npm - @operato/scene-transport - Versions diffs - 10.0.0-beta.30 → 10.0.0-beta.32 - Mend

@operato/scene-transport 10.0.0-beta.30 → 10.0.0-beta.32

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Files changed (26) hide show

package/CHANGELOG.md +38 -0
package/dist/agv.d.ts +31 -3
package/dist/agv.js +69 -6
package/dist/agv.js.map +1 -1
package/dist/forklift.d.ts +47 -9
package/dist/forklift.js +133 -22
package/dist/forklift.js.map +1 -1
package/dist/generic-transport-3d.js.map +1 -1
package/dist/generic-transport.d.ts +12 -1
package/dist/generic-transport.js +7 -1
package/dist/generic-transport.js.map +1 -1
package/dist/tugger.d.ts +16 -0
package/dist/tugger.js +15 -0
package/dist/tugger.js.map +1 -1
package/dist/worker.d.ts +17 -0
package/dist/worker.js +16 -0
package/dist/worker.js.map +1 -1
package/package.json +3 -3
package/src/agv.ts +87 -10
package/src/forklift.ts +160 -27
package/src/generic-transport-3d.ts +1 -1
package/src/generic-transport.ts +33 -9
package/src/tugger.ts +33 -2
package/src/worker.ts +36 -2
package/test/test-phase-f-policies.ts +192 -0
package/tsconfig.tsbuildinfo +1 -1

package/CHANGELOG.md CHANGED Viewed

@@ -3,6 +3,44 @@
 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.32](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.31...v10.0.0-beta.32) (2026-05-09)
+### :rocket: New Features
+* **mover/transport/manufacturing:** Phase H — Mover.pick 의 pickup compatibility 검사 ([d269366](https://github.com/things-scene/operato-scene/commit/d2693662f40f0fb6de1879b86c79f360348caaf9))
+* **transport:** Phase H — Vehicle 별 toolType 추가 (Agv/Tugger/Worker) ([989596c](https://github.com/things-scene/operato-scene/commit/989596c04e29c43ec2406472ca5b3dd1d25a8bb4))
+### :bug: Bug Fix
+* **manufacturing/transport:** Phase G6 — sim-time aware sleep + forklift settle ([864888f](https://github.com/things-scene/operato-scene/commit/864888fdcfdff628d19de99728e4748af6fcad08))
+## [10.0.0-beta.31](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.30...v10.0.0-beta.31) (2026-05-08)
+### :rocket: New Features
+* **conveyance+transport+manufacturing:** induct→sorter→chute 자세 보존 + AGV/Forklift pick 보완 ([28c2ed7](https://github.com/things-scene/operato-scene/commit/28c2ed7b64d87b27e72e8cbd36a48a5d26d6cf8a))
+* **transport,conveyance:** Phase F Step 4-6 — carryPolicy 명시적 선언 ([522e003](https://github.com/things-scene/operato-scene/commit/522e0035ddf9357fb385183d03a54609b9e20ee1))
+### :bug: Bug Fix
+* **transport/visualizer:** children → components — 잠재 버그 수정 (Phase C Round 4) ([8131166](https://github.com/things-scene/operato-scene/commit/813116650dd846becfbf4f9571893cff25f85e62))
+### :house: Code Refactoring
+* _realObject 캐스트 16개 제거 (Phase C Round 2 후속) ([8616c6c](https://github.com/things-scene/operato-scene/commit/8616c6c45e38a9bbcc244a77cee53479a756df85))
+* 39개 buildRealObject 캐스트 제거 (Phase D Round 4 후속) ([b86681c](https://github.com/things-scene/operato-scene/commit/b86681c07d7bf41cb93ade9855afb21902ed8186))
+* **mfg/transport/storage:** typed state Round 2 — 14개 컴포넌트 적용 ([f1765f6](https://github.com/things-scene/operato-scene/commit/f1765f62d12cf4c20ea26a2297e98069b9621a45))
+* 함수 인자 (this as any) 13개 제거 (Phase D Round 4 후속) ([b0a400c](https://github.com/things-scene/operato-scene/commit/b0a400c9716fdec22518cc6ad0bd1c1e69bda89d))
 ## [10.0.0-beta.30](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.29...v10.0.0-beta.30) (2026-05-07)

package/dist/agv.d.ts CHANGED Viewed

@@ -1,5 +1,5 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { SlotDef } from '@hatiolab/things-scene';
+import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
 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).
@@ -15,6 +15,13 @@ import { type Alignment, type CarrierAttachPoint, type Heights, type LegendBindi
  * invite drift.
  */
 export type AgvStatus = 'idle' | 'moving' | 'charging' | 'error';
+/** Agv 컴포넌트 state */
+export interface AgvState extends State {
+    status?: AgvStatus;
+    battery?: number;
+    speed?: number;
+    material3d?: Material3D;
+}
 declare const Base: typeof Component & {
     new (...args: any[]): Component & {
         isCarrierHolder: boolean;
@@ -38,6 +45,16 @@ declare const Base: typeof Component & {
  * For the towing variant (no cargo deck, pulls trailers behind), see Tugger.
  */
 export default class Agv extends Base {
+    get state(): AgvState;
+    /**
+     * Phase H — pickup contract 호환성 type. AGV 는 carrier 를 deck 에 올리는
+     * 식이라 carrier 가 'agv-deck' 진입을 노출하면 매칭. (예: pallet 위 AGV 가
+     * 자체 deck 으로 pallet 들어올리는 시나리오)
+     *
+     * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아
+     *  TS4113 회피.)
+     */
+    get toolType(): string;
     static legends: Record<string, LegendBinding>;
     /**
      * AGV sits on its wheels — `floor` archetype. Default depth = operation,
@@ -60,8 +77,8 @@ export default class Agv extends Base {
     get nature(): ComponentNature;
     get anchors(): never[];
     /**
-     * Flat deck holds up to 2 stacked load units.
-     * 3D stacking is handled by `attachPointFor()` (Y offset per slotIdx).
+     * Single-cargo policy: AGV 는 한 번에 1개의 carrier 만 운반.
+     * 이미 1개를 보유한 상태에서는 `canReceive()` → false → `pick()` 거부.
      */
     get slots(): SlotDef[];
     /** Accept logistics packages (placement='operation') as deck cargo. */
@@ -82,6 +99,17 @@ export default class Agv extends Base {
      * children order is preserved; no persisted state needed.
      */
     private _slotIndexOf;
+    /**
+     * pick 보완: super.pick 후 carrier 의 자세 정렬 + attachPointFor 강제 재적용.
+     *
+     * 흐름의 마지막에 ContainerCapacity.receive 의 setState({left, top}) 가 표준
+     * pipeline 을 트리거해 obj3d.position 이 attachPointFor 의 localPosition 을 덮어씀.
+     * (= 첫번째 carrier 가 데크 위가 아니라 잘못된 위치/공중에 잡히는 원인)
+     * super.pick 종료 후 attachPointFor 를 다시 적용하고 suppressTransform=true 로
+     * pipeline 의 추가 override 차단. AGV 가 움직이면 carrier 는 scene-graph 통해 자동 추종.
+     */
+    pick(carrier: Component, options?: any): Promise<void>;
+    private _snapToAttachPoint;
     /**
      * 2D — render() sets up the rounded chassis path; the framework fills it
      * with `fillStyle` (= bodyColor from Legendable) and strokes with

package/dist/agv.js CHANGED Viewed

@@ -90,6 +90,23 @@ const Base = FloorBound(Mover(CarrierHolder(ContainerCapacity(Legendable(Placeab
  * For the towing variant (no cargo deck, pulls trailers behind), see Tugger.
  */
 let Agv = class Agv extends Base {
+    // `Base` is cast through `typeof Component` so TS sees `state` as an
+    // accessor; `declare state: …` would conflict with TS2610. Override the
+    // getter instead — runtime behavior is identical (just delegates to super).
+    get state() {
+        return super.state;
+    }
+    /**
+     * Phase H — pickup contract 호환성 type. AGV 는 carrier 를 deck 에 올리는
+     * 식이라 carrier 가 'agv-deck' 진입을 노출하면 매칭. (예: pallet 위 AGV 가
+     * 자체 deck 으로 pallet 들어올리는 시나리오)
+     *
+     * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아
+     *  TS4113 회피.)
+     */
+    get toolType() {
+        return 'agv-deck';
+    }
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
         lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }
@@ -120,11 +137,11 @@ let Agv = class Agv extends Base {
     }
     // ── ContainerCapacity ─────────────────────────────────────────────────────
     /**
-     * Flat deck holds up to 2 stacked load units.
-     * 3D stacking is handled by `attachPointFor()` (Y offset per slotIdx).
+     * Single-cargo policy: AGV 는 한 번에 1개의 carrier 만 운반.
+     * 이미 1개를 보유한 상태에서는 `canReceive()` → false → `pick()` 거부.
      */
     get slots() {
-        return [{ id: 'deck', maxCount: 2 }];
+        return [{ id: 'deck', maxCount: 1 }];
     }
     /** Accept logistics packages (placement='operation') as deck cargo. */
     containable(component) {
@@ -150,14 +167,19 @@ let Agv = class Agv extends Base {
         const depth = this.state.depth ?? 0;
         const slotIdx = this._slotIndexOf(carrier);
         const cargoDepth = carrier.state.depth ?? 100;
+        // 3D origin convention (beta.66+): carrier 의 origin = center.
+        // 데크 표면 (= AGV 상단) y = depth/2. carrier 의 bottom 을 데크 표면에 두려면
+        // carrier center y = deckY + cargoDepth/2. 이후 slot 별로 cargoDepth 씩 stack.
         const deckY = depth / 2;
         return {
             attach: ro.object3d,
             localPosition: {
                 x: 0,
-                y: deckY + slotIdx * cargoDepth,
+                y: deckY + cargoDepth / 2 + slotIdx * cargoDepth,
                 z: 0
-            }
+            },
+            // Phase F: AGV 가 회전하면 cargo 도 같이 회전 (deck 위 고정 lock).
+            carryPolicy: 'follow-holder'
         };
     }
     /**
@@ -165,10 +187,51 @@ let Agv = class Agv extends Base {
      * children order is preserved; no persisted state needed.
      */
     _slotIndexOf(carrier) {
-        const children = this.children ?? [];
+        const children = this.components ?? [];
         const idx = children.indexOf(carrier);
         return idx < 0 ? children.length : idx;
     }
+    /**
+     * pick 보완: super.pick 후 carrier 의 자세 정렬 + attachPointFor 강제 재적용.
+     *
+     * 흐름의 마지막에 ContainerCapacity.receive 의 setState({left, top}) 가 표준
+     * pipeline 을 트리거해 obj3d.position 이 attachPointFor 의 localPosition 을 덮어씀.
+     * (= 첫번째 carrier 가 데크 위가 아니라 잘못된 위치/공중에 잡히는 원인)
+     * super.pick 종료 후 attachPointFor 를 다시 적용하고 suppressTransform=true 로
+     * pipeline 의 추가 override 차단. AGV 가 움직이면 carrier 는 scene-graph 통해 자동 추종.
+     */
+    async pick(carrier, options = {}) {
+        // 1-capacity 정책: 이미 1개 보유 시 pick 거부 (moveTo / engage 낭비 방지).
+        if (!this.canReceive(carrier)) {
+            this.trigger('transfer-rejected', {
+                type: 'transfer-rejected',
+                component: carrier,
+                container: this,
+                reason: 'agv-at-capacity'
+            });
+            return;
+        }
+        await super.pick(carrier, options);
+        carrier.setState?.({ rotation: 0, rotationX: 0, rotationY: 0 });
+        this._snapToAttachPoint(carrier);
+    }
+    _snapToAttachPoint(carrier) {
+        const point = this.attachPointFor(carrier);
+        const ro = carrier._realObject;
+        const obj3d = ro?.object3d;
+        if (!obj3d || !point?.localPosition)
+            return;
+        const lp = point.localPosition;
+        obj3d.position.set(lp.x, lp.y, lp.z);
+        if (point.localRotation) {
+            obj3d.rotation.set(point.localRotation.x, point.localRotation.y, point.localRotation.z);
+        }
+        else {
+            obj3d.quaternion.identity();
+        }
+        if (ro)
+            ro.suppressTransform = true;
+    }
     /**
      * 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 CHANGED Viewed

	@@ -1 +1 @@
1	- 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Copyright © HatioLab Inc. All rights reserved.\n /\nimport { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef } 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:\n// FloorBound → Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract\n//\n// ContainerCapacity: receive() / dispatch() / canReceive() / slots — Mover.pick uses\n// receive() for slot-tracking and event emission on every cargo transfer.\n// CarrierHolder: attachPointFor() — deck-top 3D mount frame; Carriable.added()\n// calls applyHolderAttachPoint() which uses our override for 3D positioning.\n// Mover: moveTo / pick / place / pickAndPlace / executeMission.\n// FloorBound: outermost rotation guard.\n//\n// `ContainerAbstract` (not `Container`) — avoids isHTMLElement()=true that would\n// trip the 3D pipeline's addObject DOM-skip gate.\nconst Base = FloorBound(Mover(CarrierHolder(ContainerCapacity(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 // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n /\n Flat deck holds up to 2 stacked load units.\n * 3D stacking is handled by `attachPointFor()` (Y offset per slotIdx).\n /\n get slots(): SlotDef[] {\n return [{ id: 'deck', maxCount: 2 }]\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"]}
1	+ 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Copyright © HatioLab Inc. All rights reserved.\n /\nimport { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { SlotDef, State, Material3D } 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/* Agv 컴포넌트 state /\nexport interface AgvState extends State {\n // ── 운영 상태 ──\n status?: AgvStatus\n\n // ── 시뮬레이션/모니터링 ──\n battery?: number\n speed?: number\n\n // ── 3D 재질 ──\n material3d?: Material3D\n}\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:\n// FloorBound → Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract\n//\n// ContainerCapacity: receive() / dispatch() / canReceive() / slots — Mover.pick uses\n// receive() for slot-tracking and event emission on every cargo transfer.\n// CarrierHolder: attachPointFor() — deck-top 3D mount frame; Carriable.added()\n// calls applyHolderAttachPoint() which uses our override for 3D positioning.\n// Mover: moveTo / pick / place / pickAndPlace / executeMission.\n// FloorBound: outermost rotation guard.\n//\n// `ContainerAbstract` (not `Container`) — avoids isHTMLElement()=true that would\n// trip the 3D pipeline's addObject DOM-skip gate.\nconst Base = FloorBound(Mover(CarrierHolder(ContainerCapacity(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 // `Base` is cast through `typeof Component` so TS sees `state` as an\n // accessor; `declare state: …` would conflict with TS2610. Override the\n // getter instead — runtime behavior is identical (just delegates to super).\n override get state(): AgvState {\n return super.state as AgvState\n }\n\n /\n Phase H — pickup contract 호환성 type. AGV 는 carrier 를 deck 에 올리는\n * 식이라 carrier 가 'agv-deck' 진입을 노출하면 매칭. (예: pallet 위 AGV 가\n * 자체 deck 으로 pallet 들어올리는 시나리오)\n \n (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아\n * TS4113 회피.)\n /\n get toolType(): string {\n return 'agv-deck'\n }\n\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 // ── ContainerCapacity ─────────────────────────────────────────────────────\n\n /\n Single-cargo policy: AGV 는 한 번에 1개의 carrier 만 운반.\n * 이미 1개를 보유한 상태에서는 `canReceive()` → false → `pick()` 거부.\n /\n get slots(): SlotDef[] {\n return [{ id: 'deck', maxCount: 1 }]\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)\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._realObject\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 // 3D origin convention (beta.66+): carrier 의 origin = center.\n // 데크 표면 (= AGV 상단) y = depth/2. carrier 의 bottom 을 데크 표면에 두려면\n // carrier center y = deckY + cargoDepth/2. 이후 slot 별로 cargoDepth 씩 stack.\n const deckY = depth / 2\n\n return {\n attach: ro.object3d,\n localPosition: {\n x: 0,\n y: deckY + cargoDepth / 2 + slotIdx cargoDepth,\n z: 0\n },\n // Phase F: AGV 가 회전하면 cargo 도 같이 회전 (deck 위 고정 lock).\n carryPolicy: 'follow-holder'\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.components ?? []\n const idx = children.indexOf(carrier)\n return idx < 0 ? children.length : idx\n }\n\n /\n pick 보완: super.pick 후 carrier 의 자세 정렬 + attachPointFor 강제 재적용.\n \n 흐름의 마지막에 ContainerCapacity.receive 의 setState({left, top}) 가 표준\n * pipeline 을 트리거해 obj3d.position 이 attachPointFor 의 localPosition 을 덮어씀.\n * (= 첫번째 carrier 가 데크 위가 아니라 잘못된 위치/공중에 잡히는 원인)\n * super.pick 종료 후 attachPointFor 를 다시 적용하고 suppressTransform=true 로\n * pipeline 의 추가 override 차단. AGV 가 움직이면 carrier 는 scene-graph 통해 자동 추종.\n /\n override async pick(carrier: Component, options: any = {}): Promise<void> {\n // 1-capacity 정책: 이미 1개 보유 시 pick 거부 (moveTo / engage 낭비 방지).\n if (!(this as any).canReceive(carrier)) {\n this.trigger('transfer-rejected', {\n type: 'transfer-rejected',\n component: carrier,\n container: this,\n reason: 'agv-at-capacity'\n })\n return\n }\n await super.pick(carrier, options)\n carrier.setState?.({ rotation: 0, rotationX: 0, rotationY: 0 })\n this._snapToAttachPoint(carrier)\n }\n\n private _snapToAttachPoint(carrier: Component): void {\n const point = this.attachPointFor(carrier)\n const ro = (carrier as any)._realObject\n const obj3d = ro?.object3d\n if (!obj3d \|\| !point?.localPosition) return\n const lp = point.localPosition\n obj3d.position.set(lp.x, lp.y, lp.z)\n if (point.localRotation) {\n obj3d.rotation.set(point.localRotation.x, point.localRotation.y, point.localRotation.z)\n } else {\n obj3d.quaternion.identity()\n }\n if (ro) ro.suppressTransform = true\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)\n }\n}\n"]}

package/dist/forklift.d.ts CHANGED Viewed

@@ -1,6 +1,7 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { SlotDef } from '@hatiolab/things-scene';
+import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
 import { type Alignment, type CarrierAttachPoint, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
+import { Forklift3D } from './forklift-3d.js';
 /**
  * Forklift status — the operating state of a forklift truck.
  *
@@ -14,6 +15,13 @@ import { type Alignment, type CarrierAttachPoint, type Heights, type LegendBindi
  * loaded-vs-empty distinction relevant for fleet visualization.
  */
 export type ForkliftStatus = 'idle' | 'running' | 'lifting' | 'loaded' | 'error';
+/** Forklift 컴포넌트 state */
+export interface ForkliftState extends State {
+    status?: ForkliftStatus;
+    forkHeight?: number;
+    speed?: number;
+    material3d?: Material3D;
+}
 declare const Base: typeof Component & {
     new (...args: any[]): Component & {
         isCarrierHolder: boolean;
@@ -38,6 +46,18 @@ declare const Base: typeof Component & {
  * change the rendering path, only how children's 3D objects are reparented.
  */
 export default class Forklift extends Base {
+    get state(): ForkliftState;
+    _realObject: Forklift3D | undefined;
+    /**
+     * Phase H — pickup contract 호환성 검사용. carrier 의 pickupFramesFor 가
+     * 'forklift-fork' toolType 으로 query 받았을 때 매칭되는 entry 만 통과한다.
+     * Pallet 처럼 fork 진입 가능한 carrier 는 이 type 에 호환되는 entry 를 선언하고,
+     * 호환 안 되는 carrier (예: drum 의 magnet-only) 는 자동으로 reject 된다.
+     *
+     * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아
+     *  TS4113 회피.)
+     */
+    get toolType(): string;
     static legends: Record<string, LegendBinding>;
     /**
      * Forklift sits on its wheels — `floor` archetype. Default depth is the
@@ -64,14 +84,9 @@ export default class Forklift extends Base {
      */
     get slots(): SlotDef[];
     /**
-     * Allow items that flow at operation level (boxes, cartons, parcels, loaded
-     * pallets) to be added as cargo. Restricting by archetype rather than type
-     * means new package components are auto-permitted as they're added to the
-     * scene-base ecosystem.
-     *
-     * Note: this overrides CarrierHolder's default `containable` (which restricts
-     * to `isCarriable === true`). Forklift accepts any operation-archetype
-     * component so cargo authored before adopting Carriable still drops in.
+     * Forklift 정책: **파레트만** 자식으로 받음. 박스, 카트론, 파셀 등은 받지 않음.
+     * 실제 forklift 가 fork pocket 을 통해 들기 때문에 pocket 구조가 있는 파레트만
+     * 들 수 있음. 박스 등은 AGV 같은 평탄 데크 차량이 운반.
      */
     containable(component: Component): boolean;
     /**
@@ -103,6 +118,29 @@ export default class Forklift extends Base {
      * once the add settles.
      */
     private _slotIndexOf;
+    /**
+     * engage 보완: pick 시 fork blade top 의 world Y 가 carrier (파레트) 의
+     * world center Y 와 일치하도록 forkHeight 를 들어올림. → fork 가 pallet 의
+     * 높이 중간 (= pocket 공간) 에 정확히 위치.
+     *
+     * forklift-3d 의 cargoMountLocal 공식:
+     *   mount.y = -forklift.depth/2 + wheelR + forkHeight + forkH
+     * fork blade top 의 world Y = forklift.world.y + mount.y (origin=center 가정).
+     *
+     * 목표: fork blade top world Y = pallet world center Y
+     *   ⟹ forkHeight = pallet_worldY - forklift_worldY + forklift.depth/2 - wheelR - forkH
+     *
+     * forkHeight clamp: [0, forklift.depth * 0.85] (cargoMountLocal 의 hard cap).
+     */
+    engage(target: Component, kind: 'pick' | 'place', _options?: any): Promise<void>;
+    /**
+     * pick 보완: super.pick 후 자세 정렬 + attachPointFor 강제 재적용.
+     * 흐름의 마지막에 ContainerCapacity.receive 의 setState({left, top}) pipeline 이
+     * obj3d.position 을 덮는 것을 다시 잡음. suppressTransform=true 로 향후 차단.
+     * forklift 가 움직이면 carrier 는 scene-graph 통해 자동 추종.
+     */
+    pick(carrier: Component, options?: any): Promise<void>;
+    private _snapToAttachPoint;
     /**
      * 2D — top-down silhouette of a forklift. Layout (top-down view):
      *

package/dist/forklift.js CHANGED Viewed

@@ -2,7 +2,8 @@ import { __decorate } from "tslib";
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { ContainerAbstract, ContainerCapacity, sceneComponent } from '@hatiolab/things-scene';
+import * as THREE from 'three';
+import { ContainerAbstract, ContainerCapacity, frameClock, sceneComponent } from '@hatiolab/things-scene';
 import { CarrierHolder, FloorBound, Legendable, Mover, Placeable } from '@operato/scene-base';
 import { Forklift3D } from './forklift-3d.js';
 /** Body color — yellow base hue, modulated slightly by status for at-a-glance state. */
@@ -86,6 +87,24 @@ const Base = FloorBound(Mover(CarrierHolder(ContainerCapacity(Legendable(Placeab
  * change the rendering path, only how children's 3D objects are reparented.
  */
 let Forklift = class Forklift extends Base {
+    // `Base` is cast through `typeof Component` so TS sees `state` as an
+    // accessor; `declare state: …` would conflict with TS2610. Override the
+    // getter instead — runtime behavior is identical (just delegates to super).
+    get state() {
+        return super.state;
+    }
+    /**
+     * Phase H — pickup contract 호환성 검사용. carrier 의 pickupFramesFor 가
+     * 'forklift-fork' toolType 으로 query 받았을 때 매칭되는 entry 만 통과한다.
+     * Pallet 처럼 fork 진입 가능한 carrier 는 이 type 에 호환되는 entry 를 선언하고,
+     * 호환 안 되는 carrier (예: drum 의 magnet-only) 는 자동으로 reject 된다.
+     *
+     * (override 키워드 미사용 — Base 캐스트가 Mover 의 toolType 을 노출하지 않아
+     *  TS4113 회피.)
+     */
+    get toolType() {
+        return 'forklift-fork';
+    }
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
         lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }
@@ -119,24 +138,16 @@ let Forklift = class Forklift extends Base {
      * the slot maxCount here is the hard cap for `canReceive()`.
      */
     get slots() {
-        return [{ id: 'forks', maxCount: 3 }];
+        // Single-cargo 정책: 이미 1개 보유 시 `canReceive()` → false → `pick()` 거부.
+        return [{ id: 'forks', maxCount: 1 }];
     }
     /**
-     * Allow items that flow at operation level (boxes, cartons, parcels, loaded
-     * pallets) to be added as cargo. Restricting by archetype rather than type
-     * means new package components are auto-permitted as they're added to the
-     * scene-base ecosystem.
-     *
-     * Note: this overrides CarrierHolder's default `containable` (which restricts
-     * to `isCarriable === true`). Forklift accepts any operation-archetype
-     * component so cargo authored before adopting Carriable still drops in.
+     * Forklift 정책: **파레트만** 자식으로 받음. 박스, 카트론, 파셀 등은 받지 않음.
+     * 실제 forklift 가 fork pocket 을 통해 들기 때문에 pocket 구조가 있는 파레트만
+     * 들 수 있음. 박스 등은 AGV 같은 평탄 데크 차량이 운반.
      */
     containable(component) {
-        const archetype = component.constructor.placement;
-        if (archetype === 'operation')
-            return true;
-        // Container's default — accept anything descendible (default things-scene policy).
-        return component.isDescendible(this);
+        return component?.model?.type === 'pallet';
     }
     /**
      * Forklift has a single mount frame: the **forks**. Multiple cargo items
@@ -166,16 +177,31 @@ let Forklift = class Forklift extends Base {
         const attach = ro.modelGroup ?? ro.object3d;
         if (!attach)
             return undefined;
+        // mount: { x, y (fork blade top), z (mid-fork), width, depth (= forkLen) }
         const mount = ro.cargoMount;
         const slotIdx = this._slotIndexOf(carrier);
         const cargoDepth = carrier.state.depth ?? 100;
+        // carrier 의 carrier-local 의 fork 방향 길이 (height = -Z forward 방향).
+        const carrierLenAlongFork = carrier.state.height ?? cargoDepth;
+        // Fork-in-pocket 정렬: forklift 의 fork blade 가 파레트의 fork pocket 공간 안으로
+        // 들어가도록 carrier center y = mount.y (= fork blade top). carrier 의 하반부가 fork
+        // 아래로 내려와 fork 를 감쌈 (pocket 공간). carrier 의 상반부는 fork 위쪽 = 적재 영역.
+        // 이게 실제 forklift-pallet 결합 시각과 일치.
+        // (single-cargo 정책이라 slotIdx 는 항상 0; 멀티 stack 시 cargoDepth 로 stack)
+        const y = mount.y + slotIdx * cargoDepth;
+        // Z (fork 방향): carrier 의 forklift-쪽 면(= +Z, 본체에 가까운 쪽)을 **fork heel
+        // (= 포크의 시작부, 본체와 만나는 지점)** 에 정렬. carrier 본체는 fork tip 쪽으로
+        // 뻗어나가며 forklift 본체 안으로는 절대 파고들지 않음. 큰 파레트는 fork tip 너머로
+        // overhang.
+        // mount.z 는 fork mid, mount.depth 는 fork length. fork heel = mount.z + forkLen/2
+        // (heel 이 본체 쪽 = +Z, less negative).
+        const forkHeelZ = mount.z + mount.depth / 2;
+        const z = forkHeelZ - carrierLenAlongFork / 2;
         return {
             attach,
-            localPosition: {
-                x: mount.x,
-                y: mount.y + slotIdx * cargoDepth,
-                z: mount.z
-            }
+            localPosition: { x: mount.x, y, z },
+            // Phase F: forklift 가 회전하면 fork 의 cargo 도 함께 회전 (fork 위 lock).
+            carryPolicy: 'follow-holder'
         };
     }
     /**
@@ -190,10 +216,95 @@ let Forklift = class Forklift extends Base {
      * once the add settles.
      */
     _slotIndexOf(carrier) {
-        const children = this.children ?? [];
+        const children = this.components ?? [];
         const idx = children.indexOf(carrier);
         return idx < 0 ? children.length : idx;
     }
+    /**
+     * engage 보완: pick 시 fork blade top 의 world Y 가 carrier (파레트) 의
+     * world center Y 와 일치하도록 forkHeight 를 들어올림. → fork 가 pallet 의
+     * 높이 중간 (= pocket 공간) 에 정확히 위치.
+     *
+     * forklift-3d 의 cargoMountLocal 공식:
+     *   mount.y = -forklift.depth/2 + wheelR + forkHeight + forkH
+     * fork blade top 의 world Y = forklift.world.y + mount.y (origin=center 가정).
+     *
+     * 목표: fork blade top world Y = pallet world center Y
+     *   ⟹ forkHeight = pallet_worldY - forklift_worldY + forklift.depth/2 - wheelR - forkH
+     *
+     * forkHeight clamp: [0, forklift.depth * 0.85] (cargoMountLocal 의 hard cap).
+     */
+    async engage(target, kind, _options = {}) {
+        if (kind !== 'pick')
+            return;
+        const myObj3d = this._realObject?.object3d;
+        const targetObj3d = target._realObject?.object3d;
+        if (!myObj3d || !targetObj3d)
+            return;
+        myObj3d.updateWorldMatrix(true, false);
+        targetObj3d.updateWorldMatrix(true, false);
+        const myPos = new THREE.Vector3();
+        const targetPos = new THREE.Vector3();
+        myObj3d.getWorldPosition(myPos);
+        targetObj3d.getWorldPosition(targetPos);
+        const forkliftDepth = this.state.depth ?? 200;
+        const wheelR = forkliftDepth * 0.07;
+        const forkH = forkliftDepth * 0.018;
+        const desired = targetPos.y - myPos.y + forkliftDepth / 2 - wheelR - forkH;
+        const targetForkHeight = Math.max(0, Math.min(desired, forkliftDepth * 0.85));
+        this.setState?.({ forkHeight: targetForkHeight });
+        // mast 재구성 + attach point 재계산 안정화 시간 — sim-time 기준 (frameClock).
+        // speed 변경 시에도 sim animation 과 같은 시간축 유지.
+        await new Promise(resolve => {
+            let elapsed = 0;
+            let unsub = null;
+            unsub = frameClock.subscribe(simDt => {
+                elapsed += simDt;
+                if (elapsed >= 200) {
+                    unsub?.();
+                    unsub = null;
+                    resolve();
+                }
+            }, { description: 'forklift mast settle' });
+        });
+    }
+    /**
+     * pick 보완: super.pick 후 자세 정렬 + attachPointFor 강제 재적용.
+     * 흐름의 마지막에 ContainerCapacity.receive 의 setState({left, top}) pipeline 이
+     * obj3d.position 을 덮는 것을 다시 잡음. suppressTransform=true 로 향후 차단.
+     * forklift 가 움직이면 carrier 는 scene-graph 통해 자동 추종.
+     */
+    async pick(carrier, options = {}) {
+        if (!this.canReceive(carrier)) {
+            this.trigger('transfer-rejected', {
+                type: 'transfer-rejected',
+                component: carrier,
+                container: this,
+                reason: 'forklift-at-capacity'
+            });
+            return;
+        }
+        await super.pick(carrier, options);
+        carrier.setState?.({ rotation: 0, rotationX: 0, rotationY: 0 });
+        this._snapToAttachPoint(carrier);
+    }
+    _snapToAttachPoint(carrier) {
+        const point = this.attachPointFor(carrier);
+        const ro = carrier._realObject;
+        const obj3d = ro?.object3d;
+        if (!obj3d || !point?.localPosition)
+            return;
+        const lp = point.localPosition;
+        obj3d.position.set(lp.x, lp.y, lp.z);
+        if (point.localRotation) {
+            obj3d.rotation.set(point.localRotation.x, point.localRotation.y, point.localRotation.z);
+        }
+        else {
+            obj3d.quaternion.identity();
+        }
+        if (ro)
+            ro.suppressTransform = true;
+    }
     /**
      * 2D — top-down silhouette of a forklift. Layout (top-down view):
      *
@@ -317,7 +428,7 @@ let Forklift = class Forklift extends Base {
         super.onchange?.(after, before);
         if (!('forkHeight' in (after ?? {})))
             return;
-        const children = this.children ?? [];
+        const children = this.components ?? [];
         for (const child of children) {
             if (child.applyHolderAttachPoint) {
                 ;