@things-factory/figure-ui 10.1.210 → 10.1.211

package/client/modeller/editor.ts

@@ -69,7 +69,7 @@ import { jointFanOf } from './joint-fan.js'
 import { derivedOf, type FigureRevision } from './revision.js'
 import { jointDragOf } from './joint-drag.js'
 import type { FirstSave } from './first-save.js'
-import { isLive, livePartsOf, liveOverSession, NOTHING_LIVE, scrubbed, scrubStep, type LiveValues } from './live.js'
+import { isLive, livePartsOf, liveOverSession, NOTHING_LIVE, scrubLabel, type LiveValues } from './live.js'
 import { startingShapeKindOfBody } from './starting-shape.js'
 import { groupMenu, GroupMenuStyles } from './group-menu.js'
 
@@ -824,7 +824,9 @@ export class FigureEditor extends LitElement {
       ?locked=${unavailable}
       @command=${(e: CustomEvent) => this.linkCommand(e.detail.action)}
       @size-recipe=${(e: CustomEvent) => this.applySizeSteps(e.detail.steps)}
-      @size-input=${(e: CustomEvent) => this.run(() => this.session!.apply(figureSizeEditOf(this.shown()!.asset, e.detail.part, [{ kind: 'set-design', input: e.detail.input, unit: 'mm', value: e.detail.value }], { keep: 'centre' }).changes))}
+      @size-input=${(e: CustomEvent) => this.writeField({ id: e.detail.input, unit: 'mm' }, e.detail.value)}
+      @size-typing=${(e: CustomEvent) => this.hold(this.heldOf({ id: e.detail.input, unit: 'mm' }, e.detail.value))}
+      @size-let-go=${() => (this.live = NOTHING_LIVE)}
       @fasten-open=${() => this.openFastening()}
       .previewWords=${this.commandPreview.words()}
       .detachWords=${this.commandPreview.detachWords(shown)}
@@ -1025,9 +1027,15 @@ export class FigureEditor extends LitElement {
     }
   }
   private changeField(field: { id: string; unit: FigureInputChange['unit']; role?: string }, event: Event) {
-    const input = event.target as HTMLInputElement,
-      value = input.valueAsNumber
-    /* A number typed keeps the part's middle, or its fastening -- figure-model's one size function (ADR-0140 4.1). */
+    const input = event.target as HTMLInputElement
+    // Rejected edits must also restore the displayed numeric value.
+    input.value = String(this.writeField(field, input.valueAsNumber))
+  }
+  /**
+   * A number written to an input, from a field, a scrub or the size editor's rows: a size keeps the part's middle, or its
+   * fastening -- figure-model's one size function (ADR-0140 4.1). Gives the value the input holds after, refused or not.
+   */
+  private writeField(field: { id: string; unit: FigureInputChange['unit']; role?: string }, value: number): number {
     const part = this.selected
     const change: FigureInputChange = { kind: field.role === 'state' ? 'set-state' : 'set-design', input: field.id, unit: field.unit, value }
     const asset = this.shown()?.asset
@@ -1036,8 +1044,7 @@ export class FigureEditor extends LitElement {
     /* Typed past the mounting plane: said, with the way to fasten it there (ADR-0140 5). */
     const after = asset && part && field.role !== 'state' ? throughPlaneOf(this.shown()!.asset, drawableFigureParts(this.session!.read().geometry ?? []), part) : 0
     if (after > before + 0.5) this.tellThroughPlane(part, after)
-    // Rejected edits must also restore the displayed numeric value.
-    input.value = String(this.session!.read().fields.find(i => i.id === field.id)!.value)
+    return this.session!.read().fields.find(i => i.id === field.id)!.value
   }
   /** Typing or a held spinner: each number on the way is drawn; the field's change records it. */
   private typing(field: { id: string; unit?: FigureInputChange['unit']; role?: string }, event: Event) {
@@ -1065,39 +1072,24 @@ export class FigureEditor extends LitElement {
    * pointer, and the release records one step. The field's number follows too, so the value in hand is always read.
    */
   private scrub(field: { id: string; unit: FigureInputChange['unit']; role?: string; value: number }, down: PointerEvent, unavailable: boolean) {
-    if (unavailable || down.button !== 0) return
+    if (unavailable) return
     const label = down.currentTarget as HTMLElement
     const input = (label.closest('div[cell]')?.querySelector('input') ?? label.nextElementSibling) as HTMLInputElement | null
     if (!input) return
-    down.preventDefault()
-    label.setPointerCapture(down.pointerId)
-    const start = field.value
-    let value = start
     /* Prepared once for the scrub: each move is a size through the same function its release writes with. */
     const asset = this.shown()?.asset
     const sized = asset && this.selected && field.role !== 'state' ? (() => { try { return figureSizeEditorOf(asset, this.selected) } catch { return undefined } })() : undefined
-    const move = (e: PointerEvent) => {
-      value = scrubbed(start, e.clientX - down.clientX, scrubStep(field.unit, start, e.shiftKey))
-      input.value = String(value)
-      this.hold(this.heldOf(field, value, sized))
-    }
-    const up = (e: PointerEvent) => {
-      label.removeEventListener('pointermove', move)
-      label.removeEventListener('pointerup', up)
-      label.removeEventListener('pointercancel', up)
-      /* A drag the system took away is not the author's value: the field goes back to where it was. */
-      if (e.type === 'pointercancel') value = start
-      if (value === start) {
-        input.value = String(start)
+    scrubLabel(down, field, {
+      move: value => {
+        input.value = String(value)
+        this.hold(this.heldOf(field, value, sized))
+      },
+      release: value => (input.value = String(this.writeField(field, value))),
+      cancel: () => {
+        input.value = String(field.value)
         this.live = NOTHING_LIVE
-        return
       }
-      input.value = String(value)
-      this.changeField(field, { target: input } as unknown as Event)
-    }
-    label.addEventListener('pointermove', move)
-    label.addEventListener('pointerup', up)
-    label.addEventListener('pointercancel', up)
+    })
   }
   /** The sizes a board may give the figure: the ends the author typed, and the rest as far as its parts allow. */
   private renderInstanceRange(shown: FigureRevision | undefined, unavailable: boolean) {

package/client/modeller/figure-links.ts

@@ -7,7 +7,7 @@ import './figure-size-editor.js'
 import { customElement, property, state } from 'lit/decorators.js'
 
 import { i18next, localize } from '@operato/i18n'
-import { figureFaceOverhangOf } from '@hatiolab/figure-model'
+import { figureFaceOverhangOf, figureMotionsOf, motionIdOf } from '@hatiolab/figure-model'
 import type { FigureAsset, FigureAuthoringAction, FigureFace } from '@hatiolab/figure-model'
 
 import {
@@ -28,6 +28,8 @@ import {
   motionFormRefusalOf,
   endPlaceKeyOf,
   motionJoint,
+  controlIdFor,
+  withoutAxis,
   placeFacesOf,
   placeIdFor,
   placesOn,
@@ -183,6 +185,8 @@ export class FigureLinks extends localize(i18next)(LitElement) {
   @state() private row = freshRow()
   /** The motion form is open over the part's own motion, to change it where it is. */
   @state() private editingMotion = false
+  /** Which of the joint's axes the form is over (ADR-0159); one past the last is a new axis. */
+  @state() private motionAxis = 0
 
   /*
     The forms describe the next command for the selected part, so another part starts from the defaults: carrying the
@@ -204,6 +208,7 @@ export class FigureLinks extends localize(i18next)(LitElement) {
       this.rowOpen = false
       this.rowCandidate = undefined
       this.editingMotion = false
+      this.motionAxis = 0
     }
   }
 
@@ -623,6 +628,43 @@ export class FigureLinks extends localize(i18next)(LitElement) {
       /* Which part moves, against what, which way, how far -- by name (ADR-0097 §5.5). */
       const against = joint ? ('plane' in joint.body0 ? i18next.t('figure.label.mounting-plane') : joint.body0.part) : ''
       const ends = this.motionEnds
+      /* One row an axis (ADR-0159): how it moves and by what, changed or taken away where it is; more added under them. */
+      const count = joint ? figureMotionsOf(joint).length : 1
+      const edit = (k: number) => {
+        if (!joint) return
+        this.motionAxis = k
+        this.motion = motionFormOf(joint, k)
+        this.editingMotion = true
+      }
+      const row = (k: number) => {
+        const it = k === 0 ? now : motionOf(asset, this.partId, k)
+        if (!it) return nothing
+        return html`<div pair motion-axis=${k}>
+          <span>
+            ${count > 1 ? html`<b>${i18next.t('figure.label.motion-axis-n', { n: k + 1 })}</b> ` : nothing}${i18next.t('figure.label.motion-' + it.kind)} · ${it.vector ? jointAxisWord(it.vector) : String(it.axis).toUpperCase()}
+            ${it.travel
+              ? html`<small>${i18next.t('figure.label.motion-travel-is', { part: it.travel.part, axis: it.travel.axis.toUpperCase(), plus: it.travel.plus ?? 0 })}</small>`
+              : nothing}
+            ${it.follows?.sum.length === 1
+              ? html`<small>${i18next.t('figure.label.motion-follows', { joint: it.follows.sum[0]!.joint, multiplier: it.follows.sum[0]!.multiplier, offset: it.follows.offset })}</small>`
+              : it.follows
+              ? html`<small>${i18next.t('figure.label.motion-follow')}: ${it.follows.sum.map(t => `${t.joint} × ${t.multiplier}`).join(' + ')} + ${it.follows.offset}</small>`
+              : it.control
+                ? html`<small>${it.control.id} (${it.control.unit}) ${it.control.min} … ${it.control.max}</small>`
+                : nothing}
+          </span>
+          ${count > 1
+            ? html`<button act remove-axis ?disabled=${this.locked || !joint} @click=${() => joint && this.command({ kind: 'set-joint', joint: withoutAxis(joint, k) })}>
+                <md-icon>close</md-icon>${i18next.t('figure.button.remove-axis')}
+              </button>`
+            : html`<button act ?disabled=${this.locked || !joint} @click=${() => joint && this.command({ kind: 'set-joint', joint: fixedJointOf(joint) })}>
+                <md-icon>close</md-icon>${i18next.t('figure.button.remove-motion')}
+              </button>`}
+          <button act ?disabled=${this.locked || !joint} @click=${() => edit(k)}>
+            <md-icon>edit</md-icon>${i18next.t('figure.button.change-motion')}
+          </button>
+        </div>`
+      }
       return html`<p motion-summary>
           ${i18next.t('figure.text.motion-summary', {
             part: this.partId,
@@ -634,39 +676,17 @@ export class FigureLinks extends localize(i18next)(LitElement) {
         ${ends
           ? html`<p hint motion-ends>${i18next.t('figure.text.motion-ends-shown', { min: String(ends.min), max: String(ends.max), unit: ends.unit })}</p>`
           : nothing}
+        ${Array.from({ length: count }, (_, k) => row(k))}
         <div pair>
-        <span>
-          ${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>`
+          <button act add-axis ?disabled=${this.locked || !joint} @click=${() => edit(count)}>
+            <md-icon>add</md-icon>${i18next.t('figure.button.add-axis')}
+          </button>
+          ${count > 1
+            ? html`<button act ?disabled=${this.locked || !joint} @click=${() => joint && this.command({ kind: 'set-joint', joint: fixedJointOf(joint) })}>
+                <md-icon>close</md-icon>${i18next.t('figure.button.remove-motion')}
+              </button>`
             : nothing}
-          ${now.follows?.sum.length === 1
-            ? html`<small>${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} … ${now.control.max}</small>`
-              : nothing}
-        </span>
-        <button
-          act
-          ?disabled=${this.locked || !joint}
-          @click=${() => joint && this.command({ kind: 'set-joint', joint: fixedJointOf(joint) })}
-        >
-          <md-icon>close</md-icon>${i18next.t('figure.button.remove-motion')}
-        </button>
-        <button
-          act
-          ?disabled=${this.locked || !joint}
-          @click=${() => {
-            if (!joint) return
-            this.motion = motionFormOf(joint)
-            this.editingMotion = true
-          }}
-        >
-          <md-icon>edit</md-icon>${i18next.t('figure.button.change-motion')}
-        </button>
-      </div>`
+        </div>`
     }
     /* A joint needs a parent (URDF): a part fastened to nothing is fastened first. */
     if (!joint)
@@ -677,10 +697,13 @@ export class FigureLinks extends localize(i18next)(LitElement) {
     const m = this.motion
     const unit = m.kind === 'slide' ? 'mm' : 'deg'
     /* 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 k = this.motionAxis
+    const leaders = leadersFor(asset, this.partId, m.kind, motionIdOf(joint, k))
+    const adding = k > 0 && k >= figureMotionsOf(joint).length
     const follow = leaders.some(j => j.id === m.follow) ? m.follow : ''
     const refusal = motionFormRefusalOf(m, follow)
     return html`
+      ${k > 0 ? html`<p motion-axis-heading><b>${i18next.t('figure.label.motion-axis-n', { n: k + 1 })}</b></p>` : nothing}
       <div pair>
         <select @change=${(e: Event) => this.setKind((e.target as HTMLSelectElement).value as 'slide' | 'turn' | 'continuous')}>
           <option value="slide" ?selected=${m.kind === 'slide'}>${i18next.t('figure.label.motion-slide')}</option>
@@ -736,7 +759,7 @@ export class FigureLinks extends localize(i18next)(LitElement) {
                     : nothing}`
               : nothing}
             <span>${i18next.t('figure.label.control-id')}</span>
-            <input .value=${m.id} placeholder=${`${this.partId}-${m.kind}`} @change=${(e: Event) => (this.motion = { ...m, id: (e.target as HTMLInputElement).value.trim() })} />
+            <input .value=${m.id} placeholder=${controlIdFor(this.partId, m.kind, k)} @change=${(e: Event) => (this.motion = { ...m, id: (e.target as HTMLInputElement).value.trim() })} />
             ${m.kind === 'continuous' || (m.kind === 'slide' && (m.travel || m.travelSum))
               ? nothing
               : html`<span>${i18next.t('figure.label.control-range')} (${unit})</span>
@@ -750,14 +773,15 @@ export class FigureLinks extends localize(i18next)(LitElement) {
         ?disabled=${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.command({ kind: 'set-joint', joint: motionJoint(joint, { ...m, follow }, this.partId, k) })
           this.editingMotion = false
+          this.motionAxis = 0
         }}
       >
-        <md-icon>animation</md-icon>${i18next.t(this.editingMotion ? 'figure.button.apply-motion-change' : 'figure.button.add-motion')}
+        <md-icon>animation</md-icon>${i18next.t(adding ? 'figure.button.add-axis' : this.editingMotion ? 'figure.button.apply-motion-change' : 'figure.button.add-motion')}
       </button>
       ${this.editingMotion
-        ? html`<button act @click=${() => (this.editingMotion = false)}><md-icon>undo</md-icon>${i18next.t('figure.button.cancel-motion-change')}</button>`
+        ? html`<button act @click=${() => ((this.editingMotion = false), (this.motionAxis = 0))}><md-icon>undo</md-icon>${i18next.t('figure.button.cancel-motion-change')}</button>`
         : nothing}
     `
   }

package/client/modeller/figure-size-editor.ts

@@ -6,6 +6,7 @@ import type { FigureAuthoringAction } from '@hatiolab/figure-model'
 import { SidePanelStyles } from '@things-factory/figure-viewer/dist-client/side-panel-styles.js'
 import type { FigureRevision } from './revision.js'
 import { AXES, followOf, followableAxes, measureNow, type Axis } from './links.js'
+import { scrubLabel } from './live.js'
 import {
   measureFactor,
   sameSizeSource,
@@ -22,7 +23,8 @@ import {
  * A part's measures and what each follows, one row an axis (ADR-0159 3). Made to follow, a measure takes what the part
  * hangs from, along the axis its own axis lies on as it stands -- the author turns it on, nothing more. Another source
  * is there when asked for, or when there is no such axis (the part lies at an angle) or the measure already follows
- * something else; each way of following says what it will do, in millimetres.
+ * something else; each way of following says what it will do, in millimetres. A measure of the part's own is a value in
+ * hand as on any field (user 2026-09-24): drawn while it is typed or its label is dragged, written once on the release.
  */
 @customElement('figure-size-editor')
 export class FigureSizeEditor extends localize(i18next)(LitElement) {
@@ -50,6 +52,9 @@ export class FigureSizeEditor extends localize(i18next)(LitElement) {
     .result { margin: 0 0 6px 30px; }
     [role=alert] { color: var(--md-sys-color-error); }
   `]
+  private tell(name: 'size-input' | 'size-typing' | 'size-let-go', detail?: object) {
+    this.dispatchEvent(new CustomEvent(name, { detail, bubbles: true, composed: true }))
+  }
   private apply(steps: FigureAuthoringAction[]) {
     if (this.locked) return
     this.error = ''
@@ -116,6 +121,38 @@ export class FigureSizeEditor extends localize(i18next)(LitElement) {
         const choosing = relation.variable && (this.choosing.has(key) || !sameSizeSource(source, suggested))
         const selectedSource = source ? (source.of === 'instance' ? '@figure' : source.part) : '@custom'
         const sourceAxes = source?.of === 'part' ? followableAxes(asset, source.part) : AXES
+        const factor = measureFactor(asset, this.partId, axis)
+        /* Its own measure, no rule over it: in hand while typed or scrubbed, as the input it is (a diameter, its radius). */
+        const own = !relation.variable && !!input && !this.locked
+        const typingSize = (e: Event) => {
+          const value = (e.target as HTMLInputElement).valueAsNumber
+          if (own && Number.isFinite(value) && value > 0) this.tell('size-typing', { input, value: value / factor })
+        }
+        const scrubSize = (down: PointerEvent) => {
+          if (!own || mm === undefined) return
+          const field = (down.currentTarget as HTMLElement).closest('.fields')?.querySelector<HTMLInputElement>('input[type=number]')
+          if (!field) return
+          scrubLabel(down, { value: mm, unit: 'mm' }, {
+            move: value => {
+              field.value = String(value)
+              if (value > 0) this.tell('size-typing', { input, value: value / factor })
+            },
+            release: value => {
+              if (!(value > 0)) {
+                field.value = String(mm)
+                this.tell('size-let-go')
+                return
+              }
+              this.error = ''
+              this.tell('size-input', { input, value: value / factor, part: this.partId })
+              this.requestUpdate()
+            },
+            cancel: () => {
+              field.value = String(mm)
+              this.tell('size-let-go')
+            }
+          })
+        }
         const changeSize = (e: Event) => {
           const value = (e.target as HTMLInputElement).valueAsNumber
           if (!(Number.isFinite(value) && value > 0)) {
@@ -126,7 +163,7 @@ export class FigureSizeEditor extends localize(i18next)(LitElement) {
           if (relation.variable && source && mode !== 'custom') this.configure(axis, source, mode, value)
           else if (!relation.variable && input) {
             this.error = ''
-            this.dispatchEvent(new CustomEvent('size-input', { detail: { input, value: value / measureFactor(asset, this.partId, axis), part: this.partId }, bubbles: true, composed: true }))
+            this.tell('size-input', { input, value: value / factor, part: this.partId })
             this.requestUpdate()
           }
         }
@@ -145,9 +182,9 @@ export class FigureSizeEditor extends localize(i18next)(LitElement) {
         }
         return html`<div class="dimension" data-axis=${axis}>
           <div class="fields">
-            <span>${label}</span>
+            <span ?scrub=${own} @pointerdown=${scrubSize}>${label}</span>
             <input type="number" step="any" min="0" aria-label=${`${this.partId} ${label} ${i18next.t('figure.label.size-measure')}`} .value=${live(mm === undefined ? '' : String(Number(mm.toFixed(6))))}
-              ?disabled=${this.locked} ?readonly=${relation.variable ? mode === 'custom' || uniform : !input} @change=${changeSize}>
+              ?disabled=${this.locked} ?readonly=${relation.variable ? mode === 'custom' || uniform : !input} @input=${typingSize} @change=${changeSize}>
             <label class="variable"><input type="checkbox" aria-label=${`${this.partId} ${label} ${i18next.t('figure.label.size-follows')}`} .checked=${live(relation.variable || this.choosing.has(key))} ?disabled=${this.locked || uniform}
               @change=${follows}></label>
             ${choosing || (this.choosing.has(key) && !relation.variable)

package/client/modeller/links.ts

@@ -1,4 +1,4 @@
-import { FIGURE_FACES, figureShapeFaces, figurePartsExtentOf, compileFigureAsset, figureFollowOf, proposeFigureProportion, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeRangeOf, figureFollowableAxesOf, figureShapeProviderOf, figureMimicTermsOf, figureFastenKeptPlaceOf, figureFastenAxesOf, figureJointAsFixed, figureJointWithMotion, figureSurfaceOf, figureAxesOf, figureMotionsOf } from '@hatiolab/figure-model'
+import { FIGURE_FACES, figureShapeFaces, figurePartsExtentOf, compileFigureAsset, figureFollowOf, proposeFigureProportion, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeRangeOf, figureFollowableAxesOf, figureShapeProviderOf, figureMimicTermsOf, figureFastenKeptPlaceOf, figureFastenAxesOf, figureJointAsFixed, figureJointWithMotion, figureSurfaceOf, figureAxesOf, figureMotionsOf, motionIdOf, motionStateIdOf } from '@hatiolab/figure-model'
 import type { FigureFollow, FigureInstanceSizeRange } from '@hatiolab/figure-model'
 import type { FigureAsset, FigureAuthoringAction, FigureBindingPlace, FigureDimensionSource, FigureFace, FigureFacing, FigureJoint, FigureJointMotion, FigureNamedMotion, FigureSurfacePlace } from '@hatiolab/figure-model'
 import { startingShapeKindOf } from './starting-shape.js'
@@ -531,16 +531,32 @@ export interface Motion {
   travel?: { part: string; axis: string; plus?: number }
 }
 
-export function motionOf(asset: FigureAsset, part: string): Motion | undefined {
+export function motionOf(asset: FigureAsset, part: string, k = 0): Motion | undefined {
   const m = modelOf(asset)
-  const node = m.nodes.find(n => n.id === `${part}.motion`)
-  if (!node) return undefined
   const joint = asset.joints?.find(j => j.body1.part === part)
-  /* The motion the form shows is the joint's first axis, `<part>.motion` (ADR-0159). */
-  const record = joint && figureMotionsOf(joint)[0]
+  const record = joint && figureMotionsOf(joint)[k]
   /* A follower has no limits of its own: its range is its leaders', not a turn without end. */
   const endless = record?.type === 'revolute' && record.lowerLimit === undefined && record.upperLimit === undefined && !record.mimic
   const vector = jointAxisVectorOf(record?.axis)
+  const one = record?.travel && 'source' in record.travel ? record.travel : undefined
+  const travel = one?.source && 'part' in one.source ? { part: one.source.part, axis: one.source.axis, ...(one.plus ? { plus: one.plus } : {}) } : undefined
+  const said = { ...(vector ? { vector } : {}), ...(record?.mimic ? { follows: figureMimicTermsOf(record.mimic)! } : {}), ...(travel ? { travel } : {}) }
+  /*
+    An axis after the first is said as its record writes it -- the joint frame's axis, the control by its id -- the frame
+    the form edits it in (ADR-0159). The first is read from its node, `<part>.motion`, as before.
+  */
+  if (k > 0) {
+    if (!record) return undefined
+    const input = m.inputs.find(i => i.id === motionStateIdOf(record) && i.role === 'state')
+    return {
+      kind: endless ? 'continuous' : record.type === 'revolute' ? 'turn' : 'slide',
+      axis: jointAxisToken(record.axis) ?? '?',
+      ...(record.mimic || !input ? {} : { control: { id: input.id, unit: input.unit, min: input.min, max: input.max } }),
+      ...said
+    }
+  }
+  const node = m.nodes.find(n => n.id === `${part}.motion`)
+  if (!node) return undefined
   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)] ?? '?'
@@ -559,9 +575,7 @@ export function motionOf(asset: FigureAsset, part: string): Motion | undefined {
     }
     return undefined
   }
-  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 } : {}) }
+  return { kind, axis, control: control(quantity), ...said }
 }
 
 /** What the motion form holds: how the part moves, and either its own control or the joint it moves with. */
@@ -596,10 +610,16 @@ export interface MotionForm {
  * The motion form filled from a joint as it is, so a motion can be changed where it is -- its range, the length it
  * travels by, what it follows -- rather than taken away and made again. Taking it away is refused while another joint
  * follows it, which left a leader's stroke fixed for good (the telescopic conveyor, 2026-09-25). The form is the
- * joint's first axis (ADR-0159); the axes after it are kept as they are when it is written (`motionJoint`).
- */
-export function motionFormOf(joint: FigureJoint): MotionForm {
-  const a = figureMotionsOf(joint)[0]
+ * joint's axis `k` (ADR-0159), the first unless said; the other axes are kept as they are when it is written
+ * (`motionJoint`). An axis past the last is a new one: a turn about the first of X, Y, Z the joint's axes do not use.
+ */
+export function motionFormOf(joint: FigureJoint, k = 0): MotionForm {
+  const axes = figureMotionsOf(joint)
+  const a = axes[k]
+  if (!a && k > 0) {
+    const used = new Set(axes.map(x => jointAxisToken(x.axis)))
+    return { kind: 'turn', axis: AXES.find(x => !used.has(x)) ?? 'x', id: '', min: -90, max: 90, follow: '', multiplier: 1, offset: 0, travel: '', travelPlus: 0 }
+  }
   const kind: MotionForm['kind'] = a?.type === 'prismatic' ? 'slide' : a?.lowerLimit === undefined && a?.upperLimit === undefined && !a?.mimic ? 'continuous' : 'turn'
   const one = a?.travel && 'source' in a.travel ? a.travel : undefined
   const travel = one?.source && 'part' in one.source ? `${one.source.part}:${one.source.axis}` : ''
@@ -629,9 +649,10 @@ export function motionFormOf(joint: FigureJoint): MotionForm {
  * The axes a part's joint can move with (URDF's mimic): one of another part's that moves the same way — a slide follows
  * a slide, a turn a turn — and has a control of its own, since a follower follows the axis that is driven (ADR-0159).
  */
-export function leadersFor(asset: FigureAsset, part: string, kind: MotionForm['kind']): Array<FigureNamedMotion & { part: string }> {
+export function leadersFor(asset: FigureAsset, part: string, kind: MotionForm['kind'], self?: string): Array<FigureNamedMotion & { part: string }> {
+  /* Another axis of the same joint may lead (a shoulder's second axis following its first); never the axis itself. */
   return figureAxesOf(asset.joints)
-    .filter(({ joint, motion }) => joint.body1.part !== part && !motion.mimic && (motion.type === 'prismatic') === (kind === 'slide'))
+    .filter(({ joint, motion }) => (self === undefined ? joint.body1.part !== part : motion.id !== self) && !motion.mimic && (motion.type === 'prismatic') === (kind === 'slide'))
     .map(({ joint, motion }) => ({ ...motion, part: joint.body1.part }))
 }
 
@@ -640,27 +661,45 @@ export function leadersFor(asset: FigureAsset, part: string, kind: MotionForm['k
  * a turn without end, as in USD) and a control; a follower gets the leader, the multiplier and the offset, and no
  * control or limits of its own — its range is the leader's times the multiplier.
  */
-export function motionJoint(joint: FigureJoint, m: MotionForm, part: string): FigureJoint {
+export function motionJoint(joint: FigureJoint, m: MotionForm, part: string, k = 0): FigureJoint {
   /*
     Where it is fastened -- its row and its frame's own words too -- is the kernel's to keep (`figureJointWithMotion`,
-    ADR-0140 D6). The form writes the first axis, under the name it had; the axes after it stay as they are (ADR-0159).
+    ADR-0140 D6). The form writes axis `k` under the name it had, or adds it past the last; the others stay as they are
+    (ADR-0159).
   */
-  const was = joint.motion?.[0]
+  const was = joint.motion?.[k]
   const moving = {
     ...(was?.id !== undefined ? { id: was.id } : {}),
     type: m.kind === 'slide' ? ('prismatic' as const) : ('revolute' as const),
     axis: (m.axisVector ?? m.axis.toUpperCase()) as FigureJointMotion['axis'],
     ...(was?.through ? { through: was.through } : {})
   }
-  const given = (motion: Omit<FigureJointMotion, 'type' | 'axis'>) => figureJointWithMotion(joint, [{ ...moving, ...motion }, ...(joint.motion?.slice(1) ?? [])])
+  const axes = joint.motion ?? []
+  const given = (motion: Omit<FigureJointMotion, 'type' | 'axis'>) => figureJointWithMotion(joint, [...axes.slice(0, k), { ...moving, ...motion }, ...axes.slice(k + 1)])
+  const control = m.id || controlIdFor(part, m.kind, k)
   if (m.follow) return given({ mimic: { motion: m.follow, multiplier: m.multiplier, ...(m.offset ? { offset: m.offset } : {}) } })
   if (m.followSum) return given({ mimic: { sum: m.followSum.map(t => ({ motion: t.joint, multiplier: t.multiplier })), ...(m.offset ? { offset: m.offset } : {}) } })
-  if (m.kind === 'slide' && m.travelSum && !m.travel) return given({ travel: m.travelSum, state: { id: m.id || `${part}-${m.kind}` } })
+  if (m.kind === 'slide' && m.travelSum && !m.travel) return given({ travel: m.travelSum, state: { id: control } })
   if (m.kind === 'slide' && m.travel) {
     const [of, axis] = m.travel.split(':')
-    return given({ travel: { source: { of: 'part', part: of!, axis: axis as Axis }, ...(m.travelPlus ? { plus: m.travelPlus } : {}) }, state: { id: m.id || `${part}-${m.kind}` } })
+    return given({ travel: { source: { of: 'part', part: of!, axis: axis as Axis }, ...(m.travelPlus ? { plus: m.travelPlus } : {}) }, state: { id: control } })
   }
-  return given({ ...(m.kind === 'continuous' ? {} : { lowerLimit: m.min, upperLimit: m.max }), state: { id: m.id || `${part}-${m.kind}` } })
+  return given({ ...(m.kind === 'continuous' ? {} : { lowerLimit: m.min, upperLimit: m.max }), state: { id: control } })
+}
+
+/** The control an axis gets when the author names none: `<part>-<kind>`, and `<part>-<kind>-<n>` for the n-th axis. */
+export function controlIdFor(part: string, kind: MotionForm['kind'], k: number): string {
+  return k === 0 ? `${part}-${kind}` : `${part}-${kind}-${k + 1}`
+}
+
+/**
+ * The joint without its axis `k`. The axes after it keep the names they went by: one named by its place
+ * (`<joint>.<k>`, figure-model `motionIdOf`) is given that name before it moves up, so its control is not renamed under
+ * a board that writes to it.
+ */
+export function withoutAxis(joint: FigureJoint, k: number): FigureJoint {
+  const axes = joint.motion ?? []
+  return figureJointWithMotion(joint, [...axes.slice(0, k), ...axes.slice(k + 1).map((a, i) => (a.id !== undefined ? a : { ...a, id: motionIdOf(joint, k + 1 + i) }))])
 }
 
 /**

package/client/modeller/live.ts

@@ -90,6 +90,39 @@ export function scrubbed(start: number, pixels: number, step: number): number {
   return Number(value.toFixed(digits))
 }
 
+/**
+ * A label dragged sideways scrubs a value, as vector tools do: each move gives the value the pointer has come to, the
+ * release gives the last one, and a drag that ends where it began -- or that the system took away -- gives it back. The
+ * label holds the pointer for the drag. Every field that scrubs goes through here: the part's own numbers and the size
+ * editor's rows.
+ */
+export function scrubLabel(
+  down: PointerEvent,
+  from: { value: number; unit: string },
+  to: { move: (value: number) => void; release: (value: number) => void; cancel: () => void }
+): void {
+  if (down.button !== 0) return
+  const label = down.currentTarget as HTMLElement
+  down.preventDefault()
+  label.setPointerCapture(down.pointerId)
+  let value = from.value
+  const move = (e: PointerEvent) => {
+    value = scrubbed(from.value, e.clientX - down.clientX, scrubStep(from.unit, from.value, e.shiftKey))
+    to.move(value)
+  }
+  const up = (e: PointerEvent) => {
+    label.removeEventListener('pointermove', move)
+    label.removeEventListener('pointerup', up)
+    label.removeEventListener('pointercancel', up)
+    /* A drag the system took away is not the author's value. */
+    if (e.type === 'pointercancel' || value === from.value) to.cancel()
+    else to.release(value)
+  }
+  label.addEventListener('pointermove', move)
+  label.addEventListener('pointerup', up)
+  label.addEventListener('pointercancel', up)
+}
+
 /**
  * The bodies to draw while a value is in hand, over every input of the version as the session holds it now: the pose the
  * author has already set with the other controls, and the design values. Drawing over the asset's saved defaults put

package/dist-client/modeller/editor.d.ts

@@ -270,6 +270,11 @@ export declare class FigureEditor extends LitElement {
     /** Runs a command; true when it was taken. */
     private linkCommand;
     private changeField;
+    /**
+     * A number written to an input, from a field, a scrub or the size editor's rows: a size keeps the part's middle, or its
+     * fastening -- figure-model's one size function (ADR-0140 4.1). Gives the value the input holds after, refused or not.
+     */
+    private writeField;
     /** Typing or a held spinner: each number on the way is drawn; the field's change records it. */
     private typing;
     /**