@operato/scene-storage 10.0.0-beta.31 → 10.0.0-beta.32

package/CHANGELOG.md

@@ -3,6 +3,17 @@
 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)
 
 

package/dist/asrs-crane.d.ts

@@ -45,6 +45,12 @@ export default class AsrsCrane extends AsrsCrane_base {
     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;
     }

package/dist/asrs-crane.js.map

@@ -1 +1 @@
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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  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"]}
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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/box.d.ts

@@ -1,5 +1,5 @@
 import { ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { State, Material3D } 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.
@@ -39,5 +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/pallet.d.ts

@@ -1,5 +1,5 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { State, Material3D } 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.
@@ -73,5 +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')

package/dist/pallet.js.map

@@ -1 +1 @@
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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  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"]}
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* 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 +1,5 @@
 import { ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { State, Material3D } 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 {
@@ -33,5 +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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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/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.31",
+  "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.31",
+    "@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": "fdafbd04fd083a43690be937230c7d96a3ee5da3"
+  "gitHead": "9c9fec2b993ccda805cdd53fe11e15fb4b71254e"
 }

package/src/asrs-crane.ts

@@ -135,6 +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
   }

package/src/box.ts

@@ -1,8 +1,16 @@
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { ComponentNature, RealObject, RectPath, Shape, sceneComponent } from '@hatiolab/things-scene'
-import type { State, Material3D } from '@hatiolab/things-scene'
+import {
+  ComponentNature,
+  RealObject,
+  RectPath,
+  Shape,
+  topApproachFrame,
+  getWorldPose,
+  sceneComponent
+} from '@hatiolab/things-scene'
+import type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'
 import {
   Carriable,
   Legendable,
@@ -106,4 +114,33 @@ export default class Box extends Carriable(Legendable(Placeable(RectPath(Shape))
   buildRealObject(): RealObject | undefined {
     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(): PickupFrame[] {
+    const wp = getWorldPose(this)
+    const me: PoseSerialized = {
+      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 as any).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'
+      })
+    ]
+  }
 }

package/src/pallet.ts

@@ -1,8 +1,17 @@
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'
-import type { State, Material3D } from '@hatiolab/things-scene'
+import {
+  Component,
+  ComponentNature,
+  ContainerAbstract,
+  RealObject,
+  Pose6DOF,
+  rectangularFootprintFrames,
+  getWorldPose,
+  sceneComponent
+} from '@hatiolab/things-scene'
+import type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'
 import {
   Carriable,
   Legendable,
@@ -201,4 +210,46 @@ export default class Pallet extends Carriable(Legendable(Placeable(ContainerAbst
   buildRealObject(): RealObject | undefined {
     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(): PickupFrame[] {
+    const { width = 1200, height = 800 } = this.state
+    const palletDepth = (this.constructor as any).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: PoseSerialized = (() => {
+      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
+    })
+  }
 }