@hatiolab/figure-model 0.2.6 → 0.2.7

package/dist/index.d.ts

@@ -39,6 +39,7 @@ 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 { robotArmFigure, ROBOT_ARM_CHAIN } from './examples.ts';
+export { quadrupedRobotFigure, mobileManipulatorFigure, scaraRobotFigure, humanoidRobotFigure, QUADRUPED_LEGS, COBOT_CHAIN, type RobotJoint } 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 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AASA,cAAc,YAAY,CAAA;AAC1B,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AACnD,OAAO,EAAE,kBAAkB,EAAE,MAAM,YAAY,CAAA;AAC/C,OAAO,EAAE,cAAc,EAAE,UAAU,EAAE,KAAK,cAAc,EAAE,MAAM,gBAAgB,CAAA;AAChF,OAAO,EAAE,iBAAiB,EAAE,YAAY,EAAE,kBAAkB,EAAE,KAAK,iBAAiB,EAAE,KAAK,uBAAuB,EAAE,MAAM,aAAa,CAAA;AACvI,OAAO,EAAE,4BAA4B,EAAE,KAAK,sBAAsB,EAAE,KAAK,iBAAiB,EAAE,KAAK,iBAAiB,EAAE,KAAK,iBAAiB,EAAE,MAAM,wBAAwB,CAAA;AAC1K,OAAO,EAAE,2BAA2B,EAAE,KAAK,qBAAqB,EAAE,KAAK,mBAAmB,EAAE,KAAK,qBAAqB,EAAE,KAAK,kBAAkB,EAAE,KAAK,iBAAiB,EAAE,MAAM,uBAAuB,CAAA;AACtM,OAAO,EAAE,yBAAyB,EAAE,MAAM,mBAAmB,CAAA;AAC7D,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,MAAM,eAAe,CAAA;AACnG,OAAO,EAAE,kBAAkB,EAAE,gBAAgB,EAAE,oBAAoB,EAAE,2BAA2B,EAAE,sBAAsB,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAA;AAC/J,OAAO,EAAE,kBAAkB,EAAE,MAAM,oBAAoB,CAAA;AACvD,OAAO,EAAE,kBAAkB,EAAE,mBAAmB,EAAE,2BAA2B,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,eAAe,EAAE,mBAAmB,EAAE,KAAK,gBAAgB,EAAE,KAAK,eAAe,EAAE,KAAK,cAAc,EAAE,KAAK,oBAAoB,EAAE,KAAK,cAAc,EAAE,MAAM,WAAW,CAAA;AACnS,OAAO,EAAE,WAAW,EAAE,YAAY,EAAE,cAAc,EAAE,qBAAqB,EAAE,yBAAyB,EAAE,iBAAiB,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAA;AAC9J,OAAO,EAAE,iBAAiB,EAAE,eAAe,EAAE,KAAK,KAAK,EAAE,MAAM,qBAAqB,CAAA;AACpF,OAAO,EAAE,gBAAgB,EAAE,2BAA2B,EAAE,iCAAiC,EAAE,4BAA4B,EAAE,sBAAsB,EAAE,KAAK,iBAAiB,EAAE,gBAAgB,EAAE,KAAK,eAAe,EAAE,MAAM,YAAY,CAAA;AACnO,OAAO,EAAE,qBAAqB,EAAE,MAAM,qBAAqB,CAAA;AAC3D,OAAO,EAAE,mBAAmB,EAAE,MAAM,cAAc,CAAA;AAClD,OAAO,EAAE,YAAY,EAAE,iBAAiB,EAAE,KAAK,UAAU,EAAE,MAAM,WAAW,CAAA;AAC5E,OAAO,EAAE,qBAAqB,EAAE,KAAK,iBAAiB,EAAE,KAAK,gBAAgB,EAAE,KAAK,qBAAqB,EAAE,MAAM,qBAAqB,CAAA;AACtI,OAAO,EAAE,aAAa,EAAE,iBAAiB,EAAE,kBAAkB,EAAE,aAAa,EAAE,mBAAmB,EAAE,yBAAyB,EAAE,kBAAkB,EAAE,kBAAkB,EAAE,mBAAmB,EAAE,KAAK,WAAW,EAAE,KAAK,eAAe,EAAE,KAAK,eAAe,EAAE,MAAM,YAAY,CAAA;AAC3Q,OAAO,EAAE,oBAAoB,EAAE,sBAAsB,EAAE,uBAAuB,EAAE,KAAK,oBAAoB,EAAE,mBAAmB,EAAE,gBAAgB,EAAE,YAAY,EAAE,KAAK,kBAAkB,EAAE,KAAK,qBAAqB,EAAE,KAAK,qBAAqB,EAAE,KAAK,aAAa,EAAE,KAAK,mBAAmB,EAAE,KAAK,UAAU,EAAE,KAAK,mBAAmB,EAAE,KAAK,uBAAuB,EAAE,KAAK,aAAa,EAAE,KAAK,WAAW,EAAE,KAAK,eAAe,EAAE,KAAK,eAAe,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,wBAAwB,CAAA;AAC/f,mBAAmB,kBAAkB,CAAA;AACrC,OAAO,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAA;AACpD,OAAO,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,qBAAqB,EAAE,KAAK,kBAAkB,EAAE,KAAK,kBAAkB,EAAE,MAAM,eAAe,CAAA;AACrJ,OAAO,EAAE,cAAc,EAAE,KAAK,YAAY,EAAE,MAAM,aAAa,CAAA;AAC/D,OAAO,EAAE,gBAAgB,EAAE,KAAK,gBAAgB,EAAE,KAAK,mBAAmB,EAAE,KAAK,uBAAuB,EAAE,MAAM,kBAAkB,CAAA;AAClI,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,KAAK,uBAAuB,EAAE,KAAK,kBAAkB,EAAE,MAAM,gBAAgB,CAAA;AAC3J,OAAO,EAAE,sBAAsB,EAAE,iBAAiB,EAAE,KAAK,eAAe,EAAE,KAAK,iBAAiB,EAAE,KAAK,iBAAiB,EAAE,MAAM,WAAW,CAAA;AAC3I,OAAO,EAAE,qBAAqB,EAAE,oBAAoB,EAAE,sBAAsB,EAAE,KAAK,mBAAmB,EAAE,KAAK,eAAe,EAAE,KAAK,sBAAsB,EAAE,KAAK,eAAe,EAAE,MAAM,qBAAqB,CAAA;AAE5M,OAAO,EACL,oBAAoB,EACpB,wBAAwB,EACxB,0BAA0B,EAC1B,kBAAkB,EAClB,sBAAsB,EACtB,oBAAoB,EACpB,mBAAmB,EACnB,2BAA2B,EAC3B,mBAAmB,EACnB,qBAAqB,EACrB,qBAAqB,EACrB,KAAK,aAAa,EAClB,KAAK,kBAAkB,EACvB,KAAK,iBAAiB,EACtB,KAAK,kBAAkB,EACvB,KAAK,mBAAmB,EACzB,MAAM,cAAc,CAAA;AACrB,OAAO,EAAE,yBAAyB,EAAE,KAAK,eAAe,EAAE,KAAK,YAAY,EAAE,KAAK,aAAa,EAAE,KAAK,sBAAsB,EAAE,MAAM,qBAAqB,CAAA;AACzJ,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,2BAA2B,EAC3B,wBAAwB,EACxB,qBAAqB,EACrB,kBAAkB,EAClB,mBAAmB,EACnB,oBAAoB,EACpB,yBAAyB,EACzB,KAAK,sBAAsB,EAC3B,KAAK,oBAAoB,EACzB,KAAK,iBAAiB,EACtB,KAAK,mBAAmB,EACzB,MAAM,gBAAgB,CAAA;AACvB,OAAO,EAAE,uBAAuB,EAAE,KAAK,mBAAmB,EAAE,KAAK,oBAAoB,EAAE,KAAK,oBAAoB,EAAE,MAAM,iBAAiB,CAAA;AACzI,OAAO,EAAE,qBAAqB,EAAE,MAAM,wBAAwB,CAAA;AAC9D,OAAO,EAAE,iBAAiB,EAAE,KAAK,mBAAmB,EAAE,KAAK,iBAAiB,EAAE,KAAK,gBAAgB,EAAE,MAAM,mBAAmB,CAAA;AAC9H,OAAO,EAAE,iBAAiB,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,eAAe,EAAE,KAAK,uBAAuB,EAAE,iBAAiB,EAAE,mBAAmB,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,KAAK,YAAY,EAAE,KAAK,iBAAiB,EAAE,KAAK,qBAAqB,EAAE,KAAK,iBAAiB,EAAE,MAAM,aAAa,CAAA;AACvT,YAAY,EAAE,UAAU,EAAE,gBAAgB,EAAE,eAAe,EAAE,gBAAgB,EAAE,mBAAmB,EAAE,eAAe,EAAE,WAAW,EAAE,UAAU,EAAE,WAAW,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,oBAAoB,EAAE,cAAc,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,MAAM,kBAAkB,CAAA;AAClU,OAAO,EAAE,gBAAgB,EAAE,eAAe,EAAE,oBAAoB,EAAE,qBAAqB,EAAE,qBAAqB,EAAE,KAAK,eAAe,EAAE,MAAM,WAAW,CAAA;AACvJ,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,yBAAyB,EAAE,wBAAwB,EAAE,qBAAqB,EAAE,0BAA0B,EAAE,KAAK,eAAe,EAAE,KAAK,eAAe,EAAE,KAAK,mBAAmB,EAAE,MAAM,oBAAoB,CAAA;AAC5Q,OAAO,EAAE,qBAAqB,EAAE,KAAK,oBAAoB,EAAE,KAAK,wBAAwB,EAAE,MAAM,uBAAuB,CAAA;AACvH,OAAO,EAAE,cAAc,EAAE,eAAe,EAAE,MAAM,eAAe,CAAA;AAC/D,OAAO,EAAE,iBAAiB,EAAE,uBAAuB,EAAE,KAAK,iBAAiB,EAAE,KAAK,cAAc,EAAE,KAAK,iBAAiB,EAAE,MAAM,mBAAmB,CAAA;AACnJ,OAAO,EAAE,oBAAoB,EAAE,gBAAgB,EAAE,iBAAiB,EAAE,WAAW,EAAE,oBAAoB,EAAE,KAAK,kBAAkB,EAAE,KAAK,oBAAoB,EAAE,KAAK,cAAc,EAAE,KAAK,cAAc,EAAE,KAAK,gBAAgB,EAAE,MAAM,sBAAsB,CAAA"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AASA,cAAc,YAAY,CAAA;AAC1B,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AACnD,OAAO,EAAE,kBAAkB,EAAE,MAAM,YAAY,CAAA;AAC/C,OAAO,EAAE,cAAc,EAAE,UAAU,EAAE,KAAK,cAAc,EAAE,MAAM,gBAAgB,CAAA;AAChF,OAAO,EAAE,iBAAiB,EAAE,YAAY,EAAE,kBAAkB,EAAE,KAAK,iBAAiB,EAAE,KAAK,uBAAuB,EAAE,MAAM,aAAa,CAAA;AACvI,OAAO,EAAE,4BAA4B,EAAE,KAAK,sBAAsB,EAAE,KAAK,iBAAiB,EAAE,KAAK,iBAAiB,EAAE,KAAK,iBAAiB,EAAE,MAAM,wBAAwB,CAAA;AAC1K,OAAO,EAAE,2BAA2B,EAAE,KAAK,qBAAqB,EAAE,KAAK,mBAAmB,EAAE,KAAK,qBAAqB,EAAE,KAAK,kBAAkB,EAAE,KAAK,iBAAiB,EAAE,MAAM,uBAAuB,CAAA;AACtM,OAAO,EAAE,yBAAyB,EAAE,MAAM,mBAAmB,CAAA;AAC7D,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,MAAM,eAAe,CAAA;AACnG,OAAO,EAAE,kBAAkB,EAAE,gBAAgB,EAAE,oBAAoB,EAAE,2BAA2B,EAAE,sBAAsB,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAA;AAC/J,OAAO,EAAE,kBAAkB,EAAE,MAAM,oBAAoB,CAAA;AACvD,OAAO,EAAE,kBAAkB,EAAE,mBAAmB,EAAE,2BAA2B,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,eAAe,EAAE,mBAAmB,EAAE,KAAK,gBAAgB,EAAE,KAAK,eAAe,EAAE,KAAK,cAAc,EAAE,KAAK,oBAAoB,EAAE,KAAK,cAAc,EAAE,MAAM,WAAW,CAAA;AACnS,OAAO,EAAE,WAAW,EAAE,YAAY,EAAE,cAAc,EAAE,qBAAqB,EAAE,yBAAyB,EAAE,iBAAiB,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAA;AAC9J,OAAO,EAAE,iBAAiB,EAAE,eAAe,EAAE,KAAK,KAAK,EAAE,MAAM,qBAAqB,CAAA;AACpF,OAAO,EAAE,gBAAgB,EAAE,2BAA2B,EAAE,iCAAiC,EAAE,4BAA4B,EAAE,sBAAsB,EAAE,KAAK,iBAAiB,EAAE,gBAAgB,EAAE,KAAK,eAAe,EAAE,MAAM,YAAY,CAAA;AACnO,OAAO,EAAE,qBAAqB,EAAE,MAAM,qBAAqB,CAAA;AAC3D,OAAO,EAAE,mBAAmB,EAAE,MAAM,cAAc,CAAA;AAClD,OAAO,EAAE,YAAY,EAAE,iBAAiB,EAAE,KAAK,UAAU,EAAE,MAAM,WAAW,CAAA;AAC5E,OAAO,EAAE,qBAAqB,EAAE,KAAK,iBAAiB,EAAE,KAAK,gBAAgB,EAAE,KAAK,qBAAqB,EAAE,MAAM,qBAAqB,CAAA;AACtI,OAAO,EAAE,aAAa,EAAE,iBAAiB,EAAE,kBAAkB,EAAE,aAAa,EAAE,mBAAmB,EAAE,yBAAyB,EAAE,kBAAkB,EAAE,kBAAkB,EAAE,mBAAmB,EAAE,KAAK,WAAW,EAAE,KAAK,eAAe,EAAE,KAAK,eAAe,EAAE,MAAM,YAAY,CAAA;AAC3Q,OAAO,EAAE,oBAAoB,EAAE,sBAAsB,EAAE,uBAAuB,EAAE,KAAK,oBAAoB,EAAE,mBAAmB,EAAE,gBAAgB,EAAE,YAAY,EAAE,KAAK,kBAAkB,EAAE,KAAK,qBAAqB,EAAE,KAAK,qBAAqB,EAAE,KAAK,aAAa,EAAE,KAAK,mBAAmB,EAAE,KAAK,UAAU,EAAE,KAAK,mBAAmB,EAAE,KAAK,uBAAuB,EAAE,KAAK,aAAa,EAAE,KAAK,WAAW,EAAE,KAAK,eAAe,EAAE,KAAK,eAAe,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,wBAAwB,CAAA;AAC/f,mBAAmB,kBAAkB,CAAA;AACrC,OAAO,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAA;AACpD,OAAO,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,qBAAqB,EAAE,KAAK,kBAAkB,EAAE,KAAK,kBAAkB,EAAE,MAAM,eAAe,CAAA;AACrJ,OAAO,EAAE,cAAc,EAAE,KAAK,YAAY,EAAE,MAAM,aAAa,CAAA;AAC/D,OAAO,EAAE,gBAAgB,EAAE,KAAK,gBAAgB,EAAE,KAAK,mBAAmB,EAAE,KAAK,uBAAuB,EAAE,MAAM,kBAAkB,CAAA;AAClI,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,KAAK,uBAAuB,EAAE,KAAK,kBAAkB,EAAE,MAAM,gBAAgB,CAAA;AAC3J,OAAO,EAAE,sBAAsB,EAAE,iBAAiB,EAAE,KAAK,eAAe,EAAE,KAAK,iBAAiB,EAAE,KAAK,iBAAiB,EAAE,MAAM,WAAW,CAAA;AAC3I,OAAO,EAAE,qBAAqB,EAAE,oBAAoB,EAAE,sBAAsB,EAAE,KAAK,mBAAmB,EAAE,KAAK,eAAe,EAAE,KAAK,sBAAsB,EAAE,KAAK,eAAe,EAAE,MAAM,qBAAqB,CAAA;AAE5M,OAAO,EACL,oBAAoB,EACpB,wBAAwB,EACxB,0BAA0B,EAC1B,kBAAkB,EAClB,sBAAsB,EACtB,oBAAoB,EACpB,mBAAmB,EACnB,2BAA2B,EAC3B,mBAAmB,EACnB,qBAAqB,EACrB,qBAAqB,EACrB,KAAK,aAAa,EAClB,KAAK,kBAAkB,EACvB,KAAK,iBAAiB,EACtB,KAAK,kBAAkB,EACvB,KAAK,mBAAmB,EACzB,MAAM,cAAc,CAAA;AACrB,OAAO,EAAE,yBAAyB,EAAE,KAAK,eAAe,EAAE,KAAK,YAAY,EAAE,KAAK,aAAa,EAAE,KAAK,sBAAsB,EAAE,MAAM,qBAAqB,CAAA;AACzJ,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,2BAA2B,EAC3B,wBAAwB,EACxB,qBAAqB,EACrB,kBAAkB,EAClB,mBAAmB,EACnB,oBAAoB,EACpB,yBAAyB,EACzB,KAAK,sBAAsB,EAC3B,KAAK,oBAAoB,EACzB,KAAK,iBAAiB,EACtB,KAAK,mBAAmB,EACzB,MAAM,gBAAgB,CAAA;AACvB,OAAO,EAAE,uBAAuB,EAAE,KAAK,mBAAmB,EAAE,KAAK,oBAAoB,EAAE,KAAK,oBAAoB,EAAE,MAAM,iBAAiB,CAAA;AACzI,OAAO,EAAE,qBAAqB,EAAE,MAAM,wBAAwB,CAAA;AAC9D,OAAO,EAAE,iBAAiB,EAAE,KAAK,mBAAmB,EAAE,KAAK,iBAAiB,EAAE,KAAK,gBAAgB,EAAE,MAAM,mBAAmB,CAAA;AAC9H,OAAO,EAAE,iBAAiB,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,eAAe,EAAE,KAAK,uBAAuB,EAAE,iBAAiB,EAAE,mBAAmB,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,KAAK,YAAY,EAAE,KAAK,iBAAiB,EAAE,KAAK,qBAAqB,EAAE,KAAK,iBAAiB,EAAE,MAAM,aAAa,CAAA;AACvT,YAAY,EAAE,UAAU,EAAE,gBAAgB,EAAE,eAAe,EAAE,gBAAgB,EAAE,mBAAmB,EAAE,eAAe,EAAE,WAAW,EAAE,UAAU,EAAE,WAAW,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,oBAAoB,EAAE,cAAc,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,MAAM,kBAAkB,CAAA;AAClU,OAAO,EAAE,gBAAgB,EAAE,eAAe,EAAE,oBAAoB,EAAE,qBAAqB,EAAE,qBAAqB,EAAE,KAAK,eAAe,EAAE,MAAM,WAAW,CAAA;AACvJ,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,yBAAyB,EAAE,wBAAwB,EAAE,qBAAqB,EAAE,0BAA0B,EAAE,KAAK,eAAe,EAAE,KAAK,eAAe,EAAE,KAAK,mBAAmB,EAAE,MAAM,oBAAoB,CAAA;AAC5Q,OAAO,EAAE,qBAAqB,EAAE,KAAK,oBAAoB,EAAE,KAAK,wBAAwB,EAAE,MAAM,uBAAuB,CAAA;AACvH,OAAO,EAAE,cAAc,EAAE,eAAe,EAAE,MAAM,eAAe,CAAA;AAC/D,OAAO,EAAE,oBAAoB,EAAE,uBAAuB,EAAE,gBAAgB,EAAE,mBAAmB,EAAE,cAAc,EAAE,WAAW,EAAE,KAAK,UAAU,EAAE,MAAM,aAAa,CAAA;AAChK,OAAO,EAAE,iBAAiB,EAAE,uBAAuB,EAAE,KAAK,iBAAiB,EAAE,KAAK,cAAc,EAAE,KAAK,iBAAiB,EAAE,MAAM,mBAAmB,CAAA;AACnJ,OAAO,EAAE,oBAAoB,EAAE,gBAAgB,EAAE,iBAAiB,EAAE,WAAW,EAAE,oBAAoB,EAAE,KAAK,kBAAkB,EAAE,KAAK,oBAAoB,EAAE,KAAK,cAAc,EAAE,KAAK,cAAc,EAAE,KAAK,gBAAgB,EAAE,MAAM,sBAAsB,CAAA"}

package/dist/index.js

@@ -46,6 +46,7 @@ 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 { robotArmFigure, ROBOT_ARM_CHAIN } from "./examples.js";
+export { quadrupedRobotFigure, mobileManipulatorFigure, scaraRobotFigure, humanoidRobotFigure, 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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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,cAAc,YAAY,CAAA;AAC1B,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AACnD,OAAO,EAAE,kBAAkB,EAAE,MAAM,YAAY,CAAA;AAC/C,OAAO,EAAE,cAAc,EAAE,UAAU,EAAuB,MAAM,gBAAgB,CAAA;AAChF,OAAO,EAAE,iBAAiB,EAAE,YAAY,EAAE,kBAAkB,EAAwD,MAAM,aAAa,CAAA;AACvI,OAAO,EAAE,4BAA4B,EAAuG,MAAM,wBAAwB,CAAA;AAC1K,OAAO,EAAE,2BAA2B,EAAqI,MAAM,uBAAuB,CAAA;AACtM,OAAO,EAAE,yBAAyB,EAAE,MAAM,mBAAmB,CAAA;AAC7D,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,MAAM,eAAe,CAAA;AACnG,OAAO,EAAE,kBAAkB,EAAE,gBAAgB,EAAE,oBAAoB,EAAE,2BAA2B,EAAE,sBAAsB,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAA;AAC/J,OAAO,EAAE,kBAAkB,EAAE,MAAM,oBAAoB,CAAA;AACvD,OAAO,EAAE,kBAAkB,EAAE,mBAAmB,EAAE,2BAA2B,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,eAAe,EAAE,mBAAmB,EAAoH,MAAM,WAAW,CAAA;AACnS,OAAO,EAAE,WAAW,EAAE,YAAY,EAAE,cAAc,EAAE,qBAAqB,EAAE,yBAAyB,EAAE,iBAAiB,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAA;AAC9J,OAAO,EAAE,iBAAiB,EAAE,eAAe,EAAc,MAAM,qBAAqB,CAAA;AACpF,OAAO,EAAE,gBAAgB,EAAE,2BAA2B,EAAE,iCAAiC,EAAE,4BAA4B,EAAE,sBAAsB,EAA0B,gBAAgB,EAAwB,MAAM,YAAY,CAAA;AACnO,OAAO,EAAE,qBAAqB,EAAE,MAAM,qBAAqB,CAAA;AAC3D,OAAO,EAAE,mBAAmB,EAAE,MAAM,cAAc,CAAA;AAClD,OAAO,EAAE,YAAY,EAAE,iBAAiB,EAAmB,MAAM,WAAW,CAAA;AAC5E,OAAO,EAAE,qBAAqB,EAA6E,MAAM,qBAAqB,CAAA;AACtI,OAAO,EAAE,aAAa,EAAE,iBAAiB,EAAE,kBAAkB,EAAE,aAAa,EAAE,mBAAmB,EAAE,yBAAyB,EAAE,kBAAkB,EAAE,kBAAkB,EAAE,mBAAmB,EAAgE,MAAM,YAAY,CAAA;AAC3Q,OAAO,EAAE,oBAAoB,EAAE,sBAAsB,EAAE,uBAAuB,EAA6B,mBAAmB,EAAE,gBAAgB,EAAE,YAAY,EAA4R,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,wBAAwB,CAAA;AAE/f,OAAO,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAA;AACpD,OAAO,EAAE,mBAAmB,EAAE,uBAAuB,EAAE,qBAAqB,EAAoD,MAAM,eAAe,CAAA;AACrJ,OAAO,EAAE,cAAc,EAAqB,MAAM,aAAa,CAAA;AAC/D,OAAO,EAAE,gBAAgB,EAAiF,MAAM,kBAAkB,CAAA;AAClI,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAAE,uBAAuB,EAAyD,MAAM,gBAAgB,CAAA;AAC3J,OAAO,EAAE,sBAAsB,EAAE,iBAAiB,EAAwE,MAAM,WAAW,CAAA;AAC3I,OAAO,EAAE,qBAAqB,EAAE,oBAAoB,EAAE,sBAAsB,EAAqG,MAAM,qBAAqB,CAAA;AAC5M,kHAAkH;AAClH,OAAO,EACL,oBAAoB,EACpB,wBAAwB,EACxB,0BAA0B,EAC1B,kBAAkB,EAClB,sBAAsB,EACtB,oBAAoB,EACpB,mBAAmB,EACnB,2BAA2B,EAC3B,mBAAmB,EACnB,qBAAqB,EACrB,qBAAqB,EAMtB,MAAM,cAAc,CAAA;AACrB,OAAO,EAAE,yBAAyB,EAA4F,MAAM,qBAAqB,CAAA;AACzJ,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,2BAA2B,EAC3B,wBAAwB,EACxB,qBAAqB,EACrB,kBAAkB,EAClB,mBAAmB,EACnB,oBAAoB,EACpB,yBAAyB,EAK1B,MAAM,gBAAgB,CAAA;AACvB,OAAO,EAAE,uBAAuB,EAAkF,MAAM,iBAAiB,CAAA;AACzI,OAAO,EAAE,qBAAqB,EAAE,MAAM,wBAAwB,CAAA;AAC9D,OAAO,EAAE,iBAAiB,EAA2E,MAAM,mBAAmB,CAAA;AAC9H,OAAO,EAAE,iBAAiB,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,eAAe,EAAgC,iBAAiB,EAAE,mBAAmB,EAAE,iBAAiB,EAAE,oBAAoB,EAAiG,MAAM,aAAa,CAAA;AAEvT,OAAO,EAAE,gBAAgB,EAAE,eAAe,EAAE,oBAAoB,EAAE,qBAAqB,EAAE,qBAAqB,EAAwB,MAAM,WAAW,CAAA;AACvJ,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,yBAAyB,EAAE,wBAAwB,EAAE,qBAAqB,EAAE,0BAA0B,EAAwE,MAAM,oBAAoB,CAAA;AAC5Q,OAAO,EAAE,qBAAqB,EAA4D,MAAM,uBAAuB,CAAA;AACvH,OAAO,EAAE,cAAc,EAAE,eAAe,EAAE,MAAM,eAAe,CAAA;AAC/D,OAAO,EAAE,oBAAoB,EAAE,uBAAuB,EAAE,gBAAgB,EAAE,mBAAmB,EAAE,cAAc,EAAE,WAAW,EAAmB,MAAM,aAAa,CAAA;AAChK,OAAO,EAAE,iBAAiB,EAAE,uBAAuB,EAAuE,MAAM,mBAAmB,CAAA;AACnJ,OAAO,EAAE,oBAAoB,EAAE,gBAAgB,EAAE,iBAAiB,EAAE,WAAW,EAAE,oBAAoB,EAAuH,MAAM,sBAAsB,CAAA"}

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 = "0.2.6";
+export declare const FIGURE_KERNEL_VERSION = "0.2.7";
 //# sourceMappingURL=kernel-version.d.ts.map

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 = '0.2.6';
+export const FIGURE_KERNEL_VERSION = '0.2.7';
 //# sourceMappingURL=kernel-version.js.map

package/dist/proposal.js

@@ -17,7 +17,7 @@ import { addFigurePrimitive } from "./create.js";
 import { applyFigureAuthoring, proposeFigureOccupancy, FIGURE_FACES, FIGURE_JOINT_TYPES } from "./authoring-actions.js";
 import { editFigurePart } from "./part-edit.js";
 import { FIGURE_PLACEMENTS } from "./asset-types.js";
-import { AXES } from "./words.js";
+import { AXES, DETAIL_LEVELS } from "./words.js";
 /* The part edits, told apart from the authoring commands by kind -- one list, checked below to be the whole union. */
 const PART_EDIT_KINDS = [
     'set-material',
@@ -160,7 +160,7 @@ export const FIGURE_PROPOSAL_GRAMMAR = [
     { kind: 'fit-room', shape: `{ kind: 'fit-room', placement: ${FIGURE_PLACEMENTS.map(p => `'${p}'`).join(' | ')} }`, means: 'Declare the room the figure takes up, fitted to its parts, and what it is placed on. Do it last, after the parts and their motions.' },
     { kind: 'set-mounting-face', shape: `{ kind: 'set-mounting-face', part, face: ${faces} }`, means: 'The face that lies on the mounting plane (after the room is declared).' },
     { kind: 'clear-mounting-face', shape: `{ kind: 'clear-mounting-face' }`, means: 'No face is named as lying on the mounting plane.' },
-    { kind: 'set-detail-level', shape: `{ kind: 'set-detail-level', level: 'S' | 'M' | 'L' | null }`, means: 'How much detail the figure is authored to, and so its part limit.' },
+    { kind: 'set-detail-level', shape: `{ kind: 'set-detail-level', level: ${DETAIL_LEVELS.map(l => `'${l}'`).join(' | ')} | null }`, means: 'How much detail the figure is authored to, and so its part limit.' },
     { kind: 'rename', shape: `{ kind: 'rename', name }`, means: 'The name a person reads in the catalogue.' },
     { kind: 'set-material', shape: `{ kind: 'set-material', target: part, material: { token } }`, means: "The part's colour, a palette token." },
     { kind: 'set-segments', shape: `{ kind: 'set-segments', target: part, segments }`, means: "How finely a round part's rim is drawn." },

package/dist/proposal.js.map

@@ -1 +1 @@
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package/dist/robots.d.ts

@@ -0,0 +1,75 @@
+import { type FigurePrimitiveCreation } from './create.ts';
+import type { FigureAsset } from './asset-types.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;
+}
+/** 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 [{
+    readonly leg: "fl";
+    readonly x: 1;
+    readonly z: -1;
+}, {
+    readonly leg: "fr";
+    readonly x: 1;
+    readonly z: 1;
+}, {
+    readonly leg: "hl";
+    readonly x: -1;
+    readonly z: -1;
+}, {
+    readonly leg: "hr";
+    readonly x: -1;
+    readonly z: 1;
+}];
+/**
+ * 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.
+ */
+export declare function quadrupedRobotFigure(): {
+    asset: FigureAsset;
+    joints: RobotJoint[];
+};
+/** 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'> & {
+        id: string;
+    };
+}[];
+/**
+ * An autonomous mobile robot carrying a six-axis arm: a chassis on two drive wheels and two casters, a laser scanner on
+ * 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[];
+};
+/**
+ * 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[];
+};
+/**
+ * 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 {};
+//# sourceMappingURL=robots.d.ts.map

package/dist/robots.d.ts.map

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package/dist/robots.js

@@ -0,0 +1,222 @@
+/*
+ * 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 --
+ * 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.
+ */
+import { applyFigureAuthoring, proposeFigureOccupancy } from "./authoring-actions.js";
+import { addFigurePrimitive, createFigureAsset } from "./create.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) });
+const rounded = (id, width, height, depth, round, token) => ({ id, kind: 'rounded-box', dimensions: { width, height, depth, round }, position: at, material: metal(token) });
+const cylinder = (id, radius, length, token) => ({ id, kind: 'cylinder', dimensions: { radius, length }, position: at, material: metal(token) });
+/** 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;
+    }
+    add(...parts) {
+        for (const part of parts)
+            this.asset = addFigurePrimitive(this.asset, part);
+        return this;
+    }
+    do(action) {
+        this.asset = applyFigureAuthoring(this.asset, action);
+        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;
+    }
+    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;
+    }
+}
+const hang = (parent, child, parentFace = 'top') => ({ body0: { part: parent, face: parentFace }, body1: { part: child, face: parentFace === 'top' ? 'bottom' : 'top' } });
+/* ---------------------------------------------------------------- four-legged walking robot */
+/** Front left, front right, hind left, hind right: which end of the body (X) and which side (Z) each leg hangs at. */
+export const QUADRUPED_LEGS = [
+    { leg: 'fl', x: 1, z: -1 },
+    { leg: 'fr', x: 1, z: 1 },
+    { leg: 'hl', x: -1, z: -1 },
+    { leg: 'hr', x: -1, z: 1 }
+];
+/** The leg, from the hip down: the parts' heights add up to how high the body stands. */
+const QUADRUPED_BODY = { length: 900, height: 200, width: 360 };
+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.
+ */
+export function quadrupedRobotFigure() {
+    const r = new Robot('4족 보행 로봇', {
+        'palette.body': '#e8b100',
+        'palette.dark': '#2b2f33',
+        'palette.joint': '#5b636b',
+        'palette.sensor': '#1d2124'
+    });
+    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 } });
+    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 });
+        r.joint({ id: `${leg}-thigh`, type: 'revolute', ...hang(`${leg}-hip`, `${leg}-thigh`, 'bottom'), axis: 'Z', lowerLimit: -60, upperLimit: 60 });
+        r.joint({ id: `${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 };
+}
+/* ---------------------------------------------------------------- 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. */
+export const COBOT_CHAIN = [
+    { part: cylinder('arm-base', 90, 80, 'palette.arm') },
+    { part: cylinder('arm-turret', 80, 110, 'palette.arm'), joint: { id: 'arm-j1', axis: 'Y', min: -180, max: 180 } },
+    { part: box('arm-shoulder', 140, 100, 140, 'palette.joint') },
+    { part: box('arm-upper', 90, 420, 90, 'palette.arm'), joint: { id: 'arm-j2', axis: 'Z', min: -120, max: 120 } },
+    { part: box('arm-elbow', 110, 90, 110, 'palette.joint') },
+    { part: box('arm-fore', 80, 380, 80, 'palette.arm'), joint: { id: 'arm-j3', axis: 'Z', min: -150, max: 150 } },
+    { part: cylinder('arm-wrist-1', 45, 70, 'palette.joint'), joint: { id: 'arm-j4', axis: 'Y', min: -180, max: 180 } },
+    { part: box('arm-wrist-2', 80, 80, 80, 'palette.arm'), joint: { id: 'arm-j5', axis: 'Z', min: -120, max: 120 } },
+    { part: cylinder('arm-flange', 40, 30, 'palette.joint'), joint: { id: 'arm-j6', axis: 'Y', min: -180, max: 180 } },
+    { part: box('arm-palm', 120, 40, 60, 'palette.dark') }
+];
+function addArm(r, on) {
+    COBOT_CHAIN.forEach(({ part, joint }, i) => {
+        r.add(part);
+        const link = i === 0 ? { body0: { part: on.part, face: 'top' }, body1: { part: part.id, face: 'bottom' }, ...(on.align ? { origin: { align: on.align } } : {}) } : hang(COBOT_CHAIN[i - 1].part.id, part.id);
+        if (joint)
+            r.joint({ id: joint.id, type: 'revolute', ...link, axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max });
+        else
+            r.joint({ id: part.id, type: 'fixed', ...link });
+    });
+    /* Two fingers on the palm's top, closing towards each other on one value: the right one mimics the left. */
+    r.add(box('arm-finger-left', 16, 70, 36, 'palette.joint'), box('arm-finger-right', 16, 70, 36, 'palette.joint'));
+    r.joint({ id: 'arm-grip', type: 'prismatic', body0: { part: 'arm-palm', face: 'top' }, body1: { part: 'arm-finger-left', face: 'bottom' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 40 });
+    r.joint({ id: 'arm-grip-mirror', type: 'prismatic', body0: { part: 'arm-palm', face: 'top' }, body1: { part: 'arm-finger-right', face: 'bottom' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'arm-grip', multiplier: -1 } });
+}
+/* ---------------------------------------------------------------- mobile manipulator */
+const AMR = { length: 1000, height: 280, width: 700, clearance: 50, wheel: 110 };
+/**
+ * An autonomous mobile robot carrying a six-axis arm: a chassis on two drive wheels and two casters, a laser scanner on
+ * 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 function mobileManipulatorFigure() {
+    const r = new Robot('모바일 매니퓰레이터', {
+        'palette.chassis': '#d7dce1',
+        'palette.arm': '#f2f4f6',
+        'palette.joint': '#3d6f99',
+        'palette.dark': '#2b2f33',
+        'palette.tyre': '#1d2124',
+        'palette.sensor': '#e8b100'
+    });
+    const { length, height, width, clearance, wheel } = AMR;
+    r.add(rounded('chassis', length, height, width, 30, 'palette.chassis'));
+    r.joint({ id: 'chassis', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'chassis', face: 'bottom' }, origin: { gap: clearance } });
+    /* The drive wheels on the two sides, their axles across the chassis (a quarter turn about X lays a wheel's axis along Z), their bottoms on the floor. */
+    for (const [side, face] of [['left', 'back'], ['right', 'front']]) {
+        r.add(cylinder(`wheel-${side}`, wheel, 60, 'palette.tyre'));
+        r.joint({
+            id: `wheel-${side}`,
+            type: 'revolute',
+            body0: { part: 'chassis', face },
+            body1: { part: `wheel-${side}`, face: 'centre' },
+            origin: { gap: 30, align: { y: { mm: wheel - clearance - height / 2 } }, turn: { x: 90 } },
+            axis: 'Z'
+        });
+    }
+    /* Casters under the two ends: a small wheel each, laid on its side, its bottom on the floor. */
+    for (const [end, x] of [['front', 'max'], ['rear', 'min']]) {
+        r.add(cylinder(`caster-${end}`, clearance / 2, 30, 'palette.tyre'));
+        r.joint({ id: `caster-${end}`, type: 'fixed', ...hang('chassis', `caster-${end}`, 'bottom'), origin: { align: { x: { mm: (x === 'max' ? 1 : -1) * (length / 2 - 80) } }, turn: { x: 90 } } });
+    }
+    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 };
+}
+/* ---------------------------------------------------------------- SCARA */
+const SCARA = { column: 420, reach1: 400, reach2: 350, quill: 380, stroke: 200 };
+/**
+ * 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 function scaraRobotFigure() {
+    const r = new Robot('스카라 로봇', {
+        'palette.body': '#f2f4f6',
+        'palette.joint': '#3d6f99',
+        'palette.dark': '#2b2f33'
+    });
+    const { column, reach1, reach2, quill, stroke } = SCARA;
+    r.add(box('column', 260, column, 260, 'palette.body'), cylinder('hub-1', 110, 60, 'palette.joint'), rounded('arm-1', reach1 + 220, 110, 200, 30, 'palette.body'));
+    r.joint({ id: 'column', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'column', face: 'bottom' } });
+    r.joint({ id: 'j1', type: 'revolute', ...hang('column', 'hub-1'), axis: 'Y', lowerLimit: -140, upperLimit: 140 });
+    /* The arm's one end round the hub: its middle half its reach out from the axis. */
+    r.joint({ id: 'arm-1', type: 'fixed', ...hang('hub-1', 'arm-1'), origin: { align: { x: { mm: reach1 / 2 } } } });
+    r.add(cylinder('hub-2', 90, 50, 'palette.joint'), rounded('arm-2', reach2 + 180, 100, 170, 30, 'palette.body'));
+    r.joint({ id: 'j2', type: 'revolute', ...hang('arm-1', 'hub-2'), origin: { align: { x: { mm: reach1 / 2 } } }, axis: 'Y', lowerLimit: -150, upperLimit: 150 });
+    r.joint({ id: 'arm-2', type: 'fixed', ...hang('hub-2', 'arm-2'), origin: { align: { x: { mm: reach2 / 2 } } } });
+    /* The quill through the second arm's far end, half of it above the arm: it slides down by the stroke. */
+    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 };
+}
+/* ---------------------------------------------------------------- humanoid */
+const HUMANOID = { pelvis: 340, torso: 480, hip: 60, hipWidth: 110, thigh: 420, shin: 400, foot: 60, shoulder: 120 };
+/**
+ * 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 function humanoidRobotFigure() {
+    const r = new Robot('휴머노이드', {
+        'palette.shell': '#eceff1',
+        'palette.joint': '#3d4750',
+        'palette.dark': '#22272b',
+        'palette.visor': '#1d5f8a'
+    });
+    const { pelvis, torso, hip, hipWidth, thigh, shin, foot, shoulder } = HUMANOID;
+    r.add(box('pelvis', 200, 160, pelvis, 'palette.joint'), rounded('torso', 240, torso, 420, 40, 'palette.shell'), cylinder('neck', 45, 80, 'palette.joint'), rounded('head', 220, 240, 200, 60, 'palette.shell'), box('visor', 20, 70, 160, 'palette.visor'));
+    r.joint({ id: 'pelvis', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'pelvis', face: 'bottom' }, origin: { gap: hip + thigh + shin + foot } });
+    r.joint({ id: 'waist', type: 'revolute', ...hang('pelvis', 'torso'), axis: 'Y', lowerLimit: -90, upperLimit: 90 });
+    r.joint({ id: 'neck', type: 'revolute', ...hang('torso', 'neck'), axis: 'Y', lowerLimit: -80, upperLimit: 80 });
+    r.joint({ id: 'head', type: 'revolute', ...hang('neck', 'head'), axis: 'Z', lowerLimit: -30, upperLimit: 30 });
+    r.joint({ id: 'visor', type: 'fixed', body0: { part: 'head', face: 'right' }, body1: { part: 'visor', face: 'left' } });
+    for (const [side, z, torsoFace, ownFace] of [['left', -1, 'back', 'front'], ['right', 1, 'front', 'back']]) {
+        /* The leg, from the pelvis down; a knee bends the shin back, an ankle tips the foot, which reaches forward. */
+        r.add(box(`${side}-hip`, hipWidth, hip, hipWidth, 'palette.joint'), box(`${side}-thigh`, 130, thigh, 130, 'palette.shell'), box(`${side}-shin`, 110, shin, 110, 'palette.shell'), box(`${side}-foot`, 260, foot, 120, 'palette.dark'));
+        r.joint({ id: `${side}-hip-roll`, type: 'revolute', ...hang('pelvis', `${side}-hip`, 'bottom'), origin: { align: { z: { mm: z * (pelvis / 2 - hipWidth / 2) } } }, axis: 'X', lowerLimit: -30, upperLimit: 30 });
+        r.joint({ id: `${side}-hip-pitch`, type: 'revolute', ...hang(`${side}-hip`, `${side}-thigh`, 'bottom'), axis: 'Z', lowerLimit: -30, upperLimit: 100 });
+        r.joint({ id: `${side}-knee`, type: 'revolute', ...hang(`${side}-thigh`, `${side}-shin`, 'bottom'), axis: 'Z', lowerLimit: -140, upperLimit: 0 });
+        r.joint({ id: `${side}-ankle`, type: 'revolute', ...hang(`${side}-shin`, `${side}-foot`, 'bottom'), origin: { align: { x: { mm: 50 } } }, axis: 'Z', lowerLimit: -40, upperLimit: 40 });
+        /* The arm, from the top of the torso's side down. */
+        r.add(box(`${side}-shoulder`, 120, shoulder, 100, 'palette.joint'), box(`${side}-upper-arm`, 100, 300, 100, 'palette.shell'), box(`${side}-forearm`, 90, 280, 90, 'palette.shell'), box(`${side}-hand`, 90, 120, 50, 'palette.dark'));
+        r.joint({ id: `${side}-shoulder-pitch`, type: 'revolute', body0: { part: 'torso', face: torsoFace }, body1: { part: `${side}-shoulder`, face: ownFace }, origin: { align: { y: { mm: torso / 2 - shoulder / 2 } } }, axis: 'Z', lowerLimit: -60, upperLimit: 180 });
+        r.joint({ id: `${side}-shoulder-roll`, type: 'revolute', ...hang(`${side}-shoulder`, `${side}-upper-arm`, 'bottom'), axis: 'X', lowerLimit: -90, upperLimit: 90 });
+        r.joint({ id: `${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 };
+}
+//# sourceMappingURL=robots.js.map

package/dist/robots.js.map

@@ -0,0 +1 @@
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package/dist/score.d.ts

@@ -1,4 +1,4 @@
-import type { FigureGrade } from './words.ts';
+import type { DetailLevel, FigureGrade } from './words.ts';
 import type { FigureAsset, FigureAssetGeometry } from './asset-types.ts';
 export type FigureBudgetKey = 'groups' | 'triangles' | 'independent' | 'moving' | 'transparent' | 'parts';
 /** Every budget, in the order a screen draws them. */
@@ -9,7 +9,7 @@ export declare const FIGURE_BUDGET_KEYS: readonly FigureBudgetKey[];
 export declare function figurePartCountOf(asset: FigureAsset): number;
 /** The detail level's part budget, or nothing when the figure declares no level. */
 export declare function figurePartBudgetOf(asset: FigureAsset): {
-    level: 'S' | 'M' | 'L';
+    level: DetailLevel;
     used: number;
     limit: number;
 } | undefined;

package/dist/score.d.ts.map

@@ -1 +1 @@
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package/dist/words.d.ts

@@ -37,13 +37,16 @@ export declare const REPEAT_LIMIT = 100;
  *   S simple    a sign, a post
  *   M ordinary  most equipment
  *   L detailed  the large equipment a scene is about
+ *   XL fine     a mechanism of many links -- a robot with legs, a humanoid, an arm on a vehicle
  *
  * The level sets the part limit, and the maturity check reads whether the figure was made to it.
  */
-export declare const DETAIL_LEVELS: readonly ["S", "M", "L"];
+export declare const DETAIL_LEVELS: readonly ["S", "M", "L", "XL"];
 export type DetailLevel = (typeof DETAIL_LEVELS)[number];
 /** The part limit of each detail level. */
 export declare const PART_LIMIT: Record<DetailLevel, number>;
+/** Whether a value is one of the detail levels. */
+export declare const isDetailLevel: (value: unknown) => value is DetailLevel;
 /**
  * Faces set against each other are exactly 0 apart; a floating-point remainder counts as touching. One tolerance for
  * every contact the gate measures, so no two checks disagree on whether a face touches.

package/dist/words.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"words.d.ts","sourceRoot":"","sources":["../src/words.ts"],"names":[],"mappings":"AAUA,eAAO,MAAM,IAAI,0BAA2B,CAAA;AAC5C,MAAM,MAAM,IAAI,GAAG,CAAC,OAAO,IAAI,CAAC,CAAC,MAAM,CAAC,CAAA;AAExC,MAAM,WAAW,IAAI;IACnB,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;CACV;AAED;;;;;;;;;;GAUG;AACH,eAAO,MAAM,mBAAmB,+DAAgE,CAAA;AAChG,MAAM,MAAM,gBAAgB,GAAG,CAAC,OAAO,mBAAmB,CAAC,CAAC,MAAM,CAAC,CAAA;AAEnE;;;GAGG;AACH,eAAO,MAAM,gBAAgB,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,SAAS,gBAAgB,EAAE,CAAC,CAEjF,CAAA;AAEF,gFAAgF;AAChF,eAAO,MAAM,gBAAgB,gFAAiF,CAAA;AAC9G,MAAM,MAAM,cAAc,GAAG,CAAC,OAAO,gBAAgB,CAAC,CAAC,MAAM,CAAC,CAAA;AAE9D;;;GAGG;AACH,eAAO,MAAM,YAAY,MAAM,CAAA;AAE/B;;;;;;;;;GASG;AACH,eAAO,MAAM,aAAa,gCAAiC,CAAA;AAC3D,MAAM,MAAM,WAAW,GAAG,CAAC,OAAO,aAAa,CAAC,CAAC,MAAM,CAAC,CAAA;AAExD,2CAA2C;AAC3C,eAAO,MAAM,UAAU,EAAE,MAAM,CAAC,WAAW,EAAE,MAAM,CAAiC,CAAA;AAEpF,mDAAmD;AACnD,eAAO,MAAM,aAAa,GAAI,OAAO,OAAO,KAAG,KAAK,IAAI,WAAoE,CAAA;AAE5H;;;GAGG;AACH,eAAO,MAAM,IAAI,MAAM,CAAA;AAEvB,MAAM,MAAM,WAAW,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;AAE/C;;;GAGG;AACH,eAAO,MAAM,MAAM;IACjB,2GAA2G;;IAE3G,qEAAqE;;IAErE,0EAA0E;;IAE1E;;;;OAIG;;IAEH;;;OAGG;;IAEH;;;;OAIG;;IAEH,mDAAmD;;IAEnD,mGAAmG;;IAEnG,iDAAiD;;CAEzC,CAAA;AAEV;;;;GAIG;AACH,eAAO,MAAM,eAAe,EAAE,SAAS,MAAM,EAA4B,CAAA;AAEzE,iEAAiE;AACjE,eAAO,MAAM,kBAAkB,EAAE,QAAQ,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAA4D,CAAA;AAE1H;;;;GAIG;AACH,eAAO,MAAM,YAAY,QAAkC,CAAA;AAC3D,eAAO,MAAM,WAAW;;;CAA+B,CAAA;AAEvD;;;;GAIG;AACH,wBAAgB,eAAe,CAAC,GAAG,GAAE,MAAmB,GAAG,MAAM,CAEhE;AAID,iFAAiF;AACjF,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAEvD;AAED;;;;;GAKG;AACH,eAAO,MAAM,0BAA0B,OAAO,CAAA"}

package/dist/words.js

@@ -39,12 +39,15 @@ export const REPEAT_LIMIT = 100;
  *   S simple    a sign, a post
  *   M ordinary  most equipment
  *   L detailed  the large equipment a scene is about
+ *   XL fine     a mechanism of many links -- a robot with legs, a humanoid, an arm on a vehicle
  *
  * The level sets the part limit, and the maturity check reads whether the figure was made to it.
  */
-export const DETAIL_LEVELS = ['S', 'M', 'L'];
+export const DETAIL_LEVELS = ['S', 'M', 'L', 'XL'];
 /** The part limit of each detail level. */
-export const PART_LIMIT = { S: 3, M: 8, L: 20 };
+export const PART_LIMIT = { S: 3, M: 8, L: 20, XL: 60 };
+/** Whether a value is one of the detail levels. */
+export const isDetailLevel = (value) => DETAIL_LEVELS.includes(value);
 /**
  * Faces set against each other are exactly 0 apart; a floating-point remainder counts as touching. One tolerance for
  * every contact the gate measures, so no two checks disagree on whether a face touches.

package/dist/words.js.map

@@ -1 +1 @@
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+{"version":3,"file":"words.js","sourceRoot":"","sources":["../src/words.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH;;;;GAIG;AAEH,MAAM,CAAC,MAAM,IAAI,GAAG,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAU,CAAA;AAS5C;;;;;;;;;;GAUG;AACH,MAAM,CAAC,MAAM,mBAAmB,GAAG,CAAC,UAAU,EAAE,UAAU,EAAE,cAAc,EAAE,UAAU,CAAU,CAAA;AAGhG;;;GAGG;AACH,MAAM,CAAC,MAAM,gBAAgB,GAA0D,MAAM,CAAC,MAAM,CAAC;IACnG,YAAY,EAAE,CAAC,UAAU,EAAE,UAAU,CAAC;CACvC,CAAC,CAAA;AAEF,gFAAgF;AAChF,MAAM,CAAC,MAAM,gBAAgB,GAAG,CAAC,SAAS,EAAE,OAAO,EAAE,OAAO,EAAE,SAAS,EAAE,MAAM,EAAE,SAAS,EAAE,QAAQ,CAAU,CAAA;AAG9G;;;GAGG;AACH,MAAM,CAAC,MAAM,YAAY,GAAG,GAAG,CAAA;AAE/B;;;;;;;;;GASG;AACH,MAAM,CAAC,MAAM,aAAa,GAAG,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,IAAI,CAAU,CAAA;AAG3D,2CAA2C;AAC3C,MAAM,CAAC,MAAM,UAAU,GAAgC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAA;AAEpF,mDAAmD;AACnD,MAAM,CAAC,MAAM,aAAa,GAAG,CAAC,KAAc,EAAwB,EAAE,CAAE,aAAoC,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAA;AAE5H;;;GAGG;AACH,MAAM,CAAC,MAAM,IAAI,GAAG,GAAG,CAAA;AAIvB;;;GAGG;AACH,MAAM,CAAC,MAAM,MAAM,GAAG;IACpB,2GAA2G;IAC3G,iBAAiB,EAAE,CAAC;IACpB,qEAAqE;IACrE,cAAc,EAAE,IAAI;IACpB,0EAA0E;IAC1E,iBAAiB,EAAE,OAAO;IAC1B;;;;OAIG;IACH,eAAe,EAAE,GAAG;IACpB;;;OAGG;IACH,gBAAgB,EAAE,EAAE;IACpB;;;;OAIG;IACH,oBAAoB,EAAE,MAAM;IAC5B,mDAAmD;IACnD,oBAAoB,EAAE,CAAC;IACvB,mGAAmG;IACnG,eAAe,EAAE,CAAC;IAClB,iDAAiD;IACjD,WAAW,EAAE,CAAC;CACN,CAAA;AAEV;;;;GAIG;AACH,MAAM,CAAC,MAAM,eAAe,GAAsB,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAA;AAEzE,iEAAiE;AACjE,MAAM,CAAC,MAAM,kBAAkB,GAAmC,MAAM,CAAC,MAAM,CAAC,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,CAAA;AAE1H;;;;GAIG;AACH,MAAM,CAAC,MAAM,YAAY,GAAG,+BAA+B,CAAA;AAC3D,MAAM,CAAC,MAAM,WAAW,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,EAAE,EAAW,CAAA;AAEvD;;;;GAIG;AACH,MAAM,UAAU,eAAe,CAAC,MAAc,IAAI,CAAC,GAAG,EAAE;IACtD,OAAO,UAAU,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC,WAAW,EAAE,EAAE,CAAA;AACnD,CAAC;AAED,MAAM,gBAAgB,GAAG,sBAAsB,CAAA;AAE/C,iFAAiF;AACjF,MAAM,UAAU,iBAAiB,CAAC,IAAY;IAC5C,OAAO,gBAAgB,CAAC,IAAI,CAAC,IAAI,CAAC,CAAA;AACpC,CAAC;AAED;;;;;GAKG;AACH,MAAM,CAAC,MAAM,0BAA0B,GAAG,IAAI,CAAA"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@hatiolab/figure-model",
-  "version": "0.2.6",
+  "version": "0.2.7",
   "description": "The figure format (figure-asset-1): a kernel that evaluates a figure from its declared relations, the authoring commands a modeller and an AI share, the release gate and the score.",
   "keywords": [
     "figure",