@holoscript/core 8.0.13 → 8.0.14

package/dist/{chunk-P7JEKJTZ.cjs → chunk-B6JHTTMR.cjs}

@@ -1,7 +1,7 @@
 'use strict';
 
-var chunkQEDMOGF3_cjs = require('./chunk-QEDMOGF3.cjs');
-var chunkZK7KX5CD_cjs = require('./chunk-ZK7KX5CD.cjs');
+var chunkP65OIMJT_cjs = require('./chunk-P65OIMJT.cjs');
+var chunkSE2Y5BSL_cjs = require('./chunk-SE2Y5BSL.cjs');
 var chunkZHPMP447_cjs = require('./chunk-ZHPMP447.cjs');
 var ans = require('@holoscript/core-types/ans');
 
@@ -205,9 +205,9 @@ function generateControllersYaml(robotName, jointNames, options) {
 exports.URDFCompiler = void 0; exports.URDFCompiler_default = void 0;
 var init_URDFCompiler = chunkZHPMP447_cjs.__esm({
   "src/compiler/URDFCompiler.ts"() {
-    chunkZK7KX5CD_cjs.init_CompilerBase();
-    chunkQEDMOGF3_cjs.init_DomainBlockCompilerMixin();
-    exports.URDFCompiler = class extends chunkZK7KX5CD_cjs.CompilerBase {
+    chunkSE2Y5BSL_cjs.init_CompilerBase();
+    chunkP65OIMJT_cjs.init_DomainBlockCompilerMixin();
+    exports.URDFCompiler = class extends chunkSE2Y5BSL_cjs.CompilerBase {
       constructor(options = {}) {
         super();
         this.compilerName = "URDFCompiler";
@@ -572,11 +572,11 @@ var init_URDFCompiler = chunkZHPMP447_cjs.__esm({
         if (domainBlocks.length === 0) return;
         this.emitBlank();
         this.emit("<!-- v4.2 Domain Blocks -->");
-        const compiled = chunkQEDMOGF3_cjs.compileDomainBlocks(
+        const compiled = chunkP65OIMJT_cjs.compileDomainBlocks(
           domainBlocks,
           {
             material: (block) => {
-              const mat = chunkQEDMOGF3_cjs.compileMaterialBlock(block);
+              const mat = chunkP65OIMJT_cjs.compileMaterialBlock(block);
               const lines = [];
               lines.push(
                 `<material name="${this.escapeStringValue(mat.name, "TypeScript")}">`
@@ -597,15 +597,15 @@ var init_URDFCompiler = chunkZHPMP447_cjs.__esm({
               return lines.join("\n");
             },
             physics: (block) => {
-              const phys = chunkQEDMOGF3_cjs.compilePhysicsBlock(block);
-              return chunkQEDMOGF3_cjs.physicsToURDF(phys);
+              const phys = chunkP65OIMJT_cjs.compilePhysicsBlock(block);
+              return chunkP65OIMJT_cjs.physicsToURDF(phys);
             },
             audio: (block) => {
-              const audio = chunkQEDMOGF3_cjs.compileAudioSourceBlock(block);
+              const audio = chunkP65OIMJT_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 = chunkQEDMOGF3_cjs.compileWeatherBlock(block);
+              const weather = chunkP65OIMJT_cjs.compileWeatherBlock(block);
               return `<!-- Weather: ${weather.keyword} "${weather.name || ""}" layers: ${weather.layers.map((l) => l.type).join(", ")} -->`;
             }
           },
@@ -777,17 +777,28 @@ var init_URDFCompiler = chunkZHPMP447_cjs.__esm({
             inertia: { ixx: 1e-3, ixy: 0, ixz: 0, iyy: 1e-3, iyz: 0, izz: 1e-3 }
           }
         });
+        const groupPos = group.properties?.find((p) => p.key === "position")?.value;
+        const [gx, gy, gz] = Array.isArray(groupPos) ? groupPos : [0, 0, 0];
         this.joints.push({
           name: `${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) {
@@ -1417,5 +1428,5 @@ exports.createURDFCompiler = createURDFCompiler;
 exports.generateControllersYaml = generateControllersYaml;
 exports.generateROS2LaunchFile = generateROS2LaunchFile;
 exports.init_URDFCompiler = init_URDFCompiler;
-//# sourceMappingURL=chunk-P7JEKJTZ.cjs.map
-//# sourceMappingURL=chunk-P7JEKJTZ.cjs.map
+//# sourceMappingURL=chunk-B6JHTTMR.cjs.map
+//# sourceMappingURL=chunk-B6JHTTMR.cjs.map

package/dist/{chunk-FG6PYGIZ.js → chunk-BLCWQ225.js}

@@ -1,5 +1,5 @@
-import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, weatherToUSD, compileAudioSourceBlock, audioSourceToUSD, compilePostProcessingBlock, postProcessingToUSD, compileParticleBlock, particlesToUSD, compilePhysicsBlock, physicsToURDF, compileMaterialBlock, materialToUSD } from './chunk-5LVFTGKH.js';
-import { init_CompilerBase, CompilerBase } from './chunk-DUG3OQAS.js';
+import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, weatherToUSD, compileAudioSourceBlock, audioSourceToUSD, compilePostProcessingBlock, postProcessingToUSD, compileParticleBlock, particlesToUSD, compilePhysicsBlock, physicsToURDF, compileMaterialBlock, materialToUSD } from './chunk-TZQKJOPC.js';
+import { init_CompilerBase, CompilerBase } from './chunk-YDSNDCV3.js';
 import { ANSCapabilityPath } from '@holoscript/core-types/ans';
 
 // src/compiler/USDPhysicsCompiler.ts
@@ -886,5 +886,5 @@ function compileForIsaacSim(composition, options) {
 }
 
 export { USDPhysicsCompiler, compileForIsaacSim, compileToUSDPhysics };
-//# sourceMappingURL=chunk-FG6PYGIZ.js.map
-//# sourceMappingURL=chunk-FG6PYGIZ.js.map
+//# sourceMappingURL=chunk-BLCWQ225.js.map
+//# sourceMappingURL=chunk-BLCWQ225.js.map

package/dist/{chunk-FRSKLX6I.js → chunk-C73GVAYC.js}

@@ -1,4 +1,4 @@
-import { ErrorRecovery, generateQuickFixes, enrichErrorWithSuggestions } from './chunk-CP7V3ATL.js';
+import { ErrorRecovery, generateQuickFixes, enrichErrorWithSuggestions, RUNTIME_DIRECTIVE_TRAITS } from './chunk-Z7NUL73U.js';
 import { isBrainKeyword, isCognitiveVerb, nearestCognitiveVerb } from './chunk-UNMVGZVW.js';
 import { LIFECYCLE_HOOKS, STRUCTURAL_DIRECTIVES } from './chunk-FWKEY4LD.js';
 import { VR_TRAITS } from './chunk-2EGGAZT3.js';
@@ -3271,10 +3271,13 @@ var HoloScriptPlusParser = class _HoloScriptPlusParser {
       const config2 = this.check("LBRACE") ? this.parseBlockContent() : this.parseTraitConfig();
       return { ...config2, type: name, name: nodeName };
     }
-    if (this.options.strict) {
-      this.traitError(name);
-    } else {
-      this.warn(`Unknown directive @${name}`);
+    const isKnownRuntimeDirective = RUNTIME_DIRECTIVE_TRAITS.includes(name);
+    if (!isKnownRuntimeDirective) {
+      if (this.options.strict) {
+        this.traitError(name);
+      } else {
+        this.warn(`Unknown directive @${name}`);
+      }
     }
     let config = {};
     let configStyle = "none";
@@ -6251,5 +6254,5 @@ function parse(source, options) {
 }
 
 export { ChunkBasedIncrementalParser, HSPLUS_ERROR_CODES, HoloScriptPlusParser, ParseCache, createKeywordError, createParser, createRichError, createTraitError, findSimilarKeyword, findSimilarTrait, formatRichError, formatRichErrors, getErrorCodeDocumentation, getSourceContext, globalParseCache, parse, parseIncrementalChunks };
-//# sourceMappingURL=chunk-FRSKLX6I.js.map
-//# sourceMappingURL=chunk-FRSKLX6I.js.map
+//# sourceMappingURL=chunk-C73GVAYC.js.map
+//# sourceMappingURL=chunk-C73GVAYC.js.map