@operato/scene-storage 10.0.0-beta.48 → 10.0.0-beta.53

package/CHANGELOG.md

@@ -3,6 +3,42 @@
 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.53](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.52...v10.0.0-beta.53) (2026-06-03)
+
+
+### :rocket: New Features
+
+* **scene-base,storage:** Phase ZT-V PR-3a — RecordStorage mixin + Stockpile 마이그 ([e83e054](https://github.com/things-scene/operato-scene/commit/e83e054170d0526c3a8d7290c9ccedd75861149c))
+* **scene-base,storage:** Phase ZT-V PR-9 — SingleSlotHolder mixin + Spot/PickingStation 마이그 ([cb11c4e](https://github.com/things-scene/operato-scene/commit/cb11c4e7dc97a671b63fabd4aef518d0aa215a61))
+* **scene-base:** Phase ZT-V PR-1 — Identity + CapabilityRegistry ([3353b99](https://github.com/things-scene/operato-scene/commit/3353b99e28f80e6a32eb072af3adbd9dad36a2cf))
+* **scene:** dock-door pure gate + trailer-container + forklift home/smooth ([e7302ca](https://github.com/things-scene/operato-scene/commit/e7302ca425209b7870b7d6d2d94c89ad67a25a28))
+* **storage,scene-base:** Step 1+2 — StorageRack cell-precise approach + fromPos 전달 ([e79b266](https://github.com/things-scene/operato-scene/commit/e79b26633a69545de4b75e3519d20fcb2ed5d6ed))
+
+
+### :house: Code Refactoring
+
+* **storage:** Phase ZT-V PR-3b — StockpileGrid 의 RecordStorage 마이그 ([7257b83](https://github.com/things-scene/operato-scene/commit/7257b83f517173418c86762de33f6585119bd866))
+* **storage:** Phase ZT-V PR-3c — StorageRack 의 RecordStorage 마이그 ([27b930e](https://github.com/things-scene/operato-scene/commit/27b930e0cd50806cf6db55435d300febdaf93158))
+* **storage:** Phase ZT-V PR-3d — RackGrid 의 RecordStorage 마이그 ([5055129](https://github.com/things-scene/operato-scene/commit/505512970ee2a9eec2d836b2b2c2539961e64056))
+
+
+
+## [10.0.0-beta.50](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.49...v10.0.0-beta.50) (2026-05-28)
+
+
+### :rocket: New Features
+
+* **scene-base,transport:** AMR 자동 운반 — planTransfer 다중 hop + zone 좌표 정합 + slot reservation ([3474236](https://github.com/things-scene/operato-scene/commit/347423683c9814627334f134259b203117a32a69))
+* **storage,transport:** PickingStation + PickingCart — picking workflow 컴포넌트 ([8017e39](https://github.com/things-scene/operato-scene/commit/8017e39c5caeed81200b1c922bf1176cf85784b8))
+* **storage:** Stockpile + StockpileGrid — 평치 보관 컴포넌트 ([d144cb0](https://github.com/things-scene/operato-scene/commit/d144cb0e7731800569594c29e0cf49c7e2fd71d9))
+
+
+### :house: Code Refactoring
+
+* **storage:** StockpileGrid 데이터 구조 단순화 — cells → data 통일, cell override 제거 ([475e72d](https://github.com/things-scene/operato-scene/commit/475e72d4c03b562b240da00f56177af51f27b2c6))
+
+
+
 ## [10.0.0-beta.48](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.47...v10.0.0-beta.48) (2026-05-26)
 
 **Note:** Version bump only for package @operato/scene-storage

package/dist/box.js

@@ -3,7 +3,7 @@ import { __decorate } from "tslib";
  * Copyright © HatioLab Inc. All rights reserved.
  */
 import { RectPath, Shape, topApproachFrame, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
-import { Carriable, Legendable, Placeable } from '@operato/scene-base';
+import { Carriable, Identifiable, Legendable, Placeable } from '@operato/scene-base';
 import { Box3D } from './box-3d.js';
 const BODY_LEGEND = {
     wood: '#a87644',
@@ -39,7 +39,7 @@ const NATURE = {
  * logistics visualization (a *case* of items inside a box is data, not
  * scene-tree). If a future use case needs nested boxes, extend Container.
  */
-let Box = class Box extends Carriable(Legendable(Placeable(RectPath(Shape)))) {
+let Box = class Box extends Identifiable(Carriable(Legendable(Placeable(RectPath(Shape))))) {
     static legends = {
         bodyColor: { from: 'material', legend: BODY_LEGEND }
     };

package/dist/box.js.map

@@ -1 +1 @@
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All rights reserved.\n */\nimport {\n  ComponentNature,\n  RealObject,\n  RectPath,\n  Shape,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Legendable,\n  Placeable,\n  type Alignment,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Box3D } from './box-3d.js'\n\n/**\n * Box material — drives 3D structure and color.\n *\n * - `wood`     — wood crate: visible vertical slats, gaps between, open or\n *                semi-open top. Used for heavy / industrial parts.\n * - `plastic`  — plastic tote / bin: solid molded walls with stackable lip\n *                at top. Used for fulfillment, parts kitting.\n *\n * Cardboard parcels are a separate component (see `parcel.ts`) — they have\n * different proportions, taping, and labels that warrant a distinct class.\n */\nexport type BoxMaterial = 'wood' | 'plastic'\n\n/** Box 컴포넌트 state */\nexport interface BoxState extends State {\n  // ── 외관 ──\n  material?: BoxMaterial\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#3a5078',\n  default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'material',\n      name: 'material',\n      property: {\n        options: [\n          { display: 'Wood', value: 'wood' },\n          { display: 'Plastic', value: 'plastic' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/box'\n}\n\n// Carriable: a box can be a child of any CarrierHolder (Pallet for stacking,\n// AGV deck, robot-arm gripper, Spot for staging).\n/**\n * Box — a generic stackable container for goods. Wood crate or plastic tote\n * variants distinguished by `material` prop.\n *\n * Shape-based (not Container) — boxes nesting other components is rare in\n * logistics visualization (a *case* of items inside a box is data, not\n * scene-tree). If a future use case needs nested boxes, extend Container.\n */\n@sceneComponent('box')\nexport default class Box extends Carriable(Legendable(Placeable(RectPath(Shape)))) {\n  declare state: BoxState\n\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'material', legend: BODY_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 300\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** 2D — top-down rectangle. */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Box3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. Box 는 위에서 gripper / vacuum cup 으로 집기 —\n   * 단일 entry (top center). Box 의 dimensions 가 작아서 forklift fork 보다는\n   * gripper 가 일반적. forklift 로 들어올릴 box 는 통상 pallet 위에 stacking\n   * 후 pallet 째로 운반.\n   *\n   * tolerance 가 pallet 보다 빡빡 (gripper 정밀도 vs forklift pocket 폭).\n   */\n  pickupFrames(): PickupFrame[] {\n    const wp = getWorldPose(this)\n    const me: PoseSerialized = {\n      position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n      rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n    }\n    const boxDepth = (this.constructor as any).defaultDepth ?? 300\n\n    return [\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,                  // Box top in carrier-local Y (depth = full height; top at depth)\n        approachDistance: 50,            // gripper 가 hover 하는 거리\n        toolType: 'gripper',\n        tolerance: { positionMm: 5, angleDeg: 1 },\n        priority: 0,\n        id: 'top-gripper'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,\n        approachDistance: 40,\n        toolType: 'agv-deck',\n        tolerance: { positionMm: 15, angleDeg: 3 },\n        priority: 1,\n        id: 'top-deck'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,\n        approachDistance: 80,            // crane fork hover\n        toolType: 'forklift-fork',\n        tolerance: { positionMm: 25, angleDeg: 4 },\n        priority: 2,\n        id: 'top-fork'\n      })\n    ]\n  }\n}\n"]}
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All rights reserved.\n */\nimport {\n  ComponentNature,\n  RealObject,\n  RectPath,\n  Shape,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Identifiable,\n  Legendable,\n  Placeable,\n  type Alignment,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Box3D } from './box-3d.js'\n\n/**\n * Box material — drives 3D structure and color.\n *\n * - `wood`     — wood crate: visible vertical slats, gaps between, open or\n *                semi-open top. Used for heavy / industrial parts.\n * - `plastic`  — plastic tote / bin: solid molded walls with stackable lip\n *                at top. Used for fulfillment, parts kitting.\n *\n * Cardboard parcels are a separate component (see `parcel.ts`) — they have\n * different proportions, taping, and labels that warrant a distinct class.\n */\nexport type BoxMaterial = 'wood' | 'plastic'\n\n/** Box 컴포넌트 state */\nexport interface BoxState extends State {\n  // ── 외관 ──\n  material?: BoxMaterial\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#3a5078',\n  default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'material',\n      name: 'material',\n      property: {\n        options: [\n          { display: 'Wood', value: 'wood' },\n          { display: 'Plastic', value: 'plastic' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/box'\n}\n\n// Carriable: a box can be a child of any CarrierHolder (Pallet for stacking,\n// AGV deck, robot-arm gripper, Spot for staging).\n/**\n * Box — a generic stackable container for goods. Wood crate or plastic tote\n * variants distinguished by `material` prop.\n *\n * Shape-based (not Container) — boxes nesting other components is rare in\n * logistics visualization (a *case* of items inside a box is data, not\n * scene-tree). If a future use case needs nested boxes, extend Container.\n */\n@sceneComponent('box')\nexport default class Box extends Identifiable(Carriable(Legendable(Placeable(RectPath(Shape))))) {\n  declare state: BoxState\n\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'material', legend: BODY_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 300\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** 2D — top-down rectangle. */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Box3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. Box 는 위에서 gripper / vacuum cup 으로 집기 —\n   * 단일 entry (top center). Box 의 dimensions 가 작아서 forklift fork 보다는\n   * gripper 가 일반적. forklift 로 들어올릴 box 는 통상 pallet 위에 stacking\n   * 후 pallet 째로 운반.\n   *\n   * tolerance 가 pallet 보다 빡빡 (gripper 정밀도 vs forklift pocket 폭).\n   */\n  pickupFrames(): PickupFrame[] {\n    const wp = getWorldPose(this)\n    const me: PoseSerialized = {\n      position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n      rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n    }\n    const boxDepth = (this.constructor as any).defaultDepth ?? 300\n\n    return [\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,                  // Box top in carrier-local Y (depth = full height; top at depth)\n        approachDistance: 50,            // gripper 가 hover 하는 거리\n        toolType: 'gripper',\n        tolerance: { positionMm: 5, angleDeg: 1 },\n        priority: 0,\n        id: 'top-gripper'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,\n        approachDistance: 40,\n        toolType: 'agv-deck',\n        tolerance: { positionMm: 15, angleDeg: 3 },\n        priority: 1,\n        id: 'top-deck'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: boxDepth,\n        approachDistance: 80,            // crane fork hover\n        toolType: 'forklift-fork',\n        tolerance: { positionMm: 25, angleDeg: 4 },\n        priority: 2,\n        id: 'top-fork'\n      })\n    ]\n  }\n}\n"]}

package/dist/index.d.ts

@@ -17,6 +17,15 @@ export type { CraneState, CraneStatus } from './crane.js';
 export { Crane3D } from './crane-3d.js';
 export { default as Spot } from './spot.js';
 export { Spot3D } from './spot-3d.js';
+export { default as Stockpile } from './stockpile.js';
+export type { StockpileState, StockpileRecord, StackPattern, CarrierPreset, PickPolicy } from './stockpile.js';
+export { Stockpile3D } from './stockpile-3d.js';
+export { default as StockpileGrid } from './stockpile-grid.js';
+export type { StockpileGridState, StockpileGridCell } from './stockpile-grid.js';
+export { StockpileGrid3D } from './stockpile-grid-3d.js';
+export { default as PickingStation } from './picking-station.js';
+export type { PickingStationState, PickingStationStatus } from './picking-station.js';
+export { PickingStation3D } from './picking-station-3d.js';
 export { default as GenericContainer } from './generic-container.js';
 export type { ContainerStatus } from './generic-container.js';
 export { GenericContainer3D } from './generic-container-3d.js';

package/dist/index.js

@@ -14,6 +14,12 @@ export { default as Crane } from './crane.js';
 export { Crane3D } from './crane-3d.js';
 export { default as Spot } from './spot.js';
 export { Spot3D } from './spot-3d.js';
+export { default as Stockpile } from './stockpile.js';
+export { Stockpile3D } from './stockpile-3d.js';
+export { default as StockpileGrid } from './stockpile-grid.js';
+export { StockpileGrid3D } from './stockpile-grid-3d.js';
+export { default as PickingStation } from './picking-station.js';
+export { PickingStation3D } from './picking-station-3d.js';
 export { default as GenericContainer } from './generic-container.js';
 export { GenericContainer3D } from './generic-container-3d.js';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AACH,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAG/C,OAAO,EAAE,OAAO,IAAI,GAAG,EAAE,MAAM,UAAU,CAAA;AAGzC,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAE/C,OAAO,EAAE,OAAO,IAAI,WAAW,EAAE,MAAM,mBAAmB,CAAA;AAE1D,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAA;AACpD,OAAO,EAAE,OAAO,IAAI,QAAQ,EAAE,MAAM,gBAAgB,CAAA;AAEpD,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAA;AAC9C,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,qBAAqB,CAAA;AAE7D,OAAO,EAAE,OAAO,IAAI,iBAAiB,EAAE,MAAM,0BAA0B,CAAA;AACvE,OAAO,EAAE,OAAO,IAAI,KAAK,EAAE,MAAM,YAAY,CAAA;AAE7C,OAAO,EAAE,OAAO,EAAE,MAAM,eAAe,CAAA;AAEvC,OAAO,EAAE,OAAO,IAAI,IAAI,EAAE,MAAM,WAAW,CAAA;AAC3C,OAAO,EAAE,MAAM,EAAE,MAAM,cAAc,CAAA;AAErC,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,gBAAgB,CAAA;AAIrD,OAAO,EAAE,WAAW,EAAE,MAAM,mBAAmB,CAAA;AAE/C,OAAO,EAAE,OAAO,IAAI,aAAa,EAAE,MAAM,qBAAqB,CAAA;AAE9D,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAA;AAExD,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,MAAM,sBAAsB,CAAA;AAEhE,OAAO,EAAE,gBAAgB,EAAE,MAAM,yBAAyB,CAAA;AAE1D,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AAEpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,2BAA2B,CAAA","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\nexport { default as Pallet } from './pallet.js'\nexport type { PalletMaterial } from './pallet.js'\n\nexport { default as Box } from './box.js'\nexport type { BoxMaterial } from './box.js'\n\nexport { default as Parcel } from './parcel.js'\n\nexport { default as StorageRack } from './storage-rack.js'\nexport type { StorageRackState } from './storage-rack.js'\nexport { StorageRack3D } from './storage-rack-3d.js'\nexport { default as RackGrid } from './rack-grid.js'\nexport type { RackGridState, CellOverride } from './rack-grid.js'\nexport { RackGrid3D } from './rack-grid-3d.js'\nexport { default as RackGridCell } from './rack-grid-cell.js'\nexport type { RackGridCellState } from './rack-grid-cell.js'\nexport { default as MobileStorageRack } from './mobile-storage-rack.js'\nexport { default as Crane } from './crane.js'\nexport type { CraneState, CraneStatus } from './crane.js'\nexport { Crane3D } from './crane-3d.js'\n\nexport { default as Spot } from './spot.js'\nexport { Spot3D } from './spot-3d.js'\n\nexport { default as Stockpile } from './stockpile.js'\nexport type {\n  StockpileState, StockpileRecord, StackPattern, CarrierPreset, PickPolicy\n} from './stockpile.js'\nexport { Stockpile3D } from './stockpile-3d.js'\n\nexport { default as StockpileGrid } from './stockpile-grid.js'\nexport type { StockpileGridState, StockpileGridCell } from './stockpile-grid.js'\nexport { StockpileGrid3D } from './stockpile-grid-3d.js'\n\nexport { default as PickingStation } from './picking-station.js'\nexport type { PickingStationState, PickingStationStatus } from './picking-station.js'\nexport { PickingStation3D } from './picking-station-3d.js'\n\nexport { default as GenericContainer } from './generic-container.js'\nexport type { ContainerStatus } from './generic-container.js'\nexport { GenericContainer3D } from './generic-container-3d.js'\n"]}

package/dist/pallet.js

@@ -3,7 +3,7 @@ import { __decorate } from "tslib";
  * Copyright © HatioLab Inc. All rights reserved.
  */
 import { ContainerAbstract, rectangularFootprintFrames, topApproachFrame, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
-import { Carriable, Legendable, Placeable } from '@operato/scene-base';
+import { Carriable, Identifiable, Legendable, Placeable } from '@operato/scene-base';
 import { Pallet3D } from './pallet-3d.js';
 const BODY_LEGEND = {
     wood: '#a87644',
@@ -69,7 +69,7 @@ const NATURE = {
  * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the
  * detection.
  */
-let Pallet = class Pallet extends Carriable(Legendable(Placeable(ContainerAbstract))) {
+let Pallet = class Pallet extends Identifiable(Carriable(Legendable(Placeable(ContainerAbstract)))) {
     static legends = {
         bodyColor: { from: 'material', legend: BODY_LEGEND }
     };

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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  RealObject,\n  Pose6DOF,\n  rectangularFootprintFrames,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Legendable,\n  Placeable,\n  type Alignment,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Pallet3D } from './pallet-3d.js'\n\n/**\n * Pallet material — drives both 2D fill color and 3D structure.\n *\n * - `wood`     — traditional EUR / EPAL pallet: parallel slats on top and\n *                bottom, three perpendicular stringers between them.\n * - `plastic`  — molded one-piece pallet: solid top deck with cutouts,\n *                hollow underside with feet. Distinct ribbed underside.\n *\n * Adding a third material (e.g. metal, composite) is a one-line change to the\n * legend + a 3D variant in pallet-3d.ts.\n */\nexport type PalletMaterial = 'wood' | 'plastic'\n\n/** Pallet 컴포넌트 state */\nexport interface PalletState extends State {\n  // ── 외관 ──\n  material?: PalletMaterial\n\n  /**\n   * Fork pocket 의 깊이 (mm) — pallet 외부 bottom (skid bottom) 부터 deck bottom\n   * 까지의 수직 거리. fork blade 가 이 *pocket 안* 으로 수평 진입. 표준 EUR\n   * pallet (144mm depth) 의 pocket ≈ 50~60mm.\n   *\n   * 미명시 시 default = depth 의 40% (= ~60mm for 150mm pallet).\n   */\n  pocketDepth?: number\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#5a6a78',\n  default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'material',\n      name: 'material',\n      property: {\n        options: [\n          { display: 'Wood', value: 'wood' },\n          { display: 'Plastic', value: 'plastic' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'pocket-depth',\n      name: 'pocketDepth',\n      placeholder: 'mm — fork 진입 pocket 깊이 (skid bottom → deck bottom). default depth × 40%.'\n    }\n  ],\n  help: 'scene/component/pallet'\n}\n\n// Carriable: a pallet can sit on AGV / Forklift / robot-arm gripper / Spot\n// and also accept boxes / parcels as children (ContainerAbstract base\n// provides the child-container behavior; Carriable only adds the\n// holder-mount hook).\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Pallet renders only as a 3D mesh.\n/**\n * Pallet — a flat transport structure that goods are stacked and stored on.\n *\n * Standard EUR pallet is 1200 × 800mm × 144mm; we don't enforce these\n * dimensions but they're a good starting point for the catalog templates.\n *\n * **Container-based.** Boxes / parcels stacked on the pallet are added as\n * children — same `containable()` archetype-filter pattern as Forklift / Agv.\n * Visual stacking (children rendering on top of the pallet rather than at\n * absolute operation level) is a v2 concern; see ARCHITECTURE NOTES below.\n *\n * **Placement = `operation`.** A pallet's *normal* state is loaded and in\n * transit on a conveyor / AGV / forklift fork — at operation level. Empty\n * pallets in a floor-storage area are an exceptional state where the user\n * sets `state.zPos = 0` explicitly. Default to the common case.\n *\n * ## ARCHITECTURE NOTES — visual stacking\n *\n * When a Box (also `placement: 'operation'`) is added as a child of a\n * Pallet, both default to z = operation_height. They overlap visually\n * rather than the box sitting on top of the pallet. Solving this cleanly\n * (parent-relative z derivation when the parent is a structural carrier)\n * is a follow-up — fmsim's pattern is to detect parent type at render time\n * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the\n * detection.\n */\n@sceneComponent('pallet')\nexport default class Pallet extends Carriable(Legendable(Placeable(ContainerAbstract))) {\n  declare state: PalletState\n\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'material', legend: BODY_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 150 // EUR pallet is 144mm; 150 is the round number convention\n\n  get nature() {\n    return NATURE\n  }\n\n  /**\n   * Fork pocket 의 깊이 — fork blade 가 진입하는 *pallet 외부 bottom 부터 deck\n   * bottom* 까지의 수직 거리. crane.attachPointFor 가 이 값을 차감해서\n   * carrier 외부 bottom (skid) 이 fork blade bottom *아래로 pocketDepth 만큼*\n   * 깊이 정렬 (= fork 가 pallet 의 *deck 와 skid 사이* 안 으로 들어간 자세).\n   */\n  get pocketDepth(): number {\n    const explicit = (this.state as any).pocketDepth\n    if (typeof explicit === 'number' && Number.isFinite(explicit) && explicit >= 0) {\n      return explicit\n    }\n    const d = this.state.depth\n    const depth = typeof d === 'number' && Number.isFinite(d) && d > 0\n      ? d\n      : ((this.constructor as any).defaultDepth ?? 150)\n    return depth * 0.4\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */\n  containable(component: Component) {\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this)\n  }\n\n  /**\n   * 2D — top-down silhouette. Body is a flat rectangle (wood/plastic deck);\n   * `postrender()` adds the deck pattern + edge stroke so the pallet reads\n   * as a pallet instead of a featureless rectangle.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  /**\n   * Deck pattern + edge stroke. Wood: parallel slats with darker grooves\n   * between (typical EUR pallet deck). Plastic: cross-cutout pattern\n   * suggesting the molded reinforcement ribs.\n   *\n   * Slats run along the *short* axis of the rectangle (= along the longer\n   * stringer direction in real life), so a 1200×800 pallet shows multiple\n   * narrow slats across the 1200mm dimension — matching the EUR layout.\n   */\n  postrender(ctx: CanvasRenderingContext2D) {\n    super.postrender?.(ctx)\n\n    const { width, height, left, top } = this.state\n    const isPlastic = this.state.material === 'plastic'\n\n    ctx.save()\n\n    if (!isPlastic) {\n      // Wood — slats. Run them along the longer axis so the grooves are\n      // perpendicular to the longer side (typical pallet appearance).\n      const longAxisHorizontal = width >= height\n      const slatCount = 5\n      const grooveColor = '#7a4f25'\n      ctx.fillStyle = grooveColor\n      if (longAxisHorizontal) {\n        // grooves vertical (X direction across the width)\n        const grooveW = Math.max(1, width * 0.012)\n        const slatW = (width - grooveW * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const x = left + i * slatW + (i - 1) * grooveW\n          ctx.fillRect(x, top + height * 0.05, grooveW, height * 0.9)\n        }\n      } else {\n        const grooveH = Math.max(1, height * 0.012)\n        const slatH = (height - grooveH * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const y = top + i * slatH + (i - 1) * grooveH\n          ctx.fillRect(left + width * 0.05, y, width * 0.9, grooveH)\n        }\n      }\n    } else {\n      // Plastic — cross + corner cutouts hint\n      ctx.strokeStyle = '#3a4956'\n      ctx.lineWidth = Math.max(1, Math.min(width, height) * 0.012)\n      ctx.beginPath()\n      ctx.moveTo(left + width * 0.5, top + height * 0.1)\n      ctx.lineTo(left + width * 0.5, top + height * 0.9)\n      ctx.moveTo(left + width * 0.1, top + height * 0.5)\n      ctx.lineTo(left + width * 0.9, top + height * 0.5)\n      ctx.stroke()\n    }\n\n    // Edge stroke\n    ctx.strokeStyle = isPlastic ? '#2a3946' : '#5e3818'\n    ctx.lineWidth = 1\n    ctx.strokeRect(left, top, width, height)\n\n    ctx.restore()\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Pallet3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변\n   * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.\n   *\n   * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의\n   * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준\n   * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.\n   *\n   * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —\n   * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.\n   * 여기선 conservative 하게 pallet 너비 + 200mm.\n   */\n  pickupFrames(): PickupFrame[] {\n    const { width = 1200, height = 800 } = this.state\n    const palletDepth = (this.constructor as any).defaultDepth ?? 150\n\n    // 4-way pallet: 모든 면에서 fork 진입 가능. 2-way 는 sides 를 ['east','west']\n    // 로 한정 — pallet 의 stringer 방향에 따라 다르나 default 는 4-way 가정.\n    // (state.palletType 같은 속성 추가 시 분기 가능 — 현재는 4-way 가정.)\n    const me: PoseSerialized = (() => {\n      const wp = getWorldPose(this)\n      return {\n        position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n        rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n      }\n    })()\n\n    const longerAxis = Math.max(width, height)\n\n    const forkFrames = rectangularFootprintFrames({\n      carrierWorld: me,\n      width,\n      depth: height,\n      entryHeight: palletDepth * 0.4, // fork pocket 중심\n      approachDistance: longerAxis + 200,\n      sides: ['east', 'west', 'north', 'south'],\n      toolType: 'forklift-fork',\n      tolerance: { positionMm: 50, angleDeg: 5 },\n      priority: 0\n    })\n\n    // 큰 AGV (deck size 충분) 가 pallet 을 위에 적재하는 패턴. priority 낮음\n    // — forklift fork 가 더 자연스러운 default. AGV deck size 가 pallet 보다\n    // 작으면 application 측이 carrier 의 dimensions check 필요.\n    const deckFrame = topApproachFrame({\n      carrierWorld: me,\n      topY: palletDepth,\n      approachDistance: longerAxis * 0.5 + 100,\n      toolType: 'agv-deck',\n      tolerance: { positionMm: 30, angleDeg: 4 },\n      priority: 1,\n      id: 'top-deck'\n    })\n\n    return [...forkFrames, deckFrame]\n  }\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  RealObject,\n  Pose6DOF,\n  rectangularFootprintFrames,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Identifiable,\n  Legendable,\n  Placeable,\n  type Alignment,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Pallet3D } from './pallet-3d.js'\n\n/**\n * Pallet material — drives both 2D fill color and 3D structure.\n *\n * - `wood`     — traditional EUR / EPAL pallet: parallel slats on top and\n *                bottom, three perpendicular stringers between them.\n * - `plastic`  — molded one-piece pallet: solid top deck with cutouts,\n *                hollow underside with feet. Distinct ribbed underside.\n *\n * Adding a third material (e.g. metal, composite) is a one-line change to the\n * legend + a 3D variant in pallet-3d.ts.\n */\nexport type PalletMaterial = 'wood' | 'plastic'\n\n/** Pallet 컴포넌트 state */\nexport interface PalletState extends State {\n  // ── 외관 ──\n  material?: PalletMaterial\n\n  /**\n   * Fork pocket 의 깊이 (mm) — pallet 외부 bottom (skid bottom) 부터 deck bottom\n   * 까지의 수직 거리. fork blade 가 이 *pocket 안* 으로 수평 진입. 표준 EUR\n   * pallet (144mm depth) 의 pocket ≈ 50~60mm.\n   *\n   * 미명시 시 default = depth 의 40% (= ~60mm for 150mm pallet).\n   */\n  pocketDepth?: number\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst BODY_LEGEND = {\n  wood: '#a87644',\n  plastic: '#5a6a78',\n  default: '#a87644'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'material',\n      name: 'material',\n      property: {\n        options: [\n          { display: 'Wood', value: 'wood' },\n          { display: 'Plastic', value: 'plastic' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'pocket-depth',\n      name: 'pocketDepth',\n      placeholder: 'mm — fork 진입 pocket 깊이 (skid bottom → deck bottom). default depth × 40%.'\n    }\n  ],\n  help: 'scene/component/pallet'\n}\n\n// Carriable: a pallet can sit on AGV / Forklift / robot-arm gripper / Spot\n// and also accept boxes / parcels as children (ContainerAbstract base\n// provides the child-container behavior; Carriable only adds the\n// holder-mount hook).\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. Pallet renders only as a 3D mesh.\n/**\n * Pallet — a flat transport structure that goods are stacked and stored on.\n *\n * Standard EUR pallet is 1200 × 800mm × 144mm; we don't enforce these\n * dimensions but they're a good starting point for the catalog templates.\n *\n * **Container-based.** Boxes / parcels stacked on the pallet are added as\n * children — same `containable()` archetype-filter pattern as Forklift / Agv.\n * Visual stacking (children rendering on top of the pallet rather than at\n * absolute operation level) is a v2 concern; see ARCHITECTURE NOTES below.\n *\n * **Placement = `operation`.** A pallet's *normal* state is loaded and in\n * transit on a conveyor / AGV / forklift fork — at operation level. Empty\n * pallets in a floor-storage area are an exceptional state where the user\n * sets `state.zPos = 0` explicitly. Default to the common case.\n *\n * ## ARCHITECTURE NOTES — visual stacking\n *\n * When a Box (also `placement: 'operation'`) is added as a child of a\n * Pallet, both default to z = operation_height. They overlap visually\n * rather than the box sitting on top of the pallet. Solving this cleanly\n * (parent-relative z derivation when the parent is a structural carrier)\n * is a follow-up — fmsim's pattern is to detect parent type at render time\n * (machine-3d.ts:113-122). v1 accepts the visual overlap; v2 will add the\n * detection.\n */\n@sceneComponent('pallet')\nexport default class Pallet extends Identifiable(Carriable(Legendable(Placeable(ContainerAbstract)))) {\n  declare state: PalletState\n\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'material', legend: BODY_LEGEND }\n  }\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 150 // EUR pallet is 144mm; 150 is the round number convention\n\n  get nature() {\n    return NATURE\n  }\n\n  /**\n   * Fork pocket 의 깊이 — fork blade 가 진입하는 *pallet 외부 bottom 부터 deck\n   * bottom* 까지의 수직 거리. crane.attachPointFor 가 이 값을 차감해서\n   * carrier 외부 bottom (skid) 이 fork blade bottom *아래로 pocketDepth 만큼*\n   * 깊이 정렬 (= fork 가 pallet 의 *deck 와 skid 사이* 안 으로 들어간 자세).\n   */\n  get pocketDepth(): number {\n    const explicit = (this.state as any).pocketDepth\n    if (typeof explicit === 'number' && Number.isFinite(explicit) && explicit >= 0) {\n      return explicit\n    }\n    const d = this.state.depth\n    const depth = typeof d === 'number' && Number.isFinite(d) && d > 0\n      ? d\n      : ((this.constructor as any).defaultDepth ?? 150)\n    return depth * 0.4\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** Accept other operation-archetype cargo (boxes, parcels, smaller pallets) as stacked children. */\n  containable(component: Component) {\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this)\n  }\n\n  /**\n   * 2D — top-down silhouette. Body is a flat rectangle (wood/plastic deck);\n   * `postrender()` adds the deck pattern + edge stroke so the pallet reads\n   * as a pallet instead of a featureless rectangle.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  /**\n   * Deck pattern + edge stroke. Wood: parallel slats with darker grooves\n   * between (typical EUR pallet deck). Plastic: cross-cutout pattern\n   * suggesting the molded reinforcement ribs.\n   *\n   * Slats run along the *short* axis of the rectangle (= along the longer\n   * stringer direction in real life), so a 1200×800 pallet shows multiple\n   * narrow slats across the 1200mm dimension — matching the EUR layout.\n   */\n  postrender(ctx: CanvasRenderingContext2D) {\n    super.postrender?.(ctx)\n\n    const { width, height, left, top } = this.state\n    const isPlastic = this.state.material === 'plastic'\n\n    ctx.save()\n\n    if (!isPlastic) {\n      // Wood — slats. Run them along the longer axis so the grooves are\n      // perpendicular to the longer side (typical pallet appearance).\n      const longAxisHorizontal = width >= height\n      const slatCount = 5\n      const grooveColor = '#7a4f25'\n      ctx.fillStyle = grooveColor\n      if (longAxisHorizontal) {\n        // grooves vertical (X direction across the width)\n        const grooveW = Math.max(1, width * 0.012)\n        const slatW = (width - grooveW * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const x = left + i * slatW + (i - 1) * grooveW\n          ctx.fillRect(x, top + height * 0.05, grooveW, height * 0.9)\n        }\n      } else {\n        const grooveH = Math.max(1, height * 0.012)\n        const slatH = (height - grooveH * (slatCount - 1)) / slatCount\n        for (let i = 1; i < slatCount; i++) {\n          const y = top + i * slatH + (i - 1) * grooveH\n          ctx.fillRect(left + width * 0.05, y, width * 0.9, grooveH)\n        }\n      }\n    } else {\n      // Plastic — cross + corner cutouts hint\n      ctx.strokeStyle = '#3a4956'\n      ctx.lineWidth = Math.max(1, Math.min(width, height) * 0.012)\n      ctx.beginPath()\n      ctx.moveTo(left + width * 0.5, top + height * 0.1)\n      ctx.lineTo(left + width * 0.5, top + height * 0.9)\n      ctx.moveTo(left + width * 0.1, top + height * 0.5)\n      ctx.lineTo(left + width * 0.9, top + height * 0.5)\n      ctx.stroke()\n    }\n\n    // Edge stroke\n    ctx.strokeStyle = isPlastic ? '#2a3946' : '#5e3818'\n    ctx.lineWidth = 1\n    ctx.strokeRect(left, top, width, height)\n\n    ctx.restore()\n  }\n\n  get fillStyle() {\n    return (this.state.bodyColor as string) || '#a87644'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Pallet3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. EUR/EPAL pallet 의 fork 진입은 양 단면 (긴 변\n   * 두 군데). 'east' / 'west' = pallet 의 짧은 축 방향에서 fork 가 들어감.\n   *\n   * fork 진입 높이 (entryHeight) 는 pallet 의 fork pocket 위치 — pallet 의\n   * 바닥에서 약 50mm (top deck 와 bottom deck 사이의 stringer 영역). 표준\n   * EUR pallet 의 fork pocket 은 144mm 두께의 약 50% 지점.\n   *\n   * approachDistance 는 forklift 가 fork 끝을 pallet 에 닿기 직전 hover 자세 —\n   * pallet 길이만큼 떨어져서 fork 길이 (보통 1100mm) 가 다 들어가도록 한다.\n   * 여기선 conservative 하게 pallet 너비 + 200mm.\n   */\n  pickupFrames(): PickupFrame[] {\n    const { width = 1200, height = 800 } = this.state\n    const palletDepth = (this.constructor as any).defaultDepth ?? 150\n\n    // 4-way pallet: 모든 면에서 fork 진입 가능. 2-way 는 sides 를 ['east','west']\n    // 로 한정 — pallet 의 stringer 방향에 따라 다르나 default 는 4-way 가정.\n    // (state.palletType 같은 속성 추가 시 분기 가능 — 현재는 4-way 가정.)\n    const me: PoseSerialized = (() => {\n      const wp = getWorldPose(this)\n      return {\n        position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n        rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n      }\n    })()\n\n    const longerAxis = Math.max(width, height)\n\n    const forkFrames = rectangularFootprintFrames({\n      carrierWorld: me,\n      width,\n      depth: height,\n      entryHeight: palletDepth * 0.4, // fork pocket 중심\n      approachDistance: longerAxis + 200,\n      sides: ['east', 'west', 'north', 'south'],\n      toolType: 'forklift-fork',\n      tolerance: { positionMm: 50, angleDeg: 5 },\n      priority: 0\n    })\n\n    // 큰 AGV (deck size 충분) 가 pallet 을 위에 적재하는 패턴. priority 낮음\n    // — forklift fork 가 더 자연스러운 default. AGV deck size 가 pallet 보다\n    // 작으면 application 측이 carrier 의 dimensions check 필요.\n    const deckFrame = topApproachFrame({\n      carrierWorld: me,\n      topY: palletDepth,\n      approachDistance: longerAxis * 0.5 + 100,\n      toolType: 'agv-deck',\n      tolerance: { positionMm: 30, angleDeg: 4 },\n      priority: 1,\n      id: 'top-deck'\n    })\n\n    return [...forkFrames, deckFrame]\n  }\n}\n"]}

package/dist/parcel.js

@@ -3,7 +3,7 @@ import { __decorate } from "tslib";
  * Copyright © HatioLab Inc. All rights reserved.
  */
 import { RectPath, Shape, topApproachFrame, getWorldPose, sceneComponent } from '@hatiolab/things-scene';
-import { Carriable, Placeable } from '@operato/scene-base';
+import { Carriable, Identifiable, Placeable } from '@operato/scene-base';
 import { Parcel3D } from './parcel-3d.js';
 const NATURE = {
     mutable: false,
@@ -36,7 +36,7 @@ const NATURE = {
  * No Legendable for v1 — parcel color is fixed cardboard. Future damaged /
  * inspected indicators would add a status legend then.
  */
-let Parcel = class Parcel extends Carriable(Placeable(RectPath(Shape))) {
+let Parcel = class Parcel extends Identifiable(Carriable(Placeable(RectPath(Shape)))) {
     static placement = 'operation';
     static align = 'bottom';
     static defaultDepth = 150;

package/dist/parcel.js.map

@@ -1 +1 @@
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All rights reserved.\n */\nimport {\n  ComponentNature,\n  RealObject,\n  RectPath,\n  Shape,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Placeable,\n  type Alignment,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Parcel3D } from './parcel-3d.js'\n\n/** Parcel 컴포넌트 state */\nexport interface ParcelState extends State {\n  // ── 정체 ──\n  trackingId?: string\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'tracking-id',\n      name: 'trackingId'\n    }\n  ],\n  help: 'scene/component/parcel'\n}\n\n// Carriable: parcel can be a child of any CarrierHolder (Spot, robot-arm\n// gripper, AGV deck, …). Mixin wraps add() so the parcel's 3D object3d\n// is reattached to the holder's chosen mount frame.\n/**\n * Parcel — a cardboard package, the typical e-commerce / parcel-sortation unit.\n *\n * Distinct from `Box` because parcels have:\n *   - cardboard appearance (tan/brown corrugate, not wood / plastic)\n *   - tape line down the center (the visual signature that says \"package\")\n *   - typically a label on top (where shipping info goes)\n *   - flatter / more elongated proportions in real-world parcel networks\n *\n * No `material` prop — parcels are always cardboard. If a future shipping\n * domain needs metal cases or polybags, those become separate components.\n *\n * No Legendable for v1 — parcel color is fixed cardboard. Future damaged /\n * inspected indicators would add a status legend then.\n */\n@sceneComponent('parcel')\nexport default class Parcel extends Carriable(Placeable(RectPath(Shape))) {\n  declare state: ParcelState\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 150\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** 2D — top-down rectangle in cardboard tan. */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  get fillStyle() {\n    return '#c8a878'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Parcel3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. Parcel 의 pickup 방식:\n   *   - gripper (vacuum / suction): 위에서 흡착 — RobotArm\n   *   - agv-deck: AGV/Forklift 의 deck 위에 위에서 얹기 — 같은 top approach 지만\n   *     deck 자체가 운반체라 tolerance 더 완화\n   */\n  pickupFrames(): PickupFrame[] {\n    const wp = getWorldPose(this)\n    const me: PoseSerialized = {\n      position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n      rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n    }\n    const parcelDepth = (this.constructor as any).defaultDepth ?? 150\n\n    return [\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 80,\n        toolType: 'gripper',\n        tolerance: { positionMm: 10, angleDeg: 2 },\n        priority: 0,\n        id: 'top-suction'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 60,\n        toolType: 'agv-deck',\n        tolerance: { positionMm: 20, angleDeg: 5 },\n        priority: 1,\n        id: 'top-deck'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 100,           // crane fork 가 cell 진입 hover\n        toolType: 'forklift-fork',\n        tolerance: { positionMm: 30, angleDeg: 5 },  // fork 적재 tolerance\n        priority: 2,                     // gripper/deck 다음\n        id: 'top-fork'\n      })\n    ]\n  }\n}\n"]}
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All rights reserved.\n */\nimport {\n  ComponentNature,\n  RealObject,\n  RectPath,\n  Shape,\n  topApproachFrame,\n  getWorldPose,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D, PickupFrame, PoseSerialized } from '@hatiolab/things-scene'\nimport {\n  Carriable,\n  Identifiable,\n  Placeable,\n  type Alignment,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Parcel3D } from './parcel-3d.js'\n\n/** Parcel 컴포넌트 state */\nexport interface ParcelState extends State {\n  // ── 정체 ──\n  trackingId?: string\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'tracking-id',\n      name: 'trackingId'\n    }\n  ],\n  help: 'scene/component/parcel'\n}\n\n// Carriable: parcel can be a child of any CarrierHolder (Spot, robot-arm\n// gripper, AGV deck, …). Mixin wraps add() so the parcel's 3D object3d\n// is reattached to the holder's chosen mount frame.\n/**\n * Parcel — a cardboard package, the typical e-commerce / parcel-sortation unit.\n *\n * Distinct from `Box` because parcels have:\n *   - cardboard appearance (tan/brown corrugate, not wood / plastic)\n *   - tape line down the center (the visual signature that says \"package\")\n *   - typically a label on top (where shipping info goes)\n *   - flatter / more elongated proportions in real-world parcel networks\n *\n * No `material` prop — parcels are always cardboard. If a future shipping\n * domain needs metal cases or polybags, those become separate components.\n *\n * No Legendable for v1 — parcel color is fixed cardboard. Future damaged /\n * inspected indicators would add a status legend then.\n */\n@sceneComponent('parcel')\nexport default class Parcel extends Identifiable(Carriable(Placeable(RectPath(Shape)))) {\n  declare state: ParcelState\n\n  static placement: PlacementArchetype = 'operation'\n  static align: Alignment = 'bottom'\n  static defaultDepth = 150\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** 2D — top-down rectangle in cardboard tan. */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    ctx.beginPath()\n    ctx.rect(left, top, width, height)\n  }\n\n  get fillStyle() {\n    return '#c8a878'\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Parcel3D(this)\n  }\n\n  /**\n   * Phase H — pickup contract. Parcel 의 pickup 방식:\n   *   - gripper (vacuum / suction): 위에서 흡착 — RobotArm\n   *   - agv-deck: AGV/Forklift 의 deck 위에 위에서 얹기 — 같은 top approach 지만\n   *     deck 자체가 운반체라 tolerance 더 완화\n   */\n  pickupFrames(): PickupFrame[] {\n    const wp = getWorldPose(this)\n    const me: PoseSerialized = {\n      position: { x: wp.position.x, y: wp.position.y, z: wp.position.z },\n      rotation: { x: wp.rotation.x, y: wp.rotation.y, z: wp.rotation.z, w: wp.rotation.w }\n    }\n    const parcelDepth = (this.constructor as any).defaultDepth ?? 150\n\n    return [\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 80,\n        toolType: 'gripper',\n        tolerance: { positionMm: 10, angleDeg: 2 },\n        priority: 0,\n        id: 'top-suction'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 60,\n        toolType: 'agv-deck',\n        tolerance: { positionMm: 20, angleDeg: 5 },\n        priority: 1,\n        id: 'top-deck'\n      }),\n      topApproachFrame({\n        carrierWorld: me,\n        topY: parcelDepth,\n        approachDistance: 100,           // crane fork 가 cell 진입 hover\n        toolType: 'forklift-fork',\n        tolerance: { positionMm: 30, angleDeg: 5 },  // fork 적재 tolerance\n        priority: 2,                     // gripper/deck 다음\n        id: 'top-fork'\n      })\n    ]\n  }\n}\n"]}

package/dist/picking-station-3d.d.ts

@@ -0,0 +1,20 @@
+import * as THREE from 'three';
+import { RealObjectGroup } from '@hatiolab/things-scene';
+export declare class PickingStation3D extends RealObjectGroup {
+    private _padMesh?;
+    private _padOutline?;
+    private _tableMesh?;
+    build(): void;
+    /** carrier 안착 anchor — 작업대 top face. */
+    getAttachFrame(): THREE.Object3D | undefined;
+    private _padColor;
+    private _strokeColor;
+    /** status 에 따른 작업대 색 — idle/processing/busy. */
+    private _statusColor;
+    private _applyPadColor;
+    private _applyStrokeColor;
+    private _applyStatusColor;
+    updateAlpha(): void;
+    updateDimension(): void;
+    onchange(after: Record<string, unknown>, before: Record<string, unknown>): void;
+}

package/dist/picking-station-3d.js

@@ -0,0 +1,162 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * PickingStation3D — 사람 작업 위치의 3D 시각화. pad(영역) + 작업대(가운데 box, top
+ * face 가 carrier 안착면). status 별 색 변화 (idle/processing/busy) 로 작업 진행
+ * 인지성.
+ */
+import * as THREE from 'three';
+import { RealObjectGroup } from '@hatiolab/things-scene';
+const PAD_DEPTH = 2;
+const STATUS_TINT = {
+    idle: 0x4a7a9b, // 차분한 blue-grey
+    processing: 0xd9943a, // 작업 중 — 주황
+    busy: 0xc04040 // busy/blocked — 빨강
+};
+export class PickingStation3D extends RealObjectGroup {
+    _padMesh;
+    _padOutline;
+    _tableMesh;
+    build() {
+        super.build();
+        const state = this.component.state;
+        const w = state.width ?? 100;
+        const h = state.height ?? 100;
+        const depth = state.depth ?? 5;
+        // ── pad (영역) ─────────────────────────────────────────────
+        const padGeom = new THREE.BoxGeometry(w, PAD_DEPTH, h);
+        const padMat = new THREE.MeshStandardMaterial({
+            color: this._padColor(), roughness: 0.85, transparent: true, opacity: 0.5
+        });
+        this._padMesh = new THREE.Mesh(padGeom, padMat);
+        this._padMesh.position.y = PAD_DEPTH / 2;
+        this._padMesh.receiveShadow = true;
+        this.object3d.add(this._padMesh);
+        // pad outline
+        const outline = new THREE.LineBasicMaterial({ color: this._strokeColor() });
+        this._padOutline = new THREE.LineSegments(new THREE.EdgesGeometry(padGeom), outline);
+        this._padOutline.position.y = PAD_DEPTH / 2;
+        this.object3d.add(this._padOutline);
+        // ── 작업대 (table) — pad 위 가운데 box. top face = carrier 안착면. ──
+        const tableW = w * 0.55;
+        const tableH = h * 0.45;
+        const tableD = Math.max(8, depth); // 작업면 높이 — operation height 근사
+        const tableGeom = new THREE.BoxGeometry(tableW, tableD, tableH);
+        const tableMat = new THREE.MeshStandardMaterial({
+            color: this._statusColor(), roughness: 0.6, metalness: 0.1
+        });
+        this._tableMesh = new THREE.Mesh(tableGeom, tableMat);
+        this._tableMesh.position.y = PAD_DEPTH + tableD / 2;
+        this._tableMesh.castShadow = true;
+        this._tableMesh.receiveShadow = true;
+        this.object3d.add(this._tableMesh);
+    }
+    /** carrier 안착 anchor — 작업대 top face. */
+    getAttachFrame() {
+        return this._tableMesh ?? this._padMesh;
+    }
+    _padColor() {
+        const raw = this.component.state?.fillStyle;
+        if (typeof raw === 'string' && raw.length > 0) {
+            try {
+                return new THREE.Color(raw);
+            }
+            catch { /* fallthrough */ }
+        }
+        return new THREE.Color(0x5a8ab8);
+    }
+    _strokeColor() {
+        const raw = this.component.state?.strokeStyle;
+        if (typeof raw === 'string' && raw.length > 0) {
+            try {
+                return new THREE.Color(raw);
+            }
+            catch { /* fallthrough */ }
+        }
+        return this._padColor().clone().multiplyScalar(0.6);
+    }
+    /** status 에 따른 작업대 색 — idle/processing/busy. */
+    _statusColor() {
+        const s = this.component.state?.status;
+        return new THREE.Color(STATUS_TINT[s ?? 'idle'] ?? STATUS_TINT.idle);
+    }
+    _applyPadColor() {
+        if (this._padMesh) {
+            const m = this._padMesh.material;
+            m.color.copy(this._padColor());
+            m.needsUpdate = true;
+        }
+    }
+    _applyStrokeColor() {
+        if (this._padOutline) {
+            const m = this._padOutline.material;
+            m.color.copy(this._strokeColor());
+            m.needsUpdate = true;
+        }
+    }
+    _applyStatusColor() {
+        if (this._tableMesh) {
+            const m = this._tableMesh.material;
+            m.color.copy(this._statusColor());
+            m.needsUpdate = true;
+        }
+    }
+    updateAlpha() {
+        const alpha = typeof this.component.state.alpha === 'number'
+            ? this.component.state.alpha : 1;
+        if (this._padMesh) {
+            const m = this._padMesh.material;
+            m.opacity = 0.5 * alpha;
+            m.transparent = m.opacity < 1;
+            m.needsUpdate = true;
+        }
+    }
+    updateDimension() {
+        if (this._padMesh) {
+            const state = this.component.state;
+            const w = state.width ?? 100;
+            const h = state.height ?? 100;
+            const depth = state.depth ?? 5;
+            this._padMesh.geometry.dispose();
+            this._padMesh.geometry = new THREE.BoxGeometry(w, PAD_DEPTH, h);
+            if (this._padOutline) {
+                this._padOutline.geometry.dispose();
+                this._padOutline.geometry = new THREE.EdgesGeometry(this._padMesh.geometry);
+            }
+            if (this._tableMesh) {
+                const tableW = w * 0.55;
+                const tableH = h * 0.45;
+                const tableD = Math.max(8, depth);
+                this._tableMesh.geometry.dispose();
+                this._tableMesh.geometry = new THREE.BoxGeometry(tableW, tableD, tableH);
+                this._tableMesh.position.y = PAD_DEPTH + tableD / 2;
+            }
+        }
+    }
+    onchange(after, before) {
+        if ('width' in after || 'height' in after || 'depth' in after) {
+            this.updateDimension();
+            return;
+        }
+        if ('alpha' in after) {
+            this.updateAlpha();
+            return;
+        }
+        if ('fillStyle' in after) {
+            this._applyPadColor();
+            if (this.component.state.strokeStyle == null)
+                this._applyStrokeColor();
+            return;
+        }
+        if ('strokeStyle' in after) {
+            this._applyStrokeColor();
+            return;
+        }
+        if ('status' in after) {
+            this._applyStatusColor();
+            return;
+        }
+        super.onchange?.(after, before);
+    }
+}
+//# sourceMappingURL=picking-station-3d.js.map

package/dist/picking-station-3d.js.map

@@ -0,0 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * PickingStation3D — 사람 작업 위치의 3D 시각화. pad(영역) + 작업대(가운데 box, top\n * face 가 carrier 안착면). status 별 색 변화 (idle/processing/busy) 로 작업 진행\n * 인지성.\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nimport type PickingStation from './picking-station.js'\nimport type { PickingStationStatus } from './picking-station.js'\n\nconst PAD_DEPTH = 2\n\nconst STATUS_TINT: Record<PickingStationStatus, number> = {\n  idle: 0x4a7a9b,        // 차분한 blue-grey\n  processing: 0xd9943a,  // 작업 중 — 주황\n  busy: 0xc04040          // busy/blocked — 빨강\n}\n\nexport class PickingStation3D extends RealObjectGroup {\n  private _padMesh?: THREE.Mesh\n  private _padOutline?: THREE.LineSegments\n  private _tableMesh?: THREE.Mesh\n\n  build() {\n    super.build()\n    const state = this.component.state as any\n    const w = state.width ?? 100\n    const h = state.height ?? 100\n    const depth = state.depth ?? 5\n\n    // ── pad (영역) ─────────────────────────────────────────────\n    const padGeom = new THREE.BoxGeometry(w, PAD_DEPTH, h)\n    const padMat = new THREE.MeshStandardMaterial({\n      color: this._padColor(), roughness: 0.85, transparent: true, opacity: 0.5\n    })\n    this._padMesh = new THREE.Mesh(padGeom, padMat)\n    this._padMesh.position.y = PAD_DEPTH / 2\n    this._padMesh.receiveShadow = true\n    this.object3d.add(this._padMesh)\n\n    // pad outline\n    const outline = new THREE.LineBasicMaterial({ color: this._strokeColor() })\n    this._padOutline = new THREE.LineSegments(new THREE.EdgesGeometry(padGeom), outline)\n    this._padOutline.position.y = PAD_DEPTH / 2\n    this.object3d.add(this._padOutline)\n\n    // ── 작업대 (table) — pad 위 가운데 box. top face = carrier 안착면. ──\n    const tableW = w * 0.55\n    const tableH = h * 0.45\n    const tableD = Math.max(8, depth)   // 작업면 높이 — operation height 근사\n    const tableGeom = new THREE.BoxGeometry(tableW, tableD, tableH)\n    const tableMat = new THREE.MeshStandardMaterial({\n      color: this._statusColor(), roughness: 0.6, metalness: 0.1\n    })\n    this._tableMesh = new THREE.Mesh(tableGeom, tableMat)\n    this._tableMesh.position.y = PAD_DEPTH + tableD / 2\n    this._tableMesh.castShadow = true\n    this._tableMesh.receiveShadow = true\n    this.object3d.add(this._tableMesh)\n  }\n\n  /** carrier 안착 anchor — 작업대 top face. */\n  getAttachFrame(): THREE.Object3D | undefined {\n    return this._tableMesh ?? this._padMesh\n  }\n\n  private _padColor(): THREE.Color {\n    const raw = (this.component.state as any)?.fillStyle\n    if (typeof raw === 'string' && raw.length > 0) {\n      try { return new THREE.Color(raw) } catch { /* fallthrough */ }\n    }\n    return new THREE.Color(0x5a8ab8)\n  }\n\n  private _strokeColor(): THREE.Color {\n    const raw = (this.component.state as any)?.strokeStyle\n    if (typeof raw === 'string' && raw.length > 0) {\n      try { return new THREE.Color(raw) } catch { /* fallthrough */ }\n    }\n    return this._padColor().clone().multiplyScalar(0.6)\n  }\n\n  /** status 에 따른 작업대 색 — idle/processing/busy. */\n  private _statusColor(): THREE.Color {\n    const s = (this.component.state as any)?.status as PickingStationStatus | undefined\n    return new THREE.Color(STATUS_TINT[s ?? 'idle'] ?? STATUS_TINT.idle)\n  }\n\n  private _applyPadColor(): void {\n    if (this._padMesh) {\n      const m = this._padMesh.material as THREE.MeshStandardMaterial\n      m.color.copy(this._padColor())\n      m.needsUpdate = true\n    }\n  }\n  private _applyStrokeColor(): void {\n    if (this._padOutline) {\n      const m = this._padOutline.material as THREE.LineBasicMaterial\n      m.color.copy(this._strokeColor())\n      m.needsUpdate = true\n    }\n  }\n  private _applyStatusColor(): void {\n    if (this._tableMesh) {\n      const m = this._tableMesh.material as THREE.MeshStandardMaterial\n      m.color.copy(this._statusColor())\n      m.needsUpdate = true\n    }\n  }\n\n  updateAlpha(): void {\n    const alpha = typeof (this.component.state as any).alpha === 'number'\n      ? (this.component.state as any).alpha : 1\n    if (this._padMesh) {\n      const m = this._padMesh.material as THREE.MeshStandardMaterial\n      m.opacity = 0.5 * alpha\n      m.transparent = m.opacity < 1\n      m.needsUpdate = true\n    }\n  }\n\n  updateDimension(): void {\n    if (this._padMesh) {\n      const state = this.component.state as any\n      const w = state.width ?? 100\n      const h = state.height ?? 100\n      const depth = state.depth ?? 5\n      this._padMesh.geometry.dispose()\n      this._padMesh.geometry = new THREE.BoxGeometry(w, PAD_DEPTH, h)\n      if (this._padOutline) {\n        this._padOutline.geometry.dispose()\n        this._padOutline.geometry = new THREE.EdgesGeometry(this._padMesh.geometry)\n      }\n      if (this._tableMesh) {\n        const tableW = w * 0.55\n        const tableH = h * 0.45\n        const tableD = Math.max(8, depth)\n        this._tableMesh.geometry.dispose()\n        this._tableMesh.geometry = new THREE.BoxGeometry(tableW, tableD, tableH)\n        this._tableMesh.position.y = PAD_DEPTH + tableD / 2\n      }\n    }\n  }\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>): void {\n    if ('width' in after || 'height' in after || 'depth' in after) {\n      this.updateDimension()\n      return\n    }\n    if ('alpha' in after) { this.updateAlpha(); return }\n    if ('fillStyle' in after) {\n      this._applyPadColor()\n      if ((this.component.state as any).strokeStyle == null) this._applyStrokeColor()\n      return\n    }\n    if ('strokeStyle' in after) { this._applyStrokeColor(); return }\n    if ('status' in after) { this._applyStatusColor(); return }\n    super.onchange?.(after, before)\n  }\n}\n"]}

package/dist/picking-station.d.ts

@@ -0,0 +1,50 @@
+import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
+import type { State, Material3D } from '@hatiolab/things-scene';
+import { type AttachFrame, type Alignment, type Heights, type PlacementArchetype, type ProcessStep } from '@operato/scene-base';
+import { PickingStation3D } from './picking-station-3d.js';
+export type PickingStationStatus = 'idle' | 'processing' | 'busy';
+export interface PickingStationState extends State {
+    /** carrier 가 머무는 처리 시간 (ms). 0/미설정이면 즉시 idle 유지. */
+    processingTimeMs?: number;
+    /** 현재 상태 (자동). */
+    status?: PickingStationStatus;
+    /** click 시 invoke 할 Popup 컴포넌트 id. */
+    popupRef?: string;
+    material3d?: Material3D;
+}
+declare const PickingStation_base: any;
+export default class PickingStation extends PickingStation_base implements ProcessStep {
+    state: PickingStationState;
+    _realObject?: PickingStation3D;
+    static placement: PlacementArchetype;
+    static align: Alignment;
+    static defaultDepth: (h: Heights) => number;
+    get nature(): ComponentNature;
+    get anchors(): never[];
+    _singleSlotId(): string;
+    /**
+     * SlottedHolder duck (slotIds / hasCarrierAt / canReceiveAt / occupiedSlotIds
+     * / emptySlotIds / obtainCarrier / receiveAt / accept / receive / slotTargetAt
+     * / getSlotAttachObject3d) — SingleSlotHolder mixin 제공.
+     *
+     * receiveAt 후 부가 dwell 동작은 `_onCarrierReceived` hook 으로 위임.
+     */
+    _onCarrierReceived(_carrier: Component, _options?: any): void;
+    readonly isProcessStep: true;
+    get processingTimeMs(): number;
+    /** carrier 를 작업대(table) 상단에 안착. */
+    attachPointFor(carrier: Component): AttachFrame | null;
+    render(ctx: CanvasRenderingContext2D): void;
+    get eventMap(): {
+        '(self)': {
+            '(self)': {
+                click: (mouseEvent: MouseEvent) => void;
+            };
+        };
+    };
+    private _onStationClick;
+    private _invokePopup;
+    private _raycastStationHit;
+    buildRealObject(): RealObject | undefined;
+}
+export {};