npm - @hatiolab/figure-model - Versions diffs - 0.6.5 → 0.6.6 - Mend

@hatiolab/figure-model 0.6.5 → 0.6.6

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (36) hide show

package/dist/asset-types.d.ts +94 -40
package/dist/asset-types.d.ts.map +1 -1
package/dist/contract.d.ts +38 -24
package/dist/contract.d.ts.map +1 -1
package/dist/contract.js.map +1 -1
package/dist/data-interface.d.ts +63 -50
package/dist/data-interface.d.ts.map +1 -1
package/dist/data-interface.js +620 -267
package/dist/data-interface.js.map +1 -1
package/dist/index.d.ts +1 -1
package/dist/index.d.ts.map +1 -1
package/dist/index.js +1 -1
package/dist/index.js.map +1 -1
package/dist/kernel-version.d.ts +1 -1
package/dist/kernel-version.js +1 -1
package/dist/motion-groups.d.ts +2 -1
package/dist/motion-groups.d.ts.map +1 -1
package/dist/motion-groups.js +2 -2
package/dist/motion-groups.js.map +1 -1
package/dist/part-edit.d.ts +23 -15
package/dist/part-edit.d.ts.map +1 -1
package/dist/part-edit.js +53 -50
package/dist/part-edit.js.map +1 -1
package/dist/proposal.d.ts +2 -2
package/dist/proposal.d.ts.map +1 -1
package/dist/proposal.js +22 -19
package/dist/proposal.js.map +1 -1
package/dist/release-contract.d.ts +1 -1
package/dist/release-contract.d.ts.map +1 -1
package/dist/release-contract.js +34 -25
package/dist/release-contract.js.map +1 -1
package/dist/robots.d.ts +31 -7
package/dist/robots.d.ts.map +1 -1
package/dist/robots.js +87 -37
package/dist/robots.js.map +1 -1
package/package.json +1 -1

package/dist/release-contract.js.map CHANGED Viewed

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

@@ -43,24 +43,48 @@ export declare const COBOT_CHAIN: {
         max: number;
     };
 }[];
-/** The robot dog's walk and run: how far each thigh swings and each knee bends, and how long a stride takes. */
+/**
+ * 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: 20;
+        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: 0.6;
-        readonly swing: 40;
-        readonly bend: 80;
+        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 numbers
- * are for seeing it work, not a gait a real machine walks.
+ * -- 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. */

package/dist/robots.d.ts.map CHANGED Viewed

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package/dist/robots.js CHANGED Viewed

@@ -114,13 +114,59 @@ function addArm(r, on) {
     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 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 numbers
- * are for seeing it work, not a gait a real machine walks.
+ * -- 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();
@@ -134,48 +180,51 @@ export function robotDogFigure() {
     /* 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 => [
-        {
+    /* 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: `${leg}-thigh`,
+            state,
             clip,
             duration: seconds,
-            keys: [{ seconds: 0, value: 0 }, { seconds: seconds / 4, value: swing }, { seconds: (seconds * 3) / 4, value: -swing }, { seconds, value: 0 }],
+            keys: keys.map(k => ({ seconds: k.at * seconds, value: k.value })),
             ...(group ? { group } : {})
-        },
-        { kind: 'set-driver', state: `${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);
+        });
+        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', run.seconds, run.swing, run.bend, 'locomotion').forEach(step);
+    gait('run', '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' }));
+    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 } });
-    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 }
+    /* 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' }] } }
     ];
-    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' }
-        }
+    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' }
     ];
-    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',
@@ -195,6 +244,7 @@ export function robotDogFigure() {
             ]
         }
     });
+    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. */

package/dist/robots.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@hatiolab/figure-model",
-  "version": "0.6.5",
+  "version": "0.6.6",
   "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",