Sync dev into main

.gitignore

@@ -14,7 +14,9 @@ scripts/*
 scripts/regression/*
 !scripts/regression/validate_sdf_cli_truth.ts
 !scripts/regression/run_shadow_hand_hover_regression.mjs
+!scripts/regression/run_default_link_click_hover_regression.mjs
 !scripts/regression/validate_unitree_ros_usd_export_benchmark.mjs
+!scripts/regression/benchmark_import_pre_resolve.ts
 !scripts/mujoco/
 scripts/mujoco/*
 !scripts/mujoco/mjcf_compare.ts
@@ -59,4 +61,8 @@ __pycache__/
 !scripts/regression/validate_unitree_ros_usda_browser_smoke.mjs
 !scripts/regression/validate_unitree_selected_browser.mjs
 !scripts/regression/validate_unitree_ros_usda_selected_browser.mjs
+!scripts/regression/validate_source_editor_mjcf_browser.mjs
+!scripts/regression/validate_source_editor_unitree_browser.mjs
 snapshot-default-page.png
+
+.omx/

README.md

@@ -235,15 +235,16 @@ Git hooks are wired through Husky + lint-staged + Commitlint:
 - `pre-commit`: formats staged files and runs ESLint / Stylelint on the staged diff
 - `commit-msg`: validates Conventional Commit messages
 
-The repository still does **not** force a single root `npm test` command because verification remains module- and fixture-driven.
+`npm test` stays limited to repo-contained tests that do not require the external fixture corpora under `test/`.
 
 Validation is typically done through:
 
 - targeted `node --test` / `npx tsx --test` runs next to the changed module
 - focused regression scripts under `scripts/regression/`
+- `npm test` for the fast repo-contained lane used by `npm run verify:fast`
 - `npm run build`
 - package workspace builds when touching `src/lib` or `packages/react-robot-canvas`
-- fixture-driven checks against large corpora under `test/`, especially `test/unitree_model`, `test/gazebo_models`, `test/awesome_robot_descriptions_repos`, and `test/usd-viewer`
+- fixture-driven checks under `test/` via `npm run test:fixtures:*` / `npm run verify:full`, especially `test/unitree_model`, `test/gazebo_models`, `test/awesome_robot_descriptions_repos`, and `test/usd-viewer`
 
 ## Documentation
 

README_CN.md

@@ -235,15 +235,16 @@ Git hooks 通过 Husky + lint-staged + Commitlint 接入：
 - `pre-commit`：对 staged 文件执行格式化，并在 staged diff 上运行 ESLint / Stylelint
 - `commit-msg`：校验 Conventional Commit 提交信息
 
-目前仓库仍然**没有**强行统一成单一的根级 `npm test`，因为测试验证依旧以模块定向和 fixture 回归为主。
+`npm test` 当前只覆盖仓库内可自给的测试，不包含依赖 `test/` 外部大型语料的 fixture 回归。
 
 通常通过以下方式完成验证：
 
 - 在改动模块旁边运行定向 `node --test` / `npx tsx --test`
 - 运行 `scripts/regression/` 下的定向回归脚本
+- 使用 `npm test` 跑 `npm run verify:fast` 采用的仓库内快速测试
 - 执行 `npm run build`
 - 如果改动了 `src/lib` 或 `packages/react-robot-canvas`，补跑包构建
-- 针对 `test/` 下的大型 fixture 语料做回归检查，尤其是 `test/unitree_model`、`test/gazebo_models`、`test/awesome_robot_descriptions_repos`、`test/usd-viewer`
+- 通过 `npm run test:fixtures:*` / `npm run verify:full` 针对 `test/` 下的大型 fixture 语料做回归检查，尤其是 `test/unitree_model`、`test/gazebo_models`、`test/awesome_robot_descriptions_repos`、`test/usd-viewer`
 
 ## 文档入口
 

docs/superpowers/specs/2026-04-14-ai-inspection-professional-badge-toggle-design.md

@@ -0,0 +1,75 @@
+# AI Inspection Professional Badge Toggle Design
+
+**Date:** 2026-04-14
+
+**Goal**
+
+Enable the status badge in AI inspection professional mode to toggle the corresponding inspection item selection. Clicking `已纳入` or `未纳入` should behave the same as toggling that item from the left inspection sidebar.
+
+**Scope**
+
+- Only change the professional-mode setup view in the AI inspection modal.
+- Only make the per-item status badge clickable.
+- Keep the rest of the card read-only.
+- Preserve existing behavior in normal mode, running state, and report state.
+
+**Current Behavior**
+
+- In professional mode, the right-side detail panel shows each inspection item as a card.
+- The badge text reflects selection state with `已纳入` or `未纳入`.
+- The badge is display-only and cannot change selection.
+- Selection changes are currently driven from the left sidebar and the normal-mode setup view.
+
+**Desired Behavior**
+
+- In professional mode setup, clicking the status badge toggles the item selection.
+- When the item is selected, clicking `已纳入` removes it from the run.
+- When the item is not selected, clicking `未纳入` includes it in the run.
+- The right card state, left sidebar state, and summary metrics stay synchronized because they continue to share the same `selectedItems` state.
+
+**Design**
+
+## UI structure
+
+- Replace the badge-only `span` in `InspectionSetupView.tsx` with a semantic `button`.
+- Keep the visual style close to the existing badge so the change is behavioral, not visual redesign.
+- Add a small hover/focus treatment consistent with current token usage.
+
+## Data flow
+
+- `AIInspectionModal.tsx` remains the owner of `selectedItems`.
+- Pass a new `onToggleItem(categoryId, itemId)` callback into `InspectionSetupView`.
+- The callback updates `selectedItems` with the same add/remove semantics already used by the sidebar item toggle.
+
+## Interaction rules
+
+- The badge is clickable only in setup view professional mode.
+- No change to whole-card click behavior.
+- No extra confirmation dialog.
+- No i18n changes are required because the existing labels already match the desired states.
+
+## Accessibility
+
+- Use a real `button` so keyboard users can trigger the change.
+- Keep the visible label as the current included/skipped text.
+- Add an `aria-pressed` state tied to item selection.
+
+## Testing
+
+- Add a test in `AIInspectionModal.test.tsx` that enters professional mode, clicks the right-side status badge, and verifies:
+  - the right-side item state toggles from included to skipped or the reverse
+  - the selection summary updates
+  - the left sidebar selection count remains synchronized
+
+**Files**
+
+- Modify `src/features/ai-assistant/components/AIInspectionModal.tsx`
+- Modify `src/features/ai-assistant/components/InspectionSetupView.tsx`
+- Modify `src/features/ai-assistant/components/AIInspectionModal.test.tsx`
+
+**Out of Scope**
+
+- Making the entire inspection item card clickable
+- Changing normal-mode selection behavior
+- Refactoring shared selection helpers between the sidebar and setup view
+- Any report-view interaction changes

docs/update-rules.md

@@ -47,7 +47,7 @@
 npm run dev
 npm run lint
 npm run typecheck
-npm run test
+npm run test          # 仓库内快速测试；不依赖 test/ 大型 fixture 语料
 npm run build
 npm run verify:fast
 npm run verify:full
@@ -81,6 +81,10 @@ npm run test:fixtures:unitree-ros-usda
 npm run build:package:react-robot-canvas
 ```
 
+说明：
+`npm run verify:fast` 只跑仓库内可自给的检查。
+依赖 `test/` 目录大型语料的回归，统一走 `npm run test:fixtures:*` 或 `npm run verify:full`。
+
 ## 5. 测试样本索引
 
 ### USD / worker / roundtrip 主样本（`test/unitree_model/`）

docs/viewer.md

@@ -7,15 +7,16 @@
 
 URDF Studio 只有 `Editor` 一个编辑模式，统一承载三个子域：
 
-| 子域 | 典型任务 |
-|------|---------|
-| 拓扑 | Link / Joint 增删、拓扑编辑、关节参数 |
+| 子域               | 典型任务                                       |
+| ------------------ | ---------------------------------------------- |
+| 拓扑               | Link / Joint 增删、拓扑编辑、关节参数          |
 | 几何 / 碰撞 / 测量 | Visual / Collision、mesh、材质、纹理、碰撞变换 |
-| 硬件配置 | 电机型号、传动比、阻尼、摩擦 |
+| 硬件配置           | 电机型号、传动比、阻尼、摩擦                   |
 
 新增功能前，先判断属于哪类子能力，避免跨子系统逻辑缠绕。
 
 快速映射：
+
 - 统一公开入口：`features/editor/index.ts`
 - 具体实现：`features/urdf-viewer/`（包含拓扑/硬件与几何/碰撞/测量）
 - 跨子域共享交互：`app/` 编排层 或 `shared/components/3d/`
@@ -79,12 +80,15 @@ features/urdf-viewer/
 适用范围：`runtime/hydra/render-delegate/*`、`workers/*`、`utils/usd*`、`app/hooks/useFile*.ts` 中消费 worker 结果的 USD 工作流
 
 必须遵循：
+
 - USD stage preparation、runtime metadata、robot hydration、prepared export cache、roundtrip archive 的修复，默认优先放在 worker/runtime 链路完成，不要搬到主线程 adapter 或 debug bridge
 - `runtime/hydra/render-delegate/*` 产出的 metadata snapshot 是该链路的 source of truth；缺字段应修 worker/runtime 生成逻辑
 - 禁止新增"worker 结果缺失 -> 主线程重建 metadata -> 静默继续"的 fallback
 - 对 folded fixed link、collision-only semantic child link 的推断只能基于 stage/truth 中的明确证据，不做纯命名猜测
+- `visual_*` / `collision_*` / `group_*` / `xform_*` / `scene` / `root` 这类 roundtrip 容器 prim 不是 link identity；runtime metadata 不得把它们提升为 synthetic link 或 fixed joint
 
 验证要求：
+
 - 改动上述链路时，必须跑 `test/unitree_model` 整套 USD 浏览器验证
 - 至少覆盖 `Go2 + B2 + H1-2`
 - 浏览器验证产物写入 `tmp/regression/`
@@ -94,6 +98,7 @@ features/urdf-viewer/
 适用范围：`UsdOffscreenStage.tsx`、`usdOffscreenViewer.worker.ts`、`runtime/hydra/render-delegate/*`、`shared/utils/three/dispose.ts`
 
 必须遵循：
+
 - 主线程宿主只负责 handoff、尺寸同步与错误透传；不要重建 runtime truth
 - teardown 必须完整释放 observer、DOM/worker 事件监听、RAF/timer、OffscreenCanvas 关联 runtime、scene graph 与 driver 引用
 - runtime 全局 handler/registry/active owner 必须提供对称的 unregister/reset
@@ -102,17 +107,17 @@ features/urdf-viewer/
 
 ## 8. 关键 utils 职责速查
 
-| 文件 | 职责 |
-|------|------|
-| `viewerRobotData.ts` | 统一 viewer 层消费的数据形态 |
-| `viewerResourceScope.ts` | source file / assets / robot links 资源域 |
-| `usdExportBundle.ts` | USD 场景快照与导出缓存协调 |
-| `usdRuntimeRobotHydration.ts` | runtime -> RobotData hydration |
-| `usdSceneRobotResolution.ts` | 场景级 robot resolution |
-| `usdViewerRobotAdapter.ts` | viewer runtime / snapshot 到应用数据适配 |
-| `usdOffscreenViewerWorkerClient.ts` | 主线程对 offscreen worker 请求封装 |
-| `usdStageOpenPreparationWorkerBridge.ts` | prepared-open 链路 worker bridge |
-| `usdPreparedExportCacheWorkerBridge.ts` | prepared-export 链路 worker bridge |
-| `runtimeSceneMetadata.ts` | runtime scene metadata 标准化读模型 |
-| `visualizationFactories.ts` | 辅助可视化对象创建 |
-| `dispose.ts` | THREE 资源清理 |
+| 文件                                     | 职责                                      |
+| ---------------------------------------- | ----------------------------------------- |
+| `viewerRobotData.ts`                     | 统一 viewer 层消费的数据形态              |
+| `viewerResourceScope.ts`                 | source file / assets / robot links 资源域 |
+| `usdExportBundle.ts`                     | USD 场景快照与导出缓存协调                |
+| `usdRuntimeRobotHydration.ts`            | runtime -> RobotData hydration            |
+| `usdSceneRobotResolution.ts`             | 场景级 robot resolution                   |
+| `usdViewerRobotAdapter.ts`               | viewer runtime / snapshot 到应用数据适配  |
+| `usdOffscreenViewerWorkerClient.ts`      | 主线程对 offscreen worker 请求封装        |
+| `usdStageOpenPreparationWorkerBridge.ts` | prepared-open 链路 worker bridge          |
+| `usdPreparedExportCacheWorkerBridge.ts`  | prepared-export 链路 worker bridge        |
+| `runtimeSceneMetadata.ts`                | runtime scene metadata 标准化读模型       |
+| `visualizationFactories.ts`              | 辅助可视化对象创建                        |
+| `dispose.ts`                             | THREE 资源清理                            |

package.json

@@ -57,10 +57,12 @@
     "generate": "npm run ai-prompts:generate",
     "generate:check": "node scripts/generate_ai_prompt_templates.mjs --check && node scripts/generate_inspection_criteria.mjs --check",
     "build:with-generate": "npm run generate && npm run build",
-    "test": "npm run test:unit:app-hooks && npm run test:fixtures:imports",
+    "test": "node --import tsx --test vite.config.test.ts && npm run test:unit:app-hooks",
     "test:fixtures:imports": "esbuild scripts/regression/validate_import_fixture_matrix.ts --bundle --platform=node --format=cjs --alias:@=./src --external:jsdom --outfile=tmp/regression/fixture-import-matrix.cjs && node tmp/regression/fixture-import-matrix.cjs",
     "test:fixtures:myosuite-imports": "esbuild scripts/regression/validate_myosuite_imports.ts --bundle --platform=node --format=cjs --alias:@=./src --external:jsdom --outfile=tmp/regression/myosuite-import-matrix.cjs && node tmp/regression/myosuite-import-matrix.cjs",
     "test:fixtures:unitree-ros-usd-export-benchmark": "node scripts/regression/validate_unitree_ros_usd_export_benchmark.mjs",
+    "test:fixtures:unitree-ros-usd-export-e2e-benchmark": "node scripts/regression/validate_unitree_ros_usd_export_e2e_benchmark.mjs",
+    "test:fixtures:unitree-ros-isaacsim-truth": "npx tsx scripts/regression/validate_unitree_ros_usd_against_isaacsim.ts",
     "test:fixtures:unitree-ros-urdfs": "npx tsx scripts/regression/validate_unitree_ros_urdfs.ts",
     "test:fixtures:unitree-usd": "node scripts/regression/validate_unitree_selected_browser.mjs",
     "verify:fast": "npm run format:check && npm run lint && npm run typecheck:quality && npm run test && npm run build",
@@ -70,7 +72,7 @@
     "test:fixtures:unitree-ros-usda": "node scripts/regression/validate_unitree_ros_usda_selected_browser.mjs",
     "test:fixtures": "npm run test:fixtures:imports && npm run test:fixtures:unitree-ros-urdfs && npm run test:fixtures:unitree-usd && npm run test:fixtures:unitree-ros-usda && npm run test:fixtures:unitree-ros-usd-export-benchmark",
     "dev:with-generate": "node scripts/start_dev_server.mjs --generate",
-    "test:unit:app-hooks": "node --test src/app/hooks/useEditableSourcePatches.test.ts src/app/hooks/workspaceGeneratedSourceState.test.ts src/app/utils/assemblyRootComponentSelection.test.ts src/app/utils/importPreparation.workerSafe.test.ts src/app/components/UnifiedViewer.typecheck.test.ts src/app/handoff/bootstrap.test.ts src/app/utils/popupHandoffImport.test.ts"
+    "test:unit:app-hooks": "node --import tsx --test src/app/hooks/useEditableSourcePatches.test.ts src/app/hooks/workspaceGeneratedSourceState.test.ts src/app/utils/assemblyRootComponentSelection.test.ts src/app/utils/importPreparation.workerSafe.test.ts src/app/components/UnifiedViewer.typecheck.test.ts src/app/handoff/bootstrap.test.ts src/app/utils/popupHandoffImport.test.ts"
   },
   "license": "Apache-2.0",
   "dependencies": {