only the two ends are flat: a frustum's and an extruded polygon's sides are not planes level with an axis. */
+const END_FACES = (height) => ({
+    bottom: { axis: 'y', normal: -1, plane: [{ arg: height, k: -0.5 }] },
+    top: { axis: 'y', normal: 1, plane: [{ arg: height, k: 0.5 }] }
+});
+/** The flat faces a shape operator declares, or undefined when it has none (a sphere). */
+export function v3ShapeFaces(op) {
+    return ops[op]?.faces;
+}
 export { ContractError };
 const fail = (c, p, d) => {
     throw new ContractError(c, p, d);
@@ -260,6 +278,7 @@ function transforms(t, p, count) {
 }
 Object.assign(ops, {
     'rounded-box@1': {
+        faces: BOX_FACES,
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -392,6 +411,19 @@ Object.assign(ops, {
         }
     },
     'portal-profile@1': {
+        faces: {
+            /* The outline is given by its sides, not centred: the portal stands on `bottom` and spans `left`..`right`. */
+            left: { axis: 'x', normal: -1, plane: [{ arg: 0, k: 1 }] },
+            right: { axis: 'x', normal: 1, plane: [{ arg: 1, k: 1 }] },
+            bottom: { axis: 'y', normal: -1, plane: [{ arg: 2, k: 1 }] },
+            top: { axis: 'y', normal: 1, plane: [{ arg: 3, k: 1 }] },
+            back: { axis: 'z', normal: -1, plane: [{ arg: 7, k: -0.5 }] },
+            front: { axis: 'z', normal: 1, plane: [{ arg: 7, k: 0.5 }] },
+            /* The opening's sides face into the opening: a door hangs on one of these. */
+            'opening-left': { axis: 'x', normal: 1, plane: [{ arg: 4, k: 1 }] },
+            'opening-right': { axis: 'x', normal: -1, plane: [{ arg: 5, k: 1 }] },
+            'opening-top': { axis: 'y', normal: -1, plane: [{ arg: 6, k: 1 }] }
+        },
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -558,6 +590,7 @@ Object.assign(ops, {
         run: ([a, b]) => [Math.hypot(...a.map((x, i) => x - b[i]))]
     },
     'box-shape@1': {
+        faces: BOX_FACES,
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -571,6 +604,7 @@ Object.assign(ops, {
         }
     },
     'cylinder-shape@1': {
+        faces: centredFaces({ arg: 0, k: 2 }, { arg: 1, k: 1 }, { arg: 0, k: 2 }),
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -600,6 +634,7 @@ Object.assign(ops, {
     // 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': {
+        faces: END_FACES(2),
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -615,6 +650,7 @@ Object.assign(ops, {
     // Shape-dimension contract §1 (2026-09-22): every round thing has per-axis dimensions. The @1 forms stay valid and
     // mean the equal case; @2 writes both axes. A renderer draws the ellipse or elliptic corner it is given.
     'cylinder-shape@2': {
+        faces: centredFaces({ arg: 0, k: 2 }, { arg: 2, k: 1 }, { arg: 1, k: 2 }),
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -628,6 +664,7 @@ Object.assign(ops, {
         }
     },
     'rounded-box@2': {
+        faces: BOX_FACES,
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -641,6 +678,7 @@ Object.assign(ops, {
         }
     },
     'hollow-box@2': {
+        faces: BOX_FACES,
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -657,6 +695,7 @@ Object.assign(ops, {
     },
     // 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': {
+        faces: END_FACES(0),
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {
@@ -679,6 +718,7 @@ Object.assign(ops, {
     },
     // A rounded box with the inside removed: walls of two thicknesses and a floor, as V2's `hollow` draws it.
     'hollow-box@1': {
+        faces: BOX_FACES,
         ports: ['shape'],
         params: ['frame'],
         types(t, p, n) {

package/dist/v3-graph.js.map

@@ -1 +1 @@
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package/dist/v3-kernel-version.d.ts

@@ -4,5 +4,5 @@
  * different result. Kept equal to package.json's version by `npm version` (the `version` script rewrites this file)
  * and by `v3-kernel-version.test.ts`.
  */
-export declare const V3_KERNEL_VERSION = "0.1.56";
+export declare const V3_KERNEL_VERSION = "0.1.58";
 //# sourceMappingURL=v3-kernel-version.d.ts.map

package/dist/v3-kernel-version.js

@@ -7,5 +7,5 @@
  * different result. Kept equal to package.json's version by `npm version` (the `version` script rewrites this file)
  * and by `v3-kernel-version.test.ts`.
  */
-export const V3_KERNEL_VERSION = '0.1.56';
+export const V3_KERNEL_VERSION = '0.1.58';
 //# sourceMappingURL=v3-kernel-version.js.map

package/dist/v3-part-edit.d.ts.map

@@ -1 +1 @@
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package/dist/v3-part-edit.js

@@ -1,5 +1,6 @@
 import { compileV3Asset } from "./v3-asset.js";
 import { V3ContractError } from "./v3-contract.js";
+import { releaseV3PartJoints, renameV3PartInJoints } from "./v3-authoring-actions.js";
 import { SEGMENT_PRESETS, FIGURE_CAPABILITIES } from "./types.js";
 /** Pure, validated structural edit. References are never silently retargeted or cascaded. */
 export function editV3Part(source, edit) {
@@ -38,9 +39,32 @@ export function editV3Part(source, edit) {
             throw new V3ContractError('STATE_INPUT', edit.input, 'the range runs from a smaller number to a larger one');
         if (edit.start !== undefined && !(Number.isFinite(edit.start) && edit.start >= min && edit.start <= max))
             throw new V3ContractError('STATE_INPUT', edit.input, `it starts inside its range, ${min} to ${max}`);
+        /*
+          A joint's value: its range is the joint record's limit, and the two are one (ADR-0093) -- changing only the
+          input would leave the record saying otherwise, and the asset would be refused the next time it is read.
+        */
+        const joint = (asset.joints ?? []).find(j => j.type !== 'fixed' && !j.mimic && (j.state?.id ?? j.id) === edit.input);
+        if (joint) {
+            const ranged = edit.min !== undefined || edit.max !== undefined;
+            const endless = joint.type === 'revolute' && joint.lowerLimit === undefined && joint.upperLimit === undefined;
+            if (endless && ranged)
+                throw new V3ContractError('STATE_INPUT', edit.input, 'a joint that turns without end has no range; its value is a phase, -180..180');
+            if (ranged && !(min <= 0 && 0 <= max))
+                throw new V3ContractError('STATE_INPUT', edit.input, 'the rest pose is the joint at 0, so its range holds 0');
+            if (!endless) {
+                joint.lowerLimit = min;
+                joint.upperLimit = max;
+            }
+            const { label: _label, sweep: _sweep, ...rest } = joint.state ?? {};
+            joint.state = { ...rest, ...policy };
+            if (!Object.keys(joint.state).length)
+                delete joint.state;
+        }
         input.min = min;
         input.max = max;
         asset.stateDefaults[edit.input] = edit.start ?? Math.min(Math.max(asset.stateDefaults[edit.input], min), max);
+        if (joint && (edit.start !== undefined || joint.state?.start !== undefined))
+            joint.state = { ...(joint.state ?? {}), start: asset.stateDefaults[edit.input] };
         asset.stateInputs = { ...(asset.stateInputs ?? {}) };
         if (Object.keys(policy).length)
             asset.stateInputs[edit.input] = policy;
@@ -132,7 +156,10 @@ export function editV3Part(source, edit) {
         return asset;
     }
     if (edit.kind === 'rename-part') {
-        renamePart(asset, edit.target, typeof edit.name === 'string' ? edit.name.trim() : '');
+        const name = typeof edit.name === 'string' ? edit.name.trim() : '';
+        renamePart(asset, edit.target, name);
+        if (name !== edit.target)
+            renameV3PartInJoints(asset, edit.target, name);
         compileV3Asset(asset);
         return asset;
     }
@@ -166,6 +193,7 @@ export function editV3Part(source, edit) {
         const part = model.nodes.find(n => n.id === edit.target);
         if (!part || part.op !== 'place@1')
             throw new V3ContractError('EDIT_TARGET', edit.target, 'remove an explicit placement, not a repeated template');
+        releaseV3PartJoints(asset, edit.target);
         const outputs = new Set(Object.values(part.outputs));
         // Other graph nodes and capability declarations are roots. Deletion must not invalidate them.
         const references = (value) => typeof value === 'string'
@@ -273,7 +301,8 @@ function duplicatePart(asset, target) {
 function renamePart(asset, target, name) {
     const model = asset.document.model;
     const placement = model.nodes.find(n => n.id === target);
-    if (!placement || placement.op !== 'place@1')
+    const rowTemplate = placement?.op === 'member@1' && model.nodes.some(n => n.id === `${target}.repeat`);
+    if (!placement || (placement.op !== 'place@1' && !rowTemplate))
         throw new V3ContractError('EDIT_TARGET', target, 'rename an explicit placement');
     if (!/^[a-zA-Z][a-zA-Z0-9_-]*$/.test(name))
         throw new V3ContractError('PART_ID', target, 'a part name starts with a letter and uses letters, digits, - and _');