@operato/scene-manufacturing 10.0.0-beta.30 → 10.0.0-beta.31

package/dist/robot-arm-3d.d.ts

@@ -2,8 +2,7 @@ import * as THREE from 'three';
 import { RealObjectGroup } from '@hatiolab/things-scene';
 export declare class RobotArm3D extends RealObjectGroup {
     private _smoothing?;
-    private _animFrame?;
-    private _isAnimating;
+    private _unsubTick;
     private _chain;
     private _jointFrames;
     build(): void;
@@ -128,6 +127,8 @@ export declare class RobotArm3D extends RealObjectGroup {
      */
     private _buildGripper;
     private _tcpFrame?;
+    /** 마지막 joint(=wrist) frame — 그리퍼 빌드가 부착되는 부모 노드. */
+    private _endFrame?;
     /**
      * Each gripper sub-builder returns its TCP z-offset (in `_endFrame`'s
      * local coordinates) — the point in space where a held carrier's grip
@@ -162,6 +163,18 @@ export declare class RobotArm3D extends RealObjectGroup {
      * been built yet (build pre-condition).
      */
     private _retargetIk;
+    /**
+     * 사용자 설정 home pose (state.joints / state.jointN) 의 joint 값 배열 반환.
+     * `goHome()` 의 target 으로 사용. _smoothing 의 current 와 무관 — pick/place 도중
+     * 호출되어도 본래 휴식 포즈를 반환.
+     */
+    getHomeJoints(): number[];
+    /**
+     * IK 를 거치지 않고 forward joint 값 배열을 smoothing target 으로 직접 설정.
+     * `goHome()` 외에도 외부에서 joint pose 직접 제어 시 사용.
+     * 완료 시 'tcp-reached' 이벤트 발생 (smoothing 의 allReached 경로 공통).
+     */
+    moveJointsTo(jointValues: number[]): void;
     updateDimension(): void;
     onchange(after: Record<string, unknown>, before: Record<string, unknown>): void;
     dispose(): void;

package/dist/robot-arm-3d.js

@@ -23,7 +23,7 @@
  * runs in matrix math (separate from this scene-graph walk) when needed.
  */
 import * as THREE from 'three';
-import { RealObjectGroup, resolveMaterial3d, applyMaterial3dProps } from '@hatiolab/things-scene';
+import { RealObjectGroup, resolveMaterial3d, applyMaterial3dProps, frameClock } from '@hatiolab/things-scene';
 import { STYLES, CHAIN_PRESETS, DEFAULT_GRIPPER } from './robot-arm-styles.js';
 import { solveCCDIK, maxReach, isSixAxisZYYZYZ, resolveBaseYaw, analyticalIk6Axis } from './robot-arm-ik.js';
 const _AXIS_VEC = {
@@ -46,8 +46,7 @@ const DESCENT_BIAS = 30;
 const NO_RAYCAST = () => { };
 export class RobotArm3D extends RealObjectGroup {
     _smoothing;
-    _animFrame;
-    _isAnimating = false;
+    _unsubTick = null;
     _chain = [];
     _jointFrames = [];
     build() {
@@ -478,7 +477,6 @@ export class RobotArm3D extends RealObjectGroup {
         // Also exposed via `getGripperFrame()` so CarrierHolder.attachPointFor
         // can return it — making any Carriable child mount onto the moving
         // gripper TCP and follow IK automatically.
-        ;
         this._endFrame = currentParent;
     }
     /**
@@ -660,6 +658,8 @@ export class RobotArm3D extends RealObjectGroup {
         tcp.position.z = tcpZ;
     }
     _tcpFrame;
+    /** 마지막 joint(=wrist) frame — 그리퍼 빌드가 부착되는 부모 노드. */
+    _endFrame;
     /**
      * Each gripper sub-builder returns its TCP z-offset (in `_endFrame`'s
      * local coordinates) — the point in space where a held carrier's grip
@@ -787,16 +787,16 @@ export class RobotArm3D extends RealObjectGroup {
     }
     // ─── Animation: smooth joint values toward solved target ─────────────
     _startAnimation() {
-        this._isAnimating = true;
-        let lastTime = performance.now();
-        const tick = () => {
-            if (!this._isAnimating || !this._smoothing)
+        if (this._unsubTick)
+            return;
+        // RobotArm joint motion 은 시뮬레이션 사건 (pickAndPlace 의
+        // 일부). speed 따라 가속, paused 시 정지. dt 는 sim ms.
+        this._unsubTick = frameClock.subscribe((dt) => {
+            if (!this._smoothing)
                 return;
-            const now = performance.now();
-            const dt = Math.min((now - lastTime) / 1000, 0.1); // clamp for stability
-            lastTime = now;
+            const dtSec = Math.min(dt / 1000, 0.1); // clamp for stability
             const { current, target, speed } = this._smoothing;
-            const maxStep = speed * dt;
+            const maxStep = speed * dtSec;
             let allReached = true;
             for (let i = 0; i < current.length; i++) {
                 const diff = (target[i] ?? 0) - current[i];
@@ -813,18 +813,18 @@ export class RobotArm3D extends RealObjectGroup {
             this.component.invalidate?.();
             if (allReached) {
                 this._stopAnimation();
-                this.component.trigger?.('tcp-reached', { component: this.component });
-                return;
+                // Notify external code (pickAndPlace, custom scripts) that the
+                // gripper has reached its target. Component.trigger fires the
+                // standard things-scene event bus so consumers can subscribe via
+                // `component.on('tcp-reached', handler)`.
+                this.component.trigger('tcp-reached', { component: this.component });
             }
-            this._animFrame = requestAnimationFrame(tick);
-        };
-        this._animFrame = requestAnimationFrame(tick);
+        }, { description: 'joint smoothing', component: this.component });
     }
     _stopAnimation() {
-        this._isAnimating = false;
-        if (this._animFrame !== undefined) {
-            cancelAnimationFrame(this._animFrame);
-            this._animFrame = undefined;
+        if (this._unsubTick) {
+            this._unsubTick();
+            this._unsubTick = null;
         }
     }
     /**
@@ -880,6 +880,43 @@ export class RobotArm3D extends RealObjectGroup {
             this._stopAnimation();
         }
     }
+    /**
+     * 사용자 설정 home pose (state.joints / state.jointN) 의 joint 값 배열 반환.
+     * `goHome()` 의 target 으로 사용. _smoothing 의 current 와 무관 — pick/place 도중
+     * 호출되어도 본래 휴식 포즈를 반환.
+     */
+    getHomeJoints() {
+        if (!this._chain)
+            return [];
+        return this._resolveJoints(this._chain, this.component.state);
+    }
+    /**
+     * IK 를 거치지 않고 forward joint 값 배열을 smoothing target 으로 직접 설정.
+     * `goHome()` 외에도 외부에서 joint pose 직접 제어 시 사용.
+     * 완료 시 'tcp-reached' 이벤트 발생 (smoothing 의 allReached 경로 공통).
+     */
+    moveJointsTo(jointValues) {
+        if (!this._chain)
+            return;
+        const state = this.component.state;
+        const previous = this._smoothing?.current?.slice() ?? this._resolveJoints(this._chain, state);
+        // 길이 보정 — chain 보다 짧으면 0 으로 채움, 길면 자름. range clamp.
+        const target = [];
+        for (let i = 0; i < this._chain.length; i++) {
+            let v = Number(jointValues[i] ?? 0);
+            if (!Number.isFinite(v))
+                v = 0;
+            v = Math.max(this._chain[i].range[0], Math.min(this._chain[i].range[1], v));
+            target.push(v);
+        }
+        this._smoothing = {
+            current: previous,
+            target,
+            speed: this._jointSpeed(state)
+        };
+        this._stopAnimation();
+        this._startAnimation();
+    }
     updateDimension() { }
     onchange(after, before) {
         // Structural changes — full rebuild.

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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Robot arm 3D — articulated chain renderer.\n *\n * Build pipeline:\n *   1. Resolve chain (state.chain | preset | default 6-axis-industrial).\n *   2. Resolve style (state.style preset, with per-property overrides).\n *   3. Resolve joint values (state.joints array OR object map; missing\n *      entries default to 0 and clamp to chain[i].range).\n *   4. If state.target is present, run CCDIK to solve joint values\n *      reaching that target; commit the solved values back via the\n *      smoothing controller (next tick converges to them).\n *   5. Forward-kinematics walk → emit one Object3D per joint frame,\n *      each carrying its joint housing mesh + the link mesh extending\n *      along local +Z to the next frame.\n *   6. Add gripper at the end-effector frame.\n *   7. Optional reach sphere (wireframe).\n *\n * Joint frames are real Object3D children, so the rotation set via\n * `frame.rotation.<axis> = jointValue` on each frame produces the right\n * world-space pose without explicit matrix math at render time. CCDIK\n * runs in matrix math (separate from this scene-graph walk) when needed.\n */\n\nimport * as THREE from 'three'\nimport {\n  RealObjectGroup,\n  resolveMaterial3d,\n  applyMaterial3dProps,\n  type Component,\n  type Material3D\n} from '@hatiolab/things-scene'\nimport {\n  STYLES,\n  CHAIN_PRESETS,\n  DEFAULT_GRIPPER,\n  type RobotArmStyle,\n  type StyleName,\n  type ChainPresetName,\n  type GripperConfig,\n  type LinkShape,\n  type JointHousing\n} from './robot-arm-styles.js'\nimport {\n  forwardKinematics,\n  solveCCDIK,\n  maxReach,\n  isSixAxisZYYZYZ,\n  resolveBaseYaw,\n  analyticalIk6Axis,\n  type ChainElement,\n  type JointAxis\n} from './robot-arm-ik.js'\n\nconst _AXIS_VEC: 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\nconst DEG2RAD = Math.PI / 180\nconst RAD2DEG = 180 / Math.PI\n\n/**\n * Length (chain-local units) of the virtual end-extension used to bias\n * CCDIK toward \"gripper pointing world-down\". Longer = stronger orientation\n * bias but reduces effective reach; shorter = closer to position-only.\n * 30 is a moderate default that handles typical pick-and-place poses\n * without sacrificing reach for normal-sized arms.\n */\nconst DESCENT_BIAS = 30\n\n/** Raycast no-op — assigned to non-interactive helper meshes (e.g. the\n *  reach-sphere visualization) so clicks pass through to the real body. */\nconst NO_RAYCAST: THREE.Object3D['raycast'] = () => {}\n\nexport class RobotArm3D extends RealObjectGroup {\n  private _smoothing?: { current: number[]; target: number[]; speed: number }\n  private _animFrame?: number\n  private _isAnimating = false\n  private _chain: ChainElement[] = []\n  private _jointFrames: THREE.Object3D[] = []\n\n  build() {\n    super.build()\n\n    const state = this.component.state as any\n    // Geometry mapping (per user contract):\n    //   width × height = robot footprint (the base pedestal occupies this)\n    //   depth          = robot height (= max reach when fully extended up)\n    //\n    // The chain preset's lengths are treated as PROPORTIONS — we scale them\n    // so the sum matches `effectiveDepth` (with a small base-height\n    // reservation). User can still override by passing absolute lengths via\n    // `state.chain[i].length`; the same scale is applied so `depth` stays\n    // the source of truth for overall robot height.\n    const baseHeight = this._baseHeight(state)\n    const targetReach = Math.max(this.effectiveDepth - baseHeight, 1)\n    const chain = this._resolveChain(state, targetReach)\n    const style = this._resolveStyle(state)\n    let joints = this._resolveJoints(chain, state)\n\n    // If a target is set, solve IK and use the solved joint values as the\n    // smoothing-controller's new target. CCDIK works in radians; convert\n    // both the input joints and the output back to user-facing units\n    // (degrees for revolute) before storing.\n    //\n    // CRITICAL: IK starts from smoothing.current (the visual joint pose\n    // mid-transit) when present, NOT from state-derived joints. CCDIK is\n    // path-dependent — different start poses converge to different valid\n    // solutions reaching the same TCP. If a rebuild happens DURING transit\n    // (e.g. `set('gripper', state:1)` closing the gripper after pick),\n    // re-solving from state joints (typically 0,0,0...) would produce a\n    // *different* solution than the path the arm was already on, snapping\n    // smoothing.target onto a new joint configuration. The arm — and any\n    // carried box — would then race toward that alternate solution,\n    // sometimes hitting `allReached` almost instantly (if the alternate\n    // happens to be close to current), which fires `tcp-reached`\n    // prematurely and makes pickAndPlace reparent the carrier to the\n    // place holder long before the arm has actually traveled there.\n    const target = state.target\n    if (target && Number.isFinite(target.x) && Number.isFinite(target.y) && Number.isFinite(target.z)) {\n      const targetVec = new THREE.Vector3(target.x, target.y, target.z)\n      const targetYaw = Number.isFinite(target.yaw) ? (target.yaw as number) : undefined\n      const ikStart = this._smoothing?.current?.slice() ?? joints\n      const radJoints = this._toRadians(chain, ikStart)\n      const ikValues = this._solveIkDescent(chain, radJoints, targetVec, targetYaw)\n      const solvedUser = this._fromRadians(chain, ikValues)\n      this._smoothing = {\n        current: ikStart.slice(),\n        target: solvedUser.slice(),\n        speed: this._jointSpeed(state)\n      }\n      // visible position = current (interpolated by tick)\n      joints = ikStart.slice()\n    } else if (this._smoothing) {\n      // no target — freeze where we are, NOT animate toward stale state\n      // joints (which may be 0,0,0... and unrelated to the visual pose).\n      this._smoothing.target = this._smoothing.current.slice()\n    }\n\n    this._chain = chain\n    this._buildArm(chain, style, joints, baseHeight)\n    this._buildGripper(chain, style, state)\n    this._buildReachSphere(chain, state, baseHeight)\n    this._buildBase(state, style, baseHeight)\n\n    // Animation lifecycle (smooths joint values toward solved target).\n    this._stopAnimation()\n    if (this._smoothing) {\n      this._startAnimation()\n    }\n\n    // Re-mount any Carriable child whose object3d was orphaned by the\n    // build's `clear()`. Without this, ANY structural change while a\n    // carrier is held (most commonly the gripper-close `set('gripper',\n    // {state:1})` inside pickAndPlace) tears down `_endFrame` along with\n    // the carrier mounted onto it — the box vanishes mid-flight.\n    //\n    // The component-side child list survives a 3D rebuild (only the\n    // scene-graph was reset), so we walk it and re-execute the holder's\n    // attach-point policy. Uses `add()` (not `attach()`) because the\n    // orphaned object3d's matrixWorld is stale; we want the explicit\n    // localPosition/localRotation, not whatever world pose was last\n    // computed on the old gripper frame.\n    this._remountCarriers()\n  }\n\n  private _remountCarriers() {\n    const holder = this.component as any\n    if (typeof holder.attachPointFor !== 'function') return\n    const children: Component[] =\n      holder.components ?? holder.children ?? []\n    for (const child of children) {\n      if (!(child as any)?.isCarriable) continue\n      const obj3d = (child as any)._realObject?.object3d\n      if (!obj3d) continue\n      const point = holder.attachPointFor(child)\n      if (!point?.attach) continue\n      point.attach.add(obj3d)\n      const lp = point.localPosition ?? { x: 0, y: 0, z: 0 }\n      obj3d.position.set(lp.x, lp.y, lp.z)\n      if (point.localRotation) {\n        obj3d.rotation.set(point.localRotation.x, point.localRotation.y, point.localRotation.z)\n      } else {\n        obj3d.quaternion.identity()\n      }\n    }\n  }\n\n  /**\n   * IK with a \"point gripper downward\" bias.\n   *\n   * CCDIK is position-only — it solves for joint values that put the\n   * end-effector at the target, without constraining the gripper's\n   * orientation. With no orientation constraint, valid solutions\n   * include twisted poses (gripper sideways / upside-down) — typical\n   * pick-and-place tasks then look broken: the box gets gripped at a\n   * wrong angle, or after release the carrier \"launches\" off because\n   * the gripper was facing some weird direction at the moment of\n   * release. The arm can also visibly \"lock\" near joint limits trying\n   * to satisfy a position-only target through a contorted path.\n   *\n   * Trick — augment the chain with a virtual rigid extension along the\n   * last frame's +Z, length L. When CCDIK puts this extended end at\n   * `target + L * (-Ẑ_chainLocal)` (i.e. the original target shifted\n   * downward by L in chain-local), the only way the chain can satisfy\n   * both placements simultaneously is by orienting the last frame's +Z\n   * to point in the chain-local -Z direction = world -Y direction =\n   * gripper pointing straight DOWN. Best-effort even when CCDIK can't\n   * fully converge — the solver pushes the chain in the right\n   * orientation, which matches what a real pick-and-place arm does.\n   */\n  \n  private _gripperTcpZ(style: RobotArmStyle, state: any): number {\n    const cfg: GripperConfig = {\n      ...DEFAULT_GRIPPER,\n      ...((state.gripper as GripperConfig) ?? {}),\n      ...(state.gripperType ? { type: state.gripperType } : {})\n    }\n    if (cfg.type === 'none') return 0\n    const linkRadius = style.linkRadius\n    switch (cfg.type) {\n      case 'parallel': {\n        const stroke = cfg.stroke ?? linkRadius * 1.8\n        const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.45\n        const fingerLength = stroke * 1.2\n        return fingerWidth * 1.8 + fingerLength\n      }\n      case 'three-finger': {\n        const stroke = cfg.stroke ?? linkRadius * 1.5\n        const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.4\n        const fingerLength = stroke * 1.2\n        return fingerWidth * 1.5 + fingerLength\n      }\n      case 'suction': {\n        const diameter = cfg.diameter ?? linkRadius * 2.4\n        return diameter * 0.9\n      }\n      case 'magnetic': {\n        const diameter = cfg.diameter ?? linkRadius * 2.6\n        return diameter * 0.25\n      }\n    }\n    return 0\n  }\n\n  private _solveIkDescent(\n    chain: ChainElement[],\n    radJoints: number[],\n    targetVec: THREE.Vector3,\n    targetYaw?: number\n  ): number[] {\n    const state = this.component.state as any\n    const style = this._resolveStyle(state)\n    const tcpZ = this._gripperTcpZ(style, state)\n\n    const augChain = chain.map((c, i) =>\n      i === chain.length - 1 ? { ...c, length: c.length + tcpZ } : c\n    )\n\n    // Fast path: analytical IK for the standard 6-axis Z-Y-Y-Z-Y-Z chain\n    // (industrial + cobot presets). CCDIK is greedy and produces twisted\n    // poses; analytical IK is closed-form, deterministic, and gives the\n    // natural \"elbow up, gripper straight down\" pose every time.\n    //\n    // The implementation lives in `./robot-arm-ik.js` so the unit tests\n    // exercise THE SAME code that runs at scene-time. (An earlier version\n    // of this file kept a private duplicate, which silently drifted from\n    // the tested implementation — easy to introduce subtle bugs that\n    // tests miss.)\n    if (isSixAxisZYYZYZ(augChain)) {\n      const analytical = analyticalIk6Axis(augChain, targetVec, radJoints, targetYaw)\n      if (analytical) return analytical\n    }\n\n    const radChain = augChain.map((c, i) => {\n      const isLast = i === chain.length - 1\n      const radRanges =\n        c.type === 'revolute'\n          ? ([c.range[0] * DEG2RAD, c.range[1] * DEG2RAD] as [number, number])\n          : c.range\n      return {\n        ...c,\n        length: isLast ? c.length + DESCENT_BIAS : c.length,\n        range: radRanges\n      }\n    })\n    // Shift target downward (chain-local -Z = world -Y) by the bias length.\n    const augTarget = new THREE.Vector3(targetVec.x, targetVec.y, targetVec.z - DESCENT_BIAS)\n\n    // ── Lock joint 0 (base yaw) at the right value, run CCDIK on the rest ──\n    //\n    // CCDIK has two compounding weaknesses with joint 0 (base yaw, axis\n    // = chain-local Z):\n    //\n    //   (a) Singularity when chain is straight along Z: v1 = tip - origin\n    //       is parallel to the joint axis, projects to zero length on the\n    //       perpendicular plane, and CCDIK SKIPs the joint entirely.\n    //\n    //   (b) Even with the chain bent, CCDIK walking end→base may settle\n    //       on a contorted solution where downstream joints (typically\n    //       the wrist) compensate for an under-rotated joint 0 — the arm\n    //       \"self-pierces\" reaching backwards over its own base instead\n    //       of cleanly rotating to face the target.\n    //\n    // Fix: split into two phases.\n    //   1. Compute the base yaw analytically: `atan2(target.y, target.x)`\n    //      — the unique angle that points the chain's pitch plane through\n    //      the target.\n    //   2. Run CCDIK on the SUB-chain (joints 1..N-1) with a baseMatrix\n    //      that already includes joint 0's rotation + the first link\n    //      translation. Joint 0 is fixed — CCDIK can't unwind it.\n    //\n    // Result: base yaw is always correctly oriented, and the remaining\n    // joints handle pitch + wrist + descent bias on top of that.\n    const seedJoint0 =\n      chain.length > 0 && chain[0].type === 'revolute' && chain[0].axis === 'z'\n        ? resolveBaseYaw(targetVec, radChain[0].range, radJoints[0] ?? 0)\n        : null\n\n    if (seedJoint0 === null) {\n      // Chain doesn't have a Z-axis joint at index 0 (e.g. SCARA, prismatic\n      // first joint) — fall back to plain CCDIK on the full chain. The\n      // singularity above doesn't apply when joint 0 isn't around Z.\n      return solveCCDIK(radChain, radJoints, augTarget, undefined, {\n        maxIterations: 40,\n        damping: 0.5\n      }).values\n    }\n\n    // Build base matrix: rotate around Z by seedJoint0, then translate\n    // along Z by chain[0].length (joint 0's link). This places the\n    // sub-chain's origin at frame 1.\n    const baseMatrix = new THREE.Matrix4()\n      .makeRotationZ(seedJoint0)\n      .multiply(new THREE.Matrix4().makeTranslation(0, 0, radChain[0].length))\n\n    const subChain = radChain.slice(1)\n    const subSeed = radJoints.slice(1)\n    const result = solveCCDIK(subChain, subSeed, augTarget, baseMatrix, {\n      maxIterations: 40,\n      damping: 0.5\n    })\n    return [seedJoint0, ...result.values]\n  }\n\n  // NOTE: `analyticalIk6Axis` and `resolveBaseYaw` previously lived as\n  // private duplicates here. They've been hoisted to `./robot-arm-ik.ts`\n  // so the unit tests in `test/ik-unit.test.mjs` exercise the same\n  // implementation that runs at scene-time. Don't reintroduce private\n  // copies — drift between \"tested\" and \"shipping\" code was a real\n  // source of bugs in this file's history.\n\n  // ─── Resolution helpers ──────────────────────────────────────────────\n\n  private _resolveChain(state: any, targetReach: number): ChainElement[] {\n    let raw: ChainElement[]\n    if (Array.isArray(state.chain) && state.chain.length > 0) {\n      raw = state.chain\n    } else {\n      const presetName = (state.chainPreset ?? '6-axis-industrial') as ChainPresetName\n      raw = CHAIN_PRESETS[presetName] ?? CHAIN_PRESETS['6-axis-industrial']\n    }\n    // Scale every link.length proportionally so the chain's total reach\n    // matches the requested depth. Preserves preset proportions (a SCARA\n    // stays SCARA-shaped at any depth). Prismatic ranges scale too —\n    // their travel distance is in the same length units.\n    const nominal = raw.reduce((s, c) => s + (c.length || 0), 0)\n    if (nominal <= 0) return raw\n    const scale = targetReach / nominal\n    return raw.map(c => ({\n      ...c,\n      length: c.length * scale,\n      range: c.type === 'prismatic' ? ([c.range[0] * scale, c.range[1] * scale] as [number, number]) : c.range\n    }))\n  }\n\n  /**\n   * Base pedestal height — small reservation at the bottom of `depth` so\n   * the chain doesn't start at z=0 (which would clip into the floor).\n   * About 12% of depth, clamped to a sane range.\n   */\n  private _baseHeight(state: any): number {\n    const depth = this.effectiveDepth\n    return Math.max(2, Math.min(depth * 0.12, 30))\n  }\n\n  /**\n   * Color resolution priority (high → low):\n   *   1. `state.fillStyle`  → main link color (overrides style preset)\n   *   2. `state.color`      → legacy / explicit hex int\n   *   3. style preset color\n   * Same for accent: state.strokeStyle → state.accentColor → preset accent.\n   * This way the user can keep a SCARA's box-link shape but recolor it via\n   * the standard fillStyle property without dropping into custom presets.\n   */\n  private _resolveStyle(state: any): RobotArmStyle {\n    const baseStyle = STYLES[(state.style ?? 'industrial') as StyleName] ?? STYLES.industrial\n    return {\n      linkShape: (state.linkShape as LinkShape) ?? baseStyle.linkShape,\n      jointHousing: (state.jointHousing as JointHousing) ?? baseStyle.jointHousing,\n      color: pickColorish(state.fillStyle, state.color, baseStyle.color),\n      accentColor: pickColorish(state.strokeStyle, state.accentColor, baseStyle.accentColor),\n      linkRadius:\n        typeof state.linkRadius === 'number' && Number.isFinite(state.linkRadius) && state.linkRadius > 0\n          ? state.linkRadius\n          : baseStyle.linkRadius\n    }\n  }\n\n  /**\n   * Resolution priority for each joint i:\n   *   1. state.jointN (e.g. state.joint0, state.joint1, ...)  — written\n   *      by the property panel's per-joint number inputs (one row per\n   *      joint, range-clamped slider).\n   *   2. state.joints[i]  — array form, useful for programmatic batch set.\n   *   3. state.joints[i]  — object form ({0: v, 1: v, ...}).\n   *   4. 0  — fallback.\n   * Final value is range-clamped against the joint's own limits.\n   */\n  private _resolveJoints(chain: ChainElement[], state: any): number[] {\n    const out: number[] = []\n    const src = state.joints\n    for (let i = 0; i < chain.length; i++) {\n      let v: number | undefined\n      const flatKey = state[`joint${i}`]\n      if (Number.isFinite(flatKey)) {\n        v = flatKey\n      } else if (Array.isArray(src) && Number.isFinite(src[i])) {\n        v = src[i]\n      } else if (src && typeof src === 'object' && Number.isFinite(src[i] ?? src[String(i)])) {\n        v = Number(src[i] ?? src[String(i)])\n      } else {\n        v = 0\n      }\n      if (!Number.isFinite(v)) v = 0\n      v = Math.max(chain[i].range[0], Math.min(chain[i].range[1], v as number))\n      out.push(v)\n    }\n    return out\n  }\n\n  private _jointSpeed(state: any): number {\n    // Degrees per second the joint can travel during smoothing.\n    // Length-unit prismatic joints reuse this value as units/sec —\n    // typical smoothing speed scales similarly for both axis types.\n    //\n    // Default 45 deg/s — chosen to feel like a real industrial arm\n    // executing a careful pick-and-place rather than a fly-by. Higher\n    // speeds (90+) read as \"rushed / unsafe\" in a 3D scene where the\n    // viewer expects measured motion. User can override via\n    // `state.jointSpeed`.\n    const v = Number(state.jointSpeed ?? 45)\n    return Number.isFinite(v) && v > 0 ? v : 45\n  }\n\n  /** Convert revolute joint values from degrees → radians. Prismatic\n   *  values pass through untouched. */\n  private _toRadians(chain: ChainElement[], joints: number[]): number[] {\n    return joints.map((v, i) => (chain[i].type === 'revolute' ? v * DEG2RAD : v))\n  }\n\n  /** Inverse of `_toRadians` — radians → degrees for revolute. */\n  private _fromRadians(chain: ChainElement[], joints: number[]): number[] {\n    return joints.map((v, i) => (chain[i].type === 'revolute' ? v * RAD2DEG : v))\n  }\n\n  // ─── Geometry builders ───────────────────────────────────────────────\n\n  /**\n   * Build the chain as a tree of nested Object3Ds. Each link extends\n   * along its parent's +Z by `length` — applying the joint rotation BEFORE\n   * the translation. This way `rotateAround joint axis = rotate the\n   * downstream subtree`, which matches real arm kinematics.\n   */\n  private _buildArm(chain: ChainElement[], style: RobotArmStyle, joints: number[], baseHeight: number) {\n    const state = this.component.state as any\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n\n    const linkMat = new THREE.MeshStandardMaterial({\n      color: style.color,\n      metalness: 0.45,\n      roughness: 0.45,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(linkMat, resolved)\n    const housingMat = new THREE.MeshStandardMaterial({\n      color: style.accentColor,\n      metalness: 0.55,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(housingMat, resolved)\n\n    // Three.js convention is +Y up — but our forward kinematics + CCDIK\n    // module is +Z up (matches IK math conventions). Wrap the whole arm\n    // in a group rotated -90° around X so chain-local +Z maps to world +Y.\n    // Lift by baseHeight so the chain origin sits ON TOP of the pedestal.\n    const armRoot = new THREE.Group()\n    armRoot.rotation.x = -Math.PI / 2\n    armRoot.position.y = -this.effectiveDepth / 2 + baseHeight\n    this.object3d.add(armRoot)\n    // Cache for worldToChainLocal — IK targets must be in this frame.\n    this._armRoot = armRoot\n\n    this._jointFrames = []\n    let currentParent: THREE.Object3D = armRoot\n\n    for (let i = 0; i < chain.length; i++) {\n      const link = chain[i]\n      // Joint frame — sits at the start of link i, rotates by jointValue.\n      const frame = new THREE.Object3D()\n      currentParent.add(frame)\n      this._jointFrames.push(frame)\n      this._applyJointValue(frame, link, joints[i])\n\n      // Joint housing at the joint origin (frame's local origin).\n      const housing = this._buildJointHousing(style.jointHousing, style.linkRadius, housingMat)\n      if (housing) frame.add(housing)\n\n      // Link mesh extends along local +Z by link.length. We mount it as a\n      // child of the frame so it inherits the joint rotation. The link\n      // itself sits with its base at z=0 and grows toward +Z.\n      const linkMesh = this._buildLinkMesh(style.linkShape, style.linkRadius, link.length, linkMat)\n      if (linkMesh) frame.add(linkMesh)\n\n      // The next frame's parent is a translation forward by link.length.\n      const next = new THREE.Object3D()\n      next.position.set(0, 0, link.length)\n      frame.add(next)\n      currentParent = next\n    }\n\n    // Save the end-effector parent so the gripper builder can mount onto it.\n    // Also exposed via `getGripperFrame()` so CarrierHolder.attachPointFor\n    // can return it — making any Carriable child mount onto the moving\n    // gripper TCP and follow IK automatically.\n    ;(this as any)._endFrame = currentParent\n  }\n\n  /**\n   * Frame at the gripper TCP (Tool Center Point) — the working point of\n   * the gripper, NOT the wrist. For jaw grippers this is the mid-point\n   * between finger tips; for suction/magnetic it's the contact face.\n   * Carriers held by the arm parent here so they sit at the gripping\n   * interface, not buried inside the gripper meshes.\n   *\n   * Falls back to `_endFrame` (wrist) until `_buildGripper` has run.\n   */\n  getGripperFrame(): THREE.Object3D | undefined {\n    return this._tcpFrame ?? ((this as any)._endFrame as THREE.Object3D | undefined)\n  }\n\n  /**\n   * Convert a world-space point to the IK module's chain-local frame.\n   *\n   * Why this matters: CCDIK + forwardKinematics operate in `armRoot`'s\n   * local space (base joint at origin, +Z up — the IK math convention).\n   * `state.target` is interpreted in *that* frame. If a caller hands in\n   * a world position from another component (a parcel sitting somewhere\n   * in the scene), it must be projected through `armRoot`'s inverse\n   * world matrix first, otherwise the arm reaches toward \"as if the\n   * world coords were base-relative\" — a totally wrong direction once\n   * the robot itself isn't at the world origin.\n   *\n   * Returns the same `{x, y, z}` shape `state.target` accepts, which is\n   * already in chain-local space (no further conversion needed by\n   * pickAndPlace).\n   */\n  worldToChainLocal(worldX: number, worldY: number, worldZ: number): { x: number; y: number; z: number } {\n    if (!this._armRoot) return { x: 0, y: 0, z: 0 }\n    this._armRoot.updateWorldMatrix(true, false)\n    const v = new THREE.Vector3(worldX, worldY, worldZ)\n    v.applyMatrix4(new THREE.Matrix4().copy(this._armRoot.matrixWorld).invert())\n    return { x: v.x, y: v.y, z: v.z }\n  }\n\n  private _armRoot?: THREE.Object3D\n\n  /**\n   * Apply a joint value to its scene-graph frame. `value` is in *user\n   * units* (degrees for revolute, scene units for prismatic) — convert\n   * to radians at the math boundary.\n   */\n  private _applyJointValue(frame: THREE.Object3D, link: ChainElement, value: number) {\n    if (link.type === 'revolute') {\n      const ax = _AXIS_VEC[link.axis]\n      frame.quaternion.setFromAxisAngle(ax, value * DEG2RAD)\n    } else {\n      frame.position.copy(_AXIS_VEC[link.axis]).multiplyScalar(value)\n    }\n  }\n\n  /** Cheap path: just refresh joint orientations without rebuilding the\n   *  geometry tree. Used when only joint values changed. */\n  private _refreshJointPoses(joints: number[]) {\n    for (let i = 0; i < this._chain.length; i++) {\n      const frame = this._jointFrames[i]\n      if (frame) this._applyJointValue(frame, this._chain[i], joints[i])\n    }\n  }\n\n  private _buildJointHousing(kind: JointHousing, r: number, mat: THREE.Material): THREE.Mesh | null {\n    const radius = r * 1.15\n    switch (kind) {\n      case 'disk': {\n        const geo = new THREE.CylinderGeometry(radius, radius, r * 0.7, 24)\n        // disk axis = local Y by default; we want it perpendicular to the\n        // link's growth direction. Leaving it on local Y reads as a \"wrist\n        // band\" between two link segments — which is what cobot disks do.\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'sphere': {\n        const geo = new THREE.SphereGeometry(radius, 16, 12)\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'knuckle': {\n        // Asymmetric box — wider in two axes, narrow in third. Reads as\n        // industrial cast joint.\n        const geo = new THREE.BoxGeometry(radius * 2.1, radius * 1.4, radius * 1.8)\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'none':\n      default:\n        return null\n    }\n  }\n\n  private _buildLinkMesh(\n    shape: LinkShape,\n    radius: number,\n    length: number,\n    mat: THREE.Material\n  ): THREE.Mesh | null {\n    if (length <= 0.5) return null\n    let geo: THREE.BufferGeometry\n    switch (shape) {\n      case 'cylinder':\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n        break\n      case 'tapered':\n        geo = new THREE.CylinderGeometry(radius * 0.7, radius, length, 16)\n        break\n      case 'tube':\n        geo = new THREE.CylinderGeometry(radius * 0.5, radius * 0.5, length, 12)\n        break\n      case 'box':\n        geo = new THREE.BoxGeometry(radius * 1.6, radius * 1.6, length)\n        break\n      case 'gltf':\n        // Placeholder — full GLTF link replacement is a v2 feature.\n        // Fall back to cylinder so the chain doesn't break visually.\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n        break\n      default:\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n    }\n    // Three.js cylinder/box default axis = local +Y. Rotate to grow along\n    // local +Z (the chain-forward direction) and shift so the BASE sits at\n    // z=0 (rather than centered).\n    if (shape !== 'box') {\n      geo.rotateX(Math.PI / 2)\n    }\n    geo.translate(0, 0, length / 2)\n    const mesh = new THREE.Mesh(geo, mat)\n    mesh.castShadow = true\n    return mesh\n  }\n\n  // ─── Gripper ──────────────────────────────────────────────────────────\n\n  /**\n   * Build the gripper meshes onto `_endFrame` and place a TCP frame at\n   * the gripper's working point (between the finger tips for jaw types,\n   * at the cup/disk distal face for surface types). Carriers held by the\n   * arm mount onto this TCP frame, NOT onto `_endFrame` — `_endFrame` is\n   * the wrist (chain end-of-link) and the gripper extends from it in +Z,\n   * so a carrier at `_endFrame` origin would visually overlap the gripper\n   * meshes (the fingers/cup would pierce through the box).\n   */\n  private _buildGripper(chain: ChainElement[], style: RobotArmStyle, state: any) {\n    const endFrame = (this as any)._endFrame as THREE.Object3D | undefined\n    if (!endFrame) return\n\n    // TCP frame — added unconditionally (even for gripper.type='none' or\n    // missing gripper) so carrier mount logic always has a stable target.\n    // Default at wrist (z=0); per-type builders override below.\n    const tcp = new THREE.Object3D()\n    endFrame.add(tcp)\n    this._tcpFrame = tcp\n\n    const cfg: GripperConfig = {\n      ...DEFAULT_GRIPPER,\n      ...((state.gripper as GripperConfig) ?? {}),\n      // gripperType nature property is a shortcut for {gripper: {type}} —\n      // expose it so the property panel's <select> works without nested object editing.\n      ...(state.gripperType ? { type: state.gripperType } : {})\n    }\n    if (cfg.type === 'none') return\n\n    const color = pickColorish(cfg.color, style.accentColor)\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const mat = new THREE.MeshStandardMaterial({\n      color,\n      metalness: 0.55,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(mat, resolved)\n\n    let tcpZ = 0\n    switch (cfg.type) {\n      case 'parallel':\n        tcpZ = this._buildParallelGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'three-finger':\n        tcpZ = this._buildThreeFingerGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'suction':\n        tcpZ = this._buildSuctionGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'magnetic':\n        tcpZ = this._buildMagneticGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n    }\n    tcp.position.z = tcpZ\n  }\n\n  private _tcpFrame?: THREE.Object3D\n\n  /**\n   * Each gripper sub-builder returns its TCP z-offset (in `_endFrame`'s\n   * local coordinates) — the point in space where a held carrier's grip\n   * face should land. The caller positions `_tcpFrame` at that z so\n   * carriers attach there directly.\n   */\n  private _buildParallelGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    // Default sizes scale with linkRadius so the gripper looks proportional\n    // to the arm. A heavy industrial 6-axis (linkRadius ~10) gets a chunky\n    // gripper; a slim cobot wrist (linkRadius ~3) gets a small one. User\n    // can still override via cfg.stroke / cfg.fingerWidth.\n    const stroke = cfg.stroke ?? linkRadius * 1.8\n    const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.45\n    const fingerLength = stroke * 1.2\n    const closure = THREE.MathUtils.clamp(cfg.state ?? 0, 0, 1) // 0 = open, 1 = closed\n    // Wrist plate\n    const plate = new THREE.Mesh(\n      new THREE.BoxGeometry(stroke * 1.6, fingerWidth * 1.2, fingerWidth * 1.8),\n      mat\n    )\n    plate.position.set(0, 0, fingerWidth * 0.9)\n    parent.add(plate)\n    // Two fingers, opening width = stroke when state=0, fingerWidth when state=1\n    const halfOpen = (stroke / 2) * (1 - closure) + (fingerWidth / 2) * closure\n    for (const sign of [-1, 1]) {\n      const finger = new THREE.Mesh(\n        new THREE.BoxGeometry(fingerWidth, fingerWidth, fingerLength),\n        mat\n      )\n      finger.position.set(sign * halfOpen, 0, fingerWidth * 1.8 + fingerLength / 2)\n      parent.add(finger)\n    }\n    // TCP = finger-tip plane (carrier's top face docks against it).\n    return fingerWidth * 1.8 + fingerLength\n  }\n\n  private _buildThreeFingerGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const stroke = cfg.stroke ?? linkRadius * 1.5\n    const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.4\n    const fingerLength = stroke * 1.2\n    const closure = THREE.MathUtils.clamp(cfg.state ?? 0, 0, 1)\n    const radius = (stroke / 2) * (1 - closure) + (fingerWidth / 2) * closure\n    // Wrist hub\n    const hub = new THREE.Mesh(\n      new THREE.CylinderGeometry(stroke * 0.55, stroke * 0.55, fingerWidth * 1.5, 16),\n      mat\n    )\n    hub.rotation.x = Math.PI / 2\n    hub.position.set(0, 0, fingerWidth * 0.75)\n    parent.add(hub)\n    // Three fingers around the axis\n    for (let i = 0; i < 3; i++) {\n      const angle = (i / 3) * Math.PI * 2\n      const finger = new THREE.Mesh(\n        new THREE.BoxGeometry(fingerWidth, fingerWidth, fingerLength),\n        mat\n      )\n      finger.position.set(Math.cos(angle) * radius, Math.sin(angle) * radius, fingerWidth * 1.5 + fingerLength / 2)\n      parent.add(finger)\n    }\n    return fingerWidth * 1.5 + fingerLength\n  }\n\n  private _buildSuctionGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const diameter = cfg.diameter ?? linkRadius * 2.4\n    // Mounting stem\n    const stem = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter * 0.25, diameter * 0.25, diameter * 0.5, 12),\n      mat\n    )\n    stem.rotation.x = Math.PI / 2\n    stem.position.set(0, 0, diameter * 0.25)\n    parent.add(stem)\n    // Suction cup (cone, narrow end at the stem)\n    const cup = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter / 2, diameter * 0.3, diameter * 0.4, 24, 1, true),\n      mat\n    )\n    cup.rotation.x = Math.PI / 2\n    cup.position.set(0, 0, diameter * 0.5 + diameter * 0.2)\n    parent.add(cup)\n    // TCP = cup distal face (suction surface contacts the carrier here).\n    return diameter * 0.9\n  }\n\n  private _buildMagneticGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const diameter = cfg.diameter ?? linkRadius * 2.6\n    // Disk magnet at the end\n    const disk = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter / 2, diameter / 2, diameter * 0.25, 24),\n      mat\n    )\n    disk.rotation.x = Math.PI / 2\n    disk.position.set(0, 0, diameter * 0.125)\n    parent.add(disk)\n    // TCP = disk distal face (magnet contacts the carrier here).\n    return diameter * 0.25\n  }\n\n  // ─── Reach sphere visualization ──────────────────────────────────────\n\n  private _buildReachSphere(chain: ChainElement[], state: any, baseHeight: number) {\n    if (!state.showReachSphere) return\n    const reach = maxReach(chain)\n    if (reach <= 0) return\n    const geo = new THREE.SphereGeometry(reach, 24, 16)\n    const wire = new THREE.WireframeGeometry(geo)\n    const mat = new THREE.LineBasicMaterial({\n      color: 0x44aacc,\n      transparent: true,\n      opacity: 0.18\n    })\n    const wireMesh = new THREE.LineSegments(wire, mat)\n    // Center on the base joint (top of pedestal), in world-space y.\n    wireMesh.position.y = -this.effectiveDepth / 2 + baseHeight\n    // Visualization-only — must not catch raycasts. The reach sphere\n    // surrounds the arm in 3D and would intercept clicks meant for the\n    // actual robot body. NO_RAYCAST keeps it visible but click-through.\n    wireMesh.raycast = NO_RAYCAST\n    this.object3d.add(wireMesh)\n    geo.dispose()\n  }\n\n  // ─── Base / pedestal ─────────────────────────────────────────────────\n\n  /**\n   * Pedestal — sized from `state.width × state.height` (the 2D footprint).\n   * Cylindrical base whose radius fills ~90% of the smaller footprint\n   * dimension; a flared bottom (1.2× radius) gives the visual weight of\n   * a real industrial robot anchor.\n   */\n  private _buildBase(state: any, style: RobotArmStyle, baseHeight: number) {\n    const w = Math.max(Math.abs(numOr(state.width, 100)), 1)\n    const h2d = Math.max(Math.abs(numOr(state.height, 100)), 1)\n    const r = (Math.min(w, h2d) / 2) * 0.9\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const mat = new THREE.MeshStandardMaterial({\n      color: style.accentColor,\n      metalness: 0.6,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(mat, resolved)\n    const base = new THREE.Mesh(new THREE.CylinderGeometry(r, r * 1.2, baseHeight, 24), mat)\n    base.position.set(0, -this.effectiveDepth / 2 + baseHeight / 2, 0)\n    base.castShadow = resolved.castShadow\n    base.receiveShadow = resolved.receiveShadow\n    this.object3d.add(base)\n  }\n\n  // ─── Animation: smooth joint values toward solved target ─────────────\n\n  private _startAnimation() {\n    this._isAnimating = true\n    let lastTime = performance.now()\n    const tick = () => {\n      if (!this._isAnimating || !this._smoothing) return\n      const now = performance.now()\n      const dt = Math.min((now - lastTime) / 1000, 0.1) // clamp for stability\n      lastTime = now\n      const { current, target, speed } = this._smoothing\n      const maxStep = speed * dt\n      let allReached = true\n      for (let i = 0; i < current.length; i++) {\n        const diff = (target[i] ?? 0) - current[i]\n        if (Math.abs(diff) > 1e-4) allReached = false\n        const step = Math.sign(diff) * Math.min(Math.abs(diff), maxStep)\n        current[i] += step\n        // apply to live frame\n        const frame = this._jointFrames[i]\n        const link = this._chain[i]\n        if (frame && link) this._applyJointValue(frame, link, current[i])\n      }\n      this.component.invalidate?.()\n      if (allReached) {\n        this._stopAnimation()\n        // Notify external code (pickAndPlace, custom scripts) that the\n        // gripper has reached its target. Component.trigger fires the\n        // standard things-scene event bus so consumers can subscribe via\n        // `component.on('tcp-reached', handler)`.\n        ;(this.component as any).trigger?.('tcp-reached', { component: this.component })\n        return\n      }\n      this._animFrame = requestAnimationFrame(tick)\n    }\n    this._animFrame = requestAnimationFrame(tick)\n  }\n\n  private _stopAnimation() {\n    this._isAnimating = false\n    if (this._animFrame !== undefined) {\n      cancelAnimationFrame(this._animFrame)\n      this._animFrame = undefined\n    }\n  }\n\n  /**\n   * Re-run IK toward a new target without rebuilding the scene graph.\n   *\n   * Mirrors the IK block of `build()` but operates on the *existing*\n   * joint frames and meshes. Critically does NOT call `update()` /\n   * `clear()` — those tear down `this.object3d`'s children, which would\n   * also detach the gripper frame and any Carriable currently mounted\n   * onto it. A pickAndPlace operation would lose its held carrier the\n   * instant the place target is committed.\n   *\n   * Falls back to a full `update()` only when the cached chain hasn't\n   * been built yet (build pre-condition).\n   */\n  private _retargetIk() {\n    if (this._chain.length === 0 || this._jointFrames.length !== this._chain.length) {\n      this.update()\n      return\n    }\n\n    const state = this.component.state as any\n    const chain = this._chain\n    const target = state.target\n    const speed = this._jointSpeed(state)\n\n    // Starting pose for IK = where smoothing currently is (mid-flight)\n    // or the resolved joint values from state. Using mid-flight values\n    // makes consecutive `pnp` calls chain smoothly without snap-back.\n    const previous = this._smoothing?.current?.slice() ?? this._resolveJoints(chain, state)\n\n    if (target && Number.isFinite(target.x) && Number.isFinite(target.y) && Number.isFinite(target.z)) {\n      const targetVec = new THREE.Vector3(target.x, target.y, target.z)\n      const targetYaw = Number.isFinite(target.yaw) ? (target.yaw as number) : undefined\n      const radJoints = this._toRadians(chain, previous)\n      const ikValues = this._solveIkDescent(chain, radJoints, targetVec, targetYaw)\n      const solvedUser = this._fromRadians(chain, ikValues)\n      this._smoothing = {\n        current: previous,\n        target: solvedUser.slice(),\n        speed\n      }\n      // Snap visible pose to the smoothing's \"current\" (= previous IK\n      // position). Without this, if external code mutated joint frames\n      // between ticks, the first tick would jump.\n      this._refreshJointPoses(previous)\n      this._stopAnimation()\n      this._startAnimation()\n    } else {\n      // Target cleared — stop animating, freeze where we are.\n      if (this._smoothing) {\n        this._smoothing.target = this._smoothing.current.slice()\n        this._smoothing.speed = speed\n      }\n      this._stopAnimation()\n    }\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    // Structural changes — full rebuild.\n    if (\n      'style' in after ||\n      'chainPreset' in after ||\n      'chain' 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      'alpha' in after ||\n      'material3d' in after ||\n      'gripper' in after ||\n      'gripperType' in after ||\n      'showReachSphere' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    // Target change → re-run IK + restart smoothing on the EXISTING\n    // scene graph. Critically NOT a full rebuild — `update()` calls\n    // `clear()` which detaches every child of `this.object3d`, including\n    // any Carriable currently mounted on the gripper frame. A pickAndPlace\n    // call would invisibly drop the held carrier the moment we set the\n    // place target, leaving no mesh between pick and place.\n    if ('target' in after || 'jointSpeed' in after) {\n      this._retargetIk()\n      return\n    }\n    // Joint value change (state.joint0, state.joint1, ... or state.joints\n    // batch) — fast path: just refresh joint poses on the existing scene\n    // graph. NO mesh rebuild. This is what makes property-panel slider\n    // edits feel live. The match must be done explicitly because dynamic\n    // joint property names (joint0, joint1, ...) aren't in any static list.\n    const hasJoint = 'joints' in after || Object.keys(after).some(k => /^joint\\d+$/.test(k))\n    if (hasJoint) {\n      const state = this.component.state as any\n      // chain might be empty if build hasn't run yet (e.g. component just\n      // attached). Defer to a full update in that case.\n      if (this._chain.length === 0 || this._jointFrames.length !== this._chain.length) {\n        this.update()\n        return\n      }\n      const joints = this._resolveJoints(this._chain, state)\n      this._refreshJointPoses(joints)\n      // smoothing's \"current\" should track the user's manual edits so the\n      // next IK target solves from where the user left things.\n      if (this._smoothing) this._smoothing.current = joints.slice()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  dispose() {\n    this._stopAnimation()\n    super.dispose()\n  }\n\n  updateAlpha() {}\n}\n\n/** Returns `v` if a finite number, otherwise `dflt`. */\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\nfunction clamp(v: number, lo: number, hi: number) {\n  return Math.max(lo, Math.min(hi, v))\n}\n\n/**\n * Pick the first valid color in priority order. Accepts both color strings\n * (CSS / hex) and hex int numbers — both are valid `THREE.ColorRepresentation`.\n * Treats 'transparent' / empty strings as \"skip me\".\n */\n/** Returns a number-or-string color (StyleColor). Both flavors are valid\n *  THREE.ColorRepresentation, so they pass through to MeshStandardMaterial\n *  without conversion. */\nfunction pickColorish(...candidates: unknown[]): number | string {\n  for (const c of candidates) {\n    if (typeof c === 'string' && c && c !== 'transparent') return c\n    if (typeof c === 'number' && Number.isFinite(c)) return c\n  }\n  return 0x888888\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Robot arm 3D — articulated chain renderer.\n *\n * Build pipeline:\n *   1. Resolve chain (state.chain | preset | default 6-axis-industrial).\n *   2. Resolve style (state.style preset, with per-property overrides).\n *   3. Resolve joint values (state.joints array OR object map; missing\n *      entries default to 0 and clamp to chain[i].range).\n *   4. If state.target is present, run CCDIK to solve joint values\n *      reaching that target; commit the solved values back via the\n *      smoothing controller (next tick converges to them).\n *   5. Forward-kinematics walk → emit one Object3D per joint frame,\n *      each carrying its joint housing mesh + the link mesh extending\n *      along local +Z to the next frame.\n *   6. Add gripper at the end-effector frame.\n *   7. Optional reach sphere (wireframe).\n *\n * Joint frames are real Object3D children, so the rotation set via\n * `frame.rotation.<axis> = jointValue` on each frame produces the right\n * world-space pose without explicit matrix math at render time. CCDIK\n * runs in matrix math (separate from this scene-graph walk) when needed.\n */\n\nimport * as THREE from 'three'\nimport {\n  RealObjectGroup,\n  resolveMaterial3d,\n  applyMaterial3dProps,\n  frameClock,\n  type Component,\n  type Material3D\n} from '@hatiolab/things-scene'\nimport type { Unsubscribe } from '@hatiolab/things-scene'\nimport {\n  STYLES,\n  CHAIN_PRESETS,\n  DEFAULT_GRIPPER,\n  type RobotArmStyle,\n  type StyleName,\n  type ChainPresetName,\n  type GripperConfig,\n  type LinkShape,\n  type JointHousing\n} from './robot-arm-styles.js'\nimport {\n  forwardKinematics,\n  solveCCDIK,\n  maxReach,\n  isSixAxisZYYZYZ,\n  resolveBaseYaw,\n  analyticalIk6Axis,\n  type ChainElement,\n  type JointAxis\n} from './robot-arm-ik.js'\n\nconst _AXIS_VEC: 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\nconst DEG2RAD = Math.PI / 180\nconst RAD2DEG = 180 / Math.PI\n\n/**\n * Length (chain-local units) of the virtual end-extension used to bias\n * CCDIK toward \"gripper pointing world-down\". Longer = stronger orientation\n * bias but reduces effective reach; shorter = closer to position-only.\n * 30 is a moderate default that handles typical pick-and-place poses\n * without sacrificing reach for normal-sized arms.\n */\nconst DESCENT_BIAS = 30\n\n/** Raycast no-op — assigned to non-interactive helper meshes (e.g. the\n *  reach-sphere visualization) so clicks pass through to the real body. */\nconst NO_RAYCAST: THREE.Object3D['raycast'] = () => {}\n\nexport class RobotArm3D extends RealObjectGroup {\n  private _smoothing?: { current: number[]; target: number[]; speed: number }\n  private _unsubTick: Unsubscribe | null = null\n  private _chain: ChainElement[] = []\n  private _jointFrames: THREE.Object3D[] = []\n\n  build() {\n    super.build()\n\n    const state = this.component.state\n    // Geometry mapping (per user contract):\n    //   width × height = robot footprint (the base pedestal occupies this)\n    //   depth          = robot height (= max reach when fully extended up)\n    //\n    // The chain preset's lengths are treated as PROPORTIONS — we scale them\n    // so the sum matches `effectiveDepth` (with a small base-height\n    // reservation). User can still override by passing absolute lengths via\n    // `state.chain[i].length`; the same scale is applied so `depth` stays\n    // the source of truth for overall robot height.\n    const baseHeight = this._baseHeight(state)\n    const targetReach = Math.max(this.effectiveDepth - baseHeight, 1)\n    const chain = this._resolveChain(state, targetReach)\n    const style = this._resolveStyle(state)\n    let joints = this._resolveJoints(chain, state)\n\n    // If a target is set, solve IK and use the solved joint values as the\n    // smoothing-controller's new target. CCDIK works in radians; convert\n    // both the input joints and the output back to user-facing units\n    // (degrees for revolute) before storing.\n    //\n    // CRITICAL: IK starts from smoothing.current (the visual joint pose\n    // mid-transit) when present, NOT from state-derived joints. CCDIK is\n    // path-dependent — different start poses converge to different valid\n    // solutions reaching the same TCP. If a rebuild happens DURING transit\n    // (e.g. `set('gripper', state:1)` closing the gripper after pick),\n    // re-solving from state joints (typically 0,0,0...) would produce a\n    // *different* solution than the path the arm was already on, snapping\n    // smoothing.target onto a new joint configuration. The arm — and any\n    // carried box — would then race toward that alternate solution,\n    // sometimes hitting `allReached` almost instantly (if the alternate\n    // happens to be close to current), which fires `tcp-reached`\n    // prematurely and makes pickAndPlace reparent the carrier to the\n    // place holder long before the arm has actually traveled there.\n    const target = state.target\n    if (target && Number.isFinite(target.x) && Number.isFinite(target.y) && Number.isFinite(target.z)) {\n      const targetVec = new THREE.Vector3(target.x, target.y, target.z)\n      const targetYaw = Number.isFinite(target.yaw) ? (target.yaw as number) : undefined\n      const ikStart = this._smoothing?.current?.slice() ?? joints\n      const radJoints = this._toRadians(chain, ikStart)\n      const ikValues = this._solveIkDescent(chain, radJoints, targetVec, targetYaw)\n      const solvedUser = this._fromRadians(chain, ikValues)\n      this._smoothing = {\n        current: ikStart.slice(),\n        target: solvedUser.slice(),\n        speed: this._jointSpeed(state)\n      }\n      // visible position = current (interpolated by tick)\n      joints = ikStart.slice()\n    } else if (this._smoothing) {\n      // no target — freeze where we are, NOT animate toward stale state\n      // joints (which may be 0,0,0... and unrelated to the visual pose).\n      this._smoothing.target = this._smoothing.current.slice()\n    }\n\n    this._chain = chain\n    this._buildArm(chain, style, joints, baseHeight)\n    this._buildGripper(chain, style, state)\n    this._buildReachSphere(chain, state, baseHeight)\n    this._buildBase(state, style, baseHeight)\n\n    // Animation lifecycle (smooths joint values toward solved target).\n    this._stopAnimation()\n    if (this._smoothing) {\n      this._startAnimation()\n    }\n\n    // Re-mount any Carriable child whose object3d was orphaned by the\n    // build's `clear()`. Without this, ANY structural change while a\n    // carrier is held (most commonly the gripper-close `set('gripper',\n    // {state:1})` inside pickAndPlace) tears down `_endFrame` along with\n    // the carrier mounted onto it — the box vanishes mid-flight.\n    //\n    // The component-side child list survives a 3D rebuild (only the\n    // scene-graph was reset), so we walk it and re-execute the holder's\n    // attach-point policy. Uses `add()` (not `attach()`) because the\n    // orphaned object3d's matrixWorld is stale; we want the explicit\n    // localPosition/localRotation, not whatever world pose was last\n    // computed on the old gripper frame.\n    this._remountCarriers()\n  }\n\n  private _remountCarriers() {\n    const holder = this.component as any\n    if (typeof holder.attachPointFor !== 'function') return\n    const children: Component[] =\n      holder.components ?? holder.children ?? []\n    for (const child of children) {\n      if (!(child as any)?.isCarriable) continue\n      const obj3d = (child as any)._realObject?.object3d\n      if (!obj3d) continue\n      const point = holder.attachPointFor(child)\n      if (!point?.attach) continue\n      point.attach.add(obj3d)\n      const lp = point.localPosition ?? { x: 0, y: 0, z: 0 }\n      obj3d.position.set(lp.x, lp.y, lp.z)\n      if (point.localRotation) {\n        obj3d.rotation.set(point.localRotation.x, point.localRotation.y, point.localRotation.z)\n      } else {\n        obj3d.quaternion.identity()\n      }\n    }\n  }\n\n  /**\n   * IK with a \"point gripper downward\" bias.\n   *\n   * CCDIK is position-only — it solves for joint values that put the\n   * end-effector at the target, without constraining the gripper's\n   * orientation. With no orientation constraint, valid solutions\n   * include twisted poses (gripper sideways / upside-down) — typical\n   * pick-and-place tasks then look broken: the box gets gripped at a\n   * wrong angle, or after release the carrier \"launches\" off because\n   * the gripper was facing some weird direction at the moment of\n   * release. The arm can also visibly \"lock\" near joint limits trying\n   * to satisfy a position-only target through a contorted path.\n   *\n   * Trick — augment the chain with a virtual rigid extension along the\n   * last frame's +Z, length L. When CCDIK puts this extended end at\n   * `target + L * (-Ẑ_chainLocal)` (i.e. the original target shifted\n   * downward by L in chain-local), the only way the chain can satisfy\n   * both placements simultaneously is by orienting the last frame's +Z\n   * to point in the chain-local -Z direction = world -Y direction =\n   * gripper pointing straight DOWN. Best-effort even when CCDIK can't\n   * fully converge — the solver pushes the chain in the right\n   * orientation, which matches what a real pick-and-place arm does.\n   */\n  \n  private _gripperTcpZ(style: RobotArmStyle, state: any): number {\n    const cfg: GripperConfig = {\n      ...DEFAULT_GRIPPER,\n      ...((state.gripper as GripperConfig) ?? {}),\n      ...(state.gripperType ? { type: state.gripperType } : {})\n    }\n    if (cfg.type === 'none') return 0\n    const linkRadius = style.linkRadius\n    switch (cfg.type) {\n      case 'parallel': {\n        const stroke = cfg.stroke ?? linkRadius * 1.8\n        const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.45\n        const fingerLength = stroke * 1.2\n        return fingerWidth * 1.8 + fingerLength\n      }\n      case 'three-finger': {\n        const stroke = cfg.stroke ?? linkRadius * 1.5\n        const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.4\n        const fingerLength = stroke * 1.2\n        return fingerWidth * 1.5 + fingerLength\n      }\n      case 'suction': {\n        const diameter = cfg.diameter ?? linkRadius * 2.4\n        return diameter * 0.9\n      }\n      case 'magnetic': {\n        const diameter = cfg.diameter ?? linkRadius * 2.6\n        return diameter * 0.25\n      }\n    }\n    return 0\n  }\n\n  private _solveIkDescent(\n    chain: ChainElement[],\n    radJoints: number[],\n    targetVec: THREE.Vector3,\n    targetYaw?: number\n  ): number[] {\n    const state = this.component.state\n    const style = this._resolveStyle(state)\n    const tcpZ = this._gripperTcpZ(style, state)\n\n    const augChain = chain.map((c, i) =>\n      i === chain.length - 1 ? { ...c, length: c.length + tcpZ } : c\n    )\n\n    // Fast path: analytical IK for the standard 6-axis Z-Y-Y-Z-Y-Z chain\n    // (industrial + cobot presets). CCDIK is greedy and produces twisted\n    // poses; analytical IK is closed-form, deterministic, and gives the\n    // natural \"elbow up, gripper straight down\" pose every time.\n    //\n    // The implementation lives in `./robot-arm-ik.js` so the unit tests\n    // exercise THE SAME code that runs at scene-time. (An earlier version\n    // of this file kept a private duplicate, which silently drifted from\n    // the tested implementation — easy to introduce subtle bugs that\n    // tests miss.)\n    if (isSixAxisZYYZYZ(augChain)) {\n      const analytical = analyticalIk6Axis(augChain, targetVec, radJoints, targetYaw)\n      if (analytical) return analytical\n    }\n\n    const radChain = augChain.map((c, i) => {\n      const isLast = i === chain.length - 1\n      const radRanges =\n        c.type === 'revolute'\n          ? ([c.range[0] * DEG2RAD, c.range[1] * DEG2RAD] as [number, number])\n          : c.range\n      return {\n        ...c,\n        length: isLast ? c.length + DESCENT_BIAS : c.length,\n        range: radRanges\n      }\n    })\n    // Shift target downward (chain-local -Z = world -Y) by the bias length.\n    const augTarget = new THREE.Vector3(targetVec.x, targetVec.y, targetVec.z - DESCENT_BIAS)\n\n    // ── Lock joint 0 (base yaw) at the right value, run CCDIK on the rest ──\n    //\n    // CCDIK has two compounding weaknesses with joint 0 (base yaw, axis\n    // = chain-local Z):\n    //\n    //   (a) Singularity when chain is straight along Z: v1 = tip - origin\n    //       is parallel to the joint axis, projects to zero length on the\n    //       perpendicular plane, and CCDIK SKIPs the joint entirely.\n    //\n    //   (b) Even with the chain bent, CCDIK walking end→base may settle\n    //       on a contorted solution where downstream joints (typically\n    //       the wrist) compensate for an under-rotated joint 0 — the arm\n    //       \"self-pierces\" reaching backwards over its own base instead\n    //       of cleanly rotating to face the target.\n    //\n    // Fix: split into two phases.\n    //   1. Compute the base yaw analytically: `atan2(target.y, target.x)`\n    //      — the unique angle that points the chain's pitch plane through\n    //      the target.\n    //   2. Run CCDIK on the SUB-chain (joints 1..N-1) with a baseMatrix\n    //      that already includes joint 0's rotation + the first link\n    //      translation. Joint 0 is fixed — CCDIK can't unwind it.\n    //\n    // Result: base yaw is always correctly oriented, and the remaining\n    // joints handle pitch + wrist + descent bias on top of that.\n    const seedJoint0 =\n      chain.length > 0 && chain[0].type === 'revolute' && chain[0].axis === 'z'\n        ? resolveBaseYaw(targetVec, radChain[0].range, radJoints[0] ?? 0)\n        : null\n\n    if (seedJoint0 === null) {\n      // Chain doesn't have a Z-axis joint at index 0 (e.g. SCARA, prismatic\n      // first joint) — fall back to plain CCDIK on the full chain. The\n      // singularity above doesn't apply when joint 0 isn't around Z.\n      return solveCCDIK(radChain, radJoints, augTarget, undefined, {\n        maxIterations: 40,\n        damping: 0.5\n      }).values\n    }\n\n    // Build base matrix: rotate around Z by seedJoint0, then translate\n    // along Z by chain[0].length (joint 0's link). This places the\n    // sub-chain's origin at frame 1.\n    const baseMatrix = new THREE.Matrix4()\n      .makeRotationZ(seedJoint0)\n      .multiply(new THREE.Matrix4().makeTranslation(0, 0, radChain[0].length))\n\n    const subChain = radChain.slice(1)\n    const subSeed = radJoints.slice(1)\n    const result = solveCCDIK(subChain, subSeed, augTarget, baseMatrix, {\n      maxIterations: 40,\n      damping: 0.5\n    })\n    return [seedJoint0, ...result.values]\n  }\n\n  // NOTE: `analyticalIk6Axis` and `resolveBaseYaw` previously lived as\n  // private duplicates here. They've been hoisted to `./robot-arm-ik.ts`\n  // so the unit tests in `test/ik-unit.test.mjs` exercise the same\n  // implementation that runs at scene-time. Don't reintroduce private\n  // copies — drift between \"tested\" and \"shipping\" code was a real\n  // source of bugs in this file's history.\n\n  // ─── Resolution helpers ──────────────────────────────────────────────\n\n  private _resolveChain(state: any, targetReach: number): ChainElement[] {\n    let raw: ChainElement[]\n    if (Array.isArray(state.chain) && state.chain.length > 0) {\n      raw = state.chain\n    } else {\n      const presetName = (state.chainPreset ?? '6-axis-industrial') as ChainPresetName\n      raw = CHAIN_PRESETS[presetName] ?? CHAIN_PRESETS['6-axis-industrial']\n    }\n    // Scale every link.length proportionally so the chain's total reach\n    // matches the requested depth. Preserves preset proportions (a SCARA\n    // stays SCARA-shaped at any depth). Prismatic ranges scale too —\n    // their travel distance is in the same length units.\n    const nominal = raw.reduce((s, c) => s + (c.length || 0), 0)\n    if (nominal <= 0) return raw\n    const scale = targetReach / nominal\n    return raw.map(c => ({\n      ...c,\n      length: c.length * scale,\n      range: c.type === 'prismatic' ? ([c.range[0] * scale, c.range[1] * scale] as [number, number]) : c.range\n    }))\n  }\n\n  /**\n   * Base pedestal height — small reservation at the bottom of `depth` so\n   * the chain doesn't start at z=0 (which would clip into the floor).\n   * About 12% of depth, clamped to a sane range.\n   */\n  private _baseHeight(state: any): number {\n    const depth = this.effectiveDepth\n    return Math.max(2, Math.min(depth * 0.12, 30))\n  }\n\n  /**\n   * Color resolution priority (high → low):\n   *   1. `state.fillStyle`  → main link color (overrides style preset)\n   *   2. `state.color`      → legacy / explicit hex int\n   *   3. style preset color\n   * Same for accent: state.strokeStyle → state.accentColor → preset accent.\n   * This way the user can keep a SCARA's box-link shape but recolor it via\n   * the standard fillStyle property without dropping into custom presets.\n   */\n  private _resolveStyle(state: any): RobotArmStyle {\n    const baseStyle = STYLES[(state.style ?? 'industrial') as StyleName] ?? STYLES.industrial\n    return {\n      linkShape: (state.linkShape as LinkShape) ?? baseStyle.linkShape,\n      jointHousing: (state.jointHousing as JointHousing) ?? baseStyle.jointHousing,\n      color: pickColorish(state.fillStyle, state.color, baseStyle.color),\n      accentColor: pickColorish(state.strokeStyle, state.accentColor, baseStyle.accentColor),\n      linkRadius:\n        typeof state.linkRadius === 'number' && Number.isFinite(state.linkRadius) && state.linkRadius > 0\n          ? state.linkRadius\n          : baseStyle.linkRadius\n    }\n  }\n\n  /**\n   * Resolution priority for each joint i:\n   *   1. state.jointN (e.g. state.joint0, state.joint1, ...)  — written\n   *      by the property panel's per-joint number inputs (one row per\n   *      joint, range-clamped slider).\n   *   2. state.joints[i]  — array form, useful for programmatic batch set.\n   *   3. state.joints[i]  — object form ({0: v, 1: v, ...}).\n   *   4. 0  — fallback.\n   * Final value is range-clamped against the joint's own limits.\n   */\n  private _resolveJoints(chain: ChainElement[], state: any): number[] {\n    const out: number[] = []\n    const src = state.joints\n    for (let i = 0; i < chain.length; i++) {\n      let v: number | undefined\n      const flatKey = state[`joint${i}`]\n      if (Number.isFinite(flatKey)) {\n        v = flatKey\n      } else if (Array.isArray(src) && Number.isFinite(src[i])) {\n        v = src[i]\n      } else if (src && typeof src === 'object' && Number.isFinite(src[i] ?? src[String(i)])) {\n        v = Number(src[i] ?? src[String(i)])\n      } else {\n        v = 0\n      }\n      if (!Number.isFinite(v)) v = 0\n      v = Math.max(chain[i].range[0], Math.min(chain[i].range[1], v as number))\n      out.push(v)\n    }\n    return out\n  }\n\n  private _jointSpeed(state: any): number {\n    // Degrees per second the joint can travel during smoothing.\n    // Length-unit prismatic joints reuse this value as units/sec —\n    // typical smoothing speed scales similarly for both axis types.\n    //\n    // Default 45 deg/s — chosen to feel like a real industrial arm\n    // executing a careful pick-and-place rather than a fly-by. Higher\n    // speeds (90+) read as \"rushed / unsafe\" in a 3D scene where the\n    // viewer expects measured motion. User can override via\n    // `state.jointSpeed`.\n    const v = Number(state.jointSpeed ?? 45)\n    return Number.isFinite(v) && v > 0 ? v : 45\n  }\n\n  /** Convert revolute joint values from degrees → radians. Prismatic\n   *  values pass through untouched. */\n  private _toRadians(chain: ChainElement[], joints: number[]): number[] {\n    return joints.map((v, i) => (chain[i].type === 'revolute' ? v * DEG2RAD : v))\n  }\n\n  /** Inverse of `_toRadians` — radians → degrees for revolute. */\n  private _fromRadians(chain: ChainElement[], joints: number[]): number[] {\n    return joints.map((v, i) => (chain[i].type === 'revolute' ? v * RAD2DEG : v))\n  }\n\n  // ─── Geometry builders ───────────────────────────────────────────────\n\n  /**\n   * Build the chain as a tree of nested Object3Ds. Each link extends\n   * along its parent's +Z by `length` — applying the joint rotation BEFORE\n   * the translation. This way `rotateAround joint axis = rotate the\n   * downstream subtree`, which matches real arm kinematics.\n   */\n  private _buildArm(chain: ChainElement[], style: RobotArmStyle, joints: number[], baseHeight: number) {\n    const state = this.component.state\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n\n    const linkMat = new THREE.MeshStandardMaterial({\n      color: style.color,\n      metalness: 0.45,\n      roughness: 0.45,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(linkMat, resolved)\n    const housingMat = new THREE.MeshStandardMaterial({\n      color: style.accentColor,\n      metalness: 0.55,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(housingMat, resolved)\n\n    // Three.js convention is +Y up — but our forward kinematics + CCDIK\n    // module is +Z up (matches IK math conventions). Wrap the whole arm\n    // in a group rotated -90° around X so chain-local +Z maps to world +Y.\n    // Lift by baseHeight so the chain origin sits ON TOP of the pedestal.\n    const armRoot = new THREE.Group()\n    armRoot.rotation.x = -Math.PI / 2\n    armRoot.position.y = -this.effectiveDepth / 2 + baseHeight\n    this.object3d.add(armRoot)\n    // Cache for worldToChainLocal — IK targets must be in this frame.\n    this._armRoot = armRoot\n\n    this._jointFrames = []\n    let currentParent: THREE.Object3D = armRoot\n\n    for (let i = 0; i < chain.length; i++) {\n      const link = chain[i]\n      // Joint frame — sits at the start of link i, rotates by jointValue.\n      const frame = new THREE.Object3D()\n      currentParent.add(frame)\n      this._jointFrames.push(frame)\n      this._applyJointValue(frame, link, joints[i])\n\n      // Joint housing at the joint origin (frame's local origin).\n      const housing = this._buildJointHousing(style.jointHousing, style.linkRadius, housingMat)\n      if (housing) frame.add(housing)\n\n      // Link mesh extends along local +Z by link.length. We mount it as a\n      // child of the frame so it inherits the joint rotation. The link\n      // itself sits with its base at z=0 and grows toward +Z.\n      const linkMesh = this._buildLinkMesh(style.linkShape, style.linkRadius, link.length, linkMat)\n      if (linkMesh) frame.add(linkMesh)\n\n      // The next frame's parent is a translation forward by link.length.\n      const next = new THREE.Object3D()\n      next.position.set(0, 0, link.length)\n      frame.add(next)\n      currentParent = next\n    }\n\n    // Save the end-effector parent so the gripper builder can mount onto it.\n    // Also exposed via `getGripperFrame()` so CarrierHolder.attachPointFor\n    // can return it — making any Carriable child mount onto the moving\n    // gripper TCP and follow IK automatically.\n    this._endFrame = currentParent\n  }\n\n  /**\n   * Frame at the gripper TCP (Tool Center Point) — the working point of\n   * the gripper, NOT the wrist. For jaw grippers this is the mid-point\n   * between finger tips; for suction/magnetic it's the contact face.\n   * Carriers held by the arm parent here so they sit at the gripping\n   * interface, not buried inside the gripper meshes.\n   *\n   * Falls back to `_endFrame` (wrist) until `_buildGripper` has run.\n   */\n  getGripperFrame(): THREE.Object3D | undefined {\n    return this._tcpFrame ?? this._endFrame\n  }\n\n  /**\n   * Convert a world-space point to the IK module's chain-local frame.\n   *\n   * Why this matters: CCDIK + forwardKinematics operate in `armRoot`'s\n   * local space (base joint at origin, +Z up — the IK math convention).\n   * `state.target` is interpreted in *that* frame. If a caller hands in\n   * a world position from another component (a parcel sitting somewhere\n   * in the scene), it must be projected through `armRoot`'s inverse\n   * world matrix first, otherwise the arm reaches toward \"as if the\n   * world coords were base-relative\" — a totally wrong direction once\n   * the robot itself isn't at the world origin.\n   *\n   * Returns the same `{x, y, z}` shape `state.target` accepts, which is\n   * already in chain-local space (no further conversion needed by\n   * pickAndPlace).\n   */\n  worldToChainLocal(worldX: number, worldY: number, worldZ: number): { x: number; y: number; z: number } {\n    if (!this._armRoot) return { x: 0, y: 0, z: 0 }\n    this._armRoot.updateWorldMatrix(true, false)\n    const v = new THREE.Vector3(worldX, worldY, worldZ)\n    v.applyMatrix4(new THREE.Matrix4().copy(this._armRoot.matrixWorld).invert())\n    return { x: v.x, y: v.y, z: v.z }\n  }\n\n  private _armRoot?: THREE.Object3D\n\n  /**\n   * Apply a joint value to its scene-graph frame. `value` is in *user\n   * units* (degrees for revolute, scene units for prismatic) — convert\n   * to radians at the math boundary.\n   */\n  private _applyJointValue(frame: THREE.Object3D, link: ChainElement, value: number) {\n    if (link.type === 'revolute') {\n      const ax = _AXIS_VEC[link.axis]\n      frame.quaternion.setFromAxisAngle(ax, value * DEG2RAD)\n    } else {\n      frame.position.copy(_AXIS_VEC[link.axis]).multiplyScalar(value)\n    }\n  }\n\n  /** Cheap path: just refresh joint orientations without rebuilding the\n   *  geometry tree. Used when only joint values changed. */\n  private _refreshJointPoses(joints: number[]) {\n    for (let i = 0; i < this._chain.length; i++) {\n      const frame = this._jointFrames[i]\n      if (frame) this._applyJointValue(frame, this._chain[i], joints[i])\n    }\n  }\n\n  private _buildJointHousing(kind: JointHousing, r: number, mat: THREE.Material): THREE.Mesh | null {\n    const radius = r * 1.15\n    switch (kind) {\n      case 'disk': {\n        const geo = new THREE.CylinderGeometry(radius, radius, r * 0.7, 24)\n        // disk axis = local Y by default; we want it perpendicular to the\n        // link's growth direction. Leaving it on local Y reads as a \"wrist\n        // band\" between two link segments — which is what cobot disks do.\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'sphere': {\n        const geo = new THREE.SphereGeometry(radius, 16, 12)\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'knuckle': {\n        // Asymmetric box — wider in two axes, narrow in third. Reads as\n        // industrial cast joint.\n        const geo = new THREE.BoxGeometry(radius * 2.1, radius * 1.4, radius * 1.8)\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'none':\n      default:\n        return null\n    }\n  }\n\n  private _buildLinkMesh(\n    shape: LinkShape,\n    radius: number,\n    length: number,\n    mat: THREE.Material\n  ): THREE.Mesh | null {\n    if (length <= 0.5) return null\n    let geo: THREE.BufferGeometry\n    switch (shape) {\n      case 'cylinder':\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n        break\n      case 'tapered':\n        geo = new THREE.CylinderGeometry(radius * 0.7, radius, length, 16)\n        break\n      case 'tube':\n        geo = new THREE.CylinderGeometry(radius * 0.5, radius * 0.5, length, 12)\n        break\n      case 'box':\n        geo = new THREE.BoxGeometry(radius * 1.6, radius * 1.6, length)\n        break\n      case 'gltf':\n        // Placeholder — full GLTF link replacement is a v2 feature.\n        // Fall back to cylinder so the chain doesn't break visually.\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n        break\n      default:\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n    }\n    // Three.js cylinder/box default axis = local +Y. Rotate to grow along\n    // local +Z (the chain-forward direction) and shift so the BASE sits at\n    // z=0 (rather than centered).\n    if (shape !== 'box') {\n      geo.rotateX(Math.PI / 2)\n    }\n    geo.translate(0, 0, length / 2)\n    const mesh = new THREE.Mesh(geo, mat)\n    mesh.castShadow = true\n    return mesh\n  }\n\n  // ─── Gripper ──────────────────────────────────────────────────────────\n\n  /**\n   * Build the gripper meshes onto `_endFrame` and place a TCP frame at\n   * the gripper's working point (between the finger tips for jaw types,\n   * at the cup/disk distal face for surface types). Carriers held by the\n   * arm mount onto this TCP frame, NOT onto `_endFrame` — `_endFrame` is\n   * the wrist (chain end-of-link) and the gripper extends from it in +Z,\n   * so a carrier at `_endFrame` origin would visually overlap the gripper\n   * meshes (the fingers/cup would pierce through the box).\n   */\n  private _buildGripper(chain: ChainElement[], style: RobotArmStyle, state: any) {\n    const endFrame = this._endFrame\n    if (!endFrame) return\n\n    // TCP frame — added unconditionally (even for gripper.type='none' or\n    // missing gripper) so carrier mount logic always has a stable target.\n    // Default at wrist (z=0); per-type builders override below.\n    const tcp = new THREE.Object3D()\n    endFrame.add(tcp)\n    this._tcpFrame = tcp\n\n    const cfg: GripperConfig = {\n      ...DEFAULT_GRIPPER,\n      ...((state.gripper as GripperConfig) ?? {}),\n      // gripperType nature property is a shortcut for {gripper: {type}} —\n      // expose it so the property panel's <select> works without nested object editing.\n      ...(state.gripperType ? { type: state.gripperType } : {})\n    }\n    if (cfg.type === 'none') return\n\n    const color = pickColorish(cfg.color, style.accentColor)\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const mat = new THREE.MeshStandardMaterial({\n      color,\n      metalness: 0.55,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(mat, resolved)\n\n    let tcpZ = 0\n    switch (cfg.type) {\n      case 'parallel':\n        tcpZ = this._buildParallelGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'three-finger':\n        tcpZ = this._buildThreeFingerGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'suction':\n        tcpZ = this._buildSuctionGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'magnetic':\n        tcpZ = this._buildMagneticGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n    }\n    tcp.position.z = tcpZ\n  }\n\n  private _tcpFrame?: THREE.Object3D\n  /** 마지막 joint(=wrist) frame — 그리퍼 빌드가 부착되는 부모 노드. */\n  private _endFrame?: THREE.Object3D\n\n  /**\n   * Each gripper sub-builder returns its TCP z-offset (in `_endFrame`'s\n   * local coordinates) — the point in space where a held carrier's grip\n   * face should land. The caller positions `_tcpFrame` at that z so\n   * carriers attach there directly.\n   */\n  private _buildParallelGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    // Default sizes scale with linkRadius so the gripper looks proportional\n    // to the arm. A heavy industrial 6-axis (linkRadius ~10) gets a chunky\n    // gripper; a slim cobot wrist (linkRadius ~3) gets a small one. User\n    // can still override via cfg.stroke / cfg.fingerWidth.\n    const stroke = cfg.stroke ?? linkRadius * 1.8\n    const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.45\n    const fingerLength = stroke * 1.2\n    const closure = THREE.MathUtils.clamp(cfg.state ?? 0, 0, 1) // 0 = open, 1 = closed\n    // Wrist plate\n    const plate = new THREE.Mesh(\n      new THREE.BoxGeometry(stroke * 1.6, fingerWidth * 1.2, fingerWidth * 1.8),\n      mat\n    )\n    plate.position.set(0, 0, fingerWidth * 0.9)\n    parent.add(plate)\n    // Two fingers, opening width = stroke when state=0, fingerWidth when state=1\n    const halfOpen = (stroke / 2) * (1 - closure) + (fingerWidth / 2) * closure\n    for (const sign of [-1, 1]) {\n      const finger = new THREE.Mesh(\n        new THREE.BoxGeometry(fingerWidth, fingerWidth, fingerLength),\n        mat\n      )\n      finger.position.set(sign * halfOpen, 0, fingerWidth * 1.8 + fingerLength / 2)\n      parent.add(finger)\n    }\n    // TCP = finger-tip plane (carrier's top face docks against it).\n    return fingerWidth * 1.8 + fingerLength\n  }\n\n  private _buildThreeFingerGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const stroke = cfg.stroke ?? linkRadius * 1.5\n    const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.4\n    const fingerLength = stroke * 1.2\n    const closure = THREE.MathUtils.clamp(cfg.state ?? 0, 0, 1)\n    const radius = (stroke / 2) * (1 - closure) + (fingerWidth / 2) * closure\n    // Wrist hub\n    const hub = new THREE.Mesh(\n      new THREE.CylinderGeometry(stroke * 0.55, stroke * 0.55, fingerWidth * 1.5, 16),\n      mat\n    )\n    hub.rotation.x = Math.PI / 2\n    hub.position.set(0, 0, fingerWidth * 0.75)\n    parent.add(hub)\n    // Three fingers around the axis\n    for (let i = 0; i < 3; i++) {\n      const angle = (i / 3) * Math.PI * 2\n      const finger = new THREE.Mesh(\n        new THREE.BoxGeometry(fingerWidth, fingerWidth, fingerLength),\n        mat\n      )\n      finger.position.set(Math.cos(angle) * radius, Math.sin(angle) * radius, fingerWidth * 1.5 + fingerLength / 2)\n      parent.add(finger)\n    }\n    return fingerWidth * 1.5 + fingerLength\n  }\n\n  private _buildSuctionGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const diameter = cfg.diameter ?? linkRadius * 2.4\n    // Mounting stem\n    const stem = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter * 0.25, diameter * 0.25, diameter * 0.5, 12),\n      mat\n    )\n    stem.rotation.x = Math.PI / 2\n    stem.position.set(0, 0, diameter * 0.25)\n    parent.add(stem)\n    // Suction cup (cone, narrow end at the stem)\n    const cup = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter / 2, diameter * 0.3, diameter * 0.4, 24, 1, true),\n      mat\n    )\n    cup.rotation.x = Math.PI / 2\n    cup.position.set(0, 0, diameter * 0.5 + diameter * 0.2)\n    parent.add(cup)\n    // TCP = cup distal face (suction surface contacts the carrier here).\n    return diameter * 0.9\n  }\n\n  private _buildMagneticGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const diameter = cfg.diameter ?? linkRadius * 2.6\n    // Disk magnet at the end\n    const disk = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter / 2, diameter / 2, diameter * 0.25, 24),\n      mat\n    )\n    disk.rotation.x = Math.PI / 2\n    disk.position.set(0, 0, diameter * 0.125)\n    parent.add(disk)\n    // TCP = disk distal face (magnet contacts the carrier here).\n    return diameter * 0.25\n  }\n\n  // ─── Reach sphere visualization ──────────────────────────────────────\n\n  private _buildReachSphere(chain: ChainElement[], state: any, baseHeight: number) {\n    if (!state.showReachSphere) return\n    const reach = maxReach(chain)\n    if (reach <= 0) return\n    const geo = new THREE.SphereGeometry(reach, 24, 16)\n    const wire = new THREE.WireframeGeometry(geo)\n    const mat = new THREE.LineBasicMaterial({\n      color: 0x44aacc,\n      transparent: true,\n      opacity: 0.18\n    })\n    const wireMesh = new THREE.LineSegments(wire, mat)\n    // Center on the base joint (top of pedestal), in world-space y.\n    wireMesh.position.y = -this.effectiveDepth / 2 + baseHeight\n    // Visualization-only — must not catch raycasts. The reach sphere\n    // surrounds the arm in 3D and would intercept clicks meant for the\n    // actual robot body. NO_RAYCAST keeps it visible but click-through.\n    wireMesh.raycast = NO_RAYCAST\n    this.object3d.add(wireMesh)\n    geo.dispose()\n  }\n\n  // ─── Base / pedestal ─────────────────────────────────────────────────\n\n  /**\n   * Pedestal — sized from `state.width × state.height` (the 2D footprint).\n   * Cylindrical base whose radius fills ~90% of the smaller footprint\n   * dimension; a flared bottom (1.2× radius) gives the visual weight of\n   * a real industrial robot anchor.\n   */\n  private _buildBase(state: any, style: RobotArmStyle, baseHeight: number) {\n    const w = Math.max(Math.abs(numOr(state.width, 100)), 1)\n    const h2d = Math.max(Math.abs(numOr(state.height, 100)), 1)\n    const r = (Math.min(w, h2d) / 2) * 0.9\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const mat = new THREE.MeshStandardMaterial({\n      color: style.accentColor,\n      metalness: 0.6,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(mat, resolved)\n    const base = new THREE.Mesh(new THREE.CylinderGeometry(r, r * 1.2, baseHeight, 24), mat)\n    base.position.set(0, -this.effectiveDepth / 2 + baseHeight / 2, 0)\n    base.castShadow = resolved.castShadow\n    base.receiveShadow = resolved.receiveShadow\n    this.object3d.add(base)\n  }\n\n  // ─── Animation: smooth joint values toward solved target ─────────────\n\n  private _startAnimation() {\n    if (this._unsubTick) return\n    // RobotArm joint motion 은 시뮬레이션 사건 (pickAndPlace 의\n    // 일부). speed 따라 가속, paused 시 정지. dt 는 sim ms.\n    this._unsubTick = frameClock.subscribe(\n      (dt) => {\n        if (!this._smoothing) return\n        const dtSec = Math.min(dt / 1000, 0.1) // clamp for stability\n        const { current, target, speed } = this._smoothing\n        const maxStep = speed * dtSec\n        let allReached = true\n        for (let i = 0; i < current.length; i++) {\n          const diff = (target[i] ?? 0) - current[i]\n          if (Math.abs(diff) > 1e-4) allReached = false\n          const step = Math.sign(diff) * Math.min(Math.abs(diff), maxStep)\n          current[i] += step\n          // apply to live frame\n          const frame = this._jointFrames[i]\n          const link = this._chain[i]\n          if (frame && link) this._applyJointValue(frame, link, current[i])\n        }\n        this.component.invalidate?.()\n        if (allReached) {\n          this._stopAnimation()\n          // Notify external code (pickAndPlace, custom scripts) that the\n          // gripper has reached its target. Component.trigger fires the\n          // standard things-scene event bus so consumers can subscribe via\n          // `component.on('tcp-reached', handler)`.\n          this.component.trigger('tcp-reached', { component: this.component })\n        }\n      },\n      { description: 'joint smoothing', component: this.component }\n    )\n  }\n\n  private _stopAnimation() {\n    if (this._unsubTick) {\n      this._unsubTick()\n      this._unsubTick = null\n    }\n  }\n\n  /**\n   * Re-run IK toward a new target without rebuilding the scene graph.\n   *\n   * Mirrors the IK block of `build()` but operates on the *existing*\n   * joint frames and meshes. Critically does NOT call `update()` /\n   * `clear()` — those tear down `this.object3d`'s children, which would\n   * also detach the gripper frame and any Carriable currently mounted\n   * onto it. A pickAndPlace operation would lose its held carrier the\n   * instant the place target is committed.\n   *\n   * Falls back to a full `update()` only when the cached chain hasn't\n   * been built yet (build pre-condition).\n   */\n  private _retargetIk() {\n    if (this._chain.length === 0 || this._jointFrames.length !== this._chain.length) {\n      this.update()\n      return\n    }\n\n    const state = this.component.state\n    const chain = this._chain\n    const target = state.target\n    const speed = this._jointSpeed(state)\n\n    // Starting pose for IK = where smoothing currently is (mid-flight)\n    // or the resolved joint values from state. Using mid-flight values\n    // makes consecutive `pnp` calls chain smoothly without snap-back.\n    const previous = this._smoothing?.current?.slice() ?? this._resolveJoints(chain, state)\n\n    if (target && Number.isFinite(target.x) && Number.isFinite(target.y) && Number.isFinite(target.z)) {\n      const targetVec = new THREE.Vector3(target.x, target.y, target.z)\n      const targetYaw = Number.isFinite(target.yaw) ? (target.yaw as number) : undefined\n      const radJoints = this._toRadians(chain, previous)\n      const ikValues = this._solveIkDescent(chain, radJoints, targetVec, targetYaw)\n      const solvedUser = this._fromRadians(chain, ikValues)\n      this._smoothing = {\n        current: previous,\n        target: solvedUser.slice(),\n        speed\n      }\n      // Snap visible pose to the smoothing's \"current\" (= previous IK\n      // position). Without this, if external code mutated joint frames\n      // between ticks, the first tick would jump.\n      this._refreshJointPoses(previous)\n      this._stopAnimation()\n      this._startAnimation()\n    } else {\n      // Target cleared — stop animating, freeze where we are.\n      if (this._smoothing) {\n        this._smoothing.target = this._smoothing.current.slice()\n        this._smoothing.speed = speed\n      }\n      this._stopAnimation()\n    }\n  }\n\n  /**\n   * 사용자 설정 home pose (state.joints / state.jointN) 의 joint 값 배열 반환.\n   * `goHome()` 의 target 으로 사용. _smoothing 의 current 와 무관 — pick/place 도중\n   * 호출되어도 본래 휴식 포즈를 반환.\n   */\n  getHomeJoints(): number[] {\n    if (!this._chain) return []\n    return this._resolveJoints(this._chain, this.component.state)\n  }\n\n  /**\n   * IK 를 거치지 않고 forward joint 값 배열을 smoothing target 으로 직접 설정.\n   * `goHome()` 외에도 외부에서 joint pose 직접 제어 시 사용.\n   * 완료 시 'tcp-reached' 이벤트 발생 (smoothing 의 allReached 경로 공통).\n   */\n  moveJointsTo(jointValues: number[]): void {\n    if (!this._chain) return\n    const state = this.component.state\n    const previous = this._smoothing?.current?.slice() ?? this._resolveJoints(this._chain, state)\n    // 길이 보정 — chain 보다 짧으면 0 으로 채움, 길면 자름. range clamp.\n    const target: number[] = []\n    for (let i = 0; i < this._chain.length; i++) {\n      let v = Number(jointValues[i] ?? 0)\n      if (!Number.isFinite(v)) v = 0\n      v = Math.max(this._chain[i].range[0], Math.min(this._chain[i].range[1], v))\n      target.push(v)\n    }\n    this._smoothing = {\n      current: previous,\n      target,\n      speed: this._jointSpeed(state)\n    }\n    this._stopAnimation()\n    this._startAnimation()\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    // Structural changes — full rebuild.\n    if (\n      'style' in after ||\n      'chainPreset' in after ||\n      'chain' 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      'alpha' in after ||\n      'material3d' in after ||\n      'gripper' in after ||\n      'gripperType' in after ||\n      'showReachSphere' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    // Target change → re-run IK + restart smoothing on the EXISTING\n    // scene graph. Critically NOT a full rebuild — `update()` calls\n    // `clear()` which detaches every child of `this.object3d`, including\n    // any Carriable currently mounted on the gripper frame. A pickAndPlace\n    // call would invisibly drop the held carrier the moment we set the\n    // place target, leaving no mesh between pick and place.\n    if ('target' in after || 'jointSpeed' in after) {\n      this._retargetIk()\n      return\n    }\n    // Joint value change (state.joint0, state.joint1, ... or state.joints\n    // batch) — fast path: just refresh joint poses on the existing scene\n    // graph. NO mesh rebuild. This is what makes property-panel slider\n    // edits feel live. The match must be done explicitly because dynamic\n    // joint property names (joint0, joint1, ...) aren't in any static list.\n    const hasJoint = 'joints' in after || Object.keys(after).some(k => /^joint\\d+$/.test(k))\n    if (hasJoint) {\n      const state = this.component.state\n      // chain might be empty if build hasn't run yet (e.g. component just\n      // attached). Defer to a full update in that case.\n      if (this._chain.length === 0 || this._jointFrames.length !== this._chain.length) {\n        this.update()\n        return\n      }\n      const joints = this._resolveJoints(this._chain, state)\n      this._refreshJointPoses(joints)\n      // smoothing's \"current\" should track the user's manual edits so the\n      // next IK target solves from where the user left things.\n      if (this._smoothing) this._smoothing.current = joints.slice()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  dispose() {\n    this._stopAnimation()\n    super.dispose()\n  }\n\n  updateAlpha() {}\n}\n\n/** Returns `v` if a finite number, otherwise `dflt`. */\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\nfunction clamp(v: number, lo: number, hi: number) {\n  return Math.max(lo, Math.min(hi, v))\n}\n\n/**\n * Pick the first valid color in priority order. Accepts both color strings\n * (CSS / hex) and hex int numbers — both are valid `THREE.ColorRepresentation`.\n * Treats 'transparent' / empty strings as \"skip me\".\n */\n/** Returns a number-or-string color (StyleColor). Both flavors are valid\n *  THREE.ColorRepresentation, so they pass through to MeshStandardMaterial\n *  without conversion. */\nfunction pickColorish(...candidates: unknown[]): number | string {\n  for (const c of candidates) {\n    if (typeof c === 'string' && c && c !== 'transparent') return c\n    if (typeof c === 'number' && Number.isFinite(c)) return c\n  }\n  return 0x888888\n}\n"]}

package/dist/robot-arm.d.ts

@@ -1,8 +1,44 @@
 import * as THREE from 'three';
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { SlotDef } from '@hatiolab/things-scene';
+import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
 import { type Alignment, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
+import { RobotArm3D } from './robot-arm-3d.js';
+import { type ChainPresetName } from './robot-arm-styles.js';
+import type { ChainElement } from './robot-arm-ik.js';
+import type { GripperConfig, LinkShape, JointHousing, StyleName } from './robot-arm-styles.js';
+declare module '@hatiolab/things-scene' {
+    interface ComponentEventMap {
+        /** TCP 가 목표 도달 시 발생 (pickAndPlace 시퀀싱용). */
+        'tcp-reached': [info: {
+            component: Component;
+        }];
+    }
+}
 export type RobotArmStatus = 'idle' | 'moving' | 'gripping' | 'warn' | 'error';
+/** RobotArm 컴포넌트 state */
+export interface RobotArmState extends State {
+    style?: StyleName;
+    chainPreset?: ChainPresetName;
+    chain?: ChainElement[];
+    joints?: number[] | Record<string, number>;
+    linkShape?: LinkShape;
+    jointHousing?: JointHousing;
+    linkRadius?: number;
+    color?: string | number;
+    accentColor?: string | number;
+    gripper?: GripperConfig;
+    gripperType?: GripperConfig['type'];
+    target?: {
+        x: number;
+        y: number;
+        z: number;
+        yaw?: number;
+    };
+    showReachSphere?: boolean;
+    jointSpeed?: number;
+    status?: RobotArmStatus;
+    material3d?: Material3D;
+}
 declare const Base: typeof Component & {
     new (...args: any[]): Component & {
         isMover: boolean;
@@ -12,6 +48,8 @@ declare const Base: typeof Component & {
     };
 };
 export default class RobotArm extends Base {
+    get state(): RobotArmState;
+    _realObject: RobotArm3D | undefined;
     static legends: Record<string, LegendBinding>;
     /**
      * Robot arms sit on the floor (or mount to a ceiling/wall — that's a
@@ -158,6 +196,26 @@ export default class RobotArm extends Base {
      */
     /** Short alias for `pickAndPlace`. Same arguments, same behavior. */
     pnp(carrier: Component, placeHolder: Component, options?: MoveOptions): Promise<void>;
+    /**
+     * Return all joints to the configured home pose (state.joints / state.jointN).
+     *
+     * IK target 을 클리어하고 forward joint 제어로 부드럽게 휴식 포즈로 복귀.
+     * `pickAndPlace` 의 마지막 단계로 자동 호출되며, 사용자가 명시적으로 호출도 가능.
+     *
+     * **인터럽트 가능**: 집에 도달하기 전에 새 `pick`/`place` 가 호출되면 (`set('target', ...)`)
+     * `_retargetIk()` 가 발동되어 smoothing 이 home 으로 가던 걸 멈추고 새 IK target 쪽으로
+     * redirect. mid-flight joint 값을 새 IK 의 시작점으로 사용해 끊김 없이 전환. tcp-reached
+     * 가 redirect 후의 새 target 에서 발생하면 goHome 의 await 도 함께 resolve (정상).
+     * 즉 "집으로 가다가 다음 pick 으로 자연스럽게 이어진다".
+     *
+     * @param options.timeoutMs  joint smoothing 의 'tcp-reached' 대기 timeout (default 15000ms).
+     */
+    goHome(options?: MoveOptions): Promise<void>;
+    /**
+     * pick → place → goHome 시퀀스. 마지막에 home pose 복귀가 robot-arm 의
+     * pickAndPlace 표준 동작. (Mover mixin 의 default 는 pick + place 만)
+     */
+    pickAndPlace(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
     /**
      * Resolve a TCP position in this arm's chain-local frame.
      *

package/dist/robot-arm.js

@@ -145,6 +145,12 @@ const STATIC_PROPERTIES = [
 // CarrierHolder.attachPointFor() (overridden below) provides 3D TCP positioning.
 const Base = Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract)))));
 let RobotArm = class RobotArm extends Base {
+    // `Base` is cast through `typeof Component` so TS sees `state` as an
+    // accessor; `declare state: …` would conflict with TS2610. Override the
+    // getter instead — runtime behavior is identical (just delegates to super).
+    get state() {
+        return super.state;
+    }
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
         borderColor: { from: 'status', legend: BORDER_LEGEND },
@@ -287,8 +293,7 @@ let RobotArm = class RobotArm extends Base {
             'status' in after ||
             'bodyColor' in after ||
             'borderColor' in after) {
-            ;
-            this.clearCache?.('fillStyle');
+            this.clearCache('fillStyle');
             this.invalidate();
         }
         super.onchange(after, before);
@@ -439,6 +444,40 @@ let RobotArm = class RobotArm extends Base {
     pnp(carrier, placeHolder, options) {
         return this.pickAndPlace(carrier, placeHolder, options);
     }
+    /**
+     * Return all joints to the configured home pose (state.joints / state.jointN).
+     *
+     * IK target 을 클리어하고 forward joint 제어로 부드럽게 휴식 포즈로 복귀.
+     * `pickAndPlace` 의 마지막 단계로 자동 호출되며, 사용자가 명시적으로 호출도 가능.
+     *
+     * **인터럽트 가능**: 집에 도달하기 전에 새 `pick`/`place` 가 호출되면 (`set('target', ...)`)
+     * `_retargetIk()` 가 발동되어 smoothing 이 home 으로 가던 걸 멈추고 새 IK target 쪽으로
+     * redirect. mid-flight joint 값을 새 IK 의 시작점으로 사용해 끊김 없이 전환. tcp-reached
+     * 가 redirect 후의 새 target 에서 발생하면 goHome 의 await 도 함께 resolve (정상).
+     * 즉 "집으로 가다가 다음 pick 으로 자연스럽게 이어진다".
+     *
+     * @param options.timeoutMs  joint smoothing 의 'tcp-reached' 대기 timeout (default 15000ms).
+     */
+    async goHome(options = {}) {
+        const timeoutMs = options.timeoutMs ?? 15000;
+        const ro = this._realObject;
+        if (!ro?.moveJointsTo || !ro?.getHomeJoints)
+            return;
+        // IK target 제거 — 다음 rebuild 시 _smoothing.target 이 IK 로 다시 풀리지 않도록.
+        // 외부에서 set('target', ...) 호출하면 다시 IK 모드로 전환되며 redirect.
+        this.set('target', undefined);
+        ro.moveJointsTo(ro.getHomeJoints());
+        await waitForTcpReached(this, timeoutMs);
+    }
+    /**
+     * pick → place → goHome 시퀀스. 마지막에 home pose 복귀가 robot-arm 의
+     * pickAndPlace 표준 동작. (Mover mixin 의 default 는 pick + place 만)
+     */
+    async pickAndPlace(carrier, holder, options = {}) {
+        await this.pick(carrier, options);
+        await this.place(carrier, holder, options);
+        await this.goHome(options);
+    }
     /**
      * Resolve a TCP position in this arm's chain-local frame.
      *
@@ -511,15 +550,14 @@ function waitForTcpReached(component, timeoutMs) {
         let timer;
         const onReached = () => {
             clearTimeout(timer);
-            component.off?.('tcp-reached', onReached);
+            component.off('tcp-reached', onReached);
             resolve();
         };
         timer = setTimeout(() => {
-            ;
-            component.off?.('tcp-reached', onReached);
+            component.off('tcp-reached', onReached);
             reject(new Error('TCP reach timeout'));
         }, timeoutMs);
-        component.on?.('tcp-reached', onReached);
+        component.on('tcp-reached', onReached);
     });
 }
 function sleep(ms) {

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, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef } 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.\n// ContainerCapacity inserted between CarrierHolder and Legendable — same pattern\n// as Forklift/AGV: receive()/dispatch() for slot-tracking + event emission;\n// CarrierHolder.attachPointFor() (overridden below) provides 3D TCP positioning.\nconst Base = Mover(CarrierHolder(ContainerCapacity(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  // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n  /** Single gripper slot — robot arm grips one item at a time. */\n  get slots(): SlotDef[] {\n    return [{ id: 'gripper', maxCount: 1 }]\n  }\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"]}
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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, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef, State, Material3D } 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'\nimport type { GripperConfig, LinkShape, JointHousing, StyleName } from './robot-arm-styles.js'\n\n// ── ComponentEventMap 도메인 augmentation ─────────────────────────────────\n// RobotArm 이 발생시키는 도메인 이벤트들. things-scene 의 ComponentEventMap 에\n// 추가 등록하여 component.on/trigger 에서 자동완성 + 페이로드 타입 검증.\ndeclare module '@hatiolab/things-scene' {\n  interface ComponentEventMap {\n    /** TCP 가 목표 도달 시 발생 (pickAndPlace 시퀀싱용). */\n    'tcp-reached': [info: { component: Component }]\n  }\n}\n\nexport type RobotArmStatus = 'idle' | 'moving' | 'gripping' | 'warn' | 'error'\n\n/** RobotArm 컴포넌트 state */\nexport interface RobotArmState extends State {\n  // ── 구조 ──\n  style?: StyleName\n  chainPreset?: ChainPresetName\n  chain?: ChainElement[]\n  joints?: number[] | Record<string, number>\n  linkShape?: LinkShape\n  jointHousing?: JointHousing\n  linkRadius?: number\n  color?: string | number\n  accentColor?: string | number\n\n  // ── 그리퍼 ──\n  gripper?: GripperConfig\n  gripperType?: GripperConfig['type']\n\n  // ── IK 타겟 ──\n  target?: { x: number; y: number; z: number; yaw?: number }\n\n  // ── 시각화 ──\n  showReachSphere?: boolean\n\n  // ── 모션 ──\n  jointSpeed?: number\n\n  // ── 운영 상태 ──\n  status?: RobotArmStatus\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\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.\n// ContainerCapacity inserted between CarrierHolder and Legendable — same pattern\n// as Forklift/AGV: receive()/dispatch() for slot-tracking + event emission;\n// CarrierHolder.attachPointFor() (overridden below) provides 3D TCP positioning.\nconst Base = Mover(CarrierHolder(ContainerCapacity(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  // `Base` is cast through `typeof Component` so TS sees `state` as an\n  // accessor; `declare state: …` would conflict with TS2610. Override the\n  // getter instead — runtime behavior is identical (just delegates to super).\n  override get state(): RobotArmState {\n    return super.state as RobotArmState\n  }\n\n  declare _realObject: RobotArm3D | undefined\n\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  // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n  /** Single gripper slot — robot arm grips one item at a time. */\n  get slots(): SlotDef[] {\n    return [{ id: 'gripper', maxCount: 1 }]\n  }\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\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.bodyColor, BODY_LEGEND.default)\n    const borderColor = pickColor(this.state.strokeStyle, this.state.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.clearCache('fillStyle')\n      this.invalidate()\n    }\n    super.onchange(after, before)\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new RobotArm3D(this)\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._realObject\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.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.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   * Return all joints to the configured home pose (state.joints / state.jointN).\n   *\n   * IK target 을 클리어하고 forward joint 제어로 부드럽게 휴식 포즈로 복귀.\n   * `pickAndPlace` 의 마지막 단계로 자동 호출되며, 사용자가 명시적으로 호출도 가능.\n   *\n   * **인터럽트 가능**: 집에 도달하기 전에 새 `pick`/`place` 가 호출되면 (`set('target', ...)`)\n   * `_retargetIk()` 가 발동되어 smoothing 이 home 으로 가던 걸 멈추고 새 IK target 쪽으로\n   * redirect. mid-flight joint 값을 새 IK 의 시작점으로 사용해 끊김 없이 전환. tcp-reached\n   * 가 redirect 후의 새 target 에서 발생하면 goHome 의 await 도 함께 resolve (정상).\n   * 즉 \"집으로 가다가 다음 pick 으로 자연스럽게 이어진다\".\n   *\n   * @param options.timeoutMs  joint smoothing 의 'tcp-reached' 대기 timeout (default 15000ms).\n   */\n  async goHome(options: MoveOptions = {}): Promise<void> {\n    const timeoutMs = (options.timeoutMs as number | undefined) ?? 15000\n    const ro = this._realObject as any\n    if (!ro?.moveJointsTo || !ro?.getHomeJoints) return\n    // IK target 제거 — 다음 rebuild 시 _smoothing.target 이 IK 로 다시 풀리지 않도록.\n    // 외부에서 set('target', ...) 호출하면 다시 IK 모드로 전환되며 redirect.\n    this.set('target', undefined)\n    ro.moveJointsTo(ro.getHomeJoints())\n    await waitForTcpReached(this, timeoutMs)\n  }\n\n  /**\n   * pick → place → goHome 시퀀스. 마지막에 home pose 복귀가 robot-arm 의\n   * pickAndPlace 표준 동작. (Mover mixin 의 default 는 pick + place 만)\n   */\n  override async pickAndPlace(\n    carrier: Component,\n    holder: Component,\n    options: MoveOptions = {}\n  ): Promise<void> {\n    await this.pick(carrier, options)\n    await this.place(carrier, holder, options)\n    await this.goHome(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._realObject\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.off('tcp-reached', onReached)\n      resolve()\n    }\n    timer = setTimeout(() => {\n      component.off('tcp-reached', onReached)\n      reject(new Error('TCP reach timeout'))\n    }, timeoutMs)\n    component.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/tact-timer.d.ts

@@ -1,4 +1,25 @@
 import { ComponentNature, Properties, Shape } from '@hatiolab/things-scene';
+import type { State } from '@hatiolab/things-scene';
+/** TactTimer 컴포넌트 state */
+export interface TactTimerState extends State {
+    startTime?: string;
+    endTime?: string;
+    format?: string;
+    progressDirection?: 'increase' | 'decrease' | '';
+    maskColor?: string;
+    beforeDueProgressColor?: string;
+    overDueProgressColor?: string;
+    beforeDueFontColor?: string;
+    overDueFontColor?: string;
+    underThresholdColor?: string;
+    progressThreshold?: number;
+    round?: number;
+    autoStart?: boolean;
+    showProgress?: boolean;
+    showTimer?: boolean;
+    started?: boolean;
+    data?: number;
+}
 declare const TactTimer_base: (new (...args: any[]) => {
     contains(x: number, y: number): boolean;
     get path(): {
@@ -158,7 +179,7 @@ declare const TactTimer_base: (new (...args: any[]) => {
     findAll(s: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): any[] | undefined;
     capture(x: number, y: number, except?: (c: import("@hatiolab/things-scene").Component) => boolean): any;
     findAnchor(name: string): any;
-    isDescendible(container: import("@hatiolab/things-scene").Component): boolean;
+    isDescendible(container: import("@hatiolab/things-scene").Component | any): boolean;
     getContext(component?: unknown): any;
     get root(): import("@hatiolab/things-scene").Component;
     get rootModel(): import("@hatiolab/things-scene").Component;
@@ -202,9 +223,13 @@ declare const TactTimer_base: (new (...args: any[]) => {
     toLocal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
     toGlobal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
     toOther(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    on<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback: (...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void, context?: any): any;
     on(name: string | object, callback: Function, context?: any): any;
+    off<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback?: ((...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void) | undefined, context?: any): any;
     off(name?: string | object, callback?: Function, context?: any): any;
+    once<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback: (...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void, context?: any): any;
     once(name: string | object, callback: Function, context?: any): any;
+    trigger<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, ...args: import("@hatiolab/things-scene").ComponentEventMap[K]): any;
     trigger(name: string, ...args: any[]): any;
     delegate_on(delegator: any): any;
     delegate_off(delegator: any): any;
@@ -237,6 +262,7 @@ declare const TactTimer_base: (new (...args: any[]) => {
     set element(_v: HTMLElement | null): any;
 }) & typeof Shape;
 export default class TactTimer extends TactTimer_base {
+    get state(): TactTimerState;
     private _start;
     private _due;
     private imageElement?;
@@ -249,10 +275,10 @@ export default class TactTimer extends TactTimer_base {
     counting(): void;
     render(context: CanvasRenderingContext2D): void;
     postrender(context: CanvasRenderingContext2D): void;
-    parseTime(timeString: string): Date | undefined;
+    parseTime(timeString: string | undefined): Date | undefined;
     get countdown(): number;
-    get value(): any[];
-    set value(v: any[]);
+    get value(): (string | undefined)[];
+    set value(v: (string | undefined)[]);
     get started(): any;
     set started(started: any);
 }

package/dist/tact-timer.js

@@ -93,6 +93,9 @@ const NATURE = {
     help: 'scene/component/manufacturing/tact-timer'
 };
 let TactTimer = class TactTimer extends RectPath(Shape) {
+    get state() {
+        return super.state;
+    }
     _start = 0;
     _due = 0;
     imageElement;

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{ ComponentNature, Properties, RectPath, Shape, sceneComponent } from '@hatiolab/things-scene'\nimport format from './libs/format.js'\nimport { MASK } from './tact-timer-mask.js'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'start-time',\n      name: 'startTime',\n      placeholder: 'YYYYMMDDhhmmss'\n    },\n    {\n      type: 'string',\n      label: 'end-time',\n      name: 'endTime',\n      placeholder: 'YYYYMMDDhhmmss'\n    },\n    {\n      type: 'string',\n      label: 'format',\n      name: 'format',\n      placeholder: 'hh:mm:ss'\n    },\n    {\n      type: 'select',\n      label: 'progress-direction',\n      name: 'progressDirection',\n      property: {\n        options: ['', 'increase', 'decrease']\n      }\n    },\n    {\n      type: 'color',\n      label: 'tact-timer-mask-color',\n      name: 'maskColor'\n    },\n    {\n      type: 'color',\n      label: 'before-due-progress-color',\n      name: 'beforeDueProgressColor'\n    },\n    {\n      type: 'color',\n      label: 'over-due-progress-color',\n      name: 'overDueProgressColor'\n    },\n    {\n      type: 'color',\n      label: 'before-due-font-color',\n      name: 'beforeDueFontColor'\n    },\n    {\n      type: 'color',\n      label: 'over-due-font-color',\n      name: 'overDueFontColor'\n    },\n    {\n      type: 'color',\n      label: 'under-threshold-color',\n      name: 'underThresholdColor'\n    },\n    {\n      type: 'number',\n      label: 'progress-threshold',\n      name: 'progressThreshold',\n      placeholder: '%'\n    },\n    {\n      type: 'number',\n      label: 'round',\n      name: 'round'\n    },\n    {\n      type: 'boolean',\n      label: 'auto-start',\n      name: 'autoStart'\n    },\n    {\n      type: 'boolean',\n      label: 'show-progress',\n      name: 'showProgress'\n    },\n    {\n      type: 'boolean',\n      label: 'show-timer',\n      name: 'showTimer'\n    }\n  ],\n  help: 'scene/component/manufacturing/tact-timer'\n}\n\n@sceneComponent('tact-timer')\nexport default class TactTimer extends RectPath(Shape) {\n  private _start: number = 0\n  private _due: number = 0\n  private imageElement?: HTMLImageElement\n\n  get nature() {\n    return NATURE\n  }\n\n  async ready() {\n    await super.ready()\n    if (!this.app.isViewMode) {\n      return\n    }\n\n    const { autoStart, started } = this.state\n\n    if (autoStart || started) {\n      this.setState('started', true)\n\n      this.start()\n    }\n  }\n\n  start() {\n    const { startTime, endTime, hidden } = this.state\n    const start = this.parseTime(startTime)\n    const end = this.parseTime(endTime)\n\n    if (start && end && !hidden) {\n      this._due = end.getTime()\n      this._start = start.getTime()\n      this.counting()\n    }\n  }\n\n  stop() {\n    this.started = false\n  }\n\n  onchange(after: Properties) {\n    if ('startTime' in after || 'endTime' in after || 'hidden' in after) {\n      this.start()\n    }\n\n    if ('maskColor' in after) {\n      delete this.imageElement\n    }\n  }\n\n  getImageElement(): HTMLImageElement | undefined {\n    if (!this.imageElement) {\n      const { maskColor = 'black' } = this.state\n\n      this.imageElement = new Image()\n      this.imageElement.src =\n        'data:image/svg+xml;charset=UTF-8;base64,' + btoa(MASK.replace(/{{fillColor}}/g, maskColor))\n    }\n\n    return this.imageElement\n  }\n\n  counting() {\n    const { hidden, started } = this.state\n    if (this.disposed || hidden || !started) {\n      return\n    }\n\n    requestAnimationFrame(() => {\n      const { showTimer, beforeDueFontColor, overDueFontColor, fontColor } = this.state\n      const countdown = this.countdown\n\n      this.setState('fontColor', (this.countdown > 0 ? beforeDueFontColor : overDueFontColor) || fontColor)\n\n      if (showTimer) {\n        const text = format(Math.abs(countdown), this.getState('format'))\n        this.text = text\n      } else {\n        this.text = ''\n      }\n\n      this.setState('data', this.countdown)\n\n      setTimeout(() => {\n        this.counting()\n      }, 1000)\n    })\n  }\n\n  render(context: CanvasRenderingContext2D) {\n    var {\n      top,\n      left,\n      height,\n      width,\n      round = 0,\n      fontColor,\n      maskColor,\n      beforeDueFontColor,\n      overDueFontColor,\n      beforeDueProgressColor = 'transparent',\n      overDueProgressColor = 'transparent',\n      underThresholdColor = 'transparent',\n      progressDirection = 'increase',\n      progressThreshold = 0,\n      showProgress\n    } = this.state\n\n    const increase = this.countdown > 0\n    const totalDuration = (this._due - this._start) / 1000\n    const underThreshold = this.countdown / totalDuration < progressThreshold / 100\n\n    // progress의 색상\n    context.beginPath()\n    context.roundRect(left, top, width, height, round)\n    context.clip()\n    this.drawFill(context)\n\n    // value의 색상\n    context.beginPath()\n\n    if (!showProgress) {\n      return\n    }\n\n    var progress = Math.abs((this.countdown / totalDuration) * 100)\n\n    if (!isNaN(progress)) {\n      progress = width - (width * progress) / 100\n      progress = Math.max(Math.min(progress, width), 0)\n\n      if (progressDirection == 'increase') {\n        context.rect(left, top, progress, height)\n      } else {\n        context.rect(left + progress, top, width - progress, height)\n      }\n\n      context.fillStyle = increase\n        ? underThreshold\n          ? underThresholdColor\n          : beforeDueProgressColor\n        : overDueProgressColor\n      context.fill()\n\n      context.beginPath()\n    }\n\n    const image = this.getImageElement()\n    this.drawImage(context, image!, left - 2, top - 2, width + 4, height + 4)\n\n    context.roundRect(left, top, width, height, round)\n\n    this.setState('fontColor', (increase ? beforeDueFontColor : overDueFontColor) || fontColor)\n  }\n\n  postrender(context: CanvasRenderingContext2D) {\n    this.drawStroke(context)\n    this.drawText(context)\n  }\n\n  parseTime(timeString: string): Date | undefined {\n    if (!timeString || timeString.length !== 14) {\n      return undefined\n    }\n    const year = parseInt(timeString.slice(0, 4), 10)\n    const month = parseInt(timeString.slice(4, 6), 10) - 1\n    const day = parseInt(timeString.slice(6, 8), 10)\n    const hour = parseInt(timeString.slice(8, 10), 10)\n    const minute = parseInt(timeString.slice(10, 12), 10)\n    const second = parseInt(timeString.slice(12, 14), 10)\n\n    return new Date(year, month, day, hour, minute, second)\n  }\n\n  get countdown(): number {\n    const due = this._due || 0\n    const now = Date.now()\n\n    return Math.round((due - now) / 1000)\n  }\n\n  get value() {\n    const { startTime, endTime } = this.state\n    return [startTime, endTime]\n  }\n\n  set value(v) {\n    if (v instanceof Array) {\n      const [startTime, endTime] = v\n      this.setState({\n        startTime,\n        endTime\n      })\n    } else if (typeof v == 'object') {\n      const { startTime, endTime } = v\n      this.setState({\n        startTime,\n        endTime\n      })\n    } else if (typeof v == 'string') {\n      const [startTime, endTime] = (v as string).split(/[-+/%$#_,]+/)\n      this.setState({\n        startTime,\n        endTime\n      })\n    } else {\n      this.setState({\n        startTime: undefined,\n        endTime: undefined\n      })\n    }\n  }\n\n  get started() {\n    return this.getState('started')\n  }\n\n  set started(started) {\n    if (this.started !== started) {\n      this.setState('started', started)\n      if (started) {\n        this.start()\n      }\n    }\n  }\n}\n"]}
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{ ComponentNature, Properties, RectPath, Shape, sceneComponent } from '@hatiolab/things-scene'\nimport type { State } from '@hatiolab/things-scene'\nimport format from './libs/format.js'\nimport { MASK } from './tact-timer-mask.js'\n\n/** TactTimer 컴포넌트 state */\nexport interface TactTimerState extends State {\n  startTime?: string\n  endTime?: string\n  format?: string\n  progressDirection?: 'increase' | 'decrease' | ''\n  maskColor?: string\n  beforeDueProgressColor?: string\n  overDueProgressColor?: string\n  beforeDueFontColor?: string\n  overDueFontColor?: string\n  underThresholdColor?: string\n  progressThreshold?: number\n  round?: number\n  autoStart?: boolean\n  showProgress?: boolean\n  showTimer?: boolean\n  started?: boolean\n  data?: number\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'start-time',\n      name: 'startTime',\n      placeholder: 'YYYYMMDDhhmmss'\n    },\n    {\n      type: 'string',\n      label: 'end-time',\n      name: 'endTime',\n      placeholder: 'YYYYMMDDhhmmss'\n    },\n    {\n      type: 'string',\n      label: 'format',\n      name: 'format',\n      placeholder: 'hh:mm:ss'\n    },\n    {\n      type: 'select',\n      label: 'progress-direction',\n      name: 'progressDirection',\n      property: {\n        options: ['', 'increase', 'decrease']\n      }\n    },\n    {\n      type: 'color',\n      label: 'tact-timer-mask-color',\n      name: 'maskColor'\n    },\n    {\n      type: 'color',\n      label: 'before-due-progress-color',\n      name: 'beforeDueProgressColor'\n    },\n    {\n      type: 'color',\n      label: 'over-due-progress-color',\n      name: 'overDueProgressColor'\n    },\n    {\n      type: 'color',\n      label: 'before-due-font-color',\n      name: 'beforeDueFontColor'\n    },\n    {\n      type: 'color',\n      label: 'over-due-font-color',\n      name: 'overDueFontColor'\n    },\n    {\n      type: 'color',\n      label: 'under-threshold-color',\n      name: 'underThresholdColor'\n    },\n    {\n      type: 'number',\n      label: 'progress-threshold',\n      name: 'progressThreshold',\n      placeholder: '%'\n    },\n    {\n      type: 'number',\n      label: 'round',\n      name: 'round'\n    },\n    {\n      type: 'boolean',\n      label: 'auto-start',\n      name: 'autoStart'\n    },\n    {\n      type: 'boolean',\n      label: 'show-progress',\n      name: 'showProgress'\n    },\n    {\n      type: 'boolean',\n      label: 'show-timer',\n      name: 'showTimer'\n    }\n  ],\n  help: 'scene/component/manufacturing/tact-timer'\n}\n\n@sceneComponent('tact-timer')\nexport default class TactTimer extends RectPath(Shape) {\n  override get state(): TactTimerState {\n    return super.state as TactTimerState\n  }\n\n  private _start: number = 0\n  private _due: number = 0\n  private imageElement?: HTMLImageElement\n\n  get nature() {\n    return NATURE\n  }\n\n  async ready() {\n    await super.ready()\n    if (!this.app.isViewMode) {\n      return\n    }\n\n    const { autoStart, started } = this.state\n\n    if (autoStart || started) {\n      this.setState('started', true)\n\n      this.start()\n    }\n  }\n\n  start() {\n    const { startTime, endTime, hidden } = this.state\n    const start = this.parseTime(startTime)\n    const end = this.parseTime(endTime)\n\n    if (start && end && !hidden) {\n      this._due = end.getTime()\n      this._start = start.getTime()\n      this.counting()\n    }\n  }\n\n  stop() {\n    this.started = false\n  }\n\n  onchange(after: Properties) {\n    if ('startTime' in after || 'endTime' in after || 'hidden' in after) {\n      this.start()\n    }\n\n    if ('maskColor' in after) {\n      delete this.imageElement\n    }\n  }\n\n  getImageElement(): HTMLImageElement | undefined {\n    if (!this.imageElement) {\n      const { maskColor = 'black' } = this.state\n\n      this.imageElement = new Image()\n      this.imageElement.src =\n        'data:image/svg+xml;charset=UTF-8;base64,' + btoa(MASK.replace(/{{fillColor}}/g, maskColor))\n    }\n\n    return this.imageElement\n  }\n\n  counting() {\n    const { hidden, started } = this.state\n    if (this.disposed || hidden || !started) {\n      return\n    }\n\n    requestAnimationFrame(() => {\n      const { showTimer, beforeDueFontColor, overDueFontColor, fontColor } = this.state\n      const countdown = this.countdown\n\n      this.setState('fontColor', (this.countdown > 0 ? beforeDueFontColor : overDueFontColor) || fontColor)\n\n      if (showTimer) {\n        const text = format(Math.abs(countdown), this.getState('format'))\n        this.text = text\n      } else {\n        this.text = ''\n      }\n\n      this.setState('data', this.countdown)\n\n      setTimeout(() => {\n        this.counting()\n      }, 1000)\n    })\n  }\n\n  render(context: CanvasRenderingContext2D) {\n    var {\n      top,\n      left,\n      height,\n      width,\n      round = 0,\n      fontColor,\n      maskColor,\n      beforeDueFontColor,\n      overDueFontColor,\n      beforeDueProgressColor = 'transparent',\n      overDueProgressColor = 'transparent',\n      underThresholdColor = 'transparent',\n      progressDirection = 'increase',\n      progressThreshold = 0,\n      showProgress\n    } = this.state\n\n    const increase = this.countdown > 0\n    const totalDuration = (this._due - this._start) / 1000\n    const underThreshold = this.countdown / totalDuration < progressThreshold / 100\n\n    // progress의 색상\n    context.beginPath()\n    context.roundRect(left, top, width, height, round)\n    context.clip()\n    this.drawFill(context)\n\n    // value의 색상\n    context.beginPath()\n\n    if (!showProgress) {\n      return\n    }\n\n    var progress = Math.abs((this.countdown / totalDuration) * 100)\n\n    if (!isNaN(progress)) {\n      progress = width - (width * progress) / 100\n      progress = Math.max(Math.min(progress, width), 0)\n\n      if (progressDirection == 'increase') {\n        context.rect(left, top, progress, height)\n      } else {\n        context.rect(left + progress, top, width - progress, height)\n      }\n\n      context.fillStyle = increase\n        ? underThreshold\n          ? underThresholdColor\n          : beforeDueProgressColor\n        : overDueProgressColor\n      context.fill()\n\n      context.beginPath()\n    }\n\n    const image = this.getImageElement()\n    this.drawImage(context, image!, left - 2, top - 2, width + 4, height + 4)\n\n    context.roundRect(left, top, width, height, round)\n\n    this.setState('fontColor', (increase ? beforeDueFontColor : overDueFontColor) || fontColor)\n  }\n\n  postrender(context: CanvasRenderingContext2D) {\n    this.drawStroke(context)\n    this.drawText(context)\n  }\n\n  parseTime(timeString: string | undefined): Date | undefined {\n    if (!timeString || timeString.length !== 14) {\n      return undefined\n    }\n    const year = parseInt(timeString.slice(0, 4), 10)\n    const month = parseInt(timeString.slice(4, 6), 10) - 1\n    const day = parseInt(timeString.slice(6, 8), 10)\n    const hour = parseInt(timeString.slice(8, 10), 10)\n    const minute = parseInt(timeString.slice(10, 12), 10)\n    const second = parseInt(timeString.slice(12, 14), 10)\n\n    return new Date(year, month, day, hour, minute, second)\n  }\n\n  get countdown(): number {\n    const due = this._due || 0\n    const now = Date.now()\n\n    return Math.round((due - now) / 1000)\n  }\n\n  get value() {\n    const { startTime, endTime } = this.state\n    return [startTime, endTime]\n  }\n\n  set value(v) {\n    if (v instanceof Array) {\n      const [startTime, endTime] = v\n      this.setState({\n        startTime,\n        endTime\n      })\n    } else if (typeof v == 'object') {\n      const { startTime, endTime } = v\n      this.setState({\n        startTime,\n        endTime\n      })\n    } else if (typeof v == 'string') {\n      const [startTime, endTime] = (v as string).split(/[-+/%$#_,]+/)\n      this.setState({\n        startTime,\n        endTime\n      })\n    } else {\n      this.setState({\n        startTime: undefined,\n        endTime: undefined\n      })\n    }\n  }\n\n  get started() {\n    return this.getState('started')\n  }\n\n  set started(started) {\n    if (this.started !== started) {\n      this.setState('started', started)\n      if (started) {\n        this.start()\n      }\n    }\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.30",
+  "version": "10.0.0-beta.31",
   "type": "module",
   "license": "MIT",
   "things-scene": true,
@@ -25,17 +25,19 @@
     "prepublishOnly": "tsc",
     "lint": "eslint src/ && prettier \"src/**/*.ts\" --check",
     "format": "eslint src/ --fix && prettier \"src/**/*.ts\" --write",
-    "migration": "things-factory-migration"
+    "migration": "things-factory-migration",
+    "test": "mocha --require should --node-option import=tsx \"test/**/test-*.ts\""
   },
   "dependencies": {
     "@hatiolab/things-scene": "^10.0.0-beta.1",
-    "@operato/scene-base": "^10.0.0-beta.30",
+    "@operato/scene-base": "^10.0.0-beta.31",
     "three": "^0.183.0"
   },
   "devDependencies": {
     "@hatiolab/prettier-config": "^1.0.0",
     "@things-factory/builder": "^10.0.0-beta.1",
     "@things-factory/operato-board": "^10.0.0-beta.1",
+    "@types/mocha": "^10.0.0",
     "@types/three": "^0.183.0",
     "@typescript-eslint/eslint-plugin": "^8.0.0",
     "@typescript-eslint/parser": "^8.0.0",
@@ -45,8 +47,11 @@
     "eslint-config-prettier": "^10.0.1",
     "husky": "^8.0.3",
     "lint-staged": "^15.2.2",
+    "mocha": "^10.0.0",
     "prettier": "^3.2.5",
+    "should": "^13.0.0",
     "tslib": "^2.3.1",
+    "tsx": "^4.0.0",
     "typescript": "^5.0.4"
   },
   "prettier": "@hatiolab/prettier-config",
@@ -61,5 +66,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "06b35b1726ec4f27ee76657ce341c6c6f3ba1b3a"
+  "gitHead": "fdafbd04fd083a43690be937230c7d96a3ee5da3"
 }