npm - mjswan - Versions diffs - 0.5.0 → 0.5.1 - Mend

mjswan 0.5.0 → 0.5.1

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (4) hide show

package/dist/assets/{index-BF3E-9vy.js → index-DQ-K8pq4.js} +2 -2
package/dist/assets/{mujoco-D2QHsN8V.js → mujoco-xH6B9zn7.js} +1 -1
package/dist/index.html +1 -1
package/package.json +1 -1

package/dist/assets/{index-BF3E-9vy.js → index-DQ-K8pq4.js} RENAMED Viewed

@@ -12822,7 +12822,7 @@ void main() {
     center = quatVec(quat, center) + translate;
     quaternion = quatQuat(quat, quaternion);
   }
-`);new ys(new ue(-1,-1,-1),new ue(1,1,1)),new ue(-1,-3,1).normalize(),new xt(1,1,1),new xt(.5,.5,1),new ue(1,1,1);new ys(new ue(-2,-1,-2),new ue(2,5,2)),new ue(0,-1,0),new xt(1,1,1),new xt(.25,.25,.5),new ue(.1,1,.1);const sP=class _w{static createButton(e,t={}){const r=navigator.xr;if(!r)return null;const i=r,s=document.createElement("button");e.xr.enabled=!0,e.xr.setReferenceSpaceType("local");function a(){let h=null;async function p(m){console.log("onSessionStarted"),m.addEventListener("end",A),await e.xr.setSession(m),s.textContent="EXIT VR",h=m}function A(){console.log("onSessionEnded"),h?.removeEventListener("end",A),s.textContent="ENTER VR",h=null}s.style.display="",s.style.cursor="pointer",s.style.left="calc(50% - 100px)",s.style.width="200px",s.style.height="100px",s.textContent="ENTER VR";const y={...t,optionalFeatures:[...t.optionalFeatures||[]]};s.onmouseenter=()=>{s.style.opacity="1.0"},s.onmouseleave=()=>{s.style.opacity="0.5"},s.onclick=()=>{h===null?(console.log("requesting session"),i.requestSession("immersive-vr",y).then(p)):(console.log("ending session"),h.end())}}function o(){s.style.display="none",s.style.cursor="auto",s.style.left="calc(50% - 75px)",s.style.width="150px",s.onmouseenter=null,s.onmouseleave=null,s.onclick=null}function l(){o(),s.textContent="VR NOT SUPPORTED"}function c(h){o(),console.warn("Exception when trying to call xr.isSessionSupported",h),s.textContent="VR NOT ALLOWED"}function d(h){h.style.position="absolute",h.style.bottom="20px",h.style.padding="12px 6px",h.style.border="1px solid #fff",h.style.borderRadius="4px",h.style.background="rgba(0,0,0,0.1)",h.style.color="#fff",h.style.font="normal 13px sans-serif",h.style.textAlign="center",h.style.opacity="0.5",h.style.outline="none",h.style.zIndex="999"}return s.id="VRButton",s.style.display="none",d(s),i.isSessionSupported("immersive-vr").then(h=>{h?a():l(),h&&_w.xrSessionIsGranted&&s.click()}).catch(c),s}static registerSessionGrantedListener(){const e=navigator.xr;if(!e)return null;const t=e;/WebXRViewer\//i.test(navigator.userAgent)||t.addEventListener("sessiongranted",()=>{_w.xrSessionIsGranted=!0})}};sP.xrSessionIsGranted=!1;let nZ=sP;nZ.registerSessionGrantedListener();var aP=(n=>(n.w="wrist",n.t0="thumb-metacarpal",n.t1="thumb-phalanx-proximal",n.t2="thumb-phalanx-distal",n.t3="thumb-tip",n.i0="index-finger-metacarpal",n.i1="index-finger-phalanx-proximal",n.i2="index-finger-phalanx-intermediate",n.i3="index-finger-phalanx-distal",n.i4="index-finger-tip",n.m0="middle-finger-metacarpal",n.m1="middle-finger-phalanx-proximal",n.m2="middle-finger-phalanx-intermediate",n.m3="middle-finger-phalanx-distal",n.m4="middle-finger-tip",n.r0="ring-finger-metacarpal",n.r1="ring-finger-phalanx-proximal",n.r2="ring-finger-phalanx-intermediate",n.r3="ring-finger-phalanx-distal",n.r4="ring-finger-tip",n.p0="pinky-finger-metacarpal",n.p1="pinky-finger-phalanx-proximal",n.p2="pinky-finger-phalanx-intermediate",n.p3="pinky-finger-phalanx-distal",n.p4="pinky-finger-tip",n))(aP||{});const rZ=Object.keys(aP);rZ.length;new ue(0,0,-1),new ue(0,0,1),new ue(-1,0,0),new ue(1,0,0),new ue(0,1,0),new ue(0,-1,0);new ue(0,0,-1),new ue(0,0,1),new ue(-1,0,0),new ue(1,0,0),new ue(0,1,0),new ue(0,-1,0);new ue(0,0,1),new ue(0,0,-1);new ue(0,-1,0),new ue(0,1,0),new ue(-1,0,0),new ue(1,0,0);const jv=Math.PI/180,iZ=new Cn().setFromEuler(new ji(Math.PI,0,0));function oP(n,e){const t=e.scale??1,r=e.xOffset??0,i=e.yOffset??0,s=e.zOffset??0,a=(e.roll??0)*jv,o=(e.pitch??0)*jv,l=(e.yaw??0)*jv;n.scale.setScalar(t);const c=new Cn().setFromEuler(new ji(o,l,a));n.quaternion.copy(iZ.clone().multiply(c)),n.position.set(r*t,s*t,i*t)}function tB(n,e){const t=n.url;if(!t)throw new Error("SplatConfig.url must be resolved before calling loadSplat. 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Processing not possible."),n}const r=t.count-2,i=[];if(e===rw)for(let a=1;a<=r;a++)i.push(t.getX(0)),i.push(t.getX(a)),i.push(t.getX(a+1));else for(let a=0;a<r;a++)a%2===0?(i.push(t.getX(a)),i.push(t.getX(a+1)),i.push(t.getX(a+2))):(i.push(t.getX(a+2)),i.push(t.getX(a+1)),i.push(t.getX(a)));i.length/3!==r&&console.error("THREE.BufferGeometryUtils.toTrianglesDrawMode(): Unable to generate correct amount of triangles.");const s=n.clone();return s.setIndex(i),s.clearGroups(),s}else return console.error("THREE.BufferGeometryUtils.toTrianglesDrawMode(): Unknown draw mode:",e),n}class sZ extends lu{constructor(e){super(e),this.dracoLoader=null,this.ktx2Loader=null,this.meshoptDecoder=null,this.pluginCallbacks=[],this.register(function(t){return new uZ(t)}),this.register(function(t){return new dZ(t)}),this.register(function(t){return new vZ(t)}),this.register(function(t){return new _Z(t)}),this.register(function(t){return new bZ(t)}),this.register(function(t){return new fZ(t)}),this.register(function(t){return new pZ(t)}),this.register(function(t){return new AZ(t)}),this.register(function(t){return new mZ(t)}),this.register(function(t){return new cZ(t)}),this.register(function(t){return new gZ(t)}),this.register(function(t){return new hZ(t)}),this.register(function(t){return new xZ(t)}),this.register(function(t){return new yZ(t)}),this.register(function(t){return new oZ(t)}),this.register(function(t){return new wZ(t)}),this.register(function(t){return new EZ(t)})}load(e,t,r,i){const s=this;let a;if(this.resourcePath!=="")a=this.resourcePath;else if(this.path!==""){const c=fp.extractUrlBase(e);a=fp.resolveURL(c,this.path)}else a=fp.extractUrlBase(e);this.manager.itemStart(e);const o=function(c){i?i(c):console.error(c),s.manager.itemError(e),s.manager.itemEnd(e)},l=new IC(this.manager);l.setPath(this.path),l.setResponseType("arraybuffer"),l.setRequestHeader(this.requestHeader),l.setWithCredentials(this.withCredentials),l.load(e,function(c){try{s.parse(c,a,function(d){t(d),s.manager.itemEnd(e)},o)}catch(d){o(d)}},r,o)}setDRACOLoader(e){return this.dracoLoader=e,this}setKTX2Loader(e){return this.ktx2Loader=e,this}setMeshoptDecoder(e){return this.meshoptDecoder=e,this}register(e){return this.pluginCallbacks.indexOf(e)===-1&&this.pluginCallbacks.push(e),this}unregister(e){return this.pluginCallbacks.indexOf(e)!==-1&&this.pluginCallbacks.splice(this.pluginCallbacks.indexOf(e),1),this}parse(e,t,r,i){let s;const a={},o={},l=new TextDecoder;if(typeof e=="string")s=JSON.parse(e);else if(e instanceof ArrayBuffer)if(l.decode(new Uint8Array(e,0,4))===lP){try{a[cn.KHR_BINARY_GLTF]=new CZ(e)}catch(h){i&&i(h);return}s=JSON.parse(a[cn.KHR_BINARY_GLTF].content)}else s=JSON.parse(l.decode(e));else s=e;if(s.asset===void 0||s.asset.version[0]<2){i&&i(new Error("THREE.GLTFLoader: Unsupported asset. glTF versions >=2.0 are supported."));return}const c=new FZ(s,{path:t||this.resourcePath||"",crossOrigin:this.crossOrigin,requestHeader:this.requestHeader,manager:this.manager,ktx2Loader:this.ktx2Loader,meshoptDecoder:this.meshoptDecoder});c.fileLoader.setRequestHeader(this.requestHeader);for(let d=0;d<this.pluginCallbacks.length;d++){const h=this.pluginCallbacks[d](c);h.name||console.error("THREE.GLTFLoader: Invalid plugin found: missing name"),o[h.name]=h,a[h.name]=!0}if(s.extensionsUsed)for(let d=0;d<s.extensionsUsed.length;++d){const h=s.extensionsUsed[d],p=s.extensionsRequired||[];switch(h){case cn.KHR_MATERIALS_UNLIT:a[h]=new lZ;break;case cn.KHR_DRACO_MESH_COMPRESSION:a[h]=new IZ(s,this.dracoLoader);break;case cn.KHR_TEXTURE_TRANSFORM:a[h]=new SZ;break;case cn.KHR_MESH_QUANTIZATION:a[h]=new BZ;break;default:p.indexOf(h)>=0&&o[h]===void 0&&console.warn('THREE.GLTFLoader: Unknown extension "'+h+'".')}}c.setExtensions(a),c.setPlugins(o),c.parse(r,i)}parseAsync(e,t){const r=this;return new Promise(function(i,s){r.parse(e,t,i,s)})}}function aZ(){let n={};return{get:function(e){return n[e]},add:function(e,t){n[e]=t},remove:function(e){delete n[e]},removeAll:function(){n={}}}}const cn={KHR_BINARY_GLTF:"KHR_binary_glTF",KHR_DRACO_MESH_COMPRESSION:"KHR_draco_mesh_compression",KHR_LIGHTS_PUNCTUAL:"KHR_lights_punctual",KHR_MATERIALS_CLEARCOAT:"KHR_materials_clearcoat",KHR_MATERIALS_DISPERSION:"KHR_materials_dispersion",KHR_MATERIALS_IOR:"KHR_materials_ior",KHR_MATERIALS_SHEEN:"KHR_materials_sheen",KHR_MATERIALS_SPECULAR:"KHR_materials_specular",KHR_MATERIALS_TRANSMISSION:"KHR_materials_transmission",KHR_MATERIALS_IRIDESCENCE:"KHR_materials_iridescence",KHR_MATERIALS_ANISOTROPY:"KHR_materials_anisotropy",KHR_MATERIALS_UNLIT:"KHR_materials_unlit",KHR_MATERIALS_VOLUME:"KHR_materials_volume",KHR_TEXTURE_BASISU:"KHR_texture_basisu",KHR_TEXTURE_TRANSFORM:"KHR_texture_transform",KHR_MESH_QUANTIZATION:"KHR_mesh_quantization",KHR_MATERIALS_EMISSIVE_STRENGTH:"KHR_materials_emissive_strength",EXT_MATERIALS_BUMP:"EXT_materials_bump",EXT_TEXTURE_WEBP:"EXT_texture_webp",EXT_TEXTURE_AVIF:"EXT_texture_avif",EXT_MESHOPT_COMPRESSION:"EXT_meshopt_compression",EXT_MESH_GPU_INSTANCING:"EXT_mesh_gpu_instancing"};class oZ{constructor(e){this.parser=e,this.name=cn.KHR_LIGHTS_PUNCTUAL,this.cache={refs:{},uses:{}}}_markDefs(){const e=this.parser,t=this.parser.json.nodes||[];for(let r=0,i=t.length;r<i;r++){const s=t[r];s.extensions&&s.extensions[this.name]&&s.extensions[this.name].light!==void 0&&e._addNodeRef(this.cache,s.extensions[this.name].light)}}_loadLight(e){const t=this.parser,r="light:"+e;let i=t.cache.get(r);if(i)return i;const s=t.json,l=((s.extensions&&s.extensions[this.name]||{}).lights||[])[e];let c;const d=new xt(16777215);l.color!==void 0&&d.setRGB(l.color[0],l.color[1],l.color[2],ii);const h=l.range!==void 0?l.range:0;switch(l.type){case"directional":c=new lw(d),c.target.position.set(0,0,-1),c.add(c.target);break;case"point":c=new hQ(d),c.distance=h;break;case"spot":c=new dQ(d),c.distance=h,l.spot=l.spot||{},l.spot.innerConeAngle=l.spot.innerConeAngle!==void 0?l.spot.innerConeAngle:0,l.spot.outerConeAngle=l.spot.outerConeAngle!==void 0?l.spot.outerConeAngle:Math.PI/4,c.angle=l.spot.outerConeAngle,c.penumbra=1-l.spot.innerConeAngle/l.spot.outerConeAngle,c.target.position.set(0,0,-1),c.add(c.target);break;default:throw new Error("THREE.GLTFLoader: Unexpected light type: "+l.type)}return c.position.set(0,0,0),ba(c,l),l.intensity!==void 0&&(c.intensity=l.intensity),c.name=t.createUniqueName(l.name||"light_"+e),i=Promise.resolve(c),t.cache.add(r,i),i}getDependency(e,t){if(e==="light")return this._loadLight(t)}createNodeAttachment(e){const t=this,r=this.parser,s=r.json.nodes[e],o=(s.extensions&&s.extensions[this.name]||{}).light;return o===void 0?null:this._loadLight(o).then(function(l){return r._getNodeRef(t.cache,o,l)})}}class lZ{constructor(){this.name=cn.KHR_MATERIALS_UNLIT}getMaterialType(){return zc}extendParams(e,t,r){const i=[];e.color=new xt(1,1,1),e.opacity=1;const s=t.pbrMetallicRoughness;if(s){if(Array.isArray(s.baseColorFactor)){const a=s.baseColorFactor;e.color.setRGB(a[0],a[1],a[2],ii),e.opacity=a[3]}s.baseColorTexture!==void 0&&i.push(r.assignTexture(e,"map",s.baseColorTexture,gr))}return Promise.all(i)}}class cZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_EMISSIVE_STRENGTH}extendMaterialParams(e,t){const i=this.parser.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=i.extensions[this.name].emissiveStrength;return s!==void 0&&(t.emissiveIntensity=s),Promise.resolve()}}class uZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_CLEARCOAT}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];if(a.clearcoatFactor!==void 0&&(t.clearcoat=a.clearcoatFactor),a.clearcoatTexture!==void 0&&s.push(r.assignTexture(t,"clearcoatMap",a.clearcoatTexture)),a.clearcoatRoughnessFactor!==void 0&&(t.clearcoatRoughness=a.clearcoatRoughnessFactor),a.clearcoatRoughnessTexture!==void 0&&s.push(r.assignTexture(t,"clearcoatRoughnessMap",a.clearcoatRoughnessTexture)),a.clearcoatNormalTexture!==void 0&&(s.push(r.assignTexture(t,"clearcoatNormalMap",a.clearcoatNormalTexture)),a.clearcoatNormalTexture.scale!==void 0)){const o=a.clearcoatNormalTexture.scale;t.clearcoatNormalScale=new Dt(o,o)}return Promise.all(s)}}class dZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_DISPERSION}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const i=this.parser.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=i.extensions[this.name];return t.dispersion=s.dispersion!==void 0?s.dispersion:0,Promise.resolve()}}class hZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_IRIDESCENCE}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return a.iridescenceFactor!==void 0&&(t.iridescence=a.iridescenceFactor),a.iridescenceTexture!==void 0&&s.push(r.assignTexture(t,"iridescenceMap",a.iridescenceTexture)),a.iridescenceIor!==void 0&&(t.iridescenceIOR=a.iridescenceIor),t.iridescenceThicknessRange===void 0&&(t.iridescenceThicknessRange=[100,400]),a.iridescenceThicknessMinimum!==void 0&&(t.iridescenceThicknessRange[0]=a.iridescenceThicknessMinimum),a.iridescenceThicknessMaximum!==void 0&&(t.iridescenceThicknessRange[1]=a.iridescenceThicknessMaximum),a.iridescenceThicknessTexture!==void 0&&s.push(r.assignTexture(t,"iridescenceThicknessMap",a.iridescenceThicknessTexture)),Promise.all(s)}}class fZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_SHEEN}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[];t.sheenColor=new xt(0,0,0),t.sheenRoughness=0,t.sheen=1;const a=i.extensions[this.name];if(a.sheenColorFactor!==void 0){const o=a.sheenColorFactor;t.sheenColor.setRGB(o[0],o[1],o[2],ii)}return a.sheenRoughnessFactor!==void 0&&(t.sheenRoughness=a.sheenRoughnessFactor),a.sheenColorTexture!==void 0&&s.push(r.assignTexture(t,"sheenColorMap",a.sheenColorTexture,gr)),a.sheenRoughnessTexture!==void 0&&s.push(r.assignTexture(t,"sheenRoughnessMap",a.sheenRoughnessTexture)),Promise.all(s)}}class pZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_TRANSMISSION}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return a.transmissionFactor!==void 0&&(t.transmission=a.transmissionFactor),a.transmissionTexture!==void 0&&s.push(r.assignTexture(t,"transmissionMap",a.transmissionTexture)),Promise.all(s)}}class AZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_VOLUME}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];t.thickness=a.thicknessFactor!==void 0?a.thicknessFactor:0,a.thicknessTexture!==void 0&&s.push(r.assignTexture(t,"thicknessMap",a.thicknessTexture)),t.attenuationDistance=a.attenuationDistance||1/0;const o=a.attenuationColor||[1,1,1];return t.attenuationColor=new xt().setRGB(o[0],o[1],o[2],ii),Promise.all(s)}}class mZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_IOR}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const i=this.parser.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=i.extensions[this.name];return t.ior=s.ior!==void 0?s.ior:1.5,Promise.resolve()}}class gZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_SPECULAR}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];t.specularIntensity=a.specularFactor!==void 0?a.specularFactor:1,a.specularTexture!==void 0&&s.push(r.assignTexture(t,"specularIntensityMap",a.specularTexture));const o=a.specularColorFactor||[1,1,1];return t.specularColor=new xt().setRGB(o[0],o[1],o[2],ii),a.specularColorTexture!==void 0&&s.push(r.assignTexture(t,"specularColorMap",a.specularColorTexture,gr)),Promise.all(s)}}class yZ{constructor(e){this.parser=e,this.name=cn.EXT_MATERIALS_BUMP}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return t.bumpScale=a.bumpFactor!==void 0?a.bumpFactor:1,a.bumpTexture!==void 0&&s.push(r.assignTexture(t,"bumpMap",a.bumpTexture)),Promise.all(s)}}class xZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_ANISOTROPY}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return a.anisotropyStrength!==void 0&&(t.anisotropy=a.anisotropyStrength),a.anisotropyRotation!==void 0&&(t.anisotropyRotation=a.anisotropyRotation),a.anisotropyTexture!==void 0&&s.push(r.assignTexture(t,"anisotropyMap",a.anisotropyTexture)),Promise.all(s)}}class vZ{constructor(e){this.parser=e,this.name=cn.KHR_TEXTURE_BASISU}loadTexture(e){const t=this.parser,r=t.json,i=r.textures[e];if(!i.extensions||!i.extensions[this.name])return null;const s=i.extensions[this.name],a=t.options.ktx2Loader;if(!a){if(r.extensionsRequired&&r.extensionsRequired.indexOf(this.name)>=0)throw new Error("THREE.GLTFLoader: setKTX2Loader must be called before loading KTX2 textures");return null}return t.loadTextureImage(e,s.source,a)}}class _Z{constructor(e){this.parser=e,this.name=cn.EXT_TEXTURE_WEBP}loadTexture(e){const t=this.name,r=this.parser,i=r.json,s=i.textures[e];if(!s.extensions||!s.extensions[t])return null;const a=s.extensions[t],o=i.images[a.source];let l=r.textureLoader;if(o.uri){const c=r.options.manager.getHandler(o.uri);c!==null&&(l=c)}return r.loadTextureImage(e,a.source,l)}}class bZ{constructor(e){this.parser=e,this.name=cn.EXT_TEXTURE_AVIF}loadTexture(e){const t=this.name,r=this.parser,i=r.json,s=i.textures[e];if(!s.extensions||!s.extensions[t])return null;const a=s.extensions[t],o=i.images[a.source];let l=r.textureLoader;if(o.uri){const c=r.options.manager.getHandler(o.uri);c!==null&&(l=c)}return r.loadTextureImage(e,a.source,l)}}class wZ{constructor(e){this.name=cn.EXT_MESHOPT_COMPRESSION,this.parser=e}loadBufferView(e){const t=this.parser.json,r=t.bufferViews[e];if(r.extensions&&r.extensions[this.name]){const i=r.extensions[this.name],s=this.parser.getDependency("buffer",i.buffer),a=this.parser.options.meshoptDecoder;if(!a||!a.supported){if(t.extensionsRequired&&t.extensionsRequired.indexOf(this.name)>=0)throw new Error("THREE.GLTFLoader: setMeshoptDecoder must be called before loading compressed files");return null}return s.then(function(o){const l=i.byteOffset||0,c=i.byteLength||0,d=i.count,h=i.byteStride,p=new Uint8Array(o,l,c);return a.decodeGltfBufferAsync?a.decodeGltfBufferAsync(d,h,p,i.mode,i.filter).then(function(A){return A.buffer}):a.ready.then(function(){const A=new ArrayBuffer(d*h);return a.decodeGltfBuffer(new Uint8Array(A),d,h,p,i.mode,i.filter),A})})}else return null}}class EZ{constructor(e){this.name=cn.EXT_MESH_GPU_INSTANCING,this.parser=e}createNodeMesh(e){const t=this.parser.json,r=t.nodes[e];if(!r.extensions||!r.extensions[this.name]||r.mesh===void 0)return null;const i=t.meshes[r.mesh];for(const c of i.primitives)if(c.mode!==rs.TRIANGLES&&c.mode!==rs.TRIANGLE_STRIP&&c.mode!==rs.TRIANGLE_FAN&&c.mode!==void 0)return null;const a=r.extensions[this.name].attributes,o=[],l={};for(const c in a)o.push(this.parser.getDependency("accessor",a[c]).then(d=>(l[c]=d,l[c])));return o.length<1?null:(o.push(this.parser.createNodeMesh(e)),Promise.all(o).then(c=>{const d=c.pop(),h=d.isGroup?d.children:[d],p=c[0].count,A=[];for(const y of h){const m=new Ft,x=new ue,g=new Cn,_=new ue(1,1,1),b=new aw(y.geometry,y.material,p);for(let w=0;w<p;w++)l.TRANSLATION&&x.fromBufferAttribute(l.TRANSLATION,w),l.ROTATION&&g.fromBufferAttribute(l.ROTATION,w),l.SCALE&&_.fromBufferAttribute(l.SCALE,w),b.setMatrixAt(w,m.compose(x,g,_));for(const w in l)if(w==="_COLOR_0"){const C=l[w];b.instanceColor=new $g(C.array,C.itemSize,C.normalized)}else w!=="TRANSLATION"&&w!=="ROTATION"&&w!=="SCALE"&&y.geometry.setAttribute(w,l[w]);zn.prototype.copy.call(b,y),this.parser.assignFinalMaterial(b),A.push(b)}return d.isGroup?(d.clear(),d.add(...A),d):A[0]}))}}const lP="glTF",Lf=12,iB={JSON:1313821514,BIN:5130562};class CZ{constructor(e){this.name=cn.KHR_BINARY_GLTF,this.content=null,this.body=null;const t=new DataView(e,0,Lf),r=new TextDecoder;if(this.header={magic:r.decode(new Uint8Array(e.slice(0,4))),version:t.getUint32(4,!0),length:t.getUint32(8,!0)},this.header.magic!==lP)throw new Error("THREE.GLTFLoader: Unsupported glTF-Binary header.");if(this.header.version<2)throw new Error("THREE.GLTFLoader: Legacy binary file detected.");const i=this.header.length-Lf,s=new DataView(e,Lf);let a=0;for(;a<i;){const o=s.getUint32(a,!0);a+=4;const l=s.getUint32(a,!0);if(a+=4,l===iB.JSON){const c=new Uint8Array(e,Lf+a,o);this.content=r.decode(c)}else if(l===iB.BIN){const c=Lf+a;this.body=e.slice(c,c+o)}a+=o}if(this.content===null)throw new Error("THREE.GLTFLoader: JSON content not found.")}}class IZ{constructor(e,t){if(!t)throw new Error("THREE.GLTFLoader: No DRACOLoader instance provided.");this.name=cn.KHR_DRACO_MESH_COMPRESSION,this.json=e,this.dracoLoader=t,this.dracoLoader.preload()}decodePrimitive(e,t){const r=this.json,i=this.dracoLoader,s=e.extensions[this.name].bufferView,a=e.extensions[this.name].attributes,o={},l={},c={};for(const d in a){const h=bw[d]||d.toLowerCase();o[h]=a[d]}for(const d in e.attributes){const h=bw[d]||d.toLowerCase();if(a[d]!==void 0){const p=r.accessors[e.attributes[d]],A=Ld[p.componentType];c[h]=A.name,l[h]=p.normalized===!0}}return t.getDependency("bufferView",s).then(function(d){return new Promise(function(h,p){i.decodeDracoFile(d,function(A){for(const y in A.attributes){const m=A.attributes[y],x=l[y];x!==void 0&&(m.normalized=x)}h(A)},o,c,ii,p)})})}}class SZ{constructor(){this.name=cn.KHR_TEXTURE_TRANSFORM}extendTexture(e,t){return(t.texCoord===void 0||t.texCoord===e.channel)&&t.offset===void 0&&t.rotation===void 0&&t.scale===void 0||(e=e.clone(),t.texCoord!==void 0&&(e.channel=t.texCoord),t.offset!==void 0&&e.offset.fromArray(t.offset),t.rotation!==void 0&&(e.rotation=t.rotation),t.scale!==void 0&&e.repeat.fromArray(t.scale),e.needsUpdate=!0),e}}class BZ{constructor(){this.name=cn.KHR_MESH_QUANTIZATION}}class cP extends Gp{constructor(e,t,r,i){super(e,t,r,i)}copySampleValue_(e){const t=this.resultBuffer,r=this.sampleValues,i=this.valueSize,s=e*i*3+i;for(let a=0;a!==i;a++)t[a]=r[s+a];return t}interpolate_(e,t,r,i){const s=this.resultBuffer,a=this.sampleValues,o=this.valueSize,l=o*2,c=o*3,d=i-t,h=(r-t)/d,p=h*h,A=p*h,y=e*c,m=y-c,x=-2*A+3*p,g=A-p,_=1-x,b=g-p+h;for(let w=0;w!==o;w++){const C=a[m+w+o],S=a[m+w+l]*d,M=a[y+w+o],T=a[y+w]*d;s[w]=_*C+b*S+x*M+g*T}return s}}const MZ=new Cn;class TZ extends cP{interpolate_(e,t,r,i){const s=super.interpolate_(e,t,r,i);return MZ.fromArray(s).normalize().toArray(s),s}}const rs={POINTS:0,LINES:1,LINE_LOOP:2,LINE_STRIP:3,TRIANGLES:4,TRIANGLE_STRIP:5,TRIANGLE_FAN:6},Ld={5120:Int8Array,5121:Uint8Array,5122:Int16Array,5123:Uint16Array,5125:Uint32Array,5126:Float32Array},sB={9728:yr,9729:ar,9984:FN,9985:Ag,9986:Zf,9987:Sa},aB={33071:ls,33648:Lg,10497:Fl},Wv={SCALAR:1,VEC2:2,VEC3:3,VEC4:4,MAT2:4,MAT3:9,MAT4:16},bw={POSITION:"position",NORMAL:"normal",TANGENT:"tangent",TEXCOORD_0:"uv",TEXCOORD_1:"uv1",TEXCOORD_2:"uv2",TEXCOORD_3:"uv3",COLOR_0:"color",WEIGHTS_0:"skinWeight",JOINTS_0:"skinIndex"},El={scale:"scale",translation:"position",rotation:"quaternion",weights:"morphTargetInfluences"},RZ={CUBICSPLINE:void 0,LINEAR:Tp,STEP:Mp},qv={OPAQUE:"OPAQUE",MASK:"MASK",BLEND:"BLEND"};function DZ(n){return n.DefaultMaterial===void 0&&(n.DefaultMaterial=new qd({color:16777215,emissive:0,metalness:1,roughness:1,transparent:!1,depthTest:!0,side:Co})),n.DefaultMaterial}function bc(n,e,t){for(const r in t.extensions)n[r]===void 0&&(e.userData.gltfExtensions=e.userData.gltfExtensions||{},e.userData.gltfExtensions[r]=t.extensions[r])}function ba(n,e){e.extras!==void 0&&(typeof e.extras=="object"?Object.assign(n.userData,e.extras):console.warn("THREE.GLTFLoader: Ignoring primitive type .extras, "+e.extras))}function kZ(n,e,t){let r=!1,i=!1,s=!1;for(let c=0,d=e.length;c<d;c++){const h=e[c];if(h.POSITION!==void 0&&(r=!0),h.NORMAL!==void 0&&(i=!0),h.COLOR_0!==void 0&&(s=!0),r&&i&&s)break}if(!r&&!i&&!s)return Promise.resolve(n);const a=[],o=[],l=[];for(let c=0,d=e.length;c<d;c++){const h=e[c];if(r){const p=h.POSITION!==void 0?t.getDependency("accessor",h.POSITION):n.attributes.position;a.push(p)}if(i){const p=h.NORMAL!==void 0?t.getDependency("accessor",h.NORMAL):n.attributes.normal;o.push(p)}if(s){const p=h.COLOR_0!==void 0?t.getDependency("accessor",h.COLOR_0):n.attributes.color;l.push(p)}}return Promise.all([Promise.all(a),Promise.all(o),Promise.all(l)]).then(function(c){const d=c[0],h=c[1],p=c[2];return r&&(n.morphAttributes.position=d),i&&(n.morphAttributes.normal=h),s&&(n.morphAttributes.color=p),n.morphTargetsRelative=!0,n})}function NZ(n,e){if(n.updateMorphTargets(),e.weights!==void 0)for(let t=0,r=e.weights.length;t<r;t++)n.morphTargetInfluences[t]=e.weights[t];if(e.extras&&Array.isArray(e.extras.targetNames)){const t=e.extras.targetNames;if(n.morphTargetInfluences.length===t.length){n.morphTargetDictionary={};for(let r=0,i=t.length;r<i;r++)n.morphTargetDictionary[t[r]]=r}else console.warn("THREE.GLTFLoader: Invalid extras.targetNames length. Ignoring names.")}}function QZ(n){let e;const t=n.extensions&&n.extensions[cn.KHR_DRACO_MESH_COMPRESSION];if(t?e="draco:"+t.bufferView+":"+t.indices+":"+Yv(t.attributes):e=n.indices+":"+Yv(n.attributes)+":"+n.mode,n.targets!==void 0)for(let r=0,i=n.targets.length;r<i;r++)e+=":"+Yv(n.targets[r]);return e}function Yv(n){let e="";const t=Object.keys(n).sort();for(let r=0,i=t.length;r<i;r++)e+=t[r]+":"+n[t[r]]+";";return e}function ww(n){switch(n){case Int8Array:return 1/127;case Uint8Array:return 1/255;case Int16Array:return 1/32767;case Uint16Array:return 1/65535;default:throw new Error("THREE.GLTFLoader: Unsupported normalized accessor component type.")}}function PZ(n){return n.search(/\.jpe?g($|\?)/i)>0||n.search(/^data\:image\/jpeg/)===0?"image/jpeg":n.search(/\.webp($|\?)/i)>0||n.search(/^data\:image\/webp/)===0?"image/webp":n.search(/\.ktx2($|\?)/i)>0||n.search(/^data\:image\/ktx2/)===0?"image/ktx2":"image/png"}const LZ=new Ft;class FZ{constructor(e={},t={}){this.json=e,this.extensions={},this.plugins={},this.options=t,this.cache=new aZ,this.associations=new Map,this.primitiveCache={},this.nodeCache={},this.meshCache={refs:{},uses:{}},this.cameraCache={refs:{},uses:{}},this.lightCache={refs:{},uses:{}},this.sourceCache={},this.textureCache={},this.nodeNamesUsed={};let r=!1,i=-1,s=!1,a=-1;if(typeof navigator<"u"){const o=navigator.userAgent;r=/^((?!chrome|android).)*safari/i.test(o)===!0;const l=o.match(/Version\/(\d+)/);i=r&&l?parseInt(l[1],10):-1,s=o.indexOf("Firefox")>-1,a=s?o.match(/Firefox\/([0-9]+)\./)[1]:-1}typeof createImageBitmap>"u"||r&&i<17||s&&a<98?this.textureLoader=new N9(this.options.manager):this.textureLoader=new U9(this.options.manager),this.textureLoader.setCrossOrigin(this.options.crossOrigin),this.textureLoader.setRequestHeader(this.options.requestHeader),this.fileLoader=new IC(this.options.manager),this.fileLoader.setResponseType("arraybuffer"),this.options.crossOrigin==="use-credentials"&&this.fileLoader.setWithCredentials(!0)}setExtensions(e){this.extensions=e}setPlugins(e){this.plugins=e}parse(e,t){const r=this,i=this.json,s=this.extensions;this.cache.removeAll(),this.nodeCache={},this._invokeAll(function(a){return a._markDefs&&a._markDefs()}),Promise.all(this._invokeAll(function(a){return a.beforeRoot&&a.beforeRoot()})).then(function(){return Promise.all([r.getDependencies("scene"),r.getDependencies("animation"),r.getDependencies("camera")])}).then(function(a){const o={scene:a[0][i.scene||0],scenes:a[0],animations:a[1],cameras:a[2],asset:i.asset,parser:r,userData:{}};return bc(s,o,i),ba(o,i),Promise.all(r._invokeAll(function(l){return l.afterRoot&&l.afterRoot(o)})).then(function(){for(const l of o.scenes)l.updateMatrixWorld();e(o)})}).catch(t)}_markDefs(){const e=this.json.nodes||[],t=this.json.skins||[],r=this.json.meshes||[];for(let i=0,s=t.length;i<s;i++){const a=t[i].joints;for(let o=0,l=a.length;o<l;o++)e[a[o]].isBone=!0}for(let i=0,s=e.length;i<s;i++){const a=e[i];a.mesh!==void 0&&(this._addNodeRef(this.meshCache,a.mesh),a.skin!==void 0&&(r[a.mesh].isSkinnedMesh=!0)),a.camera!==void 0&&this._addNodeRef(this.cameraCache,a.camera)}}_addNodeRef(e,t){t!==void 0&&(e.refs[t]===void 0&&(e.refs[t]=e.uses[t]=0),e.refs[t]++)}_getNodeRef(e,t,r){if(e.refs[t]<=1)return r;const i=r.clone(),s=(a,o)=>{const l=this.associations.get(a);l!=null&&this.associations.set(o,l);for(const[c,d]of a.children.entries())s(d,o.children[c])};return s(r,i),i.name+="_instance_"+e.uses[t]++,i}_invokeOne(e){const t=Object.values(this.plugins);t.push(this);for(let r=0;r<t.length;r++){const i=e(t[r]);if(i)return i}return null}_invokeAll(e){const t=Object.values(this.plugins);t.unshift(this);const r=[];for(let i=0;i<t.length;i++){const s=e(t[i]);s&&r.push(s)}return r}getDependency(e,t){const r=e+":"+t;let i=this.cache.get(r);if(!i){switch(e){case"scene":i=this.loadScene(t);break;case"node":i=this._invokeOne(function(s){return s.loadNode&&s.loadNode(t)});break;case"mesh":i=this._invokeOne(function(s){return s.loadMesh&&s.loadMesh(t)});break;case"accessor":i=this.loadAccessor(t);break;case"bufferView":i=this._invokeOne(function(s){return s.loadBufferView&&s.loadBufferView(t)});break;case"buffer":i=this.loadBuffer(t);break;case"material":i=this._invokeOne(function(s){return s.loadMaterial&&s.loadMaterial(t)});break;case"texture":i=this._invokeOne(function(s){return s.loadTexture&&s.loadTexture(t)});break;case"skin":i=this.loadSkin(t);break;case"animation":i=this._invokeOne(function(s){return s.loadAnimation&&s.loadAnimation(t)});break;case"camera":i=this.loadCamera(t);break;default:if(i=this._invokeOne(function(s){return s!=this&&s.getDependency&&s.getDependency(e,t)}),!i)throw new Error("Unknown type: "+e);break}this.cache.add(r,i)}return i}getDependencies(e){let t=this.cache.get(e);if(!t){const r=this,i=this.json[e+(e==="mesh"?"es":"s")]||[];t=Promise.all(i.map(function(s,a){return r.getDependency(e,a)})),this.cache.add(e,t)}return t}loadBuffer(e){const t=this.json.buffers[e],r=this.fileLoader;if(t.type&&t.type!=="arraybuffer")throw new Error("THREE.GLTFLoader: "+t.type+" buffer type is not supported.");if(t.uri===void 0&&e===0)return Promise.resolve(this.extensions[cn.KHR_BINARY_GLTF].body);const i=this.options;return new Promise(function(s,a){r.load(fp.resolveURL(t.uri,i.path),s,void 0,function(){a(new Error('THREE.GLTFLoader: Failed to load buffer "'+t.uri+'".'))})})}loadBufferView(e){const t=this.json.bufferViews[e];return this.getDependency("buffer",t.buffer).then(function(r){const i=t.byteLength||0,s=t.byteOffset||0;return r.slice(s,s+i)})}loadAccessor(e){const t=this,r=this.json,i=this.json.accessors[e];if(i.bufferView===void 0&&i.sparse===void 0){const a=Wv[i.type],o=Ld[i.componentType],l=i.normalized===!0,c=new o(i.count*a);return Promise.resolve(new cr(c,a,l))}const s=[];return i.bufferView!==void 0?s.push(this.getDependency("bufferView",i.bufferView)):s.push(null),i.sparse!==void 0&&(s.push(this.getDependency("bufferView",i.sparse.indices.bufferView)),s.push(this.getDependency("bufferView",i.sparse.values.bufferView))),Promise.all(s).then(function(a){const o=a[0],l=Wv[i.type],c=Ld[i.componentType],d=c.BYTES_PER_ELEMENT,h=d*l,p=i.byteOffset||0,A=i.bufferView!==void 0?r.bufferViews[i.bufferView].byteStride:void 0,y=i.normalized===!0;let m,x;if(A&&A!==h){const g=Math.floor(p/A),_="InterleavedBuffer:"+i.bufferView+":"+i.componentType+":"+g+":"+i.count;let b=t.cache.get(_);b||(m=new c(o,g*A,i.count*A/d),b=new a9(m,A/d),t.cache.add(_,b)),x=new xC(b,l,p%A/d,y)}else o===null?m=new c(i.count*l):m=new c(o,p,i.count*l),x=new cr(m,l,y);if(i.sparse!==void 0){const g=Wv.SCALAR,_=Ld[i.sparse.indices.componentType],b=i.sparse.indices.byteOffset||0,w=i.sparse.values.byteOffset||0,C=new _(a[1],b,i.sparse.count*g),S=new c(a[2],w,i.sparse.count*l);o!==null&&(x=new cr(x.array.slice(),x.itemSize,x.normalized)),x.normalized=!1;for(let M=0,T=C.length;M<T;M++){const R=C[M];if(x.setX(R,S[M*l]),l>=2&&x.setY(R,S[M*l+1]),l>=3&&x.setZ(R,S[M*l+2]),l>=4&&x.setW(R,S[M*l+3]),l>=5)throw new Error("THREE.GLTFLoader: Unsupported itemSize in sparse BufferAttribute.")}x.normalized=y}return x})}loadTexture(e){const t=this.json,r=this.options,s=t.textures[e].source,a=t.images[s];let o=this.textureLoader;if(a.uri){const l=r.manager.getHandler(a.uri);l!==null&&(o=l)}return this.loadTextureImage(e,s,o)}loadTextureImage(e,t,r){const i=this,s=this.json,a=s.textures[e],o=s.images[t],l=(o.uri||o.bufferView)+":"+a.sampler;if(this.textureCache[l])return this.textureCache[l];const c=this.loadImageSource(t,r).then(function(d){d.flipY=!1,d.name=a.name||o.name||"",d.name===""&&typeof o.uri=="string"&&o.uri.startsWith("data:image/")===!1&&(d.name=o.uri);const p=(s.samplers||{})[a.sampler]||{};return d.magFilter=sB[p.magFilter]||ar,d.minFilter=sB[p.minFilter]||Sa,d.wrapS=aB[p.wrapS]||Fl,d.wrapT=aB[p.wrapT]||Fl,d.generateMipmaps=!d.isCompressedTexture&&d.minFilter!==yr&&d.minFilter!==ar,i.associations.set(d,{textures:e}),d}).catch(function(){return null});return this.textureCache[l]=c,c}loadImageSource(e,t){const r=this,i=this.json,s=this.options;if(this.sourceCache[e]!==void 0)return this.sourceCache[e].then(h=>h.clone());const a=i.images[e],o=self.URL||self.webkitURL;let l=a.uri||"",c=!1;if(a.bufferView!==void 0)l=r.getDependency("bufferView",a.bufferView).then(function(h){c=!0;const p=new Blob([h],{type:a.mimeType});return l=o.createObjectURL(p),l});else if(a.uri===void 0)throw new Error("THREE.GLTFLoader: Image "+e+" is missing URI and bufferView");const d=Promise.resolve(l).then(function(h){return new Promise(function(p,A){let y=p;t.isImageBitmapLoader===!0&&(y=function(m){const x=new lr(m);x.needsUpdate=!0,p(x)}),t.load(fp.resolveURL(h,s.path),y,void 0,A)})}).then(function(h){return c===!0&&o.revokeObjectURL(l),ba(h,a),h.userData.mimeType=a.mimeType||PZ(a.uri),h}).catch(function(h){throw console.error("THREE.GLTFLoader: Couldn't load texture",l),h});return this.sourceCache[e]=d,d}assignTexture(e,t,r,i){const s=this;return this.getDependency("texture",r.index).then(function(a){if(!a)return null;if(r.texCoord!==void 0&&r.texCoord>0&&(a=a.clone(),a.channel=r.texCoord),s.extensions[cn.KHR_TEXTURE_TRANSFORM]){const o=r.extensions!==void 0?r.extensions[cn.KHR_TEXTURE_TRANSFORM]:void 0;if(o){const l=s.associations.get(a);a=s.extensions[cn.KHR_TEXTURE_TRANSFORM].extendTexture(a,o),s.associations.set(a,l)}}return i!==void 0&&(a.colorSpace=i),e[t]=a,a})}assignFinalMaterial(e){const t=e.geometry;let r=e.material;const i=t.attributes.tangent===void 0,s=t.attributes.color!==void 0,a=t.attributes.normal===void 0;if(e.isPoints){const o="PointsMaterial:"+r.uuid;let l=this.cache.get(o);l||(l=new aQ,Ks.prototype.copy.call(l,r),l.color.copy(r.color),l.map=r.map,l.sizeAttenuation=!1,this.cache.add(o,l)),r=l}else if(e.isLine){const o="LineBasicMaterial:"+r.uuid;let l=this.cache.get(o);l||(l=new sQ,Ks.prototype.copy.call(l,r),l.color.copy(r.color),l.map=r.map,this.cache.add(o,l)),r=l}if(i||s||a){let o="ClonedMaterial:"+r.uuid+":";i&&(o+="derivative-tangents:"),s&&(o+="vertex-colors:"),a&&(o+="flat-shading:");let l=this.cache.get(o);l||(l=r.clone(),s&&(l.vertexColors=!0),a&&(l.flatShading=!0),i&&(l.normalScale&&(l.normalScale.y*=-1),l.clearcoatNormalScale&&(l.clearcoatNormalScale.y*=-1)),this.cache.add(o,l),this.associations.set(l,this.associations.get(r))),r=l}e.material=r}getMaterialType(){return qd}loadMaterial(e){const t=this,r=this.json,i=this.extensions,s=r.materials[e];let a;const o={},l=s.extensions||{},c=[];if(l[cn.KHR_MATERIALS_UNLIT]){const h=i[cn.KHR_MATERIALS_UNLIT];a=h.getMaterialType(),c.push(h.extendParams(o,s,t))}else{const h=s.pbrMetallicRoughness||{};if(o.color=new xt(1,1,1),o.opacity=1,Array.isArray(h.baseColorFactor)){const p=h.baseColorFactor;o.color.setRGB(p[0],p[1],p[2],ii),o.opacity=p[3]}h.baseColorTexture!==void 0&&c.push(t.assignTexture(o,"map",h.baseColorTexture,gr)),o.metalness=h.metallicFactor!==void 0?h.metallicFactor:1,o.roughness=h.roughnessFactor!==void 0?h.roughnessFactor:1,h.metallicRoughnessTexture!==void 0&&(c.push(t.assignTexture(o,"metalnessMap",h.metallicRoughnessTexture)),c.push(t.assignTexture(o,"roughnessMap",h.metallicRoughnessTexture))),a=this._invokeOne(function(p){return p.getMaterialType&&p.getMaterialType(e)}),c.push(Promise.all(this._invokeAll(function(p){return p.extendMaterialParams&&p.extendMaterialParams(e,o)})))}s.doubleSided===!0&&(o.side=is);const d=s.alphaMode||qv.OPAQUE;if(d===qv.BLEND?(o.transparent=!0,o.depthWrite=!1):(o.transparent=!1,d===qv.MASK&&(o.alphaTest=s.alphaCutoff!==void 0?s.alphaCutoff:.5)),s.normalTexture!==void 0&&a!==zc&&(c.push(t.assignTexture(o,"normalMap",s.normalTexture)),o.normalScale=new Dt(1,1),s.normalTexture.scale!==void 0)){const h=s.normalTexture.scale;o.normalScale.set(h,h)}if(s.occlusionTexture!==void 0&&a!==zc&&(c.push(t.assignTexture(o,"aoMap",s.occlusionTexture)),s.occlusionTexture.strength!==void 0&&(o.aoMapIntensity=s.occlusionTexture.strength)),s.emissiveFactor!==void 0&&a!==zc){const h=s.emissiveFactor;o.emissive=new xt().setRGB(h[0],h[1],h[2],ii)}return s.emissiveTexture!==void 0&&a!==zc&&c.push(t.assignTexture(o,"emissiveMap",s.emissiveTexture,gr)),Promise.all(c).then(function(){const h=new a(o);return s.name&&(h.name=s.name),ba(h,s),t.associations.set(h,{materials:e}),s.extensions&&bc(i,h,s),h})}createUniqueName(e){const t=Bn.sanitizeNodeName(e||"");return t in this.nodeNamesUsed?t+"_"+ ++this.nodeNamesUsed[t]:(this.nodeNamesUsed[t]=0,t)}loadGeometries(e){const t=this,r=this.extensions,i=this.primitiveCache;function s(o){return r[cn.KHR_DRACO_MESH_COMPRESSION].decodePrimitive(o,t).then(function(l){return oB(l,o,t)})}const a=[];for(let o=0,l=e.length;o<l;o++){const c=e[o],d=QZ(c),h=i[d];if(h)a.push(h.promise);else{let p;c.extensions&&c.extensions[cn.KHR_DRACO_MESH_COMPRESSION]?p=s(c):p=oB(new wr,c,t),i[d]={primitive:c,promise:p},a.push(p)}}return Promise.all(a)}loadMesh(e){const t=this,r=this.json,i=this.extensions,s=r.meshes[e],a=s.primitives,o=[];for(let l=0,c=a.length;l<c;l++){const d=a[l].material===void 0?DZ(this.cache):this.getDependency("material",a[l].material);o.push(d)}return o.push(t.loadGeometries(a)),Promise.all(o).then(function(l){const c=l.slice(0,l.length-1),d=l[l.length-1],h=[];for(let A=0,y=d.length;A<y;A++){const m=d[A],x=a[A];let g;const _=c[A];if(x.mode===rs.TRIANGLES||x.mode===rs.TRIANGLE_STRIP||x.mode===rs.TRIANGLE_FAN||x.mode===void 0)g=s.isSkinnedMesh===!0?new l9(m,_):new Kn(m,_),g.isSkinnedMesh===!0&&g.normalizeSkinWeights(),x.mode===rs.TRIANGLE_STRIP?g.geometry=rB(g.geometry,VN):x.mode===rs.TRIANGLE_FAN&&(g.geometry=rB(g.geometry,rw));else if(x.mode===rs.LINES)g=new p9(m,_);else if(x.mode===rs.LINE_STRIP)g=new bC(m,_);else if(x.mode===rs.LINE_LOOP)g=new A9(m,_);else if(x.mode===rs.POINTS)g=new m9(m,_);else throw new Error("THREE.GLTFLoader: Primitive mode unsupported: "+x.mode);Object.keys(g.geometry.morphAttributes).length>0&&NZ(g,s),g.name=t.createUniqueName(s.name||"mesh_"+e),ba(g,s),x.extensions&&bc(i,g,x),t.assignFinalMaterial(g),h.push(g)}for(let A=0,y=h.length;A<y;A++)t.associations.set(h[A],{meshes:e,primitives:A});if(h.length===1)return s.extensions&&bc(i,h[0],s),h[0];const p=new cs;s.extensions&&bc(i,p,s),t.associations.set(p,{meshes:e});for(let A=0,y=h.length;A<y;A++)p.add(h[A]);return p})}loadCamera(e){let t;const r=this.json.cameras[e],i=r[r.type];if(!i){console.warn("THREE.GLTFLoader: Missing camera parameters.");return}return r.type==="perspective"?t=new zr(qN.radToDeg(i.yfov),i.aspectRatio||1,i.znear||1,i.zfar||2e6):r.type==="orthographic"&&(t=new U0(-i.xmag,i.xmag,i.ymag,-i.ymag,i.znear,i.zfar)),r.name&&(t.name=this.createUniqueName(r.name)),ba(t,r),Promise.resolve(t)}loadSkin(e){const t=this.json.skins[e],r=[];for(let i=0,s=t.joints.length;i<s;i++)r.push(this._loadNodeShallow(t.joints[i]));return t.inverseBindMatrices!==void 0?r.push(this.getDependency("accessor",t.inverseBindMatrices)):r.push(null),Promise.all(r).then(function(i){const s=i.pop(),a=i,o=[],l=[];for(let c=0,d=a.length;c<d;c++){const h=a[c];if(h){o.push(h);const p=new Ft;s!==null&&p.fromArray(s.array,c*16),l.push(p)}else console.warn('THREE.GLTFLoader: Joint "%s" could not be found.',t.joints[c])}return new vC(o,l)})}loadAnimation(e){const t=this.json,r=this,i=t.animations[e],s=i.name?i.name:"animation_"+e,a=[],o=[],l=[],c=[],d=[];for(let h=0,p=i.channels.length;h<p;h++){const A=i.channels[h],y=i.samplers[A.sampler],m=A.target,x=m.node,g=i.parameters!==void 0?i.parameters[y.input]:y.input,_=i.parameters!==void 0?i.parameters[y.output]:y.output;m.node!==void 0&&(a.push(this.getDependency("node",x)),o.push(this.getDependency("accessor",g)),l.push(this.getDependency("accessor",_)),c.push(y),d.push(m))}return Promise.all([Promise.all(a),Promise.all(o),Promise.all(l),Promise.all(c),Promise.all(d)]).then(function(h){const p=h[0],A=h[1],y=h[2],m=h[3],x=h[4],g=[];for(let b=0,w=p.length;b<w;b++){const C=p[b],S=A[b],M=y[b],T=m[b],R=x[b];if(C===void 0)continue;C.updateMatrix&&C.updateMatrix();const k=r._createAnimationTracks(C,S,M,T,R);if(k)for(let G=0;G<k.length;G++)g.push(k[G])}const _=new S9(s,void 0,g);return ba(_,i),_})}createNodeMesh(e){const t=this.json,r=this,i=t.nodes[e];return i.mesh===void 0?null:r.getDependency("mesh",i.mesh).then(function(s){const a=r._getNodeRef(r.meshCache,i.mesh,s);return i.weights!==void 0&&a.traverse(function(o){if(o.isMesh)for(let l=0,c=i.weights.length;l<c;l++)o.morphTargetInfluences[l]=i.weights[l]}),a})}loadNode(e){const t=this.json,r=this,i=t.nodes[e],s=r._loadNodeShallow(e),a=[],o=i.children||[];for(let c=0,d=o.length;c<d;c++)a.push(r.getDependency("node",o[c]));const l=i.skin===void 0?Promise.resolve(null):r.getDependency("skin",i.skin);return Promise.all([s,Promise.all(a),l]).then(function(c){const d=c[0],h=c[1],p=c[2];p!==null&&d.traverse(function(A){A.isSkinnedMesh&&A.bind(p,LZ)});for(let A=0,y=h.length;A<y;A++)d.add(h[A]);return d})}_loadNodeShallow(e){const t=this.json,r=this.extensions,i=this;if(this.nodeCache[e]!==void 0)return this.nodeCache[e];const s=t.nodes[e],a=s.name?i.createUniqueName(s.name):"",o=[],l=i._invokeOne(function(c){return c.createNodeMesh&&c.createNodeMesh(e)});return l&&o.push(l),s.camera!==void 0&&o.push(i.getDependency("camera",s.camera).then(function(c){return i._getNodeRef(i.cameraCache,s.camera,c)})),i._invokeAll(function(c){return c.createNodeAttachment&&c.createNodeAttachment(e)}).forEach(function(c){o.push(c)}),this.nodeCache[e]=Promise.all(o).then(function(c){let d;if(s.isBone===!0?d=new iQ:c.length>1?d=new cs:c.length===1?d=c[0]:d=new zn,d!==c[0])for(let h=0,p=c.length;h<p;h++)d.add(c[h]);if(s.name&&(d.userData.name=s.name,d.name=a),ba(d,s),s.extensions&&bc(r,d,s),s.matrix!==void 0){const h=new Ft;h.fromArray(s.matrix),d.applyMatrix4(h)}else s.translation!==void 0&&d.position.fromArray(s.translation),s.rotation!==void 0&&d.quaternion.fromArray(s.rotation),s.scale!==void 0&&d.scale.fromArray(s.scale);if(!i.associations.has(d))i.associations.set(d,{});else if(s.mesh!==void 0&&i.meshCache.refs[s.mesh]>1){const h=i.associations.get(d);i.associations.set(d,{...h})}return i.associations.get(d).nodes=e,d}),this.nodeCache[e]}loadScene(e){const t=this.extensions,r=this.json.scenes[e],i=this,s=new cs;r.name&&(s.name=i.createUniqueName(r.name)),ba(s,r),r.extensions&&bc(t,s,r);const a=r.nodes||[],o=[];for(let l=0,c=a.length;l<c;l++)o.push(i.getDependency("node",a[l]));return Promise.all(o).then(function(l){for(let d=0,h=l.length;d<h;d++)s.add(l[d]);const c=d=>{const h=new Map;for(const[p,A]of i.associations)(p instanceof Ks||p instanceof lr)&&h.set(p,A);return d.traverse(p=>{const A=i.associations.get(p);A!=null&&h.set(p,A)}),h};return i.associations=c(s),s})}_createAnimationTracks(e,t,r,i,s){const a=[],o=e.name?e.name:e.uuid,l=[];El[s.path]===El.weights?e.traverse(function(p){p.morphTargetInfluences&&l.push(p.name?p.name:p.uuid)}):l.push(o);let c;switch(El[s.path]){case El.weights:c=Yd;break;case El.rotation:c=Jd;break;case El.translation:case El.scale:c=Xd;break;default:r.itemSize===1?c=Yd:c=Xd;break}const d=i.interpolation!==void 0?RZ[i.interpolation]:Tp,h=this._getArrayFromAccessor(r);for(let p=0,A=l.length;p<A;p++){const y=new c(l[p]+"."+El[s.path],t.array,h,d);i.interpolation==="CUBICSPLINE"&&this._createCubicSplineTrackInterpolant(y),a.push(y)}return a}_getArrayFromAccessor(e){let t=e.array;if(e.normalized){const r=ww(t.constructor),i=new Float32Array(t.length);for(let s=0,a=t.length;s<a;s++)i[s]=t[s]*r;t=i}return t}_createCubicSplineTrackInterpolant(e){e.createInterpolant=function(r){const i=this instanceof Jd?TZ:cP;return new i(this.times,this.values,this.getValueSize()/3,r)},e.createInterpolant.isInterpolantFactoryMethodGLTFCubicSpline=!0}}function zZ(n,e,t){const r=e.attributes,i=new ys;if(r.POSITION!==void 0){const o=t.json.accessors[r.POSITION],l=o.min,c=o.max;if(l!==void 0&&c!==void 0){if(i.set(new ue(l[0],l[1],l[2]),new ue(c[0],c[1],c[2])),o.normalized){const d=ww(Ld[o.componentType]);i.min.multiplyScalar(d),i.max.multiplyScalar(d)}}else{console.warn("THREE.GLTFLoader: Missing min/max properties for accessor POSITION.");return}}else return;const s=e.targets;if(s!==void 0){const o=new ue,l=new ue;for(let c=0,d=s.length;c<d;c++){const h=s[c];if(h.POSITION!==void 0){const p=t.json.accessors[h.POSITION],A=p.min,y=p.max;if(A!==void 0&&y!==void 0){if(l.setX(Math.max(Math.abs(A[0]),Math.abs(y[0]))),l.setY(Math.max(Math.abs(A[1]),Math.abs(y[1]))),l.setZ(Math.max(Math.abs(A[2]),Math.abs(y[2]))),p.normalized){const m=ww(Ld[p.componentType]);l.multiplyScalar(m)}o.max(l)}else console.warn("THREE.GLTFLoader: Missing min/max properties for accessor POSITION.")}}i.expandByVector(o)}n.boundingBox=i;const a=new Ua;i.getCenter(a.center),a.radius=i.min.distanceTo(i.max)/2,n.boundingSphere=a}function oB(n,e,t){const r=e.attributes,i=[];function s(a,o){return t.getDependency("accessor",a).then(function(l){n.setAttribute(o,l)})}for(const a in r){const o=bw[a]||a.toLowerCase();o in n.attributes||i.push(s(r[a],o))}if(e.indices!==void 0&&!n.index){const a=t.getDependency("accessor",e.indices).then(function(o){n.setIndex(o)});i.push(a)}return pn.workingColorSpace!==ii&&"COLOR_0"in r&&console.warn(`THREE.GLTFLoader: Converting vertex colors from "srgb-linear" to "${pn.workingColorSpace}" not supported.`),ba(n,e),zZ(n,e,t),Promise.all(i).then(function(){return e.targets!==void 0?kZ(n,e.targets,t):n})}async function lB(n,e){const i=(await new sZ().loadAsync(n)).scene;return i.traverse(s=>{s.visible=!1}),e.add(i),i}function cB(n,e){e.remove(n),n.traverse(t=>{const r=t;r.geometry?.dispose(),Array.isArray(r.material)?r.material.forEach(i=>i.dispose()):r.material?.dispose()})}class uB{constructor(e){this.onPointer=s=>{s.type==="pointerdown"?(this.start(s.clientX,s.clientY),this.mouseDown=!0):s.type==="pointermove"&&this.mouseDown?this.move(s.clientX,s.clientY):s.type==="pointerup"&&this.end()},this.scene=e.scene,this.renderer=e.renderer,this.camera=e.camera,this.container=e.container,this.controls=e.controls,this.draggableBodyIds=e.draggableBodyIds??null,this.mousePos=new Dt,this.raycaster=new X9,this.raycaster.params.Line.threshold=.1,this.grabDistance=0,this.active=!1,this.mouseDown=!1,this.physicsObject=null,this.localHit=new ue,this.worldHit=new ue,this.currentWorld=new ue,this.offset=new ue,this.arrow=new cs;const t=new Ah(.008,.008,1),r=new qd({color:16737095,transparent:!0,opacity:.5,metalness:0,roughness:.2});this.arrowShaft=new Kn(t,r),this.arrowShaft.position.y=.5;const i=new EC(.03,.1);this.arrowHead=new Kn(i,r),this.arrowHead.position.y=1,this.arrow.add(this.arrowShaft),this.arrow.add(this.arrowHead),this.arrow.visible=!1,this.scene.add(this.arrow),this.container.addEventListener("pointerdown",this.onPointer,!0),document.addEventListener("pointermove",this.onPointer,!0),document.addEventListener("pointerup",this.onPointer,!0)}updateRaycaster(e,t){const r=this.renderer.domElement.getBoundingClientRect();this.mousePos.x=(e-r.left)/r.width*2-1,this.mousePos.y=-((t-r.top)/r.height)*2+1,this.raycaster.setFromCamera(this.mousePos,this.camera)}start(e,t){this.physicsObject=null,this.updateRaycaster(e,t);const r=this.raycaster.intersectObjects(this.scene.children,!0);for(const i of r){const s=i.object;if(!this.shouldIgnoreForDrag(s)&&this.isDraggableObject(s)){this.physicsObject=s,this.grabDistance=i.distance;const a=this.raycaster.ray.origin.clone().addScaledVector(this.raycaster.ray.direction,this.grabDistance);this.localHit.copy(s.worldToLocal(a.clone())),this.worldHit.copy(a),this.currentWorld.copy(a),this.offset.set(0,0,0),this.arrow.position.copy(a),this.arrow.visible=!1,this.active=!0,this.controls.enabled=!1;break}}}setDraggableBodyIds(e){this.draggableBodyIds=e}isDraggableObject(e){if(!("bodyID"in e)||typeof e.bodyID!="number")return!1;const t=e.bodyID;return!(t<=0||this.draggableBodyIds&&!this.draggableBodyIds.has(t))}shouldIgnoreForDrag(e){let t=e;for(;t;){if(t.userData?.ignoreDragForce===!0)return!0;t=t.parent}return!1}move(e,t){this.active&&this.updateRaycaster(e,t)}update(){if(!this.physicsObject||!this.active)return;this.raycaster.setFromCamera(this.mousePos,this.camera),this.currentWorld.copy(this.raycaster.ray.origin.clone().addScaledVector(this.raycaster.ray.direction,this.grabDistance)),this.worldHit.copy(this.localHit),this.physicsObject.localToWorld(this.worldHit),this.offset.copy(this.currentWorld).sub(this.worldHit),this.arrow.position.copy(this.worldHit);const e=this.offset.length();if(e>.001){this.arrow.visible=!0;const t=this.offset.clone().normalize();this.arrow.quaternion.setFromUnitVectors(new ue(0,1,0),t);const r=.1,i=Math.max(.01,e-r);this.arrowShaft.scale.y=i,this.arrowShaft.position.y=i/2,this.arrowHead.position.y=i+r/2}else this.arrow.visible=!1}end(){this.physicsObject=null,this.active=!1,this.controls.enabled=!0,this.arrow.visible=!1,this.mouseDown=!1}dispose(){this.container.removeEventListener("pointerdown",this.onPointer,!0),document.removeEventListener("pointermove",this.onPointer,!0),document.removeEventListener("pointerup",this.onPointer,!0),this.arrow.parent&&this.scene.remove(this.arrow),this.arrowShaft.geometry.dispose(),this.arrowHead.geometry.dispose(),this.arrowShaft.material&&this.arrowShaft.material.dispose()}}const Ff={lookat:[0,0,0],distance:4,elevation:-30,azimuth:45,fovy:45};function UZ(n,e,t,r){const i=t*Math.PI/180,s=r*Math.PI/180,a=n[0]+e*Math.cos(i)*Math.cos(s),o=n[1]+e*Math.cos(i)*Math.sin(s),l=n[2]-e*Math.sin(i);return zl([a,o,l])}function OZ(n,e,t,r,i){const s={trackBodyId:null,prevBodyPos:null};t.enabled=!0;const a=n?.lookat??Ff.lookat,o=n?.distance??Ff.distance,l=n?.elevation??Ff.elevation,c=n?.azimuth??Ff.azimuth;if(e.fov=n?.fovy??Ff.fovy,e.updateProjectionMatrix(),e.position.copy(UZ(a,o,l,c)),t.target.copy(zl(a)),t.update(),!n)return s;const d=n.originType??"AUTO";if(d==="ASSET_BODY"&&n.bodyName&&r){const h=n.bodyName,p=n.entityName,A=p?`${p}/${h}`:null;for(let y=0;y<r.nbody;y++){const m=r.body(y).name;if(m===h||m===A||m.endsWith(`/${h}`)){s.trackBodyId=y;break}}s.trackBodyId===null&&console.warn(`[Camera] bodyName: body "${n.bodyName}" not found.`)}else(d==="AUTO"||d==="ASSET_ROOT")&&r&&r.nbody>1&&(s.trackBodyId=1);if(s.trackBodyId!==null&&i){const h=zl(i.xpos.slice(s.trackBodyId*3,s.trackBodyId*3+3));e.position.add(h),t.target.add(h),s.prevBodyPos=h,t.update()}return s}function $Z(n,e,t,r){if(r.trackBodyId!==null){const i=r.trackBodyId,s=zl(n.xpos.slice(i*3,i*3+3));if(r.prevBodyPos!==null){const a=s.clone().sub(r.prevBodyPos);e.position.add(a),t.target.add(a)}r.prevBodyPos=s}}const Rl=class Rl{constructor(e){this.MAX_CACHE_SIZE=5,this.mujoco=e,this.cache=new Map,this.metrics={totalScenes:0,totalMemoryBytes:0,oldestAccessTime:Date.now(),newestAccessTime:Date.now(),cacheHits:0,cacheMisses:0,evictions:0}}static getInstance(e){return Rl.instance||(Rl.instance=new Rl(e),console.log("[SceneCache] Created new cache manager singleton")),Rl.instance}static resetInstance(){Rl.instance=null}normalizeScenePath(e){return e?DC(e):""}has(e){const t=this.normalizeScenePath(e);return this.cache.has(t)}get(e){const t=this.normalizeScenePath(e),r=this.cache.get(t);return r?(r.lastAccessed=Date.now(),this.metrics.cacheHits++,this.updateMetricsTimestamps(),r):(this.metrics.cacheMisses++,null)}async set(e,t){const r=this.normalizeScenePath(e);!this.cache.has(r)&&this.cache.size>=this.MAX_CACHE_SIZE&&await this.maybeEvict(),t.scenePath=r,t.lastAccessed=Date.now(),this.cache.set(r,t),this.updateMetrics()}async evict(e){const t=this.normalizeScenePath(e),r=this.cache.get(t);r&&(await this.disposeSceneResources(r),this.cache.delete(t),this.metrics.evictions++,this.updateMetrics())}async clear(){const e=Array.from(this.cache.keys());for(const t of e)await this.evict(t)}getMetrics(){return{...this.metrics}}async prepareForNewScene(){this.cache.size>=this.MAX_CACHE_SIZE&&await this.maybeEvict()}findLRUScene(){let e=null,t=1/0;for(const[r,i]of this.cache.entries())i.lastAccessed<t&&(t=i.lastAccessed,e=r);return e}async maybeEvict(){const e=this.findLRUScene();e&&(console.log(`[SceneCache] Evicting LRU scene: ${e}`),await this.evict(e))}async disposeSceneResources(e){const t=performance.now();if(e.skybox&&e.skybox.dispose(),e.mujocoRoot&&this.disposeThreeJSObject(e.mujocoRoot),e.mjData)try{e.mjData.delete()}catch(s){console.warn("[SceneCache] Failed to delete mjData:",s)}if(e.mjModel)try{e.mjModel.delete()}catch(s){console.warn("[SceneCache] Failed to delete mjModel:",s)}for(const s of e.fsFiles)try{const a=`/working/${s}`;this.mujoco.FS.analyzePath(a,!1).exists&&this.mujoco.FS.unlink(a)}catch{}mJ(e.scenePath);const r=performance.now()-t,i=(e.estimatedMemoryBytes/1048576).toFixed(1);console.log(`[SceneCache] Evicted: ${e.scenePath} (${i} MB) in ${r.toFixed(0)}ms`)}disposeThreeJSObject(e){e.traverse(t=>{"geometry"in t&&t.geometry&&t.geometry.dispose(),"material"in t&&t.material&&(Array.isArray(t.material)?t.material.forEach(r=>this.disposeMaterial(r)):this.disposeMaterial(t.material))}),e.parent&&e.parent.remove(e)}disposeMaterial(e){const t=e;t.map&&t.map.dispose(),t.aoMap&&t.aoMap.dispose(),t.emissiveMap&&t.emissiveMap.dispose(),t.metalnessMap&&t.metalnessMap.dispose(),t.normalMap&&t.normalMap.dispose(),t.roughnessMap&&t.roughnessMap.dispose(),t.envMap&&t.envMap.dispose(),t.alphaMap&&t.alphaMap.dispose(),t.lightMap&&t.lightMap.dispose(),t.displacementMap&&t.displacementMap.dispose(),t.bumpMap&&t.bumpMap.dispose(),e.dispose()}updateMetrics(){this.metrics.totalScenes=this.cache.size,this.metrics.totalMemoryBytes=0;for(const e of this.cache.values())this.metrics.totalMemoryBytes+=e.estimatedMemoryBytes;this.updateMetricsTimestamps()}updateMetricsTimestamps(){let e=Date.now(),t=0;for(const r of this.cache.values())r.lastAccessed<e&&(e=r.lastAccessed),r.lastAccessed>t&&(t=r.lastAccessed);this.metrics.oldestAccessTime=e,this.metrics.newestAccessTime=t}};Rl.instance=null;let Ew=Rl;class GZ{constructor(){this.fsWriteLog=[],this.isTracking=!1}startTracking(e){if(this.isTracking){console.warn("[ResourceTracker] Already tracking FS writes");return}this.fsWriteLog=[],this.isTracking=!0,this.originalWriteFile=e.FS.writeFile;const t=this.fsWriteLog,r=this.originalWriteFile;e.FS.writeFile=function(i,s,a){if(i.startsWith("/working/")){const o=i.replace(/^\/working\//,"");t.includes(o)||t.push(o)}if(r)return r.call(e.FS,i,s,a)}}stopTracking(e){return this.isTracking?(this.originalWriteFile&&(e.FS.writeFile=this.originalWriteFile,this.originalWriteFile=void 0),this.isTracking=!1,[...this.fsWriteLog]):[]}estimateSceneMemory(e){let t=0;t+=this.estimateMuJoCoMemory(e.mjModel),t+=this.estimateMjDataMemory(e.mjData);const r=new Set,i=new Set,s=new Set;for(const a of Object.values(e.meshes))r.has(a)||(t+=this.estimateGeometryMemory(a),r.add(a));return e.mujocoRoot.traverse(a=>{if("geometry"in a&&a.geometry){const o=a.geometry;r.has(o)||(t+=this.estimateGeometryMemory(o),r.add(o))}if("material"in a&&a.material){const o=Array.isArray(a.material)?a.material:[a.material];for(const l of o)i.has(l)||(t+=1024,i.add(l),this.collectMaterialTextures(l).forEach(c=>{s.has(c)||(t+=this.estimateTextureMemory(c),s.add(c))}))}}),t}collectMaterialTextures(e){const t=[],r=e;return r.map&&t.push(r.map),r.aoMap&&t.push(r.aoMap),r.emissiveMap&&t.push(r.emissiveMap),r.metalnessMap&&t.push(r.metalnessMap),r.normalMap&&t.push(r.normalMap),r.roughnessMap&&t.push(r.roughnessMap),r.envMap&&t.push(r.envMap),r.alphaMap&&t.push(r.alphaMap),r.lightMap&&t.push(r.lightMap),r.displacementMap&&t.push(r.displacementMap),r.bumpMap&&t.push(r.bumpMap),t}estimateMuJoCoMemory(e){let t=0;return e.nq&&(t+=e.nq*8),e.nv&&(t+=e.nv*8),e.nbody&&(t+=e.nbody*256),e.mesh_vert&&(t+=e.mesh_vert.length*4),e.mesh_normal&&(t+=e.mesh_normal.length*4),e.mesh_texcoord&&(t+=e.mesh_texcoord.length*4),e.mesh_face&&(t+=e.mesh_face.length*4),e.tex_data&&(t+=e.tex_data.length),t}estimateMjDataMemory(e){let t=0;return e.qpos&&(t+=e.qpos.length*8),e.qvel&&(t+=e.qvel.length*8),e.qacc&&(t+=e.qacc.length*8),e.qacc_warmstart&&(t+=e.qacc_warmstart.length*8),e.ctrl&&(t+=e.ctrl.length*8),e.qfrc_applied&&(t+=e.qfrc_applied.length*8),e.xfrc_applied&&(t+=e.xfrc_applied.length*8),e.xpos&&(t+=e.xpos.length*8),e.xquat&&(t+=e.xquat.length*8),e.xmat&&(t+=e.xmat.length*8),e.xipos&&(t+=e.xipos.length*8),e.ximat&&(t+=e.ximat.length*8),e.ncon&&(t+=e.ncon*256),e.efc_force&&(t+=e.efc_force.length*8),e.sensordata&&(t+=e.sensordata.length*8),t}estimateGeometryMemory(e){let t=0;const r=e.attributes;for(const i in r){const s=r[i];s&&"array"in s&&(t+=s.array.byteLength)}return e.index&&(t+=e.index.array.byteLength),t}estimateTextureMemory(e){if(!e.image)return 1024;if(e instanceof ph&&Array.isArray(e.image)&&e.image.length===6){let r=0;for(const i of e.image){const s=i;s&&typeof s=="object"&&"width"in s&&"height"in s&&(r+=s.width*s.height*4)}return r}const t=e.image;return t&&typeof t=="object"&&"width"in t&&"height"in t?t.width*t.height*4:1024}}class HZ{getStats(e,t){const r=this.getJSHeapStats(),i={jsHeapUsedMB:r.used,jsHeapTotalMB:r.total,jsHeapLimitMB:r.limit,cachedScenesCount:e.totalScenes,estimatedCacheMemoryMB:e.totalMemoryBytes/1048576,estimatedGPUMemoryMB:0,sceneBreakdown:[]};if(t)for(const[s,a]of t.entries())i.sceneBreakdown.push({scenePath:s,memoryMB:a.memoryBytes/1048576,lastAccessed:new Date(a.lastAccessed)});return i}logCacheOperation(e,t,r){const i="[SceneCache]";switch(e){case"load":{const s=r?.memoryMB?` (${r.memoryMB.toFixed(1)} MB)`:"",a=r?.totalScenes!==void 0&&r?.totalMemoryMB!==void 0?` - Cache: ${r.totalScenes}/5 scenes, ${r.totalMemoryMB.toFixed(1)} MB total`:"";console.log(`${i} Loaded: ${t}${s}${a}`);break}case"hit":{const s=r?.elapsedMs!==void 0?` (~${r.elapsedMs.toFixed(0)}ms)`:"";console.log(`${i} Cache HIT: ${t}${s}`);break}case"miss":{console.log(`${i} Cache MISS: ${t}`);break}case"evict":{const s=r?.memoryMB?` (${r.memoryMB.toFixed(1)} MB)`:"";console.log(`${i} Evicted LRU: ${t}${s}`);break}}}logStats(e){if(console.log("[SceneCache] Memory Statistics:"),console.log(`  JS Heap: ${e.jsHeapUsedMB.toFixed(1)} MB / ${e.jsHeapTotalMB.toFixed(1)} MB (Limit: ${e.jsHeapLimitMB.toFixed(1)} MB)`),console.log(`  Cached Scenes: ${e.cachedScenesCount}/5`),console.log(`  Estimated Cache Memory: ${e.estimatedCacheMemoryMB.toFixed(1)} MB`),e.sceneBreakdown.length>0){console.log("  Scene Breakdown:");for(const t of e.sceneBreakdown)console.log(`    - ${t.scenePath}: ${t.memoryMB.toFixed(1)} MB (accessed: ${t.lastAccessed.toLocaleTimeString()})`)}}getJSHeapStats(){const e=performance;return e.memory?{used:e.memory.usedJSHeapSize/1048576,total:e.memory.totalJSHeapSize/1048576,limit:e.memory.jsHeapSizeLimit/1048576}:{used:0,total:0,limit:0}}estimateGPUMemory(e){const t=e.info,r=t.memory.geometries,i=t.memory.textures;return r*1+i*2}}class Vn{constructor(e,t){this.runner=e,this.config=t}}const VZ={};function us(n){const 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uP(n,e){if(!Array.isArray(n)||n.length<2)return e;const t=Number(n[0]),r=Number(n[1]);return!Number.isFinite(t)||!Number.isFinite(r)?e:[t,r]}function dB(n){if(n===null||typeof n!="object"||Array.isArray(n))return{};const e={};for(const t of["x","y","z","roll","pitch","yaw"]){const r=uP(n[t],[0,0]);(r[0]!==0||r[1]!==0)&&(e[t]=r)}return e}function $i(n){return n?n[0]+Math.random()*(n[1]-n[0]):0}function eee(n,e){const t=n[0]??1,r=n[1]??0,i=n[2]??0,s=n[3]??0,a=e[0]??1,o=e[1]??0,l=e[2]??0,c=e[3]??0;return new Float32Array([t*a-r*o-i*l-s*c,t*o+r*a+i*c-s*l,t*l-r*c+i*a+s*o,t*c+r*l-i*o+s*a])}function tee(n,e,t){const r=Math.cos(n*.5),i=Math.sin(n*.5),s=Math.cos(e*.5),a=Math.sin(e*.5),o=Math.cos(t*.5),l=Math.sin(t*.5);return new Float32Array([r*s*o+i*a*l,i*s*o-r*a*l,r*a*o+i*s*l,r*s*l-i*a*o])}function hB(n){const e=n.clone();return"transparent"in e&&(e.transparent=!0),"opacity"in e&&(e.opacity=.35),"depthWrite"in e&&(e.depthWrite=!1),"color"in e&&e.color instanceof xt&&(e.color=new xt("#7bd88f")),e}function nee(n){let e=!1;return n.traverse(t=>{t instanceof Kn&&(e=!0)}),e}class xp{constructor(e,t,r){this.context=r,this.motions=Array.isArray(t.motions)?t.motions:[],this.loadedMotions=new Map,this.sampleHz=50,this.selectedMotionName=this.motions.find(i=>i.default)?.name??this.motions[0]?.name??null,this.selectedMotion=null,this.selectedAnchorBodyIndex=0,this.selectedRootBodyIndex=0,this.datasetQposAdr=[],this.frameAccumulator=0,this.justReset=!0,this.referenceVisible=!0,this.samplingMode=typeof t.sampling_mode=="string"?t.sampling_mode:"start",this.poseRange=dB(t.pose_range),this.velocityRange=dB(t.velocity_range),this.jointPositionRange=uP(t.joint_position_range,[0,0]),this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.nJoints=this.motions.find(i=>i.name===this.selectedMotionName)?.dataset_joint_names?.length??0,this.ghostBodies=new Map,this.ghostData=r.mjModel?new r.mujoco.MjData(r.mjModel):null,this.ghostRoot=this.createGhostRoot(),this.refBodyPosW=[],this.refBodyQuatW=[],this.refBodyLinVelW=[],this.refBodyAngVelW=[]}getCommand(){if(!this.selectedMotion||this.refLen===0)return new Float32Array(this.nJoints*2);const e=this.refJointPos[this.refIdx]??new Float32Array(this.nJoints),t=this.selectedMotion.jointVel[this.refIdx]??new Float32Array(this.nJoints),r=new Float32Array(e.length+t.length);return r.set(e,0),r.set(t,e.length),r}getUiConfig(){return null}async setSelectedMotion(e){const t=e??this.selectedMotionName;if(!t)return this.selectedMotionName=null,this.selectedMotion=null,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refBodyPosW=[],this.refBodyQuatW=[],this.refBodyLinVelW=[],this.refBodyAngVelW=[],this.refLen=0,this.nJoints=0,this.updateGhostPose(),!1;const r=this.motions.find(s=>s.name===t);if(!r)return!1;const i=this.loadedMotions.get(t)??await this.loadMotion(r);return this.loadedMotions.set(t,i),this.selectedMotionName=t,this.selectedMotion=i,this.selectedAnchorBodyIndex=Math.max(0,i.body_names.indexOf(i.anchor_body_name)),this.selectedRootBodyIndex=0,this.datasetQposAdr=this.resolveQposAdr(i.dataset_joint_names??[]),this.refLen=i.frameCount,this.refJointPos=i.jointPos,this.refIdx=this.sampleInitialFrame(this.refLen),this.nJoints=i.jointPos[0]?.length??0,this.frameAccumulator=0,this.justReset=!0,this.updateReferenceState(),this.applyReferenceStateToSim(),this.updateGhostPose(),!0}setReferenceVisible(e){this.referenceVisible=e,this.ghostRoot&&(this.ghostRoot.visible=e&&this.selectedMotion!==null)}reset(){this.refIdx=this.sampleInitialFrame(this.refLen),this.frameAccumulator=0,this.justReset=!0,this.updateReferenceState(),this.applyReferenceStateToSim(),this.updateGhostPose()}update(e){if(!(!this.selectedMotion||this.refLen<=1)){if(this.justReset){this.justReset=!1,this.updateGhostPose();return}for(this.frameAccumulator+=e*this.sampleHz;this.frameAccumulator>=1&&this.refIdx<this.refLen-1;)this.refIdx+=1,this.frameAccumulator-=1;this.updateGhostPose()}}updateDebugVisuals(){this.ghostRoot&&(this.ghostRoot.visible=this.referenceVisible&&this.selectedMotion!==null)}dispose(){this.ghostRoot&&(this.ghostRoot.parent?.remove(this.ghostRoot),this.ghostRoot.traverse(e=>{if(e instanceof Kn)if(Array.isArray(e.material))for(const t of e.material)t.dispose?.();else e.material?.dispose?.()})),this.ghostData?.delete?.()}isReady(){return this.selectedMotion!==null&&this.refLen>0}getSelectedMotion(){return this.selectedMotion}getSelectedMotionName(){return this.selectedMotionName}getAnchorBodyName(){return this.selectedMotion?.anchor_body_name??this.motions.find(e=>e.name===this.selectedMotionName)?.anchor_body_name??null}getBodyNames(){return this.selectedMotion?.body_names??this.motions.find(e=>e.name===this.selectedMotionName)?.body_names??[]}getAnchorBodyIndex(){return this.selectedAnchorBodyIndex}getAnchorPos(e=this.refIdx){if(!this.selectedMotion)return null;const r=this.refBodyPosW[e];if(!r)return null;const i=this.selectedAnchorBodyIndex*3;return r.slice(i,i+3)}getAnchorQuat(e=this.refIdx){if(!this.selectedMotion)return null;const r=this.refBodyQuatW[e];if(!r)return null;const i=this.selectedAnchorBodyIndex*4;return Jv(r.slice(i,i+4))}getBodyPosW(e=this.refIdx){if(!this.selectedMotion)return null;const r=this.refBodyPosW[e];return r?r.slice():null}createGhostRoot(){const e=this.context.bodies??null,t=this.context.mjModel;if(!e||!t)return null;const r=new cs;r.name="Tracking Ghost",r.visible=!1;for(const[i,s]of Object.entries(e)){const a=Number(i);if(!this.isDynamicBody(a))continue;const o=s.clone(!0);o.traverse(l=>{l instanceof Kn&&(Array.isArray(l.material)?l.material=l.material.map(hB):l.material=hB(l.material))}),nee(o)&&(this.ghostBodies.set(a,o),r.add(o))}return(this.context.mujocoRoot??this.context.scene).add(r),r}isDynamicBody(e){const t=this.context.mjModel;if(!t||e<=0||e>=t.nbody)return!1;let r=e;for(;r>0;){if(t.body_jntnum[r]>0)return!0;r=t.body_parentid[r]}return!1}async loadMotion(e){this.sampleHz=e.fps;const t=await ZZ(e.path),r=["joint_pos","joint_vel","body_pos_w","body_quat_w","body_lin_vel_w","body_ang_vel_w"];for(const h of r)if(!t[h])throw new Error(`Motion asset is missing '${h}'`);const i=wd(t.joint_pos),s=wd(t.joint_vel),a=t.body_names?.strings??null,o=this.selectMotionBodyFrames(wd(t.body_pos_w),e.body_names,3,a),l=this.selectMotionBodyFrames(wd(t.body_quat_w),e.body_names,4,a),c=this.selectMotionBodyFrames(wd(t.body_lin_vel_w),e.body_names,3,a),d=this.selectMotionBodyFrames(wd(t.body_ang_vel_w),e.body_names,3,a);return{...e,jointPos:i,jointVel:s,bodyPosW:o,bodyQuatW:l,bodyLinVelW:c,bodyAngVelW:d,frameCount:i.length}}selectMotionBodyFrames(e,t,r,i=null){const s=this.context.mjModel,a=e[0];if(!s||!a||t.length===0)return e;const o=Math.floor(a.length/r);if(o===t.length)return e;let l;if(i!==null)l=t.map(c=>i.indexOf(c));else{const c=this.findBodyIdByName(t[0]);l=t.map(h=>this.findBodyIdByName(h)).map(h=>h-c)}return l.some(c=>c<0||c>=o)?(console.warn("[TrackingCommand] Could not map all motion body names to source body indices; using raw body frames."),e):e.map(c=>{const d=new Float32Array(t.length*r);for(let h=0;h<l.length;h++){const p=l[h]*r,A=h*r;for(let y=0;y<r;y++)d[A+y]=c[p+y]??0}return d})}updateReferenceState(){const e=this.selectedMotion;if(!e||e.frameCount===0){this.refRootPos=[],this.refRootQuat=[],this.refBodyPosW=[],this.refBodyQuatW=[],this.refBodyLinVelW=[],this.refBodyAngVelW=[];return}this.refBodyPosW=e.bodyPosW.map(t=>t.slice()),this.refBodyQuatW=e.bodyQuatW.map(t=>t.slice()),this.refBodyLinVelW=e.bodyLinVelW.map(t=>t.slice()),this.refBodyAngVelW=e.bodyAngVelW.map(t=>t.slice()),this.refRootPos=this.refBodyPosW.map(t=>t.slice(this.selectedRootBodyIndex*3,this.selectedRootBodyIndex*3+3)),this.refRootQuat=this.refBodyQuatW.map(t=>Jv(t.slice(this.selectedRootBodyIndex*4,this.selectedRootBodyIndex*4+4)))}applyReferenceStateToSim(){const e=this.context.mjModel,t=this.context.mjData,r=this.selectedMotion;if(!e||!t||!r||this.refLen===0)return;const i=this.sampleRootPos(this.refIdx),s=this.sampleRootQuat(this.refIdx),a=this.findFreeJointIndex();if(i&&s&&a>=0){const c=e.jnt_qposadr[a],d=e.jnt_dofadr[a];t.qpos[c+0]=i[0]??0,t.qpos[c+1]=i[1]??0,t.qpos[c+2]=i[2]??0,t.qpos[c+3]=s[0]??1,t.qpos[c+4]=s[1]??0,t.qpos[c+5]=s[2]??0,t.qpos[c+6]=s[3]??0;const h=this.sampleRootVelocity(this.refIdx,this.refBodyLinVelW),p=this.sampleRootAngularVelocity(this.refIdx);h&&p&&(t.qvel[d+0]=h[0]??0,t.qvel[d+1]=h[1]??0,t.qvel[d+2]=h[2]??0,t.qvel[d+3]=p[0]??0,t.qvel[d+4]=p[1]??0,t.qvel[d+5]=p[2]??0)}const o=this.sampleJointPos(this.refIdx),l=r.jointVel[this.refIdx]??new Float32Array(0);for(let c=0;c<this.datasetQposAdr.length&&c<o.length;c++)t.qpos[this.datasetQposAdr[c]]=o[c]??0;for(let c=0;c<this.datasetQposAdr.length&&c<l.length;c++){const d=this.resolveQvelAdrForQposAdr(this.datasetQposAdr[c]);d>=0&&(t.qvel[d]=l[c]??0)}this.context.mujoco.mj_forward(e,t)}sampleRootPos(e){const t=this.refRootPos[e];if(!t)return null;const r=t.slice();return r[0]+=$i(this.poseRange.x),r[1]+=$i(this.poseRange.y),r[2]+=$i(this.poseRange.z),r}sampleRootQuat(e){const t=this.refRootQuat[e];if(!t)return null;const r=$i(this.poseRange.roll),i=$i(this.poseRange.pitch),s=$i(this.poseRange.yaw);return r===0&&i===0&&s===0?t:Jv(eee(tee(r,i,s),t))}sampleRootVelocity(e,t){const r=t[e]?.slice(this.selectedRootBodyIndex*3,this.selectedRootBodyIndex*3+3);return r?(r[0]+=$i(this.velocityRange.x),r[1]+=$i(this.velocityRange.y),r[2]+=$i(this.velocityRange.z),r):null}sampleRootAngularVelocity(e){const t=this.refBodyAngVelW[e]?.slice(this.selectedRootBodyIndex*3,this.selectedRootBodyIndex*3+3);return t?(t[0]+=$i(this.velocityRange.roll),t[1]+=$i(this.velocityRange.pitch),t[2]+=$i(this.velocityRange.yaw),t):null}sampleInitialFrame(e){return e<=1||this.samplingMode==="start"?0:this.samplingMode==="uniform"?Math.floor(Math.random()*e):0}sampleJointPos(e){const t=this.refJointPos[e]??new Float32Array(0);if(this.jointPositionRange[0]===0&&this.jointPositionRange[1]===0)return t;const r=t.slice();for(let i=0;i<r.length;i++)r[i]+=$i(this.jointPositionRange);return r}resolveQposAdr(e){const t=this.context.mjModel;if(!t||e.length===0)return[];const r=[];for(const i of e){let s=-1;for(let a=0;a<t.njnt;a++){const o=t.jnt(a).name;if(o===i||o.endsWith(`/${i}`)){s=t.jnt_qposadr[a];break}}s>=0&&r.push(s)}return r}resolveQvelAdrForQposAdr(e){const t=this.context.mjModel;if(!t)return-1;for(let r=0;r<t.njnt;r++)if(t.jnt_qposadr[r]===e)return t.jnt_dofadr[r];return-1}findBodyIdByName(e){const t=this.context.mjModel;if(!t)return-1;for(let r=0;r<t.nbody;r++){const i=t.body(r).name;if(i===e||i.endsWith(`/${e}`))return r}return-1}updateGhostPose(){if(!this.ghostRoot||!this.ghostData||!this.context.mjModel||!this.selectedMotion||!this.refLen){this.ghostRoot&&(this.ghostRoot.visible=!1);return}const e=this.ghostData.qpos;e.set(this.context.mjModel.qpos0);const t=this.refRootPos[this.refIdx],r=this.refRootQuat[this.refIdx],i=this.findFreeJointIndex();if(i>=0&&t&&r){const a=this.context.mjModel.jnt_qposadr[i];e[a+0]=t[0]??0,e[a+1]=t[1]??0,e[a+2]=t[2]??0,e[a+3]=r[0]??1,e[a+4]=r[1]??0,e[a+5]=r[2]??0,e[a+6]=r[3]??0}const s=this.refJointPos[this.refIdx]??new Float32Array(0);for(let a=0;a<this.datasetQposAdr.length&&a<s.length;a++)e[this.datasetQposAdr[a]]=s[a]??0;this.context.mujoco.mj_forward(this.context.mjModel,this.ghostData);for(const[a,o]of this.ghostBodies)Vc(this.ghostData.xpos,a,o.position),pp(this.ghostData.xquat,a,o.quaternion);this.ghostRoot.visible=this.referenceVisible}findFreeJointIndex(){const e=this.context.mjModel;if(!e)return-1;for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}}class ree{constructor(e,t){this.inputs=Array.isArray(t.ui?.inputs)?t.ui.inputs:[],this.values=new Map;for(const r of this.inputs)r.type==="slider"&&this.values.set(r.name,r.default)}getCommand(){const e=this.inputs.filter(r=>r.type==="slider"),t=new Float32Array(e.length);for(let r=0;r<e.length;r++)t[r]=this.values.get(e[r].name)??e[r].default??0;return t}getUiConfig(){return{inputs:this.inputs}}reset(){for(const e of this.inputs)e.type==="slider"&&this.values.set(e.name,e.default)}setValue(e,t){const r=this.inputs.find(s=>s.type==="slider"&&s.name===e);if(!r)return 0;const i=Math.max(r.min,Math.min(r.max,t));return this.values.set(r.name,i),i}}const iee={UiCommand:ree,TrackingCommand:xp};class see{constructor(){this.terms=new Map,this.commands=new Map,this.commandGroups=new Map,this.values=new Map,this.listeners=new Set,this.resetCallback=null,this.context=null,this.registerSystemReset()}initialize(e,t){this.clear(),this.context=t;const r={...iee,...jZ};for(const[i,s]of Object.entries(e)){const a=r[s.name];if(!a)throw new Error(`Unknown command term: ${s.name}`);const o=new a(i,s,t);this.terms.set(i,o),this.registerUi(i,o)}}update(e){for(const t of this.terms.values())t.update?.(e)}updateDebugVisuals(){for(const e of this.terms.values())e.updateDebugVisuals?.()}resetTerms(){for(const e of this.terms.values())e.reset?.();this.syncValuesFromTerms(),this.emit({type:"reset",commandId:"*"})}getCommandGroups(){return Array.from(this.commandGroups.keys()).filter(e=>e!=="_system")}getCommandsInGroup(e){return(this.commandGroups.get(e)??[]).map(r=>this.commands.get(r)).filter(Boolean)}getCommands(){return Array.from(this.commands.values()).filter(e=>e.groupName!=="_system")}getAllCommands(){return Array.from(this.commands.values())}getResetCommand(){return this.commands.get("_system:reset")}getCommandById(e){return this.commands.get(e)}getValue(e){return this.values.get(e)??0}getValues(){const e={};for(const[t,r]of this.values)e[t]=r;return e}getCommand(e){const t=this.terms.get(e);return t?t.getCommand():new Float32Array(0)}getTerm(e){return this.terms.get(e)}getContext(){return this.context}getVelocityCommand(){return this.terms.has("velocity")?this.getCommand("velocity"):this.terms.has("twist")?this.getCommand("twist"):new Float32Array([.5,0,0])}setValue(e,t){const r=this.commands.get(e);if(!r||r.config.type!=="slider")return;const i=this.terms.get(r.groupName),s=r.config.name,a=i?.setValue?i.setValue(s,t):void 0,o=typeof a=="number"?a:t;this.values.set(e,o),this.emit({type:"change",commandId:e,groupName:r.groupName,value:o})}triggerButton(e){const t=this.commands.get(e);!t||t.config.type!=="button"||(e==="_system:reset"&&this.resetCallback?this.resetCallback():this.terms.get(t.groupName)?.triggerButton?.(t.config.name),this.emit({type:"button",commandId:e,groupName:t.groupName}))}resetToDefaults(){this.resetTerms()}setResetCallback(e){this.resetCallback=e}addEventListener(e){this.listeners.add(e)}removeEventListener(e){this.listeners.delete(e)}clear(){for(const e of this.terms.values())e.dispose?.();this.terms.clear(),this.commands.clear(),this.commandGroups.clear(),this.values.clear(),this.context=null,this.registerSystemReset(),this.emit({type:"clear",commandId:""})}hasCommands(){return this.commands.size>1}dispose(){for(const e of this.terms.values())e.dispose?.();this.terms.clear(),this.commands.clear(),this.commandGroups.clear(),this.values.clear(),this.listeners.clear(),this.resetCallback=null,this.context=null}registerSystemReset(){this.commands.set("_system:reset",{id:"_system:reset",groupName:"_system",config:{type:"button",name:"reset",label:"Reset Simulation"}}),this.commandGroups.set("_system",["_system:reset"])}registerUi(e,t){const r=t.getUiConfig?.(),i=Array.isArray(r?.inputs)?r.inputs:[];if(i.length!==0){this.commandGroups.set(e,[]);for(const s of i){const a=`${e}:${s.name}`;if(this.commands.set(a,{id:a,groupName:e,config:s}),this.commandGroups.get(e).push(a),s.type==="slider"){const o=t.getCommand(),l=i.filter(c=>c.type==="slider").findIndex(c=>c.name===s.name);this.values.set(a,o[l]??s.default)}}this.emit({type:"group_registered",commandId:e,groupName:e})}}syncValuesFromTerms(){for(const[e,t]of this.commands){if(t.config.type!=="slider")continue;const r=this.terms.get(t.groupName);if(!r)continue;const a=(r.getUiConfig?.()?.inputs??[]).filter(o=>o.type==="slider").findIndex(o=>o.name===t.config.name);if(a>=0){const o=r.getCommand();this.values.set(e,o[a]??this.values.get(e)??0)}}}emit(e){for(const t of this.listeners)try{t(e)}catch(r){console.warn("[CommandManager] Listener error:",r)}}}let Xv=null;function tr(){return Xv||(Xv=new see),Xv}function HC(n,e,t=1){if(typeof n=="number"){const r=new Float32Array(e);return r.fill(n),r}if(Array.isArray(n)){const r=new Float32Array(e);for(let i=0;i<e;i++){const s=n[i];r[i]=typeof s=="number"?s:t}return r}return null}class aee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=HC(t.scale,3,1)}get size(){return 3*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const t=tr().getVelocityCommand(),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class oee extends Vn{constructor(e,t){super(e,t),this.scale=HC(t.scale,3,1)}get size(){return 16}compute(){const e=new Float32Array(16),r=tr().getVelocityCommand();if(this.scale)for(let i=0;i<3;i++)r[i]*=this.scale[i]??1;return e[0]=r[0],e[1]=r[1],e[2]=r[2],e}}class fB extends Vn{constructor(e,t){super(e,t),this.commandName=t.command_name??"velocity",this.historySteps=Math.max(1,Math.floor(t.history_steps??1));const i=tr().getCommand(this.commandName);this.commandSize=i.length||3,this.history=Array.from({length:this.historySteps},()=>new Float32Array(this.commandSize)),this.scale=HC(t.scale,this.commandSize,1)}get size(){return this.commandSize*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const t=tr().getCommand(this.commandName),r=new Float32Array(this.commandSize);for(let i=0;i<this.commandSize&&i<t.length;i++)r[i]=t[i];if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}function ia(n){const e=tr().getTerm("motion");return e instanceof xp?e:null}function Kd(n,e){if(!n)return-1;for(let t=0;t<n.nbody;t++){const r=n.body(t).name;if(r===e||r.endsWith(`/${e}`))return t}return-1}function xh(n,e,t=1){if(typeof n=="number"){const r=new Float32Array(e);return r.fill(n),r}if(Array.isArray(n)){const r=new Float32Array(e);for(let i=0;i<e;i++){const s=n[i];r[i]=typeof s=="number"?s:t}return r}return null}function pB(n,e,t=0){if(!Array.isArray(n))return null;const r=new Float32Array(e);for(let i=0;i<e;i++)r[i]=typeof n[i]=="number"?n[i]:t;return r}class lee extends Vn{get size(){return 1}compute(){return new Float32Array([0])}}class cee extends Vn{get size(){return 3}compute(e){const t=e.rootAngVel??new Float32Array(3);return new Float32Array(t)}}class dP extends Vn{constructor(e,t){super(e,t);const r=Array.isArray(t.gravity)?t.gravity:[0,0,-1];this.gravity=new ue(r[0]??0,r[1]??0,r[2]??-1),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3))}get size(){return 3*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){const t=e?.rootQuat??new Float32Array([1,0,0,0]),r=new Cn(t[1],t[2],t[3],t[0]),i=this.gravity.clone().applyQuaternion(r.clone().invert());return new Float32Array([i.x,i.y,i.z])}}class hP extends Vn{constructor(e,t){super(e,t);let r;if(Array.isArray(t.pos_steps))r=t.pos_steps.map(s=>Math.max(0,Math.floor(s)));else if(typeof t.history_steps=="number"){const s=Math.max(1,Math.floor(t.history_steps));r=Array.from({length:s},(a,o)=>o)}else r=[0,1,2,3,4,8];this.posSteps=r;const i=this.getJointNames(t);this.qposAdr=i?this.resolveQposAdr(i):null,this.numJoints=i?.length??(typeof t.num_joints=="number"?Math.max(1,Math.floor(t.num_joints)):e.getNumActions()),this.maxStep=Math.max(...this.posSteps),this.history=Array.from({length:this.maxStep+1},()=>new Float32Array(this.numJoints)),this.subtractDefault=!!t.subtract_default,this.biased=!!t.biased,this.defaultJointPos=this.normalizeDefaultJointPos(t.default_joint_pos),this.encoderBias=this.normalizeEncoderBias(t.encoder_bias),this.scale=this.normalizeScale(t.scale)}get size(){return this.posSteps.length*this.numJoints}reset(e){this.history[0].set(this.computeCurrent(e));for(let t=1;t<this.history.length;t++)this.history[t].set(this.history[0])}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){const e=new Float32Array(this.posSteps.length*this.numJoints);let t=0;for(const r of this.posSteps){const i=Math.min(r,this.history.length-1),s=this.history[i];for(let a=0;a<this.numJoints;a++){let o=s[a];this.subtractDefault&&this.defaultJointPos.length>a&&(o-=this.defaultJointPos[a]),this.scale&&this.scale.length>a&&(o*=this.scale[a]),e[t+a]=o}t+=this.numJoints}return e}computeCurrent(e){if(this.qposAdr!==null){const i=this.runner.getContext()?.mjData?.qpos,s=new Float32Array(this.numJoints);for(let a=0;a<this.numJoints;a++){const o=this.qposAdr[a];s[a]=i!==void 0?i[o]:0,this.biased&&this.encoderBias.length>a&&(s[a]+=this.encoderBias[a])}return s}const t=e?.jointPos??new Float32Array(this.numJoints);if(!this.biased)return t;const r=new Float32Array(this.numJoints);for(let i=0;i<this.numJoints;i++)r[i]=(t[i]??0)+(this.encoderBias[i]??0);return r}getJointNames(e){if(!Array.isArray(e.joint_names))return null;const t=e.joint_names.filter(r=>typeof r=="string");return t.length>0?t:null}normalizeDefaultJointPos(e){const t=pB(e,this.numJoints,0);if(t)return t;const r=this.runner.getDefaultJointPos(),i=new Float32Array(this.numJoints);for(let s=0;s<this.numJoints;s++)i[s]=r[s]??0;return i}normalizeEncoderBias(e){const t=pB(e,this.numJoints,0);if(t)return t;const r=this.runner.getEncoderBias(),i=new Float32Array(this.numJoints);for(let s=0;s<this.numJoints;s++)i[s]=r[s]??0;return i}resolveQposAdr(e){const t=this.runner.getContext()?.mjModel??null;if(t===null)return Array.from({length:e.length},()=>0);const r=this.getModelJointNames(t);return e.map(i=>{const s=r.indexOf(i);if(s<0)throw new Error(`JointPos: joint "${i}" not found in model`);return t.jnt_qposadr[s]})}getModelJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}normalizeScale(e){if(typeof e=="number"){const t=new Float32Array(this.numJoints);return t.fill(e),t}if(Array.isArray(e)){const t=new Float32Array(this.numJoints);for(let r=0;r<this.numJoints;r++){const i=e[r];t[r]=typeof i=="number"?i:1}return t}return null}}class uee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(i=>Math.max(0,Math.floor(i))):[0,2,4,8,16];const r=this.futureSteps.length;this.outputLength=(r-1)*3+r*6}get size(){return this.outputLength}compute(e){const t=ia(this.runner);if(!t||!t.isReady())return new Float32Array(this.outputLength);const r=t.refIdx,i=t.refLen,s=K0(r,this.futureSteps,i),a=t.refRootPos[s[0]],o=us(t.refRootQuat[s[0]]),l=[];for(let p=1;p<s.length;p++){const A=t.refRootPos[s[p]],y=[A[0]-a[0],A[1]-a[1],A[2]-a[2]],m=jp(o,y);l.push(m[0],m[1],m[2])}const c=us(e.rootQuat??[1,0,0,0]),d=$C(c),h=[];for(let p=0;p<s.length;p++){const A=us(t.refRootQuat[s[p]]),y=OC(d,A),m=GC(y);h.push(m[0],m[1],m[2],m[3],m[4],m[5])}return Float32Array.from([...l,...h])}}class dee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(r=>Math.max(0,Math.floor(r))):[0,2,4,8,16]}get size(){return this.futureSteps.length}compute(){const e=ia(this.runner);if(!e||!e.isReady())return new Float32Array(this.size);const t=K0(e.refIdx,this.futureSteps,e.refLen),r=new Float32Array(t.length);for(let i=0;i<t.length;i++)r[i]=e.refRootPos[t[i]][2];return r}}class hee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(r=>Math.max(0,Math.floor(r))):[0,2,4,8,16]}get size(){const t=ia(this.runner)?.nJoints??0;return this.futureSteps.length*t}compute(){const e=ia(this.runner);if(!e||!e.isReady())return new Float32Array(this.size);const t=K0(e.refIdx,this.futureSteps,e.refLen),r=new Float32Array(t.length*e.nJoints);let i=0;for(const s of t)r.set(e.refJointPos[s],i),i+=e.nJoints;return r}}class fee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(r=>Math.max(0,Math.floor(r))):[0,2,4,8,16]}get size(){return this.futureSteps.length*3}compute(){const e=ia(this.runner);if(!e||!e.isReady())return new Float32Array(this.size);const t=K0(e.refIdx,this.futureSteps,e.refLen),r=new Float32Array(t.length*3),i=[0,0,-1];let s=0;for(const a of t){const o=us(e.refRootQuat[a]),l=jp(o,i);r[s++]=l[0],r[s++]=l[1],r[s++]=l[2]}return r}}class pee extends Vn{get size(){return 3}compute(e){const t=ia(this.runner),r=this.runner.getContext(),i=r?.mjModel??null,s=r?.mjData??null;if(!t||!t.isReady())return new Float32Array(3);const a=t.getAnchorPos(),o=t.getAnchorQuat(),l=t.getAnchorBodyName();if(!a||!o)return new Float32Array(3);if(!l||!i||!s)return new Float32Array(3);const c=Kd(i,l);if(c<0)return new Float32Array(3);const d=s.xpos.slice(c*3,c*3+3),h=us(s.xquat.slice(c*4,c*4+4)),p=[a[0]-d[0],a[1]-d[1],a[2]-d[2]],A=jp(h,p);return Float32Array.from(A)}}class Aee extends Vn{get size(){return 6}compute(e){const t=ia(this.runner),r=this.runner.getContext(),i=r?.mjModel??null,s=r?.mjData??null;if(!t||!t.isReady())return new Float32Array(6);const a=t.getAnchorQuat(),o=t.getAnchorBodyName();if(!a)return new Float32Array(6);if(!o||!i||!s)return new Float32Array(6);const l=Kd(i,o);if(l<0)return new Float32Array(6);const c=us(s.xquat.slice(l*4,l*4+4)),d=OC($C(c),us(a));return Float32Array.from(GC(d))}}class mee extends Vn{get size(){const e=ia(this.runner);return e?e.getBodyNames().length*3:0}compute(){const e=ia(this.runner),t=this.runner.getContext(),r=t?.mjModel??null,i=t?.mjData??null;if(!e||!e.isReady()||!r||!i)return new Float32Array(this.size);const s=e.getBodyNames(),a=e.getAnchorBodyName();if(!a)return new Float32Array(this.size);const o=Kd(r,a);if(o<0)return new Float32Array(this.size);const l=i.xpos.slice(o*3,o*3+3),c=us(i.xquat.slice(o*4,o*4+4)),d=new Float32Array(s.length*3);let h=0;for(const p of s){const A=Kd(r,p);if(A<0){h+=3;continue}const y=i.xpos.slice(A*3,A*3+3),m=[y[0]-l[0],y[1]-l[1],y[2]-l[2]],x=jp(c,m);d.set(x,h),h+=3}return d}}class gee extends Vn{get size(){const e=ia(this.runner);return e?e.getBodyNames().length*6:0}compute(){const e=ia(this.runner),t=this.runner.getContext(),r=t?.mjModel??null,i=t?.mjData??null;if(!e||!e.isReady()||!r||!i)return new Float32Array(this.size);const s=e.getBodyNames(),a=e.getAnchorBodyName();if(!a)return new Float32Array(this.size);const o=Kd(r,a);if(o<0)return new Float32Array(this.size);const l=us(i.xquat.slice(o*4,o*4+4)),c=$C(l),d=new Float32Array(s.length*6);let h=0;for(const p of s){const A=Kd(r,p);if(A<0){h+=6;continue}const y=us(i.xquat.slice(A*4,A*4+4)),m=OC(c,y);d.set(GC(m),h),h+=6}return d}}class fP extends Vn{constructor(e,t){super(e,t);const r=typeof t.history_steps=="number"?t.history_steps:4;this.steps=Math.max(1,Math.floor(r)),this.numActions=e.getNumActions(),this.actionBuffer=Array.from({length:this.steps},()=>new Float32Array(this.numActions)),this.transpose=!!t.transpose}get size(){return this.steps*this.numActions}reset(){for(const e of this.actionBuffer)e.fill(0)}update(){for(let t=this.actionBuffer.length-1;t>0;t--)this.actionBuffer[t].set(this.actionBuffer[t-1]);const e=this.runner.getLastActions();this.actionBuffer[0].set(e)}compute(){const e=new Float32Array(this.steps*this.numActions);if(this.transpose)for(let t=0;t<this.numActions;t++)for(let r=0;r<this.steps;r++)e[t*this.steps+r]=this.actionBuffer[r][t];else for(let t=0;t<this.steps;t++)for(let r=0;r<this.numActions;r++)e[t*this.numActions+r]=this.actionBuffer[t][r];return e}}class yee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=xh(t.scale,3,1),this.worldFrame=t.world_frame??!0}get size(){return 3*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){const t=e?.rootLinVel??new Float32Array(3);let r=new Float32Array(t);if(!this.worldFrame){const i=us(e?.rootQuat??[1,0,0,0]),s=jp(i,r);r=new Float32Array(s)}if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class xee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=xh(t.scale,3,1)}get size(){return 3*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){const t=e?.rootAngVel??new Float32Array(3),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class vee extends Vn{constructor(e,t){super(e,t);const r=Array.isArray(t.joint_names)?t.joint_names.filter(s=>typeof s=="string"):null,i=t.joint_name;if(r&&r.length>0)this.qvelAdr=null,this.qvelAdrList=this.resolveQvelAdrList(e.getContext()?.mjModel??null,r),this.numJoints=r.length;else if(i!==void 0){const s=e.getContext()?.mjModel??null;this.qvelAdr=s!==null?this.resolveQvelAdr(s,i):0,this.qvelAdrList=null,this.numJoints=1}else this.qvelAdr=null,this.qvelAdrList=null,this.numJoints=e.getNumActions();this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(this.numJoints)),this.scale=xh(t.scale,this.numJoints,1)}get size(){return this.numJoints*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){if(this.qvelAdrList!==null){const i=this.runner.getContext()?.mjData?.qvel,s=new Float32Array(this.numJoints);for(let a=0;a<this.numJoints;a++)s[a]=i!==void 0?i[this.qvelAdrList[a]]:0;if(this.scale)for(let a=0;a<s.length;a++)s[a]*=this.scale[a]??1;return s}if(this.qvelAdr!==null){const i=this.runner.getContext()?.mjData?.qvel,s=i!==void 0?i[this.qvelAdr]:0,a=new Float32Array([s]);return this.scale&&(a[0]*=this.scale[0]??1),a}const t=e?.jointVel??new Float32Array(this.numJoints),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}resolveQvelAdr(e,t){const i=this.getModelJointNames(e).indexOf(t);if(i<0)throw new Error(`JointVelocities: joint "${t}" not found in model`);return e.jnt_dofadr[i]}resolveQvelAdrList(e,t){if(e===null)return Array.from({length:t.length},()=>0);const r=this.getModelJointNames(e);return t.map(i=>{const s=r.indexOf(i);if(s<0)throw new Error(`JointVelocities: joint "${i}" not found in model`);return e.jnt_dofadr[s]})}getModelJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}}class _ee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=xh(t.scale,3,1)}get size(){return 3*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const t=tr().getVelocityCommand(),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class bee extends Vn{constructor(e,t){super(e,t),this.scale=xh(t.scale,3,1)}get size(){return 16}compute(){const e=new Float32Array(16),r=tr().getVelocityCommand(),i=new Float32Array(r);if(this.scale)for(let s=0;s<3;s++)i[s]*=this.scale[s]??1;return e[0]=i[0],e[1]=i[1],e[2]=i[2],e}}class wee extends Vn{get size(){return 27}compute(){return new Float32Array(27)}}class Eee extends Vn{constructor(e,t){super(e,t);const r=e.getContext()?.mjModel??null;this.qposAdr=r!==null?this.resolveQposAdr(r):0}get size(){return 2}compute(){const e=this.runner.getContext()?.mjData?.qpos,t=e!==void 0?e[this.qposAdr]:0;return new Float32Array([Math.cos(t),Math.sin(t)])}resolveQposAdr(e){const t=this.config.joint_name;if(t!==void 0){const s=this.getJointNames(e).indexOf(t);if(s<0)throw new Error(`JointPosCosSin: joint "${t}" not found in model`);return e.jnt_qposadr[s]}const r=this.config.joint_index??0;return e.jnt_qposadr[r]}getJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}}class Cee extends Vn{constructor(e,t){super(e,t),this.sensorName=t.sensor_name??"";const r=e.getContext()?.mjModel??null,i=this.resolveSensor(r,this.sensorName);this.sensorAdr=i.adr,this.sensorDim=i.dim,this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(this.sensorDim)),this.scale=xh(t.scale,this.sensorDim,1),this.clipRange=this.normalizeClipRange(t.clip)}get size(){return this.sensorDim*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const e=this.runner.getContext()?.mjData?.sensordata,t=new Float32Array(this.sensorDim);if(e===void 0)return t;for(let r=0;r<this.sensorDim;r++)t[r]=e[this.sensorAdr+r]??0;if(this.scale)for(let r=0;r<t.length;r++)t[r]*=this.scale[r]??1;if(this.clipRange){const[r,i]=this.clipRange;for(let s=0;s<t.length;s++)t[s]=Math.min(i,Math.max(r,t[s]))}return t}resolveSensor(e,t){if(e===null)return{adr:0,dim:1};const i=this.getModelSensorNames(e).indexOf(t);if(i<0)throw new Error(`BuiltinSensor: sensor "${t}" not found in model`);return{adr:e.sensor_adr[i],dim:e.sensor_dim[i]}}getModelSensorNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.nsensor;s++){let a=e.name_sensoradr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}normalizeClipRange(e){if(!Array.isArray(e)||e.length<2)return null;const t=typeof e[0]=="number"?e[0]:-1/0,r=typeof e[1]=="number"?e[1]:1/0;return[t,r]}}class Iee extends dP{}class See extends hP{}class Bee extends fP{}const 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i=[];for(const{name:s,term:a,isTimeOut:o}of this.terms)a.evaluate(e)&&(i.push(s),o?r=!0:t=!0);return{done:t||r,terminated:t,truncated:r,reasons:i}}reset(){for(const{term:e}of this.terms)e.reset?.()}get size(){return this.terms.length}}class VC{constructor(e){this.config=e}}const Ree={};class Dee extends VC{constructor(e){super(e),this.stepCount=0;const t=e.params??{};this.maxSteps=t.max_episode_length??1e3}evaluate(){return this.stepCount++,this.stepCount>=this.maxSteps}reset(){this.stepCount=0}}class kee extends VC{constructor(e){super(e);const t=e.params??{};this.limitAngle=t.limit_angle??1}evaluate(e){const t=e.rootQuat;if(!t||t.length<4)return!1;const r=t[1],i=t[2],s=1-2*(r*r+i*i),a=Math.acos(Math.max(-1,Math.min(1,s)));return Math.abs(a)>this.limitAngle}}class Nee extends VC{constructor(e){super(e);const t=e.params??{};this.minimumHeight=t.minimum_height??0}evaluate(e){const t=e.rootPos;return!t||t.length<3?!1:t[2]<this.minimumHeight}}const 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buffer`);this.gpuBufferData=n.gpuBuffer,this.downloader=n.download,this.disposer=n.dispose;break}case"ml-tensor":{if(r!=="float32"&&r!=="float16"&&r!=="int32"&&r!=="int64"&&r!=="uint32"&&r!=="uint64"&&r!=="int8"&&r!=="uint8"&&r!=="bool"&&r!=="uint4"&&r!=="int4")throw new TypeError(`unsupported type "${r}" to create tensor from MLTensor`);this.mlTensorData=n.mlTensor,this.downloader=n.download,this.disposer=n.dispose;break}default:throw new Error(`Tensor constructor: unsupported location '${this.dataLocation}'`)}else{let a,o;if(typeof n=="string")if(r=n,o=t,n==="string"){if(!Array.isArray(e))throw new TypeError("A string tensor's data must be a string array.");a=e}else{let l=kc.get(n);if(l===void 0)throw new TypeError(`Unsupported tensor type: ${n}.`);if(Array.isArray(e)){if(n==="float16"&&l===Uint16Array||n==="uint4"||n==="int4")throw new TypeError(`Creating a ${n} tensor from number array is not supported. 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cn={KHR_BINARY_GLTF:"KHR_binary_glTF",KHR_DRACO_MESH_COMPRESSION:"KHR_draco_mesh_compression",KHR_LIGHTS_PUNCTUAL:"KHR_lights_punctual",KHR_MATERIALS_CLEARCOAT:"KHR_materials_clearcoat",KHR_MATERIALS_DISPERSION:"KHR_materials_dispersion",KHR_MATERIALS_IOR:"KHR_materials_ior",KHR_MATERIALS_SHEEN:"KHR_materials_sheen",KHR_MATERIALS_SPECULAR:"KHR_materials_specular",KHR_MATERIALS_TRANSMISSION:"KHR_materials_transmission",KHR_MATERIALS_IRIDESCENCE:"KHR_materials_iridescence",KHR_MATERIALS_ANISOTROPY:"KHR_materials_anisotropy",KHR_MATERIALS_UNLIT:"KHR_materials_unlit",KHR_MATERIALS_VOLUME:"KHR_materials_volume",KHR_TEXTURE_BASISU:"KHR_texture_basisu",KHR_TEXTURE_TRANSFORM:"KHR_texture_transform",KHR_MESH_QUANTIZATION:"KHR_mesh_quantization",KHR_MATERIALS_EMISSIVE_STRENGTH:"KHR_materials_emissive_strength",EXT_MATERIALS_BUMP:"EXT_materials_bump",EXT_TEXTURE_WEBP:"EXT_texture_webp",EXT_TEXTURE_AVIF:"EXT_texture_avif",EXT_MESHOPT_COMPRESSION:"EXT_meshopt_compression",EXT_MESH_GPU_INSTANCING:"EXT_mesh_gpu_instancing"};class oZ{constructor(e){this.parser=e,this.name=cn.KHR_LIGHTS_PUNCTUAL,this.cache={refs:{},uses:{}}}_markDefs(){const e=this.parser,t=this.parser.json.nodes||[];for(let r=0,i=t.length;r<i;r++){const s=t[r];s.extensions&&s.extensions[this.name]&&s.extensions[this.name].light!==void 0&&e._addNodeRef(this.cache,s.extensions[this.name].light)}}_loadLight(e){const t=this.parser,r="light:"+e;let i=t.cache.get(r);if(i)return i;const s=t.json,l=((s.extensions&&s.extensions[this.name]||{}).lights||[])[e];let c;const d=new xt(16777215);l.color!==void 0&&d.setRGB(l.color[0],l.color[1],l.color[2],ii);const h=l.range!==void 0?l.range:0;switch(l.type){case"directional":c=new lw(d),c.target.position.set(0,0,-1),c.add(c.target);break;case"point":c=new hQ(d),c.distance=h;break;case"spot":c=new dQ(d),c.distance=h,l.spot=l.spot||{},l.spot.innerConeAngle=l.spot.innerConeAngle!==void 0?l.spot.innerConeAngle:0,l.spot.outerConeAngle=l.spot.outerConeAngle!==void 0?l.spot.outerConeAngle:Math.PI/4,c.angle=l.spot.outerConeAngle,c.penumbra=1-l.spot.innerConeAngle/l.spot.outerConeAngle,c.target.position.set(0,0,-1),c.add(c.target);break;default:throw new Error("THREE.GLTFLoader: Unexpected light type: "+l.type)}return c.position.set(0,0,0),ba(c,l),l.intensity!==void 0&&(c.intensity=l.intensity),c.name=t.createUniqueName(l.name||"light_"+e),i=Promise.resolve(c),t.cache.add(r,i),i}getDependency(e,t){if(e==="light")return this._loadLight(t)}createNodeAttachment(e){const t=this,r=this.parser,s=r.json.nodes[e],o=(s.extensions&&s.extensions[this.name]||{}).light;return o===void 0?null:this._loadLight(o).then(function(l){return r._getNodeRef(t.cache,o,l)})}}class lZ{constructor(){this.name=cn.KHR_MATERIALS_UNLIT}getMaterialType(){return zc}extendParams(e,t,r){const i=[];e.color=new xt(1,1,1),e.opacity=1;const s=t.pbrMetallicRoughness;if(s){if(Array.isArray(s.baseColorFactor)){const a=s.baseColorFactor;e.color.setRGB(a[0],a[1],a[2],ii),e.opacity=a[3]}s.baseColorTexture!==void 0&&i.push(r.assignTexture(e,"map",s.baseColorTexture,gr))}return Promise.all(i)}}class cZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_EMISSIVE_STRENGTH}extendMaterialParams(e,t){const i=this.parser.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=i.extensions[this.name].emissiveStrength;return s!==void 0&&(t.emissiveIntensity=s),Promise.resolve()}}class uZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_CLEARCOAT}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];if(a.clearcoatFactor!==void 0&&(t.clearcoat=a.clearcoatFactor),a.clearcoatTexture!==void 0&&s.push(r.assignTexture(t,"clearcoatMap",a.clearcoatTexture)),a.clearcoatRoughnessFactor!==void 0&&(t.clearcoatRoughness=a.clearcoatRoughnessFactor),a.clearcoatRoughnessTexture!==void 0&&s.push(r.assignTexture(t,"clearcoatRoughnessMap",a.clearcoatRoughnessTexture)),a.clearcoatNormalTexture!==void 0&&(s.push(r.assignTexture(t,"clearcoatNormalMap",a.clearcoatNormalTexture)),a.clearcoatNormalTexture.scale!==void 0)){const o=a.clearcoatNormalTexture.scale;t.clearcoatNormalScale=new Dt(o,o)}return Promise.all(s)}}class dZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_DISPERSION}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const i=this.parser.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=i.extensions[this.name];return t.dispersion=s.dispersion!==void 0?s.dispersion:0,Promise.resolve()}}class hZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_IRIDESCENCE}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return a.iridescenceFactor!==void 0&&(t.iridescence=a.iridescenceFactor),a.iridescenceTexture!==void 0&&s.push(r.assignTexture(t,"iridescenceMap",a.iridescenceTexture)),a.iridescenceIor!==void 0&&(t.iridescenceIOR=a.iridescenceIor),t.iridescenceThicknessRange===void 0&&(t.iridescenceThicknessRange=[100,400]),a.iridescenceThicknessMinimum!==void 0&&(t.iridescenceThicknessRange[0]=a.iridescenceThicknessMinimum),a.iridescenceThicknessMaximum!==void 0&&(t.iridescenceThicknessRange[1]=a.iridescenceThicknessMaximum),a.iridescenceThicknessTexture!==void 0&&s.push(r.assignTexture(t,"iridescenceThicknessMap",a.iridescenceThicknessTexture)),Promise.all(s)}}class fZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_SHEEN}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[];t.sheenColor=new xt(0,0,0),t.sheenRoughness=0,t.sheen=1;const a=i.extensions[this.name];if(a.sheenColorFactor!==void 0){const o=a.sheenColorFactor;t.sheenColor.setRGB(o[0],o[1],o[2],ii)}return a.sheenRoughnessFactor!==void 0&&(t.sheenRoughness=a.sheenRoughnessFactor),a.sheenColorTexture!==void 0&&s.push(r.assignTexture(t,"sheenColorMap",a.sheenColorTexture,gr)),a.sheenRoughnessTexture!==void 0&&s.push(r.assignTexture(t,"sheenRoughnessMap",a.sheenRoughnessTexture)),Promise.all(s)}}class pZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_TRANSMISSION}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return a.transmissionFactor!==void 0&&(t.transmission=a.transmissionFactor),a.transmissionTexture!==void 0&&s.push(r.assignTexture(t,"transmissionMap",a.transmissionTexture)),Promise.all(s)}}class AZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_VOLUME}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];t.thickness=a.thicknessFactor!==void 0?a.thicknessFactor:0,a.thicknessTexture!==void 0&&s.push(r.assignTexture(t,"thicknessMap",a.thicknessTexture)),t.attenuationDistance=a.attenuationDistance||1/0;const o=a.attenuationColor||[1,1,1];return t.attenuationColor=new xt().setRGB(o[0],o[1],o[2],ii),Promise.all(s)}}class mZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_IOR}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const i=this.parser.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=i.extensions[this.name];return t.ior=s.ior!==void 0?s.ior:1.5,Promise.resolve()}}class gZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_SPECULAR}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];t.specularIntensity=a.specularFactor!==void 0?a.specularFactor:1,a.specularTexture!==void 0&&s.push(r.assignTexture(t,"specularIntensityMap",a.specularTexture));const o=a.specularColorFactor||[1,1,1];return t.specularColor=new xt().setRGB(o[0],o[1],o[2],ii),a.specularColorTexture!==void 0&&s.push(r.assignTexture(t,"specularColorMap",a.specularColorTexture,gr)),Promise.all(s)}}class yZ{constructor(e){this.parser=e,this.name=cn.EXT_MATERIALS_BUMP}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return t.bumpScale=a.bumpFactor!==void 0?a.bumpFactor:1,a.bumpTexture!==void 0&&s.push(r.assignTexture(t,"bumpMap",a.bumpTexture)),Promise.all(s)}}class xZ{constructor(e){this.parser=e,this.name=cn.KHR_MATERIALS_ANISOTROPY}getMaterialType(e){const r=this.parser.json.materials[e];return!r.extensions||!r.extensions[this.name]?null:fs}extendMaterialParams(e,t){const r=this.parser,i=r.json.materials[e];if(!i.extensions||!i.extensions[this.name])return Promise.resolve();const s=[],a=i.extensions[this.name];return a.anisotropyStrength!==void 0&&(t.anisotropy=a.anisotropyStrength),a.anisotropyRotation!==void 0&&(t.anisotropyRotation=a.anisotropyRotation),a.anisotropyTexture!==void 0&&s.push(r.assignTexture(t,"anisotropyMap",a.anisotropyTexture)),Promise.all(s)}}class vZ{constructor(e){this.parser=e,this.name=cn.KHR_TEXTURE_BASISU}loadTexture(e){const t=this.parser,r=t.json,i=r.textures[e];if(!i.extensions||!i.extensions[this.name])return null;const s=i.extensions[this.name],a=t.options.ktx2Loader;if(!a){if(r.extensionsRequired&&r.extensionsRequired.indexOf(this.name)>=0)throw new Error("THREE.GLTFLoader: setKTX2Loader must be called before loading KTX2 textures");return null}return t.loadTextureImage(e,s.source,a)}}class _Z{constructor(e){this.parser=e,this.name=cn.EXT_TEXTURE_WEBP}loadTexture(e){const t=this.name,r=this.parser,i=r.json,s=i.textures[e];if(!s.extensions||!s.extensions[t])return null;const a=s.extensions[t],o=i.images[a.source];let l=r.textureLoader;if(o.uri){const c=r.options.manager.getHandler(o.uri);c!==null&&(l=c)}return r.loadTextureImage(e,a.source,l)}}class bZ{constructor(e){this.parser=e,this.name=cn.EXT_TEXTURE_AVIF}loadTexture(e){const t=this.name,r=this.parser,i=r.json,s=i.textures[e];if(!s.extensions||!s.extensions[t])return null;const a=s.extensions[t],o=i.images[a.source];let l=r.textureLoader;if(o.uri){const c=r.options.manager.getHandler(o.uri);c!==null&&(l=c)}return r.loadTextureImage(e,a.source,l)}}class wZ{constructor(e){this.name=cn.EXT_MESHOPT_COMPRESSION,this.parser=e}loadBufferView(e){const t=this.parser.json,r=t.bufferViews[e];if(r.extensions&&r.extensions[this.name]){const i=r.extensions[this.name],s=this.parser.getDependency("buffer",i.buffer),a=this.parser.options.meshoptDecoder;if(!a||!a.supported){if(t.extensionsRequired&&t.extensionsRequired.indexOf(this.name)>=0)throw new Error("THREE.GLTFLoader: setMeshoptDecoder must be called before loading compressed files");return null}return s.then(function(o){const l=i.byteOffset||0,c=i.byteLength||0,d=i.count,h=i.byteStride,p=new Uint8Array(o,l,c);return a.decodeGltfBufferAsync?a.decodeGltfBufferAsync(d,h,p,i.mode,i.filter).then(function(A){return A.buffer}):a.ready.then(function(){const A=new ArrayBuffer(d*h);return a.decodeGltfBuffer(new Uint8Array(A),d,h,p,i.mode,i.filter),A})})}else return null}}class EZ{constructor(e){this.name=cn.EXT_MESH_GPU_INSTANCING,this.parser=e}createNodeMesh(e){const t=this.parser.json,r=t.nodes[e];if(!r.extensions||!r.extensions[this.name]||r.mesh===void 0)return null;const i=t.meshes[r.mesh];for(const c of i.primitives)if(c.mode!==rs.TRIANGLES&&c.mode!==rs.TRIANGLE_STRIP&&c.mode!==rs.TRIANGLE_FAN&&c.mode!==void 0)return null;const a=r.extensions[this.name].attributes,o=[],l={};for(const c in a)o.push(this.parser.getDependency("accessor",a[c]).then(d=>(l[c]=d,l[c])));return o.length<1?null:(o.push(this.parser.createNodeMesh(e)),Promise.all(o).then(c=>{const d=c.pop(),h=d.isGroup?d.children:[d],p=c[0].count,A=[];for(const y of h){const m=new Ft,x=new ue,g=new Cn,_=new ue(1,1,1),b=new aw(y.geometry,y.material,p);for(let w=0;w<p;w++)l.TRANSLATION&&x.fromBufferAttribute(l.TRANSLATION,w),l.ROTATION&&g.fromBufferAttribute(l.ROTATION,w),l.SCALE&&_.fromBufferAttribute(l.SCALE,w),b.setMatrixAt(w,m.compose(x,g,_));for(const w in l)if(w==="_COLOR_0"){const C=l[w];b.instanceColor=new $g(C.array,C.itemSize,C.normalized)}else w!=="TRANSLATION"&&w!=="ROTATION"&&w!=="SCALE"&&y.geometry.setAttribute(w,l[w]);zn.prototype.copy.call(b,y),this.parser.assignFinalMaterial(b),A.push(b)}return d.isGroup?(d.clear(),d.add(...A),d):A[0]}))}}const lP="glTF",Lf=12,iB={JSON:1313821514,BIN:5130562};class CZ{constructor(e){this.name=cn.KHR_BINARY_GLTF,this.content=null,this.body=null;const t=new DataView(e,0,Lf),r=new TextDecoder;if(this.header={magic:r.decode(new Uint8Array(e.slice(0,4))),version:t.getUint32(4,!0),length:t.getUint32(8,!0)},this.header.magic!==lP)throw new Error("THREE.GLTFLoader: Unsupported glTF-Binary header.");if(this.header.version<2)throw new Error("THREE.GLTFLoader: Legacy binary file detected.");const i=this.header.length-Lf,s=new DataView(e,Lf);let a=0;for(;a<i;){const o=s.getUint32(a,!0);a+=4;const l=s.getUint32(a,!0);if(a+=4,l===iB.JSON){const c=new Uint8Array(e,Lf+a,o);this.content=r.decode(c)}else if(l===iB.BIN){const c=Lf+a;this.body=e.slice(c,c+o)}a+=o}if(this.content===null)throw new Error("THREE.GLTFLoader: JSON content not found.")}}class IZ{constructor(e,t){if(!t)throw new Error("THREE.GLTFLoader: No DRACOLoader instance provided.");this.name=cn.KHR_DRACO_MESH_COMPRESSION,this.json=e,this.dracoLoader=t,this.dracoLoader.preload()}decodePrimitive(e,t){const r=this.json,i=this.dracoLoader,s=e.extensions[this.name].bufferView,a=e.extensions[this.name].attributes,o={},l={},c={};for(const d in a){const h=bw[d]||d.toLowerCase();o[h]=a[d]}for(const d in e.attributes){const h=bw[d]||d.toLowerCase();if(a[d]!==void 0){const p=r.accessors[e.attributes[d]],A=Ld[p.componentType];c[h]=A.name,l[h]=p.normalized===!0}}return t.getDependency("bufferView",s).then(function(d){return new Promise(function(h,p){i.decodeDracoFile(d,function(A){for(const y in A.attributes){const m=A.attributes[y],x=l[y];x!==void 0&&(m.normalized=x)}h(A)},o,c,ii,p)})})}}class SZ{constructor(){this.name=cn.KHR_TEXTURE_TRANSFORM}extendTexture(e,t){return(t.texCoord===void 0||t.texCoord===e.channel)&&t.offset===void 0&&t.rotation===void 0&&t.scale===void 0||(e=e.clone(),t.texCoord!==void 0&&(e.channel=t.texCoord),t.offset!==void 0&&e.offset.fromArray(t.offset),t.rotation!==void 0&&(e.rotation=t.rotation),t.scale!==void 0&&e.repeat.fromArray(t.scale),e.needsUpdate=!0),e}}class BZ{constructor(){this.name=cn.KHR_MESH_QUANTIZATION}}class cP extends Gp{constructor(e,t,r,i){super(e,t,r,i)}copySampleValue_(e){const t=this.resultBuffer,r=this.sampleValues,i=this.valueSize,s=e*i*3+i;for(let a=0;a!==i;a++)t[a]=r[s+a];return t}interpolate_(e,t,r,i){const s=this.resultBuffer,a=this.sampleValues,o=this.valueSize,l=o*2,c=o*3,d=i-t,h=(r-t)/d,p=h*h,A=p*h,y=e*c,m=y-c,x=-2*A+3*p,g=A-p,_=1-x,b=g-p+h;for(let w=0;w!==o;w++){const C=a[m+w+o],S=a[m+w+l]*d,M=a[y+w+o],T=a[y+w]*d;s[w]=_*C+b*S+x*M+g*T}return s}}const MZ=new Cn;class TZ extends cP{interpolate_(e,t,r,i){const s=super.interpolate_(e,t,r,i);return MZ.fromArray(s).normalize().toArray(s),s}}const rs={POINTS:0,LINES:1,LINE_LOOP:2,LINE_STRIP:3,TRIANGLES:4,TRIANGLE_STRIP:5,TRIANGLE_FAN:6},Ld={5120:Int8Array,5121:Uint8Array,5122:Int16Array,5123:Uint16Array,5125:Uint32Array,5126:Float32Array},sB={9728:yr,9729:ar,9984:FN,9985:Ag,9986:Zf,9987:Sa},aB={33071:ls,33648:Lg,10497:Fl},Wv={SCALAR:1,VEC2:2,VEC3:3,VEC4:4,MAT2:4,MAT3:9,MAT4:16},bw={POSITION:"position",NORMAL:"normal",TANGENT:"tangent",TEXCOORD_0:"uv",TEXCOORD_1:"uv1",TEXCOORD_2:"uv2",TEXCOORD_3:"uv3",COLOR_0:"color",WEIGHTS_0:"skinWeight",JOINTS_0:"skinIndex"},El={scale:"scale",translation:"position",rotation:"quaternion",weights:"morphTargetInfluences"},RZ={CUBICSPLINE:void 0,LINEAR:Tp,STEP:Mp},qv={OPAQUE:"OPAQUE",MASK:"MASK",BLEND:"BLEND"};function DZ(n){return n.DefaultMaterial===void 0&&(n.DefaultMaterial=new qd({color:16777215,emissive:0,metalness:1,roughness:1,transparent:!1,depthTest:!0,side:Co})),n.DefaultMaterial}function bc(n,e,t){for(const r in t.extensions)n[r]===void 0&&(e.userData.gltfExtensions=e.userData.gltfExtensions||{},e.userData.gltfExtensions[r]=t.extensions[r])}function ba(n,e){e.extras!==void 0&&(typeof e.extras=="object"?Object.assign(n.userData,e.extras):console.warn("THREE.GLTFLoader: Ignoring primitive type .extras, "+e.extras))}function kZ(n,e,t){let r=!1,i=!1,s=!1;for(let c=0,d=e.length;c<d;c++){const h=e[c];if(h.POSITION!==void 0&&(r=!0),h.NORMAL!==void 0&&(i=!0),h.COLOR_0!==void 0&&(s=!0),r&&i&&s)break}if(!r&&!i&&!s)return Promise.resolve(n);const a=[],o=[],l=[];for(let c=0,d=e.length;c<d;c++){const h=e[c];if(r){const p=h.POSITION!==void 0?t.getDependency("accessor",h.POSITION):n.attributes.position;a.push(p)}if(i){const p=h.NORMAL!==void 0?t.getDependency("accessor",h.NORMAL):n.attributes.normal;o.push(p)}if(s){const p=h.COLOR_0!==void 0?t.getDependency("accessor",h.COLOR_0):n.attributes.color;l.push(p)}}return Promise.all([Promise.all(a),Promise.all(o),Promise.all(l)]).then(function(c){const d=c[0],h=c[1],p=c[2];return r&&(n.morphAttributes.position=d),i&&(n.morphAttributes.normal=h),s&&(n.morphAttributes.color=p),n.morphTargetsRelative=!0,n})}function NZ(n,e){if(n.updateMorphTargets(),e.weights!==void 0)for(let t=0,r=e.weights.length;t<r;t++)n.morphTargetInfluences[t]=e.weights[t];if(e.extras&&Array.isArray(e.extras.targetNames)){const t=e.extras.targetNames;if(n.morphTargetInfluences.length===t.length){n.morphTargetDictionary={};for(let r=0,i=t.length;r<i;r++)n.morphTargetDictionary[t[r]]=r}else console.warn("THREE.GLTFLoader: Invalid extras.targetNames length. Ignoring names.")}}function QZ(n){let e;const t=n.extensions&&n.extensions[cn.KHR_DRACO_MESH_COMPRESSION];if(t?e="draco:"+t.bufferView+":"+t.indices+":"+Yv(t.attributes):e=n.indices+":"+Yv(n.attributes)+":"+n.mode,n.targets!==void 0)for(let r=0,i=n.targets.length;r<i;r++)e+=":"+Yv(n.targets[r]);return e}function Yv(n){let e="";const t=Object.keys(n).sort();for(let r=0,i=t.length;r<i;r++)e+=t[r]+":"+n[t[r]]+";";return e}function ww(n){switch(n){case Int8Array:return 1/127;case Uint8Array:return 1/255;case Int16Array:return 1/32767;case Uint16Array:return 1/65535;default:throw new Error("THREE.GLTFLoader: Unsupported normalized accessor component type.")}}function PZ(n){return n.search(/\.jpe?g($|\?)/i)>0||n.search(/^data\:image\/jpeg/)===0?"image/jpeg":n.search(/\.webp($|\?)/i)>0||n.search(/^data\:image\/webp/)===0?"image/webp":n.search(/\.ktx2($|\?)/i)>0||n.search(/^data\:image\/ktx2/)===0?"image/ktx2":"image/png"}const LZ=new Ft;class FZ{constructor(e={},t={}){this.json=e,this.extensions={},this.plugins={},this.options=t,this.cache=new aZ,this.associations=new Map,this.primitiveCache={},this.nodeCache={},this.meshCache={refs:{},uses:{}},this.cameraCache={refs:{},uses:{}},this.lightCache={refs:{},uses:{}},this.sourceCache={},this.textureCache={},this.nodeNamesUsed={};let r=!1,i=-1,s=!1,a=-1;if(typeof navigator<"u"){const o=navigator.userAgent;r=/^((?!chrome|android).)*safari/i.test(o)===!0;const l=o.match(/Version\/(\d+)/);i=r&&l?parseInt(l[1],10):-1,s=o.indexOf("Firefox")>-1,a=s?o.match(/Firefox\/([0-9]+)\./)[1]:-1}typeof createImageBitmap>"u"||r&&i<17||s&&a<98?this.textureLoader=new N9(this.options.manager):this.textureLoader=new U9(this.options.manager),this.textureLoader.setCrossOrigin(this.options.crossOrigin),this.textureLoader.setRequestHeader(this.options.requestHeader),this.fileLoader=new IC(this.options.manager),this.fileLoader.setResponseType("arraybuffer"),this.options.crossOrigin==="use-credentials"&&this.fileLoader.setWithCredentials(!0)}setExtensions(e){this.extensions=e}setPlugins(e){this.plugins=e}parse(e,t){const r=this,i=this.json,s=this.extensions;this.cache.removeAll(),this.nodeCache={},this._invokeAll(function(a){return a._markDefs&&a._markDefs()}),Promise.all(this._invokeAll(function(a){return a.beforeRoot&&a.beforeRoot()})).then(function(){return Promise.all([r.getDependencies("scene"),r.getDependencies("animation"),r.getDependencies("camera")])}).then(function(a){const o={scene:a[0][i.scene||0],scenes:a[0],animations:a[1],cameras:a[2],asset:i.asset,parser:r,userData:{}};return bc(s,o,i),ba(o,i),Promise.all(r._invokeAll(function(l){return l.afterRoot&&l.afterRoot(o)})).then(function(){for(const l of o.scenes)l.updateMatrixWorld();e(o)})}).catch(t)}_markDefs(){const e=this.json.nodes||[],t=this.json.skins||[],r=this.json.meshes||[];for(let i=0,s=t.length;i<s;i++){const a=t[i].joints;for(let o=0,l=a.length;o<l;o++)e[a[o]].isBone=!0}for(let i=0,s=e.length;i<s;i++){const a=e[i];a.mesh!==void 0&&(this._addNodeRef(this.meshCache,a.mesh),a.skin!==void 0&&(r[a.mesh].isSkinnedMesh=!0)),a.camera!==void 0&&this._addNodeRef(this.cameraCache,a.camera)}}_addNodeRef(e,t){t!==void 0&&(e.refs[t]===void 0&&(e.refs[t]=e.uses[t]=0),e.refs[t]++)}_getNodeRef(e,t,r){if(e.refs[t]<=1)return r;const i=r.clone(),s=(a,o)=>{const l=this.associations.get(a);l!=null&&this.associations.set(o,l);for(const[c,d]of a.children.entries())s(d,o.children[c])};return s(r,i),i.name+="_instance_"+e.uses[t]++,i}_invokeOne(e){const t=Object.values(this.plugins);t.push(this);for(let r=0;r<t.length;r++){const i=e(t[r]);if(i)return i}return null}_invokeAll(e){const t=Object.values(this.plugins);t.unshift(this);const r=[];for(let i=0;i<t.length;i++){const s=e(t[i]);s&&r.push(s)}return r}getDependency(e,t){const r=e+":"+t;let i=this.cache.get(r);if(!i){switch(e){case"scene":i=this.loadScene(t);break;case"node":i=this._invokeOne(function(s){return s.loadNode&&s.loadNode(t)});break;case"mesh":i=this._invokeOne(function(s){return s.loadMesh&&s.loadMesh(t)});break;case"accessor":i=this.loadAccessor(t);break;case"bufferView":i=this._invokeOne(function(s){return s.loadBufferView&&s.loadBufferView(t)});break;case"buffer":i=this.loadBuffer(t);break;case"material":i=this._invokeOne(function(s){return s.loadMaterial&&s.loadMaterial(t)});break;case"texture":i=this._invokeOne(function(s){return s.loadTexture&&s.loadTexture(t)});break;case"skin":i=this.loadSkin(t);break;case"animation":i=this._invokeOne(function(s){return s.loadAnimation&&s.loadAnimation(t)});break;case"camera":i=this.loadCamera(t);break;default:if(i=this._invokeOne(function(s){return s!=this&&s.getDependency&&s.getDependency(e,t)}),!i)throw new Error("Unknown type: "+e);break}this.cache.add(r,i)}return i}getDependencies(e){let t=this.cache.get(e);if(!t){const r=this,i=this.json[e+(e==="mesh"?"es":"s")]||[];t=Promise.all(i.map(function(s,a){return r.getDependency(e,a)})),this.cache.add(e,t)}return t}loadBuffer(e){const t=this.json.buffers[e],r=this.fileLoader;if(t.type&&t.type!=="arraybuffer")throw new Error("THREE.GLTFLoader: "+t.type+" buffer type is not supported.");if(t.uri===void 0&&e===0)return Promise.resolve(this.extensions[cn.KHR_BINARY_GLTF].body);const i=this.options;return new Promise(function(s,a){r.load(fp.resolveURL(t.uri,i.path),s,void 0,function(){a(new Error('THREE.GLTFLoader: Failed to load buffer "'+t.uri+'".'))})})}loadBufferView(e){const t=this.json.bufferViews[e];return this.getDependency("buffer",t.buffer).then(function(r){const i=t.byteLength||0,s=t.byteOffset||0;return r.slice(s,s+i)})}loadAccessor(e){const t=this,r=this.json,i=this.json.accessors[e];if(i.bufferView===void 0&&i.sparse===void 0){const a=Wv[i.type],o=Ld[i.componentType],l=i.normalized===!0,c=new o(i.count*a);return Promise.resolve(new cr(c,a,l))}const s=[];return i.bufferView!==void 0?s.push(this.getDependency("bufferView",i.bufferView)):s.push(null),i.sparse!==void 0&&(s.push(this.getDependency("bufferView",i.sparse.indices.bufferView)),s.push(this.getDependency("bufferView",i.sparse.values.bufferView))),Promise.all(s).then(function(a){const o=a[0],l=Wv[i.type],c=Ld[i.componentType],d=c.BYTES_PER_ELEMENT,h=d*l,p=i.byteOffset||0,A=i.bufferView!==void 0?r.bufferViews[i.bufferView].byteStride:void 0,y=i.normalized===!0;let m,x;if(A&&A!==h){const g=Math.floor(p/A),_="InterleavedBuffer:"+i.bufferView+":"+i.componentType+":"+g+":"+i.count;let b=t.cache.get(_);b||(m=new c(o,g*A,i.count*A/d),b=new a9(m,A/d),t.cache.add(_,b)),x=new xC(b,l,p%A/d,y)}else o===null?m=new c(i.count*l):m=new c(o,p,i.count*l),x=new cr(m,l,y);if(i.sparse!==void 0){const g=Wv.SCALAR,_=Ld[i.sparse.indices.componentType],b=i.sparse.indices.byteOffset||0,w=i.sparse.values.byteOffset||0,C=new _(a[1],b,i.sparse.count*g),S=new c(a[2],w,i.sparse.count*l);o!==null&&(x=new cr(x.array.slice(),x.itemSize,x.normalized)),x.normalized=!1;for(let M=0,T=C.length;M<T;M++){const R=C[M];if(x.setX(R,S[M*l]),l>=2&&x.setY(R,S[M*l+1]),l>=3&&x.setZ(R,S[M*l+2]),l>=4&&x.setW(R,S[M*l+3]),l>=5)throw new Error("THREE.GLTFLoader: Unsupported itemSize in sparse BufferAttribute.")}x.normalized=y}return x})}loadTexture(e){const t=this.json,r=this.options,s=t.textures[e].source,a=t.images[s];let o=this.textureLoader;if(a.uri){const l=r.manager.getHandler(a.uri);l!==null&&(o=l)}return this.loadTextureImage(e,s,o)}loadTextureImage(e,t,r){const i=this,s=this.json,a=s.textures[e],o=s.images[t],l=(o.uri||o.bufferView)+":"+a.sampler;if(this.textureCache[l])return this.textureCache[l];const c=this.loadImageSource(t,r).then(function(d){d.flipY=!1,d.name=a.name||o.name||"",d.name===""&&typeof o.uri=="string"&&o.uri.startsWith("data:image/")===!1&&(d.name=o.uri);const p=(s.samplers||{})[a.sampler]||{};return d.magFilter=sB[p.magFilter]||ar,d.minFilter=sB[p.minFilter]||Sa,d.wrapS=aB[p.wrapS]||Fl,d.wrapT=aB[p.wrapT]||Fl,d.generateMipmaps=!d.isCompressedTexture&&d.minFilter!==yr&&d.minFilter!==ar,i.associations.set(d,{textures:e}),d}).catch(function(){return null});return this.textureCache[l]=c,c}loadImageSource(e,t){const r=this,i=this.json,s=this.options;if(this.sourceCache[e]!==void 0)return this.sourceCache[e].then(h=>h.clone());const a=i.images[e],o=self.URL||self.webkitURL;let l=a.uri||"",c=!1;if(a.bufferView!==void 0)l=r.getDependency("bufferView",a.bufferView).then(function(h){c=!0;const p=new Blob([h],{type:a.mimeType});return l=o.createObjectURL(p),l});else if(a.uri===void 0)throw new Error("THREE.GLTFLoader: Image "+e+" is missing URI and bufferView");const d=Promise.resolve(l).then(function(h){return new Promise(function(p,A){let y=p;t.isImageBitmapLoader===!0&&(y=function(m){const x=new lr(m);x.needsUpdate=!0,p(x)}),t.load(fp.resolveURL(h,s.path),y,void 0,A)})}).then(function(h){return c===!0&&o.revokeObjectURL(l),ba(h,a),h.userData.mimeType=a.mimeType||PZ(a.uri),h}).catch(function(h){throw console.error("THREE.GLTFLoader: Couldn't load texture",l),h});return this.sourceCache[e]=d,d}assignTexture(e,t,r,i){const s=this;return this.getDependency("texture",r.index).then(function(a){if(!a)return null;if(r.texCoord!==void 0&&r.texCoord>0&&(a=a.clone(),a.channel=r.texCoord),s.extensions[cn.KHR_TEXTURE_TRANSFORM]){const o=r.extensions!==void 0?r.extensions[cn.KHR_TEXTURE_TRANSFORM]:void 0;if(o){const l=s.associations.get(a);a=s.extensions[cn.KHR_TEXTURE_TRANSFORM].extendTexture(a,o),s.associations.set(a,l)}}return i!==void 0&&(a.colorSpace=i),e[t]=a,a})}assignFinalMaterial(e){const t=e.geometry;let r=e.material;const i=t.attributes.tangent===void 0,s=t.attributes.color!==void 0,a=t.attributes.normal===void 0;if(e.isPoints){const o="PointsMaterial:"+r.uuid;let l=this.cache.get(o);l||(l=new aQ,Ks.prototype.copy.call(l,r),l.color.copy(r.color),l.map=r.map,l.sizeAttenuation=!1,this.cache.add(o,l)),r=l}else if(e.isLine){const o="LineBasicMaterial:"+r.uuid;let l=this.cache.get(o);l||(l=new sQ,Ks.prototype.copy.call(l,r),l.color.copy(r.color),l.map=r.map,this.cache.add(o,l)),r=l}if(i||s||a){let o="ClonedMaterial:"+r.uuid+":";i&&(o+="derivative-tangents:"),s&&(o+="vertex-colors:"),a&&(o+="flat-shading:");let l=this.cache.get(o);l||(l=r.clone(),s&&(l.vertexColors=!0),a&&(l.flatShading=!0),i&&(l.normalScale&&(l.normalScale.y*=-1),l.clearcoatNormalScale&&(l.clearcoatNormalScale.y*=-1)),this.cache.add(o,l),this.associations.set(l,this.associations.get(r))),r=l}e.material=r}getMaterialType(){return qd}loadMaterial(e){const t=this,r=this.json,i=this.extensions,s=r.materials[e];let a;const o={},l=s.extensions||{},c=[];if(l[cn.KHR_MATERIALS_UNLIT]){const h=i[cn.KHR_MATERIALS_UNLIT];a=h.getMaterialType(),c.push(h.extendParams(o,s,t))}else{const h=s.pbrMetallicRoughness||{};if(o.color=new xt(1,1,1),o.opacity=1,Array.isArray(h.baseColorFactor)){const p=h.baseColorFactor;o.color.setRGB(p[0],p[1],p[2],ii),o.opacity=p[3]}h.baseColorTexture!==void 0&&c.push(t.assignTexture(o,"map",h.baseColorTexture,gr)),o.metalness=h.metallicFactor!==void 0?h.metallicFactor:1,o.roughness=h.roughnessFactor!==void 0?h.roughnessFactor:1,h.metallicRoughnessTexture!==void 0&&(c.push(t.assignTexture(o,"metalnessMap",h.metallicRoughnessTexture)),c.push(t.assignTexture(o,"roughnessMap",h.metallicRoughnessTexture))),a=this._invokeOne(function(p){return p.getMaterialType&&p.getMaterialType(e)}),c.push(Promise.all(this._invokeAll(function(p){return p.extendMaterialParams&&p.extendMaterialParams(e,o)})))}s.doubleSided===!0&&(o.side=is);const d=s.alphaMode||qv.OPAQUE;if(d===qv.BLEND?(o.transparent=!0,o.depthWrite=!1):(o.transparent=!1,d===qv.MASK&&(o.alphaTest=s.alphaCutoff!==void 0?s.alphaCutoff:.5)),s.normalTexture!==void 0&&a!==zc&&(c.push(t.assignTexture(o,"normalMap",s.normalTexture)),o.normalScale=new Dt(1,1),s.normalTexture.scale!==void 0)){const h=s.normalTexture.scale;o.normalScale.set(h,h)}if(s.occlusionTexture!==void 0&&a!==zc&&(c.push(t.assignTexture(o,"aoMap",s.occlusionTexture)),s.occlusionTexture.strength!==void 0&&(o.aoMapIntensity=s.occlusionTexture.strength)),s.emissiveFactor!==void 0&&a!==zc){const h=s.emissiveFactor;o.emissive=new xt().setRGB(h[0],h[1],h[2],ii)}return s.emissiveTexture!==void 0&&a!==zc&&c.push(t.assignTexture(o,"emissiveMap",s.emissiveTexture,gr)),Promise.all(c).then(function(){const h=new a(o);return s.name&&(h.name=s.name),ba(h,s),t.associations.set(h,{materials:e}),s.extensions&&bc(i,h,s),h})}createUniqueName(e){const t=Bn.sanitizeNodeName(e||"");return t in this.nodeNamesUsed?t+"_"+ ++this.nodeNamesUsed[t]:(this.nodeNamesUsed[t]=0,t)}loadGeometries(e){const t=this,r=this.extensions,i=this.primitiveCache;function s(o){return r[cn.KHR_DRACO_MESH_COMPRESSION].decodePrimitive(o,t).then(function(l){return oB(l,o,t)})}const a=[];for(let o=0,l=e.length;o<l;o++){const c=e[o],d=QZ(c),h=i[d];if(h)a.push(h.promise);else{let p;c.extensions&&c.extensions[cn.KHR_DRACO_MESH_COMPRESSION]?p=s(c):p=oB(new wr,c,t),i[d]={primitive:c,promise:p},a.push(p)}}return Promise.all(a)}loadMesh(e){const t=this,r=this.json,i=this.extensions,s=r.meshes[e],a=s.primitives,o=[];for(let l=0,c=a.length;l<c;l++){const d=a[l].material===void 0?DZ(this.cache):this.getDependency("material",a[l].material);o.push(d)}return o.push(t.loadGeometries(a)),Promise.all(o).then(function(l){const c=l.slice(0,l.length-1),d=l[l.length-1],h=[];for(let A=0,y=d.length;A<y;A++){const m=d[A],x=a[A];let g;const _=c[A];if(x.mode===rs.TRIANGLES||x.mode===rs.TRIANGLE_STRIP||x.mode===rs.TRIANGLE_FAN||x.mode===void 0)g=s.isSkinnedMesh===!0?new l9(m,_):new Kn(m,_),g.isSkinnedMesh===!0&&g.normalizeSkinWeights(),x.mode===rs.TRIANGLE_STRIP?g.geometry=rB(g.geometry,VN):x.mode===rs.TRIANGLE_FAN&&(g.geometry=rB(g.geometry,rw));else if(x.mode===rs.LINES)g=new p9(m,_);else if(x.mode===rs.LINE_STRIP)g=new bC(m,_);else if(x.mode===rs.LINE_LOOP)g=new A9(m,_);else if(x.mode===rs.POINTS)g=new m9(m,_);else throw new Error("THREE.GLTFLoader: Primitive mode unsupported: "+x.mode);Object.keys(g.geometry.morphAttributes).length>0&&NZ(g,s),g.name=t.createUniqueName(s.name||"mesh_"+e),ba(g,s),x.extensions&&bc(i,g,x),t.assignFinalMaterial(g),h.push(g)}for(let A=0,y=h.length;A<y;A++)t.associations.set(h[A],{meshes:e,primitives:A});if(h.length===1)return s.extensions&&bc(i,h[0],s),h[0];const p=new cs;s.extensions&&bc(i,p,s),t.associations.set(p,{meshes:e});for(let A=0,y=h.length;A<y;A++)p.add(h[A]);return p})}loadCamera(e){let t;const r=this.json.cameras[e],i=r[r.type];if(!i){console.warn("THREE.GLTFLoader: Missing camera parameters.");return}return r.type==="perspective"?t=new zr(qN.radToDeg(i.yfov),i.aspectRatio||1,i.znear||1,i.zfar||2e6):r.type==="orthographic"&&(t=new U0(-i.xmag,i.xmag,i.ymag,-i.ymag,i.znear,i.zfar)),r.name&&(t.name=this.createUniqueName(r.name)),ba(t,r),Promise.resolve(t)}loadSkin(e){const t=this.json.skins[e],r=[];for(let i=0,s=t.joints.length;i<s;i++)r.push(this._loadNodeShallow(t.joints[i]));return t.inverseBindMatrices!==void 0?r.push(this.getDependency("accessor",t.inverseBindMatrices)):r.push(null),Promise.all(r).then(function(i){const s=i.pop(),a=i,o=[],l=[];for(let c=0,d=a.length;c<d;c++){const h=a[c];if(h){o.push(h);const p=new Ft;s!==null&&p.fromArray(s.array,c*16),l.push(p)}else console.warn('THREE.GLTFLoader: Joint "%s" could not be found.',t.joints[c])}return new vC(o,l)})}loadAnimation(e){const t=this.json,r=this,i=t.animations[e],s=i.name?i.name:"animation_"+e,a=[],o=[],l=[],c=[],d=[];for(let h=0,p=i.channels.length;h<p;h++){const A=i.channels[h],y=i.samplers[A.sampler],m=A.target,x=m.node,g=i.parameters!==void 0?i.parameters[y.input]:y.input,_=i.parameters!==void 0?i.parameters[y.output]:y.output;m.node!==void 0&&(a.push(this.getDependency("node",x)),o.push(this.getDependency("accessor",g)),l.push(this.getDependency("accessor",_)),c.push(y),d.push(m))}return Promise.all([Promise.all(a),Promise.all(o),Promise.all(l),Promise.all(c),Promise.all(d)]).then(function(h){const p=h[0],A=h[1],y=h[2],m=h[3],x=h[4],g=[];for(let b=0,w=p.length;b<w;b++){const C=p[b],S=A[b],M=y[b],T=m[b],R=x[b];if(C===void 0)continue;C.updateMatrix&&C.updateMatrix();const k=r._createAnimationTracks(C,S,M,T,R);if(k)for(let G=0;G<k.length;G++)g.push(k[G])}const _=new S9(s,void 0,g);return ba(_,i),_})}createNodeMesh(e){const t=this.json,r=this,i=t.nodes[e];return i.mesh===void 0?null:r.getDependency("mesh",i.mesh).then(function(s){const a=r._getNodeRef(r.meshCache,i.mesh,s);return i.weights!==void 0&&a.traverse(function(o){if(o.isMesh)for(let l=0,c=i.weights.length;l<c;l++)o.morphTargetInfluences[l]=i.weights[l]}),a})}loadNode(e){const t=this.json,r=this,i=t.nodes[e],s=r._loadNodeShallow(e),a=[],o=i.children||[];for(let c=0,d=o.length;c<d;c++)a.push(r.getDependency("node",o[c]));const l=i.skin===void 0?Promise.resolve(null):r.getDependency("skin",i.skin);return Promise.all([s,Promise.all(a),l]).then(function(c){const d=c[0],h=c[1],p=c[2];p!==null&&d.traverse(function(A){A.isSkinnedMesh&&A.bind(p,LZ)});for(let A=0,y=h.length;A<y;A++)d.add(h[A]);return d})}_loadNodeShallow(e){const t=this.json,r=this.extensions,i=this;if(this.nodeCache[e]!==void 0)return this.nodeCache[e];const s=t.nodes[e],a=s.name?i.createUniqueName(s.name):"",o=[],l=i._invokeOne(function(c){return c.createNodeMesh&&c.createNodeMesh(e)});return l&&o.push(l),s.camera!==void 0&&o.push(i.getDependency("camera",s.camera).then(function(c){return i._getNodeRef(i.cameraCache,s.camera,c)})),i._invokeAll(function(c){return c.createNodeAttachment&&c.createNodeAttachment(e)}).forEach(function(c){o.push(c)}),this.nodeCache[e]=Promise.all(o).then(function(c){let d;if(s.isBone===!0?d=new iQ:c.length>1?d=new cs:c.length===1?d=c[0]:d=new zn,d!==c[0])for(let h=0,p=c.length;h<p;h++)d.add(c[h]);if(s.name&&(d.userData.name=s.name,d.name=a),ba(d,s),s.extensions&&bc(r,d,s),s.matrix!==void 0){const h=new Ft;h.fromArray(s.matrix),d.applyMatrix4(h)}else s.translation!==void 0&&d.position.fromArray(s.translation),s.rotation!==void 0&&d.quaternion.fromArray(s.rotation),s.scale!==void 0&&d.scale.fromArray(s.scale);if(!i.associations.has(d))i.associations.set(d,{});else if(s.mesh!==void 0&&i.meshCache.refs[s.mesh]>1){const h=i.associations.get(d);i.associations.set(d,{...h})}return i.associations.get(d).nodes=e,d}),this.nodeCache[e]}loadScene(e){const t=this.extensions,r=this.json.scenes[e],i=this,s=new cs;r.name&&(s.name=i.createUniqueName(r.name)),ba(s,r),r.extensions&&bc(t,s,r);const a=r.nodes||[],o=[];for(let l=0,c=a.length;l<c;l++)o.push(i.getDependency("node",a[l]));return Promise.all(o).then(function(l){for(let d=0,h=l.length;d<h;d++)s.add(l[d]);const c=d=>{const h=new Map;for(const[p,A]of i.associations)(p instanceof Ks||p instanceof lr)&&h.set(p,A);return d.traverse(p=>{const A=i.associations.get(p);A!=null&&h.set(p,A)}),h};return i.associations=c(s),s})}_createAnimationTracks(e,t,r,i,s){const a=[],o=e.name?e.name:e.uuid,l=[];El[s.path]===El.weights?e.traverse(function(p){p.morphTargetInfluences&&l.push(p.name?p.name:p.uuid)}):l.push(o);let c;switch(El[s.path]){case El.weights:c=Yd;break;case El.rotation:c=Jd;break;case El.translation:case El.scale:c=Xd;break;default:r.itemSize===1?c=Yd:c=Xd;break}const d=i.interpolation!==void 0?RZ[i.interpolation]:Tp,h=this._getArrayFromAccessor(r);for(let p=0,A=l.length;p<A;p++){const y=new c(l[p]+"."+El[s.path],t.array,h,d);i.interpolation==="CUBICSPLINE"&&this._createCubicSplineTrackInterpolant(y),a.push(y)}return a}_getArrayFromAccessor(e){let t=e.array;if(e.normalized){const r=ww(t.constructor),i=new Float32Array(t.length);for(let s=0,a=t.length;s<a;s++)i[s]=t[s]*r;t=i}return t}_createCubicSplineTrackInterpolant(e){e.createInterpolant=function(r){const i=this instanceof Jd?TZ:cP;return new i(this.times,this.values,this.getValueSize()/3,r)},e.createInterpolant.isInterpolantFactoryMethodGLTFCubicSpline=!0}}function zZ(n,e,t){const r=e.attributes,i=new ys;if(r.POSITION!==void 0){const o=t.json.accessors[r.POSITION],l=o.min,c=o.max;if(l!==void 0&&c!==void 0){if(i.set(new ue(l[0],l[1],l[2]),new ue(c[0],c[1],c[2])),o.normalized){const d=ww(Ld[o.componentType]);i.min.multiplyScalar(d),i.max.multiplyScalar(d)}}else{console.warn("THREE.GLTFLoader: Missing min/max properties for accessor POSITION.");return}}else return;const s=e.targets;if(s!==void 0){const o=new ue,l=new ue;for(let c=0,d=s.length;c<d;c++){const h=s[c];if(h.POSITION!==void 0){const p=t.json.accessors[h.POSITION],A=p.min,y=p.max;if(A!==void 0&&y!==void 0){if(l.setX(Math.max(Math.abs(A[0]),Math.abs(y[0]))),l.setY(Math.max(Math.abs(A[1]),Math.abs(y[1]))),l.setZ(Math.max(Math.abs(A[2]),Math.abs(y[2]))),p.normalized){const m=ww(Ld[p.componentType]);l.multiplyScalar(m)}o.max(l)}else console.warn("THREE.GLTFLoader: Missing min/max properties for accessor POSITION.")}}i.expandByVector(o)}n.boundingBox=i;const a=new Ua;i.getCenter(a.center),a.radius=i.min.distanceTo(i.max)/2,n.boundingSphere=a}function oB(n,e,t){const r=e.attributes,i=[];function s(a,o){return t.getDependency("accessor",a).then(function(l){n.setAttribute(o,l)})}for(const a in r){const o=bw[a]||a.toLowerCase();o in n.attributes||i.push(s(r[a],o))}if(e.indices!==void 0&&!n.index){const a=t.getDependency("accessor",e.indices).then(function(o){n.setIndex(o)});i.push(a)}return pn.workingColorSpace!==ii&&"COLOR_0"in r&&console.warn(`THREE.GLTFLoader: Converting vertex colors from "srgb-linear" to "${pn.workingColorSpace}" not supported.`),ba(n,e),zZ(n,e,t),Promise.all(i).then(function(){return e.targets!==void 0?kZ(n,e.targets,t):n})}async function lB(n,e){const i=(await new sZ().loadAsync(n)).scene;return i.traverse(s=>{s.visible=!1}),e.add(i),i}function cB(n,e){e.remove(n),n.traverse(t=>{const r=t;r.geometry?.dispose(),Array.isArray(r.material)?r.material.forEach(i=>i.dispose()):r.material?.dispose()})}class uB{constructor(e){this.onPointer=s=>{s.type==="pointerdown"?(this.start(s.clientX,s.clientY),this.mouseDown=!0):s.type==="pointermove"&&this.mouseDown?this.move(s.clientX,s.clientY):s.type==="pointerup"&&this.end()},this.scene=e.scene,this.renderer=e.renderer,this.camera=e.camera,this.container=e.container,this.controls=e.controls,this.draggableBodyIds=e.draggableBodyIds??null,this.mousePos=new Dt,this.raycaster=new X9,this.raycaster.params.Line.threshold=.1,this.grabDistance=0,this.active=!1,this.mouseDown=!1,this.physicsObject=null,this.localHit=new ue,this.worldHit=new ue,this.currentWorld=new ue,this.offset=new ue,this.arrow=new cs;const t=new Ah(.008,.008,1),r=new qd({color:16737095,transparent:!0,opacity:.5,metalness:0,roughness:.2});this.arrowShaft=new Kn(t,r),this.arrowShaft.position.y=.5;const i=new EC(.03,.1);this.arrowHead=new Kn(i,r),this.arrowHead.position.y=1,this.arrow.add(this.arrowShaft),this.arrow.add(this.arrowHead),this.arrow.visible=!1,this.scene.add(this.arrow),this.container.addEventListener("pointerdown",this.onPointer,!0),document.addEventListener("pointermove",this.onPointer,!0),document.addEventListener("pointerup",this.onPointer,!0)}updateRaycaster(e,t){const r=this.renderer.domElement.getBoundingClientRect();this.mousePos.x=(e-r.left)/r.width*2-1,this.mousePos.y=-((t-r.top)/r.height)*2+1,this.raycaster.setFromCamera(this.mousePos,this.camera)}start(e,t){this.physicsObject=null,this.updateRaycaster(e,t);const r=this.raycaster.intersectObjects(this.scene.children,!0);for(const i of r){const s=i.object;if(!this.shouldIgnoreForDrag(s)&&this.isDraggableObject(s)){this.physicsObject=s,this.grabDistance=i.distance;const a=this.raycaster.ray.origin.clone().addScaledVector(this.raycaster.ray.direction,this.grabDistance);this.localHit.copy(s.worldToLocal(a.clone())),this.worldHit.copy(a),this.currentWorld.copy(a),this.offset.set(0,0,0),this.arrow.position.copy(a),this.arrow.visible=!1,this.active=!0,this.controls.enabled=!1;break}}}setDraggableBodyIds(e){this.draggableBodyIds=e}isDraggableObject(e){if(!("bodyID"in e)||typeof e.bodyID!="number")return!1;const t=e.bodyID;return!(t<=0||this.draggableBodyIds&&!this.draggableBodyIds.has(t))}shouldIgnoreForDrag(e){let t=e;for(;t;){if(t.userData?.ignoreDragForce===!0)return!0;t=t.parent}return!1}move(e,t){this.active&&this.updateRaycaster(e,t)}update(){if(!this.physicsObject||!this.active)return;this.raycaster.setFromCamera(this.mousePos,this.camera),this.currentWorld.copy(this.raycaster.ray.origin.clone().addScaledVector(this.raycaster.ray.direction,this.grabDistance)),this.worldHit.copy(this.localHit),this.physicsObject.localToWorld(this.worldHit),this.offset.copy(this.currentWorld).sub(this.worldHit),this.arrow.position.copy(this.worldHit);const e=this.offset.length();if(e>.001){this.arrow.visible=!0;const t=this.offset.clone().normalize();this.arrow.quaternion.setFromUnitVectors(new ue(0,1,0),t);const r=.1,i=Math.max(.01,e-r);this.arrowShaft.scale.y=i,this.arrowShaft.position.y=i/2,this.arrowHead.position.y=i+r/2}else this.arrow.visible=!1}end(){this.physicsObject=null,this.active=!1,this.controls.enabled=!0,this.arrow.visible=!1,this.mouseDown=!1}dispose(){this.container.removeEventListener("pointerdown",this.onPointer,!0),document.removeEventListener("pointermove",this.onPointer,!0),document.removeEventListener("pointerup",this.onPointer,!0),this.arrow.parent&&this.scene.remove(this.arrow),this.arrowShaft.geometry.dispose(),this.arrowHead.geometry.dispose(),this.arrowShaft.material&&this.arrowShaft.material.dispose()}}const Ff={lookat:[0,0,0],distance:4,elevation:-30,azimuth:45,fovy:45};function UZ(n,e,t,r){const i=t*Math.PI/180,s=r*Math.PI/180,a=n[0]+e*Math.cos(i)*Math.cos(s),o=n[1]+e*Math.cos(i)*Math.sin(s),l=n[2]-e*Math.sin(i);return zl([a,o,l])}function OZ(n,e,t,r,i){const s={trackBodyId:null,prevBodyPos:null};t.enabled=!0;const a=n?.lookat??Ff.lookat,o=n?.distance??Ff.distance,l=n?.elevation??Ff.elevation,c=n?.azimuth??Ff.azimuth;if(e.fov=n?.fovy??Ff.fovy,e.updateProjectionMatrix(),e.position.copy(UZ(a,o,l,c)),t.target.copy(zl(a)),t.update(),!n)return s;const d=n.originType??"AUTO";if(d==="ASSET_BODY"&&n.bodyName&&r){const h=n.bodyName,p=n.entityName,A=p?`${p}/${h}`:null;for(let y=0;y<r.nbody;y++){const m=r.body(y).name;if(m===h||m===A||m.endsWith(`/${h}`)){s.trackBodyId=y;break}}s.trackBodyId===null&&console.warn(`[Camera] bodyName: body "${n.bodyName}" not found.`)}else(d==="AUTO"||d==="ASSET_ROOT")&&r&&r.nbody>1&&(s.trackBodyId=1);if(s.trackBodyId!==null&&i){const h=zl(i.xpos.slice(s.trackBodyId*3,s.trackBodyId*3+3));e.position.add(h),t.target.add(h),s.prevBodyPos=h,t.update()}return s}function $Z(n,e,t,r){if(r.trackBodyId!==null){const i=r.trackBodyId,s=zl(n.xpos.slice(i*3,i*3+3));if(r.prevBodyPos!==null){const a=s.clone().sub(r.prevBodyPos);e.position.add(a),t.target.add(a)}r.prevBodyPos=s}}const Rl=class Rl{constructor(e){this.MAX_CACHE_SIZE=5,this.mujoco=e,this.cache=new Map,this.metrics={totalScenes:0,totalMemoryBytes:0,oldestAccessTime:Date.now(),newestAccessTime:Date.now(),cacheHits:0,cacheMisses:0,evictions:0}}static getInstance(e){return Rl.instance||(Rl.instance=new Rl(e),console.log("[SceneCache] Created new cache manager singleton")),Rl.instance}static resetInstance(){Rl.instance=null}normalizeScenePath(e){return e?DC(e):""}has(e){const t=this.normalizeScenePath(e);return this.cache.has(t)}get(e){const t=this.normalizeScenePath(e),r=this.cache.get(t);return r?(r.lastAccessed=Date.now(),this.metrics.cacheHits++,this.updateMetricsTimestamps(),r):(this.metrics.cacheMisses++,null)}async set(e,t){const r=this.normalizeScenePath(e);!this.cache.has(r)&&this.cache.size>=this.MAX_CACHE_SIZE&&await this.maybeEvict(),t.scenePath=r,t.lastAccessed=Date.now(),this.cache.set(r,t),this.updateMetrics()}async evict(e){const t=this.normalizeScenePath(e),r=this.cache.get(t);r&&(await this.disposeSceneResources(r),this.cache.delete(t),this.metrics.evictions++,this.updateMetrics())}async clear(){const e=Array.from(this.cache.keys());for(const t of e)await this.evict(t)}getMetrics(){return{...this.metrics}}async prepareForNewScene(){this.cache.size>=this.MAX_CACHE_SIZE&&await this.maybeEvict()}findLRUScene(){let e=null,t=1/0;for(const[r,i]of this.cache.entries())i.lastAccessed<t&&(t=i.lastAccessed,e=r);return e}async maybeEvict(){const e=this.findLRUScene();e&&(console.log(`[SceneCache] Evicting LRU scene: ${e}`),await this.evict(e))}async disposeSceneResources(e){const t=performance.now();if(e.skybox&&e.skybox.dispose(),e.mujocoRoot&&this.disposeThreeJSObject(e.mujocoRoot),e.mjData)try{e.mjData.delete()}catch(s){console.warn("[SceneCache] Failed to delete mjData:",s)}if(e.mjModel)try{e.mjModel.delete()}catch(s){console.warn("[SceneCache] Failed to delete mjModel:",s)}for(const s of e.fsFiles)try{const a=`/working/${s}`;this.mujoco.FS.analyzePath(a,!1).exists&&this.mujoco.FS.unlink(a)}catch{}mJ(e.scenePath);const r=performance.now()-t,i=(e.estimatedMemoryBytes/1048576).toFixed(1);console.log(`[SceneCache] Evicted: ${e.scenePath} (${i} MB) in ${r.toFixed(0)}ms`)}disposeThreeJSObject(e){e.traverse(t=>{"geometry"in t&&t.geometry&&t.geometry.dispose(),"material"in t&&t.material&&(Array.isArray(t.material)?t.material.forEach(r=>this.disposeMaterial(r)):this.disposeMaterial(t.material))}),e.parent&&e.parent.remove(e)}disposeMaterial(e){const t=e;t.map&&t.map.dispose(),t.aoMap&&t.aoMap.dispose(),t.emissiveMap&&t.emissiveMap.dispose(),t.metalnessMap&&t.metalnessMap.dispose(),t.normalMap&&t.normalMap.dispose(),t.roughnessMap&&t.roughnessMap.dispose(),t.envMap&&t.envMap.dispose(),t.alphaMap&&t.alphaMap.dispose(),t.lightMap&&t.lightMap.dispose(),t.displacementMap&&t.displacementMap.dispose(),t.bumpMap&&t.bumpMap.dispose(),e.dispose()}updateMetrics(){this.metrics.totalScenes=this.cache.size,this.metrics.totalMemoryBytes=0;for(const e of this.cache.values())this.metrics.totalMemoryBytes+=e.estimatedMemoryBytes;this.updateMetricsTimestamps()}updateMetricsTimestamps(){let e=Date.now(),t=0;for(const r of this.cache.values())r.lastAccessed<e&&(e=r.lastAccessed),r.lastAccessed>t&&(t=r.lastAccessed);this.metrics.oldestAccessTime=e,this.metrics.newestAccessTime=t}};Rl.instance=null;let Ew=Rl;class GZ{constructor(){this.fsWriteLog=[],this.isTracking=!1}startTracking(e){if(this.isTracking){console.warn("[ResourceTracker] Already tracking FS writes");return}this.fsWriteLog=[],this.isTracking=!0,this.originalWriteFile=e.FS.writeFile;const t=this.fsWriteLog,r=this.originalWriteFile;e.FS.writeFile=function(i,s,a){if(i.startsWith("/working/")){const o=i.replace(/^\/working\//,"");t.includes(o)||t.push(o)}if(r)return r.call(e.FS,i,s,a)}}stopTracking(e){return this.isTracking?(this.originalWriteFile&&(e.FS.writeFile=this.originalWriteFile,this.originalWriteFile=void 0),this.isTracking=!1,[...this.fsWriteLog]):[]}estimateSceneMemory(e){let t=0;t+=this.estimateMuJoCoMemory(e.mjModel),t+=this.estimateMjDataMemory(e.mjData);const r=new Set,i=new Set,s=new Set;for(const a of Object.values(e.meshes))r.has(a)||(t+=this.estimateGeometryMemory(a),r.add(a));return e.mujocoRoot.traverse(a=>{if("geometry"in a&&a.geometry){const o=a.geometry;r.has(o)||(t+=this.estimateGeometryMemory(o),r.add(o))}if("material"in a&&a.material){const o=Array.isArray(a.material)?a.material:[a.material];for(const l of o)i.has(l)||(t+=1024,i.add(l),this.collectMaterialTextures(l).forEach(c=>{s.has(c)||(t+=this.estimateTextureMemory(c),s.add(c))}))}}),t}collectMaterialTextures(e){const t=[],r=e;return r.map&&t.push(r.map),r.aoMap&&t.push(r.aoMap),r.emissiveMap&&t.push(r.emissiveMap),r.metalnessMap&&t.push(r.metalnessMap),r.normalMap&&t.push(r.normalMap),r.roughnessMap&&t.push(r.roughnessMap),r.envMap&&t.push(r.envMap),r.alphaMap&&t.push(r.alphaMap),r.lightMap&&t.push(r.lightMap),r.displacementMap&&t.push(r.displacementMap),r.bumpMap&&t.push(r.bumpMap),t}estimateMuJoCoMemory(e){let t=0;return e.nq&&(t+=e.nq*8),e.nv&&(t+=e.nv*8),e.nbody&&(t+=e.nbody*256),e.mesh_vert&&(t+=e.mesh_vert.length*4),e.mesh_normal&&(t+=e.mesh_normal.length*4),e.mesh_texcoord&&(t+=e.mesh_texcoord.length*4),e.mesh_face&&(t+=e.mesh_face.length*4),e.tex_data&&(t+=e.tex_data.length),t}estimateMjDataMemory(e){let t=0;return e.qpos&&(t+=e.qpos.length*8),e.qvel&&(t+=e.qvel.length*8),e.qacc&&(t+=e.qacc.length*8),e.qacc_warmstart&&(t+=e.qacc_warmstart.length*8),e.ctrl&&(t+=e.ctrl.length*8),e.qfrc_applied&&(t+=e.qfrc_applied.length*8),e.xfrc_applied&&(t+=e.xfrc_applied.length*8),e.xpos&&(t+=e.xpos.length*8),e.xquat&&(t+=e.xquat.length*8),e.xmat&&(t+=e.xmat.length*8),e.xipos&&(t+=e.xipos.length*8),e.ximat&&(t+=e.ximat.length*8),e.ncon&&(t+=e.ncon*256),e.efc_force&&(t+=e.efc_force.length*8),e.sensordata&&(t+=e.sensordata.length*8),t}estimateGeometryMemory(e){let t=0;const r=e.attributes;for(const i in r){const s=r[i];s&&"array"in s&&(t+=s.array.byteLength)}return e.index&&(t+=e.index.array.byteLength),t}estimateTextureMemory(e){if(!e.image)return 1024;if(e instanceof ph&&Array.isArray(e.image)&&e.image.length===6){let r=0;for(const i of e.image){const s=i;s&&typeof s=="object"&&"width"in s&&"height"in s&&(r+=s.width*s.height*4)}return r}const t=e.image;return t&&typeof t=="object"&&"width"in t&&"height"in t?t.width*t.height*4:1024}}class HZ{getStats(e,t){const r=this.getJSHeapStats(),i={jsHeapUsedMB:r.used,jsHeapTotalMB:r.total,jsHeapLimitMB:r.limit,cachedScenesCount:e.totalScenes,estimatedCacheMemoryMB:e.totalMemoryBytes/1048576,estimatedGPUMemoryMB:0,sceneBreakdown:[]};if(t)for(const[s,a]of t.entries())i.sceneBreakdown.push({scenePath:s,memoryMB:a.memoryBytes/1048576,lastAccessed:new Date(a.lastAccessed)});return i}logCacheOperation(e,t,r){const i="[SceneCache]";switch(e){case"load":{const s=r?.memoryMB?` (${r.memoryMB.toFixed(1)} MB)`:"",a=r?.totalScenes!==void 0&&r?.totalMemoryMB!==void 0?` - Cache: ${r.totalScenes}/5 scenes, ${r.totalMemoryMB.toFixed(1)} MB total`:"";console.log(`${i} Loaded: ${t}${s}${a}`);break}case"hit":{const s=r?.elapsedMs!==void 0?` (~${r.elapsedMs.toFixed(0)}ms)`:"";console.log(`${i} Cache HIT: ${t}${s}`);break}case"miss":{console.log(`${i} Cache MISS: ${t}`);break}case"evict":{const s=r?.memoryMB?` (${r.memoryMB.toFixed(1)} MB)`:"";console.log(`${i} Evicted LRU: ${t}${s}`);break}}}logStats(e){if(console.log("[SceneCache] Memory Statistics:"),console.log(`  JS Heap: ${e.jsHeapUsedMB.toFixed(1)} MB / ${e.jsHeapTotalMB.toFixed(1)} MB (Limit: ${e.jsHeapLimitMB.toFixed(1)} MB)`),console.log(`  Cached Scenes: ${e.cachedScenesCount}/5`),console.log(`  Estimated Cache Memory: ${e.estimatedCacheMemoryMB.toFixed(1)} MB`),e.sceneBreakdown.length>0){console.log("  Scene Breakdown:");for(const t of e.sceneBreakdown)console.log(`    - ${t.scenePath}: ${t.memoryMB.toFixed(1)} MB (accessed: ${t.lastAccessed.toLocaleTimeString()})`)}}getJSHeapStats(){const e=performance;return e.memory?{used:e.memory.usedJSHeapSize/1048576,total:e.memory.totalJSHeapSize/1048576,limit:e.memory.jsHeapSizeLimit/1048576}:{used:0,total:0,limit:0}}estimateGPUMemory(e){const t=e.info,r=t.memory.geometries,i=t.memory.textures;return r*1+i*2}}class Vn{constructor(e,t){this.runner=e,this.config=t}}const VZ={};function us(n){const 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JZ(n){const e=new DataView(n.buffer,n.byteOffset,n.byteLength),t=new Float32Array(n.length);for(let r=0;r<n.length;r++)t[r]=e.getFloat32(r*4,!0);return t}function XZ(n){const e=new DataView(n.buffer,n.byteOffset,n.byteLength),t=new Float64Array(n.length);for(let r=0;r<n.length;r++)t[r]=e.getFloat64(r*8,!0);return t}function KZ(n){const e=new DataView(n.buffer,n.byteOffset,n.byteLength),t=new Int32Array(n.length);for(let r=0;r<n.length;r++)t[r]=e.getInt32(r*4,!0);return t}async function ZZ(n){const e=await fetch(n);if(!e.ok)throw new Error(`Failed to fetch NPZ: ${e.status} ${n}`);const t=await e.arrayBuffer(),r=new Uint8Array(t),i={};let s=0;for(;s+30<=r.length&&!(r[s]!==80||r[s+1]!==75||r[s+2]!==3||r[s+3]!==4);){const a=r[s+8]|r[s+9]<<8,o=(r[s+22]|r[s+23]<<8|r[s+24]<<16|r[s+25]<<24)>>>0;let l=(r[s+18]|r[s+19]<<8|r[s+20]<<16|r[s+21]<<24)>>>0;const c=r[s+26]|r[s+27]<<8,d=r[s+28]|r[s+29]<<8,h=r.slice(s+30,s+30+c);let p=new TextDecoder().decode(h);if(l===4294967295||o===4294967295){const x=s+30+c;let g=x;for(;g+4<=x+d;){const _=r[g]|r[g+1]<<8,b=r[g+2]|r[g+3]<<8;if(_===1){let w=g+4;if(o===4294967295&&w+8<=g+4+b&&(w+=8),l===4294967295&&w+8<=g+4+b){const C=(r[w]|r[w+1]<<8|r[w+2]<<16|r[w+3]<<24)>>>0;l=((r[w+4]|r[w+5]<<8|r[w+6]<<16|r[w+7]<<24)>>>0)*4294967296+C}break}g+=4+b}}const A=s+30+c+d,y=r.slice(A,A+l);if(s=A+l,p.endsWith("/"))continue;p.endsWith(".npy")&&(p=p.slice(0,-4));let m;if(a===0)m=y;else if(a===8)m=await WZ(y);else{console.warn(`[NPZ] Unsupported compression method ${a} for ${p}`);continue}try{i[p]=qZ(m)}catch(x){console.warn(`[NPZ] Failed to parse ${p}:`,x)}}return i}function Jv(n){const e=Math.hypot(n[0]??1,n[1]??0,n[2]??0,n[3]??0)||1;return new Float32Array([(n[0]??1)/e,(n[1]??0)/e,(n[2]??0)/e,(n[3]??0)/e])}function wd(n){const e=n.shape[0]??0,t=n.shape.length<=1?1:n.shape.slice(1).reduce((i,s)=>i*s,1),r=[];for(let i=0;i<e;i++){const s=new Float32Array(t),a=i*t;for(let o=0;o<t;o++)s[o]=n.data[a+o]??0;r.push(s)}return r}function uP(n,e){if(!Array.isArray(n)||n.length<2)return e;const t=Number(n[0]),r=Number(n[1]);return!Number.isFinite(t)||!Number.isFinite(r)?e:[t,r]}function dB(n){if(n===null||typeof n!="object"||Array.isArray(n))return{};const e={};for(const t of["x","y","z","roll","pitch","yaw"]){const r=uP(n[t],[0,0]);(r[0]!==0||r[1]!==0)&&(e[t]=r)}return e}function $i(n){return n?n[0]+Math.random()*(n[1]-n[0]):0}function eee(n,e){const t=n[0]??1,r=n[1]??0,i=n[2]??0,s=n[3]??0,a=e[0]??1,o=e[1]??0,l=e[2]??0,c=e[3]??0;return new Float32Array([t*a-r*o-i*l-s*c,t*o+r*a+i*c-s*l,t*l-r*c+i*a+s*o,t*c+r*l-i*o+s*a])}function tee(n,e,t){const r=Math.cos(n*.5),i=Math.sin(n*.5),s=Math.cos(e*.5),a=Math.sin(e*.5),o=Math.cos(t*.5),l=Math.sin(t*.5);return new Float32Array([r*s*o+i*a*l,i*s*o-r*a*l,r*a*o+i*s*l,r*s*l-i*a*o])}function hB(n){const e=n.clone();return"transparent"in e&&(e.transparent=!0),"opacity"in e&&(e.opacity=.5),"depthWrite"in e&&(e.depthWrite=!1),"color"in e&&e.color instanceof xt&&(e.color=new xt(.5,.7,.5)),e}function nee(n){let e=!1;return n.traverse(t=>{t instanceof Kn&&(e=!0)}),e}class xp{constructor(e,t,r){this.context=r,this.motions=Array.isArray(t.motions)?t.motions:[],this.loadedMotions=new Map,this.sampleHz=50,this.selectedMotionName=this.motions.find(i=>i.default)?.name??this.motions[0]?.name??null,this.selectedMotion=null,this.selectedAnchorBodyIndex=0,this.selectedRootBodyIndex=0,this.datasetQposAdr=[],this.frameAccumulator=0,this.justReset=!0,this.referenceVisible=!0,this.samplingMode=typeof t.sampling_mode=="string"?t.sampling_mode:"start",this.poseRange=dB(t.pose_range),this.velocityRange=dB(t.velocity_range),this.jointPositionRange=uP(t.joint_position_range,[0,0]),this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.nJoints=this.motions.find(i=>i.name===this.selectedMotionName)?.dataset_joint_names?.length??0,this.ghostBodies=new Map,this.ghostData=r.mjModel?new r.mujoco.MjData(r.mjModel):null,this.ghostRoot=this.createGhostRoot(),this.refBodyPosW=[],this.refBodyQuatW=[],this.refBodyLinVelW=[],this.refBodyAngVelW=[]}getCommand(){if(!this.selectedMotion||this.refLen===0)return new Float32Array(this.nJoints*2);const e=this.refJointPos[this.refIdx]??new Float32Array(this.nJoints),t=this.selectedMotion.jointVel[this.refIdx]??new Float32Array(this.nJoints),r=new Float32Array(e.length+t.length);return r.set(e,0),r.set(t,e.length),r}getUiConfig(){return null}async setSelectedMotion(e){const t=e??this.selectedMotionName;if(!t)return this.selectedMotionName=null,this.selectedMotion=null,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refBodyPosW=[],this.refBodyQuatW=[],this.refBodyLinVelW=[],this.refBodyAngVelW=[],this.refLen=0,this.nJoints=0,this.updateGhostPose(),!1;const r=this.motions.find(s=>s.name===t);if(!r)return!1;const i=this.loadedMotions.get(t)??await this.loadMotion(r);return this.loadedMotions.set(t,i),this.selectedMotionName=t,this.selectedMotion=i,this.selectedAnchorBodyIndex=Math.max(0,i.body_names.indexOf(i.anchor_body_name)),this.selectedRootBodyIndex=0,this.datasetQposAdr=this.resolveQposAdr(i.dataset_joint_names??[]),this.refLen=i.frameCount,this.refJointPos=i.jointPos,this.refIdx=this.sampleInitialFrame(this.refLen),this.nJoints=i.jointPos[0]?.length??0,this.frameAccumulator=0,this.justReset=!0,this.updateReferenceState(),this.applyReferenceStateToSim(),this.updateGhostPose(),!0}setReferenceVisible(e){this.referenceVisible=e,this.ghostRoot&&(this.ghostRoot.visible=e&&this.selectedMotion!==null)}reset(){this.refIdx=this.sampleInitialFrame(this.refLen),this.frameAccumulator=0,this.justReset=!0,this.updateReferenceState(),this.applyReferenceStateToSim(),this.updateGhostPose()}update(e){if(!this.selectedMotion||this.refLen<=1)return;if(this.justReset){this.justReset=!1,this.updateGhostPose();return}const t=this.selectedMotion?.loop!==!1;this.frameAccumulator+=e*this.sampleHz;let r=!1;for(;this.frameAccumulator>=1;){if(this.refIdx+=1,this.refIdx>=this.refLen){if(!t){this.refIdx=this.refLen-1,this.frameAccumulator=0;break}this.refIdx=0,r=!0}this.frameAccumulator-=1}r&&this.context.requestReset?.(),this.updateGhostPose()}updateDebugVisuals(){this.ghostRoot&&(this.ghostRoot.visible=this.referenceVisible&&this.selectedMotion!==null)}dispose(){this.ghostRoot&&(this.ghostRoot.parent?.remove(this.ghostRoot),this.ghostRoot.traverse(e=>{if(e instanceof Kn)if(Array.isArray(e.material))for(const t of e.material)t.dispose?.();else e.material?.dispose?.()})),this.ghostData?.delete?.()}isReady(){return this.selectedMotion!==null&&this.refLen>0}getSelectedMotion(){return this.selectedMotion}getSelectedMotionName(){return this.selectedMotionName}getAnchorBodyName(){return this.selectedMotion?.anchor_body_name??this.motions.find(e=>e.name===this.selectedMotionName)?.anchor_body_name??null}getBodyNames(){return this.selectedMotion?.body_names??this.motions.find(e=>e.name===this.selectedMotionName)?.body_names??[]}getAnchorBodyIndex(){return this.selectedAnchorBodyIndex}getAnchorPos(e=this.refIdx){if(!this.selectedMotion)return null;const r=this.refBodyPosW[e];if(!r)return null;const i=this.selectedAnchorBodyIndex*3;return r.slice(i,i+3)}getAnchorQuat(e=this.refIdx){if(!this.selectedMotion)return null;const r=this.refBodyQuatW[e];if(!r)return null;const i=this.selectedAnchorBodyIndex*4;return Jv(r.slice(i,i+4))}getBodyPosW(e=this.refIdx){if(!this.selectedMotion)return null;const r=this.refBodyPosW[e];return r?r.slice():null}createGhostRoot(){const e=this.context.bodies??null,t=this.context.mjModel;if(!e||!t)return null;const r=new cs;r.name="Tracking Ghost",r.visible=!1;for(const[i,s]of Object.entries(e)){const a=Number(i);if(!this.isDynamicBody(a))continue;const o=s.clone(!0);o.traverse(l=>{l instanceof Kn&&(Array.isArray(l.material)?l.material=l.material.map(hB):l.material=hB(l.material),l.renderOrder=2)}),nee(o)&&(this.ghostBodies.set(a,o),r.add(o))}return(this.context.mujocoRoot??this.context.scene).add(r),r}isDynamicBody(e){const t=this.context.mjModel;if(!t||e<=0||e>=t.nbody)return!1;let r=e;for(;r>0;){if(t.body_jntnum[r]>0)return!0;r=t.body_parentid[r]}return!1}async loadMotion(e){this.sampleHz=e.fps;const t=await ZZ(e.path),r=["joint_pos","joint_vel","body_pos_w","body_quat_w","body_lin_vel_w","body_ang_vel_w"];for(const h of r)if(!t[h])throw new Error(`Motion asset is missing '${h}'`);const i=wd(t.joint_pos),s=wd(t.joint_vel),a=t.body_names?.strings??null,o=this.selectMotionBodyFrames(wd(t.body_pos_w),e.body_names,3,a),l=this.selectMotionBodyFrames(wd(t.body_quat_w),e.body_names,4,a),c=this.selectMotionBodyFrames(wd(t.body_lin_vel_w),e.body_names,3,a),d=this.selectMotionBodyFrames(wd(t.body_ang_vel_w),e.body_names,3,a);return{...e,jointPos:i,jointVel:s,bodyPosW:o,bodyQuatW:l,bodyLinVelW:c,bodyAngVelW:d,frameCount:i.length}}selectMotionBodyFrames(e,t,r,i=null){const s=this.context.mjModel,a=e[0];if(!s||!a||t.length===0)return e;const o=Math.floor(a.length/r);if(o===t.length)return e;let l;if(i!==null)l=t.map(c=>i.indexOf(c));else{const c=this.findBodyIdByName(t[0]);l=t.map(h=>this.findBodyIdByName(h)).map(h=>h-c)}return l.some(c=>c<0||c>=o)?(console.warn("[TrackingCommand] Could not map all motion body names to source body indices; using raw body frames."),e):e.map(c=>{const d=new Float32Array(t.length*r);for(let h=0;h<l.length;h++){const p=l[h]*r,A=h*r;for(let y=0;y<r;y++)d[A+y]=c[p+y]??0}return d})}updateReferenceState(){const e=this.selectedMotion;if(!e||e.frameCount===0){this.refRootPos=[],this.refRootQuat=[],this.refBodyPosW=[],this.refBodyQuatW=[],this.refBodyLinVelW=[],this.refBodyAngVelW=[];return}this.refBodyPosW=e.bodyPosW.map(t=>t.slice()),this.refBodyQuatW=e.bodyQuatW.map(t=>t.slice()),this.refBodyLinVelW=e.bodyLinVelW.map(t=>t.slice()),this.refBodyAngVelW=e.bodyAngVelW.map(t=>t.slice()),this.refRootPos=this.refBodyPosW.map(t=>t.slice(this.selectedRootBodyIndex*3,this.selectedRootBodyIndex*3+3)),this.refRootQuat=this.refBodyQuatW.map(t=>Jv(t.slice(this.selectedRootBodyIndex*4,this.selectedRootBodyIndex*4+4)))}applyReferenceStateToSim(){const e=this.context.mjModel,t=this.context.mjData,r=this.selectedMotion;if(!e||!t||!r||this.refLen===0)return;const i=this.sampleRootPos(this.refIdx),s=this.sampleRootQuat(this.refIdx),a=this.findFreeJointIndex();if(i&&s&&a>=0){const c=e.jnt_qposadr[a],d=e.jnt_dofadr[a];t.qpos[c+0]=i[0]??0,t.qpos[c+1]=i[1]??0,t.qpos[c+2]=i[2]??0,t.qpos[c+3]=s[0]??1,t.qpos[c+4]=s[1]??0,t.qpos[c+5]=s[2]??0,t.qpos[c+6]=s[3]??0;const h=this.sampleRootVelocity(this.refIdx,this.refBodyLinVelW),p=this.sampleRootAngularVelocity(this.refIdx);h&&p&&(t.qvel[d+0]=h[0]??0,t.qvel[d+1]=h[1]??0,t.qvel[d+2]=h[2]??0,t.qvel[d+3]=p[0]??0,t.qvel[d+4]=p[1]??0,t.qvel[d+5]=p[2]??0)}const o=this.sampleJointPos(this.refIdx),l=r.jointVel[this.refIdx]??new Float32Array(0);for(let c=0;c<this.datasetQposAdr.length&&c<o.length;c++)t.qpos[this.datasetQposAdr[c]]=o[c]??0;for(let c=0;c<this.datasetQposAdr.length&&c<l.length;c++){const d=this.resolveQvelAdrForQposAdr(this.datasetQposAdr[c]);d>=0&&(t.qvel[d]=l[c]??0)}this.context.mujoco.mj_forward(e,t)}sampleRootPos(e){const t=this.refRootPos[e];if(!t)return null;const r=t.slice();return r[0]+=$i(this.poseRange.x),r[1]+=$i(this.poseRange.y),r[2]+=$i(this.poseRange.z),r}sampleRootQuat(e){const t=this.refRootQuat[e];if(!t)return null;const r=$i(this.poseRange.roll),i=$i(this.poseRange.pitch),s=$i(this.poseRange.yaw);return r===0&&i===0&&s===0?t:Jv(eee(tee(r,i,s),t))}sampleRootVelocity(e,t){const r=t[e]?.slice(this.selectedRootBodyIndex*3,this.selectedRootBodyIndex*3+3);return r?(r[0]+=$i(this.velocityRange.x),r[1]+=$i(this.velocityRange.y),r[2]+=$i(this.velocityRange.z),r):null}sampleRootAngularVelocity(e){const t=this.refBodyAngVelW[e]?.slice(this.selectedRootBodyIndex*3,this.selectedRootBodyIndex*3+3);return t?(t[0]+=$i(this.velocityRange.roll),t[1]+=$i(this.velocityRange.pitch),t[2]+=$i(this.velocityRange.yaw),t):null}sampleInitialFrame(e){return e<=1||this.samplingMode==="start"?0:this.samplingMode==="uniform"?Math.floor(Math.random()*e):0}sampleJointPos(e){const t=this.refJointPos[e]??new Float32Array(0);if(this.jointPositionRange[0]===0&&this.jointPositionRange[1]===0)return t;const r=t.slice();for(let i=0;i<r.length;i++)r[i]+=$i(this.jointPositionRange);return r}resolveQposAdr(e){const t=this.context.mjModel;if(!t||e.length===0)return[];const r=[];for(const i of e){let s=-1;for(let a=0;a<t.njnt;a++){const o=t.jnt(a).name;if(o===i||o.endsWith(`/${i}`)){s=t.jnt_qposadr[a];break}}s>=0&&r.push(s)}return r}resolveQvelAdrForQposAdr(e){const t=this.context.mjModel;if(!t)return-1;for(let r=0;r<t.njnt;r++)if(t.jnt_qposadr[r]===e)return t.jnt_dofadr[r];return-1}findBodyIdByName(e){const t=this.context.mjModel;if(!t)return-1;for(let r=0;r<t.nbody;r++){const i=t.body(r).name;if(i===e||i.endsWith(`/${e}`))return r}return-1}updateGhostPose(){if(!this.ghostRoot||!this.ghostData||!this.context.mjModel||!this.selectedMotion||!this.refLen){this.ghostRoot&&(this.ghostRoot.visible=!1);return}const e=this.ghostData.qpos;e.set(this.context.mjModel.qpos0);const t=this.refRootPos[this.refIdx],r=this.refRootQuat[this.refIdx],i=this.findFreeJointIndex();if(i>=0&&t&&r){const a=this.context.mjModel.jnt_qposadr[i];e[a+0]=t[0]??0,e[a+1]=t[1]??0,e[a+2]=t[2]??0,e[a+3]=r[0]??1,e[a+4]=r[1]??0,e[a+5]=r[2]??0,e[a+6]=r[3]??0}const s=this.refJointPos[this.refIdx]??new Float32Array(0);for(let a=0;a<this.datasetQposAdr.length&&a<s.length;a++)e[this.datasetQposAdr[a]]=s[a]??0;this.context.mujoco.mj_forward(this.context.mjModel,this.ghostData);for(const[a,o]of this.ghostBodies)Vc(this.ghostData.xpos,a,o.position),pp(this.ghostData.xquat,a,o.quaternion);this.ghostRoot.visible=this.referenceVisible}findFreeJointIndex(){const e=this.context.mjModel;if(!e)return-1;for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}}class ree{constructor(e,t){this.inputs=Array.isArray(t.ui?.inputs)?t.ui.inputs:[],this.values=new Map;for(const r of this.inputs)r.type==="slider"&&this.values.set(r.name,r.default)}getCommand(){const e=this.inputs.filter(r=>r.type==="slider"),t=new Float32Array(e.length);for(let r=0;r<e.length;r++)t[r]=this.values.get(e[r].name)??e[r].default??0;return t}getUiConfig(){return{inputs:this.inputs}}reset(){for(const e of this.inputs)e.type==="slider"&&this.values.set(e.name,e.default)}setValue(e,t){const r=this.inputs.find(s=>s.type==="slider"&&s.name===e);if(!r)return 0;const i=Math.max(r.min,Math.min(r.max,t));return this.values.set(r.name,i),i}}const iee={UiCommand:ree,TrackingCommand:xp};class see{constructor(){this.terms=new Map,this.commands=new Map,this.commandGroups=new Map,this.values=new Map,this.listeners=new Set,this.resetCallback=null,this.context=null,this.registerSystemReset()}initialize(e,t){this.clear(),this.context=t;const r={...iee,...jZ};for(const[i,s]of Object.entries(e)){const a=r[s.name];if(!a)throw new Error(`Unknown command term: ${s.name}`);const o=new a(i,s,t);this.terms.set(i,o),this.registerUi(i,o)}}update(e){for(const t of this.terms.values())t.update?.(e)}updateDebugVisuals(){for(const e of this.terms.values())e.updateDebugVisuals?.()}resetTerms(){for(const e of this.terms.values())e.reset?.();this.syncValuesFromTerms(),this.emit({type:"reset",commandId:"*"})}getCommandGroups(){return Array.from(this.commandGroups.keys()).filter(e=>e!=="_system")}getCommandsInGroup(e){return(this.commandGroups.get(e)??[]).map(r=>this.commands.get(r)).filter(Boolean)}getCommands(){return Array.from(this.commands.values()).filter(e=>e.groupName!=="_system")}getAllCommands(){return Array.from(this.commands.values())}getResetCommand(){return this.commands.get("_system:reset")}getCommandById(e){return this.commands.get(e)}getValue(e){return this.values.get(e)??0}getValues(){const e={};for(const[t,r]of this.values)e[t]=r;return e}getCommand(e){const t=this.terms.get(e);return t?t.getCommand():new Float32Array(0)}getTerm(e){return this.terms.get(e)}getContext(){return this.context}getVelocityCommand(){return this.terms.has("velocity")?this.getCommand("velocity"):this.terms.has("twist")?this.getCommand("twist"):new Float32Array([.5,0,0])}setValue(e,t){const r=this.commands.get(e);if(!r||r.config.type!=="slider")return;const i=this.terms.get(r.groupName),s=r.config.name,a=i?.setValue?i.setValue(s,t):void 0,o=typeof a=="number"?a:t;this.values.set(e,o),this.emit({type:"change",commandId:e,groupName:r.groupName,value:o})}triggerButton(e){const t=this.commands.get(e);!t||t.config.type!=="button"||(e==="_system:reset"&&this.resetCallback?this.resetCallback():this.terms.get(t.groupName)?.triggerButton?.(t.config.name),this.emit({type:"button",commandId:e,groupName:t.groupName}))}resetToDefaults(){this.resetTerms()}setResetCallback(e){this.resetCallback=e}addEventListener(e){this.listeners.add(e)}removeEventListener(e){this.listeners.delete(e)}clear(){for(const e of this.terms.values())e.dispose?.();this.terms.clear(),this.commands.clear(),this.commandGroups.clear(),this.values.clear(),this.context=null,this.registerSystemReset(),this.emit({type:"clear",commandId:""})}hasCommands(){return this.commands.size>1}dispose(){for(const e of this.terms.values())e.dispose?.();this.terms.clear(),this.commands.clear(),this.commandGroups.clear(),this.values.clear(),this.listeners.clear(),this.resetCallback=null,this.context=null}registerSystemReset(){this.commands.set("_system:reset",{id:"_system:reset",groupName:"_system",config:{type:"button",name:"reset",label:"Reset Simulation"}}),this.commandGroups.set("_system",["_system:reset"])}registerUi(e,t){const r=t.getUiConfig?.(),i=Array.isArray(r?.inputs)?r.inputs:[];if(i.length!==0){this.commandGroups.set(e,[]);for(const s of i){const a=`${e}:${s.name}`;if(this.commands.set(a,{id:a,groupName:e,config:s}),this.commandGroups.get(e).push(a),s.type==="slider"){const o=t.getCommand(),l=i.filter(c=>c.type==="slider").findIndex(c=>c.name===s.name);this.values.set(a,o[l]??s.default)}}this.emit({type:"group_registered",commandId:e,groupName:e})}}syncValuesFromTerms(){for(const[e,t]of this.commands){if(t.config.type!=="slider")continue;const r=this.terms.get(t.groupName);if(!r)continue;const a=(r.getUiConfig?.()?.inputs??[]).filter(o=>o.type==="slider").findIndex(o=>o.name===t.config.name);if(a>=0){const o=r.getCommand();this.values.set(e,o[a]??this.values.get(e)??0)}}}emit(e){for(const t of this.listeners)try{t(e)}catch(r){console.warn("[CommandManager] Listener error:",r)}}}let Xv=null;function tr(){return Xv||(Xv=new see),Xv}function HC(n,e,t=1){if(typeof n=="number"){const r=new Float32Array(e);return r.fill(n),r}if(Array.isArray(n)){const r=new Float32Array(e);for(let i=0;i<e;i++){const s=n[i];r[i]=typeof s=="number"?s:t}return r}return null}class aee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=HC(t.scale,3,1)}get size(){return 3*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const t=tr().getVelocityCommand(),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class oee extends Vn{constructor(e,t){super(e,t),this.scale=HC(t.scale,3,1)}get size(){return 16}compute(){const e=new Float32Array(16),r=tr().getVelocityCommand();if(this.scale)for(let i=0;i<3;i++)r[i]*=this.scale[i]??1;return e[0]=r[0],e[1]=r[1],e[2]=r[2],e}}class fB extends Vn{constructor(e,t){super(e,t),this.commandName=t.command_name??"velocity",this.historySteps=Math.max(1,Math.floor(t.history_steps??1));const i=tr().getCommand(this.commandName);this.commandSize=i.length||3,this.history=Array.from({length:this.historySteps},()=>new Float32Array(this.commandSize)),this.scale=HC(t.scale,this.commandSize,1)}get size(){return this.commandSize*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const t=tr().getCommand(this.commandName),r=new Float32Array(this.commandSize);for(let i=0;i<this.commandSize&&i<t.length;i++)r[i]=t[i];if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}function ia(n){const e=tr().getTerm("motion");return e instanceof xp?e:null}function Kd(n,e){if(!n)return-1;for(let t=0;t<n.nbody;t++){const r=n.body(t).name;if(r===e||r.endsWith(`/${e}`))return t}return-1}function xh(n,e,t=1){if(typeof n=="number"){const r=new Float32Array(e);return r.fill(n),r}if(Array.isArray(n)){const r=new Float32Array(e);for(let i=0;i<e;i++){const s=n[i];r[i]=typeof s=="number"?s:t}return r}return null}function pB(n,e,t=0){if(!Array.isArray(n))return null;const r=new Float32Array(e);for(let i=0;i<e;i++)r[i]=typeof n[i]=="number"?n[i]:t;return r}class lee extends Vn{get size(){return 1}compute(){return new Float32Array([0])}}class cee extends Vn{get size(){return 3}compute(e){const t=e.rootAngVel??new Float32Array(3);return new Float32Array(t)}}class dP extends Vn{constructor(e,t){super(e,t);const r=Array.isArray(t.gravity)?t.gravity:[0,0,-1];this.gravity=new ue(r[0]??0,r[1]??0,r[2]??-1),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3))}get size(){return 3*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){const t=e?.rootQuat??new Float32Array([1,0,0,0]),r=new Cn(t[1],t[2],t[3],t[0]),i=this.gravity.clone().applyQuaternion(r.clone().invert());return new Float32Array([i.x,i.y,i.z])}}class hP extends Vn{constructor(e,t){super(e,t);let r;if(Array.isArray(t.pos_steps))r=t.pos_steps.map(s=>Math.max(0,Math.floor(s)));else if(typeof t.history_steps=="number"){const s=Math.max(1,Math.floor(t.history_steps));r=Array.from({length:s},(a,o)=>o)}else r=[0,1,2,3,4,8];this.posSteps=r;const i=this.getJointNames(t);this.qposAdr=i?this.resolveQposAdr(i):null,this.numJoints=i?.length??(typeof t.num_joints=="number"?Math.max(1,Math.floor(t.num_joints)):e.getNumActions()),this.maxStep=Math.max(...this.posSteps),this.history=Array.from({length:this.maxStep+1},()=>new Float32Array(this.numJoints)),this.subtractDefault=!!t.subtract_default,this.biased=!!t.biased,this.defaultJointPos=this.normalizeDefaultJointPos(t.default_joint_pos),this.encoderBias=this.normalizeEncoderBias(t.encoder_bias),this.scale=this.normalizeScale(t.scale)}get size(){return this.posSteps.length*this.numJoints}reset(e){this.history[0].set(this.computeCurrent(e));for(let t=1;t<this.history.length;t++)this.history[t].set(this.history[0])}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){const e=new Float32Array(this.posSteps.length*this.numJoints);let t=0;for(const r of this.posSteps){const i=Math.min(r,this.history.length-1),s=this.history[i];for(let a=0;a<this.numJoints;a++){let o=s[a];this.subtractDefault&&this.defaultJointPos.length>a&&(o-=this.defaultJointPos[a]),this.scale&&this.scale.length>a&&(o*=this.scale[a]),e[t+a]=o}t+=this.numJoints}return e}computeCurrent(e){if(this.qposAdr!==null){const i=this.runner.getContext()?.mjData?.qpos,s=new Float32Array(this.numJoints);for(let a=0;a<this.numJoints;a++){const o=this.qposAdr[a];s[a]=i!==void 0?i[o]:0,this.biased&&this.encoderBias.length>a&&(s[a]+=this.encoderBias[a])}return s}const t=e?.jointPos??new Float32Array(this.numJoints);if(!this.biased)return t;const r=new Float32Array(this.numJoints);for(let i=0;i<this.numJoints;i++)r[i]=(t[i]??0)+(this.encoderBias[i]??0);return r}getJointNames(e){if(!Array.isArray(e.joint_names))return null;const t=e.joint_names.filter(r=>typeof r=="string");return t.length>0?t:null}normalizeDefaultJointPos(e){const t=pB(e,this.numJoints,0);if(t)return t;const r=this.runner.getDefaultJointPos(),i=new Float32Array(this.numJoints);for(let s=0;s<this.numJoints;s++)i[s]=r[s]??0;return i}normalizeEncoderBias(e){const t=pB(e,this.numJoints,0);if(t)return t;const r=this.runner.getEncoderBias(),i=new Float32Array(this.numJoints);for(let s=0;s<this.numJoints;s++)i[s]=r[s]??0;return i}resolveQposAdr(e){const t=this.runner.getContext()?.mjModel??null;if(t===null)return Array.from({length:e.length},()=>0);const r=this.getModelJointNames(t);return e.map(i=>{const s=r.indexOf(i);if(s<0)throw new Error(`JointPos: joint "${i}" not found in model`);return t.jnt_qposadr[s]})}getModelJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}normalizeScale(e){if(typeof e=="number"){const t=new Float32Array(this.numJoints);return t.fill(e),t}if(Array.isArray(e)){const t=new Float32Array(this.numJoints);for(let r=0;r<this.numJoints;r++){const i=e[r];t[r]=typeof i=="number"?i:1}return t}return null}}class uee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(i=>Math.max(0,Math.floor(i))):[0,2,4,8,16];const r=this.futureSteps.length;this.outputLength=(r-1)*3+r*6}get size(){return this.outputLength}compute(e){const t=ia(this.runner);if(!t||!t.isReady())return new Float32Array(this.outputLength);const r=t.refIdx,i=t.refLen,s=K0(r,this.futureSteps,i),a=t.refRootPos[s[0]],o=us(t.refRootQuat[s[0]]),l=[];for(let p=1;p<s.length;p++){const A=t.refRootPos[s[p]],y=[A[0]-a[0],A[1]-a[1],A[2]-a[2]],m=jp(o,y);l.push(m[0],m[1],m[2])}const c=us(e.rootQuat??[1,0,0,0]),d=$C(c),h=[];for(let p=0;p<s.length;p++){const A=us(t.refRootQuat[s[p]]),y=OC(d,A),m=GC(y);h.push(m[0],m[1],m[2],m[3],m[4],m[5])}return Float32Array.from([...l,...h])}}class dee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(r=>Math.max(0,Math.floor(r))):[0,2,4,8,16]}get size(){return this.futureSteps.length}compute(){const e=ia(this.runner);if(!e||!e.isReady())return new Float32Array(this.size);const t=K0(e.refIdx,this.futureSteps,e.refLen),r=new Float32Array(t.length);for(let i=0;i<t.length;i++)r[i]=e.refRootPos[t[i]][2];return r}}class hee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(r=>Math.max(0,Math.floor(r))):[0,2,4,8,16]}get size(){const t=ia(this.runner)?.nJoints??0;return this.futureSteps.length*t}compute(){const e=ia(this.runner);if(!e||!e.isReady())return new Float32Array(this.size);const t=K0(e.refIdx,this.futureSteps,e.refLen),r=new Float32Array(t.length*e.nJoints);let i=0;for(const s of t)r.set(e.refJointPos[s],i),i+=e.nJoints;return r}}class fee extends Vn{constructor(e,t){super(e,t),this.futureSteps=Array.isArray(t.future_steps)?t.future_steps.map(r=>Math.max(0,Math.floor(r))):[0,2,4,8,16]}get size(){return this.futureSteps.length*3}compute(){const e=ia(this.runner);if(!e||!e.isReady())return new Float32Array(this.size);const t=K0(e.refIdx,this.futureSteps,e.refLen),r=new Float32Array(t.length*3),i=[0,0,-1];let s=0;for(const a of t){const o=us(e.refRootQuat[a]),l=jp(o,i);r[s++]=l[0],r[s++]=l[1],r[s++]=l[2]}return r}}class pee extends Vn{get size(){return 3}compute(e){const t=ia(this.runner),r=this.runner.getContext(),i=r?.mjModel??null,s=r?.mjData??null;if(!t||!t.isReady())return new Float32Array(3);const a=t.getAnchorPos(),o=t.getAnchorQuat(),l=t.getAnchorBodyName();if(!a||!o)return new Float32Array(3);if(!l||!i||!s)return new Float32Array(3);const c=Kd(i,l);if(c<0)return new Float32Array(3);const d=s.xpos.slice(c*3,c*3+3),h=us(s.xquat.slice(c*4,c*4+4)),p=[a[0]-d[0],a[1]-d[1],a[2]-d[2]],A=jp(h,p);return Float32Array.from(A)}}class Aee extends Vn{get size(){return 6}compute(e){const t=ia(this.runner),r=this.runner.getContext(),i=r?.mjModel??null,s=r?.mjData??null;if(!t||!t.isReady())return new Float32Array(6);const a=t.getAnchorQuat(),o=t.getAnchorBodyName();if(!a)return new Float32Array(6);if(!o||!i||!s)return new Float32Array(6);const l=Kd(i,o);if(l<0)return new Float32Array(6);const c=us(s.xquat.slice(l*4,l*4+4)),d=OC($C(c),us(a));return Float32Array.from(GC(d))}}class mee extends Vn{get size(){const e=ia(this.runner);return e?e.getBodyNames().length*3:0}compute(){const e=ia(this.runner),t=this.runner.getContext(),r=t?.mjModel??null,i=t?.mjData??null;if(!e||!e.isReady()||!r||!i)return new Float32Array(this.size);const s=e.getBodyNames(),a=e.getAnchorBodyName();if(!a)return new Float32Array(this.size);const o=Kd(r,a);if(o<0)return new Float32Array(this.size);const l=i.xpos.slice(o*3,o*3+3),c=us(i.xquat.slice(o*4,o*4+4)),d=new Float32Array(s.length*3);let h=0;for(const p of s){const A=Kd(r,p);if(A<0){h+=3;continue}const y=i.xpos.slice(A*3,A*3+3),m=[y[0]-l[0],y[1]-l[1],y[2]-l[2]],x=jp(c,m);d.set(x,h),h+=3}return d}}class gee extends Vn{get size(){const e=ia(this.runner);return e?e.getBodyNames().length*6:0}compute(){const e=ia(this.runner),t=this.runner.getContext(),r=t?.mjModel??null,i=t?.mjData??null;if(!e||!e.isReady()||!r||!i)return new Float32Array(this.size);const s=e.getBodyNames(),a=e.getAnchorBodyName();if(!a)return new Float32Array(this.size);const o=Kd(r,a);if(o<0)return new Float32Array(this.size);const l=us(i.xquat.slice(o*4,o*4+4)),c=$C(l),d=new Float32Array(s.length*6);let h=0;for(const p of s){const A=Kd(r,p);if(A<0){h+=6;continue}const y=us(i.xquat.slice(A*4,A*4+4)),m=OC(c,y);d.set(GC(m),h),h+=6}return d}}class fP extends Vn{constructor(e,t){super(e,t);const r=typeof t.history_steps=="number"?t.history_steps:4;this.steps=Math.max(1,Math.floor(r)),this.numActions=e.getNumActions(),this.actionBuffer=Array.from({length:this.steps},()=>new Float32Array(this.numActions)),this.transpose=!!t.transpose}get size(){return this.steps*this.numActions}reset(){for(const e of this.actionBuffer)e.fill(0)}update(){for(let t=this.actionBuffer.length-1;t>0;t--)this.actionBuffer[t].set(this.actionBuffer[t-1]);const e=this.runner.getLastActions();this.actionBuffer[0].set(e)}compute(){const e=new Float32Array(this.steps*this.numActions);if(this.transpose)for(let t=0;t<this.numActions;t++)for(let r=0;r<this.steps;r++)e[t*this.steps+r]=this.actionBuffer[r][t];else for(let t=0;t<this.steps;t++)for(let r=0;r<this.numActions;r++)e[t*this.numActions+r]=this.actionBuffer[t][r];return e}}class yee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=xh(t.scale,3,1),this.worldFrame=t.world_frame??!0}get size(){return 3*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){const t=e?.rootLinVel??new Float32Array(3);let r=new Float32Array(t);if(!this.worldFrame){const i=us(e?.rootQuat??[1,0,0,0]),s=jp(i,r);r=new Float32Array(s)}if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class xee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=xh(t.scale,3,1)}get size(){return 3*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){const t=e?.rootAngVel??new Float32Array(3),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class vee extends Vn{constructor(e,t){super(e,t);const r=Array.isArray(t.joint_names)?t.joint_names.filter(s=>typeof s=="string"):null,i=t.joint_name;if(r&&r.length>0)this.qvelAdr=null,this.qvelAdrList=this.resolveQvelAdrList(e.getContext()?.mjModel??null,r),this.numJoints=r.length;else if(i!==void 0){const s=e.getContext()?.mjModel??null;this.qvelAdr=s!==null?this.resolveQvelAdr(s,i):0,this.qvelAdrList=null,this.numJoints=1}else this.qvelAdr=null,this.qvelAdrList=null,this.numJoints=e.getNumActions();this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(this.numJoints)),this.scale=xh(t.scale,this.numJoints,1)}get size(){return this.numJoints*this.historySteps}reset(e){const t=this.computeCurrent(e);for(const r of this.history)r.set(t)}update(e){for(let t=this.history.length-1;t>0;t--)this.history[t].set(this.history[t-1]);this.history[0].set(this.computeCurrent(e))}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(e){if(this.qvelAdrList!==null){const i=this.runner.getContext()?.mjData?.qvel,s=new Float32Array(this.numJoints);for(let a=0;a<this.numJoints;a++)s[a]=i!==void 0?i[this.qvelAdrList[a]]:0;if(this.scale)for(let a=0;a<s.length;a++)s[a]*=this.scale[a]??1;return s}if(this.qvelAdr!==null){const i=this.runner.getContext()?.mjData?.qvel,s=i!==void 0?i[this.qvelAdr]:0,a=new Float32Array([s]);return this.scale&&(a[0]*=this.scale[0]??1),a}const t=e?.jointVel??new Float32Array(this.numJoints),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}resolveQvelAdr(e,t){const i=this.getModelJointNames(e).indexOf(t);if(i<0)throw new Error(`JointVelocities: joint "${t}" not found in model`);return e.jnt_dofadr[i]}resolveQvelAdrList(e,t){if(e===null)return Array.from({length:t.length},()=>0);const r=this.getModelJointNames(e);return t.map(i=>{const s=r.indexOf(i);if(s<0)throw new Error(`JointVelocities: joint "${i}" not found in model`);return e.jnt_dofadr[s]})}getModelJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}}class _ee extends Vn{constructor(e,t){super(e,t),this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(3)),this.scale=xh(t.scale,3,1)}get size(){return 3*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const t=tr().getVelocityCommand(),r=new Float32Array(t);if(this.scale)for(let i=0;i<r.length;i++)r[i]*=this.scale[i]??1;return r}}class bee extends Vn{constructor(e,t){super(e,t),this.scale=xh(t.scale,3,1)}get size(){return 16}compute(){const e=new Float32Array(16),r=tr().getVelocityCommand(),i=new Float32Array(r);if(this.scale)for(let s=0;s<3;s++)i[s]*=this.scale[s]??1;return e[0]=i[0],e[1]=i[1],e[2]=i[2],e}}class wee extends Vn{get size(){return 27}compute(){return new Float32Array(27)}}class Eee extends Vn{constructor(e,t){super(e,t);const r=e.getContext()?.mjModel??null;this.qposAdr=r!==null?this.resolveQposAdr(r):0}get size(){return 2}compute(){const e=this.runner.getContext()?.mjData?.qpos,t=e!==void 0?e[this.qposAdr]:0;return new Float32Array([Math.cos(t),Math.sin(t)])}resolveQposAdr(e){const t=this.config.joint_name;if(t!==void 0){const s=this.getJointNames(e).indexOf(t);if(s<0)throw new Error(`JointPosCosSin: joint "${t}" not found in model`);return e.jnt_qposadr[s]}const r=this.config.joint_index??0;return e.jnt_qposadr[r]}getJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}}class Cee extends Vn{constructor(e,t){super(e,t),this.sensorName=t.sensor_name??"";const r=e.getContext()?.mjModel??null,i=this.resolveSensor(r,this.sensorName);this.sensorAdr=i.adr,this.sensorDim=i.dim,this.historySteps=Math.max(1,Math.floor(t.history_steps??1)),this.history=Array.from({length:this.historySteps},()=>new Float32Array(this.sensorDim)),this.scale=xh(t.scale,this.sensorDim,1),this.clipRange=this.normalizeClipRange(t.clip)}get size(){return this.sensorDim*this.historySteps}reset(){const e=this.computeCurrent();for(const t of this.history)t.set(e)}update(){for(let e=this.history.length-1;e>0;e--)this.history[e].set(this.history[e-1]);this.history[0].set(this.computeCurrent())}compute(){if(this.historySteps===1)return new Float32Array(this.history[0]);const e=new Float32Array(this.size);let t=0;for(const r of this.history)e.set(r,t),t+=r.length;return e}computeCurrent(){const e=this.runner.getContext()?.mjData?.sensordata,t=new Float32Array(this.sensorDim);if(e===void 0)return t;for(let r=0;r<this.sensorDim;r++)t[r]=e[this.sensorAdr+r]??0;if(this.scale)for(let r=0;r<t.length;r++)t[r]*=this.scale[r]??1;if(this.clipRange){const[r,i]=this.clipRange;for(let s=0;s<t.length;s++)t[s]=Math.min(i,Math.max(r,t[s]))}return t}resolveSensor(e,t){if(e===null)return{adr:0,dim:1};const i=this.getModelSensorNames(e).indexOf(t);if(i<0)throw new Error(`BuiltinSensor: sensor "${t}" not found in model`);return{adr:e.sensor_adr[i],dim:e.sensor_dim[i]}}getModelSensorNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.nsensor;s++){let a=e.name_sensoradr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;i.push(r.decode(t.subarray(a,o)))}return i}normalizeClipRange(e){if(!Array.isArray(e)||e.length<2)return null;const t=typeof e[0]=="number"?e[0]:-1/0,r=typeof e[1]=="number"?e[1]:1/0;return[t,r]}}class Iee extends dP{}class See extends hP{}class Bee extends fP{}const Mee={...VZ,PrevActions:fP,PreviousActions:Bee,BootIndicator:lee,RootAngVelB:cee,ProjectedGravityB:dP,ProjectedGravity:Iee,JointPos:hP,JointPositions:See,TrackingCommandObsRaw:uee,TargetRootZObs:dee,TargetJointPosObs:hee,TargetProjectedGravityBObs:fee,MotionAnchorPosB:pee,MotionAnchorOriB:Aee,RobotBodyPosB:mee,RobotBodyOriB:gee,BaseLinearVelocity:yee,BaseAngularVelocity:xee,JointVelocities:vee,SimpleVelocityCommand:_ee,VelocityCommandWithOscillators:bee,VelocityCommandObservation:aee,VelocityCommandWithOscillatorsObservation:oee,GeneratedCommands:fB,GeneratedCommandsObservation:fB,ImpedanceCommand:wee,JointPosCosSin:Eee,BuiltinSensor:Cee};class Tee{constructor(e,t){this.terms=[];for(const[r,i]of Object.entries(e)){const s=t[i.name];if(!s){console.warn(`[TerminationManager] Unknown termination type: ${i.name}`);continue}const a={name:i.name,params:i.params,time_out:i.time_out};this.terms.push({name:r,term:new s(a),isTimeOut:i.time_out??!1})}}evaluate(e){let t=!1,r=!1;const i=[];for(const{name:s,term:a,isTimeOut:o}of this.terms)a.evaluate(e)&&(i.push(s),o?r=!0:t=!0);return{done:t||r,terminated:t,truncated:r,reasons:i}}reset(){for(const{term:e}of this.terms)e.reset?.()}get size(){return this.terms.length}}class VC{constructor(e){this.config=e}}const Ree={};class Dee extends VC{constructor(e){super(e),this.stepCount=0;const t=e.params??{};this.maxSteps=t.max_episode_length??1e3}evaluate(){return this.stepCount++,this.stepCount>=this.maxSteps}reset(){this.stepCount=0}}class kee extends VC{constructor(e){super(e);const t=e.params??{};this.limitAngle=t.limit_angle??1}evaluate(e){const t=e.rootQuat;if(!t||t.length<4)return!1;const r=t[1],i=t[2],s=1-2*(r*r+i*i),a=Math.acos(Math.max(-1,Math.min(1,s)));return Math.abs(a)>this.limitAngle}}class Nee extends VC{constructor(e){super(e);const t=e.params??{};this.minimumHeight=t.minimum_height??0}evaluate(e){const t=e.rootPos;return!t||t.length<3?!1:t[2]<this.minimumHeight}}const Qee={TimeOut:Dee,BadOrientation:kee,RootHeightBelowMinimum:Nee},Pee={...Qee,...Ree};var jC=Object.defineProperty,Lee=Object.getOwnPropertyDescriptor,Fee=Object.getOwnPropertyNames,zee=Object.prototype.hasOwnProperty,Uee=(n=>typeof require<"u"?require:typeof Proxy<"u"?new Proxy(n,{get:(e,t)=>(typeof require<"u"?require:e)[t]}):n)(function(n){if(typeof require<"u")return require.apply(this,arguments);throw Error('Dynamic require of "'+n+'" is not supported')}),et=(n,e)=>()=>(n&&(e=n(n=0)),e),vh=(n,e)=>{for(var t in e)jC(n,t,{get:e[t],enumerable:!0})},Oee=(n,e,t,r)=>{if(e&&typeof e=="object"||typeof e=="function")for(let i of Fee(e))!zee.call(n,i)&&i!==t&&jC(n,i,{get:()=>e[i],enumerable:!(r=Lee(e,i))||r.enumerable});return n},Lp=n=>Oee(jC({},"__esModule",{value:!0}),n),zf,Cl,Bd,AB,pP,AP=et(()=>{zf=new Map,Cl=[],Bd=(n,e,t)=>{if(e&&typeof e.init=="function"&&typeof e.createInferenceSessionHandler=="function"){let r=zf.get(n);if(r===void 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_={kernelId:this.currentKernelId,programName:g.programInfo.name,inputTensorViews:e,outputTensorViews:h};this.pendingKernels.push(_),this.sessionStatus==="capturing"&&this.capturedPendingKernels.get(this.currentSessionId).push(_)}return this.programManager.run(g,a,p,y,A),Zs(n.name),h}upload(n,e){this.gpuDataManager.upload(n,e)}memcpy(n,e){this.gpuDataManager.memcpy(n,e)}async download(n,e){await this.gpuDataManager.download(n,e)}alloc(n){return this.gpuDataManager.create(n).id}free(n){return this.gpuDataManager.release(n)}createKernel(n,e,t,r){let i=Rz.get(n);if(!i)throw new Error(`kernel not implemented: ${n}`);let s={kernelType:n,kernelName:r,kernelEntry:i[0],attributes:[i[1],t]};this.kernels.set(e,s)}releaseKernel(n){let e=this.kernelPersistentData.get(n);if(e){for(let t of e)this.gpuDataManager.release(t.id);this.kernelPersistentData.delete(n)}this.kernelCustomData.delete(n),this.kernels.delete(n)}computeKernel(n,e,t){let r=this.kernels.get(n);if(!r)throw new Error(`kernel not created: ${n}`);let i=r.kernelType,s=r.kernelName,a=r.kernelEntry,o=r.attributes;if(this.currentKernelId!==null)throw new Error(`kernel "[${i}] ${s}" is not allowed to be called recursively`);this.currentKernelId=n,o[0]&&(o[1]=o[0](o[1]),o[0]=void 0),un("info",()=>`[WebGPU] Start to run kernel "[${i}] ${s}"...`);let l=this.env.debug;this.temporaryData=[];try{return l&&this.device.pushErrorScope("validation"),a(e,o[1]),0}catch(c){return t.push(Promise.resolve(`[WebGPU] Kernel "[${i}] ${s}" failed. ${c}`)),1}finally{l&&t.push(this.device.popErrorScope().then(c=>c?`GPU validation error for kernel "[${i}] ${s}": ${c.message}`:null));for(let c of this.temporaryData)this.gpuDataManager.release(c.id);this.temporaryData=[],this.currentKernelId=null}}registerBuffer(n,e,t,r){let i=this.sessionExternalDataMapping.get(n);i||(i=new Map,this.sessionExternalDataMapping.set(n,i));let s=i.get(e),a=this.gpuDataManager.registerExternalBuffer(t,r,s);return i.set(e,[a,t]),a}unregisterBuffers(n){let 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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(){un("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(){un("info","captureEnd"),this.flush(),this.sessionStatus="default"}replay(){un("info","replay"),this.sessionStatus="replaying";let n=this.capturedCommandList.get(this.currentSessionId),e=this.capturedPendingKernels.get(this.currentSessionId),t=n.length;this.pendingKernels=[];for(let r=0;r<t;r++){let i=this.getComputePassEncoder(),s=n[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(n){this.unregisterBuffers(n),this.capturedCommandList.has(n)&&this.capturedCommandList.delete(n),this.capturedPendingKernels.has(n)&&this.capturedPendingKernels.delete(n),this.gpuDataManager.onReleaseSession(n)}onRunStart(n){this.currentSessionId=n,this.setQueryType()}}}),Qz={};vh(Qz,{init:()=>Pz});var rg,GR,Pz,Zte=et(()=>{Lt(),No(),jt(),ote(),rg=class 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Lz(this.module,this.dataType,this.data,e)}},GR=class{constructor(n,e,t){this.module=n,this.backend=e,this.customDataOffset=0,this.customDataSize=0,this.adapterInfo=e.adapterInfo;let r=n.PTR_SIZE,i=t/n.PTR_SIZE,s=r===4?"i32":"i64";this.opKernelContext=Number(n.getValue(r*i++,s));let a=Number(n.getValue(r*i++,s));this.outputCount=Number(n.getValue(r*i++,s)),this.customDataOffset=Number(n.getValue(r*i++,"*")),this.customDataSize=Number(n.getValue(r*i++,s));let o=[];for(let l=0;l<a;l++){let c=Number(n.getValue(r*i++,s)),d=Number(n.getValue(r*i++,"*")),h=Number(n.getValue(r*i++,s)),p=[];for(let A=0;A<h;A++)p.push(Number(n.getValue(r*i++,s)));o.push(new rg(n,c,d,p))}this.inputs=o}get kernelCustomData(){return this.backend.currentKernelCustomData}get customDataBuffer(){return this.module.HEAPU8.subarray(this.customDataOffset,this.customDataOffset+this.customDataSize)}compute(n,e){let t=e?.inputs?.map(a=>typeof a=="number"?this.inputs[a]:a)??this.inputs,r=e?.outputs??[],i=(a,o,l)=>new rg(this.module,o,this.output(a,l),l),s=(a,o)=>{let l=Qc(a,o);if(!l)throw new Error(`Unsupported data type: ${a}`);let c=l>0?this.backend.gpuDataManager.create(l).id:0;return new rg(this.module,a,c,o)};return this.backend.run(n,t,r,i,s,this.outputCount)}output(n,e){let t=this.module.stackSave();try{let r=this.module.PTR_SIZE,i=r===4?"i32":"i64",s=this.module.stackAlloc((1+e.length)*r);this.module.setValue(s,e.length,i);for(let a=0;a<e.length;a++)this.module.setValue(s+r*(a+1),e[a],i);return this.module._JsepOutput(this.opKernelContext,n,s)}catch(r){throw new Error(`Failed to generate kernel's output[${n}] with dims [${e}]. 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Only 'gpu-buffer' location is supported when enableGraphCapture is true.`);_.push(R)}}let b=null;return _.some(w=>w==="gpu-buffer"||w==="ml-tensor"||w==="ml-tensor-cpu-output")&&(o=i._OrtCreateBinding(s),o===0&&wn("Can't create IO binding."),b={handle:o,outputPreferredLocations:_,outputPreferredLocationsEncoded:_.map(w=>w==="ml-tensor-cpu-output"?"ml-tensor":w).map(w=>Iw(w))}),Il.set(s,[s,c,d,b,A,!1]),[s,y,m,x,g]}catch(h){throw c.forEach(p=>i._OrtFree(p)),d.forEach(p=>i._OrtFree(p)),o!==0&&i._OrtReleaseBinding(o)!==0&&wn("Can't release IO binding."),s!==0&&i._OrtReleaseSession(s)!==0&&wn("Can't release session."),h}finally{i._free(t),a!==0&&i._OrtReleaseSessionOptions(a)!==0&&wn("Can't release session options."),l.forEach(h=>i._free(h)),i.unmountExternalData?.()}},gI=n=>{let e=kn(),t=Il.get(n);if(!t)throw new Error(`cannot release session. invalid session id: ${n}`);let[r,i,s,a,o]=t;a&&(o&&e._OrtClearBoundOutputs(a.handle)!==0&&wn("Can't clear bound 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rne{constructor(e,t={}){this.config=e,this.options=t,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),this.encoderBias=this.normalizeArray(e.encoder_bias??[],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 t of Object.values(this.obsGroups))for(const r of t)r.reset&&r.reset(e);if(e){for(const[t,r]of Object.entries(this.historyConfig))if(r.steps>1){const i=this.buildFrame(this.obsGroups[t]??[],e),s=this.historyBuffers[t];for(let a=0;a<r.steps;a++)s.set(i,a*i.length)}}}update(e){this.policyModule?.update();for(const t of Object.values(this.obsGroups))for(const r of t)r.update&&r.update(e)}collectObservationsByKey(e){this.update(e);const t={};for(const[r,i]of Object.entries(this.obsGroups)){const s=this.historyConfig[r];if(s&&s.steps>1){const a=this.buildFrame(i,e),o=this.historyBuffers[r];for(let l=o.length-1;l>=a.length;l--)o[l]=o[l-a.length];o.set(a,0),t[r]=new Float32Array(o)}else t[r]=this.buildFrame(i,e)}return t}collectObservations(e){const t=this.collectObservationsByKey(e);if(this.defaultObsKey&&t[this.defaultObsKey])return t[this.defaultObsKey];const r=Object.keys(t)[0];return r?t[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(t=>({...t}));const e=Object.keys(this.obsLayouts)[0];return e?this.obsLayouts[e].map(t=>({...t})):[]}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)}getEncoderBias(){return new Float32Array(this.encoderBias)}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 t=this.options.policyModules??{},r=this.config.policy_module,i=r?t[r]:t.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??{},t=this.config.observations??{};this.obsGroups={},this.obsLayouts={},this.obsSizes={},this.historyConfig={},this.historyBuffers={},this.defaultObsKey=null;for(const[r,i]of Object.entries(t)){if(Array.isArray(i)){const s=i.map(a=>{const o=e[a.name];if(!o)throw new Error(`Unknown observation type: ${a.name}`);return new o(this,a)});this.registerGroup(r,s,i);continue}if(i&&typeof i=="object"){const s=i;if(Array.isArray(s.components)){const a=s.components.map(c=>{const d=e[c.name];if(!d)throw new Error(`Unknown observation type: ${c.name}`);const h={...c,history_steps:1};return new d(this,h)}),o=Math.max(1,Math.floor(s.history_steps??1)),l=!!s.interleaved;this.registerGroup(r,a,s.components,{steps:o,interleaved:l})}}}this.obsGroups.policy?this.defaultObsKey="policy":this.obsGroups.observation?this.defaultObsKey="observation":this.obsGroups.obs_history?this.defaultObsKey="obs_history":this.defaultObsKey=Object.keys(this.obsGroups)[0]??null}registerGroup(e,t,r,i){this.obsGroups[e]=t,this.obsLayouts[e]=t.map((a,o)=>({name:r[o]?.name??`obs_${o}`,size:a.size}));const s=this.obsLayouts[e].reduce((a,o)=>a+o.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,t){const r=e.reduce((a,o)=>a+o.size,0),i=new Float32Array(r);let s=0;for(const a of e){const o=a.compute(t),l=o instanceof Float32Array?o:Float32Array.from(o);if(l.length!==a.size)throw new Error(`Observation size mismatch: expected ${a.size}, got ${l.length}`);i.set(l,s),s+=l.length}return i}normalizeArray(e,t,r){const i=new Float32Array(t);for(let s=0;s<t;s++)i[s]=typeof e[s]=="number"?e[s]:r;return i}}Dn.wasm.proxy=!1;Dn.wasm.numThreads=1;class ine{constructor(e){if(!e?.path)throw new Error("OnnxModule requires a path.");this.config=e,this.session=null;const t=e.meta?.in_keys??["policy"],r=e.meta?.out_keys??["action"];this.configuredInKeys=t.map(i=>Array.isArray(i)?i.join(","):i),this.inKeys=[...this.configuredInKeys],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 t=await e.arrayBuffer();this.session=await qC.create(t,{executionProviders:["wasm"],graphOptimizationLevel:"all"}),this.inferInputKeys(),this.isRecurrent=this.inKeys.includes("adapt_hx")}initInput(){const e={};return this.isRecurrent&&(e.is_init=new ti("bool",[!0],[1]),e.adapt_hx=new ti("float32",new Float32Array(128),[1,128])),this.inKeys.includes("time_step")&&(e.time_step=new ti("float32",new Float32Array([0]),[1,1])),e}async runInference(e){if(!this.session)throw new Error("OnnxModule not initialized.");const t={};for(let a=0;a<this.inKeys.length;a++){const o=this.inKeys[a],l=this.session.inputNames[a];if(!l||!e[o])throw new Error(`Missing ONNX input for key: ${o}`);t[l]=e[o]}const r=await this.session.run(t),i={};for(let a=0;a<this.outKeys.length;a++){const o=this.outKeys[a],l=this.session.outputNames[a];l&&r[l]&&(i[o]=r[l])}const s={};return this.isRecurrent&&i["next,adapt_hx"]&&(s.is_init=new ti("bool",[!1],[1]),s.adapt_hx=i["next,adapt_hx"]),[i,s]}inferInputKeys(){if(!this.session)return;const e=this.session.inputNames;if(e.length<=1){this.inKeys=[...this.configuredInKeys];return}if(this.configuredInKeys.length===e.length){this.inKeys=[...this.configuredInKeys];return}this.inKeys=e.map(t=>this.configuredInKeys.includes(t)?t:t==="obs"&&this.configuredInKeys.includes("policy")?"policy":t)}}class sne{constructor(e,t,r,i){this.mujoco=e,this.mjModel=t,this.mjData=r;const s=this.getJointNames(t);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(const a of i){const o=s.indexOf(a);if(o<0)throw new Error(`Joint "${a}" not found in MuJoCo model`);this.qposAdr.push(t.jnt_qposadr[o]),this.qvelAdr.push(t.jnt_dofadr[o]),this.jointIndices.push(o)}this.numActions=i.length,this.ctrlAdr=this.buildCtrlAdr()}build(){const e=this.mjData.qpos,t=this.mjData.qvel,r=new Float32Array(this.numActions),i=new Float32Array(this.numActions);for(let c=0;c<this.numActions;c++)r[c]=e[this.qposAdr[c]],i[c]=t[this.qvelAdr[c]];const s=new Float32Array([e[0],e[1],e[2]]),a=new Float32Array([e[3],e[4],e[5],e[6]]),o=new Float32Array([t[0],t[1],t[2]]),l=new Float32Array([t[3],t[4],t[5]]);return{jointPos:r,jointVel:i,rootPos:s,rootQuat:a,rootLinVel:o,rootAngVel:l}}getControlMapping(){return this.ctrlAdr?{ctrlAdr:this.ctrlAdr.slice(),qposAdr:this.qposAdr.slice(),qvelAdr:this.qvelAdr.slice()}:null}getControlMappingFor(e,t){if(!this.ctrlAdr)return null;const r=e.map(c=>new RegExp(`^(?:${c})$`)),i=c=>r.some(d=>d.test(c)),s=[],a=[],o=[],l=[];for(let c=0;c<t.length;c++)i(t[c])&&(s.push(this.ctrlAdr[c]),a.push(this.qposAdr[c]),o.push(this.qvelAdr[c]),l.push(c));return s.length===0?null:{ctrlAdr:s,qposAdr:a,qvelAdr:o,actionIndices:l}}buildCtrlAdr(){if(this.mjModel.nu<=0)return null;const e=this.mujoco.mjtTrn?.mjTRN_JOINT?.value,t=[];for(let i=0;i<this.mjModel.nu;i++){const s=this.mjModel.actuator_trntype[i];e===void 0||s===e?t.push(this.mjModel.actuator_trnid[2*i]):t.push(-1)}const r=[];for(const i of this.jointIndices){const s=t.findIndex(a=>a===i);if(s<0)return null;r.push(s)}return r}getJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;let l=r.decode(t.subarray(a,o));!l&&s===0&&(l="floating_base_joint"),i.push(l)}return i}}class Jz{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}}class ane{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 t=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(t)],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 one extends Jz{constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);const t=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:t};this.tracking=new ane(r)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}}class lne{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 t=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(t)],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 cne extends Jz{constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);const t=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:t};this.locomotion=new lne(r)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}}class une{constructor(e,t){this.terms=[];for(const r of e){const i=t[r.name];if(!i){console.warn(`[EventManager] Unknown event type: ${r.name}`);continue}this.terms.push(new i(r))}}onReset(e){for(const t of this.terms)t.onReset(e)}get size(){return this.terms.length}}class Xz{constructor(e){this.config=e}}const dne={};class Kz extends Xz{constructor(e){super(e),this.poseRange=e.params?.pose_range??{}}onReset(e){const{mjModel:t,mjData:r}=e;if(!t||!r)return;const i=this._findFreeJoint(t);if(i===-1)return;const s=t.jnt_qposadr[i],a=l=>{const c=this.poseRange[l];return c?c[0]+Math.random()*(c[1]-c[0]):0};r.qpos[s+0]+=a("x"),r.qpos[s+1]+=a("y"),r.qpos[s+2]+=a("z");const o=a("yaw");o!==0&&this._applyYawRotation(r.qpos,s+3,o)}_findFreeJoint(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}_applyYawRotation(e,t,r){const i=Math.cos(r/2),s=Math.sin(r/2),a=e[t+0],o=e[t+1],l=e[t+2],c=e[t+3];e[t+0]=i*a-s*c,e[t+1]=i*o+s*l,e[t+2]=i*l-s*o,e[t+3]=i*c+s*a}}class hne extends Xz{constructor(e){super(e),this.patchName=e.params?.patch_name??"spawn",this.fallback=new Kz(e)}onReset(e){const{mjModel:t,mjData:r,terrainData:i}=e;if(!t||!r)return;const s=i?.flat_patches?.[this.patchName];if(!s||s.length===0){this.fallback.onReset(e);return}const a=this._findFreeJoint(t);if(a===-1)return;const o=t.jnt_qposadr[a],l=s[Math.floor(Math.random()*s.length)],c=r.qpos[o+2];r.qpos[o+0]=l[0],r.qpos[o+1]=l[1],r.qpos[o+2]=l[2]+c;const h=(this.config.params?.pose_range??{}).yaw??[-Math.PI,Math.PI],p=h[0]+Math.random()*(h[1]-h[0]);this._applyYawRotation(r.qpos,o+3,p)}_findFreeJoint(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}_applyYawRotation(e,t,r){const i=Math.cos(r/2),s=Math.sin(r/2),a=e[t+0],o=e[t+1],l=e[t+2],c=e[t+3];e[t+0]=i*a-s*c,e[t+1]=i*o+s*l,e[t+2]=i*l-s*o,e[t+3]=i*c+s*a}}const fne={ResetRootStateUniform:Kz,ResetRootStateFromFlatPatches:hne},pne={...fne,...dne};class Zz extends Error{constructor(){super("This scene cannot be loaded because it exceeds the browser's WebAssembly 2 GB memory limit. Try closing other browser tabs or reloading the page to free memory."),this.name="WasmMemoryLimitError"}}function qR(n){const e=n instanceof Error?n.message:String(n);return e.includes("MjModel loading returned null")||e.includes("Could not allocate memory")||e.includes("memory allocation failed")||e.includes("bad_alloc")}class Ane{constructor(e,t,r={}){this.render=()=>{if(tr().updateDebugVisuals(),this.mjData&&$Z(this.mjData,this.camera,this.controls,this.cameraState),this.controls.update(),this.mjModel&&this.mjData&&this.bodies){F3(this.camera,this.lights);for(const[o,l]of this.lastSimState.bodies){const c=this.bodies[o];c&&(c.position.copy(l.position),c.quaternion.copy(l.quaternion))}L3(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&hJ({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{const{width:o,height:l}=this.getSize();this.camera.aspect=o/l,this.camera.updateProjectionMatrix(),this.renderer.setSize(o,l)},this.mujoco=e,this.container=t,this.baseUrl=r.baseUrl||"/";const i="/working";try{this.mujoco.FS.mkdir(i)}catch(o){o&&typeof o=="object"&&"code"in o&&o.code!=="EEXIST"&&console.warn("Failed to create /working directory:",o)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:"."},i)}catch(o){o&&typeof o=="object"&&"code"in o&&o.code!=="EEXIST"&&o.code!=="EBUSY"&&console.warn("Failed to mount MEMFS at /working:",o)}const{width:s,height:a}=this.getSize();this.scene=new s9,this.scene.name="scene",this.camera=new zr(45,s/a,.001,1e3),this.camera.name="PerspectiveCamera",this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new z7({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(s,a),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=QN,this.renderer.outputColorSpace=ii,this.renderer.toneMapping=PN,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.vrButton=null,navigator.xr?.isSessionSupported("immersive-vr").then(o=>{o&&(this.vrButton=RC.createButton(this.renderer),document.body.appendChild(this.vrButton))}),this.controls=new O7(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:fJ()},this.dynamicBodyIds=null,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.onnxTimeStep=0,this.terminationManager=null,this.eventManager=null,this.terrainData=null,this.splatMesh=null,this.colliderMesh=null,this.cameraState={trackBodyId:null,prevBodyPos:null},this.sceneCacheManager=Ew.getInstance(this.mujoco),this.resourceTracker=new GZ,this.memoryMonitor=new HZ}async loadEnvironment(e,t=null,r=null,i=null,s=null,a=null){this.terrainData=a,s&&s.length>0?(this.eventManager=new une(s,pne),console.log(`[EventManager] ${this.eventManager.size} reset event(s) loaded`)):this.eventManager=null,await this.stop(),this.splatMesh&&(nB(this.splatMesh,this.scene),this.splatMesh=null),this.colliderMesh&&(cB(this.colliderMesh,this.scene),this.colliderMesh=null);const o=performance.now();if(this.initializeCommands(),this.sceneCacheManager.has(e)){await this.restoreFromCache(e);const l=performance.now()-o;this.memoryMonitor.logCacheOperation("hit",e,{elapsedMs:l})}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.dynamicBodyIds=null,this.resourceTracker.startTracking(this.mujoco),await bJ(this.mujoco,e,this.baseUrl),await this.loadSceneWithOomRetry(e),await this.captureAndCacheResources(e);r&&(this.splatMesh=tB(r,this.scene),r.colliderUrl&&(this.colliderMesh=await lB(this.resolveAssetUrl(r.colliderUrl),this.scene))),await this.loadPolicyConfig(t),this.applyViewerConfig(i),this.running=!0,this.startLoop()}initializeCommands(){const e=tr();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e,t){tr().initialize(e,t),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 setSelectedMotion(e){const t=tr().getTerm("motion");t instanceof xp&&(await t.setSelectedMotion(e),this.resetSimulation())}setReferenceVisible(e){const t=tr().getTerm("motion");t instanceof xp&&t.setReferenceVisible(e)}async loadScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{const t=this.scene.getObjectByName("MuJoCo Root");t&&this.scene.remove(t);const r={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await vJ(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),L3(this.mujoco,this.mjData,this.lights),F3(this.camera,this.lights),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),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.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new uB({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls,draggableBodyIds:this.dynamicBodyIds}),this.loadingScene=null})(),await this.loadingScene}async loadSceneWithOomRetry(e){try{await this.loadScene(e)}catch(t){if(!qR(t))throw t;console.warn("[mjswanRuntime] OOM — clearing cache and retrying..."),this.loadingScene=null,await this.sceneCacheManager.clear();try{await this.loadScene(e)}catch(r){throw this.loadingScene=null,qR(r)?new Zz:r}}}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async setSplat(e){this.splatMesh&&(nB(this.splatMesh,this.scene),this.splatMesh=null),this.colliderMesh&&(cB(this.colliderMesh,this.scene),this.colliderMesh=null),e&&(this.splatMesh=tB(e,this.scene),e.colliderUrl&&(this.colliderMesh=await lB(this.resolveAssetUrl(e.colliderUrl),this.scene)))}calibrateSplat(e){this.splatMesh&&oP(this.splatMesh,e)}setSplatVisible(e){this.splatMesh&&(this.splatMesh.visible=e)}async stop(){this.running=!1;const e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){const e=performance.now(),t=this.timestep*this.decimation;if(this.mjModel&&this.mjData){if(this.mujoco.mj_forward(this.mjModel,this.mjData),this.policyRunner&&this.policyStateBuilder){const s=this.policyStateBuilder.build(),a=this.policyRunner.collectObservationsByKey(s);if(await this.runOnnxInference(a),this.policyDebugCounter%60===0){const o="policy"in a?"policy":"observation"in a?"observation":Object.keys(a)[0],l=o?a[o]:null,c=l?Array.from(l.slice(0,8)):[];console.log("[PolicyRunner] obs",{key:o,size:l?l.length:0,sample:c})}this.policyDebugCounter+=1}if(this.executeSimulationSteps(),this.updateCachedState(),this.terminationManager&&this.policyStateBuilder){const s=this.policyStateBuilder.build();if(this.terminationManager.evaluate(s).done&&(this.resetSimulationState(),this.terminationManager.reset(),this.policyRunner)){const o=this.policyStateBuilder.build();this.policyRunner.reset(o)}}tr().update(t),tr().updateDebugVisuals()}const r=(performance.now()-e)/1e3,i=Math.max(0,t-r);i>0&&await new Promise(s=>setTimeout(s,i*1e3))}this.loopPromise=null}async loadPolicyConfig(e){const t=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,this.onnxTimeStep=0,this.terminationManager=null;const r=tr();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!==t&&this.resetSimulationState();try{const{config:i}=await this.fetchPolicyConfig(e);if(Array.isArray(i.motions)&&(i.motions=i.motions.map(o=>({...o,path:this.resolveAssetUrl(this.resolvePolicyAssetPath(e,o.path))}))),i.commands?.motion?.name==="TrackingCommand"&&Array.isArray(i.motions)&&(i.commands.motion={...i.commands.motion,motions:i.motions}),this.resetSimulationState(),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState(),i.commands&&typeof i.commands=="object"){this.initializeCommandsFromConfig(i.commands,{mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,bodies:this.bodies,mujocoRoot:this.mujocoRoot}),tr().resetTerms();const o=tr().getTerm("motion");o instanceof xp&&(await o.setSelectedMotion(i.motions?.find(l=>l.default)?.name??i.motions?.[0]?.name??null),o.setReferenceVisible(!0)),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState()}if(!i.policy_joint_names||i.policy_joint_names.length===0)throw new Error("Policy config missing policy_joint_names.");const s=new rne(i,{policyModules:{tracking:one,locomotion:cne},observations:Mee});await s.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene}),this.policyRunner=s,this.policyStateBuilder=new sne(this.mujoco,this.mjModel,this.mjData,s.getPolicyJointNames());const a=this.policyStateBuilder.build();if(this.policyRunner.reset(a),this.policyControl=this.buildPolicyControl(i,s,this.policyStateBuilder),i.terminations&&Object.keys(i.terminations).length>0&&(this.terminationManager=new Tee(i.terminations,Pee),console.log(`[TerminationManager] ${this.terminationManager.size} termination term(s) loaded`)),i.onnx?.path){const o=this.resolvePolicyAssetPath(e,i.onnx.path),l=this.resolveAssetUrl(o),c={...i.onnx,path:l},d=new ine(c);await d.init(),this.onnxModule=d,this.onnxInputDict=d.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 t=this.resolveAssetUrl(e),r=await fetch(t,{cache:"no-store"});if(!r.ok)throw new Error(`Failed to fetch policy config: ${r.status}`);return{config:await r.json(),resolvedUrl:t}}resolveAssetUrl(e){if(/^[a-z]+:\/\//i.test(e))return e;const t=(this.baseUrl||"/").replace(/\/+$/,"/"),r=new URL(t,window.location.origin+"/").toString();return new URL(e.replace(/^\/+/,""),r).toString()}resolvePolicyAssetPath(e,t){const r=e.replace(/\\/g,"/"),i=r.lastIndexOf("/");return i>=0?`${r.slice(0,i+1)}${t}`.replace(/\/+/g,"/"):t}buildPolicyControl(e,t,r){const i=t.getPolicyJointNames(),s=this.mujoco.mjtBias?.mjBIAS_AFFINE?.value??1,a=(c,d,h,p,A,y,m,x)=>{const g=h.qposAdr.length,_=h.actionIndices.map(B=>i[B]),b=this.normalizeControlArray(p,g,1,_),w=this.normalizeControlArray(A,g,0,_),C=x?t.getDefaultJointPos():new Float32Array(i.length),S=new Float32Array(g);for(let B=0;B<g;B++)S[B]=C[h.actionIndices[B]];const M=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(i.length),T=new Float32Array(g);for(let B=0;B<g;B++)T[B]=M[h.actionIndices[B]]??0;const R=this.normalizeControlArray(y,g,0,_),k=this.normalizeControlArray(m,g,0,_),G=h.ctrlAdr.map(B=>B<0||!this.mjModel?!1:this.mjModel.actuator_biastype[B]===s),P=G.some(Boolean),V=G.some(B=>!B);return P&&V&&console.warn(`[PolicyRunner] Action term "${c}": mixed actuator types detected.`),console.log(`[PolicyRunner] Action term "${c}" (${d}): ${g} joint(s), mode: ${P?"position (ctrl=target_pos)":"motor (ctrl=torque, external PD)"}`),{controlType:d,ctrlAdr:h.ctrlAdr,qposAdr:h.qposAdr,qvelAdr:h.qvelAdr,actionIndices:h.actionIndices,actionScale:b,actionOffset:w,defaultJointPos:S,encoderBias:T,positionActuator:G,kp:R,kd:k}},o=e.actions;if(!o||Object.keys(o).length===0){const c=e.control_type??"joint_position";if(c!=="joint_position"&&c!=="torque")return console.warn(`[PolicyRunner] Unsupported control_type: ${c}`),null;const d=r.getControlMapping();if(!d)return console.warn("[PolicyRunner] Failed to build control mapping."),null;const h={...d,actionIndices:Array.from({length:d.qposAdr.length},(p,A)=>A)};return[a("legacy",c,h,e.action_scale,void 0,e.stiffness,e.damping,!0)]}const l=[];for(const[c,d]of Object.entries(o)){const h=d.type??"joint_position";if(h!=="joint_position"&&h!=="torque"){console.warn(`[PolicyRunner] Action term "${c}": unsupported type "${h}", skipping.`);continue}const p=d.actuator_names??[".*"],A=p.length===1&&p[0]===".*";let y;if(A){const x=r.getControlMapping();if(!x){console.warn(`[PolicyRunner] Action term "${c}": failed to build control mapping, skipping.`);continue}y={...x,actionIndices:Array.from({length:x.qposAdr.length},(g,_)=>_)}}else if(y=r.getControlMappingFor(p,i),!y){console.warn(`[PolicyRunner] Action term "${c}": no joints matched patterns [${p.join(", ")}], skipping.`);continue}const m=d.use_default_offset!==void 0?d.use_default_offset:h==="joint_position";l.push(a(c,h,y,d.scale,d.offset,d.stiffness,d.damping,m))}return l.length===0?(console.warn("[PolicyRunner] No valid action terms found in config.actions."),null):l}normalizeControlArray(e,t,r,i){const s=new Float32Array(t);if(s.fill(r),typeof e=="number")return s.fill(e),s;if(Array.isArray(e)){for(let a=0;a<t;a++)s[a]=typeof e[a]=="number"?e[a]:r;return s}if(e!==null&&typeof e=="object"&&i){for(const[a,o]of Object.entries(e)){const l=i.indexOf(a);l>=0&&l<t?s[l]=o:console.warn(`[PolicyRunner] Joint name "${a}" not found in policy_joint_names; skipping.`)}return s}return s}resetSimulationState(){!this.mjModel||!this.mjData||(this.mjModel.nkey>0?this.mujoco.mj_resetDataKeyframe(this.mjModel,this.mjData,0):this.mujoco.mj_resetData(this.mjModel,this.mjData),this.eventManager&&this.eventManager.onReset({mjModel:this.mjModel,mjData:this.mjData,terrainData:this.terrainData}),tr().resetTerms(),this.onnxModule&&(this.onnxInputDict=this.onnxModule.initInput()),this.onnxTimeStep=0,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 e=this.mjData.ctrl;e.fill(0);const t=this.policyRunner?.getLastActions()??new Float32Array(0);for(const r of this.policyControl){const{controlType:i,ctrlAdr:s,qposAdr:a,qvelAdr:o,actionIndices:l,actionScale:c,actionOffset:d,defaultJointPos:h,encoderBias:p,positionActuator:A,kp:y,kd:m}=r,x=s.length;if(i==="joint_position")for(let g=0;g<x;g++){const _=s[g];if(_<0)continue;const b=t[l[g]]??0,w=h[g]+d[g]+c[g]*b-p[g];if(A[g])e[_]=w;else{const C=this.mjData.qpos[a[g]],S=this.mjData.qvel[o[g]];e[_]=y[g]*(w-C)+m[g]*(0-S)}}else if(i==="torque")for(let g=0;g<x;g++){const _=s[g];_>=0&&(e[_]=c[g]*(t[l[g]]??0))}}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||(this.onnxInputDict=this.onnxModule.initInput());const t={...this.onnxInputDict};this.onnxModule.inKeys.includes("time_step")&&(t.time_step=new ti("float32",new Float32Array([this.onnxTimeStep]),[1,1]));for(const[d,h]of Object.entries(e))t[d]=new ti("float32",h,[1,h.length]);for(const d of this.onnxModule.inKeys)if(!t[d]){console.warn("[PolicyRunner] Missing ONNX input:",{key:d,available:Object.keys(t)});return}const[r,i]=await this.onnxModule.runInference(t);Object.keys(i).length>0&&(this.onnxInputDict={...this.onnxInputDict,...i}),this.onnxModule.inKeys.includes("time_step")&&(this.onnxTimeStep+=1);const s=this.onnxModule.outKeys[0],a=r.action??(s?r[s]:null)??r.policy??null;if(!a)return;const o=a.data,l=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o),c=this.policyRunner?.getNumActions()??0;if(this.policyControl&&l.length!==c){console.warn("[PolicyRunner] Action size mismatch:",{expected:c,got:l.length});return}this.policyRunner.setLastActions(l)}catch(t){console.warn("[PolicyRunner] ONNX inference failed:",t)}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 t=e.bodyID;if(this.dynamicBodyIds&&!this.dynamicBodyIds.has(t))return;for(let p=0;p<this.mjModel.nbody;p++)this.bodies[p]&&(Vc(this.mjData.xpos,p,this.bodies[p].position),pp(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=P3(r),s=this.dragStateManager.worldHit.clone(),a=P3(s),o=new ue(this.mjData.xpos[t*3+0],this.mjData.xpos[t*3+1],this.mjData.xpos[t*3+2]),l=new ue(a.x-o.x,a.y-o.y,a.z-o.z),c=new ue(i.x,i.y,i.z),d=new ue().crossVectors(l,c),h=t*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]=d.x,this.mjData.xfrc_applied[h+4]=d.y,this.mjData.xfrc_applied[h+5]=d.z}updateCachedState(){if(!this.mjModel||!this.mjData||!this.bodies)return;const e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++)if(!(e&&!e.has(t))&&this.bodies[t]){this.lastSimState.bodies.has(t)||this.lastSimState.bodies.set(t,{position:new ue,quaternion:new Cn});const r=this.lastSimState.bodies.get(t);Vc(this.mjData.xpos,t,r.position),pp(this.mjData.xquat,t,r.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&dJ(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}applyViewerConfig(e){this.cameraState=OZ(e,this.camera,this.controls,this.mjModel,this.mjData)}computeDynamicBodyIds(e){const t=new Set;for(let r=1;r<e.nbody;r++){let i=r;for(;i>0;){if(e.body_jntnum[i]>0){t.add(r);break}i=e.body_parentid[i]}}return t}syncStaticBodiesFromData(){if(!this.mjModel||!this.mjData||!this.bodies)return;const e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++){if(e?.has(t))continue;const r=this.bodies[t];r&&(Vc(this.mjData.xpos,t,r.position),pp(this.mjData.xquat,t,r.quaternion))}}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.vrButton?.parentElement&&(this.vrButton.parentElement.removeChild(this.vrButton),this.vrButton=null),this.bodies=null,this.lights=[],this.mujocoRoot=null,this.dynamicBodyIds=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(t=>this.disposeMaterial(t)):this.disposeMaterial(e.material))});this.scene.children.length>0;)this.scene.remove(this.scene.children[0])}disposeMaterial(e){const t=e;t.map&&t.map.dispose(),t.aoMap&&t.aoMap.dispose(),t.emissiveMap&&t.emissiveMap.dispose(),t.metalnessMap&&t.metalnessMap.dispose(),t.normalMap&&t.normalMap.dispose(),t.roughnessMap&&t.roughnessMap.dispose(),e.dispose()}getSize(){const e=this.container.clientWidth||window.innerWidth,t=this.container.clientHeight||window.innerHeight;return{width:Math.max(1,e),height:Math.max(1,t)}}async restoreFromCache(e){const t=this.sceneCacheManager.get(e);if(!t)throw new Error(`Scene ${e} not found in cache`);const r=this.scene.getObjectByName("MuJoCo Root");r&&this.scene.remove(r),this.mjModel=t.mjModel,this.mjData=t.mjData,this.bodies=t.bodies,this.lights=t.lights,this.mujocoRoot=t.mujocoRoot,this.scene.add(this.mujocoRoot),this.scene.background=t.skybox,this.mujoco.mj_forward(this.mjModel,this.mjData),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),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.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new uB({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls,draggableBodyIds:this.dynamicBodyIds})}async captureAndCacheResources(e){const t=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 this.sceneCacheManager.set(e,{scenePath:e,lastAccessed:Date.now(),loadedAt:Date.now(),mjModel:this.mjModel,mjData:this.mjData,bodies:this.bodies,lights:this.lights,meshes:{},mujocoRoot:this.mujocoRoot,skybox:this.scene.background instanceof ph?this.scene.background:null,fsFiles:t,estimatedMemoryBytes:r});const i=this.sceneCacheManager.getMetrics();this.memoryMonitor.logCacheOperation("load",e,{memoryMB:r/1048576,totalScenes:i.totalScenes,totalMemoryMB:i.totalMemoryBytes/1048576})}}const ag="mjswan_oom_reload_scene",mne=({scenePath:n,baseUrl:e,policyConfigPath:t,splatConfig:r,cameraConfig:i,eventsConfig:s,terrainData:a,selectedMotion:o,showReferenceMotion:l=!0,onStatusChange:c,onError:d,onReady:h,onRuntimeReady:p})=>{const A=U.useRef(null),y=U.useRef(null),m=U.useRef(null),x=U.useRef(r);x.current=r;const 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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(){un("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(){un("info","captureEnd"),this.flush(),this.sessionStatus="default"}replay(){un("info","replay"),this.sessionStatus="replaying";let n=this.capturedCommandList.get(this.currentSessionId),e=this.capturedPendingKernels.get(this.currentSessionId),t=n.length;this.pendingKernels=[];for(let r=0;r<t;r++){let i=this.getComputePassEncoder(),s=n[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(n){this.unregisterBuffers(n),this.capturedCommandList.has(n)&&this.capturedCommandList.delete(n),this.capturedPendingKernels.has(n)&&this.capturedPendingKernels.delete(n),this.gpuDataManager.onReleaseSession(n)}onRunStart(n){this.currentSessionId=n,this.setQueryType()}}}),Qz={};vh(Qz,{init:()=>Pz});var rg,GR,Pz,Zte=et(()=>{Lt(),No(),jt(),ote(),rg=class 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Lz(this.module,this.dataType,this.data,e)}},GR=class{constructor(n,e,t){this.module=n,this.backend=e,this.customDataOffset=0,this.customDataSize=0,this.adapterInfo=e.adapterInfo;let r=n.PTR_SIZE,i=t/n.PTR_SIZE,s=r===4?"i32":"i64";this.opKernelContext=Number(n.getValue(r*i++,s));let a=Number(n.getValue(r*i++,s));this.outputCount=Number(n.getValue(r*i++,s)),this.customDataOffset=Number(n.getValue(r*i++,"*")),this.customDataSize=Number(n.getValue(r*i++,s));let o=[];for(let l=0;l<a;l++){let c=Number(n.getValue(r*i++,s)),d=Number(n.getValue(r*i++,"*")),h=Number(n.getValue(r*i++,s)),p=[];for(let A=0;A<h;A++)p.push(Number(n.getValue(r*i++,s)));o.push(new rg(n,c,d,p))}this.inputs=o}get kernelCustomData(){return this.backend.currentKernelCustomData}get customDataBuffer(){return this.module.HEAPU8.subarray(this.customDataOffset,this.customDataOffset+this.customDataSize)}compute(n,e){let t=e?.inputs?.map(a=>typeof a=="number"?this.inputs[a]:a)??this.inputs,r=e?.outputs??[],i=(a,o,l)=>new rg(this.module,o,this.output(a,l),l),s=(a,o)=>{let l=Qc(a,o);if(!l)throw new Error(`Unsupported data type: ${a}`);let c=l>0?this.backend.gpuDataManager.create(l).id:0;return new rg(this.module,a,c,o)};return this.backend.run(n,t,r,i,s,this.outputCount)}output(n,e){let t=this.module.stackSave();try{let r=this.module.PTR_SIZE,i=r===4?"i32":"i64",s=this.module.stackAlloc((1+e.length)*r);this.module.setValue(s,e.length,i);for(let a=0;a<e.length;a++)this.module.setValue(s+r*(a+1),e[a],i);return this.module._JsepOutput(this.opKernelContext,n,s)}catch(r){throw new Error(`Failed to generate kernel's output[${n}] 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(t)}}},Pz=async(n,e,t,r)=>{let i=e.jsepInit;if(!i)throw new Error("Failed to initialize JSEP. 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Only 'gpu-buffer' location is supported when enableGraphCapture is true.`);_.push(R)}}let b=null;return _.some(w=>w==="gpu-buffer"||w==="ml-tensor"||w==="ml-tensor-cpu-output")&&(o=i._OrtCreateBinding(s),o===0&&wn("Can't create IO binding."),b={handle:o,outputPreferredLocations:_,outputPreferredLocationsEncoded:_.map(w=>w==="ml-tensor-cpu-output"?"ml-tensor":w).map(w=>Iw(w))}),Il.set(s,[s,c,d,b,A,!1]),[s,y,m,x,g]}catch(h){throw c.forEach(p=>i._OrtFree(p)),d.forEach(p=>i._OrtFree(p)),o!==0&&i._OrtReleaseBinding(o)!==0&&wn("Can't release IO binding."),s!==0&&i._OrtReleaseSession(s)!==0&&wn("Can't release session."),h}finally{i._free(t),a!==0&&i._OrtReleaseSessionOptions(a)!==0&&wn("Can't release session options."),l.forEach(h=>i._free(h)),i.unmountExternalData?.()}},gI=n=>{let e=kn(),t=Il.get(n);if(!t)throw new Error(`cannot release session. invalid session id: ${n}`);let[r,i,s,a,o]=t;a&&(o&&e._OrtClearBoundOutputs(a.handle)!==0&&wn("Can't clear bound 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g=o._OrtCreateTensor(Nc(c),A,y,x,d.length,Iw(p));g===0&&wn(`Can't create tensor for input/output. session=${r}, index=${s}.`),e.push(g)}finally{o.stackRestore(m)}},yI=async(n,e,t,r,i,s)=>{let a=kn(),o=a.PTR_SIZE,l=Il.get(n);if(!l)throw new Error(`cannot run inference. invalid session id: ${n}`);let c=l[0],d=l[1],h=l[2],p=l[3],A=l[4],y=l[5],m=e.length,x=r.length,g=0,_=[],b=[],w=[],C=[],S=[],M=a.stackSave(),T=a.stackAlloc(m*o),R=a.stackAlloc(m*o),k=a.stackAlloc(x*o),G=a.stackAlloc(x*o);try{[g,_]=zP(s),jc("wasm prepareInputOutputTensor");for(let W=0;W<m;W++)await V_(t[W],b,C,n,d[e[W]],e[W],A);for(let W=0;W<x;W++)await V_(i[W],w,C,n,h[r[W]],m+r[W],A);Wc("wasm prepareInputOutputTensor");for(let W=0;W<m;W++)a.setValue(T+W*o,b[W],"*"),a.setValue(R+W*o,d[e[W]],"*");for(let W=0;W<x;W++)a.setValue(k+W*o,w[W],"*"),a.setValue(G+W*o,h[r[W]],"*");if(p&&!y){let{handle:W,outputPreferredLocations:K,outputPreferredLocationsEncoded:Y}=p;if(d.length!==m)throw new Error(`input count from feeds (${m}) is 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ti(n[0],n[2],n[1]);case"gpu-buffer":{let e=n[0];if(!ZC(e))throw new Error(`not supported data type: ${e} for deserializing GPU tensor`);let{gpuBuffer:t,download:r,dispose:i}=n[2];return ti.fromGpuBuffer(t,{dataType:e,dims:n[1],download:r,dispose:i})}case"ml-tensor":{let e=n[0];if(!eI(e))throw new Error(`not supported data type: ${e} for deserializing MLTensor tensor`);let{mlTensor:t,download:r,dispose:i}=n[2];return ti.fromMLTensor(t,{dataType:e,dims:n[1],download:r,dispose:i})}default:throw new Error(`invalid data location: ${n[3]}`)}},Wz=class{async fetchModelAndCopyToWasmMemory(n){return Oz(await tI(n))}async loadModel(n,e){Fa();let t;typeof n=="string"?t=await this.fetchModelAndCopyToWasmMemory(n):t=n,[this.sessionId,this.inputNames,this.outputNames,this.inputMetadata,this.outputMetadata]=await $z(t,e),Zs()}async dispose(){return Gz(this.sessionId)}async run(n,e,t){Fa();let r=[],i=[];Object.entries(n).forEach(h=>{let p=h[0],A=h[1],y=this.inputNames.indexOf(p);if(y===-1)throw new Error(`invalid input '${p}'`);r.push(A),i.push(y)});let s=[],a=[];Object.entries(e).forEach(h=>{let p=h[0],A=h[1],y=this.outputNames.indexOf(p);if(y===-1)throw new Error(`invalid output '${p}'`);s.push(A),a.push(y)});let o=r.map((h,p)=>W_(h,()=>`input "${this.inputNames[i[p]]}"`)),l=s.map((h,p)=>h?W_(h,()=>`output "${this.outputNames[a[p]]}"`):null),c=await Hz(this.sessionId,i,o,a,l,t),d={};for(let h=0;h<c.length;h++)d[this.outputNames[a[h]]]=s[h]??WR(c[h]);return Zs(),d}startProfiling(){}endProfiling(){Vz(this.sessionId)}}}),qz={};vh(qz,{OnnxruntimeWebAssemblyBackend:()=>Uw,initializeFlags:()=>zw,wasmBackend:()=>Yz});var zw,Uw,Yz,tne=et(()=>{xs(),jz(),ene(),zw=()=>{(typeof Dn.wasm.initTimeout!="number"||Dn.wasm.initTimeout<0)&&(Dn.wasm.initTimeout=0);let n=Dn.wasm.simd;if(typeof n!="boolean"&&n!==void 0&&n!=="fixed"&&n!=="relaxed"&&(console.warn(`Property "env.wasm.simd" is set to unknown value "${n}". Reset it to \`false\` and ignore SIMD feature checking.`),Dn.wasm.simd=!1),typeof Dn.wasm.proxy!="boolean"&&(Dn.wasm.proxy=!1),typeof Dn.wasm.trace!="boolean"&&(Dn.wasm.trace=!1),typeof Dn.wasm.numThreads!="number"||!Number.isInteger(Dn.wasm.numThreads)||Dn.wasm.numThreads<=0)if(typeof self<"u"&&!self.crossOriginIsolated)Dn.wasm.numThreads=1;else{let e=typeof navigator>"u"?Uee("node:os").cpus().length:navigator.hardwareConcurrency;Dn.wasm.numThreads=Math.min(4,Math.ceil((e||1)/2))}},Uw=class{async init(n){zw(),await zz(),await Uz(n)}async createInferenceSessionHandler(n,e){let t=new Wz;return await t.loadModel(n,e),t}},Yz=new Uw});xs();xs();xs();var nne="1.24.3";{let n=(tne(),Lp(qz)).wasmBackend;Bd("webgpu",n,5),Bd("webnn",n,5),Bd("cpu",n,10),Bd("wasm",n,10)}Object.defineProperty(Dn.versions,"web",{value:nne,enumerable:!0});class rne{constructor(e,t={}){this.config=e,this.options=t,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),this.encoderBias=this.normalizeArray(e.encoder_bias??[],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 t of Object.values(this.obsGroups))for(const r of t)r.reset&&r.reset(e);if(e){for(const[t,r]of Object.entries(this.historyConfig))if(r.steps>1){const i=this.buildFrame(this.obsGroups[t]??[],e),s=this.historyBuffers[t];for(let a=0;a<r.steps;a++)s.set(i,a*i.length)}}}update(e){this.policyModule?.update();for(const t of Object.values(this.obsGroups))for(const r of t)r.update&&r.update(e)}collectObservationsByKey(e){this.update(e);const t={};for(const[r,i]of Object.entries(this.obsGroups)){const s=this.historyConfig[r];if(s&&s.steps>1){const a=this.buildFrame(i,e),o=this.historyBuffers[r];for(let l=o.length-1;l>=a.length;l--)o[l]=o[l-a.length];o.set(a,0),t[r]=new Float32Array(o)}else t[r]=this.buildFrame(i,e)}return t}collectObservations(e){const t=this.collectObservationsByKey(e);if(this.defaultObsKey&&t[this.defaultObsKey])return t[this.defaultObsKey];const r=Object.keys(t)[0];return r?t[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(t=>({...t}));const e=Object.keys(this.obsLayouts)[0];return e?this.obsLayouts[e].map(t=>({...t})):[]}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)}getEncoderBias(){return new Float32Array(this.encoderBias)}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 t=this.options.policyModules??{},r=this.config.policy_module,i=r?t[r]:t.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??{},t=this.config.observations??{};this.obsGroups={},this.obsLayouts={},this.obsSizes={},this.historyConfig={},this.historyBuffers={},this.defaultObsKey=null;for(const[r,i]of Object.entries(t)){if(Array.isArray(i)){const s=i.map(a=>{const o=e[a.name];if(!o)throw new Error(`Unknown observation type: ${a.name}`);return new o(this,a)});this.registerGroup(r,s,i);continue}if(i&&typeof i=="object"){const s=i;if(Array.isArray(s.components)){const a=s.components.map(c=>{const d=e[c.name];if(!d)throw new Error(`Unknown observation type: ${c.name}`);const h={...c,history_steps:1};return new d(this,h)}),o=Math.max(1,Math.floor(s.history_steps??1)),l=!!s.interleaved;this.registerGroup(r,a,s.components,{steps:o,interleaved:l})}}}this.obsGroups.policy?this.defaultObsKey="policy":this.obsGroups.observation?this.defaultObsKey="observation":this.obsGroups.obs_history?this.defaultObsKey="obs_history":this.defaultObsKey=Object.keys(this.obsGroups)[0]??null}registerGroup(e,t,r,i){this.obsGroups[e]=t,this.obsLayouts[e]=t.map((a,o)=>({name:r[o]?.name??`obs_${o}`,size:a.size}));const s=this.obsLayouts[e].reduce((a,o)=>a+o.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,t){const r=e.reduce((a,o)=>a+o.size,0),i=new Float32Array(r);let s=0;for(const a of e){const o=a.compute(t),l=o instanceof Float32Array?o:Float32Array.from(o);if(l.length!==a.size)throw new Error(`Observation size mismatch: expected ${a.size}, got ${l.length}`);i.set(l,s),s+=l.length}return i}normalizeArray(e,t,r){const i=new Float32Array(t);for(let s=0;s<t;s++)i[s]=typeof e[s]=="number"?e[s]:r;return i}}Dn.wasm.proxy=!1;Dn.wasm.numThreads=1;class ine{constructor(e){if(!e?.path)throw new Error("OnnxModule requires a path.");this.config=e,this.session=null;const t=e.meta?.in_keys??["policy"],r=e.meta?.out_keys??["action"];this.configuredInKeys=t.map(i=>Array.isArray(i)?i.join(","):i),this.inKeys=[...this.configuredInKeys],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 t=await e.arrayBuffer();this.session=await qC.create(t,{executionProviders:["wasm"],graphOptimizationLevel:"all"}),this.inferInputKeys(),this.isRecurrent=this.inKeys.includes("adapt_hx")}initInput(){const e={};return this.isRecurrent&&(e.is_init=new ti("bool",[!0],[1]),e.adapt_hx=new ti("float32",new Float32Array(128),[1,128])),this.inKeys.includes("time_step")&&(e.time_step=new ti("float32",new Float32Array([0]),[1,1])),e}async runInference(e){if(!this.session)throw new Error("OnnxModule not initialized.");const t={};for(let a=0;a<this.inKeys.length;a++){const o=this.inKeys[a],l=this.session.inputNames[a];if(!l||!e[o])throw new Error(`Missing ONNX input for key: ${o}`);t[l]=e[o]}const r=await this.session.run(t),i={};for(let a=0;a<this.outKeys.length;a++){const o=this.outKeys[a],l=this.session.outputNames[a];l&&r[l]&&(i[o]=r[l])}const s={};return this.isRecurrent&&i["next,adapt_hx"]&&(s.is_init=new ti("bool",[!1],[1]),s.adapt_hx=i["next,adapt_hx"]),[i,s]}inferInputKeys(){if(!this.session)return;const e=this.session.inputNames;if(e.length<=1){this.inKeys=[...this.configuredInKeys];return}if(this.configuredInKeys.length===e.length){this.inKeys=[...this.configuredInKeys];return}this.inKeys=e.map(t=>this.configuredInKeys.includes(t)?t:t==="obs"&&this.configuredInKeys.includes("policy")?"policy":t)}}class sne{constructor(e,t,r,i){this.mujoco=e,this.mjModel=t,this.mjData=r;const s=this.getJointNames(t);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(const a of i){const o=s.indexOf(a);if(o<0)throw new Error(`Joint "${a}" not found in MuJoCo model`);this.qposAdr.push(t.jnt_qposadr[o]),this.qvelAdr.push(t.jnt_dofadr[o]),this.jointIndices.push(o)}this.numActions=i.length,this.ctrlAdr=this.buildCtrlAdr()}build(){const e=this.mjData.qpos,t=this.mjData.qvel,r=new Float32Array(this.numActions),i=new Float32Array(this.numActions);for(let c=0;c<this.numActions;c++)r[c]=e[this.qposAdr[c]],i[c]=t[this.qvelAdr[c]];const s=new Float32Array([e[0],e[1],e[2]]),a=new Float32Array([e[3],e[4],e[5],e[6]]),o=new Float32Array([t[0],t[1],t[2]]),l=new Float32Array([t[3],t[4],t[5]]);return{jointPos:r,jointVel:i,rootPos:s,rootQuat:a,rootLinVel:o,rootAngVel:l}}getControlMapping(){return this.ctrlAdr?{ctrlAdr:this.ctrlAdr.slice(),qposAdr:this.qposAdr.slice(),qvelAdr:this.qvelAdr.slice()}:null}getControlMappingFor(e,t){if(!this.ctrlAdr)return null;const r=e.map(c=>new RegExp(`^(?:${c})$`)),i=c=>r.some(d=>d.test(c)),s=[],a=[],o=[],l=[];for(let c=0;c<t.length;c++)i(t[c])&&(s.push(this.ctrlAdr[c]),a.push(this.qposAdr[c]),o.push(this.qvelAdr[c]),l.push(c));return s.length===0?null:{ctrlAdr:s,qposAdr:a,qvelAdr:o,actionIndices:l}}buildCtrlAdr(){if(this.mjModel.nu<=0)return null;const e=this.mujoco.mjtTrn?.mjTRN_JOINT?.value,t=[];for(let i=0;i<this.mjModel.nu;i++){const s=this.mjModel.actuator_trntype[i];e===void 0||s===e?t.push(this.mjModel.actuator_trnid[2*i]):t.push(-1)}const r=[];for(const i of this.jointIndices){const s=t.findIndex(a=>a===i);if(s<0)return null;r.push(s)}return r}getJointNames(e){const t=new Uint8Array(e.names),r=new TextDecoder,i=[];for(let s=0;s<e.njnt;s++){let a=e.name_jntadr[s],o=a;for(;o<t.length&&t[o]!==0;)o++;let l=r.decode(t.subarray(a,o));!l&&s===0&&(l="floating_base_joint"),i.push(l)}return i}}class Jz{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}}class ane{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 t=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(t)],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 one extends Jz{constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);const t=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:t};this.tracking=new ane(r)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}}class lne{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 t=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(t)],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 cne extends Jz{constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);const t=this.config.policy_joint_names??[],r={...this.config.tracking,policy_joint_names:t};this.locomotion=new lne(r)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}}class une{constructor(e,t){this.terms=[];for(const r of e){const i=t[r.name];if(!i){console.warn(`[EventManager] Unknown event type: ${r.name}`);continue}this.terms.push(new i(r))}}onReset(e){for(const t of this.terms)t.onReset(e)}get size(){return this.terms.length}}class Xz{constructor(e){this.config=e}}const dne={};class Kz extends Xz{constructor(e){super(e),this.poseRange=e.params?.pose_range??{}}onReset(e){const{mjModel:t,mjData:r}=e;if(!t||!r)return;const i=this._findFreeJoint(t);if(i===-1)return;const s=t.jnt_qposadr[i],a=l=>{const c=this.poseRange[l];return c?c[0]+Math.random()*(c[1]-c[0]):0};r.qpos[s+0]+=a("x"),r.qpos[s+1]+=a("y"),r.qpos[s+2]+=a("z");const o=a("yaw");o!==0&&this._applyYawRotation(r.qpos,s+3,o)}_findFreeJoint(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}_applyYawRotation(e,t,r){const i=Math.cos(r/2),s=Math.sin(r/2),a=e[t+0],o=e[t+1],l=e[t+2],c=e[t+3];e[t+0]=i*a-s*c,e[t+1]=i*o+s*l,e[t+2]=i*l-s*o,e[t+3]=i*c+s*a}}class hne extends Xz{constructor(e){super(e),this.patchName=e.params?.patch_name??"spawn",this.fallback=new Kz(e)}onReset(e){const{mjModel:t,mjData:r,terrainData:i}=e;if(!t||!r)return;const s=i?.flat_patches?.[this.patchName];if(!s||s.length===0){this.fallback.onReset(e);return}const a=this._findFreeJoint(t);if(a===-1)return;const o=t.jnt_qposadr[a],l=s[Math.floor(Math.random()*s.length)],c=r.qpos[o+2];r.qpos[o+0]=l[0],r.qpos[o+1]=l[1],r.qpos[o+2]=l[2]+c;const h=(this.config.params?.pose_range??{}).yaw??[-Math.PI,Math.PI],p=h[0]+Math.random()*(h[1]-h[0]);this._applyYawRotation(r.qpos,o+3,p)}_findFreeJoint(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}_applyYawRotation(e,t,r){const i=Math.cos(r/2),s=Math.sin(r/2),a=e[t+0],o=e[t+1],l=e[t+2],c=e[t+3];e[t+0]=i*a-s*c,e[t+1]=i*o+s*l,e[t+2]=i*l-s*o,e[t+3]=i*c+s*a}}const fne={ResetRootStateUniform:Kz,ResetRootStateFromFlatPatches:hne},pne={...fne,...dne};class Zz extends Error{constructor(){super("This scene cannot be loaded because it exceeds the browser's WebAssembly 2 GB memory limit. Try closing other browser tabs or reloading the page to free memory."),this.name="WasmMemoryLimitError"}}function qR(n){const e=n instanceof Error?n.message:String(n);return e.includes("MjModel loading returned null")||e.includes("Could not allocate memory")||e.includes("memory allocation failed")||e.includes("bad_alloc")}class Ane{constructor(e,t,r={}){this.render=()=>{if(tr().updateDebugVisuals(),this.mjData&&$Z(this.mjData,this.camera,this.controls,this.cameraState),this.controls.update(),this.mjModel&&this.mjData&&this.bodies){F3(this.camera,this.lights);for(const[o,l]of this.lastSimState.bodies){const c=this.bodies[o];c&&(c.position.copy(l.position),c.quaternion.copy(l.quaternion))}L3(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&hJ({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{const{width:o,height:l}=this.getSize();this.camera.aspect=o/l,this.camera.updateProjectionMatrix(),this.renderer.setSize(o,l)},this.mujoco=e,this.container=t,this.baseUrl=r.baseUrl||"/";const i="/working";try{this.mujoco.FS.mkdir(i)}catch(o){o&&typeof o=="object"&&"code"in o&&o.code!=="EEXIST"&&console.warn("Failed to create /working directory:",o)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:"."},i)}catch(o){o&&typeof o=="object"&&"code"in o&&o.code!=="EEXIST"&&o.code!=="EBUSY"&&console.warn("Failed to mount MEMFS at /working:",o)}const{width:s,height:a}=this.getSize();this.scene=new s9,this.scene.name="scene",this.camera=new zr(45,s/a,.001,1e3),this.camera.name="PerspectiveCamera",this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new z7({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(s,a),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=QN,this.renderer.outputColorSpace=ii,this.renderer.toneMapping=PN,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.vrButton=null,navigator.xr?.isSessionSupported("immersive-vr").then(o=>{o&&(this.vrButton=RC.createButton(this.renderer),document.body.appendChild(this.vrButton))}),this.controls=new O7(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:fJ()},this.dynamicBodyIds=null,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.onnxTimeStep=0,this.terminationManager=null,this.eventManager=null,this.terrainData=null,this.splatMesh=null,this.colliderMesh=null,this.cameraState={trackBodyId:null,prevBodyPos:null},this.sceneCacheManager=Ew.getInstance(this.mujoco),this.resourceTracker=new GZ,this.memoryMonitor=new HZ}async loadEnvironment(e,t=null,r=null,i=null,s=null,a=null){this.terrainData=a,s&&s.length>0?(this.eventManager=new une(s,pne),console.log(`[EventManager] ${this.eventManager.size} reset event(s) loaded`)):this.eventManager=null,await this.stop(),this.splatMesh&&(nB(this.splatMesh,this.scene),this.splatMesh=null),this.colliderMesh&&(cB(this.colliderMesh,this.scene),this.colliderMesh=null);const o=performance.now();if(this.initializeCommands(),this.sceneCacheManager.has(e)){await this.restoreFromCache(e);const l=performance.now()-o;this.memoryMonitor.logCacheOperation("hit",e,{elapsedMs:l})}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.dynamicBodyIds=null,this.resourceTracker.startTracking(this.mujoco),await bJ(this.mujoco,e,this.baseUrl),await this.loadSceneWithOomRetry(e),await this.captureAndCacheResources(e);r&&(this.splatMesh=tB(r,this.scene),r.colliderUrl&&(this.colliderMesh=await lB(this.resolveAssetUrl(r.colliderUrl),this.scene))),await this.loadPolicyConfig(t),this.applyViewerConfig(i),this.running=!0,this.startLoop()}initializeCommands(){const e=tr();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e,t){tr().initialize(e,t),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 setSelectedMotion(e){const t=tr().getTerm("motion");t instanceof xp&&(await t.setSelectedMotion(e),this.resetSimulation())}setReferenceVisible(e){const t=tr().getTerm("motion");t instanceof xp&&t.setReferenceVisible(e)}async loadScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{const t=this.scene.getObjectByName("MuJoCo Root");t&&this.scene.remove(t);const r={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await vJ(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),L3(this.mujoco,this.mjData,this.lights),F3(this.camera,this.lights),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),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.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new uB({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls,draggableBodyIds:this.dynamicBodyIds}),this.loadingScene=null})(),await this.loadingScene}async loadSceneWithOomRetry(e){try{await this.loadScene(e)}catch(t){if(!qR(t))throw t;console.warn("[mjswanRuntime] OOM — clearing cache and retrying..."),this.loadingScene=null,await this.sceneCacheManager.clear();try{await this.loadScene(e)}catch(r){throw this.loadingScene=null,qR(r)?new Zz:r}}}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async setSplat(e){this.splatMesh&&(nB(this.splatMesh,this.scene),this.splatMesh=null),this.colliderMesh&&(cB(this.colliderMesh,this.scene),this.colliderMesh=null),e&&(this.splatMesh=tB(e,this.scene),e.colliderUrl&&(this.colliderMesh=await lB(this.resolveAssetUrl(e.colliderUrl),this.scene)))}calibrateSplat(e){this.splatMesh&&oP(this.splatMesh,e)}setSplatVisible(e){this.splatMesh&&(this.splatMesh.visible=e)}async stop(){this.running=!1;const e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){const e=performance.now(),t=this.timestep*this.decimation;if(this.mjModel&&this.mjData){if(this.mujoco.mj_forward(this.mjModel,this.mjData),this.policyRunner&&this.policyStateBuilder){const s=this.policyStateBuilder.build(),a=this.policyRunner.collectObservationsByKey(s);if(await this.runOnnxInference(a),this.policyDebugCounter%60===0){const o="policy"in a?"policy":"observation"in a?"observation":Object.keys(a)[0],l=o?a[o]:null,c=l?Array.from(l.slice(0,8)):[];console.log("[PolicyRunner] obs",{key:o,size:l?l.length:0,sample:c})}this.policyDebugCounter+=1}if(this.executeSimulationSteps(),this.updateCachedState(),this.terminationManager&&this.policyStateBuilder){const s=this.policyStateBuilder.build();if(this.terminationManager.evaluate(s).done&&(this.resetSimulationState(),this.terminationManager.reset(),this.policyRunner)){const o=this.policyStateBuilder.build();this.policyRunner.reset(o)}}tr().update(t),tr().updateDebugVisuals()}const r=(performance.now()-e)/1e3,i=Math.max(0,t-r);i>0&&await new Promise(s=>setTimeout(s,i*1e3))}this.loopPromise=null}async loadPolicyConfig(e){const t=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,this.onnxTimeStep=0,this.terminationManager=null;const r=tr();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!==t&&this.resetSimulationState();try{const{config:i}=await this.fetchPolicyConfig(e);if(Array.isArray(i.motions)&&(i.motions=i.motions.map(o=>({...o,path:this.resolveAssetUrl(this.resolvePolicyAssetPath(e,o.path))}))),i.commands?.motion?.name==="TrackingCommand"&&Array.isArray(i.motions)&&(i.commands.motion={...i.commands.motion,motions:i.motions}),this.resetSimulationState(),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState(),i.commands&&typeof i.commands=="object"){this.initializeCommandsFromConfig(i.commands,{mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,bodies:this.bodies,mujocoRoot:this.mujocoRoot,requestReset:()=>this.resetSimulation()}),tr().resetTerms();const o=tr().getTerm("motion");o instanceof xp&&(await o.setSelectedMotion(i.motions?.find(l=>l.default)?.name??i.motions?.[0]?.name??null),o.setReferenceVisible(!0)),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState()}if(!i.policy_joint_names||i.policy_joint_names.length===0)throw new Error("Policy config missing policy_joint_names.");const s=new rne(i,{policyModules:{tracking:one,locomotion:cne},observations:Mee});await s.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene}),this.policyRunner=s,this.policyStateBuilder=new sne(this.mujoco,this.mjModel,this.mjData,s.getPolicyJointNames());const a=this.policyStateBuilder.build();if(this.policyRunner.reset(a),this.policyControl=this.buildPolicyControl(i,s,this.policyStateBuilder),i.terminations&&Object.keys(i.terminations).length>0&&(this.terminationManager=new Tee(i.terminations,Pee),console.log(`[TerminationManager] ${this.terminationManager.size} termination term(s) loaded`)),i.onnx?.path){const o=this.resolvePolicyAssetPath(e,i.onnx.path),l=this.resolveAssetUrl(o),c={...i.onnx,path:l},d=new ine(c);await d.init(),this.onnxModule=d,this.onnxInputDict=d.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 t=this.resolveAssetUrl(e),r=await fetch(t,{cache:"no-store"});if(!r.ok)throw new Error(`Failed to fetch policy config: ${r.status}`);return{config:await r.json(),resolvedUrl:t}}resolveAssetUrl(e){if(/^[a-z]+:\/\//i.test(e))return e;const t=(this.baseUrl||"/").replace(/\/+$/,"/"),r=new URL(t,window.location.origin+"/").toString();return new URL(e.replace(/^\/+/,""),r).toString()}resolvePolicyAssetPath(e,t){const r=e.replace(/\\/g,"/"),i=r.lastIndexOf("/");return i>=0?`${r.slice(0,i+1)}${t}`.replace(/\/+/g,"/"):t}buildPolicyControl(e,t,r){const i=t.getPolicyJointNames(),s=this.mujoco.mjtBias?.mjBIAS_AFFINE?.value??1,a=(c,d,h,p,A,y,m,x)=>{const g=h.qposAdr.length,_=h.actionIndices.map(B=>i[B]),b=this.normalizeControlArray(p,g,1,_),w=this.normalizeControlArray(A,g,0,_),C=x?t.getDefaultJointPos():new Float32Array(i.length),S=new Float32Array(g);for(let B=0;B<g;B++)S[B]=C[h.actionIndices[B]];const M=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(i.length),T=new Float32Array(g);for(let B=0;B<g;B++)T[B]=M[h.actionIndices[B]]??0;const R=this.normalizeControlArray(y,g,0,_),k=this.normalizeControlArray(m,g,0,_),G=h.ctrlAdr.map(B=>B<0||!this.mjModel?!1:this.mjModel.actuator_biastype[B]===s),P=G.some(Boolean),V=G.some(B=>!B);return P&&V&&console.warn(`[PolicyRunner] Action term "${c}": mixed actuator types detected.`),console.log(`[PolicyRunner] Action term "${c}" (${d}): ${g} joint(s), mode: ${P?"position (ctrl=target_pos)":"motor (ctrl=torque, external PD)"}`),{controlType:d,ctrlAdr:h.ctrlAdr,qposAdr:h.qposAdr,qvelAdr:h.qvelAdr,actionIndices:h.actionIndices,actionScale:b,actionOffset:w,defaultJointPos:S,encoderBias:T,positionActuator:G,kp:R,kd:k}},o=e.actions;if(!o||Object.keys(o).length===0){const c=e.control_type??"joint_position";if(c!=="joint_position"&&c!=="torque")return console.warn(`[PolicyRunner] Unsupported control_type: ${c}`),null;const d=r.getControlMapping();if(!d)return console.warn("[PolicyRunner] Failed to build control mapping."),null;const h={...d,actionIndices:Array.from({length:d.qposAdr.length},(p,A)=>A)};return[a("legacy",c,h,e.action_scale,void 0,e.stiffness,e.damping,!0)]}const l=[];for(const[c,d]of Object.entries(o)){const h=d.type??"joint_position";if(h!=="joint_position"&&h!=="torque"){console.warn(`[PolicyRunner] Action term "${c}": unsupported type "${h}", skipping.`);continue}const p=d.actuator_names??[".*"],A=p.length===1&&p[0]===".*";let y;if(A){const x=r.getControlMapping();if(!x){console.warn(`[PolicyRunner] Action term "${c}": failed to build control mapping, skipping.`);continue}y={...x,actionIndices:Array.from({length:x.qposAdr.length},(g,_)=>_)}}else if(y=r.getControlMappingFor(p,i),!y){console.warn(`[PolicyRunner] Action term "${c}": no joints matched patterns [${p.join(", ")}], skipping.`);continue}const m=d.use_default_offset!==void 0?d.use_default_offset:h==="joint_position";l.push(a(c,h,y,d.scale,d.offset,d.stiffness,d.damping,m))}return l.length===0?(console.warn("[PolicyRunner] No valid action terms found in config.actions."),null):l}normalizeControlArray(e,t,r,i){const s=new Float32Array(t);if(s.fill(r),typeof e=="number")return s.fill(e),s;if(Array.isArray(e)){for(let a=0;a<t;a++)s[a]=typeof e[a]=="number"?e[a]:r;return s}if(e!==null&&typeof e=="object"&&i){for(const[a,o]of Object.entries(e)){const l=i.indexOf(a);l>=0&&l<t?s[l]=o:console.warn(`[PolicyRunner] Joint name "${a}" not found in policy_joint_names; skipping.`)}return s}return s}resetSimulationState(){!this.mjModel||!this.mjData||(this.mjModel.nkey>0?this.mujoco.mj_resetDataKeyframe(this.mjModel,this.mjData,0):this.mujoco.mj_resetData(this.mjModel,this.mjData),this.eventManager&&this.eventManager.onReset({mjModel:this.mjModel,mjData:this.mjData,terrainData:this.terrainData}),tr().resetTerms(),this.onnxModule&&(this.onnxInputDict=this.onnxModule.initInput()),this.onnxTimeStep=0,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 e=this.mjData.ctrl;e.fill(0);const t=this.policyRunner?.getLastActions()??new Float32Array(0);for(const r of this.policyControl){const{controlType:i,ctrlAdr:s,qposAdr:a,qvelAdr:o,actionIndices:l,actionScale:c,actionOffset:d,defaultJointPos:h,encoderBias:p,positionActuator:A,kp:y,kd:m}=r,x=s.length;if(i==="joint_position")for(let g=0;g<x;g++){const _=s[g];if(_<0)continue;const b=t[l[g]]??0,w=h[g]+d[g]+c[g]*b-p[g];if(A[g])e[_]=w;else{const C=this.mjData.qpos[a[g]],S=this.mjData.qvel[o[g]];e[_]=y[g]*(w-C)+m[g]*(0-S)}}else if(i==="torque")for(let g=0;g<x;g++){const _=s[g];_>=0&&(e[_]=c[g]*(t[l[g]]??0))}}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||(this.onnxInputDict=this.onnxModule.initInput());const t={...this.onnxInputDict};this.onnxModule.inKeys.includes("time_step")&&(t.time_step=new ti("float32",new Float32Array([this.onnxTimeStep]),[1,1]));for(const[d,h]of Object.entries(e))t[d]=new ti("float32",h,[1,h.length]);for(const d of this.onnxModule.inKeys)if(!t[d]){console.warn("[PolicyRunner] Missing ONNX input:",{key:d,available:Object.keys(t)});return}const[r,i]=await this.onnxModule.runInference(t);Object.keys(i).length>0&&(this.onnxInputDict={...this.onnxInputDict,...i}),this.onnxModule.inKeys.includes("time_step")&&(this.onnxTimeStep+=1);const s=this.onnxModule.outKeys[0],a=r.action??(s?r[s]:null)??r.policy??null;if(!a)return;const o=a.data,l=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o),c=this.policyRunner?.getNumActions()??0;if(this.policyControl&&l.length!==c){console.warn("[PolicyRunner] Action size mismatch:",{expected:c,got:l.length});return}this.policyRunner.setLastActions(l)}catch(t){console.warn("[PolicyRunner] ONNX inference failed:",t)}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 t=e.bodyID;if(this.dynamicBodyIds&&!this.dynamicBodyIds.has(t))return;for(let p=0;p<this.mjModel.nbody;p++)this.bodies[p]&&(Vc(this.mjData.xpos,p,this.bodies[p].position),pp(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=P3(r),s=this.dragStateManager.worldHit.clone(),a=P3(s),o=new ue(this.mjData.xpos[t*3+0],this.mjData.xpos[t*3+1],this.mjData.xpos[t*3+2]),l=new ue(a.x-o.x,a.y-o.y,a.z-o.z),c=new ue(i.x,i.y,i.z),d=new ue().crossVectors(l,c),h=t*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]=d.x,this.mjData.xfrc_applied[h+4]=d.y,this.mjData.xfrc_applied[h+5]=d.z}updateCachedState(){if(!this.mjModel||!this.mjData||!this.bodies)return;const e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++)if(!(e&&!e.has(t))&&this.bodies[t]){this.lastSimState.bodies.has(t)||this.lastSimState.bodies.set(t,{position:new ue,quaternion:new Cn});const r=this.lastSimState.bodies.get(t);Vc(this.mjData.xpos,t,r.position),pp(this.mjData.xquat,t,r.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&dJ(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}applyViewerConfig(e){this.cameraState=OZ(e,this.camera,this.controls,this.mjModel,this.mjData)}computeDynamicBodyIds(e){const t=new Set;for(let r=1;r<e.nbody;r++){let i=r;for(;i>0;){if(e.body_jntnum[i]>0){t.add(r);break}i=e.body_parentid[i]}}return t}syncStaticBodiesFromData(){if(!this.mjModel||!this.mjData||!this.bodies)return;const e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++){if(e?.has(t))continue;const r=this.bodies[t];r&&(Vc(this.mjData.xpos,t,r.position),pp(this.mjData.xquat,t,r.quaternion))}}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.vrButton?.parentElement&&(this.vrButton.parentElement.removeChild(this.vrButton),this.vrButton=null),this.bodies=null,this.lights=[],this.mujocoRoot=null,this.dynamicBodyIds=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(t=>this.disposeMaterial(t)):this.disposeMaterial(e.material))});this.scene.children.length>0;)this.scene.remove(this.scene.children[0])}disposeMaterial(e){const t=e;t.map&&t.map.dispose(),t.aoMap&&t.aoMap.dispose(),t.emissiveMap&&t.emissiveMap.dispose(),t.metalnessMap&&t.metalnessMap.dispose(),t.normalMap&&t.normalMap.dispose(),t.roughnessMap&&t.roughnessMap.dispose(),e.dispose()}getSize(){const e=this.container.clientWidth||window.innerWidth,t=this.container.clientHeight||window.innerHeight;return{width:Math.max(1,e),height:Math.max(1,t)}}async restoreFromCache(e){const t=this.sceneCacheManager.get(e);if(!t)throw new Error(`Scene ${e} not found in cache`);const r=this.scene.getObjectByName("MuJoCo 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jne(){const[n,e]=U.useState(null),[t,r]=U.useState(null),[i,s]=U.useState(null),[a,o]=U.useState(null),[l,c]=U.useState(null),[d,h]=U.useState(()=>Gne(window.location.search)),[p,A]=U.useState(null),[y,m]=U.useState(null),[x,g]=U.useState(null),[_,b]=U.useState(()=>$ne(window.location.search)),w=U.useRef(null),{showLoading:C,hideLoading:S}=i4(),M=U.useMemo(()=>zne(),[]),T=U.useMemo(()=>new URLSearchParams(window.location.search).get("scene"),[]),R=U.useMemo(()=>new URLSearchParams(window.location.search).get("policy"),[]);U.useEffect(()=>{C(),One("/",M).then(X=>{e(X);const ge=X.projects.find(Ce=>M===null?Ce.id===null:Ce.id===M);if(!ge)throw new Error(`Project "${M??"(main)"}" not found in config.json.`);r(ge);const te=ZR(ge,T);s(te);const ee=te?Y_(te,R):null;o(ee);const ie=te?.policies.find(Ce=>Ce.name===ee)??null;c(Xf(ie))}).catch(X=>{console.error("Failed to load config:",X),A(X.message||"Failed to load config."),S()})},[M,T,R,C,S]);const k=U.useMemo(()=>{if(!t||!i)return null;const 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ge})},[t,i?.splats]),W=U.useMemo(()=>y?B.find(X=>X.name===y)??null:x?{name:"Custom",url:x}:null,[B,y,x]),K=U.useMemo(()=>n?n.projects.map(X=>({value:X.id??"main",label:X.name||(X.id??"Main")})):[],[n]),Y=U.useMemo(()=>t?t.scenes.map(X=>({value:X.name,label:X.name})):[],[t]),$=U.useMemo(()=>!i||!i.policies?[]:i.policies.map(X=>({value:X.name,label:X.name})),[i]),J=t?t.id??"main":null,re=i?.name??null,L=U.useCallback(X=>{A(X.message),S()},[S]),H=U.useCallback(()=>{S()},[S]);U.useEffect(()=>{const X=i?.splats?.[0];m(X?X.name:null),g(null)},[i]);const oe=U.useCallback(X=>{w.current=X},[]);U.useEffect(()=>{c(Xf(G)),h(!!G?.motions?.length)},[G]);const Ae=U.useMemo(()=>i?.splats?.length?i.splats.map(X=>({value:X.name,label:X.name})):[],[i?.splats]),ye=U.useCallback(X=>{if(X===null)w.current?.setSplat(null);else{const ge=B.find(te=>te.name===X);ge&&w.current?.setSplat(ge)}m(X),g(null)},[B]),he=U.useCallback(async X=>{try{if(!(await fetch(X,{method:"HEAD"})).ok)return!1}catch{return!1}return w.current?.setSplat({name:"Custom",url:X}),g(X),!0},[]),fe=U.useCallback((X,ge,te,ee,ie,Ce,be)=>{const de=W??(x?{name:"Custom",url:x}:null);de&&w.current?.calibrateSplat({...de,scale:X,xOffset:ge,yOffset:te,zOffset:ee,roll:ie,pitch:Ce,yaw:be})},[W,x]),Ee=U.useCallback(X=>{Vne({projectId:X.projectId??t?.id??null,sceneName:X.sceneName??i?.name??null,policyName:X.policyName??a,panelVisible:X.panelVisible??_,showReference:X.showReference??d})},[t?.id,i?.name,a,_,d]),Re=U.useCallback(X=>{if(!n||!X)return;const ge=X==="main"?null:X,te=n.projects.find(be=>(be.id??"main")===(ge??"main"));if(!te)return;C(),r(te);const ee=ZR(te,null);s(ee);const ie=ee?Y_(ee,null):null;o(ie);const Ce=ee?.policies.find(be=>be.name===ie)??null;c(Xf(Ce)),Ee({projectId:te.id,sceneName:ee?.name??null,policyName:ie})},[n,C,Ee]),ve=U.useCallback(X=>{if(!t||!X)return;const ge=t.scenes.find(ie=>ie.name===X);if(!ge)return;C(),s(ge);const te=Y_(ge,null);o(te);const ee=ge.policies.find(ie=>ie.name===te)??null;c(Xf(ee)),Ee({projectId:t.id,sceneName:X,policyName:te})},[t,C,Ee]),Ne=U.useCallback(X=>{X!==a&&C(),o(X);const ge=i?.policies.find(te=>te.name===X)??null;c(Xf(ge)),Ee({policyName:X})},[a,C,Ee]),ct=U.useCallback(X=>{b(X),Ee({panelVisible:X})},[Ee]),Ge=U.useCallback(X=>{c(X),w.current?.setSelectedMotion(X)},[]),F=U.useCallback(X=>{h(X),w.current?.setReferenceVisible(X),Ee({showReference:X})},[Ee]);return p?j.jsx(tb,{theme:Ow,defaultColorScheme:"auto",children:j.jsx("div",{className:"app",children:j.jsxs("div",{className:"hud hud-error",children:[j.jsx("h1",{className:"hud-title",children:"mjswan"}),j.jsx("p",{className:"hud-message",children:p})]})})}):!t||!i||!k?null:j.jsx(tb,{theme:Ow,defaultColorScheme:"auto",children:j.jsxs("div",{className:"app",children:[j.jsx(Fne,{}),j.jsx(Qne,{visible:_,onVisibleChange:ct,projects:K,projectValue:J,projectLabel:t?.name??"mjswan",onProjectChange:Re,scenes:Y,sceneValue:re,onSceneChange:ve,splats:Ae,splatSection:i?.splatSection??!1,splatValue:y,onSplatChange:ye,splatConfig:W,onCalibrateSplat:fe,onSplatUrlLoad:he,policies:$,policyValue:a,onPolicyChange:Ne,motions:V,motionValue:l,onMotionChange:Ge,showReferenceMotion:d,onShowReferenceMotionChange:F,commandsEnabled:!!P}),j.jsx(mne,{scenePath:k,baseUrl:"/",policyConfigPath:P,splatConfig:W,cameraConfig:i?.camera,eventsConfig:i?.events,terrainData:i?.terrainData,selectedMotion:l,showReferenceMotion:d,onError:L,onReady:H,onRuntimeReady:oe})]})})}function Wne(){return j.jsx(Lne,{children:j.jsx(jne,{})})}const eD=document.getElementById("root");eD&&W4.createRoot(eD).render(j.jsx(On.StrictMode,{children:j.jsx(Wne,{})}));export{RH as _};