Merge pull request 'Cen' (#5) from Cen into main

Reviewed-on: #5

.editorconfig

@@ -0,0 +1,14 @@
+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+indent_style = space
+indent_size = 2
+
+[*.py]
+indent_size = 4
+
+[*.md]
+trim_trailing_whitespace = false

.github/workflows/ci.yml

@@ -9,15 +9,22 @@ permissions:
 
 jobs:
   quality:
-    name: TypeScript、Lint、Unit、Build
+    name: TypeScript, lint, unit, build
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v6
       - uses: actions/setup-node@v6
         with:
-          node-version: 24
+          node-version-file: .nvmrc
           cache: npm
+      - uses: actions/setup-python@v6
+        with:
+          python-version: '3.12'
+          cache: pip
+      - run: npm install --global npm@11.17.0
       - run: npm ci
+      - run: python -m pip install -r requirements-dev.txt
+      - run: npm run lint:python
       - run: npm run check
 
   e2e:
@@ -27,8 +34,10 @@ jobs:
       - uses: actions/checkout@v6
       - uses: actions/setup-node@v6
         with:
-          node-version: 24
+          node-version-file: .nvmrc
           cache: npm
+      - run: npm install --global npm@11.17.0
       - run: npm ci
+      - run: npx playwright install --with-deps chromium
       - run: npm run build
       - run: npm run test:e2e

.github/workflows/release.yml

@@ -0,0 +1,46 @@
+name: web-platform-release
+
+on:
+  push:
+    tags:
+      - 'V*'
+
+permissions:
+  contents: write
+
+jobs:
+  release:
+    name: Build and publish release
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/setup-node@v6
+        with:
+          node-version-file: .nvmrc
+          cache: npm
+      - uses: actions/setup-python@v6
+        with:
+          python-version: '3.12'
+          cache: pip
+      - run: npm install --global npm@11.17.0
+      - run: npm ci
+      - run: python -m pip install -r requirements-dev.txt
+      - run: npm run lint:python
+      - run: npm run check
+      - run: npx playwright install --with-deps chromium
+      - run: npm run test:e2e
+      - name: Package static site
+        shell: bash
+        run: |
+          archive="mujoco-web-platform-${GITHUB_REF_NAME}.tar.gz"
+          tar -C web-platform-dist -czf "$archive" .
+          sha256sum "$archive" > SHA256SUMS
+      - name: Publish GitHub Release
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh release create "$GITHUB_REF_NAME" \
+            "mujoco-web-platform-${GITHUB_REF_NAME}.tar.gz" \
+            SHA256SUMS \
+            --generate-notes \
+            --title "$GITHUB_REF_NAME"

.gitignore

@@ -7,6 +7,7 @@ playwright-report/
 web_platform/test-results/
 web_platform/playwright-report/
 web_platform/node_modules/.vite/
+.playwright-cli/
 *.tsbuildinfo
 
 # Python

.npmrc

@@ -0,0 +1 @@
+engine-strict=true

.nvmrc

@@ -0,0 +1 @@
+24.19.0

.prettierignore

@@ -0,0 +1,15 @@
+AGENTS.md
+context.md
+plans/
+.git/
+.venv/
+build/
+node_modules/
+web-platform-dist/
+coverage/
+playwright-report/
+test-results/
+.playwright-cli/
+web_platform/fixtures/
+web_platform/public/
+package-lock.json

.prettierrc.json

@@ -0,0 +1,7 @@
+{
+  "singleQuote": true,
+  "semi": true,
+  "trailingComma": "all",
+  "printWidth": 100,
+  "proseWrap": "preserve"
+}

CHANGELOG.md

@@ -0,0 +1,45 @@
+# 更新日志
+
+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。
+
+## [0.7.1] - 2026-09-01
+
+### 新增
+
+- 增加浏览器内仿真遥测记录模块，可配置记录 Body、采样频率和样本上限。
+- 记录位置、移动速度、机身侧倾/俯仰/偏航角、角速度、累计里程、接触与驱动指标。
+- 增加实时数据与摘要面板，并支持导出稳定列结构的 CSV 和 Schema V1 JSON。
+- 提供 `TelemetrySource`、`registerDataChannel` 及记录生命周期接口，便于扩展业务指标和其他仿真后端。
+- 仿真重置使用数据分段，避免跨重置计算错误速度；达到样本上限时自动停止。
+
+## [0.6.1] - 2026-08-28
+
+### 新增
+
+- 固定并强制使用 Node.js、npm、Prettier 和 Ruff 开发工具版本。
+- 为核心导入、仿真数学、状态管理和训练客户端增加覆盖率门槛。
+- Git 标签触发的自动构建、校验和与 GitHub Release 工作流。
+- 本地训练服务随机 Bearer Token 鉴权、Host 校验和任务历史上限。
+- 训练进程启动/取消竞态回归测试和 SIGTERM 受控退出。
+
+### 变更
+
+- Playwright CI 改用版本固定的 Chromium。
+- TypeScript、TSX、配置和文档统一使用 Prettier 格式化。
+- Python 训练服务统一使用 Ruff 检查和格式化。
+
+## [0.6.0] - 2026-08-28
+
+### 变更
+
+- 将仓库重构为以 `web_platform/` 为核心的 Web 应用仓库。
+- MuJoCo 运行时改为依赖官方 `@mujoco/mujoco` npm 包。
+- 移除原生 C++、Python、MJX、Unity、桌面模拟器、CMake 和上游测试镜像。
+- 将训练桥接服务和 Python 控制器示例提升到仓库根目录。
+
+## [0.5.2] - 2026-08-28
+
+### 变更
+
+- 优化响应式工作区、可访问性、首屏加载、纹理兼容性和视口交互。
+- 增加碰撞体、坐标系、关节轴、质心和惯量辅助可视化。

README.md

@@ -10,6 +10,9 @@
 - ROS `package://`、常见 URDF 兼容转换及 DAE 降级处理
 - Three.js 模型、碰撞体、坐标系、关节轴、质心和惯量可视化
 - 播放、暂停、单步、重置、变速、关节拖动与外力交互
+- 内置平地、坡道、楼梯、随机障碍物及 9 类系统参数化地形（粗糙/波浪、金字塔阶梯、深坑、沟壑等）
+- 工程地图包：静态 MJCF/OBJ/STL/高度场碰撞层、GLB 视觉层和机器人出生点
+- V3 地图创作层：认证资产库支持点击添加、拖到画布落位和首个资产自动创建场景，并可通过表单与视口操纵器继续编辑、事务式应用及导出地图 ZIP
 - 浏览器内 Python 控制器（Pyodide）
 - ONNX 强化学习策略推理（ONNX Runtime Web）
 - 可选的本机 mjlab 训练桥接服务
@@ -17,10 +20,12 @@
 
 ## 快速开始
 
-环境要求：Node.js 24+；仅使用训练桥接服务时需要 Python 3。
+环境要求：Node.js 24（版本见 `.nvmrc`）和 npm 11.17；仅使用训练桥接服务或执行 Python 检查时需要 Python 3.12。
 
 ```bash
-npm install
+nvm use
+npm install --global npm@11.17.0
+npm ci
 npm run dev
 ```
 
@@ -34,10 +39,16 @@ npm run build                # 生产构建到 web-platform-dist/
 npm run preview              # 预览生产构建
 npm run typecheck            # TypeScript 检查
 npm run lint                 # ESLint
+npm run check:format         # Prettier 格式检查
 npm test                     # Vitest 单元测试
-npm run test:e2e             # Playwright 浏览器测试
+npm run test:coverage        # 核心模块覆盖率检查
+npm run test:e2e             # Playwright Chromium 浏览器测试
 npm run test:training-server # Python 训练桥接服务测试
-npm run check                # 除 E2E 外的完整检查
+npm run check                # 除 E2E 和 Ruff 外的完整检查
+
+# 修改 training_server/ 时额外执行
+python3 -m pip install -r requirements-dev.txt
+npm run lint:python
 ```
 
 ## 仓库结构

eslint.config.js

@@ -3,4 +3,18 @@ import globals from 'globals';
 import tseslint from 'typescript-eslint';
 import reactHooks from 'eslint-plugin-react-hooks';
 import reactRefresh from 'eslint-plugin-react-refresh';
-export default tseslint.config({ignores:['web-platform-dist','node_modules']},js.configs.recommended,...tseslint.configs.recommended,{files:['web_platform/**/*.{ts,tsx}'],languageOptions:{globals:{...globals.browser,...globals.node}},plugins:{'react-hooks':reactHooks,'react-refresh':reactRefresh},rules:{...reactHooks.configs.recommended.rules,'react-refresh/only-export-components':['warn',{allowConstantExport:true}],'@typescript-eslint/no-explicit-any':'off'}});
+export default tseslint.config(
+  { ignores: ['web-platform-dist', 'node_modules'] },
+  js.configs.recommended,
+  ...tseslint.configs.recommended,
+  {
+    files: ['web_platform/**/*.{ts,tsx}'],
+    languageOptions: { globals: { ...globals.browser, ...globals.node } },
+    plugins: { 'react-hooks': reactHooks, 'react-refresh': reactRefresh },
+    rules: {
+      ...reactHooks.configs.recommended.rules,
+      'react-refresh/only-export-components': ['warn', { allowConstantExport: true }],
+      '@typescript-eslint/no-explicit-any': 'off',
+    },
+  },
+);

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "mujoco-web-platform",
-  "version": "0.6.0",
+  "version": "0.7.1",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "mujoco-web-platform",
-      "version": "0.6.0",
+      "version": "0.7.1",
       "license": "Apache-2.0",
       "dependencies": {
         "@monaco-editor/react": "^4.7.0",
@@ -30,6 +30,7 @@
         "@types/react-dom": "^19.2.4",
         "@types/three": "^0.185.4",
         "@vitejs/plugin-react": "^6.1.0",
+        "@vitest/coverage-v8": "4.1.11",
         "autoprefixer": "^10.5.4",
         "eslint": "^10.8.1",
         "eslint-plugin-react-hooks": "^7.1.1",
@@ -37,12 +38,17 @@
         "globals": "^17.11.0",
         "jsdom": "^30.0.1",
         "postcss": "^8.5.26",
+        "prettier": "3.9.6",
         "tailwindcss": "^3.4.17",
         "three": "^0.178.0",
         "typescript": "5.8.2",
         "typescript-eslint": "^8.67.0",
         "vite": "^8.0.16",
         "vitest": "^4.1.11"
+      },
+      "engines": {
+        "node": ">=24 <25",
+        "npm": "11.17.0"
       }
     },
     "node_modules/@adobe/css-tools": {
@@ -191,17 +197,6 @@
         "node": ">=6.9.0"
       }
     },
-    "node_modules/@babel/generator/node_modules/@jridgewell/trace-mapping": {
-      "version": "0.3.31",
-      "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.31.tgz",
-      "integrity": "sha512-zzNR+SdQSDJzc8joaeP8QQoCQr8NuYx2dIIytl1QeBEZHJ9uW6hebsrYgbz8hJwUQao3TWCMtmfV8Nu1twOLAw==",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "@jridgewell/resolve-uri": "^3.1.0",
-        "@jridgewell/sourcemap-codec": "^1.4.14"
-      }
-    },
     "node_modules/@babel/helper-compilation-targets": {
       "version": "7.29.7",
       "resolved": "https://registry.npmjs.org/@babel/helper-compilation-targets/-/helper-compilation-targets-7.29.7.tgz",
@@ -389,6 +384,16 @@
         "node": ">=6.9.0"
       }
     },
+    "node_modules/@bcoe/v8-coverage": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/@bcoe/v8-coverage/-/v8-coverage-1.0.2.tgz",
+      "integrity": "sha512-6zABk/ECA/QYSCQ1NGiVwwbQerUCZ+TQbp64Q3AgmfNvurHH0j8TtXa1qbShXA6qqkpAj4V5W8pP6mLe1mcMqA==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=18"
+      }
+    },
     "node_modules/@bramus/specificity": {
       "version": "2.4.2",
       "resolved": "https://registry.npmjs.org/@bramus/specificity/-/specificity-2.4.2.tgz",
@@ -845,17 +850,6 @@
         "@jridgewell/trace-mapping": "^0.3.24"
       }
     },
-    "node_modules/@jridgewell/gen-mapping/node_modules/@jridgewell/trace-mapping": {
-      "version": "0.3.31",
-      "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.31.tgz",
-      "integrity": "sha512-zzNR+SdQSDJzc8joaeP8QQoCQr8NuYx2dIIytl1QeBEZHJ9uW6hebsrYgbz8hJwUQao3TWCMtmfV8Nu1twOLAw==",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "@jridgewell/resolve-uri": "^3.1.0",
-        "@jridgewell/sourcemap-codec": "^1.4.14"
-      }
-    },
     "node_modules/@jridgewell/remapping": {
       "version": "2.3.5",
       "resolved": "https://registry.npmjs.org/@jridgewell/remapping/-/remapping-2.3.5.tgz",
@@ -867,17 +861,6 @@
         "@jridgewell/trace-mapping": "^0.3.24"
       }
     },
-    "node_modules/@jridgewell/remapping/node_modules/@jridgewell/trace-mapping": {
-      "version": "0.3.31",
-      "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.31.tgz",
-      "integrity": "sha512-zzNR+SdQSDJzc8joaeP8QQoCQr8NuYx2dIIytl1QeBEZHJ9uW6hebsrYgbz8hJwUQao3TWCMtmfV8Nu1twOLAw==",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "@jridgewell/resolve-uri": "^3.1.0",
-        "@jridgewell/sourcemap-codec": "^1.4.14"
-      }
-    },
     "node_modules/@jridgewell/resolve-uri": {
       "version": "3.1.2",
       "resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz",
@@ -893,6 +876,17 @@
       "integrity": "sha512-cYQ9310grqxueWbl+WuIUIaiUaDcj7WOq5fVhEljNVgRfOUhY9fy2zTvfoqWsnebh8Sl70VScFbICvJnLKB0Og==",
       "dev": true
     },
+    "node_modules/@jridgewell/trace-mapping": {
+      "version": "0.3.31",
+      "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.31.tgz",
+      "integrity": "sha512-zzNR+SdQSDJzc8joaeP8QQoCQr8NuYx2dIIytl1QeBEZHJ9uW6hebsrYgbz8hJwUQao3TWCMtmfV8Nu1twOLAw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@jridgewell/resolve-uri": "^3.1.0",
+        "@jridgewell/sourcemap-codec": "^1.4.14"
+      }
+    },
     "node_modules/@monaco-editor/loader": {
       "version": "1.7.0",
       "resolved": "https://registry.npmjs.org/@monaco-editor/loader/-/loader-1.7.0.tgz",
@@ -1883,6 +1877,37 @@
         }
       }
     },
+    "node_modules/@vitest/coverage-v8": {
+      "version": "4.1.11",
+      "resolved": "https://registry.npmjs.org/@vitest/coverage-v8/-/coverage-v8-4.1.11.tgz",
+      "integrity": "sha512-8MVGEFnJIcdGjcbfKmeq8z0pZHH0JlVtoVZH9Q/qwUp6wyFnEJUBMrw9DCaj+ra3vShGmhavjalMIhPNxZAUcw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@bcoe/v8-coverage": "^1.0.2",
+        "@vitest/utils": "4.1.11",
+        "ast-v8-to-istanbul": "^1.0.0",
+        "istanbul-lib-coverage": "^3.2.2",
+        "istanbul-lib-report": "^3.0.1",
+        "istanbul-reports": "^3.2.0",
+        "magicast": "^0.5.2",
+        "obug": "^2.1.1",
+        "std-env": "^4.0.0-rc.1",
+        "tinyrainbow": "^3.1.0"
+      },
+      "funding": {
+        "url": "https://opencollective.com/vitest"
+      },
+      "peerDependencies": {
+        "@vitest/browser": "4.1.11",
+        "vitest": "4.1.11"
+      },
+      "peerDependenciesMeta": {
+        "@vitest/browser": {
+          "optional": true
+        }
+      }
+    },
     "node_modules/@vitest/expect": {
       "version": "4.1.11",
       "resolved": "https://registry.npmjs.org/@vitest/expect/-/expect-4.1.11.tgz",
@@ -2090,6 +2115,25 @@
         "node": ">=12"
       }
     },
+    "node_modules/ast-v8-to-istanbul": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/ast-v8-to-istanbul/-/ast-v8-to-istanbul-1.0.5.tgz",
+      "integrity": "sha512-UPAgKJFSEGMWSDr3LX4tqnAb4f7KGT8O40Tyx8wbYmmZ/yn58lNCm8h3svs3eXgiGd5AXxz8NDOvXWvicq+rJA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@jridgewell/trace-mapping": "^0.3.31",
+        "estree-walker": "^3.0.3",
+        "js-tokens": "^10.0.0"
+      }
+    },
+    "node_modules/ast-v8-to-istanbul/node_modules/js-tokens": {
+      "version": "10.0.0",
+      "resolved": "https://registry.npmjs.org/js-tokens/-/js-tokens-10.0.0.tgz",
+      "integrity": "sha512-lM/UBzQmfJRo9ABXbPWemivdCW8V2G8FHaHdypQaIy523snUjog0W71ayWXTjiR+ixeMyVHN2XcpnTd/liPg/Q==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/autoprefixer": {
       "version": "10.5.4",
       "resolved": "https://registry.npmjs.org/autoprefixer/-/autoprefixer-10.5.4.tgz",
@@ -3013,6 +3057,16 @@
       "integrity": "sha512-Y8T4vYhEfwJOTbouREvG+3XDsjr8E3kIr7uf+JZ0BYloFsttiHU0WfvANVsR7TxNUJa/WpCnw/Ino/p+DeBhBQ==",
       "license": "ISC"
     },
+    "node_modules/has-flag": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
+      "integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/hasown": {
       "version": "2.0.4",
       "resolved": "https://registry.npmjs.org/hasown/-/hasown-2.0.4.tgz",
@@ -3056,6 +3110,13 @@
         "node": "^20.19.0 || ^22.12.0 || >=24.0.0"
       }
     },
+    "node_modules/html-escaper": {
+      "version": "2.0.2",
+      "resolved": "https://registry.npmjs.org/html-escaper/-/html-escaper-2.0.2.tgz",
+      "integrity": "sha512-H2iMtd0I4Mt5eYiapRdIDjp+XzelXQ0tFE4JS7YFwFevXXMmOp9myNrUvCg0D6ws8iqkRPBfKHgbwig1SmlLfg==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/ignore": {
       "version": "5.3.2",
       "resolved": "https://registry.npmjs.org/ignore/-/ignore-5.3.2.tgz",
@@ -3161,6 +3222,45 @@
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       "dev": true
     },
+    "node_modules/istanbul-lib-coverage": {
+      "version": "3.2.2",
+      "resolved": "https://registry.npmjs.org/istanbul-lib-coverage/-/istanbul-lib-coverage-3.2.2.tgz",
+      "integrity": "sha512-O8dpsF+r0WV/8MNRKfnmrtCWhuKjxrq2w+jpzBL5UZKTi2LeVWnWOmWRxFlesJONmc+wLAGvKQZEOanko0LFTg==",
+      "dev": true,
+      "license": "BSD-3-Clause",
+      "engines": {
+        "node": ">=8"
+      }
+    },
+    "node_modules/istanbul-lib-report": {
+      "version": "3.0.1",
+      "resolved": "https://registry.npmjs.org/istanbul-lib-report/-/istanbul-lib-report-3.0.1.tgz",
+      "integrity": "sha512-GCfE1mtsHGOELCU8e/Z7YWzpmybrx/+dSTfLrvY8qRmaY6zXTKWn6WQIjaAFw069icm6GVMNkgu0NzI4iPZUNw==",
+      "dev": true,
+      "license": "BSD-3-Clause",
+      "dependencies": {
+        "istanbul-lib-coverage": "^3.0.0",
+        "make-dir": "^4.0.0",
+        "supports-color": "^7.1.0"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/istanbul-reports": {
+      "version": "3.2.0",
+      "resolved": "https://registry.npmjs.org/istanbul-reports/-/istanbul-reports-3.2.0.tgz",
+      "integrity": "sha512-HGYWWS/ehqTV3xN10i23tkPkpH46MLCIMFNCaaKNavAXTF1RkqxawEPtnjnGZ6XKSInBKkiOA5BKS+aZiY3AvA==",
+      "dev": true,
+      "license": "BSD-3-Clause",
+      "dependencies": {
+        "html-escaper": "^2.0.0",
+        "istanbul-lib-report": "^3.0.0"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/jiti": {
       "version": "1.21.7",
       "resolved": "https://registry.npmjs.org/jiti/-/jiti-1.21.7.tgz",
@@ -3645,6 +3745,47 @@
         "@jridgewell/sourcemap-codec": "^1.5.5"
       }
     },
+    "node_modules/magicast": {
+      "version": "0.5.4",
+      "resolved": "https://registry.npmjs.org/magicast/-/magicast-0.5.4.tgz",
+      "integrity": "sha512-llBEhWm1SacoRwgHUoQJYtwp4PBLF4faQi5TCpIGyGs9n4y5+juI0tDgyKIfpqxckRHaHzouUEph3THklWh03w==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@babel/parser": "^7.29.7",
+        "@babel/types": "^7.29.7",
+        "source-map-js": "^1.2.1"
+      }
+    },
+    "node_modules/make-dir": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmjs.org/make-dir/-/make-dir-4.0.0.tgz",
+      "integrity": "sha512-hXdUTZYIVOt1Ex//jAQi+wTZZpUpwBj/0QsOzqegb3rGMMeJiSEu5xLHnYfBrRV4RH2+OCSOO95Is/7x1WJ4bw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "semver": "^7.5.3"
+      },
+      "engines": {
+        "node": ">=10"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
+    "node_modules/make-dir/node_modules/semver": {
+      "version": "7.8.5",
+      "resolved": "https://registry.npmjs.org/semver/-/semver-7.8.5.tgz",
+      "integrity": "sha512-Y7/KDsb8LjooZpwaqGyulO6DQlksgCncchHGk+sZIY4SBvUocMBEFH5Ur1fI4dV+Jvl0w6cjvucaIi40puRioA==",
+      "dev": true,
+      "license": "ISC",
+      "bin": {
+        "semver": "bin/semver.js"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
     "node_modules/marked": {
       "version": "14.0.0",
       "resolved": "https://registry.npmjs.org/marked/-/marked-14.0.0.tgz",
@@ -4192,6 +4333,22 @@
         "node": ">= 0.8.0"
       }
     },
+    "node_modules/prettier": {
+      "version": "3.9.6",
+      "resolved": "https://registry.npmjs.org/prettier/-/prettier-3.9.6.tgz",
+      "integrity": "sha512-OpN0zzVdiaiAhxpuuj5efpIS4sY9j7bY6uR5mnj5yPzGkdkjNKSJeUThPb60Jw29QuAZgA4o+/iB49kFiaBX6g==",
+      "dev": true,
+      "license": "MIT",
+      "bin": {
+        "prettier": "bin/prettier.cjs"
+      },
+      "engines": {
+        "node": ">=14"
+      },
+      "funding": {
+        "url": "https://github.com/prettier/prettier?sponsor=1"
+      }
+    },
     "node_modules/pretty-format": {
       "version": "27.5.1",
       "resolved": "https://registry.npmjs.org/pretty-format/-/pretty-format-27.5.1.tgz",
@@ -4600,6 +4757,19 @@
         "node": ">=16 || 14 >=14.17"
       }
     },
+    "node_modules/supports-color": {
+      "version": "7.2.0",
+      "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz",
+      "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "has-flag": "^4.0.0"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/supports-preserve-symlinks-flag": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/supports-preserve-symlinks-flag/-/supports-preserve-symlinks-flag-1.0.0.tgz",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-web-platform",
-  "version": "0.6.0",
+  "version": "0.7.1",
   "description": "基于 MuJoCo WebAssembly 的本地机器人仿真与控制平台",
   "private": true,
   "type": "module",
@@ -14,7 +14,12 @@
     "test:e2e": "playwright test -c web_platform/playwright.config.ts",
     "training-server": "python3 training_server/server.py",
     "test:training-server": "python3 -m unittest discover -s training_server/tests",
-    "check": "npm run typecheck && npm run lint && npm run test && npm run test:training-server && npm run build"
+    "check": "npm run typecheck && npm run lint && npm run check:format && npm run test:coverage && npm run test:training-server && npm run build",
+    "format": "prettier --write .",
+    "check:format": "prettier --check .",
+    "test:coverage": "vitest run --coverage --config web_platform/vite.config.ts",
+    "lint:python": "python3 -m ruff check training_server",
+    "format:python": "python3 -m ruff format training_server"
   },
   "license": "Apache-2.0",
   "devDependencies": {
@@ -27,6 +32,7 @@
     "@types/react-dom": "^19.2.4",
     "@types/three": "^0.185.4",
     "@vitejs/plugin-react": "^6.1.0",
+    "@vitest/coverage-v8": "4.1.11",
     "autoprefixer": "^10.5.4",
     "eslint": "^10.8.1",
     "eslint-plugin-react-hooks": "^7.1.1",
@@ -34,6 +40,7 @@
     "globals": "^17.11.0",
     "jsdom": "^30.0.1",
     "postcss": "^8.5.26",
+    "prettier": "3.9.6",
     "tailwindcss": "^3.4.17",
     "three": "^0.178.0",
     "typescript": "5.8.2",
@@ -55,5 +62,10 @@
     "react": "^19.2.8",
     "react-dom": "^19.2.8",
     "zustand": "^5.0.15"
-  }
+  },
+  "engines": {
+    "node": ">=24 <25",
+    "npm": "11.17.0"
+  },
+  "packageManager": "npm@11.17.0"
 }

pyproject.toml

@@ -0,0 +1,11 @@
+[tool.ruff]
+target-version = "py312"
+line-length = 100
+extend-exclude = [".venv", "build"]
+
+[tool.ruff.lint]
+select = ["E", "F", "I", "UP", "B", "SIM"]
+
+[tool.ruff.format]
+quote-style = "double"
+indent-style = "space"

requirements-dev.txt

@@ -0,0 +1 @@
+ruff==0.16.5

training_server/README.md

@@ -11,11 +11,20 @@ npm run training-server -- \
   --trainer-root /path/to/unitree_rl_mjlab \
   --trainer-python /path/to/training-env/bin/python
 ```
+
 如：
+
 ```bash
 npm run training-server -- --trainer-root /home/cen/Embodied_Workspace/unitree_rl_mjlab --trainer-python /home/cen/miniconda3/envs/unitree_rl_mjlab/bin/python
 ```
 
+服务启动时会在终端显示一个随机访问令牌。将该令牌填入前端“访问令牌”字段后再连接。令牌只保存在当前浏览器标签页的 `sessionStorage` 中。自动化启动时可固定令牌：
+
+```bash
+MUJOCO_TRAINING_TOKEN='至少十六个字符的随机令牌' npm run training-server -- \
+  --trainer-root /path/to/unitree_rl_mjlab
+```
+
 也可用 `UNITREE_RL_MJLAB_ROOT` 指定工程目录。默认端口是 `8765`。如果前端不是从 `localhost` 或 `127.0.0.1` 提供，可显式添加来源：
 
 ```bash
@@ -24,7 +33,7 @@ python training_server/server.py \
   --allow-origin http://192.168.1.10:5173
 ```
 
-服务一次只运行一个训练任务。停止服务或在界面点击“停止训练”会向整个训练进程组发送终止信号。训练请求的 W&B 模式默认为 `offline`，保留本地指标但不登录；也可以在界面选择完全禁用或在线模式。
+服务一次只运行一个训练任务，最多保留 20 个任务的内存状态，每个任务最多保留 200 行最近日志。停止服务或在界面点击“停止训练”会同步终止整个训练进程组。训练请求的 W&B 模式默认为 `offline`，保留本地指标但不登录；也可以在界面选择完全禁用或在线模式。所有 API 请求都必须携带启动时生成的 Bearer Token。
 
 ## 接口
 
@@ -39,5 +48,7 @@ python training_server/server.py \
 ## 测试
 
 ```bash
+python3 -m pip install -r requirements-dev.txt
+npm run lint:python
 npm run test:training-server
 ```

training_server/tests/test_server.py

@@ -1,20 +1,30 @@
+import subprocess
 import sys
 import tempfile
+import threading
 import time
 import unittest
 from pathlib import Path
+from unittest.mock import patch
 
 sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
-from server import ApiError, TrainingManager  # noqa: E402
+from server import (  # noqa: E402
+    MAX_JOBS,
+    ApiError,
+    TrainingJob,
+    TrainingManager,
+    TrainingRequestHandler,
+    termination_signal_handler,
+)
 
 
 class TrainingManagerTest(unittest.TestCase):
-  def setUp(self):
+    def setUp(self):
-    self.temporary = tempfile.TemporaryDirectory()
+        self.temporary = tempfile.TemporaryDirectory()
-    self.root = Path(self.temporary.name)
+        self.root = Path(self.temporary.name)
-    (self.root / "scripts").mkdir()
+        (self.root / "scripts").mkdir()
-    (self.root / "scripts" / "train.py").write_text(
+        (self.root / "scripts" / "train.py").write_text(
-        """import os, pathlib, time
+            """import os, pathlib, time
 print('WANDB_MODE=' + os.environ.get('WANDB_MODE', ''), flush=True)
 print('Learning iteration 1 / 2', flush=True)
 time.sleep(0.02)
@@ -23,58 +33,162 @@ out=pathlib.Path('logs/rsl_rl/test/run/policy.onnx')
 out.parent.mkdir(parents=True, exist_ok=True)
 out.write_bytes(b'onnx')
 """,
-        encoding="utf-8",
+            encoding="utf-8",
-    )
+        )
-    self.manager = TrainingManager(self.root, sys.executable, ("Unitree-Go2-Flat",), check_environment=False)
+        self.manager = TrainingManager(
+            self.root, sys.executable, ("Unitree-Go2-Flat",), check_environment=False
+        )
 
-  def tearDown(self):
+    def tearDown(self):
-    self.temporary.cleanup()
+        self.temporary.cleanup()
 
-  @staticmethod
+    @staticmethod
-  def payload(**patch):
+    def payload(**patch):
-    value = {
+        value = {
-        "taskId": "Unitree-Go2-Flat",
+            "taskId": "Unitree-Go2-Flat",
-        "numEnvs": 16,
+            "numEnvs": 16,
-        "maxIterations": 2,
+            "maxIterations": 2,
-        "seed": 42,
+            "seed": 42,
-        "runName": "browser-test",
+            "runName": "browser-test",
-        "device": "cpu",
+            "device": "cpu",
-        "gpuIds": [],
+            "gpuIds": [],
-        "wandbMode": "offline",
+            "wandbMode": "offline",
-    }
+        }
-    value.update(patch)
+        value.update(patch)
-    return value
+        return value
 
-  def test_validates_allowlist_and_limits(self):
+    def test_validates_allowlist_and_limits(self):
-    with self.assertRaises(ApiError):
+        with self.assertRaises(ApiError):
-      self.manager.parse_config(self.payload(taskId="shell injection"))
+            self.manager.parse_config(self.payload(taskId="shell injection"))
-    with self.assertRaises(ApiError):
+        with self.assertRaises(ApiError):
-      self.manager.parse_config(self.payload(numEnvs=0))
+            self.manager.parse_config(self.payload(numEnvs=0))
-    with self.assertRaises(ApiError):
+        with self.assertRaises(ApiError):
-      self.manager.parse_config(self.payload(runName="bad name"))
+            self.manager.parse_config(self.payload(runName="bad name"))
-    with self.assertRaises(ApiError):
+        with self.assertRaises(ApiError):
-      self.manager.parse_config(self.payload(wandbMode="login"))
+            self.manager.parse_config(self.payload(wandbMode="login"))
 
-  def test_builds_argument_array_without_shell(self):
+    def test_builds_argument_array_without_shell(self):
-    config = self.manager.parse_config(self.payload(device="gpu", gpuIds=[0, 2]))
+        config = self.manager.parse_config(self.payload(device="gpu", gpuIds=[0, 2]))
-    command = self.manager.command_for(config)
+        command = self.manager.command_for(config)
-    self.assertEqual(command[:4], [sys.executable, "-u", "scripts/train.py", "Unitree-Go2-Flat"])
+        self.assertEqual(
-    self.assertEqual(command[-2:], ["--gpu-ids", "[0,2]"])
+            command[:4], [sys.executable, "-u", "scripts/train.py", "Unitree-Go2-Flat"]
+        )
+        self.assertEqual(command[-2:], ["--gpu-ids", "[0,2]"])
 
-  def test_runs_job_and_exposes_new_onnx_artifact(self):
+    def test_requires_local_host_origin_and_bearer_token(self):
-    job = self.manager.start(self.payload())
+        handler = object.__new__(TrainingRequestHandler)
-    deadline = time.monotonic() + 5
+        handler.access_token = "secret-token-1234"
-    while time.monotonic() < deadline:
+        handler.allowed_origins = ()
-      job = self.manager.get(job["id"])
+        handler.headers = {
-      if job["state"] not in ("queued", "running"):
+            "Host": "127.0.0.1:8765",
-        break
+            "Origin": "http://localhost:5173",
-      time.sleep(0.02)
+            "Authorization": "Bearer secret-token-1234",
-    self.assertEqual(job["state"], "succeeded")
+        }
-    self.assertEqual(job["iteration"], 2)
+        handler._ensure_request()
-    self.assertIn("WANDB_MODE=offline", job["logs"])
+        handler.headers["Authorization"] = "Bearer wrong-token"
-    self.assertTrue(job["artifactReady"])
+        with self.assertRaises(ApiError) as error:
-    self.assertEqual(self.manager.artifact(job["id"]).read_bytes(), b"onnx")
+            handler._ensure_request()
+        self.assertEqual(error.exception.status, 401)
+        handler.headers["Authorization"] = "Bearer secret-token-1234"
+        handler.headers["Host"] = "attacker.example"
+        with self.assertRaises(ApiError) as error:
+            handler._ensure_request()
+        self.assertEqual(error.exception.status, 403)
+
+    def test_caps_completed_job_history(self):
+        config = self.manager.parse_config(self.payload())
+        for index in range(MAX_JOBS):
+            job_id = f"{index:032x}"
+            self.manager.jobs[job_id] = TrainingJob(
+                id=job_id,
+                config=config,
+                state="succeeded",
+            )
+        with patch("server.threading.Thread") as thread:
+            created = self.manager.start(self.payload())
+        self.assertEqual(len(self.manager.jobs), MAX_JOBS)
+        self.assertNotIn(f"{0:032x}", self.manager.jobs)
+        self.assertIn(created["id"], self.manager.jobs)
+        thread.return_value.start.assert_called_once()
+
+    def test_cancel_waits_until_starting_process_is_registered(self):
+        entered_popen = threading.Event()
+        release_popen = threading.Event()
+        terminated = threading.Event()
+
+        class FakeStdout:
+            def __iter__(self):
+                terminated.wait(2)
+                return iter(())
+
+            def close(self):
+                pass
+
+        class FakeProcess:
+            pid = 1234
+            stdout = FakeStdout()
+
+            @staticmethod
+            def poll():
+                return -15 if terminated.is_set() else None
+
+            @staticmethod
+            def wait(timeout=None):
+                if not terminated.wait(timeout):
+                    raise subprocess.TimeoutExpired("fake-training", timeout)
+                return -15
+
+        def create_process(*_args, **_kwargs):
+            entered_popen.set()
+            self.assertTrue(release_popen.wait(2))
+            return FakeProcess()
+
+        config = self.manager.parse_config(self.payload())
+        job = TrainingJob(id="a" * 32, config=config)
+        self.manager.jobs[job.id] = job
+        runner = threading.Thread(target=self.manager._run, args=(job,))
+        cancel_done = threading.Event()
+
+        def cancel():
+            self.manager.cancel(job.id)
+            cancel_done.set()
+
+        with (
+            patch("server.subprocess.Popen", side_effect=create_process),
+            patch("server.os.killpg", side_effect=lambda *_args: terminated.set()) as killpg,
+        ):
+            runner.start()
+            self.assertTrue(entered_popen.wait(2))
+            canceller = threading.Thread(target=cancel)
+            canceller.start()
+            self.assertFalse(cancel_done.wait(0.05))
+            release_popen.set()
+            canceller.join(2)
+            runner.join(2)
+
+        self.assertFalse(runner.is_alive())
+        self.assertFalse(canceller.is_alive())
+        killpg.assert_called_once_with(FakeProcess.pid, 15)
+        self.assertEqual(self.manager.get(job.id)["state"], "cancelled")
+
+    def test_sigterm_enters_controlled_shutdown(self):
+        with self.assertRaises(KeyboardInterrupt):
+            termination_signal_handler(15, None)
+
+    def test_runs_job_and_exposes_new_onnx_artifact(self):
+        job = self.manager.start(self.payload())
+        deadline = time.monotonic() + 5
+        while time.monotonic() < deadline:
+            job = self.manager.get(job["id"])
+            if job["state"] not in ("queued", "running"):
+                break
+            time.sleep(0.02)
+        self.assertEqual(job["state"], "succeeded")
+        self.assertEqual(job["iteration"], 2)
+        self.assertIn("WANDB_MODE=offline", job["logs"])
+        self.assertTrue(job["artifactReady"])
+        self.assertEqual(self.manager.artifact(job["id"]).read_bytes(), b"onnx")
 
 
 if __name__ == "__main__":
-  unittest.main()
+    unittest.main()

web_platform/README.md

@@ -12,9 +12,11 @@
 - Three.js primitive、mesh、材质/贴图显示与对象选择
 - 播放、暂停、单步、重置、0.25×–4× 速度
 - actuator 滑杆、hinge/slide 关节拖动、动态 body 外力拖拽
+- 内置平地、坡道、楼梯、可复现随机障碍物及 9 类系统参数化地形，可配置尺寸、摩擦、难度、种子与高度场采样精度
 - 导入单文件 `.py` 控制器，通过本地 Pyodide 在 `mj_step` 前按仿真时间同步执行
 - 导入 mjlab 导出的 `policy.onnx`，在浏览器本地执行 Go2-W 平衡/速度策略推理
 - 从图形界面向本机训练桥接服务发起 mjlab 强化学习训练、查看进度/日志、停止任务并导入训练生成的 ONNX
+- 可配置仿真遥测记录，实时查看速度、机身姿态、位置、驱动力等指标并导出 CSV/JSON
 - FPS、物理耗时和主线程步进预算提示
 
 ## 开发
@@ -61,6 +63,47 @@ python3 -m http.server 8080 --directory web-platform-dist
 - 默认限制：2000 个文件、单文件 128 MiB、总解压大小 512 MiB、ZIP 文件 128 MiB。
 - 文件夹或 ZIP 中的 `.py` 会显示在“控制 → Python 控制器”；也可以在加载模型后单独导入不超过 1 MiB 的 `.py`。
 
+## 地图模块
+
+模型加载后打开右侧“地图”标签，可以选择平地、坡道、楼梯、随机障碍物、系统参数化地形或工程内地图包。参数化地形包括离散障碍、沟壑、倒金字塔阶梯、深坑、金字塔阶梯、轨道、随机粗糙、踏石和波浪地形；相同参数与随机种子会确定性生成相同碰撞层。点击“应用并重新编译”后，平台会在当前入口同目录生成临时组合 MJCF；原始工程文件不会被修改。模型编译失败时保留上一个可用仿真会话。
+
+工程地图由 `map.json`、静态 MJCF 碰撞层和可选的自包含 GLB 视觉层组成：
+
+```text
+maps/warehouse/
+├── map.json
+├── physics/world.xml
+├── physics/meshes/*.obj
+├── visuals/scene.glb
+└── authoring/map.scene.json  # V3 可选创作层
+```
+
+最小描述示例：
+
+```json
+{
+  "schemaVersion": 1,
+  "id": "warehouse",
+  "name": "仓库",
+  "coordinateSystem": { "units": "m", "up": "Z", "forward": "+X" },
+  "physics": { "source": "physics/world.xml" },
+  "visual": { "source": "visuals/scene.glb" },
+  "spawnPoints": [{ "id": "main", "name": "主入口", "position": [0, 0, 0.35], "yawDeg": 0 }]
+}
+```
+
+物理地图仅允许静态 `worldbody` 以及 mesh、heightfield、texture、material 等基础 asset，不允许 joint、mocap body、actuator、sensor、include 或 default class。OBJ/STL 应使用简化碰撞模型；高精度模型只放入 GLB。GLB 必须是 2.0 自包含文件，外部 URI 会被拒绝。地图统一使用米制、Z-up、+X 前向坐标系。
+
+V3 可编辑地图使用 `schemaVersion: 2`，并增加 `"authoring": { "source": "authoring/map.scene.json" }`。创作层支持方盒、圆柱、胶囊、坡道、楼梯和出生点。“场景 · 资产库”中的认证资产可点击添加或拖到画布落位；没有可编辑地图时，首个资产会立即创建 Schema V2 场景草稿，不触发 MuJoCo 重编译。新增对象支持三种放置方式：自动贴地、沿世界 `-Z` 落到最高静态承载面的自动重力落位，以及禁止位姿编辑的锁定模式。只有点击“应用并重新编译”后才提交物理层。可以通过表单或视口 TransformControls 修改位置、绕 Z 轴旋转和原语尺寸，支持移动/旋转吸附、视口拾取、复制、删除及对齐地面；`W`/`E`/`S` 切换移动、旋转和缩放工具，`Delete` 删除，`Ctrl+Z`/`Ctrl+Y` 撤销重做。编辑只更新 Three.js 草稿预览，点击编辑器内“应用并重新编译”后才生成确定性的静态 MJCF。失败时保留旧仿真和草稿。浏览器不会直接写回原目录，可使用“导出地图 ZIP”下载当前已提交地图包。没有 `authoring.source` 的 V1/V2 地图默认只读；仅由 `box`、`cylinder`、`capsule` 构成且不含 asset、材质、碰撞过滤或隐藏姿态语义的静态 MJCF，可通过“创建可编辑副本”显式升级。转换会生成 `authoring/map.scene.json`、Schema V2 描述和确定性物理层；任何不可逆语义都会导致整体拒绝，不会静默丢失内容。
+
+物理地图超过 2000 个 geom 会产生性能警告，超过 10000 个会被拒绝；GLB 超过 100 万三角面会警告，超过 300 万会被拒绝。当前原生 URDF 模式不支持地图，请切换到“转换为 MJCF”。
+
+## 数据记录
+
+加载模型后打开右侧“数据”标签，可以选择需要跟踪的 Body、采样频率和样本上限。内置通道包括世界系位置/速度、水平与三维速度、机身侧倾/俯仰/偏航角及角速度、累计里程、接触数、控制输入 RMS、驱动力 RMS、绝对驱动功率和广义速度 RMS。仿真重置不会删除已有数据，而是创建新分段，避免跨重置计算出错误速度；切换记录 Body 或采样配置会清空不兼容的旧数据。
+
+记录只保留在当前浏览器会话中，达到样本上限后自动停止，可导出带稳定列名的 CSV 或包含通道元数据、摘要和样本的 Schema V1 JSON。`SimulationSession`/`PhysicsAdapter` 保留 `configureDataRecorder`、`startDataRecording`、`stopDataRecording`、`clearDataRecording`、`exportDataRecording` 接口；还可通过 `registerDataChannel({ key, label, unit, read })` 在开始记录前注册业务自定义标量通道。数据源通过 `TelemetrySource` 抽象与 MuJoCo 解耦，后续可复用于 Worker 或远端仿真。
+
 ## Python 控制器
 
 Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, state)`；可选定义 `NAME`、`CONTROL_HZ`（限制为 1–500 Hz）、`init(api)`、`command(name, state)`、`reset(state)` 和 `dispose(state)`。`init` 可用 `api.joint(name)`、`api.actuator(name)`、`api.sensor(name)`、`api.body(name)` 预解析 ID；`step` 可用 `ctx.qpos(id)`、`ctx.qvel(id)`、`ctx.sensor(id)`、`ctx.body_quat(id)`、`ctx.body_position(id)` 读取状态，并用 `ctx.set_control(id, value)` 写入经过有限值检查和 actuator 限幅的控制量。定义 `command` 后，界面会显示停止、前进、后退、左转、右转和起跳按钮，并分别传入 `stop`、`forward`、`backward`、`turn_left`、`turn_right`、`jump`。所有回调都必须同步；异常会自动停止控制器或显示诊断，运行期异常还会暂停仿真并清零 `ctrl`。
@@ -77,9 +120,9 @@ npm run training-server -- \
   --trainer-python /path/to/training-env/bin/python
 ```
 
-界面默认连接 `http://127.0.0.1:8765`，可选择服务端允许的任务、并行环境数、训练迭代、随机种子、CPU/GPU、GPU 编号和实验记录方式。W&B 默认为本地离线模式，无需登录或 API Key；也可完全禁用，只有明确选择在线模式时才会联网登录。训练期间页面轮询迭代进度与最近日志，可以停止任务；训练成功后点击“导入策略”，生成的 `policy.onnx` 会进入现有 ONNX 加载流程。
+服务启动时会在终端输出一个随机访问令牌；在界面中填写该令牌后连接。令牌仅保存在当前标签页的 `sessionStorage`。界面默认连接 `http://127.0.0.1:8765`，可选择服务端允许的任务、并行环境数、训练迭代、随机种子、CPU/GPU、GPU 编号和实验记录方式。W&B 默认为本地离线模式，无需登录或 API Key；也可完全禁用，只有明确选择在线模式时才会联网登录。训练期间页面轮询迭代进度与最近日志，可以停止任务；训练成功后点击“导入策略”，生成的 `policy.onnx` 会进入现有 ONNX 加载流程。
 
-桥接服务只监听本机回环地址、仅接受允许列表中的任务和经过范围校验的参数，不执行前端提供的 Shell 命令；一次只运行一个训练进程。当前任务使用 `unitree_rl_mjlab` 自带的机器人资产与环境配置，**不会自动把浏览器中临时编辑的 MJCF/URDF 作为训练环境**。自定义浏览器模型训练需要先在 mjlab 中注册对应 task。服务配置、接口和安全边界见 [`../training_server/README.md`](../training_server/README.md)。
+桥接服务只监听本机回环地址，并检查 Host、Origin 和 Bearer Token；仅接受允许列表中的任务和经过范围校验的参数，不执行前端提供的 Shell 命令；一次只运行一个训练进程。当前任务使用 `unitree_rl_mjlab` 自带的机器人资产与环境配置，**不会自动把浏览器中临时编辑的 MJCF/URDF 作为训练环境**。自定义浏览器模型训练需要先在 mjlab 中注册对应 task。服务配置、接口和安全边界见 [`../training_server/README.md`](../training_server/README.md)。
 
 ## ONNX 强化学习策略
 

web_platform/e2e/app.spec.ts

@@ -1,9 +1,10 @@
-import {expect, test} from '@playwright/test';
+import { expect, test } from '@playwright/test';
-import {readFileSync} from 'node:fs';
+import { readFileSync } from 'node:fs';
-import {fileURLToPath} from 'node:url';
+import { fileURLToPath } from 'node:url';
-import {zipSync} from 'fflate';
+import { zipSync } from 'fflate';
 
-const fixture = (relative: string) => fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url));
+const fixture = (relative: string) =>
+  fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url));
 
 const SIMPLE_MODEL = `
 <mujoco model="e2e">
@@ -19,7 +20,47 @@ const SIMPLE_MODEL = `
   <actuator><motor name="motor" joint="slide" ctrlrange="-2 2"/></actuator>
 </mujoco>`;
 
-const SLIDE_DIRECTION_MODEL=`<mujoco model="drag-direction"><worldbody><body name="slider" pos="0 0 1"><joint name="screen_x" type="slide" axis="1 0 0" range="-2 2"/><geom type="box" size=".25 .25 .25" mass="1"/></body></worldbody></mujoco>`;
+const SLIDE_DIRECTION_MODEL = `<mujoco model="drag-direction"><worldbody><body name="slider" pos="0 0 1"><joint name="screen_x" type="slide" axis="1 0 0" range="-2 2"/><geom type="box" size=".25 .25 .25" mass="1"/></body></worldbody></mujoco>`;
+
+function minimalGlb(): Buffer {
+  const json = Buffer.from(
+    JSON.stringify({
+      asset: { version: '2.0' },
+      scene: 0,
+      scenes: [{ nodes: [0] }],
+      nodes: [{ mesh: 0 }],
+      meshes: [{ primitives: [{ attributes: { POSITION: 0 } }] }],
+      buffers: [{ byteLength: 36 }],
+      bufferViews: [{ buffer: 0, byteOffset: 0, byteLength: 36, target: 34962 }],
+      accessors: [
+        {
+          bufferView: 0,
+          componentType: 5126,
+          count: 3,
+          type: 'VEC3',
+          min: [0, 0, 0],
+          max: [1, 1, 0],
+        },
+      ],
+    }),
+  );
+  const jsonPadding = (4 - (json.length % 4)) % 4;
+  const jsonChunk = Buffer.concat([json, Buffer.alloc(jsonPadding, 0x20)]);
+  const positions = Buffer.from(new Float32Array([0, 0, 0, 1, 0, 0, 0, 1, 0]).buffer);
+  const totalLength = 12 + 8 + jsonChunk.length + 8 + positions.length;
+  const glb = Buffer.alloc(totalLength);
+  glb.writeUInt32LE(0x46546c67, 0);
+  glb.writeUInt32LE(2, 4);
+  glb.writeUInt32LE(totalLength, 8);
+  glb.writeUInt32LE(jsonChunk.length, 12);
+  glb.writeUInt32LE(0x4e4f534a, 16);
+  jsonChunk.copy(glb, 20);
+  const binOffset = 20 + jsonChunk.length;
+  glb.writeUInt32LE(positions.length, binOffset);
+  glb.writeUInt32LE(0x004e4942, binOffset + 4);
+  positions.copy(glb, binOffset + 8);
+  return glb;
+}
 
 const LARGE_MODEL = `
 <mujoco model="soak">
@@ -36,238 +77,670 @@ const LARGE_MODEL = `
   </worldbody>
 </mujoco>`;
 
-test('显示中文平台骨架并加载单文件模型', async ({page}) => {
+test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
   page.on('console', (message) => console.log(`[browser:${message.type()}] ${message.text()}`));
   page.on('pageerror', (error) => console.log(`[browser:error] ${error.message}`));
-  page.on('requestfailed', (request) => console.log(`[browser:requestfailed] ${request.url()} ${request.failure()?.errorText}`));
+  page.on('requestfailed', (request) =>
-  page.on('response', (response) => { if (response.status() >= 400 || response.url().endsWith('.wasm')) console.log(`[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`); });
+    console.log(`[browser:requestfailed] ${request.url()} ${request.failure()?.errorText}`),
+  );
+  page.on('response', (response) => {
+    if (response.status() >= 400 || response.url().endsWith('.wasm'))
+      console.log(
+        `[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`,
+      );
+  });
   await page.goto('/');
-  await page.setViewportSize({width:1024,height:768});
+  await page.setViewportSize({ width: 1024, height: 768 });
-  const resetCameraBox=await page.getByRole('button',{name:'相机复位'}).boundingBox(),playBox=await page.getByRole('button',{name:'▶ 播放'}).boundingBox();
+  const resetCameraBox = await page.getByRole('button', { name: '相机复位' }).boundingBox(),
-  expect(resetCameraBox&&playBox&&resetCameraBox.x+resetCameraBox.width<=playBox.x).toBeTruthy();
+    playBox = await page.getByRole('button', { name: '▶ 播放' }).boundingBox();
-  await page.getByRole('button',{name:'更多工作台操作'}).click();await expect(page.getByRole('menuitem',{name:'工作台设置'})).toBeVisible();await page.keyboard.press('Escape');
+  expect(
-  await page.setViewportSize({width:1440,height:900});
+    resetCameraBox && playBox && resetCameraBox.x + resetCameraBox.width <= playBox.x,
-  await expect(page.getByRole('heading', {name: 'MuJoCo Web 仿真平台'})).toBeVisible();
+  ).toBeTruthy();
+  await page.getByRole('button', { name: '更多工作台操作' }).click();
+  await expect(page.getByRole('menuitem', { name: '工作台设置' })).toBeVisible();
+  await page.keyboard.press('Escape');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await expect(page.getByRole('heading', { name: 'MuJoCo Web 仿真平台' })).toBeVisible();
   await expect(page.getByRole('main').getByText('拖放模型工程到此处')).toBeVisible();
-  await expect(page.getByRole('img',{name:'XYZ 方向指示器'})).toBeVisible();
+  await expect(page.getByRole('img', { name: 'XYZ 方向指示器' })).toBeVisible();
-  await expect(page.getByRole('button',{name:'切换到白天主题'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '切换到白天主题' })).toBeVisible();
-  await page.getByRole('button',{name:'布局设置'}).click();await expect(page.getByRole('dialog',{name:'布局设置'})).toBeVisible();await page.keyboard.press('Escape');
+  await page.getByRole('button', { name: '布局设置' }).click();
-  await page.getByRole('button',{name:'工作台设置'}).click();await expect(page.getByRole('dialog',{name:'工作台设置'})).toBeVisible();await page.keyboard.press('Escape');
+  await expect(page.getByRole('dialog', { name: '布局设置' })).toBeVisible();
+  await page.keyboard.press('Escape');
+  await page.getByRole('button', { name: '工作台设置' }).click();
+  await expect(page.getByRole('dialog', { name: '工作台设置' })).toBeVisible();
+  await page.keyboard.press('Escape');
   await page.keyboard.press('Control+k');
-  await expect(page.getByRole('dialog',{name:'命令面板'})).toBeVisible();
+  await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
   await page.getByLabel('搜索命令').fill('复位相机');
-  await expect(page.getByRole('option',{name:/复位相机/})).toBeVisible();
+  await expect(page.getByRole('option', { name: /复位相机/ })).toBeVisible();
   await page.keyboard.press('Escape');
-  await page.getByRole('button',{name:'进入全屏'}).click();
+  await page.getByRole('button', { name: '进入全屏' }).click();
-  await expect(page.getByRole('button',{name:'退出全屏'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '退出全屏' })).toBeVisible();
   await page.keyboard.press('Control+k');
-  await expect(page.getByRole('dialog',{name:'命令面板'})).toBeVisible();
+  await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
   await page.keyboard.press('Escape');
-  await page.getByRole('button',{name:'退出全屏'}).click();
+  await page.getByRole('button', { name: '退出全屏' }).click();
-  await page.getByRole('button',{name:'切换到白天主题'}).click();
+  await page.getByRole('button', { name: '切换到白天主题' }).click();
   await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
-  await expect(page.getByRole('button',{name:'切换到黑夜主题'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '切换到黑夜主题' })).toBeVisible();
-  await page.getByRole('button',{name:'切换到黑夜主题'}).click();
+  await page.getByRole('button', { name: '切换到黑夜主题' }).click();
   await expect(page.locator('#root > div')).toHaveClass(/theme-dark/);
 
-  await page.locator('input[type="file"]').first().setInputFiles({
+  await page
-    name: 'model.xml',
+    .locator('input[type="file"]')
-    mimeType: 'text/xml',
+    .first()
-    buffer: Buffer.from(SIMPLE_MODEL),
+    .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 expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('button',{name:'显示设置'}).click();
+  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();await expect(displayDialog.getByRole('switch')).toHaveCount(7);
+  const displayDialog = page.getByRole('dialog', { name: '视图显示设置' });
-  const centerOfMassSwitch=displayDialog.getByRole('switch',{name:/^质心/});await centerOfMassSwitch.click();await expect(centerOfMassSwitch).toHaveAttribute('aria-checked','true');await page.keyboard.press('Escape');await expect(displayDialog).toBeHidden();
+  await expect(displayDialog).toBeVisible();
-  await page.getByRole('button',{name:'通知中心'}).click();await expect(page.getByRole('dialog',{name:'通知中心'})).toContainText('模型加载完成');await page.getByText('事件日志').click();await expect(page.getByRole('dialog',{name:'诊断与事件日志'})).toBeVisible();await page.keyboard.press('Escape');
+  await expect(displayDialog.getByRole('switch')).toHaveCount(7);
-  await page.getByRole('button',{name:/FPS .*物理/}).click();
+  const centerOfMassSwitch = displayDialog.getByRole('switch', { name: /^质心/ });
-  await expect(page.getByRole('dialog',{name:'性能详情'})).toBeVisible();
+  await centerOfMassSwitch.click();
+  await expect(centerOfMassSwitch).toHaveAttribute('aria-checked', 'true');
   await page.keyboard.press('Escape');
-  await page.getByRole('tab',{name:'控制'}).click();
+  await expect(displayDialog).toBeHidden();
-  await page.getByRole('button',{name:'Actuator'}).click();
+  await page.getByRole('button', { name: '通知中心' }).click();
-  await expect(page.getByText('motor',{exact:true})).toBeVisible();
+  await expect(page.getByRole('dialog', { name: '通知中心' })).toContainText('模型加载完成');
-  await expect(page.getByRole('tabpanel',{name:'控制'}).getByText('slide',{exact:true})).toBeVisible();
+  await page.getByText('事件日志').click();
-  await page.getByRole('tab',{name:'模型结构'}).click();
+  await expect(page.getByRole('dialog', { name: '诊断与事件日志' })).toBeVisible();
-  const structure=page.getByRole('navigation',{name:'模型结构树'});await expect(structure).toBeVisible();await structure.getByRole('treeitem',{name:/hinge/}).hover();
+  await page.keyboard.press('Escape');
+  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();
+  const structure = page.getByRole('navigation', { name: '模型结构树' });
+  await expect(structure).toBeVisible();
+  await structure.getByRole('treeitem', { name: /hinge/ }).hover();
   await expect(page.getByRole('alert')).toHaveCount(0);
-  await expect(page.getByRole('button',{name:'重置关节'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '重置关节' })).toBeVisible();
-  await page.getByRole('button',{name:'高级'}).click();
+  await page.getByRole('button', { name: '高级' }).click();
   await expect(page.getByText('下限 -1.571 rad')).toBeVisible();
   await expect(page.getByText('上限 1.571 rad')).toBeVisible();
-  await page.getByRole('button',{name:'rad 弧度制'}).click();
+  await page.getByRole('button', { name: 'rad 弧度制' }).click();
   await expect(page.getByText('下限 -90.000°')).toBeVisible();
   await expect(page.getByText('上限 90.000°')).toBeVisible();
-  await page.getByRole('button',{name:'忽略关节限位'}).click();
+  await page.getByRole('button', { name: '忽略关节限位' }).click();
-  await expect(page.getByRole('button',{name:'忽略关节限位'})).toHaveAttribute('aria-pressed','true');
+  await expect(page.getByRole('button', { name: '忽略关节限位' })).toHaveAttribute(
+    'aria-pressed',
+    'true',
+  );
   await expect(page.getByText('已忽略').first()).toBeVisible();
-  await page.getByRole('button',{name:'重置关节'}).click();
+  await page.getByRole('button', { name: '重置关节' }).click();
-  await expect(page.getByRole('button',{name:'▶ 播放'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
 });
 
-test('窄视口默认保留完整视口并可按需打开侧栏',async({page})=>{
+test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page }) => {
-  await page.setViewportSize({width:800,height:700});
+  await page.setViewportSize({ width: 800, height: 700 });
   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: '显示工程面板' })).toBeVisible();
-  await expect(page.getByRole('button',{name:'显示属性面板'})).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 page.getByRole('button', { name: '显示属性面板' }).click();
-  await expect(page.getByRole('complementary').filter({hasText:'导入模型后显示属性'})).toBeVisible();
+  await expect(
+    page.getByRole('complementary').filter({ hasText: '导入模型后显示属性' }),
+  ).toBeVisible();
 });
 
-test('工作区布局与视口显示偏好在刷新后保留',async({page})=>{
+test('工作区布局与视口显示偏好在刷新后保留', async ({ page }) => {
-  await page.setViewportSize({width:1440,height:900});
+  await page.setViewportSize({ width: 1440, height: 900 });
   await page.goto('/');
-  await page.getByRole('button',{name:'隐藏工程面板'}).click();
+  await page.getByRole('button', { name: '隐藏工程面板' }).click();
-  await page.getByRole('button',{name:'显示设置'}).click();
+  await page.getByRole('button', { name: '显示设置' }).click();
-  await page.getByRole('switch',{name:/^坐标系/}).click();
+  await page.getByRole('switch', { name: /^坐标系/ }).click();
   await page.reload();
-  await expect(page.getByRole('button',{name:'显示工程面板'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
-  await page.getByRole('button',{name:'显示设置'}).click();
+  await page.getByRole('button', { name: '显示设置' }).click();
-  await expect(page.getByRole('switch',{name:/^坐标系/})).toHaveAttribute('aria-checked','true');
+  await expect(page.getByRole('switch', { name: /^坐标系/ })).toHaveAttribute(
+    'aria-checked',
+    'true',
+  );
 });
 
-test('转换后的 MJCF 可编辑并重新载入', async ({page}) => {
+test('转换后的 MJCF 可编辑并重新载入', async ({ page }) => {
   await page.goto('/');
-  await page.locator('input[type="file"]').first().setInputFiles({name:'model.xml',mimeType:'text/xml',buffer:Buffer.from(SIMPLE_MODEL)});
+  await page
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+    .locator('input[type="file"]')
-  await page.getByRole('button',{name:'源代码'}).click();
+    .first()
-  const dialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});await expect(dialog).toBeVisible();
+    .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('button', { name: '源代码' }).click();
+  const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
+  await expect(dialog).toBeVisible();
   await expect(dialog.getByText('缓存文件 · 可编辑')).toBeVisible();
-  await expect(dialog.getByText('转换后的 MJCF',{exact:true})).toBeVisible();
+  await expect(dialog.getByText('转换后的 MJCF', { exact: true })).toBeVisible();
-  const editor=dialog.locator('.monaco-editor');await editor.click({position:{x:240,y:120}});
+  const editor = dialog.locator('.monaco-editor');
-  await page.keyboard.press('Control+a');await page.keyboard.insertText(SIMPLE_MODEL.replace('model="e2e"','model="cached-edit"'));
+  await editor.click({ position: { x: 240, y: 120 } });
-  await dialog.getByRole('button',{name:'保存并重新载入',exact:true}).click();
+  await page.keyboard.press('Control+a');
-  await expect(dialog.getByRole('button',{name:'保存并重新载入',exact:true})).toBeDisabled({timeout:30_000});
+  await page.keyboard.insertText(SIMPLE_MODEL.replace('model="e2e"', 'model="cached-edit"'));
-  await dialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
+  await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+  await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
-  await expect(page.getByRole('button',{name:'导出 URDF'})).toHaveCount(0);
+    timeout: 30_000,
-  await expect(page.getByRole('button',{name:'导出 MJCF'})).toHaveCount(0);
+  });
+  await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
+  await expect(page.getByRole('button', { name: '导出 URDF' })).toHaveCount(0);
+  await expect(page.getByRole('button', { name: '导出 MJCF' })).toHaveCount(0);
 });
 
-test('关闭已修改的 MJCF 前要求确认',async({page})=>{
+test('关闭已修改的 MJCF 前要求确认', async ({ page }) => {
   await page.goto('/');
-  await page.locator('input[type="file"]').first().setInputFiles({name:'model.xml',mimeType:'text/xml',buffer:Buffer.from(SIMPLE_MODEL)});
+  await page
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+    .locator('input[type="file"]')
-  await page.getByRole('button',{name:'源代码'}).click();
+    .first()
-  const editorDialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});
+    .setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
-  await editorDialog.locator('.monaco-editor').click({position:{x:240,y:120}});
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');
+  await page.getByRole('button', { name: '源代码' }).click();
-  await editorDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
+  const editorDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
-  const confirm=page.getByRole('dialog',{name:'放弃未保存的修改？'});
+  await editorDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
+  await page.keyboard.press('Control+End');
+  await page.keyboard.insertText('\n');
+  await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
+  const confirm = page.getByRole('dialog', { name: '放弃未保存的修改？' });
   await expect(confirm).toBeVisible();
-  await confirm.getByRole('button',{name:'继续编辑'}).click();
+  await confirm.getByRole('button', { name: '继续编辑' }).click();
   await expect(editorDialog).toBeVisible();
-  await editorDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
+  await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
-  await page.getByRole('dialog',{name:'放弃未保存的修改？'}).getByRole('button',{name:'放弃修改'}).click();
+  await page
+    .getByRole('dialog', { name: '放弃未保存的修改？' })
+    .getByRole('button', { name: '放弃修改' })
+    .click();
   await expect(editorDialog).toHaveCount(0);
 });
 
-test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({page}) => {
+test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({ page }) => {
   await page.goto('/');
-  await page.locator('input[type="file"]').first().setInputFiles([
+  await page
-    fixture('mjcf_include/model.xml'),
+    .locator('input[type="file"]')
-    fixture('mjcf_include/world.xml'),
+    .first()
-    fixture('mjcf_include/triangle.obj'),
+    .setInputFiles([
-    fixture('mjcf_include/triangle.stl'),
+      fixture('mjcf_include/model.xml'),
-    fixture('mjcf_include/checker.png'),
+      fixture('mjcf_include/world.xml'),
-  ]);
+      fixture('mjcf_include/triangle.obj'),
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
+      fixture('mjcf_include/triangle.stl'),
+      fixture('mjcf_include/checker.png'),
+    ]);
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
   await expect(page.getByText('5 个文件')).toBeVisible();
 });
 
-test('加载引用 OBJ 的 URDF 工程', async ({page}) => {
+test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
   await page.goto('/');
-  await page.locator('input[type="file"]').first().setInputFiles([
+  await page
-    fixture('urdf_mesh/robot.urdf'),
+    .locator('input[type="file"]')
-    fixture('urdf_mesh/triangle.obj'),
+    .first()
-  ]);
+    .setInputFiles([fixture('urdf_mesh/robot.urdf'), fixture('urdf_mesh/triangle.obj')]);
-  const options=page.getByRole('dialog',{name:'配置 URDF 仿真组件'});
+  const options = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
-  await expect(options.getByRole('checkbox',{name:/为关节添加驱动器/})).toBeChecked();
+  await expect(options.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked();
-  await expect(options.getByRole('checkbox',{name:/添加传感器/})).toBeChecked();
+  await expect(options.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked();
-  await options.getByRole('button',{name:'转换并加载'}).click();
+  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('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 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();
+  await page.getByRole('button', { name: '通知中心' }).click();
-  const notifications=page.getByRole('dialog',{name:'通知中心'});
+  const notifications = page.getByRole('dialog', { name: '通知中心' });
   await expect(notifications).toContainText(/模型已加载 · \d+ 项兼容调整/);
   await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/);
   await page.keyboard.press('Escape');
   await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked();
-  await page.getByRole('button',{name:'源代码'}).click();
+  await page.getByRole('button', { name: '源代码' }).click();
-  const sourceDialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});await expect(sourceDialog.getByText('缓存文件 · 可编辑')).toBeVisible();
+  const sourceDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
-  await sourceDialog.locator('.monaco-editor').click({position:{x:240,y:120}});await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');
+  await expect(sourceDialog.getByText('缓存文件 · 可编辑')).toBeVisible();
-  await sourceDialog.getByRole('button',{name:'保存并重新载入',exact:true}).click();await expect(sourceDialog.getByRole('button',{name:'保存并重新载入',exact:true})).toBeDisabled({timeout:30_000});
+  await sourceDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
-  await expect(page.getByText('WASM 已加载')).toBeVisible();await sourceDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
+  await page.keyboard.press('Control+End');
+  await page.keyboard.insertText('\n');
+  await sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
+  await expect(
+    sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }),
+  ).toBeDisabled({ timeout: 30_000 });
+  await expect(page.getByText('WASM 已加载')).toBeVisible();
+  await sourceDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
 });
 
-test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译',async({page})=>{
+test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', async ({ page }) => {
-  const urdf=`<robot name="jointed"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><box size=".4 .4 .2"/></geometry></visual></link><link name="arm"><inertial><mass value=".2"/><origin xyz="0 0 .25"/><inertia ixx=".01" iyy=".01" izz=".01" ixy="0" ixz="0" iyz="0"/></inertial><visual><origin xyz="0 0 .25"/><geometry><box size=".1 .1 .5"/></geometry></visual></link><joint name="shoulder" type="revolute"><parent link="base"/><child link="arm"/><origin xyz="0 0 .1"/><axis xyz="0 1 0"/><limit lower="-1" upper="1" effort="10" velocity="2"/></joint></robot>`;
+  const urdf = `<robot name="jointed"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><box size=".4 .4 .2"/></geometry></visual></link><link name="arm"><inertial><mass value=".2"/><origin xyz="0 0 .25"/><inertia ixx=".01" iyy=".01" izz=".01" ixy="0" ixz="0" iyz="0"/></inertial><visual><origin xyz="0 0 .25"/><geometry><box size=".1 .1 .5"/></geometry></visual></link><joint name="shoulder" type="revolute"><parent link="base"/><child link="arm"/><origin xyz="0 0 .1"/><axis xyz="0 1 0"/><limit lower="-1" upper="1" effort="10" velocity="2"/></joint></robot>`;
-  await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'jointed.urdf',mimeType:'application/xml',buffer:Buffer.from(urdf)});
+  await page.goto('/');
-  await page.getByRole('dialog',{name:'配置 URDF 仿真组件'}).getByRole('button',{name:'转换并加载'}).click();
+  await page
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+    .locator('input[type="file"]')
-  await expect(page.getByLabel('摄像头画面')).toBeVisible();await page.getByRole('button',{name:'隐藏画面'}).click();await page.getByRole('button',{name:'显示摄像头画面'}).click();await expect(page.getByLabel('摄像头画面')).toBeVisible();
+    .first()
-  await page.getByRole('button',{name:'通知中心'}).click();
+    .setInputFiles({
-  const notifications=page.getByRole('dialog',{name:'通知中心'});
+      name: 'jointed.urdf',
+      mimeType: 'application/xml',
+      buffer: Buffer.from(urdf),
+    });
+  await page
+    .getByRole('dialog', { name: '配置 URDF 仿真组件' })
+    .getByRole('button', { name: '转换并加载' })
+    .click();
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
+  await expect(page.getByLabel('摄像头画面')).toBeVisible();
+  await page.getByRole('button', { name: '隐藏画面' }).click();
+  await page.getByRole('button', { name: '显示摄像头画面' }).click();
+  await expect(page.getByLabel('摄像头画面')).toBeVisible();
+  await page.getByRole('button', { name: '通知中心' }).click();
+  const notifications = page.getByRole('dialog', { name: '通知中心' });
   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.keyboard.press('Escape');
-  await expect(page.getByText('shoulder_motor')).toBeVisible();await expect(page.getByText('关节：shoulder')).toBeVisible();await expect(page.getByText('N·m',{exact:true})).toBeVisible();
+  await page.getByRole('tab', { name: '控制' }).click();
-  await page.getByText('常用参数').click();const kp=page.getByLabel(/kp（MJCF stiffness/),kv=page.getByLabel(/kv（MJCF damping/);await kp.fill('150');await kp.press('Enter');await kv.fill('15');await kv.press('Enter');await expect(kp).toHaveValue('150');await expect(kv).toHaveValue('15');
+  await page.getByRole('button', { name: 'Actuator' }).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();
+  await page.getByText('常用参数').click();
+  const kp = page.getByLabel(/kp（MJCF stiffness/),
+    kv = page.getByLabel(/kv（MJCF damping/);
+  await kp.fill('150');
+  await kp.press('Enter');
+  await kv.fill('15');
+  await kv.press('Enter');
+  await expect(kp).toHaveValue('150');
+  await expect(kv).toHaveValue('15');
 });
 
-test('转换后的 MJCF 保存时保留 DAE 转换缓存资源',async({page})=>{
+test('转换后的 MJCF 保存时保留 DAE 转换缓存资源', async ({ page }) => {
-  const zip=zipSync({'robot/urdf/robot.urdf':new Uint8Array(readFileSync(fixture('urdf_dae/robot/urdf/robot.urdf'))),'robot/dae/triangle.dae':new Uint8Array(readFileSync(fixture('urdf_dae/robot/dae/triangle.dae')))});
+  const zip = zipSync({
-  await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'dae.zip',mimeType:'application/zip',buffer:Buffer.from(zip)});await page.getByRole('dialog',{name:'配置 URDF 仿真组件'}).getByRole('button',{name:'转换并加载'}).click();await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+    'robot/urdf/robot.urdf': new Uint8Array(
-  await page.getByRole('button',{name:'源代码'}).click();const dialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});await dialog.locator('.monaco-editor').click({position:{x:240,y:120}});await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');await dialog.getByRole('button',{name:'保存并重新载入',exact:true}).click();await expect(dialog.getByRole('button',{name:'保存并重新载入',exact:true})).toBeDisabled({timeout:30_000});await expect(page.getByText('WASM 已加载')).toBeVisible();await expect(page.getByText('模型编译失败')).toHaveCount(0);
+      readFileSync(fixture('urdf_dae/robot/urdf/robot.urdf')),
+    ),
+    'robot/dae/triangle.dae': new Uint8Array(
+      readFileSync(fixture('urdf_dae/robot/dae/triangle.dae')),
+    ),
+  });
+  await page.goto('/');
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({ name: 'dae.zip', mimeType: 'application/zip', buffer: Buffer.from(zip) });
+  await page
+    .getByRole('dialog', { name: '配置 URDF 仿真组件' })
+    .getByRole('button', { name: '转换并加载' })
+    .click();
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
+  await page.getByRole('button', { name: '源代码' }).click();
+  const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
+  await dialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
+  await page.keyboard.press('Control+End');
+  await page.keyboard.insertText('\n');
+  await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
+  await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
+    timeout: 30_000,
+  });
+  await expect(page.getByText('WASM 已加载')).toBeVisible();
+  await expect(page.getByText('模型编译失败')).toHaveCount(0);
 });
 
-test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加',async({page})=>{
+test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加', async ({ page }) => {
-  await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'slide.xml',mimeType:'text/xml',buffer:Buffer.from(SLIDE_DIRECTION_MODEL)});await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+  await page.goto('/');
-  await page.getByRole('button',{name:'关节拖动'}).click();const canvas=page.locator('main canvas').first(),box=await canvas.boundingBox();expect(box).not.toBeNull();const x=box!.x+box!.width/2,y=box!.y+box!.height/2;await page.mouse.move(x,y);await page.mouse.down();await page.mouse.move(x+70,y,{steps:8});await page.mouse.up();
+  await page
-  await page.getByRole('tab',{name:'控制'}).click();const jointSection=page.getByRole('button',{name:'关节 1'});if(await jointSection.getAttribute('aria-expanded')==='false')await jointSection.click();const output=page.getByText('screen_x').locator('..').locator('output');await expect.poll(async()=>Number.parseFloat(await output.textContent()||'0')).toBeGreaterThan(0);
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'slide.xml',
+      mimeType: 'text/xml',
+      buffer: Buffer.from(SLIDE_DIRECTION_MODEL),
+    });
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
+  await page.getByRole('button', { name: '关节拖动' }).click();
+  const canvas = page.locator('main canvas').first(),
+    box = await canvas.boundingBox();
+  expect(box).not.toBeNull();
+  const x = box!.x + box!.width / 2,
+    y = box!.y + box!.height / 2;
+  await page.mouse.move(x, y);
+  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' });
+  if ((await jointSection.getAttribute('aria-expanded')) === 'false') await jointSection.click();
+  const output = page.getByText('screen_x').locator('..').locator('output');
+  await expect
+    .poll(async () => Number.parseFloat((await output.textContent()) || '0'))
+    .toBeGreaterThan(0);
 });
 
-test('可导入并启用 Python 控制器',async({page})=>{
+test('可导入并启用 Python 控制器', async ({ page }) => {
-  await page.goto('/');await page.locator('input[type="file"]').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.goto('/');
-  await page.getByRole('tab',{name:'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
-  await page.locator('input[accept=".py,text/x-python"]').setInputFiles({name:'balance.py',mimeType:'text/x-python',buffer:Buffer.from(python)});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();
+    .locator('input[type="file"]')
+    .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();
+  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"]')
+    .setInputFiles({ name: 'balance.py', mimeType: 'text/x-python', buffer: Buffer.from(python) });
+  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();
 });
 
-test('中等规模模型持续步进并可重复加载', async ({page}) => {
+test('中等规模模型持续步进并可重复加载', async ({ page }) => {
   await page.goto('/');
   const input = page.locator('input[type="file"]').first();
-  const modelFile = {name:'large.xml',mimeType:'text/xml',buffer:Buffer.from(LARGE_MODEL)};
+  const modelFile = { name: 'large.xml', mimeType: 'text/xml', buffer: Buffer.from(LARGE_MODEL) };
   await input.setInputFiles(modelFile);
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
-  await page.getByRole('button', {name:'▶ 播放'}).click();
+  await page.getByRole('button', { name: '▶ 播放' }).click();
   await page.waitForTimeout(2_000);
   await expect(page.locator('footer')).not.toContainText('时间 0.000 s');
 
   // 播放过程中重置必须同时暂停底层会话，之后仍可正常播放和暂停。
-  await page.getByRole('button',{name:'重置',exact:true}).click();
+  await page.getByRole('button', { name: '重置', exact: true }).click();
-  await expect(page.getByRole('button',{name:'▶ 播放'})).toBeVisible();
+  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
   await expect(page.locator('footer')).toContainText('时间 0.000 s');
-  await page.getByRole('button',{name:'▶ 播放'}).click();
+  await page.getByRole('button', { name: '▶ 播放' }).click();
   await page.waitForTimeout(500);
-  await page.getByRole('button',{name:'⏸ 暂停'}).click();
+  await page.getByRole('button', { name: '⏸ 暂停' }).click();
   await page.waitForTimeout(200);
-  const pausedTime=(await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1];
+  const pausedTime = (await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1];
   expect(Number(pausedTime)).toBeGreaterThan(0);
   await page.waitForTimeout(500);
   expect((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(pausedTime);
 
   await input.setInputFiles(modelFile);
-  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
+  await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
   await expect(page.getByRole('alert')).toHaveCount(0);
 });
 
-test('无效模型显示中文诊断且保留工程树', async ({page}) => {
+test('认证资产可点击创建场景并拖到画布落位', async ({ page }) => {
+  await page.goto('/');
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'model.xml',
+      mimeType: 'text/xml',
+      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('认证资产');
+  await expect(library.getByText('点击添加，或按住资产拖到画布落位。')).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('V3 地图编辑器')).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'));
+  await expect(page.getByLabel('地图对象列表').getByText('标准坡道 · 坡道')).toBeVisible();
+  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 expect(page.getByLabel('对象位置X')).toBeDisabled();
+  await page.getByLabel('对象放置方式').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();
+  const beforeRotation = await gizmoLine.getAttribute('x2');
+  const canvasBox = await page.locator('main canvas').first().boundingBox();
+  expect(canvasBox).not.toBeNull();
+  await page.mouse.move(canvasBox!.x + 24, canvasBox!.y + 24);
+  await page.mouse.down({ button: 'left' });
+  await page.mouse.move(canvasBox!.x + 104, canvasBox!.y + 50, { steps: 8 });
+  await page.mouse.up({ button: 'left' });
+  await expect.poll(() => gizmoLine.getAttribute('x2')).not.toBe(beforeRotation);
+});
+
+test('应用内置 MJCF 楼梯物理地图', async ({ page }) => {
+  await page.goto('/');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'map-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: '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');
+  await page.getByRole('button', { name: '应用并重新编译' }).click();
+  await expect(page.getByText(/已加载楼梯物理地图/)).toBeVisible({ timeout: 30_000 });
+  await expect(page.getByText('WASM 已加载')).toBeVisible();
+});
+
+test('依次应用全部系统参数化地形', async ({ page }) => {
+  const terrains = [
+    ['discrete_obstacles', '离散障碍地形'],
+    ['gap', '沟壑地形'],
+    ['inverted_pyramid_stairs', '倒金字塔阶梯'],
+    ['pit', '深坑地形'],
+    ['pyramid_stairs', '金字塔阶梯'],
+    ['rails', '轨道地形'],
+    ['rough', '随机粗糙地形'],
+    ['stepping_stones', '踏石地形'],
+    ['wave', '波浪地形'],
+  ] as const;
+  await page.goto('/');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'terrain-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: '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);
+    await page.getByLabel('地形边长（m）').fill('6');
+    if (preset === 'rough' || preset === 'wave')
+      await page.getByLabel('水平采样间距（m）').fill('0.25');
+    await page.getByRole('button', { name: '应用并重新编译' }).click();
+    await expect(page.getByText(new RegExp(`已加载${label}物理地图`))).toBeVisible({
+      timeout: 30_000,
+    });
+  }
+  await expect(page.getByText('WASM 已加载')).toBeVisible();
+});
+
+test('导入并应用分层工程地图包', async ({ page }) => {
+  const mapJson = JSON.stringify({
+    schemaVersion: 1,
+    id: 'test-room',
+    name: '测试场景',
+    coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
+    physics: { source: 'physics/world.xml' },
+    visual: { source: 'visuals/scene.glb' },
+    spawnPoints: [{ id: 'start', name: '起点', position: [2, 0, 0.5], yawDeg: 0 }],
+  });
+  const project = zipSync({
+    'model.xml': Buffer.from(SIMPLE_MODEL),
+    'maps/test/map.json': Buffer.from(mapJson),
+    'maps/test/physics/world.xml': Buffer.from(
+      '<mujoco><worldbody><geom name="floor" type="plane" size="8 8 .1"/><geom name="wall" type="box" pos="3 0 .5" size=".1 2 .5"/></worldbody></mujoco>',
+    ),
+    'maps/test/visuals/scene.glb': minimalGlb(),
+  });
+  await page.goto('/');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'map-project.zip',
+      mimeType: 'application/zip',
+      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();
+  await expect(page.getByText(/已加载工程地图“测试场景”/)).toBeVisible({ timeout: 30_000 });
+  await expect(page.getByText(/视觉地图加载失败/)).toHaveCount(0);
+});
+
+test('将受支持的只读物理地图转换为可编辑副本', async ({ page }) => {
+  const mapJson = JSON.stringify({
+    schemaVersion: 1,
+    id: 'legacy-room',
+    name: '旧版基础场景',
+    coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
+    physics: { source: 'physics/world.xml' },
+    spawnPoints: [{ id: 'start', name: '入口', position: [0, 0, 0], yawDeg: 0 }],
+  });
+  const project = zipSync({
+    'model.xml': Buffer.from(SIMPLE_MODEL),
+    'maps/legacy/map.json': Buffer.from(mapJson),
+    'maps/legacy/physics/world.xml': Buffer.from(
+      '<mujoco><worldbody><geom name="floor" type="box" pos="0 0 -.1" size="5 5 .1"/><body name="wall" pos="2 0 .5"><geom type="box" size=".1 1 .5"/></body></worldbody></mujoco>',
+    ),
+  });
+  await page.goto('/');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'legacy-map.zip',
+      mimeType: 'application/zip',
+      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('V3 地图编辑器').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(editor.getByRole('button', { name: /floor · 方盒/ })).toBeVisible();
+  await expect(editor.getByRole('button', { name: /wall · 方盒/ })).toBeVisible();
+});
+
+test('编辑 V3 地图对象并事务式应用', async ({ page }) => {
+  const authoring = JSON.stringify({
+    schemaVersion: 1,
+    mapId: 'editable-room',
+    revision: 0,
+    objects: [],
+    spawnPoints: [],
+  });
+  const mapJson = JSON.stringify({
+    schemaVersion: 2,
+    id: 'editable-room',
+    name: '可编辑场景',
+    coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
+    physics: { source: 'physics/world.xml' },
+    authoring: { source: 'authoring/map.scene.json' },
+    spawnPoints: [],
+  });
+  const project = zipSync({
+    'model.xml': Buffer.from(SIMPLE_MODEL),
+    'maps/edit/map.json': Buffer.from(mapJson),
+    'maps/edit/physics/world.xml': Buffer.from('<mujoco><worldbody/></mujoco>'),
+    'maps/edit/authoring/map.scene.json': Buffer.from(authoring),
+  });
+  await page.goto('/');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'editable-map.zip',
+      mimeType: 'application/zip',
+      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('V3 地图编辑器')).toBeVisible({ timeout: 30_000 });
+  const editor = page.getByText('V3 地图编辑器').locator('..');
+  await expect(editor.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(
+    'aria-pressed',
+    'true',
+  );
+  await page.keyboard.press('s');
+  await expect(editor.getByRole('button', { name: '缩放工具 S' })).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 expect(page.getByText('WASM 已加载')).toBeVisible();
+});
+
+test('工程地图编译失败时保留上一仿真会话', async ({ page }) => {
+  const mapJson = JSON.stringify({
+    schemaVersion: 1,
+    id: 'invalid-map',
+    name: '动态错误地图',
+    coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
+    physics: { source: 'world.xml' },
+    spawnPoints: [],
+  });
+  const project = zipSync({
+    'model.xml': Buffer.from(SIMPLE_MODEL),
+    'maps/invalid/map.json': Buffer.from(mapJson),
+    'maps/invalid/world.xml': Buffer.from(
+      '<mujoco><worldbody><body><joint/><geom type="box" size="1 1 1"/></body></worldbody></mujoco>',
+    ),
+  });
+  await page.goto('/');
+  await page.setViewportSize({ width: 1440, height: 900 });
+  await page
+    .locator('input[type="file"]')
+    .first()
+    .setInputFiles({
+      name: 'invalid-map.zip',
+      mimeType: 'application/zip',
+      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: '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 });
+  await expect(page.getByLabel('地图来源')).toHaveValue('none');
+  await page.getByRole('button', { name: '关闭错误' }).click();
+  await page.getByRole('button', { name: '▶ 播放' }).click();
+  await page.waitForTimeout(300);
+  await expect(page.locator('footer')).not.toContainText('时间 0.000 s');
+});
+
+test('无效模型显示中文诊断且保留工程树', async ({ page }) => {
   await page.goto('/');
   await page.locator('input[type="file"]').first().setInputFiles(fixture('invalid.xml'));
-  await expect(page.getByRole('alert')).toContainText('模型编译失败', {timeout: 30_000});
+  await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
-  await expect(page.getByText('invalid.xml', {exact: false}).first()).toBeVisible();
+  await expect(page.getByText('invalid.xml', { exact: false }).first()).toBeVisible();
 });

web_platform/index.html

@@ -1 +1,72 @@
-<!doctype html><html lang="zh-CN"><head><meta charset="UTF-8"/><meta name="viewport" content="width=device-width,initial-scale=1"/><meta name="theme-color" content="#101827"/><link rel="icon" href="data:,"/><title>MuJoCo Web 仿真平台</title></head><body><div id="root"></div><script type="module" src="/src/main.tsx"></script></body></html>
+<!doctype html>
+<html lang="zh-CN">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width,initial-scale=1" />
+    <meta name="theme-color" content="#09111e" />
+    <meta
+      name="description"
+      content="基于 MuJoCo WebAssembly 的本地机器人仿真、控制与地图编辑工作台"
+    />
+    <link rel="icon" href="data:," />
+    <title>MuJoCo Web 仿真平台</title>
+    <style>
+      html,
+      body,
+      #root {
+        height: 100%;
+        margin: 0;
+      }
+      body {
+        background: #09111e;
+      }
+      .boot-screen {
+        display: grid;
+        height: 100%;
+        place-items: center;
+        color: #f1f5f9;
+        font:
+          13px Inter,
+          system-ui,
+          sans-serif;
+      }
+      .boot-mark {
+        display: grid;
+        width: 42px;
+        height: 42px;
+        margin: 0 auto 14px;
+        place-items: center;
+        border: 1px solid #2b604f;
+        border-radius: 13px;
+        background: #123b31;
+        color: #38d39f;
+        font-weight: 800;
+        box-shadow: 0 16px 48px rgb(0 0 0 / 35%);
+        animation: boot-pulse 1.4s ease-in-out infinite;
+      }
+      .boot-caption {
+        color: #8fa0b5;
+        font-size: 11px;
+        letter-spacing: 0.04em;
+        text-align: center;
+      }
+      @keyframes boot-pulse {
+        50% {
+          transform: translateY(-2px);
+          box-shadow: 0 18px 54px rgb(56 211 159 / 15%);
+        }
+      }
+    </style>
+  </head>
+  <body>
+    <div id="root">
+      <div class="boot-screen" role="status" aria-label="正在启动仿真工作台">
+        <div>
+          <div class="boot-mark">M</div>
+          <div class="boot-caption">正在启动本地仿真工作台…</div>
+        </div>
+      </div>
+    </div>
+    <script type="module" src="/src/main.tsx"></script>
+  </body>
+</html>

web_platform/playwright.config.ts

@@ -1,2 +1,11 @@
-import {defineConfig} from '@playwright/test';
+import { defineConfig } from '@playwright/test';
-export default defineConfig({testDir:'./e2e', timeout:120_000, use:{baseURL:'http://127.0.0.1:4173',channel:'chrome'}, webServer:{command:'npm run preview --prefix .. -- --host 127.0.0.1',url:'http://127.0.0.1:4173',reuseExistingServer:true}});
+export default defineConfig({
+  testDir: './e2e',
+  timeout: 120_000,
+  use: { baseURL: 'http://127.0.0.1:4173' },
+  webServer: {
+    command: 'npm run preview --prefix .. -- --host 127.0.0.1',
+    url: 'http://127.0.0.1:4173',
+    reuseExistingServer: true,
+  },
+});

web_platform/postcss.config.cjs

@@ -1 +1,3 @@
-module.exports = {plugins: {tailwindcss: {config: './web_platform/tailwind.config.cjs'}, autoprefixer: {}}};
+module.exports = {
+  plugins: { tailwindcss: { config: './web_platform/tailwind.config.cjs' }, autoprefixer: {} },
+};

web_platform/src/app/ErrorBoundary.tsx

@@ -1,3 +1,28 @@
-import {Component,type ErrorInfo,type ReactNode} from 'react';
+import { Component, type ErrorInfo, type ReactNode } from 'react';
-import {Button} from '../components/ui';
+import { Button } from '../components/ui';
-export class ErrorBoundary extends Component<{children:ReactNode},{error?:Error}>{state:{error?:Error}={};static getDerivedStateFromError(error:Error){return {error};}componentDidCatch(error:Error,info:ErrorInfo){console.error('React fatal error',error,info);}render(){return this.state.error?<main className="grid h-screen place-items-center bg-app text-text-primary"><section className="max-w-xl rounded-xl border border-danger-border bg-panel p-6 shadow-xl"><h1 className="text-xl font-semibold">界面发生致命错误</h1><pre className="mt-3 whitespace-pre-wrap text-sm text-danger">{this.state.error.message}</pre><Button variant="danger" className="mt-4" onClick={()=>location.reload()}>重新加载</Button></section></main>:this.props.children;}}
+export class ErrorBoundary extends Component<{ children: ReactNode }, { error?: Error }> {
+  state: { error?: Error } = {};
+  static getDerivedStateFromError(error: Error) {
+    return { error };
+  }
+  componentDidCatch(error: Error, info: ErrorInfo) {
+    console.error('React fatal error', error, info);
+  }
+  render() {
+    return this.state.error ? (
+      <main className="grid h-screen place-items-center bg-app text-text-primary">
+        <section className="max-w-xl rounded-xl border border-danger-border bg-panel p-6 shadow-xl">
+          <h1 className="text-xl font-semibold">界面发生致命错误</h1>
+          <pre className="mt-3 whitespace-pre-wrap text-sm text-danger">
+            {this.state.error.message}
+          </pre>
+          <Button variant="danger" className="mt-4" onClick={() => location.reload()}>
+            重新加载
+          </Button>
+        </section>
+      </main>
+    ) : (
+      this.props.children
+    );
+  }
+}

web_platform/src/app/components/ActuatorControl.test.tsx

@@ -1,39 +1,96 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {ActuatorControl} from './SidebarPanel';
+import { ActuatorControl } from './SidebarPanel';
-import type {ActuatorInfo} from '../../simulation/SimulationSession';
+import type { ActuatorInfo } from '../../simulation/SimulationSession';
 
-const actuator:ActuatorInfo={id:0,name:'shoulder_motor',value:.5,min:-1,max:1,limited:true,jointId:0,jointName:'shoulder',jointType:3,unit:'N·m',kind:'motor',controlCount:1,gear:2,gain:1,kp:0,kv:0,ctrlLimited:true,ctrlMin:-1,ctrlMax:1,forceLimited:true,forceMin:-20,forceMax:20};
+const actuator: ActuatorInfo = {
+  id: 0,
+  name: 'shoulder_motor',
+  value: 0.5,
+  min: -1,
+  max: 1,
+  limited: true,
+  jointId: 0,
+  jointName: 'shoulder',
+  jointType: 3,
+  unit: 'N·m',
+  kind: 'motor',
+  controlCount: 1,
+  gear: 2,
+  gain: 1,
+  kp: 0,
+  kv: 0,
+  ctrlLimited: true,
+  ctrlMin: -1,
+  ctrlMax: 1,
+  forceLimited: true,
+  forceMin: -20,
+  forceMax: 20,
+};
 
-describe('ActuatorControl',()=>{
+describe('ActuatorControl', () => {
-  it('显示对应关节和常用力矩单位',()=>{
+  it('显示对应关节和常用力矩单位', () => {
-    render(<ActuatorControl actuator={actuator} onControl={()=>{}} onParameters={()=>{}}/>);
+    render(<ActuatorControl actuator={actuator} onControl={() => {}} onParameters={() => {}} />);
     expect(screen.getByText('shoulder_motor')).toBeVisible();
     expect(screen.getByText('关节：shoulder')).toBeVisible();
     expect(screen.getByText('1.000 N·m')).toBeVisible();
   });
 
-  it('内部按 gear 换算输出，但参数面板只开放 kp、kv 等业务参数',()=>{
+  it('内部按 gear 换算输出，但参数面板只开放 kp、kv 等业务参数', () => {
-    const onControl=vi.fn(),onParameters=vi.fn();
+    const onControl = vi.fn(),
-    render(<ActuatorControl actuator={actuator} onControl={onControl} onParameters={onParameters}/>);
+      onParameters = vi.fn();
-    fireEvent.change(screen.getByRole('slider'),{target:{value:'2'}});
+    render(
+      <ActuatorControl actuator={actuator} onControl={onControl} onParameters={onParameters} />,
+    );
+    fireEvent.change(screen.getByRole('slider'), { target: { value: '2' } });
     expect(onControl).toHaveBeenCalledWith(1);
     fireEvent.click(screen.getByText('常用参数'));
     expect(screen.queryByLabelText('传动比 gear')).not.toBeInTheDocument();
     expect(screen.queryByLabelText('固定增益 gain')).not.toBeInTheDocument();
-    const kp=screen.getByLabelText(/kp（MJCF stiffness/);fireEvent.change(kp,{target:{value:'3'}});fireEvent.blur(kp);
+    const kp = screen.getByLabelText(/kp（MJCF stiffness/);
-    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({kp:3,ctrlLimited:true,forceLimited:true}));
+    fireEvent.change(kp, { target: { value: '3' } });
+    fireEvent.blur(kp);
+    expect(onParameters).toHaveBeenCalledWith(
+      expect.objectContaining({ kp: 3, ctrlLimited: true, forceLimited: true }),
+    );
   });
 
-  it('position 伺服使用角度目标并开放 kp、kv',()=>{
+  it('position 伺服使用角度目标并开放 kp、kv', () => {
-    const onParameters=vi.fn();
+    const onParameters = vi.fn();
-    render(<ActuatorControl actuator={{...actuator,name:'shoulder_servo',kind:'position',unit:'°',value:Math.PI/2,min:-Math.PI,max:Math.PI,gear:1,kp:100,kv:10,gain:100}} onControl={()=>{}} onParameters={onParameters}/>);
+    render(
-    expect(screen.getByText('90.000 °')).toBeVisible();fireEvent.click(screen.getByText('常用参数'));
+      <ActuatorControl
-    const kp=screen.getByLabelText(/位置增益 kp/);fireEvent.change(kp,{target:{value:'150'}});fireEvent.blur(kp);
+        actuator={{
-    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({kp:150,kv:10}));
+          ...actuator,
+          name: 'shoulder_servo',
+          kind: 'position',
+          unit: '°',
+          value: Math.PI / 2,
+          min: -Math.PI,
+          max: Math.PI,
+          gear: 1,
+          kp: 100,
+          kv: 10,
+          gain: 100,
+        }}
+        onControl={() => {}}
+        onParameters={onParameters}
+      />,
+    );
+    expect(screen.getByText('90.000 °')).toBeVisible();
+    fireEvent.click(screen.getByText('常用参数'));
+    const kp = screen.getByLabelText(/位置增益 kp/);
+    fireEvent.change(kp, { target: { value: '150' } });
+    fireEvent.blur(kp);
+    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({ kp: 150, kv: 10 }));
   });
 
-  it('非 motor 驱动器保持原始控制单位且不开放通用参数编辑',()=>{
+  it('非 motor 驱动器保持原始控制单位且不开放通用参数编辑', () => {
-    render(<ActuatorControl actuator={{...actuator,name:'custom',kind:'other',unit:'',value:.25}} onControl={()=>{}} onParameters={()=>{}}/>);
+    render(
+      <ActuatorControl
+        actuator={{ ...actuator, name: 'custom', kind: 'other', unit: '', value: 0.25 }}
+        onControl={() => {}}
+        onParameters={() => {}}
+      />,
+    );
     expect(screen.getByText('0.250')).toBeVisible();
     expect(screen.queryByText('常用参数')).not.toBeInTheDocument();
     expect(screen.getByText(/不是可直接编辑的 motor\/position/)).toBeVisible();

web_platform/src/app/components/CommandPalette.tsx

@@ -1,12 +1,120 @@
-import {useEffect,useId,useMemo,useRef,useState,type ReactNode} from 'react';
+import { useEffect, useId, useMemo, useRef, useState, type ReactNode } from 'react';
-import {Search} from 'lucide-react';
+import { Search } from 'lucide-react';
-import {Dialog,EmptySearchState,Kbd} from '../../components/ui';
+import { Dialog, EmptySearchState, Kbd } from '../../components/ui';
-export interface WorkbenchCommand{id:string;label:string;group:string;icon?:ReactNode;shortcut?:string;disabled?:boolean;run:()=>void;}
+export interface WorkbenchCommand {
-export function CommandPalette({open,onClose,commands}:{open:boolean;onClose:()=>void;commands:WorkbenchCommand[]}){
+  id: string;
-  const [query,setQuery]=useState(''),[active,setActive]=useState(0),input=useRef<HTMLInputElement>(null),listId=useId();
+  label: string;
-  const filtered=useMemo(()=>{const needle=query.trim().toLocaleLowerCase();return commands.filter(command=>!needle||`${command.label} ${command.group}`.toLocaleLowerCase().includes(needle));},[commands,query]);
+  group: string;
-  const enabled=filtered.flatMap((command,index)=>command.disabled?[]:[index]),highlighted=filtered[active]&&!filtered[active].disabled?active:(enabled[0]??-1);
+  icon?: ReactNode;
-  useEffect(()=>{if(open)requestAnimationFrame(()=>input.current?.focus());},[open]);
+  shortcut?: string;
-  const close=()=>{setQuery('');setActive(0);onClose();},execute=(command?:WorkbenchCommand)=>{if(!command||command.disabled)return;command.run();close();};
+  disabled?: boolean;
-  return <Dialog open={open} onClose={close} title="命令面板" className="max-w-xl"><div className="relative -m-4 mb-2 border-b border-border"><Search className="pointer-events-none absolute left-4 top-1/2 h-4 w-4 -translate-y-1/2 text-text-tertiary"/><input ref={input} role="combobox" aria-label="搜索命令" aria-autocomplete="list" aria-expanded="true" aria-controls={listId} aria-activedescendant={highlighted>=0?`${listId}-${filtered[highlighted].id}`:undefined} value={query} onChange={event=>{setQuery(event.target.value);setActive(0);}} onKeyDown={event=>{if(!enabled.length)return;const current=Math.max(0,enabled.indexOf(highlighted));if(event.key==='ArrowDown'){event.preventDefault();setActive(enabled[(current+1)%enabled.length]);}else if(event.key==='ArrowUp'){event.preventDefault();setActive(enabled[(current-1+enabled.length)%enabled.length]);}else if(event.key==='Enter'){event.preventDefault();execute(filtered[highlighted]);}}} placeholder="输入命令名称…" className="h-11 w-full bg-input pl-11 pr-4 text-sm text-text-primary placeholder:text-text-tertiary focus:outline-none"/></div><div id={listId} role="listbox" aria-label="可用命令" className="max-h-80 space-y-1 overflow-auto pt-1">{filtered.length?filtered.map((command,index)=><button key={command.id} id={`${listId}-${command.id}`} type="button" role="option" aria-selected={index===highlighted} disabled={command.disabled} onMouseEnter={()=>{if(!command.disabled)setActive(index);}} onClick={()=>execute(command)} className={`flex w-full items-center gap-3 rounded-md px-3 py-2 text-left text-xs outline-none ${index===highlighted?'bg-accent-soft text-accent':'text-text-secondary hover:bg-element-hover'} disabled:opacity-40`}><span className="flex h-5 w-5 items-center justify-center">{command.icon}</span><span className="min-w-0 flex-1"><span className="block truncate font-medium">{command.label}</span><span className="block text-[10px] text-text-tertiary">{command.group}</span></span>{command.shortcut&&<Kbd>{command.shortcut}</Kbd>}</button>):<EmptySearchState label="没有匹配的命令"/>}</div></Dialog>;
+  run: () => void;
+}
+export function CommandPalette({
+  open,
+  onClose,
+  commands,
+}: {
+  open: boolean;
+  onClose: () => void;
+  commands: WorkbenchCommand[];
+}) {
+  const [query, setQuery] = useState(''),
+    [active, setActive] = useState(0),
+    input = useRef<HTMLInputElement>(null),
+    listId = useId();
+  const filtered = useMemo(() => {
+    const needle = query.trim().toLocaleLowerCase();
+    return commands.filter(
+      (command) =>
+        !needle || `${command.label} ${command.group}`.toLocaleLowerCase().includes(needle),
+    );
+  }, [commands, query]);
+  const enabled = filtered.flatMap((command, index) => (command.disabled ? [] : [index])),
+    highlighted = filtered[active] && !filtered[active].disabled ? active : (enabled[0] ?? -1);
+  useEffect(() => {
+    if (open) requestAnimationFrame(() => input.current?.focus());
+  }, [open]);
+  const close = () => {
+      setQuery('');
+      setActive(0);
+      onClose();
+    },
+    execute = (command?: WorkbenchCommand) => {
+      if (!command || command.disabled) return;
+      command.run();
+      close();
+    };
+  return (
+    <Dialog open={open} onClose={close} title="命令面板" className="max-w-xl">
+      <div className="relative -m-4 mb-2 border-b border-border">
+        <Search className="pointer-events-none absolute left-4 top-1/2 h-4 w-4 -translate-y-1/2 text-text-tertiary" />
+        <input
+          ref={input}
+          role="combobox"
+          aria-label="搜索命令"
+          aria-autocomplete="list"
+          aria-expanded="true"
+          aria-controls={listId}
+          aria-activedescendant={
+            highlighted >= 0 ? `${listId}-${filtered[highlighted].id}` : undefined
+          }
+          value={query}
+          onChange={(event) => {
+            setQuery(event.target.value);
+            setActive(0);
+          }}
+          onKeyDown={(event) => {
+            if (!enabled.length) return;
+            const current = Math.max(0, enabled.indexOf(highlighted));
+            if (event.key === 'ArrowDown') {
+              event.preventDefault();
+              setActive(enabled[(current + 1) % enabled.length]);
+            } else if (event.key === 'ArrowUp') {
+              event.preventDefault();
+              setActive(enabled[(current - 1 + enabled.length) % enabled.length]);
+            } else if (event.key === 'Enter') {
+              event.preventDefault();
+              execute(filtered[highlighted]);
+            }
+          }}
+          placeholder="输入命令名称…"
+          className="h-11 w-full bg-input pl-11 pr-4 text-sm text-text-primary placeholder:text-text-tertiary focus:outline-none"
+        />
+      </div>
+      <div
+        id={listId}
+        role="listbox"
+        aria-label="可用命令"
+        className="max-h-80 space-y-1 overflow-auto pt-1"
+      >
+        {filtered.length ? (
+          filtered.map((command, index) => (
+            <button
+              key={command.id}
+              id={`${listId}-${command.id}`}
+              type="button"
+              role="option"
+              aria-selected={index === highlighted}
+              disabled={command.disabled}
+              onMouseEnter={() => {
+                if (!command.disabled) setActive(index);
+              }}
+              onClick={() => execute(command)}
+              className={`flex w-full items-center gap-3 rounded-md px-3 py-2 text-left text-xs outline-none ${index === highlighted ? 'bg-accent-soft text-accent' : 'text-text-secondary hover:bg-element-hover'} disabled:opacity-40`}
+            >
+              <span className="flex h-5 w-5 items-center justify-center">{command.icon}</span>
+              <span className="min-w-0 flex-1">
+                <span className="block truncate font-medium">{command.label}</span>
+                <span className="block text-[10px] text-text-tertiary">{command.group}</span>
+              </span>
+              {command.shortcut && <Kbd>{command.shortcut}</Kbd>}
+            </button>
+          ))
+        ) : (
+          <EmptySearchState label="没有匹配的命令" />
+        )}
+      </div>
+    </Dialog>
+  );
 }

web_platform/src/app/components/DataRecordingPanel.test.tsx

@@ -0,0 +1,74 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { DataRecordingPanel } from './DataRecordingPanel';
+import type { DataRecorderStatus } from '../../simulation/DataRecorder';
+
+const status: DataRecorderStatus = {
+  recording: false,
+  limitReached: false,
+  sampleCount: 2,
+  segmentCount: 1,
+  config: { bodyId: 1, sampleRateHz: 50, maxSamples: 30_000 },
+  body: { id: 1, name: 'base' },
+  latest: {
+    sequence: 1,
+    segment: 0,
+    simulationTime: 0.02,
+    values: {
+      speed_horizontal: 1.25,
+      speed_3d: 1.3,
+      velocity_x: 1.25,
+      velocity_y: 0,
+      velocity_z: 0.1,
+      pitch: 0.1,
+      roll: -0.05,
+      yaw: 0.2,
+      height: 0.45,
+      position_x: 0.1,
+      position_y: 0,
+      contact_count: 4,
+      control_rms: 2,
+      actuator_force_rms: 3,
+      actuator_power_abs: 8,
+    },
+  },
+  summary: {
+    duration: 0.02,
+    distanceHorizontal: 0.1,
+    maxHorizontalSpeed: 1.25,
+    maxAbsRoll: 0.05,
+    maxAbsPitch: 0.1,
+    minHeight: 0.44,
+    maxHeight: 0.46,
+  },
+};
+
+describe('DataRecordingPanel', () => {
+  it('展示实时遥测并提供配置、记录和导出操作', () => {
+    const configure = vi.fn(),
+      start = vi.fn(),
+      exportData = vi.fn();
+    render(
+      <DataRecordingPanel
+        status={status}
+        bodies={[
+          { id: 0, name: 'world', parentId: 0 },
+          { id: 1, name: 'base', parentId: 0 },
+          { id: 2, name: 'payload', parentId: 1 },
+        ]}
+        onConfigure={configure}
+        onStart={start}
+        onStop={vi.fn()}
+        onClear={vi.fn()}
+        onExport={exportData}
+      />,
+    );
+    expect(screen.getAllByText('1.250 m/s').length).toBeGreaterThan(0);
+    expect(screen.getAllByText('5.73°').length).toBeGreaterThan(0);
+    fireEvent.change(screen.getByLabelText('记录 Body'), { target: { value: '2' } });
+    expect(configure).toHaveBeenCalledWith({ bodyId: 2 });
+    fireEvent.click(screen.getByRole('button', { name: '开始记录' }));
+    expect(start).toHaveBeenCalledTimes(1);
+    fireEvent.click(screen.getByRole('button', { name: '导出 CSV' }));
+    expect(exportData).toHaveBeenCalledWith('csv');
+  });
+});

web_platform/src/app/components/DataRecordingPanel.tsx

@@ -0,0 +1,198 @@
+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';
+
+const SAMPLE_RATES = [10, 20, 50, 100, 200];
+const radiansToDegrees = 180 / Math.PI;
+
+function number(value: number | undefined, digits = 3): string {
+  return Number.isFinite(value) ? value!.toFixed(digits) : '—';
+}
+
+function degrees(value: number | undefined): string {
+  return Number.isFinite(value) ? `${(value! * radiansToDegrees).toFixed(2)}°` : '—';
+}
+
+export function DataRecordingPanel({
+  status,
+  bodies,
+  onConfigure,
+  onStart,
+  onStop,
+  onClear,
+  onExport,
+}: {
+  status: DataRecorderStatus;
+  bodies: BodyInfo[];
+  onConfigure: (patch: Partial<DataRecorderConfig>) => void;
+  onStart: () => void;
+  onStop: () => void;
+  onClear: () => void;
+  onExport: (format: 'csv' | 'json') => void;
+}) {
+  const values = status.latest?.values,
+    availableBodies = bodies.filter(
+      (body) => body.id > 0 && !body.name.startsWith('__platform_map_'),
+    );
+  return (
+    <div className="space-y-3 p-3">
+      <section className="rounded-lg border border-border bg-surface p-3">
+        <div className="mb-3 flex items-center justify-between gap-2">
+          <div>
+            <h3 className="text-xs font-semibold text-text-primary">仿真遥测记录</h3>
+            <p className="mt-0.5 text-[10px] text-text-tertiary">
+              数据仅保存在当前浏览器会话，可导出 CSV 或 JSON。
+            </p>
+          </div>
+          <Badge tone={status.recording ? 'success' : status.limitReached ? 'warning' : 'neutral'}>
+            {status.recording ? '记录中' : status.limitReached ? '已达上限' : '已停止'}
+          </Badge>
+        </div>
+        <label className="block text-xs text-text-secondary">
+          <span className="mb-1 block">记录 Body</span>
+          <Select
+            aria-label="记录 Body"
+            className="w-full"
+            value={status.config.bodyId}
+            disabled={status.recording}
+            onChange={(event) => onConfigure({ bodyId: Number(event.target.value) })}
+          >
+            {(availableBodies.length ? availableBodies : [status.body]).map((body) => (
+              <option key={body.id} value={body.id}>
+                {body.name}
+              </option>
+            ))}
+          </Select>
+        </label>
+        <div className="mt-2 grid grid-cols-2 gap-2">
+          <label className="block text-xs text-text-secondary">
+            <span className="mb-1 block">采样频率</span>
+            <Select
+              aria-label="采样频率"
+              className="w-full"
+              value={status.config.sampleRateHz}
+              disabled={status.recording}
+              onChange={(event) => onConfigure({ sampleRateHz: Number(event.target.value) })}
+            >
+              {SAMPLE_RATES.map((rate) => (
+                <option key={rate} value={rate}>
+                  {rate} Hz
+                </option>
+              ))}
+            </Select>
+          </label>
+          <label className="block text-xs text-text-secondary">
+            <span className="mb-1 block">样本上限</span>
+            <input
+              aria-label="样本上限"
+              type="number"
+              min={100}
+              max={1_000_000}
+              step={1000}
+              className="field h-8 w-full px-2 text-xs"
+              value={status.config.maxSamples}
+              disabled={status.recording}
+              onChange={(event) => {
+                const value = Number(event.target.value);
+                if (Number.isFinite(value) && value >= 100) onConfigure({ maxSamples: value });
+              }}
+            />
+          </label>
+        </div>
+        <div className="mt-3 grid grid-cols-2 gap-2">
+          {status.recording ? (
+            <Button
+              variant="primary"
+              icon={<Square className="h-3 w-3 fill-current" />}
+              onClick={onStop}
+            >
+              停止记录
+            </Button>
+          ) : (
+            <Button
+              variant="primary"
+              icon={<Circle className="h-3 w-3 fill-current" />}
+              onClick={onStart}
+              disabled={status.limitReached}
+            >
+              开始记录
+            </Button>
+          )}
+          <Button
+            variant="danger"
+            icon={<Trash2 className="h-3.5 w-3.5" />}
+            onClick={onClear}
+            disabled={!status.sampleCount}
+          >
+            清空
+          </Button>
+        </div>
+        <div className="mt-3 border-t border-border pt-2">
+          <PropertyRow label="样本" value={`${status.sampleCount} / ${status.config.maxSamples}`} />
+          <PropertyRow label="有效时长" value={`${number(status.summary.duration, 2)} s`} />
+          <PropertyRow label="分段" value={status.segmentCount} />
+        </div>
+      </section>
+
+      <section className="rounded-lg border border-border bg-surface p-3">
+        <h3 className="mb-2 text-xs font-semibold text-text-primary">实时运动状态</h3>
+        <PropertyRow label="水平速度" value={`${number(values?.speed_horizontal)} m/s`} />
+        <PropertyRow label="三维速度" value={`${number(values?.speed_3d)} m/s`} />
+        <PropertyRow
+          label="世界系速度 XYZ"
+          value={`${number(values?.velocity_x)}, ${number(values?.velocity_y)}, ${number(values?.velocity_z)} m/s`}
+        />
+        <PropertyRow label="俯仰角" value={degrees(values?.pitch)} />
+        <PropertyRow label="侧倾角" value={degrees(values?.roll)} />
+        <PropertyRow label="偏航角" value={degrees(values?.yaw)} />
+        <PropertyRow label="机身高度" value={`${number(values?.height)} m`} />
+        <PropertyRow
+          label="世界系位置 XY"
+          value={`${number(values?.position_x)}, ${number(values?.position_y)} m`}
+        />
+        <PropertyRow label="场景接触数" value={number(values?.contact_count, 0)} />
+        <PropertyRow label="控制输入 RMS" value={number(values?.control_rms)} />
+        <PropertyRow label="驱动力 RMS" value={number(values?.actuator_force_rms)} />
+        <PropertyRow label="绝对驱动功率" value={`${number(values?.actuator_power_abs)} W`} />
+      </section>
+
+      <section className="rounded-lg border border-border bg-surface p-3">
+        <h3 className="mb-2 text-xs font-semibold text-text-primary">本次记录摘要</h3>
+        <PropertyRow
+          label="累计水平里程"
+          value={`${number(status.summary.distanceHorizontal)} m`}
+        />
+        <PropertyRow
+          label="最大水平速度"
+          value={`${number(status.summary.maxHorizontalSpeed)} m/s`}
+        />
+        <PropertyRow label="最大俯仰角" value={degrees(status.summary.maxAbsPitch)} />
+        <PropertyRow label="最大侧倾角" value={degrees(status.summary.maxAbsRoll)} />
+        <PropertyRow
+          label="高度范围"
+          value={`${number(status.summary.minHeight)} – ${number(status.summary.maxHeight)} m`}
+        />
+        <div className="mt-3 grid grid-cols-2 gap-2">
+          <Button
+            icon={<Download className="h-3.5 w-3.5" />}
+            disabled={!status.sampleCount}
+            onClick={() => onExport('csv')}
+          >
+            导出 CSV
+          </Button>
+          <Button
+            icon={<Download className="h-3.5 w-3.5" />}
+            disabled={!status.sampleCount}
+            onClick={() => onExport('json')}
+          >
+            导出 JSON
+          </Button>
+        </div>
+      </section>
+      <p className="text-[10px] leading-4 text-text-tertiary">
+        每次仿真重置会创建新分段，避免跨重置计算出错误速度。开发接口支持注册额外标量通道，导出列名保持稳定。
+      </p>
+    </div>
+  );
+}

web_platform/src/app/components/DiagnosticNotice.tsx

@@ -1,5 +1,50 @@
-import {useState} from 'react';
+import { useState } from 'react';
-import {ChevronDown,TriangleAlert,X} from 'lucide-react';
+import { ChevronDown, TriangleAlert, X } from 'lucide-react';
-import type {AppDiagnostic} from '../../stores/useAppStore';
+import type { AppDiagnostic } from '../../stores/useAppStore';
-import {IconButton} from '../../components/ui';
+import { IconButton } from '../../components/ui';
-export function DiagnosticNotice({value,onClose}:{value:AppDiagnostic;onClose:()=>void}){const [expanded,setExpanded]=useState(false);return <section role="alert" className="absolute bottom-4 left-1/2 z-30 w-[min(42rem,calc(100%-2rem))] -translate-x-1/2 overflow-hidden rounded-xl border border-danger-border bg-panel shadow-2xl"><div className="flex items-start gap-3 p-3"><span className="mt-0.5 grid h-7 w-7 shrink-0 place-items-center rounded-full bg-danger-soft text-danger"><TriangleAlert className="h-4 w-4"/></span><div className="min-w-0 flex-1"><h2 className="text-sm font-semibold text-text-primary">{value.summary}</h2>{value.path&&<p className="mt-0.5 truncate text-xs text-text-tertiary" title={value.path}>路径：{value.path}</p>}<button type="button" aria-expanded={expanded} className="mt-1 flex items-center gap-1 text-xs text-danger hover:underline" onClick={()=>setExpanded(v=>!v)}>技术详情<ChevronDown className={`h-3 w-3 ${expanded?'rotate-180':''}`}/></button></div><IconButton aria-label="关闭错误" tooltip="关闭" onClick={onClose}><X className="h-4 w-4"/></IconButton></div>{expanded&&<pre className="max-h-36 overflow-auto border-t border-danger-border bg-danger-soft p-3 text-xs text-danger">{value.detail}</pre>}</section>;}
+export function DiagnosticNotice({
+  value,
+  onClose,
+}: {
+  value: AppDiagnostic;
+  onClose: () => void;
+}) {
+  const [expanded, setExpanded] = useState(false);
+  return (
+    <section
+      role="alert"
+      className="absolute bottom-4 left-1/2 z-30 w-[min(42rem,calc(100%-2rem))] -translate-x-1/2 overflow-hidden rounded-xl border border-danger-border bg-panel shadow-2xl"
+    >
+      <div className="flex items-start gap-3 p-3">
+        <span className="mt-0.5 grid h-7 w-7 shrink-0 place-items-center rounded-full bg-danger-soft text-danger">
+          <TriangleAlert className="h-4 w-4" />
+        </span>
+        <div className="min-w-0 flex-1">
+          <h2 className="text-sm font-semibold text-text-primary">{value.summary}</h2>
+          {value.path && (
+            <p className="mt-0.5 truncate text-xs text-text-tertiary" title={value.path}>
+              路径：{value.path}
+            </p>
+          )}
+          <button
+            type="button"
+            aria-expanded={expanded}
+            className="mt-1 flex items-center gap-1 text-xs text-danger hover:underline"
+            onClick={() => setExpanded((v) => !v)}
+          >
+            技术详情
+            <ChevronDown className={`h-3 w-3 ${expanded ? 'rotate-180' : ''}`} />
+          </button>
+        </div>
+        <IconButton aria-label="关闭错误" tooltip="关闭" onClick={onClose}>
+          <X className="h-4 w-4" />
+        </IconButton>
+      </div>
+      {expanded && (
+        <pre className="max-h-36 overflow-auto border-t border-danger-border bg-danger-soft p-3 text-xs text-danger">
+          {value.detail}
+        </pre>
+      )}
+    </section>
+  );
+}

web_platform/src/app/components/DiagnosticsDrawer.tsx

@@ -1,6 +1,97 @@
-import {useState} from 'react';
+import { useState } from 'react';
-import {CheckCircle2,Info,TriangleAlert,XCircle} from 'lucide-react';
+import { CheckCircle2, Info, TriangleAlert, XCircle } from 'lucide-react';
-import {Button,CopyButton,Dialog,Tabs} from '../../components/ui';
+import { Button, CopyButton, Dialog, Tabs } from '../../components/ui';
-import type {WorkbenchNotification} from './NotificationCenter';
+import type { WorkbenchNotification } from './NotificationCenter';
-type Filter='all'|'warning'|'danger';
+type Filter = 'all' | 'warning' | 'danger';
-export function DiagnosticsDrawer({open,items,onClose,onClear}:{open:boolean;items:WorkbenchNotification[];onClose:()=>void;onClear:()=>void}){const [filter,setFilter]=useState<Filter>('all');const content=(value:Filter)=>{const filtered=items.filter(item=>value==='all'||item.tone===value);return <div className="space-y-2">{filtered.length?filtered.map(item=>{const Icon=item.tone==='danger'?XCircle:item.tone==='warning'?TriangleAlert:item.tone==='success'?CheckCircle2:Info;return <article key={item.id} className="rounded-lg border border-border bg-surface p-3"><div className="flex items-start gap-2"><Icon className={`mt-0.5 h-4 w-4 ${item.tone==='danger'?'text-danger':item.tone==='warning'?'text-warning':'text-success'}`}/><div className="min-w-0 flex-1"><h3 className="text-xs font-semibold">{item.title}</h3><time className="text-[10px] text-text-tertiary">{new Date(item.at).toLocaleString('zh-CN')}</time>{item.detail&&<pre className="mt-2 whitespace-pre-wrap text-[10px] leading-4 text-text-secondary">{item.detail}</pre>}</div>{item.detail&&<CopyButton value={`${item.title}\n${item.detail}`} label="复制事件详情"/>}</div></article>}):<p className="p-8 text-center text-xs text-text-tertiary">没有符合条件的事件</p>}</div>;};return <Dialog open={open} onClose={onClose} title="诊断与事件日志" className="max-w-2xl" footer={<div className="flex justify-end"><Button variant="danger" disabled={!items.length} onClick={onClear}>清空事件</Button></div>}><Tabs label="事件筛选" value={filter} onValueChange={setFilter} keepMounted={false} items={[{value:'all',label:`全部 ${items.length}`,content:content('all')},{value:'warning',label:`警告 ${items.filter(item=>item.tone==='warning').length}`,content:content('warning')},{value:'danger',label:`错误 ${items.filter(item=>item.tone==='danger').length}`,content:content('danger')}]}/></Dialog>;}
+export function DiagnosticsDrawer({
+  open,
+  items,
+  onClose,
+  onClear,
+}: {
+  open: boolean;
+  items: WorkbenchNotification[];
+  onClose: () => void;
+  onClear: () => void;
+}) {
+  const [filter, setFilter] = useState<Filter>('all');
+  const content = (value: Filter) => {
+    const filtered = items.filter((item) => value === 'all' || item.tone === value);
+    return (
+      <div className="space-y-2">
+        {filtered.length ? (
+          filtered.map((item) => {
+            const Icon =
+              item.tone === 'danger'
+                ? XCircle
+                : item.tone === 'warning'
+                  ? TriangleAlert
+                  : item.tone === 'success'
+                    ? CheckCircle2
+                    : Info;
+            return (
+              <article key={item.id} className="rounded-lg border border-border bg-surface p-3">
+                <div className="flex items-start gap-2">
+                  <Icon
+                    className={`mt-0.5 h-4 w-4 ${item.tone === 'danger' ? 'text-danger' : item.tone === 'warning' ? 'text-warning' : 'text-success'}`}
+                  />
+                  <div className="min-w-0 flex-1">
+                    <h3 className="text-xs font-semibold">{item.title}</h3>
+                    <time className="text-[10px] text-text-tertiary">
+                      {new Date(item.at).toLocaleString('zh-CN')}
+                    </time>
+                    {item.detail && (
+                      <pre className="mt-2 whitespace-pre-wrap text-[10px] leading-4 text-text-secondary">
+                        {item.detail}
+                      </pre>
+                    )}
+                  </div>
+                  {item.detail && (
+                    <CopyButton value={`${item.title}\n${item.detail}`} label="复制事件详情" />
+                  )}
+                </div>
+              </article>
+            );
+          })
+        ) : (
+          <p className="p-8 text-center text-xs text-text-tertiary">没有符合条件的事件</p>
+        )}
+      </div>
+    );
+  };
+  return (
+    <Dialog
+      open={open}
+      onClose={onClose}
+      title="诊断与事件日志"
+      className="max-w-2xl"
+      footer={
+        <div className="flex justify-end">
+          <Button variant="danger" disabled={!items.length} onClick={onClear}>
+            清空事件
+          </Button>
+        </div>
+      }
+    >
+      <Tabs
+        label="事件筛选"
+        value={filter}
+        onValueChange={setFilter}
+        keepMounted={false}
+        items={[
+          { value: 'all', label: `全部 ${items.length}`, content: content('all') },
+          {
+            value: 'warning',
+            label: `警告 ${items.filter((item) => item.tone === 'warning').length}`,
+            content: content('warning'),
+          },
+          {
+            value: 'danger',
+            label: `错误 ${items.filter((item) => item.tone === 'danger').length}`,
+            content: content('danger'),
+          },
+        ]}
+      />
+    </Dialog>
+  );
+}

web_platform/src/app/components/EntrySelectionDialog.test.tsx

@@ -1,4 +1,18 @@
-import {render,screen} from '@testing-library/react';
+import { render, screen } from '@testing-library/react';
-import {EntrySelectionDialog} from './EntrySelectionDialog';
+import { EntrySelectionDialog } from './EntrySelectionDialog';
 
-describe('EntrySelectionDialog',()=>{it('父组件重渲染时不抢走入口按钮焦点，且不暴露无效关闭动作',()=>{const entries=[{path:'a.xml',label:'模型 A'},{path:'b.xml',label:'模型 B'}],select=vi.fn();const {rerender}=render(<EntrySelectionDialog entries={entries} onSelect={select}/>);const entry=screen.getByRole('button',{name:'模型 A'});entry.focus();rerender(<EntrySelectionDialog entries={[...entries]} onSelect={select}/>);expect(entry).toHaveFocus();expect(screen.queryByRole('button',{name:'关闭'})).not.toBeInTheDocument();});});
+describe('EntrySelectionDialog', () => {
+  it('父组件重渲染时不抢走入口按钮焦点，且不暴露无效关闭动作', () => {
+    const entries = [
+        { path: 'a.xml', label: '模型 A' },
+        { path: 'b.xml', label: '模型 B' },
+      ],
+      select = vi.fn();
+    const { rerender } = render(<EntrySelectionDialog entries={entries} onSelect={select} />);
+    const entry = screen.getByRole('button', { name: '模型 A' });
+    entry.focus();
+    rerender(<EntrySelectionDialog entries={[...entries]} onSelect={select} />);
+    expect(entry).toHaveFocus();
+    expect(screen.queryByRole('button', { name: '关闭' })).not.toBeInTheDocument();
+  });
+});

web_platform/src/app/components/EntrySelectionDialog.tsx

@@ -1,4 +1,28 @@
-import {FileCode2} from 'lucide-react';
+import { FileCode2 } from 'lucide-react';
-import {Button,Dialog} from '../../components/ui';
+import { Button, Dialog } from '../../components/ui';
-const noop=()=>{};
+const noop = () => {};
-export function EntrySelectionDialog({entries,onSelect}:{entries:{path:string;label:string}[];onSelect:(path:string)=>void}){return <Dialog open={entries.length>0} onClose={noop} closable={false} title="选择模型入口"><p className="mb-4 text-sm text-text-secondary">工程包含多个可加载模型，请选择一个。</p><div className="space-y-2">{entries.map(entry=><Button key={entry.path} className="w-full justify-start overflow-hidden" onClick={()=>onSelect(entry.path)} icon={<FileCode2 className="h-4 w-4"/>}><span className="truncate">{entry.label}</span></Button>)}</div></Dialog>;}
+export function EntrySelectionDialog({
+  entries,
+  onSelect,
+}: {
+  entries: { path: string; label: string }[];
+  onSelect: (path: string) => void;
+}) {
+  return (
+    <Dialog open={entries.length > 0} onClose={noop} closable={false} title="选择模型入口">
+      <p className="mb-4 text-sm text-text-secondary">工程包含多个可加载模型，请选择一个。</p>
+      <div className="space-y-2">
+        {entries.map((entry) => (
+          <Button
+            key={entry.path}
+            className="w-full justify-start overflow-hidden"
+            onClick={() => onSelect(entry.path)}
+            icon={<FileCode2 className="h-4 w-4" />}
+          >
+            <span className="truncate">{entry.label}</span>
+          </Button>
+        ))}
+      </div>
+    </Dialog>
+  );
+}

web_platform/src/app/components/ErrorRecoveryPanel.tsx

@@ -1,5 +1,68 @@
-import {useState} from 'react';
+import { useState } from 'react';
-import {ChevronDown,FolderTree,RefreshCw,TriangleAlert,X} from 'lucide-react';
+import { ChevronDown, FolderTree, RefreshCw, TriangleAlert, X } from 'lucide-react';
-import type {AppDiagnostic} from '../../stores/useAppStore';
+import type { AppDiagnostic } from '../../stores/useAppStore';
-import {Button,CopyButton,IconButton} from '../../components/ui';
+import { Button, CopyButton, IconButton } from '../../components/ui';
-export function ErrorRecoveryPanel({value,onClose,onRetry,onOpenProject}:{value:AppDiagnostic;onClose:()=>void;onRetry?:()=>void;onOpenProject:()=>void}){const [expanded,setExpanded]=useState(false);return <section role="alert" className="absolute bottom-4 left-1/2 z-30 w-[min(42rem,calc(100%-2rem))] -translate-x-1/2 overflow-hidden rounded-xl border border-danger-border bg-panel shadow-2xl"><div className="flex items-start gap-3 p-3"><span className="mt-0.5 grid h-7 w-7 shrink-0 place-items-center rounded-full bg-danger-soft text-danger"><TriangleAlert className="h-4 w-4"/></span><div className="min-w-0 flex-1"><h2 className="text-sm font-semibold">{value.summary}</h2>{value.path&&<p className="truncate text-xs text-text-tertiary">路径：{value.path}</p>}<div className="mt-2 flex flex-wrap gap-2">{onRetry&&<Button variant="danger" onClick={onRetry} icon={<RefreshCw className="h-3.5 w-3.5"/>}>重试当前入口</Button>}<Button onClick={onOpenProject} icon={<FolderTree className="h-3.5 w-3.5"/>}>返回工程树</Button><CopyButton value={`${value.summary}\n${value.path??''}\n${value.detail}`} label="复制错误详情"/></div><button type="button" aria-expanded={expanded} className="mt-2 flex items-center gap-1 text-xs text-danger" onClick={()=>setExpanded(v=>!v)}>技术详情<ChevronDown className={`h-3 w-3 ${expanded?'rotate-180':''}`}/></button></div><IconButton aria-label="关闭错误" tooltip="关闭" onClick={onClose}><X className="h-4 w-4"/></IconButton></div>{expanded&&<pre className="max-h-36 overflow-auto border-t border-danger-border bg-danger-soft p-3 text-xs text-danger">{value.detail}</pre>}</section>;}
+export function ErrorRecoveryPanel({
+  value,
+  onClose,
+  onRetry,
+  onOpenProject,
+}: {
+  value: AppDiagnostic;
+  onClose: () => void;
+  onRetry?: () => void;
+  onOpenProject: () => void;
+}) {
+  const [expanded, setExpanded] = useState(false);
+  return (
+    <section
+      role="alert"
+      className="absolute bottom-4 left-1/2 z-30 w-[min(42rem,calc(100%-2rem))] -translate-x-1/2 overflow-hidden rounded-xl border border-danger-border bg-panel shadow-2xl"
+    >
+      <div className="flex items-start gap-3 p-3">
+        <span className="mt-0.5 grid h-7 w-7 shrink-0 place-items-center rounded-full bg-danger-soft text-danger">
+          <TriangleAlert className="h-4 w-4" />
+        </span>
+        <div className="min-w-0 flex-1">
+          <h2 className="text-sm font-semibold">{value.summary}</h2>
+          {value.path && <p className="truncate text-xs text-text-tertiary">路径：{value.path}</p>}
+          <div className="mt-2 flex flex-wrap gap-2">
+            {onRetry && (
+              <Button
+                variant="danger"
+                onClick={onRetry}
+                icon={<RefreshCw className="h-3.5 w-3.5" />}
+              >
+                重试当前入口
+              </Button>
+            )}
+            <Button onClick={onOpenProject} icon={<FolderTree className="h-3.5 w-3.5" />}>
+              返回工程树
+            </Button>
+            <CopyButton
+              value={`${value.summary}\n${value.path ?? ''}\n${value.detail}`}
+              label="复制错误详情"
+            />
+          </div>
+          <button
+            type="button"
+            aria-expanded={expanded}
+            className="mt-2 flex items-center gap-1 text-xs text-danger"
+            onClick={() => setExpanded((v) => !v)}
+          >
+            技术详情
+            <ChevronDown className={`h-3 w-3 ${expanded ? 'rotate-180' : ''}`} />
+          </button>
+        </div>
+        <IconButton aria-label="关闭错误" tooltip="关闭" onClick={onClose}>
+          <X className="h-4 w-4" />
+        </IconButton>
+      </div>
+      {expanded && (
+        <pre className="max-h-36 overflow-auto border-t border-danger-border bg-danger-soft p-3 text-xs text-danger">
+          {value.detail}
+        </pre>
+      )}
+    </section>
+  );
+}

web_platform/src/app/components/FeedbackComponents.test.tsx

@@ -1,5 +1,57 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {DiagnosticNotice} from './DiagnosticNotice';
+import { DiagnosticNotice } from './DiagnosticNotice';
-import {WorkspaceOverlays} from './WorkspaceOverlays';
+import { WorkspaceOverlays } from './WorkspaceOverlays';
-import {StatusBar} from './StatusBar';
+import { StatusBar } from './StatusBar';
-describe('工作台反馈组件',()=>{it('诊断详情可展开并关闭',()=>{const close=vi.fn();render(<DiagnosticNotice value={{category:'模型编译',summary:'模型编译失败',detail:'bad xml',path:'robot.xml',at:1}} onClose={close}/>);expect(screen.queryByText('bad xml')).not.toBeInTheDocument();fireEvent.click(screen.getByRole('button',{name:'技术详情'}));expect(screen.getByText('bad xml')).toBeVisible();fireEvent.click(screen.getByRole('button',{name:'关闭错误'}));expect(close).toHaveBeenCalledTimes(1);});it('加载态与空态互斥',()=>{const {rerender}=render(<WorkspaceOverlays loading={false} hasSnapshot={false}/>);expect(screen.getByText('拖放模型工程到此处')).toBeVisible();rerender(<WorkspaceOverlays loading hasSnapshot={false}/>);expect(screen.queryByText('拖放模型工程到此处')).not.toBeInTheDocument();expect(screen.getByRole('status')).toBeVisible();});it('展示格式化状态数据',()=>{render(<StatusBar time={1.25} fps={60} stepMs={0.5} memoryMb={10} loaded overBudget={false}/>);expect(screen.getByText(/时间 1.250 s/)).toBeVisible();expect(screen.getByText(/WASM 已加载/)).toBeVisible();});});
+describe('工作台反馈组件', () => {
+  it('诊断详情可展开并关闭', () => {
+    const close = vi.fn();
+    render(
+      <DiagnosticNotice
+        value={{
+          category: '模型编译',
+          summary: '模型编译失败',
+          detail: 'bad xml',
+          path: 'robot.xml',
+          at: 1,
+        }}
+        onClose={close}
+      />,
+    );
+    expect(screen.queryByText('bad xml')).not.toBeInTheDocument();
+    fireEvent.click(screen.getByRole('button', { name: '技术详情' }));
+    expect(screen.getByText('bad xml')).toBeVisible();
+    fireEvent.click(screen.getByRole('button', { name: '关闭错误' }));
+    expect(close).toHaveBeenCalledTimes(1);
+  });
+  it('加载态与空态互斥，并展示真实阶段进度', () => {
+    const { rerender } = render(<WorkspaceOverlays loading={false} hasSnapshot={false} />);
+    expect(screen.getByText('拖放模型工程到此处')).toBeVisible();
+    rerender(
+      <WorkspaceOverlays
+        loading
+        hasSnapshot={false}
+        progress={{
+          title: '正在导入工程',
+          label: '读取工程文件',
+          detail: 'robot.zip',
+          value: 0.42,
+        }}
+      />,
+    );
+    expect(screen.queryByText('拖放模型工程到此处')).not.toBeInTheDocument();
+    expect(screen.getByRole('status')).toHaveTextContent('正在导入工程');
+    expect(screen.getByRole('progressbar', { name: '读取工程文件' })).toHaveAttribute(
+      'aria-valuenow',
+      '42',
+    );
+  });
+  it('拖入文件时显示明确落点反馈', () => {
+    render(<WorkspaceOverlays loading={false} hasSnapshot={false} dragActive />);
+    expect(screen.getByText('松开即可导入工程')).toBeVisible();
+  });
+  it('展示格式化状态数据', () => {
+    render(<StatusBar time={1.25} fps={60} stepMs={0.5} memoryMb={10} loaded overBudget={false} />);
+    expect(screen.getByText(/时间 1.250 s/)).toBeVisible();
+    expect(screen.getByText(/WASM 已加载/)).toBeVisible();
+  });
+});

web_platform/src/app/components/FifthBatchComponents.test.tsx

@@ -1,12 +1,66 @@
-import {fireEvent,render,screen,within} from '@testing-library/react';
+import { fireEvent, render, screen, within } from '@testing-library/react';
-import {DiagnosticsDrawer} from './DiagnosticsDrawer';
+import { DiagnosticsDrawer } from './DiagnosticsDrawer';
-import {ErrorRecoveryPanel} from './ErrorRecoveryPanel';
+import { ErrorRecoveryPanel } from './ErrorRecoveryPanel';
-import {ToolbarOverflowMenu} from './ToolbarOverflowMenu';
+import { ToolbarOverflowMenu } from './ToolbarOverflowMenu';
-import {WorkspaceOverlays} from './WorkspaceOverlays';
+import { WorkspaceOverlays } from './WorkspaceOverlays';
-const event={id:1,title:'编译失败',detail:'bad xml',tone:'danger' as const,at:0};
+const event = { id: 1, title: '编译失败', detail: 'bad xml', tone: 'danger' as const, at: 0 };
-describe('第五批工作台组件',()=>{
+describe('第五批工作台组件', () => {
-  it('事件日志支持分类和清空',()=>{const clear=vi.fn();render(<DiagnosticsDrawer open items={[event]} onClose={()=>{}} onClear={clear}/>);expect(within(screen.getByRole('tabpanel',{name:/全部/})).getByText('bad xml')).toBeVisible();expect(screen.getAllByText('bad xml')).toHaveLength(1);fireEvent.click(screen.getByRole('button',{name:'清空事件'}));expect(clear).toHaveBeenCalled();});
+  it('事件日志支持分类和清空', () => {
-  it('错误恢复面板透传重试与工程树动作',()=>{const retry=vi.fn(),project=vi.fn();render(<ErrorRecoveryPanel value={{category:'模型编译',summary:'失败',detail:'bad',path:'a.xml',at:1}} onClose={()=>{}} onRetry={retry} onOpenProject={project}/>);fireEvent.click(screen.getByRole('button',{name:'重试当前入口'}));fireEvent.click(screen.getByRole('button',{name:'返回工程树'}));expect(retry).toHaveBeenCalled();expect(project).toHaveBeenCalled();});
+    const clear = vi.fn();
-  it('导入叠层显示阶段进度',()=>{render(<div className="relative"><WorkspaceOverlays loading hasSnapshot={false} progress={{label:'处理模型资源',value:.4}}/></div>);expect(screen.getByRole('progressbar',{name:'处理模型资源'})).toHaveAttribute('aria-valuenow','40');});
+    render(<DiagnosticsDrawer open items={[event]} onClose={() => {}} onClear={clear} />);
-  it('工具栏更多菜单提供窄桌面动作',()=>{const settings=vi.fn();render(<ToolbarOverflowMenu fullscreen={false} onCommands={()=>{}} onLayout={()=>{}} onSettings={settings} onFullscreen={()=>{}} onHelp={()=>{}} onTheme={()=>{}}/>);fireEvent.click(screen.getByRole('button',{name:'更多工作台操作'}));fireEvent.click(screen.getByRole('menuitem',{name:'工作台设置'}));expect(settings).toHaveBeenCalled();});
+    expect(
+      within(screen.getByRole('tabpanel', { name: /全部/ })).getByText('bad xml'),
+    ).toBeVisible();
+    expect(screen.getAllByText('bad xml')).toHaveLength(1);
+    fireEvent.click(screen.getByRole('button', { name: '清空事件' }));
+    expect(clear).toHaveBeenCalled();
+  });
+  it('错误恢复面板透传重试与工程树动作', () => {
+    const retry = vi.fn(),
+      project = vi.fn();
+    render(
+      <ErrorRecoveryPanel
+        value={{ category: '模型编译', summary: '失败', detail: 'bad', path: 'a.xml', at: 1 }}
+        onClose={() => {}}
+        onRetry={retry}
+        onOpenProject={project}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '重试当前入口' }));
+    fireEvent.click(screen.getByRole('button', { name: '返回工程树' }));
+    expect(retry).toHaveBeenCalled();
+    expect(project).toHaveBeenCalled();
+  });
+  it('导入叠层显示阶段进度', () => {
+    render(
+      <div className="relative">
+        <WorkspaceOverlays
+          loading
+          hasSnapshot={false}
+          progress={{ label: '处理模型资源', value: 0.4 }}
+        />
+      </div>,
+    );
+    expect(screen.getByRole('progressbar', { name: '处理模型资源' })).toHaveAttribute(
+      'aria-valuenow',
+      '40',
+    );
+  });
+  it('工具栏更多菜单提供窄桌面动作', () => {
+    const settings = vi.fn();
+    render(
+      <ToolbarOverflowMenu
+        fullscreen={false}
+        onCommands={() => {}}
+        onLayout={() => {}}
+        onSettings={settings}
+        onFullscreen={() => {}}
+        onHelp={() => {}}
+        onTheme={() => {}}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '更多工作台操作' }));
+    fireEvent.click(screen.getByRole('menuitem', { name: '工作台设置' }));
+    expect(settings).toHaveBeenCalled();
+  });
 });

web_platform/src/app/components/FourthBatchComponents.test.tsx

@@ -1,13 +1,103 @@
-import {act,fireEvent,render,screen} from '@testing-library/react';
+import { act, fireEvent, render, screen } from '@testing-library/react';
-import {NotificationCenter,ToastViewport,type WorkbenchNotification} from './NotificationCenter';
+import {
-import {ProjectBreadcrumb} from './ProjectBreadcrumb';
+  NotificationCenter,
-import {SettingsDialog} from './SettingsDialog';
+  ToastViewport,
-import {LayoutSettingsDialog} from './LayoutSettingsDialog';
+  type WorkbenchNotification,
-const item:WorkbenchNotification={id:1,title:'模型加载完成',detail:'完成',tone:'success',at:0};
+} from './NotificationCenter';
-describe('第四批工作台组件',()=>{
+import { ProjectBreadcrumb } from './ProjectBreadcrumb';
-  it('通知中心展示、移除并清空消息',()=>{const dismiss=vi.fn(),clear=vi.fn();render(<NotificationCenter items={[item]} onDismiss={dismiss} onClear={clear}/>);fireEvent.click(screen.getByRole('button',{name:'通知中心'}));expect(screen.getByRole('dialog',{name:'通知中心'})).toHaveTextContent('模型加载完成');fireEvent.click(screen.getByRole('button',{name:'移除通知：模型加载完成'}));expect(dismiss).toHaveBeenCalledWith(1);fireEvent.click(screen.getByText('清空'));expect(clear).toHaveBeenCalled();});
+import { SettingsDialog } from './SettingsDialog';
-  it('Toast 自动关闭',()=>{vi.useFakeTimers();const close=vi.fn();render(<ToastViewport item={item} onDismiss={close}/>);act(()=>vi.advanceTimersByTime(4000));expect(close).toHaveBeenCalledWith(1);vi.useRealTimers();});
+import { LayoutSettingsDialog } from './LayoutSettingsDialog';
-  it('工程面包屑可切换多入口',()=>{const select=vi.fn();render(<ProjectBreadcrumb projectName="robot" selectedEntry="models/a.xml" entries={[{path:'models/a.xml',label:'A',format:'mjcf'},{path:'models/b.xml',label:'B',format:'mjcf'}]} onSelect={select}/>);fireEvent.click(screen.getByRole('button',{name:'切换模型入口'}));fireEvent.click(screen.getByRole('option',{name:/B/}));expect(select).toHaveBeenCalledWith('models/b.xml');});
+const item: WorkbenchNotification = {
-  it('模型加载期间禁用入口切换',()=>{render(<ProjectBreadcrumb projectName="robot" loading entries={[{path:'a.xml',label:'A',format:'mjcf'},{path:'b.xml',label:'B',format:'mjcf'}]} selectedEntry="a.xml" onSelect={()=>{}}/>);expect(screen.getByRole('button',{name:'切换模型入口'})).toBeDisabled();});
+  id: 1,
-  it('设置和布局弹窗透传现有设置动作',()=>{const theme=vi.fn(),preset=vi.fn();render(<><SettingsDialog open onClose={()=>{}} theme="dark" angleUnit="rad" showCollision={false} jointAdvanced={false} forceScale={50} onTheme={theme} onAngleUnit={()=>{}} onShowCollision={()=>{}} onJointAdvanced={()=>{}} onForceScale={()=>{}}/><LayoutSettingsDialog open={false} onClose={()=>{}} leftOpen rightOpen onLeftOpen={()=>{}} onRightOpen={()=>{}} onPreset={preset} onReset={()=>{}}/></>);fireEvent.change(screen.getByLabelText('设置主题'),{target:{value:'light'}});expect(theme).toHaveBeenCalledWith('light');});
+  title: '模型加载完成',
+  detail: '完成',
+  tone: 'success',
+  at: 0,
+};
+describe('第四批工作台组件', () => {
+  it('通知中心展示、移除并清空消息', () => {
+    const dismiss = vi.fn(),
+      clear = vi.fn();
+    render(<NotificationCenter items={[item]} onDismiss={dismiss} onClear={clear} />);
+    fireEvent.click(screen.getByRole('button', { name: '通知中心' }));
+    expect(screen.getByRole('dialog', { name: '通知中心' })).toHaveTextContent('模型加载完成');
+    fireEvent.click(screen.getByRole('button', { name: '移除通知：模型加载完成' }));
+    expect(dismiss).toHaveBeenCalledWith(1);
+    fireEvent.click(screen.getByText('清空'));
+    expect(clear).toHaveBeenCalled();
+  });
+  it('Toast 自动关闭', () => {
+    vi.useFakeTimers();
+    const close = vi.fn();
+    render(<ToastViewport item={item} onDismiss={close} />);
+    act(() => vi.advanceTimersByTime(4000));
+    expect(close).toHaveBeenCalledWith(1);
+    vi.useRealTimers();
+  });
+  it('工程面包屑可切换多入口', () => {
+    const select = vi.fn();
+    render(
+      <ProjectBreadcrumb
+        projectName="robot"
+        selectedEntry="models/a.xml"
+        entries={[
+          { path: 'models/a.xml', label: 'A', format: 'mjcf' },
+          { path: 'models/b.xml', label: 'B', format: 'mjcf' },
+        ]}
+        onSelect={select}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '切换模型入口' }));
+    fireEvent.click(screen.getByRole('option', { name: /B/ }));
+    expect(select).toHaveBeenCalledWith('models/b.xml');
+  });
+  it('模型加载期间禁用入口切换', () => {
+    render(
+      <ProjectBreadcrumb
+        projectName="robot"
+        loading
+        entries={[
+          { path: 'a.xml', label: 'A', format: 'mjcf' },
+          { path: 'b.xml', label: 'B', format: 'mjcf' },
+        ]}
+        selectedEntry="a.xml"
+        onSelect={() => {}}
+      />,
+    );
+    expect(screen.getByRole('button', { name: '切换模型入口' })).toBeDisabled();
+  });
+  it('设置和布局弹窗透传现有设置动作', () => {
+    const theme = vi.fn(),
+      preset = vi.fn();
+    render(
+      <>
+        <SettingsDialog
+          open
+          onClose={() => {}}
+          theme="dark"
+          angleUnit="rad"
+          showCollision={false}
+          jointAdvanced={false}
+          forceScale={50}
+          onTheme={theme}
+          onAngleUnit={() => {}}
+          onShowCollision={() => {}}
+          onJointAdvanced={() => {}}
+          onForceScale={() => {}}
+        />
+        <LayoutSettingsDialog
+          open={false}
+          onClose={() => {}}
+          leftOpen
+          rightOpen
+          onLeftOpen={() => {}}
+          onRightOpen={() => {}}
+          onPreset={preset}
+          onReset={() => {}}
+        />
+      </>,
+    );
+    fireEvent.change(screen.getByLabelText('设置主题'), { target: { value: 'light' } });
+    expect(theme).toHaveBeenCalledWith('light');
+  });
 });

web_platform/src/app/components/LayoutSettingsDialog.tsx

@@ -1,7 +1,78 @@
-import {Columns3,Focus,PanelLeft,PanelRight,RotateCcw} from 'lucide-react';
+import { Columns3, Focus, PanelLeft, PanelRight, RotateCcw } from 'lucide-react';
-import {Button,Dialog} from '../../components/ui';
+import { Button, Dialog } from '../../components/ui';
-export type LayoutPreset='default'|'viewport'|'project'|'control';
+export type LayoutPreset = 'default' | 'viewport' | 'project' | 'control';
-const presets=[{value:'default' as const,label:'默认布局',detail:'左右面板均衡显示',icon:Columns3},{value:'viewport' as const,label:'宽视口',detail:'隐藏两侧面板',icon:Focus},{value:'project' as const,label:'工程浏览',detail:'加宽工程面板',icon:PanelLeft},{value:'control' as const,label:'控制调试',detail:'加宽控制面板',icon:PanelRight}];
+const presets = [
-export function LayoutSettingsDialog({open,onClose,leftOpen,rightOpen,onLeftOpen,onRightOpen,onPreset,onReset}:{open:boolean;onClose:()=>void;leftOpen:boolean;rightOpen:boolean;onLeftOpen:(value:boolean)=>void;onRightOpen:(value:boolean)=>void;onPreset:(preset:LayoutPreset)=>void;onReset:()=>void}){return <Dialog open={open} onClose={onClose} title="布局设置"><div className="flex gap-2"><Button variant={leftOpen?'primary':'secondary'} aria-pressed={leftOpen} onClick={()=>onLeftOpen(!leftOpen)} icon={<PanelLeft className="h-3.5 w-3.5"/>}>工程面板</Button><Button variant={rightOpen?'primary':'secondary'} aria-pressed={rightOpen} onClick={()=>onRightOpen(!rightOpen)} icon={<PanelRight className="h-3.5 w-3.5"/>}>属性面板</Button></div><h3 className="mb-2 mt-4 text-xs font-semibold">布局预设</h3><div className="grid grid-cols-2 gap-2">{presets.map(item=><button key={item.value} onClick={()=>onPreset(item.value)} className="flex gap-2 rounded-lg border border-border bg-surface p-3 text-left hover:border-accent hover:bg-accent-soft focus-visible:ring-2 focus-visible:ring-accent/30"><item.icon className="h-4 w-4 shrink-0 text-accent"/><span><span className="block text-xs font-medium">{item.label}</span><span className="mt-0.5 block text-[10px] text-text-tertiary">{item.detail}</span></span></button>)}</div><Button className="mt-4 w-full" onClick={onReset} icon={<RotateCcw className="h-3.5 w-3.5"/>}>恢复默认布局与宽度</Button></Dialog>;}
+  { value: 'default' as const, label: '默认布局', detail: '左右面板均衡显示', icon: Columns3 },
+  { value: 'viewport' as const, label: '宽视口', detail: '隐藏两侧面板', icon: Focus },
+  { value: 'project' as const, label: '工程浏览', detail: '加宽工程面板', icon: PanelLeft },
+  { value: 'control' as const, label: '控制调试', detail: '加宽控制面板', icon: PanelRight },
+];
+export function LayoutSettingsDialog({
+  open,
+  onClose,
+  leftOpen,
+  rightOpen,
+  onLeftOpen,
+  onRightOpen,
+  onPreset,
+  onReset,
+}: {
+  open: boolean;
+  onClose: () => void;
+  leftOpen: boolean;
+  rightOpen: boolean;
+  onLeftOpen: (value: boolean) => void;
+  onRightOpen: (value: boolean) => void;
+  onPreset: (preset: LayoutPreset) => void;
+  onReset: () => void;
+}) {
+  return (
+    <Dialog open={open} onClose={onClose} title="布局设置">
+      <div className="flex gap-2">
+        <Button
+          variant={leftOpen ? 'primary' : 'secondary'}
+          aria-pressed={leftOpen}
+          onClick={() => onLeftOpen(!leftOpen)}
+          icon={<PanelLeft className="h-3.5 w-3.5" />}
+        >
+          工程面板
+        </Button>
+        <Button
+          variant={rightOpen ? 'primary' : 'secondary'}
+          aria-pressed={rightOpen}
+          onClick={() => onRightOpen(!rightOpen)}
+          icon={<PanelRight className="h-3.5 w-3.5" />}
+        >
+          属性面板
+        </Button>
+      </div>
+      <h3 className="mb-2 mt-4 text-xs font-semibold">布局预设</h3>
+      <div className="grid grid-cols-2 gap-2">
+        {presets.map((item) => (
+          <button
+            key={item.value}
+            onClick={() => onPreset(item.value)}
+            className="flex gap-2 rounded-lg border border-border bg-surface p-3 text-left hover:border-accent hover:bg-accent-soft focus-visible:ring-2 focus-visible:ring-accent/30"
+          >
+            <item.icon className="h-4 w-4 shrink-0 text-accent" />
+            <span>
+              <span className="block text-xs font-medium">{item.label}</span>
+              <span className="mt-0.5 block text-[10px] text-text-tertiary">{item.detail}</span>
+            </span>
+          </button>
+        ))}
+      </div>
+      <Button
+        className="mt-4 w-full"
+        onClick={onReset}
+        icon={<RotateCcw className="h-3.5 w-3.5" />}
+      >
+        恢复默认布局与宽度
+      </Button>
+    </Dialog>
+  );
+}
 // eslint-disable-next-line react-refresh/only-export-components
-export function dispatchLayoutWidths(left:number,right:number){window.dispatchEvent(new CustomEvent('mujoco-layout-widths',{detail:{left,right}}));}
+export function dispatchLayoutWidths(left: number, right: number) {
+  window.dispatchEvent(new CustomEvent('mujoco-layout-widths', { detail: { left, right } }));
+}

web_platform/src/app/components/LocalTrainingPanel.test.tsx

@@ -1,25 +1,87 @@
-import {fireEvent,render,screen,waitFor} from '@testing-library/react';
+import { fireEvent, render, screen, waitFor } from '@testing-library/react';
-import {beforeEach,describe,expect,it,vi} from 'vitest';
+import { beforeEach, describe, expect, it, vi } from 'vitest';
-import {LocalTrainingPanel} from './LocalTrainingPanel';
+import { LocalTrainingPanel } from './LocalTrainingPanel';
 
-beforeEach(()=>{localStorage.clear();vi.unstubAllGlobals();});
+beforeEach(() => {
+  localStorage.clear();
+  sessionStorage.clear();
+  vi.unstubAllGlobals();
+});
 
-describe('LocalTrainingPanel',()=>{
+describe('LocalTrainingPanel', () => {
-  it('连接本地服务并从图形界面发起训练请求',async()=>{
+  it('连接本地服务并从图形界面发起训练请求', async () => {
-    const health={version:'0.1.0',ready:true,trainerRoot:'/opt/unitree_rl_mjlab',python:'/env/bin/python',tasks:['Unitree-Go2-Flat']};
+    const health = {
-    const job={id:'a'.repeat(32),state:'queued',taskId:'Unitree-Go2-Flat',createdAt:'2025-01-01T00:00:00Z',iteration:0,maxIterations:2000,progress:0,message:'等待启动',logs:[],artifactReady:false};
+      version: '0.1.0',
-    const fetchMock=vi.fn()
+      ready: true,
-      .mockResolvedValueOnce(new Response(JSON.stringify(health),{status:200,headers:{'Content-Type':'application/json'}}))
+      trainerRoot: '/opt/unitree_rl_mjlab',
-      .mockResolvedValueOnce(new Response(JSON.stringify(job),{status:202,headers:{'Content-Type':'application/json'}}));
+      python: '/env/bin/python',
-    vi.stubGlobal('fetch',fetchMock);
+      tasks: ['Unitree-Go2-Flat'],
-    render(<LocalTrainingPanel onPolicyReady={vi.fn()}/>);
+    };
-    fireEvent.click(screen.getByRole('button',{name:'连接'}));
+    const job = {
+      id: 'a'.repeat(32),
+      state: 'queued',
+      taskId: 'Unitree-Go2-Flat',
+      createdAt: '2025-01-01T00:00:00Z',
+      iteration: 0,
+      maxIterations: 2000,
+      progress: 0,
+      message: '等待启动',
+      logs: [],
+      artifactReady: false,
+    };
+    const fetchMock = vi
+      .fn()
+      .mockResolvedValueOnce(
+        new Response(JSON.stringify(health), {
+          status: 200,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      )
+      .mockResolvedValueOnce(
+        new Response(JSON.stringify(job), {
+          status: 202,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      )
+      .mockResolvedValueOnce(
+        new Response(JSON.stringify(health), {
+          status: 200,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      )
+      .mockResolvedValueOnce(
+        new Response(JSON.stringify({ error: '训练任务不存在或服务已重启' }), {
+          status: 404,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      );
+    vi.stubGlobal('fetch', fetchMock);
+    render(<LocalTrainingPanel onPolicyReady={vi.fn()} />);
+    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();
-    fireEvent.change(screen.getByLabelText('并行环境'),{target:{value:'32'}});
+    fireEvent.change(screen.getByLabelText('并行环境'), { target: { value: '32' } });
-    fireEvent.click(screen.getByRole('button',{name:'发起本地训练'}));
+    fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
-    await waitFor(()=>expect(fetchMock).toHaveBeenCalledTimes(2));
+    await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(2));
-    const request=fetchMock.mock.calls[1][1] as RequestInit;
+    const request = fetchMock.mock.calls[1][1] as RequestInit;
-    expect(JSON.parse(String(request.body))).toMatchObject({taskId:'Unitree-Go2-Flat',numEnvs:32,device:'gpu',gpuIds:[0],wandbMode:'offline'});
+    expect(JSON.parse(String(request.body))).toMatchObject({
+      taskId: 'Unitree-Go2-Flat',
+      numEnvs: 32,
+      device: 'gpu',
+      gpuIds: [0],
+      wandbMode: 'offline',
+    });
+    expect(new Headers(request.headers).get('Authorization')).toBe('Bearer secret-token');
     expect(await screen.findByText('排队中')).toBeInTheDocument();
+
+    const tokenInput = screen.getByLabelText('训练服务访问令牌');
+    expect(tokenInput).toBeEnabled();
+    fireEvent.change(tokenInput, { target: { value: 'new-secret-token' } });
+    fireEvent.click(screen.getByRole('button', { name: '连接' }));
+    await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(4));
+    expect(await screen.findByRole('button', { name: '发起本地训练' })).toBeInTheDocument();
+    expect(sessionStorage.getItem('mujoco-local-training-token')).toBe('new-secret-token');
   });
 });

web_platform/src/app/components/LocalTrainingPanel.tsx

@@ -1,77 +1,435 @@
-import {useEffect,useState,type ReactNode} from 'react';
+import { useEffect, useState, type ReactNode } from 'react';
-import {Download,Link,Play,Server,Square} from 'lucide-react';
+import { Download, Link, Play, Server, Square } from 'lucide-react';
-import {Badge,Button,ProgressBar,PropertyRow,Select} from '../../components/ui';
+import { Badge, Button, ProgressBar, PropertyRow, Select } from '../../components/ui';
-import {LocalTrainingClient} from '../../training/LocalTrainingClient';
+import { LocalTrainingClient } from '../../training/LocalTrainingClient';
-import type {TrainingDevice,TrainingJob,TrainingServerInfo,WandbMode} from '../../training/types';
+import type {
+  TrainingDevice,
+  TrainingJob,
+  TrainingServerInfo,
+  WandbMode,
+} from '../../training/types';
 
-const ENDPOINT_KEY='mujoco-local-training-endpoint',JOB_KEY='mujoco-local-training-job';
+const ENDPOINT_KEY = 'mujoco-local-training-endpoint',
-const DEFAULT_ENDPOINT='http://127.0.0.1:8765';
+  JOB_KEY = 'mujoco-local-training-job',
-const ACTIVE_STATES=new Set(['queued','running']);
+  TOKEN_KEY = 'mujoco-local-training-token';
-function stored(key:string,fallback=''):string{try{return localStorage.getItem(key)??fallback;}catch{return fallback;}}
+const DEFAULT_ENDPOINT = 'http://127.0.0.1:8765';
-function errorText(error:unknown):string{return error instanceof Error?error.message:String(error);}
+const ACTIVE_STATES = new Set(['queued', 'running']);
-function stateLabel(state:TrainingJob['state']):string{return {queued:'排队中',running:'训练中',succeeded:'已完成',failed:'失败',cancelled:'已取消'}[state];}
+function stored(key: string, fallback = ''): string {
-
+  try {
-export function LocalTrainingPanel({onPolicyReady}:{onPolicyReady(file:File):void}){
+    return localStorage.getItem(key) ?? fallback;
-  const [endpoint,setEndpoint]=useState(()=>stored(ENDPOINT_KEY,DEFAULT_ENDPOINT));
+  } catch {
-  const [server,setServer]=useState<TrainingServerInfo>();
+    return fallback;
-  const [job,setJob]=useState<TrainingJob>();
+  }
-  const [busy,setBusy]=useState(false),[error,setError]=useState<string>();
+}
-  const [taskId,setTaskId]=useState('Unitree-Go2-Flat'),[numEnvs,setNumEnvs]=useState(4096),[maxIterations,setMaxIterations]=useState(2000),[seed,setSeed]=useState(42),[runName,setRunName]=useState('web'),[device,setDevice]=useState<TrainingDevice>('gpu'),[gpuIds,setGpuIds]=useState('0'),[wandbMode,setWandbMode]=useState<WandbMode>('offline');
+function sessionStored(key: string): string {
-
+  try {
-  const connect=async()=>{
+    return sessionStorage.getItem(key) ?? '';
-    setBusy(true);setError(undefined);
+  } catch {
-    try{
+    return '';
-      const client=new LocalTrainingClient(endpoint),info=await client.health();
+  }
-      setServer(info);try{localStorage.setItem(ENDPOINT_KEY,client.endpoint);}catch{/* 当前会话仍可连接 */}
+}
-      if(info.tasks.length&&!info.tasks.includes(taskId))setTaskId(info.tasks[0]);
+function errorText(error: unknown): string {
-      const remembered=info.activeJobId??stored(JOB_KEY);
+  return error instanceof Error ? error.message : String(error);
-      if(remembered){try{setJob(await client.job(remembered));}catch{try{localStorage.removeItem(JOB_KEY);}catch{/* ignore */}}}
+}
-      if(!info.ready)setError(info.error??'训练服务尚未就绪');
+function stateLabel(state: TrainingJob['state']): string {
-    }catch(value){setServer(undefined);setError(errorText(value));}
+  return {
-    finally{setBusy(false);}
+    queued: '排队中',
-  };
+    running: '训练中',
-
+    succeeded: '已完成',
-  const jobId=job?.id,jobState=job?.state;
+    failed: '失败',
-  useEffect(()=>{
+    cancelled: '已取消',
-    if(!jobId||!jobState||!ACTIVE_STATES.has(jobState))return;
+  }[state];
-    let disposed=false;
-    const refresh=async()=>{try{const next=await new LocalTrainingClient(endpoint).job(jobId);if(!disposed)setJob(next);}catch(value){if(!disposed)setError(errorText(value));}};
-    const timer=window.setInterval(()=>void refresh(),1500);return()=>{disposed=true;window.clearInterval(timer);};
-  },[endpoint,jobId,jobState]);
-
-  const start=async()=>{
-    setBusy(true);setError(undefined);
-    try{
-      const ids=device==='gpu'?gpuIds.split(/[\s,]+/).filter(Boolean).map(Number):[];
-      if(ids.some(id=>!Number.isInteger(id)||id<0))throw new Error('GPU 编号必须是非负整数');
-      const next=await new LocalTrainingClient(endpoint).start({taskId,numEnvs,maxIterations,seed,runName,device,gpuIds:ids,wandbMode});
-      setJob(next);try{localStorage.setItem(JOB_KEY,next.id);}catch{/* ignore */}
-    }catch(value){setError(errorText(value));}finally{setBusy(false);}
-  };
-  const cancel=async()=>{if(!job)return;setBusy(true);setError(undefined);try{setJob(await new LocalTrainingClient(endpoint).cancel(job.id));}catch(value){setError(errorText(value));}finally{setBusy(false);}};
-  const importResult=async()=>{if(!job)return;setBusy(true);setError(undefined);try{onPolicyReady(await new LocalTrainingClient(endpoint).downloadPolicy(job.id));}catch(value){setError(errorText(value));}finally{setBusy(false);}};
-  const active=Boolean(job&&ACTIVE_STATES.has(job.state));
-
-  return <div>
-    <label className="block text-xs text-text-secondary"><span className="mb-1 block">本地训练服务</span><div className="flex gap-2"><input aria-label="本地训练服务地址" className="field h-7 min-w-0 flex-1 px-2 text-xs text-text-primary" value={endpoint} disabled={active} onChange={event=>setEndpoint(event.target.value)}/><Button icon={<Link className="h-3.5 w-3.5"/>} disabled={busy||active} onClick={()=>void connect()}>连接</Button></div></label>
-    <div className="mt-2 flex items-center justify-between rounded-md border border-border bg-surface px-2 py-1.5 text-[10px] text-text-tertiary"><span className="flex min-w-0 items-center gap-1.5 truncate"><Server className="h-3.5 w-3.5"/>{server?.trainerRoot??'请先启动本地训练服务'}</span><Badge tone={server?.ready?'success':'warning'}>{server?.ready?'可用':'离线'}</Badge></div>
-    {server?.ready&&!job&&<div className="mt-3 space-y-2">
-      <Field label="训练任务"><Select aria-label="训练任务" className="w-full" value={taskId} onChange={event=>setTaskId(event.target.value)}>{server.tasks.map(task=><option key={task} value={task}>{task}</option>)}</Select></Field>
-      <div className="grid grid-cols-2 gap-2"><NumberField label="并行环境" value={numEnvs} min={1} max={16384} onChange={setNumEnvs}/><NumberField label="训练迭代" value={maxIterations} min={1} max={1000000} onChange={setMaxIterations}/><NumberField label="随机种子" value={seed} min={0} max={2147483647} onChange={setSeed}/><Field label="运行名称"><input aria-label="运行名称" className="field h-7 w-full px-2 text-xs text-text-primary" value={runName} onChange={event=>setRunName(event.target.value)}/></Field></div>
-      <div className="grid grid-cols-2 gap-2"><Field label="计算设备"><Select aria-label="计算设备" className="w-full" value={device} onChange={event=>setDevice(event.target.value as TrainingDevice)}><option value="gpu">GPU</option><option value="cpu">CPU</option></Select></Field><Field label="GPU 编号"><input aria-label="GPU 编号" className="field h-7 w-full px-2 text-xs text-text-primary disabled:opacity-40" value={gpuIds} disabled={device==='cpu'} onChange={event=>setGpuIds(event.target.value)}/></Field></div>
-      <Field label="实验记录"><Select aria-label="W&B 模式" className="w-full" value={wandbMode} onChange={event=>setWandbMode(event.target.value as WandbMode)}><option value="offline">本地离线（默认，无需登录）</option><option value="disabled">完全禁用 W&amp;B</option><option value="online">在线 W&amp;B（需要 API Key）</option></Select></Field>
-      <Button variant="primary" className="w-full" icon={<Play className="h-3.5 w-3.5"/>} disabled={busy} onClick={()=>void start()}>发起本地训练</Button>
-      <p className="text-[10px] leading-4 text-text-tertiary">训练使用本地 mjlab 任务资产，不会把浏览器中的模型上传到网络。服务一次只运行一个训练任务。</p>
-    </div>}
-    {job&&<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
-      <div className="mb-2 flex items-center justify-between gap-2"><span className="truncate text-xs font-medium text-text-primary" title={job.id}>{job.taskId}</span><Badge tone={job.state==='succeeded'?'success':job.state==='failed'||job.state==='cancelled'?'warning':'accent'}>{stateLabel(job.state)}</Badge></div>
-      <ProgressBar value={job.progress} label="训练进度"/><div className="mt-2"><PropertyRow label="迭代" value={`${job.iteration} / ${job.maxIterations}`}/><PropertyRow label="状态" value={job.message}/></div>
-      {job.logs.length>0&&<details className="mt-2"><summary className="cursor-pointer text-[10px] text-text-secondary">最近日志</summary><pre className="mt-1 max-h-36 overflow-auto whitespace-pre-wrap break-all rounded bg-app p-2 text-[9px] leading-4 text-text-tertiary">{job.logs.slice(-40).join('\n')}</pre></details>}
-      <div className="mt-3 grid grid-cols-2 gap-2">{active?<Button variant="danger" className="col-span-2" icon={<Square className="h-3.5 w-3.5"/>} disabled={busy} onClick={()=>void cancel()}>停止训练</Button>:<><Button disabled={busy||!job.artifactReady} icon={<Download className="h-3.5 w-3.5"/>} onClick={()=>void importResult()}>导入策略</Button><Button onClick={()=>{setJob(undefined);try{localStorage.removeItem(JOB_KEY);}catch{/* ignore */}}}>新建任务</Button></>}</div>
-    </div>}
-    {error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{error}</p>}
-  </div>;
 }
 
-function Field({label,children}:{label:string;children:ReactNode}){return <label className="block text-[10px] text-text-tertiary"><span className="mb-1 block">{label}</span>{children}</label>;}
+export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File): void }) {
-function NumberField({label,value,min,max,onChange}:{label:string;value:number;min:number;max:number;onChange(value:number):void}){return <Field label={label}><input aria-label={label} type="number" className="field h-7 w-full px-2 text-xs text-text-primary" value={value} min={min} max={max} onChange={event=>onChange(Number(event.target.value))}/></Field>;}
+  const [endpoint, setEndpoint] = useState(() => stored(ENDPOINT_KEY, DEFAULT_ENDPOINT));
+  const [token, setToken] = useState(() => sessionStored(TOKEN_KEY));
+  const [server, setServer] = useState<TrainingServerInfo>();
+  const [job, setJob] = useState<TrainingJob>();
+  const [busy, setBusy] = useState(false),
+    [error, setError] = useState<string>();
+  const [taskId, setTaskId] = useState('Unitree-Go2-Flat'),
+    [numEnvs, setNumEnvs] = useState(4096),
+    [maxIterations, setMaxIterations] = useState(2000),
+    [seed, setSeed] = useState(42),
+    [runName, setRunName] = useState('web'),
+    [device, setDevice] = useState<TrainingDevice>('gpu'),
+    [gpuIds, setGpuIds] = useState('0'),
+    [wandbMode, setWandbMode] = useState<WandbMode>('offline');
+
+  const connect = async () => {
+    setBusy(true);
+    setError(undefined);
+    try {
+      const client = new LocalTrainingClient(endpoint, token),
+        info = await client.health();
+      setServer(info);
+      try {
+        localStorage.setItem(ENDPOINT_KEY, client.endpoint);
+        sessionStorage.setItem(TOKEN_KEY, client.token);
+      } catch {
+        /* 当前会话仍可连接 */
+      }
+      if (info.tasks.length && !info.tasks.includes(taskId)) setTaskId(info.tasks[0]);
+      const remembered = info.activeJobId ?? stored(JOB_KEY);
+      if (remembered) {
+        try {
+          const recovered = await client.job(remembered);
+          setJob(recovered);
+          try {
+            localStorage.setItem(JOB_KEY, recovered.id);
+          } catch {
+            /* ignore */
+          }
+        } catch {
+          setJob(undefined);
+          try {
+            localStorage.removeItem(JOB_KEY);
+          } catch {
+            /* ignore */
+          }
+        }
+      } else {
+        setJob(undefined);
+      }
+      if (!info.ready) setError(info.error ?? '训练服务尚未就绪');
+    } catch (value) {
+      setServer(undefined);
+      setError(errorText(value));
+    } finally {
+      setBusy(false);
+    }
+  };
+
+  const jobId = job?.id,
+    jobState = job?.state;
+  useEffect(() => {
+    if (!jobId || !jobState || !ACTIVE_STATES.has(jobState)) return;
+    let disposed = false;
+    const refresh = async () => {
+      try {
+        const next = await new LocalTrainingClient(endpoint, token).job(jobId);
+        if (!disposed) setJob(next);
+      } catch (value) {
+        if (!disposed) setError(errorText(value));
+      }
+    };
+    const timer = window.setInterval(() => void refresh(), 1500);
+    return () => {
+      disposed = true;
+      window.clearInterval(timer);
+    };
+  }, [endpoint, jobId, jobState, token]);
+
+  const start = async () => {
+    setBusy(true);
+    setError(undefined);
+    try {
+      const ids =
+        device === 'gpu'
+          ? gpuIds
+              .split(/[\s,]+/)
+              .filter(Boolean)
+              .map(Number)
+          : [];
+      if (ids.some((id) => !Number.isInteger(id) || id < 0))
+        throw new Error('GPU 编号必须是非负整数');
+      const next = await new LocalTrainingClient(endpoint, token).start({
+        taskId,
+        numEnvs,
+        maxIterations,
+        seed,
+        runName,
+        device,
+        gpuIds: ids,
+        wandbMode,
+      });
+      setJob(next);
+      try {
+        localStorage.setItem(JOB_KEY, next.id);
+      } catch {
+        /* ignore */
+      }
+    } catch (value) {
+      setError(errorText(value));
+    } finally {
+      setBusy(false);
+    }
+  };
+  const cancel = async () => {
+    if (!job) return;
+    setBusy(true);
+    setError(undefined);
+    try {
+      setJob(await new LocalTrainingClient(endpoint, token).cancel(job.id));
+    } catch (value) {
+      setError(errorText(value));
+    } finally {
+      setBusy(false);
+    }
+  };
+  const importResult = async () => {
+    if (!job) return;
+    setBusy(true);
+    setError(undefined);
+    try {
+      onPolicyReady(await new LocalTrainingClient(endpoint, token).downloadPolicy(job.id));
+    } catch (value) {
+      setError(errorText(value));
+    } finally {
+      setBusy(false);
+    }
+  };
+  const active = Boolean(job && ACTIVE_STATES.has(job.state));
+
+  return (
+    <div>
+      <label className="block text-xs text-text-secondary">
+        <span className="mb-1 block">本地训练服务</span>
+        <div className="flex gap-2">
+          <input
+            aria-label="本地训练服务地址"
+            className="field h-7 min-w-0 flex-1 px-2 text-xs text-text-primary"
+            value={endpoint}
+            onChange={(event) => setEndpoint(event.target.value)}
+          />
+          <Button
+            icon={<Link className="h-3.5 w-3.5" />}
+            disabled={busy || !token.trim()}
+            onClick={() => void connect()}
+          >
+            连接
+          </Button>
+        </div>
+      </label>
+      <label className="mt-2 block text-[10px] text-text-tertiary">
+        <span className="mb-1 block">访问令牌（服务启动时显示）</span>
+        <input
+          aria-label="训练服务访问令牌"
+          type="password"
+          autoComplete="off"
+          className="field h-7 w-full px-2 text-xs text-text-primary"
+          value={token}
+          onChange={(event) => setToken(event.target.value)}
+        />
+      </label>
+      <div className="mt-2 flex items-center justify-between rounded-md border border-border bg-surface px-2 py-1.5 text-[10px] text-text-tertiary">
+        <span className="flex min-w-0 items-center gap-1.5 truncate">
+          <Server className="h-3.5 w-3.5" />
+          {server?.trainerRoot ?? '请先启动本地训练服务'}
+        </span>
+        <Badge tone={server?.ready ? 'success' : 'warning'}>
+          {server?.ready ? '可用' : '离线'}
+        </Badge>
+      </div>
+      {server?.ready && !job && (
+        <div className="mt-3 space-y-2">
+          <Field label="训练任务">
+            <Select
+              aria-label="训练任务"
+              className="w-full"
+              value={taskId}
+              onChange={(event) => setTaskId(event.target.value)}
+            >
+              {server.tasks.map((task) => (
+                <option key={task} value={task}>
+                  {task}
+                </option>
+              ))}
+            </Select>
+          </Field>
+          <div className="grid grid-cols-2 gap-2">
+            <NumberField
+              label="并行环境"
+              value={numEnvs}
+              min={1}
+              max={16384}
+              onChange={setNumEnvs}
+            />
+            <NumberField
+              label="训练迭代"
+              value={maxIterations}
+              min={1}
+              max={1000000}
+              onChange={setMaxIterations}
+            />
+            <NumberField
+              label="随机种子"
+              value={seed}
+              min={0}
+              max={2147483647}
+              onChange={setSeed}
+            />
+            <Field label="运行名称">
+              <input
+                aria-label="运行名称"
+                className="field h-7 w-full px-2 text-xs text-text-primary"
+                value={runName}
+                onChange={(event) => setRunName(event.target.value)}
+              />
+            </Field>
+          </div>
+          <div className="grid grid-cols-2 gap-2">
+            <Field label="计算设备">
+              <Select
+                aria-label="计算设备"
+                className="w-full"
+                value={device}
+                onChange={(event) => setDevice(event.target.value as TrainingDevice)}
+              >
+                <option value="gpu">GPU</option>
+                <option value="cpu">CPU</option>
+              </Select>
+            </Field>
+            <Field label="GPU 编号">
+              <input
+                aria-label="GPU 编号"
+                className="field h-7 w-full px-2 text-xs text-text-primary disabled:opacity-40"
+                value={gpuIds}
+                disabled={device === 'cpu'}
+                onChange={(event) => setGpuIds(event.target.value)}
+              />
+            </Field>
+          </div>
+          <Field label="实验记录">
+            <Select
+              aria-label="W&B 模式"
+              className="w-full"
+              value={wandbMode}
+              onChange={(event) => setWandbMode(event.target.value as WandbMode)}
+            >
+              <option value="offline">本地离线（默认，无需登录）</option>
+              <option value="disabled">完全禁用 W&amp;B</option>
+              <option value="online">在线 W&amp;B（需要 API Key）</option>
+            </Select>
+          </Field>
+          <Button
+            variant="primary"
+            className="w-full"
+            icon={<Play className="h-3.5 w-3.5" />}
+            disabled={busy}
+            onClick={() => void start()}
+          >
+            发起本地训练
+          </Button>
+          <p className="text-[10px] leading-4 text-text-tertiary">
+            训练使用本地 mjlab
+            任务资产，不会把浏览器中的模型上传到网络。服务一次只运行一个训练任务。
+          </p>
+        </div>
+      )}
+      {job && (
+        <div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+          <div className="mb-2 flex items-center justify-between gap-2">
+            <span className="truncate text-xs font-medium text-text-primary" title={job.id}>
+              {job.taskId}
+            </span>
+            <Badge
+              tone={
+                job.state === 'succeeded'
+                  ? 'success'
+                  : job.state === 'failed' || job.state === 'cancelled'
+                    ? 'warning'
+                    : 'accent'
+              }
+            >
+              {stateLabel(job.state)}
+            </Badge>
+          </div>
+          <ProgressBar value={job.progress} label="训练进度" />
+          <div className="mt-2">
+            <PropertyRow label="迭代" value={`${job.iteration} / ${job.maxIterations}`} />
+            <PropertyRow label="状态" value={job.message} />
+          </div>
+          {job.logs.length > 0 && (
+            <details className="mt-2">
+              <summary className="cursor-pointer text-[10px] text-text-secondary">最近日志</summary>
+              <pre className="mt-1 max-h-36 overflow-auto whitespace-pre-wrap break-all rounded bg-app p-2 text-[9px] leading-4 text-text-tertiary">
+                {job.logs.slice(-40).join('\n')}
+              </pre>
+            </details>
+          )}
+          <div className="mt-3 grid grid-cols-2 gap-2">
+            {active ? (
+              <Button
+                variant="danger"
+                className="col-span-2"
+                icon={<Square className="h-3.5 w-3.5" />}
+                disabled={busy}
+                onClick={() => void cancel()}
+              >
+                停止训练
+              </Button>
+            ) : (
+              <>
+                <Button
+                  disabled={busy || !job.artifactReady}
+                  icon={<Download className="h-3.5 w-3.5" />}
+                  onClick={() => void importResult()}
+                >
+                  导入策略
+                </Button>
+                <Button
+                  onClick={() => {
+                    setJob(undefined);
+                    try {
+                      localStorage.removeItem(JOB_KEY);
+                    } catch {
+                      /* ignore */
+                    }
+                  }}
+                >
+                  新建任务
+                </Button>
+              </>
+            )}
+          </div>
+        </div>
+      )}
+      {error && (
+        <p
+          role="alert"
+          className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger"
+        >
+          {error}
+        </p>
+      )}
+    </div>
+  );
+}
+
+function Field({ label, children }: { label: string; children: ReactNode }) {
+  return (
+    <label className="block text-[10px] text-text-tertiary">
+      <span className="mb-1 block">{label}</span>
+      {children}
+    </label>
+  );
+}
+function NumberField({
+  label,
+  value,
+  min,
+  max,
+  onChange,
+}: {
+  label: string;
+  value: number;
+  min: number;
+  max: number;
+  onChange(value: number): void;
+}) {
+  return (
+    <Field label={label}>
+      <input
+        aria-label={label}
+        type="number"
+        className="field h-7 w-full px-2 text-xs text-text-primary"
+        value={value}
+        min={min}
+        max={max}
+        onChange={(event) => onChange(Number(event.target.value))}
+      />
+    </Field>
+  );
+}

web_platform/src/app/components/MapAssetLibrary.test.tsx

@@ -0,0 +1,51 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { MAP_ASSET_DRAG_MIME, MAP_ASSET_PLACEMENT_MIME } from '../../map/editor/assetCatalog';
+import { MapAssetLibrary } from './MapAssetLibrary';
+
+const renderLibrary = (
+  onAdd: (type: string, placementMode: string) => void = () => {},
+  onSelectTerrain: (preset: string) => void = () => {},
+) =>
+  render(
+    <MapAssetLibrary
+      disabled={false}
+      terrainSize={8}
+      onAdd={onAdd}
+      onSelectTerrain={onSelectTerrain}
+    />,
+  );
+
+describe('MapAssetLibrary', () => {
+  it('按所选放置方式添加认证资产', () => {
+    const onAdd = vi.fn();
+    renderLibrary(onAdd);
+    fireEvent.change(screen.getByLabelText('新增资产放置方式'), {
+      target: { value: 'gravity' },
+    });
+    fireEvent.click(screen.getByRole('button', { name: '添加基础方盒' }));
+    expect(onAdd).toHaveBeenCalledWith('box', 'gravity');
+  });
+
+  it('拖动资产时写入类型和放置方式', () => {
+    const values = new Map<string, string>();
+    const dataTransfer = {
+      effectAllowed: 'none',
+      setData: (type: string, value: string) => values.set(type, value),
+    } as unknown as DataTransfer;
+    renderLibrary();
+    fireEvent.change(screen.getByLabelText('新增资产放置方式'), {
+      target: { value: 'locked' },
+    });
+    fireEvent.dragStart(document.querySelector('[data-map-asset="ramp"]')!, { dataTransfer });
+    expect(values.get(MAP_ASSET_DRAG_MIME)).toBe('ramp');
+    expect(values.get(MAP_ASSET_PLACEMENT_MIME)).toBe('locked');
+  });
+
+  it('以示意图卡片选择系统参数化地形', () => {
+    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');
+  });
+});

web_platform/src/app/components/MapAssetLibrary.tsx

@@ -0,0 +1,298 @@
+import { useState } from 'react';
+import { BadgeCheck, CheckCircle2, Mountain, Plus } from 'lucide-react';
+import { Button, Select } from '../../components/ui';
+import {
+  CERTIFIED_MAP_ASSETS,
+  MAP_ASSET_DRAG_MIME,
+  MAP_ASSET_PLACEMENT_MIME,
+} from '../../map/editor/assetCatalog';
+import {
+  MAP_OBJECT_PLACEMENT_LABELS,
+  type EditableMapDocument,
+  type EditableMapObjectType,
+  type MapObjectPlacementMode,
+} from '../../map/editor/types';
+import {
+  PHYSICAL_MAP_PRESET_LABELS,
+  SYSTEM_TERRAIN_PRESETS,
+  type SystemTerrainPreset,
+} from '../../map/types';
+
+function AssetPreview({ type, color }: { type: EditableMapObjectType; color: string }) {
+  const shape =
+    type === 'cylinder'
+      ? 'h-9 w-9 rounded-full'
+      : type === 'capsule'
+        ? 'h-10 w-6 rounded-full'
+        : type === 'ramp'
+          ? 'h-0 w-0 border-b-[34px] border-l-[48px] border-l-transparent'
+          : type === 'stairs'
+            ? 'h-9 w-11 [clip-path:polygon(0_100%,0_66%,34%_66%,34%_33%,67%_33%,67%_0,100%_0,100%_100%)]'
+            : 'h-9 w-9 rounded-sm';
+  return (
+    <div className="flex h-16 items-center justify-center rounded bg-black/10" aria-hidden="true">
+      <div
+        className={`${shape} shadow-[0_6px_14px_rgba(0,0,0,0.22)]`}
+        style={type === 'ramp' ? { borderBottomColor: color } : { backgroundColor: color }}
+      />
+    </div>
+  );
+}
+
+function TerrainPreview({ preset }: { preset: SystemTerrainPreset }) {
+  const grid = (
+    <g stroke="currentColor" strokeWidth="0.45" opacity="0.18">
+      <path d="M14 50 60 23l46 27-46 27z" />
+      <path d="m26 57 46-27m-34 34 46-27m-58 6 46 27m-34-34 46 27" />
+    </g>
+  );
+  let shape;
+  if (preset === 'discrete_obstacles')
+    shape = (
+      <g fill="currentColor" fillOpacity="0.16" stroke="currentColor">
+        <path d="m31 48 9-5 9 5-9 5zM40 53V39l9-5v14M40 39l-9-5v14" />
+        <path d="m55 39 8-5 8 5-8 5zM63 44V27l8-5v17M63 27l-8-5v17" />
+        <path d="m77 51 10-6 10 6-10 6zM87 57V38l10-6v19M87 38l-10-6v19" />
+      </g>
+    );
+  else if (preset === 'gap')
+    shape = (
+      <g fill="currentColor" fillOpacity="0.12" stroke="currentColor">
+        <path d="m21 48 31-18 15 9-31 18zM69 40l15 9 17-10-15-9z" />
+        <path d="m36 57 31-18v8L36 65zM69 40l17-10v8L69 48z" fillOpacity="0.24" />
+      </g>
+    );
+  else if (preset === 'inverted_pyramid_stairs' || preset === 'pit')
+    shape = (
+      <g fill="currentColor" fillOpacity="0.08" stroke="currentColor">
+        <path d="m22 47 38-22 38 22-38 22z" />
+        <path d="m32 47 28-16 28 16-28 16z" />
+        <path d="m43 47 17-10 17 10-17 10z" fillOpacity="0.2" />
+        {preset === 'inverted_pyramid_stairs' && (
+          <path d="M32 47v7m11-7v10m17-10v16m17-16v10m11-10v7" />
+        )}
+      </g>
+    );
+  else if (preset === 'pyramid_stairs')
+    shape = (
+      <g fill="currentColor" stroke="currentColor" strokeLinejoin="round">
+        <path d="m25 52 12 7 52-30-12-7z" fillOpacity="0.1" />
+        <path d="m37 45 12 7 40-23-12-7z" fillOpacity="0.17" />
+        <path d="m49 38 12 7 28-16-12-7z" fillOpacity="0.24" />
+        <path d="m61 31 12 7 16-9-12-7z" fillOpacity="0.32" />
+      </g>
+    );
+  else if (preset === 'rails')
+    shape = (
+      <g fill="none" stroke="currentColor" strokeLinecap="round">
+        <path d="m26 58 53-31m15 40 12-7" strokeWidth="2.3" opacity="0.25" />
+        <path d="m26 58 53-31m15 40 12-7M33 58V45m14 5V37m30 12V27m20 39V53" strokeWidth="1.2" />
+      </g>
+    );
+  else if (preset === 'rough')
+    shape = (
+      <path
+        d="m20 54 10-18 9 9 10-22 11 17 10-13 10 20 10-8 10 15-40 18z"
+        fill="currentColor"
+        fillOpacity="0.16"
+        stroke="currentColor"
+        strokeLinejoin="round"
+      />
+    );
+  else if (preset === 'stepping_stones')
+    shape = (
+      <g fill="currentColor" fillOpacity="0.2" stroke="currentColor">
+        <path d="m27 52 10-6 10 6-10 6zM46 39l10-6 10 6-10 6zM66 54l10-6 10 6-10 6zM83 36l10-6 10 6-10 6z" />
+      </g>
+    );
+  else
+    shape = (
+      <g fill="none" stroke="currentColor" strokeLinecap="round">
+        <path d="M19 48c10-17 20-17 30 0s20 17 30 0 20-17 29-2" strokeWidth="5" opacity="0.16" />
+        <path d="M19 48c10-17 20-17 30 0s20 17 30 0 20-17 29-2" strokeWidth="1.4" />
+        <path d="M25 59c10-17 20-17 30 0s20 17 30 0 15-13 23-7" opacity="0.55" />
+      </g>
+    );
+  return (
+    <svg viewBox="0 0 120 80" className="h-[76px] w-full text-accent" aria-hidden="true">
+      {grid}
+      {shape}
+    </svg>
+  );
+}
+
+function AddAction({ label }: { label: string }) {
+  return (
+    <span className="inline-flex items-center gap-1 text-[11px] font-medium text-accent">
+      {label}
+      <span className="flex h-5 w-5 items-center justify-center rounded-full bg-accent text-white">
+        <Plus className="h-3.5 w-3.5" aria-hidden="true" />
+      </span>
+    </span>
+  );
+}
+
+export function MapAssetLibrary({
+  disabled,
+  terrainSize,
+  document,
+  onAdd,
+  onSelectTerrain,
+  onSelectObject,
+}: {
+  disabled: boolean;
+  terrainSize: number;
+  document?: EditableMapDocument | null;
+  onAdd: (
+    type: EditableMapObjectType,
+    placementMode: MapObjectPlacementMode,
+  ) => void | Promise<void>;
+  onSelectTerrain: (preset: SystemTerrainPreset) => void;
+  onSelectObject?: (id: string) => void;
+}) {
+  const [placementMode, setPlacementMode] = useState<MapObjectPlacementMode>('auto_ground');
+  return (
+    <section aria-label="认证资产" className="space-y-3 p-3">
+      <div className="rounded-lg border border-border-subtle bg-panel-muted/50 p-2.5">
+        <div className="flex items-center justify-between text-xs font-medium text-text-primary">
+          <span>场景结构</span>
+          <span className="technical-value text-[10px] text-text-tertiary">
+            {document?.objects.length ?? 0} 个对象
+          </span>
+        </div>
+        {document?.objects.length ? (
+          <div className="mt-2 max-h-36 space-y-0.5 overflow-auto panel-scroll">
+            {document.objects.map((object) => (
+              <button
+                key={object.id}
+                type="button"
+                className="flex w-full items-center gap-2 rounded px-2 py-1.5 text-left text-[11px] text-text-secondary hover:bg-element-hover hover:text-text-primary"
+                onClick={() => onSelectObject?.(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>
+        ) : (
+          <p className="mt-2 text-[10px] leading-relaxed text-text-tertiary">
+            选择工程地图后，这里显示场景对象层级；可从下方资产库创建场景。
+          </p>
+        )}
+      </div>
+
+      <div className="flex items-end justify-between gap-3">
+        <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
+          </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。
+          </p>
+        </div>
+        <label className="w-36 shrink-0 text-[10px] text-text-secondary">
+          放置方式
+          <Select
+            aria-label="新增资产放置方式"
+            className="mt-1 w-full"
+            value={placementMode}
+            disabled={disabled}
+            onChange={(event) => setPlacementMode(event.target.value as MapObjectPlacementMode)}
+          >
+            {(Object.keys(MAP_OBJECT_PLACEMENT_LABELS) as MapObjectPlacementMode[]).map((mode) => (
+              <option key={mode} value={mode}>
+                {MAP_OBJECT_PLACEMENT_LABELS[mode]}
+              </option>
+            ))}
+          </Select>
+        </label>
+      </div>
+      <div className="grid grid-cols-2 gap-2">
+        {CERTIFIED_MAP_ASSETS.map((asset) => (
+          <article
+            key={asset.type}
+            draggable={!disabled}
+            data-map-asset={asset.type}
+            className={`overflow-hidden rounded-lg border border-border-subtle bg-panel-muted shadow-sm transition-colors ${disabled ? 'opacity-50' : 'cursor-grab hover:border-accent active:cursor-grabbing'}`}
+            onDragStart={(event) => {
+              if (disabled) {
+                event.preventDefault();
+                return;
+              }
+              event.dataTransfer.effectAllowed = 'copy';
+              event.dataTransfer.setData(MAP_ASSET_DRAG_MIME, asset.type);
+              event.dataTransfer.setData(MAP_ASSET_PLACEMENT_MIME, placementMode);
+              event.dataTransfer.setData('text/plain', asset.name);
+            }}
+          >
+            <div className="p-2 pb-0">
+              <AssetPreview type={asset.type} color={asset.color} />
+            </div>
+            <div className="border-t border-border-subtle p-2">
+              <div className="truncate text-[11px] font-semibold text-text-primary">
+                {asset.name}
+              </div>
+              <div className="mt-0.5 truncate text-[9px] text-text-tertiary">
+                {asset.description}
+              </div>
+              <Button
+                className="mt-2 w-full"
+                disabled={disabled}
+                aria-label={`添加${asset.name}`}
+                onClick={() => void onAdd(asset.type, placementMode)}
+              >
+                <Plus className="mr-1 h-3 w-3" aria-hidden="true" />
+                添加
+              </Button>
+            </div>
+          </article>
+        ))}
+      </div>
+
+      <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
+        </div>
+        <p className="mt-1 text-[10px] leading-relaxed text-text-tertiary">
+          本地确定性生成；点击“添加”后在右侧“地图”调整尺寸、难度和随机种子。
+        </p>
+      </div>
+      <div className="grid grid-cols-2 gap-2">
+        {SYSTEM_TERRAIN_PRESETS.map((preset) => (
+          <article
+            key={preset}
+            data-system-terrain={preset}
+            className={`group relative overflow-hidden rounded-lg border border-border-subtle bg-panel-muted shadow-sm transition-colors ${disabled ? 'opacity-50' : 'hover:border-accent'}`}
+          >
+            <div className="absolute right-2 top-2 z-10 rounded-full bg-panel-bg/90 p-0.5 text-success">
+              <CheckCircle2 className="h-3.5 w-3.5" aria-hidden="true" />
+            </div>
+            <div className="px-1 pt-1">
+              <TerrainPreview preset={preset} />
+            </div>
+            <div className="border-t border-border-subtle px-2 pb-2 pt-1.5">
+              <div className="truncate text-[11px] font-semibold text-text-primary">
+                {PHYSICAL_MAP_PRESET_LABELS[preset]}
+              </div>
+              <div className="mt-0.5 text-[9px] text-text-tertiary">
+                {terrainSize.toFixed(2)} × {terrainSize.toFixed(2)} m
+              </div>
+              <button
+                type="button"
+                className="mt-1 flex w-full justify-end rounded outline-none focus-visible:ring-2 focus-visible:ring-accent/30"
+                disabled={disabled}
+                aria-label={`添加${PHYSICAL_MAP_PRESET_LABELS[preset]}`}
+                onClick={() => onSelectTerrain(preset)}
+              >
+                <AddAction label="添加" />
+              </button>
+            </div>
+          </article>
+        ))}
+      </div>
+    </section>
+  );
+}

web_platform/src/app/components/MapEditorPanel.test.tsx

@@ -0,0 +1,106 @@
+import { fireEvent, render, screen, waitFor } from '@testing-library/react';
+import type { EditableMapDocument } from '../../map/editor/types';
+import { MapEditorPanel } from './MapEditorPanel';
+
+const interactionProps = {
+  onConvert: async () => true,
+  canConvert: true,
+  onBindInteraction: () => {},
+  onSelectPreview: () => {},
+  onTransformMode: () => {},
+  onSnapping: () => {},
+};
+const document: EditableMapDocument = {
+  schemaVersion: 1,
+  mapId: 'map',
+  revision: 0,
+  objects: [],
+  spawnPoints: [],
+};
+
+describe('MapEditorPanel', () => {
+  it('新增并编辑对象后应用递增 revision', async () => {
+    const apply = vi.fn(async (documentValue: EditableMapDocument) => Boolean(documentValue)),
+      preview = vi.fn();
+    render(
+      <MapEditorPanel
+        {...interactionProps}
+        document={document}
+        loading={false}
+        onPreview={preview}
+        onApply={apply}
+        onExport={() => {}}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '新增' }));
+    fireEvent.change(screen.getByLabelText('对象位置X'), { target: { value: '2' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    await waitFor(() => expect(apply).toHaveBeenCalled());
+    expect(apply.mock.calls[0][0]).toEqual(
+      expect.objectContaining({
+        revision: 1,
+        objects: [
+          expect.objectContaining({ pose: expect.objectContaining({ position: [2, 0, 0.5] }) }),
+        ],
+      }),
+    );
+  });
+
+  it('锁定放置方式后禁用位姿编辑', () => {
+    render(
+      <MapEditorPanel
+        {...interactionProps}
+        document={document}
+        loading={false}
+        onPreview={() => {}}
+        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(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('编辑出生点并包含在应用文档中', async () => {
+    const apply = vi.fn(async (value: EditableMapDocument) => Boolean(value));
+    render(
+      <MapEditorPanel
+        {...interactionProps}
+        document={document}
+        loading={false}
+        onPreview={() => {}}
+        onApply={apply}
+        onExport={() => {}}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '新增出生点' }));
+    const name = screen.getByLabelText(/出生点名称/);
+    fireEvent.change(name, { target: { value: '装卸区' } });
+    const yaw = screen.getByLabelText(/出生点.*朝向/);
+    fireEvent.change(yaw, { target: { value: '90' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    await waitFor(() => expect(apply).toHaveBeenCalled());
+    expect(apply.mock.calls[0][0].spawnPoints[0]).toMatchObject({ name: '装卸区', yawDeg: 90 });
+  });
+
+  it('没有 authoring 文档时可请求创建可编辑副本', async () => {
+    const convert = vi.fn(async () => true);
+    render(
+      <MapEditorPanel
+        {...interactionProps}
+        onConvert={convert}
+        document={null}
+        loading={false}
+        onPreview={() => {}}
+        onApply={async () => true}
+        onExport={() => {}}
+      />,
+    );
+    expect(screen.getByText(/保持只读/)).toBeInTheDocument();
+    fireEvent.click(screen.getByRole('button', { name: '创建可编辑副本' }));
+    await waitFor(() => expect(convert).toHaveBeenCalledOnce());
+  });
+});

web_platform/src/app/components/MapEditorPanel.tsx

@@ -0,0 +1,597 @@
+import { useEffect, useMemo, useState } from 'react';
+import { Button, Select } from '../../components/ui';
+import { MapEditSession } from '../../map/editor/MapEditSession';
+import {
+  editableObjectGroundHeight,
+  MAP_OBJECT_PLACEMENT_LABELS,
+  type EditableMapDocument,
+  type EditableMapObject,
+  type EditableMapObjectType,
+  type MapEditorInteractionCallbacks,
+  type MapEditorTransformMode,
+  type MapObjectPlacementMode,
+} from '../../map/editor/types';
+
+const labels: Record<EditableMapObjectType, string> = {
+  box: '方盒',
+  cylinder: '圆柱',
+  capsule: '胶囊',
+  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],
+): Record<string, number> {
+  const [sx, sy, sz] = scale.map((value) => Math.max(0.001, Math.abs(value))) as [
+    number,
+    number,
+    number,
+  ];
+  const p = object.parameters;
+  if (object.type === 'box')
+    return { sizeX: p.sizeX * sx, sizeY: p.sizeY * sy, sizeZ: p.sizeZ * sz };
+  if (object.type === 'cylinder')
+    return { radius: p.radius * Math.max(sx, sy), height: p.height * sz };
+  if (object.type === 'capsule')
+    return { radius: p.radius * Math.max(sx, sy), length: p.length * sz };
+  if (object.type === 'ramp')
+    return {
+      length: p.length * sx,
+      width: p.width * sy,
+      rise: p.rise * sz,
+      thickness: p.thickness * sz,
+    };
+  return {
+    stepDepth: p.stepDepth * sx,
+    width: p.width * sy,
+    stepHeight: p.stepHeight * sz,
+    count: p.count,
+  };
+}
+export function MapEditorPanel({
+  document,
+  loading,
+  onPreview,
+  onApply,
+  onExport,
+  onConvert,
+  canConvert,
+  onBindInteraction,
+  onSelectPreview,
+  onTransformMode,
+  onSnapping,
+}: {
+  document: EditableMapDocument | null;
+  loading: boolean;
+  onPreview: (document: EditableMapDocument | null) => void;
+  onApply: (document: EditableMapDocument) => Promise<boolean>;
+  onExport: () => void;
+  onConvert: () => Promise<boolean>;
+  canConvert: boolean;
+  onBindInteraction: (callbacks: MapEditorInteractionCallbacks | null) => void;
+  onSelectPreview: (id: string | null) => void;
+  onTransformMode: (mode: MapEditorTransformMode) => void;
+  onSnapping: (translation: number | null, rotationDegrees: number | null) => void;
+}) {
+  const session = useMemo(() => (document ? new MapEditSession(document) : null), [document]);
+  const [, render] = useState(0),
+    [selected, setSelected] = useState<string>(),
+    [selectedType, setSelectedType] = useState<EditableMapObjectType>('box'),
+    [transformMode, setTransformMode] = useState<MapEditorTransformMode>('translate'),
+    [snapping, setSnapping] = useState(true),
+    [converting, setConverting] = useState(false);
+  const refresh = () => {
+    render((value) => value + 1);
+    onPreview(session?.document ?? null);
+  };
+  useEffect(() => {
+    onPreview(session?.document ?? null);
+    return () => onPreview(null);
+  }, [session, onPreview]);
+  useEffect(() => {
+    if (!session) {
+      onBindInteraction(null);
+      return;
+    }
+    const callbacks: MapEditorInteractionCallbacks = {
+      onSelect: (id) => setSelected(id ?? undefined),
+      onTransform: ({ id, position, quaternion, scale }) => {
+        const object = session.document.objects.find((item) => item.id === id);
+        if (!object) return;
+        session.update(id, {
+          pose: { position, quaternion },
+          parameters: scaledParameters(object, scale),
+        });
+        setSelected(id);
+        render((value) => value + 1);
+        onPreview(session.document);
+      },
+      onAddAsset: (type, position, placementMode) => {
+        const object = session.addAsset(type, position, placementMode);
+        setSelected(object.id);
+        render((value) => value + 1);
+        onPreview(session.document);
+        onSelectPreview(object.id);
+      },
+    };
+    onBindInteraction(callbacks);
+    return () => onBindInteraction(null);
+  }, [session, onBindInteraction, onPreview, onSelectPreview]);
+  useEffect(() => {
+    onTransformMode(transformMode);
+    onSnapping(snapping ? 0.1 : null, snapping ? 5 : null);
+  }, [transformMode, snapping, onTransformMode, onSnapping]);
+  useEffect(() => {
+    if (!session) return;
+    const keydown = (event: KeyboardEvent) => {
+      const target = event.target as HTMLElement | null;
+      if (target?.matches('input, textarea, select') || target?.isContentEditable || event.altKey)
+        return;
+      const key = event.key.toLowerCase();
+      if ((event.ctrlKey || event.metaKey) && key === 'z') {
+        event.preventDefault();
+        if (event.shiftKey) session.redo();
+        else session.undo();
+        if (selected && !session.document.objects.some((object) => object.id === selected)) {
+          setSelected(undefined);
+          onSelectPreview(null);
+        }
+        render((value) => value + 1);
+        onPreview(session.document);
+      } else if ((event.ctrlKey || event.metaKey) && key === 'y') {
+        event.preventDefault();
+        session.redo();
+        render((value) => value + 1);
+        onPreview(session.document);
+      } 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') {
+        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);
+        onSelectPreview(null);
+      }
+    };
+    window.addEventListener('keydown', keydown);
+    return () => window.removeEventListener('keydown', keydown);
+  }, [session, selected, onPreview, onSelectPreview]);
+  if (!session)
+    return (
+      <div className="space-y-2 rounded border border-border-subtle p-3 text-xs text-text-tertiary">
+        <p>当前地图没有 V3 authoring.source，保持只读。</p>
+        <p className="text-[10px] leading-relaxed">
+          仅由 box、cylinder、capsule 组成且不含资产、材质或碰撞过滤的静态 MJCF
+          可以安全转换；遇到无法表达的语义会整体拒绝，不会静默丢失内容。
+        </p>
+        <div className="flex flex-wrap gap-2">
+          <Button
+            variant="primary"
+            disabled={loading || converting || !canConvert}
+            onClick={() => {
+              setConverting(true);
+              void onConvert().finally(() => setConverting(false));
+            }}
+          >
+            {converting ? '正在转换…' : '创建可编辑副本'}
+          </Button>
+          <Button disabled={loading || converting} onClick={onExport}>
+            导出原地图 ZIP
+          </Button>
+        </div>
+        {!canConvert && <p className="text-warning">该地图没有 MJCF 物理层，无法转换。</p>}
+      </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 (!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 (!active || !Number.isFinite(value) || value <= 0) return;
+    session.update(active.id, {
+      parameters: { ...active.parameters, [key]: key === 'count' ? Math.round(value) : value },
+    });
+    refresh();
+  };
+  const updateSpawnPosition = (
+    id: string,
+    position: [number, number, number],
+    index: number,
+    value: number,
+  ) => {
+    if (!Number.isFinite(value)) return;
+    const next = [...position] as [number, number, number];
+    next[index] = value;
+    session.updateSpawn(id, { position: next });
+    refresh();
+  };
+
+  return (
+    <div className="space-y-3">
+      <div className="grid grid-cols-3 gap-2 rounded border border-border-subtle p-2">
+        <Button
+          variant={transformMode === 'translate' ? 'primary' : 'secondary'}
+          aria-pressed={transformMode === 'translate'}
+          disabled={loading}
+          onClick={() => setTransformMode('translate')}
+        >
+          移动工具 W
+        </Button>
+        <Button
+          variant={transformMode === 'rotate' ? 'primary' : 'secondary'}
+          aria-pressed={transformMode === 'rotate'}
+          disabled={loading}
+          onClick={() => setTransformMode('rotate')}
+        >
+          旋转工具 E
+        </Button>
+        <Button
+          variant={transformMode === 'scale' ? 'primary' : 'secondary'}
+          aria-pressed={transformMode === 'scale'}
+          disabled={loading}
+          onClick={() => setTransformMode('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) => setSnapping(event.target.checked)}
+          />
+        </label>
+        <p className="col-span-3 text-[10px] text-text-tertiary">
+          在视口点击对象后拖动操纵轴；只允许绕世界 Z 轴旋转，缩放会写入原语尺寸。
+        </p>
+      </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);
+          }}
+        >
+          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'}`}
+            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</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}
+              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，并禁用表单和视口变换。'}
+            </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}
+                  onChange={(event) => updateParameter(key, Number(event.target.value))}
+                />
+              </label>
+            ))}
+          </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}
+              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>
+        </div>
+      )}
+
+      <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">
+          <span>出生点</span>
+          <Button
+            disabled={loading}
+            onClick={() => {
+              session.addSpawn();
+              refresh();
+            }}
+          >
+            新增出生点
+          </Button>
+        </div>
+        {current.spawnPoints.map((spawn) => (
+          <div key={spawn.id} className="space-y-2 rounded bg-panel-muted p-2">
+            <input
+              aria-label={`出生点名称 ${spawn.id}`}
+              className="h-7 w-full rounded border border-border-strong bg-input px-1 text-xs"
+              value={spawn.name}
+              onChange={(event) => {
+                if (!event.target.value.trim()) return;
+                session.updateSpawn(spawn.id, { name: event.target.value });
+                refresh();
+              }}
+            />
+            <div className="grid grid-cols-4 gap-1">
+              {spawn.position.map((value, index) => (
+                <label key={index} className="text-[10px] text-text-secondary">
+                  {['X', 'Y', 'Z'][index]}
+                  <input
+                    aria-label={`出生点${spawn.id}位置${['X', 'Y', 'Z'][index]}`}
+                    className="mt-1 h-7 w-full rounded border border-border-strong bg-input px-1"
+                    type="number"
+                    step="0.1"
+                    value={value}
+                    onChange={(event) =>
+                      updateSpawnPosition(
+                        spawn.id,
+                        spawn.position,
+                        index,
+                        Number(event.target.value),
+                      )
+                    }
+                  />
+                </label>
+              ))}
+              <label className="text-[10px] text-text-secondary">
+                Yaw°
+                <input
+                  aria-label={`出生点${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}
+                  onChange={(event) => {
+                    const value = Number(event.target.value);
+                    if (!Number.isFinite(value)) return;
+                    session.updateSpawn(spawn.id, { yawDeg: value });
+                    refresh();
+                  }}
+                />
+              </label>
+            </div>
+            <Button
+              variant="danger"
+              disabled={loading}
+              onClick={() => {
+                session.removeSpawn(spawn.id);
+                refresh();
+              }}
+            >
+              删除出生点
+            </Button>
+          </div>
+        ))}
+        {!current.spawnPoints.length && (
+          <div className="text-[11px] text-text-tertiary">暂无出生点</div>
+        )}
+      </div>
+
+      <div className="grid grid-cols-2 gap-2">
+        <Button
+          disabled={loading || !session.canUndo}
+          onClick={() => {
+            session.undo();
+            refresh();
+          }}
+        >
+          撤销
+        </Button>
+        <Button
+          disabled={loading || !session.canRedo}
+          onClick={() => {
+            session.redo();
+            refresh();
+          }}
+        >
+          重做
+        </Button>
+        <Button
+          disabled={loading || !session.dirty}
+          onClick={() => {
+            session.discard();
+            setSelected(undefined);
+            refresh();
+            onSelectPreview(null);
+          }}
+        >
+          放弃草稿
+        </Button>
+        <Button disabled={loading} onClick={onExport}>
+          导出地图 ZIP
+        </Button>
+      </div>
+      <Button
+        className="w-full"
+        disabled={loading || !session.dirty}
+        onClick={async () => {
+          const latest = session.document;
+          const candidate = { ...latest, revision: latest.revision + 1 };
+          if (await onApply(candidate)) onPreview(null);
+          else onPreview(session.document);
+        }}
+      >
+        应用并重新编译
+      </Button>
+      {session.dirty && (
+        <div role="status" className="text-xs text-warning">
+          地图草稿尚未应用
+        </div>
+      )}
+    </div>
+  );
+}

web_platform/src/app/components/NotificationCenter.tsx

@@ -1,7 +1,141 @@
-import {useEffect,useRef} from 'react';
+import { useEffect, useRef } from 'react';
-import {Bell,CheckCircle2,Info,Trash2,TriangleAlert,XCircle} from 'lucide-react';
+import { Bell, CheckCircle2, Info, Trash2, TriangleAlert, XCircle } from 'lucide-react';
-import {Badge,IconButton,Popover} from '../../components/ui';
+import { Badge, IconButton, Popover } from '../../components/ui';
-export interface WorkbenchNotification{id:number;title:string;detail?:string;tone:'success'|'warning'|'danger'|'info';at:number;}
+export interface WorkbenchNotification {
-const icons={success:CheckCircle2,warning:TriangleAlert,danger:XCircle,info:Info};
+  id: number;
-export function NotificationCenter({items,onDismiss,onClear,onOpenLog}:{items:WorkbenchNotification[];onDismiss:(id:number)=>void;onClear:()=>void;onOpenLog?:()=>void}){return <Popover label="通知中心" trigger={({open,toggle})=><IconButton tooltip="通知中心" aria-label="通知中心" aria-expanded={open} onClick={toggle}><Bell className="h-4 w-4"/>{items.length>0&&<span className="absolute right-0 top-0 h-1.5 w-1.5 rounded-full bg-warning"/>}</IconButton>}>{({close})=><div className="w-80 overflow-hidden rounded-lg border border-border bg-surface-elevated shadow-xl"><header className="flex h-9 items-center justify-between border-b border-border px-3"><h2 className="text-xs font-semibold">通知</h2><div className="flex gap-2">{onOpenLog&&<button className="text-[10px] text-accent" onClick={()=>{close();onOpenLog();}}>事件日志</button>}{items.length>0&&<button className="flex items-center gap-1 text-[10px] text-text-tertiary hover:text-danger" onClick={onClear}><Trash2 className="h-3 w-3"/>清空</button>}</div></header><div className="panel-scroll max-h-80 overflow-auto">{items.length?items.map(item=>{const Icon=icons[item.tone];return <article key={item.id} className="flex gap-2 border-b border-border px-3 py-2.5 last:border-0"><Icon className={`mt-0.5 h-4 w-4 shrink-0 ${item.tone==='success'?'text-success':item.tone==='warning'?'text-warning':item.tone==='danger'?'text-danger':'text-accent'}`}/><div className="min-w-0 flex-1"><div className="flex items-center gap-2"><h3 className="truncate text-xs font-medium">{item.title}</h3><Badge>{new Date(item.at).toLocaleTimeString('zh-CN',{hour:'2-digit',minute:'2-digit'})}</Badge></div>{item.detail&&<p className="mt-1 line-clamp-3 text-[10px] leading-4 text-text-tertiary">{item.detail}</p>}</div><IconButton aria-label={`移除通知：${item.title}`} tooltip="移除" onClick={()=>onDismiss(item.id)}><XCircle className="h-3.5 w-3.5"/></IconButton></article>}):<p className="p-6 text-center text-xs text-text-tertiary">当前没有通知</p>}</div></div>}</Popover>;}
+  title: string;
-export function ToastViewport({item,onDismiss}:{item?:WorkbenchNotification;onDismiss:(id:number)=>void}){const dismissRef=useRef(onDismiss);useEffect(()=>{dismissRef.current=onDismiss;},[onDismiss]);useEffect(()=>{if(!item)return;const timer=window.setTimeout(()=>dismissRef.current(item.id),4000);return()=>window.clearTimeout(timer);},[item]);if(!item)return null;const Icon=icons[item.tone];return <div role="status" className="pointer-events-auto absolute right-4 top-4 z-30 flex w-80 gap-2 rounded-lg border border-border bg-surface-elevated p-3 shadow-xl"><Icon className="h-4 w-4 shrink-0 text-accent"/><div className="min-w-0 flex-1"><p className="text-xs font-medium">{item.title}</p>{item.detail&&<p className="mt-1 line-clamp-2 text-[10px] text-text-tertiary">{item.detail}</p>}</div></div>;}
+  detail?: string;
+  tone: 'success' | 'warning' | 'danger' | 'info';
+  at: number;
+}
+const icons = { success: CheckCircle2, warning: TriangleAlert, danger: XCircle, info: Info };
+export function NotificationCenter({
+  items,
+  onDismiss,
+  onClear,
+  onOpenLog,
+}: {
+  items: WorkbenchNotification[];
+  onDismiss: (id: number) => void;
+  onClear: () => void;
+  onOpenLog?: () => void;
+}) {
+  return (
+    <Popover
+      label="通知中心"
+      trigger={({ open, toggle }) => (
+        <IconButton tooltip="通知中心" aria-label="通知中心" aria-expanded={open} onClick={toggle}>
+          <Bell className="h-4 w-4" />
+          {items.length > 0 && (
+            <span className="absolute right-0 top-0 h-1.5 w-1.5 rounded-full bg-warning" />
+          )}
+        </IconButton>
+      )}
+    >
+      {({ close }) => (
+        <div className="w-80 overflow-hidden rounded-lg border border-border bg-surface-elevated shadow-xl">
+          <header className="flex h-9 items-center justify-between border-b border-border px-3">
+            <h2 className="text-xs font-semibold">通知</h2>
+            <div className="flex gap-2">
+              {onOpenLog && (
+                <button
+                  className="text-[10px] text-accent"
+                  onClick={() => {
+                    close();
+                    onOpenLog();
+                  }}
+                >
+                  事件日志
+                </button>
+              )}
+              {items.length > 0 && (
+                <button
+                  className="flex items-center gap-1 text-[10px] text-text-tertiary hover:text-danger"
+                  onClick={onClear}
+                >
+                  <Trash2 className="h-3 w-3" />
+                  清空
+                </button>
+              )}
+            </div>
+          </header>
+          <div className="panel-scroll max-h-80 overflow-auto">
+            {items.length ? (
+              items.map((item) => {
+                const Icon = icons[item.tone];
+                return (
+                  <article
+                    key={item.id}
+                    className="flex gap-2 border-b border-border px-3 py-2.5 last:border-0"
+                  >
+                    <Icon
+                      className={`mt-0.5 h-4 w-4 shrink-0 ${item.tone === 'success' ? 'text-success' : item.tone === 'warning' ? 'text-warning' : item.tone === 'danger' ? 'text-danger' : 'text-accent'}`}
+                    />
+                    <div className="min-w-0 flex-1">
+                      <div className="flex items-center gap-2">
+                        <h3 className="truncate text-xs font-medium">{item.title}</h3>
+                        <Badge>
+                          {new Date(item.at).toLocaleTimeString('zh-CN', {
+                            hour: '2-digit',
+                            minute: '2-digit',
+                          })}
+                        </Badge>
+                      </div>
+                      {item.detail && (
+                        <p className="mt-1 line-clamp-3 text-[10px] leading-4 text-text-tertiary">
+                          {item.detail}
+                        </p>
+                      )}
+                    </div>
+                    <IconButton
+                      aria-label={`移除通知：${item.title}`}
+                      tooltip="移除"
+                      onClick={() => onDismiss(item.id)}
+                    >
+                      <XCircle className="h-3.5 w-3.5" />
+                    </IconButton>
+                  </article>
+                );
+              })
+            ) : (
+              <p className="p-6 text-center text-xs text-text-tertiary">当前没有通知</p>
+            )}
+          </div>
+        </div>
+      )}
+    </Popover>
+  );
+}
+export function ToastViewport({
+  item,
+  onDismiss,
+}: {
+  item?: WorkbenchNotification;
+  onDismiss: (id: number) => void;
+}) {
+  const dismissRef = useRef(onDismiss);
+  useEffect(() => {
+    dismissRef.current = onDismiss;
+  }, [onDismiss]);
+  useEffect(() => {
+    if (!item) return;
+    const timer = window.setTimeout(() => dismissRef.current(item.id), 4000);
+    return () => window.clearTimeout(timer);
+  }, [item]);
+  if (!item) return null;
+  const Icon = icons[item.tone];
+  return (
+    <div
+      role="status"
+      className="pointer-events-auto absolute right-4 top-4 z-30 flex w-80 gap-2 rounded-lg border border-border bg-surface-elevated p-3 shadow-xl"
+    >
+      <Icon className="h-4 w-4 shrink-0 text-accent" />
+      <div className="min-w-0 flex-1">
+        <p className="text-xs font-medium">{item.title}</p>
+        {item.detail && (
+          <p className="mt-1 line-clamp-2 text-[10px] text-text-tertiary">{item.detail}</p>
+        )}
+      </div>
+    </div>
+  );
+}

web_platform/src/app/components/PerformancePopover.tsx

@@ -1,3 +1,68 @@
-import {Activity,ChevronUp,Cpu,MemoryStick,TriangleAlert} from 'lucide-react';
+import { Activity, ChevronUp, Cpu, MemoryStick, TriangleAlert } from 'lucide-react';
-import {Badge,Popover,PropertyRow,Separator} from '../../components/ui';
+import { Badge, Popover, PropertyRow, Separator } from '../../components/ui';
-export function PerformancePopover({fps,stepMs,memoryMb,overBudget}:{fps:number;stepMs:number;memoryMb?:number;overBudget:boolean}){return <Popover label="性能详情" placement="top-left" trigger={({open,toggle})=><button type="button" aria-haspopup="dialog" aria-expanded={open} onClick={toggle} className="flex h-6 items-center gap-3 rounded px-1.5 hover:bg-element-hover focus-visible:ring-2 focus-visible:ring-accent/30"><span className="flex items-center gap-1.5"><Activity className="h-3 w-3"/>FPS {fps.toFixed(0)}</span><span className="flex items-center gap-1.5"><Cpu className="h-3 w-3"/>物理 {stepMs.toFixed(2)} ms</span><ChevronUp className={`h-3 w-3 transition-transform ${open?'rotate-180':''}`}/></button>}>{()=> <div className="w-72 rounded-lg border border-border bg-surface-elevated p-3 text-xs text-text-secondary shadow-xl"><div className="mb-2 flex items-center justify-between"><h2 className="font-semibold text-text-primary">运行性能</h2><Badge tone={overBudget?'warning':'success'}>{overBudget?'预算超限':'运行正常'}</Badge></div><PropertyRow label="渲染帧率" value={`${fps.toFixed(0)} FPS`}/><PropertyRow label="物理步进" value={`${stepMs.toFixed(2)} ms`}/><PropertyRow label="浏览器内存" value={memoryMb===undefined?'不可用':`${memoryMb.toFixed(1)} MiB`}/><Separator className="my-2"/>{overBudget?<p className="flex gap-2 text-warning"><TriangleAlert className="mt-0.5 h-3.5 w-3.5 shrink-0"/>主线程超出步进预算，平台已限制追帧以保持交互响应。</p>:<p className="flex gap-2 text-text-tertiary"><MemoryStick className="mt-0.5 h-3.5 w-3.5 shrink-0"/>指标来自浏览器运行时，仅用于当前会话诊断。</p>}</div>}</Popover>;}
+export function PerformancePopover({
+  fps,
+  stepMs,
+  memoryMb,
+  overBudget,
+}: {
+  fps: number;
+  stepMs: number;
+  memoryMb?: number;
+  overBudget: boolean;
+}) {
+  return (
+    <Popover
+      label="性能详情"
+      placement="top-left"
+      trigger={({ open, toggle }) => (
+        <button
+          type="button"
+          aria-haspopup="dialog"
+          aria-expanded={open}
+          onClick={toggle}
+          className="flex h-6 items-center gap-3 rounded px-1.5 hover:bg-element-hover focus-visible:ring-2 focus-visible:ring-accent/30"
+        >
+          <span className="flex items-center gap-1.5">
+            <Activity className="h-3 w-3" />
+            FPS {fps.toFixed(0)}
+          </span>
+          <span className="flex items-center gap-1.5">
+            <Cpu className="h-3 w-3" />
+            物理 {stepMs.toFixed(2)} ms
+          </span>
+          <ChevronUp className={`h-3 w-3 transition-transform ${open ? 'rotate-180' : ''}`} />
+        </button>
+      )}
+    >
+      {() => (
+        <div className="w-72 rounded-lg border border-border bg-surface-elevated p-3 text-xs text-text-secondary shadow-xl">
+          <div className="mb-2 flex items-center justify-between">
+            <h2 className="font-semibold text-text-primary">运行性能</h2>
+            <Badge tone={overBudget ? 'warning' : 'success'}>
+              {overBudget ? '预算超限' : '运行正常'}
+            </Badge>
+          </div>
+          <PropertyRow label="渲染帧率" value={`${fps.toFixed(0)} FPS`} />
+          <PropertyRow label="物理步进" value={`${stepMs.toFixed(2)} ms`} />
+          <PropertyRow
+            label="浏览器内存"
+            value={memoryMb === undefined ? '不可用' : `${memoryMb.toFixed(1)} MiB`}
+          />
+          <Separator className="my-2" />
+          {overBudget ? (
+            <p className="flex gap-2 text-warning">
+              <TriangleAlert className="mt-0.5 h-3.5 w-3.5 shrink-0" />
+              主线程超出步进预算，平台已限制追帧以保持交互响应。
+            </p>
+          ) : (
+            <p className="flex gap-2 text-text-tertiary">
+              <MemoryStick className="mt-0.5 h-3.5 w-3.5 shrink-0" />
+              指标来自浏览器运行时，仅用于当前会话诊断。
+            </p>
+          )}
+        </div>
+      )}
+    </Popover>
+  );
+}

web_platform/src/app/components/PhysicalMapPanel.test.tsx

@@ -0,0 +1,118 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { DEFAULT_PHYSICAL_MAP_CONFIG } from '../../map/types';
+import { PhysicalMapPanel } from './PhysicalMapPanel';
+
+const common = {
+  maps: [],
+  rootBodies: ['robot'],
+  loading: false,
+  nativeUrdf: false,
+  showVisualMap: true,
+  showMapCollision: false,
+  editorDocument: null,
+  onEditorPreview: () => {},
+  onEditorApply: async () => true,
+  onEditorExport: () => {},
+  onEditorConvert: async () => true,
+  onEditorBindInteraction: () => {},
+  onEditorSelect: () => {},
+  onEditorTransformMode: () => {},
+  onEditorSnapping: () => {},
+  onMapDisplay: () => {},
+};
+
+describe('PhysicalMapPanel', () => {
+  it('选择楼梯参数后请求重新编译', () => {
+    const onApply = vi.fn();
+    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={onApply} />);
+    fireEvent.change(screen.getByLabelText('地图来源'), { target: { value: 'builtin' } });
+    fireEvent.change(screen.getByLabelText('物理地图预设'), { target: { value: 'stairs' } });
+    fireEvent.change(screen.getByLabelText('台阶数量'), { target: { value: '6' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith({
+      kind: 'builtin',
+      config: expect.objectContaining({ preset: 'stairs', stairCount: 6 }),
+    });
+  });
+
+  it('在右侧参数面板调整系统地形并提交', () => {
+    const onApply = vi.fn();
+    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={onApply} />);
+    fireEvent.change(screen.getByLabelText('地图来源'), { target: { value: 'builtin' } });
+    fireEvent.change(screen.getByLabelText('物理地图预设'), { target: { value: 'rough' } });
+    fireEvent.change(screen.getByLabelText('地形难度（0–1）'), { target: { value: '0.8' } });
+    fireEvent.change(screen.getByLabelText('随机种子'), { target: { value: '9' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith({
+      kind: 'builtin',
+      config: expect.objectContaining({
+        preset: 'rough',
+        terrainDifficulty: 0.8,
+        seed: 9,
+      }),
+    });
+  });
+
+  it('可以移动并旋转资产地图', () => {
+    const onApply = vi.fn();
+    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={onApply} />);
+    fireEvent.change(screen.getByLabelText('地图来源'), { target: { value: 'builtin' } });
+    fireEvent.change(screen.getByLabelText('位置 X（m）'), { target: { value: '2.5' } });
+    fireEvent.change(screen.getByLabelText('位置 Y（m）'), { target: { value: '-1.5' } });
+    fireEvent.change(screen.getByLabelText('旋转 Z（°）'), { target: { value: '45' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith({
+      kind: 'builtin',
+      config: expect.objectContaining({ positionX: 2.5, positionY: -1.5, yawDeg: 45 }),
+    });
+  });
+
+  it('显示工程地图、出生点和根 Body', () => {
+    const onApply = vi.fn();
+    render(
+      <PhysicalMapPanel
+        {...common}
+        value={{ kind: 'none' }}
+        maps={[
+          {
+            descriptorPath: 'maps/warehouse/map.json',
+            schemaVersion: 1 as const,
+            id: 'warehouse',
+            name: '仓库',
+            spawnPoints: [{ id: 'door', name: '入口' }],
+          },
+        ]}
+        rootBodies={['robot', 'payload']}
+        onApply={onApply}
+      />,
+    );
+    fireEvent.change(screen.getByLabelText('地图来源'), {
+      target: { value: 'project:maps/warehouse/map.json' },
+    });
+    expect(screen.getByLabelText('地图出生点')).toHaveValue('door');
+    fireEvent.change(screen.getByLabelText('机器人根 Body'), { target: { value: 'robot' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith(
+      expect.objectContaining({
+        kind: 'project',
+        descriptorPath: 'maps/warehouse/map.json',
+        spawnPointId: 'door',
+        robotRootBody: 'robot',
+      }),
+    );
+  });
+
+  it('原生 URDF 模式只允许移除地图', () => {
+    render(
+      <PhysicalMapPanel
+        {...common}
+        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'flat' } }}
+        nativeUrdf
+        onApply={() => {}}
+      />,
+    );
+    expect(screen.getByRole('status')).toHaveTextContent('原生 URDF');
+    expect(screen.getByRole('button', { name: '应用并重新编译' })).toBeDisabled();
+    expect(screen.getByLabelText('地图来源')).not.toBeDisabled();
+  });
+});

web_platform/src/app/components/PhysicalMapPanel.tsx

@@ -0,0 +1,474 @@
+import { useState } from 'react';
+import { Button, Select } from '../../components/ui';
+import type { MapEntry } from '../../project/types';
+import {
+  DEFAULT_PHYSICAL_MAP_CONFIG,
+  PHYSICAL_MAP_PRESET_LABELS,
+  isSystemTerrainPreset,
+  type MapSelection,
+  type PhysicalMapConfig,
+  type PhysicalMapPreset,
+} from '../../map/types';
+import { normalizePhysicalMapConfig } from '../../map/physicalMap';
+import type {
+  EditableMapDocument,
+  MapEditorInteractionCallbacks,
+  MapEditorTransformMode,
+} from '../../map/editor/types';
+import { MapEditorPanel } from './MapEditorPanel';
+
+function NumberField({
+  label,
+  value,
+  min,
+  max,
+  step = 1,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  value: number;
+  min: number;
+  max: number;
+  step?: number;
+  disabled: boolean;
+  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>
+  );
+}
+
+function normalizeSelection(selection: MapSelection): MapSelection {
+  if (selection.kind === 'project') {
+    const friction = selection.frictionOverride;
+    return {
+      ...selection,
+      frictionOverride:
+        friction === undefined || !Number.isFinite(friction)
+          ? undefined
+          : Math.min(5, Math.max(0.05, friction)),
+    };
+  }
+  if (selection.kind !== 'builtin') return selection;
+  const config = normalizePhysicalMapConfig(selection.config);
+  return config.preset === 'none' ? { kind: 'none' } : { kind: 'builtin', config };
+}
+
+export function PhysicalMapPanel({
+  value,
+  maps,
+  rootBodies,
+  loading,
+  nativeUrdf,
+  showVisualMap,
+  showMapCollision,
+  editorDocument,
+  onEditorPreview,
+  onEditorApply,
+  onEditorExport,
+  onEditorConvert,
+  onEditorBindInteraction,
+  onEditorSelect,
+  onEditorTransformMode,
+  onEditorSnapping,
+  onMapDisplay,
+  onApply,
+}: {
+  value: MapSelection;
+  maps: MapEntry[];
+  rootBodies: string[];
+  loading: boolean;
+  nativeUrdf: boolean;
+  showVisualMap: boolean;
+  showMapCollision: boolean;
+  editorDocument: EditableMapDocument | null;
+  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;
+  onApply: (value: MapSelection) => void;
+}) {
+  const [draft, setDraft] = useState<MapSelection>(value);
+  const normalized = normalizeSelection(draft);
+  const changed = JSON.stringify(normalized) !== JSON.stringify(value);
+  const compileDisabled = loading || (nativeUrdf && normalized.kind !== 'none');
+  const sourceValue =
+    draft.kind === 'none'
+      ? 'none'
+      : draft.kind === 'builtin'
+        ? 'builtin'
+        : `project:${draft.descriptorPath}`;
+  const projectMap =
+    draft.kind === 'project'
+      ? maps.find((entry) => entry.descriptorPath === draft.descriptorPath)
+      : undefined;
+  const updateBuiltin = <K extends keyof PhysicalMapConfig>(key: K, next: PhysicalMapConfig[K]) => {
+    if (draft.kind !== 'builtin') return;
+    setDraft({ kind: 'builtin', config: { ...draft.config, [key]: next } });
+  };
+
+  const changeSource = (source: string) => {
+    if (source === 'none') setDraft({ kind: 'none' });
+    else if (source === 'builtin')
+      setDraft({
+        kind: 'builtin',
+        config: {
+          ...DEFAULT_PHYSICAL_MAP_CONFIG,
+          preset: value.kind === 'builtin' ? value.config.preset : 'flat',
+        },
+      });
+    else {
+      const descriptorPath = source.slice('project:'.length);
+      const map = maps.find((entry) => entry.descriptorPath === descriptorPath);
+      setDraft({
+        kind: 'project',
+        descriptorPath,
+        spawnPointId: map?.spawnPoints[0]?.id,
+      });
+    }
+  };
+
+  return (
+    <div className="space-y-4 p-3">
+      <div className="rounded-lg border border-border-subtle bg-panel-muted/50 p-3">
+        <div className="text-xs font-semibold text-text-primary">地图参数</div>
+        <p className="mt-1 text-[10px] leading-relaxed text-text-tertiary">
+          从左侧“资产”选择地形或添加场景对象，在这里调整物理参数与编辑属性。
+        </p>
+      </div>
+
+      <label className="block text-xs text-text-secondary">
+        <span className="mb-1 block">地图来源</span>
+        <Select
+          aria-label="地图来源"
+          className="w-full"
+          value={sourceValue}
+          disabled={loading}
+          onChange={(event) => changeSource(event.target.value)}
+        >
+          <option value="none">不使用地图</option>
+          <option value="builtin">内置程序地图</option>
+          {maps.map((map) => (
+            <option key={map.descriptorPath} value={`project:${map.descriptorPath}`}>
+              {map.name}
+            </option>
+          ))}
+        </Select>
+      </label>
+
+      {draft.kind === 'builtin' && (
+        <>
+          <label className="block text-xs text-text-secondary">
+            <span className="mb-1 block">地图预设</span>
+            <Select
+              aria-label="物理地图预设"
+              className="w-full"
+              value={draft.config.preset}
+              disabled={loading}
+              onChange={(event) => updateBuiltin('preset', event.target.value as PhysicalMapPreset)}
+            >
+              {(Object.keys(PHYSICAL_MAP_PRESET_LABELS) as PhysicalMapPreset[])
+                .filter((preset) => preset !== 'none')
+                .map((preset) => (
+                  <option key={preset} value={preset}>
+                    {PHYSICAL_MAP_PRESET_LABELS[preset]}
+                  </option>
+                ))}
+            </Select>
+          </label>
+          <div className="rounded-lg border border-border-subtle bg-panel-muted/50 p-2.5">
+            <div className="mb-2 flex items-center justify-between">
+              <span className="text-xs font-medium text-text-primary">地图变换</span>
+              <Button
+                disabled={
+                  loading ||
+                  (draft.config.positionX === 0 &&
+                    draft.config.positionY === 0 &&
+                    draft.config.yawDeg === 0)
+                }
+                onClick={() =>
+                  setDraft({
+                    kind: 'builtin',
+                    config: { ...draft.config, positionX: 0, positionY: 0, yawDeg: 0 },
+                  })
+                }
+              >
+                复位
+              </Button>
+            </div>
+            <div className="grid grid-cols-3 gap-2">
+              <NumberField
+                label="位置 X（m）"
+                value={draft.config.positionX}
+                min={-100}
+                max={100}
+                step={0.1}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('positionX', next)}
+              />
+              <NumberField
+                label="位置 Y（m）"
+                value={draft.config.positionY}
+                min={-100}
+                max={100}
+                step={0.1}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('positionY', next)}
+              />
+              <NumberField
+                label="旋转 Z（°）"
+                value={draft.config.yawDeg}
+                min={-180}
+                max={180}
+                step={1}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('yawDeg', next)}
+              />
+            </div>
+            <p className="mt-2 text-[10px] leading-relaxed text-text-tertiary">
+              调整资产地图在世界坐标中的位置和朝向，应用后同步更新物理碰撞。
+            </p>
+          </div>
+          <div className="grid grid-cols-2 gap-3">
+            <NumberField
+              label={isSystemTerrainPreset(draft.config.preset) ? '地形边长（m）' : '地图半径（m）'}
+              value={draft.config.size}
+              min={4}
+              max={isSystemTerrainPreset(draft.config.preset) ? 30 : 100}
+              disabled={loading}
+              onChange={(next) => updateBuiltin('size', next)}
+            />
+            <NumberField
+              label="摩擦系数"
+              value={draft.config.friction}
+              min={0.05}
+              max={5}
+              step={0.05}
+              disabled={loading}
+              onChange={(next) => updateBuiltin('friction', next)}
+            />
+            {draft.config.preset === 'slope' && (
+              <NumberField
+                label="坡度（°）"
+                value={draft.config.slopeAngle}
+                min={5}
+                max={30}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('slopeAngle', next)}
+              />
+            )}
+            {draft.config.preset === 'stairs' && (
+              <NumberField
+                label="台阶数量"
+                value={draft.config.stairCount}
+                min={2}
+                max={20}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('stairCount', next)}
+              />
+            )}
+            {draft.config.preset === 'obstacles' && (
+              <NumberField
+                label="障碍物数量"
+                value={draft.config.obstacleCount}
+                min={1}
+                max={30}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('obstacleCount', next)}
+              />
+            )}
+            {(draft.config.preset === 'obstacles' ||
+              isSystemTerrainPreset(draft.config.preset)) && (
+              <NumberField
+                label="随机种子"
+                value={draft.config.seed}
+                min={0}
+                max={2_147_483_647}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('seed', next)}
+              />
+            )}
+            {isSystemTerrainPreset(draft.config.preset) && (
+              <NumberField
+                label="地形难度（0–1）"
+                value={draft.config.terrainDifficulty}
+                min={0}
+                max={1}
+                step={0.05}
+                disabled={loading}
+                onChange={(next) => updateBuiltin('terrainDifficulty', next)}
+              />
+            )}
+            {(draft.config.preset === 'rough' || draft.config.preset === 'wave') && (
+              <>
+                <NumberField
+                  label="水平采样间距（m）"
+                  value={draft.config.terrainHorizontalScale}
+                  min={0.03}
+                  max={1}
+                  step={0.01}
+                  disabled={loading}
+                  onChange={(next) => updateBuiltin('terrainHorizontalScale', next)}
+                />
+                <NumberField
+                  label="垂直量化（m）"
+                  value={draft.config.terrainVerticalScale}
+                  min={0.001}
+                  max={0.1}
+                  step={0.001}
+                  disabled={loading}
+                  onChange={(next) => updateBuiltin('terrainVerticalScale', next)}
+                />
+              </>
+            )}
+          </div>
+        </>
+      )}
+
+      {draft.kind === 'project' && projectMap && (
+        <div className="space-y-3 rounded border border-border-subtle bg-panel-muted p-3">
+          <div className="text-xs font-medium text-text-primary">{projectMap.name}</div>
+          <div className="break-all text-[11px] text-text-tertiary">
+            {projectMap.descriptorPath}
+          </div>
+          {projectMap.spawnPoints.length > 0 && (
+            <label className="block text-xs text-text-secondary">
+              <span className="mb-1 block">出生点</span>
+              <Select
+                aria-label="地图出生点"
+                className="w-full"
+                value={draft.spawnPointId ?? ''}
+                disabled={loading}
+                onChange={(event) =>
+                  setDraft({ ...draft, spawnPointId: event.target.value || undefined })
+                }
+              >
+                <option value="">不改变机器人位置</option>
+                {projectMap.spawnPoints.map((spawn) => (
+                  <option key={spawn.id} value={spawn.id}>
+                    {spawn.name}
+                  </option>
+                ))}
+              </Select>
+            </label>
+          )}
+          {rootBodies.length > 1 && (
+            <label className="block text-xs text-text-secondary">
+              <span className="mb-1 block">机器人根 Body</span>
+              <Select
+                aria-label="机器人根 Body"
+                className="w-full"
+                value={draft.robotRootBody ?? ''}
+                disabled={loading}
+                onChange={(event) =>
+                  setDraft({ ...draft, robotRootBody: event.target.value || undefined })
+                }
+              >
+                <option value="">自动识别</option>
+                {rootBodies.map((body) => (
+                  <option key={body} value={body}>
+                    {body}
+                  </option>
+                ))}
+              </Select>
+            </label>
+          )}
+          <label className="block text-xs text-text-secondary">
+            <span className="mb-1 block">覆盖摩擦系数（留空则使用地图值）</span>
+            <input
+              aria-label="地图摩擦系数覆盖"
+              type="number"
+              min={0.05}
+              max={5}
+              step={0.05}
+              value={draft.frictionOverride ?? ''}
+              disabled={loading}
+              className="h-8 w-full rounded border border-border-strong bg-input px-2 text-xs text-text-primary"
+              onChange={(event) =>
+                setDraft({
+                  ...draft,
+                  frictionOverride: event.target.value ? Number(event.target.value) : undefined,
+                })
+              }
+            />
+          </label>
+        </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">V3 地图编辑器</div>
+            <MapEditorPanel
+              document={editorDocument}
+              loading={loading}
+              onPreview={onEditorPreview}
+              onApply={onEditorApply}
+              onExport={onEditorExport}
+              onConvert={onEditorConvert}
+              canConvert={Boolean(projectMap?.physicsPath)}
+              onBindInteraction={onEditorBindInteraction}
+              onSelectPreview={onEditorSelect}
+              onTransformMode={onEditorTransformMode}
+              onSnapping={onEditorSnapping}
+            />
+          </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>
+          <input
+            type="checkbox"
+            checked={showVisualMap}
+            onChange={(event) => onMapDisplay(event.target.checked, showMapCollision)}
+          />
+        </label>
+        <label className="flex items-center justify-between gap-3">
+          <span>显示地图碰撞层</span>
+          <input
+            type="checkbox"
+            checked={showMapCollision}
+            onChange={(event) => onMapDisplay(showVisualMap, event.target.checked)}
+          />
+        </label>
+      </div>
+
+      {nativeUrdf && normalized.kind !== 'none' && (
+        <p
+          role="status"
+          className="rounded border border-warning/30 bg-warning/10 p-2 text-xs text-warning"
+        >
+          原生 URDF 不能注入地图。请在“属性”中切换为“转换为 MJCF”。
+        </p>
+      )}
+
+      <Button
+        variant="primary"
+        className="w-full"
+        disabled={compileDisabled || !changed}
+        onClick={() => onApply(normalized)}
+      >
+        应用并重新编译
+      </Button>
+    </div>
+  );
+}

web_platform/src/app/components/ProjectBreadcrumb.tsx

@@ -1,4 +1,52 @@
-import {ChevronRight,FolderRoot} from 'lucide-react';
+import { ChevronRight, FolderRoot } from 'lucide-react';
-import type {ModelEntry} from '../../project/types';
+import type { ModelEntry } from '../../project/types';
-import {SearchableCombobox} from '../../components/ui';
+import { SearchableCombobox } from '../../components/ui';
-export function ProjectBreadcrumb({projectName,entries,selectedEntry,loading=false,onSelect}:{projectName:string;entries:ModelEntry[];selectedEntry?:string;loading?:boolean;onSelect:(path:string)=>void}){const parts=selectedEntry?.split('/').filter(Boolean)??[];return <div className="border-b border-border bg-surface px-3 py-2"><div aria-label="当前工程路径" className="flex min-w-0 items-center gap-1 text-[10px] text-text-tertiary"><FolderRoot className="h-3 w-3 shrink-0 text-accent"/><span className="truncate">{projectName}</span>{parts.map((part,index)=><span key={`${part}-${index}`} className="contents"><ChevronRight className="h-3 w-3 shrink-0"/><span className={`truncate ${index===parts.length-1?'text-text-primary':''}`}>{part}</span></span>)}</div>{entries.length>1&&<div className="mt-2"><SearchableCombobox label="切换模型入口" disabled={loading} value={selectedEntry} onChange={onSelect} options={entries.map(entry=>({value:entry.path,label:entry.label,description:entry.path}))}/></div>}</div>;}
+export function ProjectBreadcrumb({
+  projectName,
+  entries,
+  selectedEntry,
+  loading = false,
+  onSelect,
+}: {
+  projectName: string;
+  entries: ModelEntry[];
+  selectedEntry?: string;
+  loading?: boolean;
+  onSelect: (path: string) => void;
+}) {
+  const parts = selectedEntry?.split('/').filter(Boolean) ?? [];
+  return (
+    <div className="border-b border-border bg-surface px-3 py-2">
+      <div
+        aria-label="当前工程路径"
+        className="flex min-w-0 items-center gap-1 text-[10px] text-text-tertiary"
+      >
+        <FolderRoot className="h-3 w-3 shrink-0 text-accent" />
+        <span className="truncate">{projectName}</span>
+        {parts.map((part, index) => (
+          <span key={`${part}-${index}`} className="contents">
+            <ChevronRight className="h-3 w-3 shrink-0" />
+            <span className={`truncate ${index === parts.length - 1 ? 'text-text-primary' : ''}`}>
+              {part}
+            </span>
+          </span>
+        ))}
+      </div>
+      {entries.length > 1 && (
+        <div className="mt-2">
+          <SearchableCombobox
+            label="切换模型入口"
+            disabled={loading}
+            value={selectedEntry}
+            onChange={onSelect}
+            options={entries.map((entry) => ({
+              value: entry.path,
+              label: entry.label,
+              description: entry.path,
+            }))}
+          />
+        </div>
+      )}
+    </div>
+  );
+}

web_platform/src/app/components/PythonControllerPanel.test.tsx

@@ -1,23 +1,69 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {describe,expect,it,vi} from 'vitest';
+import { describe, expect, it, vi } from 'vitest';
-import {PythonControllerPanel} from './PythonControllerPanel';
+import { PythonControllerPanel } from './PythonControllerPanel';
 
-const noop=()=>{};
+const noop = () => {};
 
-describe('PythonControllerPanel',()=>{
+describe('PythonControllerPanel', () => {
-  it('向支持 command 的已启用控制器发送基本移动指令',()=>{
+  it('向支持 command 的已启用控制器发送基本移动指令', () => {
-    const onCommand=vi.fn();
+    const onCommand = vi.fn();
-    render(<PythonControllerPanel paths={[]} loading={false} status={{language:'python',path:'go2.py',name:'Go2',controlHz:200,loaded:true,enabled:true,acceptsCommands:true,activeCommand:'stop',lastStepMs:.1}} onSelectPath={noop} onLoadPath={noop} onImport={noop} onToggle={noop} onCommand={onCommand} onRemove={noop}/>);
+    render(
-    fireEvent.click(screen.getByRole('button',{name:'前进'}));
+      <PythonControllerPanel
-    fireEvent.click(screen.getByRole('button',{name:'左转'}));
+        paths={[]}
-    fireEvent.click(screen.getByRole('button',{name:'起跳'}));
+        loading={false}
-    expect(onCommand.mock.calls).toEqual([['forward'],['turn_left'],['jump']]);
+        status={{
-    expect(screen.getByRole('button',{name:'移动停止'})).toHaveAttribute('aria-pressed','true');
+          language: 'python',
+          path: 'go2.py',
+          name: 'Go2',
+          controlHz: 200,
+          loaded: true,
+          enabled: true,
+          acceptsCommands: true,
+          activeCommand: 'stop',
+          lastStepMs: 0.1,
+        }}
+        onSelectPath={noop}
+        onLoadPath={noop}
+        onImport={noop}
+        onToggle={noop}
+        onCommand={onCommand}
+        onRemove={noop}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '前进' }));
+    fireEvent.click(screen.getByRole('button', { name: '左转' }));
+    fireEvent.click(screen.getByRole('button', { name: '起跳' }));
+    expect(onCommand.mock.calls).toEqual([['forward'], ['turn_left'], ['jump']]);
+    expect(screen.getByRole('button', { name: '移动停止' })).toHaveAttribute(
+      'aria-pressed',
+      'true',
+    );
   });
 
-  it('控制器未启用时禁用基本移动按钮',()=>{
+  it('控制器未启用时禁用基本移动按钮', () => {
-    render(<PythonControllerPanel paths={[]} loading={false} status={{language:'python',path:'go2.py',name:'Go2',controlHz:200,loaded:true,enabled:false,acceptsCommands:true,lastStepMs:0}} onSelectPath={noop} onLoadPath={noop} onImport={noop} onToggle={noop} onCommand={noop} onRemove={noop}/>);
+    render(
-    expect(screen.getByRole('button',{name:'前进'})).toBeDisabled();
+      <PythonControllerPanel
-    expect(screen.getByRole('button',{name:'起跳'})).toBeDisabled();
+        paths={[]}
+        loading={false}
+        status={{
+          language: 'python',
+          path: 'go2.py',
+          name: 'Go2',
+          controlHz: 200,
+          loaded: true,
+          enabled: false,
+          acceptsCommands: true,
+          lastStepMs: 0,
+        }}
+        onSelectPath={noop}
+        onLoadPath={noop}
+        onImport={noop}
+        onToggle={noop}
+        onCommand={noop}
+        onRemove={noop}
+      />,
+    );
+    expect(screen.getByRole('button', { name: '前进' })).toBeDisabled();
+    expect(screen.getByRole('button', { name: '起跳' })).toBeDisabled();
   });
 });

web_platform/src/app/components/PythonControllerPanel.tsx

@@ -1,37 +1,184 @@
-import {useRef,type ChangeEvent} from 'react';
+import { useRef, type ChangeEvent } from 'react';
-import {ArrowDown,ArrowLeft,ArrowRight,ArrowUp,FileUp,Octagon,Power,RotateCw,Trash2} from 'lucide-react';
+import {
-import type {ControllerCommand,ControllerStatus} from '../../controller/types';
+  ArrowDown,
-import {Badge,Button,PropertyRow,Select} from '../../components/ui';
+  ArrowLeft,
+  ArrowRight,
+  ArrowUp,
+  FileUp,
+  Octagon,
+  Power,
+  RotateCw,
+  Trash2,
+} from 'lucide-react';
+import type { ControllerCommand, ControllerStatus } from '../../controller/types';
+import { Badge, Button, PropertyRow, Select } from '../../components/ui';
 
 export interface PythonControllerPanelProps {
-  paths:string[];
+  paths: string[];
-  selectedPath?:string;
+  selectedPath?: string;
-  status?:ControllerStatus;
+  status?: ControllerStatus;
-  loading:boolean;
+  loading: boolean;
-  onSelectPath(path:string):void;
+  onSelectPath(path: string): void;
-  onLoadPath(path:string):void;
+  onLoadPath(path: string): void;
-  onImport(file:File):void;
+  onImport(file: File): void;
-  onToggle(enabled:boolean):void;
+  onToggle(enabled: boolean): void;
-  onCommand(command:ControllerCommand):void;
+  onCommand(command: ControllerCommand): void;
-  onRemove():void;
+  onRemove(): void;
 }
 
-export function PythonControllerPanel({paths,selectedPath,status,loading,onSelectPath,onLoadPath,onImport,onToggle,onCommand,onRemove}:PythonControllerPanelProps){
+export function PythonControllerPanel({
-  const input=useRef<HTMLInputElement>(null);
+  paths,
-  const importFile=(event:ChangeEvent<HTMLInputElement>)=>{const file=event.target.files?.[0];if(file)onImport(file);event.target.value='';};
+  selectedPath,
-  return <div>
+  status,
-    <input ref={input} className="hidden" type="file" accept=".py,text/x-python" onChange={importFile}/>
+  loading,
-    {paths.length>0&&<label className="mb-3 block text-xs text-text-secondary"><span className="mb-1 block">工程内脚本</span><Select aria-label="Python 控制脚本" className="w-full" value={selectedPath??''} disabled={loading} onChange={event=>onSelectPath(event.target.value)}><option value="">选择 .py 文件</option>{paths.map(path=><option key={path} value={path}>{path}</option>)}</Select></label>}
+  onSelectPath,
-    <div className="grid grid-cols-2 gap-2">
+  onLoadPath,
-      <Button icon={<FileUp className="h-3.5 w-3.5"/>} disabled={loading} onClick={()=>input.current?.click()}>导入 .py</Button>
+  onImport,
-      <Button icon={<RotateCw className="h-3.5 w-3.5"/>} disabled={loading||!selectedPath} onClick={()=>selectedPath&&onLoadPath(selectedPath)}>加载脚本</Button>
+  onToggle,
+  onCommand,
+  onRemove,
+}: PythonControllerPanelProps) {
+  const input = useRef<HTMLInputElement>(null);
+  const importFile = (event: ChangeEvent<HTMLInputElement>) => {
+    const file = event.target.files?.[0];
+    if (file) onImport(file);
+    event.target.value = '';
+  };
+  return (
+    <div>
+      <input
+        ref={input}
+        className="hidden"
+        type="file"
+        accept=".py,text/x-python"
+        onChange={importFile}
+      />
+      {paths.length > 0 && (
+        <label className="mb-3 block text-xs text-text-secondary">
+          <span className="mb-1 block">工程内脚本</span>
+          <Select
+            aria-label="Python 控制脚本"
+            className="w-full"
+            value={selectedPath ?? ''}
+            disabled={loading}
+            onChange={(event) => onSelectPath(event.target.value)}
+          >
+            <option value="">选择 .py 文件</option>
+            {paths.map((path) => (
+              <option key={path} value={path}>
+                {path}
+              </option>
+            ))}
+          </Select>
+        </label>
+      )}
+      <div className="grid grid-cols-2 gap-2">
+        <Button
+          icon={<FileUp className="h-3.5 w-3.5" />}
+          disabled={loading}
+          onClick={() => input.current?.click()}
+        >
+          导入 .py
+        </Button>
+        <Button
+          icon={<RotateCw className="h-3.5 w-3.5" />}
+          disabled={loading || !selectedPath}
+          onClick={() => selectedPath && onLoadPath(selectedPath)}
+        >
+          加载脚本
+        </Button>
+      </div>
+      {status ? (
+        <div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+          <div className="mb-2 flex items-center justify-between gap-2">
+            <span className="truncate text-xs font-medium text-text-primary" title={status.path}>
+              {status.name}
+            </span>
+            <Badge>{status.enabled ? '运行中' : '已停止'}</Badge>
+          </div>
+          <PropertyRow label="语言" value="Python / Pyodide" />
+          <PropertyRow label="控制频率" value={`${status.controlHz} Hz`} />
+          <PropertyRow label="上次耗时" value={`${status.lastStepMs.toFixed(3)} ms`} />
+          {status.error && (
+            <p
+              role="alert"
+              className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger"
+            >
+              {status.error}
+            </p>
+          )}
+          {status.acceptsCommands && (
+            <div className="mt-3 border-t border-border pt-3">
+              <p className="mb-2 text-[10px] text-text-tertiary">基本移动指令</p>
+              <div className="grid grid-cols-3 gap-1.5">
+                <span />
+                <Button
+                  aria-pressed={status.activeCommand === 'forward'}
+                  disabled={!status.enabled}
+                  icon={<ArrowUp className="h-3.5 w-3.5" />}
+                  onClick={() => onCommand('forward')}
+                >
+                  前进
+                </Button>
+                <span />
+                <Button
+                  aria-pressed={status.activeCommand === 'turn_left'}
+                  disabled={!status.enabled}
+                  icon={<ArrowLeft className="h-3.5 w-3.5" />}
+                  onClick={() => onCommand('turn_left')}
+                >
+                  左转
+                </Button>
+                <Button
+                  aria-label="移动停止"
+                  aria-pressed={status.activeCommand === 'stop'}
+                  disabled={!status.enabled}
+                  icon={<Octagon className="h-3.5 w-3.5" />}
+                  onClick={() => onCommand('stop')}
+                >
+                  停止
+                </Button>
+                <Button
+                  aria-pressed={status.activeCommand === 'turn_right'}
+                  disabled={!status.enabled}
+                  icon={<ArrowRight className="h-3.5 w-3.5" />}
+                  onClick={() => onCommand('turn_right')}
+                >
+                  右转
+                </Button>
+                <span />
+                <Button
+                  aria-pressed={status.activeCommand === 'backward'}
+                  disabled={!status.enabled}
+                  icon={<ArrowDown className="h-3.5 w-3.5" />}
+                  onClick={() => onCommand('backward')}
+                >
+                  后退
+                </Button>
+                <Button disabled={!status.enabled} onClick={() => onCommand('jump')}>
+                  起跳
+                </Button>
+              </div>
+            </div>
+          )}
+          <div className="mt-3 grid grid-cols-2 gap-2">
+            <Button
+              variant={status.enabled ? 'secondary' : 'primary'}
+              icon={<Power className="h-3.5 w-3.5" />}
+              onClick={() => onToggle(!status.enabled)}
+            >
+              {status.enabled ? '停止' : '启用'}
+            </Button>
+            <Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5" />} onClick={onRemove}>
+              卸载
+            </Button>
+          </div>
+        </div>
+      ) : (
+        <p className="mt-3 text-xs leading-5 text-text-tertiary">
+          加载可信的单文件 Python 控制器。脚本在每次 mj_step 前按仿真时间同步执行，默认 100 Hz。
+        </p>
+      )}
     </div>
-    {status?<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+  );
-      <div className="mb-2 flex items-center justify-between gap-2"><span className="truncate text-xs font-medium text-text-primary" title={status.path}>{status.name}</span><Badge>{status.enabled?'运行中':'已停止'}</Badge></div>
-      <PropertyRow label="语言" value="Python / Pyodide"/><PropertyRow label="控制频率" value={`${status.controlHz} Hz`}/><PropertyRow label="上次耗时" value={`${status.lastStepMs.toFixed(3)} ms`}/>
-      {status.error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{status.error}</p>}
-      {status.acceptsCommands&&<div className="mt-3 border-t border-border pt-3"><p className="mb-2 text-[10px] text-text-tertiary">基本移动指令</p><div className="grid grid-cols-3 gap-1.5"><span/><Button aria-pressed={status.activeCommand==='forward'} disabled={!status.enabled} icon={<ArrowUp className="h-3.5 w-3.5"/>} onClick={()=>onCommand('forward')}>前进</Button><span/><Button aria-pressed={status.activeCommand==='turn_left'} disabled={!status.enabled} icon={<ArrowLeft className="h-3.5 w-3.5"/>} onClick={()=>onCommand('turn_left')}>左转</Button><Button aria-label="移动停止" aria-pressed={status.activeCommand==='stop'} disabled={!status.enabled} icon={<Octagon className="h-3.5 w-3.5"/>} onClick={()=>onCommand('stop')}>停止</Button><Button aria-pressed={status.activeCommand==='turn_right'} disabled={!status.enabled} icon={<ArrowRight className="h-3.5 w-3.5"/>} onClick={()=>onCommand('turn_right')}>右转</Button><span/><Button aria-pressed={status.activeCommand==='backward'} disabled={!status.enabled} icon={<ArrowDown className="h-3.5 w-3.5"/>} onClick={()=>onCommand('backward')}>后退</Button><Button disabled={!status.enabled} onClick={()=>onCommand('jump')}>起跳</Button></div></div>}
-      <div className="mt-3 grid grid-cols-2 gap-2"><Button variant={status.enabled?'secondary':'primary'} icon={<Power className="h-3.5 w-3.5"/>} onClick={()=>onToggle(!status.enabled)}>{status.enabled?'停止':'启用'}</Button><Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5"/>} onClick={onRemove}>卸载</Button></div>
-    </div>:<p className="mt-3 text-xs leading-5 text-text-tertiary">加载可信的单文件 Python 控制器。脚本在每次 mj_step 前按仿真时间同步执行，默认 100 Hz。</p>}
-  </div>;
 }

web_platform/src/app/components/RLPolicyPanel.tsx

@@ -1,30 +1,190 @@
-import {useRef,type ChangeEvent} from 'react';
+import { useRef, type ChangeEvent } from 'react';
-import {BrainCircuit,FileUp,Power,RotateCw,Trash2} from 'lucide-react';
+import { BrainCircuit, FileUp, Power, RotateCw, Trash2 } from 'lucide-react';
-import type {RLCommand,RLPolicyStatus} from '../../rl/types';
+import type { RLCommand, RLPolicyStatus } from '../../rl/types';
-import {Badge,Button,PropertyRow,Select} from '../../components/ui';
+import { Badge, Button, PropertyRow, Select } from '../../components/ui';
 
 export interface RLPolicyPanelProps {
-  paths:string[];selectedPath?:string;status?:RLPolicyStatus;loading:boolean;
+  paths: string[];
-  onSelectPath(path:string):void;onLoadPath(path:string):void;onImport(file:File):void;
+  selectedPath?: string;
-  onToggle(enabled:boolean):void;onCommand(command:RLCommand):void;onRemove():void;
+  status?: RLPolicyStatus;
+  loading: boolean;
+  onSelectPath(path: string): void;
+  onLoadPath(path: string): void;
+  onImport(file: File): void;
+  onToggle(enabled: boolean): void;
+  onCommand(command: RLCommand): void;
+  onRemove(): void;
 }
 
-export function RLPolicyPanel({paths,selectedPath,status,loading,onSelectPath,onLoadPath,onImport,onToggle,onCommand,onRemove}:RLPolicyPanelProps){
+export function RLPolicyPanel({
-  const input=useRef<HTMLInputElement>(null);
+  paths,
-  const importFile=(event:ChangeEvent<HTMLInputElement>)=>{const file=event.target.files?.[0];if(file)onImport(file);event.target.value='';};
+  selectedPath,
-  const command=status?.command??{linearX:0,linearY:0,angularZ:0};
+  status,
-  return <div>
+  loading,
-    <input ref={input} className="hidden" type="file" accept=".onnx,application/octet-stream" onChange={importFile}/>
+  onSelectPath,
-    {paths.length>0&&<label className="mb-3 block text-xs text-text-secondary"><span className="mb-1 block">工程内策略</span><Select aria-label="ONNX 策略" className="w-full" value={selectedPath??''} disabled={loading} onChange={event=>onSelectPath(event.target.value)}><option value="">选择 .onnx 文件</option>{paths.map(path=><option key={path} value={path}>{path}</option>)}</Select></label>}
+  onLoadPath,
-    <div className="grid grid-cols-2 gap-2"><Button icon={<FileUp className="h-3.5 w-3.5"/>} disabled={loading} onClick={()=>input.current?.click()}>导入 ONNX</Button><Button icon={<RotateCw className="h-3.5 w-3.5"/>} disabled={loading||!selectedPath} onClick={()=>selectedPath&&onLoadPath(selectedPath)}>加载策略</Button></div>
+  onImport,
-    {status?<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+  onToggle,
-      <div className="mb-2 flex items-center justify-between gap-2"><span className="flex min-w-0 items-center gap-1.5 truncate text-xs font-medium text-text-primary" title={status.path}><BrainCircuit className="h-3.5 w-3.5 shrink-0 text-accent"/>{status.taskName}</span><Badge>{status.enabled?'推理中':'已停止'}</Badge></div>
+  onCommand,
-      <PropertyRow label="控制频率" value={`${status.controlHz} Hz`}/><PropertyRow label="观测 / 动作" value={`${status.observationSize} / ${status.actionSize}`}/><PropertyRow label="推理次数" value={status.inferenceCount}/><PropertyRow label="上次推理" value={`${status.lastInferenceMs.toFixed(2)} ms`}/>
+  onRemove,
-      <div className="mt-3 border-t border-border pt-3"><p className="mb-2 text-[10px] text-text-tertiary">速度指令（机身坐标系）</p><CommandInput label="前向 m/s" value={command.linearX} min={-0.5} max={1} onChange={linearX=>onCommand({...command,linearX})}/><CommandInput label="侧向 m/s" value={command.linearY} min={-0.5} max={0.5} onChange={linearY=>onCommand({...command,linearY})}/><CommandInput label="偏航 rad/s" value={command.angularZ} min={-1} max={1} onChange={angularZ=>onCommand({...command,angularZ})}/><Button className="mt-1 w-full" onClick={()=>onCommand({linearX:0,linearY:0,angularZ:0})}>停止移动</Button></div>
+}: RLPolicyPanelProps) {
-      {status.error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{status.error}</p>}
+  const input = useRef<HTMLInputElement>(null);
-      <div className="mt-3 grid grid-cols-2 gap-2"><Button variant={status.enabled?'secondary':'primary'} icon={<Power className="h-3.5 w-3.5"/>} disabled={Boolean(status.error)} onClick={()=>onToggle(!status.enabled)}>{status.enabled?'停止':'启用'}</Button><Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5"/>} onClick={onRemove}>卸载</Button></div>
+  const importFile = (event: ChangeEvent<HTMLInputElement>) => {
-    </div>:<p className="mt-3 text-xs leading-5 text-text-tertiary">加载 mjlab 导出的单输入、单动作输出 policy.onnx。首个内置任务使用 47 维 Go2 actor 观测和 12 维腿部关节位置动作；Go2-W 轮电机保持零力矩。</p>}
+    const file = event.target.files?.[0];
-  </div>;
+    if (file) onImport(file);
+    event.target.value = '';
+  };
+  const command = status?.command ?? { linearX: 0, linearY: 0, angularZ: 0 };
+  return (
+    <div>
+      <input
+        ref={input}
+        className="hidden"
+        type="file"
+        accept=".onnx,application/octet-stream"
+        onChange={importFile}
+      />
+      {paths.length > 0 && (
+        <label className="mb-3 block text-xs text-text-secondary">
+          <span className="mb-1 block">工程内策略</span>
+          <Select
+            aria-label="ONNX 策略"
+            className="w-full"
+            value={selectedPath ?? ''}
+            disabled={loading}
+            onChange={(event) => onSelectPath(event.target.value)}
+          >
+            <option value="">选择 .onnx 文件</option>
+            {paths.map((path) => (
+              <option key={path} value={path}>
+                {path}
+              </option>
+            ))}
+          </Select>
+        </label>
+      )}
+      <div className="grid grid-cols-2 gap-2">
+        <Button
+          icon={<FileUp className="h-3.5 w-3.5" />}
+          disabled={loading}
+          onClick={() => input.current?.click()}
+        >
+          导入 ONNX
+        </Button>
+        <Button
+          icon={<RotateCw className="h-3.5 w-3.5" />}
+          disabled={loading || !selectedPath}
+          onClick={() => selectedPath && onLoadPath(selectedPath)}
+        >
+          加载策略
+        </Button>
+      </div>
+      {status ? (
+        <div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+          <div className="mb-2 flex items-center justify-between gap-2">
+            <span
+              className="flex min-w-0 items-center gap-1.5 truncate text-xs font-medium text-text-primary"
+              title={status.path}
+            >
+              <BrainCircuit className="h-3.5 w-3.5 shrink-0 text-accent" />
+              {status.taskName}
+            </span>
+            <Badge>{status.enabled ? '推理中' : '已停止'}</Badge>
+          </div>
+          <PropertyRow label="控制频率" value={`${status.controlHz} Hz`} />
+          <PropertyRow
+            label="观测 / 动作"
+            value={`${status.observationSize} / ${status.actionSize}`}
+          />
+          <PropertyRow label="推理次数" value={status.inferenceCount} />
+          <PropertyRow label="上次推理" value={`${status.lastInferenceMs.toFixed(2)} ms`} />
+          <div className="mt-3 border-t border-border pt-3">
+            <p className="mb-2 text-[10px] text-text-tertiary">速度指令（机身坐标系）</p>
+            <CommandInput
+              label="前向 m/s"
+              value={command.linearX}
+              min={-0.5}
+              max={1}
+              onChange={(linearX) => onCommand({ ...command, linearX })}
+            />
+            <CommandInput
+              label="侧向 m/s"
+              value={command.linearY}
+              min={-0.5}
+              max={0.5}
+              onChange={(linearY) => onCommand({ ...command, linearY })}
+            />
+            <CommandInput
+              label="偏航 rad/s"
+              value={command.angularZ}
+              min={-1}
+              max={1}
+              onChange={(angularZ) => onCommand({ ...command, angularZ })}
+            />
+            <Button
+              className="mt-1 w-full"
+              onClick={() => onCommand({ linearX: 0, linearY: 0, angularZ: 0 })}
+            >
+              停止移动
+            </Button>
+          </div>
+          {status.error && (
+            <p
+              role="alert"
+              className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger"
+            >
+              {status.error}
+            </p>
+          )}
+          <div className="mt-3 grid grid-cols-2 gap-2">
+            <Button
+              variant={status.enabled ? 'secondary' : 'primary'}
+              icon={<Power className="h-3.5 w-3.5" />}
+              disabled={Boolean(status.error)}
+              onClick={() => onToggle(!status.enabled)}
+            >
+              {status.enabled ? '停止' : '启用'}
+            </Button>
+            <Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5" />} onClick={onRemove}>
+              卸载
+            </Button>
+          </div>
+        </div>
+      ) : (
+        <p className="mt-3 text-xs leading-5 text-text-tertiary">
+          加载 mjlab 导出的单输入、单动作输出 policy.onnx。首个内置任务使用 47 维 Go2 actor 观测和
+          12 维腿部关节位置动作；Go2-W 轮电机保持零力矩。
+        </p>
+      )}
+    </div>
+  );
 }
 
-function CommandInput({label,value,min,max,onChange}:{label:string;value:number;min:number;max:number;onChange(value:number):void}){return <label className="mb-2 grid grid-cols-[1fr_72px] items-center gap-2 text-[10px] text-text-tertiary"><span>{label}</span><input className="field h-7 w-full px-2 text-right text-xs text-text-primary" type="number" step="0.05" min={min} max={max} value={value} onChange={event=>onChange(Number(event.target.value))}/></label>;}
+function CommandInput({
+  label,
+  value,
+  min,
+  max,
+  onChange,
+}: {
+  label: string;
+  value: number;
+  min: number;
+  max: number;
+  onChange(value: number): void;
+}) {
+  return (
+    <label className="mb-2 grid grid-cols-[1fr_72px] items-center gap-2 text-[10px] text-text-tertiary">
+      <span>{label}</span>
+      <input
+        className="field h-7 w-full px-2 text-right text-xs text-text-primary"
+        type="number"
+        step="0.05"
+        min={min}
+        max={max}
+        value={value}
+        onChange={(event) => onChange(Number(event.target.value))}
+      />
+    </label>
+  );
+}

web_platform/src/app/components/SecondBatchComponents.test.tsx

@@ -1,15 +1,62 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {ShortcutHelpDialog} from './ShortcutHelpDialog';
+import { ShortcutHelpDialog } from './ShortcutHelpDialog';
-import {TreeSearchField} from './TreeSearchField';
+import { TreeSearchField } from './TreeSearchField';
-import {ViewportHUD} from './ViewportHUD';
+import { ViewportHUD } from './ViewportHUD';
-import {EmptyWorkspace} from './WorkspaceOverlays';
+import { EmptyWorkspace } from './WorkspaceOverlays';
-import {ViewerDisplayPopover} from './ViewerDisplayPopover';
+import { ViewerDisplayPopover } from './ViewerDisplayPopover';
-import {DEFAULT_VIEWER_DISPLAY_OPTIONS} from '../../viewer/displayOptions';
+import { DEFAULT_VIEWER_DISPLAY_OPTIONS } from '../../viewer/displayOptions';
 
-describe('第二批工作台组件',()=>{
+describe('第二批工作台组件', () => {
-  it('搜索框发送内容并可清除',()=>{const change=vi.fn();const {rerender}=render(<TreeSearchField value="" onChange={change}/>);fireEvent.change(screen.getByRole('searchbox'),{target:{value:'arm'}});expect(change).toHaveBeenCalledWith('arm');rerender(<TreeSearchField value="arm" resultCount={2} onChange={change}/>);expect(screen.getByRole('status')).toHaveTextContent('找到 2 个匹配项');fireEvent.click(screen.getByRole('button',{name:'清除搜索'}));expect(change).toHaveBeenLastCalledWith('');});
+  it('搜索框发送内容并可清除', () => {
-  it('快捷键帮助展示说明并支持 Escape',()=>{const close=vi.fn();render(<ShortcutHelpDialog open onClose={close}/>);expect(screen.getByRole('dialog',{name:'快捷键与视口操作'})).toBeVisible();expect(screen.getByText('播放 / 暂停')).toBeVisible();fireEvent.keyDown(document,{key:'Escape'});expect(close).toHaveBeenCalledTimes(1);});
+    const change = vi.fn();
-  it('视口 HUD 复用状态并给出当前模式的鼠标提示',()=>{render(<ViewportHUD ready paused={false} mode="joint" selection={{bodyId:2,bodyName:'arm',geomId:3,geomType:1,position:[0,0,0]}}/>);expect(screen.getByLabelText('视口状态')).toHaveTextContent('仿真中');expect(screen.getByLabelText('视口状态')).toHaveTextContent('关节拖动');expect(screen.getByLabelText('视口状态')).toHaveTextContent('arm');expect(screen.getByLabelText('视口操作提示')).toHaveTextContent('左键拖动关节');expect(screen.getByLabelText('视口操作提示')).toHaveTextContent('右键平移');});
+    const { rerender } = render(<TreeSearchField value="" onChange={change} />);
-  it('空工作区解释导入到仿真的三步流程',()=>{render(<EmptyWorkspace/>);expect(screen.getByRole('region',{name:'导入模型工程'})).toBeVisible();expect(screen.getByRole('list',{name:'仿真工作流程'})).toHaveTextContent('导入');expect(screen.getByRole('list',{name:'仿真工作流程'})).toHaveTextContent('检查与配置');expect(screen.getByRole('list',{name:'仿真工作流程'})).toHaveTextContent('运行与调试');expect(screen.getByText('模型与资源仅在当前浏览器会话中处理')).toBeVisible();});
+    fireEvent.change(screen.getByRole('searchbox'), { target: { value: 'arm' } });
-  it('显示浮窗切换碰撞体和结构辅助标记',()=>{const change=vi.fn();render(<ViewerDisplayPopover value={{...DEFAULT_VIEWER_DISPLAY_OPTIONS}} onChange={change}/>);fireEvent.click(screen.getByRole('button',{name:'显示设置'}));expect(screen.getByRole('dialog',{name:'视图显示设置'})).toBeVisible();expect(screen.getAllByRole('switch')).toHaveLength(7);fireEvent.click(screen.getByRole('switch',{name:/碰撞体/}));expect(change).toHaveBeenCalledWith({...DEFAULT_VIEWER_DISPLAY_OPTIONS,showCollision:true});});
+    expect(change).toHaveBeenCalledWith('arm');
+    rerender(<TreeSearchField value="arm" resultCount={2} onChange={change} />);
+    expect(screen.getByRole('status')).toHaveTextContent('找到 2 个匹配项');
+    fireEvent.click(screen.getByRole('button', { name: '清除搜索' }));
+    expect(change).toHaveBeenLastCalledWith('');
+  });
+  it('快捷键帮助展示说明并支持 Escape', () => {
+    const close = vi.fn();
+    render(<ShortcutHelpDialog open onClose={close} />);
+    expect(screen.getByRole('dialog', { name: '快捷键与视口操作' })).toBeVisible();
+    expect(screen.getByText('播放 / 暂停')).toBeVisible();
+    fireEvent.keyDown(document, { key: 'Escape' });
+    expect(close).toHaveBeenCalledTimes(1);
+  });
+  it('视口 HUD 复用状态并给出当前模式的鼠标提示', () => {
+    render(
+      <ViewportHUD
+        ready
+        paused={false}
+        mode="joint"
+        selection={{ bodyId: 2, bodyName: 'arm', geomId: 3, geomType: 1, position: [0, 0, 0] }}
+      />,
+    );
+    expect(screen.getByLabelText('视口状态')).toHaveTextContent('仿真中');
+    expect(screen.getByLabelText('视口状态')).toHaveTextContent('关节拖动');
+    expect(screen.getByLabelText('视口状态')).toHaveTextContent('arm');
+    expect(screen.getByLabelText('视口操作提示')).toHaveTextContent('左键拖动关节');
+    expect(screen.getByLabelText('视口操作提示')).toHaveTextContent('右键平移');
+  });
+  it('空工作区解释导入到仿真的三步流程', () => {
+    render(<EmptyWorkspace />);
+    expect(screen.getByRole('region', { name: '导入模型工程' })).toBeVisible();
+    expect(screen.getByRole('list', { name: '仿真工作流程' })).toHaveTextContent('导入');
+    expect(screen.getByRole('list', { name: '仿真工作流程' })).toHaveTextContent('检查与配置');
+    expect(screen.getByRole('list', { name: '仿真工作流程' })).toHaveTextContent('运行与调试');
+    expect(screen.getByText('模型与资源仅在当前浏览器会话中处理')).toBeVisible();
+  });
+  it('显示浮窗切换碰撞体和结构辅助标记', () => {
+    const change = vi.fn();
+    render(
+      <ViewerDisplayPopover value={{ ...DEFAULT_VIEWER_DISPLAY_OPTIONS }} onChange={change} />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '显示设置' }));
+    expect(screen.getByRole('dialog', { name: '视图显示设置' })).toBeVisible();
+    expect(screen.getAllByRole('switch')).toHaveLength(7);
+    fireEvent.click(screen.getByRole('switch', { name: /碰撞体/ }));
+    expect(change).toHaveBeenCalledWith({ ...DEFAULT_VIEWER_DISPLAY_OPTIONS, showCollision: true });
+  });
 });

web_platform/src/app/components/SettingsDialog.tsx

@@ -1,3 +1,106 @@
-import {Dialog,PropertyRow,Select} from '../../components/ui';
+import { Dialog, PropertyRow, Select } from '../../components/ui';
-export function SettingsDialog({open,onClose,theme,angleUnit,showCollision,jointAdvanced,forceScale,onTheme,onAngleUnit,onShowCollision,onJointAdvanced,onForceScale}:{open:boolean;onClose:()=>void;theme:'light'|'dark';angleUnit:'rad'|'deg';showCollision:boolean;jointAdvanced:boolean;forceScale:number;onTheme:(value:'light'|'dark')=>void;onAngleUnit:(value:'rad'|'deg')=>void;onShowCollision:(value:boolean)=>void;onJointAdvanced:(value:boolean)=>void;onForceScale:(value:number)=>void}){return <Dialog open={open} onClose={onClose} title="工作台设置"><div className="space-y-4"><section><h3 className="mb-2 text-xs font-semibold">外观</h3><PropertyRow label="主题" value={<Select aria-label="设置主题" value={theme} onChange={event=>onTheme(event.target.value as 'light'|'dark')}><option value="dark">黑夜</option><option value="light">白天</option></Select>}/></section><section><h3 className="mb-2 text-xs font-semibold">模型与控制</h3><PropertyRow label="角度单位" value={<Select aria-label="设置角度单位" value={angleUnit} onChange={event=>onAngleUnit(event.target.value as 'rad'|'deg')}><option value="rad">弧度</option><option value="deg">角度</option></Select>}/><Check label="显示碰撞几何" checked={showCollision} onChange={onShowCollision}/><Check label="关节高级信息" checked={jointAdvanced} onChange={onJointAdvanced}/><label className="mt-3 block text-xs text-text-tertiary"><span className="mb-1 flex justify-between"><span>外力强度</span><output>{forceScale.toFixed(0)} N</output></span><input aria-label="设置外力强度" type="range" min={5} max={200} value={forceScale} onChange={event=>onForceScale(Number(event.target.value))} className="control-slider"/></label></section></div></Dialog>;}
+export function SettingsDialog({
-function Check({label,checked,onChange}:{label:string;checked:boolean;onChange:(value:boolean)=>void}){return <label className="mt-2 flex items-center justify-between text-xs text-text-tertiary"><span>{label}</span><input type="checkbox" aria-label={label} checked={checked} onChange={event=>onChange(event.target.checked)} className="accent-accent focus-visible:ring-2 focus-visible:ring-accent/30"/></label>;}
+  open,
+  onClose,
+  theme,
+  angleUnit,
+  showCollision,
+  jointAdvanced,
+  forceScale,
+  onTheme,
+  onAngleUnit,
+  onShowCollision,
+  onJointAdvanced,
+  onForceScale,
+}: {
+  open: boolean;
+  onClose: () => void;
+  theme: 'light' | 'dark';
+  angleUnit: 'rad' | 'deg';
+  showCollision: boolean;
+  jointAdvanced: boolean;
+  forceScale: number;
+  onTheme: (value: 'light' | 'dark') => void;
+  onAngleUnit: (value: 'rad' | 'deg') => void;
+  onShowCollision: (value: boolean) => void;
+  onJointAdvanced: (value: boolean) => void;
+  onForceScale: (value: number) => void;
+}) {
+  return (
+    <Dialog open={open} onClose={onClose} title="工作台设置">
+      <div className="space-y-4">
+        <section>
+          <h3 className="mb-2 text-xs font-semibold">外观</h3>
+          <PropertyRow
+            label="主题"
+            value={
+              <Select
+                aria-label="设置主题"
+                value={theme}
+                onChange={(event) => onTheme(event.target.value as 'light' | 'dark')}
+              >
+                <option value="dark">黑夜</option>
+                <option value="light">白天</option>
+              </Select>
+            }
+          />
+        </section>
+        <section>
+          <h3 className="mb-2 text-xs font-semibold">模型与控制</h3>
+          <PropertyRow
+            label="角度单位"
+            value={
+              <Select
+                aria-label="设置角度单位"
+                value={angleUnit}
+                onChange={(event) => onAngleUnit(event.target.value as 'rad' | 'deg')}
+              >
+                <option value="rad">弧度</option>
+                <option value="deg">角度</option>
+              </Select>
+            }
+          />
+          <Check label="显示碰撞几何" checked={showCollision} onChange={onShowCollision} />
+          <Check label="关节高级信息" checked={jointAdvanced} onChange={onJointAdvanced} />
+          <label className="mt-3 block text-xs text-text-tertiary">
+            <span className="mb-1 flex justify-between">
+              <span>外力强度</span>
+              <output>{forceScale.toFixed(0)} N</output>
+            </span>
+            <input
+              aria-label="设置外力强度"
+              type="range"
+              min={5}
+              max={200}
+              value={forceScale}
+              onChange={(event) => onForceScale(Number(event.target.value))}
+              className="control-slider"
+            />
+          </label>
+        </section>
+      </div>
+    </Dialog>
+  );
+}
+function Check({
+  label,
+  checked,
+  onChange,
+}: {
+  label: string;
+  checked: boolean;
+  onChange: (value: boolean) => void;
+}) {
+  return (
+    <label className="mt-2 flex items-center justify-between text-xs text-text-tertiary">
+      <span>{label}</span>
+      <input
+        type="checkbox"
+        aria-label={label}
+        checked={checked}
+        onChange={(event) => onChange(event.target.checked)}
+        className="accent-accent focus-visible:ring-2 focus-visible:ring-accent/30"
+      />
+    </label>
+  );
+}

web_platform/src/app/components/ShortcutHelpDialog.tsx

@@ -1,3 +1,37 @@
-import {Dialog,Kbd,Separator} from '../../components/ui';
+import { Dialog, Kbd, Separator } from '../../components/ui';
-const shortcuts=[['Space','播放 / 暂停'],['R','重置仿真'],['1','选择模式'],['2','关节拖动'],['3','外力施加']];
+const shortcuts = [
-export function ShortcutHelpDialog({open,onClose}:{open:boolean;onClose:()=>void}){return <Dialog open={open} onClose={onClose} title="快捷键与视口操作"><section><h3 className="mb-2 text-xs font-semibold text-text-primary">键盘快捷键</h3><dl className="space-y-2">{shortcuts.map(([key,label])=><div key={key} className="flex items-center justify-between text-xs"><dt className="text-text-secondary">{label}</dt><dd><Kbd>{key}</Kbd></dd></div>)}</dl></section><Separator className="my-4"/><section><h3 className="mb-2 text-xs font-semibold text-text-primary">鼠标操作</h3><ul className="space-y-1.5 text-xs text-text-secondary"><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></ul></section></Dialog>;}
+  ['Space', '播放 / 暂停'],
+  ['R', '重置仿真'],
+  ['1', '选择模式'],
+  ['2', '关节拖动'],
+  ['3', '外力施加'],
+];
+export function ShortcutHelpDialog({ open, onClose }: { open: boolean; onClose: () => void }) {
+  return (
+    <Dialog open={open} onClose={onClose} title="快捷键与视口操作">
+      <section>
+        <h3 className="mb-2 text-xs font-semibold text-text-primary">键盘快捷键</h3>
+        <dl className="space-y-2">
+          {shortcuts.map(([key, label]) => (
+            <div key={key} className="flex items-center justify-between text-xs">
+              <dt className="text-text-secondary">{label}</dt>
+              <dd>
+                <Kbd>{key}</Kbd>
+              </dd>
+            </div>
+          ))}
+        </dl>
+      </section>
+      <Separator className="my-4" />
+      <section>
+        <h3 className="mb-2 text-xs font-semibold text-text-primary">鼠标操作</h3>
+        <ul className="space-y-1.5 text-xs text-text-secondary">
+          <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>
+        </ul>
+      </section>
+    </Dialog>
+  );
+}

web_platform/src/app/components/SidebarPanel.tsx

@@ -1,67 +1,913 @@
-import {useState,type ReactNode} from 'react';
+import { useState, type ReactNode } from 'react';
-import {Box,FolderTree,Info,Settings2,SlidersHorizontal} from 'lucide-react';
+import {
-import type {ModelEntry} from '../../project/types';
+  Box,
-import {countProjectSearchResults,ProjectTree,type ProjectTreeFile} from '../../project/ProjectTree';
+  Database,
-import {countModelStructureSearchResults,ModelStructureTree} from '../../project/ModelStructureTree';
+  FolderTree,
-import type {ActuatorInfo,ActuatorParameters,SimulationSnapshot} from '../../simulation/SimulationSession';
+  Info,
-import type {UrdfBaseMode,UrdfLoadMode} from '../../simulation/PhysicsAdapter';
+  Map as MapIcon,
-import type {ViewerSelection} from '../../viewer/MuJoCoViewer';
+  Settings2,
-import type {ControllerCommand,ControllerStatus} from '../../controller/types';
+  SlidersHorizontal,
-import type {RLCommand,RLPolicyStatus} from '../../rl/types';
+} from 'lucide-react';
-import {Badge,Button,CollapsibleSection,CopyButton,PropertyRow,ResizablePanel,Select,Tabs} from '../../components/ui';
+import type { MapEntry, ModelEntry } from '../../project/types';
-import {TreeSearchField} from './TreeSearchField';
+import {
-import {ProjectBreadcrumb} from './ProjectBreadcrumb';
+  countProjectSearchResults,
-import {PythonControllerPanel} from './PythonControllerPanel';
+  ProjectTree,
-import {RLPolicyPanel} from './RLPolicyPanel';
+  type ProjectTreeFile,
-import {LocalTrainingPanel} from './LocalTrainingPanel';
+} 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';
 
-export function SidebarPanel({title,side,children,visible=true}:{title:string;side:'left'|'right';children:ReactNode;visible?:boolean}){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 px-3 text-sm font-semibold text-text-primary"><Settings2 aria-hidden="true" className="h-4 w-4 text-accent"/>{title}</h2>{children}</aside></ResizablePanel>;}
+export function SidebarPanel({
-
+  title,
-export function ProjectSidebar({projectName,files,entries,selectedEntry,snapshot,loading,visible=true,onRemove,onSelectEntry,onJointHover}:{projectName?:string;files:ProjectTreeFile[];entries:ModelEntry[];selectedEntry?:string;snapshot?:SimulationSnapshot;loading:boolean;visible?:boolean;onRemove:()=>void;onSelectEntry:(path:string)=>void;onJointHover:(jointId:number|null)=>void}){const [tab,setTab]=useState<'project'|'structure'>('project'),[fileQuery,setFileQuery]=useState(''),[structureQuery,setStructureQuery]=useState('');const fileMatches=countProjectSearchResults(files,fileQuery),structureMatches=snapshot?countModelStructureSearchResults(snapshot.bodies,snapshot.joints,structureQuery):0;return <SidebarPanel title="工程资源" 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={setTab} 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>}]}/></>:<div className="p-4 text-center text-sm text-text-tertiary">导入模型后显示工程资源</div>}</SidebarPanel>;}
+  side,
-
+  children,
-interface ModelControlsProps{
+  visible = true,
-  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;
+  title: string;
-  controllerPaths:string[];selectedControllerPath?:string;controllerStatus?:ControllerStatus;
+  side: 'left' | 'right';
-  policyPaths:string[];selectedPolicyPath?:string;policyStatus?:RLPolicyStatus;
+  children: ReactNode;
-  onUrdfMode:(value:UrdfLoadMode)=>void;onBaseMode:(value:UrdfBaseMode)=>void;onShowCollision:(value:boolean)=>void;
+  visible?: boolean;
-  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;
+  return (
-  onSelectControllerPath:(path:string)=>void;onLoadControllerPath:(path:string)=>void;onImportController:(file:File)=>void;onToggleController:(enabled:boolean)=>void;onControllerCommand:(command:ControllerCommand)=>void;onRemoveController:()=>void;
+    <ResizablePanel side={side} storageKey={`mujoco-${side}-sidebar-width`} visible={visible}>
-  onSelectPolicyPath:(path:string)=>void;onLoadPolicyPath:(path:string)=>void;onImportPolicy:(file:File)=>void;onTogglePolicy:(enabled:boolean)=>void;onPolicyCommand:(command:RLCommand)=>void;onRemovePolicy:()=>void;
+      <aside
-}
+        className={`flex h-full w-full min-w-0 flex-col overflow-hidden bg-panel ${side === 'left' ? 'border-r' : 'border-l'} border-border`}
-export function ModelControlsSidebar(props:ModelControlsProps){const [tab,setTab]=useState<'properties'|'controls'>('properties'),s=props.snapshot;if(!s)return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><div className="p-4 text-sm text-text-tertiary">导入模型后显示属性</div></SidebarPanel>;
+      >
-  const properties=<><CollapsibleSection title="模型信息" defaultOpen badge={<Badge>{s.model.nbody} Body</Badge>}><div><PropertyRow label="Body" value={s.model.nbody}/><PropertyRow label="Joint" value={s.model.njnt}/><PropertyRow label="Geom" value={s.model.ngeom}/><PropertyRow label="Actuator" value={s.model.nactuator}/><PropertyRow label="qpos / qvel" value={`${s.model.nq} / ${s.model.nv}`}/></div></CollapsibleSection>
+        <h2 className="flex h-10 shrink-0 items-center gap-2 border-b border-border bg-panel/95 px-3 text-sm font-semibold tracking-tight text-text-primary">
-  {props.selectedFormat==='urdf'&&<CollapsibleSection title="URDF 处理方式" defaultOpen={false}><Select aria-label="URDF 处理方式" className="w-full" value={props.urdfMode} disabled={props.loading} onChange={event=>props.onUrdfMode(event.target.value as UrdfLoadMode)}><option value="mjcf">转换为 MJCF（推荐）</option><option value="native">MuJoCo 原生 URDF</option></Select><label className="mt-3 block text-xs text-text-secondary"><span className="mb-1 block">基座类型</span><Select aria-label="URDF 基座类型" className="w-full" value={props.baseMode} disabled={props.loading||props.urdfMode==='native'} onChange={event=>props.onBaseMode(event.target.value as UrdfBaseMode)}><option value="floating">浮动基座（Free Joint）</option><option value="fixed">固定基座（连接世界）</option></Select></label><p className="mt-2 text-xs text-text-tertiary">MJCF 模式保留 visual mesh、添加物理地面，并将模型最低点对齐到 z=0。</p><Check label="显示碰撞几何" checked={props.showCollision} onChange={props.onShowCollision}/></CollapsibleSection>}
+          <span className="grid h-6 w-6 place-items-center rounded-md bg-accent-soft text-accent">
-  <CollapsibleSection title="当前选择" defaultOpen>{props.selection?<div className="text-xs"><PropertyRow label="Body" value={props.selection.bodyName} action={<CopyButton value={props.selection.bodyName} label="复制 Body 名称"/>}/><PropertyRow label="标识" value={`${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></>;
+            <Settings2 aria-hidden="true" className="h-3.5 w-3.5" />
-  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>
+          </span>
-  <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}${joint.editable?'':'（只读）'}`} value={joint.value*scale} min={joint.min*scale} max={joint.max*scale} unit={unit} advanced={props.jointAdvanced} limited={joint.limited} limitsIgnored={joint.limitsIgnored} limitMin={joint.limitMin*scale} limitMax={joint.limitMax*scale} disabled={!joint.editable} onChange={value=>props.onJoint(joint.id,value/scale)}/>;})}</CollapsibleSection>
+          {title}
-  <CollapsibleSection title="外力强度" defaultOpen={false}><ControlSlider label={`${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></>;
+        </h2>
-  return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><Tabs label="模型控制侧栏" value={tab} onValueChange={setTab} 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}]}/></SidebarPanel>;
+        {children}
+      </aside>
+    </ResizablePanel>
+  );
 }
 
-export function ActuatorControl({actuator,onControl,onParameters}:{actuator:ActuatorInfo;onControl:(value:number)=>void;onParameters:(parameters:ActuatorParameters)=>void}){
+export function ProjectSidebar({
-  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;
+  projectName,
-  const clampForce=(value:number)=>actuator.forceLimited?Math.min(actuator.forceMax,Math.max(actuator.forceMin,value)):value,physicalScale=actuator.gear*actuator.gain;
+  files,
-  const forceA=clampForce(actuator.min*actuator.gain)*actuator.gear,forceB=clampForce(actuator.max*actuator.gain)*actuator.gear;
+  entries,
-  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);
+  selectedEntry,
-  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);
+  snapshot,
-  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';
+  loading,
-  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);
+  visible = true,
-  const update=(patch:Partial<ActuatorParameters>)=>onParameters({...actuator,...patch}),controlLabel=isPosition?(actuator.jointType===3?'角度':'位置'):'控制',gearSquared=actuator.gear*actuator.gear;
+  nativeUrdf,
-  return <div className="mb-3 rounded-lg border border-border bg-surface p-2.5">
+  mapSelection,
-    <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>
+  editorDocument,
-    {actuator.controlCount===1?<ControlSlider label={outputLabel} value={outputValue} min={outputMin} max={outputMax} disabled={outputDisabled} unit={actuator.unit?` ${actuator.unit}`:''} onChange={value=>{if(outputDisabled)return;onControl(isMotor?value/physicalScale:value/targetScale);}}/>:<p className="mb-2 text-[10px] leading-4 text-text-tertiary">该驱动器包含 {actuator.controlCount} 个控制分量，请在 MJCF 源码或专用控制器中设置。</p>}
+  activeTab,
-    {actuator.controlCount===1&&!actuator.ctrlLimited&&<div className="mb-2"><ParameterInput label={`${controlLabel}输入（不限幅）`} value={actuator.value*targetScale} onCommit={value=>onControl(value/targetScale)}/></div>}
+  onActiveTabChange,
-    {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>
+  onRemove,
-      <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>
+  onSelectEntry,
-      <ParameterToggle label={`限制输出${actuator.jointType===3?'力矩':'力'}${forceUnit?`（${forceUnit}）`:''}`} checked={actuator.forceLimited} onChange={forceLimited=>update({forceLimited})}/>
+  onJointHover,
-      <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>
+  onAddMapAsset,
-      <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>
+  onSelectTerrain,
-    </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>}
+  onSelectMapObject,
-  </div>;
+}: {
+  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>
+  );
 }
-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||.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/app/components/SourceEditorDialog.tsx

@@ -1,29 +1,248 @@
 import './monacoSetup';
 import Editor from '@monaco-editor/react';
-import {useCallback,useEffect,useRef,useState,type PointerEvent as ReactPointerEvent} from 'react';
+import {
-import {Check,Code2,Copy,Download,Maximize2,Minimize2,Save,X} from 'lucide-react';
+  useCallback,
-import {downloadBytes} from '../../project/cachedFiles';
+  useEffect,
-import {Button,ConfirmDialog,IconButton} from '../../components/ui';
+  useRef,
+  useState,
+  type PointerEvent as ReactPointerEvent,
+} from 'react';
+import { Check, Code2, Copy, Download, Maximize2, Minimize2, Save, X } from 'lucide-react';
+import { downloadBytes } from '../../project/cachedFiles';
+import { Button, ConfirmDialog, IconButton } from '../../components/ui';
 
-function basename(path:string):string{return path.split('/').at(-1)??path;}
+function basename(path: string): string {
-function contentSize(content:string):string{const bytes=new Blob([content]).size;return bytes<1024?`${bytes} B`:`${(bytes/1024).toFixed(1)} KB`;}
+  return path.split('/').at(-1) ?? path;
-function xmlProblem(code:string):string|undefined{const document=new DOMParser().parseFromString(code,'application/xml'),error=document.querySelector('parsererror');return error?.textContent?.split('\n')[0]||undefined;}
+}
-
+function contentSize(content: string): string {
-export function SourceEditorDialog({open,code:sourceCode,filePath,theme,onClose,onSave}:{open:boolean;code:string;filePath:string;theme:'light'|'dark';onClose:()=>void;onSave:(path:string,text:string)=>void|Promise<void>}){
+  const bytes = new Blob([content]).size;
-  const [code,setCode]=useState(sourceCode),[savedCode,setSavedCode]=useState(sourceCode),[saving,setSaving]=useState(false),[copied,setCopied]=useState(false),[maximized,setMaximized]=useState(false),[discardOpen,setDiscardOpen]=useState(false),[position,setPosition]=useState(()=>({x:Math.max(24,(window.innerWidth-900)/2),y:Math.max(52,(window.innerHeight-650)/2)}));
+  return bytes < 1024 ? `${bytes} B` : `${(bytes / 1024).toFixed(1)} KB`;
-  const drag=useRef<{x:number;y:number;left:number;top:number}|null>(null),dialog=useRef<HTMLElement>(null),previousFocus=useRef<HTMLElement|null>(null),dirty=code!==savedCode,problem=xmlProblem(code);
+}
-  const requestClose=useCallback(()=>{if(dirty)setDiscardOpen(true);else onClose();},[dirty,onClose]);
+function xmlProblem(code: string): string | undefined {
-  const save=useCallback(async()=>{if(!dirty||problem)return;setSaving(true);try{await onSave(filePath,code);setSavedCode(code);}finally{setSaving(false);}},[code,dirty,filePath,onSave,problem]);
+  const document = new DOMParser().parseFromString(code, 'application/xml'),
-  useEffect(()=>{if(!open)return;previousFocus.current=document.activeElement instanceof HTMLElement?document.activeElement:null;requestAnimationFrame(()=>dialog.current?.focus());return()=>{if(previousFocus.current&&document.contains(previousFocus.current))previousFocus.current.focus();};},[open]);
+    error = document.querySelector('parsererror');
-  useEffect(()=>{const key=(event:KeyboardEvent)=>{if(discardOpen)return;if((event.ctrlKey||event.metaKey)&&event.key.toLowerCase()==='s'&&dirty&&!problem){event.preventDefault();void save();}else if(event.key==='Escape'){event.preventDefault();requestClose();}};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);},[dirty,discardOpen,problem,requestClose,save]);
+  return error?.textContent?.split('\n')[0] || undefined;
-  const copy=async()=>{await navigator.clipboard.writeText(code);setCopied(true);window.setTimeout(()=>setCopied(false),1500);};
+}
-  const download=()=>downloadBytes(new TextEncoder().encode(code),basename(filePath),'application/xml');
+
-  const pointerDown=(event:ReactPointerEvent)=>{if(maximized||event.button!==0||(event.target as HTMLElement).closest('button'))return;drag.current={x:event.clientX,y:event.clientY,left:position.x,top:position.y};event.currentTarget.setPointerCapture(event.pointerId);};
+export function SourceEditorDialog({
-  const pointerMove=(event:ReactPointerEvent)=>{if(!drag.current)return;setPosition({x:Math.min(window.innerWidth-120,Math.max(-780,drag.current.left+event.clientX-drag.current.x)),y:Math.min(window.innerHeight-48,Math.max(0,drag.current.top+event.clientY-drag.current.y))});};
+  open,
-  if(!open)return null;
+  code: sourceCode,
-  return <><div className="fixed inset-0 z-[390] pointer-events-none" role="presentation"><section ref={dialog} tabIndex={-1} role="dialog" aria-modal="false" aria-label="转换后的 MJCF 编辑器" style={maximized?undefined:{left:position.x,top:position.y,width:900,height:650}} className={`source-editor-window pointer-events-auto fixed flex min-h-[360px] min-w-[520px] flex-col overflow-hidden border border-border-strong bg-panel shadow-2xl ${maximized?'inset-0 h-full w-full':'resize'}`}>
+  filePath,
-    <header className="flex h-11 shrink-0 cursor-move select-none items-center gap-3 border-b border-border bg-surface px-3" onPointerDown={pointerDown} onPointerMove={pointerMove} onPointerUp={()=>{drag.current=null;}} onDoubleClick={()=>setMaximized(value=>!value)}><Code2 className="h-4 w-4 shrink-0 text-accent"/><div className="min-w-0 flex-1"><div className="truncate font-mono text-xs font-semibold text-text-primary">转换后的 MJCF</div><div className="truncate font-mono text-[9px] text-text-tertiary" title={filePath}>{filePath}</div></div><span className="text-[10px] text-text-tertiary">{contentSize(code)}</span><span className="rounded bg-accent-soft px-1.5 py-0.5 text-[9px] font-semibold text-accent">缓存文件 · 可编辑</span>{dirty&&<span className="rounded bg-warning-soft px-1.5 py-0.5 text-[9px] font-semibold text-warning">已修改</span>}<Button variant="primary" icon={<Save className="h-3 w-3"/>} disabled={!dirty||saving||Boolean(problem)} onClick={()=>void save()}>{saving?'重新载入中…':'保存并重新载入'}</Button><Button variant="ghost" icon={<Download className="h-3.5 w-3.5"/>} onClick={download}>下载</Button><Button variant="ghost" icon={copied?<Check className="h-3.5 w-3.5"/>:<Copy className="h-3.5 w-3.5"/>} onClick={()=>void copy()}>{copied?'已复制':'复制'}</Button><IconButton tooltip={maximized?'还原':'最大化'} aria-label={maximized?'还原':'最大化'} onClick={()=>setMaximized(value=>!value)}>{maximized?<Minimize2 className="h-4 w-4"/>:<Maximize2 className="h-4 w-4"/>}</IconButton><IconButton tooltip="关闭" aria-label="关闭源代码编辑器" onClick={requestClose}><X className="h-4 w-4"/></IconButton></header>
+  theme,
-    <div className="min-h-0 flex-1 bg-input"><Editor height="100%" language="xml" theme={theme==='light'?'light':'vs-dark'} value={code} onChange={value=>setCode(value??'')} options={{automaticLayout:true,minimap:{enabled:false},fontFamily:"'JetBrains Mono','Fira Code',ui-monospace,monospace",fontSize:13,fontLigatures:true,scrollBeyondLastLine:false,wordWrap:'off',stickyScroll:{enabled:false},tabSize:2,formatOnPaste:true,formatOnType:true,lineNumbersMinChars:4,padding:{top:12,bottom:14},renderLineHighlight:'all'}}/></div>
+  onClose,
-    <footer className="flex h-7 shrink-0 items-center justify-between gap-3 border-t border-border bg-surface px-3 text-[10px]"><div className={problem?'truncate text-warning':'text-success'}>{problem?`XML 错误：${problem}`:'✓ XML 结构正常'}</div><div className="flex items-center gap-2 font-mono text-text-tertiary"><span>Ctrl+S 保存并重新载入</span><span>•</span><span>MJCF / XML</span></div></footer>
+  onSave,
-  </section></div><ConfirmDialog open={discardOpen} title="放弃未保存的修改？" confirmLabel="放弃修改" cancelLabel="继续编辑" danger onConfirm={onClose} onClose={()=>setDiscardOpen(false)}><p className="text-sm text-text-secondary">当前 MJCF 源码包含未保存的修改。关闭后，这些修改将无法恢复。</p></ConfirmDialog></>;
+}: {
+  open: boolean;
+  code: string;
+  filePath: string;
+  theme: 'light' | 'dark';
+  onClose: () => void;
+  onSave: (path: string, text: string) => void | Promise<void>;
+}) {
+  const [code, setCode] = useState(sourceCode),
+    [savedCode, setSavedCode] = useState(sourceCode),
+    [saving, setSaving] = useState(false),
+    [copied, setCopied] = useState(false),
+    [maximized, setMaximized] = useState(false),
+    [discardOpen, setDiscardOpen] = useState(false),
+    [position, setPosition] = useState(() => ({
+      x: Math.max(24, (window.innerWidth - 900) / 2),
+      y: Math.max(52, (window.innerHeight - 650) / 2),
+    }));
+  const drag = useRef<{ x: number; y: number; left: number; top: number } | null>(null),
+    dialog = useRef<HTMLElement>(null),
+    previousFocus = useRef<HTMLElement | null>(null),
+    dirty = code !== savedCode,
+    problem = xmlProblem(code);
+  const requestClose = useCallback(() => {
+    if (dirty) setDiscardOpen(true);
+    else onClose();
+  }, [dirty, onClose]);
+  const save = useCallback(async () => {
+    if (!dirty || problem) return;
+    setSaving(true);
+    try {
+      await onSave(filePath, code);
+      setSavedCode(code);
+    } finally {
+      setSaving(false);
+    }
+  }, [code, dirty, filePath, onSave, problem]);
+  useEffect(() => {
+    if (!open) return;
+    previousFocus.current =
+      document.activeElement instanceof HTMLElement ? document.activeElement : null;
+    requestAnimationFrame(() => dialog.current?.focus());
+    return () => {
+      if (previousFocus.current && document.contains(previousFocus.current))
+        previousFocus.current.focus();
+    };
+  }, [open]);
+  useEffect(() => {
+    const key = (event: KeyboardEvent) => {
+      if (discardOpen) return;
+      if (
+        (event.ctrlKey || event.metaKey) &&
+        event.key.toLowerCase() === 's' &&
+        dirty &&
+        !problem
+      ) {
+        event.preventDefault();
+        void save();
+      } else if (event.key === 'Escape') {
+        event.preventDefault();
+        requestClose();
+      }
+    };
+    window.addEventListener('keydown', key);
+    return () => window.removeEventListener('keydown', key);
+  }, [dirty, discardOpen, problem, requestClose, save]);
+  const copy = async () => {
+    await navigator.clipboard.writeText(code);
+    setCopied(true);
+    window.setTimeout(() => setCopied(false), 1500);
+  };
+  const download = () =>
+    downloadBytes(new TextEncoder().encode(code), basename(filePath), 'application/xml');
+  const pointerDown = (event: ReactPointerEvent) => {
+    if (maximized || event.button !== 0 || (event.target as HTMLElement).closest('button')) return;
+    drag.current = { x: event.clientX, y: event.clientY, left: position.x, top: position.y };
+    event.currentTarget.setPointerCapture(event.pointerId);
+  };
+  const pointerMove = (event: ReactPointerEvent) => {
+    if (!drag.current) return;
+    setPosition({
+      x: Math.min(
+        window.innerWidth - 120,
+        Math.max(-780, drag.current.left + event.clientX - drag.current.x),
+      ),
+      y: Math.min(
+        window.innerHeight - 48,
+        Math.max(0, drag.current.top + event.clientY - drag.current.y),
+      ),
+    });
+  };
+  if (!open) return null;
+  return (
+    <>
+      <div className="fixed inset-0 z-[390] pointer-events-none" role="presentation">
+        <section
+          ref={dialog}
+          tabIndex={-1}
+          role="dialog"
+          aria-modal="false"
+          aria-label="转换后的 MJCF 编辑器"
+          style={
+            maximized ? undefined : { left: position.x, top: position.y, width: 900, height: 650 }
+          }
+          className={`source-editor-window pointer-events-auto fixed flex min-h-[360px] min-w-[520px] flex-col overflow-hidden border border-border-strong bg-panel shadow-2xl ${maximized ? 'inset-0 h-full w-full' : 'resize'}`}
+        >
+          <header
+            className="flex h-11 shrink-0 cursor-move select-none items-center gap-3 border-b border-border bg-surface px-3"
+            onPointerDown={pointerDown}
+            onPointerMove={pointerMove}
+            onPointerUp={() => {
+              drag.current = null;
+            }}
+            onDoubleClick={() => setMaximized((value) => !value)}
+          >
+            <Code2 className="h-4 w-4 shrink-0 text-accent" />
+            <div className="min-w-0 flex-1">
+              <div className="truncate font-mono text-xs font-semibold text-text-primary">
+                转换后的 MJCF
+              </div>
+              <div className="truncate font-mono text-[9px] text-text-tertiary" title={filePath}>
+                {filePath}
+              </div>
+            </div>
+            <span className="text-[10px] text-text-tertiary">{contentSize(code)}</span>
+            <span className="rounded bg-accent-soft px-1.5 py-0.5 text-[9px] font-semibold text-accent">
+              缓存文件 · 可编辑
+            </span>
+            {dirty && (
+              <span className="rounded bg-warning-soft px-1.5 py-0.5 text-[9px] font-semibold text-warning">
+                已修改
+              </span>
+            )}
+            <Button
+              variant="primary"
+              icon={<Save className="h-3 w-3" />}
+              disabled={!dirty || saving || Boolean(problem)}
+              onClick={() => void save()}
+            >
+              {saving ? '重新载入中…' : '保存并重新载入'}
+            </Button>
+            <Button variant="ghost" icon={<Download className="h-3.5 w-3.5" />} onClick={download}>
+              下载
+            </Button>
+            <Button
+              variant="ghost"
+              icon={copied ? <Check className="h-3.5 w-3.5" /> : <Copy className="h-3.5 w-3.5" />}
+              onClick={() => void copy()}
+            >
+              {copied ? '已复制' : '复制'}
+            </Button>
+            <IconButton
+              tooltip={maximized ? '还原' : '最大化'}
+              aria-label={maximized ? '还原' : '最大化'}
+              onClick={() => setMaximized((value) => !value)}
+            >
+              {maximized ? <Minimize2 className="h-4 w-4" /> : <Maximize2 className="h-4 w-4" />}
+            </IconButton>
+            <IconButton tooltip="关闭" aria-label="关闭源代码编辑器" onClick={requestClose}>
+              <X className="h-4 w-4" />
+            </IconButton>
+          </header>
+          <div className="min-h-0 flex-1 bg-input">
+            <Editor
+              height="100%"
+              language="xml"
+              theme={theme === 'light' ? 'light' : 'vs-dark'}
+              value={code}
+              onChange={(value) => setCode(value ?? '')}
+              options={{
+                automaticLayout: true,
+                minimap: { enabled: false },
+                fontFamily: "'JetBrains Mono','Fira Code',ui-monospace,monospace",
+                fontSize: 13,
+                fontLigatures: true,
+                scrollBeyondLastLine: false,
+                wordWrap: 'off',
+                stickyScroll: { enabled: false },
+                tabSize: 2,
+                formatOnPaste: true,
+                formatOnType: true,
+                lineNumbersMinChars: 4,
+                padding: { top: 12, bottom: 14 },
+                renderLineHighlight: 'all',
+              }}
+            />
+          </div>
+          <footer className="flex h-7 shrink-0 items-center justify-between gap-3 border-t border-border bg-surface px-3 text-[10px]">
+            <div className={problem ? 'truncate text-warning' : 'text-success'}>
+              {problem ? `XML 错误：${problem}` : '✓ XML 结构正常'}
+            </div>
+            <div className="flex items-center gap-2 font-mono text-text-tertiary">
+              <span>Ctrl+S 保存并重新载入</span>
+              <span>•</span>
+              <span>MJCF / XML</span>
+            </div>
+          </footer>
+        </section>
+      </div>
+      <ConfirmDialog
+        open={discardOpen}
+        title="放弃未保存的修改？"
+        confirmLabel="放弃修改"
+        cancelLabel="继续编辑"
+        danger
+        onConfirm={onClose}
+        onClose={() => setDiscardOpen(false)}
+      >
+        <p className="text-sm text-text-secondary">
+          当前 MJCF 源码包含未保存的修改。关闭后，这些修改将无法恢复。
+        </p>
+      </ConfirmDialog>
+    </>
+  );
 }

web_platform/src/app/components/StatusBar.tsx

@@ -1,7 +1,68 @@
-import type {ReactNode} from 'react';
+import type { ReactNode } from 'react';
-import {Box,Clock3,MemoryStick,TriangleAlert} from 'lucide-react';
+import { Box, Clock3, MemoryStick, TriangleAlert } from 'lucide-react';
-import {Kbd} from '../../components/ui';
+import { useShallow } from 'zustand/react/shallow';
-import {PerformancePopover} from './PerformancePopover';
+import { Kbd } from '../../components/ui';
-export interface StatusBarProps{time?:number;fps:number;stepMs:number;memoryMb?:number;loaded:boolean;overBudget:boolean;}
+import { useAppStore } from '../../stores/useAppStore';
-function Item({icon:Icon,children,className=''}:{icon:typeof Clock3;children:ReactNode;className?:string}){return <span className={`items-center gap-1.5 ${className||'flex'}`}><Icon aria-hidden="true" className="h-3 w-3 text-text-tertiary"/>{children}</span>;}
+import { PerformancePopover } from './PerformancePopover';
-export function StatusBar({time,fps,stepMs,memoryMb,loaded,overBudget}:StatusBarProps){return <footer className="technical-value relative z-30 flex h-7 shrink-0 items-center gap-3 overflow-hidden border-t border-border bg-panel px-3 text-[11px] text-text-tertiary lg:gap-5"><Item icon={Clock3}>时间 {time?.toFixed(3)??'—'} s</Item><PerformancePopover fps={fps} stepMs={stepMs} memoryMb={memoryMb} overBudget={overBudget}/><Item icon={MemoryStick} className="hidden items-center gap-1.5 md:flex">内存 {memoryMb===undefined?'—':`${memoryMb.toFixed(1)} MiB`}</Item><Item icon={Box} className="hidden items-center gap-1.5 sm:flex">WASM {loaded?'已加载':'未加载'}</Item>{overBudget&&<span className="hidden min-w-0 items-center gap-1 truncate text-warning lg:flex"><TriangleAlert className="h-3 w-3 shrink-0"/>主线程超出步进预算，已限制追帧</span>}<span className="ml-auto hidden items-center gap-1.5 xl:flex"><Kbd>Space</Kbd> 播放/暂停 · <Kbd>R</Kbd> 重置 · <Kbd>1/2/3</Kbd> 模式</span></footer>;}
+export interface StatusBarProps {
+  time?: number;
+  fps: number;
+  stepMs: number;
+  memoryMb?: number;
+  loaded: boolean;
+  overBudget: boolean;
+}
+function Item({
+  icon: Icon,
+  children,
+  className = '',
+}: {
+  icon: typeof Clock3;
+  children: ReactNode;
+  className?: string;
+}) {
+  return (
+    <span className={`items-center gap-1.5 ${className || 'flex'}`}>
+      <Icon aria-hidden="true" className="h-3 w-3 text-text-tertiary" />
+      {children}
+    </span>
+  );
+}
+export function StatusBar({ time, fps, stepMs, memoryMb, loaded, overBudget }: StatusBarProps) {
+  return (
+    <footer className="technical-value relative z-30 flex h-7 shrink-0 items-center gap-3 overflow-hidden border-t border-border bg-panel px-3 text-[11px] text-text-tertiary lg:gap-5">
+      <Item icon={Clock3}>时间 {time?.toFixed(3) ?? '—'} s</Item>
+      <PerformancePopover fps={fps} stepMs={stepMs} memoryMb={memoryMb} overBudget={overBudget} />
+      <Item icon={MemoryStick} className="hidden items-center gap-1.5 md:flex">
+        内存 {memoryMb === undefined ? '—' : `${memoryMb.toFixed(1)} MiB`}
+      </Item>
+      <Item icon={Box} className="hidden items-center gap-1.5 sm:flex">
+        WASM {loaded ? '已加载' : '未加载'}
+      </Item>
+      {overBudget && (
+        <span className="hidden min-w-0 items-center gap-1 truncate text-warning lg:flex">
+          <TriangleAlert className="h-3 w-3 shrink-0" />
+          主线程超出步进预算，已限制追帧
+        </span>
+      )}
+      <span className="ml-auto hidden items-center gap-1.5 xl:flex">
+        <Kbd>Space</Kbd> 播放/暂停 · <Kbd>R</Kbd> 重置 · <Kbd>1/2/3</Kbd> 模式
+      </span>
+    </footer>
+  );
+}
+
+/** 仅让状态栏订阅高频性能数据，避免带动整个工作台重渲染。 */
+export function StoreStatusBar() {
+  const metrics = useAppStore(
+    useShallow((state) => ({
+      time: state.snapshot?.time,
+      fps: state.fps,
+      stepMs: state.stepMs,
+      memoryMb: state.memoryMb,
+      loaded: Boolean(state.snapshot),
+      overBudget: state.overBudget,
+    })),
+  );
+  return <StatusBar {...metrics} />;
+}

web_platform/src/app/components/ThirdBatchComponents.test.tsx

@@ -1,8 +1,31 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {CommandPalette,type WorkbenchCommand} from './CommandPalette';
+import { CommandPalette, type WorkbenchCommand } from './CommandPalette';
-import {PerformancePopover} from './PerformancePopover';
+import { PerformancePopover } from './PerformancePopover';
 
-describe('第三批工作台组件',()=>{
+describe('第三批工作台组件', () => {
-  it('命令面板可搜索并执行现有命令',()=>{const run=vi.fn(),close=vi.fn(),commands:WorkbenchCommand[]=[{id:'reset',label:'重置仿真',group:'仿真',run},{id:'theme',label:'切换主题',group:'外观',run:vi.fn()}];render(<CommandPalette open onClose={close} commands={commands}/>);const input=screen.getByLabelText('搜索命令');fireEvent.change(input,{target:{value:'重置'}});expect(screen.queryByText('切换主题')).not.toBeInTheDocument();fireEvent.keyDown(input,{key:'Enter'});expect(run).toHaveBeenCalledTimes(1);expect(close).toHaveBeenCalledTimes(1);expect(input).toHaveAttribute('aria-controls');expect(input).toHaveAttribute('aria-activedescendant');});
+  it('命令面板可搜索并执行现有命令', () => {
-  it('状态栏性能入口展示已有指标',()=>{render(<PerformancePopover fps={59.6} stepMs={1.25} memoryMb={42.5} overBudget={false}/>);fireEvent.click(screen.getByRole('button'));expect(screen.getByRole('dialog',{name:'性能详情'})).toHaveTextContent('60 FPS');expect(screen.getByRole('dialog',{name:'性能详情'})).toHaveTextContent('42.5 MiB');fireEvent.keyDown(document,{key:'k',ctrlKey:true});expect(screen.queryByRole('dialog',{name:'性能详情'})).not.toBeInTheDocument();});
+    const run = vi.fn(),
+      close = vi.fn(),
+      commands: WorkbenchCommand[] = [
+        { id: 'reset', label: '重置仿真', group: '仿真', run },
+        { id: 'theme', label: '切换主题', group: '外观', run: vi.fn() },
+      ];
+    render(<CommandPalette open onClose={close} commands={commands} />);
+    const input = screen.getByLabelText('搜索命令');
+    fireEvent.change(input, { target: { value: '重置' } });
+    expect(screen.queryByText('切换主题')).not.toBeInTheDocument();
+    fireEvent.keyDown(input, { key: 'Enter' });
+    expect(run).toHaveBeenCalledTimes(1);
+    expect(close).toHaveBeenCalledTimes(1);
+    expect(input).toHaveAttribute('aria-controls');
+    expect(input).toHaveAttribute('aria-activedescendant');
+  });
+  it('状态栏性能入口展示已有指标', () => {
+    render(<PerformancePopover fps={59.6} stepMs={1.25} memoryMb={42.5} overBudget={false} />);
+    fireEvent.click(screen.getByRole('button'));
+    expect(screen.getByRole('dialog', { name: '性能详情' })).toHaveTextContent('60 FPS');
+    expect(screen.getByRole('dialog', { name: '性能详情' })).toHaveTextContent('42.5 MiB');
+    fireEvent.keyDown(document, { key: 'k', ctrlKey: true });
+    expect(screen.queryByRole('dialog', { name: '性能详情' })).not.toBeInTheDocument();
+  });
 });

web_platform/src/app/components/ToolbarOverflowMenu.tsx

@@ -1,3 +1,72 @@
-import {CircleHelp,Expand,LayoutDashboard,Maximize,Search,Settings,SunMoon} from 'lucide-react';
+import {
-import {DropdownMenu} from '../../components/ui';
+  CircleHelp,
-export function ToolbarOverflowMenu({fullscreen,onCommands,onLayout,onSettings,onFullscreen,onHelp,onTheme}:{fullscreen:boolean;onCommands:()=>void;onLayout:()=>void;onSettings:()=>void;onFullscreen:()=>void;onHelp:()=>void;onTheme:()=>void}){return <DropdownMenu label="更多工作台操作" className="xl:hidden" items={[{id:'commands',label:'命令面板',icon:<Search className="h-4 w-4"/>,onSelect:onCommands},{id:'layout',label:'布局设置',icon:<LayoutDashboard className="h-4 w-4"/>,onSelect:onLayout},{id:'settings',label:'工作台设置',icon:<Settings className="h-4 w-4"/>,onSelect:onSettings},{id:'fullscreen',label:fullscreen?'退出全屏':'进入全屏',icon:fullscreen?<Expand className="h-4 w-4"/>:<Maximize className="h-4 w-4"/>,onSelect:onFullscreen},{id:'help',label:'快捷键帮助',icon:<CircleHelp className="h-4 w-4"/>,onSelect:onHelp},{id:'theme',label:'切换主题',icon:<SunMoon className="h-4 w-4"/>,onSelect:onTheme}]}/>;}
+  Expand,
+  LayoutDashboard,
+  Maximize,
+  Search,
+  Settings,
+  SunMoon,
+} from 'lucide-react';
+import { DropdownMenu } from '../../components/ui';
+export function ToolbarOverflowMenu({
+  fullscreen,
+  onCommands,
+  onLayout,
+  onSettings,
+  onFullscreen,
+  onHelp,
+  onTheme,
+}: {
+  fullscreen: boolean;
+  onCommands: () => void;
+  onLayout: () => void;
+  onSettings: () => void;
+  onFullscreen: () => void;
+  onHelp: () => void;
+  onTheme: () => void;
+}) {
+  return (
+    <DropdownMenu
+      label="更多工作台操作"
+      className="xl:hidden"
+      items={[
+        {
+          id: 'commands',
+          label: '命令面板',
+          icon: <Search className="h-4 w-4" />,
+          onSelect: onCommands,
+        },
+        {
+          id: 'layout',
+          label: '布局设置',
+          icon: <LayoutDashboard className="h-4 w-4" />,
+          onSelect: onLayout,
+        },
+        {
+          id: 'settings',
+          label: '工作台设置',
+          icon: <Settings className="h-4 w-4" />,
+          onSelect: onSettings,
+        },
+        {
+          id: 'fullscreen',
+          label: fullscreen ? '退出全屏' : '进入全屏',
+          icon: fullscreen ? <Expand className="h-4 w-4" /> : <Maximize className="h-4 w-4" />,
+          onSelect: onFullscreen,
+        },
+        {
+          id: 'help',
+          label: '快捷键帮助',
+          icon: <CircleHelp className="h-4 w-4" />,
+          onSelect: onHelp,
+        },
+        {
+          id: 'theme',
+          label: '切换主题',
+          icon: <SunMoon className="h-4 w-4" />,
+          onSelect: onTheme,
+        },
+      ]}
+    />
+  );
+}

web_platform/src/app/components/TreeSearchField.tsx

@@ -1,3 +1,46 @@
-import {Search,X} from 'lucide-react';
+import { Search, X } from 'lucide-react';
-import {IconButton} from '../../components/ui';
+import { IconButton } from '../../components/ui';
-export function TreeSearchField({value,onChange,resultCount,placeholder='搜索…',label='搜索树'}:{value:string;onChange:(value:string)=>void;resultCount?:number;placeholder?:string;label?:string}){return <div className="m-2"><div className="relative"><Search aria-hidden="true" className="pointer-events-none absolute left-2 top-1/2 h-3.5 w-3.5 -translate-y-1/2 text-text-tertiary"/><input type="search" aria-label={label} value={value} onChange={event=>onChange(event.target.value)} placeholder={placeholder} className="h-8 w-full rounded-md border border-border bg-input pl-7 pr-8 text-xs text-text-primary placeholder:text-text-tertiary focus-visible:ring-2 focus-visible:ring-accent/35"/>{value&&<span className="absolute right-0.5 top-0.5"><IconButton aria-label="清除搜索" tooltip="清除搜索" onClick={()=>onChange('')}><X className="h-3.5 w-3.5"/></IconButton></span>}</div>{value&&resultCount!==undefined&&<p role="status" className="px-1 pt-1.5 text-[10px] text-text-tertiary">找到 {resultCount} 个匹配项</p>}</div>;}
+export function TreeSearchField({
+  value,
+  onChange,
+  resultCount,
+  placeholder = '搜索…',
+  label = '搜索树',
+}: {
+  value: string;
+  onChange: (value: string) => void;
+  resultCount?: number;
+  placeholder?: string;
+  label?: string;
+}) {
+  return (
+    <div className="m-2">
+      <div className="relative">
+        <Search
+          aria-hidden="true"
+          className="pointer-events-none absolute left-2 top-1/2 h-3.5 w-3.5 -translate-y-1/2 text-text-tertiary"
+        />
+        <input
+          type="search"
+          aria-label={label}
+          value={value}
+          onChange={(event) => onChange(event.target.value)}
+          placeholder={placeholder}
+          className="h-8 w-full rounded-md border border-border bg-input pl-7 pr-8 text-xs text-text-primary placeholder:text-text-tertiary focus-visible:ring-2 focus-visible:ring-accent/35"
+        />
+        {value && (
+          <span className="absolute right-0.5 top-0.5">
+            <IconButton aria-label="清除搜索" tooltip="清除搜索" onClick={() => onChange('')}>
+              <X className="h-3.5 w-3.5" />
+            </IconButton>
+          </span>
+        )}
+      </div>
+      {value && resultCount !== undefined && (
+        <p role="status" className="px-1 pt-1.5 text-[10px] text-text-tertiary">
+          找到 {resultCount} 个匹配项
+        </p>
+      )}
+    </div>
+  );
+}

web_platform/src/app/components/UrdfImportOptionsDialog.test.tsx

@@ -1,31 +1,52 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {UrdfImportOptionsDialog} from './UrdfImportOptionsDialog';
+import { UrdfImportOptionsDialog } from './UrdfImportOptionsDialog';
 
-describe('UrdfImportOptionsDialog',()=>{
+describe('UrdfImportOptionsDialog', () => {
-  it('默认选择关节驱动器和摄像头传感器',()=>{
+  it('默认选择关节驱动器和摄像头传感器', () => {
-    const onConfirm=vi.fn();
+    const onConfirm = vi.fn();
-    render(<UrdfImportOptionsDialog open path="robot.urdf" mountBodies={['base','head_link']} onConfirm={onConfirm} onSkip={()=>{}}/>);
+    render(
-    expect(screen.getByRole('checkbox',{name:/为关节添加驱动器/})).toBeChecked();
+      <UrdfImportOptionsDialog
-    expect(screen.getByRole('checkbox',{name:/添加传感器/})).toBeChecked();
+        open
+        path="robot.urdf"
+        mountBodies={['base', 'head_link']}
+        onConfirm={onConfirm}
+        onSkip={() => {}}
+      />,
+    );
+    expect(screen.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked();
+    expect(screen.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked();
     expect(screen.getByLabelText('摄像头固连 Body')).toHaveValue('head_link');
-    fireEvent.change(screen.getByLabelText('摄像头位置 X'),{target:{value:'0.2'}});
+    fireEvent.change(screen.getByLabelText('摄像头位置 X'), { target: { value: '0.2' } });
-    fireEvent.click(screen.getByRole('button',{name:'转换并加载'}));
+    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
-    expect(onConfirm).toHaveBeenCalledWith(expect.objectContaining({addActuators:true,addSensors:true,sensorType:'camera',cameraMountBody:'head_link',cameraPosition:[.2,0,.05],cameraDirection:'+X'}));
+    expect(onConfirm).toHaveBeenCalledWith(
+      expect.objectContaining({
+        addActuators: true,
+        addSensors: true,
+        sensorType: 'camera',
+        cameraMountBody: 'head_link',
+        cameraPosition: [0.2, 0, 0.05],
+        cameraDirection: '+X',
+      }),
+    );
   });
 
-  it('允许分别关闭自动生成项',()=>{
+  it('允许分别关闭自动生成项', () => {
-    const onConfirm=vi.fn();
+    const onConfirm = vi.fn();
-    render(<UrdfImportOptionsDialog open path="robot.urdf" onConfirm={onConfirm} onSkip={()=>{}}/>);
+    render(
-    fireEvent.click(screen.getByRole('checkbox',{name:/为关节添加驱动器/}));
+      <UrdfImportOptionsDialog open path="robot.urdf" onConfirm={onConfirm} onSkip={() => {}} />,
-    fireEvent.click(screen.getByRole('checkbox',{name:/添加传感器/}));
+    );
-    fireEvent.click(screen.getByRole('button',{name:'转换并加载'}));
+    fireEvent.click(screen.getByRole('checkbox', { name: /为关节添加驱动器/ }));
-    expect(onConfirm).toHaveBeenCalledWith(expect.objectContaining({addActuators:false,addSensors:false,sensorType:'camera'}));
+    fireEvent.click(screen.getByRole('checkbox', { name: /添加传感器/ }));
+    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
+    expect(onConfirm).toHaveBeenCalledWith(
+      expect.objectContaining({ addActuators: false, addSensors: false, sensorType: 'camera' }),
+    );
   });
 
-  it('可以不添加组件并继续加载',()=>{
+  it('可以不添加组件并继续加载', () => {
-    const onSkip=vi.fn();
+    const onSkip = vi.fn();
-    render(<UrdfImportOptionsDialog open path="robot.urdf" onConfirm={()=>{}} onSkip={onSkip}/>);
+    render(<UrdfImportOptionsDialog open path="robot.urdf" onConfirm={() => {}} onSkip={onSkip} />);
-    fireEvent.click(screen.getByRole('button',{name:'不添加，直接加载'}));
+    fireEvent.click(screen.getByRole('button', { name: '不添加，直接加载' }));
     expect(onSkip).toHaveBeenCalledOnce();
   });
 });

web_platform/src/app/components/UrdfImportOptionsDialog.tsx

@@ -1,26 +1,178 @@
-import {useState,type ReactNode} from 'react';
+import { useState, type ReactNode } from 'react';
-import {Camera,Settings2} from 'lucide-react';
+import { Camera, Settings2 } from 'lucide-react';
-import type {CameraDirection,UrdfEnhancementOptions} from '../../project/urdfToMjcf';
+import type { CameraDirection, UrdfEnhancementOptions } from '../../project/urdfToMjcf';
-import {Button,Dialog,Select} from '../../components/ui';
+import { Button, Dialog, Select } from '../../components/ui';
 
-function OptionCard({checked,onChange,icon,title,description,children}:{checked:boolean;onChange:(checked:boolean)=>void;icon:ReactNode;title:string;description:string;children?:ReactNode}){
+function OptionCard({
-  return <label className={`flex cursor-pointer gap-3 rounded-lg border p-3 transition-colors ${checked?'border-accent/60 bg-accent/10':'border-border bg-surface hover:bg-element-hover'}`}>
+  checked,
-    <input className="mt-0.5 h-4 w-4 accent-accent" type="checkbox" checked={checked} onChange={event=>onChange(event.target.checked)}/>
+  onChange,
-    <span className="mt-0.5 text-text-secondary" aria-hidden="true">{icon}</span>
+  icon,
-    <span className="min-w-0 flex-1"><span className="block text-sm font-medium text-text-primary">{title}</span><span className="mt-1 block text-xs leading-5 text-text-secondary">{description}</span>{children}</span>
+  title,
-  </label>;
+  description,
+  children,
+}: {
+  checked: boolean;
+  onChange: (checked: boolean) => void;
+  icon: ReactNode;
+  title: string;
+  description: string;
+  children?: ReactNode;
+}) {
+  return (
+    <label
+      className={`flex cursor-pointer gap-3 rounded-lg border p-3 transition-colors ${checked ? 'border-accent/60 bg-accent/10' : 'border-border bg-surface hover:bg-element-hover'}`}
+    >
+      <input
+        className="mt-0.5 h-4 w-4 accent-accent"
+        type="checkbox"
+        checked={checked}
+        onChange={(event) => onChange(event.target.checked)}
+      />
+      <span className="mt-0.5 text-text-secondary" aria-hidden="true">
+        {icon}
+      </span>
+      <span className="min-w-0 flex-1">
+        <span className="block text-sm font-medium text-text-primary">{title}</span>
+        <span className="mt-1 block text-xs leading-5 text-text-secondary">{description}</span>
+        {children}
+      </span>
+    </label>
+  );
 }
 
-export function UrdfImportOptionsDialog({open,path,mountBodies=[],onConfirm,onSkip}:{open:boolean;path?:string;mountBodies?:string[];onConfirm:(options:UrdfEnhancementOptions)=>void;onSkip:()=>void}){
+export function UrdfImportOptionsDialog({
-  const [options,setOptions]=useState<UrdfEnhancementOptions>(()=>({addActuators:true,addSensors:true,sensorType:'camera',cameraMountBody:mountBodies.find(name=>/(head|camera|sensor|neck|头)/i.test(name))??mountBodies.at(-1),cameraPosition:[.1,0,.05],cameraDirection:'+X'}));
+  open,
-  const setPosition=(axis:number,value:number)=>setOptions(current=>{const position:[number,number,number]=[...(current.cameraPosition??[.1,0,.05])];position[axis]=Number.isFinite(value)?value:0;return {...current,cameraPosition:position};});
+  path,
-  return <Dialog open={open} onClose={onSkip} closable={false} title="配置 URDF 仿真组件" className="max-w-xl" footer={<div className="flex justify-end gap-2"><Button onClick={onSkip}>不添加，直接加载</Button><Button variant="primary" onClick={()=>onConfirm(options)}>转换并加载</Button></div>}>
+  mountBodies = [],
-    <p className="text-sm text-text-secondary">导入 <strong className="text-text-primary">{path}</strong> 后，是否自动补充以下仿真组件？稍后重新选择该 URDF 时仍会再次询问。</p>
+  onConfirm,
-    <div className="mt-4 space-y-3">
+  onSkip,
-      <OptionCard checked={options.addActuators} onChange={addActuators=>setOptions(value=>({...value,addActuators}))} icon={<Settings2 className="h-4 w-4"/>} title="为关节添加驱动器" description="为每个 hinge/slide 关节生成控制输入不限幅的 motor 驱动器；hinge 使用 N·m、slide 使用 N。kp/kv 用于调整对应 MJCF 关节的刚度和阻尼，已有驱动器不会重复添加。"/>
+}: {
-      <OptionCard checked={options.addSensors} onChange={addSensors=>setOptions(value=>({...value,addSensors}))} icon={<Camera className="h-4 w-4"/>} title="添加传感器" description="在浮动基座添加三轴陀螺仪和三轴加速度计（6轴 IMU），并添加一台 640×480 固定摄像头。"/>
+  open: boolean;
-      {options.addSensors&&<div className="rounded-lg border border-border bg-surface p-3"><div className="mb-2 text-xs font-medium text-text-primary">摄像头安装参数</div><label className="block text-[11px] text-text-secondary"><span className="mb-1 block">固连 Body</span><Select aria-label="摄像头固连 Body" className="w-full" value={options.cameraMountBody??''} onChange={event=>setOptions(value=>({...value,cameraMountBody:event.target.value||undefined}))}>{mountBodies.length?mountBodies.map(name=><option key={name} value={name}>{name}</option>):<option value="">自动选择头部/末端 Body</option>}</Select></label><div className="mt-3 grid grid-cols-3 gap-2">{(['X','Y','Z'] as const).map((axis,index)=><label key={axis} className="text-[11px] text-text-secondary"><span className="mb-1 block">位置 {axis}（m）</span><input aria-label={`摄像头位置 ${axis}`} className="field h-8 w-full px-2 text-xs" type="number" step="0.01" value={(options.cameraPosition??[.1,0,.05])[index]} onChange={event=>setPosition(index,Number(event.target.value))}/></label>)}</div><label className="mt-3 block text-[11px] text-text-secondary"><span className="mb-1 block">镜头朝向（Body 局部轴）</span><Select aria-label="摄像头朝向" className="w-full" value={options.cameraDirection??'+X'} onChange={event=>setOptions(value=>({...value,cameraDirection:event.target.value as CameraDirection}))}>{(['+X','-X','+Y','-Y','+Z','-Z'] as CameraDirection[]).map(direction=><option key={direction}>{direction}</option>)}</Select></label><p className="mt-2 text-[10px] leading-4 text-text-tertiary">位置和朝向均相对于所选 Body；常见 ROS 头部摄像头使用 +X 朝前、+Z 朝上。</p></div>}
+  path?: string;
-    </div>
+  mountBodies?: string[];
-    <p className="mt-4 text-xs text-text-tertiary">自动组件只写入浏览器内生成的 MJCF，不会修改本地 URDF 文件；使用“原生 URDF”加载模式时不会注入这些组件。</p>
+  onConfirm: (options: UrdfEnhancementOptions) => void;
-  </Dialog>;
+  onSkip: () => void;
+}) {
+  const [options, setOptions] = useState<UrdfEnhancementOptions>(() => ({
+    addActuators: true,
+    addSensors: true,
+    sensorType: 'camera',
+    cameraMountBody:
+      mountBodies.find((name) => /(head|camera|sensor|neck|头)/i.test(name)) ?? mountBodies.at(-1),
+    cameraPosition: [0.1, 0, 0.05],
+    cameraDirection: '+X',
+  }));
+  const setPosition = (axis: number, value: number) =>
+    setOptions((current) => {
+      const position: [number, number, number] = [...(current.cameraPosition ?? [0.1, 0, 0.05])];
+      position[axis] = Number.isFinite(value) ? value : 0;
+      return { ...current, cameraPosition: position };
+    });
+  return (
+    <Dialog
+      open={open}
+      onClose={onSkip}
+      closable={false}
+      title="配置 URDF 仿真组件"
+      className="max-w-xl"
+      footer={
+        <div className="flex justify-end gap-2">
+          <Button onClick={onSkip}>不添加，直接加载</Button>
+          <Button variant="primary" onClick={() => onConfirm(options)}>
+            转换并加载
+          </Button>
+        </div>
+      }
+    >
+      <p className="text-sm text-text-secondary">
+        导入 <strong className="text-text-primary">{path}</strong>{' '}
+        后，是否自动补充以下仿真组件？稍后重新选择该 URDF 时仍会再次询问。
+      </p>
+      <div className="mt-4 space-y-3">
+        <OptionCard
+          checked={options.addActuators}
+          onChange={(addActuators) => setOptions((value) => ({ ...value, addActuators }))}
+          icon={<Settings2 className="h-4 w-4" />}
+          title="为关节添加驱动器"
+          description="为每个 hinge/slide 关节生成控制输入不限幅的 motor 驱动器；hinge 使用 N·m、slide 使用 N。kp/kv 用于调整对应 MJCF 关节的刚度和阻尼，已有驱动器不会重复添加。"
+        />
+        <OptionCard
+          checked={options.addSensors}
+          onChange={(addSensors) => setOptions((value) => ({ ...value, addSensors }))}
+          icon={<Camera className="h-4 w-4" />}
+          title="添加传感器"
+          description="在浮动基座添加三轴陀螺仪和三轴加速度计（6轴 IMU），并添加一台 640×480 固定摄像头。"
+        />
+        {options.addSensors && (
+          <div className="rounded-lg border border-border bg-surface p-3">
+            <div className="mb-2 text-xs font-medium text-text-primary">摄像头安装参数</div>
+            <label className="block text-[11px] text-text-secondary">
+              <span className="mb-1 block">固连 Body</span>
+              <Select
+                aria-label="摄像头固连 Body"
+                className="w-full"
+                value={options.cameraMountBody ?? ''}
+                onChange={(event) =>
+                  setOptions((value) => ({
+                    ...value,
+                    cameraMountBody: event.target.value || undefined,
+                  }))
+                }
+              >
+                {mountBodies.length ? (
+                  mountBodies.map((name) => (
+                    <option key={name} value={name}>
+                      {name}
+                    </option>
+                  ))
+                ) : (
+                  <option value="">自动选择头部/末端 Body</option>
+                )}
+              </Select>
+            </label>
+            <div className="mt-3 grid grid-cols-3 gap-2">
+              {(['X', 'Y', 'Z'] as const).map((axis, index) => (
+                <label key={axis} className="text-[11px] text-text-secondary">
+                  <span className="mb-1 block">位置 {axis}（m）</span>
+                  <input
+                    aria-label={`摄像头位置 ${axis}`}
+                    className="field h-8 w-full px-2 text-xs"
+                    type="number"
+                    step="0.01"
+                    value={(options.cameraPosition ?? [0.1, 0, 0.05])[index]}
+                    onChange={(event) => setPosition(index, Number(event.target.value))}
+                  />
+                </label>
+              ))}
+            </div>
+            <label className="mt-3 block text-[11px] text-text-secondary">
+              <span className="mb-1 block">镜头朝向（Body 局部轴）</span>
+              <Select
+                aria-label="摄像头朝向"
+                className="w-full"
+                value={options.cameraDirection ?? '+X'}
+                onChange={(event) =>
+                  setOptions((value) => ({
+                    ...value,
+                    cameraDirection: event.target.value as CameraDirection,
+                  }))
+                }
+              >
+                {(['+X', '-X', '+Y', '-Y', '+Z', '-Z'] as CameraDirection[]).map((direction) => (
+                  <option key={direction}>{direction}</option>
+                ))}
+              </Select>
+            </label>
+            <p className="mt-2 text-[10px] leading-4 text-text-tertiary">
+              位置和朝向均相对于所选 Body；常见 ROS 头部摄像头使用 +X 朝前、+Z 朝上。
+            </p>
+          </div>
+        )}
+      </div>
+      <p className="mt-4 text-xs text-text-tertiary">
+        自动组件只写入浏览器内生成的 MJCF，不会修改本地 URDF 文件；使用“原生
+        URDF”加载模式时不会注入这些组件。
+      </p>
+    </Dialog>
+  );
 }

web_platform/src/app/components/ViewerDisplayPopover.tsx

@@ -1,30 +1,166 @@
-import {Check,Eye,RotateCcw} from 'lucide-react';
+import { Check, Eye, RotateCcw } from 'lucide-react';
-import {IconButton,Popover} from '../../components/ui';
+import { IconButton, Popover } from '../../components/ui';
-import {DEFAULT_VIEWER_DISPLAY_OPTIONS,type ViewerDisplayOptions} from '../../viewer/displayOptions';
+import {
+  DEFAULT_VIEWER_DISPLAY_OPTIONS,
+  type ViewerDisplayOptions,
+} from '../../viewer/displayOptions';
 
-type DisplayKey=keyof ViewerDisplayOptions;
+type DisplayKey = keyof ViewerDisplayOptions;
-interface DisplayItem {key:DisplayKey;label:string;description:string;color:string;}
+interface DisplayItem {
-const geometryItems:DisplayItem[]=[
+  key: DisplayKey;
-  {key:'showVisual',label:'视觉模型',description:'显示模型的外观几何与材质',color:'bg-slate-400'},
+  label: string;
-  {key:'showCollision',label:'碰撞体',description:'以青色半透明方式叠加碰撞几何',color:'bg-cyan-400'},
+  description: string;
+  color: string;
+}
+const geometryItems: DisplayItem[] = [
+  {
+    key: 'showVisual',
+    label: '视觉模型',
+    description: '显示模型的外观几何与材质',
+    color: 'bg-slate-400',
+  },
+  {
+    key: 'showCollision',
+    label: '碰撞体',
+    description: '以青色半透明方式叠加碰撞几何',
+    color: 'bg-cyan-400',
+  },
 ];
-const helperItems:DisplayItem[]=[
+const helperItems: DisplayItem[] = [
-  {key:'showFrames',label:'坐标系',description:'显示每个刚体的 RGB 坐标轴',color:'bg-red-400'},
+  {
-  {key:'showJointAxes',label:'关节轴',description:'显示转动与滑动关节的正轴方向',color:'bg-red-500'},
+    key: 'showFrames',
-  {key:'showCenterOfMass',label:'质心',description:'显示各刚体的质量中心',color:'bg-yellow-400'},
+    label: '坐标系',
-  {key:'showInertia',label:'惯量',description:'显示由主惯量计算的等效惯量盒',color:'bg-cyan-300'},
+    description: '显示每个刚体的 RGB 坐标轴',
+    color: 'bg-red-400',
+  },
+  {
+    key: 'showJointAxes',
+    label: '关节轴',
+    description: '显示转动与滑动关节的正轴方向',
+    color: 'bg-red-500',
+  },
+  {
+    key: 'showCenterOfMass',
+    label: '质心',
+    description: '显示各刚体的质量中心',
+    color: 'bg-yellow-400',
+  },
+  {
+    key: 'showInertia',
+    label: '惯量',
+    description: '显示由主惯量计算的等效惯量盒',
+    color: 'bg-cyan-300',
+  },
 ];
-const sceneItems:DisplayItem[]=[
+const sceneItems: DisplayItem[] = [
-  {key:'showGrid',label:'地面网格',description:'显示世界坐标系的参考网格',color:'bg-blue-400'},
+  {
+    key: 'showGrid',
+    label: '地面网格',
+    description: '显示世界坐标系的参考网格',
+    color: 'bg-blue-400',
+  },
 ];
 
-function DisplayRows({items,value,onChange}:{items:DisplayItem[];value:ViewerDisplayOptions;onChange:(next:ViewerDisplayOptions)=>void}){
+function DisplayRows({
-  return <div className="space-y-0.5">{items.map(item=>{const checked=value[item.key];return <button key={item.key} type="button" role="switch" aria-checked={checked} onClick={()=>onChange({...value,[item.key]:!checked})} className="group flex w-full items-center gap-2.5 rounded-md px-2 py-1.5 text-left hover:bg-element-hover focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/40"><span className={`h-2.5 w-2.5 shrink-0 rounded-sm ${item.color}`}/><span className="min-w-0 flex-1"><span className="block text-xs font-medium text-text-primary">{item.label}</span><span className="block truncate text-[10px] text-text-tertiary">{item.description}</span></span><span aria-hidden="true" className={`grid h-4 w-4 shrink-0 place-items-center rounded border ${checked?'border-accent bg-accent text-white':'border-border-strong bg-input'}`}>{checked&&<Check className="h-3 w-3"/>}</span></button>;})}</div>;
+  items,
+  value,
+  onChange,
+}: {
+  items: DisplayItem[];
+  value: ViewerDisplayOptions;
+  onChange: (next: ViewerDisplayOptions) => void;
+}) {
+  return (
+    <div className="space-y-0.5">
+      {items.map((item) => {
+        const checked = value[item.key];
+        return (
+          <button
+            key={item.key}
+            type="button"
+            role="switch"
+            aria-checked={checked}
+            onClick={() => onChange({ ...value, [item.key]: !checked })}
+            className="group flex w-full items-center gap-2.5 rounded-md px-2 py-1.5 text-left hover:bg-element-hover focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/40"
+          >
+            <span className={`h-2.5 w-2.5 shrink-0 rounded-sm ${item.color}`} />
+            <span className="min-w-0 flex-1">
+              <span className="block text-xs font-medium text-text-primary">{item.label}</span>
+              <span className="block truncate text-[10px] text-text-tertiary">
+                {item.description}
+              </span>
+            </span>
+            <span
+              aria-hidden="true"
+              className={`grid h-4 w-4 shrink-0 place-items-center rounded border ${checked ? 'border-accent bg-accent text-white' : 'border-border-strong bg-input'}`}
+            >
+              {checked && <Check className="h-3 w-3" />}
+            </span>
+          </button>
+        );
+      })}
+    </div>
+  );
 }
 
-export function ViewerDisplayPopover({value,onChange}:{value:ViewerDisplayOptions;onChange:(next:ViewerDisplayOptions)=>void}){
+export function ViewerDisplayPopover({
-  const customized=Object.keys(DEFAULT_VIEWER_DISPLAY_OPTIONS).some(key=>value[key as DisplayKey]!==DEFAULT_VIEWER_DISPLAY_OPTIONS[key as DisplayKey]);
+  value,
-  return <Popover placement="bottom-right" label="视图显示设置" trigger={({open,toggle})=><IconButton active={open||customized} tooltip="显示设置" aria-label="显示设置" aria-expanded={open} onClick={toggle}><Eye className="h-3.5 w-3.5"/></IconButton>}>
+  onChange,
-    {()=> <div className="w-72 rounded-xl border border-border bg-surface-elevated p-2 shadow-2xl"><div className="mb-1 flex items-center justify-between px-2 py-1"><div><h2 className="text-xs font-semibold text-text-primary">视图显示</h2><p className="text-[10px] text-text-tertiary">控制模型和结构辅助标记</p></div><IconButton tooltip="恢复默认显示" aria-label="恢复默认显示" disabled={!customized} onClick={()=>onChange({...DEFAULT_VIEWER_DISPLAY_OPTIONS})}><RotateCcw className="h-3.5 w-3.5"/></IconButton></div><div className="border-t border-border pt-1"><p className="px-2 pb-0.5 pt-1 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">几何</p><DisplayRows items={geometryItems} value={value} onChange={onChange}/><p className="mt-1 border-t border-border px-2 pb-0.5 pt-2 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">辅助标记</p><DisplayRows items={helperItems} value={value} onChange={onChange}/><p className="mt-1 border-t border-border px-2 pb-0.5 pt-2 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">场景</p><DisplayRows items={sceneItems} value={value} onChange={onChange}/></div></div>}
+}: {
-  </Popover>;
+  value: ViewerDisplayOptions;
+  onChange: (next: ViewerDisplayOptions) => void;
+}) {
+  const customized = Object.keys(DEFAULT_VIEWER_DISPLAY_OPTIONS).some(
+    (key) => value[key as DisplayKey] !== DEFAULT_VIEWER_DISPLAY_OPTIONS[key as DisplayKey],
+  );
+  return (
+    <Popover
+      placement="bottom-right"
+      label="视图显示设置"
+      trigger={({ open, toggle }) => (
+        <IconButton
+          active={open || customized}
+          tooltip="显示设置"
+          aria-label="显示设置"
+          aria-expanded={open}
+          onClick={toggle}
+        >
+          <Eye className="h-3.5 w-3.5" />
+        </IconButton>
+      )}
+    >
+      {() => (
+        <div className="w-72 rounded-xl border border-border bg-surface-elevated p-2 shadow-2xl">
+          <div className="mb-1 flex items-center justify-between px-2 py-1">
+            <div>
+              <h2 className="text-xs font-semibold text-text-primary">视图显示</h2>
+              <p className="text-[10px] text-text-tertiary">控制模型和结构辅助标记</p>
+            </div>
+            <IconButton
+              tooltip="恢复默认显示"
+              aria-label="恢复默认显示"
+              disabled={!customized}
+              onClick={() => onChange({ ...DEFAULT_VIEWER_DISPLAY_OPTIONS })}
+            >
+              <RotateCcw className="h-3.5 w-3.5" />
+            </IconButton>
+          </div>
+          <div className="border-t border-border pt-1">
+            <p className="px-2 pb-0.5 pt-1 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">
+              几何
+            </p>
+            <DisplayRows items={geometryItems} value={value} onChange={onChange} />
+            <p className="mt-1 border-t border-border px-2 pb-0.5 pt-2 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">
+              辅助标记
+            </p>
+            <DisplayRows items={helperItems} value={value} onChange={onChange} />
+            <p className="mt-1 border-t border-border px-2 pb-0.5 pt-2 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">
+              场景
+            </p>
+            <DisplayRows items={sceneItems} value={value} onChange={onChange} />
+          </div>
+        </div>
+      )}
+    </Popover>
+  );
 }

web_platform/src/app/components/ViewerToolDock.tsx

@@ -1,7 +1,33 @@
-import {Crosshair,Hand,MousePointer2,RotateCcw} from 'lucide-react';
+import { Crosshair, Hand, MousePointer2, RotateCcw } from 'lucide-react';
-import type {InteractionMode} from '../../viewer/MuJoCoViewer';
+import type { InteractionMode } from '../../viewer/MuJoCoViewer';
-import type {ViewerDisplayOptions} from '../../viewer/displayOptions';
+import type { ViewerDisplayOptions } from '../../viewer/displayOptions';
-import {IconButton,ToolbarToggleGroup,type ToolbarItem} from '../../components/ui';
+import { IconButton, ToolbarToggleGroup, type ToolbarItem } from '../../components/ui';
-import {ViewerDisplayPopover} from './ViewerDisplayPopover';
+import { ViewerDisplayPopover } from './ViewerDisplayPopover';
-const tools:ToolbarItem<InteractionMode>[]=[{value:'select',label:'选择',icon:MousePointer2},{value:'joint',label:'关节拖动',icon:Hand},{value:'force',label:'外力施加',icon:Crosshair}];
+const tools: ToolbarItem<InteractionMode>[] = [
-export function ViewerToolDock({mode,display,onModeChange,onDisplayChange,onResetCamera}:{mode:InteractionMode;display:ViewerDisplayOptions;onModeChange:(mode:InteractionMode)=>void;onDisplayChange:(next:ViewerDisplayOptions)=>void;onResetCamera:()=>void}){return <div className="flex items-center gap-1"><ToolbarToggleGroup items={tools} value={mode} onChange={onModeChange} label="视口交互模式"/><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"/></IconButton></div>;}
+  { value: 'select', label: '选择', icon: MousePointer2 },
+  { value: 'joint', label: '关节拖动', icon: Hand },
+  { value: 'force', label: '外力施加', icon: Crosshair },
+];
+export function ViewerToolDock({
+  mode,
+  display,
+  onModeChange,
+  onDisplayChange,
+  onResetCamera,
+}: {
+  mode: InteractionMode;
+  display: ViewerDisplayOptions;
+  onModeChange: (mode: InteractionMode) => void;
+  onDisplayChange: (next: ViewerDisplayOptions) => void;
+  onResetCamera: () => void;
+}) {
+  return (
+    <div className="flex items-center gap-1">
+      <ToolbarToggleGroup items={tools} value={mode} onChange={onModeChange} label="视口交互模式" />
+      <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" />
+      </IconButton>
+    </div>
+  );
+}

web_platform/src/app/components/ViewportHUD.tsx

@@ -1,6 +1,72 @@
-import {CirclePause,CirclePlay,Mouse,MousePointer2} from 'lucide-react';
+import { CirclePause, CirclePlay, Mouse, MousePointer2 } from 'lucide-react';
-import type {InteractionMode,ViewerSelection} from '../../viewer/MuJoCoViewer';
+import type { InteractionMode, ViewerSelection } from '../../viewer/MuJoCoViewer';
-import {Badge,Kbd} from '../../components/ui';
+import { Badge, Kbd } from '../../components/ui';
-const labels:Record<InteractionMode,string>={select:'选择',joint:'关节拖动',force:'外力施加'};
+const labels: Record<InteractionMode, string> = {
-const primaryGestures:Record<InteractionMode,string>={select:'左键旋转',joint:'左键拖动关节',force:'左键拖动施力'};
+  select: '选择',
-export function ViewportHUD({paused,mode,selection,ready}:{paused:boolean;mode:InteractionMode;selection:ViewerSelection|null;ready:boolean}){if(!ready)return null;return <><div aria-label="视口状态" className="pointer-events-none absolute left-3 top-3 z-10 flex max-w-[70%] flex-wrap items-center gap-1.5"><Badge tone={paused?'neutral':'success'}>{paused?<CirclePause className="h-3 w-3"/>:<CirclePlay className="h-3 w-3"/>}{paused?'已暂停':'仿真中'}</Badge><Badge tone="accent"><MousePointer2 className="h-3 w-3"/>{labels[mode]}</Badge>{selection&&<Badge title={`body ${selection.bodyId} · geom ${selection.geomId}`}>{selection.bodyName}</Badge>}</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"><Mouse aria-hidden="true" className="h-3 w-3 text-text-secondary"/><span>{primaryGestures[mode]}</span><span aria-hidden="true" className="text-border-strong">·</span><span>右键平移</span><span aria-hidden="true" className="text-border-strong">·</span><span>滚轮缩放</span>{mode!=='select'&&<><span aria-hidden="true" className="text-border-strong">·</span><Kbd>1</Kbd><span>旋转视角</span></>}</div></>;}
+  joint: '关节拖动',
+  force: '外力施加',
+};
+const primaryGestures: Record<InteractionMode, string> = {
+  select: '左键旋转',
+  joint: '左键拖动关节',
+  force: '左键拖动施力',
+};
+export function ViewportHUD({
+  paused,
+  mode,
+  selection,
+  ready,
+}: {
+  paused: boolean;
+  mode: InteractionMode;
+  selection: ViewerSelection | null;
+  ready: boolean;
+}) {
+  if (!ready) return null;
+  return (
+    <>
+      <div
+        aria-label="视口状态"
+        className="pointer-events-none absolute left-3 top-3 z-10 flex max-w-[70%] flex-wrap items-center gap-1.5"
+      >
+        <Badge tone={paused ? 'neutral' : 'success'}>
+          {paused ? <CirclePause className="h-3 w-3" /> : <CirclePlay className="h-3 w-3" />}
+          {paused ? '已暂停' : '仿真中'}
+        </Badge>
+        <Badge tone="accent">
+          <MousePointer2 className="h-3 w-3" />
+          {labels[mode]}
+        </Badge>
+        {selection && (
+          <Badge title={`body ${selection.bodyId} · geom ${selection.geomId}`}>
+            {selection.bodyName}
+          </Badge>
+        )}
+      </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"
+      >
+        <Mouse aria-hidden="true" className="h-3 w-3 text-text-secondary" />
+        <span>{primaryGestures[mode]}</span>
+        <span aria-hidden="true" className="text-border-strong">
+          ·
+        </span>
+        <span>右键平移</span>
+        <span aria-hidden="true" className="text-border-strong">
+          ·
+        </span>
+        <span>滚轮缩放</span>
+        {mode !== 'select' && (
+          <>
+            <span aria-hidden="true" className="text-border-strong">
+              ·
+            </span>
+            <Kbd>1</Kbd>
+            <span>旋转视角</span>
+          </>
+        )}
+      </div>
+    </>
+  );
+}

web_platform/src/app/components/WorkbenchHeader.test.tsx

@@ -1,4 +1,58 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {WorkbenchHeader} from './WorkbenchHeader';
+import { WorkbenchHeader } from './WorkbenchHeader';
-const fn=()=>{};
+const fn = () => {};
-describe('WorkbenchHeader',()=>{it('透传仿真动作且保留可访问名称',()=>{const pause=vi.fn(),step=vi.fn(),reset=vi.fn(),speed=vi.fn();render(<WorkbenchHeader paused ready speed={1} theme="dark" loading={false} leftOpen rightOpen fullscreen={false} center={<span>工具</span>} onFiles={fn} onFolder={fn} onTogglePause={pause} onStep={step} onReset={reset} onSpeed={speed} onToggleLeft={fn} onToggleRight={fn} onToggleTheme={fn} onHelp={fn} onCommands={fn} onToggleFullscreen={fn}/>);fireEvent.click(screen.getByRole('button',{name:'▶ 播放'}));fireEvent.click(screen.getByRole('button',{name:'单步'}));fireEvent.click(screen.getByRole('button',{name:'重置'}));fireEvent.change(screen.getByLabelText('仿真速度'),{target:{value:'2'}});expect(pause).toHaveBeenCalledTimes(1);expect(step).toHaveBeenCalledTimes(1);expect(reset).toHaveBeenCalledTimes(1);expect(speed).toHaveBeenCalledWith(2);expect(screen.getByRole('button',{name:'切换到白天主题'})).toBeInTheDocument();expect(screen.getByRole('button',{name:'隐藏工程面板'})).toHaveAttribute('aria-expanded','true');expect(screen.getByRole('button',{name:'打开命令面板'})).toBeInTheDocument();expect(screen.getByRole('button',{name:'进入全屏'})).toBeInTheDocument();});});
+describe('WorkbenchHeader', () => {
+  it('透传仿真动作且保留可访问名称', () => {
+    const pause = vi.fn(),
+      step = vi.fn(),
+      reset = vi.fn(),
+      speed = vi.fn(),
+      openSource = vi.fn();
+    render(
+      <WorkbenchHeader
+        paused
+        ready
+        speed={1}
+        theme="dark"
+        loading={false}
+        hasProject
+        leftOpen
+        rightOpen
+        fullscreen={false}
+        center={<span>工具</span>}
+        onFiles={fn}
+        onFolder={fn}
+        onOpenSource={openSource}
+        onTogglePause={pause}
+        onStep={step}
+        onReset={reset}
+        onSpeed={speed}
+        onToggleLeft={fn}
+        onToggleRight={fn}
+        onToggleTheme={fn}
+        onHelp={fn}
+        onCommands={fn}
+        onToggleFullscreen={fn}
+      />,
+    );
+    const sourceButton = screen.getByRole('button', { name: '源代码' });
+    expect(sourceButton).toHaveTextContent('源代码');
+    fireEvent.click(sourceButton);
+    fireEvent.click(screen.getByRole('button', { name: '▶ 播放' }));
+    fireEvent.click(screen.getByRole('button', { name: '单步' }));
+    fireEvent.click(screen.getByRole('button', { name: '重置' }));
+    fireEvent.change(screen.getByLabelText('仿真速度'), { target: { value: '2' } });
+    expect(openSource).toHaveBeenCalledTimes(1);
+    expect(pause).toHaveBeenCalledTimes(1);
+    expect(step).toHaveBeenCalledTimes(1);
+    expect(reset).toHaveBeenCalledTimes(1);
+    expect(speed).toHaveBeenCalledWith(2);
+    expect(screen.getByRole('button', { name: '切换到白天主题' })).toBeInTheDocument();
+    expect(screen.getByRole('button', { name: '隐藏工程面板' })).toHaveAttribute(
+      'aria-expanded',
+      'true',
+    );
+    expect(screen.getByRole('button', { name: '打开命令面板' })).toBeInTheDocument();
+    expect(screen.getByRole('button', { name: '进入全屏' })).toBeInTheDocument();
+  });
+});

web_platform/src/app/components/WorkbenchHeader.tsx

@@ -1,6 +1,217 @@
-import type {ChangeEvent,ReactNode} from 'react';
+import type { ChangeEvent, ReactNode } from 'react';
-import {CircleHelp,Code2,Expand,FolderOpen,Minimize,PanelLeft,PanelRight,Pause,Play,RotateCcw,Search,StepForward,Sun,Moon,Upload} from 'lucide-react';
+import {
-import {Button,IconButton,Select} from '../../components/ui';
+  Boxes,
-const fileActionClass='inline-flex h-7 cursor-pointer items-center gap-1.5 rounded-md border border-border bg-surface px-2 text-xs font-medium text-text-primary transition-colors hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/30';
+  CircleHelp,
-const fileActionLabelClass='hidden sm:inline';
+  Code2,
-export function WorkbenchHeader({paused,ready,speed,theme,loading,leftOpen,rightOpen,fullscreen,hasProject,center,endActions,compactMenu,onFiles,onFolder,onOpenSource,onTogglePause,onStep,onReset,onSpeed,onToggleLeft,onToggleRight,onToggleTheme,onHelp,onCommands,onToggleFullscreen}:{paused:boolean;ready:boolean;speed:number;theme:'light'|'dark';loading:boolean;leftOpen:boolean;rightOpen:boolean;fullscreen:boolean;hasProject?:boolean;center:ReactNode;endActions?:ReactNode;compactMenu?:ReactNode;onFiles:(event:ChangeEvent<HTMLInputElement>)=>void;onFolder:(event:ChangeEvent<HTMLInputElement>)=>void;onOpenSource?:()=>void;onTogglePause:()=>void;onStep:()=>void;onReset:()=>void;onSpeed:(value:number)=>void;onToggleLeft:()=>void;onToggleRight:()=>void;onToggleTheme:()=>void;onHelp:()=>void;onCommands:()=>void;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 px-2.5"><div className="flex min-w-0 items-center gap-1"><h1 className="mr-2 hidden truncate border-r border-border pr-3 text-sm font-semibold text-text-primary xl:block">MuJoCo Web 仿真平台</h1><label aria-disabled={loading} className={`${fileActionClass} ${loading?'pointer-events-none opacity-40':''}`}><Upload className="h-3.5 w-3.5"/><span className={fileActionLabelClass}>打开文件</span><input id="mujoco-project-files" aria-label="打开文件" className="sr-only" type="file" disabled={loading} multiple accept=".xml,.urdf,.zip,.obj,.stl,.dae,.msh,.png,.jpg,.jpeg,.bmp,.tga,.hdr" onChange={onFiles}/></label><label aria-disabled={loading} className={`${fileActionClass} ${loading?'pointer-events-none opacity-40':''}`}><FolderOpen className="h-3.5 w-3.5"/><span className={fileActionLabelClass}>文件夹</span><input id="mujoco-project-folder" aria-label="打开文件夹" className="sr-only" type="file" disabled={loading} multiple {...({webkitdirectory:'',directory:''} as object)} onChange={onFolder}/></label><IconButton tooltip="查看和修改缓存源代码" aria-label="源代码" disabled={!hasProject||loading} onClick={onOpenSource}><Code2 className="h-4 w-4"/></IconButton></div><div className="flex items-center justify-center">{center}</div><div className="flex min-w-0 items-center justify-end gap-0.5"><Button variant="ghost" onClick={onTogglePause} disabled={!ready} aria-label={paused?'▶ 播放':'⏸ 暂停'} icon={paused?<Play className="h-3.5 w-3.5"/>:<Pause className="h-3.5 w-3.5"/>}>{paused?'播放':'暂停'}</Button><IconButton tooltip="单步" aria-label="单步" onClick={onStep} disabled={!ready||!paused}><StepForward className="h-3.5 w-3.5"/></IconButton><IconButton tooltip="重置" aria-label="重置" onClick={onReset} disabled={!ready}><RotateCcw className="h-3.5 w-3.5"/></IconButton><Select aria-label="仿真速度" value={speed} disabled={loading} onChange={event=>onSpeed(Number(event.target.value))} className="w-[70px]"><option value={.25}>0.25×</option><option value={.5}>0.5×</option><option value={1}>1×</option><option value={2}>2×</option><option value={4}>4×</option></Select><span className="mx-1 h-5 border-l border-border"/><IconButton tooltip={leftOpen?'隐藏工程面板':'显示工程面板'} aria-label={leftOpen?'隐藏工程面板':'显示工程面板'} aria-expanded={leftOpen} onClick={onToggleLeft}><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'} aria-expanded={rightOpen} onClick={onToggleRight}><PanelRight className="h-4 w-4"/></IconButton>{endActions}{compactMenu}<IconButton className="hidden xl:inline-flex" tooltip="命令面板（Ctrl+K）" aria-label="打开命令面板" onClick={onCommands}><Search className="h-4 w-4"/></IconButton><IconButton className="hidden xl:inline-flex" tooltip={fullscreen?'退出全屏':'进入全屏'} aria-label={fullscreen?'退出全屏':'进入全屏'} onClick={onToggleFullscreen}>{fullscreen?<Minimize className="h-4 w-4"/>:<Expand className="h-4 w-4"/>}</IconButton><IconButton className="hidden xl:inline-flex" tooltip="快捷键帮助" aria-label="快捷键帮助" onClick={onHelp}><CircleHelp className="h-4 w-4"/></IconButton><IconButton className="hidden xl:inline-flex" tooltip={theme==='dark'?'切换到白天主题':'切换到黑夜主题'} aria-label={theme==='dark'?'切换到白天主题':'切换到黑夜主题'} onClick={onToggleTheme}>{theme==='dark'?<Sun className="h-4 w-4"/>:<Moon className="h-4 w-4"/>}</IconButton></div></header>;}
+  Expand,
+  FolderOpen,
+  Minimize,
+  PanelLeft,
+  PanelRight,
+  Pause,
+  Play,
+  RotateCcw,
+  Search,
+  StepForward,
+  Sun,
+  Moon,
+  Upload,
+} from 'lucide-react';
+import { Button, IconButton, Select } from '../../components/ui';
+const fileActionClass =
+  'inline-flex h-7 cursor-pointer items-center gap-1.5 rounded-md border border-border bg-surface/80 px-2 text-xs font-medium text-text-primary shadow-sm transition-[background-color,border-color,transform] hover:-translate-y-px hover:border-border-strong hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/30';
+const fileActionLabelClass = 'hidden sm:inline';
+export function WorkbenchHeader({
+  paused,
+  ready,
+  speed,
+  theme,
+  loading,
+  leftOpen,
+  rightOpen,
+  fullscreen,
+  hasProject,
+  center,
+  endActions,
+  compactMenu,
+  onFiles,
+  onFolder,
+  onOpenSource,
+  onTogglePause,
+  onStep,
+  onReset,
+  onSpeed,
+  onToggleLeft,
+  onToggleRight,
+  onToggleTheme,
+  onHelp,
+  onCommands,
+  onToggleFullscreen,
+}: {
+  paused: boolean;
+  ready: boolean;
+  speed: number;
+  theme: 'light' | 'dark';
+  loading: boolean;
+  leftOpen: boolean;
+  rightOpen: boolean;
+  fullscreen: boolean;
+  hasProject?: boolean;
+  center: ReactNode;
+  endActions?: ReactNode;
+  compactMenu?: ReactNode;
+  onFiles: (event: ChangeEvent<HTMLInputElement>) => void;
+  onFolder: (event: ChangeEvent<HTMLInputElement>) => void;
+  onOpenSource?: () => void;
+  onTogglePause: () => void;
+  onStep: () => void;
+  onReset: () => void;
+  onSpeed: (value: number) => void;
+  onToggleLeft: () => void;
+  onToggleRight: () => void;
+  onToggleTheme: () => void;
+  onHelp: () => void;
+  onCommands: () => void;
+  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">
+      <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">
+            <Boxes aria-hidden="true" className="h-3.5 w-3.5" />
+          </span>
+          <h1 className="truncate text-sm font-semibold tracking-tight text-text-primary">
+            MuJoCo Web 仿真平台
+          </h1>
+        </div>
+        <label
+          aria-disabled={loading}
+          className={`${fileActionClass} ${loading ? 'pointer-events-none opacity-40' : ''}`}
+        >
+          <Upload className="h-3.5 w-3.5" />
+          <span className={fileActionLabelClass}>打开文件</span>
+          <input
+            id="mujoco-project-files"
+            aria-label="打开文件"
+            className="sr-only"
+            type="file"
+            disabled={loading}
+            multiple
+            accept=".xml,.urdf,.zip,.obj,.stl,.dae,.msh,.png,.jpg,.jpeg,.bmp,.tga,.hdr"
+            onChange={onFiles}
+          />
+        </label>
+        <label
+          aria-disabled={loading}
+          className={`${fileActionClass} ${loading ? 'pointer-events-none opacity-40' : ''}`}
+        >
+          <FolderOpen className="h-3.5 w-3.5" />
+          <span className={fileActionLabelClass}>文件夹</span>
+          <input
+            id="mujoco-project-folder"
+            aria-label="打开文件夹"
+            className="sr-only"
+            type="file"
+            disabled={loading}
+            multiple
+            {...({ webkitdirectory: '', directory: '' } as object)}
+            onChange={onFolder}
+          />
+        </label>
+        <button
+          type="button"
+          className={`${fileActionClass} disabled:cursor-not-allowed disabled:opacity-40`}
+          title="查看和修改缓存源代码"
+          disabled={!hasProject || loading}
+          onClick={onOpenSource}
+        >
+          <Code2 className="h-3.5 w-3.5" />
+          <span className={fileActionLabelClass}>源代码</span>
+        </button>
+      </div>
+      <div className="flex items-center justify-center">{center}</div>
+      <div className="flex min-w-0 items-center justify-end gap-0.5">
+        <Button
+          variant="ghost"
+          onClick={onTogglePause}
+          disabled={!ready}
+          aria-label={paused ? '▶ 播放' : '⏸ 暂停'}
+          icon={paused ? <Play className="h-3.5 w-3.5" /> : <Pause className="h-3.5 w-3.5" />}
+        >
+          {paused ? '播放' : '暂停'}
+        </Button>
+        <IconButton tooltip="单步" aria-label="单步" onClick={onStep} disabled={!ready || !paused}>
+          <StepForward className="h-3.5 w-3.5" />
+        </IconButton>
+        <IconButton tooltip="重置" aria-label="重置" onClick={onReset} disabled={!ready}>
+          <RotateCcw className="h-3.5 w-3.5" />
+        </IconButton>
+        <Select
+          aria-label="仿真速度"
+          value={speed}
+          disabled={loading}
+          onChange={(event) => onSpeed(Number(event.target.value))}
+          className="w-[70px]"
+        >
+          <option value={0.25}>0.25×</option>
+          <option value={0.5}>0.5×</option>
+          <option value={1}>1×</option>
+          <option value={2}>2×</option>
+          <option value={4}>4×</option>
+        </Select>
+        <span className="mx-1 h-5 border-l border-border" />
+        <IconButton
+          tooltip={leftOpen ? '隐藏工程面板' : '显示工程面板'}
+          aria-label={leftOpen ? '隐藏工程面板' : '显示工程面板'}
+          aria-expanded={leftOpen}
+          onClick={onToggleLeft}
+        >
+          <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'}
+          aria-expanded={rightOpen}
+          onClick={onToggleRight}
+        >
+          <PanelRight className="h-4 w-4" />
+        </IconButton>
+        {endActions}
+        {compactMenu}
+        <IconButton
+          className="hidden xl:inline-flex"
+          tooltip="命令面板（Ctrl+K）"
+          aria-label="打开命令面板"
+          onClick={onCommands}
+        >
+          <Search className="h-4 w-4" />
+        </IconButton>
+        <IconButton
+          className="hidden xl:inline-flex"
+          tooltip={fullscreen ? '退出全屏' : '进入全屏'}
+          aria-label={fullscreen ? '退出全屏' : '进入全屏'}
+          onClick={onToggleFullscreen}
+        >
+          {fullscreen ? <Minimize className="h-4 w-4" /> : <Expand className="h-4 w-4" />}
+        </IconButton>
+        <IconButton
+          className="hidden xl:inline-flex"
+          tooltip="快捷键帮助"
+          aria-label="快捷键帮助"
+          onClick={onHelp}
+        >
+          <CircleHelp className="h-4 w-4" />
+        </IconButton>
+        <IconButton
+          className="hidden xl:inline-flex"
+          tooltip={theme === 'dark' ? '切换到白天主题' : '切换到黑夜主题'}
+          aria-label={theme === 'dark' ? '切换到白天主题' : '切换到黑夜主题'}
+          onClick={onToggleTheme}
+        >
+          {theme === 'dark' ? <Sun className="h-4 w-4" /> : <Moon className="h-4 w-4" />}
+        </IconButton>
+      </div>
+    </header>
+  );
+}

web_platform/src/app/components/WorkspaceOverlays.tsx

@@ -1,6 +1,206 @@
-import {Box,FolderOpen,LoaderCircle,PlayCircle,Settings2,ShieldCheck,Upload,UploadCloud} from 'lucide-react';
+import {
-import {ProgressBar,Skeleton} from '../../components/ui';
+  Box,
-export interface ImportProgress{label:string;value:number;}
+  CheckCircle2,
-const workflow=[{label:'导入',detail:'URDF、MJCF 或工程包',icon:UploadCloud},{label:'检查与配置',detail:'结构、驱动器与传感器',icon:Settings2},{label:'运行与调试',detail:'控制、策略与物理状态',icon:PlayCircle}];
+  FileArchive,
-export function EmptyWorkspace({compact=false}:{compact?:boolean}){if(compact)return <div className="m-3 rounded-xl border border-dashed border-border-strong bg-panel/90 p-4 text-center shadow-sm"><span className="mx-auto mb-3 grid h-10 w-10 place-items-center rounded-xl bg-accent-soft text-accent"><Box className="h-5 w-5"/></span><p className="text-sm font-semibold text-text-primary">拖放模型工程到此处</p><p className="mt-1 text-xs text-text-tertiary">支持 MJCF/XML、URDF、文件夹和 ZIP</p></div>;return <section aria-label="导入模型工程" className="w-[min(560px,calc(100vw-32px))] rounded-2xl border border-border-strong bg-panel/90 p-6 text-center shadow-2xl backdrop-blur-md"><span className="mx-auto mb-3 grid h-11 w-11 place-items-center rounded-xl bg-accent-soft text-accent"><UploadCloud className="h-5 w-5"/></span><h2 className="text-base font-semibold text-text-primary">拖放模型工程到此处</h2><p className="mt-1 text-xs text-text-tertiary">支持 MJCF/XML、URDF、文件夹和 ZIP</p><div className="mt-4 flex items-center justify-center gap-2"><label htmlFor="mujoco-project-files" className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md bg-accent px-3 text-xs font-medium text-white transition-colors hover:bg-accent-hover focus-within:ring-2 focus-within:ring-accent/40"><Upload className="h-3.5 w-3.5"/>选择文件</label><label htmlFor="mujoco-project-folder" className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-border bg-surface px-3 text-xs font-medium text-text-primary transition-colors hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/40"><FolderOpen className="h-3.5 w-3.5"/>选择文件夹</label></div><ol aria-label="仿真工作流程" className="mt-5 hidden grid-cols-3 gap-2 border-t border-border pt-4 sm:grid">{workflow.map((item,index)=><li key={item.label} className="rounded-lg bg-surface px-3 py-2.5 text-left"><div className="flex items-center gap-2"><span className="technical-value text-[10px] font-semibold text-accent">0{index+1}</span><item.icon aria-hidden="true" className="h-3.5 w-3.5 text-text-secondary"/><span className="text-xs font-medium text-text-primary">{item.label}</span></div><span className="mt-1 block text-[10px] leading-4 text-text-tertiary">{item.detail}</span></li>)}</ol><p className="mt-3 flex items-center justify-center gap-1.5 text-[10px] text-text-tertiary"><ShieldCheck aria-hidden="true" className="h-3 w-3 text-success"/>模型与资源仅在当前浏览器会话中处理</p></section>;}
+  FolderOpen,
-export function WorkspaceOverlays({loading,hasSnapshot,progress}:{loading:boolean;hasSnapshot:boolean;progress?:ImportProgress}){return <>{!hasSnapshot&&!loading&&<div className="pointer-events-none absolute inset-0 grid place-items-center p-4"><div className="pointer-events-auto"><EmptyWorkspace/></div></div>}{loading&&<div role="status" aria-live="polite" aria-label={progress?.label??'正在加载 MuJoCo 与模型'} className="absolute inset-0 z-20 grid place-items-center bg-app/75 backdrop-blur-sm"><div className="w-80 rounded-xl border border-border bg-panel px-5 py-4 text-sm font-medium text-text-primary shadow-xl"><div className="flex items-center gap-3"><LoaderCircle aria-hidden="true" className="h-5 w-5 animate-spin text-accent"/>正在加载 MuJoCo 与模型…</div>{progress?<div className="mt-4"><ProgressBar value={progress.value} label={progress.label}/></div>:<div className="mt-4 space-y-2"><Skeleton className="h-2.5 w-full"/><Skeleton className="h-2.5 w-4/5"/></div>}</div></div>}</>;}
+  LoaderCircle,
+  PlayCircle,
+  Settings2,
+  ShieldCheck,
+  Sparkles,
+  Upload,
+  UploadCloud,
+} from 'lucide-react';
+import { ProgressBar, Skeleton } from '../../components/ui';
+
+export interface ImportProgress {
+  title?: string;
+  label: string;
+  detail?: string;
+  value: number;
+}
+
+const workflow = [
+  { label: '导入', detail: 'URDF、MJCF 或工程包', icon: UploadCloud },
+  { label: '检查与配置', detail: '结构、驱动器与传感器', icon: Settings2 },
+  { label: '运行与调试', detail: '控制、策略与物理状态', icon: PlayCircle },
+];
+
+export function EmptyWorkspace({ compact = false }: { compact?: boolean }) {
+  if (compact)
+    return (
+      <div className="m-3 rounded-xl border border-dashed border-border-strong bg-panel/90 p-4 text-center shadow-sm">
+        <span className="mx-auto mb-3 grid h-10 w-10 place-items-center rounded-xl bg-accent-soft text-accent">
+          <Box className="h-5 w-5" />
+        </span>
+        <p className="text-sm font-semibold text-text-primary">拖放模型工程到此处</p>
+        <p className="mt-1 text-xs text-text-tertiary">支持 MJCF/XML、URDF、文件夹和 ZIP</p>
+      </div>
+    );
+
+  return (
+    <section
+      aria-label="导入模型工程"
+      className="workspace-welcome relative w-[min(600px,calc(100vw-32px))] overflow-hidden rounded-[22px] border border-border-strong bg-panel/90 px-6 py-6 text-center shadow-2xl backdrop-blur-md sm:px-7"
+    >
+      <div aria-hidden="true" className="welcome-glow" />
+      <div className="relative">
+        <div className="mb-4 flex items-center justify-center gap-2 text-[10px] font-semibold uppercase tracking-[0.18em] text-accent">
+          <Sparkles className="h-3.5 w-3.5" />
+          Local Simulation Workspace
+        </div>
+        <span className="mx-auto mb-4 grid h-14 w-14 place-items-center rounded-2xl border border-accent/25 bg-accent-soft text-accent shadow-[0_12px_32px_rgba(53,199,146,0.16)]">
+          <UploadCloud className="h-6 w-6" />
+        </span>
+        <h2 className="text-lg font-semibold tracking-tight text-text-primary">
+          拖放模型工程到此处
+        </h2>
+        <p className="mt-1.5 text-xs leading-5 text-text-tertiary">
+          本地解析、编译并运行机器人模型，无需上传资源
+        </p>
+        <div
+          className="mt-4 flex flex-wrap items-center justify-center gap-1.5"
+          aria-label="支持格式"
+        >
+          {['MJCF / XML', 'URDF', 'ZIP', 'OBJ / STL / DAE'].map((format) => (
+            <span
+              key={format}
+              className="rounded-full border border-border bg-surface/80 px-2.5 py-1 text-[10px] font-medium text-text-secondary"
+            >
+              {format}
+            </span>
+          ))}
+        </div>
+        <div className="mt-5 flex items-center justify-center gap-2">
+          <label
+            htmlFor="mujoco-project-files"
+            className="inline-flex h-9 cursor-pointer items-center gap-1.5 rounded-lg bg-accent px-3.5 text-xs font-semibold text-white shadow-[0_8px_22px_rgba(22,131,95,0.22)] transition-[background-color,transform,box-shadow] hover:-translate-y-0.5 hover:bg-accent-hover hover:shadow-[0_10px_26px_rgba(22,131,95,0.28)] focus-within:ring-2 focus-within:ring-accent/40"
+          >
+            <Upload className="h-3.5 w-3.5" />
+            选择文件
+          </label>
+          <label
+            htmlFor="mujoco-project-folder"
+            className="inline-flex h-9 cursor-pointer items-center gap-1.5 rounded-lg border border-border bg-surface px-3.5 text-xs font-semibold text-text-primary shadow-sm transition-[background-color,transform] hover:-translate-y-0.5 hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/40"
+          >
+            <FolderOpen className="h-3.5 w-3.5" />
+            选择文件夹
+          </label>
+        </div>
+        <ol
+          aria-label="仿真工作流程"
+          className="mt-6 hidden grid-cols-3 gap-2 border-t border-border/80 pt-4 sm:grid"
+        >
+          {workflow.map((item, index) => (
+            <li
+              key={item.label}
+              className="rounded-xl border border-border/70 bg-surface/70 px-3 py-3 text-left"
+            >
+              <div className="flex items-center gap-2">
+                <span className="technical-value text-[10px] font-semibold text-accent">
+                  0{index + 1}
+                </span>
+                <item.icon aria-hidden="true" className="h-3.5 w-3.5 text-text-secondary" />
+                <span className="text-xs font-semibold text-text-primary">{item.label}</span>
+              </div>
+              <span className="mt-1 block text-[10px] leading-4 text-text-tertiary">
+                {item.detail}
+              </span>
+            </li>
+          ))}
+        </ol>
+        <p className="mt-4 flex items-center justify-center gap-1.5 text-[10px] text-text-tertiary">
+          <ShieldCheck aria-hidden="true" className="h-3.5 w-3.5 text-success" />
+          模型与资源仅在当前浏览器会话中处理
+        </p>
+      </div>
+    </section>
+  );
+}
+
+function LoadingCard({ progress, compact }: { progress?: ImportProgress; compact: boolean }) {
+  const title = progress?.title ?? '正在加载 MuJoCo 与模型';
+  return (
+    <div
+      className={`${compact ? 'w-[min(360px,calc(100vw-32px))]' : 'w-[min(400px,calc(100vw-32px))]'} overflow-hidden rounded-2xl border border-border-strong bg-panel/95 shadow-2xl backdrop-blur-md`}
+    >
+      <div className="h-0.5 bg-gradient-to-r from-transparent via-accent to-transparent opacity-90" />
+      <div className={compact ? 'px-4 py-3.5' : 'px-5 py-5'}>
+        <div className="flex items-start gap-3">
+          <span className="relative mt-0.5 grid h-9 w-9 shrink-0 place-items-center rounded-xl bg-accent-soft text-accent">
+            <LoaderCircle aria-hidden="true" className="h-5 w-5 animate-spin" />
+            <span className="absolute inset-0 animate-ping rounded-xl border border-accent/20" />
+          </span>
+          <div className="min-w-0 flex-1">
+            <div className="text-sm font-semibold text-text-primary">{title}</div>
+            <div className="mt-0.5 truncate text-[11px] text-text-tertiary">
+              {progress?.detail ?? '首次运行会下载并编译本地 WebAssembly 运行时'}
+            </div>
+          </div>
+        </div>
+        {progress ? (
+          <div className="mt-4">
+            <ProgressBar value={progress.value} label={progress.label} />
+          </div>
+        ) : (
+          <div className="mt-4 space-y-2">
+            <Skeleton className="h-2.5 w-full" />
+            <Skeleton className="h-2.5 w-4/5" />
+          </div>
+        )}
+      </div>
+    </div>
+  );
+}
+
+export function WorkspaceOverlays({
+  loading,
+  hasSnapshot,
+  dragActive = false,
+  progress,
+}: {
+  loading: boolean;
+  hasSnapshot: boolean;
+  dragActive?: boolean;
+  progress?: ImportProgress;
+}) {
+  return (
+    <>
+      {!hasSnapshot && !loading && (
+        <div className="pointer-events-none absolute inset-0 grid place-items-center p-4">
+          <div className="pointer-events-auto">
+            <EmptyWorkspace />
+          </div>
+        </div>
+      )}
+      {loading && (
+        <div
+          role="status"
+          aria-live="polite"
+          aria-label={progress?.label ?? '正在加载 MuJoCo 与模型'}
+          className={
+            hasSnapshot
+              ? 'pointer-events-none absolute right-4 top-4 z-30'
+              : 'absolute inset-0 z-30 grid place-items-center bg-app/70 p-4 backdrop-blur-[3px]'
+          }
+        >
+          <LoadingCard progress={progress} compact={hasSnapshot} />
+        </div>
+      )}
+      {dragActive && !loading && (
+        <div className="pointer-events-none absolute inset-3 z-40 grid place-items-center rounded-2xl border-2 border-dashed border-accent bg-accent-soft/20 shadow-[inset_0_0_80px_rgba(53,199,146,0.08)] backdrop-blur-[2px]">
+          <div className="rounded-2xl border border-accent/30 bg-panel/95 px-7 py-5 text-center shadow-2xl">
+            <span className="mx-auto mb-3 grid h-11 w-11 place-items-center rounded-xl bg-accent-soft text-accent">
+              <FileArchive className="h-5 w-5" />
+            </span>
+            <p className="text-sm font-semibold text-text-primary">松开即可导入工程</p>
+            <p className="mt-1 flex items-center justify-center gap-1.5 text-[11px] text-text-tertiary">
+              <CheckCircle2 className="h-3 w-3 text-success" />
+              文件、文件夹与 ZIP 都可以直接解析
+            </p>
+          </div>
+        </div>
+      )}
+    </>
+  );
+}

web_platform/src/app/components/monacoSetup.ts

@@ -1,8 +1,8 @@
-import {loader} from '@monaco-editor/react';
+import { loader } from '@monaco-editor/react';
 import * as monaco from 'monaco-editor/editor/editor.api';
 import 'monaco-editor/languages/definitions/xml/register';
 import EditorWorker from 'monaco-editor/editor/editor.worker?worker';
 
-type MonacoGlobal=typeof globalThis&{MonacoEnvironment?:{getWorker?:()=>Worker}};
+type MonacoGlobal = typeof globalThis & { MonacoEnvironment?: { getWorker?: () => Worker } };
-(globalThis as MonacoGlobal).MonacoEnvironment={getWorker:()=>new EditorWorker()};
+(globalThis as MonacoGlobal).MonacoEnvironment = { getWorker: () => new EditorWorker() };
-loader.config({monaco});
+loader.config({ monaco });

web_platform/src/components/ui/Badge.tsx

@@ -1,2 +1,27 @@
-import type {ReactNode} from 'react';
+import type { ReactNode } from 'react';
-export function Badge({children,tone='neutral',className='',title}:{children:ReactNode;tone?:'neutral'|'accent'|'success'|'warning';className?:string;title?:string}){const toneClass={neutral:'border-border bg-surface text-text-secondary',accent:'border-success-border bg-accent-soft text-accent',success:'border-success-border bg-success-soft text-success',warning:'border-warning-border bg-warning-soft text-warning'}[tone];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}`}>{children}</span>;}
+export function Badge({
+  children,
+  tone = 'neutral',
+  className = '',
+  title,
+}: {
+  children: ReactNode;
+  tone?: 'neutral' | 'accent' | 'success' | 'warning';
+  className?: string;
+  title?: string;
+}) {
+  const toneClass = {
+    neutral: 'border-border bg-surface text-text-secondary',
+    accent: 'border-success-border bg-accent-soft text-accent',
+    success: 'border-success-border bg-success-soft text-success',
+    warning: 'border-warning-border bg-warning-soft text-warning',
+  }[tone];
+  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}`}
+    >
+      {children}
+    </span>
+  );
+}

web_platform/src/components/ui/Button.tsx

@@ -1,18 +1,44 @@
-import type {ButtonHTMLAttributes,ReactNode} from 'react';
+import type { ButtonHTMLAttributes, ReactNode } from 'react';
 
-export interface ButtonProps extends ButtonHTMLAttributes<HTMLButtonElement>{
+export interface ButtonProps extends ButtonHTMLAttributes<HTMLButtonElement> {
-  variant?:'primary'|'secondary'|'ghost'|'danger';
+  variant?: 'primary' | 'secondary' | 'ghost' | 'danger';
-  size?:'sm'|'md'|'icon';
+  size?: 'sm' | 'md' | 'icon';
-  icon?:ReactNode;
+  icon?: ReactNode;
 }
 
-export function Button({variant='secondary',size='sm',icon,className='',children,type='button',...props}:ButtonProps){
+export function Button({
-  const variants={
+  variant = 'secondary',
-    primary:'border-transparent bg-accent text-white hover:bg-accent-hover',
+  size = 'sm',
-    secondary:'border-border bg-surface text-text-primary hover:bg-element-hover',
+  icon,
-    ghost:'border-transparent bg-transparent text-text-secondary hover:bg-element-hover hover:text-text-primary',
+  className = '',
-    danger:'border-danger-border bg-danger-soft text-danger hover:bg-danger hover:text-white',
+  children,
+  type = 'button',
+  ...props
+}: ButtonProps) {
+  const variants = {
+    primary: 'border-transparent bg-accent text-white hover:bg-accent-hover',
+    secondary: 'border-border bg-surface text-text-primary hover:bg-element-hover',
+    ghost:
+      'border-transparent bg-transparent text-text-secondary hover:bg-element-hover hover:text-text-primary',
+    danger: 'border-danger-border bg-danger-soft text-danger hover:bg-danger hover:text-white',
   };
-  const sizes={sm:'h-7 gap-1.5 rounded-md px-2 text-xs',md:'h-8 gap-2 rounded-md px-3 text-sm',icon:'h-7 w-7 rounded-md p-0'};
+  const sizes = {
-  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()} {...props}>{icon&&<span aria-hidden="true" className="flex items-center">{icon}</span>}{children}</button>;
+    sm: 'h-7 gap-1.5 rounded-md px-2 text-xs',
+    md: 'h-8 gap-2 rounded-md px-3 text-sm',
+    icon: 'h-7 w-7 rounded-md p-0',
+  };
+  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()}
+      {...props}
+    >
+      {icon && (
+        <span aria-hidden="true" className="flex items-center">
+          {icon}
+        </span>
+      )}
+      {children}
+    </button>
+  );
 }

web_platform/src/components/ui/CollapsibleSection.test.tsx

@@ -1,3 +1,25 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {CollapsibleSection} from './CollapsibleSection';
+import { CollapsibleSection } from './CollapsibleSection';
-describe('CollapsibleSection',()=>{it('遵循默认折叠状态并可展开',()=>{render(<CollapsibleSection title="低频设置" defaultOpen={false}><span>内容</span></CollapsibleSection>);const trigger=screen.getByRole('button',{name:'低频设置'});expect(trigger).toHaveAttribute('aria-expanded','false');expect(screen.queryByText('内容')).not.toBeInTheDocument();fireEvent.click(trigger);expect(trigger).toHaveAttribute('aria-expanded','true');expect(screen.getByText('内容')).toBeVisible();});it('forceOpen 时保持内容可见',()=>{render(<CollapsibleSection title="警告" defaultOpen={false} forceOpen><span>错误详情</span></CollapsibleSection>);expect(screen.getByText('错误详情')).toBeVisible();});});
+describe('CollapsibleSection', () => {
+  it('遵循默认折叠状态并可展开', () => {
+    render(
+      <CollapsibleSection title="低频设置" defaultOpen={false}>
+        <span>内容</span>
+      </CollapsibleSection>,
+    );
+    const trigger = screen.getByRole('button', { name: '低频设置' });
+    expect(trigger).toHaveAttribute('aria-expanded', 'false');
+    expect(screen.queryByText('内容')).not.toBeInTheDocument();
+    fireEvent.click(trigger);
+    expect(trigger).toHaveAttribute('aria-expanded', 'true');
+    expect(screen.getByText('内容')).toBeVisible();
+  });
+  it('forceOpen 时保持内容可见', () => {
+    render(
+      <CollapsibleSection title="警告" defaultOpen={false} forceOpen>
+        <span>错误详情</span>
+      </CollapsibleSection>,
+    );
+    expect(screen.getByText('错误详情')).toBeVisible();
+  });
+});

web_platform/src/components/ui/CollapsibleSection.tsx

@@ -1,11 +1,36 @@
-import {useState,type ReactNode} from 'react';
+import { useState, type ReactNode } from 'react';
-import {ChevronRight} from 'lucide-react';
+import { ChevronRight } from 'lucide-react';
-export function CollapsibleSection({title,children,defaultOpen=true,forceOpen=false,badge}:{title:string;children:ReactNode;defaultOpen?:boolean;forceOpen?:boolean;badge?:ReactNode}){
+export function CollapsibleSection({
-  const [open,setOpen]=useState(defaultOpen);const expanded=forceOpen||open;
+  title,
-  return <section className="border-b border-border">
+  children,
-    <button type="button" aria-expanded={expanded} onClick={()=>setOpen(value=>!value)} className="flex h-9 w-full items-center gap-2 px-3 text-left text-xs font-semibold text-text-secondary transition-colors hover:bg-element-hover focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-inset focus-visible:ring-accent/30">
+  defaultOpen = true,
-      <ChevronRight aria-hidden="true" className={`h-3.5 w-3.5 transition-transform ${expanded?'rotate-90':''}`}/><span className="min-w-0 flex-1 truncate">{title}</span>{badge}
+  forceOpen = false,
-    </button>
+  badge,
-    {expanded&&<div className="px-3 pb-3">{children}</div>}
+}: {
-  </section>;
+  title: string;
+  children: ReactNode;
+  defaultOpen?: boolean;
+  forceOpen?: boolean;
+  badge?: ReactNode;
+}) {
+  const [open, setOpen] = useState(defaultOpen);
+  const expanded = forceOpen || open;
+  return (
+    <section className="border-b border-border">
+      <button
+        type="button"
+        aria-expanded={expanded}
+        onClick={() => setOpen((value) => !value)}
+        className="flex h-9 w-full items-center gap-2 px-3 text-left text-xs font-semibold text-text-secondary transition-colors hover:bg-element-hover focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-inset focus-visible:ring-accent/30"
+      >
+        <ChevronRight
+          aria-hidden="true"
+          className={`h-3.5 w-3.5 transition-transform ${expanded ? 'rotate-90' : ''}`}
+        />
+        <span className="min-w-0 flex-1 truncate">{title}</span>
+        {badge}
+      </button>
+      {expanded && <div className="px-3 pb-3">{children}</div>}
+    </section>
+  );
 }

web_platform/src/components/ui/ConfirmDialog.tsx

@@ -1,4 +1,40 @@
-import type {ReactNode} from 'react';
+import type { ReactNode } from 'react';
-import {Button} from './Button';
+import { Button } from './Button';
-import {Dialog} from './Dialog';
+import { Dialog } from './Dialog';
-export function ConfirmDialog({open,title,children,confirmLabel='确认',cancelLabel='取消',danger=false,onConfirm,onClose}:{open:boolean;title:string;children:ReactNode;confirmLabel?:string;cancelLabel?:string;danger?:boolean;onConfirm:()=>void;onClose:()=>void}){return <Dialog open={open} onClose={onClose} title={title} footer={<div className="flex justify-end gap-2"><Button onClick={onClose}>{cancelLabel}</Button><Button variant={danger?'danger':'primary'} onClick={onConfirm}>{confirmLabel}</Button></div>}>{children}</Dialog>;}
+export function ConfirmDialog({
+  open,
+  title,
+  children,
+  confirmLabel = '确认',
+  cancelLabel = '取消',
+  danger = false,
+  onConfirm,
+  onClose,
+}: {
+  open: boolean;
+  title: string;
+  children: ReactNode;
+  confirmLabel?: string;
+  cancelLabel?: string;
+  danger?: boolean;
+  onConfirm: () => void;
+  onClose: () => void;
+}) {
+  return (
+    <Dialog
+      open={open}
+      onClose={onClose}
+      title={title}
+      footer={
+        <div className="flex justify-end gap-2">
+          <Button onClick={onClose}>{cancelLabel}</Button>
+          <Button variant={danger ? 'danger' : 'primary'} onClick={onConfirm}>
+            {confirmLabel}
+          </Button>
+        </div>
+      }
+    >
+      {children}
+    </Dialog>
+  );
+}

web_platform/src/components/ui/CopyButton.tsx

@@ -1,4 +1,31 @@
-import {useEffect,useState} from 'react';
+import { useEffect, useState } from 'react';
-import {Check,Copy} from 'lucide-react';
+import { Check, Copy } from 'lucide-react';
-import {IconButton} from './IconButton';
+import { IconButton } from './IconButton';
-export function CopyButton({value,label='复制'}:{value:string;label?:string}){const [copied,setCopied]=useState(false);useEffect(()=>{if(!copied)return;const timer=window.setTimeout(()=>setCopied(false),1200);return()=>window.clearTimeout(timer);},[copied]);return <IconButton aria-label={copied?'已复制':label} tooltip={copied?'已复制':label} onClick={()=>void (async()=>{try{if(!navigator.clipboard?.writeText)return;await navigator.clipboard.writeText(value);setCopied(true);}catch{setCopied(false);}})()} className="h-5 w-5">{copied?<Check className="h-3 w-3 text-success"/>:<Copy className="h-3 w-3"/>}</IconButton>;}
+export function CopyButton({ value, label = '复制' }: { value: string; label?: string }) {
+  const [copied, setCopied] = useState(false);
+  useEffect(() => {
+    if (!copied) return;
+    const timer = window.setTimeout(() => setCopied(false), 1200);
+    return () => window.clearTimeout(timer);
+  }, [copied]);
+  return (
+    <IconButton
+      aria-label={copied ? '已复制' : label}
+      tooltip={copied ? '已复制' : label}
+      onClick={() =>
+        void (async () => {
+          try {
+            if (!navigator.clipboard?.writeText) return;
+            await navigator.clipboard.writeText(value);
+            setCopied(true);
+          } catch {
+            setCopied(false);
+          }
+        })()
+      }
+      className="h-5 w-5"
+    >
+      {copied ? <Check className="h-3 w-3 text-success" /> : <Copy className="h-3 w-3" />}
+    </IconButton>
+  );
+}

web_platform/src/components/ui/Dialog.test.tsx

@@ -1,6 +1,54 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {useState} from 'react';
+import { useState } from 'react';
-import {Dialog} from './Dialog';
+import { Dialog } from './Dialog';
 
-function Fixture(){const [open,setOpen]=useState(false);return <><button onClick={()=>setOpen(true)}>打开</button><Dialog open={open} onClose={()=>setOpen(false)} title="入口选择"><button>第一个</button><button>最后一个</button></Dialog></>;}
+function Fixture() {
-describe('Dialog',()=>{it('支持 Escape 关闭并恢复触发器焦点',()=>{render(<Fixture/>);const trigger=screen.getByRole('button',{name:'打开'});trigger.focus();fireEvent.click(trigger);expect(screen.getByRole('dialog')).toBeVisible();fireEvent.keyDown(document,{key:'Escape'});expect(screen.queryByRole('dialog')).not.toBeInTheDocument();expect(trigger).toHaveFocus();});it('将 Tab 焦点限制在弹窗内',()=>{render(<Fixture/>);fireEvent.click(screen.getByRole('button',{name:'打开'}));const first=screen.getByRole('button',{name:'关闭'}),last=screen.getByRole('button',{name:'最后一个'});last.focus();fireEvent.keyDown(document,{key:'Tab'});expect(first).toHaveFocus();first.focus();fireEvent.keyDown(document,{key:'Tab',shiftKey:true});expect(last).toHaveFocus();});it('全屏时将 Portal 挂载到全屏元素内部',()=>{const host=document.createElement('div');document.body.append(host);Object.defineProperty(document,'fullscreenElement',{configurable:true,value:host});const {unmount}=render(<Dialog open onClose={()=>{}} title="全屏弹窗">内容</Dialog>);expect(host).toContainElement(screen.getByRole('dialog'));unmount();Object.defineProperty(document,'fullscreenElement',{configurable:true,value:null});host.remove();});});
+  const [open, setOpen] = useState(false);
+  return (
+    <>
+      <button onClick={() => setOpen(true)}>打开</button>
+      <Dialog open={open} onClose={() => setOpen(false)} title="入口选择">
+        <button>第一个</button>
+        <button>最后一个</button>
+      </Dialog>
+    </>
+  );
+}
+describe('Dialog', () => {
+  it('支持 Escape 关闭并恢复触发器焦点', () => {
+    render(<Fixture />);
+    const trigger = screen.getByRole('button', { name: '打开' });
+    trigger.focus();
+    fireEvent.click(trigger);
+    expect(screen.getByRole('dialog')).toBeVisible();
+    fireEvent.keyDown(document, { key: 'Escape' });
+    expect(screen.queryByRole('dialog')).not.toBeInTheDocument();
+    expect(trigger).toHaveFocus();
+  });
+  it('将 Tab 焦点限制在弹窗内', () => {
+    render(<Fixture />);
+    fireEvent.click(screen.getByRole('button', { name: '打开' }));
+    const first = screen.getByRole('button', { name: '关闭' }),
+      last = screen.getByRole('button', { name: '最后一个' });
+    last.focus();
+    fireEvent.keyDown(document, { key: 'Tab' });
+    expect(first).toHaveFocus();
+    first.focus();
+    fireEvent.keyDown(document, { key: 'Tab', shiftKey: true });
+    expect(last).toHaveFocus();
+  });
+  it('全屏时将 Portal 挂载到全屏元素内部', () => {
+    const host = document.createElement('div');
+    document.body.append(host);
+    Object.defineProperty(document, 'fullscreenElement', { configurable: true, value: host });
+    const { unmount } = render(
+      <Dialog open onClose={() => {}} title="全屏弹窗">
+        内容
+      </Dialog>,
+    );
+    expect(host).toContainElement(screen.getByRole('dialog'));
+    unmount();
+    Object.defineProperty(document, 'fullscreenElement', { configurable: true, value: null });
+    host.remove();
+  });
+});

web_platform/src/components/ui/Dialog.tsx

@@ -1,14 +1,105 @@
-import {useEffect,useId,useRef,type ReactNode} from 'react';
+import { useEffect, useId, useRef, type ReactNode } from 'react';
-import {createPortal} from 'react-dom';
+import { createPortal } from 'react-dom';
-import {X} from 'lucide-react';
+import { X } from 'lucide-react';
-import {IconButton} from './IconButton';
+import { IconButton } from './IconButton';
 
-const FOCUSABLE='button:not([disabled]),a[href],input:not([disabled]),select:not([disabled]),textarea:not([disabled]),[tabindex]:not([tabindex="-1"])';
+const FOCUSABLE =
-export function Dialog({open,onClose,title,children,footer,className='',closable=true}:{open:boolean;onClose:()=>void;title:string;children:ReactNode;footer?:ReactNode;className?:string;closable?:boolean}){
+  'button:not([disabled]),a[href],input:not([disabled]),select:not([disabled]),textarea:not([disabled]),[tabindex]:not([tabindex="-1"])';
-  const ref=useRef<HTMLDivElement>(null),previous=useRef<HTMLElement|null>(null),onCloseRef=useRef(onClose),titleId=useId();
+export function Dialog({
-  useEffect(()=>{onCloseRef.current=onClose;},[onClose]);
+  open,
-  useEffect(()=>{if(!open)return;previous.current=document.activeElement instanceof HTMLElement?document.activeElement:null;ref.current?.focus();const key=(event:KeyboardEvent)=>{if(event.key==='Escape'&&closable){event.preventDefault();onCloseRef.current();return;}if(event.key!=='Tab'||!ref.current)return;const items=Array.from(ref.current.querySelectorAll<HTMLElement>(FOCUSABLE));if(!items.length){event.preventDefault();ref.current.focus();return;}const first=items[0],last=items.at(-1)!;if(event.shiftKey&&document.activeElement===first){event.preventDefault();last.focus();}else if(!event.shiftKey&&document.activeElement===last){event.preventDefault();first.focus();}};document.addEventListener('keydown',key);return()=>{document.removeEventListener('keydown',key);if(previous.current&&document.contains(previous.current))previous.current.focus();};},[open,closable]);
+  onClose,
-  if(!open)return null;
+  title,
-  const backdrop=<div aria-hidden="true" className="absolute inset-0 bg-black/55 backdrop-blur-[1px]" onMouseDown={event=>{if(closable&&event.target===event.currentTarget)onCloseRef.current();}}/>;
+  children,
-  return createPortal(<div className="fixed inset-0 z-[400] grid place-items-center p-6" role="presentation">{backdrop}<div ref={ref} tabIndex={-1} role="dialog" aria-modal="true" aria-labelledby={titleId} className={`relative flex max-h-[80vh] w-full max-w-lg flex-col overflow-hidden rounded-xl border border-border bg-panel shadow-2xl focus:outline-none ${className}`}><header className="flex h-11 shrink-0 items-center justify-between border-b border-border bg-surface px-4"><h2 id={titleId} className="truncate text-sm font-semibold text-text-primary">{title}</h2>{closable&&<IconButton aria-label="关闭" tooltip="关闭" onClick={()=>onCloseRef.current()}><X className="h-4 w-4"/></IconButton>}</header><div className="overflow-y-auto p-4">{children}</div>{footer&&<footer className="border-t border-border bg-surface px-4 py-3">{footer}</footer>}</div></div>,document.fullscreenElement??document.body);
+  footer,
+  className = '',
+  closable = true,
+}: {
+  open: boolean;
+  onClose: () => void;
+  title: string;
+  children: ReactNode;
+  footer?: ReactNode;
+  className?: string;
+  closable?: boolean;
+}) {
+  const ref = useRef<HTMLDivElement>(null),
+    previous = useRef<HTMLElement | null>(null),
+    onCloseRef = useRef(onClose),
+    titleId = useId();
+  useEffect(() => {
+    onCloseRef.current = onClose;
+  }, [onClose]);
+  useEffect(() => {
+    if (!open) return;
+    previous.current =
+      document.activeElement instanceof HTMLElement ? document.activeElement : null;
+    ref.current?.focus();
+    const key = (event: KeyboardEvent) => {
+      if (event.key === 'Escape' && closable) {
+        event.preventDefault();
+        onCloseRef.current();
+        return;
+      }
+      if (event.key !== 'Tab' || !ref.current) return;
+      const items = Array.from(ref.current.querySelectorAll<HTMLElement>(FOCUSABLE));
+      if (!items.length) {
+        event.preventDefault();
+        ref.current.focus();
+        return;
+      }
+      const first = items[0],
+        last = items.at(-1)!;
+      if (event.shiftKey && document.activeElement === first) {
+        event.preventDefault();
+        last.focus();
+      } else if (!event.shiftKey && document.activeElement === last) {
+        event.preventDefault();
+        first.focus();
+      }
+    };
+    document.addEventListener('keydown', key);
+    return () => {
+      document.removeEventListener('keydown', key);
+      if (previous.current && document.contains(previous.current)) previous.current.focus();
+    };
+  }, [open, closable]);
+  if (!open) return null;
+  const backdrop = (
+    <div
+      aria-hidden="true"
+      className="absolute inset-0 bg-black/55 backdrop-blur-[1px]"
+      onMouseDown={(event) => {
+        if (closable && event.target === event.currentTarget) onCloseRef.current();
+      }}
+    />
+  );
+  return createPortal(
+    <div className="fixed inset-0 z-[400] grid place-items-center p-6" role="presentation">
+      {backdrop}
+      <div
+        ref={ref}
+        tabIndex={-1}
+        role="dialog"
+        aria-modal="true"
+        aria-labelledby={titleId}
+        className={`relative flex max-h-[80vh] w-full max-w-lg flex-col overflow-hidden rounded-xl border border-border bg-panel shadow-2xl focus:outline-none ${className}`}
+      >
+        <header className="flex h-11 shrink-0 items-center justify-between border-b border-border bg-surface px-4">
+          <h2 id={titleId} className="truncate text-sm font-semibold text-text-primary">
+            {title}
+          </h2>
+          {closable && (
+            <IconButton aria-label="关闭" tooltip="关闭" onClick={() => onCloseRef.current()}>
+              <X className="h-4 w-4" />
+            </IconButton>
+          )}
+        </header>
+        <div className="overflow-y-auto p-4">{children}</div>
+        {footer && (
+          <footer className="border-t border-border bg-surface px-4 py-3">{footer}</footer>
+        )}
+      </div>
+    </div>,
+    document.fullscreenElement ?? document.body,
+  );
 }

web_platform/src/components/ui/DropdownMenu.tsx

@@ -1,7 +1,85 @@
-import {useEffect,useRef,type ReactNode} from 'react';
+import { useEffect, useRef, type ReactNode } from 'react';
-import {MoreHorizontal} from 'lucide-react';
+import { MoreHorizontal } from 'lucide-react';
-import {IconButton} from './IconButton';
+import { IconButton } from './IconButton';
-import {Popover} from './Popover';
+import { Popover } from './Popover';
-export interface DropdownMenuItem{id:string;label:string;icon?:ReactNode;disabled?:boolean;onSelect:()=>void;}
+export interface DropdownMenuItem {
-function MenuContent({items,close}:{items:DropdownMenuItem[];close:()=>void}){const refs=useRef<(HTMLButtonElement|null)[]>([]);useEffect(()=>{requestAnimationFrame(()=>refs.current.find(item=>item&&!item.disabled)?.focus());},[]);return <div role="menu" className="w-48 rounded-lg border border-border bg-surface-elevated p-1 shadow-xl" onKeyDown={event=>{const enabled=refs.current.filter((item):item is HTMLButtonElement=>Boolean(item&&!item.disabled)),index=enabled.indexOf(document.activeElement as HTMLButtonElement);if(event.key==='ArrowDown'){event.preventDefault();enabled[(index+1)%enabled.length]?.focus();}else if(event.key==='ArrowUp'){event.preventDefault();enabled[(index-1+enabled.length)%enabled.length]?.focus();}else if(event.key==='Home'){event.preventDefault();enabled[0]?.focus();}else if(event.key==='End'){event.preventDefault();enabled.at(-1)?.focus();}}}>{items.map((item,index)=><button key={item.id} ref={node=>{refs.current[index]=node;}} role="menuitem" disabled={item.disabled} onClick={()=>{close();item.onSelect();}} className="flex h-8 w-full items-center gap-2 rounded px-2 text-left text-xs text-text-secondary hover:bg-element-hover hover:text-text-primary focus:bg-element-hover focus:outline-none disabled:opacity-40"><span className="flex h-4 w-4 items-center justify-center">{item.icon}</span>{item.label}</button>)}</div>;}
+  id: string;
-export function DropdownMenu({items,label='更多操作',className=''}:{items:DropdownMenuItem[];label?:string;className?:string}){return <span className={className}><Popover label={label} trigger={({open,toggle})=><IconButton aria-label={label} aria-expanded={open} tooltip={label} onClick={toggle}><MoreHorizontal className="h-4 w-4"/></IconButton>}>{({close})=><MenuContent items={items} close={close}/>}</Popover></span>;}
+  label: string;
+  icon?: ReactNode;
+  disabled?: boolean;
+  onSelect: () => void;
+}
+function MenuContent({ items, close }: { items: DropdownMenuItem[]; close: () => void }) {
+  const refs = useRef<(HTMLButtonElement | null)[]>([]);
+  useEffect(() => {
+    requestAnimationFrame(() => refs.current.find((item) => item && !item.disabled)?.focus());
+  }, []);
+  return (
+    <div
+      role="menu"
+      className="w-48 rounded-lg border border-border bg-surface-elevated p-1 shadow-xl"
+      onKeyDown={(event) => {
+        const enabled = refs.current.filter((item): item is HTMLButtonElement =>
+            Boolean(item && !item.disabled),
+          ),
+          index = enabled.indexOf(document.activeElement as HTMLButtonElement);
+        if (event.key === 'ArrowDown') {
+          event.preventDefault();
+          enabled[(index + 1) % enabled.length]?.focus();
+        } else if (event.key === 'ArrowUp') {
+          event.preventDefault();
+          enabled[(index - 1 + enabled.length) % enabled.length]?.focus();
+        } else if (event.key === 'Home') {
+          event.preventDefault();
+          enabled[0]?.focus();
+        } else if (event.key === 'End') {
+          event.preventDefault();
+          enabled.at(-1)?.focus();
+        }
+      }}
+    >
+      {items.map((item, index) => (
+        <button
+          key={item.id}
+          ref={(node) => {
+            refs.current[index] = node;
+          }}
+          role="menuitem"
+          disabled={item.disabled}
+          onClick={() => {
+            close();
+            item.onSelect();
+          }}
+          className="flex h-8 w-full items-center gap-2 rounded px-2 text-left text-xs text-text-secondary hover:bg-element-hover hover:text-text-primary focus:bg-element-hover focus:outline-none disabled:opacity-40"
+        >
+          <span className="flex h-4 w-4 items-center justify-center">{item.icon}</span>
+          {item.label}
+        </button>
+      ))}
+    </div>
+  );
+}
+export function DropdownMenu({
+  items,
+  label = '更多操作',
+  className = '',
+}: {
+  items: DropdownMenuItem[];
+  label?: string;
+  className?: string;
+}) {
+  return (
+    <span className={className}>
+      <Popover
+        label={label}
+        trigger={({ open, toggle }) => (
+          <IconButton aria-label={label} aria-expanded={open} tooltip={label} onClick={toggle}>
+            <MoreHorizontal className="h-4 w-4" />
+          </IconButton>
+        )}
+      >
+        {({ close }) => <MenuContent items={items} close={close} />}
+      </Popover>
+    </span>
+  );
+}

web_platform/src/components/ui/EmptySearchState.tsx

@@ -1,2 +1,9 @@
-import {SearchX} from 'lucide-react';
+import { SearchX } from 'lucide-react';
-export function EmptySearchState({label='没有匹配结果'}:{label?:string}){return <div className="grid place-items-center gap-2 px-3 py-6 text-center text-xs text-text-tertiary"><SearchX className="h-5 w-5"/><span>{label}</span></div>;}
+export function EmptySearchState({ label = '没有匹配结果' }: { label?: string }) {
+  return (
+    <div className="grid place-items-center gap-2 px-3 py-6 text-center text-xs text-text-tertiary">
+      <SearchX className="h-5 w-5" />
+      <span>{label}</span>
+    </div>
+  );
+}

web_platform/src/components/ui/FifthBatchUi.test.tsx

@@ -1,7 +1,48 @@
-import {fireEvent,render,screen,waitFor} from '@testing-library/react';
+import { fireEvent, render, screen, waitFor } from '@testing-library/react';
-import {DropdownMenu,LiveRegion,ProgressBar,SearchableCombobox} from './index';
+import { DropdownMenu, LiveRegion, ProgressBar, SearchableCombobox } from './index';
-describe('第五批基础 UI',()=>{
+describe('第五批基础 UI', () => {
-  it('下拉菜单打开后聚焦菜单项并恢复触发器焦点',async()=>{const run=vi.fn();render(<DropdownMenu items={[{id:'a',label:'动作 A',onSelect:run}]}/>);const trigger=screen.getByRole('button',{name:'更多操作'});trigger.focus();fireEvent.click(trigger);const item=screen.getByRole('menuitem',{name:'动作 A'});await waitFor(()=>expect(item).toHaveFocus());fireEvent.click(item);expect(run).toHaveBeenCalled();expect(trigger).toHaveFocus();});
+  it('下拉菜单打开后聚焦菜单项并恢复触发器焦点', async () => {
-  it('进度条和实时区域暴露状态',()=>{render(<><ProgressBar value={.42} label="编译模型"/><LiveRegion>正在编译模型</LiveRegion></>);expect(screen.getByRole('progressbar')).toHaveAttribute('aria-valuenow','42');expect(screen.getByRole('status')).toHaveTextContent('正在编译模型');});
+    const run = vi.fn();
-  it('可搜索组合框筛选并选择入口',()=>{const change=vi.fn();render(<SearchableCombobox label="模型入口" value="a" onChange={change} options={[{value:'a',label:'模型 A',description:'a.xml'},{value:'b',label:'模型 B',description:'b.xml'}]}/>);fireEvent.click(screen.getByRole('button',{name:'模型入口'}));fireEvent.change(screen.getByRole('combobox',{name:'搜索模型入口'}),{target:{value:'B'}});const input=screen.getByRole('combobox',{name:'搜索模型入口'});expect(input).toHaveAttribute('aria-expanded','true');fireEvent.click(screen.getByRole('option',{name:/模型 B/}));expect(change).toHaveBeenCalledWith('b');});
+    render(<DropdownMenu items={[{ id: 'a', label: '动作 A', onSelect: run }]} />);
+    const trigger = screen.getByRole('button', { name: '更多操作' });
+    trigger.focus();
+    fireEvent.click(trigger);
+    const item = screen.getByRole('menuitem', { name: '动作 A' });
+    await waitFor(() => expect(item).toHaveFocus());
+    fireEvent.click(item);
+    expect(run).toHaveBeenCalled();
+    expect(trigger).toHaveFocus();
+  });
+  it('进度条和实时区域暴露状态', () => {
+    render(
+      <>
+        <ProgressBar value={0.42} label="编译模型" />
+        <LiveRegion>正在编译模型</LiveRegion>
+      </>,
+    );
+    expect(screen.getByRole('progressbar')).toHaveAttribute('aria-valuenow', '42');
+    expect(screen.getByRole('status')).toHaveTextContent('正在编译模型');
+  });
+  it('可搜索组合框筛选并选择入口', () => {
+    const change = vi.fn();
+    render(
+      <SearchableCombobox
+        label="模型入口"
+        value="a"
+        onChange={change}
+        options={[
+          { value: 'a', label: '模型 A', description: 'a.xml' },
+          { value: 'b', label: '模型 B', description: 'b.xml' },
+        ]}
+      />,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '模型入口' }));
+    fireEvent.change(screen.getByRole('combobox', { name: '搜索模型入口' }), {
+      target: { value: 'B' },
+    });
+    const input = screen.getByRole('combobox', { name: '搜索模型入口' });
+    expect(input).toHaveAttribute('aria-expanded', 'true');
+    fireEvent.click(screen.getByRole('option', { name: /模型 B/ }));
+    expect(change).toHaveBeenCalledWith('b');
+  });
 });

web_platform/src/components/ui/IconButton.tsx

@@ -1,8 +1,24 @@
-import type {ButtonHTMLAttributes} from 'react';
+import type { ButtonHTMLAttributes } from 'react';
-import {Tooltip} from './Tooltip';
+import { Tooltip } from './Tooltip';
 
-export interface IconButtonProps extends ButtonHTMLAttributes<HTMLButtonElement>{active?:boolean;tooltip?:string;}
+export interface IconButtonProps extends ButtonHTMLAttributes<HTMLButtonElement> {
-export function IconButton({active=false,tooltip,className='',type='button',...props}:IconButtonProps){
+  active?: boolean;
-  const button=<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()} {...props}/>;
+  tooltip?: string;
-  return tooltip?<Tooltip content={tooltip}>{button}</Tooltip>:button;
+}
+export function IconButton({
+  active = false,
+  tooltip,
+  className = '',
+  type = 'button',
+  ...props
+}: IconButtonProps) {
+  const button = (
+    <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()}
+      {...props}
+    />
+  );
+  return tooltip ? <Tooltip content={tooltip}>{button}</Tooltip> : button;
 }

web_platform/src/components/ui/Kbd.tsx

@@ -1,2 +1,8 @@
-import type {ReactNode} from 'react';
+import type { ReactNode } from 'react';
-export function Kbd({children}:{children:ReactNode}){return <kbd className="inline-flex min-w-5 items-center justify-center rounded border border-border-strong bg-surface px-1.5 py-0.5 font-mono text-[10px] leading-4 text-text-secondary shadow-sm">{children}</kbd>;}
+export function Kbd({ children }: { children: ReactNode }) {
+  return (
+    <kbd className="inline-flex min-w-5 items-center justify-center rounded border border-border-strong bg-surface px-1.5 py-0.5 font-mono text-[10px] leading-4 text-text-secondary shadow-sm">
+      {children}
+    </kbd>
+  );
+}

web_platform/src/components/ui/LiveRegion.tsx

@@ -1,2 +1,19 @@
-import type {ReactNode} from 'react';
+import type { ReactNode } from 'react';
-export function LiveRegion({children,assertive=false}:{children:ReactNode;assertive?:boolean}){return <div className="sr-only" role={assertive?'alert':'status'} aria-live={assertive?'assertive':'polite'} aria-atomic="true">{children}</div>;}
+export function LiveRegion({
+  children,
+  assertive = false,
+}: {
+  children: ReactNode;
+  assertive?: boolean;
+}) {
+  return (
+    <div
+      className="sr-only"
+      role={assertive ? 'alert' : 'status'}
+      aria-live={assertive ? 'assertive' : 'polite'}
+      aria-atomic="true"
+    >
+      {children}
+    </div>
+  );
+}

web_platform/src/components/ui/Popover.tsx

@@ -1,3 +1,66 @@
 /* eslint-disable react-hooks/refs -- refs are read only inside event callbacks passed to render props */
-import {useCallback,useEffect,useRef,useState,type ReactNode} from 'react';
+import { useCallback, useEffect, useRef, useState, type ReactNode } from 'react';
-export function Popover({trigger,children,placement='bottom-right',label}:{trigger:(props:{open:boolean;toggle:()=>void})=>ReactNode;children:(props:{close:(restoreFocus?:boolean)=>void})=>ReactNode;placement?:'bottom-right'|'bottom-left'|'top-left';label:string}){const [open,setOpen]=useState(false),root=useRef<HTMLDivElement>(null),previous=useRef<HTMLElement|null>(null);const close=useCallback((restoreFocus=true)=>{setOpen(false);if(restoreFocus)previous.current?.focus();},[]);useEffect(()=>{if(!open)return;const pointer=(event:PointerEvent)=>{if(!root.current?.contains(event.target as Node))setOpen(false);},key=(event:KeyboardEvent)=>{if(event.key==='Escape'||((event.ctrlKey||event.metaKey)&&event.key.toLocaleLowerCase()==='k')){setOpen(false);previous.current?.focus();}};document.addEventListener('pointerdown',pointer);document.addEventListener('keydown',key);return()=>{document.removeEventListener('pointerdown',pointer);document.removeEventListener('keydown',key);};},[open]);const position=placement==='top-left'?'bottom-8 left-0':placement==='bottom-left'?'left-0 top-9':'right-0 top-9';return <div ref={root} className="relative">{trigger({open,toggle:()=>{if(!open)previous.current=document.activeElement instanceof HTMLElement?document.activeElement:null;setOpen(value=>!value);}})}{open&&<section role="dialog" aria-label={label} className={`absolute z-50 ${position}`}>{children({close})}</section>}</div>;}
+export function Popover({
+  trigger,
+  children,
+  placement = 'bottom-right',
+  label,
+}: {
+  trigger: (props: { open: boolean; toggle: () => void }) => ReactNode;
+  children: (props: { close: (restoreFocus?: boolean) => void }) => ReactNode;
+  placement?: 'bottom-right' | 'bottom-left' | 'top-left';
+  label: string;
+}) {
+  const [open, setOpen] = useState(false),
+    root = useRef<HTMLDivElement>(null),
+    previous = useRef<HTMLElement | null>(null);
+  const close = useCallback((restoreFocus = true) => {
+    setOpen(false);
+    if (restoreFocus) previous.current?.focus();
+  }, []);
+  useEffect(() => {
+    if (!open) return;
+    const pointer = (event: PointerEvent) => {
+        if (!root.current?.contains(event.target as Node)) setOpen(false);
+      },
+      key = (event: KeyboardEvent) => {
+        if (
+          event.key === 'Escape' ||
+          ((event.ctrlKey || event.metaKey) && event.key.toLocaleLowerCase() === 'k')
+        ) {
+          setOpen(false);
+          previous.current?.focus();
+        }
+      };
+    document.addEventListener('pointerdown', pointer);
+    document.addEventListener('keydown', key);
+    return () => {
+      document.removeEventListener('pointerdown', pointer);
+      document.removeEventListener('keydown', key);
+    };
+  }, [open]);
+  const position =
+    placement === 'top-left'
+      ? 'bottom-8 left-0'
+      : placement === 'bottom-left'
+        ? 'left-0 top-9'
+        : 'right-0 top-9';
+  return (
+    <div ref={root} className="relative">
+      {trigger({
+        open,
+        toggle: () => {
+          if (!open)
+            previous.current =
+              document.activeElement instanceof HTMLElement ? document.activeElement : null;
+          setOpen((value) => !value);
+        },
+      })}
+      {open && (
+        <section role="dialog" aria-label={label} className={`absolute z-50 ${position}`}>
+          {children({ close })}
+        </section>
+      )}
+    </div>
+  );
+}

web_platform/src/components/ui/ProgressBar.tsx

@@ -1 +1,24 @@
-export function ProgressBar({value,label}:{value:number;label:string}){const percent=Math.round(Math.min(1,Math.max(0,value))*100);return <div><div className="mb-1 flex justify-between text-[10px] text-text-tertiary"><span>{label}</span><span>{percent}%</span></div><div role="progressbar" aria-label={label} aria-valuemin={0} aria-valuemax={100} aria-valuenow={percent} className="h-1.5 overflow-hidden rounded-full bg-element-active"><div className="h-full rounded-full bg-accent transition-[width]" style={{width:`${percent}%`}}/></div></div>;}
+export function ProgressBar({ value, label }: { value: number; label: string }) {
+  const percent = Math.round(Math.min(1, Math.max(0, value)) * 100);
+  return (
+    <div>
+      <div className="mb-1 flex justify-between text-[10px] text-text-tertiary">
+        <span>{label}</span>
+        <span>{percent}%</span>
+      </div>
+      <div
+        role="progressbar"
+        aria-label={label}
+        aria-valuemin={0}
+        aria-valuemax={100}
+        aria-valuenow={percent}
+        className="h-1.5 overflow-hidden rounded-full bg-element-active"
+      >
+        <div
+          className="h-full rounded-full bg-accent transition-[width]"
+          style={{ width: `${percent}%` }}
+        />
+      </div>
+    </div>
+  );
+}

web_platform/src/components/ui/PropertyRow.tsx

@@ -1,2 +1,20 @@
-import type {ReactNode} from 'react';
+import type { ReactNode } from 'react';
-export function PropertyRow({label,value,action}:{label:string;value:ReactNode;action?:ReactNode}){return <div className="grid min-h-6 grid-cols-[minmax(0,1fr)_auto] items-center gap-2 text-xs"><span className="truncate text-text-tertiary">{label}</span><span className="flex min-w-0 items-center justify-end gap-1 text-right text-text-primary"><span className="technical-value truncate">{value}</span>{action}</span></div>;}
+export function PropertyRow({
+  label,
+  value,
+  action,
+}: {
+  label: string;
+  value: ReactNode;
+  action?: ReactNode;
+}) {
+  return (
+    <div className="grid min-h-6 grid-cols-[minmax(0,1fr)_auto] items-center gap-2 text-xs">
+      <span className="truncate text-text-tertiary">{label}</span>
+      <span className="flex min-w-0 items-center justify-end gap-1 text-right text-text-primary">
+        <span className="technical-value truncate">{value}</span>
+        {action}
+      </span>
+    </div>
+  );
+}

web_platform/src/components/ui/ResizablePanel.tsx

@@ -1,8 +1,127 @@
-import {useEffect,useRef,useState,type PointerEvent as ReactPointerEvent,type ReactNode} from 'react';
+import {
-const clamp=(value:number,min:number,max:number)=>Math.min(max,Math.max(min,value));
+  useEffect,
-const panelMaxWidth=(minWidth:number)=>Math.max(minWidth,Math.min(576,window.innerWidth*.4));
+  useRef,
-function storedWidth(key:string,fallback:number,minWidth:number){try{const value=Number(localStorage.getItem(key));return clamp(Number.isFinite(value)&&value>0?value:fallback,minWidth,panelMaxWidth(minWidth));}catch{return clamp(fallback,minWidth,panelMaxWidth(minWidth));}}
+  useState,
-export function ResizablePanel({side,storageKey,visible=true,defaultWidth=288,minWidth=224,children,className=''}:{side:'left'|'right';storageKey:string;visible?:boolean;defaultWidth?:number;minWidth?:number;children:ReactNode;className?:string}){const [width,setWidth]=useState(()=>storedWidth(storageKey,defaultWidth,minWidth)),cleanupRef=useRef<()=>void>(()=>{});const update=(next:number)=>{const value=clamp(next,minWidth,panelMaxWidth(minWidth));setWidth(value);try{localStorage.setItem(storageKey,String(value));}catch{/* 无持久化权限时仍可调整 */}};
+  type PointerEvent as ReactPointerEvent,
-  useEffect(()=>{const persist=(next:number)=>{const value=clamp(next,minWidth,panelMaxWidth(minWidth));setWidth(value);try{localStorage.setItem(storageKey,String(value));}catch{/* 忽略 */}},resize=()=>setWidth(value=>clamp(value,minWidth,panelMaxWidth(minWidth))),layout=(event:Event)=>{const widths=(event as CustomEvent<{left:number;right:number}>).detail;persist(widths[side]);};window.addEventListener('resize',resize);window.addEventListener('mujoco-layout-widths',layout);return()=>{window.removeEventListener('resize',resize);window.removeEventListener('mujoco-layout-widths',layout);cleanupRef.current();};},[minWidth,side,storageKey]);
+  type ReactNode,
-  const start=(event:ReactPointerEvent<HTMLButtonElement>)=>{event.preventDefault();cleanupRef.current();const origin=event.clientX,startWidth=width,pointerId=event.pointerId;const move=(moveEvent:PointerEvent)=>{if(moveEvent.pointerId===pointerId)update(startWidth+(moveEvent.clientX-origin)*(side==='left'?1:-1));};const stop=(stopEvent:PointerEvent)=>{if(stopEvent.pointerId!==pointerId)return;cleanup();};const cleanup=()=>{window.removeEventListener('pointermove',move);window.removeEventListener('pointerup',stop);window.removeEventListener('pointercancel',stop);cleanupRef.current=()=>{};};cleanupRef.current=cleanup;window.addEventListener('pointermove',move);window.addEventListener('pointerup',stop);window.addEventListener('pointercancel',stop);};
+} from 'react';
-  return <div hidden={!visible} className={`relative shrink-0 max-lg:absolute max-lg:inset-y-0 max-lg:z-40 max-lg:shadow-2xl ${side==='left'?'max-lg:left-0':'max-lg:right-0'} ${className}`} style={{width}}>{children}<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-orientation="vertical" aria-valuemin={minWidth} aria-valuemax={Math.round(panelMaxWidth(minWidth))} aria-valuenow={Math.round(width)} onPointerDown={start} onKeyDown={event=>{if(event.key==='Home')update(minWidth);else if(event.key==='End')update(panelMaxWidth(minWidth));else if(event.key==='ArrowLeft')update(width+(side==='left'?-16:16));else if(event.key==='ArrowRight')update(width+(side==='left'?16:-16));else return;event.preventDefault();}} className={`absolute inset-y-0 z-30 w-2 cursor-col-resize bg-transparent outline-none after:absolute after:inset-y-0 after:left-1/2 after:w-px after:-translate-x-1/2 after:bg-transparent hover:after:bg-accent focus-visible:after:w-0.5 focus-visible:after:bg-accent ${side==='left'?'-right-1':'-left-1'}`}/></div>;}
+const clamp = (value: number, min: number, max: number) => Math.min(max, Math.max(min, value));
+const panelMaxWidth = (minWidth: number) =>
+  Math.max(minWidth, Math.min(576, window.innerWidth * 0.4));
+function storedWidth(key: string, fallback: number, minWidth: number) {
+  try {
+    const value = Number(localStorage.getItem(key));
+    return clamp(
+      Number.isFinite(value) && value > 0 ? value : fallback,
+      minWidth,
+      panelMaxWidth(minWidth),
+    );
+  } catch {
+    return clamp(fallback, minWidth, panelMaxWidth(minWidth));
+  }
+}
+export function ResizablePanel({
+  side,
+  storageKey,
+  visible = true,
+  defaultWidth = 288,
+  minWidth = 224,
+  children,
+  className = '',
+}: {
+  side: 'left' | 'right';
+  storageKey: string;
+  visible?: boolean;
+  defaultWidth?: number;
+  minWidth?: number;
+  children: ReactNode;
+  className?: string;
+}) {
+  const [width, setWidth] = useState(() => storedWidth(storageKey, defaultWidth, minWidth)),
+    cleanupRef = useRef<() => void>(() => {});
+  const update = (next: number) => {
+    const value = clamp(next, minWidth, panelMaxWidth(minWidth));
+    setWidth(value);
+    try {
+      localStorage.setItem(storageKey, String(value));
+    } catch {
+      /* 无持久化权限时仍可调整 */
+    }
+  };
+  useEffect(() => {
+    const persist = (next: number) => {
+        const value = clamp(next, minWidth, panelMaxWidth(minWidth));
+        setWidth(value);
+        try {
+          localStorage.setItem(storageKey, String(value));
+        } catch {
+          /* 忽略 */
+        }
+      },
+      resize = () => setWidth((value) => clamp(value, minWidth, panelMaxWidth(minWidth))),
+      layout = (event: Event) => {
+        const widths = (event as CustomEvent<{ left: number; right: number }>).detail;
+        persist(widths[side]);
+      };
+    window.addEventListener('resize', resize);
+    window.addEventListener('mujoco-layout-widths', layout);
+    return () => {
+      window.removeEventListener('resize', resize);
+      window.removeEventListener('mujoco-layout-widths', layout);
+      cleanupRef.current();
+    };
+  }, [minWidth, side, storageKey]);
+  const start = (event: ReactPointerEvent<HTMLButtonElement>) => {
+    event.preventDefault();
+    cleanupRef.current();
+    const origin = event.clientX,
+      startWidth = width,
+      pointerId = event.pointerId;
+    const move = (moveEvent: PointerEvent) => {
+      if (moveEvent.pointerId === pointerId)
+        update(startWidth + (moveEvent.clientX - origin) * (side === 'left' ? 1 : -1));
+    };
+    const stop = (stopEvent: PointerEvent) => {
+      if (stopEvent.pointerId !== pointerId) return;
+      cleanup();
+    };
+    const cleanup = () => {
+      window.removeEventListener('pointermove', move);
+      window.removeEventListener('pointerup', stop);
+      window.removeEventListener('pointercancel', stop);
+      cleanupRef.current = () => {};
+    };
+    cleanupRef.current = cleanup;
+    window.addEventListener('pointermove', move);
+    window.addEventListener('pointerup', stop);
+    window.addEventListener('pointercancel', stop);
+  };
+  return (
+    <div
+      hidden={!visible}
+      className={`relative shrink-0 max-lg:absolute max-lg:inset-y-0 max-lg:z-40 max-lg:shadow-2xl ${side === 'left' ? 'max-lg:left-0' : 'max-lg:right-0'} ${className}`}
+      style={{ width }}
+    >
+      {children}
+      <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-orientation="vertical"
+        aria-valuemin={minWidth}
+        aria-valuemax={Math.round(panelMaxWidth(minWidth))}
+        aria-valuenow={Math.round(width)}
+        onPointerDown={start}
+        onKeyDown={(event) => {
+          if (event.key === 'Home') update(minWidth);
+          else if (event.key === 'End') update(panelMaxWidth(minWidth));
+          else if (event.key === 'ArrowLeft') update(width + (side === 'left' ? -16 : 16));
+          else if (event.key === 'ArrowRight') update(width + (side === 'left' ? 16 : -16));
+          else return;
+          event.preventDefault();
+        }}
+        className={`absolute inset-y-0 z-30 w-2 cursor-col-resize bg-transparent outline-none after:absolute after:inset-y-0 after:left-1/2 after:w-px after:-translate-x-1/2 after:bg-transparent hover:after:bg-accent focus-visible:after:w-0.5 focus-visible:after:bg-accent ${side === 'left' ? '-right-1' : '-left-1'}`}
+      />
+    </div>
+  );
+}

web_platform/src/components/ui/SearchHighlight.tsx

@@ -1 +1,27 @@
-export function SearchHighlight({text,query}:{text:string;query:string}){const needle=query.trim().toLocaleLowerCase();if(!needle)return <>{text}</>;const parts:({text:string;match:boolean})[]=[];let start=0,index=text.toLocaleLowerCase().indexOf(needle);while(index>=0){if(index>start)parts.push({text:text.slice(start,index),match:false});parts.push({text:text.slice(index,index+needle.length),match:true});start=index+needle.length;index=text.toLocaleLowerCase().indexOf(needle,start);}if(start<text.length)parts.push({text:text.slice(start),match:false});return <>{parts.map((part,i)=>part.match?<mark key={i} className="rounded-sm bg-warning-soft px-0.5 text-warning">{part.text}</mark>:part.text)}</>;}
+export function SearchHighlight({ text, query }: { text: string; query: string }) {
+  const needle = query.trim().toLocaleLowerCase();
+  if (!needle) return <>{text}</>;
+  const parts: { text: string; match: boolean }[] = [];
+  let start = 0,
+    index = text.toLocaleLowerCase().indexOf(needle);
+  while (index >= 0) {
+    if (index > start) parts.push({ text: text.slice(start, index), match: false });
+    parts.push({ text: text.slice(index, index + needle.length), match: true });
+    start = index + needle.length;
+    index = text.toLocaleLowerCase().indexOf(needle, start);
+  }
+  if (start < text.length) parts.push({ text: text.slice(start), match: false });
+  return (
+    <>
+      {parts.map((part, i) =>
+        part.match ? (
+          <mark key={i} className="rounded-sm bg-warning-soft px-0.5 text-warning">
+            {part.text}
+          </mark>
+        ) : (
+          part.text
+        ),
+      )}
+    </>
+  );
+}

web_platform/src/components/ui/SearchableCombobox.tsx

@@ -1,5 +1,120 @@
-import {useId,useMemo,useState} from 'react';
+import { useId, useMemo, useState } from 'react';
-import {Check,ChevronsUpDown,Search} from 'lucide-react';
+import { Check, ChevronsUpDown, Search } from 'lucide-react';
-import {Popover} from './Popover';
+import { Popover } from './Popover';
-export interface ComboboxOption{value:string;label:string;description?:string;}
+export interface ComboboxOption {
-export function SearchableCombobox({options,value,onChange,label,disabled=false}:{options:ComboboxOption[];value?:string;onChange:(value:string)=>void;label:string;disabled?:boolean}){const [query,setQuery]=useState(''),[active,setActive]=useState(0),listId=useId(),selected=options.find(option=>option.value===value),filtered=useMemo(()=>{const needle=query.trim().toLocaleLowerCase();return options.filter(option=>!needle||`${option.label} ${option.description??''}`.toLocaleLowerCase().includes(needle));},[options,query]);return <Popover label={label} trigger={({open,toggle})=><button type="button" disabled={disabled} aria-label={label} aria-expanded={open} onClick={toggle} className="flex h-8 w-full items-center justify-between rounded-md border border-border bg-input px-2 text-xs text-text-primary focus-visible:ring-2 focus-visible:ring-accent/30 disabled:opacity-40"><span className="truncate">{selected?.label??'请选择'}</span><ChevronsUpDown className="h-3.5 w-3.5 text-text-tertiary"/></button>}>{({close})=><div className="w-72 rounded-lg border border-border bg-surface-elevated p-1 shadow-xl"><div className="relative"><Search className="absolute left-2 top-2 h-3.5 w-3.5 text-text-tertiary"/><input autoFocus role="combobox" aria-label={`搜索${label}`} aria-expanded="true" aria-autocomplete="list" aria-controls={listId} aria-activedescendant={filtered[active]?`${listId}-${active}`:undefined} value={query} onChange={event=>{setQuery(event.target.value);setActive(0);}} onKeyDown={event=>{if(!filtered.length)return;if(event.key==='ArrowDown'){event.preventDefault();setActive(index=>(index+1)%filtered.length);}else if(event.key==='ArrowUp'){event.preventDefault();setActive(index=>(index-1+filtered.length)%filtered.length);}else if(event.key==='Enter'){event.preventDefault();onChange(filtered[active].value);setQuery('');close();}else if(event.key==='Tab')close(false);}} className="h-8 w-full rounded border border-border bg-input pl-7 pr-2 text-xs"/></div><div id={listId} role="listbox" className="panel-scroll mt-1 max-h-64 overflow-auto">{filtered.map((option,index)=><button key={option.value} id={`${listId}-${index}`} role="option" tabIndex={-1} aria-selected={option.value===value} onMouseEnter={()=>setActive(index)} onClick={()=>{onChange(option.value);setQuery('');close();}} className={`flex w-full items-center gap-2 rounded px-2 py-1.5 text-left text-xs ${index===active?'bg-accent-soft':''}`}><Check className={`h-3.5 w-3.5 ${option.value===value?'text-accent':'opacity-0'}`}/><span className="min-w-0"><span className="block truncate">{option.label}</span>{option.description&&<span className="block truncate text-[10px] text-text-tertiary">{option.description}</span>}</span></button>)}</div></div>}</Popover>;}
+  value: string;
+  label: string;
+  description?: string;
+}
+export function SearchableCombobox({
+  options,
+  value,
+  onChange,
+  label,
+  disabled = false,
+}: {
+  options: ComboboxOption[];
+  value?: string;
+  onChange: (value: string) => void;
+  label: string;
+  disabled?: boolean;
+}) {
+  const [query, setQuery] = useState(''),
+    [active, setActive] = useState(0),
+    listId = useId(),
+    selected = options.find((option) => option.value === value),
+    filtered = useMemo(() => {
+      const needle = query.trim().toLocaleLowerCase();
+      return options.filter(
+        (option) =>
+          !needle ||
+          `${option.label} ${option.description ?? ''}`.toLocaleLowerCase().includes(needle),
+      );
+    }, [options, query]);
+  return (
+    <Popover
+      label={label}
+      trigger={({ open, toggle }) => (
+        <button
+          type="button"
+          disabled={disabled}
+          aria-label={label}
+          aria-expanded={open}
+          onClick={toggle}
+          className="flex h-8 w-full items-center justify-between rounded-md border border-border bg-input px-2 text-xs text-text-primary focus-visible:ring-2 focus-visible:ring-accent/30 disabled:opacity-40"
+        >
+          <span className="truncate">{selected?.label ?? '请选择'}</span>
+          <ChevronsUpDown className="h-3.5 w-3.5 text-text-tertiary" />
+        </button>
+      )}
+    >
+      {({ close }) => (
+        <div className="w-72 rounded-lg border border-border bg-surface-elevated p-1 shadow-xl">
+          <div className="relative">
+            <Search className="absolute left-2 top-2 h-3.5 w-3.5 text-text-tertiary" />
+            <input
+              autoFocus
+              role="combobox"
+              aria-label={`搜索${label}`}
+              aria-expanded="true"
+              aria-autocomplete="list"
+              aria-controls={listId}
+              aria-activedescendant={filtered[active] ? `${listId}-${active}` : undefined}
+              value={query}
+              onChange={(event) => {
+                setQuery(event.target.value);
+                setActive(0);
+              }}
+              onKeyDown={(event) => {
+                if (!filtered.length) return;
+                if (event.key === 'ArrowDown') {
+                  event.preventDefault();
+                  setActive((index) => (index + 1) % filtered.length);
+                } else if (event.key === 'ArrowUp') {
+                  event.preventDefault();
+                  setActive((index) => (index - 1 + filtered.length) % filtered.length);
+                } else if (event.key === 'Enter') {
+                  event.preventDefault();
+                  onChange(filtered[active].value);
+                  setQuery('');
+                  close();
+                } else if (event.key === 'Tab') close(false);
+              }}
+              className="h-8 w-full rounded border border-border bg-input pl-7 pr-2 text-xs"
+            />
+          </div>
+          <div id={listId} role="listbox" className="panel-scroll mt-1 max-h-64 overflow-auto">
+            {filtered.map((option, index) => (
+              <button
+                key={option.value}
+                id={`${listId}-${index}`}
+                role="option"
+                tabIndex={-1}
+                aria-selected={option.value === value}
+                onMouseEnter={() => setActive(index)}
+                onClick={() => {
+                  onChange(option.value);
+                  setQuery('');
+                  close();
+                }}
+                className={`flex w-full items-center gap-2 rounded px-2 py-1.5 text-left text-xs ${index === active ? 'bg-accent-soft' : ''}`}
+              >
+                <Check
+                  className={`h-3.5 w-3.5 ${option.value === value ? 'text-accent' : 'opacity-0'}`}
+                />
+                <span className="min-w-0">
+                  <span className="block truncate">{option.label}</span>
+                  {option.description && (
+                    <span className="block truncate text-[10px] text-text-tertiary">
+                      {option.description}
+                    </span>
+                  )}
+                </span>
+              </button>
+            ))}
+          </div>
+        </div>
+      )}
+    </Popover>
+  );
+}

web_platform/src/components/ui/SecondBatchUi.test.tsx

@@ -1,9 +1,60 @@
-import {useState} from 'react';
+import { useState } from 'react';
-import {act,fireEvent,render,screen} from '@testing-library/react';
+import { act, fireEvent, render, screen } from '@testing-library/react';
-import {Badge,ResizablePanel,Separator,Skeleton,Tabs} from './index';
+import { Badge, ResizablePanel, Separator, Skeleton, Tabs } from './index';
-function TabHarness(){const [value,setValue]=useState<'a'|'b'>('a');return <Tabs label="示例" value={value} onValueChange={setValue} items={[{value:'a',label:'甲',content:<span>甲内容</span>},{value:'b',label:'乙',content:<span>乙内容</span>}]}/>;}
+function TabHarness() {
-describe('第二批基础 UI',()=>{
+  const [value, setValue] = useState<'a' | 'b'>('a');
-  it('Tabs 保留面板 DOM并支持方向键导航',()=>{render(<TabHarness/>);const first=screen.getByRole('tab',{name:'甲'});expect(first).toHaveAttribute('tabindex','0');fireEvent.keyDown(first,{key:'ArrowRight'});expect(screen.getByRole('tab',{name:'乙'})).toHaveAttribute('aria-selected','true');expect(screen.getByText('乙内容')).toBeVisible();expect(screen.getByText('甲内容').closest('[role="tabpanel"]')).toHaveAttribute('hidden');});
+  return (
-  it('ResizablePanel 支持键盘调整、限制异常持久值并保存宽度',()=>{localStorage.setItem('test-width','9999');render(<ResizablePanel side="left" storageKey="test-width"><div>面板</div></ResizablePanel>);const handle=screen.getByRole('separator',{name:'调整工程面板宽度'});expect(Number(handle.getAttribute('aria-valuenow'))).toBeLessThanOrEqual(Number(handle.getAttribute('aria-valuemax')));fireEvent.keyDown(handle,{key:'Home'});expect(handle).toHaveAttribute('aria-valuenow','224');expect(localStorage.getItem('test-width')).toBe('224');act(()=>window.dispatchEvent(new CustomEvent('mujoco-layout-widths',{detail:{left:320,right:360}})));expect(handle).toHaveAttribute('aria-valuenow','320');});
+    <Tabs
-  it('Badge、Separator 和 Skeleton 可渲染',()=>{render(<><Badge>状态</Badge><Separator/><Skeleton className="h-2"/></>);expect(screen.getByText('状态')).toBeVisible();expect(screen.getByRole('separator')).toBeVisible();});
+      label="示例"
+      value={value}
+      onValueChange={setValue}
+      items={[
+        { value: 'a', label: '甲', content: <span>甲内容</span> },
+        { value: 'b', label: '乙', content: <span>乙内容</span> },
+      ]}
+    />
+  );
+}
+describe('第二批基础 UI', () => {
+  it('Tabs 保留面板 DOM并支持方向键导航', () => {
+    render(<TabHarness />);
+    const first = screen.getByRole('tab', { name: '甲' });
+    expect(first).toHaveAttribute('tabindex', '0');
+    fireEvent.keyDown(first, { key: 'ArrowRight' });
+    expect(screen.getByRole('tab', { name: '乙' })).toHaveAttribute('aria-selected', 'true');
+    expect(screen.getByText('乙内容')).toBeVisible();
+    expect(screen.getByText('甲内容').closest('[role="tabpanel"]')).toHaveAttribute('hidden');
+  });
+  it('ResizablePanel 支持键盘调整、限制异常持久值并保存宽度', () => {
+    localStorage.setItem('test-width', '9999');
+    render(
+      <ResizablePanel side="left" storageKey="test-width">
+        <div>面板</div>
+      </ResizablePanel>,
+    );
+    const handle = screen.getByRole('separator', { name: '调整工程面板宽度' });
+    expect(Number(handle.getAttribute('aria-valuenow'))).toBeLessThanOrEqual(
+      Number(handle.getAttribute('aria-valuemax')),
+    );
+    fireEvent.keyDown(handle, { key: 'Home' });
+    expect(handle).toHaveAttribute('aria-valuenow', '224');
+    expect(localStorage.getItem('test-width')).toBe('224');
+    act(() =>
+      window.dispatchEvent(
+        new CustomEvent('mujoco-layout-widths', { detail: { left: 320, right: 360 } }),
+      ),
+    );
+    expect(handle).toHaveAttribute('aria-valuenow', '320');
+  });
+  it('Badge、Separator 和 Skeleton 可渲染', () => {
+    render(
+      <>
+        <Badge>状态</Badge>
+        <Separator />
+        <Skeleton className="h-2" />
+      </>,
+    );
+    expect(screen.getByText('状态')).toBeVisible();
+    expect(screen.getByRole('separator')).toBeVisible();
+  });
 });

web_platform/src/components/ui/Select.tsx

@@ -1,2 +1,9 @@
-import type {SelectHTMLAttributes} from 'react';
+import type { SelectHTMLAttributes } from 'react';
-export function Select({className='',...props}:SelectHTMLAttributes<HTMLSelectElement>){return <select className={`h-7 rounded-md border border-border bg-input px-2 text-xs text-text-primary transition-colors hover:border-border-strong focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 disabled:opacity-40 ${className}`.trim()} {...props}/>;}
+export function Select({ className = '', ...props }: SelectHTMLAttributes<HTMLSelectElement>) {
+  return (
+    <select
+      className={`h-7 rounded-md border border-border bg-input px-2 text-xs text-text-primary transition-colors hover:border-border-strong focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/30 disabled:opacity-40 ${className}`.trim()}
+      {...props}
+    />
+  );
+}

web_platform/src/components/ui/Separator.tsx

@@ -1 +1,15 @@
-export function Separator({orientation='horizontal',className=''}:{orientation?:'horizontal'|'vertical';className?:string}){return <span role="separator" aria-orientation={orientation} className={`${orientation==='horizontal'?'block h-px w-full':'inline-block h-full w-px'} shrink-0 bg-border ${className}`}/>;}
+export function Separator({
+  orientation = 'horizontal',
+  className = '',
+}: {
+  orientation?: 'horizontal' | 'vertical';
+  className?: string;
+}) {
+  return (
+    <span
+      role="separator"
+      aria-orientation={orientation}
+      className={`${orientation === 'horizontal' ? 'block h-px w-full' : 'inline-block h-full w-px'} shrink-0 bg-border ${className}`}
+    />
+  );
+}

web_platform/src/components/ui/Skeleton.tsx

@@ -1 +1,8 @@
-export function Skeleton({className=''}:{className?:string}){return <span aria-hidden="true" className={`block animate-pulse rounded bg-element-active ${className}`}/>;}
+export function Skeleton({ className = '' }: { className?: string }) {
+  return (
+    <span
+      aria-hidden="true"
+      className={`block animate-pulse rounded bg-element-active ${className}`}
+    />
+  );
+}

web_platform/src/components/ui/Tabs.tsx

@@ -1,3 +1,84 @@
-import type {KeyboardEvent,ReactNode} from 'react';
+import type { KeyboardEvent, ReactNode } from 'react';
-export interface TabItem<T extends string>{value:T;label:string;icon?:ReactNode;content:ReactNode;disabled?:boolean;}
+export interface TabItem<T extends string> {
-export function Tabs<T extends string>({items,value,onValueChange,label,className='',keepMounted=true}:{items:TabItem<T>[];value:T;onValueChange:(value:T)=>void;label:string;className?:string;keepMounted?:boolean}){const active=items.find(item=>item.value===value)??items.find(item=>!item.disabled)??items[0];const navigate=(event:KeyboardEvent<HTMLButtonElement>)=>{if(!['ArrowLeft','ArrowRight','Home','End'].includes(event.key))return;const enabled=items.filter(item=>!item.disabled);if(!enabled.length)return;const current=enabled.findIndex(item=>item.value===active.value);const next=event.key==='Home'?0:event.key==='End'?enabled.length-1:event.key==='ArrowRight'?(current+1)%enabled.length:(current-1+enabled.length)%enabled.length;event.preventDefault();const item=enabled[next];onValueChange(item.value);requestAnimationFrame(()=>document.getElementById(`${label}-tab-${item.value}`)?.focus());};return <div className={`flex min-h-0 flex-1 flex-col ${className}`}><div role="tablist" aria-label={label} className="flex h-9 shrink-0 items-end gap-1 border-b border-border bg-surface px-2">{items.map(item=><button key={item.value} type="button" role="tab" id={`${label}-tab-${item.value}`} tabIndex={item.value===active.value?0:-1} aria-selected={item.value===active.value} aria-controls={`${label}-${item.value}`} disabled={item.disabled} onClick={()=>onValueChange(item.value)} onKeyDown={navigate} className={`relative flex h-8 items-center gap-1.5 px-2 text-xs font-medium focus-visible:ring-2 focus-visible:ring-inset focus-visible:ring-accent/40 ${item.value===active.value?'text-accent after:absolute after:inset-x-1 after:bottom-0 after:h-0.5 after:rounded-full after:bg-accent':'text-text-tertiary hover:text-text-primary'}`}>{item.icon}{item.label}</button>)}</div>{(keepMounted?items:[active]).map(item=><div key={item.value} id={`${label}-${item.value}`} role="tabpanel" aria-labelledby={`${label}-tab-${item.value}`} hidden={item.value!==active.value} className="panel-scroll min-h-0 flex-1 overflow-auto">{item.content}</div>)}</div>;}
+  value: T;
+  label: string;
+  icon?: ReactNode;
+  content: ReactNode;
+  disabled?: boolean;
+}
+export function Tabs<T extends string>({
+  items,
+  value,
+  onValueChange,
+  label,
+  className = '',
+  keepMounted = true,
+}: {
+  items: TabItem<T>[];
+  value: T;
+  onValueChange: (value: T) => void;
+  label: string;
+  className?: string;
+  keepMounted?: boolean;
+}) {
+  const active =
+    items.find((item) => item.value === value) ?? items.find((item) => !item.disabled) ?? items[0];
+  const navigate = (event: KeyboardEvent<HTMLButtonElement>) => {
+    if (!['ArrowLeft', 'ArrowRight', 'Home', 'End'].includes(event.key)) return;
+    const enabled = items.filter((item) => !item.disabled);
+    if (!enabled.length) return;
+    const current = enabled.findIndex((item) => item.value === active.value);
+    const next =
+      event.key === 'Home'
+        ? 0
+        : event.key === 'End'
+          ? enabled.length - 1
+          : event.key === 'ArrowRight'
+            ? (current + 1) % enabled.length
+            : (current - 1 + enabled.length) % enabled.length;
+    event.preventDefault();
+    const item = enabled[next];
+    onValueChange(item.value);
+    requestAnimationFrame(() => document.getElementById(`${label}-tab-${item.value}`)?.focus());
+  };
+  return (
+    <div className={`flex min-h-0 flex-1 flex-col ${className}`}>
+      <div
+        role="tablist"
+        aria-label={label}
+        className="flex h-9 shrink-0 items-end gap-1 border-b border-border bg-surface px-2"
+      >
+        {items.map((item) => (
+          <button
+            key={item.value}
+            type="button"
+            role="tab"
+            id={`${label}-tab-${item.value}`}
+            tabIndex={item.value === active.value ? 0 : -1}
+            aria-selected={item.value === active.value}
+            aria-controls={`${label}-${item.value}`}
+            disabled={item.disabled}
+            onClick={() => onValueChange(item.value)}
+            onKeyDown={navigate}
+            className={`relative flex h-8 items-center gap-1.5 px-2 text-xs font-medium focus-visible:ring-2 focus-visible:ring-inset focus-visible:ring-accent/40 ${item.value === active.value ? 'text-accent after:absolute after:inset-x-1 after:bottom-0 after:h-0.5 after:rounded-full after:bg-accent' : 'text-text-tertiary hover:text-text-primary'}`}
+          >
+            {item.icon}
+            {item.label}
+          </button>
+        ))}
+      </div>
+      {(keepMounted ? items : [active]).map((item) => (
+        <div
+          key={item.value}
+          id={`${label}-${item.value}`}
+          role="tabpanel"
+          aria-labelledby={`${label}-tab-${item.value}`}
+          hidden={item.value !== active.value}
+          className="panel-scroll min-h-0 flex-1 overflow-auto"
+        >
+          {item.content}
+        </div>
+      ))}
+    </div>
+  );
+}

web_platform/src/components/ui/ThirdBatchUi.test.tsx

@@ -1,8 +1,38 @@
-import {fireEvent,render,screen,waitFor} from '@testing-library/react';
+import { fireEvent, render, screen, waitFor } from '@testing-library/react';
-import {ConfirmDialog,CopyButton,Kbd,PropertyRow,SearchHighlight} from './index';
+import { ConfirmDialog, CopyButton, Kbd, PropertyRow, SearchHighlight } from './index';
 
-describe('第三批基础 UI',()=>{
+describe('第三批基础 UI', () => {
-  it('确认弹窗区分取消和危险确认动作',()=>{const confirm=vi.fn(),close=vi.fn();render(<ConfirmDialog open title="移除工程" danger onConfirm={confirm} onClose={close}>确认内容</ConfirmDialog>);fireEvent.click(screen.getByRole('button',{name:'确认'}));expect(confirm).toHaveBeenCalledTimes(1);fireEvent.click(screen.getByRole('button',{name:'取消'}));expect(close).toHaveBeenCalledTimes(1);});
+  it('确认弹窗区分取消和危险确认动作', () => {
-  it('属性行支持复制且搜索词可高亮',async()=>{const writeText=vi.fn().mockResolvedValue(undefined);Object.defineProperty(navigator,'clipboard',{configurable:true,value:{writeText}});render(<><PropertyRow label="Body" value="robot" action={<CopyButton value="robot"/>}/><SearchHighlight text="robot_arm" query="arm"/><Kbd>Ctrl+K</Kbd></>);fireEvent.click(screen.getByRole('button',{name:'复制'}));await waitFor(()=>expect(writeText).toHaveBeenCalledWith('robot'));expect(screen.getByText('arm').tagName).toBe('MARK');expect(screen.getByText('Ctrl+K')).toBeVisible();});
+    const confirm = vi.fn(),
-  it('Clipboard API 不可用时复制按钮不会抛错',()=>{Object.defineProperty(navigator,'clipboard',{configurable:true,value:undefined});render(<CopyButton value="robot"/>);expect(()=>fireEvent.click(screen.getByRole('button',{name:'复制'}))).not.toThrow();});
+      close = vi.fn();
+    render(
+      <ConfirmDialog open title="移除工程" danger onConfirm={confirm} onClose={close}>
+        确认内容
+      </ConfirmDialog>,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '确认' }));
+    expect(confirm).toHaveBeenCalledTimes(1);
+    fireEvent.click(screen.getByRole('button', { name: '取消' }));
+    expect(close).toHaveBeenCalledTimes(1);
+  });
+  it('属性行支持复制且搜索词可高亮', async () => {
+    const writeText = vi.fn().mockResolvedValue(undefined);
+    Object.defineProperty(navigator, 'clipboard', { configurable: true, value: { writeText } });
+    render(
+      <>
+        <PropertyRow label="Body" value="robot" action={<CopyButton value="robot" />} />
+        <SearchHighlight text="robot_arm" query="arm" />
+        <Kbd>Ctrl+K</Kbd>
+      </>,
+    );
+    fireEvent.click(screen.getByRole('button', { name: '复制' }));
+    await waitFor(() => expect(writeText).toHaveBeenCalledWith('robot'));
+    expect(screen.getByText('arm').tagName).toBe('MARK');
+    expect(screen.getByText('Ctrl+K')).toBeVisible();
+  });
+  it('Clipboard API 不可用时复制按钮不会抛错', () => {
+    Object.defineProperty(navigator, 'clipboard', { configurable: true, value: undefined });
+    render(<CopyButton value="robot" />);
+    expect(() => fireEvent.click(screen.getByRole('button', { name: '复制' }))).not.toThrow();
+  });
 });

web_platform/src/components/ui/ToolbarToggleGroup.tsx

@@ -1,6 +1,41 @@
-import type {ComponentType} from 'react';
+import type { ComponentType } from 'react';
-import {IconButton} from './IconButton';
+import { IconButton } from './IconButton';
-export interface ToolbarItem<T extends string>{value:T;label:string;icon:ComponentType<{className?:string}>;}
+export interface ToolbarItem<T extends string> {
-export function ToolbarToggleGroup<T extends string>({items,value,onChange,label}:{items:readonly ToolbarItem<T>[];value:T;onChange:(value:T)=>void;label:string}){
+  value: T;
-  return <div role="toolbar" aria-label={label} className="flex items-center gap-0.5 rounded-lg border border-border bg-surface/80 p-0.5 shadow-sm">{items.map(item=>{const Icon=item.icon;return <IconButton key={item.value} active={item.value===value} tooltip={item.label} aria-label={item.label} onClick={()=>onChange(item.value)}><Icon className="h-3.5 w-3.5"/></IconButton>;})}</div>;
+  label: string;
+  icon: ComponentType<{ className?: string }>;
+}
+export function ToolbarToggleGroup<T extends string>({
+  items,
+  value,
+  onChange,
+  label,
+}: {
+  items: readonly ToolbarItem<T>[];
+  value: T;
+  onChange: (value: T) => void;
+  label: string;
+}) {
+  return (
+    <div
+      role="toolbar"
+      aria-label={label}
+      className="flex items-center gap-0.5 rounded-lg border border-border bg-surface/80 p-0.5 shadow-sm"
+    >
+      {items.map((item) => {
+        const Icon = item.icon;
+        return (
+          <IconButton
+            key={item.value}
+            active={item.value === value}
+            tooltip={item.label}
+            aria-label={item.label}
+            onClick={() => onChange(item.value)}
+          >
+            <Icon className="h-3.5 w-3.5" />
+          </IconButton>
+        );
+      })}
+    </div>
+  );
 }

web_platform/src/components/ui/Tooltip.tsx

@@ -1,9 +1,24 @@
-import type {ReactElement,ReactNode} from 'react';
+import type { ReactElement, ReactNode } from 'react';
 
-export function Tooltip({content,children,side='bottom'}:{content:ReactNode;children:ReactElement;side?:'top'|'bottom'}){
+export function Tooltip({
-  if(!content)return children;
+  content,
-  return <span className="group/tooltip relative inline-flex">
+  children,
-    {children}
+  side = 'bottom',
-    <span role="tooltip" className={`pointer-events-none absolute left-1/2 z-[500] hidden w-max max-w-64 -translate-x-1/2 rounded-md border border-border bg-surface-elevated px-2 py-1 text-[10px] font-medium text-text-primary shadow-lg group-hover/tooltip:block group-focus-within/tooltip:block ${side==='top'?'bottom-full mb-1.5':'top-full mt-1.5'}`}>{content}</span>
+}: {
-  </span>;
+  content: ReactNode;
+  children: ReactElement;
+  side?: 'top' | 'bottom';
+}) {
+  if (!content) return children;
+  return (
+    <span className="group/tooltip relative inline-flex">
+      {children}
+      <span
+        role="tooltip"
+        className={`pointer-events-none absolute left-1/2 z-[500] hidden w-max max-w-64 -translate-x-1/2 rounded-md border border-border bg-surface-elevated px-2 py-1 text-[10px] font-medium text-text-primary shadow-lg group-hover/tooltip:block group-focus-within/tooltip:block ${side === 'top' ? 'bottom-full mb-1.5' : 'top-full mt-1.5'}`}
+      >
+        {content}
+      </span>
+    </span>
+  );
 }

web_platform/src/components/ui/VirtualTreeViewport.test.tsx

@@ -1,3 +1,26 @@
-import {fireEvent,render,screen} from '@testing-library/react';
+import { fireEvent, render, screen } from '@testing-library/react';
-import {VirtualTreeViewport} from './VirtualTreeViewport';
+import { VirtualTreeViewport } from './VirtualTreeViewport';
-describe('VirtualTreeViewport',()=>{it('只渲染可视窗口并在滚动后更新行',()=>{const items=Array.from({length:1000},(_,id)=>({id,label:`节点 ${id}`}));render(<VirtualTreeViewport label="大型树" items={items} height={100} rowHeight={20} overscan={1} getKey={item=>item.id} renderRow={item=><div>{item.label}</div>}/>);const tree=screen.getByRole('tree',{name:'大型树'});expect(screen.getByText('节点 0')).toBeVisible();expect(screen.queryByText('节点 500')).not.toBeInTheDocument();Object.defineProperty(tree,'scrollTop',{configurable:true,value:10000});fireEvent.scroll(tree);expect(screen.getByText('节点 500')).toBeVisible();fireEvent.keyDown(tree,{key:'ArrowDown'});expect(tree.getAttribute('aria-activedescendant')).toContain('501');});});
+describe('VirtualTreeViewport', () => {
+  it('只渲染可视窗口并在滚动后更新行', () => {
+    const items = Array.from({ length: 1000 }, (_, id) => ({ id, label: `节点 ${id}` }));
+    render(
+      <VirtualTreeViewport
+        label="大型树"
+        items={items}
+        height={100}
+        rowHeight={20}
+        overscan={1}
+        getKey={(item) => item.id}
+        renderRow={(item) => <div>{item.label}</div>}
+      />,
+    );
+    const tree = screen.getByRole('tree', { name: '大型树' });
+    expect(screen.getByText('节点 0')).toBeVisible();
+    expect(screen.queryByText('节点 500')).not.toBeInTheDocument();
+    Object.defineProperty(tree, 'scrollTop', { configurable: true, value: 10000 });
+    fireEvent.scroll(tree);
+    expect(screen.getByText('节点 500')).toBeVisible();
+    fireEvent.keyDown(tree, { key: 'ArrowDown' });
+    expect(tree.getAttribute('aria-activedescendant')).toContain('501');
+  });
+});

web_platform/src/components/ui/VirtualTreeViewport.tsx

@@ -1,2 +1,122 @@
-import {useMemo,useRef,useState,type KeyboardEvent,type ReactNode} from 'react';
+import { useMemo, useRef, useState, type KeyboardEvent, type ReactNode } from 'react';
-export function VirtualTreeViewport<T>({items,rowHeight=26,height=520,overscan=6,getKey,getLevel=()=>1,isExpandable=()=>false,isExpanded=()=>false,onToggle,onActiveChange,renderRow,label}:{items:T[];rowHeight?:number;height?:number;overscan?:number;getKey:(item:T)=>string|number;getLevel?:(item:T)=>number;isExpandable?:(item:T)=>boolean;isExpanded?:(item:T)=>boolean;onToggle?:(item:T)=>void;onActiveChange?:(item:T)=>void;renderRow:(item:T,index:number)=>ReactNode;label:string}){const root=useRef<HTMLDivElement>(null),[scrollTop,setScrollTop]=useState(0),[active,setActive]=useState(0),range=useMemo(()=>{const start=Math.max(0,Math.floor(scrollTop/rowHeight)-overscan),count=Math.ceil(height/rowHeight)+overscan*2;return {start,end:Math.min(items.length,start+count)};},[height,items.length,overscan,rowHeight,scrollTop]),safeActive=Math.min(active,Math.max(0,items.length-1)),activeId=items.length?`${label}-${getKey(items[safeActive])}`:undefined;const activate=(index:number)=>{const next=Math.min(items.length-1,Math.max(0,index));setActive(next);const item=items[next];if(item)onActiveChange?.(item);const viewport=root.current;if(viewport){const top=next*rowHeight;if(top<viewport.scrollTop)viewport.scrollTop=top;else if(top+rowHeight>viewport.scrollTop+height)viewport.scrollTop=top+rowHeight-height;}};const key=(event:KeyboardEvent<HTMLDivElement>)=>{if(!items.length)return;const item=items[safeActive],level=getLevel(item);if(event.key==='ArrowDown')activate(safeActive+1);else if(event.key==='ArrowUp')activate(safeActive-1);else if(event.key==='Home')activate(0);else if(event.key==='End')activate(items.length-1);else if(event.key==='ArrowRight'&&isExpandable(item)&&!isExpanded(item))onToggle?.(item);else if(event.key==='ArrowLeft'&&isExpandable(item)&&isExpanded(item))onToggle?.(item);else if(event.key==='ArrowLeft'){for(let index=safeActive-1;index>=0;index--)if(getLevel(items[index])<level){activate(index);break;}}else if((event.key==='Enter'||event.key===' ')&&isExpandable(item))onToggle?.(item);else return;event.preventDefault();};return <div ref={root} role="tree" aria-label={label} aria-activedescendant={activeId} tabIndex={0} className="panel-scroll relative overflow-auto outline-none focus-visible:ring-2 focus-visible:ring-inset focus-visible:ring-accent/30" style={{height:Math.min(height,Math.max(rowHeight,items.length*rowHeight))}} onKeyDown={key} onScroll={event=>{const top=event.currentTarget.scrollTop,first=Math.floor(top/rowHeight),last=first+Math.ceil(height/rowHeight);setScrollTop(top);if(safeActive<first||safeActive>last){setActive(first);if(items[first])onActiveChange?.(items[first]);}}}><div style={{height:items.length*rowHeight,position:'relative'}}>{items.slice(range.start,range.end).map((item,offset)=>{const index=range.start+offset,expandable=isExpandable(item);return <div id={`${label}-${getKey(item)}`} role="treeitem" aria-level={getLevel(item)} aria-expanded={expandable?isExpanded(item):undefined} key={getKey(item)} onMouseDown={()=>activate(index)} className={index===safeActive?'bg-accent-soft/60':''} style={{position:'absolute',left:0,right:0,top:index*rowHeight,height:rowHeight}}>{renderRow(item,index)}</div>;})}</div></div>;}
+export function VirtualTreeViewport<T>({
+  items,
+  rowHeight = 26,
+  height = 520,
+  overscan = 6,
+  getKey,
+  getLevel = () => 1,
+  isExpandable = () => false,
+  isExpanded = () => false,
+  onToggle,
+  onActiveChange,
+  renderRow,
+  label,
+}: {
+  items: T[];
+  rowHeight?: number;
+  height?: number;
+  overscan?: number;
+  getKey: (item: T) => string | number;
+  getLevel?: (item: T) => number;
+  isExpandable?: (item: T) => boolean;
+  isExpanded?: (item: T) => boolean;
+  onToggle?: (item: T) => void;
+  onActiveChange?: (item: T) => void;
+  renderRow: (item: T, index: number) => ReactNode;
+  label: string;
+}) {
+  const root = useRef<HTMLDivElement>(null),
+    [scrollTop, setScrollTop] = useState(0),
+    [active, setActive] = useState(0),
+    range = useMemo(() => {
+      const start = Math.max(0, Math.floor(scrollTop / rowHeight) - overscan),
+        count = Math.ceil(height / rowHeight) + overscan * 2;
+      return { start, end: Math.min(items.length, start + count) };
+    }, [height, items.length, overscan, rowHeight, scrollTop]),
+    safeActive = Math.min(active, Math.max(0, items.length - 1)),
+    activeId = items.length ? `${label}-${getKey(items[safeActive])}` : undefined;
+  const activate = (index: number) => {
+    const next = Math.min(items.length - 1, Math.max(0, index));
+    setActive(next);
+    const item = items[next];
+    if (item) onActiveChange?.(item);
+    const viewport = root.current;
+    if (viewport) {
+      const top = next * rowHeight;
+      if (top < viewport.scrollTop) viewport.scrollTop = top;
+      else if (top + rowHeight > viewport.scrollTop + height)
+        viewport.scrollTop = top + rowHeight - height;
+    }
+  };
+  const key = (event: KeyboardEvent<HTMLDivElement>) => {
+    if (!items.length) return;
+    const item = items[safeActive],
+      level = getLevel(item);
+    if (event.key === 'ArrowDown') activate(safeActive + 1);
+    else if (event.key === 'ArrowUp') activate(safeActive - 1);
+    else if (event.key === 'Home') activate(0);
+    else if (event.key === 'End') activate(items.length - 1);
+    else if (event.key === 'ArrowRight' && isExpandable(item) && !isExpanded(item))
+      onToggle?.(item);
+    else if (event.key === 'ArrowLeft' && isExpandable(item) && isExpanded(item)) onToggle?.(item);
+    else if (event.key === 'ArrowLeft') {
+      for (let index = safeActive - 1; index >= 0; index--)
+        if (getLevel(items[index]) < level) {
+          activate(index);
+          break;
+        }
+    } else if ((event.key === 'Enter' || event.key === ' ') && isExpandable(item)) onToggle?.(item);
+    else return;
+    event.preventDefault();
+  };
+  return (
+    <div
+      ref={root}
+      role="tree"
+      aria-label={label}
+      aria-activedescendant={activeId}
+      tabIndex={0}
+      className="panel-scroll relative overflow-auto outline-none focus-visible:ring-2 focus-visible:ring-inset focus-visible:ring-accent/30"
+      style={{ height: Math.min(height, Math.max(rowHeight, items.length * rowHeight)) }}
+      onKeyDown={key}
+      onScroll={(event) => {
+        const top = event.currentTarget.scrollTop,
+          first = Math.floor(top / rowHeight),
+          last = first + Math.ceil(height / rowHeight);
+        setScrollTop(top);
+        if (safeActive < first || safeActive > last) {
+          setActive(first);
+          if (items[first]) onActiveChange?.(items[first]);
+        }
+      }}
+    >
+      <div style={{ height: items.length * rowHeight, position: 'relative' }}>
+        {items.slice(range.start, range.end).map((item, offset) => {
+          const index = range.start + offset,
+            expandable = isExpandable(item);
+          return (
+            <div
+              id={`${label}-${getKey(item)}`}
+              role="treeitem"
+              aria-level={getLevel(item)}
+              aria-expanded={expandable ? isExpanded(item) : undefined}
+              key={getKey(item)}
+              onMouseDown={() => activate(index)}
+              className={index === safeActive ? 'bg-accent-soft/60' : ''}
+              style={{
+                position: 'absolute',
+                left: 0,
+                right: 0,
+                top: index * rowHeight,
+                height: rowHeight,
+              }}
+            >
+              {renderRow(item, index)}
+            </div>
+          );
+        })}
+      </div>
+    </div>
+  );
+}