@operato/scene-transport 10.0.0-beta.22 → 10.0.0-beta.25

package/CHANGELOG.md

@@ -3,6 +3,35 @@
 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.25](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.24...v10.0.0-beta.25) (2026-05-03)
+
+**Note:** Version bump only for package @operato/scene-transport
+
+
+
+
+
+## [10.0.0-beta.24](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.23...v10.0.0-beta.24) (2026-05-02)
+
+
+### :rocket: New Features
+
+* **transport:** Forklift/GenericTransport adopt Mover (pick/place API) ([770da57](https://github.com/things-scene/operato-scene/commit/770da573cab5724a422d6700f9d11e2b772a7849))
+* **transport:** GenericTransport (GLB-based) + transportable Forklift ([d3e360b](https://github.com/things-scene/operato-scene/commit/d3e360b9c20f696a984f2914bd5fbec7a2d3b868))
+
+
+### :bug: Bug Fix
+
+* **scene:** Container → ContainerAbstract for 3D-only components ([89bdea7](https://github.com/things-scene/operato-scene/commit/89bdea73b37247601932b92692ea5d5e7780976c))
+* **transport:** use effectiveDepth in 3D builds + AGV state-overlay z-fight margins ([1f5e884](https://github.com/things-scene/operato-scene/commit/1f5e884862335d9c3169f7bb856a50939ecf200b))
+
+
+### :mega: Other
+
+* tune default template sizes for board overview ([582232a](https://github.com/things-scene/operato-scene/commit/582232ae078631e13754ba2e06320e211c3a1de1))
+
+
+
 ## [10.0.0-beta.22](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.21...v10.0.0-beta.22) (2026-04-30)
 
 

package/dist/agv-3d.js

@@ -33,7 +33,13 @@ const CHARGE_COPPER = 0xc77a00;
 export class Agv3D extends RealObjectGroup {
     build() {
         super.build();
-        const { width, height, depth = 0 } = this.component.state;
+        const { width, height } = this.component.state;
+        // Resolve depth via the NaN-safe getter so a freshly-created AGV (template
+        // doesn't carry `depth`, Placeable.added writes it via setState which races
+        // with the first build cycle) renders with the Placeable archetype default
+        // instead of the destructure fallback. Hard-coded fallback was 0 → invisible
+        // first frame until the user toggled 3D mode and a fresh build read state.
+        const depth = this.effectiveDepth;
         const bodyColor = this.component.state.bodyColor || '#999';
         const emissiveColor = this.component.state.lampEmissive || '#222222';
         const status = this.component.state.status;
@@ -42,6 +48,14 @@ export class Agv3D extends RealObjectGroup {
         const deckH = depth * 0.05;
         const wheelR = chassisH * 0.30;
         const baseY = -depth / 2;
+        // Z-fight margin — pushes status-driven overlay meshes (LED strips, body
+        // color tint band) slightly proud of the chassis / deck surfaces they sit
+        // on. Without this, a coplanar overlay flickers against the body underneath
+        // because both surfaces resolve to the same depth-buffer slot, and the
+        // emissive overlay is exactly the part the user uses to read AGV state.
+        // Sized by AGV scale so it stays sub-perceptual on big AGVs and still
+        // beats z-buffer precision on small ones.
+        const zFightMargin = Math.max(0.5, Math.min(width, height) * 0.003);
         // ── Rounded chassis (volumetric — the Kiva AGV signature) ────────
         const chassisRadius = Math.min(width, height) * 0.10;
         const chassisGeo = new RoundedBoxGeometry(width * 0.95, chassisH, height * 0.95, 4, chassisRadius);
@@ -69,9 +83,12 @@ export class Agv3D extends RealObjectGroup {
         liftMesh.position.set(0, baseY + chassisH + deckH + liftH / 2, 0);
         liftMesh.castShadow = true;
         this.object3d.add(liftMesh);
-        // Body color band on lift rim (status hint)
+        // Body color band on lift rim (status hint).
+        // Radius takes max(3% relative, zFightMargin absolute) so a small AGV
+        // doesn't collapse the gap below depth-buffer precision.
         const tintH = liftH * 0.3;
-        const tintGeo = new THREE.CylinderGeometry(liftR * 1.03, liftR * 1.03, tintH, 24, 1, true);
+        const tintRadius = liftR + Math.max(liftR * 0.03, zFightMargin);
+        const tintGeo = new THREE.CylinderGeometry(tintRadius, tintRadius, tintH, 24, 1, true);
         const tintMesh = new THREE.Mesh(tintGeo, new THREE.MeshStandardMaterial({
             color: bodyColor,
             side: THREE.DoubleSide,
@@ -80,9 +97,15 @@ export class Agv3D extends RealObjectGroup {
             metalness: 0.1,
             roughness: 0.6
         }));
-        tintMesh.position.set(0, baseY + chassisH + deckH + tintH / 2, 0);
+        // Lift slightly above deck so the bottom edge doesn't graze deck top.
+        tintMesh.position.set(0, baseY + chassisH + deckH + tintH / 2 + zFightMargin, 0);
         this.object3d.add(tintMesh);
         // ── LED strip (4 sides, rounded corners follow chassis bevel) ────
+        // Position so the strip's outer face sits *past* the chassis surface by
+        // zFightMargin — the original placement put it flush, which guaranteed
+        // a depth-buffer tie with the chassis side and visibly flickered exactly
+        // on the part used to read AGV status. Inner face stays inside the
+        // chassis (occluded), so the strip still reads as flush-mounted.
         const stripH = chassisH * 0.10;
         const stripT = Math.min(width, height) * 0.015;
         const stripY = baseY + chassisH * 0.55;
@@ -96,13 +119,13 @@ export class Agv3D extends RealObjectGroup {
         for (const zSign of [-1, 1]) {
             const stripGeo = new THREE.BoxGeometry(width * 0.85, stripH, stripT);
             const stripMesh = new THREE.Mesh(stripGeo, stripMaterial);
-            stripMesh.position.set(0, stripY, zSign * (height * 0.475 - stripT / 2));
+            stripMesh.position.set(0, stripY, zSign * (height * 0.475 - stripT / 2 + zFightMargin));
             this.object3d.add(stripMesh);
         }
         for (const xSign of [-1, 1]) {
             const stripGeo = new THREE.BoxGeometry(stripT, stripH, height * 0.85);
             const stripMesh = new THREE.Mesh(stripGeo, stripMaterial);
-            stripMesh.position.set(xSign * (width * 0.475 - stripT / 2), stripY, 0);
+            stripMesh.position.set(xSign * (width * 0.475 - stripT / 2 + zFightMargin), stripY, 0);
             this.object3d.add(stripMesh);
         }
         // ── Safety bumpers (front + rear) ────────────────────────────────

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

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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Agv 3D — payload (Kiva-style) automated guided vehicle.\n *\n * LO-POLY but with **rounded volume** — the Kiva AGV's signature is a\n * pill-shaped, low-slung chassis with rounded corners, not a flat box.\n *\n * Structure:\n *   - rounded-box chassis (volumetric, with bevels — the visual identity)\n *   - top deck with raised lift pad at center (Kiva-style under-shelf lift)\n *   - LED strip running around the perimeter\n *   - safety bumpers (front + rear, hi-vis with black corners)\n *   - LiDAR sensor: cylindrical body + transparent dome top\n *   - 4 wheel covers (fender bumps integrated into chassis sides)\n *   - charging contacts at rear\n *   - corner indicator lamps on deck\n */\n\nimport * as THREE from 'three'\nimport * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js'\nimport { RoundedBoxGeometry } from 'three/examples/jsm/geometries/RoundedBoxGeometry.js'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst CHASSIS_COLOR_DARK = 0x444444\nconst DECK_COLOR = 0x666677\nconst LIFT_PAD_COLOR = 0x4a4a55\nconst TIRE_COLOR = 0x202020\nconst WHEEL_COVER_COLOR = 0x3a3a3a\nconst LIDAR_BODY = 0x222233\nconst LIDAR_DOME = 0x445566\nconst BUMPER_COLOR = 0xeeaa00\nconst BUMPER_BLACK = 0x111111\nconst CHARGE_COPPER = 0xc77a00\n\nexport class Agv3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const { width, height, depth = 0 } = this.component.state\n    const bodyColor = (this.component.state.bodyColor as string) || '#999'\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampIntensity = status && status !== 'idle' ? 1.5 : 0.2\n\n    const chassisH = depth * 0.85\n    const deckH = depth * 0.05\n    const wheelR = chassisH * 0.30\n    const baseY = -depth / 2\n\n    // ── Rounded chassis (volumetric — the Kiva AGV signature) ────────\n    const chassisRadius = Math.min(width, height) * 0.10\n    const chassisGeo = new RoundedBoxGeometry(width * 0.95, chassisH, height * 0.95, 4, chassisRadius)\n    const chassisMesh = new THREE.Mesh(\n      chassisGeo,\n      new THREE.MeshStandardMaterial({\n        color: CHASSIS_COLOR_DARK,\n        metalness: 0.4,\n        roughness: 0.5\n      })\n    )\n    chassisMesh.position.set(0, baseY + chassisH / 2, 0)\n    chassisMesh.castShadow = true\n    chassisMesh.receiveShadow = true\n    this.object3d.add(chassisMesh)\n\n    // ── Top deck (rounded slab) ───────────────────────────────────────\n    const deckGeo = new RoundedBoxGeometry(width * 0.95, deckH, height * 0.95, 2, chassisRadius * 0.5)\n    const deckMesh = new THREE.Mesh(\n      deckGeo,\n      new THREE.MeshStandardMaterial({ color: DECK_COLOR, metalness: 0.5, roughness: 0.4 })\n    )\n    deckMesh.position.set(0, baseY + chassisH + deckH / 2, 0)\n    deckMesh.castShadow = true\n    deckMesh.receiveShadow = true\n    this.object3d.add(deckMesh)\n\n    // ── Lift mechanism (round pad — Kiva-style under-shelf lift) ─────\n    const liftR = Math.min(width, height) * 0.30\n    const liftH = deckH * 1.5\n    const liftGeo = new THREE.CylinderGeometry(liftR, liftR * 1.05, liftH, 24)\n    const liftMesh = new THREE.Mesh(\n      liftGeo,\n      new THREE.MeshStandardMaterial({ color: LIFT_PAD_COLOR, metalness: 0.6, roughness: 0.35 })\n    )\n    liftMesh.position.set(0, baseY + chassisH + deckH + liftH / 2, 0)\n    liftMesh.castShadow = true\n    this.object3d.add(liftMesh)\n\n    // Body color band on lift rim (status hint)\n    const tintH = liftH * 0.3\n    const tintGeo = new THREE.CylinderGeometry(liftR * 1.03, liftR * 1.03, tintH, 24, 1, true)\n    const tintMesh = new THREE.Mesh(\n      tintGeo,\n      new THREE.MeshStandardMaterial({\n        color: bodyColor,\n        side: THREE.DoubleSide,\n        transparent: true,\n        opacity: 0.7,\n        metalness: 0.1,\n        roughness: 0.6\n      })\n    )\n    tintMesh.position.set(0, baseY + chassisH + deckH + tintH / 2, 0)\n    this.object3d.add(tintMesh)\n\n    // ── LED strip (4 sides, rounded corners follow chassis bevel) ────\n    const stripH = chassisH * 0.10\n    const stripT = Math.min(width, height) * 0.015\n    const stripY = baseY + chassisH * 0.55\n    const stripMaterial = new THREE.MeshStandardMaterial({\n      color: emissiveColor,\n      emissive: emissiveColor,\n      emissiveIntensity: lampIntensity,\n      metalness: 0.1,\n      roughness: 0.4\n    })\n    for (const zSign of [-1, 1]) {\n      const stripGeo = new THREE.BoxGeometry(width * 0.85, stripH, stripT)\n      const stripMesh = new THREE.Mesh(stripGeo, stripMaterial)\n      stripMesh.position.set(0, stripY, zSign * (height * 0.475 - stripT / 2))\n      this.object3d.add(stripMesh)\n    }\n    for (const xSign of [-1, 1]) {\n      const stripGeo = new THREE.BoxGeometry(stripT, stripH, height * 0.85)\n      const stripMesh = new THREE.Mesh(stripGeo, stripMaterial)\n      stripMesh.position.set(xSign * (width * 0.475 - stripT / 2), stripY, 0)\n      this.object3d.add(stripMesh)\n    }\n\n    // ── Safety bumpers (front + rear) ────────────────────────────────\n    const bumperH = chassisH * 0.18\n    const bumperT = Math.min(width, height) * 0.025\n    const bumperY = baseY + bumperH / 2 + wheelR * 0.5\n    const bumperMaterial = new THREE.MeshStandardMaterial({\n      color: BUMPER_COLOR,\n      metalness: 0.1,\n      roughness: 0.6\n    })\n    const bumperBlackMaterial = new THREE.MeshStandardMaterial({\n      color: BUMPER_BLACK,\n      metalness: 0.2,\n      roughness: 0.7\n    })\n    for (const zSign of [-1, 1]) {\n      const yellow = new RoundedBoxGeometry(width * 0.7, bumperH, bumperT, 2, bumperT * 0.4)\n      const yMesh = new THREE.Mesh(yellow, bumperMaterial)\n      yMesh.position.set(0, bumperY, zSign * (height * 0.475 + bumperT / 2))\n      this.object3d.add(yMesh)\n      for (const xSign of [-1, 1]) {\n        const black = new RoundedBoxGeometry(width * 0.13, bumperH, bumperT, 2, bumperT * 0.4)\n        const bMesh = new THREE.Mesh(black, bumperBlackMaterial)\n        bMesh.position.set(xSign * (width * 0.7 / 2 + width * 0.065), bumperY, zSign * (height * 0.475 + bumperT / 2))\n        this.object3d.add(bMesh)\n      }\n    }\n\n    // ── LiDAR sensor (cylinder body + transparent dome) ──────────────\n    const lidarR = Math.min(width, height) * 0.10\n    const lidarBodyH = lidarR * 0.7\n    const lidarBodyGeo = new THREE.CylinderGeometry(lidarR, lidarR * 1.1, lidarBodyH, 16)\n    const lidarBodyMesh = new THREE.Mesh(\n      lidarBodyGeo,\n      new THREE.MeshStandardMaterial({ color: LIDAR_BODY, metalness: 0.6, roughness: 0.4 })\n    )\n    lidarBodyMesh.position.set(0, baseY + chassisH + lidarBodyH / 2, height * 0.35)\n    lidarBodyMesh.castShadow = true\n    this.object3d.add(lidarBodyMesh)\n\n    const domeGeo = new THREE.SphereGeometry(lidarR * 0.95, 24, 16, 0, Math.PI * 2, 0, Math.PI / 2)\n    const domeMesh = new THREE.Mesh(\n      domeGeo,\n      new THREE.MeshStandardMaterial({\n        color: LIDAR_DOME,\n        metalness: 0.3,\n        roughness: 0.2,\n        transparent: true,\n        opacity: 0.8\n      })\n    )\n    domeMesh.position.set(0, baseY + chassisH + lidarBodyH, height * 0.35)\n    this.object3d.add(domeMesh)\n\n    // Status hint on LiDAR top\n    const hintR = lidarR * 0.25\n    const hintMesh = new THREE.Mesh(\n      new THREE.SphereGeometry(hintR, 24, 8),\n      new THREE.MeshStandardMaterial({\n        color: emissiveColor,\n        emissive: emissiveColor,\n        emissiveIntensity: lampIntensity,\n        roughness: 0.3\n      })\n    )\n    hintMesh.position.set(0, baseY + chassisH + lidarBodyH + lidarR * 0.85, height * 0.35)\n    this.object3d.add(hintMesh)\n\n    // ── Wheels with covers ───────────────────────────────────────────\n    const wheelW = width * 0.07\n    const tireMaterial = new THREE.MeshStandardMaterial({ color: TIRE_COLOR, roughness: 0.95 })\n    const coverMaterial = new THREE.MeshStandardMaterial({\n      color: WHEEL_COVER_COLOR,\n      metalness: 0.5,\n      roughness: 0.6\n    })\n\n    const tireGeos: THREE.BufferGeometry[] = []\n    for (const xSign of [-1, 1]) {\n      for (const zSign of [-1, 1]) {\n        const tire = new THREE.CylinderGeometry(wheelR, wheelR, wheelW, 24)\n        tire.rotateZ(Math.PI / 2)\n        tire.translate(xSign * width * 0.42, baseY + wheelR, zSign * height * 0.32)\n        tireGeos.push(tire)\n        // Rounded fender cover\n        const cover = new RoundedBoxGeometry(wheelW * 1.5, wheelR * 1.4, wheelR * 1.6, 2, wheelR * 0.25)\n        cover.translate(xSign * (width * 0.42 + wheelW * 0.4), baseY + wheelR * 1.2, zSign * height * 0.32)\n        const coverMesh = new THREE.Mesh(cover, coverMaterial)\n        coverMesh.castShadow = true\n        this.object3d.add(coverMesh)\n      }\n    }\n    const tireMesh = new THREE.Mesh(BufferGeometryUtils.mergeGeometries(tireGeos), tireMaterial)\n    tireMesh.castShadow = true\n    this.object3d.add(tireMesh)\n\n    // ── Charging contacts (rear) ─────────────────────────────────────\n    const chargeMaterial = new THREE.MeshStandardMaterial({\n      color: CHARGE_COPPER,\n      metalness: 0.9,\n      roughness: 0.2\n    })\n    const chargeT = wheelR * 0.15\n    const chargeH = wheelR * 0.6\n    const chargeW = width * 0.08\n    for (const xSign of [-1, 1]) {\n      const chargeGeo = new RoundedBoxGeometry(chargeW, chargeH, chargeT, 1, chargeT * 0.3)\n      const chargeMesh = new THREE.Mesh(chargeGeo, chargeMaterial)\n      chargeMesh.position.set(xSign * width * 0.10, baseY + chargeH / 2 + wheelR * 0.2, -height * 0.475 - chargeT / 2)\n      this.object3d.add(chargeMesh)\n    }\n\n    // ── Corner indicator lamps ───────────────────────────────────────\n    const cornerR = Math.min(width, height) * 0.022\n    for (const xSign of [-1, 1]) {\n      for (const zSign of [-1, 1]) {\n        const cornerMesh = new THREE.Mesh(\n          new THREE.SphereGeometry(cornerR, 24, 6),\n          new THREE.MeshStandardMaterial({\n            color: emissiveColor,\n            emissive: emissiveColor,\n            emissiveIntensity: lampIntensity * 0.6,\n            roughness: 0.3\n          })\n        )\n        cornerMesh.position.set(\n          xSign * (width * 0.42),\n          baseY + chassisH + deckH + cornerR * 0.6,\n          zSign * (height * 0.42)\n        )\n        this.object3d.add(cornerMesh)\n      }\n    }\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'status' in after ||\n      'bodyColor' in after ||\n      'lampEmissive' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Agv 3D — payload (Kiva-style) automated guided vehicle.\n *\n * LO-POLY but with **rounded volume** — the Kiva AGV's signature is a\n * pill-shaped, low-slung chassis with rounded corners, not a flat box.\n *\n * Structure:\n *   - rounded-box chassis (volumetric, with bevels — the visual identity)\n *   - top deck with raised lift pad at center (Kiva-style under-shelf lift)\n *   - LED strip running around the perimeter\n *   - safety bumpers (front + rear, hi-vis with black corners)\n *   - LiDAR sensor: cylindrical body + transparent dome top\n *   - 4 wheel covers (fender bumps integrated into chassis sides)\n *   - charging contacts at rear\n *   - corner indicator lamps on deck\n */\n\nimport * as THREE from 'three'\nimport * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js'\nimport { RoundedBoxGeometry } from 'three/examples/jsm/geometries/RoundedBoxGeometry.js'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst CHASSIS_COLOR_DARK = 0x444444\nconst DECK_COLOR = 0x666677\nconst LIFT_PAD_COLOR = 0x4a4a55\nconst TIRE_COLOR = 0x202020\nconst WHEEL_COVER_COLOR = 0x3a3a3a\nconst LIDAR_BODY = 0x222233\nconst LIDAR_DOME = 0x445566\nconst BUMPER_COLOR = 0xeeaa00\nconst BUMPER_BLACK = 0x111111\nconst CHARGE_COPPER = 0xc77a00\n\nexport class Agv3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const { width, height } = this.component.state\n    // Resolve depth via the NaN-safe getter so a freshly-created AGV (template\n    // doesn't carry `depth`, Placeable.added writes it via setState which races\n    // with the first build cycle) renders with the Placeable archetype default\n    // instead of the destructure fallback. Hard-coded fallback was 0 → invisible\n    // first frame until the user toggled 3D mode and a fresh build read state.\n    const depth = this.effectiveDepth\n    const bodyColor = (this.component.state.bodyColor as string) || '#999'\n    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'\n    const status = this.component.state.status\n    const lampIntensity = status && status !== 'idle' ? 1.5 : 0.2\n\n    const chassisH = depth * 0.85\n    const deckH = depth * 0.05\n    const wheelR = chassisH * 0.30\n    const baseY = -depth / 2\n\n    // Z-fight margin — pushes status-driven overlay meshes (LED strips, body\n    // color tint band) slightly proud of the chassis / deck surfaces they sit\n    // on. Without this, a coplanar overlay flickers against the body underneath\n    // because both surfaces resolve to the same depth-buffer slot, and the\n    // emissive overlay is exactly the part the user uses to read AGV state.\n    // Sized by AGV scale so it stays sub-perceptual on big AGVs and still\n    // beats z-buffer precision on small ones.\n    const zFightMargin = Math.max(0.5, Math.min(width, height) * 0.003)\n\n    // ── Rounded chassis (volumetric — the Kiva AGV signature) ────────\n    const chassisRadius = Math.min(width, height) * 0.10\n    const chassisGeo = new RoundedBoxGeometry(width * 0.95, chassisH, height * 0.95, 4, chassisRadius)\n    const chassisMesh = new THREE.Mesh(\n      chassisGeo,\n      new THREE.MeshStandardMaterial({\n        color: CHASSIS_COLOR_DARK,\n        metalness: 0.4,\n        roughness: 0.5\n      })\n    )\n    chassisMesh.position.set(0, baseY + chassisH / 2, 0)\n    chassisMesh.castShadow = true\n    chassisMesh.receiveShadow = true\n    this.object3d.add(chassisMesh)\n\n    // ── Top deck (rounded slab) ───────────────────────────────────────\n    const deckGeo = new RoundedBoxGeometry(width * 0.95, deckH, height * 0.95, 2, chassisRadius * 0.5)\n    const deckMesh = new THREE.Mesh(\n      deckGeo,\n      new THREE.MeshStandardMaterial({ color: DECK_COLOR, metalness: 0.5, roughness: 0.4 })\n    )\n    deckMesh.position.set(0, baseY + chassisH + deckH / 2, 0)\n    deckMesh.castShadow = true\n    deckMesh.receiveShadow = true\n    this.object3d.add(deckMesh)\n\n    // ── Lift mechanism (round pad — Kiva-style under-shelf lift) ─────\n    const liftR = Math.min(width, height) * 0.30\n    const liftH = deckH * 1.5\n    const liftGeo = new THREE.CylinderGeometry(liftR, liftR * 1.05, liftH, 24)\n    const liftMesh = new THREE.Mesh(\n      liftGeo,\n      new THREE.MeshStandardMaterial({ color: LIFT_PAD_COLOR, metalness: 0.6, roughness: 0.35 })\n    )\n    liftMesh.position.set(0, baseY + chassisH + deckH + liftH / 2, 0)\n    liftMesh.castShadow = true\n    this.object3d.add(liftMesh)\n\n    // Body color band on lift rim (status hint).\n    // Radius takes max(3% relative, zFightMargin absolute) so a small AGV\n    // doesn't collapse the gap below depth-buffer precision.\n    const tintH = liftH * 0.3\n    const tintRadius = liftR + Math.max(liftR * 0.03, zFightMargin)\n    const tintGeo = new THREE.CylinderGeometry(tintRadius, tintRadius, tintH, 24, 1, true)\n    const tintMesh = new THREE.Mesh(\n      tintGeo,\n      new THREE.MeshStandardMaterial({\n        color: bodyColor,\n        side: THREE.DoubleSide,\n        transparent: true,\n        opacity: 0.7,\n        metalness: 0.1,\n        roughness: 0.6\n      })\n    )\n    // Lift slightly above deck so the bottom edge doesn't graze deck top.\n    tintMesh.position.set(0, baseY + chassisH + deckH + tintH / 2 + zFightMargin, 0)\n    this.object3d.add(tintMesh)\n\n    // ── LED strip (4 sides, rounded corners follow chassis bevel) ────\n    // Position so the strip's outer face sits *past* the chassis surface by\n    // zFightMargin — the original placement put it flush, which guaranteed\n    // a depth-buffer tie with the chassis side and visibly flickered exactly\n    // on the part used to read AGV status. Inner face stays inside the\n    // chassis (occluded), so the strip still reads as flush-mounted.\n    const stripH = chassisH * 0.10\n    const stripT = Math.min(width, height) * 0.015\n    const stripY = baseY + chassisH * 0.55\n    const stripMaterial = new THREE.MeshStandardMaterial({\n      color: emissiveColor,\n      emissive: emissiveColor,\n      emissiveIntensity: lampIntensity,\n      metalness: 0.1,\n      roughness: 0.4\n    })\n    for (const zSign of [-1, 1]) {\n      const stripGeo = new THREE.BoxGeometry(width * 0.85, stripH, stripT)\n      const stripMesh = new THREE.Mesh(stripGeo, stripMaterial)\n      stripMesh.position.set(0, stripY, zSign * (height * 0.475 - stripT / 2 + zFightMargin))\n      this.object3d.add(stripMesh)\n    }\n    for (const xSign of [-1, 1]) {\n      const stripGeo = new THREE.BoxGeometry(stripT, stripH, height * 0.85)\n      const stripMesh = new THREE.Mesh(stripGeo, stripMaterial)\n      stripMesh.position.set(xSign * (width * 0.475 - stripT / 2 + zFightMargin), stripY, 0)\n      this.object3d.add(stripMesh)\n    }\n\n    // ── Safety bumpers (front + rear) ────────────────────────────────\n    const bumperH = chassisH * 0.18\n    const bumperT = Math.min(width, height) * 0.025\n    const bumperY = baseY + bumperH / 2 + wheelR * 0.5\n    const bumperMaterial = new THREE.MeshStandardMaterial({\n      color: BUMPER_COLOR,\n      metalness: 0.1,\n      roughness: 0.6\n    })\n    const bumperBlackMaterial = new THREE.MeshStandardMaterial({\n      color: BUMPER_BLACK,\n      metalness: 0.2,\n      roughness: 0.7\n    })\n    for (const zSign of [-1, 1]) {\n      const yellow = new RoundedBoxGeometry(width * 0.7, bumperH, bumperT, 2, bumperT * 0.4)\n      const yMesh = new THREE.Mesh(yellow, bumperMaterial)\n      yMesh.position.set(0, bumperY, zSign * (height * 0.475 + bumperT / 2))\n      this.object3d.add(yMesh)\n      for (const xSign of [-1, 1]) {\n        const black = new RoundedBoxGeometry(width * 0.13, bumperH, bumperT, 2, bumperT * 0.4)\n        const bMesh = new THREE.Mesh(black, bumperBlackMaterial)\n        bMesh.position.set(xSign * (width * 0.7 / 2 + width * 0.065), bumperY, zSign * (height * 0.475 + bumperT / 2))\n        this.object3d.add(bMesh)\n      }\n    }\n\n    // ── LiDAR sensor (cylinder body + transparent dome) ──────────────\n    const lidarR = Math.min(width, height) * 0.10\n    const lidarBodyH = lidarR * 0.7\n    const lidarBodyGeo = new THREE.CylinderGeometry(lidarR, lidarR * 1.1, lidarBodyH, 16)\n    const lidarBodyMesh = new THREE.Mesh(\n      lidarBodyGeo,\n      new THREE.MeshStandardMaterial({ color: LIDAR_BODY, metalness: 0.6, roughness: 0.4 })\n    )\n    lidarBodyMesh.position.set(0, baseY + chassisH + lidarBodyH / 2, height * 0.35)\n    lidarBodyMesh.castShadow = true\n    this.object3d.add(lidarBodyMesh)\n\n    const domeGeo = new THREE.SphereGeometry(lidarR * 0.95, 24, 16, 0, Math.PI * 2, 0, Math.PI / 2)\n    const domeMesh = new THREE.Mesh(\n      domeGeo,\n      new THREE.MeshStandardMaterial({\n        color: LIDAR_DOME,\n        metalness: 0.3,\n        roughness: 0.2,\n        transparent: true,\n        opacity: 0.8\n      })\n    )\n    domeMesh.position.set(0, baseY + chassisH + lidarBodyH, height * 0.35)\n    this.object3d.add(domeMesh)\n\n    // Status hint on LiDAR top\n    const hintR = lidarR * 0.25\n    const hintMesh = new THREE.Mesh(\n      new THREE.SphereGeometry(hintR, 24, 8),\n      new THREE.MeshStandardMaterial({\n        color: emissiveColor,\n        emissive: emissiveColor,\n        emissiveIntensity: lampIntensity,\n        roughness: 0.3\n      })\n    )\n    hintMesh.position.set(0, baseY + chassisH + lidarBodyH + lidarR * 0.85, height * 0.35)\n    this.object3d.add(hintMesh)\n\n    // ── Wheels with covers ───────────────────────────────────────────\n    const wheelW = width * 0.07\n    const tireMaterial = new THREE.MeshStandardMaterial({ color: TIRE_COLOR, roughness: 0.95 })\n    const coverMaterial = new THREE.MeshStandardMaterial({\n      color: WHEEL_COVER_COLOR,\n      metalness: 0.5,\n      roughness: 0.6\n    })\n\n    const tireGeos: THREE.BufferGeometry[] = []\n    for (const xSign of [-1, 1]) {\n      for (const zSign of [-1, 1]) {\n        const tire = new THREE.CylinderGeometry(wheelR, wheelR, wheelW, 24)\n        tire.rotateZ(Math.PI / 2)\n        tire.translate(xSign * width * 0.42, baseY + wheelR, zSign * height * 0.32)\n        tireGeos.push(tire)\n        // Rounded fender cover\n        const cover = new RoundedBoxGeometry(wheelW * 1.5, wheelR * 1.4, wheelR * 1.6, 2, wheelR * 0.25)\n        cover.translate(xSign * (width * 0.42 + wheelW * 0.4), baseY + wheelR * 1.2, zSign * height * 0.32)\n        const coverMesh = new THREE.Mesh(cover, coverMaterial)\n        coverMesh.castShadow = true\n        this.object3d.add(coverMesh)\n      }\n    }\n    const tireMesh = new THREE.Mesh(BufferGeometryUtils.mergeGeometries(tireGeos), tireMaterial)\n    tireMesh.castShadow = true\n    this.object3d.add(tireMesh)\n\n    // ── Charging contacts (rear) ─────────────────────────────────────\n    const chargeMaterial = new THREE.MeshStandardMaterial({\n      color: CHARGE_COPPER,\n      metalness: 0.9,\n      roughness: 0.2\n    })\n    const chargeT = wheelR * 0.15\n    const chargeH = wheelR * 0.6\n    const chargeW = width * 0.08\n    for (const xSign of [-1, 1]) {\n      const chargeGeo = new RoundedBoxGeometry(chargeW, chargeH, chargeT, 1, chargeT * 0.3)\n      const chargeMesh = new THREE.Mesh(chargeGeo, chargeMaterial)\n      chargeMesh.position.set(xSign * width * 0.10, baseY + chargeH / 2 + wheelR * 0.2, -height * 0.475 - chargeT / 2)\n      this.object3d.add(chargeMesh)\n    }\n\n    // ── Corner indicator lamps ───────────────────────────────────────\n    const cornerR = Math.min(width, height) * 0.022\n    for (const xSign of [-1, 1]) {\n      for (const zSign of [-1, 1]) {\n        const cornerMesh = new THREE.Mesh(\n          new THREE.SphereGeometry(cornerR, 24, 6),\n          new THREE.MeshStandardMaterial({\n            color: emissiveColor,\n            emissive: emissiveColor,\n            emissiveIntensity: lampIntensity * 0.6,\n            roughness: 0.3\n          })\n        )\n        cornerMesh.position.set(\n          xSign * (width * 0.42),\n          baseY + chassisH + deckH + cornerR * 0.6,\n          zSign * (height * 0.42)\n        )\n        this.object3d.add(cornerMesh)\n      }\n    }\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'status' in after ||\n      'bodyColor' in after ||\n      'lampEmissive' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n"]}

package/dist/agv.d.ts

@@ -1,5 +1,5 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import { type Alignment, type Heights, type LegendBinding, type PlacementArchetype } from '@operato/scene-base';
+import { type Alignment, type CarrierAttachPoint, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
 /**
  * Agv status — common to both payload and towing AGVs (kept narrow on purpose).
  *
@@ -14,7 +14,16 @@ import { type Alignment, type Heights, type LegendBinding, type PlacementArchety
  * invite drift.
  */
 export type AgvStatus = 'idle' | 'moving' | 'charging' | 'error';
-declare const Base: typeof Component;
+declare const Base: typeof Component & {
+    new (...args: any[]): Component & {
+        isCarrierHolder: boolean;
+        isMover: boolean;
+        attachPointFor(carrier: Component): CarrierAttachPoint | undefined;
+        pick(carrier: Component, options?: MoveOptions): Promise<void>;
+        place(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
+        pickAndPlace(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>;
+    };
+};
 /**
  * Agv — payload (unit-load) automated guided vehicle. The Kiva-style flat-deck
  * AGV that drives under or carries cargo to/from operation surfaces.
@@ -39,10 +48,34 @@ export default class Agv extends Base {
     static placement: PlacementArchetype;
     static align: Alignment;
     static defaultDepth: (h: Heights) => number;
+    /**
+     * Heading yaw offset (rad). things-scene's vehicle convention is
+     * `vehicle forward = component-local -Z` (= "rotation=0 → toward canvas
+     * top edge"); the framework default `Math.PI / 2` aligns with that.
+     * Stated explicitly so the model's forward axis is documented at the
+     * class level rather than relying silently on the framework default.
+     */
+    static yawOffset: number;
     get nature(): ComponentNature;
     get anchors(): never[];
     /** Accept logistics packages (placement='operation') as deck cargo. */
     containable(component: Component): boolean;
+    /**
+     * AGV attach point — flat top deck. Cargo lands on the deck surface
+     * (top of the AGV envelope, which is `+depth/2` in component-local Y).
+     * Multiple cargo items stack vertically by their own depth.
+     *
+     * `attach` is the AGV's `_realObject.object3d` directly — there is no
+     * inner sub-frame the way Forklift has a fork-tip frame, because the
+     * deck moves rigidly with the chassis. Cargo Y reflects the cargoDepth
+     * × slot index stack offset.
+     */
+    attachPointFor(carrier: Component): CarrierAttachPoint | undefined;
+    /**
+     * Stack slot = the carrier's index among siblings. Stable because
+     * children order is preserved; no persisted state needed.
+     */
+    private _slotIndexOf;
     /**
      * 2D — render() sets up the rounded chassis path; the framework fills it
      * with `fillStyle` (= bodyColor from Legendable) and strokes with

package/dist/agv.js

@@ -2,8 +2,8 @@ import { __decorate } from "tslib";
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { Container, sceneComponent } from '@hatiolab/things-scene';
-import { Legendable, Placeable } from '@operato/scene-base';
+import { ContainerAbstract, sceneComponent } from '@hatiolab/things-scene';
+import { CarrierHolder, FloorBound, Legendable, Mover, Placeable } from '@operato/scene-base';
 import { Agv3D } from './agv-3d.js';
 /**
  * Body color — neutral industrial gray base, slightly modulated by status.
@@ -52,11 +52,28 @@ const NATURE = {
             label: 'battery',
             name: 'battery',
             placeholder: '0..1'
+        },
+        {
+            // AGV travel speed in scene units / second. Used by Mover.moveTo
+            // to derive motion duration. Tune per board scale; forklift convention.
+            type: 'number',
+            label: 'speed',
+            name: 'speed',
+            placeholder: 'units/sec'
         }
     ],
     help: 'scene/component/agv'
 };
-const Base = Legendable(Placeable(Container));
+// Composition: ContainerAbstract → Placeable → Legendable → CarrierHolder → Mover → FloorBound.
+// Same chain as Forklift — the AGV is a wheeled, payload-carrying vehicle
+// with the same pick/place semantics; differences (deck-stack instead of
+// fork-mount) are encoded in `attachPointFor`. FloorBound is outermost so
+// its rotation guard sees state changes last.
+//
+// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),
+// which forces `isHTMLElement(): true` and trips the 3D pipeline's
+// addObject DOM-skip gate. AGV lives only in the 3D scene graph; no DOM.
+const Base = FloorBound(Mover(CarrierHolder(Legendable(Placeable(ContainerAbstract)))));
 /**
  * Agv — payload (unit-load) automated guided vehicle. The Kiva-style flat-deck
  * AGV that drives under or carries cargo to/from operation surfaces.
@@ -84,6 +101,14 @@ let Agv = class Agv extends Base {
     static placement = 'floor';
     static align = 'bottom';
     static defaultDepth = (h) => h.operation - h.floor;
+    /**
+     * Heading yaw offset (rad). things-scene's vehicle convention is
+     * `vehicle forward = component-local -Z` (= "rotation=0 → toward canvas
+     * top edge"); the framework default `Math.PI / 2` aligns with that.
+     * Stated explicitly so the model's forward axis is documented at the
+     * class level rather than relying silently on the framework default.
+     */
+    static yawOffset = Math.PI / 2;
     get nature() {
         return NATURE;
     }
@@ -97,6 +122,42 @@ let Agv = class Agv extends Base {
             return true;
         return component.isDescendible(this);
     }
+    /**
+     * AGV attach point — flat top deck. Cargo lands on the deck surface
+     * (top of the AGV envelope, which is `+depth/2` in component-local Y).
+     * Multiple cargo items stack vertically by their own depth.
+     *
+     * `attach` is the AGV's `_realObject.object3d` directly — there is no
+     * inner sub-frame the way Forklift has a fork-tip frame, because the
+     * deck moves rigidly with the chassis. Cargo Y reflects the cargoDepth
+     * × slot index stack offset.
+     */
+    attachPointFor(carrier) {
+        const ro = this._realObject;
+        if (!ro?.object3d)
+            return undefined;
+        const depth = this.state.depth ?? 0;
+        const slotIdx = this._slotIndexOf(carrier);
+        const cargoDepth = carrier.state.depth ?? 100;
+        const deckY = depth / 2;
+        return {
+            attach: ro.object3d,
+            localPosition: {
+                x: 0,
+                y: deckY + slotIdx * cargoDepth,
+                z: 0
+            }
+        };
+    }
+    /**
+     * Stack slot = the carrier's index among siblings. Stable because
+     * children order is preserved; no persisted state needed.
+     */
+    _slotIndexOf(carrier) {
+        const children = this.children ?? [];
+        const idx = children.indexOf(carrier);
+        return idx < 0 ? children.length : idx;
+    }
     /**
      * 2D — render() sets up the rounded chassis path; the framework fills it
      * with `fillStyle` (= bodyColor from Legendable) and strokes with

package/dist/agv.js.map

@@ -1 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport { Component, ComponentNature, Container, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  Legendable,\n  Placeable,\n  type Alignment,\n  type Heights,\n  type LegendBinding,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Agv3D } from './agv-3d.js'\n\n/**\n * Agv status — common to both payload and towing AGVs (kept narrow on purpose).\n *\n * - `idle`     — parked, awaiting task\n * - `moving`   — driving along a path / executing transport\n * - `charging` — at a charging dock / battery station\n * - `error`    — fault / blocked / e-stop\n *\n * Loaded-vs-empty distinction is *not* in the status enum because for a\n * Kiva-style payload AGV it's already obvious from the children (cargo\n * components) parented to it — duplicating that as a status flag would\n * invite drift.\n */\nexport type AgvStatus = 'idle' | 'moving' | 'charging' | 'error'\n\n/**\n * Body color — neutral industrial gray base, slightly modulated by status.\n * AGVs typically have status-color LED strips rather than full body color\n * change; the body legend stays subtle so the LED strip + lamp do the\n * communicating.\n */\nconst BODY_LEGEND = {\n  idle: '#999',\n  moving: '#aaa',\n  charging: '#aaa',\n  error: '#c66',\n  default: '#999'\n}\n\n/**\n * LED strip emissive — the dominant status indicator for AGVs (typically a\n * color-band running around the chassis perimeter).\n */\nconst LAMP_EMISSIVE_LEGEND = {\n  idle: '#222222',\n  moving: '#44ff44',  // green (operating)\n  charging: '#ffaa00', // amber (charging)\n  error: '#ff3333',   // red\n  default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'status',\n      name: 'status',\n      property: {\n        options: [\n          { display: 'Idle', value: 'idle' },\n          { display: 'Moving', value: 'moving' },\n          { display: 'Charging', value: 'charging' },\n          { display: 'Error', value: 'error' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'battery',\n      name: 'battery',\n      placeholder: '0..1'\n    }\n  ],\n  help: 'scene/component/agv'\n}\n\nconst Base = Legendable(Placeable(Container)) as unknown as typeof Component\n\n/**\n * Agv — payload (unit-load) automated guided vehicle. The Kiva-style flat-deck\n * AGV that drives under or carries cargo to/from operation surfaces.\n *\n * **Container-based for cargo containment.** A payload Agv has a flat top\n * deck whose surface is at the scene's operation height. Boxes, parcels,\n * loaded pallets (anything with `placement: 'operation'`) can be added as\n * children — when they are, their natural archetype-derived zPos puts them\n * exactly on the AGV's deck (since AGV depth = operation - floor).\n *\n * For the towing variant (no cargo deck, pulls trailers behind), see Tugger.\n */\n@sceneComponent('agv')\nexport default class Agv extends Base {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'status', legend: BODY_LEGEND },\n    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  /**\n   * AGV sits on its wheels — `floor` archetype. Default depth = operation,\n   * so the top deck lands at the scene's operation height. This is the\n   * design point of payload AGVs: the deck height matches conveyor belt\n   * height, equipment ports, and forklift fork height — cargo transfers\n   * across all of them at the same level.\n   */\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.operation - h.floor\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** Accept logistics packages (placement='operation') as deck cargo. */\n  containable(component: Component) {\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this as any)\n  }\n\n  /**\n   * 2D — render() sets up the rounded chassis path; the framework fills it\n   * with `fillStyle` (= bodyColor from Legendable) and strokes with\n   * `strokeStyle`. Additional top-down details (bumpers, LiDAR, lift pad,\n   * direction triangle) are drawn in `postrender()`.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    const radius = Math.min(width, height) * 0.12\n    ctx.beginPath()\n    ctx.roundRect(left, top, width, height, radius)\n  }\n\n  /** Top-view accent details — bumpers, lift pad, LiDAR, direction triangle. */\n  postrender(ctx: CanvasRenderingContext2D) {\n    super.postrender?.(ctx)\n\n    const { width, height, left, top } = this.state\n    const cx = left + width / 2\n    const cy = top + height / 2\n    const accentColor = (this.state.lampEmissive as string) || '#44ff44'\n\n    ctx.save()\n\n    // Hi-vis bumper strips (front + rear)\n    const bumperT = Math.min(width, height) * 0.06\n    ctx.fillStyle = '#eeaa00'\n    ctx.fillRect(left + width * 0.15, top, width * 0.7, bumperT)\n    ctx.fillRect(left + width * 0.15, top + height - bumperT, width * 0.7, bumperT)\n    ctx.fillStyle = '#111'\n    ctx.fillRect(left + width * 0.02, top, width * 0.13, bumperT)\n    ctx.fillRect(left + width * 0.85, top, width * 0.13, bumperT)\n    ctx.fillRect(left + width * 0.02, top + height - bumperT, width * 0.13, bumperT)\n    ctx.fillRect(left + width * 0.85, top + height - bumperT, width * 0.13, bumperT)\n\n    // Lift pad (center circle — Kiva-style under-shelf lift)\n    const padR = Math.min(width, height) * 0.22\n    ctx.fillStyle = '#4a4a55'\n    ctx.strokeStyle = '#222'\n    ctx.lineWidth = 1\n    ctx.beginPath()\n    ctx.ellipse(cx, cy, padR, padR, 0, 0, Math.PI * 2)\n    ctx.fill()\n    ctx.stroke()\n\n    // LiDAR sensor (small filled circle near front)\n    const lidarR = Math.min(width, height) * 0.07\n    ctx.fillStyle = '#222233'\n    ctx.beginPath()\n    ctx.ellipse(cx, top + height * 0.20, lidarR, lidarR, 0, 0, Math.PI * 2)\n    ctx.fill()\n    ctx.stroke()\n    // Status hint on LiDAR\n    ctx.fillStyle = accentColor\n    ctx.beginPath()\n    ctx.ellipse(cx, top + height * 0.20, lidarR * 0.4, lidarR * 0.4, 0, 0, Math.PI * 2)\n    ctx.fill()\n\n    // Direction-of-travel triangle\n    ctx.fillStyle = accentColor\n    ctx.strokeStyle = '#111'\n    ctx.beginPath()\n    ctx.moveTo(cx, top + height * 0.06)\n    ctx.lineTo(cx - width * 0.06, top + height * 0.13)\n    ctx.lineTo(cx + width * 0.06, top + height * 0.13)\n    ctx.closePath()\n    ctx.fill()\n    ctx.stroke()\n\n    ctx.restore()\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Agv3D(this as any)\n  }\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport {\n  CarrierHolder,\n  FloorBound,\n  Legendable,\n  Mover,\n  Placeable,\n  type Alignment,\n  type CarrierAttachPoint,\n  type Heights,\n  type LegendBinding,\n  type MoveOptions,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { Agv3D } from './agv-3d.js'\n\n/**\n * Agv status — common to both payload and towing AGVs (kept narrow on purpose).\n *\n * - `idle`     — parked, awaiting task\n * - `moving`   — driving along a path / executing transport\n * - `charging` — at a charging dock / battery station\n * - `error`    — fault / blocked / e-stop\n *\n * Loaded-vs-empty distinction is *not* in the status enum because for a\n * Kiva-style payload AGV it's already obvious from the children (cargo\n * components) parented to it — duplicating that as a status flag would\n * invite drift.\n */\nexport type AgvStatus = 'idle' | 'moving' | 'charging' | 'error'\n\n/**\n * Body color — neutral industrial gray base, slightly modulated by status.\n * AGVs typically have status-color LED strips rather than full body color\n * change; the body legend stays subtle so the LED strip + lamp do the\n * communicating.\n */\nconst BODY_LEGEND = {\n  idle: '#999',\n  moving: '#aaa',\n  charging: '#aaa',\n  error: '#c66',\n  default: '#999'\n}\n\n/**\n * LED strip emissive — the dominant status indicator for AGVs (typically a\n * color-band running around the chassis perimeter).\n */\nconst LAMP_EMISSIVE_LEGEND = {\n  idle: '#222222',\n  moving: '#44ff44',  // green (operating)\n  charging: '#ffaa00', // amber (charging)\n  error: '#ff3333',   // red\n  default: '#222222'\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'select',\n      label: 'status',\n      name: 'status',\n      property: {\n        options: [\n          { display: 'Idle', value: 'idle' },\n          { display: 'Moving', value: 'moving' },\n          { display: 'Charging', value: 'charging' },\n          { display: 'Error', value: 'error' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'battery',\n      name: 'battery',\n      placeholder: '0..1'\n    },\n    {\n      // AGV travel speed in scene units / second. Used by Mover.moveTo\n      // to derive motion duration. Tune per board scale; forklift convention.\n      type: 'number',\n      label: 'speed',\n      name: 'speed',\n      placeholder: 'units/sec'\n    }\n  ],\n  help: 'scene/component/agv'\n}\n\n// Composition: ContainerAbstract → Placeable → Legendable → CarrierHolder → Mover → FloorBound.\n// Same chain as Forklift — the AGV is a wheeled, payload-carrying vehicle\n// with the same pick/place semantics; differences (deck-stack instead of\n// fork-mount) are encoded in `attachPointFor`. FloorBound is outermost so\n// its rotation guard sees state changes last.\n//\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. AGV lives only in the 3D scene graph; no DOM.\nconst Base = FloorBound(Mover(CarrierHolder(Legendable(Placeable(ContainerAbstract))))) as unknown as typeof Component & {\n  new (...args: any[]): Component & {\n    isCarrierHolder: boolean\n    isMover: boolean\n    attachPointFor(carrier: Component): CarrierAttachPoint | undefined\n    pick(carrier: Component, options?: MoveOptions): Promise<void>\n    place(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>\n    pickAndPlace(carrier: Component, holder: Component, options?: MoveOptions): Promise<void>\n  }\n}\n\n/**\n * Agv — payload (unit-load) automated guided vehicle. The Kiva-style flat-deck\n * AGV that drives under or carries cargo to/from operation surfaces.\n *\n * **Container-based for cargo containment.** A payload Agv has a flat top\n * deck whose surface is at the scene's operation height. Boxes, parcels,\n * loaded pallets (anything with `placement: 'operation'`) can be added as\n * children — when they are, their natural archetype-derived zPos puts them\n * exactly on the AGV's deck (since AGV depth = operation - floor).\n *\n * For the towing variant (no cargo deck, pulls trailers behind), see Tugger.\n */\n@sceneComponent('agv')\nexport default class Agv extends Base {\n  static legends: Record<string, LegendBinding> = {\n    bodyColor: { from: 'status', legend: BODY_LEGEND },\n    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }\n  }\n\n  /**\n   * AGV sits on its wheels — `floor` archetype. Default depth = operation,\n   * so the top deck lands at the scene's operation height. This is the\n   * design point of payload AGVs: the deck height matches conveyor belt\n   * height, equipment ports, and forklift fork height — cargo transfers\n   * across all of them at the same level.\n   */\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.operation - h.floor\n\n  /**\n   * Heading yaw offset (rad). things-scene's vehicle convention is\n   * `vehicle forward = component-local -Z` (= \"rotation=0 → toward canvas\n   * top edge\"); the framework default `Math.PI / 2` aligns with that.\n   * Stated explicitly so the model's forward axis is documented at the\n   * class level rather than relying silently on the framework default.\n   */\n  static yawOffset = Math.PI / 2\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  /** Accept logistics packages (placement='operation') as deck cargo. */\n  containable(component: Component) {\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this as any)\n  }\n\n  /**\n   * AGV attach point — flat top deck. Cargo lands on the deck surface\n   * (top of the AGV envelope, which is `+depth/2` in component-local Y).\n   * Multiple cargo items stack vertically by their own depth.\n   *\n   * `attach` is the AGV's `_realObject.object3d` directly — there is no\n   * inner sub-frame the way Forklift has a fork-tip frame, because the\n   * deck moves rigidly with the chassis. Cargo Y reflects the cargoDepth\n   * × slot index stack offset.\n   */\n  attachPointFor(carrier: Component): CarrierAttachPoint | undefined {\n    const ro = (this as any)._realObject as { object3d?: any } | undefined\n    if (!ro?.object3d) return undefined\n\n    const depth = (this.state.depth as number) ?? 0\n    const slotIdx = this._slotIndexOf(carrier)\n    const cargoDepth = (carrier.state as any).depth ?? 100\n    const deckY = depth / 2\n\n    return {\n      attach: ro.object3d,\n      localPosition: {\n        x: 0,\n        y: deckY + slotIdx * cargoDepth,\n        z: 0\n      }\n    }\n  }\n\n  /**\n   * Stack slot = the carrier's index among siblings. Stable because\n   * children order is preserved; no persisted state needed.\n   */\n  private _slotIndexOf(carrier: Component): number {\n    const children = ((this as any).children as Component[] | undefined) ?? []\n    const idx = children.indexOf(carrier)\n    return idx < 0 ? children.length : idx\n  }\n\n  /**\n   * 2D — render() sets up the rounded chassis path; the framework fills it\n   * with `fillStyle` (= bodyColor from Legendable) and strokes with\n   * `strokeStyle`. Additional top-down details (bumpers, LiDAR, lift pad,\n   * direction triangle) are drawn in `postrender()`.\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    const radius = Math.min(width, height) * 0.12\n    ctx.beginPath()\n    ctx.roundRect(left, top, width, height, radius)\n  }\n\n  /** Top-view accent details — bumpers, lift pad, LiDAR, direction triangle. */\n  postrender(ctx: CanvasRenderingContext2D) {\n    super.postrender?.(ctx)\n\n    const { width, height, left, top } = this.state\n    const cx = left + width / 2\n    const cy = top + height / 2\n    const accentColor = (this.state.lampEmissive as string) || '#44ff44'\n\n    ctx.save()\n\n    // Hi-vis bumper strips (front + rear)\n    const bumperT = Math.min(width, height) * 0.06\n    ctx.fillStyle = '#eeaa00'\n    ctx.fillRect(left + width * 0.15, top, width * 0.7, bumperT)\n    ctx.fillRect(left + width * 0.15, top + height - bumperT, width * 0.7, bumperT)\n    ctx.fillStyle = '#111'\n    ctx.fillRect(left + width * 0.02, top, width * 0.13, bumperT)\n    ctx.fillRect(left + width * 0.85, top, width * 0.13, bumperT)\n    ctx.fillRect(left + width * 0.02, top + height - bumperT, width * 0.13, bumperT)\n    ctx.fillRect(left + width * 0.85, top + height - bumperT, width * 0.13, bumperT)\n\n    // Lift pad (center circle — Kiva-style under-shelf lift)\n    const padR = Math.min(width, height) * 0.22\n    ctx.fillStyle = '#4a4a55'\n    ctx.strokeStyle = '#222'\n    ctx.lineWidth = 1\n    ctx.beginPath()\n    ctx.ellipse(cx, cy, padR, padR, 0, 0, Math.PI * 2)\n    ctx.fill()\n    ctx.stroke()\n\n    // LiDAR sensor (small filled circle near front)\n    const lidarR = Math.min(width, height) * 0.07\n    ctx.fillStyle = '#222233'\n    ctx.beginPath()\n    ctx.ellipse(cx, top + height * 0.20, lidarR, lidarR, 0, 0, Math.PI * 2)\n    ctx.fill()\n    ctx.stroke()\n    // Status hint on LiDAR\n    ctx.fillStyle = accentColor\n    ctx.beginPath()\n    ctx.ellipse(cx, top + height * 0.20, lidarR * 0.4, lidarR * 0.4, 0, 0, Math.PI * 2)\n    ctx.fill()\n\n    // Direction-of-travel triangle\n    ctx.fillStyle = accentColor\n    ctx.strokeStyle = '#111'\n    ctx.beginPath()\n    ctx.moveTo(cx, top + height * 0.06)\n    ctx.lineTo(cx - width * 0.06, top + height * 0.13)\n    ctx.lineTo(cx + width * 0.06, top + height * 0.13)\n    ctx.closePath()\n    ctx.fill()\n    ctx.stroke()\n\n    ctx.restore()\n  }\n\n  buildRealObject(): RealObject | undefined {\n    return new Agv3D(this as any)\n  }\n}\n"]}

package/dist/forklift-3d-layout.d.ts

@@ -0,0 +1,37 @@
+export interface ForkliftLayoutState {
+    width?: number;
+    height?: number;
+    depth?: number;
+    forkHeight?: number;
+}
+/**
+ * Local-frame top-of-fork-tip surface — where cargo center sits when
+ * attached. Forks point along **-Z** (vehicle forward), so z is negative.
+ */
+export declare function cargoMountLocal(state: ForkliftLayoutState): {
+    x: number;
+    y: number;
+    z: number;
+    width: number;
+    depth: number;
+};
+/**
+ * Mast mounting Z (forward edge of chassis, in -Z direction).
+ */
+export declare function mastZ(state: ForkliftLayoutState): number;
+/**
+ * Counterweight Z (back of vehicle, in +Z direction).
+ */
+export declare function counterweightZ(state: ForkliftLayoutState): number;
+/**
+ * Fork blade tip Z (heel + blade length in -Z direction).
+ */
+export declare function forkTipZ(state: ForkliftLayoutState): number;
+/**
+ * Front (drive) wheel Z.
+ */
+export declare function frontWheelZ(state: ForkliftLayoutState): number;
+/**
+ * Rear (caster) wheel Z.
+ */
+export declare function rearWheelZ(state: ForkliftLayoutState): number;

package/dist/forklift-3d-layout.js

@@ -0,0 +1,74 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * Pure geometry helpers extracted from `forklift-3d.ts` so the model's
+ * coordinate convention (-Z forward) can be unit-tested without pulling
+ * in `@hatiolab/things-scene` (its bundled module hides RealObjectGroup
+ * behind a single-bundle minify and won't load standalone in node).
+ *
+ * Each helper takes a plain `state` object — never the live component —
+ * and returns world-frame mesh positions. The forklift-3d.ts build() uses
+ * the same helpers so any drift between authoring and tests fails loud.
+ */
+/**
+ * Local-frame top-of-fork-tip surface — where cargo center sits when
+ * attached. Forks point along **-Z** (vehicle forward), so z is negative.
+ */
+export function cargoMountLocal(state) {
+    const width = state.width ?? 100;
+    const height = state.height ?? 200;
+    const depth = state.depth ?? 200;
+    const raw = state.forkHeight ?? 0;
+    const forkHeight = Math.max(0, Math.min(raw, depth * 0.85));
+    const wheelR = depth * 0.07;
+    const forkH = depth * 0.018;
+    const forkLen = height * 0.42;
+    const y = -depth / 2 + wheelR + forkHeight + forkH;
+    const z = -(height * 0.42 + forkLen / 2); // forks tip in -Z
+    return { x: 0, y, z, width: width * 0.4, depth: forkLen };
+}
+/**
+ * Mast mounting Z (forward edge of chassis, in -Z direction).
+ */
+export function mastZ(state) {
+    const height = state.height ?? 200;
+    const mastRailD = height * 0.03;
+    const chassisLen = height * 0.62;
+    return -(chassisLen / 2 + mastRailD);
+}
+/**
+ * Counterweight Z (back of vehicle, in +Z direction).
+ */
+export function counterweightZ(state) {
+    const height = state.height ?? 200;
+    const cwD = height * 0.28;
+    const chassisLen = height * 0.62;
+    const zBack = -chassisLen * 0.5;
+    return -zBack + cwD * 0.5; // matches forklift-3d.ts cwZ formula
+}
+/**
+ * Fork blade tip Z (heel + blade length in -Z direction).
+ */
+export function forkTipZ(state) {
+    const height = state.height ?? 200;
+    const mastRailD = height * 0.03;
+    const carriageD = mastRailD * 0.7;
+    const forkLen = height * 0.42;
+    // heel z = mastZ - mastRailD - carriageD; blade tip extends -forkLen further.
+    return mastZ(state) - mastRailD - carriageD - forkLen;
+}
+/**
+ * Front (drive) wheel Z.
+ */
+export function frontWheelZ(state) {
+    const height = state.height ?? 200;
+    return -height * 0.30;
+}
+/**
+ * Rear (caster) wheel Z.
+ */
+export function rearWheelZ(state) {
+    const height = state.height ?? 200;
+    return height * 0.32;
+}
+//# sourceMappingURL=forklift-3d-layout.js.map

package/dist/forklift-3d-layout.js.map

@@ -0,0 +1 @@
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package/dist/forklift-3d.d.ts

@@ -1,6 +1,19 @@
+import * as THREE from 'three';
 import { RealObjectGroup } from '@hatiolab/things-scene';
 export declare class Forklift3D extends RealObjectGroup {
-    /** Local-frame position of the fork-tip top surface — where cargo sits. */
+    /**
+     * Inner group that holds the actual mesh tree. Rotated π around Y so
+     * the procedural model (drawn with forks pointing along component-local
+     * +Z) aligns with things-scene's vehicle convention of -Z forward.
+     *
+     * Carriers attach onto this group (not `object3d`) so they inherit the
+     * same rotation as the visible mesh — `cargoMount` coordinates remain
+     * authored in the model's natural +Z-forward frame and the wrapper
+     * transforms them to match the visible forks.
+     */
+    private _modelGroup?;
+    get modelGroup(): THREE.Group | undefined;
+    /** Local-frame (-Z forward) fork-tip top surface — where cargo sits. */
     get cargoMount(): {
         x: number;
         y: number;