@nebula-spatial/viewer 0.2.4 → 0.4.0

package/dist/session-B_UiRctl.js

@@ -0,0 +1,762 @@
+var Ee = Object.defineProperty;
+var Se = (o, e, t) => e in o ? Ee(o, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : o[e] = t;
+var D = (o, e, t) => Se(o, typeof e != "symbol" ? e + "" : e, t);
+import { d as Ae, S as le } from "./stage-BxROW_dP.js";
+import { ConvexGeometry as ve } from "three/examples/jsm/geometries/ConvexGeometry.js";
+import { LineBasicMaterial as Me, LineSegments as Oe, EdgesGeometry as $e, Group as z, MeshStandardMaterial as he, Mesh as I, PlaneGeometry as Re, BoxGeometry as X, SphereGeometry as ee, CylinderGeometry as te, CapsuleGeometry as ye, Vector3 as T, BufferGeometry as Pe, BufferAttribute as ue, Euler as J, MathUtils as Ue, Matrix3 as ce, Matrix4 as k, Quaternion as be, LoadingManager as Fe } from "three";
+import { GLTFLoader as qe } from "three/examples/jsm/loaders/GLTFLoader.js";
+import { OBJLoader as De } from "three/examples/jsm/loaders/OBJLoader.js";
+import { STLLoader as Ce } from "three/examples/jsm/loaders/STLLoader.js";
+class W {
+  constructor(e, t) {
+    D(this, "root");
+    D(this, "bodies", /* @__PURE__ */ new Map());
+    D(this, "disposed", !1);
+    this.runtime = e, this.root = t.root;
+    const r = e.mujoco, n = e.model;
+    for (const [l, u] of t.bindings) {
+      const c = r.mj_name2id(n, r.mjtObj.mjOBJ_BODY.value, l);
+      if (c < 0) throw fe(`Physics body missing for visual link: ${l}`, "E_SIMULATION_BIND");
+      u.userData.bodyId = c, this.bodies.set(c, u);
+    }
+    if (this.bodies.size !== t.expectedLinkCount) throw fe("Visual body binding count mismatch.", "E_SIMULATION_BIND");
+    this.sync();
+  }
+  sync() {
+    if (this.disposed || !this.runtime.data) return;
+    const { xpos: e, xquat: t } = this.runtime.data;
+    for (const [r, n] of this.bodies) {
+      const l = r * 3, u = r * 4;
+      n.position.set(e[l], e[l + 1], e[l + 2]), n.quaternion.set(t[u + 1], t[u + 2], t[u + 3], t[u]);
+    }
+    this.root.updateMatrixWorld(!0);
+  }
+  dispose() {
+    this.disposed || (this.disposed = !0, this.bodies.clear(), Ae(this.root));
+  }
+}
+function fe(o, e) {
+  return Object.assign(new Error(o), { code: e });
+}
+class Ge {
+  constructor(e) {
+    D(this, "entries", /* @__PURE__ */ new Map());
+    D(this, "objectUrls", /* @__PURE__ */ new Map());
+    this.source = e;
+    const t = e.original;
+    if (Ne(t))
+      for (const r of t.files) this.entries.set(A(r.path), r.file);
+    else typeof Blob < "u" && t instanceof Blob ? this.entries.set(e.entryPath ?? e.filename ?? "asset", t) : t instanceof ArrayBuffer ? this.entries.set(e.entryPath ?? e.filename ?? "asset", new Blob([t])) : typeof t == "object" && t !== null && "kind" in t && t.kind === "buffer" && this.entries.set(e.entryPath ?? e.filename ?? "asset", new Blob([t.buffer]));
+  }
+  paths() {
+    return [...this.entries.keys()];
+  }
+  hasLocalFiles() {
+    return this.entries.size > 0;
+  }
+  put(e, t) {
+    this.entries.set(A(e), t);
+  }
+  asSourceRecord(e = "") {
+    const t = A(e), r = t ? `${t}/` : "", n = {};
+    for (const [l, u] of this.entries)
+      (!r || l.startsWith(r)) && (n[r ? l.slice(r.length) : l] = u);
+    return n;
+  }
+  resolve(e, t = "") {
+    const r = this.find(e, t);
+    if (r) return r;
+    const n = A(t).split("/").slice(0, -1).join("/");
+    if (this.source.url) return A(`${n}/${e.replace(/^package:\/\//, "")}`);
+    throw U(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+  }
+  find(e, t = "") {
+    const r = A(e.replace(/^package:\/\//, "")), n = A(t).split("/").slice(0, -1).join("/");
+    for (const u of [A(`${n}/${e.replace(/^package:\/\//, "")}`), r])
+      if (this.entries.has(u)) return u;
+    const l = this.paths().filter(
+      (u) => u === r || u.endsWith(`/${r}`) || r.endsWith(`/${u}`)
+    );
+    return l.length === 1 ? l[0] : null;
+  }
+  async text(e) {
+    await this.ensure(e);
+    const t = this.entries.get(this.resolve(e));
+    if (!t) throw U(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return t.text();
+  }
+  async bytes(e) {
+    await this.ensure(e);
+    const t = this.entries.get(this.resolve(e));
+    if (!t) throw U(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return new Uint8Array(await t.arrayBuffer());
+  }
+  getBlob(e) {
+    const t = this.resolve(e), r = this.entries.get(t);
+    if (!r) throw U(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return r;
+  }
+  async ensure(e) {
+    const t = A(e);
+    if (this.entries.has(t)) return;
+    const r = await this.source.resolve(t);
+    if (!/^https?:\/\//i.test(r) && !/^blob:/i.test(r))
+      throw U(`Simulation resource not found: ${e}. Upload the complete asset folder or provide a resourceResolver/baseUrl.`, "E_ASSET_RESOURCE_NOT_FOUND");
+    const n = await fetch(r, { signal: this.source.signal });
+    if (!n.ok) throw U(`Simulation resource request failed (${n.status}): ${r}`, "E_ASSET_FETCH");
+    const l = await n.blob();
+    this.source.signal.throwIfAborted(), this.entries.set(t, l);
+  }
+  objectUrl(e) {
+    const t = this.resolve(e);
+    let r = this.objectUrls.get(t);
+    return r || (r = URL.createObjectURL(this.getBlob(t)), this.objectUrls.set(t, r)), r;
+  }
+  objectUrlIfPresent(e, t = "") {
+    const r = A(t), n = r ? `${r}/` : "", l = A(e), u = n ? this.paths().filter((i) => {
+      if (!i.startsWith(n)) return !1;
+      const s = i.slice(n.length);
+      return s === l || l.endsWith(`/${s}`);
+    }) : [], c = u.length === 1 ? u[0] : this.find(e);
+    return c ? this.objectUrl(c) : null;
+  }
+  dispose() {
+    for (const e of this.objectUrls.values()) URL.revokeObjectURL(e);
+    this.objectUrls.clear(), this.entries.clear();
+  }
+}
+async function Le(o, e) {
+  if (e.hasLocalFiles()) return e.text(o.entryPath ?? o.filename ?? e.paths()[0]);
+  const t = await fetch(o.url ?? await o.resolve(o.entryPath ?? ""), { signal: o.signal });
+  if (!t.ok) throw U(`Simulation asset request failed: ${t.status}`, "E_ASSET_FETCH");
+  return t.text();
+}
+function A(o) {
+  const e = [];
+  for (const t of o.replaceAll("\\", "/").split("/"))
+    !t || t === "." || (t === ".." && e.length && e.at(-1) !== ".." ? e.pop() : e.push(t));
+  return e.join("/");
+}
+function Ne(o) {
+  return typeof o == "object" && o !== null && "kind" in o && o.kind === "files";
+}
+function U(o, e) {
+  return Object.assign(new Error(o), { code: e });
+}
+function ge() {
+  return { errors: [], warnings: [], approximations: [], droppedFeatures: [] };
+}
+function we(o) {
+  const e = Object.freeze({ schemaVersion: 1, ...o });
+  return Ie(e), e;
+}
+function Ie(o) {
+  if (!o.id.trim() || !o.name.trim()) throw x("Asset IR id and name are required.", "E_ASSET_IR_INVALID");
+  if (o.source.format !== "usd" && o.links.length === 0) throw x("Asset IR requires at least one link.", "E_ASSET_IR_INVALID");
+  const e = /* @__PURE__ */ new Set();
+  for (const r of o.links) {
+    if (!r.id || e.has(r.id)) throw x(`Invalid or duplicate link: ${r.id}`, "E_ASSET_IR_INVALID");
+    e.add(r.id);
+  }
+  const t = /* @__PURE__ */ new Set();
+  for (const r of o.joints) {
+    if (!r.id || t.has(r.id) || !e.has(r.parent) || !e.has(r.child))
+      throw x(`Invalid joint: ${r.id}`, "E_ASSET_IR_INVALID");
+    t.add(r.id);
+  }
+}
+function x(o, e) {
+  return Object.assign(new Error(o), { code: e });
+}
+async function ze(o, e, t) {
+  var i;
+  const r = /* @__PURE__ */ new Map(), n = /* @__PURE__ */ new Set(), l = /* @__PURE__ */ new Set(), u = async (s, m) => {
+    if (l.has(s)) throw Q(`MJCF include cycle: ${s}`, "E_MJCF_INCLUDE_CYCLE");
+    l.add(s);
+    const b = Ve(m, s);
+    r.set(s, b);
+    for (const h of b.querySelectorAll("worldbody body[name]")) n.add(h.getAttribute("name"));
+    for (const h of b.querySelectorAll("include[file]")) {
+      const p = t.resolve(h.getAttribute("file"), s);
+      await u(p, await t.text(p));
+    }
+    l.delete(s);
+  };
+  await u(e, o);
+  const c = (i = r.get(e)) == null ? void 0 : i.querySelector("mujoco");
+  if (!c || n.size === 0) throw Q("MJCF requires a mujoco root and at least one named body.", "E_MJCF_PARSE");
+  return we({
+    id: c.getAttribute("model") || e,
+    name: c.getAttribute("model") || e,
+    source: { format: "mjcf", uri: e },
+    links: [...n].map((s) => ({ id: s, name: s, visuals: [], collisions: [] })),
+    joints: [],
+    diagnostics: ge(),
+    extension: { files: t, xml: o, documents: r }
+  });
+}
+async function ke(o) {
+  const e = o.extension.files, t = o.source.uri, r = t.split("/").slice(0, -1).join("/"), n = /* @__PURE__ */ new Map(), l = o.extension.documents;
+  for (const [i, s] of l) {
+    const m = s.querySelector("compiler");
+    for (const b of s.querySelectorAll("asset [file]")) {
+      const h = (m == null ? void 0 : m.getAttribute(b.tagName === "texture" ? "texturedir" : "meshdir")) ?? (m == null ? void 0 : m.getAttribute("assetdir")) ?? "", p = e.resolve(`${h}/${b.getAttribute("file")}`, i);
+      await e.bytes(p);
+    }
+  }
+  for (const i of xe(e.paths(), l)) {
+    if (i === t) continue;
+    const s = r && i.startsWith(`${r}/`) ? i.slice(r.length + 1) : i;
+    n.set(s, await e.bytes(i));
+  }
+  const u = o.extension.xml;
+  return { format: "mjcf", xml: Te(l) ? Be(u) : u, files: n };
+}
+function Te(o) {
+  return o.size === 0 || ![...o.values()].some((t) => t.querySelector("freejoint, actuator") ? !0 : [...t.querySelectorAll("joint")].some(
+    (r) => (r.getAttribute("type") ?? "hinge").toLowerCase() !== "fixed"
+  )) ? !1 : ![...o.values()].some(
+    (t) => [...t.querySelectorAll("worldbody geom")].some((r) => {
+      var n;
+      return ((n = r.getAttribute("type")) == null ? void 0 : n.toLowerCase()) === "plane";
+    })
+  );
+}
+function Be(o) {
+  const e = '<geom name="__viewer_default_ground__" type="plane" size="5 5 0.1" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>';
+  return /<worldbody\b[^>]*>/i.test(o) ? o.replace(/(<worldbody\b[^>]*>)/i, `$1${e}`) : o.replace(/<\/mujoco\s*>/i, `<worldbody>${e}</worldbody></mujoco>`);
+}
+function xe(o, e) {
+  const t = (c) => c.replaceAll("\\", "/").split("/").pop() ?? "", r = /* @__PURE__ */ new Map();
+  for (const c of o) {
+    const i = t(c), s = r.get(i) ?? [];
+    s.push(c), r.set(i, s);
+  }
+  const n = new Set(e.keys()), l = /* @__PURE__ */ new Set(["include", "mesh", "texture", "hfield", "skin"]), u = /* @__PURE__ */ new Set(["fileleft", "fileright", "fileup", "filedown", "filefront", "fileback"]);
+  for (const c of e.values()) {
+    if (c.querySelector("plugin, extension, model, attach")) return o;
+    for (const i of c.querySelectorAll("*"))
+      for (const s of i.attributes) {
+        if (!s.name.startsWith("file")) continue;
+        if (s.name === "file") {
+          if (!l.has(i.tagName)) return o;
+        } else if (!(i.tagName === "texture" && u.has(s.name)))
+          return o;
+        if (!s.value) continue;
+        const m = r.get(t(s.value));
+        if (!m) return o;
+        for (const b of m) n.add(b);
+      }
+  }
+  return o.filter((c) => n.has(c));
+}
+function Ve(o, e) {
+  const t = new DOMParser().parseFromString(o, "application/xml"), r = t.querySelector("parsererror");
+  if (r) throw Q(`MJCF XML parse failed (${e}): ${r.textContent ?? ""}`, "E_MJCF_PARSE");
+  return t;
+}
+function Q(o, e) {
+  return Object.assign(new Error(o), { code: e });
+}
+const Xe = 1476466, Je = 0.72, He = 20;
+function We() {
+  return new Me({
+    color: Xe,
+    transparent: !0,
+    opacity: Je,
+    depthTest: !1
+  });
+}
+function Ye(o, e) {
+  const t = new Oe(
+    new $e(o, He),
+    e
+  );
+  return t.renderOrder = 9, t;
+}
+const me = 0.68;
+function Ze(o, e) {
+  if (e < 0) return me;
+  const t = o.mat_roughness[e];
+  if (t >= 0) return t;
+  const r = o.mat_shininess[e];
+  return !Number.isFinite(r) || r <= 0 ? me : Math.sqrt(2 / (r + 2));
+}
+function Qe(o, e) {
+  if (e < 0) return 0;
+  const t = o.mat_metallic[e];
+  return Number.isFinite(t) && t >= 0 ? t : 0;
+}
+function Y(o, e = !1) {
+  const t = o.model, r = o.mujoco, n = new z();
+  n.name = "MuJoCo scene";
+  const l = /* @__PURE__ */ new Map(), u = /* @__PURE__ */ new Map();
+  for (let c = 1; c < t.nbody; c += 1) {
+    const i = r.mj_id2name(t, r.mjtObj.mjOBJ_BODY.value, c);
+    if (!i) continue;
+    const s = new z();
+    s.name = i, s.userData.bodyId = c, l.set(c, s), u.set(i, s), n.add(s);
+  }
+  if (e && l.set(0, n), e) {
+    const c = We();
+    let i = 0;
+    for (let s = 0; s < t.ngeom; s += 1) {
+      if (r.mj_id2name(t, r.mjtObj.mjOBJ_GEOM.value, s) === "__viewer_default_ground__" || t.geom_contype[s] === 0 && t.geom_conaffinity[s] === 0) continue;
+      const b = l.get(t.geom_bodyid[s]), h = Ke(o, s);
+      if (!b || !h) continue;
+      const p = Ye(h, c);
+      h.dispose(), p.userData.geomId = s, i += 1;
+      const f = s * 3, a = s * 4;
+      p.position.fromArray(t.geom_pos, f), p.quaternion.set(t.geom_quat[a + 1], t.geom_quat[a + 2], t.geom_quat[a + 3], t.geom_quat[a]), b.add(p);
+    }
+    i === 0 && c.dispose();
+  } else
+    for (let c = 0; c < t.ngeom; c += 1) {
+      if (t.geom_group[c] > 2) continue;
+      const i = l.get(t.geom_bodyid[c]), s = et(o, c);
+      if (!i || !s) continue;
+      const m = c * 4, b = t.geom_matid[c], h = new he({
+        opacity: t.geom_rgba[m + 3],
+        transparent: t.geom_rgba[m + 3] < 1,
+        roughness: Ze(t, b),
+        metalness: Qe(t, b)
+      });
+      if (h.color.setRGB(t.geom_rgba[m], t.geom_rgba[m + 1], t.geom_rgba[m + 2]), b >= 0 && [0.5, 0.5, 0.5, 1].every((d, _) => t.geom_rgba[m + _] === d)) {
+        const d = b * 4;
+        h.color.setRGB(t.mat_rgba[d], t.mat_rgba[d + 1], t.mat_rgba[d + 2]), h.opacity = t.mat_rgba[d + 3], h.transparent = h.opacity < 1;
+      }
+      const p = new I(s, h), f = c * 3, a = c * 4;
+      p.position.fromArray(t.geom_pos, f), p.quaternion.set(t.geom_quat[a + 1], t.geom_quat[a + 2], t.geom_quat[a + 3], t.geom_quat[a]), i.add(p);
+    }
+  return { root: n, bindings: u, expectedLinkCount: u.size };
+}
+function Ke(o, e) {
+  const t = o.model, r = o.mujoco, n = e * 3, l = t.geom_size[n], u = t.geom_size[n + 1], c = t.geom_size[n + 2], i = t.geom_type[e];
+  if (i === r.mjtGeom.mjGEOM_PLANE.value)
+    return new Re(Math.max(l * 2, 2), Math.max(u * 2, 2), 10, 10);
+  if (i === r.mjtGeom.mjGEOM_BOX.value) return new X(l * 2, u * 2, c * 2);
+  if (i === r.mjtGeom.mjGEOM_SPHERE.value) return new ee(l, 20, 12);
+  if (i === r.mjtGeom.mjGEOM_CYLINDER.value) {
+    const s = new te(l, l, u * 2, 24);
+    return s.rotateX(Math.PI / 2), s;
+  }
+  if (i === r.mjtGeom.mjGEOM_CAPSULE.value) {
+    const s = new ye(l, u * 2, 6, 16);
+    return s.rotateX(Math.PI / 2), s;
+  }
+  if (i === r.mjtGeom.mjGEOM_MESH.value) {
+    const s = t.geom_dataid[e], m = t.mesh_vertadr[s], b = t.mesh_vertnum[s];
+    t.mesh_faceadr[s], t.mesh_facenum[s];
+    const h = [];
+    for (let p = m; p < m + b; p++) h.push(new T(t.mesh_vert[p * 3], t.mesh_vert[p * 3 + 1], t.mesh_vert[p * 3 + 2]));
+    return new ve(h);
+  }
+  return new X(Math.max(l * 2, 0.02), Math.max(u * 2, 0.02), Math.max(c * 2, 0.02));
+}
+function et(o, e) {
+  const t = o.model, r = o.mujoco, n = e * 3, l = t.geom_size[n], u = t.geom_size[n + 1], c = t.geom_size[n + 2], i = t.geom_type[e];
+  if (i === r.mjtGeom.mjGEOM_BOX.value) return new X(l * 2, u * 2, c * 2);
+  if (i === r.mjtGeom.mjGEOM_SPHERE.value) return new ee(l, 24, 16);
+  if (i === r.mjtGeom.mjGEOM_CYLINDER.value) {
+    const a = new te(l, l, u * 2, 24);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  if (i === r.mjtGeom.mjGEOM_CAPSULE.value) {
+    const a = new ye(l, u * 2, 6, 16);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  if (i !== r.mjtGeom.mjGEOM_MESH.value) return null;
+  const s = t.geom_dataid[e], m = t.mesh_vertadr[s], b = t.mesh_vertnum[s], h = t.mesh_faceadr[s], p = t.mesh_facenum[s], f = new Pe();
+  return f.setAttribute("position", new ue(Float32Array.from(t.mesh_vert.subarray(m * 3, (m + b) * 3)), 3)), f.setIndex(new ue(Uint32Array.from(t.mesh_face.subarray(h * 3, (h + p) * 3)), 1)), f.computeVertexNormals(), f;
+}
+function G(o, e) {
+  if (!o) return [...e];
+  const t = o.trim().split(/\s+/).map(Number);
+  if (t.some((r) => !Number.isFinite(r))) throw q(`Invalid numeric value: ${o}`, "E_URDF_PARSE");
+  return t;
+}
+function V(o) {
+  const e = (o == null ? void 0 : o.querySelector("origin")) ?? null;
+  return { position: G((e == null ? void 0 : e.getAttribute("xyz")) ?? null, [0, 0, 0]), rotationRpy: G((e == null ? void 0 : e.getAttribute("rpy")) ?? null, [0, 0, 0]) };
+}
+function de(o, e, t) {
+  const r = o.querySelector("geometry"), n = r == null ? void 0 : r.querySelector("box");
+  if (n) return { type: "box", size: G(n.getAttribute("size"), [1, 1, 1]) };
+  const l = r == null ? void 0 : r.querySelector("sphere");
+  if (l) return { type: "sphere", radius: F(l.getAttribute("radius"), 1) };
+  const u = r == null ? void 0 : r.querySelector("cylinder");
+  if (u) return { type: "cylinder", radius: F(u.getAttribute("radius"), 1), length: F(u.getAttribute("length"), 1) };
+  const c = r == null ? void 0 : r.querySelector("mesh"), i = c == null ? void 0 : c.getAttribute("filename");
+  return i ? { type: "mesh", resourcePath: t.resolve(i, e), scale: G(c.getAttribute("scale"), [1, 1, 1]) } : null;
+}
+function tt(o, e, t) {
+  const n = at(o, "URDF").querySelector("robot");
+  if (!n) throw q("URDF requires a robot root element.", "E_URDF_PARSE");
+  const l = ge(), u = [...n.querySelectorAll("link")].map((i) => ({
+    id: N(i, "name"),
+    name: N(i, "name"),
+    inertial: lt(i),
+    visuals: [...i.querySelectorAll("visual")].map((s) => {
+      var h;
+      const m = de(s, e, t), b = G(((h = s.querySelector("color")) == null ? void 0 : h.getAttribute("rgba")) ?? null, [0.68, 0.72, 0.7, 1]);
+      return m ? { origin: V(s), geometry: m, color: b } : null;
+    }).filter((s) => !!s),
+    collisions: [...i.querySelectorAll("collision")].map((s) => {
+      const m = de(s, e, t);
+      return m ? { origin: V(s), geometry: m } : null;
+    }).filter((s) => !!s)
+  })), c = [...n.querySelectorAll("joint")].map((i) => {
+    var f;
+    const s = i.querySelector("limit"), m = i.querySelector("dynamics"), b = m ? F(m.getAttribute("damping"), 0) : 0, h = m ? F(m.getAttribute("friction"), 0) : 0, p = m && (b > 0 || h > 0) ? { damping: b, friction: h } : void 0;
+    return {
+      id: N(i, "name"),
+      type: i.getAttribute("type") ?? "fixed",
+      parent: N(i.querySelector("parent"), "link"),
+      child: N(i.querySelector("child"), "link"),
+      origin: V(i),
+      axis: G(((f = i.querySelector("axis")) == null ? void 0 : f.getAttribute("xyz")) ?? null, [1, 0, 0]),
+      ...s ? { limits: { lower: F(s.getAttribute("lower"), 0), upper: F(s.getAttribute("upper"), 0) } } : {},
+      ...p ? { dynamics: p } : {}
+    };
+  });
+  return n.querySelector("transmission, gazebo") && l.droppedFeatures.push({ code: "UNSUPPORTED_URDF_EXTENSION", message: "URDF transmission/gazebo extensions are not compiled." }), we({ id: n.getAttribute("name") || e, name: n.getAttribute("name") || e, source: { format: "urdf", uri: e }, links: u, joints: c, diagnostics: l, extension: { files: t } });
+}
+function pe(o) {
+  const e = new k(), t = new be().setFromEuler(new J(...o.rotationRpy, "XYZ"));
+  return e.compose(new T().fromArray(o.position), t, new T(1, 1, 1));
+}
+function K(o) {
+  if (o.type === "continuous" || !o.limits) return 0;
+  const { lower: e, upper: t } = o.limits;
+  return !Number.isFinite(e) || !Number.isFinite(t) ? 0 : Ue.clamp(0, e, t);
+}
+function rt(o) {
+  let e;
+  if (o.type === "box")
+    e = [o.size[0] / 2, o.size[1] / 2, o.size[2] / 2];
+  else if (o.type === "sphere")
+    e = [o.radius, o.radius, o.radius];
+  else if (o.type === "cylinder")
+    e = [o.radius, o.radius, o.length / 2];
+  else
+    return null;
+  const t = [];
+  for (const r of [-e[0], e[0]])
+    for (const n of [-e[1], e[1]])
+      for (const l of [-e[2], e[2]])
+        t.push(new T(r, n, l));
+  return t;
+}
+function ot(o, e, t) {
+  let r = 0;
+  const n = new Map(o.links.map((s) => [s.id, s])), l = (s) => {
+    let m = 1 / 0;
+    const b = (h, p) => {
+      const f = n.get(h);
+      if (f) {
+        for (const a of f.collisions) {
+          const d = rt(a.geometry);
+          if (!d) {
+            s && (r += 1);
+            continue;
+          }
+          const _ = p.clone().multiply(pe(a.origin));
+          for (const y of d)
+            m = Math.min(m, y.applyMatrix4(_).z);
+        }
+        for (const a of t.get(h) ?? []) {
+          const d = p.clone().multiply(pe(a.origin)), _ = s ? K(a) : 0;
+          _ && a.type === "revolute" ? d.multiply(new k().makeRotationAxis(new T().fromArray(a.axis).normalize(), _)) : _ && a.type === "prismatic" && d.multiply(new k().makeTranslation(a.axis[0] * _, a.axis[1] * _, a.axis[2] * _)), b(a.child, d);
+        }
+      }
+    };
+    return b(e, new k()), m;
+  }, u = l(!0), c = l(!1), i = Math.min(u, c);
+  return r && o.diagnostics.warnings.push({
+    code: "GROUNDING_IGNORED_MESH_COLLIDERS",
+    message: `自动落地忽略了 ${r} 个网格碰撞体`
+  }), Number.isFinite(i) ? Math.max(0, 0.015 - i) : 0;
+}
+async function st(o) {
+  const e = o.extension.files, t = /* @__PURE__ */ new Map(), r = new Set(o.joints.map((a) => a.child));
+  for (const a of o.joints) t.set(a.parent, [...t.get(a.parent) ?? [], a]);
+  const n = o.links.filter((a) => !r.has(a.id));
+  if (n.length !== 1) throw q(`URDF requires exactly one root link; found ${n.length}.`, "E_URDF_COMPILE");
+  const l = ot(o, n[0].id, t);
+  l > 0 && o.diagnostics.approximations.push({
+    code: "AUTO_GROUNDED_FREE_ROOT",
+    message: `自由根初始高度自动抬升 ${l.toFixed(4)} m`
+  });
+  const u = o.joints.filter((a) => K(a) !== 0);
+  u.length && o.diagnostics.approximations.push({
+    code: "JOINT_REFERENCE_CLAMPED",
+    message: `${u.length} 个关节的默认参考值已夹到合法限位`
+  });
+  const c = /* @__PURE__ */ new Map(), i = /* @__PURE__ */ new Map(), s = [], m = async (a) => {
+    var g;
+    if (a.type === "box") return `type="box" size="${a.size.map((j) => j / 2).join(" ")}"`;
+    if (a.type === "sphere") return `type="sphere" size="${a.radius}"`;
+    if (a.type === "cylinder") return `type="cylinder" size="${a.radius} ${a.length / 2}"`;
+    const d = (g = a.resourcePath.split(".").pop()) == null ? void 0 : g.toLowerCase();
+    if (d !== "stl" && d !== "obj") return null;
+    const _ = `${a.resourcePath}|${a.scale.join(" ")}`;
+    let y = i.get(_);
+    if (!y) {
+      const j = { name: `mesh_${i.size}`, path: a.resourcePath, scale: a.scale };
+      i.set(_, j), c.set(`${j.name}.${d}`, await e.bytes(a.resourcePath)), y = j;
+    }
+    return `type="mesh" mesh="${y.name}"`;
+  }, b = async (a, d) => {
+    var j, $;
+    const _ = o.links.find((w) => w.id === a), y = [...(d == null ? void 0 : d.origin.position) ?? [0, 0, 0]];
+    d || (y[2] += l);
+    const g = [`<body name="${Z(a)}" pos="${y.join(" ")}" euler="${((d == null ? void 0 : d.origin.rotationRpy) ?? [0, 0, 0]).join(" ")}">`];
+    if (_.inertial) {
+      const { origin: w, mass: v, tensor: S } = _.inertial, R = new ce().setFromMatrix4(new k().makeRotationFromEuler(new J(...w.rotationRpy, "XYZ"))), P = new ce().set(S[0], S[3], S[4], S[3], S[1], S[5], S[4], S[5], S[2]);
+      P.premultiply(R).multiply(R.clone().transpose());
+      const M = P.elements;
+      g.push(`<inertial pos="${w.position.join(" ")}" mass="${v}" fullinertia="${[M[0], M[4], M[8], M[3], M[6], M[7]].join(" ")}"/>`);
+    }
+    if (!d) g.push("<freejoint/>");
+    else if (["fixed", "planar", "floating"].includes(d.type))
+      (d == null ? void 0 : d.type) === "floating" && (g.push("<freejoint/>"), s.push(0, 0, 0, 1, 0, 0, 0));
+    else {
+      const w = d.type === "prismatic" ? "slide" : "hinge", v = d.type !== "continuous" && !!d.limits && Number.isFinite(d.limits.lower) && Number.isFinite(d.limits.upper), S = K(d);
+      s.push(S);
+      const R = ((j = d.dynamics) == null ? void 0 : j.damping) ?? 0, P = (($ = d.dynamics) == null ? void 0 : $.friction) ?? 0;
+      g.push(`<joint name="${Z(d.id)}" type="${w}" axis="${d.axis.join(" ")}"${v ? ` limited="true" range="${d.limits.lower} ${d.limits.upper}" ref="${S}"` : ""} damping="${R}" frictionloss="${P}"/>`);
+    }
+    for (const w of _.collisions) {
+      const v = await m(w.geometry);
+      v && g.push(`<geom ${v} pos="${w.origin.position.join(" ")}" euler="${w.origin.rotationRpy.join(" ")}" rgba="0.55 0.62 0.59 1"/>`);
+    }
+    for (const w of t.get(a) ?? []) g.push(await b(w.child, w));
+    return g.push("</body>"), g.join("");
+  }, h = await b(n[0].id), p = [...i.values()].map((a) => {
+    var d;
+    return `<mesh name="${a.name}" file="${a.name}.${(d = a.path.split(".").pop()) == null ? void 0 : d.toLowerCase()}" scale="${a.scale.join(" ")}"/>`;
+  }).join(""), f = `<keyframe><key name="home" qpos="0 0 ${l} 1 0 0 0 ${s.join(" ")}"/></keyframe>`;
+  return {
+    format: "mjcf",
+    files: c,
+    xml: `<mujoco model="${Z(o.name)}"><compiler angle="radian" autolimits="true"/><option gravity="0 0 -9.81"/><asset>${p}</asset><worldbody><geom name="__viewer_default_ground__" type="plane" size="5 5 0.1" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>${h}</worldbody>${f}</mujoco>`
+  };
+}
+async function nt(o) {
+  const e = o.extension.files, t = new z();
+  t.name = o.name;
+  const r = /* @__PURE__ */ new Map();
+  for (const n of o.links) {
+    const l = new z();
+    l.name = n.id, r.set(n.id, l), t.add(l);
+    for (const u of n.visuals) {
+      const c = await it(u, e), i = new z();
+      i.position.fromArray(u.origin.position), i.quaternion.setFromEuler(new J(...u.origin.rotationRpy, "XYZ")), i.add(c), l.add(i);
+    }
+  }
+  return { root: t, bindings: r, expectedLinkCount: o.links.length };
+}
+async function it(o, e) {
+  var u, c, i;
+  const t = new he({ color: o.color ? void 0 : 11385011, opacity: ((u = o.color) == null ? void 0 : u[3]) ?? 1, transparent: (((c = o.color) == null ? void 0 : c[3]) ?? 1) < 1 });
+  o.color && t.color.setRGB(o.color[0], o.color[1], o.color[2]);
+  const r = o.geometry;
+  if (r.type === "box") return new I(new X(...r.size), t);
+  if (r.type === "sphere") return new I(new ee(r.radius, 24, 16), t);
+  if (r.type === "cylinder") {
+    const s = new I(new te(r.radius, r.radius, r.length, 24), t);
+    return s.quaternion.copy(new be().setFromEuler(new J(Math.PI / 2, 0, 0))), s;
+  }
+  const n = (i = r.resourcePath.split(".").pop()) == null ? void 0 : i.toLowerCase();
+  await e.ensure(r.resourcePath);
+  let l;
+  if (n === "stl") l = new I(new Ce().parse(await e.getBlob(r.resourcePath).arrayBuffer()), t);
+  else if (n === "obj")
+    l = new De().parse(await e.getBlob(r.resourcePath).text()), l.traverse((s) => {
+      "material" in s && (s.material = t);
+    });
+  else if (n === "gltf" || n === "glb") {
+    const s = new Fe();
+    s.setURLModifier((m) => {
+      try {
+        return e.objectUrl(e.resolve(m, r.resourcePath));
+      } catch {
+        return m;
+      }
+    }), l = (await new qe(s).parseAsync(await e.getBlob(r.resourcePath).arrayBuffer(), "")).scene;
+  } else throw q(`Unsupported URDF visual mesh: .${n ?? ""}`, "E_URDF_VISUAL");
+  return l.scale.fromArray(r.scale), l;
+}
+function at(o, e) {
+  const t = new DOMParser().parseFromString(o, "application/xml"), r = t.querySelector("parsererror");
+  if (r) throw q(`${e} XML parse failed: ${r.textContent ?? ""}`, `E_${e}_PARSE`);
+  return t;
+}
+function N(o, e) {
+  const t = o == null ? void 0 : o.getAttribute(e);
+  if (!t) throw q(`Missing ${e}.`, "E_URDF_PARSE");
+  return t;
+}
+function F(o, e) {
+  const t = Number(o);
+  return Number.isFinite(t) ? t : e;
+}
+function Z(o) {
+  return o.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
+}
+function q(o, e) {
+  return Object.assign(new Error(o), { code: e });
+}
+function lt(o) {
+  var l;
+  const e = o.querySelector("inertial");
+  if (!e) return;
+  const t = e.querySelector("inertia"), r = Number((l = e.querySelector("mass")) == null ? void 0 : l.getAttribute("value")), n = ["ixx", "iyy", "izz", "ixy", "ixz", "iyz"].map((u) => Number(t == null ? void 0 : t.getAttribute(u)));
+  if (!(r > 0) || n.some((u) => !Number.isFinite(u))) throw q("Invalid URDF inertia.", "E_URDF_PARSE");
+  return { origin: V(e), mass: r, tensor: n };
+}
+function ut(o, e) {
+  const t = new Ge(o);
+  let r = null, n = null, l = null, u = null, c = null, i = !1, s = !0, m = !1, b = null, h, p = null, f = null, a = null;
+  const d = () => {
+    i = !0, s = !1;
+  }, _ = (async () => {
+    var y, g, j, $, w, v, S, R, P, M, re, oe;
+    try {
+      const O = e.format;
+      if (O === "usd" || O === "usda" || O === "usdc" || O === "usdz") {
+        (y = e.reportProgress) == null || y.call(e, "usd", "正在解析 USD 场景与物理刚体...");
+        const E = await (await import("./usd-session-Dcd20Z6G.js")).loadUsdSimulation(o, e, t);
+        if (i || e.signal.aborted)
+          throw E.dispose(), _e();
+        p = E.asset, n = E.binding, l = E.dispose, u = E.hasPhysics ? E.step : null, c = E.reset, s = E.hasPhysics, m = E.hasPhysics, b = E.fallback ? { ...E.fallback, stage: "physics-fallback" } : null, (g = e.reportProgress) == null || g.call(e, "stage", "正在构建三维场景与环境光影..."), f = new le(n.root, e.options.simulationTheme, E.runtime), E.runtime ? (r = E.runtime, a = new W(r, Y(r, !0))) : a = E.collision ?? null, a && (a.root.visible = !1, f.attachAuxiliary(a.root));
+        return;
+      }
+      let L = o.entryPath ?? o.filename;
+      if (!L && O === "mjcf") {
+        const ne = t.paths().filter((E) => E.toLowerCase().endsWith(".xml"));
+        for (const E of ["scene.xml", "model.xml", "main.xml"]) {
+          const ie = ne.find((ae) => ae.toLowerCase().endsWith(`/${E}`) || ae.toLowerCase() === E);
+          if (ie) {
+            L = ie;
+            break;
+          }
+        }
+      }
+      L ?? (L = O === "urdf" ? "asset.urdf" : "asset.xml"), (j = e.reportProgress) == null || j.call(e, "fetch", "正在读取模型描述与依赖资源...");
+      const { MujocoRuntime: je } = await import("./mujoco-runtime-s85kwjo7.js");
+      r = new je();
+      const se = await Le(o, t);
+      C(i, e.signal);
+      let B, H;
+      O === "urdf" ? (($ = e.reportProgress) == null || $.call(e, "parse", "正在解析 URDF 结构与连杆..."), p = tt(se, L, t), (w = e.reportProgress) == null || w.call(e, "compile", "正在编译物理碰撞体与惯性矩阵..."), B = await st(p), C(i, e.signal), (v = e.reportProgress) == null || v.call(e, "runtime", "正在初始化物理内核..."), await r.initialize(B, e.options.mujocoBaseUrl), m = !0, C(i, e.signal), (S = e.reportProgress) == null || S.call(e, "visual", "正在构建视觉渲染网格..."), H = await nt(p)) : ((R = e.reportProgress) == null || R.call(e, "parse", "正在解析 MJCF 场景与连杆..."), p = await ze(se, L, t), (P = e.reportProgress) == null || P.call(e, "compile", "正在编译物理模型与参数..."), B = await ke(p), C(i, e.signal), (M = e.reportProgress) == null || M.call(e, "runtime", "正在初始化物理内核..."), await r.initialize(B, e.options.mujocoBaseUrl), m = !0, C(i, e.signal), (re = e.reportProgress) == null || re.call(e, "visual", "正在构建视觉渲染网格..."), H = Y(r)), C(i, e.signal), (oe = e.reportProgress) == null || oe.call(e, "stage", "正在构建三维场景与环境光影..."), n = new W(r, H), f = new le(n.root, e.options.simulationTheme, r), a = new W(r, Y(r, !0)), a.root.visible = !1, f.attachAuxiliary(a.root);
+    } catch (O) {
+      throw f == null || f.dispose(), f = null, n == null || n.dispose(), n = null, r == null || r.dispose(), t.dispose(), O;
+    }
+  })();
+  return _.catch(() => {
+  }), {
+    id: `simulation-${Math.random().toString(36).slice(2)}`,
+    opened: _,
+    get root() {
+      return (f == null ? void 0 : f.root) ?? null;
+    },
+    getFitBounds() {
+      return (f == null ? void 0 : f.getModelBounds()) ?? null;
+    },
+    beforeRender(y, g, j) {
+      return f == null ? void 0 : f.beforeRender(y, g, j);
+    },
+    get capabilities() {
+      return { canPlay: m, canPause: m, canReset: m, hasPhysics: m, canToggleGround: !0, canToggleCollision: a !== null };
+    },
+    get warning() {
+      return b;
+    },
+    setTheme(y) {
+      f == null || f.setTheme(y);
+    },
+    setGroundVisible(y) {
+      f == null || f.setGroundVisible(y);
+    },
+    getGroundVisible() {
+      return (f == null ? void 0 : f.getGroundVisible()) ?? !0;
+    },
+    presentation: { preferredViewMode: "3d", interactionMode: "simulation", uiProfile: "simulation", fitPolicy: "fit-on-ready" },
+    beginDispose: d,
+    setCollisionVisible(y) {
+      if (i || !a) throw new Error("This asset has no collision display.");
+      a.root.visible = y;
+    },
+    getPhysicsProperties() {
+      if (i || !(r != null && r.model) || !r.mujoco) return null;
+      const y = r.model, g = r.mujoco;
+      return structuredClone({
+        units: { length: "m", mass: "kg", time: "s" },
+        timestep: y.opt.timestep,
+        gravity: Array.from(y.opt.gravity),
+        bodyCount: y.nbody - 1,
+        jointCount: y.njnt,
+        geomCount: y.ngeom,
+        bodies: Array.from({ length: y.nbody - 1 }, (j, $) => {
+          const w = $ + 1;
+          return { id: w, name: g.mj_id2name(y, g.mjtObj.mjOBJ_BODY.value, w), mass: y.body_mass[w], inertia: Array.from(y.body_inertia.slice(w * 3, w * 3 + 3)) };
+        }),
+        diagnostics: p == null ? void 0 : p.diagnostics
+      });
+    },
+    get update() {
+      return r != null && r.model || u ? (y) => {
+        if (i || !s || !n) return !1;
+        if (u) {
+          const j = u(y);
+          return j && (a == null || a.sync()), j;
+        }
+        const g = r.step(y);
+        return g && (n.sync(), a == null || a.sync(), f == null || f.updateForceLine()), g;
+      } : void 0;
+    },
+    play() {
+      !i && m && (s = !0);
+    },
+    pause() {
+      s = !1;
+    },
+    reset() {
+      i || !n || (c ? c() : (r == null || r.reset(), n.sync()), a == null || a.sync(), f == null || f.updateForceLine());
+    },
+    beginGrab(y, g, j) {
+      return (f == null ? void 0 : f.beginGrab(y, g, j)) ?? !1;
+    },
+    moveGrab(y, g, j) {
+      f == null || f.moveGrab(y, g, j);
+    },
+    endGrab() {
+      f == null || f.endGrab();
+    },
+    dispose() {
+      return d(), h ?? (h = _.catch(() => {
+      }).then(() => {
+        f == null || f.dispose(), f = null, a == null || a.root.removeFromParent(), a == null || a.dispose(), a = null, l ? (l(), l = null, n = null) : (n == null || n.dispose(), n = null, r == null || r.dispose()), t.dispose(), p = null, u = null, c = null, m = !1, b = null;
+      })), h;
+    }
+  };
+}
+function C(o, e) {
+  if (o || e.aborted) throw _e();
+}
+function _e() {
+  return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+const bt = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
+  __proto__: null,
+  createSimulationSession: ut
+}, Symbol.toStringTag, { value: "Module" }));
+export {
+  W as S,
+  Ye as a,
+  ge as b,
+  We as c,
+  we as d,
+  bt as s
+};