patch..

2026-08-03 14:06:06 +09:00
parent 107ccd151e
commit 99cfef1004
37 changed files with 3273 additions and 356 deletions
@@ -2,12 +2,12 @@ import { type BeforeMount, type OnMount } from '@monaco-editor/react'
 import { driver } from 'driver.js'
 import { CarFront, Laptop, Monitor } from 'lucide-react'
 import type { LucideIcon } from 'lucide-react'
-import { useCallback, useEffect, useRef, useState } from 'react'
+import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
 import { io } from 'socket.io-client'
 import type { Socket } from 'socket.io-client'
 import Sidebar from './components/Sidebar'
 import PlatformLoadingOverlay from './components/PlatformLoadingOverlay'
-import { RunningPlatformCloseModal, SessionConfirmModal, StatusNoticeModal, WeekSwitchBlockedModal } from './components/AppStatusModals'
+import { ControlExtensionConfirmModal, RunningPlatformCloseModal, SessionConfirmModal, StatusNoticeModal, WeekSwitchBlockedModal } from './components/AppStatusModals'
 import TitleBar from './components/TitleBar'
 import { LMS_API_BASE_URL, LMS_SOCKET_ORIGIN, LMS_SOCKET_PATH, SELECTED_COURSE_STORAGE_KEY, launcherApiUrl } from './config/appConfig'
 import { clearStoredAuthSession, exchangeLauncherHandoff, readStoredAuthSession, refreshStoredAuthSession, storeAuthSession } from './features/auth/authSession'
@@ -26,7 +26,7 @@ import PlatformSelectionPanel from './features/platforms/PlatformSelectionPanel'
 import PlatformSettingsPanel from './features/platforms/PlatformSettingsPanel'
 import RecentSessionModal from './features/platforms/RecentSessionModal'
 import type { RecentSessionItem } from './features/platforms/RecentSessionModal'
-import { connectPlatformControl, fetchPlatformStatuses, getPlatformDotClass, isPlatformUnavailable, releasePlatformControl, requestOrCancelPlatformControl } from './features/platforms/platformControl'
+import { connectPlatformControl, extendPlatformControl, fetchPlatformStatuses, getPlatformDotClass, isPlatformUnavailable, releasePlatformControl, requestOrCancelPlatformControl } from './features/platforms/platformControl'
 import type { PlatformControlGrantedPayload, PlatformControlTerminatedPayload, PlatformControlWarningPayload } from './features/platforms/platformControl'
 import type { EnvironmentProfile, PlatformControlActionResponse, PlatformOption, StudioSourceSettings } from './features/platforms/types'
 import WorkspaceActivityHeader from './features/workspace/WorkspaceActivityHeader'
@@ -41,6 +41,8 @@ import type { WorkspaceGuideResourceMode } from './features/workspace/WorkspaceG
 import WorkspaceLogView from './features/workspace/WorkspaceLogView'
 import WorkspaceModuleTabContextMenu from './features/workspace/WorkspaceModuleTabContextMenu'
 import ModuleListView from './features/workspace/ModuleListView'
+import WorldEditorModal from './features/workspace/WorldEditorModal'
+import WorldMapSelectorModal, { NAV2_MAP_OPTIONS, type WorkspaceMapOption } from './features/workspace/WorldMapSelectorModal'
 import WorkspaceQaPanel from './features/workspace/WorkspaceQaPanel'
 import WorkspaceSettingsView from './features/workspace/WorkspaceSettingsView'
 import WorkspaceSourceControlView from './features/workspace/WorkspaceSourceControlView'
@@ -61,10 +63,11 @@ import { useWorkspaceTreeState } from './features/workspace/useWorkspaceTreeStat
 import { useWorkspaceVisualization } from './features/workspace/useWorkspaceVisualization'
 import { makeModuleParameterKey, readStoredModuleParameters, serializeModuleParameters } from './features/workspace/moduleParameters'
 import { parseHostFromUrl, readNestedString } from './features/workspace/remoteWorkspaceTarget'
+import { resolveRuntimeModules } from './features/workspace/runtimeModuleSet'
 import { defaultStudioSourceSettings, makePlatformWorkspaceRoot, makeWeekWorkspaceRoot, normalizeStudioSourceSettings, readStudioSourceSettings, storeStudioSourceSettings } from './features/workspace/sourceSettings'
 import { makeWorkspaceUiSessionKey, readStudioRuntimeSessionState, storeStudioRuntimeSessionState } from './features/workspace/studioRuntimeSession'
 import type { StudioRuntimeSessionState } from './features/workspace/studioRuntimeSession'
-import type { ModuleRow } from './features/workspace/types'
+import type { ModuleRow, RuntimeImageArtifact } from './features/workspace/types'
 import { formatControlRemainingTime, formatSessionClock } from './features/workspace/workspaceFormatters'
 import { buildModuleTreeItems, buildPathTreeItems, getEditorLanguage } from './features/workspace/workspaceFiles'
 import type { EditorFilePath } from './features/workspace/workspaceFiles'
@@ -81,6 +84,30 @@ type IdeActivity = WorkspaceActivity

 const PUBLIC_GUIDE_COURSE_SLUG = 'autonomy-studio-lms-guide'

+function resolveModuleRuntimeImages(
+  profiles: EnvironmentProfile[],
+  remoteWorkspace: boolean,
+  activeRuntimeImages: RuntimeImageArtifact[],
+): RuntimeImageArtifact[] {
+  if (!remoteWorkspace) return activeRuntimeImages
+
+  const images = profiles
+    .filter((profile) => ['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile.profileType.toLowerCase()))
+    .flatMap((profile) => Array.isArray(profile.config.runtimeImages) ? profile.config.runtimeImages : [])
+    .filter((image): image is RuntimeImageArtifact => (
+      typeof image === 'object'
+      && image !== null
+      && typeof (image as RuntimeImageArtifact).image === 'string'
+      && Boolean((image as RuntimeImageArtifact).image?.trim())
+      // ROS bridges are started by the visualization flow, not module execution.
+      && !/ros-bridge/i.test((image as RuntimeImageArtifact).image ?? '')
+    ))
+
+  return images.filter((image, index) => (
+    images.findIndex((candidate) => candidate.image?.trim() === image.image?.trim()) === index
+  ))
+}
+
 function makeStudentSlug(email?: string | null): string {
  return ((email ?? '').split('@')[0] || 'student').replace(/[^a-zA-Z0-9_-]+/g, '-').toLowerCase()
 }
@@ -343,7 +370,7 @@ const configureMonacoTheme: BeforeMount = (monaco) => {
  })
 }

-const imagePreviewSources: Partial<Record<string, string>> = {
+const initialImagePreviewSources: Partial<Record<string, string>> = {
  'src/renderer/public/assets/icon.png': '/assets/icon.png',
  'src/renderer/public/assets/splash.png': '/assets/splash.png',
  'src/renderer/public/assets/images/cc_bg.png': '/assets/images/cc_bg.png',
@@ -361,9 +388,11 @@ function LocalPcWorkspaceMockup({
  onClose,
  onDisconnectSession,
  onReleaseControl,
+  onRequestControlExtension,
  onTitlebarNotice,
  onRegisterStopRunningModules,
  canReleaseControl,
+  canExtendControl,
  controlEndsAt,
  theme,
  title,
@@ -387,9 +416,11 @@ function LocalPcWorkspaceMockup({
  onClose: () => void
  onDisconnectSession: () => void
  onReleaseControl: () => void
+  onRequestControlExtension: () => void
  onTitlebarNotice: (title: string, tone?: 'info' | 'warning' | 'error', addToList?: boolean) => void
  onRegisterStopRunningModules?: (handler: (() => Promise<void>) | null) => void
  canReleaseControl: boolean
+  canExtendControl: boolean
  controlEndsAt?: string | null
  theme: 'dark' | 'light'
  title: string
@@ -453,6 +484,8 @@ function LocalPcWorkspaceMockup({
  const [workspaceNavFlash, setWorkspaceNavFlash] = useState(false)
  const [moduleWorkspaceSnapshots, setModuleWorkspaceSnapshots] = useState<Record<string, ModuleWorkspaceSnapshot>>({})
  const [previewOpen, setPreviewOpen] = useState(false)
+  const [worldMapSelectorOpen, setWorldMapSelectorOpen] = useState(false)
+  const [worldEditorOpen, setWorldEditorOpen] = useState(false)
  const [previewLarge, setPreviewLarge] = useState(false)
  const [previewPosition, setPreviewPosition] = useState({ x: 1040, y: 72 })
  const [previewSize, setPreviewSize] = useState({ width: 600, height: 600 })
@@ -494,6 +527,7 @@ function LocalPcWorkspaceMockup({
    resetTabDrag
  } = useWorkspaceEditorFiles(editorInitialFiles, exampleActive)
  const [tabContextMenu, setTabContextMenu] = useState<{ file: EditorFilePath; x: number; y: number } | null>(null)
+  const [imagePreviewSources, setImagePreviewSources] = useState<Partial<Record<string, string>>>(initialImagePreviewSources)
  const [moduleTabContextMenu, setModuleTabContextMenu] = useState<{ moduleName: string; x: number; y: number } | null>(null)
  const [gitFileContextMenu, setGitFileContextMenu] = useState<{ moduleName: string; folderName?: string | null; filePath: string; status: GitChangedFile['status']; x: number; y: number } | null>(null)
  const {
@@ -634,6 +668,27 @@ function LocalPcWorkspaceMockup({
  const settingsActive = activeIdeActivity === 'settings'
  const terminalActive = activeIdeActivity === 'workspace' || activeIdeActivity === 'search'
  const remoteWorkspace = platformKey !== 'futuredrive-local-pc'
+  const worldMapStorageKey = `atnmy:lms:world-map:${courseKey}:${weekNumber}:${platformKey}`
+  const [selectedWorldMapKey, setSelectedWorldMapKey] = useState(() => (
+    window.localStorage.getItem(worldMapStorageKey) ?? 'nav2-turtlebot3-world'
+  ))
+  const [worldLayoutVersion, setWorldLayoutVersion] = useState(0)
+  const availableWorldMaps = useMemo(() => {
+    const configuredMaps = (curriculumWeek.maps ?? [])
+      .filter((map): map is WorkspaceMapOption => map.platformKey === 'NAV2')
+    if (!configuredMaps.length) return NAV2_MAP_OPTIONS
+    const localCustomMap = NAV2_MAP_OPTIONS.find((map) => map.key === 'nav2-custom')
+    return localCustomMap && !configuredMaps.some((map) => map.key === localCustomMap.key)
+      ? [...configuredMaps, localCustomMap]
+      : configuredMaps
+  }, [curriculumWeek.maps])
+  const selectedWorldMap = availableWorldMaps.find((map) => map.key === selectedWorldMapKey) ?? availableWorldMaps[0] ?? NAV2_MAP_OPTIONS[0]
+  useEffect(() => {
+    const storedMapKey = window.localStorage.getItem(worldMapStorageKey)
+    setSelectedWorldMapKey(availableWorldMaps.some((map) => map.key === storedMapKey)
+      ? storedMapKey!
+      : availableWorldMaps[0]?.key ?? 'nav2-turtlebot3-world')
+  }, [availableWorldMaps, worldMapStorageKey])
  const visualizationProfiles = [
    ...(platformEnvironmentProfiles?.filter((profile) => profile.week === weekNumber) ?? []),
    ...(curriculumWeek.environmentProfiles ?? [])
@@ -641,10 +696,10 @@ function LocalPcWorkspaceMockup({
    items.findIndex((item) => item.profileType.toLowerCase() === profile.profileType.toLowerCase()) === index
  ))
  const configuredWorkspaceRoot = remoteWorkspace
-    ? defaultStudioSourceSettings.workspaceRoot
+    ? platformSourceSettingsDefaults.workspaceRoot
    : sourceSettings.workspaceRoot
  const configuredDraftWorkspaceRoot = remoteWorkspace
-    ? defaultStudioSourceSettings.workspaceRoot
+    ? platformSourceSettingsDefaults.workspaceRoot
    : sourceSettingsDraft.workspaceRoot
  const currentSelectedTreePath = exampleActive ? selectedExampleTreePath : selectedTreePath
  const surface = dark ? 'bg-[#202020] text-[#e6e6e6]' : 'bg-[#eef1f6] text-[#151827]'
@@ -655,7 +710,6 @@ function LocalPcWorkspaceMockup({
  const textDim = dark ? 'text-white/45' : 'text-[#727b8c]'
  const studentSlug = makeStudentSlug(studentEmail)
  const clonePathPreview = makePlatformWorkspaceRoot(configuredWorkspaceRoot, studentSlug, courseKey, weekNumber, platformKey)
-  const remoteRuntimeRoot = `/tmp/autonomy-studio/sessions/${`${platformId}-${studentSlug}-week-${weekNumber}`.replace(/[^a-zA-Z0-9_.-]+/g, '-')}`
  const {
    visualizationStacks,
    visualizationStack,
@@ -663,6 +717,8 @@ function LocalPcWorkspaceMockup({
    visualizationRunning,
    visualizationBusy,
    visualizationViewerUrl,
+    nav2VisualizationMode,
+    setNav2VisualizationMode,
    activeEnvironmentProfile,
    activeRuntimeImages,
    refreshVisualizationStatus,
@@ -672,8 +728,21 @@ function LocalPcWorkspaceMockup({
    profiles: visualizationProfiles,
    clonePathPreview,
    rosDomainId: sourceSettings.rosDomainId,
+    remoteWorkspace,
+    mapKey: selectedWorldMap.key,
+    worldLayoutVersion,
    onTitlebarNotice
  })
+  const runtimeModules = useMemo(() => resolveRuntimeModules(
+    curriculumWeek.modules,
+    remoteWorkspace
+      ? visualizationProfiles.filter((profile) => ['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile.profileType.toLowerCase()))
+      : activeEnvironmentProfile,
+    remoteWorkspace ? 'platform' : 'local'
+  ), [activeEnvironmentProfile, curriculumWeek.modules, remoteWorkspace, visualizationProfiles])
+  const moduleRuntimeImages = useMemo(() => (
+    resolveModuleRuntimeImages(visualizationProfiles, remoteWorkspace, activeRuntimeImages)
+  ), [activeRuntimeImages, remoteWorkspace, visualizationProfiles])
  const profileSshUser = readNestedString(activeEnvironmentProfile?.config, ['agent', 'sshUser'])
  const resolveRemoteWorkspaceTarget = (): RemoteWorkspaceTarget | null => {
    const profileAgentUrl = readNestedString(activeEnvironmentProfile?.config, ['agent', 'url'])
@@ -688,7 +757,7 @@ function LocalPcWorkspaceMockup({
      host,
      user: sshUser ?? undefined,
      port: Number.isFinite(sshPort) && sshPort > 0 ? sshPort : 22,
-      workspaceRoot: remoteRuntimeRoot
+      workspaceRoot: clonePathPreview
    }
  }
  const getRemoteWorkspaceTarget = (): RemoteWorkspaceTarget => {
@@ -716,7 +785,7 @@ function LocalPcWorkspaceMockup({
      }
    })
  }, [courseKey, weekNumber])
-  const curriculumModuleKey = (curriculumWeek.modules ?? [])
+  const curriculumModuleKey = runtimeModules
    .map((module) => `${module.id}:${module.name}:${module.folderName}:${module.sortOrder}:${JSON.stringify(module.prebuiltArtifacts ?? [])}`)
    .join('|')
  const {
@@ -727,7 +796,7 @@ function LocalPcWorkspaceMockup({
    loadAvailableModules
  } = useWorkspaceModuleList({
    clonePathPreview,
-    curriculumModules: curriculumWeek.modules,
+    curriculumModules: runtimeModules,
    curriculumModuleKey,
    remoteWorkspace,
    remoteWorkspaceTargetKey,
@@ -807,6 +876,8 @@ function LocalPcWorkspaceMockup({
  } = useWorkspaceFileActions({
    selectedModule,
    clonePathPreview,
+    remoteWorkspace,
+    getRemoteWorkspaceTarget,
    selectedTreePath,
    setSelectedTreePath,
    setSelectedExampleTreePath,
@@ -971,7 +1042,7 @@ function LocalPcWorkspaceMockup({
    let statusMap = gitModuleStatuses
    try {
      const entries = await Promise.all(installedGitModules.map(async (module) => {
-        const status = await window.localWorkspace.git.status(module.name, clonePathPreview, module.folderName, null)
+        const status = await readGitStatus(module, null)
        return [module.name, status] as const
      }))
      statusMap = Object.fromEntries(entries)
@@ -997,15 +1068,25 @@ function LocalPcWorkspaceMockup({
    try {
      let submittedCommitCount = 0
      for (const module of changedModules) {
-        const result = await window.localWorkspace.git.submit(
-          module.name,
-          clonePathPreview,
-          module.folderName,
-          `${weekNumber}주차 ${module.name} 제출`,
-          undefined,
-          undefined,
-          submissionId
-        )
+        const result = remoteWorkspace
+          ? await window.remoteWorkspace.git.submit(
+            getRemoteWorkspaceTarget(),
+            module.name,
+            module.folderName,
+            `${weekNumber}주차 ${module.name} 제출`,
+            undefined,
+            undefined,
+            submissionId,
+          )
+          : await window.localWorkspace.git.submit(
+            module.name,
+            clonePathPreview,
+            module.folderName,
+            `${weekNumber}주차 ${module.name} 제출`,
+            undefined,
+            undefined,
+            submissionId,
+          )
        if (!result.ok) throw new Error(`[${module.name}] ${result.message}`)
        if (result.commit) submittedCommitCount += 1
      }
@@ -1159,6 +1240,8 @@ function LocalPcWorkspaceMockup({
    moduleName: selectedModule?.name,
    moduleFolderName: selectedModule?.folderName,
    clonePathPreview,
+    remoteWorkspace,
+    getRemoteWorkspaceTarget,
    dark,
    terminalActive,
    resetKey: `${remoteWorkspace}:${remoteWorkspaceTargetKey}`,
@@ -1293,6 +1376,24 @@ function LocalPcWorkspaceMockup({
  const editorLanguage = currentActiveEditorFile ? getEditorLanguage(currentActiveEditorFile) : 'plaintext'
  const activeFileIsImage = currentActiveEditorFile ? /\.(png|jpe?g|webp|gif|svg)$/i.test(currentActiveEditorFile) : false
  const activeImagePreviewSource = currentActiveEditorFile ? imagePreviewSources[currentActiveEditorFile] : undefined
+  useEffect(() => {
+    const file = currentActiveEditorFile
+    if (!file || !activeFileIsImage || file.startsWith('examples/example-code/') || !selectedModule || imagePreviewSources[file]) return
+
+    let disposed = false
+    const loadImagePreview = async (): Promise<void> => {
+      try {
+        const result = remoteWorkspace
+          ? await window.remoteWorkspace.moduleFiles.image(getRemoteWorkspaceTarget(), selectedModule.name, file, selectedModule.folderName)
+          : await window.localWorkspace.moduleFiles.image(selectedModule.name, file, clonePathPreview, selectedModule.folderName)
+        if (!disposed) setImagePreviewSources((sources) => ({ ...sources, [file]: result.dataUrl }))
+      } catch (error) {
+        console.warn('[module-files] image preview failed', error)
+      }
+    }
+    void loadImagePreview()
+    return () => { disposed = true }
+  }, [activeFileIsImage, clonePathPreview, currentActiveEditorFile, imagePreviewSources, remoteWorkspace, remoteWorkspaceTargetKey, selectedModule])
  const openEditorFile = (file: EditorFilePath): void => {
    if (file.startsWith('examples/example-code/')) {
      setSelectedExampleTreePath(file)
@@ -1378,10 +1479,15 @@ function LocalPcWorkspaceMockup({
      setInstallingModuleName('__source_settings__')
      setModuleInstallError(null)
      try {
-        const result = await window.localWorkspace.modules.stopMany(
-          runningModules.map((module) => ({ moduleName: module.name, folderName: module.folderName })),
-          clonePathPreview
-        )
+        const result = remoteWorkspace
+          ? await window.remoteWorkspace.modules.stopMany(
+            getRemoteWorkspaceTarget(),
+            runningModules.map((module) => ({ moduleName: module.name, folderName: module.folderName })),
+          )
+          : await window.localWorkspace.modules.stopMany(
+            runningModules.map((module) => ({ moduleName: module.name, folderName: module.folderName })),
+            clonePathPreview,
+          )
        if (!result.ok) throw new Error(result.message)
      } catch (error) {
        console.error('[modules] stop for source settings failed', error)
@@ -1437,7 +1543,17 @@ function LocalPcWorkspaceMockup({
    if (!dirtyFiles.length) return

    await Promise.all(dirtyFiles.map(async (file) => {
-      await window.localWorkspace.moduleFiles.write(module.name, file, editorFiles[file] ?? '', clonePathPreview, module.folderName)
+      if (remoteWorkspace) {
+        await window.remoteWorkspace.moduleFiles.write(
+          getRemoteWorkspaceTarget(),
+          module.name,
+          file,
+          editorFiles[file] ?? '',
+          module.folderName,
+        )
+      } else {
+        await window.localWorkspace.moduleFiles.write(module.name, file, editorFiles[file] ?? '', clonePathPreview, module.folderName)
+      }
      setSavedEditorFiles((files) => ({ ...files, [file]: editorFiles[file] ?? '' }))
    }))
    setDirtyEditorFiles((dirtyFilesState) => {
@@ -1448,13 +1564,13 @@ function LocalPcWorkspaceMockup({
  }
  const { prepareRemoteRuntimeModule } = useRemoteWorkspaceRuntime({
    availableModules,
-    curriculumModules: curriculumWeek.modules,
+    curriculumModules: runtimeModules,
    courseKey,
    weekNumber,
    clonePathPreview,
    remoteWorkspace,
    remoteWorkspaceTargetKey,
-    activeRuntimeImages,
+    activeRuntimeImages: moduleRuntimeImages,
    getFreshAccessToken,
    getRemoteWorkspaceTarget,
    saveDirtyFilesForModule,
@@ -1481,16 +1597,29 @@ function LocalPcWorkspaceMockup({
    clonePathPreview,
    remoteWorkspace,
    sourceSettings,
-    activeRuntimeImages,
+    activeRuntimeImages: moduleRuntimeImages,
    getFreshAccessToken,
    getRemoteWorkspaceTarget,
    prepareRemoteRuntimeModule,
    onTitlebarNotice
  })
  const deleteModule = async (module: ModuleRow, options: { deleteRepository?: boolean } = {}): Promise<void> => {
+    if (module.state !== 'stopped') {
+      onTitlebarNotice(`[${module.name}] 정지된 모듈만 삭제할 수 있습니다.`, 'warning')
+      return
+    }
    setModuleInstallError(null)
    try {
-      await window.localWorkspace.moduleFiles.delete(module.name, `modules/${module.name}`, clonePathPreview, module.folderName)
+      if (remoteWorkspace) {
+        await window.remoteWorkspace.moduleFiles.delete(
+          getRemoteWorkspaceTarget(),
+          module.name,
+          `modules/${module.name}`,
+          module.folderName,
+        )
+      } else {
+        await window.localWorkspace.moduleFiles.delete(module.name, `modules/${module.name}`, clonePathPreview, module.folderName)
+      }
      if (options.deleteRepository) {
        const response = await fetchWithFreshAuth(`${LMS_API_BASE_URL}/studio/repositories`, {
          method: 'DELETE',
@@ -2094,6 +2223,12 @@ function LocalPcWorkspaceMockup({
  const controlRemainingSeconds = controlRemainingMs === null ? null : Math.ceil(controlRemainingMs / 1000)
  const showControlCountdown = canReleaseControl && controlRemainingSeconds !== null
  const controlCountdownDanger = showControlCountdown && controlRemainingSeconds < 5 * 60
+  const applyWorldMapSelection = (map: WorkspaceMapOption): void => {
+    window.localStorage.setItem(worldMapStorageKey, map.key)
+    setSelectedWorldMapKey(map.key)
+    setWorldMapSelectorOpen(false)
+    onTitlebarNotice(`[${map.name}] 맵이 선택되었습니다.`, 'info')
+  }

  return (
    <div ref={workspaceRootRef} className={['relative h-full min-h-0 overflow-hidden', surface].join(' ')}>
@@ -2111,6 +2246,7 @@ function LocalPcWorkspaceMockup({
        previewOpen={previewOpen}
        showControlCountdown={showControlCountdown}
        controlCountdownDanger={Boolean(controlCountdownDanger)}
+        canExtendControl={canExtendControl}
        controlEndsAt={controlEndsAt ?? null}
        submitVisible={curriculumWeek.state !== 'done'}
        submitDisabled={gitSubmitting || ((curriculumWeek.detail.requiresSourceSubmission ?? true) && installedGitModules.length === 0)}
@@ -2129,6 +2265,7 @@ function LocalPcWorkspaceMockup({
        onTogglePreview={() => setPreviewOpen((value) => !value)}
        onSubmit={() => setSubmitConfirmOpen(true)}
        onOpenPowerActions={() => setPowerActionModalOpen(true)}
+        onRequestControlExtension={onRequestControlExtension}
        onClose={requestWorkspaceClose}
      />

@@ -2146,16 +2283,44 @@ function LocalPcWorkspaceMockup({
          running={visualizationRunning}
          busy={visualizationBusy}
          viewerUrl={visualizationViewerUrl}
+          nav2Mode={nav2VisualizationMode}
          onDragStart={startPreviewDrag}
          onToggleLarge={() => setPreviewLarge((value) => !value)}
          onClose={() => setPreviewOpen(false)}
          onStackChange={setVisualizationStack}
          onStart={() => void startVisualizationBridge()}
+          onStartNav2={(mode) => {
+            setNav2VisualizationMode(mode)
+            void startVisualizationBridge()
+          }}
          onStop={() => void stopVisualizationBridge()}
          onResizeStart={startPreviewResize}
        />
      )}

+      {worldMapSelectorOpen && (
+        <WorldMapSelectorModal
+          platformKey={activeEnvironmentProfile?.profileType ?? 'NAV2'}
+          weekNumber={weekNumber}
+          maps={availableWorldMaps}
+          selectedMapKey={selectedWorldMap.key}
+          onClose={() => setWorldMapSelectorOpen(false)}
+          onCreate={() => {
+            setWorldMapSelectorOpen(false)
+            setWorldEditorOpen(true)
+          }}
+          onSelect={applyWorldMapSelection}
+        />
+      )}
+
+      {worldEditorOpen && (
+        <WorldEditorModal
+          workspaceRoot={clonePathPreview}
+          onSaved={() => setWorldLayoutVersion((version) => version + 1)}
+          onClose={() => setWorldEditorOpen(false)}
+        />
+      )}
+
      {treeDialog && (
        <TreeTargetDialog
          dark={dark}
@@ -2616,6 +2781,7 @@ function LocalPcWorkspaceMockup({
              controllingModuleNames={controllingModuleNames}
              listError={moduleListError}
              installError={moduleInstallError}
+              allowRepositoryDeletion={!remoteWorkspace}
              onAddModuleTab={addModuleTabOnly}
              onOpenSource={openModuleSource}
              onInstallModule={(module) => void installModule(module)}
@@ -2628,6 +2794,13 @@ function LocalPcWorkspaceMockup({
              onInstallAll={() => void installAllModules()}
              onStartAll={() => void startAllModules()}
              onStopAll={() => void stopAllModules()}
+              onOpenWorldEditor={() => {
+                if (remoteWorkspace) {
+                  onTitlebarNotice('맵 설정은 현재 로컬 플랫폼에서만 지원합니다.', 'warning')
+                  return
+                }
+                setWorldMapSelectorOpen(true)
+              }}
            />
          </div>
        )}
@@ -2721,6 +2894,7 @@ export default function App(): React.JSX.Element {
  const [authSession, setAuthSession] = useState<LmsAuthSession | null>(null)
  const authSessionRef = useRef<LmsAuthSession | null>(null)
  const [authReady, setAuthReady] = useState(false)
+  const [launcherSessionEnded, setLauncherSessionEnded] = useState(false)
  const [studentCoursesLoading, setStudentCoursesLoading] = useState(false)
  const [curriculumLoading, setCurriculumLoading] = useState(false)
  const [sidebarCollapsed, setSidebarCollapsed] = useState(false)
@@ -2754,9 +2928,12 @@ export default function App(): React.JSX.Element {
  const [lastWorkspacePlatform, setLastWorkspacePlatform] = useState<PlatformOption | null>(null)
  const connectedPlatformRef = useRef<PlatformOption | null>(null)
  const runningPlatformsRef = useRef<PlatformOption[]>([])
+  const platformStatusRequestSequenceRef = useRef(0)
  const forcedPlatformTerminationHandlerRef = useRef<(payload: PlatformControlTerminatedPayload) => void>(() => undefined)
  const [workspaceWeekState, setWorkspaceWeekState] = useState<CurriculumWeek | null>(null)
  const [sessionConfirmAction, setSessionConfirmAction] = useState<'disconnect' | 'release' | null>(null)
+  const [controlExtensionConfirmOpen, setControlExtensionConfirmOpen] = useState(false)
+  const [controlExtensionSubmitting, setControlExtensionSubmitting] = useState(false)
  const [runningPlatformCloseTarget, setRunningPlatformCloseTarget] = useState<PlatformOption | null>(null)
  const [titlebarNotices, setTitlebarNotices] = useState<Array<{ id: number; title: string; tone?: 'info' | 'warning' | 'error'; addToList?: boolean }>>([])
  const instructorAccount = isInstructorAccount(authSession?.user)
@@ -2828,6 +3005,10 @@ export default function App(): React.JSX.Element {
    clearStoredAuthSession()
    setAuthSession(null)
  }, [])
+  useEffect(() => window.launcherAuth?.onSessionExpired?.(() => {
+    clearAuthSession()
+    setLauncherSessionEnded(true)
+  }), [clearAuthSession])
  useEffect(() => {
    authSessionRef.current = authSession
  }, [authSession])
@@ -2856,7 +3037,6 @@ export default function App(): React.JSX.Element {
      ?? null
    const profileSshUser = readNestedString(profile?.config, ['agent', 'sshUser'])
    const studentSlug = makeStudentSlug(authSession?.user.email)
-    const remoteRuntimeRoot = `/tmp/autonomy-studio/sessions/${`${platform.id}-${studentSlug}-week-${workspaceWeek.week}`.replace(/[^a-zA-Z0-9_.-]+/g, '-')}`
    const profileAgentUrl = readNestedString(profile?.config, ['agent', 'url'])
    const host = parseHostFromUrl(profileAgentUrl)
      ?? parseHostFromUrl(readNestedString(profile?.config, ['bridge', 'env', 'BRIDGE_HTTP_URL']))
@@ -2868,7 +3048,13 @@ export default function App(): React.JSX.Element {
      host,
      user: profileSshUser ?? platformSettings.sshUser ?? platformDefaults.sshUser ?? undefined,
      port: Number.isFinite(sshPort) && sshPort > 0 ? sshPort : 22,
-      workspaceRoot: remoteRuntimeRoot
+      workspaceRoot: makePlatformWorkspaceRoot(
+        platformSettings.workspaceRoot,
+        studentSlug,
+        courseKey,
+        workspaceWeek.week,
+        platform.platformKey,
+      )
    }
  }
  const stopRemotePlatformModules = async (platform: PlatformOption): Promise<void> => {
@@ -2877,7 +3063,7 @@ export default function App(): React.JSX.Element {
    const modules = (workspaceWeek.modules ?? [])
      .slice()
      .sort((left, right) => (right.sortOrder ?? 0) - (left.sortOrder ?? 0))
-      .map((module) => ({ moduleName: module.name, folderName: module.folderName }))
+      .map((module) => ({ moduleName: module.name, folderName: module.folderName, templateRepositoryUrl: module.templateRepositoryUrl }))
    if (!modules.length) return
    await window.remoteWorkspace.modules.resetSession(target, modules).catch(() => ({ ok: false, message: '플랫폼 초기화 실패' }))
  }
@@ -3060,6 +3246,7 @@ export default function App(): React.JSX.Element {
  const loadCurriculum = useCallback(async (): Promise<void> => {
    if (!authReady || !studentCoursesLoaded || courseSelectionVisible || !selectedCourseId) return

+    const curriculumLoadingStartedAt = Date.now()
    setCurriculumLoading(true)
    try {
      const payload = await fetchCurriculum(fetchWithFreshAuth, selectedCourseId)
@@ -3103,6 +3290,8 @@ export default function App(): React.JSX.Element {
      setPlatformOptions([])
      setSelectedWeekState(null)
    } finally {
+      const remainingMs = Math.max(0, 500 - (Date.now() - curriculumLoadingStartedAt))
+      if (remainingMs) await new Promise<void>((resolve) => window.setTimeout(resolve, remainingMs))
      setCurriculumLoading(false)
    }
  }, [authReady, authSession?.accessToken, courseSelectionVisible, fetchWithFreshAuth, selectedCourseId, selectedWeekState?.week, studentCoursesLoaded])
@@ -3130,23 +3319,58 @@ export default function App(): React.JSX.Element {

    let cancelled = false
    const refreshPlatformStatuses = async () => {
+      const requestSequence = ++platformStatusRequestSequenceRef.current
      try {
        const platforms = await fetchPlatformStatuses(fetchWithFreshAuth, remotePlatformIds)
-        if (cancelled || !platforms.length) return
+        if (cancelled || requestSequence !== platformStatusRequestSequenceRef.current || !platforms.length) return
        const statusById = new Map(platforms.map((platform) => [platform.id, platform]))
        const mergePlatformStatus = (platform: PlatformOption): PlatformOption => {
          const status = statusById.get(platform.id)
          return status ? { ...platform, ...status } : platform
        }
        setPlatformOptions((current) => current.map(mergePlatformStatus))
-        setRunningPlatforms((current) => current
+        const lostControlPlatformIds = new Set(
+          runningPlatformsRef.current
+            .filter((platform) => {
+              if (platform.platformKey === 'futuredrive-local-pc') return false
+              const nextControl = statusById.get(platform.id)?.control
+              if (!nextControl) return false
+              if (nextControl.status !== 'ACTIVE') return true
+              const currentSessionId = platform.control?.session?.id
+              return Boolean(
+                currentSessionId
+                && nextControl.session?.id
+                && nextControl.session.id !== currentSessionId,
+              )
+            })
+            .map((platform) => platform.id),
+        )
+        const remainingRunningPlatforms = runningPlatformsRef.current
+          .filter((platform) => !lostControlPlatformIds.has(platform.id))
          .map(mergePlatformStatus)
-          .filter((platform) => hasCurrentUserPlatformControl(platform)))
-        setConnectedPlatform((current) => {
-          if (!current) return current
-          const nextPlatform = mergePlatformStatus(current)
-          return hasCurrentUserPlatformControl(nextPlatform) ? nextPlatform : null
-        })
+
+        if (lostControlPlatformIds.size) {
+          setRunningPlatforms(remainingRunningPlatforms)
+          setConnectedPlatform((current) => {
+            if (current && !lostControlPlatformIds.has(current.id)) return mergePlatformStatus(current)
+            return remainingRunningPlatforms[0] ?? null
+          })
+          setLastWorkspacePlatform(remainingRunningPlatforms[0] ?? null)
+          if (!remainingRunningPlatforms.length) {
+            setLocalPcLayoutOpen(false)
+            setStudioEntered(false)
+            setSessionStatus('ended')
+            setSessionEndedAt(new Date().toLocaleTimeString('ko-KR', { hour: '2-digit', minute: '2-digit', hour12: false }))
+            setWorkspaceWeekState(null)
+          }
+          setCurriculumRefreshSignal((current) => current + 1)
+        } else {
+          setRunningPlatforms((current) => current.map(mergePlatformStatus))
+          setConnectedPlatform((current) => {
+            if (!current) return current
+            return mergePlatformStatus(current)
+          })
+        }
      } catch {
        // Status polling is best-effort; keep the last known platform state.
      }
@@ -3164,10 +3388,15 @@ export default function App(): React.JSX.Element {
    const restored = restoredStudioSessionRef.current
    if (!restored || !platformOptions.length) return

+    const restoredPlatformById = new Map(restored.runningPlatforms.map((platform) => [platform.id, platform]))
    const nextRunningPlatforms = restored.runningPlatformIds
-      .map((id) => platformOptions.find((platform) => platform.id === id))
-      .filter((platform): platform is PlatformOption => Boolean(platform))
-      .filter((platform) => hasCurrentUserPlatformControl(platform))
+      .map((id) => {
+        const restoredPlatform = restoredPlatformById.get(id)
+        const currentPlatform = platformOptions.find((platform) => platform.id === id)
+        if (restoredPlatform && currentPlatform) return { ...restoredPlatform, ...currentPlatform }
+        return currentPlatform ?? restoredPlatform ?? null
+      })
+      .filter((platform): platform is PlatformOption => Boolean(platform) && hasCurrentUserPlatformControl(platform))
    const nextConnectedPlatform = restored.connectedPlatformId
      ? nextRunningPlatforms.find((platform) => platform.id === restored.connectedPlatformId) ?? nextRunningPlatforms[0] ?? null
      : nextRunningPlatforms[0] ?? null
@@ -3201,6 +3430,7 @@ export default function App(): React.JSX.Element {
      sessionEndedAt,
      connectedPlatformId: connectedPlatform?.id ?? null,
      runningPlatformIds: runningPlatforms.map((platform) => platform.id),
+      runningPlatforms,
      workspaceWeekNumber: workspaceWeekState?.week ?? null
    })
  }, [connectedPlatform?.id, localPcLayoutOpen, runningPlatforms, sessionEndedAt, sessionStartedAt, sessionStatus, studioEntered, workspaceWeekState?.week])
@@ -3390,6 +3620,15 @@ export default function App(): React.JSX.Element {
  ].join(' ')
  const fullAppModalOverlayClass = 'fixed bottom-0 left-0 right-0 top-[38px] z-[80] grid place-items-center bg-black/36'
  const canReleaseConnectedPlatform = connectedPlatform?.control?.status === 'ACTIVE'
+  const controlWarningMatchesConnectedPlatform = Boolean(
+    controlWarningNotice
+    && controlWarningPlatform?.id === connectedPlatform?.id,
+  )
+  const canExtendConnectedPlatform = Boolean(
+    canReleaseConnectedPlatform
+    && (connectedPlatform?.control?.warning || controlWarningMatchesConnectedPlatform)
+    && (connectedPlatform.control.session?.extensionCount ?? 0) < 1,
+  )
  const connectedPlatformControlEndsAt = canReleaseConnectedPlatform
    ? connectedPlatform?.control?.session?.endsAt ?? null
    : null
@@ -3499,12 +3738,16 @@ export default function App(): React.JSX.Element {
      window.sessionStorage.removeItem(workspaceKey)
    }

+    const connectedPlatformId = connectedPlatformRef.current?.id ?? null
+    const closesConnectedWorkspace = connectedPlatformId === platformToRemove.id
    setRunningPlatforms((platforms) => {
      const nextPlatforms = platforms.filter((platform) => platform.id !== platformToRemove.id)
-      const nextConnectedPlatform = nextPlatforms[0] ?? null
+      const nextConnectedPlatform = !closesConnectedWorkspace && connectedPlatformId
+        ? nextPlatforms.find((platform) => platform.id === connectedPlatformId) ?? nextPlatforms[0] ?? null
+        : nextPlatforms[0] ?? null
      setConnectedPlatform(nextConnectedPlatform)
      setLastWorkspacePlatform(nextConnectedPlatform)
-      setLocalPcLayoutOpen(false)
+      if (closesConnectedWorkspace || !nextPlatforms.length) setLocalPcLayoutOpen(false)
      setSessionStatus(nextPlatforms.length ? 'running' : 'ended')
      if (!nextPlatforms.length) {
        setLastWorkspacePlatform(null)
@@ -3549,7 +3792,9 @@ export default function App(): React.JSX.Element {
      } else {
        await stopRemotePlatformModules(platformToClose)
      }
-      await window.localWorkspace.visualization.stop(connectedEnvironmentProfile?.config).catch(() => ({ ok: false, message: '환경 종료 실패' }))
+      if (closeConnectedWorkspace) {
+        await window.localWorkspace.visualization.stop(connectedEnvironmentProfile?.config).catch(() => ({ ok: false, message: '환경 종료 실패' }))
+      }
    } finally {
      const remainingMs = closeConnectedWorkspace ? Math.max(0, 2000 - (Date.now() - loadingStartedAt)) : 0
      window.setTimeout(() => {
@@ -3664,6 +3909,38 @@ export default function App(): React.JSX.Element {
      }, remainingMs)
    }
  }
+
+  const handleExtendControl = async (): Promise<void> => {
+    if (!connectedPlatform || !canExtendConnectedPlatform || controlExtensionSubmitting) return
+
+    setControlExtensionSubmitting(true)
+    try {
+      const result = await extendPlatformControl(fetchWithFreshAuth, connectedPlatform.id)
+      if (!result.session) throw new Error('연장된 제어 시간을 확인하지 못했습니다.')
+
+      const updatePlatform = (platform: PlatformOption): PlatformOption => {
+        if (platform.id !== connectedPlatform.id || !platform.control) return platform
+        return {
+          ...platform,
+          control: {
+            ...platform.control,
+            warning: false,
+            session: result.session,
+          },
+        }
+      }
+      setPlatformOptions((platforms) => platforms.map(updatePlatform))
+      setRunningPlatforms((platforms) => platforms.map(updatePlatform))
+      setConnectedPlatform((platform) => platform ? updatePlatform(platform) : platform)
+      setControlWarningNotice(null)
+      setControlExtensionConfirmOpen(false)
+      showTitlebarNotice(`${connectedPlatform.title} 제어 시간이 연장되었습니다.`, 'info', true)
+    } catch (error) {
+      showTitlebarNotice(error instanceof Error ? error.message : '제어 시간 연장에 실패했습니다.', 'warning', true)
+    } finally {
+      setControlExtensionSubmitting(false)
+    }
+  }
  const expireBackgroundPlatformControl = async (platform: PlatformOption): Promise<void> => {
    await stopRemotePlatformModules(platform)
    if (authSession?.accessToken) {
@@ -3836,6 +4113,8 @@ export default function App(): React.JSX.Element {
  }

  const applyPlatformControlResponse = (platformId: string, payload: PlatformControlActionResponse): void => {
+    // Do not let an older status poll overwrite this control action result.
+    platformStatusRequestSequenceRef.current += 1
    const updatePlatform = (platform: PlatformOption): PlatformOption => {
      if (platform.id !== platformId) return platform
      if (payload.result === 'GRANTED' || payload.result === 'ALREADY_GRANTED') {
@@ -3876,7 +4155,7 @@ export default function App(): React.JSX.Element {
          state: 'reserved',
          control: {
            status: payload.session ? 'IN_USE' : 'AVAILABLE',
-            action: payload.session ? '대기 예약' : '제어권 요청',
+            action: payload.session ? '대기 예약' : '제어요청',
            warning: false,
            session: payload.session ?? null,
            queue: null,
@@ -3980,9 +4259,8 @@ export default function App(): React.JSX.Element {
        const position = payload.queue?.position
        showTitlebarNotice(`${platform.title} 대기 예약되었습니다${position ? ` (${position}번째)` : ''}`, 'info', true)
      }
-      setCurriculumRefreshSignal((current) => current + 1)
    } catch {
-      setCurriculumRefreshSignal((current) => current + 1)
+      // Keep the existing curriculum visible when a control request fails.
    } finally {
      await waitForMinimumLoading(loadingStartedAt)
      if (shouldWaitForControlPaint) await waitForNextPaint()
@@ -4066,7 +4344,12 @@ export default function App(): React.JSX.Element {
                : runningPlatforms[0]
              if (platform) openRunningPlatformWorkspace(platform)
            }}
-            onDisconnectSession={() => setSessionConfirmAction('disconnect')}
+            onDisconnectSession={(sessionId) => {
+              const platform = sessionId
+                ? runningPlatforms.find((current) => current.id === sessionId)
+                : connectedPlatform
+              if (platform) setRunningPlatformCloseTarget(platform)
+            }}
            onReleaseControl={() => setSessionConfirmAction('release')}
          />
          <main
@@ -4089,18 +4372,23 @@ export default function App(): React.JSX.Element {
              <div className={localPcLayoutOpen ? 'h-full' : 'hidden h-full'}>
                <LocalPcWorkspaceMockup
                  key={workspacePlatform?.id ?? 'local-pc-workspace'}
-                  onClose={closeLocalPcWorkspace}
+                  onClose={() => {
+                    closeLocalPcWorkspace()
+                    setOuterView('curriculum')
+                  }}
                  onDisconnectSession={() => setSessionConfirmAction('disconnect')}
                  onReleaseControl={() => setSessionConfirmAction('release')}
+                  onRequestControlExtension={() => setControlExtensionConfirmOpen(true)}
                  onTitlebarNotice={showTitlebarNotice}
                  onRegisterStopRunningModules={(handler) => {
                    stopRunningWorkspaceModulesRef.current = handler
                  }}
                  canReleaseControl={canReleaseConnectedPlatform}
+                  canExtendControl={canExtendConnectedPlatform}
                  controlEndsAt={connectedPlatformControlEndsAt}
                  theme={ideTheme}
                  title={workspaceWeek.title}
-                  platformName={activePlatformName}
+                  platformName={workspacePlatform?.title ?? activePlatformName}
                  platformId={workspacePlatform?.id ?? 'local-pc'}
                  platformKey={workspacePlatform?.platformKey ?? 'futuredrive-local-pc'}
                  platformEnvironmentProfiles={workspacePlatform?.environmentProfiles}
@@ -4285,6 +4573,11 @@ export default function App(): React.JSX.Element {
                title="제어 시간 안내"
                message="제어 시간이 곧 종료됩니다."
                detail={`남은 시간 ${formatControlRemainingTime(controlWarningNotice.endsAt)}${formatSessionClock(controlWarningNotice.endsAt) ? ` · 종료 ${formatSessionClock(controlWarningNotice.endsAt)}` : ''}`}
+                actionLabel={canExtendConnectedPlatform ? '연장' : undefined}
+                onAction={canExtendConnectedPlatform ? () => {
+                  setControlWarningNotice(null)
+                  setControlExtensionConfirmOpen(true)
+                } : undefined}
                onConfirm={() => setControlWarningNotice(null)}
              >
                {(controlWarningPlatform || controlWarningWeekLabel) && (
@@ -4342,6 +4635,30 @@ export default function App(): React.JSX.Element {
                }}
              />
            )}
+            {controlExtensionConfirmOpen && (
+              <ControlExtensionConfirmModal
+                overlayClassName={fullAppModalOverlayClass}
+                dark={appModalDark}
+                platformName={activePlatformName}
+                submitting={controlExtensionSubmitting}
+                onCancel={() => setControlExtensionConfirmOpen(false)}
+                onConfirm={() => void handleExtendControl()}
+              />
+            )}
+            {launcherSessionEnded && (
+              <StatusNoticeModal
+                overlayClassName={fullAppModalOverlayClass}
+                dark={appModalDark}
+                tone="warning"
+                title="LMS 세션 종료"
+                message="런처에서 로그아웃되어 LMS 세션이 종료되었습니다."
+                detail="런처에 다시 로그인한 뒤 LMS를 실행해주세요."
+                onConfirm={() => {
+                  window.close()
+                  window.setTimeout(() => window.location.replace('about:blank'), 100)
+                }}
+              />
+            )}
            {platformLoading && !platformModalOpen && !recentSessionModalOpen && (
              <PlatformLoadingOverlay
                title={platformLoadingCopy.title}
@@ -60,6 +60,8 @@ export function StatusNoticeModal({
  message,
  detail,
  children,
+  actionLabel,
+  onAction,
  onConfirm
 }: AppModalTheme & {
  tone: ModalTone
@@ -67,6 +69,8 @@ export function StatusNoticeModal({
  message: string
  detail?: string
  children?: React.ReactNode
+  actionLabel?: string
+  onAction?: () => void
  onConfirm: () => void
 }): React.JSX.Element {
  return (
@@ -84,7 +88,12 @@ export function StatusNoticeModal({
              {detail}
            </p>
          )}
-          <div className="mt-4 flex justify-end">
+          <div className="mt-4 flex justify-end gap-2">
+            {actionLabel && onAction && (
+              <button type="button" onClick={onAction} className={cancelButtonClass(dark)}>
+                {actionLabel}
+              </button>
+            )}
            <button type="button" onClick={onConfirm} className={confirmButtonClass('primary')}>
              확인
            </button>
@@ -195,6 +204,43 @@ export function SessionConfirmModal({
  )
 }

+export function ControlExtensionConfirmModal({
+  overlayClassName,
+  dark,
+  platformName,
+  submitting = false,
+  onCancel,
+  onConfirm,
+}: AppModalTheme & {
+  platformName: string
+  submitting?: boolean
+  onCancel: () => void
+  onConfirm: () => void
+}): React.JSX.Element {
+  return (
+    <div className={overlayClassName}>
+      <section className={modalClass(dark)}>
+        <div className={['flex items-center gap-2 border-b px-4 py-3', borderClass(dark)].join(' ')}>
+          <Clock3 size={15} className="text-[#f59e0b]" />
+          <strong className="text-[13px] font-bold">제어 시간 연장</strong>
+        </div>
+        <div className="p-4">
+          <p className={['text-[13px] font-semibold', strongClass(dark)].join(' ')}>{platformName} 제어 시간을 연장할까요?</p>
+          <p className={['mt-2 text-[12px] font-medium leading-relaxed', dimClass(dark)].join(' ')}>
+            대기 중인 예약이 없을 때 현재 설정된 제어 시간만큼 한 번만 연장됩니다.
+          </p>
+          <div className="mt-4 flex justify-end gap-2">
+            <button type="button" disabled={submitting} onClick={onCancel} className={cancelButtonClass(dark)}>취소</button>
+            <button type="button" disabled={submitting} onClick={onConfirm} className={confirmButtonClass('primary')}>
+              {submitting ? '연장 중' : '연장'}
+            </button>
+          </div>
+        </div>
+      </section>
+    </div>
+  )
+}
+
 function ConfirmStatusModal({
  overlayClassName,
  dark,
@@ -33,7 +33,7 @@ export default function Sidebar({
  runningSessions?: Array<{ id: string; title: string; startedAt?: string | null; endsAt?: string | null; dotClassName?: string }>
  canReleaseControl?: boolean
  onOpenSession?: (sessionId?: string) => void
-  onDisconnectSession?: () => void
+  onDisconnectSession?: (sessionId?: string) => void
  onReleaseControl?: () => void
 }): React.JSX.Element {
  const [sessionPopoverOpen, setSessionPopoverOpen] = useState(false)
@@ -133,7 +133,7 @@ export default function Sidebar({
      >
        {!collapsed && (
          <div className="session-scrollbar grid max-h-[286px] gap-2 overflow-y-auto pr-1">
-            {visibleRunningSessions.map((session, index) => (
+            {visibleRunningSessions.map((session) => (
              <div key={session.id} className="relative">
                <button
                  type="button"
@@ -152,13 +152,13 @@ export default function Sidebar({
                    )}
                  </span>
                </button>
-                {sessionStatus === 'running' && index === 0 && (
+                {sessionStatus === 'running' && (
                  <button
                    type="button"
                    className="absolute right-2.5 top-1/2 grid h-8 w-8 -translate-y-1/2 shrink-0 cursor-pointer place-items-center rounded-md text-white/55 transition hover:bg-white/[0.08] hover:text-white"
                    onClick={(event) => {
                      event.stopPropagation()
-                      onDisconnectSession?.()
+                      onDisconnectSession?.(session.id)
                    }}
                    aria-label="세션 연결종료"
                    title="연결종료"
@@ -183,7 +183,7 @@ export default function Sidebar({
        {collapsed && sessionPopoverOpen && (
          <div className="absolute bottom-0 left-[62px] z-20 w-[240px] rounded-md border border-white/10 bg-[#111520] py-1.5 shadow-[18px_0_42px_rgba(0,0,0,0.22)]">
            <div className="session-scrollbar max-h-[286px] overflow-y-auto pr-1">
-              {visibleRunningSessions.map((session, index) => (
+              {visibleRunningSessions.map((session) => (
                <div key={session.id} className="relative border-b border-white/10 last:border-b-0">
                  <button
                    type="button"
@@ -205,14 +205,14 @@ export default function Sidebar({
                      )}
                    </span>
                  </button>
-                  {sessionStatus === 'running' && index === 0 && (
+                  {sessionStatus === 'running' && (
                    <button
                      type="button"
                      className="absolute right-2.5 top-1/2 grid h-8 w-8 -translate-y-1/2 shrink-0 cursor-pointer place-items-center rounded-md text-white/55 transition hover:bg-white/[0.08] hover:text-white"
                      onClick={(event) => {
                        event.stopPropagation()
                        setSessionPopoverOpen(false)
-                        onDisconnectSession?.()
+                        onDisconnectSession?.(session.id)
                      }}
                      aria-label="세션 연결종료"
                      title="연결종료"
@@ -36,6 +36,7 @@ interface Window {
    appUrl: string | null
    handoffToken: string | null
    audienceApp: string
+    onSessionExpired?: (listener: () => void) => () => void
  }
  lmsBootSplash?: {
    status: (message: string) => void
@@ -56,6 +57,7 @@ interface Window {
      files: Record<string, string>
      folders: string[]
    }>
+    image: (moduleName: string, path: string, workspaceRoot?: string, folderName?: string) => Promise<{ dataUrl: string }>
    create: (moduleName: string, path: string, kind: 'file' | 'folder', workspaceRoot?: string, folderName?: string) => Promise<{ ok: boolean }>
    write: (moduleName: string, path: string, content: string, workspaceRoot?: string, folderName?: string) => Promise<{ ok: boolean }>
    copy: (moduleName: string, fromPath: string, toPath: string, mode: 'copy' | 'cut', workspaceRoot?: string, folderName?: string) => Promise<{ ok: boolean }>
@@ -208,6 +210,15 @@ interface Window {
  localWorkspace: {
    moduleFiles: Window['moduleFiles']
    modules: Window['modules']
+    nav2: {
+      setSimulatorPose: (pose: { x: number; y: number; yaw: number }) => Promise<{ ok: boolean; message: string }>
+      addRuntimeObstacle: (obstacle: { id: string; x: number; y: number; yaw: number; length: number; depth: number; height: number }) => Promise<{ ok: boolean; message: string }>
+      clearRuntimeObstacles: () => Promise<{ ok: boolean; message: string }>
+    }
+    worldLayout: {
+      read: (workspaceRoot?: string) => Promise<WorldLayout>
+      write: (workspaceRoot: string | undefined, layout: WorldLayout) => Promise<WorldLayout>
+    }
    visualization: Window['visualization']
    git: Window['git']
    terminal: Window['terminal']
@@ -215,6 +226,7 @@ interface Window {
  remoteWorkspace: {
    moduleFiles: {
      read: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ReturnType<Window['moduleFiles']['read']>
+      image: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ReturnType<Window['moduleFiles']['image']>
      create: (target: RemoteWorkspaceTarget, moduleName: string, path: string, kind: 'file' | 'folder', folderName?: string) => ReturnType<Window['moduleFiles']['create']>
      write: (target: RemoteWorkspaceTarget, moduleName: string, path: string, content: string, folderName?: string) => ReturnType<Window['moduleFiles']['write']>
      copy: (target: RemoteWorkspaceTarget, moduleName: string, fromPath: string, toPath: string, mode: 'copy' | 'cut', folderName?: string) => ReturnType<Window['moduleFiles']['copy']>
@@ -240,12 +252,12 @@ interface Window {
          runtime: string
        }
      }>
-      start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
-      build: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+      start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, dockerImage?: string | null) => Promise<{ ok: boolean; message: string }>
+      build: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, dockerImage?: string | null) => Promise<{ ok: boolean; message: string }>
      stop: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => Promise<{ ok: boolean; message: string }>
      stopMany: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => Promise<{ ok: boolean; message: string }>
-      resetSession: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => Promise<{ ok: boolean; message: string }>
-      restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+      resetSession: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => Promise<{ ok: boolean; message: string }>
+      restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, dockerImage?: string | null) => Promise<{ ok: boolean; message: string }>
      logs: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => Promise<{ ok: boolean; logs: string; message?: string }>
    }
    git: {
@@ -259,14 +271,27 @@ interface Window {
      start: (target: RemoteWorkspaceTarget, moduleName?: string, cols?: number, rows?: number, sessionId?: string, folderName?: string) => Promise<boolean>
      resize: (target: RemoteWorkspaceTarget, cols?: number, rows?: number, sessionId?: string) => Promise<boolean>
      changeDirectory: (target: RemoteWorkspaceTarget, moduleName: string, sessionId?: string, folderName?: string) => Promise<boolean>
-      write: (data: string, sessionId?: string) => void
-      stop: (sessionId?: string) => void
-      onData: (callback: (data: string) => void, sessionId?: string) => () => void
-      onSuppressData: (callback: (data: string) => void, sessionId?: string) => () => void
+      write: (target: RemoteWorkspaceTarget, data: string, sessionId?: string) => void
+      stop: (target: RemoteWorkspaceTarget, sessionId?: string) => void
+      onData: (target: RemoteWorkspaceTarget, callback: (data: string) => void, sessionId?: string) => () => void
+      onSuppressData: (target: RemoteWorkspaceTarget, callback: (data: string) => void, sessionId?: string) => () => void
    }
  }
 }

+type WorldLayoutObject = {
+  id: string
+  type: 'pillar' | 'wall' | 'box'
+  position: [number, number, number]
+  rotation: [number, number, number]
+  size: [number, number, number]
+}
+
+type WorldLayout = {
+  version: 1
+  objects: WorldLayoutObject[]
+}
+
 type RemoteWorkspaceTarget = {
  host: string
  user?: string | null
@@ -65,9 +65,20 @@ export type CurriculumWeek = {
    templateRepositoryUrl?: string | null
    sourceType?: string | null
    prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
+    defaultParameters?: string[] | null
    dockerImage?: string | null
  }>
  environmentProfiles?: EnvironmentProfile[]
+  maps?: Array<{
+    key: string
+    platformKey: 'NAV2'
+    name: string
+    description: string
+    worldFile: string
+    viewerModel: 'turtlebot3_world' | 'turtlebot3_house'
+    custom?: boolean
+    layout?: unknown
+  }>
 }

 export type CurriculumResponse = {
@@ -25,7 +25,7 @@ export default function PlatformSelectModal({
 }: PlatformSelectModalProps): React.JSX.Element {
  return (
    <div className="fixed bottom-0 left-0 right-0 top-[38px] z-50 grid place-items-center bg-[#080a10]/35 p-6 backdrop-blur-[2px]">
-      <section className="flex h-[660px] w-full max-w-[560px] flex-col overflow-hidden rounded-xl border border-[#dfe3ed] bg-white shadow-[0_28px_80px_rgba(8,10,16,0.28)]">
+      <section className="flex h-[min(660px,calc(100vh-86px))] w-full max-w-[560px] flex-col overflow-hidden rounded-xl border border-[#dfe3ed] bg-white shadow-[0_28px_80px_rgba(8,10,16,0.28)]">
        <header className="flex items-start justify-between gap-4 border-b border-[#e5e8ef] px-6 pb-4 pt-5">
          <div>
            <span className="text-[12px] font-medium text-[#6f4df6]">{weekLabel}</span>
@@ -45,7 +45,7 @@ export default function PlatformSelectionPanel({
  onOpenSettings
 }: PlatformSelectionPanelProps): React.JSX.Element {
  return (
-    <div className={['min-h-0 w-1/2 shrink-0 px-6 pb-5 pt-3 transition-opacity duration-300', mode === 'settings' ? 'opacity-0' : 'opacity-100'].join(' ')}>
+    <div className={['h-full min-h-0 w-1/2 shrink-0 overflow-y-auto px-6 pb-5 pt-3 pr-5 transition-opacity duration-300', mode === 'settings' ? 'opacity-0' : 'opacity-100'].join(' ')}>
      {runningPlatforms.length > 0 && (
        <div className="mb-4 pr-1">
          <p className="mb-2 text-[12px] font-black text-[#2563eb]">실행중인 플랫폼</p>
@@ -76,12 +76,7 @@ export default function PlatformSelectionPanel({
        counts={counts}
        onChange={onFilterChange}
      />
-      <div data-help="platform-list" className={[
-        'grid content-start gap-3 overflow-y-auto pr-1',
-        runningPlatforms.length > 0
-          ? 'min-h-[340px] max-h-[340px]'
-          : 'min-h-[470px] max-h-[470px]'
-      ].join(' ')}>
+      <div data-help="platform-list" className="grid content-start gap-3">
        {filteredPlatforms.length ? filteredPlatforms.map((platform) => {
          const { id, status, action, state, iconKey } = platform
          const Icon = PLATFORM_ICONS[iconKey] ?? Monitor
@@ -75,6 +75,20 @@ export async function releasePlatformControl(fetchWithFreshAuth: AuthFetch, plat
  if (!response.ok) throw new Error('platform-release failed')
 }

+export async function extendPlatformControl(
+  fetchWithFreshAuth: AuthFetch,
+  platformId: string,
+): Promise<PlatformControlActionResponse> {
+  const response = await fetchWithFreshAuth(`${LMS_API_BASE_URL}/platform-control/platforms/${encodeURIComponent(platformId)}/extend`, {
+    method: 'POST',
+  })
+  const payload = await response.json().catch(() => null) as PlatformControlActionResponse | { message?: string } | null
+  if (!response.ok) {
+    throw new Error(payload && 'message' in payload && payload.message ? payload.message : '제어 시간 연장에 실패했습니다.')
+  }
+  return payload as PlatformControlActionResponse
+}
+
 export async function requestOrCancelPlatformControl(
  fetchWithFreshAuth: AuthFetch,
  platform: PlatformOption
@@ -51,6 +51,7 @@ export type PlatformOption = {
      startedAt: string
      endsAt: string
      warningAt: string
+      extensionCount?: number
    } | null
    queue: {
      id: string
@@ -63,7 +64,7 @@ export type PlatformOption = {
 export type PlatformControlState = NonNullable<PlatformOption['control']>

 export type PlatformControlActionResponse = {
-  result?: 'GRANTED' | 'ALREADY_GRANTED' | 'QUEUED' | 'CANCELED'
+  result?: 'GRANTED' | 'ALREADY_GRANTED' | 'QUEUED' | 'CANCELED' | 'EXTENDED'
  platformId?: string
  session?: PlatformControlState['session']
  queue?: PlatformControlState['queue']
@@ -9,6 +9,7 @@ type DeletableModule = {
 type ModuleDeleteConfirmProps<Module extends DeletableModule> = {
  dark: boolean
  module: Module
+  allowRepositoryDeletion?: boolean
  onCancel: () => void
  onConfirm: (module: Module, options: { deleteRepository: boolean }) => void
 }
@@ -16,6 +17,7 @@ type ModuleDeleteConfirmProps<Module extends DeletableModule> = {
 export default function ModuleDeleteConfirm<Module extends DeletableModule>({
  dark,
  module,
+  allowRepositoryDeletion = true,
  onCancel,
  onConfirm
 }: ModuleDeleteConfirmProps<Module>): React.JSX.Element {
@@ -40,7 +42,7 @@ export default function ModuleDeleteConfirm<Module extends DeletableModule>({
          <p className={['mt-2 text-[12px] font-medium leading-relaxed', dark ? 'text-white/45' : 'text-[#727b8c]'].join(' ')}>
            워크스페이스에 설치된 모듈 폴더가 삭제됩니다.
          </p>
-          <label
+          {allowRepositoryDeletion && <label
            className={[
              'mt-4 flex cursor-pointer items-start gap-2 rounded-md border p-3',
              dark ? 'border-white/10 bg-white/[0.03]' : 'border-[#d8dee9] bg-[#f8fafc]'
@@ -60,7 +62,7 @@ export default function ModuleDeleteConfirm<Module extends DeletableModule>({
                제출 커밋과 작업 이력이 삭제되고, 다음 설치 시 템플릿 저장소 기준으로 새로 생성됩니다.
              </span>
            </span>
-          </label>
+          </label>}
          <div className="mt-4 flex justify-end gap-2">
            <button
              type="button"
@@ -74,7 +76,7 @@ export default function ModuleDeleteConfirm<Module extends DeletableModule>({
            </button>
            <button
              type="button"
-              onClick={() => onConfirm(module, { deleteRepository })}
+              onClick={() => onConfirm(module, { deleteRepository: allowRepositoryDeletion && deleteRepository })}
              className="h-8 cursor-pointer rounded-md bg-[#d14b4b] px-3 text-[12px] font-bold text-white transition hover:bg-[#bd3838]"
            >
              삭제
@@ -6,12 +6,10 @@ type ModuleListHeaderProps = {

 export default function ModuleListHeader({ dark }: ModuleListHeaderProps): React.JSX.Element {
  return (
-    <div className={['grid h-9 grid-cols-[78px_100px_minmax(150px,1fr)_minmax(104px,0.45fr)_minmax(104px,0.45fr)_84px_104px_62px] items-center border-b px-3 text-[11px] font-bold', dark ? 'border-white/10 bg-[#2b2b2b] text-white/45' : 'border-[#e1e6ef] bg-[#f3f5f9] text-[#727b8c]'].join(' ')}>
+    <div className={['grid h-9 grid-cols-[88px_115px_minmax(220px,1fr)_105px_132px_70px] items-center border-b px-3 text-[11px] font-bold', dark ? 'border-white/10 bg-[#2b2b2b] text-white/45' : 'border-[#e1e6ef] bg-[#f3f5f9] text-[#727b8c]'].join(' ')}>
      <span className="text-center">상태</span>
      <span className="text-center">분류</span>
      <span>모듈명</span>
-      <span className="text-center">CPU</span>
-      <span className="text-center">메모리</span>
      <span className="text-center">가동시간</span>
      <span className="col-span-2 text-center">제어</span>
    </div>
@@ -19,6 +19,7 @@ type ModuleListRowProps<Module extends ModuleListRowItem> = {
  module: Module
  installing: boolean
  controlling: boolean
+  bulkControlling: boolean
  onAddModuleTab: (module: Module) => void
  onOpenSource: (module: Module) => void
  onOpenParameters: (module: Module) => void
@@ -80,6 +81,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
  module,
  installing,
  controlling,
+  bulkControlling,
  onAddModuleTab,
  onOpenSource,
  onOpenParameters,
@@ -92,6 +94,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
 }: ModuleListRowProps<Module>): React.JSX.Element {
  const selectable = module.state !== 'uninstalled'
  const busy = installing || controlling
+  const parameters = Array.isArray(module.parameters) ? module.parameters : []
  const stateStyle: Record<ModuleListRowItem['state'], string> = {
    running: dark ? 'bg-[#12372d] text-[#72e2b5]' : 'bg-[#dff8ed] text-[#177553]',
    stopped: dark ? 'bg-white/8 text-white/45' : 'bg-[#edf0f5] text-[#687284]',
@@ -121,6 +124,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
  const installAction = module.state === 'uninstalled'
    ? { label: '설치', Icon: Download, tone: 'install' as ModuleActionTone }
    : { label: '삭제', Icon: Trash2, tone: 'delete' as ModuleActionTone }
+  const installActionDisabled = busy || (module.state !== 'uninstalled' && module.state !== 'stopped')

  return (
    <div
@@ -128,7 +132,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
        if (selectable) onOpenSource(module)
      }}
      className={[
-        'grid h-[58px] grid-cols-[78px_100px_minmax(150px,1fr)_minmax(104px,0.45fr)_minmax(104px,0.45fr)_84px_104px_62px] items-center px-3 text-[12px] transition',
+        'grid h-[58px] grid-cols-[88px_115px_minmax(220px,1fr)_105px_132px_70px] items-center px-3 text-[12px] transition',
        'cursor-default',
        selectable
          ? dark ? 'text-white/70 hover:bg-white/[0.045]' : 'text-[#4f596b] hover:bg-[#f5f7fb]'
@@ -158,37 +162,9 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
            dark ? 'text-white/32 hover:text-white/55' : 'text-[#8a94a5] hover:text-[#4f596b]'
          ].join(' ')}
        >
-          {module.parameters.length ? module.parameters.join('  ') : '파라미터 설정'}
+          {parameters.length ? parameters.join('  ') : '파라미터 설정'}
        </button>
      </span>
-      <span className="flex items-center justify-center gap-1.5">
-        {module.cpu === null ? (
-          <span className={dark ? 'text-white/28' : 'text-[#a0a7b4]'}>-</span>
-        ) : (
-          <>
-            <span className={['w-10 text-right font-mono text-[10px]', dark ? 'text-white/58' : 'text-[#687284]'].join(' ')}>
-              {module.cpu.toFixed(module.cpu >= 10 ? 0 : 1)}%
-            </span>
-            <span className={['h-1.5 w-[42px] overflow-hidden rounded-full', dark ? 'bg-white/10' : 'bg-[#e2e7f0]'].join(' ')}>
-              <span className="block h-full rounded-full bg-[#2f8dff]" style={{ width: `${Math.min(100, module.cpu)}%` }} />
-            </span>
-          </>
-        )}
-      </span>
-      <span className="flex items-center justify-center gap-1.5">
-        {module.memory === null ? (
-          <span className={dark ? 'text-white/28' : 'text-[#a0a7b4]'}>-</span>
-        ) : (
-          <>
-            <span className={['w-10 text-right font-mono text-[10px]', dark ? 'text-white/58' : 'text-[#687284]'].join(' ')}>
-              {module.memory.toFixed(module.memory >= 10 ? 0 : 1)}%
-            </span>
-            <span className={['h-1.5 w-[42px] overflow-hidden rounded-full', dark ? 'bg-white/10' : 'bg-[#e2e7f0]'].join(' ')}>
-              <span className="block h-full rounded-full bg-[#2fbda0]" style={{ width: `${Math.min(100, module.memory)}%` }} />
-            </span>
-          </>
-        )}
-      </span>
      <span className={['text-center', module.runtime === '-' ? (dark ? 'text-white/28' : 'text-[#a0a7b4]') : (dark ? 'font-mono text-white/58' : 'font-mono text-[#687284]')].join(' ')}>
        {module.runtime}
      </span>
@@ -215,7 +191,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
        {controlActions.map(({ label, Icon, tone, action }) => (
          (() => {
            const canCancelBuild = module.state === 'stopped' && controlling && label === '중지'
-            const disabled = busy && !canCancelBuild
+            const disabled = bulkControlling || (busy && !canCancelBuild)
            return (
              <button
                key={`${module.name}-${label}`}
@@ -238,7 +214,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
      <span className="flex justify-center">
        <button
          type="button"
-          disabled={busy}
+          disabled={installActionDisabled}
          onClick={(event) => {
            event.stopPropagation()
            if (module.state === 'uninstalled') {
@@ -248,7 +224,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
            onDeleteModule(module)
          }}
          aria-label={installAction.label}
-          className={actionButtonClass(dark, installAction.tone, busy)}
+          className={actionButtonClass(dark, installAction.tone, installActionDisabled)}
        >
          {busy ? <RefreshCw size={14} className="animate-spin" /> : <installAction.Icon size={14} />}
          <TooltipLabel dark={dark}>{installAction.label}</TooltipLabel>
@@ -15,6 +15,7 @@ type ModuleListToolbarProps = {
  onInstallAll: () => void
  onStartAll: () => void
  onStopAll: () => void
+  onOpenWorldEditor: () => void
 }

 const FILTER_TABS: Array<{ id: ModuleFilter; label: string }> = [
@@ -35,14 +36,15 @@ export default function ModuleListToolbar({
  onFilterChange,
  onInstallAll,
  onStartAll,
-  onStopAll
+  onStopAll,
+  onOpenWorldEditor
 }: ModuleListToolbarProps): React.JSX.Element {
  const installingAll = installingModuleName === '__all__'
  const startingAll = installingModuleName === '__start_all__'
  const stoppingAll = installingModuleName === '__stop_all__'

  const bulkActions = [
-    { label: '맵설정', Icon: MapPinned, busy: false, disabled: false, onClick: undefined },
+    { label: '맵설정', Icon: MapPinned, busy: false, disabled: false, onClick: onOpenWorldEditor },
    {
      label: '전체 설치',
      Icon: Download,
@@ -17,6 +17,7 @@ type ModuleListViewProps = {
  controllingModuleNames: string[]
  listError: string | null
  installError: string | null
+  allowRepositoryDeletion?: boolean
  onAddModuleTab: (module: ModuleRow) => void
  onOpenSource: (module: ModuleRow) => void
  onInstallModule: (module: ModuleRow) => void
@@ -29,6 +30,7 @@ type ModuleListViewProps = {
  onInstallAll: () => void
  onStartAll: () => void
  onStopAll: () => void
+  onOpenWorldEditor: () => void
 }

 export default function ModuleListView({
@@ -39,6 +41,7 @@ export default function ModuleListView({
  controllingModuleNames,
  listError,
  installError,
+  allowRepositoryDeletion = true,
  onAddModuleTab,
  onOpenSource,
  onInstallModule,
@@ -50,7 +53,8 @@ export default function ModuleListView({
  onRestartModule,
  onInstallAll,
  onStartAll,
-  onStopAll
+  onStopAll,
+  onOpenWorldEditor
 }: ModuleListViewProps): React.JSX.Element {
  const [moduleFilter, setModuleFilter] = useState<ModuleFilter>('all')
  const [deleteConfirmModule, setDeleteConfirmModule] = useState<ModuleRow | null>(null)
@@ -60,6 +64,7 @@ export default function ModuleListView({
  const runningCount = modules.filter((row) => row.state === 'running').length
  const stoppedCount = modules.filter((row) => row.state === 'stopped').length
  const installingAll = installingModuleName === '__all__'
+  const bulkControlling = installingModuleName === '__start_all__' || installingModuleName === '__stop_all__'

  useEffect(() => {
    const handleEscape = (event: KeyboardEvent): void => {
@@ -102,6 +107,7 @@ export default function ModuleListView({
            onInstallAll={onInstallAll}
            onStartAll={onStartAll}
            onStopAll={onStopAll}
+            onOpenWorldEditor={onOpenWorldEditor}
          />
          <ModuleListHeader dark={dark} />
          {(listError || installError) && (
@@ -122,6 +128,7 @@ export default function ModuleListView({
                module={row}
                installing={installingModuleName === row.name || (installingAll && row.state === 'uninstalled')}
                controlling={controllingModuleNames.includes(row.name)}
+                bulkControlling={bulkControlling}
                onAddModuleTab={onAddModuleTab}
                onOpenSource={onOpenSource}
                onOpenParameters={(module) => {
@@ -148,6 +155,7 @@ export default function ModuleListView({
        <ModuleDeleteConfirm
          dark={dark}
          module={deleteConfirmModule}
+          allowRepositoryDeletion={allowRepositoryDeletion}
          onCancel={() => setDeleteConfirmModule(null)}
          onConfirm={(module, options) => {
            onDeleteModule(module, options)
@@ -196,7 +196,7 @@ export default function WorkspaceFilePanel({
 }: WorkspaceFilePanelProps): React.JSX.Element {
  return (
    <aside
-      className={['min-h-0 border-r transition-opacity', searchActive ? 'flex flex-col' : '', workspaceActive ? '' : 'pointer-events-none overflow-hidden border-r-0 opacity-0', dark ? 'border-white/10 bg-[#242424]' : 'border-[#cfd6e4] bg-[#edf1f7]'].join(' ')}
+      className={['flex min-h-0 flex-col border-r transition-opacity', workspaceActive ? '' : 'pointer-events-none overflow-hidden border-r-0 opacity-0', dark ? 'border-white/10 bg-[#242424]' : 'border-[#cfd6e4] bg-[#edf1f7]'].join(' ')}
      style={workspaceActive ? { gridColumn: 4, gridRow: 2 } : undefined}
    >
      <div className={['flex h-11 items-center justify-between border-b px-3', borderSoft].join(' ')}>
@@ -396,7 +396,7 @@ function ExplorerPanel(props: Omit<WorkspaceFilePanelProps,
  } = props

  return (
-    <div className={['px-2 py-2 text-[13px] font-medium', textMid].join(' ')}>
+    <div className={['thin-y-scrollbar min-h-0 flex-1 overflow-y-auto px-2 py-2 text-[13px] font-medium', textMid].join(' ')}>
      <button
        type="button"
        onClick={onSelectRoot}
@@ -16,6 +16,7 @@ type WorkspaceTopBarProps = {
  previewOpen: boolean
  showControlCountdown: boolean
  controlCountdownDanger: boolean
+  canExtendControl: boolean
  controlEndsAt: string | null
  submitVisible: boolean
  submitDisabled: boolean
@@ -28,6 +29,7 @@ type WorkspaceTopBarProps = {
  onTogglePreview: () => void
  onSubmit: () => void
  onOpenPowerActions: () => void
+  onRequestControlExtension: () => void
  onClose: () => void
 }

@@ -45,6 +47,7 @@ export default function WorkspaceTopBar({
  previewOpen,
  showControlCountdown,
  controlCountdownDanger,
+  canExtendControl,
  controlEndsAt,
  submitVisible,
  submitDisabled,
@@ -57,6 +60,7 @@ export default function WorkspaceTopBar({
  onTogglePreview,
  onSubmit,
  onOpenPowerActions,
+  onRequestControlExtension,
  onClose
 }: WorkspaceTopBarProps): React.JSX.Element {
  return (
@@ -101,6 +105,15 @@ export default function WorkspaceTopBar({
              <Clock3 size={13} />
              {formatControlRemainingTime(controlEndsAt)}
            </span>
+            {controlCountdownDanger && canExtendControl && (
+              <button
+                type="button"
+                onClick={onRequestControlExtension}
+                className="h-6 cursor-pointer rounded border border-[#ef4444]/45 px-2 text-[11px] font-bold text-[#ff8b8b] transition hover:bg-[#ef4444]/12"
+              >
+                연장
+              </button>
+            )}
          </>
        )}
        <span className={['ml-1 mr-1 h-4 w-px', dark ? 'bg-white/16' : 'bg-[#cfd6e4]'].join(' ')} />
@@ -2,6 +2,7 @@ import { Maximize2, Minimize2, PanelLeft, X } from 'lucide-react'
 import type React from 'react'

 export type VisualizationStack = 'autoware' | 'nav2' | 'slam'
+export type Nav2VisualizationMode = 'slam' | 'navigation'

 type WorkspaceVisualizationPanelProps = {
  dark: boolean
@@ -16,11 +17,13 @@ type WorkspaceVisualizationPanelProps = {
  running: boolean
  busy: boolean
  viewerUrl: string
+  nav2Mode: Nav2VisualizationMode
  onDragStart: (event: React.MouseEvent<HTMLDivElement>) => void
  onToggleLarge: () => void
  onClose: () => void
  onStackChange: (stack: VisualizationStack) => void
  onStart: () => void
+  onStartNav2: (mode: Nav2VisualizationMode) => void
  onStop: () => void
  onResizeStart: (event: React.MouseEvent<HTMLDivElement>, direction: 'n' | 's' | 'e' | 'w' | 'ne' | 'nw' | 'se' | 'sw') => void
 }
@@ -38,14 +41,17 @@ export default function WorkspaceVisualizationPanel({
  running,
  busy,
  viewerUrl,
+  nav2Mode,
  onDragStart,
  onToggleLarge,
  onClose,
  onStackChange,
  onStart,
+  onStartNav2,
  onStop,
  onResizeStart
 }: WorkspaceVisualizationPanelProps): React.JSX.Element {
+  const isNav2Visualization = activeStack === 'nav2' || activeStack === 'slam'
  return (
    <section
      className={[
@@ -127,21 +133,58 @@ export default function WorkspaceVisualizationPanel({
            )}
          </div>
          <div className="flex items-center gap-2">
-            <button
-              type="button"
-              disabled={busy || !stacks.length}
-              onClick={() => {
-                if (running) onStop()
-                else onStart()
-              }}
-              className={[
-                'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition',
-                running ? 'bg-[#7f1d1d] text-[#fecaca] hover:bg-[#991b1b]' : 'bg-[#14532d] text-[#bbf7d0] hover:bg-[#166534]',
-                busy || !stacks.length ? 'cursor-default opacity-60' : ''
-              ].join(' ')}
-            >
-              {busy ? '처리 중' : running ? '종료' : '시작'}
-            </button>
+            {running ? (
+              <button
+                type="button"
+                disabled={busy || !stacks.length}
+                onClick={onStop}
+                className={[
+                  'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition bg-[#7f1d1d] text-[#fecaca] hover:bg-[#991b1b]',
+                  busy || !stacks.length ? 'cursor-default opacity-60' : ''
+                ].join(' ')}
+              >
+                {busy ? '처리 중' : '종료'}
+              </button>
+            ) : isNav2Visualization ? (
+              <>
+                <button
+                  type="button"
+                  disabled={busy || !stacks.length}
+                  onClick={() => onStartNav2('slam')}
+                  className={[
+                    'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition',
+                    nav2Mode === 'slam' ? 'bg-[#14532d] text-[#bbf7d0] hover:bg-[#166534]' : 'bg-white/8 text-white/66 hover:bg-white/12 hover:text-white',
+                    busy || !stacks.length ? 'cursor-default opacity-60' : ''
+                  ].join(' ')}
+                >
+                  {busy && nav2Mode === 'slam' ? '처리 중' : 'SLAM 시작'}
+                </button>
+                <button
+                  type="button"
+                  disabled={busy || !stacks.length}
+                  onClick={() => onStartNav2('navigation')}
+                  className={[
+                    'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition',
+                    nav2Mode === 'navigation' ? 'bg-[#2563eb] text-white hover:bg-[#3b82f6]' : 'bg-white/8 text-white/66 hover:bg-white/12 hover:text-white',
+                    busy || !stacks.length ? 'cursor-default opacity-60' : ''
+                  ].join(' ')}
+                >
+                  {busy && nav2Mode === 'navigation' ? '처리 중' : '주행 시작'}
+                </button>
+              </>
+            ) : (
+              <button
+                type="button"
+                disabled={busy || !stacks.length}
+                onClick={onStart}
+                className={[
+                  'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition bg-[#14532d] text-[#bbf7d0] hover:bg-[#166534]',
+                  busy || !stacks.length ? 'cursor-default opacity-60' : ''
+                ].join(' ')}
+              >
+                {busy ? '처리 중' : '시작'}
+              </button>
+            )}
          </div>
        </div>
        <div className="relative min-h-0 flex-1">
@@ -0,0 +1,509 @@
+import { Box, Cylinder, LoaderCircle, Maximize2, Move3D, PanelsTopLeft, Rotate3D, RotateCcw, Save, Trash2, X } from 'lucide-react'
+import { useEffect, useRef, useState } from 'react'
+import type React from 'react'
+import * as THREE from 'three'
+import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js'
+import { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js'
+import { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js'
+
+type WorldObjectType = WorldLayoutObject['type']
+
+type WorldEditorModalProps = {
+  workspaceRoot: string
+  onClose: () => void
+  onSaved?: () => void
+}
+
+type TransformMode = 'translate' | 'rotate' | 'scale'
+
+const objectLabels: Record<WorldObjectType, string> = {
+  pillar: '기둥',
+  wall: '벽',
+  box: '박스'
+}
+
+const defaultsByType: Record<WorldObjectType, Omit<WorldLayoutObject, 'id' | 'type'>> = {
+  pillar: { position: [0, 0, 1], rotation: [0, 0, 0], size: [0.5, 0.5, 2] },
+  wall: { position: [0, 0, 1], rotation: [0, 0, 0], size: [4, 0.2, 2] },
+  box: { position: [0, 0, 0.5], rotation: [0, 0, 0], size: [1, 1, 1] }
+}
+
+function createObject(type: WorldObjectType, index: number): WorldLayoutObject {
+  const template = defaultsByType[type]
+  return {
+    id: `${type}-${Date.now()}-${index}`,
+    type,
+    position: [template.position[0] + index * 0.7, template.position[1] + index * 0.45, template.position[2]],
+    rotation: [...template.rotation],
+    size: [...template.size]
+  }
+}
+
+function objectMaterial(type: WorldObjectType): THREE.MeshStandardMaterial {
+  const color = type === 'pillar' ? '#fb923c' : type === 'wall' ? '#60a5fa' : '#a78bfa'
+  return new THREE.MeshStandardMaterial({ color, roughness: 0.68, metalness: 0.05 })
+}
+
+function createMesh(item: WorldLayoutObject): THREE.Mesh {
+  const [width, depth, height] = item.size
+  const geometry = item.type === 'pillar'
+    ? new THREE.CylinderGeometry(Math.max(width, depth) / 2, Math.max(width, depth) / 2, height, 32)
+    : new THREE.BoxGeometry(width, depth, height)
+  const mesh = new THREE.Mesh(geometry, objectMaterial(item.type))
+  mesh.position.set(item.position[0], item.position[1], item.position[2])
+  mesh.rotation.set(item.rotation[0], item.rotation[1], item.rotation[2])
+  if (item.type === 'pillar') mesh.rotateX(Math.PI / 2)
+  mesh.castShadow = true
+  mesh.receiveShadow = true
+  mesh.userData.objectId = item.id
+  return mesh
+}
+
+const modelRoot = '/slam-viewer/turtlebot3_world_model/turtlebot3_world'
+const modelRoots: Record<string, string> = {
+  turtlebot3_world: modelRoot,
+  turtlebot3_house: '/slam-viewer/turtlebot3_world_model/turtlebot3_house',
+  turtlebot3_common: '/slam-viewer/turtlebot3_world_model/turtlebot3_common'
+}
+
+function parseNumbers(value: string | null | undefined, count = 0): number[] {
+  const numbers = (value ?? '').trim().split(/\s+/).filter(Boolean).map(Number).filter(Number.isFinite)
+  while (numbers.length < count) numbers.push(0)
+  return numbers
+}
+
+function directChild(element: Element | null | undefined, name: string): Element | null {
+  return Array.from(element?.children ?? []).find((child) => child.tagName === name) ?? null
+}
+
+function childText(element: Element | null | undefined, name: string, fallback = ''): string {
+  return directChild(element, name)?.textContent?.trim() || fallback
+}
+
+function applySdfPose(target: THREE.Object3D, value: string): void {
+  const [x, y, z, roll, pitch, yaw] = parseNumbers(value, 6)
+  target.position.set(x, y, z)
+  target.rotation.set(roll, pitch, yaw, 'XYZ')
+}
+
+function worldMaterial(visual: Element): THREE.MeshLambertMaterial {
+  const text = `${visual.getAttribute('name') ?? ''} ${Array.from(visual.querySelectorAll('uri, script name')).map((item) => item.textContent ?? '').join(' ')}`.toLowerCase()
+  const ambient = visual.querySelector('ambient')?.textContent
+  const [red, green, blue] = parseNumbers(ambient, 3)
+  const color = ambient ? new THREE.Color(red, green, blue) : text.includes('wall') ? '#171717' : text.includes('green') ? '#16a34a' : '#e5e7eb'
+  // TurtleBot3 기본 월드는 외곽 벽 메시의 안쪽에서 보게 된다.
+  // 내부 면도 표시해야 다각형 전체 벽 구조가 보인다.
+  return new THREE.MeshLambertMaterial({ color, side: THREE.DoubleSide })
+}
+
+function gazeboAssetPath(uri: string): string {
+  return uri.replace(/^model:\/\/(\w+)\//, (_match, name: string) => `${modelRoots[name] ?? `/slam-viewer/turtlebot3_world_model/${name}`}/`)
+}
+
+async function loadWorldSdf(parent: THREE.Group): Promise<void> {
+  const response = await fetch(`${modelRoot}/model.sdf`)
+  if (!response.ok) throw new Error(`기본 월드 모델을 불러오지 못했습니다. (${response.status})`)
+  const documentNode = new DOMParser().parseFromString(await response.text(), 'application/xml')
+  const model = documentNode.querySelector('model')
+  if (!model) throw new Error('기본 월드 모델 형식이 올바르지 않습니다.')
+
+  const colladaLoader = new ColladaLoader()
+  const stlLoader = new STLLoader()
+  const modelGroup = new THREE.Group()
+  applySdfPose(modelGroup, childText(model, 'pose', '0 0 0 0 0 0'))
+  parent.add(modelGroup)
+
+  const loadMesh = async (target: THREE.Group, visual: Element, geometry: Element): Promise<void> => {
+    const meshNode = directChild(geometry, 'mesh')
+    const uri = childText(meshNode, 'uri')
+    if (!uri) return
+    const scale = parseNumbers(childText(meshNode, 'scale', '1 1 1'), 3)
+    const url = gazeboAssetPath(uri)
+    const material = worldMaterial(visual)
+    if (url.endsWith('.stl')) {
+      const geometryValue = await stlLoader.loadAsync(url)
+      geometryValue.computeVertexNormals()
+      const mesh = new THREE.Mesh(geometryValue, material)
+      mesh.scale.set(scale[0], scale[1], scale[2])
+      mesh.castShadow = true
+      mesh.receiveShadow = true
+      target.add(mesh)
+      return
+    }
+    const collada = await colladaLoader.loadAsync(url)
+    collada.scene.scale.set(scale[0], scale[1], scale[2])
+    collada.scene.traverse((child) => {
+      if (!(child instanceof THREE.Mesh)) return
+      child.material = material.clone()
+      child.castShadow = true
+      child.receiveShadow = true
+    })
+    target.add(collada.scene)
+  }
+
+  for (const link of Array.from(model.querySelectorAll(':scope > link'))) {
+    const linkGroup = new THREE.Group()
+    applySdfPose(linkGroup, childText(link, 'pose', '0 0 0 0 0 0'))
+    modelGroup.add(linkGroup)
+    for (const visual of Array.from(link.querySelectorAll(':scope > visual'))) {
+      const visualGroup = new THREE.Group()
+      applySdfPose(visualGroup, childText(visual, 'pose', '0 0 0 0 0 0'))
+      linkGroup.add(visualGroup)
+      const geometry = directChild(visual, 'geometry')
+      if (!geometry) continue
+      const material = worldMaterial(visual)
+      if (directChild(geometry, 'mesh')) {
+        await loadMesh(visualGroup, visual, geometry).catch(() => undefined)
+        continue
+      }
+      const box = directChild(geometry, 'box')
+      const cylinder = directChild(geometry, 'cylinder')
+      if (box) {
+        const [width, depth, height] = parseNumbers(childText(box, 'size', '1 1 1'), 3)
+        visualGroup.add(new THREE.Mesh(new THREE.BoxGeometry(width, depth, height), material))
+      } else if (cylinder) {
+        const radius = Number(childText(cylinder, 'radius', '0.1')) || 0.1
+        const height = Number(childText(cylinder, 'length', '1')) || 1
+        const mesh = new THREE.Mesh(new THREE.CylinderGeometry(radius, radius, height, 32), material)
+        mesh.rotateX(Math.PI / 2)
+        visualGroup.add(mesh)
+      }
+    }
+  }
+}
+
+export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: WorldEditorModalProps): React.JSX.Element {
+  const canvasHostRef = useRef<HTMLDivElement>(null)
+  const viewerRef = useRef<HTMLIFrameElement>(null)
+  const worldRef = useRef<WorldLayout>({ version: 1, objects: [] })
+  const selectedIdRef = useRef<string | null>(null)
+  const renderSceneRef = useRef<(() => void) | null>(null)
+  const [layout, setLayout] = useState<WorldLayout>({ version: 1, objects: [] })
+  const [selectedId, setSelectedId] = useState<string | null>(null)
+  const [loading, setLoading] = useState(true)
+  const [saving, setSaving] = useState(false)
+  const [error, setError] = useState<string | null>(null)
+  const [transformMode, setTransformMode] = useState<TransformMode>('translate')
+
+  useEffect(() => {
+    let active = true
+    void window.localWorkspace.worldLayout.read(workspaceRoot)
+      .then((nextLayout) => {
+        if (!active) return
+        worldRef.current = nextLayout
+        setLayout(nextLayout)
+        setSelectedId(nextLayout.objects[0]?.id ?? null)
+      })
+      .catch((cause: unknown) => {
+        if (!active) return
+        setError(cause instanceof Error ? cause.message : '월드 정보를 불러오지 못했습니다.')
+      })
+      .finally(() => active && setLoading(false))
+    return () => { active = false }
+  }, [workspaceRoot])
+
+  useEffect(() => {
+    worldRef.current = layout
+  }, [layout])
+
+  useEffect(() => {
+    selectedIdRef.current = selectedId
+    renderSceneRef.current?.()
+    sendLayoutToViewer(worldRef.current)
+  }, [selectedId])
+
+  const sendLayoutToViewer = (nextLayout: WorldLayout): void => {
+    viewerRef.current?.contentWindow?.postMessage({
+      source: 'autonomy-world-editor',
+      type: 'set-layout',
+      layout: nextLayout,
+      selectedId: selectedIdRef.current,
+    }, '*')
+  }
+
+  useEffect(() => {
+    sendLayoutToViewer(layout)
+  }, [layout])
+
+  useEffect(() => {
+    const handleMessage = (event: MessageEvent): void => {
+      if (event.data?.source !== 'autonomy-world-editor') return
+      if (event.data.type === 'ready') {
+        sendLayoutToViewer(worldRef.current)
+        return
+      }
+      if (event.data.type === 'select-object') setSelectedId(typeof event.data.id === 'string' ? event.data.id : null)
+      if (event.data.type === 'transform-object' && typeof event.data.id === 'string' && event.data.patch) {
+        const patch = event.data.patch as Partial<WorldLayoutObject>
+        setLayout((current) => {
+          const next = {
+            ...current,
+            objects: current.objects.map((item) => item.id === event.data.id ? { ...item, ...patch } : item),
+          }
+          worldRef.current = next
+          return next
+        })
+      }
+    }
+    window.addEventListener('message', handleMessage)
+    return () => window.removeEventListener('message', handleMessage)
+  }, [])
+
+  useEffect(() => {
+    const host = canvasHostRef.current
+    // The editor iframe owns the actual TurtleBot3 world rendering. Keep the
+    // previous canvas path dormant while the shared viewer is mounted.
+    if (!host || loading || viewerRef.current) return
+    const scene = new THREE.Scene()
+    scene.background = new THREE.Color('#0b1220')
+    const camera = new THREE.PerspectiveCamera(52, 1, 0.1, 100)
+    camera.position.set(4, 6, 5)
+    const renderer = new THREE.WebGLRenderer({ antialias: true })
+    renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2))
+    renderer.shadowMap.enabled = true
+    renderer.shadowMap.type = THREE.PCFSoftShadowMap
+    host.replaceChildren(renderer.domElement)
+
+    const controls = new OrbitControls(camera, renderer.domElement)
+    controls.target.set(0, 0, 0)
+    controls.enableDamping = true
+    controls.maxPolarAngle = Math.PI / 2.08
+    controls.update()
+
+    scene.add(new THREE.HemisphereLight('#dbeafe', '#0b1220', 1.7))
+    const keyLight = new THREE.DirectionalLight('#ffffff', 1.8)
+    keyLight.position.set(6, -5, 11)
+    keyLight.castShadow = true
+    scene.add(keyLight)
+    const ground = new THREE.Mesh(
+      new THREE.PlaneGeometry(20, 20),
+      new THREE.MeshStandardMaterial({ color: '#17233a', roughness: 0.95, metalness: 0 })
+    )
+    ground.rotation.x = -Math.PI / 2
+    ground.receiveShadow = true
+    scene.add(ground)
+    scene.add(new THREE.GridHelper(20, 20, '#3b82f6', '#24324c'))
+
+    // Gazebo SDF uses Z-up, while Three.js uses Y-up.
+    const sdfRoot = new THREE.Group()
+    sdfRoot.rotation.x = -Math.PI / 2
+    scene.add(sdfRoot)
+    const objectGroup = new THREE.Group()
+    const selectionGroup = new THREE.Group()
+    sdfRoot.add(objectGroup)
+    scene.add(selectionGroup)
+    const raycaster = new THREE.Raycaster()
+    const pointer = new THREE.Vector2()
+
+    const renderScene = (): void => {
+      objectGroup.clear()
+      selectionGroup.clear()
+      for (const item of worldRef.current.objects) {
+        const mesh = createMesh(item)
+        objectGroup.add(mesh)
+        if (item.id === selectedIdRef.current) {
+          const outline = new THREE.Box3().setFromObject(mesh)
+          const size = outline.getSize(new THREE.Vector3())
+          const center = outline.getCenter(new THREE.Vector3())
+          const helper = new THREE.Box3Helper(new THREE.Box3().setFromCenterAndSize(center, size.multiplyScalar(1.08)), '#93c5fd')
+          selectionGroup.add(helper)
+        }
+      }
+    }
+    renderSceneRef.current = renderScene
+    renderScene()
+    let disposed = false
+    void loadWorldSdf(sdfRoot).catch((cause: unknown) => {
+      if (!disposed) setError(cause instanceof Error ? cause.message : '기본 TurtleBot3 월드 모델을 불러오지 못했습니다.')
+    })
+
+    const resize = (): void => {
+      const { width, height } = host.getBoundingClientRect()
+      if (!width || !height) return
+      camera.aspect = width / height
+      camera.updateProjectionMatrix()
+      renderer.setSize(width, height, false)
+    }
+    const observer = new ResizeObserver(resize)
+    observer.observe(host)
+    resize()
+
+    const handlePointerDown = (event: PointerEvent): void => {
+      const rect = renderer.domElement.getBoundingClientRect()
+      pointer.x = ((event.clientX - rect.left) / rect.width) * 2 - 1
+      pointer.y = -((event.clientY - rect.top) / rect.height) * 2 + 1
+      raycaster.setFromCamera(pointer, camera)
+      const hit = raycaster.intersectObjects(objectGroup.children, false)[0]
+      setSelectedId(typeof hit?.object.userData.objectId === 'string' ? hit.object.userData.objectId : null)
+    }
+    renderer.domElement.addEventListener('pointerdown', handlePointerDown)
+
+    let frameId = 0
+    const animate = (): void => {
+      controls.update()
+      renderer.render(scene, camera)
+      frameId = window.requestAnimationFrame(animate)
+    }
+    animate()
+
+    return () => {
+      disposed = true
+      renderSceneRef.current = null
+      window.cancelAnimationFrame(frameId)
+      observer.disconnect()
+      renderer.domElement.removeEventListener('pointerdown', handlePointerDown)
+      controls.dispose()
+      renderer.dispose()
+      host.replaceChildren()
+    }
+  }, [loading])
+
+  const selectTransformMode = (mode: TransformMode): void => {
+    setTransformMode(mode)
+    viewerRef.current?.contentWindow?.postMessage({
+      source: 'autonomy-world-editor',
+      type: 'set-transform-mode',
+      mode,
+    }, '*')
+  }
+
+  const selected = layout.objects.find((item) => item.id === selectedId) ?? null
+  const updateObject = (id: string, patch: Partial<WorldLayoutObject>): void => {
+    setLayout((current) => {
+      const next = { ...current, objects: current.objects.map((item) => item.id === id ? { ...item, ...patch } : item) }
+      worldRef.current = next
+      return next
+    })
+    window.requestAnimationFrame(() => renderSceneRef.current?.())
+  }
+  const updateTuple = (key: 'position' | 'rotation' | 'size', index: number, value: string): void => {
+    if (!selected) return
+    const numeric = Number(value)
+    if (!Number.isFinite(numeric)) return
+    const next = [...selected[key]] as [number, number, number]
+    next[index] = key === 'size' ? Math.max(0.1, numeric) : numeric
+    updateObject(selected.id, { [key]: next })
+  }
+  const addObject = (type: WorldObjectType): void => {
+    const object = createObject(type, layout.objects.length)
+    setLayout((current) => {
+      const next = { ...current, objects: [...current.objects, object] }
+      worldRef.current = next
+      return next
+    })
+    setSelectedId(object.id)
+    window.requestAnimationFrame(() => renderSceneRef.current?.())
+  }
+  const removeSelected = (): void => {
+    if (!selected) return
+    const remaining = layout.objects.filter((item) => item.id !== selected.id)
+    const next = { ...layout, objects: remaining }
+    worldRef.current = next
+    setLayout(next)
+    setSelectedId(remaining[0]?.id ?? null)
+    window.requestAnimationFrame(() => renderSceneRef.current?.())
+  }
+  const resetLayout = (): void => {
+    const next: WorldLayout = { version: 1, objects: [] }
+    worldRef.current = next
+    setLayout(next)
+    setSelectedId(null)
+    window.requestAnimationFrame(() => renderSceneRef.current?.())
+  }
+  const save = async (): Promise<void> => {
+    setSaving(true)
+    setError(null)
+    try {
+      const saved = await window.localWorkspace.worldLayout.write(workspaceRoot, layout)
+      setLayout(saved)
+      onSaved?.()
+      onClose()
+    } catch (cause) {
+      setError(cause instanceof Error ? cause.message : '월드 정보를 저장하지 못했습니다.')
+    } finally {
+      setSaving(false)
+    }
+  }
+
+  return (
+    <div className="absolute inset-0 z-[70] flex items-center justify-center bg-[#050914]/78 p-6 backdrop-blur-sm">
+      <section className="flex h-[min(820px,calc(100vh-64px))] w-[min(1280px,calc(100vw-64px))] flex-col overflow-hidden rounded-lg border border-white/12 bg-[#111a2a] shadow-[0_24px_72px_rgba(0,0,0,0.5)]">
+        <header className="flex h-12 shrink-0 items-center justify-between border-b border-white/10 bg-[#162238] px-4">
+          <div>
+            <h2 className="text-[13px] font-bold text-white">맵 설정</h2>
+            <p className="mt-0.5 text-[10px] font-medium text-white/42">주차 워크스페이스에 월드 배치를 저장합니다.</p>
+          </div>
+          <button type="button" onClick={onClose} className="grid size-7 cursor-pointer place-items-center rounded-md text-white/55 transition hover:bg-white/10 hover:text-white" aria-label="닫기"><X size={16} /></button>
+        </header>
+
+        <div className="flex min-h-0 flex-1">
+          <aside className="flex w-[214px] shrink-0 flex-col border-r border-white/10 bg-[#101a2a]">
+            <div className="border-b border-white/10 px-3 py-3">
+              <p className="text-[10px] font-bold tracking-[0.1em] text-white/38">SCENE</p>
+              <p className="mt-1 text-[11px] font-semibold text-white/66">월드 오브젝트</p>
+            </div>
+            <div className="min-h-0 flex-1 overflow-y-auto p-2">
+              {layout.objects.length ? layout.objects.map((item) => {
+                const Icon = item.type === 'pillar' ? Cylinder : item.type === 'wall' ? PanelsTopLeft : Box
+                const selected = item.id === selectedId
+                return (
+                  <button key={item.id} type="button" onClick={() => setSelectedId(item.id)} className={`flex h-9 w-full cursor-pointer items-center gap-2 rounded-md px-2 text-left transition ${selected ? 'bg-[#3b7ffa]/20 text-[#d9e7ff]' : 'text-white/60 hover:bg-white/[0.06] hover:text-white'}`}>
+                    <Icon size={13} className={selected ? 'text-[#75a4ff]' : 'text-white/38'} />
+                    <span className="min-w-0 flex-1 truncate text-[11px] font-semibold">{objectLabels[item.type]}</span>
+                    <span className="text-[10px] text-white/30">{item.id.split('-').at(-1)}</span>
+                  </button>
+                )
+              }) : <div className="px-3 py-8 text-center text-[11px] leading-relaxed text-white/35">오브젝트를 추가해<br />맵을 구성하세요.</div>}
+            </div>
+            <div className="border-t border-white/10 p-2">
+              <p className="mb-2 px-1 text-[10px] font-bold tracking-[0.08em] text-white/35">ADD OBJECT</p>
+              <div className="grid grid-cols-3 gap-1">
+                {([
+                  ['pillar', Cylinder, '기둥'],
+                  ['wall', PanelsTopLeft, '벽'],
+                  ['box', Box, '박스'],
+                ] as const).map(([type, Icon, label]) => (
+                  <button key={type} type="button" onClick={() => addObject(type)} title={`${label} 추가`} className="flex h-12 cursor-pointer flex-col items-center justify-center gap-1 rounded-md border border-white/10 text-[10px] font-semibold text-white/60 transition hover:border-[#60a5fa]/55 hover:bg-[#1a2c49] hover:text-white"><Icon size={14} />{label}</button>
+                ))}
+              </div>
+            </div>
+          </aside>
+          <main className="relative min-w-0 flex-1 bg-[#0b1220]">
+            <div ref={canvasHostRef} className="pointer-events-none absolute inset-0 opacity-0" />
+            <iframe ref={viewerRef} title="TurtleBot3 World Editor" src="/slam-viewer/index.html?editor=1&mapKey=nav2-custom" className="absolute inset-0 z-10 size-full border-0" />
+            {loading && <div className="absolute inset-0 z-20 grid place-items-center bg-[#0b1220] text-[12px] font-semibold text-white/58"><span className="flex items-center gap-2"><LoaderCircle size={16} className="animate-spin" />월드 불러오는 중</span></div>}
+            <div className="absolute left-3 top-3 z-20 flex overflow-hidden rounded-md border border-white/15 bg-[#15223a]/95 shadow">
+              {([
+                ['translate', Move3D, '이동'],
+                ['rotate', Rotate3D, '회전'],
+                ['scale', Maximize2, '크기'],
+              ] as const).map(([mode, Icon, label]) => (
+                <button key={mode} type="button" onClick={() => selectTransformMode(mode)} title={label} aria-label={label} className={`flex h-8 cursor-pointer items-center gap-1.5 px-2.5 text-[11px] font-bold transition ${transformMode === mode ? 'bg-[#3b7ffa] text-white' : 'text-white/60 hover:bg-white/10 hover:text-white'}`}><Icon size={14} />{label}</button>
+              ))}
+            </div>
+          </main>
+
+          <aside className="flex w-[270px] shrink-0 flex-col border-l border-white/10 bg-[#131e31]">
+            <div className="border-b border-white/10 px-3 py-3"><span className="text-[11px] font-bold text-white/70">선택한 오브젝트</span></div>
+            {selected ? (
+              <div className="min-h-0 flex-1 overflow-y-auto p-3">
+                <div className="mb-4 flex items-center justify-between"><span className="rounded bg-[#3b7ffa]/18 px-2 py-1 text-[11px] font-bold text-[#a8c7ff]">{objectLabels[selected.type]}</span><button type="button" onClick={removeSelected} className="grid size-7 cursor-pointer place-items-center rounded border border-red-400/25 text-red-300/80 transition hover:bg-red-500/12 hover:text-red-200" title="삭제"><Trash2 size={14} /></button></div>
+                {(['position', 'rotation', 'size'] as const).map((key) => {
+                  const indexes = key === 'position' ? [0, 1] : key === 'rotation' ? [2] : [0, 1, 2]
+                  return <div key={key} className="mb-4"><p className="mb-1.5 text-[10px] font-bold tracking-[0.08em] text-white/38">{key === 'position' ? '위치' : key === 'rotation' ? '회전' : '크기'}</p><div className={`grid gap-1.5 ${indexes.length === 1 ? 'grid-cols-1' : indexes.length === 2 ? 'grid-cols-2' : 'grid-cols-3'}`}>{indexes.map((index) => <label key={index} className="min-w-0"><span className="mb-1 block text-[10px] font-bold text-white/38">{key === 'rotation' ? '각도 (Z)' : ['X', 'Y', '높이'][index]}</span><input type="number" step="0.1" value={Number(selected[key][index].toFixed(2))} onChange={(event) => updateTuple(key, index, event.target.value)} className="h-8 w-full rounded border border-white/12 bg-[#0d1728] px-2 text-[11px] font-medium text-white outline-none transition focus:border-[#60a5fa]" /></label>)}</div></div>
+                })}
+              </div>
+            ) : <div className="grid min-h-0 flex-1 place-items-center px-5 text-center text-[11px] leading-relaxed text-white/35">오브젝트를 선택하거나 추가하세요.</div>}
+            <div className="border-t border-white/10 p-3"><button type="button" onClick={resetLayout} className="flex h-8 w-full cursor-pointer items-center justify-center gap-1.5 rounded border border-white/12 text-[11px] font-semibold text-white/54 transition hover:bg-white/8 hover:text-white"><RotateCcw size={13} />모두 비우기</button></div>
+          </aside>
+        </div>
+
+        <footer className="flex h-12 shrink-0 items-center justify-between border-t border-white/10 bg-[#162238] px-4">
+          <span className="text-[10px] font-medium text-white/38">저장 위치: world-layout.json</span>
+          <div className="flex items-center gap-2"><button type="button" onClick={onClose} className="h-8 cursor-pointer rounded-md px-3 text-[11px] font-semibold text-white/58 transition hover:bg-white/8 hover:text-white">취소</button><button type="button" disabled={saving || loading} onClick={() => void save()} className="flex h-8 cursor-pointer items-center gap-1.5 rounded-md bg-[#3b7ffa] px-3 text-[11px] font-bold text-white transition hover:bg-[#4a89ff] disabled:cursor-default disabled:opacity-55">{saving ? <LoaderCircle size={14} className="animate-spin" /> : <Save size={14} />}저장</button></div>
+        </footer>
+        {error && <div className="absolute bottom-14 left-4 rounded border border-red-400/25 bg-[#3a1f29] px-3 py-2 text-[11px] font-semibold text-red-200">{error}</div>}
+      </section>
+    </div>
+  )
+}
@@ -0,0 +1,274 @@
+import { AlertTriangle, Check, House, LoaderCircle, Map, PencilRuler, Save, Trash2, X } from 'lucide-react'
+import { useEffect, useRef, useState } from 'react'
+
+export type WorkspaceMapOption = {
+  key: string
+  platformKey: 'NAV2'
+  name: string
+  description: string
+  worldFile: string
+  viewerModel: 'turtlebot3_world' | 'turtlebot3_house'
+  custom?: boolean
+  saved?: boolean
+  savedMapId?: string
+  createdAt?: string
+  sourceMapKey?: string
+  yamlPath?: string
+  pgmPath?: string
+  previewPgm?: string
+  layout?: unknown
+}
+
+export const NAV2_MAP_OPTIONS: WorkspaceMapOption[] = [
+  {
+    key: 'nav2-turtlebot3-world',
+    platformKey: 'NAV2',
+    name: '기본 월드',
+    description: 'TurtleBot3 기본 장애물 환경',
+    worldFile: 'turtlebot3_world.world',
+    viewerModel: 'turtlebot3_world'
+  },
+  {
+    key: 'nav2-turtlebot3-house',
+    platformKey: 'NAV2',
+    name: '실내 환경',
+    description: '방과 복도로 구성된 TurtleBot3 House',
+    worldFile: 'turtlebot3_house.world',
+    viewerModel: 'turtlebot3_house'
+  },
+  {
+    key: 'nav2-custom',
+    platformKey: 'NAV2',
+    name: '커스텀 맵',
+    description: '장애물을 직접 배치해 학습 환경 구성',
+    worldFile: 'empty_world.world',
+    viewerModel: 'turtlebot3_world',
+    custom: true
+  }
+]
+
+const LOCAL_CUSTOM_MAP = NAV2_MAP_OPTIONS.find((map) => map.key === 'nav2-custom')!
+
+function MapPreview({ map, selected }: { map: WorkspaceMapOption; selected: boolean }): React.JSX.Element {
+  const Icon = map.saved ? Save : map.custom ? PencilRuler : map.viewerModel === 'turtlebot3_house' ? House : Map
+  const canvasRef = useRef<HTMLCanvasElement>(null)
+
+  useEffect(() => {
+    if (!map.previewPgm || !canvasRef.current) return
+    const canvas = canvasRef.current
+    const context = canvas.getContext('2d')
+    if (!context) return
+
+    try {
+      const bytes = Uint8Array.from(atob(map.previewPgm), (char) => char.charCodeAt(0))
+      let cursor = 0
+      const nextToken = (): string => {
+        while (cursor < bytes.length && /\s/.test(String.fromCharCode(bytes[cursor]))) cursor += 1
+        if (bytes[cursor] === 35) {
+          while (cursor < bytes.length && bytes[cursor] !== 10) cursor += 1
+          return nextToken()
+        }
+        const start = cursor
+        while (cursor < bytes.length && !/\s/.test(String.fromCharCode(bytes[cursor]))) cursor += 1
+        return String.fromCharCode(...bytes.slice(start, cursor))
+      }
+      if (nextToken() !== 'P5') throw new Error('unsupported_pgm')
+      const width = Number(nextToken())
+      const height = Number(nextToken())
+      const maxValue = Number(nextToken())
+      while (cursor < bytes.length && /\s/.test(String.fromCharCode(bytes[cursor]))) cursor += 1
+      if (!Number.isFinite(width) || !Number.isFinite(height) || maxValue !== 255 || bytes.length - cursor < width * height) throw new Error('invalid_pgm')
+
+      const targetWidth = 192
+      const targetHeight = 128
+      canvas.width = targetWidth
+      canvas.height = targetHeight
+      context.fillStyle = '#d9dce0'
+      context.fillRect(0, 0, targetWidth, targetHeight)
+      const scale = Math.min(targetWidth / width, targetHeight / height)
+      const renderedWidth = Math.max(1, Math.floor(width * scale))
+      const renderedHeight = Math.max(1, Math.floor(height * scale))
+      const offsetX = Math.floor((targetWidth - renderedWidth) / 2)
+      const offsetY = Math.floor((targetHeight - renderedHeight) / 2)
+      const image = context.createImageData(renderedWidth, renderedHeight)
+      for (let y = 0; y < renderedHeight; y += 1) {
+        const sourceY = Math.min(height - 1, Math.floor((y / renderedHeight) * height))
+        for (let x = 0; x < renderedWidth; x += 1) {
+          const sourceX = Math.min(width - 1, Math.floor((x / renderedWidth) * width))
+          const value = bytes[cursor + sourceY * width + sourceX]
+          const index = (y * renderedWidth + x) * 4
+          image.data[index] = value
+          image.data[index + 1] = value
+          image.data[index + 2] = value
+          image.data[index + 3] = 255
+        }
+      }
+      context.putImageData(image, offsetX, offsetY)
+    } catch {
+      // Keep the fallback map schematic visible when a legacy preview is invalid.
+    }
+  }, [map.previewPgm])
+
+  return (
+    <span
+      aria-hidden="true"
+      className={[
+        'relative block h-16 w-24 shrink-0 overflow-hidden rounded border bg-[#d9dce0] shadow-inner',
+        selected ? 'border-[#6f9cff]' : 'border-white/15'
+      ].join(' ')}
+    >
+      {map.previewPgm && <canvas ref={canvasRef} className="absolute inset-0 size-full" />}
+      {!map.previewPgm && <span className="absolute inset-0 bg-[linear-gradient(rgba(20,30,42,0.08)_1px,transparent_1px),linear-gradient(90deg,rgba(20,30,42,0.08)_1px,transparent_1px)] bg-[size:8px_8px]" />}
+      {!map.previewPgm && (map.custom ? (
+        <>
+          <span className="absolute left-[18%] top-[28%] h-[12%] w-[42%] bg-[#536273]" />
+          <span className="absolute bottom-[20%] right-[16%] h-[34%] w-[12%] bg-[#536273]" />
+          <span className="absolute bottom-[17%] left-[15%] size-[10%] rounded-full bg-[#536273]" />
+        </>
+      ) : map.viewerModel === 'turtlebot3_house' ? (
+        <>
+          <span className="absolute inset-[12%] border-[3px] border-[#455363]" />
+          <span className="absolute left-[42%] top-[12%] h-[43%] w-[3px] bg-[#455363]" />
+          <span className="absolute bottom-[28%] left-[12%] h-[3px] w-[52%] bg-[#455363]" />
+          <span className="absolute bottom-[12%] right-[25%] h-[30%] w-[3px] bg-[#455363]" />
+        </>
+      ) : (
+        <>
+          <span className="absolute inset-[11%] border-[3px] border-[#455363]" />
+          <span className="absolute left-[28%] top-[30%] size-[16%] rounded-full bg-[#455363]" />
+          <span className="absolute right-[22%] top-[22%] h-[16%] w-[24%] bg-[#455363]" />
+          <span className="absolute bottom-[22%] right-[35%] h-[14%] w-[14%] bg-[#455363]" />
+        </>
+      ))}
+      {map.saved && <span className="absolute inset-x-0 bottom-0 bg-[#0f172a]/75 py-0.5 text-center text-[8px] font-extrabold tracking-[0.08em] text-white">SLAM</span>}
+      <span className={['absolute left-1.5 top-1.5 grid size-5 place-items-center rounded border border-white/35', selected ? 'bg-[#2563eb] text-white' : 'bg-[#111827]/75 text-white/85'].join(' ')}>
+        <Icon className="size-3" />
+      </span>
+    </span>
+  )
+}
+
+type WorldMapSelectorModalProps = {
+  platformKey: string
+  weekNumber: number
+  maps?: WorkspaceMapOption[]
+  selectedMapKey: string
+  onSelect: (map: WorkspaceMapOption) => void
+  onCreate: () => void
+  onDelete?: (map: WorkspaceMapOption) => void
+  onClose: () => void
+}
+
+export default function WorldMapSelectorModal({ platformKey, weekNumber, maps: configuredMaps, selectedMapKey, onSelect, onCreate, onDelete, onClose }: WorldMapSelectorModalProps): React.JSX.Element {
+  const maps = platformKey.toUpperCase() === 'NAV2'
+    ? (configuredMaps?.length
+      ? [...configuredMaps, ...(configuredMaps.some((map) => map.key === LOCAL_CUSTOM_MAP.key) ? [] : [LOCAL_CUSTOM_MAP])]
+      : NAV2_MAP_OPTIONS)
+    : []
+  const environmentMaps = maps.filter((map) => !map.saved)
+  const savedMaps = maps.filter((map) => map.saved)
+  const selectedMap = maps.find((map) => map.key === selectedMapKey) ?? null
+  const [tab, setTab] = useState<'environment' | 'saved'>(() => selectedMap?.saved ? 'saved' : 'environment')
+  const visibleMaps = tab === 'environment' ? environmentMaps : savedMaps
+  const [pendingMap, setPendingMap] = useState<WorkspaceMapOption | null>(() => selectedMap)
+
+  useEffect(() => {
+    setTab(selectedMap?.saved ? 'saved' : 'environment')
+    setPendingMap(selectedMap)
+  }, [selectedMapKey])
+
+  return (
+    <div className="fixed inset-0 z-[150] flex items-center justify-center bg-black/60 p-6" role="dialog" aria-modal="true" aria-label="맵 선택">
+      <section className="flex w-full max-w-[560px] flex-col overflow-hidden rounded-lg border border-white/10 bg-[#171b23] text-white shadow-2xl">
+        <header className="flex items-center justify-between border-b border-white/10 px-6 py-4">
+          <div>
+            <h2 className="text-[16px] font-bold">맵 설정</h2>
+            <p className="mt-1 text-[12px] text-white/50">{weekNumber}주차에서 사용할 {platformKey.toUpperCase()} 학습 환경</p>
+          </div>
+          <button type="button" aria-label="닫기" title="닫기" onClick={onClose} className="grid size-8 place-items-center rounded-md text-white/55 transition hover:bg-white/10 hover:text-white">
+            <X className="size-4" />
+          </button>
+        </header>
+        <div className="flex gap-1 border-b border-white/10 px-5 pt-3">
+          <button type="button" onClick={() => setTab('environment')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', tab === 'environment' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>학습 환경</button>
+          <button type="button" onClick={() => setTab('saved')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', tab === 'saved' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>저장된 맵</button>
+        </div>
+        <div className="thin-y-scrollbar min-h-[270px] max-h-[270px] space-y-2 overflow-y-auto p-5">
+          {visibleMaps.map((map) => {
+            const pending = map.key === pendingMap?.key
+            const selected = map.key === selectedMapKey
+            return (
+              <button
+                key={map.key}
+                type="button"
+                onClick={() => setPendingMap(map)}
+                className={[
+                  'group relative flex w-full cursor-pointer items-start gap-3 rounded-md border px-3 py-3 text-left transition',
+                  pending ? 'border-[#3b7ffa] bg-[#3b7ffa]/12' : 'border-white/10 bg-[#111520] hover:border-white/25 hover:bg-white/[0.045]'
+                ].join(' ')}
+              >
+                <MapPreview map={map} selected={pending} />
+                <span className="min-w-0 flex-1">
+                  <span className="block text-[14px] font-bold">{map.name}</span>
+                  <span className="mt-1 block text-[12px] leading-5 text-white/50">{map.description}</span>
+                </span>
+                {map.saved && map.createdAt && <span className="absolute bottom-3 right-4 text-[11px] font-medium text-white/35">{new Date(map.createdAt).toLocaleString('ko-KR', { dateStyle: 'short', timeStyle: 'short' })}</span>}
+                {selected && <Check className="absolute right-4 top-3 size-4 text-[#7eabff]" />}
+                {map.saved && map.key !== selectedMapKey && onDelete && (
+                  <span role="button" tabIndex={0} title="삭제" aria-label={`${map.name} 삭제`} onClick={(event) => { event.stopPropagation(); onDelete(map) }} onKeyDown={(event) => { if (event.key === 'Enter') { event.stopPropagation(); onDelete(map) } }} className="absolute right-3 top-2 grid size-7 cursor-pointer place-items-center rounded-md text-white/42 opacity-0 transition hover:bg-red-500/15 hover:text-red-300 group-hover:opacity-100">
+                    <Trash2 className="size-3.5" />
+                  </span>
+                )}
+              </button>
+            )
+          })}
+          {!visibleMaps.length && <div className="grid min-h-[160px] place-items-center text-[13px] font-medium text-white/40">저장된 SLAM 맵이 없습니다.</div>}
+        </div>
+        <footer className="flex items-center justify-between border-t border-white/10 px-5 py-3">
+          {tab === 'environment' && (
+            <button type="button" onClick={onCreate} className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-white/12 px-3 text-[12px] font-bold text-white/70 transition hover:bg-white/8 hover:text-white">
+              <PencilRuler className="size-3.5" />
+              맵 편집
+            </button>
+          )}
+          <button type="button" disabled={!pendingMap || pendingMap.key === selectedMapKey} onClick={() => pendingMap && onSelect(pendingMap)} className="ml-auto h-8 cursor-pointer rounded-md bg-[#2563eb] px-3 text-[12px] font-bold text-white transition hover:bg-[#1d5ed8] disabled:cursor-default disabled:opacity-45">
+            확인
+          </button>
+        </footer>
+      </section>
+    </div>
+  )
+}
+
+type WorldMapRestartConfirmModalProps = {
+  map: WorkspaceMapOption
+  restarting: boolean
+  onCancel: () => void
+  onConfirm: () => void
+}
+
+export function WorldMapRestartConfirmModal({ map, restarting, onCancel, onConfirm }: WorldMapRestartConfirmModalProps): React.JSX.Element {
+  return (
+    <div className="fixed inset-0 z-[160] grid place-items-center bg-black/65 p-6" role="dialog" aria-modal="true" aria-label="맵 변경 확인">
+      <section className="w-full max-w-[400px] overflow-hidden rounded-lg border border-white/10 bg-[#171b23] text-white shadow-2xl">
+        <header className="flex items-center gap-2 border-b border-white/10 px-5 py-4">
+          <AlertTriangle className="size-4 text-amber-300" />
+          <h2 className="text-[15px] font-bold">맵 변경</h2>
+        </header>
+        <div className="px-5 py-4">
+          <p className="text-[13px] font-semibold">{map.name}으로 변경하시겠습니까?</p>
+          <p className="mt-2 text-[12px] leading-5 text-white/55">실행 중인 모듈을 전체 재시작해야 새 맵이 적용됩니다.</p>
+          <div className="mt-5 flex justify-end gap-2">
+            <button type="button" disabled={restarting} onClick={onCancel} className="h-8 cursor-pointer rounded-md border border-white/12 px-3 text-[12px] font-bold text-white/65 transition hover:bg-white/8 hover:text-white disabled:cursor-default disabled:opacity-45">
+              취소
+            </button>
+            <button type="button" disabled={restarting} onClick={onConfirm} className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md bg-[#2563eb] px-3 text-[12px] font-bold text-white transition hover:bg-[#1d5ed8] disabled:cursor-default disabled:opacity-60">
+              {restarting && <LoaderCircle className="size-3.5 animate-spin" />}
+              {restarting ? '재시작 중' : '변경 후 재시작'}
+            </button>
+          </div>
+        </div>
+      </section>
+    </div>
+  )
+}
@@ -0,0 +1,102 @@
+import type { CurriculumWeek } from '../curriculum/types'
+import type { EnvironmentProfile } from '../platforms/types'
+import type { ModulePrebuiltArtifact } from './types'
+
+type CurriculumModule = NonNullable<CurriculumWeek['modules']>[number]
+
+type RuntimeModuleOverride = {
+  id?: string
+  folderName?: string
+  name?: string
+  enabled?: boolean
+  sortOrder?: number
+  defaultParameters?: string[]
+  prebuiltArtifacts?: ModulePrebuiltArtifact[]
+  dockerImage?: string | null
+}
+
+type RuntimeModuleSet = {
+  target?: 'local' | 'platform'
+  includeUnlisted?: boolean
+  modules?: RuntimeModuleOverride[]
+}
+
+function asRecord(value: unknown): Record<string, unknown> | null {
+  return typeof value === 'object' && value !== null && !Array.isArray(value)
+    ? value as Record<string, unknown>
+    : null
+}
+
+function readModuleSet(profile: EnvironmentProfile | null, runtimeTarget: 'local' | 'platform'): RuntimeModuleSet | null {
+  const config = asRecord(profile?.config)
+  const raw = asRecord(config?.moduleSet)
+  if (!raw) return null
+
+  const target = raw.target === 'local' || raw.target === 'platform' ? raw.target : undefined
+  if (target && target !== runtimeTarget) return null
+  const modules = Array.isArray(raw.modules)
+    ? raw.modules.map(asRecord).filter((item): item is Record<string, unknown> => item !== null).map((item) => ({
+      id: typeof item.id === 'string' ? item.id : undefined,
+      folderName: typeof item.folderName === 'string' ? item.folderName : undefined,
+      name: typeof item.name === 'string' ? item.name : undefined,
+      enabled: typeof item.enabled === 'boolean' ? item.enabled : undefined,
+      sortOrder: typeof item.sortOrder === 'number' ? item.sortOrder : undefined,
+      defaultParameters: Array.isArray(item.defaultParameters)
+        ? item.defaultParameters.filter((value): value is string => typeof value === 'string')
+        : undefined,
+      prebuiltArtifacts: Array.isArray(item.prebuiltArtifacts)
+        ? item.prebuiltArtifacts.filter((value): value is ModulePrebuiltArtifact => typeof value === 'object' && value !== null)
+        : undefined,
+      dockerImage: typeof item.dockerImage === 'string' ? item.dockerImage : item.dockerImage === null ? null : undefined,
+    }))
+    : []
+
+  return {
+    target,
+    includeUnlisted: raw.includeUnlisted !== false,
+    modules,
+  }
+}
+
+function matchesModule(module: CurriculumModule, override: RuntimeModuleOverride): boolean {
+  return Boolean(
+    (override.id && override.id === module.id)
+    || (override.folderName && override.folderName === module.folderName)
+    || (override.name && override.name === module.name)
+  )
+}
+
+/** Environment-specific module selection preserves the shared student source repositories. */
+export function resolveRuntimeModules(
+  modules: CurriculumWeek['modules'],
+  profile: EnvironmentProfile | EnvironmentProfile[] | null,
+  runtimeTarget: 'local' | 'platform',
+): CurriculumWeek['modules'] {
+  const baseModules = modules ?? []
+  const profiles = Array.isArray(profile) ? profile : profile ? [profile] : []
+  const moduleSets = profiles
+    .map((item) => readModuleSet(item, runtimeTarget))
+    .filter((item): item is RuntimeModuleSet => item !== null)
+  if (!moduleSets.length) return baseModules
+
+  const overrides = moduleSets.flatMap((moduleSet) => moduleSet.modules ?? [])
+  const includeUnlisted = moduleSets.every((moduleSet) => moduleSet.includeUnlisted !== false)
+  return baseModules
+    .filter((module) => {
+      const override = overrides.find((item) => matchesModule(module, item))
+      return includeUnlisted || Boolean(override?.enabled !== false && override)
+    })
+    .filter((module) => overrides.find((item) => matchesModule(module, item))?.enabled !== false)
+    .map((module) => {
+      const override = overrides.find((item) => matchesModule(module, item))
+      if (!override) return module
+      return {
+        ...module,
+        sortOrder: override.sortOrder ?? module.sortOrder,
+        defaultParameters: override.defaultParameters ?? module.defaultParameters,
+        prebuiltArtifacts: override.prebuiltArtifacts ?? module.prebuiltArtifacts,
+        dockerImage: override.dockerImage !== undefined ? override.dockerImage : module.dockerImage,
+      }
+    })
+    .sort((left, right) => left.sortOrder - right.sortOrder)
+}
@@ -25,11 +25,7 @@ export function makeWeekWorkspaceRoot(workspaceRoot: string, studentSlug: string
 export function makePlatformWorkspaceRoot(workspaceRoot: string, studentSlug: string, courseKey: string, weekNumber: number, platformKey: string): string {
  const normalizedRoot = (workspaceRoot || defaultStudioSourceSettings.workspaceRoot).replace(/\/+$/, '')
  if (platformKey === 'futuredrive-local-pc') return makeWeekWorkspaceRoot(normalizedRoot, studentSlug, courseKey, weekNumber)
-  const safePlatformKey = platformKey
-    .replace(/^futuredrive[-_]/i, '')
-    .replace(/[^a-zA-Z0-9_-]+/g, '-')
-    .toLowerCase()
-  const suffix = `${studentSlug}/${safePlatformKey}/week-${weekNumber}`
+  const suffix = `${normalizeCoursePathSegment(courseKey)}/week-${weekNumber}`
  if (normalizedRoot === suffix || normalizedRoot.endsWith(`/${suffix}`)) return normalizedRoot
  return `${normalizedRoot}/${suffix}`
 }
@@ -1,4 +1,5 @@
 import { STUDIO_RUNTIME_SESSION_STORAGE_KEY } from '../../config/appConfig'
+import type { PlatformOption } from '../platforms/types'

 export type StudioRuntimeSessionState = {
  localPcLayoutOpen: boolean
@@ -8,6 +9,7 @@ export type StudioRuntimeSessionState = {
  sessionEndedAt: string | null
  connectedPlatformId: string | null
  runningPlatformIds: string[]
+  runningPlatforms: PlatformOption[]
  workspaceWeekNumber: number | null
 }

@@ -27,6 +29,15 @@ export function readStudioRuntimeSessionState(): StudioRuntimeSessionState | nul
      sessionEndedAt: typeof parsed.sessionEndedAt === 'string' ? parsed.sessionEndedAt : null,
      connectedPlatformId: typeof parsed.connectedPlatformId === 'string' ? parsed.connectedPlatformId : null,
      runningPlatformIds: parsed.runningPlatformIds.filter((id): id is string => typeof id === 'string'),
+      runningPlatforms: Array.isArray(parsed.runningPlatforms)
+        ? parsed.runningPlatforms.filter((platform): platform is PlatformOption => (
+          Boolean(platform)
+          && typeof platform === 'object'
+          && typeof (platform as PlatformOption).id === 'string'
+          && typeof (platform as PlatformOption).platformKey === 'string'
+          && typeof (platform as PlatformOption).title === 'string'
+        ))
+        : [],
      workspaceWeekNumber: typeof parsed.workspaceWeekNumber === 'number' && parsed.workspaceWeekNumber > 0 ? parsed.workspaceWeekNumber : null
    }
  } catch {
@@ -15,6 +15,7 @@ export type ModuleRow = {
  templateRepositoryUrl?: string | null
  sourceType?: string | null
  prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
+  dockerImage?: string | null
  parameters: string[]
  cpu: number | null
  memory: number | null
@@ -62,19 +62,6 @@ export function useRemoteWorkspaceRuntime({
      prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
    }

-    const submitResult = await window.localWorkspace.git.submit(
-      module.name,
-      clonePathPreview,
-      module.folderName,
-      `Run: ${weekNumber}주차 ${module.name}`,
-      undefined,
-      undefined,
-      undefined
-    )
-    if (!submitResult.ok && !submitResult.message.includes('제출할 변경사항이 없습니다')) {
-      throw new Error(`[${module.name}] ${submitResult.message}`)
-    }
-
    const templateRepositoryUrl = prepared.templateRepositoryUrlWithToken ?? prepared.templateRepositoryUrl ?? module.templateRepositoryUrl
    await window.remoteWorkspace.modules.install(
      getRemoteWorkspaceTarget(),
@@ -87,23 +74,45 @@ export function useRemoteWorkspaceRuntime({
        runtimeImages: activeRuntimeImages
      }
    )
+
+    const submitResult = remoteWorkspace
+      ? await window.remoteWorkspace.git.submit(
+        getRemoteWorkspaceTarget(),
+        module.name,
+        module.folderName,
+        `Run: ${weekNumber}주차 ${module.name}`,
+      )
+      : await window.localWorkspace.git.submit(
+        module.name,
+        clonePathPreview,
+        module.folderName,
+        `Run: ${weekNumber}주차 ${module.name}`,
+        undefined,
+        undefined,
+        undefined,
+      )
+    if (!submitResult.ok && !submitResult.message.includes('제출할 변경사항이 없습니다')) {
+      throw new Error(`[${module.name}] ${submitResult.message}`)
+    }
  }, [
    activeRuntimeImages,
    clonePathPreview,
    courseKey,
    getFreshAccessToken,
    getRemoteWorkspaceTarget,
+    remoteWorkspace,
    saveDirtyFilesForModule,
    weekNumber
  ])

  const stopRunningWorkspaceModules = useCallback(async (): Promise<void> => {
    if (remoteWorkspace) {
-      const moduleMap = new Map<string, { moduleName: string; folderName?: string | null; sortOrder?: number | null }>()
+      const moduleMap = new Map<string, { moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null; sortOrder?: number | null }>()
      for (const module of availableModules) {
        moduleMap.set(module.name, {
          moduleName: module.name,
          folderName: module.folderName,
+          templateRepositoryUrl: module.templateRepositoryUrl,
          sortOrder: module.sortOrder
        })
      }
@@ -112,6 +121,7 @@ export function useRemoteWorkspaceRuntime({
          moduleMap.set(module.name, {
            moduleName: module.name,
            folderName: module.folderName,
+            templateRepositoryUrl: module.templateRepositoryUrl,
            sortOrder: module.sortOrder
          })
        }
@@ -8,6 +8,8 @@ import { getPathName, getPathParent, makeUniquePath, replacePathPrefix } from '.
 type UseWorkspaceFileActionsOptions = {
  selectedModule: ModuleRow | null
  clonePathPreview: string
+  remoteWorkspace: boolean
+  getRemoteWorkspaceTarget: () => RemoteWorkspaceTarget
  selectedTreePath: string | null
  setSelectedTreePath: Dispatch<SetStateAction<string | null>>
  setSelectedExampleTreePath: Dispatch<SetStateAction<string | null>>
@@ -75,6 +77,8 @@ type UseWorkspaceFileActionsResult = {
 export function useWorkspaceFileActions({
  selectedModule,
  clonePathPreview,
+  remoteWorkspace,
+  getRemoteWorkspaceTarget,
  selectedTreePath,
  setSelectedTreePath,
  setSelectedExampleTreePath,
@@ -115,7 +119,9 @@ export function useWorkspaceFileActions({
  const loadModuleFiles = async (module: ModuleRow): Promise<void> => {
    setModuleFileLoadingByName((loading) => ({ ...loading, [module.name]: true }))
    try {
-      const result = await window.localWorkspace.moduleFiles.read(module.name, clonePathPreview, module.folderName)
+      const result = remoteWorkspace
+        ? await window.remoteWorkspace.moduleFiles.read(getRemoteWorkspaceTarget(), module.name, module.folderName)
+        : await window.localWorkspace.moduleFiles.read(module.name, clonePathPreview, module.folderName)
      const nextFiles = result.files
      const nextFolders = result.folders.length ? result.folders : []

@@ -168,7 +174,11 @@ export function useWorkspaceFileActions({
    if (newFileDraft.kind === 'folder') {
      const nextFolder = `${newFileDraft.parent}/${normalizedName}`
      try {
-        await window.localWorkspace.moduleFiles.create(selectedModule.name, nextFolder, 'folder', clonePathPreview, selectedModule.folderName)
+        if (remoteWorkspace) {
+          await window.remoteWorkspace.moduleFiles.create(getRemoteWorkspaceTarget(), selectedModule.name, nextFolder, 'folder', selectedModule.folderName)
+        } else {
+          await window.localWorkspace.moduleFiles.create(selectedModule.name, nextFolder, 'folder', clonePathPreview, selectedModule.folderName)
+        }
      } catch (error) {
        console.error('[module-files] create folder failed', error)
        return
@@ -183,7 +193,11 @@ export function useWorkspaceFileActions({

    const nextFile = `${newFileDraft.parent}/${normalizedName}`
    try {
-      await window.localWorkspace.moduleFiles.create(selectedModule.name, nextFile, 'file', clonePathPreview, selectedModule.folderName)
+      if (remoteWorkspace) {
+        await window.remoteWorkspace.moduleFiles.create(getRemoteWorkspaceTarget(), selectedModule.name, nextFile, 'file', selectedModule.folderName)
+      } else {
+        await window.localWorkspace.moduleFiles.create(selectedModule.name, nextFile, 'file', clonePathPreview, selectedModule.folderName)
+      }
    } catch (error) {
      console.error('[module-files] create file failed', error)
      return
@@ -215,7 +229,11 @@ export function useWorkspaceFileActions({

  const saveEditorFile = async (file: EditorFilePath): Promise<void> => {
    if (!selectedModule || file.startsWith('examples/example-code/')) return
-    await window.localWorkspace.moduleFiles.write(selectedModule.name, file, editorFiles[file] ?? '', clonePathPreview, selectedModule.folderName)
+    if (remoteWorkspace) {
+      await window.remoteWorkspace.moduleFiles.write(getRemoteWorkspaceTarget(), selectedModule.name, file, editorFiles[file] ?? '', selectedModule.folderName)
+    } else {
+      await window.localWorkspace.moduleFiles.write(selectedModule.name, file, editorFiles[file] ?? '', clonePathPreview, selectedModule.folderName)
+    }
    markEditorFileSaved(file, editorFiles[file] ?? '')
    if (installedGitModules.length) void refreshGitStatuses(selectedGitTarget)
  }
@@ -293,7 +311,11 @@ export function useWorkspaceFileActions({
    }
    const nextPath = `${getPathParent(currentPath)}/${nextName.replace(/^\/+/, '')}`
    try {
-      await window.localWorkspace.moduleFiles.rename(selectedModule.name, currentPath, nextPath, clonePathPreview, selectedModule.folderName)
+      if (remoteWorkspace) {
+        await window.remoteWorkspace.moduleFiles.rename(getRemoteWorkspaceTarget(), selectedModule.name, currentPath, nextPath, selectedModule.folderName)
+      } else {
+        await window.localWorkspace.moduleFiles.rename(selectedModule.name, currentPath, nextPath, clonePathPreview, selectedModule.folderName)
+      }
    } catch (error) {
      console.error('[module-files] rename failed', error)
      return
@@ -334,7 +356,11 @@ export function useWorkspaceFileActions({
  const performDeleteTreeTarget = async (targetPath: string): Promise<void> => {
    if (!selectedModule) return
    try {
-      await window.localWorkspace.moduleFiles.delete(selectedModule.name, targetPath, clonePathPreview, selectedModule.folderName)
+      if (remoteWorkspace) {
+        await window.remoteWorkspace.moduleFiles.delete(getRemoteWorkspaceTarget(), selectedModule.name, targetPath, selectedModule.folderName)
+      } else {
+        await window.localWorkspace.moduleFiles.delete(selectedModule.name, targetPath, clonePathPreview, selectedModule.folderName)
+      }
    } catch (error) {
      console.error('[module-files] delete failed', error)
      return
@@ -364,7 +390,11 @@ export function useWorkspaceFileActions({
    const allFolders = Array.from(new Set([...(loadedModuleFolders[selectedModule.name] ?? []), ...createdModuleFolders.filter((folder) => folder.startsWith(rootPath))]))
    const targetBasePath = makeUniquePath(`${pasteParent}/${getPathName(sourcePath)}`, editorFiles, allFolders)
    try {
-      await window.localWorkspace.moduleFiles.copy(selectedModule.name, sourcePath, targetBasePath, treeClipboard.mode, clonePathPreview, selectedModule.folderName)
+      if (remoteWorkspace) {
+        await window.remoteWorkspace.moduleFiles.copy(getRemoteWorkspaceTarget(), selectedModule.name, sourcePath, targetBasePath, treeClipboard.mode, selectedModule.folderName)
+      } else {
+        await window.localWorkspace.moduleFiles.copy(selectedModule.name, sourcePath, targetBasePath, treeClipboard.mode, clonePathPreview, selectedModule.folderName)
+      }
    } catch (error) {
      console.error('[module-files] copy failed', error)
      return
@@ -87,11 +87,23 @@ export function useWorkspaceModuleControl({
    }

    const templateRepositoryUrl = prepared.templateRepositoryUrlWithToken ?? prepared.templateRepositoryUrl ?? module.templateRepositoryUrl
-    await window.localWorkspace.modules.install(module.name, clonePathPreview, module.folderName, templateRepositoryUrl, prepared.repositoryUrlWithToken, {
+    const installOptions = {
      prebuiltArtifacts: prepared.prebuiltArtifacts ?? module.prebuiltArtifacts ?? null,
      runtimeImages: activeRuntimeImages
-    })
-  }, [activeRuntimeImages, clonePathPreview, courseKey, weekNumber])
+    }
+    if (remoteWorkspace) {
+      await window.remoteWorkspace.modules.install(
+        getRemoteWorkspaceTarget(),
+        module.name,
+        module.folderName,
+        templateRepositoryUrl,
+        prepared.repositoryUrlWithToken,
+        installOptions,
+      )
+      return
+    }
+    await window.localWorkspace.modules.install(module.name, clonePathPreview, module.folderName, templateRepositoryUrl, prepared.repositoryUrlWithToken, installOptions)
+  }, [activeRuntimeImages, clonePathPreview, courseKey, getRemoteWorkspaceTarget, remoteWorkspace, weekNumber])

  const remoteModuleStart = useCallback(async (module: ModuleRow): Promise<ModuleActionResult> => {
    await prepareRemoteRuntimeModule(module)
@@ -102,7 +114,8 @@ export function useWorkspaceModuleControl({
      getModuleRosParams(module),
      sourceSettings.gpuEnabled,
      sourceSettings.rosDomainId,
-      activeRuntimeImages
+      activeRuntimeImages,
+      module.dockerImage,
    )
  }, [activeRuntimeImages, getModuleRosParams, getRemoteWorkspaceTarget, prepareRemoteRuntimeModule, sourceSettings.gpuEnabled, sourceSettings.rosDomainId])

@@ -206,10 +219,11 @@ export function useWorkspaceModuleControl({
    setModuleInstallError(null)
    try {
      if (remoteWorkspace) {
-        for (const module of targets) {
-          const result = await remoteModuleStop(module)
-          if (!result.ok) throw new Error(result.message)
-        }
+        const result = await window.remoteWorkspace.modules.stopMany(
+          getRemoteWorkspaceTarget(),
+          targets.map((module) => ({ moduleName: module.name, folderName: module.folderName })),
+        )
+        if (!result.ok) throw new Error(result.message)
      } else {
        const result = await window.localWorkspace.modules.stopMany(
          targets.map((module) => ({ moduleName: module.name, folderName: module.folderName })),
@@ -227,7 +241,7 @@ export function useWorkspaceModuleControl({
    } finally {
      setInstallingModuleName(null)
    }
-  }, [availableModules, clonePathPreview, installingModuleName, loadAvailableModules, onTitlebarNotice, remoteModuleStop, remoteWorkspace])
+  }, [availableModules, clonePathPreview, getRemoteWorkspaceTarget, installingModuleName, loadAvailableModules, onTitlebarNotice, remoteWorkspace])

  const runModuleControl = useCallback(async (module: ModuleRow, action: 'start' | 'stop' | 'restart' | 'build'): Promise<void> => {
    if (installingModuleName || controllingModuleNames.includes(module.name)) return
@@ -1,4 +1,4 @@
-import { useCallback, useEffect, useMemo, useState } from 'react'
+import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
 import type { Dispatch, SetStateAction } from 'react'
 import type { CurriculumWeek } from '../curriculum/types'
 import type { ModuleRow } from './types'
@@ -21,6 +21,7 @@ type UseWorkspaceModuleListOptions = {
 type UseWorkspaceModuleListResult = {
  availableModules: ModuleRow[]
  setAvailableModules: Dispatch<SetStateAction<ModuleRow[]>>
+  markModuleState: (module: ModuleRow, state: ModuleRow['state']) => void
  modulesLoading: boolean
  moduleListError: string | null
  loadAvailableModules: (options?: LoadAvailableModulesOptions) => Promise<void>
@@ -49,29 +50,79 @@ export function useWorkspaceModuleList({
  const [modulesLoading, setModulesLoading] = useState(false)
  const [moduleListError, setModuleListError] = useState<string | null>(null)
  const remoteTarget = useMemo(() => parseRemoteWorkspaceTarget(remoteWorkspaceTargetKey), [remoteWorkspaceTargetKey])
+  const loadSequenceRef = useRef(0)
+  const pendingModuleStatesRef = useRef(new Map<string, { state: ModuleRow['state']; expiresAt: number }>())
+
+  const moduleStateKey = (module: ModuleRow): string => module.folderName ?? module.name
+  const applyPendingModuleStates = useCallback((modules: ModuleRow[]): ModuleRow[] => {
+    const now = Date.now()
+    return modules.map((module) => {
+      const key = moduleStateKey(module)
+      const pending = pendingModuleStatesRef.current.get(key)
+      if (!pending) return module
+      if (module.state === pending.state || pending.expiresAt <= now) {
+        pendingModuleStatesRef.current.delete(key)
+        return module
+      }
+      return {
+        ...module,
+        state: pending.state,
+        runtime: pending.state === 'running' ? '시작 중' : '-',
+        cpu: pending.state === 'running' ? module.cpu : null,
+        memory: pending.state === 'running' ? module.memory : null,
+      }
+    })
+  }, [])
+
+  const markModuleState = useCallback((module: ModuleRow, state: ModuleRow['state']): void => {
+    const key = moduleStateKey(module)
+    pendingModuleStatesRef.current.set(key, { state, expiresAt: Date.now() + 10_000 })
+    setAvailableModules((current) => current.map((item) => {
+      if (moduleStateKey(item) !== key) return item
+      return {
+        ...item,
+        state,
+        runtime: state === 'running' ? '시작 중' : '-',
+        cpu: state === 'running' ? item.cpu : null,
+        memory: state === 'running' ? item.memory : null,
+      }
+    }))
+  }, [])

  const loadRemoteModules = useCallback(async (): Promise<{ modules: ModuleRow[] }> => {
    if (!remoteTarget) return { modules: [] }
-    return window.remoteWorkspace.modules.list(remoteTarget, curriculumModules ?? [])
+    const result = await window.remoteWorkspace.modules.list(remoteTarget, curriculumModules ?? [])
+    return {
+      modules: result.modules.map((module) => {
+        const rawModule = module as ModuleRow & { defaultParameters?: unknown }
+        const parameters = Array.isArray(rawModule.parameters)
+          ? rawModule.parameters
+          : Array.isArray(rawModule.defaultParameters)
+            ? rawModule.defaultParameters.filter((value): value is string => typeof value === 'string')
+            : []
+        return { ...module, parameters }
+      }),
+    }
  }, [curriculumModuleKey, remoteTarget])

  const loadAvailableModules = useCallback(async ({ silent = false }: LoadAvailableModulesOptions = {}): Promise<void> => {
+    const requestSequence = ++loadSequenceRef.current
    if (!silent) setModulesLoading(true)
    try {
-      const result = await window.localWorkspace.modules.list(clonePathPreview, curriculumModules ?? [])
      if (remoteWorkspace) {
-        const remoteResult = await loadRemoteModules().catch(() => ({ modules: [] as ModuleRow[] }))
-        const remoteStateByName = new Map(remoteResult.modules.map((module) => [module.name, module]))
-        result.modules = result.modules.map((module) => {
-          const remoteModule = remoteStateByName.get(module.name)
-          return remoteModule?.state === 'running'
-            ? { ...module, state: 'running', cpu: remoteModule.cpu, memory: remoteModule.memory, runtime: remoteModule.runtime }
-            : module
-        })
+        const result = await loadRemoteModules()
+        if (requestSequence !== loadSequenceRef.current) return
+        setModuleListError(null)
+        setAvailableModules(applyPendingModuleStates(applyModuleParameterOverrides(result.modules).sort(compareModulePriority)))
+        return
      }
+
+      const result = await window.localWorkspace.modules.list(clonePathPreview, curriculumModules ?? [])
+      if (requestSequence !== loadSequenceRef.current) return
      setModuleListError(null)
-      setAvailableModules(applyModuleParameterOverrides(result.modules).sort(compareModulePriority))
+      setAvailableModules(applyPendingModuleStates(applyModuleParameterOverrides(result.modules).sort(compareModulePriority)))
    } catch (error) {
+      if (requestSequence !== loadSequenceRef.current) return
      console.error('[modules] list failed', error)
      const message = error instanceof Error ? error.message : '모듈 목록을 불러오지 못했습니다.'
      if (!silent) {
@@ -79,10 +130,11 @@ export function useWorkspaceModuleList({
        setAvailableModules(makeUninstalledModuleRows(curriculumModules))
      }
    } finally {
-      if (!silent) setModulesLoading(false)
+      if (!silent && requestSequence === loadSequenceRef.current) setModulesLoading(false)
    }
  }, [
    applyModuleParameterOverrides,
+    applyPendingModuleStates,
    clonePathPreview,
    curriculumModuleKey,
    curriculumModules,
@@ -107,6 +159,7 @@ export function useWorkspaceModuleList({
  return {
    availableModules,
    setAvailableModules,
+    markModuleState,
    modulesLoading,
    moduleListError,
    loadAvailableModules,
@@ -14,6 +14,8 @@ type UseWorkspaceTerminalOptions = {
  moduleName?: string | null
  moduleFolderName?: string | null
  clonePathPreview: string
+  remoteWorkspace: boolean
+  getRemoteWorkspaceTarget: () => RemoteWorkspaceTarget
  dark: boolean
  terminalActive: boolean
  resetKey: string
@@ -36,6 +38,8 @@ export function useWorkspaceTerminal({
  moduleName,
  moduleFolderName,
  clonePathPreview,
+  remoteWorkspace,
+  getRemoteWorkspaceTarget,
  dark,
  terminalActive,
  resetKey,
@@ -47,11 +51,14 @@ export function useWorkspaceTerminal({
  const terminalRef = useRef<XTerm | null>(null)
  const terminalFitRef = useRef<FitAddon | null>(null)
  const terminalSessionIdRef = useRef<string | null>(null)
+  const remoteTargetResolverRef = useRef(getRemoteWorkspaceTarget)
  const terminalSuppressQueueRef = useRef<string[]>([])
  const terminalOutputBufferRef = useRef<Record<string, string>>({})
  const terminalFallbackPromptShownRef = useRef<Set<string>>(new Set())
  const [terminalPanelHeight, setTerminalPanelHeight] = useState(235)

+  remoteTargetResolverRef.current = getRemoteWorkspaceTarget
+
  const fitTerminal = (): void => {
    terminalFitRef.current?.fit()
  }
@@ -71,7 +78,12 @@ export function useWorkspaceTerminal({

    void navigator.clipboard.readText()
      .then((text) => {
-        if (text) window.localWorkspace.terminal.write(text, terminalSessionId)
+        if (!text) return
+        if (remoteWorkspace) {
+          window.remoteWorkspace.terminal.write(remoteTargetResolverRef.current(), text, terminalSessionId)
+          return
+        }
+        window.localWorkspace.terminal.write(text, terminalSessionId)
      })
      .catch((error) => console.error('[terminal] paste failed', error))
      .finally(() => {
@@ -153,8 +165,18 @@ export function useWorkspaceTerminal({
    terminalRef.current = term
    terminalFitRef.current = fitAddon

-    const terminalApi = window.localWorkspace.terminal
-    const removeDataListener = terminalApi.onData((data) => {
+    const terminalApi = remoteWorkspace ? window.remoteWorkspace.terminal : window.localWorkspace.terminal
+    const removeDataListener = remoteWorkspace
+      ? terminalApi.onData(remoteTargetResolverRef.current(), (data) => {
+        const suppressQueue = terminalSuppressQueueRef.current
+        if (suppressQueue.length && suppressQueue[0] === data) {
+          suppressQueue.shift()
+          return
+        }
+        terminalOutputBufferRef.current[terminalSessionId] = `${terminalOutputBufferRef.current[terminalSessionId] ?? ''}${data}`.slice(-100000)
+        term.write(data)
+      }, terminalSessionId)
+      : terminalApi.onData((data) => {
      const suppressQueue = terminalSuppressQueueRef.current
      if (suppressQueue.length && suppressQueue[0] === data) {
        suppressQueue.shift()
@@ -168,10 +190,20 @@ export function useWorkspaceTerminal({
        term.write(nextData)
      }
    }, terminalSessionId)
-    const removeSuppressListener = terminalApi.onSuppressData((data) => {
-      terminalSuppressQueueRef.current.push(data)
-    }, terminalSessionId)
-    const inputDisposable = term.onData((data) => terminalApi.write(data, terminalSessionId))
+    const removeSuppressListener = remoteWorkspace
+      ? window.remoteWorkspace.terminal.onSuppressData(remoteTargetResolverRef.current(), (data) => {
+        terminalSuppressQueueRef.current.push(data)
+      }, terminalSessionId)
+      : window.localWorkspace.terminal.onSuppressData((data) => {
+        terminalSuppressQueueRef.current.push(data)
+      }, terminalSessionId)
+    const inputDisposable = term.onData((data) => {
+      if (remoteWorkspace) {
+        window.remoteWorkspace.terminal.write(remoteTargetResolverRef.current(), data, terminalSessionId)
+        return
+      }
+      window.localWorkspace.terminal.write(data, terminalSessionId)
+    })

    let fallbackPromptTimer: number | null = null
    let sizeSyncTimer: number | null = null
@@ -183,8 +215,24 @@ export function useWorkspaceTerminal({
        startNestedFrame = window.requestAnimationFrame(() => {
          fitAddon.fit()
          if (disposed) return resolvePromise(false)
-          void window.localWorkspace.terminal
-            .start(moduleName, term.cols, term.rows, terminalSessionId, clonePathPreview, moduleFolderName ?? undefined)
+          const start = remoteWorkspace
+            ? window.remoteWorkspace.terminal.start(
+              remoteTargetResolverRef.current(),
+              moduleName,
+              term.cols,
+              term.rows,
+              terminalSessionId,
+              moduleFolderName ?? undefined,
+            )
+            : window.localWorkspace.terminal.start(
+              moduleName,
+              term.cols,
+              term.rows,
+              terminalSessionId,
+              clonePathPreview,
+              moduleFolderName ?? undefined,
+            )
+          void start
            .then(resolvePromise)
            .catch(() => resolvePromise(false))
        })
@@ -195,7 +243,11 @@ export function useWorkspaceTerminal({
      if (!started) return
      sizeSyncTimer = window.setTimeout(() => {
        fitAddon.fit()
-        void terminalApi.resize(term.cols, term.rows, terminalSessionId)
+        if (remoteWorkspace) {
+          void window.remoteWorkspace.terminal.resize(remoteTargetResolverRef.current(), term.cols, term.rows, terminalSessionId)
+          return
+        }
+        void window.localWorkspace.terminal.resize(term.cols, term.rows, terminalSessionId)
      }, 150)
      fallbackPromptTimer = window.setTimeout(() => {
        if (terminalFallbackPromptShownRef.current.has(terminalSessionId) && terminalOutputBufferRef.current[terminalSessionId]) return
@@ -228,14 +280,15 @@ export function useWorkspaceTerminal({
      // Full-screen programs such as vi cannot be restored from a partial raw output buffer.
      delete terminalOutputBufferRef.current[terminalSessionId]
      terminalFallbackPromptShownRef.current.delete(terminalSessionId)
-      terminalApi.stop(terminalSessionId)
+      if (remoteWorkspace) window.remoteWorkspace.terminal.stop(remoteTargetResolverRef.current(), terminalSessionId)
+      else window.localWorkspace.terminal.stop(terminalSessionId)
      term.dispose()
      terminalRef.current = null
      terminalFitRef.current = null
      terminalSessionIdRef.current = null
      terminalSuppressQueueRef.current = []
    }
-  }, [clonePathPreview, dark, moduleFolderName, moduleName, resetKey, terminalActive])
+  }, [clonePathPreview, dark, moduleFolderName, moduleName, remoteWorkspace, resetKey, terminalActive])

  return {
    terminalContextMenu,
@@ -3,12 +3,40 @@ import type { EnvironmentProfile } from '../platforms/types'
 import type { RuntimeImageArtifact } from './types'
 import type { VisualizationStack } from './WorkspaceVisualizationPanel'

+export type Nav2VisualizationMode = 'slam' | 'navigation'
+
+function resolveVisualizationStack(profileType: string): VisualizationStack | null {
+  const type = profileType.toLowerCase()
+  if (type === 'real_slam') return 'slam'
+  if (type === 'real_navigation') return 'nav2'
+  return type === 'autoware' || type === 'nav2' || type === 'slam' ? type : null
+}
+
+function resolveNav2Mode(profile: EnvironmentProfile | null): Nav2VisualizationMode {
+  return profile?.profileType.toLowerCase() === 'real_navigation' ? 'navigation' : 'slam'
+}
+
+function isRealPlatformProfile(profile: EnvironmentProfile | null): boolean {
+  const type = profile?.profileType.toLowerCase()
+  return type === 'real_slam' || type === 'real_navigation'
+}
+
+function selectRuntimeProfiles(profiles: EnvironmentProfile[], remoteWorkspace: boolean): EnvironmentProfile[] {
+  const matchingProfiles = profiles.filter((profile) => (
+    remoteWorkspace ? isRealPlatformProfile(profile) : !isRealPlatformProfile(profile)
+  ))
+  return matchingProfiles.length ? matchingProfiles : profiles
+}
+
 type NoticeTone = 'info' | 'warning' | 'error'

 type UseWorkspaceVisualizationOptions = {
  profiles: EnvironmentProfile[]
  clonePathPreview: string
  rosDomainId: string
+  remoteWorkspace: boolean
+  mapKey?: string | null
+  worldLayoutVersion?: number
  onTitlebarNotice: (title: string, tone?: NoticeTone, addToList?: boolean) => void
 }

@@ -19,6 +47,8 @@ type UseWorkspaceVisualizationResult = {
  visualizationRunning: boolean
  visualizationBusy: boolean
  visualizationViewerUrl: string
+  nav2VisualizationMode: Nav2VisualizationMode
+  setNav2VisualizationMode: (mode: Nav2VisualizationMode) => void
  activeEnvironmentProfile: EnvironmentProfile | null
  activeRuntimeImages: RuntimeImageArtifact[]
  refreshVisualizationStatus: () => Promise<void>
@@ -36,20 +66,25 @@ export function useWorkspaceVisualization({
  profiles,
  clonePathPreview,
  rosDomainId,
+  remoteWorkspace,
+  mapKey,
+  worldLayoutVersion,
  onTitlebarNotice
 }: UseWorkspaceVisualizationOptions): UseWorkspaceVisualizationResult {
  const [visualizationStack, setVisualizationStack] = useState<VisualizationStack>('autoware')
+  const [nav2VisualizationMode, setNav2VisualizationMode] = useState<Nav2VisualizationMode>('slam')
  const [visualizationRunning, setVisualizationRunning] = useState(false)
  const [, setVisualizationStatusMessage] = useState('대기')
  const [visualizationBusy, setVisualizationBusy] = useState(false)

+  const runtimeProfiles = useMemo(() => selectRuntimeProfiles(profiles, remoteWorkspace), [profiles, remoteWorkspace])
  const visualizationStacks = useMemo(() => (
-    profiles
-      .map((profile) => profile.profileType.toLowerCase())
-      .filter((stack): stack is VisualizationStack => stack === 'autoware' || stack === 'nav2' || stack === 'slam')
-  ), [profiles])
+    runtimeProfiles
+      .map((profile) => resolveVisualizationStack(profile.profileType))
+      .filter((stack): stack is VisualizationStack => stack !== null)
+  ), [runtimeProfiles])

-  const activeEnvironmentProfile = profiles.find((profile) => profile.profileType.toLowerCase() === visualizationStack) ?? profiles[0] ?? null
+  const activeEnvironmentProfile = runtimeProfiles.find((profile) => resolveVisualizationStack(profile.profileType) === visualizationStack) ?? runtimeProfiles[0] ?? null
  const activeEnvironmentConfig = activeEnvironmentProfile?.config ?? {}
  const activeRuntimeImages = Array.isArray(activeEnvironmentConfig.runtimeImages)
    ? activeEnvironmentConfig.runtimeImages.filter((image): image is RuntimeImageArtifact => (
@@ -78,16 +113,15 @@ export function useWorkspaceVisualization({
    ? visualizationBridgeHttpUrl.replace(/^http:/, 'ws:').replace(/^https:/, 'wss:')
    : 'ws://localhost:8765'
  const visualizationBackendUrl = visualizationBridgeHttpUrl
-  const visualizationViewerUrl = visualizationStack === 'slam'
-    ? `/slam-viewer/index.html?directBridge=1&bridgeWs=${encodeURIComponent(`${visualizationBridgeUrl}/ws/state`)}&bridgeHttp=${encodeURIComponent(visualizationBridgeHttpUrl)}`
+  const visualizationViewerUrl = visualizationStack === 'slam' || visualizationStack === 'nav2'
+    ? `/slam-viewer/index.html?directBridge=1&mode=${nav2VisualizationMode}&runtime=${isRealPlatformProfile(activeEnvironmentProfile) ? 'real' : 'simulation'}&bridgeWs=${encodeURIComponent(`${visualizationBridgeUrl}/ws/state`)}&bridgeHttp=${encodeURIComponent(visualizationBridgeHttpUrl)}&mapKey=${encodeURIComponent(mapKey ?? 'nav2-turtlebot3-world')}&layoutVersion=${worldLayoutVersion ?? 0}`
    : `/autoware-viewer/index.html?source=ros&stack=${visualizationStack}&bridge=${encodeURIComponent(visualizationBridgeUrl)}&backend=${encodeURIComponent(visualizationBackendUrl)}`

  useEffect(() => {
-    const profileType = profiles[0]?.profileType?.toLowerCase()
-    if (profileType === 'slam' || profileType === 'nav2' || profileType === 'autoware') {
-      setVisualizationStack(profileType)
-    }
-  }, [profiles.map((profile) => profile.id).join('|')])
+    const stack = runtimeProfiles[0] ? resolveVisualizationStack(runtimeProfiles[0].profileType) : null
+    if (stack) setVisualizationStack(stack)
+    setNav2VisualizationMode(resolveNav2Mode(runtimeProfiles[0] ?? null))
+  }, [runtimeProfiles])

  const refreshVisualizationStatus = async (): Promise<void> => {
    const status = await window.localWorkspace.visualization.status().catch((error) => ({
@@ -155,6 +189,8 @@ export function useWorkspaceVisualization({
    visualizationRunning,
    visualizationBusy,
    visualizationViewerUrl,
+    nav2VisualizationMode,
+    setNav2VisualizationMode,
    activeEnvironmentProfile,
    activeRuntimeImages,
    refreshVisualizationStatus,
@@ -10,7 +10,7 @@ export function getEditorLanguage(file: string): string {
  if (file.endsWith('.tsx') || file.endsWith('.ts')) return 'typescript'
  if (/\.(c|cc|cpp|cxx|h|hh|hpp|hxx)$/i.test(file)) return 'cpp'
  if (file.endsWith('.json')) return 'json'
-  if (file.endsWith('.xml')) return 'xml'
+  if (file.endsWith('.xml') || file.endsWith('.urdf') || file.endsWith('.xacro')) return 'xml'
  if (file.endsWith('.html')) return 'html'
  if (file.endsWith('.css')) return 'css'
  if (file.endsWith('.py')) return 'python'