refactor(web-platform): release V0.7.2 项目常规优化

CHANGELOG.md

@@ -2,6 +2,15 @@
 
 本项目的重要变更记录在此文件中，版本标签沿用仓库现有的 `V主版本.次版本[.修订版本]` 格式。
 
+## [0.7.2] - 2026-09-01
+
+### 变更
+
+- 前端改为“应用壳 + 业务域 + 共享组件”的目录结构，并补充架构与依赖边界文档。
+- 拆分工程侧栏、模型控制侧栏、执行器控制和通用侧栏容器，降低单文件职责和跨域耦合。
+- 将地图、控制器、强化学习、本地训练和遥测面板及测试与各自业务域共置。
+- 将遥测模块从仿真调度目录独立到 `telemetry/`，保留通过显式接口与 `SimulationSession` 集成。
+
 ## [0.7.1] - 2026-09-01
 
 ### 新增

README.md

@@ -62,16 +62,23 @@ npm run lint:python
 └── LICENSE            Apache License 2.0
 ```
 
-核心前端分层：
+核心前端采用“应用壳 + 业务域 + 共享组件”分层：
 
-- `web_platform/src/app/`：工作区、工具栏、面板和对话框
-- `web_platform/src/project/`：工程导入、路径规范化和 MEMFS
-- `web_platform/src/simulation/`：MuJoCo WASM 会话与仿真调度
+- `web_platform/src/app/`：工作区编排、侧栏外壳、工具栏和全局对话框
+- `web_platform/src/components/ui/`：无业务依赖的共享 UI 基础组件
+- `web_platform/src/project/`：工程导入、路径规范化、项目树和 MEMFS
+- `web_platform/src/simulation/`：MuJoCo WASM 会话、仿真调度及执行器控制 UI
 - `web_platform/src/viewer/`：Three.js 渲染、选择和物理交互
-- `web_platform/src/controller/`：Pyodide 控制器运行时
-- `web_platform/src/rl/`：ONNX 策略运行时
+- `web_platform/src/map/`：地图加载、创作、校验及对应 UI
+- `web_platform/src/controller/`：Pyodide 控制器运行时及控制面板
+- `web_platform/src/rl/`：ONNX 策略运行时、任务绑定及策略面板
+- `web_platform/src/training/`：本地训练服务客户端、类型及训练面板
+- `web_platform/src/telemetry/`：遥测数据源、记录器、导出与数据面板
+- `web_platform/src/stores/`：跨业务域的应用状态
 
-详细使用说明见 [`web_platform/README.md`](web_platform/README.md)，训练服务说明见 [`training_server/README.md`](training_server/README.md)。
+组件和测试优先与所属业务域共置；`app/components/` 仅保留跨域编排和应用壳组件，避免业务逻辑继续集中到单一侧栏文件。
+
+详细使用说明见 [`web_platform/README.md`](web_platform/README.md)，前端依赖边界见 [`web_platform/ARCHITECTURE.md`](web_platform/ARCHITECTURE.md)，训练服务说明见 [`training_server/README.md`](training_server/README.md)。
 
 ## 数据与安全边界
 

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "mujoco-web-platform",
-  "version": "0.7.1",
+  "version": "0.7.2",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "mujoco-web-platform",
-      "version": "0.7.1",
+      "version": "0.7.2",
       "license": "Apache-2.0",
       "dependencies": {
         "@monaco-editor/react": "^4.7.0",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-web-platform",
-  "version": "0.7.1",
+  "version": "0.7.2",
   "description": "基于 MuJoCo WebAssembly 的本地机器人仿真与控制平台",
   "private": true,
   "type": "module",

web_platform/ARCHITECTURE.md

@@ -0,0 +1,41 @@
+# 前端架构
+
+`src/` 采用“应用壳 + 业务域 + 共享基础设施”的组织方式。
+
+## 目录职责
+
+```text
+src/
+├── app/            应用入口、跨域编排、工作区壳和全局反馈
+├── components/ui/  无业务依赖的共享 UI 基础组件
+├── controller/     Python 控制器运行时、类型和面板
+├── map/            地图加载、生成、编辑和面板
+├── project/        工程导入、转换、文件树和工作区
+├── rl/             ONNX 策略运行时、任务绑定、类型和面板
+├── simulation/     MuJoCo 会话、物理适配器和仿真控制组件
+├── telemetry/      数据源抽象、记录器、导出和数据面板
+├── training/       本地训练客户端、类型和面板
+├── viewer/         Three.js 场景、渲染和交互
+├── stores/         跨域应用状态
+└── test/           全局测试初始化
+```
+
+## 依赖规则
+
+1. `components/ui` 不依赖任何业务域。
+2. 业务组件、类型和测试与所属业务域共置。
+3. `app` 负责组合业务域，不承载可复用的业务算法或运行时。
+4. `simulation` 不依赖 React 应用状态；遥测通过 `TelemetrySource` 接口读取仿真数据。
+5. 业务域之间通过显式类型和门面交互，避免从其他域读取内部状态。
+6. 新文件优先放入已有业务域；只有跨域复用且不含业务语义的组件才进入 `components/ui`。
+
+## 主要运行链路
+
+```text
+项目文件 → project → PhysicsAdapter → SimulationSession → MuJoCo WASM
+                                    ├→ controller / rl
+                                    └→ telemetry
+SimulationSession snapshot → app → viewer / 各业务面板
+```
+
+测试文件使用 `*.test.ts(x)` 与被测模块共置；端到端测试统一保存在 `e2e/`。

web_platform/src/app/App.tsx

@@ -43,7 +43,7 @@ import {
   type UrdfLoadMode,
 } from '../simulation/PhysicsAdapter';
 import type { ActuatorParameters } from '../simulation/SimulationSession';
-import type { DataRecorderConfig } from '../simulation/DataRecorder';
+import type { DataRecorderConfig } from '../telemetry/DataRecorder';
 import type { ControllerCommand, ControllerStatus } from '../controller/types';
 import type { RLCommand, RLPolicyStatus } from '../rl/types';
 import type { MuJoCoViewer, InteractionMode, ViewerTheme } from '../viewer/MuJoCoViewer';
@@ -54,7 +54,8 @@ import {
 import { useAppStore, type AppDiagnostic } from '../stores/useAppStore';
 import { WorkbenchHeader } from './components/WorkbenchHeader';
 import { ViewerToolDock } from './components/ViewerToolDock';
-import { ProjectSidebar, ModelControlsSidebar } from './components/SidebarPanel';
+import { ModelControlsSidebar } from './components/ModelControlsSidebar';
+import { ProjectSidebar } from './components/ProjectSidebar';
 import { WorkspaceOverlays, type ImportProgress } from './components/WorkspaceOverlays';
 import { EntrySelectionDialog } from './components/EntrySelectionDialog';
 import { ErrorRecoveryPanel } from './components/ErrorRecoveryPanel';

web_platform/src/app/components/ModelControlsSidebar.tsx

@@ -0,0 +1,389 @@
+import { useState } from 'react';
+import { Database, Info, Map as MapIcon, 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 } from '../../map/types';
+import type {
+  EditableMapDocument,
+  MapEditorInteractionCallbacks,
+  MapEditorTransformMode,
+} 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 { SidebarPanel } from './SidebarPanel';
+
+interface ModelControlsProps {
+  snapshot?: SimulationSnapshot;
+  selection: ViewerSelection | null;
+  selectedFormat?: ModelEntry['format'];
+  loading: boolean;
+  visible?: boolean;
+  urdfMode: UrdfLoadMode;
+  baseMode: UrdfBaseMode;
+  showCollision: boolean;
+  ignoreJointLimits: boolean;
+  jointAdvanced: boolean;
+  angleUnit: 'rad' | 'deg';
+  forceScale: number;
+  controllerPaths: string[];
+  selectedControllerPath?: string;
+  controllerStatus?: ControllerStatus;
+  policyPaths: string[];
+  selectedPolicyPath?: string;
+  policyStatus?: RLPolicyStatus;
+  mapSelection: MapSelection;
+  maps: MapEntry[];
+  showVisualMap: boolean;
+  showMapCollision: boolean;
+  editorDocument: EditableMapDocument | null;
+  onUrdfMode: (value: UrdfLoadMode) => void;
+  onBaseMode: (value: UrdfBaseMode) => void;
+  onShowCollision: (value: boolean) => void;
+  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;
+  onApplyMap: (value: MapSelection) => void;
+  onEditorPreview: (document: EditableMapDocument | null) => void;
+  onEditorApply: (document: EditableMapDocument) => Promise<boolean>;
+  onEditorExport: () => void;
+  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;
+  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 [tab, setTab] = useState<'properties' | 'controls' | 'data' | 'map'>('properties'),
+    s = props.snapshot;
+  if (!s)
+    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>
+    );
+  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 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) => {
+          setTab(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={JSON.stringify(props.mapSelection)}
+                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}
+                onEditorPreview={props.onEditorPreview}
+                onEditorApply={props.onEditorApply}
+                onEditorExport={props.onEditorExport}
+                onEditorConvert={props.onEditorConvert}
+                onEditorBindInteraction={props.onEditorBindInteraction}
+                onEditorSelect={props.onEditorSelect}
+                onEditorTransformMode={props.onEditorTransformMode}
+                onEditorSnapping={props.onEditorSnapping}
+                onMapDisplay={props.onMapDisplay}
+                onApply={props.onApplyMap}
+              />
+            ),
+          },
+        ]}
+      />
+    </SidebarPanel>
+  );
+}

web_platform/src/app/components/ProjectSidebar.tsx

@@ -0,0 +1,190 @@
+import { useState } from 'react';
+import { Box, FolderTree, Map as MapIcon } from 'lucide-react';
+import type { 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 {
+  DEFAULT_PHYSICAL_MAP_CONFIG,
+  type MapSelection,
+  type SystemTerrainPreset,
+} from '../../map/types';
+import type {
+  EditableMapDocument,
+  EditableMapObjectType,
+  MapObjectPlacementMode,
+} from '../../map/editor/types';
+import { MapAssetLibrary } from '../../map/MapAssetLibrary';
+import { ProjectBreadcrumb } from './ProjectBreadcrumb';
+import { SidebarPanel } from './SidebarPanel';
+import { TreeSearchField } from './TreeSearchField';
+
+export function ProjectSidebar({
+  projectName,
+  files,
+  entries,
+  selectedEntry,
+  snapshot,
+  loading,
+  visible = true,
+  nativeUrdf,
+  mapSelection,
+  editorDocument,
+  activeTab,
+  onActiveTabChange,
+  onRemove,
+  onSelectEntry,
+  onJointHover,
+  onAddMapAsset,
+  onSelectTerrain,
+  onSelectMapObject,
+}: {
+  projectName?: string;
+  files: ProjectTreeFile[];
+  entries: ModelEntry[];
+  selectedEntry?: string;
+  snapshot?: SimulationSnapshot;
+  loading: boolean;
+  visible?: boolean;
+  nativeUrdf: boolean;
+  mapSelection: MapSelection;
+  editorDocument: EditableMapDocument | null;
+  activeTab?: 'project' | 'structure' | 'assets';
+  onActiveTabChange?: (value: 'project' | 'structure' | 'assets') => void;
+  onRemove: () => void;
+  onSelectEntry: (path: string) => void;
+  onJointHover: (jointId: number | null) => void;
+  onAddMapAsset: (
+    type: EditableMapObjectType,
+    placementMode: MapObjectPlacementMode,
+  ) => void | Promise<void>;
+  onSelectTerrain: (preset: SystemTerrainPreset) => void;
+  onSelectMapObject: (id: 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;
+  return (
+    <SidebarPanel title="资产与结构" side="left" visible={visible}>
+      {projectName ? (
+        <>
+          <div className="flex shrink-0 items-center gap-2 border-b border-border px-3 py-2.5">
+            <div className="min-w-0 flex-1">
+              <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>
+            <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}
+                      />
+                    </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}
+                    onAdd={onAddMapAsset}
+                    onSelectTerrain={onSelectTerrain}
+                    onSelectObject={onSelectMapObject}
+                  />
+                ),
+              },
+            ]}
+          />
+        </>
+      ) : (
+        <div className="p-4 text-center text-sm text-text-tertiary">导入模型后显示工程资源</div>
+      )}
+    </SidebarPanel>
+  );
+}

web_platform/src/app/components/SidebarPanel.tsx

@@ -1,63 +1,6 @@
-import { useState, type ReactNode } from 'react';
-import {
-  Box,
-  Database,
-  FolderTree,
-  Info,
-  Map as MapIcon,
-  Settings2,
-  SlidersHorizontal,
-} 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 {
-  ActuatorInfo,
-  ActuatorParameters,
-  SimulationSnapshot,
-} from '../../simulation/SimulationSession';
-import type { UrdfBaseMode, UrdfLoadMode } from '../../simulation/PhysicsAdapter';
-import type { DataRecorderConfig } from '../../simulation/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,
-  ResizablePanel,
-  Select,
-  Tabs,
-} from '../../components/ui';
-import { TreeSearchField } from './TreeSearchField';
-import { ProjectBreadcrumb } from './ProjectBreadcrumb';
-import { PythonControllerPanel } from './PythonControllerPanel';
-import { RLPolicyPanel } from './RLPolicyPanel';
-import { LocalTrainingPanel } from './LocalTrainingPanel';
-import { DataRecordingPanel } from './DataRecordingPanel';
-import { PhysicalMapPanel } from './PhysicalMapPanel';
-import { MapAssetLibrary } from './MapAssetLibrary';
-import {
-  DEFAULT_PHYSICAL_MAP_CONFIG,
-  type MapSelection,
-  type SystemTerrainPreset,
-} from '../../map/types';
-import type {
-  EditableMapDocument,
-  EditableMapObjectType,
-  MapEditorInteractionCallbacks,
-  MapEditorTransformMode,
-  MapObjectPlacementMode,
-} from '../../map/editor/types';
+import type { ReactNode } from 'react';
+import { Settings2 } from 'lucide-react';
+import { ResizablePanel } from '../../components/ui';
 
 export function SidebarPanel({
   title,
@@ -86,828 +29,3 @@ export function SidebarPanel({
     </ResizablePanel>
   );
 }
-
-export function ProjectSidebar({
-  projectName,
-  files,
-  entries,
-  selectedEntry,
-  snapshot,
-  loading,
-  visible = true,
-  nativeUrdf,
-  mapSelection,
-  editorDocument,
-  activeTab,
-  onActiveTabChange,
-  onRemove,
-  onSelectEntry,
-  onJointHover,
-  onAddMapAsset,
-  onSelectTerrain,
-  onSelectMapObject,
-}: {
-  projectName?: string;
-  files: ProjectTreeFile[];
-  entries: ModelEntry[];
-  selectedEntry?: string;
-  snapshot?: SimulationSnapshot;
-  loading: boolean;
-  visible?: boolean;
-  nativeUrdf: boolean;
-  mapSelection: MapSelection;
-  editorDocument: EditableMapDocument | null;
-  activeTab?: 'project' | 'structure' | 'assets';
-  onActiveTabChange?: (value: 'project' | 'structure' | 'assets') => void;
-  onRemove: () => void;
-  onSelectEntry: (path: string) => void;
-  onJointHover: (jointId: number | null) => void;
-  onAddMapAsset: (
-    type: EditableMapObjectType,
-    placementMode: MapObjectPlacementMode,
-  ) => void | Promise<void>;
-  onSelectTerrain: (preset: SystemTerrainPreset) => void;
-  onSelectMapObject: (id: 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;
-  return (
-    <SidebarPanel title="资产与结构" side="left" visible={visible}>
-      {projectName ? (
-        <>
-          <div className="flex shrink-0 items-center gap-2 border-b border-border px-3 py-2.5">
-            <div className="min-w-0 flex-1">
-              <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>
-            <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}
-                      />
-                    </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}
-                    onAdd={onAddMapAsset}
-                    onSelectTerrain={onSelectTerrain}
-                    onSelectObject={onSelectMapObject}
-                  />
-                ),
-              },
-            ]}
-          />
-        </>
-      ) : (
-        <div className="p-4 text-center text-sm text-text-tertiary">导入模型后显示工程资源</div>
-      )}
-    </SidebarPanel>
-  );
-}
-
-interface ModelControlsProps {
-  snapshot?: SimulationSnapshot;
-  selection: ViewerSelection | null;
-  selectedFormat?: ModelEntry['format'];
-  loading: boolean;
-  visible?: boolean;
-  urdfMode: UrdfLoadMode;
-  baseMode: UrdfBaseMode;
-  showCollision: boolean;
-  ignoreJointLimits: boolean;
-  jointAdvanced: boolean;
-  angleUnit: 'rad' | 'deg';
-  forceScale: number;
-  controllerPaths: string[];
-  selectedControllerPath?: string;
-  controllerStatus?: ControllerStatus;
-  policyPaths: string[];
-  selectedPolicyPath?: string;
-  policyStatus?: RLPolicyStatus;
-  mapSelection: MapSelection;
-  maps: MapEntry[];
-  showVisualMap: boolean;
-  showMapCollision: boolean;
-  editorDocument: EditableMapDocument | null;
-  onUrdfMode: (value: UrdfLoadMode) => void;
-  onBaseMode: (value: UrdfBaseMode) => void;
-  onShowCollision: (value: boolean) => void;
-  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;
-  onApplyMap: (value: MapSelection) => void;
-  onEditorPreview: (document: EditableMapDocument | null) => void;
-  onEditorApply: (document: EditableMapDocument) => Promise<boolean>;
-  onEditorExport: () => void;
-  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;
-  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 [tab, setTab] = useState<'properties' | 'controls' | 'data' | 'map'>('properties'),
-    s = props.snapshot;
-  if (!s)
-    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>
-    );
-  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 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) => {
-          setTab(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={JSON.stringify(props.mapSelection)}
-                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}
-                onEditorPreview={props.onEditorPreview}
-                onEditorApply={props.onEditorApply}
-                onEditorExport={props.onEditorExport}
-                onEditorConvert={props.onEditorConvert}
-                onEditorBindInteraction={props.onEditorBindInteraction}
-                onEditorSelect={props.onEditorSelect}
-                onEditorTransformMode={props.onEditorTransformMode}
-                onEditorSnapping={props.onEditorSnapping}
-                onMapDisplay={props.onMapDisplay}
-                onApply={props.onApplyMap}
-              />
-            ),
-          },
-        ]}
-      />
-    </SidebarPanel>
-  );
-}
-
-export function ActuatorControl({
-  actuator,
-  onControl,
-  onParameters,
-}: {
-  actuator: ActuatorInfo;
-  onControl: (value: number) => void;
-  onParameters: (parameters: ActuatorParameters) => void;
-}) {
-  const isMotor = actuator.kind === 'motor',
-    isPosition = actuator.kind === 'position',
-    editable = isMotor || isPosition,
-    baseTargetScale = isPosition && actuator.jointType === 3 ? 180 / Math.PI : 1,
-    targetScale =
-      isPosition && Math.abs(actuator.gear) > 1e-9
-        ? baseTargetScale / actuator.gear
-        : baseTargetScale;
-  const clampForce = (value: number) =>
-      actuator.forceLimited
-        ? Math.min(actuator.forceMax, Math.max(actuator.forceMin, value))
-        : value,
-    physicalScale = actuator.gear * actuator.gain;
-  const forceA = clampForce(actuator.min * actuator.gain) * actuator.gear,
-    forceB = clampForce(actuator.max * actuator.gain) * actuator.gear;
-  const targetA = actuator.min * targetScale,
-    targetB = actuator.max * targetScale,
-    outputMin = isMotor ? Math.min(forceA, forceB) : Math.min(targetA, targetB),
-    outputMax = isMotor ? Math.max(forceA, forceB) : Math.max(targetA, targetB);
-  const outputValue = isMotor
-      ? clampForce(actuator.value * actuator.gain) * actuator.gear
-      : actuator.value * targetScale,
-    outputDisabled =
-      (isMotor && Math.abs(physicalScale) <= 1e-9) ||
-      (isPosition && Math.abs(actuator.gear) <= 1e-9);
-  const outputLabel = isMotor
-    ? actuator.jointType === 3
-      ? '输出力矩'
-      : '输出力'
-    : isPosition
-      ? actuator.jointType === 3
-        ? '目标角度'
-        : '目标位置'
-      : '控制输入';
-  const forceUnit = actuator.jointType === 3 ? 'N·m' : actuator.jointType === 2 ? 'N' : '',
-    jointForceA = actuator.forceMin * actuator.gear,
-    jointForceB = actuator.forceMax * actuator.gear,
-    jointForceMin = Math.min(jointForceA, jointForceB),
-    jointForceMax = Math.max(jointForceA, jointForceB);
-  const update = (patch: Partial<ActuatorParameters>) => onParameters({ ...actuator, ...patch }),
-    controlLabel = isPosition ? (actuator.jointType === 3 ? '角度' : '位置') : '控制',
-    gearSquared = actuator.gear * actuator.gear;
-  return (
-    <div className="mb-3 rounded-lg border border-border bg-surface p-2.5">
-      <div className="mb-2 flex min-w-0 items-start justify-between gap-2">
-        <div className="min-w-0">
-          <div className="truncate text-xs font-medium text-text-primary" title={actuator.name}>
-            {actuator.name}
-          </div>
-          <div className="mt-0.5 truncate text-[10px] text-text-tertiary">
-            {actuator.jointName ? `关节：${actuator.jointName}` : '未关联标量关节'}
-          </div>
-        </div>
-        <Badge>{actuator.unit || 'u'}</Badge>
-      </div>
-      {actuator.controlCount === 1 ? (
-        <ControlSlider
-          label={outputLabel}
-          value={outputValue}
-          min={outputMin}
-          max={outputMax}
-          disabled={outputDisabled}
-          unit={actuator.unit ? ` ${actuator.unit}` : ''}
-          onChange={(value) => {
-            if (outputDisabled) return;
-            onControl(isMotor ? value / physicalScale : value / targetScale);
-          }}
-        />
-      ) : (
-        <p className="mb-2 text-[10px] leading-4 text-text-tertiary">
-          该驱动器包含 {actuator.controlCount} 个控制分量，请在 MJCF 源码或专用控制器中设置。
-        </p>
-      )}
-      {actuator.controlCount === 1 && !actuator.ctrlLimited && (
-        <div className="mb-2">
-          <ParameterInput
-            label={`${controlLabel}输入（不限幅）`}
-            value={actuator.value * targetScale}
-            onCommit={(value) => onControl(value / targetScale)}
-          />
-        </div>
-      )}
-      {editable ? (
-        <details className="group border-t border-border pt-2">
-          <summary className="cursor-pointer select-none text-xs font-medium text-text-secondary hover:text-text-primary">
-            常用参数
-          </summary>
-          <div className="mt-2 grid grid-cols-2 gap-2">
-            {isPosition ? (
-              <>
-                <ParameterInput
-                  label={`位置增益 kp（${forceUnit}/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
-                  value={actuator.kp * gearSquared}
-                  disabled={gearSquared <= 1e-18}
-                  onCommit={(kp) => update({ kp: kp / gearSquared })}
-                />
-                <ParameterInput
-                  label={`速度增益 kv（${forceUnit}·s/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
-                  value={actuator.kv * gearSquared}
-                  disabled={gearSquared <= 1e-18}
-                  onCommit={(kv) => update({ kv: kv / gearSquared })}
-                />
-              </>
-            ) : (
-              <>
-                <ParameterInput
-                  label={`kp（MJCF stiffness，${forceUnit}/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
-                  value={actuator.kp}
-                  onCommit={(kp) => update({ kp })}
-                />
-                <ParameterInput
-                  label={`kv（MJCF damping，${forceUnit}·s/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
-                  value={actuator.kv}
-                  onCommit={(kv) => update({ kv })}
-                />
-              </>
-            )}
-          </div>
-          <ParameterToggle
-            label={`限制输出${actuator.jointType === 3 ? '力矩' : '力'}${forceUnit ? `（${forceUnit}）` : ''}`}
-            checked={actuator.forceLimited}
-            onChange={(forceLimited) => update({ forceLimited })}
-          />
-          <div className="mt-2 grid grid-cols-2 gap-2">
-            <ParameterInput
-              label="输出下限"
-              value={jointForceMin}
-              disabled={!actuator.forceLimited || Math.abs(actuator.gear) <= 1e-9}
-              onCommit={(value) =>
-                update(
-                  actuator.gear >= 0
-                    ? { forceMin: value / actuator.gear }
-                    : { forceMax: value / actuator.gear },
-                )
-              }
-            />
-            <ParameterInput
-              label="输出上限"
-              value={jointForceMax}
-              disabled={!actuator.forceLimited || Math.abs(actuator.gear) <= 1e-9}
-              onCommit={(value) =>
-                update(
-                  actuator.gear >= 0
-                    ? { forceMax: value / actuator.gear }
-                    : { forceMin: value / actuator.gear },
-                )
-              }
-            />
-          </div>
-          <p className="mt-2 text-[10px] leading-4 text-text-tertiary">
-            {isPosition
-              ? 'position 伺服使用 kp 跟踪目标位置，kv 提供速度阻尼。'
-              : 'motor 保持力/力矩控制且控制输入不限幅。MJCF 的 motor 没有 kp/kv 属性；这里的 kp、kv 会分别保存为对应 joint 的 stiffness、damping。'}{' '}
-            参数修改会立即作用于当前模型，并可随 MJCF 导出。
-          </p>
-        </details>
-      ) : (
-        <p className="border-t border-border pt-2 text-[10px] leading-4 text-text-tertiary">
-          该驱动器不是可直接编辑的 motor/position 类型，控制值按模型原始单位显示；请在 MJCF
-          源码中修改专用参数。
-        </p>
-      )}
-    </div>
-  );
-}
-function ParameterInput({
-  label,
-  value,
-  onCommit,
-  disabled = false,
-}: {
-  label: string;
-  value: number;
-  onCommit: (value: number) => void;
-  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>
-  );
-}
-function ParameterToggle({
-  label,
-  checked,
-  onChange,
-}: {
-  label: string;
-  checked: boolean;
-  onChange: (value: boolean) => void;
-}) {
-  return (
-    <label className="mt-2 flex items-center gap-2 text-[11px] text-text-secondary">
-      <input
-        type="checkbox"
-        className="accent-accent"
-        checked={checked}
-        onChange={(event) => onChange(event.target.checked)}
-      />
-      {label}
-    </label>
-  );
-}
-function Check({
-  label,
-  checked,
-  onChange,
-}: {
-  label: string;
-  checked: boolean;
-  onChange: (value: boolean) => void;
-}) {
-  return (
-    <label className="mt-3 flex items-center gap-2 text-xs text-text-secondary">
-      <input
-        type="checkbox"
-        className="rounded accent-accent focus-visible:ring-2 focus-visible:ring-accent/40 focus-visible:ring-offset-1 focus-visible:ring-offset-panel"
-        checked={checked}
-        onChange={(event) => onChange(event.target.checked)}
-      />
-      {label}
-    </label>
-  );
-}
-function ControlSlider({
-  label,
-  value,
-  min,
-  max,
-  onChange,
-  disabled = false,
-  unit = '',
-  advanced = false,
-  limited = false,
-  limitsIgnored = false,
-  limitMin = 0,
-  limitMax = 0,
-}: {
-  label: string;
-  value: number;
-  min: number;
-  max: number;
-  onChange: (value: number) => void;
-  disabled?: boolean;
-  unit?: string;
-  advanced?: boolean;
-  limited?: boolean;
-  limitsIgnored?: boolean;
-  limitMin?: number;
-  limitMax?: number;
-}) {
-  const sane = Number.isFinite(value) ? value : 0,
-    format = (number: number) => `${number.toFixed(3)}${unit}`;
-  return (
-    <label className="mb-3 block text-xs">
-      <span className="mb-1 flex justify-between gap-2">
-        <span className="truncate text-text-secondary">{label}</span>
-        <output className="technical-value text-text-primary">{format(sane)}</output>
-      </span>
-      <input
-        className="control-slider rounded focus-visible:ring-2 focus-visible:ring-accent/40 focus-visible:ring-offset-2 focus-visible:ring-offset-panel"
-        type="range"
-        disabled={disabled}
-        value={Math.min(max, Math.max(min, sane))}
-        min={min}
-        max={max}
-        step={(max - min) / 500 || 0.001}
-        onChange={(event) => onChange(Number(event.target.value))}
-      />
-      {advanced && (
-        <span className="mt-1 flex justify-between text-[10px] text-text-tertiary">
-          <span>下限 {limited ? format(limitMin) : '无限制'}</span>
-          {limitsIgnored && limited && <span className="text-warning">已忽略</span>}
-          <span>上限 {limited ? format(limitMax) : '无限制'}</span>
-        </span>
-      )}
-    </label>
-  );
-}

web_platform/src/controller/PythonControllerPanel.tsx

@@ -10,8 +10,8 @@ import {
   RotateCw,
   Trash2,
 } from 'lucide-react';
-import type { ControllerCommand, ControllerStatus } from '../../controller/types';
-import { Badge, Button, PropertyRow, Select } from '../../components/ui';
+import type { ControllerCommand, ControllerStatus } from './types';
+import { Badge, Button, PropertyRow, Select } from '../components/ui';
 
 export interface PythonControllerPanelProps {
   paths: string[];

web_platform/src/map/MapAssetLibrary.test.tsx

@@ -1,5 +1,5 @@
 import { fireEvent, render, screen } from '@testing-library/react';
-import { MAP_ASSET_DRAG_MIME, MAP_ASSET_PLACEMENT_MIME } from '../../map/editor/assetCatalog';
+import { MAP_ASSET_DRAG_MIME, MAP_ASSET_PLACEMENT_MIME } from './editor/assetCatalog';
 import { MapAssetLibrary } from './MapAssetLibrary';
 
 const renderLibrary = (

web_platform/src/map/MapAssetLibrary.tsx

@@ -1,22 +1,22 @@
 import { useState } from 'react';
 import { BadgeCheck, CheckCircle2, Mountain, Plus } from 'lucide-react';
-import { Button, Select } from '../../components/ui';
+import { Button, Select } from '../components/ui';
 import {
   CERTIFIED_MAP_ASSETS,
   MAP_ASSET_DRAG_MIME,
   MAP_ASSET_PLACEMENT_MIME,
-} from '../../map/editor/assetCatalog';
+} from './editor/assetCatalog';
 import {
   MAP_OBJECT_PLACEMENT_LABELS,
   type EditableMapDocument,
   type EditableMapObjectType,
   type MapObjectPlacementMode,
-} from '../../map/editor/types';
+} from './editor/types';
 import {
   PHYSICAL_MAP_PRESET_LABELS,
   SYSTEM_TERRAIN_PRESETS,
   type SystemTerrainPreset,
-} from '../../map/types';
+} from './types';
 
 function AssetPreview({ type, color }: { type: EditableMapObjectType; color: string }) {
   const shape =

web_platform/src/map/MapEditorPanel.test.tsx

@@ -1,5 +1,5 @@
 import { fireEvent, render, screen, waitFor } from '@testing-library/react';
-import type { EditableMapDocument } from '../../map/editor/types';
+import type { EditableMapDocument } from './editor/types';
 import { MapEditorPanel } from './MapEditorPanel';
 
 const interactionProps = {

web_platform/src/map/MapEditorPanel.tsx

@@ -1,6 +1,6 @@
 import { useEffect, useMemo, useState } from 'react';
-import { Button, Select } from '../../components/ui';
-import { MapEditSession } from '../../map/editor/MapEditSession';
+import { Button, Select } from '../components/ui';
+import { MapEditSession } from './editor/MapEditSession';
 import {
   editableObjectGroundHeight,
   MAP_OBJECT_PLACEMENT_LABELS,
@@ -10,7 +10,7 @@ import {
   type MapEditorInteractionCallbacks,
   type MapEditorTransformMode,
   type MapObjectPlacementMode,
-} from '../../map/editor/types';
+} from './editor/types';
 
 const labels: Record<EditableMapObjectType, string> = {
   box: '方盒',

web_platform/src/map/PhysicalMapPanel.test.tsx

@@ -1,5 +1,5 @@
 import { fireEvent, render, screen } from '@testing-library/react';
-import { DEFAULT_PHYSICAL_MAP_CONFIG } from '../../map/types';
+import { DEFAULT_PHYSICAL_MAP_CONFIG } from './types';
 import { PhysicalMapPanel } from './PhysicalMapPanel';
 
 const common = {

web_platform/src/map/PhysicalMapPanel.tsx

@@ -1,6 +1,6 @@
 import { useState } from 'react';
-import { Button, Select } from '../../components/ui';
-import type { MapEntry } from '../../project/types';
+import { Button, Select } from '../components/ui';
+import type { MapEntry } from '../project/types';
 import {
   DEFAULT_PHYSICAL_MAP_CONFIG,
   PHYSICAL_MAP_PRESET_LABELS,
@@ -8,13 +8,13 @@ import {
   type MapSelection,
   type PhysicalMapConfig,
   type PhysicalMapPreset,
-} from '../../map/types';
-import { normalizePhysicalMapConfig } from '../../map/physicalMap';
+} from './types';
+import { normalizePhysicalMapConfig } from './physicalMap';
 import type {
   EditableMapDocument,
   MapEditorInteractionCallbacks,
   MapEditorTransformMode,
-} from '../../map/editor/types';
+} from './editor/types';
 import { MapEditorPanel } from './MapEditorPanel';
 
 function NumberField({

web_platform/src/rl/RLPolicyPanel.tsx

@@ -1,7 +1,7 @@
 import { useRef, type ChangeEvent } from 'react';
 import { BrainCircuit, FileUp, Power, RotateCw, Trash2 } from 'lucide-react';
-import type { RLCommand, RLPolicyStatus } from '../../rl/types';
-import { Badge, Button, PropertyRow, Select } from '../../components/ui';
+import type { RLCommand, RLPolicyStatus } from './types';
+import { Badge, Button, PropertyRow, Select } from '../components/ui';
 
 export interface RLPolicyPanelProps {
   paths: string[];

web_platform/src/simulation/ActuatorControl.test.tsx

@@ -1,6 +1,6 @@
 import { fireEvent, render, screen } from '@testing-library/react';
-import { ActuatorControl } from './SidebarPanel';
-import type { ActuatorInfo } from '../../simulation/SimulationSession';
+import { ActuatorControl } from './ActuatorControl';
+import type { ActuatorInfo } from './SimulationSession';
 
 const actuator: ActuatorInfo = {
   id: 0,

web_platform/src/simulation/ActuatorControl.tsx

@@ -0,0 +1,307 @@
+import type { ActuatorInfo, ActuatorParameters } from './SimulationSession';
+import { Badge } from '../components/ui';
+
+export function ActuatorControl({
+  actuator,
+  onControl,
+  onParameters,
+}: {
+  actuator: ActuatorInfo;
+  onControl: (value: number) => void;
+  onParameters: (parameters: ActuatorParameters) => void;
+}) {
+  const isMotor = actuator.kind === 'motor',
+    isPosition = actuator.kind === 'position',
+    editable = isMotor || isPosition,
+    baseTargetScale = isPosition && actuator.jointType === 3 ? 180 / Math.PI : 1,
+    targetScale =
+      isPosition && Math.abs(actuator.gear) > 1e-9
+        ? baseTargetScale / actuator.gear
+        : baseTargetScale;
+  const clampForce = (value: number) =>
+      actuator.forceLimited
+        ? Math.min(actuator.forceMax, Math.max(actuator.forceMin, value))
+        : value,
+    physicalScale = actuator.gear * actuator.gain;
+  const forceA = clampForce(actuator.min * actuator.gain) * actuator.gear,
+    forceB = clampForce(actuator.max * actuator.gain) * actuator.gear;
+  const targetA = actuator.min * targetScale,
+    targetB = actuator.max * targetScale,
+    outputMin = isMotor ? Math.min(forceA, forceB) : Math.min(targetA, targetB),
+    outputMax = isMotor ? Math.max(forceA, forceB) : Math.max(targetA, targetB);
+  const outputValue = isMotor
+      ? clampForce(actuator.value * actuator.gain) * actuator.gear
+      : actuator.value * targetScale,
+    outputDisabled =
+      (isMotor && Math.abs(physicalScale) <= 1e-9) ||
+      (isPosition && Math.abs(actuator.gear) <= 1e-9);
+  const outputLabel = isMotor
+    ? actuator.jointType === 3
+      ? '输出力矩'
+      : '输出力'
+    : isPosition
+      ? actuator.jointType === 3
+        ? '目标角度'
+        : '目标位置'
+      : '控制输入';
+  const forceUnit = actuator.jointType === 3 ? 'N·m' : actuator.jointType === 2 ? 'N' : '',
+    jointForceA = actuator.forceMin * actuator.gear,
+    jointForceB = actuator.forceMax * actuator.gear,
+    jointForceMin = Math.min(jointForceA, jointForceB),
+    jointForceMax = Math.max(jointForceA, jointForceB);
+  const update = (patch: Partial<ActuatorParameters>) => onParameters({ ...actuator, ...patch }),
+    controlLabel = isPosition ? (actuator.jointType === 3 ? '角度' : '位置') : '控制',
+    gearSquared = actuator.gear * actuator.gear;
+  return (
+    <div className="mb-3 rounded-lg border border-border bg-surface p-2.5">
+      <div className="mb-2 flex min-w-0 items-start justify-between gap-2">
+        <div className="min-w-0">
+          <div className="truncate text-xs font-medium text-text-primary" title={actuator.name}>
+            {actuator.name}
+          </div>
+          <div className="mt-0.5 truncate text-[10px] text-text-tertiary">
+            {actuator.jointName ? `关节：${actuator.jointName}` : '未关联标量关节'}
+          </div>
+        </div>
+        <Badge>{actuator.unit || 'u'}</Badge>
+      </div>
+      {actuator.controlCount === 1 ? (
+        <ControlSlider
+          label={outputLabel}
+          value={outputValue}
+          min={outputMin}
+          max={outputMax}
+          disabled={outputDisabled}
+          unit={actuator.unit ? ` ${actuator.unit}` : ''}
+          onChange={(value) => {
+            if (outputDisabled) return;
+            onControl(isMotor ? value / physicalScale : value / targetScale);
+          }}
+        />
+      ) : (
+        <p className="mb-2 text-[10px] leading-4 text-text-tertiary">
+          该驱动器包含 {actuator.controlCount} 个控制分量，请在 MJCF 源码或专用控制器中设置。
+        </p>
+      )}
+      {actuator.controlCount === 1 && !actuator.ctrlLimited && (
+        <div className="mb-2">
+          <ParameterInput
+            label={`${controlLabel}输入（不限幅）`}
+            value={actuator.value * targetScale}
+            onCommit={(value) => onControl(value / targetScale)}
+          />
+        </div>
+      )}
+      {editable ? (
+        <details className="group border-t border-border pt-2">
+          <summary className="cursor-pointer select-none text-xs font-medium text-text-secondary hover:text-text-primary">
+            常用参数
+          </summary>
+          <div className="mt-2 grid grid-cols-2 gap-2">
+            {isPosition ? (
+              <>
+                <ParameterInput
+                  label={`位置增益 kp（${forceUnit}/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
+                  value={actuator.kp * gearSquared}
+                  disabled={gearSquared <= 1e-18}
+                  onCommit={(kp) => update({ kp: kp / gearSquared })}
+                />
+                <ParameterInput
+                  label={`速度增益 kv（${forceUnit}·s/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
+                  value={actuator.kv * gearSquared}
+                  disabled={gearSquared <= 1e-18}
+                  onCommit={(kv) => update({ kv: kv / gearSquared })}
+                />
+              </>
+            ) : (
+              <>
+                <ParameterInput
+                  label={`kp（MJCF stiffness，${forceUnit}/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
+                  value={actuator.kp}
+                  onCommit={(kp) => update({ kp })}
+                />
+                <ParameterInput
+                  label={`kv（MJCF damping，${forceUnit}·s/${actuator.jointType === 3 ? 'rad' : 'm'}）`}
+                  value={actuator.kv}
+                  onCommit={(kv) => update({ kv })}
+                />
+              </>
+            )}
+          </div>
+          <ParameterToggle
+            label={`限制输出${actuator.jointType === 3 ? '力矩' : '力'}${forceUnit ? `（${forceUnit}）` : ''}`}
+            checked={actuator.forceLimited}
+            onChange={(forceLimited) => update({ forceLimited })}
+          />
+          <div className="mt-2 grid grid-cols-2 gap-2">
+            <ParameterInput
+              label="输出下限"
+              value={jointForceMin}
+              disabled={!actuator.forceLimited || Math.abs(actuator.gear) <= 1e-9}
+              onCommit={(value) =>
+                update(
+                  actuator.gear >= 0
+                    ? { forceMin: value / actuator.gear }
+                    : { forceMax: value / actuator.gear },
+                )
+              }
+            />
+            <ParameterInput
+              label="输出上限"
+              value={jointForceMax}
+              disabled={!actuator.forceLimited || Math.abs(actuator.gear) <= 1e-9}
+              onCommit={(value) =>
+                update(
+                  actuator.gear >= 0
+                    ? { forceMax: value / actuator.gear }
+                    : { forceMin: value / actuator.gear },
+                )
+              }
+            />
+          </div>
+          <p className="mt-2 text-[10px] leading-4 text-text-tertiary">
+            {isPosition
+              ? 'position 伺服使用 kp 跟踪目标位置，kv 提供速度阻尼。'
+              : 'motor 保持力/力矩控制且控制输入不限幅。MJCF 的 motor 没有 kp/kv 属性；这里的 kp、kv 会分别保存为对应 joint 的 stiffness、damping。'}{' '}
+            参数修改会立即作用于当前模型，并可随 MJCF 导出。
+          </p>
+        </details>
+      ) : (
+        <p className="border-t border-border pt-2 text-[10px] leading-4 text-text-tertiary">
+          该驱动器不是可直接编辑的 motor/position 类型，控制值按模型原始单位显示；请在 MJCF
+          源码中修改专用参数。
+        </p>
+      )}
+    </div>
+  );
+}
+function ParameterInput({
+  label,
+  value,
+  onCommit,
+  disabled = false,
+}: {
+  label: string;
+  value: number;
+  onCommit: (value: number) => void;
+  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>
+  );
+}
+function ParameterToggle({
+  label,
+  checked,
+  onChange,
+}: {
+  label: string;
+  checked: boolean;
+  onChange: (value: boolean) => void;
+}) {
+  return (
+    <label className="mt-2 flex items-center gap-2 text-[11px] text-text-secondary">
+      <input
+        type="checkbox"
+        className="accent-accent"
+        checked={checked}
+        onChange={(event) => onChange(event.target.checked)}
+      />
+      {label}
+    </label>
+  );
+}
+export function Check({
+  label,
+  checked,
+  onChange,
+}: {
+  label: string;
+  checked: boolean;
+  onChange: (value: boolean) => void;
+}) {
+  return (
+    <label className="mt-3 flex items-center gap-2 text-xs text-text-secondary">
+      <input
+        type="checkbox"
+        className="rounded accent-accent focus-visible:ring-2 focus-visible:ring-accent/40 focus-visible:ring-offset-1 focus-visible:ring-offset-panel"
+        checked={checked}
+        onChange={(event) => onChange(event.target.checked)}
+      />
+      {label}
+    </label>
+  );
+}
+export function ControlSlider({
+  label,
+  value,
+  min,
+  max,
+  onChange,
+  disabled = false,
+  unit = '',
+  advanced = false,
+  limited = false,
+  limitsIgnored = false,
+  limitMin = 0,
+  limitMax = 0,
+}: {
+  label: string;
+  value: number;
+  min: number;
+  max: number;
+  onChange: (value: number) => void;
+  disabled?: boolean;
+  unit?: string;
+  advanced?: boolean;
+  limited?: boolean;
+  limitsIgnored?: boolean;
+  limitMin?: number;
+  limitMax?: number;
+}) {
+  const sane = Number.isFinite(value) ? value : 0,
+    format = (number: number) => `${number.toFixed(3)}${unit}`;
+  return (
+    <label className="mb-3 block text-xs">
+      <span className="mb-1 flex justify-between gap-2">
+        <span className="truncate text-text-secondary">{label}</span>
+        <output className="technical-value text-text-primary">{format(sane)}</output>
+      </span>
+      <input
+        className="control-slider rounded focus-visible:ring-2 focus-visible:ring-accent/40 focus-visible:ring-offset-2 focus-visible:ring-offset-panel"
+        type="range"
+        disabled={disabled}
+        value={Math.min(max, Math.max(min, sane))}
+        min={min}
+        max={max}
+        step={(max - min) / 500 || 0.001}
+        onChange={(event) => onChange(Number(event.target.value))}
+      />
+      {advanced && (
+        <span className="mt-1 flex justify-between text-[10px] text-text-tertiary">
+          <span>下限 {limited ? format(limitMin) : '无限制'}</span>
+          {limitsIgnored && limited && <span className="text-warning">已忽略</span>}
+          <span>上限 {limited ? format(limitMax) : '无限制'}</span>
+        </span>
+      )}
+    </label>
+  );
+}

web_platform/src/simulation/PhysicsAdapter.ts

@@ -16,7 +16,11 @@ import {
 } from './SimulationSession';
 import type { ControllerCommand, ControllerStatus } from '../controller/types';
 import type { RLCommand, RLPolicyStatus } from '../rl/types';
-import type { DataRecorderConfig, DataRecorderStatus, TelemetryChannel } from './DataRecorder';
+import type {
+  DataRecorderConfig,
+  DataRecorderStatus,
+  TelemetryChannel,
+} from '../telemetry/DataRecorder';
 import { composePhysicalMap } from '../map/physicalMap';
 import { composeProjectMap } from '../map/MapComposer';
 import { resolveProjectMap } from '../map/MapLoader';

web_platform/src/simulation/SimulationSession.ts

@@ -11,7 +11,7 @@ import {
   type DataRecorderStatus,
   type TelemetryBody,
   type TelemetryChannel,
-} from './DataRecorder';
+} from '../telemetry/DataRecorder';
 
 export interface ActuatorParameters {
   gear: number;

web_platform/src/telemetry/DataRecordingPanel.test.tsx

@@ -1,6 +1,6 @@
 import { fireEvent, render, screen } from '@testing-library/react';
 import { DataRecordingPanel } from './DataRecordingPanel';
-import type { DataRecorderStatus } from '../../simulation/DataRecorder';
+import type { DataRecorderStatus } from './DataRecorder';
 
 const status: DataRecorderStatus = {
   recording: false,

web_platform/src/telemetry/DataRecordingPanel.tsx

@@ -1,7 +1,7 @@
 import { Circle, Download, Square, Trash2 } from 'lucide-react';
-import type { BodyInfo } from '../../simulation/SimulationSession';
-import type { DataRecorderConfig, DataRecorderStatus } from '../../simulation/DataRecorder';
-import { Badge, Button, PropertyRow, Select } from '../../components/ui';
+import type { BodyInfo } from '../simulation/SimulationSession';
+import type { DataRecorderConfig, DataRecorderStatus } from './DataRecorder';
+import { Badge, Button, PropertyRow, Select } from '../components/ui';
 
 const SAMPLE_RATES = [10, 20, 50, 100, 200];
 const radiansToDegrees = 180 / Math.PI;

web_platform/src/training/LocalTrainingPanel.tsx

@@ -1,13 +1,8 @@
 import { useEffect, useState, type ReactNode } from 'react';
 import { Download, Link, Play, Server, Square } from 'lucide-react';
-import { Badge, Button, ProgressBar, PropertyRow, Select } from '../../components/ui';
-import { LocalTrainingClient } from '../../training/LocalTrainingClient';
-import type {
-  TrainingDevice,
-  TrainingJob,
-  TrainingServerInfo,
-  WandbMode,
-} from '../../training/types';
+import { Badge, Button, ProgressBar, PropertyRow, Select } from '../components/ui';
+import { LocalTrainingClient } from './LocalTrainingClient';
+import type { TrainingDevice, TrainingJob, TrainingServerInfo, WandbMode } from './types';
 
 const ENDPOINT_KEY = 'mujoco-local-training-endpoint',
   JOB_KEY = 'mujoco-local-training-job',