@operato/scene-storage 10.0.0-beta.33 → 10.0.0-beta.34

package/CHANGELOG.md

@@ -3,6 +3,20 @@
 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.34](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.33...v10.0.0-beta.34) (2026-05-13)
+
+
+### :rocket: New Features
+
+* **storage:** RackGrid 명명 분리 + Crane 재설계 + simulate() + i18n 정리 ([9cc2177](https://github.com/things-scene/operato-scene/commit/9cc217715e42a56e5c7fef062e6af98e03aff9f0))
+
+
+### :house: Code Refactoring
+
+* **storage:** ASRS 의존 제거 + RackTable 3 계층 추상 도입 ([77f55c5](https://github.com/things-scene/operato-scene/commit/77f55c58b77485044ef4015378f50dbcedd45b61))
+
+
+
 ## [10.0.0-beta.33](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.32...v10.0.0-beta.33) (2026-05-11)
 
 **Note:** Version bump only for package @operato/scene-storage

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

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+import * as THREE from 'three';
+import { RealObjectGroup } from '@hatiolab/things-scene';
+export declare class Crane3D extends RealObjectGroup {
+    private _forkGroup?;
+    private _forkTopY;
+    private _bladeMidZ;
+    build(): void;
+    getCarriageFrame(): THREE.Object3D | undefined;
+    get platformTopY(): number;
+    get bladeMidZ(): number;
+    updateDimension(): void;
+    onchange(after: Record<string, unknown>, before: Record<string, unknown>): void;
+    updateAlpha(): void;
+}

package/dist/crane-3d.js

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+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * Crane 3D — heavy-duty pallet AS/RS stacker crane (twin-mast).
+ *
+ * Axis convention (things-scene 3D):
+ *   +X = aisle 진행 방향 (Crane 좌우 이동, *옆으로 길게* 축)
+ *   +Y = 수직 (Crane 키, carriage 상하 이동)
+ *   +Z = aisle 폭 방향 (Rack cell 쪽 / fork 신축 방향)
+ *
+ * **스케일 룰**:
+ *   - 모든 가로(X,Z) dimension 과 Y 두께 → 2D footprint (state.width, state.height) 비례
+ *   - Mast Y 길이만 → state.depth 사용 (수직 키)
+ *   - Y 두께는 절대 depth (크레인 키) 에 비례 안 함 → 키워도 뭉치 안 두꺼워짐
+ *   - mm/cm/scene-unit 무관 — 사용자의 footprint 스케일에 자동 맞춤
+ *
+ * 부품:
+ *   [Ceiling rail]
+ *   [Top guide trolley] — 천장 rail 위
+ *   [Top frame]         — 두 mast 상부 연결
+ *   [Mast L][Mast R]    — twin yellow column (X 축으로 떨어져 있음)
+ *   [Carriage]          — 두 mast 사이 가로 frame (carriageHeight 로 상하)
+ *      └── [Two forks]  — carriage 에서 ±Z 신축 (forkExtension)
+ *   [Base trolley]      — 바닥 motor housing (X 길게)
+ *      └── [Cabinet]    — base 한쪽 red 컨트롤박스
+ *      └── [Status lamp]
+ *   [Floor rail]
+ *
+ * Actuators (state):
+ *   carriageHeight, forkExtension (±), forkLift
+ */
+import * as THREE from 'three';
+import { RealObjectGroup } from '@hatiolab/things-scene';
+const MAST_COLOR = 0xff7a00; // mast — orange
+const TROLLEY_COLOR = 0x3a4048; // base / top — dark charcoal
+const CARRIAGE_COLOR = 0xffcc00; // carriage (shuttle) — yellow
+const CONTROLLER_COLOR = 0xc63333; // cabinet — red
+const FORK_COLOR = 0xffcc00; // fork — yellow (same as carriage)
+const RAIL_COLOR = 0x1a1f24; // rail — dark steel
+const LAMP_OFF = 0x222222;
+export class Crane3D extends RealObjectGroup {
+    _forkGroup;
+    _forkTopY = 0;
+    _bladeMidZ = 0;
+    build() {
+        super.build();
+        this._forkGroup = undefined;
+        this._forkTopY = 0;
+        this._bladeMidZ = 0;
+        const { width, height, depth } = this.component.state;
+        const emissiveColor = this.component.state.lampEmissive || '#222222';
+        const status = this.component.state.status;
+        const lampOn = status && status !== 'idle';
+        // Actuators
+        const D = numOr(depth, Math.max(width, height) * 4);
+        const carriageRaw = numOr(this.component.state.carriageHeight, D * 0.4);
+        const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85));
+        const forkLength = numOr(this.component.state.forkLength, height * 0.6);
+        const forkExtensionRaw = numOr(this.component.state.forkExtension, 0);
+        const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw));
+        const forkLift = numOr(this.component.state.forkLift, 0);
+        // ── Axis convention (FIXED): ─────────────────────────────────────
+        //   Rail = X (state.left = 2D X = 3D X). Crane 좌우 이동.
+        //   Fork = Z (2D Y = 3D Z). Fork 앞뒤 신축.
+        //   사용자: "포크는 앞뒤로, 크레인 본체는 좌우로."
+        //   width  = rail-direction 풋프린트 (좁음)
+        //   height = cross-aisle (fork 방향) 풋프린트 (깊음, fork 가 cell 까지 닿는 거리)
+        const S = Math.min(width, height);
+        const railH = S * 0.04;
+        const baseH = S * 0.18;
+        const topFrameH = S * 0.1;
+        const topGuideH = S * 0.1;
+        const carriageH = S * 0.12;
+        const mastW = width * 0.1; // mast X 단면 (along rail)
+        const mastD = height * 0.25; // mast Z 단면 (cross-rail)
+        const mastSpacing = width * 0.7; // 두 mast X 간격
+        const bladeW = S * 0.1;
+        const bladeH = S * 0.05;
+        const bladeL = forkLength;
+        const bladeSpacing = mastSpacing * 0.45;
+        const carriageW = mastSpacing - mastW * 0.2;
+        const carriageZ = height * 0.55;
+        const cabW = S * 0.4;
+        const cabH = S * 0.4;
+        const cabD = S * 0.3;
+        const baseY = -D / 2;
+        const mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5);
+        // ── Materials ─────────────────────────────────────────────────────
+        const mastMat = new THREE.MeshStandardMaterial({ color: MAST_COLOR, metalness: 0.3, roughness: 0.5 });
+        const trolleyMat = new THREE.MeshStandardMaterial({ color: TROLLEY_COLOR, metalness: 0.6, roughness: 0.5 });
+        const carriageMat = new THREE.MeshStandardMaterial({ color: CARRIAGE_COLOR, metalness: 0.85, roughness: 0.35 });
+        const cabinetMat = new THREE.MeshStandardMaterial({ color: CONTROLLER_COLOR, metalness: 0.2, roughness: 0.6 });
+        const forkMat = new THREE.MeshStandardMaterial({ color: FORK_COLOR, metalness: 0.85, roughness: 0.3 });
+        const railMat = new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 });
+        // ── Floor rail ────────────────────────────────────────────────────
+        {
+            const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.35);
+            const mesh = new THREE.Mesh(geo, railMat);
+            mesh.position.set(0, baseY + railH / 2, 0);
+            mesh.receiveShadow = true;
+            this.object3d.add(mesh);
+        }
+        // ── Base trolley ──────────────────────────────────────────────────
+        const baseTrolleyY = baseY + railH + baseH / 2;
+        {
+            const geo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.7);
+            const mesh = new THREE.Mesh(geo, trolleyMat);
+            mesh.position.set(0, baseTrolleyY, 0);
+            mesh.castShadow = true;
+            mesh.receiveShadow = true;
+            this.object3d.add(mesh);
+        }
+        // ── Control cabinet on one side of base ───────────────────────────
+        {
+            const geo = new THREE.BoxGeometry(cabW, cabH, cabD);
+            const cab = new THREE.Mesh(geo, cabinetMat);
+            cab.position.set(-width * 0.4 + cabW / 2, baseTrolleyY + baseH / 2 + cabH / 2, -height * 0.25 + cabD / 2);
+            cab.castShadow = true;
+            this.object3d.add(cab);
+        }
+        // ── Status lamp ───────────────────────────────────────────────────
+        {
+            const lampR = S * 0.04;
+            const lampH = S * 0.1;
+            const lampMat = new THREE.MeshStandardMaterial({
+                color: lampOn ? emissiveColor : LAMP_OFF,
+                emissive: lampOn ? emissiveColor : LAMP_OFF,
+                emissiveIntensity: lampOn ? 1.5 : 0.2,
+                metalness: 0,
+                roughness: 0.3
+            });
+            const geo = new THREE.CylinderGeometry(lampR, lampR * 0.8, lampH, 12);
+            const lamp = new THREE.Mesh(geo, lampMat);
+            lamp.position.set(width * 0.4, baseTrolleyY + baseH / 2 + lampH / 2, 0);
+            this.object3d.add(lamp);
+        }
+        // ── Twin masts ────────────────────────────────────────────────────
+        const mastY = baseTrolleyY + baseH / 2 + mastH / 2;
+        for (const xOff of [-mastSpacing / 2, +mastSpacing / 2]) {
+            const geo = new THREE.BoxGeometry(mastW, mastH, mastD);
+            const mesh = new THREE.Mesh(geo, mastMat);
+            mesh.position.set(xOff, mastY, 0);
+            mesh.castShadow = true;
+            mesh.receiveShadow = true;
+            this.object3d.add(mesh);
+        }
+        // ── Carriage (between masts) ──────────────────────────────────────
+        const carriageY = baseTrolleyY + baseH / 2 + carriageHeight + carriageH / 2;
+        {
+            const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ);
+            const mesh = new THREE.Mesh(geo, carriageMat);
+            mesh.position.set(0, carriageY, 0);
+            mesh.castShadow = true;
+            mesh.receiveShadow = true;
+            this.object3d.add(mesh);
+        }
+        // ── Two-prong forks (telescopic ±Z) ───────────────────────────────
+        // forkExtension 부호: + = +Z, - = -Z. forkExtension=0 일 때 blade 중심이 carriage 안쪽
+        // (= retracted, blade tip 이 carriage 앞면 근처).
+        const forkSign = forkExtension >= 0 ? 1 : -1;
+        const forkBaseZ = forkSign * (carriageZ / 2 - bladeL / 2 + Math.abs(forkExtension));
+        const forkY = carriageY + forkLift - bladeH / 2;
+        {
+            const group = new THREE.Group();
+            group.position.set(0, forkY, forkBaseZ);
+            // forkSign 으로 blade tip 방향 설정
+            group.rotation.y = forkSign < 0 ? Math.PI : 0;
+            for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {
+                const geo = new THREE.BoxGeometry(bladeW, bladeH, bladeL);
+                const mesh = new THREE.Mesh(geo, forkMat);
+                mesh.position.set(xOff, 0, 0);
+                mesh.castShadow = true;
+                mesh.receiveShadow = true;
+                group.add(mesh);
+            }
+            this.object3d.add(group);
+            this._forkGroup = group;
+            this._forkTopY = bladeH / 2;
+            this._bladeMidZ = 0;
+        }
+        // ── Top frame (connects mast tops) ────────────────────────────────
+        const topFrameY = mastY + mastH / 2 + topFrameH / 2;
+        {
+            const geo = new THREE.BoxGeometry(mastSpacing + mastW, topFrameH, height * 0.35);
+            const mesh = new THREE.Mesh(geo, trolleyMat);
+            mesh.position.set(0, topFrameY, 0);
+            mesh.castShadow = true;
+            this.object3d.add(mesh);
+        }
+        // ── Top guide trolley ─────────────────────────────────────────────
+        const topGuideY = topFrameY + topFrameH / 2 + topGuideH / 2;
+        {
+            const geo = new THREE.BoxGeometry(mastSpacing + mastW * 2, topGuideH, height * 0.3);
+            const mesh = new THREE.Mesh(geo, trolleyMat);
+            mesh.position.set(0, topGuideY, 0);
+            mesh.castShadow = true;
+            this.object3d.add(mesh);
+        }
+        // ── Ceiling rail ──────────────────────────────────────────────────
+        {
+            const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.3);
+            const mesh = new THREE.Mesh(geo, railMat);
+            mesh.position.set(0, topGuideY + topGuideH / 2 + railH / 2, 0);
+            this.object3d.add(mesh);
+        }
+    }
+    getCarriageFrame() {
+        return this._forkGroup ?? this.object3d;
+    }
+    get platformTopY() {
+        return this._forkTopY;
+    }
+    get bladeMidZ() {
+        return this._bladeMidZ;
+    }
+    updateDimension() { }
+    onchange(after, before) {
+        if ('width' in after ||
+            'height' in after ||
+            'depth' in after ||
+            'carriageHeight' in after ||
+            'forkLength' in after ||
+            'forkExtension' in after ||
+            'forkLift' in after ||
+            'status' in after ||
+            'bodyColor' in after ||
+            'lampEmissive' in after) {
+            this.update();
+            return;
+        }
+        super.onchange(after, before);
+    }
+    updateAlpha() { }
+}
+function numOr(v, dflt) {
+    return typeof v === 'number' && Number.isFinite(v) ? v : dflt;
+}
+//# sourceMappingURL=crane-3d.js.map

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

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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Crane 3D — heavy-duty pallet AS/RS stacker crane (twin-mast).\n *\n * Axis convention (things-scene 3D):\n *   +X = aisle 진행 방향 (Crane 좌우 이동, *옆으로 길게* 축)\n *   +Y = 수직 (Crane 키, carriage 상하 이동)\n *   +Z = aisle 폭 방향 (Rack cell 쪽 / fork 신축 방향)\n *\n * **스케일 룰**:\n *   - 모든 가로(X,Z) dimension 과 Y 두께 → 2D footprint (state.width, state.height) 비례\n *   - Mast Y 길이만 → state.depth 사용 (수직 키)\n *   - Y 두께는 절대 depth (크레인 키) 에 비례 안 함 → 키워도 뭉치 안 두꺼워짐\n *   - mm/cm/scene-unit 무관 — 사용자의 footprint 스케일에 자동 맞춤\n *\n * 부품:\n *   [Ceiling rail]\n *   [Top guide trolley] — 천장 rail 위\n *   [Top frame]         — 두 mast 상부 연결\n *   [Mast L][Mast R]    — twin yellow column (X 축으로 떨어져 있음)\n *   [Carriage]          — 두 mast 사이 가로 frame (carriageHeight 로 상하)\n *      └── [Two forks]  — carriage 에서 ±Z 신축 (forkExtension)\n *   [Base trolley]      — 바닥 motor housing (X 길게)\n *      └── [Cabinet]    — base 한쪽 red 컨트롤박스\n *      └── [Status lamp]\n *   [Floor rail]\n *\n * Actuators (state):\n *   carriageHeight, forkExtension (±), forkLift\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst MAST_COLOR = 0xff7a00          // mast — orange\nconst TROLLEY_COLOR = 0x3a4048       // base / top — dark charcoal\nconst CARRIAGE_COLOR = 0xffcc00      // carriage (shuttle) — yellow\nconst CONTROLLER_COLOR = 0xc63333    // cabinet — red\nconst FORK_COLOR = 0xffcc00          // fork — yellow (same as carriage)\nconst RAIL_COLOR = 0x1a1f24          // rail — dark steel\nconst LAMP_OFF = 0x222222\n\nexport class Crane3D extends RealObjectGroup {\n  private _forkGroup?: THREE.Group\n  private _forkTopY: number = 0\n  private _bladeMidZ: number = 0\n\n  build() {\n    super.build()\n\n    this._forkGroup = undefined\n    this._forkTopY = 0\n    this._bladeMidZ = 0\n\n    const { width, height, depth } = this.component.state\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampOn = status && status !== 'idle'\n\n    // Actuators\n    const D = numOr(depth, Math.max(width, height) * 4)\n    const carriageRaw = numOr((this.component.state as any).carriageHeight, D * 0.4)\n    const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85))\n\n    const forkLength = numOr((this.component.state as any).forkLength, height * 0.6)\n    const forkExtensionRaw = numOr((this.component.state as any).forkExtension, 0)\n    const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw))\n    const forkLift = numOr((this.component.state as any).forkLift, 0)\n\n    // ── Axis convention (FIXED): ─────────────────────────────────────\n    //   Rail = X (state.left = 2D X = 3D X). Crane 좌우 이동.\n    //   Fork = Z (2D Y = 3D Z). Fork 앞뒤 신축.\n    //   사용자: \"포크는 앞뒤로, 크레인 본체는 좌우로.\"\n    //   width  = rail-direction 풋프린트 (좁음)\n    //   height = cross-aisle (fork 방향) 풋프린트 (깊음, fork 가 cell 까지 닿는 거리)\n    const S = Math.min(width, height)\n    const railH = S * 0.04\n    const baseH = S * 0.18\n    const topFrameH = S * 0.1\n    const topGuideH = S * 0.1\n    const carriageH = S * 0.12\n    const mastW = width * 0.1                       // mast X 단면 (along rail)\n    const mastD = height * 0.25                     // mast Z 단면 (cross-rail)\n    const mastSpacing = width * 0.7                 // 두 mast X 간격\n    const bladeW = S * 0.1\n    const bladeH = S * 0.05\n    const bladeL = forkLength\n    const bladeSpacing = mastSpacing * 0.45\n    const carriageW = mastSpacing - mastW * 0.2\n    const carriageZ = height * 0.55\n    const cabW = S * 0.4\n    const cabH = S * 0.4\n    const cabD = S * 0.3\n\n    const baseY = -D / 2\n    const mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5)\n\n    // ── Materials ─────────────────────────────────────────────────────\n    const mastMat = new THREE.MeshStandardMaterial({ color: MAST_COLOR, metalness: 0.3, roughness: 0.5 })\n    const trolleyMat = new THREE.MeshStandardMaterial({ color: TROLLEY_COLOR, metalness: 0.6, roughness: 0.5 })\n    const carriageMat = new THREE.MeshStandardMaterial({ color: CARRIAGE_COLOR, metalness: 0.85, roughness: 0.35 })\n    const cabinetMat = new THREE.MeshStandardMaterial({ color: CONTROLLER_COLOR, metalness: 0.2, roughness: 0.6 })\n    const forkMat = new THREE.MeshStandardMaterial({ color: FORK_COLOR, metalness: 0.85, roughness: 0.3 })\n    const railMat = new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })\n\n    // ── Floor rail ────────────────────────────────────────────────────\n    {\n      const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.35)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, baseY + railH / 2, 0)\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Base trolley ──────────────────────────────────────────────────\n    const baseTrolleyY = baseY + railH + baseH / 2\n    {\n      const geo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.7)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, baseTrolleyY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Control cabinet on one side of base ───────────────────────────\n    {\n      const geo = new THREE.BoxGeometry(cabW, cabH, cabD)\n      const cab = new THREE.Mesh(geo, cabinetMat)\n      cab.position.set(\n        -width * 0.4 + cabW / 2,\n        baseTrolleyY + baseH / 2 + cabH / 2,\n        -height * 0.25 + cabD / 2\n      )\n      cab.castShadow = true\n      this.object3d.add(cab)\n    }\n\n    // ── Status lamp ───────────────────────────────────────────────────\n    {\n      const lampR = S * 0.04\n      const lampH = S * 0.1\n      const lampMat = new THREE.MeshStandardMaterial({\n        color: lampOn ? emissiveColor : LAMP_OFF,\n        emissive: lampOn ? emissiveColor : LAMP_OFF,\n        emissiveIntensity: lampOn ? 1.5 : 0.2,\n        metalness: 0,\n        roughness: 0.3\n      })\n      const geo = new THREE.CylinderGeometry(lampR, lampR * 0.8, lampH, 12)\n      const lamp = new THREE.Mesh(geo, lampMat)\n      lamp.position.set(width * 0.4, baseTrolleyY + baseH / 2 + lampH / 2, 0)\n      this.object3d.add(lamp)\n    }\n\n    // ── Twin masts ────────────────────────────────────────────────────\n    const mastY = baseTrolleyY + baseH / 2 + mastH / 2\n    for (const xOff of [-mastSpacing / 2, +mastSpacing / 2]) {\n      const geo = new THREE.BoxGeometry(mastW, mastH, mastD)\n      const mesh = new THREE.Mesh(geo, mastMat)\n      mesh.position.set(xOff, mastY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Carriage (between masts) ──────────────────────────────────────\n    const carriageY = baseTrolleyY + baseH / 2 + carriageHeight + carriageH / 2\n    {\n      const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ)\n      const mesh = new THREE.Mesh(geo, carriageMat)\n      mesh.position.set(0, carriageY, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Two-prong forks (telescopic ±Z) ───────────────────────────────\n    // forkExtension 부호: + = +Z, - = -Z. forkExtension=0 일 때 blade 중심이 carriage 안쪽\n    // (= retracted, blade tip 이 carriage 앞면 근처).\n    const forkSign = forkExtension >= 0 ? 1 : -1\n    const forkBaseZ = forkSign * (carriageZ / 2 - bladeL / 2 + Math.abs(forkExtension))\n    const forkY = carriageY + forkLift - bladeH / 2\n    {\n      const group = new THREE.Group()\n      group.position.set(0, forkY, forkBaseZ)\n      // forkSign 으로 blade tip 방향 설정\n      group.rotation.y = forkSign < 0 ? Math.PI : 0\n\n      for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {\n        const geo = new THREE.BoxGeometry(bladeW, bladeH, bladeL)\n        const mesh = new THREE.Mesh(geo, forkMat)\n        mesh.position.set(xOff, 0, 0)\n        mesh.castShadow = true\n        mesh.receiveShadow = true\n        group.add(mesh)\n      }\n\n      this.object3d.add(group)\n      this._forkGroup = group\n      this._forkTopY = bladeH / 2\n      this._bladeMidZ = 0\n    }\n\n    // ── Top frame (connects mast tops) ────────────────────────────────\n    const topFrameY = mastY + mastH / 2 + topFrameH / 2\n    {\n      const geo = new THREE.BoxGeometry(mastSpacing + mastW, topFrameH, height * 0.35)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, topFrameY, 0)\n      mesh.castShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Top guide trolley ─────────────────────────────────────────────\n    const topGuideY = topFrameY + topFrameH / 2 + topGuideH / 2\n    {\n      const geo = new THREE.BoxGeometry(mastSpacing + mastW * 2, topGuideH, height * 0.3)\n      const mesh = new THREE.Mesh(geo, trolleyMat)\n      mesh.position.set(0, topGuideY, 0)\n      mesh.castShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Ceiling rail ──────────────────────────────────────────────────\n    {\n      const geo = new THREE.BoxGeometry(width * 1.1, railH, height * 0.3)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, topGuideY + topGuideH / 2 + railH / 2, 0)\n      this.object3d.add(mesh)\n    }\n  }\n\n  getCarriageFrame(): THREE.Object3D | undefined {\n    return this._forkGroup ?? this.object3d\n  }\n\n  get platformTopY(): number {\n    return this._forkTopY\n  }\n\n  get bladeMidZ(): number {\n    return this._bladeMidZ\n  }\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      'carriageHeight' in after ||\n      'forkLength' in after ||\n      'forkExtension' in after ||\n      'forkLift' in after ||\n      'status' in after ||\n      'bodyColor' in after ||\n      'lampEmissive' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}

package/dist/crane.d.ts

@@ -0,0 +1,157 @@
+import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
+import { type AttachFrame, type Alignment, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
+import { Crane3D } from './crane-3d.js';
+/**
+ * Crane status — the operating state of a stacker crane.
+ *
+ * - `idle`       — parked at home position
+ * - `moving`     — translating (horizontal) or along the mast (vertical);
+ *                  typically combined
+ * - `loading`    — extracting a carrier from a rack cell
+ * - `unloading`  — placing a carrier into a rack cell
+ * - `error`      — fault / e-stop / collision warning
+ */
+export type CraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error';
+/** Crane 컴포넌트 state */
+export interface CraneState extends State {
+    status?: CraneStatus;
+    /**
+     * Crane 이 서비스 할 타깃 컴포넌트의 refid (또는 id).
+     * 명시되면 그 컴포넌트 (또는 그 children) 의 위치를 stop point 로 사용 — heuristic
+     * 으로 sibling 추정 안 함. 미명시면 sibling 안에서 추측.
+     * 예: RackGrid 의 refid 를 지정하면 그 안의 cell 들 사이에서만 이동.
+     */
+    target?: string;
+    /** 마스트 따라 carriage 의 수직 위치 (mm). */
+    carriageHeight?: number;
+    /**
+     * Fork prong 의 최대 신축 가능 길이 (mm). cell 깊이 + 여유.
+     * 일반적으로 pallet 깊이 (1200mm) + 여유 ≈ 1300mm 또는 그 이하 (default 600).
+     */
+    forkLength?: number;
+    /**
+     * Fork 의 *현재 신축 거리* (mm). 0 = collapsed (shuttle 안 들어가있음),
+     * forkLength = fully extended (cell 안 carrier 의 fork pocket 도달).
+     *
+     * 시뮬레이션 흐름:
+     *   idle: 0
+     *   approach → 0
+     *   pick / place: 0 → forkLength (extending) → 0 (retracting with carrier)
+     */
+    forkExtension?: number;
+    /**
+     * Fork 의 *carrier 들어올림 높이* (mm). 0 = neutral (cell shelf 와 같은 면),
+     * +값 = carrier 를 *위로* 들어올림 (fork pocket 안으로 진입 후 위로 lifting).
+     */
+    forkLift?: number;
+    material3d?: Material3D;
+}
+declare const Crane_base: any;
+/**
+ * Crane — a stacker / retrieval picker. Picker contract instance.
+ *
+ * Moves carriers between rack cells (or any Placeable target). The crane
+ * is *picker-side* of the Phase G/H Pickable contract — it knows how to
+ * `pick(carrier)` / `place(carrier, target)` and `engage(target, kind)`
+ * to align its actuators. It is *storage-agnostic* — any Rack / Cell /
+ * Spot / Conveyor that implements the receive/dispatch protocol is a
+ * valid target.
+ *
+ * Structure: a tall vertical mast that translates horizontally on a rail
+ * or free floor path, with a carriage that slides up/down the mast carrying
+ * a shuttle / forks.
+ *
+ * **Monitoring mode**: crane status is driven by external data binding
+ * (`state.status`, `state.carriageHeight`). The carrier is referenced
+ * via data binding — it is NOT a child of the crane in monitoring mode.
+ *
+ * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, target)`
+ * (or `crane.pickAndPlace(carrier, target)`). Mover handles navigation +
+ * engage + reparent. During transit the carrier IS a child of the crane.
+ */
+export default class Crane extends Crane_base {
+    state: CraneState;
+    _realObject?: Crane3D;
+    static legends: Record<string, LegendBinding>;
+    static placement: PlacementArchetype;
+    static align: Alignment;
+    static defaultDepth: (h: Heights) => number;
+    /** Yaw offset: crane model is drawn with the rail axis along X (right = forward). */
+    static yawOffset: number;
+    /**
+     * Phase H — the crane uses telescoping forks to pick up a carrier in a rack
+     * cell. Same mechanism as a forklift fork — engages the pallet's fork pocket.
+     * (Mover mixin chain is `: any` so override keyword is not usable, only the
+     * getter is defined.)
+     */
+    get toolType(): string;
+    get nature(): ComponentNature;
+    get anchors(): never[];
+    /** Stacker crane carries at most one load at a time on its forks. */
+    get slots(): SlotDef[];
+    /**
+     * Return the 3D attach frame on the crane's carriage (fork tip).
+     * Carriers are attached here while the crane is in transit (pick phase).
+     *
+     * The Crane3D exposes `getCarriageFrame()` — a sub-Object3D that
+     * tracks the carriage height and sits at the fork TCP. If the 3D object
+     * isn't built yet (e.g. before scene initialization), fall back to the
+     * crane's own object3d centre.
+     */
+    attachPointFor(carrier: Component): AttachFrame | null;
+    /**
+     * Domain-specific actuation between arrival and reparent.
+     *
+     * Simulation sequence for PICK:
+     *   1. Mover.pick() navigates crane to carrier position (moveTo).
+     *   2. engage('pick') → snap carriage height + status 'loading'.
+     *   3. Carrier is reparented to crane (becomes child).
+     *
+     * For now: set status and snap carriage height. A full simulation
+     * would tween the carriageHeight here (animate Crane3D).
+     *
+     * Status lifecycle:
+     *   idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle
+     * The 'moving' state is not set from Mover.moveTo() because TypeScript
+     * can't call super.moveTo() on an `: any`-typed mixin. External data
+     * binding sets 'moving' in monitoring mode; override pick()/place() to
+     * set it in full simulation environments.
+     */
+    engage(target: Component, kind: 'pick' | 'place', _options?: MoveOptions): Promise<void>;
+    /** Fetch a carrier from a rack cell (semantically = pick). */
+    fetch(carrier: Component, options?: MoveOptions): Promise<void>;
+    /** Deposit a carrier into a rack cell (semantically = place). */
+    deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void>;
+    /**
+     * 2D — top-down rectangle showing the crane's footprint along the rail.
+     * The crane is much taller than wide, so the 2D mark is small.
+     */
+    render(ctx: CanvasRenderingContext2D): void;
+    buildRealObject(): RealObject | undefined;
+    private _simStarted;
+    private _simRunning;
+    private _simAbort;
+    private _railOriginX;
+    private _railOriginY;
+    private _railCos;
+    private _railSin;
+    private _railMin;
+    private _railMax;
+    private _targetSide;
+    /** Continuous random pick → transport → place cycles. Visual smoke test. */
+    simulate(): Promise<void>;
+    /**
+     * state.target bbox 를 crane 의 *로컬 X 축* 으로 projection 해서 rail range 1회 계산.
+     * Rotation 적용된 crane 의 local X (= rail) 방향으로 움직이도록 cos/sin 캐시.
+     */
+    private _initRailRange;
+    stopSimulate(): void;
+    private _oneCycle;
+    /**
+     * things-scene 의 `component.animate()` 로 한 구간 tween. step 콜백에서 setState 호출.
+     * frameClock.simTime 기반이라 scene pause / speed change / suppressAnimations 모두 자동 대응.
+     */
+    private _tween;
+}
+export {};