@holoscript/core 6.0.4 → 7.0.0

package/dist/chunk-6TZPZCOJ.cjs

@@ -1,1404 +0,0 @@
-'use strict';
-
-var chunkLXJ4667L_cjs = require('./chunk-LXJ4667L.cjs');
-var chunkBF2235SI_cjs = require('./chunk-BF2235SI.cjs');
-var chunk3SAK5KFL_cjs = require('./chunk-3SAK5KFL.cjs');
-var platform = require('@holoscript/platform');
-
-// src/compiler/URDFCompiler.ts
-var URDFCompiler_exports = {};
-chunk3SAK5KFL_cjs.__export(URDFCompiler_exports, {
-  URDFCompiler: () => exports.URDFCompiler,
-  compileForGazebo: () => compileForGazebo,
-  compileForIsaacSim: () => compileForIsaacSim,
-  compileForROS2: () => compileForROS2,
-  compileToURDF: () => compileToURDF,
-  default: () => exports.URDFCompiler_default,
-  generateControllersYaml: () => generateControllersYaml,
-  generateROS2LaunchFile: () => generateROS2LaunchFile
-});
-function compileToURDF(composition, options) {
-  const compiler = new exports.URDFCompiler(options);
-  return compiler.compile(composition);
-}
-function compileForROS2(composition, options) {
-  const ros2Options = {
-    includeGazeboPlugins: true,
-    includeROS2Control: true,
-    includeVisual: true,
-    includeCollision: true,
-    includeInertial: true,
-    ...options
-  };
-  const compiler = new exports.URDFCompiler(ros2Options);
-  return compiler.compile(composition);
-}
-function compileForGazebo(composition, options) {
-  const gazeboOptions = {
-    includeGazeboPlugins: true,
-    gazeboVersion: "classic",
-    includeVisual: true,
-    includeCollision: true,
-    includeInertial: true,
-    ...options
-  };
-  const compiler = new exports.URDFCompiler(gazeboOptions);
-  return compiler.compile(composition);
-}
-function compileForIsaacSim(composition, options) {
-  const isaacOptions = {
-    includeVisual: true,
-    includeCollision: true,
-    includeInertial: true,
-    includeGazeboPlugins: false,
-    // Isaac Sim uses PhysX, not Gazebo plugins
-    includeROS2Control: true,
-    includeIsaacSimExtensions: true,
-    isaacSimDriveType: "acceleration",
-    isaacSimTargetType: "position",
-    isaacSimSolverPositionIterations: 8,
-    isaacSimSolverVelocityIterations: 4,
-    ...options
-  };
-  const compiler = new exports.URDFCompiler(isaacOptions);
-  return compiler.compile(composition);
-}
-function generateROS2LaunchFile(packageName, urdfFilename, options) {
-  const useSimTime = options?.useSimTime ?? true;
-  const rviz = options?.rviz ?? true;
-  const gazebo = options?.gazebo ?? true;
-  const controllers = options?.controllers ?? [
-    "joint_state_broadcaster",
-    "joint_trajectory_controller"
-  ];
-  const lines = [];
-  lines.push('"""');
-  lines.push(`ROS 2 Launch file for ${packageName}`);
-  lines.push("Auto-generated by HoloScript URDFCompiler");
-  lines.push('"""');
-  lines.push("");
-  lines.push("import os");
-  lines.push("from ament_index_python.packages import get_package_share_directory");
-  lines.push("from launch import LaunchDescription");
-  lines.push(
-    "from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler"
-  );
-  lines.push("from launch.conditions import IfCondition");
-  lines.push("from launch.event_handlers import OnProcessExit");
-  lines.push("from launch.launch_description_sources import PythonLaunchDescriptionSource");
-  lines.push(
-    "from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution"
-  );
-  lines.push("from launch_ros.actions import Node");
-  lines.push("from launch_ros.substitutions import FindPackageShare");
-  lines.push("");
-  lines.push("");
-  lines.push("def generate_launch_description():");
-  lines.push(`    pkg_share = get_package_share_directory('${packageName}')`);
-  lines.push(`    urdf_file = os.path.join(pkg_share, 'urdf', '${urdfFilename}')`);
-  lines.push("");
-  lines.push('    with open(urdf_file, "r") as f:');
-  lines.push("        robot_description = f.read()");
-  lines.push("");
-  lines.push("    # Robot State Publisher");
-  lines.push("    robot_state_publisher = Node(");
-  lines.push("        package='robot_state_publisher',");
-  lines.push("        executable='robot_state_publisher',");
-  lines.push("        parameters=[{");
-  lines.push("            'robot_description': robot_description,");
-  lines.push(`            'use_sim_time': ${useSimTime ? "True" : "False"},`);
-  lines.push("        }],");
-  lines.push("        output='screen',");
-  lines.push("    )");
-  lines.push("");
-  if (rviz) {
-    lines.push("    # RViz2");
-    lines.push('    rviz_config = os.path.join(pkg_share, "config", "display.rviz")');
-    lines.push("    rviz = Node(");
-    lines.push("        package='rviz2',");
-    lines.push("        executable='rviz2',");
-    lines.push("        arguments=['-d', rviz_config],");
-    lines.push(`        parameters=[{'use_sim_time': ${useSimTime ? "True" : "False"}}],`);
-    lines.push("        output='screen',");
-    lines.push("    )");
-    lines.push("");
-  }
-  if (gazebo) {
-    lines.push("    # Gazebo");
-    lines.push("    gazebo = IncludeLaunchDescription(");
-    lines.push("        PythonLaunchDescriptionSource([");
-    lines.push("            FindPackageShare('ros_gz_sim'),");
-    lines.push("            '/launch/gz_sim.launch.py',");
-    lines.push("        ]),");
-    lines.push("        launch_arguments={'gz_args': '-r empty.sdf'}.items(),");
-    lines.push("    )");
-    lines.push("");
-    lines.push("    # Spawn robot");
-    lines.push("    spawn_entity = Node(");
-    lines.push("        package='ros_gz_sim',");
-    lines.push("        executable='create',");
-    lines.push(
-      "        arguments=['-topic', 'robot_description', '-name', '" + packageName + "'],"
-    );
-    lines.push("        output='screen',");
-    lines.push("    )");
-    lines.push("");
-  }
-  for (const controller of controllers) {
-    const varName = controller.replace(/-/g, "_");
-    lines.push(`    # ${controller}`);
-    lines.push(`    ${varName}_spawner = Node(`);
-    lines.push("        package='controller_manager',");
-    lines.push("        executable='spawner',");
-    lines.push(`        arguments=['${controller}'],`);
-    lines.push("        output='screen',");
-    lines.push("    )");
-    lines.push("");
-  }
-  lines.push("    return LaunchDescription([");
-  lines.push("        robot_state_publisher,");
-  if (rviz) lines.push("        rviz,");
-  if (gazebo) {
-    lines.push("        gazebo,");
-    lines.push("        spawn_entity,");
-  }
-  for (const controller of controllers) {
-    lines.push(`        ${controller.replace(/-/g, "_")}_spawner,`);
-  }
-  lines.push("    ])");
-  return lines.join("\n");
-}
-function generateControllersYaml(robotName, jointNames, options) {
-  const controllerType = options?.controllerType ?? "joint_trajectory_controller/JointTrajectoryController";
-  const publishRate = options?.publishRate ?? 50;
-  const lines = [];
-  lines.push("# Auto-generated by HoloScript URDFCompiler");
-  lines.push(`# Robot: ${robotName}`);
-  lines.push("");
-  lines.push("controller_manager:");
-  lines.push("  ros__parameters:");
-  lines.push(`    update_rate: ${publishRate}`);
-  lines.push("");
-  lines.push("    joint_state_broadcaster:");
-  lines.push("      type: joint_state_broadcaster/JointStateBroadcaster");
-  lines.push("");
-  lines.push("    joint_trajectory_controller:");
-  lines.push(`      type: ${controllerType}`);
-  lines.push("");
-  lines.push("joint_trajectory_controller:");
-  lines.push("  ros__parameters:");
-  lines.push("    joints:");
-  for (const joint of jointNames) {
-    lines.push(`      - ${joint}`);
-  }
-  lines.push("    command_interfaces:");
-  lines.push("      - position");
-  lines.push("    state_interfaces:");
-  lines.push("      - position");
-  lines.push("      - velocity");
-  return lines.join("\n");
-}
-exports.URDFCompiler = void 0; exports.URDFCompiler_default = void 0;
-var init_URDFCompiler = chunk3SAK5KFL_cjs.__esm({
-  "src/compiler/URDFCompiler.ts"() {
-    chunkBF2235SI_cjs.init_CompilerBase();
-    chunkLXJ4667L_cjs.init_DomainBlockCompilerMixin();
-    exports.URDFCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
-      constructor(options = {}) {
-        super();
-        this.compilerName = "URDFCompiler";
-        this.lines = [];
-        this.indentLevel = 0;
-        this.links = [];
-        this.joints = [];
-        this.materials = /* @__PURE__ */ new Map();
-        this.sensors = [];
-        this.transmissions = [];
-        this.ros2Controls = [];
-        this.isaacSimSensors = [];
-        this.loopJoints = [];
-        this.fixedFrames = [];
-        this.options = {
-          robotName: options.robotName || "HoloScriptRobot",
-          includeVisual: options.includeVisual ?? true,
-          includeCollision: options.includeCollision ?? true,
-          includeInertial: options.includeInertial ?? true,
-          defaultMass: options.defaultMass ?? 1,
-          meshPathPrefix: options.meshPathPrefix || "package://meshes/",
-          includeHoloExtensions: options.includeHoloExtensions ?? true,
-          includeGazeboPlugins: options.includeGazeboPlugins ?? false,
-          includeROS2Control: options.includeROS2Control ?? false,
-          gazeboVersion: options.gazeboVersion ?? "classic",
-          gazeboPhysicsEngine: options.gazeboPhysicsEngine ?? "ode",
-          defaultMu1: options.defaultMu1 ?? 0.5,
-          defaultMu2: options.defaultMu2 ?? 0.5,
-          defaultKp: options.defaultKp ?? 1e6,
-          defaultKd: options.defaultKd ?? 100,
-          enableSelfCollision: options.enableSelfCollision ?? false,
-          packageName: options.packageName ?? "holoscript_robot",
-          includeIsaacSimExtensions: options.includeIsaacSimExtensions ?? false,
-          isaacSimDriveType: options.isaacSimDriveType ?? "acceleration",
-          isaacSimTargetType: options.isaacSimTargetType ?? "position",
-          isaacSimSolverPositionIterations: options.isaacSimSolverPositionIterations ?? 8,
-          isaacSimSolverVelocityIterations: options.isaacSimSolverVelocityIterations ?? 4
-        };
-      }
-      getRequiredCapability() {
-        return platform.ANSCapabilityPath.URDF;
-      }
-      // ===========================================================================
-      // HELPER METHODS
-      // ===========================================================================
-      /** Get trait name from either string or object format */
-      getTraitName(trait) {
-        return typeof trait === "string" ? trait : trait.name;
-      }
-      /** Check if object has a specific trait */
-      hasTrait(obj, traitName) {
-        return obj.traits?.some((t) => this.getTraitName(t) === traitName) ?? false;
-      }
-      /** Get trait configuration object */
-      getTraitConfig(obj, traitName) {
-        const trait = obj.traits?.find((t) => this.getTraitName(t) === traitName);
-        if (!trait) return void 0;
-        if (typeof trait === "string") return {};
-        const { name: _name, ...config } = trait;
-        return config;
-      }
-      /** Map HoloScript joint types to URDF joint types */
-      mapJointType(holoType) {
-        switch (holoType) {
-          case "hinge":
-          case "revolute":
-            return "revolute";
-          case "slider":
-          case "prismatic":
-            return "prismatic";
-          case "ball":
-          case "floating":
-            return "floating";
-          case "fixed":
-            return "fixed";
-          case "continuous":
-            return "continuous";
-          case "planar":
-            return "planar";
-          default:
-            return "fixed";
-        }
-      }
-      /** Sanitize name for URDF element names (Isaac Sim compatible) */
-      sanitizeName(name) {
-        let sanitized = name.replace(/[^a-zA-Z0-9_]/g, "_").toLowerCase();
-        if (sanitized.startsWith("_")) {
-          sanitized = "a" + sanitized;
-        }
-        return sanitized;
-      }
-      /** Escape special characters for XML attribute values */
-      escapeXml(str) {
-        return str.replace(/&/g, "&amp;").replace(/</g, "&lt;").replace(/>/g, "&gt;").replace(/"/g, "&quot;").replace(/'/g, "&apos;");
-      }
-      /** Emit a line with current indent */
-      emit(line) {
-        const indent = "  ".repeat(this.indentLevel);
-        this.lines.push(indent + line);
-      }
-      /** Emit empty line */
-      emitBlank() {
-        this.lines.push("");
-      }
-      /** Convert HoloValue to string */
-      getStringValue(value) {
-        if (typeof value === "string") return value;
-        if (typeof value === "number") return String(value);
-        if (typeof value === "boolean") return String(value);
-        return "";
-      }
-      /** Parse hex color string to RGBA components */
-      parseColor(color) {
-        if (color.startsWith("#")) {
-          const hex = color.slice(1);
-          return {
-            r: parseInt(hex.slice(0, 2), 16) / 255,
-            g: parseInt(hex.slice(2, 4), 16) / 255,
-            b: parseInt(hex.slice(4, 6), 16) / 255,
-            a: hex.length > 6 ? parseInt(hex.slice(6, 8), 16) / 255 : 1
-          };
-        }
-        const colors = {
-          red: { r: 1, g: 0, b: 0, a: 1 },
-          green: { r: 0, g: 0.8, b: 0, a: 1 },
-          blue: { r: 0, g: 0, b: 1, a: 1 },
-          white: { r: 1, g: 1, b: 1, a: 1 },
-          black: { r: 0, g: 0, b: 0, a: 1 },
-          yellow: { r: 1, g: 1, b: 0, a: 1 },
-          cyan: { r: 0, g: 1, b: 1, a: 1 },
-          magenta: { r: 1, g: 0, b: 1, a: 1 },
-          orange: { r: 1, g: 0.65, b: 0, a: 1 },
-          gray: { r: 0.5, g: 0.5, b: 0.5, a: 1 },
-          grey: { r: 0.5, g: 0.5, b: 0.5, a: 1 }
-        };
-        return colors[color.toLowerCase()] || { r: 0.8, g: 0.8, b: 0.8, a: 1 };
-      }
-      // ===========================================================================
-      // EXTRACTION METHODS
-      // ===========================================================================
-      /** Extract position from object properties */
-      extractPosition(obj) {
-        const posProp = obj.properties.find((p) => p.key === "position");
-        if (posProp && Array.isArray(posProp.value)) {
-          return [
-            Number(posProp.value[0]) || 0,
-            Number(posProp.value[1]) || 0,
-            Number(posProp.value[2]) || 0
-          ];
-        }
-        return [0, 0, 0];
-      }
-      /** Extract rotation from object properties (degrees -> radians) */
-      extractRotation(obj) {
-        const rotProp = obj.properties.find((p) => p.key === "rotation");
-        if (rotProp && Array.isArray(rotProp.value)) {
-          return [
-            (Number(rotProp.value[0]) || 0) * Math.PI / 180,
-            (Number(rotProp.value[1]) || 0) * Math.PI / 180,
-            (Number(rotProp.value[2]) || 0) * Math.PI / 180
-          ];
-        }
-        return [0, 0, 0];
-      }
-      /** Extract uniform scale value from object properties */
-      extractScale(obj) {
-        const scaleProp = obj.properties.find((p) => p.key === "scale");
-        if (scaleProp) {
-          if (typeof scaleProp.value === "number") {
-            return scaleProp.value;
-          }
-          if (Array.isArray(scaleProp.value)) {
-            return Number(scaleProp.value[0]) || 1;
-          }
-        }
-        return 1;
-      }
-      /** Extract 3D scale from object properties */
-      extractScale3D(obj) {
-        const scaleProp = obj.properties.find((p) => p.key === "scale");
-        if (scaleProp) {
-          if (typeof scaleProp.value === "number") {
-            return [scaleProp.value, scaleProp.value, scaleProp.value];
-          }
-          if (Array.isArray(scaleProp.value) && scaleProp.value.length >= 3) {
-            return [
-              Number(scaleProp.value[0]) || 1,
-              Number(scaleProp.value[1]) || 1,
-              Number(scaleProp.value[2]) || 1
-            ];
-          }
-        }
-        return [1, 1, 1];
-      }
-      /** Extract color from object properties */
-      extractColor(obj) {
-        const colorProp = obj.properties.find((p) => p.key === "color");
-        return colorProp ? this.getStringValue(colorProp.value) : void 0;
-      }
-      /** Extract mass from physics property or trait */
-      extractMass(obj) {
-        const physicsProp = obj.properties.find((p) => p.key === "physics");
-        if (physicsProp && typeof physicsProp.value === "object" && !Array.isArray(physicsProp.value)) {
-          const massEntry = physicsProp.value.mass;
-          if (typeof massEntry === "number") return massEntry;
-        }
-        const massProp = obj.properties.find((p) => p.key === "mass");
-        if (massProp && typeof massProp.value === "number") return massProp.value;
-        return void 0;
-      }
-      /** Extract geometry type and dimensions from object */
-      extractGeometry(obj) {
-        const geometryProp = obj.properties.find((p) => p.key === "geometry");
-        if (!geometryProp) return void 0;
-        const geometryValue = this.getStringValue(geometryProp.value);
-        const scale = this.extractScale(obj);
-        switch (geometryValue) {
-          case "cube":
-          case "box":
-            return { type: "box", size: [scale, scale, scale] };
-          case "sphere":
-            return { type: "sphere", radius: scale / 2 };
-          case "cylinder":
-            return { type: "cylinder", radius: scale / 2, length: scale };
-          case "cone":
-            return { type: "cylinder", radius: scale / 2, length: scale };
-          case "capsule":
-            return { type: "cylinder", radius: scale / 3, length: scale };
-          case "plane":
-            return { type: "box", size: [scale, 0.01, scale] };
-          default:
-            if (geometryValue.endsWith(".glb") || geometryValue.endsWith(".dae") || geometryValue.endsWith(".stl") || geometryValue.endsWith(".obj")) {
-              const filename = geometryValue.replace(".glb", ".stl").replace(".dae", ".stl").replace(".obj", ".stl");
-              return {
-                type: "mesh",
-                filename: `${this.options.meshPathPrefix}${filename}`,
-                scale: this.extractScale3D(obj)
-              };
-            }
-            return { type: "box", size: [scale, scale, scale] };
-        }
-      }
-      /** Calculate inertia tensor from geometry and mass */
-      calculateInertia(geometry, mass) {
-        let ixx = mass * (1 + 1) / 12;
-        let iyy = mass * (1 + 1) / 12;
-        let izz = mass * (1 + 1) / 12;
-        if (geometry) {
-          switch (geometry.type) {
-            case "box": {
-              const [w, h, d] = geometry.size || [1, 1, 1];
-              ixx = mass * (h * h + d * d) / 12;
-              iyy = mass * (w * w + d * d) / 12;
-              izz = mass * (w * w + h * h) / 12;
-              break;
-            }
-            case "sphere": {
-              const r = geometry.radius || 0.5;
-              ixx = iyy = izz = 2 / 5 * mass * r * r;
-              break;
-            }
-            case "cylinder": {
-              const r = geometry.radius || 0.5;
-              const l = geometry.length || 1;
-              ixx = iyy = mass * (3 * r * r + l * l) / 12;
-              izz = mass * r * r / 2;
-              break;
-            }
-          }
-        }
-        return {
-          mass,
-          inertia: { ixx, ixy: 0, ixz: 0, iyy, iyz: 0, izz }
-        };
-      }
-      // ===========================================================================
-      // COMPILATION
-      // ===========================================================================
-      /**
-       * Compile HoloScript composition to URDF XML
-       */
-      compile(composition, agentToken, outputPath) {
-        if (agentToken) {
-          this.validateCompilerAccess(agentToken, outputPath);
-        }
-        this.lines = [];
-        this.links = [];
-        this.joints = [];
-        this.materials.clear();
-        this.sensors = [];
-        this.transmissions = [];
-        this.ros2Controls = [];
-        this.isaacSimSensors = [];
-        this.loopJoints = [];
-        this.fixedFrames = [];
-        this.indentLevel = 0;
-        this.extractFromComposition(composition);
-        this.emit('<?xml version="1.0"?>');
-        this.emit(`<!-- Auto-generated by HoloScript URDFCompiler v2.0 -->`);
-        this.emit(
-          `<!-- Source: composition "${this.escapeStringValue(composition.name, "TypeScript")}" -->`
-        );
-        this.emit(`<!-- Target: ROS 2 / Gazebo / MoveIt 2 / RViz2 -->`);
-        this.emitBlank();
-        this.emit(`<robot name="${this.escapeXml(this.options.robotName)}">`);
-        this.indentLevel++;
-        this.emitMaterials();
-        for (const link of this.links) {
-          this.emitLink(link);
-        }
-        for (const joint of this.joints) {
-          this.emitJoint(joint);
-        }
-        if (this.transmissions.length > 0) {
-          this.emitBlank();
-          this.emit("<!-- Transmissions -->");
-          for (const transmission of this.transmissions) {
-            this.emitTransmission(transmission);
-          }
-        }
-        if (this.options.includeROS2Control && this.ros2Controls.length > 0) {
-          this.emitBlank();
-          this.emit("<!-- ROS 2 Control Hardware Interface -->");
-          for (const control of this.ros2Controls) {
-            this.emitROS2Control(control);
-          }
-        }
-        if (this.options.includeGazeboPlugins) {
-          this.emitBlank();
-          this.emitGazeboPlugins(composition);
-        }
-        if (this.sensors.length > 0 && this.options.includeGazeboPlugins) {
-          for (const sensor of this.sensors) {
-            this.emitGazeboSensor(sensor);
-          }
-        }
-        if (this.options.includeIsaacSimExtensions) {
-          this.emitIsaacSimExtensions();
-        }
-        if (this.options.includeHoloExtensions) {
-          this.emitHoloExtensions(composition);
-        }
-        this.emitDomainBlocks(composition);
-        this.indentLevel--;
-        this.emit("</robot>");
-        return this.lines.join("\n");
-      }
-      emitDomainBlocks(composition) {
-        const domainBlocks = composition.domainBlocks ?? [];
-        if (domainBlocks.length === 0) return;
-        this.emitBlank();
-        this.emit("<!-- v4.2 Domain Blocks -->");
-        const compiled = chunkLXJ4667L_cjs.compileDomainBlocks(
-          domainBlocks,
-          {
-            material: (block) => {
-              const mat = chunkLXJ4667L_cjs.compileMaterialBlock(block);
-              const lines = [];
-              lines.push(
-                `<material name="${this.escapeStringValue(mat.name, "TypeScript")}">`
-              );
-              if (mat.baseColor) {
-                const h = mat.baseColor.replace("#", "");
-                const r = (parseInt(h.substring(0, 2), 16) / 255).toFixed(3);
-                const g = (parseInt(h.substring(2, 4), 16) / 255).toFixed(3);
-                const b = (parseInt(h.substring(4, 6), 16) / 255).toFixed(3);
-                lines.push(`  <color rgba="${r} ${g} ${b} ${mat.opacity ?? 1}"/>`);
-              }
-              for (const [mapType, path] of Object.entries(mat.textureMaps)) {
-                if (mapType === "albedo_map") {
-                  lines.push(`  <texture filename="${path}"/>`);
-                }
-              }
-              lines.push("</material>");
-              return lines.join("\n");
-            },
-            physics: (block) => {
-              const phys = chunkLXJ4667L_cjs.compilePhysicsBlock(block);
-              return chunkLXJ4667L_cjs.physicsToURDF(phys);
-            },
-            audio: (block) => {
-              const audio = chunkLXJ4667L_cjs.compileAudioSourceBlock(block);
-              return `<!-- Audio: ${this.escapeStringValue(audio.name, "TypeScript")} (${audio.keyword}) clip="${audio.properties.clip || ""}" volume="${audio.properties.volume ?? 1}" -->`;
-            },
-            weather: (block) => {
-              const weather = chunkLXJ4667L_cjs.compileWeatherBlock(block);
-              return `<!-- Weather: ${weather.keyword} "${weather.name || ""}" layers: ${weather.layers.map((l) => l.type).join(", ")} -->`;
-            }
-          },
-          (block) => `<!-- Domain block: ${block.domain}/${block.keyword} "${this.escapeStringValue(block.name, "TypeScript")}" -->`
-        );
-        for (const output of compiled) {
-          for (const line of output.split("\n")) {
-            this.emit(line);
-          }
-        }
-      }
-      // ===========================================================================
-      // EXTRACTION FROM COMPOSITION
-      // ===========================================================================
-      extractFromComposition(composition) {
-        this.materials.set("default", {
-          name: "default",
-          color: { r: 0.8, g: 0.8, b: 0.8, a: 1 }
-        });
-        this.links.push({
-          name: "base_link",
-          visual: void 0,
-          collision: void 0,
-          inertial: {
-            mass: 1e-3,
-            inertia: { ixx: 1e-3, ixy: 0, ixz: 0, iyy: 1e-3, iyz: 0, izz: 1e-3 }
-          }
-        });
-        const actuatedJoints = [];
-        if (composition.objects) {
-          for (const obj of composition.objects) {
-            this.processObject(obj, "base_link", actuatedJoints);
-          }
-        }
-        if (composition.spatialGroups) {
-          for (const group of composition.spatialGroups) {
-            this.processSpatialGroup(group, "base_link", actuatedJoints);
-          }
-        }
-        if (this.options.includeROS2Control && actuatedJoints.length > 0) {
-          this.ros2Controls.push({
-            name: `${this.sanitizeName(this.options.robotName)}_ros2_control`,
-            type: "system",
-            hardwarePlugin: "gz_ros2_control/GazeboSimSystem",
-            joints: actuatedJoints
-          });
-        }
-      }
-      processObject(obj, parentLink, actuatedJoints) {
-        const linkName = this.sanitizeName(obj.name);
-        const hasPhysics = this.hasTrait(obj, "physics") || this.hasTrait(obj, "rigid");
-        const hasCollider = this.hasTrait(obj, "collidable") || this.hasTrait(obj, "trigger");
-        const jointConfig = this.getTraitConfig(obj, "joint");
-        const sensorConfig = this.getTraitConfig(obj, "sensor");
-        const actuatorConfig = this.getTraitConfig(obj, "actuator");
-        const geometry = this.extractGeometry(obj);
-        const position = this.extractPosition(obj);
-        const rotation = this.extractRotation(obj);
-        const color = this.extractColor(obj);
-        if (color) {
-          const colorHash = color.replace(/[^a-zA-Z0-9]/g, "");
-          const matName = `material_${linkName}_${colorHash}`;
-          const rgba = this.parseColor(color);
-          this.materials.set(matName, {
-            name: matName,
-            color: rgba
-          });
-        }
-        const link = {
-          name: linkName,
-          origin: {
-            xyz: position,
-            rpy: rotation
-          }
-        };
-        if (this.options.includeVisual && geometry) {
-          link.visual = { ...geometry, color };
-        }
-        if (this.options.includeCollision && (hasCollider || hasPhysics) && geometry) {
-          link.collision = geometry;
-        }
-        if (this.options.includeInertial) {
-          const mass = this.extractMass(obj) || this.options.defaultMass;
-          link.inertial = this.calculateInertia(geometry, mass);
-        }
-        this.links.push(link);
-        const joint = {
-          name: `${parentLink}_to_${linkName}_joint`,
-          type: "fixed",
-          parent: parentLink,
-          child: linkName,
-          origin: {
-            xyz: position,
-            rpy: rotation
-          }
-        };
-        if (jointConfig) {
-          if (jointConfig.jointType) {
-            joint.type = this.mapJointType(jointConfig.jointType);
-          }
-          if (jointConfig.axis) {
-            const axis = jointConfig.axis;
-            joint.axis = [axis.x ?? 0, axis.y ?? 0, axis.z ?? 1];
-          }
-          if (jointConfig.limits && (joint.type === "revolute" || joint.type === "prismatic")) {
-            const limitsConfig = jointConfig.limits;
-            joint.limits = {
-              lower: joint.type === "revolute" ? (limitsConfig.min ?? -180) * Math.PI / 180 : limitsConfig.min ?? -1,
-              upper: joint.type === "revolute" ? (limitsConfig.max ?? 180) * Math.PI / 180 : limitsConfig.max ?? 1,
-              effort: limitsConfig.effort ?? 100,
-              velocity: limitsConfig.velocity ?? 1
-            };
-          }
-          if (jointConfig.damping !== void 0) {
-            joint.dynamics = {
-              damping: jointConfig.damping,
-              friction: jointConfig.friction ?? 0
-            };
-          }
-          if (jointConfig.mimic) {
-            const mimicConfig = jointConfig.mimic;
-            joint.mimic = {
-              joint: mimicConfig.joint,
-              multiplier: mimicConfig.multiplier ?? 1,
-              offset: mimicConfig.offset ?? 0
-            };
-          }
-          if (jointConfig.safetyController) {
-            const safety = jointConfig.safetyController;
-            joint.safetyController = {
-              softLowerLimit: safety.softLowerLimit ?? 0,
-              softUpperLimit: safety.softUpperLimit ?? 0,
-              kPosition: safety.kPosition ?? 100,
-              kVelocity: safety.kVelocity ?? 10
-            };
-          }
-          if (jointConfig.connectedBody) {
-            const newParent = this.sanitizeName(jointConfig.connectedBody);
-            joint.parent = newParent;
-            joint.name = `${newParent}_to_${linkName}_joint`;
-          }
-          if (joint.type !== "fixed" && this.options.includeROS2Control) {
-            const interfaces = this.getJointInterfaces(joint.type);
-            const actuatedEntry = {
-              name: joint.name,
-              type: joint.type,
-              ...interfaces
-            };
-            if (joint.mimic) {
-              actuatedEntry.mimic = joint.mimic;
-            }
-            actuatedJoints.push(actuatedEntry);
-          }
-        }
-        this.joints.push(joint);
-        if (sensorConfig) {
-          this.processSensorTrait(sensorConfig, linkName);
-        }
-        if (actuatorConfig) {
-          this.processActuatorTrait(actuatorConfig, joint.name, linkName);
-        }
-      }
-      processSpatialGroup(group, parentLink, actuatedJoints) {
-        const groupLinkName = this.sanitizeName(group.name);
-        this.links.push({
-          name: groupLinkName,
-          inertial: {
-            mass: 1e-3,
-            inertia: { ixx: 1e-3, ixy: 0, ixz: 0, iyy: 1e-3, iyz: 0, izz: 1e-3 }
-          }
-        });
-        this.joints.push({
-          name: `${parentLink}_to_${groupLinkName}_joint`,
-          type: "fixed",
-          parent: parentLink,
-          child: groupLinkName
-        });
-        if (group.objects) {
-          for (const obj of group.objects) {
-            this.processObject(obj, groupLinkName, actuatedJoints);
-          }
-        }
-      }
-      /** Process @sensor trait into sensor definition */
-      processSensorTrait(config, parentLink) {
-        const sensorType = config.sensorType || config.type || "camera";
-        const name = config.name || `${parentLink}_${sensorType}_sensor`;
-        const sensor = {
-          name: this.sanitizeName(name),
-          type: this.mapSensorType(sensorType),
-          parentLink,
-          updateRate: config.updateRate ?? 30,
-          topicName: config.topic ?? `/${this.sanitizeName(name)}`,
-          frameName: config.frameName ?? `${parentLink}_${sensorType}_frame`
-        };
-        if (sensor.type === "camera" || sensor.type === "depth_camera") {
-          sensor.camera = {
-            horizontalFov: config.fov ?? 1.3962634,
-            imageWidth: config.width ?? 640,
-            imageHeight: config.height ?? 480,
-            clipNear: config.clipNear ?? 0.1,
-            clipFar: config.clipFar ?? 100,
-            format: config.format ?? "R8G8B8"
-          };
-        }
-        if (sensor.type === "lidar" || sensor.type === "ray") {
-          sensor.lidar = {
-            samples: config.samples ?? 360,
-            resolution: config.resolution ?? 1,
-            minAngle: config.minAngle ?? -Math.PI,
-            maxAngle: config.maxAngle ?? Math.PI,
-            minRange: config.minRange ?? 0.1,
-            maxRange: config.maxRange ?? 30
-          };
-        }
-        if (sensor.type === "imu") {
-          sensor.imu = {
-            gaussianNoise: config.noise ?? 0
-          };
-        }
-        this.sensors.push(sensor);
-      }
-      /** Map sensor type strings to URDF sensor types */
-      mapSensorType(type) {
-        switch (type.toLowerCase()) {
-          case "camera":
-          case "rgb_camera":
-            return "camera";
-          case "depth":
-          case "depth_camera":
-          case "rgbd":
-            return "depth_camera";
-          case "imu":
-            return "imu";
-          case "lidar":
-          case "laser":
-            return "lidar";
-          case "ray":
-            return "ray";
-          case "force_torque":
-          case "ft":
-            return "force_torque";
-          case "contact":
-          case "bumper":
-            return "contact";
-          case "gps":
-          case "navsat":
-            return "gps";
-          default:
-            return "camera";
-        }
-      }
-      /** Process @actuator trait into transmission definition */
-      processActuatorTrait(config, jointName, linkName) {
-        const transmission = {
-          name: `${linkName}_transmission`,
-          type: config.transmissionType ?? "transmission_interface/SimpleTransmission",
-          jointName,
-          actuatorName: config.actuatorName ?? `${linkName}_actuator`,
-          hardwareInterface: config.hardwareInterface ?? "hardware_interface/PositionJointInterface",
-          mechanicalReduction: config.mechanicalReduction
-        };
-        this.transmissions.push(transmission);
-      }
-      /** Get command and state interfaces for ros2_control based on joint type */
-      getJointInterfaces(jointType) {
-        switch (jointType) {
-          case "revolute":
-          case "continuous":
-            return {
-              commandInterfaces: ["position"],
-              stateInterfaces: ["position", "velocity"]
-            };
-          case "prismatic":
-            return {
-              commandInterfaces: ["position"],
-              stateInterfaces: ["position", "velocity"]
-            };
-          default:
-            return {
-              commandInterfaces: ["position"],
-              stateInterfaces: ["position"]
-            };
-        }
-      }
-      // ===========================================================================
-      // EMISSION METHODS
-      // ===========================================================================
-      /** Emit all materials */
-      emitMaterials() {
-        this.emit("<!-- Materials -->");
-        for (const [_key, mat] of this.materials) {
-          this.emit(`<material name="${this.escapeStringValue(mat.name, "TypeScript")}">`);
-          this.indentLevel++;
-          this.emit(`<color rgba="${mat.color.r} ${mat.color.g} ${mat.color.b} ${mat.color.a}"/>`);
-          if (mat.texture) {
-            this.emit(`<texture filename="${mat.texture}"/>`);
-          }
-          this.indentLevel--;
-          this.emit("</material>");
-        }
-        this.emitBlank();
-      }
-      /** Emit a single link element */
-      emitLink(link) {
-        this.emit(`<link name="${this.escapeStringValue(link.name, "TypeScript")}">`);
-        this.indentLevel++;
-        if (link.visual) {
-          this.emit("<visual>");
-          this.indentLevel++;
-          if (link.origin) {
-            this.emitOrigin(link.origin);
-          }
-          this.emitGeometry(link.visual);
-          if (link.visual.color) {
-            const colorHash = link.visual.color.replace(/[^a-zA-Z0-9]/g, "");
-            const matName = `material_${this.escapeStringValue(link.name, "TypeScript")}_${colorHash}`;
-            if (this.materials.has(matName)) {
-              this.emit(`<material name="${matName}"/>`);
-            } else {
-              this.emit('<material name="default"/>');
-            }
-          } else {
-            this.emit('<material name="default"/>');
-          }
-          this.indentLevel--;
-          this.emit("</visual>");
-        }
-        if (link.collision) {
-          this.emit("<collision>");
-          this.indentLevel++;
-          if (link.origin) {
-            this.emitOrigin(link.origin);
-          }
-          this.emitGeometry(link.collision);
-          this.indentLevel--;
-          this.emit("</collision>");
-        }
-        if (link.inertial) {
-          this.emit("<inertial>");
-          this.indentLevel++;
-          if (link.inertial.origin) {
-            this.emitOrigin(link.inertial.origin);
-          }
-          this.emit(`<mass value="${link.inertial.mass}"/>`);
-          const i = link.inertial.inertia;
-          this.emit(
-            `<inertia ixx="${i.ixx.toFixed(6)}" ixy="${i.ixy}" ixz="${i.ixz}" iyy="${i.iyy.toFixed(6)}" iyz="${i.iyz}" izz="${i.izz.toFixed(6)}"/>`
-          );
-          this.indentLevel--;
-          this.emit("</inertial>");
-        }
-        this.indentLevel--;
-        this.emit("</link>");
-        this.emitBlank();
-      }
-      /** Emit a single joint element */
-      emitJoint(joint) {
-        this.emit(
-          `<joint name="${this.escapeStringValue(joint.name, "TypeScript")}" type="${joint.type}">`
-        );
-        this.indentLevel++;
-        this.emit(`<parent link="${joint.parent}"/>`);
-        this.emit(`<child link="${joint.child}"/>`);
-        if (joint.origin) {
-          this.emitOrigin(joint.origin);
-        }
-        if (joint.axis) {
-          this.emit(`<axis xyz="${joint.axis.join(" ")}"/>`);
-        }
-        if (joint.limits) {
-          this.emit(
-            `<limit lower="${joint.limits.lower}" upper="${joint.limits.upper}" effort="${joint.limits.effort}" velocity="${joint.limits.velocity}"/>`
-          );
-        }
-        if (joint.dynamics) {
-          this.emit(
-            `<dynamics damping="${joint.dynamics.damping}" friction="${joint.dynamics.friction}"/>`
-          );
-        }
-        if (joint.mimic) {
-          this.emit(
-            `<mimic joint="${joint.mimic.joint}" multiplier="${joint.mimic.multiplier}" offset="${joint.mimic.offset}"/>`
-          );
-        }
-        if (joint.safetyController) {
-          this.emit(
-            `<safety_controller soft_lower_limit="${joint.safetyController.softLowerLimit}" soft_upper_limit="${joint.safetyController.softUpperLimit}" k_position="${joint.safetyController.kPosition}" k_velocity="${joint.safetyController.kVelocity}"/>`
-          );
-        }
-        this.indentLevel--;
-        this.emit("</joint>");
-        this.emitBlank();
-      }
-      /** Emit geometry element */
-      emitGeometry(geom) {
-        this.emit("<geometry>");
-        this.indentLevel++;
-        switch (geom.type) {
-          case "box":
-            this.emit(`<box size="${(geom.size || [1, 1, 1]).join(" ")}"/>`);
-            break;
-          case "sphere":
-            this.emit(`<sphere radius="${geom.radius || 0.5}"/>`);
-            break;
-          case "cylinder":
-            this.emit(`<cylinder radius="${geom.radius || 0.5}" length="${geom.length || 1}"/>`);
-            break;
-          case "mesh":
-            if (geom.scale && (geom.scale[0] !== 1 || geom.scale[1] !== 1 || geom.scale[2] !== 1)) {
-              this.emit(`<mesh filename="${geom.filename}" scale="${geom.scale.join(" ")}"/>`);
-            } else {
-              this.emit(`<mesh filename="${geom.filename}"/>`);
-            }
-            break;
-        }
-        this.indentLevel--;
-        this.emit("</geometry>");
-      }
-      /** Emit origin element */
-      emitOrigin(origin) {
-        this.emit(
-          `<origin xyz="${origin.xyz.join(" ")}" rpy="${origin.rpy.map((v) => v.toFixed(6)).join(" ")}"/>`
-        );
-      }
-      /** Emit transmission element (for ros_control) */
-      emitTransmission(trans) {
-        this.emit(
-          `<transmission name="${this.escapeStringValue(trans.name, "TypeScript")}">`
-        );
-        this.indentLevel++;
-        this.emit(`<type>${trans.type}</type>`);
-        this.emit(`<joint name="${trans.jointName}">`);
-        this.indentLevel++;
-        this.emit(`<hardwareInterface>${trans.hardwareInterface}</hardwareInterface>`);
-        this.indentLevel--;
-        this.emit("</joint>");
-        this.emit(`<actuator name="${trans.actuatorName}">`);
-        this.indentLevel++;
-        this.emit(`<hardwareInterface>${trans.hardwareInterface}</hardwareInterface>`);
-        if (trans.mechanicalReduction !== void 0) {
-          this.emit(`<mechanicalReduction>${trans.mechanicalReduction}</mechanicalReduction>`);
-        }
-        this.indentLevel--;
-        this.emit("</actuator>");
-        this.indentLevel--;
-        this.emit("</transmission>");
-        this.emitBlank();
-      }
-      /** Emit ros2_control hardware interface block */
-      emitROS2Control(control) {
-        this.emit(
-          `<ros2_control name="${this.escapeStringValue(control.name, "TypeScript")}" type="${control.type}">`
-        );
-        this.indentLevel++;
-        this.emit("<hardware>");
-        this.indentLevel++;
-        this.emit(`<plugin>${control.hardwarePlugin}</plugin>`);
-        if (control.parameters) {
-          for (const [key, value] of Object.entries(control.parameters)) {
-            this.emit(`<param name="${key}">${value}</param>`);
-          }
-        }
-        this.indentLevel--;
-        this.emit("</hardware>");
-        for (const joint of control.joints) {
-          this.emit(`<joint name="${this.escapeStringValue(joint.name, "TypeScript")}">`);
-          this.indentLevel++;
-          for (const iface of joint.commandInterfaces) {
-            this.emit(`<command_interface name="${iface}"/>`);
-          }
-          for (const iface of joint.stateInterfaces) {
-            this.emit(`<state_interface name="${iface}"/>`);
-          }
-          if (joint.mimic) {
-            this.emit(`<param name="mimic">${joint.mimic.joint}</param>`);
-            this.emit(`<param name="multiplier">${joint.mimic.multiplier}</param>`);
-          }
-          this.indentLevel--;
-          this.emit("</joint>");
-        }
-        if (control.sensors) {
-          for (const sensor of control.sensors) {
-            this.emit(`<sensor name="${this.escapeStringValue(sensor.name, "TypeScript")}">`);
-            this.indentLevel++;
-            for (const iface of sensor.stateInterfaces) {
-              this.emit(`<state_interface name="${iface}"/>`);
-            }
-            this.indentLevel--;
-            this.emit("</sensor>");
-          }
-        }
-        this.indentLevel--;
-        this.emit("</ros2_control>");
-        this.emitBlank();
-      }
-      /** Emit Gazebo plugin tags */
-      emitGazeboPlugins(composition) {
-        this.emit("<!-- Gazebo Plugins -->");
-        this.emit("<gazebo>");
-        this.indentLevel++;
-        if (this.options.enableSelfCollision) {
-          this.emit("<self_collide>true</self_collide>");
-        }
-        if (this.options.includeROS2Control && this.ros2Controls.length > 0) {
-          this.emit('<plugin filename="gz_ros2_control-system" name="gz_ros2_control">');
-          this.indentLevel++;
-          this.emit(
-            "<parameters>$(find " + this.options.packageName + ")/config/controllers.yaml</parameters>"
-          );
-          this.indentLevel--;
-          this.emit("</plugin>");
-        }
-        this.indentLevel--;
-        this.emit("</gazebo>");
-        this.emitBlank();
-        for (const link of this.links) {
-          if (link.name === "base_link" && !link.visual) continue;
-          const hasSpecialConfig = link.visual?.color || link.collision;
-          if (hasSpecialConfig) {
-            this.emit(
-              `<gazebo reference="${this.escapeStringValue(link.name, "TypeScript")}">`
-            );
-            this.indentLevel++;
-            if (link.visual?.color) {
-              const rgba = this.parseColor(link.visual.color);
-              this.emit(`<material>Gazebo/${this.getGazeboColorName(rgba)}</material>`);
-            }
-            if (link.collision) {
-              this.emit(`<mu1>${this.options.defaultMu1}</mu1>`);
-              this.emit(`<mu2>${this.options.defaultMu2}</mu2>`);
-              this.emit(`<kp>${this.options.defaultKp}</kp>`);
-              this.emit(`<kd>${this.options.defaultKd}</kd>`);
-            }
-            this.indentLevel--;
-            this.emit("</gazebo>");
-            this.emitBlank();
-          }
-        }
-      }
-      /** Map RGBA to closest Gazebo built-in color name */
-      getGazeboColorName(rgba) {
-        if (rgba.r > 0.8 && rgba.g < 0.3 && rgba.b < 0.3) return "Red";
-        if (rgba.r < 0.3 && rgba.g > 0.6 && rgba.b < 0.3) return "Green";
-        if (rgba.r < 0.3 && rgba.g < 0.3 && rgba.b > 0.8) return "Blue";
-        if (rgba.r > 0.8 && rgba.g > 0.8 && rgba.b < 0.3) return "Yellow";
-        if (rgba.r < 0.3 && rgba.g > 0.8 && rgba.b > 0.8) return "Turquoise";
-        if (rgba.r > 0.8 && rgba.g < 0.3 && rgba.b > 0.8) return "Purple";
-        if (rgba.r > 0.8 && rgba.g > 0.5 && rgba.b < 0.2) return "Orange";
-        if (rgba.r > 0.9 && rgba.g > 0.9 && rgba.b > 0.9) return "White";
-        if (rgba.r < 0.1 && rgba.g < 0.1 && rgba.b < 0.1) return "Black";
-        if (rgba.r > 0.4 && rgba.r < 0.6 && rgba.g > 0.4 && rgba.g < 0.6) return "Grey";
-        return "DarkGrey";
-      }
-      /** Emit Gazebo sensor tag for a specific sensor */
-      emitGazeboSensor(sensor) {
-        this.emit(`<gazebo reference="${sensor.parentLink}">`);
-        this.indentLevel++;
-        this.emit(
-          `<sensor name="${this.escapeStringValue(sensor.name, "TypeScript")}" type="${this.getGazeboSensorType(sensor.type)}">`
-        );
-        this.indentLevel++;
-        this.emit(`<always_on>true</always_on>`);
-        this.emit(`<update_rate>${sensor.updateRate ?? 30}</update_rate>`);
-        this.emit(`<visualize>true</visualize>`);
-        if ((sensor.type === "camera" || sensor.type === "depth_camera") && sensor.camera) {
-          this.emit("<camera>");
-          this.indentLevel++;
-          this.emit(`<horizontal_fov>${sensor.camera.horizontalFov}</horizontal_fov>`);
-          this.emit("<image>");
-          this.indentLevel++;
-          this.emit(`<width>${sensor.camera.imageWidth}</width>`);
-          this.emit(`<height>${sensor.camera.imageHeight}</height>`);
-          this.emit(`<format>${sensor.camera.format || "R8G8B8"}</format>`);
-          this.indentLevel--;
-          this.emit("</image>");
-          this.emit("<clip>");
-          this.indentLevel++;
-          this.emit(`<near>${sensor.camera.clipNear}</near>`);
-          this.emit(`<far>${sensor.camera.clipFar}</far>`);
-          this.indentLevel--;
-          this.emit("</clip>");
-          this.indentLevel--;
-          this.emit("</camera>");
-          this.emit('<plugin name="camera_controller" filename="libgazebo_ros_camera.so">');
-          this.indentLevel++;
-          this.emit(`<frame_name>${sensor.frameName}</frame_name>`);
-          this.indentLevel--;
-          this.emit("</plugin>");
-        }
-        if ((sensor.type === "lidar" || sensor.type === "ray") && sensor.lidar) {
-          this.emit("<ray>");
-          this.indentLevel++;
-          this.emit("<scan>");
-          this.indentLevel++;
-          this.emit("<horizontal>");
-          this.indentLevel++;
-          this.emit(`<samples>${sensor.lidar.samples}</samples>`);
-          this.emit(`<resolution>${sensor.lidar.resolution}</resolution>`);
-          this.emit(`<min_angle>${sensor.lidar.minAngle}</min_angle>`);
-          this.emit(`<max_angle>${sensor.lidar.maxAngle}</max_angle>`);
-          this.indentLevel--;
-          this.emit("</horizontal>");
-          this.indentLevel--;
-          this.emit("</scan>");
-          this.emit("<range>");
-          this.indentLevel++;
-          this.emit(`<min>${sensor.lidar.minRange}</min>`);
-          this.emit(`<max>${sensor.lidar.maxRange}</max>`);
-          this.emit("<resolution>0.01</resolution>");
-          this.indentLevel--;
-          this.emit("</range>");
-          this.indentLevel--;
-          this.emit("</ray>");
-          this.emit('<plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">');
-          this.indentLevel++;
-          this.emit(`<ros><remapping>~/out:=${sensor.topicName || "/scan"}</remapping></ros>`);
-          this.emit("<output_type>sensor_msgs/LaserScan</output_type>");
-          this.emit(`<frame_name>${sensor.frameName}</frame_name>`);
-          this.indentLevel--;
-          this.emit("</plugin>");
-        }
-        if (sensor.type === "imu") {
-          this.emit("<imu>");
-          this.indentLevel++;
-          if (sensor.imu?.gaussianNoise) {
-            this.emit(
-              `<noise><type>gaussian</type><stddev>${sensor.imu.gaussianNoise}</stddev></noise>`
-            );
-          }
-          this.indentLevel--;
-          this.emit("</imu>");
-          this.emit('<plugin name="imu_controller" filename="libgazebo_ros_imu_sensor.so">');
-          this.indentLevel++;
-          this.emit(`<ros><remapping>~/out:=${sensor.topicName || "/imu/data"}</remapping></ros>`);
-          this.emit(`<frame_name>${sensor.frameName}</frame_name>`);
-          this.indentLevel--;
-          this.emit("</plugin>");
-        }
-        if (sensor.type === "force_torque") {
-          this.emit("<force_torque>");
-          this.indentLevel++;
-          this.emit("<measure_direction>child_to_parent</measure_direction>");
-          this.indentLevel--;
-          this.emit("</force_torque>");
-        }
-        if (sensor.type === "contact") {
-          this.emit("<contact>");
-          this.indentLevel++;
-          this.emit(`<collision>${sensor.parentLink}_collision</collision>`);
-          this.indentLevel--;
-          this.emit("</contact>");
-          this.emit('<plugin name="bumper_controller" filename="libgazebo_ros_bumper.so">');
-          this.indentLevel++;
-          this.emit(
-            `<ros><remapping>bumper_states:=${sensor.topicName || "/bumper"}</remapping></ros>`
-          );
-          this.emit(`<frame_name>${sensor.frameName}</frame_name>`);
-          this.indentLevel--;
-          this.emit("</plugin>");
-        }
-        if (sensor.type === "gps") {
-          this.emit('<plugin name="gps_controller" filename="libgazebo_ros_gps_sensor.so">');
-          this.indentLevel++;
-          this.emit(`<ros><remapping>~/out:=${sensor.topicName || "/gps/fix"}</remapping></ros>`);
-          this.emit(`<frame_name>${sensor.frameName}</frame_name>`);
-          this.indentLevel--;
-          this.emit("</plugin>");
-        }
-        this.indentLevel--;
-        this.emit("</sensor>");
-        this.indentLevel--;
-        this.emit("</gazebo>");
-        this.emitBlank();
-      }
-      /** Map sensor type to Gazebo sensor type string */
-      getGazeboSensorType(type) {
-        switch (type) {
-          case "camera":
-            return "camera";
-          case "depth_camera":
-            return "depth";
-          case "imu":
-            return "imu";
-          case "lidar":
-          case "ray":
-            return "ray";
-          case "force_torque":
-            return "force_torque";
-          case "contact":
-            return "contact";
-          case "gps":
-            return "gps";
-          default:
-            return "camera";
-        }
-      }
-      /** Emit HoloScript extension comments */
-      emitHoloExtensions(composition) {
-        this.emitBlank();
-        this.emit("<!-- HoloScript Extensions -->");
-        this.emit(
-          `<!-- Original composition: "${this.escapeStringValue(composition.name, "TypeScript")}" -->`
-        );
-        const skybox = this.getEnvProp(composition, "skybox");
-        if (skybox && typeof skybox === "string") {
-          this.emit(`<!-- Environment skybox: ${skybox} -->`);
-        }
-        if (composition.templates && composition.templates.length > 0) {
-          this.emit(`<!-- Templates: ${composition.templates.map((t) => t.name).join(", ")} -->`);
-        }
-        if (this.sensors.length > 0) {
-          this.emit(
-            `<!-- Sensors: ${this.sensors.map((s) => `${this.escapeStringValue(s.name, "TypeScript")} (${s.type})`).join(", ")} -->`
-          );
-        }
-      }
-      /** Helper to get environment property from either array or object format */
-      getEnvProp(composition, key) {
-        const env = composition.environment;
-        if (!env) return void 0;
-        if (Array.isArray(env.properties)) {
-          const prop = env.properties.find((p) => p.key === key);
-          if (prop) return prop.value;
-        }
-        if (key in env) {
-          return env[key];
-        }
-        if (env.properties && typeof env.properties === "object" && !Array.isArray(env.properties)) {
-          const props = env.properties;
-          if (key in props) {
-            return props[key];
-          }
-        }
-        return void 0;
-      }
-      // ===========================================================================
-      // ISAAC SIM EXTENSION EMISSION
-      // ===========================================================================
-      /** Emit Isaac Sim sensor extension tag */
-      emitIsaacSimSensor(sensor) {
-        this.emit(
-          `<sensor name="${this.escapeStringValue(sensor.name, "TypeScript")}" type="${sensor.type}" isaac_sim_config="${sensor.isaacSimConfig}">`
-        );
-        this.indentLevel++;
-        this.emit(`<parent link="${sensor.parentLink}"/>`);
-        if (sensor.origin) {
-          this.emitOrigin(sensor.origin);
-        }
-        this.indentLevel--;
-        this.emit("</sensor>");
-      }
-      /** Emit Isaac Sim loop joint extension tag */
-      emitLoopJoint(loopJoint) {
-        this.emit(
-          `<loop_joint name="${this.escapeStringValue(loopJoint.name, "TypeScript")}" type="${loopJoint.type}">`
-        );
-        this.indentLevel++;
-        this.emit(
-          `<link1 link="${loopJoint.link1.link}" rpy="${loopJoint.link1.rpy.join(" ")}" xyz="${loopJoint.link1.xyz.join(" ")}"/>`
-        );
-        this.emit(
-          `<link1 link="${loopJoint.link2.link}" rpy="${loopJoint.link2.rpy.join(" ")}" xyz="${loopJoint.link2.xyz.join(" ")}"/>`
-        );
-        this.indentLevel--;
-        this.emit("</loop_joint>");
-      }
-      /** Emit Isaac Sim fixed frame extension tag */
-      emitFixedFrame(frame) {
-        this.emit(`<fixed_frame name="${this.escapeStringValue(frame.name, "TypeScript")}">`);
-        this.indentLevel++;
-        this.emit(`<parent link="${frame.parentLink}"/>`);
-        this.emitOrigin(frame.origin);
-        this.indentLevel--;
-        this.emit("</fixed_frame>");
-      }
-      /** Emit Isaac Sim PhysX configuration comments */
-      emitIsaacSimExtensions() {
-        if (!this.options.includeIsaacSimExtensions) return;
-        this.emitBlank();
-        this.emit("<!-- Isaac Sim Extensions -->");
-        for (const sensor of this.isaacSimSensors) {
-          this.emitIsaacSimSensor(sensor);
-        }
-        for (const loopJoint of this.loopJoints) {
-          this.emitLoopJoint(loopJoint);
-        }
-        for (const fixedFrame of this.fixedFrames) {
-          this.emitFixedFrame(fixedFrame);
-        }
-        this.emit(
-          `<!-- isaac_sim_config: drive_type=${this.options.isaacSimDriveType} target_type=${this.options.isaacSimTargetType} -->`
-        );
-        this.emit(
-          `<!-- isaac_sim_config: solver_position_iterations=${this.options.isaacSimSolverPositionIterations} solver_velocity_iterations=${this.options.isaacSimSolverVelocityIterations} -->`
-        );
-      }
-    };
-    exports.URDFCompiler_default = exports.URDFCompiler;
-  }
-});
-
-exports.URDFCompiler_exports = URDFCompiler_exports;
-exports.compileForGazebo = compileForGazebo;
-exports.compileForIsaacSim = compileForIsaacSim;
-exports.compileForROS2 = compileForROS2;
-exports.compileToURDF = compileToURDF;
-exports.generateControllersYaml = generateControllersYaml;
-exports.generateROS2LaunchFile = generateROS2LaunchFile;
-exports.init_URDFCompiler = init_URDFCompiler;
-//# sourceMappingURL=chunk-6TZPZCOJ.cjs.map
-//# sourceMappingURL=chunk-6TZPZCOJ.cjs.map