diff --git a/package-lock.json b/package-lock.json
index 639559aa..1a8b8740 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
   "name": "mujoco-web-platform",
-  "version": "0.8.2",
+  "version": "0.8.3",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "mujoco-web-platform",
-      "version": "0.8.2",
+      "version": "0.8.3",
       "license": "Apache-2.0",
       "dependencies": {
         "@monaco-editor/react": "^4.7.0",
diff --git a/package.json b/package.json
index c97d62f7..8eb467d6 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "mujoco-web-platform",
-  "version": "0.8.2",
+  "version": "0.8.3",
   "description": "基于 MuJoCo WebAssembly 的本地机器人仿真与控制平台",
   "private": true,
   "type": "module",
diff --git a/plans/editor-interaction-style-guide.md b/plans/editor-interaction-style-guide.md
new file mode 100644
index 00000000..d8adf700
--- /dev/null
+++ b/plans/editor-interaction-style-guide.md
@@ -0,0 +1,94 @@
+# 编辑器快捷键与微交互样式规范
+
+## 快捷键矩阵
+
+`useMapEditorShortcuts` 在模型快照可用时以 capture 阶段统一处理；`F` 可聚焦机器人或地图选择，其余编辑命令受地图上下文约束，避免与浏览器保存、仿真重置以及输入框 Delete 冲突。
+
+| 快捷键 | 行为 | 约束 |
+| --- | --- | --- |
+| `W` | 平移 Gizmo | 自动切回 Viewer `select` 模式 |
+| `E` | 旋转 Gizmo | 仅世界 Z 轴 |
+| `R` | 缩放 Gizmo | 参数地形及锁定对象会消费按键但不执行缩放 |
+| `F` | 聚焦选中对象 | 320ms ease-out 相机过渡；用户拖动相机会中止过渡 |
+| `Delete` | 删除选中地图对象 | 输入框和对话框内不拦截；忽略 key repeat |
+| `Ctrl/Cmd + S` | 保存并编译场景草稿 | 阻止浏览器“保存网页”；编译失败保留草稿 |
+| `G` | 切换网格吸附 | 移动 0.1m / 旋转 5° |
+| `Ctrl/Cmd + Z` | 撤销 MapEditSession 操作 | 已有会话行为 |
+| `Ctrl/Cmd + Y` | 重做 MapEditSession 操作 | 已有会话行为 |
+| `Escape` | 取消对象选择 | 已有会话行为 |
+
+典型接入：
+
+```tsx
+useMapEditorShortcuts({
+  enabled: Boolean(snapshot),
+  mapEditing: mapEditingActive,
+  dirty: mapSceneDirty,
+  loading,
+  hasSelection: Boolean(selection),
+  canDelete: selection?.kind === 'map-object',
+  canScale: selectedObject?.placementMode !== 'locked',
+  onTransformMode: changeMapTransformMode,
+  onFocusSelection: () => viewer.focusSelection(),
+  onDeleteSelection: () => sessionPort.onDelete(objectId),
+  onToggleSnapping: () => setSnapping((value) => !value),
+  onSave: commitMapScene,
+});
+```
+
+## Scrubbable Number Input
+
+`ScrubbableNumberInput` 同时保留标准 `<input type="number">` 与标签拖拽：
+
+- 在标签上左右拖拽：`每 4px = 1 step`；
+- `Shift`：0.1 倍步长；
+- `Alt`：0.01 倍步长；
+- `Ctrl/Cmd`：10 倍步长；
+- 标签获得焦点时可用左右方向键调节；
+- min/max 在组件边界统一约束；
+- 拖拽过程中使用等宽数字、accent 边框和低强度辉光。
+
+适用于地图位姿、尺寸、材质、摩擦、出生点，以及仿真 Actuator 参数。
+
+## 视觉层级
+
+### 色彩与材质
+
+- 页面底色：`--ui-bg`，暗色模式保持蓝黑而非纯黑；
+- 一级面板：`--ui-panel`；
+- 二级表面：`--ui-surface`；
+- 浮层玻璃：`--ui-glass`，透明度约 78%；
+- 强调色只用于选择、有效落点与可提交状态；
+- 警告色只用于未保存草稿和物理诊断。
+
+### 公共样式类
+
+```css
+.workbench-header   /* 顶栏横向工程渐变 */
+.engineering-glass  /* 16px blur、微渐变、内高光、细边框 */
+.engineering-card   /* Inspector 二级属性组 */
+.engineering-badge  /* 微渐变 Badge 与细阴影 */
+.tool-active-glow   /* 激活工具的低强度 accent 光晕 */
+.map-tool-enter     /* 浮动工具条入场 */
+.draft-dirty-dot    /* 未保存状态呼吸提示 */
+.scrubbable-number-* /* 数值拖拽完整状态 */
+```
+
+优先使用这些语义类，组件内部再组合 Tailwind 布局类。例如：
+
+```tsx
+<div className="engineering-glass map-tool-enter rounded-xl border p-1.5" />
+<section className="engineering-card rounded-lg border p-2.5" />
+```
+
+## 动效时长
+
+| 场景 | 时长 | 曲线 |
+| --- | ---: | --- |
+| Button hover / press | 150ms | `ease-out` |
+| 浮动工具条出现 | 220ms | `cubic-bezier(.22,1,.36,1)` |
+| 相机聚焦 | 320ms | cubic ease-out |
+| Snap to Surface 3D 指示器 | 720ms | 双脉冲衰减 |
+| 草稿状态呼吸 | 1800ms | ease-in-out |
+
+所有动画必须受 `prefers-reduced-motion: reduce` 约束，不以动画作为唯一状态表达。Snap to Surface 同时使用绿色/青色圆环、十字中心和高度位置表达真实接触面。
diff --git a/plans/map-editor-interaction-flow.md b/plans/map-editor-interaction-flow.md
new file mode 100644
index 00000000..64dbdb57
--- /dev/null
+++ b/plans/map-editor-interaction-flow.md
@@ -0,0 +1,129 @@
+# 地图编辑交互与状态流
+
+## 目标
+
+地图编辑采用“视口负责空间意图、Inspector 负责精确属性、`MapEditSession` 负责草稿事实”的单向数据流：
+
+- 顶部 `ViewerToolDock` 决定当前 Viewer 交互域；地图上下文激活时与视口浮动工具条共享状态。
+- `MapViewportToolbar` 负责移动/旋转/缩放、网格吸附以及贴地策略，不再由右侧属性面板持有。
+- 右侧 Inspector 仅显示当前对象的位姿、尺寸、表面材质和摩擦力。
+- `MapDraftStatusOverlay` 常驻视口底部，统一提交或丢弃场景级草稿。
+- 左侧资产库通过标准化拖放载荷把几何原语直接放到 3D 地面。
+
+## 状态所有权
+
+| 状态 | 所有者 | 消费方 |
+| --- | --- | --- |
+| `EditorSelection` | `App` | 场景树、Viewer、Inspector、地图工具条 |
+| `mapTransformMode` | `App` | `ViewerToolDock`、`MapViewportToolbar`、`MapEditorLayer` |
+| `mapSnapping` | `App` | `MapViewportToolbar`、`MapEditorLayer`、参数地形预览层 |
+| `assetPlacementMode` | `App` | 左侧资产库、视口贴地策略 |
+| 编辑文档与 undo/redo | `MapEditSession` | `MapEditorPanel`、视口命令端口 |
+| `editorDrafts` | `App` | 场景预览、事务提交、草稿状态浮窗 |
+| `editorSessionStates` | `App` | 未保存改动计数 |
+
+## MapEditSession 命令端口
+
+`MapEditorInteractionCallbacks` 是 Viewer 与编辑会话之间的边界：
+
+```ts
+interface MapEditorInteractionCallbacks {
+  onSelect(id: string | null): void;
+  onTransform(transform: MapEditorTransform): void;
+  onAddAsset(type, position?, placementMode?, externalSupportTop?): void;
+  onSetPlacementMode(id: string, mode: MapObjectPlacementMode): void;
+  onAlignToSurface(id: string): void;
+  onDelete(id: string): void;
+  onDiscard(): void;
+}
+```
+
+Viewer 和浮动工具条只发送命令，不直接修改 `EditableMapDocument`。每次会话变更都按以下顺序发布：
+
+1. `MapEditSession.addAsset/update/remove` 创建历史记录；
+2. `onPreview(session.document)` 更新 `MapEditorLayer`；
+3. `onDraftChange(..., dirty)` 写入 App 的 `editorDrafts`；
+4. `onSessionStateChange` 上报 dirty、changeCount、undo/redo 能力；
+5. React 根据统一选择刷新 Inspector 与底部草稿状态。
+
+## 关键流转
+
+### 视口拾取与属性编辑
+
+```text
+MapEditorLayer.onSelect(objectId)
+  → App.editorInteraction.onSelect(objectId)
+  → App.EditorSelection = map-object
+  → Inspector 定位同一 draftDocument.objects[objectId]
+  → MapObjectInspector 显示位姿 / 尺寸 / 表面材质 / 摩擦
+```
+
+Inspector 输入不会调用 Viewer API，而是更新 `MapEditSession`，再由草稿预览反向更新 Viewer，避免双写。
+
+### 浮动变换工具
+
+```text
+MapViewportToolbar(W/E/R)
+  → App.mapTransformMode
+  → Viewer interaction mode 自动切到 select
+  → MuJoCoViewer.setMapEditorTransformMode
+  → MapEditorLayer + ParametricMapPreviewLayer 同步
+```
+
+网格吸附同样由 App 单点设置为移动 `0.1 m`、旋转 `5°`。切换顶部关节拖动或外力模式时，地图工具仍保留上下文，但标记为非激活；点击顶部地图上下文或任一 W/E/R 会恢复选择模式。
+
+贴地策略：
+
+- `auto_ground`：对象底部对齐世界 `z=0`；
+- `gravity`：调用场景承载面查询，沿 `-Z` 落到当前 XY 位置的最高表面；
+- `locked`：禁止位姿和 Gizmo 变换，但允许尺寸、材质和摩擦编辑。
+
+### 从资产库拖放到 3D 地面
+
+```text
+MapAssetLibrary dragStart
+  → application/x-mujoco-map-library-item
+  → App.dragOver
+  → MuJoCoViewer.mapPlanePoint(clientX, clientY)
+  → MapAssetDropIndicator
+  → drop
+  → editorInteraction.onAddAsset(...)
+  → MapEditSession.addAsset
+```
+
+若当前还没有可编辑地图，`App.createEditableScene` 会创建临时 V3 地图包，再将待放置资产交给新会话。重力放置会把地面射线落点与 `mapSceneSurfaceHeightAt` 的承载高度一起传给会话。
+
+### 提交与丢弃
+
+提交：
+
+```text
+MapDraftStatusOverlay.commit
+  → App.commitMapScene(editorDrafts)
+  → materializeEditableMapDrafts（revision 递增）
+  → 一次 MuJoCo 编译
+  → 成功：更新 appliedMapAssets / committedEditorDocuments / 清理已提交草稿
+  → 失败：回滚 manifest，保留草稿与上一仿真会话
+```
+
+丢弃：
+
+```text
+MapDraftStatusOverlay.discard
+  → MapEditSession.discard（清理本地 history）
+  → App.clearEditorDrafts
+  → restoreAppliedMapScene
+  → 恢复已提交 Viewer 预览与 Inspector 选择
+```
+
+提交和丢弃均作用于整个场景草稿，因此多个地图实例和编辑文档只触发一次物理重新编译。
+
+## 组件更新
+
+- `web_platform/src/app/components/MapViewportTools.tsx`
+- `web_platform/src/app/components/ViewerToolDock.tsx`
+- `web_platform/src/map/MapObjectInspector.tsx`
+- `web_platform/src/map/MapEditorPanel.tsx`
+- `web_platform/src/map/PhysicalMapPanel.tsx`
+- `web_platform/src/map/MapAssetLibrary.tsx`
+- `web_platform/src/app/App.tsx`
diff --git a/plans/sidebar-information-architecture.md b/plans/sidebar-information-architecture.md
new file mode 100644
index 00000000..a4f86c7e
--- /dev/null
+++ b/plans/sidebar-information-architecture.md
@@ -0,0 +1,64 @@
+# 3D 编辑器侧边栏信息架构
+
+## 目标布局
+
+```text
+┌ 场景大纲与资产中心 ┐  ┌──────── 3D Viewport ────────┐  ┌ 右侧工作区 ──┐
+│ 场景大纲（常驻）   │  │                              │  │ 检查器/控制/数据│
+│  ├─ Robot          │  │                              │  │ 上下文属性   │
+│  │  ├─ Body        │  │                              │  │              │
+│  │  └─ Joint       │  │                              │  │              │
+│  └─ Maps           │  │                              │  │              │
+│     └─ Object      │  │                              │  │              │
+├────────────────────┤  │                              │  │              │
+│ 资产库 | 工程文件  │  │                              │  │              │
+└────────────────────┘  └──────────────────────────────┘  └──────────────┘
+```
+
+- 场景大纲常驻，资产库与工程文件共享下半区，放置地图时无需在“结构/资产”之间切换。
+- 右侧使用“检查器 / 控制台 / 数据录制”三个顶层视图；检查器内部根据统一选择自动路由到 Body、Joint、地图实例或地图对象。
+- Python/ONNX 控制器、全局 Actuator/Joint 控制和数据录制不是对象属性，放在右侧独立视图中，不使用模态窗口，因此操作时始终能看到并交互仿真画面。
+- 控制与训练等重型组件仅在首次进入对应右侧视图时懒加载。
+- 控制台分区默认全部折叠，按“执行器控制 → 关节调试 → 外力交互 → Python 控制 → ONNX 推理 → 强化学习训练”排列，并在标题右侧显示“控制 / 调试 / 交互 / 推理 / 训练”功能标记。
+
+## 状态与依赖边界
+
+`EditorSelection` 是大纲高亮和检查器路由的唯一选择语义，只保存稳定 ID：
+
+```ts
+type EditorSelection =
+  | { kind: 'body'; bodyId: number }
+  | { kind: 'joint'; jointId: number; bodyId: number }
+  | { kind: 'map'; mapAssetId: string }
+  | { kind: 'map-object'; mapAssetId: string; objectId: string };
+```
+
+Viewer 的射线命中详情仍保留为临时 `ViewerSelection`，仅用于展示 geom 和世界位置，不再决定检查器类型。
+
+组件职责：
+
+- `ProjectSidebar`：只编排常驻 `SceneOutliner`、`MapAssetLibrary` 和 `ProjectTree`。
+- `SceneOutliner`：把 simulation 与 map 数据投影成一棵可选择的场景树；不修改业务状态。
+- `MapAssetLibrary`：只负责资产发现、点击添加和拖放，不再保存已放置实例树。
+- `ModelControlsSidebar`：持有右侧栏壳层、顶层视图切换，并在检查器视图中按 `EditorSelection.kind` 路由。
+- `RobotInspector`：承载模型摘要、Body 和 Joint 的领域 UI。
+- `PhysicalMapPanel`：承载地图实例参数与地图对象精确属性，不再持有视口工具状态。
+- `MapViewportToolbar`：在视口内统一承载 Transform、网格吸附与贴地检测，并与顶部 `ViewerToolDock` 共享交互状态。
+- `MapDraftStatusOverlay`：常驻视口底部，统一显示改动计数以及场景级提交/丢弃入口。
+- `WorkspaceToolsPanel`：懒加载并在右侧栏内承载控制器、全局仿真控制和数据录制。
+
+所有选择入口遵循同一事件流：
+
+```text
+场景树点击 / Viewer 拾取
+        ↓
+App 更新 EditorSelection（稳定 ID）
+        ↓
+SceneOutliner 高亮 + Inspector 自动路由
+        ↓
+领域面板发出 command callback
+        ↓
+App / MapEditSession / SimulationSession 执行修改
+```
+
+该实现只使用 React hooks、受控属性和 Tailwind class，兼容 React 18；当前工程使用 React 19 时无需兼容层。
diff --git a/web_platform/e2e/app.spec.ts b/web_platform/e2e/app.spec.ts
index 3a0d4b68..74822e3c 100644
--- a/web_platform/e2e/app.spec.ts
+++ b/web_platform/e2e/app.spec.ts
@@ -145,6 +145,7 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
     });
 
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
+  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
   await page.getByRole('button', { name: '显示设置' }).click();
   const displayDialog = page.getByRole('dialog', { name: '视图显示设置' });
   await expect(displayDialog).toBeVisible();
@@ -162,16 +163,22 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
   await page.getByRole('button', { name: /FPS .*物理/ }).click();
   await expect(page.getByRole('dialog', { name: '性能详情' })).toBeVisible();
   await page.keyboard.press('Escape');
-  await page.getByRole('tab', { name: '控制' }).click();
-  await page.getByRole('button', { name: 'Actuator' }).click();
-  await expect(page.getByText('motor', { exact: true })).toBeVisible();
-  await expect(
-    page.getByRole('tabpanel', { name: '控制' }).getByText('slide', { exact: true }),
-  ).toBeVisible();
-  await page.getByRole('tab', { name: '模型结构' }).click();
+  await page.getByRole('tab', { name: '控制台' }).click();
+  const tools = page.getByRole('tabpanel', { name: '控制台' });
+  await expect(page.getByRole('dialog', { name: '工作区工具' })).toHaveCount(0);
+  await expect(page.locator('main canvas')).toBeVisible();
+  await tools.getByRole('button', { name: /执行器实时控制/ }).click();
+  await expect(tools.getByText('motor', { exact: true })).toBeVisible();
+  await expect(tools.getByText('关节：slide', { exact: true })).toBeVisible();
+  await page.getByRole('tab', { name: '数据录制' }).click();
+  await expect(page.getByRole('tabpanel', { name: '数据录制' })).toContainText('仿真遥测记录');
+  await expect(page.locator('main canvas')).toBeVisible();
+  await page.getByRole('tab', { name: '检查器' }).click();
   const structure = page.getByRole('navigation', { name: '模型结构树' });
   await expect(structure).toBeVisible();
-  await structure.getByRole('treeitem', { name: /hinge/ }).hover();
+  const hinge = structure.getByRole('treeitem', { name: /hinge/ });
+  await hinge.hover();
+  await hinge.click();
   await expect(page.getByRole('alert')).toHaveCount(0);
   await expect(page.getByRole('button', { name: '重置关节' })).toBeVisible();
   await page.getByRole('button', { name: '高级' }).click();
@@ -195,10 +202,10 @@ test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page
   await page.goto('/');
   await expect(page.getByRole('main')).toBeInViewport();
   await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
-  await expect(page.getByRole('button', { name: '显示属性面板' })).toBeVisible();
-  await page.getByRole('button', { name: '显示属性面板' }).click();
+  await expect(page.getByRole('button', { name: '显示右侧面板' })).toBeVisible();
+  await page.getByRole('button', { name: '显示右侧面板' }).click();
   await expect(
-    page.getByRole('complementary').filter({ hasText: '导入模型后显示属性' }),
+    page.getByRole('complementary').filter({ hasText: '导入模型后显示检查器' }),
   ).toBeVisible();
 });
 
@@ -296,7 +303,6 @@ test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
   await options.getByRole('button', { name: '转换并加载' }).click();
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
   await expect(page.getByText('2 个文件')).toBeVisible();
-  await page.getByRole('button', { name: 'URDF 处理方式' }).click();
   await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf');
   await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating');
   await page.getByRole('button', { name: '通知中心' }).click();
@@ -344,8 +350,11 @@ test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', a
   await expect(notifications).toContainText('已为 1 个 hinge/slide 关节生成 motor 驱动器');
   await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm');
   await page.keyboard.press('Escape');
-  await page.getByRole('tab', { name: '控制' }).click();
-  await page.getByRole('button', { name: 'Actuator' }).click();
+  await page.getByRole('tab', { name: '控制台' }).click();
+  await page
+    .getByRole('tabpanel', { name: '控制台' })
+    .getByRole('button', { name: /执行器实时控制/ })
+    .click();
   await expect(page.getByText('shoulder_motor')).toBeVisible();
   await expect(page.getByText('关节：shoulder')).toBeVisible();
   await expect(page.getByText('N·m', { exact: true })).toBeVisible();
@@ -413,8 +422,10 @@ test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加', async ({ pa
   await page.mouse.down();
   await page.mouse.move(x + 70, y, { steps: 8 });
   await page.mouse.up();
-  await page.getByRole('tab', { name: '控制' }).click();
-  const jointSection = page.getByRole('button', { name: '关节 1' });
+  await page.getByRole('tab', { name: '控制台' }).click();
+  const jointSection = page
+    .getByRole('tabpanel', { name: '控制台' })
+    .getByRole('button', { name: /关节姿态调试/ });
   if ((await jointSection.getAttribute('aria-expanded')) === 'false') await jointSection.click();
   const output = page.getByText('screen_x').locator('..').locator('output');
   await expect
@@ -429,7 +440,11 @@ test('可导入并启用 Python 控制器', async ({ page }) => {
     .first()
     .setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '控制' }).click();
+  await page.getByRole('tab', { name: '控制台' }).click();
+  await page
+    .getByRole('tabpanel', { name: '控制台' })
+    .getByRole('button', { name: /Python 脚本控制/ })
+    .click();
   const python = `NAME = "测试 PD 控制器"\nCONTROL_HZ = 100\ndef init(api):\n    return {"joint": api.joint("slide"), "actuator": api.actuator("motor"), "body": api.body("box")}\ndef step(ctx, state):\n    assert len(ctx.body_quat(state["body"])) == 4\n    assert len(ctx.body_position(state["body"])) == 3\n    ctx.set_control(state["actuator"], -ctx.qpos(state["joint"]) - 0.1 * ctx.qvel(state["joint"]))\n`;
   await page
     .locator('input[accept=".py,text/x-python"]')
@@ -437,7 +452,9 @@ test('可导入并启用 Python 控制器', async ({ page }) => {
   await expect(page.getByText('测试 PD 控制器', { exact: true })).toBeVisible({ timeout: 30_000 });
   await expect(page.getByText('Python / Pyodide')).toBeVisible();
   await page.getByRole('button', { name: '启用', exact: true }).click();
-  await expect(page.getByText('运行中')).toBeVisible();
+  await expect(
+    page.getByRole('tabpanel', { name: '控制台' }).getByRole('button', { name: /Python 脚本控制/ }),
+  ).toContainText('运行');
 });
 
 test('中等规模模型持续步进并可重复加载', async ({ page }) => {
@@ -479,16 +496,15 @@ test('认证资产可点击创建场景并拖到画布落位', async ({ page })
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
 
   const library = page.getByLabel('地图资产库');
-  await expect(library.getByText('点击添加，或按住资产拖到画布落位。')).toBeVisible();
+  await expect(library.getByText('物理几何原语', { exact: true })).toBeVisible();
   await library.getByRole('button', { name: '添加基础方盒' }).click();
   await expect(page.getByText('正在加载 MuJoCo 与模型…')).toHaveCount(0);
   await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/scene_1/map.json', {
     timeout: 30_000,
   });
-  await expect(page.getByText('认证资产与场景对象属性')).toBeVisible();
+  await expect(page.getByLabel('地图物体检查器')).toBeVisible();
   await expect(page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒')).toBeVisible();
 
   await page.locator('[data-map-asset="ramp"]').dragTo(page.locator('main canvas'));
@@ -496,9 +512,9 @@ test('认证资产可点击创建场景并拖到画布落位', async ({ page })
   await expect(page.getByText('地图草稿尚未应用')).toBeVisible();
 
   await page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒').click();
-  await page.getByLabel('对象放置方式').selectOption('locked');
+  await page.getByLabel('贴地检测模式').selectOption('locked');
   await expect(page.getByLabel('对象位置X')).toBeDisabled();
-  await page.getByLabel('对象放置方式').selectOption('auto_ground');
+  await page.getByLabel('贴地检测模式').selectOption('auto_ground');
   await expect(page.getByLabel('对象位置X')).toBeEnabled();
 
   const gizmoLine = page.getByRole('img', { name: 'XYZ 方向指示器' }).locator('line').first();
@@ -526,20 +542,19 @@ test('认证资产自动打开地图属性并与参数地形一次编译', async
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
 
   const library = page.getByLabel('地图资产库');
-  await page.getByRole('tab', { name: '属性' }).click();
   await library.getByRole('button', { name: '添加基础方盒' }).click();
-  await expect(page.getByRole('tab', { name: '地图' })).toHaveAttribute('aria-selected', 'true');
-  await expect(page.getByText('认证资产与场景对象属性')).toBeVisible();
+  await expect(page.getByText('Map / Object')).toBeVisible();
+  await expect(page.getByLabel('地图物体检查器')).toBeVisible();
   await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
 
   const sceneTree = page.getByLabel('场景资产树');
   await expect(sceneTree.getByText('基础方盒')).toBeVisible();
-  await page.getByRole('tab', { name: '属性' }).click();
-  await sceneTree.getByRole('button', { name: /基础方盒/ }).click();
-  await expect(page.getByRole('tab', { name: '地图' })).toHaveAttribute('aria-selected', 'true');
+  await sceneTree.getByRole('treeitem', { name: 'box', exact: true }).click();
+  await expect(page.getByText('Robot / Body')).toBeVisible();
+  await sceneTree.getByRole('treeitem', { name: /基础方盒/ }).click();
+  await expect(page.getByText('Map / Object')).toBeVisible();
 
   await library.getByRole('button', { name: '添加随机粗糙地形' }).click();
   await page.getByLabel('位置 X（m）').fill('4');
@@ -564,10 +579,10 @@ test('认证资产自动打开地图属性并与参数地形一次编译', async
   }
   expect(selectedDraftAsset).toBe(true);
   await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/scene_1/map.json');
-  await sceneTree.getByRole('button', { name: '选择地图实例 随机粗糙地形' }).click();
+  await sceneTree.getByRole('treeitem', { name: /随机粗糙地形/ }).click();
   await expect(page.getByLabel('地图来源')).toHaveValue('builtin');
 
-  await page.getByRole('button', { name: '一次编译应用' }).click();
+  await page.getByRole('button', { name: '应用场景' }).click();
 
   await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
   await expect(page.getByText(/已加载工程地图“场景 1”（1 个物理几何/)).toBeVisible();
@@ -610,15 +625,14 @@ test('放弃首次认证资产会完整回滚临时场景和工程文件', async
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
 
   const library = page.getByLabel('地图资产库');
   await library.getByRole('button', { name: '添加基础方盒' }).click();
   await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
   await expect(page.getByLabel('场景资产树')).toContainText('场景 1');
-  await page.getByRole('button', { name: '放弃场景更改' }).click();
+  await page.getByRole('button', { name: '放弃更改' }).click();
   await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
-  await expect(page.getByLabel('场景资产树')).toContainText('0 个实例');
+  await expect(page.getByLabel('场景资产树')).not.toContainText('场景 1');
   await expect(library.getByText('场景 1')).toHaveCount(0);
 
   // 文件和 map id 也必须回滚；再次创建应复用 scene_1，而不是泄漏出 scene_2。
@@ -654,7 +668,6 @@ test('工程地图与参数地形共享放置草稿、实例变换和回滚入
       buffer: Buffer.from(project),
     });
   await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
 
   const library = page.getByLabel('地图资产库');
   await library.getByRole('button', { name: '放置工程地图 草稿仓库' }).click();
@@ -667,7 +680,7 @@ test('工程地图与参数地形共享放置草稿、实例变换和回滚入
 
   await library.getByRole('button', { name: '添加波浪地形' }).click();
   await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
-  await page.getByRole('button', { name: '一次编译应用' }).click();
+  await page.getByRole('button', { name: '应用场景' }).click();
   await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
   await expect(page.getByText(/已加载工程地图“草稿仓库”/)).toBeVisible();
   await expect(page.getByText(/已加载波浪地形物理地图/)).toBeVisible();
@@ -675,7 +688,7 @@ test('工程地图与参数地形共享放置草稿、实例变换和回滚入
   await page.getByRole('button', { name: '删除地图实例 草稿仓库' }).click();
   await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
   await expect(page.getByLabel('场景资产树')).not.toContainText('草稿仓库');
-  await page.getByRole('button', { name: '放弃场景更改' }).click();
+  await page.getByRole('button', { name: '放弃更改' }).click();
   await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
   await expect(page.getByLabel('场景资产树')).toContainText('草稿仓库');
 });
@@ -692,7 +705,6 @@ test('认证资产重力放置使用参数地形的真实承载高度', async ({
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
 
   const library = page.getByLabel('地图资产库');
   await library.getByRole('button', { name: '添加深坑地形' }).click();
@@ -700,7 +712,7 @@ test('认证资产重力放置使用参数地形的真实承载高度', async ({
   await library.getByLabel('新增资产放置方式').selectOption('gravity');
   await library.getByRole('button', { name: '添加基础方盒' }).click();
 
-  await expect(page.getByLabel('对象放置方式')).toHaveValue('gravity');
+  await expect(page.getByLabel('贴地检测模式')).toHaveValue('gravity');
   await expect(page.getByLabel('对象位置Z')).toHaveValue('-0.3');
   await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
 });
@@ -717,7 +729,6 @@ test('参数化地形可连续拖到画布并一次性编译', async ({ page })
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
 
   await page.locator('[data-system-terrain="rough"]').dragTo(page.locator('main canvas'));
   await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
@@ -727,18 +738,19 @@ test('参数化地形可连续拖到画布并一次性编译', async ({ page })
   await expect(page.getByLabel('场景资产树')).toContainText('随机粗糙地形');
   await expect(page.getByLabel('场景资产树')).toContainText('波浪地形');
 
-  await page.getByRole('tab', { name: '属性' }).click();
+  await page.getByLabel('场景资产树').getByRole('treeitem', { name: 'box' }).click();
+  await expect(page.getByText('Robot / Body')).toBeVisible();
   const canvasBox = await page.locator('main canvas').first().boundingBox();
   expect(canvasBox).not.toBeNull();
   await page.mouse.click(
     canvasBox!.x + canvasBox!.width * 0.5,
     canvasBox!.y + canvasBox!.height * 0.78,
   );
-  await expect(page.getByRole('tab', { name: '地图' })).toHaveAttribute('aria-selected', 'true');
-  await expect(page.getByLabel('视口选择与变换')).toBeVisible();
+  await expect(page.getByText('Map / Instance')).toBeVisible();
+  await expect(page.getByLabel('地图视口工具')).toBeVisible();
   await expect(page.getByText('地图与对象属性')).toBeVisible();
 
-  await page.getByRole('button', { name: '一次编译应用' }).click();
+  await page.getByRole('button', { name: '应用场景' }).click();
   await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
   await expect(page.getByText(/已加载随机粗糙地形物理地图/)).toBeVisible({
     timeout: 30_000,
@@ -758,7 +770,6 @@ test('应用内置 MJCF 楼梯物理地图', async ({ page }) => {
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
   await page.getByLabel('地图来源').selectOption('builtin');
   await page.getByLabel('物理地图预设').selectOption('stairs');
   await page.getByLabel('台阶数量').fill('6');
@@ -790,7 +801,6 @@ test('依次应用全部系统参数化地形', async ({ page }) => {
       buffer: Buffer.from(SIMPLE_MODEL),
     });
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
   await page.getByLabel('地图来源').selectOption('builtin');
   for (const [preset, label] of terrains) {
     await page.getByLabel('物理地图预设').selectOption(preset);
@@ -834,7 +844,6 @@ test('导入并应用分层工程地图包', async ({ page }) => {
       buffer: Buffer.from(project),
     });
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
   await page.getByLabel('地图来源').selectOption({ label: '测试场景' });
   await expect(page.getByLabel('地图出生点')).toHaveValue('start');
   await page.getByRole('button', { name: '应用并重新编译' }).click();
@@ -869,14 +878,15 @@ test('将受支持的只读物理地图转换为可编辑副本', async ({ page
       buffer: Buffer.from(project),
     });
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
   await page.getByLabel('地图来源').selectOption({ label: '旧版基础场景' });
   await page.getByRole('button', { name: '应用并重新编译' }).click();
   const editor = page.getByText('认证资产与场景对象属性').locator('..');
   await expect(editor.getByText(/保持只读/)).toBeVisible({ timeout: 30_000 });
   await editor.getByRole('button', { name: '创建可编辑副本' }).click();
   await expect(page.getByText('已创建可编辑地图副本')).toBeVisible({ timeout: 30_000 });
-  await expect(editor.getByRole('button', { name: '移动工具 W' })).toBeVisible();
+  await expect(
+    page.getByLabel('地图视口工具').getByRole('button', { name: '移动工具 W' }),
+  ).toBeVisible();
   await expect(editor.getByRole('button', { name: /floor · 方盒/ })).toBeVisible();
   await expect(editor.getByRole('button', { name: /wall · 方盒/ })).toBeVisible();
 });
@@ -915,30 +925,56 @@ test('编辑 V3 地图对象并事务式应用', async ({ page }) => {
       buffer: Buffer.from(project),
     });
   await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('tab', { name: '地图' }).click();
   await page.getByLabel('地图来源').selectOption({ label: '可编辑场景' });
   await page.getByRole('button', { name: '应用并重新编译' }).click();
   await expect(page.getByText('认证资产与场景对象属性')).toBeVisible({ timeout: 30_000 });
-  const editor = page.getByText('认证资产与场景对象属性').locator('..');
-  await expect(editor.getByRole('button', { name: '移动工具 W' })).toHaveAttribute(
+  const mapTools = page.getByLabel('地图视口工具');
+  await expect(mapTools.getByRole('button', { name: '移动工具 W' })).toHaveAttribute(
     'aria-pressed',
     'true',
   );
   await page.keyboard.press('e');
-  await expect(editor.getByRole('button', { name: '旋转工具 E' })).toHaveAttribute(
+  await expect(mapTools.getByRole('button', { name: '旋转工具 E' })).toHaveAttribute(
     'aria-pressed',
     'true',
   );
-  await page.keyboard.press('s');
-  await expect(editor.getByRole('button', { name: '缩放工具 S' })).toHaveAttribute(
+  await page.keyboard.press('r');
+  await expect(mapTools.getByRole('button', { name: '缩放工具 R' })).toHaveAttribute(
     'aria-pressed',
     'true',
   );
-  await editor.getByRole('button', { name: '新增', exact: true }).click();
-  await editor.getByLabel('对象位置X').fill('2');
-  await editor.getByRole('button', { name: '应用并重新编译' }).click();
-  await expect(editor.getByRole('button', { name: /box · 方盒/ })).toBeVisible({ timeout: 30_000 });
-  await expect(editor.getByText('地图草稿尚未应用')).toHaveCount(0);
+  await page.getByRole('button', { name: '新增', exact: true }).click();
+  await page.getByLabel('对象位置X').fill('2');
+  await page.getByLabel('对象位置X').blur();
+  await page.keyboard.press('f');
+  const draftStatus = page.getByLabel('地图草稿状态');
+  await expect(draftStatus).toContainText('未保存改动');
+  await page.keyboard.press('Control+s');
+  await expect(
+    page.getByLabel('地图对象列表').getByRole('button', { name: /box · 方盒/ }),
+  ).toBeVisible({
+    timeout: 30_000,
+  });
+  await expect(draftStatus).toContainText('地图草稿已同步');
+
+  await page
+    .getByLabel('地图对象列表')
+    .getByRole('button', { name: /box · 方盒/ })
+    .click();
+  await page.getByLabel('对象位置X').fill('3');
+  await expect(draftStatus).toContainText('未保存改动');
+  await draftStatus.getByRole('button', { name: '丢弃地图草稿' }).click();
+  await page
+    .getByLabel('地图对象列表')
+    .getByRole('button', { name: /box · 方盒/ })
+    .click();
+  await expect(page.getByLabel('对象位置X')).toHaveValue('2');
+  await expect(draftStatus).toContainText('地图草稿已同步');
+
+  await page.getByRole('button', { name: '新增', exact: true }).click();
+  await expect(page.getByLabel('地图对象列表').getByRole('button')).toHaveCount(2);
+  await page.keyboard.press('Delete');
+  await expect(page.getByLabel('地图对象列表').getByRole('button')).toHaveCount(1);
   await expect(page.getByText('WASM 已加载')).toBeVisible();
 });
 
@@ -974,7 +1010,6 @@ test('工程地图编译失败时保留上一仿真会话', async ({ page }) =>
   const runningTime = Number(
     (await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0,
   );
-  await page.getByRole('tab', { name: '地图' }).click();
   await page.getByLabel('地图来源').selectOption({ label: '动态错误地图' });
   await page.getByRole('button', { name: '应用并重新编译' }).click();
   await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
@@ -989,7 +1024,7 @@ test('工程地图编译失败时保留上一仿真会话', async ({ page }) =>
       Number((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0),
     )
     .toBeGreaterThan(runningTime);
-  await page.getByRole('button', { name: '放弃场景更改' }).click();
+  await page.getByRole('button', { name: '放弃更改' }).click();
   await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
   await expect(page.getByLabel('地图来源')).toHaveValue('none');
 });
diff --git a/web_platform/src/app/App.tsx b/web_platform/src/app/App.tsx
index 565bf790..852fb76a 100644
--- a/web_platform/src/app/App.tsx
+++ b/web_platform/src/app/App.tsx
@@ -19,6 +19,7 @@ import {
   CircleHelp,
   Code2,
   Crosshair,
+  Database,
   Download,
   Hand,
   Maximize,
@@ -28,6 +29,7 @@ import {
   Play,
   RotateCcw,
   Settings as SettingsIcon,
+  SlidersHorizontal,
   SunMoon,
 } from 'lucide-react';
 import { DEFAULT_IMPORT_LIMITS, type MapEntry, type ProjectManifest } from '../project/types';
@@ -55,8 +57,17 @@ import {
 import { useAppStore, type AppDiagnostic } from '../stores/useAppStore';
 import { WorkbenchHeader } from './components/WorkbenchHeader';
 import { ViewerToolDock } from './components/ViewerToolDock';
+import {
+  MapAssetDropIndicator,
+  MapDraftStatusOverlay,
+  MapViewportToolbar,
+  type MapAssetDropTarget,
+} from './components/MapViewportTools';
 import { ModelControlsSidebar } from './components/ModelControlsSidebar';
-import { ProjectSidebar } from './components/ProjectSidebar';
+import { ProjectSidebar, type ProjectResourceTab } from './components/ProjectSidebar';
+import type { WorkspaceTool } from './components/WorkspaceToolsPanel';
+import type { EditorSelection } from './editorSelection';
+import { useMapEditorShortcuts } from './hooks/useMapEditorShortcuts';
 import { WorkspaceOverlays, type ImportProgress } from './components/WorkspaceOverlays';
 import { EntrySelectionDialog } from './components/EntrySelectionDialog';
 import { ErrorRecoveryPanel } from './components/ErrorRecoveryPanel';
@@ -107,6 +118,7 @@ import type {
   EditableMapDocument,
   EditableMapObjectType,
   MapEditorInteractionCallbacks,
+  MapEditorSessionState,
   MapEditorTransformMode,
   MapObjectPlacementMode,
 } from '../map/editor/types';
@@ -131,6 +143,11 @@ const SourceEditorDialog = lazy(() =>
     default: module.SourceEditorDialog,
   })),
 );
+const WorkspaceToolsPanel = lazy(() =>
+  import('./components/WorkspaceToolsPanel').then((module) => ({
+    default: module.WorkspaceToolsPanel,
+  })),
+);
 
 function hasTransferType(dataTransfer: DataTransfer, type: string): boolean {
   return Array.from(dataTransfer.types).includes(type);
@@ -253,6 +270,7 @@ export function App() {
     importInFlight = useRef(false),
     adapter = useRef(new MainThreadPhysicsAdapter()),
     root = useRef<HTMLDivElement>(null),
+    viewportShell = useRef<HTMLElement>(null),
     viewerHost = useRef<HTMLDivElement>(null),
     viewer = useRef<MuJoCoViewer | null>(null),
     viewerReady = useRef<Promise<MuJoCoViewer | null> | null>(null),
@@ -307,12 +325,16 @@ export function App() {
     [committedEditorDocuments, setCommittedEditorDocuments] = useState<
       Map<string, EditableMapDocument>
     >(() => new Map()),
-    [projectSidebarTab, setProjectSidebarTab] = useState<'project' | 'structure' | 'assets'>(
-      'project',
+    [projectSidebarTab, setProjectSidebarTab] = useState<ProjectResourceTab>('assets'),
+    [editorSelection, setEditorSelection] = useState<EditorSelection | null>(null),
+    [workspaceTool, setWorkspaceTool] = useState<WorkspaceTool | null>(null),
+    [mapTransformMode, setMapTransformMode] = useState<MapEditorTransformMode>('translate'),
+    [mapSnapping, setMapSnapping] = useState(true),
+    [assetPlacementMode, setAssetPlacementMode] = useState<MapObjectPlacementMode>('auto_ground'),
+    [editorSessionStates, setEditorSessionStates] = useState<Map<string, MapEditorSessionState>>(
+      () => new Map(),
     ),
-    [modelControlsTab, setModelControlsTab] = useState<'properties' | 'controls' | 'data' | 'map'>(
-      'properties',
-    );
+    [mapAssetDropTarget, setMapAssetDropTarget] = useState<MapAssetDropTarget>();
   const [urdfMode, setUrdfMode] = useState<UrdfLoadMode>('mjcf'),
     urdfModeRef = useRef<UrdfLoadMode>('mjcf');
   const [baseMode, setBaseMode] = useState<UrdfBaseMode>('floating'),
@@ -356,10 +378,27 @@ export function App() {
           : [],
       ),
     );
-    return [...editorDrafts.keys()].filter((path) => !coveredDescriptors.has(path)).length;
-  }, [mapSceneDraft.changedIds, placedMapAssets, editorDrafts]);
+    return [...editorDrafts.keys()]
+      .filter((path) => !coveredDescriptors.has(path))
+      .reduce(
+        (count, path) => count + Math.max(1, editorSessionStates.get(path)?.changeCount ?? 1),
+        0,
+      );
+  }, [mapSceneDraft.changedIds, placedMapAssets, editorDrafts, editorSessionStates]);
   const sceneDraftChangeCount = mapSceneDraft.changeCount + editorOnlyDraftCount,
     mapSceneDirty = sceneDraftChangeCount > 0;
+  const activeEditorView =
+    mapSelection.kind === 'project'
+      ? (editorDrafts.get(mapSelection.descriptorPath) ?? editorDocument)
+      : null;
+  const selectedMapObject =
+    editorSelection?.kind === 'map-object' && editorSelection.mapAssetId === activeMapAssetId
+      ? activeEditorView?.objects.find((object) => object.id === editorSelection.objectId)
+      : undefined;
+  const mapEditingActive =
+    Boolean(activeMapAssetId) &&
+    (editorSelection?.kind === 'map' || editorSelection?.kind === 'map-object');
+  const activePlacementMode = selectedMapObject?.placementMode ?? assetPlacementMode;
   const viewerSettings = useRef({
     mode: state.mode,
     forceScale,
@@ -402,10 +441,8 @@ export function App() {
               return;
             }
             state.setSelection(selection);
-            if (selection) {
-              setRightOpen(true);
-              setModelControlsTab('properties');
-            }
+            setEditorSelection(selection ? { kind: 'body', bodyId: selection.bodyId } : null);
+            if (selection) setRightOpen(true);
           },
           onFrame: (frame, fps, snapshot) => {
             const memory = (performance as Performance & { memory?: { usedJSHeapSize: number } })
@@ -434,10 +471,15 @@ export function App() {
           },
           onMapEditorSelect: (id) => {
             editorInteraction.current?.onSelect(id);
-            if (id) {
-              setRightOpen(true);
-              setModelControlsTab('map');
-            }
+            const mapAssetId = activeMapAssetIdRef.current;
+            setEditorSelection(
+              mapAssetId
+                ? id
+                  ? { kind: 'map-object', mapAssetId, objectId: id }
+                  : { kind: 'map', mapAssetId }
+                : null,
+            );
+            if (mapAssetId) setRightOpen(true);
           },
           onMapEditorPreviewSelect: (mapAssetId, objectId) =>
             mapEditorPreviewInteraction.current(mapAssetId, objectId),
@@ -487,6 +529,12 @@ export function App() {
   useEffect(() => {
     viewer.current?.setMode(state.mode);
   }, [state.mode]);
+  useEffect(() => {
+    viewer.current?.setMapEditorTransformMode(mapTransformMode);
+  }, [mapTransformMode]);
+  useEffect(() => {
+    viewer.current?.setMapEditorSnapping(mapSnapping ? 0.1 : null, mapSnapping ? 5 : null);
+  }, [mapSnapping]);
   useEffect(() => {
     if (viewer.current) viewer.current.forceScale = forceScale;
   }, [forceScale]);
@@ -611,6 +659,7 @@ export function App() {
         }
         state.setSnapshot(snapshot);
         state.setSelection(null);
+        setEditorSelection(null);
         state.setPaused(true);
         setImportProgress({
           title: '正在准备仿真',
@@ -759,7 +808,8 @@ export function App() {
         manifest.current = next;
         setProjectMaps(next.maps);
         setCommittedEditorDocuments(manifestEditorDocuments(next));
-        setProjectSidebarTab('project');
+        setProjectSidebarTab('assets');
+        setEditorSelection(null);
         setEditorDocument(null);
         editorDraftsRef.current = new Map();
         setEditorDrafts(new Map());
@@ -827,10 +877,12 @@ export function App() {
     setPolicyStatus(undefined);
     setProjectMaps([]);
     setCommittedEditorDocuments(new Map());
-    setProjectSidebarTab('project');
+    setProjectSidebarTab('assets');
+    setEditorSelection(null);
     setEditorDocument(null);
     editorDraftsRef.current = new Map();
     setEditorDrafts(new Map());
+    setEditorSessionStates(new Map());
     provisionalMapFilesRef.current.clear();
     viewer.current?.setMapEditorDocument(null);
     placedMapAssetsRef.current = [];
@@ -902,6 +954,7 @@ export function App() {
   const clearEditorDrafts = useCallback(() => {
     editorDraftsRef.current = new Map();
     setEditorDrafts(new Map());
+    setEditorSessionStates(new Map());
   }, []);
   const bindEditorInteraction = useCallback((callbacks: MapEditorInteractionCallbacks | null) => {
     editorInteraction.current = callbacks;
@@ -923,16 +976,62 @@ export function App() {
   }, []);
   const selectEditorObject = useCallback((id: string | null) => {
     viewer.current?.selectMapEditorObject(id);
+    const mapAssetId = activeMapAssetIdRef.current;
+    setEditorSelection(
+      mapAssetId
+        ? id
+          ? { kind: 'map-object', mapAssetId, objectId: id }
+          : { kind: 'map', mapAssetId }
+        : null,
+    );
   }, []);
-  const setEditorTransformMode = useCallback((mode: MapEditorTransformMode) => {
-    viewer.current?.setMapEditorTransformMode(mode);
-  }, []);
-  const setEditorSnapping = useCallback(
-    (translation: number | null, rotationDegrees: number | null) => {
-      viewer.current?.setMapEditorSnapping(translation, rotationDegrees);
+  const updateEditorSessionState = useCallback(
+    (descriptorPath: string, sessionState: MapEditorSessionState | null) => {
+      setEditorSessionStates((current) => {
+        const next = new Map(current);
+        if (sessionState?.dirty) next.set(descriptorPath, sessionState);
+        else next.delete(descriptorPath);
+        return next;
+      });
     },
     [],
   );
+  const activateMapEditing = useCallback(() => {
+    state.setMode('select');
+  }, []);
+  const changeMapTransformMode = useCallback((nextMode: MapEditorTransformMode) => {
+    setMapTransformMode(nextMode);
+    state.setMode('select');
+  }, []);
+  const changeMapPlacementMode = useCallback(
+    (placementMode: MapObjectPlacementMode) => {
+      setAssetPlacementMode(placementMode);
+      if (placementMode === 'locked')
+        setMapTransformMode((currentMode) => (currentMode === 'scale' ? 'translate' : currentMode));
+      if (editorSelection?.kind === 'map-object') {
+        editorInteraction.current?.onSetPlacementMode(editorSelection.objectId, placementMode);
+        if (placementMode !== 'locked')
+          viewer.current?.flashMapEditorSurfaceAlignment(editorSelection.objectId);
+      }
+    },
+    [editorSelection],
+  );
+  const alignSelectedMapObject = useCallback(() => {
+    if (editorSelection?.kind !== 'map-object') return;
+    editorInteraction.current?.onAlignToSurface(editorSelection.objectId);
+    viewer.current?.flashMapEditorSurfaceAlignment(editorSelection.objectId);
+  }, [editorSelection]);
+  const focusSelectedObject = useCallback(() => {
+    const bodyId =
+      editorSelection?.kind === 'body' || editorSelection?.kind === 'joint'
+        ? editorSelection.bodyId
+        : undefined;
+    viewer.current?.focusSelection(bodyId);
+  }, [editorSelection]);
+  const deleteSelectedMapObject = useCallback(() => {
+    if (editorSelection?.kind === 'map-object')
+      editorInteraction.current?.onDelete(editorSelection.objectId);
+  }, [editorSelection]);
   const readEditorDocument = useCallback((selection: MapSelection): EditableMapDocument | null => {
     if (selection.kind !== 'project' || !manifest.current) return null;
     const resolved = resolveProjectMap(manifest.current, selection.descriptorPath);
@@ -1001,12 +1100,13 @@ export function App() {
       setActiveMapAssetId(active?.id);
       mapSelectionRef.current = nextSelection;
       setMapSelection(nextSelection);
+      if (nextSelection.kind === 'builtin')
+        setMapTransformMode((currentMode) => (currentMode === 'scale' ? 'translate' : currentMode));
     },
     [],
   );
   const focusMapProperties = useCallback(() => {
     setRightOpen(true);
-    setModelControlsTab('map');
   }, []);
   const previewVisualMapScene = useCallback(
     (assets: readonly PlacedMapAsset[], reload: boolean) => {
@@ -1070,7 +1170,19 @@ export function App() {
           : null;
       setEditorDocument(committedEditorDocument);
       previewEditorDocument(previewDocument);
-      if (objectId) viewer.current?.selectMapEditorObject(objectId);
+      if (objectId) {
+        viewer.current?.selectMapEditorObject(objectId);
+        if (editorInteraction.current) {
+          editorInteraction.current.onSelect(objectId);
+          pendingEditorObjectId.current = undefined;
+        }
+      }
+      setEditorSelection(
+        objectId
+          ? { kind: 'map-object', mapAssetId: id, objectId }
+          : { kind: 'map', mapAssetId: id },
+      );
+      useAppStore.getState().setSelection(null);
       focusMapProperties();
     },
     [focusMapProperties, previewEditorDocument, readEditorDocument, setMapScene],
@@ -1116,8 +1228,8 @@ export function App() {
       adapter.current.setPaused(true);
       useAppStore.getState().setPaused(true);
       useAppStore.getState().setSelection(null);
+      setEditorSelection({ kind: 'map', mapAssetId: id });
       setRightOpen(true);
-      setModelControlsTab('map');
     },
     [activateMapAsset],
   );
@@ -1133,8 +1245,8 @@ export function App() {
       setEditorDocument(null);
       adapter.current.setPaused(true);
       useAppStore.getState().setPaused(true);
+      setEditorSelection({ kind: 'map', mapAssetId: id });
       setRightOpen(true);
-      setModelControlsTab('map');
     },
     [setMapScene],
   );
@@ -1252,6 +1364,8 @@ export function App() {
       setProjectMaps(maps);
       setCommittedEditorDocuments(manifestEditorDocuments(candidate));
       setMapScene([...placedMapAssetsRef.current, placed], placed.id, selection);
+      setEditorSelection({ kind: 'map', mapAssetId: placed.id });
+      setRightOpen(true);
       setEditorDocument(document);
       previewEditorDocument(document);
       state.setProject(
@@ -1304,6 +1418,8 @@ export function App() {
     const placed = createPlacedMapAsset(selection, name);
     const assets = [...placedMapAssetsRef.current, placed];
     setMapScene(assets, placed.id, selection);
+    setEditorSelection({ kind: 'map', mapAssetId: placed.id });
+    setRightOpen(true);
     if (selection.kind === 'project') previewVisualMapScene(assets, true);
     setEditorDocument(readEditorDocument(selection));
     viewer.current?.setMapEditorDocument(null);
@@ -1321,6 +1437,7 @@ export function App() {
         ? (nextAssets.at(-1) ?? undefined)
         : nextAssets.find((asset) => asset.id === previousActiveId);
     setMapScene(nextAssets, nextActive?.id, nextActive?.selection);
+    setEditorSelection(nextActive ? { kind: 'map', mapAssetId: nextActive.id } : null);
     setEditorDocument(nextActive ? readEditorDocument(nextActive.selection) : null);
     viewer.current?.setMapEditorDocument(null);
     return true;
@@ -1390,6 +1507,12 @@ export function App() {
     }
     editorDraftsRef.current = remainingDrafts;
     setEditorDrafts(remainingDrafts);
+    setEditorSessionStates((currentStates) => {
+      const nextStates = new Map(currentStates);
+      for (const path of submittedDrafts.keys())
+        if (!remainingDrafts.has(path)) nextStates.delete(path);
+      return nextStates;
+    });
     setProjectMaps(maps);
     setCommittedEditorDocuments(manifestEditorDocuments(committed));
     const committedEditorDocument = readEditorDocument(mapSelectionRef.current);
@@ -1406,10 +1529,13 @@ export function App() {
       entry.path,
     );
     state.setSnapshot(adapter.current.snapshot() ?? undefined);
+    const selectedMapAssetId = activeMapAssetIdRef.current;
+    setEditorSelection(selectedMapAssetId ? { kind: 'map', mapAssetId: selectedMapAssetId } : null);
     return true;
   };
   const discardMapSceneDraft = () => {
     if (state.loading || loadInFlight.current) return;
+    editorInteraction.current?.onDiscard();
     clearEditorDrafts();
     const omittedPaths = new Set<string>();
     for (const paths of provisionalMapFilesRef.current.values())
@@ -1426,11 +1552,13 @@ export function App() {
         restoredManifest.entries,
         state.selectedEntry,
       );
+      state.setSnapshot(adapter.current.snapshot() ?? undefined);
     }
     const assets = restoreAppliedMapScene(appliedMapAssetsRef.current);
     const active =
       assets.find((asset) => asset.id === activeMapAssetIdRef.current) ?? assets.at(-1);
     setMapScene(assets, active?.id, active?.selection);
+    setEditorSelection(active ? { kind: 'map', mapAssetId: active.id } : null);
     previewVisualMapScene(assets, true);
     setEditorDocument(active ? readEditorDocument(active.selection) : null);
     viewer.current?.setMapEditorDocument(null);
@@ -1465,6 +1593,7 @@ export function App() {
     );
     const nextAssets = updatePlacedMapAsset(placedMapAssetsRef.current, active.id, value, nextName);
     setMapScene(nextAssets, active.id, value);
+    setEditorSelection({ kind: 'map', mapAssetId: active.id });
     setEditorDocument(readEditorDocument(value));
     viewer.current?.setMapEditorDocument(null);
     void commitMapScene();
@@ -1578,6 +1707,10 @@ export function App() {
         entryPath,
       );
       state.setSnapshot(adapter.current.snapshot() ?? undefined);
+      const selectedMapAssetId = activeMapAssetIdRef.current;
+      setEditorSelection(
+        selectedMapAssetId ? { kind: 'map', mapAssetId: selectedMapAssetId } : null,
+      );
       notify('已创建可编辑地图副本', authoringPath);
       return true;
     } catch (error) {
@@ -1608,17 +1741,30 @@ export function App() {
   const resetDragState = () => {
     dragDepth.current = 0;
     setDragActive(false);
+    setMapAssetDropTarget(undefined);
   };
   const dragEnter = (event: DragEvent) => {
-    if (
-      hasTransferType(event.dataTransfer, 'Files') &&
-      !hasTransferType(event.dataTransfer, MAP_LIBRARY_DRAG_MIME)
-    ) {
+    if (hasTransferType(event.dataTransfer, MAP_LIBRARY_DRAG_MIME)) {
+      const bounds = viewportShell.current?.getBoundingClientRect();
+      if (bounds)
+        setMapAssetDropTarget({
+          left: event.clientX - bounds.left,
+          top: event.clientY - bounds.top,
+          position: viewer.current?.mapPlanePoint(event.clientX, event.clientY) ?? null,
+        });
+      return;
+    }
+    if (hasTransferType(event.dataTransfer, 'Files')) {
       dragDepth.current += 1;
       if (!state.loading) setDragActive(true);
     }
   };
   const dragLeave = (event: DragEvent) => {
+    if (hasTransferType(event.dataTransfer, MAP_LIBRARY_DRAG_MIME)) {
+      if (!event.currentTarget.contains(event.relatedTarget as Node | null))
+        setMapAssetDropTarget(undefined);
+      return;
+    }
     if (!hasTransferType(event.dataTransfer, 'Files')) return;
     dragDepth.current = Math.max(0, dragDepth.current - 1);
     if (dragDepth.current === 0) setDragActive(false);
@@ -1626,9 +1772,15 @@ export function App() {
   const dragOver = (event: DragEvent) => {
     event.preventDefault();
     if (hasTransferType(event.dataTransfer, MAP_LIBRARY_DRAG_MIME)) {
-      event.dataTransfer.dropEffect = viewer.current?.mapPlanePoint(event.clientX, event.clientY)
-        ? 'copy'
-        : 'none';
+      const position = viewer.current?.mapPlanePoint(event.clientX, event.clientY) ?? null;
+      const bounds = viewportShell.current?.getBoundingClientRect();
+      if (bounds)
+        setMapAssetDropTarget({
+          left: event.clientX - bounds.left,
+          top: event.clientY - bounds.top,
+          position,
+        });
+      event.dataTransfer.dropEffect = position ? 'copy' : 'none';
       return;
     }
     if (hasTransferType(event.dataTransfer, 'Files'))
@@ -1981,6 +2133,10 @@ export function App() {
     if (document.fullscreenElement) void document.exitFullscreen().catch(() => {});
     else if (root.current) void root.current.requestFullscreen().catch(() => {});
   };
+  const showWorkspaceTool = (tool: WorkspaceTool) => {
+    setWorkspaceTool(tool);
+    setRightOpen(true);
+  };
   const applyLayoutPreset = (preset: LayoutPreset) => {
     if (preset === 'viewport') {
       setLeftOpen(false);
@@ -1993,6 +2149,7 @@ export function App() {
     } else if (preset === 'control') {
       setLeftOpen(false);
       setRightOpen(true);
+      setWorkspaceTool('controls');
       dispatchLayoutWidths(288, 384);
     } else {
       setLeftOpen(true);
@@ -2000,19 +2157,36 @@ export function App() {
       dispatchLayoutWidths(288, 288);
     }
   };
+  useMapEditorShortcuts({
+    enabled: Boolean(state.snapshot),
+    mapEditing: mapEditingActive,
+    dirty: mapSceneDirty,
+    loading: state.loading,
+    hasSelection: Boolean(editorSelection ?? state.selection),
+    canDelete: editorSelection?.kind === 'map-object',
+    canScale: mapSelection.kind === 'project' && selectedMapObject?.placementMode !== 'locked',
+    onTransformMode: changeMapTransformMode,
+    onFocusSelection: focusSelectedObject,
+    onDeleteSelection: deleteSelectedMapObject,
+    onToggleSnapping: () => setMapSnapping((value) => !value),
+    onSave: () => void commitMapScene(),
+  });
   useEffect(() => {
     const key = (event: KeyboardEvent) => {
+      if (event.defaultPrevented) return;
       if (
         document.activeElement instanceof HTMLElement &&
         document.activeElement.closest('[role="dialog"]')
       )
         return;
+      const target = event.target instanceof HTMLElement ? event.target : null;
+      if (target?.closest('input,select,textarea,[contenteditable="true"]')) return;
       if ((event.ctrlKey || event.metaKey) && event.key.toLocaleLowerCase() === 'k') {
         event.preventDefault();
         setCommandOpen(true);
         return;
       }
-      if ((event.target as HTMLElement).matches('input,select,button')) return;
+      if (target?.closest('button')) return;
       if (event.code === 'Space') {
         event.preventDefault();
         togglePause();
@@ -2100,6 +2274,22 @@ export function App() {
       disabled: !state.snapshot,
       run: exportMjcf,
     },
+    {
+      id: 'workspace-controls',
+      label: '在右侧打开控制台',
+      group: '工具',
+      icon: <SlidersHorizontal className="h-4 w-4" />,
+      disabled: !state.snapshot,
+      run: () => showWorkspaceTool('controls'),
+    },
+    {
+      id: 'workspace-data',
+      label: '在右侧打开数据录制',
+      group: '工具',
+      icon: <Database className="h-4 w-4" />,
+      disabled: !state.snapshot,
+      run: () => showWorkspaceTool('data'),
+    },
     {
       id: 'left',
       label: leftOpen ? '隐藏工程面板' : '显示工程面板',
@@ -2109,7 +2299,7 @@ export function App() {
     },
     {
       id: 'right',
-      label: rightOpen ? '隐藏属性面板' : '显示属性面板',
+      label: rightOpen ? '隐藏右侧面板' : '显示右侧面板',
       group: '布局',
       icon: rightOpen ? <ChevronRight className="h-4 w-4" /> : <ChevronLeft className="h-4 w-4" />,
       run: () => setRightOpen((value) => !value),
@@ -2136,6 +2326,63 @@ export function App() {
       run: () => setHelpOpen(true),
     },
   ];
+  const workspaceTools = workspaceTool ? (
+    <Suspense
+      fallback={
+        <div
+          role="status"
+          className="grid min-h-0 flex-1 place-items-center p-4 text-sm text-text-tertiary"
+        >
+          正在加载工作区工具…
+        </div>
+      }
+    >
+      <WorkspaceToolsPanel
+        active={workspaceTool}
+        snapshot={state.snapshot}
+        loading={state.loading}
+        ignoreJointLimits={ignoreJointLimits}
+        jointAdvanced={jointAdvanced}
+        angleUnit={angleUnit}
+        forceScale={forceScale}
+        controllerPaths={state.files
+          .filter((file) => /\.py$/i.test(file.path))
+          .map((file) => file.path)}
+        selectedControllerPath={selectedControllerPath}
+        controllerStatus={controllerStatus}
+        policyPaths={state.files
+          .filter((file) => /\.onnx$/i.test(file.path))
+          .map((file) => file.path)}
+        selectedPolicyPath={selectedPolicyPath}
+        policyStatus={policyStatus}
+        onResetJoints={resetJoints}
+        onToggleJointLimits={toggleJointLimits}
+        onToggleAdvanced={() => setJointAdvanced((value) => !value)}
+        onToggleAngleUnit={() => setAngleUnit((value) => (value === 'rad' ? 'deg' : 'rad'))}
+        onActuator={setActuator}
+        onActuatorParameters={setActuatorParameters}
+        onJoint={setJoint}
+        onForceScale={setForceScale}
+        onSelectControllerPath={setSelectedControllerPath}
+        onLoadControllerPath={loadControllerPath}
+        onImportController={importController}
+        onToggleController={toggleController}
+        onControllerCommand={sendControllerCommand}
+        onRemoveController={removeController}
+        onSelectPolicyPath={setSelectedPolicyPath}
+        onLoadPolicyPath={loadPolicyPath}
+        onImportPolicy={importPolicy}
+        onTogglePolicy={togglePolicy}
+        onPolicyCommand={setPolicyCommand}
+        onRemovePolicy={removePolicy}
+        onDataRecorderConfigure={configureDataRecorder}
+        onDataRecordingStart={startDataRecording}
+        onDataRecordingStop={stopDataRecording}
+        onDataRecordingClear={clearDataRecording}
+        onDataRecordingExport={exportDataRecording}
+      />
+    </Suspense>
+  ) : undefined;
   return (
     <div
       ref={root}
@@ -2212,6 +2459,15 @@ export function App() {
           <ViewerToolDock
             mode={state.mode}
             display={displayOptions}
+            mapEditContext={
+              mapEditingActive
+                ? {
+                    active: state.mode === 'select',
+                    label: `地图 · ${{ translate: '移动', rotate: '旋转', scale: '缩放' }[mapTransformMode]}`,
+                    onActivate: activateMapEditing,
+                  }
+                : undefined
+            }
             onModeChange={mode}
             onDisplayChange={setDisplayOptions}
             onResetCamera={() => viewer.current?.resetCamera()}
@@ -2226,44 +2482,87 @@ export function App() {
           entries={state.entries}
           selectedEntry={state.selectedEntry}
           snapshot={state.snapshot}
+          selection={editorSelection}
           loading={state.loading}
           nativeUrdf={selectedFormat === 'urdf' && urdfMode === 'native'}
           mapSelection={mapSelection}
           maps={projectMaps}
           placedMaps={placedMapAssets}
-          activeMapId={activeMapAssetId}
           pendingSceneChangeCount={sceneDraftChangeCount}
           pendingSceneIds={pendingSceneIds}
-          editorDocument={
-            mapSelection.kind === 'project'
-              ? (editorDrafts.get(mapSelection.descriptorPath) ?? editorDocument)
-              : editorDocument
-          }
           editorDocuments={sceneEditorDocuments}
+          assetPlacementMode={assetPlacementMode}
           activeTab={projectSidebarTab}
           onActiveTabChange={setProjectSidebarTab}
           onRemove={removeProject}
           onSelectEntry={requestLoadEntry}
-          onJointHover={(jointId) => viewer.current?.highlightJoint(jointId)}
+          onSelectBody={(bodyId) => {
+            state.setSelection(null);
+            setEditorSelection({ kind: 'body', bodyId });
+            viewer.current?.selectMapEditorObject(null);
+            viewer.current?.selectParametricMapAsset(null);
+            viewer.current?.highlightJoint(null);
+            setRightOpen(true);
+          }}
+          onSelectJoint={(jointId, bodyId) => {
+            state.setSelection(null);
+            setEditorSelection({ kind: 'joint', jointId, bodyId });
+            viewer.current?.selectMapEditorObject(null);
+            viewer.current?.selectParametricMapAsset(null);
+            viewer.current?.highlightJoint(jointId);
+            setRightOpen(true);
+          }}
+          onJointHover={(jointId) =>
+            viewer.current?.highlightJoint(
+              jointId ?? (editorSelection?.kind === 'joint' ? editorSelection.jointId : null),
+            )
+          }
           onAddMapAsset={(type, placementMode) =>
             addCertifiedMapAsset(type, undefined, placementMode)
           }
           onAddProjectMap={addProjectMapAsset}
           onSelectTerrain={selectTerrainAsset}
+          onAssetPlacementModeChange={setAssetPlacementMode}
           onApplyScene={() => void commitMapScene()}
           onDiscardScene={discardMapSceneDraft}
           onSelectMap={activateMapAsset}
           onRemoveMap={removePlacedMapAsset}
           onSelectMapObject={(mapId, objectId) => activateMapAsset(mapId, objectId)}
         />
-        <main className="viewport-shell relative min-w-0 flex-1">
+        <main ref={viewportShell} className="viewport-shell relative min-w-0 flex-1">
           <div ref={viewerHost} className="absolute inset-0" />
           <ViewportHUD
             paused={state.paused}
             mode={state.mode}
             selection={state.selection}
             ready={Boolean(state.snapshot)}
+            mapEditing={mapEditingActive}
           />
+          <MapViewportToolbar
+            visible={mapEditingActive && Boolean(state.snapshot)}
+            interactionActive={state.mode === 'select'}
+            mode={mapTransformMode}
+            snapping={mapSnapping}
+            placementMode={activePlacementMode}
+            hasSelectedObject={Boolean(selectedMapObject)}
+            allowScale={
+              mapSelection.kind === 'project' && selectedMapObject?.placementMode !== 'locked'
+            }
+            loading={state.loading}
+            onActivate={activateMapEditing}
+            onModeChange={changeMapTransformMode}
+            onSnappingChange={setMapSnapping}
+            onPlacementModeChange={changeMapPlacementMode}
+            onAlignToSurface={alignSelectedMapObject}
+          />
+          <MapDraftStatusOverlay
+            visible={Boolean(state.snapshot)}
+            changeCount={sceneDraftChangeCount}
+            loading={state.loading}
+            onCommit={() => void commitMapScene()}
+            onDiscard={discardMapSceneDraft}
+          />
+          <MapAssetDropIndicator target={mapAssetDropTarget} />
           <WorkspaceOverlays
             loading={state.loading}
             hasSnapshot={Boolean(state.snapshot)}
@@ -2322,10 +2621,9 @@ export function App() {
         </main>
         <ModelControlsSidebar
           visible={rightOpen}
-          activeTab={modelControlsTab}
-          onActiveTabChange={setModelControlsTab}
           snapshot={state.snapshot}
-          selection={state.selection}
+          selection={editorSelection}
+          viewerSelection={state.selection}
           selectedFormat={selectedFormat}
           loading={state.loading}
           urdfMode={urdfMode}
@@ -2334,19 +2632,9 @@ export function App() {
           ignoreJointLimits={ignoreJointLimits}
           jointAdvanced={jointAdvanced}
           angleUnit={angleUnit}
-          forceScale={forceScale}
-          controllerPaths={state.files
-            .filter((file) => /\.py$/i.test(file.path))
-            .map((file) => file.path)}
-          selectedControllerPath={selectedControllerPath}
-          controllerStatus={controllerStatus}
-          policyPaths={state.files
-            .filter((file) => /\.onnx$/i.test(file.path))
-            .map((file) => file.path)}
-          selectedPolicyPath={selectedPolicyPath}
-          policyStatus={policyStatus}
           mapSelection={mapSelection}
           activeMapAssetId={activeMapAssetId}
+          activeMapAssetName={placedMapAssets.find((asset) => asset.id === activeMapAssetId)?.name}
           mapSceneDirty={mapSceneDirty}
           maps={projectMaps}
           showVisualMap={showVisualMap}
@@ -2357,6 +2645,16 @@ export function App() {
               ? editorDrafts.get(mapSelection.descriptorPath)
               : undefined
           }
+          workspaceTool={workspaceTool}
+          workspaceTools={workspaceTools}
+          onWorkspaceToolChange={(tool) => {
+            setWorkspaceTool(tool);
+            if (tool) setRightOpen(true);
+          }}
+          onSelectJoint={(jointId, bodyId) => {
+            setEditorSelection({ kind: 'joint', jointId, bodyId });
+            viewer.current?.highlightJoint(jointId);
+          }}
           onUrdfMode={changeUrdfMode}
           onBaseMode={changeBaseMode}
           onShowCollision={setShowCollision}
@@ -2367,19 +2665,6 @@ export function App() {
           onActuator={setActuator}
           onActuatorParameters={setActuatorParameters}
           onJoint={setJoint}
-          onForceScale={setForceScale}
-          onSelectControllerPath={setSelectedControllerPath}
-          onLoadControllerPath={loadControllerPath}
-          onImportController={importController}
-          onToggleController={toggleController}
-          onControllerCommand={sendControllerCommand}
-          onRemoveController={removeController}
-          onSelectPolicyPath={setSelectedPolicyPath}
-          onLoadPolicyPath={loadPolicyPath}
-          onImportPolicy={importPolicy}
-          onTogglePolicy={togglePolicy}
-          onPolicyCommand={setPolicyCommand}
-          onRemovePolicy={removePolicy}
           onApplyMap={applyMapSelection}
           onMapDraft={stageMapSelectionDraft}
           onEditorPreview={previewEditorDocument}
@@ -2389,22 +2674,12 @@ export function App() {
           onEditorConvert={convertSelectedMap}
           onEditorBindInteraction={bindEditorInteraction}
           onEditorSelect={selectEditorObject}
-          onEditorTransformMode={setEditorTransformMode}
-          onEditorSnapping={setEditorSnapping}
+          onEditorSessionStateChange={updateEditorSessionState}
           onEditorSurfaceHeight={editorSurfaceHeight}
           onMapDisplay={(visual, collision) => {
             setShowVisualMap(visual);
             setShowMapCollision(collision);
           }}
-          onMapTabOpen={() => {
-            setLeftOpen(true);
-            setProjectSidebarTab('assets');
-          }}
-          onDataRecorderConfigure={configureDataRecorder}
-          onDataRecordingStart={startDataRecording}
-          onDataRecordingStop={stopDataRecording}
-          onDataRecordingClear={clearDataRecording}
-          onDataRecordingExport={exportDataRecording}
         />
       </div>
       {pendingUrdfPath && (
diff --git a/web_platform/src/app/components/LayoutSettingsDialog.tsx b/web_platform/src/app/components/LayoutSettingsDialog.tsx
index 3c8c48fc..62f3c2c2 100644
--- a/web_platform/src/app/components/LayoutSettingsDialog.tsx
+++ b/web_platform/src/app/components/LayoutSettingsDialog.tsx
@@ -43,7 +43,7 @@ export function LayoutSettingsDialog({
           onClick={() => onRightOpen(!rightOpen)}
           icon={<PanelRight className="h-3.5 w-3.5" />}
         >
-          属性面板
+          右侧面板
         </Button>
       </div>
       <h3 className="mb-2 mt-4 text-xs font-semibold">布局预设</h3>
diff --git a/web_platform/src/app/components/MapViewportTools.test.tsx b/web_platform/src/app/components/MapViewportTools.test.tsx
new file mode 100644
index 00000000..c9c5b750
--- /dev/null
+++ b/web_platform/src/app/components/MapViewportTools.test.tsx
@@ -0,0 +1,99 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { MapDraftStatusOverlay, MapViewportToolbar } from './MapViewportTools';
+
+const noop = () => {};
+
+describe('MapViewportToolbar', () => {
+  it('统一联动变换、吸附与贴地检测命令', () => {
+    const onModeChange = vi.fn();
+    const onSnappingChange = vi.fn();
+    const onPlacementModeChange = vi.fn();
+    const onAlignToSurface = vi.fn();
+    render(
+      <MapViewportToolbar
+        visible
+        interactionActive
+        mode="translate"
+        snapping
+        placementMode="auto_ground"
+        hasSelectedObject
+        allowScale
+        loading={false}
+        onActivate={noop}
+        onModeChange={onModeChange}
+        onSnappingChange={onSnappingChange}
+        onPlacementModeChange={onPlacementModeChange}
+        onAlignToSurface={onAlignToSurface}
+      />,
+    );
+
+    fireEvent.click(screen.getByRole('button', { name: '旋转工具 E' }));
+    fireEvent.click(screen.getByRole('button', { name: '网格吸附' }));
+    fireEvent.change(screen.getByLabelText('贴地检测模式'), {
+      target: { value: 'gravity' },
+    });
+    fireEvent.click(screen.getByRole('button', { name: '立即贴合承载面' }));
+
+    expect(onModeChange).toHaveBeenCalledWith('rotate');
+    expect(onSnappingChange).toHaveBeenCalledWith(false);
+    expect(onPlacementModeChange).toHaveBeenCalledWith('gravity');
+    expect(onAlignToSurface).toHaveBeenCalledOnce();
+  });
+
+  it('参数地形或未选中对象时不提供缩放与贴合动作', () => {
+    render(
+      <MapViewportToolbar
+        visible
+        interactionActive
+        mode="translate"
+        snapping={false}
+        placementMode="auto_ground"
+        hasSelectedObject={false}
+        allowScale={false}
+        loading={false}
+        onActivate={noop}
+        onModeChange={noop}
+        onSnappingChange={noop}
+        onPlacementModeChange={noop}
+        onAlignToSurface={noop}
+      />,
+    );
+    expect(screen.queryByRole('button', { name: '缩放工具 R' })).not.toBeInTheDocument();
+    expect(screen.getByRole('button', { name: '立即贴合承载面' })).toBeDisabled();
+  });
+});
+
+describe('MapDraftStatusOverlay', () => {
+  it('常驻显示未保存数量并提供提交与丢弃入口', () => {
+    const onCommit = vi.fn();
+    const onDiscard = vi.fn();
+    render(
+      <MapDraftStatusOverlay
+        visible
+        changeCount={3}
+        loading={false}
+        onCommit={onCommit}
+        onDiscard={onDiscard}
+      />,
+    );
+    expect(screen.getByText('3 项未保存改动')).toBeVisible();
+    fireEvent.click(screen.getByRole('button', { name: '提交地图草稿' }));
+    fireEvent.click(screen.getByRole('button', { name: '丢弃地图草稿' }));
+    expect(onCommit).toHaveBeenCalledOnce();
+    expect(onDiscard).toHaveBeenCalledOnce();
+  });
+
+  it('无草稿时显示已同步并禁用动作', () => {
+    render(
+      <MapDraftStatusOverlay
+        visible
+        changeCount={0}
+        loading={false}
+        onCommit={noop}
+        onDiscard={noop}
+      />,
+    );
+    expect(screen.getByText('地图草稿已同步')).toBeVisible();
+    expect(screen.getByRole('button', { name: '提交地图草稿' })).toBeDisabled();
+  });
+});
diff --git a/web_platform/src/app/components/MapViewportTools.tsx b/web_platform/src/app/components/MapViewportTools.tsx
new file mode 100644
index 00000000..d4b6af21
--- /dev/null
+++ b/web_platform/src/app/components/MapViewportTools.tsx
@@ -0,0 +1,202 @@
+import {
+  ArrowDownToLine,
+  Check,
+  Grid3X3,
+  LockKeyhole,
+  MapPinned,
+  Move3d,
+  Rotate3d,
+  Scaling,
+  Trash2,
+} from 'lucide-react';
+import {
+  Button,
+  IconButton,
+  Select,
+  ToolbarToggleGroup,
+  type ToolbarItem,
+} from '../../components/ui';
+import {
+  MAP_OBJECT_PLACEMENT_LABELS,
+  type MapEditorTransformMode,
+  type MapObjectPlacementMode,
+} from '../../map/editor/types';
+
+const TRANSFORM_TOOLS: ToolbarItem<MapEditorTransformMode>[] = [
+  { value: 'translate', label: '移动工具 W', icon: Move3d },
+  { value: 'rotate', label: '旋转工具 E', icon: Rotate3d },
+  { value: 'scale', label: '缩放工具 R', icon: Scaling },
+];
+
+export function MapViewportToolbar({
+  visible,
+  interactionActive,
+  mode,
+  snapping,
+  placementMode,
+  hasSelectedObject,
+  allowScale,
+  loading,
+  onActivate,
+  onModeChange,
+  onSnappingChange,
+  onPlacementModeChange,
+  onAlignToSurface,
+}: {
+  visible: boolean;
+  interactionActive: boolean;
+  mode: MapEditorTransformMode;
+  snapping: boolean;
+  placementMode: MapObjectPlacementMode;
+  hasSelectedObject: boolean;
+  allowScale: boolean;
+  loading: boolean;
+  onActivate: () => void;
+  onModeChange: (mode: MapEditorTransformMode) => void;
+  onSnappingChange: (value: boolean) => void;
+  onPlacementModeChange: (mode: MapObjectPlacementMode) => void;
+  onAlignToSurface: () => void;
+}) {
+  if (!visible) return null;
+  return (
+    <div
+      aria-label="地图视口工具"
+      className="engineering-glass map-tool-enter absolute left-1/2 top-3 z-20 flex max-w-[calc(100%-24px)] -translate-x-1/2 items-center gap-1.5 rounded-xl border p-1.5"
+    >
+      <button
+        type="button"
+        aria-label="激活地图编辑"
+        aria-pressed={interactionActive}
+        disabled={loading}
+        onClick={onActivate}
+        className={`hidden h-8 items-center gap-1.5 rounded-lg px-2 text-[10px] font-semibold transition-colors sm:flex ${interactionActive ? 'bg-accent-soft text-accent' : 'bg-surface/80 text-text-secondary hover:bg-element-hover'}`}
+      >
+        <MapPinned className="h-3.5 w-3.5" aria-hidden="true" />
+        地图编辑
+      </button>
+      <ToolbarToggleGroup
+        items={TRANSFORM_TOOLS.filter((item) => allowScale || item.value !== 'scale')}
+        value={mode}
+        onChange={onModeChange}
+        label="地图变换模式"
+      />
+      <IconButton
+        active={snapping}
+        tooltip={snapping ? '关闭网格吸附（当前 0.1 m / 5°）' : '开启网格吸附'}
+        aria-label="网格吸附"
+        aria-pressed={snapping}
+        disabled={loading}
+        onClick={() => onSnappingChange(!snapping)}
+      >
+        <Grid3X3 className="h-3.5 w-3.5" />
+      </IconButton>
+      <span aria-hidden="true" className="mx-0.5 h-5 w-px bg-border" />
+      <label className="flex items-center gap-1 text-[10px] text-text-tertiary">
+        <span className="hidden lg:inline">贴地</span>
+        <Select
+          aria-label="贴地检测模式"
+          className="w-[112px]"
+          value={placementMode}
+          disabled={loading}
+          onChange={(event) => onPlacementModeChange(event.target.value as MapObjectPlacementMode)}
+        >
+          {(Object.keys(MAP_OBJECT_PLACEMENT_LABELS) as MapObjectPlacementMode[]).map((value) => (
+            <option key={value} value={value}>
+              {value === 'auto_ground' ? '地面 z=0' : value === 'gravity' ? '表面检测' : '锁定位姿'}
+            </option>
+          ))}
+        </Select>
+      </label>
+      <IconButton
+        tooltip={hasSelectedObject ? '重新检测并贴合承载面' : '选中地图物体后可贴合表面'}
+        aria-label="立即贴合承载面"
+        disabled={loading || !hasSelectedObject || placementMode === 'locked'}
+        onClick={onAlignToSurface}
+      >
+        {placementMode === 'locked' ? (
+          <LockKeyhole className="h-3.5 w-3.5" />
+        ) : (
+          <ArrowDownToLine className="h-3.5 w-3.5" />
+        )}
+      </IconButton>
+    </div>
+  );
+}
+
+export function MapDraftStatusOverlay({
+  visible,
+  changeCount,
+  loading,
+  onCommit,
+  onDiscard,
+}: {
+  visible: boolean;
+  changeCount: number;
+  loading: boolean;
+  onCommit: () => void;
+  onDiscard: () => void;
+}) {
+  if (!visible) return null;
+  const dirty = changeCount > 0;
+  return (
+    <div
+      aria-label="地图草稿状态"
+      role="status"
+      className="engineering-glass absolute bottom-3 left-1/2 z-20 flex max-w-[calc(100%-24px)] -translate-x-1/2 items-center gap-2 rounded-xl border px-2 py-1.5"
+    >
+      <span
+        aria-hidden="true"
+        className={`h-2 w-2 shrink-0 rounded-full ${dirty ? 'draft-dirty-dot bg-warning' : 'bg-success'}`}
+      />
+      <span className="min-w-0 whitespace-nowrap text-[10px] font-medium text-text-secondary sm:text-[11px]">
+        {dirty ? `${changeCount} 项未保存改动` : '地图草稿已同步'}
+      </span>
+      <Button
+        variant="ghost"
+        aria-label="丢弃地图草稿"
+        disabled={loading || !dirty}
+        icon={<Trash2 className="h-3 w-3" />}
+        onClick={onDiscard}
+      >
+        <span className="hidden sm:inline">丢弃</span>
+      </Button>
+      <Button
+        variant="primary"
+        aria-label="提交地图草稿"
+        disabled={loading || !dirty}
+        icon={<Check className="h-3 w-3" />}
+        onClick={onCommit}
+      >
+        <span className="hidden sm:inline">提交</span>
+      </Button>
+    </div>
+  );
+}
+
+export interface MapAssetDropTarget {
+  left: number;
+  top: number;
+  position: readonly [number, number, number] | null;
+}
+
+export function MapAssetDropIndicator({ target }: { target?: MapAssetDropTarget }) {
+  if (!target) return null;
+  const valid = Boolean(target.position);
+  return (
+    <div className="pointer-events-none absolute inset-0 z-30" aria-label="地图资产放置预览">
+      <div
+        className={`absolute -translate-x-1/2 -translate-y-1/2 rounded-full border-2 p-1 shadow-2xl ${valid ? 'border-accent bg-accent/25 text-accent' : 'border-danger bg-danger/20 text-danger'}`}
+        style={{ left: target.left, top: target.top }}
+      >
+        <span className="grid h-8 w-8 place-items-center rounded-full border border-current bg-panel/85 backdrop-blur">
+          <MapPinned className="h-4 w-4" />
+        </span>
+        <span className="absolute left-1/2 top-full mt-2 -translate-x-1/2 whitespace-nowrap rounded-lg border border-border-strong bg-panel/90 px-2 py-1 text-[10px] font-medium shadow-xl backdrop-blur">
+          {valid
+            ? `释放放置 · ${target.position![0].toFixed(1)}, ${target.position![1].toFixed(1)}`
+            : '请拖到 3D 地面'}
+        </span>
+      </div>
+    </div>
+  );
+}
diff --git a/web_platform/src/app/components/ModelControlsSidebar.test.tsx b/web_platform/src/app/components/ModelControlsSidebar.test.tsx
new file mode 100644
index 00000000..755598d7
--- /dev/null
+++ b/web_platform/src/app/components/ModelControlsSidebar.test.tsx
@@ -0,0 +1,162 @@
+import type { ComponentProps } from 'react';
+import { fireEvent, render, screen } from '@testing-library/react';
+import { DEFAULT_PHYSICAL_MAP_CONFIG } from '../../map/types';
+import type { SimulationSnapshot } from '../../simulation/SimulationSession';
+import { ModelControlsSidebar } from './ModelControlsSidebar';
+
+const snapshot = {
+  bodies: [
+    { id: 0, name: 'world', parentId: 0 },
+    { id: 1, name: 'base', parentId: 0 },
+    { id: 2, name: 'arm', parentId: 1 },
+  ],
+  joints: [
+    {
+      id: 7,
+      name: 'arm_joint',
+      bodyId: 2,
+      type: 3,
+      value: 0.25,
+      min: -1,
+      max: 1,
+      limitMin: -1,
+      limitMax: 1,
+      limited: true,
+      limitsIgnored: false,
+      editable: true,
+      axis: [0, 0, 1],
+    },
+  ],
+  actuators: [],
+  model: { nbody: 3, njnt: 1, ngeom: 2, ncam: 0, nactuator: 0, nu: 0, nq: 1, nv: 1 },
+} as unknown as SimulationSnapshot;
+
+const noop = () => {};
+const asyncTrue = async () => true;
+
+function props(
+  patch: Partial<ComponentProps<typeof ModelControlsSidebar>> = {},
+): ComponentProps<typeof ModelControlsSidebar> {
+  return {
+    snapshot,
+    selection: null,
+    viewerSelection: null,
+    loading: false,
+    urdfMode: 'mjcf',
+    baseMode: 'floating',
+    showCollision: false,
+    ignoreJointLimits: false,
+    jointAdvanced: false,
+    angleUnit: 'rad',
+    mapSelection: { kind: 'none' },
+    mapSceneDirty: false,
+    maps: [],
+    showVisualMap: true,
+    showMapCollision: false,
+    editorDocument: null,
+    workspaceTool: null,
+    onWorkspaceToolChange: noop,
+    onSelectJoint: noop,
+    onUrdfMode: noop,
+    onBaseMode: noop,
+    onShowCollision: noop,
+    onResetJoints: noop,
+    onToggleJointLimits: noop,
+    onToggleAdvanced: noop,
+    onToggleAngleUnit: noop,
+    onActuator: noop,
+    onActuatorParameters: noop,
+    onJoint: noop,
+    onApplyMap: noop,
+    onMapDraft: noop,
+    onEditorPreview: noop,
+    onEditorDraftChange: noop,
+    onEditorApply: asyncTrue,
+    onEditorExport: noop,
+    onEditorConvert: asyncTrue,
+    onEditorBindInteraction: noop,
+    onEditorSelect: noop,
+    onEditorSessionStateChange: noop,
+    onMapDisplay: noop,
+    ...patch,
+  };
+}
+
+describe('ModelControlsSidebar', () => {
+  it('没有选择时显示场景摘要，并保留基础地图快速入口', () => {
+    render(<ModelControlsSidebar {...props()} />);
+    expect(screen.getByText('未选择对象')).toBeVisible();
+    expect(screen.getByText('模型摘要')).toBeVisible();
+    expect(screen.getByText('未选择地图实例')).toBeVisible();
+  });
+
+  it('按照统一选择自动路由 Body 与 Joint 检查器', () => {
+    const view = render(
+      <ModelControlsSidebar {...props({ selection: { kind: 'body', bodyId: 2 } })} />,
+    );
+    expect(screen.getByText('Robot / Body')).toBeVisible();
+    expect(screen.getByText('arm', { selector: '[title="arm"]' })).toBeVisible();
+
+    view.rerender(
+      <ModelControlsSidebar {...props({ selection: { kind: 'joint', jointId: 7, bodyId: 2 } })} />,
+    );
+    expect(screen.getByText('Robot / Joint')).toBeVisible();
+    expect(screen.getByText('Hinge · arm')).toBeVisible();
+    expect(screen.getByText('关联 Actuator')).toBeVisible();
+  });
+
+  it('控制台与数据录制在右侧面板内切换，不创建模态窗口', () => {
+    const onWorkspaceToolChange = vi.fn();
+    render(
+      <ModelControlsSidebar
+        {...props({
+          selection: { kind: 'body', bodyId: 2 },
+          workspaceTool: 'controls',
+          workspaceTools: (
+            <div role="tabpanel" aria-label="控制台">
+              内嵌控制工具
+            </div>
+          ),
+          onWorkspaceToolChange,
+        })}
+      />,
+    );
+
+    expect(screen.queryByRole('dialog')).not.toBeInTheDocument();
+    expect(screen.getByRole('tabpanel', { name: '控制台' })).toBeVisible();
+    expect(screen.getByText('内嵌控制工具')).toBeVisible();
+    const inspector = document.querySelector('[role="tabpanel"][aria-label="检查器"]');
+    expect(inspector).not.toBeNull();
+    expect(inspector).not.toBeVisible();
+    const controlsTab = screen.getByRole('tab', { name: '控制台' });
+    expect(controlsTab).toHaveAttribute('aria-selected', 'true');
+
+    fireEvent.keyDown(controlsTab, { key: 'ArrowRight' });
+    expect(onWorkspaceToolChange).toHaveBeenCalledWith('data');
+    fireEvent.click(screen.getByRole('tab', { name: '检查器' }));
+    expect(onWorkspaceToolChange).toHaveBeenCalledWith(null);
+  });
+
+  it('选择地图实例后自动展示地图检查器，并把全局工具移到右侧入口', () => {
+    const onWorkspaceToolChange = vi.fn();
+    render(
+      <ModelControlsSidebar
+        {...props({
+          selection: { kind: 'map', mapAssetId: 'terrain-a' },
+          activeMapAssetId: 'terrain-a',
+          activeMapAssetName: '随机粗糙地形',
+          mapSelection: {
+            kind: 'builtin',
+            config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'rough' },
+          },
+          onWorkspaceToolChange,
+        })}
+      />,
+    );
+    expect(screen.getByText('Map / Instance')).toBeVisible();
+    expect(screen.getByText('随机粗糙地形', { selector: '[title="随机粗糙地形"]' })).toBeVisible();
+    fireEvent.click(screen.getByRole('tab', { name: '控制台' }));
+    fireEvent.click(screen.getByRole('tab', { name: '数据录制' }));
+    expect(onWorkspaceToolChange.mock.calls).toEqual([['controls'], ['data']]);
+  });
+});
diff --git a/web_platform/src/app/components/ModelControlsSidebar.tsx b/web_platform/src/app/components/ModelControlsSidebar.tsx
index 19d2acd9..09ff8125 100644
--- a/web_platform/src/app/components/ModelControlsSidebar.tsx
+++ b/web_platform/src/app/components/ModelControlsSidebar.tsx
@@ -1,38 +1,31 @@
-import { useState } from 'react';
-import { Database, Info, Map as MapIcon, SlidersHorizontal } from 'lucide-react';
+import type { ReactNode } from 'react';
+import { Box, Database, MapPinned, PanelRight, SlidersHorizontal } from 'lucide-react';
 import type { MapEntry, ModelEntry } from '../../project/types';
 import type { ActuatorParameters, SimulationSnapshot } from '../../simulation/SimulationSession';
 import type { UrdfBaseMode, UrdfLoadMode } from '../../simulation/PhysicsAdapter';
-import type { DataRecorderConfig } from '../../telemetry/DataRecorder';
 import type { ViewerSelection } from '../../viewer/MuJoCoViewer';
-import type { ControllerCommand, ControllerStatus } from '../../controller/types';
-import type { RLCommand, RLPolicyStatus } from '../../rl/types';
-import {
-  Badge,
-  Button,
-  CollapsibleSection,
-  CopyButton,
-  PropertyRow,
-  Select,
-  Tabs,
-} from '../../components/ui';
 import type { MapSelection, PlacedMapSelection } from '../../map/types';
 import type {
   EditableMapDocument,
   MapEditorInteractionCallbacks,
-  MapEditorTransformMode,
+  MapEditorSessionState,
 } from '../../map/editor/types';
-import { DataRecordingPanel } from '../../telemetry/DataRecordingPanel';
-import { ActuatorControl, Check, ControlSlider } from '../../simulation/ActuatorControl';
-import { LocalTrainingPanel } from '../../training/LocalTrainingPanel';
 import { PhysicalMapPanel } from '../../map/PhysicalMapPanel';
-import { PythonControllerPanel } from '../../controller/PythonControllerPanel';
-import { RLPolicyPanel } from '../../rl/RLPolicyPanel';
+import {
+  BodyInspector,
+  InspectorIdentity,
+  JointInspector,
+  ModelSummaryInspector,
+} from '../../simulation/RobotInspector';
+import type { EditorSelection } from '../editorSelection';
 import { SidebarPanel } from './SidebarPanel';
+import type { WorkspaceTool } from './WorkspaceToolsPanel';
+import { RightSidebarTabs } from './RightSidebarTabs';
 
 interface ModelControlsProps {
   snapshot?: SimulationSnapshot;
-  selection: ViewerSelection | null;
+  selection: EditorSelection | null;
+  viewerSelection: ViewerSelection | null;
   selectedFormat?: ModelEntry['format'];
   loading: boolean;
   visible?: boolean;
@@ -42,23 +35,19 @@ interface ModelControlsProps {
   ignoreJointLimits: boolean;
   jointAdvanced: boolean;
   angleUnit: 'rad' | 'deg';
-  forceScale: number;
-  controllerPaths: string[];
-  selectedControllerPath?: string;
-  controllerStatus?: ControllerStatus;
-  policyPaths: string[];
-  selectedPolicyPath?: string;
-  policyStatus?: RLPolicyStatus;
   mapSelection: MapSelection;
   activeMapAssetId?: string;
+  activeMapAssetName?: string;
   mapSceneDirty: boolean;
   maps: MapEntry[];
   showVisualMap: boolean;
   showMapCollision: boolean;
   editorDocument: EditableMapDocument | null;
   editorDraftDocument?: EditableMapDocument;
-  activeTab?: 'properties' | 'controls' | 'data' | 'map';
-  onActiveTabChange?: (value: 'properties' | 'controls' | 'data' | 'map') => void;
+  workspaceTool: WorkspaceTool | null;
+  workspaceTools?: ReactNode;
+  onWorkspaceToolChange: (tool: WorkspaceTool | null) => void;
+  onSelectJoint: (jointId: number, bodyId: number) => void;
   onUrdfMode: (value: UrdfLoadMode) => void;
   onBaseMode: (value: UrdfBaseMode) => void;
   onShowCollision: (value: boolean) => void;
@@ -69,19 +58,6 @@ interface ModelControlsProps {
   onActuator: (id: number, value: number) => void;
   onActuatorParameters: (id: number, parameters: ActuatorParameters) => void;
   onJoint: (id: number, value: number) => void;
-  onForceScale: (value: number) => void;
-  onSelectControllerPath: (path: string) => void;
-  onLoadControllerPath: (path: string) => void;
-  onImportController: (file: File) => void;
-  onToggleController: (enabled: boolean) => void;
-  onControllerCommand: (command: ControllerCommand) => void;
-  onRemoveController: () => void;
-  onSelectPolicyPath: (path: string) => void;
-  onLoadPolicyPath: (path: string) => void;
-  onImportPolicy: (file: File) => void;
-  onTogglePolicy: (enabled: boolean) => void;
-  onPolicyCommand: (command: RLCommand) => void;
-  onRemovePolicy: () => void;
   onApplyMap: (value: MapSelection) => void;
   onMapDraft: (value: PlacedMapSelection) => void;
   onEditorPreview: (document: EditableMapDocument | null) => void;
@@ -95,320 +71,183 @@ interface ModelControlsProps {
   onEditorConvert: () => Promise<boolean>;
   onEditorBindInteraction: (callbacks: MapEditorInteractionCallbacks | null) => void;
   onEditorSelect: (id: string | null) => void;
-  onEditorTransformMode: (mode: MapEditorTransformMode) => void;
-  onEditorSnapping: (translation: number | null, rotationDegrees: number | null) => void;
+  onEditorSessionStateChange?: (
+    descriptorPath: string,
+    state: MapEditorSessionState | null,
+  ) => void;
   onEditorSurfaceHeight?: (position: readonly [number, number, number]) => number | null;
   onMapDisplay: (visual: boolean, collision: boolean) => void;
-  onMapTabOpen?: () => void;
-  onDataRecorderConfigure: (patch: Partial<DataRecorderConfig>) => void;
-  onDataRecordingStart: () => void;
-  onDataRecordingStop: () => void;
-  onDataRecordingClear: () => void;
-  onDataRecordingExport: (format: 'csv' | 'json') => void;
 }
+
 export function ModelControlsSidebar(props: ModelControlsProps) {
-  const [internalTab, setInternalTab] = useState<'properties' | 'controls' | 'data' | 'map'>(
-      'properties',
-    ),
-    tab = props.activeTab ?? internalTab,
-    s = props.snapshot;
-  if (!s)
+  const snapshot = props.snapshot;
+  const activeView = props.workspaceTool ?? 'inspector';
+  const title =
+    activeView === 'controls' ? '控制台' : activeView === 'data' ? '数据录制' : '检查器';
+  const icon =
+    activeView === 'controls' ? (
+      <SlidersHorizontal />
+    ) : activeView === 'data' ? (
+      <Database />
+    ) : (
+      <PanelRight />
+    );
+  const tabs = (
+    <RightSidebarTabs
+      value={activeView}
+      onChange={(value) => props.onWorkspaceToolChange(value === 'inspector' ? null : value)}
+    />
+  );
+  if (!snapshot)
     return (
-      <SidebarPanel title="属性与参数" side="right" visible={props.visible}>
-        <div className="p-4 text-sm text-text-tertiary">导入模型后显示属性</div>
+      <SidebarPanel title={title} side="right" visible={props.visible} icon={icon}>
+        {tabs}
+        {props.workspaceTool ? (
+          props.workspaceTools
+        ) : (
+          <div className="p-4 text-sm text-text-tertiary">导入模型后显示检查器</div>
+        )}
       </SidebarPanel>
     );
-  const properties = (
-    <>
-      <CollapsibleSection title="模型信息" defaultOpen badge={<Badge>{s.model.nbody} Body</Badge>}>
-        <div>
-          <PropertyRow label="Body" value={s.model.nbody} />
-          <PropertyRow label="Joint" value={s.model.njnt} />
-          <PropertyRow label="Geom" value={s.model.ngeom} />
-          <PropertyRow label="Actuator" value={s.model.nactuator} />
-          <PropertyRow label="qpos / qvel" value={`${s.model.nq} / ${s.model.nv}`} />
-        </div>
-      </CollapsibleSection>
-      {props.selectedFormat === 'urdf' && (
-        <CollapsibleSection title="URDF 处理方式" defaultOpen={false}>
-          <Select
-            aria-label="URDF 处理方式"
-            className="w-full"
-            value={props.urdfMode}
-            disabled={props.loading}
-            onChange={(event) => props.onUrdfMode(event.target.value as UrdfLoadMode)}
-          >
-            <option value="mjcf">转换为 MJCF（推荐）</option>
-            <option value="native">MuJoCo 原生 URDF</option>
-          </Select>
-          <label className="mt-3 block text-xs text-text-secondary">
-            <span className="mb-1 block">基座类型</span>
-            <Select
-              aria-label="URDF 基座类型"
-              className="w-full"
-              value={props.baseMode}
-              disabled={props.loading || props.urdfMode === 'native'}
-              onChange={(event) => props.onBaseMode(event.target.value as UrdfBaseMode)}
-            >
-              <option value="floating">浮动基座（Free Joint）</option>
-              <option value="fixed">固定基座（连接世界）</option>
-            </Select>
-          </label>
-          <p className="mt-2 text-xs text-text-tertiary">
-            MJCF 模式保留 visual mesh、添加物理地面，并将模型最低点对齐到 z=0。
-          </p>
-          <Check
-            label="显示碰撞几何"
-            checked={props.showCollision}
-            onChange={props.onShowCollision}
-          />
-        </CollapsibleSection>
-      )}
-      <CollapsibleSection title="当前选择" defaultOpen>
-        {props.selection ? (
-          <div className="text-xs">
-            <PropertyRow
-              label="Body"
-              value={props.selection.bodyName}
-              action={<CopyButton value={props.selection.bodyName} label="复制 Body 名称" />}
-            />
-            <PropertyRow
-              label="标识"
-              value={`${props.selection.bodyId} / ${props.selection.geomId} / ${props.selection.geomType}`}
-              action={
-                <CopyButton
-                  value={`body ${props.selection.bodyId}, geom ${props.selection.geomId}, type ${props.selection.geomType}`}
-                  label="复制标识"
-                />
-              }
-            />
-            <PropertyRow
-              label="位置"
-              value={props.selection.position.map((value) => value.toFixed(3)).join(', ')}
-              action={<CopyButton value={props.selection.position.join(', ')} label="复制位置" />}
-            />
-          </div>
-        ) : (
-          <p className="flex items-center gap-2 text-xs text-text-tertiary">
-            <Info className="h-3.5 w-3.5" />
-            在视口中单击物体
-          </p>
-        )}
-      </CollapsibleSection>
-    </>
+
+  const selection = props.selection;
+  const selectedBody =
+    selection?.kind === 'body'
+      ? snapshot.bodies.find((body) => body.id === selection.bodyId)
+      : undefined;
+  const selectedJoint =
+    selection?.kind === 'joint'
+      ? snapshot.joints.find((joint) => joint.id === selection.jointId)
+      : undefined;
+  const mapSelected =
+    (selection?.kind === 'map' || selection?.kind === 'map-object') &&
+    selection.mapAssetId === props.activeMapAssetId;
+  const selectedMapObject =
+    selection?.kind === 'map-object' && mapSelected
+      ? (props.editorDraftDocument ?? props.editorDocument)?.objects.find(
+          (object) => object.id === selection.objectId,
+        )
+      : undefined;
+  const mapPanel = (
+    <PhysicalMapPanel
+      key={`${props.activeMapAssetId ?? 'none'}:${
+        props.mapSelection.kind === 'project'
+          ? props.mapSelection.descriptorPath
+          : props.mapSelection.kind
+      }`}
+      value={props.mapSelection}
+      maps={props.maps}
+      rootBodies={snapshot.bodies
+        .filter(
+          (body) =>
+            body.id !== 0 && body.parentId === 0 && !body.name.startsWith('__platform_map_'),
+        )
+        .map((body) => body.name)}
+      loading={props.loading}
+      nativeUrdf={props.selectedFormat === 'urdf' && props.urdfMode === 'native'}
+      showVisualMap={props.showVisualMap}
+      showMapCollision={props.showMapCollision}
+      editorDocument={props.editorDocument}
+      editorDraftDocument={props.editorDraftDocument}
+      sceneDirty={props.mapSceneDirty}
+      onEditorPreview={props.onEditorPreview}
+      onEditorDraftChange={props.onEditorDraftChange}
+      onEditorApply={props.onEditorApply}
+      onEditorExport={props.onEditorExport}
+      onEditorConvert={props.onEditorConvert}
+      selectedEditorObjectId={
+        selection?.kind === 'map-object' && mapSelected ? selection.objectId : undefined
+      }
+      onEditorBindInteraction={props.onEditorBindInteraction}
+      onEditorSelect={props.onEditorSelect}
+      onEditorSessionStateChange={props.onEditorSessionStateChange}
+      onEditorSurfaceHeight={props.onEditorSurfaceHeight}
+      onMapDisplay={props.onMapDisplay}
+      onDraft={props.onMapDraft}
+      onApply={props.onApplyMap}
+    />
   );
-  const controls = (
-    <>
-      <CollapsibleSection
-        title="ONNX 强化学习策略"
-        defaultOpen
-        badge={s.rlPolicy ? <Badge>{s.rlPolicy.enabled ? '推理' : '停止'}</Badge> : undefined}
-      >
-        <RLPolicyPanel
-          paths={props.policyPaths}
-          selectedPath={props.selectedPolicyPath}
-          status={props.policyStatus ?? s.rlPolicy}
-          loading={props.loading}
-          onSelectPath={props.onSelectPolicyPath}
-          onLoadPath={props.onLoadPolicyPath}
-          onImport={props.onImportPolicy}
-          onToggle={props.onTogglePolicy}
-          onCommand={props.onPolicyCommand}
-          onRemove={props.onRemovePolicy}
-        />
-      </CollapsibleSection>
-      <CollapsibleSection title="本地强化学习训练" defaultOpen={false}>
-        <LocalTrainingPanel onPolicyReady={props.onImportPolicy} />
-      </CollapsibleSection>
-      <CollapsibleSection
-        title="Python 控制器"
-        defaultOpen
-        badge={s.controller ? <Badge>{s.controller.enabled ? '运行' : '停止'}</Badge> : undefined}
-      >
-        <PythonControllerPanel
-          paths={props.controllerPaths}
-          selectedPath={props.selectedControllerPath}
-          status={props.controllerStatus ?? s.controller}
-          loading={props.loading}
-          onSelectPath={props.onSelectControllerPath}
-          onLoadPath={props.onLoadControllerPath}
-          onImport={props.onImportController}
-          onToggle={props.onToggleController}
-          onCommand={props.onControllerCommand}
-          onRemove={props.onRemoveController}
-        />
-      </CollapsibleSection>
-      <CollapsibleSection
-        title="Actuator"
-        defaultOpen={false}
-        badge={<Badge>{s.actuators.length}</Badge>}
-      >
-        {s.actuators.length ? (
-          s.actuators.map((actuator) => (
-            <ActuatorControl
-              key={actuator.id}
-              actuator={actuator}
-              onControl={(value) => props.onActuator(actuator.id, value)}
-              onParameters={(parameters) => props.onActuatorParameters(actuator.id, parameters)}
-            />
-          ))
-        ) : (
-          <p className="text-xs text-text-tertiary">模型没有驱动器</p>
-        )}
-      </CollapsibleSection>
-      <CollapsibleSection title="关节" defaultOpen badge={<Badge>{s.joints.length}</Badge>}>
-        <div className="mb-4 grid grid-cols-2 gap-2">
-          <Button onClick={props.onResetJoints}>重置关节</Button>
-          <Button
-            variant={props.ignoreJointLimits ? 'primary' : 'secondary'}
-            aria-pressed={props.ignoreJointLimits}
-            onClick={props.onToggleJointLimits}
-          >
-            忽略关节限位
-          </Button>
-          <Button
-            variant={props.jointAdvanced ? 'primary' : 'secondary'}
-            aria-pressed={props.jointAdvanced}
-            onClick={props.onToggleAdvanced}
-          >
-            高级
-          </Button>
-          <Button
-            variant={props.angleUnit === 'deg' ? 'primary' : 'secondary'}
-            aria-pressed={props.angleUnit === 'deg'}
-            onClick={props.onToggleAngleUnit}
-          >
-            {props.angleUnit === 'rad' ? 'rad 弧度制' : '° 角度制'}
-          </Button>
-        </div>
-        {s.joints.map((joint) => {
-          const scale = joint.type === 3 && props.angleUnit === 'deg' ? 180 / Math.PI : 1,
-            unit =
-              joint.type === 3
-                ? props.angleUnit === 'deg'
-                  ? '°'
-                  : ' rad'
-                : joint.type === 2
-                  ? ' m'
-                  : '';
-          return (
-            <ControlSlider
-              key={joint.id}
-              label={`${joint.name}${joint.editable ? '' : '（只读）'}`}
-              value={joint.value * scale}
-              min={joint.min * scale}
-              max={joint.max * scale}
-              unit={unit}
-              advanced={props.jointAdvanced}
-              limited={joint.limited}
-              limitsIgnored={joint.limitsIgnored}
-              limitMin={joint.limitMin * scale}
-              limitMax={joint.limitMax * scale}
-              disabled={!joint.editable}
-              onChange={(value) => props.onJoint(joint.id, value / scale)}
-            />
-          );
-        })}
-      </CollapsibleSection>
-      <CollapsibleSection title="外力强度" defaultOpen={false}>
-        <ControlSlider
-          label={`${props.forceScale.toFixed(0)} N/屏幕单位`}
-          value={props.forceScale}
-          min={5}
-          max={200}
-          onChange={props.onForceScale}
-        />
-        <p className="text-xs text-text-tertiary">
-          选择“外力施加”，在动态物体上按住拖动，松开即清零。
-        </p>
-      </CollapsibleSection>
-    </>
-  );
-  return (
-    <SidebarPanel title="属性与参数" side="right" visible={props.visible}>
-      <Tabs
-        label="模型控制侧栏"
-        value={tab}
-        onValueChange={(value) => {
-          setInternalTab(value);
-          props.onActiveTabChange?.(value);
-          if (value === 'map') props.onMapTabOpen?.();
-        }}
-        items={[
-          {
-            value: 'properties',
-            label: '属性',
-            icon: <Info className="h-3.5 w-3.5" />,
-            content: properties,
-          },
-          {
-            value: 'controls',
-            label: '控制',
-            icon: <SlidersHorizontal className="h-3.5 w-3.5" />,
-            content: controls,
-          },
-          {
-            value: 'data',
-            label: '数据',
-            icon: <Database className="h-3.5 w-3.5" />,
-            content: (
-              <DataRecordingPanel
-                status={s.telemetry}
-                bodies={s.bodies}
-                onConfigure={props.onDataRecorderConfigure}
-                onStart={props.onDataRecordingStart}
-                onStop={props.onDataRecordingStop}
-                onClear={props.onDataRecordingClear}
-                onExport={props.onDataRecordingExport}
-              />
-            ),
-          },
-          {
-            value: 'map',
-            label: '地图',
-            icon: <MapIcon className="h-3.5 w-3.5" />,
-            content: (
-              <PhysicalMapPanel
-                key={`${props.activeMapAssetId ?? 'none'}:${
-                  props.mapSelection.kind === 'project'
-                    ? props.mapSelection.descriptorPath
-                    : props.mapSelection.kind
-                }`}
-                value={props.mapSelection}
-                maps={props.maps}
-                rootBodies={s.bodies
-                  .filter(
-                    (body) =>
-                      body.id !== 0 &&
-                      body.parentId === 0 &&
-                      !body.name.startsWith('__platform_map_'),
-                  )
-                  .map((body) => body.name)}
-                loading={props.loading}
-                nativeUrdf={props.selectedFormat === 'urdf' && props.urdfMode === 'native'}
-                showVisualMap={props.showVisualMap}
-                showMapCollision={props.showMapCollision}
-                editorDocument={props.editorDocument}
-                editorDraftDocument={props.editorDraftDocument}
-                sceneDirty={props.mapSceneDirty}
-                onEditorPreview={props.onEditorPreview}
-                onEditorDraftChange={props.onEditorDraftChange}
-                onEditorApply={props.onEditorApply}
-                onEditorExport={props.onEditorExport}
-                onEditorConvert={props.onEditorConvert}
-                onEditorBindInteraction={props.onEditorBindInteraction}
-                onEditorSelect={props.onEditorSelect}
-                onEditorTransformMode={props.onEditorTransformMode}
-                onEditorSnapping={props.onEditorSnapping}
-                onEditorSurfaceHeight={props.onEditorSurfaceHeight}
-                onMapDisplay={props.onMapDisplay}
-                onDraft={props.onMapDraft}
-                onApply={props.onApplyMap}
-              />
-            ),
-          },
-        ]}
+
+  let inspector: ReactNode;
+  if (selectedBody) {
+    inspector = (
+      <BodyInspector
+        body={selectedBody}
+        snapshot={snapshot}
+        viewerSelection={props.viewerSelection}
+        showCollision={props.showCollision}
+        onShowCollision={props.onShowCollision}
+        onSelectJoint={props.onSelectJoint}
       />
+    );
+  } else if (selectedJoint) {
+    inspector = (
+      <JointInspector
+        joint={selectedJoint}
+        snapshot={snapshot}
+        loading={props.loading}
+        ignoreJointLimits={props.ignoreJointLimits}
+        jointAdvanced={props.jointAdvanced}
+        angleUnit={props.angleUnit}
+        onResetJoints={props.onResetJoints}
+        onToggleJointLimits={props.onToggleJointLimits}
+        onToggleAdvanced={props.onToggleAdvanced}
+        onToggleAngleUnit={props.onToggleAngleUnit}
+        onJoint={props.onJoint}
+        onActuator={props.onActuator}
+        onActuatorParameters={props.onActuatorParameters}
+      />
+    );
+  } else if (mapSelected) {
+    const mapName = selectedMapObject?.name ?? props.activeMapAssetName ?? '地图实例';
+    inspector = (
+      <>
+        <InspectorIdentity
+          icon={selectedMapObject ? <Box /> : <MapPinned />}
+          eyebrow={selectedMapObject ? 'Map / Object' : 'Map / Instance'}
+          name={mapName}
+          meta={
+            selectedMapObject
+              ? `${selectedMapObject.type} · ${props.activeMapAssetName ?? '地图'}`
+              : props.mapSelection.kind === 'builtin'
+                ? '参数化地形'
+                : '工程地图包实例'
+          }
+        />
+        {mapPanel}
+      </>
+    );
+  } else {
+    inspector = (
+      <>
+        <ModelSummaryInspector
+          snapshot={snapshot}
+          selectedFormat={props.selectedFormat}
+          loading={props.loading}
+          urdfMode={props.urdfMode}
+          baseMode={props.baseMode}
+          showCollision={props.showCollision}
+          onUrdfMode={props.onUrdfMode}
+          onBaseMode={props.onBaseMode}
+          onShowCollision={props.onShowCollision}
+        />
+        {props.mapSelection.kind === 'none' && mapPanel}
+      </>
+    );
+  }
+
+  return (
+    <SidebarPanel title={title} side="right" visible={props.visible} icon={icon}>
+      {tabs}
+      <div
+        hidden={props.workspaceTool !== null}
+        role="tabpanel"
+        aria-label="检查器"
+        className="min-h-0 flex-1 overflow-auto panel-scroll"
+      >
+        {inspector}
+      </div>
+      {props.workspaceTool && props.workspaceTools}
     </SidebarPanel>
   );
 }
diff --git a/web_platform/src/app/components/ProjectSidebar.tsx b/web_platform/src/app/components/ProjectSidebar.tsx
index 2bab8f83..d992aa36 100644
--- a/web_platform/src/app/components/ProjectSidebar.tsx
+++ b/web_platform/src/app/components/ProjectSidebar.tsx
@@ -1,17 +1,13 @@
 import { useState } from 'react';
-import { Box, FolderTree, Map as MapIcon } from 'lucide-react';
+import { FolderTree, Library, Search } from 'lucide-react';
 import type { MapEntry, ModelEntry } from '../../project/types';
 import {
   countProjectSearchResults,
   ProjectTree,
   type ProjectTreeFile,
 } from '../../project/ProjectTree';
-import {
-  countModelStructureSearchResults,
-  ModelStructureTree,
-} from '../../project/ModelStructureTree';
 import type { SimulationSnapshot } from '../../simulation/SimulationSession';
-import { Button, Tabs } from '../../components/ui';
+import { Button, Tabs, VerticalSplitPane } from '../../components/ui';
 import {
   DEFAULT_PHYSICAL_MAP_CONFIG,
   type MapSelection,
@@ -24,35 +20,42 @@ import type {
   MapObjectPlacementMode,
 } from '../../map/editor/types';
 import { MapAssetLibrary } from '../../map/MapAssetLibrary';
+import type { EditorSelection } from '../editorSelection';
 import { ProjectBreadcrumb } from './ProjectBreadcrumb';
+import { SceneOutliner, countSceneSearchResults } from './SceneOutliner';
 import { SidebarPanel } from './SidebarPanel';
 import { TreeSearchField } from './TreeSearchField';
 
+export type ProjectResourceTab = 'assets' | 'files';
+
 export function ProjectSidebar({
   projectName,
   files,
   entries,
   selectedEntry,
   snapshot,
+  selection,
   loading,
   visible = true,
   nativeUrdf,
   mapSelection,
   maps,
   placedMaps,
-  activeMapId,
   pendingSceneChangeCount,
   pendingSceneIds,
-  editorDocument,
   editorDocuments,
+  assetPlacementMode,
   activeTab,
   onActiveTabChange,
   onRemove,
   onSelectEntry,
+  onSelectBody,
+  onSelectJoint,
   onJointHover,
   onAddMapAsset,
   onAddProjectMap,
   onSelectTerrain,
+  onAssetPlacementModeChange,
   onApplyScene,
   onDiscardScene,
   onSelectMap,
@@ -64,21 +67,23 @@ export function ProjectSidebar({
   entries: ModelEntry[];
   selectedEntry?: string;
   snapshot?: SimulationSnapshot;
+  selection: EditorSelection | null;
   loading: boolean;
   visible?: boolean;
   nativeUrdf: boolean;
   mapSelection: MapSelection;
   maps: MapEntry[];
   placedMaps: PlacedMapAsset[];
-  activeMapId?: string;
   pendingSceneChangeCount: number;
   pendingSceneIds: string[];
-  editorDocument: EditableMapDocument | null;
-  editorDocuments?: ReadonlyMap<string, EditableMapDocument>;
-  activeTab?: 'project' | 'structure' | 'assets';
-  onActiveTabChange?: (value: 'project' | 'structure' | 'assets') => void;
+  editorDocuments: ReadonlyMap<string, EditableMapDocument>;
+  assetPlacementMode?: MapObjectPlacementMode;
+  activeTab?: ProjectResourceTab;
+  onActiveTabChange?: (value: ProjectResourceTab) => void;
   onRemove: () => void;
   onSelectEntry: (path: string) => void;
+  onSelectBody: (bodyId: number) => void;
+  onSelectJoint: (jointId: number, bodyId: number) => void;
   onJointHover: (jointId: number | null) => void;
   onAddMapAsset: (
     type: EditableMapObjectType,
@@ -86,22 +91,22 @@ export function ProjectSidebar({
   ) => void | Promise<void>;
   onAddProjectMap: (descriptorPath: string) => void;
   onSelectTerrain: (preset: SystemTerrainPreset) => void;
+  onAssetPlacementModeChange?: (mode: MapObjectPlacementMode) => void;
   onApplyScene: () => void;
   onDiscardScene: () => void;
   onSelectMap: (id: string) => void;
   onRemoveMap: (id: string) => void;
   onSelectMapObject: (mapId: string, objectId: string) => void;
 }) {
-  const [internalTab, setInternalTab] = useState<'project' | 'structure' | 'assets'>('project'),
-    [fileQuery, setFileQuery] = useState(''),
-    [structureQuery, setStructureQuery] = useState('');
-  const tab = activeTab ?? internalTab,
-    fileMatches = countProjectSearchResults(files, fileQuery),
-    structureMatches = snapshot
-      ? countModelStructureSearchResults(snapshot.bodies, snapshot.joints, structureQuery)
-      : 0;
+  const [internalTab, setInternalTab] = useState<ProjectResourceTab>('assets');
+  const [fileQuery, setFileQuery] = useState('');
+  const [sceneQuery, setSceneQuery] = useState('');
+  const tab = activeTab ?? internalTab;
+  const fileMatches = countProjectSearchResults(files, fileQuery);
+  const sceneMatches = countSceneSearchResults(snapshot, placedMaps, editorDocuments, sceneQuery);
+
   return (
-    <SidebarPanel title="资产与结构" side="left" visible={visible}>
+    <SidebarPanel title="场景大纲与资产中心" side="left" visible={visible} icon={<Library />}>
       {projectName ? (
         <>
           <div className="flex shrink-0 items-center gap-2 border-b border-border px-3 py-2.5">
@@ -109,115 +114,129 @@ export function ProjectSidebar({
               <div className="truncate text-sm font-medium text-accent" title={projectName}>
                 {projectName}
               </div>
-              <div className="mt-0.5 text-[10px] text-text-tertiary">{files.length} 个文件</div>
+              <div className="mt-0.5 truncate text-[10px] text-text-tertiary">
+                {snapshot
+                  ? `${snapshot.bodies.filter((body) => body.id > 0 && !body.name.startsWith('__platform_map_')).length} Body`
+                  : '模型未加载'}{' '}
+                · {placedMaps.length} 个地图实例 · {files.length} 个文件
+              </div>
             </div>
             <Button variant="danger" onClick={onRemove} disabled={loading}>
               移除
             </Button>
           </div>
-          <ProjectBreadcrumb
-            projectName={projectName}
-            entries={entries}
-            selectedEntry={selectedEntry}
-            loading={loading}
-            onSelect={onSelectEntry}
-          />
-          <Tabs
-            label="工程侧栏"
-            value={tab}
-            onValueChange={(value) => {
-              setInternalTab(value);
-              onActiveTabChange?.(value);
-            }}
-            items={[
-              {
-                value: 'project',
-                label: '工程',
-                icon: <FolderTree className="h-3.5 w-3.5" />,
-                content: (
-                  <>
-                    <TreeSearchField
-                      value={fileQuery}
-                      onChange={setFileQuery}
-                      resultCount={fileMatches}
-                      label="搜索工程文件"
-                      placeholder="搜索文件或目录…"
-                    />
-                    <div className="px-2 pb-3">
-                      <ProjectTree
-                        key={projectName}
-                        files={files}
-                        entries={entries}
-                        selectedEntry={selectedEntry}
-                        query={fileQuery}
+
+          <VerticalSplitPane
+            storageKey="mujoco-project-sidebar-scene-ratio"
+            separatorLabel="调整场景大纲与资源面板高度"
+            defaultRatio={0.42}
+            minFirstSize={160}
+            minSecondSize={160}
+            firstClassName="flex flex-col"
+            secondClassName="flex flex-col"
+            first={
+              <>
+                <div className="flex h-8 shrink-0 items-center gap-2 px-3 text-[11px] font-semibold uppercase tracking-wide text-text-tertiary">
+                  <Search className="h-3.5 w-3.5" aria-hidden="true" />
+                  场景大纲
+                </div>
+                <TreeSearchField
+                  value={sceneQuery}
+                  onChange={setSceneQuery}
+                  resultCount={sceneMatches}
+                  label="搜索场景对象"
+                  placeholder="搜索 Body、关节或地图物体…"
+                />
+                <SceneOutliner
+                  snapshot={snapshot}
+                  maps={placedMaps}
+                  documents={editorDocuments}
+                  selection={selection}
+                  query={sceneQuery}
+                  loading={loading}
+                  pendingSceneChangeCount={pendingSceneChangeCount}
+                  pendingSceneIds={pendingSceneIds}
+                  onSelectBody={onSelectBody}
+                  onSelectJoint={onSelectJoint}
+                  onJointHover={onJointHover}
+                  onSelectMap={onSelectMap}
+                  onSelectMapObject={onSelectMapObject}
+                  onRemoveMap={onRemoveMap}
+                  onApplyScene={onApplyScene}
+                  onDiscardScene={onDiscardScene}
+                />
+              </>
+            }
+            second={
+              <Tabs
+                label="资产与工程文件"
+                value={tab}
+                onValueChange={(value) => {
+                  setInternalTab(value);
+                  onActiveTabChange?.(value);
+                }}
+                items={[
+                  {
+                    value: 'assets',
+                    label: '资产库',
+                    icon: <Library className="h-3.5 w-3.5" />,
+                    disabled: !snapshot,
+                    content: (
+                      <MapAssetLibrary
+                        disabled={loading || nativeUrdf}
+                        terrainSize={
+                          mapSelection.kind === 'builtin'
+                            ? mapSelection.config.size
+                            : DEFAULT_PHYSICAL_MAP_CONFIG.size
+                        }
+                        maps={maps}
+                        placementMode={assetPlacementMode}
+                        onPlacementModeChange={onAssetPlacementModeChange}
+                        onAdd={onAddMapAsset}
+                        onAddProjectMap={onAddProjectMap}
+                        onSelectTerrain={onSelectTerrain}
                       />
-                    </div>
-                  </>
-                ),
-              },
-              {
-                value: 'structure',
-                label: '模型结构',
-                icon: <Box className="h-3.5 w-3.5" />,
-                disabled: !snapshot,
-                content: snapshot ? (
-                  <>
-                    <TreeSearchField
-                      value={structureQuery}
-                      onChange={setStructureQuery}
-                      resultCount={structureMatches}
-                      label="搜索模型结构"
-                      placeholder="搜索 Body 或关节…"
-                    />
-                    <div className="px-2 pb-3">
-                      <ModelStructureTree
-                        bodies={snapshot.bodies}
-                        joints={snapshot.joints}
-                        onJointHover={onJointHover}
-                        query={structureQuery}
-                      />
-                    </div>
-                  </>
-                ) : (
-                  <p className="p-4 text-center text-xs text-text-tertiary">加载模型后显示结构</p>
-                ),
-              },
-              {
-                value: 'assets',
-                label: '资产',
-                icon: <MapIcon className="h-3.5 w-3.5" />,
-                disabled: !snapshot,
-                content: (
-                  <MapAssetLibrary
-                    disabled={loading || nativeUrdf}
-                    terrainSize={
-                      mapSelection.kind === 'builtin'
-                        ? mapSelection.config.size
-                        : DEFAULT_PHYSICAL_MAP_CONFIG.size
-                    }
-                    document={editorDocument}
-                    documents={editorDocuments}
-                    maps={maps}
-                    placedMaps={placedMaps}
-                    activeMapId={activeMapId}
-                    pendingSceneChangeCount={pendingSceneChangeCount}
-                    pendingSceneIds={pendingSceneIds}
-                    onAdd={onAddMapAsset}
-                    onAddProjectMap={onAddProjectMap}
-                    onSelectTerrain={onSelectTerrain}
-                    onApplyScene={onApplyScene}
-                    onDiscardScene={onDiscardScene}
-                    onSelectMap={onSelectMap}
-                    onRemoveMap={onRemoveMap}
-                    onSelectObject={onSelectMapObject}
-                  />
-                ),
-              },
-            ]}
+                    ),
+                  },
+                  {
+                    value: 'files',
+                    label: '工程文件',
+                    icon: <FolderTree className="h-3.5 w-3.5" />,
+                    content: (
+                      <>
+                        <ProjectBreadcrumb
+                          projectName={projectName}
+                          entries={entries}
+                          selectedEntry={selectedEntry}
+                          loading={loading}
+                          onSelect={onSelectEntry}
+                        />
+                        <TreeSearchField
+                          value={fileQuery}
+                          onChange={setFileQuery}
+                          resultCount={fileMatches}
+                          label="搜索工程文件"
+                          placeholder="搜索文件或目录…"
+                        />
+                        <div className="px-2 pb-3">
+                          <ProjectTree
+                            key={projectName}
+                            files={files}
+                            entries={entries}
+                            selectedEntry={selectedEntry}
+                            query={fileQuery}
+                          />
+                        </div>
+                      </>
+                    ),
+                  },
+                ]}
+              />
+            }
           />
         </>
       ) : (
-        <div className="p-4 text-center text-sm text-text-tertiary">导入模型后显示工程资源</div>
+        <div className="p-4 text-center text-sm text-text-tertiary">导入模型后显示场景与资产</div>
       )}
     </SidebarPanel>
   );
diff --git a/web_platform/src/app/components/RightSidebarTabs.tsx b/web_platform/src/app/components/RightSidebarTabs.tsx
new file mode 100644
index 00000000..e11e1801
--- /dev/null
+++ b/web_platform/src/app/components/RightSidebarTabs.tsx
@@ -0,0 +1,65 @@
+import { Database, PanelRight, SlidersHorizontal, type LucideIcon } from 'lucide-react';
+
+export type RightSidebarView = 'inspector' | 'controls' | 'data';
+
+const VIEWS: ReadonlyArray<{
+  value: RightSidebarView;
+  label: string;
+  icon: LucideIcon;
+}> = [
+  { value: 'inspector', label: '检查器', icon: PanelRight },
+  { value: 'controls', label: '控制台', icon: SlidersHorizontal },
+  { value: 'data', label: '数据录制', icon: Database },
+];
+
+export function RightSidebarTabs({
+  value,
+  onChange,
+}: {
+  value: RightSidebarView;
+  onChange: (value: RightSidebarView) => void;
+}) {
+  return (
+    <div
+      role="tablist"
+      aria-label="右侧工作区视图"
+      className="grid shrink-0 grid-cols-3 gap-1 border-b border-border bg-panel-muted/40 p-2"
+    >
+      {VIEWS.map((view, index) => {
+        const Icon = view.icon;
+        const selected = value === view.value;
+        return (
+          <button
+            key={view.value}
+            type="button"
+            role="tab"
+            aria-selected={selected}
+            tabIndex={selected ? 0 : -1}
+            className={`flex min-w-0 items-center justify-center gap-1.5 rounded-md px-1 py-2 text-[11px] font-medium transition-colors ${
+              selected
+                ? 'bg-panel text-accent shadow-sm'
+                : 'text-text-tertiary hover:bg-element-hover hover:text-text-primary'
+            }`}
+            onClick={() => onChange(view.value)}
+            onKeyDown={(event) => {
+              let nextIndex: number | undefined;
+              if (event.key === 'ArrowLeft') nextIndex = (index + VIEWS.length - 1) % VIEWS.length;
+              else if (event.key === 'ArrowRight') nextIndex = (index + 1) % VIEWS.length;
+              else if (event.key === 'Home') nextIndex = 0;
+              else if (event.key === 'End') nextIndex = VIEWS.length - 1;
+              if (nextIndex === undefined) return;
+              event.preventDefault();
+              onChange(VIEWS[nextIndex].value);
+              const tabs =
+                event.currentTarget.parentElement?.querySelectorAll<HTMLElement>('[role="tab"]');
+              tabs?.[nextIndex]?.focus();
+            }}
+          >
+            <Icon className="h-3.5 w-3.5 shrink-0" aria-hidden="true" />
+            <span className="truncate">{view.label}</span>
+          </button>
+        );
+      })}
+    </div>
+  );
+}
diff --git a/web_platform/src/app/components/SceneOutliner.test.tsx b/web_platform/src/app/components/SceneOutliner.test.tsx
new file mode 100644
index 00000000..8b954f7d
--- /dev/null
+++ b/web_platform/src/app/components/SceneOutliner.test.tsx
@@ -0,0 +1,120 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import type { EditableMapDocument } from '../../map/editor/types';
+import type { SimulationSnapshot } from '../../simulation/SimulationSession';
+import { SceneOutliner, countSceneSearchResults } from './SceneOutliner';
+
+const snapshot = {
+  bodies: [
+    { id: 0, name: 'world', parentId: 0 },
+    { id: 1, name: 'base', parentId: 0 },
+    { id: 2, name: 'arm', parentId: 1 },
+  ],
+  joints: [
+    {
+      id: 7,
+      name: 'arm_joint',
+      bodyId: 2,
+      type: 3,
+      value: 0,
+      min: -1,
+      max: 1,
+      limitMin: -1,
+      limitMax: 1,
+      limited: true,
+      limitsIgnored: false,
+      editable: true,
+      axis: [0, 0, 1],
+    },
+  ],
+  model: { nbody: 3 },
+} as SimulationSnapshot;
+
+const document: EditableMapDocument = {
+  schemaVersion: 1,
+  mapId: 'warehouse',
+  revision: 0,
+  objects: [
+    {
+      id: 'crate-1',
+      name: '木箱',
+      type: 'box',
+      pose: { position: [0, 0, 0.5], quaternion: [1, 0, 0, 0] },
+      parameters: { sizeX: 1, sizeY: 1, sizeZ: 1 },
+      friction: [1, 0.005, 0.0001],
+      rgba: [0.5, 0.6, 0.7, 1],
+      placementMode: 'auto_ground',
+      enabled: true,
+    },
+  ],
+  spawnPoints: [],
+};
+
+const maps = [
+  {
+    id: 'map-a',
+    name: '仓库',
+    selection: { kind: 'project' as const, descriptorPath: 'maps/warehouse/map.json' },
+  },
+];
+const documents = new Map([['maps/warehouse/map.json', document]]);
+
+function renderOutliner(overrides: Record<string, unknown> = {}) {
+  const props = {
+    snapshot,
+    maps,
+    documents,
+    selection: null,
+    query: '',
+    loading: false,
+    pendingSceneChangeCount: 0,
+    pendingSceneIds: [],
+    onSelectBody: vi.fn(),
+    onSelectJoint: vi.fn(),
+    onJointHover: vi.fn(),
+    onSelectMap: vi.fn(),
+    onSelectMapObject: vi.fn(),
+    onRemoveMap: vi.fn(),
+    onApplyScene: vi.fn(),
+    onDiscardScene: vi.fn(),
+    ...overrides,
+  };
+  render(<SceneOutliner {...props} />);
+  return props;
+}
+
+describe('SceneOutliner', () => {
+  it('在一棵场景大纲中统一展示机器人、地图实例和地图物体', () => {
+    renderOutliner();
+    expect(screen.getByLabelText('场景资产树')).toHaveTextContent('机器人');
+    expect(screen.getByLabelText('场景资产树')).toHaveTextContent('地图与环境');
+    expect(screen.getByRole('treeitem', { name: /arm_joint/ })).toBeVisible();
+    expect(screen.getByRole('treeitem', { name: /木箱/ })).toBeVisible();
+    expect(countSceneSearchResults(snapshot, maps, documents, '木箱')).toBe(2);
+  });
+
+  it('把所有选择统一上报为稳定 id', () => {
+    const props = renderOutliner();
+    fireEvent.click(screen.getByRole('treeitem', { name: 'base' }));
+    fireEvent.click(screen.getByRole('treeitem', { name: /arm_joint/ }));
+    fireEvent.click(screen.getByRole('treeitem', { name: /^仓库/ }));
+    fireEvent.click(screen.getByRole('treeitem', { name: /木箱/ }));
+    expect(props.onSelectBody).toHaveBeenCalledWith(1);
+    expect(props.onSelectJoint).toHaveBeenCalledWith(7, 2);
+    expect(props.onSelectMap).toHaveBeenCalledWith('map-a');
+    expect(props.onSelectMapObject).toHaveBeenCalledWith('map-a', 'crate-1');
+  });
+
+  it('在大纲中集中处理场景草稿与实例删除', () => {
+    const props = renderOutliner({
+      pendingSceneChangeCount: 2,
+      pendingSceneIds: ['map-a'],
+    });
+    expect(screen.getByRole('status')).toHaveTextContent('2 项场景更改待应用');
+    fireEvent.click(screen.getByRole('button', { name: '应用场景' }));
+    fireEvent.click(screen.getByRole('button', { name: '放弃更改' }));
+    fireEvent.click(screen.getByRole('button', { name: '删除地图实例 仓库' }));
+    expect(props.onApplyScene).toHaveBeenCalledOnce();
+    expect(props.onDiscardScene).toHaveBeenCalledOnce();
+    expect(props.onRemoveMap).toHaveBeenCalledWith('map-a');
+  });
+});
diff --git a/web_platform/src/app/components/SceneOutliner.tsx b/web_platform/src/app/components/SceneOutliner.tsx
new file mode 100644
index 00000000..588fc5d9
--- /dev/null
+++ b/web_platform/src/app/components/SceneOutliner.tsx
@@ -0,0 +1,275 @@
+import { useMemo } from 'react';
+import { Box, Bot, Layers3, MapPinned, Trash2, Zap } from 'lucide-react';
+import { Button, EmptySearchState, SearchHighlight } from '../../components/ui';
+import type { EditableMapDocument } from '../../map/editor/types';
+import type { PlacedMapAsset } from '../../map/types';
+import {
+  countModelStructureSearchResults,
+  ModelStructureTree,
+} from '../../project/ModelStructureTree';
+import type { SimulationSnapshot } from '../../simulation/SimulationSession';
+import type { EditorSelection } from '../editorSelection';
+
+interface VisibleMap {
+  asset: PlacedMapAsset;
+  objects: EditableMapDocument['objects'];
+}
+
+function mapDocument(
+  asset: PlacedMapAsset,
+  documents: ReadonlyMap<string, EditableMapDocument>,
+): EditableMapDocument | undefined {
+  return asset.selection.kind === 'project'
+    ? documents.get(asset.selection.descriptorPath)
+    : undefined;
+}
+
+// eslint-disable-next-line react-refresh/only-export-components
+export function countSceneSearchResults(
+  snapshot: SimulationSnapshot | undefined,
+  maps: readonly PlacedMapAsset[],
+  documents: ReadonlyMap<string, EditableMapDocument>,
+  query: string,
+): number {
+  const normalized = query.trim().toLocaleLowerCase();
+  const robotBodies =
+    snapshot?.bodies.filter((body) => body.id > 0 && !body.name.startsWith('__platform_map_')) ??
+    [];
+  const robotBodyIds = new Set(robotBodies.map((body) => body.id));
+  const robotCount = snapshot
+    ? countModelStructureSearchResults(
+        robotBodies,
+        snapshot.joints.filter((joint) => robotBodyIds.has(joint.bodyId)),
+        normalized,
+      )
+    : 0;
+  if (!normalized)
+    return (
+      robotCount +
+      maps.reduce((count, map) => count + 1 + (mapDocument(map, documents)?.objects.length ?? 0), 0)
+    );
+  return (
+    robotCount +
+    maps.reduce((count, map) => {
+      const document = mapDocument(map, documents);
+      if (map.name.toLocaleLowerCase().includes(normalized))
+        return count + 1 + (document?.objects.length ?? 0);
+      const objectCount =
+        document?.objects.filter((object) =>
+          `${object.name} ${object.type}`.toLocaleLowerCase().includes(normalized),
+        ).length ?? 0;
+      return count + (objectCount ? 1 + objectCount : 0);
+    }, 0)
+  );
+}
+
+export function SceneOutliner({
+  snapshot,
+  maps,
+  documents,
+  selection,
+  query,
+  loading,
+  pendingSceneChangeCount,
+  pendingSceneIds,
+  onSelectBody,
+  onSelectJoint,
+  onJointHover,
+  onSelectMap,
+  onSelectMapObject,
+  onRemoveMap,
+  onApplyScene,
+  onDiscardScene,
+}: {
+  snapshot?: SimulationSnapshot;
+  maps: readonly PlacedMapAsset[];
+  documents: ReadonlyMap<string, EditableMapDocument>;
+  selection: EditorSelection | null;
+  query: string;
+  loading: boolean;
+  pendingSceneChangeCount: number;
+  pendingSceneIds: readonly string[];
+  onSelectBody: (bodyId: number) => void;
+  onSelectJoint: (jointId: number, bodyId: number) => void;
+  onJointHover: (jointId: number | null) => void;
+  onSelectMap: (mapId: string) => void;
+  onSelectMapObject: (mapId: string, objectId: string) => void;
+  onRemoveMap: (mapId: string) => void;
+  onApplyScene: () => void;
+  onDiscardScene: () => void;
+}) {
+  const normalized = query.trim().toLocaleLowerCase();
+  const robotBodies = useMemo(
+    () =>
+      snapshot?.bodies.filter((body) => body.id > 0 && !body.name.startsWith('__platform_map_')) ??
+      [],
+    [snapshot?.bodies],
+  );
+  const robotBodyIds = useMemo(() => new Set(robotBodies.map((body) => body.id)), [robotBodies]);
+  const robotJoints = useMemo(
+    () => snapshot?.joints.filter((joint) => robotBodyIds.has(joint.bodyId)) ?? [],
+    [snapshot?.joints, robotBodyIds],
+  );
+  const visibleMaps = useMemo<VisibleMap[]>(
+    () =>
+      maps.flatMap((asset) => {
+        const objects = mapDocument(asset, documents)?.objects ?? [];
+        if (!normalized || asset.name.toLocaleLowerCase().includes(normalized))
+          return [{ asset, objects }];
+        const matches = objects.filter((object) =>
+          `${object.name} ${object.type}`.toLocaleLowerCase().includes(normalized),
+        );
+        return matches.length ? [{ asset, objects: matches }] : [];
+      }),
+    [documents, maps, normalized],
+  );
+  const hasRobotMatches = snapshot
+    ? countModelStructureSearchResults(robotBodies, robotJoints, normalized) > 0
+    : false;
+  const pending = new Set(pendingSceneIds);
+
+  return (
+    <section
+      aria-label="场景资产树"
+      className="min-h-0 flex-1 overflow-auto px-2 pb-2 panel-scroll"
+    >
+      {pendingSceneChangeCount > 0 && (
+        <div
+          role="status"
+          className="mb-2 rounded-lg border border-accent/30 bg-accent-soft p-2.5 text-[10px] text-text-secondary"
+        >
+          <div className="flex items-center gap-1.5 font-medium text-accent">
+            <Zap className="h-3.5 w-3.5" aria-hidden="true" />
+            {pendingSceneChangeCount} 项场景更改待应用
+          </div>
+          <div className="mt-2 grid grid-cols-2 gap-2">
+            <Button variant="primary" disabled={loading} onClick={onApplyScene}>
+              应用场景
+            </Button>
+            <Button variant="ghost" disabled={loading} onClick={onDiscardScene}>
+              放弃更改
+            </Button>
+          </div>
+        </div>
+      )}
+
+      {snapshot && hasRobotMatches && (
+        <details open className="group/robot">
+          <summary className="flex cursor-pointer select-none items-center gap-2 rounded px-1.5 py-1.5 text-xs font-semibold text-text-primary hover:bg-element-hover">
+            <Bot className="h-3.5 w-3.5 text-accent" aria-hidden="true" />
+            <span className="min-w-0 flex-1 truncate">机器人</span>
+            <span className="technical-value text-[9px] font-normal text-text-tertiary">
+              {robotBodies.length} Body
+            </span>
+          </summary>
+          <div className="ml-2 border-l border-border pl-1">
+            <ModelStructureTree
+              bodies={robotBodies}
+              joints={robotJoints}
+              query={query}
+              selectedBodyId={selection?.kind === 'body' ? selection.bodyId : undefined}
+              selectedJointId={selection?.kind === 'joint' ? selection.jointId : undefined}
+              onSelectBody={onSelectBody}
+              onSelectJoint={(joint) => onSelectJoint(joint.id, joint.bodyId)}
+              onJointHover={onJointHover}
+            />
+          </div>
+        </details>
+      )}
+
+      {visibleMaps.length > 0 && (
+        <details open className="mt-1">
+          <summary className="flex cursor-pointer select-none items-center gap-2 rounded px-1.5 py-1.5 text-xs font-semibold text-text-primary hover:bg-element-hover">
+            <Layers3 className="h-3.5 w-3.5 text-accent" aria-hidden="true" />
+            <span className="min-w-0 flex-1 truncate">地图与环境</span>
+            <span className="technical-value text-[9px] font-normal text-text-tertiary">
+              {maps.length} 实例
+            </span>
+          </summary>
+          <ul role="tree" aria-label="地图物体树" className="ml-2 border-l border-border pl-1">
+            {visibleMaps.map(({ asset, objects }) => {
+              const mapSelected =
+                (selection?.kind === 'map' || selection?.kind === 'map-object') &&
+                selection.mapAssetId === asset.id;
+              return (
+                <li key={asset.id} role="none">
+                  <div
+                    className={`flex items-center rounded ${
+                      selection?.kind === 'map' && mapSelected
+                        ? 'bg-accent-soft text-accent'
+                        : 'text-text-secondary hover:bg-element-hover'
+                    }`}
+                  >
+                    <button
+                      type="button"
+                      role="treeitem"
+                      aria-selected={selection?.kind === 'map' && mapSelected}
+                      className="flex min-w-0 flex-1 items-center gap-1.5 px-1.5 py-1 text-left text-xs"
+                      disabled={loading}
+                      onClick={() => onSelectMap(asset.id)}
+                    >
+                      <MapPinned className="h-3.5 w-3.5 shrink-0" aria-hidden="true" />
+                      <span className="min-w-0 flex-1 truncate">
+                        <SearchHighlight text={asset.name} query={query} />
+                      </span>
+                      {pending.has(asset.id) && (
+                        <span className="rounded bg-warning/10 px-1 text-[9px] text-warning">
+                          待应用
+                        </span>
+                      )}
+                    </button>
+                    <button
+                      type="button"
+                      aria-label={`删除地图实例 ${asset.name}`}
+                      className="mr-1 rounded p-1 text-text-tertiary hover:bg-danger/10 hover:text-danger"
+                      disabled={loading}
+                      onClick={() => onRemoveMap(asset.id)}
+                    >
+                      <Trash2 className="h-3 w-3" aria-hidden="true" />
+                    </button>
+                  </div>
+                  {objects.length > 0 && (
+                    <ul role="group" className="ml-3 border-l border-border pl-1">
+                      {objects.map((object) => {
+                        const selected =
+                          selection?.kind === 'map-object' &&
+                          selection.mapAssetId === asset.id &&
+                          selection.objectId === object.id;
+                        return (
+                          <li role="none" key={object.id}>
+                            <button
+                              type="button"
+                              role="treeitem"
+                              aria-selected={selected}
+                              disabled={loading}
+                              className={`flex w-full items-center gap-1.5 rounded px-1.5 py-1 text-left text-[11px] ${
+                                selected
+                                  ? 'bg-accent-soft text-accent'
+                                  : 'text-text-secondary hover:bg-element-hover'
+                              }`}
+                              onClick={() => onSelectMapObject(asset.id, object.id)}
+                            >
+                              <Box className="h-3 w-3 shrink-0" aria-hidden="true" />
+                              <span className="min-w-0 flex-1 truncate">
+                                <SearchHighlight text={object.name} query={query} />
+                              </span>
+                              <span className="text-[9px] text-text-tertiary">{object.type}</span>
+                            </button>
+                          </li>
+                        );
+                      })}
+                    </ul>
+                  )}
+                </li>
+              );
+            })}
+          </ul>
+        </details>
+      )}
+
+      {!hasRobotMatches && !visibleMaps.length && (
+        <EmptySearchState label={normalized ? '没有匹配的场景对象' : '加载模型后显示场景层级'} />
+      )}
+    </section>
+  );
+}
diff --git a/web_platform/src/app/components/ShortcutHelpDialog.tsx b/web_platform/src/app/components/ShortcutHelpDialog.tsx
index f1577a17..fd11e35c 100644
--- a/web_platform/src/app/components/ShortcutHelpDialog.tsx
+++ b/web_platform/src/app/components/ShortcutHelpDialog.tsx
@@ -1,10 +1,18 @@
 import { Dialog, Kbd, Separator } from '../../components/ui';
 const shortcuts = [
   ['Space', '播放 / 暂停'],
-  ['R', '重置仿真'],
+  ['R', '重置仿真（非地图编辑）'],
   ['1', '选择模式'],
   ['2', '关节拖动'],
   ['3', '外力施加'],
+  ['W / E / R', '地图移动 / 旋转 / 缩放'],
+  ['F', '聚焦当前对象'],
+  ['Delete', '删除当前地图对象'],
+  ['Ctrl / Cmd + S', '保存并编译地图草稿'],
+  ['Ctrl / Cmd + Z', '撤销地图编辑'],
+  ['Ctrl / Cmd + Y / Shift + Z', '重做地图编辑'],
+  ['G', '切换地图网格吸附'],
+  ['Esc', '取消选择或关闭浮层'],
 ];
 export function ShortcutHelpDialog({ open, onClose }: { open: boolean; onClose: () => void }) {
   return (
@@ -29,7 +37,8 @@ export function ShortcutHelpDialog({ open, onClose }: { open: boolean; onClose:
           <li>左键拖动：旋转相机或执行当前交互工具</li>
           <li>右键拖动：平移相机</li>
           <li>滚轮：缩放视口</li>
-          <li>选择物体后可在右侧“属性”中查看信息</li>
+          <li>选择物体后可在右侧 Inspector 中编辑尺寸、位姿、材质和摩擦</li>
+          <li>从左侧资产库拖动几何障碍物到视口地面即可放置</li>
         </ul>
       </section>
     </Dialog>
diff --git a/web_platform/src/app/components/SidebarPanel.tsx b/web_platform/src/app/components/SidebarPanel.tsx
index c0aa106c..85187274 100644
--- a/web_platform/src/app/components/SidebarPanel.tsx
+++ b/web_platform/src/app/components/SidebarPanel.tsx
@@ -7,20 +7,22 @@ export function SidebarPanel({
   side,
   children,
   visible = true,
+  icon,
 }: {
   title: string;
   side: 'left' | 'right';
   children: ReactNode;
   visible?: boolean;
+  icon?: ReactNode;
 }) {
   return (
     <ResizablePanel side={side} storageKey={`mujoco-${side}-sidebar-width`} visible={visible}>
       <aside
         className={`flex h-full w-full min-w-0 flex-col overflow-hidden bg-panel ${side === 'left' ? 'border-r' : 'border-l'} border-border`}
       >
-        <h2 className="flex h-10 shrink-0 items-center gap-2 border-b border-border bg-panel/95 px-3 text-sm font-semibold tracking-tight text-text-primary">
-          <span className="grid h-6 w-6 place-items-center rounded-md bg-accent-soft text-accent">
-            <Settings2 aria-hidden="true" className="h-3.5 w-3.5" />
+        <h2 className="flex h-10 shrink-0 items-center gap-2 border-b border-border bg-gradient-to-r from-panel via-surface/70 to-panel px-3 text-sm font-semibold tracking-tight text-text-primary shadow-[inset_0_-1px_0_rgb(255_255_255/0.025)]">
+          <span className="grid h-6 w-6 place-items-center rounded-md bg-accent-soft text-accent [&>svg]:h-3.5 [&>svg]:w-3.5">
+            {icon ?? <Settings2 aria-hidden="true" className="h-3.5 w-3.5" />}
           </span>
           {title}
         </h2>
diff --git a/web_platform/src/app/components/ViewerToolDock.tsx b/web_platform/src/app/components/ViewerToolDock.tsx
index 5aca45c2..45e3bc35 100644
--- a/web_platform/src/app/components/ViewerToolDock.tsx
+++ b/web_platform/src/app/components/ViewerToolDock.tsx
@@ -1,4 +1,4 @@
-import { Crosshair, Hand, MousePointer2, RotateCcw } from 'lucide-react';
+import { Crosshair, Hand, MapPinned, MousePointer2, RotateCcw } from 'lucide-react';
 import type { InteractionMode } from '../../viewer/MuJoCoViewer';
 import type { ViewerDisplayOptions } from '../../viewer/displayOptions';
 import { IconButton, ToolbarToggleGroup, type ToolbarItem } from '../../components/ui';
@@ -11,12 +11,18 @@ const tools: ToolbarItem<InteractionMode>[] = [
 export function ViewerToolDock({
   mode,
   display,
+  mapEditContext,
   onModeChange,
   onDisplayChange,
   onResetCamera,
 }: {
   mode: InteractionMode;
   display: ViewerDisplayOptions;
+  mapEditContext?: {
+    active: boolean;
+    label: string;
+    onActivate: () => void;
+  };
   onModeChange: (mode: InteractionMode) => void;
   onDisplayChange: (next: ViewerDisplayOptions) => void;
   onResetCamera: () => void;
@@ -24,6 +30,18 @@ export function ViewerToolDock({
   return (
     <div className="flex items-center gap-1">
       <ToolbarToggleGroup items={tools} value={mode} onChange={onModeChange} label="视口交互模式" />
+      {mapEditContext && (
+        <button
+          type="button"
+          aria-label={`地图编辑联动：${mapEditContext.label}`}
+          aria-pressed={mapEditContext.active}
+          onClick={mapEditContext.onActivate}
+          className={`hidden h-7 items-center gap-1.5 rounded-lg border px-2 text-[10px] font-semibold transition-colors md:flex ${mapEditContext.active ? 'border-accent/40 bg-accent-soft text-accent' : 'border-border bg-surface/80 text-text-tertiary hover:bg-element-hover hover:text-text-primary'}`}
+        >
+          <MapPinned className="h-3.5 w-3.5" aria-hidden="true" />
+          {mapEditContext.label}
+        </button>
+      )}
       <ViewerDisplayPopover value={display} onChange={onDisplayChange} />
       <IconButton tooltip="相机复位" aria-label="相机复位" onClick={onResetCamera}>
         <RotateCcw className="h-3.5 w-3.5" />
diff --git a/web_platform/src/app/components/ViewportHUD.tsx b/web_platform/src/app/components/ViewportHUD.tsx
index 22f322a1..008bc09a 100644
--- a/web_platform/src/app/components/ViewportHUD.tsx
+++ b/web_platform/src/app/components/ViewportHUD.tsx
@@ -16,11 +16,13 @@ export function ViewportHUD({
   mode,
   selection,
   ready,
+  mapEditing = false,
 }: {
   paused: boolean;
   mode: InteractionMode;
   selection: ViewerSelection | null;
   ready: boolean;
+  mapEditing?: boolean;
 }) {
   if (!ready) return null;
   return (
@@ -45,7 +47,7 @@ export function ViewportHUD({
       </div>
       <div
         aria-label="视口操作提示"
-        className="pointer-events-none absolute bottom-3 left-1/2 z-10 hidden -translate-x-1/2 items-center gap-2 whitespace-nowrap rounded-full border border-border-strong bg-panel px-3 py-1.5 text-[10px] text-text-secondary shadow-xl lg:flex"
+        className="pointer-events-none absolute bottom-14 left-1/2 z-10 hidden -translate-x-1/2 items-center gap-2 whitespace-nowrap rounded-full border border-border-strong bg-panel/85 px-3 py-1.5 text-[10px] text-text-secondary shadow-xl backdrop-blur lg:flex"
       >
         <Mouse aria-hidden="true" className="h-3 w-3 text-text-secondary" />
         <span>{primaryGestures[mode]}</span>
@@ -57,14 +59,28 @@ export function ViewportHUD({
           ·
         </span>
         <span>滚轮缩放</span>
-        {mode !== 'select' && (
+        {mapEditing && mode === 'select' ? (
           <>
             <span aria-hidden="true" className="text-border-strong">
               ·
             </span>
-            <Kbd>1</Kbd>
-            <span>旋转视角</span>
+            <Kbd>W</Kbd>
+            <Kbd>E</Kbd>
+            <Kbd>R</Kbd>
+            <span>变换</span>
+            <Kbd>F</Kbd>
+            <span>聚焦</span>
           </>
+        ) : (
+          mode !== 'select' && (
+            <>
+              <span aria-hidden="true" className="text-border-strong">
+                ·
+              </span>
+              <Kbd>1</Kbd>
+              <span>旋转视角</span>
+            </>
+          )
         )}
       </div>
     </>
diff --git a/web_platform/src/app/components/WorkbenchHeader.tsx b/web_platform/src/app/components/WorkbenchHeader.tsx
index a4e9c511..ee4200b1 100644
--- a/web_platform/src/app/components/WorkbenchHeader.tsx
+++ b/web_platform/src/app/components/WorkbenchHeader.tsx
@@ -75,7 +75,7 @@ export function WorkbenchHeader({
   onToggleFullscreen: () => void;
 }) {
   return (
-    <header className="relative z-40 grid h-10 shrink-0 grid-cols-[minmax(0,1fr)_auto_minmax(max-content,1fr)] items-center gap-2 border-b border-border bg-panel/95 px-2.5 shadow-[0_1px_0_rgba(255,255,255,0.02)] backdrop-blur-md">
+    <header className="workbench-header relative z-40 grid h-10 shrink-0 grid-cols-[minmax(0,1fr)_auto_minmax(max-content,1fr)] items-center gap-2 border-b border-border px-2.5 shadow-[0_1px_0_rgba(255,255,255,0.02)] backdrop-blur-md">
       <div className="flex min-w-0 items-center gap-1">
         <div className="mr-2 hidden items-center gap-2 border-r border-border pr-3 xl:flex">
           <span className="grid h-7 w-7 place-items-center rounded-lg border border-accent/25 bg-accent-soft text-accent shadow-sm">
@@ -170,8 +170,8 @@ export function WorkbenchHeader({
           <PanelLeft className="h-4 w-4" />
         </IconButton>
         <IconButton
-          tooltip={rightOpen ? '隐藏属性面板' : '显示属性面板'}
-          aria-label={rightOpen ? '隐藏属性面板' : '显示属性面板'}
+          tooltip={rightOpen ? '隐藏右侧面板' : '显示右侧面板'}
+          aria-label={rightOpen ? '隐藏右侧面板' : '显示右侧面板'}
           aria-expanded={rightOpen}
           onClick={onToggleRight}
         >
diff --git a/web_platform/src/app/components/WorkspaceToolsPanel.test.tsx b/web_platform/src/app/components/WorkspaceToolsPanel.test.tsx
new file mode 100644
index 00000000..9f849056
--- /dev/null
+++ b/web_platform/src/app/components/WorkspaceToolsPanel.test.tsx
@@ -0,0 +1,80 @@
+import type { ComponentProps } from 'react';
+import { render, screen } from '@testing-library/react';
+import type { SimulationSnapshot } from '../../simulation/SimulationSession';
+import { WorkspaceToolsPanel } from './WorkspaceToolsPanel';
+
+const snapshot = {
+  actuators: [],
+  joints: [],
+  controller: { enabled: true },
+  rlPolicy: { enabled: false },
+} as unknown as SimulationSnapshot;
+
+const noop = () => {};
+
+function props(): ComponentProps<typeof WorkspaceToolsPanel> {
+  return {
+    active: 'controls',
+    snapshot,
+    loading: false,
+    ignoreJointLimits: false,
+    jointAdvanced: false,
+    angleUnit: 'rad',
+    forceScale: 50,
+    controllerPaths: [],
+    controllerStatus: { enabled: true } as ComponentProps<
+      typeof WorkspaceToolsPanel
+    >['controllerStatus'],
+    policyPaths: [],
+    policyStatus: { enabled: false } as ComponentProps<typeof WorkspaceToolsPanel>['policyStatus'],
+    onResetJoints: noop,
+    onToggleJointLimits: noop,
+    onToggleAdvanced: noop,
+    onToggleAngleUnit: noop,
+    onActuator: noop,
+    onActuatorParameters: noop,
+    onJoint: noop,
+    onForceScale: noop,
+    onSelectControllerPath: noop,
+    onLoadControllerPath: noop,
+    onImportController: noop,
+    onToggleController: noop,
+    onControllerCommand: noop,
+    onRemoveController: noop,
+    onSelectPolicyPath: noop,
+    onLoadPolicyPath: noop,
+    onImportPolicy: noop,
+    onTogglePolicy: noop,
+    onPolicyCommand: noop,
+    onRemovePolicy: noop,
+    onDataRecorderConfigure: noop,
+    onDataRecordingStart: noop,
+    onDataRecordingStop: noop,
+    onDataRecordingClear: noop,
+    onDataRecordingExport: noop,
+  };
+}
+
+describe('WorkspaceToolsPanel', () => {
+  it('按实时控制到自动化流程排序，并默认折叠所有控制台组件', () => {
+    render(<WorkspaceToolsPanel {...props()} />);
+
+    const sections = screen
+      .getAllByRole('button')
+      .filter((button) => button.hasAttribute('aria-expanded'));
+    const expected = [
+      ['执行器实时控制', '控制'],
+      ['关节姿态调试', '调试'],
+      ['外力交互参数', '交互'],
+      ['Python 脚本控制', '控制', '运行'],
+      ['ONNX 策略运行', '推理', '停止'],
+      ['强化学习任务', '训练'],
+    ];
+
+    expect(sections).toHaveLength(expected.length);
+    sections.forEach((section, index) => {
+      expect(section).toHaveAttribute('aria-expanded', 'false');
+      expected[index].forEach((label) => expect(section).toHaveTextContent(label));
+    });
+  });
+});
diff --git a/web_platform/src/app/components/WorkspaceToolsPanel.tsx b/web_platform/src/app/components/WorkspaceToolsPanel.tsx
new file mode 100644
index 00000000..6cd33e4b
--- /dev/null
+++ b/web_platform/src/app/components/WorkspaceToolsPanel.tsx
@@ -0,0 +1,295 @@
+import type { ControllerCommand, ControllerStatus } from '../../controller/types';
+import { PythonControllerPanel } from '../../controller/PythonControllerPanel';
+import type { RLCommand, RLPolicyStatus } from '../../rl/types';
+import { RLPolicyPanel } from '../../rl/RLPolicyPanel';
+import { ActuatorControl, ControlSlider } from '../../simulation/ActuatorControl';
+import type { ActuatorParameters, SimulationSnapshot } from '../../simulation/SimulationSession';
+import type { DataRecorderConfig } from '../../telemetry/DataRecorder';
+import { DataRecordingPanel } from '../../telemetry/DataRecordingPanel';
+import { LocalTrainingPanel } from '../../training/LocalTrainingPanel';
+import { Badge, Button, CollapsibleSection } from '../../components/ui';
+import type { RightSidebarView } from './RightSidebarTabs';
+
+export type WorkspaceTool = Exclude<RightSidebarView, 'inspector'>;
+
+function ConsoleSectionBadges({
+  category,
+  count,
+  state,
+  running = false,
+}: {
+  category: string;
+  count?: number;
+  state?: string;
+  running?: boolean;
+}) {
+  return (
+    <span className="flex shrink-0 items-center gap-1">
+      <Badge tone="accent">{category}</Badge>
+      {count !== undefined && <Badge>{count}</Badge>}
+      {state && <Badge tone={running ? 'success' : 'neutral'}>{state}</Badge>}
+    </span>
+  );
+}
+
+export function WorkspaceToolsPanel({
+  active,
+  snapshot,
+  loading,
+  ignoreJointLimits,
+  jointAdvanced,
+  angleUnit,
+  forceScale,
+  controllerPaths,
+  selectedControllerPath,
+  controllerStatus,
+  policyPaths,
+  selectedPolicyPath,
+  policyStatus,
+  onResetJoints,
+  onToggleJointLimits,
+  onToggleAdvanced,
+  onToggleAngleUnit,
+  onActuator,
+  onActuatorParameters,
+  onJoint,
+  onForceScale,
+  onSelectControllerPath,
+  onLoadControllerPath,
+  onImportController,
+  onToggleController,
+  onControllerCommand,
+  onRemoveController,
+  onSelectPolicyPath,
+  onLoadPolicyPath,
+  onImportPolicy,
+  onTogglePolicy,
+  onPolicyCommand,
+  onRemovePolicy,
+  onDataRecorderConfigure,
+  onDataRecordingStart,
+  onDataRecordingStop,
+  onDataRecordingClear,
+  onDataRecordingExport,
+}: {
+  active: WorkspaceTool;
+  snapshot?: SimulationSnapshot;
+  loading: boolean;
+  ignoreJointLimits: boolean;
+  jointAdvanced: boolean;
+  angleUnit: 'rad' | 'deg';
+  forceScale: number;
+  controllerPaths: string[];
+  selectedControllerPath?: string;
+  controllerStatus?: ControllerStatus;
+  policyPaths: string[];
+  selectedPolicyPath?: string;
+  policyStatus?: RLPolicyStatus;
+  onResetJoints: () => void;
+  onToggleJointLimits: () => void;
+  onToggleAdvanced: () => void;
+  onToggleAngleUnit: () => void;
+  onActuator: (id: number, value: number) => void;
+  onActuatorParameters: (id: number, parameters: ActuatorParameters) => void;
+  onJoint: (id: number, value: number) => void;
+  onForceScale: (value: number) => void;
+  onSelectControllerPath: (path: string) => void;
+  onLoadControllerPath: (path: string) => void;
+  onImportController: (file: File) => void;
+  onToggleController: (enabled: boolean) => void;
+  onControllerCommand: (command: ControllerCommand) => void;
+  onRemoveController: () => void;
+  onSelectPolicyPath: (path: string) => void;
+  onLoadPolicyPath: (path: string) => void;
+  onImportPolicy: (file: File) => void;
+  onTogglePolicy: (enabled: boolean) => void;
+  onPolicyCommand: (command: RLCommand) => void;
+  onRemovePolicy: () => void;
+  onDataRecorderConfigure: (patch: Partial<DataRecorderConfig>) => void;
+  onDataRecordingStart: () => void;
+  onDataRecordingStop: () => void;
+  onDataRecordingClear: () => void;
+  onDataRecordingExport: (format: 'csv' | 'json') => void;
+}) {
+  const resolvedControllerStatus = controllerStatus ?? snapshot?.controller;
+  const resolvedPolicyStatus = policyStatus ?? snapshot?.rlPolicy;
+  const controls = snapshot ? (
+    <>
+      <CollapsibleSection
+        title="执行器实时控制"
+        defaultOpen={false}
+        badge={<ConsoleSectionBadges category="控制" count={snapshot.actuators.length} />}
+      >
+        {snapshot.actuators.length ? (
+          snapshot.actuators.map((actuator) => (
+            <ActuatorControl
+              key={actuator.id}
+              actuator={actuator}
+              onControl={(value) => onActuator(actuator.id, value)}
+              onParameters={(parameters) => onActuatorParameters(actuator.id, parameters)}
+            />
+          ))
+        ) : (
+          <p className="text-xs text-text-tertiary">模型没有驱动器</p>
+        )}
+      </CollapsibleSection>
+      <CollapsibleSection
+        title="关节姿态调试"
+        defaultOpen={false}
+        badge={<ConsoleSectionBadges category="调试" count={snapshot.joints.length} />}
+      >
+        <div className="mb-4 grid grid-cols-2 gap-2">
+          <Button onClick={onResetJoints}>重置关节</Button>
+          <Button
+            variant={ignoreJointLimits ? 'primary' : 'secondary'}
+            aria-pressed={ignoreJointLimits}
+            onClick={onToggleJointLimits}
+          >
+            忽略关节限位
+          </Button>
+          <Button
+            variant={jointAdvanced ? 'primary' : 'secondary'}
+            aria-pressed={jointAdvanced}
+            onClick={onToggleAdvanced}
+          >
+            高级
+          </Button>
+          <Button
+            variant={angleUnit === 'deg' ? 'primary' : 'secondary'}
+            aria-pressed={angleUnit === 'deg'}
+            onClick={onToggleAngleUnit}
+          >
+            {angleUnit === 'rad' ? 'rad 弧度制' : '° 角度制'}
+          </Button>
+        </div>
+        {snapshot.joints.map((joint) => {
+          const scale = joint.type === 3 && angleUnit === 'deg' ? 180 / Math.PI : 1;
+          const unit =
+            joint.type === 3 ? (angleUnit === 'deg' ? '°' : ' rad') : joint.type === 2 ? ' m' : '';
+          return (
+            <ControlSlider
+              key={joint.id}
+              label={`${joint.name}${joint.editable ? '' : '（只读）'}`}
+              value={joint.value * scale}
+              min={joint.min * scale}
+              max={joint.max * scale}
+              unit={unit}
+              advanced={jointAdvanced}
+              limited={joint.limited}
+              limitsIgnored={joint.limitsIgnored}
+              limitMin={joint.limitMin * scale}
+              limitMax={joint.limitMax * scale}
+              disabled={!joint.editable}
+              onChange={(value) => onJoint(joint.id, value / scale)}
+            />
+          );
+        })}
+      </CollapsibleSection>
+      <CollapsibleSection
+        title="外力交互参数"
+        defaultOpen={false}
+        badge={<ConsoleSectionBadges category="交互" />}
+      >
+        <ControlSlider
+          label={`${forceScale.toFixed(0)} N/屏幕单位`}
+          value={forceScale}
+          min={5}
+          max={200}
+          onChange={onForceScale}
+        />
+        <p className="text-xs text-text-tertiary">
+          选择“外力施加”，在动态物体上按住拖动，松开即清零。
+        </p>
+      </CollapsibleSection>
+      <CollapsibleSection
+        title="Python 脚本控制"
+        defaultOpen={false}
+        badge={
+          <ConsoleSectionBadges
+            category="控制"
+            state={
+              resolvedControllerStatus
+                ? resolvedControllerStatus.enabled
+                  ? '运行'
+                  : '停止'
+                : undefined
+            }
+            running={Boolean(resolvedControllerStatus?.enabled)}
+          />
+        }
+      >
+        <PythonControllerPanel
+          paths={controllerPaths}
+          selectedPath={selectedControllerPath}
+          status={resolvedControllerStatus}
+          loading={loading}
+          onSelectPath={onSelectControllerPath}
+          onLoadPath={onLoadControllerPath}
+          onImport={onImportController}
+          onToggle={onToggleController}
+          onCommand={onControllerCommand}
+          onRemove={onRemoveController}
+        />
+      </CollapsibleSection>
+      <CollapsibleSection
+        title="ONNX 策略运行"
+        defaultOpen={false}
+        badge={
+          <ConsoleSectionBadges
+            category="推理"
+            state={
+              resolvedPolicyStatus ? (resolvedPolicyStatus.enabled ? '运行' : '停止') : undefined
+            }
+            running={Boolean(resolvedPolicyStatus?.enabled)}
+          />
+        }
+      >
+        <RLPolicyPanel
+          paths={policyPaths}
+          selectedPath={selectedPolicyPath}
+          status={resolvedPolicyStatus}
+          loading={loading}
+          onSelectPath={onSelectPolicyPath}
+          onLoadPath={onLoadPolicyPath}
+          onImport={onImportPolicy}
+          onToggle={onTogglePolicy}
+          onCommand={onPolicyCommand}
+          onRemove={onRemovePolicy}
+        />
+      </CollapsibleSection>
+      <CollapsibleSection
+        title="强化学习任务"
+        defaultOpen={false}
+        badge={<ConsoleSectionBadges category="训练" />}
+      >
+        <LocalTrainingPanel onPolicyReady={onImportPolicy} />
+      </CollapsibleSection>
+    </>
+  ) : (
+    <p className="p-4 text-sm text-text-tertiary">导入模型后显示控制工具</p>
+  );
+
+  return (
+    <div
+      role="tabpanel"
+      aria-label={active === 'controls' ? '控制台' : '数据录制'}
+      className="min-h-0 flex-1 overflow-y-auto panel-scroll"
+    >
+      {active === 'controls' ? (
+        controls
+      ) : snapshot ? (
+        <DataRecordingPanel
+          status={snapshot.telemetry}
+          bodies={snapshot.bodies}
+          onConfigure={onDataRecorderConfigure}
+          onStart={onDataRecordingStart}
+          onStop={onDataRecordingStop}
+          onClear={onDataRecordingClear}
+          onExport={onDataRecordingExport}
+        />
+      ) : (
+        <p className="p-4 text-sm text-text-tertiary">导入模型后显示数据录制工具</p>
+      )}
+    </div>
+  );
+}
diff --git a/web_platform/src/app/editorSelection.ts b/web_platform/src/app/editorSelection.ts
new file mode 100644
index 00000000..9e5335ae
--- /dev/null
+++ b/web_platform/src/app/editorSelection.ts
@@ -0,0 +1,11 @@
+export type EditorSelection =
+  | { kind: 'body'; bodyId: number }
+  | { kind: 'joint'; jointId: number; bodyId: number }
+  | { kind: 'map'; mapAssetId: string }
+  | { kind: 'map-object'; mapAssetId: string; objectId: string };
+
+export function isMapEditorSelection(
+  selection: EditorSelection | null,
+): selection is Extract<EditorSelection, { kind: 'map' | 'map-object' }> {
+  return selection?.kind === 'map' || selection?.kind === 'map-object';
+}
diff --git a/web_platform/src/app/hooks/useMapEditorShortcuts.test.tsx b/web_platform/src/app/hooks/useMapEditorShortcuts.test.tsx
new file mode 100644
index 00000000..e3d155e7
--- /dev/null
+++ b/web_platform/src/app/hooks/useMapEditorShortcuts.test.tsx
@@ -0,0 +1,103 @@
+import { render } from '@testing-library/react';
+import { useMapEditorShortcuts, type MapEditorShortcutOptions } from './useMapEditorShortcuts';
+
+function Harness({ options }: { options: MapEditorShortcutOptions }) {
+  useMapEditorShortcuts(options);
+  return <input aria-label="数值字段" />;
+}
+
+function press(code: string, init: KeyboardEventInit = {}): KeyboardEvent {
+  const event = new KeyboardEvent('keydown', {
+    bubbles: true,
+    cancelable: true,
+    code,
+    key: init.key ?? code.replace('Key', '').toLowerCase(),
+    ...init,
+  });
+  window.dispatchEvent(event);
+  return event;
+}
+
+function options(patch: Partial<MapEditorShortcutOptions> = {}): MapEditorShortcutOptions {
+  return {
+    enabled: true,
+    mapEditing: true,
+    dirty: true,
+    loading: false,
+    hasSelection: true,
+    canDelete: true,
+    canScale: true,
+    onTransformMode: vi.fn(),
+    onFocusSelection: vi.fn(),
+    onDeleteSelection: vi.fn(),
+    onToggleSnapping: vi.fn(),
+    onSave: vi.fn(),
+    ...patch,
+  };
+}
+
+describe('useMapEditorShortcuts', () => {
+  it('处理 W/E/R、F、Delete 与 Ctrl+S', () => {
+    const value = options();
+    render(<Harness options={value} />);
+    press('KeyW');
+    press('KeyE');
+    press('KeyR');
+    press('KeyF');
+    press('KeyG');
+    press('Delete', { key: 'Delete' });
+    const saveEvent = press('KeyS', { key: 's', ctrlKey: true });
+
+    expect(value.onTransformMode).toHaveBeenNthCalledWith(1, 'translate');
+    expect(value.onTransformMode).toHaveBeenNthCalledWith(2, 'rotate');
+    expect(value.onTransformMode).toHaveBeenNthCalledWith(3, 'scale');
+    expect(value.onFocusSelection).toHaveBeenCalledOnce();
+    expect(value.onDeleteSelection).toHaveBeenCalledOnce();
+    expect(value.onToggleSnapping).toHaveBeenCalledOnce();
+    expect(value.onSave).toHaveBeenCalledOnce();
+    expect(saveEvent.defaultPrevented).toBe(true);
+  });
+
+  it('文本输入时避免误触变换和删除，但仍允许保存', () => {
+    const value = options();
+    const view = render(<Harness options={value} />);
+    const input = view.getByLabelText('数值字段');
+    input.dispatchEvent(
+      new KeyboardEvent('keydown', {
+        bubbles: true,
+        cancelable: true,
+        key: 'Delete',
+        code: 'Delete',
+      }),
+    );
+    input.dispatchEvent(
+      new KeyboardEvent('keydown', {
+        bubbles: true,
+        cancelable: true,
+        key: 's',
+        code: 'KeyS',
+        ctrlKey: true,
+      }),
+    );
+    expect(value.onDeleteSelection).not.toHaveBeenCalled();
+    expect(value.onSave).toHaveBeenCalledOnce();
+  });
+
+  it('非地图上下文仍支持 F 聚焦，但不劫持变换键', () => {
+    const value = options({ mapEditing: false });
+    render(<Harness options={value} />);
+    press('KeyF');
+    const transformEvent = press('KeyW');
+    expect(value.onFocusSelection).toHaveBeenCalledOnce();
+    expect(value.onTransformMode).not.toHaveBeenCalled();
+    expect(transformEvent.defaultPrevented).toBe(false);
+  });
+
+  it('缩放不可用时消费 R 但不切换模式', () => {
+    const value = options({ canScale: false });
+    render(<Harness options={value} />);
+    const event = press('KeyR');
+    expect(value.onTransformMode).not.toHaveBeenCalled();
+    expect(event.defaultPrevented).toBe(true);
+  });
+});
diff --git a/web_platform/src/app/hooks/useMapEditorShortcuts.ts b/web_platform/src/app/hooks/useMapEditorShortcuts.ts
new file mode 100644
index 00000000..d83494c5
--- /dev/null
+++ b/web_platform/src/app/hooks/useMapEditorShortcuts.ts
@@ -0,0 +1,101 @@
+import { useEffect } from 'react';
+import type { MapEditorTransformMode } from '../../map/editor/types';
+
+export interface MapEditorShortcutOptions {
+  enabled: boolean;
+  mapEditing: boolean;
+  dirty: boolean;
+  loading: boolean;
+  hasSelection: boolean;
+  canDelete: boolean;
+  canScale: boolean;
+  onTransformMode: (mode: MapEditorTransformMode) => void;
+  onFocusSelection: () => void;
+  onDeleteSelection: () => void;
+  onToggleSnapping: () => void;
+  onSave: () => void;
+}
+
+function isTextEditingTarget(target: EventTarget | null): boolean {
+  return (
+    target instanceof HTMLElement &&
+    (target.matches('input, textarea, select') || target.isContentEditable)
+  );
+}
+
+/**
+ * 地图编辑快捷键的唯一监听入口。
+ *
+ * W/E/R: 平移/旋转/缩放，F: 聚焦，Delete: 删除，Ctrl/Cmd+S: 提交草稿。
+ * 对话框优先持有键盘；文本输入期间只保留 Ctrl/Cmd+S，避免误删对象。
+ */
+export function useMapEditorShortcuts({
+  enabled,
+  mapEditing,
+  dirty,
+  loading,
+  hasSelection,
+  canDelete,
+  canScale,
+  onTransformMode,
+  onFocusSelection,
+  onDeleteSelection,
+  onToggleSnapping,
+  onSave,
+}: MapEditorShortcutOptions): void {
+  useEffect(() => {
+    if (!enabled) return;
+    const keydown = (event: KeyboardEvent) => {
+      if (event.defaultPrevented || event.isComposing) return;
+      const target = event.target;
+      if (target instanceof HTMLElement && target.closest('[role="dialog"]')) return;
+
+      const save =
+        (mapEditing || dirty) && (event.ctrlKey || event.metaKey) && event.code === 'KeyS';
+      if (save) {
+        event.preventDefault();
+        event.stopImmediatePropagation();
+        if (!loading && dirty && !event.repeat) onSave();
+        return;
+      }
+      if (loading || isTextEditingTarget(target) || event.ctrlKey || event.metaKey || event.altKey)
+        return;
+      if (event.code === 'KeyF' && hasSelection) {
+        event.preventDefault();
+        event.stopImmediatePropagation();
+        onFocusSelection();
+        return;
+      }
+      if (!mapEditing) return;
+
+      let handled = true;
+      if (event.code === 'KeyW') onTransformMode('translate');
+      else if (event.code === 'KeyE') onTransformMode('rotate');
+      else if (event.code === 'KeyR') {
+        if (canScale) onTransformMode('scale');
+      } else if (event.code === 'KeyG') onToggleSnapping();
+      else if (event.key === 'Delete' && canDelete && !event.repeat) onDeleteSelection();
+      else handled = false;
+
+      if (handled) {
+        event.preventDefault();
+        event.stopImmediatePropagation();
+      }
+    };
+    window.addEventListener('keydown', keydown, true);
+    return () => window.removeEventListener('keydown', keydown, true);
+  }, [
+    enabled,
+    mapEditing,
+    dirty,
+    loading,
+    hasSelection,
+    canDelete,
+    canScale,
+    onTransformMode,
+    onFocusSelection,
+    onDeleteSelection,
+    onToggleSnapping,
+    onSave,
+  ]);
+}
diff --git a/web_platform/src/components/ui/Badge.tsx b/web_platform/src/components/ui/Badge.tsx
index 3be67942..c6a8a582 100644
--- a/web_platform/src/components/ui/Badge.tsx
+++ b/web_platform/src/components/ui/Badge.tsx
@@ -19,7 +19,7 @@ export function Badge({
   return (
     <span
       title={title}
-      className={`inline-flex items-center gap-1 rounded-full border px-2 py-0.5 text-[10px] font-medium ${toneClass} ${className}`}
+      className={`engineering-badge inline-flex items-center gap-1 rounded-full border px-2 py-0.5 text-[10px] font-medium ${toneClass} ${className}`}
     >
       {children}
     </span>
diff --git a/web_platform/src/components/ui/Button.tsx b/web_platform/src/components/ui/Button.tsx
index 5d4457f9..f997b1f2 100644
--- a/web_platform/src/components/ui/Button.tsx
+++ b/web_platform/src/components/ui/Button.tsx
@@ -30,7 +30,7 @@ export function Button({
   return (
     <button
       type={type}
-      className={`inline-flex shrink-0 select-none items-center justify-center border font-medium transition-colors focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 disabled:cursor-not-allowed disabled:opacity-40 ${variants[variant]} ${sizes[size]} ${className}`.trim()}
+      className={`inline-flex shrink-0 select-none items-center justify-center border font-medium transition-[color,background-color,border-color,transform,box-shadow] duration-150 ease-out enabled:hover:-translate-y-px enabled:active:translate-y-0 enabled:active:scale-[0.98] focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 disabled:cursor-not-allowed disabled:opacity-40 ${variants[variant]} ${sizes[size]} ${className}`.trim()}
       {...props}
     >
       {icon && (
diff --git a/web_platform/src/components/ui/IconButton.tsx b/web_platform/src/components/ui/IconButton.tsx
index 1082ecf8..798907a0 100644
--- a/web_platform/src/components/ui/IconButton.tsx
+++ b/web_platform/src/components/ui/IconButton.tsx
@@ -16,7 +16,7 @@ export function IconButton({
     <button
       type={type}
       aria-pressed={active || undefined}
-      className={`inline-flex h-7 w-7 shrink-0 items-center justify-center rounded-md border transition-colors focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 disabled:cursor-not-allowed disabled:opacity-40 ${active ? 'border-accent/40 bg-accent-soft text-accent' : 'border-transparent bg-transparent text-text-tertiary hover:bg-element-hover hover:text-text-primary'} ${className}`.trim()}
+      className={`inline-flex h-7 w-7 shrink-0 items-center justify-center rounded-md border transition-[color,background-color,border-color,transform,box-shadow] duration-150 ease-out enabled:active:scale-95 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 disabled:cursor-not-allowed disabled:opacity-40 ${active ? 'tool-active-glow border-accent/40 bg-accent-soft text-accent' : 'border-transparent bg-transparent text-text-tertiary hover:bg-element-hover hover:text-text-primary'} ${className}`.trim()}
       {...props}
     />
   );
diff --git a/web_platform/src/components/ui/ResizablePanel.tsx b/web_platform/src/components/ui/ResizablePanel.tsx
index bf7bd09d..81b7a21a 100644
--- a/web_platform/src/components/ui/ResizablePanel.tsx
+++ b/web_platform/src/components/ui/ResizablePanel.tsx
@@ -106,7 +106,7 @@ export function ResizablePanel({
       <button
         type="button"
         role="separator"
-        aria-label={side === 'left' ? '调整工程面板宽度' : '调整属性面板宽度'}
+        aria-label={side === 'left' ? '调整工程面板宽度' : '调整右侧面板宽度'}
         aria-orientation="vertical"
         aria-valuemin={minWidth}
         aria-valuemax={Math.round(panelMaxWidth(minWidth))}
diff --git a/web_platform/src/components/ui/ScrubbableNumberInput.test.tsx b/web_platform/src/components/ui/ScrubbableNumberInput.test.tsx
new file mode 100644
index 00000000..ddf421cf
--- /dev/null
+++ b/web_platform/src/components/ui/ScrubbableNumberInput.test.tsx
@@ -0,0 +1,45 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { ScrubbableNumberInput } from './ScrubbableNumberInput';
+
+describe('ScrubbableNumberInput', () => {
+  it('保留标准数值输入行为', () => {
+    const onValueChange = vi.fn();
+    render(
+      <ScrubbableNumberInput label="位置 X" value={1} step={0.1} onValueChange={onValueChange} />,
+    );
+    fireEvent.change(screen.getByLabelText('位置 X'), { target: { value: '2.5' } });
+    expect(onValueChange).toHaveBeenCalledWith(2.5);
+  });
+
+  it('在标签上水平拖拽并支持 Shift 精调', () => {
+    const onValueChange = vi.fn();
+    render(
+      <ScrubbableNumberInput
+        label="摩擦力"
+        value={1}
+        step={0.1}
+        min={0}
+        onValueChange={onValueChange}
+      />,
+    );
+    const handle = screen.getByRole('button', { name: '拖拽调节数值' });
+    fireEvent.pointerDown(handle, { button: 0, pointerId: 3, clientX: 20 });
+    fireEvent.pointerMove(window, { pointerId: 3, clientX: 60 });
+    expect(onValueChange).toHaveBeenLastCalledWith(2);
+    fireEvent.pointerMove(window, { pointerId: 3, clientX: 80, shiftKey: true });
+    expect(onValueChange).toHaveBeenLastCalledWith(1.15);
+    fireEvent.pointerUp(window, { pointerId: 3, clientX: 80 });
+    expect(document.body).not.toHaveClass('is-scrubbing-number');
+  });
+
+  it('通过键盘箭头进行无鼠标调节', () => {
+    const onValueChange = vi.fn();
+    render(
+      <ScrubbableNumberInput label="尺寸" value={2} step={0.5} onValueChange={onValueChange} />,
+    );
+    fireEvent.keyDown(screen.getByRole('button', { name: '拖拽调节数值' }), {
+      key: 'ArrowRight',
+    });
+    expect(onValueChange).toHaveBeenCalledWith(2.5);
+  });
+});
diff --git a/web_platform/src/components/ui/ScrubbableNumberInput.tsx b/web_platform/src/components/ui/ScrubbableNumberInput.tsx
new file mode 100644
index 00000000..93775d52
--- /dev/null
+++ b/web_platform/src/components/ui/ScrubbableNumberInput.tsx
@@ -0,0 +1,190 @@
+import {
+  useEffect,
+  useId,
+  useRef,
+  useState,
+  type InputHTMLAttributes,
+  type PointerEvent as ReactPointerEvent,
+} from 'react';
+import { GripHorizontal } from 'lucide-react';
+
+function clamp(value: number, min?: number, max?: number): number {
+  return Math.min(
+    max ?? Number.POSITIVE_INFINITY,
+    Math.max(min ?? Number.NEGATIVE_INFINITY, value),
+  );
+}
+
+function decimals(step: number): number {
+  const source = String(step);
+  if (source.includes('e-')) return Math.min(8, Number(source.split('e-')[1]));
+  return Math.min(8, source.split('.')[1]?.length ?? 0);
+}
+
+function normalize(value: number, step: number, min?: number, max?: number): number {
+  const bounded = clamp(value, min, max);
+  return Number(bounded.toFixed(decimals(step)));
+}
+
+export interface ScrubbableNumberInputProps extends Omit<
+  InputHTMLAttributes<HTMLInputElement>,
+  'type' | 'value' | 'defaultValue' | 'step' | 'min' | 'max' | 'onChange'
+> {
+  label: string;
+  value: number;
+  step?: number;
+  min?: number;
+  max?: number;
+  onValueChange: (value: number) => void;
+  containerClassName?: string;
+  labelClassName?: string;
+  inputClassName?: string;
+}
+
+/**
+ * 工程编辑器数值输入：可键入，也可在字段标签上水平拖拽。
+ * Shift 为精细调节，Alt 为超精细调节，Ctrl/Meta 为粗调。
+ */
+export function ScrubbableNumberInput({
+  label,
+  value,
+  step = 0.1,
+  min,
+  max,
+  disabled,
+  onValueChange,
+  containerClassName = '',
+  labelClassName = '',
+  inputClassName = '',
+  'aria-label': ariaLabel,
+  onFocus: onInputFocus,
+  onBlur: onInputBlur,
+  ...inputProps
+}: ScrubbableNumberInputProps) {
+  const [text, setText] = useState(() => String(value));
+  const [scrubbing, setScrubbing] = useState(false);
+  const labelId = useId();
+  const editing = useRef(false);
+  const cleanup = useRef<() => void>(() => {});
+
+  useEffect(() => {
+    if (!editing.current && !scrubbing) setText(String(value));
+  }, [value, scrubbing]);
+
+  useEffect(
+    () => () => {
+      cleanup.current();
+    },
+    [],
+  );
+
+  const emit = (next: number, quantizationStep = step) => {
+    const normalized = normalize(next, quantizationStep, min, max);
+    setText(String(normalized));
+    onValueChange(normalized);
+  };
+
+  const startScrub = (event: ReactPointerEvent<HTMLButtonElement>) => {
+    if (disabled || event.button !== 0) return;
+    event.preventDefault();
+    cleanup.current();
+    const startX = event.clientX;
+    const startValue = Number.isFinite(value) ? value : 0;
+    const pointerId = event.pointerId;
+    setScrubbing(true);
+    document.body.classList.add('is-scrubbing-number');
+
+    const move = (moveEvent: PointerEvent) => {
+      if (moveEvent.pointerId !== pointerId) return;
+      const modifier = moveEvent.altKey
+        ? 0.01
+        : moveEvent.shiftKey
+          ? 0.1
+          : moveEvent.ctrlKey || moveEvent.metaKey
+            ? 10
+            : 1;
+      emit(startValue + (moveEvent.clientX - startX) * step * 0.25 * modifier, step * modifier);
+    };
+    const stop = (stopEvent: PointerEvent) => {
+      if (stopEvent.pointerId !== pointerId) return;
+      cleanup.current();
+    };
+    cleanup.current = () => {
+      window.removeEventListener('pointermove', move);
+      window.removeEventListener('pointerup', stop);
+      window.removeEventListener('pointercancel', stop);
+      document.body.classList.remove('is-scrubbing-number');
+      setScrubbing(false);
+      cleanup.current = () => {};
+    };
+    window.addEventListener('pointermove', move);
+    window.addEventListener('pointerup', stop);
+    window.addEventListener('pointercancel', stop);
+  };
+
+  return (
+    <div
+      className={`scrubbable-number ${scrubbing ? 'scrubbable-number-active' : ''} ${containerClassName}`.trim()}
+    >
+      <button
+        type="button"
+        className={`scrubbable-number-label ${labelClassName}`.trim()}
+        aria-label="拖拽调节数值"
+        aria-describedby={labelId}
+        title={`拖拽调节 ${label}；Shift 精调，Alt 超精调，Ctrl 粗调`}
+        disabled={disabled}
+        onPointerDown={startScrub}
+        onKeyDown={(event) => {
+          if (event.key !== 'ArrowLeft' && event.key !== 'ArrowRight') return;
+          event.preventDefault();
+          const modifier = event.altKey
+            ? 0.01
+            : event.shiftKey
+              ? 0.1
+              : event.ctrlKey || event.metaKey
+                ? 10
+                : 1;
+          emit(value + (event.key === 'ArrowRight' ? 1 : -1) * step * modifier, step * modifier);
+        }}
+      >
+        <span id={labelId} className="min-w-0 truncate">
+          {label}
+        </span>
+        <GripHorizontal className="h-3 w-3 shrink-0 opacity-45" aria-hidden="true" />
+      </button>
+      <input
+        {...inputProps}
+        aria-label={ariaLabel ?? label}
+        type="number"
+        inputMode="decimal"
+        value={text}
+        step={step}
+        min={min}
+        max={max}
+        disabled={disabled}
+        className={`scrubbable-number-input ${inputClassName}`.trim()}
+        onFocus={(event) => {
+          editing.current = true;
+          onInputFocus?.(event);
+        }}
+        onChange={(event) => {
+          const nextText = event.currentTarget.value;
+          setText(nextText);
+          const next = Number(nextText);
+          if (nextText !== '' && Number.isFinite(next)) onValueChange(clamp(next, min, max));
+        }}
+        onBlur={(event) => {
+          editing.current = false;
+          const next = Number(text);
+          if (text !== '' && Number.isFinite(next)) emit(next);
+          else setText(String(value));
+          onInputBlur?.(event);
+        }}
+        onKeyDown={(event) => {
+          if (event.key === 'Enter') event.currentTarget.blur();
+          inputProps.onKeyDown?.(event);
+        }}
+      />
+    </div>
+  );
+}
diff --git a/web_platform/src/components/ui/VerticalSplitPane.test.tsx b/web_platform/src/components/ui/VerticalSplitPane.test.tsx
new file mode 100644
index 00000000..cfe24c59
--- /dev/null
+++ b/web_platform/src/components/ui/VerticalSplitPane.test.tsx
@@ -0,0 +1,55 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { VerticalSplitPane } from './VerticalSplitPane';
+
+const storageKey = 'test-vertical-split-ratio';
+
+function renderSplit() {
+  render(
+    <VerticalSplitPane
+      first={<div>上方内容</div>}
+      second={<div>下方内容</div>}
+      storageKey={storageKey}
+      separatorLabel="调整上下区域高度"
+      defaultRatio={0.4}
+    />,
+  );
+  const separator = screen.getByRole('separator', { name: '调整上下区域高度' });
+  Object.defineProperty(separator.parentElement, 'clientHeight', {
+    configurable: true,
+    value: 600,
+  });
+  return separator;
+}
+
+describe('VerticalSplitPane', () => {
+  beforeEach(() => localStorage.removeItem(storageKey));
+
+  it('支持通过指针上下拖动并持久化分割比例', () => {
+    const separator = renderSplit();
+
+    fireEvent.pointerDown(separator, { button: 0, clientY: 200, pointerId: 1 });
+    fireEvent.pointerMove(window, { clientY: 320, pointerId: 1 });
+    expect(separator).toHaveAttribute('aria-valuenow', '60');
+    expect(
+      Number.parseFloat((separator.previousElementSibling as HTMLElement).style.flexBasis),
+    ).toBeCloseTo(60);
+
+    fireEvent.pointerUp(window, { pointerId: 1 });
+    expect(Number(localStorage.getItem(storageKey))).toBeCloseTo(0.6);
+    expect(document.body.style.cursor).toBe('');
+  });
+
+  it('支持键盘调整、边界限制和双击复位', () => {
+    const separator = renderSplit();
+
+    fireEvent.keyDown(separator, { key: 'End' });
+    expect(separator).toHaveAttribute('aria-valuenow', '72');
+
+    fireEvent.keyDown(separator, { key: 'Home' });
+    expect(separator).toHaveAttribute('aria-valuenow', '27');
+
+    fireEvent.doubleClick(separator);
+    expect(separator).toHaveAttribute('aria-valuenow', '40');
+    expect(Number(localStorage.getItem(storageKey))).toBeCloseTo(0.4);
+  });
+});
diff --git a/web_platform/src/components/ui/VerticalSplitPane.tsx b/web_platform/src/components/ui/VerticalSplitPane.tsx
new file mode 100644
index 00000000..59511bb3
--- /dev/null
+++ b/web_platform/src/components/ui/VerticalSplitPane.tsx
@@ -0,0 +1,210 @@
+import {
+  useEffect,
+  useId,
+  useRef,
+  useState,
+  type KeyboardEvent,
+  type PointerEvent as ReactPointerEvent,
+  type ReactNode,
+} from 'react';
+
+const HANDLE_SIZE = 8;
+const FALLBACK_MIN_RATIO = 0.15;
+const FALLBACK_MAX_RATIO = 0.85;
+
+const clamp = (value: number, min: number, max: number) => Math.min(max, Math.max(min, value));
+
+function storedRatio(storageKey: string, fallback: number): number {
+  try {
+    const value = Number(localStorage.getItem(storageKey));
+    return clamp(
+      Number.isFinite(value) && value > 0 ? value : fallback,
+      FALLBACK_MIN_RATIO,
+      FALLBACK_MAX_RATIO,
+    );
+  } catch {
+    return clamp(fallback, FALLBACK_MIN_RATIO, FALLBACK_MAX_RATIO);
+  }
+}
+
+function ratioBounds(height: number, minFirstSize: number, minSecondSize: number) {
+  if (height <= HANDLE_SIZE) {
+    return { min: FALLBACK_MIN_RATIO, max: FALLBACK_MAX_RATIO };
+  }
+
+  const min = minFirstSize / height;
+  const max = (height - HANDLE_SIZE - minSecondSize) / height;
+  if (min <= max) return { min, max };
+
+  const available = Math.max(0, height - HANDLE_SIZE);
+  const totalMinimum = minFirstSize + minSecondSize;
+  const shared = totalMinimum > 0 ? (available * minFirstSize) / totalMinimum / height : 0.5;
+  return { min: shared, max: shared };
+}
+
+export function VerticalSplitPane({
+  first,
+  second,
+  storageKey,
+  separatorLabel,
+  defaultRatio = 0.5,
+  minFirstSize = 160,
+  minSecondSize = 160,
+  className = '',
+  firstClassName = '',
+  secondClassName = '',
+}: {
+  first: ReactNode;
+  second: ReactNode;
+  storageKey: string;
+  separatorLabel: string;
+  defaultRatio?: number;
+  minFirstSize?: number;
+  minSecondSize?: number;
+  className?: string;
+  firstClassName?: string;
+  secondClassName?: string;
+}) {
+  const [ratio, setRatio] = useState(() => storedRatio(storageKey, defaultRatio));
+  const [dragging, setDragging] = useState(false);
+  const containerRef = useRef<HTMLDivElement>(null);
+  const ratioRef = useRef(ratio);
+  const cleanupRef = useRef<() => void>(() => {});
+  const id = useId();
+
+  const constrain = (next: number, height = containerRef.current?.clientHeight ?? 0) => {
+    const bounds = ratioBounds(height, minFirstSize, minSecondSize);
+    return clamp(next, bounds.min, bounds.max);
+  };
+
+  const persist = (value: number) => {
+    try {
+      localStorage.setItem(storageKey, String(value));
+    } catch {
+      /* 无持久化权限时仍可调整 */
+    }
+  };
+
+  const update = (next: number, save = false) => {
+    const value = constrain(next);
+    ratioRef.current = value;
+    setRatio(value);
+    if (save) persist(value);
+  };
+
+  useEffect(() => {
+    const container = containerRef.current;
+    if (!container) return;
+
+    const observer = new ResizeObserver(() => {
+      if (container.clientHeight <= HANDLE_SIZE) return;
+      const bounds = ratioBounds(container.clientHeight, minFirstSize, minSecondSize);
+      const value = clamp(ratioRef.current, bounds.min, bounds.max);
+      if (value === ratioRef.current) return;
+      ratioRef.current = value;
+      setRatio(value);
+    });
+    observer.observe(container);
+    return () => observer.disconnect();
+  }, [minFirstSize, minSecondSize]);
+
+  useEffect(
+    () => () => {
+      cleanupRef.current();
+    },
+    [],
+  );
+
+  const start = (event: ReactPointerEvent<HTMLButtonElement>) => {
+    if (event.button !== 0) return;
+    event.preventDefault();
+    cleanupRef.current();
+
+    const container = containerRef.current;
+    if (!container) return;
+    const origin = event.clientY;
+    const startRatio = ratioRef.current;
+    const height = container.clientHeight;
+    const pointerId = event.pointerId;
+    const previousCursor = document.body.style.cursor;
+    const previousUserSelect = document.body.style.userSelect;
+
+    document.body.style.cursor = 'row-resize';
+    document.body.style.userSelect = 'none';
+    setDragging(true);
+
+    const move = (moveEvent: PointerEvent) => {
+      if (moveEvent.pointerId !== pointerId) return;
+      moveEvent.preventDefault();
+      update(startRatio + (moveEvent.clientY - origin) / Math.max(height, 1));
+    };
+    const stop = (stopEvent: PointerEvent) => {
+      if (stopEvent.pointerId !== pointerId) return;
+      persist(ratioRef.current);
+      cleanup();
+    };
+    const cleanup = () => {
+      window.removeEventListener('pointermove', move);
+      window.removeEventListener('pointerup', stop);
+      window.removeEventListener('pointercancel', stop);
+      document.body.style.cursor = previousCursor;
+      document.body.style.userSelect = previousUserSelect;
+      setDragging(false);
+      cleanupRef.current = () => {};
+    };
+
+    cleanupRef.current = cleanup;
+    window.addEventListener('pointermove', move);
+    window.addEventListener('pointerup', stop);
+    window.addEventListener('pointercancel', stop);
+  };
+
+  const onKeyDown = (event: KeyboardEvent<HTMLButtonElement>) => {
+    const height = containerRef.current?.clientHeight ?? 0;
+    const bounds = ratioBounds(height, minFirstSize, minSecondSize);
+    const step = (event.shiftKey ? 48 : 16) / Math.max(height, 320);
+    let next: number;
+
+    if (event.key === 'Home') next = bounds.min;
+    else if (event.key === 'End') next = bounds.max;
+    else if (event.key === 'ArrowUp') next = ratioRef.current - step;
+    else if (event.key === 'ArrowDown') next = ratioRef.current + step;
+    else return;
+
+    event.preventDefault();
+    update(next, true);
+  };
+
+  return (
+    <div ref={containerRef} className={`flex min-h-0 flex-1 flex-col ${className}`}>
+      <div
+        id={`${id}-first`}
+        className={`min-h-0 shrink-0 overflow-hidden ${firstClassName}`}
+        style={{ flexBasis: `${ratio * 100}%` }}
+      >
+        {first}
+      </div>
+      <button
+        type="button"
+        role="separator"
+        aria-label={separatorLabel}
+        aria-orientation="horizontal"
+        aria-controls={`${id}-first ${id}-second`}
+        aria-valuemin={0}
+        aria-valuemax={100}
+        aria-valuenow={Math.round(ratio * 100)}
+        aria-valuetext={`上方区域占 ${Math.round(ratio * 100)}%`}
+        data-dragging={dragging || undefined}
+        onPointerDown={start}
+        onKeyDown={onKeyDown}
+        onDoubleClick={() => update(defaultRatio, true)}
+        className="group relative z-20 h-2 w-full shrink-0 touch-none select-none cursor-row-resize bg-transparent outline-none before:absolute before:inset-x-0 before:top-1/2 before:h-px before:-translate-y-1/2 before:bg-border before:transition-colors hover:before:bg-accent focus-visible:before:h-0.5 focus-visible:before:bg-accent data-[dragging=true]:before:h-0.5 data-[dragging=true]:before:bg-accent"
+      >
+        <span className="absolute left-1/2 top-1/2 h-1 w-9 -translate-x-1/2 -translate-y-1/2 rounded-full border border-border bg-panel transition-colors group-hover:border-accent group-focus-visible:border-accent group-data-[dragging=true]:border-accent group-data-[dragging=true]:bg-accent-soft" />
+      </button>
+      <div id={`${id}-second`} className={`min-h-0 flex-1 overflow-hidden ${secondClassName}`}>
+        {second}
+      </div>
+    </div>
+  );
+}
diff --git a/web_platform/src/components/ui/index.ts b/web_platform/src/components/ui/index.ts
index 41221218..60e6c2e5 100644
--- a/web_platform/src/components/ui/index.ts
+++ b/web_platform/src/components/ui/index.ts
@@ -10,6 +10,7 @@ export * from './Separator';
 export * from './Skeleton';
 export * from './Tabs';
 export * from './ResizablePanel';
+export * from './VerticalSplitPane';
 export * from './Kbd';
 export * from './PropertyRow';
 export * from './CopyButton';
@@ -22,3 +23,4 @@ export * from './DropdownMenu';
 export * from './ProgressBar';
 export * from './LiveRegion';
 export * from './SearchableCombobox';
+export * from './ScrubbableNumberInput';
diff --git a/web_platform/src/map/MapAssetLibrary.test.tsx b/web_platform/src/map/MapAssetLibrary.test.tsx
index 2ad26def..394c7ecc 100644
--- a/web_platform/src/map/MapAssetLibrary.test.tsx
+++ b/web_platform/src/map/MapAssetLibrary.test.tsx
@@ -16,131 +16,20 @@ const renderLibrary = (
   );
 
 describe('MapAssetLibrary', () => {
-  it('把全部来源呈现在同一个放置与应用工作流中', () => {
+  it('只负责地图包、物理原语和预设地形的放置入口', () => {
     expect(decodeMapLibraryDragPayload('not-json')).toBeNull();
     expect(decodeMapLibraryDragPayload('{"kind":"terrain","preset":"unknown"}')).toBeNull();
     renderLibrary();
-    expect(screen.getByLabelText('地图资产库')).toHaveTextContent('统一地图资产库');
-    expect(screen.getByLabelText('地图资产库')).toHaveTextContent('放置 → 预览 → 一次应用');
+    const library = screen.getByLabelText('地图资产库');
+    expect(library).toHaveTextContent('场景资产库');
+    expect(library).toHaveTextContent('物理几何原语');
+    expect(library).toHaveTextContent('预设地形');
+    expect(library).not.toHaveTextContent('已放置地图');
   });
 
-  it('显示已放置地图树并支持选择、删除和重复添加工程地图源', () => {
-    const onSelectMap = vi.fn();
-    const onRemoveMap = vi.fn();
-    const onAddProjectMap = vi.fn();
-    render(
-      <MapAssetLibrary
-        disabled={false}
-        terrainSize={8}
-        maps={[
-          {
-            descriptorPath: 'maps/warehouse/map.json',
-            schemaVersion: 1,
-            id: 'warehouse',
-            name: '仓库',
-            spawnPoints: [],
-          },
-        ]}
-        placedMaps={[
-          {
-            id: 'map-a',
-            name: '仓库',
-            selection: { kind: 'project', descriptorPath: 'maps/warehouse/map.json' },
-          },
-          {
-            id: 'map-b',
-            name: '粗糙地形',
-            selection: {
-              kind: 'builtin',
-              config: {
-                preset: 'rough',
-                size: 8,
-                friction: 1,
-                positionX: 0,
-                positionY: 0,
-                yawDeg: 0,
-                slopeAngle: 12,
-                stairCount: 8,
-                obstacleCount: 10,
-                seed: 1,
-                terrainDifficulty: 0.5,
-                terrainHorizontalScale: 0.12,
-                terrainVerticalScale: 0.01,
-              },
-            },
-          },
-        ]}
-        activeMapId="map-a"
-        onAdd={() => {}}
-        onAddProjectMap={onAddProjectMap}
-        onSelectTerrain={() => {}}
-        onSelectMap={onSelectMap}
-        onRemoveMap={onRemoveMap}
-      />,
-    );
-    expect(screen.getByLabelText('场景资产树')).toHaveTextContent('2 个实例');
-    fireEvent.click(screen.getByRole('button', { name: '选择地图实例 粗糙地形' }));
-    fireEvent.click(screen.getByRole('button', { name: '删除地图实例 仓库' }));
-    fireEvent.click(screen.getByRole('button', { name: '放置工程地图 仓库' }));
-    expect(onSelectMap).toHaveBeenCalledWith('map-b');
-    expect(onRemoveMap).toHaveBeenCalledWith('map-a');
-    expect(onAddProjectMap).toHaveBeenCalledWith('maps/warehouse/map.json');
-  });
-
-  it('场景树为所有地图实例展示认证对象并可跨实例直接选择', () => {
-    const onSelectObject = vi.fn();
-    const editable = {
-      schemaVersion: 1 as const,
-      mapId: 'warehouse',
-      revision: 0,
-      objects: [
-        {
-          id: 'box-1',
-          name: '共享方盒',
-          type: 'box' as const,
-          pose: {
-            position: [0, 0, 0.5] as [number, number, number],
-            quaternion: [1, 0, 0, 0] as [number, number, number, number],
-          },
-          parameters: { sizeX: 1, sizeY: 1, sizeZ: 1 },
-          friction: [1, 0.005, 0.0001] as [number, number, number],
-          rgba: [0.5, 0.6, 0.7, 1] as [number, number, number, number],
-          placementMode: 'auto_ground' as const,
-          enabled: true,
-        },
-      ],
-      spawnPoints: [],
-    };
-    render(
-      <MapAssetLibrary
-        disabled={false}
-        terrainSize={8}
-        documents={new Map([['maps/warehouse/map.json', editable]])}
-        placedMaps={[
-          {
-            id: 'map-a',
-            name: '仓库 A',
-            selection: { kind: 'project', descriptorPath: 'maps/warehouse/map.json' },
-          },
-          {
-            id: 'map-b',
-            name: '仓库 B',
-            selection: { kind: 'project', descriptorPath: 'maps/warehouse/map.json' },
-          },
-        ]}
-        activeMapId="map-a"
-        onAdd={() => {}}
-        onSelectTerrain={() => {}}
-        onSelectObject={onSelectObject}
-      />,
-    );
-    expect(screen.getByLabelText('场景资产树')).toHaveTextContent('2 个实例 · 2 个对象');
-    fireEvent.click(screen.getAllByRole('button', { name: /共享方盒/ })[1]);
-    expect(onSelectObject).toHaveBeenCalledWith('map-b', 'box-1');
-  });
-
-  it('工程地图源使用与资产卡片一致的拖放入口', () => {
+  it('地图包使用与资产卡片一致的添加和拖放入口', () => {
     const values = new Map<string, string>();
+    const onAddProjectMap = vi.fn();
     const dataTransfer = {
       effectAllowed: 'none',
       setData: (type: string, value: string) => values.set(type, value),
@@ -159,20 +48,21 @@ describe('MapAssetLibrary', () => {
           },
         ]}
         onAdd={() => {}}
+        onAddProjectMap={onAddProjectMap}
         onSelectTerrain={() => {}}
       />,
     );
     const source = document.querySelector('[data-project-map="maps/warehouse/map.json"]')!;
-    expect(source).toHaveAttribute('draggable', 'true');
     fireEvent.dragStart(source, { dataTransfer });
+    fireEvent.click(screen.getByRole('button', { name: '放置工程地图 仓库' }));
     expect(decodeMapLibraryDragPayload(values.get(MAP_LIBRARY_DRAG_MIME) ?? '')).toEqual({
       kind: 'project',
       descriptorPath: 'maps/warehouse/map.json',
     });
-    expect(values.get('text/plain')).toBe('仓库');
+    expect(onAddProjectMap).toHaveBeenCalledWith('maps/warehouse/map.json');
   });
 
-  it('按所选放置方式添加认证资产', () => {
+  it('按所选放置方式添加物理几何原语', () => {
     const onAdd = vi.fn();
     renderLibrary(onAdd);
     fireEvent.change(screen.getByLabelText('新增资产放置方式'), {
@@ -182,7 +72,26 @@ describe('MapAssetLibrary', () => {
     expect(onAdd).toHaveBeenCalledWith('box', 'gravity');
   });
 
-  it('拖动资产时写入类型和放置方式', () => {
+  it('可与视口工具条共享受控放置方式', () => {
+    const onPlacementModeChange = vi.fn();
+    render(
+      <MapAssetLibrary
+        disabled={false}
+        terrainSize={8}
+        placementMode="locked"
+        onPlacementModeChange={onPlacementModeChange}
+        onAdd={() => {}}
+        onSelectTerrain={() => {}}
+      />,
+    );
+    expect(screen.getByLabelText('新增资产放置方式')).toHaveValue('locked');
+    fireEvent.change(screen.getByLabelText('新增资产放置方式'), {
+      target: { value: 'gravity' },
+    });
+    expect(onPlacementModeChange).toHaveBeenCalledWith('gravity');
+  });
+
+  it('拖动物理原语时写入类型和放置方式', () => {
     const values = new Map<string, string>();
     const dataTransfer = {
       effectAllowed: 'none',
@@ -200,76 +109,21 @@ describe('MapAssetLibrary', () => {
     });
   });
 
-  it('以示意图卡片选择系统参数化地形', () => {
+  it('以示意图卡片添加或拖动预设地形', () => {
     const onSelectTerrain = vi.fn();
-    renderLibrary(undefined, onSelectTerrain);
-    expect(screen.getAllByText('8.00 × 8.00 m')).toHaveLength(9);
-    fireEvent.click(screen.getByRole('button', { name: '添加随机粗糙地形' }));
-    expect(onSelectTerrain).toHaveBeenCalledWith('rough');
-  });
-
-  it('可把参数化地形拖到画布，并写入独立拖放类型', () => {
     const values = new Map<string, string>();
     const dataTransfer = {
       effectAllowed: 'none',
       setData: (type: string, value: string) => values.set(type, value),
     } as unknown as DataTransfer;
-    renderLibrary();
-    const terrain = document.querySelector('[data-system-terrain="rough"]')!;
-    expect(terrain).toHaveAttribute('draggable', 'true');
-    fireEvent.dragStart(terrain, { dataTransfer });
+    renderLibrary(undefined, onSelectTerrain);
+    expect(screen.getAllByText('8.00 × 8.00 m')).toHaveLength(9);
+    fireEvent.click(screen.getByRole('button', { name: '添加随机粗糙地形' }));
+    fireEvent.dragStart(document.querySelector('[data-system-terrain="wave"]')!, { dataTransfer });
+    expect(onSelectTerrain).toHaveBeenCalledWith('rough');
     expect(decodeMapLibraryDragPayload(values.get(MAP_LIBRARY_DRAG_MIME) ?? '')).toEqual({
       kind: 'terrain',
-      preset: 'rough',
+      preset: 'wave',
     });
-    expect(values.get('text/plain')).toBe('随机粗糙地形');
-  });
-
-  it('集中显示认证资产与参数地形更改，并只触发一次场景编译', () => {
-    const onApplyScene = vi.fn();
-    const onDiscardScene = vi.fn();
-    render(
-      <MapAssetLibrary
-        disabled={false}
-        terrainSize={8}
-        pendingSceneChangeCount={3}
-        pendingSceneIds={['terrain-a']}
-        placedMaps={[
-          {
-            id: 'terrain-a',
-            name: '粗糙地形',
-            selection: {
-              kind: 'builtin',
-              config: {
-                preset: 'rough',
-                size: 8,
-                friction: 1,
-                positionX: 0,
-                positionY: 0,
-                yawDeg: 0,
-                slopeAngle: 12,
-                stairCount: 8,
-                obstacleCount: 10,
-                seed: 1,
-                terrainDifficulty: 0.5,
-                terrainHorizontalScale: 0.12,
-                terrainVerticalScale: 0.01,
-              },
-            },
-          },
-        ]}
-        onAdd={() => {}}
-        onSelectTerrain={() => {}}
-        onApplyScene={onApplyScene}
-        onDiscardScene={onDiscardScene}
-      />,
-    );
-    expect(screen.getByRole('status')).toHaveTextContent('3 项场景更改待应用');
-    expect(screen.getByRole('status')).toHaveTextContent('认证资产与参数地形共享同一草稿');
-    expect(screen.getByLabelText('场景资产树')).toHaveTextContent('待应用');
-    fireEvent.click(screen.getByRole('button', { name: '一次编译应用' }));
-    fireEvent.click(screen.getByRole('button', { name: '放弃场景更改' }));
-    expect(onApplyScene).toHaveBeenCalledTimes(1);
-    expect(onDiscardScene).toHaveBeenCalledTimes(1);
   });
 });
diff --git a/web_platform/src/map/MapAssetLibrary.tsx b/web_platform/src/map/MapAssetLibrary.tsx
index e873b281..c8636e7b 100644
--- a/web_platform/src/map/MapAssetLibrary.tsx
+++ b/web_platform/src/map/MapAssetLibrary.tsx
@@ -1,15 +1,5 @@
 import { useState } from 'react';
-import {
-  BadgeCheck,
-  CheckCircle2,
-  Layers3,
-  MapPinned,
-  Mountain,
-  Plus,
-  RotateCcw,
-  Trash2,
-  Zap,
-} from 'lucide-react';
+import { BadgeCheck, CheckCircle2, MapPinned, Mountain, Plus } from 'lucide-react';
 import { Button, Select } from '../components/ui';
 import {
   CERTIFIED_MAP_ASSETS,
@@ -18,7 +8,6 @@ import {
 } from './editor/assetCatalog';
 import {
   MAP_OBJECT_PLACEMENT_LABELS,
-  type EditableMapDocument,
   type EditableMapObjectType,
   type MapObjectPlacementMode,
 } from './editor/types';
@@ -26,7 +15,6 @@ import type { MapEntry } from '../project/types';
 import {
   PHYSICAL_MAP_PRESET_LABELS,
   SYSTEM_TERRAIN_PRESETS,
-  type PlacedMapAsset,
   type SystemTerrainPreset,
 } from './types';
 
@@ -147,182 +135,46 @@ function AddAction({ label }: { label: string }) {
 export function MapAssetLibrary({
   disabled,
   terrainSize,
-  document,
-  documents,
   maps = [],
-  placedMaps = [],
-  activeMapId,
-  pendingSceneChangeCount = 0,
-  pendingSceneIds = [],
+  placementMode: controlledPlacementMode,
+  onPlacementModeChange,
   onAdd,
   onAddProjectMap,
   onSelectTerrain,
-  onApplyScene,
-  onDiscardScene,
-  onSelectMap,
-  onRemoveMap,
-  onSelectObject,
 }: {
   disabled: boolean;
   terrainSize: number;
-  document?: EditableMapDocument | null;
-  documents?: ReadonlyMap<string, EditableMapDocument>;
   maps?: MapEntry[];
-  placedMaps?: PlacedMapAsset[];
-  activeMapId?: string;
-  pendingSceneChangeCount?: number;
-  pendingSceneIds?: string[];
+  placementMode?: MapObjectPlacementMode;
+  onPlacementModeChange?: (mode: MapObjectPlacementMode) => void;
   onAdd: (
     type: EditableMapObjectType,
     placementMode: MapObjectPlacementMode,
   ) => void | Promise<void>;
   onAddProjectMap?: (descriptorPath: string) => void;
   onSelectTerrain: (preset: SystemTerrainPreset) => void;
-  onApplyScene?: () => void;
-  onDiscardScene?: () => void;
-  onSelectMap?: (id: string) => void;
-  onRemoveMap?: (id: string) => void;
-  onSelectObject?: (mapId: string, objectId: string) => void;
 }) {
-  const [placementMode, setPlacementMode] = useState<MapObjectPlacementMode>('auto_ground');
-  const pendingSceneIdSet = new Set(pendingSceneIds);
-  const placedObjectCount = placedMaps.reduce(
-    (total, map) =>
-      total +
-      (map.selection.kind === 'project'
-        ? (documents?.get(map.selection.descriptorPath)?.objects.length ?? 0)
-        : 0),
-    0,
-  );
+  const [internalPlacementMode, setInternalPlacementMode] =
+    useState<MapObjectPlacementMode>('auto_ground');
+  const placementMode = controlledPlacementMode ?? internalPlacementMode;
+  const changePlacementMode = (mode: MapObjectPlacementMode) => {
+    setInternalPlacementMode(mode);
+    onPlacementModeChange?.(mode);
+  };
   return (
     <section aria-label="地图资产库" className="space-y-3 p-3">
       <header>
         <div className="flex items-center gap-1.5 text-xs font-semibold text-text-primary">
           <MapPinned className="h-3.5 w-3.5 text-accent" aria-hidden="true" />
-          统一地图资产库
+          场景资产库
         </div>
         <p className="mt-1 text-[10px] leading-relaxed text-text-tertiary">
-          工程地图、认证资产和程序地形统一执行“放置 → 预览 → 一次应用”，不会因资产类型切换编译边界。
+          从地图包、物理几何原语和预设地形拖放到视口；已放置实例统一在上方场景大纲管理。
         </p>
       </header>
-      <div
-        className="rounded-lg border border-border-subtle bg-panel-muted/50 p-2.5"
-        aria-label="场景资产树"
-      >
-        <div className="flex items-center justify-between text-xs font-medium text-text-primary">
-          <span className="flex items-center gap-1.5">
-            <Layers3 className="h-3.5 w-3.5 text-accent" aria-hidden="true" />
-            已放置地图
-          </span>
-          <span className="technical-value text-[10px] text-text-tertiary">
-            {placedMaps.length} 个实例
-            {placedObjectCount ? ` · ${placedObjectCount} 个对象` : ''}
-          </span>
-        </div>
-        {placedMaps.length ? (
-          <div className="mt-2 max-h-52 space-y-0.5 overflow-auto panel-scroll" role="tree">
-            {placedMaps.map((map) => {
-              const active = map.id === activeMapId;
-              const mapDocument =
-                map.selection.kind === 'project'
-                  ? (documents?.get(map.selection.descriptorPath) ?? (active ? document : null))
-                  : null;
-              return (
-                <div key={map.id} role="treeitem" aria-selected={active}>
-                  <div
-                    className={`flex items-center gap-1 rounded ${active ? 'bg-accent-soft text-accent' : 'text-text-secondary hover:bg-element-hover'}`}
-                  >
-                    <button
-                      type="button"
-                      className="flex min-w-0 flex-1 items-center gap-2 px-2 py-1.5 text-left text-[11px] disabled:cursor-not-allowed disabled:opacity-50"
-                      aria-label={`选择地图实例 ${map.name}`}
-                      disabled={disabled}
-                      onClick={() => onSelectMap?.(map.id)}
-                    >
-                      <MapPinned className="h-3.5 w-3.5 shrink-0" aria-hidden="true" />
-                      <span className="min-w-0 flex-1 truncate">{map.name}</span>
-                      <span className="text-[9px] text-text-tertiary">
-                        {pendingSceneIdSet.has(map.id)
-                          ? '待应用'
-                          : map.selection.kind === 'builtin'
-                            ? '参数地形'
-                            : '工程地图'}
-                      </span>
-                    </button>
-                    <button
-                      type="button"
-                      className="mr-1 rounded p-1 text-text-tertiary hover:bg-danger/10 hover:text-danger"
-                      aria-label={`删除地图实例 ${map.name}`}
-                      disabled={disabled}
-                      onClick={() => onRemoveMap?.(map.id)}
-                    >
-                      <Trash2 className="h-3 w-3" aria-hidden="true" />
-                    </button>
-                  </div>
-                  {mapDocument?.objects.length ? (
-                    <div className="ml-4 border-l border-border pl-1" role="group">
-                      {mapDocument.objects.map((object) => (
-                        <button
-                          key={object.id}
-                          type="button"
-                          className={`flex w-full items-center gap-2 rounded px-2 py-1 text-left text-[10px] hover:bg-element-hover hover:text-text-primary ${active ? 'text-text-secondary' : 'text-text-tertiary'}`}
-                          onClick={() => onSelectObject?.(map.id, object.id)}
-                        >
-                          <span className="h-1.5 w-1.5 shrink-0 rounded-full bg-accent" />
-                          <span className="min-w-0 flex-1 truncate">{object.name}</span>
-                          <span className="text-[9px] text-text-tertiary">{object.type}</span>
-                        </button>
-                      ))}
-                    </div>
-                  ) : null}
-                </div>
-              );
-            })}
-          </div>
-        ) : (
-          <p className="mt-2 text-[10px] leading-relaxed text-text-tertiary">
-            尚未放置地图。从下方工程地图、认证资产或参数地形添加，实例会在这里统一管理。
-          </p>
-        )}
-      </div>
-
-      {pendingSceneChangeCount > 0 && (
-        <div
-          role="status"
-          className="rounded-lg border border-accent/30 bg-accent-soft p-2.5 text-[10px] text-text-secondary"
-        >
-          <div className="flex items-center gap-1.5 font-medium text-accent">
-            <Zap className="h-3.5 w-3.5" aria-hidden="true" />
-            {pendingSceneChangeCount} 项场景更改待应用
-          </div>
-          <p className="mt-1 leading-relaxed">
-            工程地图、认证资产与参数地形共享同一草稿；继续编辑不会触发 MuJoCo 编译。
-          </p>
-          <div className="mt-2 flex gap-2">
-            <Button
-              variant="primary"
-              className="min-w-0 flex-1"
-              disabled={disabled}
-              onClick={onApplyScene}
-            >
-              一次编译应用
-            </Button>
-            <Button
-              variant="ghost"
-              aria-label="放弃场景更改"
-              disabled={disabled}
-              onClick={onDiscardScene}
-            >
-              <RotateCcw className="mr-1 h-3 w-3" aria-hidden="true" />
-              放弃
-            </Button>
-          </div>
-        </div>
-      )}
-
       {maps.length > 0 && (
         <div className="rounded-lg border border-border-subtle bg-panel-muted/50 p-2.5">
-          <div className="text-xs font-medium text-text-primary">工程地图源</div>
+          <div className="text-xs font-medium text-text-primary">地图包</div>
           <p className="mt-1 text-[10px] text-text-tertiary">
             点击添加或拖到画布定位；实例位姿独立，源内容由同源实例共享。
           </p>
@@ -370,7 +222,7 @@ export function MapAssetLibrary({
         <div className="min-w-0">
           <div className="flex items-center gap-1.5 text-xs font-medium text-text-primary">
             <BadgeCheck className="h-3.5 w-3.5 text-accent" aria-hidden="true" />
-            认证资产
+            物理几何原语
           </div>
           <p className="mt-1 text-[10px] leading-relaxed text-text-tertiary">
             点击添加，或按住资产拖到画布落位。
@@ -383,7 +235,7 @@ export function MapAssetLibrary({
             className="mt-1 w-full"
             value={placementMode}
             disabled={disabled}
-            onChange={(event) => setPlacementMode(event.target.value as MapObjectPlacementMode)}
+            onChange={(event) => changePlacementMode(event.target.value as MapObjectPlacementMode)}
           >
             {(Object.keys(MAP_OBJECT_PLACEMENT_LABELS) as MapObjectPlacementMode[]).map((mode) => (
               <option key={mode} value={mode}>
@@ -444,7 +296,7 @@ export function MapAssetLibrary({
       <div className="border-t border-border-subtle pt-3">
         <div className="flex items-center gap-1.5 text-xs font-medium text-text-primary">
           <Mountain className="h-3.5 w-3.5 text-accent" aria-hidden="true" />
-          系统参数化地形
+          预设地形
         </div>
         <p className="mt-1 text-[10px] leading-relaxed text-text-tertiary">
           点击添加或拖到画布定位。新增先进入轻量预览，可连续放置后一次编译。
diff --git a/web_platform/src/map/MapEditorPanel.test.tsx b/web_platform/src/map/MapEditorPanel.test.tsx
index f4fad62b..9b293eeb 100644
--- a/web_platform/src/map/MapEditorPanel.test.tsx
+++ b/web_platform/src/map/MapEditorPanel.test.tsx
@@ -9,8 +9,7 @@ const interactionProps = {
   canConvert: true,
   onBindInteraction: () => {},
   onSelectPreview: () => {},
-  onTransformMode: () => {},
-  onSnapping: () => {},
+  onSessionStateChange: () => {},
 };
 const document: EditableMapDocument = {
   schemaVersion: 1,
@@ -114,22 +113,61 @@ describe('MapEditorPanel', () => {
     expect(screen.getByLabelText('对象名称')).toHaveValue('认证方盒');
   });
 
-  it('锁定放置方式后禁用位姿编辑', () => {
+  it('视口贴地命令通过会话端口锁定位姿编辑', async () => {
+    let interaction: MapEditorInteractionCallbacks | null = null;
+    let selectedId: string | null = null;
     render(
       <MapEditorPanel
         {...interactionProps}
         document={document}
         loading={false}
         onPreview={() => {}}
+        onSelectPreview={(id) => {
+          selectedId = id;
+        }}
+        onBindInteraction={(callbacks) => {
+          interaction = callbacks;
+        }}
         onApply={async () => true}
         onExport={() => {}}
       />,
     );
     fireEvent.click(screen.getByRole('button', { name: '新增' }));
-    fireEvent.change(screen.getByLabelText('对象放置方式'), { target: { value: 'locked' } });
+    expect(selectedId).toBeTruthy();
+    act(() =>
+      (interaction as unknown as MapEditorInteractionCallbacks).onSetPlacementMode(
+        selectedId!,
+        'locked',
+      ),
+    );
+    await waitFor(() => expect(screen.getByText('锁定位姿')).toBeVisible());
     expect(screen.getByLabelText('对象位置X')).toBeDisabled();
     expect(screen.getByLabelText('对象绕Z旋转')).toBeDisabled();
-    expect(screen.getByRole('button', { name: '对齐地面' })).toBeDisabled();
+  });
+
+  it('把表面材质预设与三轴摩擦写入同一对象草稿', () => {
+    const onDraftChange = vi.fn();
+    render(
+      <MapEditorPanel
+        {...interactionProps}
+        document={document}
+        loading={false}
+        onPreview={() => {}}
+        onDraftChange={onDraftChange}
+        onApply={async () => true}
+        onExport={() => {}}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '新增' }));
+    fireEvent.change(screen.getByLabelText('对象表面材质'), { target: { value: 'rubber' } });
+    expect(screen.getByLabelText('对象滑动摩擦')).toHaveValue(1.5);
+    expect(onDraftChange).toHaveBeenLastCalledWith(
+      'maps/map/map.json',
+      expect.objectContaining({
+        objects: [expect.objectContaining({ friction: [1.5, 0.008, 0.0002] })],
+      }),
+      true,
+    );
   });
 
   it('编辑出生点并包含在应用文档中', async () => {
diff --git a/web_platform/src/map/MapEditorPanel.tsx b/web_platform/src/map/MapEditorPanel.tsx
index 78e441a9..a8ba5b9b 100644
--- a/web_platform/src/map/MapEditorPanel.tsx
+++ b/web_platform/src/map/MapEditorPanel.tsx
@@ -1,17 +1,14 @@
 import { useEffect, useMemo, useState } from 'react';
-import { Button, Select } from '../components/ui';
+import { Button, ScrubbableNumberInput, Select } from '../components/ui';
 import { MapEditSession } from './editor/MapEditSession';
-import { MapTransformToolbar } from './MapTransformToolbar';
-import {
-  editableObjectGroundHeight,
-  MAP_OBJECT_PLACEMENT_LABELS,
-  type EditableMapDocument,
-  type EditableMapObject,
-  type EditableMapObjectType,
-  type MapEditorInteractionCallbacks,
-  type MapEditorTransformMode,
-  type MapObjectPlacementMode,
+import type {
+  EditableMapDocument,
+  EditableMapObject,
+  EditableMapObjectType,
+  MapEditorInteractionCallbacks,
+  MapEditorSessionState,
 } from './editor/types';
+import { MapObjectInspector } from './MapObjectInspector';
 
 const labels: Record<EditableMapObjectType, string> = {
   box: '方盒',
@@ -20,10 +17,6 @@ const labels: Record<EditableMapObjectType, string> = {
   ramp: '坡道',
   stairs: '楼梯',
 };
-function yawDegrees(object: EditableMapObject): number {
-  const [w, x, y, z] = object.pose.quaternion;
-  return (Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)) * 180) / Math.PI;
-}
 function scaledParameters(
   object: EditableMapObject,
   scale: [number, number, number],
@@ -65,10 +58,10 @@ export function MapEditorPanel({
   onExport,
   onConvert,
   canConvert,
+  selectedObjectId,
   onBindInteraction,
   onSelectPreview,
-  onTransformMode,
-  onSnapping,
+  onSessionStateChange,
   onSurfaceHeight,
 }: {
   document: EditableMapDocument | null;
@@ -81,10 +74,10 @@ export function MapEditorPanel({
   onExport: () => void;
   onConvert: () => Promise<boolean>;
   canConvert: boolean;
+  selectedObjectId?: string;
   onBindInteraction: (callbacks: MapEditorInteractionCallbacks | null) => void;
   onSelectPreview: (id: string | null) => void;
-  onTransformMode: (mode: MapEditorTransformMode) => void;
-  onSnapping: (translation: number | null, rotationDegrees: number | null) => void;
+  onSessionStateChange?: (descriptorPath: string, state: MapEditorSessionState | null) => void;
   onSurfaceHeight?: (position: readonly [number, number, number]) => number | null;
 }) {
   // draftDocument 仅用于恢复重新挂载的编辑器；会话存活期间由 MapEditSession 持有最新草稿。
@@ -95,30 +88,71 @@ export function MapEditorPanel({
     [document, descriptorPath, onSurfaceHeight],
   );
   const [, render] = useState(0),
-    [selected, setSelected] = useState<string>(),
+    [selected, setSelected] = useState<string | undefined>(selectedObjectId),
     [selectedType, setSelectedType] = useState<EditableMapObjectType>('box'),
-    [transformMode, setTransformMode] = useState<MapEditorTransformMode>('translate'),
-    [snapping, setSnapping] = useState(true),
     [converting, setConverting] = useState(false);
+  const selectedId = selectedObjectId ?? selected;
+  const reportSessionState = () =>
+    onSessionStateChange?.(
+      descriptorPath,
+      session
+        ? {
+            dirty: session.dirty,
+            changeCount: session.changeCount,
+            canUndo: session.canUndo,
+            canRedo: session.canRedo,
+          }
+        : null,
+    );
   const refresh = () => {
     const next = session?.document ?? null;
     render((value) => value + 1);
     onPreview(next);
     if (session && next) onDraftChange(descriptorPath, next, session.dirty);
+    reportSessionState();
   };
   useEffect(() => {
     const next = session?.document ?? null;
     onPreview(next);
     if (session && next) onDraftChange(descriptorPath, next, session.dirty);
-    return () => onPreview(null);
-  }, [session, descriptorPath, onPreview, onDraftChange]);
+    onSessionStateChange?.(
+      descriptorPath,
+      session
+        ? {
+            dirty: session.dirty,
+            changeCount: session.changeCount,
+            canUndo: session.canUndo,
+            canRedo: session.canRedo,
+          }
+        : null,
+    );
+    return () => {
+      onPreview(null);
+      onSessionStateChange?.(descriptorPath, null);
+    };
+  }, [session, descriptorPath, onPreview, onDraftChange, onSessionStateChange]);
   useEffect(() => {
     if (!session) {
       onBindInteraction(null);
       return;
     }
+    const publish = () => {
+      const next = session.document;
+      render((value) => value + 1);
+      onPreview(next);
+      onDraftChange(descriptorPath, next, session.dirty);
+      onSessionStateChange?.(descriptorPath, {
+        dirty: session.dirty,
+        changeCount: session.changeCount,
+        canUndo: session.canUndo,
+        canRedo: session.canRedo,
+      });
+    };
     const callbacks: MapEditorInteractionCallbacks = {
-      onSelect: (id) => setSelected(id ?? undefined),
+      onSelect: (id) => {
+        session.selectedId = id ?? undefined;
+        setSelected(id ?? undefined);
+      },
       onTransform: ({ id, position, quaternion, scale }) => {
         if (loading) return;
         const object = session.document.objects.find((item) => item.id === id);
@@ -127,20 +161,46 @@ export function MapEditorPanel({
           pose: { position, quaternion },
           parameters: scaledParameters(object, scale),
         });
+        session.selectedId = id;
         setSelected(id);
-        render((value) => value + 1);
-        onPreview(session.document);
-        onDraftChange(descriptorPath, session.document, session.dirty);
+        publish();
       },
       onAddAsset: (type, position, placementMode, externalSupportTop) => {
         if (loading) return;
         const object = session.addAsset(type, position, placementMode, externalSupportTop);
         setSelected(object.id);
-        render((value) => value + 1);
-        onPreview(session.document);
-        onDraftChange(descriptorPath, session.document, session.dirty);
+        publish();
         onSelectPreview(object.id);
       },
+      onSetPlacementMode: (id, placementMode) => {
+        if (loading || !session.document.objects.some((object) => object.id === id)) return;
+        session.update(id, { placementMode });
+        session.selectedId = id;
+        setSelected(id);
+        publish();
+      },
+      onAlignToSurface: (id) => {
+        if (loading) return;
+        const object = session.document.objects.find((candidate) => candidate.id === id);
+        if (!object || object.placementMode === 'locked') return;
+        session.update(id, { placementMode: object.placementMode });
+        session.selectedId = id;
+        setSelected(id);
+        publish();
+      },
+      onDelete: (id) => {
+        if (loading || !session.document.objects.some((object) => object.id === id)) return;
+        session.remove(id);
+        setSelected(undefined);
+        publish();
+        onSelectPreview(null);
+      },
+      onDiscard: () => {
+        session.discard();
+        setSelected(undefined);
+        publish();
+        onSelectPreview(null);
+      },
     };
     onBindInteraction(callbacks);
     return () => onBindInteraction(null);
@@ -152,14 +212,11 @@ export function MapEditorPanel({
     onPreview,
     onDraftChange,
     onSelectPreview,
+    onSessionStateChange,
   ]);
   useEffect(() => {
-    if (session && selected) onSelectPreview(selected);
-  }, [session, selected, onSelectPreview]);
-  useEffect(() => {
-    onTransformMode(transformMode);
-    onSnapping(snapping ? 0.1 : null, snapping ? 5 : null);
-  }, [transformMode, snapping, onTransformMode, onSnapping]);
+    if (session && selectedId) onSelectPreview(selectedId);
+  }, [session, selectedId, onSelectPreview]);
   useEffect(() => {
     if (!session) return;
     const keydown = (event: KeyboardEvent) => {
@@ -172,38 +229,48 @@ export function MapEditorPanel({
         event.preventDefault();
         if (event.shiftKey) session.redo();
         else session.undo();
-        if (selected && !session.document.objects.some((object) => object.id === selected)) {
+        if (selectedId && !session.document.objects.some((object) => object.id === selectedId)) {
           setSelected(undefined);
           onSelectPreview(null);
         }
         render((value) => value + 1);
         onPreview(session.document);
         onDraftChange(descriptorPath, session.document, session.dirty);
+        onSessionStateChange?.(descriptorPath, {
+          dirty: session.dirty,
+          changeCount: session.changeCount,
+          canUndo: session.canUndo,
+          canRedo: session.canRedo,
+        });
       } else if ((event.ctrlKey || event.metaKey) && key === 'y') {
         event.preventDefault();
         session.redo();
         render((value) => value + 1);
         onPreview(session.document);
         onDraftChange(descriptorPath, session.document, session.dirty);
-      } else if (!event.ctrlKey && !event.metaKey && key === 'w') setTransformMode('translate');
-      else if (!event.ctrlKey && !event.metaKey && key === 'e') setTransformMode('rotate');
-      else if (!event.ctrlKey && !event.metaKey && key === 's') setTransformMode('scale');
-      else if (event.key === 'Escape') {
+        onSessionStateChange?.(descriptorPath, {
+          dirty: session.dirty,
+          changeCount: session.changeCount,
+          canUndo: session.canUndo,
+          canRedo: session.canRedo,
+        });
+      } else if (event.key === 'Escape') {
         setSelected(undefined);
         onSelectPreview(null);
-      } else if ((event.key === 'Delete' || event.key === 'Backspace') && selected) {
-        event.preventDefault();
-        session.remove(selected);
-        setSelected(undefined);
-        render((value) => value + 1);
-        onPreview(session.document);
-        onDraftChange(descriptorPath, session.document, session.dirty);
-        onSelectPreview(null);
       }
     };
     window.addEventListener('keydown', keydown);
     return () => window.removeEventListener('keydown', keydown);
-  }, [session, descriptorPath, selected, loading, onPreview, onDraftChange, onSelectPreview]);
+  }, [
+    session,
+    descriptorPath,
+    selectedId,
+    loading,
+    onPreview,
+    onDraftChange,
+    onSelectPreview,
+    onSessionStateChange,
+  ]);
   if (!session)
     return (
       <div className="space-y-2 rounded border border-border-subtle p-3 text-xs text-text-tertiary">
@@ -231,41 +298,7 @@ export function MapEditorPanel({
       </div>
     );
   const current = session.document;
-  const active = current.objects.find((object) => object.id === selected);
-  const poseLocked = active?.placementMode === 'locked';
-  const updatePosition = (index: number, value: number) => {
-    if (loading || !active || !Number.isFinite(value)) return;
-    const position = [...active.pose.position] as [number, number, number];
-    position[index] = value;
-    session.update(active.id, { pose: { ...active.pose, position } });
-    refresh();
-  };
-  const updateParameter = (key: string, value: number) => {
-    if (loading || !active || !Number.isFinite(value) || value <= 0) return;
-    session.update(active.id, {
-      parameters: { ...active.parameters, [key]: key === 'count' ? Math.round(value) : value },
-    });
-    refresh();
-  };
-  const updateFriction = (index: number, value: number) => {
-    if (loading || !active || !Number.isFinite(value) || value < 0) return;
-    const friction = [...active.friction] as [number, number, number];
-    friction[index] = value;
-    session.update(active.id, { friction });
-    refresh();
-  };
-  const updateColor = (value: string) => {
-    if (loading || !active || !/^#[0-9a-f]{6}$/i.test(value)) return;
-    session.update(active.id, {
-      rgba: [
-        Number.parseInt(value.slice(1, 3), 16) / 255,
-        Number.parseInt(value.slice(3, 5), 16) / 255,
-        Number.parseInt(value.slice(5, 7), 16) / 255,
-        active.rgba[3],
-      ],
-    });
-    refresh();
-  };
+  const active = current.objects.find((object) => object.id === selectedId);
   const updateSpawnPosition = (
     id: string,
     position: [number, number, number],
@@ -281,281 +314,79 @@ export function MapEditorPanel({
 
   return (
     <div className="space-y-3">
-      <MapTransformToolbar
-        mode={transformMode}
-        snapping={snapping}
-        loading={loading}
-        hint="在视口点击对象后拖动操纵轴；点击空白区域取消选择。只允许绕世界 Z 轴旋转，缩放会写入原语尺寸。"
-        onModeChange={setTransformMode}
-        onSnappingChange={setSnapping}
-      />
-      <div className="flex gap-2">
-        <Select
-          aria-label="新增地图对象类型"
-          className="min-w-0 flex-1"
-          value={selectedType}
-          disabled={loading}
-          onChange={(event) => setSelectedType(event.target.value as EditableMapObjectType)}
-        >
-          {(Object.keys(labels) as EditableMapObjectType[]).map((type) => (
-            <option key={type} value={type}>
-              {labels[type]}
-            </option>
-          ))}
-        </Select>
-        <Button
-          disabled={loading}
-          onClick={() => {
-            const object = session.add(selectedType);
-            setSelected(object.id);
+      {active && (
+        <MapObjectInspector
+          object={active}
+          loading={loading}
+          onUpdate={(patch) => {
+            session.update(active.id, patch);
             refresh();
-            onSelectPreview(object.id);
           }}
-        >
-          新增
-        </Button>
-      </div>
-      <div className="max-h-36 space-y-1 overflow-auto" aria-label="地图对象列表">
-        {current.objects.map((object) => (
-          <button
-            key={object.id}
-            type="button"
-            className={`w-full rounded border px-2 py-1 text-left text-xs ${selected === object.id ? 'border-accent bg-accent/10' : 'border-border-subtle'}`}
+          onDuplicate={() => {
+            const copy = session.duplicate(active.id);
+            setSelected(copy.id);
+            refresh();
+            onSelectPreview(copy.id);
+          }}
+          onDelete={() => {
+            session.remove(active.id);
+            setSelected(undefined);
+            refresh();
+            onSelectPreview(null);
+          }}
+        />
+      )}
+
+      <section className="space-y-2 rounded-lg border border-border-subtle p-2.5">
+        <div className="text-[10px] font-semibold uppercase tracking-[0.12em] text-text-tertiary">
+          地图对象
+        </div>
+        <div className="flex gap-2">
+          <Select
+            aria-label="新增地图对象类型"
+            className="min-w-0 flex-1"
+            value={selectedType}
+            disabled={loading}
+            onChange={(event) => setSelectedType(event.target.value as EditableMapObjectType)}
+          >
+            {(Object.keys(labels) as EditableMapObjectType[]).map((type) => (
+              <option key={type} value={type}>
+                {labels[type]}
+              </option>
+            ))}
+          </Select>
+          <Button
+            disabled={loading}
             onClick={() => {
+              const object = session.add(selectedType);
               setSelected(object.id);
+              refresh();
               onSelectPreview(object.id);
             }}
           >
-            {object.name} · {labels[object.type]}
-            {object.placementMode === 'locked' ? ' · 已锁定' : ''}
-          </button>
-        ))}
-        {!current.objects.length && <div className="text-xs text-text-tertiary">暂无对象</div>}
-      </div>
-      {active && (
-        <div className="space-y-2 rounded border border-border-subtle p-2">
-          <label className="block text-[11px] text-text-secondary">
-            名称
-            <input
-              aria-label="对象名称"
-              className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-              value={active.name}
-              disabled={loading}
-              onChange={(event) => {
-                if (!event.target.value.trim()) return;
-                session.update(active.id, { name: event.target.value });
-                refresh();
-              }}
-            />
-          </label>
-          <label className="block text-[11px] text-text-secondary">
-            放置方式
-            <Select
-              aria-label="对象放置方式"
-              className="mt-1 w-full"
-              value={active.placementMode}
-              disabled={loading}
-              onChange={(event) => {
-                session.update(active.id, {
-                  placementMode: event.target.value as MapObjectPlacementMode,
-                });
-                refresh();
-              }}
-            >
-              {(Object.keys(MAP_OBJECT_PLACEMENT_LABELS) as MapObjectPlacementMode[]).map(
-                (mode) => (
-                  <option key={mode} value={mode}>
-                    {MAP_OBJECT_PLACEMENT_LABELS[mode]}
-                  </option>
-                ),
-              )}
-            </Select>
-            <span className="mt-1 block text-[9px] leading-3.5 text-text-tertiary">
-              {active.placementMode === 'auto_ground'
-                ? '始终将对象底部对齐 z=0。'
-                : active.placementMode === 'gravity'
-                  ? '沿世界 -Z 落到 XY 范围内最高的静态承载面。'
-                  : '保持当前位姿，并禁用位置、旋转及视口变换；名称、尺寸和材质仍可编辑。'}
-            </span>
-          </label>
-          <div className="grid grid-cols-3 gap-2">
-            {active.pose.position.map((value, index) => (
-              <label key={index} className="text-[11px] text-text-secondary">
-                {['X', 'Y', 'Z'][index]}
-                <input
-                  aria-label={`对象位置${['X', 'Y', 'Z'][index]}`}
-                  className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-                  type="number"
-                  step="0.1"
-                  value={value}
-                  disabled={loading || poseLocked || index === 2}
-                  onChange={(event) => updatePosition(index, Number(event.target.value))}
-                />
-              </label>
-            ))}
-          </div>
-          <label className="block text-[11px] text-text-secondary">
-            绕 Z 旋转（°）
-            <input
-              aria-label="对象绕Z旋转"
-              className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-              type="number"
-              step="1"
-              value={Number(yawDegrees(active).toFixed(4))}
-              disabled={loading || poseLocked}
-              onChange={(event) => {
-                const value = Number(event.target.value);
-                if (!Number.isFinite(value)) return;
-                const half = (value * Math.PI) / 360;
-                session.update(active.id, {
-                  pose: { ...active.pose, quaternion: [Math.cos(half), 0, 0, Math.sin(half)] },
-                });
-                refresh();
-              }}
-            />
-          </label>
-          <div className="grid grid-cols-2 gap-2">
-            {Object.entries(active.parameters).map(([key, value]) => (
-              <label key={key} className="text-[11px] text-text-secondary">
-                {key}
-                <input
-                  aria-label={`对象参数${key}`}
-                  className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-                  type="number"
-                  min="0.001"
-                  step={key === 'count' ? 1 : 0.1}
-                  value={value}
-                  disabled={loading}
-                  onChange={(event) => updateParameter(key, Number(event.target.value))}
-                />
-              </label>
-            ))}
-          </div>
-          <div className="rounded border border-border-subtle p-2">
-            <div className="mb-2 text-[10px] font-medium text-text-primary">物理与外观</div>
-            <div className="grid grid-cols-3 gap-2">
-              {active.friction.map((value, index) => (
-                <label key={index} className="text-[10px] text-text-secondary">
-                  {['滑动摩擦', '扭转摩擦', '滚动摩擦'][index]}
-                  <input
-                    aria-label={`对象${['滑动摩擦', '扭转摩擦', '滚动摩擦'][index]}`}
-                    className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-                    type="number"
-                    min="0"
-                    max="5"
-                    step={index === 0 ? 0.05 : 0.0001}
-                    value={value}
-                    disabled={loading}
-                    onChange={(event) => updateFriction(index, Number(event.target.value))}
-                  />
-                </label>
-              ))}
-            </div>
-            <div className="mt-2 grid grid-cols-2 gap-2">
-              <label className="text-[10px] text-text-secondary">
-                颜色
-                <input
-                  aria-label="对象颜色"
-                  className="mt-1 h-7 w-full rounded border border-border-strong bg-input p-0.5"
-                  type="color"
-                  value={`#${active.rgba
-                    .slice(0, 3)
-                    .map((channel) =>
-                      Math.round(Math.min(1, Math.max(0, channel)) * 255)
-                        .toString(16)
-                        .padStart(2, '0'),
-                    )
-                    .join('')}`}
-                  disabled={loading}
-                  onChange={(event) => updateColor(event.target.value)}
-                />
-              </label>
-              <label className="text-[10px] text-text-secondary">
-                不透明度
-                <input
-                  aria-label="对象不透明度"
-                  className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-                  type="number"
-                  min="0"
-                  max="1"
-                  step="0.05"
-                  value={active.rgba[3]}
-                  disabled={loading}
-                  onChange={(event) => {
-                    const alpha = Number(event.target.value);
-                    if (!Number.isFinite(alpha)) return;
-                    session.update(active.id, {
-                      rgba: [
-                        active.rgba[0],
-                        active.rgba[1],
-                        active.rgba[2],
-                        Math.min(1, Math.max(0, alpha)),
-                      ],
-                    });
-                    refresh();
-                  }}
-                />
-              </label>
-            </div>
-          </div>
-          <label className="flex items-center justify-between text-[11px] text-text-secondary">
-            <span>启用对象</span>
-            <input
-              aria-label="启用地图对象"
-              type="checkbox"
-              checked={active.enabled}
-              disabled={loading}
-              onChange={(event) => {
-                session.update(active.id, { enabled: event.target.checked });
-                refresh();
-              }}
-            />
-          </label>
-          <div className="flex flex-wrap gap-2">
-            <Button
-              disabled={loading || poseLocked}
-              onClick={() => {
-                session.update(active.id, {
-                  pose: {
-                    ...active.pose,
-                    position: [
-                      active.pose.position[0],
-                      active.pose.position[1],
-                      editableObjectGroundHeight(active),
-                    ],
-                  },
-                });
-                refresh();
-              }}
-            >
-              对齐地面
-            </Button>
-            <Button
-              disabled={loading}
-              onClick={() => {
-                const copy = session.duplicate(active.id);
-                setSelected(copy.id);
-                refresh();
-                onSelectPreview(copy.id);
-              }}
-            >
-              复制对象
-            </Button>
-            <Button
-              variant="danger"
-              disabled={loading}
-              onClick={() => {
-                session.remove(active.id);
-                setSelected(undefined);
-                refresh();
-                onSelectPreview(null);
-              }}
-            >
-              删除对象
-            </Button>
-          </div>
+            新增
+          </Button>
         </div>
-      )}
+        <div className="max-h-36 space-y-1 overflow-auto" aria-label="地图对象列表">
+          {current.objects.map((object) => (
+            <button
+              key={object.id}
+              type="button"
+              className={`w-full rounded border px-2 py-1 text-left text-xs ${selectedId === object.id ? 'border-accent bg-accent/10' : 'border-border-subtle'}`}
+              onClick={() => {
+                setSelected(object.id);
+                onSelectPreview(object.id);
+              }}
+            >
+              {object.name} · {labels[object.type]}
+              {object.placementMode === 'locked' ? ' · 已锁定' : ''}
+            </button>
+          ))}
+          {!current.objects.length && (
+            <div className="text-xs text-text-tertiary">暂无对象，可从左侧资产库拖入视口</div>
+          )}
+        </div>
+      </section>
 
       <div className="space-y-2 rounded border border-border-subtle p-2">
         <div className="flex items-center justify-between text-xs font-medium text-text-primary">
@@ -585,43 +416,29 @@ export function MapEditorPanel({
             />
             <div className="grid grid-cols-4 gap-1">
               {spawn.position.map((value, index) => (
-                <label key={index} className="text-[10px] text-text-secondary">
-                  {['X', 'Y', 'Z'][index]}
-                  <input
-                    aria-label={`出生点${spawn.id}位置${['X', 'Y', 'Z'][index]}`}
-                    className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-                    type="number"
-                    step="0.1"
-                    value={value}
-                    disabled={loading}
-                    onChange={(event) =>
-                      updateSpawnPosition(
-                        spawn.id,
-                        spawn.position,
-                        index,
-                        Number(event.target.value),
-                      )
-                    }
-                  />
-                </label>
-              ))}
-              <label className="text-[10px] text-text-secondary">
-                Yaw°
-                <input
-                  aria-label={`出生点${spawn.id}朝向`}
-                  className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
-                  type="number"
-                  step="1"
-                  value={spawn.yawDeg}
+                <ScrubbableNumberInput
+                  key={index}
+                  label={['X', 'Y', 'Z'][index]}
+                  aria-label={`出生点${spawn.id}位置${['X', 'Y', 'Z'][index]}`}
+                  value={value}
+                  step={0.1}
                   disabled={loading}
-                  onChange={(event) => {
-                    const value = Number(event.target.value);
-                    if (!Number.isFinite(value)) return;
-                    session.updateSpawn(spawn.id, { yawDeg: value });
-                    refresh();
-                  }}
+                  onValueChange={(next) =>
+                    updateSpawnPosition(spawn.id, spawn.position, index, next)
+                  }
                 />
-              </label>
+              ))}
+              <ScrubbableNumberInput
+                label="Yaw°"
+                aria-label={`出生点${spawn.id}朝向`}
+                value={spawn.yawDeg}
+                step={1}
+                disabled={loading}
+                onValueChange={(yawDeg) => {
+                  session.updateSpawn(spawn.id, { yawDeg });
+                  refresh();
+                }}
+              />
             </div>
             <Button
               variant="danger"
diff --git a/web_platform/src/map/MapObjectInspector.tsx b/web_platform/src/map/MapObjectInspector.tsx
new file mode 100644
index 00000000..c63d66db
--- /dev/null
+++ b/web_platform/src/map/MapObjectInspector.tsx
@@ -0,0 +1,321 @@
+import { Copy, LockKeyhole, Trash2 } from 'lucide-react';
+import { Button, ScrubbableNumberInput, Select } from '../components/ui';
+import { MAP_OBJECT_PLACEMENT_LABELS, type EditableMapObject } from './editor/types';
+
+const PARAMETER_LABELS: Record<string, string> = {
+  sizeX: '尺寸 X（m）',
+  sizeY: '尺寸 Y（m）',
+  sizeZ: '尺寸 Z（m）',
+  radius: '半径（m）',
+  height: '高度（m）',
+  length: '长度（m）',
+  width: '宽度（m）',
+  rise: '抬升（m）',
+  thickness: '厚度（m）',
+  stepDepth: '踏步深度（m）',
+  stepHeight: '踏步高度（m）',
+  count: '踏步数量',
+};
+
+const SURFACE_PRESETS = {
+  standard: {
+    label: '标准防滑材质',
+    rgb: [0.55, 0.6, 0.68] as const,
+    friction: [1, 0.005, 0.0001] as const,
+  },
+  concrete: {
+    label: '混凝土',
+    rgb: [0.55, 0.58, 0.62] as const,
+    friction: [1, 0.005, 0.0001] as const,
+  },
+  rubber: {
+    label: '橡胶',
+    rgb: [0.12, 0.14, 0.16] as const,
+    friction: [1.5, 0.008, 0.0002] as const,
+  },
+  metal: {
+    label: '金属',
+    rgb: [0.42, 0.48, 0.54] as const,
+    friction: [0.45, 0.003, 0.0001] as const,
+  },
+  ice: {
+    label: '低摩擦冰面',
+    rgb: [0.58, 0.82, 0.94] as const,
+    friction: [0.08, 0.001, 0.00001] as const,
+  },
+} as const;
+
+type SurfacePreset = keyof typeof SURFACE_PRESETS;
+
+function close(a: number, b: number): boolean {
+  return Math.abs(a - b) < 0.015;
+}
+
+function selectedSurfacePreset(object: EditableMapObject): SurfacePreset | 'custom' {
+  for (const [key, preset] of Object.entries(SURFACE_PRESETS) as [
+    SurfacePreset,
+    (typeof SURFACE_PRESETS)[SurfacePreset],
+  ][]) {
+    if (
+      preset.rgb.every((channel, index) => close(channel, object.rgba[index])) &&
+      close(preset.friction[0], object.friction[0])
+    )
+      return key;
+  }
+  return 'custom';
+}
+
+function yawDegrees(object: EditableMapObject): number {
+  const [w, x, y, z] = object.pose.quaternion;
+  return (Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)) * 180) / Math.PI;
+}
+
+function colorValue(object: EditableMapObject): string {
+  return `#${object.rgba
+    .slice(0, 3)
+    .map((channel) =>
+      Math.round(Math.min(1, Math.max(0, channel)) * 255)
+        .toString(16)
+        .padStart(2, '0'),
+    )
+    .join('')}`;
+}
+
+function Section({ title, children }: { title: string; children: React.ReactNode }) {
+  return (
+    <section className="engineering-card rounded-lg border p-2.5">
+      <h3 className="mb-2 text-[10px] font-semibold uppercase tracking-[0.12em] text-text-tertiary">
+        {title}
+      </h3>
+      {children}
+    </section>
+  );
+}
+
+export function MapObjectInspector({
+  object,
+  loading,
+  onUpdate,
+  onDuplicate,
+  onDelete,
+}: {
+  object: EditableMapObject;
+  loading: boolean;
+  onUpdate: (patch: Partial<Omit<EditableMapObject, 'id' | 'type'>>) => void;
+  onDuplicate: () => void;
+  onDelete: () => void;
+}) {
+  const poseLocked = object.placementMode === 'locked';
+  const updatePosition = (index: number, value: number) => {
+    if (!Number.isFinite(value)) return;
+    const position = [...object.pose.position] as [number, number, number];
+    position[index] = value;
+    onUpdate({ pose: { ...object.pose, position } });
+  };
+  const updateParameter = (key: string, value: number) => {
+    if (!Number.isFinite(value) || value <= 0) return;
+    onUpdate({
+      parameters: {
+        ...object.parameters,
+        [key]: key === 'count' ? Math.round(value) : value,
+      },
+    });
+  };
+  const updateFriction = (index: number, value: number) => {
+    if (!Number.isFinite(value) || value < 0) return;
+    const friction = [...object.friction] as [number, number, number];
+    friction[index] = value;
+    onUpdate({ friction });
+  };
+
+  return (
+    <div className="space-y-2" aria-label="地图物体检查器">
+      <Section title="对象">
+        <div className="space-y-2">
+          <label className="block text-[11px] text-text-secondary">
+            名称
+            <input
+              aria-label="对象名称"
+              className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-2"
+              value={object.name}
+              disabled={loading}
+              onChange={(event) => {
+                if (event.target.value.trim()) onUpdate({ name: event.target.value });
+              }}
+            />
+          </label>
+          <label className="flex items-center justify-between text-[11px] text-text-secondary">
+            <span>启用碰撞与渲染</span>
+            <input
+              aria-label="启用地图对象"
+              type="checkbox"
+              checked={object.enabled}
+              disabled={loading}
+              onChange={(event) => onUpdate({ enabled: event.target.checked })}
+            />
+          </label>
+        </div>
+      </Section>
+
+      <Section title="位姿">
+        <div className="mb-2 flex items-center justify-between rounded bg-surface/55 px-2 py-1.5 text-[10px] text-text-secondary">
+          <span>{MAP_OBJECT_PLACEMENT_LABELS[object.placementMode]}</span>
+          <span className="flex items-center gap-1 text-text-tertiary">
+            {poseLocked && <LockKeyhole className="h-3 w-3" aria-hidden="true" />}
+            在视口工具条切换
+          </span>
+        </div>
+        <div className="grid grid-cols-3 gap-2">
+          {object.pose.position.map((value, index) => (
+            <ScrubbableNumberInput
+              key={index}
+              label={`${['X', 'Y', 'Z'][index]}（m）`}
+              aria-label={`对象位置${['X', 'Y', 'Z'][index]}`}
+              value={value}
+              step={0.1}
+              disabled={loading || poseLocked || index === 2}
+              onValueChange={(next) => updatePosition(index, next)}
+            />
+          ))}
+        </div>
+        <ScrubbableNumberInput
+          containerClassName="mt-2"
+          label="绕 Z 旋转（°）"
+          aria-label="对象绕Z旋转"
+          value={Number(yawDegrees(object).toFixed(4))}
+          step={1}
+          disabled={loading || poseLocked}
+          onValueChange={(next) => {
+            const half = (next * Math.PI) / 360;
+            onUpdate({
+              pose: {
+                ...object.pose,
+                quaternion: [Math.cos(half), 0, 0, Math.sin(half)],
+              },
+            });
+          }}
+        />
+      </Section>
+
+      <Section title="尺寸">
+        <div className="grid grid-cols-2 gap-2">
+          {Object.entries(object.parameters).map(([key, value]) => (
+            <ScrubbableNumberInput
+              key={key}
+              label={PARAMETER_LABELS[key] ?? key}
+              aria-label={`对象参数${key}`}
+              value={value}
+              min={0.001}
+              step={key === 'count' ? 1 : 0.1}
+              disabled={loading}
+              onValueChange={(next) => updateParameter(key, next)}
+            />
+          ))}
+        </div>
+      </Section>
+
+      <Section title="表面材质">
+        <div className="grid grid-cols-2 gap-2">
+          <label className="text-[10px] text-text-secondary">
+            材质预设
+            <Select
+              aria-label="对象表面材质"
+              className="mt-1 w-full"
+              value={selectedSurfacePreset(object)}
+              disabled={loading}
+              onChange={(event) => {
+                if (event.target.value === 'custom') return;
+                const preset = SURFACE_PRESETS[event.target.value as SurfacePreset];
+                onUpdate({
+                  rgba: [...preset.rgb, object.rgba[3]],
+                  friction: [...preset.friction],
+                });
+              }}
+            >
+              <option value="custom">自定义</option>
+              {(
+                Object.entries(SURFACE_PRESETS) as [
+                  SurfacePreset,
+                  (typeof SURFACE_PRESETS)[SurfacePreset],
+                ][]
+              ).map(([value, preset]) => (
+                <option key={value} value={value}>
+                  {preset.label}
+                </option>
+              ))}
+            </Select>
+          </label>
+          <label className="text-[10px] text-text-secondary">
+            表面颜色
+            <input
+              aria-label="对象颜色"
+              className="mt-1 h-7 w-full rounded border border-border-strong bg-input p-0.5"
+              type="color"
+              value={colorValue(object)}
+              disabled={loading}
+              onChange={(event) => {
+                const value = event.target.value;
+                if (!/^#[0-9a-f]{6}$/i.test(value)) return;
+                onUpdate({
+                  rgba: [
+                    Number.parseInt(value.slice(1, 3), 16) / 255,
+                    Number.parseInt(value.slice(3, 5), 16) / 255,
+                    Number.parseInt(value.slice(5, 7), 16) / 255,
+                    object.rgba[3],
+                  ],
+                });
+              }}
+            />
+          </label>
+        </div>
+        <ScrubbableNumberInput
+          containerClassName="mt-2"
+          label="不透明度"
+          aria-label="对象不透明度"
+          value={object.rgba[3]}
+          min={0}
+          max={1}
+          step={0.05}
+          disabled={loading}
+          onValueChange={(alpha) =>
+            onUpdate({
+              rgba: [object.rgba[0], object.rgba[1], object.rgba[2], alpha],
+            })
+          }
+        />
+      </Section>
+
+      <Section title="摩擦力">
+        <div className="grid grid-cols-3 gap-2">
+          {object.friction.map((value, index) => (
+            <ScrubbableNumberInput
+              key={index}
+              label={['滑动', '扭转', '滚动'][index]}
+              aria-label={`对象${['滑动摩擦', '扭转摩擦', '滚动摩擦'][index]}`}
+              value={value}
+              min={0}
+              max={5}
+              step={index === 0 ? 0.05 : 0.0001}
+              disabled={loading}
+              onValueChange={(next) => updateFriction(index, next)}
+            />
+          ))}
+        </div>
+      </Section>
+
+      <div className="grid grid-cols-2 gap-2">
+        <Button disabled={loading} icon={<Copy className="h-3 w-3" />} onClick={onDuplicate}>
+          复制对象
+        </Button>
+        <Button
+          variant="danger"
+          disabled={loading}
+          icon={<Trash2 className="h-3 w-3" />}
+          onClick={onDelete}
+        >
+          删除对象
+        </Button>
+      </div>
+    </div>
+  );
+}
diff --git a/web_platform/src/map/MapTransformToolbar.tsx b/web_platform/src/map/MapTransformToolbar.tsx
deleted file mode 100644
index 932b380c..00000000
--- a/web_platform/src/map/MapTransformToolbar.tsx
+++ /dev/null
@@ -1,64 +0,0 @@
-import { Button } from '../components/ui';
-import type { MapEditorTransformMode } from './editor/types';
-
-export function MapTransformToolbar({
-  mode,
-  snapping,
-  loading,
-  allowScale = true,
-  hint,
-  onModeChange,
-  onSnappingChange,
-}: {
-  mode: MapEditorTransformMode;
-  snapping: boolean;
-  loading: boolean;
-  allowScale?: boolean;
-  hint: string;
-  onModeChange: (mode: MapEditorTransformMode) => void;
-  onSnappingChange: (value: boolean) => void;
-}) {
-  return (
-    <div
-      className="grid grid-cols-3 gap-2 rounded border border-border-subtle p-2"
-      aria-label="视口选择与变换"
-    >
-      <Button
-        variant={mode === 'translate' ? 'primary' : 'secondary'}
-        aria-pressed={mode === 'translate'}
-        disabled={loading}
-        onClick={() => onModeChange('translate')}
-      >
-        移动工具 W
-      </Button>
-      <Button
-        variant={mode === 'rotate' ? 'primary' : 'secondary'}
-        aria-pressed={mode === 'rotate'}
-        disabled={loading}
-        onClick={() => onModeChange('rotate')}
-      >
-        旋转工具 E
-      </Button>
-      <Button
-        variant={mode === 'scale' ? 'primary' : 'secondary'}
-        aria-pressed={mode === 'scale'}
-        disabled={loading || !allowScale}
-        title={allowScale ? undefined : '参数地形请通过尺寸参数调整大小'}
-        onClick={() => onModeChange('scale')}
-      >
-        缩放工具 S
-      </Button>
-      <label className="col-span-3 flex items-center justify-between text-[11px] text-text-secondary">
-        <span>吸附（移动 0.1 m / 旋转 5°）</span>
-        <input
-          aria-label="地图编辑吸附"
-          type="checkbox"
-          checked={snapping}
-          disabled={loading}
-          onChange={(event) => onSnappingChange(event.target.checked)}
-        />
-      </label>
-      <p className="col-span-3 text-[10px] leading-relaxed text-text-tertiary">{hint}</p>
-    </div>
-  );
-}
diff --git a/web_platform/src/map/PhysicalMapPanel.test.tsx b/web_platform/src/map/PhysicalMapPanel.test.tsx
index c84c858a..487b8d16 100644
--- a/web_platform/src/map/PhysicalMapPanel.test.tsx
+++ b/web_platform/src/map/PhysicalMapPanel.test.tsx
@@ -17,8 +17,7 @@ const common = {
   onEditorConvert: async () => true,
   onEditorBindInteraction: () => {},
   onEditorSelect: () => {},
-  onEditorTransformMode: () => {},
-  onEditorSnapping: () => {},
+  onEditorSessionStateChange: () => {},
   onMapDisplay: () => {},
   onDraft: () => {},
 };
@@ -88,25 +87,16 @@ describe('PhysicalMapPanel', () => {
     });
   });
 
-  it('参数地形与认证资产共用视口变换界面', () => {
-    const onTransformMode = vi.fn();
-    const onSnapping = vi.fn();
+  it('参数地形属性不再承载视口变换工具', () => {
     render(
       <PhysicalMapPanel
         {...common}
         value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'rough' } }}
-        onEditorTransformMode={onTransformMode}
-        onEditorSnapping={onSnapping}
         onApply={() => {}}
       />,
     );
-    expect(screen.getByLabelText('视口选择与变换')).toBeInTheDocument();
-    expect(screen.getByText(/点击空白区域取消选择/)).toBeInTheDocument();
-    expect(screen.getByRole('button', { name: '缩放工具 S' })).toBeDisabled();
-    fireEvent.click(screen.getByRole('button', { name: '旋转工具 E' }));
-    expect(onTransformMode).toHaveBeenLastCalledWith('rotate');
-    fireEvent.click(screen.getByLabelText('地图编辑吸附'));
-    expect(onSnapping).toHaveBeenLastCalledWith(null, null);
+    expect(screen.queryByLabelText('地图变换模式')).not.toBeInTheDocument();
+    expect(screen.getByText(/已统一到视口浮动工具条/)).toBeInTheDocument();
   });
 
   it('表单参数与外部视口变换合并到同一份草稿', () => {
diff --git a/web_platform/src/map/PhysicalMapPanel.tsx b/web_platform/src/map/PhysicalMapPanel.tsx
index 92c460f1..963b8f65 100644
--- a/web_platform/src/map/PhysicalMapPanel.tsx
+++ b/web_platform/src/map/PhysicalMapPanel.tsx
@@ -1,5 +1,5 @@
-import { useEffect, useState } from 'react';
-import { Button, Select } from '../components/ui';
+import { useState } from 'react';
+import { Button, ScrubbableNumberInput, Select } from '../components/ui';
 import type { MapEntry } from '../project/types';
 import {
   DEFAULT_PHYSICAL_MAP_CONFIG,
@@ -15,10 +15,9 @@ import { normalizePhysicalMapConfig } from './physicalMap';
 import type {
   EditableMapDocument,
   MapEditorInteractionCallbacks,
-  MapEditorTransformMode,
+  MapEditorSessionState,
 } from './editor/types';
 import { MapEditorPanel } from './MapEditorPanel';
-import { MapTransformToolbar } from './MapTransformToolbar';
 
 function NumberField({
   label,
@@ -38,19 +37,15 @@ function NumberField({
   onChange: (value: number) => void;
 }) {
   return (
-    <label className="block text-xs text-text-secondary">
-      <span className="mb-1 block">{label}</span>
-      <input
-        type="number"
-        className="h-8 w-full rounded border border-border-strong bg-input px-2 text-xs text-text-primary outline-none focus:border-accent focus:ring-2 focus:ring-accent/20 disabled:cursor-not-allowed disabled:opacity-50"
-        value={value}
-        min={min}
-        max={max}
-        step={step}
-        disabled={disabled}
-        onChange={(event) => onChange(Number(event.target.value))}
-      />
-    </label>
+    <ScrubbableNumberInput
+      label={label}
+      value={value}
+      min={min}
+      max={max}
+      step={step}
+      disabled={disabled}
+      onValueChange={onChange}
+    />
   );
 }
 
@@ -87,10 +82,10 @@ export function PhysicalMapPanel({
   onEditorApply,
   onEditorExport,
   onEditorConvert,
+  selectedEditorObjectId,
   onEditorBindInteraction,
   onEditorSelect,
-  onEditorTransformMode,
-  onEditorSnapping,
+  onEditorSessionStateChange,
   onEditorSurfaceHeight,
   onMapDisplay,
   onDraft,
@@ -115,28 +110,24 @@ export function PhysicalMapPanel({
   onEditorApply: (document: EditableMapDocument) => Promise<boolean>;
   onEditorExport: () => void;
   onEditorConvert: () => Promise<boolean>;
+  selectedEditorObjectId?: string;
   onEditorBindInteraction: (callbacks: MapEditorInteractionCallbacks | null) => void;
   onEditorSelect: (id: string | null) => void;
-  onEditorTransformMode: (mode: MapEditorTransformMode) => void;
-  onEditorSnapping: (translation: number | null, rotationDegrees: number | null) => void;
+  onEditorSessionStateChange?: (
+    descriptorPath: string,
+    state: MapEditorSessionState | null,
+  ) => void;
   onEditorSurfaceHeight?: (position: readonly [number, number, number]) => number | null;
   onMapDisplay: (visual: boolean, collision: boolean) => void;
   onDraft: (value: PlacedMapSelection) => void;
   onApply: (value: MapSelection) => void;
 }) {
   const [draft, setDraft] = useState<MapSelection>(value),
-    [previousValue, setPreviousValue] = useState(value),
-    [terrainTransformMode, setTerrainTransformMode] = useState<MapEditorTransformMode>('translate'),
-    [terrainSnapping, setTerrainSnapping] = useState(true);
+    [previousValue, setPreviousValue] = useState(value);
   if (previousValue !== value) {
     setPreviousValue(value);
     setDraft(value);
   }
-  useEffect(() => {
-    if (draft.kind !== 'builtin') return;
-    onEditorTransformMode(terrainTransformMode);
-    onEditorSnapping(terrainSnapping ? 0.1 : null, terrainSnapping ? 5 : null);
-  }, [draft.kind, terrainTransformMode, terrainSnapping, onEditorTransformMode, onEditorSnapping]);
   const normalized = normalizeSelection(draft);
   const changed = JSON.stringify(normalized) !== JSON.stringify(normalizeSelection(value));
   const compileDisabled = loading || (nativeUrdf && normalized.kind !== 'none');
@@ -187,6 +178,37 @@ export function PhysicalMapPanel({
       });
     }
   };
+  const editorPanel =
+    draft.kind === 'project' &&
+    draft.descriptorPath === (value.kind === 'project' ? value.descriptorPath : '') ? (
+      <div className="space-y-2 rounded border border-border-subtle p-3">
+        <div className="text-xs font-medium text-text-primary">
+          {selectedEditorObjectId ? '选中物体属性' : '认证资产与场景对象属性'}
+        </div>
+        <p className="text-[10px] leading-relaxed text-text-tertiary">
+          {selectedEditorObjectId
+            ? '尺寸、位姿、表面材质与摩擦力会实时写入 MapEditSession 草稿。'
+            : '此处编辑地图源内容；同源实例共享内容，实例位姿彼此独立。'}
+        </p>
+        <MapEditorPanel
+          document={editorDocument}
+          draftDocument={editorDraftDocument}
+          descriptorPath={draft.descriptorPath}
+          loading={loading}
+          onPreview={onEditorPreview}
+          onDraftChange={onEditorDraftChange}
+          onApply={onEditorApply}
+          onExport={onEditorExport}
+          onConvert={onEditorConvert}
+          canConvert={Boolean(projectMap?.physicsPath)}
+          selectedObjectId={selectedEditorObjectId}
+          onBindInteraction={onEditorBindInteraction}
+          onSelectPreview={onEditorSelect}
+          onSessionStateChange={onEditorSessionStateChange}
+          onSurfaceHeight={onEditorSurfaceHeight}
+        />
+      </div>
+    ) : null;
 
   if (value.kind === 'none' && draft.kind === 'none')
     return (
@@ -245,6 +267,8 @@ export function PhysicalMapPanel({
         </p>
       </div>
 
+      {editorPanel}
+
       <label className="block text-xs text-text-secondary">
         <span className="mb-1 block">地图来源</span>
         <Select
@@ -267,15 +291,9 @@ export function PhysicalMapPanel({
       {draft.kind === 'builtin' && (
         <>
           <div className="text-xs font-medium text-text-primary">参数地形属性</div>
-          <MapTransformToolbar
-            mode={terrainTransformMode}
-            snapping={terrainSnapping}
-            loading={loading}
-            allowScale={false}
-            hint="在视口点击参数地形后拖动操纵轴；点击空白区域取消选择。移动和旋转先进入草稿，确认后再编译。"
-            onModeChange={setTerrainTransformMode}
-            onSnappingChange={setTerrainSnapping}
-          />
+          <p className="rounded border border-border-subtle bg-panel-muted/50 p-2 text-[10px] leading-relaxed text-text-tertiary">
+            移动、旋转与网格吸附已统一到视口浮动工具条；尺寸继续通过下方参数精确调整。
+          </p>
           <label className="block text-xs text-text-secondary">
             <span className="mb-1 block">地图预设</span>
             <Select
@@ -558,33 +576,6 @@ export function PhysicalMapPanel({
         </div>
       )}
 
-      {draft.kind === 'project' &&
-        draft.descriptorPath === (value.kind === 'project' ? value.descriptorPath : '') && (
-          <div className="space-y-2 rounded border border-border-subtle p-3">
-            <div className="text-xs font-medium text-text-primary">认证资产与场景对象属性</div>
-            <p className="text-[10px] leading-relaxed text-text-tertiary">
-              此处编辑地图源内容；场景中引用同一来源的实例会同步更新，实例位姿彼此独立。
-            </p>
-            <MapEditorPanel
-              document={editorDocument}
-              draftDocument={editorDraftDocument}
-              descriptorPath={draft.descriptorPath}
-              loading={loading}
-              onPreview={onEditorPreview}
-              onDraftChange={onEditorDraftChange}
-              onApply={onEditorApply}
-              onExport={onEditorExport}
-              onConvert={onEditorConvert}
-              canConvert={Boolean(projectMap?.physicsPath)}
-              onBindInteraction={onEditorBindInteraction}
-              onSelectPreview={onEditorSelect}
-              onTransformMode={onEditorTransformMode}
-              onSnapping={onEditorSnapping}
-              onSurfaceHeight={onEditorSurfaceHeight}
-            />
-          </div>
-        )}
-
       <div className="space-y-2 rounded border border-border-subtle p-3 text-xs text-text-secondary">
         <label className="flex items-center justify-between gap-3">
           <span>显示视觉地图</span>
diff --git a/web_platform/src/map/editor/MapEditSession.ts b/web_platform/src/map/editor/MapEditSession.ts
index b3956e1b..24ff5042 100644
--- a/web_platform/src/map/editor/MapEditSession.ts
+++ b/web_platform/src/map/editor/MapEditSession.ts
@@ -41,6 +41,12 @@ export class MapEditSession {
   get dirty(): boolean {
     return JSON.stringify(this.current) !== JSON.stringify(this.saved);
   }
+  /**
+   * 会话内可撤销操作数。恢复自持久化草稿时历史栈为空，但仍至少记为一项改动。
+   */
+  get changeCount(): number {
+    return this.dirty ? Math.max(1, this.undoStack.length) : 0;
+  }
   get canUndo(): boolean {
     return this.undoStack.length > 0;
   }
diff --git a/web_platform/src/map/editor/editor.test.ts b/web_platform/src/map/editor/editor.test.ts
index 3b23f1e8..8223d3f4 100644
--- a/web_platform/src/map/editor/editor.test.ts
+++ b/web_platform/src/map/editor/editor.test.ts
@@ -73,7 +73,9 @@ describe('地图 V3 编辑核心', () => {
     const session = new MapEditSession(document());
     const object = session.add('box');
     expect(session.dirty).toBe(true);
+    expect(session.changeCount).toBe(1);
     session.update(object.id, { name: '墙' });
+    expect(session.changeCount).toBe(2);
     expect(session.document.objects[0].name).toBe('墙');
     const copy = session.duplicate(object.id);
     expect(copy).toMatchObject({ name: '墙 副本', pose: { position: [0.2, 0.2, 0.5] } });
@@ -95,6 +97,7 @@ describe('地图 V3 编辑核心', () => {
     expect(session.document.spawnPoints).toHaveLength(1);
     session.discard();
     expect(session.dirty).toBe(false);
+    expect(session.changeCount).toBe(0);
   });
 
   it('重新挂载时恢复未提交草稿并保持 dirty', () => {
@@ -103,6 +106,7 @@ describe('地图 V3 编辑核心', () => {
     draft.objects.push(createEditableObject('box', 'pending_box'));
     const session = new MapEditSession(saved, draft);
     expect(session.dirty).toBe(true);
+    expect(session.changeCount).toBe(1);
     expect(session.document.objects[0].id).toBe('pending_box');
     session.discard();
     expect(session.dirty).toBe(false);
diff --git a/web_platform/src/map/editor/types.ts b/web_platform/src/map/editor/types.ts
index ba65ea45..b3bdc74b 100644
--- a/web_platform/src/map/editor/types.ts
+++ b/web_platform/src/map/editor/types.ts
@@ -21,6 +21,16 @@ export interface MapEditorTransform {
   scale: [number, number, number];
 }
 
+export interface MapEditorSessionState {
+  dirty: boolean;
+  changeCount: number;
+  canUndo: boolean;
+  canRedo: boolean;
+}
+
+/**
+ * 视口与 MapEditSession 之间的命令端口。视口层只发送意图，不直接修改地图文档。
+ */
 export interface MapEditorInteractionCallbacks {
   onSelect(id: string | null): void;
   onTransform(transform: MapEditorTransform): void;
@@ -30,6 +40,10 @@ export interface MapEditorInteractionCallbacks {
     placementMode?: MapObjectPlacementMode,
     externalSupportTop?: number,
   ): void;
+  onSetPlacementMode(id: string, mode: MapObjectPlacementMode): void;
+  onAlignToSurface(id: string): void;
+  onDelete(id: string): void;
+  onDiscard(): void;
 }
 
 export interface EditableMapObject {
diff --git a/web_platform/src/project/ModelStructureTree.tsx b/web_platform/src/project/ModelStructureTree.tsx
index 02f6ea02..7f93d119 100644
--- a/web_platform/src/project/ModelStructureTree.tsx
+++ b/web_platform/src/project/ModelStructureTree.tsx
@@ -36,12 +36,20 @@ function BodyBranch({
   node,
   depth,
   onJointHover,
+  onSelectBody,
+  onSelectJoint,
+  selectedBodyId,
+  selectedJointId,
   searching,
   query,
 }: {
   node: BodyNode;
   depth: number;
   onJointHover: (jointId: number | null) => void;
+  onSelectBody?: (bodyId: number) => void;
+  onSelectJoint?: (joint: JointInfo) => void;
+  selectedBodyId?: number;
+  selectedJointId?: number;
   searching: boolean;
   query: string;
 }) {
@@ -60,11 +68,15 @@ function BodyBranch({
           <summary
             role="treeitem"
             aria-expanded={shownOpen}
+            aria-selected={selectedBodyId === node.id}
             tabIndex={0}
             onClick={(event) => {
+              onSelectBody?.(node.id);
               if (searching) event.preventDefault();
             }}
-            className="flex cursor-pointer select-none items-center gap-1.5 truncate rounded px-1.5 py-1 text-xs text-text-secondary hover:bg-element-hover focus-visible:ring-2 focus-visible:ring-accent/30"
+            className={`flex cursor-pointer select-none items-center gap-1.5 truncate rounded px-1.5 py-1 text-xs hover:bg-element-hover focus-visible:ring-2 focus-visible:ring-accent/30 ${
+              selectedBodyId === node.id ? 'bg-accent-soft text-accent' : 'text-text-secondary'
+            }`}
           >
             <Box aria-hidden="true" className="h-3.5 w-3.5 shrink-0 text-accent" />
             <span className="truncate">
@@ -74,10 +86,14 @@ function BodyBranch({
           <ul role="group" className="ml-3 border-l border-border pl-1">
             {node.joints.map((joint) => (
               <li role="none" key={joint.id}>
-                <span
+                <button
+                  type="button"
                   role="treeitem"
-                  tabIndex={0}
-                  className="flex cursor-default items-center gap-1.5 truncate rounded px-1.5 py-1 text-xs text-warning hover:bg-warning-soft focus:bg-warning-soft focus:outline-none focus-visible:ring-2 focus-visible:ring-accent/30"
+                  aria-selected={selectedJointId === joint.id}
+                  className={`flex w-full items-center gap-1.5 truncate rounded px-1.5 py-1 text-left text-xs text-warning hover:bg-warning-soft focus:bg-warning-soft focus:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 ${
+                    selectedJointId === joint.id ? 'bg-warning-soft' : ''
+                  }`}
+                  onClick={() => onSelectJoint?.(joint)}
                   onMouseEnter={() => onJointHover(joint.id)}
                   onMouseLeave={() => onJointHover(null)}
                   onFocus={() => onJointHover(joint.id)}
@@ -86,7 +102,7 @@ function BodyBranch({
                 >
                   <Disc3 aria-hidden="true" className="h-3.5 w-3.5 shrink-0" />
                   <SearchHighlight text={joint.name} query={query} />
-                </span>
+                </button>
               </li>
             ))}
             {node.children.map((child) => (
@@ -95,6 +111,10 @@ function BodyBranch({
                 node={child}
                 depth={depth + 1}
                 onJointHover={onJointHover}
+                onSelectBody={onSelectBody}
+                onSelectJoint={onSelectJoint}
+                selectedBodyId={selectedBodyId}
+                selectedJointId={selectedJointId}
                 searching={searching}
                 query={query}
               />
@@ -102,14 +122,20 @@ function BodyBranch({
           </ul>
         </details>
       ) : (
-        <div
+        <button
+          type="button"
           role="treeitem"
-          tabIndex={0}
-          className="flex items-center gap-1.5 truncate rounded px-1.5 py-1 text-xs text-text-secondary focus-visible:ring-2 focus-visible:ring-accent/30"
+          aria-selected={selectedBodyId === node.id}
+          className={`flex w-full items-center gap-1.5 truncate rounded px-1.5 py-1 text-left text-xs focus-visible:ring-2 focus-visible:ring-accent/30 ${
+            selectedBodyId === node.id
+              ? 'bg-accent-soft text-accent'
+              : 'text-text-secondary hover:bg-element-hover'
+          }`}
+          onClick={() => onSelectBody?.(node.id)}
         >
           <Box aria-hidden="true" className="h-3.5 w-3.5 shrink-0 text-accent" />
           <SearchHighlight text={node.name} query={query} />
-        </div>
+        </button>
       )}
     </li>
   );
@@ -169,11 +195,19 @@ export function ModelStructureTree({
   bodies,
   joints,
   onJointHover,
+  onSelectBody,
+  onSelectJoint,
+  selectedBodyId,
+  selectedJointId,
   query = '',
 }: {
   bodies: BodyInfo[];
   joints: JointInfo[];
   onJointHover: (jointId: number | null) => void;
+  onSelectBody?: (bodyId: number) => void;
+  onSelectJoint?: (joint: JointInfo) => void;
+  selectedBodyId?: number;
+  selectedJointId?: number;
   query?: string;
 }) {
   const normalized = query.trim().toLocaleLowerCase(),
@@ -211,8 +245,12 @@ export function ModelStructureTree({
           renderRow={(item) =>
             item.kind === 'body' ? (
               <div
+                aria-selected={selectedBodyId === item.body.id}
+                onClick={() => onSelectBody?.(item.body.id)}
                 onDoubleClick={() => toggle(item)}
-                className="flex h-full items-center gap-1.5 px-1.5 text-xs text-text-secondary"
+                className={`flex h-full items-center gap-1.5 px-1.5 text-xs ${
+                  selectedBodyId === item.body.id ? 'text-accent' : 'text-text-secondary'
+                }`}
                 style={{ paddingLeft: item.depth * 12 + 6 }}
               >
                 <Box className="h-3.5 w-3.5 text-accent" />
@@ -220,8 +258,12 @@ export function ModelStructureTree({
               </div>
             ) : (
               <div
-                className="flex h-full items-center gap-1.5 px-1.5 text-xs text-warning"
+                aria-selected={selectedJointId === item.joint.id}
+                className={`flex h-full items-center gap-1.5 px-1.5 text-xs text-warning ${
+                  selectedJointId === item.joint.id ? 'bg-warning-soft' : ''
+                }`}
                 style={{ paddingLeft: item.depth * 12 + 6 }}
+                onClick={() => onSelectJoint?.(item.joint)}
                 onMouseEnter={() => onJointHover(item.joint.id)}
                 onMouseLeave={() => onJointHover(null)}
               >
@@ -244,6 +286,10 @@ export function ModelStructureTree({
               node={root}
               depth={0}
               onJointHover={onJointHover}
+              onSelectBody={onSelectBody}
+              onSelectJoint={onSelectJoint}
+              selectedBodyId={selectedBodyId}
+              selectedJointId={selectedJointId}
               searching={Boolean(normalized)}
               query={query}
             />
diff --git a/web_platform/src/project/importer.test.ts b/web_platform/src/project/importer.test.ts
index bf8d8285..45788952 100644
--- a/web_platform/src/project/importer.test.ts
+++ b/web_platform/src/project/importer.test.ts
@@ -2,6 +2,7 @@ import { zipSync } from 'fflate';
 import {
   choosePreferredEntry,
   discoverEntries,
+  filesFromDrop,
   importBrowserFiles,
   normalizeProjectPath,
   prepareProjectForMujoco,
@@ -35,6 +36,30 @@ describe('project importer', () => {
     expect(entries).toHaveLength(3);
     expect(choosePreferredEntry(entries)).toBe('model.xml');
   });
+  it('通过现代文件系统句柄递归读取拖入的文件夹', async () => {
+    const model = new File(['<mujoco/>'], 'model.xml', { type: 'text/xml' });
+    const fileHandle = {
+      kind: 'file',
+      name: 'model.xml',
+      getFile: async () => model,
+    };
+    const directoryHandle = {
+      kind: 'directory',
+      name: 'robot',
+      async *values() {
+        yield fileHandle;
+      },
+    };
+    const items = [
+      {
+        kind: 'file',
+        getAsFileSystemHandle: async () => directoryHandle,
+      },
+    ] as unknown as DataTransferItemList;
+    const files = await filesFromDrop(items, [] as unknown as FileList);
+    expect(files).toHaveLength(1);
+    expect(files[0].webkitRelativePath).toBe('robot/model.xml');
+  });
   it('异步解压 ZIP、保留二进制数据并报告阶段进度', async () => {
     const zipped = zipSync({
       'robot/model.urdf': encode('<robot name="r"/>'),
diff --git a/web_platform/src/project/importer.ts b/web_platform/src/project/importer.ts
index 09bdd6a3..ada20b68 100644
--- a/web_platform/src/project/importer.ts
+++ b/web_platform/src/project/importer.ts
@@ -427,6 +427,29 @@ export async function importBrowserFiles(
   return manifest(files[0].path.split('/')[0] || '工程', files);
 }
 
+interface DroppedFileSystemHandle {
+  kind: 'file' | 'directory';
+  name: string;
+  getFile?: () => Promise<File>;
+  values?: () => AsyncIterableIterator<DroppedFileSystemHandle>;
+}
+
+async function readFileSystemHandle(handle: DroppedFileSystemHandle, prefix = ''): Promise<File[]> {
+  if (handle.kind === 'file' && handle.getFile) {
+    const file = await handle.getFile();
+    Object.defineProperty(file, 'webkitRelativePath', {
+      configurable: true,
+      value: `${prefix}${file.name}`,
+    });
+    return [file];
+  }
+  if (handle.kind !== 'directory' || !handle.values) return [];
+  const files: File[] = [];
+  for await (const child of handle.values())
+    files.push(...(await readFileSystemHandle(child, `${prefix}${handle.name}/`)));
+  return files;
+}
+
 interface LegacyEntry {
   isFile: boolean;
   isDirectory: boolean;
@@ -464,7 +487,27 @@ export async function filesFromDrop(
   items: DataTransferItemList,
   fallback: FileList,
 ): Promise<File[]> {
-  const entries = Array.from(items)
+  const fileItems = Array.from(items).filter((item) => item.kind === 'file');
+  const handleRequests = fileItems
+    .map((item) => {
+      const getter = (
+        item as unknown as {
+          getAsFileSystemHandle?: () => Promise<DroppedFileSystemHandle | null>;
+        }
+      ).getAsFileSystemHandle;
+      return getter?.call(item);
+    })
+    .filter((request): request is Promise<DroppedFileSystemHandle | null> => Boolean(request));
+  if (handleRequests.length > 0 && handleRequests.length === fileItems.length) {
+    const settled = await Promise.allSettled(handleRequests);
+    const handles = settled.flatMap((result) =>
+      result.status === 'fulfilled' && result.value ? [result.value] : [],
+    );
+    if (handles.length === fileItems.length)
+      return (await Promise.all(handles.map((handle) => readFileSystemHandle(handle)))).flat();
+  }
+
+  const entries = fileItems
     .map(
       (item) =>
         (item as unknown as { webkitGetAsEntry?: () => LegacyEntry | null }).webkitGetAsEntry?.() ??
diff --git a/web_platform/src/simulation/ActuatorControl.tsx b/web_platform/src/simulation/ActuatorControl.tsx
index 56147418..d27fce92 100644
--- a/web_platform/src/simulation/ActuatorControl.tsx
+++ b/web_platform/src/simulation/ActuatorControl.tsx
@@ -1,5 +1,5 @@
 import type { ActuatorInfo, ActuatorParameters } from './SimulationSession';
-import { Badge } from '../components/ui';
+import { Badge, ScrubbableNumberInput } from '../components/ui';
 
 export function ActuatorControl({
   actuator,
@@ -187,25 +187,15 @@ function ParameterInput({
   disabled?: boolean;
 }) {
   return (
-    <label className="block text-[10px] text-text-tertiary">
-      <span className="mb-1 block truncate">{label}</span>
-      <input
-        key={value}
-        type="number"
-        step="any"
-        defaultValue={Number.isFinite(value) ? value : 0}
-        disabled={disabled}
-        className="field h-7 w-full px-2 text-xs text-text-primary disabled:opacity-40"
-        onBlur={(event) => {
-          const next = Number(event.currentTarget.value);
-          if (Number.isFinite(next) && next !== value) onCommit(next);
-          else event.currentTarget.value = String(value);
-        }}
-        onKeyDown={(event) => {
-          if (event.key === 'Enter') event.currentTarget.blur();
-        }}
-      />
-    </label>
+    <ScrubbableNumberInput
+      label={label}
+      value={Number.isFinite(value) ? value : 0}
+      step={Math.max(0.001, Math.abs(value) * 0.01)}
+      disabled={disabled}
+      onValueChange={(next) => {
+        if (next !== value) onCommit(next);
+      }}
+    />
   );
 }
 function ParameterToggle({
diff --git a/web_platform/src/simulation/RobotInspector.tsx b/web_platform/src/simulation/RobotInspector.tsx
new file mode 100644
index 00000000..28894e8e
--- /dev/null
+++ b/web_platform/src/simulation/RobotInspector.tsx
@@ -0,0 +1,327 @@
+import type { ReactNode } from 'react';
+import { Box, Disc3, Info } from 'lucide-react';
+import type { ModelEntry } from '../project/types';
+import type { UrdfBaseMode, UrdfLoadMode } from './PhysicsAdapter';
+import type { ViewerSelection } from '../viewer/MuJoCoViewer';
+import {
+  Badge,
+  Button,
+  CollapsibleSection,
+  CopyButton,
+  PropertyRow,
+  Select,
+} from '../components/ui';
+import { ActuatorControl, Check, ControlSlider } from './ActuatorControl';
+import type {
+  ActuatorParameters,
+  BodyInfo,
+  JointInfo,
+  SimulationSnapshot,
+} from './SimulationSession';
+
+const JOINT_TYPE_LABELS: Record<number, string> = {
+  0: 'Free',
+  1: 'Ball',
+  2: 'Slide',
+  3: 'Hinge',
+};
+
+export function InspectorIdentity({
+  icon,
+  eyebrow,
+  name,
+  meta,
+}: {
+  icon: ReactNode;
+  eyebrow: string;
+  name: string;
+  meta?: string;
+}) {
+  return (
+    <header className="flex items-center gap-3 border-b border-border bg-surface/70 px-3 py-3">
+      <span className="grid h-9 w-9 shrink-0 place-items-center rounded-lg border border-border-subtle bg-panel-muted text-accent [&>svg]:h-4 [&>svg]:w-4">
+        {icon}
+      </span>
+      <div className="min-w-0 flex-1">
+        <div className="text-[10px] font-medium uppercase tracking-wider text-text-tertiary">
+          {eyebrow}
+        </div>
+        <div className="truncate text-sm font-semibold text-text-primary" title={name}>
+          {name}
+        </div>
+        {meta && <div className="mt-0.5 truncate text-[10px] text-text-tertiary">{meta}</div>}
+      </div>
+    </header>
+  );
+}
+
+export function ModelSummaryInspector({
+  snapshot,
+  selectedFormat,
+  loading,
+  urdfMode,
+  baseMode,
+  showCollision,
+  onUrdfMode,
+  onBaseMode,
+  onShowCollision,
+}: {
+  snapshot: SimulationSnapshot;
+  selectedFormat?: ModelEntry['format'];
+  loading: boolean;
+  urdfMode: UrdfLoadMode;
+  baseMode: UrdfBaseMode;
+  showCollision: boolean;
+  onUrdfMode: (value: UrdfLoadMode) => void;
+  onBaseMode: (value: UrdfBaseMode) => void;
+  onShowCollision: (value: boolean) => void;
+}) {
+  return (
+    <>
+      <InspectorIdentity
+        icon={<Info />}
+        eyebrow="场景"
+        name="未选择对象"
+        meta="从场景大纲或视口选择 Body、Joint 或地图物体"
+      />
+      <CollapsibleSection
+        title="模型摘要"
+        defaultOpen
+        badge={<Badge>{snapshot.model.nbody} Body</Badge>}
+      >
+        <PropertyRow label="Body" value={snapshot.model.nbody} />
+        <PropertyRow label="Joint" value={snapshot.model.njnt} />
+        <PropertyRow label="Geom" value={snapshot.model.ngeom} />
+        <PropertyRow label="Actuator" value={snapshot.model.nactuator} />
+        <PropertyRow label="qpos / qvel" value={`${snapshot.model.nq} / ${snapshot.model.nv}`} />
+      </CollapsibleSection>
+      {selectedFormat === 'urdf' && (
+        <CollapsibleSection title="URDF 导入设置" defaultOpen>
+          <Select
+            aria-label="URDF 处理方式"
+            className="w-full"
+            value={urdfMode}
+            disabled={loading}
+            onChange={(event) => onUrdfMode(event.target.value as UrdfLoadMode)}
+          >
+            <option value="mjcf">转换为 MJCF（推荐）</option>
+            <option value="native">MuJoCo 原生 URDF</option>
+          </Select>
+          <label className="mt-3 block text-xs text-text-secondary">
+            <span className="mb-1 block">基座类型</span>
+            <Select
+              aria-label="URDF 基座类型"
+              className="w-full"
+              value={baseMode}
+              disabled={loading || urdfMode === 'native'}
+              onChange={(event) => onBaseMode(event.target.value as UrdfBaseMode)}
+            >
+              <option value="floating">浮动基座（Free Joint）</option>
+              <option value="fixed">固定基座（连接世界）</option>
+            </Select>
+          </label>
+          <Check label="显示碰撞几何" checked={showCollision} onChange={onShowCollision} />
+        </CollapsibleSection>
+      )}
+    </>
+  );
+}
+
+export function BodyInspector({
+  body,
+  snapshot,
+  viewerSelection,
+  showCollision,
+  onShowCollision,
+  onSelectJoint,
+}: {
+  body: BodyInfo;
+  snapshot: SimulationSnapshot;
+  viewerSelection: ViewerSelection | null;
+  showCollision: boolean;
+  onShowCollision: (value: boolean) => void;
+  onSelectJoint: (jointId: number, bodyId: number) => void;
+}) {
+  const parent = snapshot.bodies.find((candidate) => candidate.id === body.parentId);
+  const joints = snapshot.joints.filter((joint) => joint.bodyId === body.id);
+  const children = snapshot.bodies.filter((candidate) => candidate.parentId === body.id);
+  const hit = viewerSelection?.bodyId === body.id ? viewerSelection : null;
+  return (
+    <>
+      <InspectorIdentity
+        icon={<Box />}
+        eyebrow="Robot / Body"
+        name={body.name}
+        meta={`Body #${body.id}`}
+      />
+      <CollapsibleSection title="标识与层级" defaultOpen>
+        <PropertyRow
+          label="名称"
+          value={body.name}
+          action={<CopyButton value={body.name} label="复制 Body 名称" />}
+        />
+        <PropertyRow label="Body ID" value={body.id} />
+        <PropertyRow label="父级" value={parent?.name ?? 'world'} />
+        <PropertyRow label="子 Body" value={children.length} />
+        <PropertyRow label="Joint" value={joints.length} />
+      </CollapsibleSection>
+      {hit && (
+        <CollapsibleSection title="视口命中" defaultOpen>
+          <PropertyRow label="Geom ID" value={hit.geomId} />
+          <PropertyRow label="Geom Type" value={hit.geomType} />
+          <PropertyRow
+            label="世界位置"
+            value={hit.position.map((value) => value.toFixed(3)).join(', ')}
+            action={<CopyButton value={hit.position.join(', ')} label="复制世界位置" />}
+          />
+        </CollapsibleSection>
+      )}
+      <CollapsibleSection title="显示" defaultOpen>
+        <Check label="显示碰撞几何" checked={showCollision} onChange={onShowCollision} />
+      </CollapsibleSection>
+      {joints.length > 0 && (
+        <CollapsibleSection title="所属关节" defaultOpen badge={<Badge>{joints.length}</Badge>}>
+          <div className="space-y-1">
+            {joints.map((joint) => (
+              <button
+                key={joint.id}
+                type="button"
+                className="flex w-full items-center gap-2 rounded border border-border-subtle px-2 py-1.5 text-left text-xs text-text-secondary hover:border-accent hover:bg-accent-soft"
+                onClick={() => onSelectJoint(joint.id, joint.bodyId)}
+              >
+                <Disc3 className="h-3.5 w-3.5 text-warning" aria-hidden="true" />
+                <span className="min-w-0 flex-1 truncate">{joint.name}</span>
+                <span className="text-[9px] text-text-tertiary">
+                  {JOINT_TYPE_LABELS[joint.type] ?? joint.type}
+                </span>
+              </button>
+            ))}
+          </div>
+        </CollapsibleSection>
+      )}
+      {!hit && (
+        <p className="flex items-center gap-2 p-3 text-[10px] leading-relaxed text-text-tertiary">
+          <Info className="h-3.5 w-3.5 shrink-0" />
+          Body 运行时变换为只读；若要显示命中位置，请在视口中点击该 Body。
+        </p>
+      )}
+    </>
+  );
+}
+
+function jointScale(joint: JointInfo, angleUnit: 'rad' | 'deg'): number {
+  return joint.type === 3 && angleUnit === 'deg' ? 180 / Math.PI : 1;
+}
+
+export function JointInspector({
+  joint,
+  snapshot,
+  loading,
+  ignoreJointLimits,
+  jointAdvanced,
+  angleUnit,
+  onResetJoints,
+  onToggleJointLimits,
+  onToggleAdvanced,
+  onToggleAngleUnit,
+  onJoint,
+  onActuator,
+  onActuatorParameters,
+}: {
+  joint: JointInfo;
+  snapshot: SimulationSnapshot;
+  loading: boolean;
+  ignoreJointLimits: boolean;
+  jointAdvanced: boolean;
+  angleUnit: 'rad' | 'deg';
+  onResetJoints: () => void;
+  onToggleJointLimits: () => void;
+  onToggleAdvanced: () => void;
+  onToggleAngleUnit: () => void;
+  onJoint: (id: number, value: number) => void;
+  onActuator: (id: number, value: number) => void;
+  onActuatorParameters: (id: number, parameters: ActuatorParameters) => void;
+}) {
+  const body = snapshot.bodies.find((candidate) => candidate.id === joint.bodyId);
+  const actuators = snapshot.actuators.filter((actuator) => actuator.jointId === joint.id);
+  const scale = jointScale(joint, angleUnit);
+  const unit =
+    joint.type === 3 ? (angleUnit === 'deg' ? '°' : ' rad') : joint.type === 2 ? ' m' : '';
+  return (
+    <>
+      <InspectorIdentity
+        icon={<Disc3 />}
+        eyebrow="Robot / Joint"
+        name={joint.name}
+        meta={`${JOINT_TYPE_LABELS[joint.type] ?? `Type ${joint.type}`} · ${body?.name ?? `Body ${joint.bodyId}`}`}
+      />
+      <CollapsibleSection title="关节属性" defaultOpen>
+        <PropertyRow label="Joint ID" value={joint.id} />
+        <PropertyRow label="所属 Body" value={body?.name ?? joint.bodyId} />
+        <PropertyRow label="轴向" value={joint.axis.map((value) => value.toFixed(3)).join(', ')} />
+        <PropertyRow label="限位" value={joint.limited ? '启用' : '未启用'} />
+        <div className="mt-3">
+          <ControlSlider
+            label={`${joint.name}${joint.editable ? '' : '（只读）'}`}
+            value={joint.value * scale}
+            min={joint.min * scale}
+            max={joint.max * scale}
+            unit={unit}
+            advanced={jointAdvanced}
+            limited={joint.limited}
+            limitsIgnored={joint.limitsIgnored}
+            limitMin={joint.limitMin * scale}
+            limitMax={joint.limitMax * scale}
+            disabled={loading || !joint.editable}
+            onChange={(value) => onJoint(joint.id, value / scale)}
+          />
+        </div>
+        <div className="grid grid-cols-2 gap-2">
+          <Button disabled={loading} onClick={onResetJoints}>
+            重置关节
+          </Button>
+          <Button
+            disabled={loading}
+            variant={ignoreJointLimits ? 'primary' : 'secondary'}
+            aria-pressed={ignoreJointLimits}
+            onClick={onToggleJointLimits}
+          >
+            忽略关节限位
+          </Button>
+          <Button
+            variant={jointAdvanced ? 'primary' : 'secondary'}
+            aria-pressed={jointAdvanced}
+            onClick={onToggleAdvanced}
+          >
+            高级
+          </Button>
+          <Button
+            variant={angleUnit === 'deg' ? 'primary' : 'secondary'}
+            aria-pressed={angleUnit === 'deg'}
+            onClick={onToggleAngleUnit}
+          >
+            {angleUnit === 'rad' ? 'rad 弧度制' : '° 角度制'}
+          </Button>
+        </div>
+      </CollapsibleSection>
+      <CollapsibleSection
+        title="关联 Actuator"
+        defaultOpen
+        badge={<Badge>{actuators.length}</Badge>}
+      >
+        {actuators.length ? (
+          actuators.map((actuator) => (
+            <ActuatorControl
+              key={actuator.id}
+              actuator={actuator}
+              onControl={(value) => onActuator(actuator.id, value)}
+              onParameters={(parameters) => onActuatorParameters(actuator.id, parameters)}
+            />
+          ))
+        ) : (
+          <p className="text-xs text-text-tertiary">该关节没有关联驱动器</p>
+        )}
+      </CollapsibleSection>
+    </>
+  );
+}
diff --git a/web_platform/src/styles.css b/web_platform/src/styles.css
index 8ef5a5d1..d6105fa9 100644
--- a/web_platform/src/styles.css
+++ b/web_platform/src/styles.css
@@ -29,6 +29,9 @@
   --ui-success-border: #a7ddca;
   --ui-scrollbar: #a9b5c4;
   --ui-scrollbar-hover: #7f8ea1;
+  --ui-glass: rgb(255 255 255 / 78%);
+  --ui-glass-highlight: rgb(255 255 255 / 72%);
+  --ui-shadow: rgb(15 23 42 / 18%);
   color-scheme: light;
 }
 .theme-dark {
@@ -58,6 +61,9 @@
   --ui-success-border: #285f50;
   --ui-scrollbar: #46566c;
   --ui-scrollbar-hover: #61728a;
+  --ui-glass: rgb(14 25 39 / 78%);
+  --ui-glass-highlight: rgb(255 255 255 / 7%);
+  --ui-shadow: rgb(0 0 0 / 48%);
   color-scheme: dark;
 }
 @layer base {
@@ -106,15 +112,91 @@
   .technical-value {
     font-variant-numeric: tabular-nums;
   }
+  .workbench-header {
+    background: linear-gradient(
+      90deg,
+      color-mix(in srgb, var(--ui-panel) 94%, var(--ui-surface)),
+      var(--ui-panel) 42%,
+      color-mix(in srgb, var(--ui-panel) 88%, var(--ui-accent) 12%)
+    );
+  }
   .viewport-shell {
+    isolation: isolate;
     background:
       radial-gradient(
-        circle at 50% 18%,
-        color-mix(in srgb, var(--ui-accent) 8%, transparent),
-        transparent 34%
+        circle at 50% 14%,
+        color-mix(in srgb, var(--ui-accent) 10%, transparent),
+        transparent 35%
       ),
       linear-gradient(145deg, var(--ui-surface), var(--ui-bg));
   }
+  .viewport-shell::before {
+    content: '';
+    position: absolute;
+    inset: 0;
+    z-index: 1;
+    pointer-events: none;
+    background: linear-gradient(180deg, rgb(255 255 255 / 2%), transparent 22%, rgb(0 0 0 / 7%));
+  }
+  .engineering-glass {
+    border-color: color-mix(in srgb, var(--ui-border-strong) 72%, transparent);
+    background:
+      linear-gradient(135deg, var(--ui-glass-highlight), transparent 42%), var(--ui-glass);
+    box-shadow:
+      0 16px 44px var(--ui-shadow),
+      inset 0 1px 0 color-mix(in srgb, white 10%, transparent),
+      inset 0 -1px 0 color-mix(in srgb, black 10%, transparent);
+    backdrop-filter: blur(16px) saturate(135%);
+  }
+  .engineering-card {
+    border-color: color-mix(in srgb, var(--ui-border) 88%, transparent);
+    background: linear-gradient(
+      145deg,
+      color-mix(in srgb, var(--ui-surface) 88%, transparent),
+      color-mix(in srgb, var(--ui-panel) 72%, transparent)
+    );
+    box-shadow: inset 0 1px 0 color-mix(in srgb, white 4%, transparent);
+  }
+  .tool-active-glow {
+    box-shadow: 0 0 14px color-mix(in srgb, var(--ui-accent) 14%, transparent);
+  }
+  .engineering-badge {
+    background-image: linear-gradient(180deg, rgb(255 255 255 / 5%), transparent);
+    box-shadow:
+      inset 0 1px 0 rgb(255 255 255 / 5%),
+      0 3px 10px rgb(0 0 0 / 9%);
+    letter-spacing: 0.01em;
+  }
+  .map-tool-enter {
+    animation: map-tool-enter 220ms cubic-bezier(0.22, 1, 0.36, 1) both;
+  }
+  .draft-dirty-dot {
+    animation: draft-dirty-pulse 1.8s ease-in-out infinite;
+  }
+  .scrubbable-number {
+    @apply min-w-0 text-[10px] text-text-secondary;
+  }
+  .scrubbable-number-label {
+    @apply mb-1 flex h-4 max-w-full cursor-ew-resize select-none items-center gap-1 border-0 bg-transparent p-0 text-left text-inherit outline-none transition-colors hover:text-accent disabled:cursor-not-allowed disabled:opacity-40;
+  }
+  .scrubbable-number-input {
+    @apply h-7 w-full rounded-md border border-border-strong bg-input px-2 text-xs text-text-primary outline-none transition-[border-color,box-shadow,background-color] hover:border-accent focus:border-accent focus:ring-2 focus:ring-accent disabled:cursor-not-allowed disabled:opacity-40;
+    font-variant-numeric: tabular-nums;
+  }
+  .scrubbable-number-active .scrubbable-number-label {
+    @apply text-accent;
+  }
+  .scrubbable-number-active .scrubbable-number-input {
+    border-color: var(--ui-accent);
+    box-shadow:
+      0 0 0 2px color-mix(in srgb, var(--ui-accent) 20%, transparent),
+      0 0 18px color-mix(in srgb, var(--ui-accent) 12%, transparent);
+  }
+  body.is-scrubbing-number,
+  body.is-scrubbing-number * {
+    cursor: ew-resize !important;
+    user-select: none !important;
+  }
   .workspace-welcome {
     animation: workspace-enter 360ms cubic-bezier(0.22, 1, 0.36, 1) both;
     box-shadow:
@@ -134,6 +216,25 @@
     transform: translateX(-50%);
   }
 }
+@keyframes map-tool-enter {
+  from {
+    opacity: 0;
+    transform: translate(-50%, -6px) scale(0.985);
+  }
+  to {
+    opacity: 1;
+    transform: translate(-50%, 0) scale(1);
+  }
+}
+@keyframes draft-dirty-pulse {
+  0%,
+  100% {
+    box-shadow: 0 0 0 0 color-mix(in srgb, var(--ui-warning) 28%, transparent);
+  }
+  50% {
+    box-shadow: 0 0 0 5px transparent;
+  }
+}
 @keyframes workspace-enter {
   from {
     opacity: 0;
diff --git a/web_platform/src/training/LocalTrainingPanel.test.tsx b/web_platform/src/training/LocalTrainingPanel.test.tsx
index a13644ee..ec0e4542 100644
--- a/web_platform/src/training/LocalTrainingPanel.test.tsx
+++ b/web_platform/src/training/LocalTrainingPanel.test.tsx
@@ -70,16 +70,18 @@ describe('LocalTrainingPanel', () => {
       );
     vi.stubGlobal('fetch', fetchMock);
     render(<LocalTrainingPanel onPolicyReady={vi.fn()} />);
+    const open = vi.spyOn(window, 'open').mockImplementation(() => null);
+    const dashboardButton = screen.getByRole('button', { name: '打开自调参 Agent 工作台' });
+    expect(dashboardButton).toBeEnabled();
+    fireEvent.click(dashboardButton);
+    expect(open).toHaveBeenCalledWith(expect.any(URL), '_blank');
+    expect(String(open.mock.calls[0][0])).toContain('tuning.html');
+    expect(String(open.mock.calls[0][0])).not.toContain('secret-token');
     fireEvent.change(screen.getByLabelText('训练服务访问令牌'), {
       target: { value: 'secret-token' },
     });
     fireEvent.click(screen.getByRole('button', { name: '连接' }));
     expect(await screen.findByText('/opt/unitree_rl_mjlab')).toBeInTheDocument();
-    const open = vi.spyOn(window, 'open').mockImplementation(() => null);
-    fireEvent.click(screen.getByRole('button', { name: '打开自调参 Agent 工作台' }));
-    expect(open).toHaveBeenCalledWith(expect.any(URL), '_blank');
-    expect(String(open.mock.calls[0][0])).toContain('tuning.html');
-    expect(String(open.mock.calls[0][0])).not.toContain('secret-token');
     fireEvent.change(screen.getByLabelText('并行环境'), { target: { value: '32' } });
     fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
     await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(3));
diff --git a/web_platform/src/training/LocalTrainingPanel.tsx b/web_platform/src/training/LocalTrainingPanel.tsx
index f4f7d3c9..344bb8a6 100644
--- a/web_platform/src/training/LocalTrainingPanel.tsx
+++ b/web_platform/src/training/LocalTrainingPanel.tsx
@@ -280,15 +280,13 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
           {server?.ready ? '可用' : '离线'}
         </Badge>
       </div>
-      {server?.ready && (
-        <Button
-          className="mt-2 w-full"
-          icon={<ExternalLink className="h-3.5 w-3.5" />}
-          onClick={openTuningDashboard}
-        >
-          打开自调参 Agent 工作台
-        </Button>
-      )}
+      <Button
+        className="mt-2 w-full"
+        icon={<ExternalLink className="h-3.5 w-3.5" />}
+        onClick={openTuningDashboard}
+      >
+        打开自调参 Agent 工作台
+      </Button>
       {server?.ready && !job && (
         <div className="mt-3 space-y-2">
           <Field label="训练任务">
diff --git a/web_platform/src/tuning/ScalarChart.tsx b/web_platform/src/tuning/ScalarChart.tsx
index a904d3eb..c32996ae 100644
--- a/web_platform/src/tuning/ScalarChart.tsx
+++ b/web_platform/src/tuning/ScalarChart.tsx
@@ -1,4 +1,5 @@
 import { useEffect, useMemo, useRef } from 'react';
+import { RotateCcw, ZoomIn, ZoomOut } from 'lucide-react';
 import uPlot from 'uplot';
 import type { ScalarSeries } from '../training/types';
 
@@ -14,8 +15,19 @@ function smooth(values: (number | null)[], factor: number): (number | null)[] {
   });
 }
 
-export function ScalarChart({ series, smoothing }: { series: ScalarSeries[]; smoothing: number }) {
+export function ScalarChart({
+  series,
+  smoothing,
+  title = '训练与评估 Scalars',
+}: {
+  series: ScalarSeries[];
+  smoothing: number;
+  title?: string;
+}) {
   const host = useRef<HTMLDivElement>(null);
+  const chartRef = useRef<uPlot | null>(null);
+  const trackZoom = useRef(false);
+  const zoomRanges = useRef<Partial<Record<'x' | 'y', { min: number; max: number }>>>({});
   const prepared = useMemo(() => {
     const steps = Array.from(
       new Set(series.flatMap((item) => item.points.map((point) => point.step))),
@@ -36,13 +48,24 @@ export function ScalarChart({ series, smoothing }: { series: ScalarSeries[]; smo
   useEffect(() => {
     if (!host.current || series.length === 0 || prepared[0].length === 0) return;
     const element = host.current;
+    const width = Math.max(280, Math.floor(element.getBoundingClientRect().width));
+    trackZoom.current = false;
     const chart = new uPlot(
       {
-        width: Math.max(320, element.clientWidth),
-        height: 360,
-        title: '训练与评估 Scalars',
+        width,
+        height: 280,
         cursor: { drag: { x: true, y: true, setScale: true } },
         scales: { x: { time: false } },
+        hooks: {
+          setScale: [
+            (instance, key) => {
+              if (!trackZoom.current || (key !== 'x' && key !== 'y')) return;
+              const scale = instance.scales[key];
+              if (typeof scale.min === 'number' && typeof scale.max === 'number')
+                zoomRanges.current[key] = { min: scale.min, max: scale.max };
+            },
+          ],
+        },
         axes: [
           { stroke: '#8fa0b5', grid: { stroke: '#213044' } },
           { stroke: '#8fa0b5', grid: { stroke: '#213044' } },
@@ -60,22 +83,123 @@ export function ScalarChart({ series, smoothing }: { series: ScalarSeries[]; smo
       prepared,
       element,
     );
-    const observer = new ResizeObserver((entries) => {
-      const width = entries[0]?.contentRect.width;
-      if (width) chart.setSize({ width: Math.max(320, Math.floor(width)), height: 360 });
+    chartRef.current = chart;
+    trackZoom.current = true;
+    for (const key of ['x', 'y'] as const) {
+      const range = zoomRanges.current[key];
+      if (range) chart.setScale(key, range);
+    }
+    const wheelZoom = (event: WheelEvent) => {
+      if (!event.deltaY) return;
+      event.preventDefault();
+      event.stopPropagation();
+      const bounds = chart.over.getBoundingClientRect();
+      if (!bounds.width || !bounds.height) return;
+      const xRatio = Math.min(1, Math.max(0, (event.clientX - bounds.left) / bounds.width));
+      const yRatio = Math.min(1, Math.max(0, (event.clientY - bounds.top) / bounds.height));
+      const unit = event.deltaMode === 1 ? 16 : event.deltaMode === 2 ? window.innerHeight : 1;
+      const factor = Math.min(2, Math.max(0.5, Math.exp(event.deltaY * unit * 0.002)));
+      for (const key of ['x', 'y'] as const) {
+        const scale = chart.scales[key];
+        if (typeof scale.min !== 'number' || typeof scale.max !== 'number') continue;
+        const ratio = key === 'x' ? xRatio : 1 - yRatio;
+        const anchor = scale.min + (scale.max - scale.min) * ratio;
+        chart.setScale(key, {
+          min: anchor - (anchor - scale.min) * factor,
+          max: anchor + (scale.max - anchor) * factor,
+        });
+      }
+    };
+    chart.over.addEventListener('wheel', wheelZoom, { passive: false });
+    let frame = 0;
+    let lastWidth = width;
+    const observer = new ResizeObserver(() => {
+      window.cancelAnimationFrame(frame);
+      frame = window.requestAnimationFrame(() => {
+        const nextWidth = Math.max(280, Math.floor(element.getBoundingClientRect().width));
+        if (nextWidth !== lastWidth) {
+          lastWidth = nextWidth;
+          chart.setSize({ width: nextWidth, height: 280 });
+        }
+      });
     });
     observer.observe(element);
     return () => {
       observer.disconnect();
+      chart.over.removeEventListener('wheel', wheelZoom);
+      window.cancelAnimationFrame(frame);
+      trackZoom.current = false;
+      chartRef.current = null;
       chart.destroy();
     };
   }, [prepared, series]);
 
+  const zoom = (factor: number) => {
+    const chart = chartRef.current;
+    if (!chart) return;
+    for (const key of ['x', 'y']) {
+      const scale = chart.scales[key];
+      if (typeof scale.min !== 'number' || typeof scale.max !== 'number') continue;
+      const center = (scale.min + scale.max) / 2;
+      const radius = ((scale.max - scale.min) * factor) / 2 || 1;
+      chart.setScale(key, { min: center - radius, max: center + radius });
+    }
+  };
+  const resetZoom = () => {
+    const chart = chartRef.current;
+    if (!chart) return;
+    zoomRanges.current = {};
+    trackZoom.current = false;
+    chart.setData(chart.data, true);
+    trackZoom.current = true;
+  };
+
   if (series.length === 0)
     return (
-      <div className="grid h-[360px] place-items-center rounded-lg border border-border bg-app text-xs text-text-tertiary">
+      <div className="grid h-[280px] place-items-center rounded-lg border border-border bg-app text-xs text-text-tertiary">
         当前 trial 尚无 scalar 数据
       </div>
     );
-  return <div ref={host} className="min-w-0 overflow-hidden rounded-lg bg-app p-2" />;
+  return (
+    <section className="min-w-0 overflow-hidden rounded-lg border border-border bg-app">
+      <header className="flex items-center justify-between gap-2 border-b border-border px-3 py-2">
+        <h3 className="min-w-0 truncate text-[10px] font-semibold" title={title}>
+          {title}
+        </h3>
+        <div className="flex shrink-0 items-center gap-1">
+          <button
+            type="button"
+            aria-label={`${title} 放大`}
+            title="放大"
+            className="rounded p-1 text-text-tertiary hover:bg-element-hover hover:text-text-primary"
+            onClick={() => zoom(0.7)}
+          >
+            <ZoomIn className="h-3.5 w-3.5" />
+          </button>
+          <button
+            type="button"
+            aria-label={`${title} 缩小`}
+            title="缩小"
+            className="rounded p-1 text-text-tertiary hover:bg-element-hover hover:text-text-primary"
+            onClick={() => zoom(1.4)}
+          >
+            <ZoomOut className="h-3.5 w-3.5" />
+          </button>
+          <button
+            type="button"
+            aria-label={`${title} 重置缩放`}
+            title="重置缩放"
+            className="rounded p-1 text-text-tertiary hover:bg-element-hover hover:text-text-primary"
+            onClick={resetZoom}
+          >
+            <RotateCcw className="h-3.5 w-3.5" />
+          </button>
+        </div>
+      </header>
+      <div ref={host} className="min-w-0 w-full overflow-hidden" />
+      <p className="border-t border-border px-3 py-1.5 text-[9px] text-text-tertiary">
+        图表区域滚轮以指针位置缩放；也可拖拽框选，或使用右上角按钮缩放和复位。
+      </p>
+    </section>
+  );
 }
diff --git a/web_platform/src/viewer/MapEditorLayer.test.ts b/web_platform/src/viewer/MapEditorLayer.test.ts
index 3ce743ed..25aa7c9d 100644
--- a/web_platform/src/viewer/MapEditorLayer.test.ts
+++ b/web_platform/src/viewer/MapEditorLayer.test.ts
@@ -139,6 +139,20 @@ describe('MapEditorLayer', () => {
     layer.dispose();
   });
 
+  it('选中对象时显示贴地对齐指示器并提供聚焦边界', () => {
+    const { scene, layer } = createLayer();
+    layer.setDocument(documentValue);
+    layer.selectObject('box_1');
+    const indicator = scene.getObjectByName('__platform_snap_surface_indicator__');
+    expect(indicator?.visible).toBe(true);
+    expect(layer.selectedBoundingSphere()?.radius).toBeGreaterThan(0);
+    layer.flashSurfaceAlignment('box_1');
+    layer.update(performance.now() + 100);
+    expect(indicator?.scale.x).toBeGreaterThan(0);
+    layer.dispose();
+    expect(scene.getObjectByName('__platform_snap_surface_indicator__')).toBeUndefined();
+  });
+
   it('锁定对象可选中但不挂载变换操纵器', () => {
     const { layer } = createLayer();
     layer.setDocument({
@@ -151,7 +165,7 @@ describe('MapEditorLayer', () => {
     layer.dispose();
   });
 
-  it('提交操纵器变换并保持 W/E 模式约束', () => {
+  it('提交操纵器变换并保持 W/E/R 模式约束', () => {
     const { callbacks, layer } = createLayer();
     layer.setDocument(documentValue);
     layer.selectObject('box_1');
diff --git a/web_platform/src/viewer/MapEditorLayer.ts b/web_platform/src/viewer/MapEditorLayer.ts
index 2c6c6ca5..b95c4611 100644
--- a/web_platform/src/viewer/MapEditorLayer.ts
+++ b/web_platform/src/viewer/MapEditorLayer.ts
@@ -67,6 +67,7 @@ function objectPreview(object: EditableMapObject): THREE.Group {
   group.name = `__platform_map_editor_${object.id}`;
   group.userData.mapEditorObjectId = object.id;
   group.userData.mapEditorLocked = object.placementMode === 'locked';
+  group.userData.mapEditorPlacementMode = object.placementMode;
   group.position.fromArray(object.pose.position);
   group.quaternion.set(
     object.pose.quaternion[1],
@@ -132,8 +133,25 @@ export class MapEditorLayer {
   private readonly pointer = new THREE.Vector2();
   private readonly objects = new Map<string, THREE.Group>();
   private readonly previewInstances = new Map<string, THREE.Group>();
+  private readonly surfaceIndicator = new THREE.Group();
+  private readonly surfaceRingMaterial = new THREE.MeshBasicMaterial({
+    color: 0x34d399,
+    transparent: true,
+    opacity: 0.42,
+    depthTest: false,
+    depthWrite: false,
+    side: THREE.DoubleSide,
+  });
+  private readonly surfaceLineMaterial = new THREE.LineBasicMaterial({
+    color: 0x6ee7b7,
+    transparent: true,
+    opacity: 0.7,
+    depthTest: false,
+  });
   private selectedId: string | null = null;
   private documentLoaded = false;
+  private surfaceIndicatorScale = 0.25;
+  private surfacePulseStarted = 0;
 
   constructor(
     private readonly scene: THREE.Scene,
@@ -143,7 +161,25 @@ export class MapEditorLayer {
   ) {
     this.previewGroup.name = '__platform_map_editor_scene_previews__';
     this.group.name = '__platform_map_editor__';
-    scene.add(this.previewGroup, this.group);
+    this.surfaceIndicator.name = '__platform_snap_surface_indicator__';
+    const surfaceRing = new THREE.Mesh(
+      new THREE.RingGeometry(0.72, 1, 48),
+      this.surfaceRingMaterial,
+    );
+    surfaceRing.renderOrder = 110;
+    const surfaceCross = new THREE.LineSegments(
+      new THREE.BufferGeometry().setFromPoints([
+        new THREE.Vector3(-1.18, 0, 0),
+        new THREE.Vector3(1.18, 0, 0),
+        new THREE.Vector3(0, -1.18, 0),
+        new THREE.Vector3(0, 1.18, 0),
+      ]),
+      this.surfaceLineMaterial,
+    );
+    surfaceCross.renderOrder = 110;
+    this.surfaceIndicator.add(surfaceRing, surfaceCross);
+    this.surfaceIndicator.visible = false;
+    scene.add(this.previewGroup, this.group, this.surfaceIndicator);
     this.transform = new TransformControls(camera, domElement);
     this.transform.setSpace('world');
     this.transform.setSize(0.8);
@@ -164,6 +200,39 @@ export class MapEditorLayer {
     return this.documentLoaded || this.previewInstances.size > 0;
   }
 
+  selectedBoundingSphere(): THREE.Sphere | null {
+    const selected = this.selectedId ? this.objects.get(this.selectedId) : undefined;
+    if (!selected) return null;
+    selected.updateWorldMatrix(true, true);
+    const bounds = new THREE.Box3().setFromObject(selected);
+    if (bounds.isEmpty()) return null;
+    return bounds.getBoundingSphere(new THREE.Sphere());
+  }
+
+  flashSurfaceAlignment(id?: string): void {
+    if (id && id !== this.selectedId) return;
+    const selected = this.selectedId ? this.objects.get(this.selectedId) : undefined;
+    if (!selected || selected.userData.mapEditorLocked) return;
+    this.positionSurfaceIndicator(selected);
+    this.startSurfacePulse();
+    this.surfaceIndicator.visible = true;
+  }
+
+  update(now: number): void {
+    const selected = this.selectedId ? this.objects.get(this.selectedId) : undefined;
+    if (!selected || selected.userData.mapEditorLocked) {
+      this.surfaceIndicator.visible = false;
+      return;
+    }
+    this.positionSurfaceIndicator(selected);
+    const elapsed = now - this.surfacePulseStarted;
+    const pulse = elapsed >= 0 && elapsed < 720 ? 1 - elapsed / 720 : 0;
+    const wave = pulse * (0.16 + Math.sin((elapsed / 720) * Math.PI * 4) * 0.08);
+    this.surfaceIndicator.scale.setScalar(this.surfaceIndicatorScale * (1 + wave));
+    this.surfaceRingMaterial.opacity = 0.32 + pulse * 0.38;
+    this.surfaceLineMaterial.opacity = 0.5 + pulse * 0.4;
+  }
+
   setDocument(
     document: EditableMapDocument | null,
     instanceTransform: MapInstanceTransform = DEFAULT_MAP_INSTANCE_TRANSFORM,
@@ -231,6 +300,7 @@ export class MapEditorLayer {
   }
 
   selectObject(id: string | null, notify = false): void {
+    const previousId = this.selectedId;
     this.selectedId = id && this.objects.has(id) ? id : null;
     this.transform.detach();
     for (const [objectId, root] of this.objects)
@@ -246,7 +316,11 @@ export class MapEditorLayer {
       });
     const selected = this.selectedId ? this.objects.get(this.selectedId) : undefined;
     const editable = Boolean(selected && !selected.userData.mapEditorLocked);
-    if (selected && editable) this.transform.attach(selected);
+    if (selected && editable) {
+      this.transform.attach(selected);
+      this.positionSurfaceIndicator(selected);
+      if (previousId !== this.selectedId) this.startSurfacePulse();
+    } else this.surfaceIndicator.visible = false;
     this.helper.visible = editable;
     if (notify) this.callbacks.onSelect(this.selectedId);
   }
@@ -285,6 +359,32 @@ export class MapEditorLayer {
     return false;
   }
 
+  private startSurfacePulse(): void {
+    const now = performance.now();
+    this.surfacePulseStarted = window.matchMedia?.('(prefers-reduced-motion: reduce)').matches
+      ? now - 720
+      : now;
+  }
+
+  private positionSurfaceIndicator(selected: THREE.Group): void {
+    selected.updateWorldMatrix(true, true);
+    const bounds = new THREE.Box3().setFromObject(selected);
+    if (bounds.isEmpty()) {
+      this.surfaceIndicator.visible = false;
+      return;
+    }
+    const center = bounds.getCenter(new THREE.Vector3());
+    const size = bounds.getSize(new THREE.Vector3());
+    const placementMode = selected.userData.mapEditorPlacementMode;
+    const color = placementMode === 'gravity' ? 0x38bdf8 : 0x34d399;
+    this.surfaceRingMaterial.color.setHex(color);
+    this.surfaceLineMaterial.color.setHex(color);
+    this.surfaceIndicatorScale = Math.min(1.5, Math.max(0.16, Math.max(size.x, size.y) * 0.62));
+    this.surfaceIndicator.position.set(center.x, center.y, bounds.min.z + 0.004);
+    this.surfaceIndicator.scale.setScalar(this.surfaceIndicatorScale);
+    this.surfaceIndicator.visible = true;
+  }
+
   private commitTransform(): void {
     if (!this.selectedId) return;
     const object = this.objects.get(this.selectedId);
@@ -323,6 +423,8 @@ export class MapEditorLayer {
     this.clearPreviewInstances();
     this.group.position.set(0, 0, 0);
     this.group.rotation.set(0, 0, 0);
+    this.surfaceIndicator.visible = false;
+    this.surfacePulseStarted = 0;
     this.transform.enabled = false;
     this.callbacks.onDragging(false);
   }
@@ -332,6 +434,11 @@ export class MapEditorLayer {
     this.callbacks.onDragging(false);
     this.transform.dispose();
     this.helper.removeFromParent();
+    for (const child of this.surfaceIndicator.children)
+      if (child instanceof THREE.Mesh || child instanceof THREE.Line) child.geometry.dispose();
+    this.surfaceRingMaterial.dispose();
+    this.surfaceLineMaterial.dispose();
+    this.surfaceIndicator.removeFromParent();
     this.previewGroup.removeFromParent();
     this.group.removeFromParent();
   }
diff --git a/web_platform/src/viewer/MuJoCoViewer.ts b/web_platform/src/viewer/MuJoCoViewer.ts
index 3c59642f..1e999f3c 100644
--- a/web_platform/src/viewer/MuJoCoViewer.ts
+++ b/web_platform/src/viewer/MuJoCoViewer.ts
@@ -130,6 +130,13 @@ export class MuJoCoViewer {
     fromGround: THREE.Color;
     toGround: THREE.Color;
   };
+  private cameraFocusTransition?: {
+    started: number;
+    fromPosition: THREE.Vector3;
+    fromTarget: THREE.Vector3;
+    toPosition: THREE.Vector3;
+    toTarget: THREE.Vector3;
+  };
 
   constructor(
     private readonly host: HTMLElement,
@@ -150,6 +157,9 @@ export class MuJoCoViewer {
     this.camera.position.set(3, -3, 2);
     this.controls = new OrbitControls(this.camera, this.renderer.domElement);
     this.controls.enableDamping = true;
+    this.controls.addEventListener('start', () => {
+      this.cameraFocusTransition = undefined;
+    });
     this.scene.background = new THREE.Color(0x0b1220);
     this.hemisphere = new THREE.HemisphereLight(0xffffff, 0x223344, 1.3);
     this.scene.add(this.hemisphere);
@@ -405,7 +415,55 @@ export class MuJoCoViewer {
     this.option.geomgroup[5] = 0;
     this.visualMapLayer.visible = this.showVisualMap && this.displayOptions.showVisual;
   }
+  focusSelection(bodyId?: number): boolean {
+    let sphere =
+      this.mapEditorLayer.selectedBoundingSphere() ??
+      this.parametricMapPreviewLayer.selectedBoundingSphere();
+    if (!sphere && bodyId !== undefined) {
+      const bounds = new THREE.Box3();
+      let found = false;
+      for (const mesh of this.meshes) {
+        if (Number(mesh.userData.bodyId) !== bodyId) continue;
+        mesh.updateWorldMatrix(true, true);
+        bounds.expandByObject(mesh);
+        found = true;
+      }
+      if (found && !bounds.isEmpty()) sphere = bounds.getBoundingSphere(new THREE.Sphere());
+    }
+    if (!sphere && this.selected) {
+      this.selected.updateWorldMatrix(true, true);
+      const bounds = new THREE.Box3().setFromObject(this.selected);
+      if (!bounds.isEmpty()) sphere = bounds.getBoundingSphere(new THREE.Sphere());
+    }
+    if (!sphere) return false;
+    const direction = this.camera.position.clone().sub(this.controls.target);
+    if (direction.lengthSq() < 1e-6) direction.set(1, -1, 0.7);
+    direction.normalize();
+    const verticalFov = THREE.MathUtils.degToRad(this.camera.fov);
+    const fitDistance = sphere.radius / Math.max(0.1, Math.sin(verticalFov / 2));
+    const distance = Math.max(0.65, fitDistance * 1.35);
+    const toPosition = sphere.center.clone().addScaledVector(direction, distance);
+    if (window.matchMedia?.('(prefers-reduced-motion: reduce)').matches) {
+      this.cameraFocusTransition = undefined;
+      this.camera.position.copy(toPosition);
+      this.controls.target.copy(sphere.center);
+      this.controls.update();
+    } else {
+      this.cameraFocusTransition = {
+        started: performance.now(),
+        fromPosition: this.camera.position.clone(),
+        fromTarget: this.controls.target.clone(),
+        toPosition,
+        toTarget: sphere.center.clone(),
+      };
+    }
+    return true;
+  }
+  flashMapEditorSurfaceAlignment(id?: string): void {
+    this.mapEditorLayer.flashSurfaceAlignment(id);
+  }
   resetCamera(): void {
+    this.cameraFocusTransition = undefined;
     if (this.session) this.fitCamera(this.session);
   }
   highlightJoint(jointId: number | null): void {
@@ -461,6 +519,7 @@ export class MuJoCoViewer {
   }
 
   private fitCamera(session: SimulationSession): void {
+    this.cameraFocusTransition = undefined;
     const { extent, center } = session.geometryBounds();
     this.modelExtent = extent;
     this.controls.target.set(center[0], center[1], center[2]);
@@ -474,6 +533,15 @@ export class MuJoCoViewer {
     this.camera.updateProjectionMatrix();
     this.controls.update();
   }
+  private updateCameraFocusTransition(now: number): void {
+    const transition = this.cameraFocusTransition;
+    if (!transition) return;
+    const progress = Math.min(1, Math.max(0, (now - transition.started) / 320));
+    const eased = 1 - Math.pow(1 - progress, 3);
+    this.camera.position.lerpVectors(transition.fromPosition, transition.toPosition, eased);
+    this.controls.target.lerpVectors(transition.fromTarget, transition.toTarget, eased);
+    if (progress === 1) this.cameraFocusTransition = undefined;
+  }
   private resize(): void {
     const w = Math.max(1, this.host.clientWidth),
       h = Math.max(1, this.host.clientHeight);
@@ -489,6 +557,8 @@ export class MuJoCoViewer {
     try {
       const result = this.session?.advance(now) ?? { steps: 0, stepMs: 0, overBudget: false };
       this.updateThemeTransition(now);
+      this.updateCameraFocusTransition(now);
+      this.mapEditorLayer.update(now);
       this.controls.update();
       this.orientationGizmo.update(this.camera);
       if (this.session) {
diff --git a/web_platform/src/viewer/ParametricMapPreviewLayer.ts b/web_platform/src/viewer/ParametricMapPreviewLayer.ts
index eade8e00..5ed22256 100644
--- a/web_platform/src/viewer/ParametricMapPreviewLayer.ts
+++ b/web_platform/src/viewer/ParametricMapPreviewLayer.ts
@@ -171,6 +171,15 @@ export class ParametricMapPreviewLayer {
     return this.objects.size > 0;
   }
 
+  selectedBoundingSphere(): THREE.Sphere | null {
+    const selected = this.selectedId ? this.objects.get(this.selectedId)?.root : undefined;
+    if (!selected) return null;
+    selected.updateWorldMatrix(true, true);
+    const bounds = new THREE.Box3().setFromObject(selected);
+    if (bounds.isEmpty()) return null;
+    return bounds.getBoundingSphere(new THREE.Sphere());
+  }
+
   setAssets(assets: readonly PlacedMapAsset[], previewIds?: readonly string[]): void {
     this.previewIds = new Set(previewIds ?? assets.map((asset) => asset.id));
     const desired = new Map(