@operato/scene-storage 10.0.0-beta.28 → 10.0.0-beta.30

package/CHANGELOG.md

@@ -3,6 +3,21 @@
 All notable changes to this project will be documented in this file.
 See [Conventional Commits](https://conventionalcommits.org) for commit guidelines.
 
+## [10.0.0-beta.30](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.29...v10.0.0-beta.30) (2026-05-07)
+
+
+### :rocket: New Features
+
+* **conveyance:** InductStation + CrossBeltLine + Chute 3D 시뮬레이션 전면 개선 ([e729b9d](https://github.com/things-scene/operato-scene/commit/e729b9dbb736ce1f12a4de789738ec1e58bf1dbc))
+* **scene-base/storage/conveyance:** 배치 전략 + RackCell + ItemGenerator 신규 추가 ([7f1f1a4](https://github.com/things-scene/operato-scene/commit/7f1f1a456bbe6aedcf1f85b91a9cc72fe970d292))
+
+
+### :house: Code Refactoring
+
+* Phase A 후속 — _Base 캐스트 워크어라운드 95개 제거 ([3fce16c](https://github.com/things-scene/operato-scene/commit/3fce16c5c6d727e043cadac39bf52b9c331db94a))
+
+
+
 ## [10.0.0-beta.28](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.27...v10.0.0-beta.28) (2026-05-05)
 
 

package/dist/asrs-crane-3d.d.ts

@@ -1,6 +1,16 @@
+import * as THREE from 'three';
 import { RealObjectGroup } from '@hatiolab/things-scene';
 export declare class AsrsCrane3D extends RealObjectGroup {
     build(): void;
+    /** Sub-frame where carriers attach during transport (fork tool-centre-point). */
+    private _carriageFrame?;
+    /**
+     * Return the carriage TCP anchor. Carriers attached to this frame will
+     * follow carriage movement as `carriageHeight` changes and the crane rebuilds.
+     *
+     * Callers should re-fetch this after any state change that triggers rebuild.
+     */
+    getCarriageFrame(): THREE.Object3D | undefined;
     updateDimension(): void;
     onchange(after: Record<string, unknown>, before: Record<string, unknown>): void;
     updateAlpha(): void;

package/dist/asrs-crane-3d.js

@@ -144,6 +144,23 @@ export class AsrsCrane3D extends RealObjectGroup {
         // Place lamp near the corner of the base, away from the mast
         lampMesh.position.set(width * 0.3, baseY + railH + baseH + lampH / 2, height * 0.3);
         this.object3d.add(lampMesh);
+        // ── Carriage frame (invisible anchor for carrier attach) ──────────
+        // Placed at the top of the shuttle, where cargo rests.
+        this._carriageFrame = new THREE.Object3D();
+        this._carriageFrame.name = 'crane-carriage-tcp';
+        this._carriageFrame.position.set(0, carriageY - carriageH / 2 - shuttleH, 0);
+        this.object3d.add(this._carriageFrame);
+    }
+    /** Sub-frame where carriers attach during transport (fork tool-centre-point). */
+    _carriageFrame;
+    /**
+     * Return the carriage TCP anchor. Carriers attached to this frame will
+     * follow carriage movement as `carriageHeight` changes and the crane rebuilds.
+     *
+     * Callers should re-fetch this after any state change that triggers rebuild.
+     */
+    getCarriageFrame() {
+        return this._carriageFrame;
     }
     updateDimension() { }
     onchange(after, before) {

package/dist/asrs-crane-3d.js.map

@@ -1 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * AsrsCrane 3D — stacker crane for AS/RS aisles.\n *\n * LO-POLY but structurally complete. The signature parts:\n *\n *   - tall vertical mast (the dominant element — runs floor → ceiling)\n *   - base unit (motor housing at floor level, runs on the floor rail)\n *   - top guide (sliding block at ceiling that runs on the ceiling rail —\n *     stabilizes the mast under acceleration)\n *   - carriage (horizontal block that slides up/down the mast at\n *     `state.carriageHeight`)\n *   - shuttle/fork attachment on the carriage (extends sideways into a cell\n *     to extract / insert a pallet)\n *   - status lamp on top of the base unit\n *\n * The base unit + top guide combo is what visually distinguishes a stacker\n * crane from a forklift — the stacker is *constrained* to the aisle, riding\n * rails top and bottom, and that constraint is the visual signature.\n */\n\nimport * as THREE from 'three'\nimport * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst MAST_COLOR = 0x4a5060\nconst BASE_COLOR = 0x33394a\nconst SHUTTLE_COLOR = 0x222233\nconst RAIL_COLOR = 0x222222\n\nexport class AsrsCrane3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const { width, height, depth = 200 } = this.component.state\n    const bodyColor = (this.component.state.bodyColor as string) || '#888'\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampIntensity = status && status !== 'idle' ? 1.5 : 0.2\n    // Clamp carriageHeight to the available mast travel — keeps the carriage\n    // inside the shaft even if state.carriageHeight is stale (e.g. left over\n    // from an older height-scale convention).\n    const carriageRaw = (this.component.state.carriageHeight as number) ?? depth * 0.4\n    const carriageHeight = Math.max(0, Math.min(carriageRaw, depth * 0.85))\n\n    const baseY = -depth / 2\n\n    // Proportions\n    const baseH = depth * 0.10\n    const topGuideH = depth * 0.05\n    const mastH = depth - baseH - topGuideH\n    const mastW = width * 0.35\n    const mastD = height * 0.35\n\n    const bodyMaterial = new THREE.MeshStandardMaterial({\n      color: bodyColor,\n      metalness: 0.4,\n      roughness: 0.5\n    })\n    const mastMaterial = new THREE.MeshStandardMaterial({\n      color: MAST_COLOR,\n      metalness: 0.85,\n      roughness: 0.3\n    })\n    const baseMaterial = new THREE.MeshStandardMaterial({\n      color: BASE_COLOR,\n      metalness: 0.7,\n      roughness: 0.4\n    })\n    const shuttleMaterial = new THREE.MeshStandardMaterial({\n      color: SHUTTLE_COLOR,\n      metalness: 0.85,\n      roughness: 0.3\n    })\n\n    // ── Floor rail (visible track under the base) ─────────────────────\n    const railH = baseH * 0.25\n    const railGeo = new THREE.BoxGeometry(width * 1.15, railH, mastD * 0.4)\n    const railMesh = new THREE.Mesh(\n      railGeo,\n      new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n    )\n    railMesh.position.set(0, baseY + railH / 2, 0)\n    railMesh.receiveShadow = true\n    this.object3d.add(railMesh)\n\n    // ── Base unit (motor housing on floor rail) ───────────────────────\n    const baseGeo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.85)\n    const baseMesh = new THREE.Mesh(baseGeo, baseMaterial)\n    baseMesh.position.set(0, baseY + railH + baseH / 2, 0)\n    baseMesh.castShadow = true\n    baseMesh.receiveShadow = true\n    this.object3d.add(baseMesh)\n\n    // Body color tint band on base unit (subtle status indication)\n    const tintH = baseH * 0.15\n    const tintGeo = new THREE.BoxGeometry(width * 0.95, tintH, height * 0.85)\n    const tintMaterial = new THREE.MeshStandardMaterial({\n      color: bodyColor,\n      transparent: true,\n      opacity: 0.6,\n      metalness: 0.1,\n      roughness: 0.6\n    })\n    const tintMesh = new THREE.Mesh(tintGeo, tintMaterial)\n    tintMesh.position.set(0, baseY + railH + baseH - tintH / 2, 0)\n    this.object3d.add(tintMesh)\n\n    // ── Mast (vertical column from base top to ceiling) ───────────────\n    const mastY = baseY + railH + baseH + mastH / 2\n    const mastGeo = new THREE.BoxGeometry(mastW, mastH, mastD)\n    const mastMesh = new THREE.Mesh(mastGeo, mastMaterial)\n    mastMesh.position.set(0, mastY, 0)\n    mastMesh.castShadow = true\n    this.object3d.add(mastMesh)\n\n    // ── Carriage (horizontal block sliding on mast at carriageHeight) ─\n    const carriageW = width * 0.85\n    const carriageH = baseH * 0.7\n    const carriageD = mastD * 1.4\n    const carriageY = baseY + railH + baseH + carriageHeight + carriageH / 2\n    const carriageGeo = new THREE.BoxGeometry(carriageW, carriageH, carriageD)\n    const carriageMesh = new THREE.Mesh(carriageGeo, bodyMaterial)\n    carriageMesh.position.set(0, carriageY, 0)\n    carriageMesh.castShadow = true\n    this.object3d.add(carriageMesh)\n\n    // ── Shuttle / fork attachment on carriage (extends sideways) ──────\n    const shuttleW = width * 1.05\n    const shuttleH = carriageH * 0.5\n    const shuttleD = carriageD * 0.6\n    const shuttleGeo = new THREE.BoxGeometry(shuttleW, shuttleH, shuttleD)\n    const shuttleMesh = new THREE.Mesh(shuttleGeo, shuttleMaterial)\n    shuttleMesh.position.set(0, carriageY - carriageH / 2 - shuttleH / 2, 0)\n    shuttleMesh.castShadow = true\n    this.object3d.add(shuttleMesh)\n\n    // ── Top guide (sliding block on ceiling rail) ─────────────────────\n    const topGuideGeo = new THREE.BoxGeometry(width * 0.7, topGuideH, height * 0.6)\n    const topGuideMesh = new THREE.Mesh(topGuideGeo, baseMaterial)\n    topGuideMesh.position.set(0, baseY + depth - topGuideH / 2, 0)\n    topGuideMesh.castShadow = true\n    this.object3d.add(topGuideMesh)\n\n    // Ceiling rail (small visual cue at very top)\n    const ceilingRailGeo = new THREE.BoxGeometry(width * 1.15, topGuideH * 0.4, mastD * 0.4)\n    const ceilingRailMesh = new THREE.Mesh(\n      ceilingRailGeo,\n      new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n    )\n    ceilingRailMesh.position.set(0, baseY + depth - topGuideH * 0.2, 0)\n    this.object3d.add(ceilingRailMesh)\n\n    // ── Status lamp on top of base unit ───────────────────────────────\n    const lampR = Math.min(width, height) * 0.04\n    const lampH = lampR * 1.5\n    const lampMaterial = new THREE.MeshStandardMaterial({\n      color: emissiveColor,\n      emissive: emissiveColor,\n      emissiveIntensity: lampIntensity,\n      metalness: 0,\n      roughness: 0.3\n    })\n    const lampGeo = new THREE.CylinderGeometry(lampR, lampR * 0.85, lampH, 12)\n    const lampMesh = new THREE.Mesh(lampGeo, lampMaterial)\n    // Place lamp near the corner of the base, away from the mast\n    lampMesh.position.set(width * 0.3, baseY + railH + baseH + lampH / 2, height * 0.3)\n    this.object3d.add(lampMesh)\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'status' in after ||\n      'bodyColor' in after ||\n      'lampEmissive' in after ||\n      'carriageHeight' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * AsrsCrane 3D — stacker crane for AS/RS aisles.\n *\n * LO-POLY but structurally complete. The signature parts:\n *\n *   - tall vertical mast (the dominant element — runs floor → ceiling)\n *   - base unit (motor housing at floor level, runs on the floor rail)\n *   - top guide (sliding block at ceiling that runs on the ceiling rail —\n *     stabilizes the mast under acceleration)\n *   - carriage (horizontal block that slides up/down the mast at\n *     `state.carriageHeight`)\n *   - shuttle/fork attachment on the carriage (extends sideways into a cell\n *     to extract / insert a pallet)\n *   - status lamp on top of the base unit\n *\n * The base unit + top guide combo is what visually distinguishes a stacker\n * crane from a forklift — the stacker is *constrained* to the aisle, riding\n * rails top and bottom, and that constraint is the visual signature.\n */\n\nimport * as THREE from 'three'\nimport * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst MAST_COLOR = 0x4a5060\nconst BASE_COLOR = 0x33394a\nconst SHUTTLE_COLOR = 0x222233\nconst RAIL_COLOR = 0x222222\n\nexport class AsrsCrane3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const { width, height, depth = 200 } = this.component.state\n    const bodyColor = (this.component.state.bodyColor as string) || '#888'\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampIntensity = status && status !== 'idle' ? 1.5 : 0.2\n    // Clamp carriageHeight to the available mast travel — keeps the carriage\n    // inside the shaft even if state.carriageHeight is stale (e.g. left over\n    // from an older height-scale convention).\n    const carriageRaw = (this.component.state.carriageHeight as number) ?? depth * 0.4\n    const carriageHeight = Math.max(0, Math.min(carriageRaw, depth * 0.85))\n\n    const baseY = -depth / 2\n\n    // Proportions\n    const baseH = depth * 0.10\n    const topGuideH = depth * 0.05\n    const mastH = depth - baseH - topGuideH\n    const mastW = width * 0.35\n    const mastD = height * 0.35\n\n    const bodyMaterial = new THREE.MeshStandardMaterial({\n      color: bodyColor,\n      metalness: 0.4,\n      roughness: 0.5\n    })\n    const mastMaterial = new THREE.MeshStandardMaterial({\n      color: MAST_COLOR,\n      metalness: 0.85,\n      roughness: 0.3\n    })\n    const baseMaterial = new THREE.MeshStandardMaterial({\n      color: BASE_COLOR,\n      metalness: 0.7,\n      roughness: 0.4\n    })\n    const shuttleMaterial = new THREE.MeshStandardMaterial({\n      color: SHUTTLE_COLOR,\n      metalness: 0.85,\n      roughness: 0.3\n    })\n\n    // ── Floor rail (visible track under the base) ─────────────────────\n    const railH = baseH * 0.25\n    const railGeo = new THREE.BoxGeometry(width * 1.15, railH, mastD * 0.4)\n    const railMesh = new THREE.Mesh(\n      railGeo,\n      new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n    )\n    railMesh.position.set(0, baseY + railH / 2, 0)\n    railMesh.receiveShadow = true\n    this.object3d.add(railMesh)\n\n    // ── Base unit (motor housing on floor rail) ───────────────────────\n    const baseGeo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.85)\n    const baseMesh = new THREE.Mesh(baseGeo, baseMaterial)\n    baseMesh.position.set(0, baseY + railH + baseH / 2, 0)\n    baseMesh.castShadow = true\n    baseMesh.receiveShadow = true\n    this.object3d.add(baseMesh)\n\n    // Body color tint band on base unit (subtle status indication)\n    const tintH = baseH * 0.15\n    const tintGeo = new THREE.BoxGeometry(width * 0.95, tintH, height * 0.85)\n    const tintMaterial = new THREE.MeshStandardMaterial({\n      color: bodyColor,\n      transparent: true,\n      opacity: 0.6,\n      metalness: 0.1,\n      roughness: 0.6\n    })\n    const tintMesh = new THREE.Mesh(tintGeo, tintMaterial)\n    tintMesh.position.set(0, baseY + railH + baseH - tintH / 2, 0)\n    this.object3d.add(tintMesh)\n\n    // ── Mast (vertical column from base top to ceiling) ───────────────\n    const mastY = baseY + railH + baseH + mastH / 2\n    const mastGeo = new THREE.BoxGeometry(mastW, mastH, mastD)\n    const mastMesh = new THREE.Mesh(mastGeo, mastMaterial)\n    mastMesh.position.set(0, mastY, 0)\n    mastMesh.castShadow = true\n    this.object3d.add(mastMesh)\n\n    // ── Carriage (horizontal block sliding on mast at carriageHeight) ─\n    const carriageW = width * 0.85\n    const carriageH = baseH * 0.7\n    const carriageD = mastD * 1.4\n    const carriageY = baseY + railH + baseH + carriageHeight + carriageH / 2\n    const carriageGeo = new THREE.BoxGeometry(carriageW, carriageH, carriageD)\n    const carriageMesh = new THREE.Mesh(carriageGeo, bodyMaterial)\n    carriageMesh.position.set(0, carriageY, 0)\n    carriageMesh.castShadow = true\n    this.object3d.add(carriageMesh)\n\n    // ── Shuttle / fork attachment on carriage (extends sideways) ──────\n    const shuttleW = width * 1.05\n    const shuttleH = carriageH * 0.5\n    const shuttleD = carriageD * 0.6\n    const shuttleGeo = new THREE.BoxGeometry(shuttleW, shuttleH, shuttleD)\n    const shuttleMesh = new THREE.Mesh(shuttleGeo, shuttleMaterial)\n    shuttleMesh.position.set(0, carriageY - carriageH / 2 - shuttleH / 2, 0)\n    shuttleMesh.castShadow = true\n    this.object3d.add(shuttleMesh)\n\n    // ── Top guide (sliding block on ceiling rail) ─────────────────────\n    const topGuideGeo = new THREE.BoxGeometry(width * 0.7, topGuideH, height * 0.6)\n    const topGuideMesh = new THREE.Mesh(topGuideGeo, baseMaterial)\n    topGuideMesh.position.set(0, baseY + depth - topGuideH / 2, 0)\n    topGuideMesh.castShadow = true\n    this.object3d.add(topGuideMesh)\n\n    // Ceiling rail (small visual cue at very top)\n    const ceilingRailGeo = new THREE.BoxGeometry(width * 1.15, topGuideH * 0.4, mastD * 0.4)\n    const ceilingRailMesh = new THREE.Mesh(\n      ceilingRailGeo,\n      new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n    )\n    ceilingRailMesh.position.set(0, baseY + depth - topGuideH * 0.2, 0)\n    this.object3d.add(ceilingRailMesh)\n\n    // ── Status lamp on top of base unit ───────────────────────────────\n    const lampR = Math.min(width, height) * 0.04\n    const lampH = lampR * 1.5\n    const lampMaterial = new THREE.MeshStandardMaterial({\n      color: emissiveColor,\n      emissive: emissiveColor,\n      emissiveIntensity: lampIntensity,\n      metalness: 0,\n      roughness: 0.3\n    })\n    const lampGeo = new THREE.CylinderGeometry(lampR, lampR * 0.85, lampH, 12)\n    const lampMesh = new THREE.Mesh(lampGeo, lampMaterial)\n    // Place lamp near the corner of the base, away from the mast\n    lampMesh.position.set(width * 0.3, baseY + railH + baseH + lampH / 2, height * 0.3)\n    this.object3d.add(lampMesh)\n\n    // ── Carriage frame (invisible anchor for carrier attach) ──────────\n    // Placed at the top of the shuttle, where cargo rests.\n    this._carriageFrame = new THREE.Object3D()\n    this._carriageFrame.name = 'crane-carriage-tcp'\n    this._carriageFrame.position.set(0, carriageY - carriageH / 2 - shuttleH, 0)\n    this.object3d.add(this._carriageFrame)\n  }\n\n  /** Sub-frame where carriers attach during transport (fork tool-centre-point). */\n  private _carriageFrame?: THREE.Object3D\n\n  /**\n   * Return the carriage TCP anchor. Carriers attached to this frame will\n   * follow carriage movement as `carriageHeight` changes and the crane rebuilds.\n   *\n   * Callers should re-fetch this after any state change that triggers rebuild.\n   */\n  getCarriageFrame(): THREE.Object3D | undefined {\n    return this._carriageFrame\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'status' in after ||\n      'bodyColor' in after ||\n      'lampEmissive' in after ||\n      'carriageHeight' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n"]}

package/dist/asrs-crane.d.ts

@@ -1,5 +1,6 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import { type Alignment, type Heights, type LegendBinding, type PlacementArchetype } from '@operato/scene-base';
+import type { SlotDef } from '@hatiolab/things-scene';
+import { type AttachFrame, type Alignment, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
 /**
  * AsrsCrane status — the operating state of a stacker crane in an AS/RS aisle.
  *
@@ -11,37 +12,72 @@ import { type Alignment, type Heights, type LegendBinding, type PlacementArchety
  * - `error`      — fault / e-stop / collision warning
  */
 export type AsrsCraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error';
-declare const Base: typeof Component;
+declare const AsrsCrane_base: any;
 /**
  * AsrsCrane — the stacker / retrieval crane that runs in the aisle of an
  * AS/RS, moving cargo between the load port and the rack cells.
  *
  * Structure: a tall vertical mast that translates along a floor + ceiling
  * rail (the aisle), with a carriage that slides up/down the mast carrying a
- * shuttle / forks. The whole assembly's footprint is narrow (mast width)
- * but its visual height is full ceiling — by far the tallest single
- * component in a typical scene.
+ * shuttle / forks.
  *
- * Currently Shape-based (no children). The carrier the crane is *currently
- * carrying* is best modeled via data binding (a `currentCarrier` data field
- * on the crane → looked up to a Pallet/Box elsewhere in the scene), as in
- * fmsim's CarrierManager pattern. Adding the carrier as a child would mix
- * static placement with the dynamic data-driven flow we deliberately keep
- * separate (see Phase A4 commit notes).
+ * **Monitoring mode**: crane status is driven by data binding
+ * (`state.status`, `state.carriageHeight`). The carrier is referenced
+ * via data binding — it is NOT a child of the crane in monitoring mode.
+ *
+ * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, rackCell)`
+ * (or `crane.pickAndPlace(carrier, rackCell)`). Mover handles navigation +
+ * engage + reparent. During transit the carrier IS a child of the crane.
  */
-export default class AsrsCrane extends Base {
+export default class AsrsCrane extends AsrsCrane_base {
     static legends: Record<string, LegendBinding>;
     static placement: PlacementArchetype;
     static align: Alignment;
     static defaultDepth: (h: Heights) => number;
+    /** Yaw offset: crane model is drawn with the aisle axis along X (right = forward). */
+    static yawOffset: number;
     get nature(): ComponentNature;
     get anchors(): never[];
+    /** Stacker crane carries at most one load at a time on its forks. */
+    get slots(): SlotDef[];
+    /**
+     * Return the 3D attach frame on the crane's carriage (fork tip).
+     * Carriers are attached here while the crane is in transit (pick phase).
+     *
+     * The AsrsCrane3D exposes `getCarriageFrame()` — a sub-Object3D that
+     * tracks the carriage height and sits at the fork TCP. If the 3D object
+     * isn't built yet (e.g. before scene initialization), fall back to the
+     * crane's own object3d centre.
+     */
+    attachPointFor(carrier: Component): AttachFrame | null;
+    /**
+     * Domain-specific actuation between arrival and reparent.
+     *
+     * Simulation sequence for PICK:
+     *   1. Mover.pick() navigates crane to carrier position (moveTo).
+     *   2. engage('pick') → snap carriage height + status 'loading'.
+     *   3. Carrier is reparented to crane (becomes child).
+     *
+     * For now: set status and snap carriage height. A full ASRS simulation
+     * would tween the carriageHeight here (animate AsrsCrane3D).
+     *
+     * Status lifecycle:
+     *   idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle
+     * The 'moving' state is not set from Mover.moveTo() because TypeScript
+     * can't call super.moveTo() on an `: any`-typed mixin. WCS data binding
+     * sets 'moving' in monitoring mode; override pick()/place() to set it
+     * in full simulation environments.
+     */
+    engage(target: Component, kind: 'pick' | 'place', _options?: MoveOptions): Promise<void>;
+    /** Fetch a carrier from a rack cell (semantically = pick). */
+    fetch(carrier: Component, options?: MoveOptions): Promise<void>;
+    /** Deposit a carrier into a rack cell (semantically = place). */
+    deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void>;
     /**
      * 2D — top-down rectangle showing the crane's footprint along the aisle.
      * The crane is much taller than wide, so the 2D mark is small.
      */
     render(ctx: CanvasRenderingContext2D): void;
-    get fillStyle(): string;
     buildRealObject(): RealObject | undefined;
 }
 export {};

package/dist/asrs-crane.js

@@ -2,8 +2,8 @@ import { __decorate } from "tslib";
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { RectPath, Shape, sceneComponent } from '@hatiolab/things-scene';
-import { Legendable, Placeable } from '@operato/scene-base';
+import { ContainerAbstract, ContainerCapacity, sceneComponent } from '@hatiolab/things-scene';
+import { CarrierHolder, Legendable, Mover, Placeable } from '@operato/scene-base';
 import { AsrsCrane3D } from './asrs-crane-3d.js';
 const BODY_LEGEND = {
     idle: '#888',
@@ -49,25 +49,36 @@ const NATURE = {
     ],
     help: 'scene/component/asrs-crane'
 };
-const Base = Legendable(Placeable(RectPath(Shape)));
+// Mixin chain: Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract
+//
+//   Mover:             pick / place / pickAndPlace / moveTo / engage primitives
+//   CarrierHolder:     attachPointFor() — where the carrier sits on the crane (carriage fork)
+//   ContainerCapacity: receive() / dispatch() / canReceive() / slots — slot tracking +
+//                      TRANSFER_SLOT_KEY bookkeeping during transit
+//   Legendable:        status → bodyColor / lampEmissive colour mapping
+//   Placeable:         floor-archetype 3D positioning
+//   ContainerAbstract: child management — carrier becomes a child while in transit
+//
+// Note: ContainerAbstract replaces Shape. The 2D outline is drawn manually in
+// render() below (a simple top-down rectangle), matching the old Shape output
+// without the Shape base-class overhead.
 /**
  * AsrsCrane — the stacker / retrieval crane that runs in the aisle of an
  * AS/RS, moving cargo between the load port and the rack cells.
  *
  * Structure: a tall vertical mast that translates along a floor + ceiling
  * rail (the aisle), with a carriage that slides up/down the mast carrying a
- * shuttle / forks. The whole assembly's footprint is narrow (mast width)
- * but its visual height is full ceiling — by far the tallest single
- * component in a typical scene.
+ * shuttle / forks.
  *
- * Currently Shape-based (no children). The carrier the crane is *currently
- * carrying* is best modeled via data binding (a `currentCarrier` data field
- * on the crane → looked up to a Pallet/Box elsewhere in the scene), as in
- * fmsim's CarrierManager pattern. Adding the carrier as a child would mix
- * static placement with the dynamic data-driven flow we deliberately keep
- * separate (see Phase A4 commit notes).
+ * **Monitoring mode**: crane status is driven by data binding
+ * (`state.status`, `state.carriageHeight`). The carrier is referenced
+ * via data binding — it is NOT a child of the crane in monitoring mode.
+ *
+ * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, rackCell)`
+ * (or `crane.pickAndPlace(carrier, rackCell)`). Mover handles navigation +
+ * engage + reparent. During transit the carrier IS a child of the crane.
  */
-let AsrsCrane = class AsrsCrane extends Base {
+let AsrsCrane = class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
         lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }
@@ -75,24 +86,98 @@ let AsrsCrane = class AsrsCrane extends Base {
     static placement = 'floor';
     static align = 'bottom';
     static defaultDepth = (h) => h.ceiling - h.floor;
+    /** Yaw offset: crane model is drawn with the aisle axis along X (right = forward). */
+    static yawOffset = 0;
     get nature() {
         return NATURE;
     }
     get anchors() {
         return [];
     }
+    // ── ContainerCapacity ─────────────────────────────────────────────────────
+    /** Stacker crane carries at most one load at a time on its forks. */
+    get slots() {
+        return [{ id: 'forks', maxCount: 1 }];
+    }
+    // ── CarrierHolder — attach frame (carriage fork position) ─────────────────
+    /**
+     * Return the 3D attach frame on the crane's carriage (fork tip).
+     * Carriers are attached here while the crane is in transit (pick phase).
+     *
+     * The AsrsCrane3D exposes `getCarriageFrame()` — a sub-Object3D that
+     * tracks the carriage height and sits at the fork TCP. If the 3D object
+     * isn't built yet (e.g. before scene initialization), fall back to the
+     * crane's own object3d centre.
+     */
+    attachPointFor(carrier) {
+        const ro = this._realObject;
+        const frame = ro?.getCarriageFrame?.();
+        if (frame) {
+            const carrierDepth = resolveCarrierDepth(carrier);
+            return { attach: frame, localPosition: { x: 0, y: carrierDepth / 2, z: 0 } };
+        }
+        const root = this._realObject?.object3d;
+        if (!root)
+            return null;
+        return { attach: root };
+    }
+    // ── Mover overrides ───────────────────────────────────────────────────────
+    /**
+     * Domain-specific actuation between arrival and reparent.
+     *
+     * Simulation sequence for PICK:
+     *   1. Mover.pick() navigates crane to carrier position (moveTo).
+     *   2. engage('pick') → snap carriage height + status 'loading'.
+     *   3. Carrier is reparented to crane (becomes child).
+     *
+     * For now: set status and snap carriage height. A full ASRS simulation
+     * would tween the carriageHeight here (animate AsrsCrane3D).
+     *
+     * Status lifecycle:
+     *   idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle
+     * The 'moving' state is not set from Mover.moveTo() because TypeScript
+     * can't call super.moveTo() on an `: any`-typed mixin. WCS data binding
+     * sets 'moving' in monitoring mode; override pick()/place() to set it
+     * in full simulation environments.
+     */
+    async engage(target, kind, _options = {}) {
+        if (kind === 'pick') {
+            this.setState({ status: 'loading' });
+            const carrierY = resolveCarrierCenterY(target);
+            if (carrierY !== null) {
+                this.setState({ carriageHeight: carrierY });
+            }
+        }
+        else {
+            this.setState({ status: 'unloading' });
+        }
+        // In a full simulation: await carriage-motion tween here.
+    }
+    // ── Domain aliases ────────────────────────────────────────────────────────
+    /** Fetch a carrier from a rack cell (semantically = pick). */
+    fetch(carrier, options) {
+        return this.pick(carrier, options);
+    }
+    /** Deposit a carrier into a rack cell (semantically = place). */
+    deposit(carrier, cell, options) {
+        return this.place(carrier, cell, options);
+    }
+    // ── 2D rendering ─────────────────────────────────────────────────────────
     /**
      * 2D — top-down rectangle showing the crane's footprint along the aisle.
      * The crane is much taller than wide, so the 2D mark is small.
      */
     render(ctx) {
         const { width, height, left, top } = this.state;
+        const fillColor = this.state.bodyColor || '#888';
+        ctx.save();
+        ctx.fillStyle = fillColor;
         ctx.beginPath();
         ctx.rect(left, top, width, height);
+        ctx.fill();
+        ctx.restore();
     }
-    get fillStyle() {
-        return this.state.bodyColor || '#888';
-    }
+    // ── 3D ───────────────────────────────────────────────────────────────────
     buildRealObject() {
         return new AsrsCrane3D(this);
     }
@@ -101,4 +186,23 @@ AsrsCrane = __decorate([
     sceneComponent('asrs-crane')
 ], AsrsCrane);
 export default AsrsCrane;
+function resolveCarrierDepth(c) {
+    const eff = c._realObject?.effectiveDepth;
+    if (typeof eff === 'number' && Number.isFinite(eff))
+        return eff;
+    return numOr(c?.state?.depth, 0);
+}
+function resolveCarrierCenterY(c) {
+    const pos = c.state;
+    if (!pos)
+        return null;
+    // zPos is the 3D Y center of a Placeable component in things-scene
+    const zPos = numOr(pos.zPos, NaN);
+    if (!Number.isNaN(zPos))
+        return zPos;
+    return null;
+}
+function numOr(v, dflt) {
+    return typeof v === 'number' && Number.isFinite(v) ? v : dflt;
+}
 //# sourceMappingURL=asrs-crane.js.map

package/dist/asrs-crane.js.map

@@ -1 +1 @@
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All rights reserved.\n */\nimport { Component, ComponentNature, RealObject, RectPath, Shape, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  Legendable,\n  Placeable,\n  type Alignment,\n  type Heights,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { AsrsCrane3D } from './asrs-crane-3d.js'\n\n/**\n * AsrsCrane status — the operating state of a stacker crane in an AS/RS aisle.\n *\n * - `idle`       — parked at home position\n * - `moving`     — translating along the aisle (horizontal) or along the\n *                  mast (vertical); the two motions are typically combined\n * - `loading`    — extracting a pallet from a rack cell\n * - `unloading`  — placing a pallet into a rack cell\n * - `error`      — fault / e-stop / collision warning\n */\nexport type AsrsCraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'\n\nconst BODY_LEGEND = {\n  idle: '#888',\n  moving: '#aabbcc',\n  loading: '#ffaa00',\n  unloading: '#ffaa00',\n  error: '#c66',\n  default: '#888'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n  idle: '#222222',\n  moving: '#44ff44',\n  loading: '#ffaa00',\n  unloading: '#ffaa00',\n  error: '#ff3333',\n  default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\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: 'Loading', value: 'loading' },\n          { display: 'Unloading', value: 'unloading' },\n          { display: 'Error', value: 'error' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'carriage-height',\n      name: 'carriageHeight',\n      placeholder: 'mm — height of carriage on mast'\n    }\n  ],\n  help: 'scene/component/asrs-crane'\n}\n\nconst Base = Legendable(Placeable(RectPath(Shape))) as unknown as typeof Component\n\n/**\n * AsrsCrane — the stacker / retrieval crane that runs in the aisle of an\n * AS/RS, moving cargo between the load port and the rack cells.\n *\n * Structure: a tall vertical mast that translates along a floor + ceiling\n * rail (the aisle), with a carriage that slides up/down the mast carrying a\n * shuttle / forks. The whole assembly's footprint is narrow (mast width)\n * but its visual height is full ceiling — by far the tallest single\n * component in a typical scene.\n *\n * Currently Shape-based (no children). The carrier the crane is *currently\n * carrying* is best modeled via data binding (a `currentCarrier` data field\n * on the crane → looked up to a Pallet/Box elsewhere in the scene), as in\n * fmsim's CarrierManager pattern. Adding the carrier as a child would mix\n * static placement with the dynamic data-driven flow we deliberately keep\n * separate (see Phase A4 commit notes).\n */\n@sceneComponent('asrs-crane')\nexport default class AsrsCrane extends Base {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'status', legend: BODY_LEGEND },\n    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.ceiling - h.floor\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /**\n   * 2D — top-down rectangle showing the crane's footprint along the aisle.\n   * The crane is much taller than wide, so the 2D mark is small.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#888'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new AsrsCrane3D(this as any)\n  }\n}\n"]}
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All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef } from '@hatiolab/things-scene'\nimport {\n  CarrierHolder,\n  Legendable,\n  Mover,\n  Placeable,\n  type AttachFrame,\n  type Alignment,\n  type Heights,\n  type LegendBinding,\n  type MoveOptions,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { AsrsCrane3D } from './asrs-crane-3d.js'\n\n/**\n * AsrsCrane status — the operating state of a stacker crane in an AS/RS aisle.\n *\n * - `idle`       — parked at home position\n * - `moving`     — translating along the aisle (horizontal) or along the\n *                  mast (vertical); the two motions are typically combined\n * - `loading`    — extracting a pallet from a rack cell\n * - `unloading`  — placing a pallet into a rack cell\n * - `error`      — fault / e-stop / collision warning\n */\nexport type AsrsCraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'\n\nconst BODY_LEGEND = {\n  idle: '#888',\n  moving: '#aabbcc',\n  loading: '#ffaa00',\n  unloading: '#ffaa00',\n  error: '#c66',\n  default: '#888'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n  idle: '#222222',\n  moving: '#44ff44',\n  loading: '#ffaa00',\n  unloading: '#ffaa00',\n  error: '#ff3333',\n  default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\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: 'Loading', value: 'loading' },\n          { display: 'Unloading', value: 'unloading' },\n          { display: 'Error', value: 'error' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'carriage-height',\n      name: 'carriageHeight',\n      placeholder: 'mm — height of carriage on mast'\n    }\n  ],\n  help: 'scene/component/asrs-crane'\n}\n\n// Mixin chain: Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract\n//\n//   Mover:             pick / place / pickAndPlace / moveTo / engage primitives\n//   CarrierHolder:     attachPointFor() — where the carrier sits on the crane (carriage fork)\n//   ContainerCapacity: receive() / dispatch() / canReceive() / slots — slot tracking +\n//                      TRANSFER_SLOT_KEY bookkeeping during transit\n//   Legendable:        status → bodyColor / lampEmissive colour mapping\n//   Placeable:         floor-archetype 3D positioning\n//   ContainerAbstract: child management — carrier becomes a child while in transit\n//\n// Note: ContainerAbstract replaces Shape. The 2D outline is drawn manually in\n// render() below (a simple top-down rectangle), matching the old Shape output\n// without the Shape base-class overhead.\n/**\n * AsrsCrane — the stacker / retrieval crane that runs in the aisle of an\n * AS/RS, moving cargo between the load port and the rack cells.\n *\n * Structure: a tall vertical mast that translates along a floor + ceiling\n * rail (the aisle), with a carriage that slides up/down the mast carrying a\n * shuttle / forks.\n *\n * **Monitoring mode**: crane status is driven by data binding\n * (`state.status`, `state.carriageHeight`). The carrier is referenced\n * via data binding — it is NOT a child of the crane in monitoring mode.\n *\n * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, rackCell)`\n * (or `crane.pickAndPlace(carrier, rackCell)`). Mover handles navigation +\n * engage + reparent. During transit the carrier IS a child of the crane.\n */\n@sceneComponent('asrs-crane')\nexport default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'status', legend: BODY_LEGEND },\n    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.ceiling - h.floor\n\n  /** Yaw offset: crane model is drawn with the aisle axis along X (right = forward). */\n  static yawOffset = 0\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n  /** Stacker crane carries at most one load at a time on its forks. */\n  get slots(): SlotDef[] {\n    return [{ id: 'forks', maxCount: 1 }]\n  }\n\n  // ── CarrierHolder — attach frame (carriage fork position) ─────────────────\n\n  /**\n   * Return the 3D attach frame on the crane's carriage (fork tip).\n   * Carriers are attached here while the crane is in transit (pick phase).\n   *\n   * The AsrsCrane3D exposes `getCarriageFrame()` — a sub-Object3D that\n   * tracks the carriage height and sits at the fork TCP. If the 3D object\n   * isn't built yet (e.g. before scene initialization), fall back to the\n   * crane's own object3d centre.\n   */\n  attachPointFor(carrier: Component): AttachFrame | null {\n    const ro = (this as any)._realObject as AsrsCrane3D | undefined\n    const frame = ro?.getCarriageFrame?.()\n    if (frame) {\n      const carrierDepth = resolveCarrierDepth(carrier)\n      return { attach: frame, localPosition: { x: 0, y: carrierDepth / 2, z: 0 } }\n    }\n    const root = (this as any)._realObject?.object3d\n    if (!root) return null\n    return { attach: root }\n  }\n\n  // ── Mover overrides ───────────────────────────────────────────────────────\n\n  /**\n   * Domain-specific actuation between arrival and reparent.\n   *\n   * Simulation sequence for PICK:\n   *   1. Mover.pick() navigates crane to carrier position (moveTo).\n   *   2. engage('pick') → snap carriage height + status 'loading'.\n   *   3. Carrier is reparented to crane (becomes child).\n   *\n   * For now: set status and snap carriage height. A full ASRS simulation\n   * would tween the carriageHeight here (animate AsrsCrane3D).\n   *\n   * Status lifecycle:\n   *   idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle\n   * The 'moving' state is not set from Mover.moveTo() because TypeScript\n   * can't call super.moveTo() on an `: any`-typed mixin. WCS data binding\n   * sets 'moving' in monitoring mode; override pick()/place() to set it\n   * in full simulation environments.\n   */\n  async engage(\n    target: Component,\n    kind: 'pick' | 'place',\n    _options: MoveOptions = {}\n  ): Promise<void> {\n    if (kind === 'pick') {\n      this.setState({ status: 'loading' as AsrsCraneStatus })\n      const carrierY = resolveCarrierCenterY(target)\n      if (carrierY !== null) {\n        this.setState({ carriageHeight: carrierY })\n      }\n    } else {\n      this.setState({ status: 'unloading' as AsrsCraneStatus })\n    }\n    // In a full simulation: await carriage-motion tween here.\n  }\n\n  // ── Domain aliases ────────────────────────────────────────────────────────\n\n  /** Fetch a carrier from a rack cell (semantically = pick). */\n  fetch(carrier: Component, options?: MoveOptions): Promise<void> {\n    return (this as any).pick(carrier, options)\n  }\n\n  /** Deposit a carrier into a rack cell (semantically = place). */\n  deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void> {\n    return (this as any).place(carrier, cell, options)\n  }\n\n  // ── 2D rendering ─────────────────────────────────────────────────────────\n\n  /**\n   * 2D — top-down rectangle showing the crane's footprint along the aisle.\n   * The crane is much taller than wide, so the 2D mark is small.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    const fillColor = (this.state.bodyColor as string) || '#888'\n    ctx.save()\n    ctx.fillStyle = fillColor\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n    ctx.fill()\n    ctx.restore()\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new AsrsCrane3D(this as any)\n  }\n}\n\nfunction resolveCarrierDepth(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 resolveCarrierCenterY(c: Component): number | null {\n  const pos = (c as any).state\n  if (!pos) return null\n  // zPos is the 3D Y center of a Placeable component in things-scene\n  const zPos = numOr(pos.zPos, NaN)\n  if (!Number.isNaN(zPos)) return zPos\n  return null\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}

package/dist/asrs-rack.d.ts

@@ -1,39 +1,69 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import { type Alignment, type Heights, type PlacementArchetype } from '@operato/scene-base';
-declare const Base: typeof Component;
+import { CellMap, type AttachFrame, type Alignment, type Heights, type PlacementArchetype } from '@operato/scene-base';
+declare const AsrsRack_base: any;
 /**
  * AsrsRack — a multi-level high-bay storage rack, the structural backbone of
  * an AS/RS (Automated Storage / Retrieval System).
  *
  * `levels` × `bays` cells form a vertical grid. Each cell holds one logistics
  * package (Pallet / Box / Parcel). A pair of AsrsRacks separated by an aisle
- * (where an AsrsCrane runs) is the typical AS/RS configuration; v1 ships the
- * single-rack unit and lets users compose multi-rack systems by placing them
- * side by side. A future `AsrsAisle` composite may bundle the pair + crane.
+ * (where an AsrsCrane runs) is the typical AS/RS configuration.
  *
- * **Placement**: `floor` archetype, full ceiling depth by default — AS/RS
- * racks typically span floor to ceiling, with levels sized to fit the tallest
- * pallet load. Users can shorten via explicit `state.depth` for warehouses
- * with smaller envelopes.
+ * **Monitoring mode** (default): pallets/boxes are direct children of the rack,
+ * placed by the WCS data binding. No RackCell children are created.
  *
- * **Container-based**. Cells host stored cargo as children — each child's
- * left/top within the rack's bounds determines which cell it occupies. The
- * stacking pass in `Placeable.computeDefaultZPos` ensures each child cargo's
- * z lands on the rack's overall bottom (parent.zPos + parent.depth = ceiling),
- * which isn't quite cell-level resolution — true per-cell z positioning is
- * a v3 concern (the cargo would need to know which cell-row it's in).
+ * **Simulation mode**: call `rack._buildCells()` after placing the rack on the
+ * scene. This creates RackCell children at the correct 3D positions. The
+ * AsrsCrane then navigates to individual RackCells for pick-and-place.
  *
- * No Legendable for v1 — racks are passive structures; their per-cell
- * occupancy state is implicit in the children, not a status flag.
+ * **Placement**: `floor` archetype, full ceiling depth by default.
  */
-export default class AsrsRack extends Base {
+export default class AsrsRack extends AsrsRack_base {
     static placement: PlacementArchetype;
     static align: Alignment;
     static defaultDepth: (h: Heights) => number;
     get nature(): ComponentNature;
     get anchors(): never[];
-    /** Operation cargo (pallets / boxes / parcels) goes in the rack's cells. */
+    /**
+     * Derive the cell topology from the rack's current dimensions and bay/level
+     * counts. The CellMap is rebuilt fresh each time (state changes trigger
+     * re-reads via things-scene's invalidation pipeline).
+     *
+     * Coordinate convention (matches things-scene 3D):
+     *   X = bay axis  (left → right)
+     *   Y = level axis (floor → ceiling, the rack's `depth` state property)
+     *   Z = row axis   (front → back, the rack's `height` state property)
+     */
+    get cellMap(): CellMap;
+    /**
+     * Create RackCell child components for each cell in the CellMap.
+     *
+     * Called explicitly to enter simulation mode — monitoring-mode racks
+     * never call this (pallets are direct children, no explicit cells).
+     *
+     * Idempotent: removes existing rack-cell children first.
+     */
+    _buildCells(): void;
+    /**
+     * Allow:
+     *   - Carriable components (pallets, boxes, parcels) — direct children in monitoring mode.
+     *   - RackCell — created by _buildCells() in simulation mode.
+     *
+     * Block:
+     *   - Everything else (sensors, labels, etc. can be siblings of the rack, not children).
+     */
     containable(component: Component): boolean;
+    /**
+     * Attach frame for carriers that are DIRECT children of the rack
+     * (monitoring mode, where pallets go directly into the rack without
+     * explicit RackCell components).
+     *
+     * In simulation mode, carriers become children of their RackCell,
+     * and each RackCell provides its own attachPointFor(). So this method
+     * is only invoked on direct-child carriers in monitoring mode — it
+     * returns the rack's own object3d as the attach frame (default behavior).
+     */
+    attachPointFor(_carrier: Component): AttachFrame | null;
     /**
      * 2D — top-down rectangle showing the rack footprint, with subdivisions
      * suggesting the bay layout (lines parallel to the aisle).