@vcad/mcp 0.10.0-main.124 → 0.10.0-main.126

package/index.mjs

@@ -12226,6 +12226,7 @@ var init_dist = __esm({
           importUrdfBuffer: wasmModule7.importUrdfBuffer,
           importUrdfBufferWithOptions: wasmModule7.importUrdfBufferWithOptions,
           urdfCommentedFloatingJoint: wasmModule7.urdfCommentedFloatingJoint,
+          inlineMeshImports: wasmModule7.inlineMeshImports,
           exportProjectedViewToDxf: wasmModule7.exportProjectedViewToDxf,
           offsetSectionMesh: wasmModule7.offsetSectionMesh,
           renderTitleBlock: wasmModule7.renderTitleBlock,
@@ -12866,6 +12867,22 @@ var init_dist = __esm({
        * a commented-out floating joint means the author expected the simulator
        * to supply the free base.
        */
+      /**
+       * Inline STL meshes into `doc` in place: each `MeshImport` node keyed in
+       * `meshes` (node id -> STL bytes) becomes an `ImportedMesh` (metres -> mm,
+       * URDF scale applied) via the kernel's `vcad_eval::mesh_inline`. Returns the
+       * inlined count and per-node failures; failed nodes stay `MeshImport`.
+       */
+      inlineMeshImports(doc, meshes) {
+        if (meshes.size === 0)
+          return { inlined: 0, errors: [] };
+        if (typeof this.kernel.inlineMeshImports !== "function") {
+          throw new Error("mesh inlining not available - rebuild the kernel WASM");
+        }
+        const out = JSON.parse(this.kernel.inlineMeshImports(JSON.stringify(doc), [...meshes.keys()], [...meshes.values()]));
+        doc.nodes = out.document.nodes;
+        return { inlined: out.inlined, errors: out.errors };
+      }
       urdfCommentedFloatingJoint(data) {
         if (typeof this.kernel.urdfCommentedFloatingJoint !== "function") {
           return void 0;
@@ -41354,6 +41371,30 @@ var init_CHANGELOG = __esm({
             "render"
           ]
         },
+        {
+          id: "2026-10-21-mac-sim-teardown-race",
+          version: "0.10.0",
+          date: "2026-10-21",
+          category: "fix",
+          title: "Stopping a simulation no longer leaves a stale frame",
+          summary: "In the Mac app, a physics frame already in flight when the simulation was torn down could repopulate its state; such frames are now dropped.",
+          features: [
+            "simulation",
+            "mac"
+          ]
+        },
+        {
+          id: "2026-10-21-mac-open-vcode",
+          version: "0.10.0",
+          date: "2026-10-21",
+          category: "fix",
+          title: "Mac app opens compact-format .vcad files",
+          summary: "The native Mac app now opens .vcad files in the compact text and loon formats, not just JSON, including the Sensor Mast example.",
+          features: [
+            "desktop",
+            "file-io"
+          ]
+        },
         {
           id: "2026-10-21-mac-app-updates",
           version: "0.10.0",
@@ -51203,302 +51244,9 @@ var init_remote = __esm({
   }
 });
 
-// src/tools/import-urdf.ts
-import { readFileSync as readFileSync2, existsSync as existsSync2, statSync } from "node:fs";
-import { basename, dirname, isAbsolute as isAbsolute2, resolve as resolve2, sep as sep2 } from "node:path";
-function parseStl2(buf) {
-  const positions = [];
-  const looksBinary = buf.length >= 84 && buf.length === 84 + buf.readUInt32LE(80) * 50;
-  if (looksBinary) {
-    const count = buf.readUInt32LE(80);
-    for (let t2 = 0; t2 < count; t2++) {
-      const base = 84 + t2 * 50 + 12;
-      for (let v = 0; v < 3; v++) {
-        const off = base + v * 12;
-        positions.push(
-          buf.readFloatLE(off) * 1e3,
-          buf.readFloatLE(off + 4) * 1e3,
-          buf.readFloatLE(off + 8) * 1e3
-        );
-      }
-    }
-  } else {
-    const text = buf.toString("utf8");
-    if (!/^\s*solid/.test(text)) {
-      throw new Error("not a recognizable STL file (neither binary nor ASCII)");
-    }
-    const vertexRe = /vertex\s+([-+eE0-9.]+)\s+([-+eE0-9.]+)\s+([-+eE0-9.]+)/g;
-    let m;
-    while ((m = vertexRe.exec(text)) !== null) {
-      positions.push(
-        parseFloat(m[1]) * 1e3,
-        parseFloat(m[2]) * 1e3,
-        parseFloat(m[3]) * 1e3
-      );
-    }
-    if (positions.length === 0 || positions.length % 9 !== 0) {
-      throw new Error("malformed ASCII STL");
-    }
-  }
-  const indices = new Array(positions.length / 3);
-  for (let i = 0; i < indices.length; i++) indices[i] = i;
-  return { positions, indices };
-}
-function resolveMeshPath(filename, urdfDir, packageRoots, confineRoot) {
-  const confined = (p) => {
-    const abs = resolve2(p);
-    const root = resolve2(confineRoot);
-    const rootSep = root.endsWith(sep2) ? root : root + sep2;
-    if (abs !== root && !abs.startsWith(rootSep)) return null;
-    return existsSync2(abs) && statSync(abs).isFile() ? abs : null;
-  };
-  if (filename.includes("\0")) return null;
-  const pkgMatch = filename.match(/^package:\/\/([^/]+)\/?(.*)$/);
-  if (pkgMatch) {
-    for (const root of packageRoots) {
-      const hit = confined(resolve2(root, pkgMatch[1], pkgMatch[2]));
-      if (hit) return hit;
-    }
-    return null;
-  }
-  const stripped = filename.startsWith("file://") ? filename.slice("file://".length) : filename;
-  if (isAbsolute2(stripped)) return confined(stripped);
-  if (urdfDir) return confined(resolve2(urdfDir, stripped));
-  return null;
-}
-function inlineMeshImports(doc, urdfDir, packageRoots, confineRoot) {
-  let inlined = 0;
-  const unresolved = [];
-  for (const key3 of Object.keys(doc.nodes)) {
-    const node = doc.nodes[key3];
-    const opLoose = node.op;
-    if (opLoose.type !== "mesh_import" && opLoose.type !== "MeshImport") {
-      continue;
-    }
-    const ref = opLoose.path ?? "";
-    const filepath = resolveMeshPath(ref, urdfDir, packageRoots, confineRoot);
-    if (!filepath) {
-      unresolved.push({ path: ref, reason: "file not found" });
-      continue;
-    }
-    if (!/\.stl$/i.test(filepath)) {
-      unresolved.push({
-        path: ref,
-        reason: "unsupported mesh format (only STL is inlined server-side)"
-      });
-      continue;
-    }
-    if (statSync(filepath).size > MAX_MESH_BYTES) {
-      unresolved.push({ path: ref, reason: "mesh exceeds size limit" });
-      continue;
-    }
-    let mesh;
-    try {
-      mesh = parseStl2(readFileSync2(filepath));
-    } catch (e) {
-      unresolved.push({ path: ref, reason: `parse error: ${e}` });
-      continue;
-    }
-    const scale = opLoose.scale;
-    let positions = mesh.positions;
-    if (scale && (scale.x !== 1 || scale.y !== 1 || scale.z !== 1)) {
-      positions = positions.map(
-        (v, i) => i % 3 === 0 ? v * scale.x : i % 3 === 1 ? v * scale.y : v * scale.z
-      );
-    }
-    doc.nodes[key3] = {
-      id: node.id,
-      name: node.name,
-      op: {
-        type: "ImportedMesh",
-        positions,
-        indices: mesh.indices,
-        source: ref
-        // biome-ignore lint/suspicious/noExplicitAny: bridging IR shape
-      }
-    };
-    inlined++;
-  }
-  return { inlined, unresolved };
-}
-function importUrdf(input, engine) {
-  const {
-    path,
-    content_base64,
-    package_roots,
-    name,
-    floating_base,
-    floating_base_link,
-    spawn_height_mm
-  } = input;
-  if (!floating_base && (floating_base_link || spawn_height_mm !== void 0)) {
-    throw new Error(
-      "floating_base_link / spawn_height_mm require floating_base: true"
-    );
-  }
-  const confineRoot = process.env.VCAD_MCP_EXPORT_DIR ?? process.cwd();
-  let fileBuffer;
-  let urdfDir = null;
-  let sourceLabel;
-  if (content_base64) {
-    fileBuffer = Buffer.from(content_base64, "base64");
-    if (fileBuffer.length === 0) {
-      throw new Error("content_base64 decoded to zero bytes");
-    }
-    sourceLabel = "urdf-import";
-  } else if (path) {
-    if (isRemoteDeployment()) {
-      throw new Error(
-        "This hosted server has no access to your filesystem \u2014 pass the URDF XML as `content_base64` instead of `path`. Mesh references cannot be resolved in that mode (links fall back to placeholder geometry); run the MCP server locally for full mesh import."
-      );
-    }
-    const filepath = resolveWithinRoot(path, confineRoot);
-    if (!existsSync2(filepath)) {
-      throw new Error(`URDF file not found: ${path}`);
-    }
-    const stat = statSync(filepath);
-    if (!stat.isFile()) {
-      throw new Error("URDF path is not a regular file");
-    }
-    if (stat.size > MAX_URDF_BYTES) {
-      throw new Error(`URDF file exceeds ${MAX_URDF_BYTES} byte limit`);
-    }
-    fileBuffer = readFileSync2(filepath);
-    urdfDir = dirname(filepath);
-    sourceLabel = path;
-  } else {
-    throw new Error("Provide either `path` or `content_base64`");
-  }
-  if (fileBuffer.length > MAX_URDF_BYTES) {
-    throw new Error(`URDF content exceeds ${MAX_URDF_BYTES} byte limit`);
-  }
-  const packageRoots = (package_roots ?? []).map(
-    (r) => resolveWithinRoot(r, confineRoot)
-  );
-  const arrayBuffer = new ArrayBuffer(fileBuffer.byteLength);
-  new Uint8Array(arrayBuffer).set(fileBuffer);
-  const doc = JSON.parse(
-    engine.importUrdf(arrayBuffer, {
-      floatingBase: floating_base,
-      floatingBaseLink: floating_base_link,
-      spawnHeightMm: spawn_height_mm
-    })
-  );
-  const commentedFloating = floating_base ? void 0 : engine.urdfCommentedFloatingJoint(arrayBuffer);
-  const meshes = inlineMeshImports(doc, urdfDir, packageRoots, confineRoot);
-  const robotName = name ?? basename(sourceLabel).replace(/\.(urdf|xml)$/i, "");
-  const parts = Object.values(doc.partDefs ?? {}).map((p) => ({
-    id: p.id,
-    name: p.name
-  }));
-  const joints = (doc.joints ?? []).map((j) => ({
-    id: j.id,
-    name: j.name,
-    kind: j.kind.type,
-    parent_instance_id: j.parentInstanceId,
-    child_instance_id: j.childInstanceId
-  }));
-  const documentId = registerSession(doc);
-  const summary = {
-    robot: robotName,
-    parts: parts.length,
-    joints: joints.length,
-    instances: (doc.instances ?? []).length,
-    ground_instance_id: doc.groundInstanceId ?? null,
-    joint_list: joints,
-    ...floating_base ? {
-      floating_base: {
-        synthesized: joints.some((j) => j.kind === "Free"),
-        spawn_height_mm: spawn_height_mm ?? 0,
-        note: "The root link hangs off a 6-DOF Free joint; parentAnchor.z is the spawn height. The robot will fall under gravity."
-      }
-    } : {},
-    ...commentedFloating ? {
-      floating_base_warning: `This URDF declares a floating joint (${commentedFloating}) inside a comment \u2014 the usual convention that the simulator supplies the free base. Imported as-is, the root link is grounded and the robot is welded to the world (it cannot walk or fall). Re-import with floating_base: true (and a spawn_height_mm just above standing height) for any locomotion task.`
-    } : {},
-    ...meshes.inlined > 0 ? { meshes_inlined: meshes.inlined } : {},
-    ...meshes.unresolved.length > 0 ? {
-      warning: `${meshes.unresolved.length} mesh reference(s) could not be inlined \u2014 those links use placeholder geometry. Joint topology and authored inertials are exact, so physics still behaves to first order.`,
-      unresolved_meshes: meshes.unresolved
-    } : {}
-  };
-  return {
-    content: [
-      {
-        type: "text",
-        text: JSON.stringify(
-          {
-            document_id: documentId,
-            summary,
-            note: "The robot is registered as a session document \u2014 pass document_id to create_robot_env to simulate it, render_view to see it, or any CAD tool to edit it."
-          },
-          null,
-          2
-        )
-      }
-    ]
-  };
-}
-var MAX_URDF_BYTES, MAX_MESH_BYTES, importUrdfSchema, toolDefs2;
-var init_import_urdf = __esm({
-  "src/tools/import-urdf.ts"() {
-    "use strict";
-    init_safe_path();
-    init_remote();
-    init_session2();
-    init_tool_def();
-    MAX_URDF_BYTES = 8 * 1024 * 1024;
-    MAX_MESH_BYTES = 100 * 1024 * 1024;
-    importUrdfSchema = {
-      type: "object",
-      properties: {
-        path: {
-          type: "string",
-          description: "Path to the .urdf file on the server filesystem, relative to the server working directory (or VCAD_MCP_EXPORT_DIR if set). Relative mesh references inside the URDF resolve against the URDF's own directory. On hosted servers pass content_base64 instead."
-        },
-        content_base64: {
-          type: "string",
-          description: "Base64-encoded URDF XML. Use instead of `path` when the server has no access to your filesystem (hosted/remote deployments). Mesh references cannot be resolved in this mode \u2014 links with meshes get placeholder geometry, but joints and inertials import exactly."
-        },
-        package_roots: {
-          type: "array",
-          items: { type: "string" },
-          description: "Directories to search when resolving package://NAME/... mesh URIs, relative to the server working directory. Each root is checked for a NAME/ subdirectory; first match wins."
-        },
-        name: {
-          type: "string",
-          description: "Robot name (default: filename without extension)"
-        },
-        floating_base: {
-          type: "boolean",
-          description: 'Synthesize a floating (6-DOF) base when the URDF declares none. Most humanoid/quadruped URDFs ship the world link and its type="floating" joint commented out, on the convention that the simulator supplies the free base \u2014 without this the root link is grounded and the robot is welded to the world, which cannot walk or fall. Set this for any locomotion task. No-op when the URDF already has a floating joint.'
-        },
-        floating_base_link: {
-          type: "string",
-          description: "Link to attach the synthesized floating base to (default: the tree's root link, i.e. the one that is never a joint's child). Requires floating_base."
-        },
-        spawn_height_mm: {
-          type: "number",
-          description: "Initial base height in mm for the synthesized floating base (default 0). A Free joint's `state` is a scalar and meaningless for 6 DOF, so this is written as the joint's parentAnchor.z. Spawn just above the settled standing height so the robot drops onto the ground instead of starting interpenetrated (Booster K1: 620 mm against a 549.8 mm stand)."
-        }
-      }
-    };
-    toolDefs2 = [
-      {
-        name: "import_urdf",
-        pack: null,
-        description: "Import a URDF (Unified Robot Description Format) robot from a server-local file. Builds the full kinematic tree \u2014 one part per link, instances FK-placed from joint origins, joints (revolute/prismatic/fixed) with limits, and a grounded root link \u2014 ready for create_robot_env. STL mesh references are resolved against the URDF's directory and optional package_roots and inlined; unresolved meshes fall back to placeholder geometry with an explicit warning. For locomotion, pass floating_base: true \u2014 most humanoid/quadruped URDFs leave the world link and floating joint commented out, and without them the robot is welded to the world.",
-        inputSchema: importUrdfSchema,
-        handler: (a, c) => importUrdf(a, c.engine),
-        behavior: behavior({ writesDoc: true, geometry: true, mount: true })
-      }
-    ];
-  }
-});
-
 // src/tools/loon-assets.ts
-import { existsSync as existsSync3, readFileSync as readFileSync3, statSync as statSync2 } from "node:fs";
-import { isAbsolute as isAbsolute3, normalize } from "node:path";
+import { existsSync as existsSync2, readFileSync as readFileSync2, statSync } from "node:fs";
+import { isAbsolute as isAbsolute2, normalize } from "node:path";
 function key(p) {
   return normalize(p).replace(/\\/g, "/").replace(/^\.\//, "");
 }
@@ -51517,20 +51265,22 @@ function readAsset(path, { files, base_dir }) {
   }
   let file;
   try {
-    file = isAbsolute3(path) ? path : resolveWithinRoot(path, base_dir ?? process.cwd());
+    file = isAbsolute2(path) ? path : resolveWithinRoot(path, base_dir ?? process.cwd());
   } catch (e) {
     return { reason: e.message };
   }
-  if (!existsSync3(file) || !statSync2(file).isFile()) {
+  if (!existsSync2(file) || !statSync(file).isFile()) {
     return {
-      reason: base_dir || isAbsolute3(path) ? `file not found (${file})` : "file not found \u2014 pass `base_dir` (the project directory) or the bytes in `files`"
+      reason: base_dir || isAbsolute2(path) ? `file not found (${file})` : "file not found \u2014 pass `base_dir` (the project directory) or the bytes in `files`"
     };
   }
-  if (statSync2(file).size > MAX_ASSET_BYTES) return { reason: "file exceeds size limit" };
-  return { bytes: readFileSync3(file) };
+  if (statSync(file).size > MAX_ASSET_BYTES) return { reason: "file exceeds size limit" };
+  return { bytes: readFileSync2(file) };
 }
 function resolveLoonAssets(doc, sources, engine) {
   const report = { meshes: 0, steps: 0, unresolved: [] };
+  const meshes = /* @__PURE__ */ new Map();
+  const refs = /* @__PURE__ */ new Map();
   for (const [id, node] of Object.entries(doc.nodes)) {
     const op = node.op;
     const isMesh = op.type === "mesh_import" || op.type === "MeshImport";
@@ -51561,21 +51311,12 @@ function resolveLoonAssets(doc, sources, engine) {
       report.unresolved.push({ path, reason: "unsupported mesh format (STL only)" });
       continue;
     }
-    let mesh;
-    try {
-      mesh = parseStl2(got.bytes);
-    } catch (e) {
-      report.unresolved.push({ path, reason: `STL parse error: ${e.message}` });
-      continue;
-    }
-    const s = op.scale;
-    const positions = s && (s.x !== 1 || s.y !== 1 || s.z !== 1) ? mesh.positions.map((v, i) => v * (i % 3 === 0 ? s.x : i % 3 === 1 ? s.y : s.z)) : mesh.positions;
-    doc.nodes[id] = {
-      ...node,
-      op: { type: "ImportedMesh", positions, indices: mesh.indices, source: path }
-    };
-    report.meshes++;
+    meshes.set(id, got.bytes);
+    refs.set(id, path);
   }
+  const { inlined, errors } = engine.inlineMeshImports(doc, meshes);
+  report.meshes += inlined;
+  for (const [id, reason] of errors) report.unresolved.push({ path: refs.get(id) ?? id, reason });
   return report;
 }
 function hasFile({ files }, path) {
@@ -51592,7 +51333,6 @@ var MAX_ASSET_BYTES;
 var init_loon_assets = __esm({
   "src/tools/loon-assets.ts"() {
     "use strict";
-    init_import_urdf();
     init_remote();
     init_safe_path();
     MAX_ASSET_BYTES = 100 * 1024 * 1024;
@@ -51601,7 +51341,7 @@ var init_loon_assets = __esm({
 
 // src/tools/source-provenance.ts
 import { createHash } from "node:crypto";
-import { readFileSync as readFileSync4 } from "node:fs";
+import { readFileSync as readFileSync3 } from "node:fs";
 function sourceHash(text) {
   return createHash("sha256").update(text, "utf8").digest("hex");
 }
@@ -51635,7 +51375,7 @@ function sourceStatus(doc) {
   if (path) {
     let onDisk = null;
     try {
-      onDisk = readFileSync4(path, "utf8");
+      onDisk = readFileSync3(path, "utf8");
     } catch {
       return {
         source_stale: true,
@@ -51671,8 +51411,8 @@ var init_source_provenance = __esm({
 });
 
 // src/tools/loon.ts
-import { readFileSync as readFileSync5 } from "node:fs";
-import { delimiter, isAbsolute as isAbsolute4, join as join2, resolve as resolve3, sep as sep3 } from "node:path";
+import { readFileSync as readFileSync4 } from "node:fs";
+import { delimiter, isAbsolute as isAbsolute3, join as join2, resolve as resolve2, sep as sep2 } from "node:path";
 function composeLoonProgram(input) {
   const { source, use_loons, loons } = input;
   const names = [
@@ -51691,13 +51431,13 @@ function importedNames(source) {
   return names;
 }
 function readModule(base, name) {
-  if (isAbsolute4(name) || name.split(".").includes("..")) return null;
-  const root = resolve3(base);
+  if (isAbsolute3(name) || name.split(".").includes("..")) return null;
+  const root = resolve2(base);
   for (const ext of [".loon", ".oo"]) {
-    const file = resolve3(join2(root, ...name.split(".")) + ext);
-    if (file !== root && !file.startsWith(root + sep3)) continue;
+    const file = resolve2(join2(root, ...name.split(".")) + ext);
+    if (file !== root && !file.startsWith(root + sep2)) continue;
     try {
-      return readFileSync5(file, "utf8");
+      return readFileSync4(file, "utf8");
     } catch {
     }
   }
@@ -51832,7 +51572,7 @@ function parametricNote(source, modules, engine, doc) {
   for (const w of warnings) lines.push(`- ${w}`);
   return lines.join("\n");
 }
-var createCadLoonSchema, toolDefs3;
+var createCadLoonSchema, toolDefs2;
 var init_loon = __esm({
   "src/tools/loon.ts"() {
     "use strict";
@@ -51895,7 +51635,7 @@ var init_loon = __esm({
       },
       required: ["source"]
     };
-    toolDefs3 = [
+    toolDefs2 = [
       {
         name: "create_cad_loon",
         pack: null,
@@ -52790,8 +52530,8 @@ var init_artifact_store = __esm({
 });
 
 // src/tools/session.ts
-import { writeFileSync as writeFileSync2, readFileSync as readFileSync6 } from "node:fs";
-import { dirname as dirname2, resolve as resolve4 } from "node:path";
+import { writeFileSync as writeFileSync2, readFileSync as readFileSync5 } from "node:fs";
+import { dirname, resolve as resolve3 } from "node:path";
 import { randomBytes as randomBytes2 } from "node:crypto";
 import { AsyncLocalStorage } from "node:async_hooks";
 function durabilityWarning() {
@@ -53008,7 +52748,7 @@ async function loadDocument(args, store, engine) {
     const path2 = resolveWithinRoot(`${name}.vcad`, root);
     let raw;
     try {
-      raw = readFileSync6(path2, "utf8");
+      raw = readFileSync5(path2, "utf8");
     } catch {
       return {
         isError: true,
@@ -53067,10 +52807,10 @@ async function loadDocumentFromPath(path, store, engine) {
       "`path` loads are local/stdio only \u2014 this server's filesystem is ephemeral. Pass the source inline to create_cad_loon, or save with save_document and reopen by `name`."
     );
   }
-  const abs = resolve4(path);
+  const abs = resolve3(path);
   let raw;
   try {
-    raw = readFileSync6(abs, "utf8");
+    raw = readFileSync5(abs, "utf8");
   } catch {
     return fail2(`Cannot read ${abs} \u2014 no such file, or it is not readable.`);
   }
@@ -53101,7 +52841,7 @@ async function loadDocumentFromPath(path, store, engine) {
       "Loon evaluation is unavailable in this server build \u2014 load a .vcad document instead."
     );
   }
-  const baseDir = dirname2(abs);
+  const baseDir = dirname(abs);
   const modules = composeLoonModules({ source: raw, base_dir: baseDir });
   let doc;
   try {
@@ -53144,7 +52884,7 @@ function openSavedSnapshot(snapshot2, name) {
     parts: copy.roots?.length ?? 0
   };
 }
-var sessionScope, openDocumentSchema, getDocumentSchema, closeDocumentSchema, saveDocumentSchema, loadDocumentSchema, toolDefs4;
+var sessionScope, openDocumentSchema, getDocumentSchema, closeDocumentSchema, saveDocumentSchema, loadDocumentSchema, toolDefs3;
 var init_session2 = __esm({
   "src/tools/session.ts"() {
     "use strict";
@@ -53219,7 +52959,7 @@ var init_session2 = __esm({
         }
       }
     };
-    toolDefs4 = [
+    toolDefs3 = [
       {
         name: "open_document",
         pack: null,
@@ -53776,7 +53516,7 @@ function getPreviewVersion(doc, docId) {
     ]
   };
 }
-var GLB_CACHE_MAX, glbCache, PREVIEW_MAX_BASE64, DECIMATE_GRIDS, getPreviewGlbSchema, getPreviewVersionSchema, toolDefs5;
+var GLB_CACHE_MAX, glbCache, PREVIEW_MAX_BASE64, DECIMATE_GRIDS, getPreviewGlbSchema, getPreviewVersionSchema, toolDefs4;
 var init_preview = __esm({
   "src/tools/preview.ts"() {
     "use strict";
@@ -53813,7 +53553,7 @@ var init_preview = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs5 = [
+    toolDefs4 = [
       {
         name: "get_preview_glb",
         pack: null,
@@ -54643,7 +54383,7 @@ function inspectCad(input, engine) {
     ]
   };
 }
-var inspectCadSchema, toolDefs6;
+var inspectCadSchema, toolDefs5;
 var init_inspect = __esm({
   "src/tools/inspect.ts"() {
     "use strict";
@@ -54666,7 +54406,7 @@ var init_inspect = __esm({
         joint_state: jointStateSchemaProp
       }
     };
-    toolDefs6 = [
+    toolDefs5 = [
       {
         name: "inspect_cad",
         pack: null,
@@ -55167,7 +54907,7 @@ function err(text) {
     isError: true
   };
 }
-var r6, point, findPart, MeasureError, measureSchema, toolDefs7;
+var r6, point, findPart, MeasureError, measureSchema, toolDefs6;
 var init_measure = __esm({
   "src/tools/measure.ts"() {
     "use strict";
@@ -55203,7 +54943,7 @@ var init_measure = __esm({
       },
       required: ["document_id", "part_ids"]
     };
-    toolDefs7 = [
+    toolDefs6 = [
       {
         name: "measure",
         pack: null,
@@ -57879,7 +57619,7 @@ function applyEdits(args, engine) {
   }
   return result;
 }
-var ALLOWED_OPS, MAX_BATCH_OPS, applyEditsSchema, BatchOpError, SYMBOLIC_REF, toolDefs8;
+var ALLOWED_OPS, MAX_BATCH_OPS, applyEditsSchema, BatchOpError, SYMBOLIC_REF, toolDefs7;
 var init_batch_edit = __esm({
   "src/tools/batch-edit.ts"() {
     "use strict";
@@ -57922,7 +57662,7 @@ var init_batch_edit = __esm({
       cause;
     };
     SYMBOLIC_REF = /^@(\d+)$/;
-    toolDefs8 = [
+    toolDefs7 = [
       {
         name: "apply_edits",
         pack: null,
@@ -58036,7 +57776,7 @@ async function branchFrom(args, store) {
     hint: "Forked into a new session. Continue here, or branch_from the same checkpoint again to try another variant."
   });
 }
-var nextCheckpoint, checkpointDocumentSchema, branchFromSchema, toolDefs9;
+var nextCheckpoint, checkpointDocumentSchema, branchFromSchema, toolDefs8;
 var init_checkpoint = __esm({
   "src/tools/checkpoint.ts"() {
     "use strict";
@@ -58072,7 +57812,7 @@ var init_checkpoint = __esm({
       },
       required: ["checkpoint_id"]
     };
-    toolDefs9 = [
+    toolDefs8 = [
       {
         name: "checkpoint_document",
         pack: null,
@@ -58193,7 +57933,7 @@ async function continueDocument(args, store) {
   }
   return ok2(registerSession(doc), doc, "Shared part");
 }
-var continueDocumentSchema, toolDefs10;
+var continueDocumentSchema, toolDefs9;
 var init_continue_doc = __esm({
   "src/tools/continue-doc.ts"() {
     "use strict";
@@ -58216,7 +57956,7 @@ var init_continue_doc = __esm({
         }
       }
     };
-    toolDefs10 = [
+    toolDefs9 = [
       {
         name: "continue_document",
         pack: null,
@@ -59394,7 +59134,7 @@ async function listOrders(input, store, user) {
     }))
   });
 }
-var QUOTE_TTL_MS, quoteManufacturingSchema, SCS_ALLOY_LABELS, toUsd, getOrderStatusSchema, listOrdersSchema, toolDefs11;
+var QUOTE_TTL_MS, quoteManufacturingSchema, SCS_ALLOY_LABELS, toUsd, getOrderStatusSchema, listOrdersSchema, toolDefs10;
 var init_order = __esm({
   "src/tools/order.ts"() {
     "use strict";
@@ -59485,7 +59225,7 @@ var init_order = __esm({
       },
       required: []
     };
-    toolDefs11 = [
+    toolDefs10 = [
       {
         name: "quote_manufacturing",
         pack: "fabricate",
@@ -60406,7 +60146,7 @@ function err3(text) {
     isError: true
   };
 }
-var CLEARANCE_CLAIM_PREFIX, MECH_DOMAIN2, CLEARANCE_ORACLE, STALE_EPS_MM, CONTACT_EPS_MM, checkClearanceSchema, pairKey, toolDefs12;
+var CLEARANCE_CLAIM_PREFIX, MECH_DOMAIN2, CLEARANCE_ORACLE, STALE_EPS_MM, CONTACT_EPS_MM, checkClearanceSchema, pairKey, toolDefs11;
 var init_clearance = __esm({
   "src/tools/clearance.ts"() {
     "use strict";
@@ -60481,7 +60221,7 @@ var init_clearance = __esm({
       required: ["document_id"]
     };
     pairKey = (a, b) => a < b ? `${a}\0${b}` : `${b}\0${a}`;
-    toolDefs12 = [
+    toolDefs11 = [
       {
         name: "check_clearance",
         pack: null,
@@ -60809,7 +60549,7 @@ async function placeOrder(input, store, eventStore, user, engine, sessionStore)
     note: "Paid via atomic wallet debit. Fab submission runs in a follow-up outbox slice; the order rests at PAID until then. Track with get_order_status." + (fabArtifact ? " The fab bundle is bound by reference (artifact_id); the worker fetches it from the artifact store, so the files never transit model context." : "")
   });
 }
-var DISABLED_MSG, AUTHZ_TTL_MS, toUsd2, usd, authorizeSpendSchema, placeOrderSchema, toolDefs13;
+var DISABLED_MSG, AUTHZ_TTL_MS, toUsd2, usd, authorizeSpendSchema, placeOrderSchema, toolDefs12;
 var init_ordering = __esm({
   "src/tools/ordering.ts"() {
     "use strict";
@@ -60855,7 +60595,7 @@ var init_ordering = __esm({
       },
       required: ["order_id", "authorization_id"]
     };
-    toolDefs13 = [
+    toolDefs12 = [
       {
         name: "authorize_spend",
         pack: "fabricate",
@@ -61002,7 +60742,7 @@ function searchMechanicalParts(input) {
     ]
   };
 }
-var MECH_PART_TYPES, PRICE_DISCLAIMER, cachedParts, searchMechanicalPartsSchema, num, normThread, toolDefs14;
+var MECH_PART_TYPES, PRICE_DISCLAIMER, cachedParts, searchMechanicalPartsSchema, num, normThread, toolDefs13;
 var init_mech_parts = __esm({
   "src/tools/mech-parts.ts"() {
     "use strict";
@@ -61055,7 +60795,7 @@ var init_mech_parts = __esm({
     };
     num = (v) => typeof v === "number" && Number.isFinite(v) ? v : null;
     normThread = (t2) => t2.trim().toUpperCase().replace(/\s+/g, "");
-    toolDefs14 = [
+    toolDefs13 = [
       {
         name: "search_mechanical_parts",
         pack: "bom",
@@ -61324,7 +61064,7 @@ async function bomCheckStock(args, ctx) {
   const payload = { ...report, note: STOCK_NOTE };
   return { content: [{ type: "text", text: JSON.stringify(payload) }], structuredContent: payload };
 }
-var dbCache, LCSC_RE, JLC_SEARCH_URL, LCSC_DETAIL_URL, UA, PartStockClient, BASES, sharedClient, STOCK_NOTE, checkPartStockSchema, bomCheckStockSchema, bomResolver, toolDefs15;
+var dbCache, LCSC_RE, JLC_SEARCH_URL, LCSC_DETAIL_URL, UA, PartStockClient, BASES, sharedClient, STOCK_NOTE, checkPartStockSchema, bomCheckStockSchema, bomResolver, toolDefs14;
 var init_part_stock = __esm({
   "src/tools/part-stock.ts"() {
     "use strict";
@@ -61569,7 +61309,7 @@ var init_part_stock = __esm({
       }
     };
     bomResolver = null;
-    toolDefs15 = [
+    toolDefs14 = [
       {
         name: "check_part_stock",
         pack: "bom",
@@ -62016,7 +61756,7 @@ function renderCsv(bom) {
   }
   return rows.join("\r\n") + "\r\n";
 }
-var PRICING_NOTE, memBoms, bomKey, toUsd3, usdToMinor, fmtUsd, BOM_ORACLE, str, lineProperties, bomCreateSchema, bomAddLineSchema, bomExportSchema, md, csv, toolDefs16;
+var PRICING_NOTE, memBoms, bomKey, toUsd3, usdToMinor, fmtUsd, BOM_ORACLE, str, lineProperties, bomCreateSchema, bomAddLineSchema, bomExportSchema, md, csv, toolDefs15;
 var init_bom = __esm({
   "src/tools/bom.ts"() {
     "use strict";
@@ -62136,7 +61876,7 @@ var init_bom = __esm({
       const s = String(v);
       return /[",\r\n]/.test(s) ? `"${s.replace(/"/g, '""')}"` : s;
     };
-    toolDefs16 = [
+    toolDefs15 = [
       {
         name: "bom_create",
         pack: "bom",
@@ -62199,7 +61939,7 @@ async function unshareSession(input, store) {
     note: "Live link revoked \u2014 the link now 404s and no further live updates are broadcast for this session. (A viewer already connected keeps only the events they had already received; their socket isn't force-closed.)"
   });
 }
-var DISABLED, shareSessionSchema, unshareSessionSchema, toolDefs17;
+var DISABLED, shareSessionSchema, unshareSessionSchema, toolDefs16;
 var init_live_share = __esm({
   "src/tools/live-share.ts"() {
     "use strict";
@@ -62227,7 +61967,7 @@ var init_live_share = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs17 = [
+    toolDefs16 = [
       {
         name: "share_session",
         pack: null,
@@ -62334,7 +62074,7 @@ function placePartTool(args, engine) {
     ]
   };
 }
-var searchPartsSchema, placePartSchema, toolDefs18;
+var searchPartsSchema, placePartSchema, toolDefs17;
 var init_parts2 = __esm({
   "src/tools/parts.ts"() {
     "use strict";
@@ -62391,7 +62131,7 @@ var init_parts2 = __esm({
       },
       required: ["document_id", "path"]
     };
-    toolDefs18 = [
+    toolDefs17 = [
       {
         name: "search_parts",
         pack: null,
@@ -62549,7 +62289,7 @@ function exportCad(input, engine) {
     ...scene.instances && scene.instances.length > 0 ? { instances: scene.instances.length } : {}
   });
 }
-var exportCadSchema, toolDefs19;
+var exportCadSchema, toolDefs18;
 var init_export = __esm({
   "src/tools/export.ts"() {
     "use strict";
@@ -62585,7 +62325,7 @@ var init_export = __esm({
       },
       required: ["filename"]
     };
-    toolDefs19 = [
+    toolDefs18 = [
       {
         name: "export_cad",
         pack: null,
@@ -62826,7 +62566,7 @@ function err5(text) {
     isError: true
   };
 }
-var MAX_STEPS_PER_SIDE, JointRangeError, key2, Lattice, checkJointRangeSchema, toolDefs20;
+var MAX_STEPS_PER_SIDE, JointRangeError, key2, Lattice, checkJointRangeSchema, toolDefs19;
 var init_joint_range = __esm({
   "src/tools/joint-range.ts"() {
     "use strict";
@@ -62924,7 +62664,7 @@ var init_joint_range = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs20 = [
+    toolDefs19 = [
       {
         name: "check_joint_range",
         pack: null,
@@ -63207,7 +62947,7 @@ function measureOuterDiameter(args, engine) {
     structuredContent: { outer_diameter: body, document_id: documentId }
   };
 }
-var DEFAULT_LIMIT, r62, vec, ACCURACY_NOTE, inspectFacesSchema, outerDiameterSchema, toolDefs21;
+var DEFAULT_LIMIT, r62, vec, ACCURACY_NOTE, inspectFacesSchema, outerDiameterSchema, toolDefs20;
 var init_faces = __esm({
   "src/tools/faces.ts"() {
     "use strict";
@@ -63289,7 +63029,7 @@ var init_faces = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs21 = [
+    toolDefs20 = [
       {
         name: "inspect_faces",
         pack: null,
@@ -63470,7 +63210,7 @@ function sensitivity(input, engine) {
     claims: report.claims
   });
 }
-var listParametersSchema, setParametersSchema, parameterGradientSchema, sensitivitySchema, toolDefs22;
+var listParametersSchema, setParametersSchema, parameterGradientSchema, sensitivitySchema, toolDefs21;
 var init_parameters = __esm({
   "src/tools/parameters.ts"() {
     "use strict";
@@ -63568,7 +63308,7 @@ var init_parameters = __esm({
       },
       required: []
     };
-    toolDefs22 = [
+    toolDefs21 = [
       {
         name: "list_parameters",
         pack: null,
@@ -64110,7 +63850,7 @@ function err7(text) {
     isError: true
   };
 }
-var vec3Schema, checkEnclosureFitSchema, toolDefs23;
+var vec3Schema, checkEnclosureFitSchema, toolDefs22;
 var init_enclosure = __esm({
   "src/tools/enclosure.ts"() {
     "use strict";
@@ -64170,7 +63910,7 @@ var init_enclosure = __esm({
       },
       required: ["document_id", "enclosure_document_id"]
     };
-    toolDefs23 = [
+    toolDefs22 = [
       {
         name: "check_enclosure_fit",
         pack: "ecad",
@@ -64186,12 +63926,12 @@ var init_enclosure = __esm({
 // src/wasm/ecad-diff.ts
 import { createRequire } from "node:module";
 import { fileURLToPath } from "node:url";
-import { dirname as dirname3, resolve as resolve5 } from "node:path";
+import { dirname as dirname2, resolve as resolve4 } from "node:path";
 function load() {
   if (cached2 !== void 0) return cached2;
   try {
-    const here = dirname3(fileURLToPath(import.meta.url));
-    const pkg = resolve5(here, "../../../../crates/vcad-ecad-diff-wasm/pkg/vcad_ecad_diff_wasm.js");
+    const here = dirname2(fileURLToPath(import.meta.url));
+    const pkg = resolve4(here, "../../../../crates/vcad-ecad-diff-wasm/pkg/vcad_ecad_diff_wasm.js");
     const req = createRequire(import.meta.url);
     cached2 = req(pkg);
   } catch {
@@ -72809,7 +72549,7 @@ async function fixDrc(args, toolCtx) {
   };
   return { content: [{ type: "text", text: JSON.stringify(payload) }] };
 }
-var PCB_LAYER_SET, COPPER_LAYERS, COPPER_LAYER_SET, POSITION_TOLERANCE, PIN_SEP, pinKey, powerFlagsSchema, sheetInstanceSchema, sheetDefinitionSchema, createSchematicSchema, updateSchematicSchema, inspectSchematicSchema, docInputProperties, placeComponentsSchema, routeNetsSchema, runDrcSchema, runErcSchema, critiqueRouteSchema, routeDiffPairSchema, lengthMatchTracesSchema, exportGerberSchema, validateForFabSchema, fabPrepSchema, exportKicadSchema, addCoilSchema, boardFromSolidSchema, addCoilArraySchema, windingLayoutSchema, calcImpedanceSchema, sizeImpedanceSchema, sizePdnSchema, calcCoilSchema, sizeCoilSchema, calcRfSchema, COIL_GEOMETRY, MU0, RAIL_PIN_NAMES, PIN_TYPES, CHIP_SIZE_CODES, CONNECTIVITY_GUARD_MAX_NETS, POWER_NET_RE, DRC_CATEGORY, DRC_DELTA_SAMPLE_CAP, DRC_DELTA_FULL_BOARD_MAX, LINT_CRYSTAL_MAX_MM, LINT_DECAP_MAX_MM, LINT_CONNECTOR_EDGE_MAX_MM, LINT_HIGH_CURRENT_SEP_MIN_MM, LINT_GROUND_NET_RE, LINT_SUPPLY_NET_RE, SENSITIVE_NET_RE, HIGH_CURRENT_CLASS_RE, refPrefix, dist2d, round22, sumSq, round33, vec2Schema, setBoardOutlineSchema, FOOTPRINT_FAMILIES, listFootprintsSchema, searchFootprintsSchema, getPadPositionsSchema, getFootprintSchema, ROTATION_CONVENTION, describePcbSchema, DESCRIBE_NET_NAME_CAP, addTraceSchema, addViaSchema, OZ_TO_MM, setStackupSchema, setPlacementSchema, addZoneSchema, deleteElementProps, deleteZoneSchema, deleteTraceSchema, deleteViaSchema, COPPER_KINDS, GET_COPPER_CAP, getCopperSchema, TIE_POSITION_TOL, addNetTieSchema, deleteNetTieSchema, undoSchema, setDesignRulesSchema, sizeTraceForCurrentSchema, addViaArraySchema, MAX_VIA_ARRAY, addMotorWindingSchema, calcMotorSchema, SILICON_STEEL_KNEE_T, sig6, BEARING_FRICTION_MNM, checkSelfStartSchema, solidFromBoardSchema, FR4_DENSITY_KG_M3, COPPER_DENSITY_KG_M3, DEFAULT_COPPER_THICKNESS_MM, loopArea, MOUNTING_FP_RE, KEEPOUT_ECHO_CAP, INLINE_DOC_ECHO_CAP, searchElectronicPartsSchema, resolvePartSchema, findAlternativesSchema, verifySubstitutionSchema, buildReceiptSchema, verifyReceiptSchema, FIX_EPS, FIX_DRC_NEVER, fixDrcSchema, toolDefs24;
+var PCB_LAYER_SET, COPPER_LAYERS, COPPER_LAYER_SET, POSITION_TOLERANCE, PIN_SEP, pinKey, powerFlagsSchema, sheetInstanceSchema, sheetDefinitionSchema, createSchematicSchema, updateSchematicSchema, inspectSchematicSchema, docInputProperties, placeComponentsSchema, routeNetsSchema, runDrcSchema, runErcSchema, critiqueRouteSchema, routeDiffPairSchema, lengthMatchTracesSchema, exportGerberSchema, validateForFabSchema, fabPrepSchema, exportKicadSchema, addCoilSchema, boardFromSolidSchema, addCoilArraySchema, windingLayoutSchema, calcImpedanceSchema, sizeImpedanceSchema, sizePdnSchema, calcCoilSchema, sizeCoilSchema, calcRfSchema, COIL_GEOMETRY, MU0, RAIL_PIN_NAMES, PIN_TYPES, CHIP_SIZE_CODES, CONNECTIVITY_GUARD_MAX_NETS, POWER_NET_RE, DRC_CATEGORY, DRC_DELTA_SAMPLE_CAP, DRC_DELTA_FULL_BOARD_MAX, LINT_CRYSTAL_MAX_MM, LINT_DECAP_MAX_MM, LINT_CONNECTOR_EDGE_MAX_MM, LINT_HIGH_CURRENT_SEP_MIN_MM, LINT_GROUND_NET_RE, LINT_SUPPLY_NET_RE, SENSITIVE_NET_RE, HIGH_CURRENT_CLASS_RE, refPrefix, dist2d, round22, sumSq, round33, vec2Schema, setBoardOutlineSchema, FOOTPRINT_FAMILIES, listFootprintsSchema, searchFootprintsSchema, getPadPositionsSchema, getFootprintSchema, ROTATION_CONVENTION, describePcbSchema, DESCRIBE_NET_NAME_CAP, addTraceSchema, addViaSchema, OZ_TO_MM, setStackupSchema, setPlacementSchema, addZoneSchema, deleteElementProps, deleteZoneSchema, deleteTraceSchema, deleteViaSchema, COPPER_KINDS, GET_COPPER_CAP, getCopperSchema, TIE_POSITION_TOL, addNetTieSchema, deleteNetTieSchema, undoSchema, setDesignRulesSchema, sizeTraceForCurrentSchema, addViaArraySchema, MAX_VIA_ARRAY, addMotorWindingSchema, calcMotorSchema, SILICON_STEEL_KNEE_T, sig6, BEARING_FRICTION_MNM, checkSelfStartSchema, solidFromBoardSchema, FR4_DENSITY_KG_M3, COPPER_DENSITY_KG_M3, DEFAULT_COPPER_THICKNESS_MM, loopArea, MOUNTING_FP_RE, KEEPOUT_ECHO_CAP, INLINE_DOC_ECHO_CAP, searchElectronicPartsSchema, resolvePartSchema, findAlternativesSchema, verifySubstitutionSchema, buildReceiptSchema, verifyReceiptSchema, FIX_EPS, FIX_DRC_NEVER, fixDrcSchema, toolDefs23;
 var init_ecad2 = __esm({
   "src/tools/ecad.ts"() {
     "use strict";
@@ -74561,7 +74301,7 @@ var init_ecad2 = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs24 = [
+    toolDefs23 = [
       {
         name: "create_schematic",
         pack: "ecad",
@@ -75239,7 +74979,7 @@ async function solveConstraints(args) {
   }
   return solveAndReport(ctx.doc, ctx.documentId);
 }
-var anchorDescription, addConstraintSchema, deleteConstraintSchema, listConstraintsSchema, solveConstraintsSchema, toolDefs25;
+var anchorDescription, addConstraintSchema, deleteConstraintSchema, listConstraintsSchema, solveConstraintsSchema, toolDefs24;
 var init_design_constraints = __esm({
   "src/tools/design-constraints.ts"() {
     "use strict";
@@ -75284,7 +75024,7 @@ var init_design_constraints = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs25 = [
+    toolDefs24 = [
       {
         name: "add_constraint",
         pack: null,
@@ -75518,7 +75258,7 @@ function recordMeasurement(input) {
   }
   return jsonResult3(report);
 }
-var MEASURABLE_KINDS, MEASURABLE_AXES, MEASURABLE_FEATURES, predictions, reports, predictPrintSchema, recordMeasurementSchema, jsonResult3, toolDefs26;
+var MEASURABLE_KINDS, MEASURABLE_AXES, MEASURABLE_FEATURES, predictions, reports, predictPrintSchema, recordMeasurementSchema, jsonResult3, toolDefs25;
 var init_print_check = __esm({
   "src/tools/print-check.ts"() {
     "use strict";
@@ -75621,7 +75361,7 @@ var init_print_check = __esm({
     jsonResult3 = (value) => ({
       content: [{ type: "text", text: JSON.stringify(value, null, 2) }]
     });
-    toolDefs26 = [
+    toolDefs25 = [
       {
         name: "predict_print",
         pack: "print",
@@ -76496,7 +76236,7 @@ async function renderStackup(args) {
   });
   return withRenderAssets({ content }, assets);
 }
-var renderViewSchema, SVG_SCALE, DEFAULT_WIDTH_PX, MAX_NODES, MAX_PATTERN_INSTANCES, MAX_RENDER_TRIANGLES, MAX_RASTER_SVG_BYTES, MAX_INLINE_SVG_BYTES, renderPcbSchema, PCB_MARGIN_MM, RATSNEST_COLOR, renderRatsnestSchema, renderStackupSchema, toolDefs27;
+var renderViewSchema, SVG_SCALE, DEFAULT_WIDTH_PX, MAX_NODES, MAX_PATTERN_INSTANCES, MAX_RENDER_TRIANGLES, MAX_RASTER_SVG_BYTES, MAX_INLINE_SVG_BYTES, renderPcbSchema, PCB_MARGIN_MM, RATSNEST_COLOR, renderRatsnestSchema, renderStackupSchema, toolDefs26;
 var init_render2 = __esm({
   "src/tools/render.ts"() {
     "use strict";
@@ -76660,7 +76400,7 @@ var init_render2 = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs27 = [
+    toolDefs26 = [
       {
         name: "render_view",
         pack: null,
@@ -76700,15 +76440,15 @@ var init_render2 = __esm({
 // src/tools/verify.ts
 import { execFile } from "child_process";
 import {
-  existsSync as existsSync4,
+  existsSync as existsSync3,
   mkdtempSync,
   readdirSync as readdirSync2,
-  readFileSync as readFileSync7,
+  readFileSync as readFileSync6,
   rmSync,
   writeFileSync as writeFileSync4
 } from "fs";
 import { tmpdir } from "os";
-import { dirname as dirname4, join as join3 } from "path";
+import { dirname as dirname3, join as join3 } from "path";
 import { fileURLToPath as fileURLToPath2 } from "url";
 import { promisify } from "util";
 function textResult(payload, isError = false) {
@@ -76717,8 +76457,8 @@ function textResult(payload, isError = false) {
 function findUpward(start, probe) {
   let dir = start;
   for (let i = 0; i < 12; i++) {
-    if (existsSync4(join3(dir, probe))) return dir;
-    const parent = dirname4(dir);
+    if (existsSync3(join3(dir, probe))) return dir;
+    const parent = dirname3(dir);
     if (parent === dir) break;
     dir = parent;
   }
@@ -76726,24 +76466,24 @@ function findUpward(start, probe) {
 }
 function findMechevalRoot() {
   const override = process.env.MECHEVAL_DIR;
-  if (override && existsSync4(join3(override, "tasks"))) {
+  if (override && existsSync3(join3(override, "tasks"))) {
     return override;
   }
-  const here = dirname4(fileURLToPath2(import.meta.url));
+  const here = dirname3(fileURLToPath2(import.meta.url));
   const repoRoot = findUpward(here, join3("mecheval", "tasks")) ?? findUpward(process.cwd(), join3("mecheval", "tasks"));
   return repoRoot ? join3(repoRoot, "mecheval") : null;
 }
 function findGraderBin(mechevalRoot) {
   const override = process.env.MECHEVAL_GRADE_BIN;
-  if (override && existsSync4(override)) return override;
+  if (override && existsSync3(override)) return override;
   for (const profile of ["release", "debug"]) {
     const candidate = join3(
-      dirname4(mechevalRoot),
+      dirname3(mechevalRoot),
       "target",
       profile,
       "mecheval-grade"
     );
-    if (existsSync4(candidate)) return candidate;
+    if (existsSync3(candidate)) return candidate;
   }
   return null;
 }
@@ -76763,7 +76503,7 @@ function listEvalTasks(args) {
   for (const file of readdirSync2(tasksDir).sort()) {
     if (!file.endsWith(".json")) continue;
     try {
-      const raw = JSON.parse(readFileSync7(join3(tasksDir, file), "utf8"));
+      const raw = JSON.parse(readFileSync6(join3(tasksDir, file), "utf8"));
       if (suiteFilter && String(raw.suite).toUpperCase() !== suiteFilter) {
         continue;
       }
@@ -76798,7 +76538,7 @@ async function verifyPart(args) {
     return textResult({ error: `invalid task_id: ${taskId}` }, true);
   }
   const taskPath = join3(mechevalRoot, "tasks", `${taskId}.json`);
-  if (!existsSync4(taskPath)) {
+  if (!existsSync3(taskPath)) {
     return textResult(
       {
         error: `unknown task_id "${taskId}"`,
@@ -76866,7 +76606,7 @@ async function verifyPart(args) {
     rmSync(scratch, { recursive: true, force: true });
   }
 }
-var execFileAsync, verifyPartSchema, listEvalTasksSchema, toolDefs28;
+var execFileAsync, verifyPartSchema, listEvalTasksSchema, toolDefs27;
 var init_verify = __esm({
   "src/tools/verify.ts"() {
     "use strict";
@@ -76897,7 +76637,7 @@ var init_verify = __esm({
         }
       }
     };
-    toolDefs28 = [
+    toolDefs27 = [
       {
         name: "verify_part",
         pack: "eval",
@@ -76957,7 +76697,7 @@ function verifySpec(input, engine) {
     ]
   };
 }
-var pointSpecSchema, verifySpecSchema, toolDefs29;
+var pointSpecSchema, verifySpecSchema, toolDefs28;
 var init_verify_spec = __esm({
   "src/tools/verify-spec.ts"() {
     "use strict";
@@ -77021,7 +76761,7 @@ var init_verify_spec = __esm({
       },
       required: ["document_id", "spec"]
     };
-    toolDefs29 = [
+    toolDefs28 = [
       {
         name: "verify_spec",
         pack: null,
@@ -77164,7 +76904,7 @@ function topologyOptimizeTool(args, engine) {
     ]
   };
 }
-var regionSchema, topologyOptimizeSchema, round5, toolDefs30;
+var regionSchema, topologyOptimizeSchema, round5, toolDefs29;
 var init_topopt = __esm({
   "src/tools/topopt.ts"() {
     "use strict";
@@ -77277,7 +77017,7 @@ var init_topopt = __esm({
       }
     };
     round5 = (v) => Number(v.toPrecision(5));
-    toolDefs30 = [
+    toolDefs29 = [
       {
         name: "topology_optimize",
         pack: null,
@@ -77301,7 +77041,7 @@ function textResult2(payload) {
     ]
   };
 }
-var paramValue, deviceSpecSchema, parametersSchema, simOptionsSchema, simulateChargedParticlesSchema, optimizeElectrodesSchema, toolDefs31;
+var paramValue, deviceSpecSchema, parametersSchema, simOptionsSchema, simulateChargedParticlesSchema, optimizeElectrodesSchema, toolDefs30;
 var init_particle = __esm({
   "src/tools/particle.ts"() {
     "use strict";
@@ -77435,7 +77175,7 @@ var init_particle = __esm({
         }
       }
     };
-    toolDefs31 = [
+    toolDefs30 = [
       {
         name: "simulate_charged_particles",
         pack: null,
@@ -77486,7 +77226,7 @@ function textResult3(payload) {
     ]
   };
 }
-var paramValue2, distSchema, stackupSpecSchema, toolDefs32;
+var paramValue2, distSchema, stackupSpecSchema, toolDefs31;
 var init_tolerance = __esm({
   "src/tools/tolerance.ts"() {
     "use strict";
@@ -77574,7 +77314,7 @@ var init_tolerance = __esm({
         }
       }
     };
-    toolDefs32 = [
+    toolDefs31 = [
       {
         name: "analyze_tolerance_stackup",
         pack: null,
@@ -77634,7 +77374,7 @@ function textResult4(payload) {
     ]
   };
 }
-var paramValue3, paramVec3, shapeSchema, boundarySchema, thermalSpecSchema, transientSchema, toolDefs33;
+var paramValue3, paramVec3, shapeSchema, boundarySchema, thermalSpecSchema, transientSchema, toolDefs32;
 var init_thermal = __esm({
   "src/tools/thermal.ts"() {
     "use strict";
@@ -77801,7 +77541,7 @@ var init_thermal = __esm({
         }
       }
     };
-    toolDefs33 = [
+    toolDefs32 = [
       {
         name: "solve_thermal",
         pack: null,
@@ -77863,7 +77603,7 @@ function textResult5(payload) {
     ]
   };
 }
-var vec32, shapeSchema2, flowSpecSchema, toolDefs34;
+var vec32, shapeSchema2, flowSpecSchema, toolDefs33;
 var init_flow = __esm({
   "src/tools/flow.ts"() {
     "use strict";
@@ -77997,7 +77737,7 @@ var init_flow = __esm({
         }
       }
     };
-    toolDefs34 = [
+    toolDefs33 = [
       {
         name: "simulate_flow",
         pack: null,
@@ -78079,7 +77819,7 @@ function frequencyGrid(ac) {
   }
   return out;
 }
-var deviceSchema, devicesSchema, toolDefs35;
+var deviceSchema, devicesSchema, toolDefs34;
 var init_circuit = __esm({
   "src/tools/circuit.ts"() {
     "use strict";
@@ -78116,7 +77856,7 @@ var init_circuit = __esm({
       items: deviceSchema,
       description: "Netlist as data. Node ids are dense integers with 0 = ground; the device's index in this array is its device id (used by sourceId / freeDevices / outNode references)."
     };
-    toolDefs35 = [
+    toolDefs34 = [
       {
         name: "simulate_circuit",
         pack: null,
@@ -78307,7 +78047,7 @@ function textResult7(payload) {
     ]
   };
 }
-var regionSchema2, toolDefs36;
+var regionSchema2, toolDefs35;
 var init_structure = __esm({
   "src/tools/structure.ts"() {
     "use strict";
@@ -78334,7 +78074,7 @@ var init_structure = __esm({
         }
       }
     };
-    toolDefs36 = [
+    toolDefs35 = [
       {
         name: "analyze_structure",
         pack: null,
@@ -78553,7 +78293,7 @@ function textResult8(payload) {
     ]
   };
 }
-var paramValue4, rectRegion, bcSchema, electroShape, emSpecSchema, toolDefs37;
+var paramValue4, rectRegion, bcSchema, electroShape, emSpecSchema, toolDefs36;
 var init_em = __esm({
   "src/tools/em.ts"() {
     "use strict";
@@ -78709,7 +78449,7 @@ var init_em = __esm({
         }
       }
     };
-    toolDefs37 = [
+    toolDefs36 = [
       {
         name: "simulate_em",
         pack: null,
@@ -78822,7 +78562,7 @@ function textResult9(payload) {
     ]
   };
 }
-var paramValue5, pointSpec, antennaSpecSchema, toolDefs38;
+var paramValue5, pointSpec, antennaSpecSchema, toolDefs37;
 var init_antenna = __esm({
   "src/tools/antenna.ts"() {
     "use strict";
@@ -78871,7 +78611,7 @@ var init_antenna = __esm({
         feed_mm: pointSpec
       }
     };
-    toolDefs38 = [
+    toolDefs37 = [
       {
         name: "analyze_antenna",
         pack: null,
@@ -78948,7 +78688,7 @@ function textResult10(payload) {
     ]
   };
 }
-var photonicsSpecSchema, toolDefs39;
+var photonicsSpecSchema, toolDefs38;
 var init_photonics = __esm({
   "src/tools/photonics.ts"() {
     "use strict";
@@ -79034,7 +78774,7 @@ var init_photonics = __esm({
         }
       }
     };
-    toolDefs39 = [
+    toolDefs38 = [
       {
         name: "simulate_photonics",
         pack: null,
@@ -79100,7 +78840,7 @@ function textResult11(payload) {
     ]
   };
 }
-var paramValue6, shieldSpecSchema, toolDefs40;
+var paramValue6, shieldSpecSchema, toolDefs39;
 var init_neutronics = __esm({
   "src/tools/neutronics.ts"() {
     "use strict";
@@ -79171,7 +78911,7 @@ var init_neutronics = __esm({
         }
       }
     };
-    toolDefs40 = [
+    toolDefs39 = [
       {
         name: "simulate_neutron_shield",
         pack: null,
@@ -79213,7 +78953,7 @@ function textResult12(payload) {
     ]
   };
 }
-var simSpecSchema, toolDefs41;
+var simSpecSchema, toolDefs40;
 var init_qcd = __esm({
   "src/tools/qcd.ts"() {
     "use strict";
@@ -79303,7 +79043,7 @@ var init_qcd = __esm({
         }
       }
     };
-    toolDefs41 = [
+    toolDefs40 = [
       {
         name: "simulate_lattice_gauge",
         pack: null,
@@ -79445,7 +79185,7 @@ function predictPhysicsTool(args, engine) {
     ]
   };
 }
-var PHYSICS_DOMAIN, ORACLE, TIER_RESOLUTION, regionSchema3, predictPhysicsSchema, round52, toolDefs42;
+var PHYSICS_DOMAIN, ORACLE, TIER_RESOLUTION, regionSchema3, predictPhysicsSchema, round52, toolDefs41;
 var init_physics2 = __esm({
   "src/tools/physics.ts"() {
     "use strict";
@@ -79558,7 +79298,7 @@ var init_physics2 = __esm({
       }
     };
     round52 = (v) => Number(v.toPrecision(5));
-    toolDefs42 = [
+    toolDefs41 = [
       {
         name: "predict_physics",
         pack: null,
@@ -79802,7 +79542,7 @@ function applySetParam(doc, node, path, value) {
   }
   cursor[parts[parts.length - 1]] = value;
 }
-var lastReports, mechanicalProcessEnum, pcbProcessEnum, processEnum, rulesetEnum, dfmCheckSchema, dfmExplainSchema, dfmSuggestFixSchema, dfmApplyFixSchema, toolDefs43;
+var lastReports, mechanicalProcessEnum, pcbProcessEnum, processEnum, rulesetEnum, dfmCheckSchema, dfmExplainSchema, dfmSuggestFixSchema, dfmApplyFixSchema, toolDefs42;
 var init_dfm2 = __esm({
   "src/tools/dfm.ts"() {
     "use strict";
@@ -79905,7 +79645,7 @@ var init_dfm2 = __esm({
       },
       required: ["issue_id"]
     };
-    toolDefs43 = [
+    toolDefs42 = [
       {
         name: "dfm_check",
         pack: "dfm",
@@ -80404,7 +80144,7 @@ function sheetMetalCost(input, engine) {
     summary: `${result.breakdown.currency} ${result.breakdown.total_each.toFixed(2)} each @ qty ${result.breakdown.quantity} (mass ${result.breakdown.mass_kg_each.toFixed(3)} kg, ${result.breakdown.cut_length_m.toFixed(2)} m cut, ${result.breakdown.bends} bend(s)).`
   });
 }
-var sheetMetalCreateSchema, sheetMetalUnfoldSchema, sheetMetalMaterialsSchema, sheetMetalBendTableSchema, sheetMetalCheckSchema, sheetMetalNestSchema, sheetMetalSequenceSchema, sheetMetalSuggestFixSchema, sheetMetalCostSchema, toolDefs44;
+var sheetMetalCreateSchema, sheetMetalUnfoldSchema, sheetMetalMaterialsSchema, sheetMetalBendTableSchema, sheetMetalCheckSchema, sheetMetalNestSchema, sheetMetalSequenceSchema, sheetMetalSuggestFixSchema, sheetMetalCostSchema, toolDefs43;
 var init_sheet_metal2 = __esm({
   "src/tools/sheet-metal.ts"() {
     "use strict";
@@ -80665,7 +80405,7 @@ var init_sheet_metal2 = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs44 = [
+    toolDefs43 = [
       {
         name: "sheet_metal_create",
         pack: "sheet_metal",
@@ -80908,7 +80648,7 @@ function flatPatternFromSolid(input, engine) {
     ]
   };
 }
-var flatPatternFromSolidSchema, toolDefs45;
+var flatPatternFromSolidSchema, toolDefs44;
 var init_flat_pattern = __esm({
   "src/tools/flat-pattern.ts"() {
     "use strict";
@@ -80949,7 +80689,7 @@ var init_flat_pattern = __esm({
       },
       required: ["document_id"]
     };
-    toolDefs45 = [
+    toolDefs44 = [
       {
         name: "flat_pattern_from_solid",
         pack: "sheet_metal",
@@ -81130,7 +80870,7 @@ function simulateStrike(input, engine) {
   }
   return { content: [{ type: "text", text: JSON.stringify(payload, null, 2) }] };
 }
-var cents, MATERIAL_ALIASES, simulateStrikeSchema, round23, round4, toolDefs46;
+var cents, MATERIAL_ALIASES, simulateStrikeSchema, round23, round4, toolDefs45;
 var init_acoustics = __esm({
   "src/tools/acoustics.ts"() {
     "use strict";
@@ -81204,7 +80944,7 @@ var init_acoustics = __esm({
     };
     round23 = (x) => Math.round(x * 100) / 100;
     round4 = (x) => Math.round(x * 1e4) / 1e4;
-    toolDefs46 = [
+    toolDefs45 = [
       {
         name: "simulate_strike",
         pack: "sheet_metal",
@@ -81219,16 +80959,16 @@ var init_acoustics = __esm({
 
 // src/tools/import.ts
 import { createHash as createHash6 } from "node:crypto";
-import { readFileSync as readFileSync8, existsSync as existsSync5, statSync as statSync3, mkdirSync as mkdirSync2, writeFileSync as writeFileSync6 } from "node:fs";
-import { basename as basename2, join as join4, resolve as resolve6, sep as sep4 } from "node:path";
+import { readFileSync as readFileSync7, existsSync as existsSync4, statSync as statSync2, mkdirSync as mkdirSync2, writeFileSync as writeFileSync6 } from "node:fs";
+import { basename, join as join4, resolve as resolve5, sep as sep3 } from "node:path";
 function exportRoot() {
   return process.env.VCAD_MCP_EXPORT_DIR ?? process.cwd();
 }
 function isWithinExportRoot(path) {
   if (path.includes("\0")) return false;
-  const root = resolve6(exportRoot());
-  const abs = resolve6(path);
-  return abs === root || abs.startsWith(root + sep4);
+  const root = resolve5(exportRoot());
+  const abs = resolve5(path);
+  return abs === root || abs.startsWith(root + sep3);
 }
 function stepNodePath(bytes, diskPath, label) {
   if (diskPath) return { path: diskPath, portable: true };
@@ -81237,8 +80977,8 @@ function stepNodePath(bytes, diskPath, label) {
     const dir = join4(exportRoot(), STEP_CACHE_DIR);
     mkdirSync2(dir, { recursive: true });
     const file = join4(dir, `${digest}.step`);
-    if (!existsSync5(file)) writeFileSync6(file, bytes);
-    return { path: resolve6(file), portable: true };
+    if (!existsSync4(file)) writeFileSync6(file, bytes);
+    return { path: resolve5(file), portable: true };
   } catch {
     return { path: `step:${digest}/${label}`, portable: false };
   }
@@ -81272,7 +81012,7 @@ function registerDocumentStepSources(doc, engine) {
       continue;
     }
     try {
-      const bytes = readFileSync8(path);
+      const bytes = readFileSync7(path);
       const buf = new ArrayBuffer(bytes.byteLength);
       new Uint8Array(buf).set(bytes);
       engine.registerStepSource(path, buf);
@@ -81304,17 +81044,17 @@ function readStepInput(input) {
     );
   }
   const filepath = resolveWithinRoot(filename, exportRoot());
-  if (!existsSync5(filepath)) {
+  if (!existsSync4(filepath)) {
     throw new Error("STEP file not found");
   }
-  const stat = statSync3(filepath);
+  const stat = statSync2(filepath);
   if (!stat.isFile()) {
     throw new Error("STEP path is not a regular file");
   }
   if (stat.size > MAX_STEP_BYTES) {
     throw new Error(`STEP file exceeds ${MAX_STEP_BYTES} byte limit`);
   }
-  return { bytes: readFileSync8(filepath), diskPath: resolve6(filepath) };
+  return { bytes: readFileSync7(filepath), diskPath: resolve5(filepath) };
 }
 function defaultMaterials() {
   return {
@@ -81363,7 +81103,7 @@ function importStep(input, engine) {
   const arrayBuffer = new ArrayBuffer(fileBuffer.byteLength);
   new Uint8Array(arrayBuffer).set(fileBuffer);
   const sourceLabel = filename ?? "step-import";
-  const partName = name ?? basename2(
+  const partName = name ?? basename(
     sourceLabel,
     /\.(step|stp)$/i.test(sourceLabel) ? sourceLabel.slice(-5) : ""
   );
@@ -81400,7 +81140,7 @@ function importStep(input, engine) {
       ...skippedFaceSummary(report, importWarnings)
     };
   } else {
-    const label = basename2(sourceLabel).replace(/[^\w.-]/g, "_") || "import.step";
+    const label = basename(sourceLabel).replace(/[^\w.-]/g, "_") || "import.step";
     const { path, portable } = stepNodePath(fileBuffer, diskPath, label);
     let registered;
     try {
@@ -81484,7 +81224,7 @@ function importStep(input, engine) {
     ]
   };
 }
-var MAX_STEP_BYTES, STEP_CACHE_DIR, importStepSchema, toolDefs47;
+var MAX_STEP_BYTES, STEP_CACHE_DIR, importStepSchema, toolDefs46;
 var init_import = __esm({
   "src/tools/import.ts"() {
     "use strict";
@@ -81521,7 +81261,7 @@ var init_import = __esm({
         }
       }
     };
-    toolDefs47 = [
+    toolDefs46 = [
       {
         name: "import_step",
         pack: null,
@@ -81534,6 +81274,230 @@ var init_import = __esm({
   }
 });
 
+// src/tools/import-urdf.ts
+import { readFileSync as readFileSync8, existsSync as existsSync5, statSync as statSync3 } from "node:fs";
+import { basename as basename2, dirname as dirname4, isAbsolute as isAbsolute4, resolve as resolve6, sep as sep4 } from "node:path";
+function resolveMeshPath(filename, urdfDir, packageRoots, confineRoot) {
+  const confined = (p) => {
+    const abs = resolve6(p);
+    const root = resolve6(confineRoot);
+    const rootSep = root.endsWith(sep4) ? root : root + sep4;
+    if (abs !== root && !abs.startsWith(rootSep)) return null;
+    return existsSync5(abs) && statSync3(abs).isFile() ? abs : null;
+  };
+  if (filename.includes("\0")) return null;
+  const pkgMatch = filename.match(/^package:\/\/([^/]+)\/?(.*)$/);
+  if (pkgMatch) {
+    for (const root of packageRoots) {
+      const hit = confined(resolve6(root, pkgMatch[1], pkgMatch[2]));
+      if (hit) return hit;
+    }
+    return null;
+  }
+  const stripped = filename.startsWith("file://") ? filename.slice("file://".length) : filename;
+  if (isAbsolute4(stripped)) return confined(stripped);
+  if (urdfDir) return confined(resolve6(urdfDir, stripped));
+  return null;
+}
+function inlineMeshImports(doc, engine, urdfDir, packageRoots, confineRoot) {
+  const unresolved = [];
+  const meshes = /* @__PURE__ */ new Map();
+  const refs = /* @__PURE__ */ new Map();
+  for (const [key3, node] of Object.entries(doc.nodes)) {
+    const op = node.op;
+    if (op.type !== "mesh_import" && op.type !== "MeshImport") continue;
+    const ref = op.path ?? "";
+    const filepath = resolveMeshPath(ref, urdfDir, packageRoots, confineRoot);
+    if (!filepath) {
+      unresolved.push({ path: ref, reason: "file not found" });
+    } else if (!/\.stl$/i.test(filepath)) {
+      unresolved.push({ path: ref, reason: "unsupported mesh format (only STL is inlined server-side)" });
+    } else if (statSync3(filepath).size > MAX_MESH_BYTES) {
+      unresolved.push({ path: ref, reason: "mesh exceeds size limit" });
+    } else {
+      meshes.set(key3, readFileSync8(filepath));
+      refs.set(key3, ref);
+    }
+  }
+  const { inlined, errors } = engine.inlineMeshImports(doc, meshes);
+  for (const [key3, reason] of errors) unresolved.push({ path: refs.get(key3) ?? key3, reason });
+  return { inlined, unresolved };
+}
+function importUrdf(input, engine) {
+  const {
+    path,
+    content_base64,
+    package_roots,
+    name,
+    floating_base,
+    floating_base_link,
+    spawn_height_mm
+  } = input;
+  if (!floating_base && (floating_base_link || spawn_height_mm !== void 0)) {
+    throw new Error(
+      "floating_base_link / spawn_height_mm require floating_base: true"
+    );
+  }
+  const confineRoot = process.env.VCAD_MCP_EXPORT_DIR ?? process.cwd();
+  let fileBuffer;
+  let urdfDir = null;
+  let sourceLabel;
+  if (content_base64) {
+    fileBuffer = Buffer.from(content_base64, "base64");
+    if (fileBuffer.length === 0) {
+      throw new Error("content_base64 decoded to zero bytes");
+    }
+    sourceLabel = "urdf-import";
+  } else if (path) {
+    if (isRemoteDeployment()) {
+      throw new Error(
+        "This hosted server has no access to your filesystem \u2014 pass the URDF XML as `content_base64` instead of `path`. Mesh references cannot be resolved in that mode (links fall back to placeholder geometry); run the MCP server locally for full mesh import."
+      );
+    }
+    const filepath = resolveWithinRoot(path, confineRoot);
+    if (!existsSync5(filepath)) {
+      throw new Error(`URDF file not found: ${path}`);
+    }
+    const stat = statSync3(filepath);
+    if (!stat.isFile()) {
+      throw new Error("URDF path is not a regular file");
+    }
+    if (stat.size > MAX_URDF_BYTES) {
+      throw new Error(`URDF file exceeds ${MAX_URDF_BYTES} byte limit`);
+    }
+    fileBuffer = readFileSync8(filepath);
+    urdfDir = dirname4(filepath);
+    sourceLabel = path;
+  } else {
+    throw new Error("Provide either `path` or `content_base64`");
+  }
+  if (fileBuffer.length > MAX_URDF_BYTES) {
+    throw new Error(`URDF content exceeds ${MAX_URDF_BYTES} byte limit`);
+  }
+  const packageRoots = (package_roots ?? []).map(
+    (r) => resolveWithinRoot(r, confineRoot)
+  );
+  const arrayBuffer = new ArrayBuffer(fileBuffer.byteLength);
+  new Uint8Array(arrayBuffer).set(fileBuffer);
+  const doc = JSON.parse(
+    engine.importUrdf(arrayBuffer, {
+      floatingBase: floating_base,
+      floatingBaseLink: floating_base_link,
+      spawnHeightMm: spawn_height_mm
+    })
+  );
+  const commentedFloating = floating_base ? void 0 : engine.urdfCommentedFloatingJoint(arrayBuffer);
+  const meshes = inlineMeshImports(doc, engine, urdfDir, packageRoots, confineRoot);
+  const robotName = name ?? basename2(sourceLabel).replace(/\.(urdf|xml)$/i, "");
+  const parts = Object.values(doc.partDefs ?? {}).map((p) => ({
+    id: p.id,
+    name: p.name
+  }));
+  const joints = (doc.joints ?? []).map((j) => ({
+    id: j.id,
+    name: j.name,
+    kind: j.kind.type,
+    parent_instance_id: j.parentInstanceId,
+    child_instance_id: j.childInstanceId
+  }));
+  const documentId = registerSession(doc);
+  const summary = {
+    robot: robotName,
+    parts: parts.length,
+    joints: joints.length,
+    instances: (doc.instances ?? []).length,
+    ground_instance_id: doc.groundInstanceId ?? null,
+    joint_list: joints,
+    ...floating_base ? {
+      floating_base: {
+        synthesized: joints.some((j) => j.kind === "Free"),
+        spawn_height_mm: spawn_height_mm ?? 0,
+        note: "The root link hangs off a 6-DOF Free joint; parentAnchor.z is the spawn height. The robot will fall under gravity."
+      }
+    } : {},
+    ...commentedFloating ? {
+      floating_base_warning: `This URDF declares a floating joint (${commentedFloating}) inside a comment \u2014 the usual convention that the simulator supplies the free base. Imported as-is, the root link is grounded and the robot is welded to the world (it cannot walk or fall). Re-import with floating_base: true (and a spawn_height_mm just above standing height) for any locomotion task.`
+    } : {},
+    ...meshes.inlined > 0 ? { meshes_inlined: meshes.inlined } : {},
+    ...meshes.unresolved.length > 0 ? {
+      warning: `${meshes.unresolved.length} mesh reference(s) could not be inlined \u2014 those links use placeholder geometry. Joint topology and authored inertials are exact, so physics still behaves to first order.`,
+      unresolved_meshes: meshes.unresolved
+    } : {}
+  };
+  return {
+    content: [
+      {
+        type: "text",
+        text: JSON.stringify(
+          {
+            document_id: documentId,
+            summary,
+            note: "The robot is registered as a session document \u2014 pass document_id to create_robot_env to simulate it, render_view to see it, or any CAD tool to edit it."
+          },
+          null,
+          2
+        )
+      }
+    ]
+  };
+}
+var MAX_URDF_BYTES, MAX_MESH_BYTES, importUrdfSchema, toolDefs47;
+var init_import_urdf = __esm({
+  "src/tools/import-urdf.ts"() {
+    "use strict";
+    init_safe_path();
+    init_remote();
+    init_session2();
+    init_tool_def();
+    MAX_URDF_BYTES = 8 * 1024 * 1024;
+    MAX_MESH_BYTES = 100 * 1024 * 1024;
+    importUrdfSchema = {
+      type: "object",
+      properties: {
+        path: {
+          type: "string",
+          description: "Path to the .urdf file on the server filesystem, relative to the server working directory (or VCAD_MCP_EXPORT_DIR if set). Relative mesh references inside the URDF resolve against the URDF's own directory. On hosted servers pass content_base64 instead."
+        },
+        content_base64: {
+          type: "string",
+          description: "Base64-encoded URDF XML. Use instead of `path` when the server has no access to your filesystem (hosted/remote deployments). Mesh references cannot be resolved in this mode \u2014 links with meshes get placeholder geometry, but joints and inertials import exactly."
+        },
+        package_roots: {
+          type: "array",
+          items: { type: "string" },
+          description: "Directories to search when resolving package://NAME/... mesh URIs, relative to the server working directory. Each root is checked for a NAME/ subdirectory; first match wins."
+        },
+        name: {
+          type: "string",
+          description: "Robot name (default: filename without extension)"
+        },
+        floating_base: {
+          type: "boolean",
+          description: 'Synthesize a floating (6-DOF) base when the URDF declares none. Most humanoid/quadruped URDFs ship the world link and its type="floating" joint commented out, on the convention that the simulator supplies the free base \u2014 without this the root link is grounded and the robot is welded to the world, which cannot walk or fall. Set this for any locomotion task. No-op when the URDF already has a floating joint.'
+        },
+        floating_base_link: {
+          type: "string",
+          description: "Link to attach the synthesized floating base to (default: the tree's root link, i.e. the one that is never a joint's child). Requires floating_base."
+        },
+        spawn_height_mm: {
+          type: "number",
+          description: "Initial base height in mm for the synthesized floating base (default 0). A Free joint's `state` is a scalar and meaningless for 6 DOF, so this is written as the joint's parentAnchor.z. Spawn just above the settled standing height so the robot drops onto the ground instead of starting interpenetrated (Booster K1: 620 mm against a 549.8 mm stand)."
+        }
+      }
+    };
+    toolDefs47 = [
+      {
+        name: "import_urdf",
+        pack: null,
+        description: "Import a URDF (Unified Robot Description Format) robot from a server-local file. Builds the full kinematic tree \u2014 one part per link, instances FK-placed from joint origins, joints (revolute/prismatic/fixed) with limits, and a grounded root link \u2014 ready for create_robot_env. STL mesh references are resolved against the URDF's directory and optional package_roots and inlined; unresolved meshes fall back to placeholder geometry with an explicit warning. For locomotion, pass floating_base: true \u2014 most humanoid/quadruped URDFs leave the world link and floating joint commented out, and without them the robot is welded to the world.",
+        inputSchema: importUrdfSchema,
+        handler: (a, c) => importUrdf(a, c.engine),
+        behavior: behavior({ writesDoc: true, geometry: true, mount: true })
+      }
+    ];
+  }
+});
+
 // src/tools/import-pcb.ts
 import { readFileSync as readFileSync9, existsSync as existsSync6, statSync as statSync4 } from "node:fs";
 function importError(text) {
@@ -86951,8 +86915,8 @@ var init_server3 = __esm({
     init_order_feed();
     init_animate();
     PKG_VERSION = (() => {
-      if ("0.10.0-main.124") {
-        return "0.10.0-main.124";
+      if ("0.10.0-main.126") {
+        return "0.10.0-main.126";
       }
       try {
         const req = createRequire2(import.meta.url);
@@ -86961,8 +86925,8 @@ var init_server3 = __esm({
         return "0.0.0";
       }
     })();
-    BUILD_SHA = "72bb34aea80bd70051717281e832338ab01f1f3d";
-    BUILD_TIME = "2026-10-21T13:06:52.166Z";
+    BUILD_SHA = "cf7237b3fa4de3ec9ddd2eccbd0f33b802ea1089";
+    BUILD_TIME = "2026-10-21T14:05:09.525Z";
     SHORT_SHA = BUILD_SHA === "unknown" ? "unknown" : BUILD_SHA.slice(0, 7);
     VERSION_WITH_BUILD = SHORT_SHA === "unknown" ? PKG_VERSION : `${PKG_VERSION}+${SHORT_SHA}`;
     INSTANCE_ID = randomUUID7().slice(0, 8);
@@ -86989,31 +86953,32 @@ var init_server3 = __esm({
       "openai/widgetAccessible": true
     };
     STATIC_TOOL_DEFS = [
-      ...toolDefs4,
+      ...toolDefs3,
+      ...toolDefs7,
       ...toolDefs8,
       ...toolDefs9,
       ...toolDefs10,
-      ...toolDefs11,
+      ...toolDefs12,
+      ...toolDefs15,
       ...toolDefs13,
-      ...toolDefs16,
       ...toolDefs14,
-      ...toolDefs15,
+      ...toolDefs16,
       ...toolDefs17,
+      ...toolDefs4,
+      ...toolDefs2,
       ...toolDefs18,
       ...toolDefs5,
-      ...toolDefs3,
-      ...toolDefs19,
       ...toolDefs6,
-      ...toolDefs7,
+      ...toolDefs19,
       ...toolDefs20,
       ...toolDefs21,
-      ...toolDefs22,
+      ...toolDefs24,
       ...toolDefs25,
       ...toolDefs26,
       ...toolDefs27,
       ...toolDefs28,
+      ...toolDefs11,
       ...toolDefs29,
-      ...toolDefs12,
       ...toolDefs30,
       ...toolDefs31,
       ...toolDefs32,
@@ -87026,22 +86991,21 @@ var init_server3 = __esm({
       ...toolDefs39,
       ...toolDefs40,
       ...toolDefs41,
-      ...toolDefs42,
       ...toolDefs,
+      ...toolDefs42,
       ...toolDefs43,
       ...toolDefs44,
       ...toolDefs45,
       ...toolDefs46,
       ...toolDefs47,
-      ...toolDefs2,
       ...toolDefs48,
       ...toolDefs49,
       ...toolDefs50,
       ...toolDefs51,
       ...toolDefs52,
       ...toolDefs53,
-      ...toolDefs24,
       ...toolDefs23,
+      ...toolDefs22,
       ...toolDefs54,
       ...toolDefs55,
       ...toolDefs56