@operato/scene-storage 10.0.0-beta.40 → 10.0.0-beta.41

package/test/test-crane-geometry.ts

@@ -0,0 +1,167 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * Crane 3D 의 기하학 공식 정합 검증 — *pure* unit test.
+ *
+ * 시뮬 시각 결함 진단 위한 *수학적 정합 sanity check*. carrier 위치/자세
+ * 결함이 *기하학 공식 mismatch* 인지 *3D scene-graph 의 다른 결함* 인지
+ * 좁힘.
+ *
+ * Forward 공식 (Crane3D.build):
+ *   carriageH = S * 0.12 (S = min(width, height))
+ *   bladeH    = carriageH * 0.35
+ *   liftGroup.y crane-local = baseTrolleyY + baseH/2 + carriageHeight + forkLift + carriageH/2
+ *   _carrierBaseY (liftGroup-local) = -bladeH/2  (fork blade bottom)
+ *   carrier 외부 bottom crane-local = liftGroup.y + _carrierBaseY
+ *   carrier 외부 bottom world Y    = craneCenterWorldY + crane-local
+ *
+ * Inverse (Crane3D.solveCarriageHeightForCarrierBaseWorldY):
+ *   carriageHeight = worldY − craneCenterY − (baseTrolleyY + baseH/2 + carriageH/2 − bladeH/2) − forkLift
+ */
+
+import 'should'
+
+interface CraneParams {
+  S: number       // min(width, height)
+  D: number       // depth
+}
+
+interface DerivedParams {
+  carriageH: number
+  bladeH: number
+  baseH: number
+  railH: number
+  baseTrolleyY: number  // crane-local (= -D/2 + railH + baseH/2)
+}
+
+function derive(p: CraneParams): DerivedParams {
+  const carriageH = p.S * 0.12
+  const bladeH = carriageH * 0.35
+  const baseH = p.S * 0.18
+  const railH = p.S * 0.04
+  const baseTrolleyY = -p.D / 2 + railH + baseH / 2
+  return { carriageH, bladeH, baseH, railH, baseTrolleyY }
+}
+
+// Forward: build 공식
+function carrierBaseWorldY(
+  d: DerivedParams,
+  carriageHeight: number,
+  forkLift: number,
+  craneCenterY: number
+): number {
+  const liftGroupY = d.baseTrolleyY + d.baseH / 2 + carriageHeight + forkLift + d.carriageH / 2
+  const carrierBaseLocal = liftGroupY + (-d.bladeH / 2)
+  return craneCenterY + carrierBaseLocal
+}
+
+// Inverse: solveCarriageHeightForCarrierBaseWorldY
+function solveCarriageHeight(
+  d: DerivedParams,
+  carrierBaseWorld: number,
+  forkLift: number,
+  craneCenterY: number
+): number {
+  return carrierBaseWorld - craneCenterY - (d.baseTrolleyY + d.baseH / 2 + d.carriageH / 2 - d.bladeH / 2) - forkLift
+}
+
+describe('Crane3D — geometry roundtrip', () => {
+  const params: CraneParams = { S: 400, D: 1000 }
+  const d = derive(params)
+
+  it('derived parameter values', () => {
+    d.carriageH.should.be.approximately(48, 0.001)
+    d.bladeH.should.be.approximately(16.8, 0.001)
+    d.baseH.should.be.approximately(72, 0.001)
+    d.railH.should.be.approximately(16, 0.001)
+    // baseTrolleyY = -500 + 16 + 36 = -448
+    d.baseTrolleyY.should.be.approximately(-448, 0.001)
+  })
+
+  it('forward → inverse roundtrip — forkLift=0', () => {
+    const craneCenterY = 0
+    const forkLift = 0
+    for (const ch of [0, 100, 200, 500, 800]) {
+      const baseWorld = carrierBaseWorldY(d, ch, forkLift, craneCenterY)
+      const recovered = solveCarriageHeight(d, baseWorld, forkLift, craneCenterY)
+      recovered.should.be.approximately(ch, 0.001)
+    }
+  })
+
+  it('forward → inverse roundtrip — forkLift>0 (들린 상태)', () => {
+    const craneCenterY = 0
+    const forkLift = 30
+    for (const ch of [0, 100, 500]) {
+      const baseWorld = carrierBaseWorldY(d, ch, forkLift, craneCenterY)
+      const recovered = solveCarriageHeight(d, baseWorld, forkLift, craneCenterY)
+      recovered.should.be.approximately(ch, 0.001)
+    }
+  })
+
+  it('forward → inverse — craneCenterY 보정 (crane.zPos != 0)', () => {
+    const craneCenterY = 250
+    const forkLift = 0
+    const ch = 100
+    const baseWorld = carrierBaseWorldY(d, ch, forkLift, craneCenterY)
+    const recovered = solveCarriageHeight(d, baseWorld, forkLift, craneCenterY)
+    recovered.should.be.approximately(ch, 0.001)
+  })
+})
+
+describe('Crane3D — pick 시퀀스 기하학', () => {
+  const params: CraneParams = { S: 400, D: 1000 }
+  const d = derive(params)
+  const craneCenterY = 0
+
+  it('pick 진입: carriageHeight 산출 → carrier 외부 bottom = cellBottom', () => {
+    const cellBottom = 100   // cell shelf 면 world Y
+    const forkLift = 0       // pick 진입 시 forkLift 0
+
+    const carriageHeight = solveCarriageHeight(d, cellBottom, forkLift, craneCenterY)
+    const baseWorld = carrierBaseWorldY(d, carriageHeight, forkLift, craneCenterY)
+
+    baseWorld.should.be.approximately(cellBottom, 0.001)
+  })
+
+  it('pick lift 후: forkLift = liftH → carrier 외부 bottom = cellBottom + liftH', () => {
+    const cellBottom = 100
+    const liftH = 30
+    // 진입 carriageHeight (forkLift=0)
+    const ch = solveCarriageHeight(d, cellBottom, 0, craneCenterY)
+    // lift 후 forkLift = liftH, carriageHeight 그대로
+    const liftedBaseWorld = carrierBaseWorldY(d, ch, liftH, craneCenterY)
+    liftedBaseWorld.should.be.approximately(cellBottom + liftH, 0.001)
+  })
+})
+
+describe('Crane3D — place 시퀀스 기하학', () => {
+  const params: CraneParams = { S: 400, D: 1000 }
+  const d = derive(params)
+  const craneCenterY = 0
+
+  it('place 진입 (holding): approachWorldY = cellBottom + liftH', () => {
+    const cellBottom = 200   // 다른 cell
+    const liftH = 30
+    const forkLiftRT = liftH  // 들린 상태로 도착
+
+    // approachWorldY = cellBottom + liftH (holding 보정)
+    const approachWorldY = cellBottom + liftH
+
+    const carriageHeight = solveCarriageHeight(d, approachWorldY, forkLiftRT, craneCenterY)
+    const baseWorld = carrierBaseWorldY(d, carriageHeight, forkLiftRT, craneCenterY)
+
+    baseWorld.should.be.approximately(approachWorldY, 0.001)
+  })
+
+  it('place lower 후: forkLift = 0 → carrier 외부 bottom = cellBottom', () => {
+    const cellBottom = 200
+    const liftH = 30
+    const approachWorldY = cellBottom + liftH
+
+    const ch = solveCarriageHeight(d, approachWorldY, liftH, craneCenterY)
+    // lower 후 forkLift = 0
+    const loweredBaseWorld = carrierBaseWorldY(d, ch, 0, craneCenterY)
+
+    loweredBaseWorld.should.be.approximately(cellBottom, 0.001)
+  })
+})

package/test/test-phase-h-carrier-pickable.ts

@@ -93,13 +93,14 @@ describe('Phase H — Parcel pickupFrames', () => {
   })
 })
 
-describe('Phase H invariant — carrier 별 toolType 분리', () => {
-  it('Pallet 은 forklift-fork 만, Box 는 gripper 만 — 자동 호환성 검사 통과', () => {
+describe('Phase H invariant — carrier 별 primary tool', () => {
+  it('Pallet 의 primary tool 은 forklift-fork (gripper 없음), Box 는 gripper 포함', () => {
     const palletSrc = readSrc('../src/pallet.ts')
     const boxSrc = readSrc('../src/box.ts')
+    // Pallet 은 forklift-fork primary, gripper 직접 안 잡음 (Pallet 위 Box 를 잡음)
     palletSrc.should.match(/forklift-fork/)
     palletSrc.should.not.match(/toolType:\s*['"]gripper['"]/)
+    // Box 는 gripper 포함 (primary). 호환성 위해 agv-deck / forklift-fork 도 추가 가능.
     boxSrc.should.match(/gripper/)
-    boxSrc.should.not.match(/forklift-fork/)
   })
 })

package/translations/en.json

@@ -36,13 +36,17 @@
   "label.hide-rack-frame": "hide rack frame",
   "label.stock-scale": "stock scale",
   "label.legend-target": "legend target",
+  "label.shelf-base-height": "shelf base height",
 
   "label.status": "status",
-  "label.target": "target",
+  "label.simulate": "simulate",
+  "label.carriage-position": "carriage position",
+  "label.carriage-width": "carriage width",
   "label.carriage-height": "carriage height",
   "label.fork-length": "fork length",
   "label.fork-extension": "fork extension",
   "label.fork-lift": "fork lift",
+  "label.pocket-depth": "pocket depth",
 
   "option.idle": "idle",
   "option.moving": "moving",

package/translations/ja.json

@@ -36,13 +36,17 @@
   "label.hide-rack-frame": "ラックフレームを非表示",
   "label.stock-scale": "在庫スケール",
   "label.legend-target": "凡例対象",
+  "label.shelf-base-height": "棚の基準高さ",
 
   "label.status": "状態",
-  "label.target": "ターゲット",
+  "label.simulate": "シミュレーション",
+  "label.carriage-position": "キャリッジ位置",
+  "label.carriage-width": "キャリッジ幅",
   "label.carriage-height": "キャリッジ高さ",
   "label.fork-length": "フォーク長",
   "label.fork-extension": "フォーク伸縮",
   "label.fork-lift": "フォーク昇降",
+  "label.pocket-depth": "ポケットの深さ",
 
   "option.idle": "待機",
   "option.moving": "移動中",

package/translations/ko.json

@@ -36,13 +36,17 @@
   "label.hide-rack-frame": "랙 프레임 숨김",
   "label.stock-scale": "재고 크기",
   "label.legend-target": "범례 대상",
+  "label.shelf-base-height": "선반 시작 높이",
 
   "label.status": "상태",
-  "label.target": "타깃",
+  "label.simulate": "시뮬레이션",
+  "label.carriage-position": "캐리지 위치",
+  "label.carriage-width": "캐리지 폭",
   "label.carriage-height": "캐리지 높이",
   "label.fork-length": "포크 길이",
   "label.fork-extension": "포크 신축",
   "label.fork-lift": "포크 들기",
+  "label.pocket-depth": "포켓 깊이",
 
   "option.idle": "대기",
   "option.moving": "이동중",

package/translations/ms.json

@@ -36,13 +36,17 @@
   "label.hide-rack-frame": "sembunyi rangka rak",
   "label.stock-scale": "skala stok",
   "label.legend-target": "sasaran legenda",
+  "label.shelf-base-height": "tinggi asas rak",
 
   "label.status": "status",
-  "label.target": "sasaran",
+  "label.simulate": "simulasi",
+  "label.carriage-position": "kedudukan pembawa",
+  "label.carriage-width": "lebar pembawa",
   "label.carriage-height": "tinggi pembawa",
   "label.fork-length": "panjang garpu",
   "label.fork-extension": "lanjutan garpu",
   "label.fork-lift": "angkat garpu",
+  "label.pocket-depth": "kedalaman poket",
 
   "option.idle": "menunggu",
   "option.moving": "bergerak",

package/translations/zh.json

@@ -36,13 +36,17 @@
   "label.hide-rack-frame": "隐藏货架框架",
   "label.stock-scale": "库存比例",
   "label.legend-target": "图例对象",
+  "label.shelf-base-height": "货架基准高度",
 
   "label.status": "状态",
-  "label.target": "目标",
+  "label.simulate": "模拟",
+  "label.carriage-position": "载具位置",
+  "label.carriage-width": "载具宽度",
   "label.carriage-height": "载具高度",
   "label.fork-length": "叉长",
   "label.fork-extension": "叉伸",
   "label.fork-lift": "叉升",
+  "label.pocket-depth": "口袋深度",
 
   "option.idle": "待机",
   "option.moving": "移动中",