@things-factory/figure-ui 10.1.115 → 10.1.117

package/client/graphql/index.ts

@@ -383,6 +383,11 @@ export async function inspectFigureDraft(source: string, id?: string): Promise<F
  * 전 초안은 서버가 모르므로 판정도 화면에서 한다 — 형식의 `contractChanges` 를 같이 쓴다.
  */
 export async function fetchReleasedSource(id: string): Promise<string | undefined> {
+  return (await fetchReleasedFigure(id))?.source
+}
+
+/** Read-only catalogue preview: source and version come from the same released snapshot. */
+export async function fetchReleasedFigure(id: string): Promise<{ version: number; source: string } | undefined> {
   const response = await client.query({
     query: gql`
       query FigureReleased($id: String!) {
@@ -396,7 +401,7 @@ export async function fetchReleasedSource(id: string): Promise<string | undefine
     fetchPolicy: 'network-only'
   })
 
-  return unwrap<{ source?: string }>(response, 'figureReleased')?.source ?? undefined
+  return unwrap<{ version: number; source: string } | undefined>(response, 'figureReleased') ?? undefined
 }
 
 export async function fetchFigureVersions(id: string): Promise<FigureVersion[]> {

package/client/modeller/editor.ts

@@ -46,7 +46,7 @@ import { roomRefitRowsOf } from './occupancy.js'
 import { editRefusalOf, inDeclaredRoom, inputRangeRefusalOf, narrowingRetryOf, partRefusalOf, placementRefusalOf, recipeRefusalOf, removalNoticeOf, sizeRangeRefusalOf } from './refusals.js'
 import type { FigureRenderPart } from './renderer.js'
 import type { FigureBudgetLine } from './maturity.js'
-import { fieldWordsOf, followOf, measureNow, partSummaryOf, instanceRangeOf, instanceRangeToDeclare, proportionToFollow, rangeDiffers, rangeWith, turnsAboutAJoint, valueNow } from './links.js'
+import { endPlaceKeyOf, fieldWordsOf, followOf, measureNow, partSummaryOf, instanceRangeOf, instanceRangeToDeclare, proportionToFollow, rangeDiffers, rangeWith, turnsAboutAJoint, valueNow } from './links.js'
 import { jointFanOf } from './joint-fan.js'
 import { jointDragOf } from './joint-drag.js'
 import type { FirstSave } from './first-save.js'
@@ -1386,7 +1386,7 @@ export class FigureEditor extends LitElement {
     const fastened = new Map(
       (asset?.joints ?? []).map(j => [
         j.body1.part,
-        'plane' in j.body0 ? i18next.t('figure.label.mounting-plane') : `${partLabelOf(j.body0.part)} · ${i18next.t(`figure.label.face-${j.body0.face}`)}`
+        'plane' in j.body0 ? i18next.t('figure.label.mounting-plane') : `${partLabelOf(j.body0.part)} · ${i18next.t(endPlaceKeyOf(j.body0))}`
       ])
     )
     const rows = new Map<string, FigurePartRow>()
@@ -1807,8 +1807,9 @@ export class FigureEditor extends LitElement {
     }
   }
   /**
-   * A new figure's first question, on the canvas where the work will be (designer 2026-09-27, U04): a basic shape, a
-   * recipe, or an AI draft when the page offers one. Nothing is added until one is chosen; the type, the space, the
+   * A new figure's first question, on the canvas where the work will be (designer 2026-09-27, U04): a basic shape
+   * or an AI draft when the page offers one. Recipes require a host part and are reached from the parts panel after
+   * that part exists. Nothing is added until one is chosen; the type, the space, the
    * mounting face and the tags are not asked for first.
    */
   /** The section editor over the canvas, the figure behind it drawing what the working points make. */
@@ -1886,13 +1887,6 @@ export class FigureEditor extends LitElement {
           </div>
           <small>${i18next.t('figure.text.start-shape-more')}</small>
         </section>
-        <section>
-          <h3>${i18next.t('figure.label.start-recipe')}</h3>
-          <button start-button start-recipe ?disabled=${!this.templates.length} @click=${() => ((this.catalogOpen = true), (this.recipeError = ''))}>
-            ${i18next.t('figure.button.start-recipe')}
-          </button>
-          ${this.templates.length ? nothing : html`<small>${i18next.t('figure.text.start-no-recipes')}</small>`}
-        </section>
         ${this.aiDraft
           ? html`<section>
               <h3>${i18next.t('figure.label.start-ai')}</h3>

package/client/modeller/fasten-geometry.ts

@@ -139,7 +139,7 @@ export function overhangOf(view: FaceView, at: Record<Axis, number>): { touching
 }
 
 /** Whether the part turns about a joint: then 가운데를 면에 is offered -- a roller spinning in place. */
-export const turnsInPlace = (asset: FigureAsset, part: string) => (asset.joints ?? []).some(j => j.body1.part === part && (j.type === 'revolute' || j.body1.face === 'centre'))
+export const turnsInPlace = (asset: FigureAsset, part: string) => (asset.joints ?? []).some(j => j.body1.part === part && (j.type === 'revolute' || ('face' in j.body1 && j.body1.face === 'centre')))
 
 /**
  * How the face lies on the screen: X across when it is one of the face's axes, else Z; the other down the screen -- up

package/client/modeller/figure-links.ts

@@ -33,6 +33,8 @@ import {
   leadersFor,
   motionOf,
   motionFormOf,
+  motionFormRefusalOf,
+  endPlaceKeyOf,
   motionJoint,
   placeFacesOf,
   placeIdFor,
@@ -54,6 +56,7 @@ import './figure-fasten-drawing.js'
 import type { FastenChange } from './figure-fasten-drawing.js'
 import { faceViewOf, modeOf, myFaceFor, turnsInPlace, type FastenMode } from './fasten-geometry.js'
 import { HelpToggles } from './help.js'
+import { jointAxisWord } from './joint-axis.js'
 
 const FACES = Object.keys(FIGURE_FACES) as FigureFace[]
 /** The target list's entry for the plane the figure stands by. */
@@ -434,17 +437,22 @@ export class FigureLinks extends localize(i18next)(LitElement) {
    * What holds the part, said as its state -- 「아랫면을 바닥에 유지 중」 -- with the ways to change it: open the fastening,
    * or take it off. Right after "follow size, attached" this is the result, not a refusal (designer 2026-09-27).
    */
-  private renderHeld(asset: FigureAsset) {
+  private heldWords(asset: FigureAsset) {
     const joint = (asset.joints ?? []).find(j => j.body1.part === this.partId)
-    const face = joint ? i18next.t(`figure.label.face-${joint.body1.face}`) : ''
+    const face = joint ? i18next.t(endPlaceKeyOf(joint.body1)) : ''
     const gap = typeof joint?.origin?.gap === 'number' ? joint.origin.gap : 0
     const where = !joint
       ? i18next.t('figure.text.held-by-rule')
       : 'plane' in joint.body0
         ? i18next.t('figure.text.held-on-plane', { face, place: i18next.t(`figure.label.resize-place-${asset.placement ?? 'floor'}`), gap: String(gap) })
-        : i18next.t('figure.text.held-on-part', { face, other: joint.body0.part, otherFace: i18next.t(`figure.label.face-${joint.body0.face}`) })
+        : i18next.t('figure.text.held-on-part', { face, other: joint.body0.part, otherFace: i18next.t(endPlaceKeyOf(joint.body0)) })
+    return where
+  }
+
+  private renderHeld(asset: FigureAsset) {
+    const joint = (asset.joints ?? []).find(j => j.body1.part === this.partId)
     return html`<div resize-held>
-      <p><md-icon>link</md-icon> ${where}</p>
+      <p><md-icon>link</md-icon> ${this.heldWords(asset)}</p>
       <button act open-fastening @click=${() => this.openFastening(asset)}>
         <md-icon>link</md-icon>${i18next.t('figure.button.open-fastening')}
       </button>
@@ -521,6 +529,17 @@ export class FigureLinks extends localize(i18next)(LitElement) {
 
   private renderFastening(asset: FigureAsset) {
     const held = heldBy(asset, this.partId)
+    /* Placed by an origin (ADR-0107 decision 4): attach writes faces, so the form would move it off its origin. Said, and taken off only. */
+    if (fasteningOf(asset, this.partId)?.atOrigin) {
+      this.fastenCandidate = undefined
+      return html`<div fastened fasten-at-origin>
+        <p>${this.heldWords(asset)}</p>
+        <button act ?disabled=${this.locked} @click=${() => this.command({ kind: 'detach', part: this.partId })}>
+          <md-icon>link_off</md-icon>${i18next.t('figure.button.detach')}
+        </button>
+        ${this.renderDetachWords()}
+      </div>`
+    }
     const f = this.fasten
     /* Not a part that hangs from this one: fastening a frame to its own roller would close a loop. */
     const targets = asset.appearance.map(look => look.target).filter(one => one !== this.partId && canFasten(asset, one))
@@ -852,7 +871,7 @@ export class FigureLinks extends localize(i18next)(LitElement) {
             part: this.partId,
             against,
             kind: i18next.t('figure.label.motion-' + now.kind),
-            axis: String(now.axis).toUpperCase()
+            axis: now.vector ? jointAxisWord(now.vector) : String(now.axis).toUpperCase()
           })}
         </p>
         ${ends
@@ -860,12 +879,14 @@ export class FigureLinks extends localize(i18next)(LitElement) {
           : nothing}
         <div pair>
         <span>
-          ${i18next.t('figure.label.motion-' + now.kind)} · ${String(now.axis).toUpperCase()}
+          ${i18next.t('figure.label.motion-' + now.kind)} · ${now.vector ? jointAxisWord(now.vector) : String(now.axis).toUpperCase()}
           ${now.travel
             ? html`<small>${i18next.t('figure.label.motion-travel-is', { part: now.travel.part, axis: now.travel.axis.toUpperCase(), plus: now.travel.plus ?? 0 })}</small>`
             : nothing}
-          ${now.follows
-            ? html`<small>${i18next.t('figure.label.motion-follows', { joint: now.follows.joint, multiplier: now.follows.multiplier, offset: now.follows.offset ?? 0 })}</small>`
+          ${now.follows?.sum.length === 1
+            ? html`<small>${i18next.t('figure.label.motion-follows', { joint: now.follows.sum[0]!.joint, multiplier: now.follows.sum[0]!.multiplier, offset: now.follows.offset })}</small>`
+            : now.follows
+            ? html`<small>${i18next.t('figure.label.motion-follow')}: ${now.follows.sum.map(t => `${t.joint} × ${t.multiplier}`).join(' + ')} + ${now.follows.offset}</small>`
             : now.control
               ? html`<small>${now.control.id} (${now.control.unit}) ${now.control.min} … ${now.control.max}</small>`
               : nothing}
@@ -901,6 +922,7 @@ export class FigureLinks extends localize(i18next)(LitElement) {
     /* A follower follows a joint that moves the same way; a choice the kind no longer allows is dropped. */
     const leaders = leadersFor(asset, this.partId, m.kind)
     const follow = leaders.some(j => j.id === m.follow) ? m.follow : ''
+    const refusal = motionFormRefusalOf(m, follow)
     return html`
       <div pair>
         <select @change=${(e: Event) => this.setKind((e.target as HTMLSelectElement).value as 'slide' | 'turn' | 'continuous')}>
@@ -908,11 +930,20 @@ export class FigureLinks extends localize(i18next)(LitElement) {
           <option value="turn" ?selected=${m.kind === 'turn'}>${i18next.t('figure.label.motion-turn')}</option>
           <option value="continuous" ?selected=${m.kind === 'continuous'}>${i18next.t('figure.label.motion-continuous')}</option>
         </select>
-        <select @change=${(e: Event) => (this.motion = { ...m, axis: (e.target as HTMLSelectElement).value as Axis })}>
-          ${AXES.map(a => html`<option value=${a} ?selected=${a === m.axis}>${i18next.t('figure.label.motion-axis')} ${a.toUpperCase()}</option>`)}
-        </select>
+        ${m.axisVector
+          ? html`<span motion-axis-vector>${i18next.t('figure.label.motion-axis')} ${jointAxisWord(m.axisVector)}</span>`
+          : html`<select @change=${(e: Event) => (this.motion = { ...m, axis: (e.target as HTMLSelectElement).value as Axis })}>
+              ${AXES.map(a => html`<option value=${a} ?selected=${a === m.axis}>${i18next.t('figure.label.motion-axis')} ${a.toUpperCase()}</option>`)}
+            </select>`}
       </div>
-      ${leaders.length
+      ${m.followSum
+        ? html`<div form>
+            <span>${i18next.t('figure.label.motion-follow')}</span>
+            <span>${m.followSum.map(t => `${t.joint} × ${t.multiplier}`).join(' + ')}</span>
+            <span>${i18next.t('figure.label.motion-offset')} (${unit})</span>
+            <input type="number" step="any" .value=${String(m.offset)} @change=${(e: Event) => (this.motion = { ...m, offset: Number((e.target as HTMLInputElement).value) || 0 })} />
+          </div>`
+        : leaders.length
         ? html`<div form>
             <span>${i18next.t('figure.label.motion-follow')}</span>
             <select @change=${(e: Event) => (this.motion = { ...m, follow: (e.target as HTMLSelectElement).value })}>
@@ -921,7 +952,9 @@ export class FigureLinks extends localize(i18next)(LitElement) {
             </select>
           </div>`
         : nothing}
-      ${follow
+      ${m.followSum
+        ? nothing
+        : follow
         ? html`<div form>
             <span>${i18next.t('figure.label.motion-multiplier')}</span>
             <input type="number" step="any" .value=${String(m.multiplier)} @change=${(e: Event) => (this.motion = { ...m, multiplier: Number((e.target as HTMLInputElement).value) })} />
@@ -932,7 +965,9 @@ export class FigureLinks extends localize(i18next)(LitElement) {
             ${m.kind === 'slide'
               ? html`<span>${i18next.t('figure.label.motion-travel')}</span>
                   <select @change=${(e: Event) => (this.motion = { ...m, travel: (e.target as HTMLSelectElement).value })}>
-                    <option value="" ?selected=${!m.travel}>${i18next.t('figure.label.motion-travel-mm')}</option>
+                    ${m.travelSum
+                      ? html`<option value="" ?selected=${!m.travel}>${m.travelSum.sum.map(t => `${t.from.of === 'input' ? t.from.input : `${t.from.of === 'part' ? t.from.part : i18next.t('figure.label.motion-travel')} · ${t.from.axis.toUpperCase()}`}${t.times !== undefined && t.times !== 1 ? ` × ${t.times}` : ''}`).join(' + ')}</option>`
+                      : html`<option value="" ?selected=${!m.travel}>${i18next.t('figure.label.motion-travel-mm')}</option>`}
                     ${asset.appearance
                       .map(look => look.target)
                       .filter(one => canFollow(asset, one))
@@ -945,7 +980,7 @@ export class FigureLinks extends localize(i18next)(LitElement) {
               : nothing}
             <span>${i18next.t('figure.label.control-id')}</span>
             <input .value=${m.id} placeholder=${`${this.partId}-${m.kind}`} @change=${(e: Event) => (this.motion = { ...m, id: (e.target as HTMLInputElement).value.trim() })} />
-            ${m.kind === 'continuous' || (m.kind === 'slide' && m.travel)
+            ${m.kind === 'continuous' || (m.kind === 'slide' && (m.travel || m.travelSum))
               ? nothing
               : html`<span>${i18next.t('figure.label.control-range')} (${unit})</span>
                   <div pair>
@@ -955,8 +990,8 @@ export class FigureLinks extends localize(i18next)(LitElement) {
           </div>`}
       <button
         act
-        ?disabled=${this.locked || (follow ? !(Number.isFinite(m.multiplier) && m.multiplier !== 0) : m.kind !== 'continuous' && !(m.kind === 'slide' && m.travel) && !(m.max > m.min && m.min <= 0 && 0 <= m.max))}
-        title=${!follow && m.kind !== 'continuous' && !(m.min <= 0 && 0 <= m.max) ? i18next.t('figure.text.joint-range-holds-zero') : ''}
+        ?disabled=${this.locked || !!refusal}
+        title=${refusal === 'range' ? i18next.t('figure.text.range-needs-room') : ''}
         @click=${() => {
           this.command({ kind: 'set-joint', joint: motionJoint(joint, { ...m, follow }, this.partId) })
           this.editingMotion = false

package/client/modeller/joint-axis.ts

@@ -0,0 +1,36 @@
+/*
+ * A joint's axis as the record keeps it (ADR-0107 decision 1): one of USD's tokens, or any vector in the joint frame
+ * (URDF's `axis xyz`). One reader for every place that turns it into a direction or says it.
+ */
+
+export type JointAxisVector = { x: number; y: number; z: number }
+
+const isVector = (axis: unknown): axis is JointAxisVector =>
+  !!axis && typeof axis === 'object' && ['x', 'y', 'z'].every(k => typeof (axis as Record<string, unknown>)[k] === 'number' && Number.isFinite((axis as Record<string, number>)[k]))
+
+/** The axis as a unit vector in the joint frame: a token's own axis, a vector divided by its length. Nothing for none. */
+export function jointAxisUnit(axis: unknown): [number, number, number] | undefined {
+  if (typeof axis === 'string') {
+    const k = ['x', 'y', 'z'].indexOf(axis.toLowerCase())
+    return k < 0 ? undefined : ([0, 1, 2].map(i => (i === k ? 1 : 0)) as [number, number, number])
+  }
+  if (!isVector(axis)) return undefined
+  const n = Math.hypot(axis.x, axis.y, axis.z)
+  return n > 1e-9 ? [axis.x / n, axis.y / n, axis.z / n] : undefined
+}
+
+/** The token, lowercase, when the axis is one; nothing for a vector. */
+export function jointAxisToken(axis: unknown): 'x' | 'y' | 'z' | undefined {
+  const k = typeof axis === 'string' ? axis.toLowerCase() : ''
+  return k === 'x' || k === 'y' || k === 'z' ? k : undefined
+}
+
+/** The vector, as written, when the axis is one. */
+export const jointAxisVectorOf = (axis: unknown): JointAxisVector | undefined => (isVector(axis) ? { x: axis.x, y: axis.y, z: axis.z } : undefined)
+
+/** The axis said: `X` for a token, `(1, 1, 0)` for a vector as written. */
+export function jointAxisWord(axis: unknown): string {
+  const token = jointAxisToken(axis)
+  if (token) return token.toUpperCase()
+  return isVector(axis) ? `(${axis.x}, ${axis.y}, ${axis.z})` : '?'
+}

package/client/modeller/joint-drag.ts

@@ -1,8 +1,9 @@
 import * as THREE from 'three'
-import { compileFigureAsset } from '@hatiolab/figure-model'
+import { compileFigureAsset, figureMimicTermsOf } from '@hatiolab/figure-model'
 import type { FigureAsset, FigureJoint } from '@hatiolab/figure-model'
 
 import type { GizmoResult } from './gizmo.js'
+import { jointAxisUnit, jointAxisWord } from './joint-axis.js'
 import type { FigureRenderPart } from './renderer.js'
 
 /*
@@ -11,7 +12,8 @@ import type { FigureRenderPart } from './renderer.js'
  *
  *   - turning a part on a revolute or continuous joint sets the joint's value -- the turn about the joint's axis;
  *   - sliding a part on a prismatic joint along its axis sets its value;
- *   - moving a part any other way moves the joint's origin: the gap along the face it sits on, the offset across it.
+ *   - moving a part any other way moves the joint's origin: the gap along the face it sits on, the offset across it;
+ *     at a parent's origin (ADR-0107 decision 4), its `origin.offset` in the parent's frame.
  *
  * What would break a relation is refused and said: an origin that follows another part's size, a joint that mimics
  * another, a turn on a joint that does not turn.
@@ -30,9 +32,15 @@ const FACE_SIGN: Record<string, number> = { left: -1, right: 1, bottom: -1, top:
 
 const matrixOf = (r: number[][]) => new THREE.Matrix4().set(r[0]![0]!, r[0]![1]!, r[0]![2]!, 0, r[1]![0]!, r[1]![1]!, r[1]![2]!, 0, r[2]![0]!, r[2]![1]!, r[2]![2]!, 0, 0, 0, 0, 1)
 const eulerMatrix = (deg: number[]) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...(deg.map(THREE.MathUtils.degToRad) as [number, number, number]), 'XYZ'))
-const unit = (axis: string) => new THREE.Vector3(/x/i.test(axis) ? 1 : 0, /y/i.test(axis) ? 1 : 0, /z/i.test(axis) ? 1 : 0)
+const unit = (axis: unknown) => new THREE.Vector3(...(jointAxisUnit(axis) ?? [0, 0, 0]))
 const round = (v: number, step: number) => Number((Math.round(v / step) * step).toFixed(Math.max(0, -Math.floor(Math.log10(step)))))
 
+/** The joint frame's words of ADR-0107, read without the kernel's types (an older kernel has none). */
+const framesOf = (j: FigureJoint) => (j.origin ?? {}) as { offset?: Partial<Record<Axis, unknown>>; rotate?: Partial<Record<Axis, number>> }
+/** `origin.rotate`, URDF's rpy: Rz·Ry·Rx about the fixed axes. */
+const rotateMatrix = (j: FigureJoint) => eulerMatrixOrder(AXES.map(a => framesOf(j).rotate?.[a] ?? 0), 'ZYX')
+const eulerMatrixOrder = (deg: number[], order: THREE.EulerOrder) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...(deg.map(THREE.MathUtils.degToRad) as [number, number, number]), order))
+
 /** The part's own quarter turn in the joint frame, as the record says it. */
 const turnMatrix = (j: FigureJoint) => eulerMatrix(AXES.map(a => j.origin?.turn?.[a] ?? 0))
 
@@ -56,7 +64,7 @@ export function jointDragOf(asset: FigureAsset, id: string, part: FigureRenderPa
 
   if (result.rotation) {
     if (!turns) return { kind: 'refused', reason: j.type === 'prismatic' ? 'turned-slide' : 'fixed-turn', joint: j.id }
-    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: j.mimic.joint }
+    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(j.mimic)!.sum.map(t => t.joint).join(', ') }
     /* The turn about the joint's axis (the twist of the change): the only turn the joint can make. */
     const before = new THREE.Quaternion().setFromRotationMatrix(matrixOf(part.pose.r as number[][]))
     const after = new THREE.Quaternion().setFromRotationMatrix(eulerMatrix(result.rotation))
@@ -65,7 +73,7 @@ export function jointDragOf(asset: FigureAsset, id: string, part: FigureRenderPa
     const twist = 2 * Math.atan2(change.x * axis.x + change.y * axis.y + change.z * axis.z, change.w)
     /* Turned about another axis: the joint cannot make that turn, and nothing is written for it. */
     const whole = 2 * Math.acos(Math.min(1, Math.abs(change.w)))
-    if (Math.abs(twist) < whole * 0.5) return { kind: 'refused', reason: 'off-axis', joint: j.id, axis: j.axis! }
+    if (Math.abs(twist) < whole * 0.5) return { kind: 'refused', reason: 'off-axis', joint: j.id, axis: jointAxisWord(j.axis) }
     let value = now + THREE.MathUtils.radToDeg(twist)
     if (endless) value = ((((value + 180) % 360) + 360) % 360) - 180
     else value = Math.min(Math.max(value, j.lowerLimit!), j.upperLimit!)
@@ -77,7 +85,7 @@ export function jointDragOf(asset: FigureAsset, id: string, part: FigureRenderPa
   const frame = jointFrameRotation(j, part, turns ? now : 0)
 
   if (j.type === 'prismatic') {
-    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: j.mimic.joint }
+    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(j.mimic)!.sum.map(t => t.joint).join(', ') }
     /* How far one unit of the value moves the part along its axis, measured on the figure itself (a ratio travels a length). */
     const along = unit(j.axis!).applyMatrix4(frame).normalize()
     const at = (v: number) => {
@@ -92,12 +100,24 @@ export function jointDragOf(asset: FigureAsset, id: string, part: FigureRenderPa
     }
   }
 
-  /* Moving the joint's origin: the change in the frame the joint sits in. */
-  const local = moved.clone().applyMatrix4(frame.clone().invert())
+  /* Moving the joint's origin: the change in the frame it is placed in, before `origin.rotate` turns the joint frame. */
+  const local = moved.clone().applyMatrix4(frame.clone().multiply(rotateMatrix(j).invert()).invert())
+  const origin: NonNullable<FigureJoint['origin']> = { ...(j.origin ?? {}) }
+  if (!('plane' in j.body0) && !('face' in j.body0)) {
+    /* At the parent's origin there is no face: the frame moves by its offset, along the parent's axes. */
+    const offset = { ...(framesOf(j).offset ?? {}) }
+    for (const axis of AXES) {
+      const d = local[axis]
+      if (Math.abs(d) < 0.5) continue
+      const was = offset[axis] ?? 0
+      if (typeof was !== 'number') return { kind: 'refused', reason: 'origin-follows', joint: j.id }
+      offset[axis] = round(was + d, 1)
+    }
+    return { kind: 'joint', joint: { ...j, origin: { ...origin, offset } } as FigureJoint }
+  }
   const normal: Axis = 'plane' in j.body0 ? 'y' : FACE_AXIS[j.body0.face]!
   /* Which way a larger gap moves the part: out of the face it meets (on the plane: up when it stands, down when it hangs). */
-  const outward = 'plane' in j.body0 ? (j.body1.face === 'bottom' ? 1 : -1) : ((j.origin?.facing ?? 'meet') === 'meet' ? 1 : -1) * FACE_SIGN[j.body0.face]!
-  const origin: NonNullable<FigureJoint['origin']> = { ...(j.origin ?? {}) }
+  const outward = 'plane' in j.body0 ? ('face' in j.body1 && j.body1.face === 'bottom' ? 1 : -1) : ((j.origin?.facing ?? 'meet') === 'meet' ? 1 : -1) * FACE_SIGN[j.body0.face]!
   const along = local[normal]
   if (Math.abs(along) >= 0.5) {
     const gap = origin.gap ?? 0

package/client/modeller/joint-fan.ts

@@ -3,6 +3,7 @@ import type { FigureAsset } from '@hatiolab/figure-model'
 
 import type { FigureRenderPart } from './renderer.js'
 import { sectionShape } from './drawn-shapes.js'
+import { jointAxisUnit } from './joint-axis.js'
 
 /*
  * Where the selected part turns, and how far -- a translucent fan on the editing board. An axis name says nothing about which way a part swings; on a six-axis arm the author went to the preview and
@@ -111,7 +112,7 @@ function turnOf(asset: FigureAsset, part: string, values: Record<string, unknown
     /* In the child's own frame: the joint is where its pose puts the seat's origin, the axis turned back by its pose. */
     const back = (v: number[]) => [0, 1, 2].map(i => pose.r[0]![i]! * v[0]! + pose.r[1]![i]! * v[1]! + pose.r[2]![i]! * v[2]!)
     const pivot = back(pose.t.map(v => -v))
-    const axis = norm(back(AXIS_NAMES.map(a => (a.toUpperCase() === record.axis ? 1 : 0))))
+    const axis = norm(back(jointAxisUnit(record.axis) ?? [0, 0, 0]))
     if (!axis) return null
     return { carrier, pivot, axis, toward: [0, 0, 0], control, turnedPart: child }
   }

package/client/modeller/links.ts

@@ -1,7 +1,8 @@
-import { FIGURE_FACES, figureShapeFaces, figurePartsExtentOf, compileFigureAsset, compileFigureGraph, figureFollowOf, proposeFigureProportion, defaultInstanceSizeRange, foldInstanceSizeRange, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeLimitsOf, figureFollowableAxesOf, figureShapeProviderOf } from '@hatiolab/figure-model'
+import { FIGURE_FACES, figureShapeFaces, figurePartsExtentOf, compileFigureAsset, compileFigureGraph, figureFollowOf, proposeFigureProportion, defaultInstanceSizeRange, foldInstanceSizeRange, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeLimitsOf, figureFollowableAxesOf, figureShapeProviderOf, figureMimicTermsOf } from '@hatiolab/figure-model'
 import type { FigureFollow, FigureSizeRange } from '@hatiolab/figure-model'
 import type { FigureAsset, FigureBindingPlace, FigureFace, FigureJoint } from '@hatiolab/figure-model'
 import { startingShapeKindOf } from './starting-shape.js'
+import { jointAxisToken, jointAxisVectorOf, type JointAxisVector } from './joint-axis.js'
 
 /*
  * What a part is tied to — the readers behind the parts' size response, fastening and motion sections. Kept apart from the element so they can be tested without a browser.
@@ -52,6 +53,9 @@ export function heldBy(asset: FigureAsset, part: string): { part: string } | { p
   return to ? { part: to } : null
 }
 
+/** The word for where a joint end sits: its face's, or the part's origin for an end placed by it (ADR-0107 decision 4). */
+export const endPlaceKeyOf = (end: object) => ('face' in end ? `figure.label.face-${(end as { face: string }).face}` : 'figure.label.joint-origin')
+
 /** Whether a dimension of this part can follow something — box-shaped, whose three sizes are X, Y and Z. */
 export function canFollow(asset: FigureAsset, part: string): boolean {
   return followableAxes(asset, part).length > 0
@@ -231,20 +235,24 @@ export function rowAxesOf(asset: FigureAsset, part: string): Axis[] {
   /* A part that moves may be a row too: every copy on the one control, from its own place (designer 2026-09-27). */
   if (!j || j.repeat || !('part' in j.body0)) return []
   if (joints.some(o => 'part' in o.body0 && o.body0.part === part)) return []
-  return AXES.filter(axis => axis !== FIGURE_FACES[j.body1.face])
+  /* Placed by an origin: no face to lay the row across, and the kernel refuses it. */
+  const by = j.body1
+  if (!('face' in j.body0) || !('face' in by)) return []
+  return AXES.filter(axis => axis !== FIGURE_FACES[by.face])
 }
 
 /**
  * Why a part cannot be made into a row here, in the terms `rowAxesOf` refuses it: said, not hidden (ADR-0097 §5.5).
  * Nothing when it can, or when it already is a row (that row is shown where it stands).
  */
-export function rowBlockOf(asset: FigureAsset, part: string): 'unfastened' | 'on-plane' | 'holds-parts' | undefined {
+export function rowBlockOf(asset: FigureAsset, part: string): 'unfastened' | 'on-plane' | 'holds-parts' | 'at-origin' | undefined {
   const joints = asset.joints ?? []
   const j = joints.find(o => o.body1.part === part)
   if (!j) return 'unfastened'
   if (j.repeat) return undefined
   if (!('part' in j.body0)) return 'on-plane'
   if (joints.some(o => 'part' in o.body0 && o.body0.part === part)) return 'holds-parts'
+  if (!('face' in j.body0) || !('face' in j.body1)) return 'at-origin'
   return undefined
 }
 
@@ -332,12 +340,15 @@ export function fasteningOf(
   twist: number
   align: Partial<Record<Axis, Alignment>>
   alignMm: Partial<Record<Axis, number>>
+  /** Placed by a part's origin (ADR-0107 decision 4): no face to fasten by, and the form does not write it. */
+  atOrigin?: true
 } | null {
   const record = asset.joints?.find(j => j.body1.part === part)
   if (!record) return null
   const toPlane = 'plane' in record.body0
   const target = 'part' in record.body0 ? record.body0.part : ''
-  const targetFace = 'part' in record.body0 ? record.body0.face : 'top'
+  const targetFace = 'face' in record.body0 ? record.body0.face : 'top'
+  const atOrigin = !('plane' in record.body0) && (!('face' in record.body0) || !('face' in record.body1))
   const twist = record.origin?.twist ?? 0
   /* Where across the face: as the record says it, and where it says nothing, where the part stands now. */
   const kept = placeKeptOf(asset, part, toPlane ? 'plane' : { part: target, face: targetFace }, !!twist)
@@ -357,14 +368,15 @@ export function fasteningOf(
   }
   const gap = record.origin?.gap
   return {
-    face: record.body1.face,
+    face: 'face' in record.body1 ? record.body1.face : 'centre',
     toPlane,
     target,
     targetFace,
     facing: record.origin?.facing ?? 'meet',
     gap: typeof gap === 'number' ? gap : 0,
     twist,
-    ...kept
+    ...kept,
+    ...(atOrigin ? { atOrigin: true as const } : {})
   }
 }
 
@@ -456,9 +468,12 @@ export function positionIsShare(asset: FigureAsset, part: string, axis: Axis): b
 export interface Motion {
   kind: 'slide' | 'turn' | 'continuous'
   axis: Axis | '?'
+  /** The record's axis when it is a vector, as written (the graph holds it turned into the parent's frame). */
+  vector?: JointAxisVector
   control?: { id: string; unit?: string; min?: number; max?: number }
   /** A joint that moves with another (URDF's mimic): the leader's value times `multiplier`, plus `offset`. */
-  follows?: { joint: string; multiplier: number; offset?: number }
+  /** What it follows, as a sum of leaders each with its multiplier, plus an offset (one leader is a sum of one). */
+  follows?: { sum: Array<{ joint: string; multiplier: number }>; offset: number }
   /** A slide whose distance is a part's length (plus a difference): the control is its share. */
   travel?: { part: string; axis: string; plus?: number }
 }
@@ -468,7 +483,9 @@ export function motionOf(asset: FigureAsset, part: string): Motion | undefined {
   const node = m.nodes.find(n => n.id === `${part}.motion`)
   if (!node) return undefined
   const record = asset.joints?.find(j => j.body1.part === part)
-  const endless = record?.type === 'revolute' && record.lowerLimit === undefined && record.upperLimit === undefined
+  /* A follower has no limits of its own: its range is its leaders', not a turn without end. */
+  const endless = record?.type === 'revolute' && record.lowerLimit === undefined && record.upperLimit === undefined && !record.mimic
+  const vector = jointAxisVectorOf(record?.axis)
   const kind = endless ? 'continuous' : node.op === 'axis-turn@1' ? 'turn' : 'slide'
   const unit = node.args.slice(0, 3).map(ref => m.constants.find(c => c.id === ref)?.value)
   const axis = AXES[unit.findIndex(v => v !== undefined && v !== 0)] ?? '?'
@@ -487,14 +504,17 @@ export function motionOf(asset: FigureAsset, part: string): Motion | undefined {
     }
     return undefined
   }
-  const travel = record?.travel?.source && 'part' in record.travel.source ? { part: record.travel.source.part, axis: record.travel.source.axis, ...(record.travel.plus ? { plus: record.travel.plus } : {}) } : undefined
-  return { kind, axis, control: control(quantity), ...(record?.mimic ? { follows: record.mimic } : {}), ...(travel ? { travel } : {}) }
+  const one = record?.travel && 'source' in record.travel ? record.travel : undefined
+  const travel = one?.source && 'part' in one.source ? { part: one.source.part, axis: one.source.axis, ...(one.plus ? { plus: one.plus } : {}) } : undefined
+  return { kind, axis, ...(vector ? { vector } : {}), control: control(quantity), ...(record?.mimic ? { follows: figureMimicTermsOf(record.mimic)! } : {}), ...(travel ? { travel } : {}) }
 }
 
 /** What the motion form holds: how the part moves, and either its own control or the joint it moves with. */
 export interface MotionForm {
   kind: 'slide' | 'turn' | 'continuous'
   axis: Axis
+  /** An axis that is a vector (ADR-0107): said, not chosen here, and written back unchanged. */
+  axisVector?: JointAxisVector
   id: string
   min: number
   max: number
@@ -508,6 +528,13 @@ export interface MotionForm {
    */
   travel?: string
   travelPlus?: number
+  /**
+   * Kept as they are and not edited here: a follower of several leaders (`{ sum, offset }`, the offset still in
+   * `offset`) and a stroke that is a sum of lengths. The form says them and writes them back unchanged, so saving
+   * a range or an axis does not turn a follower into a joint of its own or drop its stroke.
+   */
+  followSum?: Array<{ joint: string; multiplier: number }>
+  travelSum?: Extract<NonNullable<FigureJoint['travel']>, { sum: unknown }>
 }
 
 /**
@@ -517,18 +544,27 @@ export interface MotionForm {
  */
 export function motionFormOf(joint: FigureJoint): MotionForm {
   const kind: MotionForm['kind'] = joint.type === 'prismatic' ? 'slide' : joint.lowerLimit === undefined && joint.upperLimit === undefined && !joint.mimic ? 'continuous' : 'turn'
-  const travel = joint.travel?.source && 'part' in joint.travel.source ? `${joint.travel.source.part}:${joint.travel.source.axis}` : ''
+  const one = joint.travel && 'source' in joint.travel ? joint.travel : undefined
+  const travel = one?.source && 'part' in one.source ? `${one.source.part}:${one.source.axis}` : ''
+  const travelSum = joint.travel && 'sum' in joint.travel ? joint.travel : undefined
+  const terms = figureMimicTermsOf(joint.mimic)
+  const single = terms?.sum.length === 1 ? terms.sum[0] : undefined
+  const axisVector = jointAxisVectorOf(joint.axis)
   return {
     kind,
-    axis: (joint.axis ?? 'X').toLowerCase() as Axis,
-    id: joint.state?.id ?? '',
-    min: travel ? 0 : (joint.lowerLimit ?? (kind === 'slide' ? 0 : -90)),
-    max: travel ? 500 : (joint.upperLimit ?? (kind === 'slide' ? 500 : 90)),
-    follow: joint.mimic?.joint ?? '',
-    multiplier: joint.mimic?.multiplier ?? 1,
-    offset: joint.mimic?.offset ?? 0,
+    axis: jointAxisToken(joint.axis) ?? 'x',
+    ...(axisVector ? { axisVector } : {}),
+    /* A moving joint with no state record is driven by the input named after it (figure-model `stateIdOf`): keep that name, so an edit does not rename the control a board or a controller writes to. */
+    id: joint.state?.id ?? (joint.type !== 'fixed' && !joint.mimic ? joint.id : ''),
+    min: travel || travelSum ? 0 : (joint.lowerLimit ?? (kind === 'slide' ? 0 : -90)),
+    max: travel || travelSum ? 500 : (joint.upperLimit ?? (kind === 'slide' ? 500 : 90)),
+    follow: single?.joint ?? '',
+    multiplier: single?.multiplier ?? 1,
+    offset: terms?.offset ?? 0,
     travel,
-    travelPlus: joint.travel?.plus ?? 0
+    travelPlus: one?.plus ?? 0,
+    ...(terms && !single ? { followSum: terms.sum } : {}),
+    ...(travelSum ? { travelSum } : {})
   }
 }
 
@@ -554,9 +590,11 @@ export function motionJoint(joint: FigureJoint, m: MotionForm, part: string): Fi
     /* A row keeps being a row when it is given a motion: dropped here, the row went with it (designer 2026-09-27). */
     ...(joint.repeat ? { repeat: joint.repeat } : {}),
     type: m.kind === 'slide' ? ('prismatic' as const) : ('revolute' as const),
-    axis: m.axis.toUpperCase() as 'X' | 'Y' | 'Z'
+    axis: (m.axisVector ?? m.axis.toUpperCase()) as FigureJoint['axis']
   }
   if (m.follow) return { ...moving, mimic: { joint: m.follow, multiplier: m.multiplier, ...(m.offset ? { offset: m.offset } : {}) } }
+  if (m.followSum) return { ...moving, mimic: { sum: m.followSum, ...(m.offset ? { offset: m.offset } : {}) } }
+  if (m.kind === 'slide' && m.travelSum && !m.travel) return { ...moving, travel: m.travelSum, state: { id: m.id || `${part}-${m.kind}` } }
   if (m.kind === 'slide' && m.travel) {
     const [of, axis] = m.travel.split(':')
     return { ...moving, travel: { source: { of: 'part', part: of!, axis: axis as Axis }, ...(m.travelPlus ? { plus: m.travelPlus } : {}) }, state: { id: m.id || `${part}-${m.kind}` } }
@@ -564,6 +602,18 @@ export function motionJoint(joint: FigureJoint, m: MotionForm, part: string): Fi
   return { ...moving, ...(m.kind === 'continuous' ? {} : { lowerLimit: m.min, upperLimit: m.max }), state: { id: m.id || `${part}-${m.kind}` } }
 }
 
+/**
+ * Why the motion form cannot be saved as it stands, as the kernel would refuse it: a follower's multiplier that is not
+ * a number or is 0, or a range whose most is not above its least. A range need not hold 0 -- the control starts at the
+ * nearest end (a lift that rests at 200 mm).
+ */
+export function motionFormRefusalOf(m: MotionForm, follow: string): 'multiplier' | 'range' | undefined {
+  if (m.followSum) return undefined
+  if (follow) return Number.isFinite(m.multiplier) && m.multiplier !== 0 ? undefined : 'multiplier'
+  if (m.kind === 'continuous' || (m.kind === 'slide' && (m.travel || m.travelSum))) return undefined
+  return Number.isFinite(m.min) && Number.isFinite(m.max) && m.max > m.min ? undefined : 'range'
+}
+
 /** The select's value for what a dimension follows now. */
 export function choiceOf(follow: Follow): string {
   switch (follow.of) {

package/client/modeller/recipes.ts

@@ -39,7 +39,7 @@ export function recipeWorkings(recipe: FigureRecipe): Array<{ key: string; words
   for (const m of d.moves)
     lines.push(
       m.follows
-        ? { key: 'figure.text.recipe-moves-with', words: { part: recipePartName(m.part), leader: recipePartName(m.follows) } }
+        ? { key: 'figure.text.recipe-moves-with', words: { part: recipePartName(m.part), leader: recipeLeaders(m.follows).map(recipePartName).join(', ') } }
         : { key: m.kind === 'slide' ? 'figure.text.recipe-slides' : 'figure.text.recipe-turns', words: { part: recipePartName(m.part) } }
     )
   if (d.controls.length) lines.push({ key: 'figure.text.recipe-controls', words: { count: d.controls.length } })
@@ -48,6 +48,11 @@ export function recipeWorkings(recipe: FigureRecipe): Array<{ key: string; words
   return lines
 }
 
+/** Released kernels return one leader; newer kernels can return an affine sum. */
+function recipeLeaders(follows: string | { sum: Array<{ joint: string }> }): string[] {
+  return typeof follows === 'string' ? [follows] : follows.sum.map(term => term.joint)
+}
+
 /** A recipe's words in the language on screen: that language, else English, else the first it has. */
 export function recipeWord(words: Record<string, string> | undefined, language: string): string {
   if (!words) return ''