@hatiolab/figure-model 0.6.3 → 0.6.5

package/dist/robots.js

@@ -9,6 +9,7 @@ import { applyFigureAuthoring } from "./authoring-actions.js";
 import { proposeFigureOccupancy } from "./authoring-occupancy.js";
 import {} from "./authoring-types.js";
 import { addFigurePrimitive, createFigureAsset } from "./create.js";
+import { editFigurePart } from "./part-edit.js";
 import { figureJointsOf } from "./joint-list.js";
 const at = { x: 0, y: 0, z: 0 };
 const metal = (token) => ({ token, preset: 'metal' });
@@ -112,6 +113,92 @@ function addArm(r, on) {
     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 } });
 }
+/* ---------------------------------------------------------------- the robot dog: data, motion, items (ADR-0051) */
+/** The robot dog's walk and run: how far each thigh swings and each knee bends, and how long a stride takes. */
+export const ROBOT_DOG_GAITS = { walk: { seconds: 1.2, swing: 20, bend: 40 }, run: { seconds: 0.6, swing: 40, bend: 80 } };
+/**
+ * The four-legged robot made the example of ADR-0051 §5 (detail design §9): a head that turns, walk and run on the same
+ * thighs and knees with idle holding the legs straight, one motion group selecting among them, public data properties
+ * -- mode, cadence, headAngle, batteryLow -- and two box places on its back. Every step is a shared command. The numbers
+ * are for seeing it work, not a gait a real machine walks.
+ */
+export function robotDogFigure() {
+    const dog = quadrupedRobotFigure();
+    let asset = dog.asset;
+    const step = (edit) => (asset = editFigurePart(asset, edit));
+    /* The head turns about the vertical where it meets the body, ±45°. */
+    asset = applyFigureAuthoring(asset, {
+        kind: 'set-joint',
+        joint: { id: 'head', type: 'revolute', body0: { part: 'body', face: 'right' }, body1: { part: 'head', face: 'left' }, axis: 'Y', lowerLimit: -45, upperLimit: 45 }
+    });
+    /* A lamp colour the battery state chooses, on the sensor head. */
+    step({ kind: 'set-material', target: 'head', material: { token: 'palette.battery', preset: 'plastic' }, palette: { 'palette.battery': '#22aa66' } });
+    const legs = QUADRUPED_LEGS.map(l => l.leg);
+    const gait = (clip, seconds, swing, bend, group) => legs.flatMap(leg => [
+        {
+            kind: 'set-driver',
+            state: `${leg}-thigh`,
+            clip,
+            duration: seconds,
+            keys: [{ seconds: 0, value: 0 }, { seconds: seconds / 4, value: swing }, { seconds: (seconds * 3) / 4, value: -swing }, { seconds, value: 0 }],
+            ...(group ? { group } : {})
+        },
+        { kind: 'set-driver', state: `${leg}-knee`, clip, duration: seconds, keys: [{ seconds: 0, value: 0 }, { seconds: seconds / 2, value: bend }, { seconds, value: 0 }], ...(group ? { group } : {}) }
+    ]);
+    const { walk, run } = ROBOT_DOG_GAITS;
+    gait('walk', walk.seconds, walk.swing, walk.bend).forEach(step);
+    step({ kind: 'set-motion-group', group: { id: 'locomotion', label: '보행', clips: ['walk'], defaultClip: 'walk', transitionSeconds: 0.2 } });
+    gait('run', run.seconds, run.swing, run.bend, 'locomotion').forEach(step);
+    /* Idle holds every leg straight: a short clip whose keys stay at the rest pose. */
+    gait('idle', 0.5, 0, 0, 'locomotion').forEach(e => step({ ...e, loop: 'hold' }));
+    step({ kind: 'set-motion-group', group: { id: 'locomotion', label: '보행', clips: ['idle', 'walk', 'run'], defaultClip: 'idle', transitionSeconds: 0.2 } });
+    const properties = [
+        { id: 'mode', label: '동작', kind: 'enum', values: ['idle', 'walk', 'run'], default: 'idle' },
+        { id: 'cadence', label: '동작 속도', kind: 'number', unit: 'ratio', min: 0, max: 3, default: 1 },
+        { id: 'headAngle', label: '머리 각도', kind: 'number', unit: 'deg', min: -45, max: 45, default: 0 },
+        { id: 'batteryLow', label: '배터리 부족', kind: 'boolean', default: false }
+    ];
+    properties.forEach(property => step({ kind: 'set-data-property', property }));
+    const connections = [
+        {
+            id: 'mode-locomotion',
+            property: 'mode',
+            transform: { kind: 'lookup', cases: ['idle', 'walk', 'run'].map(m => ({ when: m, value: m })) },
+            target: { kind: 'motion-clip', group: 'locomotion' }
+        },
+        { id: 'cadence-locomotion', property: 'cadence', transform: { kind: 'identity' }, target: { kind: 'motion-speed', group: 'locomotion' } },
+        { id: 'head-angle', property: 'headAngle', transform: { kind: 'identity' }, target: { kind: 'state', input: 'head', sourceMode: 'observed' } },
+        {
+            id: 'battery-colour',
+            property: 'batteryLow',
+            transform: { kind: 'lookup', cases: [{ when: false, value: '#22aa66' }, { when: true, value: '#cc3344' }] },
+            target: { kind: 'palette', token: 'palette.battery' }
+        }
+    ];
+    connections.forEach(connection => step({ kind: 'set-data-connection', connection }));
+    /* Two box places side by side on the back, 240 apart along the body. */
+    asset = applyFigureAuthoring(asset, {
+        kind: 'set-slot-layout',
+        label: '등 적재',
+        role: 'seat',
+        anchors: [{ id: 'back-load', part: 'body', face: 'top' }],
+        layout: {
+            tiers: [
+                {
+                    tierNo: 1,
+                    anchorId: 'back-load',
+                    mount: 'ON',
+                    position: { x: 0, y: 0, z: 0 },
+                    rotation: 0,
+                    layout: { pattern: 'ROW', count: 2, pitch: 240, axis: 'X', slot: { allowed: { width: 200, depth: 220, height: 150 }, accepts: [ROBOT_DOG_BOX], stackLimit: 1 } }
+                }
+            ]
+        }
+    });
+    return { asset, joints: figureJointsOf(asset).joints };
+}
+/** The item type the robot dog's back takes: an example's own, not a carrier type of any site. */
+export const ROBOT_DOG_BOX = 'EXAMPLE-BOX';
 /* ---------------------------------------------------------------- mobile manipulator */
 const AMR = { length: 1000, height: 280, width: 700, clearance: 50, wheel: 110 };
 /**

package/dist/robots.js.map

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package/dist/room.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"room.d.ts","sourceRoot":"","sources":["../src/room.ts"],"names":[],"mappings":"AAMA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AACnD,OAAO,KAAK,EAAE,qBAAqB,EAAE,MAAM,sBAAsB,CAAA;AAMjE,OAAO,EAAQ,KAAK,IAAI,EAAE,MAAM,YAAY,CAAA;AAG5C,KAAK,MAAM,GAAG,MAAM,CAAC,IAAI,EAAE;IAAE,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,CAAC,CAAA;AAoBxD;;;;GAIG;AACH,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,WAAW,EAAE,IAAI,CAAC,EAAE,MAAM,GAAG,MAAM,EAAE,CAiBlF;AAED,MAAM,WAAW,eAAe;IAC9B,wHAAwH;IACxH,IAAI,EAAE,OAAO,CAAC,qBAAqB,EAAE;QAAE,IAAI,EAAE,mBAAmB,CAAA;KAAE,CAAC,CAAA;IACnE,yHAAyH;IACzH,QAAQ,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,OAAO,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IAChD,QAAQ,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,OAAO,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IAChD,6GAA6G;IAC7G,wHAAwH;IACxH,KAAK,EAAE,MAAM,EAAE,CAAA;IACf,OAAO,EAAE;QAAE,QAAQ,EAAE,iBAAiB,CAAC;QAAC,QAAQ,EAAE,iBAAiB,CAAA;KAAE,CAAA;CACtE;AACD,wEAAwE;AACxE,MAAM,MAAM,iBAAiB,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAC;IAAC,EAAE,EAAE,MAAM,CAAA;CAAE,CAAA;AACxE,mHAAmH;AACnH,MAAM,MAAM,iBAAiB,GAAG;IAAE,KAAK,EAAE,iBAAiB,EAAE,CAAC;IAAC,QAAQ,EAAE;QAAE,MAAM,EAAE,QAAQ,GAAG,SAAS,GAAG,UAAU,CAAC;QAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAA;CAAE,CAAA;AAEvI,mGAAmG;AACnG,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,WAAW,GAAG,eAAe,GAAG,SAAS,CAgCjF"}
+{"version":3,"file":"room.d.ts","sourceRoot":"","sources":["../src/room.ts"],"names":[],"mappings":"AAMA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AACnD,OAAO,KAAK,EAAE,qBAAqB,EAAE,MAAM,sBAAsB,CAAA;AAMjE,OAAO,EAAQ,KAAK,IAAI,EAAE,MAAM,YAAY,CAAA;AAG5C,KAAK,MAAM,GAAG,MAAM,CAAC,IAAI,EAAE;IAAE,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,CAAC,CAAA;AAoBxD;;;;GAIG;AACH,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,WAAW,EAAE,IAAI,CAAC,EAAE,MAAM,GAAG,MAAM,EAAE,CAkBlF;AAED,MAAM,WAAW,eAAe;IAC9B,wHAAwH;IACxH,IAAI,EAAE,OAAO,CAAC,qBAAqB,EAAE;QAAE,IAAI,EAAE,mBAAmB,CAAA;KAAE,CAAC,CAAA;IACnE,yHAAyH;IACzH,QAAQ,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,OAAO,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IAChD,QAAQ,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,OAAO,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IAChD,6GAA6G;IAC7G,wHAAwH;IACxH,KAAK,EAAE,MAAM,EAAE,CAAA;IACf,OAAO,EAAE;QAAE,QAAQ,EAAE,iBAAiB,CAAC;QAAC,QAAQ,EAAE,iBAAiB,CAAA;KAAE,CAAA;CACtE;AACD,wEAAwE;AACxE,MAAM,MAAM,iBAAiB,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAC;IAAC,EAAE,EAAE,MAAM,CAAA;CAAE,CAAA;AACxE,mHAAmH;AACnH,MAAM,MAAM,iBAAiB,GAAG;IAAE,KAAK,EAAE,iBAAiB,EAAE,CAAC;IAAC,QAAQ,EAAE;QAAE,MAAM,EAAE,QAAQ,GAAG,SAAS,GAAG,UAAU,CAAC;QAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAA;CAAE,CAAA;AAEvI,mGAAmG;AACnG,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,WAAW,GAAG,eAAe,GAAG,SAAS,CAgCjF"}

package/dist/room.js

@@ -46,6 +46,7 @@ export function figureRoomOnlyInputsOf(asset, part) {
         ...stringsIn(a.document.capabilities),
         ...stringsIn(a.drivers),
         ...stringsIn(a.publicInputs),
+        ...stringsIn(a.dataInterface),
         ...stringsIn(a.joints)
     ]);
     const room = readFrom(m, stringsIn(a.occupancy));

package/dist/room.js.map

@@ -1 +1 @@
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package/docs/motion-contract.md

@@ -103,7 +103,8 @@ not a graph node. Responsibilities:
 
 ```
 drivers: [{
-  id: 'run',
+  id: 'run/roller.spin',             // opaque, made once; nothing is read out of it
+  clip: 'run',                       // the playback group: every driver of a clip shares one clock and duration
   state: 'roller.spin',              // the state input it writes
   time: { unit: 's', duration: 0.833 },
   keys: [{ at: 0, value: 0 }, { at: 1, value: 360 }],   // `at` is a fraction 0..1 of duration
@@ -122,7 +123,34 @@ drivers: [{
 - **One writer per state at a time.** A state input may be named by a driver and also written by a connector. The
   asset's stateDefaults, drivers and external inputs are three sources; the consumer selects the **active control
   source per state** explicitly (`driver` or `external`). Values are never summed and "last call wins" is not a
-  rule. figure-model's validation refuses two drivers naming the same state.
+  rule. figure-model's validation refuses two clips writing the same state, unless both are in one motion group
+  (below). A clip writes a state at most once.
+
+### Motion groups: one clip of several at a time (ADR-0051 §3.2)
+
+A quadruped walks and runs on the same thighs and knees. `motionGroups` names clips of which one plays at a time:
+
+```
+motionGroups: [{ id: 'locomotion', label: '보행', clips: ['idle', 'walk', 'run'], defaultClip: 'idle', transitionSeconds: 0.2 }]
+```
+
+- The curves stay in `drivers`; a group only names clips. A clip is in one group at most. A state may be written by
+  several clips only when they are all in one group, and the group's **selected** clip writes it. List order never
+  decides.
+- A state of the group that the selected clip does not write holds its `stateDefaults` value. Idle is a short clip
+  whose keys stay at the rest pose, never an empty clip.
+- Keys of a grouped clip lie inside their input's range: a change of clip blends between two of them.
+- `driverStates(asset, t)` refuses a grouped figure (`MOTION_SELECTION_REQUIRED`). `sampleFigureMotion(plan,
+  selection, times)` samples a selection, every group named; `blendFigureMotion(plan, from, to, alpha)` blends two
+  poses straight, a phase the short way round (the positive way at exactly half a turn). Neither keeps a clock.
+- Which clip and how fast is resolved by `resolveFigureMotionSettings(plan, manual, data)`: a data connection over the
+  board's saved setting over the group's default clip at speed 0. Pause is the board's only.
+- Clips in no group play on their own, as before; the board's `clips` (clip → speed) plays them. The consumer's
+  instance owns the clock, the clip a change starts from and how long it has run (detail design §5.2 in
+  operato-application `packages/operato-figure/docs/data-motion-items-detail-design-2026-10-13.md`).
+- Editing names a track by clip and control: `set-driver` replaces only that pair (`group` puts a new clip into a group
+  in the same step), `remove-driver` needs `clip` when several clips play the control (`DRIVER_AMBIGUOUS`), a clip
+  renamed is renamed in its group and in every data lookup that selects it.
 
 A part that spins without a joint (the conveyor roller) has a continuous state input on that part, `<part>.spin`,
 driving an `axis-turn@1` about the part's own axis, and a driver with `accumulates: true`.

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@hatiolab/figure-model",
-  "version": "0.6.3",
+  "version": "0.6.5",
   "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",