@nebula-spatial/viewer 0.4.1 → 0.4.2

package/dist/{session-DNMxzxd5.js → session-B-qVl3Yy.js}

@@ -1,25 +1,25 @@
-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-CFr9ZkwQ.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 {
+var Se = Object.defineProperty;
+var Ae = (o, e, t) => e in o ? Se(o, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : o[e] = t;
+var q = (o, e, t) => Ae(o, typeof e != "symbol" ? e + "" : e, t);
+import { d as ve, S as ue } from "./stage-D-Q_zul6.js";
+import { ConvexGeometry as Me } from "three/examples/jsm/geometries/ConvexGeometry.js";
+import { LineBasicMaterial as Oe, EdgesGeometry as W, LineSegments as $e, Group as z, MeshStandardMaterial as ye, Mesh as N, PlaneGeometry as Re, BoxGeometry as X, SphereGeometry as te, CylinderGeometry as re, CapsuleGeometry as be, Vector3 as T, BufferGeometry as Pe, BufferAttribute as ce, Euler as J, MathUtils as Ue, Matrix3 as fe, Matrix4 as k, Quaternion as ge, LoadingManager as Fe } from "three";
+import { GLTFLoader as De } from "three/examples/jsm/loaders/GLTFLoader.js";
+import { OBJLoader as qe } from "three/examples/jsm/loaders/OBJLoader.js";
+import { STLLoader as Ge } from "three/examples/jsm/loaders/STLLoader.js";
+class Y {
   constructor(e, t) {
-    D(this, "root");
-    D(this, "bodies", /* @__PURE__ */ new Map());
-    D(this, "disposed", !1);
+    q(this, "root");
+    q(this, "bodies", /* @__PURE__ */ new Map());
+    q(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");
+      if (c < 0) throw me(`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");
+    if (this.bodies.size !== t.expectedLinkCount) throw me("Visual body binding count mismatch.", "E_SIMULATION_BIND");
     this.sync();
   }
   sync() {
@@ -32,19 +32,19 @@ class W {
     this.root.updateMatrixWorld(!0);
   }
   dispose() {
-    this.disposed || (this.disposed = !0, this.bodies.clear(), Ae(this.root));
+    this.disposed || (this.disposed = !0, this.bodies.clear(), ve(this.root));
   }
 }
-function fe(o, e) {
+function me(o, e) {
   return Object.assign(new Error(o), { code: e });
 }
-class Ge {
+class Ce {
   constructor(e) {
-    D(this, "entries", /* @__PURE__ */ new Map());
-    D(this, "objectUrls", /* @__PURE__ */ new Map());
+    q(this, "entries", /* @__PURE__ */ new Map());
+    q(this, "objectUrls", /* @__PURE__ */ new Map());
     this.source = e;
     const t = e.original;
-    if (Ne(t))
+    if (Ie(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]));
   }
@@ -137,20 +137,20 @@ function A(o) {
     !t || t === "." || (t === ".." && e.length && e.at(-1) !== ".." ? e.pop() : e.push(t));
   return e.join("/");
 }
-function Ne(o) {
+function Ie(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() {
+function we() {
   return { errors: [], warnings: [], approximations: [], droppedFeatures: [] };
 }
-function we(o) {
+function _e(o) {
   const e = Object.freeze({ schemaVersion: 1, ...o });
-  return Ie(e), e;
+  return Ne(e), e;
 }
-function Ie(o) {
+function Ne(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();
@@ -171,7 +171,7 @@ function x(o, 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");
+    if (l.has(s)) throw K(`MJCF include cycle: ${s}`, "E_MJCF_INCLUDE_CYCLE");
     l.add(s);
     const b = Ve(m, s);
     r.set(s, b);
@@ -184,14 +184,14 @@ async function ze(o, e, t) {
   };
   await u(e, o);
   const c = (i = r.get(e)) == null ? void 0 : i.querySelector("mujoco");
-  if (!c || n.size === 0) throw Q("MJCF requires a mujoco root and at least one named body.", "E_MJCF_PARSE");
-  return we({
+  if (!c || n.size === 0) throw K("MJCF requires a mujoco root and at least one named body.", "E_MJCF_PARSE");
+  return _e({
     id: c.getAttribute("model") || e,
     name: c.getAttribute("model") || e,
     source: { format: "mjcf", uri: e },
     links: [...n].map((s) => ({ id: s, name: s, visuals: [], collisions: [] })),
     joints: [],
-    diagnostics: ge(),
+    diagnostics: we(),
     extension: { files: t, xml: o, documents: r }
   });
 }
@@ -252,42 +252,41 @@ function xe(o, e) {
 }
 function Ve(o, e) {
   const t = new DOMParser().parseFromString(o, "application/xml"), r = t.querySelector("parsererror");
-  if (r) throw Q(`MJCF XML parse failed (${e}): ${r.textContent ?? ""}`, "E_MJCF_PARSE");
+  if (r) throw K(`MJCF XML parse failed (${e}): ${r.textContent ?? ""}`, "E_MJCF_PARSE");
   return t;
 }
-function Q(o, e) {
+function K(o, e) {
   return Object.assign(new Error(o), { code: e });
 }
-const Xe = 1476466, Je = 0.72, He = 20;
-function We() {
-  return new Me({
+const Xe = 1476466, Je = 0.72, He = 20, We = 1;
+function Ye() {
+  return new Oe({
     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;
+  let t = new W(o, He);
+  t.getAttribute("position").count === 0 && (t.dispose(), t = new W(o, We)), t.getAttribute("position").count === 0 && (t.dispose(), t = new W(o, 0));
+  const r = new $e(t, e);
+  return r.renderOrder = 9, r;
+}
+const de = 0.68;
+function Qe(o, e) {
+  if (e < 0) return de;
   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));
+  return !Number.isFinite(r) || r <= 0 ? de : Math.sqrt(2 / (r + 2));
 }
-function Qe(o, e) {
+function Ke(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) {
+function Z(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();
@@ -298,13 +297,13 @@ function Y(o, e = !1) {
     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();
+    const c = Ye();
     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);
+      const b = l.get(t.geom_bodyid[s]), h = et(o, s);
       if (!b || !h) continue;
-      const p = Ye(h, c);
+      const p = Ze(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);
@@ -313,35 +312,35 @@ function Y(o, e = !1) {
   } 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);
+      const i = l.get(t.geom_bodyid[c]), s = tt(o, c);
       if (!i || !s) continue;
-      const m = c * 4, b = t.geom_matid[c], h = new he({
+      const m = c * 4, b = t.geom_matid[c], h = new ye({
         opacity: t.geom_rgba[m + 3],
         transparent: t.geom_rgba[m + 3] < 1,
-        roughness: Ze(t, b),
-        metalness: Qe(t, b)
+        roughness: Qe(t, b),
+        metalness: Ke(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;
+      const p = new N(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) {
+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_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_SPHERE.value) return new te(l, 20, 12);
   if (i === r.mjtGeom.mjGEOM_CYLINDER.value) {
-    const s = new te(l, l, u * 2, 24);
+    const s = new re(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);
+    const s = new be(l, u * 2, 6, 16);
     return s.rotateX(Math.PI / 2), s;
   }
   if (i === r.mjtGeom.mjGEOM_MESH.value) {
@@ -349,88 +348,88 @@ function Ke(o, e) {
     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 Me(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) {
+function tt(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_SPHERE.value) return new te(l, 24, 16);
   if (i === r.mjtGeom.mjGEOM_CYLINDER.value) {
-    const a = new te(l, l, u * 2, 24);
+    const a = new re(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);
+    const a = new be(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;
+  return f.setAttribute("position", new ce(Float32Array.from(t.mesh_vert.subarray(m * 3, (m + b) * 3)), 3)), f.setIndex(new ce(Uint32Array.from(t.mesh_face.subarray(h * 3, (h + p) * 3)), 1)), f.computeVertexNormals(), f;
 }
-function G(o, e) {
+function C(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");
+  if (t.some((r) => !Number.isFinite(r))) throw D(`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]) };
+  return { position: C((e == null ? void 0 : e.getAttribute("xyz")) ?? null, [0, 0, 0]), rotationRpy: C((e == null ? void 0 : e.getAttribute("rpy")) ?? null, [0, 0, 0]) };
 }
-function de(o, e, t) {
+function pe(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]) };
+  if (n) return { type: "box", size: C(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),
+  return i ? { type: "mesh", resourcePath: t.resolve(i, e), scale: C(c.getAttribute("scale"), [1, 1, 1]) } : null;
+}
+function rt(o, e, t) {
+  const n = lt(o, "URDF").querySelector("robot");
+  if (!n) throw D("URDF requires a robot root element.", "E_URDF_PARSE");
+  const l = we(), u = [...n.querySelectorAll("link")].map((i) => ({
+    id: I(i, "name"),
+    name: I(i, "name"),
+    inertial: ut(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]);
+      const m = pe(s, e, t), b = C(((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);
+      const m = pe(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"),
+      id: I(i, "name"),
       type: i.getAttribute("type") ?? "fixed",
-      parent: N(i.querySelector("parent"), "link"),
-      child: N(i.querySelector("child"), "link"),
+      parent: I(i.querySelector("parent"), "link"),
+      child: I(i.querySelector("child"), "link"),
       origin: V(i),
-      axis: G(((f = i.querySelector("axis")) == null ? void 0 : f.getAttribute("xyz")) ?? null, [1, 0, 0]),
+      axis: C(((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 } });
+  return n.querySelector("transmission, gazebo") && l.droppedFeatures.push({ code: "UNSUPPORTED_URDF_EXTENSION", message: "URDF transmission/gazebo extensions are not compiled." }), _e({ 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"));
+function he(o) {
+  const e = new k(), t = new ge().setFromEuler(new J(...o.rotationRpy, "XYZ"));
   return e.compose(new T().fromArray(o.position), t, new T(1, 1, 1));
 }
-function K(o) {
+function ee(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) {
+function ot(o) {
   let e;
   if (o.type === "box")
     e = [o.size[0] / 2, o.size[1] / 2, o.size[2] / 2];
@@ -447,7 +446,7 @@ function rt(o) {
         t.push(new T(r, n, l));
   return t;
 }
-function ot(o, e, t) {
+function st(o, e, t) {
   let r = 0;
   const n = new Map(o.links.map((s) => [s.id, s])), l = (s) => {
     let m = 1 / 0;
@@ -455,17 +454,17 @@ function ot(o, e, t) {
       const f = n.get(h);
       if (f) {
         for (const a of f.collisions) {
-          const d = rt(a.geometry);
+          const d = ot(a.geometry);
           if (!d) {
             s && (r += 1);
             continue;
           }
-          const _ = p.clone().multiply(pe(a.origin));
+          const _ = p.clone().multiply(he(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;
+          const d = p.clone().multiply(he(a.origin)), _ = s ? ee(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);
         }
       }
@@ -477,24 +476,24 @@ function ot(o, e, t) {
     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) {
+async function nt(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);
+  if (n.length !== 1) throw D(`URDF requires exactly one root link; found ${n.length}.`, "E_URDF_COMPILE");
+  const l = st(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 ${l.toFixed(4)} m`
   });
-  const u = o.joints.filter((a) => K(a) !== 0);
+  const u = o.joints.filter((a) => ee(a) !== 0);
   u.length && o.diagnostics.approximations.push({
     code: "JOINT_REFERENCE_CLAMPED",
     message: `${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="${a.size.map((j) => j / 2).join(" ")}"`;
+    if (a.type === "box") return `type="box" size="${a.size.map((E) => E / 2).join(" ")}"`;
     if (a.type === "sphere") return `type="sphere" size="${a.radius}"`;
     if (a.type === "cylinder") return `type="cylinder" size="${a.radius} ${a.length / 2}"`;
     const d = (g = a.resourcePath.split(".").pop()) == null ? void 0 : g.toLowerCase();
@@ -502,17 +501,17 @@ async function st(o) {
     const _ = `${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;
+      const E = { name: `mesh_${i.size}`, path: a.resourcePath, scale: a.scale };
+      i.set(_, E), c.set(`${E.name}.${d}`, await e.bytes(a.resourcePath)), y = E;
     }
     return `type="mesh" mesh="${y.name}"`;
   }, b = async (a, d) => {
-    var j, $;
+    var E, $;
     const _ = o.links.find((w) => w.id === a), y = [...(d == null ? void 0 : d.origin.position) ?? [0, 0, 0]];
     d || (y[2] += l);
-    const g = [`<body name="${Z(a)}" pos="${y.join(" ")}" euler="${((d == null ? void 0 : d.origin.rotationRpy) ?? [0, 0, 0]).join(" ")}">`];
+    const g = [`<body name="${Q(a)}" pos="${y.join(" ")}" euler="${((d == null ? void 0 : d.origin.rotationRpy) ?? [0, 0, 0]).join(" ")}">`];
     if (_.inertial) {
-      const { origin: w, mass: v, tensor: S } = _.inertial, R = new ce().setFromMatrix4(new k().makeRotationFromEuler(new J(...w.rotationRpy, "XYZ"))), P = new ce().set(S[0], S[3], S[4], S[3], S[1], S[5], S[4], S[5], S[2]);
+      const { origin: w, mass: v, tensor: S } = _.inertial, R = new fe().setFromMatrix4(new k().makeRotationFromEuler(new J(...w.rotationRpy, "XYZ"))), P = new fe().set(S[0], S[3], S[4], S[3], S[1], S[5], S[4], S[5], S[2]);
       P.premultiply(R).multiply(R.clone().transpose());
       const M = P.elements;
       g.push(`<inertial pos="${w.position.join(" ")}" mass="${v}" fullinertia="${[M[0], M[4], M[8], M[3], M[6], M[7]].join(" ")}"/>`);
@@ -521,10 +520,10 @@ async function st(o) {
     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);
+      const w = d.type === "prismatic" ? "slide" : "hinge", v = d.type !== "continuous" && !!d.limits && Number.isFinite(d.limits.lower) && Number.isFinite(d.limits.upper), S = ee(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}"/>`);
+      const R = ((E = d.dynamics) == null ? void 0 : E.damping) ?? 0, P = (($ = d.dynamics) == null ? void 0 : $.friction) ?? 0;
+      g.push(`<joint name="${Q(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);
@@ -539,10 +538,10 @@ async function st(o) {
   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>`
+    xml: `<mujoco model="${Q(o.name)}"><compiler angle="radian" autolimits="true"/><option gravity="0 0 -9.81"/><asset>${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) {
+async function it(o) {
   const e = o.extension.files, t = new z();
   t.name = o.name;
   const r = /* @__PURE__ */ new Map();
@@ -550,29 +549,29 @@ async function nt(o) {
     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();
+      const c = await at(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) {
+async function at(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 });
+  const t = new ye({ 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 === "box") return new N(new X(...r.size), t);
+  if (r.type === "sphere") return new N(new te(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 s = new N(new re(r.radius, r.radius, r.length, 24), t);
+    return s.quaternion.copy(new ge().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);
+  if (n === "stl") l = new N(new Ge().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) => {
+    l = new qe().parse(await e.getBlob(r.resourcePath).text()), l.traverse((s) => {
       "material" in s && (s.material = t);
     });
   else if (n === "gltf" || n === "glb") {
@@ -583,73 +582,73 @@ async function it(o, e) {
       } catch {
         return m;
       }
-    }), l = (await new qe(s).parseAsync(await e.getBlob(r.resourcePath).arrayBuffer(), "")).scene;
-  } else throw q(`Unsupported URDF visual mesh: .${n ?? ""}`, "E_URDF_VISUAL");
+    }), l = (await new De(s).parseAsync(await e.getBlob(r.resourcePath).arrayBuffer(), "")).scene;
+  } else throw D(`Unsupported URDF visual mesh: .${n ?? ""}`, "E_URDF_VISUAL");
   return l.scale.fromArray(r.scale), l;
 }
-function at(o, e) {
+function lt(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`);
+  if (r) throw D(`${e} XML parse failed: ${r.textContent ?? ""}`, `E_${e}_PARSE`);
   return t;
 }
-function N(o, e) {
+function I(o, e) {
   const t = o == null ? void 0 : o.getAttribute(e);
-  if (!t) throw q(`Missing ${e}.`, "E_URDF_PARSE");
+  if (!t) throw D(`Missing ${e}.`, "E_URDF_PARSE");
   return t;
 }
 function F(o, e) {
   const t = Number(o);
   return Number.isFinite(t) ? t : e;
 }
-function Z(o) {
+function Q(o) {
   return o.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
 }
-function q(o, e) {
+function D(o, e) {
   return Object.assign(new Error(o), { code: e });
 }
-function lt(o) {
+function ut(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");
+  if (!(r > 0) || n.some((u) => !Number.isFinite(u))) throw D("Invalid URDF inertia.", "E_URDF_PARSE");
   return { origin: V(e), mass: r, tensor: n };
 }
-function ut(o, e) {
-  const t = new Ge(o);
+function ct(o, e) {
+  const t = new Ce(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;
+    var y, g, E, $, w, v, S, R, P, M, oe, se;
     try {
       const O = e.format;
       if (O === "usd" || O === "usda" || O === "usdc" || O === "usdz") {
         (y = e.reportProgress) == null || y.call(e, "usd", "正在解析 USD 场景与物理刚体...");
-        const E = await (await import("./usd-session-DDWM5msM.js")).loadUsdSimulation(o, e, t);
+        const j = await (await import("./usd-session-DCuV_H-Y.js")).loadUsdSimulation(o, e, t);
         if (i || e.signal.aborted)
-          throw E.dispose(), _e();
-        p = E.asset, n = E.binding, l = E.dispose, u = E.hasPhysics ? E.step : null, c = E.reset, s = E.hasPhysics, m = E.hasPhysics, b = E.fallback ? { ...E.fallback, stage: "physics-fallback" } : null, (g = e.reportProgress) == null || g.call(e, "stage", "正在构建三维场景与环境光影..."), f = new le(n.root, e.options.simulationTheme, E.runtime), E.runtime ? (r = E.runtime, a = new W(r, Y(r, !0))) : a = E.collision ?? null, a && (a.root.visible = !1, f.attachAuxiliary(a.root));
+          throw j.dispose(), Ee();
+        p = j.asset, n = j.binding, l = j.dispose, u = j.hasPhysics ? j.step : null, c = j.reset, s = j.hasPhysics, m = j.hasPhysics, b = j.fallback ? { ...j.fallback, stage: "physics-fallback" } : null, (g = e.reportProgress) == null || g.call(e, "stage", "正在构建三维场景与环境光影..."), f = new ue(n.root, e.options.simulationTheme, j.runtime), j.runtime ? (r = j.runtime, a = new Y(r, Z(r, !0))) : a = j.collision ?? null, a && (a.root.visible = !1, f.attachAuxiliary(a.root));
         return;
       }
       let L = o.entryPath ?? o.filename;
       if (!L && O === "mjcf") {
-        const ne = t.paths().filter((E) => E.toLowerCase().endsWith(".xml"));
-        for (const E of ["scene.xml", "model.xml", "main.xml"]) {
-          const ie = ne.find((ae) => ae.toLowerCase().endsWith(`/${E}`) || ae.toLowerCase() === E);
-          if (ie) {
-            L = ie;
+        const ie = t.paths().filter((j) => j.toLowerCase().endsWith(".xml"));
+        for (const j of ["scene.xml", "model.xml", "main.xml"]) {
+          const ae = ie.find((le) => le.toLowerCase().endsWith(`/${j}`) || le.toLowerCase() === j);
+          if (ae) {
+            L = ae;
             break;
           }
         }
       }
-      L ?? (L = O === "urdf" ? "asset.urdf" : "asset.xml"), (j = e.reportProgress) == null || j.call(e, "fetch", "正在读取模型描述与依赖资源...");
+      L ?? (L = O === "urdf" ? "asset.urdf" : "asset.xml"), (E = e.reportProgress) == null || E.call(e, "fetch", "正在读取模型描述与依赖资源...");
       const { MujocoRuntime: je } = await import("./mujoco-runtime-s85kwjo7.js");
       r = new je();
-      const se = await Le(o, t);
-      C(i, e.signal);
+      const ne = await Le(o, t);
+      G(i, e.signal);
       let B, H;
-      O === "urdf" ? (($ = e.reportProgress) == null || $.call(e, "parse", "正在解析 URDF 结构与连杆..."), p = tt(se, L, t), (w = e.reportProgress) == null || w.call(e, "compile", "正在编译物理碰撞体与惯性矩阵..."), B = await st(p), C(i, e.signal), (v = e.reportProgress) == null || v.call(e, "runtime", "正在初始化物理内核..."), await r.initialize(B, e.options.mujocoBaseUrl), m = !0, C(i, e.signal), (S = e.reportProgress) == null || S.call(e, "visual", "正在构建视觉渲染网格..."), H = await nt(p)) : ((R = e.reportProgress) == null || R.call(e, "parse", "正在解析 MJCF 场景与连杆..."), p = await ze(se, L, t), (P = e.reportProgress) == null || P.call(e, "compile", "正在编译物理模型与参数..."), B = await ke(p), C(i, e.signal), (M = e.reportProgress) == null || M.call(e, "runtime", "正在初始化物理内核..."), await r.initialize(B, e.options.mujocoBaseUrl), m = !0, C(i, e.signal), (re = e.reportProgress) == null || re.call(e, "visual", "正在构建视觉渲染网格..."), H = Y(r)), C(i, e.signal), (oe = e.reportProgress) == null || oe.call(e, "stage", "正在构建三维场景与环境光影..."), n = new W(r, H), f = new le(n.root, e.options.simulationTheme, r), a = new W(r, Y(r, !0)), a.root.visible = !1, f.attachAuxiliary(a.root);
+      O === "urdf" ? (($ = e.reportProgress) == null || $.call(e, "parse", "正在解析 URDF 结构与连杆..."), p = rt(ne, 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 nt(p), G(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, G(i, e.signal), (S = e.reportProgress) == null || S.call(e, "visual", "正在构建视觉渲染网格..."), H = await it(p)) : ((R = e.reportProgress) == null || R.call(e, "parse", "正在解析 MJCF 场景与连杆..."), p = await ze(ne, 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), G(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, G(i, e.signal), (oe = e.reportProgress) == null || oe.call(e, "visual", "正在构建视觉渲染网格..."), H = Z(r)), G(i, e.signal), (se = e.reportProgress) == null || se.call(e, "stage", "正在构建三维场景与环境光影..."), n = new Y(r, H), f = new ue(n.root, e.options.simulationTheme, r), a = new Y(r, Z(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;
     }
@@ -664,8 +663,8 @@ function ut(o, e) {
     getFitBounds() {
       return (f == null ? void 0 : f.getModelBounds()) ?? null;
     },
-    beforeRender(y, g, j) {
-      return f == null ? void 0 : f.beforeRender(y, g, j);
+    beforeRender(y, g, E) {
+      return f == null ? void 0 : f.beforeRender(y, g, E);
     },
     get capabilities() {
       return { canPlay: m, canPause: m, canReset: m, hasPhysics: m, canToggleGround: !0, canToggleCollision: a !== null };
@@ -698,7 +697,7 @@ function ut(o, e) {
         bodyCount: y.nbody - 1,
         jointCount: y.njnt,
         geomCount: y.ngeom,
-        bodies: Array.from({ length: y.nbody - 1 }, (j, $) => {
+        bodies: Array.from({ length: y.nbody - 1 }, (E, $) => {
           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)) };
         }),
@@ -709,8 +708,8 @@ function ut(o, e) {
       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 E = u(y);
+          return E && (a == null || a.sync()), E;
         }
         const g = r.step(y);
         return g && (n.sync(), a == null || a.sync(), f == null || f.updateForceLine()), g;
@@ -725,11 +724,11 @@ function ut(o, e) {
     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;
+    beginGrab(y, g, E) {
+      return (f == null ? void 0 : f.beginGrab(y, g, E)) ?? !1;
     },
-    moveGrab(y, g, j) {
-      f == null || f.moveGrab(y, g, j);
+    moveGrab(y, g, E) {
+      f == null || f.moveGrab(y, g, E);
     },
     endGrab() {
       f == null || f.endGrab();
@@ -742,21 +741,21 @@ function ut(o, e) {
     }
   };
 }
-function C(o, e) {
-  if (o || e.aborted) throw _e();
+function G(o, e) {
+  if (o || e.aborted) throw Ee();
 }
-function _e() {
+function Ee() {
   return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
 }
-const bt = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
+const gt = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
   __proto__: null,
-  createSimulationSession: ut
+  createSimulationSession: ct
 }, Symbol.toStringTag, { value: "Module" }));
 export {
-  W as S,
-  Ye as a,
-  ge as b,
-  We as c,
-  we as d,
-  bt as s
+  Y as S,
+  Ze as a,
+  we as b,
+  Ye as c,
+  _e as d,
+  gt as s
 };