@hatiolab/figure-model 0.7.3 → 0.8.0

package/dist/joint-writing.js

@@ -9,16 +9,16 @@ import { compileFigureGraph } from "./graph.js";
 import { remappedFaces } from "./shape-edit.js";
 import { REPEAT_LIMIT, AXES } from "./words.js";
 import { FIGURE_INSTANCE_SIZE_DEFAULT } from "./instance-size.js";
-import { FIGURE_FACES, FIGURE_JOINT_TYPES, figureMimicLeadersOf, followsSomething, followedTermsOf } from "./authoring-types.js";
+import { FIGURE_FACES, FIGURE_JOINT_TYPES, FIGURE_JOINT_PIVOTS, figureMimicLeadersOf, followsSomething, followedTermsOf } from "./authoring-types.js";
 import { fail, nodeById, partOf, namer, constantOf, measureRef, sumOf, stableDimension, ownInput, holdingDeclared, dropIfUnused, parentOf, round6 } from "./authoring-nodes.js";
-import { turnOf, turnMatrix, mul3, neg, half, childFaceOf, ownSpansOf, standingSpansOf, IDENTITY, isIdentity, transpose3, mv3, FACE_VECTOR, faceAlong, standingTurnOf, standingQuarterOf, eulerOf, axisTurn, axisOf, splitTwist, eulerOfAny, alignInto, frustumWidthAlong } from "./authoring-geometry.js";
-import { attach, addMotion, removeMotion } from "./authoring-fastening.js";
+import { turnOf, turnMatrix, mul3, neg, half, childFaceOf, ownSpansOf, standingSpansOf, IDENTITY, isIdentity, transpose3, mv3, FACE_VECTOR, faceAlong, standingTurnOf, standingQuarterOf, eulerOf, axisTurn, axisOf, splitTwist, eulerOfAny, alignInto, frustumWidthAlong, rpyMatrix, isQuarterMatrix } from "./authoring-geometry.js";
+import { attach, addMotion, removeMotion, reseat, turnSeat } from "./authoring-fastening.js";
 const everyKey = () => (...keys) => keys;
 const JOINT_FIELDS = {
     joint: everyKey()('id', 'type', 'body0', 'body1', 'origin', 'axis', 'lowerLimit', 'upperLimit', 'travel', 'state', 'mimic', 'repeat'),
-    body0: everyKey()('part', 'face', 'plane'),
-    body1: everyKey()('part', 'face'),
-    origin: everyKey()('facing', 'gap', 'align', 'turn', 'twist'),
+    body0: everyKey()('part', 'face', 'plane', 'at'),
+    body1: everyKey()('part', 'face', 'at'),
+    origin: everyKey()('facing', 'gap', 'align', 'childRotate', 'twist', 'pivot', 'offset', 'parentRotate'),
     axes: everyKey()('x', 'y', 'z'),
     alignment: everyKey()('mm'),
     measure: everyKey()('from', 'times', 'plus', 'sum'),
@@ -59,13 +59,18 @@ function knownJointFields(j, path) {
     only(o, JOINT_FIELDS.origin, `${path}.origin`);
     if (o && typeof o === 'object') {
         measure(o.gap, `${path}.origin.gap`);
-        only(o.turn, JOINT_FIELDS.axes, `${path}.origin.turn`);
+        only(o.childRotate, JOINT_FIELDS.axes, `${path}.origin.childRotate`);
+        only(o.parentRotate, JOINT_FIELDS.axes, `${path}.origin.parentRotate`);
+        only(o.offset, JOINT_FIELDS.axes, `${path}.origin.offset`);
+        for (const [axis, d] of Object.entries(o.offset && typeof o.offset === 'object' ? o.offset : {}))
+            measure(d, `${path}.origin.offset.${axis}`);
         only(o.align, JOINT_FIELDS.axes, `${path}.origin.align`);
         for (const [axis, a] of Object.entries(o.align && typeof o.align === 'object' ? o.align : {})) {
             only(a, JOINT_FIELDS.alignment, `${path}.origin.align.${axis}`);
             measure(a?.mm, `${path}.origin.align.${axis}.mm`);
         }
     }
+    only(j.axis, JOINT_FIELDS.axes, `${path}.axis`);
     if (j.travel && typeof j.travel === 'object') {
         only(j.travel, JOINT_FIELDS.travel, `${path}.travel`);
         source(j.travel.source, `${path}.travel.source`);
@@ -97,6 +102,64 @@ export function jointAbove(asset, part) {
     return asset.joints?.find(j => j.body1.part === part);
 }
 export const stateIdOf = (j) => j.state?.id ?? j.id;
+/** Whether a joint is placed at its parent's origin rather than on a face (ADR-0107 decision 4). */
+export const isOriginPlaced = (j) => !!j.body0 && 'at' in j.body0;
+/** A record's axis as a unit vector when it is written as one; undefined for a token. Zero or not finite is refused. */
+export function jointVectorOf(axis, path) {
+    if (!axis || typeof axis !== 'object')
+        return undefined;
+    const v = AXES.map(a => axis[a]);
+    if (!v.every(x => typeof x === 'number' && Number.isFinite(x)))
+        fail('JOINT_SCHEMA', `${path}.axis`, 'an axis vector is three finite numbers { x, y, z }');
+    const n = Math.hypot(...v);
+    if (!(n > 1e-9))
+        fail('JOINT_SCHEMA', `${path}.axis`, 'an axis vector is not zero');
+    return v.map(x => x / n);
+}
+const hasParentRotate = (j) => AXES.some(a => (j.origin?.parentRotate?.[a] ?? 0) !== 0);
+/**
+ * The joint frame's own words (ADR-0107, contract 2026-10-03): the pivot, the offset and the parent end's rotation, and
+ * the ends placed by an origin. A joint at its parent's origin is placed by offset and parentRotate alone: a face's
+ * words are refused by name. A twist and a rotation that is not quarter turns cannot keep edges level, so neither goes
+ * with min or max.
+ */
+function checkJointFrames(j, path) {
+    const o = j.origin ?? {};
+    const body0 = j.body0;
+    const body1 = j.body1;
+    if ('at' in body0 && body0.at !== 'origin')
+        fail('JOINT_SCHEMA', `${path}.body0`, `${String(body0.at)} is not a place on a part; at: 'origin' is`);
+    if ('at' in body1 && body1.at !== 'origin')
+        fail('JOINT_SCHEMA', `${path}.body1`, `${String(body1.at)} is not a place on a part; at: 'origin' is`);
+    if ('at' in body0 && ('face' in body0 || 'plane' in body0))
+        fail('JOINT_SCHEMA', `${path}.body0`, "a joint hangs at a part's origin or on a face, not both");
+    if ('at' in body1 && 'face' in body1)
+        fail('JOINT_SCHEMA', `${path}.body1`, 'a child is placed by its origin or by a face, not both');
+    if (isOriginPlaced(j)) {
+        for (const key of ['align', 'gap', 'facing', 'childRotate', 'twist', 'pivot'])
+            if (o[key] !== undefined)
+                fail('JOINT_SCHEMA', `${path}.origin.${key}`, `${key} places a part on a face; ${body0.part}'s origin is a point and a frame, placed by offset and parentRotate`);
+        if (!('at' in body1) && body1.face !== 'centre')
+            fail('JOINT_SCHEMA', `${path}.body1`, `at ${body0.part}'s origin the child is placed by its origin or its centre, not by its ${String(body1.face)}`);
+    }
+    else if ('at' in body1)
+        fail('JOINT_SCHEMA', `${path}.body1`, `a child is placed by its origin only at its parent's origin; ${'plane' in body0 ? 'the mounting plane' : `${body0.part}'s ${String(body0.face)}`} is a face`);
+    if (o.pivot !== undefined && !FIGURE_JOINT_PIVOTS.includes(o.pivot))
+        fail('JOINT_SCHEMA', `${path}.origin.pivot`, `${String(o.pivot)} is not a pivot; ${FIGURE_JOINT_PIVOTS.join(', ')}`);
+    if (o.pivot === 'child-face' && body1.face === 'centre')
+        fail('JOINT_SCHEMA', `${path}.origin.pivot`, `${body1.part} is fastened by its centre, not by a face; it turns about its centre already (child-centre)`);
+    if (o.parentRotate !== undefined) {
+        if (!o.parentRotate ||
+            typeof o.parentRotate !== 'object' ||
+            Object.values(o.parentRotate).some(v => typeof v !== 'number' || !Number.isFinite(v)))
+            fail('JOINT_SCHEMA', `${path}.origin.parentRotate`, 'a rotation is degrees about x, y and z');
+        const edges = AXES.filter(a => o.align?.[a] === 'min' || o.align?.[a] === 'max');
+        if (edges.length && !isQuarterMatrix(rpyMatrix(o.parentRotate)))
+            fail('JOINT_SCHEMA', `${path}.origin.parentRotate`, `the joint frame is turned by other than quarter turns; ${body1.part}'s sides are not level with the edges it is lined up with (${edges.join(', ')}) -- place it by the centre or a distance`);
+    }
+    if (o.offset !== undefined && (!o.offset || typeof o.offset !== 'object'))
+        fail('JOINT_SCHEMA', `${path}.origin.offset`, 'an offset is a length along x, y and z');
+}
 /** A record that is well formed on its own, and fits the tree the others make. */
 function checkJoint(asset, j) {
     const m = asset.document.model;
@@ -113,6 +176,7 @@ function checkJoint(asset, j) {
         fail('JOINT_SCHEMA', path, 'a joint hangs from a part or the mounting plane (body0)');
     if ('part' in j.body0)
         partOf(m, j.body0.part, path);
+    checkJointFrames(j, path);
     const others = (asset.joints ?? []).filter(o => o.id !== j.id);
     const above = others.find(o => o.body1.part === j.body1.part);
     if (above)
@@ -128,8 +192,8 @@ function checkJoint(asset, j) {
     }
     const moving = j.type !== 'fixed';
     const limited = j.lowerLimit !== undefined || j.upperLimit !== undefined;
-    if (moving && !['X', 'Y', 'Z'].includes(j.axis))
-        fail('JOINT_SCHEMA', path, `a ${j.type} joint has an axis, X, Y or Z`);
+    if (moving && !['X', 'Y', 'Z'].includes(j.axis) && !jointVectorOf(j.axis, path))
+        fail('JOINT_SCHEMA', path, `a ${j.type} joint has an axis, X, Y or Z, or a vector { x, y, z }`);
     if (!moving && (j.axis !== undefined || limited || j.mimic !== undefined || j.travel !== undefined))
         fail('JOINT_SCHEMA', path, 'a fixed joint has no axis, limits, mimic or travel');
     if (j.travel !== undefined && j.type !== 'prismatic')
@@ -178,9 +242,9 @@ function checkJoint(asset, j) {
     }
     if (j.origin?.twist !== undefined && !Number.isFinite(j.origin.twist))
         fail('JOINT_SCHEMA', `${path}.origin.twist`, 'a twist is a number of degrees');
-    if (j.origin?.turn &&
-        Object.values(j.origin.turn).some(t => !Number.isFinite(t) || Math.abs(t / 90 - Math.round(t / 90)) > 1e-9))
-        fail('JOINT_SCHEMA', `${path}.origin.turn`, "a turn is in quarter turns; an angle about the face's normal is its twist");
+    if (j.origin?.childRotate &&
+        Object.values(j.origin.childRotate).some(t => !Number.isFinite(t) || Math.abs(t / 90 - Math.round(t / 90)) > 1e-9))
+        fail('JOINT_SCHEMA', `${path}.origin.childRotate`, "a childRotate is in quarter turns; an angle about the face's normal is its twist");
     /*
       A row repeats its part and everything fastened to it (ADR-0093, 2026-09-26): a part fastened to a part in a row is
       on every copy. A row inside a row is a grid; it runs along another axis than the rows around it.
@@ -210,6 +274,14 @@ function checkJoint(asset, j) {
         const row = `${path}.repeat`;
         if (!('part' in j.body0))
             fail('JOINT_SCHEMA', row, 'a row fills the part it is fastened to; the mounting plane has no length to fill');
+        /* A row runs across a face, from edge to edge: a frame moved, turned or placed at an origin is not covered yet. */
+        if (isOriginPlaced(j))
+            fail('JOINT_SCHEMA', row, 'a row runs across the face it is fastened to; a joint placed at an origin has none');
+        for (const key of ['offset', 'parentRotate'])
+            if (j.origin?.[key] !== undefined)
+                fail('JOINT_SCHEMA', row, `a row with its joint frame moved or turned (origin.${key}) is not covered yet`);
+        if ((j.origin?.pivot ?? 'seat') !== 'seat')
+            fail('JOINT_SCHEMA', row, `a row turning about ${j.origin.pivot} is not covered yet; its copies turn where they are fastened`);
         if (!['X', 'Y', 'Z'].includes(r.axis))
             fail('JOINT_SCHEMA', row, `a row runs along X, Y or Z, not ${String(r.axis)}`);
         if (r.axis.toLowerCase() === FIGURE_FACES[childFaceOf(asset.document.model, j)])
@@ -234,6 +306,10 @@ function checkJoint(asset, j) {
 function writeJoint(asset, j) {
     const m = asset.document.model;
     const child = j.body1.part;
+    if (isOriginPlaced(j)) {
+        placeAtOrigin(asset, j);
+        return moveJoint(asset, j, IDENTITY);
+    }
     const { pose } = partOf(m, child, child);
     /*
       The record speaks as the parts stand: `top` is up, the axis is the figure's. The seat is written in the parent's
@@ -244,7 +320,7 @@ function writeJoint(asset, j) {
     const path = `joints.${j.id}`;
     const back = parent ? transpose3(standingTurnOf(asset, parent, path)) : IDENTITY;
     const turned = !isIdentity(back);
-    const own = AXES.map(a => j.origin?.turn?.[a] ?? 0);
+    const own = AXES.map(a => j.origin?.childRotate?.[a] ?? 0);
     /* The child as it stands: its quarter turn, then its twist about the normal of the face it is fastened by. */
     const childFace = childFaceOf(m, j);
     const normal = FIGURE_FACES[childFace];
@@ -291,7 +367,7 @@ function writeJoint(asset, j) {
             }
             : {}),
         replace: true
-    }, deg ? { axis: localNormal.axis, deg } : undefined);
+    }, deg ? { axis: localNormal.axis, deg } : undefined, { pivot: j.origin?.pivot, offset: j.origin?.offset, parentRotate: j.origin?.parentRotate, back, path });
     /* The measuring was done on the quarter turn; the part stands with its twist. */
     if (deg) {
         const now = pose.args.slice(3, 6);
@@ -301,6 +377,47 @@ function writeJoint(asset, j) {
     }
     if (j.repeat && turned)
         fail('JOINT_SCHEMA', `joints.${j.id}.repeat`, `${parent} stands turned; a row across a turned part is not covered yet`);
+    moveJoint(asset, j, back);
+}
+/**
+ * A joint at its parent's origin (ADR-0107 decision 4, contract 2026-10-03): F_parent = T(δ)·Rpy in the parent's own
+ * frame, as URDF reads a joint's origin -- no standing turn put in, no face measured. The child stands by its own origin
+ * there (F_child = I), or by its centre (F_child = T(its centre)), unturned.
+ */
+function placeAtOrigin(asset, j) {
+    const m = asset.document.model;
+    const child = j.body1.part;
+    const parent = j.body0.part;
+    const path = `joints.${j.id}`;
+    const { pose } = partOf(m, child, child);
+    const noTurn = constantOf(m, 'deg', 0, 'a');
+    const old = pose.args.slice(3, 6);
+    pose.args = [...pose.args.slice(0, 3), noTurn, noTurn, noTurn];
+    for (const ref of old)
+        dropIfUnused(asset, ref, ownInput(m, child, ref) ? ref : undefined);
+    const name = namer(m, `${child}.on.${parent}`);
+    const zero = constantOf(m, 'mm', 0, 'd');
+    const spans = 'face' in j.body1 ? ownSpansOf(m, child, path) : {};
+    const centre = (x) => {
+        const span = spans[x];
+        return span && !span.centred ? sumOf(m, name, neg([...half(span.lo), ...half(span.hi)]), `own-centre.${x}`) : zero;
+    };
+    const shift = j.origin?.offset ?? {};
+    const seat = AXES.map(x => shift[x] === undefined ? zero : measureRef(m, asset, name, shift[x], `offset.${x}`, `${path}.origin.offset.${x}`));
+    reseat(asset, child, `${parent}.local`, { seat, pose: AXES.map(centre) });
+    if (hasParentRotate(j))
+        turnSeat(asset, child, rpyMatrix(j.origin.parentRotate), j.origin.parentRotate, IDENTITY);
+}
+/**
+ * A moving joint's motion, at the joint frame, about or along its axis turned into the parent's frame by `back`: a token
+ * is one of the parent's axes, either way along it (a parent standing twisted refuses one that is not); a vector goes
+ * as it is, as its unit vector (URDF's axis). A row is laid out last, once its part's motion is written.
+ */
+function moveJoint(asset, j, back) {
+    const m = asset.document.model;
+    const child = j.body1.part;
+    const parent = 'part' in j.body0 ? j.body0.part : undefined;
+    const path = `joints.${j.id}`;
     /* A row is laid out last, once its part's motion is written: every copy moves on it (a roller row spinning). */
     if (j.type === 'fixed') {
         if (j.repeat)
@@ -319,10 +436,17 @@ function writeJoint(asset, j) {
         k: t.multiplier
     }));
     /* The axis turned into the parent's frame too: one of its axes, either way along it. */
-    const along = mv3(back, AXES.map(a => (a === j.axis.toLowerCase() ? 1 : 0)));
-    const axisIndex = along.findIndex(v => Math.abs(Math.abs(v) - 1) < 1e-9);
+    const vector = jointVectorOf(j.axis, path);
+    const along = mv3(back, vector ?? AXES.map(a => (a === j.axis.toLowerCase() ? 1 : 0)));
+    const axisIndex = vector ? 0 : along.findIndex(v => Math.abs(Math.abs(v) - 1) < 1e-9);
     if (axisIndex < 0)
         fail('JOINT_SCHEMA', path, `${parent} stands twisted; the axis ${j.axis} is not level with an axis in it`);
+    /* Twelve places, as a twist's factors: the same record writes the same constants however the vector was turned. */
+    const direction = vector
+        ? along.map(v => (Math.abs(v) < 1e-12 ? 0 : Math.round(v * 1e12) / 1e12))
+        : along[axisIndex] > 0
+            ? 1
+            : -1;
     addMotion(asset, {
         kind: 'add-motion',
         part: child,
@@ -353,7 +477,7 @@ function writeJoint(asset, j) {
             c: j.mimic.offset ?? 0,
             sum: Object.hasOwn(j.mimic, 'sum')
         }
-        : undefined, along[axisIndex] > 0 ? 1 : -1);
+        : undefined, direction);
     if (j.repeat)
         repeatPart(asset, j);
 }
@@ -512,8 +636,9 @@ export function stripJoint(asset, j) {
 }
 /**
  * Every length a joint record holds that may follow something, read as a measure, with a way to write it back: the
- * gap, a row's pitch, a slide's travel (its one-term form names the source `source`, and without one is `plus` mm)
- * and each offset across the face. Renaming a part and taking one away read and write them all alike.
+ * gap, a row's pitch, a slide's travel (its one-term form names the source `source`, and without one is `plus` mm),
+ * each offset across the face and each of the joint frame's offset (ADR-0107). Renaming a part and taking one away
+ * read and write them all alike.
  */
 export function jointMeasures(j) {
     const out = [];
@@ -557,6 +682,9 @@ export function jointMeasures(j) {
                 set: v => (how.mm = v)
             });
     }
+    for (const axis of Object.keys(j.origin?.offset ?? {}))
+        if (j.origin.offset[axis] !== undefined)
+            out.push({ at: `offset.${axis}`, get: () => j.origin.offset[axis], set: v => (j.origin.offset[axis] = v) });
     return out;
 }
 /** The same measure with each term's source put through `to`, in the form it was written. */
@@ -625,8 +753,11 @@ export function setJoint(asset, joint) {
     // As JSON: a field left undefined is a field not there, which is how the asset stores it.
     const j = JSON.parse(JSON.stringify(joint ?? null));
     checkJoint(asset, j);
-    /* The child's own quarter turn becomes the record's, the first time it is fastened. */
-    if (!jointAbove(asset, j.body1.part) && !j.origin?.turn) {
+    /*
+      The child's own quarter turn becomes the record's childRotate, the first time it is fastened -- by a face: at an
+      origin it stands unturned.
+    */
+    if (!jointAbove(asset, j.body1.part) && !j.origin?.childRotate && !isOriginPlaced(j)) {
         const turn = turnOf(asset.document.model, asset, j.body1.part, j.body1.part);
         /* A part turned by any angle about the normal of the face it is fastened by keeps that angle as its twist. */
         const n = AXES.indexOf(FIGURE_FACES[childFaceOf(asset.document.model, j)]);
@@ -637,7 +768,7 @@ export function setJoint(asset, joint) {
         else if (turn.some(t => t !== 0))
             j.origin = {
                 ...(j.origin ?? {}),
-                turn: Object.fromEntries(AXES.map((a, i) => [a, turn[i]]))
+                childRotate: Object.fromEntries(AXES.map((a, i) => [a, turn[i]]))
             };
     }
     const joints = (asset.joints ?? []).filter(o => o.id !== j.id);
@@ -676,10 +807,19 @@ export function applyFaceRemap(asset, part, remap) {
                 continue;
             }
             const face = faceOf(r.to, path);
-            if (j.body0?.part === part)
-                j.body0.face = face;
-            else
-                j.body1.face = face;
+            /*
+              An end placed by an origin is on no face, so there is no face to move it to (ADR-0107 decision 4): refused by
+              name, never skipped -- the caller shows it. At a parent's origin the child is placed by its origin or centre, so
+              a face for the child is refused here too, not later by the joint's own check under another path.
+            */
+            const end = j.body0?.part === part ? j.body0 : j.body1;
+            if ('at' in end)
+                fail('EDIT_TARGET', path, end === j.body0
+                    ? `${r.ref.id} hangs at ${part}'s origin, not on a face of it`
+                    : `${part} is placed by its own origin on ${r.ref.id}, not by a face of it`);
+            if (end === j.body1 && 'at' in j.body0)
+                fail('EDIT_TARGET', path, `${r.ref.id} hangs at ${j.body0.part}'s origin, where ${part} is placed by its origin or its centre, not by a face`);
+            end.face = face;
             faces.add(face);
         }
         else if (r?.ref?.kind === 'feature') {
@@ -750,7 +890,11 @@ export function fastenAsJoint(asset, a) {
         body0: to?.plane !== undefined ? { plane: to.plane } : { part: to?.part, face: to?.face },
         body1: { part: a.part, face: a.face },
         origin: {
-            ...(was?.origin?.turn ? { turn: was.origin.turn } : {}),
+            ...(was?.origin?.childRotate ? { childRotate: was.origin.childRotate } : {}),
+            /* The joint frame's own words stay the joint's, as its motion does. */
+            ...(was?.origin?.pivot ? { pivot: was.origin.pivot } : {}),
+            ...(was?.origin?.offset ? { offset: was.origin.offset } : {}),
+            ...(was?.origin?.parentRotate ? { parentRotate: was.origin.parentRotate } : {}),
             ...(a.twist !== undefined
                 ? a.twist
                     ? { twist: a.twist }

package/dist/joint-writing.js.map

@@ -1 +1 @@
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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 = "0.7.3";
+export declare const FIGURE_KERNEL_VERSION = "0.8.0";
 //# 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 = '0.7.3';
+export const FIGURE_KERNEL_VERSION = '0.8.0';
 //# sourceMappingURL=kernel-version.js.map

package/dist/proposal.js

@@ -134,8 +134,8 @@ export const FIGURE_PROPOSAL_GRAMMAR = [
     },
     {
         kind: 'set-joint',
-        shape: `{ kind: 'set-joint', joint: { id, type: ${FIGURE_JOINT_TYPES.map(t => `'${t}'`).join(' | ')}, body0, body1, origin, axis?: ${upper}, lowerLimit?, upperLimit?, state?: { id, label? }, mimic?: { joint, multiplier, offset? } | { sum: [{ joint, multiplier }, ...], offset? }, travel?: { source: { of: 'instance', axis } | { of: 'part', part, axis }, times?, plus? } | { sum: [{ from, times? }, ...], plus? } }, narrowRange?: true }`,
-        means: 'The fastening record, made to move: a revolute turns about axis (limits in degrees, none = turns without end), a prismatic slides along it (limits in mm, or a travel that is a share of a length with a ratio control 0..1). mimic follows another joint, or the sum of several (a palletizer wrist is -(J2 + J3)). Take body0, body1 and origin from the fastening as it is.'
+        shape: `{ kind: 'set-joint', joint: { id, type: ${FIGURE_JOINT_TYPES.map(t => `'${t}'`).join(' | ')}, body0, body1, origin, axis?: ${upper} | { x, y, z }, lowerLimit?, upperLimit?, state?: { id, label? }, mimic?: { joint, multiplier, offset? } | { sum: [{ joint, multiplier }, ...], offset? }, travel?: { source: { of: 'instance', axis } | { of: 'part', part, axis }, times?, plus? } | { sum: [{ from, times? }, ...], plus? } }, narrowRange?: true }`,
+        means: 'The fastening record, made to move: a revolute turns about axis (limits in degrees, none = turns without end), a prismatic slides along it (limits in mm, or a travel that is a share of a length with a ratio control 0..1). mimic follows another joint, or the sum of several (a palletizer wrist is -(J2 + J3)). Take body0, body1 and origin from the fastening as it is. origin.pivot: seat (where it is fastened, an edge is a hinge), child-face or child-centre (a hip lined up with the body edge turning about its own face). origin.offset { x, y, z } mm and origin.parentRotate { x, y, z } degrees (Rz·Ry·Rx) move and turn the joint frame, its axis and child with it; origin.childRotate { x, y, z } quarter turns turns the child alone. body0 { part, at: origin } places it at the part own origin by offset and parentRotate alone, the child by { part, at: origin } or its centre.'
     },
     {
         kind: 'declare-instance-size',