@operato/scene-transport 10.0.0-beta.46 → 10.0.0-beta.48

package/CHANGELOG.md

@@ -3,6 +3,46 @@
 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.48](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.47...v10.0.0-beta.48) (2026-05-26)
+
+
+### :bug: Bug Fix
+
+* **scene-base/transport): nature getter 패턴 통일 + feat(facility:** Room alpha (투명도) ([9685bbe](https://github.com/things-scene/operato-scene/commit/9685bbe8efe588fc5b817116f76c73973b3ab063))
+
+
+
+## [10.0.0-beta.47](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.46...v10.0.0-beta.47) (2026-05-26)
+
+
+### :rocket: New Features
+
+* **i18n:** 신규 컴포넌트 + label 다국어 처리 (ko/en/ja/zh/ms × 3 packages) ([bed24ce](https://github.com/things-scene/operato-scene/commit/bed24cef4c63b704976b7fc9f13571916175c2b3))
+* **transport/storage:** Phase Z PR-4 — multi-carrier mover (forkSlots state) ([5e398d1](https://github.com/things-scene/operato-scene/commit/5e398d12075c7732d42a27a439d2246acb735289))
+* **transport:** AGV / Forklift / Tugger Navigable 통합 + helpers 추출 ([eaa951f](https://github.com/things-scene/operato-scene/commit/eaa951f79bce35ac7fdba2bd8dff17b26de77c49))
+* **transport:** AMR-1/AMR-2 — ChargingStation + AMR base (Mover + Navigable) ([eed554c](https://github.com/things-scene/operato-scene/commit/eed554c5660879112b33fd81c993eafbafe1c349))
+* **transport:** AMR-3/5/6/7 — followReservation 정밀화 + battery + idle + NavGraph 자동 ([1a93f68](https://github.com/things-scene/operato-scene/commit/1a93f68330675c39e11521369fae448ad8cba200))
+* **transport:** AN-PR-2.1 — Grid-based NavGraph 자동 구성 (obstacle scan) ([256dec6](https://github.com/things-scene/operato-scene/commit/256dec6498646535cbb23b0678ea01bc3ed0e05e))
+* **transport:** AN-PR-4 — Lane / Waypoint / Intersection visual 컴포넌트 ([595cabc](https://github.com/things-scene/operato-scene/commit/595cabca7dae6414ff37029e2e81e0b6c61ee4e4))
+* **transport:** AN-PR-5 — ForbiddenZone / NavZone / SpeedZone + polygon utils ([bb695df](https://github.com/things-scene/operato-scene/commit/bb695df1c40fed234fc0a9cfb42a9988c42ba2cc))
+* **transport:** AN-PR-6 — TrafficController + SpeedZone wiring (AMR 적용) ([6305c4d](https://github.com/things-scene/operato-scene/commit/6305c4d34379162af4b4069229e2aea86037e0d7))
+* **transport:** Auto-Nav 정교화 — deadlock detection ([c0d7d87](https://github.com/things-scene/operato-scene/commit/c0d7d87e6ca9119deb83efc14f59f700403be74a))
+* **transport:** Auto-Nav 정교화 — polygon SAT 충돌 검사 ([329c44b](https://github.com/things-scene/operato-scene/commit/329c44baae53123befcf6b59606667ecf9b40a5c))
+* **transport:** Auto-Nav 정교화 — replan strategy ([9938378](https://github.com/things-scene/operato-scene/commit/9938378f53dc3ce8580a74adf17c8ce7a58c63c9))
+* **transport:** Facility↔Z — Staircase / CarrierElevator vertical edges ([d96655a](https://github.com/things-scene/operato-scene/commit/d96655aa33ba581d46377e3c5e3a237e354aa329))
+
+
+### :bug: Bug Fix
+
+* **i18n:** nature label kebab-case 통일 — ox-property-editor 의 단순 prefix 매칭 ([6ca60e3](https://github.com/things-scene/operato-scene/commit/6ca60e318a1f601fc3999f1bfaf8594557eaf3cf))
+
+
+### :memo: Documentation
+
+* **transport:** AMR-8 — 가이드 + templates 추가 ([55b35ed](https://github.com/things-scene/operato-scene/commit/55b35edb6d1bb96e226db24a2c38d6988018f97f))
+
+
+
 ## [10.0.0-beta.46](https://github.com/things-scene/operato-scene/compare/v10.0.0-beta.45...v10.0.0-beta.46) (2026-05-24)
 
 **Note:** Version bump only for package @operato/scene-transport

package/dist/agv.d.ts

@@ -1,6 +1,11 @@
 import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
+import type { SlotDef, State, Material3D, PathPlan, PathPlanOptions, Reservation, SpeedProfile, Navigable } from '@hatiolab/things-scene';
 import { type Alignment, type CarrierAttachPoint, type Heights, type LegendBinding, type MoveOptions, type PlacementArchetype } from '@operato/scene-base';
+type Vec3 = {
+    x: number;
+    y: number;
+    z: number;
+};
 /**
  * Agv status — common to both payload and towing AGVs (kept narrow on purpose).
  *
@@ -20,6 +25,12 @@ export interface AgvState extends State {
     status?: AgvStatus;
     battery?: number;
     speed?: number;
+    /** 자율 path planning 활성화. default false — backward compat. true 시 NavGraph 활용. */
+    autonomousPathPlanning?: boolean;
+    /** Grid layer cell size (자동 NavGraph 의 정밀도). */
+    gridCellSize?: number;
+    /** SpeedProfile — 명시 시 path duration 계산에 사용. */
+    speedProfile?: SpeedProfile;
     material3d?: Material3D;
 }
 declare const Base: typeof Component & {
@@ -30,6 +41,8 @@ declare const Base: typeof Component & {
         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>;
+        moveTo(target: Component, options?: MoveOptions): Promise<void>;
+        canReach(target: any): boolean;
     };
 };
 /**
@@ -44,7 +57,7 @@ declare const Base: typeof Component & {
  *
  * For the towing variant (no cargo deck, pulls trailers behind), see Tugger.
  */
-export default class Agv extends Base {
+export default class Agv extends Base implements Navigable {
     get state(): AgvState;
     /**
      * Phase H — pickup contract 호환성 type. AGV 는 carrier 를 deck 에 올리는
@@ -55,6 +68,14 @@ export default class Agv extends Base {
      *  TS4113 회피.)
      */
     get toolType(): string;
+    get speedProfile(): SpeedProfile;
+    planPath(target: Vec3, options?: PathPlanOptions): PathPlan | null;
+    reservePath(plan: PathPlan, priority?: number): Reservation[] | null;
+    followReservation(reservations: Reservation[]): Promise<void>;
+    releaseReservation(reservations: Reservation[]): void;
+    private _lastPathPlan;
+    moveTo(target: Component, options?: MoveOptions): Promise<void>;
+    canReach(target: any): boolean;
     static legends: Record<string, LegendBinding>;
     /**
      * AGV sits on its wheels — `floor` archetype. Default depth = operation,

package/dist/agv.js

@@ -5,6 +5,7 @@ import { __decorate } from "tslib";
 import { ContainerAbstract, ContainerCapacity, sceneComponent } from '@hatiolab/things-scene';
 import { CarrierHolder, FloorBound, Legendable, Mover, Placeable } from '@operato/scene-base';
 import { Agv3D } from './agv-3d.js';
+import { navigablePlanPath, navigableReservePath, navigableReleaseReservation, navigableFollowReservation, navigableCanReach, resolveTargetWorldPosition, defaultSpeedProfile } from './navigable-helpers.js';
 /**
  * Body color — neutral industrial gray base, slightly modulated by status.
  * AGVs typically have status-color LED strips rather than full body color
@@ -107,6 +108,90 @@ let Agv = class Agv extends Base {
     get toolType() {
         return 'agv-deck';
     }
+    // ── Phase J Navigable interface — AN-PR-2.1+ 통합 ─────────────────────
+    //
+    // AGV 가 *_state.autonomousPathPlanning=true_* 시 NavGraph 기반 자율 path 활용.
+    // default false — 기존 직선 Mover.moveTo 그대로 동작 (backward compat).
+    get speedProfile() {
+        const s = this.state;
+        if (s.speedProfile)
+            return s.speedProfile;
+        return defaultSpeedProfile(s.speed ?? 200);
+    }
+    planPath(target, options) {
+        return navigablePlanPath({
+            mover: this, target, options,
+            speedProfile: this.speedProfile,
+            gridCellSize: this.state?.gridCellSize,
+            toolType: this.toolType
+        });
+    }
+    reservePath(plan, priority) {
+        return navigableReservePath(this, plan, priority);
+    }
+    async followReservation(reservations) {
+        const plan = this._lastPathPlan;
+        this.setState({ status: 'moving' });
+        if (!plan || plan.segments.length === 0) {
+            for (const r of reservations) {
+                const duration = r.timeWindow.endSimMs - r.timeWindow.startSimMs;
+                if (duration > 0)
+                    await new Promise(resolve => setTimeout(resolve, duration));
+            }
+            this.releaseReservation(reservations);
+            return;
+        }
+        await navigableFollowReservation({
+            mover: this, plan, reservations,
+            superMoveTo: (target, options) => super.moveTo(target, options)
+        });
+    }
+    releaseReservation(reservations) {
+        navigableReleaseReservation(reservations);
+    }
+    _lastPathPlan = null;
+    // ── Mover overrides ───────────────────────────────────────────────────
+    async moveTo(target, options) {
+        const autonomous = this.state.autonomousPathPlanning === true;
+        if (!autonomous) {
+            return super.moveTo(target, options); // backward compat — 직선
+        }
+        const targetPos = resolveTargetWorldPosition(target);
+        if (!targetPos)
+            return super.moveTo(target, options);
+        const plan = this.planPath(targetPos, { priority: options?.priority ?? 0 });
+        if (!plan) {
+            this._lastPathPlan = null;
+            return super.moveTo(target, options);
+        }
+        this._lastPathPlan = plan;
+        const reservations = this.reservePath(plan, options?.priority ?? 0);
+        if (!reservations) {
+            this._lastPathPlan = null;
+            await new Promise(r => setTimeout(r, 500 + Math.random() * 500));
+            return super.moveTo(target, options);
+        }
+        try {
+            await this.followReservation(reservations);
+        }
+        finally {
+            this._lastPathPlan = null;
+        }
+    }
+    canReach(target) {
+        const autonomous = this.state.autonomousPathPlanning === true;
+        if (!autonomous)
+            return super.canReach(target);
+        const result = navigableCanReach({
+            mover: this, target,
+            speedProfile: this.speedProfile,
+            gridCellSize: this.state?.gridCellSize,
+            toolType: this.toolType
+        });
+        if (result === null)
+            return super.canReach(target);
+        return result;
+    }
     static legends = {
         bodyColor: { from: 'status', legend: BODY_LEGEND },
         lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }

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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"]}
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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, PathPlan, PathPlanOptions, Reservation, SpeedProfile, Navigable } 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'\nimport {\n  navigablePlanPath, navigableReservePath, navigableReleaseReservation,\n  navigableFollowReservation, navigableCanReach,\n  resolveTargetWorldPosition, defaultSpeedProfile\n} from './navigable-helpers.js'\n\ntype Vec3 = { x: number; y: number; z: number }\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  // ── Phase J Navigable (AN-PR-2.1+ 통합) ──\n  /** 자율 path planning 활성화. default false — backward compat. true 시 NavGraph 활용. */\n  autonomousPathPlanning?: boolean\n  /** Grid layer cell size (자동 NavGraph 의 정밀도). */\n  gridCellSize?: number\n  /** SpeedProfile — 명시 시 path duration 계산에 사용. */\n  speedProfile?: SpeedProfile\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    moveTo(target: Component, options?: MoveOptions): Promise<void>\n    canReach(target: any): boolean\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 implements Navigable {\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  // ── Phase J Navigable interface — AN-PR-2.1+ 통합 ─────────────────────\n  //\n  // AGV 가 *_state.autonomousPathPlanning=true_* 시 NavGraph 기반 자율 path 활용.\n  // default false — 기존 직선 Mover.moveTo 그대로 동작 (backward compat).\n\n  get speedProfile(): SpeedProfile {\n    const s = this.state as AgvState\n    if (s.speedProfile) return s.speedProfile\n    return defaultSpeedProfile(s.speed ?? 200)\n  }\n\n  planPath(target: Vec3, options?: PathPlanOptions): PathPlan | null {\n    return navigablePlanPath({\n      mover: this, target, options,\n      speedProfile: this.speedProfile,\n      gridCellSize: (this.state as AgvState)?.gridCellSize,\n      toolType: this.toolType\n    })\n  }\n\n  reservePath(plan: PathPlan, priority?: number): Reservation[] | null {\n    return navigableReservePath(this, plan, priority)\n  }\n\n  async followReservation(reservations: Reservation[]): Promise<void> {\n    const plan = this._lastPathPlan\n    this.setState({ status: 'moving' as AgvStatus } as any)\n    if (!plan || plan.segments.length === 0) {\n      for (const r of reservations) {\n        const duration = r.timeWindow.endSimMs - r.timeWindow.startSimMs\n        if (duration > 0) await new Promise(resolve => setTimeout(resolve, duration))\n      }\n      this.releaseReservation(reservations)\n      return\n    }\n    await navigableFollowReservation({\n      mover: this, plan, reservations,\n      superMoveTo: (target, options) => super.moveTo(target, options)\n    })\n  }\n\n  releaseReservation(reservations: Reservation[]): void {\n    navigableReleaseReservation(reservations)\n  }\n\n  private _lastPathPlan: PathPlan | null = null\n\n  // ── Mover overrides ───────────────────────────────────────────────────\n\n  override async moveTo(target: Component, options?: MoveOptions): Promise<void> {\n    const autonomous = (this.state as AgvState).autonomousPathPlanning === true\n    if (!autonomous) {\n      return super.moveTo(target, options)   // backward compat — 직선\n    }\n    const targetPos = resolveTargetWorldPosition(target)\n    if (!targetPos) return super.moveTo(target, options)\n\n    const plan = this.planPath(targetPos, { priority: (options as any)?.priority ?? 0 })\n    if (!plan) {\n      this._lastPathPlan = null\n      return super.moveTo(target, options)\n    }\n    this._lastPathPlan = plan\n\n    const reservations = this.reservePath(plan, (options as any)?.priority ?? 0)\n    if (!reservations) {\n      this._lastPathPlan = null\n      await new Promise(r => setTimeout(r, 500 + Math.random() * 500))\n      return super.moveTo(target, options)\n    }\n    try {\n      await this.followReservation(reservations)\n    } finally {\n      this._lastPathPlan = null\n    }\n  }\n\n  canReach(target: any): boolean {\n    const autonomous = (this.state as AgvState).autonomousPathPlanning === true\n    if (!autonomous) return super.canReach(target)\n    const result = navigableCanReach({\n      mover: this, target,\n      speedProfile: this.speedProfile,\n      gridCellSize: (this.state as AgvState)?.gridCellSize,\n      toolType: this.toolType\n    })\n    if (result === null) return super.canReach(target)\n    return result\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/amr-3d.d.ts

@@ -0,0 +1,4 @@
+import { RealObjectGroup } from '@hatiolab/things-scene';
+export declare class AMR3D extends RealObjectGroup {
+    build(): void;
+}

package/dist/amr-3d.js

@@ -0,0 +1,148 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * AMR 3D — Autonomous Mobile Robot.
+ *
+ * AGV 와 구별되는 visual cue:
+ *   - 360° LiDAR (회전식 dome — 자율 인식의 상징)
+ *   - 사면 카메라 / 센서 indicator
+ *   - "AUTO" 또는 자율 status LED
+ *
+ * Lo-poly 베이스 — AGV 와 동일 패턴 (rounded chassis + deck + wheels) + 자율
+ * 차별점만 강조.
+ */
+import * as THREE from 'three';
+import { RoundedBoxGeometry } from 'three/examples/jsm/geometries/RoundedBoxGeometry.js';
+import { RealObjectGroup } from '@hatiolab/things-scene';
+const CHASSIS_COLOR = 0x4a4a55;
+const DECK_COLOR = 0x666677;
+const LIDAR_BODY = 0x222233;
+const LIDAR_DOME = 0x66aaff; // AMR 의 LiDAR — 푸른빛 (AGV 의 회색 dome 과 구별)
+const BUMPER_COLOR = 0xeeaa00;
+const WHEEL_COLOR = 0x202020;
+const SENSOR_COLOR = 0x445566;
+export class AMR3D extends RealObjectGroup {
+    build() {
+        super.build();
+        const state = this.component.state;
+        const width = state.width ?? 800;
+        const height = state.height ?? 600;
+        const depth = this.effectiveDepth ?? 300;
+        const bodyColor = state.bodyColor ?? '#888';
+        const emissiveColor = state.lampEmissive ?? '#222';
+        const status = state.status;
+        const chassisHeight = depth * 0.5;
+        const deckHeight = depth * 0.15;
+        const wheelHeight = depth * 0.35;
+        // ─ Chassis (rounded box) ─
+        const chassisGeo = new RoundedBoxGeometry(width, chassisHeight, height, 2, depth * 0.08);
+        const chassisMat = new THREE.MeshStandardMaterial({
+            color: new THREE.Color(bodyColor),
+            roughness: 0.5,
+            metalness: 0.3
+        });
+        const chassis = new THREE.Mesh(chassisGeo, chassisMat);
+        chassis.position.y = -depth / 2 + wheelHeight + chassisHeight / 2;
+        this.object3d.add(chassis);
+        // ─ Top deck (cargo surface) ─
+        const deckGeo = new RoundedBoxGeometry(width * 0.95, deckHeight, height * 0.95, 2, depth * 0.04);
+        const deckMat = new THREE.MeshStandardMaterial({
+            color: DECK_COLOR,
+            roughness: 0.6
+        });
+        const deck = new THREE.Mesh(deckGeo, deckMat);
+        deck.position.y = chassis.position.y + chassisHeight / 2 + deckHeight / 2;
+        this.object3d.add(deck);
+        // ─ LiDAR — 360° rotating dome (AMR 의 상징) ─
+        const lidarRadius = Math.min(width, height) * 0.08;
+        const lidarBodyGeo = new THREE.CylinderGeometry(lidarRadius, lidarRadius, lidarRadius * 1.2, 16);
+        const lidarBodyMat = new THREE.MeshStandardMaterial({
+            color: LIDAR_BODY,
+            roughness: 0.4,
+            metalness: 0.6
+        });
+        const lidarBody = new THREE.Mesh(lidarBodyGeo, lidarBodyMat);
+        lidarBody.position.set(0, deck.position.y + deckHeight / 2 + lidarRadius * 0.6, 0);
+        this.object3d.add(lidarBody);
+        const lidarDomeGeo = new THREE.SphereGeometry(lidarRadius * 1.05, 16, 16, 0, Math.PI * 2, 0, Math.PI / 2);
+        const lidarDomeMat = new THREE.MeshStandardMaterial({
+            color: LIDAR_DOME,
+            transparent: true,
+            opacity: 0.55,
+            roughness: 0.2,
+            metalness: 0.1,
+            emissive: LIDAR_DOME,
+            emissiveIntensity: status === 'moving' || status === 'planning' ? 0.5 : 0.15
+        });
+        const lidarDome = new THREE.Mesh(lidarDomeGeo, lidarDomeMat);
+        lidarDome.position.set(0, lidarBody.position.y + lidarRadius * 0.6, 0);
+        this.object3d.add(lidarDome);
+        // ─ Side sensors (사면 카메라) ─
+        const sensorSize = depth * 0.05;
+        const sensorGeo = new THREE.BoxGeometry(sensorSize, sensorSize, sensorSize * 1.5);
+        const sensorMat = new THREE.MeshStandardMaterial({
+            color: SENSOR_COLOR,
+            metalness: 0.7,
+            roughness: 0.3
+        });
+        const sensorPositions = [
+            [+width / 2 - sensorSize, chassis.position.y, +height / 2 - sensorSize],
+            [-width / 2 + sensorSize, chassis.position.y, +height / 2 - sensorSize],
+            [+width / 2 - sensorSize, chassis.position.y, -height / 2 + sensorSize],
+            [-width / 2 + sensorSize, chassis.position.y, -height / 2 + sensorSize]
+        ];
+        for (const [x, y, z] of sensorPositions) {
+            const sensor = new THREE.Mesh(sensorGeo, sensorMat);
+            sensor.position.set(x, y, z);
+            this.object3d.add(sensor);
+        }
+        // ─ Status lamp (전방) ─
+        const lampRadius = Math.min(width, height) * 0.04;
+        const lampGeo = new THREE.SphereGeometry(lampRadius, 12, 12);
+        const lampMat = new THREE.MeshStandardMaterial({
+            color: new THREE.Color(emissiveColor),
+            emissive: new THREE.Color(emissiveColor),
+            emissiveIntensity: status === 'moving' || status === 'planning' ? 1.2 : 0.3,
+            roughness: 0.3
+        });
+        const lampL = new THREE.Mesh(lampGeo, lampMat);
+        lampL.position.set(-width * 0.25, chassis.position.y, -height / 2 + lampRadius);
+        this.object3d.add(lampL);
+        const lampR = new THREE.Mesh(lampGeo, lampMat);
+        lampR.position.set(+width * 0.25, chassis.position.y, -height / 2 + lampRadius);
+        this.object3d.add(lampR);
+        // ─ Bumpers (전후) ─
+        const bumperThickness = depth * 0.06;
+        const bumperGeo = new THREE.BoxGeometry(width * 0.96, bumperThickness, bumperThickness * 1.5);
+        const bumperMat = new THREE.MeshStandardMaterial({
+            color: BUMPER_COLOR,
+            roughness: 0.7
+        });
+        const bumperFront = new THREE.Mesh(bumperGeo, bumperMat);
+        bumperFront.position.set(0, chassis.position.y - chassisHeight * 0.3, -height / 2 + bumperThickness * 0.75);
+        this.object3d.add(bumperFront);
+        const bumperRear = new THREE.Mesh(bumperGeo, bumperMat);
+        bumperRear.position.set(0, chassis.position.y - chassisHeight * 0.3, +height / 2 - bumperThickness * 0.75);
+        this.object3d.add(bumperRear);
+        // ─ Wheels (4 corner, 단순 cylinder) ─
+        const wheelRadius = wheelHeight * 0.5;
+        const wheelWidth = width * 0.06;
+        const wheelGeo = new THREE.CylinderGeometry(wheelRadius, wheelRadius, wheelWidth, 12);
+        const wheelMat = new THREE.MeshStandardMaterial({
+            color: WHEEL_COLOR,
+            roughness: 0.8
+        });
+        const wheelOffsetX = width / 2 - wheelWidth * 0.6;
+        const wheelOffsetZ = height / 2 - wheelRadius * 1.2;
+        const wheelY = -depth / 2 + wheelRadius;
+        for (const sx of [-1, +1]) {
+            for (const sz of [-1, +1]) {
+                const wheel = new THREE.Mesh(wheelGeo, wheelMat);
+                wheel.rotation.z = Math.PI / 2;
+                wheel.position.set(sx * wheelOffsetX, wheelY, sz * wheelOffsetZ);
+                this.object3d.add(wheel);
+            }
+        }
+    }
+}
+//# sourceMappingURL=amr-3d.js.map

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

@@ -0,0 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * AMR 3D — Autonomous Mobile Robot.\n *\n * AGV 와 구별되는 visual cue:\n *   - 360° LiDAR (회전식 dome — 자율 인식의 상징)\n *   - 사면 카메라 / 센서 indicator\n *   - \"AUTO\" 또는 자율 status LED\n *\n * Lo-poly 베이스 — AGV 와 동일 패턴 (rounded chassis + deck + wheels) + 자율\n * 차별점만 강조.\n */\n\nimport * as THREE from 'three'\nimport { RoundedBoxGeometry } from 'three/examples/jsm/geometries/RoundedBoxGeometry.js'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst CHASSIS_COLOR = 0x4a4a55\nconst DECK_COLOR = 0x666677\nconst LIDAR_BODY = 0x222233\nconst LIDAR_DOME = 0x66aaff       // AMR 의 LiDAR — 푸른빛 (AGV 의 회색 dome 과 구별)\nconst BUMPER_COLOR = 0xeeaa00\nconst WHEEL_COLOR = 0x202020\nconst SENSOR_COLOR = 0x445566\n\nexport class AMR3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const state: any = this.component.state\n    const width = state.width ?? 800\n    const height = state.height ?? 600\n    const depth = (this as any).effectiveDepth ?? 300\n    const bodyColor = state.bodyColor as string ?? '#888'\n    const emissiveColor = state.lampEmissive as string ?? '#222'\n    const status = state.status\n\n    const chassisHeight = depth * 0.5\n    const deckHeight = depth * 0.15\n    const wheelHeight = depth * 0.35\n\n    // ─ Chassis (rounded box) ─\n    const chassisGeo = new RoundedBoxGeometry(width, chassisHeight, height, 2, depth * 0.08)\n    const chassisMat = new THREE.MeshStandardMaterial({\n      color: new THREE.Color(bodyColor),\n      roughness: 0.5,\n      metalness: 0.3\n    })\n    const chassis = new THREE.Mesh(chassisGeo, chassisMat)\n    chassis.position.y = -depth / 2 + wheelHeight + chassisHeight / 2\n    this.object3d.add(chassis)\n\n    // ─ Top deck (cargo surface) ─\n    const deckGeo = new RoundedBoxGeometry(width * 0.95, deckHeight, height * 0.95, 2, depth * 0.04)\n    const deckMat = new THREE.MeshStandardMaterial({\n      color: DECK_COLOR,\n      roughness: 0.6\n    })\n    const deck = new THREE.Mesh(deckGeo, deckMat)\n    deck.position.y = chassis.position.y + chassisHeight / 2 + deckHeight / 2\n    this.object3d.add(deck)\n\n    // ─ LiDAR — 360° rotating dome (AMR 의 상징) ─\n    const lidarRadius = Math.min(width, height) * 0.08\n    const lidarBodyGeo = new THREE.CylinderGeometry(lidarRadius, lidarRadius, lidarRadius * 1.2, 16)\n    const lidarBodyMat = new THREE.MeshStandardMaterial({\n      color: LIDAR_BODY,\n      roughness: 0.4,\n      metalness: 0.6\n    })\n    const lidarBody = new THREE.Mesh(lidarBodyGeo, lidarBodyMat)\n    lidarBody.position.set(0, deck.position.y + deckHeight / 2 + lidarRadius * 0.6, 0)\n    this.object3d.add(lidarBody)\n\n    const lidarDomeGeo = new THREE.SphereGeometry(lidarRadius * 1.05, 16, 16, 0, Math.PI * 2, 0, Math.PI / 2)\n    const lidarDomeMat = new THREE.MeshStandardMaterial({\n      color: LIDAR_DOME,\n      transparent: true,\n      opacity: 0.55,\n      roughness: 0.2,\n      metalness: 0.1,\n      emissive: LIDAR_DOME,\n      emissiveIntensity: status === 'moving' || status === 'planning' ? 0.5 : 0.15\n    })\n    const lidarDome = new THREE.Mesh(lidarDomeGeo, lidarDomeMat)\n    lidarDome.position.set(0, lidarBody.position.y + lidarRadius * 0.6, 0)\n    this.object3d.add(lidarDome)\n\n    // ─ Side sensors (사면 카메라) ─\n    const sensorSize = depth * 0.05\n    const sensorGeo = new THREE.BoxGeometry(sensorSize, sensorSize, sensorSize * 1.5)\n    const sensorMat = new THREE.MeshStandardMaterial({\n      color: SENSOR_COLOR,\n      metalness: 0.7,\n      roughness: 0.3\n    })\n    const sensorPositions: Array<[number, number, number]> = [\n      [+width / 2 - sensorSize, chassis.position.y, +height / 2 - sensorSize],\n      [-width / 2 + sensorSize, chassis.position.y, +height / 2 - sensorSize],\n      [+width / 2 - sensorSize, chassis.position.y, -height / 2 + sensorSize],\n      [-width / 2 + sensorSize, chassis.position.y, -height / 2 + sensorSize]\n    ]\n    for (const [x, y, z] of sensorPositions) {\n      const sensor = new THREE.Mesh(sensorGeo, sensorMat)\n      sensor.position.set(x, y, z)\n      this.object3d.add(sensor)\n    }\n\n    // ─ Status lamp (전방) ─\n    const lampRadius = Math.min(width, height) * 0.04\n    const lampGeo = new THREE.SphereGeometry(lampRadius, 12, 12)\n    const lampMat = new THREE.MeshStandardMaterial({\n      color: new THREE.Color(emissiveColor),\n      emissive: new THREE.Color(emissiveColor),\n      emissiveIntensity: status === 'moving' || status === 'planning' ? 1.2 : 0.3,\n      roughness: 0.3\n    })\n    const lampL = new THREE.Mesh(lampGeo, lampMat)\n    lampL.position.set(-width * 0.25, chassis.position.y, -height / 2 + lampRadius)\n    this.object3d.add(lampL)\n    const lampR = new THREE.Mesh(lampGeo, lampMat)\n    lampR.position.set(+width * 0.25, chassis.position.y, -height / 2 + lampRadius)\n    this.object3d.add(lampR)\n\n    // ─ Bumpers (전후) ─\n    const bumperThickness = depth * 0.06\n    const bumperGeo = new THREE.BoxGeometry(width * 0.96, bumperThickness, bumperThickness * 1.5)\n    const bumperMat = new THREE.MeshStandardMaterial({\n      color: BUMPER_COLOR,\n      roughness: 0.7\n    })\n    const bumperFront = new THREE.Mesh(bumperGeo, bumperMat)\n    bumperFront.position.set(0, chassis.position.y - chassisHeight * 0.3, -height / 2 + bumperThickness * 0.75)\n    this.object3d.add(bumperFront)\n    const bumperRear = new THREE.Mesh(bumperGeo, bumperMat)\n    bumperRear.position.set(0, chassis.position.y - chassisHeight * 0.3, +height / 2 - bumperThickness * 0.75)\n    this.object3d.add(bumperRear)\n\n    // ─ Wheels (4 corner, 단순 cylinder) ─\n    const wheelRadius = wheelHeight * 0.5\n    const wheelWidth = width * 0.06\n    const wheelGeo = new THREE.CylinderGeometry(wheelRadius, wheelRadius, wheelWidth, 12)\n    const wheelMat = new THREE.MeshStandardMaterial({\n      color: WHEEL_COLOR,\n      roughness: 0.8\n    })\n    const wheelOffsetX = width / 2 - wheelWidth * 0.6\n    const wheelOffsetZ = height / 2 - wheelRadius * 1.2\n    const wheelY = -depth / 2 + wheelRadius\n    for (const sx of [-1, +1]) {\n      for (const sz of [-1, +1]) {\n        const wheel = new THREE.Mesh(wheelGeo, wheelMat)\n        wheel.rotation.z = Math.PI / 2\n        wheel.position.set(sx * wheelOffsetX, wheelY, sz * wheelOffsetZ)\n        this.object3d.add(wheel)\n      }\n    }\n  }\n}\n"]}