@hatiolab/figure-model 0.6.4 → 0.6.6

package/dist/proposal.js

@@ -31,6 +31,14 @@ const PART_EDIT_KINDS = [
     'set-driver',
     'remove-driver',
     'set-clip',
+    'set-motion-group',
+    'remove-motion-group',
+    'set-data-schema',
+    'rename-data-field',
+    'set-data-binding',
+    'remove-data-binding',
+    'set-status-port',
+    'remove-status-port',
     'duplicate-part',
     'move-part',
     'rename-part',
@@ -187,9 +195,29 @@ export const FIGURE_PROPOSAL_GRAMMAR = [
     { kind: 'set-capabilities', shape: `{ kind: 'set-capabilities', names: string[] }`, means: 'What the figure can do, by name, for a scene to attach behaviour.' },
     { kind: 'set-state-input', shape: `{ kind: 'set-state-input', input, label?, sweep?, min?, max?, start? }`, means: 'A control: the words a person sees, how long it takes to travel, its range and where it starts.' },
     { kind: 'set-state-defaults', shape: `{ kind: 'set-state-defaults', values: { [control]: number } }`, means: 'The pose the figure stands in.' },
-    { kind: 'set-driver', shape: `{ kind: 'set-driver', state, clip, duration?, keys: [{ seconds, value }], interpolation?: 'linear' | 'step', loop?: 'wrap' | 'hold', accumulates? }`, means: 'A control played over time in a clip.' },
-    { kind: 'remove-driver', shape: `{ kind: 'remove-driver', state }`, means: 'The control is not played any more.' },
-    { kind: 'set-clip', shape: `{ kind: 'set-clip', clip, name?, duration? }`, means: 'A clip renamed, or its length changed.' }
+    { kind: 'set-driver', shape: `{ kind: 'set-driver', state, clip, duration?, keys: [{ seconds, value }], interpolation?: 'linear' | 'step', loop?: 'wrap' | 'hold', accumulates?, group? }`, means: 'A control played over time in a clip. group puts a new clip in that motion group, so it may play a control the group already plays.' },
+    { kind: 'remove-driver', shape: `{ kind: 'remove-driver', state, clip? }`, means: 'The control is not played in that clip any more. Name the clip when several clips play the control.' },
+    { kind: 'set-clip', shape: `{ kind: 'set-clip', clip, name?, duration? }`, means: 'A clip renamed, or its length changed.' },
+    {
+        kind: 'set-motion-group',
+        shape: `{ kind: 'set-motion-group', group: { id, label, clips: string[], defaultClip, transitionSeconds } }`,
+        means: 'Clips of which one plays at a time, on the same controls -- idle, walk, run. Only clips of one group may play the same control.'
+    },
+    { kind: 'remove-motion-group', shape: `{ kind: 'remove-motion-group', id }`, means: 'The group goes; refused while two of its clips play one control.' },
+    {
+        kind: 'set-data-schema',
+        shape: `{ kind: 'set-data-schema', schema: [{ name, label?, kind: 'object', fields } | { name, label?, kind: 'list', item } | { name, label?, kind: 'number', unit?, min?, max?, default? } | { name, label?, kind: 'boolean', default? } | { name, label?, kind: 'text', values?, default? }, json?: true] }`,
+        means: "The data the figure takes, in the site's own field names: objects, lists and values. Replaced whole; a field a binding reads may not go."
+    },
+    { kind: 'rename-data-field', shape: `{ kind: 'rename-data-field', accessor, to }`, means: "A field's name, and every binding that reads through it." },
+    {
+        kind: 'set-data-binding',
+        shape: `{ kind: 'set-data-binding', binding: { id, accessor: 'A.B' | 'L[0].F' | 'L', behavior: { kind: 'state', input: control, sourceMode: 'observed' | 'commanded' } | { kind: 'palette', token } | { kind: 'motion-clip' | 'motion-speed' | 'motion-paused', group } | { kind: 'status', port } | { kind: 'pose', axis: 'x' | 'y' | 'z' | 'heading', seconds? } | { kind: 'items', slot?, id?, type?, place?, stack?, status? }, rule: 'value' | 'map' | 'range' | 'scale', param? } }`,
+        means: "What a value of the data moves, by the board's rules: as it is, one result per value (map, with a default), one per interval ('from~to'), or scale × value + offset."
+    },
+    { kind: 'remove-data-binding', shape: `{ kind: 'remove-data-binding', id }`, means: 'The binding goes.' },
+    { kind: 'set-status-port', shape: `{ kind: 'set-status-port', port: { id, label, tokens: string[], parts: string[], group? } }`, means: "Where a status is shown: the colours a template's colour goes to, the parts its blinking goes to." },
+    { kind: 'remove-status-port', shape: `{ kind: 'remove-status-port', id }`, means: 'The port goes; refused while a binding reads it.' }
 ];
 export const FIGURE_PROPOSAL_KINDS = [
     'add-part',
@@ -239,6 +267,14 @@ export const FIGURE_PROPOSAL_KINDS = [
     'set-state-defaults',
     'set-driver',
     'remove-driver',
-    'set-clip'
+    'set-clip',
+    'set-motion-group',
+    'remove-motion-group',
+    'set-data-schema',
+    'rename-data-field',
+    'set-data-binding',
+    'remove-data-binding',
+    'set-status-port',
+    'remove-status-port'
 ];
 //# sourceMappingURL=proposal.js.map

package/dist/proposal.js.map

@@ -1 +1 @@
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package/dist/release-contract.d.ts

@@ -1,5 +1,5 @@
 import type { FigureAsset } from './asset-types.ts';
-export type FigureContractChangeCode = 'placement-changed' | 'size-inputs-gone' | 'size-inputs-added' | 'size-range-narrowed' | 'authored-size-changed' | 'state-input-gone' | 'state-unit-changed' | 'state-range-narrowed' | 'state-input-added' | 'clip-gone' | 'clip-added' | 'binding-gone' | 'binding-role-changed' | 'binding-capacity-reduced' | 'binding-accepts-narrowed' | 'binding-added' | 'slot-moved' | 'slot-anchor-gone' | 'slot-anchor-moved' | 'capability-gone' | 'capability-added' | 'occupancy-changed' | 'contact-face-changed' | 'public-input-gone' | 'public-input-range-narrowed' | 'public-input-added' | 'state-input-joints-changed' | 'joint-axis-changed' | 'joint-child-changed' | 'joint-motion-unit-changed' | 'joint-list-unread' | 'carrier-gone' | 'carrier-added' | 'carrier-type-changed' | 'carrier-dimensions-changed';
+export type FigureContractChangeCode = 'placement-changed' | 'size-inputs-gone' | 'size-inputs-added' | 'size-range-narrowed' | 'authored-size-changed' | 'state-input-gone' | 'state-unit-changed' | 'state-range-narrowed' | 'state-input-added' | 'clip-gone' | 'clip-added' | 'binding-gone' | 'binding-role-changed' | 'binding-capacity-reduced' | 'binding-accepts-narrowed' | 'binding-added' | 'slot-moved' | 'slot-anchor-gone' | 'slot-anchor-moved' | 'capability-gone' | 'capability-added' | 'occupancy-changed' | 'contact-face-changed' | 'public-input-gone' | 'public-input-range-narrowed' | 'public-input-added' | 'state-input-joints-changed' | 'joint-axis-changed' | 'joint-child-changed' | 'joint-motion-unit-changed' | 'joint-list-unread' | 'carrier-gone' | 'carrier-added' | 'carrier-type-changed' | 'carrier-dimensions-changed' | 'data-field-gone' | 'data-field-kind-changed' | 'data-field-narrowed' | 'data-field-added' | 'data-field-label-changed' | 'data-field-default-changed' | 'data-bindings-changed' | 'motion-group-gone' | 'motion-group-clip-removed' | 'motion-clip-group-changed' | 'motion-group-added' | 'motion-group-clip-added' | 'motion-group-default-changed' | 'motion-group-transition-changed';
 export interface FigureContractChange {
     code: FigureContractChangeCode;
     /** True refuses the release. */

package/dist/release-contract.d.ts.map

@@ -1 +1 @@
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package/dist/release-contract.js

@@ -1,3 +1,4 @@
+import { figureDataRows } from "./data-interface.js";
 import { figureSlotPlacesOf } from "./slot-places.js";
 import { FIGURE_SIZE_INPUTS } from "./words.js";
 import { figurePlacementOf } from "./asset.js";
@@ -332,10 +333,92 @@ export function figureContractChanges(before, after) {
                 detail: `carrier dimensions changed: ${size(wasCarrier)} → ${size(nowCarrier)} mm`
             });
     }
+    dataChanges(before, after, push);
+    motionGroupChanges(before, after, push);
     /* ── joints ────────────────────────────────────────────────────────────── */
     jointChanges(before, after, wasState, nowState, push);
     return changes;
 }
+/** What a site's data leans on: the schema's paths, each one's kind, unit and the values it takes. */
+function dataChanges(before, after, push) {
+    const rows = (a) => new Map((a.dataInterface ? figureDataRows(a.dataInterface) : []).map(r => [r.path, r]));
+    const was = rows(before);
+    const now = rows(after);
+    const say = (n) => (n.kind === 'number' && n.unit ? `number ${n.unit}` : n.kind);
+    for (const [path, a] of was) {
+        const b = now.get(path);
+        if (!b) {
+            push({ code: 'data-field-gone', blocking: true, subject: path, values: { id: path }, detail: `data field ${path} is gone` });
+            continue;
+        }
+        if (say(a.node) !== say(b.node) || a.json !== b.json) {
+            push({ code: 'data-field-kind-changed', blocking: true, subject: path, values: { id: path, before: say(a.node), after: say(b.node) }, detail: `data field ${path} changed: ${say(a.node)} → ${say(b.node)}` });
+            continue;
+        }
+        const x = a.node;
+        const y = b.node;
+        if (x.kind === 'number' && y.kind === 'number') {
+            const lower = (v) => v ?? -Infinity;
+            const upper = (v) => v ?? Infinity;
+            if (lower(y.min) > lower(x.min) || upper(y.max) < upper(x.max))
+                push({ code: 'data-field-narrowed', blocking: true, subject: path, values: { id: path, before: `${x.min ?? ''}…${x.max ?? ''}`, after: `${y.min ?? ''}…${y.max ?? ''}` }, detail: `data field ${path} narrowed` });
+        }
+        if (x.kind === 'text' && y.kind === 'text' && y.values) {
+            const dropped = x.values ? x.values.filter(v => !y.values.includes(v)) : ['(any)'];
+            if (dropped.length)
+                push({ code: 'data-field-narrowed', blocking: true, subject: path, values: { id: path, before: x.values?.join(', ') ?? '', after: y.values.join(', ') }, detail: `data field ${path} no longer takes ${dropped.join(', ')}` });
+        }
+        if ((a.label ?? '') !== (b.label ?? ''))
+            push({ code: 'data-field-label-changed', blocking: false, subject: path, values: { id: path, before: a.label ?? '', after: b.label ?? '' }, detail: `data field ${path} label changed` });
+        const d = (n) => ('default' in n && n.default !== undefined ? String(n.default) : '');
+        if (d(x) !== d(y))
+            push({ code: 'data-field-default-changed', blocking: false, subject: path, values: { id: path, before: d(x), after: d(y) }, detail: `data field ${path} default changed: ${d(x)} → ${d(y)}` });
+    }
+    for (const path of now.keys())
+        if (!was.has(path))
+            push({ code: 'data-field-added', blocking: false, subject: path, values: { id: path }, detail: `data field ${path} is new` });
+    /* What the data moves: a new pose, colour, clip or item place for the same data, said and not refused. */
+    const moved = (a) => JSON.stringify([[...(a.dataInterface?.bindings ?? [])].sort((p, q) => (p.id < q.id ? -1 : p.id > q.id ? 1 : 0)), a.dataInterface?.ports ?? []]);
+    if (moved(before) !== moved(after))
+        push({ code: 'data-bindings-changed', blocking: false, values: {}, detail: 'what the data moves changed' });
+}
+/** What a board's selection leans on: the group ids, the clips each holds, which group a clip is in. */
+function motionGroupChanges(before, after, push) {
+    const was = new Map((before.motionGroups ?? []).map(g => [g.id, g]));
+    const now = new Map((after.motionGroups ?? []).map(g => [g.id, g]));
+    for (const [id, a] of was) {
+        const b = now.get(id);
+        if (!b) {
+            push({ code: 'motion-group-gone', blocking: true, subject: id, values: { group: id }, detail: `motion group ${id} is gone` });
+            continue;
+        }
+        for (const clip of a.clips)
+            if (!b.clips.includes(clip))
+                push({ code: 'motion-group-clip-removed', blocking: true, subject: id, values: { group: id, clip }, detail: `motion group ${id} no longer holds ${clip}` });
+        for (const clip of b.clips)
+            if (!a.clips.includes(clip))
+                push({ code: 'motion-group-clip-added', blocking: false, subject: id, values: { group: id, clip }, detail: `motion group ${id} now holds ${clip}` });
+        if (a.defaultClip !== b.defaultClip)
+            push({ code: 'motion-group-default-changed', blocking: false, subject: id, values: { group: id, before: a.defaultClip, after: b.defaultClip }, detail: `motion group ${id} starts with ${b.defaultClip}, was ${a.defaultClip}` });
+        if (a.transitionSeconds !== b.transitionSeconds)
+            push({ code: 'motion-group-transition-changed', blocking: false, subject: id, values: { group: id, before: a.transitionSeconds, after: b.transitionSeconds }, detail: `motion group ${id} changes clip over ${b.transitionSeconds} s, was ${a.transitionSeconds} s` });
+    }
+    for (const id of now.keys())
+        if (!was.has(id))
+            push({ code: 'motion-group-added', blocking: false, subject: id, values: { group: id }, detail: `motion group ${id} is new` });
+    /*
+      A clip of both releases that played on its own and is in a group now: the board's `clips` played it, and now the
+      group's selection does. A clip that left a group is said above, as the group gone or the clip removed from it.
+    */
+    const nowGroup = new Map((after.motionGroups ?? []).flatMap(g => g.clips.map(c => [c, g.id])));
+    const wasGrouped = new Set((before.motionGroups ?? []).flatMap(g => g.clips));
+    const nowClips = clipsOf(after);
+    for (const clip of clipsOf(before)) {
+        const group = nowGroup.get(clip);
+        if (nowClips.has(clip) && group !== undefined && !wasGrouped.has(clip))
+            push({ code: 'motion-clip-group-changed', blocking: true, subject: clip, values: { clip, group }, detail: `clip ${clip} played on its own and is now in motion group ${group}` });
+    }
+}
 /**
  * Types a place took before and does not now. A place names what it takes (ADR-0087 decision 3) and an empty list is
  * refused when a figure is compiled, so an empty list can only be a release from before that rule, where it meant

package/dist/release-contract.js.map

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package/dist/robots.d.ts

@@ -43,6 +43,52 @@ export declare const COBOT_CHAIN: {
         max: number;
     };
 }[];
+/**
+ * The robot dog's walk and run. Each leg runs the same cycle -- stance, the foot on the ground sweeping from front to back
+ * and pushing the body toward the head, then swing, the knee lifting the foot and the thigh carrying it forward again --
+ * started at its own point: `touchdown` is the fraction of the stride at which that leg's foot comes down. `duty` is the
+ * part of the cycle a foot is on the ground, `swing` how far a thigh turns either side of straight (+ is toward the head),
+ * `bend` how far a knee lifts the foot at the middle of its swing, `seconds` how long a stride takes.
+ *
+ * The walk is a four-beat lateral sequence: hind left, front left, hind right, front right, a quarter apart, three feet
+ * down at a time. The run is a trot: the diagonal pairs -- front left with hind right, front right with hind left -- come
+ * down together, half a stride apart, with a longer stride and a higher knee.
+ */
+export declare const ROBOT_DOG_GAITS: {
+    readonly walk: {
+        readonly seconds: 1.2;
+        readonly swing: 15;
+        readonly bend: 40;
+        readonly duty: 0.75;
+        readonly touchdown: {
+            readonly hl: 0;
+            readonly fl: 0.25;
+            readonly hr: 0.5;
+            readonly fr: 0.75;
+        };
+    };
+    readonly run: {
+        readonly seconds: 0.5;
+        readonly swing: 25;
+        readonly bend: 70;
+        readonly duty: 0.5;
+        readonly touchdown: {
+            readonly fl: 0;
+            readonly hr: 0;
+            readonly fr: 0.5;
+            readonly hl: 0.5;
+        };
+    };
+};
+/**
+ * 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 walk and
+ * the run are two gaits, not one played faster (ROBOT_DOG_GAITS); the numbers are for seeing it move, not a machine's.
+ */
+export declare function robotDogFigure(): RobotFigure;
+/** The item type the robot dog's back takes: an example's own, not a carrier type of any site. */
+export declare const ROBOT_DOG_BOX = "EXAMPLE-BOX";
 /**
  * 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

package/dist/robots.d.ts.map

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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 +113,142 @@ 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. Each leg runs the same cycle -- stance, the foot on the ground sweeping from front to back
+ * and pushing the body toward the head, then swing, the knee lifting the foot and the thigh carrying it forward again --
+ * started at its own point: `touchdown` is the fraction of the stride at which that leg's foot comes down. `duty` is the
+ * part of the cycle a foot is on the ground, `swing` how far a thigh turns either side of straight (+ is toward the head),
+ * `bend` how far a knee lifts the foot at the middle of its swing, `seconds` how long a stride takes.
+ *
+ * The walk is a four-beat lateral sequence: hind left, front left, hind right, front right, a quarter apart, three feet
+ * down at a time. The run is a trot: the diagonal pairs -- front left with hind right, front right with hind left -- come
+ * down together, half a stride apart, with a longer stride and a higher knee.
+ */
+export const ROBOT_DOG_GAITS = {
+    walk: { seconds: 1.2, swing: 15, bend: 40, duty: 0.75, touchdown: { hl: 0, fl: 0.25, hr: 0.5, fr: 0.75 } },
+    run: { seconds: 0.5, swing: 25, bend: 70, duty: 0.5, touchdown: { fl: 0, hr: 0, fr: 0.5, hl: 0.5 } }
+};
+/** A looped track's value at a fraction of its cycle, read along its keys as the format does (linear). */
+function keyValue(keys, at) {
+    const i = keys.findIndex(k => k.at >= at);
+    if (i <= 0)
+        return keys[Math.max(i, 0)].value;
+    const from = keys[i - 1], to = keys[i];
+    return from.value + ((at - from.at) / (to.at - from.at)) * (to.value - from.value);
+}
+/** The same looped track started `shift` of a cycle later: keys moved along and wrapped, with the cut at 0 and 1. */
+function shiftedKeys(keys, shift) {
+    const cut = { at: 0, value: keyValue(keys, (1 - shift) % 1) };
+    const moved = keys.slice(0, -1).map(k => ({ at: (k.at + shift) % 1, value: k.value }));
+    return [cut, ...moved.filter(k => k.at > 0), { at: 1, value: cut.value }].sort((a, b) => a.at - b.at);
+}
+/** One leg's cycle from its touchdown: thigh and knee keys over fractions of the stride. */
+function legCycle(swing, bend, duty) {
+    /* Stance: the foot straight and on the ground, swept at an even pace from front (+swing) to back (-swing). */
+    const thigh = [{ at: 0, value: swing }];
+    const knee = [{ at: 0, value: 0 }];
+    /*
+     * Swing, in eighths: the knee rises and falls once while the thigh eases forward again. The knee bends the foot toward
+     * the head, so the thigh draws back by half the bend to keep the lifted foot under the hip: the leg folds up and then
+     * reaches forward, instead of kicking the foot out in front.
+     */
+    for (let q = 0; q <= 8; q++) {
+        const at = duty + ((1 - duty) * q) / 8;
+        const lift = Math.sin((Math.PI * q) / 8);
+        thigh.push({ at, value: -swing * Math.cos((Math.PI * q) / 8) - (bend / 2) * lift });
+        knee.push({ at, value: bend * lift });
+    }
+    const round = (keys) => keys.map(k => ({ at: k.at, value: Math.round(k.value * 1000) / 1000 }));
+    return { thigh: round(thigh), knee: round(knee) };
+}
+/**
+ * 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 walk and
+ * the run are two gaits, not one played faster (ROBOT_DOG_GAITS); the numbers are for seeing it move, not a machine's.
+ */
+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);
+    /* Every leg's thigh and knee tracks for one gait: the one leg cycle, each leg's started at its own touchdown. */
+    const gait = (clip, group) => {
+        const { seconds, swing, bend, duty, touchdown } = ROBOT_DOG_GAITS[clip];
+        const cycle = legCycle(swing, bend, duty);
+        const track = (state, keys) => ({
+            kind: 'set-driver',
+            state,
+            clip,
+            duration: seconds,
+            keys: keys.map(k => ({ seconds: k.at * seconds, value: k.value })),
+            ...(group ? { group } : {})
+        });
+        return legs.flatMap(leg => [track(`${leg}-thigh`, shiftedKeys(cycle.thigh, touchdown[leg])), track(`${leg}-knee`, shiftedKeys(cycle.knee, touchdown[leg]))]);
+    };
+    gait('walk').forEach(step);
+    step({ kind: 'set-motion-group', group: { id: 'locomotion', label: '보행', clips: ['walk'], defaultClip: 'walk', transitionSeconds: 0.2 } });
+    gait('run', 'locomotion').forEach(step);
+    /* Idle holds every leg straight: a short clip whose keys stay at the rest pose. */
+    const straight = [{ seconds: 0, value: 0 }, { seconds: 0.5, value: 0 }];
+    legs.forEach(leg => [`${leg}-thigh`, `${leg}-knee`].forEach(state => step({ kind: 'set-driver', state, clip: 'idle', duration: 0.5, keys: straight, loop: 'hold', group: 'locomotion' })));
+    step({ kind: 'set-motion-group', group: { id: 'locomotion', label: '보행', clips: ['idle', 'walk', 'run'], defaultClip: 'idle', transitionSeconds: 0.2 } });
+    /* The data a site sends it, in the site's own names, and what each value moves (ADR-0051 §8). */
+    const schema = [
+        { name: 'mode', label: '동작', kind: 'text', values: ['idle', 'walk', 'run'], default: 'idle' },
+        { name: 'cadence', label: '동작 속도', kind: 'number', unit: 'ratio', min: 0, max: 3, default: 1 },
+        { name: 'headAngle', label: '머리 각도', kind: 'number', unit: 'deg', min: -45, max: 45, default: 0 },
+        { name: 'batteryLow', label: '배터리 부족', kind: 'boolean', default: false },
+        { name: 'status', label: '상태', kind: 'text' },
+        { name: 'position', label: '위치', kind: 'object', fields: [{ name: 'x', kind: 'number', unit: 'mm' }, { name: 'z', kind: 'number', unit: 'mm' }] },
+        { name: 'heading', label: '방향', kind: 'number', unit: 'deg' },
+        { name: 'load', label: '등 짐', kind: 'list', item: { kind: 'object', fields: [{ name: 'id', kind: 'text' }, { name: 'slot', kind: 'text' }] } }
+    ];
+    step({ kind: 'set-data-schema', schema });
+    step({ kind: 'set-status-port', port: { id: 'state', label: '몸체 상태', tokens: ['palette.body'], parts: ['body'] } });
+    const bindings = [
+        { id: 'mode-locomotion', accessor: 'mode', behavior: { kind: 'motion-clip', group: 'locomotion' }, rule: 'value' },
+        { id: 'cadence-locomotion', accessor: 'cadence', behavior: { kind: 'motion-speed', group: 'locomotion' }, rule: 'value' },
+        { id: 'head-angle', accessor: 'headAngle', behavior: { kind: 'state', input: 'head', sourceMode: 'observed' }, rule: 'value' },
+        { id: 'battery-colour', accessor: 'batteryLow', behavior: { kind: 'palette', token: 'palette.battery' }, rule: 'map', param: { false: '#22aa66', true: '#cc3344' } },
+        { id: 'body-status', accessor: 'status', behavior: { kind: 'status', port: 'state' }, rule: 'value' },
+        { id: 'at-x', accessor: 'position.x', behavior: { kind: 'pose', axis: 'x', seconds: 1 }, rule: 'value' },
+        { id: 'at-z', accessor: 'position.z', behavior: { kind: 'pose', axis: 'z', seconds: 1 }, rule: 'value' },
+        { id: 'facing', accessor: 'heading', behavior: { kind: 'pose', axis: 'heading', seconds: 1 }, rule: 'value' },
+        { id: 'back-load', accessor: 'load', behavior: { kind: 'items', id: 'id', place: 'slot' }, rule: 'value' }
+    ];
+    /* 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 } }
+                }
+            ]
+        }
+    });
+    bindings.forEach(binding => step({ kind: 'set-data-binding', binding }));
+    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 };
 /**