@things-factory/figure-service 10.1.200 → 10.1.201

package/recipes/fork/build.mts

@@ -5,7 +5,7 @@ export default function build() {
   const m = new Model(host({ x: 1000, y: 2000, z: 800 }, 'TPL_FORK'))
   for (const [f, x] of [['left', 'min'], ['right', 'max']] as const)
     m.box(f, 120, 50, 1000)
-      .on(f, 'back', 'host', 'front', { x, y: 'min' })
+      .on(f, 'host', 'front', { x, y: 'min' })
       .colour(f, 'palette.fork', '#44505a')
   m.moves('left', { type: 'prismatic', axis: 'Y', lower: 0, upper: 1000, state: 'lift' })
     .moves('right', { type: 'prismatic', axis: 'Y', mimic: { joint: 'left', multiplier: 1 } })

package/recipes/fork/models/default.json

@@ -1 +1 @@
-{"version":"figure-asset-1","name":"TPL_FORK","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"lift","unit":"mm","min":0,"max":1000,"role":"state"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"a.deg.0","unit":"deg","value":0},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"left.k.centre","unit":"ratio","value":-0.5},{"id":"right.k.centre","unit":"ratio","value":-0.5},{"id":"axis.ratio.0","unit":"ratio","value":0},{"id":"axis.ratio.1","unit":"ratio","value":1}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.size.x","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.stand.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"left.shape","op":"extrude@1","args":["left.start.value","left.dimension.height","left.dimension.width","left.dimension.depth"],"outputs":{"shape":"left.shapeValue"},"params":{"frame":"left.local","axis":"y","section":"rectangle"}},{"id":"left.pose","op":"rigid@1","args":["left.on.host.own-edge.x.0.times.value","left.on.host.own-edge.y.0.times.value","left.on.host.along.z.1.sum.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.poseValue"},"params":{"from":"left.local","to":"left.seat"}},{"id":"left","op":"place@1","args":["left.shapeValue","left.world.value"],"outputs":{"placed":"left.placed"}},{"id":"left.start","op":"mul@1","args":["left.dimension.height","left.k.centre"],"outputs":{"value":"left.start.value"}},{"id":"right.shape","op":"extrude@1","args":["right.start.value","right.dimension.height","right.dimension.width","right.dimension.depth"],"outputs":{"shape":"right.shapeValue"},"params":{"frame":"right.local","axis":"y","section":"rectangle"}},{"id":"right.pose","op":"rigid@1","args":["right.on.host.own-edge.x.0.times.value","right.on.host.own-edge.y.0.times.value","right.on.host.along.z.1.sum.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.poseValue"},"params":{"from":"right.local","to":"right.seat"}},{"id":"right","op":"place@1","args":["right.shapeValue","right.world.value"],"outputs":{"placed":"right.placed"}},{"id":"right.start","op":"mul@1","args":["right.dimension.height","right.k.centre"],"outputs":{"value":"right.start.value"}},{"id":"host.on.plane.stand.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.stand.y.0.times.value"}},{"id":"host.on.plane.stand.y.1.sum","op":"add@1","args":["host.on.plane.stand.y.0.times.value","d.mm.0"],"outputs":{"value":"host.on.plane.stand.y.1.sum.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"left.on.host.seat.z.0.times","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"left.on.host.seat.z.0.times.value"}},{"id":"left.on.host.along.z.0.times","op":"mul@1","args":["left.dimension.depth","k.ratio.0_5"],"outputs":{"value":"left.on.host.along.z.0.times.value"}},{"id":"left.on.host.along.z.1.sum","op":"add@1","args":["left.on.host.along.z.0.times.value","d.mm.0"],"outputs":{"value":"left.on.host.along.z.1.sum.value"}},{"id":"left.on.host.edge.x.0.times","op":"mul@1","args":["host.size.x","host.k.centre"],"outputs":{"value":"left.on.host.edge.x.0.times.value"}},{"id":"left.on.host.own-edge.x.0.times","op":"mul@1","args":["left.dimension.width","k.ratio.0_5"],"outputs":{"value":"left.on.host.own-edge.x.0.times.value"}},{"id":"left.on.host.edge.y.0.times","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"left.on.host.edge.y.0.times.value"}},{"id":"left.on.host.own-edge.y.0.times","op":"mul@1","args":["left.dimension.height","k.ratio.0_5"],"outputs":{"value":"left.on.host.own-edge.y.0.times.value"}},{"id":"left.seat.rigid","op":"rigid@1","args":["left.on.host.edge.x.0.times.value","left.on.host.edge.y.0.times.value","left.on.host.seat.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.seat.value"},"params":{"from":"left.joint","to":"host.local"}},{"id":"left.chain","op":"compose@1","args":["left.seat.value","left.turned.value"],"outputs":{"pose":"left.chain.value"}},{"id":"left.world","op":"compose@1","args":["host.chain.value","left.chain.value"],"outputs":{"pose":"left.world.value"}},{"id":"left.motion","op":"axis-slide@1","args":["axis.ratio.0","axis.ratio.1","axis.ratio.0","lift"],"outputs":{"pose":"left.motion.value"},"params":{"from":"left.seat","to":"left.joint"}},{"id":"left.turned","op":"compose@1","args":["left.motion.value","left.poseValue"],"outputs":{"pose":"left.turned.value"}},{"id":"right.on.host.seat.z.0.times","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"right.on.host.seat.z.0.times.value"}},{"id":"right.on.host.along.z.0.times","op":"mul@1","args":["right.dimension.depth","k.ratio.0_5"],"outputs":{"value":"right.on.host.along.z.0.times.value"}},{"id":"right.on.host.along.z.1.sum","op":"add@1","args":["right.on.host.along.z.0.times.value","d.mm.0"],"outputs":{"value":"right.on.host.along.z.1.sum.value"}},{"id":"right.on.host.edge.x.0.times","op":"mul@1","args":["host.size.x","k.ratio.0_5"],"outputs":{"value":"right.on.host.edge.x.0.times.value"}},{"id":"right.on.host.own-edge.x.0.times","op":"mul@1","args":["right.dimension.width","host.k.centre"],"outputs":{"value":"right.on.host.own-edge.x.0.times.value"}},{"id":"right.on.host.edge.y.0.times","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"right.on.host.edge.y.0.times.value"}},{"id":"right.on.host.own-edge.y.0.times","op":"mul@1","args":["right.dimension.height","k.ratio.0_5"],"outputs":{"value":"right.on.host.own-edge.y.0.times.value"}},{"id":"right.seat.rigid","op":"rigid@1","args":["right.on.host.edge.x.0.times.value","right.on.host.edge.y.0.times.value","right.on.host.seat.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.seat.value"},"params":{"from":"right.joint","to":"host.local"}},{"id":"right.chain","op":"compose@1","args":["right.seat.value","right.turned.value"],"outputs":{"pose":"right.chain.value"}},{"id":"right.world","op":"compose@1","args":["host.chain.value","right.chain.value"],"outputs":{"pose":"right.world.value"}},{"id":"right.motion.mimic","op":"mul@1","args":["lift","axis.ratio.1"],"outputs":{"value":"right.motion.mimic.value"}},{"id":"right.motion","op":"axis-slide@1","args":["axis.ratio.0","axis.ratio.1","axis.ratio.0","right.motion.mimic.value"],"outputs":{"pose":"right.motion.value"},"params":{"from":"right.seat","to":"right.joint"}},{"id":"right.turned","op":"compose@1","args":["right.motion.value","right.poseValue"],"outputs":{"pose":"right.turned.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":1000,"host.size.y":2000,"host.size.z":800,"left.dimension.width":120,"left.dimension.height":50,"left.dimension.depth":1000,"right.dimension.width":120,"right.dimension.height":50,"right.dimension.depth":1000},"stateDefaults":{"lift":0},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-44505a":"#44505a"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"left","material":{"token":"palette.tpl-44505a"}},{"target":"right","material":{"token":"palette.tpl-44505a"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host","face":"bottom"},"origin":{}},{"id":"left","type":"prismatic","body0":{"part":"host","face":"front"},"body1":{"part":"left","face":"back"},"origin":{"align":{"x":"min","y":"min"}},"axis":"Y","lowerLimit":0,"upperLimit":1000,"state":{"id":"lift"}},{"id":"right","type":"prismatic","body0":{"part":"host","face":"front"},"body1":{"part":"right","face":"back"},"origin":{"align":{"x":"max","y":"min"}},"axis":"Y","mimic":{"joint":"left","multiplier":1}}]}
+{"version":"figure-asset-1","name":"TPL_FORK","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"lift","unit":"mm","min":0,"max":1000,"role":"state"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"a.deg.0","unit":"deg","value":0},{"id":"left.k.centre","unit":"ratio","value":-0.5},{"id":"right.k.centre","unit":"ratio","value":-0.5},{"id":"axis.ratio.0","unit":"ratio","value":0},{"id":"axis.ratio.1","unit":"ratio","value":1}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.size.x","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"left.shape","op":"extrude@1","args":["left.start.value","left.dimension.height","left.dimension.width","left.dimension.depth"],"outputs":{"shape":"left.shapeValue"},"params":{"frame":"left.local","axis":"y","section":"rectangle"}},{"id":"left.pose","op":"rigid@1","args":["left.on.host.pose.x.t0.value","left.on.host.pose.y.t0.value","left.on.host.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.poseValue"},"params":{"from":"left.local","to":"left.seat"}},{"id":"left","op":"place@1","args":["left.shapeValue","left.world.value"],"outputs":{"placed":"left.placed"}},{"id":"left.start","op":"mul@1","args":["left.dimension.height","left.k.centre"],"outputs":{"value":"left.start.value"}},{"id":"right.shape","op":"extrude@1","args":["right.start.value","right.dimension.height","right.dimension.width","right.dimension.depth"],"outputs":{"shape":"right.shapeValue"},"params":{"frame":"right.local","axis":"y","section":"rectangle"}},{"id":"right.pose","op":"rigid@1","args":["right.on.host.pose.x.t0.value","right.on.host.pose.y.t0.value","right.on.host.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.poseValue"},"params":{"from":"right.local","to":"right.seat"}},{"id":"right","op":"place@1","args":["right.shapeValue","right.world.value"],"outputs":{"placed":"right.placed"}},{"id":"right.start","op":"mul@1","args":["right.dimension.height","right.k.centre"],"outputs":{"value":"right.start.value"}},{"id":"host.on.plane.pose.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.pose.y.t0.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"left.on.host.seat.x.t0","op":"mul@1","args":["host.size.x","host.k.centre"],"outputs":{"value":"left.on.host.seat.x.t0.value"}},{"id":"left.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"left.on.host.seat.y.t0.value"}},{"id":"left.on.host.seat.z.t0","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"left.on.host.seat.z.t0.value"}},{"id":"left.on.host.pose.x.t0","op":"mul@1","args":["left.dimension.width","k.ratio.0_5"],"outputs":{"value":"left.on.host.pose.x.t0.value"}},{"id":"left.on.host.pose.y.t0","op":"mul@1","args":["left.dimension.height","k.ratio.0_5"],"outputs":{"value":"left.on.host.pose.y.t0.value"}},{"id":"left.on.host.pose.z.t0","op":"mul@1","args":["left.dimension.depth","k.ratio.0_5"],"outputs":{"value":"left.on.host.pose.z.t0.value"}},{"id":"left.seat.rigid","op":"rigid@1","args":["left.on.host.seat.x.t0.value","left.on.host.seat.y.t0.value","left.on.host.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.seat.value"},"params":{"from":"left.joint","to":"host.local"}},{"id":"left.chain","op":"compose@1","args":["left.seat.value","left.turned.value"],"outputs":{"pose":"left.chain.value"}},{"id":"left.world","op":"compose@1","args":["host.chain.value","left.chain.value"],"outputs":{"pose":"left.world.value"}},{"id":"left.motion","op":"axis-slide@1","args":["axis.ratio.0","axis.ratio.1","axis.ratio.0","lift"],"outputs":{"pose":"left.motion.value"},"params":{"from":"left.seat","to":"left.joint"}},{"id":"left.turned","op":"compose@1","args":["left.motion.value","left.poseValue"],"outputs":{"pose":"left.turned.value"}},{"id":"right.on.host.seat.x.t0","op":"mul@1","args":["host.size.x","k.ratio.0_5"],"outputs":{"value":"right.on.host.seat.x.t0.value"}},{"id":"right.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"right.on.host.seat.y.t0.value"}},{"id":"right.on.host.seat.z.t0","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"right.on.host.seat.z.t0.value"}},{"id":"right.on.host.pose.x.t0","op":"mul@1","args":["right.dimension.width","host.k.centre"],"outputs":{"value":"right.on.host.pose.x.t0.value"}},{"id":"right.on.host.pose.y.t0","op":"mul@1","args":["right.dimension.height","k.ratio.0_5"],"outputs":{"value":"right.on.host.pose.y.t0.value"}},{"id":"right.on.host.pose.z.t0","op":"mul@1","args":["right.dimension.depth","k.ratio.0_5"],"outputs":{"value":"right.on.host.pose.z.t0.value"}},{"id":"right.seat.rigid","op":"rigid@1","args":["right.on.host.seat.x.t0.value","right.on.host.seat.y.t0.value","right.on.host.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.seat.value"},"params":{"from":"right.joint","to":"host.local"}},{"id":"right.chain","op":"compose@1","args":["right.seat.value","right.turned.value"],"outputs":{"pose":"right.chain.value"}},{"id":"right.world","op":"compose@1","args":["host.chain.value","right.chain.value"],"outputs":{"pose":"right.world.value"}},{"id":"right.motion.mimic","op":"mul@1","args":["lift","axis.ratio.1"],"outputs":{"value":"right.motion.mimic.value"}},{"id":"right.motion","op":"axis-slide@1","args":["axis.ratio.0","axis.ratio.1","axis.ratio.0","right.motion.mimic.value"],"outputs":{"pose":"right.motion.value"},"params":{"from":"right.seat","to":"right.joint"}},{"id":"right.turned","op":"compose@1","args":["right.motion.value","right.poseValue"],"outputs":{"pose":"right.turned.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":1000,"host.size.y":2000,"host.size.z":800,"left.dimension.width":120,"left.dimension.height":50,"left.dimension.depth":1000,"right.dimension.width":120,"right.dimension.height":50,"right.dimension.depth":1000},"stateDefaults":{"lift":0},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-44505a":"#44505a"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"left","material":{"token":"palette.tpl-44505a"}},{"target":"right","material":{"token":"palette.tpl-44505a"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{}},{"id":"left","type":"prismatic","body0":{"part":"host","face":"front"},"body1":{"part":"left"},"origin":{"align":{"x":"min","y":"min"}},"axis":"Y","lowerLimit":0,"upperLimit":1000,"state":{"id":"lift"}},{"id":"right","type":"prismatic","body0":{"part":"host","face":"front"},"body1":{"part":"right"},"origin":{"align":{"x":"max","y":"min"}},"axis":"Y","mimic":{"joint":"left","multiplier":1}}]}

package/recipes/fork/recipe.json

@@ -67,8 +67,7 @@
           "face": "front"
         },
         "body1": {
-          "part": "{id}-left",
-          "face": "back"
+          "part": "{id}-left"
         },
         "origin": {
           "align": {
@@ -96,8 +95,7 @@
           "face": "front"
         },
         "body1": {
-          "part": "{id}-right",
-          "face": "back"
+          "part": "{id}-right"
         },
         "origin": {
           "align": {

package/recipes/gantry-frame/build.mts

@@ -4,10 +4,10 @@ import { host, Model } from '../_lib/model.mts'
 export default function build() {
   const m = new Model(host({ x: 6000, y: 50, z: 4000 }, 'TPL_GANTRY_FRAME'))
   for (const [p, x] of [['post-left', 'min'], ['post-right', 'max']] as const)
-    m.box(p, 200, 2500, 200).on(p, 'bottom', 'host', 'top', { x }).colour(p, 'frame', '#4f5d6b')
+    m.box(p, 200, 2500, 200).on(p, 'host', 'top', { x }).colour(p, 'frame', '#4f5d6b')
   m.box('beam', 6000, 250, 200)
     .follow('beam', 'x', 'host', 'x')
-    .on('beam', 'bottom', 'host', 'top', undefined, 2500)
+    .on('beam', 'host', 'top', undefined, 2500)
     .colour('beam', 'beam', '#e0a800')
   return m.asset
 }

package/recipes/gantry-frame/models/default.json

@@ -1 +1 @@
-{"version":"figure-asset-1","name":"TPL_GANTRY_FRAME","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-left.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-left.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-left.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-right.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-right.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-right.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"beam.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"beam.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"a.deg.0","unit":"deg","value":0},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"post-left.k.centre","unit":"ratio","value":-0.5},{"id":"post-right.k.centre","unit":"ratio","value":-0.5},{"id":"beam.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"d.mm.2500","unit":"mm","value":2500}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.dimension.x.value","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.stand.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"post-left.shape","op":"extrude@1","args":["post-left.start.value","post-left.dimension.height","post-left.dimension.width","post-left.dimension.depth"],"outputs":{"shape":"post-left.shapeValue"},"params":{"frame":"post-left.local","axis":"y","section":"rectangle"}},{"id":"post-left.pose","op":"rigid@1","args":["post-left.on.host.own-edge.x.0.times.value","post-left.on.host.along.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-left.poseValue"},"params":{"from":"post-left.local","to":"post-left.seat"}},{"id":"post-left","op":"place@1","args":["post-left.shapeValue","post-left.world.value"],"outputs":{"placed":"post-left.placed"}},{"id":"post-left.start","op":"mul@1","args":["post-left.dimension.height","post-left.k.centre"],"outputs":{"value":"post-left.start.value"}},{"id":"post-right.shape","op":"extrude@1","args":["post-right.start.value","post-right.dimension.height","post-right.dimension.width","post-right.dimension.depth"],"outputs":{"shape":"post-right.shapeValue"},"params":{"frame":"post-right.local","axis":"y","section":"rectangle"}},{"id":"post-right.pose","op":"rigid@1","args":["post-right.on.host.own-edge.x.0.times.value","post-right.on.host.along.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-right.poseValue"},"params":{"from":"post-right.local","to":"post-right.seat"}},{"id":"post-right","op":"place@1","args":["post-right.shapeValue","post-right.world.value"],"outputs":{"placed":"post-right.placed"}},{"id":"post-right.start","op":"mul@1","args":["post-right.dimension.height","post-right.k.centre"],"outputs":{"value":"post-right.start.value"}},{"id":"beam.shape","op":"extrude@1","args":["beam.start.value","beam.dimension.height","beam.dimension.x.value","beam.dimension.depth"],"outputs":{"shape":"beam.shapeValue"},"params":{"frame":"beam.local","axis":"y","section":"rectangle"}},{"id":"beam.pose","op":"rigid@1","args":["d.mm.0","beam.on.host.along.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"beam.poseValue"},"params":{"from":"beam.local","to":"beam.seat"}},{"id":"beam","op":"place@1","args":["beam.shapeValue","beam.world.value"],"outputs":{"placed":"beam.placed"}},{"id":"beam.start","op":"mul@1","args":["beam.dimension.height","beam.k.centre"],"outputs":{"value":"beam.start.value"}},{"id":"beam.dimension.x","op":"mul@1","args":["host.dimension.x.value","k.ratio.1"],"outputs":{"value":"beam.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"host.on.plane.stand.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.stand.y.0.times.value"}},{"id":"host.on.plane.stand.y.1.sum","op":"add@1","args":["host.on.plane.stand.y.0.times.value","d.mm.0"],"outputs":{"value":"host.on.plane.stand.y.1.sum.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"post-left.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"post-left.on.host.seat.y.0.times.value"}},{"id":"post-left.on.host.along.y.0.times","op":"mul@1","args":["post-left.dimension.height","k.ratio.0_5"],"outputs":{"value":"post-left.on.host.along.y.0.times.value"}},{"id":"post-left.on.host.along.y.1.sum","op":"add@1","args":["post-left.on.host.along.y.0.times.value","d.mm.0"],"outputs":{"value":"post-left.on.host.along.y.1.sum.value"}},{"id":"post-left.on.host.edge.x.0.times","op":"mul@1","args":["host.dimension.x.value","host.k.centre"],"outputs":{"value":"post-left.on.host.edge.x.0.times.value"}},{"id":"post-left.on.host.own-edge.x.0.times","op":"mul@1","args":["post-left.dimension.width","k.ratio.0_5"],"outputs":{"value":"post-left.on.host.own-edge.x.0.times.value"}},{"id":"post-left.seat.rigid","op":"rigid@1","args":["post-left.on.host.edge.x.0.times.value","post-left.on.host.seat.y.0.times.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-left.seat.value"},"params":{"from":"post-left.seat","to":"host.local"}},{"id":"post-left.chain","op":"compose@1","args":["post-left.seat.value","post-left.poseValue"],"outputs":{"pose":"post-left.chain.value"}},{"id":"post-left.world","op":"compose@1","args":["host.chain.value","post-left.chain.value"],"outputs":{"pose":"post-left.world.value"}},{"id":"post-right.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"post-right.on.host.seat.y.0.times.value"}},{"id":"post-right.on.host.along.y.0.times","op":"mul@1","args":["post-right.dimension.height","k.ratio.0_5"],"outputs":{"value":"post-right.on.host.along.y.0.times.value"}},{"id":"post-right.on.host.along.y.1.sum","op":"add@1","args":["post-right.on.host.along.y.0.times.value","d.mm.0"],"outputs":{"value":"post-right.on.host.along.y.1.sum.value"}},{"id":"post-right.on.host.edge.x.0.times","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"post-right.on.host.edge.x.0.times.value"}},{"id":"post-right.on.host.own-edge.x.0.times","op":"mul@1","args":["post-right.dimension.width","host.k.centre"],"outputs":{"value":"post-right.on.host.own-edge.x.0.times.value"}},{"id":"post-right.seat.rigid","op":"rigid@1","args":["post-right.on.host.edge.x.0.times.value","post-right.on.host.seat.y.0.times.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-right.seat.value"},"params":{"from":"post-right.seat","to":"host.local"}},{"id":"post-right.chain","op":"compose@1","args":["post-right.seat.value","post-right.poseValue"],"outputs":{"pose":"post-right.chain.value"}},{"id":"post-right.world","op":"compose@1","args":["host.chain.value","post-right.chain.value"],"outputs":{"pose":"post-right.world.value"}},{"id":"beam.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"beam.on.host.seat.y.0.times.value"}},{"id":"beam.on.host.along.y.0.times","op":"mul@1","args":["beam.dimension.height","k.ratio.0_5"],"outputs":{"value":"beam.on.host.along.y.0.times.value"}},{"id":"beam.on.host.along.y.1.sum","op":"add@1","args":["beam.on.host.along.y.0.times.value","d.mm.2500"],"outputs":{"value":"beam.on.host.along.y.1.sum.value"}},{"id":"beam.seat.rigid","op":"rigid@1","args":["d.mm.0","beam.on.host.seat.y.0.times.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"beam.seat.value"},"params":{"from":"beam.seat","to":"host.local"}},{"id":"beam.chain","op":"compose@1","args":["beam.seat.value","beam.poseValue"],"outputs":{"pose":"beam.chain.value"}},{"id":"beam.world","op":"compose@1","args":["host.chain.value","beam.chain.value"],"outputs":{"pose":"beam.world.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":6000,"host.size.y":50,"host.size.z":4000,"post-left.dimension.width":200,"post-left.dimension.height":2500,"post-left.dimension.depth":200,"post-right.dimension.width":200,"post-right.dimension.height":2500,"post-right.dimension.depth":200,"beam.dimension.height":250,"beam.dimension.depth":200},"stateDefaults":{},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-4f5d6b":"#4f5d6b","palette.tpl-e0a800":"#e0a800"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"post-left","material":{"token":"palette.tpl-4f5d6b"}},{"target":"post-right","material":{"token":"palette.tpl-4f5d6b"}},{"target":"beam","material":{"token":"palette.tpl-e0a800"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host","face":"bottom"},"origin":{}},{"id":"post-left","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"post-left","face":"bottom"},"origin":{"align":{"x":"min"}}},{"id":"post-right","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"post-right","face":"bottom"},"origin":{"align":{"x":"max"}}},{"id":"beam","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"beam","face":"bottom"},"origin":{"gap":2500}}]}
+{"version":"figure-asset-1","name":"TPL_GANTRY_FRAME","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-left.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-left.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-left.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-right.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-right.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post-right.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"beam.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"beam.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"a.deg.0","unit":"deg","value":0},{"id":"post-left.k.centre","unit":"ratio","value":-0.5},{"id":"post-right.k.centre","unit":"ratio","value":-0.5},{"id":"beam.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"d.mm.2500","unit":"mm","value":2500}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.dimension.x.value","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"post-left.shape","op":"extrude@1","args":["post-left.start.value","post-left.dimension.height","post-left.dimension.width","post-left.dimension.depth"],"outputs":{"shape":"post-left.shapeValue"},"params":{"frame":"post-left.local","axis":"y","section":"rectangle"}},{"id":"post-left.pose","op":"rigid@1","args":["post-left.on.host.pose.x.t0.value","post-left.on.host.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-left.poseValue"},"params":{"from":"post-left.local","to":"post-left.seat"}},{"id":"post-left","op":"place@1","args":["post-left.shapeValue","post-left.world.value"],"outputs":{"placed":"post-left.placed"}},{"id":"post-left.start","op":"mul@1","args":["post-left.dimension.height","post-left.k.centre"],"outputs":{"value":"post-left.start.value"}},{"id":"post-right.shape","op":"extrude@1","args":["post-right.start.value","post-right.dimension.height","post-right.dimension.width","post-right.dimension.depth"],"outputs":{"shape":"post-right.shapeValue"},"params":{"frame":"post-right.local","axis":"y","section":"rectangle"}},{"id":"post-right.pose","op":"rigid@1","args":["post-right.on.host.pose.x.t0.value","post-right.on.host.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-right.poseValue"},"params":{"from":"post-right.local","to":"post-right.seat"}},{"id":"post-right","op":"place@1","args":["post-right.shapeValue","post-right.world.value"],"outputs":{"placed":"post-right.placed"}},{"id":"post-right.start","op":"mul@1","args":["post-right.dimension.height","post-right.k.centre"],"outputs":{"value":"post-right.start.value"}},{"id":"beam.shape","op":"extrude@1","args":["beam.start.value","beam.dimension.height","beam.dimension.x.value","beam.dimension.depth"],"outputs":{"shape":"beam.shapeValue"},"params":{"frame":"beam.local","axis":"y","section":"rectangle"}},{"id":"beam.pose","op":"rigid@1","args":["d.mm.0","beam.on.host.pose.y.s0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"beam.poseValue"},"params":{"from":"beam.local","to":"beam.seat"}},{"id":"beam","op":"place@1","args":["beam.shapeValue","beam.world.value"],"outputs":{"placed":"beam.placed"}},{"id":"beam.start","op":"mul@1","args":["beam.dimension.height","beam.k.centre"],"outputs":{"value":"beam.start.value"}},{"id":"beam.dimension.x","op":"mul@1","args":["host.dimension.x.value","k.ratio.1"],"outputs":{"value":"beam.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"host.on.plane.pose.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.pose.y.t0.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"post-left.on.host.seat.x.t0","op":"mul@1","args":["host.dimension.x.value","host.k.centre"],"outputs":{"value":"post-left.on.host.seat.x.t0.value"}},{"id":"post-left.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"post-left.on.host.seat.y.t0.value"}},{"id":"post-left.on.host.pose.x.t0","op":"mul@1","args":["post-left.dimension.width","k.ratio.0_5"],"outputs":{"value":"post-left.on.host.pose.x.t0.value"}},{"id":"post-left.on.host.pose.y.t0","op":"mul@1","args":["post-left.dimension.height","k.ratio.0_5"],"outputs":{"value":"post-left.on.host.pose.y.t0.value"}},{"id":"post-left.seat.rigid","op":"rigid@1","args":["post-left.on.host.seat.x.t0.value","post-left.on.host.seat.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-left.seat.value"},"params":{"from":"post-left.seat","to":"host.local"}},{"id":"post-left.chain","op":"compose@1","args":["post-left.seat.value","post-left.poseValue"],"outputs":{"pose":"post-left.chain.value"}},{"id":"post-left.world","op":"compose@1","args":["host.chain.value","post-left.chain.value"],"outputs":{"pose":"post-left.world.value"}},{"id":"post-right.on.host.seat.x.t0","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"post-right.on.host.seat.x.t0.value"}},{"id":"post-right.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"post-right.on.host.seat.y.t0.value"}},{"id":"post-right.on.host.pose.x.t0","op":"mul@1","args":["post-right.dimension.width","host.k.centre"],"outputs":{"value":"post-right.on.host.pose.x.t0.value"}},{"id":"post-right.on.host.pose.y.t0","op":"mul@1","args":["post-right.dimension.height","k.ratio.0_5"],"outputs":{"value":"post-right.on.host.pose.y.t0.value"}},{"id":"post-right.seat.rigid","op":"rigid@1","args":["post-right.on.host.seat.x.t0.value","post-right.on.host.seat.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post-right.seat.value"},"params":{"from":"post-right.seat","to":"host.local"}},{"id":"post-right.chain","op":"compose@1","args":["post-right.seat.value","post-right.poseValue"],"outputs":{"pose":"post-right.chain.value"}},{"id":"post-right.world","op":"compose@1","args":["host.chain.value","post-right.chain.value"],"outputs":{"pose":"post-right.world.value"}},{"id":"beam.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"beam.on.host.seat.y.t0.value"}},{"id":"beam.on.host.pose.y.t1","op":"mul@1","args":["beam.dimension.height","k.ratio.0_5"],"outputs":{"value":"beam.on.host.pose.y.t1.value"}},{"id":"beam.on.host.pose.y.s0","op":"add@1","args":["d.mm.2500","beam.on.host.pose.y.t1.value"],"outputs":{"value":"beam.on.host.pose.y.s0.value"}},{"id":"beam.seat.rigid","op":"rigid@1","args":["d.mm.0","beam.on.host.seat.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"beam.seat.value"},"params":{"from":"beam.seat","to":"host.local"}},{"id":"beam.chain","op":"compose@1","args":["beam.seat.value","beam.poseValue"],"outputs":{"pose":"beam.chain.value"}},{"id":"beam.world","op":"compose@1","args":["host.chain.value","beam.chain.value"],"outputs":{"pose":"beam.world.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":6000,"host.size.y":50,"host.size.z":4000,"post-left.dimension.width":200,"post-left.dimension.height":2500,"post-left.dimension.depth":200,"post-right.dimension.width":200,"post-right.dimension.height":2500,"post-right.dimension.depth":200,"beam.dimension.height":250,"beam.dimension.depth":200},"stateDefaults":{},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-4f5d6b":"#4f5d6b","palette.tpl-e0a800":"#e0a800"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"post-left","material":{"token":"palette.tpl-4f5d6b"}},{"target":"post-right","material":{"token":"palette.tpl-4f5d6b"}},{"target":"beam","material":{"token":"palette.tpl-e0a800"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{}},{"id":"post-left","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"post-left"},"origin":{"align":{"x":"min"}}},{"id":"post-right","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"post-right"},"origin":{"align":{"x":"max"}}},{"id":"beam","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"beam"},"origin":{"gap":2500}}]}

package/recipes/gantry-frame/recipe.json

@@ -94,8 +94,7 @@
           "face": "top"
         },
         "body1": {
-          "part": "{id}-post-left",
-          "face": "bottom"
+          "part": "{id}-post-left"
         },
         "origin": {
           "align": {
@@ -114,8 +113,7 @@
           "face": "top"
         },
         "body1": {
-          "part": "{id}-post-right",
-          "face": "bottom"
+          "part": "{id}-post-right"
         },
         "origin": {
           "align": {
@@ -134,8 +132,7 @@
           "face": "top"
         },
         "body1": {
-          "part": "{id}-beam",
-          "face": "bottom"
+          "part": "{id}-beam"
         },
         "origin": {
           "gap": {

package/recipes/gripper-2f/build.mts

@@ -4,11 +4,11 @@ import { host, Model } from '../_lib/model.mts'
 export default function build() {
   const m = new Model(host({ x: 300, y: 300, z: 300 }, 'TPL_GRIPPER_2F', 600))
   m.box('palm', 220, 50, 100)
-    .on('palm', 'top', 'host', 'bottom')
+    .on('palm', 'host', 'bottom')
     .colour('palm', 'palette.rail', '#9aa3ab')
   for (const [f, x] of [['left', 'min'], ['right', 'max']] as const)
     m.box(f, 30, 140, 80)
-      .on(f, 'top', 'palm', 'bottom', { x })
+      .on(f, 'palm', 'bottom', { x })
       .colour(f, 'palette.finger', '#44505a')
   m.moves('left', { type: 'prismatic', axis: 'X', lower: 0, upper: 40, state: 'grip' })
     .moves('right', { type: 'prismatic', axis: 'X', mimic: { joint: 'left', multiplier: -1 } })

package/recipes/gripper-2f/models/default.json

@@ -1 +1 @@
-{"version":"figure-asset-1","name":"TPL_GRIPPER_2F","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"palm.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"palm.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"palm.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"grip","unit":"mm","min":0,"max":40,"role":"state"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"a.deg.0","unit":"deg","value":0},{"id":"d.mm.600","unit":"mm","value":600},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"palm.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio._1","unit":"ratio","value":-1},{"id":"left.k.centre","unit":"ratio","value":-0.5},{"id":"right.k.centre","unit":"ratio","value":-0.5},{"id":"axis.ratio.1","unit":"ratio","value":1},{"id":"axis.ratio.0","unit":"ratio","value":0}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.size.x","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.stand.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"palm.shape","op":"extrude@1","args":["palm.start.value","palm.dimension.height","palm.dimension.width","palm.dimension.depth"],"outputs":{"shape":"palm.shapeValue"},"params":{"frame":"palm.local","axis":"y","section":"rectangle"}},{"id":"palm.pose","op":"rigid@1","args":["d.mm.0","palm.on.host.along.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"palm.poseValue"},"params":{"from":"palm.local","to":"palm.seat"}},{"id":"palm","op":"place@1","args":["palm.shapeValue","palm.world.value"],"outputs":{"placed":"palm.placed"}},{"id":"palm.start","op":"mul@1","args":["palm.dimension.height","palm.k.centre"],"outputs":{"value":"palm.start.value"}},{"id":"left.shape","op":"extrude@1","args":["left.start.value","left.dimension.height","left.dimension.width","left.dimension.depth"],"outputs":{"shape":"left.shapeValue"},"params":{"frame":"left.local","axis":"y","section":"rectangle"}},{"id":"left.pose","op":"rigid@1","args":["left.on.palm.own-edge.x.0.times.value","left.on.palm.along.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.poseValue"},"params":{"from":"left.local","to":"left.seat"}},{"id":"left","op":"place@1","args":["left.shapeValue","left.world.value"],"outputs":{"placed":"left.placed"}},{"id":"left.start","op":"mul@1","args":["left.dimension.height","left.k.centre"],"outputs":{"value":"left.start.value"}},{"id":"right.shape","op":"extrude@1","args":["right.start.value","right.dimension.height","right.dimension.width","right.dimension.depth"],"outputs":{"shape":"right.shapeValue"},"params":{"frame":"right.local","axis":"y","section":"rectangle"}},{"id":"right.pose","op":"rigid@1","args":["right.on.palm.own-edge.x.0.times.value","right.on.palm.along.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.poseValue"},"params":{"from":"right.local","to":"right.seat"}},{"id":"right","op":"place@1","args":["right.shapeValue","right.world.value"],"outputs":{"placed":"right.placed"}},{"id":"right.start","op":"mul@1","args":["right.dimension.height","right.k.centre"],"outputs":{"value":"right.start.value"}},{"id":"host.on.plane.stand.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.stand.y.0.times.value"}},{"id":"host.on.plane.stand.y.1.sum","op":"add@1","args":["host.on.plane.stand.y.0.times.value","d.mm.600"],"outputs":{"value":"host.on.plane.stand.y.1.sum.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"palm.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"palm.on.host.seat.y.0.times.value"}},{"id":"palm.on.host.along.y.0.times","op":"mul@1","args":["palm.dimension.height","host.k.centre"],"outputs":{"value":"palm.on.host.along.y.0.times.value"}},{"id":"palm.on.host.along.y.1.times","op":"mul@1","args":["d.mm.0","k.ratio._1"],"outputs":{"value":"palm.on.host.along.y.1.times.value"}},{"id":"palm.on.host.along.y.1.sum","op":"add@1","args":["palm.on.host.along.y.0.times.value","palm.on.host.along.y.1.times.value"],"outputs":{"value":"palm.on.host.along.y.1.sum.value"}},{"id":"palm.seat.rigid","op":"rigid@1","args":["d.mm.0","palm.on.host.seat.y.0.times.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"palm.seat.value"},"params":{"from":"palm.seat","to":"host.local"}},{"id":"palm.chain","op":"compose@1","args":["palm.seat.value","palm.poseValue"],"outputs":{"pose":"palm.chain.value"}},{"id":"palm.world","op":"compose@1","args":["host.chain.value","palm.chain.value"],"outputs":{"pose":"palm.world.value"}},{"id":"left.on.palm.seat.y.0.times","op":"mul@1","args":["palm.dimension.height","host.k.centre"],"outputs":{"value":"left.on.palm.seat.y.0.times.value"}},{"id":"left.on.palm.along.y.0.times","op":"mul@1","args":["left.dimension.height","host.k.centre"],"outputs":{"value":"left.on.palm.along.y.0.times.value"}},{"id":"left.on.palm.along.y.1.times","op":"mul@1","args":["d.mm.0","k.ratio._1"],"outputs":{"value":"left.on.palm.along.y.1.times.value"}},{"id":"left.on.palm.along.y.1.sum","op":"add@1","args":["left.on.palm.along.y.0.times.value","left.on.palm.along.y.1.times.value"],"outputs":{"value":"left.on.palm.along.y.1.sum.value"}},{"id":"left.on.palm.edge.x.0.times","op":"mul@1","args":["palm.dimension.width","host.k.centre"],"outputs":{"value":"left.on.palm.edge.x.0.times.value"}},{"id":"left.on.palm.own-edge.x.0.times","op":"mul@1","args":["left.dimension.width","k.ratio.0_5"],"outputs":{"value":"left.on.palm.own-edge.x.0.times.value"}},{"id":"left.seat.rigid","op":"rigid@1","args":["left.on.palm.edge.x.0.times.value","left.on.palm.seat.y.0.times.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.seat.value"},"params":{"from":"left.joint","to":"palm.local"}},{"id":"left.chain","op":"compose@1","args":["left.seat.value","left.turned.value"],"outputs":{"pose":"left.chain.value"}},{"id":"left.world","op":"compose@1","args":["palm.world.value","left.chain.value"],"outputs":{"pose":"left.world.value"}},{"id":"left.motion","op":"axis-slide@1","args":["axis.ratio.1","axis.ratio.0","axis.ratio.0","grip"],"outputs":{"pose":"left.motion.value"},"params":{"from":"left.seat","to":"left.joint"}},{"id":"left.turned","op":"compose@1","args":["left.motion.value","left.poseValue"],"outputs":{"pose":"left.turned.value"}},{"id":"right.on.palm.seat.y.0.times","op":"mul@1","args":["palm.dimension.height","host.k.centre"],"outputs":{"value":"right.on.palm.seat.y.0.times.value"}},{"id":"right.on.palm.along.y.0.times","op":"mul@1","args":["right.dimension.height","host.k.centre"],"outputs":{"value":"right.on.palm.along.y.0.times.value"}},{"id":"right.on.palm.along.y.1.times","op":"mul@1","args":["d.mm.0","k.ratio._1"],"outputs":{"value":"right.on.palm.along.y.1.times.value"}},{"id":"right.on.palm.along.y.1.sum","op":"add@1","args":["right.on.palm.along.y.0.times.value","right.on.palm.along.y.1.times.value"],"outputs":{"value":"right.on.palm.along.y.1.sum.value"}},{"id":"right.on.palm.edge.x.0.times","op":"mul@1","args":["palm.dimension.width","k.ratio.0_5"],"outputs":{"value":"right.on.palm.edge.x.0.times.value"}},{"id":"right.on.palm.own-edge.x.0.times","op":"mul@1","args":["right.dimension.width","host.k.centre"],"outputs":{"value":"right.on.palm.own-edge.x.0.times.value"}},{"id":"right.seat.rigid","op":"rigid@1","args":["right.on.palm.edge.x.0.times.value","right.on.palm.seat.y.0.times.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.seat.value"},"params":{"from":"right.joint","to":"palm.local"}},{"id":"right.chain","op":"compose@1","args":["right.seat.value","right.turned.value"],"outputs":{"pose":"right.chain.value"}},{"id":"right.world","op":"compose@1","args":["palm.world.value","right.chain.value"],"outputs":{"pose":"right.world.value"}},{"id":"right.motion.mimic","op":"mul@1","args":["grip","k.ratio._1"],"outputs":{"value":"right.motion.mimic.value"}},{"id":"right.motion","op":"axis-slide@1","args":["axis.ratio.1","axis.ratio.0","axis.ratio.0","right.motion.mimic.value"],"outputs":{"pose":"right.motion.value"},"params":{"from":"right.seat","to":"right.joint"}},{"id":"right.turned","op":"compose@1","args":["right.motion.value","right.poseValue"],"outputs":{"pose":"right.turned.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":300,"host.size.y":300,"host.size.z":300,"palm.dimension.width":220,"palm.dimension.height":50,"palm.dimension.depth":100,"left.dimension.width":30,"left.dimension.height":140,"left.dimension.depth":80,"right.dimension.width":30,"right.dimension.height":140,"right.dimension.depth":80},"stateDefaults":{"grip":0},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-9aa3ab":"#9aa3ab","palette.tpl-44505a":"#44505a"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"palm","material":{"token":"palette.tpl-9aa3ab"}},{"target":"left","material":{"token":"palette.tpl-44505a"}},{"target":"right","material":{"token":"palette.tpl-44505a"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host","face":"bottom"},"origin":{"gap":600}},{"id":"palm","type":"fixed","body0":{"part":"host","face":"bottom"},"body1":{"part":"palm","face":"top"},"origin":{}},{"id":"left","type":"prismatic","body0":{"part":"palm","face":"bottom"},"body1":{"part":"left","face":"top"},"origin":{"align":{"x":"min"}},"axis":"X","lowerLimit":0,"upperLimit":40,"state":{"id":"grip"}},{"id":"right","type":"prismatic","body0":{"part":"palm","face":"bottom"},"body1":{"part":"right","face":"top"},"origin":{"align":{"x":"max"}},"axis":"X","mimic":{"joint":"left","multiplier":-1}}]}
+{"version":"figure-asset-1","name":"TPL_GRIPPER_2F","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"palm.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"palm.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"palm.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"left.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"right.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"grip","unit":"mm","min":0,"max":40,"role":"state"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"d.mm.600","unit":"mm","value":600},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"a.deg.0","unit":"deg","value":0},{"id":"palm.k.centre","unit":"ratio","value":-0.5},{"id":"left.k.centre","unit":"ratio","value":-0.5},{"id":"right.k.centre","unit":"ratio","value":-0.5},{"id":"axis.ratio.1","unit":"ratio","value":1},{"id":"axis.ratio.0","unit":"ratio","value":0},{"id":"k.ratio._1","unit":"ratio","value":-1}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.size.x","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.pose.y.s0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"palm.shape","op":"extrude@1","args":["palm.start.value","palm.dimension.height","palm.dimension.width","palm.dimension.depth"],"outputs":{"shape":"palm.shapeValue"},"params":{"frame":"palm.local","axis":"y","section":"rectangle"}},{"id":"palm.pose","op":"rigid@1","args":["d.mm.0","palm.on.host.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"palm.poseValue"},"params":{"from":"palm.local","to":"palm.seat"}},{"id":"palm","op":"place@1","args":["palm.shapeValue","palm.world.value"],"outputs":{"placed":"palm.placed"}},{"id":"palm.start","op":"mul@1","args":["palm.dimension.height","palm.k.centre"],"outputs":{"value":"palm.start.value"}},{"id":"left.shape","op":"extrude@1","args":["left.start.value","left.dimension.height","left.dimension.width","left.dimension.depth"],"outputs":{"shape":"left.shapeValue"},"params":{"frame":"left.local","axis":"y","section":"rectangle"}},{"id":"left.pose","op":"rigid@1","args":["left.on.palm.pose.x.t0.value","left.on.palm.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.poseValue"},"params":{"from":"left.local","to":"left.seat"}},{"id":"left","op":"place@1","args":["left.shapeValue","left.world.value"],"outputs":{"placed":"left.placed"}},{"id":"left.start","op":"mul@1","args":["left.dimension.height","left.k.centre"],"outputs":{"value":"left.start.value"}},{"id":"right.shape","op":"extrude@1","args":["right.start.value","right.dimension.height","right.dimension.width","right.dimension.depth"],"outputs":{"shape":"right.shapeValue"},"params":{"frame":"right.local","axis":"y","section":"rectangle"}},{"id":"right.pose","op":"rigid@1","args":["right.on.palm.pose.x.t0.value","right.on.palm.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.poseValue"},"params":{"from":"right.local","to":"right.seat"}},{"id":"right","op":"place@1","args":["right.shapeValue","right.world.value"],"outputs":{"placed":"right.placed"}},{"id":"right.start","op":"mul@1","args":["right.dimension.height","right.k.centre"],"outputs":{"value":"right.start.value"}},{"id":"host.on.plane.pose.y.t1","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.pose.y.t1.value"}},{"id":"host.on.plane.pose.y.s0","op":"add@1","args":["d.mm.600","host.on.plane.pose.y.t1.value"],"outputs":{"value":"host.on.plane.pose.y.s0.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"palm.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"palm.on.host.seat.y.t0.value"}},{"id":"palm.on.host.pose.y.t0","op":"mul@1","args":["palm.dimension.height","host.k.centre"],"outputs":{"value":"palm.on.host.pose.y.t0.value"}},{"id":"palm.seat.rigid","op":"rigid@1","args":["d.mm.0","palm.on.host.seat.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"palm.seat.value"},"params":{"from":"palm.seat","to":"host.local"}},{"id":"palm.chain","op":"compose@1","args":["palm.seat.value","palm.poseValue"],"outputs":{"pose":"palm.chain.value"}},{"id":"palm.world","op":"compose@1","args":["host.chain.value","palm.chain.value"],"outputs":{"pose":"palm.world.value"}},{"id":"left.on.palm.seat.x.t0","op":"mul@1","args":["palm.dimension.width","host.k.centre"],"outputs":{"value":"left.on.palm.seat.x.t0.value"}},{"id":"left.on.palm.seat.y.t0","op":"mul@1","args":["palm.dimension.height","host.k.centre"],"outputs":{"value":"left.on.palm.seat.y.t0.value"}},{"id":"left.on.palm.pose.x.t0","op":"mul@1","args":["left.dimension.width","k.ratio.0_5"],"outputs":{"value":"left.on.palm.pose.x.t0.value"}},{"id":"left.on.palm.pose.y.t0","op":"mul@1","args":["left.dimension.height","host.k.centre"],"outputs":{"value":"left.on.palm.pose.y.t0.value"}},{"id":"left.seat.rigid","op":"rigid@1","args":["left.on.palm.seat.x.t0.value","left.on.palm.seat.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"left.seat.value"},"params":{"from":"left.joint","to":"palm.local"}},{"id":"left.chain","op":"compose@1","args":["left.seat.value","left.turned.value"],"outputs":{"pose":"left.chain.value"}},{"id":"left.world","op":"compose@1","args":["palm.world.value","left.chain.value"],"outputs":{"pose":"left.world.value"}},{"id":"left.motion","op":"axis-slide@1","args":["axis.ratio.1","axis.ratio.0","axis.ratio.0","grip"],"outputs":{"pose":"left.motion.value"},"params":{"from":"left.seat","to":"left.joint"}},{"id":"left.turned","op":"compose@1","args":["left.motion.value","left.poseValue"],"outputs":{"pose":"left.turned.value"}},{"id":"right.on.palm.seat.x.t0","op":"mul@1","args":["palm.dimension.width","k.ratio.0_5"],"outputs":{"value":"right.on.palm.seat.x.t0.value"}},{"id":"right.on.palm.seat.y.t0","op":"mul@1","args":["palm.dimension.height","host.k.centre"],"outputs":{"value":"right.on.palm.seat.y.t0.value"}},{"id":"right.on.palm.pose.x.t0","op":"mul@1","args":["right.dimension.width","host.k.centre"],"outputs":{"value":"right.on.palm.pose.x.t0.value"}},{"id":"right.on.palm.pose.y.t0","op":"mul@1","args":["right.dimension.height","host.k.centre"],"outputs":{"value":"right.on.palm.pose.y.t0.value"}},{"id":"right.seat.rigid","op":"rigid@1","args":["right.on.palm.seat.x.t0.value","right.on.palm.seat.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"right.seat.value"},"params":{"from":"right.joint","to":"palm.local"}},{"id":"right.chain","op":"compose@1","args":["right.seat.value","right.turned.value"],"outputs":{"pose":"right.chain.value"}},{"id":"right.world","op":"compose@1","args":["palm.world.value","right.chain.value"],"outputs":{"pose":"right.world.value"}},{"id":"right.motion.mimic","op":"mul@1","args":["grip","k.ratio._1"],"outputs":{"value":"right.motion.mimic.value"}},{"id":"right.motion","op":"axis-slide@1","args":["axis.ratio.1","axis.ratio.0","axis.ratio.0","right.motion.mimic.value"],"outputs":{"pose":"right.motion.value"},"params":{"from":"right.seat","to":"right.joint"}},{"id":"right.turned","op":"compose@1","args":["right.motion.value","right.poseValue"],"outputs":{"pose":"right.turned.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":300,"host.size.y":300,"host.size.z":300,"palm.dimension.width":220,"palm.dimension.height":50,"palm.dimension.depth":100,"left.dimension.width":30,"left.dimension.height":140,"left.dimension.depth":80,"right.dimension.width":30,"right.dimension.height":140,"right.dimension.depth":80},"stateDefaults":{"grip":0},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-9aa3ab":"#9aa3ab","palette.tpl-44505a":"#44505a"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"palm","material":{"token":"palette.tpl-9aa3ab"}},{"target":"left","material":{"token":"palette.tpl-44505a"}},{"target":"right","material":{"token":"palette.tpl-44505a"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{"gap":600}},{"id":"palm","type":"fixed","body0":{"part":"host","face":"bottom"},"body1":{"part":"palm"},"origin":{}},{"id":"left","type":"prismatic","body0":{"part":"palm","face":"bottom"},"body1":{"part":"left"},"origin":{"align":{"x":"min"}},"axis":"X","lowerLimit":0,"upperLimit":40,"state":{"id":"grip"}},{"id":"right","type":"prismatic","body0":{"part":"palm","face":"bottom"},"body1":{"part":"right"},"origin":{"align":{"x":"max"}},"axis":"X","mimic":{"joint":"left","multiplier":-1}}]}

package/recipes/gripper-2f/recipe.json

@@ -79,8 +79,7 @@
           "face": "bottom"
         },
         "body1": {
-          "part": "{id}-palm",
-          "face": "top"
+          "part": "{id}-palm"
         },
         "origin": {}
       }
@@ -95,8 +94,7 @@
           "face": "bottom"
         },
         "body1": {
-          "part": "{id}-left",
-          "face": "top"
+          "part": "{id}-left"
         },
         "origin": {
           "align": {
@@ -123,8 +121,7 @@
           "face": "bottom"
         },
         "body1": {
-          "part": "{id}-right",
-          "face": "top"
+          "part": "{id}-right"
         },
         "origin": {
           "align": {

package/recipes/guard-cover/build.mts

@@ -6,7 +6,7 @@ export default function build() {
   m.box('cover', 3000, 20, 800)
     .follow('cover', 'x', 'host', 'x')
     .follow('cover', 'z', 'host', 'z')
-    .on('cover', 'bottom', 'host', 'top', { z: 'min' })
+    .on('cover', 'host', 'top', { z: 'min' })
     .edit({ kind: 'set-material', target: 'cover', material: { token: 'palette.tpl-a7d3e8', transparent: true }, palette: { 'palette.tpl-a7d3e8': '#a7d3e8' } } as never)
     .moves('cover', { type: 'revolute', axis: 'X', lower: -110, upper: 0, state: 'open' })
   return m.asset

package/recipes/guard-cover/models/default.json

@@ -1 +1 @@
-{"version":"figure-asset-1","name":"TPL_GUARD_COVER","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"cover.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"open","unit":"deg","min":-110,"max":0,"role":"state"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"a.deg.0","unit":"deg","value":0},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"cover.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"axis.ratio.0","unit":"ratio","value":0}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.dimension.x.value","host.dimension.z.value"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.stand.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"cover.shape","op":"extrude@1","args":["cover.start.value","cover.dimension.height","cover.dimension.x.value","cover.dimension.z.value"],"outputs":{"shape":"cover.shapeValue"},"params":{"frame":"cover.local","axis":"y","section":"rectangle"}},{"id":"cover.pose","op":"rigid@1","args":["d.mm.0","cover.on.host.along.y.1.sum.value","cover.on.host.own-edge.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"cover.poseValue"},"params":{"from":"cover.local","to":"cover.seat"}},{"id":"cover","op":"place@1","args":["cover.shapeValue","cover.world.value"],"outputs":{"placed":"cover.placed"}},{"id":"cover.start","op":"mul@1","args":["cover.dimension.height","cover.k.centre"],"outputs":{"value":"cover.start.value"}},{"id":"cover.dimension.x","op":"mul@1","args":["host.dimension.x.value","k.ratio.1"],"outputs":{"value":"cover.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"cover.dimension.z","op":"mul@1","args":["host.dimension.z.value","k.ratio.1"],"outputs":{"value":"cover.dimension.z.value"}},{"id":"host.dimension.z","op":"mul@1","args":["host.size.z","k.ratio.1"],"outputs":{"value":"host.dimension.z.value"}},{"id":"host.on.plane.stand.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.stand.y.0.times.value"}},{"id":"host.on.plane.stand.y.1.sum","op":"add@1","args":["host.on.plane.stand.y.0.times.value","d.mm.0"],"outputs":{"value":"host.on.plane.stand.y.1.sum.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"cover.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"cover.on.host.seat.y.0.times.value"}},{"id":"cover.on.host.along.y.0.times","op":"mul@1","args":["cover.dimension.height","k.ratio.0_5"],"outputs":{"value":"cover.on.host.along.y.0.times.value"}},{"id":"cover.on.host.along.y.1.sum","op":"add@1","args":["cover.on.host.along.y.0.times.value","d.mm.0"],"outputs":{"value":"cover.on.host.along.y.1.sum.value"}},{"id":"cover.on.host.edge.z.0.times","op":"mul@1","args":["host.dimension.z.value","host.k.centre"],"outputs":{"value":"cover.on.host.edge.z.0.times.value"}},{"id":"cover.on.host.own-edge.z.0.times","op":"mul@1","args":["cover.dimension.z.value","k.ratio.0_5"],"outputs":{"value":"cover.on.host.own-edge.z.0.times.value"}},{"id":"cover.seat.rigid","op":"rigid@1","args":["d.mm.0","cover.on.host.seat.y.0.times.value","cover.on.host.edge.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"cover.seat.value"},"params":{"from":"cover.joint","to":"host.local"}},{"id":"cover.chain","op":"compose@1","args":["cover.seat.value","cover.turned.value"],"outputs":{"pose":"cover.chain.value"}},{"id":"cover.world","op":"compose@1","args":["host.chain.value","cover.chain.value"],"outputs":{"pose":"cover.world.value"}},{"id":"cover.motion","op":"axis-turn@1","args":["k.ratio.1","axis.ratio.0","axis.ratio.0","open"],"outputs":{"pose":"cover.motion.value"},"params":{"from":"cover.seat","to":"cover.joint"}},{"id":"cover.turned","op":"compose@1","args":["cover.motion.value","cover.poseValue"],"outputs":{"pose":"cover.turned.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":3000,"host.size.y":700,"host.size.z":800,"cover.dimension.height":20},"stateDefaults":{"open":0},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-a7d3e8":"#a7d3e8"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"cover","material":{"token":"palette.tpl-a7d3e8","transparent":true}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host","face":"bottom"},"origin":{}},{"id":"cover","type":"revolute","body0":{"part":"host","face":"top"},"body1":{"part":"cover","face":"bottom"},"origin":{"align":{"z":"min"}},"axis":"X","lowerLimit":-110,"upperLimit":0,"state":{"id":"open"}}]}
+{"version":"figure-asset-1","name":"TPL_GUARD_COVER","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"cover.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"open","unit":"deg","min":-110,"max":0,"role":"state"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"a.deg.0","unit":"deg","value":0},{"id":"cover.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"axis.ratio.0","unit":"ratio","value":0}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.dimension.x.value","host.dimension.z.value"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.pose.y.t0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"cover.shape","op":"extrude@1","args":["cover.start.value","cover.dimension.height","cover.dimension.x.value","cover.dimension.z.value"],"outputs":{"shape":"cover.shapeValue"},"params":{"frame":"cover.local","axis":"y","section":"rectangle"}},{"id":"cover.pose","op":"rigid@1","args":["d.mm.0","cover.on.host.pose.y.t0.value","cover.on.host.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"cover.poseValue"},"params":{"from":"cover.local","to":"cover.seat"}},{"id":"cover","op":"place@1","args":["cover.shapeValue","cover.world.value"],"outputs":{"placed":"cover.placed"}},{"id":"cover.start","op":"mul@1","args":["cover.dimension.height","cover.k.centre"],"outputs":{"value":"cover.start.value"}},{"id":"cover.dimension.x","op":"mul@1","args":["host.dimension.x.value","k.ratio.1"],"outputs":{"value":"cover.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"cover.dimension.z","op":"mul@1","args":["host.dimension.z.value","k.ratio.1"],"outputs":{"value":"cover.dimension.z.value"}},{"id":"host.dimension.z","op":"mul@1","args":["host.size.z","k.ratio.1"],"outputs":{"value":"host.dimension.z.value"}},{"id":"host.on.plane.pose.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.pose.y.t0.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"cover.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"cover.on.host.seat.y.t0.value"}},{"id":"cover.on.host.seat.z.t0","op":"mul@1","args":["host.dimension.z.value","host.k.centre"],"outputs":{"value":"cover.on.host.seat.z.t0.value"}},{"id":"cover.on.host.pose.y.t0","op":"mul@1","args":["cover.dimension.height","k.ratio.0_5"],"outputs":{"value":"cover.on.host.pose.y.t0.value"}},{"id":"cover.on.host.pose.z.t0","op":"mul@1","args":["cover.dimension.z.value","k.ratio.0_5"],"outputs":{"value":"cover.on.host.pose.z.t0.value"}},{"id":"cover.seat.rigid","op":"rigid@1","args":["d.mm.0","cover.on.host.seat.y.t0.value","cover.on.host.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"cover.seat.value"},"params":{"from":"cover.joint","to":"host.local"}},{"id":"cover.chain","op":"compose@1","args":["cover.seat.value","cover.turned.value"],"outputs":{"pose":"cover.chain.value"}},{"id":"cover.world","op":"compose@1","args":["host.chain.value","cover.chain.value"],"outputs":{"pose":"cover.world.value"}},{"id":"cover.motion","op":"axis-turn@1","args":["k.ratio.1","axis.ratio.0","axis.ratio.0","open"],"outputs":{"pose":"cover.motion.value"},"params":{"from":"cover.seat","to":"cover.joint"}},{"id":"cover.turned","op":"compose@1","args":["cover.motion.value","cover.poseValue"],"outputs":{"pose":"cover.turned.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":3000,"host.size.y":700,"host.size.z":800,"cover.dimension.height":20},"stateDefaults":{"open":0},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-a7d3e8":"#a7d3e8"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"cover","material":{"token":"palette.tpl-a7d3e8","transparent":true}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{}},{"id":"cover","type":"revolute","body0":{"part":"host","face":"top"},"body1":{"part":"cover"},"origin":{"align":{"z":"min"}},"axis":"X","lowerLimit":-110,"upperLimit":0,"state":{"id":"open"}}]}

package/recipes/guard-cover/recipe.json

@@ -61,8 +61,7 @@
           "face": "top"
         },
         "body1": {
-          "part": "{id}-cover",
-          "face": "bottom"
+          "part": "{id}-cover"
         },
         "origin": {
           "align": {

package/recipes/handrail/build.mts

@@ -4,12 +4,12 @@ import { host, Model } from '../_lib/model.mts'
 export default function build() {
   const m = new Model(host({ x: 3000, y: 40, z: 1500 }, 'TPL_HANDRAIL', 800))
   m.box('post', 40, 1100, 40)
-    .on('post', 'bottom', 'host', 'top', { z: 'max' })
+    .on('post', 'host', 'top', { z: 'max' })
     .colour('post', 'rail-yellow', '#e0b000')
     .do({ kind: 'make-repeat', part: 'post', axis: 'x', pitch: 1000, narrowRange: true })
     .box('rail', 3000, 40, 40)
     .follow('rail', 'x', 'host', 'x')
-    .on('rail', 'bottom', 'host', 'top', { z: 'max' }, 1100)
+    .on('rail', 'host', 'top', { z: 'max' }, 1100)
     .colour('rail', 'rail-yellow', '#e0b000')
   return m.asset
 }

package/recipes/handrail/models/default.json

@@ -1 +1 @@
-{"version":"figure-asset-1","name":"TPL_HANDRAIL","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"post.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"rail.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"rail.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"a.deg.0","unit":"deg","value":0},{"id":"d.mm.800","unit":"mm","value":800},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"post.k.centre","unit":"ratio","value":-0.5},{"id":"limit.count.100","unit":"count","value":100},{"id":"d.mm.1000","unit":"mm","value":1000},{"id":"rail.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"d.mm.1100","unit":"mm","value":1100}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.dimension.x.value","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.stand.y.1.sum.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"post.shape","op":"extrude@1","args":["post.start.value","post.dimension.height","post.dimension.width","post.dimension.depth"],"outputs":{"shape":"post.shapeValue"},"params":{"frame":"post.local","axis":"y","section":"rectangle"}},{"id":"post.pose","op":"rigid@1","args":["d.mm.0","post.on.host.along.y.1.sum.value","post.on.host.own-edge.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post.poseValue"},"params":{"from":"post.local","to":"post.seat"}},{"id":"post","op":"member@1","args":["post.shapeValue","post.poseValue"],"outputs":{"placed":"post.placed"}},{"id":"post.start","op":"mul@1","args":["post.dimension.height","post.k.centre"],"outputs":{"value":"post.start.value"}},{"id":"rail.shape","op":"extrude@1","args":["rail.start.value","rail.dimension.height","rail.dimension.x.value","rail.dimension.depth"],"outputs":{"shape":"rail.shapeValue"},"params":{"frame":"rail.local","axis":"y","section":"rectangle"}},{"id":"rail.pose","op":"rigid@1","args":["d.mm.0","rail.on.host.along.y.1.sum.value","rail.on.host.own-edge.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"rail.poseValue"},"params":{"from":"rail.local","to":"rail.seat"}},{"id":"rail","op":"place@1","args":["rail.shapeValue","rail.world.value"],"outputs":{"placed":"rail.placed"}},{"id":"rail.start","op":"mul@1","args":["rail.dimension.height","rail.k.centre"],"outputs":{"value":"rail.start.value"}},{"id":"rail.dimension.x","op":"mul@1","args":["host.dimension.x.value","k.ratio.1"],"outputs":{"value":"rail.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"host.on.plane.stand.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.stand.y.0.times.value"}},{"id":"host.on.plane.stand.y.1.sum","op":"add@1","args":["host.on.plane.stand.y.0.times.value","d.mm.800"],"outputs":{"value":"host.on.plane.stand.y.1.sum.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"post.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"post.on.host.seat.y.0.times.value"}},{"id":"post.on.host.along.y.0.times","op":"mul@1","args":["post.dimension.height","k.ratio.0_5"],"outputs":{"value":"post.on.host.along.y.0.times.value"}},{"id":"post.on.host.along.y.1.sum","op":"add@1","args":["post.on.host.along.y.0.times.value","d.mm.0"],"outputs":{"value":"post.on.host.along.y.1.sum.value"}},{"id":"post.on.host.edge.z.0.times","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"post.on.host.edge.z.0.times.value"}},{"id":"post.on.host.own-edge.z.0.times","op":"mul@1","args":["post.dimension.depth","host.k.centre"],"outputs":{"value":"post.on.host.own-edge.z.0.times.value"}},{"id":"post.seat.rigid","op":"rigid@1","args":["post.row.start.0.times.value","post.on.host.seat.y.0.times.value","post.on.host.edge.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post.seat.value"},"params":{"from":"post.seat","to":"host.local"}},{"id":"post.row.start.0.times","op":"mul@1","args":["host.dimension.x.value","host.k.centre"],"outputs":{"value":"post.row.start.0.times.value"}},{"id":"post.row.length.0.times","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"post.row.length.0.times.value"}},{"id":"post.row.length.1.times","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"post.row.length.1.times.value"}},{"id":"post.row.length.1.sum","op":"add@1","args":["post.row.length.0.times.value","post.row.length.1.times.value"],"outputs":{"value":"post.row.length.1.sum.value"}},{"id":"post.row.extent.0.times","op":"mul@1","args":["post.dimension.width","k.ratio.0_5"],"outputs":{"value":"post.row.extent.0.times.value"}},{"id":"post.row.extent.1.times","op":"mul@1","args":["post.dimension.width","k.ratio.0_5"],"outputs":{"value":"post.row.extent.1.times.value"}},{"id":"post.row.extent.1.sum","op":"add@1","args":["post.row.extent.0.times.value","post.row.extent.1.times.value"],"outputs":{"value":"post.row.extent.1.sum.value"}},{"id":"post.layout","op":"fit-pitch@1","args":["post.row.length.1.sum.value","d.mm.0","d.mm.0","post.row.extent.1.sum.value","d.mm.1000","k.ratio.0_5","limit.count.100"],"outputs":{"layout":"post.layout.value"}},{"id":"post.assembly","op":"assembly@1","args":["post.placed"],"outputs":{"assembly":"post.assembly.value"}},{"id":"post.row","op":"compose@1","args":["host.chain.value","post.seat.value"],"outputs":{"pose":"post.row.value"}},{"id":"post.repeat","op":"repeat@1","args":["post.layout.value","post.assembly.value","post.row.value"],"outputs":{"collection":"post.repeat.value"},"params":{"axis":"x"}},{"id":"rail.on.host.seat.y.0.times","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"rail.on.host.seat.y.0.times.value"}},{"id":"rail.on.host.along.y.0.times","op":"mul@1","args":["rail.dimension.height","k.ratio.0_5"],"outputs":{"value":"rail.on.host.along.y.0.times.value"}},{"id":"rail.on.host.along.y.1.sum","op":"add@1","args":["rail.on.host.along.y.0.times.value","d.mm.1100"],"outputs":{"value":"rail.on.host.along.y.1.sum.value"}},{"id":"rail.on.host.edge.z.0.times","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"rail.on.host.edge.z.0.times.value"}},{"id":"rail.on.host.own-edge.z.0.times","op":"mul@1","args":["rail.dimension.depth","host.k.centre"],"outputs":{"value":"rail.on.host.own-edge.z.0.times.value"}},{"id":"rail.seat.rigid","op":"rigid@1","args":["d.mm.0","rail.on.host.seat.y.0.times.value","rail.on.host.edge.z.0.times.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"rail.seat.value"},"params":{"from":"rail.seat","to":"host.local"}},{"id":"rail.chain","op":"compose@1","args":["rail.seat.value","rail.poseValue"],"outputs":{"pose":"rail.chain.value"}},{"id":"rail.world","op":"compose@1","args":["host.chain.value","rail.chain.value"],"outputs":{"pose":"rail.world.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":3000,"host.size.y":40,"host.size.z":1500,"post.dimension.width":40,"post.dimension.height":1100,"post.dimension.depth":40,"rail.dimension.height":40,"rail.dimension.depth":40},"stateDefaults":{},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-e0b000":"#e0b000"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"post","material":{"token":"palette.tpl-e0b000"}},{"target":"rail","material":{"token":"palette.tpl-e0b000"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host","face":"bottom"},"origin":{"gap":800}},{"id":"post","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"post","face":"bottom"},"origin":{"align":{"z":"max"}},"repeat":{"axis":"X","pitch":1000}},{"id":"rail","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"rail","face":"bottom"},"origin":{"gap":1100,"align":{"z":"max"}}}]}
+{"version":"figure-asset-1","name":"TPL_HANDRAIL","document":{"version":"figure-prototype-1","model":{"version":"r3-spatial-1","inputs":[{"id":"host.size.x","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.y","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"host.size.z","unit":"mm","min":5e-324,"max":1.7976931348623157e+308,"role":"design"},{"id":"post.dimension.width","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"post.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"rail.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"rail.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"}],"constants":[{"id":"host.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm.0","unit":"mm","value":0},{"id":"d.mm.800","unit":"mm","value":800},{"id":"k.ratio.0_5","unit":"ratio","value":0.5},{"id":"a.deg.0","unit":"deg","value":0},{"id":"post.k.centre","unit":"ratio","value":-0.5},{"id":"limit.count.100","unit":"count","value":100},{"id":"d.mm.1000","unit":"mm","value":1000},{"id":"rail.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"d.mm.1100","unit":"mm","value":1100}],"nodes":[{"id":"host.start","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"host.start.value"}},{"id":"host.shape","op":"extrude@1","args":["host.start.value","host.size.y","host.dimension.x.value","host.size.z"],"outputs":{"shape":"host.shapeValue"},"params":{"frame":"host.local","axis":"y","section":"rectangle"}},{"id":"host.pose","op":"rigid@1","args":["d.mm.0","host.on.plane.pose.y.s0.value","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.poseValue"},"params":{"from":"host.local","to":"host.seat"}},{"id":"host","op":"place@1","args":["host.shapeValue","host.chain.value"],"outputs":{"placed":"host.placed"}},{"id":"post.shape","op":"extrude@1","args":["post.start.value","post.dimension.height","post.dimension.width","post.dimension.depth"],"outputs":{"shape":"post.shapeValue"},"params":{"frame":"post.local","axis":"y","section":"rectangle"}},{"id":"post.pose","op":"rigid@1","args":["d.mm.0","post.on.host.pose.y.t0.value","post.on.host.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post.poseValue"},"params":{"from":"post.local","to":"post.seat"}},{"id":"post","op":"member@1","args":["post.shapeValue","post.poseValue"],"outputs":{"placed":"post.placed"}},{"id":"post.start","op":"mul@1","args":["post.dimension.height","post.k.centre"],"outputs":{"value":"post.start.value"}},{"id":"rail.shape","op":"extrude@1","args":["rail.start.value","rail.dimension.height","rail.dimension.x.value","rail.dimension.depth"],"outputs":{"shape":"rail.shapeValue"},"params":{"frame":"rail.local","axis":"y","section":"rectangle"}},{"id":"rail.pose","op":"rigid@1","args":["d.mm.0","rail.on.host.pose.y.s0.value","rail.on.host.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"rail.poseValue"},"params":{"from":"rail.local","to":"rail.seat"}},{"id":"rail","op":"place@1","args":["rail.shapeValue","rail.world.value"],"outputs":{"placed":"rail.placed"}},{"id":"rail.start","op":"mul@1","args":["rail.dimension.height","rail.k.centre"],"outputs":{"value":"rail.start.value"}},{"id":"rail.dimension.x","op":"mul@1","args":["host.dimension.x.value","k.ratio.1"],"outputs":{"value":"rail.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"host.on.plane.pose.y.t1","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"host.on.plane.pose.y.t1.value"}},{"id":"host.on.plane.pose.y.s0","op":"add@1","args":["d.mm.800","host.on.plane.pose.y.t1.value"],"outputs":{"value":"host.on.plane.pose.y.s0.value"}},{"id":"host.seat.rigid","op":"rigid@1","args":["d.mm.0","d.mm.0","d.mm.0","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"host.seat.value"},"params":{"from":"host.seat","to":"asset"}},{"id":"host.chain","op":"compose@1","args":["host.seat.value","host.poseValue"],"outputs":{"pose":"host.chain.value"}},{"id":"post.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"post.on.host.seat.y.t0.value"}},{"id":"post.on.host.seat.z.t0","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"post.on.host.seat.z.t0.value"}},{"id":"post.on.host.pose.y.t0","op":"mul@1","args":["post.dimension.height","k.ratio.0_5"],"outputs":{"value":"post.on.host.pose.y.t0.value"}},{"id":"post.on.host.pose.z.t0","op":"mul@1","args":["post.dimension.depth","host.k.centre"],"outputs":{"value":"post.on.host.pose.z.t0.value"}},{"id":"post.seat.rigid","op":"rigid@1","args":["post.row.start.0.times.value","post.on.host.seat.y.t0.value","post.on.host.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"post.seat.value"},"params":{"from":"post.seat","to":"host.local"}},{"id":"post.row.start.0.times","op":"mul@1","args":["host.dimension.x.value","host.k.centre"],"outputs":{"value":"post.row.start.0.times.value"}},{"id":"post.row.length.0.times","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"post.row.length.0.times.value"}},{"id":"post.row.length.1.times","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"post.row.length.1.times.value"}},{"id":"post.row.length.1.sum","op":"add@1","args":["post.row.length.0.times.value","post.row.length.1.times.value"],"outputs":{"value":"post.row.length.1.sum.value"}},{"id":"post.layout","op":"fit-pitch@1","args":["post.row.length.1.sum.value","d.mm.0","d.mm.0","post.dimension.width","d.mm.1000","k.ratio.0_5","limit.count.100"],"outputs":{"layout":"post.layout.value"}},{"id":"post.assembly","op":"assembly@1","args":["post.placed"],"outputs":{"assembly":"post.assembly.value"}},{"id":"post.row","op":"compose@1","args":["host.chain.value","post.seat.value"],"outputs":{"pose":"post.row.value"}},{"id":"post.repeat","op":"repeat@1","args":["post.layout.value","post.assembly.value","post.row.value"],"outputs":{"collection":"post.repeat.value"},"params":{"axis":"x"}},{"id":"rail.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","k.ratio.0_5"],"outputs":{"value":"rail.on.host.seat.y.t0.value"}},{"id":"rail.on.host.seat.z.t0","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"rail.on.host.seat.z.t0.value"}},{"id":"rail.on.host.pose.y.t1","op":"mul@1","args":["rail.dimension.height","k.ratio.0_5"],"outputs":{"value":"rail.on.host.pose.y.t1.value"}},{"id":"rail.on.host.pose.y.s0","op":"add@1","args":["d.mm.1100","rail.on.host.pose.y.t1.value"],"outputs":{"value":"rail.on.host.pose.y.s0.value"}},{"id":"rail.on.host.pose.z.t0","op":"mul@1","args":["rail.dimension.depth","host.k.centre"],"outputs":{"value":"rail.on.host.pose.z.t0.value"}},{"id":"rail.seat.rigid","op":"rigid@1","args":["d.mm.0","rail.on.host.seat.y.t0.value","rail.on.host.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"rail.seat.value"},"params":{"from":"rail.seat","to":"host.local"}},{"id":"rail.chain","op":"compose@1","args":["rail.seat.value","rail.poseValue"],"outputs":{"pose":"rail.chain.value"}},{"id":"rail.world","op":"compose@1","args":["host.chain.value","rail.chain.value"],"outputs":{"pose":"rail.world.value"}}]},"capabilities":{"version":"r3-capability-3","assetFrame":"asset","bindings":[]}},"designInputs":{"host.size.x":3000,"host.size.y":40,"host.size.z":1500,"post.dimension.width":40,"post.dimension.height":1100,"post.dimension.depth":40,"rail.dimension.height":40,"rail.dimension.depth":40},"stateDefaults":{},"palette":{"palette.primary":"#477b9e","palette.host":"#d9dde2","palette.tpl-e0b000":"#e0b000"},"appearance":[{"target":"host","material":{"token":"palette.host"}},{"target":"post","material":{"token":"palette.tpl-e0b000"}},{"target":"rail","material":{"token":"palette.tpl-e0b000"}}],"joints":[{"id":"host","type":"fixed","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{"gap":800}},{"id":"post","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"post"},"origin":{"align":{"z":"max"}},"repeat":{"axis":"X","pitch":1000}},{"id":"rail","type":"fixed","body0":{"part":"host","face":"top"},"body1":{"part":"rail"},"origin":{"gap":1100,"align":{"z":"max"}}}]}

package/recipes/handrail/recipe.json

@@ -78,8 +78,7 @@
           "face": "top"
         },
         "body1": {
-          "part": "{id}-post",
-          "face": "bottom"
+          "part": "{id}-post"
         },
         "origin": {
           "align": {
@@ -105,8 +104,7 @@
           "face": "top"
         },
         "body1": {
-          "part": "{id}-rail",
-          "face": "bottom"
+          "part": "{id}-rail"
         },
         "origin": {
           "gap": 1100,

package/recipes/hatch/build.mts

@@ -4,13 +4,13 @@ import { host, Model } from '../_lib/model.mts'
 export default function build() {
   const m = new Model(host({ x: 1600, y: 1400, z: 1000 }, 'TPL_HATCH'))
   m.add({ id: 'frame', kind: 'portal', dimensions: { width: 480, height: 420, depth: 30, jamb: 30, head: 30 } } as never)
-    .on('frame', 'back', 'host', 'front')
+    .on('frame', 'host', 'front')
     .follow('frame', 'x', 'host', 'x', 0.3)
     .follow('frame', 'y', 'host', 'y', 0.3)
     .box('cover', 410, 385, 12)
     .follow('cover', 'x', 'frame', 'x', 1, -70)
     .follow('cover', 'y', 'frame', 'y', 1, -35)
-    .on('cover', 'left', 'frame', 'opening-left', { y: 'min', z: 'max' }, 5)
+    .on('cover', 'frame', 'opening-left', { y: 'min', z: 'max' }, 5)
     .colour('cover', 'palette.leaf', '#5c7c96')
     .moves('cover', { type: 'revolute', axis: 'Y', lower: -100, upper: 0, state: 'open' })
   return m.asset