@things-factory/figure-service 10.1.26 → 10.1.27

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@things-factory/figure-service",
-  "version": "10.1.26",
+  "version": "10.1.27",
   "publishConfig": {
     "access": "public",
     "@things-factory:registry": "https://registry.npmjs.org"
@@ -26,12 +26,12 @@
     "@hatiolab/figure-model": "^0.1.21",
     "@operato/typeorm-history": "^10.0.0",
     "@things-factory/ai-client-base": "^10.1.26",
-    "@things-factory/auth-base": "^10.1.26",
+    "@things-factory/auth-base": "^10.1.27",
     "@things-factory/env": "^10.1.20",
-    "@things-factory/shell": "^10.1.26",
+    "@things-factory/shell": "^10.1.27",
     "graphql-scalars": "^1.22.4",
     "graphql-upload": "^15.0.2",
     "koa-router": "^7.4.0"
   },
-  "gitHead": "151bda14d899442c6846532ddded1e2bfe23a2f5"
+  "gitHead": "d04dc762cacf2aac8ba0b0f5d768eca365fc09da"
 }

package/server/service/figure/figure-propose.test.ts

@@ -255,6 +255,16 @@ describe('프롬프트는 형식을 따라간다 — 손으로 적은 목록이
   }
 })
 
+describe('joints (ADR-0066)', () => {
+  it('teaches the joint shape with the type vocabulary, and a joint channel with no path and a number per key', () => {
+    const prompt = rulesPrompt(PALETTE)
+    expect(prompt).toContain(`type: ${(model as any).JOINT_TYPES.join(' | ')}`)
+    expect(prompt).toMatch(/NO path, NO pivot/)
+    expect(prompt).toMatch(/limits must include 0/)
+    expect(prompt).toMatch(/ONLY place a parent is written/)
+  })
+})
+
 describe('고치라는 요청일 때', () => {
   it('요청이 안 건드린 것을 그대로 실으라고 못 박는다', async () => {
     /*
@@ -270,7 +280,7 @@ describe('고치라는 요청일 때', () => {
     expect(sent).toMatch(/dropping one is silent/)
 
     /* 잃기 쉬운 칸은 이름으로 짚어 준다 — 「전부 지켜라」만으로는 모델이 빠뜨린다. */
-    for (const field of ['animations', 'capabilities', 'anchor', 'repeat', 'label', 'materialSlot']) {
+    for (const field of ['animations', 'parameters', 'joints', 'capabilities', 'parent', 'anchor', 'repeat', 'label', 'materialSlot']) {
       expect(sent).toContain(field)
     }
   })

package/server/service/figure/figure-propose.ts

@@ -17,6 +17,7 @@ import {
   SEGMENT_PRESETS,
   SIZING_RULES,
   FIGURE_PLACEMENTS,
+  JOINT_TYPES,
   FIGURE_SOURCE_VERSION,
   compile,
   costOf,
@@ -148,12 +149,12 @@ export function rulesPrompt(palette: string[]): string {
     '',
     'The JSON is a FigureSource:',
     `  { version: ${FIGURE_SOURCE_VERSION}, type, base: {x,y,z}, placement?, detailLevel, parts: [...],`,
-    '    animations?: [...], parameters?: [...], capabilities?: [...] }',
+    '    animations?: [...], parameters?: [...], capabilities?: [...], joints?: [...] }',
     '',
     'A part is:',
     '  { name, primitive, transform: { position: {x,y,z}, size: {x,y,z}, rotation?: {x,y,z} },',
     '    material: { token, preset?, flatShading?, transparent?, emissive? },',
-    '    segments?, shape?, materialSlot?, keepRound?, sizing?, anchor?, repeat?, label?, capability? }',
+    '    segments?, shape?, materialSlot?, keepRound?, sizing?, anchor?, repeat?, label?, capability?, parent? }',
     '',
     'Hard vocabulary — anything outside these is rejected:',
     `  placement   ${FIGURE_PLACEMENTS.join(' | ')} (floor: default, ground equipment; ceiling: overhead hoist/OHT; center: airborne/drone/sensor)`,
@@ -274,6 +275,23 @@ export function rulesPrompt(palette: string[]): string {
     '    Do NOT answer it with a capability. Capabilities say what a figure does in the FLOW;',
     '    how a pose is driven is a different axis entirely.',
     '',
+    'Joints — a part that moves RELATIVE TO ANOTHER PART, carrying what is attached to it:',
+    '  An arm whose shoulder turns and carries the elbow, wrist and gripper; a crane whose bridge',
+    '  slides and carries the trolley and hook. Without joints every channel moves one part alone,',
+    '  so two turning links do not compose.',
+    '  parent on a part names the part it is attached to. It is the ONLY place a parent is written.',
+    '    A part without parent hangs from the figure. Following parents must end; no loops.',
+    `  joints: [{ name, child, type: ${JOINT_TYPES.join(' | ')}, origin: {x,y,z}, axis: {x,y,z}, limits?: { min, max } }]`,
+    '    child is the part that moves; its parent is what it moves relative to. One joint per part.',
+    '    origin is the point it turns about or slides from, in the same coordinates as part',
+    '    positions (y from the bottom of the base). axis is the direction: turning follows the',
+    '    right-hand rule. revolute and continuous are in degrees, prismatic in mm.',
+    '    Parts are drawn in the pose where every joint is 0, so limits must include 0.',
+    '    continuous has no limits. Joint names and part names must all be different.',
+    '  A joint moves only through a parameter (or an animation for endless turning): a channel',
+    '    { target: <joint name>, keys: [{ at, value: <number> }] } — NO path, NO pivot, and each',
+    '    value is the joint coordinate, within limits. A 6-axis arm is six joints and six parameters.',
+    '',
     '  Names are shared between the two lists: an instance addresses a curve by name, so an',
     '    animation and a parameter may not be called the same thing.',
     '  Doors that open together belong in one curve with two channels, not two curves.',
@@ -295,8 +313,8 @@ function taskPrompt(input: ProposeInput): string {
       '',
       'Revise this existing figure. Keep the part names that still mean the same thing —',
       'renaming a part breaks bindings on instances already placed.',
-      'Carry over everything the request did not ask you to change. animations, capabilities,',
-      'capability, anchor, repeat, label and materialSlot are easy to drop by writing them out of',
+      'Carry over everything the request did not ask you to change. animations, parameters, joints,',
+      'capabilities, capability, parent, anchor, repeat, label and materialSlot are easy to drop by writing them out of',
       'the JSON, and dropping one is silent — the figure still validates, it just stops doing what',
       'it did. If the request says nothing about movement, the clips come back unchanged.',
       JSON.stringify(input.base)