fix(agent): green mechanism design_loop for open-chain builds - #776
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Root-cause and close the three Adam+/ChatGPT design_loop blockers on the multi-body-mechanism cookbook: - grounded-root: recognise base-frame / ground-frame / ground as stable-root fallbacks (idiomatic part names used by every robot-arm example) - joint-support: cookbook declares arm.mechanicalJoint with a seated servo - gravity-hold: honour complete mechanicalJoint intents as actively driven in the drop-test (MuJoCo still emits passive joints); update DX to point at arm.tendon / arm.mechanicalJoint instead of stale #361 Also: revisionAssist repair hints for the three codes, adam-quality-bar gates, smoke fixture + runner, physics exemption test. Smoke: docs/agent/smoke/adam-chatgpt-gaps-smoke.json (mechanismDesignLoop.ok)
cookbook:build regenerates the authoring SKILL when_to_use line; content-lock fixture must match the updated mechanism.drops-on-release hint/nextAction.
Extract joint/body drift checks from runDropOnRelease so the quality ratchet stays green after the mechanicalJoint exemption.
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Summary
Closes the three Adam+/ChatGPT
design_loopblockers on the multi-body mechanism path (joint-support / grounded-root / gravity-hold) so complex open-chain builds can go green end-to-end.Root cause
assembly.connectivity.floating-moving-partbase-frame/ground-frame/groundadded to stable-root fallbacks (idiomatic names)assembly.joint-topology.unsupported-axisarm.mechanicalJoint+ seated servo onbase-framemechanism.drops-on-releasemechanicalJointas actively driven in drop-test; DX points atarm.tendon/arm.mechanicalJoint(stale #361 wording removed)Passive hinges still need
arm.jointSupport+arm.tendon(Luxo path). Robot-style driven hinges usemechanicalJoint.Evidence
docs/agent/smoke/adam-chatgpt-gaps-smoke.json—mechanismDesignLoop.ok: true(evaluatemechanism:real, 3 parts).Runner:
npx tsx scripts/smokeAdamMechanismDesignLoop.tsTest plan
vitestjointTopology + mechanismTruthPhysics + revisionAssistRemaining Adam+ gaps (honest)
open_in_studio/ ChatGPT mesh+anim paint not re-exercised this slice (CDN path already live)mechanicalJointis an authoring-contract exemption until position actuators land in MJCF