@holoscript/core 8.0.12 → 8.0.14

package/dist/{chunk-USOUXQYD.js → chunk-NWKARJM2.js}

@@ -1,5 +1,5 @@
-import { parseHolo } from './chunk-FHVPN7BN.js';
-import { parse } from './chunk-7NPZZZD7.js';
+import { parseHolo } from './chunk-JQCXLKAU.js';
+import { parse } from './chunk-C73GVAYC.js';
 
 // src/evolution/EvolveProgramBackend.ts
 async function sha256Hex(s) {
@@ -7,6 +7,24 @@ async function sha256Hex(s) {
   const digest = await globalThis.crypto.subtle.digest("SHA-256", bytes);
   return Array.from(new Uint8Array(digest)).map((b) => b.toString(16).padStart(2, "0")).join("");
 }
+function buildProposerPrompt(parentCode, goal) {
+  return `You are improving a program toward a goal. GOAL: ${goal}
+
+Return ONLY the full revised program - no prose, no explanation, no markdown code fences.
+
+--- CURRENT PROGRAM ---
+${parentCode}
+--- END ---`;
+}
+function stripMarkdownFences(text) {
+  return text.trim().replace(/^```[a-z]*\n?/i, "").replace(/\n?```$/i, "").trim();
+}
+function openAICompatibleChatUrl(endpoint) {
+  const base = endpoint.replace(/\/+$/, "");
+  if (/\/chat\/completions$/i.test(base)) return base;
+  if (/\/v1$/i.test(base)) return `${base}/chat/completions`;
+  return `${base}/v1/chat/completions`;
+}
 async function runEvolution(seedCode, policy, io) {
   const now = io.now ?? (() => (/* @__PURE__ */ new Date()).toISOString());
   const trace = [];
@@ -130,13 +148,7 @@ async function runEvolution(seedCode, policy, io) {
 function makeOllamaProposer(endpoint, model) {
   const base = endpoint.replace(/\/+$/, "");
   return async (parentCode, goal) => {
-    const prompt = `You are improving a program toward a goal. GOAL: ${goal}
-
-Return ONLY the full revised program \u2014 no prose, no explanation, no markdown code fences.
-
---- CURRENT PROGRAM ---
-${parentCode}
---- END ---`;
+    const prompt = buildProposerPrompt(parentCode, goal);
     const res = await fetch(`${base}/api/generate`, {
       method: "POST",
       headers: { "content-type": "application/json" },
@@ -144,7 +156,44 @@ ${parentCode}
     });
     if (!res.ok) throw new Error(`ollama ${res.status}`);
     const body = await res.json();
-    return (body.response ?? "").trim().replace(/^```[a-z]*\n?/i, "").replace(/\n?```$/i, "").trim();
+    return stripMarkdownFences(body.response ?? "");
+  };
+}
+function makeOpenAICompatibleProposer(endpoint, model, opts = {}) {
+  const fetchImpl = opts.fetchImpl ?? fetch;
+  const temperature = opts.temperature ?? 0.7;
+  return async (parentCode, goal) => {
+    const headers = { "content-type": "application/json" };
+    if (opts.apiKey) headers.authorization = `Bearer ${opts.apiKey}`;
+    const res = await fetchImpl(openAICompatibleChatUrl(endpoint), {
+      method: "POST",
+      headers,
+      body: JSON.stringify({
+        model,
+        stream: false,
+        temperature,
+        ...opts.maxTokens == null ? {} : { max_tokens: opts.maxTokens },
+        messages: [
+          {
+            role: "system",
+            content: "You are a HoloScript program-evolution proposer. Return only the full revised program."
+          },
+          { role: "user", content: buildProposerPrompt(parentCode, goal) }
+        ]
+      })
+    });
+    const raw = await res.text();
+    if (!res.ok) throw new Error(`openai-compatible ${res.status}: ${raw.slice(0, 160)}`);
+    let body;
+    try {
+      body = JSON.parse(raw);
+    } catch {
+      throw new Error("openai-compatible invalid JSON response");
+    }
+    const content = body.choices?.[0]?.message?.content ?? body.choices?.[0]?.text ?? "";
+    const code = stripMarkdownFences(content);
+    if (!code) throw new Error("openai-compatible empty response");
+    return code;
   };
 }
 function toGradedTraceRow(rec, opts) {
@@ -208,7 +257,8 @@ var CORPUS_PORTFOLIO = [
       "  }",
       "}"
     ].join("\n"),
-    preserved: [/PatrolBot/, /\bidle\b/, /\bchasing\b/]
+    preserved: [/PatrolBot/, /\bidle\b/, /\bchasing\b/],
+    semanticCheck: stateMachineSemanticCheck
   },
   {
     name: "mini-scene",
@@ -282,7 +332,8 @@ var CORPUS_PORTFOLIO = [
       "  }",
       "}"
     ].join("\n"),
-    preserved: [/SmartDoor/, /\bclosed\b/, /\bopening\b/, /\bopen\b/]
+    preserved: [/SmartDoor/, /\bclosed\b/, /\bopening\b/, /\bopen\b/],
+    semanticCheck: stateMachineSemanticCheck
   },
   {
     name: "trafficlight-statemachine",
@@ -301,7 +352,8 @@ var CORPUS_PORTFOLIO = [
       "  }",
       "}"
     ].join("\n"),
-    preserved: [/TrafficLight/, /\bred\b/, /\bgreen\b/, /\byellow\b/]
+    preserved: [/TrafficLight/, /\bred\b/, /\bgreen\b/, /\byellow\b/],
+    semanticCheck: stateMachineSemanticCheck
   },
   {
     name: "room-scene",
@@ -349,17 +401,73 @@ function parsesClean(src, format) {
     return false;
   }
 }
+function findStateMachineConfig(node) {
+  if (!node || typeof node !== "object") return null;
+  const obj = node;
+  if (obj.name === "state_machine" && obj.config && typeof obj.config === "object") {
+    const cfg = obj.config;
+    if (cfg.states && typeof cfg.states === "object") return cfg;
+  }
+  for (const v of Object.values(obj)) {
+    if (Array.isArray(v)) {
+      for (const e of v) {
+        const f = findStateMachineConfig(e);
+        if (f) return f;
+      }
+    } else if (v && typeof v === "object") {
+      const f = findStateMachineConfig(v);
+      if (f) return f;
+    }
+  }
+  return null;
+}
+function extractStateMachine(ast) {
+  const cfg = findStateMachineConfig(ast);
+  if (!cfg) return null;
+  const statesObj = cfg.states;
+  const states = Object.keys(statesObj);
+  const transitions = [];
+  for (const from of states) {
+    const events = statesObj[from];
+    if (!events || typeof events !== "object") continue;
+    for (const event of Object.keys(events)) {
+      const t = events[event];
+      if (t && typeof t.target === "string") transitions.push({ from, event, target: t.target });
+    }
+  }
+  return { states, initial: typeof cfg.initial === "string" ? cfg.initial : "", transitions };
+}
+function stateMachineWellFormed(ast) {
+  const sm = extractStateMachine(ast);
+  if (!sm) return false;
+  const defined = new Set(sm.states);
+  return defined.has(sm.initial) && sm.transitions.every((t) => defined.has(t.target));
+}
+function stateMachineSemanticCheck(_candidate, ast) {
+  const sm = extractStateMachine(ast);
+  if (!sm) return { ok: false, reason: "no_state_machine" };
+  const defined = new Set(sm.states);
+  if (!defined.has(sm.initial)) return { ok: false, reason: `initial_undefined:${sm.initial}` };
+  const dangling = sm.transitions.filter((t) => !defined.has(t.target));
+  if (dangling.length) {
+    return { ok: false, reason: `dangling_transition:${dangling.map((d) => `${d.from}-${d.event}->${d.target}`).join(",")}` };
+  }
+  return { ok: true };
+}
 function makeSeedGate(seed) {
-  return async (candidate) => ({
-    passed: parsesClean(candidate, seed.format) && seed.preserved.every((re) => re.test(candidate)),
-    score: candidate.length
-  });
+  return async (candidate) => {
+    const r = seed.format === "holo" ? parseHolo(candidate) : parse(candidate);
+    const clean = Boolean(r.success && r.ast) && (r.errors?.length ?? 0) === 0;
+    const preservedOk = clean && seed.preserved.every((re) => re.test(candidate));
+    const passed = preservedOk && (!seed.semanticCheck || seed.semanticCheck(candidate, r.ast).ok);
+    return { passed, score: candidate.length };
+  };
 }
 async function accrueOneStep(opts) {
   const seed = opts.seed ?? CORPUS_PORTFOLIO[(opts.tick ?? 0) % CORPUS_PORTFOLIO.length];
   const now = opts.now ?? (() => (/* @__PURE__ */ new Date()).toISOString());
   const rows = [];
-  await runEvolution(
+  const { receipt } = await runEvolution(
     seed.source,
     { goal: seed.goal, generations: 1, population: 1, archiveSize: 4, proposerModel: "sovereign-local" },
     {
@@ -368,7 +476,7 @@ async function accrueOneStep(opts) {
       onCandidate: (rec) => rows.push(toGradedTraceRow(rec, { agentId: opts.agentId, ts: now(), source: `evolve-corpus:${seed.name}` }))
     }
   );
-  return { target: seed.name, rows };
+  return { target: seed.name, rows, receipt };
 }
 function dedupRows(existingCorpus, rows) {
   const seen = /* @__PURE__ */ new Set();
@@ -485,6 +593,6 @@ function makeWasmCompilerFitnessGate(compileCandidate, opts = {}) {
   };
 }
 
-export { CORPUS_PORTFOLIO, accrueOneStep, dedupRows, makeOllamaProposer, makeSeedGate, makeWasmCompilerFitnessGate, parsesClean, runEvolution, scoreWasmCompilerArtifact, toGradedTraceRow, wasmFitnessBaselineFromScenario };
-//# sourceMappingURL=chunk-USOUXQYD.js.map
-//# sourceMappingURL=chunk-USOUXQYD.js.map
+export { CORPUS_PORTFOLIO, accrueOneStep, dedupRows, extractStateMachine, makeOllamaProposer, makeOpenAICompatibleProposer, makeSeedGate, makeWasmCompilerFitnessGate, parsesClean, runEvolution, scoreWasmCompilerArtifact, stateMachineSemanticCheck, stateMachineWellFormed, toGradedTraceRow, wasmFitnessBaselineFromScenario };
+//# sourceMappingURL=chunk-NWKARJM2.js.map
+//# sourceMappingURL=chunk-NWKARJM2.js.map

package/dist/{chunk-VVAAZITA.cjs → chunk-OOP4S3GU.cjs}

@@ -1,7 +1,7 @@
 'use strict';
 
 var chunk356N4NPM_cjs = require('./chunk-356N4NPM.cjs');
-var chunkZK7KX5CD_cjs = require('./chunk-ZK7KX5CD.cjs');
+var chunkSE2Y5BSL_cjs = require('./chunk-SE2Y5BSL.cjs');
 var chunkZHPMP447_cjs = require('./chunk-ZHPMP447.cjs');
 var crypto = require('crypto');
 var ans = require('@holoscript/core-types/ans');
@@ -149,7 +149,7 @@ function createDaimonSeedCompiler(options) {
 var SCHEMA_VERSION, DEFAULT_THRESHOLD_FACTS, DEFAULT_THRESHOLD_FN; exports.DaimonSeedCompiler = void 0; exports.DaimonSeedCompiler_default = void 0;
 var init_DaimonSeedCompiler = chunkZHPMP447_cjs.__esm({
   "src/compiler/DaimonSeedCompiler.ts"() {
-    chunkZK7KX5CD_cjs.init_CompilerBase();
+    chunkSE2Y5BSL_cjs.init_CompilerBase();
     chunk356N4NPM_cjs.init_jsonLogic();
     SCHEMA_VERSION = "holoscript.daimon-seed.v0.1.0";
     DEFAULT_THRESHOLD_FACTS = {
@@ -164,7 +164,7 @@ var init_DaimonSeedCompiler = chunkZHPMP447_cjs.__esm({
         { ">=": [{ var: "measuredValueIndependence" }, 0.5] }
       ]
     };
-    exports.DaimonSeedCompiler = class extends chunkZK7KX5CD_cjs.CompilerBase {
+    exports.DaimonSeedCompiler = class extends chunkSE2Y5BSL_cjs.CompilerBase {
       constructor(options = {}) {
         super();
         this.compilerName = "DaimonSeedCompiler";
@@ -283,5 +283,5 @@ exports.computeExportFidelity = computeExportFidelity;
 exports.createDaimonSeedCompiler = createDaimonSeedCompiler;
 exports.init_DaimonSeedCompiler = init_DaimonSeedCompiler;
 exports.runHysteresisExp2 = runHysteresisExp2;
-//# sourceMappingURL=chunk-VVAAZITA.cjs.map
-//# sourceMappingURL=chunk-VVAAZITA.cjs.map
+//# sourceMappingURL=chunk-OOP4S3GU.cjs.map
+//# sourceMappingURL=chunk-OOP4S3GU.cjs.map

package/dist/{chunk-TX6ZBIF4.js → chunk-ORBVCOTC.js}

@@ -1,4 +1,4 @@
-import { HoloScriptPlusParser } from './chunk-7NPZZZD7.js';
+import { HoloScriptPlusParser } from './chunk-C73GVAYC.js';
 
 // src/parser/HsplusGrammar.ts
 function normalizeHsplusGrammarErrors(errors) {
@@ -124,5 +124,5 @@ var GrammarModuleRegistryImpl = class {
 var GrammarModuleRegistry = new GrammarModuleRegistryImpl();
 
 export { GrammarModuleRegistry, TypeScriptHsplusGrammar, normalizeHsplusGrammarErrors };
-//# sourceMappingURL=chunk-TX6ZBIF4.js.map
-//# sourceMappingURL=chunk-TX6ZBIF4.js.map
+//# sourceMappingURL=chunk-ORBVCOTC.js.map
+//# sourceMappingURL=chunk-ORBVCOTC.js.map

package/dist/{chunk-RRQIAJLQ.cjs → chunk-OSKGCXAQ.cjs}

@@ -1,6 +1,6 @@
 'use strict';
 
-var chunkZK7KX5CD_cjs = require('./chunk-ZK7KX5CD.cjs');
+var chunkSE2Y5BSL_cjs = require('./chunk-SE2Y5BSL.cjs');
 var chunkZHPMP447_cjs = require('./chunk-ZHPMP447.cjs');
 var ans = require('@holoscript/core-types/ans');
 
@@ -14,8 +14,8 @@ chunkZHPMP447_cjs.__export(DTDLCompiler_exports, {
 exports.DTDLCompiler = void 0; exports.DTDL_TRAIT_COMPONENTS = void 0; exports.DTDLCompiler_default = void 0;
 var init_DTDLCompiler = chunkZHPMP447_cjs.__esm({
   "src/compiler/DTDLCompiler.ts"() {
-    chunkZK7KX5CD_cjs.init_CompilerBase();
-    exports.DTDLCompiler = class extends chunkZK7KX5CD_cjs.CompilerBase {
+    chunkSE2Y5BSL_cjs.init_CompilerBase();
+    exports.DTDLCompiler = class extends chunkSE2Y5BSL_cjs.CompilerBase {
       constructor(options = {}) {
         super();
         this.compilerName = "DTDLCompiler";
@@ -420,5 +420,5 @@ var init_DTDLCompiler = chunkZHPMP447_cjs.__esm({
 
 exports.DTDLCompiler_exports = DTDLCompiler_exports;
 exports.init_DTDLCompiler = init_DTDLCompiler;
-//# sourceMappingURL=chunk-RRQIAJLQ.cjs.map
-//# sourceMappingURL=chunk-RRQIAJLQ.cjs.map
+//# sourceMappingURL=chunk-OSKGCXAQ.cjs.map
+//# sourceMappingURL=chunk-OSKGCXAQ.cjs.map

package/dist/{chunk-QEDMOGF3.cjs → chunk-P65OIMJT.cjs}

@@ -1,12 +1,12 @@
 'use strict';
 
 var chunkVHORVGCG_cjs = require('./chunk-VHORVGCG.cjs');
-var chunkZK7KX5CD_cjs = require('./chunk-ZK7KX5CD.cjs');
+var chunkSE2Y5BSL_cjs = require('./chunk-SE2Y5BSL.cjs');
 var chunkZHPMP447_cjs = require('./chunk-ZHPMP447.cjs');
 
 // src/compiler/DomainBlockCompilerMixin.ts
 function esc(value, target) {
-  return chunkZK7KX5CD_cjs.escapeStringValue(value, target);
+  return chunkSE2Y5BSL_cjs.escapeStringValue(value, target);
 }
 function isPhysicalMaterial(mat) {
   return PHYSICAL_MATERIAL_KEYS.some((k) => mat[k] !== void 0);
@@ -4647,13 +4647,13 @@ function hexToRGBA(hex, alpha) {
   ];
 }
 function getRequiredCapability() {
-  return chunkZK7KX5CD_cjs.ANSCapabilityPath.DOMAIN_BLOCK;
+  return chunkSE2Y5BSL_cjs.ANSCapabilityPath.DOMAIN_BLOCK;
 }
 var PHYSICAL_MATERIAL_KEYS, mgToVec3, mgToF32; exports.DOMAIN_BLOCK_COMPILER_MIXIN_CAPABILITY = void 0;
 var init_DomainBlockCompilerMixin = chunkZHPMP447_cjs.__esm({
   "src/compiler/DomainBlockCompilerMixin.ts"() {
-    chunkZK7KX5CD_cjs.init_CompilerBase();
-    chunkZK7KX5CD_cjs.init_ANSNamespace();
+    chunkSE2Y5BSL_cjs.init_CompilerBase();
+    chunkSE2Y5BSL_cjs.init_ANSNamespace();
     chunkVHORVGCG_cjs.init_PerceptualColorPass();
     PHYSICAL_MATERIAL_KEYS = [
       "clearcoat",
@@ -4835,5 +4835,5 @@ exports.web3ToR3F = web3ToR3F;
 exports.web3ToUSDA = web3ToUSDA;
 exports.web3ToUnity = web3ToUnity;
 exports.web3ToVRChat = web3ToVRChat;
-//# sourceMappingURL=chunk-QEDMOGF3.cjs.map
-//# sourceMappingURL=chunk-QEDMOGF3.cjs.map
+//# sourceMappingURL=chunk-P65OIMJT.cjs.map
+//# sourceMappingURL=chunk-P65OIMJT.cjs.map

package/dist/{chunk-QM7FJB5W.js → chunk-PSWCJQS4.js}

@@ -4,9 +4,9 @@ import { TraitVisualRegistry, TraitCompositor } from './chunk-ZVQMKUGJ.js';
 import { createBotanicalLotusRenderProfile, buildLotusPetalMaterialSpec, LOTUS_PETAL_UNIFORM_BINDINGS, buildLotusPetalGeometryData, lotusPetalGeometryParamsFromProfile, buildLotusFlowerPlacements, buildLotusSceneScaffold } from './chunk-VKCTYLDN.js';
 import { ProvenanceSemiring } from './chunk-DQRJ5RJG.js';
 import { init_PlatformConditionalCompilerMixin, createPlatformTarget, PlatformConditionalCompilerMixin } from './chunk-DJNH4HFW.js';
-import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileSimulationBlock, simulationToR3F, compileWeatherBlock, weatherToR3F, compileAudioSourceBlock, audioSourceToR3F, compilePostProcessingBlock, postProcessingToR3F, compileParticleBlock, particlesToR3F, compilePhysicsBlock, physicsToR3F, compileMaterialBlock, materialToR3F, compileProceduralBlock } from './chunk-5LVFTGKH.js';
+import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileSimulationBlock, simulationToR3F, compileWeatherBlock, weatherToR3F, compileAudioSourceBlock, audioSourceToR3F, compilePostProcessingBlock, postProcessingToR3F, compileParticleBlock, particlesToR3F, compilePhysicsBlock, physicsToR3F, compileMaterialBlock, materialToR3F, compileProceduralBlock } from './chunk-TZQKJOPC.js';
 import { init_PerceptualColorPass, applyPerceptualColorPass } from './chunk-UCVZXQ63.js';
-import { init_AgentRBAC, init_CompilerBase, getRBAC, UnauthorizedCompilerAccessError, escapeStringValue } from './chunk-DUG3OQAS.js';
+import { init_AgentRBAC, init_CompilerBase, getRBAC, UnauthorizedCompilerAccessError, escapeStringValue } from './chunk-YDSNDCV3.js';
 import { mulberry32 } from './chunk-GLEJ2TLS.js';
 
 // src/compiler/SceneIRCompiler.ts
@@ -4713,5 +4713,5 @@ var SceneIRCompiler = class {
 };
 
 export { ENVIRONMENT_PRESETS, MATERIAL_PRESETS, QUALITY_TIER_SCALES, SceneIRCompiler, UI_COMPONENT_PRESETS, registerAllPresets };
-//# sourceMappingURL=chunk-QM7FJB5W.js.map
-//# sourceMappingURL=chunk-QM7FJB5W.js.map
+//# sourceMappingURL=chunk-PSWCJQS4.js.map
+//# sourceMappingURL=chunk-PSWCJQS4.js.map

package/dist/{chunk-7N63JHUN.cjs → chunk-PZ46WRHX.cjs}

@@ -1,7 +1,7 @@
 'use strict';
 
 var chunkR75BSDH7_cjs = require('./chunk-R75BSDH7.cjs');
-var chunkZK7KX5CD_cjs = require('./chunk-ZK7KX5CD.cjs');
+var chunkSE2Y5BSL_cjs = require('./chunk-SE2Y5BSL.cjs');
 var chunkQ47JEE2C_cjs = require('./chunk-Q47JEE2C.cjs');
 var crypto = require('crypto');
 
@@ -727,7 +727,7 @@ var ImportResolver = class {
           throw new Error(`File not found: '${canonicalPath}' (imported from '${importedBy}')`);
         }
       }
-      const { HoloScriptPlusParser } = await import('./HoloScriptPlusParser-RNUCHOAJ.cjs');
+      const { HoloScriptPlusParser } = await import('./HoloScriptPlusParser-WTPRPRPR.cjs');
       const parser = new HoloScriptPlusParser({ enableTypeScriptImports: true });
       const result = parser.parse(source);
       if (!result.success && result.errors.length > 0) {
@@ -1268,8 +1268,8 @@ function createSemanticCache(options) {
 }
 
 // src/compiler/IncrementalCompiler.ts
-chunkZK7KX5CD_cjs.init_AgentRBAC();
-chunkZK7KX5CD_cjs.init_CompilerBase();
+chunkSE2Y5BSL_cjs.init_AgentRBAC();
+chunkSE2Y5BSL_cjs.init_CompilerBase();
 chunkQ47JEE2C_cjs.init_safeJsonParse();
 function hashContent(content) {
   let hash = 0;
@@ -1772,7 +1772,7 @@ var IncrementalCompiler = class _IncrementalCompiler {
    */
   validateAccess(agentToken) {
     if (!agentToken) return;
-    const rbac = chunkZK7KX5CD_cjs.getRBAC();
+    const rbac = chunkSE2Y5BSL_cjs.getRBAC();
     const decision = rbac.checkAccess({
       token: agentToken,
       resourceType: "ast" /* AST */,
@@ -1997,7 +1997,7 @@ function deserializeCache(json) {
   }
   return compiler;
 }
-var UnauthorizedIncrementalCompilerAccessError = class extends chunkZK7KX5CD_cjs.UnauthorizedCompilerAccessError {
+var UnauthorizedIncrementalCompilerAccessError = class extends chunkSE2Y5BSL_cjs.UnauthorizedCompilerAccessError {
   constructor(decision, compilerName) {
     super(decision, "incremental compilation", compilerName);
     this.name = "UnauthorizedIncrementalCompilerAccessError";
@@ -2011,5 +2011,5 @@ exports.createIncrementalCompiler = createIncrementalCompiler;
 exports.deserializeCache = deserializeCache;
 exports.globalTraitGraph = globalTraitGraph;
 exports.serializeCache = serializeCache;
-//# sourceMappingURL=chunk-7N63JHUN.cjs.map
-//# sourceMappingURL=chunk-7N63JHUN.cjs.map
+//# sourceMappingURL=chunk-PZ46WRHX.cjs.map
+//# sourceMappingURL=chunk-PZ46WRHX.cjs.map

package/dist/{chunk-AATYYLYK.js → chunk-Q4J2K7FI.js}

@@ -1,5 +1,5 @@
-import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, compileAudioSourceBlock, compilePhysicsBlock, physicsToURDF, compileMaterialBlock } from './chunk-5LVFTGKH.js';
-import { init_CompilerBase, CompilerBase } from './chunk-DUG3OQAS.js';
+import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, compileAudioSourceBlock, compilePhysicsBlock, physicsToURDF, compileMaterialBlock } from './chunk-TZQKJOPC.js';
+import { init_CompilerBase, CompilerBase } from './chunk-YDSNDCV3.js';
 import { __export, __esm } from './chunk-W4GABFCR.js';
 import { ANSCapabilityPath } from '@holoscript/core-types/ans';
 
@@ -775,17 +775,28 @@ var init_URDFCompiler = __esm({
             inertia: { ixx: 1e-3, ixy: 0, ixz: 0, iyy: 1e-3, iyz: 0, izz: 1e-3 }
           }
         });
+        const groupPos = group.properties?.find((p) => p.key === "position")?.value;
+        const [gx, gy, gz] = Array.isArray(groupPos) ? groupPos : [0, 0, 0];
         this.joints.push({
           name: `${parentLink}_to_${groupLinkName}_joint`,
           type: "fixed",
           parent: parentLink,
-          child: groupLinkName
+          child: groupLinkName,
+          origin: {
+            xyz: [gx, gy, gz],
+            rpy: [0, 0, 0]
+          }
         });
         if (group.objects) {
           for (const obj of group.objects) {
             this.processObject(obj, groupLinkName, actuatedJoints);
           }
         }
+        if (group.groups) {
+          for (const sub of group.groups) {
+            this.processSpatialGroup(sub, groupLinkName, actuatedJoints);
+          }
+        }
       }
       /** Process @sensor trait into sensor definition */
       processSensorTrait(config, parentLink) {
@@ -1407,5 +1418,5 @@ var init_URDFCompiler = __esm({
 });
 
 export { URDFCompiler, URDFCompiler_default, URDFCompiler_exports, compileForGazebo, compileForIsaacSim, compileForROS2, compileToURDF, createURDFCompiler, generateControllersYaml, generateROS2LaunchFile, init_URDFCompiler };
-//# sourceMappingURL=chunk-AATYYLYK.js.map
-//# sourceMappingURL=chunk-AATYYLYK.js.map
+//# sourceMappingURL=chunk-Q4J2K7FI.js.map
+//# sourceMappingURL=chunk-Q4J2K7FI.js.map