@hatiolab/figure-model 0.8.0 → 0.9.1

package/dist/authoring-types.d.ts

@@ -18,7 +18,14 @@ export type FigureFace = keyof typeof FIGURE_FACES;
  * 2026-09-26). Fastened by its centre, the part's middle is on the target's face (plus the gap), and a turn there
  * turns it about its middle: a roller spinning in place.
  */
-export type FigureChildFace = FigureFace | 'centre';
+/**
+ * How a part meets the face it is fastened to (ADR-0140 3.11), against the face's outward normal n: `meet` -- its
+ * outermost point toward the face is on it, the part outside; `flush` -- its outermost point away from the face is on
+ * it, the part inside; `centre` -- the middle of the two is on it. A positive gap moves `meet` and `centre` out along n
+ * and `flush` in. It decides no pivot and no axis.
+ */
+export declare const FIGURE_FACINGS: readonly ["meet", "flush", "centre"];
+export type FigureFacing = (typeof FIGURE_FACINGS)[number];
 /**
  * UsdPhysics's joint types (ADR-0093, amended 2026-09-25: the joint follows USD). A `fixed` joint is a fastening; a
  * `revolute` joint turns -- with no limits it turns without end, its value a phase (-180..180), as USD's revolute
@@ -59,7 +66,7 @@ export interface FigureJoint {
     /**
      * `{ part, at: 'origin' }` (ADR-0107 decision 4): the joint frame is at the part's own origin -- the origin of its
      * shape, not its centre -- in the part's own frame, moved by `origin.offset` and turned by `origin.parentRotate`, as
-     * URDF places a joint. A face's words (align, gap, facing, childRotate, twist, pivot) say nothing there and are refused.
+     * URDF places a joint. A face's words (align, gap, facing, childRotate, pivot) say nothing there and are refused.
      */
     body0: {
         part: string;
@@ -67,29 +74,30 @@ export interface FigureJoint {
     } | {
         plane: 'mounting-plane';
     } | FigureOriginEnd;
-    /** Placed at body0's origin, the child is placed by its own origin (`at: 'origin'`) or by its centre (`face: 'centre'`). */
+    /**
+     * The part fastened -- by no face of its own (ADR-0140 3.2): its real shape meets body0's face in the pose
+     * `origin.childRotate` gives it. At body0's origin it is placed by its own origin (`at: 'origin'`) or, named alone, by
+     * the middle of its real extent.
+     */
     body1: {
         part: string;
-        face: FigureChildFace;
     } | FigureOriginEnd;
-    /** Where on body0's face, and how body1 stands in the joint frame (in degrees). */
+    /**
+     * Where on body0's face and how the child meets it. Every word stands in body0's own frame -- its face's name, the
+     * axes of `align` and of `childRotate` -- or, on the mounting plane, the plane's (ADR-0140 3.11).
+     */
     origin?: {
-        facing?: 'meet' | 'flush';
+        facing?: FigureFacing;
         gap?: FigureMeasure;
+        /** Across the face, by the child's real extent in its pose (ADR-0140 3.4): its middle, its low or high side, or millimetres off the middle. */
         align?: Partial<Record<Axis, FigureFaceAlignment>>;
-        /** The child turned on its own end, in quarter turns (ADR-0140 3.6): the joint frame and the axis do not turn with it. */
+        /** The child's pose on its own end, any angle, in degrees about body0's axes (Rz·Ry·Rx): the joint frame and the axis do not turn with it. */
         childRotate?: Partial<Record<Axis, number>>;
         /**
-         * Degrees about the normal of the face the child is fastened by (r3 §6's twist): the faces still meet, so any
-         * angle holds -- a fan's blades at 120°, a spoke at 45°. `childRotate` stays quarter turns. Twisted, the child's
-         * place across the face is measured from the face's centre in the twisted frame: a blade `align.x.mm` 200 out and
-         * twisted 120° stands 200 out along the blade, about the hub. Edges cannot be lined up with a twisted child.
-         */
-        twist?: number;
-        /**
-         * The point a moving joint turns about (ADR-0107 decision 1): `seat`, the default, is where it is fastened -- level
-         * with an edge, a hinge; `child-face` the centre of the face the child is fastened by; `child-centre` the child's
-         * middle. Only the joint frame moves: at 0 the child stands where it stood, and the point follows the sizes.
+         * The point a moving joint turns about (ADR-0107 decision 1, ADR-0140 3.10), fixed in the parent's frame at rest:
+         * `seat`, the default, the child's lined-up middle on the face -- level with an edge, a hinge; `child-centre` the
+         * middle of its real extent; `child-face` the centre of its flat face on the face, only where it meets by one.
+         * Only the joint frame moves: at 0 the child stands where it stood, and the point follows the sizes.
          */
         pivot?: FigureJointPivot;
         /** The joint frame moved from where it is fastened, in millimetres along the figure's axes (lengths may follow). */
@@ -97,7 +105,7 @@ export interface FigureJoint {
         /**
          * The joint frame turned on the parent's end (ADR-0107's rotate, named for its end by ADR-0140 3.6), in degrees
          * about the fixed axes X, then Y, then Z (URDF's rpy: Rz·Ry·Rx). The axis and the child turn with it;
-         * `childRotate` and `twist` turn the child alone, so each is applied once.
+         * `childRotate` turns the child alone, so each is applied once.
          */
         parentRotate?: Partial<Record<Axis, number>>;
     };
@@ -284,24 +292,20 @@ export type FigureAuthoringAction =
     mm: number;
 }
 /**
- * "Fasten this face of this part to that face of that one."
- *
- * Two faces do not place a part by themselves, so the rest is named too, with defaults:
- *   - `facing`: `meet` (the default) puts the two faces against each other, the part outside its target past
- *     that face — a leaf under a rail. `flush` lays them in the same plane pointing the same way, the part
- *     inside its target — a panel set level with the front of a frame.
- *   - `gap`: millimetres between the faces along the target face's normal. 0 by default.
- *   - `align`: where the part sits within the face, on each of the face's own two axes. `centre` by default;
- *     `min` and `max` bring the part's own edges level with the target's, and stay level as either is
- *     resized, because all of it is written as graph nodes.
- *
- * Both parts must be box-shaped and unturned: a face of a turned body is not an axis-aligned plane, and this
- * command says nothing about rotation. A fastening that would make a part its own ancestor is refused.
+ * "Fasten this part, in the pose it has, to that face" (ADR-0140 3): its real shape meets the face, whatever its
+ * shape and angle, and keeps meeting it as either is resized -- all of it is written as graph nodes.
+ *   - `facing`: `meet` (the default) its outermost point toward the face on it, the part outside -- a leaf under
+ *     a rail; `flush` its outermost point away on it, the part inside -- a panel level with a frame's front;
+ *     `centre` its middle on it -- a roller half in its bed.
+ *   - `gap`: millimetres along the face's normal, out for meet and centre, in for flush. 0 by default.
+ *   - `align`: where its real extent sits across the face, on the target's own two axes. `centre` by default;
+ *     `min` and `max` bring its side level with the target's edge.
+ * Its pose now, relative to the target, becomes the record's `childRotate`. A fastening that would make a part its
+ * own ancestor is refused.
  */
  | {
     kind: 'attach';
     part: string;
-    face: FigureChildFace;
     /** The face of another part, or the plane the figure is mounted on, which is a thing a part can stand on. */
     to: {
         part: string;
@@ -309,11 +313,9 @@ export type FigureAuthoringAction =
     } | {
         plane: 'mounting-plane';
     };
-    facing?: 'meet' | 'flush';
+    facing?: FigureFacing;
     gap?: FigureMeasure;
     align?: Partial<Record<Axis, FigureFaceAlignment>>;
-    /** Degrees about the face's normal (the record's `origin.twist`). */
-    twist?: number;
     replace?: boolean;
 }
 /** "This part is not fastened to anything any more." It keeps where it is now, in the asset frame. */

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package/dist/authoring-types.js

@@ -3,6 +3,18 @@
  */
 /** The six faces of a box-shaped part, and the axis each one faces along. */
 export const FIGURE_FACES = { left: 'x', right: 'x', bottom: 'y', top: 'y', back: 'z', front: 'z' };
+/**
+ * The face a part is fastened by: one of its six, or `centre` -- its own middle, which every shape has (ADR-0093,
+ * 2026-09-26). Fastened by its centre, the part's middle is on the target's face (plus the gap), and a turn there
+ * turns it about its middle: a roller spinning in place.
+ */
+/**
+ * How a part meets the face it is fastened to (ADR-0140 3.11), against the face's outward normal n: `meet` -- its
+ * outermost point toward the face is on it, the part outside; `flush` -- its outermost point away from the face is on
+ * it, the part inside; `centre` -- the middle of the two is on it. A positive gap moves `meet` and `centre` out along n
+ * and `flush` in. It decides no pivot and no axis.
+ */
+export const FIGURE_FACINGS = ['meet', 'flush', 'centre'];
 /**
  * UsdPhysics's joint types (ADR-0093, amended 2026-09-25: the joint follows USD). A `fixed` joint is a fastening; a
  * `revolute` joint turns -- with no limits it turns without end, its value a phase (-180..180), as USD's revolute

package/dist/authoring-types.js.map

@@ -1 +1 @@
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package/dist/command-preview.d.ts

@@ -2,6 +2,10 @@ import { type FigureAuthoringAction } from './authoring-types.ts';
 import { type FigureClipLoss } from './clip-keeping.ts';
 import type { FigureAsset } from './asset-types.ts';
 type Vec = [number, number, number];
+type Pose = {
+    r: number[][];
+    t: number[];
+};
 /** How one body moves: how far, in the figure's frame, and how it turns, about one axis, in degrees. */
 export interface FigureBodyMove {
     /** The body as the figure evaluates it; a row's copy has an id of its own. */
@@ -27,6 +31,13 @@ export interface FigureCommandPreview {
     /** The clips the command would stop -- asked about when it is applied, never here. */
     clipsWouldGo: FigureClipLoss[];
 }
+type Evaluated = Array<{
+    id: string;
+    pose?: Pose;
+    shape?: unknown;
+}>;
+/** The figure's bodies at these values, design and state alike; also what the fastening place reads (fasten-place.ts). Not exported from the package. */
+export declare const evaluate: (asset: FigureAsset, values: Record<string, number>) => Evaluated;
 /**
  * The editor workspace's answer for the asset it hands out with a version (`view.asset`, ADR-0119 decision 6): the
  * geometry it evaluated for that figure under the version's inputs. The workspace made both, so it knows they are the
@@ -96,38 +107,5 @@ export interface FigureRowReading {
  * worked out again by a formula of the screen's own. Read on a preview's figure, it is the row a command would make.
  */
 export declare function figureRowOf(source: FigureAsset, part: string, values?: Record<string, number>): FigureRowReading | undefined;
-/** How a fastened part lies on the face it is fastened to: within its edges, past them, perhaps past them, or not known. */
-export interface FigureFaceOverhang {
-    part: string;
-    on: {
-        part: string;
-        face: string;
-    };
-    /**
-     * `inside` -- within the face's edges; `out` -- past them where it would fit, measured exactly (the part stands
-     * square to the face); `possible` -- its turned box reaches past them where it would fit, so it may; `larger` -- past
-     * them only along axes where it is wider than the face, as a bench top is wider than its leg: said as a fact, with
-     * its numbers, not as a fault -- and not hidden, since wider says nothing of whether it sits where it was meant to
-     * (designer 2026-09-27); `unknown` -- the face's outline is not read here (a round face, a shape without a flat face,
-     * a face turned in the figure). Never a claim beyond what was measured.
-     */
-    state: 'inside' | 'out' | 'possible' | 'larger' | 'unknown';
-    /** Where, and how far past the edge, in mm, along the figure's axes -- every axis, the wider ones too. */
-    sides: Array<{
-        axis: 'x' | 'y' | 'z';
-        side: 'low' | 'high';
-        mm: number;
-    }>;
-    /** The axes along which it is wider than the face. */
-    wider: Array<'x' | 'y' | 'z'>;
-    /** Along a wider axis, it comes past one edge more than the other: off to one side. */
-    lopsided: Array<'x' | 'y' | 'z'>;
-}
-/**
- * Whether a part fastened to another part's face lies within that face's edges (ADR-0097 §5.5, designer's Q3). Past
- * them is not wrong in itself -- a device may overhang a bench top -- and not the figure's room: it is said apart, and
- * nothing is moved. Measured on the evaluated bodies, a row's copies included.
- */
-export declare function figureFaceOverhangOf(source: FigureAsset, part: string, values?: Record<string, number>): FigureFaceOverhang | undefined;
 export {};
 //# sourceMappingURL=command-preview.d.ts.map

package/dist/command-preview.d.ts.map

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package/dist/command-preview.js

@@ -16,7 +16,8 @@ const pick = (values, of) => Object.fromEntries(Object.entries(values).filter(([
 const evaluated = new WeakMap();
 /** The values the asset reads, in one order: the same inputs are one question however they were listed. */
 const keyOf = (own, state) => JSON.stringify([Object.entries(own).sort(([a], [b]) => (a < b ? -1 : 1)), Object.entries(state).sort(([a], [b]) => (a < b ? -1 : 1))]);
-const evaluate = (asset, values) => {
+/** The figure's bodies at these values, design and state alike; also what the fastening place reads (fasten-place.ts). Not exported from the package. */
+export const evaluate = (asset, values) => {
     const own = pick(values, asset.designInputs), state = pick(values, asset.stateDefaults);
     const key = keyOf(own, state);
     let held = evaluated.get(asset);
@@ -247,69 +248,4 @@ export function figureRowOf(source, part, values = {}) {
     }
     return reading;
 }
-/**
- * Whether a part fastened to another part's face lies within that face's edges (ADR-0097 §5.5, designer's Q3). Past
- * them is not wrong in itself -- a device may overhang a bench top -- and not the figure's room: it is said apart, and
- * nothing is moved. Measured on the evaluated bodies, a row's copies included.
- */
-export function figureFaceOverhangOf(source, part, values = {}) {
-    const asset = upgradeFigurePlacement(source);
-    const joint = (asset.joints ?? []).find((j) => j.body1.part === part);
-    /*
-      Placed at a part's origin, it lies on no face of it (ADR-0107 decision 4): an overhang is how far a child spills past
-      the face it sits on, so there is nothing to measure and nothing is shown. Only a reading for the screen -- the model
-      is not touched, and the joint is still written from its record.
-    */
-    if (!joint || !('part' in joint.body0) || !('face' in joint.body0))
-        return undefined;
-    const on = { part: joint.body0.part, face: joint.body0.face };
-    const unknown = { part, on, state: 'unknown', sides: [], wider: [], lopsided: [] };
-    const face = figurePartFaceOf(asset, on.part, on.face, values);
-    if (!face || face.round)
-        return unknown;
-    /* The face's two sides must run along the figure's axes for its edges to be compared with the part's box. */
-    const axisOf = (d) => {
-        const i = d.findIndex(c => Math.abs(Math.abs(c) - 1) < 1e-6);
-        return i >= 0 && d.every((c, k) => k === i || Math.abs(c) < 1e-6) ? i : -1;
-    };
-    const ui = axisOf(face.u);
-    const vi = axisOf(face.v);
-    if (ui < 0 || vi < 0)
-        return unknown;
-    const geometry = evaluate(asset, values);
-    const boxes = figureOccupiedBoxesOf(geometry, figureWritersOf(asset)).filter(b => b.part === part);
-    if (!boxes.length)
-        return unknown;
-    /* Square to the figure, its box is its outline; turned any other way, its box is larger than it is. */
-    const bodies = geometry.filter(g => g.pose && figureBodyOwnerOf(g.id) === part);
-    const square = bodies.every(g => g.pose.r.every(row => row.filter(v => Math.abs(v) > 1e-9).length === 1 && row.some(v => Math.abs(Math.abs(v) - 1) < 1e-9)));
-    const names = ['x', 'y', 'z'];
-    const sides = [];
-    const wider = [];
-    const lopsided = [];
-    let pastWhereItFits = false;
-    for (const [i, size] of [[ui, face.size.u], [vi, face.size.v]]) {
-        const axis = names[i];
-        const lo = face.centre[i] - size / 2;
-        const hi = face.centre[i] + size / 2;
-        const min = Math.min(...boxes.map(b => b.centre[axis] - b.extent[axis] / 2));
-        const max = Math.max(...boxes.map(b => b.centre[axis] + b.extent[axis] / 2));
-        const low = lo - min;
-        const high = max - hi;
-        if (low > 0.05)
-            sides.push({ axis, side: 'low', mm: round(low, 1) });
-        if (high > 0.05)
-            sides.push({ axis, side: 'high', mm: round(high, 1) });
-        if (max - min > size + 0.05) {
-            /* Wider than the face along this axis: past its edges by its size -- and how evenly is still said. */
-            wider.push(axis);
-            if (Math.abs(low - high) > 0.5)
-                lopsided.push(axis);
-        }
-        else if (low > 0.05 || high > 0.05)
-            pastWhereItFits = true;
-    }
-    const state = pastWhereItFits ? (square ? 'out' : 'possible') : sides.length ? 'larger' : 'inside';
-    return { part, on, state, sides, wider, lopsided };
-}
 //# sourceMappingURL=command-preview.js.map

package/dist/command-preview.js.map

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

@@ -39,7 +39,7 @@ export type FigureRefusalDetails = {
     placement: string;
     parts: Array<{
         part: string;
-        face: string;
+        facing: string;
     }>;
     takes: string[];
 } | {

package/dist/contract.d.ts.map

@@ -1 +1 @@
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package/dist/examples.js

@@ -30,11 +30,11 @@ export function robotArmFigure() {
     asset.palette = { 'palette.primary': '#477b9e', 'palette.dark': '#2b2b2b', 'palette.accent': '#f79c40', 'palette.neutral': '#9a9a9a' };
     const run = (action) => (asset = applyFigureAuthoring(asset, action));
     ROBOT_ARM_CHAIN.forEach(({ part }) => (asset = addFigurePrimitive(asset, part)));
-    run({ kind: 'set-joint', joint: { id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base', face: 'bottom' } } });
+    run({ kind: 'set-joint', joint: { id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
     ROBOT_ARM_CHAIN.forEach(({ part, joint }, i) => {
         if (i === 0)
             return;
-        const hang = { body0: { part: ROBOT_ARM_CHAIN[i - 1].part.id, face: 'top' }, body1: { part: part.id, face: 'bottom' } };
+        const hang = { body0: { part: ROBOT_ARM_CHAIN[i - 1].part.id, face: 'top' }, body1: { part: part.id } };
         if (!joint)
             run({ kind: 'set-joint', joint: { id: part.id, type: 'fixed', ...hang } });
         else if (joint.continuous)
@@ -45,8 +45,8 @@ export function robotArmFigure() {
     /* Two fingers on the gripper's top, at its two ends, closing towards each other from one value (0..45 mm): the right one mimics. */
     asset = addFigurePrimitive(asset, box('finger-left', 20, 90, 40, 'palette.neutral'));
     asset = addFigurePrimitive(asset, box('finger-right', 20, 90, 40, 'palette.neutral'));
-    run({ kind: 'set-joint', joint: { id: 'gripper', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left', face: 'bottom' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 45 } });
-    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right', face: 'bottom' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'gripper', multiplier: -1 } } });
+    run({ kind: 'set-joint', joint: { id: 'gripper', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 45 } });
+    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'gripper', multiplier: -1 } } });
     run({ kind: 'set-detail-level', level: 'L' });
     run({ kind: 'declare-occupancy', proposal: proposeFigureOccupancy(asset, { over: 'range' }), placement: 'floor' });
     return asset;

package/dist/examples.js.map

@@ -1 +1 @@
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