mjswan 0.5.5 → 0.5.7

package/dist/assets/{index-BuyVQoco.js → index-BJWEa4j-.js}

@@ -15606,4 +15606,4 @@ fn calculateOutputIndex(index: u32) -> u32 {
       }`},FR=n=>{let e=n[1].dims,t=n[2].dims,r=n[0].dims,i=n[1].dataType,s=!(Le.areEqual(e,t)&&Le.areEqual(t,r)),a=e,o=Le.size(e);if(s){let c=Zd.calcShape(Zd.calcShape(e,t,!1),r,!1);if(!c)throw new Error("Can't perform where op on the given tensors");a=c,o=Le.size(a)}let l=Math.ceil(o/4);return{name:"Where",shaderCache:{inputDependencies:["rank","rank","rank"]},getShaderSource:c=>LR(c,n,a,s,i),getRunData:()=>({outputs:[{dims:a,dataType:i}],dispatchGroup:{x:Math.ceil(o/64/4)},programUniforms:[{type:12,data:l},...Ct(r,e,t,a)]})}},T4=n=>{n.compute(FR(n.inputs))}}),R4,Jte=et(()=>{dte(),oI(),hte(),fte(),pte(),Ate(),mte(),_te(),wte(),Ete(),Cte(),Ite(),Ste(),Bte(),Mte(),Tte(),Rte(),Dte(),kte(),Nte(),Qte(),Pte(),Lte(),Fte(),zte(),XF(),Ute(),Ote(),$te(),Gte(),Vte(),aI(),Hte(),t4(),jte(),Wte(),qte(),ZF(),Yte(),jl(),lI(),Xte(),R4=new Map([["Abs",[EL]],["Acos",[CL]],["Acosh",[IL]],["Add",[aF]],["ArgMax",[vL,Rw]],["ArgMin",[xL,Rw]],["Asin",[SL]],["Asinh",[BL]],["Atan",[ML]],["Atanh",[TL]],["Attention",[_L]],["AveragePool",[u4,c4]],["BatchNormalization",[bL]],["BiasAdd",[wL]],["BiasSplitGelu",[sF]],["Cast",[DL,RL]],["Ceil",[NL]],["Clip",[kL]],["Concat",[mF,gF]],["Conv",[Lw,Pw]],["ConvTranspose",[SF,IF]],["Cos",[QL]],["Cosh",[PL]],["CumSum",[BF,MF]],["DepthToSpace",[TF,RF]],["DequantizeLinear",[g4,y4]],["Div",[oF]],["Einsum",[DF,kF]],["Elu",[LL,op]],["Equal",[lF]],["Erf",[FL]],["Exp",[zL]],["Expand",[NF]],["FastGelu",[QF]],["Floor",[UL]],["FusedConv",[Lw,Pw]],["Gather",[LF,PF]],["GatherElements",[GF,$F]],["GatherBlockQuantized",[UF,OF]],["GatherND",[FF,zF]],["Gelu",[OL]],["Gemm",[HF,VF]],["GlobalAveragePool",[h4,d4]],["GlobalMaxPool",[m4,A4]],["Greater",[hF]],["GreaterOrEqual",[pF]],["GridSample",[jF,WF]],["GroupQueryAttention",[n4]],["HardSigmoid",[YL,qL]],["InstanceNormalization",[r4]],["LayerNormalization",[i4]],["LeakyRelu",[$L,op]],["Less",[fF]],["LessOrEqual",[AF]],["Log",[rF]],["MatMul",[s4]],["MatMulNBits",[a4,o4]],["MaxPool",[f4,p4]],["Mul",[cF]],["MultiHeadAttention",[YF,qF]],["Neg",[VL]],["Not",[GL]],["Pad",[l4]],["Pow",[uF]],["QuickGelu",[iF,op]],["Range",[x4]],["Reciprocal",[HL]],["ReduceMin",[pL]],["ReduceMean",[cL]],["ReduceMax",[fL]],["ReduceSum",[mL]],["ReduceProd",[AL]],["ReduceL1",[uL]],["ReduceL2",[dL]],["ReduceLogSum",[yL]],["ReduceLogSumExp",[hL]],["ReduceSumSquare",[gL]],["Relu",[jL]],["Resize",[b4,w4]],["RotaryEmbedding",[e4]],["ScatterND",[_4,v4]],["Sigmoid",[WL]],["Sin",[XL]],["Sinh",[JL]],["Slice",[C4,I4]],["SkipLayerNormalization",[E4]],["Split",[JF,KF]],["Sqrt",[KL]],["Softmax",[S4,B4]],["Sub",[dF]],["Tan",[ZL]],["Tanh",[eF]],["ThresholdedRelu",[nF,op]],["Tile",[M4]],["Transpose",[JP,KP]],["Where",[T4]]])}),D4,Kte=et(()=>{xs(),No(),Wt(),D4=class{constructor(n){this.backend=n,this.repo=new Map,this.attributesBound=!1}getArtifact(n){return this.repo.get(n)}setArtifact(n,e){this.repo.set(n,e)}run(n,e,t,r,i){Fa(n.programInfo.name);let s=this.backend.device,a=this.backend.getComputePassEncoder();this.backend.writeTimestamp(this.backend.pendingDispatchNumber*2);let o=[];for(let c of e)o.push({binding:o.length,resource:{buffer:c.buffer}});for(let c of t)o.push({binding:o.length,resource:{buffer:c.buffer}});i&&o.push({binding:o.length,resource:i});let l=s.createBindGroup({layout:n.computePipeline.getBindGroupLayout(0),entries:o,label:n.programInfo.name});if(this.backend.sessionStatus==="capturing"){let c={kernelId:this.backend.currentKernelId,computePipeline:n.computePipeline,bindGroup:l,dispatchGroup:r};this.backend.capturedCommandList.get(this.backend.currentSessionId).push(c)}a.setPipeline(n.computePipeline),a.setBindGroup(0,l),a.dispatchWorkgroups(...r),this.backend.writeTimestamp(this.backend.pendingDispatchNumber*2+1),this.backend.pendingDispatchNumber++,(this.backend.pendingDispatchNumber>=this.backend.maxDispatchNumber||this.backend.queryType==="at-passes")&&this.backend.endComputePass(),this.backend.pendingDispatchNumber>=this.backend.maxDispatchNumber&&this.backend.flush(),Zs(n.programInfo.name)}dispose(){}build(n,e){Fa(n.name);let t=this.backend.device,r=[];[{feature:"shader-f16",extension:"f16"},{feature:"subgroups",extension:"subgroups"}].forEach(c=>{t.features.has(c.feature)&&r.push(`enable ${c.extension};`)});let i=XP(e,this.backend.device.limits),s=n.getShaderSource(i),a=`${r.join(`
 `)}
 ${i.additionalImplementations}
-${s}`,o=t.createShaderModule({code:a,label:n.name});un("verbose",()=>`[WebGPU] ${n.name} shader code: ${a}`);let l=t.createComputePipeline({compute:{module:o,entryPoint:"main"},layout:"auto",label:n.name});return Zs(n.name),{programInfo:n,computePipeline:l,uniformVariablesInfo:i.variablesInfo}}normalizeDispatchGroupSize(n){let e=typeof n=="number"?n:n.x,t=typeof n=="number"?1:n.y||1,r=typeof n=="number"?1:n.z||1,i=this.backend.device.limits.maxComputeWorkgroupsPerDimension;if(e<=i&&t<=i&&r<=i)return[e,t,r];let s=e*t*r,a=Math.ceil(Math.sqrt(s));if(a>i){if(a=Math.ceil(Math.cbrt(s)),a>i)throw new Error("Total dispatch size exceeds WebGPU maximum.");return[a,a,a]}else return[a,a,1]}}}),k4={};vh(k4,{WebGpuBackend:()=>N4});var zR,UR,OR,N4,Zte=et(()=>{xs(),Lt(),No(),HP(),cte(),Jte(),Kte(),zR=(n,e)=>{if(e.length!==n.length)throw new Error(`inputDependencies length ${e.length} is not equal to inputTensors length ${n.length}.`);let t=[];for(let r=0;r<n.length;++r){let i=n[r].dataType;switch(e[r]){case"none":{t.push("");break}case"type":{t.push(`${i}`);break}case"rank":{let s=n[r].dims.length;t.push(`${i};${s}`);break}case"dims":{let s=n[r].dims.join(",");t.push(`${i};${s}`);break}default:throw new Error(`unsupported input dependency: ${e[r]}`)}}return t.join("|")},UR=(n,e,t)=>{let r=n.name;return n.shaderCache?.hint&&(r+="["+n.shaderCache.hint+"]"),r+=":"+t+`:${zR(e,n.shaderCache?.inputDependencies??new Array(e.length).fill("dims"))}`,r},OR=class{constructor(n){n&&(this.architecture=n.architecture,this.vendor=n.vendor)}isArchitecture(n){return this.architecture===n}isVendor(n){return this.vendor===n}},N4=class{constructor(){this.currentSessionId=null,this.currentKernelId=null,this.commandEncoder=null,this.computePassEncoder=null,this.maxDispatchNumber=16,this.pendingDispatchNumber=0,this.pendingKernels=[],this.pendingQueries=new Map,this.sessionStatus="default",this.capturedCommandList=new Map,this.capturedPendingKernels=new Map,this.sessionExternalDataMapping=new Map}get currentKernelCustomData(){if(this.currentKernelId===null)throw new Error("currentKernelCustomData(): currentKernelId is null. (should not happen)");let n=this.kernelCustomData.get(this.currentKernelId);return n||(n={},this.kernelCustomData.set(this.currentKernelId,n)),n}async initialize(n,e){this.env=n;let t=[],r={requiredLimits:{maxComputeWorkgroupStorageSize:e.limits.maxComputeWorkgroupStorageSize,maxComputeWorkgroupsPerDimension:e.limits.maxComputeWorkgroupsPerDimension,maxStorageBufferBindingSize:e.limits.maxStorageBufferBindingSize,maxBufferSize:e.limits.maxBufferSize,maxComputeInvocationsPerWorkgroup:e.limits.maxComputeInvocationsPerWorkgroup,maxComputeWorkgroupSizeX:e.limits.maxComputeWorkgroupSizeX,maxComputeWorkgroupSizeY:e.limits.maxComputeWorkgroupSizeY,maxComputeWorkgroupSizeZ:e.limits.maxComputeWorkgroupSizeZ},requiredFeatures:t},i=s=>e.features.has(s)&&t.push(s)&&!0;i("chromium-experimental-timestamp-query-inside-passes")||i("timestamp-query"),i("shader-f16"),i("subgroups"),this.device=await e.requestDevice(r),this.adapterInfo=new OR(e.info||await e.requestAdapterInfo()),this.gpuDataManager=qP(this),this.programManager=new D4(this),this.kernels=new Map,this.kernelPersistentData=new Map,this.kernelCustomData=new Map,nI(n.logLevel,!!n.debug),this.device.onuncapturederror=s=>{s.error instanceof GPUValidationError},Object.defineProperty(this.env.webgpu,"device",{value:this.device,writable:!1,enumerable:!0,configurable:!1}),Object.defineProperty(this.env.webgpu,"adapter",{value:e,writable:!1,enumerable:!0,configurable:!1}),this.setQueryType()}dispose(){typeof this.querySet<"u"&&this.querySet.destroy(),this.gpuDataManager.dispose()}getCommandEncoder(){return this.commandEncoder||(this.commandEncoder=this.device.createCommandEncoder()),this.commandEncoder}getComputePassEncoder(){if(!this.computePassEncoder){let n=this.getCommandEncoder(),e={};this.queryType==="at-passes"&&(e.timestampWrites={querySet:this.querySet,beginningOfPassWriteIndex:this.pendingDispatchNumber*2,endOfPassWriteIndex:this.pendingDispatchNumber*2+1}),this.computePassEncoder=n.beginComputePass(e)}return this.computePassEncoder}endComputePass(){this.computePassEncoder&&(this.computePassEncoder.end(),this.computePassEncoder=null)}flush(){if(!this.commandEncoder)return;Fa(),this.endComputePass();let n;this.queryType!=="none"&&(this.commandEncoder.resolveQuerySet(this.querySet,0,this.pendingDispatchNumber*2,this.queryResolveBuffer,0),n=this.device.createBuffer({size:this.pendingDispatchNumber*2*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),this.pendingQueries.set(n,this.pendingKernels),this.pendingKernels=[],this.commandEncoder.copyBufferToBuffer(this.queryResolveBuffer,0,n,0,this.pendingDispatchNumber*2*8)),this.device.queue.submit([this.commandEncoder.finish()]),this.gpuDataManager.refreshPendingBuffers(),this.commandEncoder=null,this.pendingDispatchNumber=0,this.queryType!=="none"&&n.mapAsync(GPUMapMode.READ).then(()=>{let e=new BigUint64Array(n.getMappedRange()),t=this.pendingQueries.get(n);for(let r=0;r<e.length/2;r++){let i=t[r],s=i.kernelId,a=this.kernels.get(s),o=a.kernelType,l=a.kernelName,c=i.programName,d=i.inputTensorViews,h=i.outputTensorViews,p=e[r*2],A=e[r*2+1];typeof this.queryTimeBase>"u"&&(this.queryTimeBase=p);let y=Number(p-this.queryTimeBase),m=Number(A-this.queryTimeBase);if(!Number.isSafeInteger(y)||!Number.isSafeInteger(m))throw new RangeError("incorrect timestamp range");if(this.env.webgpu.profiling?.ondata)this.env.webgpu.profiling.ondata({version:1,inputsMetadata:d.map(x=>({dims:x.dims,dataType:po(x.dataType)})),outputsMetadata:h.map(x=>({dims:x.dims,dataType:po(x.dataType)})),kernelId:s,kernelType:o,kernelName:l,programName:c,startTime:y,endTime:m});else{let x="";d.forEach((_,b)=>{x+=`input[${b}]: [${_.dims}] | ${po(_.dataType)}, `});let g="";h.forEach((_,b)=>{g+=`output[${b}]: [${_.dims}] | ${po(_.dataType)}, `})}qg("GPU",`${c}::${p}::${A}`)}n.unmap(),this.pendingQueries.delete(n)}),Zs()}run(n,e,t,r,i,s){Fa(n.name);let a=[];for(let _=0;_<e.length;++_){let b=e[_].data;if(b===0)continue;let w=this.gpuDataManager.get(b);if(!w)throw new Error(`no GPU data for input: ${b}`);a.push(w)}let{outputs:o,dispatchGroup:l,programUniforms:c}=n.getRunData(e),d=t.length===0?o.map((_,b)=>b):t;if(d.length!==o.length)throw new Error(`Output size ${d.length} must be equal to ${o.length}.`);let h=[],p=[];for(let _=0;_<o.length;++_){if(!Number.isInteger(d[_])||d[_]<-3||d[_]>=s)throw new Error(`Invalid output index: ${d[_]}`);if(d[_]===-3)continue;let b=d[_]===-1,w=d[_]===-2,C=b||w?i(o[_].dataType,o[_].dims):r(d[_],o[_].dataType,o[_].dims);if(h.push(C),C.data===0)continue;let S=this.gpuDataManager.get(C.data);if(!S)throw new Error(`no GPU data for output: ${C.data}`);if(b&&this.temporaryData.push(S),w){let M=this.kernelPersistentData.get(this.currentKernelId);M||(M=[],this.kernelPersistentData.set(this.currentKernelId,M)),M.push(S)}p.push(S)}if(a.length!==e.length||p.length!==h.length){if(p.length===0)return Zs(n.name),h;throw new Error(`Program ${n.name} has zero-sized tensor(s) in inputs or outputs. This is not supported now.`)}let A;if(c){let _=0,b=[];c.forEach(M=>{let T=typeof M.data=="number"?[M.data]:M.data;if(T.length===0)return;let R=M.type===10?2:4,k,$;M.type===10?($=T.length>4?16:T.length>2?8:T.length*R,k=T.length>4?16:R*T.length):($=T.length<=2?T.length*R:16,k=16),_=Math.ceil(_/$)*$,b.push(_);let Q=M.type===10?8:4;_+=T.length>4?Math.ceil(T.length/Q)*k:T.length*R});let w=16;_=Math.ceil(_/w)*w;let C=new ArrayBuffer(_);c.forEach((M,T)=>{let R=b[T],k=typeof M.data=="number"?[M.data]:M.data;if(M.type===6)new Int32Array(C,R,k.length).set(k);else if(M.type===12)new Uint32Array(C,R,k.length).set(k);else if(M.type===10)new Uint16Array(C,R,k.length).set(k);else if(M.type===1)new Float32Array(C,R,k.length).set(k);else throw new Error(`Unsupported uniform type: ${po(M.type)}`)});let S=this.gpuDataManager.create(_,GPUBufferUsage.COPY_DST|GPUBufferUsage.UNIFORM);this.device.queue.writeBuffer(S.buffer,0,C,0,_),this.gpuDataManager.release(S.id),A={offset:0,size:_,buffer:S.buffer}}let y=this.programManager.normalizeDispatchGroupSize(l),m=y[1]===1&&y[2]===1,x=UR(n,e,m),g=this.programManager.getArtifact(x);if(g||(g=this.programManager.build(n,y),this.programManager.setArtifact(x,g),un("info",()=>`[artifact] key: ${x}, programName: ${n.name}`)),c&&g.uniformVariablesInfo){if(c.length!==g.uniformVariablesInfo.length)throw new Error(`Uniform variables count mismatch: expect ${g.uniformVariablesInfo.length}, got ${c.length} in program "${g.programInfo.name}".`);for(let _=0;_<c.length;_++){let b=c[_],w=b.type,C=typeof b.data=="number"?1:b.data.length,[S,M]=g.uniformVariablesInfo[_];if(w!==S||C!==M)throw new Error(`Uniform variable ${_} mismatch: expect type ${S} with size ${M}, got type ${w} with size ${C} in program "${g.programInfo.name}".`)}}if(un("info",()=>`[ProgramManager] run "${n.name}" (key=${x}) with ${y[0]}x${y[1]}x${y[2]}`),this.queryType!=="none"||this.sessionStatus==="capturing"){let _={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=R4.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 e=this.sessionExternalDataMapping.get(n);e&&(e.forEach(t=>this.gpuDataManager.unregisterExternalBuffer(t[0])),this.sessionExternalDataMapping.delete(n))}getBuffer(n){let e=this.gpuDataManager.get(n);if(!e)throw new Error(`no GPU data for buffer: ${n}`);return e.buffer}createDownloader(n,e,t){return async()=>{let r=await Bw(this,n,e);return rI(r.buffer,t)}}writeTimestamp(n){this.queryType==="inside-passes"&&this.computePassEncoder.writeTimestamp(this.querySet,n)}setQueryType(){this.queryType="none",(this.env.webgpu.profiling?.mode==="default"||(typeof this.env.trace>"u"?this.env.wasm.trace:this.env.trace))&&(this.device.features.has("chromium-experimental-timestamp-query-inside-passes")?this.queryType="inside-passes":this.device.features.has("timestamp-query")&&(this.queryType="at-passes"),this.queryType!=="none"&&typeof this.querySet>"u"&&(this.querySet=this.device.createQuerySet({type:"timestamp",count:this.maxDispatchNumber*2}),this.queryResolveBuffer=this.device.createBuffer({size:this.maxDispatchNumber*2*8,usage:GPUBufferUsage.COPY_SRC|GPUBufferUsage.QUERY_RESOLVE})))}captureBegin(){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()}}}),Q4={};vh(Q4,{init:()=>P4});var ng,$R,P4,ene=et(()=>{Lt(),No(),jt(),lte(),ng=class L4{constructor(e,t,r,i){this.module=e,this.dataType=t,this.data=r,this.dims=i}getFloat32Array(){if(this.dataType!==1)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Float32Array:new Float32Array(this.module.HEAP8.buffer,this.data,e)}getBigInt64Array(){if(this.dataType!==7)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new BigInt64Array:new BigInt64Array(this.module.HEAP8.buffer,this.data,e)}getInt32Array(){if(this.dataType!==6)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Int32Array:new Int32Array(this.module.HEAP8.buffer,this.data,e)}getUint16Array(){if(this.dataType!==10&&this.dataType!==4)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Uint16Array:new Uint16Array(this.module.HEAP8.buffer,this.data,e)}reshape(e){if(Le.size(e)!==Le.size(this.dims))throw new Error("Invalid new shape");return new L4(this.module,this.dataType,this.data,e)}},$R=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 ng(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 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r={type:"release",in:n};ts.postMessage(r)});gI(n)},V4=async(n,e,t,r,i,s)=>{if(Sl()){if(t.some(a=>a[3]!=="cpu"))throw new Error("input tensor on GPU is not supported for proxy.");if(i.some(a=>a))throw new Error("pre-allocated output tensor is not supported for proxy.");return Sc(),new Promise((a,o)=>{Ic("run",[a,o]);let l=t,c={type:"run",in:{sessionId:n,inputIndices:e,inputs:l,outputIndices:r,options:s}};ts.postMessage(c,vI(l))})}else return yI(n,e,t,r,i,s)},H4=async n=>{if(Sl())return Sc(),new Promise((e,t)=>{Ic("end-profiling",[e,t]);let r={type:"end-profiling",in:n};ts.postMessage(r)});xI(n)}}),j_,jR,W4,tne=et(()=>{xs(),j4(),Lt(),YC(),OP(),j_=(n,e)=>{switch(n.location){case"cpu":return[n.type,n.dims,n.data,"cpu"];case"gpu-buffer":return[n.type,n.dims,{gpuBuffer:n.gpuBuffer},"gpu-buffer"];case"ml-tensor":return[n.type,n.dims,{mlTensor:n.mlTensor},"ml-tensor"];default:throw new Error(`invalid data location: ${n.location} for ${e()}`)}},jR=n=>{switch(n[3]){case"cpu":return new 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]}`)}},W4=class{async fetchModelAndCopyToWasmMemory(n){return O4(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 $4(t,e),Zs()}async dispose(){return G4(this.sessionId)}async run(n,e,t){Fa();let r=[],i=[];Object.entries(n).forEach(h=>{let p=h[0],A=h[1],y=this.inputNames.indexOf(p);if(y===-1)throw new Error(`invalid input '${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 '${p}'`);s.push(A),a.push(y)});let o=r.map((h,p)=>j_(h,()=>`input "${this.inputNames[i[p]]}"`)),l=s.map((h,p)=>h?j_(h,()=>`output "${this.outputNames[a[p]]}"`):null),c=await V4(this.sessionId,i,o,a,l,t),d={};for(let h=0;h<c.length;h++)d[this.outputNames[a[h]]]=s[h]??jR(c[h]);return Zs(),d}startProfiling(){}endProfiling(){H4(this.sessionId)}}}),q4={};vh(q4,{OnnxruntimeWebAssemblyBackend:()=>Uw,initializeFlags:()=>zw,wasmBackend:()=>Y4});var zw,Uw,Y4,nne=et(()=>{xs(),j4(),tne(),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"&&(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 z4(),await U4(n)}async createInferenceSessionHandler(n,e){let t=new W4;return await t.loadModel(n,e),t}},Y4=new Uw});xs();xs();xs();var rne="1.24.3";{let n=(nne(),Pp(q4)).wasmBackend;Bd("webgpu",n,5),Bd("webnn",n,5),Bd("cpu",n,10),Bd("wasm",n,10)}Object.defineProperty(Dn.versions,"web",{value:rne,enumerable:!0});class ine{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 sne{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: ${o}`);t[l]=e[o]}const r=await this.session.run(t),i={};for(let a=0;a<this.outKeys.length;a++){const o=this.outKeys[a],l=this.session.outputNames[a];l&&r[l]&&(i[o]=r[l])}const s={};return this.isRecurrent&&i["next,adapt_hx"]&&(s.is_init=new ti("bool",[!1],[1]),s.adapt_hx=i["next,adapt_hx"]),[i,s]}inferInputKeys(){if(!this.session)return;const e=this.session.inputNames;if(e.length<=1){this.inKeys=[...this.configuredInKeys];return}if(this.configuredInKeys.length===e.length){this.inKeys=[...this.configuredInKeys];return}this.inKeys=e.map(t=>this.configuredInKeys.includes(t)?t:t==="obs"&&this.configuredInKeys.includes("policy")?"policy":t)}}class ane{constructor(e,t,r,i){this.mujoco=e,this.mjModel=t,this.mjData=r;const s=this.getJointNames(t);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(const a of i){const o=s.indexOf(a);if(o<0)throw new Error(`Joint "${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 X4{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}}class one{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 lne extends X4{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 one(r)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}}class cne{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 une extends X4{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 cne(r)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}}class dne{constructor(e,t){this.terms=[];for(const r of e){const i=t[r.name];i&&this.terms.push(new i(r))}}onReset(e){for(const t of this.terms)t.onReset(e)}get size(){return this.terms.length}}class J4{constructor(e){this.config=e}}const hne={};class K4 extends J4{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 fne extends J4{constructor(e){super(e),this.patchName=e.params?.patch_name??"spawn",this.fallback=new K4(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 pne={ResetRootStateUniform:K4,ResetRootStateFromFlatPatches:fne},Ane={...pne,...hne};function sg(n){return typeof n=="object"&&n!==null&&typeof n.setSelectedMotion=="function"}class Z4 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 WR(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 mne{constructor(e,t,r={}){this.render=()=>{if(Kn().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&&hX({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}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:"."},i)}catch(o){o&&typeof o=="object"&&"code"in o&&o.code!=="EEXIST"&&o.code}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=NN,this.renderer.outputColorSpace=ii,this.renderer.toneMapping=QN,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:fX()},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=ww.getInstance(this.mujoco),this.resourceTracker=new GZ,this.memoryMonitor=new VZ}async loadEnvironment(e,t=null,r=null,i=null,s=null,a=null){this.terrainData=a,s&&s.length>0?this.eventManager=new dne(s,Ane):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 bX(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=Kn();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e,t){Kn().initialize(e,t)}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){const e=this.policyStateBuilder.build();this.policyRunner.reset(e)}}async setSelectedMotion(e){const t=Kn().getTerm("motion");if(!sg(t))return!1;const r=await t.setSelectedMotion(e);return r&&this.resetSimulation(),r}getSelectedMotionName(){const e=Kn().getTerm("motion");return sg(e)?e.getSelectedMotionName?.()??null:null}setReferenceVisible(e){const t=Kn().getTerm("motion");!sg(t)||typeof t.setReferenceVisible!="function"||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 vX(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(!WR(t))throw t;this.loadingScene=null,await this.sceneCacheManager.clear();try{await this.loadScene(e)}catch(r){throw this.loadingScene=null,WR(r)?new Z4: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&&aP(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;l&&Array.from(l.slice(0,8))}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)}}Kn().update(t),Kn().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=Kn();if(r.clear(),r.setResetCallback(()=>this.resetSimulation()),!!e&&!(!this.mjModel||!this.mjData)){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&&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()}),Kn().resetTerms();const o=Kn().getTerm("motion");sg(o)&&(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 ine(i,{policyModules:{tracking:lne,locomotion:une},observations:Mee});await s.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene}),this.policyRunner=s,this.policyStateBuilder=new ane(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)),i.onnx?.path){const o=this.resolvePolicyAssetPath(e,i.onnx.path),l=this.resolveAssetUrl(o),c={...i.onnx,path:l},d=new sne(c);await d.init(),this.onnxModule=d,this.onnxInputDict=d.initInput()}}catch{}}}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(Q=>i[Q]),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 Q=0;Q<g;Q++)S[Q]=C[h.actionIndices[Q]];const M=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(i.length),T=new Float32Array(g);for(let Q=0;Q<g;Q++)T[Q]=M[h.actionIndices[Q]]??0;const R=this.normalizeControlArray(y,g,0,_),k=this.normalizeControlArray(m,g,0,_),$=h.ctrlAdr.map(Q=>Q<0||!this.mjModel?!1:this.mjModel.actuator_biastype[Q]===s);return $.some(Boolean),$.some(Q=>!Q),{controlType:d,ctrlAdr:h.ctrlAdr,qposAdr:h.qposAdr,qvelAdr:h.qvelAdr,actionIndices:h.actionIndices,actionScale:b,actionOffset:w,defaultJointPos:S,encoderBias:T,positionActuator:$,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 null;const d=r.getControlMapping();if(!d)return 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")continue;const p=d.actuator_names??[".*"],A=p.length===1&&p[0]===".*";let y;if(A){const x=r.getControlMapping();if(!x)continue;y={...x,actionIndices:Array.from({length:x.qposAdr.length},(g,_)=>_)}}else if(y=r.getControlMappingFor(p,i),!y)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?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)}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}),Kn().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])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)return;this.policyRunner.setLastActions(l)}catch{}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]&&(jc(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);jc(this.mjData.xpos,t,r.position),pp(this.mjData.xquat,t,r.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&dX(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&&(jc(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)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",gne=({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 g=U.useRef(o);g.current=o;const _=U.useRef(l);return _.current=l,U.useEffect(()=>{let b=!1;const w=S=>{c?.(S)};return(async()=>{if(w("Loading MuJoCo..."),!m.current){const T=await RV(()=>import("./mujoco-Cp1xcNpc.js"),[]);m.current=await T.default()}if(b)return;const S=A.current;if(!S)throw new Error("Failed to find viewer container.");const M=m.current;if(!M)throw new Error("MuJoCo not loaded.");y.current||(y.current=new mne(M,S,{baseUrl:e}),p?.(y.current)),w("Loading scene assets..."),await y.current.loadEnvironment(n,t??null,x.current??null,i??null,s??null,a??null),await y.current.setSelectedMotion(g.current??null),y.current.setReferenceVisible(_.current),!b&&(sessionStorage.removeItem(ag),w("Running simulation"),h?.())})().catch(S=>{if(!b){if(S instanceof Z4){if(sessionStorage.getItem(ag)!==n){sessionStorage.setItem(ag,n),window.location.reload();return}sessionStorage.removeItem(ag)}d?.(S instanceof Error?S:new Error(String(S))),w("Failed to load 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(should not happen)");let n=this.kernelCustomData.get(this.currentKernelId);return n||(n={},this.kernelCustomData.set(this.currentKernelId,n)),n}async initialize(n,e){this.env=n;let t=[],r={requiredLimits:{maxComputeWorkgroupStorageSize:e.limits.maxComputeWorkgroupStorageSize,maxComputeWorkgroupsPerDimension:e.limits.maxComputeWorkgroupsPerDimension,maxStorageBufferBindingSize:e.limits.maxStorageBufferBindingSize,maxBufferSize:e.limits.maxBufferSize,maxComputeInvocationsPerWorkgroup:e.limits.maxComputeInvocationsPerWorkgroup,maxComputeWorkgroupSizeX:e.limits.maxComputeWorkgroupSizeX,maxComputeWorkgroupSizeY:e.limits.maxComputeWorkgroupSizeY,maxComputeWorkgroupSizeZ:e.limits.maxComputeWorkgroupSizeZ},requiredFeatures:t},i=s=>e.features.has(s)&&t.push(s)&&!0;i("chromium-experimental-timestamp-query-inside-passes")||i("timestamp-query"),i("shader-f16"),i("subgroups"),this.device=await e.requestDevice(r),this.adapterInfo=new OR(e.info||await e.requestAdapterInfo()),this.gpuDataManager=qP(this),this.programManager=new D4(this),this.kernels=new Map,this.kernelPersistentData=new Map,this.kernelCustomData=new Map,nI(n.logLevel,!!n.debug),this.device.onuncapturederror=s=>{s.error instanceof GPUValidationError},Object.defineProperty(this.env.webgpu,"device",{value:this.device,writable:!1,enumerable:!0,configurable:!1}),Object.defineProperty(this.env.webgpu,"adapter",{value:e,writable:!1,enumerable:!0,configurable:!1}),this.setQueryType()}dispose(){typeof this.querySet<"u"&&this.querySet.destroy(),this.gpuDataManager.dispose()}getCommandEncoder(){return this.commandEncoder||(this.commandEncoder=this.device.createCommandEncoder()),this.commandEncoder}getComputePassEncoder(){if(!this.computePassEncoder){let n=this.getCommandEncoder(),e={};this.queryType==="at-passes"&&(e.timestampWrites={querySet:this.querySet,beginningOfPassWriteIndex:this.pendingDispatchNumber*2,endOfPassWriteIndex:this.pendingDispatchNumber*2+1}),this.computePassEncoder=n.beginComputePass(e)}return this.computePassEncoder}endComputePass(){this.computePassEncoder&&(this.computePassEncoder.end(),this.computePassEncoder=null)}flush(){if(!this.commandEncoder)return;Fa(),this.endComputePass();let n;this.queryType!=="none"&&(this.commandEncoder.resolveQuerySet(this.querySet,0,this.pendingDispatchNumber*2,this.queryResolveBuffer,0),n=this.device.createBuffer({size:this.pendingDispatchNumber*2*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),this.pendingQueries.set(n,this.pendingKernels),this.pendingKernels=[],this.commandEncoder.copyBufferToBuffer(this.queryResolveBuffer,0,n,0,this.pendingDispatchNumber*2*8)),this.device.queue.submit([this.commandEncoder.finish()]),this.gpuDataManager.refreshPendingBuffers(),this.commandEncoder=null,this.pendingDispatchNumber=0,this.queryType!=="none"&&n.mapAsync(GPUMapMode.READ).then(()=>{let e=new BigUint64Array(n.getMappedRange()),t=this.pendingQueries.get(n);for(let r=0;r<e.length/2;r++){let i=t[r],s=i.kernelId,a=this.kernels.get(s),o=a.kernelType,l=a.kernelName,c=i.programName,d=i.inputTensorViews,h=i.outputTensorViews,p=e[r*2],A=e[r*2+1];typeof this.queryTimeBase>"u"&&(this.queryTimeBase=p);let y=Number(p-this.queryTimeBase),m=Number(A-this.queryTimeBase);if(!Number.isSafeInteger(y)||!Number.isSafeInteger(m))throw new RangeError("incorrect timestamp range");if(this.env.webgpu.profiling?.ondata)this.env.webgpu.profiling.ondata({version:1,inputsMetadata:d.map(x=>({dims:x.dims,dataType:po(x.dataType)})),outputsMetadata:h.map(x=>({dims:x.dims,dataType:po(x.dataType)})),kernelId:s,kernelType:o,kernelName:l,programName:c,startTime:y,endTime:m});else{let x="";d.forEach((_,b)=>{x+=`input[${b}]: [${_.dims}] | ${po(_.dataType)}, `});let g="";h.forEach((_,b)=>{g+=`output[${b}]: [${_.dims}] | ${po(_.dataType)}, `})}qg("GPU",`${c}::${p}::${A}`)}n.unmap(),this.pendingQueries.delete(n)}),Zs()}run(n,e,t,r,i,s){Fa(n.name);let a=[];for(let _=0;_<e.length;++_){let b=e[_].data;if(b===0)continue;let w=this.gpuDataManager.get(b);if(!w)throw new Error(`no GPU data for input: ${b}`);a.push(w)}let{outputs:o,dispatchGroup:l,programUniforms:c}=n.getRunData(e),d=t.length===0?o.map((_,b)=>b):t;if(d.length!==o.length)throw new Error(`Output size ${d.length} must be equal to ${o.length}.`);let h=[],p=[];for(let _=0;_<o.length;++_){if(!Number.isInteger(d[_])||d[_]<-3||d[_]>=s)throw new Error(`Invalid output index: ${d[_]}`);if(d[_]===-3)continue;let b=d[_]===-1,w=d[_]===-2,C=b||w?i(o[_].dataType,o[_].dims):r(d[_],o[_].dataType,o[_].dims);if(h.push(C),C.data===0)continue;let S=this.gpuDataManager.get(C.data);if(!S)throw new Error(`no GPU data for output: ${C.data}`);if(b&&this.temporaryData.push(S),w){let M=this.kernelPersistentData.get(this.currentKernelId);M||(M=[],this.kernelPersistentData.set(this.currentKernelId,M)),M.push(S)}p.push(S)}if(a.length!==e.length||p.length!==h.length){if(p.length===0)return Zs(n.name),h;throw new Error(`Program ${n.name} has zero-sized tensor(s) in inputs or outputs. This is not supported now.`)}let A;if(c){let _=0,b=[];c.forEach(M=>{let T=typeof M.data=="number"?[M.data]:M.data;if(T.length===0)return;let R=M.type===10?2:4,k,$;M.type===10?($=T.length>4?16:T.length>2?8:T.length*R,k=T.length>4?16:R*T.length):($=T.length<=2?T.length*R:16,k=16),_=Math.ceil(_/$)*$,b.push(_);let Q=M.type===10?8:4;_+=T.length>4?Math.ceil(T.length/Q)*k:T.length*R});let w=16;_=Math.ceil(_/w)*w;let C=new ArrayBuffer(_);c.forEach((M,T)=>{let R=b[T],k=typeof M.data=="number"?[M.data]:M.data;if(M.type===6)new Int32Array(C,R,k.length).set(k);else if(M.type===12)new Uint32Array(C,R,k.length).set(k);else if(M.type===10)new Uint16Array(C,R,k.length).set(k);else if(M.type===1)new Float32Array(C,R,k.length).set(k);else throw new Error(`Unsupported uniform type: ${po(M.type)}`)});let S=this.gpuDataManager.create(_,GPUBufferUsage.COPY_DST|GPUBufferUsage.UNIFORM);this.device.queue.writeBuffer(S.buffer,0,C,0,_),this.gpuDataManager.release(S.id),A={offset:0,size:_,buffer:S.buffer}}let y=this.programManager.normalizeDispatchGroupSize(l),m=y[1]===1&&y[2]===1,x=UR(n,e,m),g=this.programManager.getArtifact(x);if(g||(g=this.programManager.build(n,y),this.programManager.setArtifact(x,g),un("info",()=>`[artifact] key: ${x}, programName: ${n.name}`)),c&&g.uniformVariablesInfo){if(c.length!==g.uniformVariablesInfo.length)throw new Error(`Uniform variables count mismatch: expect ${g.uniformVariablesInfo.length}, got ${c.length} in program "${g.programInfo.name}".`);for(let _=0;_<c.length;_++){let b=c[_],w=b.type,C=typeof b.data=="number"?1:b.data.length,[S,M]=g.uniformVariablesInfo[_];if(w!==S||C!==M)throw new Error(`Uniform variable ${_} mismatch: expect type ${S} with size ${M}, got type ${w} with size ${C} in program "${g.programInfo.name}".`)}}if(un("info",()=>`[ProgramManager] run "${n.name}" (key=${x}) with ${y[0]}x${y[1]}x${y[2]}`),this.queryType!=="none"||this.sessionStatus==="capturing"){let _={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=R4.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 e=this.sessionExternalDataMapping.get(n);e&&(e.forEach(t=>this.gpuDataManager.unregisterExternalBuffer(t[0])),this.sessionExternalDataMapping.delete(n))}getBuffer(n){let e=this.gpuDataManager.get(n);if(!e)throw new Error(`no GPU data for buffer: ${n}`);return e.buffer}createDownloader(n,e,t){return async()=>{let r=await Bw(this,n,e);return rI(r.buffer,t)}}writeTimestamp(n){this.queryType==="inside-passes"&&this.computePassEncoder.writeTimestamp(this.querySet,n)}setQueryType(){this.queryType="none",(this.env.webgpu.profiling?.mode==="default"||(typeof this.env.trace>"u"?this.env.wasm.trace:this.env.trace))&&(this.device.features.has("chromium-experimental-timestamp-query-inside-passes")?this.queryType="inside-passes":this.device.features.has("timestamp-query")&&(this.queryType="at-passes"),this.queryType!=="none"&&typeof this.querySet>"u"&&(this.querySet=this.device.createQuerySet({type:"timestamp",count:this.maxDispatchNumber*2}),this.queryResolveBuffer=this.device.createBuffer({size:this.maxDispatchNumber*2*8,usage:GPUBufferUsage.COPY_SRC|GPUBufferUsage.QUERY_RESOLVE})))}captureBegin(){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()}}}),Q4={};vh(Q4,{init:()=>P4});var ng,$R,P4,ene=et(()=>{Lt(),No(),jt(),lte(),ng=class L4{constructor(e,t,r,i){this.module=e,this.dataType=t,this.data=r,this.dims=i}getFloat32Array(){if(this.dataType!==1)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Float32Array:new Float32Array(this.module.HEAP8.buffer,this.data,e)}getBigInt64Array(){if(this.dataType!==7)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new BigInt64Array:new BigInt64Array(this.module.HEAP8.buffer,this.data,e)}getInt32Array(){if(this.dataType!==6)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Int32Array:new Int32Array(this.module.HEAP8.buffer,this.data,e)}getUint16Array(){if(this.dataType!==10&&this.dataType!==4)throw new Error("Invalid data type");let e=Le.size(this.dims);return e===0?new Uint16Array:new Uint16Array(this.module.HEAP8.buffer,this.data,e)}reshape(e){if(Le.size(e)!==Le.size(this.dims))throw new Error("Invalid new shape");return new L4(this.module,this.dataType,this.data,e)}},$R=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 ng(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 ng(this.module,o,this.output(a,l),l),s=(a,o)=>{let l=Pc(a,o);if(!l)throw new Error(`Unsupported data type: ${a}`);let c=l>0?this.backend.gpuDataManager.create(l).id:0;return new ng(this.module,a,c,o)};return this.backend.run(n,t,r,i,s,this.outputCount)}output(n,e){let t=this.module.stackSave();try{let r=this.module.PTR_SIZE,i=r===4?"i32":"i64",s=this.module.stackAlloc((1+e.length)*r);this.module.setValue(s,e.length,i);for(let a=0;a<e.length;a++)this.module.setValue(s+r*(a+1),e[a],i);return this.module._JsepOutput(this.opKernelContext,n,s)}catch(r){throw new Error(`Failed to generate kernel's output[${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)}}},P4=async(n,e,t,r)=>{let i=e.jsepInit;if(!i)throw new Error("Failed to initialize JSEP. 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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]}`)}},W4=class{async fetchModelAndCopyToWasmMemory(n){return O4(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 $4(t,e),Zs()}async dispose(){return G4(this.sessionId)}async run(n,e,t){Fa();let r=[],i=[];Object.entries(n).forEach(h=>{let p=h[0],A=h[1],y=this.inputNames.indexOf(p);if(y===-1)throw new Error(`invalid input '${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 '${p}'`);s.push(A),a.push(y)});let o=r.map((h,p)=>j_(h,()=>`input "${this.inputNames[i[p]]}"`)),l=s.map((h,p)=>h?j_(h,()=>`output "${this.outputNames[a[p]]}"`):null),c=await V4(this.sessionId,i,o,a,l,t),d={};for(let h=0;h<c.length;h++)d[this.outputNames[a[h]]]=s[h]??jR(c[h]);return Zs(),d}startProfiling(){}endProfiling(){H4(this.sessionId)}}}),q4={};vh(q4,{OnnxruntimeWebAssemblyBackend:()=>Uw,initializeFlags:()=>zw,wasmBackend:()=>Y4});var zw,Uw,Y4,nne=et(()=>{xs(),j4(),tne(),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"&&(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 z4(),await U4(n)}async createInferenceSessionHandler(n,e){let t=new W4;return await t.loadModel(n,e),t}},Y4=new Uw});xs();xs();xs();var rne="1.24.3";{let n=(nne(),Pp(q4)).wasmBackend;Bd("webgpu",n,5),Bd("webnn",n,5),Bd("cpu",n,10),Bd("wasm",n,10)}Object.defineProperty(Dn.versions,"web",{value:rne,enumerable:!0});class ine{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 sne{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: ${o}`);t[l]=e[o]}const r=await this.session.run(t),i={};for(let a=0;a<this.outKeys.length;a++){const o=this.outKeys[a],l=this.session.outputNames[a];l&&r[l]&&(i[o]=r[l])}const s={};return this.isRecurrent&&i["next,adapt_hx"]&&(s.is_init=new ti("bool",[!1],[1]),s.adapt_hx=i["next,adapt_hx"]),[i,s]}inferInputKeys(){if(!this.session)return;const e=this.session.inputNames;if(e.length<=1){this.inKeys=[...this.configuredInKeys];return}if(this.configuredInKeys.length===e.length){this.inKeys=[...this.configuredInKeys];return}this.inKeys=e.map(t=>this.configuredInKeys.includes(t)?t:t==="obs"&&this.configuredInKeys.includes("policy")?"policy":t)}}class ane{constructor(e,t,r,i){this.mujoco=e,this.mjModel=t,this.mjData=r;const s=this.getJointNames(t);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(const a of i){const o=s.indexOf(a);if(o<0)throw new Error(`Joint "${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 X4{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}}class one{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 lne extends X4{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 one(r)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}}class cne{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 une extends X4{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 cne(r)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}}class dne{constructor(e,t){this.terms=[];for(const r of e){const i=t[r.name];i&&this.terms.push(new i(r))}}onReset(e){for(const t of this.terms)t.onReset(e)}get size(){return this.terms.length}}class J4{constructor(e){this.config=e}}const hne={};class K4 extends J4{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 fne extends J4{constructor(e){super(e),this.patchName=e.params?.patch_name??"spawn",this.fallback=new K4(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 pne={ResetRootStateUniform:K4,ResetRootStateFromFlatPatches:fne},Ane={...pne,...hne};function sg(n){return typeof n=="object"&&n!==null&&typeof n.setSelectedMotion=="function"}class Z4 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 WR(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 mne{constructor(e,t,r={}){this.render=()=>{if(Kn().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&&hX({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}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:"."},i)}catch(o){o&&typeof o=="object"&&"code"in o&&o.code!=="EEXIST"&&o.code}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=NN,this.renderer.outputColorSpace=ii,this.renderer.toneMapping=QN,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:fX()},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=ww.getInstance(this.mujoco),this.resourceTracker=new GZ,this.memoryMonitor=new VZ}async loadEnvironment(e,t=null,r=null,i=null,s=null,a=null){this.terrainData=a,s&&s.length>0?this.eventManager=new dne(s,Ane):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 bX(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=Kn();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e,t){Kn().initialize(e,t)}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){const e=this.policyStateBuilder.build();this.policyRunner.reset(e)}}async setSelectedMotion(e){const t=Kn().getTerm("motion");if(!sg(t))return!1;const r=await t.setSelectedMotion(e);return r&&this.resetSimulation(),r}getSelectedMotionName(){const e=Kn().getTerm("motion");return sg(e)?e.getSelectedMotionName?.()??null:null}setReferenceVisible(e){const t=Kn().getTerm("motion");!sg(t)||typeof t.setReferenceVisible!="function"||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 vX(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(!WR(t))throw t;this.loadingScene=null,await this.sceneCacheManager.clear();try{await this.loadScene(e)}catch(r){throw this.loadingScene=null,WR(r)?new Z4: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&&aP(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;l&&Array.from(l.slice(0,8))}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)}}Kn().update(t),Kn().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=Kn();if(r.clear(),r.setResetCallback(()=>this.resetSimulation()),!!e&&!(!this.mjModel||!this.mjData)){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&&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()}),Kn().resetTerms();const o=Kn().getTerm("motion");sg(o)&&(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 ine(i,{policyModules:{tracking:lne,locomotion:une},observations:Mee});await s.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene}),this.policyRunner=s,this.policyStateBuilder=new ane(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)),i.onnx?.path){const o=this.resolvePolicyAssetPath(e,i.onnx.path),l=this.resolveAssetUrl(o),c={...i.onnx,path:l},d=new sne(c);await d.init(),this.onnxModule=d,this.onnxInputDict=d.initInput()}}catch{}}}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(Q=>i[Q]),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 Q=0;Q<g;Q++)S[Q]=C[h.actionIndices[Q]];const M=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(i.length),T=new Float32Array(g);for(let Q=0;Q<g;Q++)T[Q]=M[h.actionIndices[Q]]??0;const R=this.normalizeControlArray(y,g,0,_),k=this.normalizeControlArray(m,g,0,_),$=h.ctrlAdr.map(Q=>Q<0||!this.mjModel?!1:this.mjModel.actuator_biastype[Q]===s);return $.some(Boolean),$.some(Q=>!Q),{controlType:d,ctrlAdr:h.ctrlAdr,qposAdr:h.qposAdr,qvelAdr:h.qvelAdr,actionIndices:h.actionIndices,actionScale:b,actionOffset:w,defaultJointPos:S,encoderBias:T,positionActuator:$,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 null;const d=r.getControlMapping();if(!d)return 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")continue;const p=d.actuator_names??[".*"],A=p.length===1&&p[0]===".*";let y;if(A){const x=r.getControlMapping();if(!x)continue;y={...x,actionIndices:Array.from({length:x.qposAdr.length},(g,_)=>_)}}else if(y=r.getControlMappingFor(p,i),!y)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?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)}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}),Kn().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])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)return;this.policyRunner.setLastActions(l)}catch{}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]&&(jc(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);jc(this.mjData.xpos,t,r.position),pp(this.mjData.xquat,t,r.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&dX(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&&(jc(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)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",gne=({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 g=U.useRef(o);g.current=o;const 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