@hatiolab/figure-model 0.10.0 → 0.11.1

package/dist/joint-list.js

@@ -1,24 +1,25 @@
 import { compileFigureAsset } from "./asset.js";
 import { figureMimicLeadersOf } from "./authoring-types.js";
+import { figureAxisById, figureAxesOf, figureMotionsOf, motionNodeIdOf, motionStateIdOf } from "./joint-motions.js";
 import { FigureContractError } from "./contract.js";
 import { compileFigureGraph } from "./graph.js";
-/** The record's shape: 2, the control's two units and `unlisted`. */
-export const FIGURE_JOINT_LIST_SCHEMA = 2;
-/** How the values are measured: 1, the rest-pose axis read from two evaluations of the compiled graph. */
-export const FIGURE_JOINT_LIST_DERIVATION = 1;
+/** The record's shape: 3, a joint per axis (ADR-0159); 2 had the control's two units and `unlisted`. */
+export const FIGURE_JOINT_LIST_SCHEMA = 3;
+/** How the values are measured: 2, each axis's own stage read from two evaluations of the compiled graph (1 read the child). */
+export const FIGURE_JOINT_LIST_DERIVATION = 2;
 /**
- * A mimic in either form the record takes: one leader (`{ joint, multiplier, offset? }`), or a sum
- * (`{ sum: [{ joint, multiplier }], offset? }`, ADR-0107 decision 2). Both read as a sum.
+ * A mimic in either form the record takes: one leader (`{ motion, multiplier, offset? }`), or a sum
+ * (`{ sum: [{ motion, multiplier }], offset? }`, ADR-0107 decision 2). Both read as a sum, each leader named as the list
+ * names it: by its axis's id.
  */
 export function figureMimicTermsOf(mimic) {
     if (!mimic || typeof mimic !== 'object')
         return undefined;
-    return { sum: figureMimicLeadersOf({ mimic }).map(t => ({ joint: t.joint, multiplier: t.multiplier })), offset: mimic.offset ?? 0 };
+    return { sum: figureMimicLeadersOf({ mimic }).map(t => ({ joint: t.motion, multiplier: t.multiplier })), offset: mimic.offset ?? 0 };
 }
 const refuse = (joint, detail) => {
     throw new FigureContractError('JOINT_AXIS_UNREAD', `joints.${joint}`, detail);
 };
-const stateIdOf = (j) => j.state?.id ?? j.id;
 /** Parents first, then record order. The records make a tree (validated), so this ends. */
 function treeOrder(joints) {
     const byChild = new Map(joints.map(j => [j.body1.part, j]));
@@ -92,24 +93,42 @@ const round = (v) => {
     const r = Math.round(v * 1e9) / 1e9;
     return r === 0 ? 0 : r;
 };
-/** The ref a joint's motion moves by: its control, or the node that makes its distance or angle. */
-const quantityRefOf = (asset, child) => asset.document.model.nodes.find(n => n.id === `${child}.motion`)?.args[3];
+/** The ref an axis moves by: its control, or the node that makes its distance or angle. */
+const quantityRefOf = (asset, child, k) => asset.document.model.nodes.find(n => n.id === motionNodeIdOf(child, k))?.args[3];
+/** A stage of a part's motion as one evaluation drew it: the axis's own motion, about its frame's origin. */
+const stageOf = (values, child, k) => values[`${motionNodeIdOf(child, k)}.value`];
+/**
+ * The frame an axis moves in, turned as one evaluation drew it, in its parent part's frame: the joint frame (the seat)
+ * and every axis before it in its joint, through the point each passes.
+ */
+function frameBefore(values, child, k) {
+    let r = values[`${child}.seat.value`]?.r;
+    for (let i = 0; r && i < k; i++) {
+        const stage = (values[`${motionNodeIdOf(child, i)}.about.value`] ?? values[`${motionNodeIdOf(child, i)}.value`]);
+        r = stage && mm(r, stage.r);
+    }
+    return r;
+}
 /** How far a joint's own value went in one evaluation: its motion's quantity, in base units, as the graph computed it. */
 function quantityOf(ref, values) {
     const v = values[ref];
     return typeof v === 'number' && Number.isFinite(v) ? v : undefined;
 }
 /**
- * A moving joint's axis at rest, measured. `drivers` are the state inputs that can move it: its own control, or its
- * leaders' controls. Each is tried, a step of at most 45 (degrees, millimetres or a share) into its range, smaller
- * until a turn stays under a quarter: what a turn of 180° and more says about its axis is ambiguous.
+ * A moving axis at rest, measured (derivation 2). `drivers` are the state inputs that can move it: its own control, or
+ * its leaders' controls. Each is tried, a step of at most 45 (degrees, millimetres or a share) into its range, smaller
+ * until a turn stays under a quarter: what a turn of 180° and more says about its axis is ambiguous. What is read is
+ * the axis's own stage, in the frame the axes before it leave it at rest -- the child's whole motion is every axis
+ * its drivers move, and a leader moving an axis of its own joint with it read as the two turned together (review
+ * 2026-10-24, F2).
  */
-function axisOf(reader, asset, j, drivers) {
-    const parent = 'part' in j.body0 ? j.body0.part : null;
-    const child = j.body1.part;
-    const ref = quantityRefOf(asset, child);
-    const q0 = ref === undefined ? undefined : quantityOf(ref, reader.atRest.values);
-    if (q0 === undefined)
+function axisOf(reader, j, drivers) {
+    const { parent, child, ref, k } = j;
+    const rest = reader.atRest.values;
+    const q0 = ref === undefined ? undefined : quantityOf(ref, rest);
+    const s0 = stageOf(rest, child, k);
+    const frame = frameBefore(rest, child, k);
+    if (q0 === undefined || !s0 || !frame)
         return refuse(j.id, `${child} has no motion in the graph for ${j.type} joint ${j.id}`);
     const at0 = relativeOf(reader.atRest.geometry, parent, child, j.id);
     for (const input of drivers) {
@@ -119,9 +138,9 @@ function axisOf(reader, asset, j, drivers) {
             const dq = quantityOf(ref, after.values) - q0;
             if (!(Math.abs(dq) > 1e-9))
                 break;
-            const at1 = relativeOf(after.geometry, parent, child, j.id);
-            /* The child's motion in its parent's frame: at1 = D · at0, D a turn about the joint's axis or a slide along it. */
-            const d = compose(at1.rel, inverse(at0.rel));
+            const s1 = stageOf(after.values, child, k);
+            /* The axis's own motion in its frame: s1 = D · s0, D a turn about the axis or a slide along it. */
+            const d = compose(s1, inverse(s0));
             let local;
             if (j.type === 'revolute') {
                 const r = d.r;
@@ -142,7 +161,7 @@ function axisOf(reader, asset, j, drivers) {
                 if (Math.abs(Math.hypot(...local) - 1) > 1e-6)
                     return refuse(j.id, `${child} moved ${Math.hypot(...d.t)} mm as ${j.id}'s value went ${Math.abs(dq)}; the slide is not along a unit axis`);
             }
-            const axis = mv(at0.parentR, local);
+            const axis = mv(at0.parentR, mv(frame, local));
             const n2 = Math.hypot(...axis);
             return axis.map(x => round(x / n2));
         }
@@ -177,9 +196,9 @@ export function jointListOf(asset, evaluation) {
     const inputs = new Map(asset.document.model.inputs.filter(i => i.role === 'state').map(i => [i.id, i]));
     /* The rest pose: every independent joint at 0 (ADR-0093); any other state input at its default. */
     const rest = {};
-    for (const j of records)
-        if (j.type !== 'fixed' && !j.mimic && inputs.has(stateIdOf(j)))
-            rest[stateIdOf(j)] = 0;
+    for (const { motion } of figureAxesOf(records))
+        if (!motion.mimic && inputs.has(motionStateIdOf(motion)))
+            rest[motionStateIdOf(motion)] = 0;
     /*
       0 is evaluated as is, also where a joint's limits do not hold it (10..80): the graph is compiled for this reading
       with those controls' ranges widened to 0. Only here -- a board's evaluation, the state defaults and every command
@@ -195,67 +214,70 @@ export function jointListOf(asset, evaluation) {
     const list = { schema: FIGURE_JOINT_LIST_SCHEMA, derivation: FIGURE_JOINT_LIST_DERIVATION, joints: [], unlisted: [] };
     const covered = new Set();
     if (records.length) {
-        const byId = new Map(records.map(j => [j.id, j]));
         const byChild = new Map(records.map(j => [j.body1.part, j]));
+        /* The joint a part hangs in the list by: its record's last axis, or the record itself when it is fastened still. */
+        const lastOf = (j) => figureMotionsOf(j).at(-1)?.id ?? j.id;
         const instance = evaluation === 'incremental' ? plan.evaluator() : plan;
         const evaluate = (state) => instance.evaluate({ ...asset.designInputs, ...asset.stateDefaults, ...state });
         const reader = { rest, atRest: evaluate(rest), evaluate };
         for (const j of treeOrder(records)) {
             const parentPart = 'part' in j.body0 ? j.body0.part : null;
-            const entry = {
-                id: j.id,
-                type: j.type,
-                parent: parentPart ? (byChild.get(parentPart)?.id ?? null) : null,
-                parentPart,
-                child: j.body1.part
-            };
-            if (j.type !== 'fixed') {
-                const follows = figureMimicTermsOf(j.mimic);
+            const above = parentPart ? byChild.get(parentPart) : undefined;
+            const parent = above ? lastOf(above) : null;
+            const motions = figureMotionsOf(j);
+            if (!motions.length)
+                list.joints.push({ id: j.id, type: 'fixed', parent, parentPart, child: j.body1.part });
+            for (const [k, a] of motions.entries()) {
+                const entry = { id: a.id, type: a.type, parent: k ? motions[k - 1].id : parent, parentPart, child: j.body1.part };
+                const read = { id: a.id, type: a.type, parent: parentPart, child: j.body1.part, k, ref: quantityRefOf(asset, j.body1.part, k) };
+                const follows = figureMimicTermsOf(a.mimic);
                 if (follows) {
                     const drivers = follows.sum.flatMap(t => {
-                        const leader = byId.get(t.joint);
-                        const input = leader && inputs.get(stateIdOf(leader));
+                        const leader = figureAxisById(records, t.joint);
+                        const input = leader && inputs.get(motionStateIdOf(leader.motion));
                         return input ? [input] : [];
                     });
-                    entry.axis = axisOf(reader, asset, j, drivers);
+                    entry.axis = axisOf(reader, read, drivers);
                     entry.follows = follows;
                 }
                 else {
-                    const input = inputs.get(stateIdOf(j));
+                    const input = inputs.get(motionStateIdOf(a));
                     if (!input)
-                        return refuse(j.id, `${stateIdOf(j)}, the state input of ${j.id}, is not in the model`);
-                    /* A revolute joint without limits turns without end: its input's -180..180 is a phase, not a limit. */
-                    const limited = j.lowerLimit !== undefined || j.upperLimit !== undefined || j.type === 'prismatic';
-                    entry.axis = axisOf(reader, asset, j, [input]);
+                        return refuse(a.id, `${motionStateIdOf(a)}, the state input of ${a.id}, is not in the model`);
+                    /* A revolute axis without limits turns without end: its input's -180..180 is a phase, not a limit. */
+                    const limited = a.lowerLimit !== undefined || a.upperLimit !== undefined || a.type === 'prismatic';
+                    entry.axis = axisOf(reader, read, [input]);
                     entry.control = {
                         input: input.id,
                         inputUnit: input.unit,
-                        motionUnit: j.type === 'revolute' ? 'deg' : 'mm',
+                        motionUnit: a.type === 'revolute' ? 'deg' : 'mm',
                         ...(limited ? { min: input.min, max: input.max } : {})
                     };
                     covered.add(input.id);
                 }
+                list.joints.push(entry);
             }
-            list.joints.push(entry);
         }
     }
     list.unlisted = movingInputsOf(asset, plan.dependence).filter(i => !covered.has(i.id)).map(i => ({ input: i.id, unit: i.unit }));
     return list;
 }
 /**
- * How far a moving joint has gone -- degrees for a turn, millimetres for a slide -- as the kernel evaluates the figure
- * at `inputs` (design inputs, instance size and state; the stored values for the rest). A slide whose control is a
- * share reads its distance here: a consumer never works it out from the length its stroke follows.
+ * How far a moving joint of the list has gone -- one axis, by its id (ADR-0159): degrees for a turn, millimetres for a
+ * slide -- as the kernel evaluates the figure at `inputs` (design inputs, instance size and state; the stored values for
+ * the rest). A slide whose control is a share reads its distance here: a consumer never works it out from the length
+ * its stroke follows.
  */
 export function figureJointMotionOf(asset, jointId, inputs = {}) {
-    const j = (asset.joints ?? []).find(o => o.id === jointId);
-    if (!j)
+    const records = (asset.joints ?? []);
+    const axis = figureAxisById(records, jointId);
+    if (!axis && !records.some(o => o.id === jointId))
         throw new FigureContractError('TARGET_ABSENT', `joints.${jointId}`, `${jointId} is not a joint of this figure`);
-    const ref = j.type === 'fixed' ? undefined : quantityRefOf(asset, j.body1.part);
+    const ref = axis ? quantityRefOf(asset, axis.joint.body1.part, axis.k) : undefined;
     if (ref === undefined)
         throw new FigureContractError('JOINT_SCHEMA', `joints.${jointId}`, `${jointId} does not move; it has no value to give`);
     const values = compileFigureGraph(asset.document.model).evaluate({ ...asset.designInputs, ...asset.stateDefaults, ...inputs }).values;
     const value = quantityOf(ref, values);
-    return j.type === 'revolute' ? (value * 180) / Math.PI : value;
+    return axis.motion.type === 'revolute' ? (value * 180) / Math.PI : value;
 }
 //# sourceMappingURL=joint-list.js.map

package/dist/joint-list.js.map

@@ -1 +1 @@
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package/dist/joint-motions.d.ts

@@ -0,0 +1,30 @@
+import type { FigureJoint, FigureJointMotion } from './authoring-types.ts';
+/** An axis with the id it goes by. */
+export type FigureNamedMotion = FigureJointMotion & {
+    id: string;
+};
+/** The id an axis goes by: its own, or the joint's for the first axis and `<joint>.<k>` for the k-th. */
+export declare const motionIdOf: (j: FigureJoint, k: number) => string;
+/** A joint's axes in order, each with its id: none for a fastening. */
+export declare function figureMotionsOf(j: FigureJoint): FigureNamedMotion[];
+/** Whether a joint moves at all. */
+export declare const isMovingJoint: (j: FigureJoint) => boolean;
+/** The control an axis's value is: its state's id, or the axis's own. */
+export declare const motionStateIdOf: (m: FigureNamedMotion) => string;
+/** The node an axis's motion is written to: `<part>.motion` for the first, `<part>.motion.<k>` for the k-th. */
+export declare const motionNodeIdOf: (part: string, k: number) => string;
+/** Every axis of every joint, with the joint it is on and its place in it. */
+export declare function figureAxesOf(joints: FigureJoint[] | undefined): Array<{
+    joint: FigureJoint;
+    motion: FigureNamedMotion;
+    k: number;
+}>;
+/** The axis that goes by this id, with its joint and its place in it. */
+export declare function figureAxisById(joints: FigureJoint[] | undefined, id: string): {
+    joint: FigureJoint;
+    motion: FigureNamedMotion;
+    k: number;
+} | undefined;
+/** The controls a person moves to pose a figure: every axis that leads itself, by its state's id. */
+export declare const figureOwnControlsOf: (joints: FigureJoint[] | undefined) => string[];
+//# sourceMappingURL=joint-motions.d.ts.map

package/dist/joint-motions.d.ts.map

@@ -0,0 +1 @@
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package/dist/joint-motions.js

@@ -0,0 +1,28 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ */
+/** The id an axis goes by: its own, or the joint's for the first axis and `<joint>.<k>` for the k-th. */
+export const motionIdOf = (j, k) => j.motion?.[k]?.id ?? (k === 0 ? j.id : `${j.id}.${k + 1}`);
+/** A joint's axes in order, each with its id: none for a fastening. */
+export function figureMotionsOf(j) {
+    return (Array.isArray(j.motion) ? j.motion : []).map((m, k) => ({ ...m, id: motionIdOf(j, k) }));
+}
+/** Whether a joint moves at all. */
+export const isMovingJoint = (j) => Array.isArray(j.motion) && j.motion.length > 0;
+/** The control an axis's value is: its state's id, or the axis's own. */
+export const motionStateIdOf = (m) => m.state?.id ?? m.id;
+/** The node an axis's motion is written to: `<part>.motion` for the first, `<part>.motion.<k>` for the k-th. */
+export const motionNodeIdOf = (part, k) => (k === 0 ? `${part}.motion` : `${part}.motion.${k + 1}`);
+/** Every axis of every joint, with the joint it is on and its place in it. */
+export function figureAxesOf(joints) {
+    return (joints ?? []).flatMap(joint => figureMotionsOf(joint).map((motion, k) => ({ joint, motion, k })));
+}
+/** The axis that goes by this id, with its joint and its place in it. */
+export function figureAxisById(joints, id) {
+    return figureAxesOf(joints).find(a => a.motion.id === id);
+}
+/** The controls a person moves to pose a figure: every axis that leads itself, by its state's id. */
+export const figureOwnControlsOf = (joints) => figureAxesOf(joints)
+    .filter(a => !a.motion.mimic)
+    .map(a => motionStateIdOf(a.motion));
+//# sourceMappingURL=joint-motions.js.map

package/dist/joint-motions.js.map

@@ -0,0 +1 @@
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package/dist/joint-part-edits.d.ts.map

@@ -1 +1 @@
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package/dist/joint-part-edits.js

@@ -9,7 +9,8 @@ import { AXES } from "./words.js";
 import { figureMimicLeadersOf, followedTermsOf } from "./authoring-types.js";
 import { fail, nodeById, writerOf, partOf, namer, constantOf, stableDimension, ownInput, dropIfUnused, round6, stringsIn } from "./authoring-nodes.js";
 import { eulerXYZ } from "./authoring-geometry.js";
-import { stateIdOf, stripJoint, jointMeasures, mapMeasureSources, rewriteJoints } from "./joint-writing.js";
+import { stripJoint, jointMeasures, mapMeasureSources, rewriteJoints } from "./joint-writing.js";
+import { figureAxesOf, figureMotionsOf, motionIdOf, motionNodeIdOf, motionStateIdOf } from "./joint-motions.js";
 /*
  * A part edit that renames or removes a part reads the joint records first: the records are the canon and the joint
  * nodes are made from them (ADR-0093). Renaming or deleting a part in the graph alone left records naming a part that
@@ -46,23 +47,37 @@ export function renameFigurePartInJoints(asset, from, to) {
     out.designInputs = Object.fromEntries(Object.entries(out.designInputs ?? {}).map(([k, v]) => [carried(k), v]));
     /* A length that follows the part's measure follows it under its new name, in each term of a sum too. */
     const source = (s) => s?.of === 'part' ? { ...s, part: name(s.part) } : s;
-    asset.joints = joints.map(was => {
+    /* An axis named after its joint is named after the joint's new name; a follower follows it under that name. */
+    const renamed = joints.map(j => ({
+        ...j,
+        id: name(j.id),
+        ...(j.motion ? { motion: j.motion.map(a => (a.id !== undefined ? { ...a, id: name(a.id) } : a)) } : {})
+    }));
+    const axisNames = new Map(joints.flatMap((j, i) => figureMotionsOf(j).map((a, k) => [a.id, motionIdOf(renamed[i], k)])));
+    const axisName = (id) => axisNames.get(id) ?? id;
+    asset.joints = renamed.map(was => {
         const j = structuredClone(was);
         for (const { get, set } of jointMeasures(j))
             set(mapMeasureSources(get(), source));
         return {
             ...j,
-            id: name(j.id),
             body0: 'part' in j.body0 ? { ...j.body0, part: name(j.body0.part) } : j.body0,
             body1: { ...j.body1, part: name(j.body1.part) },
-            ...(j.mimic
+            ...(j.motion
                 ? {
-                    mimic: Object.hasOwn(j.mimic, 'sum')
-                        ? { ...j.mimic, sum: figureMimicLeadersOf(j).map(t => ({ ...t, joint: name(t.joint) })) }
-                        : { ...j.mimic, joint: name(j.mimic.joint) }
+                    motion: j.motion.map(a => ({
+                        ...a,
+                        ...(a.mimic
+                            ? {
+                                mimic: Object.hasOwn(a.mimic, 'sum')
+                                    ? { ...a.mimic, sum: figureMimicLeadersOf(a).map(t => ({ ...t, motion: axisName(t.motion) })) }
+                                    : { ...a.mimic, motion: axisName(a.mimic.motion) }
+                            }
+                            : {}),
+                        ...(a.state?.id !== undefined ? { state: { ...a.state, id: name(a.state.id) } } : {})
+                    }))
                 }
-                : {}),
-            ...(j.state?.id !== undefined ? { state: { ...j.state, id: name(j.state.id) } } : {})
+                : {})
         };
     });
     rewriteJoints(asset);
@@ -77,18 +92,50 @@ export function copyFigurePartJoint(asset, from, to) {
     if (!j)
         return;
     const m = asset.document.model;
-    const ids = new Set(joints.map(o => o.id));
+    /* Joints and axes are named in one space (ADR-0159): a copy's names are clear of both, a fastening's too (F4). */
+    const ids = new Set([...joints.map(o => o.id), ...figureAxesOf(joints).map(a => a.motion.id)]);
     const inputs = new Set(m.inputs.map((i) => i.id));
-    const fresh = (base, taken) => {
+    const fresh = (base, taken, clear = () => true) => {
         let id = base;
-        for (let n = 2; taken.has(id); n++)
+        for (let n = 2; taken.has(id) || !clear(id); n++)
             id = `${base}-${n}`;
         return id;
     };
-    const id = fresh(j.id === from ? to : `${j.id}-copy`, ids);
+    /* The joint's own name, and the names its unnamed axes take after it, all free. */
+    const unnamed = (j.motion ?? []).map((a, k) => (a.id === undefined ? k : -1)).filter(k => k >= 0);
+    const id = fresh(j.id === from ? to : `${j.id}-copy`, ids, base => unnamed.every(k => !ids.has(k ? `${base}.${k + 1}` : base)));
     const copy = { ...structuredClone(j), id, body1: { ...j.body1, part: to } };
-    if (j.type !== 'fixed' && !j.mimic)
-        copy.state = { ...(j.state ?? {}), id: fresh(j.state?.id ? `${j.state.id}-copy` : id, inputs) };
+    ids.add(id);
+    for (const k of unnamed)
+        ids.add(k ? `${id}.${k + 1}` : id);
+    /*
+      Each axis of the copy is its own: a name of its own when it had one, and a control of its own when it leads itself.
+      One that followed an axis of the same joint follows the copy's.
+    */
+    if (copy.motion) {
+        const named = copy.motion.map(a => {
+            if (a.id === undefined)
+                return a;
+            const own = fresh(`${a.id}-copy`, ids);
+            ids.add(own);
+            return { ...a, id: own };
+        });
+        const ours = new Map(figureMotionsOf(j).map((a, k) => [a.id, motionIdOf({ ...copy, motion: named }, k)]));
+        const leader = (motion) => ours.get(motion) ?? motion;
+        copy.motion = named.map((a, k) => {
+            if (a.mimic)
+                return {
+                    ...a,
+                    mimic: Object.hasOwn(a.mimic, 'sum')
+                        ? { ...a.mimic, sum: figureMimicLeadersOf(a).map(t => ({ ...t, motion: leader(t.motion) })) }
+                        : { ...a.mimic, motion: leader(a.mimic.motion) }
+                };
+            const state = fresh(a.state?.id ? `${a.state.id}-copy` : motionIdOf({ ...copy, motion: named }, k), inputs);
+            inputs.add(state);
+            return { ...a, state: { ...(a.state ?? {}), id: state } };
+        });
+    }
+    ;
     asset.joints = [...joints, copy];
     rewriteJoints(asset);
 }
@@ -142,30 +189,36 @@ export function releaseFigurePartJoints(asset, part) {
     const graph = compileFigureGraph(m);
     const atRest = graph.evaluate(inputs(rest)).values;
     const now = graph.evaluate(inputs()).values;
-    /* A part moving with a joint that goes: its own control, over what the leader's distance or angle came to. */
-    const going = new Set([...(own ? [own.id] : []), ...children.map(j => j.id)]);
-    /* A follower has no control of its own, so its own record's nominal id is not taken. */
-    const taken = new Set([...m.inputs.map((i) => i.id), ...joints.filter(j => !j.mimic).map(stateIdOf)]);
-    for (const f of joints.filter(o => figureMimicLeadersOf(o).some(t => going.has(t.joint)) && !going.has(o.id))) {
+    /* A part moving with a joint that goes: each axis of it a control of its own, over what its leaders' came to. */
+    const going = new Set(figureAxesOf([...(own ? [own] : []), ...children]).map(a => a.motion.id));
+    /* A follower has no control of its own, so its own axis's nominal id is not taken. */
+    const taken = new Set([
+        ...m.inputs.map((i) => i.id),
+        ...figureAxesOf(joints)
+            .filter(x => !x.motion.mimic)
+            .map(x => motionStateIdOf(x.motion))
+    ]);
+    for (const { joint: f, motion: fa, k: fk } of figureAxesOf(joints).filter(x => figureMimicLeadersOf(x.motion).some(t => going.has(t.motion)) && !going.has(x.motion.id))) {
         /*
           A sum whose leaders all go is a control of its own over what the sum came to, as one leader's follower is. One
           whose other leaders stay would follow them and stand still by the rest -- what it should then be is not said, so
           it is refused by name rather than made up.
         */
-        const staying = figureMimicLeadersOf(f).filter(t => !going.has(t.joint));
+        const staying = figureMimicLeadersOf(fa).filter(t => !going.has(t.motion));
         if (staying.length)
-            fail('PART_FOLLOWED', part, `${f.id} follows ${staying.map(t => t.joint).join(', ')} as well as a joint that goes with ${part}; make ${f.id} follow only the joints that stay first`);
-        const terms = figureMimicLeadersOf(f).map(t => {
-            const leader = joints.find(o => o.id === t.joint);
-            const quantity = nodeById(m, `${leader.body1.part}.motion`)?.args[3] ?? stateIdOf(leader);
-            const state = m.inputs.find((i) => i.id === stateIdOf(leader));
-            const distance = (value) => Number(graph.evaluate(inputs({ [stateIdOf(leader)]: value })).values[quantity]);
+            fail('PART_FOLLOWED', part, `${fa.id} follows ${staying.map(t => t.motion).join(', ')} as well as a joint that goes with ${part}; make ${fa.id} follow only the joints that stay first`);
+        const terms = figureMimicLeadersOf(fa).map(t => {
+            const leader = figureAxesOf(joints).find(x => x.motion.id === t.motion);
+            const control = motionStateIdOf(leader.motion);
+            const quantity = nodeById(m, motionNodeIdOf(leader.joint.body1.part, leader.k))?.args[3] ?? control;
+            const state = m.inputs.find((i) => i.id === control);
+            const distance = (value) => Number(graph.evaluate(inputs({ [control]: value })).values[quantity]);
             const [a, b] = [distance(state?.min ?? 0) * t.multiplier, distance(state?.max ?? 1) * t.multiplier];
             return { lo: Math.min(a, b), hi: Math.max(a, b), now: Number(now[quantity]) * t.multiplier };
         });
-        const turn = f.type === 'revolute';
+        const turn = fa.type === 'revolute';
         const toUnit = (base) => round6(turn ? (base * 180) / Math.PI : base);
-        const offset = (f.mimic.offset ?? 0) * (turn ? Math.PI / 180 : 1);
+        const offset = (fa.mimic.offset ?? 0) * (turn ? Math.PI / 180 : 1);
         /*
           Each leader moves on its own control, so the sum's least and greatest are each term's, added (a negative multiplier
           swaps a term's ends, above). When leaders are driven by one upstream input -- not the case today, a leader leads
@@ -178,8 +231,9 @@ export function releaseFigurePartJoints(asset, part) {
             id = `${f.body1.part}-${n}`;
         taken.add(id);
         const start = Math.min(hi, Math.max(lo, total(t => t.now)));
-        const { mimic: _led, travel: _share, ...alone } = f;
-        joints = joints.map(o => o.id === f.id ? { ...alone, lowerLimit: lo, upperLimit: hi, state: { ...(f.state ?? {}), id, start } } : o);
+        const { mimic: _led, travel: _share, ...alone } = f.motion[fk];
+        const leading = { ...alone, lowerLimit: lo, upperLimit: hi, state: { ...(fa.state ?? {}), id, start } };
+        joints = joints.map(o => (o.id === f.id ? { ...o, motion: o.motion.map((x, i) => (i === fk ? leading : x)) } : o));
         notice.controls.push({ part: f.body1.part, control: id, min: lo, max: hi });
     }
     /*
@@ -228,12 +282,13 @@ export function releaseFigurePartJoints(asset, part) {
     */
     const jointNodes = (p) => (n) => n.id.startsWith(`${p}.on.`) ||
         n.id.startsWith(`${p}.row`) ||
+        n.id.startsWith(`${p}.turned.`) ||
+        (n.id.startsWith(`${p}.motion`) && /^\.motion(\.\d+)?(\.(through|back|about|about\.turned))?$/.test(n.id.slice(p.length))) ||
         [
             `${p}.seat.rigid`,
             `${p}.chain`,
             `${p}.world`,
             `${p}.turned`,
-            `${p}.motion`,
             `${p}.layout`,
             `${p}.assembly`,
             `${p}.repeat`
@@ -297,7 +352,9 @@ export function releaseFigurePartJoints(asset, part) {
         delete a.joints;
     for (const j of children) {
         const child = j.body1.part;
-        const control = j.type !== 'fixed' && !j.mimic ? stateIdOf(j) : undefined;
+        const controls = figureMotionsOf(j)
+            .filter(x => !x.mimic)
+            .map(motionStateIdOf);
         stripJoint(a, j);
         const at = standing.get(child);
         const pose = nodeById(m, `${child}.pose`);
@@ -316,7 +373,11 @@ export function releaseFigurePartJoints(asset, part) {
         for (const ref of old)
             if (!pose.args.includes(ref))
                 dropIfUnused(a, ref, ownInput(m, child, ref) ? ref : undefined);
-        notice.released.push({ part: child, ...(control ? { control } : {}) });
+        /* One entry for each control that moved it, or one for the part when none did. */
+        if (!controls.length)
+            notice.released.push({ part: child });
+        for (const control of controls)
+            notice.released.push({ part: child, control });
     }
     /*
       A control goes with its joint once nothing reads it -- read only after every part is let go of: a lamp and the shade