@operato/scene-storage 10.0.0-beta.30 → 10.0.0-beta.32

package/CHANGELOG.md

@@ -3,6 +3,31 @@
 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.32](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.31...v10.0.0-beta.32) (2026-05-09)
+
+
+### :rocket: New Features
+
+* **manufacturing/storage:** Phase G9 + H — RobotArm SCAFFOLDING 정상 승격 + Parcel Pickable ([05e4d95](https://github.com/things-scene/operato-scene/commit/05e4d954b939dd295927322d683463a3f7bf4e82))
+* **storage:** Phase H — AsrsCrane toolType 'forklift-fork' ([5596848](https://github.com/things-scene/operato-scene/commit/5596848954543888aa3feb80598548fd5f935beb))
+* **storage:** Phase H — Pallet / Box 의 Pickable 구현 ([0149709](https://github.com/things-scene/operato-scene/commit/0149709d20dfa56d27a5823d75c9e2c57bba5890))
+
+
+
+## [10.0.0-beta.31](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.30...v10.0.0-beta.31) (2026-05-08)
+
+
+### :house: Code Refactoring
+
+* _realObject 캐스트 16개 제거 (Phase C Round 2 후속) ([8616c6c](https://github.com/things-scene/operato-scene/commit/8616c6c45e38a9bbcc244a77cee53479a756df85))
+* 39개 buildRealObject 캐스트 제거 (Phase D Round 4 후속) ([b86681c](https://github.com/things-scene/operato-scene/commit/b86681c07d7bf41cb93ade9855afb21902ed8186))
+* **mfg/transport/storage:** typed state Round 2 — 14개 컴포넌트 적용 ([f1765f6](https://github.com/things-scene/operato-scene/commit/f1765f62d12cf4c20ea26a2297e98069b9621a45))
+* 도메인 mixin 캐스트 추가 정리 7개 (Phase D Round 4 후속) ([1546b71](https://github.com/things-scene/operato-scene/commit/1546b7183969a38952872a5327b8329c2fa1ab7a))
+* 불필요한 (this as any) 캐스트 52개 제거 (Phase C) ([989dd11](https://github.com/things-scene/operato-scene/commit/989dd1147f4c768167fdc8b9a9e98acb0495a408))
+* 함수 인자 (this as any) 13개 제거 (Phase D Round 4 후속) ([b0a400c](https://github.com/things-scene/operato-scene/commit/b0a400c9716fdec22518cc6ad0bd1c1e69bda89d))
+
+
+
 ## [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)
 
 

package/dist/asrs-crane.d.ts

@@ -1,6 +1,7 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { SlotDef } from '@hatiolab/things-scene';
+import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
 import { type AttachFrame, type Alignment, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
+import { AsrsCrane3D } from './asrs-crane-3d.js';
 /**
  * AsrsCrane status — the operating state of a stacker crane in an AS/RS aisle.
  *
@@ -12,6 +13,12 @@ import { type AttachFrame, type Alignment, type Heights, type LegendBinding, typ
  * - `error`      — fault / e-stop / collision warning
  */
 export type AsrsCraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error';
+/** AsrsCrane 컴포넌트 state */
+export interface AsrsCraneState extends State {
+    status?: AsrsCraneStatus;
+    carriageHeight?: number;
+    material3d?: Material3D;
+}
 declare const AsrsCrane_base: any;
 /**
  * AsrsCrane — the stacker / retrieval crane that runs in the aisle of an
@@ -30,12 +37,20 @@ declare const AsrsCrane_base: any;
  * engage + reparent. During transit the carrier IS a child of the crane.
  */
 export default class AsrsCrane extends AsrsCrane_base {
+    state: AsrsCraneState;
+    _realObject?: AsrsCrane3D;
     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;
+    /**
+     * Phase H — ASRS crane 은 telescoping forks 로 rack cell 안의 carrier 픽업.
+     * forklift-fork 와 동일 mechanism — pallet 의 fork pocket 진입.
+     * (Mover mixin chain 이 :any 라 override 키워드 불가, getter 만 정의.)
+     */
+    get toolType(): string;
     get nature(): ComponentNature;
     get anchors(): never[];
     /** Stacker crane carries at most one load at a time on its forks. */

package/dist/asrs-crane.js

@@ -88,6 +88,14 @@ let AsrsCrane = class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Le
     static defaultDepth = (h) => h.ceiling - h.floor;
     /** Yaw offset: crane model is drawn with the aisle axis along X (right = forward). */
     static yawOffset = 0;
+    /**
+     * Phase H — ASRS crane 은 telescoping forks 로 rack cell 안의 carrier 픽업.
+     * forklift-fork 와 동일 mechanism — pallet 의 fork pocket 진입.
+     * (Mover mixin chain 이 :any 라 override 키워드 불가, getter 만 정의.)
+     */
+    get toolType() {
+        return 'forklift-fork';
+    }
     get nature() {
         return NATURE;
     }

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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"]}
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All rights reserved.\n */\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 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\n/** AsrsCrane 컴포넌트 state */\nexport interface AsrsCraneState extends State {\n  // ── 운영 상태 ──\n  status?: AsrsCraneStatus\n\n  // ── 액추에이터 ──\n  carriageHeight?: number\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\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  declare state: AsrsCraneState\n  declare _realObject?: AsrsCrane3D\n\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  /**\n   * Phase H — ASRS crane 은 telescoping forks 로 rack cell 안의 carrier 픽업.\n   * forklift-fork 와 동일 mechanism — pallet 의 fork pocket 진입.\n   * (Mover mixin chain 이 :any 라 override 키워드 불가, getter 만 정의.)\n   */\n  get toolType(): string {\n    return 'forklift-fork'\n  }\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._realObject\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._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.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.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)\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

@@ -1,5 +1,13 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D } from '@hatiolab/things-scene';
 import { CellMap, type AttachFrame, type Alignment, type Heights, type PlacementArchetype } from '@operato/scene-base';
+/** AsrsRack 컴포넌트 state */
+export interface AsrsRackState extends State {
+    bays?: number;
+    levels?: number;
+    debugCells?: boolean;
+    material3d?: Material3D;
+}
 declare const AsrsRack_base: any;
 /**
  * AsrsRack — a multi-level high-bay storage rack, the structural backbone of
@@ -19,6 +27,7 @@ declare const AsrsRack_base: any;
  * **Placement**: `floor` archetype, full ceiling depth by default.
  */
 export default class AsrsRack extends AsrsRack_base {
+    state: AsrsRackState;
     static placement: PlacementArchetype;
     static align: Alignment;
     static defaultDepth: (h: Heights) => number;

package/dist/asrs-rack.js

@@ -100,8 +100,7 @@ let AsrsRack = class AsrsRack extends CellContainer(CarrierHolder(Placeable(Cont
         const existing = this.components ?? [];
         for (const child of [...existing]) {
             if (child.state?.type === 'rack-cell') {
-                ;
-                this.removeComponent?.(child);
+                this.removeComponent(child);
             }
         }
         // Create a RackCell for each cell in the map
@@ -120,7 +119,7 @@ let AsrsRack = class AsrsRack extends CellContainer(CarrierHolder(Placeable(Cont
                 depth: cell.size.height // 3D Y = level height
             };
             const rackCell = new RackCellClass(model, context);
-            this.addComponent?.(rackCell);
+            this.addComponent(rackCell);
         }
     }
     // ── Container gates ───────────────────────────────────────────────────────

package/dist/asrs-rack.js.map

@@ -1 +1 @@
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All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  CellContainer,\n  CellMap,\n  CarrierHolder,\n  Placeable,\n  type AttachFrame,\n  type Alignment,\n  type Heights,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { AsrsRack3D } from './asrs-rack-3d.js'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'number',\n      label: 'levels',\n      name: 'levels',\n      placeholder: '# of vertical levels (default 4)'\n    },\n    {\n      type: 'number',\n      label: 'bays',\n      name: 'bays',\n      placeholder: '# of horizontal bays (default 5)'\n    }\n  ],\n  help: 'scene/component/asrs-rack'\n}\n\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. ASRS rack lives only in the 3D scene graph.\n//\n// Mixin chain: CellContainer → CarrierHolder → Placeable → ContainerAbstract\n//   CellContainer: cell topology (cellMap, cell(), findAvailableCell(), occupiedCellIds())\n//   CarrierHolder: 3D attach-point protocol (attachPointFor, containable gates)\n//   Placeable:     floor-archetype positioning\n//   ContainerAbstract: child component management\n/**\n * AsrsRack — a multi-level high-bay storage rack, the structural backbone of\n * an AS/RS (Automated Storage / Retrieval System).\n *\n * `levels` × `bays` cells form a vertical grid. Each cell holds one logistics\n * package (Pallet / Box / Parcel). A pair of AsrsRacks separated by an aisle\n * (where an AsrsCrane runs) is the typical AS/RS configuration.\n *\n * **Monitoring mode** (default): pallets/boxes are direct children of the rack,\n * placed by the WCS data binding. No RackCell children are created.\n *\n * **Simulation mode**: call `rack._buildCells()` after placing the rack on the\n * scene. This creates RackCell children at the correct 3D positions. The\n * AsrsCrane then navigates to individual RackCells for pick-and-place.\n *\n * **Placement**: `floor` archetype, full ceiling depth by default.\n */\n@sceneComponent('asrs-rack')\nexport default class AsrsRack extends CellContainer(CarrierHolder(Placeable(ContainerAbstract))) {\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  // ── CellContainer ─────────────────────────────────────────────────────────\n\n  /**\n   * Derive the cell topology from the rack's current dimensions and bay/level\n   * counts. The CellMap is rebuilt fresh each time (state changes trigger\n   * re-reads via things-scene's invalidation pipeline).\n   *\n   * Coordinate convention (matches things-scene 3D):\n   *   X = bay axis  (left → right)\n   *   Y = level axis (floor → ceiling, the rack's `depth` state property)\n   *   Z = row axis   (front → back, the rack's `height` state property)\n   */\n  get cellMap(): CellMap {\n    const bays = Math.max(1, Math.floor((this.state.bays as number) || 5))\n    const levels = Math.max(1, Math.floor((this.state.levels as number) || 4))\n    const width = (this.state.width as number) || 1000\n    const rackDepth = (this.state.depth as number) || 3000   // Y: floor→ceiling\n    const rackHeight = (this.state.height as number) || 600  // Z: front→back\n\n    return CellMap.grid({\n      bays,\n      rows: 1,\n      levels,\n      bayWidth: width / bays,\n      rowDepth: rackHeight,\n      levelHeight: rackDepth / levels\n    })\n  }\n\n  /**\n   * Create RackCell child components for each cell in the CellMap.\n   *\n   * Called explicitly to enter simulation mode — monitoring-mode racks\n   * never call this (pallets are direct children, no explicit cells).\n   *\n   * Idempotent: removes existing rack-cell children first.\n   */\n  _buildCells(): void {\n    // Remove existing rack-cell children\n    const existing = ((this as any).components as Component[] | undefined) ?? []\n    for (const child of [...existing]) {\n      if ((child as any).state?.type === 'rack-cell') {\n        ;(this as any).removeComponent?.(child)\n      }\n    }\n\n    // Create a RackCell for each cell in the map\n    const RackCellClass = (Component as any).register('rack-cell') as (new (...args: any[]) => Component) | undefined\n    if (!RackCellClass) {\n      console.warn('AsrsRack._buildCells: rack-cell type not registered. Import rack-cell.ts first.')\n      return\n    }\n\n    const context = (this as any)._app\n    for (const cell of this.cellMap.cells) {\n      const model = {\n        type: 'rack-cell',\n        cellId: cell.id,\n        width: cell.size.width,\n        height: cell.size.depth,  // 2D height = 3D Z depth\n        depth: cell.size.height   // 3D Y = level height\n      }\n      const rackCell = new RackCellClass(model, context)\n      ;(this as any).addComponent?.(rackCell)\n    }\n  }\n\n  // ── Container gates ───────────────────────────────────────────────────────\n\n  /**\n   * Allow:\n   *   - Carriable components (pallets, boxes, parcels) — direct children in monitoring mode.\n   *   - RackCell — created by _buildCells() in simulation mode.\n   *\n   * Block:\n   *   - Everything else (sensors, labels, etc. can be siblings of the rack, not children).\n   */\n  containable(component: Component): boolean {\n    if ((component as any).state?.type === 'rack-cell') return true\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this as any)\n  }\n\n  // ── CarrierHolder — attach frame for direct carrier children ─────────────\n\n  /**\n   * Attach frame for carriers that are DIRECT children of the rack\n   * (monitoring mode, where pallets go directly into the rack without\n   * explicit RackCell components).\n   *\n   * In simulation mode, carriers become children of their RackCell,\n   * and each RackCell provides its own attachPointFor(). So this method\n   * is only invoked on direct-child carriers in monitoring mode — it\n   * returns the rack's own object3d as the attach frame (default behavior).\n   */\n  attachPointFor(_carrier: Component): AttachFrame | null {\n    const root = (this as any)._realObject?.object3d\n    if (!root) return null\n    return { attach: root }\n  }\n\n  // ── 2D rendering ─────────────────────────────────────────────────────────\n\n  /**\n   * 2D — top-down rectangle showing the rack footprint, with subdivisions\n   * suggesting the bay layout (lines parallel to the aisle).\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    const bays = Math.max(1, Math.floor((this.state.bays as number) || 5))\n\n    ctx.beginPath()\n    // Outer rectangle\n    ctx.rect(left, top, width, height)\n    // Bay subdivisions (vertical lines)\n    for (let i = 1; i < bays; i++) {\n      const x = left + (width * i) / bays\n      ctx.moveTo(x, top)\n      ctx.lineTo(x, top + height)\n    }\n  }\n\n  get fillStyle() {\n    return '#a0a0a8'\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new AsrsRack3D(this as any)\n  }\n}\n"]}
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All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { State, Material3D } from '@hatiolab/things-scene'\nimport {\n  CellContainer,\n  CellMap,\n  CarrierHolder,\n  Placeable,\n  type AttachFrame,\n  type Alignment,\n  type Heights,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { AsrsRack3D } from './asrs-rack-3d.js'\n\n/** AsrsRack 컴포넌트 state */\nexport interface AsrsRackState extends State {\n  // ── 토폴로지 ──\n  bays?: number\n  levels?: number\n\n  // ── 디버그 ──\n  debugCells?: boolean\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'number',\n      label: 'levels',\n      name: 'levels',\n      placeholder: '# of vertical levels (default 4)'\n    },\n    {\n      type: 'number',\n      label: 'bays',\n      name: 'bays',\n      placeholder: '# of horizontal bays (default 5)'\n    }\n  ],\n  help: 'scene/component/asrs-rack'\n}\n\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. ASRS rack lives only in the 3D scene graph.\n//\n// Mixin chain: CellContainer → CarrierHolder → Placeable → ContainerAbstract\n//   CellContainer: cell topology (cellMap, cell(), findAvailableCell(), occupiedCellIds())\n//   CarrierHolder: 3D attach-point protocol (attachPointFor, containable gates)\n//   Placeable:     floor-archetype positioning\n//   ContainerAbstract: child component management\n/**\n * AsrsRack — a multi-level high-bay storage rack, the structural backbone of\n * an AS/RS (Automated Storage / Retrieval System).\n *\n * `levels` × `bays` cells form a vertical grid. Each cell holds one logistics\n * package (Pallet / Box / Parcel). A pair of AsrsRacks separated by an aisle\n * (where an AsrsCrane runs) is the typical AS/RS configuration.\n *\n * **Monitoring mode** (default): pallets/boxes are direct children of the rack,\n * placed by the WCS data binding. No RackCell children are created.\n *\n * **Simulation mode**: call `rack._buildCells()` after placing the rack on the\n * scene. This creates RackCell children at the correct 3D positions. The\n * AsrsCrane then navigates to individual RackCells for pick-and-place.\n *\n * **Placement**: `floor` archetype, full ceiling depth by default.\n */\n@sceneComponent('asrs-rack')\nexport default class AsrsRack extends CellContainer(CarrierHolder(Placeable(ContainerAbstract))) {\n  declare state: AsrsRackState\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  // ── CellContainer ─────────────────────────────────────────────────────────\n\n  /**\n   * Derive the cell topology from the rack's current dimensions and bay/level\n   * counts. The CellMap is rebuilt fresh each time (state changes trigger\n   * re-reads via things-scene's invalidation pipeline).\n   *\n   * Coordinate convention (matches things-scene 3D):\n   *   X = bay axis  (left → right)\n   *   Y = level axis (floor → ceiling, the rack's `depth` state property)\n   *   Z = row axis   (front → back, the rack's `height` state property)\n   */\n  get cellMap(): CellMap {\n    const bays = Math.max(1, Math.floor((this.state.bays as number) || 5))\n    const levels = Math.max(1, Math.floor((this.state.levels as number) || 4))\n    const width = (this.state.width as number) || 1000\n    const rackDepth = (this.state.depth as number) || 3000   // Y: floor→ceiling\n    const rackHeight = (this.state.height as number) || 600  // Z: front→back\n\n    return CellMap.grid({\n      bays,\n      rows: 1,\n      levels,\n      bayWidth: width / bays,\n      rowDepth: rackHeight,\n      levelHeight: rackDepth / levels\n    })\n  }\n\n  /**\n   * Create RackCell child components for each cell in the CellMap.\n   *\n   * Called explicitly to enter simulation mode — monitoring-mode racks\n   * never call this (pallets are direct children, no explicit cells).\n   *\n   * Idempotent: removes existing rack-cell children first.\n   */\n  _buildCells(): void {\n    // Remove existing rack-cell children\n    const existing = (this.components as Component[] | undefined) ?? []\n    for (const child of [...existing]) {\n      if ((child as any).state?.type === 'rack-cell') {\n        this.removeComponent(child)\n      }\n    }\n\n    // Create a RackCell for each cell in the map\n    const RackCellClass = (Component as any).register('rack-cell') as (new (...args: any[]) => Component) | undefined\n    if (!RackCellClass) {\n      console.warn('AsrsRack._buildCells: rack-cell type not registered. Import rack-cell.ts first.')\n      return\n    }\n\n    const context = this._app\n    for (const cell of this.cellMap.cells) {\n      const model = {\n        type: 'rack-cell',\n        cellId: cell.id,\n        width: cell.size.width,\n        height: cell.size.depth,  // 2D height = 3D Z depth\n        depth: cell.size.height   // 3D Y = level height\n      }\n      const rackCell = new RackCellClass(model, context)\n      this.addComponent(rackCell)\n    }\n  }\n\n  // ── Container gates ───────────────────────────────────────────────────────\n\n  /**\n   * Allow:\n   *   - Carriable components (pallets, boxes, parcels) — direct children in monitoring mode.\n   *   - RackCell — created by _buildCells() in simulation mode.\n   *\n   * Block:\n   *   - Everything else (sensors, labels, etc. can be siblings of the rack, not children).\n   */\n  containable(component: Component): boolean {\n    if ((component as any).state?.type === 'rack-cell') return true\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this)\n  }\n\n  // ── CarrierHolder — attach frame for direct carrier children ─────────────\n\n  /**\n   * Attach frame for carriers that are DIRECT children of the rack\n   * (monitoring mode, where pallets go directly into the rack without\n   * explicit RackCell components).\n   *\n   * In simulation mode, carriers become children of their RackCell,\n   * and each RackCell provides its own attachPointFor(). So this method\n   * is only invoked on direct-child carriers in monitoring mode — it\n   * returns the rack's own object3d as the attach frame (default behavior).\n   */\n  attachPointFor(_carrier: Component): AttachFrame | null {\n    const root = this._realObject?.object3d\n    if (!root) return null\n    return { attach: root }\n  }\n\n  // ── 2D rendering ─────────────────────────────────────────────────────────\n\n  /**\n   * 2D — top-down rectangle showing the rack footprint, with subdivisions\n   * suggesting the bay layout (lines parallel to the aisle).\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    const bays = Math.max(1, Math.floor((this.state.bays as number) || 5))\n\n    ctx.beginPath()\n    // Outer rectangle\n    ctx.rect(left, top, width, height)\n    // Bay subdivisions (vertical lines)\n    for (let i = 1; i < bays; i++) {\n      const x = left + (width * i) / bays\n      ctx.moveTo(x, top)\n      ctx.lineTo(x, top + height)\n    }\n  }\n\n  get fillStyle() {\n    return '#a0a0a8'\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new AsrsRack3D(this)\n  }\n}\n"]}

package/dist/box.d.ts

@@ -1,4 +1,5 @@
 import { ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D, PickupFrame } from '@hatiolab/things-scene';
 import { type Alignment, type LegendBinding, type PlacementArchetype } from '@operato/scene-base';
 /**
  * Box material — drives 3D structure and color.
@@ -12,6 +13,11 @@ import { type Alignment, type LegendBinding, type PlacementArchetype } from '@op
  * different proportions, taping, and labels that warrant a distinct class.
  */
 export type BoxMaterial = 'wood' | 'plastic';
+/** Box 컴포넌트 state */
+export interface BoxState extends State {
+    material?: BoxMaterial;
+    material3d?: Material3D;
+}
 declare const Box_base: any;
 /**
  * Box — a generic stackable container for goods. Wood crate or plastic tote
@@ -22,6 +28,7 @@ declare const Box_base: any;
  * scene-tree). If a future use case needs nested boxes, extend Container.
  */
 export default class Box extends Box_base {
+    state: BoxState;
     static legends: Record<string, LegendBinding>;
     static placement: PlacementArchetype;
     static align: Alignment;
@@ -32,5 +39,14 @@ export default class Box extends Box_base {
     render(ctx: CanvasRenderingContext2D): void;
     get fillStyle(): string;
     buildRealObject(): RealObject | undefined;
+    /**
+     * Phase H — pickup contract. Box 는 위에서 gripper / vacuum cup 으로 집기 —
+     * 단일 entry (top center). Box 의 dimensions 가 작아서 forklift fork 보다는
+     * gripper 가 일반적. forklift 로 들어올릴 box 는 통상 pallet 위에 stacking
+     * 후 pallet 째로 운반.
+     *
+     * tolerance 가 pallet 보다 빡빡 (gripper 정밀도 vs forklift pocket 폭).
+     */
+    pickupFrames(): PickupFrame[];
 }
 export {};

package/dist/box.js

@@ -2,7 +2,7 @@ import { __decorate } from "tslib";
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { RectPath, Shape, sceneComponent } from '@hatiolab/things-scene';
+import { RectPath, Shape, topApproachFrame, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
 import { Carriable, Legendable, Placeable } from '@operato/scene-base';
 import { Box3D } from './box-3d.js';
 const BODY_LEGEND = {
@@ -64,6 +64,33 @@ let Box = class Box extends Carriable(Legendable(Placeable(RectPath(Shape)))) {
     buildRealObject() {
         return new Box3D(this);
     }
+    /**
+     * Phase H — pickup contract. Box 는 위에서 gripper / vacuum cup 으로 집기 —
+     * 단일 entry (top center). Box 의 dimensions 가 작아서 forklift fork 보다는
+     * gripper 가 일반적. forklift 로 들어올릴 box 는 통상 pallet 위에 stacking
+     * 후 pallet 째로 운반.
+     *
+     * tolerance 가 pallet 보다 빡빡 (gripper 정밀도 vs forklift pocket 폭).
+     */
+    pickupFrames() {
+        const wp = getWorldPose(this);
+        const me = {
+            position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },
+            rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }
+        };
+        const boxDepth = this.constructor.defaultDepth ?? 300;
+        return [
+            topApproachFrame({
+                carrierWorld: me,
+                topY: boxDepth, // Box top in carrier-local Y (depth = full height; top at depth)
+                approachDistance: 50, // gripper 가 hover 하는 거리
+                toolType: 'gripper',
+                tolerance: { positionMm: 5, angleDeg: 1 },
+                priority: 0,
+                id: 'top-gripper'
+            })
+        ];
+    }
 };
 Box = __decorate([
     sceneComponent('box')

package/dist/box.js.map

@@ -1 +1 @@
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All rights reserved.\n */\nimport {\n  ComponentNature,\n  RealObject,\n  RectPath,\n  Shape,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Legendable,\n  Placeable,\n  type Alignment,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Box3D } from './box-3d.js'\n\n/**\n * Box material — drives 3D structure and color.\n *\n * - `wood`     — wood crate: visible vertical slats, gaps between, open or\n *                semi-open top. Used for heavy / industrial parts.\n * - `plastic`  — plastic tote / bin: solid molded walls with stackable lip\n *                at top. Used for fulfillment, parts kitting.\n *\n * Cardboard parcels are a separate component (see `parcel.ts`) — they have\n * different proportions, taping, and labels that warrant a distinct class.\n */\nexport type BoxMaterial = 'wood' | 'plastic'\n\n/** Box 컴포넌트 state */\nexport interface BoxState extends State {\n  // ── 외관 ──\n  material?: BoxMaterial\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#3a5078',\n  default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'material',\n      name: 'material',\n      property: {\n        options: [\n          { display: 'Wood', value: 'wood' },\n          { display: 'Plastic', value: 'plastic' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/box'\n}\n\n// Carriable: a box can be a child of any CarrierHolder (Pallet for stacking,\n// AGV deck, robot-arm gripper, Spot for staging).\n/**\n * Box — a generic stackable container for goods. Wood crate or plastic tote\n * variants distinguished by `material` prop.\n *\n * Shape-based (not Container) — boxes nesting other components is rare in\n * logistics visualization (a *case* of items inside a box is data, not\n * scene-tree). If a future use case needs nested boxes, extend Container.\n */\n@sceneComponent('box')\nexport default class Box extends Carriable(Legendable(Placeable(RectPath(Shape)))) {\n  declare state: BoxState\n\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'material', legend: BODY_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 300\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** 2D — top-down rectangle. */\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) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Box3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. Box 는 위에서 gripper / vacuum cup 으로 집기 —\n   * 단일 entry (top center). Box 의 dimensions 가 작아서 forklift fork 보다는\n   * gripper 가 일반적. forklift 로 들어올릴 box 는 통상 pallet 위에 stacking\n   * 후 pallet 째로 운반.\n   *\n   * tolerance 가 pallet 보다 빡빡 (gripper 정밀도 vs forklift pocket 폭).\n   */\n  pickupFrames(): PickupFrame[] {\n    const wp = getWorldPose(this)\n    const me: PoseSerialized = {\n      position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n      rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n    }\n    const boxDepth = (this.constructor as any).defaultDepth ?? 300\n\n    return [\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,                  // Box top in carrier-local Y (depth = full height; top at depth)\n        approachDistance: 50,            // gripper 가 hover 하는 거리\n        toolType: 'gripper',\n        tolerance: { positionMm: 5, angleDeg: 1 },\n        priority: 0,\n        id: 'top-gripper'\n      })\n    ]\n  }\n}\n"]}

package/dist/generic-container-3d.js.map

@@ -1 +1 @@
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package/dist/generic-container.d.ts

@@ -1,10 +1,20 @@
 import { Component, ComponentNature } from '@hatiolab/things-scene';
+import type { State, Material3D } from '@hatiolab/things-scene';
 import { type Alignment, type Heights, type LegendBinding, type PlacementArchetype } from '@operato/scene-base';
 import { GenericContainer3D } from './generic-container-3d.js';
 import type { ActuatorDef } from '@operato/scene-base';
 export type ContainerStatus = 'empty' | 'partial' | 'full' | 'error';
+export type ContainerFill = ContainerStatus;
+/** GenericContainer 컴포넌트 state */
+export interface GenericContainerState extends State {
+    fill?: ContainerFill;
+    actuators?: Record<string, ActuatorDef>;
+    actuatorValues?: Record<string, number>;
+    material3d?: Material3D;
+}
 declare const GenericContainer_base: any;
 export default class GenericContainer extends GenericContainer_base {
+    state: GenericContainerState;
     static legends: Record<string, LegendBinding>;
     static placement: PlacementArchetype;
     static align: Alignment;

package/dist/generic-container.js.map

@@ -1 +1 @@
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All rights reserved.\n *\n * GenericContainer — GLB 모델 기반 범용 보관소 컴포넌트.\n *\n * 합성 구조:\n *   GltfComponent  (things-scene)        — GLB 컨벤션 (src, 2D 스냅샷, ratioLock,\n *                                          gltf-* 에디터, RealObjectGLTF)\n *   ⊕ ContainerAbstract (things-scene)  — 자식 보유 (DOM-free 컨테이너)\n *   ⊕ Placeable    (scene-base)          — floor placement, depth=operation\n *   ⊕ Legendable   (scene-base)          — fill 별 bodyColor / lampEmissive\n *\n * 추가 (이 클래스 고유):\n *   - state.actuators / actuatorValues — 동적 노드 transform (rack lift, shutter 열림 등)\n *\n * 동일 컴포넌트 하나로 stocker / buffer / shelf / rack 모두 표현 가능 — 각 보관소별로\n * 다른 GLB + 다른 actuator 매핑만 다름.\n *\n * GenericTransport / GenericFacility 와의 차이:\n *   - cargo holder 가 아님 — 사용자가 구체 type (e.g. AsrsRack) 으로 변환 후에 cargo 부여\n *   - container 카테고리 (정적 보관소). 분류는 동일 floor placement 지만 의미는 다름\n *\n * board-import 의 categoryFallback 에서 container 카테고리의 default placeholder. 사용자가\n * 모델러에서 src 부착하거나 type 변경으로 도메인 type (Stocker / Buffer / AsrsRack 등) 으로 변환.\n */\n\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  GltfComponent,\n  gltfNatureProperties,\n  sceneComponent\n} 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 { GenericContainer3D } from './generic-container-3d.js'\nimport type { ActuatorDef } from '@operato/scene-base'\n\nexport type ContainerStatus = 'empty' | 'partial' | 'full' | 'error'\n\nconst BODY_LEGEND = {\n  empty: '#a8b8c4',\n  partial: '#7d96b0',\n  full: '#5a7c9a',\n  error: '#e9746b',\n  default: '#a8b8c4'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n  empty: '#222222',\n  partial: '#3388cc',\n  full: '#2266aa',\n  error: '#ff3333',\n  default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    ...gltfNatureProperties,\n    {\n      type: 'select',\n      label: 'fill',\n      name: 'fill',\n      property: {\n        options: [\n          { display: 'Empty', value: 'empty' },\n          { display: 'Partial', value: 'partial' },\n          { display: 'Full', value: 'full' },\n          { display: 'Error', value: 'error' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/generic-container'\n}\n\n// 합성 순서: 안쪽부터 → ContainerAbstract → Placeable → Legendable → GltfComponent\n// (GenericFacility 와 동일 패턴)\n@sceneComponent('container')\nexport default class GenericContainer extends GltfComponent(Legendable(Placeable(ContainerAbstract))) {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'fill', legend: BODY_LEGEND },\n    lampEmissive: { from: 'fill', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.operation - h.floor\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  get actuators(): Record<string, ActuatorDef> {\n    return ((this.state as any).actuators as Record<string, ActuatorDef> | undefined) ?? {}\n  }\n\n  get actuatorValues(): Record<string, number> {\n    return ((this.state as any).actuatorValues as Record<string, number> | undefined) ?? {}\n  }\n\n  containable(component: Component): boolean {\n    return component.isDescendible(this as any)\n  }\n\n  buildRealObject() {\n    return new GenericContainer3D(this as any)\n  }\n}\n"]}
+{"version":3,"file":"generic-container.js","sourceRoot":"","sources":["../src/generic-container.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;GAwBG;;AAEH,OAAO,EAGL,iBAAiB,EACjB,aAAa,EACb,oBAAoB,EACpB,cAAc,EACf,MAAM,wBAAwB,CAAA;AAE/B,OAAO,EACL,UAAU,EACV,SAAS,EAKV,MAAM,qBAAqB,CAAA;AAE5B,OAAO,EAAE,kBAAkB,EAAE,MAAM,2BAA2B,CAAA;AAmB9D,MAAM,WAAW,GAAG;IAClB,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,SAAS;IAClB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,SAAS;CACnB,CAAA;AAED,MAAM,oBAAoB,GAAG;IAC3B,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,SAAS;IAClB,IAAI,EAAE,SAAS;IACf,KAAK,EAAE,SAAS;IAChB,OAAO,EAAE,SAAS;CACnB,CAAA;AAED,MAAM,MAAM,GAAoB;IAC9B,OAAO,EAAE,KAAK;IACd,SAAS,EAAE,IAAI;IACf,SAAS,EAAE,IAAI;IACf,UAAU,EAAE;QACV,GAAG,oBAAoB;QACvB;YACE,IAAI,EAAE,QAAQ;YACd,KAAK,EAAE,MAAM;YACb,IAAI,EAAE,MAAM;YACZ,QAAQ,EAAE;gBACR,OAAO,EAAE;oBACP,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;oBACpC,EAAE,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE;oBACxC,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE;oBAClC,EAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE;iBACrC;aACF;SACF;KACF;IACD,IAAI,EAAE,mCAAmC;CAC1C,CAAA;AAED,2EAA2E;AAC3E,4BAA4B;AAEb,IAAM,gBAAgB,GAAtB,MAAM,gBAAiB,SAAQ,aAAa,CAAC,UAAU,CAAC,SAAS,CAAC,iBAAiB,CAAC,CAAC,CAAC;IAGnG,MAAM,CAAC,OAAO,GAAkC;QAC9C,SAAS,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,WAAW,EAAE;QAChD,YAAY,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,oBAAoB,EAAE;KAC7D,CAAA;IAED,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,IAAI,MAAM;QACR,OAAO,MAAM,CAAA;IACf,CAAC;IAED,IAAI,OAAO;QACT,OAAO,EAAE,CAAA;IACX,CAAC;IAED,IAAI,SAAS;QACX,OAAO,IAAI,CAAC,KAAK,CAAC,SAAS,IAAI,EAAE,CAAA;IACnC,CAAC;IAED,IAAI,cAAc;QAChB,OAAO,IAAI,CAAC,KAAK,CAAC,cAAc,IAAI,EAAE,CAAA;IACxC,CAAC;IAED,WAAW,CAAC,SAAoB;QAC9B,OAAO,SAAS,CAAC,aAAa,CAAC,IAAI,CAAC,CAAA;IACtC,CAAC;IAED,eAAe;QACb,OAAO,IAAI,kBAAkB,CAAC,IAAI,CAAC,CAAA;IACrC,CAAC;;AAlCkB,gBAAgB;IADpC,cAAc,CAAC,WAAW,CAAC;GACP,gBAAgB,CAmCpC;eAnCoB,gBAAgB","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n *\n * GenericContainer — GLB 모델 기반 범용 보관소 컴포넌트.\n *\n * 합성 구조:\n *   GltfComponent  (things-scene)        — GLB 컨벤션 (src, 2D 스냅샷, ratioLock,\n *                                          gltf-* 에디터, RealObjectGLTF)\n *   ⊕ ContainerAbstract (things-scene)  — 자식 보유 (DOM-free 컨테이너)\n *   ⊕ Placeable    (scene-base)          — floor placement, depth=operation\n *   ⊕ Legendable   (scene-base)          — fill 별 bodyColor / lampEmissive\n *\n * 추가 (이 클래스 고유):\n *   - state.actuators / actuatorValues — 동적 노드 transform (rack lift, shutter 열림 등)\n *\n * 동일 컴포넌트 하나로 stocker / buffer / shelf / rack 모두 표현 가능 — 각 보관소별로\n * 다른 GLB + 다른 actuator 매핑만 다름.\n *\n * GenericTransport / GenericFacility 와의 차이:\n *   - cargo holder 가 아님 — 사용자가 구체 type (e.g. AsrsRack) 으로 변환 후에 cargo 부여\n *   - container 카테고리 (정적 보관소). 분류는 동일 floor placement 지만 의미는 다름\n *\n * board-import 의 categoryFallback 에서 container 카테고리의 default placeholder. 사용자가\n * 모델러에서 src 부착하거나 type 변경으로 도메인 type (Stocker / Buffer / AsrsRack 등) 으로 변환.\n */\n\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  GltfComponent,\n  gltfNatureProperties,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D } 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 { GenericContainer3D } from './generic-container-3d.js'\nimport type { ActuatorDef } from '@operato/scene-base'\n\nexport type ContainerStatus = 'empty' | 'partial' | 'full' | 'error'\nexport type ContainerFill = ContainerStatus\n\n/** GenericContainer 컴포넌트 state */\nexport interface GenericContainerState extends State {\n  // ── 운영 상태 ──\n  fill?: ContainerFill\n\n  // ── GLB 동적 노드 ──\n  actuators?: Record<string, ActuatorDef>\n  actuatorValues?: Record<string, number>\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  empty: '#a8b8c4',\n  partial: '#7d96b0',\n  full: '#5a7c9a',\n  error: '#e9746b',\n  default: '#a8b8c4'\n}\n\nconst LAMP_EMISSIVE_LEGEND = {\n  empty: '#222222',\n  partial: '#3388cc',\n  full: '#2266aa',\n  error: '#ff3333',\n  default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    ...gltfNatureProperties,\n    {\n      type: 'select',\n      label: 'fill',\n      name: 'fill',\n      property: {\n        options: [\n          { display: 'Empty', value: 'empty' },\n          { display: 'Partial', value: 'partial' },\n          { display: 'Full', value: 'full' },\n          { display: 'Error', value: 'error' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/generic-container'\n}\n\n// 합성 순서: 안쪽부터 → ContainerAbstract → Placeable → Legendable → GltfComponent\n// (GenericFacility 와 동일 패턴)\n@sceneComponent('container')\nexport default class GenericContainer extends GltfComponent(Legendable(Placeable(ContainerAbstract))) {\n  declare state: GenericContainerState\n\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'fill', legend: BODY_LEGEND },\n    lampEmissive: { from: 'fill', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.operation - h.floor\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  get actuators(): Record<string, ActuatorDef> {\n    return this.state.actuators ?? {}\n  }\n\n  get actuatorValues(): Record<string, number> {\n    return this.state.actuatorValues ?? {}\n  }\n\n  containable(component: Component): boolean {\n    return component.isDescendible(this)\n  }\n\n  buildRealObject() {\n    return new GenericContainer3D(this)\n  }\n}\n"]}

package/dist/pallet.d.ts

@@ -1,4 +1,5 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D, PickupFrame } from '@hatiolab/things-scene';
 import { type Alignment, type LegendBinding, type PlacementArchetype } from '@operato/scene-base';
 /**
  * Pallet material — drives both 2D fill color and 3D structure.
@@ -12,6 +13,11 @@ import { type Alignment, type LegendBinding, type PlacementArchetype } from '@op
  * legend + a 3D variant in pallet-3d.ts.
  */
 export type PalletMaterial = 'wood' | 'plastic';
+/** Pallet 컴포넌트 state */
+export interface PalletState extends State {
+    material?: PalletMaterial;
+    material3d?: Material3D;
+}
 declare const Pallet_base: any;
 /**
  * Pallet — a flat transport structure that goods are stacked and stored on.
@@ -40,6 +46,7 @@ declare const Pallet_base: any;
  * detection.
  */
 export default class Pallet extends Pallet_base {
+    state: PalletState;
     static legends: Record<string, LegendBinding>;
     static placement: PlacementArchetype;
     static align: Alignment;
@@ -66,5 +73,18 @@ export default class Pallet extends Pallet_base {
     postrender(ctx: CanvasRenderingContext2D): void;
     get fillStyle(): string;
     buildRealObject(): RealObject | undefined;
+    /**
+     * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변
+     * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.
+     *
+     * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의
+     * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준
+     * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.
+     *
+     * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —
+     * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.
+     * 여기선 conservative 하게 pallet 너비 + 200mm.
+     */
+    pickupFrames(): PickupFrame[];
 }
 export {};

package/dist/pallet.js

@@ -2,7 +2,7 @@ import { __decorate } from "tslib";
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { ContainerAbstract, sceneComponent } from '@hatiolab/things-scene';
+import { ContainerAbstract, rectangularFootprintFrames, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
 import { Carriable, Legendable, Placeable } from '@operato/scene-base';
 import { Pallet3D } from './pallet-3d.js';
 const BODY_LEGEND = {
@@ -155,6 +155,44 @@ let Pallet = class Pallet extends Carriable(Legendable(Placeable(ContainerAbstra
     buildRealObject() {
         return new Pallet3D(this);
     }
+    /**
+     * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변
+     * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.
+     *
+     * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의
+     * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준
+     * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.
+     *
+     * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —
+     * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.
+     * 여기선 conservative 하게 pallet 너비 + 200mm.
+     */
+    pickupFrames() {
+        const { width = 1200, height = 800 } = this.state;
+        const palletDepth = this.constructor.defaultDepth ?? 150;
+        // 4-way pallet: 모든 면에서 fork 진입 가능. 2-way 는 sides 를 ['east','west']
+        // 로 한정 — pallet 의 stringer 방향에 따라 다르나 default 는 4-way 가정.
+        // (state.palletType 같은 속성 추가 시 분기 가능 — 현재는 4-way 가정.)
+        const me = (() => {
+            const wp = getWorldPose(this);
+            return {
+                position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },
+                rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }
+            };
+        })();
+        const longerAxis = Math.max(width, height);
+        return rectangularFootprintFrames({
+            carrierWorld: me,
+            width,
+            depth: height,
+            entryHeight: palletDepth * 0.4, // fork pocket 중심
+            approachDistance: longerAxis + 200,
+            sides: ['east', 'west', 'north', 'south'],
+            toolType: 'forklift-fork',
+            tolerance: { positionMm: 50, angleDeg: 5 },
+            priority: 0
+        });
+    }
 };
 Pallet = __decorate([
     sceneComponent('pallet')