@hatiolab/figure-model 0.10.0 → 0.11.1

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 (102) hide show
  1. package/CHANGELOG.md +41 -5
  2. package/dist/asset-types.d.ts +19 -0
  3. package/dist/asset-types.d.ts.map +1 -1
  4. package/dist/asset-types.js +2 -0
  5. package/dist/asset-types.js.map +1 -1
  6. package/dist/asset.d.ts.map +1 -1
  7. package/dist/asset.js +5 -3
  8. package/dist/asset.js.map +1 -1
  9. package/dist/authoring-actions.js +8 -0
  10. package/dist/authoring-actions.js.map +1 -1
  11. package/dist/authoring-fastening.d.ts +16 -2
  12. package/dist/authoring-fastening.d.ts.map +1 -1
  13. package/dist/authoring-fastening.js +106 -47
  14. package/dist/authoring-fastening.js.map +1 -1
  15. package/dist/authoring-placement.d.ts.map +1 -1
  16. package/dist/authoring-placement.js +116 -22
  17. package/dist/authoring-placement.js.map +1 -1
  18. package/dist/authoring-proportion.d.ts.map +1 -1
  19. package/dist/authoring-proportion.js +25 -8
  20. package/dist/authoring-proportion.js.map +1 -1
  21. package/dist/authoring-types.d.ts +62 -34
  22. package/dist/authoring-types.d.ts.map +1 -1
  23. package/dist/authoring-types.js +8 -8
  24. package/dist/authoring-types.js.map +1 -1
  25. package/dist/clip-keeping.d.ts.map +1 -1
  26. package/dist/clip-keeping.js +7 -5
  27. package/dist/clip-keeping.js.map +1 -1
  28. package/dist/contract.d.ts +11 -1
  29. package/dist/contract.d.ts.map +1 -1
  30. package/dist/contract.js.map +1 -1
  31. package/dist/data-interface.d.ts +1 -1
  32. package/dist/data-interface.d.ts.map +1 -1
  33. package/dist/data-interface.js +43 -5
  34. package/dist/data-interface.js.map +1 -1
  35. package/dist/editor-workspace.js +1 -1
  36. package/dist/editor-workspace.js.map +1 -1
  37. package/dist/examples.js +6 -6
  38. package/dist/examples.js.map +1 -1
  39. package/dist/fasten-place.d.ts +18 -0
  40. package/dist/fasten-place.d.ts.map +1 -1
  41. package/dist/fasten-place.js +36 -0
  42. package/dist/fasten-place.js.map +1 -1
  43. package/dist/index.d.ts +6 -4
  44. package/dist/index.d.ts.map +1 -1
  45. package/dist/index.js +5 -3
  46. package/dist/index.js.map +1 -1
  47. package/dist/item-notes.d.ts +17 -0
  48. package/dist/item-notes.d.ts.map +1 -0
  49. package/dist/item-notes.js +28 -0
  50. package/dist/item-notes.js.map +1 -0
  51. package/dist/joint-fields.d.ts +6 -8
  52. package/dist/joint-fields.d.ts.map +1 -1
  53. package/dist/joint-fields.js +6 -6
  54. package/dist/joint-fields.js.map +1 -1
  55. package/dist/joint-list.d.ts +11 -9
  56. package/dist/joint-list.d.ts.map +1 -1
  57. package/dist/joint-list.js +75 -53
  58. package/dist/joint-list.js.map +1 -1
  59. package/dist/joint-motions.d.ts +30 -0
  60. package/dist/joint-motions.d.ts.map +1 -0
  61. package/dist/joint-motions.js +28 -0
  62. package/dist/joint-motions.js.map +1 -0
  63. package/dist/joint-part-edits.d.ts.map +1 -1
  64. package/dist/joint-part-edits.js +95 -34
  65. package/dist/joint-part-edits.js.map +1 -1
  66. package/dist/joint-writing.d.ts +3 -4
  67. package/dist/joint-writing.d.ts.map +1 -1
  68. package/dist/joint-writing.js +229 -170
  69. package/dist/joint-writing.js.map +1 -1
  70. package/dist/kernel-version.d.ts +1 -1
  71. package/dist/kernel-version.js +1 -1
  72. package/dist/part-edit.d.ts.map +1 -1
  73. package/dist/part-edit.js +4 -2
  74. package/dist/part-edit.js.map +1 -1
  75. package/dist/proposal.d.ts +1 -1
  76. package/dist/proposal.d.ts.map +1 -1
  77. package/dist/proposal.js +5 -3
  78. package/dist/proposal.js.map +1 -1
  79. package/dist/recipe-from-parts.d.ts.map +1 -1
  80. package/dist/recipe-from-parts.js +12 -4
  81. package/dist/recipe-from-parts.js.map +1 -1
  82. package/dist/recipe.d.ts.map +1 -1
  83. package/dist/recipe.js +10 -8
  84. package/dist/recipe.js.map +1 -1
  85. package/dist/release-contract.d.ts +1 -1
  86. package/dist/release-contract.d.ts.map +1 -1
  87. package/dist/release-contract.js +56 -4
  88. package/dist/release-contract.js.map +1 -1
  89. package/dist/release-metrics.d.ts +8 -0
  90. package/dist/release-metrics.d.ts.map +1 -1
  91. package/dist/release-metrics.js +7 -2
  92. package/dist/release-metrics.js.map +1 -1
  93. package/dist/robots.d.ts.map +1 -1
  94. package/dist/robots.js +43 -46
  95. package/dist/robots.js.map +1 -1
  96. package/docs/attachment-response-spec-review-2026-10-24.md +56 -0
  97. package/docs/editor-integration.md +2 -0
  98. package/docs/modeller-interaction-performance-2026-10-07.md +1 -1
  99. package/docs/performance-followup-2026-10-05.md +1 -1
  100. package/docs/review-2026-09-22.md +2 -2
  101. package/docs/status.md +12 -2
  102. package/package.json +1 -1
package/dist/release-metrics.d.ts.map CHANGED
@@ -1 +1 @@
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package/dist/release-metrics.js CHANGED
@@ -58,8 +58,13 @@ export function figureReleaseMetricsOf(asset) {
58
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  /* Measured over the range the release carries (ADR-0087 decision 6). */
59
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  asset = recordFigureInstanceSize(asset);
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  const body = figureBodyBoundsOf(asset);
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- const range = figureMotionRangeOf(asset)?.bounds;
62
- const room = { body, ...(range ? { motionRange: range } : {}) };
61
+ const reading = figureMotionRangeOf(asset);
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+ const range = reading?.bounds;
63
+ const room = {
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+ body,
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+ ...(range ? { motionRange: range } : {}),
66
+ ...(reading?.skipped.length ? { motionRangeSkipped: reading.skipped } : {})
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+ };
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  const joints = movingJointsOf(asset);
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  const sizing = sizeInputsOf(asset);
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  const axes = AXES.filter(axis => sizing[axis]);
package/dist/release-metrics.js.map CHANGED
@@ -1 +1 @@
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package/dist/robots.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AASA,OAAO,EAAyC,KAAK,uBAAuB,EAAE,MAAM,aAAa,CAAA;AACjG,OAAO,KAAK,EAAE,WAAW,EAAsC,MAAM,kBAAkB,CAAA;AAGvF,OAAO,EAAkB,KAAK,iBAAiB,EAAE,MAAM,iBAAiB,CAAA;AAExE,KAAK,IAAI,GAAG,uBAAuB,CAAA;AAUnC,iFAAiF;AACjF,MAAM,WAAW,WAAW;IAC1B,KAAK,EAAE,WAAW,CAAA;IAClB,MAAM,EAAE,iBAAiB,EAAE,CAAA;CAC5B;AAiCD,sHAAsH;AACtH,eAAO,MAAM,cAAc;;;;;;;;;;;;;;;;EAKjB,CAAA;AAMV;;;;;;GAMG;AACH,wBAAgB,oBAAoB,IAAI,WAAW,CA6BlD;AAID,qGAAqG;AACrG,eAAO,MAAM,WAAW,EAAE;IAAE,IAAI,EAAE,IAAI,CAAC;IAAC,KAAK,CAAC,EAAE;QAAE,EAAE,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;QAAC,GAAG,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAA;KAAE,CAAA;CAAE,EAWhH,CAAA;AAiBD;;;;;;;;;;GAUG;AACH,eAAO,MAAM,eAAe;;;;;;;;;;;;;;;;;;;;;;;;;CAGlB,CAAA;AAwCV;;;;;GAKG;AACH,wBAAgB,cAAc,IAAI,WAAW,CAgF5C;AACD,kGAAkG;AAClG,eAAO,MAAM,aAAa,gBAAgB,CAAA;AAM1C;;;;GAIG;AACH,wBAAgB,uBAAuB,IAAI,WAAW,CAgCrD;AAMD;;;;GAIG;AACH,wBAAgB,gBAAgB,IAAI,WAAW,CAoB9C;AAMD;;;;GAIG;AACH,wBAAgB,mBAAmB,IAAI,WAAW,CA8BjD;AAMD;;;;;GAKG;AACH,wBAAgB,qBAAqB,IAAI,WAAW,CAwBnD"}
package/dist/robots.js CHANGED
@@ -73,15 +73,15 @@ export function quadrupedRobotFigure() {
73
73
  for (const { leg } of QUADRUPED_LEGS)
74
74
  r.add(cylinder(`${leg}-hip`, hipRadius, hip, 'palette.joint'), box(`${leg}-thigh`, 80, thigh, 70, 'palette.dark'), box(`${leg}-shin`, 50, shin, 50, 'palette.dark'), cylinder(`${leg}-foot`, 38, foot, 'palette.sensor'));
75
75
  const standing = ['hip', 'thigh', 'shin', 'foot'].map(p => ({ from: { of: 'part', part: `fl-${p}`, axis: 'y' } }));
76
- r.joint({ id: 'body', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'body' }, origin: { gap: { sum: standing } } });
77
- r.joint({ id: 'head', type: 'fixed', body0: { part: 'body', face: 'right' }, body1: { part: 'head' } });
76
+ r.joint({ id: 'body', body0: { plane: 'mounting-plane' }, body1: { part: 'body' }, origin: { gap: { sum: standing } } });
77
+ r.joint({ id: 'head', body0: { part: 'body', face: 'right' }, body1: { part: 'head' } });
78
78
  for (const { leg, x, z } of QUADRUPED_LEGS) {
79
79
  /* Level with the body's corner, turning about the hip's own face, not that corner (ADR-0107 decision 1): it keeps to the corner as the body grows. */
80
80
  const corner = { x: x > 0 ? 'max' : 'min', z: z > 0 ? 'max' : 'min' };
81
- r.joint({ id: `${leg}-hip`, type: 'revolute', ...hang('body', `${leg}-hip`, 'bottom'), origin: { align: corner, pivot: 'child-face' }, axis: 'X', lowerLimit: -30, upperLimit: 30 });
82
- r.joint({ id: `${leg}-thigh`, type: 'revolute', ...hang(`${leg}-hip`, `${leg}-thigh`, 'bottom'), axis: 'Z', lowerLimit: -60, upperLimit: 60 });
83
- r.joint({ id: `${leg}-knee`, type: 'revolute', ...hang(`${leg}-thigh`, `${leg}-shin`, 'bottom'), axis: 'Z', lowerLimit: 0, upperLimit: 150 });
84
- r.joint({ id: `${leg}-foot`, type: 'fixed', ...hang(`${leg}-shin`, `${leg}-foot`, 'bottom') });
81
+ r.joint({ id: `${leg}-hip`, ...hang('body', `${leg}-hip`, 'bottom'), origin: { align: corner, pivot: 'child-face' }, motion: [{ type: 'revolute', axis: 'X', lowerLimit: -30, upperLimit: 30 }] });
82
+ r.joint({ id: `${leg}-thigh`, ...hang(`${leg}-hip`, `${leg}-thigh`, 'bottom'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -60, upperLimit: 60 }] });
83
+ r.joint({ id: `${leg}-knee`, ...hang(`${leg}-thigh`, `${leg}-shin`, 'bottom'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: 0, upperLimit: 150 }] });
84
+ r.joint({ id: `${leg}-foot`, ...hang(`${leg}-shin`, `${leg}-foot`, 'bottom') });
85
85
  }
86
86
  return r.finish('XL');
87
87
  }
@@ -104,14 +104,14 @@ function addArm(r, on) {
104
104
  r.add(part);
105
105
  const link = i === 0 ? { body0: { part: on.part, face: 'top' }, body1: { part: part.id }, ...(on.align ? { origin: { align: on.align } } : {}) } : hang(COBOT_CHAIN[i - 1].part.id, part.id);
106
106
  if (joint)
107
- r.joint({ id: joint.id, type: 'revolute', ...link, axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max });
107
+ r.joint({ id: joint.id, ...link, motion: [{ type: 'revolute', axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max }] });
108
108
  else
109
- r.joint({ id: part.id, type: 'fixed', ...link });
109
+ r.joint({ id: part.id, ...link });
110
110
  });
111
111
  /* Two fingers on the palm's top, closing towards each other on one value: the right one mimics the left. */
112
112
  r.add(box('arm-finger-left', 16, 70, 36, 'palette.joint'), box('arm-finger-right', 16, 70, 36, 'palette.joint'));
113
- r.joint({ id: 'arm-grip', type: 'prismatic', body0: { part: 'arm-palm', face: 'top' }, body1: { part: 'arm-finger-left' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 40 });
114
- r.joint({ id: 'arm-grip-mirror', type: 'prismatic', body0: { part: 'arm-palm', face: 'top' }, body1: { part: 'arm-finger-right' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'arm-grip', multiplier: -1 } });
113
+ r.joint({ id: 'arm-grip', body0: { part: 'arm-palm', face: 'top' }, body1: { part: 'arm-finger-left' }, origin: { align: { x: 'min' } }, motion: [{ type: 'prismatic', axis: 'X', lowerLimit: 0, upperLimit: 40 }] });
114
+ r.joint({ id: 'arm-grip-mirror', body0: { part: 'arm-palm', face: 'top' }, body1: { part: 'arm-finger-right' }, origin: { align: { x: 'max' } }, motion: [{ type: 'prismatic', axis: 'X', mimic: { motion: 'arm-grip', multiplier: -1 } }] });
115
115
  }
116
116
  /* ---------------------------------------------------------------- the robot dog: data, motion, items (ADR-0051) */
117
117
  /**
@@ -175,7 +175,7 @@ export function robotDogFigure() {
175
175
  /* The head turns about the vertical where it meets the body, ±45°. */
176
176
  asset = applyFigureAuthoring(asset, {
177
177
  kind: 'set-joint',
178
- joint: { id: 'head', type: 'revolute', body0: { part: 'body', face: 'right' }, body1: { part: 'head' }, axis: 'Y', lowerLimit: -45, upperLimit: 45 }
178
+ joint: { id: 'head', body0: { part: 'body', face: 'right' }, body1: { part: 'head' }, motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -45, upperLimit: 45 }] }
179
179
  });
180
180
  /* A lamp colour the battery state chooses, on the sensor head. */
181
181
  step({ kind: 'set-material', target: 'head', material: { token: 'palette.battery', preset: 'plastic' }, palette: { 'palette.battery': '#22aa66' } });
@@ -267,26 +267,25 @@ export function mobileManipulatorFigure() {
267
267
  });
268
268
  const { length, height, width, clearance, wheel } = AMR;
269
269
  r.add(rounded('chassis', length, height, width, 30, 'palette.chassis'));
270
- r.joint({ id: 'chassis', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'chassis' }, origin: { gap: clearance } });
270
+ r.joint({ id: 'chassis', body0: { plane: 'mounting-plane' }, body1: { part: 'chassis' }, origin: { gap: clearance } });
271
271
  /* The drive wheels on the two sides, their axles across the chassis (a quarter turn about X lays a wheel's axis along Z), their bottoms on the floor. */
272
272
  for (const [side, face] of [['left', 'back'], ['right', 'front']]) {
273
273
  r.add(cylinder(`wheel-${side}`, wheel, 60, 'palette.tyre'));
274
274
  r.joint({
275
275
  id: `wheel-${side}`,
276
- type: 'revolute',
277
276
  body0: { part: 'chassis', face },
278
277
  body1: { part: `wheel-${side}` },
279
278
  origin: { facing: 'centre', gap: 30, align: { y: { mm: wheel - clearance - height / 2 } }, childRotate: { x: 90 } },
280
- axis: 'Z'
279
+ motion: [{ type: 'revolute', axis: 'Z' }]
281
280
  });
282
281
  }
283
282
  /* Casters under the two ends: a small wheel each, laid on its side, its bottom on the floor. */
284
283
  for (const [end, x] of [['front', 'max'], ['rear', 'min']]) {
285
284
  r.add(cylinder(`caster-${end}`, clearance / 2, 30, 'palette.tyre'));
286
- r.joint({ id: `caster-${end}`, type: 'fixed', ...hang('chassis', `caster-${end}`, 'bottom'), origin: { align: { x: { mm: (x === 'max' ? 1 : -1) * (length / 2 - 80) } }, childRotate: { x: 90 } } });
285
+ r.joint({ id: `caster-${end}`, ...hang('chassis', `caster-${end}`, 'bottom'), origin: { align: { x: { mm: (x === 'max' ? 1 : -1) * (length / 2 - 80) } }, childRotate: { x: 90 } } });
287
286
  }
288
287
  r.add(cylinder('scanner', 50, 70, 'palette.sensor'));
289
- r.joint({ id: 'scanner', type: 'fixed', ...hang('chassis', 'scanner'), origin: { align: { x: 'max' } } });
288
+ r.joint({ id: 'scanner', ...hang('chassis', 'scanner'), origin: { align: { x: 'max' } } });
290
289
  addArm(r, { part: 'chassis', align: { x: { mm: -length / 4 } } });
291
290
  return r.finish('XL');
292
291
  }
@@ -305,17 +304,17 @@ export function scaraRobotFigure() {
305
304
  });
306
305
  const { column, reach1, reach2, quill, stroke } = SCARA;
307
306
  r.add(box('column', 260, column, 260, 'palette.body'), cylinder('hub-1', 110, 60, 'palette.joint'), rounded('arm-1', reach1 + 220, 110, 200, 30, 'palette.body'));
308
- r.joint({ id: 'column', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'column' } });
309
- r.joint({ id: 'j1', type: 'revolute', ...hang('column', 'hub-1'), axis: 'Y', lowerLimit: -140, upperLimit: 140 });
307
+ r.joint({ id: 'column', body0: { plane: 'mounting-plane' }, body1: { part: 'column' } });
308
+ r.joint({ id: 'j1', ...hang('column', 'hub-1'), motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -140, upperLimit: 140 }] });
310
309
  /* The arm's one end round the hub: its middle half its reach out from the axis. */
311
- r.joint({ id: 'arm-1', type: 'fixed', ...hang('hub-1', 'arm-1'), origin: { align: { x: { mm: reach1 / 2 } } } });
310
+ r.joint({ id: 'arm-1', ...hang('hub-1', 'arm-1'), origin: { align: { x: { mm: reach1 / 2 } } } });
312
311
  r.add(cylinder('hub-2', 90, 50, 'palette.joint'), rounded('arm-2', reach2 + 180, 100, 170, 30, 'palette.body'));
313
- r.joint({ id: 'j2', type: 'revolute', ...hang('arm-1', 'hub-2'), origin: { align: { x: { mm: reach1 / 2 } } }, axis: 'Y', lowerLimit: -150, upperLimit: 150 });
314
- r.joint({ id: 'arm-2', type: 'fixed', ...hang('hub-2', 'arm-2'), origin: { align: { x: { mm: reach2 / 2 } } } });
312
+ r.joint({ id: 'j2', ...hang('arm-1', 'hub-2'), origin: { align: { x: { mm: reach1 / 2 } } }, motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -150, upperLimit: 150 }] });
313
+ r.joint({ id: 'arm-2', ...hang('hub-2', 'arm-2'), origin: { align: { x: { mm: reach2 / 2 } } } });
315
314
  /* The quill through the second arm's far end, half of it above the arm: it slides down by the stroke. */
316
315
  r.add(cylinder('quill', 25, quill, 'palette.dark'), cylinder('tool-flange', 45, 30, 'palette.joint'));
317
- r.joint({ id: 'j3', type: 'prismatic', ...hang('arm-2', 'quill', 'bottom'), origin: { align: { x: { mm: reach2 / 2 } }, gap: -quill / 2 }, axis: 'Y', lowerLimit: -stroke, upperLimit: 0 });
318
- r.joint({ id: 'j4', type: 'revolute', ...hang('quill', 'tool-flange', 'bottom'), axis: 'Y', lowerLimit: -360, upperLimit: 360 });
316
+ r.joint({ id: 'j3', ...hang('arm-2', 'quill', 'bottom'), origin: { align: { x: { mm: reach2 / 2 } }, gap: -quill / 2 }, motion: [{ type: 'prismatic', axis: 'Y', lowerLimit: -stroke, upperLimit: 0 }] });
317
+ r.joint({ id: 'j4', ...hang('quill', 'tool-flange', 'bottom'), motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -360, upperLimit: 360 }] });
319
318
  return r.finish('M');
320
319
  }
321
320
  /* ---------------------------------------------------------------- humanoid */
@@ -334,25 +333,25 @@ export function humanoidRobotFigure() {
334
333
  });
335
334
  const { pelvis, torso, hip, hipWidth, thigh, shin, foot, shoulder } = HUMANOID;
336
335
  r.add(box('pelvis', 200, 160, pelvis, 'palette.joint'), rounded('torso', 240, torso, 420, 40, 'palette.shell'), cylinder('neck', 45, 80, 'palette.joint'), rounded('head', 220, 240, 200, 60, 'palette.shell'), box('visor', 20, 70, 160, 'palette.visor'));
337
- r.joint({ id: 'pelvis', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'pelvis' }, origin: { gap: hip + thigh + shin + foot } });
338
- r.joint({ id: 'waist', type: 'revolute', ...hang('pelvis', 'torso'), axis: 'Y', lowerLimit: -90, upperLimit: 90 });
339
- r.joint({ id: 'neck', type: 'revolute', ...hang('torso', 'neck'), axis: 'Y', lowerLimit: -80, upperLimit: 80 });
340
- r.joint({ id: 'head', type: 'revolute', ...hang('neck', 'head'), axis: 'Z', lowerLimit: -30, upperLimit: 30 });
341
- r.joint({ id: 'visor', type: 'fixed', body0: { part: 'head', face: 'right' }, body1: { part: 'visor' } });
336
+ r.joint({ id: 'pelvis', body0: { plane: 'mounting-plane' }, body1: { part: 'pelvis' }, origin: { gap: hip + thigh + shin + foot } });
337
+ r.joint({ id: 'waist', ...hang('pelvis', 'torso'), motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -90, upperLimit: 90 }] });
338
+ r.joint({ id: 'neck', ...hang('torso', 'neck'), motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -80, upperLimit: 80 }] });
339
+ r.joint({ id: 'head', ...hang('neck', 'head'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -30, upperLimit: 30 }] });
340
+ r.joint({ id: 'visor', body0: { part: 'head', face: 'right' }, body1: { part: 'visor' } });
342
341
  for (const [side, z, torsoFace] of [['left', -1, 'back'], ['right', 1, 'front']]) {
343
342
  /* The leg, from the pelvis down; a knee bends the shin back, an ankle tips the foot, which reaches forward. */
344
343
  r.add(box(`${side}-hip`, hipWidth, hip, hipWidth, 'palette.joint'), box(`${side}-thigh`, 130, thigh, 130, 'palette.shell'), box(`${side}-shin`, 110, shin, 110, 'palette.shell'), box(`${side}-foot`, 260, foot, 120, 'palette.dark'));
345
344
  /* Level with the pelvis's side and the torso's top, each turning about its own face (ADR-0107 decision 1). */
346
- r.joint({ id: `${side}-hip-roll`, type: 'revolute', ...hang('pelvis', `${side}-hip`, 'bottom'), origin: { align: { z: z > 0 ? 'max' : 'min' }, pivot: 'child-face' }, axis: 'X', lowerLimit: -30, upperLimit: 30 });
347
- r.joint({ id: `${side}-hip-pitch`, type: 'revolute', ...hang(`${side}-hip`, `${side}-thigh`, 'bottom'), axis: 'Z', lowerLimit: -30, upperLimit: 100 });
348
- r.joint({ id: `${side}-knee`, type: 'revolute', ...hang(`${side}-thigh`, `${side}-shin`, 'bottom'), axis: 'Z', lowerLimit: -140, upperLimit: 0 });
349
- r.joint({ id: `${side}-ankle`, type: 'revolute', ...hang(`${side}-shin`, `${side}-foot`, 'bottom'), origin: { align: { x: { mm: 50 } } }, axis: 'Z', lowerLimit: -40, upperLimit: 40 });
345
+ r.joint({ id: `${side}-hip-roll`, ...hang('pelvis', `${side}-hip`, 'bottom'), origin: { align: { z: z > 0 ? 'max' : 'min' }, pivot: 'child-face' }, motion: [{ type: 'revolute', axis: 'X', lowerLimit: -30, upperLimit: 30 }] });
346
+ r.joint({ id: `${side}-hip-pitch`, ...hang(`${side}-hip`, `${side}-thigh`, 'bottom'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -30, upperLimit: 100 }] });
347
+ r.joint({ id: `${side}-knee`, ...hang(`${side}-thigh`, `${side}-shin`, 'bottom'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -140, upperLimit: 0 }] });
348
+ r.joint({ id: `${side}-ankle`, ...hang(`${side}-shin`, `${side}-foot`, 'bottom'), origin: { align: { x: { mm: 50 } } }, motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -40, upperLimit: 40 }] });
350
349
  /* The arm, from the top of the torso's side down. */
351
350
  r.add(box(`${side}-shoulder`, 120, shoulder, 100, 'palette.joint'), box(`${side}-upper-arm`, 100, 300, 100, 'palette.shell'), box(`${side}-forearm`, 90, 280, 90, 'palette.shell'), box(`${side}-hand`, 90, 120, 50, 'palette.dark'));
352
- r.joint({ id: `${side}-shoulder-pitch`, type: 'revolute', body0: { part: 'torso', face: torsoFace }, body1: { part: `${side}-shoulder` }, origin: { align: { y: 'max' }, pivot: 'child-face' }, axis: 'Z', lowerLimit: -60, upperLimit: 180 });
353
- r.joint({ id: `${side}-shoulder-roll`, type: 'revolute', ...hang(`${side}-shoulder`, `${side}-upper-arm`, 'bottom'), axis: 'X', lowerLimit: -90, upperLimit: 90 });
354
- r.joint({ id: `${side}-elbow`, type: 'revolute', ...hang(`${side}-upper-arm`, `${side}-forearm`, 'bottom'), axis: 'Z', lowerLimit: 0, upperLimit: 140 });
355
- r.joint({ id: `${side}-hand`, type: 'fixed', ...hang(`${side}-forearm`, `${side}-hand`, 'bottom') });
351
+ r.joint({ id: `${side}-shoulder-pitch`, body0: { part: 'torso', face: torsoFace }, body1: { part: `${side}-shoulder` }, origin: { align: { y: 'max' }, pivot: 'child-face' }, motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -60, upperLimit: 180 }] });
352
+ r.joint({ id: `${side}-shoulder-roll`, ...hang(`${side}-shoulder`, `${side}-upper-arm`, 'bottom'), motion: [{ type: 'revolute', axis: 'X', lowerLimit: -90, upperLimit: 90 }] });
353
+ r.joint({ id: `${side}-elbow`, ...hang(`${side}-upper-arm`, `${side}-forearm`, 'bottom'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: 0, upperLimit: 140 }] });
354
+ r.joint({ id: `${side}-hand`, ...hang(`${side}-forearm`, `${side}-hand`, 'bottom') });
356
355
  }
357
356
  return r.finish('XL');
358
357
  }
@@ -372,23 +371,21 @@ export function palletizerRobotFigure() {
372
371
  });
373
372
  const { base, turret, upper, elbow, reach, wrist, flange } = PALLETIZER;
374
373
  r.add(cylinder('base', 220, base, 'palette.joint'), cylinder('turret', 180, turret, 'palette.body'), box('upper-arm', 170, upper, 170, 'palette.body'), box('elbow', elbow, elbow, elbow, 'palette.joint'), box('forearm', reach, 150, 150, 'palette.body'));
375
- r.joint({ id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } });
376
- r.joint({ id: 'j1', type: 'revolute', ...hang('base', 'turret'), axis: 'Y', lowerLimit: -180, upperLimit: 180 });
377
- r.joint({ id: 'j2', type: 'revolute', ...hang('turret', 'upper-arm'), axis: 'Z', lowerLimit: -45, upperLimit: 60 });
378
- r.joint({ id: 'j3', type: 'revolute', ...hang('upper-arm', 'elbow'), axis: 'Z', lowerLimit: -60, upperLimit: 30 });
374
+ r.joint({ id: 'base', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } });
375
+ r.joint({ id: 'j1', ...hang('base', 'turret'), motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -180, upperLimit: 180 }] });
376
+ r.joint({ id: 'j2', ...hang('turret', 'upper-arm'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -45, upperLimit: 60 }] });
377
+ r.joint({ id: 'j3', ...hang('upper-arm', 'elbow'), motion: [{ type: 'revolute', axis: 'Z', lowerLimit: -60, upperLimit: 30 }] });
379
378
  /* The forearm reaches out level from the elbow's side. */
380
- r.joint({ id: 'forearm', type: 'fixed', body0: { part: 'elbow', face: 'right' }, body1: { part: 'forearm' } });
379
+ r.joint({ id: 'forearm', body0: { part: 'elbow', face: 'right' }, body1: { part: 'forearm' } });
381
380
  r.add(box('wrist', wrist, wrist, wrist, 'palette.joint'), cylinder('flange', 80, flange, 'palette.joint'), box('tool', 600, 60, 400, 'palette.tool'));
382
381
  r.joint({
383
382
  id: 'wrist',
384
- type: 'revolute',
385
383
  ...hang('forearm', 'wrist', 'bottom'),
386
384
  origin: { align: { x: { mm: reach / 2 - wrist / 2 } } },
387
- axis: 'Z',
388
- mimic: { sum: [{ joint: 'j2', multiplier: -1 }, { joint: 'j3', multiplier: -1 }] }
385
+ motion: [{ type: 'revolute', axis: 'Z', mimic: { sum: [{ motion: 'j2', multiplier: -1 }, { motion: 'j3', multiplier: -1 }] } }]
389
386
  });
390
- r.joint({ id: 'j4', type: 'revolute', ...hang('wrist', 'flange', 'bottom'), axis: 'Y', lowerLimit: -360, upperLimit: 360 });
391
- r.joint({ id: 'tool', type: 'fixed', ...hang('flange', 'tool', 'bottom') });
387
+ r.joint({ id: 'j4', ...hang('wrist', 'flange', 'bottom'), motion: [{ type: 'revolute', axis: 'Y', lowerLimit: -360, upperLimit: 360 }] });
388
+ r.joint({ id: 'tool', ...hang('flange', 'tool', 'bottom') });
392
389
  return r.finish('M');
393
390
  }
394
391
  //# sourceMappingURL=robots.js.map
package/dist/robots.js.map CHANGED
@@ -1 +1 @@
1
- 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package/docs/attachment-response-spec-review-2026-10-24.md ADDED
@@ -0,0 +1,56 @@
1
+ # 부착과 크기 반응 통합 편집을 위한 명세 검토
2
+
3
+ 2026-10-24. 검토 결과이며 새 스키마나 승인된 API 명세가 아니다. figure-model의 표현 능력을 모델러의 설정 목록으로 그대로 노출하지 않는다는 제품 요구를 기준으로 한다.
4
+
5
+ ## 결론
6
+
7
+ 확인한 범위에서는 FigureAsset 저장 형식, 그래프 연산, FigureJoint의 의미, things-scene 실행 계약을 변경할 필요가 없다. 기존 attach와 link-dimension 등을 조합해 결과를 표현할 수 있다. 먼저 필요한 것은 **operato-figure의 통합 편집 규약**이다. 공용 편집 API가 필요해지면 figure-model의 계획/명령 계층에 추가할 수 있으나, 그것과 저장 스키마 변경은 구분한다.
8
+
9
+ 단, 모든 각도·형태에서 양끝 여백 유지가 해결됐다는 결론은 아니다. 아래 검증은 정렬된 사각 부품과 평면 부착이다.
10
+
11
+ ## 기존 명세로 표현되는 것
12
+
13
+ - `src/authoring-types.ts`: FigureJoint.body0는 부착 상대·면, origin.align은 상대 좌표계에서의 정렬·중심 기준 거리, gap은 면 법선 방향 간격을 담는다.
14
+ - link-dimension은 명시적 상대 치수에 times/plus 또는 합을 적용한다. 부품 사이의 임의 참조 능력은 유지한다.
15
+ - 크기 고정은 고유 치수, 비례는 상대 치수 × 비율, 양끝 여백은 상대 면의 해당 길이 − 두 여백의 합으로 표현할 수 있다. 이는 정렬된 사각 면/부품의 경우다.
16
+ - 좌측 여백 L, 우측 여백 R이면 자식 너비 = 부모 너비 − L − R, 부모 중심 기준 자식 X = (L − R)/2. 두 설정을 함께 기록하면 비대칭 여백도 유지한다.
17
+ - `src/proposal.ts`의 applyFigureProposal과 제품 세션 applyRecipe는 여러 명령을 하나의 작업으로 적용한다. 작업 공간 이력에서 한 번에 undo/redo하며 실패한 작업은 반영하지 않는다. 각 단계가 검증되므로 임의의 명령 순서가 항상 성공한다는 뜻은 아니다.
18
+ - serialize/parse 뒤에도 치수 참조와 부착 기록을 보존한다. 런타임은 기존 그래프를 평가하면 되므로 추가적인 제약 해결기를 요구하지 않는다.
19
+
20
+ ## 실행으로 확인한 사항
21
+
22
+ `things-factory/packages/figure-ui/test/attachment-size-contract.test.ts`의 세 검사 통과. figure-model은 operato-application에 설치된 0.10.0 사용.
23
+
24
+ 1. 상판과 보강대를 기존 명령으로 연결하고 직렬화/재읽기. 상판 너비 1500·2000·3000에서 보강대의 좌측 100, 우측 200 mm 여백 유지.
25
+ 2. attach만 otherTop으로 바꾸면 보강대 치수는 여전히 원래 tabletop 참조. link-dimension과 attach를 하나의 recipe로 바꾸면 부착 상대와 치수 기준 모두 otherTop으로 변경. 한 번의 undo/redo와 실패 시 현 상태 보존 확인.
26
+ 3. detach는 치수 참조를 없애지 않음. 모델러가 만든 통합 관계의 해제 정책은 따로 정의해야 함.
27
+
28
+ ## 현재 명세가 자동으로 보장하지 않는 것
29
+
30
+ 기존 명세는 부착 관계와 치수 참조를 독립적으로 표현한다. 어느 치수 참조가 ‘이 부착 편집이 만든 관계’인지, 아니면 다른 작성자가 의도적으로 만든 독립 관계인지를 나타내는 전용 소유 정보는 없다. 같은 부모를 참조한다고 해서 일괄 소유로 추정하면 안 된다.
31
+
32
+ 따라서 기존 attach/detach를 모든 모델에 대해 자동 치수 변경 명령으로 바꾸는 것은 권하지 않는다. 기존 자산과 외부 작성자의 표현 의미가 바뀐다.
33
+
34
+ ## 먼저 정의해야 할 모델러 편집 규약
35
+
36
+ - 부착 상대를 선택하면 크기 반응의 기준도 그 상대에서 정한다. 별도의 상대 선택을 기본 흐름에 노출하지 않는다.
37
+ - 면 위의 방향과 부품의 로컬 편집 치수 사이 매핑은 모델러가 계산한다. X를 무조건 X에 연결하지 않는다.
38
+ - 크기/정렬/여백을 하나의 계획으로 미리 보고 적용한다. 모델러가 관리하는 치수 규칙을 명확히 판별한다.
39
+ - 재부착 시 그 규칙만 새 상대에 맞춰 갱신한다. 성립하지 않는 면이나 각도에서는 기존 관계를 몰래 변경하지 않는다.
40
+ - 해제 시 관리 대상 치수 관계를 현재 기준 치수로 고정할지 등 일관된 정책을 정한다. 현재 자세/관절 운동의 보존도 별도 검증한다.
41
+ - 다시 열기·복제·이름 변경·삭제·외부 편집 후에도 관리 대상 식별이 일관되어야 한다.
42
+ - 피규어의 mounting-plane은 부착 기준 평면이지 유한한 너비를 가진 부모 부품이 아니다. 여기에 붙인 부품의 크기 기준으로 instance size를 쓸지는 별도 제품 규칙이다. ‘피규어에 붙이면 자동으로 피규어 크기를 따른다’는 기존 명세가 아니다.
43
+
44
+ ## 저장 형식 변경을 판단할 기준
45
+
46
+ 기본 사례는 기존 관계를 읽어 모델러가 재구성할 수 있다. 그러나 임의 수식이나 외부 작성 자산까지 무조건 모델러 규칙으로 역해석하지 않는다. 판별 불가능한 관계를 자동 덮어쓰지 않는 원칙이 필요하다.
47
+
48
+ 모델러의 편집 의도를 별도로 저장해야 한다면 기존 extensions도 후보지만, 지금 즉시 채택하지 않는다. extensions는 제품 소유 JSON이며 코어가 의미·참조 정합성을 검증하지 않고, 값당 4096바이트·최대 16키 제한이 있다. 저장 공간이 있다는 것만으로 관리 문제를 해결하지 않는다. 파생 그래프와 중복 상태가 생기므로 불일치 검출 및 이름 변경/삭제/복제 정책이 필요하다.
49
+
50
+ 여러 작성 도구가 동일한 ‘부착 기반 크기 규칙’을 보존·수정해야 하거나, 기존 그래프에서 편집 의도를 복원할 수 없어 제품에서 손실이 발생한다는 증거가 나오면 그때 공통 authoring 의미 모델을 명세화한다. 이 경우에도 실행 그래프는 기존 연산으로 생성할 수 있는지 우선 검토한다. ‘반응형’이라는 새 런타임 제약 체계를 먼저 추가할 근거는 없다.
51
+
52
+ ## 남은 검증
53
+
54
+ 90도/임의 회전, 원형/불규칙 단면, 내부 면과 공동, 양끝 여백보다 작은 부모, 부모/자식 참조 순환, 관절 운동, 재부착·해제·삭제·복제·이름 변경·저장 후 재편집을 확인해야 한다. 임의 회전에서는 한쪽 로컬 치수 변경이 부모 면의 두 방향 투영 길이에 영향을 줄 수 있으므로 사각 정렬 사례의 공식을 일반화하지 않는다.
55
+
56
+ 본 검토는 저장 명세 수정 없이 통합 편집을 시작할 수 있다는 근거다. 통합 편집기 구현 완료나 모든 형태 지원을 뜻하지 않는다.
package/docs/editor-integration.md CHANGED
@@ -5,6 +5,8 @@
5
5
 
6
6
  > 현재 구현·검증·제품 연결 상태는 [구현·검증 현황](status.md)을 따른다. 본문의 단계별 연구/검증 기록은 제품 전체 완료 선언이 아니다.
7
7
 
8
+ > 2026-10-24 상태 정정: 아래의 「제품에 아직 연결하지 않았다」는 2026-09-21 실험에 대한 기록이다. 현행 제품은 figure-asset-1과 공통 저작 명령을 사용한다. 옛 figure-source/이전 형식 관련 제품 연결 지침을 현재 코드 지침으로 사용하지 않는다. [현행 상태](status.md)를 따른다.
9
+
8
10
  ## 완료 범위
9
11
 
10
12
  저장된 Figure 자산을 공통 편집 세션으로 열고, 입력 변경을 평가된 3D 장면으로 전달하는 연결 계층을 구현했다. **제품 모델러·서버·DB에는 아직 연결하지 않았다.**
package/docs/modeller-interaction-performance-2026-10-07.md CHANGED
@@ -1,6 +1,6 @@
1
1
  # 모델러 선택·값 변경 성능 측정 (2026-10-07)
2
2
 
3
- 결정 정본: [ADR-0119](../../operato-application/adr/ADR-0119.md) (채택, 범위 좁힘).
3
+ 설계 결정 기준: [ADR-0119](../../operato-application/adr/ADR-0119.md) (채택, 범위 좁힘).
4
4
  이 문서는 측정 원자료와 실행 상태를 둔다. 예정 효과를 성과로 적지 않는다.
5
5
 
6
6
  ## 대상과 방법
package/docs/performance-followup-2026-10-05.md CHANGED
@@ -1,6 +1,6 @@
1
1
  # Figure 후속 성능 실행 계획 (2026-10-05)
2
2
 
3
- 결정 정본: [ADR-0108 현행 보완](../../operato-application/adr/ADR-0108.md).
3
+ 설계 결정 기준: [ADR-0108 현행 보완](../../operato-application/adr/ADR-0108.md).
4
4
  출발점: 0.3.4·10.1.73 일반 변경분 채택 및 설치본 검증 완료. 과거 튜닝 성과는 유지한다.
5
5
  제품 목표와 원자료는 [성능 요약](evaluation-performance-summary-2026-10-05.md)을 따른다.
6
6
  이 문서는 실행 상태를 관리하며 예정 효과를 성과로 기록하지 않는다.
package/docs/review-2026-09-22.md CHANGED
@@ -21,8 +21,8 @@ figure-model 0.1.32 (`54d30c2`) 기준. 문서를 읽고 판단한 것이 아니
21
21
  ```
22
22
  src/ Figure 모듈 13 개 · 2,266 줄(시험 포함)
23
23
  index.ts 10 개를 내보낸다 — compileFigureGraph · createFigureAsset · …
24
- npm test 461 통과 · 0 빨강
25
- node --test docs/prototypes/*.test.mjs 143 통과 · 0 빨강
24
+ npm test 461 통과 · 0 실패
25
+ node --test docs/prototypes/*.test.mjs 143 통과 · 0 실패
26
26
  ```
27
27
 
28
28
  ### 핵심 주장이 실측으로 성립한다
package/docs/status.md CHANGED
@@ -1,9 +1,19 @@
1
1
  # 구현·검증 현황
2
2
 
3
3
  > 이 파일은 짧은 안내다. 결정은 `operato-application/adr/`(ADR-0087 · ADR-0093 · ADR-0096), 현재 상태는
4
- > `operato-application/packages/operato-figure/docs/CURRENT_STATUS.md` 가 정본이다.
4
+ > `operato-application/packages/operato-figure/docs/CURRENT_STATUS.md` 가 현행 상태의 기준 문서이다.
5
5
 
6
- 최근 저장소 점검: 2026-10-04, figure-model 0.3.2 (`4610edc`).
6
+ ## 2026-10-24 재확인
7
+
8
+ 현재 체크아웃과 operato-application 설치본은 **0.10.0**이다. 6축 로봇암, 모바일 매니퓰레이터, 공통 부착·관절 명령, driver·motion group은 코드에 존재한다. ADR-0145에 따라 정지 몸체 크기와 동작 범위를 구별하며, occupancy.bounds 선언을 현행 계약으로 사용하지 않는다.
9
+
10
+ 이번 실행: `node --test src/robot-arm.test.ts src/joint-frames.test.ts src/motion-groups.test.ts src/fasten-place.test.ts` — 69 통과, 0 실패. 전체 회귀·운영 배포·사용성 검증 결과가 아니다. 상세는 [제품 현황](../../operato-application/packages/operato-figure/docs/CURRENT_STATUS.md) 첫 절과 [기반 리뷰](../../operato-application/packages/operato-figure/docs/foundation-review-2026-10-24.md)를 따른다.
11
+
12
+ ## 과거 점검 기록
13
+
14
+ 아래 버전과 제품 연결 정보는 기록 당시의 사실이다.
15
+
16
+ 최근 저장소 점검(당시): 2026-10-04, figure-model 0.3.2 (`4610edc`).
7
17
 
8
18
  - 완결성·확장성 및 공개 경계 검토: [점검 결과](completeness-review-2026-10-04.md).
9
19
  - 점검 때 `npm test`: 타입 검사와 696개 시험 통과.
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@hatiolab/figure-model",
3
- "version": "0.10.0",
3
+ "version": "0.11.1",
4
4
  "description": "The figure format (figure-asset-1): a kernel that evaluates a figure from its declared relations, the authoring commands a modeller and an AI share, the release gate and the score.",
5
5
  "keywords": [
6
6
  "figure",