mjswan 0.0.10 → 0.0.13

package/dist/assets/{index-D06ezVv2.js → index-CpXSFkA7.js}

@@ -6792,4 +6792,4 @@ fn calculateOutputIndex(index: u32) -> u32 {
       }`},MC=t=>{let e=t[1].dims,n=t[2].dims,r=t[0].dims,i=t[1].dataType,s=!(Le.areEqual(e,n)&&Le.areEqual(n,r)),o=e,a=Le.size(e);if(s){let d=Ec.calcShape(Ec.calcShape(e,n,!1),r,!1);if(!d)throw new Error("Can't perform where op on the given tensors");o=d,a=Le.size(o)}let u=Math.ceil(a/4);return{name:"Where",shaderCache:{inputDependencies:["rank","rank","rank"]},getShaderSource:d=>EC(d,t,o,s,i),getRunData:()=>({outputs:[{dims:o,dataType:i}],dispatchGroup:{x:Math.ceil(a/64/4)},programUniforms:[{type:12,data:u},...Et(r,e,n,o)]})}},m$=t=>{t.compute(MC(t.inputs))}}),g$,t7=Ze(()=>{mj(),$w(),gj(),vj(),yj(),xj(),_j(),Mj(),Cj(),Aj(),Rj(),Ij(),Pj(),kj(),Dj(),$j(),Nj(),Lj(),Oj(),zj(),Uj(),Fj(),Bj(),Vj(),Hj(),ND(),Gj(),Wj(),jj(),qj(),Xj(),Dw(),Kj(),FD(),Yj(),Zj(),Jj(),zD(),Qj(),Ha(),Nw(),e7(),g$=new Map([["Abs",[uk]],["Acos",[ck]],["Acosh",[dk]],["Add",[Wk]],["ArgMax",[sk,w_]],["ArgMin",[ik,w_]],["Asin",[fk]],["Asinh",[hk]],["Atan",[pk]],["Atanh",[mk]],["Attention",[ok]],["AveragePool",[KD,XD]],["BatchNormalization",[ak]],["BiasAdd",[lk]],["BiasSplitGelu",[Gk]],["Cast",[vk,gk]],["Ceil",[xk]],["Clip",[yk]],["Concat",[tD,nD]],["Conv",[A_,C_]],["ConvTranspose",[fD,dD]],["Cos",[_k]],["Cosh",[bk]],["CumSum",[hD,pD]],["DepthToSpace",[mD,gD]],["DequantizeLinear",[n$,r$]],["Div",[jk]],["Einsum",[vD,yD]],["Elu",[wk,Sf]],["Equal",[qk]],["Erf",[Sk]],["Exp",[Ek]],["Expand",[xD]],["FastGelu",[_D]],["Floor",[Mk]],["FusedConv",[A_,C_]],["Gather",[wD,bD]],["GatherElements",[AD,CD]],["GatherBlockQuantized",[MD,TD]],["GatherND",[SD,ED]],["Gelu",[Tk]],["Gemm",[ID,RD]],["GlobalAveragePool",[ZD,YD]],["GlobalMaxPool",[t$,e$]],["Greater",[Zk]],["GreaterOrEqual",[Qk]],["GridSample",[PD,kD]],["GroupQueryAttention",[BD]],["HardSigmoid",[$k,Dk]],["InstanceNormalization",[VD]],["LayerNormalization",[HD]],["LeakyRelu",[Ck,Sf]],["Less",[Jk]],["LessOrEqual",[eD]],["Log",[Vk]],["MatMul",[GD]],["MatMulNBits",[WD,jD]],["MaxPool",[JD,QD]],["Mul",[Xk]],["MultiHeadAttention",[$D,DD]],["Neg",[Rk]],["Not",[Ak]],["Pad",[qD]],["Pow",[Kk]],["QuickGelu",[Hk,Sf]],["Range",[i$]],["Reciprocal",[Ik]],["ReduceMin",[QP]],["ReduceMean",[XP]],["ReduceMax",[JP]],["ReduceSum",[tk]],["ReduceProd",[ek]],["ReduceL1",[KP]],["ReduceL2",[YP]],["ReduceLogSum",[rk]],["ReduceLogSumExp",[ZP]],["ReduceSumSquare",[nk]],["Relu",[Pk]],["Resize",[a$,l$]],["RotaryEmbedding",[UD]],["ScatterND",[o$,s$]],["Sigmoid",[kk]],["Sin",[Nk]],["Sinh",[Lk]],["Slice",[c$,d$]],["SkipLayerNormalization",[u$]],["Split",[LD,OD]],["Sqrt",[Ok]],["Softmax",[f$,h$]],["Sub",[Yk]],["Tan",[zk]],["Tanh",[Uk]],["ThresholdedRelu",[Bk,Sf]],["Tile",[p$]],["Transpose",[LP,OP]],["Where",[m$]]])}),v$,n7=Ze(()=>{Bi(),No(),Wt(),v$=class{constructor(t){this.backend=t,this.repo=new Map,this.attributesBound=!1}getArtifact(t){return this.repo.get(t)}setArtifact(t,e){this.repo.set(t,e)}run(t,e,n,r,i){Ks(t.programInfo.name);let s=this.backend.device,o=this.backend.getComputePassEncoder();this.backend.writeTimestamp(this.backend.pendingDispatchNumber*2);let a=[];for(let d of e)a.push({binding:a.length,resource:{buffer:d.buffer}});for(let d of n)a.push({binding:a.length,resource:{buffer:d.buffer}});i&&a.push({binding:a.length,resource:i});let u=s.createBindGroup({layout:t.computePipeline.getBindGroupLayout(0),entries:a,label:t.programInfo.name});if(this.backend.sessionStatus==="capturing"){let d={kernelId:this.backend.currentKernelId,computePipeline:t.computePipeline,bindGroup:u,dispatchGroup:r};this.backend.capturedCommandList.get(this.backend.currentSessionId).push(d)}o.setPipeline(t.computePipeline),o.setBindGroup(0,u),o.dispatchWorkgroups(...r),this.backend.writeTimestamp(this.backend.pendingDispatchNumber*2+1),this.backend.pendingDispatchNumber++,(this.backend.pendingDispatchNumber>=this.backend.maxDispatchNumber||this.backend.queryType==="at-passes")&&this.backend.endComputePass(),this.backend.pendingDispatchNumber>=this.backend.maxDispatchNumber&&this.backend.flush(),ms(t.programInfo.name)}dispose(){}build(t,e){Ks(t.name);let n=this.backend.device,r=[];[{feature:"shader-f16",extension:"f16"},{feature:"subgroups",extension:"subgroups"}].forEach(d=>{n.features.has(d.feature)&&r.push(`enable ${d.extension};`)});let i=NP(e,this.backend.device.limits),s=t.getShaderSource(i),o=`${r.join(`
 `)}
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-${s}`,a=n.createShaderModule({code:o,label:t.name});on("verbose",()=>`[WebGPU] ${t.name} shader code: ${o}`);let u=n.createComputePipeline({compute:{module:a,entryPoint:"main"},layout:"auto",label:t.name});return ms(t.name),{programInfo:t,computePipeline:u,uniformVariablesInfo:i.variablesInfo}}normalizeDispatchGroupSize(t){let e=typeof t=="number"?t:t.x,n=typeof t=="number"?1:t.y||1,r=typeof t=="number"?1:t.z||1,i=this.backend.device.limits.maxComputeWorkgroupsPerDimension;if(e<=i&&n<=i&&r<=i)return[e,n,r];let s=e*n*r,o=Math.ceil(Math.sqrt(s));if(o>i){if(o=Math.ceil(Math.cbrt(s)),o>i)throw new Error("Total dispatch size exceeds WebGPU maximum.");return[o,o,o]}else return[o,o,1]}}}),y$={};Hc(y$,{WebGpuBackend:()=>x$});var TC,CC,AC,x$,r7=Ze(()=>{Bi(),$t(),No(),IP(),hj(),t7(),n7(),TC=(t,e)=>{if(e.length!==t.length)throw new Error(`inputDependencies length ${e.length} is not equal to inputTensors length ${t.length}.`);let n=[];for(let r=0;r<t.length;++r){let i=t[r].dataType;switch(e[r]){case"none":{n.push("");break}case"type":{n.push(`${i}`);break}case"rank":{let s=t[r].dims.length;n.push(`${i};${s}`);break}case"dims":{let s=t[r].dims.join(",");n.push(`${i};${s}`);break}default:throw new Error(`unsupported input dependency: ${e[r]}`)}}return n.join("|")},CC=(t,e,n)=>{let r=t.name;return t.shaderCache?.hint&&(r+="["+t.shaderCache.hint+"]"),r+=":"+n+`:${TC(e,t.shaderCache?.inputDependencies??new Array(e.length).fill("dims"))}`,r},AC=class{constructor(t){t&&(this.architecture=t.architecture,this.vendor=t.vendor)}isArchitecture(t){return this.architecture===t}isVendor(t){return this.vendor===t}},x$=class{constructor(){this.currentSessionId=null,this.currentKernelId=null,this.commandEncoder=null,this.computePassEncoder=null,this.maxDispatchNumber=16,this.pendingDispatchNumber=0,this.pendingKernels=[],this.pendingQueries=new Map,this.sessionStatus="default",this.capturedCommandList=new Map,this.capturedPendingKernels=new Map,this.sessionExternalDataMapping=new Map}get currentKernelCustomData(){if(this.currentKernelId===null)throw new Error("currentKernelCustomData(): currentKernelId is null. (should not happen)");let t=this.kernelCustomData.get(this.currentKernelId);return t||(t={},this.kernelCustomData.set(this.currentKernelId,t)),t}async initialize(t,e){this.env=t;let n=[],r={requiredLimits:{maxComputeWorkgroupStorageSize:e.limits.maxComputeWorkgroupStorageSize,maxComputeWorkgroupsPerDimension:e.limits.maxComputeWorkgroupsPerDimension,maxStorageBufferBindingSize:e.limits.maxStorageBufferBindingSize,maxBufferSize:e.limits.maxBufferSize,maxComputeInvocationsPerWorkgroup:e.limits.maxComputeInvocationsPerWorkgroup,maxComputeWorkgroupSizeX:e.limits.maxComputeWorkgroupSizeX,maxComputeWorkgroupSizeY:e.limits.maxComputeWorkgroupSizeY,maxComputeWorkgroupSizeZ:e.limits.maxComputeWorkgroupSizeZ},requiredFeatures:n},i=s=>e.features.has(s)&&n.push(s)&&!0;i("chromium-experimental-timestamp-query-inside-passes")||i("timestamp-query"),i("shader-f16"),i("subgroups"),this.device=await e.requestDevice(r),this.adapterInfo=new AC(e.info||await e.requestAdapterInfo()),this.gpuDataManager=DP(this),this.programManager=new v$(this),this.kernels=new Map,this.kernelPersistentData=new Map,this.kernelCustomData=new Map,Rw(t.logLevel,!!t.debug),this.device.onuncapturederror=s=>{s.error instanceof GPUValidationError&&console.error(`An uncaught WebGPU validation error was raised: ${s.error.message}`)},Object.defineProperty(this.env.webgpu,"device",{value:this.device,writable:!1,enumerable:!0,configurable:!1}),Object.defineProperty(this.env.webgpu,"adapter",{value:e,writable:!1,enumerable:!0,configurable:!1}),this.setQueryType()}dispose(){typeof this.querySet<"u"&&this.querySet.destroy(),this.gpuDataManager.dispose()}getCommandEncoder(){return this.commandEncoder||(this.commandEncoder=this.device.createCommandEncoder()),this.commandEncoder}getComputePassEncoder(){if(!this.computePassEncoder){let t=this.getCommandEncoder(),e={};this.queryType==="at-passes"&&(e.timestampWrites={querySet:this.querySet,beginningOfPassWriteIndex:this.pendingDispatchNumber*2,endOfPassWriteIndex:this.pendingDispatchNumber*2+1}),this.computePassEncoder=t.beginComputePass(e)}return this.computePassEncoder}endComputePass(){this.computePassEncoder&&(this.computePassEncoder.end(),this.computePassEncoder=null)}flush(){if(!this.commandEncoder)return;Ks(),this.endComputePass();let t;this.queryType!=="none"&&(this.commandEncoder.resolveQuerySet(this.querySet,0,this.pendingDispatchNumber*2,this.queryResolveBuffer,0),t=this.device.createBuffer({size:this.pendingDispatchNumber*2*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),this.pendingQueries.set(t,this.pendingKernels),this.pendingKernels=[],this.commandEncoder.copyBufferToBuffer(this.queryResolveBuffer,0,t,0,this.pendingDispatchNumber*2*8)),this.device.queue.submit([this.commandEncoder.finish()]),this.gpuDataManager.refreshPendingBuffers(),this.commandEncoder=null,this.pendingDispatchNumber=0,this.queryType!=="none"&&t.mapAsync(GPUMapMode.READ).then(()=>{let e=new BigUint64Array(t.getMappedRange()),n=this.pendingQueries.get(t);for(let r=0;r<e.length/2;r++){let i=n[r],s=i.kernelId,o=this.kernels.get(s),a=o.kernelType,u=o.kernelName,d=i.programName,f=i.inputTensorViews,h=i.outputTensorViews,p=e[r*2],m=e[r*2+1];typeof this.queryTimeBase>"u"&&(this.queryTimeBase=p);let _=Number(p-this.queryTimeBase),x=Number(m-this.queryTimeBase);if(!Number.isSafeInteger(_)||!Number.isSafeInteger(x))throw new RangeError("incorrect timestamp range");if(this.env.webgpu.profiling?.ondata)this.env.webgpu.profiling.ondata({version:1,inputsMetadata:f.map(y=>({dims:y.dims,dataType:wo(y.dataType)})),outputsMetadata:h.map(y=>({dims:y.dims,dataType:wo(y.dataType)})),kernelId:s,kernelType:a,kernelName:u,programName:d,startTime:_,endTime:x});else{let y="";f.forEach((b,S)=>{y+=`input[${S}]: [${b.dims}] | ${wo(b.dataType)}, `});let v="";h.forEach((b,S)=>{v+=`output[${S}]: [${b.dims}] | ${wo(b.dataType)}, `}),console.log(`[profiling] kernel "${s}|${a}|${u}|${d}" ${y}${v}start time: ${_} ns, execution time: ${x-_} ns`)}Lm("GPU",`${d}::${p}::${m}`)}t.unmap(),this.pendingQueries.delete(t)}),ms()}run(t,e,n,r,i,s){Ks(t.name);let o=[];for(let b=0;b<e.length;++b){let S=e[b].data;if(S===0)continue;let E=this.gpuDataManager.get(S);if(!E)throw new Error(`no GPU data for input: ${S}`);o.push(E)}let{outputs:a,dispatchGroup:u,programUniforms:d}=t.getRunData(e),f=n.length===0?a.map((b,S)=>S):n;if(f.length!==a.length)throw new Error(`Output size ${f.length} must be equal to ${a.length}.`);let h=[],p=[];for(let b=0;b<a.length;++b){if(!Number.isInteger(f[b])||f[b]<-3||f[b]>=s)throw new Error(`Invalid output index: ${f[b]}`);if(f[b]===-3)continue;let S=f[b]===-1,E=f[b]===-2,T=S||E?i(a[b].dataType,a[b].dims):r(f[b],a[b].dataType,a[b].dims);if(h.push(T),T.data===0)continue;let A=this.gpuDataManager.get(T.data);if(!A)throw new Error(`no GPU data for output: ${T.data}`);if(S&&this.temporaryData.push(A),E){let k=this.kernelPersistentData.get(this.currentKernelId);k||(k=[],this.kernelPersistentData.set(this.currentKernelId,k)),k.push(A)}p.push(A)}if(o.length!==e.length||p.length!==h.length){if(p.length===0)return ms(t.name),h;throw new Error(`Program ${t.name} has zero-sized tensor(s) in inputs or outputs. This is not supported now.`)}let m;if(d){let b=0,S=[];d.forEach(k=>{let I=typeof k.data=="number"?[k.data]:k.data;if(I.length===0)return;let P=k.type===10?2:4,$,X;k.type===10?(X=I.length>4?16:I.length>2?8:I.length*P,$=I.length>4?16:P*I.length):(X=I.length<=2?I.length*P:16,$=16),b=Math.ceil(b/X)*X,S.push(b);let L=k.type===10?8:4;b+=I.length>4?Math.ceil(I.length/L)*$:I.length*P});let E=16;b=Math.ceil(b/E)*E;let T=new ArrayBuffer(b);d.forEach((k,I)=>{let P=S[I],$=typeof k.data=="number"?[k.data]:k.data;if(k.type===6)new Int32Array(T,P,$.length).set($);else if(k.type===12)new Uint32Array(T,P,$.length).set($);else if(k.type===10)new Uint16Array(T,P,$.length).set($);else if(k.type===1)new Float32Array(T,P,$.length).set($);else throw new Error(`Unsupported uniform type: ${wo(k.type)}`)});let A=this.gpuDataManager.create(b,GPUBufferUsage.COPY_DST|GPUBufferUsage.UNIFORM);this.device.queue.writeBuffer(A.buffer,0,T,0,b),this.gpuDataManager.release(A.id),m={offset:0,size:b,buffer:A.buffer}}let _=this.programManager.normalizeDispatchGroupSize(u),x=_[1]===1&&_[2]===1,y=CC(t,e,x),v=this.programManager.getArtifact(y);if(v||(v=this.programManager.build(t,_),this.programManager.setArtifact(y,v),on("info",()=>`[artifact] key: ${y}, programName: ${t.name}`)),d&&v.uniformVariablesInfo){if(d.length!==v.uniformVariablesInfo.length)throw new Error(`Uniform variables count mismatch: expect ${v.uniformVariablesInfo.length}, got ${d.length} in program "${v.programInfo.name}".`);for(let b=0;b<d.length;b++){let S=d[b],E=S.type,T=typeof S.data=="number"?1:S.data.length,[A,k]=v.uniformVariablesInfo[b];if(E!==A||T!==k)throw new Error(`Uniform variable ${b} mismatch: expect type ${A} with size ${k}, got type ${E} with size ${T} in program "${v.programInfo.name}".`)}}if(on("info",()=>`[ProgramManager] run "${t.name}" (key=${y}) with ${_[0]}x${_[1]}x${_[2]}`),this.queryType!=="none"||this.sessionStatus==="capturing"){let b={kernelId:this.currentKernelId,programName:v.programInfo.name,inputTensorViews:e,outputTensorViews:h};this.pendingKernels.push(b),this.sessionStatus==="capturing"&&this.capturedPendingKernels.get(this.currentSessionId).push(b)}return this.programManager.run(v,o,p,_,m),ms(t.name),h}upload(t,e){this.gpuDataManager.upload(t,e)}memcpy(t,e){this.gpuDataManager.memcpy(t,e)}async download(t,e){await this.gpuDataManager.download(t,e)}alloc(t){return this.gpuDataManager.create(t).id}free(t){return this.gpuDataManager.release(t)}createKernel(t,e,n,r){let i=g$.get(t);if(!i)throw new Error(`kernel not implemented: ${t}`);let s={kernelType:t,kernelName:r,kernelEntry:i[0],attributes:[i[1],n]};this.kernels.set(e,s)}releaseKernel(t){let e=this.kernelPersistentData.get(t);if(e){for(let n of e)this.gpuDataManager.release(n.id);this.kernelPersistentData.delete(t)}this.kernelCustomData.delete(t),this.kernels.delete(t)}computeKernel(t,e,n){let r=this.kernels.get(t);if(!r)throw new Error(`kernel not created: ${t}`);let i=r.kernelType,s=r.kernelName,o=r.kernelEntry,a=r.attributes;if(this.currentKernelId!==null)throw new Error(`kernel "[${i}] ${s}" is not allowed to be called recursively`);this.currentKernelId=t,a[0]&&(a[1]=a[0](a[1]),a[0]=void 0),on("info",()=>`[WebGPU] Start to run kernel "[${i}] ${s}"...`);let u=this.env.debug;this.temporaryData=[];try{return u&&this.device.pushErrorScope("validation"),o(e,a[1]),0}catch(d){return n.push(Promise.resolve(`[WebGPU] Kernel "[${i}] ${s}" failed. ${d}`)),1}finally{u&&n.push(this.device.popErrorScope().then(d=>d?`GPU validation error for kernel "[${i}] ${s}": ${d.message}`:null));for(let d of this.temporaryData)this.gpuDataManager.release(d.id);this.temporaryData=[],this.currentKernelId=null}}registerBuffer(t,e,n,r){let i=this.sessionExternalDataMapping.get(t);i||(i=new Map,this.sessionExternalDataMapping.set(t,i));let s=i.get(e),o=this.gpuDataManager.registerExternalBuffer(n,r,s);return i.set(e,[o,n]),o}unregisterBuffers(t){let e=this.sessionExternalDataMapping.get(t);e&&(e.forEach(n=>this.gpuDataManager.unregisterExternalBuffer(n[0])),this.sessionExternalDataMapping.delete(t))}getBuffer(t){let e=this.gpuDataManager.get(t);if(!e)throw new Error(`no GPU data for buffer: ${t}`);return e.buffer}createDownloader(t,e,n){return async()=>{let r=await x_(this,t,e);return Iw(r.buffer,n)}}writeTimestamp(t){this.queryType==="inside-passes"&&this.computePassEncoder.writeTimestamp(this.querySet,t)}setQueryType(){this.queryType="none",(this.env.webgpu.profiling?.mode==="default"||(typeof this.env.trace>"u"?this.env.wasm.trace:this.env.trace))&&(this.device.features.has("chromium-experimental-timestamp-query-inside-passes")?this.queryType="inside-passes":this.device.features.has("timestamp-query")&&(this.queryType="at-passes"),this.queryType!=="none"&&typeof this.querySet>"u"&&(this.querySet=this.device.createQuerySet({type:"timestamp",count:this.maxDispatchNumber*2}),this.queryResolveBuffer=this.device.createBuffer({size:this.maxDispatchNumber*2*8,usage:GPUBufferUsage.COPY_SRC|GPUBufferUsage.QUERY_RESOLVE})))}captureBegin(){on("info","captureBegin"),this.capturedCommandList.get(this.currentSessionId)||this.capturedCommandList.set(this.currentSessionId,[]),this.capturedPendingKernels.get(this.currentSessionId)||this.capturedPendingKernels.set(this.currentSessionId,[]),this.flush(),this.sessionStatus="capturing"}captureEnd(){on("info","captureEnd"),this.flush(),this.sessionStatus="default"}replay(){on("info","replay"),this.sessionStatus="replaying";let t=this.capturedCommandList.get(this.currentSessionId),e=this.capturedPendingKernels.get(this.currentSessionId),n=t.length;this.pendingKernels=[];for(let r=0;r<n;r++){let i=this.getComputePassEncoder(),s=t[r];this.writeTimestamp(this.pendingDispatchNumber*2),i.setPipeline(s.computePipeline),i.setBindGroup(0,s.bindGroup),i.dispatchWorkgroups(...s.dispatchGroup),this.writeTimestamp(this.pendingDispatchNumber*2+1),this.pendingDispatchNumber++,this.queryType!=="none"&&this.pendingKernels.push(e[r]),(this.pendingDispatchNumber>=this.maxDispatchNumber||this.queryType==="at-passes")&&this.endComputePass(),this.pendingDispatchNumber>=this.maxDispatchNumber&&this.flush()}this.flush(),this.sessionStatus="default"}onCreateSession(){this.gpuDataManager.onCreateSession()}onReleaseSession(t){this.unregisterBuffers(t),this.capturedCommandList.has(t)&&this.capturedCommandList.delete(t),this.capturedPendingKernels.has(t)&&this.capturedPendingKernels.delete(t),this.gpuDataManager.onReleaseSession(t)}onRunStart(t){this.currentSessionId=t,this.setQueryType()}}}),_$={};Hc(_$,{init:()=>b$});var em,RC,b$,i7=Ze(()=>{$t(),No(),Gt(),fj(),em=class w${constructor(e,n,r,i){this.module=e,this.dataType=n,this.data=r,this.dims=i}getFloat32Array(){if(this.dataType!==1)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Float32Array:new Float32Array(this.module.HEAP8.buffer,this.data,e)}getBigInt64Array(){if(this.dataType!==7)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new BigInt64Array:new BigInt64Array(this.module.HEAP8.buffer,this.data,e)}getInt32Array(){if(this.dataType!==6)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Int32Array:new Int32Array(this.module.HEAP8.buffer,this.data,e)}getUint16Array(){if(this.dataType!==10&&this.dataType!==4)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Uint16Array:new Uint16Array(this.module.HEAP8.buffer,this.data,e)}reshape(e){if(Le.size(e)!==Le.size(this.dims))throw new Error("Invalid new shape");return new 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ti(t[0],t[2],t[1]);case"gpu-buffer":{let e=t[0];if(!Tw(e))throw new Error(`not supported data type: ${e} for deserializing GPU tensor`);let{gpuBuffer:n,download:r,dispose:i}=t[2];return ti.fromGpuBuffer(n,{dataType:e,dims:t[1],download:r,dispose:i})}case"ml-tensor":{let e=t[0];if(!Cw(e))throw new Error(`not supported data type: ${e} for deserializing MLTensor tensor`);let{mlTensor:n,download:r,dispose:i}=t[2];return ti.fromMLTensor(n,{dataType:e,dims:t[1],download:r,dispose:i})}default:throw new Error(`invalid data location: ${t[3]}`)}},k$=class{async fetchModelAndCopyToWasmMemory(t){return T$(await Aw(t))}async loadModel(t,e){Ks();let n;typeof t=="string"?n=await this.fetchModelAndCopyToWasmMemory(t):n=t,[this.sessionId,this.inputNames,this.outputNames,this.inputMetadata,this.outputMetadata]=await C$(n,e),ms()}async dispose(){return A$(this.sessionId)}async run(t,e,n){Ks();let r=[],i=[];Object.entries(t).forEach(h=>{let p=h[0],m=h[1],_=this.inputNames.indexOf(p);if(_===-1)throw new 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Reset it to \`false\` and ignore SIMD feature checking.`),En.wasm.simd=!1),typeof En.wasm.proxy!="boolean"&&(En.wasm.proxy=!1),typeof En.wasm.trace!="boolean"&&(En.wasm.trace=!1),typeof En.wasm.numThreads!="number"||!Number.isInteger(En.wasm.numThreads)||En.wasm.numThreads<=0)if(typeof self<"u"&&!self.crossOriginIsolated)En.wasm.numThreads=1;else{let e=typeof navigator>"u"?WW("node:os").cpus().length:navigator.hardwareConcurrency;En.wasm.numThreads=Math.min(4,Math.ceil((e||1)/2))}},P_=class{async init(t){I_(),await E$(),await M$(t)}async createInferenceSessionHandler(t,e){let n=new k$;return await n.loadModel(t,e),n}},$$=new P_});Bi();Bi();Bi();var a7="1.24.2";{let t=(o7(),Vf(D$)).wasmBackend;lc("webgpu",t,5),lc("webnn",t,5),lc("cpu",t,10),lc("wasm",t,10)}Object.defineProperty(En.versions,"web",{value:a7,enumerable:!0});class l7{constructor(e,n={}){this.config=e,this.options=n,this.policyModule=null,this.obsGroups={},this.obsLayouts={},this.obsSizes={},this.historyConfig={},this.historyBuffers={},this.defaultObsKey=null,this.context=null,this.policyJointNames=(e.policy_joint_names??[]).slice(),this.numActions=this.policyJointNames.length,this.lastActions=new Float32Array(this.numActions),this.defaultJointPos=this.normalizeArray(e.default_joint_pos??[],this.numActions,0)}async init(e){this.context=e,this.policyModule=await this.buildPolicyModule(e),this.buildObservationGroups()}reset(e){this.lastActions.fill(0),this.policyModule?.reset();for(const n of Object.values(this.obsGroups))for(const r of n)r.reset&&r.reset(e);if(e){for(const[n,r]of Object.entries(this.historyConfig))if(r.steps>1){const i=this.buildFrame(this.obsGroups[n]??[],e),s=this.historyBuffers[n];for(let o=0;o<r.steps;o++)s.set(i,o*i.length)}}}update(e){this.policyModule?.update();for(const n of Object.values(this.obsGroups))for(const r of n)r.update&&r.update(e)}collectObservationsByKey(e){this.update(e);const n={};for(const[r,i]of Object.entries(this.obsGroups)){const s=this.historyConfig[r];if(s&&s.steps>1){const o=this.buildFrame(i,e),a=this.historyBuffers[r];for(let u=a.length-1;u>=o.length;u--)a[u]=a[u-o.length];a.set(o,0),n[r]=new Float32Array(a)}else n[r]=this.buildFrame(i,e)}return n}collectObservations(e){const n=this.collectObservationsByKey(e);if(this.defaultObsKey&&n[this.defaultObsKey])return n[this.defaultObsKey];const r=Object.keys(n)[0];return r?n[r]:new Float32Array(0)}getObservationSize(){if(this.defaultObsKey&&this.obsSizes[this.defaultObsKey]!==void 0)return this.obsSizes[this.defaultObsKey];const e=Object.keys(this.obsSizes)[0];return e?this.obsSizes[e]:0}getObservationLayout(){if(this.defaultObsKey&&this.obsLayouts[this.defaultObsKey])return this.obsLayouts[this.defaultObsKey].map(n=>({...n}));const e=Object.keys(this.obsLayouts)[0];return e?this.obsLayouts[e].map(n=>({...n})):[]}getPolicyModuleContext(){return this.policyModule?.getContext()??{}}getPolicyModule(){return this.policyModule}getContext(){return this.context}getPolicyJointNames(){return this.policyJointNames.slice()}getNumActions(){return this.numActions}getDefaultJointPos(){return new Float32Array(this.defaultJointPos)}getLastActions(){return new Float32Array(this.lastActions)}setLastActions(e){if(e.length!==this.lastActions.length){this.lastActions=new Float32Array(e);return}this.lastActions.set(e)}async buildPolicyModule(e){const n=this.options.policyModules??{},r=this.config.policy_module,i=r?n[r]:n.default;if(r&&!i)throw new Error(`Unknown policy module: ${r}`);if(!i)return null;const s=new i(this.config);return await s.init(e),s}buildObservationGroups(){const e=this.options.observations??{},n=this.config.obs_config??{};this.obsGroups={},this.obsLayouts={},this.obsSizes={},this.historyConfig={},this.historyBuffers={},this.defaultObsKey=null;for(const[r,i]of Object.entries(n)){if(Array.isArray(i)){const s=i.map(o=>{const a=e[o.name];if(!a)throw new Error(`Unknown observation type: ${o.name}`);return new a(this,o)});this.registerGroup(r,s,i);continue}if(i&&typeof i=="object"){const s=i;if(Array.isArray(s.components)){const o=s.components.map(d=>{const f=e[d.name];if(!f)throw new Error(`Unknown observation type: ${d.name}`);const h={...d,history_steps:1};return new f(this,h)}),a=Math.max(1,Math.floor(s.history_steps??1)),u=!!s.interleaved;this.registerGroup(r,o,s.components,{steps:a,interleaved:u})}}}this.obsGroups.policy?this.defaultObsKey="policy":this.obsGroups.observation?this.defaultObsKey="observation":this.obsGroups.obs_history?this.defaultObsKey="obs_history":this.defaultObsKey=Object.keys(this.obsGroups)[0]??null}registerGroup(e,n,r,i){this.obsGroups[e]=n,this.obsLayouts[e]=n.map((o,a)=>({name:r[a]?.name??`obs_${a}`,size:o.size}));const s=this.obsLayouts[e].reduce((o,a)=>o+a.size,0);i&&i.steps>1?(this.historyConfig[e]=i,this.historyBuffers[e]=new Float32Array(s*i.steps),this.obsSizes[e]=s*i.steps):this.obsSizes[e]=s}buildFrame(e,n){const r=e.reduce((o,a)=>o+a.size,0),i=new Float32Array(r);let s=0;for(const o of e){const a=o.compute(n),u=a instanceof Float32Array?a:Float32Array.from(a);if(u.length!==o.size)throw new Error(`Observation size mismatch: expected ${o.size}, got ${u.length}`);i.set(u,s),s+=u.length}return i}normalizeArray(e,n,r){const i=new Float32Array(n);for(let s=0;s<n;s++)i[s]=typeof e[s]=="number"?e[s]:r;return i}}En.wasm.proxy=!1;En.wasm.numThreads=1;class u7{constructor(e){if(!e?.path)throw new Error("OnnxModule requires a path.");this.config=e,this.session=null;const n=e.meta?.in_keys??["policy"],r=e.meta?.out_keys??["action"];this.inKeys=n.map(i=>Array.isArray(i)?i.join(","):i),this.outKeys=r.map(i=>Array.isArray(i)?i.join(","):i),this.isRecurrent=this.inKeys.includes("adapt_hx")}async init(){const e=await fetch(this.config.path);if(!e.ok)throw new Error(`Failed to fetch ONNX model: ${e.status}`);const n=await e.arrayBuffer();this.session=await bw.create(n,{executionProviders:["wasm"],graphOptimizationLevel:"all"})}initInput(){return this.isRecurrent?{is_init:new ti("bool",[!0],[1]),adapt_hx:new ti("float32",new Float32Array(128),[1,128])}:{}}async runInference(e){if(!this.session)throw new Error("OnnxModule not initialized.");const n={};for(let o=0;o<this.inKeys.length;o++){const a=this.inKeys[o],u=this.session.inputNames[o];if(!u||!e[a])throw new Error(`Missing ONNX input for key: ${a}`);n[u]=e[a]}const r=await this.session.run(n),i={};for(let o=0;o<this.outKeys.length;o++){const a=this.outKeys[o],u=this.session.outputNames[o];u&&r[u]&&(i[a]=r[u])}const s={};return this.isRecurrent&&i["next,adapt_hx"]&&(s.is_init=new ti("bool",[!1],[1]),s.adapt_hx=i["next,adapt_hx"]),[i,s]}}class c7{constructor(e,n,r,i){this.mujoco=e,this.mjModel=n,this.mjData=r;const s=this.getJointNames(n);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(const o of i){const a=s.indexOf(o);if(a<0)throw new Error(`Joint "${o}" not found in MuJoCo model`);this.qposAdr.push(n.jnt_qposadr[a]),this.qvelAdr.push(n.jnt_dofadr[a]),this.jointIndices.push(a)}this.numActions=i.length,this.ctrlAdr=this.buildCtrlAdr()}build(){const e=this.mjData.qpos,n=this.mjData.qvel,r=new Float32Array(this.numActions),i=new Float32Array(this.numActions);for(let d=0;d<this.numActions;d++)r[d]=e[this.qposAdr[d]],i[d]=n[this.qvelAdr[d]];const s=new Float32Array([e[0],e[1],e[2]]),o=new Float32Array([e[3],e[4],e[5],e[6]]),a=new Float32Array([n[0],n[1],n[2]]),u=new Float32Array([n[3],n[4],n[5]]);return{jointPos:r,jointVel:i,rootPos:s,rootQuat:o,rootLinVel:a,rootAngVel:u}}getControlMapping(){return this.ctrlAdr?{ctrlAdr:this.ctrlAdr.slice(),qposAdr:this.qposAdr.slice(),qvelAdr:this.qvelAdr.slice()}:null}buildCtrlAdr(){if(this.mjModel.nu<=0)return null;const e=this.mujoco.mjtTrn?.mjTRN_JOINT?.value,n=[];for(let i=0;i<this.mjModel.nu;i++){const s=this.mjModel.actuator_trntype[i];e===void 0||s===e?n.push(this.mjModel.actuator_trnid[2*i]):n.push(-1)}const r=[];for(const i of this.jointIndices){const s=n.findIndex(o=>o===i);if(s<0)return null;r.push(s)}return r}getJointNames(e){const n=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let o=e.name_jntadr[s],a=o;for(;a<n.length&&n[a]!==0;)a++;let u=r.decode(n.subarray(o,a));!u&&s===0&&(u="floating_base_joint"),i.push(u)}return i}}class N${constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}}class d7{constructor(e){this.policyJointNames=(e.policy_joint_names??[]).slice(),this.datasetJointNames=(e.dataset_joint_names??[]).slice(),this.nJoints=this.datasetJointNames.length||this.policyJointNames.length||0,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.currentName="default",this.currentDone=!0}reset(e){const n=e?.jointPos??new Float32Array(this.nJoints),r=e?.rootPos??new Float32Array([0,0,0]),i=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(n)],this.refRootPos=[Float32Array.from(r)],this.refRootQuat=[Float32Array.from(i)],this.refIdx=0,this.refLen=1,this.currentDone=!0,this.currentName="default"}advance(){this.refLen<=1||this.refIdx<this.refLen-1&&(this.refIdx+=1,this.refIdx===this.refLen-1&&(this.currentDone=!0))}isReady(){return this.refLen>0}}class f7 extends N${constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);const n=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:n};this.tracking=new d7(r)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}}class h7{constructor(e){this.policyJointNames=(e.policy_joint_names??[]).slice(),this.datasetJointNames=(e.dataset_joint_names??[]).slice(),this.nJoints=this.datasetJointNames.length||this.policyJointNames.length||0,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.currentName="default",this.currentDone=!0}reset(e){const n=e?.jointPos??new Float32Array(this.nJoints),r=e?.rootPos??new Float32Array([0,0,0]),i=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(n)],this.refRootPos=[Float32Array.from(r)],this.refRootQuat=[Float32Array.from(i)],this.refIdx=0,this.refLen=1,this.currentDone=!0,this.currentName="default"}advance(){this.refLen<=1||this.refIdx<this.refLen-1&&(this.refIdx+=1,this.refIdx===this.refLen-1&&(this.currentDone=!0))}isReady(){return this.refLen>0}}class p7 extends N${constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);const n=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:n};this.locomotion=new h7(r)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}}class m7{constructor(e,n,r={}){this.render=()=>{if(this.controls.update(),this.mjModel&&this.mjData&&this.bodies){rW(this.camera,this.lights);for(const[a,u]of this.lastSimState.bodies){const d=this.bodies[a];d&&(d.position.copy(u.position),d.quaternion.copy(u.quaternion),d.updateWorldMatrix(!0,!1))}nW(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&uW({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{const{width:a,height:u}=this.getSize();this.camera.aspect=a/u,this.camera.updateProjectionMatrix(),this.renderer.setSize(a,u)},this.mujoco=e,this.container=n,this.baseUrl=r.baseUrl||"/";const i="/working";try{this.mujoco.FS.mkdir(i)}catch(a){a&&typeof a=="object"&&"code"in a&&a.code!=="EEXIST"&&console.warn("Failed to create /working directory:",a)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:"."},i)}catch(a){a&&typeof a=="object"&&"code"in a&&a.code!=="EEXIST"&&a.code!=="EBUSY"&&console.warn("Failed to mount MEMFS at /working:",a)}const{width:s,height:o}=this.getSize();this.scene=new I8,this.scene.name="scene",this.scene.background=new Ot(.15,.25,.35),this.camera=new ei(45,s/o,.001,1e3),this.camera.name="PerspectiveCamera",this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new $G({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(s,o),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=_I,this.renderer.outputColorSpace=Ul,this.renderer.toneMapping=bI,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.controls=new LG(this.camera,this.renderer.domElement),this.controls.target.set(0,.2,0),this.controls.panSpeed=2,this.controls.zoomSpeed=1,this.controls.enableDamping=!0,this.controls.dampingFactor=.1,this.controls.screenSpacePanning=!0,this.controls.update(),this.renderer.setAnimationLoop(this.render),window.addEventListener("resize",this.onWindowResize),"ResizeObserver"in window?(this.resizeObserver=new ResizeObserver(()=>this.onWindowResize()),this.resizeObserver.observe(this.container)):this.resizeObserver=null,this.lastSimState={bodies:new Map,tendons:cW()},this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.loopPromise=null,this.running=!1,this.timestep=.001,this.decimation=1,this.loadingScene=null,this.dragStateManager=null,this.dragForceScale=100,this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.policyDebugCounter=0,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.sceneCacheManager=m_.getInstance(this.mujoco),this.resourceTracker=new yW,this.memoryMonitor=new xW}async loadEnvironment(e,n=null){await this.stop();const r=performance.now();if(this.initializeCommands(),this.sceneCacheManager.has(e)){await this.restoreFromCache(e);const i=performance.now()-r;this.memoryMonitor.logCacheOperation("hit",e,{elapsedMs:i})}else this.memoryMonitor.logCacheOperation("miss",e),await this.sceneCacheManager.prepareForNewScene(),this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.resourceTracker.startTracking(this.mujoco),await vW(this.mujoco,e,this.baseUrl),await this.loadScene(e),await this.captureAndCacheResources(e);await this.loadPolicyConfig(n),this.running=!0,this.startLoop()}initializeCommands(){const e=$i();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e){$i().registerCommandsFromConfig(e),console.log("[mjswanRuntime] Commands loaded from policy config:",Object.keys(e))}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){const e=this.policyStateBuilder.build();this.policyRunner.reset(e)}console.log("[mjswanRuntime] Simulation reset")}async loadScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{const n=this.scene.getObjectByName("MuJoCo Root");n&&this.scene.remove(n);const r={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await gW(this.mujoco,e,r),!this.mjModel||!this.mjData)throw new Error("Failed to load MuJoCo model.");this.mujocoRoot=this.scene.getObjectByName("MuJoCo Root"),this.mujoco.mj_forward(this.mjModel,this.mjData),this.timestep=this.mjModel.opt.timestep||.001,this.decimation=Math.max(1,Math.round(.02/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager||(this.dragStateManager=new Q3({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls})),this.loadingScene=null})(),await this.loadingScene}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async stop(){this.running=!1;const e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){const e=performance.now();if(this.mjModel&&this.mjData){if(this.policyRunner&&this.policyStateBuilder){const s=this.policyStateBuilder.build(),o=this.policyRunner.collectObservationsByKey(s);if(await this.runOnnxInference(o),this.policyDebugCounter%60===0){const a="policy"in o?"policy":"observation"in o?"observation":Object.keys(o)[0],u=a?o[a]:null,d=u?Array.from(u.slice(0,8)):[];console.log("[PolicyRunner] obs",{key:a,size:u?u.length:0,sample:d})}this.policyDebugCounter+=1}this.executeSimulationSteps(),this.updateCachedState()}const n=(performance.now()-e)/1e3,r=this.timestep*this.decimation,i=Math.max(0,r-n);i>0&&await new Promise(s=>setTimeout(s,i*1e3))}this.loopPromise=null}async loadPolicyConfig(e){const n=this.policyConfigPath;this.policyConfigPath=e,this.policyRunner=null,this.policyStateBuilder=null,this.policyDebugCounter=0,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1;const r=$i();if(r.clear(),r.setResetCallback(()=>this.resetSimulation()),!!e){if(!this.mjModel||!this.mjData){console.warn("Policy config loaded before MuJoCo model is ready.");return}e!==n&&this.resetSimulationState();try{const{config:i}=await this.fetchPolicyConfig(e);if(i.commands&&typeof i.commands=="object"&&this.initializeCommandsFromConfig(i.commands),!i.policy_joint_names||i.policy_joint_names.length===0)throw new Error("Policy config missing policy_joint_names.");const s=new l7(i,{policyModules:{tracking:f7,locomotion:p7},observations:BW});await s.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData}),this.policyRunner=s,this.policyStateBuilder=new c7(this.mujoco,this.mjModel,this.mjData,s.getPolicyJointNames());const o=this.policyStateBuilder.build();if(this.policyRunner.reset(o),this.policyControl=this.buildPolicyControl(i,s,this.policyStateBuilder),i.onnx?.path){const a=this.resolvePolicyAssetPath(e,i.onnx.path),u=this.resolveAssetUrl(a),d={...i.onnx,path:u},f=new u7(d);await f.init(),this.onnxModule=f,this.onnxInputDict=f.initInput()}console.log("[PolicyRunner] config loaded",{obsSize:s.getObservationSize(),obsLayout:s.getObservationLayout(),pdEnabled:this.policyControl!==null})}catch(i){console.warn("Failed to load policy config:",i)}}}async fetchPolicyConfig(e){const n=this.resolveAssetUrl(e),r=await fetch(n,{cache:"no-store"});if(!r.ok)throw new Error(`Failed to fetch policy config: ${r.status}`);return{config:await r.json(),resolvedUrl:n}}resolveAssetUrl(e){if(/^[a-z]+:\/\//i.test(e))return e;const n=(this.baseUrl||"/").replace(/\/+$/,"/"),r=new URL(n,window.location.origin+"/").toString();return new URL(e.replace(/^\/+/,""),r).toString()}resolvePolicyAssetPath(e,n){const r=e.replace(/\\/g,"/"),i=r.lastIndexOf("/");return i>=0?`${r.slice(0,i+1)}${n}`.replace(/\/+/g,"/"):n}buildPolicyControl(e,n,r){const i=e.control_type??"joint_position";if(i!=="joint_position"&&i!=="torque")return console.warn(`[PolicyRunner] Unsupported control_type: ${i}`),null;const s=r.getControlMapping();if(!s)return console.warn("[PolicyRunner] Failed to build control mapping."),null;const o=s.qposAdr.length,a=this.normalizeControlArray(e.action_scale,o,1),u=n.getDefaultJointPos(),d=this.normalizeControlArray(e.stiffness,o,0),f=this.normalizeControlArray(e.damping,o,0);return{controlType:i,...s,actionScale:a,defaultJointPos:u,kp:d,kd:f}}normalizeControlArray(e,n,r){const i=new Float32Array(n);if(typeof e=="number")return i.fill(e),i;if(Array.isArray(e)){for(let s=0;s<n;s++)i[s]=typeof e[s]=="number"?e[s]:r;return i}return i.fill(r),i}resetSimulationState(){!this.mjModel||!this.mjData||(this.mujoco.mj_resetData(this.mjModel,this.mjData),this.mujoco.mj_forward(this.mjModel,this.mjData),this.lastSimState.bodies.clear(),this.updateCachedState())}executeSimulationSteps(){if(!(!this.mjModel||!this.mjData)){this.applyDragForces();for(let e=0;e<this.decimation;e++)this.applyPolicyControl(),this.mujoco.mj_step(this.mjModel,this.mjData)}}applyPolicyControl(){if(!this.policyControl||!this.mjData)return;const{controlType:e,ctrlAdr:n,qposAdr:r,qvelAdr:i,actionScale:s,defaultJointPos:o,kp:a,kd:u}=this.policyControl,d=n.length,f=this.policyRunner?.getLastActions()??new Float32Array(d),h=this.mjData.ctrl;if(h.fill(0),e==="joint_position")for(let p=0;p<d;p++){const m=o[p]+s[p]*f[p],_=this.mjData.qpos[r[p]],x=this.mjData.qvel[i[p]],y=a[p]*(m-_)+u[p]*(0-x),v=n[p];v>=0&&(h[v]=y)}else if(e==="torque")for(let p=0;p<d;p++){const m=n[p];m>=0&&(h[m]=s[p]*f[p])}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||(this.onnxInputDict=this.onnxModule.initInput());const n={...this.onnxInputDict};for(const[u,d]of Object.entries(e))n[u]=new ti("float32",d,[1,d.length]);for(const u of this.onnxModule.inKeys)if(!n[u]){console.warn("[PolicyRunner] Missing ONNX input:",{key:u,available:Object.keys(n)});return}const[r,i]=await this.onnxModule.runInference(n);Object.keys(i).length>0&&(this.onnxInputDict={...this.onnxInputDict,...i});const s=r.action??r.policy??null;if(!s)return;const o=s.data,a=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o);if(this.policyControl&&a.length!==this.policyControl.ctrlAdr.length){console.warn("[PolicyRunner] Action size mismatch:",{expected:this.policyControl.ctrlAdr.length,got:a.length});return}this.policyRunner.setLastActions(a)}catch(n){console.warn("[PolicyRunner] ONNX inference failed:",n)}finally{this.onnxInferencing=!1}}}applyDragForces(){if(!this.dragStateManager||!this.mjModel||!this.mjData||!this.bodies)return;for(let p=0;p<this.mjData.xfrc_applied.length;p++)this.mjData.xfrc_applied[p]=0;const e=this.dragStateManager.physicsObject;if(!e||!("bodyID"in e)||typeof e.bodyID!="number"||e.bodyID<=0)return;const n=e.bodyID;for(let p=0;p<this.mjModel.nbody;p++)this.bodies[p]&&(Ff(this.mjData.xpos,p,this.bodies[p].position),p_(this.mjData.xquat,p,this.bodies[p].quaternion),this.bodies[p].updateWorldMatrix(!0,!1));this.dragStateManager.update();const r=this.dragStateManager.offset.clone().multiplyScalar(this.dragForceScale),i=Z3(r),s=this.dragStateManager.worldHit.clone(),o=Z3(s),a=new Ee(this.mjData.xpos[n*3+0],this.mjData.xpos[n*3+1],this.mjData.xpos[n*3+2]),u=new Ee(o.x-a.x,o.y-a.y,o.z-a.z),d=new Ee(i.x,i.y,i.z),f=new Ee().crossVectors(u,d),h=n*6;this.mjData.xfrc_applied[h+0]=i.x,this.mjData.xfrc_applied[h+1]=i.y,this.mjData.xfrc_applied[h+2]=i.z,this.mjData.xfrc_applied[h+3]=f.x,this.mjData.xfrc_applied[h+4]=f.y,this.mjData.xfrc_applied[h+5]=f.z}updateCachedState(){if(!(!this.mjModel||!this.mjData||!this.bodies)){for(let e=0;e<this.mjModel.nbody;e++)if(this.bodies[e]){this.lastSimState.bodies.has(e)||this.lastSimState.bodies.set(e,{position:new Ee,quaternion:new Di});const n=this.lastSimState.bodies.get(e);Ff(this.mjData.xpos,e,n.position),p_(this.mjData.xquat,e,n.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&lW(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}}dispose(){this.stop(),this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.dragStateManager&&(this.dragStateManager.dispose(),this.dragStateManager=null),this.mjData=null,this.mjModel=null,window.removeEventListener("resize",this.onWindowResize),this.resizeObserver?.disconnect(),this.resizeObserver=null,this.controls.dispose(),this.renderer.setAnimationLoop(null),this.renderer.dispose(),this.renderer.domElement.parentElement&&this.renderer.domElement.parentElement.removeChild(this.renderer.domElement),this.bodies=null,this.lights=[],this.mujocoRoot=null,this.lastSimState.bodies.clear()}disposeThreeJSResources(){if(this.scene)for(this.scene.traverse(e=>{"geometry"in 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_=this.programManager.normalizeDispatchGroupSize(u),x=_[1]===1&&_[2]===1,y=CC(t,e,x),v=this.programManager.getArtifact(y);if(v||(v=this.programManager.build(t,_),this.programManager.setArtifact(y,v),on("info",()=>`[artifact] key: ${y}, programName: ${t.name}`)),d&&v.uniformVariablesInfo){if(d.length!==v.uniformVariablesInfo.length)throw new Error(`Uniform variables count mismatch: expect ${v.uniformVariablesInfo.length}, got ${d.length} in program "${v.programInfo.name}".`);for(let b=0;b<d.length;b++){let S=d[b],E=S.type,T=typeof S.data=="number"?1:S.data.length,[A,k]=v.uniformVariablesInfo[b];if(E!==A||T!==k)throw new Error(`Uniform variable ${b} mismatch: expect type ${A} with size ${k}, got type ${E} with size ${T} in program "${v.programInfo.name}".`)}}if(on("info",()=>`[ProgramManager] run "${t.name}" (key=${y}) with ${_[0]}x${_[1]}x${_[2]}`),this.queryType!=="none"||this.sessionStatus==="capturing"){let b={kernelId:this.currentKernelId,programName:v.programInfo.name,inputTensorViews:e,outputTensorViews:h};this.pendingKernels.push(b),this.sessionStatus==="capturing"&&this.capturedPendingKernels.get(this.currentSessionId).push(b)}return this.programManager.run(v,o,p,_,m),ms(t.name),h}upload(t,e){this.gpuDataManager.upload(t,e)}memcpy(t,e){this.gpuDataManager.memcpy(t,e)}async download(t,e){await this.gpuDataManager.download(t,e)}alloc(t){return this.gpuDataManager.create(t).id}free(t){return this.gpuDataManager.release(t)}createKernel(t,e,n,r){let i=g$.get(t);if(!i)throw new Error(`kernel not implemented: ${t}`);let s={kernelType:t,kernelName:r,kernelEntry:i[0],attributes:[i[1],n]};this.kernels.set(e,s)}releaseKernel(t){let e=this.kernelPersistentData.get(t);if(e){for(let n of e)this.gpuDataManager.release(n.id);this.kernelPersistentData.delete(t)}this.kernelCustomData.delete(t),this.kernels.delete(t)}computeKernel(t,e,n){let r=this.kernels.get(t);if(!r)throw new Error(`kernel not created: ${t}`);let i=r.kernelType,s=r.kernelName,o=r.kernelEntry,a=r.attributes;if(this.currentKernelId!==null)throw new Error(`kernel "[${i}] ${s}" is not allowed to be called recursively`);this.currentKernelId=t,a[0]&&(a[1]=a[0](a[1]),a[0]=void 0),on("info",()=>`[WebGPU] Start to run kernel "[${i}] ${s}"...`);let u=this.env.debug;this.temporaryData=[];try{return u&&this.device.pushErrorScope("validation"),o(e,a[1]),0}catch(d){return n.push(Promise.resolve(`[WebGPU] Kernel "[${i}] ${s}" failed. ${d}`)),1}finally{u&&n.push(this.device.popErrorScope().then(d=>d?`GPU validation error for kernel "[${i}] ${s}": ${d.message}`:null));for(let d of this.temporaryData)this.gpuDataManager.release(d.id);this.temporaryData=[],this.currentKernelId=null}}registerBuffer(t,e,n,r){let i=this.sessionExternalDataMapping.get(t);i||(i=new Map,this.sessionExternalDataMapping.set(t,i));let s=i.get(e),o=this.gpuDataManager.registerExternalBuffer(n,r,s);return i.set(e,[o,n]),o}unregisterBuffers(t){let e=this.sessionExternalDataMapping.get(t);e&&(e.forEach(n=>this.gpuDataManager.unregisterExternalBuffer(n[0])),this.sessionExternalDataMapping.delete(t))}getBuffer(t){let e=this.gpuDataManager.get(t);if(!e)throw new Error(`no GPU data for buffer: ${t}`);return e.buffer}createDownloader(t,e,n){return async()=>{let r=await x_(this,t,e);return Iw(r.buffer,n)}}writeTimestamp(t){this.queryType==="inside-passes"&&this.computePassEncoder.writeTimestamp(this.querySet,t)}setQueryType(){this.queryType="none",(this.env.webgpu.profiling?.mode==="default"||(typeof this.env.trace>"u"?this.env.wasm.trace:this.env.trace))&&(this.device.features.has("chromium-experimental-timestamp-query-inside-passes")?this.queryType="inside-passes":this.device.features.has("timestamp-query")&&(this.queryType="at-passes"),this.queryType!=="none"&&typeof this.querySet>"u"&&(this.querySet=this.device.createQuerySet({type:"timestamp",count:this.maxDispatchNumber*2}),this.queryResolveBuffer=this.device.createBuffer({size:this.maxDispatchNumber*2*8,usage:GPUBufferUsage.COPY_SRC|GPUBufferUsage.QUERY_RESOLVE})))}captureBegin(){on("info","captureBegin"),this.capturedCommandList.get(this.currentSessionId)||this.capturedCommandList.set(this.currentSessionId,[]),this.capturedPendingKernels.get(this.currentSessionId)||this.capturedPendingKernels.set(this.currentSessionId,[]),this.flush(),this.sessionStatus="capturing"}captureEnd(){on("info","captureEnd"),this.flush(),this.sessionStatus="default"}replay(){on("info","replay"),this.sessionStatus="replaying";let t=this.capturedCommandList.get(this.currentSessionId),e=this.capturedPendingKernels.get(this.currentSessionId),n=t.length;this.pendingKernels=[];for(let r=0;r<n;r++){let i=this.getComputePassEncoder(),s=t[r];this.writeTimestamp(this.pendingDispatchNumber*2),i.setPipeline(s.computePipeline),i.setBindGroup(0,s.bindGroup),i.dispatchWorkgroups(...s.dispatchGroup),this.writeTimestamp(this.pendingDispatchNumber*2+1),this.pendingDispatchNumber++,this.queryType!=="none"&&this.pendingKernels.push(e[r]),(this.pendingDispatchNumber>=this.maxDispatchNumber||this.queryType==="at-passes")&&this.endComputePass(),this.pendingDispatchNumber>=this.maxDispatchNumber&&this.flush()}this.flush(),this.sessionStatus="default"}onCreateSession(){this.gpuDataManager.onCreateSession()}onReleaseSession(t){this.unregisterBuffers(t),this.capturedCommandList.has(t)&&this.capturedCommandList.delete(t),this.capturedPendingKernels.has(t)&&this.capturedPendingKernels.delete(t),this.gpuDataManager.onReleaseSession(t)}onRunStart(t){this.currentSessionId=t,this.setQueryType()}}}),_$={};Hc(_$,{init:()=>b$});var em,RC,b$,i7=Ze(()=>{$t(),No(),Gt(),fj(),em=class 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w$(this.module,this.dataType,this.data,e)}},RC=class{constructor(t,e,n){this.module=t,this.backend=e,this.customDataOffset=0,this.customDataSize=0,this.adapterInfo=e.adapterInfo;let r=t.PTR_SIZE,i=n/t.PTR_SIZE,s=r===4?"i32":"i64";this.opKernelContext=Number(t.getValue(r*i++,s));let o=Number(t.getValue(r*i++,s));this.outputCount=Number(t.getValue(r*i++,s)),this.customDataOffset=Number(t.getValue(r*i++,"*")),this.customDataSize=Number(t.getValue(r*i++,s));let a=[];for(let u=0;u<o;u++){let d=Number(t.getValue(r*i++,s)),f=Number(t.getValue(r*i++,"*")),h=Number(t.getValue(r*i++,s)),p=[];for(let m=0;m<h;m++)p.push(Number(t.getValue(r*i++,s)));a.push(new em(t,d,f,p))}this.inputs=a}get kernelCustomData(){return this.backend.currentKernelCustomData}get customDataBuffer(){return this.module.HEAPU8.subarray(this.customDataOffset,this.customDataOffset+this.customDataSize)}compute(t,e){let n=e?.inputs?.map(o=>typeof o=="number"?this.inputs[o]:o)??this.inputs,r=e?.outputs??[],i=(o,a,u)=>new em(this.module,a,this.output(o,u),u),s=(o,a)=>{let u=Rl(o,a);if(!u)throw new Error(`Unsupported data type: ${o}`);let d=u>0?this.backend.gpuDataManager.create(u).id:0;return new em(this.module,o,d,a)};return this.backend.run(t,n,r,i,s,this.outputCount)}output(t,e){let n=this.module.stackSave();try{let r=this.module.PTR_SIZE,i=r===4?"i32":"i64",s=this.module.stackAlloc((1+e.length)*r);this.module.setValue(s,e.length,i);for(let o=0;o<e.length;o++)this.module.setValue(s+r*(o+1),e[o],i);return this.module._JsepOutput(this.opKernelContext,t,s)}catch(r){throw new Error(`Failed to generate kernel's output[${t}] with dims [${e}]. If you are running with pre-allocated output, please make sure the output type/dims are correct. Error: ${r}`)}finally{this.module.stackRestore(n)}}},b$=async(t,e,n,r)=>{let i=e.jsepInit;if(!i)throw new Error("Failed to initialize JSEP. 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It must be a GPUAdapter object.")}else{let r=t.webgpu.powerPreference;if(r!==void 0&&r!=="low-power"&&r!=="high-performance")throw new Error(`Invalid powerPreference setting: "${r}"`);let i=t.webgpu.forceFallbackAdapter;if(i!==void 0&&typeof i!="boolean")throw new Error(`Invalid forceFallbackAdapter setting: "${i}"`);if(n=await navigator.gpu.requestAdapter({powerPreference:r,forceFallbackAdapter:i}),!n)throw new Error('Failed to get GPU adapter. 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f(this,h)}),a=Math.max(1,Math.floor(s.history_steps??1)),u=!!s.interleaved;this.registerGroup(r,o,s.components,{steps:a,interleaved:u})}}}this.obsGroups.policy?this.defaultObsKey="policy":this.obsGroups.observation?this.defaultObsKey="observation":this.obsGroups.obs_history?this.defaultObsKey="obs_history":this.defaultObsKey=Object.keys(this.obsGroups)[0]??null}registerGroup(e,n,r,i){this.obsGroups[e]=n,this.obsLayouts[e]=n.map((o,a)=>({name:r[a]?.name??`obs_${a}`,size:o.size}));const s=this.obsLayouts[e].reduce((o,a)=>o+a.size,0);i&&i.steps>1?(this.historyConfig[e]=i,this.historyBuffers[e]=new Float32Array(s*i.steps),this.obsSizes[e]=s*i.steps):this.obsSizes[e]=s}buildFrame(e,n){const r=e.reduce((o,a)=>o+a.size,0),i=new Float32Array(r);let s=0;for(const o of e){const a=o.compute(n),u=a instanceof Float32Array?a:Float32Array.from(a);if(u.length!==o.size)throw new Error(`Observation size mismatch: expected ${o.size}, got ${u.length}`);i.set(u,s),s+=u.length}return i}normalizeArray(e,n,r){const i=new Float32Array(n);for(let s=0;s<n;s++)i[s]=typeof e[s]=="number"?e[s]:r;return i}}En.wasm.proxy=!1;En.wasm.numThreads=1;class u7{constructor(e){if(!e?.path)throw new Error("OnnxModule requires a path.");this.config=e,this.session=null;const n=e.meta?.in_keys??["policy"],r=e.meta?.out_keys??["action"];this.inKeys=n.map(i=>Array.isArray(i)?i.join(","):i),this.outKeys=r.map(i=>Array.isArray(i)?i.join(","):i),this.isRecurrent=this.inKeys.includes("adapt_hx")}async init(){const e=await fetch(this.config.path);if(!e.ok)throw new Error(`Failed to fetch ONNX model: ${e.status}`);const n=await e.arrayBuffer();this.session=await bw.create(n,{executionProviders:["wasm"],graphOptimizationLevel:"all"})}initInput(){return this.isRecurrent?{is_init:new ti("bool",[!0],[1]),adapt_hx:new ti("float32",new Float32Array(128),[1,128])}:{}}async runInference(e){if(!this.session)throw new Error("OnnxModule not initialized.");const n={};for(let o=0;o<this.inKeys.length;o++){const a=this.inKeys[o],u=this.session.inputNames[o];if(!u||!e[a])throw new Error(`Missing ONNX input for key: ${a}`);n[u]=e[a]}const r=await this.session.run(n),i={};for(let o=0;o<this.outKeys.length;o++){const a=this.outKeys[o],u=this.session.outputNames[o];u&&r[u]&&(i[a]=r[u])}const s={};return this.isRecurrent&&i["next,adapt_hx"]&&(s.is_init=new ti("bool",[!1],[1]),s.adapt_hx=i["next,adapt_hx"]),[i,s]}}class c7{constructor(e,n,r,i){this.mujoco=e,this.mjModel=n,this.mjData=r;const s=this.getJointNames(n);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(const o of i){const a=s.indexOf(o);if(a<0)throw new Error(`Joint "${o}" not found in MuJoCo model`);this.qposAdr.push(n.jnt_qposadr[a]),this.qvelAdr.push(n.jnt_dofadr[a]),this.jointIndices.push(a)}this.numActions=i.length,this.ctrlAdr=this.buildCtrlAdr()}build(){const e=this.mjData.qpos,n=this.mjData.qvel,r=new Float32Array(this.numActions),i=new Float32Array(this.numActions);for(let d=0;d<this.numActions;d++)r[d]=e[this.qposAdr[d]],i[d]=n[this.qvelAdr[d]];const s=new Float32Array([e[0],e[1],e[2]]),o=new Float32Array([e[3],e[4],e[5],e[6]]),a=new Float32Array([n[0],n[1],n[2]]),u=new Float32Array([n[3],n[4],n[5]]);return{jointPos:r,jointVel:i,rootPos:s,rootQuat:o,rootLinVel:a,rootAngVel:u}}getControlMapping(){return this.ctrlAdr?{ctrlAdr:this.ctrlAdr.slice(),qposAdr:this.qposAdr.slice(),qvelAdr:this.qvelAdr.slice()}:null}buildCtrlAdr(){if(this.mjModel.nu<=0)return null;const e=this.mujoco.mjtTrn?.mjTRN_JOINT?.value,n=[];for(let i=0;i<this.mjModel.nu;i++){const s=this.mjModel.actuator_trntype[i];e===void 0||s===e?n.push(this.mjModel.actuator_trnid[2*i]):n.push(-1)}const r=[];for(const i of this.jointIndices){const s=n.findIndex(o=>o===i);if(s<0)return null;r.push(s)}return r}getJointNames(e){const n=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let o=e.name_jntadr[s],a=o;for(;a<n.length&&n[a]!==0;)a++;let u=r.decode(n.subarray(o,a));!u&&s===0&&(u="floating_base_joint"),i.push(u)}return i}}class N${constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}}class d7{constructor(e){this.policyJointNames=(e.policy_joint_names??[]).slice(),this.datasetJointNames=(e.dataset_joint_names??[]).slice(),this.nJoints=this.datasetJointNames.length||this.policyJointNames.length||0,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.currentName="default",this.currentDone=!0}reset(e){const n=e?.jointPos??new Float32Array(this.nJoints),r=e?.rootPos??new Float32Array([0,0,0]),i=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(n)],this.refRootPos=[Float32Array.from(r)],this.refRootQuat=[Float32Array.from(i)],this.refIdx=0,this.refLen=1,this.currentDone=!0,this.currentName="default"}advance(){this.refLen<=1||this.refIdx<this.refLen-1&&(this.refIdx+=1,this.refIdx===this.refLen-1&&(this.currentDone=!0))}isReady(){return this.refLen>0}}class f7 extends N${constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);const n=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:n};this.tracking=new d7(r)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}}class h7{constructor(e){this.policyJointNames=(e.policy_joint_names??[]).slice(),this.datasetJointNames=(e.dataset_joint_names??[]).slice(),this.nJoints=this.datasetJointNames.length||this.policyJointNames.length||0,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.currentName="default",this.currentDone=!0}reset(e){const n=e?.jointPos??new Float32Array(this.nJoints),r=e?.rootPos??new Float32Array([0,0,0]),i=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(n)],this.refRootPos=[Float32Array.from(r)],this.refRootQuat=[Float32Array.from(i)],this.refIdx=0,this.refLen=1,this.currentDone=!0,this.currentName="default"}advance(){this.refLen<=1||this.refIdx<this.refLen-1&&(this.refIdx+=1,this.refIdx===this.refLen-1&&(this.currentDone=!0))}isReady(){return this.refLen>0}}class p7 extends N${constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);const n=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:n};this.locomotion=new h7(r)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}}class m7{constructor(e,n,r={}){this.render=()=>{if(this.controls.update(),this.mjModel&&this.mjData&&this.bodies){rW(this.camera,this.lights);for(const[a,u]of this.lastSimState.bodies){const d=this.bodies[a];d&&(d.position.copy(u.position),d.quaternion.copy(u.quaternion),d.updateWorldMatrix(!0,!1))}nW(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&uW({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{const{width:a,height:u}=this.getSize();this.camera.aspect=a/u,this.camera.updateProjectionMatrix(),this.renderer.setSize(a,u)},this.mujoco=e,this.container=n,this.baseUrl=r.baseUrl||"/";const i="/working";try{this.mujoco.FS.mkdir(i)}catch(a){a&&typeof a=="object"&&"code"in a&&a.code!=="EEXIST"&&console.warn("Failed to create /working directory:",a)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:"."},i)}catch(a){a&&typeof a=="object"&&"code"in a&&a.code!=="EEXIST"&&a.code!=="EBUSY"&&console.warn("Failed to mount MEMFS at /working:",a)}const{width:s,height:o}=this.getSize();this.scene=new I8,this.scene.name="scene",this.scene.background=new Ot(.15,.25,.35),this.camera=new ei(45,s/o,.001,1e3),this.camera.name="PerspectiveCamera",this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new $G({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(s,o),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=_I,this.renderer.outputColorSpace=Ul,this.renderer.toneMapping=bI,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.controls=new LG(this.camera,this.renderer.domElement),this.controls.target.set(0,.2,0),this.controls.panSpeed=2,this.controls.zoomSpeed=1,this.controls.enableDamping=!0,this.controls.dampingFactor=.1,this.controls.screenSpacePanning=!0,this.controls.update(),this.renderer.setAnimationLoop(this.render),window.addEventListener("resize",this.onWindowResize),"ResizeObserver"in window?(this.resizeObserver=new ResizeObserver(()=>this.onWindowResize()),this.resizeObserver.observe(this.container)):this.resizeObserver=null,this.lastSimState={bodies:new Map,tendons:cW()},this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.loopPromise=null,this.running=!1,this.timestep=.001,this.decimation=1,this.loadingScene=null,this.dragStateManager=null,this.dragForceScale=100,this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.policyDebugCounter=0,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.sceneCacheManager=m_.getInstance(this.mujoco),this.resourceTracker=new yW,this.memoryMonitor=new xW}async loadEnvironment(e,n=null){await this.stop();const r=performance.now();if(this.initializeCommands(),this.sceneCacheManager.has(e)){await this.restoreFromCache(e);const i=performance.now()-r;this.memoryMonitor.logCacheOperation("hit",e,{elapsedMs:i})}else this.memoryMonitor.logCacheOperation("miss",e),await this.sceneCacheManager.prepareForNewScene(),this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.resourceTracker.startTracking(this.mujoco),await vW(this.mujoco,e,this.baseUrl),await this.loadScene(e),await this.captureAndCacheResources(e);await this.loadPolicyConfig(n),this.running=!0,this.startLoop()}initializeCommands(){const e=$i();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e){$i().registerCommandsFromConfig(e),console.log("[mjswanRuntime] Commands loaded from policy config:",Object.keys(e))}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){const e=this.policyStateBuilder.build();this.policyRunner.reset(e)}console.log("[mjswanRuntime] Simulation reset")}async loadScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{const n=this.scene.getObjectByName("MuJoCo Root");n&&this.scene.remove(n);const r={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await gW(this.mujoco,e,r),!this.mjModel||!this.mjData)throw new Error("Failed to load MuJoCo model.");this.mujocoRoot=this.scene.getObjectByName("MuJoCo Root"),this.mujoco.mj_forward(this.mjModel,this.mjData),this.timestep=this.mjModel.opt.timestep||.001,this.decimation=Math.max(1,Math.round(.02/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager||(this.dragStateManager=new Q3({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls})),this.loadingScene=null})(),await this.loadingScene}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async stop(){this.running=!1;const e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){const e=performance.now();if(this.mjModel&&this.mjData){if(this.policyRunner&&this.policyStateBuilder){const s=this.policyStateBuilder.build(),o=this.policyRunner.collectObservationsByKey(s);if(await this.runOnnxInference(o),this.policyDebugCounter%60===0){const a="policy"in o?"policy":"observation"in o?"observation":Object.keys(o)[0],u=a?o[a]:null,d=u?Array.from(u.slice(0,8)):[];console.log("[PolicyRunner] obs",{key:a,size:u?u.length:0,sample:d})}this.policyDebugCounter+=1}this.executeSimulationSteps(),this.updateCachedState()}const n=(performance.now()-e)/1e3,r=this.timestep*this.decimation,i=Math.max(0,r-n);i>0&&await new Promise(s=>setTimeout(s,i*1e3))}this.loopPromise=null}async loadPolicyConfig(e){const n=this.policyConfigPath;this.policyConfigPath=e,this.policyRunner=null,this.policyStateBuilder=null,this.policyDebugCounter=0,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1;const r=$i();if(r.clear(),r.setResetCallback(()=>this.resetSimulation()),!!e){if(!this.mjModel||!this.mjData){console.warn("Policy config loaded before MuJoCo model is ready.");return}e!==n&&this.resetSimulationState();try{const{config:i}=await this.fetchPolicyConfig(e);if(i.commands&&typeof i.commands=="object"&&this.initializeCommandsFromConfig(i.commands),!i.policy_joint_names||i.policy_joint_names.length===0)throw new Error("Policy config missing policy_joint_names.");const s=new l7(i,{policyModules:{tracking:f7,locomotion:p7},observations:BW});await s.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData}),this.policyRunner=s,this.policyStateBuilder=new c7(this.mujoco,this.mjModel,this.mjData,s.getPolicyJointNames());const o=this.policyStateBuilder.build();if(this.policyRunner.reset(o),this.policyControl=this.buildPolicyControl(i,s,this.policyStateBuilder),i.onnx?.path){const a=this.resolvePolicyAssetPath(e,i.onnx.path),u=this.resolveAssetUrl(a),d={...i.onnx,path:u},f=new u7(d);await f.init(),this.onnxModule=f,this.onnxInputDict=f.initInput()}console.log("[PolicyRunner] config loaded",{obsSize:s.getObservationSize(),obsLayout:s.getObservationLayout(),pdEnabled:this.policyControl!==null})}catch(i){console.warn("Failed to load policy config:",i)}}}async fetchPolicyConfig(e){const n=this.resolveAssetUrl(e),r=await fetch(n,{cache:"no-store"});if(!r.ok)throw new Error(`Failed to fetch policy config: ${r.status}`);return{config:await r.json(),resolvedUrl:n}}resolveAssetUrl(e){if(/^[a-z]+:\/\//i.test(e))return e;const n=(this.baseUrl||"/").replace(/\/+$/,"/"),r=new URL(n,window.location.origin+"/").toString();return new URL(e.replace(/^\/+/,""),r).toString()}resolvePolicyAssetPath(e,n){const r=e.replace(/\\/g,"/"),i=r.lastIndexOf("/");return i>=0?`${r.slice(0,i+1)}${n}`.replace(/\/+/g,"/"):n}buildPolicyControl(e,n,r){const i=e.control_type??"joint_position";if(i!=="joint_position"&&i!=="torque")return console.warn(`[PolicyRunner] Unsupported control_type: ${i}`),null;const s=r.getControlMapping();if(!s)return console.warn("[PolicyRunner] Failed to build control mapping."),null;const o=s.qposAdr.length,a=this.normalizeControlArray(e.action_scale,o,1),u=n.getDefaultJointPos(),d=this.normalizeControlArray(e.stiffness,o,0),f=this.normalizeControlArray(e.damping,o,0);return{controlType:i,...s,actionScale:a,defaultJointPos:u,kp:d,kd:f}}normalizeControlArray(e,n,r){const i=new Float32Array(n);if(typeof e=="number")return i.fill(e),i;if(Array.isArray(e)){for(let s=0;s<n;s++)i[s]=typeof e[s]=="number"?e[s]:r;return i}return i.fill(r),i}resetSimulationState(){!this.mjModel||!this.mjData||(this.mujoco.mj_resetData(this.mjModel,this.mjData),this.mujoco.mj_forward(this.mjModel,this.mjData),this.lastSimState.bodies.clear(),this.updateCachedState())}executeSimulationSteps(){if(!(!this.mjModel||!this.mjData)){this.applyDragForces();for(let e=0;e<this.decimation;e++)this.applyPolicyControl(),this.mujoco.mj_step(this.mjModel,this.mjData)}}applyPolicyControl(){if(!this.policyControl||!this.mjData)return;const{controlType:e,ctrlAdr:n,qposAdr:r,qvelAdr:i,actionScale:s,defaultJointPos:o,kp:a,kd:u}=this.policyControl,d=n.length,f=this.policyRunner?.getLastActions()??new Float32Array(d),h=this.mjData.ctrl;if(h.fill(0),e==="joint_position")for(let p=0;p<d;p++){const m=o[p]+s[p]*f[p],_=this.mjData.qpos[r[p]],x=this.mjData.qvel[i[p]],y=a[p]*(m-_)+u[p]*(0-x),v=n[p];v>=0&&(h[v]=y)}else if(e==="torque")for(let p=0;p<d;p++){const m=n[p];m>=0&&(h[m]=s[p]*f[p])}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||(this.onnxInputDict=this.onnxModule.initInput());const n={...this.onnxInputDict};for(const[u,d]of Object.entries(e))n[u]=new ti("float32",d,[1,d.length]);for(const u of this.onnxModule.inKeys)if(!n[u]){console.warn("[PolicyRunner] Missing ONNX input:",{key:u,available:Object.keys(n)});return}const[r,i]=await this.onnxModule.runInference(n);Object.keys(i).length>0&&(this.onnxInputDict={...this.onnxInputDict,...i});const s=r.action??r.policy??null;if(!s)return;const o=s.data,a=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o);if(this.policyControl&&a.length!==this.policyControl.ctrlAdr.length){console.warn("[PolicyRunner] Action size mismatch:",{expected:this.policyControl.ctrlAdr.length,got:a.length});return}this.policyRunner.setLastActions(a)}catch(n){console.warn("[PolicyRunner] ONNX inference failed:",n)}finally{this.onnxInferencing=!1}}}applyDragForces(){if(!this.dragStateManager||!this.mjModel||!this.mjData||!this.bodies)return;for(let p=0;p<this.mjData.xfrc_applied.length;p++)this.mjData.xfrc_applied[p]=0;const e=this.dragStateManager.physicsObject;if(!e||!("bodyID"in e)||typeof e.bodyID!="number"||e.bodyID<=0)return;const n=e.bodyID;for(let p=0;p<this.mjModel.nbody;p++)this.bodies[p]&&(Ff(this.mjData.xpos,p,this.bodies[p].position),p_(this.mjData.xquat,p,this.bodies[p].quaternion),this.bodies[p].updateWorldMatrix(!0,!1));this.dragStateManager.update();const r=this.dragStateManager.offset.clone().multiplyScalar(this.dragForceScale),i=Z3(r),s=this.dragStateManager.worldHit.clone(),o=Z3(s),a=new Ee(this.mjData.xpos[n*3+0],this.mjData.xpos[n*3+1],this.mjData.xpos[n*3+2]),u=new Ee(o.x-a.x,o.y-a.y,o.z-a.z),d=new Ee(i.x,i.y,i.z),f=new Ee().crossVectors(u,d),h=n*6;this.mjData.xfrc_applied[h+0]=i.x,this.mjData.xfrc_applied[h+1]=i.y,this.mjData.xfrc_applied[h+2]=i.z,this.mjData.xfrc_applied[h+3]=f.x,this.mjData.xfrc_applied[h+4]=f.y,this.mjData.xfrc_applied[h+5]=f.z}updateCachedState(){if(!(!this.mjModel||!this.mjData||!this.bodies)){for(let e=0;e<this.mjModel.nbody;e++)if(this.bodies[e]){this.lastSimState.bodies.has(e)||this.lastSimState.bodies.set(e,{position:new Ee,quaternion:new Di});const n=this.lastSimState.bodies.get(e);Ff(this.mjData.xpos,e,n.position),p_(this.mjData.xquat,e,n.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&lW(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}}dispose(){this.stop(),this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.dragStateManager&&(this.dragStateManager.dispose(),this.dragStateManager=null),this.mjData=null,this.mjModel=null,window.removeEventListener("resize",this.onWindowResize),this.resizeObserver?.disconnect(),this.resizeObserver=null,this.controls.dispose(),this.renderer.setAnimationLoop(null),this.renderer.dispose(),this.renderer.domElement.parentElement&&this.renderer.domElement.parentElement.removeChild(this.renderer.domElement),this.bodies=null,this.lights=[],this.mujocoRoot=null,this.lastSimState.bodies.clear()}disposeThreeJSResources(){if(this.scene)for(this.scene.traverse(e=>{"geometry"in e&&e.geometry&&e.geometry.dispose(),"material"in e&&e.material&&(Array.isArray(e.material)?e.material.forEach(n=>this.disposeMaterial(n)):this.disposeMaterial(e.material))});this.scene.children.length>0;)this.scene.remove(this.scene.children[0])}disposeMaterial(e){const n=e;n.map&&n.map.dispose(),n.aoMap&&n.aoMap.dispose(),n.emissiveMap&&n.emissiveMap.dispose(),n.metalnessMap&&n.metalnessMap.dispose(),n.normalMap&&n.normalMap.dispose(),n.roughnessMap&&n.roughnessMap.dispose(),e.dispose()}getSize(){const e=this.container.clientWidth||window.innerWidth,n=this.container.clientHeight||window.innerHeight;return{width:Math.max(1,e),height:Math.max(1,n)}}async restoreFromCache(e){const n=this.sceneCacheManager.get(e);if(!n)throw new Error(`Scene ${e} not found in cache`);const r=this.scene.getObjectByName("MuJoCo Root");r&&this.scene.remove(r),this.mjModel=n.mjModel,this.mjData=n.mjData,this.bodies=n.bodies,this.lights=n.lights,this.mujocoRoot=n.mujocoRoot,this.scene.add(this.mujocoRoot),this.mujoco.mj_forward(this.mjModel,this.mjData),this.timestep=this.mjModel.opt.timestep||.001,this.decimation=Math.max(1,Math.round(.02/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager||(this.dragStateManager=new Q3({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls}))}async captureAndCacheResources(e){const n=this.resourceTracker.stopTracking(this.mujoco);if(!this.mjModel||!this.mjData||!this.bodies||!this.mujocoRoot){console.warn("[SceneCache] Cannot cache scene: missing resources");return}const r=this.resourceTracker.estimateSceneMemory({mjModel:this.mjModel,mjData:this.mjData,bodies:this.bodies,meshes:{},mujocoRoot:this.mujocoRoot});await 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package/dist/index.html

@@ -12,7 +12,7 @@
     <link rel="manifest" href="manifest.json" />
     <title>mjswan</title>
     <script src="coi-serviceworker.js"></script>
-    <script type="module" crossorigin src="/assets/index-D06ezVv2.js"></script>
+    <script type="module" crossorigin src="/assets/index-CpXSFkA7.js"></script>
     <link rel="stylesheet" crossorigin href="/assets/index-D_DiXcjN.css">
   </head>
   <body>

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "mjswan",
   "type": "module",
-  "version": "0.0.10",
+  "version": "0.0.13",
   "repository": {
     "type": "git",
     "url": "https://github.com/ttktjmt/mjswan.git"