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

package/dist/pallet.js.map

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All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } 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 { Pallet3D } from './pallet-3d.js'\n\n/**\n * Pallet material — drives both 2D fill color and 3D structure.\n *\n * - `wood`     — traditional EUR / EPAL pallet: parallel slats on top and\n *                bottom, three perpendicular stringers between them.\n * - `plastic`  — molded one-piece pallet: solid top deck with cutouts,\n *                hollow underside with feet. Distinct ribbed underside.\n *\n * Adding a third material (e.g. metal, composite) is a one-line change to the\n * legend + a 3D variant in pallet-3d.ts.\n */\nexport type PalletMaterial = 'wood' | 'plastic'\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#5a6a78',\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/pallet'\n}\n\n// Carriable: a pallet can sit on AGV / Forklift / robot-arm gripper / Spot\n// and also accept boxes / parcels as children (ContainerAbstract base\n// provides the child-container behavior; Carriable only adds the\n// holder-mount hook).\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Pallet renders only as a 3D mesh.\n/**\n * Pallet — a flat transport structure that goods are stacked and stored on.\n *\n * Standard EUR pallet is 1200 × 800mm × 144mm; we don't enforce these\n * dimensions but they're a good starting point for the catalog templates.\n *\n * **Container-based.** Boxes / parcels stacked on the pallet are added as\n * children — same `containable()` archetype-filter pattern as Forklift / Agv.\n * Visual stacking (children rendering on top of the pallet rather than at\n * absolute operation level) is a v2 concern; see ARCHITECTURE NOTES below.\n *\n * **Placement = `operation`.** A pallet's *normal* state is loaded and in\n * transit on a conveyor / AGV / forklift fork — at operation level. Empty\n * pallets in a floor-storage area are an exceptional state where the user\n * sets `state.zPos = 0` explicitly. Default to the common case.\n *\n * ## ARCHITECTURE NOTES — visual stacking\n *\n * When a Box (also `placement: 'operation'`) is added as a child of a\n * Pallet, both default to z = operation_height. They overlap visually\n * rather than the box sitting on top of the pallet. Solving this cleanly\n * (parent-relative z derivation when the parent is a structural carrier)\n * is a follow-up — fmsim's pattern is to detect parent type at render time\n * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the\n * detection.\n */\n@sceneComponent('pallet')\nexport default class Pallet extends Carriable(Legendable(Placeable(ContainerAbstract))) {\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 = 150 // EUR pallet is 144mm; 150 is the round number convention\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */\n  containable(component: Component) {\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this as any)\n  }\n\n  /**\n   * 2D — top-down silhouette. Body is a flat rectangle (wood/plastic deck);\n   * `postrender()` adds the deck pattern + edge stroke so the pallet reads\n   * as a pallet instead of a featureless rectangle.\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  /**\n   * Deck pattern + edge stroke. Wood: parallel slats with darker grooves\n   * between (typical EUR pallet deck). Plastic: cross-cutout pattern\n   * suggesting the molded reinforcement ribs.\n   *\n   * Slats run along the *short* axis of the rectangle (= along the longer\n   * stringer direction in real life), so a 1200×800 pallet shows multiple\n   * narrow slats across the 1200mm dimension — matching the EUR layout.\n   */\n  postrender(ctx: CanvasRenderingContext2D) {\n    super.postrender?.(ctx)\n\n    const { width, height, left, top } = this.state\n    const isPlastic = ((this.state as any).material as PalletMaterial) === 'plastic'\n\n    ctx.save()\n\n    if (!isPlastic) {\n      // Wood — slats. Run them along the longer axis so the grooves are\n      // perpendicular to the longer side (typical pallet appearance).\n      const longAxisHorizontal = width >= height\n      const slatCount = 5\n      const grooveColor = '#7a4f25'\n      ctx.fillStyle = grooveColor\n      if (longAxisHorizontal) {\n        // grooves vertical (X direction across the width)\n        const grooveW = Math.max(1, width * 0.012)\n        const slatW = (width - grooveW * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const x = left + i * slatW + (i - 1) * grooveW\n          ctx.fillRect(x, top + height * 0.05, grooveW, height * 0.9)\n        }\n      } else {\n        const grooveH = Math.max(1, height * 0.012)\n        const slatH = (height - grooveH * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const y = top + i * slatH + (i - 1) * grooveH\n          ctx.fillRect(left + width * 0.05, y, width * 0.9, grooveH)\n        }\n      }\n    } else {\n      // Plastic — cross + corner cutouts hint\n      ctx.strokeStyle = '#3a4956'\n      ctx.lineWidth = Math.max(1, Math.min(width, height) * 0.012)\n      ctx.beginPath()\n      ctx.moveTo(left + width * 0.5, top + height * 0.1)\n      ctx.lineTo(left + width * 0.5, top + height * 0.9)\n      ctx.moveTo(left + width * 0.1, top + height * 0.5)\n      ctx.lineTo(left + width * 0.9, top + height * 0.5)\n      ctx.stroke()\n    }\n\n    // Edge stroke\n    ctx.strokeStyle = isPlastic ? '#2a3946' : '#5e3818'\n    ctx.lineWidth = 1\n    ctx.strokeRect(left, top, width, height)\n\n    ctx.restore()\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Pallet3D(this as any)\n  }\n}\n"]}
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KAAK,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,OAAO,EAAE,OAAO,CAAC;YACzC,QAAQ,EAAE,eAAe;YACzB,SAAS,EAAE,EAAE,UAAU,EAAE,EAAE,EAAE,QAAQ,EAAE,CAAC,EAAE;YAC1C,QAAQ,EAAE,CAAC;SACZ,CAAC,CAAA;IACJ,CAAC;;AAjJkB,MAAM;IAD1B,cAAc,CAAC,QAAQ,CAAC;GACJ,MAAM,CAkJ1B;eAlJoB,MAAM","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  RealObject,\n  Pose6DOF,\n  rectangularFootprintFrames,\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 { Pallet3D } from './pallet-3d.js'\n\n/**\n * Pallet material — drives both 2D fill color and 3D structure.\n *\n * - `wood`     — traditional EUR / EPAL pallet: parallel slats on top and\n *                bottom, three perpendicular stringers between them.\n * - `plastic`  — molded one-piece pallet: solid top deck with cutouts,\n *                hollow underside with feet. Distinct ribbed underside.\n *\n * Adding a third material (e.g. metal, composite) is a one-line change to the\n * legend + a 3D variant in pallet-3d.ts.\n */\nexport type PalletMaterial = 'wood' | 'plastic'\n\n/** Pallet 컴포넌트 state */\nexport interface PalletState extends State {\n  // ── 외관 ──\n  material?: PalletMaterial\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#5a6a78',\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/pallet'\n}\n\n// Carriable: a pallet can sit on AGV / Forklift / robot-arm gripper / Spot\n// and also accept boxes / parcels as children (ContainerAbstract base\n// provides the child-container behavior; Carriable only adds the\n// holder-mount hook).\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Pallet renders only as a 3D mesh.\n/**\n * Pallet — a flat transport structure that goods are stacked and stored on.\n *\n * Standard EUR pallet is 1200 × 800mm × 144mm; we don't enforce these\n * dimensions but they're a good starting point for the catalog templates.\n *\n * **Container-based.** Boxes / parcels stacked on the pallet are added as\n * children — same `containable()` archetype-filter pattern as Forklift / Agv.\n * Visual stacking (children rendering on top of the pallet rather than at\n * absolute operation level) is a v2 concern; see ARCHITECTURE NOTES below.\n *\n * **Placement = `operation`.** A pallet's *normal* state is loaded and in\n * transit on a conveyor / AGV / forklift fork — at operation level. Empty\n * pallets in a floor-storage area are an exceptional state where the user\n * sets `state.zPos = 0` explicitly. Default to the common case.\n *\n * ## ARCHITECTURE NOTES — visual stacking\n *\n * When a Box (also `placement: 'operation'`) is added as a child of a\n * Pallet, both default to z = operation_height. They overlap visually\n * rather than the box sitting on top of the pallet. Solving this cleanly\n * (parent-relative z derivation when the parent is a structural carrier)\n * is a follow-up — fmsim's pattern is to detect parent type at render time\n * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the\n * detection.\n */\n@sceneComponent('pallet')\nexport default class Pallet extends Carriable(Legendable(Placeable(ContainerAbstract))) {\n  declare state: PalletState\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 = 150 // EUR pallet is 144mm; 150 is the round number convention\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */\n  containable(component: Component) {\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this)\n  }\n\n  /**\n   * 2D — top-down silhouette. Body is a flat rectangle (wood/plastic deck);\n   * `postrender()` adds the deck pattern + edge stroke so the pallet reads\n   * as a pallet instead of a featureless rectangle.\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  /**\n   * Deck pattern + edge stroke. Wood: parallel slats with darker grooves\n   * between (typical EUR pallet deck). Plastic: cross-cutout pattern\n   * suggesting the molded reinforcement ribs.\n   *\n   * Slats run along the *short* axis of the rectangle (= along the longer\n   * stringer direction in real life), so a 1200×800 pallet shows multiple\n   * narrow slats across the 1200mm dimension — matching the EUR layout.\n   */\n  postrender(ctx: CanvasRenderingContext2D) {\n    super.postrender?.(ctx)\n\n    const { width, height, left, top } = this.state\n    const isPlastic = this.state.material === 'plastic'\n\n    ctx.save()\n\n    if (!isPlastic) {\n      // Wood — slats. Run them along the longer axis so the grooves are\n      // perpendicular to the longer side (typical pallet appearance).\n      const longAxisHorizontal = width >= height\n      const slatCount = 5\n      const grooveColor = '#7a4f25'\n      ctx.fillStyle = grooveColor\n      if (longAxisHorizontal) {\n        // grooves vertical (X direction across the width)\n        const grooveW = Math.max(1, width * 0.012)\n        const slatW = (width - grooveW * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const x = left + i * slatW + (i - 1) * grooveW\n          ctx.fillRect(x, top + height * 0.05, grooveW, height * 0.9)\n        }\n      } else {\n        const grooveH = Math.max(1, height * 0.012)\n        const slatH = (height - grooveH * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const y = top + i * slatH + (i - 1) * grooveH\n          ctx.fillRect(left + width * 0.05, y, width * 0.9, grooveH)\n        }\n      }\n    } else {\n      // Plastic — cross + corner cutouts hint\n      ctx.strokeStyle = '#3a4956'\n      ctx.lineWidth = Math.max(1, Math.min(width, height) * 0.012)\n      ctx.beginPath()\n      ctx.moveTo(left + width * 0.5, top + height * 0.1)\n      ctx.lineTo(left + width * 0.5, top + height * 0.9)\n      ctx.moveTo(left + width * 0.1, top + height * 0.5)\n      ctx.lineTo(left + width * 0.9, top + height * 0.5)\n      ctx.stroke()\n    }\n\n    // Edge stroke\n    ctx.strokeStyle = isPlastic ? '#2a3946' : '#5e3818'\n    ctx.lineWidth = 1\n    ctx.strokeRect(left, top, width, height)\n\n    ctx.restore()\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Pallet3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변\n   * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.\n   *\n   * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의\n   * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준\n   * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.\n   *\n   * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —\n   * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.\n   * 여기선 conservative 하게 pallet 너비 + 200mm.\n   */\n  pickupFrames(): PickupFrame[] {\n    const { width = 1200, height = 800 } = this.state\n    const palletDepth = (this.constructor as any).defaultDepth ?? 150\n\n    // 4-way pallet: 모든 면에서 fork 진입 가능. 2-way 는 sides 를 ['east','west']\n    // 로 한정 — pallet 의 stringer 방향에 따라 다르나 default 는 4-way 가정.\n    // (state.palletType 같은 속성 추가 시 분기 가능 — 현재는 4-way 가정.)\n    const me: PoseSerialized = (() => {\n      const wp = getWorldPose(this)\n      return {\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    })()\n\n    const longerAxis = Math.max(width, height)\n\n    return rectangularFootprintFrames({\n      carrierWorld: me,\n      width,\n      depth: height,\n      entryHeight: palletDepth * 0.4, // fork pocket 중심\n      approachDistance: longerAxis + 200,\n      sides: ['east', 'west', 'north', 'south'],\n      toolType: 'forklift-fork',\n      tolerance: { positionMm: 50, angleDeg: 5 },\n      priority: 0\n    })\n  }\n}\n"]}

package/dist/parcel.d.ts

@@ -1,5 +1,11 @@
 import { ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D, PickupFrame } from '@hatiolab/things-scene';
 import { type Alignment, type PlacementArchetype } from '@operato/scene-base';
+/** Parcel 컴포넌트 state */
+export interface ParcelState extends State {
+    trackingId?: string;
+    material3d?: Material3D;
+}
 declare const Parcel_base: any;
 /**
  * Parcel — a cardboard package, the typical e-commerce / parcel-sortation unit.
@@ -17,6 +23,7 @@ declare const Parcel_base: any;
  * inspected indicators would add a status legend then.
  */
 export default class Parcel extends Parcel_base {
+    state: ParcelState;
     static placement: PlacementArchetype;
     static align: Alignment;
     static defaultDepth: number;
@@ -26,5 +33,11 @@ export default class Parcel extends Parcel_base {
     render(ctx: CanvasRenderingContext2D): void;
     get fillStyle(): string;
     buildRealObject(): RealObject | undefined;
+    /**
+     * Phase H — pickup contract. Parcel 은 위에서 vacuum gripper / suction cup 으로
+     * 집기 — Box 와 동일한 패턴이지만 cardboard 표면이라 더 큰 흡착 면 필요.
+     * tolerance 도 약간 완화 (cardboard 변형 가능성).
+     */
+    pickupFrames(): PickupFrame[];
 }
 export {};

package/dist/parcel.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, Placeable } from '@operato/scene-base';
 import { Parcel3D } from './parcel-3d.js';
 const NATURE = {
@@ -58,6 +58,30 @@ let Parcel = class Parcel extends Carriable(Placeable(RectPath(Shape))) {
     buildRealObject() {
         return new Parcel3D(this);
     }
+    /**
+     * Phase H — pickup contract. Parcel 은 위에서 vacuum gripper / suction cup 으로
+     * 집기 — Box 와 동일한 패턴이지만 cardboard 표면이라 더 큰 흡착 면 필요.
+     * tolerance 도 약간 완화 (cardboard 변형 가능성).
+     */
+    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 parcelDepth = this.constructor.defaultDepth ?? 150;
+        return [
+            topApproachFrame({
+                carrierWorld: me,
+                topY: parcelDepth,
+                approachDistance: 80, // gripper hover 거리 (Box 보다 더 — vacuum 펼침)
+                toolType: 'gripper',
+                tolerance: { positionMm: 10, angleDeg: 2 }, // cardboard 변형 감안
+                priority: 0,
+                id: 'top-suction'
+            })
+        ];
+    }
 };
 Parcel = __decorate([
     sceneComponent('parcel')

package/dist/parcel.js.map

@@ -1 +1 @@
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+{"version":3,"file":"parcel.js","sourceRoot":"","sources":["../src/parcel.ts"],"names":[],"mappings":";AAAA;;GAEG;AACH,OAAO,EAGL,QAAQ,EACR,KAAK,EACL,gBAAgB,EAChB,YAAY,EACZ,cAAc,EACf,MAAM,wBAAwB,CAAA;AAE/B,OAAO,EACL,SAAS,EACT,SAAS,EAGV,MAAM,qBAAqB,CAAA;AAE5B,OAAO,EAAE,QAAQ,EAAE,MAAM,gBAAgB,CAAA;AAWzC,MAAM,MAAM,GAAoB;IAC9B,OAAO,EAAE,KAAK;IACd,SAAS,EAAE,IAAI;IACf,SAAS,EAAE,IAAI;IACf,UAAU,EAAE;QACV;YACE,IAAI,EAAE,QAAQ;YACd,KAAK,EAAE,aAAa;YACpB,IAAI,EAAE,YAAY;SACnB;KACF;IACD,IAAI,EAAE,wBAAwB;CAC/B,CAAA;AAED,yEAAyE;AACzE,uEAAuE;AACvE,oDAAoD;AACpD;;;;;;;;;;;;;;GAcG;AAEY,IAAM,MAAM,GAAZ,MAAM,MAAO,SAAQ,SAAS,CAAC,SAAS,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC;IAGvE,MAAM,CAAC,SAAS,GAAuB,WAAW,CAAA;IAClD,MAAM,CAAC,KAAK,GAAc,QAAQ,CAAA;IAClC,MAAM,CAAC,YAAY,GAAG,GAAG,CAAA;IAEzB,IAAI,MAAM;QACR,OAAO,MAAM,CAAA;IACf,CAAC;IAED,IAAI,OAAO;QACT,OAAO,EAAE,CAAA;IACX,CAAC;IAED,gDAAgD;IAChD,MAAM,CAAC,GAA6B;QAClC,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG,EAAE,GAAG,IAAI,CAAC,KAAK,CAAA;QAC/C,GAAG,CAAC,SAAS,EAAE,CAAA;QACf,GAAG,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,EAAE,KAAK,EAAE,MAAM,CAAC,CAAA;IACpC,CAAC;IAED,IAAI,SAAS;QACX,OAAO,SAAS,CAAA;IAClB,CAAC;IAED,eAAe;QACb,OAAO,IAAI,QAAQ,CAAC,IAAI,CAAC,CAAA;IAC3B,CAAC;IAED;;;;OAIG;IACH,YAAY;QACV,MAAM,EAAE,GAAG,YAAY,CAAC,IAAI,CAAC,CAAA;QAC7B,MAAM,EAAE,GAAmB;YACzB,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE;YAClE,QAAQ,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE;SACrF,CAAA;QACD,MAAM,WAAW,GAAI,IAAI,CAAC,WAAmB,CAAC,YAAY,IAAI,GAAG,CAAA;QAEjE,OAAO;YACL,gBAAgB,CAAC;gBACf,YAAY,EAAE,EAAE;gBAChB,IAAI,EAAE,WAAW;gBACjB,gBAAgB,EAAE,EAAE,EAAa,0CAA0C;gBAC3E,QAAQ,EAAE,SAAS;gBACnB,SAAS,EAAE,EAAE,UAAU,EAAE,EAAE,EAAE,QAAQ,EAAE,CAAC,EAAE,EAAG,kBAAkB;gBAC/D,QAAQ,EAAE,CAAC;gBACX,EAAE,EAAE,aAAa;aAClB,CAAC;SACH,CAAA;IACH,CAAC;;AAtDkB,MAAM;IAD1B,cAAc,CAAC,QAAQ,CAAC;GACJ,MAAM,CAuD1B;eAvDoB,MAAM","sourcesContent":["/*\n * Copyright © HatioLab Inc. 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  Placeable,\n  type Alignment,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Parcel3D } from './parcel-3d.js'\n\n/** Parcel 컴포넌트 state */\nexport interface ParcelState extends State {\n  // ── 정체 ──\n  trackingId?: string\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: 'string',\n      label: 'tracking-id',\n      name: 'trackingId'\n    }\n  ],\n  help: 'scene/component/parcel'\n}\n\n// Carriable: parcel can be a child of any CarrierHolder (Spot, robot-arm\n// gripper, AGV deck, …). Mixin wraps add() so the parcel's 3D object3d\n// is reattached to the holder's chosen mount frame.\n/**\n * Parcel — a cardboard package, the typical e-commerce / parcel-sortation unit.\n *\n * Distinct from `Box` because parcels have:\n *   - cardboard appearance (tan/brown corrugate, not wood / plastic)\n *   - tape line down the center (the visual signature that says \"package\")\n *   - typically a label on top (where shipping info goes)\n *   - flatter / more elongated proportions in real-world parcel networks\n *\n * No `material` prop — parcels are always cardboard. If a future shipping\n * domain needs metal cases or polybags, those become separate components.\n *\n * No Legendable for v1 — parcel color is fixed cardboard. Future damaged /\n * inspected indicators would add a status legend then.\n */\n@sceneComponent('parcel')\nexport default class Parcel extends Carriable(Placeable(RectPath(Shape))) {\n  declare state: ParcelState\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 150\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** 2D — top-down rectangle in cardboard tan. */\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 '#c8a878'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Parcel3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. Parcel 은 위에서 vacuum gripper / suction cup 으로\n   * 집기 — Box 와 동일한 패턴이지만 cardboard 표면이라 더 큰 흡착 면 필요.\n   * tolerance 도 약간 완화 (cardboard 변형 가능성).\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 parcelDepth = (this.constructor as any).defaultDepth ?? 150\n\n    return [\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 80,            // gripper hover 거리 (Box 보다 더 — vacuum 펼침)\n        toolType: 'gripper',\n        tolerance: { positionMm: 10, angleDeg: 2 },  // cardboard 변형 감안\n        priority: 0,\n        id: 'top-suction'\n      })\n    ]\n  }\n}\n"]}

package/dist/rack-cell-3d.js

@@ -50,7 +50,7 @@ export class RackCell3D extends RealObjectGroup {
         const rack = this.component.parent;
         if (!rack?.cellMap)
             return;
-        const cellId = this.component.state?.cellId;
+        const cellId = this.component.state.cellId;
         if (!cellId)
             return;
         const cell = rack.cellMap.findById(cellId);

package/dist/rack-cell-3d.js.map

@@ -1 +1 @@
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All rights reserved.\n *\n * RackCell 3D — invisible anchor group positioned at the cell's location\n * within the parent rack's 3D coordinate space.\n *\n * RackCell has no geometry of its own. Its sole 3D purpose is to provide\n * an Object3D that carriers can be attached to (via Three.js `.attach()`),\n * placed at the exact cell position within the rack. The position is derived\n * from the parent AsrsRack's CellMap (by cellId), not from 2D state fields —\n * rack cells occupy 3D levels that have no 2D analogue.\n *\n * updateTransform() override: things-scene's standard updateTransform\n * reads `component.center` (2D) and flattens it to 3D. For rack cells this\n * is wrong — we need the 3D cell position (bay x, level y, row z) from the\n * parent rack. So we override and read it directly from the CellMap.\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nexport class RackCell3D extends RealObjectGroup {\n  build() {\n    super.build()\n    this._repositionFromCellMap()\n  }\n\n  updateDimension() {\n    // intentional no-op — size comes from the cell definition, not state\n  }\n\n  updateTransform() {\n    this._repositionFromCellMap()\n  }\n\n  updateAlpha() {\n    // invisible — no materials to update\n  }\n\n  /**\n   * Position this group at the cell's localPosition within the rack's 3D space.\n   *\n   * CellMap.grid() places cell origins at:\n   *   x = b * bayWidth,  y = l * levelHeight,  z = r * rowDepth\n   * (starting from 0,0,0 at the rack's bottom-left-front corner).\n   *\n   * The rack's object3d is centered: X spans [-width/2, +width/2],\n   * Y spans [-depth/2, +depth/2], Z spans [-height/2, +height/2].\n   *\n   * So the cell centre in rack-local 3D space:\n   *   x3d = cellPos.x + bayWidth/2   - width/2\n   *   y3d = cellPos.y + levelHeight/2 - rackDepth/2\n   *   z3d = cellPos.z + rowDepth/2   - rackHeight/2\n   */\n  _repositionFromCellMap() {\n    const rack = (this.component as any).parent\n    if (!rack?.cellMap) return\n\n    const cellId = (this.component as any).state?.cellId as string | undefined\n    if (!cellId) return\n\n    const cell = rack.cellMap.findById(cellId)\n    if (!cell) return\n\n    const rs = rack.state as any\n    const rackWidth = (rs?.width as number) || 1000\n    const rackDepth = (rs?.depth as number) || 3000   // Y dimension (floor→ceiling)\n    const rackHeight = (rs?.height as number) || 600  // Z dimension (front→back, 2D height)\n    const bays = Math.max(1, Math.floor(rs?.bays || 5))\n    const levels = Math.max(1, Math.floor(rs?.levels || 4))\n    const rows = 1\n\n    const bayWidth = rackWidth / bays\n    const levelHeight = rackDepth / levels\n    const rowDepth = rackHeight / rows\n\n    const x3d = cell.localPosition.x + bayWidth / 2 - rackWidth / 2\n    const y3d = cell.localPosition.y + levelHeight / 2 - rackDepth / 2\n    const z3d = cell.localPosition.z + rowDepth / 2 - rackHeight / 2\n\n    this.object3d.position.set(x3d, y3d, z3d)\n\n    // Optionally visualise cells in debug mode (outline box, very faint)\n    if (process.env.NODE_ENV !== 'production' && (rack.state as any)?.debugCells) {\n      this._addDebugBox(bayWidth, levelHeight, rowDepth)\n    }\n  }\n\n  private _debugBox?: THREE.LineSegments\n\n  private _addDebugBox(w: number, h: number, d: number) {\n    if (this._debugBox) return\n    const geo = new THREE.BoxGeometry(w * 0.98, h * 0.98, d * 0.98)\n    const edges = new THREE.EdgesGeometry(geo)\n    this._debugBox = new THREE.LineSegments(\n      edges,\n      new THREE.LineBasicMaterial({ color: 0x00ff88, transparent: true, opacity: 0.2 })\n    )\n    this.object3d.add(this._debugBox)\n  }\n}\n"]}
+{"version":3,"file":"rack-cell-3d.js","sourceRoot":"","sources":["../src/rack-cell-3d.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAEH,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAA;AAExD,MAAM,OAAO,UAAW,SAAQ,eAAe;IAC7C,KAAK;QACH,KAAK,CAAC,KAAK,EAAE,CAAA;QACb,IAAI,CAAC,sBAAsB,EAAE,CAAA;IAC/B,CAAC;IAED,eAAe;QACb,qEAAqE;IACvE,CAAC;IAED,eAAe;QACb,IAAI,CAAC,sBAAsB,EAAE,CAAA;IAC/B,CAAC;IAED,WAAW;QACT,qCAAqC;IACvC,CAAC;IAED;;;;;;;;;;;;;;OAcG;IACH,sBAAsB;QACpB,MAAM,IAAI,GAAI,IAAI,CAAC,SAAiB,CAAC,MAAM,CAAA;QAC3C,IAAI,CAAC,IAAI,EAAE,OAAO;YAAE,OAAM;QAE1B,MAAM,MAAM,GAAG,IAAI,CAAC,SAAS,CAAC,KAAK,CAAC,MAA4B,CAAA;QAChE,IAAI,CAAC,MAAM;YAAE,OAAM;QAEnB,MAAM,IAAI,GAAG,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAA;QAC1C,IAAI,CAAC,IAAI;YAAE,OAAM;QAEjB,MAAM,EAAE,GAAG,IAAI,CAAC,KAAY,CAAA;QAC5B,MAAM,SAAS,GAAI,EAAE,EAAE,KAAgB,IAAI,IAAI,CAAA;QAC/C,MAAM,SAAS,GAAI,EAAE,EAAE,KAAgB,IAAI,IAAI,CAAA,CAAG,8BAA8B;QAChF,MAAM,UAAU,GAAI,EAAE,EAAE,MAAiB,IAAI,GAAG,CAAA,CAAE,sCAAsC;QACxF,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,IAAI,IAAI,CAAC,CAAC,CAAC,CAAA;QACnD,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,MAAM,IAAI,CAAC,CAAC,CAAC,CAAA;QACvD,MAAM,IAAI,GAAG,CAAC,CAAA;QAEd,MAAM,QAAQ,GAAG,SAAS,GAAG,IAAI,CAAA;QACjC,MAAM,WAAW,GAAG,SAAS,GAAG,MAAM,CAAA;QACtC,MAAM,QAAQ,GAAG,UAAU,GAAG,IAAI,CAAA;QAElC,MAAM,GAAG,GAAG,IAAI,CAAC,aAAa,CAAC,CAAC,GAAG,QAAQ,GAAG,CAAC,GAAG,SAAS,GAAG,CAAC,CAAA;QAC/D,MAAM,GAAG,GAAG,IAAI,CAAC,aAAa,CAAC,CAAC,GAAG,WAAW,GAAG,CAAC,GAAG,SAAS,GAAG,CAAC,CAAA;QAClE,MAAM,GAAG,GAAG,IAAI,CAAC,aAAa,CAAC,CAAC,GAAG,QAAQ,GAAG,CAAC,GAAG,UAAU,GAAG,CAAC,CAAA;QAEhE,IAAI,CAAC,QAAQ,CAAC,QAAQ,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAA;QAEzC,qEAAqE;QACrE,IAAI,OAAO,CAAC,GAAG,CAAC,QAAQ,KAAK,YAAY,IAAK,IAAI,CAAC,KAAa,EAAE,UAAU,EAAE,CAAC;YAC7E,IAAI,CAAC,YAAY,CAAC,QAAQ,EAAE,WAAW,EAAE,QAAQ,CAAC,CAAA;QACpD,CAAC;IACH,CAAC;IAEO,SAAS,CAAqB;IAE9B,YAAY,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS;QAClD,IAAI,IAAI,CAAC,SAAS;YAAE,OAAM;QAC1B,MAAM,GAAG,GAAG,IAAI,KAAK,CAAC,WAAW,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,CAAA;QAC/D,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,aAAa,CAAC,GAAG,CAAC,CAAA;QAC1C,IAAI,CAAC,SAAS,GAAG,IAAI,KAAK,CAAC,YAAY,CACrC,KAAK,EACL,IAAI,KAAK,CAAC,iBAAiB,CAAC,EAAE,KAAK,EAAE,QAAQ,EAAE,WAAW,EAAE,IAAI,EAAE,OAAO,EAAE,GAAG,EAAE,CAAC,CAClF,CAAA;QACD,IAAI,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,CAAC,SAAS,CAAC,CAAA;IACnC,CAAC;CACF","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n *\n * RackCell 3D — invisible anchor group positioned at the cell's location\n * within the parent rack's 3D coordinate space.\n *\n * RackCell has no geometry of its own. Its sole 3D purpose is to provide\n * an Object3D that carriers can be attached to (via Three.js `.attach()`),\n * placed at the exact cell position within the rack. The position is derived\n * from the parent AsrsRack's CellMap (by cellId), not from 2D state fields —\n * rack cells occupy 3D levels that have no 2D analogue.\n *\n * updateTransform() override: things-scene's standard updateTransform\n * reads `component.center` (2D) and flattens it to 3D. For rack cells this\n * is wrong — we need the 3D cell position (bay x, level y, row z) from the\n * parent rack. So we override and read it directly from the CellMap.\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nexport class RackCell3D extends RealObjectGroup {\n  build() {\n    super.build()\n    this._repositionFromCellMap()\n  }\n\n  updateDimension() {\n    // intentional no-op — size comes from the cell definition, not state\n  }\n\n  updateTransform() {\n    this._repositionFromCellMap()\n  }\n\n  updateAlpha() {\n    // invisible — no materials to update\n  }\n\n  /**\n   * Position this group at the cell's localPosition within the rack's 3D space.\n   *\n   * CellMap.grid() places cell origins at:\n   *   x = b * bayWidth,  y = l * levelHeight,  z = r * rowDepth\n   * (starting from 0,0,0 at the rack's bottom-left-front corner).\n   *\n   * The rack's object3d is centered: X spans [-width/2, +width/2],\n   * Y spans [-depth/2, +depth/2], Z spans [-height/2, +height/2].\n   *\n   * So the cell centre in rack-local 3D space:\n   *   x3d = cellPos.x + bayWidth/2   - width/2\n   *   y3d = cellPos.y + levelHeight/2 - rackDepth/2\n   *   z3d = cellPos.z + rowDepth/2   - rackHeight/2\n   */\n  _repositionFromCellMap() {\n    const rack = (this.component as any).parent\n    if (!rack?.cellMap) return\n\n    const cellId = this.component.state.cellId as string | undefined\n    if (!cellId) return\n\n    const cell = rack.cellMap.findById(cellId)\n    if (!cell) return\n\n    const rs = rack.state as any\n    const rackWidth = (rs?.width as number) || 1000\n    const rackDepth = (rs?.depth as number) || 3000   // Y dimension (floor→ceiling)\n    const rackHeight = (rs?.height as number) || 600  // Z dimension (front→back, 2D height)\n    const bays = Math.max(1, Math.floor(rs?.bays || 5))\n    const levels = Math.max(1, Math.floor(rs?.levels || 4))\n    const rows = 1\n\n    const bayWidth = rackWidth / bays\n    const levelHeight = rackDepth / levels\n    const rowDepth = rackHeight / rows\n\n    const x3d = cell.localPosition.x + bayWidth / 2 - rackWidth / 2\n    const y3d = cell.localPosition.y + levelHeight / 2 - rackDepth / 2\n    const z3d = cell.localPosition.z + rowDepth / 2 - rackHeight / 2\n\n    this.object3d.position.set(x3d, y3d, z3d)\n\n    // Optionally visualise cells in debug mode (outline box, very faint)\n    if (process.env.NODE_ENV !== 'production' && (rack.state as any)?.debugCells) {\n      this._addDebugBox(bayWidth, levelHeight, rowDepth)\n    }\n  }\n\n  private _debugBox?: THREE.LineSegments\n\n  private _addDebugBox(w: number, h: number, d: number) {\n    if (this._debugBox) return\n    const geo = new THREE.BoxGeometry(w * 0.98, h * 0.98, d * 0.98)\n    const edges = new THREE.EdgesGeometry(geo)\n    this._debugBox = new THREE.LineSegments(\n      edges,\n      new THREE.LineBasicMaterial({ color: 0x00ff88, transparent: true, opacity: 0.2 })\n    )\n    this.object3d.add(this._debugBox)\n  }\n}\n"]}

package/dist/rack-cell.d.ts

@@ -1,4 +1,5 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D } from '@hatiolab/things-scene';
 import { type AttachFrame } from '@operato/scene-base';
 /**
  * How many carriers a cell can hold simultaneously.
@@ -7,6 +8,12 @@ import { type AttachFrame } from '@operato/scene-base';
  * - bulk:   unlimited (e.g. a floor area measured in slots)
  */
 export type RackCellType = 'single' | 'multi' | 'bulk';
+/** RackCell 컴포넌트 state */
+export interface RackCellState extends State {
+    cellId?: string;
+    cellType?: RackCellType;
+    material3d?: Material3D;
+}
 declare const RackCell_base: any;
 /**
  * RackCell — single-slot storage cell inside an AsrsRack.
@@ -20,6 +27,7 @@ declare const RackCell_base: any;
  * 2D→3D coordinate mapping which cannot express 3D levels.
  */
 export default class RackCell extends RackCell_base {
+    state: RackCellState;
     get cellId(): string;
     get cellType(): RackCellType;
     /** Maximum carrier count for this cell based on cellType. */

package/dist/rack-cell.js

@@ -67,10 +67,10 @@ const NATURE = {
 let RackCell = class RackCell extends CarrierHolder(ContainerAbstract) {
     // ── Identification ────────────────────────────────────────────────────────
     get cellId() {
-        return this.state.cellId || '';
+        return this.state.cellId ?? '';
     }
     get cellType() {
-        return (this.state.cellType || 'single');
+        return this.state.cellType ?? 'single';
     }
     /** Maximum carrier count for this cell based on cellType. */
     get capacity() {
@@ -100,8 +100,7 @@ let RackCell = class RackCell extends CarrierHolder(ContainerAbstract) {
      */
     async receive(carrier, options = {}) {
         if (!this.canReceive(carrier)) {
-            ;
-            this.trigger?.('transfer-rejected', {
+            this.trigger('transfer-rejected', {
                 type: 'transfer-rejected',
                 component: carrier,
                 container: this,
@@ -110,8 +109,8 @@ let RackCell = class RackCell extends CarrierHolder(ContainerAbstract) {
             return;
         }
         carrier[TRANSFER_SLOT_KEY] = this.cellId;
-        this.reparent?.(carrier, options);
-        this.trigger?.('transfer-received', {
+        this.reparent(carrier, options);
+        this.trigger('transfer-received', {
             type: 'transfer-received',
             component: carrier,
             container: this,
@@ -124,8 +123,7 @@ let RackCell = class RackCell extends CarrierHolder(ContainerAbstract) {
      */
     async dispatch(carrier, target, options = {}) {
         if (target?.canReceive && !target.canReceive(carrier)) {
-            ;
-            this.trigger?.('transfer-rejected', {
+            this.trigger('transfer-rejected', {
                 type: 'transfer-rejected',
                 component: carrier,
                 container: this,
@@ -141,8 +139,7 @@ let RackCell = class RackCell extends CarrierHolder(ContainerAbstract) {
             ;
             target.reparent?.(carrier, options);
         }
-        ;
-        this.trigger?.('transfer-dispatched', {
+        this.trigger('transfer-dispatched', {
             type: 'transfer-dispatched',
             component: carrier,
             container: this,

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All rights reserved.\n *\n * RackCell — a single storage slot within an AsrsRack.\n *\n * A RackCell is a virtual component: it occupies a specific (bay, row, level)\n * coordinate within the parent rack and acts as a CarrierHolder for one carrier\n * (or several, depending on `cellType`).\n *\n * The crane (AsrsCrane) navigates toward a RackCell as its `place()` destination —\n * because the rack cell is a discrete component, Mover.moveTo() can target it\n * directly and arrive at exactly the right bay × level position.\n *\n * Visual: invisible in 2D (no visible 2D footprint — rack cells don't make\n * sense as 2D top-down boxes). In 3D, each cell is an invisible Group\n * positioned within the rack's coordinate space (RackCell3D handles\n * this via updateTransform override).\n *\n * Lifecycle: AsrsRack._buildCells() instantiates RackCell children.\n * Do not create RackCell components manually — they are managed by the rack.\n *\n * Domain aliases:\n *   cell.store(carrier)            ← cell.receive(carrier)\n *   cell.retrieve(carrier, target) ← cell.dispatch(carrier, target)\n */\n\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  RealObject,\n  TRANSFER_SLOT_KEY,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport { CarrierHolder, type AttachFrame } from '@operato/scene-base'\n\nimport { RackCell3D } from './rack-cell-3d.js'\n\n/**\n * How many carriers a cell can hold simultaneously.\n * - single: exactly 1 (typical pallet bay)\n * - multi:  small stack (up to 4, e.g. a multi-deep tray)\n * - bulk:   unlimited (e.g. a floor area measured in slots)\n */\nexport type RackCellType = 'single' | 'multi' | 'bulk'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: false,\n  rotatable: false,\n  properties: [\n    {\n      type: 'string',\n      label: 'cell-id',\n      name: 'cellId',\n      placeholder: 'e.g. 0-0-0'\n    },\n    {\n      type: 'select',\n      label: 'cell-type',\n      name: 'cellType',\n      property: {\n        options: [\n          { display: 'Single', value: 'single' },\n          { display: 'Multi', value: 'multi' },\n          { display: 'Bulk', value: 'bulk' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/rack-cell'\n}\n\n/**\n * RackCell — single-slot storage cell inside an AsrsRack.\n *\n * Mixin chain: CarrierHolder(ContainerAbstract)\n *   - CarrierHolder: publishes attachPointFor(), gates containable() to Carriables\n *   - ContainerAbstract: manages child carrier components\n *\n * No Placeable mixin — RackCell3D self-positions from the parent rack's\n * CellMap (via updateTransform override), bypassing things-scene's standard\n * 2D→3D coordinate mapping which cannot express 3D levels.\n */\n@sceneComponent('rack-cell')\nexport default class RackCell extends CarrierHolder(ContainerAbstract) {\n  // ── Identification ────────────────────────────────────────────────────────\n\n  get cellId(): string {\n    return (this.state.cellId as string) || ''\n  }\n\n  get cellType(): RackCellType {\n    return ((this.state.cellType as RackCellType) || 'single')\n  }\n\n  /** Maximum carrier count for this cell based on cellType. */\n  get capacity(): number {\n    switch (this.cellType) {\n      case 'single': return 1\n      case 'multi': return 4\n      case 'bulk': return Infinity\n    }\n  }\n\n  // ── Interface ─────────────────────────────────────────────────────────────\n\n  get nature(): ComponentNature {\n    return NATURE\n  }\n\n  get anchors(): [] {\n    return []\n  }\n\n  // ── Transfer protocol ─────────────────────────────────────────────────────\n\n  /** True when fewer carriers are currently held than capacity. */\n  canReceive(_component?: any): boolean {\n    const occupied = ((this as any).components as Component[] | undefined)?.length ?? 0\n    return occupied < this.capacity\n  }\n\n  /**\n   * Accept a carrier into this cell.\n   * Sets TRANSFER_SLOT_KEY = cellId on the carrier, then reparents.\n   * Fires 'transfer-received' so monitors can react.\n   */\n  async receive(carrier: any, options: any = {}): Promise<void> {\n    if (!this.canReceive(carrier)) {\n      ;(this as any).trigger?.('transfer-rejected', {\n        type: 'transfer-rejected',\n        component: carrier,\n        container: this,\n        reason: 'no-slot'\n      })\n      return\n    }\n    carrier[TRANSFER_SLOT_KEY] = this.cellId\n    ;(this as any).reparent?.(carrier, options)\n    ;(this as any).trigger?.('transfer-received', {\n      type: 'transfer-received',\n      component: carrier,\n      container: this,\n      slotId: this.cellId\n    })\n  }\n\n  /**\n   * Release a carrier from this cell to `target`.\n   * Delegates to `target.receive()` if available, otherwise `target.reparent()`.\n   */\n  async dispatch(carrier: any, target: any, options: any = {}): Promise<void> {\n    if (target?.canReceive && !target.canReceive(carrier)) {\n      ;(this as any).trigger?.('transfer-rejected', {\n        type: 'transfer-rejected',\n        component: carrier,\n        container: this,\n        reason: 'target-full'\n      })\n      return\n    }\n    delete carrier[TRANSFER_SLOT_KEY]\n    if (typeof target?.receive === 'function') {\n      await target.receive(carrier, options)\n    } else {\n      ;(target as any).reparent?.(carrier, options)\n    }\n    ;(this as any).trigger?.('transfer-dispatched', {\n      type: 'transfer-dispatched',\n      component: carrier,\n      container: this,\n      target\n    })\n  }\n\n  // ── Domain aliases ────────────────────────────────────────────────────────\n\n  /** Alias for receive() — semantic sugar for the storage domain. */\n  store(carrier: any, options?: any): Promise<void> {\n    return this.receive(carrier, options)\n  }\n\n  /** Alias for dispatch() — semantic sugar for the storage domain. */\n  retrieve(carrier: any, target: any, options?: any): Promise<void> {\n    return this.dispatch(carrier, target, options)\n  }\n\n  // ── 3D attach frame ───────────────────────────────────────────────────────\n\n  /**\n   * Return the 3D attach frame for carriers placed in this cell.\n   * Carriers are lifted by their own halfDepth so the bottom face\n   * rests at the cell's Y-center (which is levelHeight/2 above the beam).\n   */\n  attachPointFor(carrier: Component): AttachFrame | null {\n    const root = (this as any)._realObject?.object3d\n    if (!root) return null\n    const carrierDepth = resolveCarrierDepth(carrier)\n    return {\n      attach: root,\n      localPosition: { x: 0, y: carrierDepth / 2, z: 0 }\n    }\n  }\n\n  // ── 2D rendering ──────────────────────────────────────────────────────────\n\n  /** RackCell has no 2D visual — the rack draws its own structure. */\n  render(_ctx: CanvasRenderingContext2D) {\n    // intentional no-op\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new RackCell3D(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 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 *\n * RackCell — a single storage slot within an AsrsRack.\n *\n * A RackCell is a virtual component: it occupies a specific (bay, row, level)\n * coordinate within the parent rack and acts as a CarrierHolder for one carrier\n * (or several, depending on `cellType`).\n *\n * The crane (AsrsCrane) navigates toward a RackCell as its `place()` destination —\n * because the rack cell is a discrete component, Mover.moveTo() can target it\n * directly and arrive at exactly the right bay × level position.\n *\n * Visual: invisible in 2D (no visible 2D footprint — rack cells don't make\n * sense as 2D top-down boxes). In 3D, each cell is an invisible Group\n * positioned within the rack's coordinate space (RackCell3D handles\n * this via updateTransform override).\n *\n * Lifecycle: AsrsRack._buildCells() instantiates RackCell children.\n * Do not create RackCell components manually — they are managed by the rack.\n *\n * Domain aliases:\n *   cell.store(carrier)            ← cell.receive(carrier)\n *   cell.retrieve(carrier, target) ← cell.dispatch(carrier, target)\n */\n\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  RealObject,\n  TRANSFER_SLOT_KEY,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D } from '@hatiolab/things-scene'\nimport { CarrierHolder, type AttachFrame } from '@operato/scene-base'\n\nimport { RackCell3D } from './rack-cell-3d.js'\n\n/**\n * How many carriers a cell can hold simultaneously.\n * - single: exactly 1 (typical pallet bay)\n * - multi:  small stack (up to 4, e.g. a multi-deep tray)\n * - bulk:   unlimited (e.g. a floor area measured in slots)\n */\nexport type RackCellType = 'single' | 'multi' | 'bulk'\n\n/** RackCell 컴포넌트 state */\nexport interface RackCellState extends State {\n  // ── 식별 ──\n  cellId?: string\n  cellType?: RackCellType\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: false,\n  rotatable: false,\n  properties: [\n    {\n      type: 'string',\n      label: 'cell-id',\n      name: 'cellId',\n      placeholder: 'e.g. 0-0-0'\n    },\n    {\n      type: 'select',\n      label: 'cell-type',\n      name: 'cellType',\n      property: {\n        options: [\n          { display: 'Single', value: 'single' },\n          { display: 'Multi', value: 'multi' },\n          { display: 'Bulk', value: 'bulk' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/rack-cell'\n}\n\n/**\n * RackCell — single-slot storage cell inside an AsrsRack.\n *\n * Mixin chain: CarrierHolder(ContainerAbstract)\n *   - CarrierHolder: publishes attachPointFor(), gates containable() to Carriables\n *   - ContainerAbstract: manages child carrier components\n *\n * No Placeable mixin — RackCell3D self-positions from the parent rack's\n * CellMap (via updateTransform override), bypassing things-scene's standard\n * 2D→3D coordinate mapping which cannot express 3D levels.\n */\n@sceneComponent('rack-cell')\nexport default class RackCell extends CarrierHolder(ContainerAbstract) {\n  declare state: RackCellState\n\n  // ── Identification ────────────────────────────────────────────────────────\n\n  get cellId(): string {\n    return this.state.cellId ?? ''\n  }\n\n  get cellType(): RackCellType {\n    return this.state.cellType ?? 'single'\n  }\n\n  /** Maximum carrier count for this cell based on cellType. */\n  get capacity(): number {\n    switch (this.cellType) {\n      case 'single': return 1\n      case 'multi': return 4\n      case 'bulk': return Infinity\n    }\n  }\n\n  // ── Interface ─────────────────────────────────────────────────────────────\n\n  get nature(): ComponentNature {\n    return NATURE\n  }\n\n  get anchors(): [] {\n    return []\n  }\n\n  // ── Transfer protocol ─────────────────────────────────────────────────────\n\n  /** True when fewer carriers are currently held than capacity. */\n  canReceive(_component?: any): boolean {\n    const occupied = (this.components as Component[] | undefined)?.length ?? 0\n    return occupied < this.capacity\n  }\n\n  /**\n   * Accept a carrier into this cell.\n   * Sets TRANSFER_SLOT_KEY = cellId on the carrier, then reparents.\n   * Fires 'transfer-received' so monitors can react.\n   */\n  async receive(carrier: any, options: any = {}): Promise<void> {\n    if (!this.canReceive(carrier)) {\n      this.trigger('transfer-rejected', {\n        type: 'transfer-rejected',\n        component: carrier,\n        container: this,\n        reason: 'no-slot'\n      })\n      return\n    }\n    carrier[TRANSFER_SLOT_KEY] = this.cellId\n    this.reparent(carrier, options)\n    this.trigger('transfer-received', {\n      type: 'transfer-received',\n      component: carrier,\n      container: this,\n      slotId: this.cellId\n    })\n  }\n\n  /**\n   * Release a carrier from this cell to `target`.\n   * Delegates to `target.receive()` if available, otherwise `target.reparent()`.\n   */\n  async dispatch(carrier: any, target: any, options: any = {}): Promise<void> {\n    if (target?.canReceive && !target.canReceive(carrier)) {\n      this.trigger('transfer-rejected', {\n        type: 'transfer-rejected',\n        component: carrier,\n        container: this,\n        reason: 'target-full'\n      })\n      return\n    }\n    delete carrier[TRANSFER_SLOT_KEY]\n    if (typeof target?.receive === 'function') {\n      await target.receive(carrier, options)\n    } else {\n      ;(target as any).reparent?.(carrier, options)\n    }\n    this.trigger('transfer-dispatched', {\n      type: 'transfer-dispatched',\n      component: carrier,\n      container: this,\n      target\n    })\n  }\n\n  // ── Domain aliases ────────────────────────────────────────────────────────\n\n  /** Alias for receive() — semantic sugar for the storage domain. */\n  store(carrier: any, options?: any): Promise<void> {\n    return this.receive(carrier, options)\n  }\n\n  /** Alias for dispatch() — semantic sugar for the storage domain. */\n  retrieve(carrier: any, target: any, options?: any): Promise<void> {\n    return this.dispatch(carrier, target, options)\n  }\n\n  // ── 3D attach frame ───────────────────────────────────────────────────────\n\n  /**\n   * Return the 3D attach frame for carriers placed in this cell.\n   * Carriers are lifted by their own halfDepth so the bottom face\n   * rests at the cell's Y-center (which is levelHeight/2 above the beam).\n   */\n  attachPointFor(carrier: Component): AttachFrame | null {\n    const root = this._realObject?.object3d\n    if (!root) return null\n    const carrierDepth = resolveCarrierDepth(carrier)\n    return {\n      attach: root,\n      localPosition: { x: 0, y: carrierDepth / 2, z: 0 }\n    }\n  }\n\n  // ── 2D rendering ──────────────────────────────────────────────────────────\n\n  /** RackCell has no 2D visual — the rack draws its own structure. */\n  render(_ctx: CanvasRenderingContext2D) {\n    // intentional no-op\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new RackCell3D(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 numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}

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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Spot 3D — translucent floor pad.\n *\n * Renders only the FLOOR face of the conceptual zone box; side walls are\n * absent. Children (carriers) sit on the top face via an explicit attach\n * frame; the pad doesn't occlude them (`depthWrite: false`).\n *\n * Standard things-scene properties read directly:\n *   - state.fillStyle  → pad color (sole color source)\n *   - state.strokeStyle → outline color (defaults to fillStyle)\n *   - state.alpha      → pad transparency, multiplied with the base 0.35 tint\n *   - state.text       → label, rendered as a CanvasTexture quad on the pad\n *   - state.fontColor  → label fill (defaults to fillStyle)\n *   - state.fontSize / fontFamily / bold / italic → label typography\n *                        (composed via the things-scene fontStyle helper)\n *   - state.material3d → metalness / roughness / castShadow / receiveShadow\n *                        (resolved + applied via the things-scene helpers,\n *                        no hard-coded numbers)\n */\n\nimport * as THREE from 'three'\nimport {\n  RealObjectGroup,\n  resolveMaterial3d,\n  applyMaterial3dProps,\n  fontStyle,\n  opaqueColor,\n  type Material3D\n} from '@hatiolab/things-scene'\n\nconst DEFAULT_PAD_COLOR = '#3a8fbd'\nconst BASE_PAD_OPACITY = 0.35 // multiplied by state.alpha\n\nexport class Spot3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const state = this.component.state as any\n    const w = Math.max(Math.abs(numOr(state.width, 100)), 1)\n    const h = Math.max(Math.abs(numOr(state.height, 100)), 1)\n    const d = this.effectiveDepth // 2 by default (thin pad)\n    // opaqueColor strips alpha from rgba/hsla strings — THREE.Color doesn't\n    // honor alpha, would emit a console warning, and ignore the alpha bit.\n    // The actual transparency comes through the material.opacity below.\n    const padColor = opaqueColor((state.fillStyle as string) || DEFAULT_PAD_COLOR)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const padOpacity = clamp(BASE_PAD_OPACITY * alpha, 0.05, 1)\n\n    // material3d: pulls user-set metalness / roughness / shadow / side.\n    // Local defaults (transparent + DoubleSide + depthWrite:false) come\n    // from the constructor below; user values override via applyMaterial3dProps.\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n\n    // ── Floor pad (the only visible surface of the conceptual zone box) ──\n    const padThickness = Math.max(d * 0.4, 0.5)\n    const padMat = new THREE.MeshStandardMaterial({\n      color: padColor,\n      transparent: true,\n      opacity: padOpacity,\n      side: THREE.DoubleSide,\n      depthWrite: false\n    })\n    applyMaterial3dProps(padMat, resolved)\n    const pad = new THREE.Mesh(new THREE.BoxGeometry(w, padThickness, h), padMat)\n    pad.position.set(0, -d / 2 + padThickness / 2, 0)\n    pad.castShadow = resolved.castShadow\n    pad.receiveShadow = resolved.receiveShadow\n    this.object3d.add(pad)\n\n    // ── Outline of the zone footprint (line on the floor) ──\n    const outlineGeo = new THREE.BufferGeometry().setFromPoints([\n      new THREE.Vector3(-w / 2, -d / 2 + padThickness + 0.05, -h / 2),\n      new THREE.Vector3(w / 2, -d / 2 + padThickness + 0.05, -h / 2),\n      new THREE.Vector3(w / 2, -d / 2 + padThickness + 0.05, h / 2),\n      new THREE.Vector3(-w / 2, -d / 2 + padThickness + 0.05, h / 2),\n      new THREE.Vector3(-w / 2, -d / 2 + padThickness + 0.05, -h / 2)\n    ])\n    const outlineMat = new THREE.LineBasicMaterial({\n      color: opaqueColor((state.strokeStyle as string) || padColor),\n      transparent: true,\n      opacity: 0.7 * alpha\n    })\n    const outline = new THREE.Line(outlineGeo, outlineMat)\n    this.object3d.add(outline)\n\n    // ── Label (uses standard text + font fields) ──\n    const text = state.text\n    if (typeof text === 'string' && text.length > 0) {\n      const label = this._buildLabel(text, state, padColor, w, h)\n      if (label) {\n        label.position.set(0, -d / 2 + padThickness + Math.max(w, h) * 0.05, 0)\n        this.object3d.add(label)\n      }\n    }\n  }\n\n  /**\n   * Build the label as a canvas-textured quad. Uses the same `fontStyle`\n   * helper things-scene uses for its 2D text rendering, so the label\n   * here matches what the property panel previews.\n   */\n  private _buildLabel(text: string, state: any, defaultColor: string, w: number, h: number): THREE.Mesh | null {\n    const fontSize = clamp(numOr(state.fontSize, 36), 8, 200)\n    const fontFamily = String(state.fontFamily ?? 'sans-serif')\n    const bold = !!state.bold\n    const italic = !!state.italic\n    const color = (state.fontColor as string) || defaultColor\n\n    const canvas = document.createElement('canvas')\n    canvas.width = 512\n    canvas.height = 128\n    const ctx = canvas.getContext('2d')\n    if (!ctx) return null\n    ctx.clearRect(0, 0, canvas.width, canvas.height)\n    ctx.font = fontStyle(bold, italic, fontSize, fontFamily)\n    ctx.fillStyle = color\n    ctx.textAlign = 'center'\n    ctx.textBaseline = 'middle'\n    ctx.fillText(text, canvas.width / 2, canvas.height / 2)\n    const tex = new THREE.CanvasTexture(canvas)\n    tex.needsUpdate = true\n    const labelMat = new THREE.MeshBasicMaterial({\n      map: tex,\n      transparent: true,\n      depthWrite: false,\n      side: THREE.DoubleSide\n    })\n    const labelW = Math.min(w, h) * 0.6\n    const labelH = labelW * (canvas.height / canvas.width)\n    const mesh = new THREE.Mesh(new THREE.PlaneGeometry(labelW, labelH), labelMat)\n    mesh.rotation.x = -Math.PI / 2 // lay flat, readable from above\n    return mesh\n  }\n\n  /**\n   * The sub-frame that carrier components should mount onto.\n   *\n   * Semantically Spot is a virtual cuboid SPACE — it marks \"stuff goes\n   * here\" — and carriers are placed INSIDE that space, resting on the\n   * cuboid's BOTTOM face. So the attach frame sits at the cuboid's\n   * bottom (`y = -d/2` in spot-local), NOT at the top of the rendered\n   * pad. The pad is just a translucent visual marker for the zone; the\n   * floor of the conceptual volume is what carriers stand on.\n   *\n   * The Spot.attachPointFor mixin lifts the carrier by its own halfDepth\n   * (in the +Y direction within this frame), placing the carrier's\n   * BOTTOM face exactly at the cuboid floor.\n   */\n  getAttachFrame(): THREE.Object3D {\n    if (!this._attachFrame) {\n      const d = this.effectiveDepth\n      this._attachFrame = new THREE.Object3D()\n      this._attachFrame.position.set(0, -d / 2, 0)\n      this.object3d.add(this._attachFrame)\n    }\n    return this._attachFrame\n  }\n\n  private _attachFrame?: THREE.Object3D\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'width' in after ||\n      'height' in after ||\n      'depth' in after ||\n      'fillStyle' in after ||\n      'strokeStyle' in after ||\n      'alpha' in after ||\n      'text' in after ||\n      'fontColor' in after ||\n      'fontSize' in after ||\n      'fontFamily' in after ||\n      'bold' in after ||\n      'italic' in after ||\n      'material3d' in after\n    ) {\n      this._attachFrame = undefined\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  // alpha is rebuilt into the materials on every build; opt out of the\n  // base RealObject's \"multiply existing material opacity\" pass to avoid\n  // double-application.\n  updateAlpha() {}\n}\n\nfunction clamp(v: number, lo: number, hi: number) {\n  return Math.max(lo, Math.min(hi, v))\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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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Spot 3D — translucent floor pad.\n *\n * Renders only the FLOOR face of the conceptual zone box; side walls are\n * absent. Children (carriers) sit on the top face via an explicit attach\n * frame; the pad doesn't occlude them (`depthWrite: false`).\n *\n * Standard things-scene properties read directly:\n *   - state.fillStyle  → pad color (sole color source)\n *   - state.strokeStyle → outline color (defaults to fillStyle)\n *   - state.alpha      → pad transparency, multiplied with the base 0.35 tint\n *   - state.text       → label, rendered as a CanvasTexture quad on the pad\n *   - state.fontColor  → label fill (defaults to fillStyle)\n *   - state.fontSize / fontFamily / bold / italic → label typography\n *                        (composed via the things-scene fontStyle helper)\n *   - state.material3d → metalness / roughness / castShadow / receiveShadow\n *                        (resolved + applied via the things-scene helpers,\n *                        no hard-coded numbers)\n */\n\nimport * as THREE from 'three'\nimport {\n  RealObjectGroup,\n  resolveMaterial3d,\n  applyMaterial3dProps,\n  fontStyle,\n  opaqueColor,\n  type Material3D\n} from '@hatiolab/things-scene'\n\nconst DEFAULT_PAD_COLOR = '#3a8fbd'\nconst BASE_PAD_OPACITY = 0.35 // multiplied by state.alpha\n\nexport class Spot3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const state = this.component.state\n    const w = Math.max(Math.abs(numOr(state.width, 100)), 1)\n    const h = Math.max(Math.abs(numOr(state.height, 100)), 1)\n    const d = this.effectiveDepth // 2 by default (thin pad)\n    // opaqueColor strips alpha from rgba/hsla strings — THREE.Color doesn't\n    // honor alpha, would emit a console warning, and ignore the alpha bit.\n    // The actual transparency comes through the material.opacity below.\n    const padColor = opaqueColor((state.fillStyle as string) || DEFAULT_PAD_COLOR)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const padOpacity = clamp(BASE_PAD_OPACITY * alpha, 0.05, 1)\n\n    // material3d: pulls user-set metalness / roughness / shadow / side.\n    // Local defaults (transparent + DoubleSide + depthWrite:false) come\n    // from the constructor below; user values override via applyMaterial3dProps.\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n\n    // ── Floor pad (the only visible surface of the conceptual zone box) ──\n    const padThickness = Math.max(d * 0.4, 0.5)\n    const padMat = new THREE.MeshStandardMaterial({\n      color: padColor,\n      transparent: true,\n      opacity: padOpacity,\n      side: THREE.DoubleSide,\n      depthWrite: false\n    })\n    applyMaterial3dProps(padMat, resolved)\n    const pad = new THREE.Mesh(new THREE.BoxGeometry(w, padThickness, h), padMat)\n    pad.position.set(0, -d / 2 + padThickness / 2, 0)\n    pad.castShadow = resolved.castShadow\n    pad.receiveShadow = resolved.receiveShadow\n    this.object3d.add(pad)\n\n    // ── Outline of the zone footprint (line on the floor) ──\n    const outlineGeo = new THREE.BufferGeometry().setFromPoints([\n      new THREE.Vector3(-w / 2, -d / 2 + padThickness + 0.05, -h / 2),\n      new THREE.Vector3(w / 2, -d / 2 + padThickness + 0.05, -h / 2),\n      new THREE.Vector3(w / 2, -d / 2 + padThickness + 0.05, h / 2),\n      new THREE.Vector3(-w / 2, -d / 2 + padThickness + 0.05, h / 2),\n      new THREE.Vector3(-w / 2, -d / 2 + padThickness + 0.05, -h / 2)\n    ])\n    const outlineMat = new THREE.LineBasicMaterial({\n      color: opaqueColor((state.strokeStyle as string) || padColor),\n      transparent: true,\n      opacity: 0.7 * alpha\n    })\n    const outline = new THREE.Line(outlineGeo, outlineMat)\n    this.object3d.add(outline)\n\n    // ── Label (uses standard text + font fields) ──\n    const text = state.text\n    if (typeof text === 'string' && text.length > 0) {\n      const label = this._buildLabel(text, state, padColor, w, h)\n      if (label) {\n        label.position.set(0, -d / 2 + padThickness + Math.max(w, h) * 0.05, 0)\n        this.object3d.add(label)\n      }\n    }\n  }\n\n  /**\n   * Build the label as a canvas-textured quad. Uses the same `fontStyle`\n   * helper things-scene uses for its 2D text rendering, so the label\n   * here matches what the property panel previews.\n   */\n  private _buildLabel(text: string, state: any, defaultColor: string, w: number, h: number): THREE.Mesh | null {\n    const fontSize = clamp(numOr(state.fontSize, 36), 8, 200)\n    const fontFamily = String(state.fontFamily ?? 'sans-serif')\n    const bold = !!state.bold\n    const italic = !!state.italic\n    const color = (state.fontColor as string) || defaultColor\n\n    const canvas = document.createElement('canvas')\n    canvas.width = 512\n    canvas.height = 128\n    const ctx = canvas.getContext('2d')\n    if (!ctx) return null\n    ctx.clearRect(0, 0, canvas.width, canvas.height)\n    ctx.font = fontStyle(bold, italic, fontSize, fontFamily)\n    ctx.fillStyle = color\n    ctx.textAlign = 'center'\n    ctx.textBaseline = 'middle'\n    ctx.fillText(text, canvas.width / 2, canvas.height / 2)\n    const tex = new THREE.CanvasTexture(canvas)\n    tex.needsUpdate = true\n    const labelMat = new THREE.MeshBasicMaterial({\n      map: tex,\n      transparent: true,\n      depthWrite: false,\n      side: THREE.DoubleSide\n    })\n    const labelW = Math.min(w, h) * 0.6\n    const labelH = labelW * (canvas.height / canvas.width)\n    const mesh = new THREE.Mesh(new THREE.PlaneGeometry(labelW, labelH), labelMat)\n    mesh.rotation.x = -Math.PI / 2 // lay flat, readable from above\n    return mesh\n  }\n\n  /**\n   * The sub-frame that carrier components should mount onto.\n   *\n   * Semantically Spot is a virtual cuboid SPACE — it marks \"stuff goes\n   * here\" — and carriers are placed INSIDE that space, resting on the\n   * cuboid's BOTTOM face. So the attach frame sits at the cuboid's\n   * bottom (`y = -d/2` in spot-local), NOT at the top of the rendered\n   * pad. The pad is just a translucent visual marker for the zone; the\n   * floor of the conceptual volume is what carriers stand on.\n   *\n   * The Spot.attachPointFor mixin lifts the carrier by its own halfDepth\n   * (in the +Y direction within this frame), placing the carrier's\n   * BOTTOM face exactly at the cuboid floor.\n   */\n  getAttachFrame(): THREE.Object3D {\n    if (!this._attachFrame) {\n      const d = this.effectiveDepth\n      this._attachFrame = new THREE.Object3D()\n      this._attachFrame.position.set(0, -d / 2, 0)\n      this.object3d.add(this._attachFrame)\n    }\n    return this._attachFrame\n  }\n\n  private _attachFrame?: THREE.Object3D\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'width' in after ||\n      'height' in after ||\n      'depth' in after ||\n      'fillStyle' in after ||\n      'strokeStyle' in after ||\n      'alpha' in after ||\n      'text' in after ||\n      'fontColor' in after ||\n      'fontSize' in after ||\n      'fontFamily' in after ||\n      'bold' in after ||\n      'italic' in after ||\n      'material3d' in after\n    ) {\n      this._attachFrame = undefined\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  // alpha is rebuilt into the materials on every build; opt out of the\n  // base RealObject's \"multiply existing material opacity\" pass to avoid\n  // double-application.\n  updateAlpha() {}\n}\n\nfunction clamp(v: number, lo: number, hi: number) {\n  return Math.max(lo, Math.min(hi, v))\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}

package/dist/spot.d.ts

@@ -1,7 +1,15 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D } from '@hatiolab/things-scene';
 import { type AttachFrame, type Alignment, type Heights, type PlacementArchetype } from '@operato/scene-base';
+import { Spot3D } from './spot-3d.js';
+/** Spot 컴포넌트 state */
+export interface SpotState extends State {
+    material3d?: Material3D;
+}
 declare const Spot_base: any;
 export default class Spot extends Spot_base {
+    state: SpotState;
+    _realObject?: Spot3D;
     static placement: PlacementArchetype;
     static align: Alignment;
     static defaultDepth: (_h: Heights) => number;

package/dist/spot.js.map

@@ -1 +1 @@
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All rights reserved.\n *\n * Spot — virtual pickup / drop zone.\n *\n * A modeling-time anchor for \"this is where things land\" — the destination\n * of a robot arm pick-and-place, the slot of an AGV stop, the staging\n * zone next to a conveyor. Spot itself does not move and does\n * not perform any logistics action; it only marks a location and accepts\n * carrier components as children.\n *\n * Visual identity:\n *   - 2D: outlined rectangle with corner \"L\" marks (so it reads as a\n *     virtual zone, not a solid object).\n *   - 3D: a thin translucent floor pad — only the floor of the conceptual\n *     box is rendered, the side walls are absent.\n *\n * Standard things-scene properties used (no component-specific extras —\n * keep the property-panel UX uniform with other components):\n *   - `fillStyle`               — pad / outline color (sole color source)\n *   - `strokeStyle`             — outline color override (defaults to fillStyle)\n *   - `lineWidth` / `lineDash`  — outline stroke style\n *   - `alpha`                   — overall transparency, framework-applied\n *   - `text` / `fontColor` / `fontSize` / `fontFamily` / `bold` / `italic`\n *                               — label rendered by the standard text pipeline\n *   - `material3d` (3D)         — metalness / roughness / castShadow / receiveShadow\n *\n * Role: `CarrierHolder` — accepts any Carrier as a child and lays it on\n * the top face of the pad (overrides default attachPointFor).\n */\n\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  CarrierHolder,\n  Placeable,\n  type AttachFrame,\n  type Alignment,\n  type Heights,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Spot3D } from './spot-3d.js'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  // No component-specific properties — fillStyle / strokeStyle / lineWidth /\n  // alpha / text / font* are framework-standard, surfaced by the property\n  // panel automatically.\n  properties: [],\n  help: 'scene/component/spot'\n}\n\n// ContainerAbstract base — Spot accepts carrier children (parcel/box/pallet/...).\n// CarrierHolder mixin only publishes the attach-point hook; the actual\n// child-list management comes from things-scene's container abstract.\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Spot is purely 3D.\n@sceneComponent('spot')\nexport default class Spot extends CarrierHolder(Placeable(ContainerAbstract)) {\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (_h: Heights) => 2 // a thin pad\n\n  get nature(): ComponentNature {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /**\n   * 2D — outlined rectangle + corner L marks. The pad body is drawn with a\n   * fixed low alpha (0.15) on top of the user's `fillStyle` so the zone reads\n   * as virtual even when fillStyle is fully opaque. Outline + corner marks\n   * use `strokeStyle` (or fall back to `fillStyle`) at the user's `lineWidth`\n   * and `lineDash`. The text label is drawn by the framework's standard\n   * postrender pipeline using `text` / `fontColor` / `fontSize` / etc.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { left = 0, top = 0, width = 100, height = 100 } = this.state\n    const fillStyle = (this.state.fillStyle as string) || '#3a8fbd'\n    const strokeStyle = (this.state.strokeStyle as string) || fillStyle\n    const lineWidth = numOr(this.state.lineWidth, 1)\n    const lineDashStyle = String(this.state.lineDash ?? 'dash')\n\n    // ── Pad body (fixed-low-alpha tint of fillStyle) ───────────────────\n    ctx.save()\n    ctx.fillStyle = fillStyle\n    ctx.globalAlpha = 0.15\n    ctx.fillRect(left, top, width, height)\n    ctx.restore()\n\n    // ── Outline ────────────────────────────────────────────────────────\n    ctx.save()\n    ctx.strokeStyle = strokeStyle\n    ctx.lineWidth = lineWidth\n    applyLineDash(ctx, lineDashStyle, lineWidth)\n    ctx.strokeRect(\n      left + lineWidth / 2,\n      top + lineWidth / 2,\n      width - lineWidth,\n      height - lineWidth\n    )\n    ctx.setLineDash([])\n    ctx.restore()\n\n    // ── Corner L marks (solid, slightly heavier than outline) ──────────\n    const ml = Math.min(width, height) * 0.18\n    const cornerW = Math.max(lineWidth * 1.5, 1.5)\n    ctx.save()\n    ctx.strokeStyle = strokeStyle\n    ctx.lineWidth = cornerW\n    for (const [cx, cy, sx, sy] of [\n      [left, top, 1, 1],\n      [left + width, top, -1, 1],\n      [left + width, top + height, -1, -1],\n      [left, top + height, 1, -1]\n    ] as [number, number, number, number][]) {\n      ctx.beginPath()\n      ctx.moveTo(cx + sx * ml, cy)\n      ctx.lineTo(cx, cy)\n      ctx.lineTo(cx, cy + sy * ml)\n      ctx.stroke()\n    }\n    ctx.restore()\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Spot3D(this as any)\n  }\n\n  /**\n   * Mount carriers on the TOP of the pad (Spot3D's `getAttachFrame` is\n   * already at pad-top in spot-local). Then lift the carrier by its\n   * own halfDepth so the carrier's BOTTOM rests ON the pad surface, not\n   * its volumetric center — without this lift, half the carrier would\n   * sink below the pad / floor.\n   *\n   * Reads `_realObject.effectiveDepth` first (the framework-resolved\n   * value, accounting for `static defaultDepth` and parent context),\n   * falling back to raw `state.depth` for components built before\n   * RealObject creation.\n   */\n  attachPointFor(carrier: Component): AttachFrame | null {\n    const ro = (this as any)._realObject as Spot3D | undefined\n    const frame = ro?.getAttachFrame?.()\n    if (!frame) return null\n    const carrierDepth = resolveDepth(carrier)\n    return {\n      attach: frame,\n      localPosition: { x: 0, y: carrierDepth / 2, z: 0 }\n    }\n  }\n}\n\nfunction resolveDepth(c: Component): number {\n  const eff = (c as any)._realObject?.effectiveDepth\n  if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n  return numOr((c as any)?.state?.depth, 0)\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\n/**\n * Map a things-scene `lineDash` string to a Canvas dash pattern. Mirrors\n * the keys understood by things-scene's `drawer/stroke.ts` so users see\n * consistent options across components. Unknown strings fall through to\n * a plain dashed pattern instead of throwing on setLineDash.\n */\nfunction applyLineDash(ctx: CanvasRenderingContext2D, style: string, lw: number) {\n  switch (style) {\n    case 'solid':\n      ctx.setLineDash([])\n      return\n    case 'round-dot':\n      ctx.setLineDash([0.1, lw * 2])\n      ctx.lineCap = 'round'\n      return\n    case 'square-dot':\n      ctx.setLineDash([lw, lw])\n      return\n    case 'long-dash':\n      ctx.setLineDash([lw * 6, lw * 3])\n      return\n    case 'dash-dot':\n      ctx.setLineDash([lw * 4, lw * 2, lw, lw * 2])\n      return\n    case 'dash':\n    default:\n      ctx.setLineDash([lw * 4, lw * 1.5])\n      return\n  }\n}\n"]}
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All rights reserved.\n *\n * Spot — virtual pickup / drop zone.\n *\n * A modeling-time anchor for \"this is where things land\" — the destination\n * of a robot arm pick-and-place, the slot of an AGV stop, the staging\n * zone next to a conveyor. Spot itself does not move and does\n * not perform any logistics action; it only marks a location and accepts\n * carrier components as children.\n *\n * Visual identity:\n *   - 2D: outlined rectangle with corner \"L\" marks (so it reads as a\n *     virtual zone, not a solid object).\n *   - 3D: a thin translucent floor pad — only the floor of the conceptual\n *     box is rendered, the side walls are absent.\n *\n * Standard things-scene properties used (no component-specific extras —\n * keep the property-panel UX uniform with other components):\n *   - `fillStyle`               — pad / outline color (sole color source)\n *   - `strokeStyle`             — outline color override (defaults to fillStyle)\n *   - `lineWidth` / `lineDash`  — outline stroke style\n *   - `alpha`                   — overall transparency, framework-applied\n *   - `text` / `fontColor` / `fontSize` / `fontFamily` / `bold` / `italic`\n *                               — label rendered by the standard text pipeline\n *   - `material3d` (3D)         — metalness / roughness / castShadow / receiveShadow\n *\n * Role: `CarrierHolder` — accepts any Carrier as a child and lays it on\n * the top face of the pad (overrides default attachPointFor).\n */\n\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { State, Material3D } from '@hatiolab/things-scene'\nimport {\n  CarrierHolder,\n  Placeable,\n  type AttachFrame,\n  type Alignment,\n  type Heights,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Spot3D } from './spot-3d.js'\n\n/** Spot 컴포넌트 state */\nexport interface SpotState extends State {\n  // Spot has no component-specific state — it uses standard fillStyle /\n  // strokeStyle / lineWidth / alpha / text / font* / material3d.\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  // No component-specific properties — fillStyle / strokeStyle / lineWidth /\n  // alpha / text / font* are framework-standard, surfaced by the property\n  // panel automatically.\n  properties: [],\n  help: 'scene/component/spot'\n}\n\n// ContainerAbstract base — Spot accepts carrier children (parcel/box/pallet/...).\n// CarrierHolder mixin only publishes the attach-point hook; the actual\n// child-list management comes from things-scene's container abstract.\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Spot is purely 3D.\n@sceneComponent('spot')\nexport default class Spot extends CarrierHolder(Placeable(ContainerAbstract)) {\n  declare state: SpotState\n  declare _realObject?: Spot3D\n\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (_h: Heights) => 2 // a thin pad\n\n  get nature(): ComponentNature {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /**\n   * 2D — outlined rectangle + corner L marks. The pad body is drawn with a\n   * fixed low alpha (0.15) on top of the user's `fillStyle` so the zone reads\n   * as virtual even when fillStyle is fully opaque. Outline + corner marks\n   * use `strokeStyle` (or fall back to `fillStyle`) at the user's `lineWidth`\n   * and `lineDash`. The text label is drawn by the framework's standard\n   * postrender pipeline using `text` / `fontColor` / `fontSize` / etc.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { left = 0, top = 0, width = 100, height = 100 } = this.state\n    const fillStyle = (this.state.fillStyle as string) || '#3a8fbd'\n    const strokeStyle = (this.state.strokeStyle as string) || fillStyle\n    const lineWidth = numOr(this.state.lineWidth, 1)\n    const lineDashStyle = String(this.state.lineDash ?? 'dash')\n\n    // ── Pad body (fixed-low-alpha tint of fillStyle) ───────────────────\n    ctx.save()\n    ctx.fillStyle = fillStyle\n    ctx.globalAlpha = 0.15\n    ctx.fillRect(left, top, width, height)\n    ctx.restore()\n\n    // ── Outline ────────────────────────────────────────────────────────\n    ctx.save()\n    ctx.strokeStyle = strokeStyle\n    ctx.lineWidth = lineWidth\n    applyLineDash(ctx, lineDashStyle, lineWidth)\n    ctx.strokeRect(\n      left + lineWidth / 2,\n      top + lineWidth / 2,\n      width - lineWidth,\n      height - lineWidth\n    )\n    ctx.setLineDash([])\n    ctx.restore()\n\n    // ── Corner L marks (solid, slightly heavier than outline) ──────────\n    const ml = Math.min(width, height) * 0.18\n    const cornerW = Math.max(lineWidth * 1.5, 1.5)\n    ctx.save()\n    ctx.strokeStyle = strokeStyle\n    ctx.lineWidth = cornerW\n    for (const [cx, cy, sx, sy] of [\n      [left, top, 1, 1],\n      [left + width, top, -1, 1],\n      [left + width, top + height, -1, -1],\n      [left, top + height, 1, -1]\n    ] as [number, number, number, number][]) {\n      ctx.beginPath()\n      ctx.moveTo(cx + sx * ml, cy)\n      ctx.lineTo(cx, cy)\n      ctx.lineTo(cx, cy + sy * ml)\n      ctx.stroke()\n    }\n    ctx.restore()\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Spot3D(this)\n  }\n\n  /**\n   * Mount carriers on the TOP of the pad (Spot3D's `getAttachFrame` is\n   * already at pad-top in spot-local). Then lift the carrier by its\n   * own halfDepth so the carrier's BOTTOM rests ON the pad surface, not\n   * its volumetric center — without this lift, half the carrier would\n   * sink below the pad / floor.\n   *\n   * Reads `_realObject.effectiveDepth` first (the framework-resolved\n   * value, accounting for `static defaultDepth` and parent context),\n   * falling back to raw `state.depth` for components built before\n   * RealObject creation.\n   */\n  attachPointFor(carrier: Component): AttachFrame | null {\n    const ro = this._realObject\n    const frame = ro?.getAttachFrame?.()\n    if (!frame) return null\n    const carrierDepth = resolveDepth(carrier)\n    return {\n      attach: frame,\n      localPosition: { x: 0, y: carrierDepth / 2, z: 0 }\n    }\n  }\n}\n\nfunction resolveDepth(c: Component): number {\n  const eff = (c as any)._realObject?.effectiveDepth\n  if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n  return numOr((c as any)?.state?.depth, 0)\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\n/**\n * Map a things-scene `lineDash` string to a Canvas dash pattern. Mirrors\n * the keys understood by things-scene's `drawer/stroke.ts` so users see\n * consistent options across components. Unknown strings fall through to\n * a plain dashed pattern instead of throwing on setLineDash.\n */\nfunction applyLineDash(ctx: CanvasRenderingContext2D, style: string, lw: number) {\n  switch (style) {\n    case 'solid':\n      ctx.setLineDash([])\n      return\n    case 'round-dot':\n      ctx.setLineDash([0.1, lw * 2])\n      ctx.lineCap = 'round'\n      return\n    case 'square-dot':\n      ctx.setLineDash([lw, lw])\n      return\n    case 'long-dash':\n      ctx.setLineDash([lw * 6, lw * 3])\n      return\n    case 'dash-dot':\n      ctx.setLineDash([lw * 4, lw * 2, lw, lw * 2])\n      return\n    case 'dash':\n    default:\n      ctx.setLineDash([lw * 4, lw * 1.5])\n      return\n  }\n}\n"]}

package/package.json

@@ -2,7 +2,7 @@
   "name": "@operato/scene-storage",
   "description": "Storage-domain components for things-scene (smart factory / logistics) — pallet, box, parcel; AS/RS and shelves planned.",
   "author": "heartyoh",
-  "version": "10.0.0-beta.30",
+  "version": "10.0.0-beta.32",
   "type": "module",
   "main": "dist/index.js",
   "module": "dist/index.js",
@@ -26,7 +26,7 @@
   },
   "dependencies": {
     "@hatiolab/things-scene": "^10.0.0-beta.1",
-    "@operato/scene-base": "^10.0.0-beta.30",
+    "@operato/scene-base": "^10.0.0-beta.32",
     "three": "^0.183.0"
   },
   "devDependencies": {
@@ -45,5 +45,5 @@
     "typescript": "^5.0.4"
   },
   "prettier": "@hatiolab/prettier-config",
-  "gitHead": "06b35b1726ec4f27ee76657ce341c6c6f3ba1b3a"
+  "gitHead": "9c9fec2b993ccda805cdd53fe11e15fb4b71254e"
 }

package/src/asrs-crane.ts

@@ -2,7 +2,7 @@
  * Copyright © HatioLab Inc. All rights reserved.
  */
 import { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'
-import type { SlotDef } from '@hatiolab/things-scene'
+import type { SlotDef, State, Material3D } from '@hatiolab/things-scene'
 import {
   CarrierHolder,
   Legendable,
@@ -30,6 +30,18 @@ import { AsrsCrane3D } from './asrs-crane-3d.js'
  */
 export type AsrsCraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'
 
+/** AsrsCrane 컴포넌트 state */
+export interface AsrsCraneState extends State {
+  // ── 운영 상태 ──
+  status?: AsrsCraneStatus
+
+  // ── 액추에이터 ──
+  carriageHeight?: number
+
+  // ── 3D 재질 ──
+  material3d?: Material3D
+}
+
 const BODY_LEGEND = {
   idle: '#888',
   moving: '#aabbcc',
@@ -108,6 +120,9 @@ const NATURE: ComponentNature = {
  */
 @sceneComponent('asrs-crane')
 export default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {
+  declare state: AsrsCraneState
+  declare _realObject?: AsrsCrane3D
+
   static legends: Record<string, LegendBinding> = {
     bodyColor: { from: 'status', legend: BODY_LEGEND },
     lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }
@@ -120,6 +135,15 @@ export default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Leg
   /** 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(): string {
+    return 'forklift-fork'
+  }
+
   get nature() {
     return NATURE
   }
@@ -147,13 +171,13 @@ export default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Leg
    * crane's own object3d centre.
    */
   attachPointFor(carrier: Component): AttachFrame | null {
-    const ro = (this as any)._realObject as AsrsCrane3D | undefined
+    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 as any)._realObject?.object3d
+    const root = this._realObject?.object3d
     if (!root) return null
     return { attach: root }
   }
@@ -199,12 +223,12 @@ export default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Leg
 
   /** Fetch a carrier from a rack cell (semantically = pick). */
   fetch(carrier: Component, options?: MoveOptions): Promise<void> {
-    return (this as any).pick(carrier, options)
+    return this.pick(carrier, options)
   }
 
   /** Deposit a carrier into a rack cell (semantically = place). */
   deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void> {
-    return (this as any).place(carrier, cell, options)
+    return this.place(carrier, cell, options)
   }
 
   // ── 2D rendering ─────────────────────────────────────────────────────────
@@ -227,7 +251,7 @@ export default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Leg
   // ── 3D ───────────────────────────────────────────────────────────────────
 
   buildRealObject(): RealObject | undefined {
-    return new AsrsCrane3D(this as any)
+    return new AsrsCrane3D(this)
   }
 }