@hatiolab/figure-model 0.2.14 → 0.3.0

package/dist/render-batches.js

@@ -2,6 +2,8 @@
  * Copyright © HatioLab Inc. All rights reserved.
  */
 import { figureMaterialKeyOf } from "./score.js";
+import { compileFigureDocument } from "./document.js";
+import { figureWritersOf } from "./gate.js";
 const signatureOf = (body) => JSON.stringify([body.shape.provider, body.shape.dimensions,
     /* A shape operation's axis, kind and open ends are not in its numbers: two pushes of the same numbers along X and Y differ. */
     body.shape.extrusion
@@ -15,7 +17,110 @@ const signatureOf = (body) => JSON.stringify([body.shape.provider, body.shape.di
             : body.shape.loft
                 ? [body.shape.loft.axis, 'loft']
                 : null, body.segments ?? null, figureMaterialKeyOf(body), body.visible !== false]);
-export function figureRenderBatchesOf(geometry) {
+/*
+  The bodies that stand still: the node that draws a body -- its place, or the row whose copy it is -- puts out nothing
+  that depends on a state input (\`dependence\`), and no visibility flag shows or hides it. Decided by the kernel's
+  dependence, never by a part's name or a joint record (merging still parts, design 2026-10-03, principle 2).
+*/
+export function figureStillBodiesOf(asset, geometry, dependence) {
+    return figureStillJudgeOf(asset, dependence)(geometry);
+}
+/**
+ * The same judgement made once for an asset and asked of many evaluations: what reads the asset (its nodes, writers and
+ * flags) is read here, once, so a renderer that asks again whenever its bodies change pays only for the bodies.
+ */
+export function figureStillJudgeOf(asset, dependence) {
+    const moves = figureBodyMovesOf(asset, dependence);
+    const writers = figureWritersOf(asset);
+    const flagged = new Set(asset.appearance.filter(look => look.visibility !== undefined).map(look => look.target));
+    return geometry => {
+        const still = new Set();
+        for (const body of geometry) {
+            if (!('pose' in body) || moves(body))
+                continue;
+            const target = body.key ? writers.get(body.key) : body.id;
+            if (target !== undefined && flagged.has(target))
+                continue;
+            still.add(body.id);
+        }
+        return still;
+    };
+}
+/*
+  Whether a drawn body moves with a state input -- the one judgement the still parts and the grade's moving parts are
+  both made by (ADR-0109). Every node that places the body is asked: the node that draws it (its place, or the row whose
+  copy it is) and, for a copy, the member it copies. A copy moves when its row is carried by a joint, and also when the
+  member moves inside a row that stands. A body whose node is not found is said to move: an unknown is never merged.
+*/
+export function figureBodyMovesOf(asset, dependence) {
+    const depends = dependence ?? compileFigureDocument(asset.document).dependence;
+    const nodes = new Map(asset.document.model.nodes.map(node => [node.id, node]));
+    const writers = figureWritersOf(asset);
+    const nodeMoves = (id) => {
+        const node = id === undefined ? undefined : nodes.get(id);
+        return !node || Object.values(node.outputs).some(ref => (depends[ref]?.length ?? 0) > 0);
+    };
+    return body => {
+        const { key, path } = body;
+        if (nodeMoves(typeof path?.[0] === 'string' ? path[0] : body.id))
+            return true;
+        return key ? nodeMoves(writers.get(key)) : false;
+    };
+}
+/*
+  What carries a moving body (ADR-0111). A body drawn alone is placed by \`place@1(shape, pose)\`; its pose is a chain of
+  \`compose@1(a, b)\`. While \`b\` depends on no state input -- transitively, by the compiled \`dependence\`, so a joint that
+  follows another by mimic stops the walk -- the body keeps its pose relative to \`a\`, and the walk goes up to \`a\`. Where
+  it stops is the carrier: bodies with one carrier move as one. Proven from the graph, never sampled.
+*/
+export function figureCarrierJudgeOf(asset, dependence) {
+    const depends = dependence ?? compileFigureDocument(asset.document).dependence;
+    const nodes = new Map(asset.document.model.nodes.map(node => [node.id, node]));
+    const writers = new Map();
+    for (const node of asset.document.model.nodes)
+        for (const ref of Object.values(node.outputs))
+            writers.set(ref, node);
+    const flagged = new Set(asset.appearance.filter(look => look.visibility !== undefined).map(look => look.target));
+    const moving = (ref) => typeof ref === 'string' && (depends[ref]?.length ?? 0) > 0;
+    const carriers = new Map();
+    const carrierOf = (ref) => {
+        const known = carriers.get(ref);
+        if (known !== undefined)
+            return known;
+        const node = writers.get(ref);
+        const found = node?.op === 'compose@1' && typeof node.args[0] === 'string' && !moving(node.args[1]) ? carrierOf(node.args[0]) : ref;
+        carriers.set(ref, found);
+        return found;
+    };
+    return geometry => {
+        const carried = new Map();
+        for (const body of geometry) {
+            if (!('pose' in body) || body.key || flagged.has(body.id))
+                continue;
+            const place = nodes.get(body.id);
+            const pose = place?.op === 'place@1' ? place.args[1] : undefined;
+            /* A shape a state input reaches is not baked: it would be drawn as it was when the mesh was made. */
+            if (typeof pose !== 'string' || !moving(pose) || moving(place.args[0]))
+                continue;
+            carried.set(body.id, carrierOf(pose));
+        }
+        return carried;
+    };
+}
+/**
+ * How the renderer draws these bodies of this asset: row copies batched, still parts merged by look (ADR-0109), moving
+ * parts carried by one pose merged by look (ADR-0111). The one plan the grade, the cost and the release metrics count
+ * draws by.
+ */
+export function figureDrawPlanOf(asset, drawn) {
+    const dependence = compileFigureDocument(asset.document).dependence;
+    return figureRenderBatchesOf(drawn, { still: figureStillBodiesOf(asset, drawn, dependence), carried: figureCarrierJudgeOf(asset, dependence)(drawn) });
+}
+/** The draws a plan makes: a batch, a merged group, a carried group and a body drawn alone are one each. */
+export const figureDrawsOf = (plan) => plan.batches.length + plan.merged.length + plan.carried.length + plan.alone.length;
+/** What must be equal for still bodies to be one mesh: the look as drawn, and whether it is shown. */
+const mergeKeyOf = (body) => `${figureMaterialKeyOf(body)}|${body.visible !== false ? 'shown' : 'hidden'}`;
+export function figureRenderBatchesOf(geometry, options = {}) {
     const alone = [];
     const members = new Map();
     for (const body of geometry) {
@@ -36,7 +141,11 @@ export function figureRenderBatchesOf(geometry) {
         const bySignature = new Map();
         for (const body of bodies) {
             const signature = signatureOf(body);
-            bySignature.set(signature, [...(bySignature.get(signature) ?? []), body.id]);
+            const same = bySignature.get(signature);
+            if (same)
+                same.push(body.id);
+            else
+                bySignature.set(signature, [body.id]);
         }
         for (const [signature, ids] of bySignature) {
             if (ids.length > 1) {
@@ -47,6 +156,62 @@ export function figureRenderBatchesOf(geometry) {
             unbatched.push({ member, ids, reason: bodies.length === 1 ? 'one-copy' : 'copies-differ' });
         }
     }
-    return { batches, alone, unbatched };
+    /*
+      Still bodies drawn alone, of one render state, merge -- two or more; a lone one stays alone. A transparent body never
+      merges: its sorting is per part, and a merged lump would sort as one.
+    */
+    const merged = [];
+    if (options.still?.size) {
+        const byId = new Map(geometry.map(body => [body.id, body]));
+        const groups = new Map();
+        for (const id of alone) {
+            const body = byId.get(id);
+            if (!body || !options.still.has(id) || body.material.transparent)
+                continue;
+            const key = mergeKeyOf(body);
+            const same = groups.get(key);
+            if (same)
+                same.push(id);
+            else
+                groups.set(key, [id]);
+        }
+        const taken = new Set();
+        for (const [key, ids] of groups) {
+            if (ids.length < 2)
+                continue;
+            merged.push({ key, ids });
+            ids.forEach(id => taken.add(id));
+        }
+        if (taken.size)
+            alone.splice(0, alone.length, ...alone.filter(id => !taken.has(id)));
+    }
+    /* Moving bodies drawn alone, of one carrier and one render state, merge the same way: two or more, never transparent. */
+    const carried = [];
+    if (options.carried?.size) {
+        const byId = new Map(geometry.map(body => [body.id, body]));
+        const groups = new Map();
+        for (const id of alone) {
+            const body = byId.get(id);
+            const carrier = options.carried.get(id);
+            if (!body || carrier === undefined || options.still?.has(id) || body.material.transparent)
+                continue;
+            const key = `${carrier}|${mergeKeyOf(body)}`;
+            const same = groups.get(key);
+            if (same)
+                same.ids.push(id);
+            else
+                groups.set(key, { carrier, ids: [id] });
+        }
+        const taken = new Set();
+        for (const [key, { carrier, ids }] of groups) {
+            if (ids.length < 2)
+                continue;
+            carried.push({ key, carrier, ids });
+            ids.forEach(id => taken.add(id));
+        }
+        if (taken.size)
+            alone.splice(0, alone.length, ...alone.filter(id => !taken.has(id)));
+    }
+    return { batches, merged, carried, alone, unbatched };
 }
 //# sourceMappingURL=render-batches.js.map

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package/dist/robots.d.ts

@@ -1,14 +1,11 @@
 import { type FigurePrimitiveCreation } from './create.ts';
 import type { FigureAsset } from './asset-types.ts';
+import { type FigureListedJoint } from './joint-list.ts';
 type Part = FigurePrimitiveCreation;
-/** A moving joint as a robot controller sees it: the joint's id, its axis and its range. */
-export interface RobotJoint {
-    id: string;
-    type: 'revolute' | 'prismatic';
-    axis: 'X' | 'Y' | 'Z';
-    /** Degrees or millimetres; absent on a revolute joint that turns without end (a wheel). */
-    min?: number;
-    max?: number;
+/** A built robot and its joint list, as a controller reads it from a release. */
+export interface RobotFigure {
+    asset: FigureAsset;
+    joints: FigureListedJoint[];
 }
 /** Front left, front right, hind left, hind right: which end of the body (X) and which side (Z) each leg hangs at. */
 export declare const QUADRUPED_LEGS: readonly [{
@@ -31,17 +28,19 @@ export declare const QUADRUPED_LEGS: readonly [{
 /**
  * A four-legged walking robot: a body standing on four legs, each leg three joints -- the hip swinging the leg out
  * (about the body's length), the thigh swinging it fore and aft, the knee bending the shin. A sensor head on the front.
- * The body stands as high as a straight leg is long; the legs hang straight at rest. Every knee bends the same way.
+ * The body stands as high as a straight leg is long -- the sum of the front left leg's hip, thigh, shin and foot, so it
+ * keeps standing on the floor when a leg's parts are made longer (ADR-0107 decision 2); the legs hang straight at rest.
+ * Every knee bends the same way.
  */
-export declare function quadrupedRobotFigure(): {
-    asset: FigureAsset;
-    joints: RobotJoint[];
-};
+export declare function quadrupedRobotFigure(): RobotFigure;
 /** A collaborative arm's links from its base up; a joint joins each moving link to the one below. */
 export declare const COBOT_CHAIN: {
     part: Part;
-    joint?: Omit<RobotJoint, 'type' | 'id'> & {
+    joint?: {
         id: string;
+        axis: 'X' | 'Y' | 'Z';
+        min: number;
+        max: number;
     };
 }[];
 /**
@@ -49,27 +48,25 @@ export declare const COBOT_CHAIN: {
  * its front, the arm's base on its top at the rear. Each drive wheel turns without end on its own value; the arm is
  * the collaborative arm chain with a two-finger gripper.
  */
-export declare function mobileManipulatorFigure(): {
-    asset: FigureAsset;
-    joints: RobotJoint[];
-};
+export declare function mobileManipulatorFigure(): RobotFigure;
 /**
  * A SCARA: a column on the floor; the first arm turning about the column (J1), the second turning at the first arm's
  * end (J2), both in the horizontal plane; at the second arm's end a quill sliding down (J3) and its tool turning (J4).
  * Each arm turns on a hub at its pivot, so the arm reaches out from the axis it turns about.
  */
-export declare function scaraRobotFigure(): {
-    asset: FigureAsset;
-    joints: RobotJoint[];
-};
+export declare function scaraRobotFigure(): RobotFigure;
 /**
  * A humanoid: a pelvis standing on two legs (hip roll, hip pitch, knee, ankle), a torso turning on it at the waist, a
  * head on a neck, and two arms (shoulder pitch at the torso's side, shoulder roll, elbow) with a hand each. It faces +X;
  * its left is -Z. The pelvis stands as high as a straight leg is long.
  */
-export declare function humanoidRobotFigure(): {
-    asset: FigureAsset;
-    joints: RobotJoint[];
-};
+export declare function humanoidRobotFigure(): RobotFigure;
+/**
+ * A palletizer: a base on the floor, a turret turning on it (J1), an upper arm swinging on the turret (J2), and at its
+ * top an elbow (J3) carrying the forearm out level. Under the forearm's far end the wrist turns by -(J2 + J3) -- a sum
+ * mimic, with no control of its own (ADR-0107 decision 2) -- so the tool flange under it stays level in every pose, as
+ * a palletizer's parallel link keeps it; the flange turns the tool about the vertical (J4).
+ */
+export declare function palletizerRobotFigure(): RobotFigure;
 export {};
 //# sourceMappingURL=robots.d.ts.map

package/dist/robots.d.ts.map

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

@@ -1,11 +1,13 @@
 /*
  * Industrial robots authored with the commands the modeller and the AI share: a four-legged walking robot, a mobile
- * manipulator (an autonomous mobile robot carrying a six-axis arm) and a SCARA. Each is its links joined at joints --
+ * manipulator (an autonomous mobile robot carrying a six-axis arm), a SCARA, a humanoid and a palletizer. Each is its links joined at joints --
  * the one relation a robot needs -- and every size is the part's own number. A joint's state input is what a robot
- * controller drives: one value per joint, in degrees or millimetres, named after the joint.
+ * controller drives: one value per joint, in degrees or millimetres, named after the joint. What a controller reads
+ * about the joints is the figure's joint list (`figureJointsOf`), measured from the built figure.
  */
 import { applyFigureAuthoring, proposeFigureOccupancy } from "./authoring-actions.js";
 import { addFigurePrimitive, createFigureAsset } from "./create.js";
+import { figureJointsOf } from "./joint-list.js";
 const at = { x: 0, y: 0, z: 0 };
 const metal = (token) => ({ token, preset: 'metal' });
 const box = (id, width, height, depth, token) => ({ id, kind: 'box', dimensions: { width, height, depth }, position: at, material: metal(token) });
@@ -14,7 +16,6 @@ const cylinder = (id, radius, length, token) => ({ id, kind: 'cylinder', dimensi
 /** A small builder over the shared commands: each call is one command, as a person's step would be. */
 class Robot {
     asset;
-    joints = [];
     constructor(name, palette) {
         this.asset = createFigureAsset(name);
         this.asset.palette = palette;
@@ -29,20 +30,12 @@ class Robot {
         return this;
     }
     joint(joint) {
-        this.do({ kind: 'set-joint', joint });
-        if (joint.type !== 'fixed' && !joint.mimic)
-            this.joints.push({
-                id: joint.id,
-                type: joint.type,
-                axis: joint.axis,
-                ...(joint.lowerLimit !== undefined ? { min: joint.lowerLimit, max: joint.upperLimit } : {})
-            });
-        return this;
+        return this.do({ kind: 'set-joint', joint });
     }
     finish(level) {
         this.do({ kind: 'set-detail-level', level });
         this.do({ kind: 'declare-occupancy', proposal: proposeFigureOccupancy(this.asset, { over: 'range' }), placement: 'floor' });
-        return this.asset;
+        return { asset: this.asset, joints: figureJointsOf(this.asset).joints };
     }
 }
 const hang = (parent, child, parentFace = 'top') => ({ body0: { part: parent, face: parentFace }, body1: { part: child, face: parentFace === 'top' ? 'bottom' : 'top' } });
@@ -60,7 +53,9 @@ const QUADRUPED_LEG = { hip: 80, hipRadius: 55, thigh: 340, shin: 340, foot: 40
 /**
  * A four-legged walking robot: a body standing on four legs, each leg three joints -- the hip swinging the leg out
  * (about the body's length), the thigh swinging it fore and aft, the knee bending the shin. A sensor head on the front.
- * The body stands as high as a straight leg is long; the legs hang straight at rest. Every knee bends the same way.
+ * The body stands as high as a straight leg is long -- the sum of the front left leg's hip, thigh, shin and foot, so it
+ * keeps standing on the floor when a leg's parts are made longer (ADR-0107 decision 2); the legs hang straight at rest.
+ * Every knee bends the same way.
  */
 export function quadrupedRobotFigure() {
     const r = new Robot('4족 보행 로봇', {
@@ -72,10 +67,12 @@ export function quadrupedRobotFigure() {
     const { hip, hipRadius, thigh, shin, foot } = QUADRUPED_LEG;
     const body = QUADRUPED_BODY;
     r.add(rounded('body', body.length, body.height, body.width, 40, 'palette.body'), box('head', 120, 140, 260, 'palette.sensor'));
-    r.joint({ id: 'body', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'body', face: 'bottom' }, origin: { gap: hip + thigh + shin + foot } });
+    for (const { leg } of QUADRUPED_LEGS)
+        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'));
+    const standing = ['hip', 'thigh', 'shin', 'foot'].map(p => ({ from: { of: 'part', part: `fl-${p}`, axis: 'y' } }));
+    r.joint({ id: 'body', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'body', face: 'bottom' }, origin: { gap: { sum: standing } } });
     r.joint({ id: 'head', type: 'fixed', body0: { part: 'body', face: 'right' }, body1: { part: 'head', face: 'left' } });
     for (const { leg, x, z } of QUADRUPED_LEGS) {
-        r.add(cylinder(`${leg}-hip`, hipRadius, hip, 'palette.joint'), box(`${leg}-thigh`, 80, thigh, 70, 'palette.dark'), box(`${leg}-shin`, 50, shin, 50, 'palette.dark'), cylinder(`${leg}-foot`, 38, foot, 'palette.sensor'));
         /* At the body's corner, measured from its middle: a joint placed by an edge would turn about that edge (a hinge). */
         const corner = { x: { mm: x * (body.length / 2 - hipRadius) }, z: { mm: z * (body.width / 2 - hipRadius) } };
         r.joint({ id: `${leg}-hip`, type: 'revolute', ...hang('body', `${leg}-hip`, 'bottom'), origin: { align: corner }, axis: 'X', lowerLimit: -30, upperLimit: 30 });
@@ -83,7 +80,7 @@ export function quadrupedRobotFigure() {
         r.joint({ id: `${leg}-knee`, type: 'revolute', ...hang(`${leg}-thigh`, `${leg}-shin`, 'bottom'), axis: 'Z', lowerLimit: 0, upperLimit: 150 });
         r.joint({ id: `${leg}-foot`, type: 'fixed', ...hang(`${leg}-shin`, `${leg}-foot`, 'bottom') });
     }
-    return { asset: r.finish('XL'), joints: r.joints };
+    return r.finish('XL');
 }
 /* ---------------------------------------------------------------- six-axis arm, as a chain on any face */
 /** A collaborative arm's links from its base up; a joint joins each moving link to the one below. */
@@ -152,7 +149,7 @@ export function mobileManipulatorFigure() {
     r.add(cylinder('scanner', 50, 70, 'palette.sensor'));
     r.joint({ id: 'scanner', type: 'fixed', ...hang('chassis', 'scanner'), origin: { align: { x: 'max' } } });
     addArm(r, { part: 'chassis', align: { x: { mm: -length / 4 } } });
-    return { asset: r.finish('XL'), joints: r.joints };
+    return r.finish('XL');
 }
 /* ---------------------------------------------------------------- SCARA */
 const SCARA = { column: 420, reach1: 400, reach2: 350, quill: 380, stroke: 200 };
@@ -180,7 +177,7 @@ export function scaraRobotFigure() {
     r.add(cylinder('quill', 25, quill, 'palette.dark'), cylinder('tool-flange', 45, 30, 'palette.joint'));
     r.joint({ id: 'j3', type: 'prismatic', ...hang('arm-2', 'quill', 'bottom'), origin: { align: { x: { mm: reach2 / 2 } }, gap: -quill / 2 }, axis: 'Y', lowerLimit: -stroke, upperLimit: 0 });
     r.joint({ id: 'j4', type: 'revolute', ...hang('quill', 'tool-flange', 'bottom'), axis: 'Y', lowerLimit: -360, upperLimit: 360 });
-    return { asset: r.finish('M'), joints: r.joints };
+    return r.finish('M');
 }
 /* ---------------------------------------------------------------- humanoid */
 const HUMANOID = { pelvis: 340, torso: 480, hip: 60, hipWidth: 110, thigh: 420, shin: 400, foot: 60, shoulder: 120 };
@@ -217,6 +214,41 @@ export function humanoidRobotFigure() {
         r.joint({ id: `${side}-elbow`, type: 'revolute', ...hang(`${side}-upper-arm`, `${side}-forearm`, 'bottom'), axis: 'Z', lowerLimit: 0, upperLimit: 140 });
         r.joint({ id: `${side}-hand`, type: 'fixed', ...hang(`${side}-forearm`, `${side}-hand`, 'bottom') });
     }
-    return { asset: r.finish('XL'), joints: r.joints };
+    return r.finish('XL');
+}
+/* ---------------------------------------------------------------- palletizer */
+const PALLETIZER = { base: 180, turret: 220, upper: 1000, elbow: 180, reach: 1100, wrist: 160, flange: 40 };
+/**
+ * A palletizer: a base on the floor, a turret turning on it (J1), an upper arm swinging on the turret (J2), and at its
+ * top an elbow (J3) carrying the forearm out level. Under the forearm's far end the wrist turns by -(J2 + J3) -- a sum
+ * mimic, with no control of its own (ADR-0107 decision 2) -- so the tool flange under it stays level in every pose, as
+ * a palletizer's parallel link keeps it; the flange turns the tool about the vertical (J4).
+ */
+export function palletizerRobotFigure() {
+    const r = new Robot('팔레타이징 로봇', {
+        'palette.body': '#e8b100',
+        'palette.joint': '#2b2f33',
+        'palette.tool': '#5b636b'
+    });
+    const { base, turret, upper, elbow, reach, wrist, flange } = PALLETIZER;
+    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'));
+    r.joint({ id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base', face: 'bottom' } });
+    r.joint({ id: 'j1', type: 'revolute', ...hang('base', 'turret'), axis: 'Y', lowerLimit: -180, upperLimit: 180 });
+    r.joint({ id: 'j2', type: 'revolute', ...hang('turret', 'upper-arm'), axis: 'Z', lowerLimit: -45, upperLimit: 60 });
+    r.joint({ id: 'j3', type: 'revolute', ...hang('upper-arm', 'elbow'), axis: 'Z', lowerLimit: -60, upperLimit: 30 });
+    /* The forearm reaches out level from the elbow's side. */
+    r.joint({ id: 'forearm', type: 'fixed', body0: { part: 'elbow', face: 'right' }, body1: { part: 'forearm', face: 'left' } });
+    r.add(box('wrist', wrist, wrist, wrist, 'palette.joint'), cylinder('flange', 80, flange, 'palette.joint'), box('tool', 600, 60, 400, 'palette.tool'));
+    r.joint({
+        id: 'wrist',
+        type: 'revolute',
+        ...hang('forearm', 'wrist', 'bottom'),
+        origin: { align: { x: { mm: reach / 2 - wrist / 2 } } },
+        axis: 'Z',
+        mimic: { sum: [{ joint: 'j2', multiplier: -1 }, { joint: 'j3', multiplier: -1 }] }
+    });
+    r.joint({ id: 'j4', type: 'revolute', ...hang('wrist', 'flange', 'bottom'), axis: 'Y', lowerLimit: -360, upperLimit: 360 });
+    r.joint({ id: 'tool', type: 'fixed', ...hang('flange', 'tool', 'bottom') });
+    return r.finish('M');
 }
 //# sourceMappingURL=robots.js.map

package/dist/robots.js.map

@@ -1 +1 @@
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package/dist/score.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"score.d.ts","sourceRoot":"","sources":["../src/score.ts"],"names":[],"mappings":"AAsBA,OAAO,KAAK,EAAE,WAAW,EAAE,WAAW,EAAE,MAAM,YAAY,CAAA;AAM1D,OAAO,KAAK,EAAE,WAAW,EAAE,mBAAmB,EAAE,MAAM,kBAAkB,CAAA;AAExE,MAAM,MAAM,eAAe,GAAG,QAAQ,GAAG,WAAW,GAAG,aAAa,GAAG,QAAQ,GAAG,aAAa,GAAG,OAAO,CAAA;AAEzG,sDAAsD;AACtD,eAAO,MAAM,kBAAkB,EAAE,SAAS,eAAe,EAA6E,CAAA;AAEtI;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,WAAW,GAAG,MAAM,CAE5D;AAED,oFAAoF;AACpF,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,WAAW,GAAG;IAAE,KAAK,EAAE,WAAW,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;CAAE,GAAG,SAAS,CAGtH;AAED,MAAM,WAAW,eAAe;IAC9B,GAAG,EAAE,eAAe,CAAA;IACpB,IAAI,EAAE,MAAM,CAAA;IACZ,mHAAmH;IACnH,KAAK,EAAE,MAAM,CAAA;IACb,gDAAgD;IAChD,KAAK,EAAE,MAAM,CAAA;CACd;AAED,MAAM,WAAW,WAAW;IAC1B,uDAAuD;IACvD,KAAK,EAAE,MAAM,CAAA;IACb,KAAK,EAAE,WAAW,CAAA;IAClB,sFAAsF;IACtF,QAAQ,EAAE,eAAe,CAAA;IACzB,OAAO,EAAE,eAAe,EAAE,CAAA;CAC3B;AAED,6FAA6F;AAC7F,eAAO,MAAM,kBAAkB,EAAE,SAAS,CAAC,SAAS,CAAC,WAAW,EAAE,MAAM,CAAC,CAAC,EAIzE,CAAA;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,WAAW,CAGxD;AAED,6FAA6F;AAC7F,eAAO,MAAM,mBAAmB;;;;CAItB,CAAA;AAEV,oFAAoF;AACpF,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,mBAAmB,GAAG,MAAM,CAIrE;AAED;;;;GAIG;AACH,wBAAgB,yBAAyB,CAAC,KAAK,EAAE,WAAW,EAAE,KAAK,EAAE,SAAS,mBAAmB,EAAE,GAAG,MAAM,CAG3G;AAaD;;;GAGG;AACH,wBAAgB,aAAa,CAAC,KAAK,EAAE,WAAW,GAAG,WAAW,GAAG,SAAS,CAqCzE"}
+{"version":3,"file":"score.d.ts","sourceRoot":"","sources":["../src/score.ts"],"names":[],"mappings":"AAsBA,OAAO,KAAK,EAAE,WAAW,EAAE,WAAW,EAAE,MAAM,YAAY,CAAA;AAI1D,OAAO,KAAK,EAAE,WAAW,EAAE,mBAAmB,EAAE,MAAM,kBAAkB,CAAA;AAExE,MAAM,MAAM,eAAe,GAAG,QAAQ,GAAG,WAAW,GAAG,aAAa,GAAG,QAAQ,GAAG,aAAa,GAAG,OAAO,CAAA;AAEzG,sDAAsD;AACtD,eAAO,MAAM,kBAAkB,EAAE,SAAS,eAAe,EAA6E,CAAA;AAEtI;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,WAAW,GAAG,MAAM,CAE5D;AAED,oFAAoF;AACpF,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,WAAW,GAAG;IAAE,KAAK,EAAE,WAAW,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;CAAE,GAAG,SAAS,CAGtH;AAED,MAAM,WAAW,eAAe;IAC9B,GAAG,EAAE,eAAe,CAAA;IACpB,IAAI,EAAE,MAAM,CAAA;IACZ,mHAAmH;IACnH,KAAK,EAAE,MAAM,CAAA;IACb,gDAAgD;IAChD,KAAK,EAAE,MAAM,CAAA;CACd;AAED,MAAM,WAAW,WAAW;IAC1B,uDAAuD;IACvD,KAAK,EAAE,MAAM,CAAA;IACb,KAAK,EAAE,WAAW,CAAA;IAClB,sFAAsF;IACtF,QAAQ,EAAE,eAAe,CAAA;IACzB,OAAO,EAAE,eAAe,EAAE,CAAA;CAC3B;AAED,6FAA6F;AAC7F,eAAO,MAAM,kBAAkB,EAAE,SAAS,CAAC,SAAS,CAAC,WAAW,EAAE,MAAM,CAAC,CAAC,EAIzE,CAAA;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,WAAW,CAGxD;AAED,6FAA6F;AAC7F,eAAO,MAAM,mBAAmB;;;;CAItB,CAAA;AAEV,oFAAoF;AACpF,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,mBAAmB,GAAG,MAAM,CAIrE;AAED;;;;GAIG;AACH,wBAAgB,yBAAyB,CAAC,KAAK,EAAE,WAAW,EAAE,KAAK,EAAE,SAAS,mBAAmB,EAAE,GAAG,MAAM,CAG3G;AAED;;;GAGG;AACH,wBAAgB,aAAa,CAAC,KAAK,EAAE,WAAW,GAAG,WAAW,GAAG,SAAS,CAyCzE"}

package/dist/score.js

@@ -20,10 +20,8 @@
  */
 import { LIMITS, PART_LIMIT } from "./words.js";
 import { compileFigureAsset } from "./asset.js";
-import { compileFigureDocument } from "./document.js";
-import { figureWritersOf } from "./gate.js";
 import { figureTrianglesOf } from "./cost.js";
-import { figureRenderBatchesOf } from "./render-batches.js";
+import { figureBodyMovesOf, figureDrawPlanOf, figureDrawsOf } from "./render-batches.js";
 /** Every budget, in the order a screen draws them. */
 export const FIGURE_BUDGET_KEYS = ['groups', 'triangles', 'independent', 'moving', 'transparent', 'parts'];
 /**
@@ -68,19 +66,9 @@ export function figureMaterialKeyOf(body) {
  * A visibility flag is not a placement, so a lamp that only switches on does not count.
  */
 export function figureIndependentBodiesOf(asset, drawn) {
-    const moves = movingOf(asset);
+    const moves = figureBodyMovesOf(asset);
     return drawn.filter(moves).length;
 }
-/** Whether a drawn body moves with a state input: the value that places it depends on one. */
-function movingOf(asset) {
-    const plan = compileFigureDocument(asset.document);
-    const writers = figureWritersOf(asset);
-    const nodes = new Map(asset.document.model.nodes.map(node => [node.id, node]));
-    return body => {
-        const node = nodes.get(('key' in body && body.key ? writers.get(body.key) : body.id) ?? '');
-        return !!node && Object.values(node.outputs).some(ref => (plan.dependence[ref]?.length ?? 0) > 0);
-    };
-}
 /**
  * The grade of one asset, evaluated at its own design and state defaults as `figureCostOf` is. Nothing when no body is
  * drawn: there is nothing to grade, and a grade of A would say otherwise.
@@ -94,15 +82,18 @@ export function figureScoreOf(asset) {
     const triangles = drawn.reduce((sum, body) => sum + figureTrianglesOf(body), 0);
     const transparent = new Set(drawn.filter(body => body.material.transparent).map(figureMaterialKeyOf)).size;
     /*
-      As the renderer draws them (figureRenderBatchesOf, the rule it draws by -- ADR-0087 amended 2026-09-26): a draw group per
-      batch of a row's copies and per body drawn alone; what moves on its own counted once a batch; and every body that
+      As the renderer draws them (figureDrawPlanOf, the rule it draws by -- ADR-0087 amended 2026-09-26, ADR-0109): a draw group per
+      batch of a row's copies, per still group merged by look and per body drawn alone; a merged group never moves; what moves on its own counted once a batch; and every body that
       moves re-evaluated and moved each frame.
     */
-    const moves = movingOf(asset);
-    const plan = figureRenderBatchesOf(drawn);
+    const moves = figureBodyMovesOf(asset);
+    const plan = figureDrawPlanOf(asset, drawn);
     const byId = new Map(drawn.map(body => [body.id, body]));
-    const groups = plan.batches.length + plan.alone.length;
-    const independent = plan.batches.filter(b => b.ids.some(id => moves(byId.get(id)))).length + plan.alone.filter(id => moves(byId.get(id))).length;
+    const groups = figureDrawsOf(plan);
+    /* A carried group still counts body by body (ADR-0111 Q2: as one only once the rig has measured one matrix a group). */
+    const independent = plan.batches.filter(b => b.ids.some(id => moves(byId.get(id)))).length +
+        plan.alone.filter(id => moves(byId.get(id))).length +
+        plan.carried.reduce((sum, group) => sum + group.ids.length, 0);
     const moving = drawn.filter(moves).length;
     const budget = (key, used, limit) => ({ key, used, limit, ratio: used / limit });
     const budgets = [