@operato/scene-storage 10.0.0-beta.44 → 10.0.0-beta.47

package/CHANGELOG.md

@@ -3,6 +3,50 @@
 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.47](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.46...v10.0.0-beta.47) (2026-05-26)
+
+
+### :rocket: New Features
+
+* **scene-base:** AN-PR-2 — Obstacle interface + 기존 컴포넌트 자격 부여 ([3e45e19](https://github.com/things-scene/operato-scene/commit/3e45e19f53c04d7f01bbbe9ea079f5f7f7a7d8f5))
+* **transport/storage:** Phase Z PR-4 — multi-carrier mover (forkSlots state) ([5e398d1](https://github.com/things-scene/operato-scene/commit/5e398d12075c7732d42a27a439d2246acb735289))
+
+
+### :bug: Bug Fix
+
+* **storage:** test runner ESM 해결 — Node loader (Component 가 transfer bundle 미포함) ([984ca9c](https://github.com/things-scene/operato-scene/commit/984ca9c09cedd90cb60fb000a014914ab01bd69d))
+
+
+
+## [10.0.0-beta.46](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.45...v10.0.0-beta.46) (2026-05-24)
+
+
+### :rocket: New Features
+
+* capability 기반 simulate + binding + RackGrid 셀 리스트 정보 정확화 ([3dbcf66](https://github.com/things-scene/operato-scene/commit/3dbcf6645a1d0d6212523a85197b357380f9815a))
+* **crane:** capability 기반 자동 simulate — 인접 SlottedHolder 의 slot ([16bba83](https://github.com/things-scene/operato-scene/commit/16bba83ecf1cc678fcaee78f04542e50f2bebd14))
+* **crane:** Phase Z PR-2 — dispatcher 명시 작업 통합 main loop ([08f8e65](https://github.com/things-scene/operato-scene/commit/08f8e65cdc038c4dd15244c603c0bd002431747f))
+* **slotted-holder:** occupiedSlotIds/emptySlotIds 에 filter predicate 추가 ([5adecd5](https://github.com/things-scene/operato-scene/commit/5adecd5c87eee2dc12d50c72e0842aec222b9084))
+* **slotted-holder:** slotIds() capability — slot enumeration entry point ([a9de95a](https://github.com/things-scene/operato-scene/commit/a9de95a04dde1758fe2236d80dd177ffad9307ed))
+
+
+### :bug: Bug Fix
+
+* **crane:** bayKey = first segment (col), reach 박스 X 를 rail 폭으로 정정 ([b3a10e9](https://github.com/things-scene/operato-scene/commit/b3a10e96da0ce1739f8420df0f70210094d90f35))
+* **crane:** rail axis = matrixWorld X — 2D rotation 매핑 무관 + duration 거리 비례 ([4944ea7](https://github.com/things-scene/operato-scene/commit/4944ea7a87d5c9205387ef8272e3d6cafb2a2c74))
+* **crane:** reach 박스 = rail 전체 X + fork 최대 extend Z, row 별 대표 검사 ([9fb88e7](https://github.com/things-scene/operato-scene/commit/9fb88e7a7c7ca8e612a07692f3e399d2a9793ee5))
+* **crane:** 마지막 shelf 도달 못 하는 carriageHeight clamp 의 magic 0.85 제거 ([e6a9c1a](https://github.com/things-scene/operato-scene/commit/e6a9c1af1b762f874ad7a584137efe9fba120fa4))
+* **rack-grid:** get layout() 을 TABLE_LAYOUT 으로 복원 — isEmpty 시각 회귀 차단 ([82d9d79](https://github.com/things-scene/operato-scene/commit/82d9d79d4862658faba96ca8171a8ba1a4ae9552))
+* **storage:** RackGrid SlottedHolder 4 메서드 자체 처리 + NaN safety + carrier carried placement ([84f0392](https://github.com/things-scene/operato-scene/commit/84f0392a6d3093c9a93efa15682538719d4a77e1))
+* **storage:** RackGrid 의 handoff carrier follow + visible size 회복 ([22f51e8](https://github.com/things-scene/operato-scene/commit/22f51e8d8813c9e20d765ac87a687771e4d329fa))
+
+
+### :house: Code Refactoring
+
+* **storage:** public/private helper 이름의 cell* → slot* rename ([9de4ea0](https://github.com/things-scene/operato-scene/commit/9de4ea07f39fb349f7b52831aa7d4c3c8165f435))
+
+
+
 ## [10.0.0-beta.44](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.43...v10.0.0-beta.44) (2026-05-21)
 
 **Note:** Version bump only for package @operato/scene-storage

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

@@ -1,6 +1,16 @@
 import * as THREE from 'three';
 import { RealObjectGroup } from '@hatiolab/things-scene';
 export declare class Crane3D extends RealObjectGroup {
+    /**
+     * carriageHeight 의 실제 최댓값 — *mast 의 carriage 이동 가능 범위* 기반.
+     * mastH = D - railH * 2 - baseH - topFrameH - topGuideH (mast 의 실제 길이).
+     * carriage 의 *top edge 가 mast top 안에 머물도록* carriageH/2 추가 차감.
+     *
+     * 이전 D * 0.85 magic 대체 — base/top frame 의 실제 차지 비율과 무관한 추정값
+     * 이라 crane.depth = rack.depth 동일 모델에서도 carriage 가 rack 상위 cell
+     * 도달 못 함. 정확한 mastH 사용으로 *동일 size 모델에서 정상 도달* 보장.
+     */
+    static _maxCarriageHeight(D: number, width: number, height: number): number;
     private _forkGroup?;
     private _carrierBaseY;
     private _bladeMidZ;

package/dist/crane-3d.js

@@ -30,7 +30,7 @@
  *   carriageHeight, forkExtension (±), forkLift
  */
 import * as THREE from 'three';
-import { RealObject, RealObjectGroup } from '@hatiolab/things-scene';
+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
@@ -39,6 +39,25 @@ 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 {
+    /**
+     * carriageHeight 의 실제 최댓값 — *mast 의 carriage 이동 가능 범위* 기반.
+     * mastH = D - railH * 2 - baseH - topFrameH - topGuideH (mast 의 실제 길이).
+     * carriage 의 *top edge 가 mast top 안에 머물도록* carriageH/2 추가 차감.
+     *
+     * 이전 D * 0.85 magic 대체 — base/top frame 의 실제 차지 비율과 무관한 추정값
+     * 이라 crane.depth = rack.depth 동일 모델에서도 carriage 가 rack 상위 cell
+     * 도달 못 함. 정확한 mastH 사용으로 *동일 size 모델에서 정상 도달* 보장.
+     */
+    static _maxCarriageHeight(D, width, height) {
+        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 mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5);
+        return Math.max(0, mastH - carriageH / 2);
+    }
     _forkGroup;
     _carrierBaseY = 0;
     _bladeMidZ = 0;
@@ -72,7 +91,12 @@ export class Crane3D extends RealObjectGroup {
         // Actuators
         const D = numOr(depth, Math.max(width, height) * 4);
         const carriageRaw = numOr(this.component.state.carriageHeight, this.component._canonicalDefault?.('carriageHeight') ?? D * 0.4);
-        const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85));
+        // carriageHeight clamp — 실제 mast 의 carriage 이동 가능 범위 기반. helper 사용
+        // (render + onchange partial update 둘 다 동일 식). 이전엔 D * 0.85 magic 사용 —
+        // base/top frame 의 실제 차지 비율과 무관한 추정. crane.depth = rack.depth 동일
+        // 모델에서도 carriage 가 rack 상위 cell 도달 불가 → 14 levels rack 의 *마지막
+        // shelf 만 한 층 아래에서 포킹* 증상의 root cause 였음.
+        const carriageHeight = Math.max(0, Math.min(carriageRaw, Crane3D._maxCarriageHeight(D, width, height)));
         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));
@@ -322,9 +346,11 @@ export class Crane3D extends RealObjectGroup {
             let meshUpdated = false;
             if (('carriageHeight' in after || 'forkLiftRT' in after) && this._carriageLiftGroup) {
                 const state = this.component.state;
-                const D = numOr(state.depth, Math.max(numOr(state.width, 100), numOr(state.height, 100)) * 4);
+                const W = numOr(state.width, 100);
+                const H = numOr(state.height, 100);
+                const D = numOr(state.depth, Math.max(W, H) * 4);
                 const carriageRaw = numOr(state.carriageHeight, D * 0.4);
-                const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85));
+                const carriageHeight = Math.max(0, Math.min(carriageRaw, Crane3D._maxCarriageHeight(D, W, H)));
                 const forkLift = numOr(state.forkLiftRT, 0);
                 this._carriageLiftGroup.position.y = this._computeLiftGroupY(carriageHeight, forkLift);
                 meshUpdated = true;
@@ -415,7 +441,10 @@ export class Crane3D extends RealObjectGroup {
         if (this._forkGroup) {
             for (const child of this._forkGroup.children) {
                 const ctx = child.userData?.context;
-                if (ctx && ctx !== this && ctx instanceof RealObject) {
+                // `ctx instanceof RealObject` 는 *cross-module identity 실패* 가능
+                // (Parcel3D 가 다른 things-scene 인스턴스의 RealObject 를 extend 한 경우
+                // instanceof 가 false 반환). duck-type 으로 완화 — *crane 자신만 제외*.
+                if (ctx && ctx !== this) {
                     child.position.z = this._bladeMidZ;
                 }
             }

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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 { RealObject, 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 _carrierBaseY: number = 0\n  private _bladeMidZ: number = 0\n  /** floor rail 만 제외한 나머지 (trolley + masts + carriage + fork) 의 movable parent. */\n  private _trolleyGroup?: THREE.Group\n  /** carriage + fork 의 lift parent (carriageHeight + forkLiftRT 변경 시 Y 만 update). */\n  private _carriageLiftGroup?: THREE.Group\n  /** Fork active extension mesh — scale.z 와 position.z 로 lerp (rebuild 없이). */\n  private _extLeftMesh?: THREE.Mesh\n  private _extRightMesh?: THREE.Mesh\n  private _extBaseParams?: { bladeSpacing: number; carriageZ: number; stubL: number }\n  /** Fork mesh 의 group-local Y center (carriage 위 + bladeH/2). _applyForkExtensionMeshes 가 ext mesh Y 결정. */\n  private _forkOffsetY: number = 0\n  /** liftGroup.position.y 재계산용 base parameters. */\n  private _liftBaseParams?: { baseTrolleyY: number; baseH: number; carriageH: number; bladeH: number }\n\n  build() {\n    super.build()\n\n    this._forkGroup = undefined\n    this._carrierBaseY = 0\n    this._bladeMidZ = 0\n    this._trolleyGroup = undefined\n    this._carriageLiftGroup = undefined\n    this._extLeftMesh = undefined\n    this._extRightMesh = undefined\n    this._extBaseParams = undefined\n    this._liftBaseParams = undefined\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, (this.component as any)._canonicalDefault?.('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    // forkLiftRT — 시뮬 runtime current 들림. state.forkLift 는 *configured 진폭*\n    // (사용자 설정) 라 안 건드림. 3D carriage Y 는 runtime 값 사용.\n    const forkLift = numOr((this.component.state as any).forkLiftRT, 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    // Carriage assembly 크기 — state.carriageWidth 기반 (rail 길이 = crane.width\n    // 와 독립). 미명시 시 rail 의 10%.\n    const carriageAssemblyW = numOr((this.component.state as any).carriageWidth, width * 0.1)\n    const mastW = carriageAssemblyW * 0.15           // mast X 단면 (along rail)\n    const mastD = height * 0.25                      // mast Z 단면 (cross-rail)\n    const mastSpacing = carriageAssemblyW * 0.85     // 두 mast X 간격\n    const bladeW = S * 0.1\n    // bladeH — fork 두께. carriage 보다 얇게 (실 fork prong 의 가는 모양).\n    // carriage 와 *같은 Y center (0)* 이고 두께만 carriageH * 0.35.\n    const bladeH = carriageH * 0.35\n    const bladeL = forkLength\n    const bladeSpacing = mastSpacing * 0.45\n    const carriageW = mastSpacing - mastW * 0.2\n    const carriageZ = height * 0.55\n    // Cabinet — 존재감만. 작게.\n    const cabW = S * 0.18\n    const cabH = S * 0.18\n    const cabD = S * 0.15\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 (고정 — crane 본체 안 움직임). 폭 = crane.width (overhang 제거).\n    {\n      const railThin = railH * 0.5\n      const geo = new THREE.BoxGeometry(width, railThin, height * 0.15)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, baseY + railThin / 2, 0)\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Trolley group — carriage assembly (rail 위 X 만 이동) ─────────\n    // 모든 movable 부품 (base trolley, masts, carriage, fork, cabinet, lamp)\n    // 의 parent. carriagePosition 변경 시 group 의 local X 만 변경.\n    const trolleyGroup = new THREE.Group()\n    this._trolleyGroup = trolleyGroup\n    this.object3d.add(trolleyGroup)\n    // 초기 carriagePosition 적용 — rail-local X (0 ~ width) → object3d-local X (-W/2 ~ +W/2)\n    const carriagePos = numOr((this.component.state as any).carriagePosition, (this.component as any)._canonicalDefault?.('carriagePosition') ?? width / 2)\n    trolleyGroup.position.x = carriagePos - width / 2\n\n    // ── Base trolley ──────────────────────────────────────────────────\n    // Cabinet 이 mast 바깥쪽에 자연스럽게 놓이도록 *trolley 폭을 mast + cabinet\n    // padding 까지 확장*. carriage assembly width 보다 양 옆으로 (cabW + gap) × 2.\n    const trolleyPad = cabW + S * 0.04\n    const baseTrolleyW = carriageAssemblyW + trolleyPad * 2\n    const baseTrolleyY = baseY + railH + baseH / 2\n    {\n      const geo = new THREE.BoxGeometry(baseTrolleyW, 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      trolleyGroup.add(mesh)\n    }\n\n    // ── Control cabinet — mast 바깥쪽 (trolley 의 *확장 padding 영역* 위) ─────\n    {\n      const geo = new THREE.BoxGeometry(cabW, cabH, cabD)\n      const cab = new THREE.Mesh(geo, cabinetMat)\n      cab.position.set(\n        -(carriageAssemblyW / 2 + cabW / 2 + S * 0.02),   // mast 왼쪽 바깥\n        baseTrolleyY + baseH / 2 + cabH / 2,\n        -height * 0.25 + cabD / 2\n      )\n      cab.castShadow = true\n      trolleyGroup.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(carriageAssemblyW / 2 + lampR * 1.5 + S * 0.02, baseTrolleyY + baseH / 2 + lampH / 2, 0)\n      trolleyGroup.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      trolleyGroup.add(mesh)\n    }\n\n    // ── Carriage + Fork lift group (carriageHeight + forkLiftRT 따라 Y 이동) ─\n    // _carriageLiftGroup 안에 carriage + forkGroup. forkLiftRT / carriageHeight\n    // 변경 시 *그룹 Y 만 update* (mesh rebuild X). _forkGroup 의 child carrier 가\n    // *dispose 없이 그대로* 함께 따라 움직임.\n    const stubL = Math.min(carriageZ * 0.2, Math.max(bladeL * 0.05, 6))\n    const liftGroup = new THREE.Group()\n    this._carriageLiftGroup = liftGroup\n    this._liftBaseParams = { baseTrolleyY, baseH, carriageH, bladeH }\n    liftGroup.position.set(0, this._computeLiftGroupY(carriageHeight, forkLift), 0)\n    trolleyGroup.add(liftGroup)\n\n    // Carriage — liftGroup local center\n    {\n      const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ)\n      const mesh = new THREE.Mesh(geo, carriageMat)\n      mesh.position.set(0, 0, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      liftGroup.add(mesh)\n    }\n\n    // ── Two-prong forks ───────────────────────────────────────────────\n    // stub (4 box, fixed) + active extension (2 box, scale.z 로 lerp).\n    // active mesh 는 *unit-length* 로 생성. _applyForkExtension 이 scale.z 와\n    // position.z 로 길이/방향 update — rebuild 없이 매 frame 부드러운 변형.\n    const absExt = Math.abs(forkExtension)\n    const sign = forkExtension >= 0 ? 1 : -1\n    {\n      const group = new THREE.Group()\n      // _forkGroup 은 liftGroup-local center (0,0,0) — frame 일치 단순화.\n      // attach localPosition (carrier 자식) 도 *group-local = liftGroup-local* 동일 frame.\n      // Fork mesh 자체가 group-local 안에서 carriage *위* 로 (mesh.position.y).\n      group.position.set(0, 0, 0)\n\n      // Fork mesh 가 carriage 와 *수평 (같은 Y 평면)* — carriage 안에 embed.\n      // fork mesh group-local Y center = 0 (carriage center 와 같음).\n      // fork blade *bottom* 면 group-local Y = -bladeH/2.\n      // fork blade *top*    면 group-local Y = +bladeH/2.\n      const forkOffsetY = 0\n\n      // 양옆 stub — 두 prong × 두 측면 = 4 box\n      const stubGeo = new THREE.BoxGeometry(bladeW, bladeH, stubL)\n      for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {\n        for (const zSide of [-1, +1]) {\n          const mesh = new THREE.Mesh(stubGeo, forkMat)\n          mesh.position.set(xOff, forkOffsetY, zSide * (carriageZ / 2 + stubL / 2))\n          mesh.castShadow = true\n          mesh.receiveShadow = true\n          group.add(mesh)\n        }\n      }\n\n      // Active extension — unit length, scale.z + position.z 로 변형\n      const extGeo = new THREE.BoxGeometry(bladeW, bladeH, 1)\n      const extLeft = new THREE.Mesh(extGeo, forkMat)\n      const extRight = new THREE.Mesh(extGeo, forkMat)\n      this._forkOffsetY = forkOffsetY\n      extLeft.castShadow = true\n      extLeft.receiveShadow = true\n      extRight.castShadow = true\n      extRight.receiveShadow = true\n      group.add(extLeft)\n      group.add(extRight)\n      this._extLeftMesh = extLeft\n      this._extRightMesh = extRight\n      this._extBaseParams = { bladeSpacing, carriageZ, stubL }\n      this._applyForkExtensionMeshes(absExt, sign)\n\n      // carrier 의 초기 Z = sign * absExt (= _applyForkExtensionMeshes 의 공식 동일).\n      const carrierZ = sign * absExt\n\n      liftGroup.add(group)\n      this._forkGroup = group\n      // Carrier 외부 bottom 정렬점 (liftGroup-local Y) = fork blade *bottom* =\n      // -bladeH/2 (fork mesh group-local center = 0, 두께 bladeH).\n      // 사용자 모델: \"fork 의 아랫면 ≈ carrier 의 아랫면\" — fork blade 가 carrier\n      // 의 bottom 부분 안으로 *찔러 들어감* (겹친 자세).\n      this._carrierBaseY = -bladeH / 2\n      this._bladeMidZ = carrierZ\n    }\n\n    // ── Top frame (connects mast tops) — trolley 함께 이동 ─────────────\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      trolleyGroup.add(mesh)\n    }\n\n    // ── Top guide trolley — trolley 함께 이동 (ceiling rail 위 미끄러짐) ─\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      trolleyGroup.add(mesh)\n    }\n\n    // Ceiling rail 생략 — 상단은 top guide trolley 만으로 충분. 사용자 의도.\n\n  }\n\n  getCarriageFrame(): THREE.Object3D | undefined {\n    // Fallback chain — carrier 가 *carriage transform (X 이동, Y lift)* 따라오도록.\n    // _forkGroup 미존재 시 _carriageLiftGroup (X+Y 따라옴) → _trolleyGroup (X 만) →\n    // root (no follow). 절대 root 로 떨어지지 않도록 lift/trolley 우선.\n    return this._forkGroup ?? this._carriageLiftGroup ?? this._trolleyGroup ?? this.object3d\n  }\n\n  /**\n   * Fork blade *bottom* 의 liftGroup-local Y. *carrier 외부 bottom 정렬점*.\n   *\n   * 모델: carrier 의 외부 bottom 과 fork blade 의 bottom 이 *거의 일치*. fork 가\n   * carrier 의 bottom 부분을 *찔러 들어가* carrier 와 *겹친 자세* (pallet pocket\n   * 안 fork 진입). attachPointFor 가 `carrierBaseY + carrier.depth/2` 로 carrier\n   * center 를 정렬 → carrier bottom = fork blade bottom.\n   */\n  get carrierBaseY(): number {\n    return this._carrierBaseY\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    // carriagePosition — trolleyGroup.position.x (mesh-level update).\n    if ('carriagePosition' in after && this._trolleyGroup) {\n      const W = numOr(this.component.state.width, 100)\n      const pos = numOr(after.carriagePosition, W / 2)\n      this._trolleyGroup.position.x = pos - W / 2\n    }\n\n    // Mesh-level updates — fork extension / lift / carriage height. *rebuild 없이*\n    // mesh 의 scale / position 만 변경. _forkGroup 의 child carrier 가 dispose\n    // 없이 그대로 따라 움직임 (fork 작업 시 시각 자연스러움).\n    //\n    // status / bodyColor / lampEmissive 는 *cosmetic* — full rebuild 회피. 별도\n    // 처리 없음 시 status 변경 시 carrier dispose → 사라짐 결함의 원인. 향후\n    // material color 만 update 하는 path 추가 가능.\n    const needsFullRebuild =\n      'width' in after ||\n      'height' in after ||\n      'depth' in after ||\n      'forkLength' in after ||\n      'carriageWidth' in after\n\n    if (!needsFullRebuild) {\n      let meshUpdated = false\n      if (('carriageHeight' in after || 'forkLiftRT' in after) && this._carriageLiftGroup) {\n        const state = this.component.state as any\n        const D = numOr(state.depth, Math.max(numOr(state.width, 100), numOr(state.height, 100)) * 4)\n        const carriageRaw = numOr(state.carriageHeight, D * 0.4)\n        const carriageHeight = Math.max(0, Math.min(carriageRaw, D * 0.85))\n        const forkLift = numOr(state.forkLiftRT, 0)\n        this._carriageLiftGroup.position.y = this._computeLiftGroupY(carriageHeight, forkLift)\n        meshUpdated = true\n      }\n      if ('forkExtension' in after && this._extLeftMesh && this._extRightMesh) {\n        const state = this.component.state as any\n        const forkLength = numOr(state.forkLength, numOr(state.height, 100) * 0.6)\n        const forkExtensionRaw = numOr(state.forkExtension, 0)\n        const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw))\n        const absExt = Math.abs(forkExtension)\n        const sign = forkExtension >= 0 ? 1 : -1\n        this._applyForkExtensionMeshes(absExt, sign)\n        meshUpdated = true\n      }\n      if (meshUpdated) return\n    }\n\n    if (needsFullRebuild) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  /** carriageHeight + forkLiftRT 를 liftGroup.position.y 로 변환. */\n  private _computeLiftGroupY(carriageHeight: number, forkLift: number): number {\n    const p = this._liftBaseParams\n    if (!p) return 0\n    return p.baseTrolleyY + p.baseH / 2 + carriageHeight + forkLift + p.carriageH / 2\n  }\n\n  /**\n   * Carrier 외부 bottom 의 world Y → carriageHeight state 값 inverse-solve.\n   *\n   * Forward 공식 (build):\n   *   liftGroup.y crane-local = baseTrolleyY + baseH/2 + carriageHeight + forkLift + carriageH/2\n   *   carrier 외부 bottom crane-local = liftGroup.y + carrierBaseY (= -bladeH/2)\n   *                                   = baseTrolleyY + baseH/2 + carriageH/2 - bladeH/2 + carriageHeight + forkLift\n   *\n   * Inverse:\n   *   carriageHeight = worldY − craneCenterY − (baseTrolleyY + baseH/2 + carriageH/2 − bladeH/2) − forkLift\n   */\n  solveCarriageHeightForCarrierBaseWorldY(worldY: number, forkLift: number = 0): number {\n    const p = this._liftBaseParams\n    if (!p) return 0\n    this.object3d.updateWorldMatrix(true, false)\n    const v = new THREE.Vector3()\n    this.object3d.matrixWorld.decompose(v, new THREE.Quaternion(), new THREE.Vector3())\n    const craneCenterWorldY = v.y\n    return worldY - craneCenterWorldY - (p.baseTrolleyY + p.baseH / 2 + p.carriageH / 2 - p.bladeH / 2) - forkLift\n  }\n\n  /**\n   * target 의 *crane-local Z* → fork extension 값 inverse-solve.\n   *\n   * Forward (_applyForkExtensionMeshes): `_bladeMidZ = sign * absExt`\n   * (carrier 가 ext 만큼 fork 따라 진출). Inverse: `ext = |localZ|, sign = sign(localZ)`.\n   *\n   * forkLength 로 clamp — localZ 가 forkLength 보다 멀면 carrier 가 fork tip 까지만.\n   */\n  solveForkExtensionForLocalZ(localZ: number): number {\n    const sign = localZ >= 0 ? 1 : -1\n    const state = this.component.state as any\n    const forkLen = numOr(state.forkLength, numOr(state.height, 100) * 0.6)\n    const clamped = Math.max(0, Math.min(forkLen, Math.abs(localZ)))\n    return sign * clamped\n  }\n\n  /** Fork active extension mesh 의 scale.z + position.z + visibility update. */\n  private _applyForkExtensionMeshes(absExt: number, sign: number) {\n    if (!this._extLeftMesh || !this._extRightMesh || !this._extBaseParams) return\n    const { bladeSpacing, carriageZ, stubL } = this._extBaseParams\n    const visible = absExt > 0.5\n    const len = Math.max(0.001, absExt)\n    const posZ = sign * (carriageZ / 2 + stubL + absExt / 2)\n    this._extLeftMesh.scale.z = len\n    this._extRightMesh.scale.z = len\n    this._extLeftMesh.position.set(-bladeSpacing / 2, this._forkOffsetY, posZ)\n    this._extRightMesh.position.set(+bladeSpacing / 2, this._forkOffsetY, posZ)\n    this._extLeftMesh.visible = visible\n    this._extRightMesh.visible = visible\n\n    // _bladeMidZ = carrier 의 Z 위치 = sign * absExt (= fork extension 만큼 직접).\n    //   ext=0   → 0    (carriage 정중앙 — retract 끝 자세)\n    //   ext=L   → ±L   (fork 가 L 만큼 진출한 위치 = carrier 도 그 위치)\n    // 단순 linear — solveForkExtensionForLocalZ 의 inverse 도 단순 (ext = |localZ|).\n    this._bladeMidZ = sign * absExt\n\n    // _forkGroup 의 child carrier 의 Z 도 동기 — fork tip 위치 따라 carrier 가\n    // 함께 끌려와야 retract 시각 자연.\n    if (this._forkGroup) {\n      for (const child of this._forkGroup.children) {\n        const ctx = (child as any).userData?.context\n        if (ctx && ctx !== this && ctx instanceof RealObject) {\n          child.position.z = this._bladeMidZ\n        }\n      }\n    }\n\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"]}
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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 { RealObject, 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  /**\n   * carriageHeight 의 실제 최댓값 — *mast 의 carriage 이동 가능 범위* 기반.\n   * mastH = D - railH * 2 - baseH - topFrameH - topGuideH (mast 의 실제 길이).\n   * carriage 의 *top edge 가 mast top 안에 머물도록* carriageH/2 추가 차감.\n   *\n   * 이전 D * 0.85 magic 대체 — base/top frame 의 실제 차지 비율과 무관한 추정값\n   * 이라 crane.depth = rack.depth 동일 모델에서도 carriage 가 rack 상위 cell\n   * 도달 못 함. 정확한 mastH 사용으로 *동일 size 모델에서 정상 도달* 보장.\n   */\n  static _maxCarriageHeight(D: number, width: number, height: number): number {\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 mastH = Math.max(D - railH * 2 - baseH - topFrameH - topGuideH, S * 0.5)\n    return Math.max(0, mastH - carriageH / 2)\n  }\n\n  private _forkGroup?: THREE.Group\n  private _carrierBaseY: number = 0\n  private _bladeMidZ: number = 0\n  /** floor rail 만 제외한 나머지 (trolley + masts + carriage + fork) 의 movable parent. */\n  private _trolleyGroup?: THREE.Group\n  /** carriage + fork 의 lift parent (carriageHeight + forkLiftRT 변경 시 Y 만 update). */\n  private _carriageLiftGroup?: THREE.Group\n  /** Fork active extension mesh — scale.z 와 position.z 로 lerp (rebuild 없이). */\n  private _extLeftMesh?: THREE.Mesh\n  private _extRightMesh?: THREE.Mesh\n  private _extBaseParams?: { bladeSpacing: number; carriageZ: number; stubL: number }\n  /** Fork mesh 의 group-local Y center (carriage 위 + bladeH/2). _applyForkExtensionMeshes 가 ext mesh Y 결정. */\n  private _forkOffsetY: number = 0\n  /** liftGroup.position.y 재계산용 base parameters. */\n  private _liftBaseParams?: { baseTrolleyY: number; baseH: number; carriageH: number; bladeH: number }\n\n  build() {\n    super.build()\n\n    this._forkGroup = undefined\n    this._carrierBaseY = 0\n    this._bladeMidZ = 0\n    this._trolleyGroup = undefined\n    this._carriageLiftGroup = undefined\n    this._extLeftMesh = undefined\n    this._extRightMesh = undefined\n    this._extBaseParams = undefined\n    this._liftBaseParams = undefined\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, (this.component as any)._canonicalDefault?.('carriageHeight') ?? D * 0.4)\n    // carriageHeight clamp — 실제 mast 의 carriage 이동 가능 범위 기반. helper 사용\n    // (render + onchange partial update 둘 다 동일 식). 이전엔 D * 0.85 magic 사용 —\n    // base/top frame 의 실제 차지 비율과 무관한 추정. crane.depth = rack.depth 동일\n    // 모델에서도 carriage 가 rack 상위 cell 도달 불가 → 14 levels rack 의 *마지막\n    // shelf 만 한 층 아래에서 포킹* 증상의 root cause 였음.\n    const carriageHeight = Math.max(0, Math.min(carriageRaw, Crane3D._maxCarriageHeight(D, width, height)))\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    // forkLiftRT — 시뮬 runtime current 들림. state.forkLift 는 *configured 진폭*\n    // (사용자 설정) 라 안 건드림. 3D carriage Y 는 runtime 값 사용.\n    const forkLift = numOr((this.component.state as any).forkLiftRT, 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    // Carriage assembly 크기 — state.carriageWidth 기반 (rail 길이 = crane.width\n    // 와 독립). 미명시 시 rail 의 10%.\n    const carriageAssemblyW = numOr((this.component.state as any).carriageWidth, width * 0.1)\n    const mastW = carriageAssemblyW * 0.15           // mast X 단면 (along rail)\n    const mastD = height * 0.25                      // mast Z 단면 (cross-rail)\n    const mastSpacing = carriageAssemblyW * 0.85     // 두 mast X 간격\n    const bladeW = S * 0.1\n    // bladeH — fork 두께. carriage 보다 얇게 (실 fork prong 의 가는 모양).\n    // carriage 와 *같은 Y center (0)* 이고 두께만 carriageH * 0.35.\n    const bladeH = carriageH * 0.35\n    const bladeL = forkLength\n    const bladeSpacing = mastSpacing * 0.45\n    const carriageW = mastSpacing - mastW * 0.2\n    const carriageZ = height * 0.55\n    // Cabinet — 존재감만. 작게.\n    const cabW = S * 0.18\n    const cabH = S * 0.18\n    const cabD = S * 0.15\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 (고정 — crane 본체 안 움직임). 폭 = crane.width (overhang 제거).\n    {\n      const railThin = railH * 0.5\n      const geo = new THREE.BoxGeometry(width, railThin, height * 0.15)\n      const mesh = new THREE.Mesh(geo, railMat)\n      mesh.position.set(0, baseY + railThin / 2, 0)\n      mesh.receiveShadow = true\n      this.object3d.add(mesh)\n    }\n\n    // ── Trolley group — carriage assembly (rail 위 X 만 이동) ─────────\n    // 모든 movable 부품 (base trolley, masts, carriage, fork, cabinet, lamp)\n    // 의 parent. carriagePosition 변경 시 group 의 local X 만 변경.\n    const trolleyGroup = new THREE.Group()\n    this._trolleyGroup = trolleyGroup\n    this.object3d.add(trolleyGroup)\n    // 초기 carriagePosition 적용 — rail-local X (0 ~ width) → object3d-local X (-W/2 ~ +W/2)\n    const carriagePos = numOr((this.component.state as any).carriagePosition, (this.component as any)._canonicalDefault?.('carriagePosition') ?? width / 2)\n    trolleyGroup.position.x = carriagePos - width / 2\n\n    // ── Base trolley ──────────────────────────────────────────────────\n    // Cabinet 이 mast 바깥쪽에 자연스럽게 놓이도록 *trolley 폭을 mast + cabinet\n    // padding 까지 확장*. carriage assembly width 보다 양 옆으로 (cabW + gap) × 2.\n    const trolleyPad = cabW + S * 0.04\n    const baseTrolleyW = carriageAssemblyW + trolleyPad * 2\n    const baseTrolleyY = baseY + railH + baseH / 2\n    {\n      const geo = new THREE.BoxGeometry(baseTrolleyW, 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      trolleyGroup.add(mesh)\n    }\n\n    // ── Control cabinet — mast 바깥쪽 (trolley 의 *확장 padding 영역* 위) ─────\n    {\n      const geo = new THREE.BoxGeometry(cabW, cabH, cabD)\n      const cab = new THREE.Mesh(geo, cabinetMat)\n      cab.position.set(\n        -(carriageAssemblyW / 2 + cabW / 2 + S * 0.02),   // mast 왼쪽 바깥\n        baseTrolleyY + baseH / 2 + cabH / 2,\n        -height * 0.25 + cabD / 2\n      )\n      cab.castShadow = true\n      trolleyGroup.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(carriageAssemblyW / 2 + lampR * 1.5 + S * 0.02, baseTrolleyY + baseH / 2 + lampH / 2, 0)\n      trolleyGroup.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      trolleyGroup.add(mesh)\n    }\n\n    // ── Carriage + Fork lift group (carriageHeight + forkLiftRT 따라 Y 이동) ─\n    // _carriageLiftGroup 안에 carriage + forkGroup. forkLiftRT / carriageHeight\n    // 변경 시 *그룹 Y 만 update* (mesh rebuild X). _forkGroup 의 child carrier 가\n    // *dispose 없이 그대로* 함께 따라 움직임.\n    const stubL = Math.min(carriageZ * 0.2, Math.max(bladeL * 0.05, 6))\n    const liftGroup = new THREE.Group()\n    this._carriageLiftGroup = liftGroup\n    this._liftBaseParams = { baseTrolleyY, baseH, carriageH, bladeH }\n    liftGroup.position.set(0, this._computeLiftGroupY(carriageHeight, forkLift), 0)\n    trolleyGroup.add(liftGroup)\n\n    // Carriage — liftGroup local center\n    {\n      const geo = new THREE.BoxGeometry(carriageW, carriageH, carriageZ)\n      const mesh = new THREE.Mesh(geo, carriageMat)\n      mesh.position.set(0, 0, 0)\n      mesh.castShadow = true\n      mesh.receiveShadow = true\n      liftGroup.add(mesh)\n    }\n\n    // ── Two-prong forks ───────────────────────────────────────────────\n    // stub (4 box, fixed) + active extension (2 box, scale.z 로 lerp).\n    // active mesh 는 *unit-length* 로 생성. _applyForkExtension 이 scale.z 와\n    // position.z 로 길이/방향 update — rebuild 없이 매 frame 부드러운 변형.\n    const absExt = Math.abs(forkExtension)\n    const sign = forkExtension >= 0 ? 1 : -1\n    {\n      const group = new THREE.Group()\n      // _forkGroup 은 liftGroup-local center (0,0,0) — frame 일치 단순화.\n      // attach localPosition (carrier 자식) 도 *group-local = liftGroup-local* 동일 frame.\n      // Fork mesh 자체가 group-local 안에서 carriage *위* 로 (mesh.position.y).\n      group.position.set(0, 0, 0)\n\n      // Fork mesh 가 carriage 와 *수평 (같은 Y 평면)* — carriage 안에 embed.\n      // fork mesh group-local Y center = 0 (carriage center 와 같음).\n      // fork blade *bottom* 면 group-local Y = -bladeH/2.\n      // fork blade *top*    면 group-local Y = +bladeH/2.\n      const forkOffsetY = 0\n\n      // 양옆 stub — 두 prong × 두 측면 = 4 box\n      const stubGeo = new THREE.BoxGeometry(bladeW, bladeH, stubL)\n      for (const xOff of [-bladeSpacing / 2, +bladeSpacing / 2]) {\n        for (const zSide of [-1, +1]) {\n          const mesh = new THREE.Mesh(stubGeo, forkMat)\n          mesh.position.set(xOff, forkOffsetY, zSide * (carriageZ / 2 + stubL / 2))\n          mesh.castShadow = true\n          mesh.receiveShadow = true\n          group.add(mesh)\n        }\n      }\n\n      // Active extension — unit length, scale.z + position.z 로 변형\n      const extGeo = new THREE.BoxGeometry(bladeW, bladeH, 1)\n      const extLeft = new THREE.Mesh(extGeo, forkMat)\n      const extRight = new THREE.Mesh(extGeo, forkMat)\n      this._forkOffsetY = forkOffsetY\n      extLeft.castShadow = true\n      extLeft.receiveShadow = true\n      extRight.castShadow = true\n      extRight.receiveShadow = true\n      group.add(extLeft)\n      group.add(extRight)\n      this._extLeftMesh = extLeft\n      this._extRightMesh = extRight\n      this._extBaseParams = { bladeSpacing, carriageZ, stubL }\n      this._applyForkExtensionMeshes(absExt, sign)\n\n      // carrier 의 초기 Z = sign * absExt (= _applyForkExtensionMeshes 의 공식 동일).\n      const carrierZ = sign * absExt\n\n      liftGroup.add(group)\n      this._forkGroup = group\n      // Carrier 외부 bottom 정렬점 (liftGroup-local Y) = fork blade *bottom* =\n      // -bladeH/2 (fork mesh group-local center = 0, 두께 bladeH).\n      // 사용자 모델: \"fork 의 아랫면 ≈ carrier 의 아랫면\" — fork blade 가 carrier\n      // 의 bottom 부분 안으로 *찔러 들어감* (겹친 자세).\n      this._carrierBaseY = -bladeH / 2\n      this._bladeMidZ = carrierZ\n    }\n\n    // ── Top frame (connects mast tops) — trolley 함께 이동 ─────────────\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      trolleyGroup.add(mesh)\n    }\n\n    // ── Top guide trolley — trolley 함께 이동 (ceiling rail 위 미끄러짐) ─\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      trolleyGroup.add(mesh)\n    }\n\n    // Ceiling rail 생략 — 상단은 top guide trolley 만으로 충분. 사용자 의도.\n\n  }\n\n  getCarriageFrame(): THREE.Object3D | undefined {\n    // Fallback chain — carrier 가 *carriage transform (X 이동, Y lift)* 따라오도록.\n    // _forkGroup 미존재 시 _carriageLiftGroup (X+Y 따라옴) → _trolleyGroup (X 만) →\n    // root (no follow). 절대 root 로 떨어지지 않도록 lift/trolley 우선.\n    return this._forkGroup ?? this._carriageLiftGroup ?? this._trolleyGroup ?? this.object3d\n  }\n\n  /**\n   * Fork blade *bottom* 의 liftGroup-local Y. *carrier 외부 bottom 정렬점*.\n   *\n   * 모델: carrier 의 외부 bottom 과 fork blade 의 bottom 이 *거의 일치*. fork 가\n   * carrier 의 bottom 부분을 *찔러 들어가* carrier 와 *겹친 자세* (pallet pocket\n   * 안 fork 진입). attachPointFor 가 `carrierBaseY + carrier.depth/2` 로 carrier\n   * center 를 정렬 → carrier bottom = fork blade bottom.\n   */\n  get carrierBaseY(): number {\n    return this._carrierBaseY\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    // carriagePosition — trolleyGroup.position.x (mesh-level update).\n    if ('carriagePosition' in after && this._trolleyGroup) {\n      const W = numOr(this.component.state.width, 100)\n      const pos = numOr(after.carriagePosition, W / 2)\n      this._trolleyGroup.position.x = pos - W / 2\n    }\n\n    // Mesh-level updates — fork extension / lift / carriage height. *rebuild 없이*\n    // mesh 의 scale / position 만 변경. _forkGroup 의 child carrier 가 dispose\n    // 없이 그대로 따라 움직임 (fork 작업 시 시각 자연스러움).\n    //\n    // status / bodyColor / lampEmissive 는 *cosmetic* — full rebuild 회피. 별도\n    // 처리 없음 시 status 변경 시 carrier dispose → 사라짐 결함의 원인. 향후\n    // material color 만 update 하는 path 추가 가능.\n    const needsFullRebuild =\n      'width' in after ||\n      'height' in after ||\n      'depth' in after ||\n      'forkLength' in after ||\n      'carriageWidth' in after\n\n    if (!needsFullRebuild) {\n      let meshUpdated = false\n      if (('carriageHeight' in after || 'forkLiftRT' in after) && this._carriageLiftGroup) {\n        const state = this.component.state as any\n        const W = numOr(state.width, 100)\n        const H = numOr(state.height, 100)\n        const D = numOr(state.depth, Math.max(W, H) * 4)\n        const carriageRaw = numOr(state.carriageHeight, D * 0.4)\n        const carriageHeight = Math.max(0, Math.min(carriageRaw, Crane3D._maxCarriageHeight(D, W, H)))\n        const forkLift = numOr(state.forkLiftRT, 0)\n        this._carriageLiftGroup.position.y = this._computeLiftGroupY(carriageHeight, forkLift)\n        meshUpdated = true\n      }\n      if ('forkExtension' in after && this._extLeftMesh && this._extRightMesh) {\n        const state = this.component.state as any\n        const forkLength = numOr(state.forkLength, numOr(state.height, 100) * 0.6)\n        const forkExtensionRaw = numOr(state.forkExtension, 0)\n        const forkExtension = Math.max(-forkLength, Math.min(forkLength, forkExtensionRaw))\n        const absExt = Math.abs(forkExtension)\n        const sign = forkExtension >= 0 ? 1 : -1\n        this._applyForkExtensionMeshes(absExt, sign)\n        meshUpdated = true\n      }\n      if (meshUpdated) return\n    }\n\n    if (needsFullRebuild) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  /** carriageHeight + forkLiftRT 를 liftGroup.position.y 로 변환. */\n  private _computeLiftGroupY(carriageHeight: number, forkLift: number): number {\n    const p = this._liftBaseParams\n    if (!p) return 0\n    return p.baseTrolleyY + p.baseH / 2 + carriageHeight + forkLift + p.carriageH / 2\n  }\n\n  /**\n   * Carrier 외부 bottom 의 world Y → carriageHeight state 값 inverse-solve.\n   *\n   * Forward 공식 (build):\n   *   liftGroup.y crane-local = baseTrolleyY + baseH/2 + carriageHeight + forkLift + carriageH/2\n   *   carrier 외부 bottom crane-local = liftGroup.y + carrierBaseY (= -bladeH/2)\n   *                                   = baseTrolleyY + baseH/2 + carriageH/2 - bladeH/2 + carriageHeight + forkLift\n   *\n   * Inverse:\n   *   carriageHeight = worldY − craneCenterY − (baseTrolleyY + baseH/2 + carriageH/2 − bladeH/2) − forkLift\n   */\n  solveCarriageHeightForCarrierBaseWorldY(worldY: number, forkLift: number = 0): number {\n    const p = this._liftBaseParams\n    if (!p) return 0\n    this.object3d.updateWorldMatrix(true, false)\n    const v = new THREE.Vector3()\n    this.object3d.matrixWorld.decompose(v, new THREE.Quaternion(), new THREE.Vector3())\n    const craneCenterWorldY = v.y\n    return worldY - craneCenterWorldY - (p.baseTrolleyY + p.baseH / 2 + p.carriageH / 2 - p.bladeH / 2) - forkLift\n  }\n\n  /**\n   * target 의 *crane-local Z* → fork extension 값 inverse-solve.\n   *\n   * Forward (_applyForkExtensionMeshes): `_bladeMidZ = sign * absExt`\n   * (carrier 가 ext 만큼 fork 따라 진출). Inverse: `ext = |localZ|, sign = sign(localZ)`.\n   *\n   * forkLength 로 clamp — localZ 가 forkLength 보다 멀면 carrier 가 fork tip 까지만.\n   */\n  solveForkExtensionForLocalZ(localZ: number): number {\n    const sign = localZ >= 0 ? 1 : -1\n    const state = this.component.state as any\n    const forkLen = numOr(state.forkLength, numOr(state.height, 100) * 0.6)\n    const clamped = Math.max(0, Math.min(forkLen, Math.abs(localZ)))\n    return sign * clamped\n  }\n\n  /** Fork active extension mesh 의 scale.z + position.z + visibility update. */\n  private _applyForkExtensionMeshes(absExt: number, sign: number) {\n    if (!this._extLeftMesh || !this._extRightMesh || !this._extBaseParams) return\n    const { bladeSpacing, carriageZ, stubL } = this._extBaseParams\n    const visible = absExt > 0.5\n    const len = Math.max(0.001, absExt)\n    const posZ = sign * (carriageZ / 2 + stubL + absExt / 2)\n    this._extLeftMesh.scale.z = len\n    this._extRightMesh.scale.z = len\n    this._extLeftMesh.position.set(-bladeSpacing / 2, this._forkOffsetY, posZ)\n    this._extRightMesh.position.set(+bladeSpacing / 2, this._forkOffsetY, posZ)\n    this._extLeftMesh.visible = visible\n    this._extRightMesh.visible = visible\n\n    // _bladeMidZ = carrier 의 Z 위치 = sign * absExt (= fork extension 만큼 직접).\n    //   ext=0   → 0    (carriage 정중앙 — retract 끝 자세)\n    //   ext=L   → ±L   (fork 가 L 만큼 진출한 위치 = carrier 도 그 위치)\n    // 단순 linear — solveForkExtensionForLocalZ 의 inverse 도 단순 (ext = |localZ|).\n    this._bladeMidZ = sign * absExt\n\n    // _forkGroup 의 child carrier 의 Z 도 동기 — fork tip 위치 따라 carrier 가\n    // 함께 끌려와야 retract 시각 자연.\n    if (this._forkGroup) {\n      for (const child of this._forkGroup.children) {\n        const ctx = (child as any).userData?.context\n        // `ctx instanceof RealObject` 는 *cross-module identity 실패* 가능\n        // (Parcel3D 가 다른 things-scene 인스턴스의 RealObject 를 extend 한 경우\n        // instanceof 가 false 반환). duck-type 으로 완화 — *crane 자신만 제외*.\n        if (ctx && ctx !== this) {\n          child.position.z = this._bladeMidZ\n        }\n      }\n    }\n\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

@@ -1,7 +1,20 @@
 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 { type AttachFrame, type Alignment, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype, type SlottedHolder } from '@operato/scene-base';
+import * as THREE from 'three';
 import { Crane3D } from './crane-3d.js';
+/**
+ * AdjacentSlot — crane 의 작업 reach 영역 안에 있는 slot 의 정보. simulate /
+ * 자동 transfer 의 source/dest 후보.
+ */
+export interface AdjacentSlot {
+    holder: SlottedHolder & {
+        state?: any;
+    };
+    slotId: string;
+    anchor: THREE.Object3D;
+    world: THREE.Vector3;
+}
 /**
  * Crane status — the operating state of a stacker crane.
  *
@@ -48,12 +61,23 @@ export interface CraneState extends State {
      */
     forkLiftRT?: number;
     /**
-     * 자동 random simulate (visual smoke test) 시작 여부.
-     * - `undefined` 또는 `false` (default): 자동 시작 안 함. application 이 crane.
-     *   pickAndPlace 등 직접 제어 시 사용.
-     * - `true`: added() 시 자동 시작.
+     * 자동 random simulate 시작 여부. capability 기반 — crane.findAdjacentSlots()
+     * 으로 인접 SlottedHolder 발견 후 random source/dest transfer.
+     *  - `undefined` 또는 `false` (default): 자동 시작 안 함. application 이 crane.
+     *    pickAndPlace 등 직접 제어 시 사용.
+     *  - `true`: added() 시 자동 시작 + state runtime toggle 가능.
      */
     simulate?: boolean;
+    /**
+     * 1:N binding — 이 crane 이 *작업 대상으로 인지할 holder id 들*. 모델링 시
+     * 사용자가 명시. 명시 시 *findAdjacentSlots 가 그 list 의 holder 만 traverse*
+     * → broad scene scan 회피. 미명시 시 *scene 전체 SlottedHolder fallback*
+     * (BC, 기존 모델 호환).
+     *
+     * 입력 형식 — comma-separated id string ("rack-1, rack-2") 또는 array.
+     * editor 의 *id-list-input* widget 부재 시 string 으로.
+     */
+    boundHolders?: string | string[];
     /**
      * Carriage 의 rail-local X 위치 (0 ~ crane.width). Crane.moveTo / simulate 가
      * lerp. crane 본체 (rail) 는 안 움직임 — carriage assembly (masts + carriage +
@@ -65,6 +89,15 @@ export interface CraneState extends State {
      * Target rack 의 cell 폭과 매칭 권유.
      */
     carriageWidth?: number;
+    /**
+     * Carriage 운동 속도 (scene units / sec). 각 crane 별로 다르게 설정 가능 — 같은
+     * 거리도 crane 마다 다른 시간. 미명시 시 default 250 u/s.
+     *
+     * Crane.moveTo 가 *carriage 의 X 및 Y 운동 거리* / speed 로 duration 계산 → 한 칸
+     * 이동 vs rail 끝~끝 이동 의 시간 자연 차이. 여러 crane 의 cycle 시간 분산 → 동시
+     * 동기화 회귀 차단.
+     */
+    speed?: number;
     material3d?: Material3D;
 }
 declare const Crane_base: any;
@@ -192,6 +225,66 @@ export default class Crane extends Crane_base {
     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>;
+    /**
+     * scene 의 모든 SlottedHolder 의 *slot 중에서 crane 의 작업 reach 안에 들어
+     * 오는 slot 들* 을 반환. 자동 simulate / WCS-less 시나리오의 enumeration entry.
+     *
+     * 매칭 알고리즘 (공간 reach 박스):
+     *  - crane.world center (axis-aligned 가정 — rotation 무시)
+     *  - 각 slot.anchor.world position 이
+     *      |x - cx| ≤ width/2 + reachXZ  AND  |z - cz| ≤ height/2 + reachXZ
+     *      AND  |y - cy| ≤ depth/2 + reachY
+     *    범위 안인가
+     *  - reachXZ = `crane.state.height` (fork forward 폭). reachY = `crane.state.depth`/2.
+     *
+     * RackGrid 의 *isEmpty aisle 통로 자리에 crane 이 배치* 된 케이스도 자동 cover —
+     * 통로 양옆 bay 의 slot anchor world 가 reach 안에 자연히 들어옴.
+     *
+     * @param opts.includeSelf  자기 자신을 holder 로 포함할지 (default false — crane
+     *                          은 SlottedHolder 아니지만 안전 차원).
+     */
+    /**
+     * Cycle 단위 cache 없음 — **매 cycle 협의** (capability negotiation 의 본질).
+     * crane.carriagePosition 변경 / rack 추가-이동 / 동적 forkLength 등 *runtime
+     * 변화 대응*. cost 는 *slotWorldPosition (anchor 0 생성) + canReach (cheap
+     * 좌표 비교)* — 매 cycle 호출 부담 작음.
+     *
+     * 이 field 는 *_oneCycle 사용을 위한 *호출 당 임시 holder grouping** —
+     * findAdjacentSlots 결과의 byHolder mapping. caller (_oneCycle) 가 사용 후
+     * 폐기.
+     */
+    private _adjacentByHolder?;
+    /** Cache 없음 — invalidate 호출도 no-op (호환 차원 keep). */
+    invalidateAdjacentSlots(): void;
+    /**
+     * 자동 detect 결과 cache — *boundHolders 미명시 시* 사용. crane / rack 위치가
+     * 정적이라 *1회 detect 후 영구 cache 안전*. 위치/회전/차원 변경 시 invalidate.
+     */
+    private _autoBoundCache?;
+    /** Auto bound cache invalidate — crane state 변경 시 호출. */
+    invalidateBoundCache(): void;
+    /**
+     * Scene traverse + reach 검사 — 어느 slot 1개라도 reach 안인 holder 들 list.
+     * boundHolders 미명시 시 *runtime auto-detect* 결과. crane/rack 정적 위치
+     * 가정 — 1회 호출 후 cache.
+     */
+    detectBoundHolders(): Array<SlottedHolder & {
+        state?: any;
+    }>;
+    /**
+     * Bound holder instance resolve.
+     *  1. boundHolders state 명시 → 그 id list resolve (explicit binding)
+     *  2. 미명시 → detectBoundHolders() 1회 + auto-cache (implicit binding,
+     *     crane / rack 정적 위치 가정)
+     *
+     * 둘 다 *binding scope* — findAdjacentSlots 가 그 list 만 traverse.
+     */
+    boundHolderInstances(): Array<SlottedHolder & {
+        state?: any;
+    }>;
+    findAdjacentSlots(opts?: {
+        includeSelf?: boolean;
+    }): AdjacentSlot[];
     /**
      * 2D top-down 표현 — 크레인으로 명확히 인식되도록 핵심 부품 그림:
      *
@@ -235,8 +328,33 @@ export default class Crane extends Crane_base {
     private _railMin;
     private _railMax;
     private _targetSide;
-    /** Continuous random pick → transport → place cycles. Visual smoke test. */
+    /**
+     * Main loop — 통합 처리.
+     *
+     *   1. dispatcher 의 명시 작업 take → execute (priority 큰 작업 우선)
+     *   2. dispatcher 작업 없음 + state.simulate=true → 기존 random fallback (_oneCycle)
+     *   3. 둘 다 없음 → longer idle (dispatcher 작업 enqueue 대기)
+     *
+     * Phase Z 통합 — 사용자 application 의 `holder.putaway / picking` 호출이 즉시 자연
+     * 처리. simulate=true 시 큐 비면 random visual smoke 도 유지. 작업 사이 자연 idle.
+     */
     simulate(): Promise<void>;
+    /**
+     * Dispatcher 가 할당한 ticket 처리. lifecycle:
+     *   assigned (이미 takeNextFor 가 set) → in_progress → completed / failed
+     *
+     * 흐름:
+     *   1. request.from / to 를 resolve (string id → SlotTarget, SlotTarget 그대로 등)
+     *   2. carrier obtain — request.carrier 명시 시 그것, 미명시 시 from.holder.obtainCarrier
+     *   3. pickAndPlace(carrier, dest)
+     *   4. ticket status notify
+     *
+     * 실패 처리:
+     *   - target resolve 실패 → failed (resolve-target)
+     *   - carrier obtain 실패 → failed (no-carrier)
+     *   - pickAndPlace throw → failed (그 error)
+     */
+    private _executeTicket;
     /**
      * 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.
@@ -249,6 +367,18 @@ export default class Crane extends Crane_base {
      * 로 잡아 GC 안 됨 + frameClock 콜백 살아남음.
      */
     dispose(): void;
+    /**
+     * 1 cycle = *capability 기반 random transfer*.
+     *
+     *   1. findAdjacentSlots()        — scene 의 인접 SlottedHolder 의 slot 들
+     *   2. occupied / empty 분리       — hasCarrierAt / canReceiveAt
+     *   3. random source / dest 선택   — 같은 slot 자가 transfer 회피
+     *   4. obtainCarrier + pickAndPlace — Mover.pickAndPlace 가 pick + place 진행
+     *
+     * 인접 slot / occupied / empty 어느 하나라도 비어있으면 짧은 delay 후 next.
+     * 진짜 carrier 가 fork 위 visible 로 이동 — 시각 simulate 가 *동시에 *진짜
+     * 데이타 전환* 도 수행 (Plan A: 데이타 → 실물 → 데이타 atomic 전환).
+     */
     private _oneCycle;
     /**
      * frameClock 기반 tween — things-scene 의 표준 `Component.animate()` 사용.