@operato/scene-manufacturing 10.0.0-beta.2 → 10.0.0-beta.24

package/dist/robot-arm-ik.js.map

@@ -0,0 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * CCDIK (Cyclic Coordinate Descent Inverse Kinematics) for an arbitrary\n * articulated chain.\n *\n * Why CCDIK over analytical IK or Jacobian methods:\n *   - Generalizes to arbitrary chain length / axis combinations without\n *     re-deriving closed-form solutions per geometry.\n *   - Trivial to implement in ~120 lines, no matrix inversion.\n *   - Visually pleasing convergence (each iteration nudges the closest\n *     joint to the end-effector toward the target — naturally produces\n *     \"elbow leads, wrist follows\" motion that mimics real arms).\n *   - Adequate for animation use; not a replacement for high-precision\n *     analytical IK in a real motion-planning context.\n *\n * Algorithm (one iteration):\n *   For each joint i from end → base:\n *     1. tip   = world position of end-effector under current joint angles\n *     2. pivot = world position of joint i\n *     3. v1    = (tip - pivot)                — current direction\n *        v2    = (target - pivot)             — desired direction\n *     4. project v1 and v2 onto the plane normal to joint i's axis\n *     5. θ = signed angle between projections (around the axis)\n *     6. jointValues[i] += θ, clamp to range\n *   Repeat until tip-target distance < threshold or maxIterations reached.\n *\n * The chain is fixed (no link insertion/removal during a solve), and the\n * solver mutates a copy of jointValues — caller decides whether to commit.\n */\n\nimport * as THREE from 'three'\n\nexport type JointAxis = 'x' | 'y' | 'z'\n\nexport interface ChainElement {\n  /** 'revolute' (rotates) or 'prismatic' (slides). PoC supports revolute. */\n  type: 'revolute' | 'prismatic'\n  /** axis of rotation/sliding in the joint's local frame */\n  axis: JointAxis\n  /** length of the link that follows this joint, along local +Z */\n  length: number\n  /** [min, max] joint value, in radians for revolute / units for prismatic */\n  range: [number, number]\n}\n\nconst _AXES: Record<JointAxis, THREE.Vector3> = {\n  x: new THREE.Vector3(1, 0, 0),\n  y: new THREE.Vector3(0, 1, 0),\n  z: new THREE.Vector3(0, 0, 1)\n}\n\n/**\n * Forward kinematics: given joint values, compute every joint's world\n * position + orientation. Index 0 = base, index N = end-effector frame\n * (where the gripper is mounted).\n *\n * Convention: each joint's local frame starts coincident with its parent's\n * end frame; the joint applies its rotation/translation, then the link\n * extends along local +Z by `length`.\n */\nexport function forwardKinematics(\n  chain: ChainElement[],\n  jointValues: number[],\n  baseMatrix: THREE.Matrix4 = new THREE.Matrix4()\n): { positions: THREE.Vector3[]; quaternions: THREE.Quaternion[] } {\n  const positions: THREE.Vector3[] = []\n  const quaternions: THREE.Quaternion[] = []\n\n  const m = baseMatrix.clone()\n  const tmpQ = new THREE.Quaternion()\n  const tmpT = new THREE.Vector3()\n  const linkOffset = new THREE.Vector3()\n\n  // Joint 0 sits at the base.\n  positions.push(new THREE.Vector3().setFromMatrixPosition(m))\n  quaternions.push(new THREE.Quaternion().setFromRotationMatrix(m))\n\n  for (let i = 0; i < chain.length; i++) {\n    const link = chain[i]\n    const value = jointValues[i] ?? 0\n    if (link.type === 'revolute') {\n      tmpQ.setFromAxisAngle(_AXES[link.axis], value)\n      const rotM = new THREE.Matrix4().makeRotationFromQuaternion(tmpQ)\n      m.multiply(rotM)\n    } else {\n      // prismatic: slide along axis by `value` (PoC support — most common\n      // in real manipulators is revolute, but keeping the door open).\n      linkOffset.copy(_AXES[link.axis]).multiplyScalar(value)\n      m.multiply(new THREE.Matrix4().makeTranslation(linkOffset.x, linkOffset.y, linkOffset.z))\n    }\n    // Then translate along +Z by link.length to reach the next joint frame.\n    m.multiply(new THREE.Matrix4().makeTranslation(0, 0, link.length))\n\n    tmpT.setFromMatrixPosition(m)\n    positions.push(tmpT.clone())\n    quaternions.push(new THREE.Quaternion().setFromRotationMatrix(m))\n  }\n\n  return { positions, quaternions }\n}\n\nexport interface SolveOptions {\n  maxIterations?: number\n  threshold?: number\n  /** how aggressively each iteration nudges (0..1). 0.5 = damped, less jitter. */\n  damping?: number\n}\n\n/**\n * Solve IK for `targetWorld` and return new joint values. Does not mutate\n * the input array.\n *\n * Returns `{ values, reached }`. `reached` is true if the end-effector\n * came within `threshold` of the target — false if the target is outside\n * reachable workspace or the solver gave up.\n */\nexport function solveCCDIK(\n  chain: ChainElement[],\n  jointValues: number[],\n  targetWorld: THREE.Vector3,\n  baseMatrix: THREE.Matrix4 = new THREE.Matrix4(),\n  options: SolveOptions = {}\n): { values: number[]; reached: boolean } {\n  const maxIterations = options.maxIterations ?? 12\n  const threshold = options.threshold ?? 0.5\n  const damping = options.damping ?? 0.7\n\n  const values = jointValues.slice()\n  // Pre-allocate scratch vectors to avoid per-iteration GC churn.\n  const v1 = new THREE.Vector3()\n  const v2 = new THREE.Vector3()\n  const axisWorld = new THREE.Vector3()\n  const cross = new THREE.Vector3()\n\n  for (let iter = 0; iter < maxIterations; iter++) {\n    const fk = forwardKinematics(chain, values, baseMatrix)\n    const tip = fk.positions[fk.positions.length - 1]\n\n    // Early out: already close enough.\n    if (tip.distanceTo(targetWorld) < threshold) {\n      return { values, reached: true }\n    }\n\n    // Walk joints from the one nearest the tip toward the base.\n    for (let i = chain.length - 1; i >= 0; i--) {\n      if (chain[i].type !== 'revolute') continue\n\n      // Joint i's pivot = positions[i] (frame BEFORE applying joint i).\n      // After applying joint i and link i, we get positions[i+1].\n      const pivot = fk.positions[i]\n      const tipNow = forwardKinematics(chain, values, baseMatrix).positions[chain.length]\n\n      v1.subVectors(tipNow, pivot)\n      v2.subVectors(targetWorld, pivot)\n\n      if (v1.lengthSq() < 1e-6 || v2.lengthSq() < 1e-6) continue\n\n      // Joint axis in world space at this joint frame.\n      axisWorld.copy(_AXES[chain[i].axis]).applyQuaternion(fk.quaternions[i])\n      axisWorld.normalize()\n\n      // Project v1, v2 onto the plane perpendicular to the axis.\n      const v1p = v1.clone().projectOnPlane(axisWorld)\n      const v2p = v2.clone().projectOnPlane(axisWorld)\n      if (v1p.lengthSq() < 1e-6 || v2p.lengthSq() < 1e-6) continue\n      v1p.normalize()\n      v2p.normalize()\n\n      // Signed angle around `axisWorld` from v1p to v2p.\n      let angle = Math.acos(THREE.MathUtils.clamp(v1p.dot(v2p), -1, 1))\n      cross.crossVectors(v1p, v2p)\n      if (cross.dot(axisWorld) < 0) angle = -angle\n\n      angle *= damping\n      values[i] = clamp(values[i] + angle, chain[i].range[0], chain[i].range[1])\n    }\n  }\n\n  // Final check after exhausting iterations.\n  const finalTip = forwardKinematics(chain, values, baseMatrix).positions[chain.length]\n  return { values, reached: finalTip.distanceTo(targetWorld) < threshold }\n}\n\n/**\n * Cheap reachability estimate — sum of all link lengths. Doesn't account\n * for joint-range restrictions, so a bit optimistic; good enough for\n * \"show me a workspace sphere\" visualization.\n */\nexport function maxReach(chain: ChainElement[]): number {\n  return chain.reduce((sum, c) => sum + (c.length || 0), 0)\n}\n\n/**\n * True if `chain` has the canonical 6-axis Z-Y-Y-Z-Y-Z structure.\n * Industrial / cobot presets match. This unlocks closed-form analytical\n * IK; other chain shapes fall back to CCDIK.\n */\nexport function isSixAxisZYYZYZ(chain: ChainElement[]): boolean {\n  if (chain.length !== 6) return false\n  const expected: JointAxis[] = ['z', 'y', 'y', 'z', 'y', 'z']\n  for (let i = 0; i < 6; i++) {\n    if (chain[i].type !== 'revolute') return false\n    if (chain[i].axis !== expected[i]) return false\n  }\n  return true\n}\n\n/**\n * Pick the base-yaw angle that points the chain toward the target's\n * XY direction. Returns null if the target is on the Z axis (no XY\n * direction defined). Unwraps to the multiple-of-2π closest to\n * `currentYaw` (then clamps to range), so a small physical motion in\n * world space doesn't produce a giant joint swing across ±π.\n *\n * `range` and `currentYaw` are in RADIANS.\n */\nexport function resolveBaseYaw(\n  target: { x: number; y: number },\n  range: [number, number],\n  currentYaw: number\n): number | null {\n  const xy = Math.hypot(target.x, target.y)\n  if (xy < 1e-3) return null\n  const a = Math.atan2(target.y, target.x)\n  const TAU = Math.PI * 2\n  let best = a\n  let bestDist = Math.abs(a - currentYaw)\n  for (const k of [-2, -1, 1, 2]) {\n    const candidate = a + k * TAU\n    const d = Math.abs(candidate - currentYaw)\n    if (d < bestDist) {\n      best = candidate\n      bestDist = d\n    }\n  }\n  return clamp(best, range[0], range[1])\n}\n\n/**\n * Closed-form analytical IK for the canonical 6-axis Z-Y-Y-Z-Y-Z chain.\n *\n * Inputs and outputs are in RADIANS. Chain ranges are in DEGREES (the\n * editor's user-facing convention) — converted internally. Returns null\n * if the target is unreachable; caller should fall back to CCDIK.\n *\n * Strategy:\n *   1. Joint 0 = base yaw to face target's XY direction.\n *   2. Try strict descent (gripper straight down, α = π).\n *   3. If wrist would be beyond reach, relax α to the value closest to\n *      π that puts the wrist on the reach boundary.\n *   4. 2-link IK (cosine law) on upper + lower for shoulder/elbow.\n *   5. Wrist pitch ψ4 = α - ψ1 - ψ2 to realize the chosen α.\n *   6. Joints 3, 5 (Z-axis wrist roll / tool roll) = 0.\n *\n * Joint values are clamped to chain ranges; if a clamp activates the\n * gripper won't be perfectly oriented, but the rest of the pose is\n * still natural — and the visual TCP will then deviate from the\n * commanded target by the clamp residual.\n */\nexport function analyticalIk6Axis(\n  chain: ChainElement[],\n  target: { x: number; y: number; z: number },\n  currentJointsRad: number[],\n  /**\n   * Optional carrier/place-holder yaw (radians, around world +Y) at the\n   * target. When provided, joint 5 (tool roll) is set so the gripper's\n   * \"side\" axes align with the carrier's — preventing a visible rotation\n   * snap when the carrier reparents to the gripper at pick / off the\n   * gripper at place.\n   *\n   * Derivation: with cumulative pitch ψ1+ψ2+ψ4 = π, the end-frame's\n   * world axes are determined by joint 0 (j0) and joint 5 (θ5):\n   *   end_X = (-cos(j0 - θ5), 0, sin(j0 - θ5))\n   * Carriable's localRotation x:-π/2 makes carrier_world = TCP_world ∘ R_x(-π/2);\n   * for carrier_world to land at the carrier's pre-reparent yaw γ, we\n   * need TCP_world = R_y(γ) ∘ R_x(π/2), which gives:\n   *   end_X = (cos γ, 0, -sin γ)\n   * Solving end_X equation vs. this target: j0 - θ5 = π + γ\n   *   → θ5 = j0 - π - γ\n   * Wrapped to [-π, π] then clamped to chain[5].range.\n   *\n   * If omitted, joint 5 stays at 0 (no yaw alignment).\n   */\n  targetYaw?: number\n): number[] | null {\n  if (!isSixAxisZYYZYZ(chain)) return null\n\n  const DEG2RAD = Math.PI / 180\n  const L0 = chain[0].length\n  const upper = chain[1].length\n  const lower = chain[2].length + chain[3].length\n  const wristTail = chain[4].length + chain[5].length\n  const reach = upper + lower\n\n  const j0Range: [number, number] = [chain[0].range[0] * DEG2RAD, chain[0].range[1] * DEG2RAD]\n  const j0 = resolveBaseYaw(target, j0Range, currentJointsRad[0] ?? 0)\n  if (j0 === null) return null\n\n  const T_H = Math.hypot(target.x, target.y)\n  const T_V = target.z\n\n  const tcpRelH = T_H\n  const tcpRelV = T_V - L0\n  const p2 = tcpRelH * tcpRelH + tcpRelV * tcpRelV\n  const p = Math.sqrt(p2)\n\n  // Try strict descent (α = π) first.\n  let alpha = Math.PI\n  let wRelH = T_H\n  let wRelV = (T_V + wristTail) - L0\n  let d2 = wRelH * wRelH + wRelV * wRelV\n\n  if (d2 > reach * reach + 1) {\n    // Relax: find α on reach boundary, closest to π.\n    const rhs = (p2 + wristTail * wristTail - reach * reach) / (2 * wristTail)\n    if (Math.abs(rhs) > p + 1e-3) return null\n    const beta = Math.atan2(tcpRelH, tcpRelV)\n    const offset = Math.acos(clamp(rhs / p, -1, 1))\n    const alphaA = beta + offset\n    const alphaB = beta - offset\n    const wrap = (a: number) => {\n      let x = a\n      while (x > Math.PI) x -= 2 * Math.PI\n      while (x < -Math.PI) x += 2 * Math.PI\n      return x\n    }\n    const distA = Math.abs(wrap(alphaA - Math.PI))\n    const distB = Math.abs(wrap(alphaB - Math.PI))\n    alpha = distA <= distB ? alphaA : alphaB\n\n    wRelH = T_H - wristTail * Math.sin(alpha)\n    wRelV = T_V - wristTail * Math.cos(alpha) - L0\n    d2 = wRelH * wRelH + wRelV * wRelV\n    if (d2 > reach * reach + 1) return null\n  }\n\n  let cosPsi2 = (d2 - upper * upper - lower * lower) / (2 * upper * lower)\n  cosPsi2 = clamp(cosPsi2, -1, 1)\n  const psi2 = Math.acos(cosPsi2)\n  const psi1 =\n    Math.atan2(wRelH, wRelV) -\n    Math.atan2(lower * Math.sin(psi2), upper + lower * Math.cos(psi2))\n  const psi4 = alpha - psi1 - psi2\n\n  const radRanges = chain.map(c => [c.range[0] * DEG2RAD, c.range[1] * DEG2RAD] as [number, number])\n\n  // Joint 5 (tool roll) — align gripper's \"side\" with the carrier's\n  // current world yaw, so reparenting at pick / release at place doesn't\n  // visibly snap the carrier's orientation.\n  let psi5 = 0\n  if (typeof targetYaw === 'number' && Number.isFinite(targetYaw)) {\n    let v = j0 - Math.PI - targetYaw\n    while (v > Math.PI) v -= 2 * Math.PI\n    while (v < -Math.PI) v += 2 * Math.PI\n    psi5 = v\n  }\n\n  return [\n    clamp(j0, radRanges[0][0], radRanges[0][1]),\n    clamp(psi1, radRanges[1][0], radRanges[1][1]),\n    clamp(psi2, radRanges[2][0], radRanges[2][1]),\n    0,\n    clamp(psi4, radRanges[4][0], radRanges[4][1]),\n    clamp(psi5, radRanges[5][0], radRanges[5][1])\n  ]\n}\n\nfunction clamp(v: number, lo: number, hi: number) {\n  return Math.max(lo, Math.min(hi, v))\n}\n"]}

package/dist/robot-arm-styles.d.ts

@@ -0,0 +1,48 @@
+import type { ChainElement } from './robot-arm-ik.js';
+export type LinkShape = 'cylinder' | 'tapered' | 'box' | 'tube' | 'gltf';
+export type JointHousing = 'disk' | 'sphere' | 'knuckle' | 'none';
+export type StyleName = 'industrial' | 'cobot' | 'scara' | 'minimal';
+export type GripperType = 'parallel' | 'suction' | 'magnetic' | 'three-finger' | 'none';
+/**
+ * Color slot in a style. Accepts hex int (`0xeaeaea`) or any THREE color
+ * string ('#fff' / 'rgb(...)' / 'red'). The 3D renderer feeds this directly
+ * to `MeshStandardMaterial.color` which accepts `THREE.ColorRepresentation`,
+ * so both forms work without conversion.
+ */
+export type StyleColor = number | string;
+export interface RobotArmStyle {
+    linkShape: LinkShape;
+    jointHousing: JointHousing;
+    /** primary color (hex int or color string) */
+    color: StyleColor;
+    /** accent color for joint housings / details */
+    accentColor: StyleColor;
+    /** link cross-section radius / half-width (scene units) */
+    linkRadius: number;
+}
+export declare const STYLES: Record<StyleName, RobotArmStyle>;
+export type ChainPresetName = '6-axis-industrial' | 'cobot-6-axis' | 'scara-4-axis' | 'pick-and-place-3-axis';
+export declare const CHAIN_PRESETS: Record<ChainPresetName, ChainElement[]>;
+export interface GripperConfig {
+    type: GripperType;
+    /** parallel / three-finger: open ↔ close 'state' (0..1). 0 = open, 1 = closed. */
+    state?: number;
+    /** parallel: distance fingers can travel. three-finger: same idea. */
+    stroke?: number;
+    /** parallel / three-finger: width of each finger. */
+    fingerWidth?: number;
+    /** suction / magnetic: cup or magnet diameter. */
+    diameter?: number;
+    /** color override; falls back to style.accentColor if absent. */
+    color?: number;
+}
+/**
+ * Defaults intentionally omit `stroke` / `fingerWidth` / `diameter` so the
+ * 3D builder's linkRadius-proportional fallback kicks in. If we hard-coded
+ * those here, the spread-merge in the builder would overwrite the
+ * proportional defaults with these fixed numbers, and the gripper would
+ * always render the same size regardless of the arm's link thickness.
+ * Set `stroke` / `fingerWidth` / `diameter` via state.gripper only to
+ * override the proportional default.
+ */
+export declare const DEFAULT_GRIPPER: GripperConfig;

package/dist/robot-arm-styles.js

@@ -0,0 +1,106 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * Style presets and chain templates for robot-arm.
+ *
+ * Two layers of presets:
+ *   1. `Style` — visual treatment (link shape, joint housing, colors).
+ *      Same chain config can be rendered as a sleek cobot OR a heavy
+ *      industrial arm just by picking a different style.
+ *   2. `ChainPreset` — common kinematic configurations (6-axis, SCARA, ...).
+ *      Useful default chains; user can still override individual entries
+ *      via `state.chain[i]`.
+ */
+export const STYLES = {
+    industrial: {
+        linkShape: 'tapered',
+        jointHousing: 'knuckle',
+        color: 0xe8c547,
+        accentColor: 0x2a2a2a,
+        linkRadius: 8
+    },
+    cobot: {
+        linkShape: 'cylinder',
+        jointHousing: 'disk',
+        color: 0xeaeaea,
+        accentColor: 0x4a8acc,
+        linkRadius: 6
+    },
+    scara: {
+        linkShape: 'box',
+        jointHousing: 'sphere',
+        color: 0x6c8aa6,
+        accentColor: 0x2a2a2a,
+        linkRadius: 7
+    },
+    minimal: {
+        linkShape: 'tube',
+        jointHousing: 'none',
+        color: 0x888888,
+        accentColor: 0x444444,
+        linkRadius: 3
+    }
+};
+// Revolute joint ranges expressed in DEGREES — what the user enters in
+// the property panel. The 3D side converts to radians at the math
+// boundary (forward kinematics, CCDIK, quaternion construction). This
+// trade — store as user-facing units, convert internally — keeps the
+// property panel intuitive without requiring a custom angle editor.
+//
+// Prismatic joint ranges are in scene length units (no conversion).
+const FULL = [-180, 180];
+const HALF = [-90, 90];
+export const CHAIN_PRESETS = {
+    // Classic industrial 6-DOF: yaw → shoulder → elbow → wrist (3 axes).
+    '6-axis-industrial': [
+        { type: 'revolute', axis: 'z', length: 30, range: FULL }, // base yaw
+        { type: 'revolute', axis: 'y', length: 60, range: [-150, 150] }, // shoulder
+        { type: 'revolute', axis: 'y', length: 50, range: [-150, 150] }, // elbow
+        { type: 'revolute', axis: 'z', length: 20, range: FULL }, // wrist roll
+        // Wrist pitch needs wide range so the gripper can curl around to
+        // point straight DOWN at low targets — ψ1+ψ2+ψ4 cumulative reaches
+        // π for descent. With small ψ1+ψ2 (typical for upper-arm-led pose)
+        // ψ4 must be 150°+, well beyond the old HALF (±90°) limit. A clamp
+        // there silently shifts the actual TCP off-target — IK "converges"
+        // to a pose the arm physically can't realize as the requested point.
+        { type: 'revolute', axis: 'y', length: 18, range: FULL }, // wrist pitch
+        { type: 'revolute', axis: 'z', length: 10, range: FULL } // tool roll
+    ],
+    // Cobot — same kinematic class but typically more reach + softer ranges.
+    'cobot-6-axis': [
+        { type: 'revolute', axis: 'z', length: 25, range: FULL },
+        { type: 'revolute', axis: 'y', length: 80, range: [-170, 170] },
+        { type: 'revolute', axis: 'y', length: 70, range: [-170, 170] },
+        { type: 'revolute', axis: 'z', length: 15, range: FULL },
+        { type: 'revolute', axis: 'y', length: 15, range: FULL }, // wrist pitch
+        { type: 'revolute', axis: 'z', length: 10, range: FULL }
+    ],
+    // SCARA: 2 revolute (parallel axes) + 1 prismatic (Z) + 1 revolute (tool yaw).
+    'scara-4-axis': [
+        { type: 'revolute', axis: 'z', length: 20, range: [-130, 130] },
+        { type: 'revolute', axis: 'z', length: 60, range: [-150, 150] },
+        { type: 'prismatic', axis: 'z', length: 50, range: [-30, 30] }, // length units
+        { type: 'revolute', axis: 'z', length: 10, range: FULL }
+    ],
+    // Compact 3-axis pick-and-place — base rotate + one elbow + tool drop.
+    'pick-and-place-3-axis': [
+        { type: 'revolute', axis: 'z', length: 20, range: FULL },
+        { type: 'revolute', axis: 'y', length: 50, range: HALF },
+        { type: 'prismatic', axis: 'z', length: 30, range: [-25, 25] } // length units
+    ]
+};
+/**
+ * Defaults intentionally omit `stroke` / `fingerWidth` / `diameter` so the
+ * 3D builder's linkRadius-proportional fallback kicks in. If we hard-coded
+ * those here, the spread-merge in the builder would overwrite the
+ * proportional defaults with these fixed numbers, and the gripper would
+ * always render the same size regardless of the arm's link thickness.
+ * Set `stroke` / `fingerWidth` / `diameter` via state.gripper only to
+ * override the proportional default.
+ */
+export const DEFAULT_GRIPPER = {
+    type: 'parallel',
+    state: 0
+    // stroke / fingerWidth omitted — see JSDoc above.
+};
+//# sourceMappingURL=robot-arm-styles.js.map

package/dist/robot-arm-styles.js.map

@@ -0,0 +1 @@
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All rights reserved.\n *\n * Style presets and chain templates for robot-arm.\n *\n * Two layers of presets:\n *   1. `Style` — visual treatment (link shape, joint housing, colors).\n *      Same chain config can be rendered as a sleek cobot OR a heavy\n *      industrial arm just by picking a different style.\n *   2. `ChainPreset` — common kinematic configurations (6-axis, SCARA, ...).\n *      Useful default chains; user can still override individual entries\n *      via `state.chain[i]`.\n */\n\nimport type { ChainElement } from './robot-arm-ik.js'\n\nexport type LinkShape = 'cylinder' | 'tapered' | 'box' | 'tube' | 'gltf'\nexport type JointHousing = 'disk' | 'sphere' | 'knuckle' | 'none'\nexport type StyleName = 'industrial' | 'cobot' | 'scara' | 'minimal'\nexport type GripperType = 'parallel' | 'suction' | 'magnetic' | 'three-finger' | 'none'\n\n/**\n * Color slot in a style. Accepts hex int (`0xeaeaea`) or any THREE color\n * string ('#fff' / 'rgb(...)' / 'red'). The 3D renderer feeds this directly\n * to `MeshStandardMaterial.color` which accepts `THREE.ColorRepresentation`,\n * so both forms work without conversion.\n */\nexport type StyleColor = number | string\n\nexport interface RobotArmStyle {\n  linkShape: LinkShape\n  jointHousing: JointHousing\n  /** primary color (hex int or color string) */\n  color: StyleColor\n  /** accent color for joint housings / details */\n  accentColor: StyleColor\n  /** link cross-section radius / half-width (scene units) */\n  linkRadius: number\n}\n\nexport const STYLES: Record<StyleName, RobotArmStyle> = {\n  industrial: {\n    linkShape: 'tapered',\n    jointHousing: 'knuckle',\n    color: 0xe8c547,\n    accentColor: 0x2a2a2a,\n    linkRadius: 8\n  },\n  cobot: {\n    linkShape: 'cylinder',\n    jointHousing: 'disk',\n    color: 0xeaeaea,\n    accentColor: 0x4a8acc,\n    linkRadius: 6\n  },\n  scara: {\n    linkShape: 'box',\n    jointHousing: 'sphere',\n    color: 0x6c8aa6,\n    accentColor: 0x2a2a2a,\n    linkRadius: 7\n  },\n  minimal: {\n    linkShape: 'tube',\n    jointHousing: 'none',\n    color: 0x888888,\n    accentColor: 0x444444,\n    linkRadius: 3\n  }\n}\n\n// Revolute joint ranges expressed in DEGREES — what the user enters in\n// the property panel. The 3D side converts to radians at the math\n// boundary (forward kinematics, CCDIK, quaternion construction). This\n// trade — store as user-facing units, convert internally — keeps the\n// property panel intuitive without requiring a custom angle editor.\n//\n// Prismatic joint ranges are in scene length units (no conversion).\nconst FULL: [number, number] = [-180, 180]\nconst HALF: [number, number] = [-90, 90]\n\nexport type ChainPresetName = '6-axis-industrial' | 'cobot-6-axis' | 'scara-4-axis' | 'pick-and-place-3-axis'\n\nexport const CHAIN_PRESETS: Record<ChainPresetName, ChainElement[]> = {\n  // Classic industrial 6-DOF: yaw → shoulder → elbow → wrist (3 axes).\n  '6-axis-industrial': [\n    { type: 'revolute', axis: 'z', length: 30, range: FULL },          // base yaw\n    { type: 'revolute', axis: 'y', length: 60, range: [-150, 150] },   // shoulder\n    { type: 'revolute', axis: 'y', length: 50, range: [-150, 150] },   // elbow\n    { type: 'revolute', axis: 'z', length: 20, range: FULL },          // wrist roll\n    // Wrist pitch needs wide range so the gripper can curl around to\n    // point straight DOWN at low targets — ψ1+ψ2+ψ4 cumulative reaches\n    // π for descent. With small ψ1+ψ2 (typical for upper-arm-led pose)\n    // ψ4 must be 150°+, well beyond the old HALF (±90°) limit. A clamp\n    // there silently shifts the actual TCP off-target — IK \"converges\"\n    // to a pose the arm physically can't realize as the requested point.\n    { type: 'revolute', axis: 'y', length: 18, range: FULL },          // wrist pitch\n    { type: 'revolute', axis: 'z', length: 10, range: FULL }           // tool roll\n  ],\n  // Cobot — same kinematic class but typically more reach + softer ranges.\n  'cobot-6-axis': [\n    { type: 'revolute', axis: 'z', length: 25, range: FULL },\n    { type: 'revolute', axis: 'y', length: 80, range: [-170, 170] },\n    { type: 'revolute', axis: 'y', length: 70, range: [-170, 170] },\n    { type: 'revolute', axis: 'z', length: 15, range: FULL },\n    { type: 'revolute', axis: 'y', length: 15, range: FULL }, // wrist pitch\n    { type: 'revolute', axis: 'z', length: 10, range: FULL }\n  ],\n  // SCARA: 2 revolute (parallel axes) + 1 prismatic (Z) + 1 revolute (tool yaw).\n  'scara-4-axis': [\n    { type: 'revolute', axis: 'z', length: 20, range: [-130, 130] },\n    { type: 'revolute', axis: 'z', length: 60, range: [-150, 150] },\n    { type: 'prismatic', axis: 'z', length: 50, range: [-30, 30] },     // length units\n    { type: 'revolute', axis: 'z', length: 10, range: FULL }\n  ],\n  // Compact 3-axis pick-and-place — base rotate + one elbow + tool drop.\n  'pick-and-place-3-axis': [\n    { type: 'revolute', axis: 'z', length: 20, range: FULL },\n    { type: 'revolute', axis: 'y', length: 50, range: HALF },\n    { type: 'prismatic', axis: 'z', length: 30, range: [-25, 25] }      // length units\n  ]\n}\n\nexport interface GripperConfig {\n  type: GripperType\n  /** parallel / three-finger: open ↔ close 'state' (0..1). 0 = open, 1 = closed. */\n  state?: number\n  /** parallel: distance fingers can travel. three-finger: same idea. */\n  stroke?: number\n  /** parallel / three-finger: width of each finger. */\n  fingerWidth?: number\n  /** suction / magnetic: cup or magnet diameter. */\n  diameter?: number\n  /** color override; falls back to style.accentColor if absent. */\n  color?: number\n}\n\n/**\n * Defaults intentionally omit `stroke` / `fingerWidth` / `diameter` so the\n * 3D builder's linkRadius-proportional fallback kicks in. If we hard-coded\n * those here, the spread-merge in the builder would overwrite the\n * proportional defaults with these fixed numbers, and the gripper would\n * always render the same size regardless of the arm's link thickness.\n * Set `stroke` / `fingerWidth` / `diameter` via state.gripper only to\n * override the proportional default.\n */\nexport const DEFAULT_GRIPPER: GripperConfig = {\n  type: 'parallel',\n  state: 0\n  // stroke / fingerWidth omitted — see JSDoc above.\n}\n"]}

package/dist/robot-arm.d.ts

@@ -0,0 +1,181 @@
+import * as THREE from 'three';
+import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import { type Alignment, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
+export type RobotArmStatus = 'idle' | 'moving' | 'gripping' | 'warn' | 'error';
+declare const Base: typeof Component & {
+    new (...args: any[]): Component & {
+        isMover: boolean;
+        pick(carrier: Component, options?: MoveOptions): Promise<void>;
+        place(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
+        pickAndPlace(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
+    };
+};
+export default class RobotArm extends Base {
+    static legends: Record<string, LegendBinding>;
+    /**
+     * Robot arms sit on the floor (or mount to a ceiling/wall — that's a
+     * v2 feature). Default depth = operation - floor like other floor-
+     * mounted equipment, so the chain reach scales with the configured
+     * facility height.
+     */
+    static placement: PlacementArchetype;
+    static align: Alignment;
+    static defaultDepth: (h: Heights) => number;
+    /**
+     * Dynamic nature — appends one number property per joint in the active
+     * chain. Each property uses the joint's range as `min`/`max` so the
+     * property panel can render a constrained slider/spinner. The chain
+     * preset can change at runtime, and `get nature()` is re-evaluated
+     * whenever the property panel queries it, so the joint count stays in
+     * sync with the active preset.
+     *
+     * For revolute joints the value is in radians; for prismatic, scene units.
+     */
+    get nature(): ComponentNature;
+    /**
+     * Resolve the active chain for property-panel introspection. Mirrors
+     * the resolution in robot-arm-3d.ts (state.chain wins, else preset,
+     * else default 6-axis-industrial). Kept simple — the 3D side does the
+     * same logic with depth-based scaling, but for property labeling we
+     * only need the structure (axis count + ranges), not absolute lengths.
+     */
+    private get _activeChain();
+    get anchors(): never[];
+    /**
+     * 2D — base rectangle + a stylized arm silhouette pointing toward the
+     * top-right. Just enough to identify the component as a robot arm in
+     * plan view; the real visual lives in 3D.
+     */
+    render(ctx: CanvasRenderingContext2D): void;
+    onchange(after: Record<string, unknown>, before: Record<string, unknown>): void;
+    buildRealObject(): RealObject | undefined;
+    /**
+     * CarrierHolder hook — return the gripper TCP frame so any Carriable
+     * child (parcel/box/pallet/...) mounts onto the moving end-effector.
+     * IK rotation propagates to the carrier through Three.js scene-graph.
+     *
+     * Pose convention (real-world pick-and-place: gripper pointing toward
+     * the work, carrier hanging *beyond* the gripper tip):
+     *
+     *   - Frame: TCP (gripper working point — between finger tips for
+     *     jaws, contact face for suction/magnetic). Built by
+     *     `RobotArm3D._buildGripper`. TCP's +Z = gripper-forward direction
+     *     (away from the wrist).
+     *
+     *   - Rotation: x:-π/2 — maps carrier's local +Y axis ("up" in the
+     *     carrier's authored frame) to TCP's -Z direction. With the gripper
+     *     pointing down (typical work pose), TCP +Z = world -Y (down), so
+     *     TCP -Z = world +Y (up). Result: carrier's "up" stays world-up
+     *     during transit, and the carrier's body extends from TCP origin
+     *     in TCP +Z direction (down in world) — i.e. hanging BELOW the
+     *     gripper, not buried inside it.
+     *
+     *   - Position: z = +halfDepth — places the carrier's TOP face center
+     *     at the TCP origin (where the fingers grip). Carrier's local +Y
+     *     extent (top) = halfDepth, which after x:-π/2 rotation maps to
+     *     TCP -halfDepth Z. Shifting carrier center to TCP +halfDepth Z
+     *     puts that top point exactly at TCP origin. Carrier body then
+     *     extends through TCP +Z, ending at TCP +depth (bottom face).
+     *
+     * Earlier (x:+π/2, z:-halfDepth) inverted the carrier's body direction
+     * — body extended back into the wrist, leaving the box visually inside
+     * the finger area. The current convention pushes the body OUT past the
+     * fingertips, where a real gripper would hold it.
+     */
+    attachPointFor(carrier: Component): {
+        attach: THREE.Object3D<THREE.Object3DEventMap>;
+        localPosition: {
+            x: number;
+            y: number;
+            z: number;
+        };
+        localRotation: {
+            x: number;
+            y: number;
+            z: number;
+        };
+    } | undefined;
+    /**
+     * Pick: TCP descends vertically onto the carrier's top face, gripper
+     * closes, carrier becomes our child.
+     *
+     *   1. TCP → APPROACH above pick (carrier's xy, +clearance in world Y)
+     *   2. TCP → pick (descend straight down to carrier's top face)
+     *   3. close gripper + reparent(carrier → this)
+     *
+     * The approach waypoint exists so the FINAL leg is a clean vertical
+     * descent — the gripper enters the carrier from straight above, not a
+     * sideways sweep that could clip or grab at a wrong angle.
+     *
+     * Pose resolution: TCP lands on the CARRIER'S TOP FACE (carrier.world.y +
+     * carrier.depth/2). After grip, `attachPointFor`'s `localPosition.z =
+     * +halfDepth` keeps the carrier's top at TCP origin during transit —
+     * exact, no offset drift.
+     *
+     * Each waypoint includes the carrier's world yaw so IK can spin joint 5
+     * (tool roll) to align the gripper's "side" with the carrier's. Without
+     * it, reparent at pick instantly snaps the carrier to the gripper's
+     * axis, visibly twisting it 0° → up to 360° in one frame.
+     *
+     * @param options.approachClearance  Vertical offset (world units)
+     *   between approach and pick targets. Default 10.
+     * @param options.timeoutMs  Per-segment IK timeout (default 15000ms).
+     * @param options.reparentDuration  Animation duration for reparent (default 800ms).
+     */
+    pick(carrier: Component, options?: MoveOptions): Promise<void>;
+    /**
+     * Place: TCP descends vertically over the holder, gripper opens,
+     * carrier becomes the holder's child.
+     *
+     *   1. TCP → APPROACH above place (carrier's xy, +clearance)
+     *   2. TCP → place (descend straight down to drop point)
+     *   3. open gripper + reparent(carrier → holder)
+     *
+     * Pose resolution: TCP lands at where the carrier's top WILL BE after
+     * the drop, so the carrier lands with its bottom on the holder's attach
+     * surface. Computed as `holder.attachFrame.world.y + carrier.depth` (so
+     * yOffset = carrierDepth, not halfDepth like pick).
+     *
+     * @see pick — same option semantics.
+     */
+    place(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
+    /**
+     * `pickAndPlace` is inherited from the `Mover` mixin default — runs
+     * `pick(carrier)` then `place(carrier, holder)` sequentially. The
+     * decomposition is safe: the carrier's world position only matters
+     * during pick (carrier-relative waypoints), and after pick the carrier
+     * is the TCP's child (so re-querying it would chase its own tail —
+     * which we don't, since place uses holder-relative waypoints only).
+     *
+     * @example
+     * ```ts
+     * await robotArm.pickAndPlace(box, spotB)
+     * await robotArm.pnp(parcel, palletA, { approachClearance: 30 })
+     * ```
+     */
+    /** Short alias for `pickAndPlace`. Same arguments, same behavior. */
+    pnp(carrier: Component, placeHolder: Component, options?: MoveOptions): Promise<void>;
+    /**
+     * Resolve a TCP position in this arm's chain-local frame.
+     *
+     * For a CarrierHolder (has `attachPointFor`), uses the holder's own
+     * attach frame as the base — that's the canonical "where carriers
+     * sit on me" point (top of Spot's pad, gripper TCP for another arm,
+     * etc.). For a plain carrier, uses its world center.
+     *
+     * `worldYOffset` is added to the resolved world Y before projecting
+     * back to chain-local — used by pickAndPlace to lift the TCP above
+     * the target (approach waypoints) and to land it on the carrier's
+     * top face rather than its volumetric center.
+     */
+    private _targetFor;
+    /**
+     * Extract a component's world yaw (rotation around world +Y) from its
+     * 3D object's world matrix. Returns 0 if the object isn't built yet.
+     * Used by `pickAndPlace` so the gripper can match the carrier's /
+     * placeHolder's current orientation — preventing a yaw snap at the
+     * moment of reparent.
+     */
+    private _yawOf;
+}
+export {};