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s.parent=s,s},readdir(){return Array.from(a.streams.entries()).filter(([t,n])=>n).map(([t,n])=>t.toString())}},r}},{},"/proc/self/fd")},createStandardStreams(e,r,t){e?a.createDevice("/dev","stdin",e):a.symlink("/dev/tty","/dev/stdin"),r?a.createDevice("/dev","stdout",null,r):a.symlink("/dev/tty","/dev/stdout"),t?a.createDevice("/dev","stderr",null,t):a.symlink("/dev/tty1","/dev/stderr");var n=a.open("/dev/stdin",0),i=a.open("/dev/stdout",1),o=a.open("/dev/stderr",1);T(n.fd===0,`invalid handle for stdin (${n.fd})`),T(i.fd===1,`invalid handle for stdout (${i.fd})`),T(o.fd===2,`invalid handle for stderr (${o.fd})`)},staticInit(){a.nameTable=new Array(4096),a.mount(j,{},"/"),a.createDefaultDirectories(),a.createDefaultDevices(),a.createSpecialDirectories(),a.filesystems={MEMFS:j}},init(e,r,t){T(!a.initialized,"FS.init was previously called. 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de[e+40>>3]=BigInt(Math.floor(t/1e3)),R[e+48>>2]=t%1e3*1e3*1e3,de[e+56>>3]=BigInt(Math.floor(n/1e3)),R[e+64>>2]=n%1e3*1e3*1e3,de[e+72>>3]=BigInt(Math.floor(i/1e3)),R[e+80>>2]=i%1e3*1e3*1e3,de[e+88>>3]=BigInt(r.ino),0},writeStatFs(e,r){C[e+4>>2]=r.bsize,C[e+40>>2]=r.bsize,C[e+8>>2]=r.blocks,C[e+12>>2]=r.bfree,C[e+16>>2]=r.bavail,C[e+20>>2]=r.files,C[e+24>>2]=r.ffree,C[e+28>>2]=r.fsid,C[e+44>>2]=r.flags,C[e+36>>2]=r.namelen},doMsync(e,r,t,n,i){if(!a.isFile(r.node.mode))throw new a.ErrnoError(43);if(n&2)return 0;var o=ae.slice(e,e+t);a.msync(r,o,i,t,n)},getStreamFromFD(e){var r=a.getStreamChecked(e);return r},varargs:void 0,getStr(e){var r=Se(e);return r}};function ui(e,r,t){try{var n=q.getStreamFromFD(e);if(T(!t),n.fd===r)return-28;if(r<0||r>=a.MAX_OPEN_FDS)return-8;var i=a.getStream(r);return i&&a.close(i),a.dupStream(n,r).fd}catch(o){if(typeof a>"u"||o.name!=="ErrnoError")throw o;return-o.errno}}var mr=()=>{T(q.varargs!=null);var e=C[+q.varargs>>2];return q.varargs+=4,e},qe=mr;function 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Dr="3.15.0",jl=256,Il=.1,Nl=50,Ll=1e3/60;function Pn(y){if(!y||y.schema!=="dvidia.live-workstation/v1")throw new Error("Unsupported workstation schema");if(y.native_version!==Dr)throw new Error("Native and browser MuJoCo versions must match");if(y.timestep!==.002||y.control_dt!==.02)throw new Error("Unsupported physics/control timestep");if(!Array.isArray(y.assets)||y.assets.length>jl)throw new Error("Invalid asset manifest");if(!Array.isArray(y.bounds_xyz)||y.bounds_xyz.length!==3)throw new Error("Invalid workspace bounds");for(let m of y.bounds_xyz)if(Ce(m,2,"Workspace bounds"),m[0]>=m[1]||m[0]<-2||m[1]>2)throw new Error("Invalid workspace bounds");ot(y.initial_target_xyz,y.bounds_xyz);let h=Ce(y.orientation_wxyz,4,"Tool orientation");if(Math.abs(Math.hypot(...h)-1)>1e-8)throw new Error("Tool orientation must be normalized");for(let m of["joint_names","actuator_names"])if(!Array.isArray(y[m])||y[m].length!==6||!y[m].every(A=>typeof A=="string"&&A.length<100))throw new Error(`Invalid ${m}`);let u=y.controller;for(let m of["orientation_weight","translation_error_cap_m","rotation_error_cap_rad","damping","max_joint_delta_rad","joint_margin_rad","joint_rate_rad_s","gripper_rate_m_s"])if(!Number.isFinite(u?.[m])||u[m]<=0||u[m]>5)throw new Error(`Invalid controller ${m}`);if(Ce(u.gripper_range_m,2,"Gripper range"),u.gripper_range_m[0]!==0||u.gripper_range_m[1]!==.035)throw new Error("Unsupported gripper range");if(!Array.isArray(y.shoe_body_names)||y.shoe_body_names.length>12)throw new Error("Invalid shoe body list");let v=y.interaction_limits?.push_impulse_norm_max_ns;if(!Number.isFinite(v)||v<=0||v>.12)throw new Error("Invalid push impulse limit");return y}var st=class{constructor(h,u,v,m=()=>{}){if(this.mj=h,this.model=u,this.manifest=Pn(v),this.emit=m,u.nq!==15||u.nv!==14||u.nu!==7||u.neq!==1||u.nmocap!==0||u.opt.timestep!==v.timestep)throw new Error("Native PiPER scene contract mismatch");this.data=new h.MjData(u),this.buffers=[];let A=P=>{let D=new h.DoubleBuffer(P);return this.buffers.push(D),D};this.jacp=A(3*u.nv),this.jacr=A(3*u.nv),this.quaternion=A(4),this.rotation=A(3),this.contactForce=A(6);let O=(P,D)=>{let B=h.mj_name2id(u,h.mjtObj[P].value,D);if(B<0)throw new Error(`Missing native model element: ${D}`);return B};this.tcp=O("mjOBJ_SITE",v.tcp_site_name),this.joints=v.joint_names.map(P=>O("mjOBJ_JOINT",P)),this.actuators=v.actuator_names.map(P=>O("mjOBJ_ACTUATOR",P)),this.jawActuator=O("mjOBJ_ACTUATOR",v.gripper_actuator_names[0]),this.jawQpos=u.jnt_qposadr[O("mjOBJ_JOINT","joint7")],this.qposIds=this.joints.map(P=>u.jnt_qposadr[P]),this.dofIds=this.joints.map(P=>u.jnt_dofadr[P]),this.ctrlRange=this.actuators.map(P=>Array.from(u.actuator_ctrlrange.slice(P*2,P*2+2))),this.shoes=Object.fromEntries(v.shoe_body_names.map(P=>[P,O("mjOBJ_BODY",P)])),this.nativeWarnings=this.data.warning,this.nativeWarningEntries=Array.from({length:this.nativeWarnings.size()},(P,D)=>this.nativeWarnings.get(D)),this.dt=v.timestep,this.controlStride=Math.round(v.control_dt/this.dt),this.running=!0,this.benchmarking=!1,this.timer=null,this.statePending=!1,this.reset()}reset(){this.mj.mj_resetData(this.model,this.data);let h=Ce(this.manifest.home_qpos,this.model.nq,"Initial positions"),u=Ce(this.manifest.home_ctrl,this.model.nu,"Initial controls");this.data.qpos.set(h),this.data.ctrl.set(u),this.mj.mj_forward(this.model,this.data),this.target=this.manifest.initial_target_xyz.slice(),this.jaw=u[this.jawActuator],this.desiredJaw=this.jaw,this.desired=this.actuators.map(v=>u[v]),this.steps=0,this.pushes=new Map,this.warnings=[],this.stepSamples=new lr,this.controlSamples=new lr,this.startWall=performance.now(),this.lastWall=this.startWall,this.lastStateWall=0,this.activeWallMs=0,this.lagMs=0,this.accumulator=0,this.peakContacts=0,this.invalidCommands=0,this.statePending=!1,this.initialShoePositions=Object.fromEntries(Object.entries(this.shoes).map(([v,m])=>[v,Array.from(this.data.xpos.slice(3*m,3*m+3))]))}controller(){let h=performance.now(),u=Array.from(this.data.site_xmat.slice(this.tcp*9,this.tcp*9+9));this.mj.mj_jacSite(this.model,this.data,this.jacp,this.jacr,this.tcp),this.mj.mju_mat2Quat(this.quaternion,u),this.mj.mju_subQuat(this.rotation,this.manifest.orientation_wxyz,Array.from(this.quaternion.GetView()));let v=this.rotation.GetView(),m=[0,1,2].map(A=>u[A*3]*v[0]+u[A*3+1]*v[1]+u[A*3+2]*v[2]);this.desired=wn({jacp:this.jacp.GetView(),jacr:this.jacr.GetView(),nv:this.model.nv,dofIds:this.dofIds,qpos:this.data.qpos,qposIds:this.qposIds,target:this.target,current:this.data.site_xpos.slice(this.tcp*3,this.tcp*3+3),rotationWorld:m,ctrlRange:this.ctrlRange,config:this.manifest.controller}),this.desiredJaw=this.jaw,this.controlSamples.add(performance.now()-h)}step(){let h=performance.now();this.steps%this.controlStride===0&&this.controller();let u=this.manifest.controller,v=this.data.ctrl;this.actuators.forEach((m,A)=>{v[m]+=cr(this.desired[A]-v[m],-u.joint_rate_rad_s*this.dt,u.joint_rate_rad_s*this.dt)}),v[this.jawActuator]+=cr(this.desiredJaw-v[this.jawActuator],-u.gripper_rate_m_s*this.dt,u.gripper_rate_m_s*this.dt),this.data.xfrc_applied.fill(0);for(let[m,A]of this.pushes)A.remainingSteps<=0?this.pushes.delete(m):(this.data.xfrc_applied.set(A.force,m*6),A.remainingSteps-=1);if(this.mj.mj_step(this.model,this.data),this.data.xfrc_applied.fill(0),this.mj.mj_forward(this.model,this.data),this.steps+=1,this.peakContacts=Math.max(this.peakContacts,this.data.ncon),![...this.data.qpos,...this.data.qvel,...this.data.qacc,...this.data.ctrl].every(Number.isFinite))throw new Error("Non-finite native physics state; simulation paused");this.checkWarnings(),this.stepSamples.add(performance.now()-h)}checkWarnings(){for(let h=0;h<this.nativeWarningEntries.length;h+=1){let u=this.nativeWarningEntries[h];if(u.number>0){let v=this.mj.mju_warningText(h,u.lastinfo);this.warnings.includes(v)||this.warnings.push(v)}}if(this.warnings.length)throw new Error(`Native solver warning; simulation paused: ${this.warnings[0]}`)}applyCommand(h){switch(h.type){case"target":this.target=ot(h.position,this.manifest.bounds_xyz);break;case"gripper":{let u=this.manifest.controller.gripper_range_m;if(!Number.isFinite(h.jaw)||h.jaw<u[0]||h.jaw>u[1])throw new Error("Invalid gripper position");this.jaw=h.jaw;break}case"pause":if(typeof h.paused!="boolean")throw new Error("Pause requires a boolean");this.running=!h.paused,this.lastWall=performance.now(),this.accumulator=0;break;case"reset":this.reset();break;case"push":{let u=this.shoes[h.body];if(u===void 0)throw new Error("Push is restricted to a named shoe");let v=Ce(h.impulse,3,"Push impulse"),m=this.manifest.interaction_limits.push_impulse_norm_max_ns;if(Math.hypot(...v)>m+1e-9)throw new Error(`Push exceeds the ${m} N·s impulse limit`);this.pushes.set(u,{force:v.map(A=>A/this.dt),remainingSteps:1});break}default:throw new Error(`Unsupported command: ${String(h.type).slice(0,60)}`)}}state(){let h=Array.from(this.data.site_xpos.slice(this.tcp*3,this.tcp*3+3)),u=Object.fromEntries(Object.entries(this.shoes).map(([P,D])=>{let B=Array.from(this.data.xpos.slice(D*3,D*3+3));return[P,{position:B,height_change_m:B[2]-this.initialShoePositions[P][2]}]})),v=0,m=0,A=0,O=[];for(let P=0;P<this.data.ncon;P+=1){this.mj.mj_contactForce(this.model,this.data,P,this.contactForce);let D=Math.max(0,this.contactForce.GetView()[0]);v+=D,m=Math.max(m,D),O.push(D),A+=+(D>.001)}return{body_pos:Array.from(this.data.xpos),body_quat:Array.from(this.data.xquat),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),tcp_position:h,target_position:this.target.slice(),jaw:this.jaw,actual_jaw:this.data.qpos[this.jawQpos],commanded_jaw:this.data.ctrl[this.jawActuator],sim_time:this.data.time,paused:!this.running,tracking_error_m:Math.hypot(...h.map((P,D)=>P-this.target[D])),contacts:this.data.ncon,contact_normal_force_total_n:v,contact_normal_force_max_n:m,shoes:u,active_contacts:A,contact_normal_forces_n:O,actuator_force:Array.from(this.data.actuator_force),metrics:{step_ms_p50:this.stepSamples.quantile(.5),step_ms_p95:this.stepSamples.quantile(.95),control_ms_p95:this.controlSamples.quantile(.95),rtf:this.activeWallMs>0?this.data.time*1e3/this.activeWallMs:0,lag_ms:this.lagMs,physics_steps:this.steps,active_wall_ms:this.activeWallMs,peak_contacts:this.peakContacts,invalid_commands:this.invalidCommands,samples_retained:this.stepSamples.values.length},warnings:this.warnings.slice(),engine:`MuJoCo ${Dr} WASM`,observation_origin:"privileged_live_simulator_state"}}start(){let h=()=>{let u=performance.now(),v=Math.max(0,(u-this.lastWall)/1e3);if(this.lastWall=u,this.running&&!this.benchmarking){this.activeWallMs+=v*1e3;let m=this.accumulator+v;this.accumulator=Math.min(m,Il),this.lagMs+=Math.max(0,m-this.accumulator)*1e3;let A=0;try{for(;this.accumulator>=this.dt&&A<Nl;)this.step(),this.accumulator-=this.dt,A+=1}catch(O){this.running=!1,this.emit({type:"error",message:O.message})}}u-this.lastStateWall>=Ll&&!this.benchmarking&&!this.statePending&&(this.publishState(),this.lastStateWall=u),this.timer=setTimeout(h,4)};this.lastWall=performance.now(),this.timer=setTimeout(h,0)}publishState(){this.statePending||(this.statePending=!0,this.emit({type:"state",state:this.state()}))}async benchmark(h){if(!Number.isInteger(h.steps)||h.steps<1||h.steps>3e4)throw new Error("Benchmark requires 1–30,000 physics steps");let u=h.commands??[];if(!Array.isArray(u)||u.length>1e3)throw new Error("Too many benchmark commands");if(u.some($=>!Number.isInteger($.step)||$.step<0||$.step>=h.steps||!["target","gripper","push"].includes($.type)))throw new Error("Invalid benchmark schedule");let v=this.running;this.benchmarking=!0,this.reset(),this.running=!1;let m=performance.now(),A=null,O=new Map;for(let $ of u)O.set($.step,[...O.get($.step)??[],$]);let P=[];try{for(let $=0;$<h.steps;$+=1){for(let W of O.get($)??[])this.applyCommand(W);if(this.step(),$%50===0||$===h.steps-1){let W=this.state();P.push({step:$,sim_time:W.sim_time,tcp_position:W.tcp_position,tracking_error_m:W.tracking_error_m,contacts:W.contacts,shoes:W.shoes})}$%250===249&&await new Promise(W=>setTimeout(W,0))}}catch($){A=$.message}let D=performance.now()-m;this.activeWallMs=D;let B=this.state();return this.benchmarking=!1,this.running=v&&!A,this.lastWall=performance.now(),this.accumulator=0,this.statePending=!1,{schema:"dvidia.live-workstation-benchmark/v1",engine_version:Dr,requested_steps:h.steps,completed_steps:this.steps,simulated_seconds:this.data.time,wall_seconds:D/1e3,real_time_factor:this.data.time*1e3/D,valid:!A&&!this.warnings.length,error:A,final_state:B,trace:P,timestep:this.dt,control_dt:this.manifest.control_dt,scene_sha256:this.manifest.native_scene.sha256,limitations:["Rigid synthetic shoe; material properties are uncalibrated.","Benchmark state is privileged simulator state."]}}dispose(){this.timer!==null&&clearTimeout(this.timer);for(let h of this.buffers)h.delete();this.data.delete(),this.model.delete()}},ne=null,at=!1;async function Ul(y){if(ne||at)throw new Error("The worker has already been initialized");at=!0;let h=null,u=null;try{let v=new URL(y.manifest_url,self.location.href);if(v.origin!==self.location.origin||!["http:","https:"].includes(v.protocol))throw new Error("Manifest must be same-origin");let m=await Be(v,void 0,{maxBytes:2*1024*1024});if(m.length>2*1024*1024)throw new Error("Manifest is too large");let A=Pn(JSON.parse(new TextDecoder().decode(m)));if(!A.native_scene||A.native_scene.path!==A.scene_url)throw new Error("Scene checksum descriptor is missing");self.postMessage({type:"progress",message:A.native_asset_bundle?"Loading the physics engine and one compressed native mesh bundle.":"Loading the physics engine and original native meshes."});let O={onProgress:W=>self.postMessage({type:"progress",download:W})},[P,D,B]=await Promise.all([An(A,v,O),Tn(A,v,O),Be(Ue(A.scene_url,v),A.native_scene,O)]),$=await gn({wasmBinary:P,printErr:W=>{ne&&ne.warnings.length<20&&ne.warnings.push(String(W).slice(0,300))}});if($.mj_versionString()!==Dr)throw new Error("Unexpected MuJoCo WASM version");self.postMessage({type:"progress",message:"Native mesh checksums verified. Compiling the local physics scene."}),u=new $.MjVFS;for(let W of D)u.addBuffer(W.path,W.bytes);h=$.MjModel.from_xml_string(new TextDecoder().decode(B),u),ne=new st($,h,A,W=>self.postMessage(W)),h=null,self.postMessage({type:"ready",manifest:A,state:ne.state()}),ne.start()}finally{u?.delete(),h?.delete(),at=!1}}typeof self<"u"&&typeof self.postMessage=="function"&&typeof document>"u"&&(self.onmessage=async y=>{let h=y.data;try{if(!h||typeof h!="object"||typeof h.type!="string")throw new Error("Invalid worker message");if(h.type==="init"){await Ul(h);return}if(!ne)throw new Error("Workstation is not initialized");if(h.type==="ack"){ne.statePending=!1;return}if(ne.benchmarking)throw new Error("Interactive commands are disabled during deterministic benchmarking");if(h.type==="benchmark"){let u=await ne.benchmark(h);self.postMessage({type:"benchmark_result",request_id:h.request_id,result:u})}else h.type==="state"||ne.applyCommand(h),ne.publishState()}catch(u){ne&&(ne.invalidCommands+=1),self.postMessage({type:"error",request_id:h?.request_id,message:String(u.message).slice(0,500)})}});export{st as WorkstationEngine};