@things-factory/figure-service 10.1.208 → 10.1.210

package/recipes/folding-door/models/default.json

@@ -1 +1 @@
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+{"version":"figure-asset-1","name":"TPL_FOLDING_DOOR","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":"frame.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"frame.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"frame.dimension.jamb","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"frame.dimension.head","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"panel-1.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"panel-1.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"panel-2.dimension.height","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"panel-2.dimension.depth","unit":"mm","min":0,"max":1.7976931348623157e+308,"role":"design"},{"id":"fold","unit":"deg","min":-80,"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":"frame.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio.1","unit":"ratio","value":1},{"id":"k.ratio.0_3","unit":"ratio","value":0.3},{"id":"panel-1.k.centre","unit":"ratio","value":-0.5},{"id":"d.mm._105","unit":"mm","value":-105},{"id":"d.mm.5","unit":"mm","value":5},{"id":"axis.ratio.0","unit":"ratio","value":0},{"id":"panel-2.k.centre","unit":"ratio","value":-0.5},{"id":"k.ratio._2","unit":"ratio","value":-2}],"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":"frame.shape","op":"extrude@1","args":["frame.start.value","frame.dimension.depth","frame.dimension.x.value","frame.dimension.height","frame.dimension.jamb","frame.dimension.head"],"outputs":{"shape":"frame.shapeValue"},"params":{"frame":"frame.local","axis":"z","section":"portal"}},{"id":"frame.pose","op":"rigid@1","args":["d.mm.0","d.mm.0","frame.on.host.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"frame.poseValue"},"params":{"from":"frame.local","to":"frame.seat"}},{"id":"frame","op":"place@1","args":["frame.shapeValue","frame.world.value"],"outputs":{"placed":"frame.placed"}},{"id":"frame.start","op":"mul@1","args":["frame.dimension.depth","frame.k.centre"],"outputs":{"value":"frame.start.value"}},{"id":"frame.dimension.x","op":"mul@1","args":["frame.x.follows.times.value","k.ratio.1"],"outputs":{"value":"frame.dimension.x.value"}},{"id":"host.dimension.x","op":"mul@1","args":["host.size.x","k.ratio.1"],"outputs":{"value":"host.dimension.x.value"}},{"id":"frame.x.follows.times","op":"mul@1","args":["host.dimension.x.value","k.ratio.0_3"],"outputs":{"value":"frame.x.follows.times.value"}},{"id":"panel-1.shape","op":"extrude@1","args":["panel-1.start.value","panel-1.dimension.height","panel-1.dimension.x.value","panel-1.dimension.depth"],"outputs":{"shape":"panel-1.shapeValue"},"params":{"frame":"panel-1.local","axis":"y","section":"rectangle"}},{"id":"panel-1.pose","op":"rigid@1","args":["panel-1.on.frame.pose.x.s0.value","panel-1.on.frame.pose.y.t0.value","panel-1.on.frame.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"panel-1.poseValue"},"params":{"from":"panel-1.local","to":"panel-1.seat"}},{"id":"panel-1","op":"place@1","args":["panel-1.shapeValue","panel-1.world.value"],"outputs":{"placed":"panel-1.placed"}},{"id":"panel-1.start","op":"mul@1","args":["panel-1.dimension.height","panel-1.k.centre"],"outputs":{"value":"panel-1.start.value"}},{"id":"panel-1.dimension.x","op":"mul@1","args":["panel-1.x.follows.plus.value","k.ratio.1"],"outputs":{"value":"panel-1.dimension.x.value"}},{"id":"panel-1.x.follows.times","op":"mul@1","args":["frame.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"panel-1.x.follows.times.value"}},{"id":"panel-1.x.follows.plus","op":"add@1","args":["panel-1.x.follows.times.value","d.mm._105"],"outputs":{"value":"panel-1.x.follows.plus.value"}},{"id":"panel-2.shape","op":"extrude@1","args":["panel-2.start.value","panel-2.dimension.height","panel-2.dimension.x.value","panel-2.dimension.depth"],"outputs":{"shape":"panel-2.shapeValue"},"params":{"frame":"panel-2.local","axis":"y","section":"rectangle"}},{"id":"panel-2.pose","op":"rigid@1","args":["panel-2.on.panel-1.pose.x.t0.value","panel-2.on.panel-1.pose.y.t0.value","panel-2.on.panel-1.pose.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"panel-2.poseValue"},"params":{"from":"panel-2.local","to":"panel-2.seat"}},{"id":"panel-2","op":"place@1","args":["panel-2.shapeValue","panel-2.world.value"],"outputs":{"placed":"panel-2.placed"}},{"id":"panel-2.start","op":"mul@1","args":["panel-2.dimension.height","panel-2.k.centre"],"outputs":{"value":"panel-2.start.value"}},{"id":"panel-2.dimension.x","op":"mul@1","args":["panel-1.dimension.x.value","k.ratio.1"],"outputs":{"value":"panel-2.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":"frame.on.host.seat.y.t0","op":"mul@1","args":["host.size.y","host.k.centre"],"outputs":{"value":"frame.on.host.seat.y.t0.value"}},{"id":"frame.on.host.seat.z.t0","op":"mul@1","args":["host.size.z","k.ratio.0_5"],"outputs":{"value":"frame.on.host.seat.z.t0.value"}},{"id":"frame.on.host.pose.z.t0","op":"mul@1","args":["frame.dimension.depth","k.ratio.0_5"],"outputs":{"value":"frame.on.host.pose.z.t0.value"}},{"id":"frame.seat.rigid","op":"rigid@1","args":["d.mm.0","frame.on.host.seat.y.t0.value","frame.on.host.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"frame.seat.value"},"params":{"from":"frame.seat","to":"host.local"}},{"id":"frame.chain","op":"compose@1","args":["frame.seat.value","frame.poseValue"],"outputs":{"pose":"frame.chain.value"}},{"id":"frame.world","op":"compose@1","args":["host.chain.value","frame.chain.value"],"outputs":{"pose":"frame.world.value"}},{"id":"panel-1.on.frame.seat.x.t0","op":"mul@1","args":["frame.dimension.x.value","host.k.centre"],"outputs":{"value":"panel-1.on.frame.seat.x.t0.value"}},{"id":"panel-1.on.frame.seat.x.s0","op":"add@1","args":["panel-1.on.frame.seat.x.t0.value","frame.dimension.jamb"],"outputs":{"value":"panel-1.on.frame.seat.x.s0.value"}},{"id":"panel-1.on.frame.seat.z.t0","op":"mul@1","args":["frame.dimension.depth","k.ratio.0_5"],"outputs":{"value":"panel-1.on.frame.seat.z.t0.value"}},{"id":"panel-1.on.frame.pose.x.t1","op":"mul@1","args":["panel-1.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"panel-1.on.frame.pose.x.t1.value"}},{"id":"panel-1.on.frame.pose.x.s0","op":"add@1","args":["d.mm.5","panel-1.on.frame.pose.x.t1.value"],"outputs":{"value":"panel-1.on.frame.pose.x.s0.value"}},{"id":"panel-1.on.frame.pose.y.t0","op":"mul@1","args":["panel-1.dimension.height","k.ratio.0_5"],"outputs":{"value":"panel-1.on.frame.pose.y.t0.value"}},{"id":"panel-1.on.frame.pose.z.t0","op":"mul@1","args":["panel-1.dimension.depth","host.k.centre"],"outputs":{"value":"panel-1.on.frame.pose.z.t0.value"}},{"id":"panel-1.seat.rigid","op":"rigid@1","args":["panel-1.on.frame.seat.x.s0.value","d.mm.0","panel-1.on.frame.seat.z.t0.value","a.deg.0","a.deg.0","a.deg.0"],"outputs":{"pose":"panel-1.seat.value"},"params":{"from":"panel-1.joint","to":"frame.local"}},{"id":"panel-1.chain","op":"compose@1","args":["panel-1.seat.value","panel-1.turned.value"],"outputs":{"pose":"panel-1.chain.value"}},{"id":"panel-1.world","op":"compose@1","args":["frame.world.value","panel-1.chain.value"],"outputs":{"pose":"panel-1.world.value"}},{"id":"panel-1.motion","op":"axis-turn@1","args":["axis.ratio.0","k.ratio.1","axis.ratio.0","fold"],"outputs":{"pose":"panel-1.motion.value"},"params":{"from":"panel-1.seat","to":"panel-1.joint"}},{"id":"panel-1.turned","op":"compose@1","args":["panel-1.motion.value","panel-1.poseValue"],"outputs":{"pose":"panel-1.turned.value"}},{"id":"panel-2.on.panel-1.seat.x.t0","op":"mul@1","args":["panel-1.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"panel-2.on.panel-1.seat.x.t0.value"}},{"id":"panel-2.on.panel-1.seat.y.t0","op":"mul@1","args":["panel-1.dimension.height","host.k.centre"],"outputs":{"value":"panel-2.on.panel-1.seat.y.t0.value"}},{"id":"panel-2.on.panel-1.seat.z.t0","op":"mul@1","args":["panel-1.dimension.depth","k.ratio.0_5"],"outputs":{"value":"panel-2.on.panel-1.seat.z.t0.value"}},{"id":"panel-2.on.panel-1.pose.x.t0","op":"mul@1","args":["panel-2.dimension.x.value","k.ratio.0_5"],"outputs":{"value":"panel-2.on.panel-1.pose.x.t0.value"}},{"id":"panel-2.on.panel-1.pose.y.t0","op":"mul@1","args":["panel-2.dimension.height","k.ratio.0_5"],"outputs":{"value":"panel-2.on.panel-1.pose.y.t0.value"}},{"id":"panel-2.on.panel-1.pose.z.t0","op":"mul@1","args":["panel-2.dimen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package/recipes/folding-door/recipe.json

@@ -110,7 +110,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-frame",
-        "type": "fixed",
         "body0": {
           "part": "{target}",
           "face": "front"
@@ -129,7 +128,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-panel-1",
-        "type": "revolute",
         "body0": {
           "part": "{id}-frame",
           "face": "opening-left"
@@ -144,19 +142,23 @@
             "z": "max"
           }
         },
-        "axis": "Y",
-        "lowerLimit": -80,
-        "upperLimit": 0,
-        "state": {
-          "id": "{id}-fold"
-        }
+        "motion": [
+          {
+            "type": "revolute",
+            "axis": "Y",
+            "lowerLimit": -80,
+            "upperLimit": 0,
+            "state": {
+              "id": "{id}-fold"
+            }
+          }
+        ]
       }
     },
     {
       "kind": "set-joint",
       "joint": {
         "id": "{id}-panel-2",
-        "type": "revolute",
         "body0": {
           "part": "{id}-panel-1",
           "face": "right"
@@ -170,11 +172,16 @@
             "z": "max"
           }
         },
-        "axis": "Y",
-        "mimic": {
-          "joint": "{id}-panel-1",
-          "multiplier": -2
-        }
+        "motion": [
+          {
+            "type": "revolute",
+            "axis": "Y",
+            "mimic": {
+              "motion": "{id}-panel-1",
+              "multiplier": -2
+            }
+          }
+        ]
       }
     },
     {

package/recipes/fork/build.mts

@@ -8,6 +8,6 @@ export default function build() {
       .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 } })
+    .moves('right', { type: 'prismatic', axis: 'Y', mimic: { motion: 'left', multiplier: 1 } })
   return m.asset
 }

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":"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}}]}
+{"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","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{}},{"id":"left","body0":{"part":"host","face":"front"},"body1":{"part":"left"},"origin":{"align":{"x":"min","y":"min"}},"motion":[{"type":"prismatic","axis":"Y","lowerLimit":0,"upperLimit":1000,"state":{"id":"lift"}}]},{"id":"right","body0":{"part":"host","face":"front"},"body1":{"part":"right"},"origin":{"align":{"x":"max","y":"min"}},"motion":[{"type":"prismatic","axis":"Y","mimic":{"motion":"left","multiplier":1}}]}]}

package/recipes/fork/recipe.json

@@ -61,7 +61,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-left",
-        "type": "prismatic",
         "body0": {
           "part": "{target}",
           "face": "front"
@@ -75,21 +74,25 @@
             "y": "min"
           }
         },
-        "axis": "Y",
-        "lowerLimit": 0,
-        "upperLimit": {
-          "param": "lift"
-        },
-        "state": {
-          "id": "{id}-lift"
-        }
+        "motion": [
+          {
+            "type": "prismatic",
+            "axis": "Y",
+            "lowerLimit": 0,
+            "upperLimit": {
+              "param": "lift"
+            },
+            "state": {
+              "id": "{id}-lift"
+            }
+          }
+        ]
       }
     },
     {
       "kind": "set-joint",
       "joint": {
         "id": "{id}-right",
-        "type": "prismatic",
         "body0": {
           "part": "{target}",
           "face": "front"
@@ -103,11 +106,16 @@
             "y": "min"
           }
         },
-        "axis": "Y",
-        "mimic": {
-          "joint": "{id}-left",
-          "multiplier": 1
-        }
+        "motion": [
+          {
+            "type": "prismatic",
+            "axis": "Y",
+            "mimic": {
+              "motion": "{id}-left",
+              "multiplier": 1
+            }
+          }
+        ]
       }
     },
     {

package/recipes/fork/spec.json

@@ -37,7 +37,7 @@
               "id": "{id}-left"
             }
           },
-          "path": "joint.upperLimit"
+          "path": "joint.motion.0.upperLimit"
         }
       ]
     }

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":"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}}]}
+{"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","body0":{"plane":"mounting-plane"},"body1":{"part":"host"},"origin":{}},{"id":"post-left","body0":{"part":"host","face":"top"},"body1":{"part":"post-left"},"origin":{"align":{"x":"min"}}},{"id":"post-right","body0":{"part":"host","face":"top"},"body1":{"part":"post-right"},"origin":{"align":{"x":"max"}}},{"id":"beam","body0":{"part":"host","face":"top"},"body1":{"part":"beam"},"origin":{"gap":2500}}]}

package/recipes/gantry-frame/recipe.json

@@ -87,7 +87,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-post-left",
-        "type": "fixed",
         "body0": {
           "part": "{target}",
           "face": "top"
@@ -106,7 +105,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-post-right",
-        "type": "fixed",
         "body0": {
           "part": "{target}",
           "face": "top"
@@ -125,7 +123,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-beam",
-        "type": "fixed",
         "body0": {
           "part": "{target}",
           "face": "top"

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

@@ -11,6 +11,6 @@ export default function build() {
       .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 } })
+    .moves('right', { type: 'prismatic', axis: 'X', mimic: { motion: 'left', multiplier: -1 } })
   return m.asset
 }

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":"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"],"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"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}}]}
+{"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"],"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package/recipes/gripper-2f/recipe.json

@@ -73,7 +73,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-palm",
-        "type": "fixed",
         "body0": {
           "part": "{target}",
           "face": "bottom"
@@ -88,7 +87,6 @@
       "kind": "set-joint",
       "joint": {
         "id": "{id}-left",
-        "type": "prismatic",
         "body0": {
           "part": "{id}-palm",
           "face": "bottom"
@@ -101,21 +99,25 @@
             "x": "min"
           }
         },
-        "axis": "X",
-        "lowerLimit": 0,
-        "upperLimit": {
-          "param": "stroke"
-        },
-        "state": {
-          "id": "{id}-grip"
-        }
+        "motion": [
+          {
+            "type": "prismatic",
+            "axis": "X",
+            "lowerLimit": 0,
+            "upperLimit": {
+              "param": "stroke"
+            },
+            "state": {
+              "id": "{id}-grip"
+            }
+          }
+        ]
       }
     },
     {
       "kind": "set-joint",
       "joint": {
         "id": "{id}-right",
-        "type": "prismatic",
         "body0": {
           "part": "{id}-palm",
           "face": "bottom"
@@ -128,11 +130,16 @@
             "x": "max"
           }
         },
-        "axis": "X",
-        "mimic": {
-          "joint": "{id}-left",
-          "multiplier": -1
-        }
+        "motion": [
+          {
+            "type": "prismatic",
+            "axis": "X",
+            "mimic": {
+              "motion": "{id}-left",
+              "multiplier": -1
+            }
+          }
+        ]
       }
     },
     {

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

@@ -37,7 +37,7 @@
               "id": "{id}-left"
             }
           },
-          "path": "joint.upperLimit"
+          "path": "joint.motion.0.upperLimit"
         }
       ]
     }