mjswan 0.7.0 → 0.7.1-beta.1

package/dist/assets/{index-BaczEYWT.js → index-CYGC4_3w.js}

@@ -15594,4 +15594,4 @@ fn calculateOutputIndex(index: u32) -> u32 {
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p=Number(d-this.queryTimeBase),m=Number(f-this.queryTimeBase);if(!Number.isSafeInteger(p)||!Number.isSafeInteger(m))throw RangeError(`incorrect timestamp range`);if(this.env.webgpu.profiling?.ondata)this.env.webgpu.profiling.ondata({version:1,inputsMetadata:l.map(e=>({dims:e.dims,dataType:WL(e.dataType)})),outputsMetadata:u.map(e=>({dims:e.dims,dataType:WL(e.dataType)})),kernelId:i,kernelType:o,kernelName:s,programName:c,startTime:p,endTime:m});else{let e=``;l.forEach((t,n)=>{e+=`input[${n}]: [${t.dims}] | ${WL(t.dataType)}, `});let t=``;u.forEach((e,n)=>{t+=`output[${n}]: [${e.dims}] | ${WL(e.dataType)}, `}),console.log(`[profiling] kernel "${i}|${o}|${s}|${c}" ${e}${t}start time: ${p} ns, execution time: ${m-p} ns`)}MI(`GPU`,`${c}::${d}::${f}`)}e.unmap(),this.pendingQueries.delete(e)}),FI()}run(e,t,n,r,i,a){PI(e.name);let o=[];for(let e=0;e<t.length;++e){let n=t[e].data;if(n===0)continue;let r=this.gpuDataManager.get(n);if(!r)throw Error(`no GPU data for input: 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e={kernelId:this.currentKernelId,programName:_.programInfo.name,inputTensorViews:t,outputTensorViews:d};this.pendingKernels.push(e),this.sessionStatus===`capturing`&&this.capturedPendingKernels.get(this.currentSessionId).push(e)}return this.programManager.run(_,o,f,m,p),FI(e.name),d}upload(e,t){this.gpuDataManager.upload(e,t)}memcpy(e,t){this.gpuDataManager.memcpy(e,t)}async download(e,t){await this.gpuDataManager.download(e,t)}alloc(e){return this.gpuDataManager.create(e).id}free(e){return this.gpuDataManager.release(e)}createKernel(e,t,n,r){let i=ZK.get(e);if(!i)throw Error(`kernel not implemented: ${e}`);let a={kernelType:e,kernelName:r,kernelEntry:i[0],attributes:[i[1],n]};this.kernels.set(t,a)}releaseKernel(e){let t=this.kernelPersistentData.get(e);if(t){for(let e of t)this.gpuDataManager.release(e.id);this.kernelPersistentData.delete(e)}this.kernelCustomData.delete(e),this.kernels.delete(e)}computeKernel(e,t,n){let r=this.kernels.get(e);if(!r)throw Error(`kernel not created: ${e}`);let i=r.kernelType,a=r.kernelName,o=r.kernelEntry,s=r.attributes;if(this.currentKernelId!==null)throw Error(`kernel "[${i}] ${a}" is not allowed to be called recursively`);this.currentKernelId=e,s[0]&&=(s[1]=s[0](s[1]),void 0),oR(`info`,()=>`[WebGPU] Start to run kernel "[${i}] ${a}"...`);let c=this.env.debug;this.temporaryData=[];try{return c&&this.device.pushErrorScope(`validation`),o(t,s[1]),0}catch(e){return n.push(Promise.resolve(`[WebGPU] Kernel "[${i}] ${a}" failed. ${e}`)),1}finally{c&&n.push(this.device.popErrorScope().then(e=>e?`GPU validation error for kernel "[${i}] ${a}": ${e.message}`:null));for(let e of this.temporaryData)this.gpuDataManager.release(e.id);this.temporaryData=[],this.currentKernelId=null}}registerBuffer(e,t,n,r){let i=this.sessionExternalDataMapping.get(e);i||(i=new Map,this.sessionExternalDataMapping.set(e,i));let a=i.get(t),o=this.gpuDataManager.registerExternalBuffer(n,r,a);return i.set(t,[o,n]),o}unregisterBuffers(e){let t=this.sessionExternalDataMapping.get(e);t&&(t.forEach(e=>this.gpuDataManager.unregisterExternalBuffer(e[0])),this.sessionExternalDataMapping.delete(e))}getBuffer(e){let t=this.gpuDataManager.get(e);if(!t)throw Error(`no GPU data for buffer: ${e}`);return t.buffer}createDownloader(e,t,n){return async()=>{let r=await BR(this,e,t);return hR(r.buffer,n)}}writeTimestamp(e){this.queryType===`inside-passes`&&this.computePassEncoder.writeTimestamp(this.querySet,e)}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 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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(e=>({...e}));let e=Object.keys(this.obsLayouts)[0];return e?this.obsLayouts[e].map(e=>({...e})):[]}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)}getConfig(){return this.config}setLastActions(e){if(e.length!==this.lastActions.length){this.lastActions=new Float32Array(e);return}this.lastActions.set(e)}async buildPolicyModule(e){let t=this.options.policyModules??{},n=this.config.policy_module,r=n?t[n]:t.default;if(n&&!r)throw Error(`Unknown policy module: ${n}`);if(!r)return null;let i=new r(this.config);return await i.init(e),i}buildObservationGroups(){let e=this.options.observations??{},t=this.config.observations??{};this.obsGroups={},this.obsLayouts={},this.obsSizes={},this.historyConfig={},this.historyBuffers={},this.defaultObsKey=null;let n=t=>{let n=t;if(n.kind===`observation`&&Array.isArray(n.nodes))return new nJ(this,{name:`DslObservation`,graph:{kind:`observation`,nodes:n.nodes,output:n.output??``},params:n.params});let r=e[t.name];if(!r)throw Error(`Unknown observation type: ${t.name}`);return new r(this,t)};for(let[r,i]of Object.entries(t)){if(Array.isArray(i)){let e=i.map(n);this.registerGroup(r,e,i);continue}if(i&&typeof i==`object`){let t=i;if(Array.isArray(t.components)){let n=t.components.map(t=>{let n=t;if(n.kind===`observation`&&Array.isArray(n.nodes))return new nJ(this,{name:`DslObservation`,graph:{kind:`observation`,nodes:n.nodes,output:n.output??``},params:n.params});let r=e[t.name];if(!r)throw Error(`Unknown observation type: ${t.name}`);let i={...t,history_steps:1};return new r(this,i)}),i=Math.max(1,Math.floor(t.history_steps??1)),a=!!t.interleaved;this.registerGroup(r,n,t.components,{steps:i,interleaved:a})}}}this.obsGroups.policy?this.defaultObsKey=`policy`:this.obsGroups.observation?this.defaultObsKey=`observation`:this.obsGroups.obs_history?this.defaultObsKey=`obs_history`:this.defaultObsKey=Object.keys(this.obsGroups)[0]??null}registerGroup(e,t,n,r){this.obsGroups[e]=t,this.obsLayouts[e]=t.map((e,t)=>({name:n[t]?.name??`obs_${t}`,size:e.size}));let i=this.obsLayouts[e].reduce((e,t)=>e+t.size,0);r&&r.steps>1?(this.historyConfig[e]=r,this.historyBuffers[e]=new Float32Array(i*r.steps),this.obsSizes[e]=i*r.steps):this.obsSizes[e]=i}buildFrame(e,t){let n=e.reduce((e,t)=>e+t.size,0),r=new Float32Array(n),i=0;for(let n of e){let e=n.compute(t),a=e instanceof Float32Array?e:Float32Array.from(e);if(a.length!==n.size)throw Error(`Observation size 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VI.create(t,{executionProviders:[`wasm`],graphOptimizationLevel:`all`}),this.inferInputKeys(),this.isRecurrent=this.inKeys.includes(`adapt_hx`)}initInput(){let e={};return this.isRecurrent&&(e.is_init=new AI(`bool`,[!0],[1]),e.adapt_hx=new AI(`float32`,new Float32Array(128),[1,128])),this.inKeys.includes(`time_step`)&&(e.time_step=new AI(`float32`,new Float32Array([0]),[1,1])),e}async runInference(e){if(!this.session)throw Error(`OnnxModule not initialized.`);let t={};for(let n=0;n<this.inKeys.length;n++){let r=this.inKeys[n],i=this.session.inputNames[n];if(!i||!e[r])throw Error(`Missing ONNX input for key: ${r}`);t[i]=e[r]}let n=await this.session.run(t),r={};for(let e=0;e<this.outKeys.length;e++){let t=this.outKeys[e],i=this.session.outputNames[e];i&&n[i]&&(r[t]=n[i])}let i={};return this.isRecurrent&&r[`next,adapt_hx`]&&(i.is_init=new AI(`bool`,[!1],[1]),i.adapt_hx=r[`next,adapt_hx`]),[r,i]}inferInputKeys(){if(!this.session)return;let e=this.session.inputNames;if(e.length<=1){this.inKeys=[...this.configuredInKeys];return}if(this.configuredInKeys.length===e.length){this.inKeys=[...this.configuredInKeys];return}this.inKeys=e.map(e=>this.configuredInKeys.includes(e)?e:e===`obs`&&this.configuredInKeys.includes(`policy`)?`policy`:e)}},aJ=class{constructor(e,t,n,r){this.mujoco=e,this.mjModel=t,this.mjData=n;let i=this.getJointNames(t);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(let e of r){let n=i.indexOf(e);if(n<0)throw Error(`Joint "${e}" not found in MuJoCo model`);this.qposAdr.push(t.jnt_qposadr[n]),this.qvelAdr.push(t.jnt_dofadr[n]),this.jointIndices.push(n)}this.numActions=r.length,this.ctrlAdr=this.buildCtrlAdr()}build(){let e=this.mjData.qpos,t=this.mjData.qvel,n=new Float32Array(this.numActions),r=new Float32Array(this.numActions);for(let i=0;i<this.numActions;i++)n[i]=e[this.qposAdr[i]],r[i]=t[this.qvelAdr[i]];return{jointPos:n,jointVel:r,rootPos:new Float32Array([e[0],e[1],e[2]]),rootQuat:new Float32Array([e[3],e[4],e[5],e[6]]),rootLinVel:new Float32Array([t[0],t[1],t[2]]),rootAngVel:new Float32Array([t[3],t[4],t[5]])}}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;let n=e.map(e=>RegExp(`^(?:${e})$`)),r=e=>n.some(t=>t.test(e)),i=[],a=[],o=[],s=[];for(let e=0;e<t.length;e++)r(t[e])&&(i.push(this.ctrlAdr[e]),a.push(this.qposAdr[e]),o.push(this.qvelAdr[e]),s.push(e));return i.length===0?null:{ctrlAdr:i,qposAdr:a,qvelAdr:o,actionIndices:s}}getCtrlMappingByActuatorNames(e){let t=this.getActuatorNames(this.mjModel),n=e.map(e=>RegExp(`^(?:${e})$`)),r=e=>n.some(t=>t.test(e)),i=[],a=[];for(let e=0;e<t.length;e++)r(t[e])&&(i.push(e),a.push(i.length-1));return i.length>0?{ctrlAdr:i,actionIndices:a}:null}getActuatorNames(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.nu;i++){let a=e.name_actuatoradr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;r.push(n.decode(t.subarray(a,o)))}return r}buildCtrlAdr(){if(this.mjModel.nu<=0)return null;let e=this.mujoco.mjtTrn?.mjTRN_JOINT?.value,t=[];for(let n=0;n<this.mjModel.nu;n++){let r=this.mjModel.actuator_trntype[n];e===void 0||r===e?t.push(this.mjModel.actuator_trnid[2*n]):t.push(-1)}let n=[];for(let e of this.jointIndices){let r=t.findIndex(t=>t===e);if(r<0)return null;n.push(r)}return n}getJointNames(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.njnt;i++){let a=e.name_jntadr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;let s=n.decode(t.subarray(a,o));!s&&i===0&&(s=`floating_base_joint`),r.push(s)}return r}},oJ=class{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}},sJ=class{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){let t=e?.jointPos??new Float32Array(this.nJoints),n=e?.rootPos??new Float32Array([0,0,0]),r=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(t)],this.refRootPos=[Float32Array.from(n)],this.refRootQuat=[Float32Array.from(r)],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}},cJ=class extends oJ{constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);let t=this.config.policy_joint_names??[],n={...this.config.tracking,policy_joint_names:t};this.tracking=new sJ(n)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}},lJ=class{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){let t=e?.jointPos??new Float32Array(this.nJoints),n=e?.rootPos??new Float32Array([0,0,0]),r=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(t)],this.refRootPos=[Float32Array.from(n)],this.refRootQuat=[Float32Array.from(r)],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}},uJ=class extends oJ{constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);let t=this.config.policy_joint_names??[],n={...this.config.tracking,policy_joint_names:t};this.locomotion=new lJ(n)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}},dJ=class{constructor(e){this.config=e}};function fJ(e,t){return e+Math.random()*(t-e)}function pJ(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.njnt;i++){let a=e.name_jntadr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;r.push(n.decode(t.subarray(a,o)))}return r}function mJ(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}var hJ=class extends dJ{constructor(e){super(e),this.mutations=e.mutations??[]}onReset(e){let{mjModel:t,mjData:n}=e;if(!(!t||!n))for(let e of this.mutations)switch(e.target){case`joint_qpos`:this.applyJointOffset(t,n,e,`qpos`);break;case`joint_qvel`:this.applyJointOffset(t,n,e,`qvel`);break;case`freejoint_pos`:this.applyFreejointPos(t,n,e);break;case`freejoint_yaw`:this.applyFreejointYaw(t,n,e);break}}resolveJointIndices(e,t){let n=t.select??{};if(n.joint_ids&&n.joint_ids.length>0)return n.joint_ids.filter(t=>t>=0&&t<e.njnt);let r=pJ(e);return n.joint_names&&n.joint_names.length>0?n.joint_names.map(e=>this.findJointIndex(r,e,n.entity_name)).filter(e=>e!==null):r.map((e,t)=>({name:e,idx:t})).filter(({name:t,idx:r})=>e.jnt_type[r]===0?!1:n.entity_name?t===n.entity_name||t.startsWith(`${n.entity_name}/`):!0).map(({idx:e})=>e)}findJointIndex(e,t,n){let r=e.indexOf(t);if(r>=0)return r;if(n){let r=e.indexOf(`${n}/${t}`);if(r>=0)return r}let i=e.map((e,t)=>({name:e,idx:t})).filter(({name:e})=>e===t||e.endsWith(`/${t}`));if(i.length===1)return i[0].idx;if(n){let e=i.find(({name:e})=>e===n||e.startsWith(`${n}/`));if(e)return e.idx}return null}applyJointOffset(e,t,n,r){if(n.sample.dist!==`uniform`)return;let{low:i,high:a}=n.sample;for(let o of this.resolveJointIndices(e,n)){let s=e.jnt_type[o];if(!(s!==2&&s!==3))if(r===`qpos`){let r=e.jnt_qposadr[o];if(t.qpos[r]+=fJ(i,a),n.clip_to_limits&&e.jnt_limited[o]){let n=e.jnt_range[o*2],i=e.jnt_range[o*2+1];t.qpos[r]=Math.min(Math.max(t.qpos[r],n),i)}}else t.qvel[e.jnt_dofadr[o]]+=fJ(i,a)}}applyFreejointPos(e,t,n){if(n.sample.dist!==`uniform_xyz`)return;let r=mJ(e);if(r<0)return;let i=e.jnt_qposadr[r];t.qpos[i]+=fJ(n.sample.x[0],n.sample.x[1]),t.qpos[i+1]+=fJ(n.sample.y[0],n.sample.y[1]),t.qpos[i+2]+=fJ(n.sample.z[0],n.sample.z[1])}applyFreejointYaw(e,t,n){if(n.sample.dist!==`uniform`)return;let r=mJ(e);if(r<0)return;let i=e.jnt_qposadr[r]+3,a=fJ(n.sample.low,n.sample.high),o=Math.cos(a/2),s=Math.sin(a/2),c=t.qpos[i],l=t.qpos[i+1],u=t.qpos[i+2],d=t.qpos[i+3];t.qpos[i]=o*c-s*d,t.qpos[i+1]=o*l+s*u,t.qpos[i+2]=o*u-s*l,t.qpos[i+3]=o*d+s*c}};function gJ(e){return`kind`in e&&e.kind===`event`&&Array.isArray(e.mutations)}var _J=class{constructor(e,t){this.terms=[];for(let n of e){if(gJ(n)){this.terms.push(new hJ(n));continue}let e=t[n.name];if(!e){console.warn(`[EventManager] Unknown event type: ${n.name}`);continue}this.terms.push(new e(n))}}onReset(e){for(let t of this.terms)t.onReset(e)}get size(){return this.terms.length}},vJ={};function yJ(e){return typeof e==`object`&&!!e&&typeof e.setSelectedMotion==`function`}var bJ=class extends Error{constructor(){super(`This scene cannot be loaded because it exceeds the browser's WebAssembly 2 GB memory limit. Try closing other browser tabs or reloading the page to free memory.`),this.name=`WasmMemoryLimitError`}};function xJ(e){let t=e instanceof Error?e.message:String(e);return t.includes(`MjModel loading returned null`)||t.includes(`Could not allocate memory`)||t.includes(`memory allocation failed`)||t.includes(`bad_alloc`)}var SJ=class{constructor(e,t,n={}){this.render=()=>{if(pF().updateDebugVisuals(),this.mjData&&IP(this.mjData,this.camera,this.controls,this.cameraState),this.controls.update(),this.mjModel&&this.mjData&&this.bodies){GD(this.camera,this.lights);for(let[e,t]of this.lastSimState.bodies){let n=this.bodies[e];n&&(n.position.copy(t.position),n.quaternion.copy(t.quaternion))}WD(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&$D({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{let{width:e,height:t}=this.getSize();this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t)},this.mujoco=e,this.container=t,this.baseUrl=n.baseUrl||`/`;let r=`/working`;try{this.mujoco.FS.mkdir(r)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&console.warn(`Failed to create /working directory:`,e)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:`.`},r)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&e.code!==`EBUSY`&&console.warn(`Failed to mount MEMFS at /working:`,e)}let{width:i,height:a}=this.getSize();this.scene=new Ex,this.scene.name=`scene`,this.camera=new _x(45,i/a,.001,1e3),this.camera.name=`PerspectiveCamera`,this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new dD({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(i,a),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=2,this.renderer.outputColorSpace=V_,this.renderer.toneMapping=4,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.vrButton=null,navigator.xr?.isSessionSupported(`immersive-vr`).then(e=>{e&&(this.vrButton=FD.createButton(this.renderer),document.body.appendChild(this.vrButton))}),this.controls=new SD(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:eO()},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.policyCtrlDt=null,this.loadingScene=null,this.dragStateManager=null,this.dragForceScale=100,this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.initialQpos=null,this.initialQvel=null,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=LP.getInstance(this.mujoco),this.resourceTracker=new RP,this.memoryMonitor=new zP}async loadEnvironment(e,t=null,n=null,r=null,i=null,a=null){this.terrainData=a,i&&i.length>0?(this.eventManager=new _J(i,vJ),console.log(`[EventManager] ${this.eventManager.size} reset event(s) loaded`)):this.eventManager=null,await this.stop(),this.splatMesh&&=(kN(this.splatMesh,this.scene),null),this.colliderMesh&&=(jP(this.colliderMesh,this.scene),null);let o=performance.now();if(this.initializeCommands(),this.sceneCacheManager.has(e)){await this.restoreFromCache(e);let t=performance.now()-o;this.memoryMonitor.logCacheOperation(`hit`,e,{elapsedMs:t})}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 mO(this.mujoco,e,this.baseUrl),await this.loadSceneWithOomRetry(e),await this.captureAndCacheResources(e);n&&(this.splatMesh=ON(n,this.scene),n.colliderUrl&&(this.colliderMesh=await AP(this.resolveAssetUrl(n.colliderUrl),this.scene))),await this.loadPolicyConfig(t),this.applyViewerConfig(r),this.running=!0,this.startLoop()}initializeCommands(){let e=pF();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e,t){pF().initialize(e,t),console.log(`[mjswanRuntime] Commands loaded from policy config:`,Object.keys(e))}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}console.log(`[mjswanRuntime] Simulation reset`)}async setSelectedMotion(e){let t=pF().getTerm(`motion`);if(!yJ(t))return!1;let n=await t.setSelectedMotion(e);return n&&this.resetSimulation(),n}getSelectedMotionName(){let e=pF().getTerm(`motion`);return yJ(e)?e.getSelectedMotionName?.()??null:null}setReferenceVisible(e){let t=pF().getTerm(`motion`);!yJ(t)||typeof t.setReferenceVisible!=`function`||t.setReferenceVisible(e)}async loadScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{let t=this.scene.getObjectByName(`MuJoCo Root`);t&&this.scene.remove(t);let n={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await uO(this.mujoco,e,n),!this.mjModel||!this.mjData)throw Error(`Failed to load MuJoCo model.`);this.mujocoRoot=this.scene.getObjectByName(`MuJoCo Root`),this.mujoco.mj_forward(this.mjModel,this.mjData),WD(this.mujoco,this.mjData,this.lights),GD(this.camera,this.lights),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),this.timestep=this.mjModel.opt.timestep||.001;let r=this.policyCtrlDt??.02;this.decimation=Math.max(1,Math.round(r/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager?this.dragStateManager.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new MP({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(!xJ(t))throw t;console.warn(`[mjswanRuntime] OOM — clearing cache and retrying...`),this.loadingScene=null,await this.sceneCacheManager.clear();try{await this.loadScene(e)}catch(e){throw this.loadingScene=null,xJ(e)?new bJ:e}}}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async setSplat(e){this.splatMesh&&=(kN(this.splatMesh,this.scene),null),this.colliderMesh&&=(jP(this.colliderMesh,this.scene),null),e&&(this.splatMesh=ON(e,this.scene),e.colliderUrl&&(this.colliderMesh=await AP(this.resolveAssetUrl(e.colliderUrl),this.scene)))}calibrateSplat(e){this.splatMesh&&DN(this.splatMesh,e)}setSplatVisible(e){this.splatMesh&&(this.splatMesh.visible=e)}async stop(){this.running=!1;let e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){let 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){let e=this.policyStateBuilder.build(),t=this.policyRunner.collectObservationsByKey(e);await this.runOnnxInference(t)}if(this.executeSimulationSteps(),this.updateCachedState(),this.terminationManager&&this.policyStateBuilder){let e=this.policyStateBuilder.build();if(this.terminationManager.evaluate(e).done&&(this.resetSimulationState(),this.terminationManager.reset(),this.policyRunner)){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}}pF().update(t),pF().updateDebugVisuals()}let n=(performance.now()-e)/1e3,r=Math.max(0,t-n);r>0&&await new Promise(e=>setTimeout(e,r*1e3))}this.loopPromise=null}async loadPolicyConfig(e){let t=this.policyConfigPath;this.policyConfigPath=e,this.policyRunner=null,this.policyStateBuilder=null,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.onnxTimeStep=0,this.terminationManager=null;let n=pF();if(n.clear(),n.setResetCallback(()=>this.resetSimulation()),e){if(!this.mjModel||!this.mjData){console.warn(`Policy config loaded before MuJoCo model is ready.`);return}e!==t&&this.resetSimulationState();try{let{config:t}=await this.fetchPolicyConfig(e);if(Array.isArray(t.motions)&&(t.motions=t.motions.map(t=>({...t,path:this.resolveAssetUrl(this.resolvePolicyAssetPath(e,t.path))}))),t.commands?.motion&&Array.isArray(t.motions)&&(t.commands.motion={...t.commands.motion,motions:t.motions}),this.initialQpos=Array.isArray(t.initial_qpos)?t.initial_qpos:null,this.initialQvel=Array.isArray(t.initial_qvel)?t.initial_qvel:null,this.resetSimulationState(),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState(),t.commands&&typeof t.commands==`object`){this.initializeCommandsFromConfig(t.commands,{mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,bodies:this.bodies,mujocoRoot:this.mujocoRoot,requestReset:()=>this.resetSimulation()}),pF().resetTerms();let e=pF().getTerm(`motion`);yJ(e)&&(await e.setSelectedMotion(t.motions?.find(e=>e.default)?.name??t.motions?.[0]?.name??null),e.setReferenceVisible?.(!0)),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState()}if(!t.policy_num_actions&&(!t.policy_joint_names||t.policy_joint_names.length===0))throw Error(`Policy config missing policy_joint_names.`);let n=new rJ(t,{policyModules:{tracking:cJ,locomotion:uJ},observations:BP});await n.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene}),await n.preloadAll(),this.policyRunner=n,this.policyStateBuilder=new aJ(this.mujoco,this.mjModel,this.mjData,n.getPolicyJointNames());let r=this.policyStateBuilder.build();this.policyRunner.reset(r),this.policyControl=this.buildPolicyControl(t,n,this.policyStateBuilder);{let e=t.observations,n=[];if(Array.isArray(e))n.push(...e);else if(e&&typeof e==`object`)for(let t of Object.values(e))Array.isArray(t)&&n.push(...t);for(let e of n)if(!(!e||this.timestep<=0)&&typeof e.fps==`number`&&e.fps>0){this.policyCtrlDt=1/e.fps;let t=Math.max(1,Math.round(this.policyCtrlDt/this.timestep));t!==this.decimation&&(console.log(`[PolicyRunner] Decimation updated: ${this.decimation} → ${t} (fps=${e.fps}, sim_dt=${this.timestep})`),this.decimation=t);break}}if(t.terminations&&Object.keys(t.terminations).length>0&&(this.terminationManager=new BF(t.terminations,VF,n),console.log(`[TerminationManager] ${this.terminationManager.size} termination term(s) loaded`)),t.onnx?.path){let n=this.resolvePolicyAssetPath(e,t.onnx.path),r=this.resolveAssetUrl(n),i=new iJ({...t.onnx,path:r});await i.init(),this.onnxModule=i,this.onnxInputDict=i.initInput()}console.log(`[PolicyRunner] config loaded`,{obsSize:n.getObservationSize(),obsLayout:n.getObservationLayout(),pdEnabled:this.policyControl!==null})}catch(e){console.warn(`Failed to load policy config:`,e)}}}async fetchPolicyConfig(e){let t=this.resolveAssetUrl(e),n=await fetch(t,{cache:`no-store`});if(!n.ok)throw Error(`Failed to fetch policy config: ${n.status}`);return{config:await n.json(),resolvedUrl:t}}resolveAssetUrl(e){if(/^[a-z]+:\/\//i.test(e))return e;let t=(this.baseUrl||`/`).replace(/\/+$/,`/`),n=new URL(t,window.location.origin+`/`).toString();return new URL(e.replace(/^\/+/,``),n).toString()}resolvePolicyAssetPath(e,t){let n=e.replace(/\\/g,`/`),r=n.lastIndexOf(`/`);return r>=0?`${n.slice(0,r+1)}${t}`.replace(/\/+/g,`/`):t}buildPolicyControl(e,t,n){let r=t.getPolicyJointNames(),i=this.mujoco.mjtBias?.mjBIAS_AFFINE?.value??1,a=(n,a,o,s,c,l,u,d)=>{let f=o.qposAdr.length,p=o.actionIndices.map(e=>r[e]),m=this.normalizeControlArray(s,f,1,p),h=this.normalizeControlArray(c,f,0,p),g=d?t.getDefaultJointPos():new Float32Array(r.length),_=new Float32Array(f);for(let e=0;e<f;e++)_[e]=g[o.actionIndices[e]];let v=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(r.length),y=new Float32Array(f);for(let e=0;e<f;e++)y[e]=v[o.actionIndices[e]]??0;let b=this.normalizeControlArray(l,f,0,p),x=this.normalizeControlArray(u,f,0,p),S=o.ctrlAdr.map(e=>e<0||!this.mjModel?!1:this.mjModel.actuator_biastype[e]===i),C=S.some(Boolean),w=S.some(e=>!e);return C&&w&&console.warn(`[PolicyRunner] Action term "${n}": mixed actuator types detected.`),console.log(`[PolicyRunner] Action term "${n}" (${a}): ${f} joint(s), mode: ${C?`position (ctrl=target_pos)`:`motor (ctrl=torque, external PD)`}`),{controlType:a,ctrlAdr:o.ctrlAdr,qposAdr:o.qposAdr,qvelAdr:o.qvelAdr,actionIndices:o.actionIndices,actionScale:m,actionOffset:h,defaultJointPos:_,encoderBias:y,positionActuator:S,kp:b,kd:x,muscleNormalize:!1}},o=e.actions;if(!o||Object.keys(o).length===0){let t=e.control_type??`joint_position`;if(t!==`joint_position`&&t!==`torque`)return console.warn(`[PolicyRunner] Unsupported control_type: ${t}`),null;let r=n.getControlMapping();return r?[a(`legacy`,t,{...r,actionIndices:Array.from({length:r.qposAdr.length},(e,t)=>t)},e.action_scale,void 0,e.stiffness,e.damping,!0)]:(console.warn(`[PolicyRunner] Failed to build control mapping.`),null)}let s=[];for(let[e,t]of Object.entries(o)){let i=t.type??`joint_position`;if(i!==`joint_position`&&i!==`torque`&&i!==`muscle_activation`){console.warn(`[PolicyRunner] Action term "${e}": unsupported type "${i}", skipping.`);continue}let o=t.actuator_names??[`.*`];if(i===`muscle_activation`){let r=n.getCtrlMappingByActuatorNames(o);if(!r){console.warn(`[PolicyRunner] Action term "${e}": no actuators matched patterns [${o.join(`, `)}], skipping.`);continue}let a=r.ctrlAdr.length,c=this.normalizeControlArray(t.scale,a,1),l=this.normalizeControlArray(t.offset,a,0),u=t.normalize??!0;console.log(`[PolicyRunner] Action term "${e}" (muscle_activation): ${a} actuator(s), normalize=${u}`),s.push({controlType:i,ctrlAdr:r.ctrlAdr,qposAdr:[],qvelAdr:[],actionIndices:r.actionIndices,actionScale:c,actionOffset:l,defaultJointPos:new Float32Array(a),encoderBias:new Float32Array(a),positionActuator:Array(a).fill(!1),kp:new Float32Array(a),kd:new Float32Array(a),muscleNormalize:u});continue}let c=o.length===1&&o[0]===`.*`,l;if(c){let t=n.getControlMapping();if(!t){console.warn(`[PolicyRunner] Action term "${e}": failed to build control mapping, skipping.`);continue}l={...t,actionIndices:Array.from({length:t.qposAdr.length},(e,t)=>t)}}else if(l=n.getControlMappingFor(o,r),!l){console.warn(`[PolicyRunner] Action term "${e}": no joints matched patterns [${o.join(`, `)}], skipping.`);continue}let u=t.use_default_offset===void 0?i===`joint_position`:t.use_default_offset;s.push(a(e,i,l,t.scale,t.offset,t.stiffness,t.damping,u))}return s.length===0?(console.warn(`[PolicyRunner] No valid action terms found in config.actions.`),null):s}normalizeControlArray(e,t,n,r){let i=new Float32Array(t);if(i.fill(n),typeof e==`number`)return i.fill(e),i;if(Array.isArray(e)){for(let r=0;r<t;r++)i[r]=typeof e[r]==`number`?e[r]:n;return i}if(typeof e==`object`&&e&&r){for(let[n,a]of Object.entries(e)){let e=r.indexOf(n);e>=0&&e<t?i[e]=a:console.warn(`[PolicyRunner] Joint name "${n}" not found in policy_joint_names; skipping.`)}return i}return i}resetSimulationState(){if(!(!this.mjModel||!this.mjData)){if(this.mjModel.nkey>0?this.mujoco.mj_resetDataKeyframe(this.mjModel,this.mjData,0):this.mujoco.mj_resetData(this.mjModel,this.mjData),this.initialQpos){let e=this.mjData.qpos;for(let t=0;t<Math.min(this.initialQpos.length,this.mjModel.nq);t++)e[t]=this.initialQpos[t]}if(this.initialQvel){let e=this.mjData.qvel;for(let t=0;t<Math.min(this.initialQvel.length,this.mjModel.nv);t++)e[t]=this.initialQvel[t]}this.eventManager&&this.eventManager.onReset({mjModel:this.mjModel,mjData:this.mjData,terrainData:this.terrainData}),pF().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;let e=this.mjData.ctrl;e.fill(0);let t=this.policyRunner?.getLastActions()??new Float32Array;for(let n of this.policyControl){let{controlType:r,ctrlAdr:i,qposAdr:a,qvelAdr:o,actionIndices:s,actionScale:c,actionOffset:l,defaultJointPos:u,encoderBias:d,positionActuator:f,kp:p,kd:m,muscleNormalize:h}=n,g=i.length;if(r===`joint_position`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let h=t[s[n]]??0,g=u[n]+l[n]+c[n]*h-d[n];if(f[n])e[r]=g;else{let t=this.mjData.qpos[a[n]],i=this.mjData.qvel[o[n]];e[r]=p[n]*(g-t)+m[n]*(0-i)}}else if(r===`torque`)for(let n=0;n<g;n++){let r=i[n];r>=0&&(e[r]=c[n]*(t[s[n]]??0))}else if(r===`muscle_activation`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let a=(t[s[n]]??0)*c[n]+l[n];h?e[r]=1/(1+Math.exp(-5*(a-.5))):e[r]=a<0?0:a>1?1:a}}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||=this.onnxModule.initInput();let t={...this.onnxInputDict};this.onnxModule.inKeys.includes(`time_step`)&&(t.time_step=new AI(`float32`,new 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e(this.module,this.dataType,this.data,t)}},lq=class{constructor(e,t,n){this.module=e,this.backend=t,this.customDataOffset=0,this.customDataSize=0,this.adapterInfo=t.adapterInfo;let r=e.PTR_SIZE,i=n/e.PTR_SIZE,a=r===4?`i32`:`i64`;this.opKernelContext=Number(e.getValue(r*i++,a));let o=Number(e.getValue(r*i++,a));this.outputCount=Number(e.getValue(r*i++,a)),this.customDataOffset=Number(e.getValue(r*i++,`*`)),this.customDataSize=Number(e.getValue(r*i++,a));let s=[];for(let t=0;t<o;t++){let t=Number(e.getValue(r*i++,a)),n=Number(e.getValue(r*i++,`*`)),o=Number(e.getValue(r*i++,a)),c=[];for(let t=0;t<o;t++)c.push(Number(e.getValue(r*i++,a)));s.push(new cq(e,t,n,c))}this.inputs=s}get kernelCustomData(){return this.backend.currentKernelCustomData}get customDataBuffer(){return this.module.HEAPU8.subarray(this.customDataOffset,this.customDataOffset+this.customDataSize)}compute(e,t){let n=t?.inputs?.map(e=>typeof e==`number`?this.inputs[e]:e)??this.inputs,r=t?.outputs??[];return this.backend.run(e,n,r,(e,t,n)=>new cq(this.module,t,this.output(e,n),n),(e,t)=>{let n=GL(e,t);if(!n)throw Error(`Unsupported data type: ${e}`);let r=n>0?this.backend.gpuDataManager.create(n).id:0;return new cq(this.module,e,r,t)},this.outputCount)}output(e,t){let n=this.module.stackSave();try{let n=this.module.PTR_SIZE,r=n===4?`i32`:`i64`,i=this.module.stackAlloc((1+t.length)*n);this.module.setValue(i,t.length,r);for(let e=0;e<t.length;e++)this.module.setValue(i+n*(e+1),t[e],r);return this.module._JsepOutput(this.opKernelContext,e,i)}catch(n){throw Error(`Failed to generate kernel's output[${e}] with dims [${t}]. 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It must be a GPUAdapter object.")}else{let t=e.webgpu.powerPreference;if(t!==void 0&&t!==`low-power`&&t!==`high-performance`)throw Error(`Invalid powerPreference setting: "${t}"`);let r=e.webgpu.forceFallbackAdapter;if(r!==void 0&&typeof r!=`boolean`)throw Error(`Invalid forceFallbackAdapter setting: "${r}"`);if(n=await navigator.gpu.requestAdapter({powerPreference:t,forceFallbackAdapter:r}),!n)throw Error(`Failed to get GPU adapter. 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Only 'gpu-buffer' location is supported when enableGraphCapture is true.`);_.push(e)}}let v=null;return _.some(e=>e===`gpu-buffer`||e===`ml-tensor`||e===`ml-tensor-cpu-output`)&&(s=i._OrtCreateBinding(a),s===0&&ML(`Can't create IO binding.`),v={handle:s,outputPreferredLocations:_,outputPreferredLocationsEncoded:_.map(e=>e===`ml-tensor-cpu-output`?`ml-tensor`:e).map(e=>XL(e))}),hq.set(a,[a,l,u,v,f,!1]),[a,p,m,h,g]}catch(e){throw l.forEach(e=>i._OrtFree(e)),u.forEach(e=>i._OrtFree(e)),s!==0&&i._OrtReleaseBinding(s)!==0&&ML(`Can't release IO binding.`),a!==0&&i._OrtReleaseSession(a)!==0&&ML(`Can't release session.`),e}finally{i._free(n),o!==0&&i._OrtReleaseSessionOptions(o)!==0&&ML(`Can't release session options.`),c.forEach(e=>i._free(e)),i.unmountExternalData?.()}},bq=e=>{let t=OL(),n=hq.get(e);if(!n)throw Error(`cannot release session. invalid session id: ${e}`);let[r,i,a,o,s]=n;o&&(s&&t._OrtClearBoundOutputs(o.handle)!==0&&ML(`Can't clear bound outputs.`),t._OrtReleaseBinding(o.handle)!==0&&ML(`Can't release IO binding.`)),t.jsepOnReleaseSession?.(e),t.webnnOnReleaseSession?.(e),t.webgpuOnReleaseSession?.(e),i.forEach(e=>t._OrtFree(e)),a.forEach(e=>t._OrtFree(e)),t._OrtReleaseSession(r)!==0&&ML(`Can't release session.`),hq.delete(e)},xq=async(e,t,n,r,i,a,o=!1)=>{if(!e){t.push(0);return}let s=OL(),c=s.PTR_SIZE,l=e[0],u=e[1],d=e[3],f=d,p,m;if(l===`string`&&(d===`gpu-buffer`||d===`ml-tensor`))throw Error(`String tensor is not supported on GPU.`);if(o&&d!==`gpu-buffer`)throw Error(`External buffer must be provided for input/output index ${a} when enableGraphCapture is true.`);if(d===`gpu-buffer`){let t=e[2].gpuBuffer;m=GL(UL(l),u);{let e=s.jsepRegisterBuffer;if(!e)throw Error(`Tensor location "gpu-buffer" is not supported without using WebGPU.`);p=e(r,a,t,m)}}else if(d===`ml-tensor`){let t=e[2].mlTensor;m=GL(UL(l),u);let n=s.webnnRegisterMLTensor;if(!n)throw Error(`Tensor location "ml-tensor" is not supported without using 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mismatch: expected ${n.size}, got ${a.length}`);r.set(a,i),i+=a.length}return r}normalizeArray(e,t,n){let r=new Float32Array(t);for(let i=0;i<t;i++)r[i]=typeof e[i]==`number`?e[i]:n;return r}};cI.wasm.proxy=!1,cI.wasm.numThreads=1,typeof __ORT_CDN_BASE__<`u`&&(cI.wasm.wasmPaths=__ORT_CDN_BASE__);var iJ=class{constructor(e){if(!e?.path)throw Error(`OnnxModule requires a path.`);this.config=e,this.session=null;let t=e.meta?.in_keys??[`policy`],n=e.meta?.out_keys??[`action`];this.configuredInKeys=t.map(e=>Array.isArray(e)?e.join(`,`):e),this.inKeys=[...this.configuredInKeys],this.outKeys=n.map(e=>Array.isArray(e)?e.join(`,`):e),this.isRecurrent=this.inKeys.includes(`adapt_hx`)}async init(){let e=await fetch(this.config.path);if(!e.ok)throw Error(`Failed to fetch ONNX model: ${e.status}`);let t=await e.arrayBuffer();this.session=await VI.create(t,{executionProviders:[`wasm`],graphOptimizationLevel:`all`}),this.inferInputKeys(),this.isRecurrent=this.inKeys.includes(`adapt_hx`)}initInput(){let e={};return this.isRecurrent&&(e.is_init=new AI(`bool`,[!0],[1]),e.adapt_hx=new AI(`float32`,new Float32Array(128),[1,128])),this.inKeys.includes(`time_step`)&&(e.time_step=new AI(`float32`,new Float32Array([0]),[1,1])),e}async runInference(e){if(!this.session)throw Error(`OnnxModule not initialized.`);let t={};for(let n=0;n<this.inKeys.length;n++){let r=this.inKeys[n],i=this.session.inputNames[n];if(!i||!e[r])throw Error(`Missing ONNX input for key: ${r}`);t[i]=e[r]}let n=await this.session.run(t),r={};for(let e=0;e<this.outKeys.length;e++){let t=this.outKeys[e],i=this.session.outputNames[e];i&&n[i]&&(r[t]=n[i])}let i={};return this.isRecurrent&&r[`next,adapt_hx`]&&(i.is_init=new AI(`bool`,[!1],[1]),i.adapt_hx=r[`next,adapt_hx`]),[r,i]}dispose(){this.session?.release?.(),this.session=null}inferInputKeys(){if(!this.session)return;let e=this.session.inputNames;if(e.length<=1){this.inKeys=[...this.configuredInKeys];return}if(this.configuredInKeys.length===e.length){this.inKeys=[...this.configuredInKeys];return}this.inKeys=e.map(e=>this.configuredInKeys.includes(e)?e:e===`obs`&&this.configuredInKeys.includes(`policy`)?`policy`:e)}},aJ=class{constructor(e,t,n,r){this.mujoco=e,this.mjModel=t,this.mjData=n;let i=this.getJointNames(t);this.qposAdr=[],this.qvelAdr=[],this.jointIndices=[],this.ctrlAdr=null;for(let e of r){let n=i.indexOf(e);if(n<0)throw Error(`Joint "${e}" not found in MuJoCo model`);this.qposAdr.push(t.jnt_qposadr[n]),this.qvelAdr.push(t.jnt_dofadr[n]),this.jointIndices.push(n)}this.numActions=r.length,this.ctrlAdr=this.buildCtrlAdr()}build(){let e=this.mjData.qpos,t=this.mjData.qvel,n=new Float32Array(this.numActions),r=new Float32Array(this.numActions);for(let i=0;i<this.numActions;i++)n[i]=e[this.qposAdr[i]],r[i]=t[this.qvelAdr[i]];return{jointPos:n,jointVel:r,rootPos:new Float32Array([e[0],e[1],e[2]]),rootQuat:new Float32Array([e[3],e[4],e[5],e[6]]),rootLinVel:new Float32Array([t[0],t[1],t[2]]),rootAngVel:new Float32Array([t[3],t[4],t[5]])}}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;let n=e.map(e=>RegExp(`^(?:${e})$`)),r=e=>n.some(t=>t.test(e)),i=[],a=[],o=[],s=[];for(let e=0;e<t.length;e++)r(t[e])&&(i.push(this.ctrlAdr[e]),a.push(this.qposAdr[e]),o.push(this.qvelAdr[e]),s.push(e));return i.length===0?null:{ctrlAdr:i,qposAdr:a,qvelAdr:o,actionIndices:s}}getCtrlMappingByActuatorNames(e){let t=this.getActuatorNames(this.mjModel),n=e.map(e=>RegExp(`^(?:${e})$`)),r=e=>n.some(t=>t.test(e)),i=[],a=[];for(let e=0;e<t.length;e++)r(t[e])&&(i.push(e),a.push(i.length-1));return i.length>0?{ctrlAdr:i,actionIndices:a}:null}getActuatorNames(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.nu;i++){let a=e.name_actuatoradr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;r.push(n.decode(t.subarray(a,o)))}return r}buildCtrlAdr(){if(this.mjModel.nu<=0)return null;let e=this.mujoco.mjtTrn?.mjTRN_JOINT?.value,t=[];for(let n=0;n<this.mjModel.nu;n++){let r=this.mjModel.actuator_trntype[n];e===void 0||r===e?t.push(this.mjModel.actuator_trnid[2*n]):t.push(-1)}let n=[];for(let e of this.jointIndices){let r=t.findIndex(t=>t===e);if(r<0)return null;n.push(r)}return n}getJointNames(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.njnt;i++){let a=e.name_jntadr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;let s=n.decode(t.subarray(a,o));!s&&i===0&&(s=`floating_base_joint`),r.push(s)}return r}},oJ=class{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}},sJ=class{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){let t=e?.jointPos??new Float32Array(this.nJoints),n=e?.rootPos??new Float32Array([0,0,0]),r=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(t)],this.refRootPos=[Float32Array.from(n)],this.refRootQuat=[Float32Array.from(r)],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}},cJ=class extends oJ{constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);let t=this.config.policy_joint_names??[],n={...this.config.tracking,policy_joint_names:t};this.tracking=new sJ(n)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}},lJ=class{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){let t=e?.jointPos??new Float32Array(this.nJoints),n=e?.rootPos??new Float32Array([0,0,0]),r=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(t)],this.refRootPos=[Float32Array.from(n)],this.refRootQuat=[Float32Array.from(r)],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}},uJ=class extends oJ{constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);let t=this.config.policy_joint_names??[],n={...this.config.tracking,policy_joint_names:t};this.locomotion=new lJ(n)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}},dJ=class{constructor(e){this.config=e}};function fJ(e,t){return e+Math.random()*(t-e)}function pJ(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.njnt;i++){let a=e.name_jntadr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;r.push(n.decode(t.subarray(a,o)))}return r}function mJ(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}var hJ=class extends dJ{constructor(e){super(e),this.mutations=e.mutations??[]}onReset(e){let{mjModel:t,mjData:n}=e;if(!(!t||!n))for(let e of this.mutations)switch(e.target){case`joint_qpos`:this.applyJointOffset(t,n,e,`qpos`);break;case`joint_qvel`:this.applyJointOffset(t,n,e,`qvel`);break;case`freejoint_pos`:this.applyFreejointPos(t,n,e);break;case`freejoint_yaw`:this.applyFreejointYaw(t,n,e);break}}resolveJointIndices(e,t){let n=t.select??{};if(n.joint_ids&&n.joint_ids.length>0)return n.joint_ids.filter(t=>t>=0&&t<e.njnt);let r=pJ(e);return n.joint_names&&n.joint_names.length>0?n.joint_names.map(e=>this.findJointIndex(r,e,n.entity_name)).filter(e=>e!==null):r.map((e,t)=>({name:e,idx:t})).filter(({name:t,idx:r})=>e.jnt_type[r]===0?!1:n.entity_name?t===n.entity_name||t.startsWith(`${n.entity_name}/`):!0).map(({idx:e})=>e)}findJointIndex(e,t,n){let r=e.indexOf(t);if(r>=0)return r;if(n){let r=e.indexOf(`${n}/${t}`);if(r>=0)return r}let i=e.map((e,t)=>({name:e,idx:t})).filter(({name:e})=>e===t||e.endsWith(`/${t}`));if(i.length===1)return i[0].idx;if(n){let e=i.find(({name:e})=>e===n||e.startsWith(`${n}/`));if(e)return e.idx}return null}applyJointOffset(e,t,n,r){if(n.sample.dist!==`uniform`)return;let{low:i,high:a}=n.sample;for(let o of this.resolveJointIndices(e,n)){let s=e.jnt_type[o];if(!(s!==2&&s!==3))if(r===`qpos`){let r=e.jnt_qposadr[o];if(t.qpos[r]+=fJ(i,a),n.clip_to_limits&&e.jnt_limited[o]){let n=e.jnt_range[o*2],i=e.jnt_range[o*2+1];t.qpos[r]=Math.min(Math.max(t.qpos[r],n),i)}}else t.qvel[e.jnt_dofadr[o]]+=fJ(i,a)}}applyFreejointPos(e,t,n){if(n.sample.dist!==`uniform_xyz`)return;let r=mJ(e);if(r<0)return;let i=e.jnt_qposadr[r];t.qpos[i]+=fJ(n.sample.x[0],n.sample.x[1]),t.qpos[i+1]+=fJ(n.sample.y[0],n.sample.y[1]),t.qpos[i+2]+=fJ(n.sample.z[0],n.sample.z[1])}applyFreejointYaw(e,t,n){if(n.sample.dist!==`uniform`)return;let r=mJ(e);if(r<0)return;let i=e.jnt_qposadr[r]+3,a=fJ(n.sample.low,n.sample.high),o=Math.cos(a/2),s=Math.sin(a/2),c=t.qpos[i],l=t.qpos[i+1],u=t.qpos[i+2],d=t.qpos[i+3];t.qpos[i]=o*c-s*d,t.qpos[i+1]=o*l+s*u,t.qpos[i+2]=o*u-s*l,t.qpos[i+3]=o*d+s*c}};function gJ(e){return`kind`in e&&e.kind===`event`&&Array.isArray(e.mutations)}var _J=class{constructor(e,t){this.terms=[];for(let n of e){if(gJ(n)){this.terms.push(new hJ(n));continue}let e=t[n.name];if(!e){console.warn(`[EventManager] Unknown event type: ${n.name}`);continue}this.terms.push(new e(n))}}onReset(e){for(let t of this.terms)t.onReset(e)}get size(){return this.terms.length}},vJ={};function yJ(e){return typeof e==`object`&&!!e&&typeof e.setSelectedMotion==`function`}var bJ=class extends Error{constructor(){super(`This scene cannot be loaded because it exceeds the browser's WebAssembly 2 GB memory limit. Try closing other browser tabs or reloading the page to free memory.`),this.name=`WasmMemoryLimitError`}};function xJ(e){let t=e instanceof Error?e.message:String(e);return t.includes(`MjModel loading returned null`)||t.includes(`Could not allocate memory`)||t.includes(`memory allocation failed`)||t.includes(`bad_alloc`)}var SJ=class{constructor(e,t,n={}){this.render=()=>{if(pF().updateDebugVisuals(),this.mjData&&IP(this.mjData,this.camera,this.controls,this.cameraState),this.controls.update(),this.mjModel&&this.mjData&&this.bodies){GD(this.camera,this.lights);for(let[e,t]of this.lastSimState.bodies){let n=this.bodies[e];n&&(n.position.copy(t.position),n.quaternion.copy(t.quaternion))}WD(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&$D({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{let{width:e,height:t}=this.getSize();this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t)},this.mujoco=e,this.container=t,this.baseUrl=n.baseUrl||`/`;let r=`/working`;try{this.mujoco.FS.mkdir(r)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&console.warn(`Failed to create /working directory:`,e)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:`.`},r)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&e.code!==`EBUSY`&&console.warn(`Failed to mount MEMFS at /working:`,e)}let{width:i,height:a}=this.getSize();this.scene=new Ex,this.scene.name=`scene`,this.camera=new _x(45,i/a,.001,1e3),this.camera.name=`PerspectiveCamera`,this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new dD({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(i,a),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=2,this.renderer.outputColorSpace=V_,this.renderer.toneMapping=4,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.vrButton=null,navigator.xr?.isSessionSupported(`immersive-vr`).then(e=>{e&&(this.vrButton=FD.createButton(this.renderer),document.body.appendChild(this.vrButton))}),this.controls=new SD(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:eO()},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.policyCtrlDt=null,this.loadingScene=null,this.dragStateManager=null,this.dragForceScale=100,this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.initialQpos=null,this.initialQvel=null,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=LP.getInstance(this.mujoco),this.resourceTracker=new RP,this.memoryMonitor=new zP}async loadEnvironment(e,t=null,n=null,r=null,i=null,a=null){this.terrainData=a,i&&i.length>0?(this.eventManager=new _J(i,vJ),console.log(`[EventManager] ${this.eventManager.size} reset event(s) loaded`)):this.eventManager=null,await this.stop(),this.splatMesh&&=(kN(this.splatMesh,this.scene),null),this.colliderMesh&&=(jP(this.colliderMesh,this.scene),null);let o=performance.now();if(this.initializeCommands(),this.sceneCacheManager.has(e)){await this.restoreFromCache(e);let t=performance.now()-o;this.memoryMonitor.logCacheOperation(`hit`,e,{elapsedMs:t})}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 mO(this.mujoco,e,this.baseUrl),await this.loadSceneWithOomRetry(e),await this.captureAndCacheResources(e);n&&(this.splatMesh=ON(n,this.scene),n.colliderUrl&&(this.colliderMesh=await AP(this.resolveAssetUrl(n.colliderUrl),this.scene))),await this.loadPolicyConfig(t),this.applyViewerConfig(r),this.running=!0,this.startLoop()}initializeCommands(){let e=pF();e.clear(),e.setResetCallback(()=>this.resetSimulation())}initializeCommandsFromConfig(e,t){pF().initialize(e,t),console.log(`[mjswanRuntime] Commands loaded from policy config:`,Object.keys(e))}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}console.log(`[mjswanRuntime] Simulation reset`)}async setSelectedMotion(e){let t=pF().getTerm(`motion`);if(!yJ(t))return!1;let n=await t.setSelectedMotion(e);return n&&this.resetSimulation(),n}getSelectedMotionName(){let e=pF().getTerm(`motion`);return yJ(e)?e.getSelectedMotionName?.()??null:null}setReferenceVisible(e){let t=pF().getTerm(`motion`);!yJ(t)||typeof t.setReferenceVisible!=`function`||t.setReferenceVisible(e)}async loadScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{let t=this.scene.getObjectByName(`MuJoCo Root`);t&&this.scene.remove(t);let n={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await uO(this.mujoco,e,n),!this.mjModel||!this.mjData)throw Error(`Failed to load MuJoCo model.`);this.mujocoRoot=this.scene.getObjectByName(`MuJoCo Root`),this.mujoco.mj_forward(this.mjModel,this.mjData),WD(this.mujoco,this.mjData,this.lights),GD(this.camera,this.lights),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),this.timestep=this.mjModel.opt.timestep||.001;let r=this.policyCtrlDt??.02;this.decimation=Math.max(1,Math.round(r/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager?this.dragStateManager.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new MP({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(!xJ(t))throw t;console.warn(`[mjswanRuntime] OOM — clearing cache and retrying...`),this.loadingScene=null,await this.sceneCacheManager.clear();try{await this.loadScene(e)}catch(e){throw this.loadingScene=null,xJ(e)?new bJ:e}}}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async setSplat(e){this.splatMesh&&=(kN(this.splatMesh,this.scene),null),this.colliderMesh&&=(jP(this.colliderMesh,this.scene),null),e&&(this.splatMesh=ON(e,this.scene),e.colliderUrl&&(this.colliderMesh=await AP(this.resolveAssetUrl(e.colliderUrl),this.scene)))}calibrateSplat(e){this.splatMesh&&DN(this.splatMesh,e)}setSplatVisible(e){this.splatMesh&&(this.splatMesh.visible=e)}async stop(){this.running=!1;let e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){let 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){let e=this.policyStateBuilder.build(),t=this.policyRunner.collectObservationsByKey(e);await this.runOnnxInference(t)}if(this.executeSimulationSteps(),this.updateCachedState(),this.terminationManager&&this.policyStateBuilder){let e=this.policyStateBuilder.build();if(this.terminationManager.evaluate(e).done&&(this.resetSimulationState(),this.terminationManager.reset(),this.policyRunner)){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}}pF().update(t),pF().updateDebugVisuals()}let n=(performance.now()-e)/1e3,r=Math.max(0,t-n);r>0&&await new Promise(e=>setTimeout(e,r*1e3))}this.loopPromise=null}async loadPolicyConfig(e){let t=this.policyConfigPath;this.policyConfigPath=e,this.policyRunner=null,this.policyStateBuilder=null,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.onnxTimeStep=0,this.terminationManager=null;let n=pF();if(n.clear(),n.setResetCallback(()=>this.resetSimulation()),e){if(!this.mjModel||!this.mjData){console.warn(`Policy config loaded before MuJoCo model is ready.`);return}e!==t&&this.resetSimulationState();try{let{config:t}=await this.fetchPolicyConfig(e);if(Array.isArray(t.motions)&&(t.motions=t.motions.map(t=>({...t,path:this.resolveAssetUrl(this.resolvePolicyAssetPath(e,t.path))}))),t.commands?.motion&&Array.isArray(t.motions)&&(t.commands.motion={...t.commands.motion,motions:t.motions}),this.initialQpos=Array.isArray(t.initial_qpos)?t.initial_qpos:null,this.initialQvel=Array.isArray(t.initial_qvel)?t.initial_qvel:null,this.resetSimulationState(),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState(),t.commands&&typeof t.commands==`object`){this.initializeCommandsFromConfig(t.commands,{mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,bodies:this.bodies,mujocoRoot:this.mujocoRoot,requestReset:()=>this.resetSimulation()}),pF().resetTerms();let e=pF().getTerm(`motion`);yJ(e)&&(await e.setSelectedMotion(t.motions?.find(e=>e.default)?.name??t.motions?.[0]?.name??null),e.setReferenceVisible?.(!0)),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState()}if(!t.policy_num_actions&&(!t.policy_joint_names||t.policy_joint_names.length===0))throw Error(`Policy config missing policy_joint_names.`);let n=new rJ(t,{policyModules:{tracking:cJ,locomotion:uJ},observations:BP});await n.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene}),await n.preloadAll(),this.policyRunner=n,this.policyStateBuilder=new aJ(this.mujoco,this.mjModel,this.mjData,n.getPolicyJointNames());let r=this.policyStateBuilder.build();this.policyRunner.reset(r),this.policyControl=this.buildPolicyControl(t,n,this.policyStateBuilder);{let e=t.observations,n=[];if(Array.isArray(e))n.push(...e);else if(e&&typeof e==`object`)for(let t of Object.values(e))Array.isArray(t)&&n.push(...t);for(let e of n)if(!(!e||this.timestep<=0)&&typeof e.fps==`number`&&e.fps>0){this.policyCtrlDt=1/e.fps;let t=Math.max(1,Math.round(this.policyCtrlDt/this.timestep));t!==this.decimation&&(console.log(`[PolicyRunner] Decimation updated: ${this.decimation} → ${t} (fps=${e.fps}, sim_dt=${this.timestep})`),this.decimation=t);break}}if(t.terminations&&Object.keys(t.terminations).length>0&&(this.terminationManager=new BF(t.terminations,VF,n),console.log(`[TerminationManager] ${this.terminationManager.size} termination term(s) loaded`)),t.onnx?.path){let n=this.resolvePolicyAssetPath(e,t.onnx.path),r=this.resolveAssetUrl(n),i=new iJ({...t.onnx,path:r});await i.init(),this.onnxModule=i,this.onnxInputDict=i.initInput()}console.log(`[PolicyRunner] config loaded`,{obsSize:n.getObservationSize(),obsLayout:n.getObservationLayout(),pdEnabled:this.policyControl!==null})}catch(e){console.warn(`Failed to load policy config:`,e)}}}async fetchPolicyConfig(e){let t=this.resolveAssetUrl(e),n=await fetch(t,{cache:`no-store`});if(!n.ok)throw Error(`Failed to fetch policy config: ${n.status}`);return{config:await n.json(),resolvedUrl:t}}resolveAssetUrl(e){if(/^[a-z]+:\/\//i.test(e))return e;let t=(this.baseUrl||`/`).replace(/\/+$/,`/`),n=new URL(t,window.location.origin+`/`).toString();return new URL(e.replace(/^\/+/,``),n).toString()}resolvePolicyAssetPath(e,t){let n=e.replace(/\\/g,`/`),r=n.lastIndexOf(`/`);return r>=0?`${n.slice(0,r+1)}${t}`.replace(/\/+/g,`/`):t}buildPolicyControl(e,t,n){let r=t.getPolicyJointNames(),i=this.mujoco.mjtBias?.mjBIAS_AFFINE?.value??1,a=(n,a,o,s,c,l,u,d)=>{let f=o.qposAdr.length,p=o.actionIndices.map(e=>r[e]),m=this.normalizeControlArray(s,f,1,p),h=this.normalizeControlArray(c,f,0,p),g=d?t.getDefaultJointPos():new Float32Array(r.length),_=new Float32Array(f);for(let e=0;e<f;e++)_[e]=g[o.actionIndices[e]];let v=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(r.length),y=new Float32Array(f);for(let e=0;e<f;e++)y[e]=v[o.actionIndices[e]]??0;let b=this.normalizeControlArray(l,f,0,p),x=this.normalizeControlArray(u,f,0,p),S=o.ctrlAdr.map(e=>e<0||!this.mjModel?!1:this.mjModel.actuator_biastype[e]===i),C=S.some(Boolean),w=S.some(e=>!e);return C&&w&&console.warn(`[PolicyRunner] Action term "${n}": mixed actuator types detected.`),console.log(`[PolicyRunner] Action term "${n}" (${a}): ${f} joint(s), mode: ${C?`position (ctrl=target_pos)`:`motor (ctrl=torque, external PD)`}`),{controlType:a,ctrlAdr:o.ctrlAdr,qposAdr:o.qposAdr,qvelAdr:o.qvelAdr,actionIndices:o.actionIndices,actionScale:m,actionOffset:h,defaultJointPos:_,encoderBias:y,positionActuator:S,kp:b,kd:x,muscleNormalize:!1}},o=e.actions;if(!o||Object.keys(o).length===0){let t=e.control_type??`joint_position`;if(t!==`joint_position`&&t!==`torque`)return console.warn(`[PolicyRunner] Unsupported control_type: ${t}`),null;let r=n.getControlMapping();return r?[a(`legacy`,t,{...r,actionIndices:Array.from({length:r.qposAdr.length},(e,t)=>t)},e.action_scale,void 0,e.stiffness,e.damping,!0)]:(console.warn(`[PolicyRunner] Failed to build control mapping.`),null)}let s=[];for(let[e,t]of Object.entries(o)){let i=t.type??`joint_position`;if(i!==`joint_position`&&i!==`torque`&&i!==`muscle_activation`){console.warn(`[PolicyRunner] Action term "${e}": unsupported type "${i}", skipping.`);continue}let o=t.actuator_names??[`.*`];if(i===`muscle_activation`){let r=n.getCtrlMappingByActuatorNames(o);if(!r){console.warn(`[PolicyRunner] Action term "${e}": no actuators matched patterns [${o.join(`, `)}], skipping.`);continue}let a=r.ctrlAdr.length,c=this.normalizeControlArray(t.scale,a,1),l=this.normalizeControlArray(t.offset,a,0),u=t.normalize??!0;console.log(`[PolicyRunner] Action term "${e}" (muscle_activation): ${a} actuator(s), normalize=${u}`),s.push({controlType:i,ctrlAdr:r.ctrlAdr,qposAdr:[],qvelAdr:[],actionIndices:r.actionIndices,actionScale:c,actionOffset:l,defaultJointPos:new Float32Array(a),encoderBias:new Float32Array(a),positionActuator:Array(a).fill(!1),kp:new Float32Array(a),kd:new Float32Array(a),muscleNormalize:u});continue}let c=o.length===1&&o[0]===`.*`,l;if(c){let t=n.getControlMapping();if(!t){console.warn(`[PolicyRunner] Action term "${e}": failed to build control mapping, skipping.`);continue}l={...t,actionIndices:Array.from({length:t.qposAdr.length},(e,t)=>t)}}else if(l=n.getControlMappingFor(o,r),!l){console.warn(`[PolicyRunner] Action term "${e}": no joints matched patterns [${o.join(`, `)}], skipping.`);continue}let u=t.use_default_offset===void 0?i===`joint_position`:t.use_default_offset;s.push(a(e,i,l,t.scale,t.offset,t.stiffness,t.damping,u))}return s.length===0?(console.warn(`[PolicyRunner] No valid action terms found in config.actions.`),null):s}normalizeControlArray(e,t,n,r){let i=new Float32Array(t);if(i.fill(n),typeof e==`number`)return i.fill(e),i;if(Array.isArray(e)){for(let r=0;r<t;r++)i[r]=typeof e[r]==`number`?e[r]:n;return i}if(typeof e==`object`&&e&&r){for(let[n,a]of Object.entries(e)){let e=r.indexOf(n);e>=0&&e<t?i[e]=a:console.warn(`[PolicyRunner] Joint name "${n}" not found in policy_joint_names; skipping.`)}return i}return i}resetSimulationState(){if(!(!this.mjModel||!this.mjData)){if(this.mjModel.nkey>0?this.mujoco.mj_resetDataKeyframe(this.mjModel,this.mjData,0):this.mujoco.mj_resetData(this.mjModel,this.mjData),this.initialQpos){let e=this.mjData.qpos;for(let t=0;t<Math.min(this.initialQpos.length,this.mjModel.nq);t++)e[t]=this.initialQpos[t]}if(this.initialQvel){let e=this.mjData.qvel;for(let t=0;t<Math.min(this.initialQvel.length,this.mjModel.nv);t++)e[t]=this.initialQvel[t]}this.eventManager&&this.eventManager.onReset({mjModel:this.mjModel,mjData:this.mjData,terrainData:this.terrainData}),pF().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;let e=this.mjData.ctrl;e.fill(0);let t=this.policyRunner?.getLastActions()??new Float32Array;for(let n of this.policyControl){let{controlType:r,ctrlAdr:i,qposAdr:a,qvelAdr:o,actionIndices:s,actionScale:c,actionOffset:l,defaultJointPos:u,encoderBias:d,positionActuator:f,kp:p,kd:m,muscleNormalize:h}=n,g=i.length;if(r===`joint_position`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let h=t[s[n]]??0,g=u[n]+l[n]+c[n]*h-d[n];if(f[n])e[r]=g;else{let t=this.mjData.qpos[a[n]],i=this.mjData.qvel[o[n]];e[r]=p[n]*(g-t)+m[n]*(0-i)}}else if(r===`torque`)for(let n=0;n<g;n++){let r=i[n];r>=0&&(e[r]=c[n]*(t[s[n]]??0))}else if(r===`muscle_activation`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let a=(t[s[n]]??0)*c[n]+l[n];h?e[r]=1/(1+Math.exp(-5*(a-.5))):e[r]=a<0?0:a>1?1:a}}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||=this.onnxModule.initInput();let t={...this.onnxInputDict};this.onnxModule.inKeys.includes(`time_step`)&&(t.time_step=new AI(`float32`,new Float32Array([this.onnxTimeStep]),[1,1]));for(let[n,r]of Object.entries(e))t[n]=new AI(`float32`,r,[1,r.length]);for(let e of this.onnxModule.inKeys)if(!t[e]){console.warn(`[PolicyRunner] Missing ONNX input:`,{key:e,available:Object.keys(t)});return}let[n,r]=await this.onnxModule.runInference(t);Object.keys(r).length>0&&(this.onnxInputDict={...this.onnxInputDict,...r}),this.onnxModule.inKeys.includes(`time_step`)&&(this.onnxTimeStep+=1);let i=this.onnxModule.outKeys[0],a=n.action??(i?n[i]:null)??n.policy??null;if(!a)return;let o=a.data,s=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o),c=this.policyRunner?.getNumActions()??0;if(this.policyControl&&s.length!==c){console.warn(`[PolicyRunner] Action size mismatch:`,{expected:c,got:s.length});return}this.policyRunner.setLastActions(s)}catch(e){console.warn(`[PolicyRunner] ONNX inference failed:`,e)}finally{this.onnxInferencing=!1}}}applyDragForces(){if(!this.dragStateManager||!this.mjModel||!this.mjData||!this.bodies)return;for(let e=0;e<this.mjData.xfrc_applied.length;e++)this.mjData.xfrc_applied[e]=0;let e=this.dragStateManager.physicsObject;if(!e||!(`bodyID`in e)||typeof e.bodyID!=`number`||e.bodyID<=0)return;let t=e.bodyID;if(this.dynamicBodyIds&&!this.dynamicBodyIds.has(t))return;for(let e=0;e<this.mjModel.nbody;e++)this.bodies[e]&&(fO(this.mjData.xpos,e,this.bodies[e].position),pO(this.mjData.xquat,e,this.bodies[e].quaternion),this.bodies[e].updateWorldMatrix(!0,!1));this.dragStateManager.update();let n=HD(this.dragStateManager.offset.clone().multiplyScalar(this.dragForceScale)),r=HD(this.dragStateManager.worldHit.clone()),i=new Y(this.mjData.xpos[t*3+0],this.mjData.xpos[t*3+1],this.mjData.xpos[t*3+2]),a=new Y(r.x-i.x,r.y-i.y,r.z-i.z),o=new Y(n.x,n.y,n.z),s=new Y().crossVectors(a,o),c=t*6;this.mjData.xfrc_applied[c+0]=n.x,this.mjData.xfrc_applied[c+1]=n.y,this.mjData.xfrc_applied[c+2]=n.z,this.mjData.xfrc_applied[c+3]=s.x,this.mjData.xfrc_applied[c+4]=s.y,this.mjData.xfrc_applied[c+5]=s.z}updateCachedState(){if(!this.mjModel||!this.mjData||!this.bodies)return;let 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 Y,quaternion:new Pv});let e=this.lastSimState.bodies.get(t);fO(this.mjData.xpos,t,e.position),pO(this.mjData.xquat,t,e.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&QD(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}applyViewerConfig(e){this.cameraState=FP(e,this.camera,this.controls,this.mjModel,this.mjData)}computeDynamicBodyIds(e){let t=new Set;for(let n=1;n<e.nbody;n++){let r=n;for(;r>0;){if(e.body_jntnum[r]>0){t.add(n);break}r=e.body_parentid[r]}}return t}syncStaticBodiesFromData(){if(!this.mjModel||!this.mjData||!this.bodies)return;let e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++){if(e?.has(t))continue;let n=this.bodies[t];n&&(fO(this.mjData.xpos,t,n.position),pO(this.mjData.xquat,t,n.quaternion))}}async captureThumbnail(e={}){let{maxDim:t=1280,quality:n=.85}=e,r=this.renderer.domElement;this.renderer.render(this.scene,this.camera);let i=r.width,a=r.height;if(!i||!a)throw Error(`mjswan: canvas has zero size; nothing to capture.`);let o=Math.min(1,t/Math.max(i,a)),s=Math.max(1,Math.round(i*o)),c=Math.max(1,Math.round(a*o)),l=document.createElement(`canvas`);l.width=s,l.height=c;let u=l.getContext(`2d`);if(!u)throw Error(`mjswan: failed to get a 2D context for thumbnail capture.`);return u.drawImage(r,0,0,s,c),await new Promise((e,t)=>{l.toBlob(n=>n?e(n):t(Error(`mjswan: toBlob returned null.`)),`image/jpeg`,n)})}async dispose(){await this.stop(),this.policyRunner=null,this.policyStateBuilder=null,this.policyConfigPath=null,this.onnxModule&&=(this.onnxModule.dispose(),null),this.onnxInputDict=null,this.onnxInferencing=!1,this.splatMesh&&=(kN(this.splatMesh,this.scene),null),this.colliderMesh&&=(jP(this.colliderMesh,this.scene),null),this.dragStateManager&&=(this.dragStateManager.dispose(),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(e=>this.disposeMaterial(e)):this.disposeMaterial(e.material))});this.scene.children.length>0;)this.scene.remove(this.scene.children[0])}disposeMaterial(e){let 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(){let 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){let t=this.sceneCacheManager.get(e);if(!t)throw Error(`Scene ${e} not found in cache`);let n=this.scene.getObjectByName(`MuJoCo Root`);n&&this.scene.remove(n),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;let r=this.policyCtrlDt??.02;this.decimation=Math.max(1,Math.round(r/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager?this.dragStateManager.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new MP({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls,draggableBodyIds:this.dynamicBodyIds})}async captureAndCacheResources(e){let t=this.resourceTracker.stopTracking(this.mujoco);if(!this.mjModel||!this.mjData||!this.bodies||!this.mujocoRoot){console.warn(`[SceneCache] Cannot cache scene: missing resources`);return}let n=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 xx?this.scene.background:null,fsFiles:t,estimatedMemoryBytes:n});let r=this.sceneCacheManager.getMetrics();this.memoryMonitor.logCacheOperation(`load`,e,{memoryMB:n/1048576,totalScenes:r.totalScenes,totalMemoryMB:r.totalMemoryBytes/1048576})}},CJ=`mjswan_oom_reload_scene`,wJ=({scenePath:e,baseUrl:t,policyConfigPath:n,splatConfig:i,cameraConfig:a,eventsConfig:o,terrainData:s,selectedMotion:c,showReferenceMotion:l=!0,onStatusChange:u,onError:d,onReady:f,onRuntimeReady:p})=>{let m=(0,y.useRef)(null),h=(0,y.useRef)(null),g=(0,y.useRef)(null),_=(0,y.useRef)(i);_.current=i;let v=(0,y.useRef)(c);v.current=c;let b=(0,y.useRef)(l);return b.current=l,(0,y.useEffect)(()=>{let i=!1,c=e=>{u?.(e)};return(async()=>{if(g.current||=(c(`Loading MuJoCo…`),await(await r(()=>import(`./mujoco-C7EP5tg_.js`),__vite__mapDeps([0,1,2]))).default()),i)return;let l=m.current;if(!l)throw Error(`Failed to find viewer container.`);let u=g.current;if(!u)throw Error(`MuJoCo not loaded.`);h.current||(h.current=new SJ(u,l,{baseUrl:t}),p?.(h.current)),c(`Loading scene…`),await h.current.loadEnvironment(e,n??null,_.current??null,a??null,o??null,s??null),await h.current.setSelectedMotion(v.current??null),h.current.setReferenceVisible(b.current),!i&&(sessionStorage.removeItem(CJ),c(`Running simulation`),f?.())})().catch(t=>{if(!i){if(t instanceof bJ){if(sessionStorage.getItem(CJ)!==e){console.warn(`[MjswanViewer] OOM — reloading page to free memory...`),sessionStorage.setItem(CJ,e),window.location.reload();return}sessionStorage.removeItem(CJ)}console.error(`Failed to initialize MuJoCo 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package/dist/index.html

@@ -11,7 +11,7 @@
     />
     <link rel="manifest" href="manifest.json" />
     <title>mjswan</title>
-    <script type="module" crossorigin src="/assets/index-BaczEYWT.js"></script>
+    <script type="module" crossorigin src="/assets/index-CYGC4_3w.js"></script>
     <link rel="modulepreload" crossorigin href="/assets/chunk-BHe-jwch.js">
     <link rel="modulepreload" crossorigin href="/assets/preload-helper-zJ_50EbN.js">
     <link rel="stylesheet" crossorigin href="/assets/index-CrgUmStW.css">