@operato/scene-manufacturing 10.0.0-beta.22 → 10.0.0-beta.28

package/dist/robot-arm.d.ts

@@ -1,8 +1,15 @@
 import * as THREE from 'three';
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import { type Alignment, type Heights, type LegendBinding, type PlacementArchetype } from '@operato/scene-base';
+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;
+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>;
     /**
@@ -89,40 +96,56 @@ export default class RobotArm extends Base {
         };
     } | undefined;
     /**
-     * High-level pick-and-place automation with vertical-entry waypoints.
-     *
-     * Movement sequence:
+     * 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)
-     *   4. TCP → APPROACH above place (carries the carrier up & over —
-     *      the IK path naturally lifts then descends to the new approach
-     *      pose since the approach is higher than pick)
-     *   5. TCP → place (descend straight down to drop point)
-     *   6. open gripper + reparent(carrier → placeHolder)
-     *
-     * The point of the approach waypoints is to make the FINAL leg of
-     * each pick/place be a clean vertical descent — so the gripper enters
-     * the carrier from straight above, not from a sideways sweep that
-     * could clip the carrier or grab it at a wrong angle.
-     *
-     * Pose resolution:
-     *   - Pick: 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.
-     *   - Place: TCP lands at where the carrier's top WILL BE after the
-     *     drop, so the carrier lands with its bottom on the placeHolder's
-     *     attach surface (top-of-pad for Spot, etc.). Computed as
-     *     `placeHolder.attachFrame.world.y + carrier.depth`.
+     *
+     * 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 the approach waypoint and the pick/place target. Small
-     *   (default 10) — just enough to make the final leg a clean
-     *   straight-down vertical descent. Bump it for tall carriers or
-     *   crowded scenes.
+     *   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
@@ -130,17 +153,8 @@ export default class RobotArm extends Base {
      * await robotArm.pnp(parcel, palletA, { approachClearance: 30 })
      * ```
      */
-    pickAndPlace(carrier: Component, placeHolder: Component, options?: {
-        timeoutMs?: number;
-        reparentDuration?: number;
-        approachClearance?: number;
-    }): Promise<void>;
     /** Short alias for `pickAndPlace`. Same arguments, same behavior. */
-    pnp(carrier: Component, placeHolder: Component, options?: {
-        timeoutMs?: number;
-        reparentDuration?: number;
-        approachClearance?: number;
-    }): Promise<void>;
+    pnp(carrier: Component, placeHolder: Component, options?: MoveOptions): Promise<void>;
     /**
      * Resolve a TCP position in this arm's chain-local frame.
      *

package/dist/robot-arm.js

@@ -33,8 +33,8 @@
  */
 import { __decorate } from "tslib";
 import * as THREE from 'three';
-import { Container, sceneComponent } from '@hatiolab/things-scene';
-import { CarrierHolder, Legendable, Placeable } from '@operato/scene-base';
+import { ContainerAbstract, sceneComponent } from '@hatiolab/things-scene';
+import { CarrierHolder, Legendable, Mover, Placeable } from '@operato/scene-base';
 import { RobotArm3D } from './robot-arm-3d.js';
 import { CHAIN_PRESETS } from './robot-arm-styles.js';
 const BODY_LEGEND = {
@@ -119,12 +119,28 @@ const STATIC_PROPERTIES = [
         }
     }
 ];
-// CarrierHolder + Container: the arm needs Container's child-list machinery
-// (addComponent / reparent / events) AND CarrierHolder's attachPointFor
-// hook. CarrierHolder mixin alone only publishes the attach policy; it
-// doesn't add child management. RectPath(Shape) was wrong here — Shape is
-// a leaf so reparent silently failed. Container provides the missing piece.
-const Base = CarrierHolder(Legendable(Placeable(Container)));
+// CarrierHolder + ContainerAbstract: the arm needs the container's child-list
+// machinery (addComponent / reparent / events) AND CarrierHolder's
+// attachPointFor hook. CarrierHolder mixin alone only publishes the attach
+// policy; it doesn't add child management. RectPath(Shape) was wrong here —
+// Shape is a leaf so reparent silently failed. ContainerAbstract provides
+// the missing piece.
+//
+// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),
+// which forces `isHTMLElement(): true` and trips the 3D pipeline's
+// addObject DOM-skip gate. Robot arm exists purely in the 3D scene graph
+// (URDF/IK joints, no DOM overlay), so the bare logical container is correct.
+//
+// Mover wraps the chain to publish pick/place/pickAndPlace primitives. It
+// must sit OUTSIDE CarrierHolder because Mover's defaults call this.reparent,
+// which CarrierHolder provides (overrides the base ContainerAbstract
+// version with the attach-frame-aware variant).
+//
+// The instance type cast surfaces Mover's API on `this` so subclass
+// `override` keywords compile and `this.pickAndPlace(...)` resolves —
+// without it, the `as unknown as typeof Component` cast erases all
+// mixin contributions to the static side.
+const Base = Mover(CarrierHolder(Legendable(Placeable(ContainerAbstract))));
 let RobotArm = class RobotArm extends Base {
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
@@ -318,92 +334,99 @@ let RobotArm = class RobotArm extends Base {
         };
     }
     /**
-     * High-level pick-and-place automation with vertical-entry waypoints.
-     *
-     * Movement sequence:
+     * 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)
-     *   4. TCP → APPROACH above place (carries the carrier up & over —
-     *      the IK path naturally lifts then descends to the new approach
-     *      pose since the approach is higher than pick)
-     *   5. TCP → place (descend straight down to drop point)
-     *   6. open gripper + reparent(carrier → placeHolder)
      *
-     * The point of the approach waypoints is to make the FINAL leg of
-     * each pick/place be a clean vertical descent — so the gripper enters
-     * the carrier from straight above, not from a sideways sweep that
-     * could clip the carrier or grab it at a wrong angle.
+     * 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.
      *
-     * Pose resolution:
-     *   - Pick: 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.
-     *   - Place: TCP lands at where the carrier's top WILL BE after the
-     *     drop, so the carrier lands with its bottom on the placeHolder's
-     *     attach surface (top-of-pad for Spot, etc.). Computed as
-     *     `placeHolder.attachFrame.world.y + carrier.depth`.
+     * 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 the approach waypoint and the pick/place target. Small
-     *   (default 10) — just enough to make the final leg a clean
-     *   straight-down vertical descent. Bump it for tall carriers or
-     *   crowded scenes.
+     *   between approach and pick targets. Default 10.
      * @param options.timeoutMs  Per-segment IK timeout (default 15000ms).
-     *
-     * @example
-     * ```ts
-     * await robotArm.pickAndPlace(box, spotB)
-     * await robotArm.pnp(parcel, palletA, { approachClearance: 30 })
-     * ```
+     * @param options.reparentDuration  Animation duration for reparent (default 800ms).
      */
-    async pickAndPlace(carrier, placeHolder, options = {}) {
+    async pick(carrier, options = {}) {
         const timeoutMs = options.timeoutMs ?? 15000;
         const reparentDuration = options.reparentDuration ?? 800;
+        const clearance = options.approachClearance ?? 10;
         // Read carrier height via _realObject.effectiveDepth — `state.depth`
         // is often not explicitly set (carriers like Box rely on
         // `static defaultDepth`), and reading state alone returns 0, which
         // collapses every Y offset and drives the gripper into the carrier's
         // volumetric center instead of its top face.
         const carrierDepth = resolveDepth(carrier);
-        const clearance = options.approachClearance ?? 10;
-        // Pre-compute all waypoints once. Recomputing mid-sequence would
-        // pick up the carrier's NEW world position once it's parented to
-        // the gripper (= TCP itself), causing a chase-your-tail loop.
-        //
-        // Each waypoint includes the target's world yaw so the 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. Same problem inverted at place.
         const halfDepth = carrierDepth / 2;
-        const pickYaw = this._yawOf(carrier);
-        const placeYaw = this._yawOf(placeHolder);
-        const pickTarget = this._targetFor(carrier, halfDepth, pickYaw);
-        const pickApproach = this._targetFor(carrier, halfDepth + clearance, pickYaw);
-        const placeTarget = this._targetFor(placeHolder, carrierDepth, placeYaw); // top-of-carrier after drop
-        const placeApproach = this._targetFor(placeHolder, carrierDepth + clearance, placeYaw);
-        // 1. Approach above pick.
-        this.set('target', pickApproach);
+        const yaw = this._yawOf(carrier);
+        const target = this._targetFor(carrier, halfDepth, yaw);
+        const approach = this._targetFor(carrier, halfDepth + clearance, yaw);
+        this.set('target', approach);
         await waitForTcpReached(this, timeoutMs);
-        // 2. Descend straight down to the carrier's top face.
-        this.set('target', pickTarget);
+        this.set('target', target);
         await waitForTcpReached(this, timeoutMs);
         this.reparent?.(carrier, { animated: true, duration: reparentDuration });
         this.set('gripper', { ...(this.state.gripper ?? {}), state: 1 });
         await sleep(reparentDuration);
-        // 4. Move to approach above place (IK path lifts up & travels over).
-        this.set('target', placeApproach);
+    }
+    /**
+     * 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.
+     */
+    async place(carrier, holder, options = {}) {
+        const timeoutMs = options.timeoutMs ?? 15000;
+        const reparentDuration = options.reparentDuration ?? 800;
+        const clearance = options.approachClearance ?? 10;
+        const carrierDepth = resolveDepth(carrier);
+        const yaw = this._yawOf(holder);
+        const target = this._targetFor(holder, carrierDepth, yaw); // top-of-carrier after drop
+        const approach = this._targetFor(holder, carrierDepth + clearance, yaw);
+        this.set('target', approach);
         await waitForTcpReached(this, timeoutMs);
-        // 5. Descend straight down to drop position.
-        this.set('target', placeTarget);
+        this.set('target', target);
         await waitForTcpReached(this, timeoutMs);
-        placeHolder.reparent?.(carrier, { animated: true, duration: reparentDuration });
+        holder.reparent?.(carrier, { animated: true, duration: reparentDuration });
         this.set('gripper', { ...(this.state.gripper ?? {}), state: 0 });
         await sleep(reparentDuration);
     }
+    /**
+     * `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, placeHolder, options) {
         return this.pickAndPlace(carrier, placeHolder, options);

package/dist/robot-arm.js.map

@@ -1 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Robot Arm — generalized articulated manipulator component.\n *\n * Designed to cover the visualization needs of robot arms WITHOUT a\n * specific URDF model. Configurable kinematic chain, link shape, joint\n * housing, gripper type — same component renders as a sleek cobot, a\n * heavy industrial 6-axis, a SCARA, or a minimal educational arm.\n *\n * State schema (all top-level properties optional except width/height):\n *\n *   {\n *     // structure\n *     style?: 'industrial' | 'cobot' | 'scara' | 'minimal',\n *     chainPreset?: '6-axis-industrial' | 'cobot-6-axis' | 'scara-4-axis' | 'pick-and-place-3-axis',\n *     chain?: ChainElement[],          // overrides preset\n *     joints?: number[] | { [i]: number },  // current joint values\n *\n *     // styling overrides\n *     linkShape?, jointHousing?, linkRadius?, color?, accentColor?,\n *\n *     // gripper\n *     gripper?: GripperConfig,\n *\n *     // IK target (TCP world position relative to component center, in\n *     // 3D-z-up convention used by IK module)\n *     target?: { x: number, y: number, z: number },\n *\n *     // visualization\n *     showReachSphere?: boolean\n *   }\n */\n\nimport * as THREE from 'three'\nimport { Component, ComponentNature, Container, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  CarrierHolder,\n  Legendable,\n  Placeable,\n  type Alignment,\n  type Heights,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { RobotArm3D } from './robot-arm-3d.js'\nimport { CHAIN_PRESETS, type ChainPresetName } from './robot-arm-styles.js'\nimport type { ChainElement } from './robot-arm-ik.js'\n\nexport type RobotArmStatus = 'idle' | 'moving' | 'gripping' | 'warn' | 'error'\n\nconst BODY_LEGEND = {\n  idle: '#ccc',\n  moving: '#afd0f1',\n  gripping: '#cfe6c8',\n  warn: '#ffba00',\n  error: '#e9746b',\n  default: '#ccc'\n}\n\nconst BORDER_LEGEND = {\n  idle: '#888',\n  moving: '#87b1db',\n  gripping: '#7aa274',\n  warn: '#d96f21',\n  error: '#a73928',\n  default: '#888'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n  idle: '#333333',\n  moving: '#44aaff',\n  gripping: '#33aa44',\n  warn: '#ffaa00',\n  error: '#ff3333',\n  default: '#333333'\n}\n\nconst STATIC_PROPERTIES = [\n  {\n    type: 'select',\n    label: 'style',\n    name: 'style',\n    property: {\n      options: [\n        { display: 'Industrial', value: 'industrial' },\n        { display: 'Cobot', value: 'cobot' },\n        { display: 'SCARA', value: 'scara' },\n        { display: 'Minimal', value: 'minimal' }\n      ]\n    }\n  },\n  {\n    type: 'select',\n    label: 'chain-preset',\n    name: 'chainPreset',\n    property: {\n      options: [\n        { display: '6-Axis Industrial', value: '6-axis-industrial' },\n        { display: 'Cobot 6-Axis', value: 'cobot-6-axis' },\n        { display: 'SCARA 4-Axis', value: 'scara-4-axis' },\n        { display: 'Pick & Place 3-Axis', value: 'pick-and-place-3-axis' }\n      ]\n    }\n  },\n  { type: 'number', label: 'link-radius', name: 'linkRadius' },\n  {\n    type: 'select',\n    label: 'gripper-type',\n    name: 'gripperType',\n    property: {\n      options: [\n        { display: 'Parallel', value: 'parallel' },\n        { display: 'Suction', value: 'suction' },\n        { display: 'Magnetic', value: 'magnetic' },\n        { display: 'Three-Finger', value: 'three-finger' },\n        { display: 'None', value: 'none' }\n      ]\n    }\n  },\n  { type: 'checkbox', label: 'show-reach-sphere', name: 'showReachSphere' },\n  {\n    type: 'select',\n    label: 'status',\n    name: 'status',\n    property: {\n      options: [\n        { display: 'Idle', value: 'idle' },\n        { display: 'Moving', value: 'moving' },\n        { display: 'Gripping', value: 'gripping' },\n        { display: 'Warn', value: 'warn' },\n        { display: 'Error', value: 'error' }\n      ]\n    }\n  }\n]\n\n// CarrierHolder + Container: the arm needs Container's child-list machinery\n// (addComponent / reparent / events) AND CarrierHolder's attachPointFor\n// hook. CarrierHolder mixin alone only publishes the attach policy; it\n// doesn't add child management. RectPath(Shape) was wrong here — Shape is\n// a leaf so reparent silently failed. Container provides the missing piece.\nconst Base = CarrierHolder(Legendable(Placeable(Container))) as unknown as typeof Component\n\n@sceneComponent('robot-arm')\nexport default class RobotArm extends Base {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'status', legend: BODY_LEGEND },\n    borderColor: { from: 'status', legend: BORDER_LEGEND },\n    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  /**\n   * Robot arms sit on the floor (or mount to a ceiling/wall — that's a\n   * v2 feature). Default depth = operation - floor like other floor-\n   * mounted equipment, so the chain reach scales with the configured\n   * facility height.\n   */\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.operation - h.floor\n\n  /**\n   * Dynamic nature — appends one number property per joint in the active\n   * chain. Each property uses the joint's range as `min`/`max` so the\n   * property panel can render a constrained slider/spinner. The chain\n   * preset can change at runtime, and `get nature()` is re-evaluated\n   * whenever the property panel queries it, so the joint count stays in\n   * sync with the active preset.\n   *\n   * For revolute joints the value is in radians; for prismatic, scene units.\n   */\n  get nature(): ComponentNature {\n    const chain = this._activeChain\n    // Joint values: revolute = degrees (range usually ±180), prismatic =\n    // scene length units. CHAIN_PRESETS already encode revolute ranges in\n    // degrees; the 3D side converts to radians at the math boundary.\n    const jointProps = chain.map((c, i) => ({\n      type: 'number',\n      label: `joint-${i + 1}`,\n      name: `joint${i}`,\n      property: {\n        min: c.range[0],\n        max: c.range[1],\n        step: c.type === 'revolute' ? 1 : 1\n      }\n    }))\n    return {\n      mutable: false,\n      resizable: true,\n      rotatable: true,\n      properties: [...STATIC_PROPERTIES, ...jointProps] as any,\n      help: 'scene/component/robot-arm'\n    }\n  }\n\n  /**\n   * Resolve the active chain for property-panel introspection. Mirrors\n   * the resolution in robot-arm-3d.ts (state.chain wins, else preset,\n   * else default 6-axis-industrial). Kept simple — the 3D side does the\n   * same logic with depth-based scaling, but for property labeling we\n   * only need the structure (axis count + ranges), not absolute lengths.\n   */\n  private get _activeChain(): ChainElement[] {\n    const state = this.state as any\n    if (Array.isArray(state.chain) && state.chain.length > 0) return state.chain\n    const presetName = (state.chainPreset ?? '6-axis-industrial') as ChainPresetName\n    return CHAIN_PRESETS[presetName] ?? CHAIN_PRESETS['6-axis-industrial']\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /**\n   * 2D — base rectangle + a stylized arm silhouette pointing toward the\n   * top-right. Just enough to identify the component as a robot arm in\n   * plan view; the real visual lives in 3D.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { left = 0, top = 0, width = 100, height = 100 } = this.state\n    const bodyFill = pickColor(this.state.fillStyle, (this.state as any).bodyColor, BODY_LEGEND.default)\n    const borderColor = pickColor(this.state.strokeStyle, (this.state as any).borderColor, BORDER_LEGEND.default)\n    const lineWidth = numOr(this.state.lineWidth, 1)\n\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n    ctx.fillStyle = bodyFill\n    ctx.fill()\n    ctx.strokeStyle = borderColor\n    ctx.lineWidth = lineWidth\n    ctx.stroke()\n\n    // Stylized arm silhouette: base square at center → up → bent right.\n    const cx = left + width / 2\n    const cy = top + height / 2\n    const r = Math.min(width, height) * 0.32\n    ctx.save()\n    ctx.strokeStyle = borderColor\n    ctx.lineWidth = Math.max(lineWidth, Math.min(width, height) * 0.025)\n\n    // Base pedestal\n    ctx.fillStyle = borderColor\n    ctx.fillRect(cx - r * 0.5, cy + r * 0.6, r, r * 0.3)\n    // Upper arm\n    ctx.beginPath()\n    ctx.moveTo(cx, cy + r * 0.6)\n    ctx.lineTo(cx, cy - r * 0.2)\n    ctx.stroke()\n    // Forearm\n    ctx.beginPath()\n    ctx.moveTo(cx, cy - r * 0.2)\n    ctx.lineTo(cx + r * 0.7, cy - r * 0.7)\n    ctx.stroke()\n    // Joint dots\n    ctx.fillStyle = borderColor as string\n    ctx.beginPath()\n    ctx.arc(cx, cy - r * 0.2, Math.max(2, r * 0.1), 0, Math.PI * 2)\n    ctx.fill()\n    ctx.beginPath()\n    ctx.arc(cx + r * 0.7, cy - r * 0.7, Math.max(1.5, r * 0.08), 0, Math.PI * 2)\n    ctx.fill()\n    ctx.restore()\n  }\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    // Per-joint number properties (joint0 … jointN-1) are dynamic; treat\n    // any key matching the pattern as a joint update.\n    const hasJoint = Object.keys(after).some(k => /^joint\\d+$/.test(k))\n    if (\n      hasJoint ||\n      'style' in after ||\n      'chainPreset' in after ||\n      'chain' in after ||\n      'joints' in after ||\n      'linkShape' in after ||\n      'jointHousing' in after ||\n      'linkRadius' in after ||\n      'color' in after ||\n      'accentColor' in after ||\n      'fillStyle' in after ||\n      'strokeStyle' in after ||\n      'lineWidth' in after ||\n      'alpha' in after ||\n      'material3d' in after ||\n      'gripper' in after ||\n      'gripperType' in after ||\n      'target' in after ||\n      'showReachSphere' in after ||\n      'status' in after ||\n      'bodyColor' in after ||\n      'borderColor' in after\n    ) {\n      ;(this as any).clearCache?.('fillStyle')\n      this.invalidate()\n    }\n    super.onchange(after, before)\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new RobotArm3D(this as any)\n  }\n\n  /**\n   * CarrierHolder hook — return the gripper TCP frame so any Carriable\n   * child (parcel/box/pallet/...) mounts onto the moving end-effector.\n   * IK rotation propagates to the carrier through Three.js scene-graph.\n   *\n   * Pose convention (real-world pick-and-place: gripper pointing toward\n   * the work, carrier hanging *beyond* the gripper tip):\n   *\n   *   - Frame: TCP (gripper working point — between finger tips for\n   *     jaws, contact face for suction/magnetic). Built by\n   *     `RobotArm3D._buildGripper`. TCP's +Z = gripper-forward direction\n   *     (away from the wrist).\n   *\n   *   - Rotation: x:-π/2 — maps carrier's local +Y axis (\"up\" in the\n   *     carrier's authored frame) to TCP's -Z direction. With the gripper\n   *     pointing down (typical work pose), TCP +Z = world -Y (down), so\n   *     TCP -Z = world +Y (up). Result: carrier's \"up\" stays world-up\n   *     during transit, and the carrier's body extends from TCP origin\n   *     in TCP +Z direction (down in world) — i.e. hanging BELOW the\n   *     gripper, not buried inside it.\n   *\n   *   - Position: z = +halfDepth — places the carrier's TOP face center\n   *     at the TCP origin (where the fingers grip). Carrier's local +Y\n   *     extent (top) = halfDepth, which after x:-π/2 rotation maps to\n   *     TCP -halfDepth Z. Shifting carrier center to TCP +halfDepth Z\n   *     puts that top point exactly at TCP origin. Carrier body then\n   *     extends through TCP +Z, ending at TCP +depth (bottom face).\n   *\n   * Earlier (x:+π/2, z:-halfDepth) inverted the carrier's body direction\n   * — body extended back into the wrist, leaving the box visually inside\n   * the finger area. The current convention pushes the body OUT past the\n   * fingertips, where a real gripper would hold it.\n   */\n  attachPointFor(carrier: Component) {\n    const ro = (this as any)._realObject as RobotArm3D | undefined\n    const frame = ro?.getGripperFrame?.()\n    if (!frame) return undefined\n    const halfDepth = resolveDepth(carrier) / 2\n    return {\n      attach: frame,\n      localPosition: { x: 0, y: 0, z: halfDepth },\n      localRotation: { x: -Math.PI / 2, y: 0, z: 0 }\n    }\n  }\n\n  /**\n   * High-level pick-and-place automation with vertical-entry waypoints.\n   *\n   * Movement sequence:\n   *\n   *   1. TCP → APPROACH above pick (carrier's xy, +clearance in world Y)\n   *   2. TCP → pick (descend straight down to carrier's top face)\n   *   3. close gripper + reparent(carrier → this)\n   *   4. TCP → APPROACH above place (carries the carrier up & over —\n   *      the IK path naturally lifts then descends to the new approach\n   *      pose since the approach is higher than pick)\n   *   5. TCP → place (descend straight down to drop point)\n   *   6. open gripper + reparent(carrier → placeHolder)\n   *\n   * The point of the approach waypoints is to make the FINAL leg of\n   * each pick/place be a clean vertical descent — so the gripper enters\n   * the carrier from straight above, not from a sideways sweep that\n   * could clip the carrier or grab it at a wrong angle.\n   *\n   * Pose resolution:\n   *   - Pick: TCP lands on the CARRIER'S TOP FACE (carrier.world.y +\n   *     carrier.depth/2). After grip, attachPointFor's\n   *     `localPosition.z = +halfDepth` keeps the carrier's top at TCP\n   *     origin during transit — exact, no offset drift.\n   *   - Place: TCP lands at where the carrier's top WILL BE after the\n   *     drop, so the carrier lands with its bottom on the placeHolder's\n   *     attach surface (top-of-pad for Spot, etc.). Computed as\n   *     `placeHolder.attachFrame.world.y + carrier.depth`.\n   *\n   * @param options.approachClearance  Vertical offset (world units)\n   *   between the approach waypoint and the pick/place target. Small\n   *   (default 10) — just enough to make the final leg a clean\n   *   straight-down vertical descent. Bump it for tall carriers or\n   *   crowded scenes.\n   * @param options.timeoutMs  Per-segment IK timeout (default 15000ms).\n   *\n   * @example\n   * ```ts\n   * await robotArm.pickAndPlace(box, spotB)\n   * await robotArm.pnp(parcel, palletA, { approachClearance: 30 })\n   * ```\n   */\n  async pickAndPlace(\n    carrier: Component,\n    placeHolder: Component,\n    options: { timeoutMs?: number; reparentDuration?: number; approachClearance?: number } = {}\n  ): Promise<void> {\n    const timeoutMs = options.timeoutMs ?? 15000\n    const reparentDuration = options.reparentDuration ?? 800\n    // Read carrier height via _realObject.effectiveDepth — `state.depth`\n    // is often not explicitly set (carriers like Box rely on\n    // `static defaultDepth`), and reading state alone returns 0, which\n    // collapses every Y offset and drives the gripper into the carrier's\n    // volumetric center instead of its top face.\n    const carrierDepth = resolveDepth(carrier)\n    const clearance = options.approachClearance ?? 10\n\n    // Pre-compute all waypoints once. Recomputing mid-sequence would\n    // pick up the carrier's NEW world position once it's parented to\n    // the gripper (= TCP itself), causing a chase-your-tail loop.\n    //\n    // Each waypoint includes the target's world yaw so the IK can spin\n    // joint 5 (tool roll) to align the gripper's \"side\" with the\n    // carrier's — without it, reparent at pick instantly snaps the\n    // carrier to the gripper's axis, visibly twisting it 0° → up to\n    // 360° in one frame. Same problem inverted at place.\n    const halfDepth = carrierDepth / 2\n    const pickYaw = this._yawOf(carrier)\n    const placeYaw = this._yawOf(placeHolder)\n    const pickTarget = this._targetFor(carrier, halfDepth, pickYaw)\n    const pickApproach = this._targetFor(carrier, halfDepth + clearance, pickYaw)\n    const placeTarget = this._targetFor(placeHolder, carrierDepth, placeYaw) // top-of-carrier after drop\n    const placeApproach = this._targetFor(placeHolder, carrierDepth + clearance, placeYaw)\n\n    // 1. Approach above pick.\n    this.set('target', pickApproach)\n    await waitForTcpReached(this, timeoutMs)\n\n    // 2. Descend straight down to the carrier's top face.\n    this.set('target', pickTarget)\n    await waitForTcpReached(this, timeoutMs)\n\n    // 3. Grip + reparent.\n    ;(this as any).reparent?.(carrier, { animated: true, duration: reparentDuration })\n    this.set('gripper', { ...((this.state as any).gripper ?? {}), state: 1 })\n    await sleep(reparentDuration)\n\n    // 4. Move to approach above place (IK path lifts up & travels over).\n    this.set('target', placeApproach)\n    await waitForTcpReached(this, timeoutMs)\n\n    // 5. Descend straight down to drop position.\n    this.set('target', placeTarget)\n    await waitForTcpReached(this, timeoutMs)\n\n    // 6. Release + reparent.\n    ;(placeHolder as any).reparent?.(carrier, { animated: true, duration: reparentDuration })\n    this.set('gripper', { ...((this.state as any).gripper ?? {}), state: 0 })\n    await sleep(reparentDuration)\n  }\n\n  /** Short alias for `pickAndPlace`. Same arguments, same behavior. */\n  pnp(\n    carrier: Component,\n    placeHolder: Component,\n    options?: { timeoutMs?: number; reparentDuration?: number; approachClearance?: number }\n  ): Promise<void> {\n    return this.pickAndPlace(carrier, placeHolder, options)\n  }\n\n  /**\n   * Resolve a TCP position in this arm's chain-local frame.\n   *\n   * For a CarrierHolder (has `attachPointFor`), uses the holder's own\n   * attach frame as the base — that's the canonical \"where carriers\n   * sit on me\" point (top of Spot's pad, gripper TCP for another arm,\n   * etc.). For a plain carrier, uses its world center.\n   *\n   * `worldYOffset` is added to the resolved world Y before projecting\n   * back to chain-local — used by pickAndPlace to lift the TCP above\n   * the target (approach waypoints) and to land it on the carrier's\n   * top face rather than its volumetric center.\n   */\n  private _targetFor(\n    component: Component,\n    worldYOffset = 0,\n    yaw?: number\n  ): { x: number; y: number; z: number; yaw?: number } {\n    const ro3d = (this as any)._realObject as RobotArm3D | undefined\n\n    let baseWp: THREE.Vector3 | undefined\n    // Prefer holder's attach frame when available.\n    const attachPointFor = (component as any).attachPointFor\n    if (typeof attachPointFor === 'function') {\n      const point = attachPointFor.call(component, this)\n      if (point?.attach) {\n        point.attach.updateWorldMatrix?.(true, false)\n        baseWp = point.attach.getWorldPosition?.(new THREE.Vector3())\n      }\n    }\n    if (!baseWp) {\n      const obj = (component as any)._realObject?.object3d\n      if (obj) {\n        obj.updateWorldMatrix(true, false)\n        baseWp = obj.getWorldPosition(new THREE.Vector3())\n      }\n    }\n    if (!ro3d || !baseWp) {\n      // Final fallback: 2D bounds center — only before 3D builds.\n      const c = component.center\n      return { x: c.x, y: worldYOffset, z: c.y, yaw }\n    }\n    const local = ro3d.worldToChainLocal(baseWp.x, baseWp.y + worldYOffset, baseWp.z)\n    return { x: local.x, y: local.y, z: local.z, yaw }\n  }\n\n  /**\n   * Extract a component's world yaw (rotation around world +Y) from its\n   * 3D object's world matrix. Returns 0 if the object isn't built yet.\n   * Used by `pickAndPlace` so the gripper can match the carrier's /\n   * placeHolder's current orientation — preventing a yaw snap at the\n   * moment of reparent.\n   */\n  private _yawOf(component: Component): number {\n    const obj = (component as any)._realObject?.object3d\n    if (!obj) return 0\n    obj.updateWorldMatrix(true, false)\n    const q = new THREE.Quaternion()\n    obj.getWorldQuaternion(q)\n    const e = new THREE.Euler().setFromQuaternion(q, 'YXZ')\n    return e.y\n  }\n}\n\n/**\n * Resolve when the robot arm fires `tcp-reached`, reject on timeout.\n * The 3D side fires this event on smoothing completion (last joint\n * value within threshold of its target).\n */\nfunction waitForTcpReached(component: Component, timeoutMs: number): Promise<void> {\n  return new Promise((resolve, reject) => {\n    let timer: any\n    const onReached = () => {\n      clearTimeout(timer)\n      ;(component as any).off?.('tcp-reached', onReached)\n      resolve()\n    }\n    timer = setTimeout(() => {\n      ;(component as any).off?.('tcp-reached', onReached)\n      reject(new Error('TCP reach timeout'))\n    }, timeoutMs)\n    ;(component as any).on?.('tcp-reached', onReached)\n  })\n}\n\nfunction sleep(ms: number): Promise<void> {\n  return new Promise(resolve => setTimeout(resolve, ms))\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\n/**\n * Resolve a component's 3D height. things-scene v10 carriers (Box, Pallet,\n * etc.) typically declare `static defaultDepth` rather than setting\n * `state.depth`, so reading state alone returns 0 — wrong for a\n * default-sized box. The framework resolves the actual value into\n * `_realObject.effectiveDepth`. Falls back to `state.depth` for\n * components built before their RealObject exists.\n */\nfunction resolveDepth(c: Component): number {\n  const eff = (c as any)?._realObject?.effectiveDepth\n  if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n  return numOr((c as any)?.state?.depth, 0)\n}\n\nfunction pickColor(...candidates: unknown[]): string {\n  for (const c of candidates) {\n    if (typeof c === 'string' && c && c !== 'transparent') return c\n  }\n  return '#888'\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Robot Arm — generalized articulated manipulator component.\n *\n * Designed to cover the visualization needs of robot arms WITHOUT a\n * specific URDF model. Configurable kinematic chain, link shape, joint\n * housing, gripper type — same component renders as a sleek cobot, a\n * heavy industrial 6-axis, a SCARA, or a minimal educational arm.\n *\n * State schema (all top-level properties optional except width/height):\n *\n *   {\n *     // structure\n *     style?: 'industrial' | 'cobot' | 'scara' | 'minimal',\n *     chainPreset?: '6-axis-industrial' | 'cobot-6-axis' | 'scara-4-axis' | 'pick-and-place-3-axis',\n *     chain?: ChainElement[],          // overrides preset\n *     joints?: number[] | { [i]: number },  // current joint values\n *\n *     // styling overrides\n *     linkShape?, jointHousing?, linkRadius?, color?, accentColor?,\n *\n *     // gripper\n *     gripper?: GripperConfig,\n *\n *     // IK target (TCP world position relative to component center, in\n *     // 3D-z-up convention used by IK module)\n *     target?: { x: number, y: number, z: number },\n *\n *     // visualization\n *     showReachSphere?: boolean\n *   }\n */\n\nimport * as THREE from 'three'\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  CarrierHolder,\n  Legendable,\n  Mover,\n  Placeable,\n  type Alignment,\n  type Heights,\n  type LegendBinding,\n  type MoveOptions,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { RobotArm3D } from './robot-arm-3d.js'\nimport { CHAIN_PRESETS, type ChainPresetName } from './robot-arm-styles.js'\nimport type { ChainElement } from './robot-arm-ik.js'\n\nexport type RobotArmStatus = 'idle' | 'moving' | 'gripping' | 'warn' | 'error'\n\nconst BODY_LEGEND = {\n  idle: '#ccc',\n  moving: '#afd0f1',\n  gripping: '#cfe6c8',\n  warn: '#ffba00',\n  error: '#e9746b',\n  default: '#ccc'\n}\n\nconst BORDER_LEGEND = {\n  idle: '#888',\n  moving: '#87b1db',\n  gripping: '#7aa274',\n  warn: '#d96f21',\n  error: '#a73928',\n  default: '#888'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n  idle: '#333333',\n  moving: '#44aaff',\n  gripping: '#33aa44',\n  warn: '#ffaa00',\n  error: '#ff3333',\n  default: '#333333'\n}\n\nconst STATIC_PROPERTIES = [\n  {\n    type: 'select',\n    label: 'style',\n    name: 'style',\n    property: {\n      options: [\n        { display: 'Industrial', value: 'industrial' },\n        { display: 'Cobot', value: 'cobot' },\n        { display: 'SCARA', value: 'scara' },\n        { display: 'Minimal', value: 'minimal' }\n      ]\n    }\n  },\n  {\n    type: 'select',\n    label: 'chain-preset',\n    name: 'chainPreset',\n    property: {\n      options: [\n        { display: '6-Axis Industrial', value: '6-axis-industrial' },\n        { display: 'Cobot 6-Axis', value: 'cobot-6-axis' },\n        { display: 'SCARA 4-Axis', value: 'scara-4-axis' },\n        { display: 'Pick & Place 3-Axis', value: 'pick-and-place-3-axis' }\n      ]\n    }\n  },\n  { type: 'number', label: 'link-radius', name: 'linkRadius' },\n  {\n    type: 'select',\n    label: 'gripper-type',\n    name: 'gripperType',\n    property: {\n      options: [\n        { display: 'Parallel', value: 'parallel' },\n        { display: 'Suction', value: 'suction' },\n        { display: 'Magnetic', value: 'magnetic' },\n        { display: 'Three-Finger', value: 'three-finger' },\n        { display: 'None', value: 'none' }\n      ]\n    }\n  },\n  { type: 'checkbox', label: 'show-reach-sphere', name: 'showReachSphere' },\n  {\n    type: 'select',\n    label: 'status',\n    name: 'status',\n    property: {\n      options: [\n        { display: 'Idle', value: 'idle' },\n        { display: 'Moving', value: 'moving' },\n        { display: 'Gripping', value: 'gripping' },\n        { display: 'Warn', value: 'warn' },\n        { display: 'Error', value: 'error' }\n      ]\n    }\n  }\n]\n\n// CarrierHolder + ContainerAbstract: the arm needs the container's child-list\n// machinery (addComponent / reparent / events) AND CarrierHolder's\n// attachPointFor hook. CarrierHolder mixin alone only publishes the attach\n// policy; it doesn't add child management. RectPath(Shape) was wrong here —\n// Shape is a leaf so reparent silently failed. ContainerAbstract provides\n// the missing piece.\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Robot arm exists purely in the 3D scene graph\n// (URDF/IK joints, no DOM overlay), so the bare logical container is correct.\n//\n// Mover wraps the chain to publish pick/place/pickAndPlace primitives. It\n// must sit OUTSIDE CarrierHolder because Mover's defaults call this.reparent,\n// which CarrierHolder provides (overrides the base ContainerAbstract\n// version with the attach-frame-aware variant).\n//\n// The instance type cast surfaces Mover's API on `this` so subclass\n// `override` keywords compile and `this.pickAndPlace(...)` resolves —\n// without it, the `as unknown as typeof Component` cast erases all\n// mixin contributions to the static side.\nconst Base = Mover(CarrierHolder(Legendable(Placeable(ContainerAbstract)))) as unknown as typeof Component & {\n  new (...args: any[]): Component & {\n    isMover: boolean\n    pick(carrier: Component, options?: MoveOptions): Promise<void>\n    place(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>\n    pickAndPlace(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>\n  }\n}\n\n@sceneComponent('robot-arm')\nexport default class RobotArm extends Base {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'status', legend: BODY_LEGEND },\n    borderColor: { from: 'status', legend: BORDER_LEGEND },\n    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  /**\n   * Robot arms sit on the floor (or mount to a ceiling/wall — that's a\n   * v2 feature). Default depth = operation - floor like other floor-\n   * mounted equipment, so the chain reach scales with the configured\n   * facility height.\n   */\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.operation - h.floor\n\n  /**\n   * Dynamic nature — appends one number property per joint in the active\n   * chain. Each property uses the joint's range as `min`/`max` so the\n   * property panel can render a constrained slider/spinner. The chain\n   * preset can change at runtime, and `get nature()` is re-evaluated\n   * whenever the property panel queries it, so the joint count stays in\n   * sync with the active preset.\n   *\n   * For revolute joints the value is in radians; for prismatic, scene units.\n   */\n  get nature(): ComponentNature {\n    const chain = this._activeChain\n    // Joint values: revolute = degrees (range usually ±180), prismatic =\n    // scene length units. CHAIN_PRESETS already encode revolute ranges in\n    // degrees; the 3D side converts to radians at the math boundary.\n    const jointProps = chain.map((c, i) => ({\n      type: 'number',\n      label: `joint-${i + 1}`,\n      name: `joint${i}`,\n      property: {\n        min: c.range[0],\n        max: c.range[1],\n        step: c.type === 'revolute' ? 1 : 1\n      }\n    }))\n    return {\n      mutable: false,\n      resizable: true,\n      rotatable: true,\n      properties: [...STATIC_PROPERTIES, ...jointProps] as any,\n      help: 'scene/component/robot-arm'\n    }\n  }\n\n  /**\n   * Resolve the active chain for property-panel introspection. Mirrors\n   * the resolution in robot-arm-3d.ts (state.chain wins, else preset,\n   * else default 6-axis-industrial). Kept simple — the 3D side does the\n   * same logic with depth-based scaling, but for property labeling we\n   * only need the structure (axis count + ranges), not absolute lengths.\n   */\n  private get _activeChain(): ChainElement[] {\n    const state = this.state as any\n    if (Array.isArray(state.chain) && state.chain.length > 0) return state.chain\n    const presetName = (state.chainPreset ?? '6-axis-industrial') as ChainPresetName\n    return CHAIN_PRESETS[presetName] ?? CHAIN_PRESETS['6-axis-industrial']\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /**\n   * 2D — base rectangle + a stylized arm silhouette pointing toward the\n   * top-right. Just enough to identify the component as a robot arm in\n   * plan view; the real visual lives in 3D.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { left = 0, top = 0, width = 100, height = 100 } = this.state\n    const bodyFill = pickColor(this.state.fillStyle, (this.state as any).bodyColor, BODY_LEGEND.default)\n    const borderColor = pickColor(this.state.strokeStyle, (this.state as any).borderColor, BORDER_LEGEND.default)\n    const lineWidth = numOr(this.state.lineWidth, 1)\n\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n    ctx.fillStyle = bodyFill\n    ctx.fill()\n    ctx.strokeStyle = borderColor\n    ctx.lineWidth = lineWidth\n    ctx.stroke()\n\n    // Stylized arm silhouette: base square at center → up → bent right.\n    const cx = left + width / 2\n    const cy = top + height / 2\n    const r = Math.min(width, height) * 0.32\n    ctx.save()\n    ctx.strokeStyle = borderColor\n    ctx.lineWidth = Math.max(lineWidth, Math.min(width, height) * 0.025)\n\n    // Base pedestal\n    ctx.fillStyle = borderColor\n    ctx.fillRect(cx - r * 0.5, cy + r * 0.6, r, r * 0.3)\n    // Upper arm\n    ctx.beginPath()\n    ctx.moveTo(cx, cy + r * 0.6)\n    ctx.lineTo(cx, cy - r * 0.2)\n    ctx.stroke()\n    // Forearm\n    ctx.beginPath()\n    ctx.moveTo(cx, cy - r * 0.2)\n    ctx.lineTo(cx + r * 0.7, cy - r * 0.7)\n    ctx.stroke()\n    // Joint dots\n    ctx.fillStyle = borderColor as string\n    ctx.beginPath()\n    ctx.arc(cx, cy - r * 0.2, Math.max(2, r * 0.1), 0, Math.PI * 2)\n    ctx.fill()\n    ctx.beginPath()\n    ctx.arc(cx + r * 0.7, cy - r * 0.7, Math.max(1.5, r * 0.08), 0, Math.PI * 2)\n    ctx.fill()\n    ctx.restore()\n  }\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    // Per-joint number properties (joint0 … jointN-1) are dynamic; treat\n    // any key matching the pattern as a joint update.\n    const hasJoint = Object.keys(after).some(k => /^joint\\d+$/.test(k))\n    if (\n      hasJoint ||\n      'style' in after ||\n      'chainPreset' in after ||\n      'chain' in after ||\n      'joints' in after ||\n      'linkShape' in after ||\n      'jointHousing' in after ||\n      'linkRadius' in after ||\n      'color' in after ||\n      'accentColor' in after ||\n      'fillStyle' in after ||\n      'strokeStyle' in after ||\n      'lineWidth' in after ||\n      'alpha' in after ||\n      'material3d' in after ||\n      'gripper' in after ||\n      'gripperType' in after ||\n      'target' in after ||\n      'showReachSphere' in after ||\n      'status' in after ||\n      'bodyColor' in after ||\n      'borderColor' in after\n    ) {\n      ;(this as any).clearCache?.('fillStyle')\n      this.invalidate()\n    }\n    super.onchange(after, before)\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new RobotArm3D(this as any)\n  }\n\n  /**\n   * CarrierHolder hook — return the gripper TCP frame so any Carriable\n   * child (parcel/box/pallet/...) mounts onto the moving end-effector.\n   * IK rotation propagates to the carrier through Three.js scene-graph.\n   *\n   * Pose convention (real-world pick-and-place: gripper pointing toward\n   * the work, carrier hanging *beyond* the gripper tip):\n   *\n   *   - Frame: TCP (gripper working point — between finger tips for\n   *     jaws, contact face for suction/magnetic). Built by\n   *     `RobotArm3D._buildGripper`. TCP's +Z = gripper-forward direction\n   *     (away from the wrist).\n   *\n   *   - Rotation: x:-π/2 — maps carrier's local +Y axis (\"up\" in the\n   *     carrier's authored frame) to TCP's -Z direction. With the gripper\n   *     pointing down (typical work pose), TCP +Z = world -Y (down), so\n   *     TCP -Z = world +Y (up). Result: carrier's \"up\" stays world-up\n   *     during transit, and the carrier's body extends from TCP origin\n   *     in TCP +Z direction (down in world) — i.e. hanging BELOW the\n   *     gripper, not buried inside it.\n   *\n   *   - Position: z = +halfDepth — places the carrier's TOP face center\n   *     at the TCP origin (where the fingers grip). Carrier's local +Y\n   *     extent (top) = halfDepth, which after x:-π/2 rotation maps to\n   *     TCP -halfDepth Z. Shifting carrier center to TCP +halfDepth Z\n   *     puts that top point exactly at TCP origin. Carrier body then\n   *     extends through TCP +Z, ending at TCP +depth (bottom face).\n   *\n   * Earlier (x:+π/2, z:-halfDepth) inverted the carrier's body direction\n   * — body extended back into the wrist, leaving the box visually inside\n   * the finger area. The current convention pushes the body OUT past the\n   * fingertips, where a real gripper would hold it.\n   */\n  attachPointFor(carrier: Component) {\n    const ro = (this as any)._realObject as RobotArm3D | undefined\n    const frame = ro?.getGripperFrame?.()\n    if (!frame) return undefined\n    const halfDepth = resolveDepth(carrier) / 2\n    return {\n      attach: frame,\n      localPosition: { x: 0, y: 0, z: halfDepth },\n      localRotation: { x: -Math.PI / 2, y: 0, z: 0 }\n    }\n  }\n\n  /**\n   * Pick: TCP descends vertically onto the carrier's top face, gripper\n   * closes, carrier becomes our child.\n   *\n   *   1. TCP → APPROACH above pick (carrier's xy, +clearance in world Y)\n   *   2. TCP → pick (descend straight down to carrier's top face)\n   *   3. close gripper + reparent(carrier → this)\n   *\n   * The approach waypoint exists so the FINAL leg is a clean vertical\n   * descent — the gripper enters the carrier from straight above, not a\n   * sideways sweep that could clip or grab at a wrong angle.\n   *\n   * Pose resolution: TCP lands on the CARRIER'S TOP FACE (carrier.world.y +\n   * carrier.depth/2). After grip, `attachPointFor`'s `localPosition.z =\n   * +halfDepth` keeps the carrier's top at TCP origin during transit —\n   * exact, no offset drift.\n   *\n   * Each waypoint includes the carrier's world yaw so IK can spin joint 5\n   * (tool roll) to align the gripper's \"side\" with the carrier's. Without\n   * it, reparent at pick instantly snaps the carrier to the gripper's\n   * axis, visibly twisting it 0° → up to 360° in one frame.\n   *\n   * @param options.approachClearance  Vertical offset (world units)\n   *   between approach and pick targets. Default 10.\n   * @param options.timeoutMs  Per-segment IK timeout (default 15000ms).\n   * @param options.reparentDuration  Animation duration for reparent (default 800ms).\n   */\n  override async pick(carrier: Component, options: MoveOptions = {}): Promise<void> {\n    const timeoutMs = (options.timeoutMs as number | undefined) ?? 15000\n    const reparentDuration = (options.reparentDuration as number | undefined) ?? 800\n    const clearance = (options.approachClearance as number | undefined) ?? 10\n    // Read carrier height via _realObject.effectiveDepth — `state.depth`\n    // is often not explicitly set (carriers like Box rely on\n    // `static defaultDepth`), and reading state alone returns 0, which\n    // collapses every Y offset and drives the gripper into the carrier's\n    // volumetric center instead of its top face.\n    const carrierDepth = resolveDepth(carrier)\n    const halfDepth = carrierDepth / 2\n    const yaw = this._yawOf(carrier)\n    const target = this._targetFor(carrier, halfDepth, yaw)\n    const approach = this._targetFor(carrier, halfDepth + clearance, yaw)\n\n    this.set('target', approach)\n    await waitForTcpReached(this, timeoutMs)\n\n    this.set('target', target)\n    await waitForTcpReached(this, timeoutMs)\n\n    ;(this as any).reparent?.(carrier, { animated: true, duration: reparentDuration })\n    this.set('gripper', { ...((this.state as any).gripper ?? {}), state: 1 })\n    await sleep(reparentDuration)\n  }\n\n  /**\n   * Place: TCP descends vertically over the holder, gripper opens,\n   * carrier becomes the holder's child.\n   *\n   *   1. TCP → APPROACH above place (carrier's xy, +clearance)\n   *   2. TCP → place (descend straight down to drop point)\n   *   3. open gripper + reparent(carrier → holder)\n   *\n   * Pose resolution: TCP lands at where the carrier's top WILL BE after\n   * the drop, so the carrier lands with its bottom on the holder's attach\n   * surface. Computed as `holder.attachFrame.world.y + carrier.depth` (so\n   * yOffset = carrierDepth, not halfDepth like pick).\n   *\n   * @see pick — same option semantics.\n   */\n  override async place(carrier: Component, holder: Component, options: MoveOptions = {}): Promise<void> {\n    const timeoutMs = (options.timeoutMs as number | undefined) ?? 15000\n    const reparentDuration = (options.reparentDuration as number | undefined) ?? 800\n    const clearance = (options.approachClearance as number | undefined) ?? 10\n    const carrierDepth = resolveDepth(carrier)\n    const yaw = this._yawOf(holder)\n    const target = this._targetFor(holder, carrierDepth, yaw) // top-of-carrier after drop\n    const approach = this._targetFor(holder, carrierDepth + clearance, yaw)\n\n    this.set('target', approach)\n    await waitForTcpReached(this, timeoutMs)\n\n    this.set('target', target)\n    await waitForTcpReached(this, timeoutMs)\n\n    ;(holder as any).reparent?.(carrier, { animated: true, duration: reparentDuration })\n    this.set('gripper', { ...((this.state as any).gripper ?? {}), state: 0 })\n    await sleep(reparentDuration)\n  }\n\n  /**\n   * `pickAndPlace` is inherited from the `Mover` mixin default — runs\n   * `pick(carrier)` then `place(carrier, holder)` sequentially. The\n   * decomposition is safe: the carrier's world position only matters\n   * during pick (carrier-relative waypoints), and after pick the carrier\n   * is the TCP's child (so re-querying it would chase its own tail —\n   * which we don't, since place uses holder-relative waypoints only).\n   *\n   * @example\n   * ```ts\n   * await robotArm.pickAndPlace(box, spotB)\n   * await robotArm.pnp(parcel, palletA, { approachClearance: 30 })\n   * ```\n   */\n  /** Short alias for `pickAndPlace`. Same arguments, same behavior. */\n  pnp(carrier: Component, placeHolder: Component, options?: MoveOptions): Promise<void> {\n    return this.pickAndPlace(carrier, placeHolder, options)\n  }\n\n  /**\n   * Resolve a TCP position in this arm's chain-local frame.\n   *\n   * For a CarrierHolder (has `attachPointFor`), uses the holder's own\n   * attach frame as the base — that's the canonical \"where carriers\n   * sit on me\" point (top of Spot's pad, gripper TCP for another arm,\n   * etc.). For a plain carrier, uses its world center.\n   *\n   * `worldYOffset` is added to the resolved world Y before projecting\n   * back to chain-local — used by pickAndPlace to lift the TCP above\n   * the target (approach waypoints) and to land it on the carrier's\n   * top face rather than its volumetric center.\n   */\n  private _targetFor(\n    component: Component,\n    worldYOffset = 0,\n    yaw?: number\n  ): { x: number; y: number; z: number; yaw?: number } {\n    const ro3d = (this as any)._realObject as RobotArm3D | undefined\n\n    let baseWp: THREE.Vector3 | undefined\n    // Prefer holder's attach frame when available.\n    const attachPointFor = (component as any).attachPointFor\n    if (typeof attachPointFor === 'function') {\n      const point = attachPointFor.call(component, this)\n      if (point?.attach) {\n        point.attach.updateWorldMatrix?.(true, false)\n        baseWp = point.attach.getWorldPosition?.(new THREE.Vector3())\n      }\n    }\n    if (!baseWp) {\n      const obj = (component as any)._realObject?.object3d\n      if (obj) {\n        obj.updateWorldMatrix(true, false)\n        baseWp = obj.getWorldPosition(new THREE.Vector3())\n      }\n    }\n    if (!ro3d || !baseWp) {\n      // Final fallback: 2D bounds center — only before 3D builds.\n      const c = component.center\n      return { x: c.x, y: worldYOffset, z: c.y, yaw }\n    }\n    const local = ro3d.worldToChainLocal(baseWp.x, baseWp.y + worldYOffset, baseWp.z)\n    return { x: local.x, y: local.y, z: local.z, yaw }\n  }\n\n  /**\n   * Extract a component's world yaw (rotation around world +Y) from its\n   * 3D object's world matrix. Returns 0 if the object isn't built yet.\n   * Used by `pickAndPlace` so the gripper can match the carrier's /\n   * placeHolder's current orientation — preventing a yaw snap at the\n   * moment of reparent.\n   */\n  private _yawOf(component: Component): number {\n    const obj = (component as any)._realObject?.object3d\n    if (!obj) return 0\n    obj.updateWorldMatrix(true, false)\n    const q = new THREE.Quaternion()\n    obj.getWorldQuaternion(q)\n    const e = new THREE.Euler().setFromQuaternion(q, 'YXZ')\n    return e.y\n  }\n}\n\n/**\n * Resolve when the robot arm fires `tcp-reached`, reject on timeout.\n * The 3D side fires this event on smoothing completion (last joint\n * value within threshold of its target).\n */\nfunction waitForTcpReached(component: Component, timeoutMs: number): Promise<void> {\n  return new Promise((resolve, reject) => {\n    let timer: any\n    const onReached = () => {\n      clearTimeout(timer)\n      ;(component as any).off?.('tcp-reached', onReached)\n      resolve()\n    }\n    timer = setTimeout(() => {\n      ;(component as any).off?.('tcp-reached', onReached)\n      reject(new Error('TCP reach timeout'))\n    }, timeoutMs)\n    ;(component as any).on?.('tcp-reached', onReached)\n  })\n}\n\nfunction sleep(ms: number): Promise<void> {\n  return new Promise(resolve => setTimeout(resolve, ms))\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\n/**\n * Resolve a component's 3D height. things-scene v10 carriers (Box, Pallet,\n * etc.) typically declare `static defaultDepth` rather than setting\n * `state.depth`, so reading state alone returns 0 — wrong for a\n * default-sized box. The framework resolves the actual value into\n * `_realObject.effectiveDepth`. Falls back to `state.depth` for\n * components built before their RealObject exists.\n */\nfunction resolveDepth(c: Component): number {\n  const eff = (c as any)?._realObject?.effectiveDepth\n  if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n  return numOr((c as any)?.state?.depth, 0)\n}\n\nfunction pickColor(...candidates: unknown[]): string {\n  for (const c of candidates) {\n    if (typeof c === 'string' && c && c !== 'transparent') return c\n  }\n  return '#888'\n}\n"]}

package/dist/templates/index.d.ts

@@ -33,6 +33,15 @@ declare const _default: ({
         left: number;
         width: number;
         height: number;
+        depth: number;
+        rotation: number;
+        linkRadius: number;
+        joint0: number;
+        joint1: number;
+        joint2: number;
+        joint3: number;
+        joint4: number;
+        joint5: number;
         style: string;
         chainPreset: string;
         gripperType: string;

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

@@ -9,6 +9,15 @@ declare const _default: {
         left: number;
         width: number;
         height: number;
+        depth: number;
+        rotation: number;
+        linkRadius: number;
+        joint0: number;
+        joint1: number;
+        joint2: number;
+        joint3: number;
+        joint4: number;
+        joint5: number;
         style: string;
         chainPreset: string;
         gripperType: string;

package/dist/templates/robot-arm.js

@@ -1,6 +1,4 @@
-// PoC: reuse tact-timer icon as a placeholder until a dedicated robot-arm
-// icon is drawn.
-const icon = new URL('../../icons/tact-timer.png', import.meta.url).href;
+const icon = new URL('../../icons/robot-arm.png', import.meta.url).href;
 export default {
     type: 'robot-arm',
     description: 'articulated robot arm — configurable kinematic chain with style/gripper options and IK',
@@ -10,8 +8,17 @@ export default {
         type: 'robot-arm',
         top: 200,
         left: 200,
-        width: 120,
-        height: 120,
+        width: 5,
+        height: 5,
+        depth: 80,
+        rotation: 0,
+        linkRadius: 2,
+        joint0: 106,
+        joint1: 48,
+        joint2: 31,
+        joint3: -26,
+        joint4: 48,
+        joint5: 29,
         style: 'industrial',
         chainPreset: '6-axis-industrial',
         gripperType: 'parallel',

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

@@ -1 +1 @@
-{"version":3,"file":"robot-arm.js","sourceRoot":"","sources":["../../src/templates/robot-arm.ts"],"names":[],"mappings":"AAAA,0EAA0E;AAC1E,iBAAiB;AACjB,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,4BAA4B,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAExE,eAAe;IACb,IAAI,EAAE,WAAW;IACjB,WAAW,EAAE,wFAAwF;IACrG,KAAK,EAAE,eAAe,CAAC,sIAAsI;IAC7J,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,WAAW;QACjB,GAAG,EAAE,GAAG;QACR,IAAI,EAAE,GAAG;QACT,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;QACX,KAAK,EAAE,YAAY;QACnB,WAAW,EAAE,mBAAmB;QAChC,WAAW,EAAE,UAAU;QACvB,eAAe,EAAE,KAAK;QACtB,MAAM,EAAE,MAAM;KACf;CACF,CAAA","sourcesContent":["// PoC: reuse tact-timer icon as a placeholder until a dedicated robot-arm\n// icon is drawn.\nconst icon = new URL('../../icons/tact-timer.png', import.meta.url).href\n\nexport default {\n  type: 'robot-arm',\n  description: 'articulated robot arm — configurable kinematic chain with style/gripper options and IK',\n  group: 'manufacturing' /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|3D|facility|storage|conveyance|transport|manufacturing|form|etc */,\n  icon,\n  model: {\n    type: 'robot-arm',\n    top: 200,\n    left: 200,\n    width: 120,\n    height: 120,\n    style: 'industrial',\n    chainPreset: '6-axis-industrial',\n    gripperType: 'parallel',\n    showReachSphere: false,\n    status: 'idle'\n  }\n}\n"]}
+{"version":3,"file":"robot-arm.js","sourceRoot":"","sources":["../../src/templates/robot-arm.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,2BAA2B,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAEvE,eAAe;IACb,IAAI,EAAE,WAAW;IACjB,WAAW,EAAE,wFAAwF;IACrG,KAAK,EAAE,eAAe,CAAC,sIAAsI;IAC7J,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,WAAW;QACjB,GAAG,EAAE,GAAG;QACR,IAAI,EAAE,GAAG;QACT,KAAK,EAAE,CAAC;QACR,MAAM,EAAE,CAAC;QACT,KAAK,EAAE,EAAE;QACT,QAAQ,EAAE,CAAC;QACX,UAAU,EAAE,CAAC;QACb,MAAM,EAAE,GAAG;QACX,MAAM,EAAE,EAAE;QACV,MAAM,EAAE,EAAE;QACV,MAAM,EAAE,CAAC,EAAE;QACX,MAAM,EAAE,EAAE;QACV,MAAM,EAAE,EAAE;QACV,KAAK,EAAE,YAAY;QACnB,WAAW,EAAE,mBAAmB;QAChC,WAAW,EAAE,UAAU;QACvB,eAAe,EAAE,KAAK;QACtB,MAAM,EAAE,MAAM;KACf;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/robot-arm.png', import.meta.url).href\n\nexport default {\n  type: 'robot-arm',\n  description: 'articulated robot arm — configurable kinematic chain with style/gripper options and IK',\n  group: 'manufacturing' /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|3D|facility|storage|conveyance|transport|manufacturing|form|etc */,\n  icon,\n  model: {\n    type: 'robot-arm',\n    top: 200,\n    left: 200,\n    width: 5,\n    height: 5,\n    depth: 80,\n    rotation: 0,\n    linkRadius: 2,\n    joint0: 106,\n    joint1: 48,\n    joint2: 31,\n    joint3: -26,\n    joint4: 48,\n    joint5: 29,\n    style: 'industrial',\n    chainPreset: '6-axis-industrial',\n    gripperType: 'parallel',\n    showReachSphere: false,\n    status: 'idle'\n  }\n}\n"]}

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@operato/scene-manufacturing",
   "description": "Things scene components for manufacturing industry",
-  "version": "10.0.0-beta.22",
+  "version": "10.0.0-beta.28",
   "type": "module",
   "license": "MIT",
   "things-scene": true,
@@ -29,7 +29,7 @@
   },
   "dependencies": {
     "@hatiolab/things-scene": "^10.0.0-beta.1",
-    "@operato/scene-base": "^10.0.0-beta.22",
+    "@operato/scene-base": "^10.0.0-beta.24",
     "three": "^0.183.0"
   },
   "devDependencies": {
@@ -61,5 +61,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "f48e52f4f5fdc30ec06af9da7cf253f6e29cfb0e"
+  "gitHead": "40634f9afc681d852d6028a329cedb51cc4fb94f"
 }