@hatiolab/figure-model 0.10.0 → 0.11.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (79) hide show
  1. package/CHANGELOG.md +41 -5
  2. package/dist/authoring-fastening.d.ts +16 -2
  3. package/dist/authoring-fastening.d.ts.map +1 -1
  4. package/dist/authoring-fastening.js +106 -47
  5. package/dist/authoring-fastening.js.map +1 -1
  6. package/dist/authoring-placement.d.ts.map +1 -1
  7. package/dist/authoring-placement.js +116 -22
  8. package/dist/authoring-placement.js.map +1 -1
  9. package/dist/authoring-proportion.d.ts.map +1 -1
  10. package/dist/authoring-proportion.js +25 -8
  11. package/dist/authoring-proportion.js.map +1 -1
  12. package/dist/authoring-types.d.ts +57 -34
  13. package/dist/authoring-types.d.ts.map +1 -1
  14. package/dist/authoring-types.js +8 -8
  15. package/dist/authoring-types.js.map +1 -1
  16. package/dist/clip-keeping.d.ts.map +1 -1
  17. package/dist/clip-keeping.js +7 -5
  18. package/dist/clip-keeping.js.map +1 -1
  19. package/dist/editor-workspace.js +1 -1
  20. package/dist/editor-workspace.js.map +1 -1
  21. package/dist/examples.js +6 -6
  22. package/dist/examples.js.map +1 -1
  23. package/dist/fasten-place.d.ts +18 -0
  24. package/dist/fasten-place.d.ts.map +1 -1
  25. package/dist/fasten-place.js +36 -0
  26. package/dist/fasten-place.js.map +1 -1
  27. package/dist/index.d.ts +4 -3
  28. package/dist/index.d.ts.map +1 -1
  29. package/dist/index.js +3 -2
  30. package/dist/index.js.map +1 -1
  31. package/dist/joint-fields.d.ts +6 -8
  32. package/dist/joint-fields.d.ts.map +1 -1
  33. package/dist/joint-fields.js +6 -6
  34. package/dist/joint-fields.js.map +1 -1
  35. package/dist/joint-list.d.ts +11 -9
  36. package/dist/joint-list.d.ts.map +1 -1
  37. package/dist/joint-list.js +75 -53
  38. package/dist/joint-list.js.map +1 -1
  39. package/dist/joint-motions.d.ts +30 -0
  40. package/dist/joint-motions.d.ts.map +1 -0
  41. package/dist/joint-motions.js +28 -0
  42. package/dist/joint-motions.js.map +1 -0
  43. package/dist/joint-part-edits.d.ts.map +1 -1
  44. package/dist/joint-part-edits.js +95 -34
  45. package/dist/joint-part-edits.js.map +1 -1
  46. package/dist/joint-writing.d.ts +3 -4
  47. package/dist/joint-writing.d.ts.map +1 -1
  48. package/dist/joint-writing.js +229 -170
  49. package/dist/joint-writing.js.map +1 -1
  50. package/dist/kernel-version.d.ts +1 -1
  51. package/dist/kernel-version.js +1 -1
  52. package/dist/part-edit.d.ts.map +1 -1
  53. package/dist/part-edit.js +4 -2
  54. package/dist/part-edit.js.map +1 -1
  55. package/dist/proposal.d.ts.map +1 -1
  56. package/dist/proposal.js +3 -3
  57. package/dist/proposal.js.map +1 -1
  58. package/dist/recipe-from-parts.d.ts.map +1 -1
  59. package/dist/recipe-from-parts.js +12 -4
  60. package/dist/recipe-from-parts.js.map +1 -1
  61. package/dist/recipe.d.ts.map +1 -1
  62. package/dist/recipe.js +10 -8
  63. package/dist/recipe.js.map +1 -1
  64. package/dist/release-contract.js +1 -1
  65. package/dist/release-contract.js.map +1 -1
  66. package/dist/release-metrics.d.ts +8 -0
  67. package/dist/release-metrics.d.ts.map +1 -1
  68. package/dist/release-metrics.js +7 -2
  69. package/dist/release-metrics.js.map +1 -1
  70. package/dist/robots.d.ts.map +1 -1
  71. package/dist/robots.js +43 -46
  72. package/dist/robots.js.map +1 -1
  73. package/docs/attachment-response-spec-review-2026-10-24.md +56 -0
  74. package/docs/editor-integration.md +2 -0
  75. package/docs/modeller-interaction-performance-2026-10-07.md +1 -1
  76. package/docs/performance-followup-2026-10-05.md +1 -1
  77. package/docs/review-2026-09-22.md +2 -2
  78. package/docs/status.md +12 -2
  79. package/package.json +1 -1
package/dist/authoring-proportion.js.map CHANGED
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1
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package/dist/authoring-types.d.ts CHANGED
@@ -27,12 +27,12 @@ export type FigureFace = keyof typeof FIGURE_FACES;
27
27
  export declare const FIGURE_FACINGS: readonly ["meet", "flush", "centre"];
28
28
  export type FigureFacing = (typeof FIGURE_FACINGS)[number];
29
29
  /**
30
- * UsdPhysics's joint types (ADR-0093, amended 2026-09-25: the joint follows USD). A `fixed` joint is a fastening; a
31
- * `revolute` joint turns -- with no limits it turns without end, its value a phase (-180..180), as USD's revolute
32
- * joint without limits does; a `prismatic` joint slides.
30
+ * UsdPhysics's moving joint types (ADR-0093, amended 2026-09-25: the joint follows USD), one per axis of a joint's
31
+ * motion (ADR-0159): a `revolute` axis turns -- with no limits it turns without end, its value a phase (-180..180), as
32
+ * USD's revolute joint without limits does; a `prismatic` axis slides. A joint with no motion is a fastening.
33
33
  */
34
- export declare const FIGURE_JOINT_TYPES: readonly ["fixed", "revolute", "prismatic"];
35
- export type FigureJointType = (typeof FIGURE_JOINT_TYPES)[number];
34
+ export declare const FIGURE_MOTION_TYPES: readonly ["revolute", "prismatic"];
35
+ export type FigureMotionType = (typeof FIGURE_MOTION_TYPES)[number];
36
36
  /** UsdPhysics's axis tokens. */
37
37
  export type FigureJointAxis = 'X' | 'Y' | 'Z';
38
38
  /** Any direction, in the joint frame (URDF's `axis xyz`); not zero. Written to the graph as its unit vector. */
@@ -62,7 +62,6 @@ export type FigureOriginEnd = {
62
62
  */
63
63
  export interface FigureJoint {
64
64
  id: string;
65
- type: FigureJointType;
66
65
  /**
67
66
  * `{ part, at: 'origin' }` (ADR-0107 decision 4): the joint frame is at the part's own origin -- the origin of its
68
67
  * shape, not its centre -- in the part's own frame, moved by `origin.offset` and turned by `origin.parentRotate`, as
@@ -112,29 +111,11 @@ export interface FigureJoint {
112
111
  */
113
112
  parentRotate?: Partial<Record<Axis, number>>;
114
113
  };
115
- /** The axis a moving joint turns about or slides along, in the joint frame (USD `physics:axis`): a token, or any vector. */
116
- axis?: FigureJointAxis | FigureJointVector;
117
- /** USD `physics:lowerLimit` / `physics:upperLimit`: degrees for revolute, millimetres for prismatic. */
118
- lowerLimit?: number;
119
- upperLimit?: number;
120
- /**
121
- * extension: a prismatic joint whose distance follows the figure -- its value is a share (0..1 unless the limits
122
- * say otherwise) of this length: a part's width, the instance's, times and plus -- or a sum of such lengths, plus.
123
- */
124
- travel?: FigureTravel;
125
- /** The state input that is the joint's value: its id (the joint's by default), label, starting value and sweep. */
126
- state?: {
127
- id?: string;
128
- label?: string;
129
- start?: number;
130
- sweep?: number;
131
- };
132
114
  /**
133
- * extension (URDF's mimic): the value is the leader's times `multiplier` plus `offset`, in this joint's unit. A sum
134
- * follows several leaders, each times its own multiplier (ADR-0107 decision 2): a palletizer's wrist is -(J2 + J3),
135
- * so its tool stays level. A follower has no control of its own either way.
115
+ * How the child moves on the joint frame (ADR-0159): its axes in order, from the parent's side to the child's. Each
116
+ * turns or slides on the ones before it -- a shoulder's swing carries its lift. None, or none listed, is a fastening.
136
117
  */
137
- mimic?: FigureMimic;
118
+ motion?: FigureJointMotion[];
138
119
  /**
139
120
  * extension (r3 §8, a row of copies -- USD's PointInstancer, URDF has none): the part fastened is repeated along
140
121
  * `axis` across the parent's face, from the parent's one edge to the other. Without `count` the row fills that
@@ -153,6 +134,45 @@ export interface FigureJoint {
153
134
  };
154
135
  };
155
136
  }
137
+ /**
138
+ * One axis of a joint's motion (ADR-0159), in USD's and URDF's words.
139
+ *
140
+ * extensions: `through`, the point the axis passes, so that every axis being 0 leaves the child where it was fastened;
141
+ * `mimic` (URDF's, and PhysX's and Newton's); `travel`, a slide whose length follows a part's size.
142
+ */
143
+ export interface FigureJointMotion {
144
+ /** The axis's name, unique among every joint's axes: the joint's id for its first axis, `<joint>.<k>` for its k-th. */
145
+ id?: string;
146
+ type: FigureMotionType;
147
+ /** The axis it turns about or slides along, in the joint frame (USD `physics:axis`): a token, or any vector. */
148
+ axis: FigureJointAxis | FigureJointVector;
149
+ /**
150
+ * The point the axis passes, in millimetres from the joint frame's origin, along the joint frame's axes as the axes
151
+ * before it leave them at 0 (lengths may follow). Only the axis moves: `origin.offset` moves the frame and the child.
152
+ */
153
+ through?: Partial<Record<Axis, FigureMeasure>>;
154
+ /** USD `physics:lowerLimit` / `physics:upperLimit`: degrees for revolute, millimetres for prismatic. */
155
+ lowerLimit?: number;
156
+ upperLimit?: number;
157
+ /**
158
+ * extension: a prismatic axis whose distance follows the figure -- its value is a share (0..1 unless the limits say
159
+ * otherwise) of this length: a part's width, the instance's, times and plus -- or a sum of such lengths, plus.
160
+ */
161
+ travel?: FigureTravel;
162
+ /** The state input that is the axis's value: its id (the axis's by default), label, starting value and sweep. */
163
+ state?: {
164
+ id?: string;
165
+ label?: string;
166
+ start?: number;
167
+ sweep?: number;
168
+ };
169
+ /**
170
+ * extension (URDF's mimic): the value is the leading axis's times `multiplier` plus `offset`, in this axis's unit. A
171
+ * sum follows several, each times its own multiplier (ADR-0107 decision 2): a palletizer's wrist is -(J2 + J3), so
172
+ * its tool stays level. A follower has no control of its own either way.
173
+ */
174
+ mimic?: FigureMimic;
175
+ }
156
176
  export declare const SIGN: Record<FigureFace, number>;
157
177
  /**
158
178
  * What a dimension follows. Named rather than implied, because "as wide as the gate" and "as wide as the
@@ -209,23 +229,26 @@ export type FigureTravel = {
209
229
  sum: FigureMeasureTerm[];
210
230
  plus?: number;
211
231
  };
212
- /** A follower's value: one leader's times a multiplier, or the sum of several leaders' each times its own, plus `offset`. */
232
+ /**
233
+ * A follower's value: one leading axis's times a multiplier, or the sum of several each times its own, plus `offset`.
234
+ * A leader is named by its axis's id (ADR-0159 2.6) -- a one-axis joint's is the joint's.
235
+ */
213
236
  export type FigureMimic = {
214
- joint: string;
237
+ motion: string;
215
238
  multiplier: number;
216
239
  offset?: number;
217
240
  } | {
218
241
  sum: Array<{
219
- joint: string;
242
+ motion: string;
220
243
  multiplier: number;
221
244
  }>;
222
245
  offset?: number;
223
246
  };
224
- /** The joints a follower follows, each with its multiplier: one for a one-leader mimic, none for a joint that leads itself. */
225
- export declare function figureMimicLeadersOf(j: {
247
+ /** The axes a follower follows, each with its multiplier: one for a one-leader mimic, none for an axis that leads itself. */
248
+ export declare function figureMimicLeadersOf(m: {
226
249
  mimic?: FigureMimic | unknown;
227
250
  }): Array<{
228
- joint: string;
251
+ motion: string;
229
252
  multiplier: number;
230
253
  }>;
231
254
  /** Whether a length is written as something to follow: one source, or a sum of one term or more, each with a source. */
@@ -731,7 +754,7 @@ export interface FigureProportionPlan {
731
754
  /** A fastening's length in millimetres: an offset along a face axis, the gap, or a row's pitch. */
732
755
  lengths: Array<{
733
756
  joint: string;
734
- at: 'gap' | 'pitch' | Axis | `offset.${Axis}`;
757
+ at: 'gap' | 'pitch' | Axis | `offset.${Axis}` | `motion.${number}.through.${Axis}`;
735
758
  axis: Axis;
736
759
  times: number;
737
760
  }>;
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1
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package/dist/authoring-types.js CHANGED
@@ -16,22 +16,22 @@ export const FIGURE_FACES = { left: 'x', right: 'x', bottom: 'y', top: 'y', back
16
16
  */
17
17
  export const FIGURE_FACINGS = ['meet', 'flush', 'centre'];
18
18
  /**
19
- * UsdPhysics's joint types (ADR-0093, amended 2026-09-25: the joint follows USD). A `fixed` joint is a fastening; a
20
- * `revolute` joint turns -- with no limits it turns without end, its value a phase (-180..180), as USD's revolute
21
- * joint without limits does; a `prismatic` joint slides.
19
+ * UsdPhysics's moving joint types (ADR-0093, amended 2026-09-25: the joint follows USD), one per axis of a joint's
20
+ * motion (ADR-0159): a `revolute` axis turns -- with no limits it turns without end, its value a phase (-180..180), as
21
+ * USD's revolute joint without limits does; a `prismatic` axis slides. A joint with no motion is a fastening.
22
22
  */
23
- export const FIGURE_JOINT_TYPES = ['fixed', 'revolute', 'prismatic'];
23
+ export const FIGURE_MOTION_TYPES = ['revolute', 'prismatic'];
24
24
  /** Where a moving joint turns: where it is fastened, or the child's fastened face or middle (ADR-0107 decision 1). */
25
25
  export const FIGURE_JOINT_PIVOTS = ['seat', 'child-face', 'child-centre'];
26
26
  export const SIGN = { left: -1, right: 1, bottom: -1, top: 1, back: -1, front: 1 };
27
- /** The joints a follower follows, each with its multiplier: one for a one-leader mimic, none for a joint that leads itself. */
28
- export function figureMimicLeadersOf(j) {
29
- const mimic = j.mimic;
27
+ /** The axes a follower follows, each with its multiplier: one for a one-leader mimic, none for an axis that leads itself. */
28
+ export function figureMimicLeadersOf(m) {
29
+ const mimic = m.mimic;
30
30
  if (!mimic || typeof mimic !== 'object')
31
31
  return [];
32
32
  if (Object.hasOwn(mimic, 'sum'))
33
33
  return Array.isArray(mimic.sum) ? mimic.sum : [];
34
- return [{ joint: mimic.joint, multiplier: mimic.multiplier }];
34
+ return [{ motion: mimic.motion, multiplier: mimic.multiplier }];
35
35
  }
36
36
  /** Whether a length is written as something to follow: one source, or a sum of one term or more, each with a source. */
37
37
  export const followsSomething = (measure) => {
package/dist/authoring-types.js.map CHANGED
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package/dist/clip-keeping.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"clip-keeping.d.ts","sourceRoot":"","sources":["../src/clip-keeping.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AAGnD,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAcnD,oHAAoH;AACpH,MAAM,WAAW,iBAAiB;IAChC,SAAS,CAAC,EAAE,SAAS,MAAM,EAAE,CAAA;CAC9B;AAED,oHAAoH;AACpH,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;IACZ,KAAK,EAAE,MAAM,CAAA;IACb,GAAG,EAAE,MAAM,GAAG,SAAS,CAAA;CACxB;AAED;;;GAGG;AACH,qBAAa,uBAAwB,SAAQ,mBAAmB;IAC9D,SAAiB,OAAO,EAAE;QAAE,MAAM,EAAE,eAAe,CAAC;QAAC,KAAK,EAAE,cAAc,EAAE,CAAA;KAAE,CAAA;gBAClE,KAAK,EAAE,cAAc,EAAE;CAGpC;AAgBD,6FAA6F;AAC7F,MAAM,WAAW,iBAAiB;IAChC,IAAI,EAAE,MAAM,CAAA;IACZ,EAAE,EAAE,MAAM,CAAA;CACX;AAED;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,WAAW,EAAE,KAAK,EAAE,WAAW,EAAE,OAAO,GAAE,iBAAsB,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAuCpJ;AAED;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAAC,MAAM,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,IAAI,EAAE,WAAW,KAAK,WAAW,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAiB5I"}
1
+ {"version":3,"file":"clip-keeping.d.ts","sourceRoot":"","sources":["../src/clip-keeping.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AAGnD,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAenD,oHAAoH;AACpH,MAAM,WAAW,iBAAiB;IAChC,SAAS,CAAC,EAAE,SAAS,MAAM,EAAE,CAAA;CAC9B;AAED,oHAAoH;AACpH,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;IACZ,KAAK,EAAE,MAAM,CAAA;IACb,GAAG,EAAE,MAAM,GAAG,SAAS,CAAA;CACxB;AAED;;;GAGG;AACH,qBAAa,uBAAwB,SAAQ,mBAAmB;IAC9D,SAAiB,OAAO,EAAE;QAAE,MAAM,EAAE,eAAe,CAAC;QAAC,KAAK,EAAE,cAAc,EAAE,CAAA;KAAE,CAAA;gBAClE,KAAK,EAAE,cAAc,EAAE;CAGpC;AAeD,6FAA6F;AAC7F,MAAM,WAAW,iBAAiB;IAChC,IAAI,EAAE,MAAM,CAAA;IACZ,EAAE,EAAE,MAAM,CAAA;CACX;AAED;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,WAAW,EAAE,KAAK,EAAE,WAAW,EAAE,OAAO,GAAE,iBAAsB,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAuCpJ;AAED;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAAC,MAAM,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,IAAI,EAAE,WAAW,KAAK,WAAW,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAiB5I"}
package/dist/clip-keeping.js CHANGED
@@ -1,6 +1,7 @@
1
1
  import { FigureContractError } from "./contract.js";
2
2
  import { compileFigureAsset } from "./asset.js";
3
3
  import { renameDataInterface } from "./data-interface.js";
4
+ import { figureAxesOf, motionStateIdOf } from "./joint-motions.js";
4
5
  /**
5
6
  * The refusal that asks first: these clips would go (`details.clips`, as every refusal carries its values -- ADR-0127);
6
7
  * pass their ids as `dropClips` to go ahead.
@@ -10,14 +11,15 @@ export class FigureClipsDroppedError extends FigureContractError {
10
11
  super('CLIPS_DROPPED', 'drivers', `${clips.map(c => `${c.clip} (${c.state})`).join(', ')} would stop playing; agree to it by naming them in dropClips`, { reason: 'clips-dropped', clips });
11
12
  }
12
13
  }
13
- const stateIdOf = (j) => j.state?.id ?? j.id;
14
+ /* The axes that lead themselves (ADR-0159): a clip plays one of their controls. */
15
+ const leadingAxesOf = (asset) => figureAxesOf(asset.joints).map(a => a.motion).filter(a => !a.mimic);
14
16
  function meaningOf(asset, state) {
15
17
  const input = asset.document.model.inputs.find(i => i.id === state && i.role === 'state');
16
18
  if (!input)
17
19
  return { kind: 'gone' };
18
20
  if (typeof input.unit !== 'string' || !input.unit)
19
21
  return { kind: 'unknown', why: `${state} has no unit` };
20
- const owners = (asset.joints ?? []).filter(j => j.type !== 'fixed' && !j.mimic && stateIdOf(j) === state);
22
+ const owners = leadingAxesOf(asset).filter(a => motionStateIdOf(a) === state);
21
23
  if (owners.length)
22
24
  return { kind: 'joint', joints: owners.map(j => ({ id: j.id, type: j.type })), unit: input.unit };
23
25
  return { kind: 'free', unit: input.unit };
@@ -44,9 +46,9 @@ export function settleFigureClips(before, after, consent = {}, renamed) {
44
46
  throw new FigureContractError('CLIP_MEANING', `drivers.${clip.id}`, `${clip.clip} plays ${clip.state}, which is not a control of this figure`);
45
47
  let state;
46
48
  if (was.kind === 'joint') {
47
- /* Where the joints that moved it are now: their control, if they still move and still name one control. */
48
- const joints = (after.joints ?? []).filter(j => was.joints.some(w => map(w.id) === j.id) && j.type !== 'fixed' && !j.mimic);
49
- const named = new Set(joints.map(stateIdOf));
49
+ /* Where the axes that moved it are now: their control, if they still move and still name one control. */
50
+ const joints = leadingAxesOf(after).filter(a => was.joints.some(w => map(w.id) === a.id));
51
+ const named = new Set(joints.map(motionStateIdOf));
50
52
  state = joints.length && named.size === 1 ? [...named][0] : undefined;
51
53
  }
52
54
  else
package/dist/clip-keeping.js.map CHANGED
@@ -1 +1 @@
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package/dist/editor-workspace.js CHANGED
@@ -250,7 +250,7 @@ export function createFigureEditorWorkspace() {
250
250
  control(a, q);
251
251
  const seen = derive(a.asset, a.inputs).seen;
252
252
  const joint = seen.joints?.find(j => j.body1.part === part);
253
- if (!joint || joint.type !== 'fixed' || seen.document.model.nodes.some(n => n.id === `${part}.motion`))
253
+ if (!joint || joint.motion?.length || seen.document.model.nodes.some(n => n.id === `${part}.motion`))
254
254
  fail('EDIT_TARGET', 'only a fixed attachment can be relocated by this drag');
255
255
  if (position.length !== 3 || !position.every(Number.isFinite))
256
256
  fail('EDIT_VALUE', 'finite position required');
package/dist/editor-workspace.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/examples.js CHANGED
@@ -29,23 +29,23 @@ export function robotArmFigure() {
29
29
  asset.palette = { 'palette.primary': '#477b9e', 'palette.dark': '#2b2b2b', 'palette.accent': '#f79c40', 'palette.neutral': '#9a9a9a' };
30
30
  const run = (action) => (asset = applyFigureAuthoring(asset, action));
31
31
  ROBOT_ARM_CHAIN.forEach(({ part }) => (asset = addFigurePrimitive(asset, part)));
32
- run({ kind: 'set-joint', joint: { id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
32
+ run({ kind: 'set-joint', joint: { id: 'base', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
33
33
  ROBOT_ARM_CHAIN.forEach(({ part, joint }, i) => {
34
34
  if (i === 0)
35
35
  return;
36
36
  const hang = { body0: { part: ROBOT_ARM_CHAIN[i - 1].part.id, face: 'top' }, body1: { part: part.id } };
37
37
  if (!joint)
38
- run({ kind: 'set-joint', joint: { id: part.id, type: 'fixed', ...hang } });
38
+ run({ kind: 'set-joint', joint: { id: part.id, ...hang } });
39
39
  else if (joint.continuous)
40
- run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis } });
40
+ run({ kind: 'set-joint', joint: { id: joint.id, ...hang, motion: [{ type: 'revolute', axis: joint.axis }] } });
41
41
  else
42
- run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max } });
42
+ run({ kind: 'set-joint', joint: { id: joint.id, ...hang, motion: [{ type: 'revolute', axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max }] } });
43
43
  });
44
44
  /* 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. */
45
45
  asset = addFigurePrimitive(asset, box('finger-left', 20, 90, 40, 'palette.neutral'));
46
46
  asset = addFigurePrimitive(asset, box('finger-right', 20, 90, 40, 'palette.neutral'));
47
- run({ kind: 'set-joint', joint: { id: 'gripper', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 45 } });
48
- run({ kind: 'set-joint', joint: { id: 'gripper-mirror', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'gripper', multiplier: -1 } } });
47
+ run({ kind: 'set-joint', joint: { id: 'gripper', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, motion: [{ type: 'prismatic', axis: 'X', lowerLimit: 0, upperLimit: 45 }] } });
48
+ run({ kind: 'set-joint', joint: { id: 'gripper-mirror', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, motion: [{ type: 'prismatic', axis: 'X', mimic: { motion: 'gripper', multiplier: -1 } }] } });
49
49
  run({ kind: 'set-detail-level', level: 'L' });
50
50
  run({ kind: 'set-placement', placement: 'floor' });
51
51
  return asset;
package/dist/examples.js.map CHANGED
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