cozyclay 3.1.6 → 3.2.1

package/src/motion3/repair.js

@@ -12,13 +12,16 @@
 // else is kept, and the applied entry says so (movedBody). A patch tried and not kept is not tried
 // again, so the groups after it get their turn. A round that keeps nothing ends the repair. The
 // compiler is deterministic and the candidates come in a fixed order, so the repair is too; no new
-// compile starts after 20 s.
+// compile starts after 20 s. A group whose hint has candidate patches (g.candidates, qa/patch.js: the
+// faces of a box a second hand can take, load.js) gets them all compiled, at most CANDIDATES, and the
+// one with the lowest summed severity stands for its patch: a hint compiles nothing, so only here
+// can the cheapest be found.
 import { applyPatch } from "./json-patch.js";
 import { groupKey } from "./qa/severity.js";
 import { tuneCandidates } from "./repair-tune.js";
 import { compareQa } from "./qa/verdict.js";
 
-const TRIES = 3, TUNE_GROUPS = 2, LIMIT_MS = 20000;
+const TRIES = 3, TUNE_GROUPS = 2, LIMIT_MS = 20000, CANDIDATES = 4;
 const groupsOf = r => r?.qa?.groups ?? [];
 const totalOf = r => groupsOf(r).reduce((sum, g) => sum + (g.severity ?? 0), 0);
 const failedOf = r => (r?.qa?.goals ?? []).filter(g => !g.ok).length;
@@ -38,14 +41,14 @@ const MOVED = "the body moved: no change that keeps it in place fixed this arm's
 /**
  * repairSpec(spec, { rounds }, compile) -> { spec, result, repair }
  * @param {object} spec  the agent's spec (patches address it)
- * @param {{ rounds?: number }} opts  1..8 (default 4)
+ * @param {{ rounds?: number, limitMs?: number }} opts  rounds 1..8 (default 4); limitMs, the wall-clock stop (default 20 s)
  * @param {(spec: object) => object} compile  spec -> pipeline.js compileSpec result (qa.groups[i].patch)
  * @returns {{ spec: object, result: object, repair: { rounds: number, compiles: number,
  *   applied: { kind: string, subject: string, patch: object[], severity: number[], movedBody?: string }[], rejected: number } }}
  */
 export function repairSpec(spec, opts, compile) {
 	const want = Math.min(8, Math.max(1, Math.round(Number(opts?.rounds ?? 4)) || 4)), t0 = performance.now();
-	const late = () => performance.now() - t0 >= LIMIT_MS;
+	const late = () => performance.now() - t0 >= (opts?.limitMs > 0 ? opts.limitMs : LIMIT_MS);
 	let current = spec, result = compile(spec), compiles = 1, rejected = 0, rounds = 0;
 	const refused = new Set();
 	const applied = [];
@@ -60,6 +63,23 @@ export function repairSpec(spec, opts, compile) {
 			return null;
 		}
 	};
+	/** g's patch compiled, or of its candidates ranked by summed severity the first that better() keeps ({ next, r, patch });
+	 * with none kept, the cheapest (the caller refuses it); null when none compiles. A cheaper face that breaks a goal
+	 * that held does not hide a dearer one that is kept. */
+	const cheapest = g => {
+		const tried = [];
+		for (const patch of (g.candidates ?? [g.patch]).slice(0, CANDIDATES)) {
+			if (tried.length && late()) break;
+			const t = attempt(patch);
+			if (!t) continue;
+			tried.push({ ...t, patch });
+			if (totalOf(t.r) === 0 && !failedOf(t.r) && better(t.r, result)) break;
+		}
+		tried.sort((a, b) => totalOf(a.r) - totalOf(b.r));
+		const pick = tried.find(t => better(t.r, result)) ?? tried[0] ?? null;
+		rejected += tried.filter(t => t !== pick).length;
+		return pick;
+	};
 	const keep = (g, key, patch, { next, r }) => {
 		const moved = armLocal(g) && movesBody(patch);
 		applied.push({ kind: g.kind, subject: g.subject, patch, severity: [g.severity, groupIn(r, key)?.severity ?? 0], ...(moved ? { movedBody: MOVED } : {}) });
@@ -97,8 +117,8 @@ export function repairSpec(spec, opts, compile) {
 			if (!g?.patch || late()) continue;
 			// an arm's failure whose patch moves the body waits until nothing else is kept this round
 			if (armLocal(g) && movesBody(g.patch)) { deferred.push(key); continue; }
-			const t = attempt(g.patch);
-			if (t && better(t.r, result)) { keep(g, key, g.patch, t); kept += 1; } else { refused.add(JSON.stringify(g.patch)); if (t) rejected += 1; }
+			const t = cheapest(g);
+			if (t && better(t.r, result)) { keep(g, key, t.patch, t); kept += 1; } else { refused.add(JSON.stringify(g.patch)); if (t) rejected += 1; }
 		}
 		for (const key of kept ? [] : near) {
 			const g = groupIn(result, key);
@@ -107,8 +127,8 @@ export function repairSpec(spec, opts, compile) {
 		for (const key of kept ? [] : deferred) {
 			const g = groupIn(result, key);
 			if (!g?.patch || late()) continue;
-			const t = attempt(g.patch);
-			if (t && better(t.r, result)) { keep(g, key, g.patch, t); kept += 1; break; } else { refused.add(JSON.stringify(g.patch)); if (t) rejected += 1; }
+			const t = cheapest(g);
+			if (t && better(t.r, result)) { keep(g, key, t.patch, t); kept += 1; break; } else { refused.add(JSON.stringify(g.patch)); if (t) rejected += 1; }
 		}
 		if (!kept) break;
 	}

package/src/motion3/schema/fields.js

@@ -15,8 +15,10 @@ export const ANCHOR_FIELDS = { world: ["p"], body: ["p"], bone: ["bone", "offset
 export const PROP_FIELDS = ["hand", "origin", "points"];
 export const FIT_FIELDS = ["side", "anchor", "effector", "offset", "orient"];
 /** spec.objects[id]: a hinge or a carry (a body or a group id), see C3; carry keys: C14; a switch (any record, C15) moves nothing; a follow (any record, C16) rides a point of the body; a free entry (C17) moves by keys and falls. */
-export const OBJECT_FIELDS = { hinge: ["pivot", "axis", "channel"], carry: ["prop", "at", "along", "visible", "level", "grab", "release", "keys", "fall", "grasp", "mass"], switch: ["visible", "level"],
-	follow: ["follow", "offset", "aim", "visible", "level"], free: ["keys", "fall", "visible", "level"] };
+export const OBJECT_FIELDS = { hinge: ["pivot", "axis", "channel"], carry: ["prop", "at", "along", "visible", "level", "grab", "release", "keys", "fall", "grasp", "mass", "spring"], switch: ["visible", "level"],
+	follow: ["follow", "offset", "aim", "visible", "level"], free: ["keys", "fall", "visible", "level", "spring"] };
+/** spec.objects[id].spring (a carry or a free entry): a damped swing behind its anchor's acceleration, compiler/spring.js. */
+export const SPRING_FIELDS = ["length", "stiffness", "damping"];
 /** One spec.objects[id].fall entry (C17): the frame it starts to fall, what it lands on, how much it bounces, whether it rolls to rest, the velocity it leaves with. */
 export const FALL_FIELDS = ["at", "onto", "bounce", "tumble", "v"];
 /** One spec.objects[id].keys entry (C14): the held object's world pose at frame f; aim (+ roll) in place of rot (C16). */

package/src/motion3/schema/topics.js

@@ -55,7 +55,7 @@ const CARRY = { props: EXAMPLES.objects.props, objects: { cup: EXAMPLES.objects.
 export const NOTES = {
 	essentials: ["types: ? optional, =v default, a..b range, A | B one of, [key]: T map, a|b?: T both, x_l|r each side, (text) meaning.",
 		`A carried object: ${literal(CARRY)}. ${NO_JUMP}`,
-		"motion.describe { topic } or { topic: 'skills', name }: the rest."],
+		"motion.describe { topic } or { topic: 'skills', name }: more."],
 	spec: [UNITS,
 		"frames: an integer, or \"auto\" (the last skill end, generator end or key f, plus 1); the stored spec keeps the number.",
 		"Any number may be { range: [lo, hi] } (int: true for frames): the compiler searches it, QA 0 first, at most search.budget compiles.",
@@ -71,15 +71,18 @@ export const NOTES = {
 		"fits: the hand target moves so the effector (a prop point or the mean of joints), not the wrist, lands on the anchor.",
 		"A fit on a scene body also turns the hand about the forearm into a grip: a thin body (a can, a bar, a handle, a neck) across the palm, else thumb up; never past a comfortable forearm turn. A wrist you turn (wtwist/wflex) wins; fit.orient: false (reachGrip args.orient: false) turns it off.",
 		"reachGrip adds props.<anchor>Grip and its fit. Carry a scene object with objects.<id>.prop (topic objects).",
-		"Do not pin a carried thing on a knuckle point: without at/along it rests in the palm and the fingers close on it (fix.grasp). objects.<id>.grasp names how: power, pinch, hook, palm, spherical (a ball). objects.<id>.mass (kg) weighs on the arm; past one hand QA says LOAD and patches in the other hand."],
-	objects: ["A hinge turns the object (a body or a group) about pivot/axis by the angle channel your keys set (degrees).",
+		"Do not pin a carried thing on a knuckle point: without at/along it rests in the palm and the fingers close on it (fix.grasp). objects.<id>.grasp names how: power, pinch, hook, palm, spherical (a ball). objects.<id>.mass (kg) weighs on the arm; past one hand QA says LOAD and patches in the other hand.",
+		"objects.<id>.spring { length, stiffness, damping } (a carry, keyed included, or a free entry) swings it a beat behind the hand or its keys, then settles: a bag, a lantern. "
+			+ "length (m, default half its longest side) is the string or rod; stiffness (1/s^2) defaults to 9.81 / length, a real pendulum; damping (default 0.5; 1: no overshoot) how soon it stops. "
+			+ "A natural swing: length 0.4..0.6, damping 0.5..0.7. It turns, at most 60 deg about its base, never moves: put the base at the hand with at/along; a still hand leaves it still."],
+	objects: ["A hinge turns the object (a body or a group) about pivot/axis by the angle channel your keys set.",
 		"A carry follows the prop's hand: before grab the scene pose, grab..release in the hand, after release where it was let go, riding a body under it that keys or a hinge move.",
-		"No grab: in hand from frame 0; no release: to the end. No at/along: it rests in the palm, fingers closed on it.",
+		"No at/along: it rests in the palm, fingers closed on it.",
 		"A group (Empty) id moves all its parts; at/along pin a group's root to the palm too (an object.createKit kit). A carried object is an obstacle for the body and the scene.",
-		"A switch { visible?, level? } (no prop, no hinge field) moves nothing: it shows or hides any record (a part, a light, an effect) and sets its level, 0..4 light, glow and effect strength "
+		"A switch { visible?, level? } moves nothing: it shows or hides any record (a part, a light, an effect) and sets its level, 0..4 light, glow and effect strength "
 			+ "(an unkeyed level reads 1). Hiding a group hides its parts. A carry takes level too.",
-		"keys pose a carried object in the world while in hand: pos its base (a group: its root), rot a quaternion [x, y, z, w], "
-			+ "or aim [x, y, z] where its +Y points (a bat's barrel) plus roll degrees about it (none: the roll the arm holds most easily). "
+		"keys pose a carried object in the world while in hand: pos its base (a group: its root), rot a quaternion, "
+			+ "or aim [x, y, z] where its +Y points (a bat's barrel) plus roll degrees about it (none: the easiest roll). "
 			+ `The object leads and the arm follows (elbow, forearm, then the wrist within ${Object.entries(WRIST_LIMITS).map(([k, [lo, hi]]) => `${k} ${lo}..${hi}`).join(", ")} deg; dev + toward the thumb); `
 			+ "a left hand on a prop anchor of it turns with it; "
 			+ `the hand eases in and out over ${KEY_BLEND} frames. REACH "<id>: n cm off its keys" is what the hand could not reach; `
@@ -88,12 +91,12 @@ export const NOTES = {
 			+ "to rest on a stable face, one small bounce (0: none). A carry falls before grab or after release.",
 		"A follow { follow: <ref>, offset?, aim?, visible?, level? } puts any record (an effect, a light, a part) on a body point every frame: "
 			+ "aim sets its +Y (an effect emits along it): up (default), face (forward), a direction or a ref (toward it); offset is metres along its axes after aim. It is no obstacle.",
-		"The editor's motion.keyObject writes one key from a drag (a hinge: its channel key)."],
+		"The editor's motion.keyObject keys a drag (a hinge: its channel)."],
 	checks: ["Each entry adds QA groups: contacts CONTACT, orient ORIENT, below BELOW, clearance CLEARANCE, appear APPEAR; supports mark where a part rests on an object (no FLOAT, no balance there); a foot on an object's top is on the ground without one.",
 		"when: a weight channel (active above 0.99) or [f0, f1]; clearance uses frames.", "Check points take joint:, prop: and anchor: only; goals and probes take every ref (topic refs).",
 		"allow excuses a body part inside an object up to depth; limits override the QA limits. Unnamed entries are named by place, contacts[0].",
 		"Other characters with an installed take are bodies too: PERSON \"<part> x person:<id>\" is a part inside that person; a touch you mean (a push, a hug) is allow { part, object: \"person:<id>\", depth }.",
-		"Speed, acceleration, knee bend and balance are style: measured in output.observations, not judged. Naming speedCore/speedLimb, accCore/accLimb, knee or balance in limits makes it a check (SPEED, ACC, KNEE, BALANCE). observations.near: each hand's and foot's nearest object and gap (< 0 inside), measured, not judged.",
+		"Speed, acceleration, knee bend and balance are style (output.observations), not judged. Naming one in limits checks it: SPEED, ACC, KNEE, BALANCE (mass-weighted centre of mass outside the support polygon of the feet, +8 cm margin). observations.near: each hand's and foot's nearest object and gap (< 0 inside), measured, not judged.",
 		"motion.qa { checks } replaces every check for a re-measure."],
 	goals: ["Exactly one of near (distance <= tol), above (a.y - b.y >= by), moved (an object's base moved at least by from the scene pose; any other point ref, e.g. prop:bat.tip, at least by from where it is at at[0], at: [f0, f1]), still (stays within tol, default 0.01 m, of where moved measures from) or speed (the point reaches by m/s).",
 		"at is an absolute frame or [f0, f1]; mode all (every frame; the default) or any (one frame; speed's default). A failed goal is a GOAL group first in qa.groups and makes qa.ok false.",
@@ -111,7 +114,8 @@ export const NOTES = {
 		"object:<id> takes a body or a group (the box around its parts); in a distance a bare object:<id> means its surface.",
 		"Goals and probes take every kind; spec.checks keep joint:, prop: and anchor:."],
 	fix: [`spec.fix keys: ${FIX_KEYS.join(", ")}; false turns all off. output.fixed reports what each one changed.`,
-		"reach, slide, self and stance are on by default; penetration and retime are opt-in.",
+		"reach, slide, self, stance and person are on by default; penetration and retime are opt-in.",
 		"reach also brings the body to a hand on a world or scene-object anchor the straight arm misses: a lean, a hip shift, lower hips, the feet kept (fixed.reachBody lists each move); farther, place the body. retime is kept only when QA is no worse with it.",
-		"self keeps the arms out of the body on its fitted skin (QA BODY measures the same skin): wrist targets inside it go onto it, elbows turn about the shoulder-wrist line, a hand a little inside is pushed out. A fit's target (the mouth) is never moved; what is left is BODY, with checks.allow { part, object: <body part>, depth } for a contact meant to touch (a hand on a knee)."],
+		"self keeps the arms out of the body on its fitted skin (QA BODY measures the same skin): wrist targets inside it go onto it, elbows turn about the shoulder-wrist line, a hand a little inside is pushed out. A fit's target (the mouth) is never moved; what is left is BODY, with checks.allow { part, object: <body part>, depth } for a contact meant to touch (a hand on a knee).",
+		"person keeps the arms out of the other characters (QA PERSON): the wrist target moves out back the side the hand came from, however deep; an FK arm is left (fixed.person.skipped). A touch you mean: checks.allow { part, object: \"person:<id>\", depth }."],
 };

package/src/motion3/schema/types.js

@@ -5,6 +5,7 @@
 import { REF_KINDS, OBJECT_KEY_FIELDS } from "./fields.js";
 import { CONVENTIONS, GRASPS } from "../compiler/vocab.js";
 import { QA_LIMITS } from "../qa/checks.js";
+import { SPRING } from "../compiler/spring.js";
 import { CAPSULES } from "../qa/geometry.js";
 
 const def = (d, extra) => ({ ...extra, ...(d ? { description: d } : {}) });
@@ -83,23 +84,25 @@ export const FIT_TYPES = {
 	offset: ref("vec3", "world offset, m"), orient: { type: "boolean", description: "false: no grip turn" },
 };
 
-const OBJECT_KEY_TYPES = { f: int(), pos: ref("vec3"), rot: { type: "array", items: { type: "number" }, minItems: 4, maxItems: 4, description: "quat x, y, z, w" },
+const OBJECT_KEY_TYPES = { f: int(), pos: ref("vec3"), rot: { type: "array", items: { type: "number" }, minItems: 4, maxItems: 4, description: "quat xyzw" },
 	aim: ref("vec3", "or rot: +Y dir"), roll: num("deg about aim"), lean: num("aim tilt", { minimum: 0, maximum: 45 }) };
 
 const FALL = { type: "object", properties: { at: int(), onto: str(), bounce: num(null, { default: 0.25, minimum: 0, maximum: 0.6 }), tumble: { type: "boolean" },
 	v: { oneOf: [{ $ref: "#/$defs/vec3" }, { const: "hand" }], description: "m/s" } }, required: ["at"], additionalProperties: false };
 /** A free entry's keys and fall (C17) are a carry's, at any frame: said once, not twice. */
-const AS_CARRY = { description: "as carry; keys at any frame" };
-export const FREE_TYPES = { keys: AS_CARRY, fall: AS_CARRY };
+const AS_CARRY = { description: "as carry, any frame" };
+export const FREE_TYPES = { keys: AS_CARRY, fall: AS_CARRY, spring: AS_CARRY };
+const SPRING_TYPE = { type: "object", properties: Object.fromEntries(Object.entries(SPRING).map(([k, r]) => [k, num(null, { default: r.default, minimum: r.min, maximum: r.max })])),
+	additionalProperties: false };
 
 export const OBJECT_TYPES = {
-	pivot: ref("vec3", "world hinge point"), axis: ref("vec3", "default +Y"), channel: str("angle channel, deg"),
-	prop: str("spec.props name: it rides that hand"), at: ref("vec3", "palm offset [d, l, n]"), along: ref("vec3", "+Y on the palm, fixed"),
-	visible: str("channel: shown > 0.5"), level: str("channel: strength 0..4"), grab: int("hand takes it", { default: 0 }), release: int("let go (else end)"),
+	pivot: ref("vec3", "world"), axis: ref("vec3", "default +Y"), channel: str("angle, deg"),
+	prop: str("spec.props name"), at: ref("vec3", "palm offset [d, l, n]"), along: ref("vec3", "+Y on palm"),
+	visible: str("channel: shown > 0.5"), level: str("channel: 0..4"), grab: int("hand takes it", { default: 0 }), release: int("let go, else end"),
 	keys: { type: "array", items: { type: "object", properties: Object.fromEntries(OBJECT_KEY_FIELDS.map(f => [f, OBJECT_KEY_TYPES[f]])), required: ["f", "pos"], additionalProperties: false },
-		description: "world pose at f; hand follows" },
-	fall: { ...FALL, description: "or a list; topic objects" },
-	grasp: { enum: GRASPS }, mass: num("kg", { minimum: 0.01, maximum: 60 }),
+		description: "world pose; hand follows" },
+	fall: { ...FALL, description: "or a list" },
+	grasp: { enum: GRASPS }, mass: num("kg", { minimum: 0.01, maximum: 60 }), spring: SPRING_TYPE,
 	follow: ref("ref"), offset: ref("vec3"), aim: { oneOf: [{ enum: ["face", "up"] }, { $ref: "#/$defs/vec3" }, { $ref: "#/$defs/ref" }], default: "up" },
 };
 
@@ -144,6 +147,7 @@ export const FIX_TYPES = {
 	retime: bool("speed spikes borrow frames from the neighbouring keys", { default: false }),
 	stance: bool("a standIdle stance in a scene body slides out of it (observations.placed)", { default: true }),
 	grasp: bool("fingers close on what the hand holds; it rests in the hand", { default: true }),
+	person: bool("arms kept out of the other characters (QA PERSON)", { default: true }),
 };
 
 export const REF_DOCS = {

package/src/motion3/skills/catch.js

@@ -42,7 +42,8 @@ export function catchObject(ctx) {
 	// the hand needs REACH frames from f0: a later pick it would get to in time; else it comes late to where the thing was
 	const contact = Math.max(pick.f, ctx.f0 + REACH + ARRIVE), p = pick.p;
 	const incoming = scale(sub(at(pick.f), at(pick.f - 1)), fps), speed = len(incoming), mass = massOf({ objects: ctx.objects }, scene, id);
-	const give = clamp(0.08 + 0.02 * mass * speed, 0.08, 0.15), u = norm(incoming), ease = t => 1 - (1 - t) ** 3;
+	// the give's first frame takes 24% of it (1 - (5/6)^1.5): a cubic's 42% of a 3 kg ball's 0.15 m jolted the hands, POP (#819)
+	const give = clamp(0.08 + 0.02 * mass * speed, 0.08, 0.15), u = norm(incoming), ease = t => 1 - (1 - t) ** 1.5;
 	const path = [p, ...Array.from({ length: ABSORB }, (_, i) => add(p, scale(u, give * ease((i + 1) / ABSORB)))), add(p, scale(u, give * 0.4))];
 	const start = Math.max(ctx.f0, contact - ARRIVE - LONG), both = side === "both" || mass > HEAVY;
 	// the left hand (both hands, or a heavy thing) on its left side, its finger middles across the thing from the right's

package/src/panels/FingerPanel.jsx

@@ -0,0 +1,38 @@
+import { ko } from "../locale.js";
+import { FINGER_PRESETS, fingerCurl } from "../motion/fingers.js";
+
+const FINGER_LABELS = { Thumb: ["Thumb", "엄지"], Index: ["Index", "검지"], Middle: ["Middle", "중지"], Ring: ["Ring", "약지"], Pinky: ["Pinky", "새끼"] };
+const PRESET_LABELS = { open: ["Open", "펴기"], fist: ["Fist", "주먹"], point: ["Pointing", "가리키기"] };
+
+/** A slider previews while it moves and bakes once on release, the same gesture shape as a viewport drag. */
+export default function FingerPanel({ fingers, tick, editing = false, onToggleEdit, onCurl, onCommit, onPreset }) {
+	if (!fingers.length) return null;
+	const side = fingers[0].side;
+	return (
+		<section className="pose-section" data-testid="finger-panel">
+			<h4>{side === "Left" ? ko("Left hand fingers", "왼손 손가락") : ko("Right hand fingers", "오른손 손가락")}</h4>
+			<div className="pose-actions">
+				<button type="button" className={"btn" + (editing ? " primary" : "")} aria-pressed={editing} data-testid="finger-edit-toggle" onClick={onToggleEdit}>
+					{editing ? ko("Editing fingertips", "손끝 편집 중") : ko("Edit fingertips", "손끝 편집")}
+				</button>
+			</div>
+			<div className="pose-actions">
+				{Object.keys(FINGER_PRESETS).map((name) => (
+					<button key={name} type="button" className="btn" data-testid={`finger-preset-${name}`} onClick={() => onPreset(name)}>{ko(...PRESET_LABELS[name])}</button>
+				))}
+			</div>
+			{fingers.map((finger) => (
+				<label key={`${finger.id}:${tick}`} className="pose-row pose-object-opacity">
+					<span>{ko(...FINGER_LABELS[finger.name])}</span>
+					<input type="range" min={0} max={100} step={1} defaultValue={Math.round(fingerCurl(finger) * 100)}
+						data-testid={`finger-curl-${finger.name.toLowerCase()}`} aria-label={ko(`${finger.name} bend`, `${FINGER_LABELS[finger.name][1]} 굽힘`)}
+						onChange={(event) => onCurl(finger.id, Number(event.target.value) / 100)}
+						onPointerUp={onCommit} onKeyUp={onCommit} />
+				</label>
+			))}
+			<p className="inspector-hint">{editing
+				? ko("Drag a fingertip dot to bend that finger. The hand's move and rotate tools come back when you leave fingertip editing.", "손끝 점을 끌면 그 손가락이 굽어요. 손끝 편집을 끄면 손 이동·회전 도구가 돌아와요.")
+				: ko("Turn on fingertip editing to drag fingertips in the viewport.", "손끝 편집을 켜면 뷰포트에서 손끝을 끌 수 있어요.")}</p>
+		</section>
+	);
+}

package/src/panels/RigControlPanel.jsx

@@ -2,12 +2,13 @@ import Foldout from "./Foldout.jsx";
 import { ko } from "../locale.js";
 import { HIERARCHY_INSPECTOR_TITLES } from "../app-stage.jsx";
 import { RangePinPanel } from "../range-pin-panel.jsx";
+import FingerPanel from "./FingerPanel.jsx";
 
 import "./pose.css";
 
 export default function RigControlPanel({
  isRigSelection, rigSelection, ikChains, ikFocus, footSnap, ikMode, poseObjectOpacity = 0.2, setPoseObjectOpacity,
- motion, tlFrame, ikEditTool, setIkEditTool, pendingIkEdit = null, applyPendingIkEdit, cancelPendingIkEdit,
+ motion, tlFrame, ikEditTool, setIkEditTool, pendingIkEdit = null, applyPendingIkEdit, cancelPendingIkEdit, onResetPose, fingerPanel = null,
  rangePins = [], rangePinResiduals = new Map(), rangePinSelection = null, rangePinPartPick = null,
  rangePinPreview = null, objects = [], setRangePinSelection, setRangePinPartPick,
  previewRangePinDraft, applyRangePinDraft, deleteRangePin,
@@ -27,6 +28,12 @@ export default function RigControlPanel({
       onChange={(event) => setPoseObjectOpacity(Number(event.target.value) / 100)} />
      <b>{Math.round(poseObjectOpacity * 100)}%</b>
     </div>}
+    {onResetPose && <div className="pose-actions">
+     <button type="button" className="btn" data-testid="pose-reset-default" onClick={onResetPose}
+      title={motion ? ko("Remove every IK edit; the motion plays as it was", "IK 수정을 모두 지워요. 모션은 원래대로 재생돼요") : ko("Back to the default pose", "기본 포즈로 되돌려요")}>
+      {motion ? ko("Clear pose edits", "포즈 수정 지우기") : ko("Reset to default pose", "기본 포즈로")}
+     </button>
+    </div>}
     <p className="inspector-hint">{rigSelection && rigSelection.token !== "rig" ? ko(`${HIERARCHY_INSPECTOR_TITLES[rigSelection.token]} is the active control group.`, `${HIERARCHY_INSPECTOR_TITLES[rigSelection.token]}이 활성 제어 그룹입니다.`, `${HIERARCHY_INSPECTOR_TITLES[rigSelection.token]}是当前控制组。`) : ko("Select a body group to pose it in the viewport.", "몸 그룹을 선택해 뷰포트에서 포즈를 잡으세요.")}</p>
    </section>
    {ikMode && <section className="pose-section" data-testid="pose-active-tool">
@@ -46,6 +53,7 @@ export default function RigControlPanel({
     {ikEditTool === "pin" && <RangePinPanel active motion={motion} frame={tlFrame} frameCount={motion?.frames ?? 1} fps={motion?.fps ?? 24} pins={rangePins} residuals={rangePinResiduals} objects={objects} selectedPinId={rangePinSelection} partPick={rangePinPartPick} conflictFrames={rangePinPreview?.conflictFrames ?? []} overlapError={rangePinPreview?.overlapError ?? ""} onSelectPin={(id) => { setRangePinSelection?.(id); if (id) setIkEditTool("pin"); }} onApply={applyRangePinDraft} onCancel={() => { setRangePinSelection?.(null); setIkEditTool("ik"); }} onDelete={deleteRangePin} onPreviewTarget={previewRangePinDraft} />}
     {ikEditTool === "ik" && <p className="inspector-hint">{ko("Grab a hand, foot, elbow or knee handle in the viewport.", "뷰포트에서 손·발·팔꿈치·무릎 핸들을 잡으세요.")}</p>}
    </section>}
+   {ikMode && ikEditTool === "ik" && fingerPanel && <FingerPanel {...fingerPanel} />}
   </div>
  </Foldout>;
 }

package/src/panels/SculptPanel.jsx

@@ -2,6 +2,7 @@ import { useEffect, useRef, useState } from "react";
 import Foldout from "./Foldout.jsx";
 import { ko } from "../locale.js";
 import { effortOptions } from "../workflow/agent-client.js"; import { saveExport } from "../export-workspace.js";
+import SculptPartTree from "./SculptPartTree.jsx";
 import "./sculpt.css";
 
 // Sculpt mode side panel (#739). Pure view: the run controller owns the run state and the
@@ -202,8 +203,7 @@ function ModelPicker({ picker, locked }) {
 function BlueprintSection({ blueprint, disabled }) {
 	if (!blueprint) return null;
 	const { state = "idle", pose = "keep", notes = "", prompt = "", sheet = null, error = null, startedAt = null, refusal = null, onPose, onNotes, onGenerate, onCancel, layout = [] } = blueprint;
-	const busy = state === "generating";
-	const waited = busy && startedAt ? Math.floor((Date.now() - startedAt) / 1000) : 0;
+	const busy = state === "generating", waited = busy && startedAt ? Math.floor((Date.now() - startedAt) / 1000) : 0;
 	return (
 		<div className="sculpt-blueprint" data-testid="sculpt-blueprint" data-state={state}>
 			<div className="sculpt-label"><span>{ko("Blueprint (model sheet)", "도면 (모델 시트)")}</span><small>{ko("front · side · back · top", "정면 · 측면 · 뒷면 · 윗면")}</small></div>
@@ -224,13 +224,15 @@ function BlueprintSection({ blueprint, disabled }) {
 					<span className="sculpt-now-expect">{ko("usually ~40–90s", "보통 ~40–90초")}</span>
 					<button type="button" className="btn ghost small" data-testid="sculpt-blueprint-cancel" onClick={() => onCancel?.()}>{ko("Cancel", "취소")}</button>
 				</div>
-			) : (
-				<button type="button" className="btn full" data-testid="sculpt-blueprint-generate" disabled={disabled || Boolean(refusal)} onClick={() => onGenerate?.()}>
+			) : !refusal && (
+				// Without a ChatGPT token there is no button: the refusal below says why (#970).
+				<button type="button" className="btn full" data-testid="sculpt-blueprint-generate" disabled={disabled} onClick={() => onGenerate?.()}>
 					{sheet ? ko("Generate again", "다시 생성") : ko("Generate blueprint", "도면 생성")}
 				</button>
 			)}
 			{refusal && !busy && <p className="inspector-hint" role="status" data-testid="sculpt-blueprint-refusal">{refusal}</p>}
 			{error && !busy && <p className="inspector-hint sculpt-error" role="alert" data-testid="sculpt-blueprint-error">{error}</p>}
+			{sheet?.notices?.length > 0 && !busy && <p className="inspector-hint" role="status" data-testid="sculpt-blueprint-notices">{sheet.notices.join(" ")}</p>}
 			{sheet && (
 				<figure className="sculpt-sheet-figure" data-testid="sculpt-blueprint-sheet">
 					<a href={sheet.dataUrl} target="_blank" rel="noreferrer" title={ko("Open full size", "원본 크기로 열기")}>
@@ -255,7 +257,7 @@ function BlueprintSection({ blueprint, disabled }) {
 	);
 }
 
-export default function SculptPanel({ run, reference, onReference, onStart, onCancel, onPlaceInScene, canStart, startRefusal, sculptName, hidden, modelPicker = null, blueprint = null }) {
+export default function SculptPanel({ run, reference, onReference, onStart, onCancel, onPlaceInScene, onSaveToShelf, canStart, startRefusal, sculptName, hidden, modelPicker = null, blueprint = null, parts = null }) {
 	const fileRef = useRef(null);
 	const [dragging, setDragging] = useState(false);
 	// The sheet is the clearest picture of what is off, so it starts open.
@@ -266,8 +268,6 @@ export default function SculptPanel({ run, reference, onReference, onStart, onCa
 	const stageIndex = STAGES.findIndex(([id]) => id === stage);
 	const iou = Number.isFinite(run?.iou) ? run.iou : null;
 	const target = Number.isFinite(run?.targetIou) ? run.targetIou : null;
-	const showProgress = stage !== "idle";
-	const startDisabled = !canStart || Boolean(startRefusal);
 	const hasLog = Boolean(run?.activity?.length);
 	useTicking((running && Boolean(run?.waiting)) || blueprint?.state === "generating");
 
@@ -327,14 +327,15 @@ export default function SculptPanel({ run, reference, onReference, onStart, onCa
 						{ko("Cancel", "취소")}
 					</button>
 				) : (
-					<button type="button" className="btn primary full" data-testid="sculpt-start" disabled={startDisabled}
+					<button type="button" className="btn primary full" data-testid="sculpt-start" disabled={!canStart || Boolean(startRefusal)}
 						aria-describedby={startRefusal ? "sculpt-start-refusal" : undefined} onClick={() => onStart?.()}>
 						{ko("Start (fast draft)", "시작 (빠른 초안)")}
 					</button>
 				)}
 				{!running && startRefusal && <p className="inspector-hint sculpt-refusal" id="sculpt-start-refusal" role="status" data-testid="sculpt-start-refusal">{startRefusal}</p>}
+				{sculptName && <SculptPartTree {...parts} />}
 
-				{showProgress && (
+				{stage !== "idle" && (
 					<div className="sculpt-progress" data-testid="sculpt-progress">
 						<ol className="sculpt-stepper" aria-label={ko("Sculpt stages", "조형 단계")}>
 							{STAGES.map(([id, label], index) => {
@@ -392,9 +393,8 @@ export default function SculptPanel({ run, reference, onReference, onStart, onCa
 
 				<button type="button" className="btn full" data-testid="sculpt-place" disabled={!sculptName || running}
 					aria-label={sculptName ? ko(`Place ${sculptName} in scene`, `${sculptName} 장면에 배치`, `将 ${sculptName} 放入场景`) : ko("Place in scene", "장면에 배치")}
-					onClick={() => onPlaceInScene?.()}>
-					{ko("Place in scene", "장면에 배치")}
-				</button>
+					onClick={() => onPlaceInScene?.()}>{ko("Place in scene", "장면에 배치")}</button>
+				<button type="button" className="btn ghost full" data-testid="sculpt-save-shelf" disabled={!sculptName || running} title={ko("Keep a copy on the asset shelf (Content › Sculpts), for any scene or project", "에셋 선반(콘텐츠 › 조형물)에 사본을 보관해 어느 씬·프로젝트에서나 씁니다")} onClick={() => onSaveToShelf?.()}>{ko("Save to shelf", "선반에 저장", "保存到架子")}</button>
 
 				<p className="inspector-hint sculpt-hint" data-testid="sculpt-hint">
 					{ko("Fix details by chatting with the Agent (⌘B) while the sculpt is selected.", "조형물을 선택한 채 에이전트(⌘B)와 대화해 디테일을 고치세요.")}

package/src/panels/SculptPartTree.jsx

@@ -0,0 +1,46 @@
+import { useEffect, useRef } from "react";
+import { ko } from "../locale.js";
+
+// The sculpt's parts as an indented tree (#740 S7). Pure view: Sculpt mode
+// owns the selection; a row press selects that part, the same state a click
+// on the turntable sets. A mirrored part is listed once, as the recipe has it.
+// `notice` is the part gizmo's last refusal (#740 S8), shown under the list.
+export default function SculptPartTree({ tree, selected, onSelect, notice = null }) {
+	const listRef = useRef(null);
+	const selectedId = selected?.partId ?? null;
+	// A pick on the turntable brings its row into view.
+	useEffect(() => {
+		if (selectedId) listRef.current?.querySelector("[aria-pressed='true']")?.scrollIntoView?.({ block: "nearest" });
+	}, [selectedId]);
+	if (!tree?.length) return null;
+	return (
+		<div className="sculpt-parts" data-testid="sculpt-part-tree">
+			<div className="sculpt-label">
+				<span>{ko("Parts", "부품", "部件")}</span>
+				<small title={selectedId ? ko("W move · E rotate · R scale (Shift: uniform) · Esc to deselect", "W 이동 · E 회전 · R 크기 (Shift: 균등) · Esc로 선택 해제", "W 移动 · E 旋转 · R 缩放（Shift：等比）· 按 Esc 取消选择") : undefined}>
+					{selectedId ? ko("W move · E rotate · R scale", "W 이동 · E 회전 · R 크기", "W 移动 · E 旋转 · R 缩放") : ko(`${tree.length} parts`, `부품 ${tree.length}개`, `${tree.length} 个部件`)}
+				</small>
+			</div>
+			<ul className="sculpt-part-list" ref={listRef} aria-label={ko("Sculpt parts", "조형 부품", "雕塑部件")}>
+				{tree.map((row) => {
+					const on = row.id === selectedId;
+					return (
+						<li key={row.id}>
+							<button type="button" className="sculpt-part-row" data-testid="sculpt-part-row" data-part={row.id} aria-pressed={on}
+								data-mirrored={on && selected.mirrored ? "true" : undefined} style={{ "--sculpt-part-depth": row.depth }}
+								// A cutter is never drawn (it cuts its parent): nothing on the turntable to pick or move.
+								disabled={row.cutter} data-cutter={row.cutter || undefined}
+								title={row.cutter ? ko("A cutter is not drawn: it cuts its parent. Ask the agent to change it.", "커터는 그려지지 않아요. 부모 부품을 깎아요. 바꾸려면 에이전트에게 요청하세요.", "切割体不会被绘制，它用于切削父部件。如需修改，请让智能体处理。") : undefined}
+								onClick={() => onSelect?.({ partId: row.id, mirrored: false })}>
+								<span className="sculpt-part-id">{row.id}</span>
+								{on && selected.mirrored && <span className="sculpt-part-tag">{ko("mirror copy", "미러 사본", "镜像副本")}</span>}
+								<span className="sculpt-part-shape">{row.mirror ? `${row.shape} ×2` : row.shape}</span>
+							</button>
+						</li>
+					);
+				})}
+			</ul>
+			{notice && <p className="inspector-hint sculpt-error" role="alert" data-testid="sculpt-part-notice">{notice}</p>}
+		</div>
+	);
+}

package/src/panels/SubjectsPanel.jsx

@@ -17,7 +17,7 @@ export default function SubjectsPanel({
 									label={ko(`Subject ${index + 1}`, `인물 ${index + 1}`, `角色 ${index + 1}`)}
 									onPose={() => openStudio(entry.id)}
 									posing={posing === entry.id}
-									onRemove={index > 0 ? () => run('character.remove', { characterId: entry.id }) : undefined}
+									onRemove={() => run('character.remove', { characterId: entry.id })}
 									color={entry.tint ?? defaultCharacterTint(entry, index)}
 									/* A colour picker streams values while it is open, so the
 									   whole picking session is one Ctrl+Z entry. */

package/src/panels/sculpt.css

@@ -111,6 +111,17 @@
 .sculpt-race-row[data-leader="true"] .sculpt-race-label::before { content: "\2605  "; color: var(--ok); }
 .sculpt-race-row[data-refused="true"] { opacity: .5; text-decoration: line-through; }
 
+/* Part tree (#740 S7) */
+.sculpt-parts { display: grid; gap: 4px; }
+.sculpt-part-list { display: grid; gap: 1px; max-height: 200px; margin: 0; padding: 2px; list-style: none; overflow-y: auto; overscroll-behavior: contain; border-radius: var(--r-2); border: 1px solid var(--row-divider); background: var(--field); }
+.sculpt-part-row { display: flex; align-items: center; gap: 6px; width: 100%; min-height: 24px; padding: 2px 6px 2px calc(6px + var(--sculpt-part-depth) * 12px); border: 0; border-radius: var(--r-1); background: transparent; color: var(--text-2); font: inherit; font-size: 11px; text-align: left; cursor: pointer; }
+.sculpt-part-row:hover { background: var(--surface-active); color: var(--text-1); }
+.sculpt-part-row:focus-visible { outline: none; box-shadow: inset 0 0 0 2px var(--select-tint); }
+.sculpt-part-row[aria-pressed="true"] { background: var(--select-tint); color: var(--text-1); box-shadow: inset 2px 0 0 var(--select); }
+.sculpt-part-id { min-width: 0; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; font-family: var(--mono); }
+.sculpt-part-tag { flex: none; padding: 0 4px; border-radius: var(--r-1); background: var(--select); color: var(--surface-raised); font-size: 10px; }
+.sculpt-part-shape { flex: none; margin-left: auto; color: var(--text-3); }
+
 /* Activity log */
 .sculpt-log { display: grid; gap: 2px; max-height: 168px; margin: 0; padding: 4px 2px; list-style: none; overflow-y: auto; overscroll-behavior: contain; scroll-behavior: smooth; }
 .sculpt-log-row { display: grid; grid-template-columns: 30px 8px minmax(0, 1fr); align-items: baseline; gap: 6px; font-size: 11px; line-height: 1.4; color: var(--text-2); animation: sculpt-in .35s var(--ease) both; }

package/src/physics-overlay-settings.js

@@ -0,0 +1,41 @@
+// Which parts of the physics overlay (physics-overlay.js) the viewer wants: the centre of mass, the support
+// polygon, the air runs' arcs and the spring objects' trails. Off by default; a viewer setting like the onion
+// skin's (view-ghosts.js): never saved in the scene, never undone, gone with the session. motion.physicsOverlay
+// (commands/physics.js) and the motion controls' Physics box (physics-toggle.jsx) both set it here.
+import { useSyncExternalStore } from "react";
+
+const PHYSICS_PARTS = Object.freeze(["com", "support", "arc", "trail"]);
+const OFF = Object.freeze({ com: false, support: false, arc: false, trail: false });
+
+let settings = OFF;
+const listeners = new Set();
+
+/** The current setting { com, support, arc, trail } (booleans). */
+export const physicsOverlaySettings = () => settings;
+/** True when any part is on. */
+export const physicsOverlayOn = (value = settings) => PHYSICS_PARTS.some(part => value[part]);
+
+/**
+ * Apply args { all?, com?, support?, arc?, trail? }: `all` sets every part first, then each named part is set;
+ * no field at all turns every part on. Answers the new setting.
+ */
+export function setPhysicsOverlay(args = {}) {
+	const named = PHYSICS_PARTS.filter(part => typeof args[part] === "boolean");
+	const base = typeof args.all === "boolean" ? Object.fromEntries(PHYSICS_PARTS.map(part => [part, args.all])) : named.length ? settings : { com: true, support: true, arc: true, trail: true };
+	const next = Object.freeze({ ...base, ...Object.fromEntries(named.map(part => [part, args[part]])) });
+	if (PHYSICS_PARTS.every(part => next[part] === settings[part])) return settings;
+	settings = next;
+	for (const listener of [...listeners]) listener();
+	return settings;
+}
+
+/** "Physics overlay: centre of mass, support polygon on; arcs, trails off." */
+export function describePhysicsOverlay(value = settings) {
+	const words = { com: "centre of mass", support: "support polygon", arc: "air arcs", trail: "spring trails" };
+	const on = PHYSICS_PARTS.filter(part => value[part]).map(part => words[part]), off = PHYSICS_PARTS.filter(part => !value[part]).map(part => words[part]);
+	if (!on.length) return "Physics overlay off.";
+	return `Physics overlay: ${on.join(", ")} on${off.length ? `; ${off.join(", ")} off` : ""}.`;
+}
+
+const subscribe = listener => { listeners.add(listener); return () => listeners.delete(listener); };
+export const usePhysicsOverlaySettings = () => useSyncExternalStore(subscribe, physicsOverlaySettings, physicsOverlaySettings);