@hatiolab/figure-model 0.2.14 → 0.3.0

package/dist/cost.d.ts.map

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

@@ -11,7 +11,7 @@
  * (designer's ruling 2026-09-22); this counts what reaches the screen.
  */
 import { figureCavitySectionOf } from "./section.js";
-import { figureRenderBatchesOf } from "./render-batches.js";
+import { figureDrawPlanOf, figureDrawsOf } from "./render-batches.js";
 import { SEGMENT_PRESETS } from "./words.js";
 import { compileFigureAsset } from "./asset.js";
 const DEFAULT_SEGMENTS = 12;
@@ -69,11 +69,10 @@ export function figureTrianglesOf(body) {
 export function figureCostOf(asset) {
     const geometry = compileFigureAsset(asset).evaluate().geometry;
     const drawn = geometry.filter(body => body.visible !== false);
-    /* A draw group per batch of a row's copies and per body drawn alone: as the renderer draws them (ADR-0087 amended 2026-09-26). */
-    const plan = figureRenderBatchesOf(drawn);
+    /* A draw group per batch of a row's copies, per still group merged by look and per body drawn alone: as the renderer draws them (ADR-0087 amended 2026-09-26, ADR-0109). */
     return {
         triangles: drawn.reduce((sum, body) => sum + figureTrianglesOf(body), 0),
-        groups: plan.batches.length + plan.alone.length,
+        groups: figureDrawsOf(figureDrawPlanOf(asset, drawn)),
         hidden: geometry.length - drawn.length
     };
 }

package/dist/cost.js.map

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package/dist/index.d.ts

@@ -16,7 +16,7 @@ export { FIGURE_OPERATORS, FIGURE_NON_AFFINE_OPERATORS, FIGURE_STATE_NON_AFFINE_
 export { FIGURE_KERNEL_VERSION } from './kernel-version.ts';
 export { FIGURE_FACE_NORMALS } from './surface.ts';
 export { figureCostOf, figureTrianglesOf, type FigureCost } from './cost.ts';
-export { figureRenderBatchesOf, type FigureRenderBatch, type FigureRenderPlan, type FigureUnbatchedReason } from './render-batches.ts';
+export { figureRenderBatchesOf, figureStillBodiesOf, figureStillJudgeOf, figureCarrierJudgeOf, figureBodyMovesOf, figureDrawPlanOf, figureDrawsOf, type FigureRenderBatch, type FigureRenderPlan, type FigureMergedGroup, type FigureCarriedGroup, type FigureUnbatchedReason } from './render-batches.ts';
 export { figureScoreOf, figurePartCountOf, figurePartBudgetOf, figureGradeOf, figureMaterialKeyOf, figureIndependentBodiesOf, FIGURE_GRADE_SCALE, FIGURE_BUDGET_KEYS, FIGURE_PER_INSTANCE, type FigureScore, type FigureBudgetUse, type FigureBudgetKey } from './score.ts';
 export { applyFigureAuthoring, proposeFigureOccupancy, proposeFigureProportion, type FigureProportionPlan, figureAttachmentsOf, figureBindingsOf, FIGURE_FACES, type FigureBindingPlace, type FigureAuthoringAction, type FigureFaceRemap, type FigureDimensionSource, type FigureMeasure, type FigureFaceAlignment, type FigureFace, type FigureMotionRequest, type FigureOccupancyProposal, type RemovalNotice, type FigureJoint, type FigureJointType, type FigureJointAxis, FIGURE_JOINT_TYPES, checkFigureJoints } from './authoring-actions.ts';
 export type * from './asset-types.ts';
@@ -39,9 +39,10 @@ export { assertFigureJson, parseFigureJson, figureUtf8ByteLength, FIGURE_JSON_MA
 export { FIGURE_INSTANCE_SIZE_DEFAULT, FIGURE_INSTANCE_SIZE_INPUTS, FIGURE_SIZE_POSITIVE_STEP, defaultInstanceSizeRange, foldInstanceSizeRange, figureInstanceSizeLimitsOf, type FigureSizeLimit, type FigureSizeRange, type FigureSizeRangeMove } from './instance-size.ts';
 export { figureContractChanges, type FigureContractChange, type FigureContractChangeCode } from './release-contract.ts';
 export { figureReleaseMetricsOf, figureOriginCentredOf, FIGURE_LINEAR_PROBE, type FigureReleaseMetrics } from './release-metrics.ts';
+export { figureJointsOf, figureJointMotionOf, figureMimicTermsOf, FIGURE_JOINT_LIST_SCHEMA, FIGURE_JOINT_LIST_DERIVATION, type FigureJointList, type FigureListedJoint, type FigureJointInputUnit, type FigureJointMotionUnit, type FigureUnlistedInput } from './joint-list.ts';
 export { figureTopViewOf, figureTopShapesOf, figureSectionOutline, figureConvexHull, figureClampedSizeOf, type FigureTopView, type FigureTopShape } from './top-view.ts';
 export { robotArmFigure, ROBOT_ARM_CHAIN } from './examples.ts';
-export { quadrupedRobotFigure, mobileManipulatorFigure, scaraRobotFigure, humanoidRobotFigure, QUADRUPED_LEGS, COBOT_CHAIN, type RobotJoint } from './robots.ts';
+export { quadrupedRobotFigure, mobileManipulatorFigure, scaraRobotFigure, humanoidRobotFigure, palletizerRobotFigure, QUADRUPED_LEGS, COBOT_CHAIN, type RobotFigure } from './robots.ts';
 export { settleFigureClips, FigureClipsDroppedError, type FigureClipConsent, type FigureClipLoss, type FigurePartRenamed } from './clip-keeping.ts';
 export { previewFigureCommand, figurePartFaceOf, figureBodyOwnerOf, figureRowOf, figureFaceOverhangOf, type FigureFaceOverhang, type FigureCommandPreview, type FigureBodyMove, type FigureFaceArea, type FigureRowReading } from './command-preview.ts';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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

@@ -24,7 +24,7 @@ export { FIGURE_OPERATORS, FIGURE_NON_AFFINE_OPERATORS, FIGURE_STATE_NON_AFFINE_
 export { FIGURE_KERNEL_VERSION } from "./kernel-version.js";
 export { FIGURE_FACE_NORMALS } from "./surface.js";
 export { figureCostOf, figureTrianglesOf } from "./cost.js";
-export { figureRenderBatchesOf } from "./render-batches.js";
+export { figureRenderBatchesOf, figureStillBodiesOf, figureStillJudgeOf, figureCarrierJudgeOf, figureBodyMovesOf, figureDrawPlanOf, figureDrawsOf } from "./render-batches.js";
 export { figureScoreOf, figurePartCountOf, figurePartBudgetOf, figureGradeOf, figureMaterialKeyOf, figureIndependentBodiesOf, FIGURE_GRADE_SCALE, FIGURE_BUDGET_KEYS, FIGURE_PER_INSTANCE } from "./score.js";
 export { applyFigureAuthoring, proposeFigureOccupancy, proposeFigureProportion, figureAttachmentsOf, figureBindingsOf, FIGURE_FACES, FIGURE_JOINT_TYPES, checkFigureJoints } from "./authoring-actions.js";
 export { FIGURE_PLACEMENTS } from "./asset-types.js";
@@ -46,9 +46,10 @@ export { assertFigureJson, parseFigureJson, figureUtf8ByteLength, FIGURE_JSON_MA
 export { FIGURE_INSTANCE_SIZE_DEFAULT, FIGURE_INSTANCE_SIZE_INPUTS, FIGURE_SIZE_POSITIVE_STEP, defaultInstanceSizeRange, foldInstanceSizeRange, figureInstanceSizeLimitsOf } from "./instance-size.js";
 export { figureContractChanges } from "./release-contract.js";
 export { figureReleaseMetricsOf, figureOriginCentredOf, FIGURE_LINEAR_PROBE } from "./release-metrics.js";
+export { figureJointsOf, figureJointMotionOf, figureMimicTermsOf, FIGURE_JOINT_LIST_SCHEMA, FIGURE_JOINT_LIST_DERIVATION } from "./joint-list.js";
 export { figureTopViewOf, figureTopShapesOf, figureSectionOutline, figureConvexHull, figureClampedSizeOf } from "./top-view.js";
 export { robotArmFigure, ROBOT_ARM_CHAIN } from "./examples.js";
-export { quadrupedRobotFigure, mobileManipulatorFigure, scaraRobotFigure, humanoidRobotFigure, QUADRUPED_LEGS, COBOT_CHAIN } from "./robots.js";
+export { quadrupedRobotFigure, mobileManipulatorFigure, scaraRobotFigure, humanoidRobotFigure, palletizerRobotFigure, QUADRUPED_LEGS, COBOT_CHAIN } from "./robots.js";
 export { settleFigureClips, FigureClipsDroppedError } from "./clip-keeping.js";
 export { previewFigureCommand, figurePartFaceOf, figureBodyOwnerOf, figureRowOf, figureFaceOverhangOf } from "./command-preview.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

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

@@ -0,0 +1,76 @@
+import type { FigureAsset } from './asset-types.ts';
+import type { FigureUnit } from './graph-types.ts';
+/** The record's shape: 2, the control's two units and `unlisted`. */
+export declare 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 declare const FIGURE_JOINT_LIST_DERIVATION = 1;
+/** The unit a control's state input is written in. */
+export type FigureJointInputUnit = 'deg' | 'mm' | 'ratio';
+/** The unit a joint moves in: degrees for a turn, millimetres for a slide. */
+export type FigureJointMotionUnit = 'deg' | 'mm';
+export interface FigureListedJoint {
+    id: string;
+    type: 'fixed' | 'revolute' | 'prismatic';
+    parent: string | null;
+    parentPart: string | null;
+    child: string;
+    /** Unit vector, rest pose, the figure's own frame, right-hand rule. Moving joints only. */
+    axis?: [number, number, number];
+    /** Independent moving joints only. */
+    control?: {
+        input: string;
+        inputUnit: FigureJointInputUnit;
+        motionUnit: FigureJointMotionUnit;
+        min?: number;
+        max?: number;
+    };
+    /** Followers only. */
+    follows?: {
+        sum: Array<{
+            joint: string;
+            multiplier: number;
+        }>;
+        offset: number;
+    };
+}
+/** A state input that moves a part and is no listed joint's: a diagnostic, not a joint (no axis, child or parent). */
+export interface FigureUnlistedInput {
+    input: string;
+    unit: FigureUnit;
+}
+export interface FigureJointList {
+    schema: typeof FIGURE_JOINT_LIST_SCHEMA;
+    derivation: number;
+    joints: FigureListedJoint[];
+    /** State inputs that move parts outside every listed joint; empty when the joints cover every motion. */
+    unlisted: FigureUnlistedInput[];
+}
+/**
+ * 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.
+ */
+export declare function figureMimicTermsOf(mimic: unknown): {
+    sum: Array<{
+        joint: string;
+        multiplier: number;
+    }>;
+    offset: number;
+} | undefined;
+/**
+ * The joint list of a figure, from its validated joint records. Refuses (`JOINT_DRIFT`, or `JOINT_AXIS_UNREAD`
+ * naming the joint) rather than say an axis it could not read.
+ */
+export declare function figureJointsOf(asset: FigureAsset): FigureJointList;
+/**
+ * The list, read by one instance evaluator stepping from the rest pose (`incremental`, what `figureJointsOf` does) or by
+ * a whole evaluation for every reading (`fresh`). Not exported from the package: the two are compared by a test, so a
+ * reused result cannot go stale unseen.
+ */
+export declare function jointListOf(asset: FigureAsset, evaluation: 'incremental' | 'fresh'): FigureJointList;
+/**
+ * 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.
+ */
+export declare function figureJointMotionOf(asset: FigureAsset, jointId: string, inputs?: Record<string, number>): number;
+//# sourceMappingURL=joint-list.d.ts.map

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

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

@@ -0,0 +1,259 @@
+import { compileFigureAsset } from "./asset.js";
+import { checkFigureJoints, figureMimicLeadersOf } from "./authoring-actions.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;
+/**
+ * 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.
+ */
+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 };
+}
+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]));
+    const depth = (j) => {
+        let n = 0;
+        const above = (o) => ('part' in o.body0 ? byChild.get(o.body0.part) : undefined);
+        for (let up = above(j); up; up = above(up))
+            n++;
+        return n;
+    };
+    return joints.map((j, i) => ({ j, i, d: depth(j) })).sort((a, b) => a.d - b.d || a.i - b.i).map(o => o.j);
+}
+/* ---- reading two evaluations ---- */
+/** A drawn body's part and which copy it is: `part`, or `[row, index, ..., "part.placed"]` for a copy in a row. */
+function bodyName(id) {
+    if (!id.startsWith('['))
+        return { part: id, copy: [] };
+    const path = JSON.parse(id);
+    const last = path.at(-1);
+    if (typeof last !== 'string' || !last.endsWith('.placed'))
+        return undefined;
+    return { part: last.slice(0, -'.placed'.length), copy: path.slice(0, -1) };
+}
+const isPrefix = (a, b) => a.length <= b.length && a.every((x, i) => x === b[i]);
+/** The drawn bodies of one evaluation, named once: the rest pose's are read for every joint. */
+const named = new WeakMap();
+function bodiesOf(geometry) {
+    let bodies = named.get(geometry);
+    if (!bodies) {
+        bodies = geometry.flatMap(g => {
+            const name = typeof g.id === 'string' && g.pose ? bodyName(g.id) : undefined;
+            return name ? [{ ...name, pose: g.pose }] : [];
+        });
+        named.set(geometry, bodies);
+    }
+    return bodies;
+}
+/**
+ * The child's pose relative to its parent part, from one evaluation: the first copy of the child, and the parent's
+ * copy it hangs in (the one whose row path is the longest prefix of the child's). The mounting plane is the figure's
+ * own frame.
+ */
+function relativeOf(geometry, parent, child, joint) {
+    const bodies = bodiesOf(geometry);
+    const kid = bodies.find(b => b.part === child);
+    if (!kid)
+        return refuse(joint, `${child} is not drawn at the rest pose (a row with no copies?); its axis cannot be read`);
+    let above = { r: IDENTITY, t: [0, 0, 0] };
+    if (parent) {
+        const holders = bodies.filter(b => b.part === parent && isPrefix(b.copy, kid.copy)).sort((a, b) => b.copy.length - a.copy.length);
+        if (!holders.length)
+            return refuse(joint, `${parent} is not drawn where ${child} hangs; its axis cannot be read`);
+        above = holders[0].pose;
+    }
+    return { rel: compose(inverse(above), kid.pose), parentR: above.r };
+}
+const IDENTITY = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1]
+];
+const mv = (r, v) => [0, 1, 2].map(i => r[i][0] * v[0] + r[i][1] * v[1] + r[i][2] * v[2]);
+const mm = (a, b) => a.map(row => [0, 1, 2].map(k => row[0] * b[0][k] + row[1] * b[1][k] + row[2] * b[2][k]));
+const transpose = (r) => [0, 1, 2].map(i => [r[0][i], r[1][i], r[2][i]]);
+const compose = (a, b) => ({ r: mm(a.r, b.r), t: mv(a.r, b.t).map((v, i) => v + a.t[i]) });
+const inverse = (p) => {
+    const rt = transpose(p.r);
+    return { r: rt, t: mv(rt, p.t).map(v => -v) };
+};
+const round = (v) => {
+    const r = Math.round(v * 1e9) / 1e9;
+    return r === 0 ? 0 : r;
+};
+/** The ref a joint's motion moves by: its control, or the node that makes its distance or angle. */
+const quantityRefOf = (asset, child) => asset.document.model.nodes.find(n => n.id === `${child}.motion`)?.args[3];
+/** 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.
+ */
+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)
+        return refuse(j.id, `${child} has no motion in the graph for ${j.type} joint ${j.id}`);
+    const at0 = relativeOf(reader.atRest.geometry, parent, child, j.id);
+    for (const input of drivers) {
+        const room = input.max > 0 ? input.max : input.min;
+        for (let step = Math.sign(room) * Math.min(Math.abs(room), input.unit === 'ratio' ? 0.5 : 45), n = 0; step !== 0 && n < 12; step /= 2, n++) {
+            const after = reader.evaluate({ ...reader.rest, [input.id]: step });
+            const dq = quantityOf(ref, after.values) - q0;
+            if (!(Math.abs(dq) > 1e-9))
+                break;
+            const at1 = relativeOf(after.geometry, parent, child, j.id);
+            /* The child's motion in its parent's frame: at1 = D · at0, D a turn about the joint's axis or a slide along it. */
+            const d = compose(at1.rel, inverse(at0.rel));
+            let local;
+            if (j.type === 'revolute') {
+                const r = d.r;
+                const v = [(r[2][1] - r[1][2]) / 2, (r[0][2] - r[2][0]) / 2, (r[1][0] - r[0][1]) / 2];
+                const sin = Math.hypot(...v);
+                const cos = (r[0][0] + r[1][1] + r[2][2] - 1) / 2;
+                /* Past a quarter turn, or nearly none: try a smaller step. */
+                if (cos < 1e-6 || sin < 1e-6)
+                    continue;
+                local = v.map(x => (x / sin) * Math.sign(dq));
+            }
+            else {
+                /* A slide turns nothing; what it moves is its distance along the axis, the same length the value went. */
+                const turned = d.r.some((row, i) => row.some((x, k) => Math.abs(x - (i === k ? 1 : 0)) > 1e-9));
+                if (turned)
+                    return refuse(j.id, `${child} turns as ${j.id} slides; a slide's axis cannot be read from a turn`);
+                local = d.t.map(x => x / dq);
+                if (Math.abs(Math.hypot(...local) - 1) > 1e-6)
+                    return refuse(j.id, `${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 n2 = Math.hypot(...axis);
+            return axis.map(x => round(x / n2));
+        }
+    }
+    return refuse(j.id, `moving ${drivers.map(i => i.id).join(', ') || 'nothing'} does not move ${child}; ${j.id}'s axis cannot be seen`);
+}
+const MOTION_OPS = new Set(['axis-slide@1', 'axis-turn@1']);
+/** The state inputs a motion reads, in the model's order: what moves a part, by a joint record or by none. */
+function movingInputsOf(asset, dependence) {
+    const moving = new Set(asset.document.model.nodes.filter(n => MOTION_OPS.has(n.op)).flatMap(n => Object.values(n.outputs).flatMap(ref => dependence[ref] ?? [])));
+    return asset.document.model.inputs.filter(i => i.role === 'state' && moving.has(i.id));
+}
+/**
+ * The joint list of a figure, from its validated joint records. Refuses (`JOINT_DRIFT`, or `JOINT_AXIS_UNREAD`
+ * naming the joint) rather than say an axis it could not read.
+ */
+export function figureJointsOf(asset) {
+    return jointListOf(asset, 'incremental');
+}
+/**
+ * The list, read by one instance evaluator stepping from the rest pose (`incremental`, what `figureJointsOf` does) or by
+ * a whole evaluation for every reading (`fresh`). Not exported from the package: the two are compared by a test, so a
+ * reused result cannot go stale unseen.
+ */
+export function jointListOf(asset, evaluation) {
+    const records = (asset.joints ?? []);
+    checkFigureJoints(asset);
+    /* The asset is compiled once to be sure it stands; the graph under it is what is evaluated, values and all. */
+    compileFigureAsset(asset);
+    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;
+    /*
+      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
+      still hold a control to its limits.
+    */
+    const outside = asset.document.model.inputs.some(i => Object.hasOwn(rest, i.id) && !(i.min <= 0 && 0 <= i.max));
+    const model = outside ? structuredClone(asset.document.model) : asset.document.model;
+    if (outside)
+        for (const i of model.inputs)
+            if (Object.hasOwn(rest, i.id))
+                Object.assign(i, { min: Math.min(i.min, 0), max: Math.max(i.max, 0) });
+    const plan = compileFigureGraph(model);
+    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]));
+        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);
+                if (follows) {
+                    const drivers = follows.sum.flatMap(t => {
+                        const leader = byId.get(t.joint);
+                        const input = leader && inputs.get(stateIdOf(leader));
+                        return input ? [input] : [];
+                    });
+                    entry.axis = axisOf(reader, asset, j, drivers);
+                    entry.follows = follows;
+                }
+                else {
+                    const input = inputs.get(stateIdOf(j));
+                    if (!input)
+                        return refuse(j.id, `${stateIdOf(j)}, the state input of ${j.id}, is not in the model`);
+                    /* A revolute joint without limits turns without end: its input's -180..180 is a phase, not a limit. */
+                    const limited = j.lowerLimit !== undefined || j.upperLimit !== undefined || j.type === 'prismatic';
+                    entry.axis = axisOf(reader, asset, j, [input]);
+                    entry.control = {
+                        input: input.id,
+                        inputUnit: input.unit,
+                        motionUnit: j.type === 'revolute' ? 'deg' : 'mm',
+                        ...(limited ? { min: input.min, max: input.max } : {})
+                    };
+                    covered.add(input.id);
+                }
+            }
+            list.joints.push(entry);
+        }
+    }
+    list.unlisted = movingInputsOf(asset, plan.dependence).filter(i => !covered.has(i.id)).map(i => ({ input: i.id, unit: i.unit }));
+    return list;
+}
+/**
+ * How far a moving joint has gone -- degrees for a turn, millimetres for a slide -- as the kernel evaluates the figure
+ * at `inputs` (design inputs, instance size and state; the stored values for the rest). A slide whose control is a
+ * share reads its distance here: a consumer never works it out from the length its stroke follows.
+ */
+export function figureJointMotionOf(asset, jointId, inputs = {}) {
+    const j = (asset.joints ?? []).find(o => o.id === jointId);
+    if (!j)
+        throw new FigureContractError('TARGET_ABSENT', `joints.${jointId}`, `${jointId} is not a joint of this figure`);
+    const ref = j.type === 'fixed' ? undefined : quantityRefOf(asset, j.body1.part);
+    if (ref === undefined)
+        throw new FigureContractError('JOINT_SCHEMA', `joints.${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;
+}
+//# sourceMappingURL=joint-list.js.map

package/dist/joint-list.js.map

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package/dist/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 `kernel-version.test.ts`.
  */
-export declare const FIGURE_KERNEL_VERSION = "0.2.14";
+export declare const FIGURE_KERNEL_VERSION = "0.3.0";
 //# sourceMappingURL=kernel-version.d.ts.map

package/dist/kernel-version.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"kernel-version.d.ts","sourceRoot":"","sources":["../src/kernel-version.ts"],"names":[],"mappings":"AAIA;;;;;GAKG;AACH,eAAO,MAAM,qBAAqB,WAAW,CAAA"}
+{"version":3,"file":"kernel-version.d.ts","sourceRoot":"","sources":["../src/kernel-version.ts"],"names":[],"mappings":"AAIA;;;;;GAKG;AACH,eAAO,MAAM,qBAAqB,UAAU,CAAA"}

package/dist/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 `kernel-version.test.ts`.
  */
-export const FIGURE_KERNEL_VERSION = '0.2.14';
+export const FIGURE_KERNEL_VERSION = '0.3.0';
 //# sourceMappingURL=kernel-version.js.map

package/dist/kernel-version.js.map

@@ -1 +1 @@
-{"version":3,"file":"kernel-version.js","sourceRoot":"","sources":["../src/kernel-version.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH;;;;;GAKG;AACH,MAAM,CAAC,MAAM,qBAAqB,GAAG,QAAQ,CAAA"}
+{"version":3,"file":"kernel-version.js","sourceRoot":"","sources":["../src/kernel-version.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH;;;;;GAKG;AACH,MAAM,CAAC,MAAM,qBAAqB,GAAG,OAAO,CAAA"}

package/dist/proposal.d.ts.map

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package/dist/proposal.js

@@ -75,7 +75,8 @@ export function applyFigureProposal(source, steps, consent) {
 const faces = Object.keys(FIGURE_FACES).join(' | ');
 const axes = AXES.join(' | ');
 const upper = AXES.map(a => a.toUpperCase()).join(' | ');
-const measure = `number (mm) | { from: { of: 'instance', axis: ${axes} } | { of: 'part', part, axis }, times?, plus? }`;
+const source = `{ of: 'instance', axis: ${axes} } | { of: 'part', part, axis }`;
+const measure = `number (mm) | { from: ${source}, times?, plus? } | { sum: [{ from: ${source}, times? }, ...], plus? }`;
 const alignment = `'centre' | 'min' | 'max' | { mm: ${measure} }`;
 /**
  * The words, in the order a figure is usually made. Each shape is the command's own, written short; the means say
@@ -109,8 +110,8 @@ export const FIGURE_PROPOSAL_GRAMMAR = [
     },
     {
         kind: 'set-joint',
-        shape: `{ kind: 'set-joint', joint: { id, type: ${FIGURE_JOINT_TYPES.map(t => `'${t}'`).join(' | ')}, body0, body1, origin, axis?: ${upper}, lowerLimit?, upperLimit?, state?: { id, label? }, mimic?: { joint, multiplier, offset? }, travel?: { source: { of: 'instance', axis } | { of: 'part', part, axis }, times?, plus? } }, narrowRange?: true }`,
-        means: 'The fastening record, made to move: a revolute turns about axis (limits in degrees, none = turns without end), a prismatic slides along it (limits in mm, or a travel that is a share of a length with a ratio control 0..1). mimic follows another joint. Take body0, body1 and origin from the fastening as it is.'
+        shape: `{ kind: 'set-joint', joint: { id, type: ${FIGURE_JOINT_TYPES.map(t => `'${t}'`).join(' | ')}, body0, body1, origin, axis?: ${upper}, lowerLimit?, upperLimit?, state?: { id, label? }, mimic?: { joint, multiplier, offset? } | { sum: [{ joint, multiplier }, ...], offset? }, travel?: { source: { of: 'instance', axis } | { of: 'part', part, axis }, times?, plus? } | { sum: [{ from, times? }, ...], plus? } }, narrowRange?: true }`,
+        means: 'The fastening record, made to move: a revolute turns about axis (limits in degrees, none = turns without end), a prismatic slides along it (limits in mm, or a travel that is a share of a length with a ratio control 0..1). mimic follows another joint, or the sum of several (a palletizer wrist is -(J2 + J3)). Take body0, body1 and origin from the fastening as it is.'
     },
     {
         kind: 'declare-instance-size',
@@ -119,7 +120,7 @@ export const FIGURE_PROPOSAL_GRAMMAR = [
     },
     {
         kind: 'link-dimension',
-        shape: `{ kind: 'link-dimension', part, axis: ${axes}, source: { of: 'instance', axis } | { of: 'part', part, axis }, times?, plus?, replace?: true, narrowRange?: true }`,
+        shape: `{ kind: 'link-dimension', part, axis: ${axes}, source: { of: 'instance', axis } | { of: 'part', part, axis }, times?, plus?, replace?: true, narrowRange?: true } | { ..., sum: [{ from, times? }, ...], plus? }`,
         means: "This measure of the part follows the figure's size, or another part's measure, times a share plus a difference. A cylinder's X is its radius (read as the diameter), its Y its length."
     },
     {