@operato/scene-manufacturing 10.0.0-beta.31 → 10.0.0-beta.33

package/dist/robot-arm.d.ts

@@ -50,6 +50,15 @@ declare const Base: typeof Component & {
 export default class RobotArm extends Base {
     get state(): RobotArmState;
     _realObject: RobotArm3D | undefined;
+    /**
+     * Phase H — pickup contract 호환성 검사용. 보편적 'gripper' type — vacuum,
+     * 2-finger, 3-finger 등 다양한 gripper 모두 이 type 으로 매칭. carrier 가
+     * 더 세분화된 호환성을 원하면 `pickupFramesFor` override 로 size 등 추가 검증.
+     *
+     * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아
+     *  TS4113 회피.)
+     */
+    get toolType(): string;
     static legends: Record<string, LegendBinding>;
     /**
      * Robot arms sit on the floor (or mount to a ceiling/wall — that's a
@@ -170,13 +179,20 @@ export default class RobotArm extends Base {
      *
      *   1. TCP → APPROACH above place (carrier's xy, +clearance)
      *   2. TCP → place (descend straight down to drop point)
-     *   3. open gripper + reparent(carrier → holder)
+     *   3. open gripper + dispatch (carrier → holder)
      *
      * Pose resolution: TCP lands at where the carrier's top WILL BE after
      * the drop, so the carrier lands with its bottom on the holder's attach
      * surface. Computed as `holder.attachFrame.world.y + carrier.depth` (so
      * yOffset = carrierDepth, not halfDepth like pick).
      *
+     * Handoff: if this arm has `dispatch` (ContainerCapacity) and the holder
+     * exposes `receive`, route via dispatch — slot tracking, `transfer-received`
+     * trigger (which downstream conveyance components like InductStation listen
+     * to for belt-animation kickoff), and `canReceive` pre-flight all flow
+     * through the standard contract. Falls back to raw `holder.reparent()` for
+     * holders without ContainerCapacity (plain Spot, etc.). Mirrors Mover.place.
+     *
      * @see pick — same option semantics.
      */
     place(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
@@ -219,10 +235,19 @@ export default class RobotArm extends Base {
     /**
      * Resolve a TCP position in this arm's chain-local frame.
      *
-     * For a CarrierHolder (has `attachPointFor`), uses the holder's own
-     * attach frame as the base — that's the canonical "where carriers
-     * sit on me" point (top of Spot's pad, gripper TCP for another arm,
-     * etc.). For a plain carrier, uses its world center.
+     * Resolution priority:
+     *   1. `attachPointFor` (CarrierHolder) — canonical TCP frame for arms /
+     *      Spot pads / gripper-on-gripper.
+     *   2. `deliveryWorldPosition` (Phase G9 — Holder contract). Holder 가
+     *      ContainerCapacity 의 default 또는 자체 override 로 정확한 도달
+     *      world XYZ 를 직접 제공. 이전 SCAFFOLDING 의 cz 공식 역연산이
+     *      여기로 이전됨.
+     *   3. Component's own `_realObject.object3d` world center.
+     *   4. 2D bounds center (only before 3D builds).
+     *
+     * `carrierForDelivery` 가 주어지면 (place 케이스) `component` 를 holder 로
+     * 간주하고 `component.deliveryWorldPosition(carrierForDelivery)` 를 query.
+     * 미지정 (pick 케이스 — `component` 자체가 carrier) 시 #3 으로.
      *
      * `worldYOffset` is added to the resolved world Y before projecting
      * back to chain-local — used by pickAndPlace to lift the TCP above
@@ -238,5 +263,17 @@ export default class RobotArm extends Base {
      * moment of reparent.
      */
     private _yawOf;
+    /**
+     * Phase G5.2 — Delivery yaw 결정.
+     *
+     * holder 가 ContainerCapacity contract 의 deliveryWorldRotation 을 노출하면
+     * 그 world quaternion 에서 yaw 를 추출 (carrier 가 acceptance pose 와 일치
+     * 한 채 release 되도록). InductStation 같은 holder 가 sorter forward 방향을
+     * 자기 acceptanceRotation 으로 선언하면 자동으로 그 방향이 TCP yaw 가 됨.
+     *
+     * holder 가 deliveryWorldRotation 을 안 노출하거나 _realObject 미빌드 시
+     * 기존 동작 (holder 자체의 world yaw) 으로 fallback.
+     */
+    private _deliveryYawOf;
 }
 export {};

package/dist/robot-arm.js

@@ -33,7 +33,7 @@
  */
 import { __decorate } from "tslib";
 import * as THREE from 'three';
-import { ContainerAbstract, ContainerCapacity, sceneComponent } from '@hatiolab/things-scene';
+import { ContainerAbstract, ContainerCapacity, frameClock, sceneComponent } from '@hatiolab/things-scene';
 import { CarrierHolder, Legendable, Mover, Placeable } from '@operato/scene-base';
 import { RobotArm3D } from './robot-arm-3d.js';
 import { CHAIN_PRESETS } from './robot-arm-styles.js';
@@ -151,6 +151,17 @@ let RobotArm = class RobotArm extends Base {
     get state() {
         return super.state;
     }
+    /**
+     * Phase H — pickup contract 호환성 검사용. 보편적 'gripper' type — vacuum,
+     * 2-finger, 3-finger 등 다양한 gripper 모두 이 type 으로 매칭. carrier 가
+     * 더 세분화된 호환성을 원하면 `pickupFramesFor` override 로 size 등 추가 검증.
+     *
+     * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아
+     *  TS4113 회피.)
+     */
+    get toolType() {
+        return 'gripper';
+    }
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
         borderColor: { from: 'status', legend: BORDER_LEGEND },
@@ -401,13 +412,20 @@ let RobotArm = class RobotArm extends Base {
      *
      *   1. TCP → APPROACH above place (carrier's xy, +clearance)
      *   2. TCP → place (descend straight down to drop point)
-     *   3. open gripper + reparent(carrier → holder)
+     *   3. open gripper + dispatch (carrier → holder)
      *
      * Pose resolution: TCP lands at where the carrier's top WILL BE after
      * the drop, so the carrier lands with its bottom on the holder's attach
      * surface. Computed as `holder.attachFrame.world.y + carrier.depth` (so
      * yOffset = carrierDepth, not halfDepth like pick).
      *
+     * Handoff: if this arm has `dispatch` (ContainerCapacity) and the holder
+     * exposes `receive`, route via dispatch — slot tracking, `transfer-received`
+     * trigger (which downstream conveyance components like InductStation listen
+     * to for belt-animation kickoff), and `canReceive` pre-flight all flow
+     * through the standard contract. Falls back to raw `holder.reparent()` for
+     * holders without ContainerCapacity (plain Spot, etc.). Mirrors Mover.place.
+     *
      * @see pick — same option semantics.
      */
     async place(carrier, holder, options = {}) {
@@ -415,14 +433,29 @@ let RobotArm = class RobotArm extends Base {
         const reparentDuration = options.reparentDuration ?? 800;
         const clearance = options.approachClearance ?? 10;
         const carrierDepth = resolveDepth(carrier);
-        const yaw = this._yawOf(holder);
-        const target = this._targetFor(holder, carrierDepth, yaw); // top-of-carrier after drop
-        const approach = this._targetFor(holder, carrierDepth + clearance, yaw);
+        // Phase G5.2 — holder 가 acceptanceRotation 을 선언하면 그 world equivalent
+        // (deliveryWorldRotation) 의 yaw 를 TCP yaw 로 사용. 그러면 carrier 가 holder
+        // 의 acceptance pose 와 정확히 일치한 채 release 되어 handoff 시 zero-delta
+        // (시각적 점프 없음). holder 가 미정의면 holder 자체의 world yaw 사용
+        // (이전 동작).
+        const yaw = this._deliveryYawOf(holder, carrier);
+        // Phase G9 — carrier 도 함께 전달해 holder 의 deliveryWorldPosition 을 정확히
+        // query. holder 가 contract 노출 안 하면 fallback (object3d 원점) 으로.
+        const target = this._targetFor(holder, carrierDepth, yaw, carrier); // top-of-carrier after drop
+        const approach = this._targetFor(holder, carrierDepth + clearance, yaw, carrier);
         this.set('target', approach);
         await waitForTcpReached(this, timeoutMs);
         this.set('target', target);
         await waitForTcpReached(this, timeoutMs);
-        holder.reparent?.(carrier, { animated: true, duration: reparentDuration });
+        const xferOptions = { animated: true, duration: reparentDuration };
+        const canDispatch = typeof this.dispatch === 'function' && typeof holder.receive === 'function';
+        if (canDispatch) {
+            await this.dispatch(carrier, holder, xferOptions);
+        }
+        else {
+            ;
+            holder.reparent?.(carrier, xferOptions);
+        }
         this.set('gripper', { ...(this.state.gripper ?? {}), state: 0 });
         await sleep(reparentDuration);
     }
@@ -481,17 +514,26 @@ let RobotArm = class RobotArm extends Base {
     /**
      * Resolve a TCP position in this arm's chain-local frame.
      *
-     * For a CarrierHolder (has `attachPointFor`), uses the holder's own
-     * attach frame as the base — that's the canonical "where carriers
-     * sit on me" point (top of Spot's pad, gripper TCP for another arm,
-     * etc.). For a plain carrier, uses its world center.
+     * Resolution priority:
+     *   1. `attachPointFor` (CarrierHolder) — canonical TCP frame for arms /
+     *      Spot pads / gripper-on-gripper.
+     *   2. `deliveryWorldPosition` (Phase G9 — Holder contract). Holder 가
+     *      ContainerCapacity 의 default 또는 자체 override 로 정확한 도달
+     *      world XYZ 를 직접 제공. 이전 SCAFFOLDING 의 cz 공식 역연산이
+     *      여기로 이전됨.
+     *   3. Component's own `_realObject.object3d` world center.
+     *   4. 2D bounds center (only before 3D builds).
+     *
+     * `carrierForDelivery` 가 주어지면 (place 케이스) `component` 를 holder 로
+     * 간주하고 `component.deliveryWorldPosition(carrierForDelivery)` 를 query.
+     * 미지정 (pick 케이스 — `component` 자체가 carrier) 시 #3 으로.
      *
      * `worldYOffset` is added to the resolved world Y before projecting
      * back to chain-local — used by pickAndPlace to lift the TCP above
      * the target (approach waypoints) and to land it on the carrier's
      * top face rather than its volumetric center.
      */
-    _targetFor(component, worldYOffset = 0, yaw) {
+    _targetFor(component, worldYOffset = 0, yaw, carrierForDelivery) {
         const ro3d = this._realObject;
         let baseWp;
         // Prefer holder's attach frame when available.
@@ -504,10 +546,24 @@ let RobotArm = class RobotArm extends Base {
             }
         }
         if (!baseWp) {
-            const obj = component._realObject?.object3d;
-            if (obj) {
-                obj.updateWorldMatrix(true, false);
-                baseWp = obj.getWorldPosition(new THREE.Vector3());
+            // Phase G9 — Holder.deliveryWorldPosition contract 를 우선 사용 (place
+            // 케이스: carrierForDelivery 가 주어진 경우). ContainerCapacity 가 default
+            // 로 receivingSurfaceY/geometricOffsetY 보정 + 표면 변환을 제공하므로
+            // robot-arm 이 cz 공식 역연산을 직접 알지 않아도 됨.
+            if (carrierForDelivery) {
+                const deliveryPos = component.deliveryWorldPosition?.(carrierForDelivery);
+                if (deliveryPos) {
+                    baseWp = new THREE.Vector3(deliveryPos.x, deliveryPos.y, deliveryPos.z);
+                }
+            }
+            // Fallback (pick 케이스 또는 holder 가 contract 미노출): component 자체의
+            // obj3d world center.
+            if (!baseWp) {
+                const obj = component._realObject?.object3d;
+                if (obj) {
+                    obj.updateWorldMatrix(true, false);
+                    baseWp = obj.getWorldPosition(new THREE.Vector3());
+                }
             }
         }
         if (!ro3d || !baseWp) {
@@ -535,33 +591,87 @@ let RobotArm = class RobotArm extends Base {
         const e = new THREE.Euler().setFromQuaternion(q, 'YXZ');
         return e.y;
     }
+    /**
+     * Phase G5.2 — Delivery yaw 결정.
+     *
+     * holder 가 ContainerCapacity contract 의 deliveryWorldRotation 을 노출하면
+     * 그 world quaternion 에서 yaw 를 추출 (carrier 가 acceptance pose 와 일치
+     * 한 채 release 되도록). InductStation 같은 holder 가 sorter forward 방향을
+     * 자기 acceptanceRotation 으로 선언하면 자동으로 그 방향이 TCP yaw 가 됨.
+     *
+     * holder 가 deliveryWorldRotation 을 안 노출하거나 _realObject 미빌드 시
+     * 기존 동작 (holder 자체의 world yaw) 으로 fallback.
+     */
+    _deliveryYawOf(holder, carrier) {
+        const deliveryRot = holder.deliveryWorldRotation?.(carrier);
+        if (deliveryRot) {
+            const q = new THREE.Quaternion(deliveryRot.x, deliveryRot.y, deliveryRot.z, deliveryRot.w);
+            const e = new THREE.Euler().setFromQuaternion(q, 'YXZ');
+            return e.y;
+        }
+        return this._yawOf(holder);
+    }
 };
 RobotArm = __decorate([
     sceneComponent('robot-arm')
 ], RobotArm);
 export default RobotArm;
 /**
- * Resolve when the robot arm fires `tcp-reached`, reject on timeout.
- * The 3D side fires this event on smoothing completion (last joint
- * value within threshold of its target).
+ * Resolve when the robot arm fires `tcp-reached`, reject on **simulation-time**
+ * timeout. 3D smoothing 은 frameClock 의 simDt 로 진행 (sim-time-driven),
+ * 따라서 timeout 도 sim-time 으로 누적해야 sim speed 변경에 일관 동작:
+ *   - speed=1   → sim time = real time (기존과 동일)
+ *   - speed=2   → IK 도 2× 빨라지고 timeout 도 2× 빠르게 도달 (real time 기준)
+ *   - speed=0.5 → IK 가 2× 느려지지만 timeout 도 sim 기준이라 spurious
+ *                  reject 없음 (이전 real-time setTimeout 으로는 1 미만 speed
+ *                  에서 IK 도달 전에 timeout 발화하던 버그 수정)
+ *   - paused    → simDt=0 누적도 정지 → 일시정지 동안 무한 대기 (의도)
  */
 function waitForTcpReached(component, timeoutMs) {
     return new Promise((resolve, reject) => {
-        let timer;
-        const onReached = () => {
-            clearTimeout(timer);
+        let elapsedSim = 0;
+        let unsub = null;
+        const cleanup = () => {
             component.off('tcp-reached', onReached);
+            if (unsub) {
+                unsub();
+                unsub = null;
+            }
+        };
+        const onReached = () => {
+            cleanup();
             resolve();
         };
-        timer = setTimeout(() => {
-            component.off('tcp-reached', onReached);
-            reject(new Error('TCP reach timeout'));
-        }, timeoutMs);
         component.on('tcp-reached', onReached);
+        unsub = frameClock.subscribe(simDt => {
+            elapsedSim += simDt;
+            if (elapsedSim >= timeoutMs) {
+                cleanup();
+                reject(new Error('TCP reach timeout'));
+            }
+        }, { description: 'robot-arm tcp-reached timeout', component });
     });
 }
+/**
+ * sim-time aware sleep — frameClock 의 simDt 를 누적해 ms 도달 시 resolve.
+ * speed=0.5 이면 real time 으로 2배 걸리지만 sim time 으로는 동일 — animation
+ * 시간과 일관. paused 시 무한 대기 (의도). waitForTcpReached 와 같은 시간축.
+ */
 function sleep(ms) {
-    return new Promise(resolve => setTimeout(resolve, ms));
+    return new Promise(resolve => {
+        let elapsedSim = 0;
+        let unsub = null;
+        unsub = frameClock.subscribe(simDt => {
+            elapsedSim += simDt;
+            if (elapsedSim >= ms) {
+                if (unsub) {
+                    unsub();
+                    unsub = null;
+                }
+                resolve();
+            }
+        }, { description: 'robot-arm sim-sleep' });
+    });
 }
 function numOr(v, dflt) {
     return typeof v === 'number' && Number.isFinite(v) ? v : dflt;

package/dist/robot-arm.js.map

@@ -1 +1 @@
-{"version":3,"file":"robot-arm.js","sourceRoot":"","sources":["../src/robot-arm.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;;AAEH,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,EAA8B,iBAAiB,EAAE,iBAAiB,EAAc,cAAc,EAAE,MAAM,wBAAwB,CAAA;AAErI,OAAO,EACL,aAAa,EACb,UAAU,EACV,KAAK,EACL,SAAS,EAMV,MAAM,qBAAqB,CAAA;AAE5B,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAA;AAC9C,OAAO,EAAE,aAAa,EAAwB,MAAM,uBAAuB,CAAA;AAiD3E,MAAM,WAAW,GAAG;IAClB,IAAI,EAAE,MAAM;IACZ,MAAM,EAAE,SAAS;IACjB,QAAQ,EAAE,SAAS;IACnB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,MAAM;CAChB,CAAA;AAED,MAAM,aAAa,GAAG;IACpB,IAAI,EAAE,MAAM;IACZ,MAAM,EAAE,SAAS;IACjB,QAAQ,EAAE,SAAS;IACnB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,MAAM;CAChB,CAAA;AAED,MAAM,oBAAoB,GAAG;IAC3B,IAAI,EAAE,SAAS;IACf,MAAM,EAAE,SAAS;IACjB,QAAQ,EAAE,SAAS;IACnB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,SAAS;CACnB,CAAA;AAED,MAAM,iBAAiB,GAAG;IACxB;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,OAAO;QACd,IAAI,EAAE,OAAO;QACb,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,YAAY,EAAE,KAAK,EAAE,YAAY,EAAE;gBAC9C,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;gBACpC,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;gBACpC,EAAE,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE;aACzC;SACF;KACF;IACD;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,cAAc;QACrB,IAAI,EAAE,aAAa;QACnB,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,mBAAmB,EAAE,KAAK,EAAE,mBAAmB,EAAE;gBAC5D,EAAE,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,EAAE;gBAClD,EAAE,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,EAAE;gBAClD,EAAE,OAAO,EAAE,qBAAqB,EAAE,KAAK,EAAE,uBAAuB,EAAE;aACnE;SACF;KACF;IACD,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,aAAa,EAAE,IAAI,EAAE,YAAY,EAAE;IAC5D;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,cAAc;QACrB,IAAI,EAAE,aAAa;QACnB,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,UAAU,EAAE,KAAK,EAAE,UAAU,EAAE;gBAC1C,EAAE,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE;gBACxC,EAAE,OAAO,EAAE,UAAU,EAAE,KAAK,EAAE,UAAU,EAAE;gBAC1C,EAAE,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,EAAE;gBAClD,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;aACnC;SACF;KACF;IACD,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,mBAAmB,EAAE,IAAI,EAAE,iBAAiB,EAAE;IACzE;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,QAAQ;QACf,IAAI,EAAE,QAAQ;QACd,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;gBAClC,EAAE,OAAO,EAAE,QAAQ,EAAE,KAAK,EAAE,QAAQ,EAAE;gBACtC,EAAE,OAAO,EAAE,UAAU,EAAE,KAAK,EAAE,UAAU,EAAE;gBAC1C,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;gBAClC,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;aACrC;SACF;KACF;CACF,CAAA;AAED,8EAA8E;AAC9E,mEAAmE;AACnE,2EAA2E;AAC3E,4EAA4E;AAC5E,0EAA0E;AAC1E,qBAAqB;AACrB,EAAE;AACF,2FAA2F;AAC3F,mEAAmE;AACnE,yEAAyE;AACzE,8EAA8E;AAC9E,EAAE;AACF,0EAA0E;AAC1E,8EAA8E;AAC9E,qEAAqE;AACrE,gDAAgD;AAChD,EAAE;AACF,oEAAoE;AACpE,sEAAsE;AACtE,mEAAmE;AACnE,0CAA0C;AAC1C,iFAAiF;AACjF,4EAA4E;AAC5E,iFAAiF;AACjF,MAAM,IAAI,GAAG,KAAK,CAAC,aAAa,CAAC,iBAAiB,CAAC,UAAU,CAAC,SAAS,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC,CAO5F,CAAA;AAGc,IAAM,QAAQ,GAAd,MAAM,QAAS,SAAQ,IAAI;IACxC,qEAAqE;IACrE,wEAAwE;IACxE,4EAA4E;IAC5E,IAAa,KAAK;QAChB,OAAO,KAAK,CAAC,KAAsB,CAAA;IACrC,CAAC;IAID,MAAM,CAAC,OAAO,GAAkC;QAC9C,SAAS,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,WAAW,EAAE;QAClD,WAAW,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,aAAa,EAAE;QACtD,YAAY,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,oBAAoB,EAAE;KAC/D,CAAA;IAED;;;;;OAKG;IACH,MAAM,CAAC,SAAS,GAAuB,OAAO,CAAA;IAC9C,MAAM,CAAC,KAAK,GAAc,QAAQ,CAAA;IAClC,MAAM,CAAC,YAAY,GAAG,CAAC,CAAU,EAAE,EAAE,CAAC,CAAC,CAAC,SAAS,GAAG,CAAC,CAAC,KAAK,CAAA;IAE3D,6EAA6E;IAE7E,gEAAgE;IAChE,IAAI,KAAK;QACP,OAAO,CAAC,EAAE,EAAE,EAAE,SAAS,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAA;IACzC,CAAC;IAED;;;;;;;;;OASG;IACH,IAAI,MAAM;QACR,MAAM,KAAK,GAAG,IAAI,CAAC,YAAY,CAAA;QAC/B,qEAAqE;QACrE,sEAAsE;QACtE,iEAAiE;QACjE,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;YACtC,IAAI,EAAE,QAAQ;YACd,KAAK,EAAE,SAAS,CAAC,GAAG,CAAC,EAAE;YACvB,IAAI,EAAE,QAAQ,CAAC,EAAE;YACjB,QAAQ,EAAE;gBACR,GAAG,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;gBACf,GAAG,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;gBACf,IAAI,EAAE,CAAC,CAAC,IAAI,KAAK,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;aACpC;SACF,CAAC,CAAC,CAAA;QACH,OAAO;YACL,OAAO,EAAE,KAAK;YACd,SAAS,EAAE,IAAI;YACf,SAAS,EAAE,IAAI;YACf,UAAU,EAAE,CAAC,GAAG,iBAAiB,EAAE,GAAG,UAAU,CAAQ;YACxD,IAAI,EAAE,2BAA2B;SAClC,CAAA;IACH,CAAC;IAED;;;;;;OAMG;IACH,IAAY,YAAY;QACtB,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAA;QACxB,IAAI,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,IAAI,KAAK,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC;YAAE,OAAO,KAAK,CAAC,KAAK,CAAA;QAC5E,MAAM,UAAU,GAAG,CAAC,KAAK,CAAC,WAAW,IAAI,mBAAmB,CAAoB,CAAA;QAChF,OAAO,aAAa,CAAC,UAAU,CAAC,IAAI,aAAa,CAAC,mBAAmB,CAAC,CAAA;IACxE,CAAC;IAED,IAAI,OAAO;QACT,OAAO,EAAE,CAAA;IACX,CAAC;IAED;;;;OAIG;IACH,MAAM,CAAC,GAA6B;QAClC,MAAM,EAAE,IAAI,GAAG,CAAC,EAAE,GAAG,GAAG,CAAC,EAAE,KAAK,GAAG,GAAG,EAAE,MAAM,GAAG,GAAG,EAAE,GAAG,IAAI,CAAC,KAAK,CAAA;QACnE,MAAM,QAAQ,GAAG,SAAS,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,WAAW,CAAC,OAAO,CAAC,CAAA;QAC3F,MAAM,WAAW,GAAG,SAAS,CAAC,IAAI,CAAC,KAAK,CAAC,WAAW,EAAE,IAAI,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,CAAC,OAAO,CAAC,CAAA;QACpG,MAAM,SAAS,GAAG,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,CAAC,CAAC,CAAA;QAEhD,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,EAAE,KAAK,EAAE,MAAM,CAAC,CAAA;QAClC,GAAG,CAAC,SAAS,GAAG,QAAQ,CAAA;QACxB,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,WAAW,GAAG,WAAW,CAAA;QAC7B,GAAG,CAAC,SAAS,GAAG,SAAS,CAAA;QACzB,GAAG,CAAC,MAAM,EAAE,CAAA;QAEZ,oEAAoE;QACpE,MAAM,EAAE,GAAG,IAAI,GAAG,KAAK,GAAG,CAAC,CAAA;QAC3B,MAAM,EAAE,GAAG,GAAG,GAAG,MAAM,GAAG,CAAC,CAAA;QAC3B,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,MAAM,CAAC,GAAG,IAAI,CAAA;QACxC,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,WAAW,GAAG,WAAW,CAAA;QAC7B,GAAG,CAAC,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,MAAM,CAAC,GAAG,KAAK,CAAC,CAAA;QAEpE,gBAAgB;QAChB,GAAG,CAAC,SAAS,GAAG,WAAW,CAAA;QAC3B,GAAG,CAAC,QAAQ,CAAC,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,CAAA;QACpD,YAAY;QACZ,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QAC5B,GAAG,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QAC5B,GAAG,CAAC,MAAM,EAAE,CAAA;QACZ,UAAU;QACV,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QAC5B,GAAG,CAAC,MAAM,CAAC,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QACtC,GAAG,CAAC,MAAM,EAAE,CAAA;QACZ,aAAa;QACb,GAAG,CAAC,SAAS,GAAG,WAAqB,CAAA;QACrC,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAA;QAC/D,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,GAAG,CAAC,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAA;QAC5E,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,OAAO,EAAE,CAAA;IACf,CAAC;IAED,QAAQ,CAAC,KAA8B,EAAE,MAA+B;QACtE,qEAAqE;QACrE,kDAAkD;QAClD,MAAM,QAAQ,GAAG,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,YAAY,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAA;QACnE,IACE,QAAQ;YACR,OAAO,IAAI,KAAK;YAChB,aAAa,IAAI,KAAK;YACtB,OAAO,IAAI,KAAK;YAChB,QAAQ,IAAI,KAAK;YACjB,WAAW,IAAI,KAAK;YACpB,cAAc,IAAI,KAAK;YACvB,YAAY,IAAI,KAAK;YACrB,OAAO,IAAI,KAAK;YAChB,aAAa,IAAI,KAAK;YACtB,WAAW,IAAI,KAAK;YACpB,aAAa,IAAI,KAAK;YACtB,WAAW,IAAI,KAAK;YACpB,OAAO,IAAI,KAAK;YAChB,YAAY,IAAI,KAAK;YACrB,SAAS,IAAI,KAAK;YAClB,aAAa,IAAI,KAAK;YACtB,QAAQ,IAAI,KAAK;YACjB,iBAAiB,IAAI,KAAK;YAC1B,QAAQ,IAAI,KAAK;YACjB,WAAW,IAAI,KAAK;YACpB,aAAa,IAAI,KAAK,EACtB,CAAC;YACD,IAAI,CAAC,UAAU,CAAC,WAAW,CAAC,CAAA;YAC5B,IAAI,CAAC,UAAU,EAAE,CAAA;QACnB,CAAC;QACD,KAAK,CAAC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC,CAAA;IAC/B,CAAC;IAED,eAAe;QACb,OAAO,IAAI,UAAU,CAAC,IAAI,CAAC,CAAA;IAC7B,CAAC;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAgCG;IACH,cAAc,CAAC,OAAkB;QAC/B,MAAM,EAAE,GAAG,IAAI,CAAC,WAAW,CAAA;QAC3B,MAAM,KAAK,GAAG,EAAE,EAAE,eAAe,EAAE,EAAE,CAAA;QACrC,IAAI,CAAC,KAAK;YAAE,OAAO,SAAS,CAAA;QAC5B,MAAM,SAAS,GAAG,YAAY,CAAC,OAAO,CAAC,GAAG,CAAC,CAAA;QAC3C,OAAO;YACL,MAAM,EAAE,KAAK;YACb,aAAa,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,SAAS,EAAE;YAC3C,aAAa,EAAE,EAAE,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;SAC/C,CAAA;IACH,CAAC;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;OA0BG;IACM,KAAK,CAAC,IAAI,CAAC,OAAkB,EAAE,UAAuB,EAAE;QAC/D,MAAM,SAAS,GAAI,OAAO,CAAC,SAAgC,IAAI,KAAK,CAAA;QACpE,MAAM,gBAAgB,GAAI,OAAO,CAAC,gBAAuC,IAAI,GAAG,CAAA;QAChF,MAAM,SAAS,GAAI,OAAO,CAAC,iBAAwC,IAAI,EAAE,CAAA;QACzE,qEAAqE;QACrE,yDAAyD;QACzD,mEAAmE;QACnE,qEAAqE;QACrE,6CAA6C;QAC7C,MAAM,YAAY,GAAG,YAAY,CAAC,OAAO,CAAC,CAAA;QAC1C,MAAM,SAAS,GAAG,YAAY,GAAG,CAAC,CAAA;QAClC,MAAM,GAAG,GAAG,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAA;QAChC,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,OAAO,EAAE,SAAS,EAAE,GAAG,CAAC,CAAA;QACvD,MAAM,QAAQ,GAAG,IAAI,CAAC,UAAU,CAAC,OAAO,EAAE,SAAS,GAAG,SAAS,EAAE,GAAG,CAAC,CAAA;QAErE,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAA;QAC5B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;QAExC,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAA;QAC1B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAEvC;QAAC,IAAY,CAAC,QAAQ,EAAE,CAAC,OAAO,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,gBAAgB,EAAE,CAAC,CAAA;QAClF,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,EAAE,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAA;QAChE,MAAM,KAAK,CAAC,gBAAgB,CAAC,CAAA;IAC/B,CAAC;IAED;;;;;;;;;;;;;;OAcG;IACM,KAAK,CAAC,KAAK,CAAC,OAAkB,EAAE,MAAiB,EAAE,UAAuB,EAAE;QACnF,MAAM,SAAS,GAAI,OAAO,CAAC,SAAgC,IAAI,KAAK,CAAA;QACpE,MAAM,gBAAgB,GAAI,OAAO,CAAC,gBAAuC,IAAI,GAAG,CAAA;QAChF,MAAM,SAAS,GAAI,OAAO,CAAC,iBAAwC,IAAI,EAAE,CAAA;QACzE,MAAM,YAAY,GAAG,YAAY,CAAC,OAAO,CAAC,CAAA;QAC1C,MAAM,GAAG,GAAG,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,CAAA;QAC/B,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,YAAY,EAAE,GAAG,CAAC,CAAA,CAAC,4BAA4B;QACtF,MAAM,QAAQ,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,YAAY,GAAG,SAAS,EAAE,GAAG,CAAC,CAAA;QAEvE,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAA;QAC5B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;QAExC,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAA;QAC1B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAEvC;QAAC,MAAc,CAAC,QAAQ,EAAE,CAAC,OAAO,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,gBAAgB,EAAE,CAAC,CAAA;QACpF,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,EAAE,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAA;QAChE,MAAM,KAAK,CAAC,gBAAgB,CAAC,CAAA;IAC/B,CAAC;IAED;;;;;;;;;;;;;OAaG;IACH,qEAAqE;IACrE,GAAG,CAAC,OAAkB,EAAE,WAAsB,EAAE,OAAqB;QACnE,OAAO,IAAI,CAAC,YAAY,CAAC,OAAO,EAAE,WAAW,EAAE,OAAO,CAAC,CAAA;IACzD,CAAC;IAED;;;;;;;;;;;;;OAaG;IACH,KAAK,CAAC,MAAM,CAAC,UAAuB,EAAE;QACpC,MAAM,SAAS,GAAI,OAAO,CAAC,SAAgC,IAAI,KAAK,CAAA;QACpE,MAAM,EAAE,GAAG,IAAI,CAAC,WAAkB,CAAA;QAClC,IAAI,CAAC,EAAE,EAAE,YAAY,IAAI,CAAC,EAAE,EAAE,aAAa;YAAE,OAAM;QACnD,mEAAmE;QACnE,wDAAwD;QACxD,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,SAAS,CAAC,CAAA;QAC7B,EAAE,CAAC,YAAY,CAAC,EAAE,CAAC,aAAa,EAAE,CAAC,CAAA;QACnC,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;IAC1C,CAAC;IAED;;;OAGG;IACM,KAAK,CAAC,YAAY,CACzB,OAAkB,EAClB,MAAiB,EACjB,UAAuB,EAAE;QAEzB,MAAM,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,OAAO,CAAC,CAAA;QACjC,MAAM,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,OAAO,CAAC,CAAA;QAC1C,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAA;IAC5B,CAAC;IAED;;;;;;;;;;;;OAYG;IACK,UAAU,CAChB,SAAoB,EACpB,YAAY,GAAG,CAAC,EAChB,GAAY;QAEZ,MAAM,IAAI,GAAG,IAAI,CAAC,WAAW,CAAA;QAE7B,IAAI,MAAiC,CAAA;QACrC,+CAA+C;QAC/C,MAAM,cAAc,GAAI,SAAiB,CAAC,cAAc,CAAA;QACxD,IAAI,OAAO,cAAc,KAAK,UAAU,EAAE,CAAC;YACzC,MAAM,KAAK,GAAG,cAAc,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,CAAC,CAAA;YAClD,IAAI,KAAK,EAAE,MAAM,EAAE,CAAC;gBAClB,KAAK,CAAC,MAAM,CAAC,iBAAiB,EAAE,CAAC,IAAI,EAAE,KAAK,CAAC,CAAA;gBAC7C,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,gBAAgB,EAAE,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAA;YAC/D,CAAC;QACH,CAAC;QACD,IAAI,CAAC,MAAM,EAAE,CAAC;YACZ,MAAM,GAAG,GAAI,SAAiB,CAAC,WAAW,EAAE,QAAQ,CAAA;YACpD,IAAI,GAAG,EAAE,CAAC;gBACR,GAAG,CAAC,iBAAiB,CAAC,IAAI,EAAE,KAAK,CAAC,CAAA;gBAClC,MAAM,GAAG,GAAG,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAA;YACpD,CAAC;QACH,CAAC;QACD,IAAI,CAAC,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YACrB,4DAA4D;YAC5D,MAAM,CAAC,GAAG,SAAS,CAAC,MAAM,CAAA;YAC1B,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,CAAA;QACjD,CAAC;QACD,MAAM,KAAK,GAAG,IAAI,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,YAAY,EAAE,MAAM,CAAC,CAAC,CAAC,CAAA;QACjF,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,GAAG,EAAE,CAAA;IACpD,CAAC;IAED;;;;;;OAMG;IACK,MAAM,CAAC,SAAoB;QACjC,MAAM,GAAG,GAAI,SAAiB,CAAC,WAAW,EAAE,QAAQ,CAAA;QACpD,IAAI,CAAC,GAAG;YAAE,OAAO,CAAC,CAAA;QAClB,GAAG,CAAC,iBAAiB,CAAC,IAAI,EAAE,KAAK,CAAC,CAAA;QAClC,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,UAAU,EAAE,CAAA;QAChC,GAAG,CAAC,kBAAkB,CAAC,CAAC,CAAC,CAAA;QACzB,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,KAAK,EAAE,CAAC,iBAAiB,CAAC,CAAC,EAAE,KAAK,CAAC,CAAA;QACvD,OAAO,CAAC,CAAC,CAAC,CAAA;IACZ,CAAC;;AA1akB,QAAQ;IAD5B,cAAc,CAAC,WAAW,CAAC;GACP,QAAQ,CA2a5B;eA3aoB,QAAQ;AA6a7B;;;;GAIG;AACH,SAAS,iBAAiB,CAAC,SAAoB,EAAE,SAAiB;IAChE,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE;QACrC,IAAI,KAAU,CAAA;QACd,MAAM,SAAS,GAAG,GAAG,EAAE;YACrB,YAAY,CAAC,KAAK,CAAC,CAAA;YACnB,SAAS,CAAC,GAAG,CAAC,aAAa,EAAE,SAAS,CAAC,CAAA;YACvC,OAAO,EAAE,CAAA;QACX,CAAC,CAAA;QACD,KAAK,GAAG,UAAU,CAAC,GAAG,EAAE;YACtB,SAAS,CAAC,GAAG,CAAC,aAAa,EAAE,SAAS,CAAC,CAAA;YACvC,MAAM,CAAC,IAAI,KAAK,CAAC,mBAAmB,CAAC,CAAC,CAAA;QACxC,CAAC,EAAE,SAAS,CAAC,CAAA;QACb,SAAS,CAAC,EAAE,CAAC,aAAa,EAAE,SAAS,CAAC,CAAA;IACxC,CAAC,CAAC,CAAA;AACJ,CAAC;AAED,SAAS,KAAK,CAAC,EAAU;IACvB,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC,EAAE,CAAC,UAAU,CAAC,OAAO,EAAE,EAAE,CAAC,CAAC,CAAA;AACxD,CAAC;AAED,SAAS,KAAK,CAAC,CAAU,EAAE,IAAY;IACrC,OAAO,OAAO,CAAC,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAA;AAC/D,CAAC;AAED;;;;;;;GAOG;AACH,SAAS,YAAY,CAAC,CAAY;IAChC,MAAM,GAAG,GAAI,CAAS,EAAE,WAAW,EAAE,cAAc,CAAA;IACnD,IAAI,OAAO,GAAG,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC;QAAE,OAAO,GAAG,CAAA;IAC/D,OAAO,KAAK,CAAE,CAAS,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC,CAAC,CAAA;AAC3C,CAAC;AAED,SAAS,SAAS,CAAC,GAAG,UAAqB;IACzC,KAAK,MAAM,CAAC,IAAI,UAAU,EAAE,CAAC;QAC3B,IAAI,OAAO,CAAC,KAAK,QAAQ,IAAI,CAAC,IAAI,CAAC,KAAK,aAAa;YAAE,OAAO,CAAC,CAAA;IACjE,CAAC;IACD,OAAO,MAAM,CAAA;AACf,CAAC","sourcesContent":["/*\n * 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"]}
+{"version":3,"file":"robot-arm.js","sourceRoot":"","sources":["../src/robot-arm.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;;AAEH,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,EAA8B,iBAAiB,EAAE,iBAAiB,EAAc,UAAU,EAAE,cAAc,EAAE,MAAM,wBAAwB,CAAA;AAEjJ,OAAO,EACL,aAAa,EACb,UAAU,EACV,KAAK,EACL,SAAS,EAMV,MAAM,qBAAqB,CAAA;AAE5B,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAA;AAC9C,OAAO,EAAE,aAAa,EAAwB,MAAM,uBAAuB,CAAA;AAiD3E,MAAM,WAAW,GAAG;IAClB,IAAI,EAAE,MAAM;IACZ,MAAM,EAAE,SAAS;IACjB,QAAQ,EAAE,SAAS;IACnB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,MAAM;CAChB,CAAA;AAED,MAAM,aAAa,GAAG;IACpB,IAAI,EAAE,MAAM;IACZ,MAAM,EAAE,SAAS;IACjB,QAAQ,EAAE,SAAS;IACnB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,MAAM;CAChB,CAAA;AAED,MAAM,oBAAoB,GAAG;IAC3B,IAAI,EAAE,SAAS;IACf,MAAM,EAAE,SAAS;IACjB,QAAQ,EAAE,SAAS;IACnB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,SAAS;CACnB,CAAA;AAED,MAAM,iBAAiB,GAAG;IACxB;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,OAAO;QACd,IAAI,EAAE,OAAO;QACb,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,YAAY,EAAE,KAAK,EAAE,YAAY,EAAE;gBAC9C,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;gBACpC,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;gBACpC,EAAE,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE;aACzC;SACF;KACF;IACD;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,cAAc;QACrB,IAAI,EAAE,aAAa;QACnB,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,mBAAmB,EAAE,KAAK,EAAE,mBAAmB,EAAE;gBAC5D,EAAE,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,EAAE;gBAClD,EAAE,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,EAAE;gBAClD,EAAE,OAAO,EAAE,qBAAqB,EAAE,KAAK,EAAE,uBAAuB,EAAE;aACnE;SACF;KACF;IACD,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,aAAa,EAAE,IAAI,EAAE,YAAY,EAAE;IAC5D;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,cAAc;QACrB,IAAI,EAAE,aAAa;QACnB,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,UAAU,EAAE,KAAK,EAAE,UAAU,EAAE;gBAC1C,EAAE,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE;gBACxC,EAAE,OAAO,EAAE,UAAU,EAAE,KAAK,EAAE,UAAU,EAAE;gBAC1C,EAAE,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,EAAE;gBAClD,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;aACnC;SACF;KACF;IACD,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,mBAAmB,EAAE,IAAI,EAAE,iBAAiB,EAAE;IACzE;QACE,IAAI,EAAE,QAAQ;QACd,KAAK,EAAE,QAAQ;QACf,IAAI,EAAE,QAAQ;QACd,QAAQ,EAAE;YACR,OAAO,EAAE;gBACP,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;gBAClC,EAAE,OAAO,EAAE,QAAQ,EAAE,KAAK,EAAE,QAAQ,EAAE;gBACtC,EAAE,OAAO,EAAE,UAAU,EAAE,KAAK,EAAE,UAAU,EAAE;gBAC1C,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;gBAClC,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;aACrC;SACF;KACF;CACF,CAAA;AAED,8EAA8E;AAC9E,mEAAmE;AACnE,2EAA2E;AAC3E,4EAA4E;AAC5E,0EAA0E;AAC1E,qBAAqB;AACrB,EAAE;AACF,2FAA2F;AAC3F,mEAAmE;AACnE,yEAAyE;AACzE,8EAA8E;AAC9E,EAAE;AACF,0EAA0E;AAC1E,8EAA8E;AAC9E,qEAAqE;AACrE,gDAAgD;AAChD,EAAE;AACF,oEAAoE;AACpE,sEAAsE;AACtE,mEAAmE;AACnE,0CAA0C;AAC1C,iFAAiF;AACjF,4EAA4E;AAC5E,iFAAiF;AACjF,MAAM,IAAI,GAAG,KAAK,CAAC,aAAa,CAAC,iBAAiB,CAAC,UAAU,CAAC,SAAS,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC,CAO5F,CAAA;AAGc,IAAM,QAAQ,GAAd,MAAM,QAAS,SAAQ,IAAI;IACxC,qEAAqE;IACrE,wEAAwE;IACxE,4EAA4E;IAC5E,IAAa,KAAK;QAChB,OAAO,KAAK,CAAC,KAAsB,CAAA;IACrC,CAAC;IAID;;;;;;;OAOG;IACH,IAAI,QAAQ;QACV,OAAO,SAAS,CAAA;IAClB,CAAC;IAED,MAAM,CAAC,OAAO,GAAkC;QAC9C,SAAS,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,WAAW,EAAE;QAClD,WAAW,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,aAAa,EAAE;QACtD,YAAY,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,oBAAoB,EAAE;KAC/D,CAAA;IAED;;;;;OAKG;IACH,MAAM,CAAC,SAAS,GAAuB,OAAO,CAAA;IAC9C,MAAM,CAAC,KAAK,GAAc,QAAQ,CAAA;IAClC,MAAM,CAAC,YAAY,GAAG,CAAC,CAAU,EAAE,EAAE,CAAC,CAAC,CAAC,SAAS,GAAG,CAAC,CAAC,KAAK,CAAA;IAE3D,6EAA6E;IAE7E,gEAAgE;IAChE,IAAI,KAAK;QACP,OAAO,CAAC,EAAE,EAAE,EAAE,SAAS,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAA;IACzC,CAAC;IAED;;;;;;;;;OASG;IACH,IAAI,MAAM;QACR,MAAM,KAAK,GAAG,IAAI,CAAC,YAAY,CAAA;QAC/B,qEAAqE;QACrE,sEAAsE;QACtE,iEAAiE;QACjE,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;YACtC,IAAI,EAAE,QAAQ;YACd,KAAK,EAAE,SAAS,CAAC,GAAG,CAAC,EAAE;YACvB,IAAI,EAAE,QAAQ,CAAC,EAAE;YACjB,QAAQ,EAAE;gBACR,GAAG,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;gBACf,GAAG,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;gBACf,IAAI,EAAE,CAAC,CAAC,IAAI,KAAK,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;aACpC;SACF,CAAC,CAAC,CAAA;QACH,OAAO;YACL,OAAO,EAAE,KAAK;YACd,SAAS,EAAE,IAAI;YACf,SAAS,EAAE,IAAI;YACf,UAAU,EAAE,CAAC,GAAG,iBAAiB,EAAE,GAAG,UAAU,CAAQ;YACxD,IAAI,EAAE,2BAA2B;SAClC,CAAA;IACH,CAAC;IAED;;;;;;OAMG;IACH,IAAY,YAAY;QACtB,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAA;QACxB,IAAI,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,IAAI,KAAK,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC;YAAE,OAAO,KAAK,CAAC,KAAK,CAAA;QAC5E,MAAM,UAAU,GAAG,CAAC,KAAK,CAAC,WAAW,IAAI,mBAAmB,CAAoB,CAAA;QAChF,OAAO,aAAa,CAAC,UAAU,CAAC,IAAI,aAAa,CAAC,mBAAmB,CAAC,CAAA;IACxE,CAAC;IAED,IAAI,OAAO;QACT,OAAO,EAAE,CAAA;IACX,CAAC;IAED;;;;OAIG;IACH,MAAM,CAAC,GAA6B;QAClC,MAAM,EAAE,IAAI,GAAG,CAAC,EAAE,GAAG,GAAG,CAAC,EAAE,KAAK,GAAG,GAAG,EAAE,MAAM,GAAG,GAAG,EAAE,GAAG,IAAI,CAAC,KAAK,CAAA;QACnE,MAAM,QAAQ,GAAG,SAAS,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,WAAW,CAAC,OAAO,CAAC,CAAA;QAC3F,MAAM,WAAW,GAAG,SAAS,CAAC,IAAI,CAAC,KAAK,CAAC,WAAW,EAAE,IAAI,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,CAAC,OAAO,CAAC,CAAA;QACpG,MAAM,SAAS,GAAG,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,CAAC,CAAC,CAAA;QAEhD,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,EAAE,KAAK,EAAE,MAAM,CAAC,CAAA;QAClC,GAAG,CAAC,SAAS,GAAG,QAAQ,CAAA;QACxB,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,WAAW,GAAG,WAAW,CAAA;QAC7B,GAAG,CAAC,SAAS,GAAG,SAAS,CAAA;QACzB,GAAG,CAAC,MAAM,EAAE,CAAA;QAEZ,oEAAoE;QACpE,MAAM,EAAE,GAAG,IAAI,GAAG,KAAK,GAAG,CAAC,CAAA;QAC3B,MAAM,EAAE,GAAG,GAAG,GAAG,MAAM,GAAG,CAAC,CAAA;QAC3B,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,MAAM,CAAC,GAAG,IAAI,CAAA;QACxC,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,WAAW,GAAG,WAAW,CAAA;QAC7B,GAAG,CAAC,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,MAAM,CAAC,GAAG,KAAK,CAAC,CAAA;QAEpE,gBAAgB;QAChB,GAAG,CAAC,SAAS,GAAG,WAAW,CAAA;QAC3B,GAAG,CAAC,QAAQ,CAAC,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,CAAA;QACpD,YAAY;QACZ,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QAC5B,GAAG,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QAC5B,GAAG,CAAC,MAAM,EAAE,CAAA;QACZ,UAAU;QACV,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QAC5B,GAAG,CAAC,MAAM,CAAC,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAA;QACtC,GAAG,CAAC,MAAM,EAAE,CAAA;QACZ,aAAa;QACb,GAAG,CAAC,SAAS,GAAG,WAAqB,CAAA;QACrC,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAA;QAC/D,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,GAAG,CAAC,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAA;QAC5E,GAAG,CAAC,IAAI,EAAE,CAAA;QACV,GAAG,CAAC,OAAO,EAAE,CAAA;IACf,CAAC;IAED,QAAQ,CAAC,KAA8B,EAAE,MAA+B;QACtE,qEAAqE;QACrE,kDAAkD;QAClD,MAAM,QAAQ,GAAG,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,YAAY,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAA;QACnE,IACE,QAAQ;YACR,OAAO,IAAI,KAAK;YAChB,aAAa,IAAI,KAAK;YACtB,OAAO,IAAI,KAAK;YAChB,QAAQ,IAAI,KAAK;YACjB,WAAW,IAAI,KAAK;YACpB,cAAc,IAAI,KAAK;YACvB,YAAY,IAAI,KAAK;YACrB,OAAO,IAAI,KAAK;YAChB,aAAa,IAAI,KAAK;YACtB,WAAW,IAAI,KAAK;YACpB,aAAa,IAAI,KAAK;YACtB,WAAW,IAAI,KAAK;YACpB,OAAO,IAAI,KAAK;YAChB,YAAY,IAAI,KAAK;YACrB,SAAS,IAAI,KAAK;YAClB,aAAa,IAAI,KAAK;YACtB,QAAQ,IAAI,KAAK;YACjB,iBAAiB,IAAI,KAAK;YAC1B,QAAQ,IAAI,KAAK;YACjB,WAAW,IAAI,KAAK;YACpB,aAAa,IAAI,KAAK,EACtB,CAAC;YACD,IAAI,CAAC,UAAU,CAAC,WAAW,CAAC,CAAA;YAC5B,IAAI,CAAC,UAAU,EAAE,CAAA;QACnB,CAAC;QACD,KAAK,CAAC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC,CAAA;IAC/B,CAAC;IAED,eAAe;QACb,OAAO,IAAI,UAAU,CAAC,IAAI,CAAC,CAAA;IAC7B,CAAC;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAgCG;IACH,cAAc,CAAC,OAAkB;QAC/B,MAAM,EAAE,GAAG,IAAI,CAAC,WAAW,CAAA;QAC3B,MAAM,KAAK,GAAG,EAAE,EAAE,eAAe,EAAE,EAAE,CAAA;QACrC,IAAI,CAAC,KAAK;YAAE,OAAO,SAAS,CAAA;QAC5B,MAAM,SAAS,GAAG,YAAY,CAAC,OAAO,CAAC,GAAG,CAAC,CAAA;QAC3C,OAAO;YACL,MAAM,EAAE,KAAK;YACb,aAAa,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,SAAS,EAAE;YAC3C,aAAa,EAAE,EAAE,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;SAC/C,CAAA;IACH,CAAC;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;OA0BG;IACM,KAAK,CAAC,IAAI,CAAC,OAAkB,EAAE,UAAuB,EAAE;QAC/D,MAAM,SAAS,GAAI,OAAO,CAAC,SAAgC,IAAI,KAAK,CAAA;QACpE,MAAM,gBAAgB,GAAI,OAAO,CAAC,gBAAuC,IAAI,GAAG,CAAA;QAChF,MAAM,SAAS,GAAI,OAAO,CAAC,iBAAwC,IAAI,EAAE,CAAA;QACzE,qEAAqE;QACrE,yDAAyD;QACzD,mEAAmE;QACnE,qEAAqE;QACrE,6CAA6C;QAC7C,MAAM,YAAY,GAAG,YAAY,CAAC,OAAO,CAAC,CAAA;QAC1C,MAAM,SAAS,GAAG,YAAY,GAAG,CAAC,CAAA;QAClC,MAAM,GAAG,GAAG,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAA;QAChC,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,OAAO,EAAE,SAAS,EAAE,GAAG,CAAC,CAAA;QACvD,MAAM,QAAQ,GAAG,IAAI,CAAC,UAAU,CAAC,OAAO,EAAE,SAAS,GAAG,SAAS,EAAE,GAAG,CAAC,CAAA;QAErE,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAA;QAC5B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;QAExC,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAA;QAC1B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAEvC;QAAC,IAAY,CAAC,QAAQ,EAAE,CAAC,OAAO,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,gBAAgB,EAAE,CAAC,CAAA;QAClF,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,EAAE,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAA;QAChE,MAAM,KAAK,CAAC,gBAAgB,CAAC,CAAA;IAC/B,CAAC;IAED;;;;;;;;;;;;;;;;;;;;;OAqBG;IACM,KAAK,CAAC,KAAK,CAAC,OAAkB,EAAE,MAAiB,EAAE,UAAuB,EAAE;QACnF,MAAM,SAAS,GAAI,OAAO,CAAC,SAAgC,IAAI,KAAK,CAAA;QACpE,MAAM,gBAAgB,GAAI,OAAO,CAAC,gBAAuC,IAAI,GAAG,CAAA;QAChF,MAAM,SAAS,GAAI,OAAO,CAAC,iBAAwC,IAAI,EAAE,CAAA;QACzE,MAAM,YAAY,GAAG,YAAY,CAAC,OAAO,CAAC,CAAA;QAC1C,qEAAqE;QACrE,qEAAqE;QACrE,gEAAgE;QAChE,qDAAqD;QACrD,WAAW;QACX,MAAM,GAAG,GAAG,IAAI,CAAC,cAAc,CAAC,MAAM,EAAE,OAAO,CAAC,CAAA;QAChD,mEAAmE;QACnE,8DAA8D;QAC9D,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,YAAY,EAAE,GAAG,EAAE,OAAO,CAAC,CAAA,CAAC,4BAA4B;QAC/F,MAAM,QAAQ,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,YAAY,GAAG,SAAS,EAAE,GAAG,EAAE,OAAO,CAAC,CAAA;QAEhF,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAA;QAC5B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;QAExC,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAA;QAC1B,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;QAExC,MAAM,WAAW,GAAG,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,gBAAgB,EAAE,CAAA;QAClE,MAAM,WAAW,GACf,OAAQ,IAAY,CAAC,QAAQ,KAAK,UAAU,IAAI,OAAQ,MAAc,CAAC,OAAO,KAAK,UAAU,CAAA;QAC/F,IAAI,WAAW,EAAE,CAAC;YAChB,MAAO,IAAY,CAAC,QAAQ,CAAC,OAAO,EAAE,MAAM,EAAE,WAAW,CAAC,CAAA;QAC5D,CAAC;aAAM,CAAC;YACN,CAAC;YAAC,MAAc,CAAC,QAAQ,EAAE,CAAC,OAAO,EAAE,WAAW,CAAC,CAAA;QACnD,CAAC;QACD,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,EAAE,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAA;QAChE,MAAM,KAAK,CAAC,gBAAgB,CAAC,CAAA;IAC/B,CAAC;IAED;;;;;;;;;;;;;OAaG;IACH,qEAAqE;IACrE,GAAG,CAAC,OAAkB,EAAE,WAAsB,EAAE,OAAqB;QACnE,OAAO,IAAI,CAAC,YAAY,CAAC,OAAO,EAAE,WAAW,EAAE,OAAO,CAAC,CAAA;IACzD,CAAC;IAED;;;;;;;;;;;;;OAaG;IACH,KAAK,CAAC,MAAM,CAAC,UAAuB,EAAE;QACpC,MAAM,SAAS,GAAI,OAAO,CAAC,SAAgC,IAAI,KAAK,CAAA;QACpE,MAAM,EAAE,GAAG,IAAI,CAAC,WAAkB,CAAA;QAClC,IAAI,CAAC,EAAE,EAAE,YAAY,IAAI,CAAC,EAAE,EAAE,aAAa;YAAE,OAAM;QACnD,mEAAmE;QACnE,wDAAwD;QACxD,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,SAAS,CAAC,CAAA;QAC7B,EAAE,CAAC,YAAY,CAAC,EAAE,CAAC,aAAa,EAAE,CAAC,CAAA;QACnC,MAAM,iBAAiB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAA;IAC1C,CAAC;IAED;;;OAGG;IACM,KAAK,CAAC,YAAY,CACzB,OAAkB,EAClB,MAAiB,EACjB,UAAuB,EAAE;QAEzB,MAAM,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,OAAO,CAAC,CAAA;QACjC,MAAM,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,OAAO,CAAC,CAAA;QAC1C,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAA;IAC5B,CAAC;IAED;;;;;;;;;;;;;;;;;;;;;OAqBG;IACK,UAAU,CAChB,SAAoB,EACpB,YAAY,GAAG,CAAC,EAChB,GAAY,EACZ,kBAA8B;QAE9B,MAAM,IAAI,GAAG,IAAI,CAAC,WAAW,CAAA;QAE7B,IAAI,MAAiC,CAAA;QACrC,+CAA+C;QAC/C,MAAM,cAAc,GAAI,SAAiB,CAAC,cAAc,CAAA;QACxD,IAAI,OAAO,cAAc,KAAK,UAAU,EAAE,CAAC;YACzC,MAAM,KAAK,GAAG,cAAc,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,CAAC,CAAA;YAClD,IAAI,KAAK,EAAE,MAAM,EAAE,CAAC;gBAClB,KAAK,CAAC,MAAM,CAAC,iBAAiB,EAAE,CAAC,IAAI,EAAE,KAAK,CAAC,CAAA;gBAC7C,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,gBAAgB,EAAE,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAA;YAC/D,CAAC;QACH,CAAC;QACD,IAAI,CAAC,MAAM,EAAE,CAAC;YACZ,kEAAkE;YAClE,iEAAiE;YACjE,yDAAyD;YACzD,sCAAsC;YACtC,IAAI,kBAAkB,EAAE,CAAC;gBACvB,MAAM,WAAW,GAAI,SAAiB,CAAC,qBAAqB,EAAE,CAAC,kBAAkB,CAAC,CAAA;gBAClF,IAAI,WAAW,EAAE,CAAC;oBAChB,MAAM,GAAG,IAAI,KAAK,CAAC,OAAO,CAAC,WAAW,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,CAAC,CAAA;gBACzE,CAAC;YACH,CAAC;YACD,8DAA8D;YAC9D,sBAAsB;YACtB,IAAI,CAAC,MAAM,EAAE,CAAC;gBACZ,MAAM,GAAG,GAAI,SAAiB,CAAC,WAAW,EAAE,QAAQ,CAAA;gBACpD,IAAI,GAAG,EAAE,CAAC;oBACR,GAAG,CAAC,iBAAiB,CAAC,IAAI,EAAE,KAAK,CAAC,CAAA;oBAClC,MAAM,GAAG,GAAG,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAA;gBACpD,CAAC;YACH,CAAC;QACH,CAAC;QACD,IAAI,CAAC,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YACrB,4DAA4D;YAC5D,MAAM,CAAC,GAAG,SAAS,CAAC,MAAM,CAAA;YAC1B,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,CAAA;QACjD,CAAC;QACD,MAAM,KAAK,GAAG,IAAI,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,YAAY,EAAE,MAAM,CAAC,CAAC,CAAC,CAAA;QACjF,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,GAAG,EAAE,CAAA;IACpD,CAAC;IAED;;;;;;OAMG;IACK,MAAM,CAAC,SAAoB;QACjC,MAAM,GAAG,GAAI,SAAiB,CAAC,WAAW,EAAE,QAAQ,CAAA;QACpD,IAAI,CAAC,GAAG;YAAE,OAAO,CAAC,CAAA;QAClB,GAAG,CAAC,iBAAiB,CAAC,IAAI,EAAE,KAAK,CAAC,CAAA;QAClC,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,UAAU,EAAE,CAAA;QAChC,GAAG,CAAC,kBAAkB,CAAC,CAAC,CAAC,CAAA;QACzB,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,KAAK,EAAE,CAAC,iBAAiB,CAAC,CAAC,EAAE,KAAK,CAAC,CAAA;QACvD,OAAO,CAAC,CAAC,CAAC,CAAA;IACZ,CAAC;IAED;;;;;;;;;;OAUG;IACK,cAAc,CAAC,MAAiB,EAAE,OAAkB;QAC1D,MAAM,WAAW,GAAI,MAAc,CAAC,qBAAqB,EAAE,CAAC,OAAO,CAAC,CAAA;QACpE,IAAI,WAAW,EAAE,CAAC;YAChB,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,CAAC,CAAA;YAC1F,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,KAAK,EAAE,CAAC,iBAAiB,CAAC,CAAC,EAAE,KAAK,CAAC,CAAA;YACvD,OAAO,CAAC,CAAC,CAAC,CAAA;QACZ,CAAC;QACD,OAAO,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,CAAA;IAC5B,CAAC;;AAxfkB,QAAQ;IAD5B,cAAc,CAAC,WAAW,CAAC;GACP,QAAQ,CAyf5B;eAzfoB,QAAQ;AA2f7B;;;;;;;;;;GAUG;AACH,SAAS,iBAAiB,CAAC,SAAoB,EAAE,SAAiB;IAChE,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE;QACrC,IAAI,UAAU,GAAG,CAAC,CAAA;QAClB,IAAI,KAAK,GAAwB,IAAI,CAAA;QACrC,MAAM,OAAO,GAAG,GAAG,EAAE;YACnB,SAAS,CAAC,GAAG,CAAC,aAAa,EAAE,SAAS,CAAC,CAAA;YACvC,IAAI,KAAK,EAAE,CAAC;gBACV,KAAK,EAAE,CAAA;gBACP,KAAK,GAAG,IAAI,CAAA;YACd,CAAC;QACH,CAAC,CAAA;QACD,MAAM,SAAS,GAAG,GAAG,EAAE;YACrB,OAAO,EAAE,CAAA;YACT,OAAO,EAAE,CAAA;QACX,CAAC,CAAA;QACD,SAAS,CAAC,EAAE,CAAC,aAAa,EAAE,SAAS,CAAC,CAAA;QACtC,KAAK,GAAG,UAAU,CAAC,SAAS,CAC1B,KAAK,CAAC,EAAE;YACN,UAAU,IAAI,KAAK,CAAA;YACnB,IAAI,UAAU,IAAI,SAAS,EAAE,CAAC;gBAC5B,OAAO,EAAE,CAAA;gBACT,MAAM,CAAC,IAAI,KAAK,CAAC,mBAAmB,CAAC,CAAC,CAAA;YACxC,CAAC;QACH,CAAC,EACD,EAAE,WAAW,EAAE,+BAA+B,EAAE,SAAS,EAAE,CAC5D,CAAA;IACH,CAAC,CAAC,CAAA;AACJ,CAAC;AAED;;;;GAIG;AACH,SAAS,KAAK,CAAC,EAAU;IACvB,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC,EAAE;QAC3B,IAAI,UAAU,GAAG,CAAC,CAAA;QAClB,IAAI,KAAK,GAAwB,IAAI,CAAA;QACrC,KAAK,GAAG,UAAU,CAAC,SAAS,CAC1B,KAAK,CAAC,EAAE;YACN,UAAU,IAAI,KAAK,CAAA;YACnB,IAAI,UAAU,IAAI,EAAE,EAAE,CAAC;gBACrB,IAAI,KAAK,EAAE,CAAC;oBACV,KAAK,EAAE,CAAA;oBACP,KAAK,GAAG,IAAI,CAAA;gBACd,CAAC;gBACD,OAAO,EAAE,CAAA;YACX,CAAC;QACH,CAAC,EACD,EAAE,WAAW,EAAE,qBAAqB,EAAE,CACvC,CAAA;IACH,CAAC,CAAC,CAAA;AACJ,CAAC;AAED,SAAS,KAAK,CAAC,CAAU,EAAE,IAAY;IACrC,OAAO,OAAO,CAAC,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAA;AAC/D,CAAC;AAED;;;;;;;GAOG;AACH,SAAS,YAAY,CAAC,CAAY;IAChC,MAAM,GAAG,GAAI,CAAS,EAAE,WAAW,EAAE,cAAc,CAAA;IACnD,IAAI,OAAO,GAAG,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC;QAAE,OAAO,GAAG,CAAA;IAC/D,OAAO,KAAK,CAAE,CAAS,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC,CAAC,CAAA;AAC3C,CAAC;AAED,SAAS,SAAS,CAAC,GAAG,UAAqB;IACzC,KAAK,MAAM,CAAC,IAAI,UAAU,EAAE,CAAC;QAC3B,IAAI,OAAO,CAAC,KAAK,QAAQ,IAAI,CAAC,IAAI,CAAC,KAAK,aAAa;YAAE,OAAO,CAAC,CAAA;IACjE,CAAC;IACD,OAAO,MAAM,CAAA;AACf,CAAC","sourcesContent":["/*\n * 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, frameClock, 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  /**\n   * Phase H — pickup contract 호환성 검사용. 보편적 'gripper' type — vacuum,\n   * 2-finger, 3-finger 등 다양한 gripper 모두 이 type 으로 매칭. carrier 가\n   * 더 세분화된 호환성을 원하면 `pickupFramesFor` override 로 size 등 추가 검증.\n   *\n   * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아\n   *  TS4113 회피.)\n   */\n  get toolType(): string {\n    return 'gripper'\n  }\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 + dispatch (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   * Handoff: if this arm has `dispatch` (ContainerCapacity) and the holder\n   * exposes `receive`, route via dispatch — slot tracking, `transfer-received`\n   * trigger (which downstream conveyance components like InductStation listen\n   * to for belt-animation kickoff), and `canReceive` pre-flight all flow\n   * through the standard contract. Falls back to raw `holder.reparent()` for\n   * holders without ContainerCapacity (plain Spot, etc.). Mirrors Mover.place.\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    // Phase G5.2 — holder 가 acceptanceRotation 을 선언하면 그 world equivalent\n    // (deliveryWorldRotation) 의 yaw 를 TCP yaw 로 사용. 그러면 carrier 가 holder\n    // 의 acceptance pose 와 정확히 일치한 채 release 되어 handoff 시 zero-delta\n    // (시각적 점프 없음). holder 가 미정의면 holder 자체의 world yaw 사용\n    // (이전 동작).\n    const yaw = this._deliveryYawOf(holder, carrier)\n    // Phase G9 — carrier 도 함께 전달해 holder 의 deliveryWorldPosition 을 정확히\n    // query. holder 가 contract 노출 안 하면 fallback (object3d 원점) 으로.\n    const target = this._targetFor(holder, carrierDepth, yaw, carrier) // top-of-carrier after drop\n    const approach = this._targetFor(holder, carrierDepth + clearance, yaw, carrier)\n\n    this.set('target', approach)\n    await waitForTcpReached(this, timeoutMs)\n\n    this.set('target', target)\n    await waitForTcpReached(this, timeoutMs)\n\n    const xferOptions = { animated: true, duration: reparentDuration }\n    const canDispatch =\n      typeof (this as any).dispatch === 'function' && typeof (holder as any).receive === 'function'\n    if (canDispatch) {\n      await (this as any).dispatch(carrier, holder, xferOptions)\n    } else {\n      ;(holder as any).reparent?.(carrier, xferOptions)\n    }\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   * Resolution priority:\n   *   1. `attachPointFor` (CarrierHolder) — canonical TCP frame for arms /\n   *      Spot pads / gripper-on-gripper.\n   *   2. `deliveryWorldPosition` (Phase G9 — Holder contract). Holder 가\n   *      ContainerCapacity 의 default 또는 자체 override 로 정확한 도달\n   *      world XYZ 를 직접 제공. 이전 SCAFFOLDING 의 cz 공식 역연산이\n   *      여기로 이전됨.\n   *   3. Component's own `_realObject.object3d` world center.\n   *   4. 2D bounds center (only before 3D builds).\n   *\n   * `carrierForDelivery` 가 주어지면 (place 케이스) `component` 를 holder 로\n   * 간주하고 `component.deliveryWorldPosition(carrierForDelivery)` 를 query.\n   * 미지정 (pick 케이스 — `component` 자체가 carrier) 시 #3 으로.\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    carrierForDelivery?: Component\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      // Phase G9 — Holder.deliveryWorldPosition contract 를 우선 사용 (place\n      // 케이스: carrierForDelivery 가 주어진 경우). ContainerCapacity 가 default\n      // 로 receivingSurfaceY/geometricOffsetY 보정 + 표면 변환을 제공하므로\n      // robot-arm 이 cz 공식 역연산을 직접 알지 않아도 됨.\n      if (carrierForDelivery) {\n        const deliveryPos = (component as any).deliveryWorldPosition?.(carrierForDelivery)\n        if (deliveryPos) {\n          baseWp = new THREE.Vector3(deliveryPos.x, deliveryPos.y, deliveryPos.z)\n        }\n      }\n      // Fallback (pick 케이스 또는 holder 가 contract 미노출): component 자체의\n      // obj3d world center.\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    }\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   * Phase G5.2 — Delivery yaw 결정.\n   *\n   * holder 가 ContainerCapacity contract 의 deliveryWorldRotation 을 노출하면\n   * 그 world quaternion 에서 yaw 를 추출 (carrier 가 acceptance pose 와 일치\n   * 한 채 release 되도록). InductStation 같은 holder 가 sorter forward 방향을\n   * 자기 acceptanceRotation 으로 선언하면 자동으로 그 방향이 TCP yaw 가 됨.\n   *\n   * holder 가 deliveryWorldRotation 을 안 노출하거나 _realObject 미빌드 시\n   * 기존 동작 (holder 자체의 world yaw) 으로 fallback.\n   */\n  private _deliveryYawOf(holder: Component, carrier: Component): number {\n    const deliveryRot = (holder as any).deliveryWorldRotation?.(carrier)\n    if (deliveryRot) {\n      const q = new THREE.Quaternion(deliveryRot.x, deliveryRot.y, deliveryRot.z, deliveryRot.w)\n      const e = new THREE.Euler().setFromQuaternion(q, 'YXZ')\n      return e.y\n    }\n    return this._yawOf(holder)\n  }\n}\n\n/**\n * Resolve when the robot arm fires `tcp-reached`, reject on **simulation-time**\n * timeout. 3D smoothing 은 frameClock 의 simDt 로 진행 (sim-time-driven),\n * 따라서 timeout 도 sim-time 으로 누적해야 sim speed 변경에 일관 동작:\n *   - speed=1   → sim time = real time (기존과 동일)\n *   - speed=2   → IK 도 2× 빨라지고 timeout 도 2× 빠르게 도달 (real time 기준)\n *   - speed=0.5 → IK 가 2× 느려지지만 timeout 도 sim 기준이라 spurious\n *                  reject 없음 (이전 real-time setTimeout 으로는 1 미만 speed\n *                  에서 IK 도달 전에 timeout 발화하던 버그 수정)\n *   - paused    → simDt=0 누적도 정지 → 일시정지 동안 무한 대기 (의도)\n */\nfunction waitForTcpReached(component: Component, timeoutMs: number): Promise<void> {\n  return new Promise((resolve, reject) => {\n    let elapsedSim = 0\n    let unsub: (() => void) | null = null\n    const cleanup = () => {\n      component.off('tcp-reached', onReached)\n      if (unsub) {\n        unsub()\n        unsub = null\n      }\n    }\n    const onReached = () => {\n      cleanup()\n      resolve()\n    }\n    component.on('tcp-reached', onReached)\n    unsub = frameClock.subscribe(\n      simDt => {\n        elapsedSim += simDt\n        if (elapsedSim >= timeoutMs) {\n          cleanup()\n          reject(new Error('TCP reach timeout'))\n        }\n      },\n      { description: 'robot-arm tcp-reached timeout', component }\n    )\n  })\n}\n\n/**\n * sim-time aware sleep — frameClock 의 simDt 를 누적해 ms 도달 시 resolve.\n * speed=0.5 이면 real time 으로 2배 걸리지만 sim time 으로는 동일 — animation\n * 시간과 일관. paused 시 무한 대기 (의도). waitForTcpReached 와 같은 시간축.\n */\nfunction sleep(ms: number): Promise<void> {\n  return new Promise(resolve => {\n    let elapsedSim = 0\n    let unsub: (() => void) | null = null\n    unsub = frameClock.subscribe(\n      simDt => {\n        elapsedSim += simDt\n        if (elapsedSim >= ms) {\n          if (unsub) {\n            unsub()\n            unsub = null\n          }\n          resolve()\n        }\n      },\n      { description: 'robot-arm sim-sleep' }\n    )\n  })\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/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@operato/scene-manufacturing",
   "description": "Things scene components for manufacturing industry",
-  "version": "10.0.0-beta.31",
+  "version": "10.0.0-beta.33",
   "type": "module",
   "license": "MIT",
   "things-scene": true,
@@ -30,7 +30,7 @@
   },
   "dependencies": {
     "@hatiolab/things-scene": "^10.0.0-beta.1",
-    "@operato/scene-base": "^10.0.0-beta.31",
+    "@operato/scene-base": "^10.0.0-beta.33",
     "three": "^0.183.0"
   },
   "devDependencies": {
@@ -66,5 +66,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "fdafbd04fd083a43690be937230c7d96a3ee5da3"
+  "gitHead": "561b6df018b85c753b6510a5bc067b20b08bd7fc"
 }