diff --git a/.gitattributes b/.gitattributes index c4ccd1f825..0c2c7b4217 100644 --- a/.gitattributes +++ b/.gitattributes @@ -18,3 +18,8 @@ *.foxe filter=lfs diff=lfs merge=lfs -text binary docs/capabilities/memory/assets/** filter=lfs diff=lfs merge=lfs -text docs/capabilities/memory/assets/.gitattributes -filter -diff -merge text +# DimSim scene data and agent model +misc/DimSim/public/sims/*.json filter=lfs diff=lfs merge=lfs -text +misc/DimSim/public/embodiment/*.glb filter=lfs diff=lfs merge=lfs -text +misc/DimSim/scenes/**/*.glb filter=lfs diff=lfs merge=lfs -text +misc/DimSim/scenes/**/*.gltf filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/dimsim-check.yml b/.github/workflows/dimsim-check.yml new file mode 100644 index 0000000000..821306cccf --- /dev/null +++ b/.github/workflows/dimsim-check.yml @@ -0,0 +1,45 @@ +name: dimsim-check + +on: + push: + branches: [main] + paths: + - 'misc/DimSim/**' + - '.github/workflows/dimsim-check.yml' + pull_request: + paths: + - 'misc/DimSim/**' + - '.github/workflows/dimsim-check.yml' + +permissions: {} + +jobs: + check: + timeout-minutes: 15 + runs-on: ubuntu-latest + permissions: + contents: read + defaults: + run: + working-directory: misc/DimSim + steps: + - uses: actions/checkout@v6 + with: + lfs: true + + - uses: actions/setup-node@v4 + with: + node-version: 20 + + - uses: denoland/setup-deno@v2 + with: + deno-version: v2.x + + - name: Install npm deps + run: npm ci + + - name: Build frontend + run: npm run build + + - name: Type-check CLI + run: cd cli && deno check cli.ts diff --git a/.gitignore b/.gitignore index aedee04af7..efb34af7d0 100644 --- a/.gitignore +++ b/.gitignore @@ -39,10 +39,8 @@ __pycache__ # node env (used by devcontainers cli) node_modules -package.json -package-lock.json -!docs/package.json -!docs/package-lock.json +/package.json +/package-lock.json # Ignore build artifacts dist/ diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ea8769d946..f9bb66afcb 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -39,11 +39,13 @@ repos: args: [--fix=lf] exclude: \.patch$ # keep patch files byte-identical to upstream diffs - id: check-json + exclude: ^misc/DimSim/public/sims/ # LFS-tracked - id: check-toml - id: check-yaml - id: pretty-format-json name: format json args: [ --autofix, --no-sort-keys ] + exclude: ^misc/DimSim/public/sims/ # LFS-tracked - repo: https://github.com/editorconfig-checker/editorconfig-checker.python rev: 3.4.1 diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py index efba609849..28dedee746 100644 --- a/dimos/core/global_config.py +++ b/dimos/core/global_config.py @@ -65,8 +65,9 @@ class GlobalConfig(BaseSettings): obstacle_avoidance: bool = True detection_model: VlModelName = "moondream" listen_host: str = "127.0.0.1" - dimsim_scene: str = "apt" + dimsim_scene: str = "apartment" dimsim_port: int = 8090 + dimsim_headless: bool = True model_config = SettingsConfigDict( env_file=".env", diff --git a/dimos/simulation/dimsim/dimsim_process.py b/dimos/simulation/dimsim/dimsim_process.py index ead774c677..1630758145 100644 --- a/dimos/simulation/dimsim/dimsim_process.py +++ b/dimos/simulation/dimsim/dimsim_process.py @@ -19,7 +19,6 @@ import time from typing import IO -from dimos.constants import STATE_DIR from dimos.core.global_config import GlobalConfig from dimos.simulation.dimsim.deno_utils import ensure_deno, ensure_playwright_chromium from dimos.utils.logging_config import setup_logger @@ -28,8 +27,7 @@ _VIDEO_RATE = 50 _LIDAR_RATE = 1000 -_DIMSIM_REPO_URL = "https://github.com/paul-nechifor/DimSim.git" -_DIMSIM_REPO_BRANCH = "run-from-repo" +_DIMSIM_DIR = Path(__file__).resolve().parents[3] / "misc" / "DimSim" class DimSimProcess: @@ -39,13 +37,14 @@ def __init__(self, global_config: GlobalConfig) -> None: def start(self) -> None: deno_path = ensure_deno() - repo_dir = _ensure_repo() - base_cmd = _deno_cmd(deno_path, repo_dir) + base_cmd = _deno_cmd(deno_path, _resolve_dimsim_dir()) scene = self.global_config.dimsim_scene port = self.global_config.dimsim_port + headless = self.global_config.dimsim_headless - ensure_playwright_chromium(deno_path) + if headless: + ensure_playwright_chromium(deno_path) _kill_port_holder(port) render = os.environ.get("DIMSIM_RENDER", "gpu").strip() @@ -60,7 +59,7 @@ def start(self) -> None: "--port", str(port), "--no-depth", - "--headless", + *(("--headless",) if headless else ()), "--render", render, "--image-rate", @@ -69,6 +68,11 @@ def start(self) -> None: str(_LIDAR_RATE), ] + if not headless: + logger.info( + f"Open http://localhost:{port} in your browser; sensors won't publish until that tab is loaded." + ) + self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE) self._start_log_reader() @@ -126,28 +130,30 @@ def _kill_port_holder(port: int) -> None: logger.warning(f"Failed to check/kill port {port}: {e}") -def _ensure_repo() -> Path: - repo_dir = STATE_DIR / "dimsim_repo" - if (repo_dir / ".git").exists(): - return repo_dir - STATE_DIR.mkdir(parents=True, exist_ok=True) - logger.info(f"Cloning DimSim into {repo_dir}") - subprocess.run( - [ - "git", - "clone", - "--depth", - "1", - "--branch", - _DIMSIM_REPO_BRANCH, - _DIMSIM_REPO_URL, - str(repo_dir), - ], - check=True, - ) - return repo_dir +def _resolve_dimsim_dir() -> Path: + """Pick the DimSim directory to run. DIMSIM_LOCAL env overrides the + vendored misc/DimSim/ copy — handy when iterating on DimSim itself. + + DIMSIM_LOCAL=1 → ../DimSim sibling of the dimos repo + DIMSIM_LOCAL=/some/path → that path + (unset) → vendored misc/DimSim/ + """ + local = os.environ.get("DIMSIM_LOCAL", "").strip() + if not local: + return _DIMSIM_DIR + if local == "1": + dimos_root = Path(__file__).resolve().parents[3] + path = dimos_root.parent / "DimSim" + else: + path = Path(local).expanduser().resolve() + if not (path / "cli" / "cli.ts").exists(): + raise RuntimeError( + f"DIMSIM_LOCAL={local} resolved to {path}, but {path}/cli/cli.ts does not exist" + ) + logger.info(f"Using local DimSim from {path}") + return path def _deno_cmd(deno_path: str, repo_dir: Path) -> list[str]: - cli_ts = repo_dir / "dimos-cli" / "cli.ts" + cli_ts = repo_dir / "cli" / "cli.ts" return [deno_path, "run", "--allow-all", "--unstable-net", str(cli_ts)] diff --git a/dimos/simulation/dimsim/scene_client.py b/dimos/simulation/dimsim/scene_client.py index 039091996c..c146f9532a 100644 --- a/dimos/simulation/dimsim/scene_client.py +++ b/dimos/simulation/dimsim/scene_client.py @@ -41,7 +41,7 @@ "halfHeight": 0.25, "lidarMountHeight": 0.35, "embodimentType": "quadruped", - "avatarUrl": ["/agent-model/unitree_go2.glb", "/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], # Physics "maxSpeed": 3.0, "turnRate": 3.0, @@ -54,7 +54,7 @@ "halfHeight": 0.25, "lidarMountHeight": 0.35, "embodimentType": "quadruped", - "avatarUrl": ["/agent-model/unitree_go2.glb", "/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 3.0, "turnRate": 3.0, "gravity": -9.81, @@ -66,7 +66,7 @@ "halfHeight": 0.2, "lidarMountHeight": 0.35, "embodimentType": "quadruped", # ground physics - "avatarUrl": ["/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 2.0, "turnRate": 2.5, # differential drive turns by wheel speed diff "gravity": -9.81, @@ -78,7 +78,7 @@ "halfHeight": 0.4, "lidarMountHeight": 0.8, "embodimentType": "quadruped", # ground physics - "avatarUrl": ["/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 5.0, "turnRate": 1.2, # car-like: slow turn rate (limited steering angle) "gravity": -9.81, @@ -90,7 +90,7 @@ "halfHeight": 0.25, "lidarMountHeight": 0.4, "embodimentType": "quadruped", # ground physics (strafing via cmd_vel.linear.y) - "avatarUrl": ["/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 2.5, "turnRate": 4.0, # omnidirectional: fast rotation "gravity": -9.81, @@ -102,7 +102,7 @@ "halfHeight": 0.8, "lidarMountHeight": 1.6, "embodimentType": "quadruped", # ground physics - "avatarUrl": ["/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 1.5, "turnRate": 2.0, "gravity": -9.81, @@ -114,7 +114,7 @@ "halfHeight": 0.15, "lidarMountHeight": 0.25, "embodimentType": "quadruped", - "avatarUrl": ["/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 1.0, "turnRate": 3.0, "gravity": -9.81, @@ -127,7 +127,7 @@ "halfHeight": 0.1, "lidarMountHeight": 0.15, "embodimentType": "drone", - "avatarUrl": ["/agent-model/robot.glb"], + "avatarUrl": ["/agent-model/dimsim_unitree_stub.glb"], "maxSpeed": 5.0, "turnRate": 4.0, "gravity": 0, # no gravity in flight @@ -723,7 +723,7 @@ def set_embodiment( - ``"flight"`` — 6DoF, optional gravity, altitude ceiling **Avatar URL** can be: - - Built-in: ``"/agent-model/robot.glb"`` + - Built-in: ``"/agent-model/dimsim_unitree_stub.glb"`` - Local asset: ``"/local-assets/my-drone.glb"`` (see :meth:`upload_asset`) - Any URL: ``"https://example.com/robot.glb"`` diff --git a/dimos/visualization/rerun/websocket_server.py b/dimos/visualization/rerun/websocket_server.py index 3b29666fb0..a19bd79e14 100644 --- a/dimos/visualization/rerun/websocket_server.py +++ b/dimos/visualization/rerun/websocket_server.py @@ -151,13 +151,19 @@ def _dispatch(self, raw: str | bytes) -> None: msg_type = msg.get("type") + # dict.get's default is only used when the key is missing — if Rerun + # sends a 2D-panel click the "z" key is present with value None, and + # `float(None)` raises. Coerce explicitly. + def _num(v: Any) -> float: + return float(v) if v is not None else 0.0 + if msg_type == "click": self.clicked_point.publish( PointStamped( - x=float(msg.get("x", 0)), - y=float(msg.get("y", 0)), - z=float(msg.get("z", 0)), - ts=float(msg.get("timestamp_ms", 0)) / 1000.0, + x=_num(msg.get("x")), + y=_num(msg.get("y")), + z=_num(msg.get("z")), + ts=_num(msg.get("timestamp_ms")) / 1000.0, frame_id=str(msg.get("entity_path", "")), ) ) @@ -166,14 +172,14 @@ def _dispatch(self, raw: str | bytes) -> None: self.tele_cmd_vel.publish( Twist( linear=Vector3( - float(msg.get("linear_x", 0)), - float(msg.get("linear_y", 0)), - float(msg.get("linear_z", 0)), + _num(msg.get("linear_x")), + _num(msg.get("linear_y")), + _num(msg.get("linear_z")), ), angular=Vector3( - float(msg.get("angular_x", 0)), - float(msg.get("angular_y", 0)), - float(msg.get("angular_z", 0)), + _num(msg.get("angular_x")), + _num(msg.get("angular_y")), + _num(msg.get("angular_z")), ), ) ) diff --git a/misc/DimSim/.gitignore b/misc/DimSim/.gitignore new file mode 100644 index 0000000000..d5401ddc7d --- /dev/null +++ b/misc/DimSim/.gitignore @@ -0,0 +1,9 @@ +node_modules/ +*.tar.gz +dist/ +.DS_Store +**/.DS_Store +.deno/ +scenes.json +scenes/**/apt.json +scripts/ diff --git a/misc/DimSim/README.md b/misc/DimSim/README.md new file mode 100644 index 0000000000..4698d59f9a --- /dev/null +++ b/misc/DimSim/README.md @@ -0,0 +1,54 @@ +# DimSim + +Browser-based 3D simulator (Three.js + Rapier) plus a Deno bridge that talks LCM/WS to [dimos](https://github.com/dimensionalOS/dimos). Lives inside dimos as `misc/DimSim/`. + +``` +src/ — browser engine (vite-bundled) +cli/ — Deno CLI + bridge server + headless launcher + LCM vendor +evals/ — eval harness (browser) + runner (Deno) + rubrics +scenes/ — user-authored scenes (JS) + per-scene eval workflows +public/ — static assets (agent GLB, logo) +docs/ — guides +``` + +## Run + +dimsim is launched by dimos directly when you pick `--simulation dimsim`: + +```bash +cd +.venv/bin/dimos --simulation dimsim --dimsim-scene=apartment run unitree-go2-agentic +``` + +On first run, `cli/cli.ts` will build `dist/` via Vite (dimsim ships its frontend as source — Deno+Vite materializes it in ~20s). + +## Docs + +- [docs/getting-started.md](docs/getting-started.md) — 5-minute tour +- [docs/scenes.md](docs/scenes.md) — create + edit scenes +- [docs/evals.md](docs/evals.md) — write eval workflows + +## Install the CLI (optional) + +If you want `dimsim` as a global command: + +```bash +cd misc/DimSim/cli +deno install -gAf --unstable-net --name=dimsim --config=./deno.json ./cli.ts +``` + +After install: + +```bash +dimsim dev --scene apartment # standalone dev server + browser +dimsim eval list # list workflows under scenes/*/evals/ +dimsim eval go-to-couch # run one workflow against an open sim +dimsim eval --headless --scene apartment # full headless run (CI) +``` + +## Build manually + +```bash +npm install # browser deps (three, rapier, spark, vite) +npm run build # → dist/ +``` diff --git a/misc/DimSim/cli/agent.py b/misc/DimSim/cli/agent.py new file mode 100644 index 0000000000..4f9a4d10a3 --- /dev/null +++ b/misc/DimSim/cli/agent.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +""" +DimSim Agent — runs the dimos nav + agent stack connected to DimSim via LCM. + +DimSim acts as the robot (like simplerobot.py but richer): + - Publishes: /odom, /color_image, /lidar, /depth_image + - Subscribes: /cmd_vel + +This script runs the dimos brain that processes those sensors and sends commands. + +Usage (run with dimos venv): + ../dimos/.venv/bin/python cli/agent.py + ../dimos/.venv/bin/python cli/agent.py --nav-only # no LLM agent, just exploration +""" + +import argparse + +from dimos.core.blueprints import autoconnect +from dimos.core.transport import JpegLcmTransport, LCMTransport +from dimos.mapping.costmapper import cost_mapper +from dimos.mapping.voxels import voxel_mapper +from dimos.msgs.geometry_msgs import PoseStamped, Twist +from dimos.msgs.sensor_msgs import Image, PointCloud2 +from dimos.navigation.frontier_exploration import wavefront_frontier_explorer +from dimos.navigation.replanning_a_star.module import replanning_a_star_planner +from dimos.protocol.service.lcmservice import autoconf + +# LCM transports — same channels DimSim publishes/subscribes on. +_transports = { + ("color_image", Image): JpegLcmTransport("/color_image", Image), + ("odom", PoseStamped): LCMTransport("/odom", PoseStamped), + ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist), + ("lidar", PointCloud2): LCMTransport("/lidar", PointCloud2), +} + +# Navigation stack: LiDAR → voxels → costmap → frontier explorer → path planner +nav = ( + autoconnect( + voxel_mapper(voxel_size=0.1), + cost_mapper(algo="simple"), + replanning_a_star_planner(), + wavefront_frontier_explorer(), + ) + .transports(_transports) + .global_config(n_dask_workers=6, robot_model="dimsim") +) + + +def build_agentic(): + """Full agentic: nav + spatial memory + LLM agent + skills.""" + from dimos.agents.agent import llm_agent + from dimos.agents.cli.human import human_input + from dimos.agents.cli.web import web_input + from dimos.agents.skills.navigation import navigation_skill + from dimos.agents.skills.speak_skill import speak_skill + from dimos.perception.spatial_perception import spatial_memory + from dimos.utils.monitoring import utilization + + return autoconnect( + nav, + spatial_memory(), + utilization(), + llm_agent(), + human_input(), + navigation_skill(), + web_input(), + speak_skill(), + ).global_config(n_dask_workers=8) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="DimSim dimos agent") + parser.add_argument( + "--nav-only", + action="store_true", + help="Run nav stack only (no LLM agent)", + ) + args = parser.parse_args() + + autoconf() + + blueprint = nav if args.nav_only else build_agentic() + coordinator = blueprint.build() + + print("DimSim agent running.") + print(" Subscribing: /odom, /color_image, /lidar") + print(" Publishing: /cmd_vel") + print(" Ctrl+C to exit") + + coordinator.loop() diff --git a/misc/DimSim/cli/bridge/lidar.ts b/misc/DimSim/cli/bridge/lidar.ts new file mode 100644 index 0000000000..c2e451c6cd --- /dev/null +++ b/misc/DimSim/cli/bridge/lidar.ts @@ -0,0 +1,309 @@ +/** + * Server-side LiDAR raycasting using Rapier physics world snapshot. + * + * Runs 20K Fibonacci-sphere raycasts at 5 Hz on the Deno bridge server, + * encodes PointCloud2 via @dimos/msgs, and publishes directly to LCM — + * no WebSocket hop needed. + */ + +import { + sensor_msgs, + std_msgs, +} from "@dimos/msgs"; +import type { LCM } from "../vendor/lcm/lcm.ts"; + +// -- Lidar constants (must match engine.js) ----------------------------------- +const NUM_POINTS = 15000; +const MIN_RANGE = 0.1; +const MAX_RANGE = 4; +const V_MIN_RAD = (-30 * Math.PI) / 180; +const V_MAX_RAD = (15 * Math.PI) / 180; +// 5 Hz — at 15k raycasts per scan, 10 Hz starves the physics setInterval +// (each scan takes 25-30ms on M4, ~60-80ms on weaker runners). 5 Hz halves +// the per-second blocking budget and matches typical low-end LiDAR rates +// (RPLIDAR, low-Velodyne). Module docstring already advertised 5 Hz. +const RATE_MS = 200; // 5 Hz + +const CH_LIDAR = "/lidar#sensor_msgs.PointCloud2"; + +// Agent capsule geometry → lidar mount offset (must match engine.js) +const DEFAULT_HALF_HEIGHT = 0.25; +const DEFAULT_RADIUS = 0.12; +const DEFAULT_LIDAR_MOUNT = 0.35; + +/** Subset of EmbodimentConfig relevant to lidar mount offset. */ +export interface LidarEmbodimentConfig { + radius?: number; + halfHeight?: number; + lidarMountHeight?: number; +} + +// -- _lidarToCamQuat: transforms FLU (x=forward, y=left, z=up) → Three.js camera-local -- +// Matches engine.js _lidarToCamQuat derived from rotation matrix: +// FLU x(forward) → cam -z, FLU y(left) → cam -x, FLU z(up) → cam +y +// Quaternion: (0.5, -0.5, -0.5, -0.5) +const L2C_QX = 0.5, L2C_QY = -0.5, L2C_QZ = -0.5, L2C_QW = -0.5; + +// -- Pre-compute Fibonacci sphere ray directions (pre-rotated to camera-local) - +// Directions are computed in FLU frame then rotated by _lidarToCamQuat so that +// only the agent's yaw quaternion is needed at scan time (cam-local → world). +const fibDirs = (() => { + const golden = (1 + Math.sqrt(5)) / 2; + const zMin = Math.sin(V_MIN_RAD); + const zMax = Math.sin(V_MAX_RAD); + const dirs = new Float32Array(NUM_POINTS * 3); + for (let i = 0; i < NUM_POINTS; i++) { + const z = zMin + (zMax - zMin) * (i + 0.5) / NUM_POINTS; + const r = Math.sqrt(1 - z * z); + const phi = (2 * Math.PI * i) / golden; + const fx = r * Math.cos(phi); // FLU x + const fy = r * Math.sin(phi); // FLU y + const fz = z; // FLU z + + // Rotate FLU → camera-local using _lidarToCamQuat + const tx = 2 * (L2C_QY * fz - L2C_QZ * fy); + const ty = 2 * (L2C_QZ * fx - L2C_QX * fz); + const tz = 2 * (L2C_QX * fy - L2C_QY * fx); + dirs[i * 3 + 0] = fx + L2C_QW * tx + (L2C_QY * tz - L2C_QZ * ty); + dirs[i * 3 + 1] = fy + L2C_QW * ty + (L2C_QZ * tx - L2C_QX * tz); + dirs[i * 3 + 2] = fz + L2C_QW * tz + (L2C_QX * ty - L2C_QY * tx); + } + return dirs; +})(); + +// -- Quaternion rotation helper (q * v) --------------------------------------- +function rotateByQuat( + vx: number, vy: number, vz: number, + qx: number, qy: number, qz: number, qw: number, +): [number, number, number] { + // t = 2 * cross(q.xyz, v) + const tx = 2 * (qy * vz - qz * vy); + const ty = 2 * (qz * vx - qx * vz); + const tz = 2 * (qx * vy - qy * vx); + // result = v + qw * t + cross(q.xyz, t) + return [ + vx + qw * tx + (qy * tz - qz * ty), + vy + qw * ty + (qz * tx - qx * tz), + vz + qw * tz + (qx * ty - qy * tx), + ]; +} + +// -- ServerLidar -------------------------------------------------------------- + +export class ServerLidar { + // Resolved once at module load; hot-path callers should not Deno.env.get every scan. + static readonly PROFILE = Deno.env.get("DIMSIM_PROFILE_PHYSICS") === "1"; + + private lcm: LCM; + private world: any; // RAPIER.World + private RAPIER: any; + private sentSeqs: Set; // echo filter shared with bridge server + private timer: ReturnType | null = null; + private scanCount = 0; + private logN = 0; + private publishing = false; // busy guard — skip scan if previous publish still in flight + private excludeBody: any = null; // rigid body to exclude from raycasting (agent's own colliders) + private lidarYOffset: number; + + // Current robot pose (Three.js Y-up world frame) + private px = 0; + private py = 0; + private pz = 0; + private qx = 0; + private qy = 0; + private qz = 0; + private qw = 1; + private hasPose = false; + + private ray: any; // Reusable Ray object (avoids 20k allocations per scan) + + constructor(lcm: LCM, rapierWorld: any, RAPIER: any, sentSeqs: Set, embodiment?: LidarEmbodimentConfig) { + this.lcm = lcm; + this.world = rapierWorld; + this.RAPIER = RAPIER; + this.sentSeqs = sentSeqs; + this.ray = new RAPIER.Ray({ x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 1 }); + + const halfH = embodiment?.halfHeight ?? DEFAULT_HALF_HEIGHT; + const radius = embodiment?.radius ?? DEFAULT_RADIUS; + const mount = embodiment?.lidarMountHeight ?? DEFAULT_LIDAR_MOUNT; + this.lidarYOffset = mount - (halfH + radius); + + // Step once with zero dt to initialize the query pipeline after snapshot restore. + // queryPipeline.update() crashes on restored worlds (WASM type mismatch), + // but world.step() internally updates the pipeline correctly. + this.world.step(); + } + + /** Reconfigure lidar mount offset after embodiment change. */ + reconfigure(embodiment: LidarEmbodimentConfig): void { + const halfH = embodiment.halfHeight ?? DEFAULT_HALF_HEIGHT; + const radius = embodiment.radius ?? DEFAULT_RADIUS; + const mount = embodiment.lidarMountHeight ?? DEFAULT_LIDAR_MOUNT; + this.lidarYOffset = mount - (halfH + radius); + console.log(`[lidar] reconfigured: lidarYOffset=${this.lidarYOffset.toFixed(3)}`); + } + + /** Set rigid body to exclude from raycasting (agent's own capsule). */ + setExcludeBody(body: any): void { + this.excludeBody = body; + } + + /** Update robot pose. Position is capsule center (odom); we apply lidar mount offset internally. */ + updatePose(x: number, y: number, z: number, qx: number, qy: number, qz: number, qw: number): void { + this.px = x; + this.py = y + this.lidarYOffset; // capsule center → lidar mount height + this.pz = z; + this.qx = qx; + this.qy = qy; + this.qz = qz; + this.qw = qw; + this.hasPose = true; + } + + start(): void { + if (this.timer) return; + // quiet + this.timer = setInterval(() => this._scan(), RATE_MS); + } + + stop(): void { + if (this.timer) { + clearInterval(this.timer); + this.timer = null; + } + } + + private _scan(): void { + if (!this.hasPose || this.publishing) return; + this.publishing = true; + this._doScan().catch((e) => { + console.warn("[lidar] publish error (dropped frame):", e?.message || e); + }).finally(() => { this.publishing = false; }); + } + + private async _doScan(): Promise { + const profile = ServerLidar.PROFILE; + const scanStart = profile ? performance.now() : 0; + this.scanCount++; + const jitterAngle = this.scanCount * 2.399963; // golden angle per scan + const cosJ = Math.cos(jitterAngle); + const sinJ = Math.sin(jitterAngle); + + const RAPIER = this.RAPIER; + const world = this.world; + + // Pre-allocate output buffers + const worldPts = new Float32Array(NUM_POINTS * 3); + const intensity = new Float32Array(NUM_POINTS); + let n = 0; + + const ox = this.px, oy = this.py, oz = this.pz; + const rqx = this.qx, rqy = this.qy, rqz = this.qz, rqw = this.qw; + + const raycastStart = profile ? performance.now() : 0; + + for (let i = 0; i < NUM_POINTS; i++) { + // Fibonacci direction (pre-rotated to camera-local) with per-scan golden angle jitter. + // In FLU frame, jitter rotates around Z (up). After lidarToCamQuat, FLU Z → cam Y, + // so jitter must rotate around camera-local Y axis. + const fx = fibDirs[i * 3 + 0], fy = fibDirs[i * 3 + 1], fz = fibDirs[i * 3 + 2]; + const lx = fx * cosJ + fz * sinJ; + const ly = fy; + const lz = -fx * sinJ + fz * cosJ; + + // Rotate local direction by robot quaternion → world direction + const [dx, dy, dz] = rotateByQuat(lx, ly, lz, rqx, rqy, rqz, rqw); + const len = Math.sqrt(dx * dx + dy * dy + dz * dz); + if (len < 1e-8) continue; + const nx = dx / len, ny = dy / len, nz = dz / len; + + // Reuse ray object — avoids 20k allocations per scan + this.ray.origin.x = ox; this.ray.origin.y = oy; this.ray.origin.z = oz; + this.ray.dir.x = nx; this.ray.dir.y = ny; this.ray.dir.z = nz; + // Use world.castRay (not queryPipeline.castRayAndGetNormal) — + // the pipeline API crashes on restored snapshot worlds. + // Exclude agent's own rigid body so lidar doesn't hit its own colliders. + const hit = world.castRay( + this.ray, MAX_RANGE, false, + undefined, undefined, undefined, + this.excludeBody, + ); + + if (!hit) continue; + const toi = hit.timeOfImpact ?? 0; + if (toi < MIN_RANGE || toi > MAX_RANGE) continue; + + worldPts[n * 3 + 0] = ox + nx * toi; + worldPts[n * 3 + 1] = oy + ny * toi; + worldPts[n * 3 + 2] = oz + nz * toi; + intensity[n] = 1.0 / (1.0 + 0.02 * toi * toi); + n++; + } + + const raycastEnd = profile ? performance.now() : 0; + + if (n === 0) return; + + this.logN++; + // scan logging removed — too noisy + + // Encode PointCloud2: Y-up → Z-up (ROS) cyclic permutation x→y, y→z, z→x + const pointStep = 16; + const buf = new ArrayBuffer(n * pointStep); + const view = new DataView(buf); + + for (let i = 0; i < n; i++) { + const off = i * pointStep; + const tx = worldPts[i * 3 + 0]; + const ty = worldPts[i * 3 + 1]; + const tz = worldPts[i * 3 + 2]; + view.setFloat32(off, tz, true); // ROS x = Three.js z + view.setFloat32(off + 4, tx, true); // ROS y = Three.js x + view.setFloat32(off + 8, ty, true); // ROS z = Three.js y + view.setFloat32(off + 12, intensity[i], true); + } + + const now = Date.now(); + const header = new std_msgs.Header({ + stamp: new std_msgs.Time({ sec: Math.floor(now / 1000), nsec: (now % 1000) * 1_000_000 }), + frame_id: "world", + }); + + const msg = new sensor_msgs.PointCloud2({ + header, + height: 1, + width: n, + fields_length: 4, + fields: [ + new sensor_msgs.PointField({ name: "x", offset: 0, datatype: 7, count: 1 }), + new sensor_msgs.PointField({ name: "y", offset: 4, datatype: 7, count: 1 }), + new sensor_msgs.PointField({ name: "z", offset: 8, datatype: 7, count: 1 }), + new sensor_msgs.PointField({ name: "intensity", offset: 12, datatype: 7, count: 1 }), + ], + is_bigendian: false, + point_step: pointStep, + row_step: n * pointStep, + data_length: n * pointStep, + data: new Uint8Array(buf), + is_dense: true, + }); + + // Mark seq for echo filtering (prevent server re-forwarding to browser WS) + this.sentSeqs.add(this.lcm.getNextSeq()); + // Publish directly to LCM — no WS hop (await so buffer pressure is felt) + await this.lcm.publish(CH_LIDAR, msg); + + if (profile) { + const total = performance.now() - scanStart; + const raycast = raycastEnd - raycastStart; + // Log every scan — there are only 10 per second. + if (this.scanCount % 5 === 0) { + console.log( + `[lidar-prof] scan=${this.scanCount} raycast=${raycast.toFixed(1)}ms ` + + `total=${total.toFixed(1)}ms hits=${n}/${NUM_POINTS}` + ); + } + } + } +} diff --git a/misc/DimSim/cli/bridge/physics.ts b/misc/DimSim/cli/bridge/physics.ts new file mode 100644 index 0000000000..c3e5ec30fc --- /dev/null +++ b/misc/DimSim/cli/bridge/physics.ts @@ -0,0 +1,502 @@ +/** + * Server-side agent physics (Deno/Rapier). + * + * Runs the agent's kinematic character controller at a fixed timestep on the + * server, eliminating the browser from the control loop: + * + * Python cmd_vel → LCM → Deno (physics step) → LCM odom → Python + * ↓ + * WS position → Browser (render only) + * + * The browser no longer integrates cmd_vel or steps physics — it just receives + * position updates and moves the visual avatar. + */ + +import { geometry_msgs, std_msgs } from "@dimos/msgs"; + +import type { LCM } from "../vendor/lcm/lcm.ts"; + +// -- Agent dimensions (must match AiAvatar.js / engine.js) -------------------- +const DEFAULT_AGENT_RADIUS = 0.12; +const DEFAULT_AGENT_HALF_HEIGHT = 0.25; +const CONTROLLER_OFFSET = 0.05; + +// -- Physics constants -------------------------------------------------------- +const PHYSICS_HZ = 50; +const PHYSICS_DT = 1.0 / PHYSICS_HZ; +const DEFAULT_GRAVITY_Y = -9.81; +const DEFAULT_SPEED_SCALE = 3.0; // Multiplier for cmd_vel (linear + angular) +const DEFAULT_TURN_SCALE = 3.0; +const DEFAULT_MAX_ALTITUDE = 50; + +/** Embodiment configuration passed from SceneClient / control channel. */ +export interface EmbodimentConfig { + radius?: number; + halfHeight?: number; + lidarMountHeight?: number; + embodimentType?: string; // "ground" | "drone" + maxSpeed?: number; + turnRate?: number; + gravity?: number; + maxStepHeight?: number; + groundSnapDist?: number; + maxSlopeAngle?: number; + friction?: number; + maxAltitude?: number; +} + +const CH_ODOM = "/odom#geometry_msgs.PoseStamped"; +const CH_CMD_VEL = "/cmd_vel#geometry_msgs.Twist"; +const CMD_VEL_TIMEOUT_MS = 500; + +// -- ServerPhysics ------------------------------------------------------------ + +export class ServerPhysics { + private lcm: LCM; + private world: any; // RAPIER.World + private RAPIER: any; + private sentSeqs: Set; + + private body: any; + private collider: any; + private spineCollider: any; + private controller: any; + private timer: ReturnType | null = null; + + // Embodiment params + private embodimentType: string; + private speedScale: number; + private turnScale: number; + private gravity: number; + private maxAltitude: number; + private agentRadius: number; + private agentHalfHeight: number; + private friction: number; + private maxStepHeight: number; + private groundSnapDist: number; + private maxSlopeAngle: number; + + // Agent state + private yaw = 0; + private seq = 0; + + // Profiling (DIMSIM_PROFILE_PHYSICS=1) — rolling timing per phase. + private profile = false; + private lastStepStart = 0; + private prof = { + n: 0, + sumCompute: 0, maxCompute: 0, + sumStep: 0, maxStep: 0, + sumPublish: 0, maxPublish: 0, + sumTotal: 0, maxTotal: 0, + sumInterval: 0, maxInterval: 0, + }; + + // cmd_vel (ROS frame: x=fwd, z=yaw) + private linX = 0; // forward + private linY = 0; // lateral + private linZ = 0; // vertical + private angZ = 0; // yaw rotation + private cmdVelStamp = 0; + + // Callback to send position to browser + private onPoseUpdate: ((x: number, y: number, z: number, yaw: number) => void) | null = null; + + private userColliders = new Map(); + + constructor( + lcm: LCM, + rapierWorld: any, + RAPIER: any, + sentSeqs: Set, + embodiment?: EmbodimentConfig, + ) { + this.lcm = lcm; + this.world = rapierWorld; + this.RAPIER = RAPIER; + this.sentSeqs = sentSeqs; + + // Apply embodiment config with defaults + this.embodimentType = embodiment?.embodimentType ?? "ground"; + this.speedScale = embodiment?.maxSpeed ?? DEFAULT_SPEED_SCALE; + this.turnScale = embodiment?.turnRate ?? DEFAULT_TURN_SCALE; + this.gravity = embodiment?.gravity ?? DEFAULT_GRAVITY_Y; + this.maxAltitude = embodiment?.maxAltitude ?? DEFAULT_MAX_ALTITUDE; + this.agentRadius = embodiment?.radius ?? DEFAULT_AGENT_RADIUS; + this.agentHalfHeight = embodiment?.halfHeight ?? DEFAULT_AGENT_HALF_HEIGHT; + this.friction = embodiment?.friction ?? 0.8; + this.maxStepHeight = embodiment?.maxStepHeight ?? 0.25; + this.groundSnapDist = embodiment?.groundSnapDist ?? 0.5; + this.maxSlopeAngle = embodiment?.maxSlopeAngle ?? 45; + + this._createBodyAndColliders(); + + // Count colliders to verify world integrity + let colliderCount = 0; + this.world.colliders.forEach(() => { colliderCount++; }); + // Quiet init — only log on error or reconfigure + + this.profile = Deno.env.get("DIMSIM_PROFILE_PHYSICS") === "1"; + if (this.profile) { + console.log(`[physics-prof] enabled — colliderCount=${colliderCount} target=${PHYSICS_HZ}Hz (${(1000 / PHYSICS_HZ).toFixed(1)}ms interval)`); + } + } + + private _createBodyAndColliders(): void { + const RAPIER = this.RAPIER; + + // Create agent body (kinematic position-based, like AiAvatar) + this.body = this.world.createRigidBody( + RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(0, 3, 0), + ); + + // Main capsule collider + this.collider = this.world.createCollider( + RAPIER.ColliderDesc.capsule(this.agentHalfHeight, this.agentRadius) + .setFriction(this.friction), + this.body, + ); + + // Spine collider (horizontal, behind body center — matches AiAvatar) + const spineHalfLen = Math.max(this.agentRadius * 1.2, 0.13); + const spineRadius = Math.max(this.agentRadius * 0.62, 0.07); + const spineOffsetBack = Math.max( + this.agentRadius * 2.2, + spineHalfLen + spineRadius + 0.02, + ); + const spineOffsetY = Math.max(this.agentHalfHeight * 0.35, 0.08); + this.spineCollider = this.world.createCollider( + RAPIER.ColliderDesc.capsule(spineHalfLen, spineRadius) + .setFriction(this.friction) + .setTranslation(0, spineOffsetY, -spineOffsetBack) + .setRotation({ + x: Math.SQRT1_2, + y: 0, + z: 0, + w: Math.SQRT1_2, + }), + this.body, + ); + + // Character controller + this.controller = this.world.createCharacterController(CONTROLLER_OFFSET); + this.controller.enableAutostep(this.maxStepHeight, 0.15, true); + this.controller.enableSnapToGround(this.groundSnapDist); + this.controller.setSlideEnabled(true); + this.controller.setMaxSlopeClimbAngle((this.maxSlopeAngle * Math.PI) / 180); + this.controller.setMinSlopeSlideAngle((75 * Math.PI) / 180); + } + + /** Reconfigure physics with new embodiment params (e.g. after set_embodiment). */ + reconfigure(embodiment: EmbodimentConfig): void { + // Save current position and yaw + const pos = this.body.translation(); + const savedYaw = this.yaw; + + // Update params + this.embodimentType = embodiment.embodimentType ?? this.embodimentType; + this.speedScale = embodiment.maxSpeed ?? this.speedScale; + this.turnScale = embodiment.turnRate ?? this.turnScale; + this.gravity = embodiment.gravity ?? this.gravity; + this.maxAltitude = embodiment.maxAltitude ?? this.maxAltitude; + this.agentRadius = embodiment.radius ?? this.agentRadius; + this.agentHalfHeight = embodiment.halfHeight ?? this.agentHalfHeight; + this.friction = embodiment.friction ?? this.friction; + this.maxStepHeight = embodiment.maxStepHeight ?? this.maxStepHeight; + this.groundSnapDist = embodiment.groundSnapDist ?? this.groundSnapDist; + this.maxSlopeAngle = embodiment.maxSlopeAngle ?? this.maxSlopeAngle; + + // Remove old colliders and body + if (this.spineCollider) this.world.removeCollider(this.spineCollider, false); + if (this.collider) this.world.removeCollider(this.collider, false); + if (this.body) this.world.removeRigidBody(this.body); + + // Recreate with new params + this._createBodyAndColliders(); + + // Restore position and yaw + this.body.setNextKinematicTranslation({ x: pos.x, y: pos.y, z: pos.z }); + this.yaw = savedYaw; + this.world.step(); + + console.log(`[physics] reconfigured: type=${this.embodimentType} radius=${this.agentRadius} halfHeight=${this.agentHalfHeight} speed=${this.speedScale} gravity=${this.gravity}`); + } + + /** Set spawn position (Three.js Y-up). */ + setPosition(x: number, y: number, z: number): void { + this.body.setNextKinematicTranslation({ x, y, z }); + this.world.step(); // apply immediately + // quiet + } + + /** Add a user-authored collider to the world. The browser sends these via + * `physicsColliderAdd` when scenes are edited live (SceneClient.add_object, + * load_map, etc.). Without this the agent has no floor to stand on. */ + addCollider(uuid: string, desc: any): void { + if (!desc || this.userColliders.has(uuid)) return; + const RAPIER = this.RAPIER; + const clamp = (v: number) => Math.max(0.001, v); + let cd: any; + if (desc.shape === "sphere" && desc.radius != null) { + cd = RAPIER.ColliderDesc.ball(clamp(desc.radius)); + } else if (desc.shape === "trimesh" && desc.vertices && desc.indices) { + cd = RAPIER.ColliderDesc.trimesh( + new Float32Array(desc.vertices), + new Uint32Array(desc.indices), + ); + } else if (desc.halfExtents) { + const h = desc.halfExtents; + cd = RAPIER.ColliderDesc.cuboid(clamp(h.x), clamp(h.y), clamp(h.z)); + } else { + return; + } + cd.setFriction(0.9); + if (desc.restitution != null) cd.setRestitution(desc.restitution); + const pos = desc.position ?? { x: 0, y: 0, z: 0 }; + if (desc.dynamic) { + const body = this.world.createRigidBody( + RAPIER.RigidBodyDesc.dynamic().setTranslation(pos.x, pos.y, pos.z), + ); + if (desc.mass != null) body.setAdditionalMass(desc.mass); + const collider = this.world.createCollider(cd, body); + this.userColliders.set(uuid, { collider, body }); + } else { + cd.setTranslation(pos.x, pos.y, pos.z); + const collider = this.world.createCollider(cd); + this.userColliders.set(uuid, { collider, body: null }); + } + } + + removeCollider(uuid: string): void { + const entry = this.userColliders.get(uuid); + if (!entry) return; + if (entry.body) { + this.world.removeRigidBody(entry.body); + } else if (entry.collider) { + this.world.removeCollider(entry.collider, false); + } + this.userColliders.delete(uuid); + } + + /** Drop every user-authored collider — used when an explicit re-load + * of a level clears the existing scene content. */ + clearUserColliders(): void { + for (const uuid of [...this.userColliders.keys()]) { + this.removeCollider(uuid); + } + } + + /** Set callback for browser position sync. */ + setOnPoseUpdate( + cb: (x: number, y: number, z: number, yaw: number) => void, + ): void { + this.onPoseUpdate = cb; + } + + /** Handle incoming cmd_vel (ROS frame). */ + handleCmdVel(twist: any): void { + this.linX = twist.linear.x; // forward (ROS +x) + this.linY = twist.linear.y; // lateral + this.linZ = twist.linear.z; // vertical + this.angZ = twist.angular.z; // yaw (ROS +z = rotate left) + this.cmdVelStamp = Date.now(); + } + + /** Subscribe to cmd_vel on LCM. */ + subscribeCmdVel(): void { + this.lcm.subscribe(CH_CMD_VEL, geometry_msgs.Twist, (msg: any) => { + this.handleCmdVel(msg.data); + }); + // quiet + } + + /** Start fixed-rate physics stepping + odom publish. */ + start(): void { + if (this.timer) return; + this.subscribeCmdVel(); + this.timer = setInterval(() => this._step(), 1000 / PHYSICS_HZ); + // quiet + } + + stop(): void { + if (this.timer) { + clearInterval(this.timer); + this.timer = null; + } + } + + /** Get current position in Three.js Y-up frame. */ + getPosition(): { x: number; y: number; z: number } { + return this.body.translation(); + } + + /** Get the agent's rigid body (for lidar exclusion). */ + getBody(): any { + return this.body; + } + + getYaw(): number { + return this.yaw; + } + + private _step(): void { + const stepStart = this.profile ? performance.now() : 0; + if (this.profile && this.lastStepStart) { + const interval = stepStart - this.lastStepStart; + this.prof.sumInterval += interval; + if (interval > this.prof.maxInterval) this.prof.maxInterval = interval; + } + this.lastStepStart = stepStart; + + // Safety timeout — zero velocity if no cmd_vel received recently + const hasVel = Date.now() - this.cmdVelStamp < CMD_VEL_TIMEOUT_MS; + const linX = hasVel ? this.linX * this.speedScale : 0; + const linY = hasVel ? this.linY * this.speedScale : 0; + const linZ = hasVel ? this.linZ * this.speedScale : 0; + const angZ = hasVel ? this.angZ * this.turnScale : 0; + + // Integrate yaw (ROS angZ → Three.js Y rotation) + // ROS +z yaw = CCW from above = Three.js +Y rotation + this.yaw += angZ * PHYSICS_DT; + + const pos = this.body.translation(); + const cosY = Math.cos(this.yaw); + const sinY = Math.sin(this.yaw); + + let newPos: { x: number; y: number; z: number }; + + if (this.embodimentType === "drone") { + // Drone: 6DoF movement, no gravity, altitude clamping + const fwd = linX; + const lat = linY; + const vert = linZ; // ROS z = vertical for drone + const desired = { + x: (fwd * sinY + lat * cosY) * PHYSICS_DT, + y: vert * PHYSICS_DT, + z: (fwd * cosY - lat * sinY) * PHYSICS_DT, + }; + + this.controller.computeColliderMovement( + this.collider, + desired, + this.RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, + ); + const m = this.controller.computedMovement(); + newPos = { + x: pos.x + m.x, + y: Math.min(pos.y + m.y, this.maxAltitude), + z: pos.z + m.z, + }; + } else { + // Ground robot: gravity, collision-aware + const fwd = linX; + const desired = { + x: (fwd * sinY) * PHYSICS_DT, + y: this.gravity * PHYSICS_DT * PHYSICS_DT * 0.5, // gravity + z: (fwd * cosY) * PHYSICS_DT, + }; + + this.controller.computeColliderMovement( + this.collider, + desired, + this.RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, + ); + const m = this.controller.computedMovement(); + newPos = { + x: pos.x + m.x, + y: pos.y + m.y, + z: pos.z + m.z, + }; + } + + this.body.setNextKinematicTranslation(newPos); + + const computeEnd = this.profile ? performance.now() : 0; + + // Step world to apply kinematic translation (needed for next computeColliderMovement) + this.world.step(); + + const stepEnd = this.profile ? performance.now() : 0; + + // Publish odom to LCM (Three.js Y-up → ROS Z-up) + this._publishOdom(newPos); + + // Notify browser for visual sync + if (this.onPoseUpdate) { + this.onPoseUpdate(newPos.x, newPos.y, newPos.z, this.yaw); + } + + if (this.profile) { + const publishEnd = performance.now(); + const compute = computeEnd - stepStart; + const step = stepEnd - computeEnd; + const publish = publishEnd - stepEnd; + const total = publishEnd - stepStart; + const p = this.prof; + p.n++; + p.sumCompute += compute; if (compute > p.maxCompute) p.maxCompute = compute; + p.sumStep += step; if (step > p.maxStep) p.maxStep = step; + p.sumPublish += publish; if (publish > p.maxPublish) p.maxPublish = publish; + p.sumTotal += total; if (total > p.maxTotal) p.maxTotal = total; + + // Log rolling averages every 20 steps (~0.4s at 50Hz target, ~4s at 5Hz actual). + if (p.n >= 20) { + const intervalAvg = p.sumInterval / Math.max(p.n - 1, 1); + const effHz = intervalAvg > 0 ? 1000 / intervalAvg : 0; + console.log( + `[physics-prof] n=${p.n} ` + + `compute=${(p.sumCompute / p.n).toFixed(2)}/${p.maxCompute.toFixed(1)}ms ` + + `step=${(p.sumStep / p.n).toFixed(2)}/${p.maxStep.toFixed(1)}ms ` + + `pub=${(p.sumPublish / p.n).toFixed(2)}/${p.maxPublish.toFixed(1)}ms ` + + `total=${(p.sumTotal / p.n).toFixed(2)}/${p.maxTotal.toFixed(1)}ms ` + + `interval=${intervalAvg.toFixed(1)}/${p.maxInterval.toFixed(1)}ms ` + + `effHz=${effHz.toFixed(1)}` + ); + // reset rolling counters but keep maxima — useful to spot worst-case drift + p.n = 0; + p.sumCompute = p.sumStep = p.sumPublish = p.sumTotal = p.sumInterval = 0; + } + } + } + + private _publishOdom(pos: { x: number; y: number; z: number }): void { + // Three.js Y-up → ROS Z-up: (x,y,z) → (z,x,y) + const rosX = pos.z; + const rosY = pos.x; + const rosZ = pos.y; + + // Yaw quaternion (Three.js Y-axis → ROS Z-axis) + const qw = Math.cos(this.yaw / 2); + const qRosZ = Math.sin(this.yaw / 2); // rotation about ROS Z + + const now = Date.now(); + + const header = new std_msgs.Header({ + seq: this.seq++, + stamp: new std_msgs.Time({ sec: Math.floor(now / 1000), nsec: (now % 1000) * 1_000_000 }), + frame_id: "world", + }); + + const pose = new geometry_msgs.Pose(); + pose.position = new geometry_msgs.Point(); + pose.position.x = rosX; + pose.position.y = rosY; + pose.position.z = rosZ; + pose.orientation = new geometry_msgs.Quaternion(); + pose.orientation.x = 0; + pose.orientation.y = 0; + pose.orientation.z = qRosZ; + pose.orientation.w = qw; + + const odom = new geometry_msgs.PoseStamped(); + odom.header = header; + odom.pose = pose; + + try { + this.sentSeqs.add(this.lcm.getNextSeq()); + this.lcm.publishRaw(CH_ODOM, odom.encode()).catch(() => {}); + } catch (e: unknown) { + if (this.seq <= 3) console.warn("[physics] odom publish error:", e); + } + } +} diff --git a/misc/DimSim/cli/bridge/server.ts b/misc/DimSim/cli/bridge/server.ts new file mode 100644 index 0000000000..0dd359cd76 --- /dev/null +++ b/misc/DimSim/cli/bridge/server.ts @@ -0,0 +1,508 @@ +#!/usr/bin/env -S deno run --allow-net --allow-read --unstable-net + +/** + * DimSim Bridge Server + * + * - One control WebSocket plus multiple sensor WebSockets. + * Separate TCP streams so large sensor data never blocks real-time odom + * or other sensor streams. + * - LCM multicast relay (WS ↔ LCM) + * - Per-channel isolation for multi-page parallel evals + * - Static file server for the pre-built DimSim frontend (dist/) + * - Uses vendored LCM transport with joinMulticastV4 fix + */ + +import { LCM } from "../vendor/lcm/lcm.ts"; +import { decodePacket } from "../vendor/lcm/transport.ts"; +import { MAGIC_SHORT, SHORT_HEADER_SIZE } from "../vendor/lcm/types.ts"; +import { serveDir } from "@std/http/file-server"; +import { ServerLidar } from "./lidar.ts"; +import { ServerPhysics } from "./physics.ts"; +import { geometry_msgs } from "@dimos/msgs"; + +// Magic prefix for Rapier world snapshot (ASCII "DSSN") +const SNAPSHOT_MAGIC = 0x4453534E; +const DEFAULT_LCM_PORT = 7667; +const DEFAULT_LCM_HOST = "239.255.76.67"; + +const SCENE_MIME: Record = { + js: "application/javascript; charset=utf-8", + mjs: "application/javascript; charset=utf-8", + json: "application/json; charset=utf-8", + glb: "model/gltf-binary", + gltf: "model/gltf+json", + bin: "application/octet-stream", + png: "image/png", + jpg: "image/jpeg", + jpeg: "image/jpeg", + webp: "image/webp", + avif: "image/avif", + ktx2: "image/ktx2", + hdr: "image/vnd.radiance", + exr: "image/x-exr", +}; + +export interface BridgeServerOptions { + port: number; + distDir: string; + scene?: string; + evalOnly?: boolean; + headless?: boolean; + channels?: string[]; + lcmBasePort?: number; + sensorRates?: Record; + sensorEnable?: Record; + cameraFov?: number; +} + +/** Per-channel state: each channel gets its own LCM, physics, lidar, and WS client sets. */ +interface ChannelState { + name: string; + controlClients: Set; + activeControlClient: WebSocket | null; + sensorClients: Set; + lcm: LCM | null; + sentSeqs: Set; + serverLidar: ServerLidar | null; + serverPhysics: ServerPhysics | null; + embodiment: Record | null; +} + +export async function startBridgeServer(options: BridgeServerOptions) { + const { + port, distDir, scene, + evalOnly = false, headless = false, + channels, lcmBasePort = DEFAULT_LCM_PORT, + sensorRates, sensorEnable, cameraFov, + } = options; + + // Scene the engine boots into. Injected as window.__dimosScene below so + // engine.js dynamically imports /scenes//index.js. Sanitize to a + // restricted charset so the value can't escape the `; + html = html.replace("", `${inject}\n`); + return new Response(html, { headers: { "content-type": "text/html; charset=utf-8" } }); + } catch { + return new Response("index.html not found", { status: 404 }); + } + } + + // JS scene project folders. Resolution order: + // 1. DIMSIM_SCENES_DIR env (dimos points this at user-authored scenes) + // 2. dist/scenes/ (shipped built-ins, when running from a built binary) + // 3. ../scenes/ (dev built-ins, when running directly from source) + if (url.pathname.startsWith("/scenes/")) { + const rel = url.pathname.slice("/scenes/".length); + const candidates = [ + Deno.env.get("DIMSIM_SCENES_DIR"), + `${distDir}/scenes`, + `${distDir}/../scenes`, + ].filter((d): d is string => !!d && d.length > 0); + for (const dir of candidates) { + try { + const filePath = `${dir}/${rel}`; + const data = await Deno.readFile(filePath); + const ext = rel.split(".").pop()?.toLowerCase() ?? ""; + const contentType = SCENE_MIME[ext] ?? "application/octet-stream"; + return new Response(data, { headers: { "content-type": contentType } }); + } catch { /* try next */ } + } + return new Response(`Scene file not found: ${rel}`, { status: 404 }); + } + + return serveDir(req, { fsRoot: distDir, quiet: true }); + }); + + const channelInfo = channelNames.length > 1 + ? ` (${channelNames.length} channels: ${channelNames.join(", ")})` + : ""; + console.log(`[bridge] :${port}${evalOnly ? " (eval-only)" : " (LCM bridge)"}${channelInfo}`); + + // Run all LCM instances + const lcmInstances = [...channelMap.values()].map(s => s.lcm).filter(Boolean) as LCM[]; + if (lcmInstances.length > 0) { + await Promise.all(lcmInstances.map(l => l.run())); + } else { + await new Promise(() => {}); + } +} + +if (import.meta.main) { + const distDir = new URL("../../dist", import.meta.url).pathname; + const scene = Deno.args.find((_a: string, i: number, arr: string[]) => arr[i - 1] === "--scene") || "apartment"; + const port = parseInt(Deno.args.find((_a: string, i: number, arr: string[]) => arr[i - 1] === "--port") || "8090"); + await startBridgeServer({ port, distDir, scene }); +} diff --git a/misc/DimSim/cli/cli.ts b/misc/DimSim/cli/cli.ts new file mode 100644 index 0000000000..78f828176a --- /dev/null +++ b/misc/DimSim/cli/cli.ts @@ -0,0 +1,437 @@ +#!/usr/bin/env -S deno run --allow-all --unstable-net + +/** + * DimSim CLI — 3D simulation + eval runner + dev server. + * + * Usage: + * dimsim dev [--scene ] [--port ] Dev server + browser + * dimsim eval Run one workflow (auto --connect) + * dimsim eval [--headless] [--parallel N] [--render gpu] Headless CI evals + * dimsim eval list List eval workflows + * dimsim agent [--nav-only] dimos Python agent + */ + +import { resolve, dirname, fromFileUrl } from "@std/path"; +import { startBridgeServer } from "./bridge/server.ts"; +import { launchHeadless, launchMultiPage, type RenderMode } from "./headless/launcher.ts"; +import { runEvals, runEvalsMultiPage, collectWorkflows, toJunitXml, type EvalResult } from "../evals/runner.ts"; + +const CLI_DIR = dirname(fromFileUrl(import.meta.url)); +const PROJECT_DIR = resolve(CLI_DIR, ".."); +const LOCAL_DIST_DIR = resolve(PROJECT_DIR, "dist"); +const SCENES_DIR = resolve(PROJECT_DIR, "scenes"); +const DIMOS_VENV = resolve(PROJECT_DIR, "../../.venv/bin/python"); +const AGENT_PY = resolve(CLI_DIR, "agent.py"); + +/** + * Build dist/ from the repo's own sources using Deno's npm compat. + * Everything needed is already in-tree: src/ (engine), public/ (scenes, + * embodiment, logo). Vite bundles src/ and copies public/ verbatim, so + * no assets need to be downloaded from GitHub releases, and npm/Node are + * not required — Deno runs Vite directly. + * + * Important for the vendored layout (misc/DimSim/ inside dimos): dist/ is + * gitignored and never committed, so on first run we have to materialize + * it ourselves rather than asking the user to `npm run build`. + * + * --no-lock keeps the repo's deno.lock (which tracks only JSR deps for + * the CLI) from being polluted with the frontend's npm dep graph. + */ +async function tryBuildFromSource( + projectDir: string, + distDir: string, +): Promise { + let viteSpec = "npm:vite@^5"; + try { + const pkg = JSON.parse(await Deno.readTextFile(`${projectDir}/package.json`)); + const v = pkg.devDependencies?.vite ?? pkg.dependencies?.vite; + if (!v) return false; + viteSpec = `npm:vite@${v}`; + } catch { + return false; + } + + // node_modules/ — install from package.json if missing. Vite resolves + // bare imports (three, rapier, etc.) via node_modules at build time. + try { + await Deno.stat(`${projectDir}/node_modules`); + } catch { + console.log(`[dimsim] node_modules/ not found — running 'deno install' (one-time)...`); + const install = new Deno.Command(Deno.execPath(), { + args: ["install", "--no-lock"], cwd: projectDir, + stdout: "inherit", stderr: "inherit", + }).spawn(); + const s = await install.status; + if (!s.success) { + console.error(`[dimsim] deno install failed (exit ${s.code}).`); + return false; + } + } + + console.log(`[dimsim] Building frontend with Vite...`); + const build = new Deno.Command(Deno.execPath(), { + args: ["run", "-A", "--no-lock", viteSpec, "build"], + cwd: projectDir, + stdout: "inherit", stderr: "inherit", + }).spawn(); + const bs = await build.status; + if (!bs.success) { + console.error(`[dimsim] vite build failed (exit ${bs.code}).`); + return false; + } + + try { + await Deno.stat(`${distDir}/index.html`); + return true; + } catch { + console.error(`[dimsim] Build completed but ${distDir}/index.html is missing.`); + return false; + } +} + +/** Resolve distDir: use local dist/ if present, otherwise build it from source. */ +async function resolveDistDir(): Promise { + try { + await Deno.stat(`${LOCAL_DIST_DIR}/index.html`); + return LOCAL_DIST_DIR; + } catch { /* not found — fall through to build */ } + + if (await tryBuildFromSource(PROJECT_DIR, LOCAL_DIST_DIR)) { + return LOCAL_DIST_DIR; + } + + console.error(`[dimsim] No dist/ found and tryBuildFromSource() failed.`); + console.error(`[dimsim] Build manually: cd ${PROJECT_DIR} && npm run build`); + Deno.exit(1); +} + +function printUsage() { + console.log(` +DimSim CLI — 3D simulation + eval harness for dimos + +Commands: + dimsim dev [options] Dev server (open browser, optional eval) + dimsim eval list List installed eval workflows + dimsim eval Run one workflow against an already-running bridge + dimsim eval [options] Run eval workflows (headless CI) + dimsim agent [options] Launch dimos Python agent + +Dev: + --scene Scene to load (default: apartment) + --port Server port (default: 8090) + --headless Launch headless browser (no GUI) + --render gpu|cpu Render mode for headless (default: gpu) + --channels Number of parallel browser pages (multi-instance) + --eval Run eval after browser connects + --env Environment filter + --image-rate Image publish interval in ms (default: 500 = 2 Hz) + --lidar-rate LiDAR publish interval in ms (default: 200 = 5 Hz) + --odom-rate Odom publish interval in ms (default: 20 = 50 Hz) + --no-depth Disable depth image publishing + --camera-fov Camera FOV in degrees (default: 80) + +Eval: + --connect Connect to existing bridge (use with dimos) + --headless Headless Chromium (required for CI) + --parallel N parallel browser pages (default: 1) + --render gpu|cpu gpu = Metal/ANGLE, cpu = SwiftShader (default: cpu) + --env Filter to environment + --workflow Filter to workflow + --output json|junit Output format (default: json) + --port Bridge port (default: 8090) + --timeout Engine init timeout (default: auto) + +Agent: + --nav-only Nav stack only (no LLM agent) + --venv Python venv path (default: ../../.venv/bin/python relative to misc/DimSim/) +`); +} + +function parseArgs(args: string[]) { + const opts: Record = {}; + for (let i = 0; i < args.length; i++) { + const arg = args[i]; + if (arg.startsWith("--")) { + const key = arg.slice(2); + const next = args[i + 1]; + if (next && !next.startsWith("--")) { + opts[key] = next; + i++; + } else { + opts[key] = true; + } + } + } + return opts; +} + +async function main() { + const subcommand = Deno.args[0]; + const opts = parseArgs(Deno.args.slice(1)); + + if (!subcommand || subcommand === "help" || subcommand === "--help") { + printUsage(); + Deno.exit(0); + } + + if (subcommand === "--version" || subcommand === "version") { + try { + const text = await Deno.readTextFile(new URL("./deno.json", import.meta.url)); + console.log(JSON.parse(text).version); + } catch { + console.log("unknown"); + } + Deno.exit(0); + } + + const port = parseInt(opts.port as string) || 8090; + + // ── Dev ───────────────────────────────────────────────────────────── + if (subcommand === "dev") { + const distDir = await resolveDistDir(); + const scene = (opts.scene as string) || "apartment"; + const headless = opts.headless === true; + const render = ((opts.render as string) === "cpu" ? "cpu" : "gpu") as RenderMode; + const numChannels = Math.max(1, parseInt(opts.channels as string) || 1); + const evalWorkflow = opts.eval as string | undefined; + + // Sensor publish rates (ms) — overrides browser defaults + const sensorRates: Record = {}; + if (opts["image-rate"]) sensorRates.images = parseInt(opts["image-rate"] as string); + if (opts["lidar-rate"]) sensorRates.lidar = parseInt(opts["lidar-rate"] as string); + if (opts["odom-rate"]) sensorRates.odom = parseInt(opts["odom-rate"] as string); + + // Sensor enable/disable (depth only — color and lidar are essential) + const sensorEnable: Record = {}; + if (opts["no-depth"] === true) sensorEnable.depth = false; + + // Camera FOV + const cameraFov = opts["camera-fov"] ? parseInt(opts["camera-fov"] as string) : undefined; + + // Build channel list for multi-instance mode + const channels = numChannels > 1 + ? Array.from({ length: numChannels }, (_, i) => `page-${i}`) + : undefined; + + console.log(`[dimsim] Dev mode — scene: ${scene}, port: ${port}${headless ? " (headless)" : ""}${channels ? ` (${numChannels} channels)` : ""}`); + console.log(`[dimsim] Serving from: ${distDir}`); + + // LCM bridge is always active in dev mode (unlike eval --headless which disables it) + startBridgeServer({ + port, distDir, scene, headless, channels, + sensorRates: Object.keys(sensorRates).length > 0 ? sensorRates : undefined, + sensorEnable: Object.keys(sensorEnable).length > 0 ? sensorEnable : undefined, + cameraFov, + }); + + if (headless) { + if (channels) { + // Multi-page mode: open N browser pages in one Chromium instance + console.log(`[dimsim] Launching headless browser with ${numChannels} pages...`); + const url = `http://localhost:${port}`; + await launchMultiPage({ url, numPages: numChannels, render, timeout: 120_000 }); + await new Promise((r) => setTimeout(r, 3000)); + console.log(`[dimsim] ${numChannels} headless pages ready. LCM bridge active.`); + } else { + console.log("[dimsim] Launching headless browser..."); + const url = `http://localhost:${port}`; + // CPU rendering with SwiftShader is slow — scene + agent init takes + // ~27s on CI Macs. Allow 90s by default; override via env var. + const headlessTimeout = parseInt( + Deno.env.get("DIMSIM_HEADLESS_TIMEOUT") || "90000", + ); + await launchHeadless({ url, timeout: headlessTimeout, render }); + await new Promise((r) => setTimeout(r, 3000)); + console.log("[dimsim] Headless browser ready. LCM bridge active."); + } + } else { + console.log(`[dimsim] Open http://localhost:${port} in your browser`); + } + + if (evalWorkflow) { + console.log(`[dimsim] Eval workflow: ${evalWorkflow}`); + console.log("[dimsim] Waiting for browser to connect and load scene...\n"); + + const results = await runEvals({ + wsUrl: `ws://localhost:${port}`, + scenesRoot: SCENES_DIR, + filterScene: opts.env as string, + filterWorkflow: evalWorkflow, + }); + + const passed = results.filter((r) => r.passed).length; + const failed = results.length - passed; + console.log(`\n[dimsim] Eval done: ${passed} passed, ${failed} failed`); + console.log("[dimsim] Server still running. Press Ctrl+C to stop."); + } else { + console.log("[dimsim] Press Ctrl+C to stop."); + } + + // Keep alive + await new Promise(() => {}); + } + + // ── Agent ─────────────────────────────────────────────────────────── + if (subcommand === "agent") { + const pythonBin = (opts.venv as string) || DIMOS_VENV; + const navOnly = opts["nav-only"] === true; + + // Verify python exists + try { + await Deno.stat(pythonBin); + } catch { + console.error(`[dimsim] dimos venv not found at: ${pythonBin}`); + console.error(`[dimsim] Install dimos first, or pass --venv /path/to/python`); + Deno.exit(1); + } + + const cmd = [pythonBin, AGENT_PY]; + if (navOnly) cmd.push("--nav-only"); + + console.log(`[dimsim] Starting dimos agent${navOnly ? " (nav-only)" : ""}...`); + console.log(`[dimsim] Python: ${pythonBin}`); + + const proc = new Deno.Command(cmd[0], { + args: cmd.slice(1), + stdin: "inherit", + stdout: "inherit", + stderr: "inherit", + env: { ...Deno.env.toObject() }, + }).spawn(); + + const status = await proc.status; + Deno.exit(status.code); + } + + // ── Eval list ─────────────────────────────────────────────────────── + if (subcommand === "eval" && Deno.args[1] === "list") { + const found = collectWorkflows({ scenesRoot: SCENES_DIR }); + if (found.length === 0) { + console.log(`\nNo eval workflows under ${SCENES_DIR}/*/evals/\n`); + Deno.exit(0); + } + const byScene = new Map(); + for (const wf of found) { + if (!byScene.has(wf.scene)) byScene.set(wf.scene, []); + byScene.get(wf.scene)!.push(wf.workflow); + } + const sorted = [...byScene.entries()].sort((a, b) => a[0].localeCompare(b[0])); + console.log(""); + for (const [scene, workflows] of sorted) { + console.log(` \x1b[1m${scene}\x1b[0m \x1b[2m(${workflows.length})\x1b[0m`); + workflows.sort(); + for (const w of workflows) console.log(` ${w}`); + } + console.log(`\n \x1b[2m${found.length} workflow(s) across ${sorted.length} scene(s)\x1b[0m\n`); + Deno.exit(0); + } + + // ── Eval ──────────────────────────────────────────────────────────── + if (subcommand === "eval") { + // Positional workflow: `dimsim eval go-to-tv` is shorthand for + // `dimsim eval --workflow go-to-tv --connect`. Accepts either bare + // workflow name ("go-to-tv") or scene-qualified ("apartment/go-to-tv"). + const positional = Deno.args[1] && !Deno.args[1].startsWith("--") ? Deno.args[1] : null; + let posScene: string | undefined; + let posWorkflow: string | undefined; + if (positional) { + const slash = positional.indexOf("/"); + if (slash !== -1) { + posScene = positional.slice(0, slash); + posWorkflow = positional.slice(slash + 1); + } else { + posWorkflow = positional; + } + } + // If a workflow was given positionally, default to --connect. Spinning up + // a fresh headless bridge for a one-off run during dev is rarely what you + // want; the common case is "the sim is already open, run this eval in it". + const connectMode = opts.connect === true || positional !== null; + const outputFormat = (opts.output as string) === "junit" ? "junit" : "json"; + const wsUrl = `ws://localhost:${port}`; + const filterScene = posScene ?? (opts.scene as string) ?? (opts.env as string); + const filterWorkflow = posWorkflow ?? (opts.workflow as string); + + // --connect mode: just run the runner against an existing bridge + if (connectMode) { + console.log(`[dimsim] Connecting to existing bridge at ${wsUrl}…`); + const results = await runEvals({ wsUrl, scenesRoot: SCENES_DIR, filterScene, filterWorkflow }); + if (outputFormat === "junit") console.log(toJunitXml(results)); + const passed = results.filter((r) => r.passed).length; + const failed = results.length - passed; + console.log(`\n[dimsim] Done: ${passed} passed, ${failed} failed, ${results.length} total`); + Deno.exit(failed > 0 ? 1 : 0); + } + + const distDir = await resolveDistDir(); + const headless = opts.headless === true; + const scene = (opts.scene as string) || (opts.env as string) || "apartment"; + const parallel = Math.max(1, parseInt(opts.parallel as string) || 1); + const render = ((opts.render as string) === "gpu" ? "gpu" : "cpu") as RenderMode; + const defaultTimeout = render === "cpu" ? 120000 : 30000; + const timeout = parseInt(opts.timeout as string) || defaultTimeout; + + if (headless && parallel > 1) { + const allWorkflows = collectWorkflows({ + scenesRoot: SCENES_DIR, filterScene, filterWorkflow, + }); + if (allWorkflows.length === 0) { + console.log("[dimsim] No workflows match filter criteria."); + Deno.exit(0); + } + const numPages = Math.min(parallel, allWorkflows.length); + console.log(`[dimsim] Multi-page eval — ${allWorkflows.length} workflows across ${numPages} page(s)`); + + startBridgeServer({ port, distDir, scene, evalOnly: true }); + await new Promise((r) => setTimeout(r, 500)); + + const url = `http://localhost:${port}`; + const instance = await launchMultiPage({ url, numPages, timeout, render }); + await new Promise((r) => setTimeout(r, 2000)); + + const allResults = await runEvalsMultiPage({ + wsUrl, scenesRoot: SCENES_DIR, + channels: instance.channels, + filterScene, filterWorkflow, + }); + + await instance.close(); + + if (outputFormat === "junit") console.log(toJunitXml(allResults)); + else console.log(JSON.stringify(allResults, null, 2)); + + const passed = allResults.filter((r) => r.passed).length; + const failed = allResults.length - passed; + console.log(`\n[dimsim] Done: ${passed} passed, ${failed} failed, ${allResults.length} total`); + Deno.exit(failed > 0 ? 1 : 0); + } + + // -- Single worker eval (sequential) ----------------------------------- + console.log(`[dimsim] Eval mode — headless: ${headless}, port: ${port}`); + startBridgeServer({ port, distDir, scene, evalOnly: headless }); + await new Promise((r) => setTimeout(r, 500)); + + const url = `http://localhost:${port}`; + if (headless) { + console.log("[dimsim] Launching headless browser…"); + const instance = await launchHeadless({ url, timeout, render }); + await new Promise((r) => setTimeout(r, 3000)); + + const results = await runEvals({ wsUrl, scenesRoot: SCENES_DIR, filterScene, filterWorkflow }); + if (outputFormat === "junit") console.log(toJunitXml(results)); + + await instance.close(); + const failed = results.filter((r) => !r.passed).length; + Deno.exit(failed > 0 ? 1 : 0); + } else { + console.log(`[dimsim] Open ${url} in your browser to start evals`); + console.log("[dimsim] Press Ctrl+C to stop."); + await new Promise(() => {}); + } + } + + printUsage(); + Deno.exit(1); +} + +main(); diff --git a/misc/DimSim/cli/deno.json b/misc/DimSim/cli/deno.json new file mode 100644 index 0000000000..3d48a13d8c --- /dev/null +++ b/misc/DimSim/cli/deno.json @@ -0,0 +1,21 @@ +{ + "name": "@antim/dimsim", + "version": "0.3.2", + "description": "3D simulation environment for the dimos robotics stack. 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+ +export type RenderMode = "gpu" | "cpu"; + +export interface LaunchOptions { + url: string; + timeout?: number; + render?: RenderMode; +} + +export interface HeadlessInstance { + browser: Browser; + page: Page; + close: () => Promise; +} + +export interface MultiPageInstance { + browser: Browser; + pages: Page[]; + channels: string[]; + close: () => Promise; +} + +export interface MultiPageOptions { + url: string; + numPages: number; + timeout?: number; + render?: RenderMode; +} + +// ── Chrome flags per render mode ────────────────────────────────────────── + +const GPU_ARGS = [ + "--headless=new", + "--no-sandbox", + "--disable-setuid-sandbox", + "--disable-features=SkiaGraphite", + "--enable-webgl", + "--enable-webgl2", + "--ignore-gpu-blocklist", + "--enable-gpu", + "--use-gl=angle", + "--use-angle=metal", + "--in-process-gpu", + "--disable-gpu-sandbox", + // Prevent Chrome from throttling timers in headless/background mode + "--disable-background-timer-throttling", + "--disable-backgrounding-occluded-windows", + "--disable-renderer-backgrounding", +]; + +const CPU_ARGS = [ + "--headless=new", + "--no-sandbox", + "--disable-setuid-sandbox", + "--disable-features=SkiaGraphite", + "--enable-webgl", + "--enable-webgl2", + "--use-gl=angle", + "--use-angle=swiftshader", + "--enable-unsafe-swiftshader", + "--disable-gpu", + // Prevent Chrome from throttling timers in headless/background mode + "--disable-background-timer-throttling", + "--disable-backgrounding-occluded-windows", + "--disable-renderer-backgrounding", +]; + +// Default: bundled Chromium (works on Linux + macOS in CPU mode with SwiftShader). +// Set DIMSIM_CHROME_CHANNEL=chrome to use system Google Chrome (needed for hardware +// WebGL on macOS — bundled Chromium ships without the full Metal/ANGLE GPU stack). +const LAUNCH_CHANNEL = Deno.env.get("DIMSIM_CHROME_CHANNEL") || undefined; + +// ── Helpers ─────────────────────────────────────────────────────────────── + +/** Filter noisy browser console output — only forward errors, warnings, and eval/bridge logs. */ +function hookPageConsole(page: Page, tag: string): void { + const verbose = Deno.env.get("DIMSIM_VERBOSE") === "1"; + page.on("console", (msg) => { + const type = msg.type(); + const text = msg.text(); + if (!verbose) { + if (text.includes("Texture marked for update") || text.includes("Failed to load resource") || + text.includes("GPU stall due to ReadPixels") || text.includes("Automatic fallback to software WebGL") || + text.includes("GroupMarkerNotSet")) return; + } + if (type === "error") console.error(`${tag} ${text}`); + else if (type === "warning") console.warn(`${tag} ${text}`); + else if (verbose || text.startsWith("[eval]") || text.startsWith("[DimosBridge]")) { + console.log(`${tag} ${text}`); + } + }); +} + +function getViewport(render: RenderMode) { + // CPU mode: tiny viewport — SwiftShader renders every pixel on CPU + return render === "cpu" + ? { width: 320, height: 240 } + : { width: 1280, height: 720 }; +} + +// ── Single-page launcher ───────────────────────────────────────────────── + +export async function launchHeadless(options: LaunchOptions): Promise { + const { url, timeout = 30000, render = "cpu" } = options; + const args = render === "gpu" ? GPU_ARGS : CPU_ARGS; + + console.log(`[headless] Launching: render=${render}`); + + const browser = await chromium.launch({ + headless: false, // --headless=new passed via args (Playwright's built-in headless uses old mode) + channel: LAUNCH_CHANNEL, + args, + }); + + const context = await browser.newContext({ viewport: getViewport(render), deviceScaleFactor: 1 }); + const page = await context.newPage(); + hookPageConsole(page, "[browser]"); + + // Set default timeout so waitForFunction picks it up (its third arg is + // options, not the second — passing {timeout} as second silently uses + // Playwright's 30s default). + context.setDefaultTimeout(timeout); + page.setDefaultTimeout(timeout); + + await page.goto(url, { waitUntil: "load", timeout }); + await page.waitForFunction( + () => typeof (window as unknown as Record).__dimosBridge !== "undefined", + undefined, + { timeout }, + ); + + console.log("[headless] Engine ready."); + + return { + browser, + page, + close: async () => { + await browser.close(); + console.log("[headless] Browser closed."); + }, + }; +} + +// ── Multi-page launcher (single browser, N tabs) ──────────────────────── + +export async function launchMultiPage(options: MultiPageOptions): Promise { + const { url, numPages, timeout = 120_000, render = "cpu" } = options; + const args = render === "gpu" ? GPU_ARGS : CPU_ARGS; + const viewport = getViewport(render); + + console.log(`[headless] Multi-page: ${numPages} pages, render=${render}, timeout=${timeout}ms`); + + const browser = await chromium.launch({ headless: false, channel: LAUNCH_CHANNEL, args }); + + const pages: Page[] = []; + const channels: string[] = []; + + for (let i = 0; i < numPages; i++) { + const channel = `page-${i}`; + channels.push(channel); + + const context = await browser.newContext({ viewport, deviceScaleFactor: 1 }); + context.setDefaultTimeout(timeout); + const page = await context.newPage(); + page.setDefaultTimeout(timeout); + hookPageConsole(page, `[page-${i}]`); + + const pageUrl = `${url}?channel=${channel}`; + console.log(`[headless] Page ${i}: loading...`); + await page.goto(pageUrl, { waitUntil: "load", timeout }); + await page.waitForFunction( + () => typeof (window as unknown as Record).__dimosBridge !== "undefined", + undefined, + { timeout }, + ); + console.log(`[headless] Page ${i}: ready`); + + pages.push(page); + + // Stagger launches to avoid GPU/CPU contention during scene load + if (i < numPages - 1) await new Promise((r) => setTimeout(r, 5000)); + } + + console.log(`[headless] All ${numPages} pages ready.`); + + return { + browser, + pages, + channels, + close: async () => { + await browser.close(); + console.log("[headless] Browser closed."); + }, + }; +} diff --git a/misc/DimSim/cli/test/dimos_integration.py b/misc/DimSim/cli/test/dimos_integration.py new file mode 100755 index 0000000000..4981dbbe33 --- /dev/null +++ b/misc/DimSim/cli/test/dimos_integration.py @@ -0,0 +1,232 @@ +#!/usr/bin/env python3 +""" +DimSim ↔ dimos Integration Test (UDP Multicast) + +Validates end-to-end connectivity between DimSim (browser sim) and dimos +(Python robotics stack) via LCM UDP multicast through the bridge server. + +Data flow: + Python ──UDP multicast──▶ Bridge Server ──WebSocket──▶ Browser (DimSim) + Python ◀──UDP multicast── Bridge Server ◀──WebSocket── Browser (DimSim) + +This script: + 1. Joins the LCM multicast group (239.255.76.67:7667) + 2. Publishes /cmd_vel Twist commands as LCM packets via UDP multicast → agent moves + 3. Listens for /odom, /camera/image, /camera/depth, /lidar/points on multicast + 4. Reports what it receives; SUCCESS when all 4 channels are live + +Prerequisites: + 1. Start DimSim bridge: + ~/.deno/bin/deno run --allow-all --unstable-net cli/cli.ts dev + 2. Open http://localhost:8090 in Chrome (scene must load) + 3. Run this script from the dimos venv: + /path/to/dimos/.venv/bin/python cli/test/dimos_integration.py + +Options: + --timeout N Timeout in seconds (default: 30) + --rate N cmd_vel publish rate in Hz (default: 10) +""" + +import argparse +import socket +import struct +import sys +import threading +import time + +# dimos message types for encoding cmd_vel +from dimos.msgs.geometry_msgs.Twist import Twist +from dimos.msgs.geometry_msgs.Vector3 import Vector3 + +# -- LCM constants ------------------------------------------------------------ +LCM_MAGIC = 0x4C433032 # "LC02" in ASCII / big-endian +MCAST_GRP = "239.255.76.67" +MCAST_PORT = 7667 +_seq = 0 + +# -- LCM packet codec (matches @dimos/msgs encodePacket / decodePacket) -------- + + +def encode_lcm_packet(channel: str, payload: bytes) -> bytes: + """Encode an LCM binary packet (same format as @dimos/msgs encodePacket).""" + global _seq + ch_bytes = channel.encode("utf-8") + buf = struct.pack(">II", LCM_MAGIC, _seq) + ch_bytes + b"\x00" + payload + _seq += 1 + return buf + + +def decode_lcm_packet(data: bytes) -> tuple[str, bytes]: + """Decode an LCM packet → (channel, payload). Raises ValueError on bad packet.""" + if len(data) < 9: + raise ValueError("Packet too short") + magic = struct.unpack_from(">I", data, 0)[0] + if magic != LCM_MAGIC: + raise ValueError(f"Bad magic: 0x{magic:08x}") + null_pos = data.index(0, 8) + channel = data[8:null_pos].decode("utf-8") + payload = data[null_pos + 1 :] + return channel, payload + + +# -- Channel names (must match DimSim's dimosBridge.ts) ------------------------ +CH_CMD_VEL = "/cmd_vel#geometry_msgs.Twist" +CH_ODOM = "/odom#geometry_msgs.PoseStamped" +CH_IMAGE = "/camera/image#sensor_msgs.Image" +CH_DEPTH = "/camera/depth#sensor_msgs.Image" +CH_LIDAR = "/lidar/points#sensor_msgs.PointCloud2" + + +def create_mcast_recv_socket() -> socket.socket: + """Create a UDP socket joined to the LCM multicast group for receiving.""" + sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) + sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + try: + sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1) + except AttributeError: + pass + sock.bind(("127.0.0.1", MCAST_PORT)) + mreq = struct.pack("4s4s", socket.inet_aton(MCAST_GRP), socket.inet_aton("0.0.0.0")) + sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq) + sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_LOOP, 0) + sock.settimeout(1.0) + return sock + + +def create_mcast_send_socket() -> socket.socket: + """Create a UDP socket for sending to the LCM multicast group.""" + sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) + sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 1) + sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_LOOP, 0) + return sock + + +def main(): + parser = argparse.ArgumentParser(description="DimSim ↔ dimos integration test (UDP multicast)") + parser.add_argument("--timeout", type=int, default=30, help="Timeout in seconds") + parser.add_argument("--rate", type=int, default=10, help="cmd_vel publish rate (Hz)") + args = parser.parse_args() + + received = {"odom": 0, "image": 0, "depth": 0, "lidar": 0} + tick = 0 + success = False + running = True + + recv_sock = create_mcast_recv_socket() + send_sock = create_mcast_send_socket() + + print(f"[integration] LCM multicast {MCAST_GRP}:{MCAST_PORT}") + print(f"[integration] Publishing /cmd_vel at {args.rate} Hz") + print("[integration] Listening for sensor data on multicast") + print(f"[integration] Timeout: {args.timeout}s\n") + + # -- Receive thread -------------------------------------------------------- + def recv_loop(): + while running: + try: + data, addr = recv_sock.recvfrom(65536) + except TimeoutError: + continue + except OSError: + break + + try: + channel, payload = decode_lcm_packet(data) + except (ValueError, IndexError): + continue + + if "/odom" in channel: + received["odom"] += 1 + if received["odom"] <= 3 or received["odom"] % 10 == 0: + print(f"[integration] Got odom #{received['odom']} ({len(payload)}B)") + elif "/camera/image" in channel: + received["image"] += 1 + if received["image"] <= 3 or received["image"] % 10 == 0: + print(f"[integration] Got RGB #{received['image']} ({len(payload)}B)") + elif "/camera/depth" in channel: + received["depth"] += 1 + if received["depth"] <= 3 or received["depth"] % 10 == 0: + print(f"[integration] Got depth #{received['depth']} ({len(payload)}B)") + elif "/lidar/points" in channel: + received["lidar"] += 1 + if received["lidar"] <= 3 or received["lidar"] % 10 == 0: + print(f"[integration] Got LiDAR #{received['lidar']} ({len(payload)}B)") + + recv_thread = threading.Thread(target=recv_loop, daemon=True) + recv_thread.start() + + # -- Send loop ------------------------------------------------------------- + interval = 1.0 / args.rate + start_time = time.time() + + try: + while time.time() - start_time < args.timeout: + # Build Twist — Three.js identity: z=forward, y=yaw + twist = Twist( + linear=Vector3(0, 0, 0.5), + angular=Vector3(0, 0.3, 0), + ) + payload = twist.lcm_encode() + packet = encode_lcm_packet(CH_CMD_VEL, payload) + send_sock.sendto(packet, (MCAST_GRP, MCAST_PORT)) + tick += 1 + + if tick <= 3 or tick % 20 == 0: + print(f"[integration] Sent cmd_vel #{tick}") + + # Status check every 5s + elapsed = time.time() - start_time + if tick > 1 and (tick % (args.rate * 5) == 0): + print( + f"\n[integration] STATUS ({elapsed:.0f}s): " + f"cmd_sent={tick} odom={received['odom']} " + f"rgb={received['image']} depth={received['depth']} " + f"lidar={received['lidar']}" + ) + + if all(v > 0 for v in received.values()): + success = True + print("\n========================================") + print(" SUCCESS: All channels working!") + print(" DimSim ↔ dimos LCM multicast verified.") + print("========================================\n") + break + + if received["odom"] == 0 and elapsed > 10: + print("[integration] No sensor data on multicast. Check:") + print(" 1. Bridge running with vendored @dimos/lcm (joinMulticastV4)") + print(" 2. Browser open at localhost:8090 with scene loaded") + print() + + time.sleep(interval) + + if not success: + print(f"\n[integration] TIMEOUT after {args.timeout}s") + print( + f"[integration] Final: cmd_sent={tick} odom={received['odom']} " + f"rgb={received['image']} depth={received['depth']} " + f"lidar={received['lidar']}" + ) + + except KeyboardInterrupt: + print("\n[integration] Interrupted by user") + + finally: + running = False + # Send zero velocity (safety stop) + try: + stop_twist = Twist() + stop_pkt = encode_lcm_packet(CH_CMD_VEL, stop_twist.lcm_encode()) + send_sock.sendto(stop_pkt, (MCAST_GRP, MCAST_PORT)) + except Exception: + pass + + recv_sock.close() + send_sock.close() + print("[integration] Done.") + + sys.exit(0 if success else 1) + + +if __name__ == "__main__": + main() diff --git a/misc/DimSim/cli/vendor/lcm/lcm.ts b/misc/DimSim/cli/vendor/lcm/lcm.ts new file mode 100644 index 0000000000..f4aa7b2c96 --- /dev/null +++ b/misc/DimSim/cli/vendor/lcm/lcm.ts @@ -0,0 +1,236 @@ +// LCM Main Class - Pure TypeScript Implementation (vendored from @dimos/lcm@0.2.0) + +import type { + LCMOptions, + LCMMessage, + MessageClass, + ParsedUrl, + Subscription, + SubscriptionHandler, + PacketHandler, + PacketSubscription, +} from "./types.ts"; +import { MAX_SMALL_MESSAGE, SHORT_HEADER_SIZE } from "./types.ts"; +import { parseUrl } from "./url.ts"; +import { + UdpMulticastSocket, + FragmentReassembler, + encodeSmallMessage, + encodeFragmentedMessage, + decodePacket, +} from "./transport.ts"; + +const textEncoder = new TextEncoder(); + +export class LCM { + private readonly config: ParsedUrl; + private socket: UdpMulticastSocket | null = null; + private reassembler = new FragmentReassembler(); + private subscriptions: Subscription[] = []; + private packetSubscriptions: PacketSubscription[] = []; + private sequenceNumber = 0; + private running = false; + private messageQueue: LCMMessage[] = []; + + constructor(url?: string); + constructor(options?: LCMOptions); + constructor(urlOrOptions?: string | LCMOptions) { + if (typeof urlOrOptions === "string") { + this.config = parseUrl(urlOrOptions); + } else { + this.config = parseUrl(urlOrOptions?.url); + if (urlOrOptions?.ttl !== undefined) { + this.config.ttl = urlOrOptions.ttl; + } + if (urlOrOptions?.iface !== undefined) { + this.config.iface = urlOrOptions.iface; + } + } + } + + async start(): Promise { + if (this.running) return; + this.socket = new UdpMulticastSocket(this.config); + this.running = true; + await this.socket.listen((data, _addr) => { + this.handlePacket(data); + }); + } + + stop(): void { + this.running = false; + if (this.socket) { + this.socket.close(); + this.socket = null; + } + } + + subscribeRaw(channelPattern: string, handler: SubscriptionHandler): () => void { + const pattern = this.channelToRegex(channelPattern); + const subscription: Subscription = { + channel: channelPattern, + pattern, + handler: handler as SubscriptionHandler, + }; + this.subscriptions.push(subscription); + return () => { + const idx = this.subscriptions.indexOf(subscription); + if (idx !== -1) this.subscriptions.splice(idx, 1); + }; + } + + subscribePacket(handler: PacketHandler): () => void; + subscribePacket(channelPattern: string, handler: PacketHandler): () => void; + subscribePacket(patternOrHandler: string | PacketHandler, maybeHandler?: PacketHandler): () => void { + const pattern = typeof patternOrHandler === "string" + ? this.channelToRegex(patternOrHandler) + : null; + const handler = typeof patternOrHandler === "function" + ? patternOrHandler + : maybeHandler!; + const subscription: PacketSubscription = { pattern, handler }; + this.packetSubscriptions.push(subscription); + return () => { + const idx = this.packetSubscriptions.indexOf(subscription); + if (idx !== -1) this.packetSubscriptions.splice(idx, 1); + }; + } + + subscribe(channel: string, msgClass: MessageClass, handler: SubscriptionHandler): () => void { + const typeName = (msgClass as unknown as { _NAME: string })._NAME; + const fullChannel = channel.includes("#") ? channel : `${channel}#${typeName}`; + const pattern = this.channelToRegex(fullChannel); + const subscription: Subscription = { + channel: fullChannel, + pattern, + handler: handler as SubscriptionHandler, + msgClass: msgClass as MessageClass, + }; + this.subscriptions.push(subscription); + return () => { + const idx = this.subscriptions.indexOf(subscription); + if (idx !== -1) this.subscriptions.splice(idx, 1); + }; + } + + async publishRaw(channel: string, data: Uint8Array): Promise { + if (!this.socket) throw new Error("LCM not started. Call start() first."); + const channelBytes = textEncoder.encode(channel); + const totalSize = SHORT_HEADER_SIZE + channelBytes.length + 1 + data.length; + const seq = this.sequenceNumber++; + if (totalSize <= MAX_SMALL_MESSAGE) { + const packet = encodeSmallMessage(channel, data, seq); + await this.socket.send(packet); + } else { + const fragments = encodeFragmentedMessage(channel, data, seq); + for (const fragment of fragments) { + await this.socket.send(fragment); + } + } + } + + async publish(channel: string, msg: T): Promise { + const data = msg.encode(); + const typeName = (msg.constructor as unknown as { _NAME?: string })._NAME; + const fullChannel = typeName && !channel.includes("#") + ? `${channel}#${typeName}` + : channel; + await this.publishRaw(fullChannel, data); + } + + async publishPacket(packet: Uint8Array): Promise { + if (!this.socket) throw new Error("LCM not started. Call start() first."); + await this.socket.send(packet); + } + + handle(timeoutMs: number = 0): number { + const messages = this.messageQueue.splice(0); + for (const msg of messages) { + this.dispatchMessage(msg); + } + return messages.length; + } + + async handleAsync(timeoutMs: number = 100): Promise { + const startTime = Date.now(); + while (this.messageQueue.length === 0) { + if (timeoutMs >= 0 && Date.now() - startTime >= timeoutMs) break; + await new Promise((resolve) => setTimeout(resolve, 10)); + } + return this.handle(); + } + + async run(callback?: () => void | Promise): Promise { + while (this.running) { + await this.handleAsync(100); + if (callback) await callback(); + } + } + + private channelToRegex(pattern: string): RegExp { + const escaped = pattern.replace(/[.+?^${}()|[\]\\]/g, "\\$&"); + const regexStr = "^" + escaped.replace(/\*/g, ".*") + "$"; + return new RegExp(regexStr); + } + + private handlePacket(data: Uint8Array): void { + const decoded = decodePacket(data); + if (!decoded) return; + + const channel = decoded.type === "small" ? decoded.channel : decoded.channel; + + if (channel) { + for (const sub of this.packetSubscriptions) { + if (!sub.pattern || sub.pattern.test(channel)) { + try { sub.handler(data); } catch (e) { console.error(`Error in raw packet handler:`, e); } + } + } + } + + if (decoded.type === "small") { + this.queueMessage(decoded.channel, decoded.data); + } else { + const complete = this.reassembler.processFragment(decoded); + if (complete) this.queueMessage(complete.channel, complete.data); + } + } + + private queueMessage(channel: string, data: Uint8Array): void { + const msg: LCMMessage = { + channel, + data: new Uint8Array(data), + timestamp: Date.now(), + }; + this.messageQueue.push(msg); + } + + private dispatchMessage(msg: LCMMessage): void { + for (const sub of this.subscriptions) { + if (sub.pattern.test(msg.channel)) { + try { + if (sub.msgClass) { + const decoded = sub.msgClass.decode(msg.data); + sub.handler({ channel: msg.channel, data: decoded, timestamp: msg.timestamp }); + } else { + sub.handler(msg); + } + } catch (e) { + console.error(`Error in subscription handler for ${msg.channel}:`, e); + } + } + } + } + + getConfig(): ParsedUrl { + return { ...this.config }; + } + + isRunning(): boolean { + return this.running; + } + + /** Peek at the next sequence number (for echo filtering). */ + getNextSeq(): number { + return this.sequenceNumber; + } +} diff --git a/misc/DimSim/cli/vendor/lcm/mod.ts b/misc/DimSim/cli/vendor/lcm/mod.ts new file mode 100644 index 0000000000..f1ad2a5bd1 --- /dev/null +++ b/misc/DimSim/cli/vendor/lcm/mod.ts @@ -0,0 +1,6 @@ +// LCM Pure TypeScript Implementation (vendored from @dimos/lcm@0.2.0) +// FIX: Added joinMulticastV4() in transport.ts + +export { LCM } from "./lcm.ts"; +export type { LCMOptions, LCMMessage, MessageClass, ParsedUrl, PacketHandler } from "./types.ts"; +export { parseUrl, DEFAULT_MULTICAST_GROUP, DEFAULT_PORT } from "./url.ts"; diff --git a/misc/DimSim/cli/vendor/lcm/transport.ts b/misc/DimSim/cli/vendor/lcm/transport.ts new file mode 100644 index 0000000000..b98a6bc866 --- /dev/null +++ b/misc/DimSim/cli/vendor/lcm/transport.ts @@ -0,0 +1,352 @@ +// LCM UDP Multicast Transport (vendored from @dimos/lcm@0.2.0) +// FIX: Added joinMulticastV4() call in UdpMulticastSocket.listen() + +import { + MAGIC_SHORT, + MAGIC_LONG, + MAX_SMALL_MESSAGE, + SHORT_HEADER_SIZE, + FRAGMENT_HEADER_SIZE, +} from "./types.ts"; +import type { ParsedUrl } from "./types.ts"; + +const textEncoder = new TextEncoder(); +const textDecoder = new TextDecoder(); + +/** Encode a small LCM message (fits in single UDP packet) */ +export function encodeSmallMessage( + channel: string, + data: Uint8Array, + sequenceNumber: number +): Uint8Array { + const channelBytes = textEncoder.encode(channel); + const totalSize = SHORT_HEADER_SIZE + channelBytes.length + 1 + data.length; + + if (totalSize > MAX_SMALL_MESSAGE) { + throw new Error(`Message too large for small message format: ${totalSize} > ${MAX_SMALL_MESSAGE}`); + } + + const buffer = new Uint8Array(totalSize); + const view = new DataView(buffer.buffer); + + let offset = 0; + + // Magic number (big-endian) + view.setUint32(offset, MAGIC_SHORT, false); + offset += 4; + + // Sequence number (big-endian) + view.setUint32(offset, sequenceNumber, false); + offset += 4; + + // Channel name (null-terminated) + buffer.set(channelBytes, offset); + offset += channelBytes.length; + buffer[offset] = 0; // null terminator + offset += 1; + + // Payload + buffer.set(data, offset); + + return buffer; +} + +/** Encode a fragmented LCM message (requires multiple UDP packets) */ +export function encodeFragmentedMessage( + channel: string, + data: Uint8Array, + sequenceNumber: number, + maxFragmentSize: number = 65000 +): Uint8Array[] { + const channelBytes = textEncoder.encode(channel); + const payloadSize = data.length; + + const firstFragmentPayloadSpace = maxFragmentSize - FRAGMENT_HEADER_SIZE - channelBytes.length - 1; + const subsequentFragmentPayloadSpace = maxFragmentSize - FRAGMENT_HEADER_SIZE; + + let numFragments = 1; + let remainingBytes = payloadSize - Math.min(payloadSize, firstFragmentPayloadSpace); + if (remainingBytes > 0) { + numFragments += Math.ceil(remainingBytes / subsequentFragmentPayloadSpace); + } + + const fragments: Uint8Array[] = []; + let payloadOffset = 0; + + for (let fragmentNum = 0; fragmentNum < numFragments; fragmentNum++) { + const isFirst = fragmentNum === 0; + const headerSize = FRAGMENT_HEADER_SIZE; + const channelSize = isFirst ? channelBytes.length + 1 : 0; + + const maxPayloadForThisFragment = isFirst + ? firstFragmentPayloadSpace + : subsequentFragmentPayloadSpace; + + const payloadForThisFragment = Math.min( + maxPayloadForThisFragment, + payloadSize - payloadOffset + ); + + const fragmentSize = headerSize + channelSize + payloadForThisFragment; + const fragment = new Uint8Array(fragmentSize); + const view = new DataView(fragment.buffer); + + let offset = 0; + + view.setUint32(offset, MAGIC_LONG, false); + offset += 4; + view.setUint32(offset, sequenceNumber, false); + offset += 4; + view.setUint32(offset, payloadSize, false); + offset += 4; + view.setUint32(offset, payloadOffset, false); + offset += 4; + view.setUint16(offset, fragmentNum, false); + offset += 2; + view.setUint16(offset, numFragments, false); + offset += 2; + + if (isFirst) { + fragment.set(channelBytes, offset); + offset += channelBytes.length; + fragment[offset] = 0; + offset += 1; + } + + fragment.set(data.subarray(payloadOffset, payloadOffset + payloadForThisFragment), offset); + payloadOffset += payloadForThisFragment; + fragments.push(fragment); + } + + return fragments; +} + +/** Decoded small message */ +export interface DecodedSmallMessage { + type: "small"; + channel: string; + data: Uint8Array; + sequenceNumber: number; +} + +/** Decoded fragment */ +export interface DecodedFragment { + type: "fragment"; + sequenceNumber: number; + payloadSize: number; + fragmentOffset: number; + fragmentNumber: number; + numFragments: number; + channel?: string; + data: Uint8Array; +} + +/** Decode a received UDP packet */ +export function decodePacket(packet: Uint8Array): DecodedSmallMessage | DecodedFragment | null { + if (packet.length < SHORT_HEADER_SIZE) { + return null; + } + + const view = new DataView(packet.buffer, packet.byteOffset, packet.byteLength); + const magic = view.getUint32(0, false); + + if (magic === MAGIC_SHORT) { + return decodeSmallPacket(packet, view); + } else if (magic === MAGIC_LONG) { + return decodeFragmentPacket(packet, view); + } + + return null; +} + +function decodeSmallPacket(packet: Uint8Array, view: DataView): DecodedSmallMessage | null { + const sequenceNumber = view.getUint32(4, false); + + let channelEnd = SHORT_HEADER_SIZE; + while (channelEnd < packet.length && packet[channelEnd] !== 0) { + channelEnd++; + } + + if (channelEnd >= packet.length) { + return null; + } + + const channel = textDecoder.decode(packet.subarray(SHORT_HEADER_SIZE, channelEnd)); + const data = packet.subarray(channelEnd + 1); + + return { type: "small", channel, data, sequenceNumber }; +} + +function decodeFragmentPacket(packet: Uint8Array, view: DataView): DecodedFragment | null { + if (packet.length < FRAGMENT_HEADER_SIZE) { + return null; + } + + const sequenceNumber = view.getUint32(4, false); + const payloadSize = view.getUint32(8, false); + const fragmentOffset = view.getUint32(12, false); + const fragmentNumber = view.getUint16(16, false); + const numFragments = view.getUint16(18, false); + + let offset = FRAGMENT_HEADER_SIZE; + let channel: string | undefined; + + if (fragmentNumber === 0) { + let channelEnd = offset; + while (channelEnd < packet.length && packet[channelEnd] !== 0) { + channelEnd++; + } + if (channelEnd >= packet.length) { + return null; + } + channel = textDecoder.decode(packet.subarray(offset, channelEnd)); + offset = channelEnd + 1; + } + + const data = packet.subarray(offset); + + return { type: "fragment", sequenceNumber, payloadSize, fragmentOffset, fragmentNumber, numFragments, channel, data }; +} + +/** Fragment reassembler for handling large messages */ +export class FragmentReassembler { + private pending = new Map; + buffer: Uint8Array; + lastActivity: number; + }>(); + + private timeoutMs: number; + + constructor(timeoutMs: number = 5000) { + this.timeoutMs = timeoutMs; + } + + processFragment(fragment: DecodedFragment): { channel: string; data: Uint8Array } | null { + const now = Date.now(); + this.cleanup(now); + + let entry = this.pending.get(fragment.sequenceNumber); + + if (!entry) { + if (fragment.fragmentNumber !== 0 || !fragment.channel) { + return null; + } + + entry = { + channel: fragment.channel, + payloadSize: fragment.payloadSize, + numFragments: fragment.numFragments, + receivedFragments: new Set(), + buffer: new Uint8Array(fragment.payloadSize), + lastActivity: now, + }; + this.pending.set(fragment.sequenceNumber, entry); + } + + if (fragment.fragmentOffset + fragment.data.length > entry.buffer.length) { + // Fragment doesn't fit — corrupted or mismatched packet, discard. + this.pending.delete(fragment.sequenceNumber); + return null; + } + entry.buffer.set(fragment.data, fragment.fragmentOffset); + entry.receivedFragments.add(fragment.fragmentNumber); + entry.lastActivity = now; + + if (entry.receivedFragments.size === entry.numFragments) { + this.pending.delete(fragment.sequenceNumber); + return { channel: entry.channel, data: entry.buffer }; + } + + return null; + } + + private cleanup(now: number): void { + for (const [seq, entry] of this.pending) { + if (now - entry.lastActivity > this.timeoutMs) { + this.pending.delete(seq); + } + } + } +} + +/** UDP Multicast socket wrapper for Deno */ +export class UdpMulticastSocket { + private socket: Deno.DatagramConn | null = null; + private readonly config: ParsedUrl; + private running = false; + + constructor(config: ParsedUrl) { + this.config = config; + } + + /** Start listening for multicast messages */ + async listen(onMessage: (data: Uint8Array, addr: Deno.NetAddr) => void): Promise { + // reuseAddress allows multiple processes to bind to the same multicast port + this.socket = Deno.listenDatagram({ + port: this.config.port, + transport: "udp", + hostname: "0.0.0.0", + reuseAddress: true, + }); + + // FIX: Join the multicast group and enable loopback for local IPC + const membership = await this.socket.joinMulticastV4(this.config.host, this.config.iface ?? "0.0.0.0"); + membership.setLoopback(true); + if (this.config.ttl !== undefined) { + membership.setTTL(this.config.ttl); + } + + this.running = true; + + // Read loop + (async () => { + try { + while (this.running && this.socket) { + const [data, addr] = await this.socket.receive(); + if (addr.transport === "udp") { + onMessage(data, addr); + } + } + } catch (e) { + if (this.running) { + console.error("UDP receive error:", e); + } + } + })(); + } + + /** Send a UDP packet to the multicast group */ + async send(data: Uint8Array): Promise { + if (!this.socket) { + // Create a socket for sending if we don't have one + this.socket = Deno.listenDatagram({ + port: 0, // Ephemeral port for sending + transport: "udp", + hostname: "0.0.0.0", + }); + } + + await this.socket.send(data, { + transport: "udp", + hostname: this.config.host, + port: this.config.port, + }); + } + + /** Close the socket */ + close(): void { + this.running = false; + if (this.socket) { + try { + this.socket.close(); + } catch { + // Ignore close errors + } + this.socket = null; + } + } +} diff --git a/misc/DimSim/cli/vendor/lcm/types.ts b/misc/DimSim/cli/vendor/lcm/types.ts new file mode 100644 index 0000000000..2f4e1a14b3 --- /dev/null +++ b/misc/DimSim/cli/vendor/lcm/types.ts @@ -0,0 +1,62 @@ +// LCM Type Definitions (vendored from @dimos/lcm@0.2.0) + +/** LCM message as received */ +export interface LCMMessage { + channel: string; + data: T; + timestamp: number; +} + +/** Interface for LCM message classes (generated types) */ +export interface MessageClass { + readonly _HASH: bigint; + readonly _NAME: string; + decode(data: Uint8Array): T; + new (init?: Partial): T & { encode(): Uint8Array }; +} + +/** Subscription handler function */ +export type SubscriptionHandler = (msg: LCMMessage) => void; + +/** Packet handler function (for raw UDP packets) */ +export type PacketHandler = (packet: Uint8Array) => void; + +/** LCM configuration options */ +export interface LCMOptions { + /** LCM URL (e.g., "udpm://239.255.76.67:7667?ttl=1") */ + url?: string; + /** Multicast TTL (time-to-live) */ + ttl?: number; + /** Network interface to bind to */ + iface?: string; +} + +/** Parsed LCM URL */ +export interface ParsedUrl { + scheme: string; + host: string; + port: number; + ttl: number; + iface?: string; +} + +/** Internal subscription record */ +export interface Subscription { + channel: string; + pattern: RegExp; + handler: SubscriptionHandler; + msgClass?: MessageClass; +} + +/** Internal packet subscription record */ +export interface PacketSubscription { + pattern: RegExp | null; // null = match all + handler: PacketHandler; +} + +// LCM Protocol constants +export const MAGIC_SHORT = 0x4c433032; // "LC02" +export const MAGIC_LONG = 0x4c433033; // "LC03" +export const MAX_SMALL_MESSAGE = 65535; +export const SHORT_HEADER_SIZE = 8; +export const FRAGMENT_HEADER_SIZE = 20; diff --git a/misc/DimSim/cli/vendor/lcm/url.ts b/misc/DimSim/cli/vendor/lcm/url.ts new file mode 100644 index 0000000000..ecad329e02 --- /dev/null +++ b/misc/DimSim/cli/vendor/lcm/url.ts @@ -0,0 +1,61 @@ +// LCM URL Parser (vendored from @dimos/lcm@0.2.0) + +import type { ParsedUrl } from "./types.ts"; + +export const DEFAULT_MULTICAST_GROUP = "239.255.76.67"; +export const DEFAULT_PORT = 7667; +export const DEFAULT_TTL = 0; + +/** + * Parse an LCM URL into its components. + * + * Supported formats: + * - "udpm://239.255.76.67:7667?ttl=1" + * - "udpm://239.255.76.67:7667" + * - "udpm://" (uses defaults) + * - "" (uses defaults) + */ +export function parseUrl(url?: string): ParsedUrl { + if (!url || url === "" || url === "udpm://") { + return { + scheme: "udpm", + host: DEFAULT_MULTICAST_GROUP, + port: DEFAULT_PORT, + ttl: DEFAULT_TTL, + }; + } + + const match = url.match(/^(\w+):\/\/([^:/?#]+)?(?::(\d+))?(?:\?(.*))?$/); + if (!match) { + throw new Error(`Invalid LCM URL: ${url}`); + } + + const [, scheme, host, portStr, queryStr] = match; + + if (scheme !== "udpm") { + throw new Error(`Unsupported LCM scheme: ${scheme} (only "udpm" is supported)`); + } + + const port = portStr ? parseInt(portStr, 10) : DEFAULT_PORT; + + // Parse query parameters + let ttl = DEFAULT_TTL; + let iface: string | undefined; + + if (queryStr) { + const params = new URLSearchParams(queryStr); + const ttlStr = params.get("ttl"); + if (ttlStr) { + ttl = parseInt(ttlStr, 10); + } + iface = params.get("iface") ?? undefined; + } + + return { + scheme, + host: host || DEFAULT_MULTICAST_GROUP, + port, + ttl, + iface, + }; +} diff --git a/misc/DimSim/docs/evals.md b/misc/DimSim/docs/evals.md new file mode 100644 index 0000000000..43782f13e8 --- /dev/null +++ b/misc/DimSim/docs/evals.md @@ -0,0 +1,95 @@ +# Evals + +An eval workflow is one JS file at `scenes//evals/.js`. It imports `runEval` from `@dimsim/eval` and calls it. That's the whole authoring surface. + +## Create a new eval + +```js +// scenes/apartment/evals/go-to-couch.js +import { runEval } from '@dimsim/eval'; + +await runEval({ + scene: 'apartment', + task: 'Go to the couch', + timeoutSec: 30, + startPose: { x: 0, y: 0.5, z: 3, yaw: 0 }, + success: (ctx) => ctx.rubrics.objectDistance({ target: 'sectional', thresholdM: 2.0 }), +}); +``` + +Drop the file under any scene's `evals/` folder and `dimsim eval list` picks it up. + +## Run it + +```bash +dimsim eval go-to-couch # against the open sim +dimsim eval --headless --scene apartment --workflow go-to-couch # standalone / CI +deno run -A misc/DimSim/scenes/apartment/evals/go-to-couch.js # direct execution +``` + +All three end up at the same harness in the browser; pick whichever feels natural for the moment. + +## The workflow object + +| Field | Required | Description | +|---|---|---| +| `scene` | ✓ | Scene name. Must match a directory under `scenes/`. | +| `task` | ✓ | Human-readable goal. Shown in the overlay + logged. | +| `success(ctx)` | ✓ | Returns `{passed, reason?, score?}`. Polled every 250 ms until it passes or timeout. | +| `timeoutSec` | – | Default 120. Wall-clock cap. | +| `startPose` | – | `{x, y, z, yaw?}` — applied before `setup`. Yaw in degrees. | +| `setup(ctx)` | – | Async fn run once at start — spawn obstacles, set props, anything. | + +## The `ctx` object + +Both `setup(ctx)` and `success(ctx)` receive: + +| Field | What | +|---|---| +| `ctx.agent` | The live agent — `setPosition`, `getPosition`, `group`, etc. | +| `ctx.agentPos` | `{x, y, z}` — current translation, convenience copy. | +| `ctx.sceneState` | `{assets, agentPos}` — used by rubric helpers. | +| `ctx.setAgentPose({x, y, z, yaw?})` | Teleport the agent. | +| `ctx.findAsset(query)` | Case-insensitive search by title or id. | +| `ctx.dist(a, b)` | Euclidean distance. | +| `ctx.rubrics.objectDistance({target, thresholdM?})` | Pass if agent is within `thresholdM` of `target`'s bbox surface. | +| `ctx.rubrics.radiusContains({targets, radiusM?})` | Pass if agent is within `radiusM` of the centroid of `targets`. | + +## Custom scoring + +If neither built-in rubric fits, write the logic inline: + +```js +success: ({ agentPos, findAsset, dist }) => { + const tv = findAsset('television'); + const couch = findAsset('sectional'); + if (!tv || !couch) return { passed: false, reason: 'targets missing' }; + const mid = { + x: (tv.transform.x + couch.transform.x) / 2, + y: 0, + z: (tv.transform.z + couch.transform.z) / 2, + }; + const d = dist(agentPos, mid); + return { passed: d <= 1.5, score: d, reason: `${d.toFixed(2)}m from midpoint` }; +} +``` + +## Scripted setup + +`setup(ctx)` is async — do whatever you need before scoring starts: + +```js +setup: async ({ agent }) => { + agent.setPosition(-3, 0.5, 0); + await new Promise(r => setTimeout(r, 250)); // let physics settle +}, +``` + +You can spawn obstacles, change embodiments mid-eval, or set up multi-stage tests here. The harness doesn't constrain you. + +## Tips + +- **One eval at a time.** The harness is a singleton; running two evals concurrently isn't supported. Use `--parallel N` with multiple browser pages for throughput. +- **Score is yours to define.** Lower-is-better for distances, higher-is-better for coverage — CI consumers should not assume. +- **`startPose` yaw is in degrees**, not radians. +- **`setup`/`success` callbacks can use any browser API** (THREE, scene, Rapier) — they run in the browser context, not in Deno. diff --git a/misc/DimSim/docs/getting-started.md b/misc/DimSim/docs/getting-started.md new file mode 100644 index 0000000000..d9a294917d --- /dev/null +++ b/misc/DimSim/docs/getting-started.md @@ -0,0 +1,88 @@ +# Getting started + +5-minute tour. For deeper guides see [scenes.md](scenes.md) and [evals.md](evals.md). + +## The two ways DimSim runs + +```bash +# 1. dimos drives DimSim (production / agentic / CI) +.venv/bin/dimos --simulation dimsim --dimsim-scene=apartment run unitree-go2-agentic + +# 2. DimSim runs standalone (engine dev / scene authoring) +cd misc/DimSim/cli +deno run -A --unstable-net cli.ts dev --scene apartment +``` + +Both end up with a Vite-built `dist/` and a bridge on port 8090. Same scenes, same browser. Difference is just who's driving the agent. + +If you install the CLI globally, replace the `deno run` boilerplate with `dimsim`: + +```bash +cd misc/DimSim/cli +deno install -gAf --unstable-net --name=dimsim --config=./deno.json ./cli.ts +``` + +## 60-second loop: edit a scene + +1. `dimsim dev --scene warehouse` +2. Open `misc/DimSim/scenes/warehouse/index.js` in your editor. +3. Change `setSky({ brightness: 0.7 })` to `setSky({ brightness: 1.5 })`. Save. +4. The browser HMR-reloads — brighter sky. + +## 60-second loop: write an eval + +`misc/DimSim/scenes/apartment/evals/look-at-window.js`: + +```js +import { runEval } from '@dimsim/eval'; + +await runEval({ + scene: 'apartment', + task: 'Stand near a window', + timeoutSec: 20, + startPose: { x: 0, y: 0.5, z: 3, yaw: 0 }, + success: (ctx) => ctx.rubrics.objectDistance({ target: 'window', thresholdM: 1.5 }), +}); +``` + +From a separate terminal (while the sim is running): + +```bash +dimsim eval look-at-window +``` + +The browser shows a green/red overlay when it finishes, and the result echoes in your terminal. + +## Where things live + +``` +src/ engine + scene API + bridge client (browser, vite-bundled) +cli/ dimsim CLI + bridge server (Deno) +evals/ eval harness + rubrics + Deno client (both runtimes) +scenes/ YOUR scenes — author here +public/ static assets (default robot GLB) +docs/ guides +``` + +## Quick reference + +| What | How | +|---|---| +| Launch sim + open browser | `dimsim dev --scene ` | +| Launch headless | `dimsim dev --scene --headless` | +| List eval workflows | `dimsim eval list` | +| Run one eval against open sim | `dimsim eval ` | +| Run one eval headless | `dimsim eval --headless --scene --workflow ` | +| Run all evals for a scene | `dimsim eval --headless --scene ` | +| Run all evals, JUnit XML | `dimsim eval --headless --output junit > junit.xml` | +| Direct workflow execution | `deno run -A scenes//evals/.js` | +| Build the frontend manually | `cd misc/DimSim && npm run build` | +| Spin up a profiler | `bash scripts/profile-live.sh` | +| Verify cmd_vel → odom round-trip | `python cli/test/dimos_integration.py` | + +## Common gotchas + +- **Headless slow to boot on CI** — use `--render cpu` and bump `--timeout 120000`. +- **`unitree-go2-basic` hides lidar in Rerun** by override. Click the eye icon in the Rerun entity tree, or use `unitree-go2-spatial` / `unitree-go2-agentic` which leave it visible. +- **Click-to-nav** in Rerun only works on nav-enabled blueprints (`unitree-go2-agentic` and friends). `unitree-go2-basic` has no nav stack. +- **First launch is slow** — Vite builds `dist/` on first run (~20s). Subsequent runs reuse it. diff --git a/misc/DimSim/docs/scenes.md b/misc/DimSim/docs/scenes.md new file mode 100644 index 0000000000..fe97b2565c --- /dev/null +++ b/misc/DimSim/docs/scenes.md @@ -0,0 +1,186 @@ +# Scenes + +A scene is one JS file: `scenes//index.js`. It default-exports an async `build(api)` function. DimSim hot-reloads it on save. + +## Create a new scene + +```bash +mkdir -p misc/DimSim/scenes/my-room +``` + +`misc/DimSim/scenes/my-room/index.js`: + +```js +export default async function build({ scene, THREE, physics, setSky }) { + setSky({ topColor: '#3a4654', horizonColor: '#cfd6df', brightness: 0.8 }); + + // floor + const floor = new THREE.Mesh( + new THREE.BoxGeometry(20, 0.2, 20), + new THREE.MeshPhysicalMaterial({ color: 0x808080, roughness: 0.9 }), + ); + floor.position.y = -0.1; + scene.add(floor); + physics.staticCollider(floor, 'box'); + + // a wall + const wall = new THREE.Mesh( + new THREE.BoxGeometry(20, 3, 0.2), + new THREE.MeshPhysicalMaterial({ color: 0xc4c1b8, roughness: 0.8 }), + ); + wall.position.set(0, 1.5, -10); + scene.add(wall); + physics.staticCollider(wall, 'box'); + + // lighting + scene.add(new THREE.HemisphereLight(0xffffff, 0x404040, 0.6)); + const sun = new THREE.DirectionalLight(0xffffff, 1.0); + sun.position.set(10, 20, 10); + sun.castShadow = true; + scene.add(sun); + + return { spawnPoint: { x: 0, y: 0.5, z: 0 } }; +} +``` + +Run it: + +```bash +dimsim dev --scene my-room +# or via dimos: +dimos --simulation dimsim --dimsim-scene=my-room run unitree-go2-basic +``` + +## Edit a scene + +Open the file, edit, save. The browser HMR-reloads — no full refresh. + +The whole `build()` re-runs on every save, so iteration is cheap. Try changing `setSky({ brightness: 0.8 })` to `1.5` — the sky brightens within a second. + +## The `api` argument + +`build(api)` gets one argument — destructure what you need: + +| Field | What | +|---|---| +| `scene` | The `THREE.Scene`. `scene.add(mesh)` anything you want rendered. | +| `THREE` | The engine's THREE module. Use this rather than re-importing. | +| `physics.staticCollider(mesh, shape)` | Make a mesh solid (agent can't walk through, lidar hits it). `shape`: `'box'` \| `'trimesh'` \| `'sphere'`. | +| `physics.dynamicCollider(mesh, {mass, shape})` | Mesh becomes a rigid body — falls, can be pushed. Engine syncs `mesh.position` each frame. | +| `setSky({...})` | Atmosphere. Keys: `topColor`, `horizonColor`, `bottomColor`, `brightness`, `softness`, `sunStrength`, `sunHeight`. | +| `setEmbodiment({...})` | Declare the agent — avatar GLB + capsule dimensions + physics mode + control params. See "Robot embodiment" below. | +| `loadGLTF(url)` | Async GLB load — `await loadGLTF('./forklift.glb')` returns `{scene, animations, …}`. | +| `agent`, `camera`, `renderer`, `RAPIER`, `rapierWorld` | Live engine refs if you need them. | + +## Robot embodiment + +`setEmbodiment(config)` swaps the avatar mesh **and** reconfigures the bridge's server-side physics + lidar mount — so changing `embodimentType` from `'ground'` to `'drone'` instantly switches the cmd_vel → motion mapping from differential-drive (with gravity) to 6DoF flight (no gravity, altitude clamp). + +```js +// ground robot (default) +setEmbodiment({ + embodimentType: 'ground', + avatarUrl: '/agent-model/dimsim_unitree_stub.glb', + radius: 0.18, + halfHeight: 0.25, + maxSpeed: 1.5, + turnRate: 2.5, + gravity: -9.81, +}); + +// drone +setEmbodiment({ + embodimentType: 'drone', + avatarUrl: '/agent-model/dimsim_unitree_stub.glb', + radius: 0.3, + halfHeight: 0.1, + gravity: 0, + maxSpeed: 3.0, + turnRate: 2.0, + maxAltitude: 8, +}); +``` + +| Field | What | +|---|---| +| `embodimentType` | `'ground'` (differential-drive + gravity) or `'drone'` (6DoF). | +| `avatarUrl` | URL of the GLB to render. Bridge serves `/agent-model/*` from `public/`. | +| `radius`, `halfHeight` | Capsule collider dimensions. Also drive lidar mount height. | +| `maxSpeed` | Linear cmd_vel scale. | +| `turnRate` | Angular.z cmd_vel scale. | +| `gravity` | m/s². `0` for flight, `-9.81` for ground. | +| `maxAltitude` | Drone-only ceiling. | +| `lidarMountHeight`, `maxStepHeight`, `groundSnapDist`, `maxSlopeAngle`, `friction` | Optional fine-tuning. | + +Call it once at scene-build time (anywhere in `build()`), or call it again later to swap mid-scene. `scenes/warehouse/index.js` declares a drone as its first line — see it for a working example. + +## Return value + +`build()` can return `{ spawnPoint?, embodiment? }`: + +```js +return { spawnPoint: { x: 2, y: 0.5, z: -5 } }; +``` + +If omitted, the agent spawns at `(2, 0.5, 3)`. + +## Common patterns + +**Loops for repeated geometry.** The whole module re-runs on HMR, so spawning 50 crates via a loop is fine — no `_disposed` bookkeeping needed. + +```js +const crateGeo = new THREE.BoxGeometry(1, 1, 1); +const crateMat = new THREE.MeshPhysicalMaterial({ color: 0x8b5a2b, roughness: 0.75 }); +for (let i = 0; i < 8; i++) { + const c = new THREE.Mesh(crateGeo, crateMat); + c.position.set((i % 4) - 1.5, 0.5 + Math.floor(i / 4), 3); + scene.add(c); + physics.staticCollider(c, 'box'); +} +``` + +**GLB props.** Drop a GLB next to `index.js`, then: + +```js +const gltf = await loadGLTF('./forklift.glb'); +const forklift = gltf.scene; +forklift.position.set(5, 0, 0); +scene.add(forklift); +physics.staticCollider(forklift, 'trimesh'); +``` + +**Lighting** — `HemisphereLight` for ambient fill + one `DirectionalLight` with `castShadow = true` is enough for most interiors. `PointLight`s give nice volumetric pendant effects but turn off `castShadow` to keep frame rate sane. + +**Tune the shadow camera** if shadows pop: + +```js +const sun = new THREE.DirectionalLight(0xffffff, 1.0); +sun.castShadow = true; +sun.shadow.mapSize.set(2048, 2048); +sun.shadow.camera.left = -20; +sun.shadow.camera.right = 20; +sun.shadow.camera.top = 25; +sun.shadow.camera.bottom = -25; +scene.add(sun); +``` + +**Materials** — `MeshPhysicalMaterial` supports clearcoat, sheen, transmission, iridescence — use it for anything you care about visually. The engine sets the renderer up for HDR/PBR. + +## Always pair `scene.add(mesh)` with a collider + +Otherwise the agent walks through it and lidar passes straight through: + +```js +scene.add(mesh); +physics.staticCollider(mesh, 'box'); // ← don't skip this +``` + +Pure-visual meshes (decoration the agent can't bump into) — skip the collider on purpose. Just be aware. + +## Tip: start from `scenes/empty/` + +It's a one-file scene with a floor and a sky. Copy it as a template: + +```bash +cp -r misc/DimSim/scenes/empty misc/DimSim/scenes/my-room +``` diff --git a/misc/DimSim/evals/deno-client.ts b/misc/DimSim/evals/deno-client.ts new file mode 100644 index 0000000000..4bf67d1563 --- /dev/null +++ b/misc/DimSim/evals/deno-client.ts @@ -0,0 +1,108 @@ +/// +/** + * Deno-side `@dimsim/eval` runEval — dispatch a workflow file to the + * browser via the bridge instead of running it locally. + * + * A workflow file under scenes//evals/.js does: + * + * import { runEval } from '@dimsim/eval'; + * await runEval({ scene, task, success, ... }); + * + * In the browser, that import resolves (via the index.html importmap) + * to the bundled EvalHarness chunk and runs the eval in-place. + * + * In Deno, scenes/deno.json maps `@dimsim/eval` here. We don't have a + * THREE.js scene, agent, or Rapier — we just open a control WebSocket + * to a running bridge, ship `{type:'runEval', workflowUrl}`, and wait + * for `{type:'evalResult'}`. The browser imports the same workflow + * file URL and runs the success/setup callbacks for real. + * + * Net effect: `deno run -A scenes//evals/.js` is a one-liner + * shortcut for `dimsim eval /`, both end at the same + * EvalHarness in the open browser. + */ + +import { fromFileUrl } from "@std/path"; + +interface DenoEvalResult { + type: "evalResult"; + workflowUrl: string; + scene: string; + task: string; + passed: boolean; + reason?: string; + score?: number; + durationMs: number; +} + +/** Find the "/scenes/..." segment in the entry-point file path. */ +function _resolveWorkflowUrl(): string { + const main = Deno.mainModule; + if (!main.startsWith("file://")) { + throw new Error( + `@dimsim/eval: can only infer workflow URL from a 'deno run ' invocation, got ${main}`, + ); + } + const abs = fromFileUrl(main); + const i = abs.indexOf("/scenes/"); + if (i === -1) { + throw new Error( + `@dimsim/eval: workflow file must live under a 'scenes/' directory; got ${abs}`, + ); + } + return abs.slice(i); // e.g. "/scenes/apartment/evals/go-to-couch.js" +} + +/** Open the control WebSocket, race resolve / error / 5s timeout. */ +function _connect(wsUrl: string): Promise { + return new Promise((resolve, reject) => { + const ws = new WebSocket(wsUrl); + const t = setTimeout(() => reject(new Error(`@dimsim/eval: timed out connecting to ${wsUrl}`)), 5000); + ws.addEventListener("open", () => { clearTimeout(t); resolve(ws); }, { once: true }); + ws.addEventListener("error", (e) => { clearTimeout(t); reject(e); }, { once: true }); + }); +} + +/** + * Public entry — same name + same call shape as the browser export, so + * workflow files don't change between runtimes. The `workflow` object + * is forwarded only as a logging convenience here; the browser is what + * actually runs `setup` / `success` (it re-imports the file from URL). + */ +export async function runEval(workflow: { scene?: string; task?: string }): Promise { + const workflowUrl = _resolveWorkflowUrl(); + const port = parseInt(Deno.env.get("DIMSIM_PORT") || "8090"); + const wsUrl = `ws://localhost:${port}/?ch=control`; + + console.log(`[eval] dispatching ${workflowUrl} → ${wsUrl}`); + if (workflow?.task) console.log(`[eval] task: ${workflow.task}`); + + let ws: WebSocket; + try { + ws = await _connect(wsUrl); + } catch (e: any) { + console.error(`[eval] failed to connect to bridge — is dimsim running? (${e?.message ?? e})`); + Deno.exit(2); + } + + try { + const result = await new Promise((resolve) => { + ws.addEventListener("message", (event) => { + if (typeof event.data !== "string") return; + let msg: any; + try { msg = JSON.parse(event.data); } catch { return; } + if (msg.type !== "evalResult") return; + if (msg.workflowUrl && msg.workflowUrl !== workflowUrl) return; + resolve(msg as DenoEvalResult); + }); + ws.send(JSON.stringify({ type: "runEval", workflowUrl })); + }); + + const tag = result.passed ? "\x1b[32mPASS\x1b[0m" : "\x1b[31mFAIL\x1b[0m"; + console.log(`[eval] ${tag} (${result.durationMs}ms): ${result.reason ?? ""}`); + if (!result.passed) Deno.exit(1); + return result; + } finally { + try { ws.close(); } catch { /* ignore */ } + } +} diff --git a/misc/DimSim/evals/deno.json b/misc/DimSim/evals/deno.json new file mode 100644 index 0000000000..8c12c8280f --- /dev/null +++ b/misc/DimSim/evals/deno.json @@ -0,0 +1,5 @@ +{ + "imports": { + "@std/path": "jsr:@std/path@^1" + } +} diff --git a/misc/DimSim/evals/harness.ts b/misc/DimSim/evals/harness.ts new file mode 100644 index 0000000000..188f0abe0c --- /dev/null +++ b/misc/DimSim/evals/harness.ts @@ -0,0 +1,380 @@ +/** + * EvalHarness — browser-side runner for JS-native eval workflows. + * + * A workflow is a JS module under `scenes//evals/.js` whose + * default export shapes like: + * + * export default { + * scene: 'apartment', + * task: 'Go to the couch', + * timeoutSec: 30, + * startPose: { x: 0, y: 0.5, z: 3, yaw: 0 }, // optional sugar + * setup: async (ctx) => { … }, // optional + * success: (ctx) => ({ passed, reason?, score? }), + * }; + * + * The Deno runner sends one `{type:'runEval', workflowUrl, channel?}` WS + * message; this class dynamic-imports the module, runs `setup(ctx)` once, + * then polls `success(ctx)` every 250 ms until passed or timeout, and + * replies with `{type:'evalResult', …}`. No JSON criteria, no runner-side + * orchestration — the workflow file is the source of truth. + */ + +import { + type SceneState, type AssetEntry, type EvalSuccess as _EvalSuccess, + type ObjectDistanceOpts, type RadiusContainsOpts, + findAsset, dist, objectDistance, radiusContains, +} from "./rubrics.ts"; +import type { DimosBridge } from "../bridge.ts"; + +export interface AgentPose { x: number; y: number; z: number; yaw: number; pitch: number; } +export interface StartPose { x?: number; y?: number; z?: number; yaw?: number; } + +/** Shape returned by `workflow.success(ctx)`. */ +export interface EvalSuccess { + passed: boolean; + reason?: string; + score?: number; +} + +/** Context passed to `workflow.setup(ctx)` and `workflow.success(ctx)`. */ +export interface EvalContext { + agent: any; + agentPos: { x: number; y: number; z: number }; + sceneState: SceneState; + setAgentPose: (p: StartPose) => void; + findAsset: (q: string) => AssetEntry | null; + dist: (a: { x: number; y: number; z: number }, b: { x: number; y: number; z: number }) => number; + /** Pre-bound high-level rubric helpers — `ctx.rubrics.objectDistance({...})` etc. */ + rubrics: { + objectDistance: (opts: ObjectDistanceOpts) => EvalSuccess; + radiusContains: (opts: RadiusContainsOpts) => EvalSuccess; + }; +} + +/** Default-export shape of a workflow file. */ +export interface EvalWorkflow { + scene: string; + task: string; + timeoutSec?: number; + startPose?: StartPose; + setup?: (ctx: EvalContext) => void | Promise; + success: (ctx: EvalContext) => EvalSuccess; +} + +export interface EvalResultMsg { + type: "evalResult"; + workflowUrl: string; + scene: string; + task: string; + passed: boolean; + reason?: string; + score?: number; + durationMs: number; + channel?: string; +} + +export interface EvalHarnessOptions { + bridge: DimosBridge; + getSceneState: () => SceneState; + getAgentPose: () => AgentPose | null; + channel?: string; +} + +declare global { + interface Window { __dimosAgent?: any; } +} + +// ── Singleton registration ────────────────────────────────────────────────── +// +// Workflow files import `runEval` from `@dimsim/eval`. The importmap in +// index.html points that bare specifier at this very chunk's bundled +// filename (pinned by vite.config.js → `dist/assets/dimsim-eval.js`), so +// the workflow ends up importing this same module — which means it sees +// the `_instance` set below by engine.js after EvalHarness construction. + +let _instance: EvalHarness | null = null; +let _readyResolvers: Array<() => void> = []; + +/** engine.js calls this once the harness is wired up. */ +export function setEvalHarness(h: EvalHarness): void { + _instance = h; + const r = _readyResolvers; + _readyResolvers = []; + for (const fn of r) fn(); +} + +async function _waitForInstance(): Promise { + if (_instance) return _instance; + await new Promise((resolve) => _readyResolvers.push(resolve)); + return _instance!; +} + +/** + * Public entry — what workflow files call after importing from + * `@dimsim/eval`. Resolves when the workflow finishes (passed, failed, + * or timed out); also sends a `{type:'evalResult'}` WS message for the + * Deno runner along the way. + */ +export async function runEval(workflow: EvalWorkflow): Promise { + const h = await _waitForInstance(); + return h.runEval(workflow); +} + +// ──────────────────────────────────────────────────────────────────────────── + +export class EvalHarness { + bridge: DimosBridge; + getSceneState: () => SceneState; + getAgentPose: () => AgentPose | null; + channel: string; + + _activeUrl: string | null = null; + _overlay: HTMLDivElement | null = null; + + constructor({ bridge, getSceneState, getAgentPose, channel }: EvalHarnessOptions) { + this.bridge = bridge; + this.getSceneState = getSceneState; + this.getAgentPose = getAgentPose; + this.channel = channel || ""; + this._hookBridgeMessages(); + } + + // ── WS plumbing ──────────────────────────────────────────────────────────── + + _hookBridgeMessages(): void { + const origConnect = this.bridge.connect.bind(this.bridge); + this.bridge.connect = () => { + origConnect(); + setTimeout(() => { + const ws = this.bridge.ws; + if (ws) this._patchWsOnMessage(ws); + }, 100); + }; + const ws = this.bridge.ws; + if (ws) this._patchWsOnMessage(ws); + } + + _patchWsOnMessage(ws: WebSocket): void { + const origOnMessage = ws.onmessage; + const evalTypes = new Set(["runEval", "ping"]); + ws.onmessage = (event: MessageEvent) => { + if (typeof event.data === "string") { + try { + const cmd = JSON.parse(event.data); + if (cmd.type && evalTypes.has(cmd.type)) { + this._handleCommand(cmd); + return; + } + } catch { /* not JSON */ } + if (origOnMessage) (origOnMessage as (e: MessageEvent) => void).call(ws, event); + return; + } + if (origOnMessage) (origOnMessage as (e: MessageEvent) => void).call(ws, event); + }; + } + + _send(msg: Record): void { + if (this.channel) msg.channel = this.channel; + this.bridge.sendCommand(msg); + } + + async _handleCommand(cmd: { type: string; channel?: string; [k: string]: any }): Promise { + if (this.channel && cmd.channel && cmd.channel !== this.channel) return; + switch (cmd.type) { + case "runEval": + await this._loadAndRunWorkflowFile(cmd.workflowUrl); + break; + case "ping": + this._send({ type: "pong", ts: Date.now() }); + break; + } + } + + /** + * WS-driven entry: dynamic-import a workflow file. The file's top-level + * `await runEval({...})` (via the `@dimsim/eval` import map) calls + * `this.runEval(workflow)` and sends the result WS message itself. We + * just await the import — when it resolves the eval is done. + */ + async _loadAndRunWorkflowFile(workflowUrl: string): Promise { + try { + const cacheBust = `?t=${Date.now()}`; + await import(/* @vite-ignore */ workflowUrl + cacheBust); + } catch (e: any) { + console.error("[eval] failed to import %s:", workflowUrl, e); + this._send({ + type: "evalResult", workflowUrl, scene: "", task: "", + passed: false, reason: `import failed: ${e?.message ?? e}`, + durationMs: 0, + }); + } + } + + // ── Public entry point (called by workflow files via @dimsim/eval) ───────── + + /** + * Run a workflow object end-to-end. Workflow files do: + * + * import { runEval } from '@dimsim/eval'; + * await runEval({ scene, task, success, … }); + * + * That import resolves to public/_dimsim/eval-api.js which delegates to + * this method via `window.__dimsim.eval.runEval`. Result is both + * returned to the caller AND sent over WS as `{type:'evalResult'}` for + * the Deno runner. + */ + async runEval(workflow: EvalWorkflow): Promise { + if (!workflow || typeof workflow.success !== "function") { + const msg = "runEval(workflow) requires { scene, task, success() }"; + console.error(`[eval] ${msg}`); + return this._fail("", "", "", msg); + } + const tag = `${workflow.scene ?? "?"}/${workflow.task}`; + if (this._activeUrl) { + const err = `another eval is already running: ${this._activeUrl}`; + console.warn(`[eval] ${err}`); + return this._fail("", workflow.scene, workflow.task, err); + } + this._activeUrl = tag; + + console.log(`[eval] running: ${tag}`); + this._showOverlay(workflow.task, workflow.timeoutSec ?? 120); + + const start = Date.now(); + const timeoutMs = (workflow.timeoutSec ?? 120) * 1000; + const ctx = this._makeContext(); + + if (workflow.startPose) ctx.setAgentPose(workflow.startPose); + if (workflow.setup) { + try { await workflow.setup(ctx); } + catch (e: any) { + const reason = `setup() threw: ${e?.message ?? e}`; + console.error(`[eval] ${reason}`); + this._activeUrl = null; + return this._fail("", workflow.scene, workflow.task, reason, Date.now() - start); + } + } + + return new Promise((resolve) => { + const tick = () => { + const elapsed = Date.now() - start; + let result: EvalSuccess; + try { + result = workflow.success(this._makeContext()); + } catch (e: any) { + result = { passed: false, reason: `success() threw: ${e?.message ?? e}` }; + } + if (result.passed) { + this._finish(workflow, true, result, elapsed, resolve); + return; + } + if (elapsed >= timeoutMs) { + this._finish(workflow, false, { passed: false, ...result, reason: result.reason ?? "timeout" }, elapsed, resolve); + return; + } + setTimeout(tick, 250); + }; + tick(); + }); + } + + // ── Internals ────────────────────────────────────────────────────────────── + + _makeContext(): EvalContext { + const sceneState = this.getSceneState(); + const pose = this.getAgentPose(); + const agentPos = pose + ? { x: pose.x, y: pose.y, z: pose.z } + : { x: 0, y: 0, z: 0 }; + sceneState.agentPos = agentPos; + const ctxLite = { agentPos, sceneState }; + return { + agent: window.__dimosAgent, + agentPos, + sceneState, + setAgentPose: (p) => { + const a = window.__dimosAgent; + if (!a) return; + a.setPosition(p.x ?? 0, p.y ?? 0.5, p.z ?? 0); + if (p.yaw !== undefined && a.group) a.group.rotation.y = (p.yaw * Math.PI) / 180; + }, + findAsset: (q) => findAsset(q, sceneState), + dist, + rubrics: { + objectDistance: (opts) => objectDistance(ctxLite, opts), + radiusContains: (opts) => radiusContains(ctxLite, opts), + }, + }; + } + + _finish( + wf: EvalWorkflow, passed: boolean, + result: EvalSuccess, durationMs: number, + resolve: (msg: EvalResultMsg) => void, + ): void { + const msg: EvalResultMsg = { + type: "evalResult", + workflowUrl: "", + scene: wf.scene, + task: wf.task, + passed, + reason: result.reason, + score: result.score, + durationMs, + }; + console.log(`[eval] ${passed ? "PASS" : "FAIL"} (${durationMs}ms): ${result.reason ?? ""}`); + this._showResult(passed, result.reason ?? (passed ? "ok" : "fail")); + this._send(msg); + this._activeUrl = null; + resolve(msg); + } + + _fail(workflowUrl: string, scene: string, task: string, reason: string, durationMs = 0): EvalResultMsg { + const msg: EvalResultMsg = { + type: "evalResult", workflowUrl, scene, task, + passed: false, reason, durationMs, + }; + this._send(msg); + return msg; + } + + // ── UI overlay ───────────────────────────────────────────────────────────── + + _showOverlay(task: string, timeoutSec: number): void { + if (this._overlay) this._overlay.remove(); + const el = document.createElement("div"); + el.style.cssText = "position:fixed;top:16px;left:50%;transform:translateX(-50%);z-index:99999;background:rgba(0,0,0,0.85);color:#fff;font:14px/1.5 monospace;padding:12px 24px;border-radius:10px;text-align:center;pointer-events:none;"; + const taskEl = document.createElement("div"); + taskEl.style.cssText = "color:#4fc3f7;font-size:16px;font-weight:bold;margin-bottom:4px;"; + taskEl.textContent = `EVAL: ${task}`; + const timerEl = document.createElement("div"); + timerEl.style.cssText = "color:#aaa;font-size:13px;"; + el.appendChild(taskEl); el.appendChild(timerEl); + document.body.appendChild(el); + this._overlay = el; + + let remaining = timeoutSec; + timerEl.textContent = `${remaining}s remaining`; + const interval = setInterval(() => { + remaining--; + if (remaining <= 0 || !this._activeUrl) { clearInterval(interval); return; } + timerEl.textContent = `${remaining}s remaining`; + }, 1000); + } + + _showResult(pass: boolean, details: string): void { + if (this._overlay) this._overlay.remove(); + const el = document.createElement("div"); + const bg = pass ? "rgba(46,125,50,0.9)" : "rgba(198,40,40,0.9)"; + el.style.cssText = `position:fixed;top:16px;left:50%;transform:translateX(-50%);z-index:99999;background:${bg};color:#fff;font:14px/1.5 monospace;padding:12px 24px;border-radius:10px;text-align:center;pointer-events:none;`; + el.textContent = `${pass ? "PASS" : "FAIL"}: ${details}`; + document.body.appendChild(el); + this._overlay = el; + setTimeout(() => { if (this._overlay === el) { el.remove(); this._overlay = null; } }, 5000); + } + + dispose(): void { + if (this._overlay) { this._overlay.remove(); this._overlay = null; } + } +} diff --git a/misc/DimSim/evals/rubrics.ts b/misc/DimSim/evals/rubrics.ts new file mode 100644 index 0000000000..dac7aaee47 --- /dev/null +++ b/misc/DimSim/evals/rubrics.ts @@ -0,0 +1,127 @@ +/** + * Eval rubric helpers — building blocks for `workflow.success(ctx)`. + * + * Two layers of API: + * + * 1. High-level rubrics that match the common eval shapes and return an + * `EvalSuccess` ({passed, reason, score}) directly: + * - objectDistance({ target, thresholdM }) + * - radiusContains({ targets, radiusM }) + * + * 2. Low-level helpers if you want to write the scoring inline: + * - findAsset(query, sceneState) → AssetEntry | null + * - dist(a, b) → number + * - distToSurface(point, center, bbox?) → number + */ + +export interface Vec3 { x: number; y: number; z: number; } + +export interface AssetEntry { + title?: string; + id?: string; + transform?: { x?: number; y?: number; z?: number }; + _bbox?: { w: number; h: number; d: number }; +} + +export interface SceneState { + assets?: AssetEntry[]; + agentPos?: Vec3; +} + +export interface EvalSuccess { + passed: boolean; + reason?: string; + score?: number; +} + +// ── Low-level helpers ──────────────────────────────────────────────────────── + +export function dist(a: Vec3, b: Vec3): number { + const dx = a.x - b.x, dy = a.y - b.y, dz = a.z - b.z; + return Math.sqrt(dx * dx + dy * dy + dz * dz); +} + +export function distToSurface(point: Vec3, center: Vec3, bbox?: { w: number; h: number; d: number }): number { + if (!bbox) return dist(point, center); + const hw = bbox.w / 2, hh = bbox.h / 2, hd = bbox.d / 2; + const cx = Math.max(center.x - hw, Math.min(point.x, center.x + hw)); + const cy = Math.max(center.y - hh, Math.min(point.y, center.y + hh)); + const cz = Math.max(center.z - hd, Math.min(point.z, center.z + hd)); + return dist(point, { x: cx, y: cy, z: cz }); +} + +/** Find the first asset whose title or id contains `query` (case-insensitive). */ +export function findAsset(query: string, sceneState: SceneState): AssetEntry | null { + if (!sceneState.assets) return null; + const lower = query.toLowerCase(); + for (const a of sceneState.assets) { + if (a.title?.toLowerCase().includes(lower) || a.id?.toLowerCase().includes(lower)) return a; + } + return null; +} + +function assetPos(a: AssetEntry): Vec3 | null { + if (!a.transform) return null; + return { x: a.transform.x ?? 0, y: a.transform.y ?? 0, z: a.transform.z ?? 0 }; +} + +// ── High-level rubrics (return EvalSuccess directly) ───────────────────────── + +export interface ObjectDistanceOpts { + target: string; + thresholdM?: number; +} + +/** Pass when the agent is within `thresholdM` of the target's bbox surface. */ +export function objectDistance( + ctx: { agentPos: Vec3; sceneState: SceneState }, + { target, thresholdM = 0.5 }: ObjectDistanceOpts, +): EvalSuccess { + const hit = findAsset(target, ctx.sceneState); + if (!hit) return { passed: false, reason: `target "${target}" not found in scene`, score: Infinity }; + const pos = assetPos(hit); + if (!pos) return { passed: false, reason: `target "${target}" has no transform`, score: Infinity }; + const d = distToSurface(ctx.agentPos, pos, hit._bbox); + return { + passed: d <= thresholdM, + score: Math.round(d * 1000) / 1000, + reason: `${d.toFixed(3)}m to "${hit.title ?? target}" (threshold ${thresholdM}m)`, + }; +} + +export interface RadiusContainsOpts { + targets: string[]; + radiusM?: number; +} + +/** Pass when the agent is within `radiusM` of the centroid of the listed targets. */ +export function radiusContains( + ctx: { agentPos: Vec3; sceneState: SceneState }, + { targets, radiusM = 3.0 }: RadiusContainsOpts, +): EvalSuccess { + if (!targets || targets.length === 0) return { passed: false, reason: "no targets specified" }; + + const found: Vec3[] = []; + const missing: string[] = []; + for (const name of targets) { + const a = findAsset(name, ctx.sceneState); + const p = a ? assetPos(a) : null; + if (p) found.push(p); + else missing.push(name); + } + if (found.length === 0) { + return { passed: false, reason: `no targets found: ${missing.join(", ")}`, score: Infinity }; + } + + const centroid: Vec3 = { x: 0, y: 0, z: 0 }; + for (const p of found) { centroid.x += p.x; centroid.y += p.y; centroid.z += p.z; } + centroid.x /= found.length; centroid.y /= found.length; centroid.z /= found.length; + + const d = Math.round(dist(ctx.agentPos, centroid) * 1000) / 1000; + const missingNote = missing.length ? ` (missing: ${missing.join(", ")})` : ""; + return { + passed: d <= radiusM, + score: d, + reason: `${d.toFixed(3)}m to centroid of ${found.length} targets${missingNote} (radius ${radiusM}m)`, + }; +} diff --git a/misc/DimSim/evals/runner.ts b/misc/DimSim/evals/runner.ts new file mode 100644 index 0000000000..ce28c36f22 --- /dev/null +++ b/misc/DimSim/evals/runner.ts @@ -0,0 +1,251 @@ +/** + * Eval Runner — Deno-side orchestrator. + * + * Walks `scenes//evals/*.js` to discover workflows, then for each one + * opens a control WebSocket to the bridge, sends `{type:'runEval', + * workflowUrl}`, and awaits the `{type:'evalResult', ...}` reply from the + * browser-side harness. + * + * No JSON parsing. No manifest.json. The workflow file is the source of + * truth — its `setup(ctx)` runs in the browser, its `success(ctx)` is + * polled until passed or timeout, and the runner just collects results. + */ + +import { resolve } from "@std/path"; + +export interface EvalResult { + scene: string; + workflow: string; + workflowUrl: string; + task: string; + passed: boolean; + reason: string; + score: number | null; + durationMs: number; +} + +export interface WorkflowEntry { + scene: string; + workflow: string; + filePath: string; + /** URL the browser uses to dynamic-import the workflow module. */ + url: string; +} + +export interface RunEvalOptions { + /** Control WebSocket URL (no `?ch=...`). */ + wsUrl: string; + /** Absolute path to the scenes/ root. */ + scenesRoot: string; + filterScene?: string; + filterWorkflow?: string; + /** Filter to specific workflow names ("scene/workflow" or just "workflow"). */ + filterWorkflows?: string[]; +} + +/** Walk `scenes//evals/*.js` and return one entry per workflow file. */ +export function collectWorkflows(opts: { + scenesRoot: string; + filterScene?: string; + filterWorkflow?: string; + filterWorkflows?: string[]; +}): WorkflowEntry[] { + const { scenesRoot, filterScene, filterWorkflow, filterWorkflows } = opts; + const matchSet = filterWorkflows && filterWorkflows.length + ? new Set(filterWorkflows) + : null; + + const out: WorkflowEntry[] = []; + let sceneDirs: Deno.DirEntry[]; + try { + sceneDirs = [...Deno.readDirSync(scenesRoot)]; + } catch { + return out; + } + + for (const sceneEnt of sceneDirs) { + if (!sceneEnt.isDirectory) continue; + const scene = sceneEnt.name; + if (filterScene && filterScene !== scene) continue; + + const evalsDir = resolve(scenesRoot, scene, "evals"); + let workflowEnts: Deno.DirEntry[]; + try { + workflowEnts = [...Deno.readDirSync(evalsDir)]; + } catch { + continue; // no evals dir → no workflows for this scene + } + + for (const ent of workflowEnts) { + if (!ent.isFile || !ent.name.endsWith(".js")) continue; + const workflow = ent.name.slice(0, -3); + if (filterWorkflow && filterWorkflow !== workflow) continue; + if (matchSet && !matchSet.has(workflow) && !matchSet.has(`${scene}/${workflow}`)) continue; + + out.push({ + scene, + workflow, + filePath: resolve(evalsDir, ent.name), + url: `/scenes/${scene}/evals/${ent.name}`, + }); + } + } + return out; +} + +/** Run each workflow sequentially over one control WebSocket. */ +export async function runEvals(options: RunEvalOptions): Promise { + const workflows = collectWorkflows(options); + if (workflows.length === 0) { + console.log("[runner] no workflows match filter — nothing to do."); + return []; + } + console.log(`[runner] running ${workflows.length} workflow(s)…`); + + const ws = await _connect(options.wsUrl); + try { + const results: EvalResult[] = []; + for (const wf of workflows) { + console.log(`[runner] → ${wf.scene}/${wf.workflow}`); + const result = await _runOne(ws, wf); + results.push(result); + const tag = result.passed ? "PASS" : "FAIL"; + console.log(`[runner] ${tag} (${result.durationMs}ms): ${result.reason}`); + } + return results; + } finally { + try { ws.close(); } catch { /* ignore */ } + } +} + +/** Parallel variant — one control WS per channel, workflows round-robin'd across them. */ +export interface RunEvalsMultiPageOptions extends RunEvalOptions { + /** Channel names from launchMultiPage (one per browser page). */ + channels: string[]; +} + +export async function runEvalsMultiPage(options: RunEvalsMultiPageOptions): Promise { + const workflows = collectWorkflows(options); + if (workflows.length === 0 || options.channels.length === 0) return []; + + // Open one socket per channel. + // Two query params: + // channel= → routes the WS to that channel's bridge state + // ch=control → marks it as a control (not sensor) socket so text + // frames (the `runEval` JSON) are processed, not dropped + const sockets = await Promise.all( + options.channels.map((ch) => + _connect(`${options.wsUrl}/?channel=${encodeURIComponent(ch)}&ch=control`), + ), + ); + + // Round-robin workflows across sockets. + const queues: WorkflowEntry[][] = sockets.map(() => []); + workflows.forEach((wf, i) => queues[i % queues.length].push(wf)); + + try { + const all = await Promise.all( + sockets.map(async (ws, i) => { + const out: EvalResult[] = []; + for (const wf of queues[i]) { + console.log(`[runner:${options.channels[i]}] → ${wf.scene}/${wf.workflow}`); + out.push(await _runOne(ws, wf)); + } + return out; + }), + ); + return all.flat(); + } finally { + for (const ws of sockets) { + try { ws.close(); } catch { /* ignore */ } + } + } +} + +/** JUnit-style XML emitter for CI consumption. */ +export function toJunitXml(results: EvalResult[]): string { + const lines: string[] = []; + lines.push(''); + const failures = results.filter((r) => !r.passed).length; + lines.push(``); + for (const r of results) { + const name = `${r.scene}/${r.workflow}`; + const time = (r.durationMs / 1000).toFixed(3); + if (r.passed) { + lines.push(` `); + } else { + lines.push(` `); + lines.push(` `); + lines.push(` `); + } + } + lines.push(""); + return lines.join("\n"); +} + +// ── Internals ──────────────────────────────────────────────────────────────── + +function _connect(wsUrl: string): Promise { + // Force the control channel so eval text messages route correctly. + const url = wsUrl.includes("?") ? wsUrl : `${wsUrl}/?ch=control`; + const ws = new WebSocket(url); + return new Promise((resolve, reject) => { + ws.addEventListener("open", () => resolve(ws), { once: true }); + ws.addEventListener("error", (e) => reject(e), { once: true }); + }); +} + +function _runOne(ws: WebSocket, wf: WorkflowEntry): Promise { + return new Promise((resolve) => { + const cleanup = () => { + ws.removeEventListener("message", onMessage); + ws.removeEventListener("error", onFail); + ws.removeEventListener("close", onFail); + }; + const onMessage = (event: MessageEvent) => { + if (typeof event.data !== "string") return; + let msg: any; + try { msg = JSON.parse(event.data); } catch { return; } + if (msg.type !== "evalResult") return; + if (msg.workflowUrl && msg.workflowUrl !== wf.url) return; + cleanup(); + resolve({ + scene: wf.scene, + workflow: wf.workflow, + workflowUrl: wf.url, + task: msg.task ?? "", + passed: !!msg.passed, + reason: msg.reason ?? (msg.passed ? "ok" : "fail"), + score: typeof msg.score === "number" ? msg.score : null, + durationMs: msg.durationMs ?? 0, + }); + }; + // If the socket closes or errors before the result lands, fail the eval + // instead of hanging the entire runEvals call forever. + const onFail = (event: Event) => { + cleanup(); + const reason = event.type === "close" + ? "websocket closed before evalResult" + : "websocket error before evalResult"; + resolve({ + scene: wf.scene, + workflow: wf.workflow, + workflowUrl: wf.url, + task: "", + passed: false, + reason, + score: null, + durationMs: 0, + }); + }; + ws.addEventListener("message", onMessage); + ws.addEventListener("error", onFail); + ws.addEventListener("close", onFail); + ws.send(JSON.stringify({ type: "runEval", workflowUrl: wf.url })); + }); +} + +function _escape(s: string): string { + return s.replace(/&/g, "&").replace(//g, ">") + .replace(/"/g, """).replace(/'/g, "'"); +} diff --git a/misc/DimSim/index.html b/misc/DimSim/index.html new file mode 100644 index 0000000000..8df983a21a --- /dev/null +++ b/misc/DimSim/index.html @@ -0,0 +1,148 @@ + + + + + + DimSim + + + + + + + + + +
+
+ + + + + + +
+
+ DimSim + +
+ +
+
No scene loaded
+ + +
+ + + +
+
+ Sensor Debug +
+ + +
+
+ +
+
+ + +
+
+
+ Min + + 0.2m +
+
+ Max + + 12.0m +
+
+
+ +
+
+ +
+
+ + +
+
+
+ + +
+ Agent Vision +
+
RGB
+ Agent POV +
Depth
+ +
LiDAR
+ +
+
+
Last Decision
+ 
Waiting...
+
+
+
+ Request Details +
+
No request yet
+
+ Prompt + 

+              

+              

+                Context
+                

+              

+              

+                Raw Output
+                

+              

+            

+          

+          

+            Activity Log
+            

+          

+        

+
+      

+      
+
+      
+      

+        
+        
+        

+        
+        
+        
+      

+
+      
+      
+
+      
+      

+        WASD move
+        E interact
+        B spawn
+        G ghost
+      

+
+    
+
+    
+    
+  
+
diff --git a/misc/DimSim/package-lock.json b/misc/DimSim/package-lock.json
new file mode 100644
index 0000000000..9bd3f917d7
--- /dev/null
+++ b/misc/DimSim/package-lock.json
@@ -0,0 +1,1022 @@
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diff --git a/misc/DimSim/package.json b/misc/DimSim/package.json
new file mode 100644
index 0000000000..a5a99e8e1f
--- /dev/null
+++ b/misc/DimSim/package.json
@@ -0,0 +1,20 @@
+{
+  "name": "dimsim",
+  "private": true,
+  "version": "1.0.0",
+  "type": "module",
+  "description": "Browser-based 3D simulator (Three.js + Rapier) + Deno bridge — runs as the simulation backend for dimos.",
+  "scripts": {
+    "dev": "vite --force",
+    "build": "vite build",
+    "preview": "vite preview"
+  },
+  "dependencies": {
+    "@dimforge/rapier3d-compat": "^0.14.0",
+    "@sparkjsdev/spark": "latest",
+    "three": "^0.168.0"
+  },
+  "devDependencies": {
+    "vite": "^5.4.10"
+  }
+}
diff --git a/misc/DimSim/public/embodiment/dimsim_unitree_stub.glb b/misc/DimSim/public/embodiment/dimsim_unitree_stub.glb
new file mode 100644
index 0000000000..79296152a2
--- /dev/null
+++ b/misc/DimSim/public/embodiment/dimsim_unitree_stub.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761813170c01429ab9215ad4e37b95a768437fc0c6aa1d643f5938a672263322
+size 55746312
diff --git a/misc/DimSim/public/logo.svg b/misc/DimSim/public/logo.svg
new file mode 100644
index 0000000000..d64b96adfc
--- /dev/null
+++ b/misc/DimSim/public/logo.svg
@@ -0,0 +1,13 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/misc/DimSim/scenes/apartment/evals/go-to-couch.js b/misc/DimSim/scenes/apartment/evals/go-to-couch.js
new file mode 100644
index 0000000000..30b36db952
--- /dev/null
+++ b/misc/DimSim/scenes/apartment/evals/go-to-couch.js
@@ -0,0 +1,9 @@
+import { runEval } from '@dimsim/eval';
+
+await runEval({
+  scene: 'apartment',
+  task: 'Go to the couch',
+  timeoutSec: 30,
+  startPose: { x: 0, y: 0.5, z: 3, yaw: 0 },
+  success: (ctx) => ctx.rubrics.objectDistance({ target: 'sectional', thresholdM: 2.0 }),
+});
diff --git a/misc/DimSim/scenes/apartment/evals/go-to-kitchen.js b/misc/DimSim/scenes/apartment/evals/go-to-kitchen.js
new file mode 100644
index 0000000000..5165406385
--- /dev/null
+++ b/misc/DimSim/scenes/apartment/evals/go-to-kitchen.js
@@ -0,0 +1,9 @@
+import { runEval } from '@dimsim/eval';
+
+await runEval({
+  scene: 'apartment',
+  task: 'Go to the kitchen',
+  timeoutSec: 30,
+  startPose: { x: 0, y: 0.5, z: 3, yaw: 0 },
+  success: (ctx) => ctx.rubrics.objectDistance({ target: 'refrigerator', thresholdM: 3.0 }),
+});
diff --git a/misc/DimSim/scenes/apartment/evals/go-to-tv.js b/misc/DimSim/scenes/apartment/evals/go-to-tv.js
new file mode 100644
index 0000000000..c9800d80e5
--- /dev/null
+++ b/misc/DimSim/scenes/apartment/evals/go-to-tv.js
@@ -0,0 +1,9 @@
+import { runEval } from '@dimsim/eval';
+
+await runEval({
+  scene: 'apartment',
+  task: 'Go to the TV',
+  timeoutSec: 30,
+  startPose: { x: 0, y: 0.5, z: 3, yaw: 0 },
+  success: (ctx) => ctx.rubrics.objectDistance({ target: 'television', thresholdM: 2.0 }),
+});
diff --git a/misc/DimSim/scenes/apartment/index.js b/misc/DimSim/scenes/apartment/index.js
new file mode 100644
index 0000000000..215994f64f
--- /dev/null
+++ b/misc/DimSim/scenes/apartment/index.js
@@ -0,0 +1,120 @@
+// scenes/apartment/index.js — pure Three.js entry for the apartment.
+//
+// Static structure (walls, floor, ceiling, fixtures): ./structure.glb
+// Interactive objects (fridge, cabinets, TV, etc.): ./objects//.glb
+// keyed by ./objects/manifest.json. Sky, lights, tags inlined below.
+
+const SKY = {
+  topColor:     '#0b64f4',
+  horizonColor: '#d9e5f7',
+  bottomColor:  '#3b6cce',
+  brightness:   0.9,
+  softness:     0.75,
+  sunStrength:  0.17,
+  sunHeight:    0.34,
+};
+
+const TAGS = ['modern', 'apartment', 'interior', 'furnished'];
+
+export default async function build({ scene, THREE, physics, setSky, loadGLTF, loadLevel }) {
+  setSky(SKY);
+
+  // ── Lights ─────────────────────────────────────────────────────────────────
+  const lr1 = new THREE.PointLight(new THREE.Color('#FFFAF0'), 2, 8);
+  lr1.position.set(2, 2.8, 2.5);
+  scene.add(lr1);
+
+  const lr2 = new THREE.PointLight(new THREE.Color('#FFFAF0'), 0, 8);
+  lr2.position.set(4, 2.9, 1.5);
+  scene.add(lr2);
+
+  const kit1 = new THREE.PointLight(new THREE.Color('#F0FFFF'), 2.5, 8);
+  kit1.position.set(-4, 2.8, 2.5);
+  scene.add(kit1);
+
+  const kit2 = new THREE.PointLight(new THREE.Color('#F0FFFF'), 2.5, 8);
+  kit2.position.set(-4, 2.9, 3.5);
+  scene.add(kit2);
+
+  const bed1 = new THREE.PointLight(new THREE.Color('#FFE4B5'), 2, 8);
+  bed1.position.set(-2.5, 2.8, -2.5);
+  scene.add(bed1);
+
+  const bed2 = new THREE.PointLight(new THREE.Color('#FFE4B5'), 1.5, 8);
+  bed2.position.set(-2.5, 2.9, -3.5);
+  scene.add(bed2);
+
+  const path1 = new THREE.PointLight(new THREE.Color('#FFD700'), 1, 3);
+  path1.position.set(-2, 0.25, 5.8);
+  scene.add(path1);
+
+  const path2 = new THREE.PointLight(new THREE.Color('#FFD700'), 1, 3);
+  path2.position.set(0, 0.25, 5.8);
+  scene.add(path2);
+
+  const path3 = new THREE.PointLight(new THREE.Color('#FFD700'), 1, 3);
+  path3.position.set(2, 0.25, 5.8);
+  scene.add(path3);
+
+  const bath1 = new THREE.PointLight(new THREE.Color('#F0FFFF'), 1.5, 6);
+  bath1.position.set(3.5, 2.8, -2.5);
+  scene.add(bath1);
+
+  const sun = new THREE.DirectionalLight(new THREE.Color('#ffffff'), 1);
+  sun.position.set(2.9245321131985382, 14.007232336425105, 16.10510431845022);
+  sun.target.position.set(2.9990998365488326, 9.488242347246995, 13.966607385475479);
+  sun.castShadow = true;
+  sun.shadow.mapSize.set(2048, 2048);
+  sun.shadow.camera.left   = -30;
+  sun.shadow.camera.right  =  30;
+  sun.shadow.camera.top    =  30;
+  sun.shadow.camera.bottom = -30;
+  scene.add(sun);
+  scene.add(sun.target);
+
+  // ── Static structure (walls/floor/ceiling/fixtures, baked from primitives) ──
+  const sg = await loadGLTF('./structure.glb');
+  sg.scene.traverse((o) => {
+    if (o.isMesh) {
+      o.castShadow = true;
+      o.receiveShadow = true;
+    }
+  });
+  scene.add(sg.scene);
+  physics.staticCollider(sg.scene, 'trimesh');
+
+  // ── Interactive objects (GLB-per-state, with actions/state machines) ───────
+  const manifest = await fetch('/scenes/apartment/objects/manifest.json').then((r) => r.json());
+
+  const assets = manifest.map((entry) => ({
+    id: entry.id,
+    title: entry.title,
+    transform: entry.transform,
+    currentStateId: entry.currentStateId,
+    _shapePivotCenter: entry._shapePivotCenter,
+    pickable: entry.pickable,
+    bumpable: entry.bumpable,
+    bumpResponse: entry.bumpResponse,
+    bumpDamping: entry.bumpDamping,
+    castShadow: entry.castShadow,
+    receiveShadow: entry.receiveShadow,
+    actions: entry.actions || [],
+    states: (entry.states || []).map((s) => ({
+      id: s.id,
+      name: s.name,
+      glbUrl: `/scenes/apartment/objects/${s.file}`,
+    })),
+  }));
+
+  await loadLevel({
+    version: '2.0',
+    worldKey: 'default',
+    tags: TAGS,
+    assets,
+  });
+
+  return {
+    embodiment: null,
+    spawnPoint: { x: 2, y: 0.5, z: 3 },
+  };
+}
diff --git a/misc/DimSim/scenes/apartment/objects/arc-floor-lamp/state-default.glb b/misc/DimSim/scenes/apartment/objects/arc-floor-lamp/state-default.glb
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index 0000000000..ddede4e302
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+++ b/misc/DimSim/scenes/apartment/objects/arc-floor-lamp/state-default.glb
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+++ b/misc/DimSim/scenes/apartment/objects/art-deco-gold-finished-bar-cart-with-two-glass-s/state-default.glb
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new file mode 100644
index 0000000000..f22b66f7a7
--- /dev/null
+++ b/misc/DimSim/scenes/apartment/objects/woven-wicker-laundry-hamper-with-a-fabric-liner/state-default.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652a0d297f197925de9cd3861e94185c03ae2f317033b5da01b59a85cc3c6c93
+size 563716
diff --git a/misc/DimSim/scenes/apartment/structure.glb b/misc/DimSim/scenes/apartment/structure.glb
new file mode 100644
index 0000000000..8394981f5b
--- /dev/null
+++ b/misc/DimSim/scenes/apartment/structure.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d1d4ae848c8d6378e1f6a03aba55dfeeb47a6b42010be065ed93c76a6ba3736
+size 5800704
diff --git a/misc/DimSim/scenes/deno.json b/misc/DimSim/scenes/deno.json
new file mode 100644
index 0000000000..8f291d84e2
--- /dev/null
+++ b/misc/DimSim/scenes/deno.json
@@ -0,0 +1,6 @@
+{
+  "imports": {
+    "@dimsim/eval": "../evals/deno-client.ts",
+    "@std/path": "jsr:@std/path@^1"
+  }
+}
diff --git a/misc/DimSim/scenes/deno.lock b/misc/DimSim/scenes/deno.lock
new file mode 100644
index 0000000000..29ad14327a
--- /dev/null
+++ b/misc/DimSim/scenes/deno.lock
@@ -0,0 +1,23 @@
+{
+  "version": "5",
+  "specifiers": {
+    "jsr:@std/internal@^1.0.12": "1.0.12",
+    "jsr:@std/path@1": "1.1.4"
+  },
+  "jsr": {
+    "@std/internal@1.0.12": {
+      "integrity": "972a634fd5bc34b242024402972cd5143eac68d8dffaca5eaa4dba30ce17b027"
+    },
+    "@std/path@1.1.4": {
+      "integrity": "1d2d43f39efb1b42f0b1882a25486647cb851481862dc7313390b2bb044314b5",
+      "dependencies": [
+        "jsr:@std/internal"
+      ]
+    }
+  },
+  "workspace": {
+    "dependencies": [
+      "jsr:@std/path@1"
+    ]
+  }
+}
diff --git a/misc/DimSim/scenes/empty/index.js b/misc/DimSim/scenes/empty/index.js
new file mode 100644
index 0000000000..6f1d83f8f2
--- /dev/null
+++ b/misc/DimSim/scenes/empty/index.js
@@ -0,0 +1,19 @@
+// scenes/empty/index.js — empty starter scene.
+// Sky + ambient lighting, no geometry, no embodiment.  Use this as a canvas
+// to author from scratch via the SceneClient SDK or by editing this file.
+
+export default async function build({ scene, THREE }) {
+  scene.add(new THREE.AmbientLight(0xffffff, 0.6));
+
+  const sun = new THREE.DirectionalLight(0xfff5e6, 1.5);
+  sun.position.set(10, 20, 10);
+  sun.castShadow = true;
+  scene.add(sun);
+
+  scene.add(new THREE.HemisphereLight(0x87ceeb, 0x4a7a4a, 0.4));
+
+  return {
+    embodiment: null,
+    spawnPoint: { x: 0, y: 0.5, z: 0 },
+  };
+}
diff --git a/misc/DimSim/scenes/warehouse/index.js b/misc/DimSim/scenes/warehouse/index.js
new file mode 100644
index 0000000000..2083ab0d92
--- /dev/null
+++ b/misc/DimSim/scenes/warehouse/index.js
@@ -0,0 +1,210 @@
+// scenes/warehouse/index.js — pure JS dev cycle.
+//
+// Everything is built directly from Three.js primitives (no JSON, no
+// loadLevel).  Edit the constants at the top, save, and the engine
+// re-imports this file on hot-reload.
+//
+// NOTE: meshes added with `scene.add` are NOT registered in the engine's
+// interaction registry (assets[]), so E-key pickup / state toggles won't
+// see them.  That gap is the "registerAsset API" item on the roadmap.
+// For warehouse-style scenes (move around, look at stuff) this is fine.
+
+const FLOOR  = { width: 30, depth: 40 };
+const WALL_H = 6;
+const SKY    = {
+  topColor:    '#3a4654',
+  horizonColor:'#b8c0c8',
+  bottomColor: '#586470',
+  brightness:  0.7,
+  softness:    0.9,
+  sunStrength: 0.25,
+  sunHeight:   0.6,
+};
+
+export default async function build({ scene, THREE, physics, setSky, setEmbodiment, loadGLTF }) {
+  setSky(SKY);
+
+  setEmbodiment({
+    embodimentType: 'ground',
+    radius: 0.3,
+    halfHeight: 0.85,
+    lidarMountHeight: 1.6,
+    gravity: -9.81,
+    maxSpeed: 1.4,
+    turnRate: 2.5,
+  });
+
+  // ── Floor ────────────────────────────────────────────────────────────────
+  const floor = new THREE.Mesh(
+    new THREE.BoxGeometry(FLOOR.width, 0.2, FLOOR.depth),
+    new THREE.MeshPhysicalMaterial({ color: 0x6b6f74, roughness: 0.95, metalness: 0.05 }),
+  );
+  floor.position.y = -0.1;
+  floor.receiveShadow = true;
+  scene.add(floor);
+  physics.staticCollider(floor, 'box');
+
+  // ── Walls (north, south, east, west) ────────────────────────────────────
+  const wallMat = new THREE.MeshPhysicalMaterial({ color: 0xc4c1b8, roughness: 0.8 });
+  const wallSpecs = [
+    // [w, h, d,  x,            y,         z]
+    [FLOOR.width, WALL_H, 0.3,  0,            WALL_H / 2,  FLOOR.depth / 2],
+    [FLOOR.width, WALL_H, 0.3,  0,            WALL_H / 2, -FLOOR.depth / 2],
+    [0.3, WALL_H, FLOOR.depth,  FLOOR.width / 2,  WALL_H / 2, 0],
+    [0.3, WALL_H, FLOOR.depth, -FLOOR.width / 2,  WALL_H / 2, 0],
+  ];
+  for (const [w, h, d, x, y, z] of wallSpecs) {
+    const wall = new THREE.Mesh(new THREE.BoxGeometry(w, h, d), wallMat);
+    wall.position.set(x, y, z);
+    wall.castShadow = wall.receiveShadow = true;
+    scene.add(wall);
+    physics.staticCollider(wall, 'box');
+  }
+
+  // ── Pallet racks: 3 rows of vertical posts + shelves ─────────────────────
+  // A rack = two side posts, 3 horizontal beams, optional crates on shelves.
+  const rackMat   = new THREE.MeshPhysicalMaterial({ color: 0xd4823a, roughness: 0.5, metalness: 0.4 });
+  const crateMat  = new THREE.MeshPhysicalMaterial({ color: 0x8b5a2b, roughness: 0.75 });
+  const palletMat = new THREE.MeshPhysicalMaterial({ color: 0x6b4423, roughness: 0.9 });
+
+  const rackBays   = 4;
+  const bayWidth   = 2.4;
+  const rackDepth  = 1.2;
+  const rackHeight = 5.0;
+  const shelfYs    = [1.5, 3.0, 4.5];
+
+  function addRack(originX, originZ) {
+    // Vertical posts at each bay edge
+    const postGeo = new THREE.BoxGeometry(0.1, rackHeight, 0.1);
+    for (let i = 0; i <= rackBays; i++) {
+      for (const dz of [-rackDepth / 2, rackDepth / 2]) {
+        const post = new THREE.Mesh(postGeo, rackMat);
+        post.position.set(originX + i * bayWidth, rackHeight / 2, originZ + dz);
+        post.castShadow = true;
+        scene.add(post);
+        physics.staticCollider(post, 'box');
+      }
+    }
+    // Horizontal beams per shelf level
+    const beamGeo = new THREE.BoxGeometry(rackBays * bayWidth, 0.08, 0.08);
+    for (const y of shelfYs) {
+      for (const dz of [-rackDepth / 2, rackDepth / 2]) {
+        const beam = new THREE.Mesh(beamGeo, rackMat);
+        beam.position.set(originX + (rackBays * bayWidth) / 2, y, originZ + dz);
+        beam.castShadow = true;
+        scene.add(beam);
+        physics.staticCollider(beam, 'box');
+      }
+    }
+    // Shelf decks
+    const deckGeo = new THREE.BoxGeometry(rackBays * bayWidth, 0.04, rackDepth);
+    for (const y of shelfYs) {
+      const deck = new THREE.Mesh(deckGeo, palletMat);
+      deck.position.set(originX + (rackBays * bayWidth) / 2, y - 0.05, originZ);
+      deck.castShadow = deck.receiveShadow = true;
+      scene.add(deck);
+      physics.staticCollider(deck, 'box');
+    }
+    // Crates on a few of the shelves (skip some bays for variety)
+    const occupied = [
+      [0, 0], [0, 1], [0, 3],
+      [1, 0], [1, 2],
+      [2, 1], [2, 2], [2, 3],
+    ];
+    const crateGeo = new THREE.BoxGeometry(bayWidth * 0.85, 0.7, rackDepth * 0.85);
+    for (const [shelfIdx, bayIdx] of occupied) {
+      const crate = new THREE.Mesh(crateGeo, crateMat);
+      crate.position.set(
+        originX + bayIdx * bayWidth + bayWidth / 2,
+        shelfYs[shelfIdx] + 0.35,
+        originZ,
+      );
+      crate.castShadow = crate.receiveShadow = true;
+      scene.add(crate);
+      physics.staticCollider(crate, 'box');
+    }
+  }
+
+  addRack(-FLOOR.width / 2 + 3, -10);
+  addRack(-FLOOR.width / 2 + 3,   0);
+  addRack(-FLOOR.width / 2 + 3,  10);
+
+  // ── Loose pallet stacks near the dock ────────────────────────────────────
+  for (let i = 0; i < 4; i++) {
+    const stackX = 8 + (i % 2) * 1.6;
+    const stackZ = -14 + Math.floor(i / 2) * 1.6;
+    for (let h = 0; h < 3; h++) {
+      const c = new THREE.Mesh(
+        new THREE.BoxGeometry(1.2, 0.4, 1.2),
+        crateMat,
+      );
+      c.position.set(stackX, 0.2 + h * 0.42, stackZ);
+      c.castShadow = c.receiveShadow = true;
+      scene.add(c);
+      physics.staticCollider(c, 'box');
+    }
+  }
+
+  // ── Loading-dock door (visual only — flat panel on east wall) ───────────
+  const dockDoor = new THREE.Mesh(
+    new THREE.BoxGeometry(0.05, 3.6, 3.6),
+    new THREE.MeshPhysicalMaterial({ color: 0x3a3f47, roughness: 0.4, metalness: 0.6 }),
+  );
+  dockDoor.position.set(FLOOR.width / 2 - 0.1, 1.8, 12);
+  scene.add(dockDoor);
+
+  const ball = new THREE.Mesh(
+    new THREE.SphereGeometry(0.4, 32, 32),
+    new THREE.MeshPhysicalMaterial({ color: 0x2196f3, roughness: 0.35, metalness: 0.1 }),
+  );
+  ball.position.set(0, 3.0, -10);
+  ball.castShadow = ball.receiveShadow = true;
+  scene.add(ball);
+  physics.dynamicCollider(ball, { shape: 'sphere', mass: 1.0, restitution: 0.6 });
+
+  // ── Cross-scene GLB import test: pull the sectional out of apartment ─────
+  // The dedup'd GLB references textures via `../_textures/.png` which
+  // resolves relative to the GLB's URL — so loading it from any other scene
+  // still resolves correctly into /scenes/apartment/objects/_textures/.
+  const sectional = await loadGLTF('../apartment/objects/modern-l-shaped-sectional/state-default.glb');
+  sectional.scene.traverse((o) => {
+    if (o.isMesh) { o.castShadow = true; o.receiveShadow = true; }
+  });
+  sectional.scene.position.set(0, 0.5, -8);
+  scene.add(sectional.scene);
+  physics.staticCollider(sectional.scene, 'trimesh');
+
+  // ── Lights ───────────────────────────────────────────────────────────────
+  scene.add(new THREE.HemisphereLight(0xc8d4e0, 0x303030, 0.45));
+
+  const sun = new THREE.DirectionalLight(0xffffff, 0.9);
+  sun.position.set(15, 25, 10);
+  sun.castShadow = true;
+  sun.shadow.mapSize.set(2048, 2048);
+  sun.shadow.camera.left   = -20;
+  sun.shadow.camera.right  =  20;
+  sun.shadow.camera.top    =  25;
+  sun.shadow.camera.bottom = -25;
+  scene.add(sun);
+
+  // Pendant lights down the centerline
+  for (let i = 0; i < 4; i++) {
+    const z = -15 + i * 10;
+    const housing = new THREE.Mesh(
+      new THREE.CylinderGeometry(0.3, 0.45, 0.25, 16),
+      new THREE.MeshPhysicalMaterial({ color: 0x202428, roughness: 0.5 }),
+    );
+    housing.position.set(0, WALL_H - 0.5, z);
+    scene.add(housing);
+
+    const bulb = new THREE.PointLight(0xfff2cf, 12, 14, 1.4);
+    bulb.position.set(0, WALL_H - 0.8, z);
+    bulb.castShadow = false;
+    scene.add(bulb);
+  }
+
+  return {
+    embodiment: null,
+    spawnPoint: { x: 0, y: 1.0, z: -15 },
+  };
+}
diff --git a/misc/DimSim/src/AiAvatar.js b/misc/DimSim/src/AiAvatar.js
new file mode 100644
index 0000000000..de90a0c3c5
--- /dev/null
+++ b/misc/DimSim/src/AiAvatar.js
@@ -0,0 +1,243 @@
+import * as THREE from "three";
+import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
+
+/**
+ * AiAvatar — visual + physics container for a single agent.
+ *
+ * In dimos mode the agent's pose is driven externally over LCM (cmd_vel in →
+ * server physics → /odom out, then engine.js calls `setPosition`).  This
+ * class therefore only owns:
+ *   - the THREE.Group visual (fallback capsule + facing cone + optional GLB)
+ *   - the Rapier rigid body + capsule colliders
+ *   - GLB load with auto-scale and box-collider resize
+ *   - setPosition / getPosition for external drive
+ *   - per-frame `update` that ticks the animation mixer and syncs the visual
+ *
+ * The autonomous wander / VLM behavior that lived here previously is gone —
+ * dimos drives the agent, and engine.js even overrides `update` on the dimos
+ * agent to skip everything except the visual sync.
+ */
+export class AiAvatar {
+  constructor({
+    id = null,
+    scene,
+    rapierWorld,
+    RAPIER,
+    avatarUrl = "/avatars/kai.glb",
+    headless = false,
+  }) {
+    this.id = id || `ai-${Math.random().toString(36).slice(2, 8)}`;
+    this.scene = scene;
+    this.rapierWorld = rapierWorld;
+    this.RAPIER = RAPIER;
+    this.avatarUrl = avatarUrl;
+    this.headless = headless;
+
+    // Match the smaller player capsule so the agent fits the same gaps.
+    this.radius = 0.12;
+    this.halfHeight = 0.25;
+
+    // Look pitch — engine.js reads this when capturing the agent's POV.
+    this.pitch = 0;
+
+    this.group = new THREE.Group();
+    this.group.name = `AiAvatar:${this.id}`;
+    this.scene.add(this.group);
+
+    // Fallback capsule visual.  Replaced by the GLB once loaded.
+    this.fallback = new THREE.Mesh(
+      new THREE.CapsuleGeometry(this.radius * 0.9, this.halfHeight * 2.0, 6, 10),
+      new THREE.MeshStandardMaterial({ color: 0x8cffc1, roughness: 0.65 }),
+    );
+    this.fallback.castShadow = false;
+    this.fallback.receiveShadow = false;
+    this.group.add(this.fallback);
+
+    // Direction indicator (visible until GLB hides it in _applyGLB).
+    this._facing = new THREE.Mesh(
+      new THREE.ConeGeometry(this.radius * 0.45, this.radius * 1.35, 14),
+      new THREE.MeshStandardMaterial({ color: 0xffc36a, roughness: 0.45, metalness: 0.05 }),
+    );
+    this._facing.rotation.x = Math.PI / 2;
+    this._facing.position.set(0, this.halfHeight * 0.15, this.radius * 1.1);
+    this._facing.renderOrder = 10;
+    this.group.add(this._facing);
+
+    // Rapier body + capsule collider (kinematic — pose is set, not simulated).
+    this.body = this.rapierWorld.createRigidBody(
+      this.RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(0, 3, 0),
+    );
+    this.collider = this.rapierWorld.createCollider(
+      this.RAPIER.ColliderDesc.capsule(this.halfHeight, this.radius).setFriction(0.8),
+      this.body,
+    );
+
+    // Horizontal "spine" capsule trailing behind the vertical capsule so the
+    // physics body roughly matches a quadruped silhouette.  Used by lidar and
+    // collision; movement controller still uses the vertical capsule.
+    this._spineHalfLen = Math.max(this.radius * 1.2, 0.13);
+    this._spineRadius = Math.max(this.radius * 0.62, 0.07);
+    this._spineOffsetBack = Math.max(
+      this.radius * 2.2,
+      this._spineHalfLen + this._spineRadius + 0.02,
+    );
+    this._spineOffsetY = Math.max(this.halfHeight * 0.35, 0.08);
+    this.spineCollider = this.rapierWorld.createCollider(
+      this.RAPIER.ColliderDesc.capsule(this._spineHalfLen, this._spineRadius)
+        .setFriction(0.8)
+        .setTranslation(0, this._spineOffsetY, -this._spineOffsetBack)
+        // Rotate the capsule's local +Y axis to +Z (along the spine).
+        .setRotation({ x: Math.SQRT1_2, y: 0, z: 0, w: Math.SQRT1_2 }),
+      this.body,
+    );
+    this.boxCollider = null; // Replaced when GLB loads (matches model bbox).
+
+    // Best-effort: load the requested GLB.  Falls through avatarUrl array if a
+    // load fails, ultimately leaving the capsule fallback in place.
+    this._loadGLB();
+  }
+
+  dispose() {
+    try { this.scene.remove(this.group); } catch { /* already gone */ }
+    try {
+      if (this.boxCollider) this.rapierWorld.removeCollider(this.boxCollider, true);
+      if (this.spineCollider) this.rapierWorld.removeCollider(this.spineCollider, true);
+      this.rapierWorld.removeCollider(this.collider, true);
+      this.rapierWorld.removeRigidBody(this.body);
+    } catch { /* world torn down already */ }
+  }
+
+  setPosition(x, y, z) {
+    this.body.setTranslation({ x, y, z }, true);
+    this.body.setLinvel({ x: 0, y: 0, z: 0 }, true);
+  }
+
+  getPosition() {
+    const p = this.body.translation();
+    return [p.x, p.y, p.z];
+  }
+
+  update(dt) {
+    if (this.mixer) this.mixer.update(dt);
+    this._syncVisual();
+  }
+
+  _syncVisual() {
+    if (!this.body) return;
+    const p = this.body.translation();
+    this.group.position.set(p.x, p.y, p.z);
+    this._syncSpineCollider();
+  }
+
+  _syncSpineCollider() {
+    if (!this.spineCollider || !this.body) return;
+    const p = this.body.translation();
+    const yaw = this.group.rotation.y ?? 0;
+    const xOff = -Math.sin(yaw) * this._spineOffsetBack;
+    const zOff = -Math.cos(yaw) * this._spineOffsetBack;
+    const q = new THREE.Quaternion().setFromEuler(
+      new THREE.Euler(Math.PI / 2, yaw, 0, "YXZ"),
+    );
+    try {
+      if (typeof this.spineCollider.setTranslationWrtParent === "function") {
+        this.spineCollider.setTranslationWrtParent({ x: xOff, y: this._spineOffsetY, z: zOff });
+      } else {
+        this.spineCollider.setTranslation({
+          x: p.x + xOff, y: p.y + this._spineOffsetY, z: p.z + zOff,
+        });
+      }
+      if (typeof this.spineCollider.setRotationWrtParent === "function") {
+        this.spineCollider.setRotationWrtParent({ x: q.x, y: q.y, z: q.z, w: q.w });
+      } else {
+        this.spineCollider.setRotation({ x: q.x, y: q.y, z: q.z, w: q.w });
+      }
+    } catch { /* collider torn down */ }
+  }
+
+  _loadGLB() {
+    if (!this.avatarUrl) return;
+    const loader = new GLTFLoader();
+    const urls = Array.isArray(this.avatarUrl) ? this.avatarUrl : [this.avatarUrl];
+    const tryLoad = (index) => {
+      if (index >= urls.length) {
+        console.log(`[AiAvatar] No avatar model found, using capsule fallback.`);
+        return;
+      }
+      loader.load(
+        urls[index],
+        (gltf) => { this._applyGLB(gltf); },
+        undefined,
+        () => { tryLoad(index + 1); },
+      );
+    };
+    tryLoad(0);
+  }
+
+  _applyGLB(gltf) {
+    try { this.group.remove(this.fallback); } catch { /* already gone */ }
+    try { this._facing.visible = false; } catch { /* gone */ }
+
+    this.model = gltf.scene;
+
+    // Auto-fit: scale the model to roughly the capsule height, then offset down
+    // so its feet are on the floor (group origin sits at body center).
+    const bbox = new THREE.Box3().setFromObject(this.model);
+    const size = bbox.getSize(new THREE.Vector3());
+    const targetHeight = this.halfHeight * 2 + this.radius * 2;
+    const scaleFactor = targetHeight / (size.y || 1);
+    // Y-squash so the unrigged GLB reads as a low-slung quadruped instead of an
+    // upright biped.  Camera POV (GO2_CAMERA_HEIGHT in engine.js) is the real
+    // signal; this is purely visual.
+    this.model.scale.set(scaleFactor, scaleFactor * 0.6, scaleFactor);
+
+    bbox.setFromObject(this.model);
+    const newCenter = bbox.getCenter(new THREE.Vector3());
+    const newMin = bbox.min;
+    this.model.position.x -= newCenter.x;
+    this.model.position.z -= newCenter.z;
+    this.model.position.y = -newMin.y - (this.halfHeight + this.radius);
+
+    // Replace the placeholder box collider with one that matches the GLB bbox.
+    bbox.setFromObject(this.model);
+    const finalSize = bbox.getSize(new THREE.Vector3());
+    const finalCenter = bbox.getCenter(new THREE.Vector3());
+    if (this.boxCollider) {
+      this.rapierWorld.removeCollider(this.boxCollider, true);
+      this.boxCollider = null;
+    }
+    this.boxCollider = this.rapierWorld.createCollider(
+      this.RAPIER.ColliderDesc
+        .cuboid(finalSize.x / 2, finalSize.y / 2, finalSize.z / 2)
+        .setFriction(0.8)
+        .setTranslation(finalCenter.x, finalCenter.y, finalCenter.z),
+      this.body,
+    );
+
+    // Headless: keep the collider, drop the visual — saves GPU memory.  Used
+    // by dimos when no embodiment is requested (the agent moves invisibly).
+    if (this.headless) {
+      this.model = null;
+      return;
+    }
+
+    this.model.traverse((m) => {
+      if (m.isMesh) {
+        m.castShadow = false;
+        m.receiveShadow = true;
+      }
+    });
+    this.group.add(this.model);
+
+    if (gltf.animations?.length) {
+      this.mixer = new THREE.AnimationMixer(this.model);
+      this._actions = {};
+      for (const clip of gltf.animations) {
+        this._actions[clip.name] = this.mixer.clipAction(clip);
+      }
+      const idle =
+        this._actions["idle"] || this._actions["Idle"] || this._actions["Idle_A"];
+      if (idle) idle.play();
+      else this.mixer.clipAction(gltf.animations[0]).play();
+    }
+  }
+}
diff --git a/misc/DimSim/src/bridge.ts b/misc/DimSim/src/bridge.ts
new file mode 100644
index 0000000000..8c83f33a94
--- /dev/null
+++ b/misc/DimSim/src/bridge.ts
@@ -0,0 +1,577 @@
+/**
+ * DimosBridge — Browser-side WebSocket client for dimos integration.
+ *
+ * Uses separate WebSocket connections so large sensor streams do not block
+ * each other or real-time odom/cmd_vel:
+ *   wsControl  → /odom, /cmd_vel  (tiny packets, real-time)
+ *   wsSensors  → /lidar + snapshots
+ *   wsRgb      → /color_image
+ *   wsDepth    → /depth_image
+ *
+ * All messages are LCM-encoded binary packets using @dimos/msgs, sent over
+ * WebSocket to the bridge server which relays them to/from dimos via LCM/UDP.
+ */
+
+// @ts-ignore — CDN import (runs in browser, no Deno/Node type resolution)
+import {
+  encodePacket,
+  decodePacket,
+  geometry_msgs,
+  sensor_msgs,
+  std_msgs,
+} from "https://esm.sh/jsr/@dimos/msgs@0.1.4";
+
+// -- Channels ----------------------------------------------------------------
+const CH_CMD_VEL = "/cmd_vel#geometry_msgs.Twist";
+const CH_ODOM = "/odom#geometry_msgs.PoseStamped";
+const CH_IMAGE = "/color_image#sensor_msgs.Image";
+const CH_DEPTH = "/depth_image#sensor_msgs.Image";
+const CH_LIDAR = "/lidar#sensor_msgs.PointCloud2";
+
+// -- Default publish rates (ms) ----------------------------------------------
+const DEFAULT_RATES: PublishRates = { odom: 20, lidar: 200, images: 200 }; // 50 Hz odom, 5 Hz lidar, 5 Hz images
+const CMD_VEL_TIMEOUT_MS = 500;
+const BRIDGE_DEBUG = false;
+const LIDAR_POINT_STEP = 16;
+
+// -- Types --------------------------------------------------------------------
+
+export interface PublishRates { odom: number; lidar: number; images: number; }
+export interface SensorEnable { depth: boolean; }
+
+export interface RgbFrame {
+  data: Uint8Array;
+  width: number;
+  height: number;
+}
+
+export interface DepthFrame {
+  data: Float32Array;
+  width: number;
+  height: number;
+}
+
+export interface LidarFrame {
+  numPoints: number;
+  points: Float32Array;    // N*3 interleaved XYZ
+  intensity?: Float32Array; // N
+}
+
+export interface OdomPose {
+  x: number; y: number; z: number;
+  qx: number; qy: number; qz: number; qw: number;
+}
+
+export interface SensorSources {
+  captureRgb: () => RgbFrame | null;
+  captureDepth: () => DepthFrame | null;
+  captureLidar: () => LidarFrame | null;
+  getOdomPose: () => OdomPose | null;
+}
+
+export type FrameTransform = "identity" | "ros";
+
+export interface DimosBridgeOptions {
+  wsUrl?: string;
+  agent: any;
+  sensorSources: SensorSources;
+  rates?: Partial;
+  sensorEnable?: Partial;
+  frameTransform?: FrameTransform;
+}
+
+export class DimosBridge {
+  wsUrl: string;
+  agent: any;
+  sensors: SensorSources;
+  rates: PublishRates;
+  sensorEnable: SensorEnable;
+  frameTransform: FrameTransform;
+
+  // Separate sockets so depth backlog does not starve RGB.
+  wsControl: WebSocket | null;   // odom + cmd_vel (tiny, real-time)
+  wsSensors: WebSocket | null;   // lidar + snapshots
+  wsRgb: WebSocket | null;       // color image
+  wsDepth: WebSocket | null;     // depth image
+
+  // Keep legacy .ws alias pointing to control for compatibility
+  get ws(): WebSocket | null { return this.wsControl; }
+
+  _timers: Record>;
+  _dirty: { odom: boolean; lidar: boolean; images: boolean };
+  _rafId: number | null;
+  _connected: boolean;
+
+  _cmdVel: { linX: number; linY: number; linZ: number; angX: number; angY: number; angZ: number } | null;
+  _cmdVelStamp: number;
+  _serverLidar: boolean;
+  _lidarBuf: ArrayBuffer;
+  _lidarView: DataView;
+  _lidarCapacityPoints: number;
+  _pc2Fields: any[];
+
+  constructor({ wsUrl, agent, sensorSources, rates, sensorEnable, frameTransform }: DimosBridgeOptions) {
+    const protocol = location.protocol === "https:" ? "wss:" : "ws:";
+    this.wsUrl = wsUrl || `${protocol}//${location.host}`;
+    this.agent = agent;
+    this.sensors = sensorSources;
+    this.rates = { ...DEFAULT_RATES, ...rates };
+    this.sensorEnable = { depth: true, ...sensorEnable };
+    this.frameTransform = frameTransform || "ros";
+    this.wsControl = null;
+    this.wsSensors = null;
+    this.wsRgb = null;
+    this.wsDepth = null;
+    this._timers = {};
+    this._dirty = { odom: false, lidar: false, images: false };
+    this._rafId = null;
+    this._connected = false;
+    this._cmdVel = null;
+    this._cmdVelStamp = 0;
+    this._serverLidar = false;
+    this._lidarBuf = new ArrayBuffer(0);
+    this._lidarView = new DataView(this._lidarBuf);
+    this._lidarCapacityPoints = 0;
+    this._pc2Fields = [
+      new sensor_msgs.PointField({ name: "x", offset: 0, datatype: 7, count: 1 }),
+      new sensor_msgs.PointField({ name: "y", offset: 4, datatype: 7, count: 1 }),
+      new sensor_msgs.PointField({ name: "z", offset: 8, datatype: 7, count: 1 }),
+      new sensor_msgs.PointField({ name: "intensity", offset: 12, datatype: 7, count: 1 }),
+    ];
+  }
+
+  connect(): void {
+    // Read channel from URL param (for multi-page parallel evals)
+    const channel = new URLSearchParams(location.search).get("channel") || "";
+    const channelSuffix = channel ? `&channel=${channel}` : "";
+
+    // Control socket: odom out, cmd_vel in
+    this.wsControl = new WebSocket(this.wsUrl + "?ch=control" + channelSuffix);
+    this.wsControl.binaryType = "arraybuffer";
+
+    this.wsControl.onopen = () => {
+      console.log("[DimosBridge] control WS connected");
+      this._connected = true;
+      this._startPublishing();
+      this._flushPendingCommands();
+    };
+
+    this.wsControl.onmessage = (event: MessageEvent) => {
+      // Text messages: server-side physics pose updates + embodiment config
+      if (typeof event.data === "string") {
+        try {
+          const msg = JSON.parse(event.data);
+          if (msg.type === "pose") {
+            this._handleServerPose(msg.x, msg.y, msg.z, msg.yaw);
+          } else if (msg.type === "embodimentConfig") {
+            this._handleEmbodimentConfig(msg);
+          }
+        } catch {}
+        return;
+      }
+      // Binary messages: LCM packets (cmd_vel relay)
+      if (!(event.data instanceof ArrayBuffer)) return;
+      try {
+        const raw = new Uint8Array(event.data);
+        const { channel, data } = decodePacket(raw);
+        this._handlePacket(channel, data);
+      } catch {}
+    };
+
+    this.wsControl.onclose = () => {
+      console.log("[DimosBridge] control WS disconnected, reconnecting in 2s...");
+      this._connected = false;
+      this._stopPublishing();
+      setTimeout(() => this.connect(), 2000);
+    };
+
+    this.wsControl.onerror = () => {};
+
+    // Sensor socket: lidar + snapshots out (no incoming expected)
+    this.wsSensors = new WebSocket(this.wsUrl + "?ch=sensors" + channelSuffix);
+    this.wsSensors.binaryType = "arraybuffer";
+
+    this.wsSensors.onopen = () => {
+      console.log("[DimosBridge] sensor WS connected");
+    };
+
+    this.wsSensors.onclose = () => {
+      console.log("[DimosBridge] sensor WS disconnected");
+    };
+
+    this.wsSensors.onerror = () => {};
+
+    this.wsRgb = new WebSocket(this.wsUrl + "?ch=rgb" + channelSuffix);
+    this.wsRgb.binaryType = "arraybuffer";
+    this.wsRgb.onclose = () => {
+      console.log("[DimosBridge] RGB WS disconnected");
+    };
+    this.wsRgb.onerror = () => {};
+
+    this.wsDepth = new WebSocket(this.wsUrl + "?ch=depth" + channelSuffix);
+    this.wsDepth.binaryType = "arraybuffer";
+    this.wsDepth.onclose = () => {
+      console.log("[DimosBridge] depth WS disconnected");
+    };
+    this.wsDepth.onerror = () => {};
+  }
+
+  // -- Incoming packets -------------------------------------------------------
+
+  _handlePacket(channel: string, data: any): void {
+    if (channel === CH_CMD_VEL) {
+      this._handleCmdVel(data);
+    }
+  }
+
+  _handleCmdVel(twist: any): void {
+    const lin = twist.linear;
+    const ang = twist.angular;
+
+    let linX: number, linY: number, linZ: number;
+    let angX: number, angY: number, angZ: number;
+
+    if (this.frameTransform === "ros") {
+      // ROS → Three.js: inverse of the cyclic permutation (x→y, y→z, z→x)
+      linX = lin.y;
+      linY = lin.z;
+      linZ = lin.x;
+      angX = ang.y;
+      angY = ang.z;
+      angZ = ang.x;
+    } else {
+      linX = lin.x; linY = lin.y; linZ = lin.z;
+      angX = ang.x; angY = ang.y; angZ = ang.z;
+    }
+
+    this._cmdVel = { linX, linY, linZ, angX, angY, angZ };
+    this._cmdVelStamp = Date.now();
+  }
+
+  /** Get current velocity, auto-zeroing after CMD_VEL_TIMEOUT_MS (safety stop). */
+  getCmdVel(): { linX: number; linY: number; linZ: number; angX: number; angY: number; angZ: number } {
+    if (!this._cmdVel || Date.now() - this._cmdVelStamp > CMD_VEL_TIMEOUT_MS) {
+      return { linX: 0, linY: 0, linZ: 0, angX: 0, angY: 0, angZ: 0 };
+    }
+    return this._cmdVel;
+  }
+
+  /** Handle server-side physics pose update (Three.js Y-up frame). */
+  _handleServerPose(x: number, y: number, z: number, yaw: number): void {
+    if (!this.agent) return;
+    // Move the agent body to the server-authoritative position
+    if (this.agent.body) {
+      this.agent.body.setNextKinematicTranslation({ x, y, z });
+    }
+    if (this.agent.group) {
+      this.agent.group.rotation.y = yaw;
+    }
+    // Update engine's _dimosYaw for sensor capture / odom pose reading
+    if ((window as any).__dimosSetYaw) {
+      (window as any).__dimosSetYaw(yaw);
+    }
+    // Store for odom/sensor capture
+    this._serverPose = { x, y, z, yaw };
+  }
+
+  _serverPose: { x: number; y: number; z: number; yaw: number } | null = null;
+
+  _handleEmbodimentConfig(msg: any): void {
+    console.log("[DimosBridge] embodiment config received:", msg.embodimentType || "quadruped");
+    // Apply config to engine globals (dimensions, speed, type)
+    if ((window as any).applyEmbodiment) {
+      (window as any).applyEmbodiment(msg);
+    }
+    // Swap the agent's avatar model if avatarUrl changed
+    if (this.agent && msg.avatarUrl) {
+      const urls = Array.isArray(msg.avatarUrl) ? msg.avatarUrl : [msg.avatarUrl];
+      this.agent.avatarUrl = urls;
+      // Update dimensions on the agent so _applyGLB auto-fits correctly
+      if (msg.radius != null) this.agent.radius = msg.radius;
+      if (msg.halfHeight != null) this.agent.halfHeight = msg.halfHeight;
+      // Remove current model and reload
+      if (this.agent.model) {
+        this.agent.group.remove(this.agent.model);
+        this.agent.model = null;
+      }
+      this.agent._loadGLB();
+      // Scenes that return `embodiment: null` ship with the agent's group
+      // hidden (engine.js sets `group.visible = false`).  Dimos sending an
+      // embodimentConfig is the signal that an external agent is now
+      // driving — re-enable visibility so the model actually renders.
+      if (this.agent.group) this.agent.group.visible = true;
+    }
+  }
+
+  // -- Outgoing sensor data ---------------------------------------------------
+
+  sceneReady = false;
+
+  _startPublishing(): void {
+    // No lidar timer — server-side lidar handles it via LCM directly.
+    // Images default 5 Hz (configurable via rates.images)
+    if (this.rates.images > 0) {
+      this._timers["images"] = setInterval(() => this._publishImages(), this.rates.images);
+    }
+  }
+
+  _makeHeader(frameId: string): any {
+    const now = Date.now();
+    return new std_msgs.Header({
+      stamp: new std_msgs.Time({ sec: Math.floor(now / 1000), nsec: (now % 1000) * 1_000_000 }),
+      frame_id: frameId,
+    });
+  }
+
+  _publishOdom(): void {
+    if (!this._isControlSocketOpen()) return;
+    this._publishOdomSync(this._makeHeader("world"));
+  }
+
+  _publishLidar(): void {
+    if (!this._isSocketOpen(this.wsSensors)) return;
+    this._publishLidarSync(this._makeHeader("world"));
+  }
+
+  _publishImages(): void {
+    if (!this._isSocketOpen(this.wsRgb) && !this._isSocketOpen(this.wsDepth)) return;
+    const camHeader = this._makeHeader("camera_optical");
+    if (this._isSocketOpen(this.wsRgb)) this._publishRgbSync(camHeader);
+    if (this.sensorEnable.depth && this._isSocketOpen(this.wsDepth)) this._publishDepthSync(camHeader);
+  }
+
+  // -- Odom -------------------------------------------------------------------
+
+  _odomDbgN = 0;
+
+  _publishOdomSync(header: any): void {
+    try {
+      const pose = this.sensors.getOdomPose();
+      if (!pose) return;
+
+      this._odomDbgN++;
+
+      // Three.js (Y-up) → ROS (Z-up) cyclic permutation: x→y, y→z, z→x
+      const rosQx = pose.qz;
+      const rosQy = pose.qx;
+      const rosQz = pose.qy;
+      const rosQw = pose.qw;
+
+      const q = new geometry_msgs.Quaternion();
+      q.x = rosQx; q.y = rosQy; q.z = rosQz; q.w = rosQw;
+      const pt = new geometry_msgs.Point();
+      pt.x = pose.z; pt.y = pose.x; pt.z = pose.y;
+      const p = new geometry_msgs.Pose();
+      p.position = pt;
+      p.orientation = q;
+
+      header.seq = this._odomDbgN;
+      const odomMsg = new geometry_msgs.PoseStamped();
+      odomMsg.header = header;
+      odomMsg.pose = p;
+
+      if (BRIDGE_DEBUG && (this._odomDbgN <= 3 || this._odomDbgN % 100 === 0)) {
+        console.log(`[odom TX seq=${this._odomDbgN}] qz=${rosQz.toFixed(4)} qw=${rosQw.toFixed(4)}`);
+      }
+
+      // Send on CONTROL socket (not sensor socket)
+      this._sendControl(CH_ODOM, odomMsg);
+    } catch (e) {
+      console.warn("[DimosBridge] odom publish error:", e);
+    }
+  }
+
+  _stopPublishing(): void {
+    for (const k of Object.keys(this._timers)) clearInterval(this._timers[k]);
+    this._timers = {};
+    if (this._rafId) cancelAnimationFrame(this._rafId);
+    this._rafId = null;
+  }
+
+  /** Send on the control WebSocket (odom, small real-time data) */
+  _sendControl(channel: string, msg: any): void {
+    const ws = this.wsControl;
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
+    ws.send(encodePacket(channel, msg));
+  }
+
+  /** Send on a sensor WebSocket (images, lidar — large data). */
+  _sendSensor(ws: WebSocket | null, channel: string, msg: any): void {
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
+    ws.send(encodePacket(channel, msg));
+  }
+
+  /** Legacy _send — routes to appropriate socket based on channel */
+  _send(channel: string, msg: any): void {
+    if (channel === CH_ODOM) {
+      this._sendControl(channel, msg);
+    } else if (channel === CH_IMAGE) {
+      this._sendSensor(this.wsRgb, channel, msg);
+    } else if (channel === CH_DEPTH) {
+      this._sendSensor(this.wsDepth, channel, msg);
+    } else {
+      this._sendSensor(this.wsSensors, channel, msg);
+    }
+  }
+
+  // -- RGB --------------------------------------------------------------------
+
+  _publishRgbSync(header: any): void {
+    try {
+      if (!this._isSocketOpen(this.wsRgb)) return;
+      const frame = this.sensors.captureRgb();
+      if (!frame) return;
+
+      this._sendSensor(this.wsRgb, CH_IMAGE, new sensor_msgs.Image({
+        header,
+        height: frame.height,
+        width: frame.width,
+        encoding: "jpeg",
+        is_bigendian: 0,
+        step: 0,  // not applicable for compressed format
+        data_length: frame.data.length,
+        data: frame.data,
+      }));
+    } catch (e) {
+      console.warn("[DimosBridge] RGB publish error:", e);
+    }
+  }
+
+  // -- Depth ------------------------------------------------------------------
+
+  _depthU16: Uint16Array | null = null;
+
+  _publishDepthSync(header: any): void {
+    try {
+      if (!this._isSocketOpen(this.wsDepth)) return;
+      const frame = this.sensors.captureDepth();
+      if (!frame) return;
+
+      // Quantize float32 meters → uint16 millimeters (0–65.535m range, 1mm precision)
+      const n = frame.data.length;
+      if (!this._depthU16 || this._depthU16.length !== n) {
+        this._depthU16 = new Uint16Array(n);
+      }
+      const f32 = frame.data;
+      const u16 = this._depthU16;
+      for (let i = 0; i < n; i++) {
+        const mm = f32[i] * 1000;
+        u16[i] = mm > 65535 ? 65535 : mm < 0 ? 0 : mm;
+      }
+      const depthBytes = new Uint8Array(u16.buffer, u16.byteOffset, u16.byteLength);
+
+      this._sendSensor(this.wsDepth, CH_DEPTH, new sensor_msgs.Image({
+        header,
+        height: frame.height,
+        width: frame.width,
+        encoding: "16UC1",
+        is_bigendian: 0,
+        step: frame.width * 2,
+        data_length: depthBytes.length,
+        data: depthBytes,
+      }));
+    } catch (e) {
+      console.warn("[DimosBridge] depth publish error:", e);
+    }
+  }
+
+  // -- LiDAR ------------------------------------------------------------------
+
+  _lidarDbgN = 0;
+  _publishLidarSync(header: any): void {
+    try {
+      if (!this._isSocketOpen(this.wsSensors)) return;
+      const frame = this.sensors.captureLidar();
+      this._lidarDbgN++;
+      if (BRIDGE_DEBUG && (this._lidarDbgN <= 3 || this._lidarDbgN % 100 === 0)) {
+        console.log(`[DimosBridge] lidar #${this._lidarDbgN}: ${frame ? frame.numPoints : 'null'} pts, sensorWS=${this.wsSensors?.readyState}`);
+      }
+      if (!frame) return;
+
+      const numPoints = frame.numPoints || 0;
+      if (numPoints === 0) return;
+
+      this._ensureLidarCapacity(numPoints);
+      const pointStep = LIDAR_POINT_STEP;
+      const view = this._lidarView;
+      const pts = frame.points;
+      const intensity = frame.intensity;
+
+      // Points are Three.js world-frame (Y-up).
+      // Convert to ROS world-frame (Z-up): cyclic permutation x→y, y→z, z→x
+      for (let i = 0; i < numPoints; i++) {
+        const off = i * pointStep;
+        const tx = pts[i * 3 + 0], ty = pts[i * 3 + 1], tz = pts[i * 3 + 2];
+        view.setFloat32(off,     tz, true);   // ROS x = Three.js z
+        view.setFloat32(off + 4, tx, true);   // ROS y = Three.js x
+        view.setFloat32(off + 8, ty, true);   // ROS z = Three.js y
+        view.setFloat32(off + 12, intensity ? intensity[i] : 1.0, true);
+      }
+
+      this._sendSensor(this.wsSensors, CH_LIDAR, new sensor_msgs.PointCloud2({
+        header,
+        height: 1,
+        width: numPoints,
+        fields_length: this._pc2Fields.length,
+        fields: this._pc2Fields,
+        is_bigendian: 0,
+        point_step: pointStep,
+        row_step: numPoints * pointStep,
+        data_length: numPoints * pointStep,
+        data: new Uint8Array(this._lidarBuf, 0, numPoints * pointStep),
+        is_dense: 1,
+      }));
+    } catch (e) {
+      console.warn("[DimosBridge] LiDAR publish error:", e);
+    }
+  }
+
+  _pendingCommands: Record[] = [];
+
+  /** Send a JSON command on the control WebSocket.  Queues if the socket
+   * isn't OPEN yet — _flushPendingCommands() drains on onopen. */
+  sendCommand(cmd: Record): void {
+    const ws = this.wsControl;
+    if (ws && ws.readyState === WebSocket.OPEN) {
+      ws.send(JSON.stringify(cmd));
+    } else {
+      this._pendingCommands.push(cmd);
+    }
+  }
+
+  _flushPendingCommands(): void {
+    const ws = this.wsControl;
+    if (!ws || ws.readyState !== WebSocket.OPEN) return;
+    const pending = this._pendingCommands;
+    this._pendingCommands = [];
+    if (pending.length) console.log(`[DimosBridge] flushing ${pending.length} queued command(s)`);
+    for (const cmd of pending) ws.send(JSON.stringify(cmd));
+  }
+
+  dispose(): void {
+    this._stopPublishing();
+    if (this.wsControl) { this.wsControl.onclose = null; this.wsControl.close(); }
+    if (this.wsSensors) { this.wsSensors.onclose = null; this.wsSensors.close(); }
+    if (this.wsRgb) { this.wsRgb.onclose = null; this.wsRgb.close(); }
+    if (this.wsDepth) { this.wsDepth.onclose = null; this.wsDepth.close(); }
+    this.wsControl = null;
+    this.wsSensors = null;
+    this.wsRgb = null;
+    this.wsDepth = null;
+  }
+
+  _isControlSocketOpen(): boolean {
+    return !!this.wsControl && this.wsControl.readyState === WebSocket.OPEN;
+  }
+
+  _isSocketOpen(ws: WebSocket | null): boolean {
+    return !!ws && ws.readyState === WebSocket.OPEN;
+  }
+
+  _ensureLidarCapacity(numPoints: number): void {
+    if (numPoints <= this._lidarCapacityPoints) return;
+    this._lidarCapacityPoints = numPoints;
+    this._lidarBuf = new ArrayBuffer(numPoints * LIDAR_POINT_STEP);
+    this._lidarView = new DataView(this._lidarBuf);
+  }
+}
diff --git a/misc/DimSim/src/engine.js b/misc/DimSim/src/engine.js
new file mode 100644
index 0000000000..97508bdbd7
--- /dev/null
+++ b/misc/DimSim/src/engine.js
@@ -0,0 +1,7684 @@
+import "./style.css";
+
+import * as THREE from "three";
+import { PointerLockControls } from "three/examples/jsm/controls/PointerLockControls.js";
+import { AiAvatar } from "./AiAvatar.js";
+import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
+import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js";
+import { RoundedBoxGeometry } from "three/examples/jsm/geometries/RoundedBoxGeometry.js";
+
+let threeRendererRef = null;
+let threeSceneRef = null;
+let RAPIER = null;
+let _rapierInitPromise = null;
+let rapierWorld = null;
+let worldBody = null;
+let playerBody = null;
+let playerCollider = null;
+let flyMode = true;
+let ghostMode = true;
+let characterController = null;
+let _rapierStepFaultCount = 0;
+let walkVerticalVel = 0;
+let aiAgents = [];
+
+// Track asset collider handles for cleanup
+const _assetColliderHandles = new Map();
+
+// Player dimensions (tuned smaller so you can fit inside tighter splat/glb interiors).
+const PLAYER_RADIUS = 0.12;
+const PLAYER_HALF_HEIGHT = 0.25;
+const PLAYER_EYE_HEIGHT = PLAYER_HALF_HEIGHT + PLAYER_RADIUS + 0.2; // camera above body origin
+const LIDAR_MOUNT_HEIGHT = 0.35; // Go2 lidar mount height above ground
+// Real Go2 front camera height above ground in its home/operating crouch pose.
+// Used for agent-POV captures so the rendered view matches what the hardware
+// camera would see (low, not eye-level). ~0.30 m matches the MuJoCo go2.xml
+// home keyframe (thigh 0.9, calf -1.8) which the Go2 actually stands in.
+const GO2_CAMERA_HEIGHT = 0.30;
+// Go2 front RGB-D camera is mounted on the front of the head, forward of the
+// body center. Offsetting places the camera origin outside the robot mesh so
+// POV captures don't render the inside of the body.
+const GO2_CAMERA_FORWARD = 0.18;
+
+const canvas = document.getElementById("c");
+const statusEl = document.getElementById("status");
+const resetBtn = document.getElementById("reset");
+const assetsListEl = document.getElementById("assets-list"); // null in sim-only
+const overlayEl = document.getElementById("overlay");
+const simPanelCollapseBtn = document.getElementById("sim-panel-collapse");
+const simPanelOpenBtn = document.getElementById("sim-panel-open");
+const statusSimEl = document.getElementById("status-sim");
+const spawnAiBtn = document.getElementById("spawn-ai");
+const agentPanelEl = document.getElementById("agent-panel");
+const agentLastEl = document.getElementById("agent-last");
+const agentObservationEl = document.getElementById("agent-observation");
+const agentShotImgEl = document.getElementById("agent-shot-img");
+const agentReqMetaEl = document.getElementById("agent-req-meta");
+const agentReqPromptEl = document.getElementById("agent-req-prompt");
+const agentReqContextEl = document.getElementById("agent-req-context");
+const agentRespRawEl = document.getElementById("agent-resp-raw");
+const agentLogEl = document.getElementById("agent-log");
+const agentTaskStatusEl = document.getElementById("agent-task-status");
+const agentTaskInputEl = document.getElementById("agent-task-input");
+const agentTaskStartBtn = document.getElementById("agent-task-start");
+const agentTaskEndBtn = document.getElementById("agent-task-end");
+const simCameraModeToggleBtn = document.getElementById("sim-camera-toggle");
+const simViewRgbdBtn = document.getElementById("sim-view-rgbd");
+const simViewLidarBtn = document.getElementById("sim-view-lidar");
+const simViewCompareBtn = document.getElementById("sim-view-compare");
+const simRgbdGrayBtn = document.getElementById("sim-rgbd-gray");
+const simRgbdColormapBtn = document.getElementById("sim-rgbd-colormap");
+const simRgbdAutoRangeBtn = document.getElementById("sim-rgbd-auto-range");
+const simRgbdNoiseBtn = document.getElementById("sim-rgbd-noise");
+const simRgbdSpeckleBtn = document.getElementById("sim-rgbd-speckle");
+const simRgbdMinEl = document.getElementById("sim-rgbd-min");
+const simRgbdMaxEl = document.getElementById("sim-rgbd-max");
+const simRgbdMinValEl = document.getElementById("sim-rgbd-min-val");
+const simRgbdMaxValEl = document.getElementById("sim-rgbd-max-val");
+const simRgbdPcOverlayBtn = document.getElementById("sim-rgbd-pc-overlay");
+const simLidarColorRangeBtn = document.getElementById("sim-lidar-color-range");
+const simLidarOrderedDebugBtn = document.getElementById("sim-lidar-ordered-debug");
+const simLidarNoiseBtn = document.getElementById("sim-lidar-noise");
+const simLidarMultiReturnBtn = document.getElementById("sim-lidar-multireturn");
+
+// ── dimos integration mode ──────────────────────────────────────────────────
+// Activated via ?dimos=1 URL param or window.__dimosMode (injected by Deno bridge server).
+// When active: internal VLM loop disabled, agent pose driven by external /odom,
+// sensor data (RGB, depth, LiDAR) published as LCM packets via WebSocket bridge.
+const _dimosParams = new URLSearchParams(window.location.search);
+const dimosMode = _dimosParams.get("dimos") === "1" || window.__dimosMode === true;
+if (dimosMode) document.body.classList.add("dimos-mode");
+const dimosScene = _dimosParams.get("scene") || window.__dimosScene || null;
+let simSensorViewMode = "rgb"; // "rgb" | "rgbd" | "lidar"
+let simCompareView = false; // show RGB + RGB-D + LiDAR side-by-side
+let simPanelCollapsed = false;
+let simUserCameraMode = localStorage.getItem("sparkWorldSimCameraMode") === "agent" ? "agent" : "user";
+let rgbdVizMode = "colormap"; // "colormap" | "gray"
+let rgbdAutoRange = true;
+let rgbdRangeMinM = 0.2;
+let rgbdRangeMaxM = 12.0;
+let rgbdNoiseEnabled = false;
+let rgbdSpeckleEnabled = false;
+let rgbdPcOverlayOnLidar = false;
+let lidarColorByRange = false; // false = intensity grayscale (realistic default)
+let lidarOrderedDebugView = false; // false=unordered 3D cloud, true=ordered rings debug
+let lidarNoiseEnabled = false; // deterministic range noise + dropouts
+let lidarMultiReturnMode = "strongest"; // "strongest" | "last"
+let worldKey = localStorage.getItem("sparkWorldLastWorldKey") ?? "default";
+
+function clampNum(v, min, max) {
+  const n = Number(v);
+  if (!Number.isFinite(n)) return min;
+  return Math.min(max, Math.max(min, n));
+}
+
+function normalizeHexColor(value, fallback) {
+  try {
+    return `#${new THREE.Color(value).getHexString()}`;
+  } catch {
+    return fallback;
+  }
+}
+
+function createDefaultSceneSettings() {
+  return {
+    sky: {
+      enabled: false,
+      topColor: "#7aa9ff",
+      horizonColor: "#cfe5ff",
+      bottomColor: "#f4f8ff",
+      brightness: 1.0,
+      softness: 1.35,
+      sunStrength: 0.18,
+      sunHeight: 0.45,
+    },
+  };
+}
+
+function normalizeSceneSettings(raw) {
+  const defaults = createDefaultSceneSettings();
+  const src = raw && typeof raw === "object" ? raw : {};
+  const srcSky = src.sky && typeof src.sky === "object" ? src.sky : {};
+  return {
+    sky: {
+      enabled: !!srcSky.enabled,
+      topColor: normalizeHexColor(srcSky.topColor, defaults.sky.topColor),
+      horizonColor: normalizeHexColor(srcSky.horizonColor, defaults.sky.horizonColor),
+      bottomColor: normalizeHexColor(srcSky.bottomColor, defaults.sky.bottomColor),
+      brightness: clampNum(srcSky.brightness, 0.2, 2.0),
+      softness: clampNum(srcSky.softness, 0.2, 3.0),
+      sunStrength: clampNum(srcSky.sunStrength, 0.0, 1.0),
+      sunHeight: clampNum(srcSky.sunHeight, -0.2, 1.0),
+    },
+  };
+}
+
+function serializeSceneSettings() {
+  return normalizeSceneSettings(sceneSettings);
+}
+
+let sceneSettings = createDefaultSceneSettings();
+let tags = [];
+let selectedTagId = null;
+let draftTag = null; // tag being edited/created
+const tagsGroup = new THREE.Group();
+tagsGroup.name = "tagsGroup";
+
+// Assets (Edit mode)
+let assets = []; // [{id,title,notes,states:[{id,name,glbName,dataBase64,interactions:[{id,label,to}]}],currentStateId,actions:[{id,label,from,to}],transform:{...}, _colliderHandle?}]
+let selectedAssetId = null;
+const assetsGroup = new THREE.Group();
+assetsGroup.name = "assetsGroup";
+const gltfLoader = new GLTFLoader();
+
+// =============================================================================
+// BLOB SHADOW – lightweight planar shadow for GLB assets (no shadow maps needed)
+// =============================================================================
+// Procedural radial-gradient texture (created once, shared by all blob shadows)
+let _blobShadowTexture = null;
+let _blobShadowGeometry = null;
+
+function getBlobShadowTexture() {
+  if (_blobShadowTexture) return _blobShadowTexture;
+  const size = 128;
+  const canvas = document.createElement("canvas");
+  canvas.width = size;
+  canvas.height = size;
+  // Use a GRAYSCALE gradient: white = opaque shadow, black = transparent.
+  // This texture will be used as an alphaMap (only the luminance/R channel matters).
+  const ctx = canvas.getContext("2d");
+  const gradient = ctx.createRadialGradient(size / 2, size / 2, 0, size / 2, size / 2, size / 2);
+  gradient.addColorStop(0, "#ffffff");     // center: fully opaque
+  gradient.addColorStop(0.35, "#cccccc");
+  gradient.addColorStop(0.65, "#444444");
+  gradient.addColorStop(1, "#000000");      // edge: fully transparent
+  ctx.fillStyle = gradient;
+  ctx.fillRect(0, 0, size, size);
+  _blobShadowTexture = new THREE.CanvasTexture(canvas);
+  _blobShadowTexture.needsUpdate = true;
+  return _blobShadowTexture;
+}
+
+function getBlobShadowGeometry() {
+  if (_blobShadowGeometry) return _blobShadowGeometry;
+  _blobShadowGeometry = new THREE.PlaneGeometry(1, 1);
+  // Rotate so the plane lies flat on the XZ ground plane (face up)
+  _blobShadowGeometry.rotateX(-Math.PI / 2);
+  return _blobShadowGeometry;
+}
+
+// Create a blob shadow mesh sized to an asset's footprint.
+// Returns a Mesh that should be added as a child of the asset root.
+// `opts` = { opacity, scale, stretch, rotationDeg, offsetX, offsetY, offsetZ }
+function createBlobShadow(assetId, footprintX, footprintZ, localGroundY, opts) {
+  const o = opts || {};
+  const userScale = o.scale ?? 1.0;
+  const userOpacity = o.opacity ?? 0.5;
+  const stretch = o.stretch ?? 1.0;     // >1 elongates X, <1 elongates Z
+  const rotDeg = o.rotationDeg ?? 0;    // rotation around Y in degrees
+  const offsetX = o.offsetX ?? 0;
+  const offsetY = o.offsetY ?? 0;
+  const offsetZ = o.offsetZ ?? 0;
+
+  // Base diameter from asset footprint, then apply user scale
+  const baseDiameter = Math.max(footprintX, footprintZ) * 1.1;
+  const d = baseDiameter * userScale;
+  if (d < 0.04) return null;
+
+  const mat = new THREE.MeshBasicMaterial({
+    color: 0x000000,
+    alphaMap: getBlobShadowTexture(),
+    transparent: true,
+    depthWrite: false,
+    depthTest: true,
+    opacity: userOpacity,
+    side: THREE.DoubleSide,
+    // Use ONLY constant depth bias. Slope-based factor causes the blob to
+    // appear to slide as the camera angle changes while moving.
+    polygonOffset: true,
+    polygonOffsetFactor: 0,
+    polygonOffsetUnits: -300,
+  });
+  const mesh = new THREE.Mesh(getBlobShadowGeometry(), mat);
+  // stretch > 1 makes the X axis wider; Z axis is inversely narrower to
+  // keep the overall area roughly constant.
+  const sx = d * stretch;
+  const sz = d / stretch;
+  mesh.scale.set(sx, 1, sz);
+  // Raise slightly so it stays on/just above floor.
+  mesh.position.set(offsetX, localGroundY + 0.08 + offsetY, offsetZ);
+  // The shared geometry is already rotated to lie on XZ. An additional Y
+  // rotation spins the ellipse around the vertical axis.
+  mesh.rotation.y = (rotDeg * Math.PI) / 180;
+  mesh.renderOrder = 1000;
+  mesh.castShadow = false;
+  mesh.receiveShadow = false;
+  mesh.name = `blobShadow:${assetId}`;
+  mesh.userData.isBlobShadow = true;
+  mesh.userData._baseDiameter = baseDiameter;
+  mesh.userData._baseLocalY = localGroundY + 0.08;
+  return mesh;
+}
+
+// =============================================================================
+// PRIMITIVES (Level Editor) – lightweight parametric shapes
+// =============================================================================
+let primitives = []; // [{id, type, name, dimensions:{...}, transform:{position,rotation,scale}, material:{color,roughness,metalness,textureDataUrl}, physics:bool, _colliderHandle?}]
+let selectedPrimitiveId = null;
+const _assetBumpVelocities = new Map(); // assetId -> THREE.Vector3
+const _playerPosPrevForBump = new THREE.Vector3();
+let _playerPosPrevForBumpValid = false;
+const _agentPosPrevForBump = new Map(); // agentId -> THREE.Vector3
+let _lastBumpSaveAt = 0;
+let _lastBumpColliderSyncAt = 0;
+const primitivesGroup = new THREE.Group();
+primitivesGroup.name = "primitivesGroup";
+
+const PRIMITIVE_DEFAULTS = {
+  box: {
+    width: 1,
+    height: 1,
+    depth: 1,
+    edgeRadius: 0,
+    edgeSegments: 4,
+    widthSegments: 1,
+    heightSegments: 1,
+    depthSegments: 1,
+  },
+  sphere: {
+    radius: 0.5,
+    widthSegments: 32,
+    heightSegments: 16,
+    phiStartDeg: 0,
+    phiLengthDeg: 360,
+    thetaStartDeg: 0,
+    thetaLengthDeg: 180,
+  },
+  cylinder: { radiusTop: 0.5, radiusBottom: 0.5, height: 1, radialSegments: 32, heightSegments: 1, openEnded: 0 },
+  cone: { radius: 0.5, height: 1, radialSegments: 32, heightSegments: 1, openEnded: 0 },
+  torus: { radius: 0.5, tube: 0.15, radialSegments: 16, tubularSegments: 48, arcDeg: 360 },
+  plane: { width: 2, height: 2, widthSegments: 1, heightSegments: 1 },
+};
+
+const PRIMITIVE_DIM_CONFIG = {
+  width: { min: 0.05, max: 50, step: 0.05 },
+  height: { min: 0.05, max: 50, step: 0.05 },
+  depth: { min: 0.05, max: 50, step: 0.05 },
+  radius: { min: 0.01, max: 20, step: 0.01 },
+  radiusTop: { min: 0.01, max: 20, step: 0.01 },
+  radiusBottom: { min: 0.01, max: 20, step: 0.01 },
+  tube: { min: 0.01, max: 10, step: 0.01 },
+  edgeRadius: { min: 0, max: 2.5, step: 0.01 },
+  edgeSegments: { min: 1, max: 12, step: 1, integer: true },
+  widthSegments: { min: 1, max: 128, step: 1, integer: true },
+  heightSegments: { min: 1, max: 128, step: 1, integer: true },
+  depthSegments: { min: 1, max: 128, step: 1, integer: true },
+  radialSegments: { min: 3, max: 128, step: 1, integer: true },
+  tubularSegments: { min: 3, max: 256, step: 1, integer: true },
+  phiStartDeg: { min: 0, max: 360, step: 1 },
+  phiLengthDeg: { min: 1, max: 360, step: 1 },
+  thetaStartDeg: { min: 0, max: 180, step: 1 },
+  thetaLengthDeg: { min: 1, max: 180, step: 1 },
+  arcDeg: { min: 1, max: 360, step: 1 },
+  openEnded: { min: 0, max: 1, step: 1, integer: true },
+};
+
+function formatPrimitiveDimValue(key, value) {
+  if (PRIMITIVE_DIM_CONFIG[key]?.integer) return String(Math.round(value));
+  if (key.endsWith("Deg")) return `${Math.round(value)}°`;
+  if (key === "openEnded") return value >= 0.5 ? "Yes" : "No";
+  return Number(value).toFixed(2);
+}
+
+const PRIMITIVE_DIM_LABELS = {
+  edgeRadius: "Roundness",
+  edgeSegments: "Round Detail",
+  widthSegments: "Detail X",
+  heightSegments: "Detail Y",
+  depthSegments: "Detail Z",
+  radialSegments: "Circle Detail",
+  tubularSegments: "Ring Detail",
+  phiStartDeg: "Horizontal Cut Start",
+  phiLengthDeg: "Horizontal Fill",
+  thetaStartDeg: "Vertical Cut Start",
+  thetaLengthDeg: "Vertical Fill",
+  arcDeg: "Ring Opening",
+  openEnded: "Open Ends",
+  radiusTop: "Top Radius",
+  radiusBottom: "Bottom Radius",
+};
+
+function getPrimitiveDimLabel(key) {
+  return PRIMITIVE_DIM_LABELS[key] || key.replace(/([A-Z])/g, " $1").replace(/^./, (s) => s.toUpperCase());
+}
+
+// =============================================================================
+// EDITOR LIGHTS – user-placed lights with full control
+// =============================================================================
+let editorLights = []; // [{id, type, name, color, intensity, position:{x,y,z}, target:{x,y,z}, distance, angle, penumbra, castShadow, _lightObj?, _helperObj?}]
+let groups = []; // [{id, name, children:[primId,...], pickable?}]
+const lightsGroup = new THREE.Group();
+lightsGroup.name = "lightsGroup";
+const _assetRaycaster = new THREE.Raycaster();
+const _agentAssetRaycaster = new THREE.Raycaster();
+const _tmpV1 = new THREE.Vector3();
+const _tmpV2 = new THREE.Vector3();
+const _tmpV3 = new THREE.Vector3();
+
+// Agent camera follow mode (first-person POV)
+let agentCameraFollow = false;
+let _agentFollowInitialized = false;
+
+// Agent task state — per-agent tasks for parallel execution.
+let agentTask = {
+  active: false,
+  instruction: "",
+  startedAt: 0,
+  finishedAt: 0,
+  finishedReason: "",
+  lastSummary: "",
+};
+const _agentTasks = new Map(); // agentId -> { active, instruction, startedAt, finishedAt, finishedReason, lastSummary }
+
+function _getAgentTask(agentId) {
+  return _agentTasks.get(agentId) || agentTask;
+}
+
+function _setAgentTask(agentId, task) {
+  _agentTasks.set(agentId, task);
+  // Keep global agentTask in sync with the most recent active task (for UI compat)
+  if (task.active) {
+    agentTask = { ...task };
+  }
+}
+let selectedAgentInspectorId = null;
+const agentInspectorStateById = new Map(); // id -> { shot, request, response }
+let agentCameraFollowId = null;
+let agentUiSelectedLabelEl = null;
+let agentUiSpawnBtn = null;
+let agentUiFollowBtn = null;
+let agentUiStopBtn = null;
+let agentUiRemoveBtn = null;
+let agentUiTaskInputEl = null;
+let agentUiTaskRunBtn = null;
+let agentTaskTargetId = null;
+let agentBadgeLayerEl = null;
+const agentBadgeElsById = new Map();
+const MAX_AGENT_COUNT = 4;
+
+// =============================================================================
+// WORLD MANIFEST & LOADING
+// =============================================================================
+
+// Helper to normalize asset schema (backward compat)
+// This function ensures all asset properties are properly loaded including states, interactions, and actions
+function normalizeAssetSchema(raw) {
+  // Ensure states exist
+  if (!raw.states || raw.states.length === 0) {
+    raw.states = [{
+      id: crypto.randomUUID(),
+      name: "default",
+      glbName: raw.glbName || "",
+      dataBase64: raw.dataBase64 || "",
+      interactions: [],
+    }];
+    raw.currentStateId = raw.states[0].id;
+  }
+  
+  // Ensure each state has interactions array
+  for (const state of raw.states) {
+    if (!Array.isArray(state.interactions)) {
+      state.interactions = [];
+    }
+  }
+  
+  // Build the normalized asset object
+  const normalized = {
+    id: raw.id ?? crypto.randomUUID(),
+    title: raw.title ?? "",
+    notes: raw.notes ?? "",
+    states: raw.states,
+    currentStateId: raw.currentStateId ?? raw.states[0]?.id,
+    actions: [], // Will be populated below
+    transform: raw.transform ?? { position: { x: 0, y: 0, z: 0 }, rotation: { x: 0, y: 0, z: 0 }, scale: { x: 1, y: 1, z: 1 } },
+    pickable: raw.pickable ?? false, // Can be picked up and moved
+    castShadow: raw.castShadow ?? false,
+    receiveShadow: raw.receiveShadow ?? false,
+    blobShadow: raw.blobShadow ?? null, // { opacity, scale, stretch, rotationDeg, offsetX, offsetY, offsetZ }
+  };
+  
+  // Copy actions if they exist in raw data
+  if (Array.isArray(raw.actions) && raw.actions.length > 0) {
+    normalized.actions = raw.actions.map(act => ({
+      id: act.id,
+      label: act.label || "toggle",
+      from: act.from,
+      to: act.to,
+    }));
+  } else {
+    // Backfill actions from state interactions if no actions array exists
+    for (const state of normalized.states) {
+      for (const interaction of state.interactions || []) {
+        if (interaction.to && interaction.to !== state.id) {
+          normalized.actions.push({
+            id: interaction.id || `act_${state.id}_${interaction.to}`,
+            label: interaction.label || "toggle",
+            from: state.id,
+            to: interaction.to,
+          });
+        }
+      }
+    }
+  }
+  
+  // Also backfill interactions from actions if any state is missing them
+  if (normalized.actions.length > 0) {
+    const actionsByFrom = new Map();
+    for (const act of normalized.actions) {
+      if (!actionsByFrom.has(act.from)) actionsByFrom.set(act.from, []);
+      actionsByFrom.get(act.from).push({ id: act.id, label: act.label, to: act.to });
+    }
+    for (const state of normalized.states) {
+      if (!state.interactions || state.interactions.length === 0) {
+        state.interactions = actionsByFrom.get(state.id) || [];
+      }
+    }
+  }
+  
+  return normalized;
+}
+
+const renderer = new THREE.WebGLRenderer({
+  canvas,
+  // SparkRenderer docs recommend antialias:false for splats (MSAA doesn't help splats and can hurt)
+  antialias: false,
+  powerPreference: "high-performance",
+  // Required for reading pixels from the canvas (agent POV capture)
+  preserveDrawingBuffer: true,
+});
+renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2));
+renderer.setSize(window.innerWidth, window.innerHeight, false);
+renderer.outputColorSpace = THREE.SRGBColorSpace;
+renderer.toneMapping = THREE.ACESFilmicToneMapping;
+renderer.toneMappingExposure = 1.1;
+
+// Shadows: OFF by default. Enabled dynamically only when a light actually casts shadows.
+// BasicShadowMap is fully deterministic (no PCF/stochastic filtering).
+renderer.shadowMap.enabled = false;
+renderer.shadowMap.type = THREE.BasicShadowMap;
+renderer.shadowMap.autoUpdate = false; // we control when shadow maps update
+
+const clock = new THREE.Clock();
+const scene = new THREE.Scene();
+scene.background = new THREE.Color(0x06070a);
+
+// Image-based lighting for PBR GLBs. This dramatically improves "too dark" assets.
+try {
+  const pmrem = new THREE.PMREMGenerator(renderer);
+  scene.environment = pmrem.fromScene(new RoomEnvironment(), 0.04).texture;
+  pmrem.dispose();
+} catch {
+  // ignore
+}
+
+// Make renderer/scene available to SparkRenderer initialization after dynamic import.
+threeRendererRef = renderer;
+threeSceneRef = scene;
+
+const camera = new THREE.PerspectiveCamera(
+  65,
+  window.innerWidth / window.innerHeight,
+  0.05,
+  2000
+);
+camera.position.set(0, 1.7, 4);
+
+// Lighting for non-splat geometry (assets/avatars).
+// Splats are mostly self-lit visually; GLB assets need strong, stable fill to avoid looking black.
+const ambientLight = new THREE.AmbientLight(0xffffff, 0.65);
+scene.add(ambientLight);
+
+const hemi = new THREE.HemisphereLight(0xffffff, 0x223344, 0.85);
+hemi.position.set(0, 10, 0);
+scene.add(hemi);
+
+const dir = new THREE.DirectionalLight(0xffffff, 1.6);
+dir.position.set(8, 14, 6);
+dir.castShadow = false; // off by default; user enables via Scene Lighting panel
+dir.shadow.mapSize.width = 512;
+dir.shadow.mapSize.height = 512;
+dir.shadow.camera.near = 0.5;
+dir.shadow.camera.far = 40;
+dir.shadow.camera.left = -15;
+dir.shadow.camera.right = 15;
+dir.shadow.camera.top = 15;
+dir.shadow.camera.bottom = -15;
+dir.shadow.bias = -0.003;
+scene.add(dir);
+
+// Headlamp-style light attached to the camera so assets are visible wherever they are placed.
+const headLamp = new THREE.PointLight(0xffffff, 1.4, 26, 1.5);
+headLamp.position.set(0, 1.0, 0.6);
+camera.add(headLamp);
+
+// Lightweight procedural sky dome (single draw call). This is intentionally
+// simple so it remains cheap for scale/headless workloads.
+const skyUniforms = {
+  uTop: { value: new THREE.Color("#7aa9ff") },
+  uHorizon: { value: new THREE.Color("#cfe5ff") },
+  uBottom: { value: new THREE.Color("#f4f8ff") },
+  uBrightness: { value: 1.0 },
+  uSoftness: { value: 1.35 },
+  uSunStrength: { value: 0.18 },
+  uSunDir: { value: new THREE.Vector3(0, 0.45, -1).normalize() },
+};
+const skyDome = new THREE.Mesh(
+  new THREE.SphereGeometry(220, 24, 16),
+  new THREE.ShaderMaterial({
+    uniforms: skyUniforms,
+    side: THREE.BackSide,
+    depthWrite: false,
+    vertexShader: `
+      varying vec3 vWorldDir;
+      void main() {
+        vec4 worldPos = modelMatrix * vec4(position, 1.0);
+        vWorldDir = normalize(worldPos.xyz - cameraPosition);
+        gl_Position = projectionMatrix * viewMatrix * worldPos;
+      }
+    `,
+    fragmentShader: `
+      varying vec3 vWorldDir;
+      uniform vec3 uTop;
+      uniform vec3 uHorizon;
+      uniform vec3 uBottom;
+      uniform float uBrightness;
+      uniform float uSoftness;
+      uniform float uSunStrength;
+      uniform vec3 uSunDir;
+      void main() {
+        float h = clamp(vWorldDir.y * 0.5 + 0.5, 0.0, 1.0);
+        float shaped = pow(h, max(0.15, uSoftness));
+        vec3 col = mix(uBottom, uHorizon, smoothstep(0.0, 0.55, shaped));
+        col = mix(col, uTop, smoothstep(0.45, 1.0, shaped));
+        float sun = pow(max(dot(normalize(vWorldDir), normalize(uSunDir)), 0.0), 220.0);
+        col += vec3(1.0, 0.92, 0.78) * sun * uSunStrength;
+        gl_FragColor = vec4(col * uBrightness, 1.0);
+      }
+    `,
+  })
+);
+skyDome.frustumCulled = false;
+skyDome.renderOrder = -1000;
+skyDome.visible = false;
+skyDome.userData.engineInternal = true;
+scene.add(skyDome);
+
+
+// Registry of built-in scene lights so the editor can expose them
+const sceneLights = [
+  { id: "_ambient",  label: "Ambient",     obj: ambientLight, type: "ambient" },
+  { id: "_hemi",     label: "Hemisphere",   obj: hemi,         type: "hemisphere" },
+  { id: "_dir",      label: "Directional",  obj: dir,          type: "directional" },
+  { id: "_headlamp", label: "Head Lamp",    obj: headLamp,     type: "point" },
+  { id: "_sky",      label: "Sky",          obj: skyDome,      type: "sky" },
+];
+scene.add(camera);
+
+// Avatar: simple capsule that follows the first-person camera.
+const avatar = new THREE.Mesh(
+  new THREE.CapsuleGeometry(PLAYER_RADIUS * 0.8, PLAYER_HALF_HEIGHT * 2.0, 6, 12),
+  new THREE.MeshStandardMaterial({ color: 0x7cc4ff, roughness: 0.5 })
+);
+avatar.castShadow = false;
+avatar.receiveShadow = false;
+avatar.visible = false; // always hidden; physics capsule handles collision
+avatar.userData.engineInternal = true;
+tagsGroup.userData.engineInternal = true;
+assetsGroup.userData.engineInternal = true;
+primitivesGroup.userData.engineInternal = true;
+lightsGroup.userData.engineInternal = true;
+scene.add(avatar);
+scene.add(tagsGroup);
+scene.add(assetsGroup);
+scene.add(primitivesGroup);
+scene.add(lightsGroup);
+
+
+// -----------------------------------------------------------------------------
+// Sim sensor view modes (deterministic + lightweight)
+// -----------------------------------------------------------------------------
+const DEFAULT_SCENE_BG = new THREE.Color(0x06070a);
+const RGBD_BG = new THREE.Color(0x000000);
+function applySceneSkySettings() {
+  const s = normalizeSceneSettings(sceneSettings).sky;
+  sceneSettings.sky = s;
+  skyUniforms.uTop.value.set(s.topColor);
+  skyUniforms.uHorizon.value.set(s.horizonColor);
+  skyUniforms.uBottom.value.set(s.bottomColor);
+  skyUniforms.uBrightness.value = s.brightness;
+  skyUniforms.uSoftness.value = s.softness;
+  skyUniforms.uSunStrength.value = s.sunStrength;
+  skyUniforms.uSunDir.value.set(0, s.sunHeight, -1).normalize();
+}
+function applySceneRgbBackground() {
+  if (sceneSettings.sky.enabled) {
+    skyDome.visible = true;
+    scene.background = null;
+  } else {
+    skyDome.visible = false;
+    scene.background = DEFAULT_SCENE_BG;
+  }
+}
+applySceneSkySettings();
+// RGB-D visualization range tuned for indoor robotics scenes (meters).
+const RGBD_MIN_DEPTH_M = 0.2;
+const RGBD_MAX_DEPTH_M = 12.0;
+const RGBD_AUTO_PERCENTILE_LOW = 0.05;
+const RGBD_AUTO_PERCENTILE_HIGH = 0.95;
+const RGBD_AUTO_RANGE_UPDATE_MS = 250;
+const RGBD_AUTO_RANGE_SMOOTH = 0.2;
+const RGBD_CLEAR_ALPHA = 1.0;
+rgbdRangeMinM = RGBD_MIN_DEPTH_M;
+rgbdRangeMaxM = RGBD_MAX_DEPTH_M;
+const _rgbdSize = new THREE.Vector2(
+  Math.max(1, Math.floor(window.innerWidth * renderer.getPixelRatio())),
+  Math.max(1, Math.floor(window.innerHeight * renderer.getPixelRatio()))
+);
+const rgbdDepthTarget = new THREE.WebGLRenderTarget(_rgbdSize.x, _rgbdSize.y, {
+  minFilter: THREE.NearestFilter,
+  magFilter: THREE.NearestFilter,
+  format: THREE.RGBAFormat,
+  type: THREE.UnsignedByteType,
+  depthBuffer: true,
+  stencilBuffer: false,
+});
+rgbdDepthTarget.texture.generateMipmaps = false;
+rgbdDepthTarget.depthTexture = new THREE.DepthTexture(_rgbdSize.x, _rgbdSize.y, THREE.UnsignedIntType);
+rgbdDepthTarget.depthTexture.minFilter = THREE.NearestFilter;
+rgbdDepthTarget.depthTexture.magFilter = THREE.NearestFilter;
+rgbdDepthTarget.depthTexture.generateMipmaps = false;
+const RGBD_PC_OVERLAY_RT_W = 192;
+const RGBD_PC_OVERLAY_RT_H = 108;
+const rgbdOverlayDepthTarget = new THREE.WebGLRenderTarget(RGBD_PC_OVERLAY_RT_W, RGBD_PC_OVERLAY_RT_H, {
+  minFilter: THREE.NearestFilter,
+  magFilter: THREE.NearestFilter,
+  format: THREE.RGBAFormat,
+  type: THREE.UnsignedByteType,
+  depthBuffer: true,
+  stencilBuffer: false,
+});
+rgbdOverlayDepthTarget.texture.generateMipmaps = false;
+rgbdOverlayDepthTarget.depthTexture = new THREE.DepthTexture(RGBD_PC_OVERLAY_RT_W, RGBD_PC_OVERLAY_RT_H, THREE.UnsignedIntType);
+rgbdOverlayDepthTarget.depthTexture.minFilter = THREE.NearestFilter;
+rgbdOverlayDepthTarget.depthTexture.magFilter = THREE.NearestFilter;
+rgbdOverlayDepthTarget.depthTexture.generateMipmaps = false;
+
+// RGB-D debug material (planar forward-axis depth from view-space z).
+// Kept only for debugging and no longer used as default RGB-D output.
+const rgbdPlanarDepthDebugMaterial = new THREE.ShaderMaterial({
+  uniforms: {
+    uMinDepth: { value: RGBD_MIN_DEPTH_M },
+    uMaxDepth: { value: RGBD_MAX_DEPTH_M },
+  },
+  vertexShader: `
+    varying float vLinearDepth;
+    void main() {
+      vec4 mv = modelViewMatrix * vec4(position, 1.0);
+      vLinearDepth = -mv.z;
+      gl_Position = projectionMatrix * mv;
+    }
+  `,
+  fragmentShader: `
+    varying float vLinearDepth;
+    uniform float uMinDepth;
+    uniform float uMaxDepth;
+    void main() {
+      // Blend linear + inverse depth for strong near-range sensitivity while
+      // preserving metric ordering (deterministic, no auto-exposure).
+      float d = clamp(vLinearDepth, uMinDepth, uMaxDepth);
+      float lin = (d - uMinDepth) / max(0.0001, (uMaxDepth - uMinDepth)); // 0 near, 1 far
+      float inv = (1.0 / d - 1.0 / uMaxDepth) / max(0.0001, (1.0 / uMinDepth - 1.0 / uMaxDepth)); // 1 near, 0 far
+      float t = clamp(0.35 * (1.0 - lin) + 0.65 * inv, 0.0, 1.0); // near -> 1, far -> 0
+
+      // High-contrast pseudo-color ramp (near cyan/green, far orange/red)
+      vec3 nearC = vec3(0.05, 0.98, 0.98);
+      vec3 midC  = vec3(0.40, 0.95, 0.10);
+      vec3 farC  = vec3(0.98, 0.15, 0.05);
+      vec3 c = (t > 0.5) ? mix(midC, nearC, (t - 0.5) * 2.0) : mix(farC, midC, t * 2.0);
+      gl_FragColor = vec4(c, 1.0);
+    }
+  `,
+});
+rgbdPlanarDepthDebugMaterial.toneMapped = false;
+
+// Fullscreen passes:
+// 1) reconstruct metric camera-space Z into a float render target
+// 2) visualize that metric depth for display
+const rgbdPostCamera = new THREE.OrthographicCamera(-1, 1, 1, -1, 0, 1);
+const rgbdMetricUsesR32F = renderer.capabilities.isWebGL2 && !!renderer.extensions.get("EXT_color_buffer_float");
+const rgbdMetricTargetType = rgbdMetricUsesR32F ? THREE.FloatType : THREE.HalfFloatType;
+const rgbdMetricTarget = new THREE.WebGLRenderTarget(_rgbdSize.x, _rgbdSize.y, {
+  minFilter: THREE.NearestFilter,
+  magFilter: THREE.NearestFilter,
+  format: rgbdMetricUsesR32F ? THREE.RedFormat : THREE.RGBAFormat,
+  type: rgbdMetricTargetType,
+  depthBuffer: false,
+  stencilBuffer: false,
+});
+if (rgbdMetricUsesR32F) rgbdMetricTarget.texture.internalFormat = "R32F";
+rgbdMetricTarget.texture.generateMipmaps = false;
+const rgbdOverlayMetricTarget = new THREE.WebGLRenderTarget(RGBD_PC_OVERLAY_RT_W, RGBD_PC_OVERLAY_RT_H, {
+  minFilter: THREE.NearestFilter,
+  magFilter: THREE.NearestFilter,
+  format: rgbdMetricUsesR32F ? THREE.RedFormat : THREE.RGBAFormat,
+  type: rgbdMetricTargetType,
+  depthBuffer: false,
+  stencilBuffer: false,
+});
+if (rgbdMetricUsesR32F) rgbdOverlayMetricTarget.texture.internalFormat = "R32F";
+rgbdOverlayMetricTarget.texture.generateMipmaps = false;
+
+const rgbdMetricScene = new THREE.Scene();
+const rgbdMetricMaterial = new THREE.ShaderMaterial({
+  uniforms: {
+    uDepthTex: { value: rgbdDepthTarget.depthTexture },
+    uNear: { value: camera.near },
+    uFar: { value: camera.far },
+    uMinDepth: { value: rgbdRangeMinM },
+    uMaxDepth: { value: rgbdRangeMaxM },
+    uNoiseEnabled: { value: 0.0 },
+    uSpeckleEnabled: { value: 0.0 },
+  },
+  vertexShader: `
+    varying vec2 vUv;
+    void main() {
+      vUv = uv;
+      gl_Position = vec4(position.xy, 0.0, 1.0);
+    }
+  `,
+  fragmentShader: `
+    varying vec2 vUv;
+    uniform sampler2D uDepthTex;
+    uniform float uNear;
+    uniform float uFar;
+    uniform float uMinDepth;
+    uniform float uMaxDepth;
+    uniform float uNoiseEnabled;
+    uniform float uSpeckleEnabled;
+
+    // Perspective depth [0,1] -> view-space z (negative in front of camera).
+    float perspectiveDepthToViewZ(const in float depth, const in float near, const in float far) {
+      return (near * far) / ((far - near) * depth - far);
+    }
+
+    float hash12(vec2 p) {
+      vec3 p3 = fract(vec3(p.xyx) * 0.1031);
+      p3 += dot(p3, p3.yzx + 33.33);
+      return fract((p3.x + p3.y) * p3.z);
+    }
+
+    void main() {
+      float depth01 = texture2D(uDepthTex, vUv).x;
+      // No geometry hit: treat as max range.
+      if (depth01 >= 0.999999) {
+        gl_FragColor = vec4(uMaxDepth, uMaxDepth, uMaxDepth, 1.0);
+        return;
+      }
+
+      float viewZ = perspectiveDepthToViewZ(depth01, uNear, uFar);
+      float zMetric = -viewZ; // camera-space Z in meters (robotics back-projection convention)
+      float d = clamp(zMetric, uMinDepth, uMaxDepth);
+
+      if (uNoiseEnabled > 0.5) {
+        float span = max(0.0001, uMaxDepth - uMinDepth);
+        float t = clamp((d - uMinDepth) / span, 0.0, 1.0);
+        // Quantization: ~1mm near, up to ~8mm far (indoors).
+        float q = mix(0.001, 0.008, t * t);
+        d = floor(d / q + 0.5) * q;
+
+        // Dropouts: more likely on edges and farther range.
+        float edge = clamp(length(vec2(dFdx(depth01), dFdy(depth01))) * 250.0, 0.0, 1.0);
+        float pDrop = 0.01 + 0.08 * t * t + 0.18 * edge;
+        float u = hash12(vUv * vec2(4096.0, 4096.0));
+        if (u < pDrop) {
+          gl_FragColor = vec4(uMaxDepth, uMaxDepth, uMaxDepth, 1.0);
+          return;
+        }
+
+        // Optional speckle noise (small multiplicative perturbation).
+        if (uSpeckleEnabled > 0.5) {
+          float n = hash12(vUv * vec2(8192.0, 8192.0) + vec2(17.3, 9.1)) - 0.5;
+          float amp = 0.002 + 0.01 * t; // 2mm near -> 12mm far
+          d = clamp(d + n * amp, uMinDepth, uMaxDepth);
+        }
+      }
+
+      gl_FragColor = vec4(d, d, d, 1.0);
+    }
+  `,
+  depthTest: false,
+  depthWrite: false,
+});
+rgbdMetricMaterial.toneMapped = false;
+const rgbdMetricQuad = new THREE.Mesh(new THREE.PlaneGeometry(2, 2), rgbdMetricMaterial);
+rgbdMetricScene.add(rgbdMetricQuad);
+
+const rgbdVizScene = new THREE.Scene();
+const rgbdVizMaterial = new THREE.ShaderMaterial({
+  uniforms: {
+    uMetricDepthTex: { value: rgbdMetricTarget.texture },
+    uMinDepth: { value: rgbdRangeMinM },
+    uMaxDepth: { value: rgbdRangeMaxM },
+    uGrayMode: { value: 0.0 },
+  },
+  vertexShader: `
+    varying vec2 vUv;
+    void main() {
+      vUv = uv;
+      gl_Position = vec4(position.xy, 0.0, 1.0);
+    }
+  `,
+  fragmentShader: `
+    varying vec2 vUv;
+    uniform sampler2D uMetricDepthTex;
+    uniform float uMinDepth;
+    uniform float uMaxDepth;
+    uniform float uGrayMode;
+    void main() {
+      float d = texture2D(uMetricDepthTex, vUv).r;
+      d = clamp(d, uMinDepth, uMaxDepth);
+      float lin = (d - uMinDepth) / max(0.0001, (uMaxDepth - uMinDepth)); // 0 near, 1 far
+      if (uGrayMode > 0.5) {
+        float g = 1.0 - lin;
+        gl_FragColor = vec4(g, g, g, 1.0);
+        return;
+      }
+      float inv = (1.0 / d - 1.0 / uMaxDepth) / max(0.0001, (1.0 / uMinDepth - 1.0 / uMaxDepth)); // 1 near, 0 far
+      float t = clamp(0.35 * (1.0 - lin) + 0.65 * inv, 0.0, 1.0); // near -> 1, far -> 0
+      vec3 nearC = vec3(0.05, 0.98, 0.98);
+      vec3 midC  = vec3(0.40, 0.95, 0.10);
+      vec3 farC  = vec3(0.98, 0.15, 0.05);
+      vec3 c = (t > 0.5) ? mix(midC, nearC, (t - 0.5) * 2.0) : mix(farC, midC, t * 2.0);
+      gl_FragColor = vec4(c, 1.0);
+    }
+  `,
+  depthTest: false,
+  depthWrite: false,
+});
+rgbdVizMaterial.toneMapped = false;
+const rgbdVizQuad = new THREE.Mesh(new THREE.PlaneGeometry(2, 2), rgbdVizMaterial);
+rgbdVizScene.add(rgbdVizQuad);
+let _savedOverrideMaterial = null;
+
+function resizeRgbdTargets() {
+  const w = Math.max(1, Math.floor(window.innerWidth * renderer.getPixelRatio()));
+  const h = Math.max(1, Math.floor(window.innerHeight * renderer.getPixelRatio()));
+  rgbdDepthTarget.setSize(w, h);
+  rgbdMetricTarget.setSize(w, h);
+  if (rgbdDepthTarget.depthTexture) {
+    rgbdDepthTarget.depthTexture.image.width = w;
+    rgbdDepthTarget.depthTexture.image.height = h;
+    rgbdDepthTarget.depthTexture.needsUpdate = true;
+  }
+}
+
+let _rgbdNearFarAsserted = false;
+let _rgbdLastAutoRangeMs = 0;
+
+function updateRgbdRangeLabels() {
+  if (simRgbdMinValEl) simRgbdMinValEl.textContent = `${rgbdRangeMinM.toFixed(1)}m`;
+  if (simRgbdMaxValEl) simRgbdMaxValEl.textContent = `${rgbdRangeMaxM.toFixed(1)}m`;
+}
+
+function setRgbdRange(minD, maxD) {
+  const lo = Math.max(0.05, Math.min(minD, maxD - 0.05));
+  const hi = Math.max(lo + 0.05, maxD);
+  rgbdRangeMinM = lo;
+  rgbdRangeMaxM = hi;
+  rgbdMetricMaterial.uniforms.uMinDepth.value = lo;
+  rgbdMetricMaterial.uniforms.uMaxDepth.value = hi;
+  rgbdVizMaterial.uniforms.uMinDepth.value = lo;
+  rgbdVizMaterial.uniforms.uMaxDepth.value = hi;
+  if (simRgbdMinEl) simRgbdMinEl.value = lo.toFixed(1);
+  if (simRgbdMaxEl) simRgbdMaxEl.value = hi.toFixed(1);
+  updateRgbdRangeLabels();
+}
+
+setRgbdRange(RGBD_MIN_DEPTH_M, RGBD_MAX_DEPTH_M);
+
+function percentileFromSorted(sorted, p) {
+  if (!sorted.length) return 0;
+  const idx = Math.min(sorted.length - 1, Math.max(0, Math.floor(p * (sorted.length - 1))));
+  return sorted[idx];
+}
+
+function updateRgbdAutoRangeFromMetricTarget() {
+  const now = performance.now();
+  if (now - _rgbdLastAutoRangeMs < RGBD_AUTO_RANGE_UPDATE_MS) return;
+  _rgbdLastAutoRangeMs = now;
+  const depth = readRgbdMetricDepthFrameMeters();
+  if (!depth || depth.length === 0) return;
+  const samples = [];
+  const stride = Math.max(1, Math.floor(depth.length / 5000));
+  for (let i = 0; i < depth.length; i += stride) {
+    const d = depth[i];
+    if (!Number.isFinite(d)) continue;
+    if (d <= RGBD_MIN_DEPTH_M || d >= RGBD_MAX_DEPTH_M) continue;
+    samples.push(d);
+  }
+  if (samples.length < 32) return;
+  samples.sort((a, b) => a - b);
+  const p05 = percentileFromSorted(samples, RGBD_AUTO_PERCENTILE_LOW);
+  const p95 = percentileFromSorted(samples, RGBD_AUTO_PERCENTILE_HIGH);
+  const targetMin = Math.max(RGBD_MIN_DEPTH_M, Math.min(p05, p95 - 0.1));
+  const targetMax = Math.min(RGBD_MAX_DEPTH_M, Math.max(p95, targetMin + 0.1));
+  const smoothMin = rgbdRangeMinM + (targetMin - rgbdRangeMinM) * RGBD_AUTO_RANGE_SMOOTH;
+  const smoothMax = rgbdRangeMaxM + (targetMax - rgbdRangeMaxM) * RGBD_AUTO_RANGE_SMOOTH;
+  setRgbdRange(smoothMin, smoothMax);
+}
+
+function renderRgbdView(enableAutoRange = true) {
+  renderRgbdMetricPassOffscreen();
+
+  if (enableAutoRange && rgbdAutoRange) updateRgbdAutoRangeFromMetricTarget();
+  rgbdVizMaterial.uniforms.uGrayMode.value = rgbdVizMode === "gray" ? 1.0 : 0.0;
+
+  // Pass 3: visualize metric depth target.
+  renderer.setRenderTarget(null);
+  renderer.setClearColor(RGBD_BG, RGBD_CLEAR_ALPHA);
+  renderer.clear(true, true, true);
+  renderer.render(rgbdVizScene, rgbdPostCamera);
+}
+
+function renderRgbdMetricPassOffscreen(overrideCamera) {
+  const cam = overrideCamera || camera;
+  rgbdMetricMaterial.uniforms.uNear.value = cam.near;
+  rgbdMetricMaterial.uniforms.uFar.value = cam.far;
+  rgbdMetricMaterial.uniforms.uNoiseEnabled.value = rgbdNoiseEnabled ? 1.0 : 0.0;
+  rgbdMetricMaterial.uniforms.uSpeckleEnabled.value = rgbdSpeckleEnabled ? 1.0 : 0.0;
+  if (!_rgbdNearFarAsserted && !overrideCamera) {
+    console.assert(
+      Math.abs(rgbdMetricMaterial.uniforms.uNear.value - camera.near) < 1e-9 &&
+      Math.abs(rgbdMetricMaterial.uniforms.uFar.value - camera.far) < 1e-9,
+      "[RGB-D] Reconstruction near/far must match active camera near/far."
+    );
+    _rgbdNearFarAsserted = true;
+  }
+
+  // Ensure depth pass sees scene geometry, not lidar/overlay debug points.
+  const savedOverride = scene.overrideMaterial;
+  const savedAssets = assetsGroup.visible;
+  const savedPrims = primitivesGroup.visible;
+  const savedLights = lightsGroup.visible;
+  const savedTags = tagsGroup.visible;
+  const savedLidarViz = lidarVizGroup.visible;
+  const savedRgbdPc = rgbdPcOverlayGroup.visible;
+
+  scene.overrideMaterial = null;
+  assetsGroup.visible = true;
+  primitivesGroup.visible = true;
+  lightsGroup.visible = true;
+  tagsGroup.visible = false;
+  lidarVizGroup.visible = false;
+  rgbdPcOverlayGroup.visible = false;
+
+  renderer.setRenderTarget(rgbdDepthTarget);
+  renderer.setClearColor(0x000000, RGBD_CLEAR_ALPHA);
+  renderer.clear(true, true, true);
+  renderer.render(scene, cam);
+
+  renderer.setRenderTarget(rgbdMetricTarget);
+  renderer.setClearColor(0x000000, RGBD_CLEAR_ALPHA);
+  renderer.clear(true, true, true);
+  renderer.render(rgbdMetricScene, rgbdPostCamera);
+
+  scene.overrideMaterial = savedOverride;
+  assetsGroup.visible = savedAssets;
+  primitivesGroup.visible = savedPrims;
+  lightsGroup.visible = savedLights;
+  tagsGroup.visible = savedTags;
+  lidarVizGroup.visible = savedLidarViz;
+  rgbdPcOverlayGroup.visible = savedRgbdPc;
+}
+
+function halfToFloat(h) {
+  const s = (h & 0x8000) >> 15;
+  const e = (h & 0x7c00) >> 10;
+  const f = h & 0x03ff;
+  if (e === 0) return (s ? -1 : 1) * Math.pow(2, -14) * (f / 1024);
+  if (e === 31) return f ? NaN : ((s ? -1 : 1) * Infinity);
+  return (s ? -1 : 1) * Math.pow(2, e - 15) * (1 + f / 1024);
+}
+
+function readRgbdMetricDepthFrameMeters() {
+  const w = rgbdMetricTarget.width;
+  const h = rgbdMetricTarget.height;
+  if (!w || !h) return null;
+
+  if (rgbdMetricUsesR32F) {
+    const depth = new Float32Array(w * h);
+    renderer.readRenderTargetPixels(rgbdMetricTarget, 0, 0, w, h, depth);
+    return depth;
+  }
+
+  if (rgbdMetricTarget.texture.type === THREE.FloatType) {
+    const raw = new Float32Array(w * h * 4);
+    renderer.readRenderTargetPixels(rgbdMetricTarget, 0, 0, w, h, raw);
+    const depth = new Float32Array(w * h);
+    for (let i = 0; i < w * h; i++) depth[i] = raw[i * 4 + 0];
+    return depth;
+  }
+
+  // Half-float fallback (WebGL1 / constrained platforms)
+  const raw = new Uint16Array(w * h * 4);
+  renderer.readRenderTargetPixels(rgbdMetricTarget, 0, 0, w, h, raw);
+  const depth = new Float32Array(w * h);
+  for (let i = 0; i < w * h; i++) depth[i] = halfToFloat(raw[i * 4 + 0]);
+  return depth;
+}
+
+function readRgbdOverlayMetricDepthFrameMeters() {
+  const w = rgbdOverlayMetricTarget.width;
+  const h = rgbdOverlayMetricTarget.height;
+  if (!w || !h) return null;
+  if (rgbdMetricUsesR32F) {
+    const depth = new Float32Array(w * h);
+    renderer.readRenderTargetPixels(rgbdOverlayMetricTarget, 0, 0, w, h, depth);
+    return depth;
+  }
+  if (rgbdOverlayMetricTarget.texture.type === THREE.FloatType) {
+    const raw = new Float32Array(w * h * 4);
+    renderer.readRenderTargetPixels(rgbdOverlayMetricTarget, 0, 0, w, h, raw);
+    const depth = new Float32Array(w * h);
+    for (let i = 0; i < w * h; i++) depth[i] = raw[i * 4 + 0];
+    return depth;
+  }
+  const raw = new Uint16Array(w * h * 4);
+  renderer.readRenderTargetPixels(rgbdOverlayMetricTarget, 0, 0, w, h, raw);
+  const depth = new Float32Array(w * h);
+  for (let i = 0; i < w * h; i++) depth[i] = halfToFloat(raw[i * 4 + 0]);
+  return depth;
+}
+
+function updateRgbdPcOverlayCloud(force = false) {
+  if (!rgbdPcOverlayOnLidar || simSensorViewMode !== "lidar" || lidarOrderedDebugView) {
+    _rgbdPcGeom.setDrawRange(0, 0);
+    _rgbdPcGeom.attributes.position.needsUpdate = true;
+    _rgbdPcGeom.attributes.color.needsUpdate = true;
+    _rgbdPcOverlayLastCount = 0;
+    _rgbdPcOverlayLastPose = null;
+    _rgbdPcOverlayDirty = false;
+    rgbdPcOverlayGroup.visible = false;
+    return;
+  }
+  if (!force && !_rgbdPcOverlayDirty) return;
+  const now = performance.now();
+  const curPos = camera.getWorldPosition(new THREE.Vector3());
+  const curQuat = camera.getWorldQuaternion(new THREE.Quaternion());
+  if (_rgbdPcOverlayLastPose) {
+    const dp = curPos.distanceTo(_rgbdPcOverlayLastPose.pos);
+    const da = THREE.MathUtils.radToDeg(curQuat.angleTo(_rgbdPcOverlayLastPose.quat));
+    if (!force && dp < RGBD_PC_OVERLAY_MIN_TRANSLATION_M && da < RGBD_PC_OVERLAY_MIN_ROT_DEG) return;
+  }
+  _rgbdPcOverlayLastUpdateMs = now;
+  _rgbdPcOverlayLastPose = { pos: curPos.clone(), quat: curQuat.clone() };
+
+  const savedDepthTex = rgbdMetricMaterial.uniforms.uDepthTex.value;
+
+  // Low-res depth+metric pass for overlay to avoid expensive full-res readback stalls.
+  const savedOverride = scene.overrideMaterial;
+  const savedAssets = assetsGroup.visible;
+  const savedPrims = primitivesGroup.visible;
+  const savedLights = lightsGroup.visible;
+  const savedTags = tagsGroup.visible;
+  const savedLidarViz = lidarVizGroup.visible;
+  const savedRgbdPc = rgbdPcOverlayGroup.visible;
+  scene.overrideMaterial = null;
+  assetsGroup.visible = true;
+  primitivesGroup.visible = true;
+  lightsGroup.visible = true;
+  tagsGroup.visible = false;
+  lidarVizGroup.visible = false;
+  rgbdPcOverlayGroup.visible = false;
+
+  renderer.setRenderTarget(rgbdOverlayDepthTarget);
+  renderer.setClearColor(0x000000, RGBD_CLEAR_ALPHA);
+  renderer.clear(true, true, true);
+  renderer.render(scene, camera);
+  rgbdMetricMaterial.uniforms.uDepthTex.value = rgbdOverlayDepthTarget.depthTexture;
+  renderer.setRenderTarget(rgbdOverlayMetricTarget);
+  renderer.setClearColor(0x000000, RGBD_CLEAR_ALPHA);
+  renderer.clear(true, true, true);
+  renderer.render(rgbdMetricScene, rgbdPostCamera);
+  rgbdMetricMaterial.uniforms.uDepthTex.value = savedDepthTex;
+
+  scene.overrideMaterial = savedOverride;
+  assetsGroup.visible = savedAssets;
+  primitivesGroup.visible = savedPrims;
+  lightsGroup.visible = savedLights;
+  tagsGroup.visible = savedTags;
+  lidarVizGroup.visible = savedLidarViz;
+  rgbdPcOverlayGroup.visible = savedRgbdPc;
+
+  const depth = readRgbdOverlayMetricDepthFrameMeters();
+  if (!depth) {
+    rgbdPcOverlayGroup.visible = false;
+    return;
+  }
+  const w = rgbdOverlayMetricTarget.width;
+  const h = rgbdOverlayMetricTarget.height;
+  if (!w || !h) return;
+
+  const tanHalfY = Math.tan(THREE.MathUtils.degToRad(camera.fov * 0.5));
+  const fy = 0.5 * h / Math.max(1e-6, tanHalfY);
+  const fx = fy * camera.aspect;
+  const cx = (w - 1) * 0.5;
+  const cy = (h - 1) * 0.5;
+  const targetCount = Math.min(RGBD_PC_OVERLAY_MAX_POINTS, Math.floor(w * h));
+  const stride = Math.max(1, Math.floor(Math.sqrt((w * h) / Math.max(1, targetCount))));
+  const pCam = new THREE.Vector3();
+  const pWorld = new THREE.Vector3();
+
+  let n = 0;
+  for (let py = 0; py < h; py += stride) {
+    const v = h - 1 - py; // flip Y because render-target readback is bottom-up
+    for (let px = 0; px < w; px += stride) {
+      if (n >= RGBD_PC_OVERLAY_MAX_POINTS) break;
+      const d = depth[py * w + px];
+      if (!Number.isFinite(d) || d <= RGBD_MIN_DEPTH_M || d >= RGBD_MAX_DEPTH_M) continue;
+      const x = ((px - cx) / fx) * d;
+      const y = -((v - cy) / fy) * d;
+      const z = -d; // camera forward is -Z in three.js camera coordinates
+      pCam.set(x, y, z);
+      pWorld.copy(pCam).applyMatrix4(camera.matrixWorld);
+
+      _rgbdPcPosArray[n * 3 + 0] = pWorld.x;
+      _rgbdPcPosArray[n * 3 + 1] = pWorld.y;
+      _rgbdPcPosArray[n * 3 + 2] = pWorld.z;
+
+      _rgbdPcColArray[n * 3 + 0] = 0.10;
+      _rgbdPcColArray[n * 3 + 1] = 1.00;
+      _rgbdPcColArray[n * 3 + 2] = 0.25;
+      n++;
+    }
+    if (n >= RGBD_PC_OVERLAY_MAX_POINTS) break;
+  }
+
+  _rgbdPcGeom.setDrawRange(0, n);
+  _rgbdPcGeom.attributes.position.needsUpdate = true;
+  _rgbdPcGeom.attributes.color.needsUpdate = true;
+  _rgbdPcOverlayLastCount = n;
+  _rgbdPcOverlayDirty = false;
+  rgbdPcOverlayGroup.visible = rgbdPcOverlayOnLidar && simSensorViewMode === "lidar" && !lidarOrderedDebugView && n > 0;
+}
+
+// -----------------------------------------------------------------------------
+// RoboVal standardized LiDAR schema + sensor model
+// -----------------------------------------------------------------------------
+// We use lidar->world pose convention for pose_T_world_lidar (T_w_l).
+// i.e. p_world = T_w_l * p_lidar
+// Livox Mid-360 sensor model (non-repetitive Fibonacci scan pattern)
+const LIDAR_SCAN_DURATION_S = 0.1; // 10 Hz scan rate
+const LIDAR_NUM_POINTS = 10000;    // points per scan
+const LIDAR_MAX_POINTS = LIDAR_NUM_POINTS;
+const LIDAR_MIN_RANGE_M = 0.1;     // Mid-360: 0.1m min
+const LIDAR_MAX_RANGE_M = 5;
+const LIDAR_V_MIN_RAD = THREE.MathUtils.degToRad(-30);  // sees ground ~0.6m from robot
+const LIDAR_V_MAX_RAD = THREE.MathUtils.degToRad(15);   // 15° up avoids ceiling, focuses rays on walls/ground
+// Legacy constants kept for browser UI range image (not used by dimos path)
+const LIDAR_NUM_RINGS = 1;
+const LIDAR_RANGE_IMAGE_W = 1;
+let _lidarScanCount = 0;
+
+// Pre-compute Fibonacci sphere ray directions (uniform sampling on spherical cap)
+const _fibLidarDirs = (() => {
+  const golden = (1 + Math.sqrt(5)) / 2;
+  const zMin = Math.sin(LIDAR_V_MIN_RAD); // sin(-7°) ≈ -0.122
+  const zMax = Math.sin(LIDAR_V_MAX_RAD); // sin(52°) ≈ 0.788
+  const dirs = new Float32Array(LIDAR_NUM_POINTS * 3);
+  for (let i = 0; i < LIDAR_NUM_POINTS; i++) {
+    const z = zMin + (zMax - zMin) * (i + 0.5) / LIDAR_NUM_POINTS;
+    const r = Math.sqrt(1 - z * z);
+    const phi = 2 * Math.PI * i / golden;
+    dirs[i * 3 + 0] = r * Math.cos(phi); // x (forward in FLU)
+    dirs[i * 3 + 1] = r * Math.sin(phi); // y (left in FLU)
+    dirs[i * 3 + 2] = z;                  // z (up in FLU)
+  }
+  return dirs;
+})();
+const LIDAR_ACCUM_FRAMES = 50;
+const LIDAR_STATS_INTERVAL_MS = 1500;
+const LIDAR_ACCUM_MIN_TRANSLATION_M = 0.08;
+const LIDAR_ACCUM_MIN_ROT_DEG = 1.5;
+const LIDAR_ACCUM_REFRESH_S = 2.0;
+
+// Lidar frame uses FLU convention:
+// x=forward, y=left, z=up (right-handed). Camera local is x=right, y=up, z=back.
+const _lidarToCamQuat = (() => {
+  const m = new THREE.Matrix4().set(
+    0, -1, 0, 0,
+    0, 0, 1, 0,
+    -1, 0, 0, 0,
+    0, 0, 0, 1
+  );
+  return new THREE.Quaternion().setFromRotationMatrix(m);
+})();
+
+// Pose history for deskew (camera used as lidar pose proxy)
+const _lidarPoseHistory = []; // [{stampNs, pos:Vector3, quat:Quaternion}]
+const LIDAR_POSE_HISTORY_NS = 2_000_000_000; // keep ~2s history
+let _lidarLastStatsMs = 0;
+let _lidarUseKnownGoodDebugCloud = false;
+
+function nowNs() {
+  // Use unix epoch in ns consistently (browser clock based).
+  return Math.floor(performance.timeOrigin * 1e6 + performance.now() * 1e6);
+}
+
+function pushLidarPoseSample(stampNs = nowNs()) {
+  let pos, quat;
+  const dimosAgent = dimosMode && window.__dimosAgent;
+  if (dimosAgent) {
+    // In dimos mode, sample from the agent's body position + orientation.
+    // getPosition() returns capsule center (~0.37m above ground), so subtract
+    // capsule half-extent to get ground level, then add mount height.
+    const [ax, ay, az] = dimosAgent.getPosition?.() || [0, 0, 0];
+    const groundY = ay - (PLAYER_HALF_HEIGHT + PLAYER_RADIUS);
+    const lidarY = groundY + LIDAR_MOUNT_HEIGHT;
+    pos = new THREE.Vector3(ax, lidarY, az);
+    const yaw = window.__dimosYaw ?? dimosAgent.group?.rotation?.y ?? 0;
+    const agentQuat = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), yaw);
+    quat = agentQuat.multiply(_lidarToCamQuat);
+  } else {
+    pos = camera.getWorldPosition(new THREE.Vector3());
+    const camQuat = camera.getWorldQuaternion(new THREE.Quaternion());
+    quat = camQuat.clone().multiply(_lidarToCamQuat);
+  }
+  _lidarPoseHistory.push({ stampNs, pos, quat });
+  const minNs = stampNs - LIDAR_POSE_HISTORY_NS;
+  while (_lidarPoseHistory.length > 2 && _lidarPoseHistory[0].stampNs < minNs) {
+    _lidarPoseHistory.shift();
+  }
+}
+
+function getLidarPoseAtNs(stampNs) {
+  if (_lidarPoseHistory.length === 0) {
+    const camQuat = camera.getWorldQuaternion(new THREE.Quaternion());
+    return {
+      pos: camera.getWorldPosition(new THREE.Vector3()),
+      quat: camQuat.multiply(_lidarToCamQuat),
+    };
+  }
+  if (_lidarPoseHistory.length === 1) {
+    return {
+      pos: _lidarPoseHistory[0].pos.clone(),
+      quat: _lidarPoseHistory[0].quat.clone(),
+    };
+  }
+  // Find bounding samples
+  let i1 = 0;
+  while (i1 < _lidarPoseHistory.length && _lidarPoseHistory[i1].stampNs < stampNs) i1++;
+  if (i1 <= 0) {
+    return {
+      pos: _lidarPoseHistory[0].pos.clone(),
+      quat: _lidarPoseHistory[0].quat.clone(),
+    };
+  }
+  if (i1 >= _lidarPoseHistory.length) {
+    const last = _lidarPoseHistory[_lidarPoseHistory.length - 1];
+    return { pos: last.pos.clone(), quat: last.quat.clone() };
+  }
+  const a = _lidarPoseHistory[i1 - 1];
+  const b = _lidarPoseHistory[i1];
+  const alpha = (stampNs - a.stampNs) / Math.max(1, b.stampNs - a.stampNs);
+  const pos = a.pos.clone().lerp(b.pos, alpha);
+  const quat = a.quat.clone().slerp(b.quat, alpha);
+  return { pos, quat };
+}
+
+function composeTwlFlat64(pos, quat) {
+  const m = new THREE.Matrix4().compose(pos, quat, new THREE.Vector3(1, 1, 1));
+  const e = m.elements;
+  // Return row-major 4x4 flattened float64 (explicitly for stable downstream use)
+  return new Float64Array([
+    e[0], e[4], e[8], e[12],
+    e[1], e[5], e[9], e[13],
+    e[2], e[6], e[10], e[14],
+    e[3], e[7], e[11], e[15],
+  ]);
+}
+
+function twlInverseMatrix(pos, quat) {
+  const twl = new THREE.Matrix4().compose(pos, quat, new THREE.Vector3(1, 1, 1));
+  return twl.clone().invert();
+}
+
+function lidarVerticalAngleForRing(ring) {
+  if (LIDAR_NUM_RINGS === 1) return 0;
+  const t = ring / (LIDAR_NUM_RINGS - 1);
+  return LIDAR_V_MIN_RAD + (LIDAR_V_MAX_RAD - LIDAR_V_MIN_RAD) * t;
+}
+
+function makeRoboValLidarFrame({
+  frameId,
+  stampNs,
+  points,
+  intensity,
+  ring,
+  t,
+  hasRing,
+  hasPerPointTime,
+  scanDurationS,
+  poseTWorldLidar,
+}) {
+  // RoboValLidarFrame schema (used across sim/export/eval)
+  return {
+    frame_id: frameId,
+    stamp_ns: stampNs,
+    points, // Float32Array length N*3 (xyz meters, lidar frame)
+    intensity, // Float32Array length N
+    ring, // Uint16Array length N
+    t, // Float32Array length N (seconds from start of scan)
+    has_ring: hasRing,
+    has_per_point_time: hasPerPointTime,
+    scan_duration_s: scanDurationS,
+    pose_T_world_lidar: poseTWorldLidar, // Float64Array length 16, row-major
+  };
+}
+
+// ROS2 PointField datatype constants:
+// INT8=1, UINT8=2, INT16=3, UINT16=4, INT32=5, UINT32=6, FLOAT32=7, FLOAT64=8
+function to_pointcloud2(frame) {
+  const n = Math.floor((frame.points?.length || 0) / 3);
+  const pointStep = 22; // x,y,z,float32(12) + intensity,float32(4) + ring,uint16(2) + t,float32(4)
+  const data = new Uint8Array(n * pointStep);
+  const dv = new DataView(data.buffer);
+  for (let i = 0; i < n; i++) {
+    const o = i * pointStep;
+    dv.setFloat32(o + 0, frame.points[i * 3 + 0], true);
+    dv.setFloat32(o + 4, frame.points[i * 3 + 1], true);
+    dv.setFloat32(o + 8, frame.points[i * 3 + 2], true);
+    dv.setFloat32(o + 12, frame.intensity[i] ?? 0, true);
+    dv.setUint16(o + 16, frame.ring[i] ?? 0, true);
+    dv.setFloat32(o + 18, frame.t[i] ?? 0, true);
+  }
+  return {
+    header: {
+      frame_id: frame.frame_id,
+      stamp: {
+        sec: Math.floor(frame.stamp_ns / 1e9),
+        nanosec: Math.floor(frame.stamp_ns % 1e9),
+      },
+    },
+    height: 1,
+    width: n,
+    fields: [
+      { name: "x", offset: 0, datatype: 7, count: 1 },
+      { name: "y", offset: 4, datatype: 7, count: 1 },
+      { name: "z", offset: 8, datatype: 7, count: 1 },
+      { name: "intensity", offset: 12, datatype: 7, count: 1 },
+      { name: "ring", offset: 16, datatype: 4, count: 1 },
+      { name: "t", offset: 18, datatype: 7, count: 1 },
+    ],
+    is_bigendian: false,
+    point_step: pointStep,
+    row_step: pointStep * n,
+    data,
+    is_dense: true,
+  };
+}
+
+function toNpyBytes(typedArray, shape, descr) {
+  // NPY v1.0
+  const magic = new Uint8Array([0x93, 0x4e, 0x55, 0x4d, 0x50, 0x59, 0x01, 0x00]);
+  const shapeStr = `(${shape.join(", ")}${shape.length === 1 ? "," : ""})`;
+  let header = `{'descr': '${descr}', 'fortran_order': False, 'shape': ${shapeStr}, }`;
+  // Pad so (magic+2-byte-len+header+\n) % 16 == 0
+  const preamble = 10;
+  const base = preamble + header.length + 1;
+  const pad = (16 - (base % 16)) % 16;
+  header = header + " ".repeat(pad) + "\n";
+  const headerBytes = new TextEncoder().encode(header);
+  const out = new Uint8Array(magic.length + 2 + headerBytes.length + typedArray.byteLength);
+  out.set(magic, 0);
+  const dv = new DataView(out.buffer);
+  dv.setUint16(magic.length, headerBytes.length, true);
+  out.set(headerBytes, magic.length + 2);
+  out.set(new Uint8Array(typedArray.buffer, typedArray.byteOffset, typedArray.byteLength), magic.length + 2 + headerBytes.length);
+  return out;
+}
+
+function makeZipStore(entries) {
+  // Uncompressed ZIP (store) writer for deterministic byte output ordering.
+  const enc = new TextEncoder();
+  const localParts = [];
+  const centralParts = [];
+  let offset = 0;
+  const files = [];
+  const crcTable = (() => {
+    const t = new Uint32Array(256);
+    for (let i = 0; i < 256; i++) {
+      let c = i;
+      for (let k = 0; k < 8; k++) c = (c & 1) ? (0xedb88320 ^ (c >>> 1)) : (c >>> 1);
+      t[i] = c >>> 0;
+    }
+    return t;
+  })();
+  const crc32 = (u8) => {
+    let c = 0xffffffff;
+    for (let i = 0; i < u8.length; i++) c = crcTable[(c ^ u8[i]) & 0xff] ^ (c >>> 8);
+    return (c ^ 0xffffffff) >>> 0;
+  };
+
+  for (const e of entries) {
+    const nameBytes = enc.encode(e.name);
+    const data = e.data;
+    const crc = crc32(data);
+    const lfh = new Uint8Array(30 + nameBytes.length);
+    const dv = new DataView(lfh.buffer);
+    dv.setUint32(0, 0x04034b50, true);
+    dv.setUint16(4, 20, true);
+    dv.setUint16(6, 0, true);
+    dv.setUint16(8, 0, true); // store
+    dv.setUint16(10, 0, true);
+    dv.setUint16(12, 0, true);
+    dv.setUint32(14, crc, true);
+    dv.setUint32(18, data.length, true);
+    dv.setUint32(22, data.length, true);
+    dv.setUint16(26, nameBytes.length, true);
+    dv.setUint16(28, 0, true);
+    lfh.set(nameBytes, 30);
+    localParts.push(lfh, data);
+    files.push({ nameBytes, crc, size: data.length, offset });
+    offset += lfh.length + data.length;
+  }
+
+  let centralSize = 0;
+  for (const f of files) {
+    const cfh = new Uint8Array(46 + f.nameBytes.length);
+    const dv = new DataView(cfh.buffer);
+    dv.setUint32(0, 0x02014b50, true);
+    dv.setUint16(4, 20, true);
+    dv.setUint16(6, 20, true);
+    dv.setUint16(8, 0, true);
+    dv.setUint16(10, 0, true);
+    dv.setUint16(12, 0, true);
+    dv.setUint16(14, 0, true);
+    dv.setUint32(16, f.crc, true);
+    dv.setUint32(20, f.size, true);
+    dv.setUint32(24, f.size, true);
+    dv.setUint16(28, f.nameBytes.length, true);
+    dv.setUint16(30, 0, true);
+    dv.setUint16(32, 0, true);
+    dv.setUint16(34, 0, true);
+    dv.setUint16(36, 0, true);
+    dv.setUint32(38, 0, true);
+    dv.setUint32(42, f.offset, true);
+    cfh.set(f.nameBytes, 46);
+    centralParts.push(cfh);
+    centralSize += cfh.length;
+  }
+
+  const eocd = new Uint8Array(22);
+  const dvE = new DataView(eocd.buffer);
+  dvE.setUint32(0, 0x06054b50, true);
+  dvE.setUint16(4, 0, true);
+  dvE.setUint16(6, 0, true);
+  dvE.setUint16(8, files.length, true);
+  dvE.setUint16(10, files.length, true);
+  dvE.setUint32(12, centralSize, true);
+  dvE.setUint32(16, offset, true);
+  dvE.setUint16(20, 0, true);
+
+  return new Blob([...localParts, ...centralParts, eocd], { type: "application/zip" });
+}
+
+function frameToNpzBlob(frame, rangeImage = null) {
+  const n = Math.floor((frame.points?.length || 0) / 3);
+  const xyz = toNpyBytes(frame.points, [n, 3], " URL.revokeObjectURL(a1.href), 500);
+
+  const a2 = document.createElement("a");
+  a2.href = URL.createObjectURL(deskBlob);
+  a2.download = `${base}_lidar_deskewed.npz`;
+  document.body.appendChild(a2);
+  a2.click();
+  a2.remove();
+  setTimeout(() => URL.revokeObjectURL(a2.href), 500);
+
+  if (rangeImage) {
+    const rBlob = makeZipStore([
+      { name: "range.npy", data: toNpyBytes(rangeImage.range, [rangeImage.H, rangeImage.W], " URL.revokeObjectURL(a3.href), 500);
+  }
+}
+
+const lidarVizGroup = new THREE.Group();
+lidarVizGroup.name = "lidarVizGroup";
+lidarVizGroup.visible = false;
+const LIDAR_VIZ_MAX_POINTS = LIDAR_MAX_POINTS * LIDAR_ACCUM_FRAMES;
+const _lidarPosArray = new Float32Array(LIDAR_VIZ_MAX_POINTS * 3);
+const _lidarColArray = new Float32Array(LIDAR_VIZ_MAX_POINTS * 3);
+const _lidarAccumFrames = []; // [{pos: Float32Array, col: Float32Array}]
+let _lidarLastAccumPose = null; // {pos:Vector3, quat:Quaternion, stampNs:number}
+const _lidarGeom = new THREE.BufferGeometry();
+_lidarGeom.setAttribute("position", new THREE.BufferAttribute(_lidarPosArray, 3));
+_lidarGeom.setAttribute("color", new THREE.BufferAttribute(_lidarColArray, 3));
+_lidarGeom.setDrawRange(0, 0);
+const _lidarMat = new THREE.PointsMaterial({
+  color: 0xffffff,
+  vertexColors: true,
+  size: 0.03,
+  sizeAttenuation: true,
+  depthTest: true,
+  transparent: false,
+});
+const _lidarPoints = new THREE.Points(_lidarGeom, _lidarMat);
+_lidarPoints.frustumCulled = false; // point cloud covers entire scene; never cull
+console.assert(_lidarPoints.isPoints === true, "[LiDAR] Visualization must use THREE.Points");
+lidarVizGroup.add(_lidarPoints);
+scene.add(lidarVizGroup);
+let _lidarLastNonZeroDrawCount = 0;
+const rgbdPcOverlayGroup = new THREE.Group();
+rgbdPcOverlayGroup.name = "rgbdPcOverlayGroup";
+rgbdPcOverlayGroup.visible = false;
+const RGBD_PC_OVERLAY_MAX_POINTS = 12000;
+const RGBD_PC_OVERLAY_MIN_TRANSLATION_M = 0.15;
+const RGBD_PC_OVERLAY_MIN_ROT_DEG = 4.0;
+const _rgbdPcPosArray = new Float32Array(RGBD_PC_OVERLAY_MAX_POINTS * 3);
+const _rgbdPcColArray = new Float32Array(RGBD_PC_OVERLAY_MAX_POINTS * 3);
+const _rgbdPcGeom = new THREE.BufferGeometry();
+_rgbdPcGeom.setAttribute("position", new THREE.BufferAttribute(_rgbdPcPosArray, 3));
+_rgbdPcGeom.setAttribute("color", new THREE.BufferAttribute(_rgbdPcColArray, 3));
+_rgbdPcGeom.setDrawRange(0, 0);
+const _rgbdPcMat = new THREE.PointsMaterial({
+  color: 0x00ff4f,
+  vertexColors: true,
+  size: 3.0,
+  sizeAttenuation: false,
+  depthTest: false,
+  depthWrite: false,
+  blending: THREE.AdditiveBlending,
+  transparent: true,
+  opacity: 1.0,
+});
+const _rgbdPcPoints = new THREE.Points(_rgbdPcGeom, _rgbdPcMat);
+_rgbdPcPoints.frustumCulled = false; // overlay covers entire scene; never cull
+console.assert(_rgbdPcPoints.isPoints === true, "[RGB-D overlay] Visualization must use THREE.Points");
+_rgbdPcPoints.renderOrder = 2000;
+rgbdPcOverlayGroup.add(_rgbdPcPoints);
+scene.add(rgbdPcOverlayGroup);
+let _rgbdPcOverlayLastUpdateMs = 0;
+let _rgbdPcOverlayLastPose = null;
+let _rgbdPcOverlayLastCount = 0;
+let _rgbdPcOverlayDirty = false;
+
+let _lidarScanState = null; // incremental scan state (processed across frames)
+
+function updateSimSensorButtons() {
+  if (simViewCompareBtn) simViewCompareBtn.classList.toggle("active", simCompareView);
+  if (simViewRgbdBtn) simViewRgbdBtn.classList.toggle("active", simSensorViewMode === "rgbd" && !simCompareView);
+  if (simRgbdGrayBtn) simRgbdGrayBtn.classList.toggle("active", rgbdVizMode === "gray");
+  if (simRgbdColormapBtn) simRgbdColormapBtn.classList.toggle("active", rgbdVizMode === "colormap");
+  if (simRgbdAutoRangeBtn) simRgbdAutoRangeBtn.classList.toggle("active", rgbdAutoRange);
+  if (simRgbdNoiseBtn) simRgbdNoiseBtn.classList.toggle("active", rgbdNoiseEnabled);
+  if (simRgbdSpeckleBtn) simRgbdSpeckleBtn.classList.toggle("active", rgbdSpeckleEnabled);
+  if (simRgbdPcOverlayBtn) simRgbdPcOverlayBtn.classList.toggle("active", rgbdPcOverlayOnLidar);
+  if (simRgbdMinEl) simRgbdMinEl.disabled = rgbdAutoRange;
+  if (simRgbdMaxEl) simRgbdMaxEl.disabled = rgbdAutoRange;
+  if (simViewLidarBtn) simViewLidarBtn.classList.toggle("active", simSensorViewMode === "lidar" && !lidarOrderedDebugView && !simCompareView);
+  if (simLidarColorRangeBtn) simLidarColorRangeBtn.classList.toggle("active", lidarColorByRange);
+  if (simLidarOrderedDebugBtn) simLidarOrderedDebugBtn.classList.toggle("active", lidarOrderedDebugView);
+  if (simLidarNoiseBtn) simLidarNoiseBtn.classList.toggle("active", lidarNoiseEnabled);
+  if (simLidarMultiReturnBtn) {
+    simLidarMultiReturnBtn.classList.toggle("active", lidarMultiReturnMode === "last");
+    simLidarMultiReturnBtn.textContent = lidarMultiReturnMode === "last" ? "LiDAR: Last Return" : "LiDAR: Strongest";
+  }
+  updateRgbdRangeLabels();
+}
+
+function applySimPanelCollapsedState() {
+  if (!overlayEl || !agentPanelEl) return;
+  const shouldCollapse = simPanelCollapsed;
+  overlayEl.classList.toggle("sim-panel-collapsed", shouldCollapse);
+  agentPanelEl.classList.toggle("hidden", shouldCollapse);
+  simPanelOpenBtn?.classList.toggle("hidden", !shouldCollapse);
+}
+
+function lidarRangeColor01(t) {
+  // Deterministic near->far gradient: cyan -> green -> yellow -> red
+  const x = Math.min(1, Math.max(0, t));
+  if (x < 0.33) {
+    const u = x / 0.33;
+    return [0.05 + 0.35 * u, 0.98, 0.98 - 0.88 * u];
+  }
+  if (x < 0.66) {
+    const u = (x - 0.33) / 0.33;
+    return [0.40 + 0.58 * u, 0.95 - 0.15 * u, 0.10 * (1.0 - u)];
+  }
+  const u = (x - 0.66) / 0.34;
+  return [0.98, 0.80 - 0.65 * u, 0.02 + 0.03 * (1.0 - u)];
+}
+
+function lidarHash01(seed) {
+  let x = seed | 0;
+  x ^= x >>> 16;
+  x = Math.imul(x, 0x7feb352d);
+  x ^= x >>> 15;
+  x = Math.imul(x, 0x846ca68b);
+  x ^= x >>> 16;
+  return (x >>> 0) / 4294967296;
+}
+
+function lidarGaussianNoise(seedBase) {
+  // Deterministic approx N(0,1) from 6 uniforms (CLT).
+  let s = 0;
+  for (let i = 0; i < 6; i++) {
+    s += lidarHash01(seedBase + i * 2654435761);
+  }
+  return s - 3.0;
+}
+
+function applyLidarRealityModel(toi, incidence, scanSeed, vi, hi) {
+  let outRange = toi;
+  let dropped = false;
+
+  if (lidarNoiseEnabled) {
+    // Indoor-friendly deterministic noise profile (meters).
+    const sigma = 0.004 + 0.0015 * Math.max(0, toi); // ~4mm near, grows with range
+    const n = lidarGaussianNoise(scanSeed ^ (vi * 73856093) ^ (hi * 19349663));
+    outRange = Math.max(LIDAR_MIN_RANGE_M, Math.min(LIDAR_MAX_RANGE_M, outRange + sigma * n));
+
+    const tr = Math.min(1, Math.max(0, toi / LIDAR_MAX_RANGE_M));
+    const dropoutP = 0.005 + 0.04 * tr * tr; // deterministic, stronger at longer range
+    const u = lidarHash01(scanSeed ^ (vi * 83492791) ^ (hi * 2654435761));
+    if (u < dropoutP) dropped = true;
+  }
+
+  // Multi-return knob for future lidar profiles.
+  // With a single physics hit, "last" is approximated as a slight farther-biased return.
+  if (!dropped && lidarMultiReturnMode === "last") {
+    const weakSurface = 1.0 - Math.max(0, Math.min(1, incidence));
+    const tail = 0.015 * weakSurface; // up to 1.5 cm
+    outRange = Math.min(LIDAR_MAX_RANGE_M, outRange + tail);
+  }
+
+  return { range: outRange, dropped };
+}
+
+function buildKnownGoodDebugCloud() {
+  // Deterministic 1m cube grid centered 2m in front of camera.
+  const center = new THREE.Vector3(0, 0, -2).applyMatrix4(camera.matrixWorld);
+  const step = 0.1; // 11^3 ~= 1331 points
+  const points = [];
+  const colors = [];
+  for (let x = -0.5; x <= 0.5001; x += step) {
+    for (let y = -0.5; y <= 0.5001; y += step) {
+      for (let z = -0.5; z <= 0.5001; z += step) {
+        points.push(center.x + x, center.y + y, center.z + z);
+        colors.push(0.15 + (x + 0.5) * 0.7, 0.25 + (y + 0.5) * 0.6, 0.95 - (z + 0.5) * 0.5);
+      }
+    }
+  }
+  return {
+    pos: new Float32Array(points),
+    col: new Float32Array(colors),
+  };
+}
+
+function logLidarFrameStats(points, n, ring) {
+  const now = performance.now();
+  if (now - _lidarLastStatsMs < LIDAR_STATS_INTERVAL_MS) return;
+  _lidarLastStatsMs = now;
+  if (!n) {
+    console.info("[LiDAR stats]", { n_points: 0, nan_inf_pct: 0 });
+    return;
+  }
+  let minX = Infinity, minY = Infinity, minZ = Infinity;
+  let maxX = -Infinity, maxY = -Infinity, maxZ = -Infinity;
+  let ringMin = Infinity;
+  let ringMax = -Infinity;
+  let bad = 0;
+  const yQuant = new Set();
+  for (let i = 0; i < n; i++) {
+    const x = points[i * 3 + 0];
+    const y = points[i * 3 + 1];
+    const z = points[i * 3 + 2];
+    if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z)) {
+      bad++;
+      continue;
+    }
+    if (x < minX) minX = x;
+    if (x > maxX) maxX = x;
+    if (y < minY) minY = y;
+    if (y > maxY) maxY = y;
+    if (z < minZ) minZ = z;
+    if (z > maxZ) maxZ = z;
+    yQuant.add(Math.round(y * 1000));
+    const rr = ring[i];
+    if (rr < ringMin) ringMin = rr;
+    if (rr > ringMax) ringMax = rr;
+  }
+  console.info("[LiDAR stats]", {
+    n_points: n,
+    min: { x: minX, y: minY, z: minZ },
+    max: { x: maxX, y: maxY, z: maxZ },
+    nan_inf_pct: (100 * bad) / n,
+    unique_y_mm: yQuant.size,
+    rings_configured: LIDAR_NUM_RINGS,
+    ring_min: Number.isFinite(ringMin) ? ringMin : 0,
+    ring_max: Number.isFinite(ringMax) ? ringMax : 0,
+  });
+}
+
+function shouldAppendAccumFrame(refPose, stampNs) {
+  if (!_lidarLastAccumPose) return true;
+  const dtS = (stampNs - _lidarLastAccumPose.stampNs) / 1e9;
+  if (dtS >= LIDAR_ACCUM_REFRESH_S) return true;
+  const dp = refPose.pos.distanceTo(_lidarLastAccumPose.pos);
+  if (dp >= LIDAR_ACCUM_MIN_TRANSLATION_M) return true;
+  const ang = THREE.MathUtils.radToDeg(refPose.quat.angleTo(_lidarLastAccumPose.quat));
+  if (ang >= LIDAR_ACCUM_MIN_ROT_DEG) return true;
+  return false;
+}
+
+function resetLidarScanState() {
+  _lidarScanState = null;
+}
+
+function updateLidarPointCloud() {
+  if (!rapierWorld || !RAPIER || (simSensorViewMode !== "lidar" && !dimosMode)) return;
+
+  if (_lidarUseKnownGoodDebugCloud) {
+    resetLidarScanState();
+    const dbg = buildKnownGoodDebugCloud();
+    const nDbg = Math.min(LIDAR_VIZ_MAX_POINTS, Math.floor(dbg.pos.length / 3));
+    _lidarPosArray.set(dbg.pos.subarray(0, nDbg * 3), 0);
+    _lidarColArray.set(dbg.col.subarray(0, nDbg * 3), 0);
+    _lidarGeom.setDrawRange(0, nDbg);
+    _lidarGeom.attributes.position.needsUpdate = true;
+    _lidarGeom.attributes.color.needsUpdate = true;
+    lidarVizGroup.position.set(0, 0, 0);
+    lidarVizGroup.quaternion.identity();
+    lidarVizGroup.scale.set(1, 1, 1);
+    return;
+  }
+
+  // Build set of collider handles to exclude from lidar raycasts.
+  // Excludes player collider and ALL AI agent colliders (lidar origin is inside them).
+  // In dimos mode, also explicitly exclude the active dimos agent body/colliders.
+  const _lidarExcludeHandles = new Set();
+  const _lidarHostAgent = dimosMode ? window.__dimosAgent : null;
+  const _lidarExcludeRigidBodyHandle = _lidarHostAgent?.body?.handle;
+  if (playerCollider) _lidarExcludeHandles.add(playerCollider.handle);
+  if (_lidarHostAgent?.collider?.handle != null) _lidarExcludeHandles.add(_lidarHostAgent.collider.handle);
+  if (_lidarHostAgent?.spineCollider?.handle != null) _lidarExcludeHandles.add(_lidarHostAgent.spineCollider.handle);
+  for (const a of aiAgents) {
+    if (a?.collider) _lidarExcludeHandles.add(a.collider.handle);
+    if (a?.spineCollider) _lidarExcludeHandles.add(a.spineCollider.handle);
+  }
+
+  // Livox Mid-360 style: Fibonacci sphere sampling, incremental over ~0.1s wall-clock.
+  const N = LIDAR_NUM_POINTS;
+  const scanDurationS = LIDAR_SCAN_DURATION_S;
+  const scanDurationNs = Math.floor(scanDurationS * 1e9);
+  if (!_lidarScanState) {
+    const scanStartNs = nowNs();
+    _lidarScanCount++;
+    const jitterAngle = _lidarScanCount * 2.399963; // golden angle rotation per scan
+    const rangeImg = new Float32Array(LIDAR_NUM_RINGS * LIDAR_RANGE_IMAGE_W);
+    const intenImg = new Float32Array(LIDAR_NUM_RINGS * LIDAR_RANGE_IMAGE_W);
+    const ringIdxImg = new Uint16Array(LIDAR_NUM_RINGS * LIDAR_RANGE_IMAGE_W);
+    _lidarScanState = {
+      scanStartNs,
+      scanDurationS,
+      scanDurationNs,
+      scanSeed: (scanStartNs / 1e6) | 0,
+      cosJitter: Math.cos(jitterAngle),
+      sinJitter: Math.sin(jitterAngle),
+      nextIdx: 0,
+      n: 0,
+      rawPts: new Float32Array(LIDAR_MAX_POINTS * 3),
+      deskPts: new Float32Array(LIDAR_MAX_POINTS * 3),
+      intensity: new Float32Array(LIDAR_MAX_POINTS),
+      ring: new Uint16Array(LIDAR_MAX_POINTS),
+      tArr: new Float32Array(LIDAR_MAX_POINTS),
+      worldPts: new Float32Array(LIDAR_MAX_POINTS * 3),
+      colArray: new Float32Array(LIDAR_MAX_POINTS * 3),
+      rangeImg,
+      intenImg,
+      ringIdxImg,
+    };
+  }
+  const st = _lidarScanState;
+  const dirLocal = new THREE.Vector3();
+  const dirWorld = new THREE.Vector3();
+  const pWorld = new THREE.Vector3();
+  const pRawLocal = new THREE.Vector3();
+  const elapsedNs = Math.max(0, nowNs() - st.scanStartNs);
+  const progress = Math.min(1, elapsedNs / Math.max(1, st.scanDurationNs));
+  let targetIdx = Math.floor(progress * N);
+  targetIdx = Math.max(targetIdx, Math.min(N, st.nextIdx + 1));
+  if (elapsedNs >= st.scanDurationNs) targetIdx = N;
+
+  const cosJ = st.cosJitter, sinJ = st.sinJitter;
+
+  for (let i = st.nextIdx; i < targetIdx; i++) {
+    {
+      if (st.n >= LIDAR_MAX_POINTS) break;
+      // Fibonacci direction with per-scan golden-angle rotation around Z (non-repetitive)
+      const fx = _fibLidarDirs[i * 3 + 0], fy = _fibLidarDirs[i * 3 + 1], fz = _fibLidarDirs[i * 3 + 2];
+      const tSec = (i / Math.max(1, N - 1)) * scanDurationS;
+      const stampNs = st.scanStartNs + Math.floor(tSec * 1e9);
+      const pose = getLidarPoseAtNs(stampNs);
+      const w2lNow = twlInverseMatrix(pose.pos, pose.quat);
+      const origin = pose.pos;
+
+      // Fibonacci direction rotated by per-scan golden angle (FLU frame)
+      dirLocal.set(fx * cosJ - fy * sinJ, fx * sinJ + fy * cosJ, fz);
+      dirWorld.copy(dirLocal).applyQuaternion(pose.quat).normalize();
+      const ray = new RAPIER.Ray(
+        { x: origin.x, y: origin.y, z: origin.z },
+        { x: dirWorld.x, y: dirWorld.y, z: dirWorld.z }
+      );
+      let hit = null;
+      let singleExcludeHandle = undefined;
+      // Defensive retry: if a self-collider slips through, recast while excluding it.
+      // Keeps scans alive even if exclusion bookkeeping is briefly stale.
+      for (let castAttempt = 0; castAttempt < 4; castAttempt++) {
+        hit = rapierWorld.queryPipeline.castRayAndGetNormal(
+          rapierWorld.bodies,
+          rapierWorld.colliders,
+          ray,
+          LIDAR_MAX_RANGE_M,
+          false,
+          RAPIER.QueryFilterFlags.EXCLUDE_SENSORS,
+          undefined,
+          singleExcludeHandle,
+          _lidarExcludeRigidBodyHandle,
+          (h) => !_lidarExcludeHandles.has(h)
+        );
+        const hitHandle = hit?.colliderHandle;
+        if (!hit || hitHandle == null || !_lidarExcludeHandles.has(hitHandle)) break;
+        singleExcludeHandle = hitHandle;
+      }
+      let toi = hit ? (hit.toi ?? hit.timeOfImpact ?? 0) : Infinity;
+      const hitNormal = hit?.normal || null;
+
+      // Ground-truth-style lidar: no-return beams are omitted.
+      if (!Number.isFinite(toi) || toi > LIDAR_MAX_RANGE_M || toi < LIDAR_MIN_RANGE_M) continue;
+
+      const nx = hitNormal?.x ?? 0;
+      const ny = hitNormal?.y ?? 0;
+      const nz = hitNormal?.z ?? 1;
+      const incidence = hitNormal ? Math.max(0, -(dirWorld.x * nx + dirWorld.y * ny + dirWorld.z * nz)) : 0.7;
+      const reality = applyLidarRealityModel(toi, incidence, st.scanSeed, i & 0xff, i >> 8);
+      if (reality.dropped) continue;
+      toi = reality.range;
+
+      pWorld.set(
+        origin.x + dirWorld.x * toi,
+        origin.y + dirWorld.y * toi,
+        origin.z + dirWorld.z * toi
+      );
+      pRawLocal.copy(pWorld).applyMatrix4(w2lNow);
+
+      st.rawPts[st.n * 3 + 0] = pRawLocal.x;
+      st.rawPts[st.n * 3 + 1] = pRawLocal.y;
+      st.rawPts[st.n * 3 + 2] = pRawLocal.z;
+      st.worldPts[st.n * 3 + 0] = pWorld.x;
+      st.worldPts[st.n * 3 + 1] = pWorld.y;
+      st.worldPts[st.n * 3 + 2] = pWorld.z;
+
+      st.ring[st.n] = 0;
+      st.tArr[st.n] = tSec;
+
+      const atten = 1.0 / (1.0 + 0.02 * toi * toi);
+      const I = Math.max(0.06, Math.min(1.0, incidence * atten));
+      st.intensity[st.n] = I;
+      const tr = Math.min(1, Math.max(0, toi / LIDAR_MAX_RANGE_M));
+      const depthShade = 1.0 - 0.35 * tr; // cheap EDL-like darkening by depth/range
+
+      if (lidarColorByRange) {
+        const [r, g, b] = lidarRangeColor01(tr);
+        st.colArray[st.n * 3 + 0] = r * depthShade;
+        st.colArray[st.n * 3 + 1] = g * depthShade;
+        st.colArray[st.n * 3 + 2] = b * depthShade;
+      } else {
+        // Intensity-like grayscale (closer to raw LiDAR semantics)
+        const g = I * depthShade;
+        st.colArray[st.n * 3 + 0] = g;
+        st.colArray[st.n * 3 + 1] = g;
+        st.colArray[st.n * 3 + 2] = g;
+      }
+      st.n++;
+    }
+  }
+  st.nextIdx = targetIdx;
+  if (st.nextIdx < N) {
+    // Keep LiDAR visible while a scan is still being built.
+    // If we don't have accumulated frames yet, show the partial current scan.
+    if (!lidarOrderedDebugView && _lidarAccumFrames.length === 0 && st.n > 0) {
+      _lidarPosArray.set(st.worldPts.subarray(0, st.n * 3), 0);
+      _lidarColArray.set(st.colArray.subarray(0, st.n * 3), 0);
+      _lidarGeom.setDrawRange(0, st.n);
+      if (st.n > 0) _lidarLastNonZeroDrawCount = st.n;
+      _lidarGeom.attributes.position.needsUpdate = true;
+      _lidarGeom.attributes.color.needsUpdate = true;
+      lidarVizGroup.position.set(0, 0, 0);
+      lidarVizGroup.quaternion.identity();
+      lidarVizGroup.scale.set(1, 1, 1);
+    }
+    return; // scan still in progress
+  }
+
+  const scanEndNs = st.scanStartNs + st.scanDurationNs;
+  const refPose = getLidarPoseAtNs(scanEndNs);
+  const refTwlFlat = composeTwlFlat64(refPose.pos, refPose.quat);
+  const refW2L = twlInverseMatrix(refPose.pos, refPose.quat);
+  const pDeskLocal = new THREE.Vector3();
+  for (let i = 0; i < st.n; i++) {
+    pDeskLocal.set(
+      st.worldPts[i * 3 + 0],
+      st.worldPts[i * 3 + 1],
+      st.worldPts[i * 3 + 2]
+    ).applyMatrix4(refW2L);
+    st.deskPts[i * 3 + 0] = pDeskLocal.x;
+    st.deskPts[i * 3 + 1] = pDeskLocal.y;
+    st.deskPts[i * 3 + 2] = pDeskLocal.z;
+  }
+
+  logLidarFrameStats(st.worldPts, st.n, st.ring);
+
+  const rawFrame = makeRoboValLidarFrame({
+    frameId: "lidar",
+    stampNs: scanEndNs,
+    points: st.rawPts.subarray(0, st.n * 3),
+    intensity: st.intensity.subarray(0, st.n),
+    ring: st.ring.subarray(0, st.n),
+    t: st.tArr.subarray(0, st.n),
+    hasRing: true,
+    hasPerPointTime: true,
+    scanDurationS,
+    poseTWorldLidar: refTwlFlat,
+  });
+  const deskewedFrame = makeRoboValLidarFrame({
+    frameId: "lidar",
+    stampNs: scanEndNs,
+    points: st.deskPts.subarray(0, st.n * 3),
+    intensity: st.intensity.subarray(0, st.n),
+    ring: st.ring.subarray(0, st.n),
+    t: st.tArr.subarray(0, st.n),
+    hasRing: true,
+    hasPerPointTime: true,
+    scanDurationS,
+    poseTWorldLidar: refTwlFlat,
+  });
+  const sensorModelMeta = {
+    range_min_m: LIDAR_MIN_RANGE_M,
+    range_max_m: LIDAR_MAX_RANGE_M,
+    noise_enabled: lidarNoiseEnabled,
+    multi_return_mode: lidarMultiReturnMode,
+    ordered_render_debug: lidarOrderedDebugView,
+    deskewed: true,
+  };
+  rawFrame.sensor_model = sensorModelMeta;
+  deskewedFrame.sensor_model = sensorModelMeta;
+  const rangeImage = {
+    H: LIDAR_NUM_RINGS,
+    W: LIDAR_RANGE_IMAGE_W,
+    range: st.rangeImg,
+    intensity: st.intenImg,
+    ring_index: st.ringIdxImg,
+    metadata: {
+      azimuth_convention: "col increases with azimuth in lidar FLU frame",
+      binning: "uniform azimuth bins",
+      num_rings: LIDAR_NUM_RINGS,
+      num_azimuth_bins: LIDAR_RANGE_IMAGE_W,
+      sensor_model: sensorModelMeta,
+      visualization_mode: lidarOrderedDebugView ? "single_sweep_ordered" : "accumulated_unordered",
+      accumulation: {
+        max_frames: LIDAR_ACCUM_FRAMES,
+        min_translation_m: LIDAR_ACCUM_MIN_TRANSLATION_M,
+        min_rotation_deg: LIDAR_ACCUM_MIN_ROT_DEG,
+        refresh_s: LIDAR_ACCUM_REFRESH_S,
+      },
+    },
+  };
+  _lidarLatestRawFrame = rawFrame;
+  _lidarLatestDeskewedFrame = deskewedFrame;
+  _lidarLatestRangeImage = rangeImage;
+  // Save world-frame points for dimos bridge (Three.js Y-up coords).
+  // The bridge's cyclic permutation correctly converts these to ROS Z-up.
+  _lidarLatestWorldPts = st.worldPts.slice(0, st.n * 3);
+  _lidarLatestLocalPts = st.deskPts.slice(0, st.n * 3);
+  _lidarLatestWorldIntensity = st.intensity.slice(0, st.n);
+
+  // Default visualization: accumulated world-space point cloud (depth-tested).
+  if (!lidarOrderedDebugView) {
+    if (shouldAppendAccumFrame(refPose, scanEndNs)) {
+      const framePos = new Float32Array(st.n * 3);
+      const frameCol = new Float32Array(st.n * 3);
+      framePos.set(st.worldPts.subarray(0, st.n * 3));
+      frameCol.set(st.colArray.subarray(0, st.n * 3));
+      _lidarAccumFrames.push({ pos: framePos, col: frameCol });
+      while (_lidarAccumFrames.length > LIDAR_ACCUM_FRAMES) _lidarAccumFrames.shift();
+      _lidarLastAccumPose = {
+        pos: refPose.pos.clone(),
+        quat: refPose.quat.clone(),
+        stampNs: scanEndNs,
+      };
+    }
+
+    let out = 0;
+    const len = _lidarAccumFrames.length;
+    for (let fi = 0; fi < len && out < LIDAR_VIZ_MAX_POINTS; fi++) {
+      const f = _lidarAccumFrames[fi];
+      const age01 = len <= 1 ? 0 : (len - 1 - fi) / (len - 1); // 1 old -> 0 newest
+      const fade = 1.0 - 0.7 * age01;
+      const fn = Math.floor(f.pos.length / 3);
+      for (let i = 0; i < fn && out < LIDAR_VIZ_MAX_POINTS; i++, out++) {
+        _lidarPosArray[out * 3 + 0] = f.pos[i * 3 + 0];
+        _lidarPosArray[out * 3 + 1] = f.pos[i * 3 + 1];
+        _lidarPosArray[out * 3 + 2] = f.pos[i * 3 + 2];
+        _lidarColArray[out * 3 + 0] = Math.max(0, Math.min(1, f.col[i * 3 + 0] * fade));
+        _lidarColArray[out * 3 + 1] = Math.max(0, Math.min(1, f.col[i * 3 + 1] * fade));
+        _lidarColArray[out * 3 + 2] = Math.max(0, Math.min(1, f.col[i * 3 + 2] * fade));
+      }
+    }
+    if (out > 0) {
+      _lidarGeom.setDrawRange(0, out);
+      _lidarLastNonZeroDrawCount = out;
+    }
+    lidarVizGroup.position.set(0, 0, 0);
+    lidarVizGroup.quaternion.identity();
+    lidarVizGroup.scale.set(1, 1, 1);
+  } else {
+    // Debug visualization: ordered current-frame cloud in deskewed lidar frame.
+    _lidarAccumFrames.length = 0;
+    _lidarPosArray.set(st.deskPts.subarray(0, st.n * 3), 0);
+    _lidarGeom.setDrawRange(0, st.n);
+    if (st.n > 0) _lidarLastNonZeroDrawCount = st.n;
+    lidarVizGroup.position.copy(refPose.pos);
+    lidarVizGroup.quaternion.copy(refPose.quat);
+    lidarVizGroup.scale.set(1, 1, 1);
+  }
+  _lidarGeom.attributes.position.needsUpdate = true;
+  _lidarGeom.attributes.color.needsUpdate = true;
+  // Guard against intermittent empty frames causing visible flicker.
+  if (_lidarGeom.drawRange.count <= 0 && _lidarLastNonZeroDrawCount > 0) {
+    _lidarGeom.setDrawRange(0, _lidarLastNonZeroDrawCount);
+  }
+  if (_lidarAutoExport) {
+    writeLidarFrameFiles(rawFrame, deskewedFrame, rangeImage);
+  }
+  resetLidarScanState();
+}
+
+function applySimSensorViewMode() {
+  if (simSensorViewMode === "rgb") {
+    // Restore default rendering.
+    scene.overrideMaterial = _savedOverrideMaterial;
+    assetsGroup.visible = true;
+    primitivesGroup.visible = true;
+    lightsGroup.visible = true;
+    tagsGroup.visible = false;
+    lidarVizGroup.visible = false;
+    rgbdPcOverlayGroup.visible = false;
+    _rgbdPcGeom.setDrawRange(0, 0);
+    _lidarAccumFrames.length = 0;
+    _lidarLastAccumPose = null;
+    resetLidarScanState();
+    applySceneRgbBackground();
+  } else if (simSensorViewMode === "rgbd") {
+    // RGB-D mode: render scene depth to offscreen target, then post-process to
+    // metric camera-space Z visualization. Do not override scene materials.
+    _savedOverrideMaterial = null;
+    scene.overrideMaterial = null;
+    assetsGroup.visible = true;
+    primitivesGroup.visible = true;
+    lightsGroup.visible = true;
+    tagsGroup.visible = false;
+    lidarVizGroup.visible = false;
+    rgbdPcOverlayGroup.visible = false;
+    _rgbdPcGeom.setDrawRange(0, 0);
+    _lidarAccumFrames.length = 0;
+    _lidarLastAccumPose = null;
+    resetLidarScanState();
+    skyDome.visible = false;
+    scene.background = RGBD_BG;
+  } else {
+    // LiDAR mode: hide scene visuals and render deterministic point cloud only.
+    _savedOverrideMaterial = null;
+    scene.overrideMaterial = null;
+    assetsGroup.visible = false;
+    primitivesGroup.visible = false;
+    lightsGroup.visible = false;
+    tagsGroup.visible = false;
+    lidarVizGroup.visible = true;
+    rgbdPcOverlayGroup.visible = rgbdPcOverlayOnLidar && _rgbdPcOverlayLastCount > 0;
+    skyDome.visible = false;
+    scene.background = RGBD_BG;
+  }
+  updateSimSensorButtons();
+}
+
+function setSimSensorViewMode(mode) {
+  const next = mode === "rgbd" || mode === "lidar" ? mode : "rgb";
+  // Toggle behavior: clicking an already-active sensor mode returns to RGB.
+  simSensorViewMode = (simSensorViewMode === next && next !== "rgb") ? "rgb" : next;
+  applySimSensorViewMode();
+  if (simSensorViewMode === "rgb") {
+    setStatus("RGB view");
+  } else if (simSensorViewMode === "rgbd") {
+    setStatus(`RGB-D ${rgbdVizMode === "gray" ? "grayscale" : "colormap"} (${rgbdRangeMinM.toFixed(1)}-${rgbdRangeMaxM.toFixed(1)}m)`);
+  } else {
+    setStatus(lidarOrderedDebugView ? "LiDAR single sweep view" : "LiDAR accumulated 3D point cloud");
+  }
+}
+
+// Controls: pointer-lock look + WASD move.
+const controls = new PointerLockControls(camera, document.body);
+scene.add(controls.object);
+
+
+const keys = {
+  forward: false,
+  backward: false,
+  left: false,
+  right: false,
+  up: false,
+  down: false,
+};
+
+function setStatus(msg) {
+  if (statusEl) statusEl.textContent = msg || "";
+  if (statusSimEl) statusSimEl.textContent = msg || "";
+}
+
+function randId() {
+  return Math.random().toString(16).slice(2) + "-" + Date.now().toString(16);
+}
+
+function escapeHtml(s) {
+  return String(s)
+    .replaceAll("&", "&")
+    .replaceAll("<", "<")
+    .replaceAll(">", ">")
+    .replaceAll('"', """)
+    .replaceAll("'", "'");
+}
+
+function loadTagsForWorld() {
+  // Clean up old primitive colliders BEFORE replacing the arrays
+  for (const p of primitives) {
+    removePrimitiveCollider(p);
+  }
+
+  try {
+    const rawState = localStorage.getItem("sparkWorldStateByWorld");
+    const byWorld = rawState ? JSON.parse(rawState) : {};
+    const state = byWorld[worldKey] || null;
+    if (state && typeof state === "object") {
+      tags = Array.isArray(state.tags) ? state.tags : [];
+      assets = Array.isArray(state.assets) ? state.assets.map(normalizeAsset).filter(Boolean) : [];
+      primitives = Array.isArray(state.primitives) ? state.primitives : [];
+      editorLights = Array.isArray(state.lights) ? state.lights : [];
+      groups = Array.isArray(state.groups) ? state.groups : [];
+      sceneSettings = normalizeSceneSettings(state.sceneSettings);
+    } else {
+      // Backwards compat: tags-only storage
+      const raw = localStorage.getItem("sparkWorldTagsByWorld");
+      const byWorldOld = raw ? JSON.parse(raw) : {};
+      tags = Array.isArray(byWorldOld[worldKey]) ? byWorldOld[worldKey] : [];
+      assets = [];
+      primitives = [];
+      editorLights = [];
+      groups = [];
+      sceneSettings = createDefaultSceneSettings();
+    }
+  } catch {
+    tags = [];
+    assets = [];
+    primitives = [];
+    editorLights = [];
+    groups = [];
+    sceneSettings = createDefaultSceneSettings();
+  }
+  selectedTagId = null;
+  draftTag = null;
+  selectedAssetId = null;
+  selectedPrimitiveId = null;
+  rebuildTagMarkers();
+  renderTagsList();
+  renderTagPanel();
+  rebuildAssets();
+  renderAssetsList();
+  rebuildAllPrimitives();
+  renderPrimitivesList();
+  rebuildAllEditorLights();
+  applySceneSkySettings();
+  applySceneRgbBackground();
+}
+
+function saveTagsForWorld() {
+  try {
+    let rawState = localStorage.getItem("sparkWorldStateByWorld");
+    let byWorld = {};
+    
+    try {
+      byWorld = rawState ? JSON.parse(rawState) : {};
+    } catch {
+      // Corrupted data, start fresh
+      console.warn("[SAVE] Corrupted localStorage data, clearing...");
+      byWorld = {};
+    }
+
+    console.log(`[SAVE] Saving ${assets.length} assets for world: ${worldKey}`);
+
+    // Only save lightweight metadata - NOT the full dataBase64 model data
+    // Only save state changes (currentStateId, transform)
+    const lightweightAssets = assets.map(a => {
+      // Regular assets: only save delta/metadata, not model data
+      return {
+        id: a.id,
+        currentStateId: a.currentStateId || a.currentState,
+        transform: a.transform,
+        pickable: a.pickable,
+        castShadow: a.castShadow ?? false,
+        receiveShadow: a.receiveShadow ?? false,
+        blobShadow: a.blobShadow || null,
+        _deltaOnly: true,
+      };
+    });
+    
+    // Save primitives — strip collider handles and large texture data URLs
+    // (textures are preserved in Export but too big for localStorage)
+    const savePrimitives = primitives.map((p) => {
+      const { _colliderHandle, ...rest } = p;
+      if (rest.material?.textureDataUrl) {
+        rest.material = { ...rest.material, textureDataUrl: null };
+      }
+      return rest;
+    });
+
+    // Save lights (strip runtime objects)
+    const saveLights = editorLights.map((l) => {
+      const { _lightObj, _helperObj, _proxyObj, ...rest } = l;
+      return rest;
+    });
+
+    byWorld[worldKey] = {
+      tags,
+      assets: lightweightAssets,
+      primitives: savePrimitives,
+      lights: saveLights,
+      groups,
+      sceneSettings: serializeSceneSettings(),
+    };
+    const dataStr = JSON.stringify(byWorld);
+    
+    // Check size before saving (localStorage limit is typically 5MB)
+    const sizeKB = (dataStr.length * 2) / 1024; // Rough estimate (UTF-16)
+    console.log(`[SAVE] Data size: ${sizeKB.toFixed(1)}KB`);
+    
+    localStorage.setItem("sparkWorldStateByWorld", dataStr);
+    localStorage.setItem("sparkWorldLastWorldKey", worldKey);
+  } catch (e) {
+    console.error("[SAVE] Failed to save world state:", e);
+    
+    // If quota exceeded, try clearing old data and retry
+    if (e.name === "QuotaExceededError") {
+      console.warn("[SAVE] Quota exceeded, clearing old world data...");
+      try {
+        localStorage.removeItem("sparkWorldStateByWorld");
+        // Retry with just current world and minimal data
+        const freshData = {};
+        freshData[worldKey] = {
+          tags,
+          assets: [],
+          sceneSettings: serializeSceneSettings()
+        };
+        localStorage.setItem("sparkWorldStateByWorld", JSON.stringify(freshData));
+        console.log("[SAVE] Saved minimal data after clearing old data");
+      } catch (e2) {
+        console.error("[SAVE] Still failed after clearing:", e2);
+      }
+    }
+  }
+}
+
+// Clear all localStorage data for this app (useful for debugging)
+function clearWorldStorage() {
+  localStorage.removeItem("sparkWorldStateByWorld");
+  localStorage.removeItem("sparkWorldLastWorldKey");
+  console.log("[STORAGE] Cleared all world storage");
+}
+// Expose for debugging: window.clearWorldStorage = clearWorldStorage;
+
+function setWorldKey(key) {
+  worldKey = key || "default";
+  localStorage.setItem("sparkWorldLastWorldKey", worldKey);
+  loadTagsForWorld();
+}
+
+
+function getSelectedTag() {
+  return tags.find((t) => t.id === selectedTagId) ?? null;
+}
+
+function renderTagPanel() {
+  // No-op in sim-only mode (editor tag panel not present)
+}
+
+function renderTagsList() {
+  // No-op in sim-only mode (editor tags list not present)
+}
+
+const markerGeom = new THREE.SphereGeometry(0.08, 12, 12);
+const markerMat = new THREE.MeshBasicMaterial({ color: 0x7cc4ff });
+const markerMatActive = new THREE.MeshBasicMaterial({ color: 0xffd36e });
+const radiusGeom = new THREE.SphereGeometry(1, 20, 14);
+const radiusMat = new THREE.MeshBasicMaterial({
+  color: 0x7cc4ff,
+  transparent: true,
+  opacity: 0.08,
+  depthWrite: false,
+});
+
+function agentUiPush(event) {
+  const logs = [
+    agentLogEl,
+    document.getElementById("edit-agent-log"),
+  ].filter(Boolean);
+  for (const log of logs) {
+    const el = document.createElement("div");
+    el.className = "agent-log-item";
+    el.textContent = event;
+    log.prepend(el);
+    // cap
+    while (log.children.length > 10) log.removeChild(log.lastChild);
+  }
+}
+
+function agentUiSetLast(text) {
+  const value = text || "";
+  if (agentLastEl) agentLastEl.textContent = value;
+  const editLast = document.getElementById("edit-agent-last");
+  if (editLast) editLast.textContent = value;
+}
+
+function agentUiSetShot(base64) {
+  if (!base64) return;
+  const src = `data:image/jpeg;base64,${base64}`;
+  if (agentShotImgEl) agentShotImgEl.src = src;
+  const editShot = document.getElementById("edit-agent-shot-img");
+  if (editShot) editShot.src = src;
+}
+
+function extractObservationText(parsed, raw) {
+  const p = parsed && typeof parsed === "object" ? parsed : {};
+  const observation =
+    (typeof p.observation === "string" && p.observation) ||
+    (typeof p.obs === "string" && p.obs) ||
+    (typeof p.perception === "string" && p.perception) ||
+    (typeof p.sceneObservation === "string" && p.sceneObservation) ||
+    (typeof p.visualObservation === "string" && p.visualObservation) ||
+    (typeof p.params?.observation === "string" && p.params.observation) ||
+    "";
+  if (observation.trim()) return observation.trim();
+
+  if (typeof raw === "string" && raw.trim()) {
+    const m = raw.match(/"observation"\s*:\s*"([^"]+)"/i);
+    if (m?.[1]) return m[1];
+  }
+  return "";
+}
+
+function agentUiSetObservation(text) {
+  const value = String(text || "").trim();
+  if (!agentObservationEl) return;
+  agentObservationEl.textContent = value || "No observation in latest response.";
+}
+
+function agentUiSetRequest({ endpoint, model, prompt, context, imageBytes, messages }) {
+  const metaText = `endpoint: ${endpoint}\nmodel: ${model}\nimageBytes: ${imageBytes ?? "?"}\nworld: ${worldKey}`;
+  if (agentReqMetaEl) agentReqMetaEl.textContent = metaText;
+  const editMeta = document.getElementById("edit-agent-req-meta");
+  if (editMeta) editMeta.textContent = metaText;
+  if (agentReqPromptEl) agentReqPromptEl.textContent = prompt || "";
+  const editPrompt = document.getElementById("edit-agent-req-prompt");
+  if (editPrompt) editPrompt.textContent = prompt || "";
+  
+  // Format messages for display (only assistant and user messages, not system)
+  let contextText = "";
+  if (messages && messages.length > 0) {
+    // Filter out system messages - only show assistant and user
+    const conversationMessages = messages.filter(msg => msg.role !== "system");
+    if (conversationMessages.length > 0) {
+      contextText = conversationMessages.map((msg) => {
+        const role = msg.role.toUpperCase();
+        let content = "";
+        if (typeof msg.content === "string") {
+          content = msg.content;
+        } else if (Array.isArray(msg.content)) {
+          // Handle multimodal content (text + image)
+          content = msg.content.map(part => {
+            if (part.type === "text") return part.text;
+            if (part.type === "image_url") return "[IMAGE]";
+            return JSON.stringify(part);
+          }).join("\n");
+        } else {
+          content = JSON.stringify(msg.content, null, 2);
+        }
+        return `═══ ${role} ═══\n${content}`;
+      }).join("\n\n");
+    } else {
+      contextText = "(No conversation history yet)";
+    }
+  } else {
+    contextText = JSON.stringify(context ?? {}, null, 2);
+  }
+  if (agentReqContextEl) agentReqContextEl.textContent = contextText;
+  const editContext = document.getElementById("edit-agent-req-context");
+  if (editContext) editContext.textContent = contextText;
+}
+
+function agentUiSetResponse({ raw, parsed }) {
+  if (agentRespRawEl) agentRespRawEl.textContent = raw || "";
+  const editRaw = document.getElementById("edit-agent-resp-raw");
+  if (editRaw) editRaw.textContent = raw || "";
+  if (agentLastEl) agentLastEl.textContent = JSON.stringify(parsed ?? {}, null, 2);
+  agentUiSetObservation(extractObservationText(parsed, raw));
+  const editLast = document.getElementById("edit-agent-last");
+  if (editLast) editLast.textContent = JSON.stringify(parsed ?? {}, null, 2);
+}
+
+function clearAgentInspectorViews() {
+  if (agentShotImgEl) agentShotImgEl.removeAttribute("src");
+  if (agentReqMetaEl) agentReqMetaEl.textContent = "No request yet";
+  if (agentReqPromptEl) agentReqPromptEl.textContent = "";
+  if (agentReqContextEl) agentReqContextEl.textContent = "";
+  if (agentRespRawEl) agentRespRawEl.textContent = "";
+  if (agentLastEl) agentLastEl.textContent = "Waiting...";
+  if (agentObservationEl) agentObservationEl.textContent = "Waiting for first observation...";
+
+  const editShot = document.getElementById("edit-agent-shot-img");
+  const editReqMeta = document.getElementById("edit-agent-req-meta");
+  const editReqPrompt = document.getElementById("edit-agent-req-prompt");
+  const editReqContext = document.getElementById("edit-agent-req-context");
+  const editRespRaw = document.getElementById("edit-agent-resp-raw");
+  const editLast = document.getElementById("edit-agent-last");
+  if (editShot) editShot.removeAttribute("src");
+  if (editReqMeta) editReqMeta.textContent = "No request yet";
+  if (editReqPrompt) editReqPrompt.textContent = "";
+  if (editReqContext) editReqContext.textContent = "";
+  if (editRespRaw) editRespRaw.textContent = "";
+  if (editLast) editLast.textContent = "Waiting...";
+}
+
+function showEditSpawnedAgentsTab() {
+  const btn = document.getElementById("vibe-tab-agents");
+  btn?.click?.();
+}
+
+function getAgentById(id) {
+  const key = String(id || "");
+  if (!key) return null;
+  return aiAgents.find((a) => a?.id === key) || null;
+}
+
+function ensureAgentControlStrip() {
+  // Restrict spawned-agent controls to the right-panel "Spawned Agents" tab only.
+  const panelContent = document.getElementById("vibe-tab-agents-pane");
+  if (!panelContent) return;
+
+  let strip = document.getElementById("agent-control-strip");
+
+  // Re-parent strip if it ended up in the wrong panel after mode switch.
+  if (strip && strip.parentElement !== panelContent) {
+    strip.remove();
+    strip = null;
+    agentUiSelectedLabelEl = null;
+    agentUiSpawnBtn = null;
+    agentUiFollowBtn = null;
+    agentUiStopBtn = null;
+    agentUiRemoveBtn = null;
+    agentUiTaskInputEl = null;
+    agentUiTaskRunBtn = null;
+  }
+
+  if (agentUiSelectedLabelEl && agentUiFollowBtn && agentUiStopBtn && agentUiRemoveBtn) return;
+
+  if (!strip) {
+    strip = document.createElement("div");
+    strip.id = "agent-control-strip";
+    strip.className = "agent-control-strip";
+    strip.innerHTML = `
+      
Selected: none

+      

+        
+        
+        
+        
+      

+      

+        
+        
+      

+    `;
+    panelContent.insertBefore(strip, panelContent.firstChild || null);
+  }
+
+  agentUiSelectedLabelEl = document.getElementById("agent-selected-label");
+  agentUiSpawnBtn = document.getElementById("agent-selected-spawn");
+  agentUiFollowBtn = document.getElementById("agent-selected-follow");
+  agentUiStopBtn = document.getElementById("agent-selected-stop");
+  agentUiRemoveBtn = document.getElementById("agent-selected-remove");
+  agentUiTaskInputEl = document.getElementById("agent-selected-task-input");
+  agentUiTaskRunBtn = document.getElementById("agent-selected-task-run");
+
+  agentUiSpawnBtn?.addEventListener("click", () => {
+    void spawnOrMoveAiAtAim({ createNew: true, silent: false, ephemeral: false }).then(() => {
+      const newest = aiAgents[aiAgents.length - 1];
+      if (newest?.id) selectAgentInspector(newest.id);
+      renderSelectedAgentControls();
+    });
+    showEditSpawnedAgentsTab();
+  });
+  agentUiFollowBtn?.addEventListener("click", () => {
+    const a = getAgentById(selectedAgentInspectorId);
+    if (!a) return;
+    if (agentCameraFollow && agentCameraFollowId === a.id) {
+      disableAgentCameraFollow();
+    } else {
+      enableAgentCameraFollow(a.id);
+    }
+    renderSelectedAgentControls();
+  });
+  agentUiStopBtn?.addEventListener("click", () => {
+    const a = getAgentById(selectedAgentInspectorId);
+    if (!a) return;
+    stopAiAgent(a, "ui-stop");
+    setStatus(`Stopped ${a.id}.`);
+    renderSelectedAgentControls();
+  });
+  agentUiRemoveBtn?.addEventListener("click", () => {
+    const a = getAgentById(selectedAgentInspectorId);
+    if (!a) return;
+    removeAiAgent(a, "ui-remove");
+    setStatus(`Removed ${a.id}.`);
+    if (agentTask.active && aiAgents.length === 0) endAgentTask("all-agents-removed");
+    renderSelectedAgentControls();
+  });
+  const runSelectedTask = () => {
+    const a = getAgentById(selectedAgentInspectorId);
+    if (!a) return;
+    const text = String(agentUiTaskInputEl?.value || "").trim();
+    if (!text) return;
+    if (agentTask.active) endAgentTask("replace-task");
+    void startAgentTask(text, { autoPool: false, targetAgentId: a.id });
+    if (agentUiTaskInputEl) agentUiTaskInputEl.value = "";
+    setStatus(`Running task on ${a.id}.`);
+    showEditSpawnedAgentsTab();
+  };
+  agentUiTaskRunBtn?.addEventListener("click", runSelectedTask);
+  agentUiTaskInputEl?.addEventListener("keydown", (e) => {
+    e.stopPropagation();
+    if (e.key === "Enter") runSelectedTask();
+  });
+}
+
+function renderSelectedAgentControls() {
+  ensureAgentControlStrip();
+  if (!agentUiSelectedLabelEl || !agentUiFollowBtn || !agentUiStopBtn || !agentUiRemoveBtn) return;
+  const a = getAgentById(selectedAgentInspectorId);
+  const has = !!a;
+  agentUiSelectedLabelEl.textContent = has ? `Selected: ${a.id}` : "Selected: none";
+  agentUiFollowBtn.disabled = !has;
+  agentUiStopBtn.disabled = !has;
+  agentUiRemoveBtn.disabled = !has;
+  agentUiFollowBtn.textContent = has && agentCameraFollow && agentCameraFollowId === a.id ? "Unfollow POV" : "Follow POV";
+}
+
+function getOrCreateAgentInspectorState(agentId) {
+  const id = String(agentId || "");
+  if (!id) return { shot: "", request: null, response: null };
+  if (!agentInspectorStateById.has(id)) {
+    agentInspectorStateById.set(id, { shot: "", request: null, response: null });
+  }
+  return agentInspectorStateById.get(id);
+}
+
+function renderAgentInspector(agentId = selectedAgentInspectorId) {
+  const id = String(agentId || "");
+  if (!id) return;
+  const s = getOrCreateAgentInspectorState(id);
+  if (agentReqMetaEl) {
+    const base = s.request || { endpoint: "-", model: "-", prompt: "", context: {}, imageBytes: null, messages: [] };
+    agentUiSetRequest(base);
+    agentReqMetaEl.textContent = `${agentReqMetaEl.textContent}\nagent: ${id}`;
+    const editMeta = document.getElementById("edit-agent-req-meta");
+    if (editMeta) editMeta.textContent = `${editMeta.textContent}\nagent: ${id}`;
+  }
+  if (s.shot) agentUiSetShot(s.shot);
+  if (s.response) agentUiSetResponse(s.response);
+}
+
+function selectAgentInspector(agentId) {
+  const id = String(agentId || "");
+  if (!id) return;
+  selectedAgentInspectorId = id;
+  showEditSpawnedAgentsTab();
+  // Force strip into correct panel on selection.
+  ensureAgentControlStrip();
+  renderAgentInspector(id);
+  renderSelectedAgentControls();
+  // Visual flash feedback.
+  const strip = document.getElementById("agent-control-strip");
+  if (strip) {
+    strip.style.outline = "2px solid var(--accent-primary)";
+    setTimeout(() => { strip.style.outline = ""; }, 600);
+  }
+}
+
+function renderAgentTaskUi() {
+  ensureAgentControlStrip();
+  const bar = document.getElementById("agent-command-bar");
+  const hasAgent = aiAgents.length > 0;
+
+  if (bar) bar.style.display = "";
+  if (spawnAiBtn) spawnAiBtn.style.display = hasAgent ? "none" : "";
+
+  if (!agentTaskStatusEl || !agentTaskInputEl || !agentTaskStartBtn || !agentTaskEndBtn) return;
+
+  if (!agentTask.active) {
+    agentTaskStatusEl.textContent = "";
+    agentTaskInputEl.disabled = false;
+    agentTaskStartBtn.disabled = !hasAgent;
+    agentTaskEndBtn.disabled = true;
+    if (bar) bar.classList.remove("active");
+  } else {
+    agentTaskStatusEl.textContent = "Running";
+    agentTaskInputEl.disabled = true;
+    agentTaskStartBtn.disabled = true;
+    agentTaskEndBtn.disabled = false;
+    if (bar) bar.classList.add("active");
+  }
+  updateSimCameraModeToggleUi();
+  renderSelectedAgentControls();
+}
+
+function updateSimCameraModeToggleUi() {
+  if (!simCameraModeToggleBtn) return;
+  const isUserCam = simUserCameraMode === "user";
+  simCameraModeToggleBtn.textContent = isUserCam ? "Camera: User" : "Camera: Agent";
+  simCameraModeToggleBtn.classList.toggle("active", isUserCam);
+  simCameraModeToggleBtn.classList.toggle("tb-muted", !isUserCam);
+  simCameraModeToggleBtn.title = isUserCam
+    ? "Keep your user camera while the agent runs"
+    : "Follow the active agent while the task runs";
+}
+
+function enableAgentCameraFollow(agentId = selectedAgentInspectorId) {
+  if (aiAgents.length === 0) return;
+  const target = getAgentById(agentId) || aiAgents[0];
+  if (!target) return;
+  agentCameraFollow = true;
+  agentCameraFollowId = target.id;
+  _agentFollowInitialized = false;
+  
+  // Unlock player controls so camera isn't fighting with pointer lock
+  controls?.unlock?.();
+  
+  // Hide the player avatar
+  avatar.visible = false;
+  
+  // Hide crosshair and interaction hints during follow mode
+  const crosshair = document.getElementById("crosshair");
+  if (crosshair) crosshair.style.display = "none";
+  const hint = document.getElementById("interaction-hint");
+  if (hint) hint.style.display = "none";
+  
+  console.log("[AGENT CAM] Following agent");
+  renderSelectedAgentControls();
+}
+
+function disableAgentCameraFollow() {
+  agentCameraFollow = false;
+  agentCameraFollowId = null;
+  
+  // Show all agent meshes again
+  for (const a of aiAgents) {
+    if (a?.group) a.group.visible = true;
+  }
+  
+  // Avatar mesh stays hidden (physics capsule still active)
+  
+  // Restore crosshair and interaction hints
+  const crosshair = document.getElementById("crosshair");
+  if (crosshair) crosshair.style.display = "";
+  const hint = document.getElementById("interaction-hint");
+  if (hint) hint.style.display = "";
+  
+  console.log("[AGENT CAM] Returning to player");
+  renderSelectedAgentControls();
+}
+
+function updateAgentCameraFollow(dt) {
+  if (!agentCameraFollow || aiAgents.length === 0) return;
+  
+  const agent = getAgentById(agentCameraFollowId) || aiAgents[0];
+  if (!agent) return;
+  const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+  const yaw = agent.group?.rotation?.y ?? 0;
+  const pitch = typeof agent.pitch === "number" ? agent.pitch : 0;
+  
+  // Place camera at the real Go2 front-camera mount: GO2_CAMERA_HEIGHT above
+  // the ground and GO2_CAMERA_FORWARD along the agent's heading so the origin
+  // sits outside the body mesh (Go2's head-mounted RGB-D, not body-center).
+  const feetY = ay - ((agent.halfHeight || 0.25) + (agent.radius || 0.12));
+  const eyeY = feetY + GO2_CAMERA_HEIGHT;
+  const eyeX = ax + Math.sin(yaw) * GO2_CAMERA_FORWARD;
+  const eyeZ = az + Math.cos(yaw) * GO2_CAMERA_FORWARD;
+  camera.position.set(eyeX, eyeY, eyeZ);
+  
+  // Compute forward direction exactly like visionCapture.js does
+  const cp = Math.cos(pitch);
+  const sp = Math.sin(pitch);
+  const fx = Math.sin(yaw) * cp;
+  const fy = sp;
+  const fz = Math.cos(yaw) * cp;
+  
+  // Use lookAt to match the VLM capture camera
+  camera.lookAt(eyeX + fx, eyeY + fy, eyeZ + fz);
+  
+  // Hide the agent's own mesh so it doesn't block the view
+  if (agent.group) agent.group.visible = false;
+}
+
+async function startAgentTask(instruction, { autoPool = true, targetAgentId = null } = {}) {
+  const text = String(instruction || "").trim();
+  if (!text) return;
+
+  const now = Date.now();
+  const taskState = {
+    active: true,
+    instruction: text,
+    startedAt: now,
+    finishedAt: 0,
+    finishedReason: "",
+    lastSummary: "",
+  };
+
+  // Determine which agents get this task
+  const target = targetAgentId ? getAgentById(targetAgentId) : null;
+  agentTaskTargetId = target?.id || null;
+  const targets = target ? [target] : aiAgents;
+
+  for (const a of targets) {
+    _setAgentTask(a.id, { ...taskState });
+    a._taskStartedAt = now;
+  }
+
+  agentUiPush(`${new Date().toLocaleTimeString()}\nTASK START\n${text}${target ? ` [${target.id}]` : ` [${targets.length} agents]`}`);
+  renderAgentTaskUi();
+  
+  if (simUserCameraMode === "agent") enableAgentCameraFollow();
+}
+
+function endAgentTask(reason = "manual", agentId = null) {
+  if (agentId) {
+    // End task for a specific agent
+    const task = _agentTasks.get(agentId);
+    if (task?.active) {
+      task.active = false;
+      task.finishedAt = Date.now();
+      task.finishedReason = reason;
+      _agentTasks.set(agentId, task);
+    }
+    agentUiPush(`${new Date().toLocaleTimeString()}\nTASK END (${reason}) [${agentId}]`);
+  } else {
+    // End all tasks
+    for (const [id, task] of _agentTasks) {
+      if (task.active) {
+        task.active = false;
+        task.finishedAt = Date.now();
+        task.finishedReason = reason;
+      }
+    }
+    agentTask.active = false;
+    agentTask.finishedAt = Date.now();
+    agentTask.finishedReason = reason;
+    agentUiPush(`${new Date().toLocaleTimeString()}\nTASK END ALL (${reason})`);
+  }
+  agentTaskTargetId = null;
+
+  // Check if any agent still has an active task
+  const anyActive = [..._agentTasks.values()].some((t) => t.active);
+  if (!anyActive) {
+    agentTask.active = false;
+    disableAgentCameraFollow();
+  }
+
+  renderAgentTaskUi();
+
+}
+
+function rebuildTagMarkers() {
+  while (tagsGroup.children.length) tagsGroup.remove(tagsGroup.children[0]);
+
+  for (const t of tags) {
+    if (!t.position) continue;
+    const m = new THREE.Mesh(markerGeom, t.id === selectedTagId ? markerMatActive : markerMat);
+    m.position.set(t.position.x, t.position.y, t.position.z);
+    m.userData.tagId = t.id;
+    m.renderOrder = 1000;
+    tagsGroup.add(m);
+
+    const r = Number(t.radius ?? 1.5);
+    const shell = new THREE.Mesh(radiusGeom, radiusMat);
+    shell.position.copy(m.position);
+    shell.scale.setScalar(Math.max(0.01, r));
+    shell.userData.tagId = t.id;
+    shell.userData.isRadius = true;
+    tagsGroup.add(shell);
+  }
+
+  updateMarkerMaterials();
+}
+
+function updateMarkerMaterials() {
+  for (const child of tagsGroup.children) {
+    if (!child.isMesh) continue;
+    if (child.userData?.isRadius) continue;
+    child.material = child.userData.tagId === selectedTagId ? markerMatActive : markerMat;
+  }
+}
+
+function renderAssetModal() {
+  // No-op in sim-only mode (asset upload modal not present)
+}
+
+function base64FromArrayBuffer(buf) {
+  const bytes = new Uint8Array(buf);
+  let binary = "";
+  const chunk = 0x8000;
+  for (let i = 0; i < bytes.length; i += chunk) {
+    binary += String.fromCharCode.apply(null, bytes.subarray(i, i + chunk));
+  }
+  return btoa(binary);
+}
+
+function arrayBufferFromBase64(base64) {
+  const bin = atob(base64);
+  const len = bin.length;
+  const bytes = new Uint8Array(len);
+  for (let i = 0; i < len; i++) bytes[i] = bin.charCodeAt(i);
+  return bytes.buffer;
+}
+
+function normalizeAsset(a) {
+  if (!a || typeof a !== "object") return null;
+  // Ensure pickable property exists
+  if (typeof a.pickable !== "boolean") a.pickable = false;
+  if (typeof a.bumpable !== "boolean") a.bumpable = false;
+  if (!Number.isFinite(a.bumpResponse)) a.bumpResponse = 0.9;
+  if (!Number.isFinite(a.bumpDamping)) a.bumpDamping = 0.9;
+  // New schema: states is array
+  if (Array.isArray(a.states)) {
+    if (!a.currentStateId && a.states[0]?.id) a.currentStateId = a.states[0].id;
+    // Ensure interactions exist per state.
+    for (const s of a.states) {
+      if (!Array.isArray(s.interactions)) s.interactions = [];
+    }
+    // Backfill actions from interactions if missing.
+    if (!Array.isArray(a.actions) || a.actions.length === 0) {
+      a.actions = [];
+      for (const s of a.states) {
+        for (const it of s.interactions) {
+          a.actions.push({ id: it.id || `act_${s.id}_${it.to}`, label: it.label || "toggle", from: s.id, to: it.to });
+        }
+      }
+    } else {
+      // Backfill interactions from actions if missing.
+      const byFrom = new Map();
+      for (const act of a.actions) {
+        if (!byFrom.has(act.from)) byFrom.set(act.from, []);
+        byFrom.get(act.from).push({ id: act.id, label: act.label, to: act.to });
+      }
+      for (const s of a.states) {
+        if (!s.interactions || s.interactions.length === 0) s.interactions = byFrom.get(s.id) || [];
+      }
+    }
+    return a;
+  }
+  // Old schema: states is {A,B}
+  if (a.states && typeof a.states === "object") {
+    const out = {
+      id: a.id,
+      title: a.title || "",
+      notes: a.notes || "",
+      states: [],
+      currentStateId: a.currentState || "A",
+      actions: Array.isArray(a.actions) ? a.actions : [],
+      transform: a.transform || null,
+      bumpable: a.bumpable === true,
+      bumpResponse: Number.isFinite(a.bumpResponse) ? a.bumpResponse : 0.9,
+      bumpDamping: Number.isFinite(a.bumpDamping) ? a.bumpDamping : 0.9,
+    };
+    const A = a.states.A;
+    const B = a.states.B;
+    if (A) out.states.push({ id: "A", name: A.name || "stateA", glbName: A.glbName || "", dataBase64: A.dataBase64 || "", interactions: [] });
+    if (B) out.states.push({ id: "B", name: B.name || "stateB", glbName: B.glbName || "", dataBase64: B.dataBase64 || "", interactions: [] });
+    if (!out.currentStateId) out.currentStateId = out.states[0]?.id || "A";
+    out.actions = Array.isArray(out.actions) ? out.actions : [];
+    // Backfill interactions from actions.
+    const byFrom = new Map();
+    for (const act of out.actions) {
+      if (!byFrom.has(act.from)) byFrom.set(act.from, []);
+      byFrom.get(act.from).push({ id: act.id, label: act.label, to: act.to });
+    }
+    for (const s of out.states) s.interactions = byFrom.get(s.id) || [];
+    return out;
+  }
+  return a;
+}
+
+function getSelectedAsset() {
+  return assets.find((a) => a.id === selectedAssetId) || null;
+}
+
+function renderAssetsList() {
+  if (!assetsListEl) return;
+  assetsListEl.innerHTML = "";
+  for (const a of assets) {
+    const el = document.createElement("div");
+    el.className = "tag-item" + (a.id === selectedAssetId ? " active" : "");
+    const sId = a.currentStateId || a.currentState || "A";
+    const stateObj = Array.isArray(a.states) ? a.states.find((s) => s.id === sId) : a.states?.[sId];
+    const label = a.title || stateObj?.glbName || "(asset)";
+    const kind = stateObj?.scene || stateObj?.shapeScene ? "shape" : "glb";
+    el.innerHTML = `${escapeHtml(label)}${kind}`;
+    el.addEventListener("click", () => selectAsset(a.id));
+    assetsListEl.appendChild(el);
+  }
+}
+
+function selectAsset(id) {
+  selectedAssetId = id;
+  if (id) {
+    selectedPrimitiveId = null;
+  }
+  renderAssetsList();
+}
+
+function persistSelectedAssetTransform() {
+  const a = getSelectedAsset();
+  if (!a) return;
+  const obj = assetsGroup.getObjectByName(`asset:${a.id}`);
+  if (!obj) return;
+  a.transform = {
+    position: { x: obj.position.x, y: obj.position.y, z: obj.position.z },
+    rotation: { x: obj.rotation.x, y: obj.rotation.y, z: obj.rotation.z },
+    scale: { x: obj.scale.x, y: obj.scale.y, z: obj.scale.z },
+  };
+  saveTagsForWorld();
+  if (!a.bumpable) rebuildAssetCollider(a.id);
+}
+
+function normalizeShapeStateScene(sceneLike) {
+  const raw = sceneLike || { tags: [], primitives: [], lights: [], groups: [] };
+  return {
+    tags: Array.isArray(raw.tags) ? raw.tags : [],
+    primitives: Array.isArray(raw.primitives) ? raw.primitives : [],
+    lights: Array.isArray(raw.lights) ? raw.lights : [],
+    groups: Array.isArray(raw.groups) ? raw.groups : [],
+  };
+}
+
+function buildShapeStateRoot(state, assetId, fixedPivotCenter = null) {
+  const sceneState = normalizeShapeStateScene(state?.scene || state?.shapeScene);
+  const root = new THREE.Group();
+  const primMap = new Map();
+  for (const p of sceneState.primitives) {
+    const geom = createPrimitiveGeometry(p.type, p.dimensions || {});
+    const mat = createPrimitiveMaterial(p.material || {});
+    const mesh = new THREE.Mesh(geom, mat);
+    applyPrimitiveCutoutShader(mesh, p);
+    mesh.name = `assetPrim:${assetId}:${p.id || randId()}`;
+    mesh.userData.assetId = assetId;
+    mesh.userData.isAssetPrimitive = true;
+    mesh.castShadow = p.castShadow !== false;
+    mesh.receiveShadow = p.receiveShadow !== false;
+    const tr = p.transform || {};
+    if (tr.position) mesh.position.set(tr.position.x || 0, tr.position.y || 0, tr.position.z || 0);
+    if (tr.rotation) mesh.rotation.set(tr.rotation.x || 0, tr.rotation.y || 0, tr.rotation.z || 0);
+    if (tr.scale) mesh.scale.set(tr.scale.x ?? 1, tr.scale.y ?? 1, tr.scale.z ?? 1);
+    root.add(mesh);
+    if (p.id) primMap.set(p.id, mesh);
+  }
+  for (const g of sceneState.groups || []) {
+    if (!Array.isArray(g.children) || g.children.length === 0) continue;
+    const subgroup = new THREE.Group();
+    subgroup.name = `assetGroup:${assetId}:${g.id || randId()}`;
+    root.add(subgroup);
+    for (const cid of g.children) {
+      const child = primMap.get(cid);
+      if (!child) continue;
+      subgroup.add(child);
+    }
+  }
+
+  // Re-center: move the pivot to the bounding-box center so the transform
+  // gizmo appears on the asset rather than at an arbitrary offset.
+  root.updateMatrixWorld(true);
+  const bbox = new THREE.Box3().setFromObject(root);
+  if (!bbox.isEmpty()) {
+    const autoCenter = bbox.getCenter(new THREE.Vector3());
+    const center = fixedPivotCenter ? fixedPivotCenter.clone() : autoCenter;
+    for (const child of root.children) {
+      child.position.sub(center);
+    }
+    root.position.copy(center);
+    root.userData._pivotCenter = center.clone();
+  }
+
+  return root;
+}
+
+function disposeShapeStateRoot(root) {
+  if (!root) return;
+  root.traverse((obj) => {
+    if (!obj?.isMesh) return;
+    obj.geometry?.dispose?.();
+    disposePrimitiveMaterial(obj.material);
+  });
+}
+
+async function instantiateAsset(a) {
+  if (!a?.states) return;
+  const sId = a.currentStateId || a.currentState || (Array.isArray(a.states) ? a.states[0]?.id : "A");
+  const state = Array.isArray(a.states)
+    ? a.states.find((s) => s.id === sId) || a.states[0]
+    : a.states[sId] || a.states.A;
+  let root = null;
+  if (state?.scene || state?.shapeScene) {
+    let fixedPivotCenter = null;
+    if (a._shapePivotCenter
+      && Number.isFinite(a._shapePivotCenter.x)
+      && Number.isFinite(a._shapePivotCenter.y)
+      && Number.isFinite(a._shapePivotCenter.z)) {
+      fixedPivotCenter = new THREE.Vector3(a._shapePivotCenter.x, a._shapePivotCenter.y, a._shapePivotCenter.z);
+    } else if (Array.isArray(a.states) && a.states.length > 0) {
+      const anchorState = a.states[0];
+      const anchorRoot = buildShapeStateRoot(anchorState, `${a.id}:anchor`);
+      const anchorCenter = anchorRoot.userData?._pivotCenter;
+      if (anchorCenter) {
+        fixedPivotCenter = anchorCenter.clone();
+        a._shapePivotCenter = { x: anchorCenter.x, y: anchorCenter.y, z: anchorCenter.z };
+      }
+      disposeShapeStateRoot(anchorRoot);
+    }
+    root = buildShapeStateRoot(state, a.id, fixedPivotCenter);
+    const rootCenter = root.userData?._pivotCenter;
+    if (rootCenter && !a._shapePivotCenter) {
+      a._shapePivotCenter = { x: rootCenter.x, y: rootCenter.y, z: rootCenter.z };
+    }
+  } else if (state?.dataBase64) {
+    const buf = arrayBufferFromBase64(state.dataBase64);
+    const url = URL.createObjectURL(new Blob([buf], { type: "model/gltf-binary" }));
+    const gltf = await new Promise((resolve, reject) => {
+      gltfLoader.load(url, (g) => resolve(g), undefined, (e) => reject(e));
+    });
+    URL.revokeObjectURL(url);
+    root = gltf.scene;
+  } else if (state?.glbUrl) {
+    // Cache by URL so library assets shared across N placed instances (e.g.
+    // 4 dining chairs pointing to the same file) parse once and share
+    // geometry+materials in memory. clone(true) deep-copies the node tree but
+    // reuses BufferGeometry/Material — standard Three.js instancing pattern.
+    let cached = _glbResultCache.get(state.glbUrl);
+    if (!cached) {
+      cached = await new Promise((resolve, reject) => {
+        gltfLoader.load(state.glbUrl, (g) => resolve(g), undefined, (e) => reject(e));
+      });
+      _glbResultCache.set(state.glbUrl, cached);
+    }
+    root = cached.scene.clone(true);
+  } else {
+    return;
+  }
+  root.name = `asset:${a.id}`;
+  const wantShadow = a.castShadow === true; // opt-in, default OFF
+  const wantReceive = a.receiveShadow === true; // opt-in, default OFF
+
+  root.traverse((m) => {
+    if (m.isMesh) {
+      if (!m.userData?.isAssetPrimitive) m.castShadow = false; // GLB assets keep cheap shadow behavior
+      m.receiveShadow = wantReceive;
+      m.userData.assetId = a.id;
+    }
+  });
+
+  // Pre-compute local bounding sphere ONCE (cached — never call setFromObject again)
+  const bbox = new THREE.Box3().setFromObject(root);
+  const localSphere = new THREE.Sphere();
+  bbox.getBoundingSphere(localSphere);
+  const localCenter = localSphere.center.clone();
+  root.worldToLocal(localCenter);
+  root.userData._localSphereCenter = localCenter;
+  root.userData._localSphereRadius = Math.max(localSphere.radius, 0.2);
+
+  // Blob shadow: a cheap flat gradient circle beneath the asset.
+  // Uses zero shadow-map resources — just a textured plane with transparency.
+  if (wantShadow) {
+    const bboxSize = bbox.getSize(new THREE.Vector3());
+    const localGroundY = bbox.min.y + 0.005;
+    const blob = createBlobShadow(a.id, bboxSize.x, bboxSize.z, localGroundY, {
+      opacity: a.blobShadow?.opacity ?? 0.5,
+      scale: a.blobShadow?.scale ?? 1.0,
+      stretch: a.blobShadow?.stretch ?? 1.0,
+      rotationDeg: a.blobShadow?.rotationDeg ?? 0,
+      offsetX: a.blobShadow?.offsetX ?? 0,
+      offsetY: a.blobShadow?.offsetY ?? 0,
+      offsetZ: a.blobShadow?.offsetZ ?? 0,
+    });
+    if (blob) root.add(blob);
+  }
+
+  const tr = a.transform || {};
+  if (tr.position) root.position.set(tr.position.x, tr.position.y, tr.position.z);
+  if (tr.rotation) root.rotation.set(tr.rotation.x, tr.rotation.y, tr.rotation.z);
+  if (tr.scale) root.scale.set(tr.scale.x, tr.scale.y, tr.scale.z);
+  assetsGroup.add(root);
+  await rebuildAssetCollider(a.id);
+}
+
+async function setAssetState(assetId, nextState) {
+  const a = assets.find((x) => x.id === assetId);
+  if (!a) return;
+  const exists = Array.isArray(a.states) ? a.states.some((s) => s.id === nextState) : !!a.states?.[nextState];
+  if (!exists) return;
+  a.currentStateId = nextState;
+  saveTagsForWorld();
+  // Replace visual
+  const existing = assetsGroup.getObjectByName(`asset:${a.id}`);
+  if (existing?.parent) existing.parent.remove(existing);
+  await instantiateAsset(a);
+  renderAssetsList();
+  selectAsset(a.id);
+}
+
+async function applyAssetAction(assetId, actionId) {
+  const a = assets.find((x) => x.id === assetId);
+  if (!a) return false;
+
+  const act = (a.actions || []).find((x) => x.id === actionId) || null;
+  if (!act) return false;
+  const cur = a.currentStateId || a.currentState || "A";
+  if (cur !== act.from) return false;
+  await setAssetState(assetId, act.to);
+  return true;
+}
+
+function getNearbyAssetsForAgent(agent, maxDist = 1.0) {
+  const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+  const yaw = agent.group?.rotation?.y ?? 0;
+  const pitch = typeof agent.pitch === "number" ? agent.pitch : 0;
+  const cp = Math.cos(pitch);
+  const sp = Math.sin(pitch);
+  
+  // Full 3D forward direction (with pitch) - used for raycasting
+  const forward3D = _tmpV1.set(Math.sin(yaw) * cp, sp, Math.cos(yaw) * cp).normalize();
+  
+  // Horizontal-only forward direction (yaw only, no pitch) - used for "in front" check
+  // BUG FIX: Previously used forward3D which includes pitch, causing dot product to be
+  // artificially reduced when looking up/down (cos(pitch) scaling factor)
+  const forwardHoriz = new THREE.Vector3(Math.sin(yaw), 0, Math.cos(yaw)).normalize();
+  
+  const eye = _tmpV2.set(ax, ay + PLAYER_EYE_HEIGHT * 0.9, az);
+
+  const results = [];
+  for (const a of assets) {
+    const obj = assetsGroup.getObjectByName(`asset:${a.id}`);
+    if (!obj) continue;
+    
+    // Use cached sphere center (O(1) — no vertex traversal)
+    const _agentSphere = new THREE.Sphere();
+    if (!getAssetWorldSphere(obj, _agentSphere)) continue;
+    const center = _agentSphere.center;
+    
+    const dx = center.x - ax;
+    const dy = center.y - ay;
+    const dz = center.z - az;
+    const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+    if (dist > maxDist) continue;
+
+    // Horizontal direction to object (for "in front" check)
+    const toHoriz = _tmpV3.set(dx, 0, dz);
+    const horizLen = toHoriz.length() || 1;
+    toHoriz.multiplyScalar(1 / horizLen);
+    
+    // BUG FIX: Use horizontal forward for horizontal "in front" check
+    // Threshold relaxed from 0.92 (~23°) to 0.7 (~45°) for better usability
+    const inFrontHoriz = forwardHoriz.dot(toHoriz) > 0.7;
+
+    let isLookedAt = false;
+    
+    // Debug: log for specific asset checks
+    const debugThis = a.title?.toLowerCase().includes('bathtub') || a.title?.toLowerCase().includes('tub');
+    
+    if (debugThis) {
+      console.log(`[RAYCAST DEBUG] Checking "${a.title}" (${a.id})`);
+      console.log(`  Eye position:`, eye.toArray().map(v => v.toFixed(2)));
+      console.log(`  Object center:`, [center.x.toFixed(2), center.y.toFixed(2), center.z.toFixed(2)]);
+      console.log(`  Forward3D:`, forward3D.toArray().map(v => v.toFixed(2)));
+      console.log(`  ForwardHoriz:`, [forwardHoriz.x.toFixed(2), forwardHoriz.y.toFixed(2), forwardHoriz.z.toFixed(2)]);
+      console.log(`  ToHoriz:`, [toHoriz.x.toFixed(2), toHoriz.y.toFixed(2), toHoriz.z.toFixed(2)]);
+      const dotVal = forwardHoriz.dot(toHoriz);
+      console.log(`  Horiz dot product:`, dotVal.toFixed(3), `(need > 0.7 for inFront, > 0.3 for proximity)`);
+      console.log(`  inFrontHoriz (>0.7):`, inFrontHoriz);
+      console.log(`  roughlyInFront (>0.3):`, dotVal > 0.3);
+    }
+    
+    // For interaction purposes, we use a very lenient "roughly in front" check
+    // The bounding box center can be off to the side for wide objects
+    const roughlyInFront = forwardHoriz.dot(toHoriz) > 0.3; // ~72° cone
+    
+    if (inFrontHoriz || roughlyInFront) {
+      // Cheap bounding-sphere ray test instead of expensive recursive mesh raycast
+      const objNode = assetsGroup.getObjectByName(`asset:${a.id}`);
+      if (objNode) {
+        const _tmpSphere = new THREE.Sphere();
+        if (!getAssetWorldSphere(objNode, _tmpSphere)) { /* skip */ }
+        _tmpSphere.radius = Math.max(_tmpSphere.radius, 0.3);
+        
+        // Test look direction against bounding sphere
+        const lookRay = new THREE.Ray(eye, forward3D);
+        if (lookRay.intersectsSphere(_tmpSphere)) {
+          isLookedAt = true;
+        }
+        
+        // Also test toward center direction (catches pitch misalignment)
+        if (!isLookedAt) {
+          const toCenter = new THREE.Vector3(
+            center.x - eye.x, center.y - eye.y, center.z - eye.z
+          ).normalize();
+          const lookAlignment = forward3D.dot(toCenter);
+          if (lookAlignment > 0.5) {
+            const centerRay = new THREE.Ray(eye, toCenter);
+            if (centerRay.intersectsSphere(_tmpSphere)) {
+              isLookedAt = true;
+            }
+          }
+        }
+      }
+    }
+    
+    // Method 3: If close enough and roughly in front, allow interaction even if raycast fails
+    // This handles cases where:
+    // - Mesh geometry doesn't raycast well
+    // - Wide objects have their center off to the side
+    if (!isLookedAt && dist < 1.5 && roughlyInFront) {
+      if (debugThis) {
+        console.log(`  Method 3 (proximity fallback): dist=${dist.toFixed(2)}, roughlyInFront=${roughlyInFront}`);
+      }
+      isLookedAt = true;
+    }
+    
+    if (debugThis) {
+      console.log(`  Final isLookedAt:`, isLookedAt);
+    }
+
+    const stateKey = a.currentStateId || a.currentState || "A";
+    const stateObj = Array.isArray(a.states)
+      ? a.states.find((s) => s.id === stateKey)
+      : a.states?.[stateKey];
+    const stateName = stateObj?.name || stateKey;
+    const holdStatus = isAssetHeld(a.id);
+    results.push({
+      id: a.id,
+      title: a.title || "",
+      notes: a.notes || "",
+      dist,
+      isLookedAt,
+      currentState: stateKey,
+      currentStateName: stateName,
+      actions: (a.actions || []).filter((x) => x.from === stateKey).map((x) => ({ id: x.id, label: x.label, from: x.from, to: x.to })),
+      pickable: a.pickable || false,
+      isHeld: holdStatus.held,
+      heldBy: holdStatus.by || null,
+    });
+  }
+
+  results.sort((a, b) => a.dist - b.dist);
+  return results.slice(0, 20);
+}
+
+function getNearbyPrimitivesForAgent(agent, maxDist = 2.5) {
+  const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+  const yaw = agent.group?.rotation?.y ?? 0;
+  const pitch = typeof agent.pitch === "number" ? agent.pitch : 0;
+  const cp = Math.cos(pitch);
+  const sp = Math.sin(pitch);
+  const forward3D = _tmpV1.set(Math.sin(yaw) * cp, sp, Math.cos(yaw) * cp).normalize();
+  const forwardHoriz = _tmpV2.set(Math.sin(yaw), 0, Math.cos(yaw)).normalize();
+  const eye = _tmpV3.set(ax, ay + PLAYER_EYE_HEIGHT * 0.9, az);
+
+  const out = [];
+  for (const p of primitives) {
+    const obj = primitivesGroup.getObjectByName(`prim:${p.id}`);
+    if (!obj) continue;
+    const center = obj.getWorldPosition(new THREE.Vector3());
+    const dx = center.x - ax;
+    const dy = center.y - ay;
+    const dz = center.z - az;
+    const dist = Math.hypot(dx, dy, dz);
+    if (dist > maxDist) continue;
+
+    const toObj = new THREE.Vector3(center.x - eye.x, center.y - eye.y, center.z - eye.z).normalize();
+    const toHoriz = new THREE.Vector3(dx, 0, dz);
+    const horizLen = toHoriz.length() || 1;
+    toHoriz.multiplyScalar(1 / horizLen);
+    const lookAlignment = forward3D.dot(toObj);
+    const horizAlignment = forwardHoriz.dot(toHoriz);
+    const isLookedAt = lookAlignment > 0.82 || (dist < 1.6 && horizAlignment > 0.35);
+
+    out.push({
+      id: p.id,
+      name: p.name || p.type || "primitive",
+      type: p.type || "primitive",
+      dist,
+      isLookedAt,
+    });
+  }
+  out.sort((a, b) => a.dist - b.dist);
+  return out.slice(0, 20);
+}
+
+
+async function agentInteractAsset({ agent, assetId, actionId }) {
+  console.log(`[INTERACT] Attempting interaction: assetId="${assetId}", actionId="${actionId}"`);
+  
+  const candidates = getNearbyAssetsForAgent(agent, 1.5); // Interaction distance
+  
+  // Debug: if no candidates, show what assets exist
+  if (candidates.length === 0) {
+    const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+    console.log(`[INTERACT] Agent position:`, [ax.toFixed(2), ay.toFixed(2), az.toFixed(2)]);
+    console.log(`[INTERACT] All assets in scene:`, assets.map(a => {
+      const obj = assetsGroup.getObjectByName(`asset:${a.id}`);
+      if (!obj) return { id: a.id, title: a.title, inScene: false };
+      const _ds = new THREE.Sphere();
+      getAssetWorldSphere(obj, _ds);
+      const center = _ds.center;
+      const dx = center.x - ax;
+      const dy = center.y - ay;
+      const dz = center.z - az;
+      const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+      return { id: a.id, title: a.title, dist: dist.toFixed(2), center: [center.x.toFixed(2), center.y.toFixed(2), center.z.toFixed(2)] };
+    }));
+  }
+  
+  console.log(`[INTERACT] Nearby candidates:`, candidates.map(c => ({
+    id: c.id,
+    title: c.title,
+    dist: c.dist.toFixed(2),
+    isLookedAt: c.isLookedAt,
+    currentState: c.currentState,
+    actions: c.actions.map(a => `${a.id}:${a.label}`)
+  })));
+  
+  const target = candidates.find((x) => x.id === assetId);
+  if (!target) {
+    console.warn(`[INTERACT] FAIL: Asset "${assetId}" not in nearby candidates`);
+    return { ok: false, reason: "not-nearby" };
+  }
+  
+  console.log(`[INTERACT] Found target: dist=${target.dist.toFixed(2)}m, isLookedAt=${target.isLookedAt}, currentState=${target.currentState}`);
+  
+  if (!target.isLookedAt && target.dist > 1.2) {
+    console.warn(`[INTERACT] FAIL: Asset "${assetId}" not looked at (isLookedAt=false)`);
+    return { ok: false, reason: "not-looking" };
+  }
+  if (!target.isLookedAt && target.dist <= 1.2) {
+    console.log(`[INTERACT] Allowing close-range interaction despite look mismatch (dist=${target.dist.toFixed(2)}m).`);
+  }
+  
+  // Check if the actionId exists in the target's available actions
+  const availableAction = target.actions.find(a => a.id === actionId);
+  if (!availableAction) {
+    console.warn(`[INTERACT] actionId "${actionId}" not in available actions:`, target.actions);
+    // Try to find by label instead
+    const byLabel = target.actions.find(a => a.label?.toLowerCase() === actionId?.toLowerCase());
+    if (byLabel) {
+      console.log(`[INTERACT] Found action by label match: "${byLabel.id}"`);
+      actionId = byLabel.id;
+    }
+  }
+  
+  const ok = await applyAssetAction(assetId, actionId);
+  console.log(`[INTERACT] applyAssetAction result: ${ok}`);
+  
+  if (!ok) {
+    // Diagnose why it failed
+    const asset = assets.find(a => a.id === assetId);
+    if (asset) {
+      const curState = asset.currentStateId || asset.currentState || "A";
+      const allActions = asset.actions || [];
+      const matchingAction = allActions.find(a => a.id === actionId);
+      console.warn(`[INTERACT] applyAssetAction FAILED diagnosis:`, {
+        currentState: curState,
+        requestedActionId: actionId,
+        actionFound: !!matchingAction,
+        actionFromState: matchingAction?.from,
+        actionToState: matchingAction?.to,
+        fromMatchesCurrent: matchingAction?.from === curState,
+        allActionIds: allActions.map(a => `${a.id}(${a.from}->${a.to})`)
+      });
+    }
+  }
+  
+  return { ok, reason: ok ? "ok" : "invalid-action" };
+}
+
+// ============================================================================
+// PLAYER INTERACTION SYSTEM
+// ============================================================================
+const PLAYER_INTERACT_DISTANCE = 1.5; // Max distance player can interact with assets
+const _playerInteractRaycaster = new THREE.Raycaster();
+let _interactionPopup = null;
+let _currentInteractableAsset = null;
+let _crosshairInteractCycleIndex = 0;
+let _crosshairInteractCycleSig = "";
+let _crosshairInteractCandidates = [];
+
+// ============================================================================
+// PICK UP / DROP SYSTEM
+// ============================================================================
+let playerHeldAsset = null; // Asset ID currently held by player
+let playerHeldGroupId = null; // Group ID currently held by player
+const agentHeldAssets = new Map(); // Map - assets held by each agent
+
+/**
+ * Check if an asset is currently being held by anyone
+ */
+function isAssetHeld(assetId) {
+  if (playerHeldAsset === assetId) return { held: true, by: "player" };
+  for (const [agentId, heldId] of agentHeldAssets.entries()) {
+    if (heldId === assetId) return { held: true, by: "agent", agentId };
+  }
+  return { held: false };
+}
+
+function isGroupHeld(groupId) {
+  if (playerHeldGroupId === groupId) return { held: true, by: "player" };
+  return { held: false };
+}
+
+function getGroupById(groupId) {
+  return groups.find((g) => g.id === groupId) || null;
+}
+
+function getGroupCentroid(groupId) {
+  const g = getGroupById(groupId);
+  if (!g || !Array.isArray(g.children) || g.children.length === 0) return null;
+  let cx = 0, cy = 0, cz = 0, count = 0;
+  for (const cid of g.children) {
+    const p = primitives.find((x) => x.id === cid);
+    const pos = p?.transform?.position;
+    if (!pos) continue;
+    cx += pos.x || 0;
+    cy += pos.y || 0;
+    cz += pos.z || 0;
+    count++;
+  }
+  if (count === 0) return null;
+  return { x: cx / count, y: cy / count, z: cz / count };
+}
+
+function playerPickUpGroup(groupId) {
+  const g = getGroupById(groupId);
+  if (!g) return { ok: false, reason: "not-found" };
+  if (!g.pickable) return { ok: false, reason: "not-pickable" };
+  if (playerHeldAsset || playerHeldGroupId) return { ok: false, reason: "hands-full" };
+  const holdStatus = isGroupHeld(groupId);
+  if (holdStatus.held) return { ok: false, reason: "already-held", by: holdStatus.by };
+
+  playerHeldGroupId = groupId;
+  for (const cid of g.children || []) {
+    const mesh = primitivesGroup.getObjectByName(`prim:${cid}`);
+    if (mesh) mesh.visible = false;
+    const prim = primitives.find((p) => p.id === cid);
+    if (prim) removePrimitiveCollider(prim);
+  }
+  setStatus(`Picked up group: ${g.name || "group"}`);
+  return { ok: true };
+}
+
+function playerDropGroup() {
+  if (!playerHeldGroupId) return { ok: false, reason: "not-holding" };
+  const g = getGroupById(playerHeldGroupId);
+  if (!g) {
+    playerHeldGroupId = null;
+    return { ok: false, reason: "not-found" };
+  }
+  const centroid = getGroupCentroid(g.id);
+  if (!centroid) {
+    playerHeldGroupId = null;
+    return { ok: false, reason: "invalid-group" };
+  }
+  // Raycast from crosshair to find drop point
+  const dropRay = new THREE.Raycaster();
+  dropRay.setFromCamera({ x: 0, y: 0 }, camera);
+  dropRay.far = 6;
+  const candidates = [];
+  // Exclude held group's own meshes
+  const heldChildSet = new Set(g.children || []);
+  primitivesGroup.traverse((c) => {
+    if (c.isMesh && !heldChildSet.has(c.name?.replace("prim:", ""))) candidates.push(c);
+  });
+  assetsGroup.traverse((c) => { if (c.isMesh) candidates.push(c); });
+  scene.traverse((c) => {
+    if (c.isMesh && !candidates.includes(c) && c.parent !== assetsGroup && c.parent !== primitivesGroup) candidates.push(c);
+  });
+  const hits = dropRay.intersectObjects(candidates, false);
+  let dropPos;
+  if (hits.length > 0) {
+    dropPos = { x: hits[0].point.x, y: hits[0].point.y, z: hits[0].point.z };
+  } else {
+    const forward = new THREE.Vector3();
+    camera.getWorldDirection(forward);
+    dropPos = {
+      x: camera.position.x + forward.x * 1.5,
+      y: 0,
+      z: camera.position.z + forward.z * 1.5,
+    };
+  }
+  const dx = dropPos.x - centroid.x;
+  const dz = dropPos.z - centroid.z;
+  for (const cid of g.children || []) {
+    const prim = primitives.find((p) => p.id === cid);
+    if (!prim?.transform?.position) continue;
+    prim.transform.position.x += dx;
+    prim.transform.position.z += dz;
+    const mesh = primitivesGroup.getObjectByName(`prim:${cid}`);
+    if (mesh) {
+      mesh.position.x = prim.transform.position.x;
+      mesh.position.y = prim.transform.position.y;
+      mesh.position.z = prim.transform.position.z;
+      mesh.visible = true;
+    }
+    rebuildPrimitiveColliderSync(prim);
+  }
+  const droppedId = playerHeldGroupId;
+  playerHeldGroupId = null;
+  saveTagsForWorld();
+  setStatus(`Dropped group: ${g.name || "group"}`);
+  return { ok: true, groupId: droppedId };
+}
+
+/**
+ * Pick up an asset (for player)
+ */
+function playerPickUpAsset(assetId) {
+  const asset = assets.find(a => a.id === assetId);
+  if (!asset) return { ok: false, reason: "not-found" };
+  if (!asset.pickable) return { ok: false, reason: "not-pickable" };
+  
+  const holdStatus = isAssetHeld(assetId);
+  if (holdStatus.held) return { ok: false, reason: "already-held", by: holdStatus.by };
+  
+  if (playerHeldAsset) return { ok: false, reason: "hands-full" };
+  
+  playerHeldAsset = assetId;
+  
+  // Hide the asset from the scene (it's now "in hand")
+  const obj = assetsGroup.getObjectByName(`asset:${assetId}`);
+  if (obj) obj.visible = false;
+  
+  // Remove collider while held
+  removeAssetCollider(assetId);
+  
+  console.log(`[PICKUP] Player picked up: ${asset.title || assetId}`);
+  setStatus(`Picked up: ${asset.title || "item"}`);
+  return { ok: true };
+}
+
+/**
+ * Drop the held asset (for player)
+ */
+function playerDropAsset() {
+  if (!playerHeldAsset) return { ok: false, reason: "not-holding" };
+  
+  const asset = assets.find(a => a.id === playerHeldAsset);
+  if (!asset) {
+    playerHeldAsset = null;
+    return { ok: false, reason: "not-found" };
+  }
+  
+  // Raycast from crosshair to find where the player is looking
+  const dropRay = new THREE.Raycaster();
+  dropRay.setFromCamera({ x: 0, y: 0 }, camera);
+  dropRay.far = 6;
+  // Collect all scene meshes except the held asset itself
+  const candidates = [];
+  primitivesGroup.traverse((c) => { if (c.isMesh) candidates.push(c); });
+  assetsGroup.traverse((c) => {
+    if (c.isMesh && !c.name?.includes(playerHeldAsset)) candidates.push(c);
+  });
+  // Also include splat / collision meshes if any
+  scene.traverse((c) => {
+    if (c.isMesh && !candidates.includes(c) && c.parent !== assetsGroup && c.parent !== primitivesGroup) candidates.push(c);
+  });
+  const hits = dropRay.intersectObjects(candidates, false);
+  let dropPos;
+  if (hits.length > 0) {
+    // Place at the hit point
+    dropPos = hits[0].point.clone();
+  } else {
+    // Fallback: fixed distance along look direction, at ground level
+    const forward = new THREE.Vector3();
+    camera.getWorldDirection(forward);
+    const fallbackDist = 1.5;
+    dropPos = new THREE.Vector3(
+      camera.position.x + forward.x * fallbackDist,
+      0,
+      camera.position.z + forward.z * fallbackDist
+    );
+  }
+  
+  // Update asset transform
+  asset.transform.position = { x: dropPos.x, y: dropPos.y, z: dropPos.z };
+  
+  // Show and reposition the asset — traverse to ensure all children are visible
+  const obj = assetsGroup.getObjectByName(`asset:${playerHeldAsset}`);
+  if (obj) {
+    obj.position.copy(dropPos);
+    obj.visible = true;
+    obj.traverse((child) => { child.visible = true; });
+  } else {
+    // Object was lost — re-instantiate from asset data
+    console.warn(`[DROP] 3D object missing for ${playerHeldAsset}, re-instantiating...`);
+    instantiateAsset(asset);
+  }
+  
+  // Rebuild collider
+  rebuildAssetCollider(playerHeldAsset);
+  
+  console.log(`[DROP] Player dropped: ${asset.title || playerHeldAsset}`);
+  setStatus(`Dropped: ${asset.title || "item"}`);
+  
+  const droppedId = playerHeldAsset;
+  playerHeldAsset = null;
+  saveTagsForWorld();
+  
+  return { ok: true, assetId: droppedId };
+}
+
+/**
+ * Pick up an asset (for AI agent)
+ */
+function agentPickUpAsset(agent, assetId) {
+  const agentId = agent.id || "default";
+  const asset = assets.find(a => a.id === assetId);
+  
+  if (!asset) return { ok: false, reason: "not-found" };
+  if (!asset.pickable) return { ok: false, reason: "not-pickable" };
+  
+  const holdStatus = isAssetHeld(assetId);
+  if (holdStatus.held) return { ok: false, reason: "already-held", by: holdStatus.by };
+  
+  if (agentHeldAssets.has(agentId)) return { ok: false, reason: "hands-full" };
+  
+  // Check distance
+  const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+  const obj = assetsGroup.getObjectByName(`asset:${assetId}`);
+  if (obj) {
+    const _pickSphere = new THREE.Sphere();
+    getAssetWorldSphere(obj, _pickSphere);
+    const center = _pickSphere.center;
+    const dist = Math.sqrt(
+      Math.pow(center.x - ax, 2) + 
+      Math.pow(center.y - ay, 2) + 
+      Math.pow(center.z - az, 2)
+    );
+    if (dist > 1.5) return { ok: false, reason: "too-far", dist };
+  }
+  
+  agentHeldAssets.set(agentId, assetId);
+  
+  // Hide the asset from the scene
+  if (obj) obj.visible = false;
+  
+  // Remove collider while held
+  removeAssetCollider(assetId);
+  
+  console.log(`[PICKUP] Agent ${agentId} picked up: ${asset.title || assetId}`);
+  return { ok: true };
+}
+
+/**
+ * Drop the held asset (for AI agent)
+ */
+function agentDropAsset(agent) {
+  const agentId = agent.id || "default";
+  const assetId = agentHeldAssets.get(agentId);
+  
+  if (!assetId) return { ok: false, reason: "not-holding" };
+  
+  const asset = assets.find(a => a.id === assetId);
+  if (!asset) {
+    agentHeldAssets.delete(agentId);
+    return { ok: false, reason: "not-found" };
+  }
+  
+  // Calculate drop position (in front of agent)
+  const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+  const yaw = agent.group?.rotation?.y ?? 0;
+  const dropDist = 0.6;
+  
+  const dropPos = new THREE.Vector3(
+    ax + Math.sin(yaw) * dropDist,
+    ay + 0.1, // Slightly above ground
+    az + Math.cos(yaw) * dropDist
+  );
+  
+  // Update asset transform
+  asset.transform.position = { x: dropPos.x, y: dropPos.y, z: dropPos.z };
+  
+  // Show and reposition the asset
+  const obj = assetsGroup.getObjectByName(`asset:${assetId}`);
+  if (obj) {
+    obj.position.copy(dropPos);
+    obj.visible = true;
+  }
+  
+  // Rebuild collider
+  rebuildAssetCollider(assetId);
+  
+  console.log(`[DROP] Agent ${agentId} dropped: ${asset.title || assetId}`);
+  
+  agentHeldAssets.delete(agentId);
+  saveTagsForWorld();
+  
+  return { ok: true, assetId };
+}
+
+/**
+ * Remove collider for an asset (when picked up)
+ */
+function removeAssetCollider(assetId) {
+  const handle = _assetColliderHandles.get(assetId);
+  if (handle != null && rapierWorld) {
+    const collider = rapierWorld.getCollider(handle);
+    if (collider) rapierWorld.removeCollider(collider, true);
+    _assetColliderHandles.delete(assetId);
+  }
+}
+
+/**
+ * Get what the player is currently holding
+ */
+function getPlayerHeldAsset() {
+  if (!playerHeldAsset) return null;
+  return assets.find(a => a.id === playerHeldAsset) || null;
+}
+
+/**
+ * Get what an agent is currently holding
+ */
+function getAgentHeldAsset(agent) {
+  const agentId = agent.id || "default";
+  const assetId = agentHeldAssets.get(agentId);
+  if (!assetId) return null;
+  return assets.find(a => a.id === assetId) || null;
+}
+
+/**
+ * Get the interactable asset at the player's crosshair (center of screen).
+ * Returns { asset, actions, dist, canPickUp } if found, or null if nothing interactable.
+ */
+const _hintRayOrigin = new THREE.Vector3();
+const _hintRayDir = new THREE.Vector3();
+const _hintTmpSphere = new THREE.Sphere();
+const _hintRay = new THREE.Ray();
+const _cachedSphereCenter = new THREE.Vector3();
+
+// Get the world-space bounding sphere of an asset from its cached local data.
+// This is O(1) — no vertex traversal, just one matrix-vector multiply.
+function getAssetWorldSphere(obj, outSphere) {
+  const lc = obj.userData._localSphereCenter;
+  const lr = obj.userData._localSphereRadius;
+  if (lc && lr) {
+    _cachedSphereCenter.copy(lc);
+    obj.localToWorld(_cachedSphereCenter);
+    const scale = obj.matrixWorld.getMaxScaleOnAxis();
+    outSphere.set(_cachedSphereCenter, lr * scale);
+    return true;
+  }
+  return false;
+}
+
+function getInteractableAssetCandidatesAtCrosshair() {
+  if (!camera) return [];
+  camera.getWorldPosition(_hintRayOrigin);
+  camera.getWorldDirection(_hintRayDir);
+  _hintRay.set(_hintRayOrigin, _hintRayDir);
+
+  const maxDist = PLAYER_INTERACT_DISTANCE + 0.8;
+  const candidates = [];
+  for (const child of assetsGroup.children) {
+    const aid = child.name?.startsWith("asset:") ? child.name.slice(6) : null;
+    if (!aid) continue;
+    if (!getAssetWorldSphere(child, _hintTmpSphere)) continue;
+    _hintTmpSphere.radius = Math.max(_hintTmpSphere.radius, 0.3);
+    const centerDist = _hintRayOrigin.distanceTo(_hintTmpSphere.center);
+    if (centerDist > maxDist + _hintTmpSphere.radius) continue;
+    const hitPoint = _hintRay.intersectSphere(_hintTmpSphere, _tmpV1);
+    if (!hitPoint) continue;
+    const d = _hintRayOrigin.distanceTo(hitPoint);
+    if (d > maxDist) continue;
+    const toCenter = _tmpV2.copy(_hintTmpSphere.center).sub(_hintRayOrigin).normalize();
+    const aim = Math.max(0, _hintRayDir.dot(toCenter));
+    const score = aim * 4.0 - d * 0.45;
+    candidates.push({ id: aid, dist: d, aim, score });
+  }
+  candidates.sort((a, b) => (b.score - a.score) || (a.dist - b.dist));
+  return candidates.slice(0, 6);
+}
+
+function cycleInteractableTarget(step = 1) {
+  const candidates = getInteractableAssetCandidatesAtCrosshair();
+  if (!Array.isArray(candidates) || candidates.length <= 1) return false;
+  const sig = candidates.map((c) => c.id).join("|");
+  if (sig !== _crosshairInteractCycleSig) {
+    _crosshairInteractCycleSig = sig;
+    _crosshairInteractCycleIndex = 0;
+  }
+  const len = candidates.length;
+  _crosshairInteractCycleIndex = (_crosshairInteractCycleIndex + step + len) % len;
+  _crosshairInteractCandidates = candidates;
+  return true;
+}
+
+function getInteractableAssetAtCrosshair() {
+  const candidates = getInteractableAssetCandidatesAtCrosshair();
+  const sig = candidates.map((c) => c.id).join("|");
+  if (sig !== _crosshairInteractCycleSig) {
+    _crosshairInteractCycleSig = sig;
+    _crosshairInteractCycleIndex = 0;
+  }
+  _crosshairInteractCandidates = candidates;
+  const primary = candidates[_crosshairInteractCycleIndex] || null;
+
+  if (!primary) {
+    // Fallback: pickable grouped shape assets
+    _playerInteractRaycaster.setFromCamera({ x: 0, y: 0 }, camera);
+    const hits = _playerInteractRaycaster.intersectObjects(primitivesGroup.children, false);
+    for (const hit of hits) {
+      if (hit.distance > PLAYER_INTERACT_DISTANCE + 0.5) continue;
+      const name = hit.object?.name || "";
+      const m = name.match(/^prim:(.+)$/);
+      if (!m) continue;
+      const primId = m[1];
+      const g = groups.find((gr) => (gr.children || []).includes(primId) && gr.pickable);
+      if (!g) continue;
+      const canPickUp = !playerHeldAsset && !playerHeldGroupId && !isGroupHeld(g.id).held;
+      return { kind: "group", group: g, actions: [], dist: hit.distance, canPickUp };
+    }
+    return null;
+  }
+
+  const asset = assets.find((a) => a.id === primary.id);
+  if (!asset) return null;
+
+  const currentState = asset.currentStateId || asset.currentState || "A";
+  const actions = (asset.actions || []).filter((act) => act.from === currentState);
+  const holdStatus = isAssetHeld(primary.id);
+  const canPickUp = asset.pickable && !holdStatus.held && !playerHeldAsset && !playerHeldGroupId;
+
+  if (actions.length === 0 && !canPickUp) return null;
+
+  return {
+    kind: "asset",
+    asset,
+    actions,
+    dist: primary.dist,
+    canPickUp,
+    candidateIndex: _crosshairInteractCycleIndex,
+    candidateCount: candidates.length,
+  };
+}
+
+/**
+ * Create or get the interaction popup element
+ */
+function getInteractionPopup() {
+  if (_interactionPopup) return _interactionPopup;
+  
+  _interactionPopup = document.createElement("div");
+  _interactionPopup.id = "interaction-popup";
+  // Styles are now in CSS, just set display none initially
+  _interactionPopup.style.display = "none";
+  document.body.appendChild(_interactionPopup);
+  return _interactionPopup;
+}
+
+/**
+ * Show the interaction popup with available actions
+ */
+function showInteractionPopup(asset, actions) {
+  const popup = getInteractionPopup();
+  
+  // Build popup content
+  const title = asset.title || "(asset)";
+  const stateObj = Array.isArray(asset.states)
+    ? asset.states.find((s) => s.id === (asset.currentStateId || asset.currentState))
+    : null;
+  const stateName = stateObj?.name || "";
+  
+  let html = `
${escapeHtml(title)}${stateName ? ` · ${escapeHtml(stateName)}` : ""}
`;
+  
+  actions.forEach((act, idx) => {
+    html += ``;
+  });
+  
+  html += `
Press 1-${actions.length} or click · Esc to cancel
`;
+  
+  popup.innerHTML = html;
+  popup.style.display = "flex";
+  _currentInteractableAsset = { asset, actions };
+  
+  // Add click handlers to buttons
+  popup.querySelectorAll(".interact-action-btn").forEach((btn) => {
+    btn.addEventListener("click", async (e) => {
+      e.stopPropagation();
+      const actionId = btn.getAttribute("data-action-id");
+      
+      // Hide popup first
+      hideInteractionPopup();
+      
+      // Execute the action
+      if (actionId === "__PICK_UP__") {
+        playerPickUpAsset(asset.id);
+      } else {
+        await executePlayerInteraction(asset.id, actionId);
+      }
+      
+      // Re-lock pointer after a short delay (click events can re-lock)
+      setTimeout(() => {
+        try {
+          controls?.lock?.();
+        } catch (err) {
+          // Ignore
+        }
+      }, 50);
+    });
+    // Hover effects handled in CSS
+  });
+}
+
+/**
+ * Hide the interaction popup
+ */
+function hideInteractionPopup() {
+  if (_interactionPopup) {
+    _interactionPopup.style.display = "none";
+  }
+  _currentInteractableAsset = null;
+}
+
+/**
+ * Check if interaction popup is visible
+ */
+function isInteractionPopupVisible() {
+  return _interactionPopup?.style.display === "flex";
+}
+
+/**
+ * Execute a player interaction with an asset
+ */
+async function executePlayerInteraction(assetId, actionId) {
+  // Handle special pick up action
+  if (actionId === "__PICK_UP__") {
+    const result = playerPickUpAsset(assetId);
+    return result.ok;
+  }
+  
+  const asset = assets.find((a) => a.id === assetId);
+  if (!asset) {
+    setStatus("Asset not found.");
+    return false;
+  }
+  
+  const action = (asset.actions || []).find((a) => a.id === actionId);
+  if (!action) {
+    setStatus("Action not available.");
+    return false;
+  }
+  
+  const ok = await applyAssetAction(assetId, actionId);
+  if (ok) {
+    setStatus(`${action.label || "Interacted"}: ${asset.title || "asset"}`);
+  } else {
+    setStatus("Interaction failed.");
+  }
+  return ok;
+}
+
+/**
+ * Handle player interaction attempt (click or E key)
+ */
+async function handlePlayerInteraction() {
+  // If popup is already showing, do nothing (let popup handle it)
+  if (isInteractionPopupVisible()) {
+    return;
+  }
+  
+  // First, check if player is holding something - pressing E drops it
+  if (playerHeldAsset) {
+    playerDropAsset();
+    return;
+  }
+  if (playerHeldGroupId) {
+    playerDropGroup();
+    return;
+  }
+  
+  const target = getInteractableAssetAtCrosshair();
+  if (!target) {
+    // No interactable asset at crosshair
+    return;
+  }
+
+  const { kind, asset, group, actions, dist, canPickUp } = target;
+  if (kind === "group") {
+    if (canPickUp) playerPickUpGroup(group.id);
+    return;
+  }
+
+  // Build combined action list (regular actions + pick up if available)
+  const combinedActions = [...actions];
+  if (canPickUp) {
+    combinedActions.push({ id: "__PICK_UP__", label: "Pick up", special: true });
+  }
+  
+  if (combinedActions.length === 1) {
+    // Single action - execute immediately
+    if (combinedActions[0].id === "__PICK_UP__") {
+      playerPickUpAsset(asset.id);
+    } else {
+      await executePlayerInteraction(asset.id, combinedActions[0].id);
+    }
+  } else if (combinedActions.length > 1) {
+    // Multiple actions - show selection popup
+    // Temporarily unlock pointer to allow clicking popup
+    controls?.unlock?.();
+    showInteractionPopup(asset, combinedActions);
+  }
+}
+
+// ============================================================================
+// END PLAYER INTERACTION SYSTEM
+// ============================================================================
+
+function deleteSelectedAsset() {
+  const a = getSelectedAsset();
+  if (!a) return;
+  // remove collider
+  if (a._colliderHandle != null) {
+    try {
+      rapierWorld?.removeCollider?.(a._colliderHandle, true);
+    } catch {}
+  }
+  // remove visual
+  const obj = assetsGroup.getObjectByName(`asset:${a.id}`);
+  if (obj?.parent) obj.parent.remove(obj);
+  _assetBumpVelocities.delete(a.id);
+  assets = assets.filter((x) => x.id !== a.id);
+  selectedAssetId = null;
+  saveTagsForWorld();
+  renderAssetsList();
+  setStatus("Asset deleted.");
+}
+
+async function interactSelectedAssetDebug() {
+  const a = getSelectedAsset();
+  if (!a) return;
+  const state = a.currentStateId || a.currentState || "A";
+  const outgoing = (a.actions || []).filter((x) => x.from === state);
+  const act = outgoing[0] || null;
+  if (!act) {
+    setStatus("Selected asset has no valid action from its current state.");
+    return;
+  }
+  const ok = await applyAssetAction(a.id, act.id);
+  setStatus(ok ? `Asset interacted: ${act.label}` : "Asset interaction failed.");
+}
+
+function _newId(prefix) {
+  return `${prefix}${Date.now().toString(16)}${Math.random().toString(16).slice(2, 6)}`;
+}
+
+function _cloneAssetWithFreshIds(src) {
+  // Ensure latest schema and interactions exist
+  const a = normalizeAsset(structuredClone ? structuredClone(src) : JSON.parse(JSON.stringify(src)));
+
+  const newAssetId = _newId("asset_");
+  const stateIdMap = new Map();
+  const newStates = [];
+
+  for (const s of a.states || []) {
+    const newSid = _newId("s");
+    stateIdMap.set(s.id, newSid);
+    newStates.push({
+      id: newSid,
+      name: s.name || "",
+      glbName: s.glbName || "",
+      dataBase64: s.dataBase64 || "",
+      interactions: [],
+    });
+  }
+
+  // Copy interactions (and rewrite state ids)
+  for (const s of a.states || []) {
+    const fromNew = stateIdMap.get(s.id);
+    const dstState = newStates.find((x) => x.id === fromNew);
+    if (!dstState) continue;
+    const ints = Array.isArray(s.interactions) ? s.interactions : [];
+    dstState.interactions = ints
+      .map((it) => ({
+        id: _newId("it_"),
+        label: it.label || "toggle",
+        to: stateIdMap.get(it.to) || stateIdMap.get(s.id) || fromNew,
+      }))
+      .filter((it) => it.to && it.to !== fromNew);
+  }
+
+  const curOld = a.currentStateId || a.currentState || (a.states?.[0]?.id ?? null);
+  const curNew = stateIdMap.get(curOld) || newStates[0]?.id || null;
+
+  // Offset placement slightly forward so it doesn't overlap
+  let transform = a.transform ? structuredClone(a.transform) : null;
+  const obj = assetsGroup.getObjectByName(`asset:${src.id}`);
+  if (!transform) {
+    transform = { position: { x: 0, y: 0, z: 0 }, rotation: { x: 0, y: 0, z: 0 }, scale: { x: 1, y: 1, z: 1 } };
+  }
+  if (obj) {
+    transform.position = { x: obj.position.x, y: obj.position.y, z: obj.position.z };
+    transform.rotation = { x: obj.rotation.x, y: obj.rotation.y, z: obj.rotation.z };
+    transform.scale = { x: obj.scale.x, y: obj.scale.y, z: obj.scale.z };
+  } else {
+    transform.position = transform.position || { x: 0, y: 0, z: 0 };
+    transform.rotation = transform.rotation || { x: 0, y: 0, z: 0 };
+    transform.scale = transform.scale || { x: 1, y: 1, z: 1 };
+  }
+  const fwd = new THREE.Vector3();
+  camera.getWorldDirection(fwd);
+  const offset = 0.7;
+  transform.position.x += fwd.x * offset;
+  transform.position.y += fwd.y * offset;
+  transform.position.z += fwd.z * offset;
+
+  const duplicated = {
+    id: newAssetId,
+    title: (src.title || "").trim() ? `${src.title} (copy)` : "Asset (copy)",
+    notes: src.notes || "",
+    states: newStates,
+    currentStateId: curNew,
+    transform,
+    actions: [],
+    _colliderHandle: null,
+  };
+
+  // Build actions from interactions for runtime/agent/debug use
+  duplicated.actions = [];
+  for (const s of duplicated.states) {
+    for (const it of s.interactions || []) {
+      duplicated.actions.push({ id: it.id, label: it.label, from: s.id, to: it.to });
+    }
+  }
+
+  return duplicated;
+}
+
+async function duplicateSelectedAsset() {
+  const a = getSelectedAsset();
+  if (!a) return;
+  const dup = _cloneAssetWithFreshIds(a);
+  assets.push(dup);
+  saveTagsForWorld();
+  await instantiateAsset(dup);
+  renderAssetsList();
+  selectAsset(dup.id);
+  setStatus("Asset duplicated.");
+}
+
+async function buildRapierTriMeshColliderFromObject(obj) {
+  await ensureRapierLoaded();
+  const verts = [];
+  const indices = [];
+  let vertBase = 0;
+  const tmpPos = new THREE.Vector3();
+  obj.updateMatrixWorld(true);
+
+  obj.traverse((m) => {
+    if (!m.isMesh) return;
+    const geom = m.geometry;
+    const posAttr = geom?.attributes?.position;
+    if (!posAttr) return;
+    const indexAttr = geom.index;
+    const matWorld = m.matrixWorld;
+
+    for (let i = 0; i < posAttr.count; i++) {
+      tmpPos.fromBufferAttribute(posAttr, i).applyMatrix4(matWorld);
+      verts.push(tmpPos.x, tmpPos.y, tmpPos.z);
+    }
+
+    if (indexAttr) {
+      for (let i = 0; i < indexAttr.count; i++) indices.push(indexAttr.getX(i) + vertBase);
+    } else {
+      for (let i = 0; i < posAttr.count; i++) indices.push(vertBase + i);
+    }
+    vertBase += posAttr.count;
+  });
+
+  if (verts.length < 9 || indices.length < 3) return null;
+  const desc = RAPIER.ColliderDesc.trimesh(verts, indices).setFriction(0.9);
+  return rapierWorld.createCollider(desc);
+}
+
+async function rebuildAssetCollider(assetId) {
+  const a = assets.find((x) => x.id === assetId);
+  if (!a) return;
+  await ensureRapierLoaded();
+  if (!rapierWorld || !RAPIER) return;
+  
+  // Remove existing collider
+  if (a._colliderHandle != null) {
+    try {
+      if (typeof a._colliderHandle === 'object' && a._colliderHandle.handle !== undefined) {
+        rapierWorld.removeCollider(a._colliderHandle, true);
+      }
+    } catch (e) {
+      console.warn(`[COLLIDER] Failed to remove collider for ${assetId}:`, e);
+    }
+    a._colliderHandle = null;
+  }
+  
+  const obj = assetsGroup.getObjectByName(`asset:${assetId}`);
+  if (!obj) return;
+  const collider = await buildRapierTriMeshColliderFromObject(obj);
+  if (collider) {
+    a._colliderHandle = collider;
+  }
+}
+
+function removeAssetColliderHandle(asset) {
+  if (!asset || asset._colliderHandle == null || !rapierWorld) return;
+  try {
+    if (typeof asset._colliderHandle === "object" && asset._colliderHandle.handle !== undefined) {
+      rapierWorld.removeCollider(asset._colliderHandle, true);
+    }
+  } catch (e) {
+    console.warn(`[COLLIDER] Failed to remove collider for ${asset.id}:`, e);
+  }
+  asset._colliderHandle = null;
+}
+
+async function rebuildAssets() {
+  while (assetsGroup.children.length) assetsGroup.remove(assetsGroup.children[0]);
+  for (const a of assets) {
+    try {
+      await instantiateAsset(a);
+    } catch (e) {
+      console.warn("Failed to rebuild asset", a?.glb?.name, e);
+    }
+  }
+  selectAsset(selectedAssetId);
+}
+
+// =============================================================================
+// PRIMITIVES – Parametric Shape System (Level Editor)
+// =============================================================================
+
+function createPrimitiveGeometry(type, dims) {
+  dims = dims || {};
+  const num = (v, fallback) => {
+    const n = Number(v);
+    return Number.isFinite(n) ? n : fallback;
+  };
+  const degToRad = (deg, fallback = 0) => (Number.isFinite(deg) ? deg : fallback) * Math.PI / 180;
+  const clampInt = (v, fallback, min = 1) => Math.max(min, Math.floor(Number(v) || fallback));
+  const clamp01 = (v, fallback = 0) => {
+    const n = Number(v);
+    if (!Number.isFinite(n)) return fallback;
+    return Math.max(0, Math.min(1, n));
+  };
+  switch (type) {
+    case "box": {
+      const width = Math.max(0.01, num(dims.width, 1));
+      const height = Math.max(0.01, num(dims.height, 1));
+      const depth = Math.max(0.01, num(dims.depth, 1));
+      const edgeRadius = Math.max(0, num(dims.edgeRadius, 0));
+      if (edgeRadius > 0) {
+        const radius = Math.min(edgeRadius, width * 0.5, height * 0.5, depth * 0.5);
+        const edgeSegments = clampInt(dims.edgeSegments, 4, 1);
+        return new RoundedBoxGeometry(width, height, depth, edgeSegments, radius);
+      }
+      return new THREE.BoxGeometry(
+        width,
+        height,
+        depth,
+        clampInt(dims.widthSegments, 1, 1),
+        clampInt(dims.heightSegments, 1, 1),
+        clampInt(dims.depthSegments, 1, 1)
+      );
+    }
+    case "sphere":
+      return new THREE.SphereGeometry(
+        Math.max(0.01, num(dims.radius, 0.5)),
+        clampInt(dims.widthSegments, 32, 3),
+        clampInt(dims.heightSegments, 16, 2),
+        degToRad(num(dims.phiStartDeg, 0), 0),
+        degToRad(num(dims.phiLengthDeg, 360), 360),
+        degToRad(num(dims.thetaStartDeg, 0), 0),
+        degToRad(num(dims.thetaLengthDeg, 180), 180)
+      );
+    case "cylinder":
+      return new THREE.CylinderGeometry(
+        Math.max(0.01, num(dims.radiusTop, 0.5)),
+        Math.max(0.01, num(dims.radiusBottom, 0.5)),
+        Math.max(0.01, num(dims.height, 1)),
+        clampInt(dims.radialSegments, 32, 3),
+        clampInt(dims.heightSegments, 1, 1),
+        clamp01(dims.openEnded, 0) >= 0.5
+      );
+    case "cone":
+      return new THREE.ConeGeometry(
+        Math.max(0.01, num(dims.radius, 0.5)),
+        Math.max(0.01, num(dims.height, 1)),
+        clampInt(dims.radialSegments, 32, 3),
+        clampInt(dims.heightSegments, 1, 1),
+        clamp01(dims.openEnded, 0) >= 0.5
+      );
+    case "torus":
+      return new THREE.TorusGeometry(
+        Math.max(0.01, num(dims.radius, 0.5)),
+        Math.max(0.01, num(dims.tube, 0.15)),
+        clampInt(dims.radialSegments, 16, 3),
+        clampInt(dims.tubularSegments, 48, 3),
+        degToRad(num(dims.arcDeg, 360), 360)
+      );
+    case "plane":
+      return new THREE.PlaneGeometry(
+        Math.max(0.01, num(dims.width, 2)),
+        Math.max(0.01, num(dims.height, 2)),
+        clampInt(dims.widthSegments, 1, 1),
+        clampInt(dims.heightSegments, 1, 1)
+      );
+    default:
+      return new THREE.BoxGeometry(1, 1, 1);
+  }
+}
+
+const _textureLoader = new THREE.TextureLoader();
+const _textureCache = new Map(); // dataUrl → THREE.Texture
+const _glbResultCache = new Map(); // glbUrl → loaded gltf result (shared across instances)
+
+function createPrimitiveMaterial(mat) {
+  mat = mat || {};
+  const uv = mat.uvTransform || {};
+  const clamp01 = (v, fallback = 0) => {
+    const n = Number(v);
+    if (!Number.isFinite(n)) return fallback;
+    return Math.max(0, Math.min(1, n));
+  };
+  const hardness = clamp01(mat.hardness, 0);
+  const fluffiness = clamp01(mat.fluffiness, 0);
+  const params = {
+    color: new THREE.Color(mat.color || "#808080"),
+    roughness: mat.softness ?? mat.roughness ?? 0.7,
+    metalness: mat.metalness ?? 0.0,
+    specularIntensity: mat.specularIntensity ?? 1.0,
+    specularColor: new THREE.Color(mat.specularColor || "#ffffff"),
+    envMapIntensity: mat.envMapIntensity ?? 1.0,
+    opacity: mat.opacity ?? 1.0,
+    transparent: (mat.opacity ?? 1.0) < 1 || (mat.transmission ?? 0) > 0,
+    transmission: mat.transmission ?? 0.0,
+    ior: mat.ior ?? 1.45,
+    thickness: mat.thickness ?? 0.0,
+    attenuationColor: new THREE.Color(mat.attenuationColor || "#ffffff"),
+    attenuationDistance: Math.max(0.01, mat.attenuationDistance ?? 1.0),
+    iridescence: mat.iridescence ?? 0.0,
+    iridescenceIOR: mat.ior ?? 1.45,
+    emissive: new THREE.Color(mat.emissive || "#000000"),
+    emissiveIntensity: mat.emissiveIntensity ?? 0.0,
+    clearcoat: Math.max(mat.clearcoat ?? 0.0, hardness * 0.85),
+    clearcoatRoughness: Math.min(mat.clearcoatRoughness ?? 0.0, 1 - hardness * 0.8),
+    sheen: fluffiness,
+    sheenRoughness: 0.9,
+    sheenColor: new THREE.Color(mat.sheenColor || mat.color || "#808080"),
+    side: mat.doubleSided === false ? THREE.FrontSide : THREE.DoubleSide,
+    flatShading: mat.flatShading === true,
+    wireframe: mat.wireframe === true,
+    alphaTest: clamp01(mat.alphaCutoff, 0),
+    depthWrite: (mat.opacity ?? 1.0) >= 1 && (mat.transmission ?? 0) <= 0,
+  };
+  if (mat.textureDataUrl) {
+    let baseTex = _textureCache.get(mat.textureDataUrl);
+    if (!baseTex) {
+      baseTex = _textureLoader.load(mat.textureDataUrl);
+      baseTex.colorSpace = THREE.SRGBColorSpace;
+      baseTex.wrapS = baseTex.wrapT = THREE.RepeatWrapping;
+      _textureCache.set(mat.textureDataUrl, baseTex);
+    }
+    const tex = baseTex.clone();
+    tex.needsUpdate = true;
+    tex.repeat.set(uv.repeatX ?? 1, uv.repeatY ?? 1);
+    tex.offset.set(uv.offsetX ?? 0, uv.offsetY ?? 0);
+    tex.rotation = ((uv.rotationDeg ?? 0) * Math.PI) / 180;
+    tex.center.set(0.5, 0.5);
+    const textureSoftness = clamp01(mat.textureSoftness, 0.25);
+    const textureHardness = clamp01(mat.textureHardness, 0.5);
+    const maxAniso = renderer?.capabilities?.getMaxAnisotropy?.() || 1;
+    const targetAniso = Math.max(1, Math.round(1 + textureHardness * (maxAniso - 1)));
+    tex.anisotropy = Math.max(1, Math.round(targetAniso * (1 - textureSoftness * 0.85)));
+    tex.minFilter = textureSoftness > 0.6 ? THREE.LinearMipmapLinearFilter : THREE.LinearMipmapNearestFilter;
+    tex.magFilter = textureSoftness > 0.75 ? THREE.LinearFilter : (textureHardness > 0.9 ? THREE.NearestFilter : THREE.LinearFilter);
+    tex.generateMipmaps = true;
+    params.map = tex;
+  }
+  return new THREE.MeshPhysicalMaterial(params);
+}
+
+function sanitizePrimitiveCutouts(cutouts) {
+  if (!Array.isArray(cutouts)) return [];
+  const out = [];
+  for (const c of cutouts) {
+    if (!c || typeof c !== "object") continue;
+    if (!Array.isArray(c.targetToSourceMatrix) || c.targetToSourceMatrix.length !== 16) continue;
+    const type = String(c.type || "");
+    if (!["box", "sphere", "cylinder", "cone", "torus"].includes(type)) continue;
+    out.push({
+      type,
+      targetToSourceMatrix: c.targetToSourceMatrix.map((n) => Number(n) || 0),
+      dimensions: { ...(c.dimensions || {}) },
+    });
+    if (out.length >= 8) break;
+  }
+  return out;
+}
+
+function applyPrimitiveCutoutShader(mesh, primData) {
+  if (!mesh?.material?.isMeshPhysicalMaterial) return;
+  const cutouts = sanitizePrimitiveCutouts(primData?.cutouts);
+  if (!cutouts.length) return;
+  const mat = mesh.material;
+  const maxCuts = 8;
+  const cutMatrices = Array.from({ length: maxCuts }, () => new THREE.Matrix4());
+  const cutA = Array.from({ length: maxCuts }, () => new THREE.Vector4(0, 0, 0, 0));
+  const cutB = Array.from({ length: maxCuts }, () => new THREE.Vector4(0, 0, 0, 0));
+  const typeCodeFor = (t) => (t === "sphere" ? 1 : t === "box" ? 2 : t === "cylinder" ? 3 : t === "cone" ? 4 : t === "torus" ? 5 : 0);
+  for (let i = 0; i < cutouts.length && i < maxCuts; i++) {
+    const c = cutouts[i];
+    cutMatrices[i].fromArray(c.targetToSourceMatrix);
+    const d = c.dimensions || {};
+    switch (c.type) {
+      case "sphere":
+        cutA[i].set(Number(d.radius) || 0.5, 0, 0, typeCodeFor(c.type));
+        break;
+      case "box":
+        cutA[i].set((Number(d.width) || 1) * 0.5, (Number(d.height) || 1) * 0.5, (Number(d.depth) || 1) * 0.5, typeCodeFor(c.type));
+        break;
+      case "cylinder":
+      case "cone":
+        cutA[i].set(Math.max(Number(d.radiusTop) || Number(d.radius) || 0.5, Number(d.radiusBottom) || Number(d.radius) || 0.5), Number(d.height) || 1, 0, typeCodeFor(c.type));
+        break;
+      case "torus":
+        cutA[i].set(Number(d.radius) || 0.5, Number(d.tube) || 0.15, 0, typeCodeFor(c.type));
+        break;
+      default:
+        break;
+    }
+  }
+  mat.onBeforeCompile = (shader) => {
+    shader.uniforms.uCutoutCount = { value: cutouts.length };
+    shader.uniforms.uCutoutInv = { value: cutMatrices };
+    shader.uniforms.uCutoutA = { value: cutA };
+    shader.uniforms.uCutoutB = { value: cutB };
+    shader.vertexShader = `
+varying vec3 vPrimLocalPos;
+${shader.vertexShader}`.replace(
+      "#include ",
+      `#include 
+vPrimLocalPos = position;`
+    );
+    shader.fragmentShader = `
+uniform int uCutoutCount;
+uniform mat4 uCutoutInv[8];
+uniform vec4 uCutoutA[8];
+uniform vec4 uCutoutB[8];
+varying vec3 vPrimLocalPos;
+
+float sdfBox(vec3 p, vec3 b) {
+  vec3 q = abs(p) - b;
+  return length(max(q, 0.0)) + min(max(q.x, max(q.y, q.z)), 0.0);
+}
+float sdfSphere(vec3 p, float r) { return length(p) - r; }
+float sdfCylinderY(vec3 p, float r, float h) {
+  vec2 d = abs(vec2(length(p.xz), p.y)) - vec2(r, h * 0.5);
+  return min(max(d.x, d.y), 0.0) + length(max(d, 0.0));
+}
+float sdfTorus(vec3 p, float r, float t) {
+  vec2 q = vec2(length(p.xz) - r, p.y);
+  return length(q) - t;
+}
+${shader.fragmentShader}`.replace(
+      "#include ",
+      `#include 
+for (int i = 0; i < 8; i++) {
+  if (i >= uCutoutCount) break;
+  vec3 lp = (uCutoutInv[i] * vec4(vPrimLocalPos, 1.0)).xyz;
+  float typ = uCutoutA[i].w;
+  float d = 1e6;
+  if (typ < 1.5) d = sdfSphere(lp, uCutoutA[i].x);
+  else if (typ < 2.5) d = sdfBox(lp, vec3(uCutoutA[i].x, uCutoutA[i].y, uCutoutA[i].z));
+  else if (typ < 3.5) d = sdfCylinderY(lp, uCutoutA[i].x, uCutoutA[i].y);
+  else if (typ < 4.5) d = sdfCylinderY(lp, uCutoutA[i].x, uCutoutA[i].y);
+  else d = sdfTorus(lp, uCutoutA[i].x, uCutoutA[i].y);
+  if (d < 0.0) discard;
+}`
+    );
+  };
+  mat.customProgramCacheKey = () => `cutouts:${cutouts.length}:${cutouts.map((c) => c.type).join(",")}`;
+  mat.needsUpdate = true;
+}
+
+function disposePrimitiveMaterial(material) {
+  if (!material) return;
+  const mats = Array.isArray(material) ? material : [material];
+  for (const m of mats) {
+    if (!m) continue;
+    const maps = [
+      "map",
+      "alphaMap",
+      "aoMap",
+      "normalMap",
+      "roughnessMap",
+      "metalnessMap",
+      "emissiveMap",
+      "clearcoatMap",
+      "clearcoatRoughnessMap",
+      "transmissionMap",
+      "thicknessMap",
+    ];
+    for (const key of maps) {
+      const tex = m[key];
+      if (tex?.isTexture) tex.dispose();
+    }
+    m.dispose?.();
+  }
+}
+
+// Deferred collider queue — colliders are only created at a safe frame boundary
+const _pendingColliderBuilds = [];
+
+function flushPendingColliderBuilds() {
+  if (!rapierWorld || !worldBody || _pendingColliderBuilds.length === 0) return;
+  while (_pendingColliderBuilds.length > 0) {
+    const prim = _pendingColliderBuilds.shift();
+    // Verify the primitive still exists and still wants physics
+    if (primitives.includes(prim) && prim.physics !== false) {
+      rebuildPrimitiveColliderSync(prim);
+    }
+  }
+}
+
+function instantiatePrimitive(prim) {
+  // Remove existing
+  const existing = primitivesGroup.getObjectByName(`prim:${prim.id}`);
+  if (existing) {
+    existing.geometry?.dispose();
+    disposePrimitiveMaterial(existing.material);
+    primitivesGroup.remove(existing);
+  }
+
+  const geom = createPrimitiveGeometry(prim.type, prim.dimensions);
+  const mat = createPrimitiveMaterial(prim.material);
+  const mesh = new THREE.Mesh(geom, mat);
+  applyPrimitiveCutoutShader(mesh, prim);
+  mesh.name = `prim:${prim.id}`;
+  mesh.userData.primitiveId = prim.id;
+  mesh.userData.isPrimitive = true;
+  // Default both to true — shapes should always participate in shadows
+  mesh.castShadow = prim.castShadow !== false;
+  mesh.receiveShadow = prim.receiveShadow !== false;
+
+  const tr = prim.transform || {};
+  if (tr.position) mesh.position.set(tr.position.x, tr.position.y, tr.position.z);
+  if (tr.rotation) mesh.rotation.set(tr.rotation.x, tr.rotation.y, tr.rotation.z);
+  if (tr.scale) mesh.scale.set(tr.scale.x ?? 1, tr.scale.y ?? 1, tr.scale.z ?? 1);
+
+  primitivesGroup.add(mesh);
+
+  // Build collider — if Rapier is ready, do it now; otherwise queue it
+  if (prim.physics !== false) {
+    if (rapierWorld && worldBody) {
+      rebuildPrimitiveColliderSync(prim);
+    } else {
+      // Queue for deferred build once Rapier is ready
+      _pendingColliderBuilds.push(prim);
+      // Kick off Rapier init (non-blocking, collider will be built by flush)
+      ensureRapierLoaded();
+    }
+  }
+}
+
+// Safely remove a primitive's existing collider from the Rapier world
+function removePrimitiveCollider(prim) {
+  if (prim._colliderHandle == null || !rapierWorld) return;
+  try {
+    if (typeof prim._colliderHandle === "object" && prim._colliderHandle.handle !== undefined) {
+      rapierWorld.removeCollider(prim._colliderHandle, true);
+    }
+  } catch (e) {
+    console.warn(`[COLLIDER] Primitive collider remove failed for ${prim.id}:`, e);
+  }
+  prim._colliderHandle = null;
+}
+
+// SYNCHRONOUS collider creation for native Rapier shapes.
+// Only falls back to async for trimesh (torus, plane).
+function rebuildPrimitiveColliderSync(prim) {
+  if (!prim) return;
+  // Rapier must already be loaded for sync creation
+  if (!rapierWorld || !RAPIER || !worldBody) return;
+
+  removePrimitiveCollider(prim);
+  if (prim.physics === false) return;
+
+  const mesh = primitivesGroup.getObjectByName(`prim:${prim.id}`);
+  if (!mesh) return;
+
+  const dims = prim.dimensions || {};
+  const s = prim.transform?.scale || { x: 1, y: 1, z: 1 };
+  const pos = prim.transform?.position || { x: 0, y: 0, z: 0 };
+  const rot = prim.transform?.rotation || { x: 0, y: 0, z: 0 };
+
+  // Clamp all half-extents / radii to a safe minimum to avoid WASM traps
+  const clamp = (v) => Math.max(v, 0.001);
+
+  let desc = null;
+
+  // Use native Rapier collision shapes – far more compute-efficient than trimesh
+  switch (prim.type) {
+    case "box":
+      desc = RAPIER.ColliderDesc.cuboid(
+        clamp(((dims.width || 1) * (s.x ?? 1)) / 2),
+        clamp(((dims.height || 1) * (s.y ?? 1)) / 2),
+        clamp(((dims.depth || 1) * (s.z ?? 1)) / 2)
+      );
+      break;
+    case "sphere":
+      desc = RAPIER.ColliderDesc.ball(
+        clamp((dims.radius || 0.5) * Math.max(s.x ?? 1, s.y ?? 1, s.z ?? 1))
+      );
+      break;
+    case "cylinder":
+      desc = RAPIER.ColliderDesc.cylinder(
+        clamp(((dims.height || 1) * (s.y ?? 1)) / 2),
+        clamp(Math.max(dims.radiusTop ?? 0.5, dims.radiusBottom ?? 0.5) * Math.max(s.x ?? 1, s.z ?? 1))
+      );
+      break;
+    case "cone":
+      desc = RAPIER.ColliderDesc.cone(
+        clamp(((dims.height || 1) * (s.y ?? 1)) / 2),
+        clamp((dims.radius || 0.5) * Math.max(s.x ?? 1, s.z ?? 1))
+      );
+      break;
+    case "plane": {
+      // PlaneGeometry lies in the XY plane (normal along +Z), so make the
+      // cuboid thin in Z to match the visual exactly. No rotation offset needed.
+      const pw = clamp(((dims.width || 2) * (s.x ?? 1)) / 2);
+      const ph = clamp(((dims.height || 2) * (s.y ?? 1)) / 2);
+      desc = RAPIER.ColliderDesc.cuboid(pw, ph, 0.005);
+      break; // fall through to the standard rotation/translation below
+    }
+    case "torus": {
+      // Torus: use trimesh async fallback (deferred, won't block)
+      rebuildPrimitiveColliderAsync(prim);
+      return;
+    }
+    default:
+      return;
+  }
+
+  if (desc) {
+    desc.setTranslation(pos.x, pos.y, pos.z);
+    const euler = new THREE.Euler(rot.x, rot.y, rot.z);
+    const quat = new THREE.Quaternion().setFromEuler(euler);
+    desc.setRotation({ x: quat.x, y: quat.y, z: quat.z, w: quat.w });
+    desc.setFriction(0.9);
+    try {
+      const collider = rapierWorld.createCollider(desc);
+      prim._colliderHandle = collider;
+    } catch (e) {
+      console.warn(`[COLLIDER] Failed to create primitive collider for ${prim.type}:`, e);
+    }
+  }
+}
+
+// Async fallback only used for torus (trimesh)
+async function rebuildPrimitiveColliderAsync(prim) {
+  if (!prim) return;
+  await ensureRapierLoaded();
+  if (!rapierWorld || !RAPIER || !worldBody) return;
+  removePrimitiveCollider(prim);
+  if (prim.physics === false) return;
+  const mesh = primitivesGroup.getObjectByName(`prim:${prim.id}`);
+  if (!mesh) return;
+  try {
+    const collider = await buildRapierTriMeshColliderFromObject(mesh);
+    if (collider) prim._colliderHandle = collider;
+  } catch (e) {
+    console.warn(`[COLLIDER] Trimesh fallback failed for ${prim.id}:`, e);
+  }
+}
+
+// Keep old name as alias for callers (e.g. dimension/transform change handlers)
+function rebuildPrimitiveCollider(primId) {
+  const prim = primitives.find((p) => p.id === primId);
+  if (prim) rebuildPrimitiveColliderSync(prim);
+}
+
+function addPrimitiveAtCrosshair(type) {
+  const spawnPos = getPlacementAtCrosshair({ raycastDistance: 250, surfaceOffset: 0.5 }).position;
+  addPrimitiveAtPosition(type, spawnPos);
+}
+
+function addPrimitiveAtPosition(type, spawnPos) {
+  const prim = {
+    id: randId(),
+    type,
+    name: type.charAt(0).toUpperCase() + type.slice(1),
+    notes: "",
+    tags: [],            // string tags for filtering / grouping
+    state: "static",     // static | dynamic | interactable | trigger | decoration
+    metadata: {},        // arbitrary key-value pairs
+    dimensions: { ...(PRIMITIVE_DEFAULTS[type] || PRIMITIVE_DEFAULTS.box) },
+    transform: {
+      position: spawnPos,
+      rotation: { x: 0, y: 0, z: 0 },
+      scale: { x: 1, y: 1, z: 1 },
+    },
+    material: {
+      color: "#808080",
+      roughness: 0.7,
+      softness: 0.7,
+      hardness: 0.0,
+      fluffiness: 0.0,
+      metalness: 0.0,
+      specularIntensity: 1.0,
+      specularColor: "#ffffff",
+      envMapIntensity: 1.0,
+      opacity: 1.0,
+      transmission: 0.0,
+      ior: 1.45,
+      thickness: 0.0,
+      attenuationColor: "#ffffff",
+      attenuationDistance: 1.0,
+      iridescence: 0.0,
+      emissive: "#000000",
+      emissiveIntensity: 0.0,
+      clearcoat: 0.0,
+      clearcoatRoughness: 0.0,
+      alphaCutoff: 0.0,
+      textureSoftness: 0.25,
+      textureHardness: 0.5,
+      doubleSided: true,
+      flatShading: false,
+      wireframe: false,
+      uvTransform: { repeatX: 1, repeatY: 1, offsetX: 0, offsetY: 0, rotationDeg: 0 },
+      textureDataUrl: null,
+    },
+    physics: true,
+    castShadow: true,
+    receiveShadow: true,
+  };
+
+  primitives.push(prim);
+  instantiatePrimitive(prim);
+  saveTagsForWorld();
+  renderPrimitivesList();
+  selectPrimitive(prim.id);
+  setStatus(`${prim.name} placed. Use transform tools to position.`);
+}
+
+function selectPrimitive(id) {
+  selectedPrimitiveId = id;
+  if (id) {
+    selectedAssetId = null;
+  }
+  renderPrimitivesList();
+}
+
+function getPlacementAtCrosshair({ raycastDistance = 500, fallbackDistance = 3, surfaceOffset = 0.02 } = {}) {
+  const hit = rapierRaycastFromCamera(raycastDistance);
+  if (hit) {
+    const n = hit.normal
+      ? new THREE.Vector3(hit.normal.x, hit.normal.y, hit.normal.z).normalize()
+      : new THREE.Vector3(0, 1, 0);
+    return {
+      hit: true,
+      point: { x: hit.point.x, y: hit.point.y, z: hit.point.z },
+      normal: { x: n.x, y: n.y, z: n.z },
+      position: {
+        x: hit.point.x + n.x * surfaceOffset,
+        y: hit.point.y + n.y * surfaceOffset,
+        z: hit.point.z + n.z * surfaceOffset,
+      },
+    };
+  }
+
+  // If no collider is hit, place directly in front of the crosshair.
+  const dir = camera.getWorldDirection(new THREE.Vector3());
+  const p = camera.getWorldPosition(new THREE.Vector3());
+  return {
+    hit: false,
+    point: {
+      x: p.x + dir.x * fallbackDistance,
+      y: p.y + dir.y * fallbackDistance,
+      z: p.z + dir.z * fallbackDistance,
+    },
+    normal: { x: 0, y: 1, z: 0 },
+    position: {
+      x: p.x + dir.x * fallbackDistance,
+      y: p.y + dir.y * fallbackDistance,
+      z: p.z + dir.z * fallbackDistance,
+    },
+  };
+}
+
+function getPlacementFromAgentView(agent, { raycastDistance = 500, fallbackDistance = 2.5, surfaceOffset = 0.02 } = {}) {
+  const [ax, ay, az] = agent?.getPosition?.() || [0, 0, 0];
+  const yaw = agent?.group?.rotation?.y ?? 0;
+  const pitch = typeof agent?.pitch === "number" ? agent.pitch : 0;
+  const cp = Math.cos(pitch);
+  const sp = Math.sin(pitch);
+  const dx = Math.sin(yaw) * cp;
+  const dy = sp;
+  const dz = Math.cos(yaw) * cp;
+  const eyeY = ay + PLAYER_EYE_HEIGHT * 0.9;
+
+  if (rapierWorld && RAPIER) {
+    const ray = new RAPIER.Ray({ x: ax, y: eyeY, z: az }, { x: dx, y: dy, z: dz });
+    const hit = rapierWorld.queryPipeline.castRayAndGetNormal(
+      rapierWorld.bodies,
+      rapierWorld.colliders,
+      ray,
+      raycastDistance,
+      false,
+      RAPIER.QueryFilterFlags.EXCLUDE_SENSORS,
+      undefined,
+      agent?.collider?.handle
+    );
+    if (hit) {
+      const toi = hit.toi ?? hit.timeOfImpact ?? 0;
+      const px = ax + dx * toi;
+      const py = eyeY + dy * toi;
+      const pz = az + dz * toi;
+      const n = hit.normal
+        ? new THREE.Vector3(hit.normal.x, hit.normal.y, hit.normal.z).normalize()
+        : new THREE.Vector3(0, 1, 0);
+      return {
+        hit: true,
+        point: { x: px, y: py, z: pz },
+        normal: { x: n.x, y: n.y, z: n.z },
+        position: {
+          x: px + n.x * surfaceOffset,
+          y: py + n.y * surfaceOffset,
+          z: pz + n.z * surfaceOffset,
+        },
+      };
+    }
+  }
+
+  return {
+    hit: false,
+    point: {
+      x: ax + dx * fallbackDistance,
+      y: eyeY + dy * fallbackDistance,
+      z: az + dz * fallbackDistance,
+    },
+    normal: { x: 0, y: 1, z: 0 },
+    position: {
+      x: ax + dx * fallbackDistance,
+      y: eyeY + dy * fallbackDistance,
+      z: az + dz * fallbackDistance,
+    },
+  };
+}
+
+
+function getSelectedPrimitive() {
+  return primitives.find((p) => p.id === selectedPrimitiveId) || null;
+}
+
+function buildPrimitiveCutoutFromSource(targetId, sourceId) {
+  const targetPrim = primitives.find((p) => p.id === targetId);
+  const sourcePrim = primitives.find((p) => p.id === sourceId);
+  if (!targetPrim || !sourcePrim) return null;
+  const targetMesh = primitivesGroup.getObjectByName(`prim:${targetId}`);
+  const sourceMesh = primitivesGroup.getObjectByName(`prim:${sourceId}`);
+  if (!targetMesh || !sourceMesh) return null;
+  targetMesh.updateMatrixWorld(true);
+  sourceMesh.updateMatrixWorld(true);
+  const targetWorldInv = new THREE.Matrix4().copy(targetMesh.matrixWorld).invert();
+  const sourceInTarget = new THREE.Matrix4().multiplyMatrices(targetWorldInv, sourceMesh.matrixWorld);
+  const targetToSource = new THREE.Matrix4().copy(sourceInTarget).invert();
+  return {
+    id: randId(),
+    type: sourcePrim.type,
+    targetToSourceMatrix: targetToSource.elements.slice(),
+    dimensions: { ...(sourcePrim.dimensions || {}) },
+  };
+}
+
+
+function getOverlappingPrimitiveIds(targetId) {
+  const targetMesh = primitivesGroup.getObjectByName(`prim:${targetId}`);
+  if (!targetMesh) return [];
+  const targetBox = new THREE.Box3().setFromObject(targetMesh).expandByScalar(0.01);
+  const out = [];
+  for (const p of primitives) {
+    if (p.id === targetId) continue;
+    const mesh = primitivesGroup.getObjectByName(`prim:${p.id}`);
+    if (!mesh) continue;
+    const box = new THREE.Box3().setFromObject(mesh);
+    if (box.isEmpty()) continue;
+    if (targetBox.intersectsBox(box)) out.push(p.id);
+  }
+  return out;
+}
+
+function persistSelectedPrimitiveTransform() {
+  const prim = getSelectedPrimitive();
+  if (!prim) return;
+  const obj = primitivesGroup.getObjectByName(`prim:${prim.id}`);
+  if (!obj) return;
+  prim.transform = {
+    position: { x: obj.position.x, y: obj.position.y, z: obj.position.z },
+    rotation: { x: obj.rotation.x, y: obj.rotation.y, z: obj.rotation.z },
+    scale: { x: obj.scale.x, y: obj.scale.y, z: obj.scale.z },
+  };
+  saveTagsForWorld();
+  rebuildPrimitiveColliderSync(prim);
+}
+
+function deletePrimitive(id) {
+  const idx = primitives.findIndex((p) => p.id === id);
+  if (idx === -1) return;
+  const prim = primitives[idx];
+
+  // Remove collider safely
+  removePrimitiveCollider(prim);
+
+  // Remove visual
+  const obj = primitivesGroup.getObjectByName(`prim:${id}`);
+  if (obj) {
+    obj.geometry?.dispose();
+    disposePrimitiveMaterial(obj.material);
+    primitivesGroup.remove(obj);
+  }
+
+  primitives.splice(idx, 1);
+  if (selectedPrimitiveId === id) {
+    selectedPrimitiveId = null;
+  }
+  saveTagsForWorld();
+  renderPrimitivesList();
+  setStatus("Primitive deleted.");
+}
+
+function duplicatePrimitive(id) {
+  const src = primitives.find((p) => p.id === id);
+  if (!src) return;
+  // Strip runtime objects (collider handle has circular refs) before deep clone
+  const { _colliderHandle, ...serializable } = src;
+  const clone = JSON.parse(JSON.stringify(serializable));
+  clone.id = randId();
+  clone.name = src.name + " copy";
+  clone._colliderHandle = null;
+  // Offset slightly
+  if (clone.transform?.position) {
+    clone.transform.position.x += 1;
+  }
+  primitives.push(clone);
+  instantiatePrimitive(clone);
+  saveTagsForWorld();
+  renderPrimitivesList();
+  selectPrimitive(clone.id);
+  setStatus("Primitive duplicated.");
+}
+
+function updatePrimitiveMaterial(primId) {
+  const prim = primitives.find((p) => p.id === primId);
+  if (!prim) return;
+  const mesh = primitivesGroup.getObjectByName(`prim:${prim.id}`);
+  if (!mesh) return;
+  disposePrimitiveMaterial(mesh.material);
+  mesh.material = createPrimitiveMaterial(prim.material);
+  applyPrimitiveCutoutShader(mesh, prim);
+}
+
+function updatePrimitiveDimensions(primId) {
+  const prim = primitives.find((p) => p.id === primId);
+  if (!prim) return;
+  const mesh = primitivesGroup.getObjectByName(`prim:${prim.id}`);
+  if (!mesh) return;
+  mesh.geometry?.dispose();
+  mesh.geometry = createPrimitiveGeometry(prim.type, prim.dimensions);
+  rebuildPrimitiveCollider(prim.id);
+}
+
+function renderPrimitivesList() {
+  // No-op in sim-only mode (editor primitives list not present)
+}
+
+function rebuildAllPrimitives() {
+  // Remove all existing colliders first
+  for (const p of primitives) {
+    removePrimitiveCollider(p);
+  }
+  // Remove all visual meshes
+  while (primitivesGroup.children.length) {
+    const c = primitivesGroup.children[0];
+    c.geometry?.dispose();
+    disposePrimitiveMaterial(c.material);
+    primitivesGroup.remove(c);
+  }
+  // Rebuild all
+  for (const p of primitives) {
+    try {
+      instantiatePrimitive(p);
+    } catch (e) {
+      console.warn("Failed to rebuild primitive", p.id, e);
+    }
+  }
+}
+
+// =============================================================================
+// EDITOR LIGHTS – User-placed lights with visible proxy icons
+// =============================================================================
+
+function instantiateEditorLight(lightData) {
+  // Remove existing
+  removeEditorLightObjects(lightData.id);
+
+  let lightObj;
+  const color = new THREE.Color(lightData.color || "#ffffff");
+  const intensity = lightData.intensity ?? 1.0;
+
+  switch (lightData.type) {
+    case "point":
+      lightObj = new THREE.PointLight(color, intensity, lightData.distance || 0);
+      break;
+    case "spot": {
+      lightObj = new THREE.SpotLight(
+        color,
+        intensity,
+        lightData.distance || 0,
+        lightData.angle ?? Math.PI / 4,
+        lightData.penumbra ?? 0.1
+      );
+      const tgt = lightData.target || { x: 0, y: 0, z: 0 };
+      lightObj.target.position.set(tgt.x, tgt.y, tgt.z);
+      lightsGroup.add(lightObj.target);
+      break;
+    }
+    case "directional":
+    default: {
+      lightObj = new THREE.DirectionalLight(color, intensity);
+      const tgt = lightData.target || { x: 0, y: 0, z: 0 };
+      lightObj.target.position.set(tgt.x, tgt.y, tgt.z);
+      lightsGroup.add(lightObj.target);
+      break;
+    }
+  }
+
+  const pos = lightData.position || { x: 5, y: 10, z: 5 };
+  lightObj.position.set(pos.x, pos.y, pos.z);
+  lightObj.castShadow = lightData.castShadow ?? false;
+  lightObj.name = `light:${lightData.id}`;
+  lightObj.userData.editorLightId = lightData.id;
+  lightObj.userData.isEditorLight = true;
+
+  // Configure shadow map for this light (only renders when castShadow=true).
+  // Use 512 for point/spot (6-face cubemap = expensive) and 1024 for directional.
+  if (lightObj.shadow) {
+    const res = lightObj.isDirectionalLight ? 1024 : 512;
+    lightObj.shadow.mapSize.width = res;
+    lightObj.shadow.mapSize.height = res;
+    lightObj.shadow.bias = -0.003;
+    if (lightObj.shadow.camera) {
+      if (lightObj.isDirectionalLight) {
+        lightObj.shadow.camera.near = 0.5;
+        lightObj.shadow.camera.far = 50;
+        lightObj.shadow.camera.left = -20;
+        lightObj.shadow.camera.right = 20;
+        lightObj.shadow.camera.top = 20;
+        lightObj.shadow.camera.bottom = -20;
+      } else {
+        lightObj.shadow.camera.near = 0.5;
+        lightObj.shadow.camera.far = Math.min(lightData.distance || 30, 30);
+      }
+    }
+  }
+
+  lightsGroup.add(lightObj);
+  lightData._lightObj = lightObj;
+  lightData._proxyObj = null;
+  lightData._helperObj = null;
+}
+
+function removeEditorLightObjects(id) {
+  const names = [`light:${id}`, `lightHelper:${id}`, `lightProxy:${id}`];
+  for (const n of names) {
+    const obj = lightsGroup.getObjectByName(n);
+    if (obj) {
+      // Remove target if it exists (directional/spot)
+      if (obj.target && obj.target.parent) obj.target.parent.remove(obj.target);
+      // Dispose children meshes
+      obj.traverse?.((c) => {
+        if (c.geometry) c.geometry.dispose();
+        if (c.material) {
+          if (c.material.map) c.material.map.dispose();
+          c.material.dispose();
+        }
+      });
+      lightsGroup.remove(obj);
+    }
+  }
+}
+
+
+
+function rebuildAllEditorLights() {
+  // Remove all light objects
+  while (lightsGroup.children.length) {
+    const c = lightsGroup.children[0];
+    c.traverse?.((m) => { m.geometry?.dispose(); m.material?.dispose(); });
+    lightsGroup.remove(c);
+  }
+  for (const ld of editorLights) {
+    ld._lightObj = null;
+    ld._helperObj = null;
+    ld._proxyObj = null;
+    try {
+      instantiateEditorLight(ld);
+    } catch (e) {
+      console.warn("Failed to rebuild light", ld.id, e);
+    }
+  }
+  // Enable/disable the renderer shadow map based on whether any light casts shadows
+  syncShadowMapEnabled();
+}
+
+// =============================================================================
+// DETAILS PANEL & TRANSFORM XYZ – UE-style unified properties
+// =============================================================================
+
+const RAD2DEG = 180 / Math.PI;
+const DEG2RAD = Math.PI / 180;
+
+// Dynamically enable/disable the shadow map system.
+// When no light casts shadows, the renderer skips ALL shadow work (zero overhead).
+function enforceShadowSamplerBudget() {
+  // Prevent WebGL shader validation failures:
+  // "texture image units count exceeds MAX_TEXTURE_IMAGE_UNITS"
+  // Point-light shadows are especially expensive (cube map = ~6 samplers).
+  const budget = 8;
+  const costFor = (lightObj) => (lightObj?.isPointLight ? 6 : 1);
+
+  const candidates = [];
+  for (const sl of sceneLights) {
+    if (!sl?.obj || sl.obj.visible === false) continue;
+    if (!sl.obj.castShadow) continue;
+    candidates.push({ obj: sl.obj, source: "scene", meta: sl });
+  }
+  for (const ld of editorLights) {
+    if (!ld?._lightObj || ld._lightObj.visible === false) continue;
+    if (!ld._lightObj.castShadow) continue;
+    candidates.push({ obj: ld._lightObj, source: "editor", meta: ld });
+  }
+
+  // Prefer non-point shadow lights first (directional/spot), then points.
+  candidates.sort((a, b) => {
+    const ac = costFor(a.obj);
+    const bc = costFor(b.obj);
+    if (ac !== bc) return ac - bc; // cheaper first
+    return 0;
+  });
+
+  let used = 0;
+  for (const c of candidates) {
+    const cost = costFor(c.obj);
+    if (used + cost <= budget) {
+      used += cost;
+      continue;
+    }
+    c.obj.castShadow = false;
+    // keep data model consistent so UI reflects actual runtime state
+    if (c.source === "editor") c.meta.castShadow = false;
+  }
+}
+
+function syncShadowMapEnabled() {
+  enforceShadowSamplerBudget();
+  let anyCast = false;
+  // Check scene lights
+  for (const sl of sceneLights) {
+    if (sl.obj?.castShadow && sl.obj?.visible !== false) { anyCast = true; break; }
+  }
+  // Check editor lights
+  if (!anyCast) {
+    for (const ld of editorLights) {
+      if (ld._lightObj?.castShadow && ld._lightObj?.visible !== false) { anyCast = true; break; }
+    }
+  }
+  if (renderer.shadowMap.enabled !== anyCast) {
+    renderer.shadowMap.enabled = anyCast;
+    // When toggling shadow maps, Three.js needs to recompile materials
+    scene.traverse((obj) => { if (obj.material) obj.material.needsUpdate = true; });
+  }
+  if (anyCast) renderer.shadowMap.needsUpdate = true;
+}
+
+function renderSceneInMode(mode) {
+  const savedOverride = scene.overrideMaterial;
+  const savedBg = scene.background;
+  const savedAssets = assetsGroup.visible;
+  const savedPrims = primitivesGroup.visible;
+  const savedLights = lightsGroup.visible;
+  const savedTags = tagsGroup.visible;
+  const savedLidar = lidarVizGroup.visible;
+  const savedOverlay = rgbdPcOverlayGroup.visible;
+
+  if (mode === "rgb") {
+    scene.overrideMaterial = null;
+    assetsGroup.visible = true;
+    primitivesGroup.visible = true;
+    lightsGroup.visible = true;
+    tagsGroup.visible = false;
+    lidarVizGroup.visible = false;
+    rgbdPcOverlayGroup.visible = false;
+    scene.background = DEFAULT_SCENE_BG;
+    renderer.render(scene, camera);
+  } else if (mode === "lidar") {
+    scene.overrideMaterial = null;
+    assetsGroup.visible = false;
+    primitivesGroup.visible = false;
+    lightsGroup.visible = false;
+    tagsGroup.visible = false;
+    lidarVizGroup.visible = true;
+    rgbdPcOverlayGroup.visible = rgbdPcOverlayOnLidar && _rgbdPcOverlayLastCount > 0;
+    scene.background = RGBD_BG;
+    renderer.render(scene, camera);
+  }
+
+  scene.overrideMaterial = savedOverride;
+  scene.background = savedBg;
+  assetsGroup.visible = savedAssets;
+  primitivesGroup.visible = savedPrims;
+  lightsGroup.visible = savedLights;
+  tagsGroup.visible = savedTags;
+  lidarVizGroup.visible = savedLidar;
+  rgbdPcOverlayGroup.visible = savedOverlay;
+}
+
+function renderCompareViews() {
+  const sz = renderer.getSize(new THREE.Vector2());
+  const W = sz.x;
+  const H = sz.y;
+  const halfW = Math.floor(W / 2);
+  const halfH = Math.floor(H / 2);
+
+  renderer.setScissorTest(true);
+  renderer.autoClear = false;
+
+  renderer.setViewport(0, 0, W, H);
+  renderer.setScissor(0, 0, W, H);
+  renderer.setClearColor(0x000000, 1);
+  renderer.clear(true, true, true);
+
+  // Top-left: RGB
+  renderer.setViewport(0, halfH, halfW, halfH);
+  renderer.setScissor(0, halfH, halfW, halfH);
+  renderer.setClearColor(DEFAULT_SCENE_BG, 1);
+  renderer.clear(true, true, true);
+  renderSceneInMode("rgb");
+
+  // Top-right: RGB-D
+  renderRgbdMetricPassOffscreen();
+  rgbdVizMaterial.uniforms.uGrayMode.value = rgbdVizMode === "gray" ? 1.0 : 0.0;
+  renderer.setRenderTarget(null);
+  renderer.setViewport(halfW, halfH, W - halfW, halfH);
+  renderer.setScissor(halfW, halfH, W - halfW, halfH);
+  renderer.setClearColor(RGBD_BG, 1);
+  renderer.clear(true, true, true);
+  renderer.render(rgbdVizScene, rgbdPostCamera);
+
+  // Bottom-center: LiDAR
+  const lidarX = Math.floor((W - halfW) / 2);
+  renderer.setViewport(lidarX, 0, halfW, halfH);
+  renderer.setScissor(lidarX, 0, halfW, halfH);
+  renderer.setClearColor(RGBD_BG, 1);
+  renderer.clear(true, true, true);
+  renderSceneInMode("lidar");
+
+  renderer.setScissorTest(false);
+  renderer.autoClear = true;
+  renderer.setViewport(0, 0, W, H);
+  renderer.setScissor(0, 0, W, H);
+}
+
+function renderActiveView() {
+  syncShadowMapEnabled();
+  if (simCompareView) {
+    renderCompareViews();
+  } else if (simSensorViewMode === "rgbd") {
+    renderRgbdView();
+  } else {
+    renderer.render(scene, camera);
+  }
+}
+
+const _tmpCamPos = new THREE.Vector3();
+const _tmpCamDir = new THREE.Vector3();
+const _raycaster = new THREE.Raycaster();
+
+function rapierRaycastFromCamera(maxToi = 250) {
+  if (!rapierWorld || !RAPIER) return null;
+  // Query pipeline is kept current by rapierWorld.step() in updateRapier
+
+  const o = camera.getWorldPosition(_tmpCamPos);
+  const d = camera.getWorldDirection(_tmpCamDir).normalize();
+
+  const ray = new RAPIER.Ray({ x: o.x, y: o.y, z: o.z }, { x: d.x, y: d.y, z: d.z });
+  const hit = rapierWorld.queryPipeline.castRayAndGetNormal(
+    rapierWorld.bodies,
+    rapierWorld.colliders,
+    ray,
+    maxToi,
+    false, // hollow: can hit boundary even if ray starts inside
+    RAPIER.QueryFilterFlags.EXCLUDE_SENSORS,
+    undefined,
+    playerCollider?.handle
+  );
+  if (!hit) return null;
+  const toi = hit.toi ?? hit.timeOfImpact ?? 0;
+  const p = { x: o.x + d.x * toi, y: o.y + d.y * toi, z: o.z + d.z * toi };
+  const n = hit.normal ? { x: hit.normal.x, y: hit.normal.y, z: hit.normal.z } : null;
+  return { point: p, normal: n, colliderHandle: hit.colliderHandle ?? null, toi };
+}
+
+function isShapeFreeAt(shape, rot, pos, excludeColliderHandle = null) {
+  if (!rapierWorld || !RAPIER) return false;
+  const hit = rapierWorld.queryPipeline.intersectionWithShape(
+    rapierWorld.bodies,
+    rapierWorld.colliders,
+    pos,
+    rot,
+    shape,
+    RAPIER.QueryFilterFlags.EXCLUDE_SENSORS,
+    undefined,
+    excludeColliderHandle
+  );
+  return hit == null;
+}
+
+function findNearbyFreeSpotForCollider(collider, startPos, maxR = 2.0, step = 0.12) {
+  if (!collider) return null;
+  const shape = collider.shape;
+  const rot = collider.rotation();
+  const exclude = collider.handle;
+
+  if (isShapeFreeAt(shape, rot, startPos, exclude)) return startPos;
+
+  const dirs = [
+    [1, 0, 0],
+    [-1, 0, 0],
+    [0, 0, 1],
+    [0, 0, -1],
+    [1, 0, 1],
+    [1, 0, -1],
+    [-1, 0, 1],
+    [-1, 0, -1],
+    [0, 1, 0],
+    [0, -1, 0],
+  ];
+  for (let r = step; r <= maxR; r += step) {
+    for (const [dx, dy, dz] of dirs) {
+      const len = Math.hypot(dx, dy, dz) || 1;
+      const pos = { x: startPos.x + (dx / len) * r, y: startPos.y + (dy / len) * r, z: startPos.z + (dz / len) * r };
+      if (isShapeFreeAt(shape, rot, pos, exclude)) return pos;
+    }
+  }
+  return null;
+}
+
+function removeAiAgent(agent, reason = "manual") {
+  if (!agent) return;
+  const removedId = String(agent.id || "");
+  try {
+    aiAgents = aiAgents.filter((a) => a !== agent);
+    agentUiPush(`${new Date().toLocaleTimeString()}\nAGENT DESPAWN\n${agent.id} (${reason})`);
+    agent.dispose?.();
+  } catch {}
+  if (removedId) {
+    _agentTasks.delete(removedId);
+    agentInspectorStateById.delete(removedId);
+  }
+  if (removedId) removeAgentBadge(removedId);
+  if (agentCameraFollowId === removedId) {
+    disableAgentCameraFollow();
+  }
+  if (selectedAgentInspectorId === removedId) {
+    selectedAgentInspectorId = aiAgents[0]?.id || null;
+    if (selectedAgentInspectorId) renderAgentInspector(selectedAgentInspectorId);
+    else {
+      clearAgentInspectorViews();
+    }
+  }
+  if (aiAgents.length === 0) {
+    disableAgentCameraFollow();
+  }
+  renderAgentTaskUi();
+}
+
+function stopAiAgent(agent, reason = "manual-stop") {
+  if (!agent) return;
+  agentUiPush(`${new Date().toLocaleTimeString()}\nAGENT STOP\n${agent.id} (${reason})`);
+  renderAgentTaskUi();
+}
+
+function despawnEphemeralAgents(reason = "task-end") {
+  const doomed = aiAgents.filter((a) => a?._ephemeral === true);
+  for (const a of doomed) removeAiAgent(a, reason);
+}
+
+function createAiAgent({ ephemeral = false, avatarUrl, radius, halfHeight } = {}) {
+  const id = `agent-${Date.now().toString(36)}-${Math.random().toString(36).slice(2, 6)}`;
+  const _avatarUrl = avatarUrl !== undefined
+    ? avatarUrl
+    : ["/embodiment/dimsim_unitree_stub.glb"];
+  const agent = new AiAvatar({
+    id,
+    scene,
+    rapierWorld,
+    RAPIER,
+    avatarUrl: _avatarUrl,
+    radius,
+    halfHeight,
+    // Headless mode in dimos: skip visual rendering, keep colliders for physics
+    headless: false,
+  });
+  agent._ephemeral = !!ephemeral;
+  // Manually spawned editor agents should clean themselves up after task completion.
+  agent._autoDespawnAfterTask = true;
+  // Only inherit the active task if this agent was spawned as part of a worker pool (ephemeral).
+  // Manually spawned agents start idle and wait for their own task assignment.
+  agent._taskStartedAt = ephemeral ? Number(agentTask.startedAt || 0) : 0;
+  getOrCreateAgentInspectorState(id);
+  if (!selectedAgentInspectorId) selectedAgentInspectorId = id;
+  renderSelectedAgentControls();
+  return agent;
+}
+
+
+async function ensureRapierLoaded() {
+  if (RAPIER) return;
+  if (!_rapierInitPromise) {
+    _rapierInitPromise = _doRapierInit();
+  }
+  return _rapierInitPromise;
+}
+
+async function _doRapierInit() {
+  RAPIER = await import("@dimforge/rapier3d-compat");
+  await RAPIER.init();
+  rapierWorld = new RAPIER.World({ x: 0, y: -9.81, z: 0 });
+  worldBody = rapierWorld.createRigidBody(RAPIER.RigidBodyDesc.fixed());
+
+  const radius = PLAYER_RADIUS;
+  const halfHeight = PLAYER_HALF_HEIGHT;
+  playerBody = rapierWorld.createRigidBody(
+    RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(0, 3, 0)
+  );
+  playerCollider = rapierWorld.createCollider(
+    RAPIER.ColliderDesc.capsule(halfHeight, radius).setFriction(0.0).setSensor(ghostMode),
+    playerBody
+  );
+
+  characterController = rapierWorld.createCharacterController(0.02);
+  characterController.setSlideEnabled(true);
+  characterController.enableAutostep(0.55, 0.25, true);
+  characterController.enableSnapToGround(0.25);
+  characterController.setMaxSlopeClimbAngle(Math.PI / 3);
+  characterController.setMinSlopeSlideAngle(Math.PI / 2);
+}
+
+async function spawnOrMoveAiAtAim({ createNew = false, silent = false, ephemeral = false } = {}) {
+  await ensureRapierLoaded();
+  const hit = rapierRaycastFromCamera(500);
+  const placement = hit
+    ? { point: hit.point, normal: hit.normal || { x: 0, y: 1, z: 0 } }
+    : getPlacementAtCrosshair({ raycastDistance: 500, fallbackDistance: 3, surfaceOffset: 0.0 });
+  if (!hit && !silent) {
+    setStatus("No collider hit; spawned AI using crosshair fallback placement.");
+  }
+
+  let agent = createNew ? null : aiAgents[0] || null;
+  if (!agent) {
+    if (aiAgents.length >= MAX_AGENT_COUNT) {
+      if (!silent) setStatus(`Agent cap reached (${MAX_AGENT_COUNT}).`);
+      return;
+    }
+    agent = createAiAgent({ ephemeral });
+    aiAgents.push(agent);
+  } else if (ephemeral) {
+    agent._ephemeral = true;
+  }
+
+  const n = placement.normal
+    ? new THREE.Vector3(placement.normal.x, placement.normal.y, placement.normal.z).normalize()
+    : new THREE.Vector3(0, 1, 0);
+  const offset = Math.max(0.12, (agent.radius ?? PLAYER_RADIUS) + 0.06);
+  const p0 = placement.point;
+  const candA = { x: p0.x + n.x * offset, y: p0.y + n.y * offset, z: p0.z + n.z * offset };
+  const candB = { x: p0.x - n.x * offset, y: p0.y - n.y * offset, z: p0.z - n.z * offset };
+
+  let chosen = null;
+  chosen = findNearbyFreeSpotForCollider(agent.collider, candA, 2.0, 0.12);
+  if (!chosen) chosen = findNearbyFreeSpotForCollider(agent.collider, candB, 2.0, 0.12);
+  if (!chosen) chosen = findNearbyFreeSpotForCollider(agent.collider, { x: p0.x, y: p0.y + offset, z: p0.z }, 2.5, 0.12);
+  // Fallback: use placement point directly (slightly above surface) rather than failing silently.
+  if (!chosen) {
+    chosen = { x: p0.x + n.x * 0.5, y: p0.y + n.y * 0.5 + 0.5, z: p0.z + n.z * 0.5 };
+    console.warn("[Spawn] No free collision spot found – using direct fallback placement at", chosen);
+  }
+
+  agent.setPosition(chosen.x, chosen.y, chosen.z);
+  if (agentTask.active) {
+    agent._taskStartedAt = agentTask.startedAt;
+  }
+  renderAgentTaskUi();
+  if (!silent) {
+    const label = createNew ? "AI worker spawned." : "AI placed.";
+    setStatus(`${label} (${aiAgents.length} total)`);
+  }
+}
+
+function pickAgentFromRay(raycaster) {
+  const agentRoots = aiAgents.map((a) => a?.group).filter(Boolean);
+  if (agentRoots.length === 0) return null;
+
+  // First try exact mesh hits.
+  const agentHits = raycaster.intersectObjects(agentRoots, true);
+  if (agentHits.length > 0) {
+    let obj = agentHits[0].object;
+    while (obj && !(typeof obj.name === "string" && obj.name.startsWith("AiAvatar:"))) obj = obj.parent;
+    const agentId = obj?.name?.slice("AiAvatar:".length) || "";
+    const agent = aiAgents.find((a) => a.id === agentId) || null;
+    if (agent) return agent;
+  }
+
+  // Fallback: broad proximity test against agent centers.
+  let best = null;
+  let bestT = Infinity;
+  const origin = raycaster.ray.origin;
+  const dir = raycaster.ray.direction;
+  const tmp = new THREE.Vector3();
+  const to = new THREE.Vector3();
+  const pickRadius = 0.45; // generous click radius for tiny capsules
+
+  for (const a of aiAgents) {
+    if (!a?.group || a.group.visible === false) continue;
+    const [x, y, z] = a.getPosition?.() || [0, 0, 0];
+    // Aim around torso center for better clickability.
+    tmp.set(x, y + (a.halfHeight || 0.25), z);
+    const d2 = raycaster.ray.distanceSqToPoint(tmp);
+    if (d2 > pickRadius * pickRadius) continue;
+
+    // Prefer nearest along-ray candidate in front of camera.
+    to.copy(tmp).sub(origin);
+    const t = to.dot(dir);
+    if (t <= 0) continue;
+    if (t < bestT) {
+      bestT = t;
+      best = a;
+    }
+  }
+  return best;
+}
+
+function pickAgentFromScreenPoint(clientX, clientY, canvasRect) {
+  if (!Number.isFinite(clientX) || !Number.isFinite(clientY) || !canvasRect || aiAgents.length === 0) return null;
+  const thresholdPx = 46;
+  let best = null;
+  let bestD2 = thresholdPx * thresholdPx;
+  const v = new THREE.Vector3();
+  for (const a of aiAgents) {
+    if (!a?.group || a.group.visible === false) continue;
+    const [x, y, z] = a.getPosition?.() || [0, 0, 0];
+    v.set(x, y + (a.halfHeight || 0.25), z).project(camera);
+    if (v.z < -1 || v.z > 1) continue; // behind camera / clipped
+    const sx = canvasRect.left + (v.x * 0.5 + 0.5) * canvasRect.width;
+    const sy = canvasRect.top + (-v.y * 0.5 + 0.5) * canvasRect.height;
+    const dx = sx - clientX;
+    const dy = sy - clientY;
+    const d2 = dx * dx + dy * dy;
+    if (d2 < bestD2) {
+      bestD2 = d2;
+      best = a;
+    }
+  }
+  return best;
+}
+
+function ensureAgentBadgeLayer() {
+  if (agentBadgeLayerEl) return;
+  installAgentBadgeEventDelegation();
+  const el = document.createElement("div");
+  el.id = "agent-badge-layer";
+  el.className = "agent-badge-layer";
+  document.body.appendChild(el);
+  agentBadgeLayerEl = el;
+}
+
+function getOrCreateAgentBadge(agentId) {
+  const id = String(agentId || "");
+  if (!id) return null;
+  ensureAgentBadgeLayer();
+  if (agentBadgeElsById.has(id)) return agentBadgeElsById.get(id);
+  const btn = document.createElement("button");
+  btn.type = "button";
+  btn.className = "agent-badge";
+  btn.textContent = id;
+  btn.dataset.agentId = id;
+  btn.addEventListener("pointerdown", (e) => {
+    e.preventDefault();
+    e.stopPropagation();
+    selectAgentInspector(id);
+    setStatus(`Inspecting ${id}. Use right panel controls.`);
+  });
+  document.body.appendChild(btn);
+  agentBadgeElsById.set(id, btn);
+  return btn;
+}
+
+function installAgentBadgeEventDelegation() {
+  if (typeof document === "undefined") return;
+  if (document.body?.dataset?.agentBadgeDelegationInstalled === "1") return;
+  if (document.body) document.body.dataset.agentBadgeDelegationInstalled = "1";
+  // Capture-phase delegation to beat canvas/overlay handlers.
+  document.addEventListener(
+    "pointerdown",
+    (e) => {
+      const target = e.target;
+      if (!(target instanceof HTMLElement)) return;
+      const badge = target.closest(".agent-badge");
+      if (!badge) return;
+      const id = String(badge.dataset.agentId || "").trim();
+      if (!id) return;
+      e.preventDefault();
+      e.stopPropagation();
+      selectAgentInspector(id);
+      setStatus(`Inspecting ${id}. Use right panel controls.`);
+    },
+    true
+  );
+}
+
+function removeAgentBadge(agentId) {
+  const id = String(agentId || "");
+  const el = agentBadgeElsById.get(id);
+  if (el?.parentElement) el.parentElement.removeChild(el);
+  agentBadgeElsById.delete(id);
+}
+
+
+function pickTagMarkerFromCamera() {
+  _raycaster.setFromCamera({ x: 0, y: 0 }, camera);
+  const hits = _raycaster.intersectObjects(tagsGroup.children, false);
+  for (const h of hits) {
+    const obj = h.object;
+    if (obj?.userData?.isRadius) continue;
+    const id = obj?.userData?.tagId;
+    if (id) return id;
+  }
+  return null;
+}
+
+
+
+// Lock pointer and interact on click for FPS navigation.
+canvas.addEventListener("click", async (e) => {
+  if (!controls.isLocked) {
+    controls.enabled = true;
+    try { controls.lock(); } catch {}
+  } else if (e.button === 0) {
+    await handlePlayerInteraction();
+  }
+});
+
+// Right-click to lock pointer (for FPS navigation)
+canvas.addEventListener("contextmenu", (e) => {
+  e.preventDefault();
+  if (!controls.isLocked) {
+    controls.enabled = true;
+    try { controls.lock(); } catch {}
+  }
+});
+
+controls.addEventListener("lock", () => {
+  controls.enabled = true;
+});
+controls.addEventListener("unlock", () => {
+  setStatus("Click to look around.");
+});
+
+resetBtn?.addEventListener("click", () => {
+  controls.object.position.set(0, 1.7, 4);
+});
+
+
+function setGhostMode(enabled) {
+  ghostMode = !!enabled;
+  // Ghost mode indicator shown in status
+  if (enabled) setStatus("Ghost mode ON");
+  
+  // Disable collisions by turning the player collider into a sensor.
+  // (Sensors don't generate contact forces, so you can pass through walls.)
+  try {
+    if (playerCollider && typeof playerCollider.setSensor === "function") {
+      playerCollider.setSensor(ghostMode);
+    }
+  } catch {
+    // ignore
+  }
+}
+
+// Ghost mode toggled via 'G' key only
+
+// Tagging UI
+document.documentElement.dataset.mode = "sim";
+simPanelCollapseBtn?.addEventListener("click", () => {
+  simPanelCollapsed = true;
+  applySimPanelCollapsedState();
+});
+simPanelOpenBtn?.addEventListener("click", () => {
+  simPanelCollapsed = false;
+  applySimPanelCollapsedState();
+});
+simCameraModeToggleBtn?.addEventListener("click", () => {
+  simUserCameraMode = simUserCameraMode === "user" ? "agent" : "user";
+  localStorage.setItem("sparkWorldSimCameraMode", simUserCameraMode);
+  updateSimCameraModeToggleUi();
+  if (simUserCameraMode === "user") {
+    if (agentCameraFollow) disableAgentCameraFollow();
+  } else if (agentTask.active) {
+    enableAgentCameraFollow();
+  }
+});
+simViewRgbdBtn?.addEventListener("click", () => {
+  simCompareView = false;
+  setSimSensorViewMode("rgbd");
+});
+simRgbdGrayBtn?.addEventListener("click", () => {
+  rgbdVizMode = "gray";
+  updateSimSensorButtons();
+  if (simSensorViewMode === "rgbd") setStatus("RGB-D: metric grayscale");
+});
+simRgbdColormapBtn?.addEventListener("click", () => {
+  rgbdVizMode = "colormap";
+  updateSimSensorButtons();
+  if (simSensorViewMode === "rgbd") setStatus("RGB-D: metric colormap");
+});
+simRgbdAutoRangeBtn?.addEventListener("click", () => {
+  rgbdAutoRange = !rgbdAutoRange;
+  updateSimSensorButtons();
+  if (simSensorViewMode === "rgbd") setStatus(rgbdAutoRange ? "RGB-D auto-range ON (p5/p95)" : "RGB-D auto-range OFF");
+});
+simRgbdNoiseBtn?.addEventListener("click", () => {
+  rgbdNoiseEnabled = !rgbdNoiseEnabled;
+  updateSimSensorButtons();
+  setStatus(rgbdNoiseEnabled ? "RGB-D noise ON" : "RGB-D noise OFF");
+});
+simRgbdSpeckleBtn?.addEventListener("click", () => {
+  rgbdSpeckleEnabled = !rgbdSpeckleEnabled;
+  updateSimSensorButtons();
+  setStatus(rgbdSpeckleEnabled ? "RGB-D speckle ON" : "RGB-D speckle OFF");
+});
+simRgbdMinEl?.addEventListener("input", () => {
+  if (rgbdAutoRange) return;
+  const minV = Number(simRgbdMinEl.value);
+  const maxV = Number(simRgbdMaxEl?.value ?? rgbdRangeMaxM);
+  setRgbdRange(minV, maxV);
+});
+simRgbdMaxEl?.addEventListener("input", () => {
+  if (rgbdAutoRange) return;
+  const minV = Number(simRgbdMinEl?.value ?? rgbdRangeMinM);
+  const maxV = Number(simRgbdMaxEl.value);
+  setRgbdRange(minV, maxV);
+});
+simRgbdPcOverlayBtn?.addEventListener("click", () => {
+  rgbdPcOverlayOnLidar = !rgbdPcOverlayOnLidar;
+  _rgbdPcOverlayLastUpdateMs = 0;
+  _rgbdPcOverlayLastPose = null;
+  _rgbdPcOverlayDirty = rgbdPcOverlayOnLidar;
+  if (!rgbdPcOverlayOnLidar) {
+    _rgbdPcGeom.setDrawRange(0, 0);
+    _rgbdPcOverlayLastCount = 0;
+    _rgbdPcOverlayDirty = false;
+  }
+  if (rgbdPcOverlayOnLidar) {
+    // Overlay button should directly enter combined LiDAR+RGBD-PC debug mode.
+    simCompareView = false;
+    lidarOrderedDebugView = false;
+    if (simSensorViewMode !== "lidar") simSensorViewMode = "lidar";
+    applySimSensorViewMode();
+  }
+  // Actual visibility is finalized by updateRgbdPcOverlayCloud once points are generated.
+  rgbdPcOverlayGroup.visible = false;
+  updateSimSensorButtons();
+  setStatus(rgbdPcOverlayOnLidar ? `RGB-D->PointCloud overlay ON (${_rgbdPcOverlayLastCount} pts)` : "RGB-D->PointCloud overlay OFF");
+});
+simViewLidarBtn?.addEventListener("click", () => {
+  // Main LiDAR button always maps to accumulated unordered 3D point cloud.
+  simCompareView = false;
+  lidarOrderedDebugView = false;
+  if (simSensorViewMode !== "lidar") {
+    _lidarAccumFrames.length = 0;
+    _lidarLastAccumPose = null;
+    resetLidarScanState();
+  }
+  setSimSensorViewMode("lidar");
+  if (rgbdPcOverlayOnLidar) _rgbdPcOverlayDirty = true;
+});
+simViewCompareBtn?.addEventListener("click", () => {
+  simCompareView = !simCompareView;
+  if (simCompareView) {
+    // Auto-collapse panel so tiles get full canvas width.
+    simPanelCollapsed = true;
+    applySimPanelCollapsedState();
+    simSensorViewMode = "lidar";
+    lidarOrderedDebugView = false;
+    if (rgbdPcOverlayOnLidar) _rgbdPcOverlayDirty = true;
+    setStatus("Compare view: RGB | RGB-D | LiDAR");
+  } else {
+    simPanelCollapsed = false;
+    applySimPanelCollapsedState();
+    setStatus("Compare view OFF");
+  }
+  applySimSensorViewMode();
+});
+simLidarColorRangeBtn?.addEventListener("click", () => {
+  lidarColorByRange = !lidarColorByRange;
+  updateSimSensorButtons();
+  if (simSensorViewMode === "lidar") {
+    updateLidarPointCloud();
+    setStatus(lidarColorByRange ? "LiDAR: range-color mode" : "LiDAR: intensity mode");
+  }
+});
+simLidarOrderedDebugBtn?.addEventListener("click", () => {
+  // Single Sweep is the explicit ring/scan debug view.
+  lidarOrderedDebugView = true;
+  _lidarAccumFrames.length = 0;
+  _lidarLastAccumPose = null;
+  resetLidarScanState();
+  if (simSensorViewMode !== "lidar") simSensorViewMode = "lidar";
+  updateSimSensorButtons();
+  applySimSensorViewMode();
+  setStatus("LiDAR: single sweep view");
+});
+simLidarNoiseBtn?.addEventListener("click", () => {
+  lidarNoiseEnabled = !lidarNoiseEnabled;
+  _lidarAccumFrames.length = 0;
+  _lidarLastAccumPose = null;
+  resetLidarScanState();
+  updateSimSensorButtons();
+  if (simSensorViewMode === "lidar") updateLidarPointCloud();
+  setStatus(lidarNoiseEnabled ? "LiDAR noise ON" : "LiDAR noise OFF");
+});
+simLidarMultiReturnBtn?.addEventListener("click", () => {
+  lidarMultiReturnMode = lidarMultiReturnMode === "strongest" ? "last" : "strongest";
+  _lidarAccumFrames.length = 0;
+  _lidarLastAccumPose = null;
+  resetLidarScanState();
+  updateSimSensorButtons();
+  if (simSensorViewMode === "lidar") updateLidarPointCloud();
+  setStatus(`LiDAR return mode: ${lidarMultiReturnMode}`);
+});
+spawnAiBtn?.addEventListener("click", async () => {
+  try {
+    await spawnOrMoveAiAtAim({ createNew: false, ephemeral: false });
+  } catch (err) {
+    console.error("[Spawn] Error spawning agent:", err);
+    setStatus("Spawn failed: " + (err?.message || String(err)));
+  }
+});
+
+// --- Blob shadow live-adjustment helpers ---
+// Updates the blob shadow mesh in-place without rebuilding the entire asset.
+function updateBlobShadowLive(assetId) {
+  const a = assets.find((x) => x.id === assetId);
+  if (!a?.castShadow) return;
+  const root = assetsGroup.getObjectByName(`asset:${assetId}`);
+  if (!root) return;
+  const blob = root.getObjectByName(`blobShadow:${assetId}`);
+  if (!blob) return;
+  const bs = a.blobShadow || {};
+  // Opacity
+  if (blob.material) blob.material.opacity = bs.opacity ?? 0.5;
+  // Scale + stretch
+  const baseDiam = blob.userData._baseDiameter || 1;
+  const userScale = bs.scale ?? 1.0;
+  const stretch = bs.stretch ?? 1.0;
+  const d = baseDiam * userScale;
+  blob.scale.set(d * stretch, 1, d / stretch);
+  // Rotation (Y axis, degrees → radians)
+  blob.rotation.y = ((bs.rotationDeg ?? 0) * Math.PI) / 180;
+  // Offset
+  blob.position.x = bs.offsetX ?? 0;
+  const baseY = blob.userData._baseLocalY ?? blob.position.y;
+  blob.position.y = baseY + (bs.offsetY ?? 0);
+  blob.position.z = bs.offsetZ ?? 0;
+}
+
+
+// Initialize agent UI visibility/content.
+applySimPanelCollapsedState();
+renderAgentTaskUi();
+agentTaskStartBtn?.addEventListener("click", () => {
+  if (agentTask.active) return;
+  void startAgentTask(agentTaskInputEl?.value);
+});
+agentTaskEndBtn?.addEventListener("click", () => endAgentTask("manual"));
+// Enter key in command input starts task; stop propagation so WASD doesn't trigger
+agentTaskInputEl?.addEventListener("keydown", (e) => {
+  e.stopPropagation();
+  if (e.key === "Enter" && !agentTask.active && aiAgents.length > 0) {
+    void startAgentTask(agentTaskInputEl.value);
+  }
+});
+
+// Shared import logic — used by both editor Import and sim Load Level
+async function importLevelFromJSON(json, options = {}) {
+  const importedTags = Array.isArray(json?.tags) ? json.tags : Array.isArray(json) ? json : null;
+  const preserveAssetsWhenMissing = options.preserveAssetsWhenMissing === true;
+  const importedAssets = Array.isArray(json?.assets)
+    ? json.assets
+    : (preserveAssetsWhenMissing ? assets : []);
+  const importedPrimitives = Array.isArray(json?.primitives) ? json.primitives : [];
+  const importedLights = Array.isArray(json?.lights) ? json.lights : [];
+  const importedSceneSettings = json && typeof json === "object" && json.sceneSettings
+    ? normalizeSceneSettings(json.sceneSettings)
+    : null;
+  if (!importedTags) throw new Error("Invalid level file.");
+  // Clean up old primitive colliders
+  for (const p of primitives) removePrimitiveCollider(p);
+  tags = importedTags;
+  assets = importedAssets;
+  primitives = importedPrimitives;
+  editorLights = importedLights;
+  if (importedSceneSettings) sceneSettings = importedSceneSettings;
+  if (!options.skipWorldSave) saveTagsForWorld();
+  rebuildTagMarkers();
+  await rebuildAssets();
+  rebuildAllPrimitives();
+  rebuildAllEditorLights();
+  renderTagsList();
+  renderAssetsList();
+  renderPrimitivesList();
+  renderTagPanel();
+  applySceneSkySettings();
+  applySceneRgbBackground();
+  syncShadowMapEnabled();
+}
+
+// Exposed for the sim-authoring UI dropdown and sceneApi.loadJson.
+window.importLevelFromJSON = importLevelFromJSON;
+
+
+// Sim-mode "Load Level JSON" input (only exists in sim.html)
+const simLevelImportEl = document.getElementById("sim-level-import");
+simLevelImportEl?.addEventListener("change", async (e) => {
+  const file = e.target.files?.[0];
+  if (!file) return;
+  try {
+    setStatus("Loading level...");
+    const text = await file.text();
+    await importLevelFromJSON(JSON.parse(text));
+    await ensureRapierLoaded();
+    spawnPlayerInsideScene();
+    setStatus("Level loaded. Click to enter, then spawn an agent.");
+  } catch (err) {
+    console.error(err);
+    setStatus(err?.message || "Failed to load level.");
+  } finally {
+    e.target.value = "";
+  }
+});
+
+canvas?.addEventListener("mousedown", () => {
+  const id = pickTagMarkerFromCamera();
+  if (!id) return;
+  selectedTagId = id;
+  draftTag = null;
+  updateMarkerMaterials();
+  renderTagsList();
+  renderTagPanel();
+});
+
+
+// =============================================================================
+// PRIMITIVE & LIGHT EVENT HANDLERS
+// =============================================================================
+
+
+// Expose tag data for "simulation mode" consumers.
+globalThis.sparkWorld = globalThis.sparkWorld || {};
+globalThis.sparkWorld.getWorldKey = () => worldKey;
+globalThis.sparkWorld.getTags = () => tags.slice();
+globalThis.sparkWorld.getAiAgents = () => aiAgents.map((a) => ({ id: a.id, position: a.getPosition?.() }));
+
+function teleportPlayerTo(x, y, z) {
+  if (!playerBody) return;
+  playerBody.setTranslation({ x, y, z }, true);
+  playerBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
+}
+
+// Find a reasonable interior floor Y by casting a ray straight down through the
+// loaded scene meshes and picking the lowest up-facing surface. This skips the
+// roof when a building has both a roof and an interior floor, so the player
+// lands inside rather than on top.
+function _findSceneFloorY(x = 0, z = 0) {
+  const bbox = new THREE.Box3();
+  const tmp = new THREE.Box3();
+  try { tmp.setFromObject(assetsGroup); if (tmp.isEmpty() === false) bbox.union(tmp); } catch {}
+  try { tmp.setFromObject(primitivesGroup); if (tmp.isEmpty() === false) bbox.union(tmp); } catch {}
+  const fromY = bbox.isEmpty() ? 50 : bbox.max.y + 5;
+  const raycaster = new THREE.Raycaster(
+    new THREE.Vector3(x, fromY, z),
+    new THREE.Vector3(0, -1, 0),
+    0,
+    fromY + 500,
+  );
+  // Pure-Three.js scenes (e.g. apartment loading structure.glb directly via
+  // loadGLTF + scene.add) put their floor outside of assetsGroup/primitivesGroup.
+  // Ray-cast the full scene as a third target — the worldN.y >= 0.5 filter
+  // below still rules out walls, ceilings, and the skybox.
+  const hits = [
+    ...raycaster.intersectObject(assetsGroup, true),
+    ...raycaster.intersectObject(primitivesGroup, true),
+    ...raycaster.intersectObject(scene, true),
+  ];
+  let floorY = null;
+  for (const h of hits) {
+    const n = h.face?.normal;
+    if (!n) continue;
+    // Transform face normal to world space to test "up-facing"
+    const worldN = n.clone().transformDirection(h.object.matrixWorld);
+    if (worldN.y < 0.5) continue; // skip walls/ceilings
+    if (floorY == null || h.point.y < floorY) floorY = h.point.y;
+  }
+  return floorY;
+}
+
+function spawnPlayerInsideScene() {
+  const floorY = _findSceneFloorY(0, 0);
+  if (floorY == null) return false;
+  const y = floorY + PLAYER_EYE_HEIGHT;
+  camera.position.set(0, y, 0);
+  teleportPlayerTo(0, y, 0);
+  return true;
+}
+
+
+function safeDisableGhost() {
+  // If we're currently inside occupied geometry, turning collisions back on will
+  // trap the character (penetration state). Use Rapier query pipeline to find a safe spot.
+  if (!playerBody) return setGhostMode(false);
+  const p = playerBody.translation();
+
+  // Use Rapier query pipeline to find a non-penetrating spot.
+  if (rapierWorld && playerCollider) {
+    try {
+      const shape = playerCollider.shape;
+      const rot = playerCollider.rotation();
+      const here = { x: p.x, y: p.y, z: p.z };
+
+      const intersectsHere = rapierWorld.queryPipeline.intersectionWithShape(
+        rapierWorld.bodies,
+        rapierWorld.colliders,
+        here,
+        rot,
+        shape,
+        RAPIER.QueryFilterFlags.EXCLUDE_SENSORS,
+        undefined,
+        playerCollider.handle
+      );
+
+      // If we're not intersecting anything solid, we can safely disable ghost immediately.
+      if (intersectsHere == null) {
+        setGhostMode(false);
+        setStatus("Ghost disabled.");
+        return;
+      }
+
+      const tryOffsets = (maxR, step) => {
+        for (let r = step; r <= maxR; r += step) {
+          // sample a handful of directions per radius
+          const dirs = [
+            [1, 0, 0],
+            [-1, 0, 0],
+            [0, 0, 1],
+            [0, 0, -1],
+            [1, 0, 1],
+            [1, 0, -1],
+            [-1, 0, 1],
+            [-1, 0, -1],
+            [0, 1, 0],
+            [0, -1, 0],
+          ];
+          for (const [dx, dy, dz] of dirs) {
+            const len = Math.hypot(dx, dy, dz) || 1;
+            const pos = { x: p.x + (dx / len) * r, y: p.y + (dy / len) * r, z: p.z + (dz / len) * r };
+            const hit = rapierWorld.queryPipeline.intersectionWithShape(
+              rapierWorld.bodies,
+              rapierWorld.colliders,
+              pos,
+              rot,
+              shape,
+              RAPIER.QueryFilterFlags.EXCLUDE_SENSORS,
+              undefined,
+              playerCollider.handle
+            );
+            if (hit == null) return pos;
+          }
+        }
+        return null;
+      };
+
+      const pos = tryOffsets(2.5, 0.15);
+      if (pos) {
+        teleportPlayerTo(pos.x, pos.y, pos.z);
+        setGhostMode(false);
+        setStatus("Ghost disabled (moved to nearest free space).");
+        return;
+      }
+    } catch {
+      // ignore
+    }
+  }
+
+  setStatus("Couldn't find free space to disable Ghost. Staying in Ghost mode.");
+  setGhostMode(true);
+}
+
+window.addEventListener("keydown", (e) => {
+  const tagName = e.target?.tagName?.toLowerCase?.();
+  const isTyping =
+    tagName === "input" || tagName === "textarea" || tagName === "select" || e.target?.isContentEditable;
+  if (!isTyping) {
+    if (e.code === "KeyB") {
+      void spawnOrMoveAiAtAim({ createNew: false, ephemeral: false });
+      e.preventDefault();
+    }
+  }
+  if (e.code === "KeyW") keys.forward = true;
+  if (e.code === "KeyS") keys.backward = true;
+  if (e.code === "KeyA") keys.left = true;
+  if (e.code === "KeyD") keys.right = true;
+  if (e.code === "Space") keys.up = true;
+  if (e.code === "ShiftLeft" || e.code === "ShiftRight") keys.down = true;
+  if (e.code === "KeyF") flyMode = !flyMode;
+  if (e.code === "KeyG") {
+    if (ghostMode) safeDisableGhost();
+    else setGhostMode(true);
+  }
+  
+  // === PLAYER INTERACTION KEYS ===
+  // E key to interact with asset at crosshair
+  if (e.code === "KeyE" && controls?.isLocked && !isTyping) {
+    handlePlayerInteraction();
+    e.preventDefault();
+  }
+  if (e.code === "KeyR" && controls?.isLocked && !isTyping && !isInteractionPopupVisible()) {
+    if (cycleInteractableTarget(1)) {
+      updatePlayerInteractionHint();
+      e.preventDefault();
+    }
+  }
+  
+  // Escape to close interaction popup
+  if (e.code === "Escape" && isInteractionPopupVisible()) {
+    hideInteractionPopup();
+    // Re-lock pointer after closing popup
+    controls?.lock?.();
+    e.preventDefault();
+  }
+  
+  // Number keys 1-9 to select action when popup is visible
+  if (isInteractionPopupVisible() && _currentInteractableAsset) {
+    const numMatch = e.code.match(/^(?:Digit|Numpad)([1-9])$/);
+    if (numMatch) {
+      const idx = parseInt(numMatch[1], 10) - 1;
+      const { asset, actions } = _currentInteractableAsset;
+      if (idx >= 0 && idx < actions.length) {
+        const actionId = actions[idx].id;
+        
+        // Hide popup and re-lock pointer FIRST (before async operations)
+        hideInteractionPopup();
+        
+        // Execute the action
+        if (actionId === "__PICK_UP__") {
+          playerPickUpAsset(asset.id);
+        } else {
+          executePlayerInteraction(asset.id, actionId);
+        }
+        
+        // Re-lock pointer (use setTimeout since pointer lock may need a moment)
+        setTimeout(() => {
+          try {
+            controls?.lock?.();
+          } catch (err) {
+            // Pointer lock requires user gesture, may fail silently
+          }
+        }, 10);
+        
+        e.preventDefault();
+        e.stopPropagation();
+        return;
+      }
+    }
+  }
+});
+
+window.addEventListener("keyup", (e) => {
+  if (e.code === "KeyW") keys.forward = false;
+  if (e.code === "KeyS") keys.backward = false;
+  if (e.code === "KeyA") keys.left = false;
+  if (e.code === "KeyD") keys.right = false;
+  if (e.code === "Space") keys.up = false;
+  if (e.code === "ShiftLeft" || e.code === "ShiftRight") keys.down = false;
+});
+
+
+// Shadow catcher: a large transparent ground plane that only shows shadows.
+// ShadowMaterial is fully transparent where there's no shadow, so the splat
+// floor shows through, but shadows appear as dark patches on top.
+const shadowCatcherMat = new THREE.ShadowMaterial({ opacity: 0.35 });
+const shadowCatcher = new THREE.Mesh(
+  new THREE.PlaneGeometry(200, 200),
+  shadowCatcherMat
+);
+shadowCatcher.rotation.x = -Math.PI / 2; // lie flat
+shadowCatcher.position.y = 0.001;         // just above grid to avoid z-fighting
+shadowCatcher.receiveShadow = true;
+shadowCatcher.name = "__shadowCatcher";
+scene.add(shadowCatcher);
+// Add to scene lights registry so it's controllable from the editor
+sceneLights.push({ id: "_shadow_ground", label: "Shadow Ground", obj: shadowCatcher, type: "shadow_ground" });
+
+function _hasBumpableAssets() {
+  for (const a of assets) { if (a?.bumpable) return true; }
+  return false;
+}
+
+function updateBumpableAssets(dt, playerPos, agentPushers = []) {
+  if (!playerPos || !_hasBumpableAssets()) {
+    _playerPosPrevForBumpValid = false;
+    return;
+  }
+  if (!_playerPosPrevForBumpValid) {
+    _playerPosPrevForBump.copy(playerPos);
+    _playerPosPrevForBumpValid = true;
+    return;
+  }
+  const playerVel = new THREE.Vector3().subVectors(playerPos, _playerPosPrevForBump).divideScalar(Math.max(dt, 1e-3));
+  _playerPosPrevForBump.copy(playerPos);
+  const speedXZ = Math.hypot(playerVel.x, playerVel.z);
+  const playerCanPush = !ghostMode;
+  const intent = new THREE.Vector3();
+  const camForward = new THREE.Vector3();
+  camera.getWorldDirection(camForward);
+  camForward.y = 0;
+  if (camForward.lengthSq() > 1e-6) camForward.normalize();
+  const camRight = new THREE.Vector3().crossVectors(camForward, camera.up).normalize();
+  if (keys.forward) intent.add(camForward);
+  if (keys.backward) intent.sub(camForward);
+  if (keys.right) intent.add(camRight);
+  if (keys.left) intent.sub(camRight);
+  if (intent.lengthSq() > 1e-6) intent.normalize();
+  const intentPush = playerCanPush && intent.lengthSq() > 0;
+  const pushDir = intentPush ? intent.clone() : new THREE.Vector3(playerVel.x, 0, playerVel.z);
+  if (pushDir.lengthSq() > 1e-6) pushDir.normalize();
+  const playerRadius = 0.35;
+  const pushThreshold = 0.05;
+  let anyMoved = false;
+  let anyColliderNeedsSync = false;
+  for (const a of assets) {
+    if (!a?.bumpable) continue;
+    const obj = assetsGroup.getObjectByName(`asset:${a.id}`);
+    if (!obj) continue;
+    const vel = _assetBumpVelocities.get(a.id) || new THREE.Vector3();
+    const localCenter = obj.userData?._localSphereCenter || new THREE.Vector3();
+    const worldCenter = localCenter.clone();
+    obj.localToWorld(worldCenter);
+    const worldRadius = (obj.userData?._localSphereRadius || 0.6) * Math.max(obj.scale.x, obj.scale.y, obj.scale.z);
+    const dx = worldCenter.x - playerPos.x;
+    const dz = worldCenter.z - playerPos.z;
+    const dist = Math.hypot(dx, dz);
+    const minDist = worldRadius + playerRadius;
+    const ahead = pushDir.lengthSq() > 0 ? (dx * pushDir.x + dz * pushDir.z) : 0;
+    const lateral = pushDir.lengthSq() > 0 ? Math.abs(dx * -pushDir.z + dz * pushDir.x) : dist;
+    const inPushCone = intentPush && ahead > -0.05 && ahead < (minDist + 0.9) && lateral < (worldRadius + 0.55);
+    if (playerCanPush && (dist < (minDist + 0.35) || inPushCone) && (speedXZ > pushThreshold || intentPush)) {
+      const dirX = dist > 1e-3 ? dx / dist : (intentPush ? pushDir.x : (Math.sign(playerVel.x) || 1));
+      const dirZ = dist > 1e-3 ? dz / dist : (intentPush ? pushDir.z : (Math.sign(playerVel.z) || 0));
+      const penetration = minDist - dist;
+      const response = Number(a.bumpResponse) || 0.9;
+      const driveSpeed = Math.max(speedXZ, intentPush ? 1.4 : 0);
+      const intentBonus = inPushCone ? 0.35 : 0;
+      const impulse = Math.min(2.4, (Math.max(0, penetration) * 3 + driveSpeed * 0.35 + intentBonus) * response);
+      vel.x += dirX * impulse;
+      vel.z += dirZ * impulse;
+    }
+    // AI agents can push bumpable assets as well.
+    for (const ap of agentPushers) {
+      const apPos = ap?.pos;
+      const apVel = ap?.vel;
+      if (!apPos || !apVel) continue;
+      const av = Math.hypot(apVel.x || 0, apVel.z || 0);
+      if (av <= 0.04) continue;
+      const adx = worldCenter.x - apPos.x;
+      const adz = worldCenter.z - apPos.z;
+      const adist = Math.hypot(adx, adz);
+      const aminDist = worldRadius + Math.max(0.22, Number(ap.radius) || 0.22);
+      if (adist > aminDist + 0.3) continue;
+      const dirX = adist > 1e-3 ? adx / adist : (Math.sign(apVel.x) || 1);
+      const dirZ = adist > 1e-3 ? adz / adist : (Math.sign(apVel.z) || 0);
+      const penetration = aminDist - adist;
+      const response = Number(a.bumpResponse) || 0.9;
+      const impulse = Math.min(2.2, (Math.max(0, penetration) * 2.4 + av * 0.28) * response);
+      vel.x += dirX * impulse;
+      vel.z += dirZ * impulse;
+    }
+    const damping = Math.min(0.995, Math.max(0.65, Number(a.bumpDamping) || 0.9));
+    const dampPow = Math.pow(damping, dt * 60);
+    vel.multiplyScalar(dampPow);
+    const maxSpeed = 2.5;
+    const speed = Math.hypot(vel.x, vel.z);
+    if (speed > maxSpeed) {
+      const s = maxSpeed / speed;
+      vel.x *= s;
+      vel.z *= s;
+    }
+    if (vel.lengthSq() < 1e-4) {
+      vel.set(0, 0, 0);
+      _assetBumpVelocities.set(a.id, vel);
+      continue;
+    }
+    let moveX = THREE.MathUtils.clamp(vel.x * dt, -0.2, 0.2);
+    let moveZ = THREE.MathUtils.clamp(vel.z * dt, -0.2, 0.2);
+    const myBox = new THREE.Box3().setFromObject(obj);
+    const testBoxX = myBox.clone().translate(new THREE.Vector3(moveX, 0, 0));
+    const testBoxZ = myBox.clone().translate(new THREE.Vector3(0, 0, moveZ));
+    let blockedX = false, blockedZ = false;
+    const checkCollision = (testBox, excludeObj) => {
+      for (const child of primitivesGroup.children) {
+        if (child === excludeObj) continue;
+        const cb = new THREE.Box3().setFromObject(child);
+        if (!cb.isEmpty() && testBox.intersectsBox(cb)) return true;
+      }
+      for (const child of assetsGroup.children) {
+        if (child === excludeObj) continue;
+        if (child.userData?.isBlobShadow) continue;
+        const cb = new THREE.Box3().setFromObject(child);
+        if (!cb.isEmpty() && testBox.intersectsBox(cb)) return true;
+      }
+      return false;
+    };
+    if (Math.abs(moveX) > 1e-5 && checkCollision(testBoxX, obj)) {
+      blockedX = true;
+      vel.x *= -0.15;
+    }
+    if (Math.abs(moveZ) > 1e-5 && checkCollision(testBoxZ, obj)) {
+      blockedZ = true;
+      vel.z *= -0.15;
+    }
+    if (!blockedX) obj.position.x += moveX;
+    if (!blockedZ) obj.position.z += moveZ;
+    if (blockedX && blockedZ) {
+      _assetBumpVelocities.set(a.id, vel);
+      continue;
+    }
+    anyMoved = true;
+    anyColliderNeedsSync = true;
+    if (!a.transform) a.transform = {};
+    if (!a.transform.position) a.transform.position = { x: 0, y: 0, z: 0 };
+    a.transform.position.x = obj.position.x;
+    a.transform.position.z = obj.position.z;
+    _assetBumpVelocities.set(a.id, vel);
+  }
+  if (anyMoved) {
+    const now = performance.now();
+    if (now - _lastBumpSaveAt > 500) {
+      _lastBumpSaveAt = now;
+      saveTagsForWorld();
+    }
+    if (anyColliderNeedsSync && now - _lastBumpColliderSyncAt > 50) {
+      _lastBumpColliderSyncAt = now;
+      for (const a of assets) {
+        if (!a?.bumpable) continue;
+        if (!_assetBumpVelocities.has(a.id)) continue;
+        const v = _assetBumpVelocities.get(a.id);
+        if (!v || v.lengthSq() < 1e-4) continue;
+        rebuildAssetCollider(a.id);
+      }
+    }
+  }
+}
+
+function collectAgentBumpPushers(dt) {
+  const pushers = [];
+  const alive = new Set();
+  const invDt = 1 / Math.max(dt, 1e-3);
+  for (const agent of aiAgents) {
+    const id = String(agent?.id || "");
+    const posRaw = agent?.body?.translation?.();
+    if (!id || !posRaw) continue;
+    alive.add(id);
+    const pos = new THREE.Vector3(posRaw.x, posRaw.y, posRaw.z);
+    const prev = _agentPosPrevForBump.get(id);
+    const vel = prev ? pos.clone().sub(prev).multiplyScalar(invDt) : new THREE.Vector3();
+    _agentPosPrevForBump.set(id, pos.clone());
+    pushers.push({
+      id,
+      pos,
+      vel,
+      radius: Math.max(0.2, Number(agent?.radius) || 0.2),
+    });
+  }
+  for (const id of _agentPosPrevForBump.keys()) {
+    if (!alive.has(id)) _agentPosPrevForBump.delete(id);
+  }
+  return pushers;
+}
+
+function updateRapier(dt) {
+  // No physics world loaded → free-fly camera movement so user can still navigate
+  if (!rapierWorld || !playerBody) {
+    const flySpeed = 8.0;
+    const fwd = new THREE.Vector3();
+    camera.getWorldDirection(fwd);
+    const right = new THREE.Vector3().crossVectors(fwd, camera.up).normalize();
+    const move = new THREE.Vector3();
+    if (keys.forward) move.add(fwd);
+    if (keys.backward) move.sub(fwd);
+    if (keys.right) move.add(right);
+    if (keys.left) move.sub(right);
+    if (keys.up) move.y += 1;
+    if (keys.down) move.y -= 1;
+    if (move.lengthSq() > 0) {
+      move.normalize().multiplyScalar(flySpeed * dt);
+      controls.object.position.add(move);
+      avatar.position.copy(controls.object.position).y -= PLAYER_EYE_HEIGHT;
+    }
+    return;
+  }
+
+  // Flush any deferred collider builds BEFORE stepping
+  flushPendingColliderBuilds();
+
+  // Step physics FIRST — this integrates last frame's kinematic moves and
+  // updates the query pipeline internally, avoiding the RefCell double-borrow
+  // that happens with manual `queryPipeline.update(colliders)`.
+  rapierWorld.timestep = dt;
+  try {
+    rapierWorld.step();
+    _rapierStepFaultCount = 0;
+  } catch (e) {
+    _rapierStepFaultCount += 1;
+    console.warn(`[RAPIER] step() failed (${_rapierStepFaultCount})`, e);
+    // Prevent hard crash loop; skip this frame and try again next tick.
+    return;
+  }
+
+  // Sync camera and avatar to the body position that step() just resolved
+  const p = playerBody.translation();
+
+  // Skip player movement when camera is following agent
+  if (agentCameraFollow) {
+    avatar.position.set(p.x, p.y, p.z);
+    return;
+  }
+
+  const baseSpeed = 6.0;
+  const runSpeed = 10.0;
+  const flySpeed = 8.0;
+  const speed = flyMode ? flySpeed : keys.down ? runSpeed : baseSpeed;
+  const gravity = 20.0;
+  const jumpVel = 8.0;
+
+  const forward = new THREE.Vector3();
+  camera.getWorldDirection(forward);
+  forward.y = 0;
+  forward.normalize();
+  const right = new THREE.Vector3().crossVectors(forward, camera.up).normalize();
+
+  const wish = new THREE.Vector3();
+  if (keys.forward) wish.add(forward);
+  if (keys.backward) wish.sub(forward);
+  if (keys.right) wish.add(right);
+  if (keys.left) wish.sub(right);
+  if (wish.lengthSq() > 0) wish.normalize();
+
+  const upDown = flyMode ? (keys.up ? 1 : 0) + (keys.down ? -1 : 0) : 0;
+
+  const t = p; // body position after step
+  let desired = { x: 0, y: 0, z: 0 };
+
+  if (ghostMode) {
+    desired = {
+      x: wish.x * flySpeed * dt,
+      y: ((keys.up ? 1 : 0) + (keys.down ? -1 : 0)) * flySpeed * dt,
+      z: wish.z * flySpeed * dt,
+    };
+    playerBody.setNextKinematicTranslation({
+      x: t.x + desired.x,
+      y: t.y + desired.y,
+      z: t.z + desired.z,
+    });
+  } else if (flyMode) {
+    desired = {
+      x: wish.x * flySpeed * dt,
+      y: upDown * flySpeed * dt,
+      z: wish.z * flySpeed * dt,
+    };
+    if (characterController && playerCollider) {
+      characterController.computeColliderMovement(
+        playerCollider,
+        desired,
+        RAPIER.QueryFilterFlags.EXCLUDE_SENSORS
+      );
+      const m = characterController.computedMovement();
+      const mx = m.x, my = m.y, mz = m.z;
+      playerBody.setNextKinematicTranslation({ x: t.x + mx, y: t.y + my, z: t.z + mz });
+    } else {
+      playerBody.setNextKinematicTranslation({ x: t.x + desired.x, y: t.y + desired.y, z: t.z + desired.z });
+    }
+  } else {
+    walkVerticalVel -= gravity * dt;
+
+    if (keys.up && characterController?.computedGrounded?.()) {
+      walkVerticalVel = jumpVel;
+    }
+
+    desired = { x: wish.x * speed * dt, y: walkVerticalVel * dt, z: wish.z * speed * dt };
+
+    if (characterController && playerCollider) {
+      characterController.computeColliderMovement(
+        playerCollider,
+        desired,
+        RAPIER.QueryFilterFlags.EXCLUDE_SENSORS
+      );
+      const m = characterController.computedMovement();
+      const mx = m.x, my = m.y, mz = m.z;
+      const grounded = characterController.computedGrounded();
+      if (grounded && walkVerticalVel < 0) walkVerticalVel = 0;
+      playerBody.setNextKinematicTranslation({ x: t.x + mx, y: t.y + my, z: t.z + mz });
+    } else {
+      playerBody.setNextKinematicTranslation({ x: t.x + desired.x, y: t.y + desired.y, z: t.z + desired.z });
+    }
+  }
+
+  // Safety: if Ghost is OFF, ensure the collider is not a sensor
+  try {
+    if (!ghostMode && playerCollider && typeof playerCollider.isSensor === "function" && playerCollider.isSensor()) {
+      playerCollider.setSensor(false);
+    }
+  } catch {}
+  avatar.position.set(p.x, p.y, p.z);
+  
+  // If agent camera follow is active, DON'T sync player camera to player body
+  // The tick() function will handle camera positioning via updateAgentCameraFollow
+  if (!agentCameraFollow) {
+    controls.object.position.set(p.x, p.y + PLAYER_EYE_HEIGHT, p.z);
+  }
+
+  // Expose player position for other modules (AI, etc).
+  if (typeof window !== "undefined") {
+    window.__playerPosition = [p.x, p.y, p.z];
+  }
+}
+
+function tick() {
+  const rawDt = clock.getDelta();
+  const physicsDt = Math.min(rawDt, 0.05);
+  const motionDt = Math.min(rawDt, 0.02);
+
+  updateRapier(physicsDt);
+
+  // Bumpable assets: only compute if any exist
+  if (_hasBumpableAssets()) {
+    const agentPushers = aiAgents.length ? collectAgentBumpPushers(physicsDt) : [];
+    let bumpPlayerPos = null;
+    if (playerBody) {
+      const p = playerBody.translation();
+      bumpPlayerPos = new THREE.Vector3(p.x, p.y, p.z);
+    } else {
+      bumpPlayerPos = controls.object.position.clone();
+      bumpPlayerPos.y -= PLAYER_EYE_HEIGHT;
+    }
+    updateBumpableAssets(physicsDt, bumpPlayerPos, agentPushers);
+  }
+
+  // Update AI agents (if Rapier is initialized).
+  if (aiAgents.length && rapierWorld) {
+    const now = Date.now();
+    for (const a of aiAgents) {
+      try {
+        // Keep cmd_vel integration tied to wall-clock delta even when physics dt is clamped.
+        a.update(motionDt, now);
+      } catch (e) {
+        console.warn("AI update failed:", e);
+      }
+    }
+  }
+  
+  // Update agent camera follow (after agent update, before render)
+  if (agentCameraFollow) {
+    updateAgentCameraFollow(physicsDt);
+    avatar.visible = false;
+  }
+
+  // Update interaction hint at reduced rate
+  const now = performance.now();
+  if (now - _lastHintUpdate > 300) {
+    _lastHintUpdate = now;
+    updateInteractionHint();
+  }
+
+  // LiDAR / sensor overlays — run when explicitly enabled OR in dimos mode
+  // In dimos mode, always skip browser raycasting — server handles lidar via Rapier snapshots.
+  const _skipBrowserLidar = dimosMode;
+  if (!_skipBrowserLidar && (simSensorViewMode === "lidar" || simCompareView || dimosMode)) {
+    lidarVizGroup.visible = true;
+    updateLidarPointCloud();
+    if (_lidarGeom.drawRange.count <= 0 && _lidarLastNonZeroDrawCount > 0) {
+      _lidarGeom.setDrawRange(0, _lidarLastNonZeroDrawCount);
+    }
+    // In dimos mode, hide LiDAR viz from the main scene render — it's only
+    // needed for data capture + the sidebar LiDAR panel renders it separately.
+    if (dimosMode && simSensorViewMode !== "lidar" && !simCompareView) {
+      lidarVizGroup.visible = false;
+    }
+  } else if (!_skipBrowserLidar && rgbdPcOverlayOnLidar && (simSensorViewMode === "lidar" || simCompareView)) {
+    updateRgbdPcOverlayCloud(false);
+  }
+
+  if (!_skipBrowserLidar) pushLidarPoseSample();
+
+  // Dimos sensor capture — GPU readback needs rAF, odom runs independently via setInterval
+  if (dimosMode && window.__dimosBridge) {
+    const bridge = window.__dimosBridge;
+    if (bridge._connected) {
+      // Lidar: skip browser→WS publish when server-side lidar is active
+      if (bridge._dirty.lidar && !bridge._serverLidar) {
+        bridge._dirty.lidar = false;
+        bridge._publishLidar();
+      }
+      // Camera stream disabled for now.
+      // if (bridge._dirty.images) {
+      //   bridge._dirty.images = false;
+      //   bridge._publishImages();
+      // }
+    }
+  }
+
+  renderActiveView();
+  requestAnimationFrame(tick);
+}
+
+// Interaction hint elements (cached)
+let _lastHintUpdate = 0;
+let _crosshairEl = null;
+let _interactionHintEl = null;
+
+function updateInteractionHint() {
+  // Cache DOM elements
+  if (!_crosshairEl) _crosshairEl = document.getElementById("crosshair");
+  if (!_interactionHintEl) _interactionHintEl = document.getElementById("interaction-hint");
+  
+  // Only show when pointer is locked and no popup is visible
+  if (!controls?.isLocked || isInteractionPopupVisible()) {
+    _crosshairEl?.classList.remove("interactable");
+    if (_interactionHintEl) {
+      _interactionHintEl.classList.remove("visible");
+    }
+    return;
+  }
+  
+  // If holding something, show drop hint
+  if (playerHeldAsset) {
+    const heldAsset = getPlayerHeldAsset();
+    const heldName = heldAsset?.title || "item";
+    _crosshairEl?.classList.remove("interactable");
+    _crosshairEl?.classList.add("holding");
+    if (_interactionHintEl) {
+      _interactionHintEl.innerHTML = `Holding: ${escapeHtml(heldName)} · DropE`;
+      _interactionHintEl.classList.add("visible");
+    }
+    return;
+  }
+  if (playerHeldGroupId) {
+    const heldGroup = groups.find((g) => g.id === playerHeldGroupId);
+    const heldName = heldGroup?.name || "group";
+    _crosshairEl?.classList.remove("interactable");
+    _crosshairEl?.classList.add("holding");
+    if (_interactionHintEl) {
+      _interactionHintEl.innerHTML = `Holding: ${escapeHtml(heldName)} · DropE`;
+      _interactionHintEl.classList.add("visible");
+    }
+    return;
+  }
+  
+  // Not holding anything - remove holding class
+  _crosshairEl?.classList.remove("holding");
+  
+  const target = getInteractableAssetAtCrosshair();
+
+  if (target) {
+    const { kind, asset, group, actions, dist, canPickUp } = target;
+    const title = kind === "group" ? (group?.name || "(group)") : (asset.title || "(asset)");
+
+    // Build action description
+    let actionText;
+    if (kind === "group") {
+      actionText = "Pick up";
+    } else if (actions.length === 0 && canPickUp) {
+      actionText = "Pick up";
+    } else if (actions.length === 1 && !canPickUp) {
+      actionText = actions[0].label || "interact";
+    } else {
+      const count = actions.length + (canPickUp ? 1 : 0);
+      actionText = `${count} actions`;
+    }
+    
+    _crosshairEl?.classList.add("interactable");
+    if (_interactionHintEl) {
+      const cycleHint = kind === "asset" && target.candidateCount > 1
+        ? ` · Cycle ${target.candidateIndex + 1}/${target.candidateCount}R`
+        : "";
+      _interactionHintEl.innerHTML = `${escapeHtml(title)} · ${escapeHtml(actionText)}E${cycleHint}`;
+      _interactionHintEl.classList.add("visible");
+    }
+  } else {
+    _crosshairEl?.classList.remove("interactable");
+    if (_interactionHintEl) {
+      _interactionHintEl.classList.remove("visible");
+    }
+  }
+}
+
+setStatus("Select a .ply/.spz to start.");
+tick();
+
+// Expose debug utilities
+window.clearWorldStorage = clearWorldStorage;
+window.__robovalLidar = {
+  // Returns the latest standardized frames (raw + deskewed + optional range image)
+  getLatestFrames() {
+    return {
+      raw: _lidarLatestRawFrame,
+      deskewed: _lidarLatestDeskewedFrame,
+      rangeImage: _lidarLatestRangeImage,
+    };
+  },
+  // ROS2 PointCloud2-compatible dict converter
+  toPointCloud2(frame) {
+    return to_pointcloud2(frame);
+  },
+  // Manual export of the latest frame set to NPZ files.
+  async exportLatest() {
+    if (!_lidarLatestRawFrame || !_lidarLatestDeskewedFrame) return false;
+    await writeLidarFrameFiles(_lidarLatestRawFrame, _lidarLatestDeskewedFrame, _lidarLatestRangeImage);
+    return true;
+  },
+  // Auto-export each LiDAR frame (warning: downloads many files in browser).
+  setAutoExport(enabled) {
+    _lidarAutoExport = !!enabled;
+    return _lidarAutoExport;
+  },
+  getAutoExport() {
+    return _lidarAutoExport;
+  },
+  // Force a known-good synthetic cloud to isolate renderer issues from sensor math.
+  setKnownGoodDebugCloud(enabled) {
+    _lidarUseKnownGoodDebugCloud = !!enabled;
+    _lidarAccumFrames.length = 0;
+    _lidarLastAccumPose = null;
+    resetLidarScanState();
+    if (simSensorViewMode === "lidar") updateLidarPointCloud();
+    return _lidarUseKnownGoodDebugCloud;
+  },
+  getKnownGoodDebugCloud() {
+    return _lidarUseKnownGoodDebugCloud;
+  },
+  // Toggle ordered scan debug render (single-frame, lidar-frame) vs accumulated world cloud.
+  setOrderedDebugView(enabled) {
+    lidarOrderedDebugView = !!enabled;
+    if (!lidarOrderedDebugView) {
+      _lidarAccumFrames.length = 0;
+      _lidarLastAccumPose = null;
+      resetLidarScanState();
+    }
+    updateSimSensorButtons();
+    if (simSensorViewMode === "lidar") updateLidarPointCloud();
+    return lidarOrderedDebugView;
+  },
+  getOrderedDebugView() {
+    return lidarOrderedDebugView;
+  },
+  setNoiseModel(enabled) {
+    lidarNoiseEnabled = !!enabled;
+    _lidarAccumFrames.length = 0;
+    _lidarLastAccumPose = null;
+    resetLidarScanState();
+    updateSimSensorButtons();
+    if (simSensorViewMode === "lidar") updateLidarPointCloud();
+    return lidarNoiseEnabled;
+  },
+  getNoiseModel() {
+    return lidarNoiseEnabled;
+  },
+  setMultiReturnMode(mode) {
+    lidarMultiReturnMode = mode === "last" ? "last" : "strongest";
+    _lidarAccumFrames.length = 0;
+    _lidarLastAccumPose = null;
+    resetLidarScanState();
+    updateSimSensorButtons();
+    if (simSensorViewMode === "lidar") updateLidarPointCloud();
+    return lidarMultiReturnMode;
+  },
+  getMultiReturnMode() {
+    return lidarMultiReturnMode;
+  },
+};
+
+window.__robovalRgbd = {
+  // Returns metric camera-space Z depth map in meters (Float32Array length W*H).
+  // Uses the same render path as on-screen RGB-D mode.
+  getMetricDepthFrame() {
+    renderRgbdView();
+    const depth = readRgbdMetricDepthFrameMeters();
+    if (!depth) return null;
+    return {
+      width: rgbdMetricTarget.width,
+      height: rgbdMetricTarget.height,
+      depth_m: depth,
+      semantics: "camera_space_z",
+      units: "meters",
+      min_depth_m: RGBD_MIN_DEPTH_M,
+      max_depth_m: RGBD_MAX_DEPTH_M,
+    };
+  },
+  getOverlayStats() {
+    return {
+      enabled: rgbdPcOverlayOnLidar,
+      visible: rgbdPcOverlayGroup.visible,
+      points: _rgbdPcOverlayLastCount,
+      rt_w: RGBD_PC_OVERLAY_RT_W,
+      rt_h: RGBD_PC_OVERLAY_RT_H,
+      dirty: _rgbdPcOverlayDirty,
+    };
+  },
+};
+
+// Debug: List all colliders in the physics world
+window.debugColliders = function() {
+  if (!rapierWorld) {
+    console.log("[DEBUG] No physics world loaded");
+    return;
+  }
+  
+  console.log("[DEBUG] === ALL COLLIDERS IN PHYSICS WORLD ===");
+  let count = 0;
+  rapierWorld.colliders.forEach((collider) => {
+    const pos = collider.translation();
+    const shape = collider.shape;
+    const isSensor = collider.isSensor();
+    const handle = collider.handle;
+    console.log(`Collider #${count} (handle=${handle}): pos=(${pos.x.toFixed(2)}, ${pos.y.toFixed(2)}, ${pos.z.toFixed(2)}), sensor=${isSensor}, shapeType=${shape.type}`);
+    count++;
+  });
+  console.log(`[DEBUG] Total colliders: ${count}`);
+  
+  // Also show asset collider handles
+  console.log("[DEBUG] === ASSET COLLIDERS (on asset objects) ===");
+  let assetColCount = 0;
+  for (const a of assets) {
+    if (a._colliderHandle) {
+      const handleInfo = typeof a._colliderHandle === 'object' ? `obj.handle=${a._colliderHandle.handle}` : `num=${a._colliderHandle}`;
+      console.log(`  ${a.id}: "${a.title}", _colliderHandle=${handleInfo}`);
+      assetColCount++;
+    }
+  }
+  console.log(`[DEBUG] Assets with colliders: ${assetColCount}`);
+  
+  // Show tracked map
+  console.log("[DEBUG] === _assetColliderHandles Map ===");
+  console.log(`Map size: ${_assetColliderHandles.size}`);
+};
+
+// Debug: Remove all colliders except world/player
+window.debugClearAssetColliders = function() {
+  if (!rapierWorld) return;
+  
+  // Helper to remove a collider (handles both object and number)
+  const removeCol = (handle) => {
+    try {
+      if (typeof handle === 'object' && handle.handle !== undefined) {
+        rapierWorld.removeCollider(handle, true);
+        return true;
+      } else if (typeof handle === 'number') {
+        const collider = rapierWorld.getCollider(handle);
+        if (collider) {
+          rapierWorld.removeCollider(collider, true);
+          return true;
+        }
+      }
+    } catch (e) {}
+    return false;
+  };
+  
+  let removed = 0;
+  
+  // Remove all tracked asset colliders
+  _assetColliderHandles.forEach((handle, assetId) => {
+    if (removeCol(handle)) removed++;
+  });
+  _assetColliderHandles.clear();
+  
+  // Also clear colliders stored on asset objects
+  for (const asset of assets) {
+    if (asset._colliderHandle != null) {
+      if (removeCol(asset._colliderHandle)) removed++;
+      asset._colliderHandle = null;
+    }
+  }
+  
+  console.log(`[DEBUG] Cleared ${removed} asset colliders`);
+};
+
+// ── dimos integration mode boot ──────────────────────────────────────────────
+// When dimosMode is active, auto-load a scene and spawn an agent, then connect
+// the LCM bridge so sensor data flows and external /odom drives the agent.
+if (dimosMode) {
+  (async () => {
+    try {
+      // 1. Load Rapier first — scene module's build() may create colliders
+      const sceneName = dimosScene || "empty";
+      console.log(`[dimos] Loading scene: ${sceneName}`);
+      await ensureRapierLoaded();
+
+      // 2. Initialize the scene-api module shared with the runtime exec sandbox.
+      //    Scenes can either receive the api as a build() arg or — for runtime
+      //    exec via SceneEditor — pick it up off `window.__dimsim`.
+      const sceneApi = await import("./sceneApi.ts");
+      sceneApi._init({
+        scene, THREE, RAPIER, rapierWorld,
+        renderer, camera, agent: null,
+        assets, assetsGroup, gltfLoader,
+        // Bridge isn't connected yet; pre-bridge collider sends are dropped
+        // and the initial-state Rapier snapshot (shipped later) covers them.
+        sendPhysics: (msg) => window.__dimosBridge?.sendCommand?.(msg),
+        sceneBaseUrl: new URL(`/scenes/${sceneName}/`, window.location.href).toString(),
+        importLevelFromJSON,
+        setSky: (opts) => {
+          sceneSettings.sky = { ...sceneSettings.sky, enabled: opts.enabled !== false, ...opts };
+          applySceneSkySettings();
+          applySceneRgbBackground();
+        },
+      });
+      window.__dimsim = sceneApi;
+
+      // 3. Dynamic-import the scene module + run its build()
+      const sceneMod = await import(/* @vite-ignore */ `/scenes/${sceneName}/index.js`);
+      if (typeof sceneMod.default !== "function") {
+        throw new Error(`Scene "${sceneName}" must export a default build function`);
+      }
+      const sceneCfg = (await sceneMod.default(sceneApi)) || {};
+      if (typeof sceneMod.afterBuild === "function") {
+        await sceneMod.afterBuild(sceneApi);
+      }
+      console.log(`[dimos] Scene loaded: ${sceneName}`);
+
+      // 4. Spawn player + agent based on scene config
+      spawnPlayerInsideScene();
+      // In dimos mode the agent is always driven by an external Python process,
+      // so an embodiment visual is always wanted.  Scenes return `embodiment:
+      // null` because they don't want to dictate the model — let createAiAgent's
+      // default avatarUrl (the dimsim_unitree_stub.glb) take over.  The legacy
+      // "hide the group when no embodiment" path predates dimos integration and
+      // is no longer reached here.
+      const pendingEmb = sceneApi._getPendingEmbodiment?.();
+      const agent = createAiAgent({
+        ephemeral: false,
+        avatarUrl: pendingEmb?.avatarUrl,
+        radius: pendingEmb?.radius,
+        halfHeight: pendingEmb?.halfHeight,
+      });
+      aiAgents.push(agent);
+      sceneApi._setAgent(agent);
+      const spawnPos = sceneCfg.spawnPoint || { x: 2, y: 0.5, z: 3 };
+      agent.setPosition(spawnPos.x, spawnPos.y, spawnPos.z);
+      renderAgentTaskUi(); // update UI: hide spawn button, enable task controls
+      // Server-side physics: agent pose is driven by ServerPhysics (Deno).
+      // Browser just receives position updates and moves the visual avatar.
+      let _dimosYaw = 0;
+      // Bridge updates _dimosYaw via this setter when server sends pose
+      window.__dimosSetYaw = (yaw) => { _dimosYaw = yaw; };
+      agent.update = function(_dt) {
+        this._syncVisual();
+      };
+      console.log(`[dimos] Agent spawned: ${agent.id}`);
+
+      // 3. Set up fixed-size offscreen capture for dimos.
+      // Keep sensor cost independent of the headed browser window size.
+      const _dimosCapW = 640, _dimosCapH = 288;
+      const _dimosCapTarget = new THREE.WebGLRenderTarget(_dimosCapW, _dimosCapH, {
+        minFilter: THREE.LinearFilter, magFilter: THREE.LinearFilter,
+        format: THREE.RGBAFormat, depthBuffer: true, stencilBuffer: false,
+      });
+      // Go2 depth camera: 87° horizontal. At 640x288 (2.22:1 aspect), that's 46° vertical.
+      const _dimosFov = window.__dimosCameraFov || 46;
+      const _dimosCapCam = new THREE.PerspectiveCamera(_dimosFov, _dimosCapW / _dimosCapH, camera.near, camera.far);
+      const _dimosCapBuf = new Uint8Array(_dimosCapW * _dimosCapH * 4);
+      const _dimosCapCvs = document.createElement("canvas");
+      _dimosCapCvs.width = _dimosCapW;
+      _dimosCapCvs.height = _dimosCapH;
+      const _dimosCapCtx = _dimosCapCvs.getContext("2d");
+      const _dimosDepthTarget = new THREE.WebGLRenderTarget(_dimosCapW, _dimosCapH, {
+        minFilter: THREE.NearestFilter,
+        magFilter: THREE.NearestFilter,
+        format: THREE.RGBAFormat,
+        type: THREE.UnsignedByteType,
+        depthBuffer: true,
+        stencilBuffer: false,
+      });
+      _dimosDepthTarget.texture.generateMipmaps = false;
+      _dimosDepthTarget.depthTexture = new THREE.DepthTexture(_dimosCapW, _dimosCapH, THREE.UnsignedIntType);
+      _dimosDepthTarget.depthTexture.minFilter = THREE.NearestFilter;
+      _dimosDepthTarget.depthTexture.magFilter = THREE.NearestFilter;
+      _dimosDepthTarget.depthTexture.generateMipmaps = false;
+      const _dimosMetricTarget = new THREE.WebGLRenderTarget(_dimosCapW, _dimosCapH, {
+        minFilter: THREE.NearestFilter,
+        magFilter: THREE.NearestFilter,
+        format: rgbdMetricUsesR32F ? THREE.RedFormat : THREE.RGBAFormat,
+        type: rgbdMetricTargetType,
+        depthBuffer: false,
+        stencilBuffer: false,
+      });
+      if (rgbdMetricUsesR32F) _dimosMetricTarget.texture.internalFormat = "R32F";
+      _dimosMetricTarget.texture.generateMipmaps = false;
+
+      function _dimosReadMetricDepthFrameMeters() {
+        const w = _dimosMetricTarget.width;
+        const h = _dimosMetricTarget.height;
+        if (!w || !h) return null;
+
+        if (rgbdMetricUsesR32F) {
+          const depth = new Float32Array(w * h);
+          renderer.readRenderTargetPixels(_dimosMetricTarget, 0, 0, w, h, depth);
+          return depth;
+        }
+
+        if (_dimosMetricTarget.texture.type === THREE.FloatType) {
+          const raw = new Float32Array(w * h * 4);
+          renderer.readRenderTargetPixels(_dimosMetricTarget, 0, 0, w, h, raw);
+          const depth = new Float32Array(w * h);
+          for (let i = 0; i < w * h; i++) depth[i] = raw[i * 4 + 0];
+          return depth;
+        }
+
+        const raw = new Uint16Array(w * h * 4);
+        renderer.readRenderTargetPixels(_dimosMetricTarget, 0, 0, w, h, raw);
+        const depth = new Float32Array(w * h);
+        for (let i = 0; i < w * h; i++) depth[i] = halfToFloat(raw[i * 4 + 0]);
+        return depth;
+      }
+
+      function _dimosCaptureRgb() {
+        const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+        const yaw = agent.group?.rotation?.y ?? 0;
+        const pitch = typeof agent.pitch === "number" ? agent.pitch : 0;
+        const cp = Math.cos(pitch), sp = Math.sin(pitch);
+        const feetY = ay - ((agent.halfHeight || 0.25) + (agent.radius || 0.12));
+        const eyeY = feetY + GO2_CAMERA_HEIGHT;
+        const eyeX = ax + Math.sin(yaw) * GO2_CAMERA_FORWARD;
+        const eyeZ = az + Math.cos(yaw) * GO2_CAMERA_FORWARD;
+        _dimosCapCam.position.set(eyeX, eyeY, eyeZ);
+        _dimosCapCam.lookAt(eyeX + Math.sin(yaw)*cp, eyeY + sp, eyeZ + Math.cos(yaw)*cp);
+        _dimosCapCam.updateProjectionMatrix();
+        _dimosCapCam.updateMatrixWorld(true);
+
+        const prev = renderer.getRenderTarget();
+        const prevAgentVisible = agent.group?.visible;
+        if (agent.group) agent.group.visible = false;
+        renderer.setRenderTarget(_dimosCapTarget);
+        renderer.render(scene, _dimosCapCam);
+        renderer.setRenderTarget(prev);
+        if (agent.group) agent.group.visible = prevAgentVisible;
+
+        renderer.readRenderTargetPixels(_dimosCapTarget, 0, 0, _dimosCapW, _dimosCapH, _dimosCapBuf);
+        // Flip Y — return raw RGBA pixels (no JPEG encode)
+        const flipped = new Uint8Array(_dimosCapW * _dimosCapH * 4);
+        const rowB = _dimosCapW * 4;
+        for (let y = 0; y < _dimosCapH; y++) {
+          flipped.set(_dimosCapBuf.subarray((_dimosCapH-1-y)*rowB, (_dimosCapH-y)*rowB), y*rowB);
+        }
+        return { data: flipped, width: _dimosCapW, height: _dimosCapH };
+      }
+
+      // Offscreen depth capture from agent POV using a dedicated low-res target.
+      function _dimosCaptureDepth() {
+        const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+        const yaw = agent.group?.rotation?.y ?? 0;
+        const pitch = typeof agent.pitch === "number" ? agent.pitch : 0;
+        const cp = Math.cos(pitch), sp = Math.sin(pitch);
+        const feetY = ay - ((agent.halfHeight || 0.25) + (agent.radius || 0.12));
+        const eyeY = feetY + GO2_CAMERA_HEIGHT;
+        const eyeX = ax + Math.sin(yaw) * GO2_CAMERA_FORWARD;
+        const eyeZ = az + Math.cos(yaw) * GO2_CAMERA_FORWARD;
+        _dimosCapCam.position.set(eyeX, eyeY, eyeZ);
+        _dimosCapCam.lookAt(eyeX + Math.sin(yaw)*cp, eyeY + sp, eyeZ + Math.cos(yaw)*cp);
+        _dimosCapCam.updateProjectionMatrix();
+        _dimosCapCam.updateMatrixWorld(true);
+
+        const prevDepthTex = rgbdMetricMaterial.uniforms.uDepthTex.value;
+        const prevNear = rgbdMetricMaterial.uniforms.uNear.value;
+        const prevFar = rgbdMetricMaterial.uniforms.uFar.value;
+        const prevNoise = rgbdMetricMaterial.uniforms.uNoiseEnabled.value;
+        const prevSpeckle = rgbdMetricMaterial.uniforms.uSpeckleEnabled.value;
+        rgbdMetricMaterial.uniforms.uDepthTex.value = _dimosDepthTarget.depthTexture;
+        rgbdMetricMaterial.uniforms.uNear.value = _dimosCapCam.near;
+        rgbdMetricMaterial.uniforms.uFar.value = _dimosCapCam.far;
+        rgbdMetricMaterial.uniforms.uNoiseEnabled.value = rgbdNoiseEnabled ? 1.0 : 0.0;
+        rgbdMetricMaterial.uniforms.uSpeckleEnabled.value = rgbdSpeckleEnabled ? 1.0 : 0.0;
+
+        const savedOverride = scene.overrideMaterial;
+        const savedAssets = assetsGroup.visible;
+        const savedPrims = primitivesGroup.visible;
+        const savedLights = lightsGroup.visible;
+        const savedTags = tagsGroup.visible;
+        const savedLidarViz = lidarVizGroup.visible;
+        const savedRgbdPc = rgbdPcOverlayGroup.visible;
+
+        scene.overrideMaterial = null;
+        assetsGroup.visible = true;
+        primitivesGroup.visible = true;
+        lightsGroup.visible = true;
+        tagsGroup.visible = false;
+        lidarVizGroup.visible = false;
+        rgbdPcOverlayGroup.visible = false;
+        const savedAgentVisible = agent.group?.visible;
+        if (agent.group) agent.group.visible = false;
+
+        renderer.setRenderTarget(_dimosDepthTarget);
+        renderer.setClearColor(0x000000, RGBD_CLEAR_ALPHA);
+        renderer.clear(true, true, true);
+        renderer.render(scene, _dimosCapCam);
+
+        renderer.setRenderTarget(_dimosMetricTarget);
+        renderer.setClearColor(0x000000, RGBD_CLEAR_ALPHA);
+        renderer.clear(true, true, true);
+        renderer.render(rgbdMetricScene, rgbdPostCamera);
+
+        scene.overrideMaterial = savedOverride;
+        assetsGroup.visible = savedAssets;
+        primitivesGroup.visible = savedPrims;
+        lightsGroup.visible = savedLights;
+        tagsGroup.visible = savedTags;
+        lidarVizGroup.visible = savedLidarViz;
+        rgbdPcOverlayGroup.visible = savedRgbdPc;
+        if (agent.group) agent.group.visible = savedAgentVisible;
+        rgbdMetricMaterial.uniforms.uDepthTex.value = prevDepthTex;
+        rgbdMetricMaterial.uniforms.uNear.value = prevNear;
+        rgbdMetricMaterial.uniforms.uFar.value = prevFar;
+        rgbdMetricMaterial.uniforms.uNoiseEnabled.value = prevNoise;
+        rgbdMetricMaterial.uniforms.uSpeckleEnabled.value = prevSpeckle;
+        renderer.setRenderTarget(null);
+
+        const depthData = _dimosReadMetricDepthFrameMeters();
+        if (!depthData) return null;
+
+        const dw = _dimosMetricTarget.width, dh = _dimosMetricTarget.height;
+
+        // Flip rows: WebGL reads bottom-to-top, image convention is top-to-bottom
+        const flipped = new Float32Array(dw * dh);
+        for (let y = 0; y < dh; y++) {
+          flipped.set(depthData.subarray((dh - 1 - y) * dw, (dh - y) * dw), y * dw);
+        }
+        return { data: flipped, width: dw, height: dh };
+      }
+
+      // 4. Sidebar sensor panel setup (depth + LiDAR canvases)
+      const _dimosSidebarW = 320, _dimosSidebarH = 145;
+      const _dimosDepthCanvas = document.getElementById("agent-depth-canvas");
+      const _dimosLidarCanvas = document.getElementById("agent-lidar-canvas");
+      if (_dimosDepthCanvas) { _dimosDepthCanvas.width = _dimosSidebarW; _dimosDepthCanvas.height = _dimosSidebarH; }
+      if (_dimosLidarCanvas) { _dimosLidarCanvas.width = _dimosSidebarW; _dimosLidarCanvas.height = _dimosSidebarH; }
+      const _dimosDepthCtx = _dimosDepthCanvas?.getContext("2d");
+      const _dimosLidarCtx = _dimosLidarCanvas?.getContext("2d");
+
+      // Small offscreen render targets for sidebar panels
+      const _dimosSidebarDepthTarget = new THREE.WebGLRenderTarget(_dimosSidebarW, _dimosSidebarH, {
+        minFilter: THREE.LinearFilter, magFilter: THREE.LinearFilter,
+        format: THREE.RGBAFormat, depthBuffer: true, stencilBuffer: false,
+      });
+      const _dimosSidebarLidarTarget = new THREE.WebGLRenderTarget(_dimosSidebarW, _dimosSidebarH, {
+        minFilter: THREE.LinearFilter, magFilter: THREE.LinearFilter,
+        format: THREE.RGBAFormat, depthBuffer: true, stencilBuffer: false,
+      });
+      const _dimosSidebarReadBuf = new Uint8Array(_dimosSidebarW * _dimosSidebarH * 4);
+
+      // Helper: render a target, readback, flip Y, draw to 2D canvas
+      function _dimosBlitToCanvas(rt, ctx, w, h) {
+        renderer.readRenderTargetPixels(rt, 0, 0, w, h, _dimosSidebarReadBuf);
+        const flipped = new Uint8ClampedArray(w * h * 4);
+        const rowB = w * 4;
+        for (let y = 0; y < h; y++) {
+          flipped.set(_dimosSidebarReadBuf.subarray((h-1-y)*rowB, (h-y)*rowB), y*rowB);
+        }
+        ctx.putImageData(new ImageData(flipped, w, h), 0, 0);
+      }
+
+      /** Update the sidebar sensor panels (called after capture) */
+      function _dimosUpdateSidebarPanels(rgbBase64) {
+        if (window.__dimosHeadless) return;
+
+        // RGB — set img src
+        if (rgbBase64 && agentShotImgEl) {
+          agentShotImgEl.src = `data:image/jpeg;base64,${rgbBase64}`;
+        }
+
+        // Depth — render colormap to small target, blit to canvas
+        if (_dimosDepthCtx) {
+          const prev = renderer.getRenderTarget();
+          rgbdVizMaterial.uniforms.uGrayMode.value = rgbdVizMode === "gray" ? 1.0 : 0.0;
+          renderer.setRenderTarget(_dimosSidebarDepthTarget);
+          renderer.setClearColor(0x000000, 1);
+          renderer.clear(true, true, true);
+          renderer.render(rgbdVizScene, rgbdPostCamera);
+          _dimosBlitToCanvas(_dimosSidebarDepthTarget, _dimosDepthCtx, _dimosSidebarW, _dimosSidebarH);
+          renderer.setRenderTarget(prev);
+        }
+
+        // LiDAR — render lidar scene from agent POV to small target, blit to canvas
+        if (_dimosLidarCtx) {
+          const prev = renderer.getRenderTarget();
+          // Save/restore scene visibility for lidar-only render
+          const savedAssets = assetsGroup.visible;
+          const savedPrims = primitivesGroup.visible;
+          const savedLights = lightsGroup.visible;
+          const savedTags = tagsGroup.visible;
+          const savedLidar = lidarVizGroup.visible;
+          const savedOverlay = rgbdPcOverlayGroup.visible;
+          const savedBg = scene.background;
+
+          assetsGroup.visible = false;
+          primitivesGroup.visible = false;
+          lightsGroup.visible = false;
+          tagsGroup.visible = false;
+          lidarVizGroup.visible = true;
+          rgbdPcOverlayGroup.visible = false;
+          scene.background = RGBD_BG;
+
+          renderer.setRenderTarget(_dimosSidebarLidarTarget);
+          renderer.setClearColor(0x000000, 1);
+          renderer.clear(true, true, true);
+          renderer.render(scene, _dimosCapCam);
+
+          // Restore
+          assetsGroup.visible = savedAssets;
+          primitivesGroup.visible = savedPrims;
+          lightsGroup.visible = savedLights;
+          tagsGroup.visible = savedTags;
+          lidarVizGroup.visible = savedLidar;
+          rgbdPcOverlayGroup.visible = savedOverlay;
+          scene.background = savedBg;
+
+          _dimosBlitToCanvas(_dimosSidebarLidarTarget, _dimosLidarCtx, _dimosSidebarW, _dimosSidebarH);
+          renderer.setRenderTarget(prev);
+        }
+      }
+
+      // 5. Connect dimos bridge
+      let _lastRgbBase64 = null;
+      const { DimosBridge } = await import("./bridge.ts");
+      const bridge = new DimosBridge({
+        agent,
+        rates: window.__dimosSensorRates || undefined,
+        sensorEnable: window.__dimosSensorEnable || undefined,
+        sensorSources: {
+          captureRgb: () => {
+            const frame = _dimosCaptureRgb();
+            if (!frame) return null;
+            // Render to canvas → JPEG (used for both LCM publish and eval/sidebar)
+            _dimosCapCtx.putImageData(new ImageData(new Uint8ClampedArray(frame.data.buffer, frame.data.byteOffset, frame.data.byteLength), frame.width, frame.height), 0, 0);
+            const dataUrl = _dimosCapCvs.toDataURL("image/jpeg", 0.75);
+            _lastRgbBase64 = dataUrl.split("base64,")[1] || null;
+            if (!_lastRgbBase64) return null;
+            // Decode base64 → Uint8Array for JPEG LCM transport
+            const bin = atob(_lastRgbBase64);
+            const jpegBytes = new Uint8Array(bin.length);
+            for (let i = 0; i < bin.length; i++) jpegBytes[i] = bin.charCodeAt(i);
+            return { data: jpegBytes, width: frame.width, height: frame.height };
+          },
+          captureDepth: () => _dimosCaptureDepth(),
+          captureLidar: () => {
+            // Return world-frame points (Three.js Y-up).
+            // Bridge converts Y-up → ROS Z-up and labels frame_id="world".
+            const lLen = _lidarLatestWorldPts ? _lidarLatestWorldPts.length : -1;
+            if (lLen > 0) {
+              return {
+                points: _lidarLatestWorldPts,
+                intensity: _lidarLatestWorldIntensity,
+                numPoints: lLen / 3,
+              };
+            }
+            const frames = window.__robovalLidar?.getLatestFrames?.();
+            const src = frames?.raw;
+            if (!src) return null;
+            return { points: src.points, intensity: src.intensity, numPoints: src.points?.length / 3 || 0 };
+          },
+          getOdomPose: () => {
+            const pos = agent.getPosition?.();
+            if (!pos) return null; // skip this frame instead of fallback to origin
+            const [ax, ay, az] = pos;
+            const qw = Math.cos(_dimosYaw / 2);
+            const qy = Math.sin(_dimosYaw / 2);
+            return { x: ax, y: ay, z: az, qx: 0, qy, qz: 0, qw };
+          },
+        },
+      });
+
+      // Hook: after _publishSensors — RGB capture disabled for now (GPU stall)
+      // _dimosCaptureRgb() does a full render + readRenderTargetPixels which
+      // stalls the GPU pipeline. Skip it for lidar-only nav testing.
+      // const origPublishSensors = bridge._publishSensors.bind(bridge);
+      // bridge._publishSensors = function() {
+      //   origPublishSensors();
+      //   _lastRgbBase64 = _dimosCaptureRgb();
+      //   _dimosUpdateSidebarPanels(_lastRgbBase64);
+      // };
+
+      bridge.connect();
+      bridge.sceneReady = true;
+      window.__dimosBridge = bridge;
+      sceneApi._flushPendingEmbodiment?.();
+      window.__dimosCapCam = _dimosCapCam;
+      window.__dimosAgent = agent;
+
+      // Send Rapier world snapshot to bridge server for server-side physics + lidar.
+      // Flush any deferred collider builds first — primitives (floor, walls) may be
+      // queued in _pendingColliderBuilds if they were created before the render loop ran.
+      flushPendingColliderBuilds();
+
+      // Chunked snapshot protocol (DSC1) — single-frame send stalls when the
+      // browser main thread is CPU-saturated (e.g. headless SwiftShader on a
+      // weak runner): WebSocket.bufferedAmount climbs and never drains.
+      // Splitting into ~256KB chunks with a setTimeout(0) yield between each
+      // lets the WS pump run, and bridge reassembles in receive order.
+      // Wire format:
+      //   prelude:  [DSC1 4B BE][total u32 LE][sx f32 LE][sy f32 LE][sz f32 LE]   (20B)
+      //   chunks:   raw bytes, in order, until `total` accumulated bridge-side.
+      const SNAPSHOT_CHUNK_SIZE = 256 * 1024;
+      const _waitSensorWs = () => {
+        if (bridge.wsSensors && bridge.wsSensors.readyState === WebSocket.OPEN) {
+          try {
+            const snapshot = rapierWorld.takeSnapshot();
+            const [sx, sy, sz] = agent.getPosition?.() || [2, 0.5, 3];
+            const total = snapshot.byteLength;
+
+            const prelude = new Uint8Array(20);
+            const pdv = new DataView(prelude.buffer);
+            pdv.setUint32(0, 0x44534331, false); // "DSC1"
+            pdv.setUint32(4, total, true);
+            pdv.setFloat32(8, sx, true);
+            pdv.setFloat32(12, sy, true);
+            pdv.setFloat32(16, sz, true);
+            bridge.wsSensors.send(prelude.buffer);
+            bridge._serverLidar = true;
+
+            let sent = 0;
+            let chunkN = 0;
+            const sendNextChunk = () => {
+              if (bridge.wsSensors.readyState !== WebSocket.OPEN) {
+                console.warn("[DimosBridge] sensor WS closed mid-snapshot");
+                return;
+              }
+              // Backpressure: don't outpace the WS pump.
+              if (bridge.wsSensors.bufferedAmount > 4 * SNAPSHOT_CHUNK_SIZE) {
+                setTimeout(sendNextChunk, 50);
+                return;
+              }
+              const end = Math.min(sent + SNAPSHOT_CHUNK_SIZE, total);
+              bridge.wsSensors.send(snapshot.subarray(sent, end));
+              sent = end;
+              chunkN++;
+              if (sent >= total) return;
+              setTimeout(sendNextChunk, 0); // yield to event loop
+            };
+            sendNextChunk();
+          } catch (e) {
+            console.warn("[DimosBridge] snapshot send failed:", e);
+          }
+        } else {
+          setTimeout(_waitSensorWs, 200);
+        }
+      };
+      _waitSensorWs();
+      // Expose yaw for lidar pose sampling (avoids reading Three.js Euler)
+      Object.defineProperty(window, '__dimosYaw', { get: () => _dimosYaw });
+
+      // Odom: server-side physics publishes odom directly to LCM.
+      // Browser no longer needs to publish odom — server is authoritative.
+
+      // Eval harness — scores objectDistance rubric when triggered by dimsim eval runner
+      const harnessMod = await import("../evals/harness.ts");
+      const { EvalHarness, setEvalHarness } = harnessMod;
+      const channel = new URLSearchParams(location.search).get("channel") || undefined;
+      const evalHarness = new EvalHarness({
+        bridge,
+        channel,
+        getSceneState: () => {
+          const enriched = assets.map(a => {
+            const obj = assetsGroup.getObjectByName(`asset:${a.id}`);
+            if (obj) {
+              const bbox = new THREE.Box3().setFromObject(obj);
+              if (!bbox.isEmpty()) {
+                const center = new THREE.Vector3();
+                const size = new THREE.Vector3();
+                bbox.getCenter(center);
+                bbox.getSize(size);
+                return {
+                  ...a,
+                  transform: { x: center.x, y: center.y, z: center.z },
+                  _bbox: { w: size.x, h: size.y, d: size.z },
+                };
+              }
+            }
+            return a;
+          });
+          return { assets: enriched };
+        },
+        getAgentPose: () => {
+          const pos = agent.getPosition?.();
+          if (!pos) return null;
+          const camOffset = 0.3;
+          const cx = pos[0] + Math.sin(_dimosYaw) * camOffset;
+          const cz = pos[2] + Math.cos(_dimosYaw) * camOffset;
+          return { x: cx, y: pos[1], z: cz, yaw: _dimosYaw, pitch: 0 };
+        },
+      });
+      window.__evalHarness = evalHarness;
+      // Register the singleton so workflow files importing `runEval` from
+      // `@dimsim/eval` (importmap → dist/assets/dimsim-eval.js → this same
+      // module) get a working runEval.
+      setEvalHarness(evalHarness);
+
+      // Scene editor — script execution engine for sim editing (exec_js API)
+      const { SceneEditor } = await import("./sceneEditor.ts");
+      const sceneEditor = new SceneEditor({
+        bridge,
+        channel,
+        globals: { scene, THREE, RAPIER, rapierWorld, worldBody, renderer, camera, agent, assets, assetsGroup, gltfLoader },
+      });
+      window.__sceneEditor = sceneEditor;
+
+      // Agent POV only in headless (sensor capture needs it). Headed = free orbit.
+      if (window.__dimosHeadless) {
+        enableAgentCameraFollow(agent.id);
+      }
+
+      // 7a. dimos mode UI cleanup handled in CSS via body.dimos-mode class
+      // (panel hiding) and .shortcuts-floating in index.html (WASD strip).
+
+      // 7b. Debug panel (integration diagnostics) — hidden for now
+      if (false && !window.__dimosHeadless) {
+        const dbg = document.createElement("div");
+        dbg.id = "dimos-debug";
+        dbg.style.cssText = "position:fixed;bottom:8px;left:8px;z-index:99999;background:rgba(0,0,0,0.88);color:#0f0;font:11px/1.4 monospace;padding:10px 14px;border-radius:8px;max-width:460px;max-height:400px;overflow-y:auto;pointer-events:auto;user-select:text;";
+        document.body.appendChild(dbg);
+
+        const _dbgState = {
+          bridgeConn: false,
+          sensorFps: 0,
+          agentPos: { x: 0, y: 0, z: 0 },
+          agentYaw: 0,
+          cmdVel: { angY: 0, linZ: 0 },
+          _sensorCount: 0,
+          _sensorLastTs: Date.now(),
+        };
+
+        // Hook lidar publish for FPS counter
+        const _origPubLidar2 = bridge._publishLidar;
+        bridge._publishLidar = function() {
+          _dbgState._sensorCount++;
+          _origPubLidar2.call(bridge);
+        };
+
+        // Update loop
+        setInterval(() => {
+          const now = Date.now();
+          const dt = (now - _dbgState._sensorLastTs) / 1000;
+          if (dt >= 1) {
+            _dbgState.sensorFps = Math.round(_dbgState._sensorCount / dt);
+            _dbgState._sensorCount = 0;
+            _dbgState._sensorLastTs = now;
+          }
+
+          const [ax, ay, az] = agent.getPosition?.() || [0, 0, 0];
+          _dbgState.agentPos = { x: ax.toFixed(2), y: ay.toFixed(2), z: az.toFixed(2) };
+          _dbgState.agentYaw = (agent.group?.rotation?.y ?? 0).toFixed(3);
+          _dbgState.bridgeConn = bridge.ws?.readyState === WebSocket.OPEN;
+          const vel = bridge.getCmdVel();
+          _dbgState.cmdVel = { angY: vel.angY.toFixed(3), linZ: vel.linZ.toFixed(3) };
+
+          dbg.innerHTML = `
+            
dimos integration

+            
Bridge: ${_dbgState.bridgeConn ? 'connected' : 'disconnected'} | Sensors: ${_dbgState.sensorFps} fps

+            
Agent: (${_dbgState.agentPos.x}, ${_dbgState.agentPos.y}, ${_dbgState.agentPos.z}) yaw=${_dbgState.agentYaw}

+            
cmd_vel: angY=${_dbgState.cmdVel.angY} linZ=${_dbgState.cmdVel.linZ}

+          `;
+        }, 500);
+      }
+
+      console.log("[dimos] Bridge connected. Sensor publishing active.");
+    } catch (err) {
+      console.error("[dimos] Initialization failed:", err);
+    }
+  })();
+}
+
diff --git a/misc/DimSim/src/main.js b/misc/DimSim/src/main.js
new file mode 100644
index 0000000000..f237e9a49d
--- /dev/null
+++ b/misc/DimSim/src/main.js
@@ -0,0 +1,4 @@
+// DimSim engine entry point.
+// Imports the full engine from ./engine.js (copied from SimStudio/src/main.js).
+// To update: bash copy-sources.sh
+import "./engine.js";
diff --git a/misc/DimSim/src/sceneApi.ts b/misc/DimSim/src/sceneApi.ts
new file mode 100644
index 0000000000..c0c594763c
--- /dev/null
+++ b/misc/DimSim/src/sceneApi.ts
@@ -0,0 +1,462 @@
+/**
+ * @dimsim/scene-api — the surface scene modules import.
+ *
+ * Usage (in a scene module at scenes//index.js):
+ *
+ *     import { scene, THREE, agent, physics, loadJson } from '@dimsim/scene-api';
+ *
+ *     export default async function build() {
+ *       await loadJson('./apt.json');
+ *       scene.add(new THREE.DirectionalLight(0xffffff, 1.2));
+ *       return { embodiment: 'unitree-go2', spawnPoint: { x: 2, y: 0.5, z: 3 } };
+ *     }
+ *
+ * Lifecycle: engine.js calls `_init()` once before dynamic-importing scenes,
+ * populating the module-level `export let` bindings.  ESM live-binding makes
+ * `import { scene } from '@dimsim/scene-api'` return the engine's live ref.
+ *
+ * Implementation note: the collider helpers mirror what `sceneEditor.ts`
+ * already does in its exec sandbox — browser-side Rapier collider creation
+ * *and* a `physicsColliderAdd` WS message so server-side physics + LiDAR see
+ * the same colliders.  Factored here so scene modules (load-time) and the
+ * exec sandbox (runtime) share one implementation.
+ */
+
+export interface SceneApiContext {
+  scene: any;
+  THREE: any;
+  RAPIER: any;
+  rapierWorld: any;
+  renderer: any;
+  camera: any;
+  agent: any;
+  assets: any[];
+  assetsGroup: any;
+  gltfLoader: any;
+  /** Browser → bridge WS send.  Used for physicsColliderAdd / Remove. */
+  sendPhysics: (msg: Record) => void;
+  /** Where the scene module lives (e.g. "/scenes/apartment/").  loadJson resolves against this. */
+  sceneBaseUrl: string;
+  /** Engine's existing JSON scene loader, kept so `loadJson` can populate primitives. */
+  importLevelFromJSON: (json: any) => Promise;
+  /** Apply sky settings ({topColor, horizonColor, bottomColor, brightness, softness, sunStrength, sunHeight, enabled?}). */
+  setSky: (opts: Record) => void;
+}
+
+// ── Live bindings (ESM re-export pattern) ────────────────────────────────────
+
+export let scene: any = null;
+export let THREE: any = null;
+export let RAPIER: any = null;
+export let rapierWorld: any = null;
+export let renderer: any = null;
+export let camera: any = null;
+export let agent: any = null;
+export let assets: any[] = [];
+export let assetsGroup: any = null;
+export let gltfLoader: any = null;
+
+// ── Internal state ───────────────────────────────────────────────────────────
+
+let _sendPhysics: ((msg: Record) => void) | null = null;
+let _sceneBaseUrl: string = "/";
+let _importLevelFromJSON: ((json: any) => Promise) | null = null;
+let _setSky: ((opts: Record) => void) | null = null;
+
+const _colliderMap = new Map();
+const _dynamicBodies = new Map();
+let _dynamicSyncRaf: number | null = null;
+
+let _lastLoadedKey: string | null = null;
+
+// ── Initialization (called by engine.js once at boot) ────────────────────────
+
+export function _init(ctx: SceneApiContext): void {
+  scene = ctx.scene;
+  THREE = ctx.THREE;
+  RAPIER = ctx.RAPIER;
+  rapierWorld = ctx.rapierWorld;
+  renderer = ctx.renderer;
+  camera = ctx.camera;
+  agent = ctx.agent;
+  assets = ctx.assets;
+  assetsGroup = ctx.assetsGroup;
+  gltfLoader = ctx.gltfLoader;
+  _sendPhysics = ctx.sendPhysics;
+  _sceneBaseUrl = ctx.sceneBaseUrl;
+  _importLevelFromJSON = ctx.importLevelFromJSON;
+  _setSky = ctx.setSky;
+}
+
+export function setSky(opts: Record): void {
+  _setSky?.(opts);
+}
+
+/**
+ * Declare the agent's embodiment — avatar mesh + body dimensions + physics
+ * mode + control parameters.  Sent to the bridge so server-side physics +
+ * lidar mount reconfigure live, AND applied locally so the browser swaps
+ * the GLB and re-asserts visibility immediately.
+ *
+ * Typical configs:
+ *   setEmbodiment({ embodimentType: 'ground', avatarUrl: '/embodiment/dimsim_unitree_stub.glb',
+ *                   radius: 0.18, halfHeight: 0.25, maxSpeed: 1.5, turnRate: 2.5 });
+ *
+ *   setEmbodiment({ embodimentType: 'drone',  avatarUrl: '/embodiment/drone.glb',
+ *                   radius: 0.3, halfHeight: 0.1, gravity: 0, maxSpeed: 3.0 });
+ *
+ * All fields are forwarded to the bridge's EmbodimentConfig (see
+ * cli/bridge/physics.ts).  Falsy fields are passed through unchanged so
+ * partial reconfigures work — e.g. just bumping maxSpeed mid-scene.
+ */
+let _pendingEmbodiment: Record | null = null;
+
+export function _getPendingEmbodiment(): Record | null {
+  return _pendingEmbodiment;
+}
+
+export function setEmbodiment(config: Record): void {
+  if (!_sendPhysics) throw new Error("scene-api not initialized");
+  const w = window as any;
+  if (w.__dimosBridge) {
+    console.log("[sceneApi] setEmbodiment applying:", config.embodimentType, "gravity=" + config.gravity);
+    if (w.__dimosBridge._handleEmbodimentConfig) {
+      w.__dimosBridge._handleEmbodimentConfig(config);
+    }
+    _sendPhysics({ type: "embodimentConfig", ...config });
+  } else {
+    console.log("[sceneApi] setEmbodiment queued (bridge not ready):", config.embodimentType);
+    _pendingEmbodiment = config;
+  }
+}
+
+/** engine.js calls this right after `window.__dimosBridge = bridge`. */
+export function _flushPendingEmbodiment(): void {
+  if (!_pendingEmbodiment) return;
+  const cfg = _pendingEmbodiment;
+  _pendingEmbodiment = null;
+  setEmbodiment(cfg);
+}
+
+/** Engine.js calls this before loading a new scene, to refresh the base url. */
+export function _setSceneBaseUrl(url: string): void {
+  _sceneBaseUrl = url;
+}
+
+/** Engine.js calls this when Rapier finishes loading (it's lazy). */
+export function _setRapier(R: any, world: any): void {
+  RAPIER = R;
+  rapierWorld = world;
+}
+
+/** Engine.js calls this once the agent is constructed (post-scene-build). */
+export function _setAgent(a: any): void {
+  agent = a;
+}
+
+// ── Helpers ──────────────────────────────────────────────────────────────────
+
+export function loadGLTF(url: string): Promise {
+  const abs = new URL(url, _sceneBaseUrl).toString();
+  return new Promise((resolve, reject) =>
+    gltfLoader.load(abs, resolve, undefined, reject),
+  );
+}
+
+/**
+ * Load an existing JSON scene blob into the engine.  Idempotent — calling
+ * twice with the same URL is a no-op.
+ */
+export async function loadJson(path: string): Promise {
+  if (!_importLevelFromJSON) throw new Error("scene-api not initialized");
+  const url = new URL(path, _sceneBaseUrl).toString();
+  const key = `json:${url}`;
+  if (_lastLoadedKey === key) return;
+  const resp = await fetch(url);
+  if (!resp.ok) throw new Error(`loadJson(${path}): HTTP ${resp.status}`);
+  const json = await resp.json();
+  _rewriteTexturePaths(json);
+  await _importLevelFromJSON(json);
+  _lastLoadedKey = key;
+}
+
+/**
+ * Feed an in-memory level blob directly to the engine.  Idempotent — if the
+ * caller hands us the same object reference twice we skip the second import.
+ * Materials with `texturePath: 'foo.jpg'` are rewritten to absolute
+ * `textureDataUrl` against the scene base before import.
+ */
+export async function loadLevel(data: any): Promise {
+  if (!_importLevelFromJSON) throw new Error("scene-api not initialized");
+  const key = `level:${_identityOf(data)}`;
+  if (_lastLoadedKey === key) return;
+  _rewriteTexturePaths(data);
+  await _importLevelFromJSON(data);
+  _lastLoadedKey = key;
+}
+
+const _identitySym = Symbol("dimsim.loadLevel.id");
+let _identityCounter = 0;
+function _identityOf(o: any): string {
+  if (!o || typeof o !== "object") return String(o);
+  if (!o[_identitySym]) {
+    Object.defineProperty(o, _identitySym, {
+      value: String(++_identityCounter), enumerable: false, writable: false,
+    });
+  }
+  return o[_identitySym];
+}
+
+function _rewriteTexturePaths(node: any): void {
+  if (!node) return;
+  if (Array.isArray(node)) {
+    for (const item of node) _rewriteTexturePaths(item);
+    return;
+  }
+  if (typeof node !== "object") return;
+  const mat = node.material;
+  if (mat && typeof mat === "object" && typeof mat.texturePath === "string" && !mat.textureDataUrl) {
+    mat.textureDataUrl = new URL(mat.texturePath, _sceneBaseUrl).toString();
+  }
+  for (const k in node) {
+    const v = (node as any)[k];
+    if (v && typeof v === "object") _rewriteTexturePaths(v);
+  }
+}
+
+export interface ColliderOpts {
+  shape?: "trimesh" | "box" | "sphere";
+  dynamic?: boolean;
+  mass?: number;
+  restitution?: number;
+}
+
+/** Static collider — no rigid body, attached to the world. */
+export function staticCollider(mesh: any, shape: ColliderOpts["shape"] = "trimesh"): any {
+  return addCollider(mesh, { shape, dynamic: false });
+}
+
+/** Dynamic collider — gets a rigid body, responds to gravity. */
+export function dynamicCollider(mesh: any, opts: Omit = {}): any {
+  return addCollider(mesh, { ...opts, dynamic: true });
+}
+
+/**
+ * Full-control collider helper.  Mirrors sceneEditor.ts addCollider so scene
+ * modules and the exec sandbox produce identical results.
+ */
+export function addCollider(obj: any, shapeOrOpts?: ColliderOpts["shape"] | ColliderOpts): any {
+  if (!_sendPhysics) throw new Error("scene-api not initialized");
+
+  let shape: ColliderOpts["shape"] = "trimesh";
+  let dynamic = false;
+  let mass = 1.0;
+  let restitution = 0.3;
+  if (typeof shapeOrOpts === "string") {
+    shape = shapeOrOpts;
+  } else if (shapeOrOpts) {
+    shape = shapeOrOpts.shape || "trimesh";
+    dynamic = !!shapeOrOpts.dynamic;
+    mass = shapeOrOpts.mass ?? 1.0;
+    restitution = shapeOrOpts.restitution ?? 0.3;
+  }
+
+  removeCollider(obj);
+
+  const bbox = new THREE.Box3().setFromObject(obj);
+  const size = new THREE.Vector3();
+  const center = new THREE.Vector3();
+  bbox.getSize(size);
+  bbox.getCenter(center);
+  const clamp = (v: number) => Math.max(v, 0.001);
+
+  const serverDesc: any = {
+    shape,
+    position: { x: center.x, y: center.y, z: center.z },
+  };
+
+  if (shape === "sphere") {
+    serverDesc.radius = clamp(Math.max(size.x, size.y, size.z) / 2);
+  } else if (shape === "trimesh") {
+    const verts: number[] = [];
+    const indices: number[] = [];
+    let vertBase = 0;
+    obj.traverse((m: any) => {
+      if (!m.isMesh) return;
+      const geom = m.geometry;
+      const posAttr = geom?.attributes?.position;
+      if (!posAttr) return;
+      const tmpPos = new THREE.Vector3();
+      for (let i = 0; i < posAttr.count; i++) {
+        tmpPos.fromBufferAttribute(posAttr, i).applyMatrix4(m.matrixWorld);
+        verts.push(tmpPos.x, tmpPos.y, tmpPos.z);
+      }
+      if (geom.index) {
+        for (let i = 0; i < geom.index.count; i++) indices.push(geom.index.getX(i) + vertBase);
+      } else {
+        for (let i = 0; i < posAttr.count; i++) indices.push(vertBase + i);
+      }
+      vertBase += posAttr.count;
+    });
+    if (verts.length < 9 || indices.length < 3) throw new Error("Not enough geometry for trimesh");
+    serverDesc.vertices = verts;
+    serverDesc.indices = indices;
+  } else {
+    serverDesc.halfExtents = {
+      x: clamp(size.x / 2),
+      y: clamp(size.y / 2),
+      z: clamp(size.z / 2),
+    };
+  }
+
+  if (RAPIER && rapierWorld) {
+    let desc: any;
+    if (shape === "sphere") {
+      desc = RAPIER.ColliderDesc.ball(serverDesc.radius);
+      if (!dynamic) desc.setTranslation(center.x, center.y, center.z);
+    } else if (shape === "trimesh") {
+      desc = RAPIER.ColliderDesc.trimesh(
+        new Float32Array(serverDesc.vertices),
+        new Uint32Array(serverDesc.indices),
+      );
+    } else {
+      const h = serverDesc.halfExtents;
+      desc = RAPIER.ColliderDesc.cuboid(h.x, h.y, h.z);
+      if (!dynamic) desc.setTranslation(center.x, center.y, center.z);
+    }
+    desc.setFriction(0.9);
+    desc.setRestitution(restitution);
+
+    if (dynamic && shape !== "trimesh") {
+      const bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+        center.x, center.y, center.z,
+      );
+      const body = rapierWorld.createRigidBody(bodyDesc);
+      body.setAdditionalMass(mass);
+      const collider = rapierWorld.createCollider(desc, body);
+      _colliderMap.set(obj.uuid, collider);
+      _dynamicBodies.set(obj.uuid, { body, mesh: obj });
+      _ensureDynamicSyncLoop();
+    } else {
+      const collider = rapierWorld.createCollider(desc);
+      _colliderMap.set(obj.uuid, collider);
+    }
+  }
+
+  serverDesc.dynamic = dynamic;
+  if (dynamic) {
+    serverDesc.mass = mass;
+    serverDesc.restitution = restitution;
+  }
+  _sendPhysics({ type: "physicsColliderAdd", uuid: obj.uuid, desc: serverDesc });
+
+  return {
+    shape, dynamic, uuid: obj.uuid,
+    size: { x: +size.x.toFixed(3), y: +size.y.toFixed(3), z: +size.z.toFixed(3) },
+  };
+}
+
+export function removeCollider(obj: any): boolean {
+  const existing = _colliderMap.get(obj.uuid);
+  if (existing) {
+    try { rapierWorld?.removeCollider(existing, true); } catch { /* already removed */ }
+    _colliderMap.delete(obj.uuid);
+  }
+  const dyn = _dynamicBodies.get(obj.uuid);
+  if (dyn) {
+    try { rapierWorld?.removeRigidBody(dyn.body); } catch { /* already removed */ }
+    _dynamicBodies.delete(obj.uuid);
+  }
+  _sendPhysics?.({ type: "physicsColliderRemove", uuid: obj.uuid });
+  return !!existing;
+}
+
+/**
+ * Kinematic-position-based body for script-driven actors (NPCs, doors).
+ * Caller updates the world position each frame via
+ *   body.setNextKinematicTranslation({ x, y, z })
+ * The body collides with the static world (walls, floor) and pushes dynamic
+ * bodies, but is not itself pushed.
+ *
+ * Returns the Rapier RigidBody handle (so the caller can drive it).  The body
+ * is also registered for cleanup via removeCollider(mesh).
+ */
+export function kinematicCollider(
+  mesh: any,
+  opts: { shape?: "box" | "sphere"; radius?: number } = {},
+): any {
+  if (!RAPIER || !rapierWorld) throw new Error("rapier not loaded");
+  removeCollider(mesh);
+  mesh.updateMatrixWorld(true);
+  const bbox = new THREE.Box3().setFromObject(mesh);
+  const size = new THREE.Vector3(); bbox.getSize(size);
+  const center = new THREE.Vector3(); bbox.getCenter(center);
+  const offset = center.clone().sub(mesh.position);
+
+  const bodyDesc = RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
+    mesh.position.x, mesh.position.y, mesh.position.z,
+  );
+  const body = rapierWorld.createRigidBody(bodyDesc);
+
+  let desc: any;
+  if (opts.shape === "sphere") {
+    const r = opts.radius ?? Math.max(size.x, size.z) / 2;
+    desc = RAPIER.ColliderDesc.ball(Math.max(r, 0.01));
+  } else {
+    desc = RAPIER.ColliderDesc.cuboid(
+      Math.max(size.x / 2, 0.01), Math.max(size.y / 2, 0.01), Math.max(size.z / 2, 0.01),
+    );
+  }
+  desc.setTranslation(offset.x, offset.y, offset.z);
+  desc.setFriction(0.9);
+  const collider = rapierWorld.createCollider(desc, body);
+  _colliderMap.set(mesh.uuid, collider);
+  return body;
+}
+
+/** Bundled namespace so scene modules can `import { physics } from '@dimsim/scene-api'`. */
+export const physics = {
+  staticCollider,
+  dynamicCollider,
+  kinematicCollider,
+  addCollider,
+  removeCollider,
+};
+
+// ── Dynamic body → mesh sync loop ────────────────────────────────────────────
+
+function _ensureDynamicSyncLoop(): void {
+  if (_dynamicSyncRaf != null) return;
+  const tick = () => {
+    if (_dynamicBodies.size === 0) {
+      _dynamicSyncRaf = null;
+      return;
+    }
+    for (const { body, mesh } of _dynamicBodies.values()) {
+      const t = body.translation();
+      const r = body.rotation();
+      mesh.position.set(t.x, t.y, t.z);
+      mesh.quaternion.set(r.x, r.y, r.z, r.w);
+    }
+    _dynamicSyncRaf = requestAnimationFrame(tick);
+  };
+  _dynamicSyncRaf = requestAnimationFrame(tick);
+}
+
+// ── autoScale (kept verbatim from sceneEditor) ───────────────────────────────
+
+export function autoScale(obj: any, targetMaxDim = 50): number {
+  const bbox = new THREE.Box3().setFromObject(obj);
+  const size = new THREE.Vector3();
+  bbox.getSize(size);
+  const maxDim = Math.max(size.x, size.y, size.z);
+  if (maxDim <= 0.001) return 1.0;
+  let scaleFactor = 1.0;
+  if (maxDim > targetMaxDim * 2) scaleFactor = 0.01;
+  else if (maxDim > targetMaxDim) scaleFactor = targetMaxDim / maxDim;
+  if (scaleFactor !== 1.0) {
+    obj.scale.multiplyScalar(scaleFactor);
+    obj.updateMatrixWorld(true);
+  }
+  return scaleFactor;
+}
diff --git a/misc/DimSim/src/sceneEditor.ts b/misc/DimSim/src/sceneEditor.ts
new file mode 100644
index 0000000000..558ca8db61
--- /dev/null
+++ b/misc/DimSim/src/sceneEditor.ts
@@ -0,0 +1,452 @@
+/**
+ * SceneEditor — Browser-side script execution engine.
+ *
+ * Receives {type: "exec", code, id?} commands via the DimosBridge control WS,
+ * evaluates user JS with full Three.js + Rapier globals exposed, and returns
+ * {type: "execResult", id, success, result?, error?}.
+ *
+ * Must NOT modify engine.js — hooks into DimosBridge WS the same way EvalHarness does.
+ */
+
+import type { DimosBridge } from "./bridge.ts";
+
+export interface SceneEditorGlobals {
+  scene: any;         // THREE.Scene
+  THREE: any;         // Three.js namespace
+  RAPIER: any;        // Rapier namespace (may be null until ensureRapierLoaded)
+  rapierWorld: any;   // Rapier.World (may be null)
+  worldBody: any;     // Fixed RigidBody for static colliders
+  renderer: any;      // THREE.WebGLRenderer
+  camera: any;        // THREE.PerspectiveCamera
+  agent: any;         // Player agent (has getPosition, setPosition, group)
+  assets: any[];      // Scene assets array
+  assetsGroup: any;   // THREE.Group containing loaded asset meshes
+  gltfLoader: any;    // THREE GLTFLoader instance
+}
+
+export interface SceneEditorOptions {
+  bridge: DimosBridge;
+  globals: SceneEditorGlobals;
+  channel?: string;
+}
+
+// AsyncFunction constructor — allows top-level await in user scripts
+const AsyncFunction = Object.getPrototypeOf(async function () {}).constructor;
+
+export class SceneEditor {
+  bridge: DimosBridge;
+  globals: SceneEditorGlobals;
+  channel: string;
+
+  constructor({ bridge, globals, channel }: SceneEditorOptions) {
+    this.bridge = bridge;
+    this.globals = globals;
+    this.channel = channel || "";
+    this._hookBridgeMessages();
+  }
+
+  _hookBridgeMessages(): void {
+    const origConnect = this.bridge.connect.bind(this.bridge);
+    this.bridge.connect = () => {
+      origConnect();
+      setTimeout(() => {
+        const ws = this.bridge.ws;
+        if (ws) this._patchWsOnMessage(ws);
+      }, 100);
+    };
+    const ws = this.bridge.ws;
+    if (ws) this._patchWsOnMessage(ws);
+  }
+
+  _patchWsOnMessage(ws: WebSocket): void {
+    const origOnMessage = ws.onmessage;
+    ws.onmessage = (event: MessageEvent) => {
+      if (typeof event.data === "string") {
+        try {
+          const cmd = JSON.parse(event.data);
+          if (cmd.type === "exec" || cmd.type === "loadScript") {
+            this._handleCommand(cmd);
+            return;
+          }
+        } catch { /* not JSON or not for us */ }
+      }
+      // Pass through to existing handlers (EvalHarness, DimosBridge)
+      if (origOnMessage) (origOnMessage as (e: MessageEvent) => void).call(ws, event);
+    };
+  }
+
+  _send(msg: Record): void {
+    if (this.channel) msg.channel = this.channel;
+    this.bridge.sendCommand(msg);
+  }
+
+  async _handleCommand(cmd: { type: string; code?: string; url?: string; id?: string; channel?: string }): Promise {
+    if (this.channel && cmd.channel && cmd.channel !== this.channel) return;
+
+    if (cmd.type === "exec" && cmd.code) {
+      await this._execCode(cmd.code, cmd.id);
+    } else if (cmd.type === "loadScript" && cmd.url) {
+      await this._loadScript(cmd.url, cmd.id);
+    }
+  }
+
+  // Track colliders created by addCollider so removeCollider can clean up
+  _colliderMap: Map = new Map(); // mesh.uuid → Rapier collider
+  // Track dynamic rigid bodies (body + mesh ref for position sync)
+  _dynamicBodies: Map = new Map();
+  // Track NPC mixers for animation updates
+  _npcMixers: Map = new Map(); // npc name → THREE.AnimationMixer
+  _npcAnimFrame: number | null = null;
+  _npcClock: any = null; // THREE.Clock
+
+  async _execCode(code: string, id?: string): Promise {
+    console.log(`[sceneEditor] exec${id ? ` (${id})` : ""}:`, code.slice(0, 100));
+    try {
+      const g = this.globals;
+      const colliderMap = this._colliderMap;
+
+      // loadGLTF: convenience async helper for loading GLTF/GLB models
+      const loadGLTF = (url: string): Promise =>
+        new Promise((resolve, reject) =>
+          g.gltfLoader.load(url, resolve, undefined, reject),
+        );
+
+      // addCollider: create a physics collider for a mesh/group
+      // shape: "trimesh" (default) | "box" | "sphere"
+      // opts.dynamic: if true, creates a dynamic rigid body (responds to gravity/collisions)
+      // opts.mass: mass in kg (default 1.0, only for dynamic)
+      // opts.restitution: bounciness 0-1 (default 0.3, only for dynamic)
+      // Creates collider browser-side AND sends command to server (for lidar/physics)
+      const sendPhysics = this._send.bind(this);
+      const dynamicBodies = this._dynamicBodies;
+      const selfRef = this;
+      const addCollider = (obj: any, shapeOrOpts?: string | { shape?: string; dynamic?: boolean; mass?: number; restitution?: number }): any => {
+        let shape = "trimesh";
+        let dynamic = false;
+        let mass = 1.0;
+        let restitution = 0.3;
+        if (typeof shapeOrOpts === "string") {
+          shape = shapeOrOpts;
+        } else if (shapeOrOpts) {
+          shape = shapeOrOpts.shape || "trimesh";
+          dynamic = !!shapeOrOpts.dynamic;
+          mass = shapeOrOpts.mass ?? 1.0;
+          restitution = shapeOrOpts.restitution ?? 0.3;
+        }
+
+        // Remove existing collider if any
+        removeCollider(obj);
+
+        const bbox = new g.THREE.Box3().setFromObject(obj);
+        const size = new g.THREE.Vector3();
+        const center = new g.THREE.Vector3();
+        bbox.getSize(size);
+        bbox.getCenter(center);
+
+        const clamp = (v: number) => Math.max(v, 0.001);
+
+        // Build server-side descriptor (shape-agnostic)
+        const serverDesc: any = {
+          shape,
+          position: { x: center.x, y: center.y, z: center.z },
+        };
+
+        if (shape === "sphere") {
+          const r = clamp(Math.max(size.x, size.y, size.z) / 2);
+          serverDesc.radius = r;
+        } else if (shape === "trimesh") {
+          const verts: number[] = [];
+          const indices: number[] = [];
+          let vertBase = 0;
+          obj.traverse((m: any) => {
+            if (!m.isMesh) return;
+            const geom = m.geometry;
+            const posAttr = geom?.attributes?.position;
+            if (!posAttr) return;
+            const tmpPos = new g.THREE.Vector3();
+            for (let i = 0; i < posAttr.count; i++) {
+              tmpPos.fromBufferAttribute(posAttr, i).applyMatrix4(m.matrixWorld);
+              verts.push(tmpPos.x, tmpPos.y, tmpPos.z);
+            }
+            if (geom.index) {
+              for (let i = 0; i < geom.index.count; i++) indices.push(geom.index.getX(i) + vertBase);
+            } else {
+              for (let i = 0; i < posAttr.count; i++) indices.push(vertBase + i);
+            }
+            vertBase += posAttr.count;
+          });
+          if (verts.length < 9 || indices.length < 3) throw new Error("Not enough geometry for trimesh");
+          serverDesc.vertices = Array.from(verts);
+          serverDesc.indices = Array.from(indices);
+        } else {
+          // box (default)
+          serverDesc.halfExtents = {
+            x: clamp(size.x / 2), y: clamp(size.y / 2), z: clamp(size.z / 2),
+          };
+        }
+
+        // Browser-side collider (for standalone / non-dimos mode)
+        if (g.RAPIER && g.rapierWorld) {
+          let desc: any;
+          if (shape === "sphere") {
+            desc = g.RAPIER.ColliderDesc.ball(serverDesc.radius);
+            if (!dynamic) desc.setTranslation(center.x, center.y, center.z);
+          } else if (shape === "trimesh") {
+            desc = g.RAPIER.ColliderDesc.trimesh(
+              new Float32Array(serverDesc.vertices), new Uint32Array(serverDesc.indices)
+            );
+          } else {
+            const h = serverDesc.halfExtents;
+            desc = g.RAPIER.ColliderDesc.cuboid(h.x, h.y, h.z);
+            if (!dynamic) desc.setTranslation(center.x, center.y, center.z);
+          }
+          desc.setFriction(0.9);
+          desc.setRestitution(restitution);
+
+          if (dynamic && shape !== "trimesh") {
+            // Dynamic: create rigid body + attach collider
+            const bodyDesc = g.RAPIER.RigidBodyDesc.dynamic()
+              .setTranslation(center.x, center.y, center.z);
+            const body = g.rapierWorld.createRigidBody(bodyDesc);
+            body.setAdditionalMass(mass);
+            const collider = g.rapierWorld.createCollider(desc, body);
+            colliderMap.set(obj.uuid, collider);
+            dynamicBodies.set(obj.uuid, { body, mesh: obj });
+            selfRef._ensureDynamicSyncLoop();
+          } else {
+            // Static: collider with no parent body
+            const collider = g.rapierWorld.createCollider(desc);
+            colliderMap.set(obj.uuid, collider);
+          }
+        }
+
+        // Server-side collider (for lidar + dimos physics)
+        serverDesc.dynamic = dynamic;
+        if (dynamic) { serverDesc.mass = mass; serverDesc.restitution = restitution; }
+        sendPhysics({ type: "physicsColliderAdd", uuid: obj.uuid, desc: serverDesc });
+
+        return { shape, dynamic, uuid: obj.uuid, size: { x: +size.x.toFixed(3), y: +size.y.toFixed(3), z: +size.z.toFixed(3) } };
+      };
+
+      // removeCollider: remove collider browser-side + server-side
+      const removeCollider = (obj: any): boolean => {
+        const existing = colliderMap.get(obj.uuid);
+        if (existing) {
+          try {
+            g.rapierWorld?.removeCollider(existing, true);
+          } catch { /* already removed */ }
+          colliderMap.delete(obj.uuid);
+        }
+        // Clean up dynamic rigid body if any
+        const dynEntry = dynamicBodies.get(obj.uuid);
+        if (dynEntry) {
+          try { g.rapierWorld?.removeRigidBody(dynEntry.body); } catch { /* already removed */ }
+          dynamicBodies.delete(obj.uuid);
+        }
+        // Always tell server to remove (even if browser didn't have it)
+        sendPhysics({ type: "physicsColliderRemove", uuid: obj.uuid });
+        return !!existing;
+      };
+
+      // addNPC: load an animated GLTF character, place it, and play an animation
+      const npcMixers = this._npcMixers;
+      const self = this;
+      const addNPC = async (opts: {
+        url: string;
+        name?: string;
+        position?: { x: number; y: number; z: number };
+        rotation?: number; // yaw in radians
+        scale?: number;
+        animation?: string | number; // clip name or index (default: 0)
+        collider?: boolean; // add trimesh collider (default: true)
+      }): Promise => {
+        const gltf = await loadGLTF(opts.url);
+        const model = gltf.scene;
+        const npcName = opts.name || `npc-${Date.now().toString(36)}`;
+        model.name = npcName;
+        if (opts.position) model.position.set(opts.position.x, opts.position.y, opts.position.z);
+        if (opts.rotation != null) model.rotation.y = opts.rotation;
+        if (opts.scale != null) model.scale.setScalar(opts.scale);
+        model.traverse((child: any) => { if (child.isMesh) { child.castShadow = true; child.receiveShadow = true; } });
+        g.scene.add(model);
+
+        // Set up animation
+        let activeClipName = "";
+        const clipNames: string[] = [];
+        if (gltf.animations && gltf.animations.length > 0) {
+          const mixer = new g.THREE.AnimationMixer(model);
+          npcMixers.set(npcName, mixer);
+
+          for (const clip of gltf.animations) clipNames.push(clip.name);
+          // Store clips on model so they can be switched at runtime
+          model.animations = gltf.animations;
+
+          // Select animation clip
+          let clipIndex = 0;
+          if (typeof opts.animation === "string") {
+            const idx = gltf.animations.findIndex((c: any) => c.name.toLowerCase().includes(opts.animation!.toString().toLowerCase()));
+            if (idx >= 0) clipIndex = idx;
+          } else if (typeof opts.animation === "number") {
+            clipIndex = Math.min(opts.animation, gltf.animations.length - 1);
+          }
+
+          const clip = gltf.animations[clipIndex];
+          activeClipName = clip.name;
+          const action = mixer.clipAction(clip);
+          action.play();
+
+          // Start the animation loop if not already running
+          self._ensureNpcAnimLoop();
+        }
+
+        // Add collider (default: trimesh)
+        let colliderInfo = null;
+        if (opts.collider !== false) {
+          colliderInfo = addCollider(model, "trimesh");
+        }
+
+        return {
+          name: npcName,
+          animations: clipNames,
+          activeAnimation: activeClipName,
+          collider: colliderInfo,
+        };
+      };
+
+      // removeNPC: remove an NPC from scene and clean up its mixer
+      const removeNPC = (name: string): boolean => {
+        const obj = g.scene.getObjectByName(name);
+        if (!obj) return false;
+        // Stop animation mixer
+        const mixer = npcMixers.get(name);
+        if (mixer) { mixer.stopAllAction(); npcMixers.delete(name); }
+        // Remove collider
+        removeCollider(obj);
+        // Clear name before removal so getObjectByName won't find stale refs
+        obj.name = "";
+        // Remove from scene
+        obj.traverse((child: any) => {
+          if (child.isMesh) { child.geometry?.dispose(); child.material?.dispose(); }
+        });
+        g.scene.remove(obj);
+        return true;
+      };
+
+      // autoScale: detect cm/m mismatch and normalize model to scene scale.
+      // Heuristic: if bounding box exceeds targetMaxDim (default 50m) in any axis,
+      // assume the model is in centimeters and scale by 0.01. For intermediate cases
+      // (10-50m), scale proportionally so the largest dimension equals targetMaxDim.
+      // Returns the scale factor applied (1.0 if no change).
+      const autoScale = (obj: any, targetMaxDim = 50): number => {
+        const bbox = new g.THREE.Box3().setFromObject(obj);
+        const size = new g.THREE.Vector3();
+        bbox.getSize(size);
+        const maxDim = Math.max(size.x, size.y, size.z);
+        if (maxDim <= 0.001) return 1.0; // degenerate
+        let scaleFactor = 1.0;
+        if (maxDim > targetMaxDim * 2) {
+          // Very large — likely centimeters (100x off)
+          scaleFactor = 0.01;
+        } else if (maxDim > targetMaxDim) {
+          // Moderately large — scale down proportionally
+          scaleFactor = targetMaxDim / maxDim;
+        }
+        if (scaleFactor !== 1.0) {
+          obj.scale.multiplyScalar(scaleFactor);
+          obj.updateMatrixWorld(true);
+          console.log(`[sceneEditor] autoScale: ${maxDim.toFixed(1)}m → ${(maxDim * scaleFactor).toFixed(1)}m (×${scaleFactor.toFixed(4)})`);
+        }
+        return scaleFactor;
+      };
+
+      const fn = new AsyncFunction(
+        "scene", "THREE", "RAPIER", "rapierWorld", "renderer", "camera",
+        "agent", "playerBody", "assets", "assetsGroup",
+        "loadGLTF", "addCollider", "removeCollider", "addNPC", "removeNPC", "autoScale",
+        code,
+      );
+      const result = await fn(
+        g.scene, g.THREE, g.RAPIER, g.rapierWorld, g.renderer, g.camera,
+        g.agent, g.agent, g.assets, g.assetsGroup,
+        loadGLTF, addCollider, removeCollider, addNPC, removeNPC, autoScale,
+      );
+      this._send({ type: "execResult", id, success: true, result: _serialize(result) });
+    } catch (err: any) {
+      console.error("[sceneEditor] exec error:", err);
+      this._send({ type: "execResult", id, success: false, error: String(err) });
+    }
+  }
+
+  async _loadScript(url: string, id?: string): Promise {
+    console.log(`[sceneEditor] loadScript${id ? ` (${id})` : ""}:`, url);
+    try {
+      const resp = await fetch(url);
+      if (!resp.ok) throw new Error(`HTTP ${resp.status}: ${resp.statusText}`);
+      const code = await resp.text();
+      await this._execCode(code, id);
+    } catch (err: any) {
+      console.error("[sceneEditor] loadScript error:", err);
+      this._send({ type: "execResult", id, success: false, error: String(err) });
+    }
+  }
+
+  _ensureNpcAnimLoop(): void {
+    if (this._npcAnimFrame != null) return;
+    this._startUpdateLoop();
+  }
+
+  _ensureDynamicSyncLoop(): void {
+    if (this._npcAnimFrame != null) return;
+    this._startUpdateLoop();
+  }
+
+  /** Shared rAF loop for NPC animations + dynamic body position sync. */
+  _startUpdateLoop(): void {
+    if (this._npcAnimFrame != null) return;
+    if (!this._npcClock) {
+      this._npcClock = new this.globals.THREE.Clock();
+    }
+    const tick = () => {
+      const hasWork = this._npcMixers.size > 0 || this._dynamicBodies.size > 0;
+      if (!hasWork) {
+        this._npcAnimFrame = null;
+        return;
+      }
+      const dt = this._npcClock.getDelta();
+
+      // Update NPC animations
+      for (const mixer of this._npcMixers.values()) {
+        mixer.update(dt);
+      }
+
+      // Sync dynamic body positions → Three.js meshes
+      for (const { body, mesh } of this._dynamicBodies.values()) {
+        const t = body.translation();
+        const r = body.rotation();
+        mesh.position.set(t.x, t.y, t.z);
+        mesh.quaternion.set(r.x, r.y, r.z, r.w);
+      }
+
+      this._npcAnimFrame = requestAnimationFrame(tick);
+    };
+    this._npcAnimFrame = requestAnimationFrame(tick);
+  }
+
+  dispose(): void {
+    if (this._npcAnimFrame != null) cancelAnimationFrame(this._npcAnimFrame);
+    for (const mixer of this._npcMixers.values()) mixer.stopAllAction();
+    this._npcMixers.clear();
+    this._dynamicBodies.clear();
+  }
+}
+
+/** Safely serialize a return value for JSON transport. */
+function _serialize(val: any): any {
+  if (val === undefined || val === null) return val;
+  if (typeof val === "number" || typeof val === "string" || typeof val === "boolean") return val;
+  if (Array.isArray(val)) return val.map(_serialize);
+  // Three.js objects have .toJSON() but it's huge — just return type + id
+  if (val.isObject3D) return { _type: "Object3D", type: val.type, name: val.name, uuid: val.uuid };
+  if (val.isMesh) return { _type: "Mesh", name: val.name, uuid: val.uuid };
+  try { return JSON.parse(JSON.stringify(val)); } catch { return String(val); }
+}
diff --git a/misc/DimSim/src/style.css b/misc/DimSim/src/style.css
new file mode 100644
index 0000000000..ec258b99a1
--- /dev/null
+++ b/misc/DimSim/src/style.css
@@ -0,0 +1,3191 @@
+/* ============================================================================
+  SimStudio - Professional Training Environment
+  ============================================================================ */
+
+:root {
+  color-scheme: dark;
+
+  /* Core Colors — flat terminal/cyberdeck */
+  --bg-primary: #06080b;
+  --bg-secondary: #0b0e13;
+  --bg-tertiary: #10141b;
+  --bg-elevated: rgba(9, 12, 17, 0.96);
+
+  /* Surface Colors */
+  --surface-1: rgba(255, 255, 255, 0.02);
+  --surface-2: rgba(255, 255, 255, 0.04);
+  --surface-3: rgba(255, 255, 255, 0.07);
+
+  /* Border Colors — hairline */
+  --border-subtle: rgba(255, 255, 255, 0.06);
+  --border-default: rgba(255, 255, 255, 0.10);
+  --border-strong: rgba(255, 255, 255, 0.16);
+
+  /* Text Colors */
+  --text-primary: rgba(255, 255, 255, 0.95);
+  --text-secondary: rgba(255, 255, 255, 0.68);
+  --text-tertiary: rgba(255, 255, 255, 0.44);
+
+  /* Accent Colors — dimos-style cool cyan-white */
+  --accent-primary: #d6dde6;
+  --accent-primary-hover: #ffffff;
+  --accent-primary-subtle: rgba(214, 221, 230, 0.14);
+  --accent-primary-glow: rgba(214, 221, 230, 0.28);
+
+  --accent-success: #7fe3c4;
+  --accent-success-subtle: rgba(127, 227, 196, 0.14);
+
+  --accent-warning: #f5c06b;
+  --accent-warning-subtle: rgba(245, 192, 107, 0.12);
+
+  --accent-info: #7fd4f5;
+  --accent-info-subtle: rgba(127, 212, 245, 0.12);
+
+  /* Shadows — flat, no heavy drop shadows */
+  --shadow-sm: 0 0 0 1px rgba(0, 0, 0, 0.2);
+  --shadow-md: 0 0 0 1px rgba(0, 0, 0, 0.3);
+  --shadow-lg: 0 0 0 1px rgba(0, 0, 0, 0.4);
+  --shadow-xl: 0 0 0 1px rgba(0, 0, 0, 0.5);
+
+  /* Transitions */
+  --transition-fast: 0.1s linear;
+  --transition-normal: 0.15s linear;
+  --transition-slow: 0.2s linear;
+
+  /* Border Radius — sharp corners */
+  --radius-sm: 0px;
+  --radius-md: 0px;
+  --radius-lg: 0px;
+  --radius-xl: 2px;
+
+  /* Font Stacks */
+  --font-mono: 'JetBrains Mono', 'IBM Plex Mono', 'SF Mono', 'Fira Code', 'Menlo', 'Monaco', 'Consolas', ui-monospace, monospace;
+  --font-sans: 'Inter', ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, 'Helvetica Neue', Arial, sans-serif;
+}
+
+/* ============================================================================
+   Base Styles
+   ============================================================================ */
+
+html, body {
+  height: 100%;
+  margin: 0;
+}
+
+body {
+  overflow: hidden;
+  font-family: var(--font-sans);
+  background: var(--bg-primary);
+  color: var(--text-primary);
+  font-size: 13px;
+  line-height: 1.5;
+  -webkit-font-smoothing: antialiased;
+  -moz-osx-font-smoothing: grayscale;
+}
+
+/* Google Font Import */
+@import url('https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700;800;900&display=swap');
+
+/* ============================================================================
+   Canvas
+   ============================================================================ */
+
+#c {
+  position: fixed;
+  inset: 0;
+  width: 100%;
+  height: 100%;
+  display: block;
+}
+
+/* ============================================================================
+   Overlay Layout
+   ============================================================================ */
+
+#overlay {
+  position: fixed;
+  inset: 0;
+  pointer-events: none;
+  z-index: 100;
+  padding: 0;
+  box-sizing: border-box;
+  display: grid;
+  grid-template-columns: 330px 1fr 380px;
+  grid-template-rows: auto 1fr;
+  grid-template-areas:
+    "top    top    top"
+    "left   .      right";
+  gap: 0;
+}
+
+/* Collapsed states for edit mode panels */
+#overlay.left-collapsed {
+  grid-template-columns: 0 1fr 380px;
+}
+#overlay.right-collapsed {
+  grid-template-columns: 330px 1fr 0;
+}
+#overlay.left-collapsed.right-collapsed {
+  grid-template-columns: 0 1fr 0;
+}
+
+html[data-mode="sim"] #overlay {
+  grid-template-columns: 1fr 340px;
+  grid-template-rows: 1fr;
+  grid-template-areas: ". panel";
+  padding: 16px;
+  gap: 16px;
+}
+
+html[data-mode="sim"] #overlay.sim-panel-collapsed {
+  grid-template-columns: 1fr 0;
+}
+
+/* ============================================================================
+   Slim Toolbar (UE-inspired)
+   ============================================================================ */
+
+#overlay-top {
+  pointer-events: auto;
+  grid-area: top;
+  display: flex;
+  gap: 4px;
+  align-items: center;
+  padding: 4px 8px;
+  background: #1a1d24;
+  border-bottom: 1px solid rgba(255,255,255,0.08);
+  box-shadow: 0 2px 8px rgba(0,0,0,0.4);
+  flex-wrap: wrap;
+  overflow: visible;
+  min-height: 36px;
+  position: relative;
+  z-index: 10;
+}
+
+/* Toolbar generic button */
+.tb-btn {
+  display: inline-flex;
+  align-items: center;
+  gap: 5px;
+  padding: 5px 10px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.04em;
+  text-transform: uppercase;
+  color: var(--text-secondary);
+  background: transparent;
+  border: 1px solid transparent;
+  border-radius: 0;
+  cursor: pointer;
+  white-space: nowrap;
+  transition: all 0.1s linear;
+}
+.tb-btn:hover { background: rgba(255,255,255,0.04); color: var(--text-primary); border-color: var(--border-default); }
+.tb-btn.active { color: var(--accent-primary); background: var(--accent-primary-subtle); border-color: var(--accent-primary); }
+.tb-btn.tb-primary { background: transparent; color: var(--accent-primary); border: 1px solid var(--accent-primary); }
+.tb-btn.tb-primary:hover { background: var(--accent-primary-subtle); color: var(--accent-primary-hover); border-color: var(--accent-primary-hover); }
+.tb-btn.tb-danger { color: #ef4444; }
+.tb-btn.tb-danger:hover { background: rgba(239,68,68,0.12); color: #f87171; }
+.tb-btn.tb-muted { color: var(--text-tertiary); font-weight: 500; }
+.tb-btn.tb-muted:hover { color: var(--text-secondary); }
+.tb-btn svg { flex-shrink: 0; }
+
+/* File upload styled as toolbar button */
+.tb-file-label { cursor: pointer; }
+.tb-file-label input[type="file"] { display: none; }
+
+/* Toolbar select */
+.tb-select {
+  padding: 4px 8px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  background: rgba(255,255,255,0.03);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  color: var(--text-primary);
+  cursor: pointer;
+  outline: none;
+  max-width: 130px;
+}
+.tb-select:focus { border-color: var(--accent-primary); }
+
+/* Toolbar separator */
+.tb-sep {
+  width: 1px;
+  height: 20px;
+  background: rgba(255,255,255,0.1);
+  margin: 0 2px;
+  flex-shrink: 0;
+}
+.tb-spacer { flex: 1; }
+
+/* Toolbar transform group */
+.tb-transform {
+  display: flex;
+  gap: 2px;
+  padding: 2px;
+  background: rgba(255,255,255,0.02);
+  border: 1px solid var(--border-subtle);
+  border-radius: 0;
+}
+
+/* Toolbar status */
+.tb-status {
+  font-size: 11px;
+  color: var(--text-tertiary);
+  white-space: nowrap;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  max-width: 200px;
+}
+.tb-status:empty { display: none; }
+
+/* Toolbar group */
+.tb-group { display: flex; gap: 3px; align-items: center; }
+
+.workspace-tab-strip {
+  display: inline-flex;
+  gap: 0;
+  padding: 0;
+  background: transparent;
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  margin: 0 4px;
+}
+.workspace-tab-strip .tb-btn {
+  padding: 4px 12px;
+  font-size: 11px;
+  font-weight: 500;
+  border-radius: 0;
+  border: none;
+  color: var(--text-tertiary);
+  transition: all 0.1s linear;
+}
+.workspace-tab-strip .tb-btn:hover {
+  color: var(--text-secondary);
+  background: rgba(255,255,255,0.04);
+}
+.workspace-tab-strip .tb-btn.active {
+  color: var(--accent-primary-hover);
+  background: var(--accent-primary-subtle);
+  box-shadow: inset 0 -2px 0 var(--accent-primary);
+}
+
+/* Builder-mode inline shape palette */
+.builder-shape-bar {
+  display: inline-flex;
+  gap: 2px;
+  padding: 2px;
+  background: rgba(255,255,255,0.02);
+  border: 1px solid var(--border-subtle);
+  border-radius: 0;
+}
+.builder-shape-bar .tb-btn {
+  padding: 4px 8px;
+  font-size: 12px;
+  gap: 3px;
+}
+.builder-shape-bar .shape-icon {
+  font-size: 11px;
+  opacity: 0.7;
+}
+
+/* Advanced dropdown */
+.tb-advanced { position: relative; }
+.tb-advanced > summary { list-style: none; }
+.tb-advanced > summary::-webkit-details-marker { display: none; }
+.tb-advanced-body {
+  position: absolute;
+  top: calc(100% + 4px);
+  right: 0;
+  z-index: 50;
+  background: var(--bg-secondary);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  padding: 4px;
+  display: flex;
+  gap: 4px;
+  box-shadow: none;
+}
+
+/* Legacy world-selector compat (now .tb-group) */
+.world-selector { display: contents; }
+
+/* ============================================================================
+   Buttons
+   ============================================================================ */
+
+button,
+.file span {
+  cursor: pointer;
+  user-select: none;
+  padding: 7px 14px;
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  background: transparent;
+  color: var(--text-primary);
+  font-weight: 500;
+  font-size: 12px;
+  font-family: var(--font-mono);
+  letter-spacing: 0.05em;
+  text-transform: uppercase;
+  transition: all var(--transition-fast);
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  gap: 6px;
+}
+
+/* Toolbar buttons override the heavy defaults */
+.tb-btn, #overlay-top button, #overlay-top .file span {
+  padding: 5px 10px;
+  border-radius: 0;
+  border: 1px solid transparent;
+  background: transparent;
+  font-size: 11px;
+  font-family: var(--font-mono);
+  transform: none !important;
+}
+
+button:hover,
+.file span:hover {
+  border-color: var(--accent-primary);
+  background: var(--accent-primary-subtle);
+  color: var(--accent-primary-hover);
+}
+
+button:active,
+.file span:active {
+  transform: none;
+}
+
+button:disabled {
+  opacity: 0.5;
+  cursor: not-allowed;
+  transform: none;
+}
+
+/* Primary Action Button */
+button.primary {
+  background: transparent;
+  border: 1px solid var(--accent-primary);
+  color: var(--accent-primary);
+  box-shadow: none;
+}
+
+button.primary:hover {
+  background: var(--accent-primary-subtle);
+  border-color: var(--accent-primary-hover);
+  color: var(--accent-primary-hover);
+  box-shadow: none;
+}
+
+/* Portal Button */
+#portal-create-btn {
+  background: var(--surface-2);
+  border: 1px solid var(--border-default);
+  color: var(--text-primary);
+  box-shadow: none;
+}
+
+#portal-create-btn:hover {
+  background: var(--surface-3);
+  border-color: var(--border-strong);
+  box-shadow: var(--shadow-sm);
+}
+
+/* Portal Exit Modal */
+#portal-exit-modal .modal-title {
+  background: var(--surface-1);
+}
+
+#portal-exit-modal .modal-hint {
+  border-left-color: var(--accent-primary);
+  background: var(--accent-primary-subtle);
+}
+
+#portal-exit-world-name {
+  color: var(--text-primary);
+  font-weight: 700;
+}
+
+/* Watermark logo */
+.watermark-logo {
+  position: fixed;
+  bottom: 16px;
+  right: 16px;
+  height: 32px;
+  width: auto;
+  opacity: 0.35;
+  pointer-events: none;
+  z-index: 9999;
+  user-select: none;
+}
+
+/* ============================================
+   PORTAL LOADING SCREEN
+   ============================================ */
+.portal-loading {
+  position: fixed;
+  inset: 0;
+  z-index: 10000;
+  background: radial-gradient(ellipse at center, #1a1035 0%, #0a0a0f 70%, #000 100%);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  opacity: 1;
+  transition: opacity 0.5s ease-out;
+}
+
+.portal-loading.hidden {
+  opacity: 0;
+  pointer-events: none;
+}
+
+.portal-loading.fade-out {
+  opacity: 0;
+}
+
+.portal-loading-content {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  gap: 40px;
+}
+
+.portal-loading-effect {
+  position: relative;
+  width: 150px;
+  height: 150px;
+}
+
+.portal-ring {
+  position: absolute;
+  inset: 0;
+  border-radius: 50%;
+  border: 3px solid transparent;
+  border-top-color: #8b5cf6;
+  border-bottom-color: #a78bfa;
+  animation: portal-spin 1.5s linear infinite;
+}
+
+.portal-ring:nth-child(2) {
+  inset: 15px;
+  border-top-color: #7c3aed;
+  border-bottom-color: #8b5cf6;
+  animation-duration: 2s;
+  animation-direction: reverse;
+}
+
+.portal-ring:nth-child(3) {
+  inset: 30px;
+  border-top-color: #6d28d9;
+  border-bottom-color: #7c3aed;
+  animation-duration: 2.5s;
+}
+
+@keyframes portal-spin {
+  0% {
+    transform: rotate(0deg);
+  }
+  100% {
+    transform: rotate(360deg);
+  }
+}
+
+/* Inner glow effect */
+.portal-loading-effect::before {
+  content: '';
+  position: absolute;
+  inset: 40px;
+  border-radius: 50%;
+  background: radial-gradient(circle, rgba(139, 92, 246, 0.4) 0%, rgba(109, 40, 217, 0.2) 50%, transparent 70%);
+  animation: portal-pulse 2s ease-in-out infinite;
+}
+
+@keyframes portal-pulse {
+  0%, 100% {
+    transform: scale(0.9);
+    opacity: 0.6;
+  }
+  50% {
+    transform: scale(1.1);
+    opacity: 1;
+  }
+}
+
+/* Particle effect */
+.portal-loading-effect::after {
+  content: '';
+  position: absolute;
+  inset: 20px;
+  border-radius: 50%;
+  background: transparent;
+  box-shadow: 
+    0 0 30px rgba(139, 92, 246, 0.5),
+    0 0 60px rgba(139, 92, 246, 0.3),
+    0 0 90px rgba(139, 92, 246, 0.1);
+  animation: portal-glow 2s ease-in-out infinite alternate;
+}
+
+@keyframes portal-glow {
+  0% {
+    box-shadow: 
+      0 0 30px rgba(139, 92, 246, 0.5),
+      0 0 60px rgba(139, 92, 246, 0.3),
+      0 0 90px rgba(139, 92, 246, 0.1);
+  }
+  100% {
+    box-shadow: 
+      0 0 40px rgba(167, 139, 250, 0.6),
+      0 0 80px rgba(139, 92, 246, 0.4),
+      0 0 120px rgba(139, 92, 246, 0.2);
+  }
+}
+
+.portal-loading-text {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  gap: 8px;
+  text-align: center;
+}
+
+#portal-loading-title {
+  font-size: 18px;
+  font-weight: 600;
+  color: #e2e8f0;
+  letter-spacing: 1px;
+}
+
+#portal-loading-dest {
+  font-size: 24px;
+  font-weight: 700;
+  color: #a78bfa;
+  text-shadow: 0 0 20px rgba(139, 92, 246, 0.5);
+}
+
+/* Success Button */
+button.success {
+  background: linear-gradient(135deg, var(--accent-success) 0%, #16a34a 100%);
+  border: none;
+  color: white;
+}
+
+/* Danger Button */
+button.danger {
+  background: linear-gradient(135deg, #ef4444 0%, #dc2626 100%);
+  border: none;
+  color: white;
+}
+
+/* Ghost Button */
+button.ghost {
+  background: transparent;
+  border-color: transparent;
+  color: var(--text-secondary);
+}
+
+button.ghost:hover {
+  background: var(--surface-2);
+  color: var(--text-primary);
+}
+
+.file input {
+  display: none;
+}
+
+/* ============================================================================
+   Form Elements
+   ============================================================================ */
+
+input[type="text"],
+input[type="email"],
+input[type="password"],
+textarea,
+.select {
+  width: 100%;
+  box-sizing: border-box;
+  padding: 10px 14px;
+  border-radius: var(--radius-md);
+  border: 1px solid var(--border-default);
+  background: var(--surface-2);
+  color: var(--text-primary);
+  font-weight: 500;
+  font-size: 14px;
+  outline: none;
+  transition: all var(--transition-fast);
+}
+
+input[type="text"]:hover,
+textarea:hover,
+.select:hover {
+  border-color: var(--border-strong);
+}
+
+input[type="text"]:focus,
+textarea:focus,
+.select:focus {
+  border-color: var(--accent-primary);
+  box-shadow: 0 0 0 3px var(--accent-primary-subtle);
+}
+
+input[type="text"]::placeholder,
+textarea::placeholder {
+  color: var(--text-tertiary);
+}
+
+textarea {
+  resize: vertical;
+  min-height: 100px;
+  font-family: inherit;
+  line-height: 1.5;
+}
+
+/* Checkbox Styling */
+input[type="checkbox"] {
+  width: 18px;
+  height: 18px;
+  border-radius: var(--radius-sm);
+  border: 2px solid var(--border-strong);
+  background: var(--surface-2);
+  cursor: pointer;
+  appearance: none;
+  -webkit-appearance: none;
+  transition: all var(--transition-fast);
+  position: relative;
+}
+
+input[type="checkbox"]:checked {
+  background: var(--accent-primary);
+  border-color: var(--accent-primary);
+}
+
+input[type="checkbox"]:checked::after {
+  content: "✓";
+  position: absolute;
+  top: 50%;
+  left: 50%;
+  transform: translate(-50%, -50%);
+  color: white;
+  font-size: 12px;
+  font-weight: 700;
+}
+
+input[type="checkbox"]:hover {
+  border-color: var(--accent-primary);
+}
+
+/* ============================================================================
+   Status Bar
+   ============================================================================ */
+
+.status {
+  margin-left: auto;
+  padding: 6px 12px;
+  font-size: 12px;
+  font-weight: 500;
+  color: var(--text-secondary);
+  background: var(--surface-1);
+  border-radius: var(--radius-sm);
+  max-width: 300px;
+  white-space: nowrap;
+  overflow: hidden;
+  text-overflow: ellipsis;
+}
+
+/* ============================================================================
+   Details / Accordion
+   ============================================================================ */
+
+.details {
+  border: 1px solid var(--border-default);
+  border-radius: var(--radius-md);
+  background: var(--surface-1);
+  padding: 0;
+  overflow: hidden;
+}
+
+.details > summary {
+  cursor: pointer;
+  user-select: none;
+  font-weight: 600;
+  color: var(--text-secondary);
+  font-size: 12px;
+  padding: 10px 14px;
+  list-style: none;
+  transition: all var(--transition-fast);
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+
+.details > summary::-webkit-details-marker {
+  display: none;
+}
+
+.details > summary::before {
+  content: "▸";
+  font-size: 10px;
+  transition: transform var(--transition-fast);
+}
+
+.details[open] > summary::before {
+  transform: rotate(90deg);
+}
+
+.details > summary:hover {
+  background: var(--surface-2);
+  color: var(--text-primary);
+}
+
+.details-body {
+  padding: 12px 14px;
+  border-top: 1px solid var(--border-subtle);
+  display: flex;
+  flex-direction: column;
+  gap: 12px;
+}
+
+.details-row {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+  flex-wrap: wrap;
+}
+
+/* ============================================================================
+   Slider
+   ============================================================================ */
+
+.slider {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 4px 0;
+}
+
+.slider-label {
+  font-size: 10px;
+  color: var(--text-tertiary);
+  font-weight: 600;
+  min-width: 40px;
+  text-transform: uppercase;
+  letter-spacing: 0.02em;
+}
+
+.slider input[type="range"] {
+  flex: 1;
+  height: 3px;
+  border-radius: 2px;
+  background: rgba(255,255,255,0.1);
+  appearance: none;
+  -webkit-appearance: none;
+}
+
+.slider input[type="range"]::-webkit-slider-thumb {
+  appearance: none;
+  -webkit-appearance: none;
+  width: 12px;
+  height: 12px;
+  border-radius: 50%;
+  background: var(--accent-primary);
+  cursor: pointer;
+  border: 1.5px solid rgba(255,255,255,0.3);
+}
+
+.slider-value {
+  font-variant-numeric: tabular-nums;
+  font-weight: 600;
+  font-size: 10px;
+  color: var(--text-secondary);
+  min-width: 30px;
+  text-align: right;
+}
+
+
+/* ============================================================================
+   Side Panel (UE-inspired)
+   ============================================================================ */
+
+.side-panel {
+  pointer-events: auto;
+  width: 100%;
+  height: calc(100vh - 36px); /* below toolbar */
+  display: flex;
+  flex-direction: column;
+  background: #1a1d24;
+  overflow: hidden;
+}
+
+.side-panel-left {
+  grid-area: left;
+  border-right: 1px solid rgba(255,255,255,0.06);
+}
+
+.side-panel-right {
+  grid-area: right;
+  border-left: 1px solid rgba(255,255,255,0.06);
+}
+
+/* Hide panels when overlay is collapsed */
+#overlay.left-collapsed .side-panel-left {
+  display: none;
+}
+#overlay.right-collapsed .side-panel-right {
+  display: none;
+}
+
+html[data-mode="sim"] .side-panel {
+  grid-area: panel;
+  height: calc(100vh - 32px);
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  backdrop-filter: blur(20px);
+  background: var(--bg-elevated);
+}
+
+.panel-header {
+  flex-shrink: 0;
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  padding: 6px 10px;
+  border-bottom: 1px solid rgba(255,255,255,0.06);
+  background: rgba(255,255,255,0.02);
+}
+
+.panel-title {
+  font-family: var(--font-mono);
+  font-weight: 600;
+  font-size: 11px;
+  letter-spacing: 0.16em;
+  text-transform: uppercase;
+  color: var(--text-secondary);
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+
+.panel-title::before {
+  content: "[";
+  color: var(--accent-primary);
+  font-family: var(--font-mono);
+  font-weight: 500;
+  font-size: 12px;
+  background: transparent;
+  width: auto;
+  height: auto;
+  border-radius: 0;
+  letter-spacing: 0;
+}
+.panel-title::after {
+  content: "]";
+  color: var(--accent-primary);
+  font-family: var(--font-mono);
+  font-weight: 500;
+  font-size: 12px;
+  margin-left: 2px;
+  letter-spacing: 0;
+}
+
+.mode-toggle {
+  padding: 3px 8px !important;
+  font-size: 11px !important;
+  font-weight: 500 !important;
+  font-family: var(--font-mono) !important;
+  background: transparent !important;
+  border: 1px solid var(--border-default) !important;
+  color: var(--text-tertiary) !important;
+  display: flex !important;
+  align-items: center !important;
+  gap: 5px !important;
+  border-radius: 0 !important;
+  cursor: pointer;
+  transition: all 0.1s !important;
+  text-transform: none !important;
+  letter-spacing: 0 !important;
+}
+.mode-toggle:hover { background: rgba(255,255,255,0.06) !important; color: var(--text-primary) !important; }
+.mode-icon { font-size: 9px; }
+
+.panel-content {
+  flex: 1;
+  overflow-y: auto;
+  overflow-x: hidden;
+}
+
+.panel-footer {
+  flex-shrink: 0;
+  padding: 5px 10px;
+  border-top: 1px solid rgba(255,255,255,0.06);
+  background: rgba(255,255,255,0.02);
+}
+
+/* Panel collapse/expand buttons */
+.panel-collapse-btn {
+  padding: 4px 8px !important;
+  font-size: 10px !important;
+  font-weight: 500 !important;
+  font-family: var(--font-mono) !important;
+  background: transparent !important;
+  border: 1px solid var(--border-default) !important;
+  color: var(--text-tertiary) !important;
+  border-radius: 0 !important;
+  cursor: pointer;
+  transition: all 0.1s !important;
+  display: flex !important;
+  align-items: center !important;
+  justify-content: center !important;
+  line-height: 1 !important;
+}
+.panel-collapse-btn:hover { background: rgba(255,255,255,0.06) !important; color: var(--text-primary) !important; }
+
+/* Left panel open button (shown when collapsed) */
+.left-panel-open {
+  pointer-events: auto;
+  position: fixed;
+  top: 44px;
+  left: 8px;
+  width: 30px;
+  height: 30px;
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  background: var(--bg-elevated);
+  color: var(--text-secondary);
+  cursor: pointer;
+  z-index: 150;
+  font-size: 14px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  backdrop-filter: blur(12px);
+}
+.left-panel-open:hover { color: var(--text-primary); background: rgba(255,255,255,0.08); }
+.left-panel-open.hidden { display: none; }
+
+/* Right AI panel open button (shown when collapsed) */
+.ai-panel-open {
+  pointer-events: auto;
+  position: fixed;
+  top: 44px;
+  right: 8px;
+  width: 30px;
+  height: 30px;
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  background: var(--bg-elevated);
+  color: var(--text-secondary);
+  cursor: pointer;
+  z-index: 150;
+  font-size: 14px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  backdrop-filter: blur(12px);
+}
+.ai-panel-open:hover { color: var(--text-primary); background: rgba(255,255,255,0.08); }
+.ai-panel-open.hidden { display: none; }
+
+.sim-panel-open {
+  pointer-events: auto;
+  position: fixed;
+  top: 16px;
+  right: 16px;
+  width: 30px;
+  height: 30px;
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  background: var(--bg-elevated);
+  color: var(--text-secondary);
+  cursor: pointer;
+  z-index: 150;
+  font-family: var(--font-mono);
+}
+.sim-panel-open:hover { color: var(--text-primary); background: rgba(255,255,255,0.08); }
+.sim-panel-open.hidden { display: none; }
+
+.shortcuts {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 6px 10px;
+  font-size: 10px;
+  font-family: var(--font-mono);
+  letter-spacing: 0.04em;
+  color: var(--text-tertiary);
+}
+
+.shortcuts b {
+  color: var(--accent-primary);
+  font-weight: 500;
+  background: transparent;
+  border: 1px solid var(--border-default);
+  padding: 0 4px;
+  border-radius: 0;
+  font-size: 9px;
+  font-family: var(--font-mono);
+}
+
+/* Floating bottom-left shortcuts strip (always visible in sim mode) */
+.shortcuts-floating {
+  position: fixed;
+  bottom: 16px;
+  left: 16px;
+  padding: 8px 12px;
+  background: rgba(8, 10, 14, 0.82);
+  border: 1px solid rgba(255, 255, 255, 0.12);
+  border-radius: 0;
+  font-size: 11px;
+  letter-spacing: 0.06em;
+  text-transform: uppercase;
+  z-index: 9998;
+  backdrop-filter: blur(4px);
+}
+.shortcuts-floating b {
+  font-size: 10px;
+  padding: 1px 5px;
+}
+
+/* Dimos-only: hide the sim side panel + command bar + top-left status
+   pill (the small "Click to look around" + B/G chip is the human-player
+   prompt; the agent is driven externally).  Bottom-left WASD shortcuts
+   stay visible. */
+body.dimos-mode #agent-panel,
+body.dimos-mode #sim-panel-open,
+body.dimos-mode #agent-command-bar,
+body.dimos-mode .status-floating {
+  display: none !important;
+}
+
+/* Tag form / tag-selected (legacy compat) */
+.tag-selected { display: none; }
+.tag-form { /* managed by details-panel */ }
+.tag-form.hidden { display: none; }
+
+/* Floating status for sim mode */
+.status-floating {
+  position: fixed;
+  top: 16px;
+  left: 16px;
+  padding: 6px 12px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.04em;
+  color: var(--text-secondary);
+  background: var(--bg-elevated);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  backdrop-filter: blur(12px);
+  pointer-events: auto;
+  max-width: 300px;
+  white-space: nowrap;
+  overflow: hidden;
+  text-overflow: ellipsis;
+}
+.status-floating:empty { display: none; }
+
+/* ============================================================================
+   Outliner (Scene tree, collapsible sections)
+   ============================================================================ */
+
+.outliner {
+  border-bottom: 1px solid rgba(255,255,255,0.06);
+}
+
+.ol-section {
+  border-bottom: 1px solid rgba(255,255,255,0.04);
+}
+.ol-section:last-child { border-bottom: none; }
+.ol-section > summary { list-style: none; }
+.ol-section > summary::-webkit-details-marker { display: none; }
+
+.ol-header {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 5px 10px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.08em;
+  text-transform: uppercase;
+  color: var(--text-secondary);
+  cursor: pointer;
+  user-select: none;
+  transition: background 0.1s;
+}
+.ol-header:hover { background: rgba(255,255,255,0.04); }
+
+.ol-header::before {
+  content: "▸";
+  font-size: 9px;
+  color: var(--text-tertiary);
+  transition: transform 0.15s;
+  display: inline-block;
+  width: 10px;
+}
+.ol-section[open] > .ol-header::before { transform: rotate(90deg); }
+
+.ol-icon { font-size: 12px; }
+.ol-count {
+  margin-left: auto;
+  font-size: 10px;
+  font-weight: 500;
+  color: var(--text-tertiary);
+  background: rgba(255,255,255,0.04);
+  padding: 1px 6px;
+  border-radius: 0;
+  min-width: 16px;
+  text-align: center;
+  font-family: var(--font-mono);
+}
+
+.ol-list {
+  display: flex;
+  flex-direction: column;
+  gap: 1px;
+  padding: 0 0 2px 0;
+  max-height: 160px;
+  overflow-y: auto;
+}
+
+/* Compact outliner items (replaces old .tag-item) */
+.tag-item, .ol-item {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 4px 10px 4px 26px;
+  cursor: pointer;
+  font-size: 12px;
+  font-weight: 500;
+  color: var(--text-secondary);
+  transition: all 0.08s;
+  border: none;
+  background: transparent;
+  border-radius: 0;
+}
+
+.tag-item:hover {
+  background: rgba(255,255,255,0.04);
+  color: var(--text-primary);
+}
+
+.tag-item small {
+  margin-left: auto;
+  color: var(--text-tertiary);
+  font-size: 10px;
+  font-weight: 400;
+  margin-top: 0;
+  display: inline;
+  flex-shrink: 0;
+}
+
+.tag-item.active {
+  background: var(--accent-primary-subtle);
+  color: var(--accent-primary-hover);
+  border: none;
+  box-shadow: inset 3px 0 0 var(--accent-primary);
+}
+
+/* ============================================================================
+   Groups in Outliner
+   ============================================================================ */
+
+.ol-group {
+  border-left: 2px solid transparent;
+  margin-bottom: 2px;
+}
+.ol-group.active {
+  border-left-color: var(--accent-primary);
+  background: rgba(99,102,241,0.04);
+}
+
+.ol-group-header {
+  display: flex;
+  align-items: center;
+  gap: 5px;
+  padding: 4px 8px 4px 14px;
+  cursor: pointer;
+  font-size: 12px;
+  font-weight: 600;
+  color: var(--text-secondary);
+  transition: background 0.08s;
+  user-select: none;
+}
+.ol-group-collapse-btn {
+  width: 18px;
+  height: 18px;
+  padding: 0;
+  border: 1px solid transparent;
+  border-radius: 4px;
+  background: transparent;
+  color: var(--text-tertiary);
+  font-size: 11px;
+  line-height: 1;
+  cursor: pointer;
+}
+.ol-group-collapse-btn:hover {
+  background: rgba(255,255,255,0.06);
+  color: var(--text-primary);
+}
+.ol-group-header:hover {
+  background: rgba(255,255,255,0.05);
+  color: var(--text-primary);
+}
+
+.ol-group-icon {
+  font-size: 11px;
+  flex-shrink: 0;
+}
+.ol-group-name {
+  flex: 1;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+.ol-group-count {
+  font-size: 10px;
+  font-weight: 400;
+  color: var(--text-tertiary);
+  flex-shrink: 0;
+}
+.ol-group-pickable {
+  font-size: 11px;
+  flex-shrink: 0;
+  opacity: 0.85;
+}
+
+.ol-group-actions {
+  display: flex;
+  gap: 2px;
+  margin-left: auto;
+  flex-shrink: 0;
+  opacity: 0;
+  transition: opacity 0.1s;
+}
+.ol-group-header:hover .ol-group-actions {
+  opacity: 1;
+}
+
+.ol-group-btn {
+  padding: 1px 6px;
+  font-size: 10px;
+  font-weight: 600;
+  font-family: inherit;
+  border: 1px solid var(--border-default);
+  border-radius: var(--radius-sm);
+  background: var(--surface-2);
+  color: var(--text-tertiary);
+  cursor: pointer;
+  transition: all 0.08s;
+}
+.ol-group-btn:hover {
+  background: var(--surface-3);
+  color: var(--text-primary);
+  border-color: var(--border-strong);
+}
+
+.ol-group-children {
+  padding-left: 12px;
+  border-left: 1px solid var(--border-subtle);
+  margin-left: 18px;
+}
+.ol-group-child {
+  padding-left: 14px !important;
+  font-size: 11px !important;
+}
+
+/* Multi-select (shift+click) */
+.tag-item.multi-selected {
+  background: rgba(139, 92, 246, 0.12);
+  color: var(--text-primary);
+  box-shadow: inset 3px 0 0 #8B5CF6;
+}
+.tag-item.multi-selected:hover {
+  background: rgba(139, 92, 246, 0.18);
+}
+
+/* Group action bar (shown when 2+ shapes are shift-selected) */
+.ol-group-action-bar {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 6px 10px;
+  background: rgba(139, 92, 246, 0.08);
+  border: 1px solid rgba(139, 92, 246, 0.25);
+  border-radius: var(--radius-md);
+  margin: 4px 6px;
+}
+.ol-group-action-label {
+  font-size: 11px;
+  font-weight: 600;
+  color: #a78bfa;
+  flex: 1;
+  white-space: nowrap;
+}
+.ol-group-action-btn {
+  padding: 3px 10px;
+  font-size: 11px;
+  font-weight: 600;
+  font-family: inherit;
+  border: none;
+  border-radius: var(--radius-sm);
+  cursor: pointer;
+  white-space: nowrap;
+  transition: all 0.1s;
+  background: #8B5CF6;
+  color: #fff;
+}
+.ol-group-action-btn:hover {
+  background: #7C3AED;
+}
+.ol-group-cancel-btn {
+  background: var(--surface-2);
+  color: var(--text-secondary);
+  border: 1px solid var(--border-default);
+}
+.ol-group-cancel-btn:hover {
+  background: var(--surface-3);
+}
+
+/* ============================================================================
+   Details Panel (Properties of selected object)
+   ============================================================================ */
+
+.details-panel {
+  border-top: 2px solid rgba(99,102,241,0.3);
+}
+.details-panel.hidden { display: none; }
+
+.details-title {
+  padding: 6px 10px;
+  font-size: 11px;
+  font-weight: 700;
+  text-transform: uppercase;
+  letter-spacing: 0.04em;
+  color: var(--accent-primary-hover);
+  background: rgba(99,102,241,0.06);
+  border-bottom: 1px solid rgba(255,255,255,0.04);
+}
+
+/* Details collapsible sections */
+.dt-section {
+  border-bottom: 1px solid rgba(255,255,255,0.04);
+}
+.dt-section > summary { list-style: none; }
+.dt-section > summary::-webkit-details-marker { display: none; }
+
+.dt-header {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 5px 10px;
+  font-size: 11px;
+  font-weight: 600;
+  color: var(--text-tertiary);
+  cursor: pointer;
+  user-select: none;
+  text-transform: uppercase;
+  letter-spacing: 0.03em;
+}
+.dt-header:hover { color: var(--text-secondary); }
+.dt-header::before {
+  content: "▸";
+  font-size: 9px;
+  transition: transform 0.15s;
+  display: inline-block;
+  width: 10px;
+}
+.dt-section[open] > .dt-header::before { transform: rotate(90deg); }
+
+.dt-body {
+  padding: 6px 10px 8px;
+}
+
+/* Inputs inside details */
+.dt-input {
+  width: 100%;
+  padding: 5px 8px;
+  background: rgba(0,0,0,0.3);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  color: var(--text-primary);
+  font-family: var(--font-mono);
+  font-size: 12px;
+  margin-bottom: 6px;
+  transition: border-color 0.1s;
+  resize: vertical;
+}
+.dt-input:focus { outline: none; border-color: var(--accent-primary); }
+
+.dt-select {
+  flex: 1;
+  padding: 4px 8px;
+  background: rgba(0,0,0,0.3);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  color: var(--text-primary);
+  font-family: var(--font-mono);
+  font-size: 12px;
+}
+
+.dt-row {
+  display: flex;
+  gap: 6px;
+  align-items: center;
+  margin-bottom: 6px;
+}
+
+/* Asset-builder transition rows: keep remove button visible in narrow panels */
+.builder-interaction-row {
+  flex-wrap: wrap;
+}
+.builder-interaction-row .builder-transition-label {
+  flex: 1 1 180px;
+  min-width: 150px;
+  margin-bottom: 0;
+}
+.builder-interaction-row .builder-transition-target {
+  flex: 0 1 140px;
+  min-width: 120px;
+}
+.builder-interaction-row .builder-transition-remove {
+  flex: 0 0 auto;
+}
+
+.dt-actions {
+  display: flex;
+  gap: 4px;
+}
+.dt-actions .tb-btn { flex: 1; justify-content: center; }
+
+/* ============================================================================
+   Transform XYZ Grid (UE-style)
+   ============================================================================ */
+
+.xform-row {
+  display: grid;
+  grid-template-columns: 56px 1fr 1fr 1fr;
+  gap: 3px;
+  margin-bottom: 3px;
+  align-items: center;
+}
+
+.xform-label {
+  font-size: 10px;
+  font-weight: 600;
+  color: var(--text-tertiary);
+  text-transform: uppercase;
+  letter-spacing: 0.03em;
+  padding-left: 2px;
+}
+
+.xform-in {
+  width: 100%;
+  padding: 4px 6px;
+  font-size: 11px;
+  font-family: var(--font-mono);
+  font-weight: 500;
+  background: rgba(0,0,0,0.3);
+  border: 1px solid var(--border-subtle);
+  border-radius: 0;
+  color: var(--text-primary);
+  text-align: right;
+  -moz-appearance: textfield;
+}
+.xform-in::-webkit-outer-spin-button,
+.xform-in::-webkit-inner-spin-button { -webkit-appearance: none; margin: 0; }
+.xform-in:focus { outline: none; border-color: rgba(255,255,255,0.2); }
+
+/* Color-coded X/Y/Z borders (UE style) */
+.xform-x { border-left: 2px solid #ef4444; }
+.xform-y { border-left: 2px solid #22c55e; }
+.xform-z { border-left: 2px solid #3b82f6; }
+
+/* Legacy compat: hide old elements that are now in toolbar */
+.panel-section { padding: 0; border: none; }
+.section-label { display: none; }
+.asset-tools { display: none; /* now in toolbar */ }
+
+/* ============================================================================
+   Modal
+   ============================================================================ */
+
+.modal {
+  pointer-events: auto;
+  position: fixed;
+  inset: 0;
+  background: rgba(0, 0, 0, 0.7);
+  backdrop-filter: blur(4px);
+  display: grid;
+  place-items: center;
+  z-index: 200;
+  animation: modalFadeIn 0.2s ease;
+}
+
+@keyframes modalFadeIn {
+  from { opacity: 0; }
+  to { opacity: 1; }
+}
+
+.modal-card {
+  width: min(560px, calc(100vw - 48px));
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  background: var(--bg-secondary);
+  box-shadow: none;
+  overflow: hidden;
+  max-height: calc(100vh - 96px);
+  display: flex;
+  flex-direction: column;
+  animation: modalSlideIn 0.3s ease;
+}
+
+@keyframes modalSlideIn {
+  from { 
+    opacity: 0;
+    transform: translateY(-20px) scale(0.98);
+  }
+  to { 
+    opacity: 1;
+    transform: translateY(0) scale(1);
+  }
+}
+
+.modal-title {
+  padding: 16px 20px;
+  font-weight: 500;
+  font-size: 13px;
+  font-family: var(--font-mono);
+  letter-spacing: 0.14em;
+  text-transform: uppercase;
+  color: var(--accent-primary);
+  border-bottom: 1px solid var(--border-subtle);
+  background: var(--surface-1);
+}
+
+.modal-body {
+  padding: 20px;
+  overflow-y: auto;
+}
+
+.modal-body input,
+.modal-body textarea {
+  margin-bottom: 12px;
+}
+
+.modal-subtitle {
+  margin: 16px 0 10px;
+  font-size: 12px;
+  color: var(--text-secondary);
+  font-weight: 700;
+  text-transform: uppercase;
+  letter-spacing: 0.05em;
+}
+
+.modal-hint {
+  margin-top: 12px;
+  padding: 12px 14px;
+  font-size: 12px;
+  color: var(--text-tertiary);
+  line-height: 1.5;
+  background: var(--surface-1);
+  border-radius: var(--radius-md);
+  border-left: 3px solid var(--accent-info);
+}
+
+.modal-hint b {
+  color: var(--text-secondary);
+}
+
+/* Asset States */
+.asset-states {
+  display: flex;
+  flex-direction: column;
+  gap: 10px;
+}
+
+.asset-state-row {
+  border: 1px solid var(--border-default);
+  border-radius: var(--radius-md);
+  padding: 14px;
+  background: var(--surface-1);
+  display: flex;
+  flex-direction: column;
+  gap: 10px;
+}
+
+.asset-state-row-top {
+  display: flex;
+  gap: 10px;
+  align-items: center;
+  flex-wrap: wrap;
+}
+
+.asset-state-row-top label {
+  font-size: 12px;
+  color: var(--text-secondary);
+  font-weight: 600;
+  display: flex;
+  align-items: center;
+  gap: 6px;
+}
+
+.asset-interactions-title {
+  font-size: 11px;
+  color: var(--text-tertiary);
+  font-weight: 700;
+  text-transform: uppercase;
+  letter-spacing: 0.05em;
+  margin-top: 4px;
+}
+
+.asset-interactions {
+  display: flex;
+  flex-direction: column;
+  gap: 8px;
+}
+
+.asset-interaction-row {
+  display: flex;
+  gap: 8px;
+  align-items: center;
+  flex-wrap: wrap;
+}
+
+.asset-interaction-row input[type="text"] {
+  flex: 1;
+  min-width: 140px;
+  margin: 0;
+  padding: 8px 12px;
+  font-size: 13px;
+}
+
+/* ============================================================================
+   Agent Panel Components
+   ============================================================================ */
+
+/* ---------- Floating Command Bar ---------- */
+.agent-cmd-bar {
+  pointer-events: auto;
+  position: fixed;
+  bottom: 24px;
+  left: 50%;
+  transform: translateX(-50%);
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 6px 10px;
+  background: var(--bg-elevated);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  backdrop-filter: blur(16px);
+  box-shadow: none;
+  z-index: 160;
+  max-width: min(600px, calc(100vw - 32px));
+  transition: opacity var(--transition-fast);
+  opacity: 0.75;
+}
+.agent-cmd-bar:hover,
+.agent-cmd-bar:focus-within,
+.agent-cmd-bar.active {
+  opacity: 1;
+}
+
+.agent-cmd-spawn {
+  flex-shrink: 0;
+  padding: 6px 12px;
+  font-size: 11px;
+  font-weight: 500;
+  letter-spacing: 0.06em;
+  text-transform: uppercase;
+  background: transparent;
+  color: var(--text-primary);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  cursor: pointer;
+  white-space: nowrap;
+  transition: all var(--transition-fast);
+  font-family: var(--font-mono);
+}
+.agent-cmd-spawn:hover {
+  background: var(--accent-primary-subtle);
+  border-color: var(--accent-primary);
+  color: var(--accent-primary-hover);
+}
+
+.agent-cmd-status {
+  flex-shrink: 0;
+  font-size: 11px;
+  font-weight: 600;
+  color: var(--text-secondary);
+  white-space: nowrap;
+  max-width: 80px;
+  min-width: 0;
+  overflow: hidden;
+  text-overflow: ellipsis;
+}
+.agent-cmd-status:empty {
+  display: none;
+}
+
+.agent-cmd-input {
+  flex: 1;
+  min-width: 140px;
+  padding: 6px 10px;
+  font-size: 12px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  background: rgba(0,0,0,0.35);
+  color: var(--text-primary);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  outline: none;
+  transition: border-color var(--transition-fast);
+}
+.agent-cmd-input:focus {
+  border-color: var(--accent-primary);
+}
+.agent-cmd-input::placeholder {
+  color: var(--text-tertiary);
+}
+
+.agent-cmd-btn {
+  flex-shrink: 0;
+  padding: 6px 14px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.06em;
+  text-transform: uppercase;
+  background: transparent;
+  color: var(--accent-primary);
+  border: 1px solid var(--accent-primary);
+  border-radius: 0;
+  cursor: pointer;
+  white-space: nowrap;
+  transition: all var(--transition-fast);
+}
+.agent-cmd-btn:hover {
+  background: var(--accent-primary-subtle);
+  color: var(--accent-primary-hover);
+  border-color: var(--accent-primary-hover);
+}
+.agent-cmd-btn:disabled {
+  opacity: 0.35;
+  cursor: not-allowed;
+}
+.agent-cmd-stop {
+  background: transparent;
+  color: var(--text-secondary);
+  border: 1px solid var(--border-default);
+}
+.agent-cmd-stop:hover {
+  background: rgba(239,68,68,0.08);
+  border-color: #ef4444;
+  color: #f87171;
+}
+
+.agent-control-strip {
+  padding: 8px 10px;
+  border-bottom: 1px solid rgba(255, 255, 255, 0.08);
+  background: rgba(255, 255, 255, 0.02);
+}
+.agent-control-selected {
+  font-size: 11px;
+  font-weight: 600;
+  color: var(--text-tertiary);
+  margin-bottom: 6px;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+.agent-control-actions {
+  display: flex;
+  gap: 6px;
+}
+.agent-control-actions .tb-btn {
+  flex: 1;
+  justify-content: center;
+  padding: 5px 8px;
+  font-size: 11px;
+}
+.agent-control-task-row {
+  margin-top: 6px;
+  display: flex;
+  gap: 6px;
+}
+.agent-control-task-input {
+  flex: 1;
+  min-width: 0;
+  padding: 6px 8px;
+  font-size: 11px;
+  color: var(--text-primary);
+  background: var(--surface-1);
+  border: 1px solid var(--border-default);
+  border-radius: var(--radius-sm);
+  outline: none;
+}
+.agent-control-task-input:focus {
+  border-color: var(--accent-primary);
+}
+
+.agent-badge-layer {
+  position: fixed;
+  inset: 0;
+  pointer-events: none;
+  z-index: 170;
+}
+.agent-badge {
+  position: fixed;
+  transform: translate(-50%, -50%);
+  pointer-events: auto;
+  z-index: 220;
+  touch-action: none;
+  padding: 3px 8px;
+  font-size: 10px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.06em;
+  text-transform: uppercase;
+  color: var(--text-primary);
+  background: rgba(16, 22, 32, 0.9);
+  border: 1px solid var(--border-strong);
+  border-radius: 0;
+  cursor: pointer;
+  white-space: nowrap;
+  box-shadow: none;
+}
+.agent-badge.active {
+  border-color: var(--accent-primary);
+  box-shadow: 0 0 0 2px var(--accent-primary-subtle), var(--shadow-md);
+}
+
+/* ===== Vibe Creator – Right Panel Layout ===== */
+.vibe-panel-header {
+  flex-shrink: 0;
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  padding: 6px 10px;
+  border-bottom: 1px solid rgba(255,255,255,0.06);
+  background: rgba(255,255,255,0.02);
+}
+
+.vibe-panel-title {
+  font-weight: 600;
+  font-size: 11px;
+  font-family: var(--font-mono);
+  letter-spacing: 0.16em;
+  text-transform: uppercase;
+  color: var(--text-secondary);
+  display: flex;
+  align-items: center;
+  gap: 6px;
+}
+.vibe-panel-title::before {
+  content: ">";
+  font-family: var(--font-mono);
+  font-size: 12px;
+  color: var(--accent-primary);
+}
+
+.vibe-tabs {
+  display: flex;
+  gap: 4px;
+  padding: 6px 10px;
+  border-bottom: 1px solid var(--border-subtle);
+  background: rgba(255,255,255,0.01);
+}
+.vibe-tab-btn {
+  padding: 5px 10px;
+  border-radius: 0;
+  border: 1px solid transparent;
+  background: transparent;
+  color: var(--text-tertiary);
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.08em;
+  text-transform: uppercase;
+  cursor: pointer;
+}
+.vibe-tab-btn:hover {
+  color: var(--text-secondary);
+  background: rgba(255,255,255,0.04);
+}
+.vibe-tab-btn.active {
+  color: var(--text-primary);
+  border-color: rgba(139, 92, 246, 0.35);
+  background: rgba(139, 92, 246, 0.15);
+}
+
+.vibe-content {
+  flex: 1;
+  min-height: 0;
+  display: flex;
+}
+.vibe-tab-pane {
+  flex: 1;
+  min-height: 0;
+  display: flex;
+  flex-direction: column;
+}
+
+.vibe-assets-help {
+  font-size: 11px;
+  color: var(--text-tertiary);
+  line-height: 1.6;
+  padding: 10px;
+  border-bottom: 1px solid var(--border-subtle);
+}
+.vibe-asset-controls {
+  display: flex;
+  gap: 6px;
+  padding: 10px;
+  border-bottom: 1px solid var(--border-subtle);
+}
+.vibe-asset-aux-controls {
+  display: flex;
+  gap: 6px;
+  padding: 8px 10px;
+  border-bottom: 1px solid var(--border-subtle);
+}
+.vibe-asset-aux-controls .vibe-btn {
+  flex: 1;
+  padding: 6px 8px;
+  font-size: 11px;
+  border: 1px solid var(--border-default);
+  background: var(--surface-2);
+  color: var(--text-secondary);
+}
+.vibe-asset-aux-controls .vibe-btn:hover {
+  background: var(--surface-3);
+  color: var(--text-primary);
+}
+.vibe-asset-list {
+  flex: 1;
+  min-height: 0;
+  overflow-y: auto;
+  padding: 8px;
+  display: grid;
+  grid-template-columns: repeat(auto-fill, minmax(132px, 1fr));
+  grid-auto-rows: max-content;
+  align-content: start;
+  align-items: start;
+  gap: 10px;
+}
+.vibe-asset-empty {
+  font-size: 12px;
+  color: var(--text-tertiary);
+  padding: 16px 10px;
+}
+.vibe-asset-item {
+  border: 1px solid var(--border-subtle);
+  border-radius: 0;
+  background: rgba(255,255,255,0.02);
+  padding: 6px;
+  height: auto;
+  align-self: start;
+}
+.vibe-asset-thumb {
+  width: 100%;
+  aspect-ratio: 1 / 1;
+  object-fit: cover;
+  border-radius: 0;
+  border: 1px solid rgba(255,255,255,0.08);
+  background: #0b0d11;
+  display: block;
+}
+.vibe-asset-item-head {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  gap: 8px;
+  margin: 6px 2px 0;
+}
+.vibe-asset-name {
+  font-size: 11px;
+  font-weight: 600;
+  color: var(--text-primary);
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+.vibe-asset-status {
+  font-size: 9px;
+  font-family: var(--font-mono);
+  text-transform: uppercase;
+  letter-spacing: 0.08em;
+  padding: 2px 6px;
+  border-radius: 0;
+  border: 1px solid var(--border-default);
+  color: var(--text-tertiary);
+}
+.vibe-asset-status.approved {
+  border-color: rgba(74, 222, 128, 0.4);
+  color: #86efac;
+  background: rgba(74, 222, 128, 0.12);
+}
+.vibe-asset-prompt {
+  font-size: 10px;
+  color: var(--text-tertiary);
+  line-height: 1.4;
+  margin: 4px 2px 0;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+.vibe-asset-actions {
+  display: flex;
+  gap: 4px;
+  margin-top: 6px;
+}
+.vibe-asset-actions .vibe-btn {
+  flex: 1;
+  padding: 5px 6px;
+  font-size: 10px;
+}
+.vibe-asset-item[draggable="true"] {
+  cursor: grab;
+}
+.vibe-asset-item[draggable="true"]:active {
+  cursor: grabbing;
+}
+
+/* Staging editor visual mode */
+body.staging-mode {
+  background: #000;
+}
+body.staging-mode .watermark-logo {
+  opacity: 0.08;
+}
+body.staging-mode #overlay-top {
+  background: rgba(8, 10, 14, 0.92);
+  border-bottom-color: rgba(255,255,255,0.08);
+}
+/* In builder mode, change left panel header to reflect context */
+body.staging-mode .panel-title::after {
+  content: " · Asset Builder";
+  color: var(--accent-primary);
+  font-weight: 600;
+}
+/* Hide the shape dropdown in builder mode — inline bar replaces it */
+body.staging-mode .shape-dropdown-wrapper {
+  display: none;
+}
+
+/* Bottom input bar pinned to panel bottom */
+.vibe-bar {
+  flex-shrink: 0;
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  padding: 8px 10px;
+  background: rgba(255,255,255,0.02);
+  border-top: 1px solid rgba(255,255,255,0.06);
+}
+.vibe-bar.active {
+  background: rgba(139, 92, 246, 0.04);
+  border-top-color: rgba(139, 92, 246, 0.15);
+}
+
+.vibe-icon {
+  display: none;
+}
+
+.vibe-input {
+  flex: 1;
+  min-width: 0;
+  padding: 6px 10px;
+  font-size: 12px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  background: rgba(0,0,0,0.35);
+  color: var(--text-primary);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  outline: none;
+  transition: border-color var(--transition-fast);
+}
+.vibe-input:focus {
+  border-color: var(--accent-primary);
+}
+.vibe-input::placeholder {
+  color: var(--text-tertiary);
+}
+.vibe-input:disabled {
+  opacity: 0.5;
+}
+
+.vibe-mode-toggle {
+  flex-shrink: 0;
+  display: flex;
+  align-items: center;
+  gap: 4px;
+  font-size: 11px;
+  font-weight: 600;
+  color: var(--text-tertiary);
+  cursor: pointer;
+  user-select: none;
+  padding: 4px 6px;
+  border-radius: var(--radius-sm);
+  transition: all var(--transition-fast);
+}
+.vibe-mode-toggle:hover {
+  color: var(--text-secondary);
+  background: var(--surface-1);
+}
+.vibe-mode-toggle input[type="checkbox"] {
+  width: 14px;
+  height: 14px;
+  margin: 0;
+  cursor: pointer;
+}
+
+.vibe-btn {
+  flex-shrink: 0;
+  padding: 6px 12px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.06em;
+  text-transform: uppercase;
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  cursor: pointer;
+  white-space: nowrap;
+  transition: all var(--transition-fast);
+  background: transparent;
+  color: var(--text-secondary);
+}
+.vibe-btn:disabled {
+  opacity: 0.35;
+  cursor: not-allowed;
+}
+.vibe-btn-primary {
+  background: transparent;
+  color: var(--accent-primary);
+  border: 1px solid var(--accent-primary);
+}
+.vibe-btn-primary:hover {
+  background: var(--accent-primary-subtle);
+  color: var(--accent-primary-hover);
+  border-color: var(--accent-primary-hover);
+  box-shadow: none;
+}
+.vibe-btn-stop {
+  background: transparent;
+  color: var(--text-secondary);
+  border: 1px solid var(--border-default);
+}
+.vibe-btn-stop:hover {
+  background: rgba(239,68,68,0.08);
+  border-color: #ef4444;
+  color: #f87171;
+}
+
+.vibe-status {
+  flex-shrink: 0;
+  font-size: 11px;
+  font-weight: 500;
+  color: var(--text-tertiary);
+  white-space: nowrap;
+  max-width: 180px;
+  overflow: hidden;
+  text-overflow: ellipsis;
+}
+.vibe-status:empty {
+  display: none;
+}
+
+/* ===== Vibe Creator – Task Tracker (in-panel) ===== */
+.vibe-tracker {
+  flex: 1;
+  overflow-y: auto;
+  padding: 6px 0;
+  font-size: 12px;
+  scrollbar-width: thin;
+}
+.vibe-stream-details {
+  margin: 8px 10px 2px;
+  border: 1px solid var(--border-subtle);
+  border-radius: 0;
+  background: rgba(255,255,255,0.02);
+  overflow: hidden;
+}
+.vibe-stream-summary {
+  cursor: pointer;
+  padding: 8px 10px;
+  font-size: 11px;
+  color: var(--text-secondary);
+  border-bottom: 1px solid rgba(255,255,255,0.05);
+}
+.vibe-stream-body {
+  margin: 0;
+  padding: 10px;
+  max-height: 160px;
+  overflow: auto;
+  white-space: pre-wrap;
+  word-break: break-word;
+  font-size: 10px;
+  line-height: 1.45;
+  color: #cdd6f4;
+  background: rgba(8, 10, 14, 0.7);
+}
+.vibe-tracker::-webkit-scrollbar {
+  width: 4px;
+}
+.vibe-tracker::-webkit-scrollbar-thumb {
+  background: var(--border-default);
+  border-radius: 2px;
+}
+
+/* Tracker header */
+.vt-header {
+  padding: 6px 14px 8px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.12em;
+  text-transform: uppercase;
+  color: var(--accent-primary);
+  border-bottom: 1px solid var(--border-subtle);
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+.vt-count {
+  font-size: 10px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  color: var(--text-tertiary);
+  background: transparent;
+  border: 1px solid var(--border-default);
+  padding: 0 6px;
+  border-radius: 0;
+}
+
+/* Task items */
+.vt-task {
+  border-top: 1px solid transparent;
+}
+.vt-task + .vt-task {
+  border-top-color: var(--border-subtle);
+}
+
+.vt-task-row {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  padding: 5px 14px;
+  min-height: 28px;
+}
+
+.vt-icon {
+  flex-shrink: 0;
+  width: 16px;
+  text-align: center;
+  font-size: 11px;
+  line-height: 1;
+}
+
+/* Status-specific icon colors */
+.vt-pending .vt-icon {
+  color: var(--text-tertiary);
+}
+.vt-active .vt-icon {
+  color: #8B5CF6;
+  animation: vt-pulse 1.2s ease-in-out infinite;
+}
+.vt-done .vt-icon {
+  color: #4ade80;
+}
+.vt-failed .vt-icon {
+  color: #ef4444;
+}
+
+@keyframes vt-pulse {
+  0%, 100% { opacity: 1; }
+  50% { opacity: 0.4; }
+}
+
+.vt-title {
+  flex: 1;
+  font-weight: 500;
+  color: var(--text-secondary);
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+.vt-active .vt-title {
+  color: var(--text-primary);
+  font-weight: 600;
+}
+.vt-done .vt-title {
+  color: var(--text-secondary);
+}
+.vt-pending .vt-title {
+  color: var(--text-tertiary);
+}
+
+.vt-meta {
+  flex-shrink: 0;
+  font-size: 10px;
+  font-weight: 500;
+  color: var(--text-tertiary);
+  white-space: nowrap;
+}
+.vt-active .vt-meta {
+  color: #a78bfa;
+}
+
+/* Task detail sub-entries */
+.vt-details {
+  padding: 0 14px 4px 38px;
+}
+.vt-detail {
+  font-size: 11px;
+  color: var(--text-tertiary);
+  line-height: 1.6;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+.vt-detail::before {
+  content: "› ";
+  color: var(--border-strong);
+}
+
+/* Final polish note */
+.vt-final {
+  padding: 6px 14px;
+  font-size: 11px;
+  color: var(--text-secondary);
+  border-top: 1px solid var(--border-subtle);
+  display: flex;
+  align-items: baseline;
+  gap: 6px;
+}
+.vt-final-icon {
+  color: #fbbf24;
+  font-size: 12px;
+}
+
+/* Vibe Creator – Empty state (shown when no generation is active) */
+.vibe-empty-state {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  justify-content: center;
+  padding: 40px 20px;
+  gap: 12px;
+  text-align: center;
+  height: 100%;
+  min-height: 200px;
+}
+.vibe-empty-icon {
+  font-size: 32px;
+  opacity: 0.25;
+  user-select: none;
+}
+.vibe-empty-text {
+  font-size: 12px;
+  color: var(--text-tertiary);
+  max-width: 240px;
+  line-height: 1.6;
+}
+
+/* Vibe Creator – Activity bar (what the agent is doing right now) */
+.vt-activity {
+  padding: 8px 14px;
+  font-size: 11px;
+  font-weight: 500;
+  color: #a78bfa;
+  background: rgba(139, 92, 246, 0.06);
+  border-top: 1px solid rgba(139, 92, 246, 0.15);
+  line-height: 1.5;
+  word-wrap: break-word;
+  white-space: normal;
+  animation: vt-pulse 1.2s ease-in-out infinite;
+}
+.vt-activity.hidden {
+  display: none;
+}
+
+/* Agent Vision */
+.agent-vision {
+  border-bottom: 1px solid var(--border-subtle);
+}
+
+.agent-shot-img {
+  width: 100%;
+  height: auto;
+  display: block;
+  background: var(--bg-primary);
+  aspect-ratio: 2.2 / 1;
+  object-fit: cover;
+}
+
+.agent-decision-content {
+  margin: 0;
+  padding: 10px 12px;
+  font-size: 11px;
+  line-height: 1.5;
+  color: var(--text-primary);
+  white-space: pre-wrap;
+  word-break: break-word;
+  font-family: var(--font-mono);
+  background: var(--surface-1);
+  border-radius: 0;
+  border: 1px solid var(--border-subtle);
+  max-height: 160px;
+  overflow-y: auto;
+}
+
+/* Collapsible Sections */
+.agent-collapse {
+  border-bottom: 1px solid var(--border-subtle);
+}
+
+.agent-collapse:last-child {
+  border-bottom: none;
+}
+
+.agent-collapse > summary {
+  cursor: pointer;
+  padding: 9px 12px;
+  font-size: 11px;
+  color: var(--text-secondary);
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.1em;
+  text-transform: uppercase;
+  user-select: none;
+  transition: all var(--transition-fast);
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  list-style: none;
+}
+
+.agent-collapse > summary::-webkit-details-marker {
+  display: none;
+}
+
+.agent-collapse > summary::before {
+  content: "▸";
+  font-size: 10px;
+  transition: transform var(--transition-fast);
+}
+
+.agent-collapse[open] > summary::before {
+  transform: rotate(90deg);
+}
+
+.agent-collapse > summary:hover {
+  background: var(--surface-1);
+  color: var(--text-primary);
+}
+
+.agent-collapse-content {
+  padding: 0 12px 12px;
+}
+
+.agent-observation-panel {
+  margin: 16px 12px 16px;
+  padding: 10px;
+  border: 1px solid var(--border-subtle);
+  border-radius: var(--radius-md);
+  background: var(--surface-1);
+}
+
+.agent-observation-panel .section-label {
+  margin-bottom: 8px;
+}
+
+.agent-meta {
+  font-size: 11px;
+  color: var(--text-tertiary);
+  margin-bottom: 8px;
+  line-height: 1.5;
+}
+
+/* Sub-collapse (nested details) */
+.agent-sub-collapse {
+  border: 1px solid var(--border-subtle);
+  border-radius: 0;
+  margin-bottom: 6px;
+  background: var(--surface-1);
+}
+
+.agent-sub-collapse:last-child {
+  margin-bottom: 0;
+}
+
+.agent-sub-collapse > summary {
+  cursor: pointer;
+  padding: 7px 10px;
+  font-size: 10px;
+  color: var(--text-tertiary);
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.08em;
+  text-transform: uppercase;
+  user-select: none;
+  transition: all var(--transition-fast);
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  list-style: none;
+}
+
+.agent-sub-collapse > summary::-webkit-details-marker {
+  display: none;
+}
+
+.agent-sub-collapse > summary::before {
+  content: "▸";
+  font-size: 9px;
+  transition: transform var(--transition-fast);
+}
+
+.agent-sub-collapse[open] > summary::before {
+  transform: rotate(90deg);
+}
+
+.agent-sub-collapse > summary:hover {
+  color: var(--text-secondary);
+}
+
+.agent-pre {
+  margin: 0;
+  padding: 10px;
+  font-size: 10px;
+  line-height: 1.5;
+  color: var(--text-secondary);
+  white-space: pre-wrap;
+  word-break: break-word;
+  font-family: var(--font-mono);
+  background: var(--bg-primary);
+  max-height: 300px;
+  overflow-y: auto;
+  border-top: 1px solid var(--border-subtle);
+}
+
+/* Activity Log */
+.agent-log {
+  padding: 8px 12px 12px;
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+  max-height: 200px;
+  overflow-y: auto;
+}
+
+.agent-log-item {
+  padding: 8px 10px;
+  border-radius: 0;
+  background: var(--surface-1);
+  border-left: 2px solid var(--border-default);
+  font-size: 10px;
+  font-family: var(--font-mono);
+  color: var(--text-secondary);
+  white-space: pre-wrap;
+  line-height: 1.4;
+}
+
+/* ============================================================================
+   Crosshair
+   ============================================================================ */
+
+#crosshair {
+  position: fixed;
+  left: 50%;
+  top: 50%;
+  width: 20px;
+  height: 20px;
+  transform: translate(-50%, -50%);
+  pointer-events: none;
+  opacity: 0.9;
+}
+
+#crosshair::before,
+#crosshair::after {
+  content: "";
+  position: absolute;
+  left: 50%;
+  top: 50%;
+  background: rgba(255, 255, 255, 0.9);
+  transform: translate(-50%, -50%);
+  border-radius: 1px;
+  transition: all var(--transition-fast);
+}
+
+#crosshair::before {
+  width: 12px;
+  height: 2px;
+}
+
+#crosshair::after {
+  width: 2px;
+  height: 12px;
+}
+
+#crosshair.interactable::before,
+#crosshair.interactable::after {
+  background: var(--accent-primary);
+  box-shadow: 0 0 10px var(--accent-primary-glow);
+}
+
+#crosshair.interactable {
+  opacity: 1;
+}
+
+#crosshair.holding::before,
+#crosshair.holding::after {
+  background: var(--accent-warning);
+  box-shadow: 0 0 10px rgba(245, 158, 11, 0.5);
+}
+
+#crosshair.holding {
+  opacity: 1;
+}
+
+/* ============================================================================
+   Interaction Hint
+   ============================================================================ */
+
+#interaction-hint {
+  position: fixed;
+  left: 50%;
+  top: 50%;
+  transform: translate(-50%, -50%) translateY(40px);
+  pointer-events: none;
+  opacity: 0;
+  transition: all var(--transition-normal);
+  z-index: 101;
+  background: var(--bg-elevated);
+  border: 1px solid var(--accent-primary);
+  border-radius: 0;
+  padding: 6px 12px;
+  font-size: 11px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  letter-spacing: 0.06em;
+  text-transform: uppercase;
+  color: var(--text-primary);
+  white-space: nowrap;
+  backdrop-filter: blur(12px);
+  box-shadow: none;
+}
+
+#interaction-hint.visible {
+  opacity: 1;
+  transform: translate(-50%, -50%) translateY(35px);
+}
+
+#interaction-hint .hint-key {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  min-width: 20px;
+  height: 20px;
+  background: transparent;
+  border: 1px solid var(--accent-primary);
+  border-radius: 0;
+  padding: 0 6px;
+  margin-left: 8px;
+  font-size: 10px;
+  font-weight: 500;
+  font-family: var(--font-mono);
+  color: var(--accent-primary);
+  box-shadow: none;
+}
+
+/* ============================================================================
+   Interaction Popup
+   ============================================================================ */
+
+#interaction-popup {
+  position: fixed;
+  left: 50%;
+  top: 50%;
+  transform: translate(-50%, -50%) translateY(70px);
+  background: var(--bg-elevated);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  padding: 6px;
+  z-index: 150;
+  min-width: 220px;
+  backdrop-filter: blur(20px);
+  box-shadow: none;
+  animation: popupSlideIn 0.2s ease;
+  flex-direction: column;
+  gap: 4px;
+  pointer-events: auto;
+}
+
+@keyframes popupSlideIn {
+  from {
+    opacity: 0;
+    transform: translate(-50%, -50%) translateY(60px) scale(0.95);
+  }
+  to {
+    opacity: 1;
+    transform: translate(-50%, -50%) translateY(70px) scale(1);
+  }
+}
+
+.interact-action-btn {
+  width: 100%;
+  padding: 10px 14px !important;
+  text-align: left !important;
+  justify-content: flex-start !important;
+  margin-bottom: 4px;
+  background: var(--surface-1) !important;
+  border: 1px solid var(--border-subtle) !important;
+}
+
+.interact-action-btn:last-child {
+  margin-bottom: 0;
+}
+
+.interact-action-btn:hover {
+  background: var(--accent-primary-subtle) !important;
+  border-color: rgba(99, 102, 241, 0.3) !important;
+}
+
+/* ============================================================================
+   Visibility Utilities
+   ============================================================================ */
+
+.hidden {
+  display: none !important;
+}
+
+.edit-only,
+.sim-only {
+  /* default shown */
+}
+
+html[data-mode="sim"] .edit-only {
+  display: none !important;
+}
+
+html[data-mode="edit"] .sim-only {
+  display: none !important;
+}
+
+/* Keep the agent command bar available in edit mode for iterative scene edits. */
+html[data-mode="edit"] #agent-command-bar.sim-only {
+  display: flex !important;
+}
+
+/* In edit mode, keep Agent Vision/Response visible as a floating inspector. */
+html[data-mode="edit"] #agent-panel.sim-only {
+  display: flex !important;
+  position: fixed;
+  right: 16px;
+  bottom: 72px;
+  width: 360px;
+  max-height: 56vh;
+  z-index: 145;
+  border: 1px solid var(--border-default);
+  border-radius: var(--radius-lg);
+  backdrop-filter: blur(20px);
+  background: var(--bg-elevated);
+}
+
+/* ============================================================================
+   Responsive Design
+   ============================================================================ */
+
+@media (max-width: 1100px) {
+  #overlay {
+    grid-template-columns: 280px 1fr 320px;
+  }
+  .tb-btn span { display: none; } /* hide text labels, keep icons */
+  .tb-btn svg + span { display: none; }
+}
+
+@media (max-width: 900px) {
+  #overlay {
+    grid-template-columns: 0 1fr 320px;
+  }
+  .side-panel-left { display: none; }
+  .left-panel-open { display: none !important; }
+}
+
+@media (max-width: 640px) {
+  #overlay {
+    grid-template-columns: 1fr;
+    grid-template-rows: auto 1fr;
+    grid-template-areas: "top" ".";
+  }
+  .side-panel {
+    height: auto;
+    max-height: 50vh;
+  }
+  .side-panel-left, .side-panel-right { display: none; }
+}
+
+/* ============================================================================
+   Scrollbar Styling
+   ============================================================================ */
+
+::-webkit-scrollbar {
+  width: 8px;
+  height: 8px;
+}
+
+::-webkit-scrollbar-track {
+  background: transparent;
+}
+
+::-webkit-scrollbar-thumb {
+  background: var(--surface-3);
+  border-radius: 0;
+}
+
+::-webkit-scrollbar-thumb:hover {
+  background: rgba(255, 255, 255, 0.15);
+}
+
+/* ============================================================================
+   Selection
+   ============================================================================ */
+
+::selection {
+  background: var(--accent-primary-subtle);
+  color: var(--text-primary);
+}
+
+/* ============================================================================
+   Level Editor – Shape Dropdown, Primitives, Lights
+   ============================================================================ */
+
+/* Shape Dropdown */
+.shape-dropdown-wrapper {
+  position: relative;
+  display: inline-block;
+}
+
+.shape-dropdown-menu {
+  position: absolute;
+  top: calc(100% + 4px);
+  left: 0;
+  z-index: 200;
+  background: var(--bg-secondary);
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  box-shadow: none;
+  padding: 4px;
+  min-width: 140px;
+  display: flex;
+  flex-direction: column;
+  gap: 2px;
+}
+
+.shape-dropdown-menu.hidden {
+  display: none;
+}
+
+.shape-dropdown-menu button {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+  width: 100%;
+  padding: 8px 12px;
+  background: transparent;
+  border: none;
+  color: var(--text-primary);
+  font-size: 13px;
+  font-family: inherit;
+  font-weight: 500;
+  border-radius: var(--radius-sm);
+  cursor: pointer;
+  transition: background var(--transition-fast);
+  text-align: left;
+}
+
+.shape-dropdown-menu button:hover {
+  background: var(--surface-2);
+}
+
+.shape-icon {
+  display: inline-flex;
+  width: 18px;
+  justify-content: center;
+  font-size: 14px;
+  opacity: 0.7;
+}
+
+/* Primitive & Light Properties Panel */
+.prim-props {
+  padding: 0;
+}
+
+.prim-props.hidden {
+  display: none;
+}
+
+.prop-group {
+  margin-bottom: 6px;
+}
+
+.prop-group-title {
+  font-size: 10px;
+  font-weight: 600;
+  text-transform: uppercase;
+  letter-spacing: 0.04em;
+  color: var(--text-tertiary);
+  margin-bottom: 4px;
+}
+
+.prop-row, .dt-row {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  margin-bottom: 6px;
+}
+
+.prop-label {
+  font-size: 11px;
+  font-weight: 600;
+  color: var(--text-tertiary);
+  min-width: 48px;
+  flex-shrink: 0;
+}
+
+input[type="color"] {
+  -webkit-appearance: none;
+  appearance: none;
+  width: 32px;
+  height: 24px;
+  border: 1px solid var(--border-default);
+  border-radius: 0;
+  background: transparent;
+  cursor: pointer;
+  padding: 2px;
+}
+
+input[type="color"]::-webkit-color-swatch-wrapper { padding: 0; }
+input[type="color"]::-webkit-color-swatch { border: none; border-radius: 0; }
+
+.prop-check {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  font-size: 11px;
+  color: var(--text-secondary);
+  cursor: pointer;
+  padding: 4px 0;
+}
+
+.prop-check input[type="checkbox"] {
+  accent-color: var(--accent-primary);
+  width: 13px;
+  height: 13px;
+}
+
+/* Blob shadow sub-controls */
+.blob-shadow-controls {
+  padding: 4px 0 4px 19px; /* indent under the checkbox */
+  display: flex;
+  flex-direction: column;
+  gap: 3px;
+}
+.blob-shadow-controls.hidden { display: none; }
+.blob-shadow-controls .prop-row {
+  display: flex;
+  align-items: center;
+  gap: 6px;
+  font-size: 11px;
+  color: var(--text-secondary);
+}
+.blob-shadow-controls .prop-row label {
+  min-width: 52px;
+  flex-shrink: 0;
+}
+.blob-shadow-controls .prop-row input[type="range"] {
+  flex: 1;
+  height: 3px;
+  accent-color: var(--accent-primary);
+}
+.blob-shadow-controls .prop-row span {
+  min-width: 28px;
+  text-align: right;
+  font-variant-numeric: tabular-nums;
+}
+.blob-shadow-controls .prop-row input[type="number"] {
+  width: 60px;
+}
+
+.prop-row-3 {
+  display: grid;
+  grid-template-columns: 1fr 1fr 1fr;
+  gap: 6px;
+  margin-bottom: 8px;
+}
+
+.prop-input-group {
+  display: flex;
+  flex-direction: column;
+  gap: 2px;
+}
+
+.prop-input-group label {
+  font-size: 10px;
+  font-weight: 700;
+  text-transform: uppercase;
+  color: var(--text-tertiary);
+}
+
+.prop-input-group input[type="number"] {
+  width: 100%;
+  padding: 6px 8px;
+  background: var(--surface-1);
+  border: 1px solid var(--border-subtle);
+  border-radius: var(--radius-sm);
+  color: var(--text-primary);
+  font-family: inherit;
+  font-size: 12px;
+  -moz-appearance: textfield;
+}
+
+.prop-input-group input[type="number"]::-webkit-outer-spin-button,
+.prop-input-group input[type="number"]::-webkit-inner-spin-button {
+  -webkit-appearance: none;
+  margin: 0;
+}
+
+.prop-input-group input[type="number"]:focus {
+  outline: none;
+  border-color: var(--accent-primary);
+}
+
+.file-sm {
+  font-size: 12px !important;
+  padding: 4px 10px !important;
+}
+
+.btn-sm {
+  font-size: 12px;
+  padding: 4px 10px;
+  background: var(--surface-2);
+  border: 1px solid var(--border-subtle);
+  border-radius: var(--radius-sm);
+  color: var(--text-secondary);
+  cursor: pointer;
+  font-family: inherit;
+  transition: all var(--transition-fast);
+}
+
+.btn-sm:hover {
+  background: var(--surface-3);
+  color: var(--text-primary);
+}
+
+.btn-sm.danger {
+  color: #ef4444;
+}
+
+.btn-sm.danger:hover {
+  background: rgba(239, 68, 68, 0.15);
+  color: #f87171;
+}
+
+/* Primitive textarea */
+.prim-props textarea {
+  width: 100%;
+  padding: 8px 10px;
+  background: var(--surface-1);
+  border: 1px solid var(--border-subtle);
+  border-radius: var(--radius-sm);
+  color: var(--text-primary);
+  font-family: inherit;
+  font-size: 13px;
+  margin-bottom: 8px;
+  resize: vertical;
+  min-height: 40px;
+  transition: border-color var(--transition-fast);
+}
+
+.prim-props textarea:focus {
+  outline: none;
+  border-color: var(--accent-primary);
+}
+
+/* Metadata Key-Value Editor */
+.meta-kv-list {
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+}
+
+.meta-kv-empty {
+  font-size: 11px;
+  color: var(--text-tertiary);
+  font-style: italic;
+  padding: 4px 0;
+}
+
+.meta-kv-row {
+  display: flex;
+  gap: 4px;
+  align-items: center;
+}
+
+.meta-kv-key,
+.meta-kv-val {
+  flex: 1;
+  min-width: 0;
+  padding: 5px 8px;
+  background: var(--surface-1);
+  border: 1px solid var(--border-subtle);
+  border-radius: var(--radius-sm);
+  color: var(--text-primary);
+  font-family: inherit;
+  font-size: 12px;
+  transition: border-color var(--transition-fast);
+}
+
+.meta-kv-key {
+  flex: 0.45;
+  font-weight: 600;
+  color: var(--accent-info);
+}
+
+.meta-kv-val {
+  flex: 0.55;
+}
+
+.meta-kv-key:focus,
+.meta-kv-val:focus {
+  outline: none;
+  border-color: var(--accent-primary);
+}
+
+/* ============================================================================
+   Agent Sensor Panels (sidebar)
+   ============================================================================ */
+.agent-sensor-label {
+  font-size: 10px;
+  font-weight: 600;
+  color: var(--text-tertiary);
+  text-transform: uppercase;
+  letter-spacing: 0.5px;
+  padding: 4px 8px 2px;
+}
+
+.agent-sensor-canvas {
+  width: 100%;
+  height: auto;
+  display: block;
+  background: #000;
+  aspect-ratio: 2.2 / 1;
+}
diff --git a/misc/DimSim/vite.config.js b/misc/DimSim/vite.config.js
new file mode 100644
index 0000000000..61760f311f
--- /dev/null
+++ b/misc/DimSim/vite.config.js
@@ -0,0 +1,35 @@
+import { defineConfig } from "vite";
+
+export default defineConfig({
+  optimizeDeps: {
+    exclude: ["@sparkjsdev/spark", "@dimforge/rapier3d-compat"],
+  },
+  assetsInclude: ["**/*.wasm"],
+  build: {
+    assetsInlineLimit: 0,
+    rollupOptions: {
+      external: [/^https:\/\/esm\.sh\//],
+      output: {
+        // Eval workflow files under scenes/*/evals/*.js import runEval from
+        // '@dimsim/eval' via the importmap in index.html.  That map needs to
+        // point at a *stable* URL, so pin the harness chunk's filename here
+        // (it's the public ESM surface for evals).  Everything else keeps
+        // its content-hashed name.
+        chunkFileNames(chunk) {
+          if (chunk.facadeModuleId?.endsWith("/evals/harness.ts")) {
+            return "assets/dimsim-eval.js";
+          }
+          return "assets/[name]-[hash].js";
+        },
+      },
+    },
+  },
+  server: {
+    proxy: {
+      "/vlm": {
+        target: "http://127.0.0.1:8000",
+        changeOrigin: true,
+      },
+    },
+  },
+});
diff --git a/pyproject.toml b/pyproject.toml
index 93c3d32d34..99ca5c3c8a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -606,4 +606,7 @@ ignore = [
     "dimos/manipulation/manipulation_module.py",
     "dimos/navigation/nav_stack/modules/*/main.cpp",
     "dimos/navigation/nav_stack/common/*.hpp",
+    "misc/DimSim/src/AiAvatar.js",
+    "misc/DimSim/src/style.css",
+    "misc/DimSim/src/engine.js",
 ]