@ioai/robot_viewer 1.1.1 → 1.1.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (12) hide show
  1. package/README.md +34 -0
  2. package/bin/cli.js +2 -2
  3. package/dist/assets/js/PlotPanel-09f986c7.js +1 -0
  4. package/dist/assets/js/index-56e94ce5.js +6 -0
  5. package/dist/assets/js/{mujoco_wasm-e013cb22.js → mujoco_wasm-345a2576.js} +1 -1
  6. package/dist/camera-publish-worker.js +1 -1
  7. package/dist/heartbeat-worker.js +1 -1
  8. package/dist/index.html +2 -2
  9. package/package.json +5 -5
  10. package/server/static-server.js +20 -2
  11. package/dist/assets/js/PlotPanel-64b4820e.js +0 -1
  12. package/dist/assets/js/index-2e5294e6.js +0 -6
package/dist/assets/js/index-56e94ce5.js ADDED
@@ -0,0 +1,6 @@
1
+ import{Ray as _0xa30f40,Plane as _0xb2ec94,EventDispatcher as _0x4d22d7,Vector3 as _0x5a7be3,MOUSE as _0x5ef69a,TOUCH as _0x3d584c,Quaternion as _0x4adb8f,Spherical as _0x16079d,Vector2 as _0x29f781,MathUtils as _0x35197a,Matrix4 as _0x5dcd72,Object3D as _0x483a70,Matrix3 as _0x47bdb6,BoxGeometry as _0x1b40f5,Euler as _0x730a0a,SphereGeometry as _0x401a16,Raycaster as _0x21d002,Color as _0x43a4f1,MeshPhongMaterial as _0xa87e13,SRGBColorSpace as _0x3e3edd,Group as _0x2474d6,CapsuleGeometry as _0x146bda,CylinderGeometry as _0x201dad,Mesh as _0x3d1069,MeshStandardMaterial as _0xc21d5a,HemisphereLight as _0x2b3ac0,DirectionalLight as _0x26b1c0,PMREMGenerator as _0x434763,Scene as _0x33e93b,EquirectangularReflectionMapping as _0x55da5a,DataTexture as _0x4da6af,CubeTexture as _0x103b61,CubeReflectionMapping as _0x33202c,PlaneGeometry as _0x27d8b6,ShadowMaterial as _0x4a617e,DoubleSide as _0x17cb8b,GridHelper as _0x16346c,Sphere as _0x58fe83,MeshBasicMaterial as _0x553295,BufferGeometry as _0x5065c1,BufferAttribute as _0x5375dc,LineDashedMaterial as _0x49d752,Line as _0x492957,ConeGeometry as _0x4b8cda,EllipseCurve as _0x212f00,CatmullRomCurve3 as _0x3cfe80,TubeGeometry as _0x6e922e,Box3 as _0x9892f7,LineBasicMaterial as _0x46982f,CanvasTexture as _0x302a55,SpriteMaterial as _0x52cd88,Sprite as _0x41fc88,PerspectiveCamera as _0x45bf09,WebGLRenderer as _0x3588ec,PCFSoftShadowMap as _0x38103c,WireframeGeometry as _0x1e0994,LineSegments as _0x3abb7e,ArrowHelper as _0x1189aa,ShaderMaterial as _0x38f322,OrthographicCamera as _0x410dff,HalfFloatType as _0x1d0a26,UnsignedByteType as _0x4beb35,WebGLRenderTarget as _0x87241a,RGBAFormat as _0xffbefe,NearestFilter as _0x307cf6}from'./three-9c891de0.js';import{s as _0x1a28d0,h as _0xbfcd8c,t as _0x42569a,z as _0x75ec0d,l as _0x1ebd46,i as _0x108a85,d as _0x40e183}from'./d3-2e308866.js';import{a as _0x4e2a56,b as _0x1796ce,x as _0x34e7aa,E as _0x2cd579}from'./codemirror-c3cec7b3.js';import{g as _0x1ecaf4,v as _0x4657fb}from'./codemirror-themes-e6995a6a.js';!(function(){const _0x2bfe6f=document['createElement']('link')['relList'];if(!(_0x2bfe6f&&_0x2bfe6f['supports']&&_0x2bfe6f['supports']('modulepreload'))){for(const _0x58b1e7 of document['querySelectorAll']('link[rel=\x22modulepreload\x22]'))_0x54ca1d(_0x58b1e7);new MutationObserver(_0x4f74bc=>{for(const _0x379ef1 of _0x4f74bc)if('childList'===_0x379ef1['type'])for(const _0x4c8368 of _0x379ef1['addedNodes'])'LINK'===_0x4c8368['tagName']&&'modulepreload'===_0x4c8368['rel']&&_0x54ca1d(_0x4c8368);})['observe'](document,{'childList':!0x0,'subtree':!0x0});}function _0x54ca1d(_0x5c14c1){if(_0x5c14c1['ep'])return;_0x5c14c1['ep']=!0x0;const _0x42c373=function(_0x4217f3){const _0xf79226={};return _0x4217f3['integrity']&&(_0xf79226['integrity']=_0x4217f3['integrity']),_0x4217f3['referrerPolicy']&&(_0xf79226['referrerPolicy']=_0x4217f3['referrerPolicy']),'use-credentials'===_0x4217f3['crossOrigin']?_0xf79226['credentials']='include':'anonymous'===_0x4217f3['crossOrigin']?_0xf79226['credentials']='omit':_0xf79226['credentials']='same-origin',_0xf79226;}(_0x5c14c1);fetch(_0x5c14c1['href'],_0x42c373);}}());const Se={},Ae=function(_0x4f1139,_0xfc8a4a,_0x1a5970){if(!_0xfc8a4a||0x0===_0xfc8a4a['length'])return _0x4f1139();const _0x49d5bc=document['getElementsByTagName']('link');return Promise['all'](_0xfc8a4a['map'](_0x183f5=>{if(_0x183f5=function(_0x5d9646,_0x310884){return new URL(_0x5d9646,_0x310884)['href'];}(_0x183f5,_0x1a5970),_0x183f5 in Se)return;Se[_0x183f5]=!0x0;const _0x31da64=_0x183f5['endsWith']('.css'),_0x181da7=_0x31da64?'[rel=\x22stylesheet\x22]':'';if(!!_0x1a5970)for(let _0x2bb9d0=_0x49d5bc['length']-0x1;_0x2bb9d0>=0x0;_0x2bb9d0--){const _0x38c315=_0x49d5bc[_0x2bb9d0];if(_0x38c315['href']===_0x183f5&&(!_0x31da64||'stylesheet'===_0x38c315['rel']))return;}else if(document['querySelector']('link[href=\x22'+_0x183f5+'\x22]'+_0x181da7))return;const _0x1a5bf2=document['createElement']('link');return _0x1a5bf2['rel']=_0x31da64?'stylesheet':'modulepreload',_0x31da64||(_0x1a5bf2['as']='script',_0x1a5bf2['crossOrigin']=''),_0x1a5bf2['href']=_0x183f5,document['head']['appendChild'](_0x1a5bf2),_0x31da64?new Promise((_0x3e7884,_0x368e23)=>{_0x1a5bf2['addEventListener']('load',_0x3e7884),_0x1a5bf2['addEventListener']('error',()=>_0x368e23(new Error('Unable\x20to\x20preload\x20CSS\x20for\x20'+_0x183f5)));}):void 0x0;}))['then'](()=>_0x4f1139())['catch'](_0x1fbeb5=>{const _0x3b39c7=new Event('vite:preloadError',{'cancelable':!0x0});if(_0x3b39c7['payload']=_0x1fbeb5,window['dispatchEvent'](_0x3b39c7),!_0x3b39c7['defaultPrevented'])throw _0x1fbeb5;});},Le={'type':'change'},Ee={'type':'start'},Ce={'type':'end'},je=new _0xa30f40(),ke=new _0xb2ec94(),Te=Math['cos'](0x46*_0x35197a['DEG2RAD']);class Oe extends _0x4d22d7{constructor(_0x52abdc,_0x36932e){super(),this['object']=_0x52abdc,this['domElement']=_0x36932e,this['domElement']['style']['touchAction']='none',this['enabled']=!0x0,this['target']=new _0x5a7be3(),this['cursor']=new _0x5a7be3(),this['minDistance']=0x0,this['maxDistance']=0x1/0x0,this['minZoom']=0x0,this['maxZoom']=0x1/0x0,this['minTargetRadius']=0x0,this['maxTargetRadius']=0x1/0x0,this['minPolarAngle']=0x0,this['maxPolarAngle']=Math['PI'],this['minAzimuthAngle']=-0x1/0x0,this['maxAzimuthAngle']=0x1/0x0,this['enableDamping']=!0x1,this['dampingFactor']=0.05,this['enableZoom']=!0x0,this['zoomSpeed']=0x1,this['enableRotate']=!0x0,this['rotateSpeed']=0x1,this['enablePan']=!0x0,this['panSpeed']=0x1,this['screenSpacePanning']=!0x0,this['keyPanSpeed']=0x7,this['zoomToCursor']=!0x1,this['autoRotate']=!0x1,this['autoRotateSpeed']=0x2,this['keys']={'LEFT':'ArrowLeft','UP':'ArrowUp','RIGHT':'ArrowRight','BOTTOM':'ArrowDown'},this['mouseButtons']={'LEFT':_0x5ef69a['ROTATE'],'MIDDLE':_0x5ef69a['DOLLY'],'RIGHT':_0x5ef69a['PAN']},this['touches']={'ONE':_0x3d584c['ROTATE'],'TWO':_0x3d584c['DOLLY_PAN']},this['target0']=this['target']['clone'](),this['position0']=this['object']['position']['clone'](),this['zoom0']=this['object']['zoom'],this['_domElementKeyEvents']=null,this['getPolarAngle']=function(){return _0x36de14['phi'];},this['getAzimuthalAngle']=function(){return _0x36de14['theta'];},this['getDistance']=function(){return this['object']['position']['distanceTo'](this['target']);},this['listenToKeyEvents']=function(_0x46bda6){_0x46bda6['addEventListener']('keydown',_0x45cda8),this['_domElementKeyEvents']=_0x46bda6;},this['stopListenToKeyEvents']=function(){this['_domElementKeyEvents']['removeEventListener']('keydown',_0x45cda8),this['_domElementKeyEvents']=null;},this['saveState']=function(){_0x53e35e['target0']['copy'](_0x53e35e['target']),_0x53e35e['position0']['copy'](_0x53e35e['object']['position']),_0x53e35e['zoom0']=_0x53e35e['object']['zoom'];},this['reset']=function(){_0x53e35e['target']['copy'](_0x53e35e['target0']),_0x53e35e['object']['position']['copy'](_0x53e35e['position0']),_0x53e35e['object']['zoom']=_0x53e35e['zoom0'],_0x53e35e['object']['updateProjectionMatrix'](),_0x53e35e['dispatchEvent'](Le),_0x53e35e['update'](),_0x59406b=_0x35c419['NONE'];},this['update']=(function(){const _0x533c4b=new _0x5a7be3(),_0x1718c0=new _0x4adb8f()['setFromUnitVectors'](_0x52abdc['up'],new _0x5a7be3(0x0,0x1,0x0)),_0xc6c5f4=_0x1718c0['clone']()['invert'](),_0xb5c1b0=new _0x5a7be3(),_0x15fb77=new _0x4adb8f(),_0x4eac10=new _0x5a7be3(),_0x26ce0f=0x2*Math['PI'];return function(_0x2e8561=null){const _0x5f498b=_0x53e35e['object']['position'];_0x533c4b['copy'](_0x5f498b)['sub'](_0x53e35e['target']),_0x533c4b['applyQuaternion'](_0x1718c0),_0x36de14['setFromVector3'](_0x533c4b),_0x53e35e['autoRotate']&&_0x59406b===_0x35c419['NONE']&&_0x1896ed(function(_0x5969b8){return null!==_0x5969b8?0x2*Math['PI']/0x3c*_0x53e35e['autoRotateSpeed']*_0x5969b8:0x2*Math['PI']/0x3c/0x3c*_0x53e35e['autoRotateSpeed'];}(_0x2e8561)),_0x53e35e['enableDamping']?(_0x36de14['theta']+=_0x324715['theta']*_0x53e35e['dampingFactor'],_0x36de14['phi']+=_0x324715['phi']*_0x53e35e['dampingFactor']):(_0x36de14['theta']+=_0x324715['theta'],_0x36de14['phi']+=_0x324715['phi']);let _0x337a18=_0x53e35e['minAzimuthAngle'],_0x1733bc=_0x53e35e['maxAzimuthAngle'];isFinite(_0x337a18)&&isFinite(_0x1733bc)&&(_0x337a18<-Math['PI']?_0x337a18+=_0x26ce0f:_0x337a18>Math['PI']&&(_0x337a18-=_0x26ce0f),_0x1733bc<-Math['PI']?_0x1733bc+=_0x26ce0f:_0x1733bc>Math['PI']&&(_0x1733bc-=_0x26ce0f),_0x36de14['theta']=_0x337a18<=_0x1733bc?Math['max'](_0x337a18,Math['min'](_0x1733bc,_0x36de14['theta'])):_0x36de14['theta']>(_0x337a18+_0x1733bc)/0x2?Math['max'](_0x337a18,_0x36de14['theta']):Math['min'](_0x1733bc,_0x36de14['theta'])),_0x36de14['phi']=Math['max'](_0x53e35e['minPolarAngle'],Math['min'](_0x53e35e['maxPolarAngle'],_0x36de14['phi'])),_0x36de14['makeSafe'](),!0x0===_0x53e35e['enableDamping']?_0x53e35e['target']['addScaledVector'](_0x24a729,_0x53e35e['dampingFactor']):_0x53e35e['target']['add'](_0x24a729),_0x53e35e['target']['sub'](_0x53e35e['cursor']),_0x53e35e['target']['clampLength'](_0x53e35e['minTargetRadius'],_0x53e35e['maxTargetRadius']),_0x53e35e['target']['add'](_0x53e35e['cursor']);let _0x1fcffe=!0x1;if(_0x53e35e['zoomToCursor']&&_0x4d5eb1||_0x53e35e['object']['isOrthographicCamera'])_0x36de14['radius']=_0x6f68ee(_0x36de14['radius']);else{const _0x54a0a5=_0x36de14['radius'];_0x36de14['radius']=_0x6f68ee(_0x36de14['radius']*_0x4532ea),_0x1fcffe=_0x54a0a5!=_0x36de14['radius'];}if(_0x533c4b['setFromSpherical'](_0x36de14),_0x533c4b['applyQuaternion'](_0xc6c5f4),_0x5f498b['copy'](_0x53e35e['target'])['add'](_0x533c4b),_0x53e35e['object']['lookAt'](_0x53e35e['target']),!0x0===_0x53e35e['enableDamping']?(_0x324715['theta']*=0x1-_0x53e35e['dampingFactor'],_0x324715['phi']*=0x1-_0x53e35e['dampingFactor'],_0x24a729['multiplyScalar'](0x1-_0x53e35e['dampingFactor'])):(_0x324715['set'](0x0,0x0,0x0),_0x24a729['set'](0x0,0x0,0x0)),_0x53e35e['zoomToCursor']&&_0x4d5eb1){let _0x5043c2=null;if(_0x53e35e['object']['isPerspectiveCamera']){const _0x588107=_0x533c4b['length']();_0x5043c2=_0x6f68ee(_0x588107*_0x4532ea);const _0x3adcbd=_0x588107-_0x5043c2;_0x53e35e['object']['position']['addScaledVector'](_0x34bcc3,_0x3adcbd),_0x53e35e['object']['updateMatrixWorld'](),_0x1fcffe=!!_0x3adcbd;}else if(_0x53e35e['object']['isOrthographicCamera']){const _0x55a451=new _0x5a7be3(_0x360408['x'],_0x360408['y'],0x0);_0x55a451['unproject'](_0x53e35e['object']);const _0x3f5322=_0x53e35e['object']['zoom'];_0x53e35e['object']['zoom']=Math['max'](_0x53e35e['minZoom'],Math['min'](_0x53e35e['maxZoom'],_0x53e35e['object']['zoom']/_0x4532ea)),_0x53e35e['object']['updateProjectionMatrix'](),_0x1fcffe=_0x3f5322!==_0x53e35e['object']['zoom'];const _0x31e886=new _0x5a7be3(_0x360408['x'],_0x360408['y'],0x0);_0x31e886['unproject'](_0x53e35e['object']),_0x53e35e['object']['position']['sub'](_0x31e886)['add'](_0x55a451),_0x53e35e['object']['updateMatrixWorld'](),_0x5043c2=_0x533c4b['length']();}else _0x53e35e['zoomToCursor']=!0x1;null!==_0x5043c2&&(this['screenSpacePanning']?_0x53e35e['target']['set'](0x0,0x0,-0x1)['transformDirection'](_0x53e35e['object']['matrix'])['multiplyScalar'](_0x5043c2)['add'](_0x53e35e['object']['position']):(je['origin']['copy'](_0x53e35e['object']['position']),je['direction']['set'](0x0,0x0,-0x1)['transformDirection'](_0x53e35e['object']['matrix']),Math['abs'](_0x53e35e['object']['up']['dot'](je['direction']))<Te?_0x52abdc['lookAt'](_0x53e35e['target']):(ke['setFromNormalAndCoplanarPoint'](_0x53e35e['object']['up'],_0x53e35e['target']),je['intersectPlane'](ke,_0x53e35e['target']))));}else if(_0x53e35e['object']['isOrthographicCamera']){const _0x356b8d=_0x53e35e['object']['zoom'];_0x53e35e['object']['zoom']=Math['max'](_0x53e35e['minZoom'],Math['min'](_0x53e35e['maxZoom'],_0x53e35e['object']['zoom']/_0x4532ea)),_0x356b8d!==_0x53e35e['object']['zoom']&&(_0x53e35e['object']['updateProjectionMatrix'](),_0x1fcffe=!0x0);}return _0x4532ea=0x1,_0x4d5eb1=!0x1,!!(_0x1fcffe||_0xb5c1b0['distanceToSquared'](_0x53e35e['object']['position'])>_0x77ff11||0x8*(0x1-_0x15fb77['dot'](_0x53e35e['object']['quaternion']))>_0x77ff11||_0x4eac10['distanceToSquared'](_0x53e35e['target'])>_0x77ff11)&&(_0x53e35e['dispatchEvent'](Le),_0xb5c1b0['copy'](_0x53e35e['object']['position']),_0x15fb77['copy'](_0x53e35e['object']['quaternion']),_0x4eac10['copy'](_0x53e35e['target']),!0x0);};}()),this['dispose']=function(){_0x53e35e['domElement']['removeEventListener']('contextmenu',_0x5902d2),_0x53e35e['domElement']['removeEventListener']('pointerdown',_0x1cd8f6),_0x53e35e['domElement']['removeEventListener']('pointercancel',_0x285cfa),_0x53e35e['domElement']['removeEventListener']('wheel',_0x286fdd),_0x53e35e['domElement']['removeEventListener']('pointermove',_0x2e7834),_0x53e35e['domElement']['removeEventListener']('pointerup',_0x285cfa);_0x53e35e['domElement']['getRootNode']()['removeEventListener']('keydown',_0x3b11bc,{'capture':!0x0}),null!==_0x53e35e['_domElementKeyEvents']&&(_0x53e35e['_domElementKeyEvents']['removeEventListener']('keydown',_0x45cda8),_0x53e35e['_domElementKeyEvents']=null);};const _0x53e35e=this,_0x35c419={'NONE':-0x1,'ROTATE':0x0,'DOLLY':0x1,'PAN':0x2,'TOUCH_ROTATE':0x3,'TOUCH_PAN':0x4,'TOUCH_DOLLY_PAN':0x5,'TOUCH_DOLLY_ROTATE':0x6};let _0x59406b=_0x35c419['NONE'];const _0x77ff11=0.000001,_0x36de14=new _0x16079d(),_0x324715=new _0x16079d();let _0x4532ea=0x1;const _0x24a729=new _0x5a7be3(),_0x1364e2=new _0x29f781(),_0x4e257b=new _0x29f781(),_0x5e64e2=new _0x29f781(),_0x4a6dbc=new _0x29f781(),_0xd6c189=new _0x29f781(),_0x4b6ff6=new _0x29f781(),_0x296687=new _0x29f781(),_0x8b325e=new _0x29f781(),_0x5b052d=new _0x29f781(),_0x34bcc3=new _0x5a7be3(),_0x360408=new _0x29f781();let _0x4d5eb1=!0x1;const _0x4ec7fa=[],_0xab936b={};let _0x281829=!0x1;function _0xcf3c75(_0x37d6e8){const _0xf8e5ec=Math['abs'](0.01*_0x37d6e8);return Math['pow'](0.95,_0x53e35e['zoomSpeed']*_0xf8e5ec);}function _0x1896ed(_0x24a850){_0x324715['theta']-=_0x24a850;}function _0x2ff9cd(_0x435ccb){_0x324715['phi']-=_0x435ccb;}const _0x30e7af=(function(){const _0x36f5ba=new _0x5a7be3();return 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0x2:switch(_0x53e35e['touches']['TWO']){case _0x3d584c['DOLLY_PAN']:if(!0x1===_0x53e35e['enableZoom']&&!0x1===_0x53e35e['enablePan'])return;!function(_0x44727e){_0x53e35e['enableZoom']&&_0x4e9f45(_0x44727e),_0x53e35e['enablePan']&&_0x2444ca(_0x44727e);}(_0x4ad6af),_0x59406b=_0x35c419['TOUCH_DOLLY_PAN'];break;case _0x3d584c['DOLLY_ROTATE']:if(!0x1===_0x53e35e['enableZoom']&&!0x1===_0x53e35e['enableRotate'])return;!function(_0x357467){_0x53e35e['enableZoom']&&_0x4e9f45(_0x357467),_0x53e35e['enableRotate']&&_0x58a5df(_0x357467);}(_0x4ad6af),_0x59406b=_0x35c419['TOUCH_DOLLY_ROTATE'];break;default:_0x59406b=_0x35c419['NONE'];}break;default:_0x59406b=_0x35c419['NONE'];}_0x59406b!==_0x35c419['NONE']&&_0x53e35e['dispatchEvent'](Ee);}function _0x5902d2(_0x49ad70){!0x1!==_0x53e35e['enabled']&&_0x49ad70['preventDefault']();}function _0x27317c(_0xfb78ba){let _0x9d5fd2=_0xab936b[_0xfb78ba['pointerId']];void 0x0===_0x9d5fd2&&(_0x9d5fd2=new _0x29f781(),_0xab936b[_0xfb78ba['pointerId']]=_0x9d5fd2),_0x9d5fd2['set'](_0xfb78ba['pageX'],_0xfb78ba['pageY']);}function _0x22f4b5(_0x129cea){const _0x3ebb7c=_0x129cea['pointerId']===_0x4ec7fa[0x0]?_0x4ec7fa[0x1]:_0x4ec7fa[0x0];return _0xab936b[_0x3ebb7c];}_0x53e35e['domElement']['addEventListener']('contextmenu',_0x5902d2),_0x53e35e['domElement']['addEventListener']('pointerdown',_0x1cd8f6),_0x53e35e['domElement']['addEventListener']('pointercancel',_0x285cfa),_0x53e35e['domElement']['addEventListener']('wheel',_0x286fdd,{'passive':!0x1});_0x53e35e['domElement']['getRootNode']()['addEventListener']('keydown',_0x3b11bc,{'passive':!0x0,'capture':!0x0}),this['update']();}}class Fe extends _0x483a70{constructor(_0x5a0a1a=document['createElement']('div')){super(),this['isCSS2DObject']=!0x0,this['element']=_0x5a0a1a,this['element']['style']['position']='absolute',this['element']['style']['userSelect']='none',this['element']['setAttribute']('draggable',!0x1),this['center']=new _0x29f781(0.5,0.5),this['addEventListener']('removed',function(){this['traverse'](function(_0x2f90d9){_0x2f90d9['element']instanceof Element&&null!==_0x2f90d9['element']['parentNode']&&_0x2f90d9['element']['parentNode']['removeChild'](_0x2f90d9['element']);});});}['copy'](_0x4940d0,_0x2da8f){return super['copy'](_0x4940d0,_0x2da8f),this['element']=_0x4940d0['element']['cloneNode'](!0x0),this['center']=_0x4940d0['center'],this;}}const De=new _0x5a7be3(),Pe=new _0x5dcd72(),Ie=new _0x5dcd72(),Re=new _0x5a7be3(),ze=new _0x5a7be3();class Ne{constructor(_0x57ea8a={}){const _0x2de894=this;let _0x58a29e,_0x2e9f98,_0x111cc5,_0x2f4d10;const _0x5215ad={'objects':new WeakMap()},_0x1cdf0e=void 0x0!==_0x57ea8a['element']?_0x57ea8a['element']:document['createElement']('div');function _0x2a2dcd(_0x58bd61,_0x52cf1d,_0x1b2826){if(_0x58bd61['isCSS2DObject']){De['setFromMatrixPosition'](_0x58bd61['matrixWorld']),De['applyMatrix4'](Ie);const _0x5ce605=!0x0===_0x58bd61['visible']&&De['z']>=-0x1&&De['z']<=0x1&&!0x0===_0x58bd61['layers']['test'](_0x1b2826['layers']);if(_0x58bd61['element']['style']['display']=!0x0===_0x5ce605?'':'none',!0x0===_0x5ce605){_0x58bd61['onBeforeRender'](_0x2de894,_0x52cf1d,_0x1b2826);const _0x504a80=_0x58bd61['element'];_0x504a80['style']['transform']='translate('+-0x64*_0x58bd61['center']['x']+'%,'+-0x64*_0x58bd61['center']['y']+'%)translate('+(De['x']*_0x111cc5+_0x111cc5)+'px,'+(-De['y']*_0x2f4d10+_0x2f4d10)+'px)',_0x504a80['parentNode']!==_0x1cdf0e&&_0x1cdf0e['appendChild'](_0x504a80),_0x58bd61['onAfterRender'](_0x2de894,_0x52cf1d,_0x1b2826);}const _0x2e5157={'distanceToCameraSquared':_0x5d5f9f(_0x1b2826,_0x58bd61)};_0x5215ad['objects']['set'](_0x58bd61,_0x2e5157);}for(let _0x12bf11=0x0,_0x13c8ba=_0x58bd61['children']['length'];_0x12bf11<_0x13c8ba;_0x12bf11++)_0x2a2dcd(_0x58bd61['children'][_0x12bf11],_0x52cf1d,_0x1b2826);}function _0x5d5f9f(_0x5dd7c6,_0x333b59){return Re['setFromMatrixPosition'](_0x5dd7c6['matrixWorld']),ze['setFromMatrixPosition'](_0x333b59['matrixWorld']),Re['distanceToSquared'](ze);}_0x1cdf0e['style']['overflow']='hidden',this['domElement']=_0x1cdf0e,this['getSize']=function(){return{'width':_0x58a29e,'height':_0x2e9f98};},this['render']=function(_0x54a9ae,_0x43d790){!0x0===_0x54a9ae['matrixWorldAutoUpdate']&&_0x54a9ae['updateMatrixWorld'](),null===_0x43d790['parent']&&!0x0===_0x43d790['matrixWorldAutoUpdate']&&_0x43d790['updateMatrixWorld'](),Pe['copy'](_0x43d790['matrixWorldInverse']),Ie['multiplyMatrices'](_0x43d790['projectionMatrix'],Pe),_0x2a2dcd(_0x54a9ae,_0x54a9ae,_0x43d790),function(_0x16ce3a){const _0x3feb35=function(_0x358cf5){const _0x59e89f=[];return _0x358cf5['traverse'](function(_0x3301ae){_0x3301ae['isCSS2DObject']&&_0x59e89f['push'](_0x3301ae);}),_0x59e89f;}(_0x16ce3a)['sort'](function(_0x409830,_0x4d1803){if(_0x409830['renderOrder']!==_0x4d1803['renderOrder'])return _0x4d1803['renderOrder']-_0x409830['renderOrder'];return _0x5215ad['objects']['get'](_0x409830)['distanceToCameraSquared']-_0x5215ad['objects']['get'](_0x4d1803)['distanceToCameraSquared'];}),_0x1fa344=_0x3feb35['length'];for(let _0x3cf8b9=0x0,_0x551701=_0x3feb35['length'];_0x3cf8b9<_0x551701;_0x3cf8b9++)_0x3feb35[_0x3cf8b9]['element']['style']['zIndex']=_0x1fa344-_0x3cf8b9;}(_0x54a9ae);},this['setSize']=function(_0x8b4474,_0x42d5ae){_0x58a29e=_0x8b4474,_0x2e9f98=_0x42d5ae,_0x111cc5=_0x58a29e/0x2,_0x2f4d10=_0x2e9f98/0x2,_0x1cdf0e['style']['width']=_0x8b4474+'px',_0x1cdf0e['style']['height']=_0x42d5ae+'px';};}}class Ue{static['computeEigenDecomposition3x3'](_0x5dc275){const _0x425ac6=_0x5dc275['elements'];let _0x43b384=_0x425ac6[0x0],_0x29e4dd=_0x425ac6[0x1],_0x41424c=_0x425ac6[0x2],_0x658842=_0x425ac6[0x4],_0x57184e=_0x425ac6[0x5],_0x20031a=_0x425ac6[0x8],_0x4cd555=0x1,_0x32782f=0x0,_0x46918b=0x0,_0x3c7eae=0x0,_0x203e27=0x1,_0x10c4b3=0x0,_0xe184ac=0x0,_0xc2996c=0x0,_0x403141=0x1;for(let _0x1cecf7=0x0;_0x1cecf7<0x32;_0x1cecf7++){let _0x48ef22,_0x3dbcab,_0x2436b5,_0x542533=Math['abs'](_0x29e4dd),_0x19b7c0=0x0,_0x30ad50=0x1;if(Math['abs'](_0x41424c)>_0x542533&&(_0x542533=Math['abs'](_0x41424c),_0x19b7c0=0x0,_0x30ad50=0x2),Math['abs'](_0x57184e)>_0x542533&&(_0x542533=Math['abs'](_0x57184e),_0x19b7c0=0x1,_0x30ad50=0x2),_0x542533<1e-10)break;0x0===_0x19b7c0&&0x1===_0x30ad50?(_0x48ef22=_0x29e4dd,_0x3dbcab=_0x43b384,_0x2436b5=_0x658842):0x0===_0x19b7c0&&0x2===_0x30ad50?(_0x48ef22=_0x41424c,_0x3dbcab=_0x43b384,_0x2436b5=_0x20031a):(_0x48ef22=_0x57184e,_0x3dbcab=_0x658842,_0x2436b5=_0x20031a);const _0x160593=(_0x2436b5-_0x3dbcab)/(0x2*_0x48ef22),_0x131d9e=Math['sign'](_0x160593)/(Math['abs'](_0x160593)+Math['sqrt'](0x1+_0x160593*_0x160593)),_0x3c1c81=0x1/Math['sqrt'](0x1+_0x131d9e*_0x131d9e),_0x490792=_0x131d9e*_0x3c1c81;if(0x0===_0x19b7c0&&0x1===_0x30ad50){const _0x29618b=_0x43b384,_0x44bca9=_0x41424c;_0x43b384=_0x3c1c81*_0x3c1c81*_0x29618b-0x2*_0x3c1c81*_0x490792*_0x29e4dd+_0x490792*_0x490792*_0x658842,_0x658842=_0x490792*_0x490792*_0x29618b+0x2*_0x3c1c81*_0x490792*_0x29e4dd+_0x3c1c81*_0x3c1c81*_0x658842,_0x29e4dd=0x0,_0x41424c=_0x3c1c81*_0x44bca9-_0x490792*_0x57184e,_0x57184e=_0x490792*_0x44bca9+_0x3c1c81*_0x57184e;const _0x352fd8=_0x4cd555,_0x213ce3=_0x32782f,_0x1f7c96=_0x46918b;_0x4cd555=_0x3c1c81*_0x352fd8-_0x490792*_0x3c7eae,_0x32782f=_0x3c1c81*_0x213ce3-_0x490792*_0x203e27,_0x46918b=_0x3c1c81*_0x1f7c96-_0x490792*_0x10c4b3,_0x3c7eae=_0x490792*_0x352fd8+_0x3c1c81*_0x3c7eae,_0x203e27=_0x490792*_0x213ce3+_0x3c1c81*_0x203e27,_0x10c4b3=_0x490792*_0x1f7c96+_0x3c1c81*_0x10c4b3;}else if(0x0===_0x19b7c0&&0x2===_0x30ad50){const _0x1cbf00=_0x43b384,_0x31f2df=_0x29e4dd;_0x43b384=_0x3c1c81*_0x3c1c81*_0x1cbf00-0x2*_0x3c1c81*_0x490792*_0x41424c+_0x490792*_0x490792*_0x20031a,_0x20031a=_0x490792*_0x490792*_0x1cbf00+0x2*_0x3c1c81*_0x490792*_0x41424c+_0x3c1c81*_0x3c1c81*_0x20031a,_0x41424c=0x0,_0x29e4dd=_0x3c1c81*_0x31f2df-_0x490792*_0x57184e,_0x57184e=_0x490792*_0x31f2df+_0x3c1c81*_0x57184e;const _0x1ba28d=_0x4cd555,_0x3d699e=_0x32782f,_0x319701=_0x46918b;_0x4cd555=_0x3c1c81*_0x1ba28d-_0x490792*_0xe184ac,_0x32782f=_0x3c1c81*_0x3d699e-_0x490792*_0xc2996c,_0x46918b=_0x3c1c81*_0x319701-_0x490792*_0x403141,_0xe184ac=_0x490792*_0x1ba28d+_0x3c1c81*_0xe184ac,_0xc2996c=_0x490792*_0x3d699e+_0x3c1c81*_0xc2996c,_0x403141=_0x490792*_0x319701+_0x3c1c81*_0x403141;}else{const _0x3ec36d=_0x658842,_0x23abc0=_0x29e4dd;_0x658842=_0x3c1c81*_0x3c1c81*_0x3ec36d-0x2*_0x3c1c81*_0x490792*_0x57184e+_0x490792*_0x490792*_0x20031a,_0x20031a=_0x490792*_0x490792*_0x3ec36d+0x2*_0x3c1c81*_0x490792*_0x57184e+_0x3c1c81*_0x3c1c81*_0x20031a,_0x57184e=0x0,_0x29e4dd=_0x3c1c81*_0x23abc0-_0x490792*_0x41424c,_0x41424c=_0x490792*_0x23abc0+_0x3c1c81*_0x41424c;const _0x2d6de3=_0x3c7eae,_0x543c1e=_0x203e27,_0x3c18b4=_0x10c4b3;_0x3c7eae=_0x3c1c81*_0x2d6de3-_0x490792*_0xe184ac,_0x203e27=_0x3c1c81*_0x543c1e-_0x490792*_0xc2996c,_0x10c4b3=_0x3c1c81*_0x3c18b4-_0x490792*_0x403141,_0xe184ac=_0x490792*_0x2d6de3+_0x3c1c81*_0xe184ac,_0xc2996c=_0x490792*_0x543c1e+_0x3c1c81*_0xc2996c,_0x403141=_0x490792*_0x3c18b4+_0x3c1c81*_0x403141;}}return{'eigenvalues':[_0x43b384,_0x658842,_0x20031a],'eigenvectors':[[_0x4cd555,_0x32782f,_0x46918b],[_0x3c7eae,_0x203e27,_0x10c4b3],[_0xe184ac,_0xc2996c,_0x403141]]};}static['computeEigenvalues3x3'](_0x58a203){const _0x5169b0=_0x58a203['elements'],_0x24c9c8=_0x5169b0[0x0];_0x5169b0[0x1],_0x5169b0[0x2],_0x5169b0[0x3];const _0x1aaf9f=_0x5169b0[0x4];_0x5169b0[0x5],_0x5169b0[0x6],_0x5169b0[0x7];const _0x33056d=_0x5169b0[0x8],_0x2f130f=[Math['abs'](_0x24c9c8),Math['abs'](_0x1aaf9f),Math['abs'](_0x33056d)];return _0x2f130f['sort']((_0x3b5c10,_0x526bf6)=>_0x526bf6-_0x3b5c10),_0x2f130f;}static['computeInertiaBox'](_0x50b641){const _0x55554f=_0x50b641['ixx']||0x0,_0x15fcd5=_0x50b641['iyy']||0x0,_0x28607c=_0x50b641['izz']||0x0,_0x5b3309=_0x50b641['ixy']||0x0,_0x1dff7b=_0x50b641['ixz']||0x0,_0x100f2f=_0x50b641['iyz']||0x0,_0x4bac16=_0x50b641['mass']||0x1;if(_0x4bac16<0.01){const _0x13b160=(Math['abs'](_0x55554f)+Math['abs'](_0x15fcd5)+Math['abs'](_0x28607c))/0x3;if(Math['sqrt'](_0x13b160/_0x4bac16)>0.05)return null;}const _0x46c41a=1e-9;if(Math['abs'](_0x55554f)<_0x46c41a&&Math['abs'](_0x15fcd5)<_0x46c41a&&Math['abs'](_0x28607c)<_0x46c41a)return null;const _0x575082=Math['abs'](_0x5b3309)>1e-10||Math['abs'](_0x1dff7b)>1e-10||Math['abs'](_0x100f2f)>1e-10;let _0x3ded1a,_0x59a4d5=new _0x4adb8f();if(_0x575082){const _0x5ecd04=new _0x47bdb6();_0x5ecd04['set'](_0x55554f,_0x5b3309,_0x1dff7b,_0x5b3309,_0x15fcd5,_0x100f2f,_0x1dff7b,_0x100f2f,_0x28607c);const _0x153210=this['computeEigenDecomposition3x3'](_0x5ecd04);_0x3ded1a=_0x153210['eigenvalues'];const _0x496a71=new _0x5dcd72();_0x496a71['set'](_0x153210['eigenvectors'][0x0][0x0],_0x153210['eigenvectors'][0x1][0x0],_0x153210['eigenvectors'][0x2][0x0],0x0,_0x153210['eigenvectors'][0x0][0x1],_0x153210['eigenvectors'][0x1][0x1],_0x153210['eigenvectors'][0x2][0x1],0x0,_0x153210['eigenvectors'][0x0][0x2],_0x153210['eigenvectors'][0x1][0x2],_0x153210['eigenvectors'][0x2][0x2],0x0,0x0,0x0,0x0,0x1),_0x59a4d5['setFromRotationMatrix'](_0x496a71);}else _0x3ded1a=[_0x55554f,_0x15fcd5,_0x28607c];const _0x13db07=0x6/_0x4bac16;let _0x27dc15=Math['sqrt'](Math['abs'](_0x13db07*(_0x3ded1a[0x1]+_0x3ded1a[0x2]-_0x3ded1a[0x0]))),_0x1e965a=Math['sqrt'](Math['abs'](_0x13db07*(_0x3ded1a[0x0]+_0x3ded1a[0x2]-_0x3ded1a[0x1]))),_0x1b1159=Math['sqrt'](Math['abs'](_0x13db07*(_0x3ded1a[0x0]+_0x3ded1a[0x1]-_0x3ded1a[0x2])));const _0x1f21ab=(Math['abs'](_0x3ded1a[0x0])+Math['abs'](_0x3ded1a[0x1])+Math['abs'](_0x3ded1a[0x2]))/0x3;if(Math['sqrt'](_0x1f21ab/_0x4bac16)>(_0x27dc15+_0x1e965a+_0x1b1159)/0x3)return null;if(_0x4bac16/(_0x27dc15*_0x1e965a*_0x1b1159)<0.0001)return null;const _0x82a3a9=0.01;return _0x27dc15=Math['max'](_0x27dc15,_0x82a3a9),_0x1e965a=Math['max'](_0x1e965a,_0x82a3a9),_0x1b1159=Math['max'](_0x1b1159,_0x82a3a9),_0x27dc15<_0x82a3a9&&_0x1e965a<_0x82a3a9&&_0x1b1159<_0x82a3a9&&(_0x27dc15=_0x1e965a=_0x1b1159=0.05),{'width':_0x27dc15,'height':_0x1e965a,'depth':_0x1b1159,'rotation':_0x59a4d5};}static['createInertiaBoxGeometry'](_0x3a09f7,_0x4871ba,_0xe62169){return new _0x1b40f5(_0x3a09f7,_0x4871ba,_0xe62169);}static['computeInertiaEllipsoid'](_0x8b9409){const _0x45da3f=_0x8b9409['ixx']||0x0,_0x263e35=_0x8b9409['iyy']||0x0,_0x38571b=_0x8b9409['izz']||0x0,_0x54f1ea=_0x8b9409['ixy']||0x0,_0x589f80=_0x8b9409['ixz']||0x0,_0x15e677=_0x8b9409['iyz']||0x0,_0x1ae47f=new _0x47bdb6();_0x1ae47f['set'](_0x45da3f,_0x54f1ea,_0x589f80,_0x54f1ea,_0x263e35,_0x15e677,_0x589f80,_0x15e677,_0x38571b);const _0x3a1a70=this['computeEigenvalues3x3'](_0x1ae47f),_0x5cc1bf=_0x8b9409['mass']||0x1,_0x480dc5=0.1/Math['sqrt'](_0x5cc1bf),_0x525870=[Math['sqrt'](Math['max'](_0x3a1a70[0x0],0x0))*_0x480dc5,Math['sqrt'](Math['max'](_0x3a1a70[0x1],0x0))*_0x480dc5,Math['sqrt'](Math['max'](_0x3a1a70[0x2],0x0))*_0x480dc5];return _0x525870['forEach']((_0x4c27e2,_0x4e299d)=>{_0x4c27e2<0.01&&(_0x525870[_0x4e299d]=0.01);}),{'radii':_0x525870,'rotation':new _0x730a0a(0x0,0x0,0x0)};}static['createInertiaEllipsoidGeometry'](_0x36e5fe){const _0x1d6174=new _0x401a16(0x1,0x20,0x20);return _0x1d6174['scale'](_0x36e5fe[0x0],_0x36e5fe[0x1],_0x36e5fe[0x2]),_0x1d6174;}static['rpyToEuler'](_0x434dff){return _0x434dff&&0x3===_0x434dff['length']?new _0x730a0a(_0x434dff[0x0],_0x434dff[0x1],_0x434dff[0x2],'XYZ'):new _0x730a0a(0x0,0x0,0x0);}static['xyzToVector3'](_0x306b76){return _0x306b76&&0x3===_0x306b76['length']?new _0x5a7be3(_0x306b76[0x0],_0x306b76[0x1],_0x306b76[0x2]):new _0x5a7be3(0x0,0x0,0x0);}}function Ve(_0x50e1bd,_0x5a3f56){if(!_0x5a3f56||!_0x5a3f56['threeObject'])return null;let _0x4c0094=_0x50e1bd;const _0x177d12=_0x5a3f56['threeObject'];for(;_0x4c0094;){if('URDFLink'===_0x4c0094['type']||_0x4c0094['isURDFLink']){const _0x35e570=_0x4c0094['name'];if(_0x35e570&&_0x5a3f56['links']&&_0x5a3f56['links']['has'](_0x35e570)){return{'linkData':_0x5a3f56['links']['get'](_0x35e570),'threeObject':_0x4c0094,'name':_0x35e570};}}if(_0x4c0094===_0x177d12||!_0x4c0094['parent'])break;_0x4c0094=_0x4c0094['parent'];}return null;}const qe=new _0x5a7be3(),Be=new _0x5a7be3(),$e=new _0x5a7be3(),Je=new _0x5a7be3(),He=new _0x5a7be3(),Ge=new _0x5a7be3(),We=new _0x5a7be3(),Xe=new _0xb2ec94();class Ye{constructor(_0x603e78,_0x248b19,_0x49ef94,_0x13886a){this['enabled']=!0x0,this['scene']=_0x603e78,this['camera']=_0x248b19,this['domElement']=_0x49ef94,this['model']=_0x13886a,this['raycaster']=new _0x21d002(),this['raycaster']['layers']['enableAll'](),this['initialGrabPoint']=new _0x5a7be3(),this['hitDistance']=-0x1,this['hovered']=null,this['manipulating']=null,this['renderer']=null;}['update'](){const {raycaster:_0x3389c4,hovered:_0x5a209a,manipulating:_0x576b23}=this,_0x3dc569=this['model'];if(_0x576b23||!this['enabled']||!_0x3dc569||!_0x3dc569['threeObject'])return;let _0x209f89=null;const _0x1f7768=[];_0x3dc569['threeObject']['traverse'](_0x551928=>{if(_0x551928['isMesh']&&!_0x551928['visible']){let _0x191d8b=!0x1,_0x29ec20=_0x551928;for(;_0x29ec20;){if(_0x29ec20['isURDFCollider']){_0x191d8b=!0x0;break;}_0x29ec20=_0x29ec20['parent'];}_0x191d8b||(_0x551928['visible']=!0x0,_0x1f7768['push'](_0x551928));}});const _0x2f95a1=_0x3389c4['intersectObject'](_0x3dc569['threeObject'],!0x0);_0x1f7768['forEach'](_0x96bcf3=>{_0x96bcf3['visible']=!0x1;});const _0x567f57=_0x2f95a1['filter'](_0x33d16e=>{var _0x1478ec,_0x10e026;const _0x46597d=_0x33d16e['object'];if(_0x46597d['isURDFCollider']||(null==(_0x1478ec=_0x46597d['userData'])?void 0x0:_0x1478ec['isCollision'])||(null==(_0x10e026=_0x46597d['userData'])?void 0x0:_0x10e026['isCollisionGeom']))return!0x1;let _0x454cec=!0x1,_0x1e5ce9=_0x46597d;for(;_0x1e5ce9;){if(_0x1e5ce9['isURDFCollider']){_0x454cec=!0x0;break;}_0x1e5ce9=_0x1e5ce9['parent'];}return!_0x454cec&&_0x46597d['isMesh'];});if(0x0!==_0x567f57['length']){const _0x6fb771=_0x567f57[0x0];_0x209f89=Ve(_0x6fb771['object'],_0x3dc569),_0x209f89&&(this['hitDistance']=_0x6fb771['distance'],this['initialGrabPoint']['copy'](_0x6fb771['point']));}((null==_0x209f89?void 0x0:_0x209f89['name'])||null)!==((null==_0x5a209a?void 0x0:_0x5a209a['name'])||null)?(_0x5a209a&&this['onUnhover'](_0x5a209a),this['hovered']=_0x209f89,_0x209f89&&this['onHover'](_0x209f89)):_0x209f89&&_0x5a209a&&(this['hovered']=_0x209f89);}['updateJoint'](_0x53f2bf,_0xbb06cd){this['onUpdateJoint']&&this['onUpdateJoint'](_0x53f2bf,_0xbb06cd);}['onDragStart'](_0x1aed3f){}['onDragEnd'](_0x4273b7){}['onHover'](_0x4cdd63){}['onUnhover'](_0x49ffb8){}['getJointAxis'](_0xaeb3a8){return _0xaeb3a8['threeObject']&&_0xaeb3a8['threeObject']['axis']instanceof _0x5a7be3?_0xaeb3a8['threeObject']['axis']['clone']():_0xaeb3a8['axis']&&_0xaeb3a8['axis']['xyz']?Ue['xyzToVector3'](_0xaeb3a8['axis']['xyz']):new _0x5a7be3(0x0,0x0,0x1);}['getJointThreeObject'](_0x178778){return _0x178778['threeObject'];}['getJointCurrentValue'](_0x54345a){if(_0x54345a['threeObject']){if(void 0x0!==_0x54345a['threeObject']['angle'])return _0x54345a['threeObject']['angle'];if(_0x54345a['threeObject']['jointValue']&&_0x54345a['threeObject']['jointValue']['length']>0x0)return _0x54345a['threeObject']['jointValue'][0x0];}return void 0x0!==_0x54345a['currentValue']?_0x54345a['currentValue']:0x0;}['getRevoluteDelta'](_0x99dfb9,_0x2a53e2,_0x60fd16){const _0xc06829=this['getJointThreeObject'](_0x99dfb9);if(!_0xc06829)return 0x0;const _0x48069e=this['getJointAxis'](_0x99dfb9);Je['copy'](_0x48069e)['transformDirection'](_0xc06829['matrixWorld'])['normalize'](),$e['set'](0x0,0x0,0x0)['applyMatrix4'](_0xc06829['matrixWorld']),Xe['setFromNormalAndCoplanarPoint'](Je,$e),Xe['projectPoint'](_0x2a53e2,Ge),Xe['projectPoint'](_0x60fd16,We),Ge['sub']($e),We['sub']($e),Je['crossVectors'](Ge,We);const _0x47b7a4=Je['dot'](Xe['normal']);return Math['sign'](_0x47b7a4)*We['angleTo'](Ge);}['getPrismaticDelta'](_0x4bcd44,_0x2a7eb6,_0x3c1245){var _0x2d6271;const _0xdefe0a=this['getJointThreeObject'](_0x4bcd44);if(!_0xdefe0a)return 0x0;Je['subVectors'](_0x3c1245,_0x2a7eb6);const _0x320950=this['getJointAxis'](_0x4bcd44);return Xe['normal']['copy'](_0x320950)['transformDirection']((null==(_0x2d6271=_0xdefe0a['parent'])?void 0x0:_0x2d6271['matrixWorld'])||new _0x5dcd72())['normalize'](),Je['dot'](Xe['normal']);}['moveRay'](_0x49a89d){var _0x5d7a71,_0xbe99d7,_0x5e6476,_0x2f2726,_0x473b1e;const {raycaster:_0x1b343b,hitDistance:_0x35fe31,manipulating:_0x4ce67f}=this,{ray:_0x10b4a9}=_0x1b343b;if(_0x4ce67f){_0x10b4a9['at'](_0x35fe31,qe),_0x49a89d['at'](_0x35fe31,Be);let _0x59570c=0x0;const _0x339bd9=_0x4ce67f['type'];if('revolute'===_0x339bd9||'continuous'===_0x339bd9?_0x59570c=this['getRevoluteDelta'](_0x4ce67f,qe,Be):'prismatic'===_0x339bd9&&(_0x59570c=this['getPrismaticDelta'](_0x4ce67f,qe,Be)),_0x59570c){let _0x20782a=this['getJointCurrentValue'](_0x4ce67f)+_0x59570c;if(_0x4ce67f['limits']){(null==(_0xbe99d7=null==(_0x5d7a71=this['model'])?void 0x0:_0x5d7a71['userData'])?void 0x0:_0xbe99d7['ignoreLimits'])||(null==(_0x473b1e=null==(_0x2f2726=null==(_0x5e6476=this['model'])?void 0x0:_0x5e6476['threeObject'])?void 0x0:_0x2f2726['userData'])?void 0x0:_0x473b1e['ignoreLimits'])||!0x1||(_0x20782a=Math['max'](_0x4ce67f['limits']['lower'],Math['min'](_0x4ce67f['limits']['upper'],_0x20782a)));}this['updateJoint'](_0x4ce67f,_0x20782a);}}this['raycaster']['ray']['copy'](_0x49a89d),this['update']();}['setGrabbed'](_0x58dead){const {hovered:_0xb78406,manipulating:_0x56e52e}=this;if(_0x58dead){if(null!==_0x56e52e||null===_0xb78406)return;const _0x1a048b=function(_0x2b0bee,_0x4c2aba){if(!_0x2b0bee||!_0x2b0bee['threeObject']||!_0x4c2aba['joints'])return null;let _0x4bcbb7=_0x2b0bee['threeObject'];for(;_0x4bcbb7;){const _0x17793f=_0x4bcbb7['parent'];if(_0x17793f&&('URDFJoint'===_0x17793f['type']||_0x17793f['isURDFJoint'])){const _0x4b9e72=_0x17793f['name'];if(_0x4b9e72&&_0x4c2aba['joints']['has'](_0x4b9e72)){const _0x175d40=_0x4c2aba['joints']['get'](_0x4b9e72);if('fixed'!==_0x175d40['type'])return _0x175d40;const _0x145d9b=_0x17793f['parent'];if(_0x145d9b&&('URDFLink'===_0x145d9b['type']||_0x145d9b['isURDFLink'])){_0x4bcbb7=_0x145d9b;continue;}}}break;}return null;}(_0xb78406,this['model']);_0x1a048b?(this['manipulating']=_0x1a048b,this['manipulatingLink']=_0xb78406,this['onDragStart'](_0xb78406)):(this['manipulatingLink']=_0xb78406,this['onDragStart'](_0xb78406));}else{if(null===this['manipulating']&&!this['manipulatingLink'])return;this['onDragEnd'](this['manipulatingLink']||_0xb78406),this['manipulating']=null,this['manipulatingLink']=null,this['update']();}}}class Ze extends Ye{constructor(_0x44eacc,_0x50a058,_0xe232c5,_0x37decb){super(_0x44eacc,_0x50a058,_0xe232c5,_0x37decb),this['camera']=_0x50a058,this['domElement']=_0xe232c5;const _0x541867=new _0x21d002(),_0x3b4af2=new _0x29f781(),_0x3106d9=_0x47383d=>{const _0x156567=_0xe232c5['getBoundingClientRect']();_0x3b4af2['x']=(_0x47383d['clientX']-_0x156567['left'])/_0x156567['width']*0x2-0x1,_0x3b4af2['y']=-(_0x47383d['clientY']-_0x156567['top'])/_0x156567['height']*0x2+0x1;};this['_mouseDown']=_0x5a03d0=>{if(0x0!==_0x5a03d0['button'])return;if(_0x3106d9(_0x5a03d0),_0x541867['setFromCamera'](_0x3b4af2,this['camera']),!this['model']||!this['model']['threeObject'])return;const _0x216eef=[];this['model']['threeObject']['traverse'](_0x4e86e5=>{if(_0x4e86e5['isMesh']&&!_0x4e86e5['visible']){let _0xff9ac1=!0x1,_0x304880=_0x4e86e5;for(;_0x304880;){if(_0x304880['isURDFCollider']){_0xff9ac1=!0x0;break;}_0x304880=_0x304880['parent'];}_0xff9ac1||(_0x4e86e5['visible']=!0x0,_0x216eef['push'](_0x4e86e5));}});const _0x8fb603=_0x541867['intersectObject'](this['model']['threeObject'],!0x0);_0x216eef['forEach'](_0x32b8b0=>{_0x32b8b0['visible']=!0x1;});const _0x22eaba=_0x8fb603['filter'](_0xe87e53=>{var _0x100095,_0x1611e0;const _0x276d88=_0xe87e53['object'];if(_0x276d88['isURDFCollider']||(null==(_0x100095=_0x276d88['userData'])?void 0x0:_0x100095['isCollision'])||(null==(_0x1611e0=_0x276d88['userData'])?void 0x0:_0x1611e0['isCollisionGeom']))return!0x1;let _0x2c11d9=!0x1,_0x11a657=_0x276d88;for(;_0x11a657;){if(_0x11a657['isURDFCollider']){_0x2c11d9=!0x0;break;}_0x11a657=_0x11a657['parent'];}return!_0x2c11d9&&_0x276d88['isMesh'];});(_0x22eaba['length']>0x0?Ve(_0x22eaba[0x0]['object'],this['model']):null)&&(this['moveRay'](_0x541867['ray']),this['setGrabbed'](!0x0));},this['_mouseMove']=_0x1b3f44=>{_0x3106d9(_0x1b3f44),_0x541867['setFromCamera'](_0x3b4af2,this['camera']),this['moveRay'](_0x541867['ray']);},this['_mouseUp']=_0x536a1b=>{0x0===_0x536a1b['button']&&(_0x3106d9(_0x536a1b),_0x541867['setFromCamera'](_0x3b4af2,this['camera']),this['moveRay'](_0x541867['ray']),this['setGrabbed'](!0x1));},this['_mouseLeave']=()=>{this['manipulating']&&this['setGrabbed'](!0x1),this['hovered']&&(this['onUnhover'](this['hovered']),this['hovered']=null);},_0xe232c5['addEventListener']('mousedown',this['_mouseDown']),_0xe232c5['addEventListener']('mousemove',this['_mouseMove']),_0xe232c5['addEventListener']('mouseup',this['_mouseUp']),_0xe232c5['addEventListener']('mouseleave',this['_mouseLeave']);}['getRevoluteDelta'](_0xdec8e6,_0x245d04,_0x1ce8d3){const {camera:_0x2dd039,initialGrabPoint:_0x1edf7e}=this,_0x5a7883=this['getJointThreeObject'](_0xdec8e6);if(!_0x5a7883)return 0x0;const _0x105d6a=this['getJointAxis'](_0xdec8e6);return Je['copy'](_0x105d6a)['transformDirection'](_0x5a7883['matrixWorld'])['normalize'](),$e['set'](0x0,0x0,0x0)['applyMatrix4'](_0x5a7883['matrixWorld']),Xe['setFromNormalAndCoplanarPoint'](Je,$e),Je['copy'](_0x2dd039['position'])['sub'](_0x1edf7e)['normalize'](),Math['abs'](Je['dot'](Xe['normal']))>0.3?super['getRevoluteDelta'](_0xdec8e6,_0x245d04,_0x1ce8d3):(Je['set'](0x0,0x1,0x0)['transformDirection'](_0x2dd039['matrixWorld']),Xe['projectPoint'](_0x245d04,Ge),Xe['projectPoint'](_0x1ce8d3,We),Je['set'](0x0,0x0,-0x1)['transformDirection'](_0x2dd039['matrixWorld']),Je['cross'](Xe['normal']),He['subVectors'](_0x1ce8d3,_0x245d04),Je['dot'](He));}['dispose'](){const {domElement:_0x1cc9e9}=this;_0x1cc9e9['removeEventListener']('mousedown',this['_mouseDown']),_0x1cc9e9['removeEventListener']('mousemove',this['_mouseMove']),_0x1cc9e9['removeEventListener']('mouseup',this['_mouseUp']),_0x1cc9e9['removeEventListener']('mouseleave',this['_mouseLeave']);}}class Qe{constructor(){this['name']='',this['links']=new Map(),this['joints']=new Map(),this['materials']=new Map(),this['constraints']=new Map(),this['rootLink']=null,this['threeObject']=null,this['baseOrientation']=[0x0,0x0,0x0,0x1];}['addLink'](_0x5c8d9a){this['links']['set'](_0x5c8d9a['name'],_0x5c8d9a);}['addJoint'](_0x5dde51){this['joints']['set'](_0x5dde51['name'],_0x5dde51);}['addConstraint'](_0x490c84){this['constraints']['set'](_0x490c84['name'],_0x490c84);}['getLink'](_0x4885a7){return this['links']['get'](_0x4885a7);}['getJoint'](_0x409e88){return this['joints']['get'](_0x409e88);}['getConstraint'](_0x2ac10f){return this['constraints']['get'](_0x2ac10f);}}class Ke{constructor(_0x5b4d92){this['name']=_0x5b4d92,this['visuals']=[],this['collisions']=[],this['inertial']=null,this['threeObject']=null,this['userData']={};}}class et{constructor(){this['name']='',this['origin']={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},this['geometry']=null,this['material']=null,this['threeObject']=null;}}class tt{constructor(){this['name']='',this['origin']={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},this['geometry']=null,this['threeObject']=null;}}class nt{constructor(_0x415c3a){this['type']=_0x415c3a,this['size']=null,this['filename']=null;}['clone'](){const _0x448bbf=new nt(this['type']);return _0x448bbf['size']=this['size']?{...this['size']}:null,_0x448bbf['filename']=this['filename'],_0x448bbf;}}class it{constructor(){this['mass']=0x0,this['origin']={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},this['ixx']=0x0,this['iyy']=0x0,this['izz']=0x0,this['ixy']=0x0,this['ixz']=0x0,this['iyz']=0x0;}}class st{constructor(_0x33b091,_0x90a5d5){this['name']=_0x33b091,this['type']=_0x90a5d5,this['parent']=null,this['child']=null,this['origin']={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},this['axis']={'xyz':[0x0,0x0,0x1]},this['limits']=null,this['currentValue']=0x0,this['threeObject']=null,this['mimic']=null;}}class rt{constructor(){this['lower']=-Math['PI'],this['upper']=Math['PI'],this['effort']=null,this['velocity']=null;}}class at{constructor(_0x45b473,_0x30b16a){this['name']=_0x45b473,this['type']=_0x30b16a,this['body1']=null,this['body2']=null,this['anchor']=null,this['torquescale']=null,this['joint1']=null,this['joint2']=null,this['polycoef']=null,this['threeObject']=null,this['userData']={};}}function ot(_0x55420f,_0x3c180d,_0x5d92d8){const _0x52e30e=lt(_0x3c180d,'joint_index'),_0x625413=lt(_0x3c180d,'rest_j_pos');if(!_0x52e30e||!_0x625413)return;const _0x10d9c2=Math['min'](_0x52e30e['length'],_0x625413['length']);for(let _0x5eda7f=0x0;_0x5eda7f<_0x10d9c2;_0x5eda7f++){const _0x540f53=_0x52e30e[_0x5eda7f];if(_0x540f53<0x0)continue;const _0x5c208d=_0x5d92d8[_0x540f53];_0x5c208d&&_0x55420f['set'](_0x5c208d,_0x625413[_0x5eda7f]);}}function lt(_0x43e0e0,_0x311ea1){const _0x2a3d6d=function(_0x16b59b,_0x3077ec){const _0x339eee=new RegExp('^\x5cs*-?\x5cs*'+_0x3077ec+':\x5cs*\x5c[([^\x5c]]+)\x5c]','m'),_0x5b818f=_0x16b59b['match'](_0x339eee);if(_0x5b818f){return _0x5b818f[0x1]['split'](',')['map'](_0x296722=>parseFloat(_0x296722['trim']()))['filter'](_0x318279=>!isNaN(_0x318279));}return null;}(_0x43e0e0,_0x311ea1);if(_0x2a3d6d)return _0x2a3d6d;const _0x2e0b4e=function(_0x1ee53e,_0x20e502){const _0x180a63=new RegExp('^\x5cs*'+_0x20e502+':\x5cs*(-?\x5cd+(?:\x5c.\x5cd+)?)','m'),_0x4d9ef9=_0x1ee53e['match'](_0x180a63);if(_0x4d9ef9){const _0x46f8ea=parseFloat(_0x4d9ef9[0x1]);return isNaN(_0x46f8ea)?null:_0x46f8ea;}return null;}(_0x43e0e0,_0x311ea1);return null!==_0x2e0b4e?[_0x2e0b4e]:null;}function ct(_0x5effd7,_0x130946){const _0x50c7b4=[],_0x592842=_0x5effd7['split']('\x0a');let _0x2f0703=!0x1,_0x22578f=[],_0x164ca4=-0x1;for(let _0x1b7d2a=0x0;_0x1b7d2a<_0x592842['length'];_0x1b7d2a++){const _0x5979ce=_0x592842[_0x1b7d2a],_0x48bd15=_0x5979ce['trimStart']();if(_0x48bd15['startsWith']('#')||0x0===_0x48bd15['length']){_0x2f0703&&_0x22578f['push'](_0x5979ce);continue;}const _0x18ad5f=_0x5979ce['length']-_0x48bd15['length'];_0x48bd15===_0x130946+':'||_0x48bd15['startsWith'](_0x130946+':')?(_0x2f0703&&_0x22578f['length']>0x0&&_0x50c7b4['push'](_0x22578f['join']('\x0a')),_0x2f0703=!0x0,_0x164ca4=_0x18ad5f,_0x22578f=[_0x5979ce]):_0x2f0703&&(_0x18ad5f>_0x164ca4||_0x18ad5f===_0x164ca4&&_0x48bd15['startsWith']('-')?_0x22578f['push'](_0x5979ce):(_0x50c7b4['push'](_0x22578f['join']('\x0a')),_0x2f0703=!0x1,_0x22578f=[],_0x164ca4=-0x1));}return _0x2f0703&&_0x22578f['length']>0x0&&_0x50c7b4['push'](_0x22578f['join']('\x0a')),0x1===_0x50c7b4['length']&&_0x50c7b4[0x0]['includes']('-\x20')?function(_0x4ea2b3){const _0x5a4863=[],_0x321571=_0x4ea2b3['split']('\x0a');let _0x47b8b1=[],_0x2de076=-0x1;for(const _0xf02d29 of _0x321571){const _0x5bb245=_0xf02d29['trimStart']();if(_0x5bb245['startsWith']('#')||0x0===_0x5bb245['length'])continue;const _0x1bb8f6=_0xf02d29['length']-_0x5bb245['length'];_0x5bb245['startsWith']('-\x20')?(_0x47b8b1['length']>0x0&&_0x5a4863['push'](_0x47b8b1['join']('\x0a')),_0x47b8b1=[_0xf02d29],_0x2de076=_0x1bb8f6):_0x2de076>=0x0&&_0x1bb8f6>_0x2de076?_0x47b8b1['push'](_0xf02d29):_0x47b8b1['length']>0x0&&(_0x5a4863['push'](_0x47b8b1['join']('\x0a')),_0x47b8b1=[],_0x2de076=-0x1);}_0x47b8b1['length']>0x0&&_0x5a4863['push'](_0x47b8b1['join']('\x0a'));return _0x5a4863;}(_0x50c7b4[0x0]):_0x50c7b4;}function ht(_0x369d04){if(!_0x369d04||!_0x369d04['joints'])return[];const _0x5e661f=new Map();_0x369d04['joints']['forEach'](_0x220471=>{const _0x58d836=_0x220471['parent']||'__root__';_0x5e661f['has'](_0x58d836)||_0x5e661f['set'](_0x58d836,[]),_0x5e661f['get'](_0x58d836)['push'](_0x220471);});const _0x52fc20=[];return function _0x55912c(_0x489516){(_0x5e661f['get'](_0x489516)||[])['forEach'](_0x1f5b28=>{_0x52fc20['push'](_0x1f5b28),_0x55912c(_0x1f5b28['child']);});}(_0x369d04['rootLink']||'__root__'),_0x369d04['joints']['forEach'](_0x5cdc30=>{_0x52fc20['includes'](_0x5cdc30)||_0x52fc20['push'](_0x5cdc30);}),_0x52fc20;}class ut{static['convert'](_0x414dda,_0x207b30=null,_0x383d9a={}){const _0x49fb3b=new Qe();if(_0x49fb3b['name']=_0x414dda['name']||'robot',_0x49fb3b['threeObject']=_0x414dda,_0x414dda['userData']||(_0x414dda['userData']={}),_0x414dda['userData']['type']='urdf',!_0x414dda['links']||!_0x414dda['joints'])return _0x49fb3b;let _0x2f6528={};_0x207b30&&(_0x2f6528=this['parseInertialFromXML'](_0x207b30)),Object['values'](_0x414dda['links'])['forEach'](_0x3308b6=>{const _0xb234f0=this['convertLink'](_0x3308b6);!_0xb234f0['inertial']&&_0x2f6528[_0x3308b6['name']]&&(_0xb234f0['inertial']=_0x2f6528[_0x3308b6['name']]),_0x49fb3b['addLink'](_0xb234f0);}),Object['values'](_0x414dda['joints'])['forEach'](_0x24bd1e=>{const _0x5bfb15=this['convertJoint'](_0x24bd1e);_0x49fb3b['addJoint'](_0x5bfb15);}),_0x207b30&&this['supplementJointLimitsFromXML'](_0x49fb3b,_0x207b30);const _0x45ccf2=new Set(Array['from'](_0x49fb3b['joints']['values']())['map'](_0x59f911=>_0x59f911['child'])['filter'](_0x4d8e9d=>_0x4d8e9d)),_0x88616e=Array['from'](_0x49fb3b['links']['keys']())['filter'](_0x27245f=>!_0x45ccf2['has'](_0x27245f));return _0x88616e['length']>0x0&&(_0x49fb3b['rootLink']=_0x88616e[0x0]),_0x383d9a['vrConfigContent']&&this['applyVRConfigRestPositions'](_0x49fb3b,_0x383d9a['vrConfigContent']),this['enhanceMaterials'](_0x414dda),_0x49fb3b;}static['enhanceMaterials'](_0xa7037f){_0xa7037f['traverse'](_0x359be1=>{_0x359be1['isMesh']&&_0x359be1['material']&&(Array['isArray'](_0x359be1['material'])?_0x359be1['material']=_0x359be1['material']['map'](_0x4a0980=>this['enhanceSingleMaterial'](_0x4a0980)):_0x359be1['material']=this['enhanceSingleMaterial'](_0x359be1['material']));});}static['enhanceSingleMaterial'](_0x2cb8b4){var _0x50b2fc,_0x2bf12d,_0x553659;if(_0x2cb8b4['isMeshPhongMaterial']||_0x2cb8b4['isMeshStandardMaterial']){if(void 0x0===_0x2cb8b4['userData']['originalShininess'])if(_0x2cb8b4['userData']['originalShininess']=void 0x0!==_0x2cb8b4['shininess']?_0x2cb8b4['shininess']:0x1e,!_0x2cb8b4['userData']['originalColor']&&_0x2cb8b4['color']&&(_0x2cb8b4['userData']['originalColor']=_0x2cb8b4['color']['clone']()),_0x2cb8b4['specular'])if(_0x2cb8b4['specular']['isColor']){const _0x5624ce=_0x2cb8b4['specular'];_0x5624ce['r']<0.1&&_0x5624ce['g']<0.1&&_0x5624ce['b']<0.1?_0x2cb8b4['userData']['originalSpecular']=null:_0x2cb8b4['userData']['originalSpecular']=_0x5624ce['clone']();}else'number'==typeof _0x2cb8b4['specular']?0x111111===_0x2cb8b4['specular']||_0x2cb8b4['specular']<0x111111?_0x2cb8b4['userData']['originalSpecular']=null:_0x2cb8b4['userData']['originalSpecular']=new _0x43a4f1(_0x2cb8b4['specular']):_0x2cb8b4['userData']['originalSpecular']=null;else _0x2cb8b4['userData']['originalSpecular']=null;return(void 0x0===_0x2cb8b4['shininess']||_0x2cb8b4['shininess']<0x32)&&(_0x2cb8b4['shininess']=0x32),_0x2cb8b4['specular']?_0x2cb8b4['specular']['isColor']?(_0x2cb8b4['specular']['r']<0.2||_0x2cb8b4['specular']['g']<0.2||_0x2cb8b4['specular']['b']<0.2)&&_0x2cb8b4['specular']['setRGB'](0.3,0.3,0.3):'number'==typeof _0x2cb8b4['specular']&&(_0x2cb8b4['specular']<0x333333?_0x2cb8b4['specular']=new _0x43a4f1(0.3,0.3,0.3):(_0x2cb8b4['specular']=new _0x43a4f1(_0x2cb8b4['specular']),_0x2cb8b4['specular']['r']<0.2&&_0x2cb8b4['specular']['setRGB'](0.3,0.3,0.3))):_0x2cb8b4['specular']=new _0x43a4f1(0.3,0.3,0.3),_0x2cb8b4['needsUpdate']=!0x0,_0x2cb8b4;}if('MeshBasicMaterial'===_0x2cb8b4['type']){const _0x4fc576=_0x2cb8b4,_0x228c5f='undefined'!=typeof window&&(null==(_0x553659=null==(_0x2bf12d=null==(_0x50b2fc=window['app'])?void 0x0:_0x50b2fc['sceneManager'])?void 0x0:_0x2bf12d['environmentManager'])?void 0x0:_0x553659['getEnvironmentMap']()),_0x4d7da2=new _0xa87e13({'color':_0x4fc576['color'],'map':_0x4fc576['map'],'transparent':_0x4fc576['transparent'],'opacity':_0x4fc576['opacity'],'side':_0x4fc576['side'],'shininess':0x32,'specular':new _0x43a4f1(0.3,0.3,0.3),'envMap':_0x228c5f||null,'reflectivity':_0x228c5f?0.3:0x0});return _0x4d7da2['userData']['originalShininess']=0x1e,_0x4d7da2['userData']['originalSpecular']=null,_0x4d7da2;}return _0x2cb8b4;}static['convertLink'](_0x5dd76c){const _0x247a36=new Ke(_0x5dd76c['name']);return _0x247a36['threeObject']=_0x5dd76c,_0x5dd76c['inertial']&&(_0x247a36['inertial']=this['convertInertial'](_0x5dd76c['inertial'])),_0x247a36;}static['convertJoint'](_0x122678){var _0x42482b;const _0x4df8fa=_0x122678['jointType']||_0x122678['type']||'fixed',_0x12b306=new st(_0x122678['name'],_0x4df8fa);if(_0x12b306['parent']=(null==(_0x42482b=_0x122678['parent'])?void 0x0:_0x42482b['name'])||null,_0x122678['child']&&_0x122678['child']['name'])_0x12b306['child']=_0x122678['child']['name'];else if(_0x122678['children']&&_0x122678['children']['length']>0x0){const _0x53fc8b=_0x122678['children']['find'](_0x5d8426=>_0x5d8426['isURDFLink']||'URDFLink'===_0x5d8426['type']);_0x53fc8b&&(_0x12b306['child']=_0x53fc8b['name']);}return _0x12b306['threeObject']=_0x122678,_0x122678['origin']&&(_0x12b306['origin']={'xyz':_0x122678['origin']['xyz']||[0x0,0x0,0x0],'rpy':_0x122678['origin']['rpy']||[0x0,0x0,0x0]}),_0x122678['axis']&&(_0x12b306['axis']={'xyz':_0x122678['axis']['xyz']||[0x0,0x0,0x1]}),_0x122678['limit']&&(_0x12b306['limits']=this['convertLimits'](_0x122678['limit'])),void 0x0!==_0x122678['angle']?_0x12b306['currentValue']=_0x122678['angle']:void 0x0!==_0x122678['jointValue']&&(_0x12b306['currentValue']=_0x122678['jointValue']),_0x122678['mimicJoint']&&(_0x12b306['mimic']={'joint':_0x122678['mimicJoint'],'multiplier':_0x122678['multiplier']??0x1,'offset':_0x122678['offset']??0x0}),_0x12b306;}static['convertLimits'](_0x53ff3b){const _0x523565=new rt();return void 0x0!==_0x53ff3b['lower']&&(_0x523565['lower']=_0x53ff3b['lower']),void 0x0!==_0x53ff3b['upper']&&(_0x523565['upper']=_0x53ff3b['upper']),void 0x0!==_0x53ff3b['effort']&&(_0x523565['effort']=_0x53ff3b['effort']),void 0x0!==_0x53ff3b['velocity']&&(_0x523565['velocity']=_0x53ff3b['velocity']),_0x523565;}static['supplementJointLimitsFromXML'](_0x6a1599,_0x182fec){try{const _0x36c563=new DOMParser()['parseFromString'](_0x182fec,'text/xml');_0x36c563['querySelectorAll']('joint')['forEach'](_0x3a83d7=>{const _0x40f707=_0x3a83d7['getAttribute']('name'),_0x2d4c2a=_0x6a1599['joints']['get'](_0x40f707);if(_0x2d4c2a){const _0x859832=_0x3a83d7['querySelector']('limit');if(_0x859832){_0x2d4c2a['limits']||(_0x2d4c2a['limits']=new rt());const _0x41a018=_0x859832['getAttribute']('effort'),_0x50f30e=_0x859832['getAttribute']('velocity');null!==_0x41a018&&(_0x2d4c2a['limits']['effort']=parseFloat(_0x41a018)),null!==_0x50f30e&&(_0x2d4c2a['limits']['velocity']=parseFloat(_0x50f30e));const _0x34c09a=_0x859832['getAttribute']('lower'),_0x46447a=_0x859832['getAttribute']('upper');null!==_0x34c09a&&(_0x2d4c2a['limits']['lower']=parseFloat(_0x34c09a)),null!==_0x46447a&&(_0x2d4c2a['limits']['upper']=parseFloat(_0x46447a));}}});}catch(_0x4f743b){}}static['convertInertial'](_0x5e5adb){const _0x2117a4=new it();return void 0x0!==_0x5e5adb['mass']&&(_0x2117a4['mass']=_0x5e5adb['mass']),_0x5e5adb['origin']&&(_0x2117a4['origin']={'xyz':_0x5e5adb['origin']['xyz']||[0x0,0x0,0x0],'rpy':_0x5e5adb['origin']['rpy']||[0x0,0x0,0x0]}),void 0x0!==_0x5e5adb['ixx']&&(_0x2117a4['ixx']=_0x5e5adb['ixx']),void 0x0!==_0x5e5adb['iyy']&&(_0x2117a4['iyy']=_0x5e5adb['iyy']),void 0x0!==_0x5e5adb['izz']&&(_0x2117a4['izz']=_0x5e5adb['izz']),void 0x0!==_0x5e5adb['ixy']&&(_0x2117a4['ixy']=_0x5e5adb['ixy']),void 0x0!==_0x5e5adb['ixz']&&(_0x2117a4['ixz']=_0x5e5adb['ixz']),void 0x0!==_0x5e5adb['iyz']&&(_0x2117a4['iyz']=_0x5e5adb['iyz']),_0x2117a4;}static['parseInertialFromXML'](_0x48c5dc){const 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_0x3bf0a5=_0x3ca1cb['getElementsByTagName']('inertia')[0x0];_0x3bf0a5&&(_0x1c2353['ixx']=parseFloat(_0x3bf0a5['getAttribute']('ixx'))||0x0,_0x1c2353['iyy']=parseFloat(_0x3bf0a5['getAttribute']('iyy'))||0x0,_0x1c2353['izz']=parseFloat(_0x3bf0a5['getAttribute']('izz'))||0x0,_0x1c2353['ixy']=parseFloat(_0x3bf0a5['getAttribute']('ixy'))||0x0,_0x1c2353['ixz']=parseFloat(_0x3bf0a5['getAttribute']('ixz'))||0x0,_0x1c2353['iyz']=parseFloat(_0x3bf0a5['getAttribute']('iyz'))||0x0),_0x2bd31a[_0x331d64]=_0x1c2353;}}catch(_0x6fff84){}return _0x2bd31a;}static['applyVRConfigRestPositions'](_0x38a7e7,_0x5e2545){try{const _0x1b5454=function(_0x1728eb,_0xda667c){const _0x15bdb3=new Map();if(!_0x1728eb||!_0xda667c||!Array['isArray'](_0xda667c))return _0x15bdb3;try{const _0x1099a5=ct(_0x1728eb,'arms');for(const _0x452eef of _0x1099a5)ot(_0x15bdb3,_0x452eef,_0xda667c);const _0x449348=ct(_0x1728eb,'waist')[0x0];_0x449348&&ot(_0x15bdb3,_0x449348,_0xda667c);const 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XMLSerializer()['serializeToString'](_0x5ce2b3);}static async['parse'](_0x13c6bc,_0x684fec=null,_0x13833a=null){const _0x37c83e=await this['processIncludes'](_0x13c6bc,_0x684fec,_0x13833a),_0x278b3f=new DOMParser()['parseFromString'](_0x37c83e,'text/xml'),_0x193e46=_0x278b3f['querySelector']('parsererror');if(_0x193e46)throw new Error('MJCF\x20XML\x20parsing\x20failed:\x20'+_0x193e46['textContent']);const _0x58fabc=new Qe();_0x58fabc['name']='mujoco_model';const {classDefaults:_0xab7888,rootDefaults:_0xc515ab}=this['parseDefaults'](_0x278b3f),_0x5d22a9=this['parseAssets'](_0x278b3f,_0xab7888,_0xc515ab),_0x40b7f0=this['parseMaterials'](_0x278b3f),_0x326f8f=_0x278b3f['querySelector']('worldbody');if(!_0x326f8f)throw new Error('MJCF\x20file\x20missing\x20worldbody\x20element');const _0x5f9c2d=_0x326f8f['querySelectorAll'](':scope\x20>\x20geom');if(_0x5f9c2d['length']>0x0){const _0x384f7a=new Ke('worldbody');_0x384f7a['userData']['isWorldbody']=!0x0;const _0x3e6da5=new Set();_0x5f9c2d['forEach']((_0x4a6271,_0x4a63ca)=>{const _0x197a52=this['getGeomInheritedProperties'](_0x4a6271,_0xab7888,_0xc515ab),_0x4cb838=_0x4a6271['getAttribute']('group'),_0x53b393=null!==_0x4cb838?parseInt(_0x4cb838):null!==_0x197a52['group']?_0x197a52['group']:0x0,_0x15670a=(_0x4a6271['getAttribute']('name')||'')['toLowerCase'](),_0x1cab7a=_0x4a6271['hasAttribute']('rgba')||null!==_0x197a52['rgba'],_0x2a349c=_0x4a6271['getAttribute']('mesh'),_0x5cb94a=_0x4a6271['getAttribute']('contype'),_0x4bded2=_0x4a6271['getAttribute']('conaffinity'),_0x442844=_0x4a6271['getAttribute']('density'),_0x474038=null!==_0x5cb94a?parseInt(_0x5cb94a):null!==_0x197a52['contype']?_0x197a52['contype']:null,_0x5d5b33=null!==_0x4bded2?parseInt(_0x4bded2):null!==_0x197a52['conaffinity']?_0x197a52['conaffinity']:null;null!==_0x442844?parseFloat(_0x442844):null!==_0x197a52['density']&&_0x197a52['density'];let _0x6db8ea=!0x1;if(_0x2a349c)if(0x0===_0x474038&&0x0===_0x5d5b33)_0x6db8ea=!0x1;else if(0x3===_0x53b393)_0x6db8ea=!0x0;else if(0x2===_0x53b393||0x1===_0x53b393)_0x6db8ea=!0x1;else if(_0x15670a['includes']('collision'))_0x6db8ea=!0x0;else if(_0x3e6da5['has'](_0x2a349c)){if(_0x1cab7a||0x0===_0x474038&&0x0===_0x5d5b33)return;_0x6db8ea=!0x0;}else _0x6db8ea=!0x1;else _0x6db8ea=!0x0;const _0x5aadc5=this['parseGeom'](_0x4a6271,_0x5d22a9);if(_0x5aadc5)if(_0x6db8ea){const _0x34b35f=new tt();_0x34b35f['geometry']=_0x5aadc5,_0x34b35f['name']=_0x4a6271['getAttribute']('name')||'worldbody_collision_'+_0x4a63ca,_0x34b35f['origin']=this['parseOrigin'](_0x4a6271),_0x384f7a['collisions']['push'](_0x34b35f);}else{_0x2a349c&&_0x3e6da5['add'](_0x2a349c);const _0x2ce00b=new et();_0x2ce00b['geometry']=_0x5aadc5,_0x2ce00b['name']=_0x4a6271['getAttribute']('name')||'worldbody_geom_'+_0x4a63ca,_0x2ce00b['origin']=this['parseOrigin'](_0x4a6271);let _0x49ba27=null;if(_0x4a6271['hasAttribute']('rgba')){const _0x256d23=_0x4a6271['getAttribute']('rgba')['split']('\x20')['map'](parseFloat);_0x256d23['length']>=0x3&&(_0x49ba27={'r':_0x256d23[0x0],'g':_0x256d23[0x1],'b':_0x256d23[0x2],'a':_0x256d23['length']>=0x4?_0x256d23[0x3]:0x1});}else _0x197a52['rgba']&&(_0x49ba27=_0x197a52['rgba']);_0x2ce00b['userData']={'group':_0x53b393,'hasRgba':_0x1cab7a||!!_0x49ba27,'rgba':_0x49ba27,'meshRef':_0x2a349c,'geomType':_0x4a6271['getAttribute']('type')||(_0x2a349c?'mesh':'box')},_0x384f7a['visuals']['push'](_0x2ce00b);}}),(_0x384f7a['visuals']['length']>0x0||_0x384f7a['collisions']['length']>0x0)&&_0x58fabc['addLink'](_0x384f7a);}const _0x129c8a=new Map();this['parseBodies'](_0x326f8f,null,_0x129c8a,_0x58fabc,null,_0x5d22a9,null,_0x40b7f0,_0xab7888,_0xc515ab),this['parseJoints'](_0x326f8f,_0x129c8a,_0x58fabc,null,_0xab7888),this['parseEquality'](_0x278b3f,_0x58fabc);if(_0x58fabc['links']['get']('worldbody'))_0x58fabc['rootLink']='worldbody';else{const _0x1c2371=Array['from'](_0x58fabc['links']['keys']())['filter'](_0xe8ac2b=>!Array['from'](_0x58fabc['joints']['values']())['some'](_0x1b99f3=>_0x1b99f3['child']===_0xe8ac2b));_0x1c2371['length']>0x0?_0x58fabc['rootLink']=_0x1c2371[0x0]:_0x58fabc['links']['size']>0x0&&(_0x58fabc['rootLink']=Array['from'](_0x58fabc['links']['keys']())[0x0]);}return await this['createThreeObject'](_0x58fabc,_0x684fec,_0x5d22a9),_0x58fabc;}static['parseAssets'](_0x2c6037,_0x348237=null,_0x47c213=null){const _0x4dfcec=new Map(),_0x5375bd=_0x2c6037['querySelector']('asset');if(!_0x5375bd)return _0x4dfcec;return _0x5375bd['querySelectorAll']('mesh')['forEach']((_0x2b920c,_0x51135e)=>{let _0x297032=_0x2b920c['getAttribute']('name');const _0x4643d2=_0x2b920c['getAttribute']('file'),_0x4146a5=_0x2b920c['getAttribute']('vertex'),_0x328fc6=_0x2b920c['getAttribute']('scale'),_0x2749a3=_0x2b920c['getAttribute']('class');let _0x14b07d=[0x1,0x1,0x1];if(_0x328fc6){const _0xa6c70a=_0x328fc6['trim']()['split'](/\s+/)['map'](parseFloat);0x1===_0xa6c70a['length']?_0x14b07d=[_0xa6c70a[0x0],_0xa6c70a[0x0],_0xa6c70a[0x0]]:0x3===_0xa6c70a['length']&&(_0x14b07d=_0xa6c70a);}else if(_0x2749a3&&_0x348237&&_0x348237['has'](_0x2749a3)){const _0x159db=_0x348237['get'](_0x2749a3);_0x159db['mesh']&&_0x159db['mesh']['scale']&&(_0x14b07d=_0x159db['mesh']['scale']);}else _0x47c213&&_0x47c213['mesh']&&_0x47c213['mesh']['scale']&&(_0x14b07d=_0x47c213['mesh']['scale']);if(_0x4146a5){_0x297032||(_0x297032='inline_mesh_'+_0x51135e);const _0x44a6c9=_0x4146a5['trim']()['split'](/\s+/)['map'](parseFloat),_0x542e34=new Float32Array(_0x44a6c9);_0x4dfcec['set'](_0x297032,{'type':'vertex','vertices':_0x542e34,'scale':_0x14b07d});}else{if(!_0x4643d2)return;if(!_0x297032){_0x297032=_0x4643d2['split']('/')['pop']()['split']('\x5c')['pop']()['split']('.')[0x0];}_0x4dfcec['set'](_0x297032,{'type':'file','path':_0x4643d2,'scale':_0x14b07d});}}),_0x4dfcec;}static['parseMaterials'](_0x341d90){const _0x17821a=new Map(),_0x559dd3=_0x341d90['querySelector']('asset');if(!_0x559dd3)return _0x17821a;return _0x559dd3['querySelectorAll']('material')['forEach'](_0x4924a0=>{const _0x58fd24=_0x4924a0['getAttribute']('name');if(!_0x58fd24)return;const _0x5f3dab={},_0x3f9a70=_0x4924a0['getAttribute']('rgba');if(_0x3f9a70){const _0x2bba14=_0x3f9a70['split']('\x20')['map'](parseFloat);_0x2bba14['length']>=0x3&&(_0x5f3dab['rgba']={'r':_0x2bba14[0x0],'g':_0x2bba14[0x1],'b':_0x2bba14[0x2],'a':_0x2bba14['length']>=0x4?_0x2bba14[0x3]:0x1});}const _0x5502cf=_0x4924a0['getAttribute']('specular');if(_0x5502cf){const _0x415ed3=_0x5502cf['split']('\x20')['map'](parseFloat);_0x5f3dab['specular']=_0x415ed3[0x0]||0.5;}const _0x5c581a=_0x4924a0['getAttribute']('shininess');_0x5c581a&&(_0x5f3dab['shininess']=parseFloat(_0x5c581a)),_0x17821a['set'](_0x58fd24,_0x5f3dab);}),_0x17821a;}static['parseDefaults'](_0x4966dc){const _0x2d2e44=new Map();let _0x1e2500={};const _0x316844=(_0x6dab64,_0x5d6052={})=>{const _0x576137=_0x6dab64['getAttribute']('class'),_0x45689f=JSON['parse'](JSON['stringify'](_0x5d6052||{})),_0x233e06=_0x6dab64['querySelector'](':scope\x20>\x20mesh');if(_0x233e06){_0x45689f['mesh']||(_0x45689f['mesh']={});const _0x4f4d78=_0x233e06['getAttribute']('scale');if(_0x4f4d78){const _0x5c6107=_0x4f4d78['trim']()['split'](/\s+/)['map'](parseFloat);0x1===_0x5c6107['length']?_0x45689f['mesh']['scale']=[_0x5c6107[0x0],_0x5c6107[0x0],_0x5c6107[0x0]]:0x3===_0x5c6107['length']&&(_0x45689f['mesh']['scale']=_0x5c6107);}}const _0x2e917c=_0x6dab64['querySelector'](':scope\x20>\x20joint');if(_0x2e917c){_0x45689f['joint']||(_0x45689f['joint']={});const _0xd01ffc=_0x2e917c['getAttribute']('axis');if(_0xd01ffc){const _0x167f66=_0xd01ffc['split']('\x20')['map'](parseFloat);_0x45689f['joint']['axis']=[_0x167f66[0x0]||0x0,_0x167f66[0x1]||0x0,_0x167f66[0x2]||0x0];}const _0x1a8d6d=_0x2e917c['getAttribute']('range');if(_0x1a8d6d){const _0x2e2760=_0x1a8d6d['split']('\x20')['map'](parseFloat);_0x45689f['joint']['range']=_0x2e2760;}const _0xf36ef5=_0x2e917c['getAttribute']('damping');_0xf36ef5&&(_0x45689f['joint']['damping']=parseFloat(_0xf36ef5));}const _0x318d48=_0x6dab64['querySelector'](':scope\x20>\x20geom');if(_0x318d48){_0x45689f['geom']||(_0x45689f['geom']={});const _0x4abb72=_0x318d48['getAttribute']('contype');null!==_0x4abb72&&(_0x45689f['geom']['contype']=parseInt(_0x4abb72));const _0x3e1cd5=_0x318d48['getAttribute']('conaffinity');null!==_0x3e1cd5&&(_0x45689f['geom']['conaffinity']=parseInt(_0x3e1cd5));const _0x5cfb73=_0x318d48['getAttribute']('group');null!==_0x5cfb73&&(_0x45689f['geom']['group']=parseInt(_0x5cfb73));const _0x224f79=_0x318d48['getAttribute']('rgba');if(_0x224f79){const _0x10635a=_0x224f79['split']('\x20')['map'](parseFloat);_0x10635a['length']>=0x3&&(_0x45689f['geom']['rgba']={'r':_0x10635a[0x0],'g':_0x10635a[0x1],'b':_0x10635a[0x2],'a':_0x10635a['length']>=0x4?_0x10635a[0x3]:0x1});}const _0x16edd7=_0x318d48['getAttribute']('material');_0x16edd7&&(_0x45689f['geom']['material']=_0x16edd7);const _0x706d22=_0x318d48['getAttribute']('type');_0x706d22&&(_0x45689f['geom']['type']=_0x706d22);const _0x36b1ac=_0x318d48['getAttribute']('density');null!==_0x36b1ac&&(_0x45689f['geom']['density']=parseFloat(_0x36b1ac));}_0x576137?_0x2d2e44['set'](_0x576137,_0x45689f):Object['assign'](_0x1e2500,_0x45689f);_0x6dab64['querySelectorAll'](':scope\x20>\x20default')['forEach'](_0x216777=>{_0x316844(_0x216777,_0x45689f);});};return _0x4966dc['querySelectorAll']('mujoco\x20>\x20default')['forEach'](_0x598488=>{_0x316844(_0x598488);}),{'classDefaults':_0x2d2e44,'rootDefaults':_0x1e2500};}static['getGeomInheritedProperties'](_0x424a63,_0x16e6d4,_0x2ee7f5){const _0x56ed5f={'contype':null,'conaffinity':null,'group':null,'rgba':null,'material':null,'type':null,'density':null};_0x2ee7f5&&_0x2ee7f5['geom']&&Object['assign'](_0x56ed5f,_0x2ee7f5['geom']);const _0x12aba8=_0x424a63['getAttribute']('class');if(_0x12aba8&&_0x16e6d4&&_0x16e6d4['has'](_0x12aba8)){const _0x4a07aa=_0x16e6d4['get'](_0x12aba8);_0x4a07aa['geom']&&Object['assign'](_0x56ed5f,_0x4a07aa['geom']);}return _0x56ed5f;}static['parseBodies'](_0x1432d5,_0x1111f1,_0x510d82,_0x194edd,_0x25aa4f=null,_0x5aeef8=null,_0x5a4c2e=null,_0x1e93af=null,_0x161ee0=null,_0x2b5847=null){_0x5a4c2e||(_0x5a4c2e={'totalGeoms':0x0,'skippedCollisionGeoms':0x0,'visualGeoms':0x0});_0x1432d5['querySelectorAll'](':scope\x20>\x20body')['forEach'](_0x54a206=>{const _0x3369d0=_0x54a206['getAttribute']('name')||'body_'+_0x510d82['size'],_0x5b63ce=new Ke(_0x3369d0);_0x1111f1&&(_0x5b63ce['userData']['parentName']=_0x1111f1);const _0x151c47=this['parseOrigin'](_0x54a206);_0x5b63ce['userData']['bodyOrigin']=_0x151c47;const _0x5c5aee=_0x54a206['querySelectorAll'](':scope\x20>\x20geom'),_0x14acc8=new Set();_0x5c5aee['forEach']((_0x3817e0,_0x28b44a)=>{_0x5a4c2e['totalGeoms']++;const _0x2cad32=this['getGeomInheritedProperties'](_0x3817e0,_0x161ee0,_0x2b5847),_0x50b1ec=_0x3817e0['getAttribute']('group'),_0x168c4d=null!==_0x50b1ec?parseInt(_0x50b1ec):null!==_0x2cad32['group']?_0x2cad32['group']:0x0,_0x39caa0=(_0x3817e0['getAttribute']('name')||'')['toLowerCase'](),_0x1a19fb=_0x3817e0['hasAttribute']('rgba')||null!==_0x2cad32['rgba'],_0x3d976b=_0x3817e0['getAttribute']('mesh'),_0x3cfc1b=_0x3817e0['getAttribute']('type')||_0x2cad32['type']||(_0x3d976b?'mesh':'box'),_0x5623cc=_0x3817e0['getAttribute']('contype'),_0x4d0753=_0x3817e0['getAttribute']('conaffinity'),_0x5ca8df=_0x3817e0['getAttribute']('density'),_0x3f113c=null!==_0x5623cc?parseInt(_0x5623cc):null!==_0x2cad32['contype']?_0x2cad32['contype']:null,_0x22036b=null!==_0x4d0753?parseInt(_0x4d0753):null!==_0x2cad32['conaffinity']?_0x2cad32['conaffinity']:null;null!==_0x5ca8df?parseFloat(_0x5ca8df):null!==_0x2cad32['density']&&_0x2cad32['density'];let _0x4ddbb1=!0x1;if(_0x3d976b)if(0x0===_0x3f113c&&0x0===_0x22036b)_0x4ddbb1=!0x1;else if(0x3===_0x168c4d)_0x4ddbb1=!0x0;else if(0x2===_0x168c4d||0x1===_0x168c4d)_0x4ddbb1=!0x1;else if(_0x39caa0['includes']('collision'))_0x4ddbb1=!0x0;else if(_0x14acc8['has'](_0x3d976b)){if(_0x1a19fb||0x0===_0x3f113c&&0x0===_0x22036b)return void _0x5a4c2e['skippedCollisionGeoms']++;_0x4ddbb1=!0x0;}else _0x4ddbb1=!0x1;else _0x4ddbb1=!0x0;const _0x5c300d=this['parseGeom'](_0x3817e0,_0x5aeef8);if(_0x5c300d)if(_0x4ddbb1){const _0x14005c=new tt();_0x14005c['geometry']=_0x5c300d,_0x14005c['name']=_0x3817e0['getAttribute']('name')||'collision_'+_0x28b44a,_0x14005c['origin']=this['parseOrigin'](_0x3817e0),_0x5b63ce['collisions']['push'](_0x14005c);}else{_0x5a4c2e['visualGeoms']++,_0x3d976b&&_0x14acc8['add'](_0x3d976b);const _0x14b1f9=new et();_0x14b1f9['geometry']=_0x5c300d,_0x14b1f9['name']=_0x3817e0['getAttribute']('name')||'geom_'+_0x28b44a,_0x14b1f9['origin']=this['parseOrigin'](_0x3817e0);let _0x58d5b1=null,_0x1e19a2=null;if(_0x3817e0['hasAttribute']('rgba')){const _0x1625b8=_0x3817e0['getAttribute']('rgba')['split']('\x20')['map'](parseFloat);_0x1625b8['length']>=0x3&&(_0x58d5b1={'r':_0x1625b8[0x0],'g':_0x1625b8[0x1],'b':_0x1625b8[0x2],'a':_0x1625b8['length']>=0x4?_0x1625b8[0x3]:0x1});}if(!_0x58d5b1&&_0x2cad32['rgba']&&(_0x58d5b1=_0x2cad32['rgba']),!_0x58d5b1&&_0x1e93af&&(_0x1e19a2=_0x3817e0['getAttribute']('material')||_0x2cad32['material'],_0x1e19a2&&_0x1e93af['has'](_0x1e19a2))){const _0x1ac006=_0x1e93af['get'](_0x1e19a2);_0x1ac006['rgba']&&(_0x58d5b1=_0x1ac006['rgba']);}_0x14b1f9['userData']={'group':_0x168c4d,'hasRgba':_0x1a19fb||!!_0x58d5b1,'rgba':_0x58d5b1,'materialName':_0x1e19a2,'meshRef':_0x3d976b,'geomType':_0x3cfc1b},_0x5b63ce['visuals']['push'](_0x14b1f9);}});const _0x1d1aa0=_0x54a206['querySelector'](':scope\x20>\x20inertial');_0x1d1aa0&&(_0x5b63ce['inertial']=this['parseInertial'](_0x1d1aa0)),_0x194edd['addLink'](_0x5b63ce),_0x510d82['set'](_0x3369d0,{'link':_0x5b63ce,'element':_0x54a206,'parentName':_0x1111f1}),this['parseBodies'](_0x54a206,_0x3369d0,_0x510d82,_0x194edd,_0x5b63ce,_0x5aeef8,_0x5a4c2e,_0x1e93af,_0x161ee0,_0x2b5847);});}static['parseGeom'](_0xb6e53,_0x3f7ac3=null){const _0x3c424e=_0xb6e53['getAttribute']('mesh');let _0x23a26a=_0xb6e53['getAttribute']('type');_0x3c424e&&!_0x23a26a&&(_0x23a26a='mesh'),_0x23a26a||(_0x23a26a='sphere');const _0x356aff=new nt(_0x23a26a);switch(_0x23a26a){case'box':const _0x460e5d=_0xb6e53['getAttribute']('size');if(_0x460e5d){const _0x153040=_0x460e5d['split']('\x20')['map'](parseFloat);_0x356aff['size']=0x1===_0x153040['length']?{'x':0x2*_0x153040[0x0],'y':0x2*_0x153040[0x0],'z':0x2*_0x153040[0x0]}:{'x':0x2*(_0x153040[0x0]||0.05),'y':0x2*(_0x153040[0x1]||0.05),'z':0x2*(_0x153040[0x2]||0.05)};}else _0x356aff['size']={'x':0.1,'y':0.1,'z':0.1};break;case'sphere':const _0x580b89=parseFloat(_0xb6e53['getAttribute']('size')||'0.1');_0x356aff['size']={'radius':_0x580b89};break;case'cylinder':case'capsule':const _0x29ec25=_0xb6e53['getAttribute']('fromto'),_0x4f52df=_0xb6e53['getAttribute']('size');if(_0x29ec25){const _0x415dbf=_0x29ec25['split']('\x20')['map'](parseFloat);if(_0x415dbf['length']>=0x6){const _0x189a76=new _0x5a7be3(_0x415dbf[0x0],_0x415dbf[0x1],_0x415dbf[0x2]),_0x278833=new _0x5a7be3(_0x415dbf[0x3],_0x415dbf[0x4],_0x415dbf[0x5]),_0x49c24f=new _0x5a7be3()['addVectors'](_0x189a76,_0x278833)['multiplyScalar'](0.5),_0x22001d=_0x189a76['distanceTo'](_0x278833),_0x239954=new _0x5a7be3()['subVectors'](_0x278833,_0x189a76)['normalize'](),_0xdb3c82=new _0x5a7be3(0x0,0x1,0x0),_0x17b35e=new _0x4adb8f()['setFromUnitVectors'](_0xdb3c82,_0x239954),_0xc8fba2=new _0x730a0a()['setFromQuaternion'](_0x17b35e);_0x356aff['fromto']={'p1':[_0x415dbf[0x0],_0x415dbf[0x1],_0x415dbf[0x2]],'p2':[_0x415dbf[0x3],_0x415dbf[0x4],_0x415dbf[0x5]],'center':[_0x49c24f['x'],_0x49c24f['y'],_0x49c24f['z']],'height':_0x22001d,'rpy':[_0xc8fba2['x'],_0xc8fba2['y'],_0xc8fba2['z']]};const _0x32162d=parseFloat(_0x4f52df||'0.01');_0x356aff['size']={'radius':_0x32162d,'height':_0x22001d};}}else if(_0x4f52df){const _0x185e36=_0x4f52df['split']('\x20')['map'](parseFloat);_0x356aff['size']={'radius':_0x185e36[0x0]||0.1,'height':0x2*(_0x185e36[0x1]||0.1)};}else _0x356aff['size']={'radius':0.01,'height':0.1};break;case'mesh':let _0x51226f=_0xb6e53['getAttribute']('mesh');if(_0x3f7ac3&&_0x3f7ac3['has'](_0x51226f)){const _0x1e9a3e=_0x3f7ac3['get'](_0x51226f);'file'===_0x1e9a3e['type']?(_0x356aff['filename']=_0x1e9a3e['path'],_0x1e9a3e['scale']&&(_0x356aff['meshScale']=_0x1e9a3e['scale'])):'vertex'===_0x1e9a3e['type']&&(_0x356aff['inlineVertices']=_0x1e9a3e['vertices'],_0x356aff['inlineScale']=_0x1e9a3e['scale']);}else _0x356aff['filename']=_0x51226f,_0x3f7ac3&&_0x3f7ac3['size'];_0x356aff['size']=null;}return _0x356aff;}static['parseOrigin'](_0x493726){const _0x3a79a5={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},_0x30ee13=_0x493726['getAttribute']('pos');if(_0x30ee13){const _0x50ec00=_0x30ee13['split']('\x20')['map'](parseFloat);_0x3a79a5['xyz']=[_0x50ec00[0x0]||0x0,_0x50ec00[0x1]||0x0,_0x50ec00[0x2]||0x0];}const _0x1be0c3=_0x493726['getAttribute']('quat');if(_0x1be0c3){const _0x2746c7=_0x1be0c3['split']('\x20')['map'](parseFloat),_0x481e06=_0x2746c7[0x0],_0x4a0443=_0x2746c7[0x1],_0x346719=_0x2746c7[0x2],_0x2d0c8c=_0x2746c7[0x3];_0x3a79a5['quat']={'w':_0x481e06,'x':_0x4a0443,'y':_0x346719,'z':_0x2d0c8c},_0x3a79a5['rpy']=this['quaternionToEuler'](_0x481e06,_0x4a0443,_0x346719,_0x2d0c8c);}else{const _0x36bf71=_0x493726['getAttribute']('euler');if(_0x36bf71){const _0xafb22e=_0x36bf71['split']('\x20')['map'](parseFloat);_0x3a79a5['rpy']=[_0xafb22e[0x0]||0x0,_0xafb22e[0x1]||0x0,_0xafb22e[0x2]||0x0];}}return _0x3a79a5;}static['quaternionToEuler'](_0x834faf,_0x142308,_0x217cf8,_0x2bb40d){const _0x531fc4=Math['sqrt'](_0x834faf*_0x834faf+_0x142308*_0x142308+_0x217cf8*_0x217cf8+_0x2bb40d*_0x2bb40d);_0x531fc4>0x0&&(_0x834faf/=_0x531fc4,_0x142308/=_0x531fc4,_0x217cf8/=_0x531fc4,_0x2bb40d/=_0x531fc4);const _0x156c2b=0x2*(_0x834faf*_0x142308+_0x217cf8*_0x2bb40d),_0x465510=0x1-0x2*(_0x142308*_0x142308+_0x217cf8*_0x217cf8),_0x2abc50=0x2*(_0x834faf*_0x217cf8-_0x2bb40d*_0x142308),_0x61e9b1=0x2*(_0x834faf*_0x2bb40d+_0x142308*_0x217cf8),_0x349c38=0x1-0x2*(_0x217cf8*_0x217cf8+_0x2bb40d*_0x2bb40d);return[Math['atan2'](_0x156c2b,_0x465510),Math['abs'](_0x2abc50)>=0x1?Math['sign'](_0x2abc50)*Math['PI']/0x2:Math['asin'](_0x2abc50),Math['atan2'](_0x61e9b1,_0x349c38)];}static['parseInertial'](_0x135256){const _0x26aa6=new it(),_0x43368f=_0x135256['getAttribute']('mass');_0x43368f&&(_0x26aa6['mass']=parseFloat(_0x43368f));const _0x2ec9c0=this['parseOrigin'](_0x135256);_0x26aa6['origin']=_0x2ec9c0;const _0xfd936d=_0x135256['getAttribute']('diaginertia'),_0x216365=_0x135256['getAttribute']('fullinertia');let _0x1f7b4a=0x0,_0x1542fc=0x0,_0x5ab34a=0x0,_0x5ab255=0x0,_0x4a78e8=0x0,_0x2f2f5f=0x0;if(_0xfd936d){const _0x5544ad=_0xfd936d['split']('\x20')['map'](parseFloat);_0x1f7b4a=_0x5544ad[0x0]||0x0,_0x1542fc=_0x5544ad[0x1]||0x0,_0x5ab34a=_0x5544ad[0x2]||0x0;}if(_0x216365){const _0x46e1b0=_0x216365['split']('\x20')['map'](parseFloat);_0x1f7b4a=_0x46e1b0[0x0]||0x0,_0x1542fc=_0x46e1b0[0x1]||0x0,_0x5ab34a=_0x46e1b0[0x2]||0x0,_0x5ab255=_0x46e1b0[0x3]||0x0,_0x4a78e8=_0x46e1b0[0x4]||0x0,_0x2f2f5f=_0x46e1b0[0x5]||0x0;}if(_0x26aa6['diagonalInertia']={'ixx':_0x1f7b4a,'iyy':_0x1542fc,'izz':_0x5ab34a},_0x2ec9c0['quat']){const _0x55673a=this['rotateInertiaTensor'](_0x1f7b4a,_0x1542fc,_0x5ab34a,_0x5ab255,_0x4a78e8,_0x2f2f5f,_0x2ec9c0['quat']);_0x1f7b4a=_0x55673a['ixx'],_0x1542fc=_0x55673a['iyy'],_0x5ab34a=_0x55673a['izz'],_0x5ab255=_0x55673a['ixy'],_0x4a78e8=_0x55673a['ixz'],_0x2f2f5f=_0x55673a['iyz'];}const _0x72537a=this['rotateInertiaAroundAxis'](_0x1f7b4a,_0x1542fc,_0x5ab34a,_0x5ab255,_0x4a78e8,_0x2f2f5f,'Y',0x5a),_0x200ab2=this['rotateInertiaAroundAxis'](_0x72537a['ixx'],_0x72537a['iyy'],_0x72537a['izz'],_0x72537a['ixy'],_0x72537a['ixz'],_0x72537a['iyz'],'Y',0x5a);return _0x26aa6['ixx']=_0x200ab2['ixx'],_0x26aa6['iyy']=_0x200ab2['iyy'],_0x26aa6['izz']=_0x200ab2['izz'],_0x26aa6['ixy']=_0x200ab2['ixy'],_0x26aa6['ixz']=_0x200ab2['ixz'],_0x26aa6['iyz']=_0x200ab2['iyz'],_0x26aa6;}static['rotateInertiaAroundAxis'](_0x101d10,_0x178c6f,_0x4d60f6,_0x18473c,_0x57fa81,_0x37f8d2,_0x1f1217,_0x53c268){const _0x4fc5f5=_0x53c268*Math['PI']/0xb4,_0x375fb6=Math['cos'](_0x4fc5f5),_0x5173a2=Math['sin'](_0x4fc5f5);let _0x53625c;'X'===_0x1f1217?_0x53625c=[[0x1,0x0,0x0],[0x0,_0x375fb6,-_0x5173a2],[0x0,_0x5173a2,_0x375fb6]]:'Y'===_0x1f1217?_0x53625c=[[_0x375fb6,0x0,_0x5173a2],[0x0,0x1,0x0],[-_0x5173a2,0x0,_0x375fb6]]:'Z'===_0x1f1217&&(_0x53625c=[[_0x375fb6,-_0x5173a2,0x0],[_0x5173a2,_0x375fb6,0x0],[0x0,0x0,0x1]]);const _0x379475=[[_0x101d10,_0x18473c,_0x57fa81],[_0x18473c,_0x178c6f,_0x37f8d2],[_0x57fa81,_0x37f8d2,_0x4d60f6]],_0x11964a=[[0x0,0x0,0x0],[0x0,0x0,0x0],[0x0,0x0,0x0]];for(let _0x4ee03d=0x0;_0x4ee03d<0x3;_0x4ee03d++)for(let _0x4d5da4=0x0;_0x4d5da4<0x3;_0x4d5da4++)for(let _0x3decaa=0x0;_0x3decaa<0x3;_0x3decaa++)_0x11964a[_0x4ee03d][_0x4d5da4]+=_0x53625c[_0x4ee03d][_0x3decaa]*_0x379475[_0x3decaa][_0x4d5da4];const _0x19aecd=[[0x0,0x0,0x0],[0x0,0x0,0x0],[0x0,0x0,0x0]];for(let _0x299506=0x0;_0x299506<0x3;_0x299506++)for(let _0x56f6f0=0x0;_0x56f6f0<0x3;_0x56f6f0++)for(let _0x1902d0=0x0;_0x1902d0<0x3;_0x1902d0++)_0x19aecd[_0x299506][_0x56f6f0]+=_0x11964a[_0x299506][_0x1902d0]*_0x53625c[_0x56f6f0][_0x1902d0];return{'ixx':_0x19aecd[0x0][0x0],'iyy':_0x19aecd[0x1][0x1],'izz':_0x19aecd[0x2][0x2],'ixy':_0x19aecd[0x0][0x1],'ixz':_0x19aecd[0x0][0x2],'iyz':_0x19aecd[0x1][0x2]};}static['rotateInertiaTensor'](_0x4d76ee,_0x40866f,_0x2f661c,_0x2c22ea,_0x3baf06,_0x44154f,_0x7b3124){const {w:_0xddb25f,x:_0x168354,y:_0x3ddb02,z:_0x4fea14}=_0x7b3124,_0x29299a=0x1-0x2*(_0x3ddb02*_0x3ddb02+_0x4fea14*_0x4fea14),_0x17e4da=0x2*(_0x168354*_0x3ddb02-_0xddb25f*_0x4fea14),_0x52ea3f=0x2*(_0x168354*_0x4fea14+_0xddb25f*_0x3ddb02),_0x1a562d=0x2*(_0x168354*_0x3ddb02+_0xddb25f*_0x4fea14),_0x2e922b=0x1-0x2*(_0x168354*_0x168354+_0x4fea14*_0x4fea14),_0x5d907c=0x2*(_0x3ddb02*_0x4fea14-_0xddb25f*_0x168354),_0xeee2b1=0x2*(_0x168354*_0x4fea14-_0xddb25f*_0x3ddb02),_0x5badbf=0x2*(_0x3ddb02*_0x4fea14+_0xddb25f*_0x168354),_0x49a608=0x1-0x2*(_0x168354*_0x168354+_0x3ddb02*_0x3ddb02),_0x3b54db=[[_0x4d76ee,_0x2c22ea,_0x3baf06],[_0x2c22ea,_0x40866f,_0x44154f],[_0x3baf06,_0x44154f,_0x2f661c]],_0x2cf7fc=[[0x0,0x0,0x0],[0x0,0x0,0x0],[0x0,0x0,0x0]];_0x2cf7fc[0x0][0x0]=_0x29299a*_0x3b54db[0x0][0x0]+_0x17e4da*_0x3b54db[0x1][0x0]+_0x52ea3f*_0x3b54db[0x2][0x0],_0x2cf7fc[0x0][0x1]=_0x29299a*_0x3b54db[0x0][0x1]+_0x17e4da*_0x3b54db[0x1][0x1]+_0x52ea3f*_0x3b54db[0x2][0x1],_0x2cf7fc[0x0][0x2]=_0x29299a*_0x3b54db[0x0][0x2]+_0x17e4da*_0x3b54db[0x1][0x2]+_0x52ea3f*_0x3b54db[0x2][0x2],_0x2cf7fc[0x1][0x0]=_0x1a562d*_0x3b54db[0x0][0x0]+_0x2e922b*_0x3b54db[0x1][0x0]+_0x5d907c*_0x3b54db[0x2][0x0],_0x2cf7fc[0x1][0x1]=_0x1a562d*_0x3b54db[0x0][0x1]+_0x2e922b*_0x3b54db[0x1][0x1]+_0x5d907c*_0x3b54db[0x2][0x1],_0x2cf7fc[0x1][0x2]=_0x1a562d*_0x3b54db[0x0][0x2]+_0x2e922b*_0x3b54db[0x1][0x2]+_0x5d907c*_0x3b54db[0x2][0x2],_0x2cf7fc[0x2][0x0]=_0xeee2b1*_0x3b54db[0x0][0x0]+_0x5badbf*_0x3b54db[0x1][0x0]+_0x49a608*_0x3b54db[0x2][0x0],_0x2cf7fc[0x2][0x1]=_0xeee2b1*_0x3b54db[0x0][0x1]+_0x5badbf*_0x3b54db[0x1][0x1]+_0x49a608*_0x3b54db[0x2][0x1],_0x2cf7fc[0x2][0x2]=_0xeee2b1*_0x3b54db[0x0][0x2]+_0x5badbf*_0x3b54db[0x1][0x2]+_0x49a608*_0x3b54db[0x2][0x2];return{'ixx':_0x2cf7fc[0x0][0x0]*_0x29299a+_0x2cf7fc[0x0][0x1]*_0x17e4da+_0x2cf7fc[0x0][0x2]*_0x52ea3f,'iyy':_0x2cf7fc[0x1][0x0]*_0x1a562d+_0x2cf7fc[0x1][0x1]*_0x2e922b+_0x2cf7fc[0x1][0x2]*_0x5d907c,'izz':_0x2cf7fc[0x2][0x0]*_0xeee2b1+_0x2cf7fc[0x2][0x1]*_0x5badbf+_0x2cf7fc[0x2][0x2]*_0x49a608,'ixy':_0x2cf7fc[0x0][0x0]*_0x1a562d+_0x2cf7fc[0x0][0x1]*_0x2e922b+_0x2cf7fc[0x0][0x2]*_0x5d907c,'ixz':_0x2cf7fc[0x0][0x0]*_0xeee2b1+_0x2cf7fc[0x0][0x1]*_0x5badbf+_0x2cf7fc[0x0][0x2]*_0x49a608,'iyz':_0x2cf7fc[0x1][0x0]*_0xeee2b1+_0x2cf7fc[0x1][0x1]*_0x5badbf+_0x2cf7fc[0x1][0x2]*_0x49a608};}static['parseJoints'](_0xc725ea,_0x5640e8,_0x47024a,_0x8a9466=null,_0x9834a2=null){_0xc725ea['querySelectorAll'](':scope\x20>\x20joint')['forEach'](_0x28c4fb=>{const _0x2077f7=_0x28c4fb['getAttribute']('name')||'joint_'+_0x47024a['joints']['size'],_0x2c55b2=_0x28c4fb['getAttribute']('type')||'hinge';let _0x16cc0b='revolute';'slide'===_0x2c55b2?_0x16cc0b='prismatic':'free'===_0x2c55b2?_0x16cc0b='continuous':'ball'!==_0x2c55b2&&'hinge'!==_0x2c55b2||(_0x16cc0b='revolute');const _0x1dfc1f=new st(_0x2077f7,_0x16cc0b),_0x4364dd=(['free','ball']['includes'](_0x2c55b2),_0x28c4fb['parentElement']),_0x3e6131=_0x4364dd['getAttribute']('name');_0x1dfc1f['parent']=_0x8a9466||'worldbody',_0x3e6131&&(_0x1dfc1f['child']=_0x3e6131);let _0x4207b2=null;const _0x1f3d93=_0x28c4fb['getAttribute']('axis');if(_0x1f3d93)_0x4207b2=_0x1f3d93['split']('\x20')['map'](parseFloat);else{let _0x3c02ad=_0x28c4fb['getAttribute']('class');if(_0x3c02ad||(_0x3c02ad=_0x4364dd['getAttribute']('childclass')),_0x3c02ad&&_0x9834a2){const _0x104cae=_0x9834a2['get'](_0x3c02ad);_0x104cae&&_0x104cae['joint']&&_0x104cae['joint']['axis']&&(_0x4207b2=_0x104cae['joint']['axis']);}}_0x4207b2&&(_0x1dfc1f['axis']={'xyz':[_0x4207b2[0x0]||0x0,_0x4207b2[0x1]||0x0,_0x4207b2[0x2]||0x0]});let _0x416d7d=null;const _0x2f13a5=_0x28c4fb['getAttribute']('range');if(_0x2f13a5)_0x416d7d=_0x2f13a5['split']('\x20')['map'](parseFloat);else{let _0x41f0b2=_0x28c4fb['getAttribute']('class');if(_0x41f0b2||(_0x41f0b2=_0x4364dd['getAttribute']('childclass')),_0x41f0b2&&_0x9834a2){const _0x158f43=_0x9834a2['get'](_0x41f0b2);_0x158f43&&_0x158f43['joint']&&_0x158f43['joint']['range']&&(_0x416d7d=_0x158f43['joint']['range']);}}if(_0x416d7d&&_0x416d7d['length']>=0x2){const _0x5e4be3=new rt();_0x5e4be3['lower']=_0x416d7d[0x0],_0x5e4be3['upper']=_0x416d7d[0x1],_0x1dfc1f['limits']=_0x5e4be3;}_0x1dfc1f['origin']=this['parseOrigin'](_0x28c4fb),_0x47024a['addJoint'](_0x1dfc1f);});_0xc725ea['querySelectorAll'](':scope\x20>\x20freejoint')['forEach']((_0x5508b4,_0x54bfd3)=>{const _0x2215fe=_0x5508b4['getAttribute']('name')||'freejoint_'+_0x47024a['joints']['size'],_0x39d45c=new st(_0x2215fe,'continuous');_0x39d45c['type']='free';const _0x8d3c4c=_0x5508b4['parentElement']['getAttribute']('name');_0x39d45c['parent']=_0x8a9466||'worldbody',_0x8d3c4c&&(_0x39d45c['child']=_0x8d3c4c),_0x39d45c['origin']=this['parseOrigin'](_0x5508b4),_0x47024a['addJoint'](_0x39d45c);});const _0x296eec=_0xc725ea['querySelectorAll'](':scope\x20>\x20body'),_0x14d822=_0xc725ea['getAttribute']('name');_0x296eec['forEach'](_0x253d64=>{this['parseJoints'](_0x253d64,_0x5640e8,_0x47024a,_0x14d822||'worldbody',_0x9834a2);});}static['parseEquality'](_0x106507,_0x15508d){const _0x3c9ca7=_0x106507['querySelector']('equality');if(!_0x3c9ca7)return;_0x3c9ca7['querySelectorAll']('connect')['forEach']((_0x3f2a48,_0x5ccb49)=>{const _0x498d82=_0x3f2a48['getAttribute']('name')||'connect_'+_0x5ccb49,_0x244c67=new at(_0x498d82,'connect');_0x244c67['body1']=_0x3f2a48['getAttribute']('body1'),_0x244c67['body2']=_0x3f2a48['getAttribute']('body2');const _0x2e5862=_0x3f2a48['getAttribute']('anchor');_0x2e5862&&(_0x244c67['anchor']=_0x2e5862['trim']()['split'](/\s+/)['map'](parseFloat));const _0x1dc17b=_0x3f2a48['getAttribute']('torquescale');_0x1dc17b&&(_0x244c67['torquescale']=parseFloat(_0x1dc17b)),_0x244c67['userData']={'body1':_0x244c67['body1'],'body2':_0x244c67['body2'],'anchor':_0x244c67['anchor']},_0x15508d['addConstraint'](_0x244c67);});_0x3c9ca7['querySelectorAll']('weld')['forEach']((_0x3541d,_0x2be876)=>{const _0x25565a=_0x3541d['getAttribute']('name')||'weld_'+_0x2be876,_0x3220bd=new at(_0x25565a,'weld');_0x3220bd['body1']=_0x3541d['getAttribute']('body1'),_0x3220bd['body2']=_0x3541d['getAttribute']('body2');const _0x13865f=_0x3541d['getAttribute']('anchor');_0x13865f&&(_0x3220bd['anchor']=_0x13865f['trim']()['split'](/\s+/)['map'](parseFloat));const _0x401bda=_0x3541d['getAttribute']('torquescale');_0x401bda&&(_0x3220bd['torquescale']=parseFloat(_0x401bda)),_0x3220bd['userData']={'body1':_0x3220bd['body1'],'body2':_0x3220bd['body2'],'anchor':_0x3220bd['anchor']},_0x15508d['addConstraint'](_0x3220bd);});_0x3c9ca7['querySelectorAll']('joint')['forEach']((_0xc80575,_0x4a8d0e)=>{const _0x3a752a=_0xc80575['getAttribute']('name')||'joint_constraint_'+_0x4a8d0e,_0x5e5dfd=new at(_0x3a752a,'joint');_0x5e5dfd['joint1']=_0xc80575['getAttribute']('joint1'),_0x5e5dfd['joint2']=_0xc80575['getAttribute']('joint2');const _0x2af83f=_0xc80575['getAttribute']('polycoef');_0x5e5dfd['polycoef']=_0x2af83f?_0x2af83f['trim']()['split'](/\s+/)['map'](parseFloat):[0x0,0x1],_0x5e5dfd['userData']={'joint1':_0x5e5dfd['joint1'],'joint2':_0x5e5dfd['joint2'],'polycoef':_0x5e5dfd['polycoef']},_0x15508d['addConstraint'](_0x5e5dfd);});_0x3c9ca7['querySelectorAll']('distance')['forEach']((_0x26168b,_0x27ce9a)=>{const _0x26035d=_0x26168b['getAttribute']('name')||'distance_'+_0x27ce9a,_0x37ee10=new at(_0x26035d,'distance');_0x37ee10['body1']=_0x26168b['getAttribute']('body1'),_0x37ee10['body2']=_0x26168b['getAttribute']('body2'),_0x37ee10['userData']={'body1':_0x37ee10['body1'],'body2':_0x37ee10['body2']},_0x15508d['addConstraint'](_0x37ee10);});}static async['createThreeObject'](_0x1b3d6e,_0x5994e0=null,_0x2e1f28=null){await xt();const _0x592dc8=new _0x2474d6();_0x592dc8['name']=_0x1b3d6e['name'];const _0x29b067=new Map(),_0x404893=new Set();for(const [_0x3247a1,_0x2de576]of _0x1b3d6e['links'])for(const _0x47c653 of _0x2de576['visuals'])'mesh'===_0x47c653['geometry']['type']&&_0x47c653['geometry']['filename']&&_0x404893['add'](_0x47c653['geometry']['filename']);const _0x5e729a=Array['from'](_0x404893)['map'](_0x1603b9=>this['loadMeshFile'](_0x1603b9,_0x5994e0)['catch'](_0x23a9dd=>null)),_0x1a78e6=await Promise['all'](_0x5e729a),_0x202f66=new Map();let _0x29f45f=0x0;for(const _0x16d27f of _0x404893){const _0x31e177=_0x1a78e6[_0x29f45f++];_0x202f66['set'](_0x16d27f,_0x31e177);}for(const [_0x280631,_0x3d45c4]of _0x1b3d6e['links']){const _0x409fd3=new _0x2474d6();_0x409fd3['name']=_0x280631,_0x409fd3['isURDFLink']=!0x0,_0x409fd3['type']='URDFLink';let _0x4a69d6=0x0;for(const _0x34ffbd of _0x3d45c4['visuals']){const _0x3cfe7a=await this['createGeometryMesh'](_0x34ffbd['geometry'],_0x5994e0,_0x202f66);if(_0x3cfe7a){if(_0x34ffbd['geometry']&&_0x34ffbd['geometry']['fromto']){_0x3cfe7a['position']['set'](..._0x34ffbd['geometry']['fromto']['center']);const _0x8fd88f=_0x34ffbd['geometry']['fromto']['rpy'];_0x3cfe7a['rotation']['set'](_0x8fd88f[0x0]+_0x34ffbd['origin']['rpy'][0x0],_0x8fd88f[0x1]+_0x34ffbd['origin']['rpy'][0x1],_0x8fd88f[0x2]+_0x34ffbd['origin']['rpy'][0x2]);}else _0x3cfe7a['position']['set'](..._0x34ffbd['origin']['xyz']),_0x3cfe7a['rotation']['set'](..._0x34ffbd['origin']['rpy']);if(_0x3cfe7a['name']=_0x34ffbd['name']||'visual',_0x34ffbd['userData']&&_0x34ffbd['userData']['rgba']){const _0x545eeb=_0x34ffbd['userData']['rgba'],_0x53d255=new _0x43a4f1(_0x545eeb['r'],_0x545eeb['g'],_0x545eeb['b']);_0x3cfe7a['traverse'](_0x42884e=>{if(_0x42884e['isMesh']&&_0x42884e['material'])if(Array['isArray'](_0x42884e['material']))_0x42884e['material']=_0x42884e['material']['map'](_0x14275b=>{const _0x2340fd=_0x14275b['clone']();if(_0x2340fd['color']=_0x53d255,_0x545eeb['a']<0x1&&(_0x2340fd['transparent']=!0x0,_0x2340fd['opacity']=_0x545eeb['a']),_0x2340fd['isMeshPhongMaterial']||_0x2340fd['isMeshStandardMaterial']){if(void 0x0===_0x2340fd['userData']['originalShininess'])if(_0x2340fd['userData']['originalShininess']=void 0x0!==_0x2340fd['shininess']?_0x2340fd['shininess']:0x1e,_0x2340fd['specular'])if(_0x2340fd['specular']['isColor']){const _0xe1fc9e=_0x2340fd['specular'];_0xe1fc9e['r']<0.1&&_0xe1fc9e['g']<0.1&&_0xe1fc9e['b']<0.1?_0x2340fd['userData']['originalSpecular']=null:_0x2340fd['userData']['originalSpecular']=_0xe1fc9e['clone']();}else'number'==typeof _0x2340fd['specular']?0x111111===_0x2340fd['specular']||_0x2340fd['specular']<0x111111?_0x2340fd['userData']['originalSpecular']=null:_0x2340fd['userData']['originalSpecular']=new _0x43a4f1(_0x2340fd['specular']):_0x2340fd['userData']['originalSpecular']=null;else _0x2340fd['userData']['originalSpecular']=null;(void 0x0===_0x2340fd['shininess']||_0x2340fd['shininess']<0x32)&&(_0x2340fd['shininess']=0x32),(!_0x2340fd['specular']||_0x2340fd['specular']['isColor']&&_0x2340fd['specular']['r']<0.2||'number'==typeof _0x2340fd['specular']&&_0x2340fd['specular']<0x333333)&&(_0x2340fd['specular']=new _0x43a4f1(0.3,0.3,0.3));}return _0x2340fd;});else if(_0x42884e['material']=_0x42884e['material']['clone'](),_0x42884e['material']['color']=_0x53d255,_0x545eeb['a']<0x1&&(_0x42884e['material']['transparent']=!0x0,_0x42884e['material']['opacity']=_0x545eeb['a']),_0x42884e['material']['isMeshPhongMaterial']||_0x42884e['material']['isMeshStandardMaterial']){if(void 0x0===_0x42884e['material']['userData']['originalShininess'])if(_0x42884e['material']['userData']['originalShininess']=void 0x0!==_0x42884e['material']['shininess']?_0x42884e['material']['shininess']:0x1e,_0x42884e['material']['specular'])if(_0x42884e['material']['specular']['isColor']){const _0x297b01=_0x42884e['material']['specular'];_0x297b01['r']<0.1&&_0x297b01['g']<0.1&&_0x297b01['b']<0.1?_0x42884e['material']['userData']['originalSpecular']=null:_0x42884e['material']['userData']['originalSpecular']=_0x297b01['clone']();}else'number'==typeof _0x42884e['material']['specular']?0x111111===_0x42884e['material']['specular']||_0x42884e['material']['specular']<0x111111?_0x42884e['material']['userData']['originalSpecular']=null:_0x42884e['material']['userData']['originalSpecular']=new _0x43a4f1(_0x42884e['material']['specular']):_0x42884e['material']['userData']['originalSpecular']=null;else _0x42884e['material']['userData']['originalSpecular']=null;(void 0x0===_0x42884e['material']['shininess']||_0x42884e['material']['shininess']<0x32)&&(_0x42884e['material']['shininess']=0x32),(!_0x42884e['material']['specular']||_0x42884e['material']['specular']['isColor']&&_0x42884e['material']['specular']['r']<0.2||'number'==typeof _0x42884e['material']['specular']&&_0x42884e['material']['specular']<0x333333)&&(_0x42884e['material']['specular']=new _0x43a4f1(0.3,0.3,0.3));}});}_0x409fd3['add'](_0x3cfe7a),_0x34ffbd['threeObject']=_0x3cfe7a;}}for(const _0x425337 of _0x3d45c4['collisions']){const _0x432ad7=await this['createGeometryMesh'](_0x425337['geometry'],_0x5994e0,_0x202f66);if(_0x432ad7){if(_0x425337['geometry']&&_0x425337['geometry']['fromto']){_0x432ad7['position']['set'](..._0x425337['geometry']['fromto']['center']);const _0x4de0c4=_0x425337['geometry']['fromto']['rpy'];_0x432ad7['rotation']['set'](_0x4de0c4[0x0]+_0x425337['origin']['rpy'][0x0],_0x4de0c4[0x1]+_0x425337['origin']['rpy'][0x1],_0x4de0c4[0x2]+_0x425337['origin']['rpy'][0x2]);}else _0x432ad7['position']['set'](..._0x425337['origin']['xyz']),_0x432ad7['rotation']['set'](..._0x425337['origin']['rpy']);_0x432ad7['name']=_0x425337['name']||'collision';const _0x4f8c0f=new _0x2474d6();_0x4f8c0f['name']=_0x280631+'_collider_'+_0x4a69d6,_0x4f8c0f['isURDFCollider']=!0x0,_0x4f8c0f['add'](_0x432ad7),_0x409fd3['add'](_0x4f8c0f),_0x425337['threeObject']=_0x4f8c0f,_0x4a69d6++;}}_0x3d45c4['threeObject']=_0x409fd3,_0x29b067['set'](_0x280631,_0x409fd3);}const _0x44305c=new Map();for(const [_0x3226a6,_0x34f777]of _0x1b3d6e['links'])_0x44305c['set'](_0x3226a6,{'link':_0x34f777,'parentName':_0x34f777['userData']['parentName']});const _0x5d87bc=Array['from'](_0x1b3d6e['links']['keys']())['filter'](_0x2920df=>!_0x44305c['get'](_0x2920df)['parentName']);function _0x36c728(_0x263802,_0x577857){const _0x58f75b=_0x29b067['get'](_0x263802);if(!_0x58f75b)return;_0x577857['add'](_0x58f75b);Array['from'](_0x1b3d6e['joints']['values']())['filter'](_0x4085f8=>_0x4085f8['parent']===_0x263802&&_0x4085f8['child'])['forEach'](_0xebdde9=>{const _0xfea206=_0xebdde9['child'];if(!_0xfea206)return;const _0x3ec9fd=_0x1b3d6e['links']['get'](_0xfea206)['userData']['bodyOrigin']||{'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},_0x3e0efa=new _0x2474d6();if(_0x3e0efa['name']=_0xebdde9['name']||'joint_'+_0xfea206,_0x3e0efa['isURDFJoint']=!0x0,_0x3e0efa['type']='URDFJoint',_0x3e0efa['jointType']=_0xebdde9['type'],_0xebdde9['axis']&&_0xebdde9['axis']['xyz']){const _0x113404=_0xebdde9['axis']['xyz'];_0x3e0efa['axis']=new _0x5a7be3(_0x113404[0x0],_0x113404[0x1],_0x113404[0x2])['normalize']();}else _0x3e0efa['axis']=new _0x5a7be3(0x0,0x1,0x0);_0x3e0efa['position']['set'](_0x3ec9fd['xyz'][0x0]+_0xebdde9['origin']['xyz'][0x0],_0x3ec9fd['xyz'][0x1]+_0xebdde9['origin']['xyz'][0x1],_0x3ec9fd['xyz'][0x2]+_0xebdde9['origin']['xyz'][0x2]),_0x3e0efa['rotation']['set'](..._0x3ec9fd['rpy']),_0x36c728(_0xfea206,_0x3e0efa),_0x58f75b['add'](_0x3e0efa),_0xebdde9['threeObject']=_0x3e0efa;});for(const [_0x880e51,_0x1a4239]of _0x44305c['entries']())if(_0x1a4239['parentName']===_0x263802){if(!Array['from'](_0x1b3d6e['joints']['values']())['some'](_0x17c740=>_0x17c740['parent']===_0x263802&&_0x17c740['child']===_0x880e51)){const _0x1bf927=_0x1b3d6e['links']['get'](_0x880e51),_0x4ecf91=_0x1bf927['userData']['bodyOrigin']||{'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]};_0x1bf927['userData']['isFixedConnection']=!0x0;const _0x3c6ec4=new _0x2474d6();_0x3c6ec4['position']['set'](..._0x4ecf91['xyz']),_0x3c6ec4['rotation']['set'](..._0x4ecf91['rpy']),_0x36c728(_0x880e51,_0x3c6ec4),_0x58f75b['add'](_0x3c6ec4);}}}if(_0x5d87bc['length']>0x0)_0x5d87bc['forEach'](_0x45cc12=>{const _0x4d962a=_0x1b3d6e['links']['get'](_0x45cc12),_0x5ef33b=_0x29b067['get'](_0x45cc12);_0x4d962a['userData']['bodyOrigin']&&(_0x5ef33b['position']['set'](..._0x4d962a['userData']['bodyOrigin']['xyz']),_0x5ef33b['rotation']['set'](..._0x4d962a['userData']['bodyOrigin']['rpy'])),_0x36c728(_0x45cc12,_0x592dc8);});else if(_0x1b3d6e['links']['size']>0x0){const _0x21a914=Array['from'](_0x1b3d6e['links']['keys']())[0x0],_0x33eb4f=_0x1b3d6e['links']['get'](_0x21a914),_0x3b97fb=_0x29b067['get'](_0x21a914);_0x33eb4f['userData']['bodyOrigin']&&(_0x3b97fb['position']['set'](..._0x33eb4f['userData']['bodyOrigin']['xyz']),_0x3b97fb['rotation']['set'](..._0x33eb4f['userData']['bodyOrigin']['rpy'])),_0x36c728(_0x21a914,_0x592dc8);}_0x1b3d6e['threeObject']=_0x592dc8,_0x592dc8['userData']||(_0x592dc8['userData']={}),_0x592dc8['userData']['type']='mjcf',_0x1b3d6e['userData']||(_0x1b3d6e['userData']={}),_0x1b3d6e['userData']['type']='mjcf';}static async['createGeometryMesh'](_0x4af58c,_0x9e0044=null,_0x587bc7=null){var _0x2d60df,_0x1d3f82,_0x33915c;let _0x5a2f57=null;switch(_0x4af58c['type']){case'box':_0x4af58c['size']&&(_0x5a2f57=new _0x1b40f5(_0x4af58c['size']['x'],_0x4af58c['size']['y'],_0x4af58c['size']['z']));break;case'sphere':_0x4af58c['size']&&_0x4af58c['size']['radius']&&(_0x5a2f57=new _0x401a16(_0x4af58c['size']['radius'],0x20,0x20));break;case'cylinder':_0x4af58c['size']&&(_0x5a2f57=new _0x201dad(_0x4af58c['size']['radius'],_0x4af58c['size']['radius'],_0x4af58c['size']['height'],0x20),_0x5a2f57['rotateX'](Math['PI']/0x2));break;case'capsule':if(_0x4af58c['size']){const {radius:_0x367bab,height:_0x5c28ab}=_0x4af58c['size'];if(void 0x0!==_0x146bda)_0x5a2f57=new _0x146bda(_0x367bab,_0x5c28ab,0x4,0x10),_0x5a2f57['rotateX'](Math['PI']/0x2);else{const _0x3deca1=Math['max'](0x0,_0x5c28ab-0x2*_0x367bab),_0xb03c74=new _0x201dad(_0x367bab,_0x367bab,_0x3deca1,0x10);_0xb03c74['rotateX'](Math['PI']/0x2),_0x5a2f57=_0xb03c74;}}break;case'mesh':if(!_0x4af58c['filename'])return null;{let _0x53e7dc=null;if(_0x587bc7&&_0x587bc7['has'](_0x4af58c['filename'])?_0x53e7dc=_0x587bc7['get'](_0x4af58c['filename']):_0x9e0044&&(_0x53e7dc=await this['loadMeshFile'](_0x4af58c['filename'],_0x9e0044)),!_0x53e7dc)return null;if(_0x53e7dc['isGroup']||_0x53e7dc['isObject3D']){if(_0x5a2f57=_0x53e7dc['clone'](!0x0),_0x4af58c['meshScale']){const [_0x2f33ce,_0x4b7e14,_0x1d73b0]=_0x4af58c['meshScale'];_0x5a2f57['scale']['set'](_0x2f33ce,_0x4b7e14,_0x1d73b0);}return _0x5a2f57['traverse'](_0x98ba8f=>{_0x98ba8f['isMesh']&&_0x98ba8f['material'];}),Mt(_0x5a2f57),_0x5a2f57;}if(_0x4af58c['meshScale']){const [_0x442932,_0x92683b,_0x3e74b9]=_0x4af58c['meshScale'];_0x5a2f57=_0x53e7dc['clone'](),_0x5a2f57['scale'](_0x442932,_0x92683b,_0x3e74b9);}else _0x5a2f57=_0x53e7dc;}}if(!_0x5a2f57)return null;const _0xdb309b='undefined'!=typeof window&&(null==(_0x33915c=null==(_0x1d3f82=null==(_0x2d60df=window['app'])?void 0x0:_0x2d60df['sceneManager'])?void 0x0:_0x1d3f82['environmentManager'])?void 0x0:_0x33915c['getEnvironmentMap']()),_0x3a4f6d=new _0xa87e13({'color':0xf0f0f0,'shininess':0x32,'specular':new _0x43a4f1(0.3,0.3,0.3),'envMap':_0xdb309b||null,'reflectivity':_0xdb309b?0.3:0x0});return _0x3a4f6d['userData']['originalShininess']=0x1e,_0x3a4f6d['userData']['originalSpecular']=null,new _0x3d1069(_0x5a2f57,_0x3a4f6d);}static async['loadMeshFile'](_0x446ce8,_0x50d049){return async function(_0x379dcb,_0x4dd68d){try{let _0x33172d=bt(_0x379dcb,_0x4dd68d);const _0x50e843=mt(_0x379dcb);if(!_0x33172d&&!_0x50e843['includes']('.')){const _0x2c0bc5=['.stl','.obj','.dae','.gltf','.glb'];for(const _0x9a2306 of _0x2c0bc5)if(_0x33172d=bt(_0x50e843+_0x9a2306,_0x4dd68d),_0x33172d)break;}if(!_0x33172d)return null;const _0x12df9a=_0x33172d['name']?_0x33172d['name']['toLowerCase']()['split']('.')['pop']():_0x379dcb['toLowerCase']()['split']('.')['pop'](),_0x20c2a1=URL['createObjectURL'](_0x33172d);try{const _0x503ae3=await xt();let _0x11f6a2=null;switch(_0x12df9a){case'stl':_0x11f6a2=await new Promise((_0x12d98e,_0x33eb48)=>{_0x503ae3['STLLoader']['load'](_0x20c2a1,_0x12d98e,void 0x0,_0x33eb48);});break;case'obj':const _0x29ac42=_0x33172d['name']['replace'](/\.obj$/i,'.mtl'),_0x56c8cd=Array['from'](_0x4dd68d['values']())['find'](_0x46f477=>_0x46f477['name']&&_0x46f477['name']['toLowerCase']()===_0x29ac42['toLowerCase']());if(_0x56c8cd)try{const _0x16423f=URL['createObjectURL'](_0x56c8cd),_0x32300d=await new Promise((_0x589eac,_0x346902)=>{_0x503ae3['MTLLoader']['load'](_0x16423f,_0x589eac,void 0x0,_0x346902);});URL['revokeObjectURL'](_0x16423f),_0x32300d['preload'](),_0x503ae3['OBJLoader']['setMaterials'](_0x32300d);}catch(_0xa1953f){}_0x11f6a2=await new Promise((_0x172349,_0x2b289d)=>{_0x503ae3['OBJLoader']['load'](_0x20c2a1,_0x172349,void 0x0,_0x2b289d);}),_0x503ae3['OBJLoader']['setMaterials'](null);break;case'dae':const _0x511bca=await new Promise((_0x1ed5f3,_0x3b765e)=>{_0x503ae3['ColladaLoader']['load'](_0x20c2a1,_0x1ed5f3,void 0x0,_0x3b765e);});_0x11f6a2=_0x511bca?_0x511bca['scene']:null;break;case'gltf':case'glb':const _0x238d98=await new Promise((_0x38491d,_0x50318d)=>{_0x503ae3['GLTFLoader']['load'](_0x20c2a1,_0x38491d,void 0x0,_0x50318d);});_0x11f6a2=_0x238d98?_0x238d98['scene']:null;break;default:return URL['revokeObjectURL'](_0x20c2a1),null;}return URL['revokeObjectURL'](_0x20c2a1),_0x11f6a2&&(_0x11f6a2['isGroup']||_0x11f6a2['isObject3D']||_0x11f6a2['isScene'])&&Mt(_0x11f6a2),_0x11f6a2;}catch(_0x1bc625){return URL['revokeObjectURL'](_0x20c2a1),null;}}catch(_0x1c100b){return null;}}(_0x446ce8,_0x50d049);}static['setJointAngle'](_0x559065,_0x50eee1){if(_0x559065['currentValue']=_0x50eee1,_0x559065['threeObject'])if('revolute'===_0x559065['type']||'continuous'===_0x559065['type']){let _0x5eec53;if(_0x559065['threeObject']['axis'])_0x5eec53=_0x559065['threeObject']['axis']['clone']()['normalize']();else{if(!_0x559065['axis']||!_0x559065['axis']['xyz'])return;{const _0x14b316=_0x559065['axis']['xyz'];_0x5eec53=new _0x5a7be3(_0x14b316[0x0],_0x14b316[0x2],-_0x14b316[0x1])['normalize']();}}_0x559065['threeObject']['userData']['initialQuaternion']||(_0x559065['threeObject']['userData']['initialQuaternion']=_0x559065['threeObject']['quaternion']['clone']());const _0x40186f=new _0x4adb8f();_0x40186f['setFromAxisAngle'](_0x5eec53,_0x50eee1),_0x559065['threeObject']['quaternion']['copy'](_0x559065['threeObject']['userData']['initialQuaternion']),_0x559065['threeObject']['quaternion']['multiply'](_0x40186f),_0x559065['threeObject']['updateMatrixWorld'](!0x0);}else if('prismatic'===_0x559065['type']){let _0x4953cd;if(_0x559065['threeObject']['axis'])_0x4953cd=_0x559065['threeObject']['axis']['clone']()['normalize']();else{if(!_0x559065['axis']||!_0x559065['axis']['xyz'])return;{const _0x2129f7=_0x559065['axis']['xyz'];_0x4953cd=new _0x5a7be3(_0x2129f7[0x0],_0x2129f7[0x2],-_0x2129f7[0x1])['normalize']();}}_0x559065['threeObject']['userData']['initialPosition']||(_0x559065['threeObject']['userData']['initialPosition']=_0x559065['threeObject']['position']['clone']()),_0x559065['threeObject']['position']['copy'](_0x559065['threeObject']['userData']['initialPosition']),_0x559065['threeObject']['position']['addScaledVector'](_0x4953cd,_0x50eee1),_0x559065['threeObject']['updateMatrixWorld'](!0x0);}}}class St{static async['parse'](_0x15f59b,_0x363310=null,_0x71911a=null,_0x23ad27={}){if(!_0x23ad27['usdViewerManager'])throw new Error('USD\x20viewer\x20not\x20initialized');return await this['parseWithWASM'](_0x71911a,_0x363310,_0x23ad27['usdViewerManager']);}static async['parseWithWASM'](_0x32de65,_0x31cd95=null,_0x442bae){try{if(_0x31cd95&&_0x31cd95['size']>0x1){const _0x2b534a={};for(const [_0x22629a,_0x1d5fef]of _0x31cd95['entries']())_0x2b534a[_0x22629a]=_0x1d5fef;let _0x5296ad=_0x32de65['name'];for(const [_0x3bb655,_0x304208]of _0x31cd95['entries']())if(_0x3bb655['endsWith'](_0x32de65['name'])&&!_0x3bb655['includes']('/.thumbs/')&&!_0x3bb655['includes']('/Props/')){_0x5296ad=_0x3bb655;break;}await _0x442bae['loadFromFilesMap'](_0x2b534a,_0x5296ad);}else await _0x442bae['loadFromFile'](_0x32de65);const _0x2d2f62=new Qe();return _0x2d2f62['name']=_0x32de65['name']['replace'](/\.(usdz|usdc|usd|usda)$/i,''),_0x2d2f62['userData']=_0x2d2f62['userData']||{},_0x2d2f62['userData']['isUSDWASM']=!0x0,_0x2d2f62['userData']['usdViewerManager']=_0x442bae,_0x2d2f62;}catch(_0x343017){throw _0x343017;}}static async['parseUSDZ_OLD'](_0xe45517,_0x2eec2c=null){const {USDZLoader:_0x480abd}=await Ae(()=>import('./USDZLoader-64197f74.js'),["./USDZLoader-64197f74.js","./three-9c891de0.js"],import.meta.url),_0xdc3632=new _0x480abd(),_0x4a35fb=URL['createObjectURL'](_0xe45517);try{const _0x20b780=await new Promise((_0x5900c2,_0x37d66c)=>{_0xdc3632['load'](_0x4a35fb,_0x4b75fa=>{_0x5900c2(_0x4b75fa);},void 0x0,_0x3f6f8=>{_0x37d66c(_0x3f6f8);});});return URL['revokeObjectURL'](_0x4a35fb),this['convertThreeGroupToModel'](_0x20b780,_0xe45517['name']);}catch(_0x5a3d3c){throw URL['revokeObjectURL'](_0x4a35fb),_0x5a3d3c;}}static['convertThreeGroupToModel'](_0x2fa1ab,_0x24f8d4){const _0x305751=new Qe();_0x305751['name']=_0x24f8d4['replace'](/\.(usdz|usdc|usd|usda)$/i,''),_0x305751['threeObject']=_0x2fa1ab;let _0xa920a0=0x0;return _0x2fa1ab['traverse'](_0x2cab2f=>{if(_0x2cab2f['isMesh']||_0x2cab2f['isGroup']){const _0x2de57f=_0x2cab2f['name']||'link_'+_0xa920a0++,_0x2a20f5=new Ke(_0x2de57f);if(_0x2a20f5['threeObject']=_0x2cab2f,_0x2cab2f['isMesh']){const _0x51af7e=new et();_0x51af7e['name']=_0x2cab2f['name']||_0x2de57f,_0x51af7e['threeObject']=_0x2cab2f,_0x2cab2f['geometry']&&(_0x51af7e['geometry']=this['extractGeometryInfo'](_0x2cab2f['geometry'])),_0x2a20f5['visuals']['push'](_0x51af7e);}_0x305751['addLink'](_0x2a20f5);}}),_0x305751;}static['extractGeometryInfo'](_0x2e6d51){var _0x274cde,_0x5f016b,_0x1cd029,_0x1dd3b2,_0xc13022,_0x5e2e8c;const _0x366d8d=new nt('mesh');return'BoxGeometry'===_0x2e6d51['type']?(_0x366d8d['type']='box',_0x366d8d['size']={'x':(null==(_0x274cde=_0x2e6d51['parameters'])?void 0x0:_0x274cde['width'])||0x1,'y':(null==(_0x5f016b=_0x2e6d51['parameters'])?void 0x0:_0x5f016b['height'])||0x1,'z':(null==(_0x1cd029=_0x2e6d51['parameters'])?void 0x0:_0x1cd029['depth'])||0x1}):'SphereGeometry'===_0x2e6d51['type']?(_0x366d8d['type']='sphere',_0x366d8d['size']={'radius':(null==(_0x1dd3b2=_0x2e6d51['parameters'])?void 0x0:_0x1dd3b2['radius'])||0.5}):'CylinderGeometry'===_0x2e6d51['type']&&(_0x366d8d['type']='cylinder',_0x366d8d['size']={'radius':(null==(_0xc13022=_0x2e6d51['parameters'])?void 0x0:_0xc13022['radiusTop'])||0.5,'height':(null==(_0x5e2e8c=_0x2e6d51['parameters'])?void 0x0:_0x5e2e8c['height'])||0x1}),_0x366d8d;}static['parseASCIIUSD_DEPRECATED'](_0x2d7c87,_0x348849=null){const _0x1b0220=new Qe();_0x1b0220['name']='usd_model',!_0x2d7c87['includes']('#usda')&&_0x2d7c87['includes']('def\x20');const _0x45e51d=_0x2d7c87['split']('\x0a');let _0x5125e1=null,_0x445ded=[];for(let _0x247cfe=0x0;_0x247cfe<_0x45e51d['length'];_0x247cfe++){const _0x31dd23=_0x45e51d[_0x247cfe]['trim']();if(!_0x31dd23||_0x31dd23['startsWith']('#'))continue;const _0xd59ddf=_0x31dd23['match'](/def\s+(\w+)\s+"([^"]+)"\s*\{/);if(_0xd59ddf){const _0x16e625=_0xd59ddf[0x1],_0x5abb43=_0xd59ddf[0x2];if('Xform'===_0x16e625||'Mesh'===_0x16e625||'Cube'===_0x16e625||'Sphere'===_0x16e625||'Cylinder'===_0x16e625)if('Xform'!==_0x16e625||_0x5125e1){if(_0x5125e1){const _0x3d8d0f=new et();_0x3d8d0f['name']=_0x5abb43,_0x3d8d0f['geometry']=this['parseUSDGeometry'](_0x16e625,_0x45e51d,_0x247cfe),_0x5125e1['visuals']['push'](_0x3d8d0f),_0x445ded['push']({'type':'visual','obj':_0x3d8d0f});}}else _0x5125e1=new Ke(_0x5abb43),_0x1b0220['addLink'](_0x5125e1),_0x445ded['push']({'type':'link','obj':_0x5125e1});continue;}if(_0x5125e1&&_0x31dd23['includes']('=')){const _0x18d06a=_0x31dd23['match'](/(\w+)\s*=\s*(.+)/);if(_0x18d06a){const _0x4e52dd=_0x18d06a[0x1],_0x119501=_0x18d06a[0x2]['trim']();if('xformOp:translate'===_0x4e52dd){const _0x5a3a7c=this['parseUSDArray'](_0x119501);if(_0x5a3a7c['length']>=0x3){const _0x3cedee=_0x5125e1['visuals'][_0x5125e1['visuals']['length']-0x1];_0x3cedee&&(_0x3cedee['origin']['xyz']=_0x5a3a7c['slice'](0x0,0x3));}}}}if('}'===_0x31dd23&&_0x445ded['length']>0x0){'link'===_0x445ded['pop']()['type']&&(_0x5125e1=null);}}return this['createThreeObject'](_0x1b0220),_0x1b0220;}static['parseUSDGeometry'](_0x1a1506,_0x586416,_0x9270da){const _0x5902c9=new nt(_0x1a1506['toLowerCase']());for(let _0x479568=_0x9270da;_0x479568<Math['min'](_0x9270da+0x14,_0x586416['length']);_0x479568++){const _0x41633d=_0x586416[_0x479568]['trim']();if('}'===_0x41633d)break;const _0x2621c3=_0x41633d['match'](/(\w+)\s*=\s*(.+)/);if(_0x2621c3){const _0x595f69=_0x2621c3[0x1],_0x57b55a=_0x2621c3[0x2]['trim']();switch(_0x1a1506){case'Cube':if('size'===_0x595f69){const _0x39052b=parseFloat(_0x57b55a);_0x5902c9['size']={'x':_0x39052b,'y':_0x39052b,'z':_0x39052b};}break;case'Sphere':'radius'===_0x595f69&&(_0x5902c9['size']={'radius':parseFloat(_0x57b55a)});break;case'Cylinder':if('radius'===_0x595f69){const _0x19088f=parseFloat(_0x57b55a);_0x5902c9['size']={'radius':_0x19088f,'height':0x2*_0x19088f};}'height'===_0x595f69&&(_0x5902c9['size']||(_0x5902c9['size']={}),_0x5902c9['size']['height']=parseFloat(_0x57b55a));}}}return _0x5902c9;}static['parseUSDArray'](_0xa1fba3){return(_0xa1fba3=_0xa1fba3['replace'](/[()]/g,'')['trim']())['split'](',')['map'](_0x3b198a=>parseFloat(_0x3b198a['trim']()))['filter'](_0x35f086=>!isNaN(_0x35f086));}static['createThreeObject'](_0x37b19b){const _0x46c5a5=new _0x2474d6();_0x46c5a5['name']=_0x37b19b['name'],_0x37b19b['links']['forEach']((_0x524e29,_0x2cef83)=>{const _0x3a0361=new _0x2474d6();_0x3a0361['name']=_0x2cef83,_0x524e29['visuals']['forEach'](_0x8051a0=>{const _0x3046a0=this['createGeometryMesh'](_0x8051a0['geometry']);_0x3046a0&&(_0x3046a0['position']['set'](..._0x8051a0['origin']['xyz']),_0x3046a0['rotation']['set'](..._0x8051a0['origin']['rpy']),_0x3046a0['name']=_0x8051a0['name'],_0x3a0361['add'](_0x3046a0),_0x8051a0['threeObject']=_0x3046a0);}),_0x524e29['threeObject']=_0x3a0361,_0x46c5a5['add'](_0x3a0361);}),_0x37b19b['threeObject']=_0x46c5a5;}static['createGeometryMesh'](_0x1fd578){let _0x1abc0f=null;switch(_0x1fd578['type']){case'cube':if(_0x1fd578['size']){const _0x1a19d=_0x1fd578['size']['x']||0.1;_0x1abc0f=new _0x1b40f5(_0x1a19d,_0x1a19d,_0x1a19d);}break;case'sphere':_0x1fd578['size']&&_0x1fd578['size']['radius']&&(_0x1abc0f=new 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_0x3e8f1e=_0x3abd03[_0x30399f];_0x3e8f1e['type']===Rt||_0x3e8f1e['type']===zt?_0x2ca75a||an(_0x41b330,_0x3e8f1e['value'])?null!==_0x1d2ea7?(an(_0x41b330,_0x1d2ea7)||_0x41b330['push'](_0x1d2ea7),_0x1d2ea7=_0x3e8f1e['value']):_0x1d2ea7=_0x3e8f1e['value']:_0x41b330['push'](_0x3e8f1e['value']):_0x3e8f1e['type']===Bt&&_0x2ca75a&&null!==_0x1d2ea7?_0x1d2ea7+='.'+_0x3e8f1e['value']:_0x3e8f1e['type']===Vt?on(_0x3e8f1e['value'],_0x41b330,_0x3f2116):null!==_0x1d2ea7&&(an(_0x41b330,_0x1d2ea7)||_0x41b330['push'](_0x1d2ea7),_0x1d2ea7=null);}null===_0x1d2ea7||an(_0x41b330,_0x1d2ea7)||_0x41b330['push'](_0x1d2ea7);}function ln(_0x1f333e,_0xe67e30){this['tokens']=_0x1f333e,this['parser']=_0xe67e30,this['unaryOps']=_0xe67e30['unaryOps'],this['binaryOps']=_0xe67e30['binaryOps'],this['ternaryOps']=_0xe67e30['ternaryOps'],this['functions']=_0xe67e30['functions'];}Ht['prototype']['toString']=function(){switch(this['type']){case Ft:case Dt:case Pt:case It:case Rt:case zt:case $t:return this['value'];case Nt:return'CALL\x20'+this['value'];case Ut:return'DEF\x20'+this['value'];case Jt:return'ARRAY\x20'+this['value'];case Bt:return'.'+this['value'];default:return'Invalid\x20Instruction';}},ln['prototype']['simplify']=function(_0x21a868){return _0x21a868=_0x21a868||{},new ln(Yt(this['tokens'],this['unaryOps'],this['binaryOps'],this['ternaryOps'],_0x21a868),this['parser']);},ln['prototype']['substitute']=function(_0x6a362e,_0x4f4c4d){return _0x4f4c4d instanceof ln||(_0x4f4c4d=this['parser']['parse'](String(_0x4f4c4d))),new ln(Zt(this['tokens'],_0x6a362e,_0x4f4c4d),this['parser']);},ln['prototype']['evaluate']=function(_0x52cbd1){return _0x52cbd1=_0x52cbd1||{},Kt(this['tokens'],this,_0x52cbd1);},ln['prototype']['toString']=function(){return sn(this['tokens'],!0x1);},ln['prototype']['symbols']=function(_0x380618){_0x380618=_0x380618||{};var _0x559950=[];return on(this['tokens'],_0x559950,_0x380618),_0x559950;},ln['prototype']['variables']=function(_0x5345cd){_0x5345cd=_0x5345cd||{};var _0x14aad7=[];on(this['tokens'],_0x14aad7,_0x5345cd);var _0x35b70b=this['functions'];return _0x14aad7['filter'](function(_0x362c68){return!(_0x362c68 in _0x35b70b);});},ln['prototype']['toJSFunction']=function(_0x237337,_0x244c95){var _0x3144da=this,_0x38169e=new Function(_0x237337,'with(this.functions)\x20with\x20(this.ternaryOps)\x20with\x20(this.binaryOps)\x20with\x20(this.unaryOps)\x20{\x20return\x20'+sn(this['simplify'](_0x244c95)['tokens'],!0x0)+';\x20}');return function(){return _0x38169e['apply'](_0x3144da,arguments);};};var cn='TEOF',hn='TOP',un='TNUMBER',dn='TSTRING',pn='TPAREN',mn='TBRACKET',gn='TCOMMA',fn='TNAME',yn='TSEMICOLON';function vn(_0x1b2b31,_0x454541,_0x5d7f6d){this['type']=_0x1b2b31,this['value']=_0x454541,this['index']=_0x5d7f6d;}function bn(_0x3db625,_0x3c7a5b){this['pos']=0x0,this['current']=null,this['unaryOps']=_0x3db625['unaryOps'],this['binaryOps']=_0x3db625['binaryOps'],this['ternaryOps']=_0x3db625['ternaryOps'],this['consts']=_0x3db625['consts'],this['expression']=_0x3c7a5b,this['savedPosition']=0x0,this['savedCurrent']=null,this['options']=_0x3db625['options'],this['parser']=_0x3db625;}vn['prototype']['toString']=function(){return this['type']+':\x20'+this['value'];},bn['prototype']['newToken']=function(_0x8cb607,_0xe34bcf,_0x3b93ca){return new vn(_0x8cb607,_0xe34bcf,null!=_0x3b93ca?_0x3b93ca:this['pos']);},bn['prototype']['save']=function(){this['savedPosition']=this['pos'],this['savedCurrent']=this['current'];},bn['prototype']['restore']=function(){this['pos']=this['savedPosition'],this['current']=this['savedCurrent'];},bn['prototype']['next']=function(){return this['pos']>=this['expression']['length']?this['newToken'](cn,'EOF'):this['isWhitespace']()||this['isComment']()?this['next']():this['isRadixInteger']()||this['isNumber']()||this['isOperator']()||this['isString']()||this['isParen']()||this['isBracket']()||this['isComma']()||this['isSemicolon']()||this['isNamedOp']()||this['isConst']()||this['isName']()?this['current']:void this['parseError']('Unknown\x20character\x20\x22'+this['expression']['charAt'](this['pos'])+'\x22');},bn['prototype']['isString']=function(){var _0x3db26f=!0x1,_0x384b99=this['pos'],_0x340e4e=this['expression']['charAt'](_0x384b99);if('\x27'===_0x340e4e||'\x22'===_0x340e4e)for(var _0x170b70=this['expression']['indexOf'](_0x340e4e,_0x384b99+0x1);_0x170b70>=0x0&&this['pos']<this['expression']['length'];){if(this['pos']=_0x170b70+0x1,'\x5c'!==this['expression']['charAt'](_0x170b70-0x1)){var _0x5c1d3b=this['expression']['substring'](_0x384b99+0x1,_0x170b70);this['current']=this['newToken'](dn,this['unescape'](_0x5c1d3b),_0x384b99),_0x3db26f=!0x0;break;}_0x170b70=this['expression']['indexOf'](_0x340e4e,_0x170b70+0x1);}return _0x3db26f;},bn['prototype']['isParen']=function(){var _0x49f7b0=this['expression']['charAt'](this['pos']);return('('===_0x49f7b0||')'===_0x49f7b0)&&(this['current']=this['newToken'](pn,_0x49f7b0),this['pos']++,!0x0);},bn['prototype']['isBracket']=function(){var _0x75e88b=this['expression']['charAt'](this['pos']);return!('['!==_0x75e88b&&']'!==_0x75e88b||!this['isOperatorEnabled']('['))&&(this['current']=this['newToken'](mn,_0x75e88b),this['pos']++,!0x0);},bn['prototype']['isComma']=function(){return','===this['expression']['charAt'](this['pos'])&&(this['current']=this['newToken'](gn,','),this['pos']++,!0x0);},bn['prototype']['isSemicolon']=function(){return';'===this['expression']['charAt'](this['pos'])&&(this['current']=this['newToken'](yn,';'),this['pos']++,!0x0);},bn['prototype']['isConst']=function(){for(var _0x2e3b1a=this['pos'],_0x1dbb20=_0x2e3b1a;_0x1dbb20<this['expression']['length'];_0x1dbb20++){var _0x2718c2=this['expression']['charAt'](_0x1dbb20);if(_0x2718c2['toUpperCase']()===_0x2718c2['toLowerCase']()&&(_0x1dbb20===this['pos']||'_'!==_0x2718c2&&'.'!==_0x2718c2&&(_0x2718c2<'0'||_0x2718c2>'9')))break;}if(_0x1dbb20>_0x2e3b1a){var _0x19e887=this['expression']['substring'](_0x2e3b1a,_0x1dbb20);if(_0x19e887 in this['consts'])return this['current']=this['newToken'](un,this['consts'][_0x19e887]),this['pos']+=_0x19e887['length'],!0x0;}return!0x1;},bn['prototype']['isNamedOp']=function(){for(var _0x261e54=this['pos'],_0x46f13f=_0x261e54;_0x46f13f<this['expression']['length'];_0x46f13f++){var _0x460bff=this['expression']['charAt'](_0x46f13f);if(_0x460bff['toUpperCase']()===_0x460bff['toLowerCase']()&&(_0x46f13f===this['pos']||'_'!==_0x460bff&&(_0x460bff<'0'||_0x460bff>'9')))break;}if(_0x46f13f>_0x261e54){var _0x3db674=this['expression']['substring'](_0x261e54,_0x46f13f);if(this['isOperatorEnabled'](_0x3db674)&&(_0x3db674 in this['binaryOps']||_0x3db674 in this['unaryOps']||_0x3db674 in this['ternaryOps']))return this['current']=this['newToken'](hn,_0x3db674),this['pos']+=_0x3db674['length'],!0x0;}return!0x1;},bn['prototype']['isName']=function(){for(var _0x36c335=this['pos'],_0x259261=_0x36c335,_0x44d45e=!0x1;_0x259261<this['expression']['length'];_0x259261++){var _0x439399=this['expression']['charAt'](_0x259261);if(_0x439399['toUpperCase']()===_0x439399['toLowerCase']()){if(_0x259261===this['pos']&&('$'===_0x439399||'_'===_0x439399)){'_'===_0x439399&&(_0x44d45e=!0x0);continue;}if(_0x259261===this['pos']||!_0x44d45e||'_'!==_0x439399&&(_0x439399<'0'||_0x439399>'9'))break;}else _0x44d45e=!0x0;}if(_0x44d45e){var _0x1e11f3=this['expression']['substring'](_0x36c335,_0x259261);return this['current']=this['newToken'](fn,_0x1e11f3),this['pos']+=_0x1e11f3['length'],!0x0;}return!0x1;},bn['prototype']['isWhitespace']=function(){for(var _0x3babe2=!0x1,_0x1e11c6=this['expression']['charAt'](this['pos']);!('\x20'!==_0x1e11c6&&'\x09'!==_0x1e11c6&&'\x0a'!==_0x1e11c6&&'\x0d'!==_0x1e11c6||(_0x3babe2=!0x0,this['pos']++,this['pos']>=this['expression']['length']));)_0x1e11c6=this['expression']['charAt'](this['pos']);return _0x3babe2;};var wn=/^[0-9a-f]{4}$/i;function xn(_0x39dcef,_0xce2fca,_0x76732d){this['parser']=_0x39dcef,this['tokens']=_0xce2fca,this['current']=null,this['nextToken']=null,this['next'](),this['savedCurrent']=null,this['savedNextToken']=null,this['allowMemberAccess']=!0x1!==_0x76732d['allowMemberAccess'];}bn['prototype']['unescape']=function(_0x2e29d7){var _0x3ced9a=_0x2e29d7['indexOf']('\x5c');if(_0x3ced9a<0x0)return _0x2e29d7;for(var _0x5511b9=_0x2e29d7['substring'](0x0,_0x3ced9a);_0x3ced9a>=0x0;){var _0x381409=_0x2e29d7['charAt'](++_0x3ced9a);switch(_0x381409){case'\x27':_0x5511b9+='\x27';break;case'\x22':_0x5511b9+='\x22';break;case'\x5c':_0x5511b9+='\x5c';break;case'/':_0x5511b9+='/';break;case'b':_0x5511b9+='\x08';break;case'f':_0x5511b9+='\x0c';break;case'n':_0x5511b9+='\x0a';break;case'r':_0x5511b9+='\x0d';break;case't':_0x5511b9+='\x09';break;case'u':var _0x5b7a45=_0x2e29d7['substring'](_0x3ced9a+0x1,_0x3ced9a+0x5);wn['test'](_0x5b7a45)||this['parseError']('Illegal\x20escape\x20sequence:\x20\x5cu'+_0x5b7a45),_0x5511b9+=String['fromCharCode'](parseInt(_0x5b7a45,0x10)),_0x3ced9a+=0x4;break;default:throw this['parseError']('Illegal\x20escape\x20sequence:\x20\x22\x5c'+_0x381409+'\x22');}++_0x3ced9a;var _0x29427e=_0x2e29d7['indexOf']('\x5c',_0x3ced9a);_0x5511b9+=_0x2e29d7['substring'](_0x3ced9a,_0x29427e<0x0?_0x2e29d7['length']:_0x29427e),_0x3ced9a=_0x29427e;}return _0x5511b9;},bn['prototype']['isComment']=function(){return'/'===this['expression']['charAt'](this['pos'])&&'*'===this['expression']['charAt'](this['pos']+0x1)&&(this['pos']=this['expression']['indexOf']('*/',this['pos'])+0x2,0x1===this['pos']&&(this['pos']=this['expression']['length']),!0x0);},bn['prototype']['isRadixInteger']=function(){var _0x177ad3,_0x2611bb,_0xb455da=this['pos'];if(_0xb455da>=this['expression']['length']-0x2||'0'!==this['expression']['charAt'](_0xb455da))return!0x1;if(++_0xb455da,'x'===this['expression']['charAt'](_0xb455da))_0x177ad3=0x10,_0x2611bb=/^[0-9a-f]$/i,++_0xb455da;else{if('b'!==this['expression']['charAt'](_0xb455da))return!0x1;_0x177ad3=0x2,_0x2611bb=/^[01]$/i,++_0xb455da;}for(var _0x142b4a=!0x1,_0x77f1f6=_0xb455da;_0xb455da<this['expression']['length'];){var _0x515e4b=this['expression']['charAt'](_0xb455da);if(!_0x2611bb['test'](_0x515e4b))break;_0xb455da++,_0x142b4a=!0x0;}return _0x142b4a&&(this['current']=this['newToken'](un,parseInt(this['expression']['substring'](_0x77f1f6,_0xb455da),_0x177ad3)),this['pos']=_0xb455da),_0x142b4a;},bn['prototype']['isNumber']=function(){for(var _0x99bd5d,_0x232c8e=!0x1,_0x4b9ff4=this['pos'],_0x2328fd=_0x4b9ff4,_0x50a71e=_0x4b9ff4,_0xe990aa=!0x1,_0x353bdf=!0x1;_0x4b9ff4<this['expression']['length']&&((_0x99bd5d=this['expression']['charAt'](_0x4b9ff4))>='0'&&_0x99bd5d<='9'||!_0xe990aa&&'.'===_0x99bd5d);)'.'===_0x99bd5d?_0xe990aa=!0x0:_0x353bdf=!0x0,_0x4b9ff4++,_0x232c8e=_0x353bdf;if(_0x232c8e&&(_0x50a71e=_0x4b9ff4),'e'===_0x99bd5d||'E'===_0x99bd5d){_0x4b9ff4++;for(var _0x443179=!0x0,_0x247e14=!0x1;_0x4b9ff4<this['expression']['length'];){if(_0x99bd5d=this['expression']['charAt'](_0x4b9ff4),!_0x443179||'+'!==_0x99bd5d&&'-'!==_0x99bd5d){if(!(_0x99bd5d>='0'&&_0x99bd5d<='9'))break;_0x247e14=!0x0,_0x443179=!0x1;}else _0x443179=!0x1;_0x4b9ff4++;}_0x247e14||(_0x4b9ff4=_0x50a71e);}return _0x232c8e?(this['current']=this['newToken'](un,parseFloat(this['expression']['substring'](_0x2328fd,_0x4b9ff4))),this['pos']=_0x4b9ff4):this['pos']=_0x50a71e,_0x232c8e;},bn['prototype']['isOperator']=function(){var _0x19b580=this['pos'],_0x2e852e=this['expression']['charAt'](this['pos']);if('+'===_0x2e852e||'-'===_0x2e852e||'*'===_0x2e852e||'/'===_0x2e852e||'%'===_0x2e852e||'^'===_0x2e852e||'?'===_0x2e852e||':'===_0x2e852e||'.'===_0x2e852e)this['current']=this['newToken'](hn,_0x2e852e);else if('∙'===_0x2e852e||'•'===_0x2e852e)this['current']=this['newToken'](hn,'*');else if('>'===_0x2e852e)'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'>='),this['pos']++):this['current']=this['newToken'](hn,'>');else if('<'===_0x2e852e)'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'<='),this['pos']++):this['current']=this['newToken'](hn,'<');else if('|'===_0x2e852e){if('|'!==this['expression']['charAt'](this['pos']+0x1))return!0x1;this['current']=this['newToken'](hn,'||'),this['pos']++;}else if('='===_0x2e852e)'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'=='),this['pos']++):this['current']=this['newToken'](hn,_0x2e852e);else{if('!'!==_0x2e852e)return!0x1;'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'!='),this['pos']++):this['current']=this['newToken'](hn,_0x2e852e);}return this['pos']++,!!this['isOperatorEnabled'](this['current']['value'])||(this['pos']=_0x19b580,!0x1);},bn['prototype']['isOperatorEnabled']=function(_0x204a85){return this['parser']['isOperatorEnabled'](_0x204a85);},bn['prototype']['getCoordinates']=function(){var _0x2d2c3e,_0x54e0eb=0x0,_0x32505f=-0x1;do{_0x54e0eb++,_0x2d2c3e=this['pos']-_0x32505f,_0x32505f=this['expression']['indexOf']('\x0a',_0x32505f+0x1);}while(_0x32505f>=0x0&&_0x32505f<this['pos']);return{'line':_0x54e0eb,'column':_0x2d2c3e};},bn['prototype']['parseError']=function(_0x312a09){var _0x46e278=this['getCoordinates']();throw new Error('parse\x20error\x20['+_0x46e278['line']+':'+_0x46e278['column']+']:\x20'+_0x312a09);},xn['prototype']['next']=function(){return this['current']=this['nextToken'],this['nextToken']=this['tokens']['next']();},xn['prototype']['tokenMatches']=function(_0x25a14a,_0x2cfb2b){return void 0x0===_0x2cfb2b||(Array['isArray'](_0x2cfb2b)?an(_0x2cfb2b,_0x25a14a['value']):'function'==typeof _0x2cfb2b?_0x2cfb2b(_0x25a14a):_0x25a14a['value']===_0x2cfb2b);},xn['prototype']['save']=function(){this['savedCurrent']=this['current'],this['savedNextToken']=this['nextToken'],this['tokens']['save']();},xn['prototype']['restore']=function(){this['tokens']['restore'](),this['current']=this['savedCurrent'],this['nextToken']=this['savedNextToken'];},xn['prototype']['accept']=function(_0x510fb9,_0x220820){return!(this['nextToken']['type']!==_0x510fb9||!this['tokenMatches'](this['nextToken'],_0x220820))&&(this['next'](),!0x0);},xn['prototype']['expect']=function(_0x3ff562,_0x3b57b0){if(!this['accept'](_0x3ff562,_0x3b57b0)){var _0x3f506a=this['tokens']['getCoordinates']();throw new Error('parse\x20error\x20['+_0x3f506a['line']+':'+_0x3f506a['column']+']:\x20Expected\x20'+(_0x3b57b0||_0x3ff562));}},xn['prototype']['parseAtom']=function(_0x41435b){var _0xe4fb9c=this['tokens']['unaryOps'];if(this['accept'](fn)||this['accept'](hn,function(_0x122638){return _0x122638['value']in _0xe4fb9c;}))_0x41435b['push'](new Ht(Rt,this['current']['value']));else if(this['accept'](un))_0x41435b['push'](new Ht(Ft,this['current']['value']));else if(this['accept'](dn))_0x41435b['push'](new Ht(Ft,this['current']['value']));else if(this['accept'](pn,'('))this['parseExpression'](_0x41435b),this['expect'](pn,')');else{if(!this['accept'](mn,'['))throw new Error('unexpected\x20'+this['nextToken']);if(this['accept'](mn,']'))_0x41435b['push'](new Ht(Jt,0x0));else{var _0x4c8be0=this['parseArrayList'](_0x41435b);_0x41435b['push'](new Ht(Jt,_0x4c8be0));}}},xn['prototype']['parseExpression']=function(_0x47cd4a){var _0xb2c9e7=[];this['parseUntilEndStatement'](_0x47cd4a,_0xb2c9e7)||(this['parseVariableAssignmentExpression'](_0xb2c9e7),this['parseUntilEndStatement'](_0x47cd4a,_0xb2c9e7)||this['pushExpression'](_0x47cd4a,_0xb2c9e7));},xn['prototype']['pushExpression']=function(_0x274ae8,_0x3b257c){for(var _0x36cdef=0x0,_0x1bd438=_0x3b257c['length'];_0x36cdef<_0x1bd438;_0x36cdef++)_0x274ae8['push'](_0x3b257c[_0x36cdef]);},xn['prototype']['parseUntilEndStatement']=function(_0x1dbf4a,_0x315f91){return!!this['accept'](yn)&&(!this['nextToken']||this['nextToken']['type']===cn||this['nextToken']['type']===pn&&')'===this['nextToken']['value']||_0x315f91['push'](new Ht($t)),this['nextToken']['type']!==cn&&this['parseExpression'](_0x315f91),_0x1dbf4a['push'](new Ht(Vt,_0x315f91)),!0x0);},xn['prototype']['parseArrayList']=function(_0x4651a8){for(var _0x20c28f=0x0;!this['accept'](mn,']');)for(this['parseExpression'](_0x4651a8),++_0x20c28f;this['accept'](gn);)this['parseExpression'](_0x4651a8),++_0x20c28f;return _0x20c28f;},xn['prototype']['parseVariableAssignmentExpression']=function(_0x5e67b5){for(this['parseConditionalExpression'](_0x5e67b5);this['accept'](hn,'=');){var _0x2d0d8e=_0x5e67b5['pop'](),_0x407808=[],_0xa21120=_0x5e67b5['length']-0x1;if(_0x2d0d8e['type']!==Nt){if(_0x2d0d8e['type']!==Rt&&_0x2d0d8e['type']!==Bt)throw new Error('expected\x20variable\x20for\x20assignment');this['parseVariableAssignmentExpression'](_0x407808),_0x5e67b5['push'](new Ht(zt,_0x2d0d8e['value'])),_0x5e67b5['push'](new Ht(Vt,_0x407808)),_0x5e67b5['push'](Wt('='));}else{if(!this['tokens']['isOperatorEnabled']('()='))throw new Error('function\x20definition\x20is\x20not\x20permitted');for(var _0x26d18e=0x0,_0x363dfb=_0x2d0d8e['value']+0x1;_0x26d18e<_0x363dfb;_0x26d18e++){var _0x38443d=_0xa21120-_0x26d18e;_0x5e67b5[_0x38443d]['type']===Rt&&(_0x5e67b5[_0x38443d]=new Ht(zt,_0x5e67b5[_0x38443d]['value']));}this['parseVariableAssignmentExpression'](_0x407808),_0x5e67b5['push'](new Ht(Vt,_0x407808)),_0x5e67b5['push'](new Ht(Ut,_0x2d0d8e['value']));}}},xn['prototype']['parseConditionalExpression']=function(_0x19f7bd){for(this['parseOrExpression'](_0x19f7bd);this['accept'](hn,'?');){var _0x21d031=[],_0x592143=[];this['parseConditionalExpression'](_0x21d031),this['expect'](hn,':'),this['parseConditionalExpression'](_0x592143),_0x19f7bd['push'](new Ht(Vt,_0x21d031)),_0x19f7bd['push'](new Ht(Vt,_0x592143)),_0x19f7bd['push'](Xt('?'));}},xn['prototype']['parseOrExpression']=function(_0x239ee2){for(this['parseAndExpression'](_0x239ee2);this['accept'](hn,'or');){var _0x115da5=[];this['parseAndExpression'](_0x115da5),_0x239ee2['push'](new Ht(Vt,_0x115da5)),_0x239ee2['push'](Wt('or'));}},xn['prototype']['parseAndExpression']=function(_0x48f91c){for(this['parseComparison'](_0x48f91c);this['accept'](hn,'and');){var _0x3c7edf=[];this['parseComparison'](_0x3c7edf),_0x48f91c['push'](new Ht(Vt,_0x3c7edf)),_0x48f91c['push'](Wt('and'));}};var Mn=['==','!=','<','<=','>=','>','in'];xn['prototype']['parseComparison']=function(_0x5dc2fe){for(this['parseAddSub'](_0x5dc2fe);this['accept'](hn,Mn);){var _0x55a14a=this['current'];this['parseAddSub'](_0x5dc2fe),_0x5dc2fe['push'](Wt(_0x55a14a['value']));}};var _n=['+','-','||'];xn['prototype']['parseAddSub']=function(_0x5ecfc6){for(this['parseTerm'](_0x5ecfc6);this['accept'](hn,_n);){var _0x54cb87=this['current'];this['parseTerm'](_0x5ecfc6),_0x5ecfc6['push'](Wt(_0x54cb87['value']));}};var Sn=['*','/','%'];function An(_0x50ce46,_0x2fcf33){return Number(_0x50ce46)+Number(_0x2fcf33);}function Ln(_0x4b185c,_0x213c19){return _0x4b185c-_0x213c19;}function En(_0x97eb65,_0x3615b3){return _0x97eb65*_0x3615b3;}function Cn(_0x55a968,_0x49fd2a){return _0x55a968/_0x49fd2a;}function jn(_0x5d2c5b,_0x2c35f7){return _0x5d2c5b%_0x2c35f7;}function kn(_0x7fd606,_0x2fc005){return Array['isArray'](_0x7fd606)&&Array['isArray'](_0x2fc005)?_0x7fd606['concat'](_0x2fc005):''+_0x7fd606+_0x2fc005;}function Tn(_0xdbf788,_0x2c6b22){return _0xdbf788===_0x2c6b22;}function On(_0x334303,_0xcc791b){return _0x334303!==_0xcc791b;}function Fn(_0x32d971,_0x33637e){return _0x32d971>_0x33637e;}function Dn(_0x3148e1,_0x3a7e06){return _0x3148e1<_0x3a7e06;}function Pn(_0x3b59f3,_0x21a2a7){return _0x3b59f3>=_0x21a2a7;}function In(_0x2df7c8,_0x55202d){return _0x2df7c8<=_0x55202d;}function Rn(_0x5f172c,_0x4334c7){return Boolean(_0x5f172c&&_0x4334c7);}function zn(_0x3c10e8,_0x2561e5){return Boolean(_0x3c10e8||_0x2561e5);}function Nn(_0x6d49bc,_0x116fa7){return an(_0x116fa7,_0x6d49bc);}function Un(_0x5699e6){return(Math['exp'](_0x5699e6)-Math['exp'](-_0x5699e6))/0x2;}function Vn(_0x1a1323){return(Math['exp'](_0x1a1323)+Math['exp'](-_0x1a1323))/0x2;}function qn(_0x64f5c6){return _0x64f5c6===0x1/0x0?0x1:_0x64f5c6===-0x1/0x0?-0x1:(Math['exp'](_0x64f5c6)-Math['exp'](-_0x64f5c6))/(Math['exp'](_0x64f5c6)+Math['exp'](-_0x64f5c6));}function Bn(_0xb2bee1){return _0xb2bee1===-0x1/0x0?_0xb2bee1:Math['log'](_0xb2bee1+Math['sqrt'](_0xb2bee1*_0xb2bee1+0x1));}function $n(_0x3e5e04){return Math['log'](_0x3e5e04+Math['sqrt'](_0x3e5e04*_0x3e5e04-0x1));}function Jn(_0x19e5f0){return Math['log']((0x1+_0x19e5f0)/(0x1-_0x19e5f0))/0x2;}function Hn(_0x513d65){return Math['log'](_0x513d65)*Math['LOG10E'];}function Gn(_0x22aee4){return-_0x22aee4;}function Wn(_0x60624d){return!_0x60624d;}function Xn(_0x1409e9){return _0x1409e9<0x0?Math['ceil'](_0x1409e9):Math['floor'](_0x1409e9);}function Yn(_0x158e44){return Math['random']()*(_0x158e44||0x1);}function Zn(_0x4a62e2){return ei(_0x4a62e2+0x1);}xn['prototype']['parseTerm']=function(_0x3140ce){for(this['parseFactor'](_0x3140ce);this['accept'](hn,Sn);){var _0x4ab9de=this['current'];this['parseFactor'](_0x3140ce),_0x3140ce['push'](Wt(_0x4ab9de['value']));}},xn['prototype']['parseFactor']=function(_0x287678){var _0x663c3e=this['tokens']['unaryOps'];if(this['save'](),this['accept'](hn,function(_0x4e13be){return _0x4e13be['value']in _0x663c3e;})){if('-'!==this['current']['value']&&'+'!==this['current']['value']){if(this['nextToken']['type']===pn&&'('===this['nextToken']['value'])return this['restore'](),void this['parseExponential'](_0x287678);if(this['nextToken']['type']===yn||this['nextToken']['type']===gn||this['nextToken']['type']===cn||this['nextToken']['type']===pn&&')'===this['nextToken']['value'])return this['restore'](),void this['parseAtom'](_0x287678);}var _0x2092a9=this['current'];this['parseFactor'](_0x287678),_0x287678['push'](Gt(_0x2092a9['value']));}else this['parseExponential'](_0x287678);},xn['prototype']['parseExponential']=function(_0x304ba1){for(this['parsePostfixExpression'](_0x304ba1);this['accept'](hn,'^');)this['parseFactor'](_0x304ba1),_0x304ba1['push'](Wt('^'));},xn['prototype']['parsePostfixExpression']=function(_0x43d474){for(this['parseFunctionCall'](_0x43d474);this['accept'](hn,'!');)_0x43d474['push'](Gt('!'));},xn['prototype']['parseFunctionCall']=function(_0x1738e0){var _0x39f3ee=this['tokens']['unaryOps'];if(this['accept'](hn,function(_0x24c3e5){return _0x24c3e5['value']in _0x39f3ee;})){var _0x4c85ca=this['current'];this['parseAtom'](_0x1738e0),_0x1738e0['push'](Gt(_0x4c85ca['value']));}else for(this['parseMemberExpression'](_0x1738e0);this['accept'](pn,'(');)if(this['accept'](pn,')'))_0x1738e0['push'](new Ht(Nt,0x0));else{var _0x4080fb=this['parseArgumentList'](_0x1738e0);_0x1738e0['push'](new Ht(Nt,_0x4080fb));}},xn['prototype']['parseArgumentList']=function(_0xf6f69b){for(var _0x377d31=0x0;!this['accept'](pn,')');)for(this['parseExpression'](_0xf6f69b),++_0x377d31;this['accept'](gn);)this['parseExpression'](_0xf6f69b),++_0x377d31;return _0x377d31;},xn['prototype']['parseMemberExpression']=function(_0x14795b){for(this['parseAtom'](_0x14795b);this['accept'](hn,'.')||this['accept'](mn,'[');){var _0x4c17da=this['current'];if('.'===_0x4c17da['value']){if(!this['allowMemberAccess'])throw new Error('unexpected\x20\x22.\x22,\x20member\x20access\x20is\x20not\x20permitted');this['expect'](fn),_0x14795b['push'](new Ht(Bt,this['current']['value']));}else{if('['!==_0x4c17da['value'])throw new Error('unexpected\x20symbol:\x20'+_0x4c17da['value']);if(!this['tokens']['isOperatorEnabled']('['))throw new Error('unexpected\x20\x22[]\x22,\x20arrays\x20are\x20disabled');this['parseExpression'](_0x14795b),this['expect'](mn,']'),_0x14795b['push'](Wt('['));}}};var Qn=4.7421875,Kn=[0.9999999999999971,57.15623566586292,-59.59796035547549,14.136097974741746,-0.4919138160976202,0.00003399464998481189,0.00004652362892704858,-0.00009837447530487956,0.0001580887032249125,-0.00021026444172410488,0.00021743961811521265,-0.0001643181065367639,0.00008441822398385275,-0.000026190838401581408,0.0000036899182659531625];function ei(_0x313827){var _0x5a632e,_0x8bae61;if(function(_0x44e660){return isFinite(_0x44e660)&&_0x44e660===Math['round'](_0x44e660);}(_0x313827)){if(_0x313827<=0x0)return isFinite(_0x313827)?0x1/0x0:NaN;if(_0x313827>0xab)return 0x1/0x0;for(var _0x5c19a0=_0x313827-0x2,_0x28941a=_0x313827-0x1;_0x5c19a0>0x1;)_0x28941a*=_0x5c19a0,_0x5c19a0--;return 0x0===_0x28941a&&(_0x28941a=0x1),_0x28941a;}if(_0x313827<0.5)return Math['PI']/(Math['sin'](Math['PI']*_0x313827)*ei(0x1-_0x313827));if(_0x313827>=171.35)return 0x1/0x0;if(_0x313827>0x55){var 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ai(_0x4d3c2b,_0x2cf1fd){return _0x4d3c2b[0x0|_0x2cf1fd];}function oi(_0x1ac8ac){return 0x1===arguments['length']&&Array['isArray'](_0x1ac8ac)?Math['max']['apply'](Math,_0x1ac8ac):Math['max']['apply'](Math,arguments);}function li(_0x5f0261){return 0x1===arguments['length']&&Array['isArray'](_0x5f0261)?Math['min']['apply'](Math,_0x5f0261):Math['min']['apply'](Math,arguments);}function ci(_0x176ed8,_0xadf252){if('function'!=typeof _0x176ed8)throw new Error('First\x20argument\x20to\x20map\x20is\x20not\x20a\x20function');if(!Array['isArray'](_0xadf252))throw new Error('Second\x20argument\x20to\x20map\x20is\x20not\x20an\x20array');return _0xadf252['map'](function(_0x136d91,_0x29075e){return _0x176ed8(_0x136d91,_0x29075e);});}function hi(_0x10221e,_0x1a7ad7,_0x108def){if('function'!=typeof _0x10221e)throw new Error('First\x20argument\x20to\x20fold\x20is\x20not\x20a\x20function');if(!Array['isArray'](_0x108def))throw new Error('Second\x20argument\x20to\x20fold\x20is\x20not\x20an\x20array');return _0x108def['reduce'](function(_0x58e210,_0x297f33,_0x1d0974){return _0x10221e(_0x58e210,_0x297f33,_0x1d0974);},_0x1a7ad7);}function ui(_0x5faebe,_0x1ee305){if('function'!=typeof _0x5faebe)throw new Error('First\x20argument\x20to\x20filter\x20is\x20not\x20a\x20function');if(!Array['isArray'](_0x1ee305))throw new Error('Second\x20argument\x20to\x20filter\x20is\x20not\x20an\x20array');return _0x1ee305['filter'](function(_0x2f8032,_0x226bcf){return _0x5faebe(_0x2f8032,_0x226bcf);});}function di(_0x3d0cdb,_0x20202c){if(!Array['isArray'](_0x20202c)&&'string'!=typeof _0x20202c)throw new Error('Second\x20argument\x20to\x20indexOf\x20is\x20not\x20a\x20string\x20or\x20array');return _0x20202c['indexOf'](_0x3d0cdb);}function pi(_0x27a3f9,_0x4f9dd2){if(!Array['isArray'](_0x4f9dd2))throw new Error('Second\x20argument\x20to\x20join\x20is\x20not\x20an\x20array');return _0x4f9dd2['join'](_0x27a3f9);}function mi(_0x570e74){return(_0x570e74>0x0)-(_0x570e74<0x0)||+_0x570e74;}var gi=0x1/0x3;function fi(_0x4f1a92){return _0x4f1a92<0x0?-Math['pow'](-_0x4f1a92,gi):Math['pow'](_0x4f1a92,gi);}function yi(_0x407bad){return Math['exp'](_0x407bad)-0x1;}function vi(_0x29c54a){return Math['log'](0x1+_0x29c54a);}function bi(_0x105086){return Math['log'](_0x105086)/Math['LN2'];}function wi(_0x209413){if(!Array['isArray'](_0x209413))throw new Error('Sum\x20argument\x20is\x20not\x20an\x20array');return _0x209413['reduce'](function(_0x3f8344,_0x411a78){return _0x3f8344+Number(_0x411a78);},0x0);}function xi(_0x530606){this['options']=_0x530606||{},this['unaryOps']={'sin':Math['sin'],'cos':Math['cos'],'tan':Math['tan'],'asin':Math['asin'],'acos':Math['acos'],'atan':Math['atan'],'sinh':Math['sinh']||Un,'cosh':Math['cosh']||Vn,'tanh':Math['tanh']||qn,'asinh':Math['asinh']||Bn,'acosh':Math['acosh']||$n,'atanh':Math['atanh']||Jn,'sqrt':Math['sqrt'],'cbrt':Math['cbrt']||fi,'log':Math['log'],'log2':Math['log2']||bi,'ln':Math['log'],'lg':Math['log10']||Hn,'log10':Math['log10']||Hn,'expm1':Math['expm1']||yi,'log1p':Math['log1p']||vi,'abs':Math['abs'],'ceil':Math['ceil'],'floor':Math['floor'],'round':Math['round'],'trunc':Math['trunc']||Xn,'-':Gn,'+':Number,'exp':Math['exp'],'not':Wn,'length':ti,'!':Zn,'sign':Math['sign']||mi},this['binaryOps']={'+':An,'-':Ln,'*':En,'/':Cn,'%':jn,'^':Math['pow'],'||':kn,'==':Tn,'!=':On,'>':Fn,'<':Dn,'>=':Pn,'<=':In,'and':Rn,'or':zn,'in':Nn,'=':ri,'[':ai},this['ternaryOps']={'?':ii},this['functions']={'random':Yn,'fac':Zn,'min':li,'max':oi,'hypot':Math['hypot']||ni,'pyt':Math['hypot']||ni,'pow':Math['pow'],'atan2':Math['atan2'],'if':ii,'gamma':ei,'roundTo':si,'map':ci,'fold':hi,'filter':ui,'indexOf':di,'join':pi,'sum':wi},this['consts']={'E':Math['E'],'PI':Math['PI'],'true':!0x0,'false':!0x1};}xi['prototype']['parse']=function(_0xbcd895){var _0x3fd998=[],_0x38e384=new xn(this,new bn(this,_0xbcd895),{'allowMemberAccess':this['options']['allowMemberAccess']});return _0x38e384['parseExpression'](_0x3fd998),_0x38e384['expect'](cn,'EOF'),new ln(_0x3fd998,this);},xi['prototype']['evaluate']=function(_0x274050,_0x3db48d){return this['parse'](_0x274050)['evaluate'](_0x3db48d);};var Mi=new xi();xi['parse']=function(_0xa70052){return Mi['parse'](_0xa70052);},xi['evaluate']=function(_0x43a117,_0x231806){return Mi['parse'](_0x43a117)['evaluate'](_0x231806);};var _i={'+':'add','-':'subtract','*':'multiply','/':'divide','%':'remainder','^':'power','!':'factorial','<':'comparison','>':'comparison','<=':'comparison','>=':'comparison','==':'comparison','!=':'comparison','||':'concatenate','and':'logical','or':'logical','not':'logical','?':'conditional',':':'conditional','=':'assignment','[':'array','()=':'fndef'};xi['prototype']['isOperatorEnabled']=function(_0x5b0e54){var _0x4a4ca6=function(_0x365f56){return Object['hasOwn'](_i,_0x365f56)?_i[_0x365f56]:_0x365f56;}(_0x5b0e54),_0x3a842f=this['options']['operators']||{};return!(_0x4a4ca6 in _0x3a842f)||!!_0x3a842f[_0x4a4ca6];};class Si extends xi{constructor(..._0x10afdd){super(..._0x10afdd);const _0x347fb7=this;_0x347fb7['unaryOps']={'-':_0x347fb7['unaryOps']['-'],'+':_0x347fb7['unaryOps']['+'],'!':_0x347fb7['unaryOps']['not'],'not':_0x347fb7['unaryOps']['not']},_0x347fb7['functions']={'sin':Math['sin'],'cos':Math['cos'],'tan':Math['tan'],'asin':Math['asin'],'acos':Math['acos'],'atan':Math['atan'],'log':Math['log'],'atan2':Math['atan2'],'pow':Math['pow'],'radians':_0x2a6296=>_0x2a6296*(Math['PI']/0xb4),'degrees':_0x2777a7=>_0x2777a7*(0xb4/Math['PI']),'__read_property__':(_0x1afa2c,..._0x41955b)=>{let _0x59f4e5=_0x1afa2c;for(let _0x1c4698=0x0,_0x696c52=_0x41955b['length'];_0x1c4698<_0x696c52;_0x1c4698++)_0x59f4e5=_0x59f4e5[_0x41955b[_0x1c4698]];return 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_0x1d98a3&&(_0x1d98a3=_0x1d98a3['replace'](/\${2}([({])/g,(_0x5b0104,_0x8475c2)=>'$'+_0x8475c2)),_0x1d98a3;}catch(_0x2ce58d){throw new Error('XacroParser:\x20Failed\x20to\x20process\x20expression\x20\x22'+_0x549954+'\x22.\x20\x0a'+_0x2ce58d['message']);}}async function _0x4b2382(_0x3e71d9,_0x1e12e6,_0x21875a,_0x2eddc2){const _0x5337bd=_0x3e71d9['tagName']['replace'](/^xacro:/,''),_0x39ea51=_0x21875a[_0x5337bd];if(!_0x39ea51)throw new Error('XacroParser:\x20Cannot\x20find\x20macro\x20\x22'+_0x5337bd+'\x22');const _0x4ac6ec=_0x1e12e6,_0x20b36a=_0x21875a;_0x1e12e6=function(_0x5d0897){const _0x32bcc1=Ot(_0x5d0897);return _0x32bcc1[Tt]=_0x5d0897,_0x32bcc1;}(_0x1e12e6),_0x21875a=Ot(_0x21875a);let _0x57f798=[];for(const _0x57942a of _0x3e71d9['children'])await _0x21d55d(_0x57942a,_0x4ac6ec,_0x20b36a,_0x57f798);_0x57f798=_0x57f798['filter'](_0x11349f=>_0x11349f['nodeType']===_0x11349f['ELEMENT_NODE']);let _0x26d732=0x0;for(const _0x22f90b in _0x39ea51['params']){const 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_0x1314be=[..._0x4923ed['childNodes']];_0xa3ed33=[];for(const _0x2002ed of _0x1314be)_0xa3ed33['push'](Et(_0x2002ed,!0x1));}let _0x53ae66='global';_0x5ba88e&&(_0x53ae66=_0x4923ed['getAttribute']('scope')||'local'),'local'!==_0x53ae66&&(_0xa3ed33=_0x5063d1(_0xa3ed33,_0x129e52)),'global'===_0x53ae66?_0x546466[_0x3557e6]=_0xa3ed33:'parent'===_0x53ae66?_0x129e52[Tt][_0x3557e6]=_0xa3ed33:_0x129e52[_0x3557e6]=_0xa3ed33;break;}case'xacro:macro':{Ct(_0x1b6fcf);const _0x3e4a11=_0x1edc9e(_0x4923ed);_0x146dc9[_0x3e4a11['name']]=_0x3e4a11;break;}case'xacro:insert_block':{Ct(_0x1b6fcf);const _0x5780bc=_0x129e52[_0x4923ed['getAttribute']('name')];for(const _0x2b0ca7 of _0x5780bc)await _0x21d55d(_0x2b0ca7,_0x129e52,_0x146dc9,_0x1b6fcf);return;}case'xacro:if':case'xacro:unless':{Ct(_0x1b6fcf);const _0x51b982=_0x5063d1(_0x4923ed['getAttribute']('value'),_0x129e52,!0x0);let _0x2db3a9=null;if(_0x2db3a9=isNaN(parseFloat(_0x51b982))?'true'===_0x51b982||'false'===_0x51b982?'true'===_0x51b982:_0x51b982:!!parseFloat(_0x51b982),'xacro:unless'===_0x197ae5&&(_0x2db3a9=!_0x2db3a9),_0x2db3a9){const _0x34c6a5=[..._0x4923ed['childNodes']];for(const _0x401459 of _0x34c6a5)await _0x21d55d(_0x401459,_0x129e52,_0x146dc9,_0x1b6fcf);}return;}case'xacro:include':{if(Ct(_0x1b6fcf),_0x4923ed['hasAttribute']('ns'))throw new Error('XacroParser:\x20xacro:include\x20name\x20spaces\x20not\x20supported.');const _0x40d447=_0x5063d1(_0x4923ed['getAttribute']('filename'),_0x129e52,!0x0),_0x2c0c76=/^[/\\]/['test'](_0x40d447)||/^[a-zA-Z]+:[/\\]/['test'](_0x40d447)?_0x40d447:_0x457271+_0x40d447,_0xfdc555=_0x457271;_0x457271=At(_0x2c0c76);const _0x332a54=[...(await _0x3e9014(_0x2c0c76))['children'][0x0]['childNodes']];for(const _0x376059 of _0x332a54)await _0x21d55d(_0x376059,_0x129e52,_0x146dc9,_0x1b6fcf);return void(_0x457271=_0xfdc555);}case'xacro:arg':{const _0x2aad04=_0x4923ed['getAttribute']('name');return void(_0x3100e2[_0x2aad04]=_0x5063d1(_0x4923ed['getAttribute']('default'),_0x129e52,!0x0));}case'xacro:attribute':case'xacro:element':throw new Error('XacroParser:\x20'+_0x197ae5+'\x20tags\x20not\x20supported.');default:if(/^xacro:/['test'](_0x197ae5)||_0x197ae5 in _0x146dc9)return Ct(_0x1b6fcf),_0x4b2382(_0x4923ed,_0x129e52,_0x146dc9,_0x1b6fcf);{const _0x3ed417=_0x4923ed['cloneNode']();for(let _0x248d3e=0x0,_0x32a874=_0x3ed417['attributes']['length'];_0x248d3e<_0x32a874;_0x248d3e++){const _0x4d01fc=_0x3ed417['attributes'][_0x248d3e],_0x330540=_0x5063d1(_0x4d01fc['value'],_0x129e52,!0x0);_0x3ed417['setAttribute'](_0x4d01fc['name'],_0x330540);}const _0x55353a=[..._0x4923ed['childNodes']],_0xee885a=[];for(let _0x1b496d=0x0,_0x110656=_0x55353a['length'];_0x1b496d<_0x110656;_0x1b496d++)await _0x21d55d(_0x55353a[_0x1b496d],_0x129e52,_0x146dc9,_0xee885a);_0xee885a['forEach'](_0x42e02b=>_0x3ed417['appendChild'](_0x42e02b)),_0x1b6fcf['push'](_0x3ed417);}}}async function _0x126094(_0x54253e,_0x3082f9,_0x2c4135){const _0x4c3f11=Lt(_0x54253e,'xacro:property');_0x387ff7||_0x4c3f11['push'](...Lt(_0x54253e,'property'));for(const _0x2314e0 of _0x4c3f11)await _0x21d55d(_0x2314e0,_0x3082f9,_0x2c4135);const _0x40f0d1=Lt(_0x54253e,'xacro:macro');_0x387ff7||_0x40f0d1['push'](...Lt(_0x54253e,'macro'));for(const _0x35ebb3 of _0x40f0d1)await _0x21d55d(_0x35ebb3,_0x3082f9,_0x2c4135);}async function _0x3e9014(_0x36a0fb){try{const _0x4a489a=await _0x318f3a['getFileContents'](_0x36a0fb);return new DOMParser()['parseFromString'](_0x4a489a,'text/xml');}catch(_0x38309e){throw new Error('XacroParser:\x20Could\x20not\x20load\x20included\x20file:\x20'+_0x36a0fb);}}async function _0x44884b(_0x598107,_0x301160,_0xf05f4b=[]){const _0x34a5e3=Lt(_0x598107,'xacro:include');_0x387ff7||_0x34a5e3['push'](...Lt(_0x598107,'include'));const _0x1194d9=_0x34a5e3['map'](_0x15b93d=>{if(_0x15b93d['hasAttribute']('ns'))throw new Error('XacroParser:\x20xacro:include\x20name\x20spaces\x20not\x20supported.');const _0x45904e=_0x15b93d['getAttribute']('filename'),_0x1880a5=_0x15b93d['getAttribute']('ns')||null,_0x589ede=/^[/\\]/['test'](_0x45904e)||/^[a-zA-Z]+:[/\\]/['test'](_0x45904e)?_0x45904e:_0x301160+_0x45904e;return _0x3e9014(_0x589ede)['then'](_0x380bea=>{_0xf05f4b['push']({'filename':_0x45904e,'namespace':_0x1880a5,'content':_0x380bea});return _0x44884b(_0x380bea,At(_0x589ede),_0xf05f4b);});});return await Promise['all'](_0x1194d9),_0xf05f4b;}const _0x318f3a=this,_0x3f9f97=this['inOrder'],_0x161a8d=this['workingPath']+(this['workingPath']&&!/[\\/]$/['test'](this['workingPath'])?'/':''),_0x387ff7=this['requirePrefix'],_0x2a4288=this['rospackCommands'],_0x3235e8={},_0x47e8f9={},_0x3100e2={},_0x546466={'True':0x1,'False':0x0};_0x546466[Tt]=_0x546466;const _0x3a47e5=(_0x2ba8da,..._0x34143a)=>{let _0x420ec8;if(_0x2a4288 instanceof Function&&(_0x420ec8=_0x2a4288(_0x2ba8da,..._0x34143a)),null==_0x420ec8&&null!=_0x2a4288&&'function'==typeof _0x2a4288[_0x2ba8da]&&(_0x420ec8=_0x2a4288[_0x2ba8da](..._0x34143a)),null==_0x420ec8&&'arg'===_0x2ba8da){const _0x2347d8=_0x34143a[0x0];if(void 0x0===_0x2347d8)throw new Error('XacroParser:\x20$(arg)\x20must\x20specify\x20a\x20variable\x20name');if(_0x420ec8=this['arguments'][_0x2347d8],null==_0x420ec8&&(_0x420ec8=_0x3100e2[_0x2347d8]),null==_0x420ec8)throw new Error('XacroParser:\x20Undefined\x20substitution\x20argument\x20'+_0x2347d8);}return _0x420ec8;},_0x558f4c=this['expressionParser'];let _0x5ba88e=this['localProperties'],_0x457271=_0x161a8d,_0x37e732=new DOMParser()['parseFromString'](_0x1909b8,'text/xml');_0x5ba88e&&!_0x3f9f97&&(_0x5ba88e=!0x1);let _0x58b68b=null;return _0x58b68b=_0x3f9f97?Promise['resolve']():(async function(){return await _0x126094(_0x37e732,_0x546466,_0x3235e8),_0x37e732=Et(_0x37e732,!0x0),_0x44884b(_0x37e732,_0x161a8d)['then'](_0xaefa18=>{_0xaefa18['forEach'](_0x7863c9=>{_0x126094(_0x7863c9['content'],_0x546466,_0x3235e8),_0x7863c9['content']=Et(_0x7863c9['content'],!0x0),_0x47e8f9[_0x7863c9['filename']]=_0x7863c9['content'];});});}()),await _0x58b68b,async function(_0x4c5a58,_0x4832f6,_0x5b3edd){const _0x118338=_0x4c5a58['cloneNode']();for(let _0x3b2b76=0x0,_0x5183b6=_0x4c5a58['children']['length'];_0x3b2b76<_0x5183b6;_0x3b2b76++){const _0x187a61=[];await _0x21d55d(_0x4c5a58['children'][_0x3b2b76],_0x4832f6,_0x5b3edd,_0x187a61);const _0x5a97c8=_0x187a61[0x0];_0x5a97c8['removeAttribute']('xmlns:xacro'),_0x118338['appendChild'](_0x5a97c8);}return _0x118338;}(_0x37e732,_0x546466,_0x3235e8);}}class Li{static async['parse'](_0x4ef515,_0x2e109f,_0x2e3208=null,_0x44df93=null,_0x5d93be={}){try{const _0x3ecf58=new Ai();_0x3ecf58['inOrder']=!0x0,_0x3ecf58['requirePrefix']=!0x0,_0x3ecf58['localProperties']=!0x0;const _0x347495=_0x2e109f['includes']('/')?_0x2e109f['substring'](0x0,_0x2e109f['lastIndexOf']('/')+0x1):'';_0x3ecf58['workingPath']=_0x347495,_0x4ef515=this['injectBooleanConstants'](_0x4ef515);const _0x1b7a0=this['extractXacroArguments'](_0x4ef515);_0x1b7a0['hasOwnProperty']('DEBUG')||(_0x1b7a0['DEBUG']='false'),_0x1b7a0['hasOwnProperty']('SELF_COLLIDE')||(_0x1b7a0['SELF_COLLIDE']='false'),_0x3ecf58['arguments']=_0x1b7a0,_0x2e3208&&(_0x3ecf58['getFileContents']=async _0x5e17d3=>await this['loadFileFromMap'](_0x5e17d3,_0x2e3208,_0x347495));const _0x1ea64f=await _0x3ecf58['parse'](_0x4ef515),_0x25aa8e=new XMLSerializer();let _0x5c7eaf=_0x25aa8e['serializeToString'](_0x1ea64f);_0x5c7eaf=_0x5c7eaf['replace'](/\sxmlns=""/g,'');const _0x5edbaf=new DOMParser()['parseFromString'](_0x5c7eaf,'text/xml'),_0xc23b2e=_0x5edbaf['querySelector']('parsererror');if(_0xc23b2e)throw new Error('Generated\x20URDF\x20has\x20invalid\x20XML:\x20'+_0xc23b2e['textContent']);_0x5edbaf['querySelectorAll']('gazebo')['forEach'](_0x443d8d=>{var _0x25ae6b;return null==(_0x25ae6b=_0x443d8d['parentNode'])?void 0x0:_0x25ae6b['removeChild'](_0x443d8d);});_0x5edbaf['querySelectorAll']('transmission')['forEach'](_0x45f29a=>{var _0x169468;return null==(_0x169468=_0x45f29a['parentNode'])?void 0x0:_0x169468['removeChild'](_0x45f29a);}),this['removeEmptyGeometry'](_0x5edbaf),this['cleanXMLNodes'](_0x5edbaf['documentElement']);const _0x1afb4e=_0x25aa8e['serializeToString'](_0x5edbaf),_0x975b6c=await Ae(()=>import('./URDFLoader-a34b6917.js'),["./URDFLoader-a34b6917.js","./three-9c891de0.js","./STLLoader-de0915d4.js","./ColladaLoader-2a0c4638.js"],import.meta.url),_0x479e42=_0x975b6c['URDFLoader']||_0x975b6c['default']||_0x975b6c;return new Promise((_0x38351f,_0x1d9311)=>{const _0x238f4c=new _0x479e42();_0x238f4c['parseCollision']=!0x0;const _0x1d84b5=_0x347495;if(_0x2e3208){const _0x193f2e=this['extractPackagesFromURDF'](_0x1afb4e),_0xe6a4bd={};_0x193f2e['forEach'](_0x5b8bad=>{_0xe6a4bd[_0x5b8bad]=_0x5b8bad;}),_0xe6a4bd['']='',_0x238f4c['packages']=_0xe6a4bd;const _0x13acf6=_0x4d6442=>{if(_0x4d6442['startsWith']('blob:')){const _0x4fcb3d=_0x4d6442['match'](/^blob:https?:\/\/[^\/]+\/(.+)$/);if(!_0x4fcb3d||!_0x4fcb3d[0x1])return _0x4d6442;{const _0x124abb=_0x4fcb3d[0x1];if(!/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp|dae|stl|obj|gltf|glb)$/i['test'](_0x124abb))return _0x4d6442;_0x4d6442=_0x124abb;}}/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp)$/i['test'](_0x4d6442),/\.(dae|stl|obj|gltf|glb)$/i['test'](_0x4d6442);let _0x4a8bc8=_0x4d6442;if(_0x4a8bc8['startsWith']('http://')||_0x4a8bc8['startsWith']('https://'))try{_0x4a8bc8=new URL(_0x4a8bc8)['pathname'],_0x4a8bc8['startsWith']('/')&&(_0x4a8bc8=_0x4a8bc8['substring'](0x1));}catch(_0x4583b2){}const _0x17bc54=bt(_0x4a8bc8,_0x2e3208,{'baseDir':_0x1d84b5});if(_0x17bc54){return URL['createObjectURL'](_0x17bc54);}return _0x4d6442;};_0x238f4c['manager']['setURLModifier'](_0x13acf6);const _0x478783=_0x238f4c['loadMeshCb']||_0x238f4c['defaultMeshLoader']['bind'](_0x238f4c);_0x238f4c['loadMeshCb']=(_0x5086b9,_0x21e71f,_0x19355b)=>{this['findFileInMapByPath'](_0x5086b9,_0x2e3208,_0x1d84b5)['then'](_0x361f07=>{if(_0x361f07){const _0x2e3eb4=(_0x361f07['name']||_0x5086b9)['toLowerCase']()['split']('.')['pop']();this['loadMeshFileAsync'](_0x361f07,_0x2e3eb4,_0x21e71f)['then'](_0x11db79=>{_0x11db79?_0x19355b(_0x11db79,null):_0x19355b(null,new Error('Failed\x20to\x20load\x20mesh\x20file:\x20'+_0x5086b9));})['catch'](_0x5ea141=>{_0x19355b(null,_0x5ea141);});}else _0x478783(_0x5086b9,_0x21e71f,_0x19355b);})['catch'](_0x3b93b5=>{_0x478783(_0x5086b9,_0x21e71f,_0x19355b);});};}const _0x1cdb47=new Blob([_0x1afb4e],{'type':'text/xml'}),_0xdb6628=URL['createObjectURL'](_0x1cdb47);_0x238f4c['load'](_0xdb6628,_0xa1c97d=>{URL['revokeObjectURL'](_0xdb6628);try{const _0x48822b=ut['convert'](_0xa1c97d,_0x1afb4e,_0x5d93be);_0x38351f(_0x48822b);}catch(_0x57bcf1){_0x1d9311(new Error('URDF\x20conversion\x20failed:\x20'+_0x57bcf1['message']));}},void 0x0,_0x36a5d4=>{URL['revokeObjectURL'](_0xdb6628),_0x1d9311(new Error('URDF\x20loading\x20failed:\x20'+(_0x36a5d4['message']||_0x36a5d4)));});});}catch(_0x321598){throw new Error('Xacro\x20parsing\x20failed:\x20'+_0x321598['message']);}}static async['loadFileFromMap'](_0x431e73,_0x3151ec,_0x154cea){let _0x2d4864=_0x431e73;_0x2d4864['startsWith']('/')&&(_0x2d4864=_0x2d4864['substring'](0x1)),_0x2d4864=_0x2d4864['replace'](/^\.\//,'');const _0xfb6ad1=[_0x2d4864,_0x154cea+_0x2d4864,_0x431e73,_0x154cea+_0x431e73['replace'](/^\/+/,''),_0x2d4864['includes']('/')?_0x2d4864['substring'](_0x2d4864['indexOf']('/')+0x1):_0x2d4864];for(const _0x3d9bb1 of _0xfb6ad1){const _0x596556=_0x3151ec['get'](_0x3d9bb1);if(_0x596556){return await _0x596556['text']();}}const _0x35418f=_0x2d4864['split']('/')['pop']();for(const [_0x492a83,_0xad7d23]of _0x3151ec['entries']()){if(_0x492a83['split']('/')['pop']()===_0x35418f){return await _0xad7d23['text']();}}throw new Error('Cannot\x20find\x20included\x20file:\x20'+_0x431e73);}static['removeEmptyGeometry'](_0x374e6e){_0x374e6e['querySelectorAll']('geometry')['forEach'](_0x23642d=>{if(!_0x23642d['children']||0x0===_0x23642d['children']['length']){let _0xb0e257=_0x23642d['parentNode'];if(_0xb0e257){const _0x391f5b=_0xb0e257['parentNode'];_0x391f5b&&('visual'!==_0xb0e257['nodeName']&&'collision'!==_0xb0e257['nodeName']||_0x391f5b['removeChild'](_0xb0e257));}}});}static['cleanXMLNodes'](_0x4321ac){if(!_0x4321ac||!_0x4321ac['childNodes'])return;const _0x420024=[];for(let _0x3613df=0x0;_0x3613df<_0x4321ac['childNodes']['length'];_0x3613df++){const _0x356941=_0x4321ac['childNodes'][_0x3613df];_0x356941['nodeType']===Node['COMMENT_NODE']?_0x420024['push'](_0x356941):_0x356941['nodeType']===Node['TEXT_NODE']?_0x356941['nodeValue']&&''!==_0x356941['nodeValue']['trim']()||_0x420024['push'](_0x356941):_0x356941['nodeType']===Node['ELEMENT_NODE']&&this['cleanXMLNodes'](_0x356941);}_0x420024['forEach'](_0x3f8fe2=>{_0x4321ac['removeChild'](_0x3f8fe2);});}static['extractPackagesFromURDF'](_0x374d33){const _0x318d4a=new Set(),_0x452671=/package:\/\/([^\/]+)/g;let _0xf93172;for(;null!==(_0xf93172=_0x452671['exec'](_0x374d33));)_0x318d4a['add'](_0xf93172[0x1]);return _0x318d4a;}static async['findFileInMapByPath'](_0x2318e7,_0x2be626,_0xc89c9e){return bt(_0x2318e7,_0x2be626,{'baseDir':_0xc89c9e});}static async['loadMeshFileAsync'](_0x255b42,_0x2211fa,_0x3f52b6){const _0x113384=await Ae(()=>import('./three-9c891de0.js'),[],import.meta.url),_0x2b5d28=URL['createObjectURL'](_0x255b42);try{let _0x34d2aa=null;switch(_0x2211fa){case'stl':{const {STLLoader:_0x257631}=await Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),_0x35dc9e=new _0x257631(_0x3f52b6),_0x16e407=await new Promise((_0x1fcd5a,_0x5f5924)=>{_0x35dc9e['load'](_0x2b5d28,_0x1fcd5a,void 0x0,_0x5f5924);}),_0x3ffe5b=new _0x113384['MeshPhongMaterial']();_0x34d2aa=new _0x113384['Mesh'](_0x16e407,_0x3ffe5b);break;}case'dae':{const {ColladaLoader:_0x44cdc1}=await Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),_0x53a4d5=new _0x44cdc1(_0x3f52b6);if(_0x34d2aa=(await new Promise((_0xcfbec5,_0x3dd58f)=>{_0x53a4d5['load'](_0x2b5d28,_0xcfbec5,void 0x0,_0x3dd58f);}))['scene'],_0x34d2aa&&_0x34d2aa['traverse']){const _0xba23b9=[];_0x34d2aa['traverse'](_0x467edb=>{_0x467edb['isLight']&&_0xba23b9['push'](_0x467edb);}),_0xba23b9['forEach'](_0x5c6404=>{_0x5c6404['parent']&&_0x5c6404['parent']['remove'](_0x5c6404);});}break;}case'obj':{const {OBJLoader:_0x906fc6}=await Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),_0x1096cd=new _0x906fc6(_0x3f52b6);_0x34d2aa=await new Promise((_0x2e6748,_0x324aca)=>{_0x1096cd['load'](_0x2b5d28,_0x2e6748,void 0x0,_0x324aca);});break;}case'gltf':case'glb':{const {GLTFLoader:_0x42f3d1}=await Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url),_0x551a78=new _0x42f3d1(_0x3f52b6);_0x34d2aa=(await new Promise((_0x257924,_0x3e39ae)=>{_0x551a78['load'](_0x2b5d28,_0x257924,void 0x0,_0x3e39ae);}))['scene'];break;}default:return URL['revokeObjectURL'](_0x2b5d28),null;}return URL['revokeObjectURL'](_0x2b5d28),_0x34d2aa;}catch(_0x5e37d0){throw URL['revokeObjectURL'](_0x2b5d28),_0x5e37d0;}}static['injectBooleanConstants'](_0x53f04c){const _0x3a27e0=_0x53f04c['match'](/(<robot[^>]*>)/);if(!_0x3a27e0)return _0x53f04c;const _0x50509c=_0x3a27e0['index']+_0x3a27e0[0x0]['length'];return _0x53f04c['substring'](0x0,_0x50509c)+'\x0a\x20\x20\x20\x20\x3c!--\x20Injected\x20by\x20XacroAdapter:\x20Python-style\x20boolean\x20constants\x20--\x3e\x0a\x20\x20\x20\x20<xacro:property\x20name=\x22True\x22\x20value=\x22True\x22/>\x0a\x20\x20\x20\x20<xacro:property\x20name=\x22False\x22\x20value=\x22False\x22/>\x0a'+_0x53f04c['substring'](_0x50509c);}static['extractXacroArguments'](_0x51e7e4){const _0x4c26c6={},_0x244dcb=/<(?:xacro:)?arg\s+name=["']([^"']+)["'](?:\s+default=["']([^"']*)["'])?/g;let _0x21bbda;for(;null!==(_0x21bbda=_0x244dcb['exec'](_0x51e7e4));){const _0x27f693=_0x21bbda[0x1],_0x131031=_0x21bbda[0x2]||'false';_0x4c26c6[_0x27f693]=_0x131031;}return _0x4c26c6;}}class Ei{static['detectFileType'](_0x11c551,_0x51ce15){switch(_0x11c551['toLowerCase']()['split']('.')['pop']()){case'urdf':return'urdf';case'xacro':return'xacro';case'xml':return _0x51ce15&&this['isValidRobotMJCF'](_0x51ce15)?'mjcf':null;case'usd':case'usda':case'usdc':case'usdz':return'usd';default:return null;}}static['isValidRobotDescriptionXML'](_0x404a83){if(!_0x404a83||'string'!=typeof _0x404a83)return!0x1;const _0x5d1456=_0x404a83['trim']();return!(!_0x5d1456['startsWith']('<?xml')&&!_0x5d1456['startsWith']('<'))&&this['isValidRobotMJCF'](_0x5d1456);}static['isValidRobotMJCF'](_0x40720a){if(!_0x40720a||'string'!=typeof _0x40720a)return!0x1;if(!_0x40720a['includes']('<mujoco'))return!0x1;const _0x2161c4=_0x40720a['includes']('<joint'),_0x49c043=_0x40720a['includes']('<actuator');return!(!_0x2161c4&&!_0x49c043);}static async['loadModel'](_0x13079c,_0x4d4849,_0x19e25b,_0x1c4667=null,_0x5ab924=null,_0x2edd84={}){let _0x47a54b=null;if(_0x19e25b){const _0x3272ed=Math['max'](_0x19e25b['lastIndexOf']('/'),_0x19e25b['lastIndexOf']('\x5c'));_0x3272ed>0x0&&(_0x47a54b=_0x19e25b['substring'](0x0,_0x3272ed));}switch(_0x13079c){case'urdf':return await this['loadURDF'](_0x4d4849,_0x19e25b,_0x1c4667,_0x5ab924,_0x2edd84);case'xacro':return await this['loadXacro'](_0x4d4849,_0x19e25b,_0x1c4667,_0x5ab924,_0x2edd84);case'mjcf':return await this['loadMJCF'](_0x4d4849,_0x1c4667,_0x47a54b);case'usd':return await this['loadUSD'](_0x4d4849,_0x1c4667,_0x5ab924,_0x2edd84);default:throw new Error('Unsupported\x20file\x20type:\x20'+_0x13079c);}}static async['loadURDF'](_0x3d3501,_0x4c836b,_0x430a18=null,_0x5d2e74=null,_0x46e231={}){let _0x1d5064;try{const _0x5af367=await Ae(()=>import('./URDFLoader-a34b6917.js'),["./URDFLoader-a34b6917.js","./three-9c891de0.js","./STLLoader-de0915d4.js","./ColladaLoader-2a0c4638.js"],import.meta.url);_0x1d5064=_0x5af367['URDFLoader']||_0x5af367['default']||_0x5af367;}catch(_0x202505){throw new Error('Failed\x20to\x20load\x20urdf-loader:\x20'+_0x202505['message']);}return new Promise((_0x39b1e9,_0x4e8f7c)=>{const _0x275793=new _0x1d5064();_0x275793['parseCollision']=!0x0;const _0x484763=_0x4c836b['includes']('/')?_0x4c836b['substring'](0x0,_0x4c836b['lastIndexOf']('/')+0x1):'';if(_0x430a18){const _0x42c712=this['extractPackagesFromURDF'](_0x3d3501),_0x127c4d={};_0x42c712['forEach'](_0x3fcd1e=>{_0x127c4d[_0x3fcd1e]=_0x3fcd1e;}),_0x127c4d['']='',_0x275793['packages']=_0x127c4d;const _0x19df61=_0x241260=>{if(_0x241260['startsWith']('blob:')){const _0x3778f9=_0x241260['match'](/^blob:https?:\/\/[^\/]+\/(.+)$/);if(!_0x3778f9||!_0x3778f9[0x1])return _0x241260;{const _0x1adb1c=_0x3778f9[0x1];if(!/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp|dae|stl|obj|gltf|glb)$/i['test'](_0x1adb1c))return _0x241260;_0x241260=_0x1adb1c;}}let _0x2baf8e=_0x241260;if(_0x2baf8e['startsWith']('http://')||_0x2baf8e['startsWith']('https://'))try{_0x2baf8e=new URL(_0x2baf8e)['pathname'],_0x2baf8e['startsWith']('/')&&(_0x2baf8e=_0x2baf8e['substring'](0x1));}catch(_0x28bf92){}const _0x540245=bt(_0x2baf8e,_0x430a18,{'baseDir':_0x484763});if(_0x540245){return URL['createObjectURL'](_0x540245);}return _0x241260;};_0x275793['manager']['setURLModifier'](_0x19df61);const _0x367da3=_0x275793['loadMeshCb']||_0x275793['defaultMeshLoader']['bind'](_0x275793);_0x275793['loadMeshCb']=(_0x238b6b,_0x51aa13,_0x2e55b2)=>{this['findFileInMapByPath'](_0x238b6b,_0x430a18,_0x484763)['then'](_0x104b38=>{if(_0x104b38){const _0x5583d7=(_0x104b38['name']||_0x238b6b)['toLowerCase']()['split']('.')['pop']();this['loadMeshFileAsync'](_0x104b38,_0x5583d7,_0x51aa13)['then'](_0x1616e0=>{_0x1616e0?_0x2e55b2(_0x1616e0,null):_0x2e55b2(null,new Error('Failed\x20to\x20load\x20mesh\x20file:\x20'+_0x238b6b));})['catch'](_0x49a3a5=>{_0x2e55b2(null,_0x49a3a5);});}else _0x367da3(_0x238b6b,_0x51aa13,_0x2e55b2);})['catch'](_0x4c6ce7=>{_0x367da3(_0x238b6b,_0x51aa13,_0x2e55b2);});};}const _0x8a7db5=new Blob([_0x3d3501],{'type':'text/xml'}),_0x16be09=URL['createObjectURL'](_0x8a7db5);_0x275793['load'](_0x16be09,_0x5afa61=>{URL['revokeObjectURL'](_0x16be09);try{const _0x2a517c=ut['convert'](_0x5afa61,_0x3d3501,_0x46e231);_0x39b1e9(_0x2a517c);}catch(_0x187599){_0x4e8f7c(new Error('URDF\x20conversion\x20failed:\x20'+_0x187599['message']));}},void 0x0,_0x23eb07=>{URL['revokeObjectURL'](_0x16be09),_0x4e8f7c(new Error('URDF\x20loading\x20failed:\x20'+(_0x23eb07['message']||_0x23eb07)));});});}static async['loadXacro'](_0x50afd0,_0x328eb1,_0x10f44e=null,_0x2406ac=null,_0x4f0369={}){try{return await Li['parse'](_0x50afd0,_0x328eb1,_0x10f44e,_0x2406ac,_0x4f0369);}catch(_0x4e7778){throw new Error('Xacro\x20parsing\x20failed:\x20'+_0x4e7778['message']);}}static['extractPackagesFromURDF'](_0x1aa999){const _0x35530b=new Set(),_0x4a4cd3=/package:\/\/([^\/]+)/g;let _0x32029a;for(;null!==(_0x32029a=_0x4a4cd3['exec'](_0x1aa999));)_0x35530b['add'](_0x32029a[0x1]);return _0x35530b;}static async['resolveURDFPath'](_0x32f08e,_0xccc95b,_0x11c76a,_0x50bafe){const _0x4d7cea=[];if(_0xccc95b){_0x4d7cea['push'](_0xccc95b+'/'+_0x32f08e),_0x4d7cea['push']('/'+_0xccc95b+'/'+_0x32f08e);const _0x17f4d6=_0x32f08e['split']('/')['pop']();_0x4d7cea['push'](_0xccc95b+'/'+_0x17f4d6),_0x4d7cea['push']('/'+_0xccc95b+'/'+_0x17f4d6),_0x4d7cea['push'](_0xccc95b+'/meshes/'+_0x17f4d6),_0x4d7cea['push']('/'+_0xccc95b+'/meshes/'+_0x17f4d6),_0x4d7cea['push'](_0xccc95b+'/urdf/'+_0x17f4d6),_0x4d7cea['push'](_0xccc95b+'/models/'+_0x17f4d6);const _0x4f41af=_0xccc95b['toLowerCase']();for(const [_0x1e2bf6]of _0x11c76a['entries']()){const _0x51c9ee=_0x1e2bf6['toLowerCase']();if(_0x51c9ee['includes'](_0x4f41af)){const _0x983e79=_0x51c9ee['indexOf'](_0x4f41af),_0x49b826=_0x1e2bf6['substring'](_0x983e79+_0xccc95b['length']),_0x5e9ddc=_0x32f08e['split']('/')['pop']();(_0x49b826['endsWith'](_0x32f08e)||_0x49b826['endsWith']('/'+_0x32f08e)||_0x49b826['endsWith'](_0x5e9ddc)||_0x49b826['endsWith']('/'+_0x5e9ddc)||_0x49b826['includes'](_0x5e9ddc))&&_0x4d7cea['push'](_0x1e2bf6);}}}const _0x9a4369=_0x50bafe['substring'](0x0,_0x50bafe['lastIndexOf']('/')+0x1);_0x4d7cea['push'](_0x32f08e),_0x4d7cea['push'](_0x9a4369+_0x32f08e);const _0x8738dc=_0x32f08e['split']('/')['pop']();_0x4d7cea['push'](_0x8738dc);for(const _0x359420 of _0x4d7cea){let _0x5d855b=_0x11c76a['get'](_0x359420);if(_0x5d855b)return await _0x5d855b['arrayBuffer']();}const _0x3c95c6=this['cleanFilePath'](_0x32f08e),_0x408947=Array['from'](_0x11c76a['keys']())['map'](_0x143036=>this['cleanFilePath'](_0x143036));for(const _0x17699d of _0x408947){const _0xe14922=Math['min'](_0x17699d['length'],_0x3c95c6['length']);if(_0x3c95c6['substr'](_0x3c95c6['length']-_0xe14922)===_0x17699d['substr'](_0x17699d['length']-_0xe14922)){const _0x11570d=_0x11c76a['get'](_0x17699d);if(_0x11570d)return await _0x11570d['arrayBuffer']();}}return new ArrayBuffer(0x0);}static['cleanFilePath'](_0x8cf0f2){return _0x8cf0f2['replace'](/\\/g,'/')['split'](/\//g)['reduce']((_0x28e070,_0x5d5395)=>('..'===_0x5d5395?_0x28e070['pop']():'.'!==_0x5d5395&&_0x28e070['push'](_0x5d5395),_0x28e070),[])['join']('/');}static async['findFileInMapByPath'](_0x59684f,_0x17ef4f,_0x1f8e20){return bt(_0x59684f,_0x17ef4f,{'baseDir':_0x1f8e20});}static async['findFileInMap'](_0x2e356e,_0x482ef3,_0xe8668d){let _0x14d5b0=_0x2e356e['replace'](/^package:\/\//,'');_0x14d5b0=_0x14d5b0['replace'](/^\.\//,''),_0x14d5b0=_0x14d5b0['replace'](/^blob:[^\/]+\//,'');const _0x465300=[],_0x456ebe=_0x14d5b0['split']('/');if(_0x456ebe['length']>0x1){const _0x26209b=_0x456ebe[0x0],_0xd25394=_0x456ebe['slice'](0x1)['join']('/'),_0x1cea8f=_0xd25394['split']('/')['pop']();_0x465300['push'](_0x26209b+'/'+_0xd25394),_0x465300['push']('/'+_0x26209b+'/'+_0xd25394),_0x465300['push'](_0x26209b+'/'+_0x1cea8f),_0x465300['push']('/'+_0x26209b+'/'+_0x1cea8f),_0x465300['push'](_0x26209b+'/meshes/'+_0x1cea8f),_0x465300['push']('/'+_0x26209b+'/meshes/'+_0x1cea8f);const _0x20bf67=_0x26209b['toLowerCase']();for(const [_0x56f99c]of _0x482ef3['entries']()){const _0x636213=_0x56f99c['toLowerCase']();if(_0x636213['includes'](_0x20bf67)){const _0x283321=_0x636213['indexOf'](_0x20bf67),_0x570dfd=_0x56f99c['substring'](_0x283321+_0x26209b['length']);(_0x570dfd['endsWith'](_0xd25394)||_0x570dfd['endsWith']('/'+_0xd25394)||_0x570dfd['endsWith'](_0x1cea8f)||_0x570dfd['endsWith']('/'+_0x1cea8f)||_0x570dfd['includes'](_0x1cea8f))&&_0x465300['push'](_0x56f99c);}}}_0x465300['push'](_0x14d5b0),_0x465300['push']('/'+_0x14d5b0),_0x465300['push']('./'+_0x14d5b0);const _0x31ee54=_0xe8668d['substring'](0x0,_0xe8668d['lastIndexOf']('/')+0x1);_0x465300['push'](_0x31ee54+_0x14d5b0);const _0x2e4eff=_0x14d5b0['split']('/')['pop']();_0x465300['push'](_0x2e4eff);for(const _0x2a64f9 of _0x465300){const _0x23cf8d=_0x482ef3['get'](_0x2a64f9);if(_0x23cf8d)return _0x23cf8d;}const _0x1a983c=this['cleanFilePath'](_0x14d5b0)['replace'](/^\.\//,'');for(const [_0x439e6f,_0x483ba5]of _0x482ef3['entries']()){if(this['cleanFilePath'](_0x439e6f)['replace'](/^\.\//,'')===_0x1a983c)return _0x483ba5;}const _0x50d376=this['cleanFilePath'](_0x14d5b0),_0x48c330=Array['from'](_0x482ef3['keys']())['map'](_0x5b9e28=>this['cleanFilePath'](_0x5b9e28));for(const _0x28aaaa of _0x48c330){const _0x49e514=Math['min'](_0x28aaaa['length'],_0x50d376['length']);if(_0x50d376['substr'](_0x50d376['length']-_0x49e514)===_0x28aaaa['substr'](_0x28aaaa['length']-_0x49e514)){const _0x275e84=_0x482ef3['get'](_0x28aaaa);if(_0x275e84)return _0x275e84;}}return null;}static async['loadMeshFileDirect'](_0x5aa527,_0x1dd302){const _0x5a07fa=_0x5aa527['name']?_0x5aa527['name']['toLowerCase']()['split']('.')['pop']():_0x1dd302['toLowerCase']()['split']('.')['pop'](),_0x3093f6=URL['createObjectURL'](_0x5aa527);try{let _0x2fac40=null;switch(_0x5a07fa){case'stl':const {STLLoader:_0x1da924}=await Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),_0x288cbb=new _0x1da924(),_0x26d09c=await new Promise((_0x46189a,_0x1b1a6d)=>{_0x288cbb['load'](_0x3093f6,_0x46189a,void 0x0,_0x1b1a6d);}),_0x3a3e58=new _0xc21d5a({'color':0xcccccc});_0x2fac40=new _0x3d1069(_0x26d09c,_0x3a3e58);break;case'dae':const {ColladaLoader:_0x18c7e3}=await Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),_0x4b3684=new _0x18c7e3(),_0x3a8353=await new Promise((_0x6aa333,_0x3f5e6f)=>{_0x4b3684['load'](_0x3093f6,_0x6aa333,void 0x0,_0x3f5e6f);});if(_0x2fac40=_0x3a8353['scene']||_0x3a8353,_0x2fac40&&_0x2fac40['traverse']){const _0x177862=[];_0x2fac40['traverse'](_0x1eea6f=>{_0x1eea6f['isLight']&&_0x177862['push'](_0x1eea6f);}),_0x177862['forEach'](_0x8eaa05=>{_0x8eaa05['parent']&&_0x8eaa05['parent']['remove'](_0x8eaa05);});}break;case'obj':const {OBJLoader:_0xed258f}=await Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),_0x419c4a=new _0xed258f();_0x2fac40=await new Promise((_0x2b7723,_0x143ac)=>{_0x419c4a['load'](_0x3093f6,_0x2b7723,void 0x0,_0x143ac);});break;case'gltf':case'glb':const {GLTFLoader:_0x43aea9}=await Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url),_0x14d79a=new _0x43aea9(),_0x41abfc=await new Promise((_0x420231,_0x2d3d0d)=>{_0x14d79a['load'](_0x3093f6,_0x420231,void 0x0,_0x2d3d0d);});_0x2fac40=_0x41abfc['scene']||_0x41abfc;break;default:return URL['revokeObjectURL'](_0x3093f6),null;}return URL['revokeObjectURL'](_0x3093f6),_0x2fac40;}catch(_0x3dd867){return URL['revokeObjectURL'](_0x3093f6),null;}}static async['loadMeshFileAsync'](_0x3fd006,_0x430290,_0x51031){const _0x5997f3=URL['createObjectURL'](_0x3fd006);try{let _0x114665=null;switch(_0x430290){case'stl':{const {STLLoader:_0x2edc49}=await Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),_0x279510=new _0x2edc49(_0x51031),_0x6fb7d4=await new Promise((_0x265e94,_0x3a66e5)=>{_0x279510['load'](_0x5997f3,_0x265e94,void 0x0,_0x3a66e5);}),_0x3ecad3=new _0xa87e13();_0x114665=new _0x3d1069(_0x6fb7d4,_0x3ecad3);break;}case'dae':{const {ColladaLoader:_0xc473ba}=await Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),_0x1474c5=new _0xc473ba(_0x51031);if(_0x114665=(await new Promise((_0x368a5a,_0x54ede0)=>{_0x1474c5['load'](_0x5997f3,_0x368a5a,void 0x0,_0x54ede0);}))['scene'],_0x114665&&_0x114665['traverse']){const _0x185b70=[];_0x114665['traverse'](_0x5d1138=>{_0x5d1138['isLight']&&_0x185b70['push'](_0x5d1138);}),_0x185b70['forEach'](_0x1b6cca=>{_0x1b6cca['parent']&&_0x1b6cca['parent']['remove'](_0x1b6cca);});}break;}case'obj':{const {OBJLoader:_0x2c081c}=await Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),_0xb21127=new _0x2c081c(_0x51031);_0x114665=await new Promise((_0x34e4f9,_0x13a6a6)=>{_0xb21127['load'](_0x5997f3,_0x34e4f9,void 0x0,_0x13a6a6);});break;}case'gltf':case'glb':{const {GLTFLoader:_0x5c2b53}=await Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url),_0x5e5524=new _0x5c2b53(_0x51031);_0x114665=(await new Promise((_0xeca6e7,_0x239bb4)=>{_0x5e5524['load'](_0x5997f3,_0xeca6e7,void 0x0,_0x239bb4);}))['scene'];break;}default:return URL['revokeObjectURL'](_0x5997f3),null;}return URL['revokeObjectURL'](_0x5997f3),_0x114665;}catch(_0x509e59){throw URL['revokeObjectURL'](_0x5997f3),_0x509e59;}}static async['loadURDFFromURL'](_0x4a468a){let _0x2a020a;try{const _0x17d28d=await Ae(()=>import('./URDFLoader-a34b6917.js'),["./URDFLoader-a34b6917.js","./three-9c891de0.js","./STLLoader-de0915d4.js","./ColladaLoader-2a0c4638.js"],import.meta.url);_0x2a020a=_0x17d28d['URDFLoader']||_0x17d28d['default']||_0x17d28d;}catch(_0x687607){throw new Error('Failed\x20to\x20load\x20urdf-loader:\x20'+_0x687607['message']);}const _0x302fe0=await fetch(_0x4a468a)['then'](_0x4d8381=>_0x4d8381['text']());return new Promise((_0x4ea9a0,_0x5bb68c)=>{const _0x3eada0=new _0x2a020a();_0x3eada0['parseCollision']=!0x0,_0x3eada0['load'](_0x4a468a,_0x22b982=>{try{const _0x316a31=ut['convert'](_0x22b982,_0x302fe0);_0x4ea9a0(_0x316a31);}catch(_0x26d786){_0x5bb68c(new Error('URDF\x20conversion\x20failed:\x20'+_0x26d786['message']));}},void 0x0,_0x46ec7f=>{_0x5bb68c(new Error('URDF\x20loading\x20failed:\x20'+(_0x46ec7f['message']||_0x46ec7f)));});});}static async['loadMJCF'](_0x52066b,_0x5d596f=null,_0x374a16=null){try{return await _t['parse'](_0x52066b,_0x5d596f,_0x374a16);}catch(_0x20e552){throw new Error('MJCF\x20parsing\x20failed:\x20'+_0x20e552['message']+(_0x20e552['stack']?'\x0a'+_0x20e552['stack']:''));}}static async['loadUSD'](_0x160e99,_0x33d747=null,_0x12c216=null,_0x21db88={}){try{return await St['parse'](_0x160e99,_0x33d747,_0x12c216,_0x21db88);}catch(_0x186a3a){throw new Error('USD\x20parsing\x20failed:\x20'+_0x186a3a['message']);}}static['setJointAngle'](_0x5c53c4,_0x6d20a1,_0x11e8fd,_0x2305fb=!0x1){const _0x4adc1c=_0x5c53c4['getJoint'](_0x6d20a1);_0x4adc1c&&(!_0x2305fb&&_0x5c53c4['userData']&&_0x5c53c4['userData']['ignoreLimits']&&(_0x2305fb=!0x0),!_0x4adc1c['threeObject']||'function'!=typeof _0x4adc1c['threeObject']['setJointValue']&&'function'!=typeof _0x4adc1c['threeObject']['setAngle']?_t['setJointAngle'](_0x4adc1c,_0x11e8fd):ut['setJointAngle'](_0x4adc1c,_0x11e8fd,_0x2305fb),_0x5c53c4['threeObject']&&_0x5c53c4['threeObject']['updateMatrixWorld'](!0x0));}}class Ci{constructor(_0x451f61){this['scene']=_0x451f61,this['lights']={},this['groundPlane']=null,this['globalAxes']=null,this['referenceGrid']=null,this['envMap']=null,this['pmremGenerator']=null;}['setupLights'](){this['lights']['ambient']=new _0x2b3ac0(0xffffff,0x444444,0.5),this['lights']['ambient']['position']['set'](0x0,0x1,0x0),this['scene']['add'](this['lights']['ambient']),this['lights']['directional']=new _0x26b1c0(0xffffff,Math['PI']),this['lights']['directional']['position']['set'](0x4,0xa,0x1),this['lights']['directional']['castShadow']=!0x0,this['lights']['directional']['shadow']['mapSize']['width']=0x800,this['lights']['directional']['shadow']['mapSize']['height']=0x800,this['lights']['directional']['shadow']['camera']['near']=0.1,this['lights']['directional']['shadow']['camera']['far']=0x32,this['lights']['directional']['shadow']['normalBias']=0.001,this['lights']['directional']['shadow']['camera']['left']=-0x5,this['lights']['directional']['shadow']['camera']['right']=0x5,this['lights']['directional']['shadow']['camera']['top']=0x5,this['lights']['directional']['shadow']['camera']['bottom']=-0x5,this['scene']['add'](this['lights']['directional']),this['scene']['add'](this['lights']['directional']['target']),this['lights']['fill']=new _0x26b1c0(0xffffff,0.3*Math['PI']),this['lights']['fill']['position']['set'](-0x2,0x2,-0x2),this['lights']['fill']['castShadow']=!0x1,this['scene']['add'](this['lights']['fill']),this['setupEnvironmentMap']();}['setupEnvironmentMap'](_0x33aed8=null){if(_0x33aed8){this['pmremGenerator']||(this['pmremGenerator']=new _0x434763(_0x33aed8),this['pmremGenerator']['compileEquirectangularShader']());const _0x9c103b=new _0x33e93b(),_0xd66fee=new _0x2b3ac0(0xffffff,0x444444,0x1);_0x9c103b['add'](_0xd66fee),this['envMap']=this['pmremGenerator']['fromScene'](_0x9c103b,0.04)['texture'],this['envMap']['mapping']=_0x55da5a,this['scene']['environment']=this['envMap'],this['scene']['background']=this['scene']['background']||new _0x43a4f1(0x505050);}else{const _0x1661a0=0x100,_0x15e097=new Uint8Array(_0x1661a0*_0x1661a0*0x4),_0x58d151=new _0x43a4f1(0xffffff);for(let _0x573261=0x0;_0x573261<_0x1661a0*_0x1661a0;_0x573261++){const _0x509b52=0x4*_0x573261;_0x15e097[_0x509b52]=Math['floor'](0xff*_0x58d151['r']),_0x15e097[_0x509b52+0x1]=Math['floor'](0xff*_0x58d151['g']),_0x15e097[_0x509b52+0x2]=Math['floor'](0xff*_0x58d151['b']),_0x15e097[_0x509b52+0x3]=0xff;}const _0x212c86=new _0x4da6af(_0x15e097,_0x1661a0,_0x1661a0);_0x212c86['needsUpdate']=!0x0;const _0x3cbc55=new _0x103b61([_0x212c86,_0x212c86,_0x212c86,_0x212c86,_0x212c86,_0x212c86]);_0x3cbc55['needsUpdate']=!0x0,_0x3cbc55['mapping']=_0x33202c,this['envMap']=_0x3cbc55,this['scene']['environment']=this['envMap'];}}['initializeEnvironmentMap'](_0x114fd8){_0x114fd8&&!this['envMap']&&this['setupEnvironmentMap'](_0x114fd8);}['regenerateEnvironmentMap'](_0x2d9832,_0x269d17=!0x1){var _0x3dc7c6,_0x453185;_0x2d9832&&(_0x269d17||(null==(_0x3dc7c6=this['pmremGenerator'])||_0x3dc7c6['dispose'](),null==(_0x453185=this['envMap'])||_0x453185['dispose']()),this['pmremGenerator']=null,this['envMap']=null,this['scene']['environment']=null,this['setupEnvironmentMap'](_0x2d9832));}['getEnvironmentMap'](){return this['envMap'];}['setupGroundPlane'](){const _0x427753=new _0x27d8b6(0x28,0x28),_0x5e8b30=new _0x4a617e({'side':_0x17cb8b,'transparent':!0x0,'opacity':0.25});this['groundPlane']=new _0x3d1069(_0x427753,_0x5e8b30),this['groundPlane']['rotation']['x']=-Math['PI']/0x2,this['groundPlane']['position']['y']=0x0,this['groundPlane']['receiveShadow']=!0x0,this['groundPlane']['castShadow']=!0x1,this['groundPlane']['visible']=!0x0,this['groundPlane']['scale']['set'](0xa,0xa,0xa),this['groundPlane']['name']='groundPlane',this['scene']['add'](this['groundPlane']),this['createReferenceGrid']();}['createReferenceGrid'](){this['referenceGrid']=new _0x16346c(0xa,0x14,0xffffff,0xcccccc),this['referenceGrid']['name']='referenceGrid',this['referenceGrid']['position']['y']=0x0,this['referenceGrid']['material']['opacity']=0.7,this['referenceGrid']['material']['transparent']=!0x0,this['referenceGrid']['material']['depthWrite']=!0x1,this['referenceGrid']['renderOrder']=0x1,this['scene']['add'](this['referenceGrid']);}['updateGridColorForTheme'](_0x5add62){if(this['referenceGrid'])if('light'===_0x5add62){this['referenceGrid']['material']['color']['setHex'](0x0);const _0x4fb5ed=this['referenceGrid']['geometry']['attributes']['color'];if(_0x4fb5ed){for(let _0x21bba9=0x0;_0x21bba9<_0x4fb5ed['count'];_0x21bba9++)_0x4fb5ed['setXYZ'](_0x21bba9,0x0,0x0,0x0);_0x4fb5ed['needsUpdate']=!0x0;}}else{this['referenceGrid']['material']['color']['setHex'](0xffffff);const _0x5766c0=this['referenceGrid']['geometry']['attributes']['color'];if(_0x5766c0){for(let _0x46c1be=0x0;_0x46c1be<_0x5766c0['count'];_0x46c1be++)_0x5766c0['setXYZ'](_0x46c1be,0x1,0x1,0x1);_0x5766c0['needsUpdate']=!0x0;}}}['updateShadowCamera'](_0x5f5b70){const _0x41d777=this['lights']['directional'];if(!_0x41d777||!_0x41d777['castShadow'])return;const _0x47bef3=_0x5f5b70['getBoundingSphere'](new _0x58fe83())['radius'],_0x5d37af=_0x41d777['shadow']['camera'];_0x5d37af['left']=_0x5d37af['bottom']=-_0x47bef3,_0x5d37af['right']=_0x5d37af['top']=_0x47bef3;const _0x5c601c=_0x5f5b70['getCenter'](new _0x5a7be3()),_0x2c0125=_0x41d777['position']['clone']()['sub'](_0x41d777['target']['position']);_0x41d777['target']['position']['copy'](_0x5c601c),_0x41d777['position']['copy'](_0x5c601c)['add'](_0x2c0125),_0x5d37af['updateProjectionMatrix']();}['updateGroundPosition'](_0x522d21){this['groundPlane']&&(this['groundPlane']['position']['y']=_0x522d21),this['referenceGrid']&&(this['referenceGrid']['position']['y']=_0x522d21);}['setGroundVisible'](_0x1c39df){this['groundPlane']&&(this['groundPlane']['visible']=_0x1c39df);}['setShadowEnabled'](_0x1d5747,_0x3e2a9d){var _0x5ca216;_0x3e2a9d['shadowMap']['enabled']=_0x1d5747,this['lights']['directional']&&(this['lights']['directional']['castShadow']=_0x1d5747,!_0x1d5747&&this['lights']['directional']['shadow']&&(null==(_0x5ca216=this['lights']['directional']['shadow']['map'])||_0x5ca216['dispose'](),this['lights']['directional']['shadow']['map']=null));}['getDirectionalLight'](){return this['lights']['directional'];}}class ji{constructor(_0x44287c){this['sceneManager']=_0x44287c,this['visualMeshes']=[],this['collisionMeshes']=[],this['colliders']=[],this['hiddenLinks']=new Set(),this['showVisual']=!0x0,this['showCollision']=!0x1,this['showShadow']=!0x0,this['showEnhancedLighting']=!0x0;}['extractVisualAndCollision'](_0x56b4c2){const _0x18bd28=0x0===this['visualMeshes']['length'];if(!_0x18bd28)return this['processNewlyLoadedMeshes'](_0x56b4c2);this['visualMeshes']=[],this['collisionMeshes']=[],this['colliders']=[],_0x56b4c2['threeObject']&&(_0x56b4c2['threeObject']['traverse'](_0x4baf46=>{if(_0x4baf46['isMesh']&&_0x4baf46['material']){const _0xa91c4c=Array['isArray'](_0x4baf46['material'])?_0x4baf46['material']:[_0x4baf46['material']],_0x2e5bef=[];_0xa91c4c['forEach']((_0x183000,_0x5b8a83)=>{var _0x26e88b;if(_0x183000){if('MeshBasicMaterial'===_0x183000['type']||'MeshLambertMaterial'===_0x183000['type']){const _0x4e0b6b=_0x183000,_0x392802=this['showEnhancedLighting'],_0x2e27a2=null==(_0x26e88b=this['sceneManager']['environmentManager'])?void 0x0:_0x26e88b['getEnvironmentMap'](),_0x4af8b3=new _0xa87e13({'color':_0x4e0b6b['color'],'map':_0x4e0b6b['map'],'transparent':_0x4e0b6b['transparent'],'opacity':_0x4e0b6b['opacity'],'side':_0x4e0b6b['side'],'shininess':_0x392802?0x32:0x1e,'specular':_0x392802?new _0x43a4f1(0.3,0.3,0.3):new _0x43a4f1(0x111111),'envMap':_0x2e27a2||null,'reflectivity':_0x2e27a2?0.3:0x0});_0x4af8b3['userData']['originalShininess']=0x1e,_0x4af8b3['userData']['originalSpecular']=null,_0x4af8b3['map']&&(_0x4af8b3['map']['colorSpace']=_0x3e3edd),_0x2e5bef['push'](_0x4af8b3),_0x183000=_0x4af8b3;}else _0x2e5bef['push'](_0x183000);if(_0x183000&&(_0x183000['isMeshPhongMaterial']||_0x183000['isMeshStandardMaterial'])){if(void 0x0===_0x183000['userData']['originalShininess'])if(_0x183000['userData']['originalShininess']=void 0x0!==_0x183000['shininess']?_0x183000['shininess']:0x1e,_0x183000['specular'])if(_0x183000['specular']['isColor']){const _0x400a28=_0x183000['specular'];_0x400a28['r']<0.1&&_0x400a28['g']<0.1&&_0x400a28['b']<0.1?_0x183000['userData']['originalSpecular']=null:_0x183000['userData']['originalSpecular']=_0x400a28['clone']();}else'number'==typeof _0x183000['specular']?0x111111===_0x183000['specular']||_0x183000['specular']<0x111111?_0x183000['userData']['originalSpecular']=null:_0x183000['userData']['originalSpecular']=new _0x43a4f1(_0x183000['specular']):_0x183000['userData']['originalSpecular']=null;else _0x183000['userData']['originalSpecular']=null;this['showEnhancedLighting']&&((void 0x0===_0x183000['shininess']||_0x183000['shininess']<0x32)&&(_0x183000['shininess']=0x32),(!_0x183000['specular']||_0x183000['specular']['isColor']&&_0x183000['specular']['r']<0.2||'number'==typeof _0x183000['specular']&&_0x183000['specular']<0x333333)&&(_0x183000['specular']=new _0x43a4f1(0.3,0.3,0.3)),_0x183000['needsUpdate']=!0x0);}}else _0x2e5bef['push'](null);}),Array['isArray'](_0x4baf46['material'])?_0x4baf46['material']=_0x2e5bef:0x1===_0x2e5bef['length']&&_0x2e5bef[0x0]&&(_0x4baf46['material']=_0x2e5bef[0x0]);}}),_0x18bd28&&_0x56b4c2['threeObject']['traverse'](_0x28f253=>{_0x28f253['isURDFCollider']&&(this['colliders']['push'](_0x28f253),_0x28f253['visible']=this['showCollision']);}),_0x18bd28&&this['colliders']['forEach'](_0x29d3d0=>{_0x29d3d0['traverse'](_0x1484cc=>{_0x1484cc['isMesh']&&(_0x1484cc['userData']['originalMaterial']||(_0x1484cc['userData']['originalMaterial']=_0x1484cc['material']),_0x1484cc['material']=new _0xa87e13({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0xffbe38,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x1484cc['castShadow']=!0x1,_0x1484cc['receiveShadow']=!0x1,_0x1484cc['raycast']=()=>{},this['collisionMeshes']['push'](_0x1484cc));});}),_0x56b4c2['threeObject']['traverse'](_0x35467b=>{if(_0x35467b['isMesh']||'Mesh'===_0x35467b['type']){let _0x4700ea=!0x1,_0x6023aa=_0x35467b;for(;_0x6023aa;){if(_0x6023aa['isURDFCollider']){_0x4700ea=!0x0;break;}_0x6023aa=_0x6023aa['parent'];}_0x4700ea||(_0x35467b['castShadow']=this['showShadow'],_0x35467b['receiveShadow']=this['showShadow'],_0x35467b['visible']=this['showVisual'],this['visualMeshes']['push'](_0x35467b));}}));}['processNewlyLoadedMeshes'](_0x2cbe42){_0x2cbe42['threeObject']&&(_0x2cbe42['threeObject']['traverse'](_0x553697=>{if(_0x553697['isMesh']&&_0x553697['material']){let _0x1ea780=!0x1,_0x4a8353=_0x553697;for(;_0x4a8353;){if(_0x4a8353['isURDFCollider']){_0x1ea780=!0x0;break;}_0x4a8353=_0x4a8353['parent'];}if(_0x1ea780)return;const _0xbc29f4=Array['isArray'](_0x553697['material'])?_0x553697['material']:[_0x553697['material']],_0x52a3a0=[];_0xbc29f4['forEach']((_0x182bce,_0x17b9ff)=>{var _0x3a9c39,_0x1108a7;if(_0x182bce){if('MeshBasicMaterial'===_0x182bce['type']||'MeshLambertMaterial'===_0x182bce['type']){const _0x119a56=_0x182bce,_0x5f3917=this['showEnhancedLighting'],_0x4ed3c5=null==(_0x3a9c39=this['sceneManager']['environmentManager'])?void 0x0:_0x3a9c39['getEnvironmentMap'](),_0x22d90f=new _0xa87e13({'color':_0x119a56['color'],'map':_0x119a56['map'],'transparent':_0x119a56['transparent'],'opacity':_0x119a56['opacity'],'side':_0x119a56['side'],'shininess':_0x5f3917?0x32:0x1e,'specular':_0x5f3917?new _0x43a4f1(0.3,0.3,0.3):new _0x43a4f1(0x111111),'envMap':_0x4ed3c5||null,'reflectivity':_0x4ed3c5?0.3:0x0});_0x22d90f['userData']['originalShininess']=0x1e,_0x22d90f['userData']['originalSpecular']=null,_0x22d90f['map']&&(_0x22d90f['map']['colorSpace']=_0x3e3edd),_0x52a3a0['push'](_0x22d90f),_0x182bce=_0x22d90f;}else _0x52a3a0['push'](_0x182bce);if(_0x182bce&&(_0x182bce['isMeshPhongMaterial']||_0x182bce['isMeshStandardMaterial'])){if(void 0x0===_0x182bce['userData']['originalShininess'])if(_0x182bce['userData']['originalShininess']=void 0x0!==_0x182bce['shininess']?_0x182bce['shininess']:0x1e,_0x182bce['specular'])if(_0x182bce['specular']['isColor']){const _0x3feb33=_0x182bce['specular'];_0x3feb33['r']<0.1&&_0x3feb33['g']<0.1&&_0x3feb33['b']<0.1?_0x182bce['userData']['originalSpecular']=null:_0x182bce['userData']['originalSpecular']=_0x3feb33['clone']();}else'number'==typeof _0x182bce['specular']?0x111111===_0x182bce['specular']||_0x182bce['specular']<0x111111?_0x182bce['userData']['originalSpecular']=null:_0x182bce['userData']['originalSpecular']=new _0x43a4f1(_0x182bce['specular']):_0x182bce['userData']['originalSpecular']=null;else _0x182bce['userData']['originalSpecular']=null;const _0xdcc611=null==(_0x1108a7=this['sceneManager']['environmentManager'])?void 0x0:_0x1108a7['getEnvironmentMap']();_0xdcc611&&!_0x182bce['envMap']&&(_0x182bce['envMap']=_0xdcc611,void 0x0===_0x182bce['reflectivity']&&(_0x182bce['reflectivity']=0.3),_0x182bce['needsUpdate']=!0x0),this['showEnhancedLighting']&&((void 0x0===_0x182bce['shininess']||_0x182bce['shininess']<0x32)&&(_0x182bce['shininess']=0x32),(!_0x182bce['specular']||_0x182bce['specular']['isColor']&&_0x182bce['specular']['r']<0.2||'number'==typeof _0x182bce['specular']&&_0x182bce['specular']<0x333333)&&(_0x182bce['specular']=new _0x43a4f1(0.3,0.3,0.3)),_0x182bce['needsUpdate']=!0x0);}}else _0x52a3a0['push'](null);}),Array['isArray'](_0x553697['material'])?_0x553697['material']=_0x52a3a0:0x1===_0x52a3a0['length']&&_0x52a3a0[0x0]&&(_0x553697['material']=_0x52a3a0[0x0]);}}),_0x2cbe42['threeObject']['traverse'](_0x1c310b=>{if((_0x1c310b['isMesh']||'Mesh'===_0x1c310b['type'])&&!this['visualMeshes']['includes'](_0x1c310b)&&!this['collisionMeshes']['includes'](_0x1c310b)){let _0xfb9328=!0x1,_0xaf386d=_0x1c310b;for(;_0xaf386d;){if(_0xaf386d['isURDFCollider']){_0xfb9328=!0x0;break;}_0xaf386d=_0xaf386d['parent'];}_0xfb9328?(_0x1c310b['userData']['originalMaterial']||(_0x1c310b['userData']['originalMaterial']=_0x1c310b['material']),_0x1c310b['material']=new _0xa87e13({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0xffbe38,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x1c310b['castShadow']=!0x1,_0x1c310b['receiveShadow']=!0x1,_0x1c310b['raycast']=()=>{},_0x1c310b['visible']=this['showCollision'],this['collisionMeshes']['push'](_0x1c310b)):(_0x1c310b['castShadow']=this['showShadow'],_0x1c310b['receiveShadow']=this['showShadow'],_0x1c310b['visible']=this['showVisual'],this['visualMeshes']['push'](_0x1c310b));}}));}['toggleVisual'](_0x5a9a2d,_0x100ab1){this['showVisual']=_0x5a9a2d,_0x100ab1&&_0x100ab1['links']&&_0x100ab1['links']['forEach']((_0xd49e47,_0x697a4a)=>{if(_0xd49e47['threeObject']){const _0x1890bb=_0x5a9a2d&&!this['hiddenLinks']['has'](_0x697a4a);this['setLinkVisibility'](_0xd49e47['threeObject'],_0x1890bb,_0x100ab1);}});}['toggleCollision'](_0x46c31d){this['showCollision']=_0x46c31d,this['colliders']&&this['colliders']['forEach'](_0x333308=>{_0x333308['visible']=_0x46c31d;}),this['collisionMeshes']['forEach'](_0x2ba896=>{_0x2ba896['visible']=_0x46c31d;});}['toggleShadow'](_0x404794,_0x255b30,_0x1ec9ab){var _0x1581ff;this['showShadow']=_0x404794,_0x255b30['shadowMap']['enabled']=_0x404794,_0x1ec9ab&&(_0x1ec9ab['castShadow']=_0x404794),this['visualMeshes']['forEach'](_0x145b5e=>{_0x145b5e['castShadow']=_0x404794,_0x145b5e['receiveShadow']=_0x404794;}),!_0x404794&&_0x1ec9ab&&_0x1ec9ab['shadow']&&(null==(_0x1581ff=_0x1ec9ab['shadow']['map'])||_0x1581ff['dispose'](),_0x1ec9ab['shadow']['map']=null);}['toggleEnhancedLighting'](_0x574c00){var _0x35687f;this['showEnhancedLighting']=_0x574c00,this['sceneManager']&&this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']&&this['sceneManager']['currentModel']['threeObject']['traverse'](_0x3ee4f3=>{if(_0x3ee4f3['isMesh']&&_0x3ee4f3['material']&&!this['collisionMeshes']['includes'](_0x3ee4f3)){const _0x5c6322=Array['isArray'](_0x3ee4f3['material'])?_0x3ee4f3['material']:[_0x3ee4f3['material']];_0x5c6322['forEach']((_0x1e6f03,_0x373eb0)=>{if(_0x1e6f03){if('MeshBasicMaterial'===_0x1e6f03['type']||'MeshLambertMaterial'===_0x1e6f03['type']){const _0x431886=_0x1e6f03,_0x131c4a=new _0xa87e13({'color':_0x431886['color'],'map':_0x431886['map'],'transparent':_0x431886['transparent'],'opacity':_0x431886['opacity'],'side':_0x431886['side'],'shininess':_0x574c00?0x32:0x1e,'specular':_0x574c00?new _0x43a4f1(0.3,0.3,0.3):new _0x43a4f1(0x111111)});_0x131c4a['userData']['originalShininess']=0x1e,_0x131c4a['userData']['originalSpecular']=null,_0x131c4a['map']&&(_0x131c4a['map']['colorSpace']=_0x3e3edd),_0x5c6322[_0x373eb0]=_0x131c4a,_0x1e6f03=_0x131c4a;}if(_0x1e6f03&&(_0x1e6f03['isMeshPhongMaterial']||_0x1e6f03['isMeshStandardMaterial'])){if(void 0x0===_0x1e6f03['userData']['originalShininess'])if(_0x1e6f03['userData']['originalShininess']=void 0x0!==_0x1e6f03['shininess']?_0x1e6f03['shininess']:0x1e,_0x1e6f03['specular'])if(_0x1e6f03['specular']['isColor']){const _0x2d9480=_0x1e6f03['specular'];_0x2d9480['r']<0.1&&_0x2d9480['g']<0.1&&_0x2d9480['b']<0.1?_0x1e6f03['userData']['originalSpecular']=null:_0x1e6f03['userData']['originalSpecular']=_0x2d9480['clone']();}else'number'==typeof _0x1e6f03['specular']?0x111111===_0x1e6f03['specular']||_0x1e6f03['specular']<0x111111?_0x1e6f03['userData']['originalSpecular']=null:_0x1e6f03['userData']['originalSpecular']=new _0x43a4f1(_0x1e6f03['specular']):_0x1e6f03['userData']['originalSpecular']=null;else _0x1e6f03['userData']['originalSpecular']=null;if(_0x574c00)_0x1e6f03['shininess']=0x32,(!_0x1e6f03['specular']||_0x1e6f03['specular']['isColor']&&_0x1e6f03['specular']['r']<0.2||'number'==typeof _0x1e6f03['specular']&&_0x1e6f03['specular']<0x333333)&&(_0x1e6f03['specular']=new _0x43a4f1(0.3,0.3,0.3));else if(void 0x0!==_0x1e6f03['userData']['originalShininess']&&(_0x1e6f03['shininess']=_0x1e6f03['userData']['originalShininess']),null===_0x1e6f03['userData']['originalSpecular'])_0x1e6f03['specular']=new _0x43a4f1(0x111111);else if(_0x1e6f03['userData']['originalSpecular']){const _0xd3eb81=_0x1e6f03['userData']['originalSpecular'];_0xd3eb81['isColor']?_0x1e6f03['specular']=_0xd3eb81['clone']():_0x1e6f03['specular']=_0xd3eb81;}_0x1e6f03['needsUpdate']=!0x0;}}}),Array['isArray'](_0x3ee4f3['material'])?(_0x3ee4f3['material']=_0x5c6322,_0x5c6322['forEach'](_0x572f18=>{_0x572f18&&(_0x572f18['needsUpdate']=!0x0);})):0x1===_0x5c6322['length']&&(_0x3ee4f3['material']=_0x5c6322[0x0],_0x3ee4f3['material']&&(_0x3ee4f3['material']['needsUpdate']=!0x0));}}),this['visualMeshes']['forEach'](_0x58f35c=>{if(_0x58f35c['material']){const _0x1392fb=Array['isArray'](_0x58f35c['material'])?_0x58f35c['material']:[_0x58f35c['material']];_0x1392fb['forEach']((_0x2edad4,_0x2a80d3)=>{var _0x4334aa;if(_0x2edad4){if('MeshBasicMaterial'===_0x2edad4['type']||'MeshLambertMaterial'===_0x2edad4['type']){const _0x2cedcb=_0x2edad4,_0xb11288=_0x574c00,_0x3ef9a0=null==(_0x4334aa=this['sceneManager']['environmentManager'])?void 0x0:_0x4334aa['getEnvironmentMap'](),_0x4ffc4d=new _0xa87e13({'color':_0x2cedcb['color'],'map':_0x2cedcb['map'],'transparent':_0x2cedcb['transparent'],'opacity':_0x2cedcb['opacity'],'side':_0x2cedcb['side'],'shininess':_0xb11288?0x32:0x1e,'specular':_0xb11288?new _0x43a4f1(0.3,0.3,0.3):new _0x43a4f1(0x111111),'envMap':_0x3ef9a0||null,'reflectivity':_0x3ef9a0?0.3:0x0});_0x4ffc4d['userData']['originalShininess']=0x1e,_0x4ffc4d['userData']['originalSpecular']=null,_0x4ffc4d['map']&&(_0x4ffc4d['map']['colorSpace']=_0x3e3edd),_0x1392fb[_0x2a80d3]=_0x4ffc4d,_0x2edad4=_0x4ffc4d;}if(_0x2edad4&&(_0x2edad4['isMeshPhongMaterial']||_0x2edad4['isMeshStandardMaterial'])){if(void 0x0===_0x2edad4['userData']['originalShininess'])if(_0x2edad4['userData']['originalShininess']=void 0x0!==_0x2edad4['shininess']?_0x2edad4['shininess']:0x1e,_0x2edad4['specular'])if(_0x2edad4['specular']['isColor']){const _0x384cfe=_0x2edad4['specular'];_0x384cfe['r']<0.1&&_0x384cfe['g']<0.1&&_0x384cfe['b']<0.1?_0x2edad4['userData']['originalSpecular']=null:_0x2edad4['userData']['originalSpecular']=_0x384cfe['clone']();}else'number'==typeof _0x2edad4['specular']?0x111111===_0x2edad4['specular']||_0x2edad4['specular']<0x111111?_0x2edad4['userData']['originalSpecular']=null:_0x2edad4['userData']['originalSpecular']=new _0x43a4f1(_0x2edad4['specular']):_0x2edad4['userData']['originalSpecular']=null;else _0x2edad4['userData']['originalSpecular']=null;if(_0x574c00)_0x2edad4['shininess']=0x32,(!_0x2edad4['specular']||_0x2edad4['specular']['isColor']&&_0x2edad4['specular']['r']<0.2||'number'==typeof _0x2edad4['specular']&&_0x2edad4['specular']<0x333333)&&(_0x2edad4['specular']=new _0x43a4f1(0.3,0.3,0.3));else if(void 0x0!==_0x2edad4['userData']['originalShininess']&&(_0x2edad4['shininess']=_0x2edad4['userData']['originalShininess']),null===_0x2edad4['userData']['originalSpecular'])_0x2edad4['specular']=new _0x43a4f1(0x111111);else if(_0x2edad4['userData']['originalSpecular']){const _0x3966e4=_0x2edad4['userData']['originalSpecular'];_0x3966e4['isColor']?_0x2edad4['specular']=_0x3966e4['clone']():_0x2edad4['specular']=_0x3966e4;}_0x2edad4['needsUpdate']=!0x0;}}}),Array['isArray'](_0x58f35c['material'])?(_0x58f35c['material']=_0x1392fb,_0x1392fb['forEach'](_0x44c3f2=>{_0x44c3f2&&(_0x44c3f2['needsUpdate']=!0x0);})):0x1===_0x1392fb['length']&&(_0x58f35c['material']=_0x1392fb[0x0],_0x58f35c['material']&&(_0x58f35c['material']['needsUpdate']=!0x0));}});const _0x8da6b0=null==(_0x35687f=window['app'])?void 0x0:_0x35687f['mujocoSimulationManager'];_0x8da6b0&&_0x8da6b0['mujocoRoot']&&_0x8da6b0['mujocoRoot']['traverse'](_0x5896da=>{if(_0x5896da['isMesh']&&_0x5896da['material']){(Array['isArray'](_0x5896da['material'])?_0x5896da['material']:[_0x5896da['material']])['forEach'](_0x4da347=>{if(_0x4da347['isMeshPhongMaterial']||_0x4da347['isMeshStandardMaterial']){if(void 0x0===_0x4da347['userData']['originalShininess'])if(_0x4da347['userData']['originalShininess']=void 0x0!==_0x4da347['shininess']?_0x4da347['shininess']:0x1e,_0x4da347['specular'])if(_0x4da347['specular']['isColor']){const _0x1a6502=_0x4da347['specular'];_0x1a6502['r']<0.1&&_0x1a6502['g']<0.1&&_0x1a6502['b']<0.1?_0x4da347['userData']['originalSpecular']=null:_0x4da347['userData']['originalSpecular']=_0x1a6502['clone']();}else _0x4da347['userData']['originalSpecular']=null;else _0x4da347['userData']['originalSpecular']=null;if(_0x574c00)_0x4da347['shininess']=0x32,(!_0x4da347['specular']||_0x4da347['specular']['isColor']&&_0x4da347['specular']['r']<0.2||'number'==typeof _0x4da347['specular']&&_0x4da347['specular']<0x333333)&&(_0x4da347['specular']=new _0x43a4f1(0.3,0.3,0.3));else if(void 0x0!==_0x4da347['userData']['originalShininess']&&(_0x4da347['shininess']=_0x4da347['userData']['originalShininess']),null===_0x4da347['userData']['originalSpecular'])_0x4da347['specular']=new _0x43a4f1(0x111111);else if(_0x4da347['userData']['originalSpecular']){const _0x59b2ed=_0x4da347['userData']['originalSpecular'];_0x59b2ed['isColor']?_0x4da347['specular']=_0x59b2ed['clone']():_0x4da347['specular']=_0x59b2ed;}_0x4da347['needsUpdate']=!0x0;}});}});}['toggleLinkVisibility'](_0x4eba9f,_0x33b75a){if(!_0x33b75a||!_0x33b75a['links'])return!0x1;const _0x1f2495=_0x33b75a['links']['get'](_0x4eba9f);if(!_0x1f2495||!_0x1f2495['threeObject'])return!0x1;const _0x46fbb1=this['hiddenLinks']['has'](_0x4eba9f);_0x46fbb1?this['hiddenLinks']['delete'](_0x4eba9f):this['hiddenLinks']['add'](_0x4eba9f);const _0x15f8c8=!!_0x46fbb1;return this['setLinkVisibility'](_0x1f2495['threeObject'],_0x15f8c8,_0x33b75a),_0x15f8c8;}['isLinkHidden'](_0x352187){return this['hiddenLinks']['has'](_0x352187);}['setLinkVisibility'](_0x4be2d8,_0x5de6c7,_0x4bbc97){const _0x2eb17a=(_0x5541a7,_0x4ed514=!0x1)=>{var _0x597923,_0x51eca2,_0x5dff28;if(_0x4ed514||'URDFLink'!==_0x5541a7['type']&&!_0x5541a7['isURDFLink']){if(_0x5541a7['isURDFJoint']||'URDFJoint'===_0x5541a7['type']){const _0x93d6e2=_0x5541a7['name'];let _0x33fceb=!0x1;if(_0x93d6e2&&(null==_0x4bbc97?void 0x0:_0x4bbc97['joints'])&&_0x4bbc97['joints']['has'](_0x93d6e2)){_0x33fceb='fixed'===_0x4bbc97['joints']['get'](_0x93d6e2)['type'];}if(_0x33fceb){for(const _0x32279b of _0x5541a7['children'])_0x2eb17a(_0x32279b,!0x1);return;}return;}if(!(this['isAuxiliaryVisualization'](_0x5541a7)||(null==(_0x597923=_0x5541a7['userData'])?void 0x0:_0x597923['isCenterOfMass'])||(null==(_0x51eca2=_0x5541a7['userData'])?void 0x0:_0x51eca2['isInertiaBox'])||_0x5541a7['name']&&_0x5541a7['name']['endsWith']('_axes'))){if('Mesh'===_0x5541a7['type']||_0x5541a7['isMesh']){let _0x211c59=!0x1,_0x1b353=_0x5541a7;for(;_0x1b353;){if(_0x1b353['isURDFCollider']){_0x211c59=!0x0;break;}_0x1b353=_0x1b353['parent'];}if(_0x211c59||(null==(_0x5dff28=_0x5541a7['userData'])?void 0x0:_0x5dff28['isCollision']))return;_0x5541a7['visible']=_0x5de6c7&&this['showVisual'];}for(const _0x1f4a39 of _0x5541a7['children'])_0x2eb17a(_0x1f4a39,!0x1);}}};_0x2eb17a(_0x4be2d8,!0x0);}['isAuxiliaryVisualization'](_0x38d3c7){var _0x58ad98,_0x40c58d,_0x3647c1;return!!(null==(_0x58ad98=_0x38d3c7['userData'])?void 0x0:_0x58ad98['isInertiaBox'])||(!!(null==(_0x40c58d=_0x38d3c7['userData'])?void 0x0:_0x40c58d['isCOMMarker'])||!!(null==(_0x3647c1=_0x38d3c7['userData'])?void 0x0:_0x3647c1['isCollision']));}['updateVisualTransparency'](_0x54c4b2,_0x10abfa,_0x2b6c7b,_0xffedaf){if(_0xffedaf)return;const _0x299f12=_0x54c4b2||_0x10abfa||_0x2b6c7b;this['visualMeshes']['forEach']((_0x1bbb21,_0x3b9173)=>{ji['setMeshTransparency'](_0x1bbb21,_0x299f12,_0x3b9173);});}static['setMeshTransparency'](_0x3a9754,_0xa8ba8a,_0x116450=-0x1){if(!_0x3a9754['material'])return;(Array['isArray'](_0x3a9754['material'])?_0x3a9754['material']:[_0x3a9754['material']])['forEach'](_0x49a12d=>{void 0x0===_0x49a12d['userData']['originalOpacity']&&(_0x49a12d['userData']['originalOpacity']=void 0x0!==_0x49a12d['opacity']?_0x49a12d['opacity']:0x1,_0x49a12d['userData']['originalTransparent']=_0x49a12d['transparent']||!0x1),_0xa8ba8a?(_0x49a12d['transparent']=!0x0,_0x49a12d['opacity']=0.5,_0x49a12d['needsUpdate']=!0x0):void 0x0!==_0x49a12d['userData']['originalOpacity']&&(_0x49a12d['opacity']=_0x49a12d['userData']['originalOpacity'],_0x49a12d['transparent']=_0x49a12d['userData']['originalTransparent'],_0x49a12d['needsUpdate']=!0x0);});}['clear'](){this['visualMeshes']=[],this['collisionMeshes']=[],this['colliders']=[],this['hiddenLinks']['clear']();}}class ki{constructor(_0xc9ce41){this['sceneManager']=_0xc9ce41,this['comMarkers']=[],this['inertiaEllipsoids']=[],this['showCOM']=!0x1,this['showInertia']=!0x1;}static['createCOMGeometry'](_0x4b31f6){const _0x5efca2=new _0x2474d6(),_0x2b9141=new _0x553295({'color':0xffffff,'side':_0x17cb8b,'depthTest':!0x0,'depthWrite':!0x0}),_0x8e35fe=new _0x553295({'color':0x0,'side':_0x17cb8b,'depthTest':!0x0,'depthWrite':!0x0});return[{'phiStart':0x0,'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x2b9141},{'phiStart':0x0,'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x8e35fe},{'phiStart':Math['PI']/0x2,'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x8e35fe},{'phiStart':Math['PI']/0x2,'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x2b9141},{'phiStart':Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x2b9141},{'phiStart':Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x8e35fe},{'phiStart':1.5*Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x8e35fe},{'phiStart':1.5*Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x2b9141}]['forEach'](_0x54136c=>{const _0x68c06c=new _0x401a16(_0x4b31f6,0x10,0x10,_0x54136c['phiStart'],_0x54136c['phiLength'],_0x54136c['thetaStart'],_0x54136c['thetaLength']),_0x48298e=new _0x3d1069(_0x68c06c,_0x54136c['material']);_0x48298e['castShadow']=!0x1,_0x48298e['receiveShadow']=!0x1,_0x5efca2['add'](_0x48298e);}),_0x5efca2;}['extractInertialProperties'](_0x5918b1){this['comMarkers']['forEach'](_0xaf8fe1=>{_0xaf8fe1['parent']&&_0xaf8fe1['parent']['remove'](_0xaf8fe1);}),this['inertiaEllipsoids']['forEach'](_0x50d3af=>{_0x50d3af['parent']&&_0x50d3af['parent']['remove'](_0x50d3af);}),this['comMarkers']=[],this['inertiaEllipsoids']=[],_0x5918b1['links']&&_0x5918b1['links']['forEach']((_0x2b9503,_0x3f7570)=>{if(!_0x2b9503['inertial'])return;const _0x15a143=_0x2b9503['inertial'];let _0x1f0b66;try{_0x1f0b66=_0x15a143['origin']&&_0x15a143['origin']['xyz']?Ue['xyzToVector3'](_0x15a143['origin']['xyz']):_0x15a143['origin']?new _0x5a7be3(_0x15a143['origin'][0x0]||0x0,_0x15a143['origin'][0x1]||0x0,_0x15a143['origin'][0x2]||0x0):new _0x5a7be3(0x0,0x0,0x0);}catch(_0x3b322c){_0x1f0b66=new _0x5a7be3(0x0,0x0,0x0);}this['showCOM']&&void 0x0!==_0x15a143['mass']&&_0x15a143['mass']>0x0&&this['createCOMMarker'](_0x5918b1,_0x2b9503,_0x1f0b66),this['showInertia']&&(void 0x0!==_0x15a143['ixx']||_0x15a143['inertia'])&&this['createInertiaEllipsoid'](_0x5918b1,_0x2b9503,_0x1f0b66,_0x15a143);});}['createCOMMarker'](_0x5e93e7,_0x1e4f52,_0x5acd5d){const _0x3f60f0=this['findLinkObject'](_0x5e93e7['threeObject'],_0x1e4f52['name']);if(!_0x3f60f0)return;const _0x4bc527=new _0x2474d6(),_0x5745cd=0.02,_0x1a6277=0x10,_0x5dddb7=new _0x553295({'color':0xffffff,'side':_0x17cb8b,'depthTest':!0x0,'depthWrite':!0x0}),_0x3cdb3f=new _0x553295({'color':0x0,'side':_0x17cb8b,'depthTest':!0x0,'depthWrite':!0x0}),_0x4f6a56=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,0x0,Math['PI']/0x2,0x0,Math['PI']/0x2),_0x184dd7=new _0x3d1069(_0x4f6a56,_0x5dddb7),_0x20afff=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,0x0,Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x38385b=new _0x3d1069(_0x20afff,_0x3cdb3f),_0x61636=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,Math['PI']/0x2,Math['PI']/0x2,0x0,Math['PI']/0x2),_0x59faf3=new _0x3d1069(_0x61636,_0x3cdb3f),_0x15ef14=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x2d55b9=new _0x3d1069(_0x15ef14,_0x5dddb7),_0x1313bb=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,Math['PI'],Math['PI']/0x2,0x0,Math['PI']/0x2),_0x2d36db=new _0x3d1069(_0x1313bb,_0x5dddb7),_0x21b19c=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,Math['PI'],Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x13d3cb=new _0x3d1069(_0x21b19c,_0x3cdb3f),_0xc679d5=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,1.5*Math['PI'],Math['PI']/0x2,0x0,Math['PI']/0x2),_0xb3196e=new _0x3d1069(_0xc679d5,_0x3cdb3f),_0x3bd329=new _0x401a16(_0x5745cd,_0x1a6277,_0x1a6277,1.5*Math['PI'],Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x4def14=new _0x3d1069(_0x3bd329,_0x5dddb7);_0x4bc527['add'](_0x184dd7),_0x4bc527['add'](_0x38385b),_0x4bc527['add'](_0x59faf3),_0x4bc527['add'](_0x2d55b9),_0x4bc527['add'](_0x2d36db),_0x4bc527['add'](_0x13d3cb),_0x4bc527['add'](_0xb3196e),_0x4bc527['add'](_0x4def14),_0x4bc527['userData']['isCenterOfMass']=!0x0,_0x4bc527['position']['copy'](_0x5acd5d),_0x4bc527['visible']=this['showCOM'],_0x3f60f0['add'](_0x4bc527),this['comMarkers']['push'](_0x4bc527);}['createInertiaEllipsoid'](_0x20fd2a,_0x482204,_0x3cca36,_0x450da0){let _0x13f9bd;_0x13f9bd=_0x450da0['diagonalInertia']?{'ixx':_0x450da0['diagonalInertia']['ixx'],'iyy':_0x450da0['diagonalInertia']['iyy'],'izz':_0x450da0['diagonalInertia']['izz'],'ixy':0x0,'ixz':0x0,'iyz':0x0,'mass':_0x450da0['mass']}:_0x450da0;const _0x19e86d=Ue['computeInertiaBox'](_0x13f9bd);if(!_0x19e86d)return;const _0xd6e681=Ue['createInertiaBoxGeometry'](_0x19e86d['width'],_0x19e86d['height'],_0x19e86d['depth']),_0x4737c6=new _0xa87e13({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0x4a9eff,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x5b1bf8=new _0x3d1069(_0xd6e681,_0x4737c6);if(_0x5b1bf8['position']['copy'](_0x3cca36),_0x450da0['origin']&&_0x450da0['origin']['quat']){const _0x253cd9=_0x450da0['origin']['quat'],_0x4610d5=new _0x4adb8f(_0x253cd9['x'],_0x253cd9['y'],_0x253cd9['z'],_0x253cd9['w']),_0x22d7ad=new _0x4adb8f();_0x22d7ad['setFromAxisAngle'](new _0x5a7be3(0x0,0x1,0x0),Math['PI']);const _0x4cf09f=new _0x4adb8f();_0x4cf09f['multiplyQuaternions'](_0x4610d5,_0x22d7ad),_0x5b1bf8['quaternion']['copy'](_0x4cf09f);}else if(_0x19e86d['rotation']&&void 0x0!==_0x19e86d['rotation']['w'])_0x5b1bf8['quaternion']['copy'](_0x19e86d['rotation']);else if(_0x450da0['origin']&&_0x450da0['origin']['rpy']){const _0x1b59df=_0x450da0['origin']['rpy'];_0x5b1bf8['rotation']['set'](_0x1b59df[0x0],_0x1b59df[0x1],_0x1b59df[0x2],'XYZ');}else _0x5b1bf8['rotation']['set'](0x0,0x0,0x0);_0x5b1bf8['visible']=this['showInertia'],_0x5b1bf8['castShadow']=!0x1,_0x5b1bf8['receiveShadow']=!0x1,_0x5b1bf8['userData']['isInertiaBox']=!0x0;const _0x1c88a5=this['findLinkObject'](_0x20fd2a['threeObject'],_0x482204['name']);_0x1c88a5?_0x1c88a5['add'](_0x5b1bf8):this['sceneManager']['scene']['add'](_0x5b1bf8),this['inertiaEllipsoids']['push'](_0x5b1bf8);}['findLinkObject'](_0x19ed1b,_0xe3ae84){let _0x2f1adb=null;return _0x19ed1b['traverse'](_0x29c8f9=>{_0x29c8f9['name']!==_0xe3ae84&&_0x29c8f9['name']!=='link_'+_0xe3ae84&&_0x29c8f9['name']!=='body_'+_0xe3ae84||(_0x2f1adb=_0x29c8f9);}),_0x2f1adb;}['toggleCenterOfMass'](_0x47880f,_0x476c20){this['showCOM']=_0x47880f,_0x47880f&&0x0===this['comMarkers']['length']&&_0x476c20?this['extractInertialProperties'](_0x476c20):this['comMarkers']['forEach'](_0x14c92a=>{_0x14c92a['visible']=_0x47880f;});}['toggleInertia'](_0x25d2f5,_0x282fc9){this['showInertia']=_0x25d2f5,_0x25d2f5&&0x0===this['inertiaEllipsoids']['length']&&_0x282fc9?this['extractInertialProperties'](_0x282fc9):this['inertiaEllipsoids']['forEach'](_0x35f144=>{_0x35f144['visible']=_0x25d2f5;});}['clear'](){this['comMarkers']['forEach'](_0x501279=>{_0x501279['parent']&&_0x501279['parent']['remove'](_0x501279);}),this['inertiaEllipsoids']['forEach'](_0x59aa71=>{_0x59aa71['parent']&&_0x59aa71['parent']['remove'](_0x59aa71);}),this['comMarkers']=[],this['inertiaEllipsoids']=[];}}class Ti{constructor(_0x3e15c9){this['sceneManager']=_0x3e15c9,this['constraintVisuals']=[],this['showConstraints']=!0x0;}['visualizeConstraints'](_0x47bca0,_0x1caea6){this['constraintVisuals']['forEach'](_0x460ee9=>{_0x460ee9['parent']&&_0x460ee9['parent']['remove'](_0x460ee9);}),this['constraintVisuals']=[],_0x47bca0['constraints']&&0x0!==_0x47bca0['constraints']['size']&&_0x47bca0['constraints']['forEach']((_0x4f4292,_0x26a359)=>{try{'connect'===_0x4f4292['type']||'weld'===_0x4f4292['type']?this['visualizeBodyConstraint'](_0x47bca0,_0x4f4292,_0x1caea6):'joint'===_0x4f4292['type']?this['visualizeJointConstraint'](_0x47bca0,_0x4f4292,_0x1caea6):'distance'===_0x4f4292['type']&&this['visualizeDistanceConstraint'](_0x47bca0,_0x4f4292,_0x1caea6);}catch(_0x1354c6){}});}['visualizeBodyConstraint'](_0x16ee7a,_0x42ae91,_0x58a22e){const _0x376a40=this['findLinkObject'](_0x16ee7a['threeObject'],_0x42ae91['body1']),_0x55e07d=this['findLinkObject'](_0x16ee7a['threeObject'],_0x42ae91['body2']);if(!_0x376a40||!_0x55e07d)return;const _0x46d2dd=new _0x5065c1(),_0x1de0ce=new Float32Array(0x6);_0x1de0ce[0x0]=0x0,_0x1de0ce[0x1]=0x0,_0x1de0ce[0x2]=0x0,_0x1de0ce[0x3]=0x0,_0x1de0ce[0x4]=0x0,_0x1de0ce[0x5]=0x0,_0x46d2dd['setAttribute']('position',new _0x5375dc(_0x1de0ce,0x3));const _0x28ff4a='weld'===_0x42ae91['type']?0xff6600:0xffff,_0x264462=new _0x49d752({'color':_0x28ff4a,'linewidth':0x2,'dashSize':0.05,'gapSize':0.03,'depthTest':!0x0,'transparent':!0x0,'opacity':0.8}),_0x1da0c0=new _0x492957(_0x46d2dd,_0x264462);_0x1da0c0['computeLineDistances'](),_0x1da0c0['userData']['constraint']=_0x42ae91,_0x1da0c0['userData']['body1']=_0x376a40,_0x1da0c0['userData']['body2']=_0x55e07d,_0x1da0c0['userData']['isConstraintVisualization']=!0x0;(_0x58a22e||this['sceneManager']['scene'])['add'](_0x1da0c0),this['constraintVisuals']['push'](_0x1da0c0),_0x1da0c0['onBeforeRender']=()=>{if(!_0x1da0c0['userData']['body1']||!_0x1da0c0['userData']['body2'])return;const _0x14597d=new _0x5a7be3(),_0x477e9c=new _0x5a7be3();if(_0x1da0c0['userData']['body1']['getWorldPosition'](_0x14597d),_0x1da0c0['userData']['body2']['getWorldPosition'](_0x477e9c),_0x58a22e){const _0x58409b=new _0x5dcd72();_0x58409b['copy'](_0x58a22e['matrixWorld'])['invert'](),_0x14597d['applyMatrix4'](_0x58409b),_0x477e9c['applyMatrix4'](_0x58409b);}const _0x37f331=_0x1da0c0['geometry']['attributes']['position']['array'];_0x37f331[0x0]=_0x14597d['x'],_0x37f331[0x1]=_0x14597d['y'],_0x37f331[0x2]=_0x14597d['z'],_0x37f331[0x3]=_0x477e9c['x'],_0x37f331[0x4]=_0x477e9c['y'],_0x37f331[0x5]=_0x477e9c['z'],_0x1da0c0['geometry']['attributes']['position']['needsUpdate']=!0x0,_0x1da0c0['computeLineDistances']();};}['visualizeJointConstraint'](_0x5b1c7f,_0x8141d4,_0x109ba5){const _0x3047ca=_0x5b1c7f['getJoint'](_0x8141d4['joint1']),_0x14ae56=_0x5b1c7f['getJoint'](_0x8141d4['joint2']);if(!_0x3047ca||!_0x14ae56)return;const _0x24298d=_0x3047ca['child']?this['findLinkObject'](_0x5b1c7f['threeObject'],_0x3047ca['child']):null,_0x5d1738=_0x14ae56['child']?this['findLinkObject'](_0x5b1c7f['threeObject'],_0x14ae56['child']):null;if(!_0x24298d||!_0x5d1738)return;const _0x2c61db=new _0x5065c1(),_0x21c729=new Float32Array(0x6);_0x2c61db['setAttribute']('position',new _0x5375dc(_0x21c729,0x3));const _0x3cf645=new _0x49d752({'color':0xffff00,'linewidth':0x2,'dashSize':0.03,'gapSize':0.02,'depthTest':!0x0,'transparent':!0x0,'opacity':0.7}),_0x1c6088=new _0x492957(_0x2c61db,_0x3cf645);_0x1c6088['computeLineDistances'](),_0x1c6088['userData']['constraint']=_0x8141d4,_0x1c6088['userData']['link1']=_0x24298d,_0x1c6088['userData']['link2']=_0x5d1738,_0x1c6088['userData']['isConstraintVisualization']=!0x0;(_0x109ba5||this['sceneManager']['scene'])['add'](_0x1c6088),this['constraintVisuals']['push'](_0x1c6088),_0x1c6088['onBeforeRender']=()=>{if(!_0x1c6088['userData']['link1']||!_0x1c6088['userData']['link2'])return;const _0x213b5d=new _0x5a7be3(),_0xad2632=new _0x5a7be3();if(_0x1c6088['userData']['link1']['getWorldPosition'](_0x213b5d),_0x1c6088['userData']['link2']['getWorldPosition'](_0xad2632),_0x109ba5){const _0x590e22=new _0x5dcd72();_0x590e22['copy'](_0x109ba5['matrixWorld'])['invert'](),_0x213b5d['applyMatrix4'](_0x590e22),_0xad2632['applyMatrix4'](_0x590e22);}const _0x46094e=_0x1c6088['geometry']['attributes']['position']['array'];_0x46094e[0x0]=_0x213b5d['x'],_0x46094e[0x1]=_0x213b5d['y'],_0x46094e[0x2]=_0x213b5d['z'],_0x46094e[0x3]=_0xad2632['x'],_0x46094e[0x4]=_0xad2632['y'],_0x46094e[0x5]=_0xad2632['z'],_0x1c6088['geometry']['attributes']['position']['needsUpdate']=!0x0,_0x1c6088['computeLineDistances']();};}['visualizeDistanceConstraint'](_0x540866,_0x2a5ae1,_0x164869){const _0x39051b=this['findLinkObject'](_0x540866['threeObject'],_0x2a5ae1['body1']),_0xc73381=this['findLinkObject'](_0x540866['threeObject'],_0x2a5ae1['body2']);if(!_0x39051b||!_0xc73381)return;const _0x3acda1=new _0x5065c1(),_0x14a449=new Float32Array(0x6);_0x3acda1['setAttribute']('position',new _0x5375dc(_0x14a449,0x3));const _0x46fc87=new _0x49d752({'color':0xff00ff,'linewidth':0x2,'dashSize':0.04,'gapSize':0.02,'depthTest':!0x0,'transparent':!0x0,'opacity':0.8}),_0xc50db2=new _0x492957(_0x3acda1,_0x46fc87);_0xc50db2['computeLineDistances'](),_0xc50db2['userData']['constraint']=_0x2a5ae1,_0xc50db2['userData']['body1']=_0x39051b,_0xc50db2['userData']['body2']=_0xc73381,_0xc50db2['userData']['isConstraintVisualization']=!0x0;(_0x164869||this['sceneManager']['scene'])['add'](_0xc50db2),this['constraintVisuals']['push'](_0xc50db2),_0xc50db2['onBeforeRender']=()=>{if(!_0xc50db2['userData']['body1']||!_0xc50db2['userData']['body2'])return;const _0x4e4183=new _0x5a7be3(),_0x4041d3=new _0x5a7be3();if(_0xc50db2['userData']['body1']['getWorldPosition'](_0x4e4183),_0xc50db2['userData']['body2']['getWorldPosition'](_0x4041d3),_0x164869){const _0x745ccd=new _0x5dcd72();_0x745ccd['copy'](_0x164869['matrixWorld'])['invert'](),_0x4e4183['applyMatrix4'](_0x745ccd),_0x4041d3['applyMatrix4'](_0x745ccd);}const _0x148dea=_0xc50db2['geometry']['attributes']['position']['array'];_0x148dea[0x0]=_0x4e4183['x'],_0x148dea[0x1]=_0x4e4183['y'],_0x148dea[0x2]=_0x4e4183['z'],_0x148dea[0x3]=_0x4041d3['x'],_0x148dea[0x4]=_0x4041d3['y'],_0x148dea[0x5]=_0x4041d3['z'],_0xc50db2['geometry']['attributes']['position']['needsUpdate']=!0x0,_0xc50db2['computeLineDistances']();};}['applyConstraints'](_0x53d1b3,_0x5b08cd){_0x53d1b3['constraints']&&0x0!==_0x53d1b3['constraints']['size']&&_0x53d1b3['constraints']['forEach'](_0x3bdd17=>{'connect'===_0x3bdd17['type']&&this['solveConnectConstraint'](_0x53d1b3,_0x3bdd17);});}['solveConnectConstraint'](_0x804e8d,_0x29ee48){const _0x1682cc=this['findLinkObject'](_0x804e8d['threeObject'],_0x29ee48['body1']),_0x2e8a6f=this['findLinkObject'](_0x804e8d['threeObject'],_0x29ee48['body2']);if(!_0x1682cc||!_0x2e8a6f)return;const _0x42a1b7=_0x29ee48['anchor']||[0x0,0x0,0x0],_0x320664=new _0x5a7be3(_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x465caa=_0x320664['clone']();_0x1682cc['localToWorld'](_0x465caa);const _0x123649=_0x320664['clone']();_0x2e8a6f['localToWorld'](_0x123649);if(_0x465caa['distanceTo'](_0x123649)<0.001)return;const _0x383836=this['findJointsAffecting'](_0x804e8d,_0x29ee48['body2']);if(0x0===_0x383836['length'])return;const _0x456830=0.05;for(let _0x2c5830=0x0;_0x2c5830<0x14;_0x2c5830++){_0x465caa['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x1682cc['localToWorld'](_0x465caa),_0x123649['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x2e8a6f['localToWorld'](_0x123649);const _0x125941=_0x465caa['distanceTo'](_0x123649);if(_0x125941<0.001)break;for(const _0x101272 of _0x383836){if('fixed'===_0x101272['type'])continue;const _0x3013c8=_0x101272['currentValue']||0x0;Ei['setJointAngle'](_0x804e8d,_0x101272['name'],_0x3013c8+_0x456830),_0x804e8d['threeObject']['updateMatrixWorld'](!0x0),_0x465caa['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x1682cc['localToWorld'](_0x465caa),_0x123649['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x2e8a6f['localToWorld'](_0x123649);const _0x3f091d=_0x465caa['distanceTo'](_0x123649);Ei['setJointAngle'](_0x804e8d,_0x101272['name'],_0x3013c8-_0x456830),_0x804e8d['threeObject']['updateMatrixWorld'](!0x0),_0x465caa['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x1682cc['localToWorld'](_0x465caa),_0x123649['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x2e8a6f['localToWorld'](_0x123649);const _0x387d7c=_0x465caa['distanceTo'](_0x123649);let _0x53af9d=_0x3013c8;_0x3f091d<_0x125941&&_0x3f091d<_0x387d7c?_0x53af9d=_0x3013c8+_0x456830:_0x387d7c<_0x125941&&(_0x53af9d=_0x3013c8-_0x456830),Ei['setJointAngle'](_0x804e8d,_0x101272['name'],_0x53af9d),_0x101272['currentValue']=_0x53af9d;const _0x48870c=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x101272['name']+'\x22]');if(_0x48870c){_0x48870c['value']=_0x53af9d;const _0x31b756=document['querySelector']('input[data-joint-input=\x22'+_0x101272['name']+'\x22]');if(_0x31b756){const _0x48c4db=document['querySelector']('#unit-deg.active')?'deg':'rad';_0x31b756['value']='deg'===_0x48c4db?(0xb4*_0x53af9d/Math['PI'])['toFixed'](0x2):_0x53af9d['toFixed'](0x2);}}}}_0x804e8d['threeObject']['updateMatrixWorld'](!0x0),_0x465caa['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x1682cc['localToWorld'](_0x465caa),_0x123649['set'](_0x42a1b7[0x0],_0x42a1b7[0x1],_0x42a1b7[0x2]),_0x2e8a6f['localToWorld'](_0x123649),_0x465caa['distanceTo'](_0x123649);}['findJointsAffecting'](_0x581420,_0x12bf5b){const _0x586fa1=[],_0x3d9e00=new Set();let _0x59de4d=_0x12bf5b;for(;_0x59de4d&&!_0x3d9e00['has'](_0x59de4d);){_0x3d9e00['add'](_0x59de4d);let _0x34ba72=null;if(_0x581420['joints']['forEach'](_0x1f6fbd=>{_0x1f6fbd['child']===_0x59de4d&&(_0x34ba72=_0x1f6fbd,_0x586fa1['push'](_0x1f6fbd));}),!_0x34ba72)break;_0x59de4d=_0x34ba72['parent'];}return _0x586fa1['reverse']();}['findLinkObject'](_0x5fd71f,_0x36b07c){let _0xedd9f=null;return _0x5fd71f['traverse'](_0x3b425f=>{_0x3b425f['name']!==_0x36b07c&&_0x3b425f['name']!=='link_'+_0x36b07c&&_0x3b425f['name']!=='body_'+_0x36b07c||(_0xedd9f=_0x3b425f);}),_0xedd9f;}['clear'](){this['constraintVisuals']['forEach'](_0x5721a3=>{_0x5721a3['parent']&&_0x5721a3['parent']['remove'](_0x5721a3);}),this['constraintVisuals']=[];}}class Oi{constructor(_0x286ce6){this['sceneManager']=_0x286ce6,this['linkAxesHelpers']=new Map(),this['jointAxesHelpers']=new Map(),this['axesScale']=0x1,this['modelSize']=0x1,this['showLabels']=!0x1,this['axesLabels']=new Map(),this['jointAxesLabels']=new Map(),this['selectedLinkName']=null,this['_isolatedJointName']=null,this['_tmpPos']=new _0x5a7be3(),this['_tmpQuat']=new _0x4adb8f(),this['_tmpScale']=new _0x5a7be3(0x1,0x1,0x1),this['_tmpMat']=new _0x5dcd72(),this['_tmpMatLocal']=new _0x5dcd72();}['hasVisibleLinkAxes'](){return Array['from'](this['linkAxesHelpers']['values']())['some'](_0x4d588c=>_0x4d588c['visible']);}['hasVisibleJointAxes'](){return Array['from'](this['jointAxesHelpers']['values']())['some'](_0x2dcdb0=>_0x2dcdb0['isAttached']);}static['createAxesGeometry'](_0x13ca6b){const _0x4b1653=new _0x2474d6();_0x4b1653['userData']['excludeFromBBox']=!0x0;const _0x41fed3=Math['max'](0.001,0.015*_0x13ca6b),_0x3d6187=new _0x201dad(_0x41fed3,_0x41fed3,_0x13ca6b,0x8),_0x37e9af=new _0x3d1069(_0x3d6187,new _0xa87e13({'color':0xff0000,'shininess':0x1e,'depthTest':!0x0}));_0x37e9af['position']['x']=_0x13ca6b/0x2,_0x37e9af['rotation']['z']=-Math['PI']/0x2,_0x37e9af['castShadow']=!0x1,_0x37e9af['receiveShadow']=!0x1,_0x4b1653['add'](_0x37e9af);const _0x365e68=new _0x3d1069(_0x3d6187,new _0xa87e13({'color':0xff00,'shininess':0x1e,'depthTest':!0x0}));_0x365e68['position']['y']=_0x13ca6b/0x2,_0x365e68['castShadow']=!0x1,_0x365e68['receiveShadow']=!0x1,_0x4b1653['add'](_0x365e68);const _0x337a7a=new _0x3d1069(_0x3d6187,new _0xa87e13({'color':0xff,'shininess':0x1e,'depthTest':!0x0}));return _0x337a7a['position']['z']=_0x13ca6b/0x2,_0x337a7a['rotation']['x']=Math['PI']/0x2,_0x337a7a['castShadow']=!0x1,_0x337a7a['receiveShadow']=!0x1,_0x4b1653['add'](_0x337a7a),_0x4b1653;}static['createJointArrowGeometry'](_0x4dc707){const _0x384783=0.2*0.7,_0x111bfe=new _0x553295({'color':0xff0000}),_0x513693=new _0x201dad(0.004,0.004,_0x384783,0x10,0x1),_0x3d7d65=new _0x3d1069(_0x513693,_0x111bfe);_0x3d7d65['position']['y']=_0x384783/0x2;const _0x5e3c66=new _0x4b8cda(0.012,0.06,0x10),_0x4f7b41=new _0x3d1069(_0x5e3c66,_0x111bfe);_0x4f7b41['position']['y']=_0x384783+0.03;const _0x31a520=new _0x2474d6();_0x31a520['add'](_0x3d7d65),_0x31a520['add'](_0x4f7b41);const _0x108786=new _0x5a7be3(0x0,0x1,0x0),_0xf5239=new _0x4adb8f();_0xf5239['setFromUnitVectors'](_0x108786,_0x4dc707),_0x31a520['quaternion']['copy'](_0xf5239);const _0x459e97=new _0x2474d6();_0x459e97['userData']['excludeFromBBox']=!0x0,_0x459e97['add'](_0x31a520);const _0x5231ea=Oi['createRotationIndicator'](_0x4dc707,0.2);return _0x459e97['add'](_0x5231ea),_0x459e97;}static['createRotationIndicator'](_0x4182bf,_0x464992){const _0x2d9683=new _0x2474d6(),_0x2fab28=0.25*_0x464992,_0x4a5e9f=1.5*Math['PI'],_0x3b35ff=new _0x212f00(0x0,0x0,_0x2fab28,_0x2fab28,0x0,_0x4a5e9f,!0x1,0x0)['getPoints'](0x32)['map'](_0x4ca4ca=>new _0x5a7be3(_0x4ca4ca['x'],_0x4ca4ca['y'],0x0)),_0x45460c=new _0x3cfe80(_0x3b35ff),_0x3d0b70=new _0x6e922e(_0x45460c,0x32,0.002,0x8,!0x1),_0x16f2a1=new _0x553295({'color':0xff00}),_0x45654e=new _0x3d1069(_0x3d0b70,_0x16f2a1);_0x2d9683['add'](_0x45654e);const _0x154762=new _0x4b8cda(0.008,0.016,0x8),_0x5b8c7e=new _0x553295({'color':0xff00}),_0x14ec0c=new _0x3d1069(_0x154762,_0x5b8c7e),_0x2c721d=_0x3b35ff[_0x3b35ff['length']-0x1],_0x467985=_0x3b35ff[_0x3b35ff['length']-0x5],_0x2a10f8=new _0x5a7be3()['subVectors'](_0x2c721d,_0x467985)['normalize']();_0x14ec0c['position']['copy'](_0x2c721d),_0x14ec0c['quaternion']['setFromUnitVectors'](new _0x5a7be3(0x0,0x1,0x0),_0x2a10f8),_0x2d9683['add'](_0x14ec0c);const _0x2adb0f=new _0x4adb8f();_0x2adb0f['setFromUnitVectors'](new _0x5a7be3(0x0,0x0,0x1),_0x4182bf),_0x2d9683['quaternion']['copy'](_0x2adb0f);const _0x542c71=_0x4182bf['clone']()['multiplyScalar'](0.85*_0x464992);return _0x2d9683['position']['copy'](_0x542c71),_0x2d9683;}['createLinkAxes'](_0x5f3f69,_0x41d996,_0xc1c4db=0x1){const _0x643f02=Math['max'](0.02,Math['min'](0.1*_0xc1c4db,0.2))*this['axesScale'],_0x318560=new _0x2474d6();_0x318560['name']=_0x41d996+'_axes',_0x318560['userData']['excludeFromBBox']=!0x0;const _0x5cded6=Math['max'](0.001,0.015*_0x643f02),_0x163d16=new _0x201dad(_0x5cded6,_0x5cded6,_0x643f02,0x8),_0x11429d=new _0xa87e13({'color':0xff0000,'shininess':0x1e,'depthTest':!0x0}),_0x12a0e2=new _0x3d1069(_0x163d16,_0x11429d);_0x12a0e2['position']['x']=_0x643f02/0x2,_0x12a0e2['rotation']['z']=-Math['PI']/0x2,_0x12a0e2['castShadow']=!0x1,_0x12a0e2['receiveShadow']=!0x1,_0x12a0e2['userData']={'isAxis':!0x0,'linkName':_0x41d996,'axisType':'x'},_0x318560['add'](_0x12a0e2);const _0x9f1226=new _0xa87e13({'color':0xff00,'shininess':0x1e,'depthTest':!0x0}),_0x53ba48=new _0x3d1069(_0x163d16,_0x9f1226);_0x53ba48['position']['y']=_0x643f02/0x2,_0x53ba48['castShadow']=!0x1,_0x53ba48['receiveShadow']=!0x1,_0x53ba48['userData']={'isAxis':!0x0,'linkName':_0x41d996,'axisType':'y'},_0x318560['add'](_0x53ba48);const _0xdebaac=new _0xa87e13({'color':0xff,'shininess':0x1e,'depthTest':!0x0}),_0x5a0658=new _0x3d1069(_0x163d16,_0xdebaac);return _0x5a0658['position']['z']=_0x643f02/0x2,_0x5a0658['rotation']['x']=Math['PI']/0x2,_0x5a0658['castShadow']=!0x1,_0x5a0658['receiveShadow']=!0x1,_0x5a0658['userData']={'isAxis':!0x0,'linkName':_0x41d996,'axisType':'z'},_0x318560['add'](_0x5a0658),_0x5f3f69['threeObject']&&_0x5f3f69['threeObject']['add'](_0x318560),this['linkAxesHelpers']['set'](_0x41d996,_0x318560),this['showLabels']&&this['createAxisLabel'](_0x41d996,_0x318560,_0x643f02,!0x0),_0x318560['visible']=!0x1,_0x318560;}['createJointAxis'](_0x3d1176,_0x4b1f56){if(!_0x3d1176['threeObject']||'revolute'!==_0x3d1176['type']&&'continuous'!==_0x3d1176['type'])return null;const _0x1dc4b3=_0x3d1176['threeObject'],_0x4aa3b8=new _0x2474d6();_0x4aa3b8['name']='jointAxis_'+_0x4b1f56,_0x4aa3b8['userData']['excludeFromBBox']=!0x0;let _0x15a31a=new _0x5a7be3(0x0,0x0,0x1);_0x1dc4b3['axis']?_0x15a31a['copy'](_0x1dc4b3['axis'])['normalize']():_0x3d1176['axis']&&_0x3d1176['axis']['xyz']&&_0x15a31a['set'](_0x3d1176['axis']['xyz'][0x0]||0x0,_0x3d1176['axis']['xyz'][0x1]||0x0,void 0x0!==_0x3d1176['axis']['xyz'][0x2]?_0x3d1176['axis']['xyz'][0x2]:0x1)['normalize']();const _0x1d57a0=0.2*this['axesScale'],_0x893ef3=0.7*_0x1d57a0,_0x764f52=0.3*_0x1d57a0,_0x116305=0.004*this['axesScale'],_0x20e956=0.012*this['axesScale'],_0x292f12=new _0x553295({'color':0xff0000}),_0x4369aa=new _0x201dad(_0x116305,_0x116305,_0x893ef3,0x10,0x1),_0x439af2=new _0x3d1069(_0x4369aa,_0x292f12);_0x439af2['raycast']=()=>{};const _0x1647ae=new _0x4b8cda(_0x20e956,_0x764f52,0x20,0x1),_0xba6589=new _0x3d1069(_0x1647ae,_0x292f12);_0xba6589['raycast']=()=>{};const _0x5593fe=new _0x2474d6();_0x439af2['position']['y']=_0x893ef3/0x2,_0x5593fe['add'](_0x439af2),_0xba6589['position']['y']=_0x893ef3+_0x764f52/0x2,_0x5593fe['add'](_0xba6589);const _0x3983da=new _0x5a7be3(0x0,0x1,0x0),_0x58b42e=new _0x4adb8f();_0x58b42e['setFromUnitVectors'](_0x3983da,_0x15a31a),_0x5593fe['quaternion']['copy'](_0x58b42e),_0x4aa3b8['add'](_0x5593fe);const _0x2efda9=this['createRotationIndicator'](_0x15a31a,_0x1d57a0);return _0x4aa3b8['add'](_0x2efda9),this['jointAxesHelpers']['set'](_0x4b1f56,{'mesh':_0x4aa3b8,'parent':_0x1dc4b3,'joint':_0x3d1176,'isAttached':!0x1,'userVisible':!0x1}),this['showLabels']&&this['createAxisLabel'](_0x4b1f56,_0x4aa3b8,_0x1d57a0,!0x1),this['_syncJointAxisAttachment'](_0x4b1f56),_0x4aa3b8;}['createRotationIndicator'](_0x55a8da,_0x55b4c2){const _0x40ca9a=new _0x2474d6(),_0x40c09b=0.25*_0x55b4c2,_0x530e69=0.002*this['axesScale'],_0x357e84=0.008*this['axesScale'],_0x3f0edc=1.5*Math['PI'],_0x77314=new _0x212f00(0x0,0x0,_0x40c09b,_0x40c09b,0x0,_0x3f0edc,!0x1,0x0)['getPoints'](0x32)['map'](_0x42b1f1=>new _0x5a7be3(_0x42b1f1['x'],_0x42b1f1['y'],0x0)),_0x46f6da=new _0x3cfe80(_0x77314),_0xa405f6=new _0x6e922e(_0x46f6da,0x32,_0x530e69,0x8,!0x1),_0x5c130e=new _0x553295({'color':0xff00}),_0x2ede35=new _0x3d1069(_0xa405f6,_0x5c130e);_0x2ede35['raycast']=()=>{},_0x40ca9a['add'](_0x2ede35);const _0x1f4354=new _0x4b8cda(_0x357e84,0x2*_0x357e84,0x8),_0x1ceac1=new _0x553295({'color':0xff00}),_0x6c805e=new _0x3d1069(_0x1f4354,_0x1ceac1);_0x6c805e['raycast']=()=>{};const _0x3bae4d=_0x77314[_0x77314['length']-0x1],_0x4fbd70=_0x77314[_0x77314['length']-0x5],_0x223598=new _0x5a7be3()['subVectors'](_0x3bae4d,_0x4fbd70)['normalize']();_0x6c805e['position']['copy'](_0x3bae4d),_0x6c805e['quaternion']['setFromUnitVectors'](new _0x5a7be3(0x0,0x1,0x0),_0x223598),_0x40ca9a['add'](_0x6c805e);const _0x23a277=new _0x4adb8f();_0x23a277['setFromUnitVectors'](new _0x5a7be3(0x0,0x0,0x1),_0x55a8da),_0x40ca9a['quaternion']['copy'](_0x23a277);const _0x2470ac=_0x55a8da['clone']()['multiplyScalar'](0.85*_0x55b4c2);return _0x40ca9a['position']['copy'](_0x2470ac),_0x40ca9a;}['showAllAxes'](){this['linkAxesHelpers']['forEach']((_0x197eb9,_0x356a2e)=>{_0x197eb9['visible']=!0x0;const _0x1d87e7=this['axesLabels']['get'](_0x356a2e);_0x1d87e7&&(_0x1d87e7['visible']=this['showLabels']);}),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['hideAllAxes'](){this['linkAxesHelpers']['forEach']((_0x2062c1,_0x37bab0)=>{_0x2062c1['visible']=!0x1;const _0x28ac96=this['axesLabels']['get'](_0x37bab0);_0x28ac96&&(_0x28ac96['visible']=!0x1);}),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['_syncJointAxisAttachment'](_0x25d2a0){const _0x113d0=this['jointAxesHelpers']['get'](_0x25d2a0);if(!_0x113d0||!_0x113d0['parent'])return;const _0xa4bfe7=null!==this['_isolatedJointName']?_0x25d2a0===this['_isolatedJointName']:_0x113d0['userVisible'];_0xa4bfe7&&!_0x113d0['isAttached']?(_0x113d0['parent']['add'](_0x113d0['mesh']),_0x113d0['isAttached']=!0x0):!_0xa4bfe7&&_0x113d0['isAttached']&&(_0x113d0['parent']['remove'](_0x113d0['mesh']),_0x113d0['isAttached']=!0x1);const _0x56d69e=this['jointAxesLabels']['get'](_0x25d2a0);_0x56d69e&&(_0x56d69e['visible']=_0x113d0['isAttached']&&this['showLabels']);}['_syncAllJointAxesAttachment'](){this['jointAxesHelpers']['forEach']((_0x46aa65,_0x29d31d)=>{this['_syncJointAxisAttachment'](_0x29d31d);});}['showAllJointAxes'](){this['_isolatedJointName']=null,this['jointAxesHelpers']['forEach'](_0x45562b=>{_0x45562b['userVisible']=!0x0;}),this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['hideAllJointAxes'](){this['_isolatedJointName']=null,this['jointAxesHelpers']['forEach'](_0x26e64b=>{_0x26e64b['userVisible']=!0x1;}),this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['showOnlyJointAxis'](_0x4ccaa8){let _0x2c8f39=null;this['jointAxesHelpers']['forEach']((_0x3e425e,_0x368fcd)=>{_0x3e425e['joint']===_0x4ccaa8&&(_0x2c8f39=_0x368fcd);}),this['_isolatedJointName']!==_0x2c8f39&&(this['_isolatedJointName']=_0x2c8f39,this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']());}['restoreAllJointAxes'](){null!==this['_isolatedJointName']&&(this['_isolatedJointName']=null,this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']());}['ensureAxesNoShadow'](){this['linkAxesHelpers']['forEach'](_0x58db9a=>{_0x58db9a['traverse'](_0x23fa99=>{_0x23fa99['isMesh']&&(_0x23fa99['castShadow']=!0x1,_0x23fa99['receiveShadow']=!0x1);});}),this['jointAxesHelpers']['forEach'](_0x4d6ba2=>{_0x4d6ba2['mesh']['traverse'](_0x548fc6=>{_0x548fc6['isMesh']&&(_0x548fc6['castShadow']=!0x1,_0x548fc6['receiveShadow']=!0x1);});});}['clearAllLinkAxes'](){this['axesLabels']['forEach'](_0x251499=>{_0x251499['parent']&&_0x251499['parent']['remove'](_0x251499);}),this['axesLabels']['clear'](),this['linkAxesHelpers']['forEach'](_0xf01b58=>{_0xf01b58['parent']&&_0xf01b58['parent']['remove'](_0xf01b58);}),this['linkAxesHelpers']['clear']();}['clearAllJointAxes'](){this['jointAxesLabels']['forEach'](_0x471ba4=>{_0x471ba4['parent']&&_0x471ba4['parent']['remove'](_0x471ba4);}),this['jointAxesLabels']['clear'](),this['jointAxesHelpers']['forEach'](_0x88988c=>{_0x88988c['isAttached']&&_0x88988c['parent']&&_0x88988c['parent']['remove'](_0x88988c['mesh']);}),this['jointAxesHelpers']['clear'](),this['_isolatedJointName']=null;}['clear'](){this['clearAllLinkAxes'](),this['clearAllJointAxes'](),this['clearAllLabels']();}['setAllLinkAxesVisible'](_0x206902){_0x206902?this['showAllAxes']():this['hideAllAxes']();}['setAllJointAxesVisible'](_0x3cc8f1){_0x3cc8f1?this['showAllJointAxes']():this['hideAllJointAxes']();}['setAxesScale'](_0x1e4107){this['axesScale']=Math['max'](0.1,Math['min'](_0x1e4107,0x3));}['getAxesScale'](){return this['axesScale'];}['selectAxis'](_0x48218e){this['deselectAxis'](),this['linkAxesHelpers']['has'](_0x48218e)&&(this['selectedLinkName']=_0x48218e,this['sceneManager']['redraw']());}['deselectAxis'](){this['selectedLinkName']=null,this['sceneManager']['redraw']();}['getSelectedLinkName'](){return this['selectedLinkName'];}['getLinksWithAxes'](){const _0xfc3507=[];return this['linkAxesHelpers']['forEach']((_0x3142eb,_0x3e22bc)=>{_0x3142eb['visible']&&_0xfc3507['push'](_0x3e22bc);}),_0xfc3507;}['previewJointOriginRpy'](_0x7b6e49,_0x2bd5de,_0x2707a0){const _0x48669b=this['_computeJointRpy'](_0x7b6e49,_0x2bd5de,_0x2707a0);return!!_0x48669b&&(this['_applyLinkDeltaTransform'](_0x48669b['joint'],_0x48669b['rpy'],_0x7b6e49),this['sceneManager']['redraw'](),{'jointName':_0x48669b['joint']['name'],'rpy':_0x48669b['rpy']});}['applyJointOriginRpy'](_0x14a41a,_0x134770,_0x1279ce){let _0x4a81b5=null;if(_0x14a41a['joints']['forEach'](_0x55ec64=>{_0x55ec64['child']===_0x134770&&(_0x4a81b5=_0x55ec64);}),!_0x4a81b5)return!0x1;const _0x4ef3e5=_0x4a81b5['_origRpy']||[0x0,0x0,0x0],_0xcebdf=Math['PI']/0x2,_0xf5cac5=0x2*Math['PI'],_0x35c0a2=_0x1279ce['map']((_0x18c0e9,_0x49a42c)=>{if(Math['abs'](_0x18c0e9-_0x4ef3e5[_0x49a42c])<0.01)return _0x4ef3e5[_0x49a42c];const _0x3a19e2=Math['round']((_0x18c0e9-_0x4ef3e5[_0x49a42c])/_0xcebdf);let _0x5360e4=_0x4ef3e5[_0x49a42c]+_0x3a19e2*_0xcebdf;return _0x5360e4%=_0xf5cac5,_0x5360e4>Math['PI']&&(_0x5360e4-=_0xf5cac5),_0x5360e4<=-Math['PI']&&(_0x5360e4+=_0xf5cac5),_0x5360e4;}),_0x579bb1=new _0x4adb8f()['setFromEuler'](new _0x730a0a(_0x35c0a2[0x0],_0x35c0a2[0x1],_0x35c0a2[0x2],'ZYX'));_0x4a81b5['threeObject']['quaternion']['copy'](_0x579bb1);const _0x42ca76=_0x14a41a['links']['get'](_0x4a81b5['child']);return _0x42ca76&&_0x42ca76['threeObject']&&(_0x42ca76['threeObject']['position']['set'](0x0,0x0,0x0),_0x42ca76['threeObject']['quaternion']['identity'](),_0x42ca76['threeObject']['scale']['set'](0x1,0x1,0x1)),_0x4a81b5['origin']['rpy']=_0x35c0a2,_0x4a81b5['_origRpy']=[..._0x35c0a2],_0x14a41a['threeObject']&&_0x14a41a['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw'](),{'jointName':_0x4a81b5['name'],'rpy':_0x35c0a2};}['_computeJointRpy'](_0x57a390,_0x3b4b47,_0x37f8df){let _0x4f66df=null;if(_0x57a390['joints']['forEach'](_0x10bb6a=>{_0x10bb6a['child']===_0x3b4b47&&(_0x4f66df=_0x10bb6a);}),!_0x4f66df)return null;const _0x1af5c5=_0x4f66df['_origRpy']||[0x0,0x0,0x0],_0x4a114a=Math['PI']/0x2,_0x595973=0x2*Math['PI'],_0x573652=_0x37f8df['map']((_0x370386,_0x427fea)=>{return(_0x541e81=>{let _0x4ecbb6=_0x541e81%_0x595973;return _0x4ecbb6>Math['PI']&&(_0x4ecbb6-=_0x595973),_0x4ecbb6<=-Math['PI']&&(_0x4ecbb6+=_0x595973),_0x4ecbb6;})((_0x3c6c0f=_0x370386,(_0x483671=_0x1af5c5[_0x427fea])+Math['round']((_0x3c6c0f-_0x483671)/_0x4a114a)*_0x4a114a));var _0x3c6c0f,_0x483671;});return{'joint':_0x4f66df,'rpy':_0x573652,'linkName':_0x4f66df['child']};}['_applyLinkDeltaTransform'](_0x10885b,_0x3ae15c,_0x2ca00a){const _0x3aed4d=_0x10885b['child'],_0x184d76=_0x2ca00a['links']['get'](_0x3aed4d);if(!_0x184d76||!_0x184d76['threeObject'])return;const _0x5d05e4=_0x10885b['origin']&&_0x10885b['origin']['rpy']?_0x10885b['origin']['rpy']:[0x0,0x0,0x0],_0x1a24f7=_0x10885b['_origXyz']||(_0x10885b['origin']?_0x10885b['origin']['xyz']:[0x0,0x0,0x0]),_0x2c5d5a=new _0x4adb8f()['setFromEuler'](new _0x730a0a(_0x5d05e4[0x0],_0x5d05e4[0x1],_0x5d05e4[0x2],'XYZ')),_0x4dd930=new _0x4adb8f()['setFromEuler'](new _0x730a0a(_0x3ae15c[0x0],_0x3ae15c[0x1],_0x3ae15c[0x2],'XYZ'));this['_tmpMat']['compose'](this['_tmpPos']['set'](_0x1a24f7[0x0],_0x1a24f7[0x1],_0x1a24f7[0x2]),_0x2c5d5a,this['_tmpScale']['set'](0x1,0x1,0x1));const _0x2ac53e=this['_tmpMat']['clone']();this['_tmpMat']['compose'](this['_tmpPos']['set'](_0x1a24f7[0x0],_0x1a24f7[0x1],_0x1a24f7[0x2]),_0x4dd930,this['_tmpScale']['set'](0x1,0x1,0x1)),this['_tmpMatLocal']['copy'](_0x2ac53e)['invert']()['multiply'](this['_tmpMat']),this['_tmpMatLocal']['decompose'](_0x184d76['threeObject']['position'],_0x184d76['threeObject']['quaternion'],this['_tmpScale']),_0x184d76['threeObject']['scale']['set'](0x1,0x1,0x1),_0x2ca00a['threeObject']&&_0x2ca00a['threeObject']['updateMatrixWorld'](!0x0);}['showAxesByName'](_0x455b87,_0x627cc4){var _0x353ba6,_0x4582d9,_0x35ebbe,_0x48fc1f;let _0xbc47f8=this['linkAxesHelpers']['get'](_0x455b87);if(!_0xbc47f8&&_0x627cc4){const _0x224a2c=null==(_0x35ebbe=null==(_0x4582d9=null==(_0x353ba6=this['sceneManager'])?void 0x0:_0x353ba6['currentModel'])?void 0x0:_0x4582d9['links'])?void 0x0:_0x35ebbe['get'](_0x455b87);if(_0x224a2c){let _0x4b6a65=0x1;const _0x58812c=null==(_0x48fc1f=this['sceneManager'])?void 0x0:_0x48fc1f['currentModel'];if(null==_0x58812c?void 0x0:_0x58812c['threeObject'])try{const _0xb6c857=new _0x9892f7()['setFromObject'](_0x58812c['threeObject']);if(!_0xb6c857['isEmpty']()){const _0x43cf26=_0xb6c857['getSize'](new _0x5a7be3());_0x4b6a65=Math['max'](_0x43cf26['x'],_0x43cf26['y'],_0x43cf26['z']);}}catch(_0x386430){}_0xbc47f8=this['createLinkAxes'](_0x224a2c,_0x455b87,_0x4b6a65);}}if(_0xbc47f8){_0xbc47f8['visible']=_0x627cc4;const _0x1846ba=this['axesLabels']['get'](_0x455b87);_0x1846ba&&(_0x1846ba['visible']=_0x627cc4&&this['showLabels']),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}}['showJointAxisByName'](_0x33b66c,_0x9aa293){const _0x388b50=this['jointAxesHelpers']['get'](_0x33b66c);_0x388b50&&(_0x388b50['userVisible']=_0x9aa293,this['_isolatedJointName']=null,this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']());}['setShowLabels'](_0x8c7b3e){this['showLabels']=_0x8c7b3e,_0x8c7b3e&&(this['linkAxesHelpers']['forEach']((_0x1d0068,_0x216f71)=>{if(!this['axesLabels']['has'](_0x216f71)){const _0x3884a0=this['getAxesDisplaySize'](_0x1d0068);this['createAxisLabel'](_0x216f71,_0x1d0068,_0x3884a0,!0x0);}}),this['jointAxesHelpers']['forEach']((_0x5f0ff6,_0x3adb7a)=>{if(!this['jointAxesLabels']['has'](_0x3adb7a)){const _0x2a588e=this['getAxesDisplaySize'](_0x5f0ff6['mesh']);this['createAxisLabel'](_0x3adb7a,_0x5f0ff6['mesh'],_0x2a588e,!0x1);}})),this['axesLabels']['forEach']((_0x2ea87d,_0x3b7cf0)=>{const _0x1635bd=this['linkAxesHelpers']['get'](_0x3b7cf0);_0x2ea87d['visible']=_0x8c7b3e&&_0x1635bd&&_0x1635bd['visible'];}),this['jointAxesLabels']['forEach']((_0x4f7d18,_0x18803b)=>{const _0x55bba0=this['jointAxesHelpers']['get'](_0x18803b);_0x4f7d18['visible']=_0x8c7b3e&&_0x55bba0&&_0x55bba0['isAttached'];}),this['sceneManager']['redraw']();}['getAxesDisplaySize'](_0x2e79d4){let _0x256980=0x0;return _0x2e79d4['traverse'](_0x58f43d=>{_0x58f43d['isCSS2DObject']||(_0x256980=Math['max'](_0x256980,Math['abs'](_0x58f43d['position']['x']),Math['abs'](_0x58f43d['position']['y']),Math['abs'](_0x58f43d['position']['z'])));}),Math['max'](0x2*_0x256980,0.03*this['axesScale']);}['createAxisLabel'](_0x533994,_0x4e8334,_0x5847cd,_0x390f5d){var _0x3824d5;const _0x40b8e1=_0x390f5d?this['axesLabels']['get'](_0x533994):this['jointAxesLabels']['get'](_0x533994);if(_0x40b8e1){_0x40b8e1['parent']!==_0x4e8334&&(null==(_0x3824d5=_0x40b8e1['parent'])||_0x3824d5['remove'](_0x40b8e1),_0x4e8334['add'](_0x40b8e1));const _0x5eb76c=Math['max'](0xa,Math['min'](0x10,0xc*this['axesScale']));_0x40b8e1['element']['style']['fontSize']=_0x5eb76c+'px',_0x40b8e1['element']['style']['whiteSpace']='nowrap';}const _0x180a44=document['createElement']('div');_0x180a44['className']='axis-label',_0x180a44['textContent']=_0x533994;const _0x3f37b5=Math['max'](0xa,Math['min'](0x10,0xc*this['axesScale']));_0x180a44['style']['fontSize']=_0x3f37b5+'px',_0x180a44['style']['whiteSpace']='nowrap';const _0x4a92cd=new Fe(_0x180a44);return _0x4a92cd['position']['set'](1.15*_0x5847cd,0x0,0x0),_0x4a92cd['visible']=this['showLabels'],_0x4e8334['add'](_0x4a92cd),_0x390f5d?this['axesLabels']['set'](_0x533994,_0x4a92cd):this['jointAxesLabels']['set'](_0x533994,_0x4a92cd),_0x4a92cd;}['clearAllLabels'](){this['axesLabels']['forEach']((_0x5935bb,_0x5f5ae5)=>{const _0x429129=this['linkAxesHelpers']['get'](_0x5f5ae5);_0x429129&&_0x429129['remove'](_0x5935bb);}),this['axesLabels']['clear'](),this['jointAxesLabels']['forEach']((_0x5ddd06,_0x392742)=>{const _0x72d308=this['jointAxesHelpers']['get'](_0x392742);_0x72d308&&_0x72d308['mesh']&&_0x72d308['mesh']['remove'](_0x5ddd06);}),this['jointAxesLabels']['clear']();}['getLinkNames'](){return Array['from'](this['linkAxesHelpers']['keys']());}['getJointNames'](){return Array['from'](this['jointAxesHelpers']['keys']());}['isLinkAxisVisible'](_0x1b1944){const _0x4dbc28=this['linkAxesHelpers']['get'](_0x1b1944);return!!_0x4dbc28&&_0x4dbc28['visible'];}['isJointAxisVisible'](_0x3ff4b3){const _0x411baf=this['jointAxesHelpers']['get'](_0x3ff4b3);return!!_0x411baf&&_0x411baf['userVisible'];}}class Fi{constructor(_0x1731fa){this['sceneManager']=_0x1731fa,this['currentHighlightedLink']=null,this['highlightMaterial']=new _0xa87e13({'shininess':0xa,'color':0xffffff,'emissive':0xffffff,'emissiveIntensity':0.25});}['highlightLink'](_0x1ccba2,_0x2357b8){_0x1ccba2&&(this['currentHighlightedLink']&&this['currentHighlightedLink']['name']===_0x1ccba2['name']||(this['currentHighlightedLink']&&this['unhighlightLink'](this['currentHighlightedLink'],_0x2357b8),this['currentHighlightedLink']=_0x1ccba2,_0x1ccba2['threeObject']&&this['highlightLinkGeometry'](_0x1ccba2['threeObject'],_0x2357b8),this['showHoverInfo'](_0x1ccba2,_0x2357b8),this['sceneManager']['redraw']()));}['unhighlightLink'](_0x18eb62,_0x1835bc){_0x18eb62&&(this['currentHighlightedLink']&&this['currentHighlightedLink']['name']===_0x18eb62['name']&&(this['currentHighlightedLink']=null),_0x18eb62['threeObject']&&this['unhighlightLinkGeometry'](_0x18eb62['threeObject'],_0x1835bc),this['hideHoverInfo'](),this['sceneManager']['redraw']());}['highlightLinkGeometry'](_0x505090,_0x40333b){const _0xa46d10=(_0x24f261,_0xfd6efa=!0x1)=>{var _0x3874fa,_0x5c20d7,_0x4ea6b1,_0xe35d0b,_0x11e71e;if(_0xfd6efa||'URDFLink'!==_0x24f261['type']&&!_0x24f261['isURDFLink']){if(_0x24f261['isURDFJoint']||'URDFJoint'===_0x24f261['type']){const _0x25a4f1=_0x24f261['name'];let _0x2a8685=!0x1;if(_0x25a4f1&&(null==_0x40333b?void 0x0:_0x40333b['joints'])&&_0x40333b['joints']['has'](_0x25a4f1)){_0x2a8685='fixed'===_0x40333b['joints']['get'](_0x25a4f1)['type'];}if(_0x2a8685){for(const _0x401ec1 of _0x24f261['children'])_0xa46d10(_0x401ec1,!0x1);return;}return;}if('Mesh'===_0x24f261['type']||_0x24f261['isMesh']){if(_0x24f261['isURDFCollider'])return;_0x24f261['__origMaterial']||(_0x24f261['__origMaterial']=_0x24f261['material']);const _0x5f43d7=null==(_0x3874fa=_0x24f261['userData'])?void 0x0:_0x3874fa['isInertiaBox'],_0x47ae00=(null==(_0x5c20d7=_0x24f261['userData'])?void 0x0:_0x5c20d7['isCollision'])||(null==(_0x4ea6b1=_0x24f261['userData'])?void 0x0:_0x4ea6b1['isCollisionGeom']),_0xa66aa2=(null==(_0xe35d0b=_0x24f261['userData'])?void 0x0:_0xe35d0b['isCenterOfMass'])||_0x24f261['parent']&&(null==(_0x11e71e=_0x24f261['parent']['userData'])?void 0x0:_0x11e71e['isCenterOfMass']);if(_0x5f43d7||_0x47ae00){const _0x5710b9=_0x24f261['__origMaterial'];_0x5710b9['isMeshPhongMaterial']&&(_0x24f261['material']=new _0xa87e13({'transparent':!0x0,'opacity':Math['min']((_0x5710b9['opacity']||0.35)+0.15,0.7),'shininess':_0x5710b9['shininess'],'premultipliedAlpha':_0x5710b9['premultipliedAlpha'],'color':_0x5710b9['color']['clone'](),'emissive':_0x5710b9['color']['clone'](),'emissiveIntensity':0.2,'polygonOffset':_0x5710b9['polygonOffset'],'polygonOffsetFactor':_0x5710b9['polygonOffsetFactor'],'polygonOffsetUnits':_0x5710b9['polygonOffsetUnits']}));}else if(_0xa66aa2){const _0x4cb5a3=_0x24f261['__origMaterial'];if(_0x4cb5a3['isMeshBasicMaterial']){_0x24f261['material']=new _0x553295({'color':_0x4cb5a3['color']['clone'](),'side':_0x4cb5a3['side'],'depthTest':_0x4cb5a3['depthTest'],'depthWrite':_0x4cb5a3['depthWrite']});const _0x3c3fa5={};_0x24f261['material']['color']['getHSL'](_0x3c3fa5),_0x24f261['material']['color']['setHSL'](_0x3c3fa5['h'],_0x3c3fa5['s'],Math['min'](_0x3c3fa5['l']+0.3,0x1));}}else _0x24f261['material']=this['highlightMaterial'];}for(const _0x1dd219 of _0x24f261['children'])_0xa46d10(_0x1dd219,!0x1);}};_0xa46d10(_0x505090,!0x0);}['unhighlightLinkGeometry'](_0x4b3fbd,_0x2da314){const _0x496de4=(_0x860d02,_0x51a0b5=!0x1)=>{if(_0x51a0b5||'URDFLink'!==_0x860d02['type']&&!_0x860d02['isURDFLink']){if(_0x860d02['isURDFJoint']||'URDFJoint'===_0x860d02['type']){const _0x55c884=_0x860d02['name'];let _0x55bd72=!0x1;if(_0x55c884&&(null==_0x2da314?void 0x0:_0x2da314['joints'])&&_0x2da314['joints']['has'](_0x55c884)){_0x55bd72='fixed'===_0x2da314['joints']['get'](_0x55c884)['type'];}if(_0x55bd72){for(const _0x283a6b of _0x860d02['children'])_0x496de4(_0x283a6b,!0x1);return;}return;}('Mesh'===_0x860d02['type']||_0x860d02['isMesh'])&&_0x860d02['__origMaterial']&&(_0x860d02['material']=_0x860d02['__origMaterial'],delete _0x860d02['__origMaterial']);for(const _0x36cad5 of _0x860d02['children'])_0x496de4(_0x36cad5,!0x1);}};_0x496de4(_0x4b3fbd,!0x0);}['isAuxiliaryVisualization'](_0x286a15){var _0x47357d,_0x13ad4d,_0x1a919c,_0x243475;return!!(null==(_0x47357d=_0x286a15['userData'])?void 0x0:_0x47357d['isInertiaBox'])||(!!(null==(_0x13ad4d=_0x286a15['userData'])?void 0x0:_0x13ad4d['isCOMMarker'])||(!!(null==(_0x1a919c=_0x286a15['userData'])?void 0x0:_0x1a919c['isCenterOfMass'])||!!(null==(_0x243475=_0x286a15['userData'])?void 0x0:_0x243475['isCollision'])));}['showHoverInfo'](_0x11fbf7,_0x4b5750){const _0x4fc0db=document['getElementById']('hover-info'),_0x1c69b3=document['getElementById']('hover-joint-name'),_0x3b5a9c=document['getElementById']('hover-link-name'),_0x455770=document['getElementById']('hover-link-mass'),_0x20ae04=document['getElementById']('hover-link-pose');if(!(_0x4fc0db&&_0x1c69b3&&_0x3b5a9c&&_0x455770&&_0x20ae04))return;_0x3b5a9c['textContent']='Link:\x20'+(_0x11fbf7['name']||'Unknown');let _0x115116='None\x20(Base\x20Link)',_0x1f0803='',_0x51dd16=_0x11fbf7['threeObject'];for(;_0x51dd16;){const _0x22640a=_0x51dd16['parent'];if(_0x22640a&&('URDFJoint'===_0x22640a['type']||_0x22640a['isURDFJoint'])){const _0x27085f=_0x22640a['name'];if(_0x27085f&&(null==_0x4b5750?void 0x0:_0x4b5750['joints'])&&_0x4b5750['joints']['has'](_0x27085f)){const _0x6fd99c=_0x4b5750['joints']['get'](_0x27085f);if('fixed'!==_0x6fd99c['type']){_0x115116=_0x27085f,_0x1f0803=_0x6fd99c['type'];break;}const _0x181277=_0x22640a['parent'];if(_0x181277&&('URDFLink'===_0x181277['type']||_0x181277['isURDFLink'])){_0x51dd16=_0x181277;continue;}}}break;}_0x1c69b3['textContent']=_0x1f0803?'Joint:\x20'+_0x115116+'\x20('+_0x1f0803+')':'Joint:\x20'+_0x115116;let _0x2212ae=0x0,_0xa2c43e=!0x1,_0x24eb07=[];const _0x2f3b79=(_0x44a11b,_0x4d0056=!0x0)=>{const _0x365087=_0x44a11b['name'];if(_0x365087&&(null==_0x4b5750?void 0x0:_0x4b5750['links'])&&_0x4b5750['links']['has'](_0x365087)){const _0x4ef371=_0x4b5750['links']['get'](_0x365087);_0x4d0056||_0x24eb07['push'](_0x365087),_0x4ef371['inertial']&&void 0x0!==_0x4ef371['inertial']['mass']&&_0x4ef371['inertial']['mass']>0x0&&(_0x2212ae+=_0x4ef371['inertial']['mass'],_0xa2c43e=!0x0);}for(const _0x54366c of _0x44a11b['children'])if(_0x54366c['isURDFJoint']||'URDFJoint'===_0x54366c['type']){const _0x429cf8=_0x54366c['name'];if(_0x429cf8&&(null==_0x4b5750?void 0x0:_0x4b5750['joints'])&&_0x4b5750['joints']['has'](_0x429cf8)){if('fixed'===_0x4b5750['joints']['get'](_0x429cf8)['type'])for(const _0x7e2c2e of _0x54366c['children'])('URDFLink'===_0x7e2c2e['type']||_0x7e2c2e['isURDFLink'])&&_0x2f3b79(_0x7e2c2e,!0x1);}}};_0x2f3b79(_0x11fbf7['threeObject'],!0x0),_0x455770['textContent']=_0xa2c43e?'Mass:\x20'+_0x2212ae['toFixed'](0x4)+'\x20kg':'Mass:\x20N/A';const _0x336964=document['getElementById']('hover-merged-links');if(_0x336964&&(_0x24eb07['length']>0x0?(_0x336964['textContent']='Includes:\x20'+_0x24eb07['join'](',\x20'),_0x336964['style']['display']='block'):_0x336964['style']['display']='none'),_0x20ae04&&_0x11fbf7['threeObject']){const _0x26f581=new _0x5a7be3(),_0x2bf41e=new _0x4adb8f(),_0x32f5ce=new _0x730a0a();_0x11fbf7['threeObject']['getWorldPosition'](_0x26f581),_0x11fbf7['threeObject']['getWorldQuaternion'](_0x2bf41e),_0x32f5ce['setFromQuaternion'](_0x2bf41e,'XYZ');const _0xd3334c=0x4,_0x41be83=_0x2bf41e['x']['toFixed'](_0xd3334c),_0x4b3d78=_0x2bf41e['y']['toFixed'](_0xd3334c),_0x54d54f=_0x2bf41e['z']['toFixed'](_0xd3334c),_0x53abbe=_0x2bf41e['w']['toFixed'](_0xd3334c),_0x1acb87=_0x32f5ce['x']['toFixed'](_0xd3334c),_0x174acd=_0x32f5ce['y']['toFixed'](_0xd3334c),_0xc4cbd2=_0x32f5ce['z']['toFixed'](_0xd3334c),_0x220aac=_0x35197a['radToDeg'](_0x32f5ce['x'])['toFixed'](_0xd3334c),_0x32fe38=_0x35197a['radToDeg'](_0x32f5ce['y'])['toFixed'](_0xd3334c),_0x5cbb64=_0x35197a['radToDeg'](_0x32f5ce['z'])['toFixed'](_0xd3334c),_0x15b01a='Position\x20(world):\x0a-\x20x\x20=\x20'+_0x26f581['x']['toFixed'](_0xd3334c)+'\x20m-\x20y\x20=\x20'+_0x26f581['y']['toFixed'](_0xd3334c)+'\x20m-\x20z\x20=\x20'+_0x26f581['z']['toFixed'](_0xd3334c)+'\x20m\x0a',_0x43133d='Orientation\x20(world):\x0a-\x20Quat:\x20x='+_0x41be83+'\x20y='+_0x4b3d78+'\x20z='+_0x54d54f+'\x20w='+_0x53abbe+'\x0a-\x20RPY\x20(rad):\x20r='+_0x1acb87+'\x20p='+_0x174acd+'\x20y='+_0xc4cbd2+'\x0a-\x20RPY\x20(deg):\x20r='+_0x220aac+'\x20p='+_0x32fe38+'\x20y='+_0x5cbb64+'\x0a';_0x20ae04['textContent']=_0x15b01a+_0x43133d,_0x20ae04['style']['display']='block';}else _0x20ae04&&(_0x20ae04['textContent']='Link\x20pose:\x20N/A',_0x20ae04['style']['display']='block');_0x4fc0db['classList']['add']('visible');}['hideHoverInfo'](){const _0x5c4e0e=document['getElementById']('hover-info');_0x5c4e0e&&_0x5c4e0e['classList']['remove']('visible');}['clearHighlight'](){this['currentHighlightedLink']&&this['unhighlightLink'](this['currentHighlightedLink'],this['sceneManager']['currentModel']);}}class Di{constructor(_0x455d1a){this['sceneManager']=_0x455d1a,this['measurementHelper']=null;}['showMeasurement'](_0x6bad4e,_0x2c6a2d,_0x261995,_0x5d3fe6,_0x4b6617,_0x4d2112,_0x1d144b=!0x1){this['clearMeasurement']();const _0x9a121b=new _0x2474d6();_0x9a121b['name']='measurementHelper';if(_0x1d144b){const _0x2f073d=Math['abs'](_0x261995['y']),_0x575060=new _0x5065c1()['setFromPoints']([_0x6bad4e,_0x2c6a2d]),_0x4596e0=new _0x46982f({'color':0xff00,'linewidth':0x3,'depthTest':!0x1}),_0x40c2c9=new _0x492957(_0x575060,_0x4596e0);_0x40c2c9['renderOrder']=0x3e7,_0x9a121b['add'](_0x40c2c9);const _0x4ed223=new _0x5a7be3()['addVectors'](_0x6bad4e,_0x2c6a2d)['multiplyScalar'](0.5),_0x52da4c=this['createLabel']('Δh\x20'+(0x3e8*_0x2f073d)['toFixed'](0x1)+'mm',_0x4ed223,'#00ff00');_0x9a121b['add'](_0x52da4c);}else{const _0x4a1542=new _0x5065c1()['setFromPoints']([_0x6bad4e,_0x2c6a2d]),_0x50e49c=new _0x49d752({'color':0xffff00,'dashSize':0.01,'gapSize':0.005,'linewidth':0x2,'depthTest':!0x1}),_0x4ac65c=new _0x492957(_0x4a1542,_0x50e49c);_0x4ac65c['computeLineDistances'](),_0x4ac65c['renderOrder']=0x3e7,_0x9a121b['add'](_0x4ac65c);const _0x424a86=new _0x5a7be3()['addVectors'](_0x6bad4e,_0x2c6a2d)['multiplyScalar'](0.5),_0x1131cb=this['createLabel']((0x3e8*_0x5d3fe6)['toFixed'](0x1)+'mm',_0x424a86,'#ffff00');if(_0x9a121b['add'](_0x1131cb),Math['abs'](_0x261995['x'])>0.001){const _0x3f1911=new _0x5a7be3(_0x6bad4e['x'],_0x6bad4e['y'],_0x6bad4e['z']),_0x3c847e=new _0x5a7be3(_0x2c6a2d['x'],_0x6bad4e['y'],_0x6bad4e['z']),_0x305540=[_0x3f1911,_0x3c847e],_0x528eb7=new _0x5065c1()['setFromPoints'](_0x305540),_0x11c7f8=new _0x46982f({'color':0xff0000,'linewidth':0x2,'depthTest':!0x1}),_0x2f91f1=new _0x492957(_0x528eb7,_0x11c7f8);_0x2f91f1['renderOrder']=0x3e7,_0x9a121b['add'](_0x2f91f1);const _0x2ee08c=new _0x5a7be3()['addVectors'](_0x3f1911,_0x3c847e)['multiplyScalar'](0.5),_0x54865e=this['createLabel']('ΔX\x20'+(0x3e8*_0x261995['x'])['toFixed'](0x1)+'mm',_0x2ee08c,'#ff0000');_0x9a121b['add'](_0x54865e);}if(Math['abs'](_0x261995['y'])>0.001){const _0x19faba=new _0x5a7be3(_0x2c6a2d['x'],_0x6bad4e['y'],_0x6bad4e['z']),_0x4357ef=new _0x5a7be3(_0x2c6a2d['x'],_0x2c6a2d['y'],_0x6bad4e['z']),_0x37e645=[_0x19faba,_0x4357ef],_0xdbe8f0=new _0x5065c1()['setFromPoints'](_0x37e645),_0x42864a=new _0x46982f({'color':0xff00,'linewidth':0x2,'depthTest':!0x1}),_0x117a7c=new _0x492957(_0xdbe8f0,_0x42864a);_0x117a7c['renderOrder']=0x3e7,_0x9a121b['add'](_0x117a7c);const _0x349a59=new _0x5a7be3()['addVectors'](_0x19faba,_0x4357ef)['multiplyScalar'](0.5),_0x553981=this['createLabel']('ΔY\x20'+(0x3e8*_0x261995['y'])['toFixed'](0x1)+'mm',_0x349a59,'#00ff00');_0x9a121b['add'](_0x553981);}if(Math['abs'](_0x261995['z'])>0.001){const _0x1d1269=new _0x5a7be3(_0x2c6a2d['x'],_0x2c6a2d['y'],_0x6bad4e['z']),_0x3109d9=new _0x5a7be3(_0x2c6a2d['x'],_0x2c6a2d['y'],_0x2c6a2d['z']),_0x4a7213=[_0x1d1269,_0x3109d9],_0x586845=new _0x5065c1()['setFromPoints'](_0x4a7213),_0x4180aa=new _0x46982f({'color':0xff,'linewidth':0x2,'depthTest':!0x1}),_0x12a01b=new _0x492957(_0x586845,_0x4180aa);_0x12a01b['renderOrder']=0x3e7,_0x9a121b['add'](_0x12a01b);const _0x1a4817=new _0x5a7be3()['addVectors'](_0x1d1269,_0x3109d9)['multiplyScalar'](0.5),_0xb7e9db=this['createLabel']('ΔZ\x20'+(0x3e8*_0x261995['z'])['toFixed'](0x1)+'mm',_0x1a4817,'#0000ff');_0x9a121b['add'](_0xb7e9db);}}const _0x1bd3f9=new _0x401a16(0.01,0x10,0x10),_0x222834=new _0x553295({'color':0xffff00,'depthTest':!0x1}),_0x5f503c=new _0x3d1069(_0x1bd3f9,_0x222834);_0x5f503c['position']['copy'](_0x6bad4e),_0x5f503c['renderOrder']=0x3e8,_0x9a121b['add'](_0x5f503c);const _0x19f93c=new _0x3d1069(_0x1bd3f9,_0x222834);_0x19f93c['position']['copy'](_0x2c6a2d),_0x19f93c['renderOrder']=0x3e8,_0x9a121b['add'](_0x19f93c),this['sceneManager']['scene']['add'](_0x9a121b),this['measurementHelper']=_0x9a121b,this['sceneManager']['redraw']();}['createLabel'](_0x1acb80,_0x3b731f,_0x14728d){const _0xfcd0a6=document['createElement']('canvas'),_0x4eccda=_0xfcd0a6['getContext']('2d');_0xfcd0a6['width']=0x100,_0xfcd0a6['height']=0x40,_0x4eccda['clearRect'](0x0,0x0,_0xfcd0a6['width'],_0xfcd0a6['height']),_0x4eccda['font']='Bold\x2032px\x20Arial',_0x4eccda['textAlign']='center',_0x4eccda['textBaseline']='middle',_0x4eccda['strokeStyle']='rgba(0,\x200,\x200,\x200.8)',_0x4eccda['lineWidth']=0x4,_0x4eccda['strokeText'](_0x1acb80,0x80,0x20),_0x4eccda['fillStyle']=_0x14728d,_0x4eccda['fillText'](_0x1acb80,0x80,0x20);const _0x1642f5=new _0x302a55(_0xfcd0a6),_0x274a8d=new _0x52cd88({'map':_0x1642f5,'depthTest':!0x1,'depthWrite':!0x1,'transparent':!0x0}),_0x34ce88=new _0x41fc88(_0x274a8d);return _0x34ce88['position']['copy'](_0x3b731f),_0x34ce88['scale']['set'](0.18,0.045,0x1),_0x34ce88['renderOrder']=0x3e8,_0x34ce88;}['clearMeasurement'](){this['measurementHelper']&&(this['sceneManager']['scene']['remove'](this['measurementHelper']),this['measurementHelper']=null,this['sceneManager']['redraw']());}['clear'](){this['clearMeasurement']();}}class Pi{constructor(_0x3c394d){this['canvas']=_0x3c394d,this['scene']=new _0x33e93b(),this['_dirty']=!0x1,this['_pendingRender']=!0x1,this['_renderingPaused']=!0x1,this['_eventListeners']={};const _0x148d5e=_0x3c394d['clientWidth'],_0x367aef=_0x3c394d['clientHeight'];this['camera']=new _0x45bf09(0x4b,_0x148d5e/_0x367aef,0.1,0x3e8),this['camera']['position']['set'](0x2,0x2,0x2),this['camera']['lookAt'](0x0,0x0,0x0),this['renderer']=new _0x3588ec({'canvas':_0x3c394d,'antialias':!0x0}),this['renderer']['setSize'](_0x148d5e,_0x367aef),this['renderer']['setPixelRatio'](window['devicePixelRatio']),this['renderer']['shadowMap']['enabled']=!0x0,this['renderer']['shadowMap']['type']=_0x38103c,this['labelRenderer']=new Ne(),this['labelRenderer']['setSize'](_0x148d5e,_0x367aef),this['labelRenderer']['domElement']['style']['position']='absolute',this['labelRenderer']['domElement']['style']['top']='0',this['labelRenderer']['domElement']['style']['pointerEvents']='none',this['labelRenderer']['domElement']['style']['zIndex']='1',_0x3c394d['parentElement']['appendChild'](this['labelRenderer']['domElement']),this['controls']=new Oe(this['camera'],_0x3c394d),this['controls']['enableDamping']=!0x1,this['controls']['enablePan']=!0x0,this['controls']['panSpeed']=0x1,this['controls']['enableZoom']=!0x0,this['controls']['enableRotate']=!0x0,this['controls']['screenSpacePanning']=!0x0,this['controls']['target']['set'](0x0,0x0,0x0),this['controls']['addEventListener']('change',()=>this['redraw']()),this['controls']['mouseButtons']&&(this['controls']['mouseButtons']['LEFT']=_0x5ef69a['ROTATE'],this['controls']['mouseButtons']['MIDDLE']=_0x5ef69a['DOLLY'],this['controls']['mouseButtons']['RIGHT']=_0x5ef69a['PAN']),this['updateBackgroundColor'](),this['setupThemeListener'](),this['environmentManager']=new Ci(this['scene']),this['environmentManager']['setupLights'](),this['environmentManager']['setupGroundPlane'](),this['environmentManager']['initializeEnvironmentMap'](this['renderer']),this['groundPlane']=this['environmentManager']['groundPlane'],this['referenceGrid']=this['environmentManager']['referenceGrid'],this['directionalLight']=this['environmentManager']['getDirectionalLight'](),this['ambientLight']=this['environmentManager']['lights']['ambient'],this['fillLight']=this['environmentManager']['lights']['fill'],this['visualizationManager']=new ji(this),this['inertialVisualization']=new ki(this),this['constraintManager']=new Ti(this),this['axesManager']=new Oi(this),this['highlightManager']=new Fi(this),this['measurementManager']=new Di(this),this['_renderScale']=0x1,this['currentModel']=null,this['ignoreLimits']=!0x1,this['baseOrientationGroup']=null,this['worldAxes']=null,this['dragControls']=null,this['setupResizeObserver'](),this['_contextLost']=!0x1,this['setupContextLossHandling'](),this['startRenderLoop'](),this['redraw']();}['startRenderLoop'](){const _0x31c6fa=()=>{this['_dirty']&&!this['_contextLost']&&(this['renderer']['render'](this['scene'],this['camera']),this['labelRenderer']['render'](this['scene'],this['camera']),this['_dirty']=!0x1),this['_renderLoopId']=requestAnimationFrame(_0x31c6fa);};_0x31c6fa();}['stopRenderLoop'](){this['_renderLoopId']&&(cancelAnimationFrame(this['_renderLoopId']),this['_renderLoopId']=null),this['resizeObserver']&&(this['resizeObserver']['disconnect'](),this['resizeObserver']=null),this['_onContextLost']&&(this['canvas']['removeEventListener']('webglcontextlost',this['_onContextLost']),this['_onContextLost']=null),this['_onContextRestored']&&(this['canvas']['removeEventListener']('webglcontextrestored',this['_onContextRestored']),this['_onContextRestored']=null);}['setupContextLossHandling'](){this['_onContextLost']=_0x1eb618=>{_0x1eb618['preventDefault'](),this['_contextLost']=!0x0,this['_showContextLostOverlay'](),this['emit']('contextLost');},this['_onContextRestored']=()=>{if(this['_contextLost']=!0x1,this['environmentManager'])try{this['environmentManager']['regenerateEnvironmentMap'](this['renderer'],!0x0);}catch(_0x13bb3e){}this['renderer']['shadowMap']['enabled']&&(this['renderer']['shadowMap']['needsUpdate']=!0x0),this['_hideContextLostOverlay'](),this['redraw'](),this['emit']('contextRestored');},this['canvas']['addEventListener']('webglcontextlost',this['_onContextLost']),this['canvas']['addEventListener']('webglcontextrestored',this['_onContextRestored']);}['_showContextLostOverlay'](){if(this['_contextLostOverlay'])return;const _0x109ada=(_0x1773e0,_0x2a3412)=>window['i18n']&&'function'==typeof window['i18n']['t']&&window['i18n']['t'](_0x1773e0)!==_0x1773e0?window['i18n']['t'](_0x1773e0):_0x2a3412,_0x3f17ae=document['createElement']('div');_0x3f17ae['id']='webgl-context-lost-overlay',_0x3f17ae['style']['cssText']='\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20position:\x20absolute;\x20inset:\x200;\x20z-index:\x2050;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20display:\x20flex;\x20flex-direction:\x20column;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20align-items:\x20center;\x20justify-content:\x20center;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20gap:\x2010px;\x20padding:\x2024px;\x20text-align:\x20center;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background:\x20rgba(0,\x200,\x200,\x200.72);\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20color:\x20#fff;\x20font-size:\x2014px;\x20line-height:\x201.6;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20backdrop-filter:\x20blur(2px);\x0a\x20\x20\x20\x20\x20\x20\x20\x20';const 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this['_dirty'];}['redraw'](){this['_dirty']=!0x0;}['pauseRendering'](){this['_renderingPaused']=!0x0;}['resumeRendering'](){this['_renderingPaused']=!0x1;}['render'](){this['_renderingPaused']||(this['_contextLost']?this['_dirty']=!0x0:(this['renderer']['render'](this['scene'],this['camera']),this['labelRenderer']['render'](this['scene'],this['camera']),this['_dirty']=!0x1));}['addModel'](_0x294a85){if(this['currentModel']&&this['currentModel']['threeObject']&&this['removeModel'](this['currentModel']),this['currentModel']=_0x294a85,!_0x294a85['threeObject'])return;const _0x38330d=!_0x294a85['joints']||0x0===_0x294a85['joints']['size'];if(_0x38330d)this['scene']['add'](_0x294a85['threeObject']);else{this['world']||(this['world']=new _0x483a70(),this['scene']['add'](this['world']),this['world']['rotation']['set'](-Math['PI']/0x2,0x0,0x0));const _0x20c2ad=document['getElementById']('up-select');if(_0x20c2ad&&this['setUp'](_0x20c2ad['value']||'+Z'),this['baseOrientationGroup']||(this['baseOrientationGroup']=new _0x2474d6(),this['baseOrientationGroup']['name']='baseOrientationGroup'),this['baseOrientationGroup']['parent']!==this['world']&&this['world']['add'](this['baseOrientationGroup']),this['baseOrientationGroup']['add'](_0x294a85['threeObject']),!this['worldAxes']){const _0x5d34d5=new _0x2474d6();_0x5d34d5['name']='worldAxes',_0x5d34d5['visible']=!0x1;const _0x24d16d=1.5,_0x3a0d04=0.02,_0xee2d8f=new _0x201dad(_0x3a0d04,_0x3a0d04,_0x24d16d,0x8),_0x1a6602=new _0x553295({'color':0xff0000}),_0x3b3ed8=new _0x3d1069(_0xee2d8f,_0x1a6602);_0x3b3ed8['position']['x']=_0x24d16d/0x2,_0x3b3ed8['rotation']['z']=-Math['PI']/0x2,_0x5d34d5['add'](_0x3b3ed8);const _0x381208=new _0x553295({'color':0xff00}),_0x158869=new _0x3d1069(_0xee2d8f,_0x381208);_0x158869['position']['y']=_0x24d16d/0x2,_0x5d34d5['add'](_0x158869);const _0x3efc5a=new _0x553295({'color':0xff}),_0x1b14f0=new _0x3d1069(_0xee2d8f,_0x3efc5a);_0x1b14f0['position']['z']=_0x24d16d/0x2,_0x1b14f0['rotation']['x']=Math['PI']/0x2,_0x5d34d5['add'](_0x1b14f0),_0x5d34d5['renderOrder']=0x3e7,_0x5d34d5['traverse'](_0xdc7896=>{_0xdc7896['material']&&(_0xdc7896['material']['depthTest']=!0x1,_0xdc7896['material']['depthWrite']=!0x1);}),this['worldAxes']=_0x5d34d5,this['world']['add'](this['worldAxes']);}}this['visualizationManager']['extractVisualAndCollision'](_0x294a85);let _0x66df85=0x1;try{if(_0x294a85['threeObject']){const _0x20f46f=this['computeRobustBoundingBox'](_0x294a85['threeObject']);if(!_0x20f46f['isEmpty']()){const _0x3edbf0=_0x20f46f['getSize'](new _0x5a7be3());_0x66df85=Math['max'](_0x3edbf0['x'],_0x3edbf0['y'],_0x3edbf0['z']);}}}catch(_0x89941c){}this['axesManager']['clearAllLinkAxes'](),this['axesManager']['modelSize']=_0x66df85,_0x294a85['links']&&_0x294a85['links']['forEach']((_0x2beb35,_0x1f50e7)=>{this['axesManager']['createLinkAxes'](_0x2beb35,_0x1f50e7,_0x66df85);}),this['axesManager']['clearAllJointAxes'](),_0x294a85['joints']&&_0x294a85['joints']['forEach']((_0x2cd9ed,_0x1aff26)=>{this['axesManager']['createJointAxis'](_0x2cd9ed,_0x1aff26);}),this['inertialVisualization']['extractInertialProperties'](_0x294a85),this['constraintManager']['visualizeConstraints'](_0x294a85,this['world']),_0x294a85['constraints']&&_0x294a85['constraints']['size']>0x0&&this['constraintManager']['applyConstraints'](_0x294a85,null),this['initDragControls'](_0x294a85),this['updateEnvironment'](!0x1,!0x0),_0x38330d?requestAnimationFrame(()=>{requestAnimationFrame(()=>{this['updateEnvironment'](!0x0,!0x0),this['emit']('modelReady',_0x294a85);});}):(setTimeout(()=>{this['visualizationManager']['extractVisualAndCollision'](_0x294a85);},0x64),setTimeout(()=>{this['visualizationManager']['extractVisualAndCollision'](_0x294a85),this['updateEnvironment'](!0x0,!0x0),this['emit']('modelReady',_0x294a85);},0x3e8),setTimeout(()=>{this['visualizationManager']['extractVisualAndCollision'](_0x294a85),this['updateEnvironment'](!0x1,!0x0);},0x9c4));}['removeModel'](_0xf2e80a){_0xf2e80a&&_0xf2e80a['threeObject']&&_0xf2e80a['threeObject']['parent']&&_0xf2e80a['threeObject']['parent']['remove'](_0xf2e80a['threeObject']),this['baseOrientationGroup']&&this['baseOrientationGroup']['quaternion']['identity'](),this['axesManager']['clear'](),this['visualizationManager']['clear'](),this['inertialVisualization']['clear'](),this['constraintManager']['clear'](),this['measurementManager']['clear'](),this['highlightManager']['clearHighlight'](),this['dragControls']&&(this['dragControls']['dispose'](),this['dragControls']=null),this['currentModel']=null;}['addAuxiliaryModel'](_0x1f2a45,_0x36e22d,_0x3bf7e7={'x':0x0,'y':0x0,'z':0x0},_0x48244a=null,_0x58e2e=null){}['removeAuxiliaryModel'](_0x3c5cf9){}['getAuxiliaryModel'](_0x3c52ae){return null;}['setAuxiliaryModelVisibility'](_0x355f30,_0x371be1){const _0x16509c=this['auxiliaryModels']['get'](_0x355f30);_0x16509c&&_0x16509c['wrapper']&&(_0x16509c['wrapper']['visible']=_0x371be1,this['redraw']());}['computeRobustBoundingBox'](_0x51ed9a){const _0x5c7918=[];_0x51ed9a['updateMatrixWorld'](!0x0);const _0x1b4fe6=_0x3ce8fb=>{if(!_0x3ce8fb['userData']||!_0x3ce8fb['userData']['excludeFromBBox']){if(_0x3ce8fb['isMesh']&&_0x3ce8fb['geometry']){const _0x1493a1=new _0x9892f7()['setFromObject'](_0x3ce8fb);if(!_0x1493a1['isEmpty']()){const _0x4e6011=_0x1493a1['getCenter'](new _0x5a7be3());Number['isFinite'](_0x4e6011['x'])&&Number['isFinite'](_0x4e6011['y'])&&Number['isFinite'](_0x4e6011['z'])&&_0x5c7918['push']({'box':_0x1493a1,'center':_0x4e6011});}}for(let _0x46d04c=0x0;_0x46d04c<_0x3ce8fb['children']['length'];_0x46d04c++)_0x1b4fe6(_0x3ce8fb['children'][_0x46d04c]);}};_0x1b4fe6(_0x51ed9a);const _0x2628d2=new _0x9892f7();if(0x0===_0x5c7918['length'])return _0x2628d2;if(_0x5c7918['length']<=0x2)return _0x5c7918['forEach'](_0x42b7ac=>_0x2628d2['union'](_0x42b7ac['box'])),_0x2628d2;const _0x377bb3=_0x9e647a=>{const _0x167a57=[..._0x9e647a]['sort']((_0x3c0d7a,_0x3f274e)=>_0x3c0d7a-_0x3f274e),_0x2b5d10=Math['floor'](_0x167a57['length']/0x2);return _0x167a57['length']%0x2?_0x167a57[_0x2b5d10]:(_0x167a57[_0x2b5d10-0x1]+_0x167a57[_0x2b5d10])/0x2;},_0x5eb9cd=new _0x5a7be3(_0x377bb3(_0x5c7918['map'](_0x3d503c=>_0x3d503c['center']['x'])),_0x377bb3(_0x5c7918['map'](_0x4f78f5=>_0x4f78f5['center']['y'])),_0x377bb3(_0x5c7918['map'](_0x56d9b9=>_0x56d9b9['center']['z']))),_0xde86bc=_0x5c7918['map'](_0x4aee2f=>_0x4aee2f['center']['distanceTo'](_0x5eb9cd)),_0x4dbeaf=_0x377bb3(_0xde86bc),_0x4f5996=_0x377bb3(_0xde86bc['map'](_0x56185c=>Math['abs'](_0x56185c-_0x4dbeaf))),_0x31d4a8=Math['max'](_0x4dbeaf+0xa*(_0x4f5996>0.000001?_0x4f5996:Math['max'](_0x4dbeaf,0.5)),0x1);let _0x567a16=0x0;return _0x5c7918['forEach']((_0x15d0b2,_0x566c38)=>{_0xde86bc[_0x566c38]<=_0x31d4a8&&(_0x2628d2['union'](_0x15d0b2['box']),_0x567a16++);}),0x0===_0x567a16&&_0x5c7918['forEach'](_0x46f583=>_0x2628d2['union'](_0x46f583['box'])),_0x2628d2;}['updateEnvironment'](_0x26c2fe=!0x1,_0x1c1190=!0x1){const _0x1082b9=this['currentModel'];if(!_0x1082b9||!_0x1082b9['threeObject'])return;this['world']&&this['world']['updateMatrixWorld'](!0x0),_0x1082b9['threeObject']['updateMatrixWorld'](!0x0);const _0x4d44e3=this['computeRobustBoundingBox'](_0x1082b9['threeObject']);if(_0x4d44e3['isEmpty']())return;const _0x36c984=_0x4d44e3['getCenter'](new _0x5a7be3()),_0x50bd57=_0x4d44e3['getSize'](new _0x5a7be3()),_0x19a3e1=_0x4d44e3['min']['y'];let _0x28088b=!0x1;if(this['groundPlane']&&_0x1c1190){const _0x26958a=_0x19a3e1,_0x4adb41=this['groundPlane']['position']['y'];this['groundPlane']['position']['y']=_0x26958a,this['referenceGrid']&&(this['referenceGrid']['position']['y']=_0x26958a,this['referenceGrid']['updateMatrixWorld'](!0x0)),Math['abs'](_0x4adb41-_0x26958a)>0.000001&&(_0x28088b=!0x0);}_0x26c2fe&&this['fitCameraToModel'](_0x4d44e3,_0x36c984,_0x50bd57),_0x28088b&&this['onMeasurementUpdate']&&this['onMeasurementUpdate']();const _0x4c241c=this['directionalLight'];if(_0x4c241c&&_0x4c241c['castShadow']){const _0x25cdd2=_0x4d44e3['getBoundingSphere'](new _0x58fe83())['radius'],_0x1a4589=_0x4c241c['shadow']['camera'];_0x1a4589['left']=_0x1a4589['bottom']=-_0x25cdd2,_0x1a4589['right']=_0x1a4589['top']=_0x25cdd2;const _0x33ca2d=_0x4c241c['position']['clone']()['sub'](_0x4c241c['target']['position']);_0x4c241c['target']['position']['copy'](_0x36c984),_0x4c241c['position']['copy'](_0x36c984)['add'](_0x33ca2d),_0x1a4589['updateProjectionMatrix']();}this['redraw']();}['fitCameraToModel'](_0x3ecdea,_0x393b59,_0x56daf2){const _0x44a954=Math['max'](_0x56daf2['x'],_0x56daf2['y'],_0x56daf2['z']);if(_0x44a954<0.001)return;const _0x3cc195=this['camera']['fov']*(Math['PI']/0xb4),_0x542559=!this['currentModel']||!this['currentModel']['joints']||0x0===this['currentModel']['joints']['size']?2.5:1.8,_0x18c81a=_0x44a954/(0x2*Math['tan'](_0x3cc195/0x2))*_0x542559,_0x5a613f=0x3*Math['PI']/0x4,_0x2beba6=Math['PI']/0x6,_0xff2162=new _0x5a7be3(_0x18c81a*Math['cos'](_0x2beba6)*Math['sin'](_0x5a613f),_0x18c81a*Math['sin'](_0x2beba6),-_0x18c81a*Math['cos'](_0x2beba6)*Math['cos'](_0x5a613f));this['camera']['position']['copy'](_0x393b59)['add'](_0xff2162),this['controls']['target']['copy'](_0x393b59),this['controls']['update'](),this['camera']['updateProjectionMatrix'](),this['redraw']();}['setUp'](_0x239422){_0x239422||(_0x239422='+Z');const _0x36ace8=(_0x239422=_0x239422['toUpperCase']())['replace'](/[^-+]/g,'')[0x0]||'+',_0x56c948=_0x239422['replace'](/[^XYZ]/gi,'')[0x0]||'Z',_0x5b8f3e=Math['PI'],_0x17a390=_0x5b8f3e/0x2;this['world']||(this['world']=new _0x483a70(),this['scene']['add'](this['world']),this['currentModel']&&this['currentModel']['threeObject']&&this['currentModel']['threeObject']['parent']===this['scene']&&(this['scene']['remove'](this['currentModel']['threeObject']),this['baseOrientationGroup']||(this['baseOrientationGroup']=new _0x2474d6(),this['baseOrientationGroup']['name']='baseOrientationGroup'),this['world']['add'](this['baseOrientationGroup']),this['baseOrientationGroup']['add'](this['currentModel']['threeObject']))),'X'===_0x56c948?this['world']['rotation']['set'](0x0,0x0,'+'===_0x36ace8?_0x17a390:-_0x17a390):'Z'===_0x56c948?this['world']['rotation']['set']('+'===_0x36ace8?-_0x17a390:_0x17a390,0x0,0x0):'Y'===_0x56c948&&this['world']['rotation']['set']('+'===_0x36ace8?0x0:_0x5b8f3e,0x0,0x0),this['world']['updateMatrixWorld'](!0x0),this['redraw']();}['setBaseOrientation'](_0x257c47){this['baseOrientationGroup']&&Array['isArray'](_0x257c47)&&0x4===_0x257c47['length']&&(this['baseOrientationGroup']['quaternion']['set'](_0x257c47[0x0],_0x257c47[0x1],_0x257c47[0x2],_0x257c47[0x3]),this['redraw']());}['getBaseOrientation'](){if(!this['baseOrientationGroup'])return[0x0,0x0,0x0,0x1];const _0x12b2dd=this['baseOrientationGroup']['quaternion'];return[_0x12b2dd['x'],_0x12b2dd['y'],_0x12b2dd['z'],_0x12b2dd['w']];}['resetBaseOrientation'](){this['baseOrientationGroup']&&(this['baseOrientationGroup']['quaternion']['identity'](),this['redraw']());}['setWorldAxesVisible'](_0x1fd443){this['worldAxes']&&(this['worldAxes']['visible']=_0x1fd443,this['redraw']());}['isWorldAxesVisible'](){return!!this['worldAxes']&&this['worldAxes']['visible'];}['setGroundVisible'](_0x4ab899){this['groundPlane']&&(this['groundPlane']['visible']=_0x4ab899,this['redraw']());}['focusObject'](_0x561e29){if(!_0x561e29)return;const _0x39f54b=new _0x9892f7()['setFromObject'](_0x561e29),_0x2fe512=_0x39f54b['getCenter'](new _0x5a7be3()),_0x115292=_0x39f54b['getSize'](new _0x5a7be3()),_0x4ec8ed=Math['max'](_0x115292['x'],_0x115292['y'],_0x115292['z']),_0x40526a=this['camera']['fov']*(Math['PI']/0xb4);let _0xb6e387=1.5*Math['abs'](_0x4ec8ed/Math['sin'](_0x40526a/0x2));const _0x3aa175=new _0x5a7be3();this['camera']['getWorldDirection'](_0x3aa175);const _0x28d5b4=_0x2fe512['clone']()['sub'](_0x3aa175['multiplyScalar'](_0xb6e387));this['camera']['position']['copy'](_0x28d5b4),this['controls']['target']['copy'](_0x2fe512),this['controls']['update'](),this['redraw']();}['initDragControls'](_0x6294cf){this['dragControls']&&this['dragControls']['dispose'](),this['dragControls']=new Ze(this['scene'],this['camera'],this['canvas'],_0x6294cf),this['dragControls']['renderer']=this['renderer'],_0x6294cf&&(_0x6294cf['userData']||(_0x6294cf['userData']={}),_0x6294cf['userData']['ignoreLimits']=this['ignoreLimits'],_0x6294cf['threeObject']&&(_0x6294cf['threeObject']['userData']||(_0x6294cf['threeObject']['userData']={}),_0x6294cf['threeObject']['userData']['ignoreLimits']=this['ignoreLimits'])),this['dragControls']['model']=_0x6294cf,this['dragControls']['onUpdateJoint']=(_0x341a93,_0x253907)=>{!(this['ignoreLimits']||_0x6294cf&&_0x6294cf['userData']&&_0x6294cf['userData']['ignoreLimits']||this['dragControls']&&this['dragControls']['model']&&this['dragControls']['model']['userData']&&this['dragControls']['model']['userData']['ignoreLimits'])&&_0x341a93['limits']&&(_0x253907=Math['max'](_0x341a93['limits']['lower'],Math['min'](_0x341a93['limits']['upper'],_0x253907))),Ei['setJointAngle'](_0x6294cf,_0x341a93['name'],_0x253907),_0x341a93['currentValue']=_0x253907,this['constraintManager']['applyConstraints'](_0x6294cf,_0x341a93);const _0x16163c=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x341a93['name']+'\x22]');if(_0x16163c){_0x16163c['value']=_0x253907;const _0x638051=document['querySelector']('input[data-joint-input=\x22'+_0x341a93['name']+'\x22]');if(_0x638051){const _0x585547=document['querySelector']('#unit-deg.active')?'deg':'rad';_0x638051['value']='deg'===_0x585547?(0xb4*_0x253907/Math['PI'])['toFixed'](0x2):_0x253907['toFixed'](0x2);}}this['redraw'](),this['onMeasurementUpdate']&&this['onMeasurementUpdate']();},this['dragControls']['onHover']=_0x44ac2b=>{_0x44ac2b&&this['highlightManager']['highlightLink'](_0x44ac2b,this['currentModel']);},this['dragControls']['onUnhover']=_0x19c74c=>{_0x19c74c&&this['highlightManager']['unhighlightLink'](_0x19c74c,this['currentModel']);},this['dragControls']['onDragStart']=_0xa018dc=>{if(this['controls']['enabled']=!0x1,_0xa018dc&&_0xa018dc['threeObject']){let _0x4c483e=_0xa018dc['threeObject'];for(;_0x4c483e;){const _0x2e2018=_0x4c483e['parent'];if(_0x2e2018&&('URDFJoint'===_0x2e2018['type']||_0x2e2018['isURDFJoint'])){const _0x30b0d7=_0x2e2018['name'];if(_0x30b0d7&&_0x6294cf['joints']&&_0x6294cf['joints']['has'](_0x30b0d7)){const _0x439ba4=_0x6294cf['joints']['get'](_0x30b0d7);if('fixed'!==_0x439ba4['type']){this['axesManager']['showOnlyJointAxis'](_0x439ba4);break;}}}_0x4c483e=_0x2e2018;}}},this['dragControls']['onDragEnd']=_0x4df009=>{this['controls']['enabled']=!0x0,this['axesManager']['restoreAllJointAxes'](),this['updateEnvironment']();};}['setIgnoreLimits'](_0x513f04){this['ignoreLimits']=_0x513f04,this['currentModel']&&(this['currentModel']['userData']||(this['currentModel']['userData']={}),this['currentModel']['userData']['ignoreLimits']=_0x513f04,this['currentModel']['threeObject']&&(this['currentModel']['threeObject']['userData']||(this['currentModel']['threeObject']['userData']={}),this['currentModel']['threeObject']['userData']['ignoreLimits']=_0x513f04)),this['dragControls']&&this['dragControls']['model']&&(this['dragControls']['model']['userData']||(this['dragControls']['model']['userData']={}),this['dragControls']['model']['userData']['ignoreLimits']=_0x513f04,this['dragControls']['model']['threeObject']&&(this['dragControls']['model']['threeObject']['userData']||(this['dragControls']['model']['threeObject']['userData']={}),this['dragControls']['model']['threeObject']['userData']['ignoreLimits']=_0x513f04));}['showMeshCoordinateSystem'](_0x2d3b22){if(!_0x2d3b22)return;this['clearMeshHelper']();let _0x5b8c41=null;if(_0x2d3b22['traverse'](_0x3b5ec0=>{_0x3b5ec0['isMesh']&&!_0x5b8c41&&(_0x5b8c41=_0x3b5ec0);}),!_0x5b8c41)return;_0x5b8c41['geometry']['computeBoundingBox']();const _0x3dc62b=new _0x9892f7()['setFromObject'](_0x5b8c41),_0x5ab3eb=_0x3dc62b['getSize'](new _0x5a7be3()),_0x2a8501=Math['max'](_0x5ab3eb['x'],_0x5ab3eb['y'],_0x5ab3eb['z']);_0x3dc62b['getCenter'](new _0x5a7be3());const _0x226371=Math['max'](2.5*_0x2a8501,0.5),_0x43f6cc=new _0x2474d6();_0x43f6cc['name']='meshCoordinateAxes';const _0x138867=Math['max'](0.02*_0x226371,0.008),_0x10191a=new _0x201dad(_0x138867,_0x138867,_0x226371,0x10),_0x83fcf5=new _0xa87e13({'color':0xff0000,'shininess':0x1e,'depthTest':!0x0,'side':_0x17cb8b}),_0x229097=new _0x3d1069(_0x10191a,_0x83fcf5);_0x229097['position']['x']=_0x226371/0x2,_0x229097['rotation']['z']=-Math['PI']/0x2,_0x229097['castShadow']=!0x1,_0x229097['receiveShadow']=!0x1,_0x229097['name']='xAxis',_0x43f6cc['add'](_0x229097);const _0x36883d=new _0xa87e13({'color':0xff00,'shininess':0x1e,'depthTest':!0x0,'side':_0x17cb8b}),_0x115924=new _0x3d1069(_0x10191a,_0x36883d);_0x115924['position']['y']=_0x226371/0x2,_0x115924['castShadow']=!0x1,_0x115924['receiveShadow']=!0x1,_0x115924['name']='yAxis',_0x43f6cc['add'](_0x115924);const _0x2396a9=new _0xa87e13({'color':0xff,'shininess':0x1e,'depthTest':!0x0,'side':_0x17cb8b}),_0x3076cd=new _0x3d1069(_0x10191a,_0x2396a9);_0x3076cd['position']['z']=_0x226371/0x2,_0x3076cd['rotation']['x']=Math['PI']/0x2,_0x3076cd['castShadow']=!0x1,_0x3076cd['receiveShadow']=!0x1,_0x3076cd['name']='zAxis',_0x43f6cc['add'](_0x3076cd),_0x2d3b22['add'](_0x43f6cc);const _0x7decd5=new _0x1e0994(_0x5b8c41['geometry']),_0x4a4d4b=new _0x46982f({'color':0xff00,'linewidth':0x1,'transparent':!0x0,'opacity':0.6,'depthTest':!0x0}),_0x258507=new _0x3abb7e(_0x7decd5,_0x4a4d4b);_0x258507['name']='meshWireframe',_0x5b8c41['parent']&&(_0x258507['position']['copy'](_0x5b8c41['position']),_0x258507['rotation']['copy'](_0x5b8c41['rotation']),_0x258507['scale']['copy'](_0x5b8c41['scale']),_0x5b8c41['parent']['add'](_0x258507)),this['meshCoordinateAxes']=_0x43f6cc,this['meshWireframe']=_0x258507,_0x43f6cc['parent']&&_0x43f6cc['parent']['updateMatrixWorld'](!0x0),_0x258507&&_0x258507['parent']&&_0x258507['parent']['updateMatrixWorld'](!0x0),this['redraw'](),this['render'](),requestAnimationFrame(()=>{this['redraw'](),this['render']();}),this['highlightManager']['clearHighlight'](),this['redraw']();}['clearMeshHelper'](){this['meshCoordinateAxes']&&(this['meshCoordinateAxes']['parent']&&this['meshCoordinateAxes']['parent']['remove'](this['meshCoordinateAxes']),this['meshCoordinateAxes']=null),this['meshWireframe']&&(this['meshWireframe']['parent']&&this['meshWireframe']['parent']['remove'](this['meshWireframe']),this['meshWireframe']=null),this['redraw']();}['updateVisualTransparency'](){const _0x191a2a=!this['currentModel']||!this['currentModel']['joints']||0x0===this['currentModel']['joints']['size'];this['visualizationManager']['updateVisualTransparency'](this['inertialVisualization']['showCOM'],this['axesManager']['hasVisibleLinkAxes'](),this['axesManager']['hasVisibleJointAxes'](),_0x191a2a);}['setupThemeListener'](){new MutationObserver(()=>{this['updateBackgroundColor']();})['observe'](document['documentElement'],{'attributes':!0x0,'attributeFilter':['data-theme']});}['updateBackgroundColor'](){const _0x32d68d=document['documentElement']['getAttribute']('data-theme')||'dark';this['scene']['background']=new _0x43a4f1('light'===_0x32d68d?0xffffff:0x2a2a2e),this['environmentManager']&&this['environmentManager']['updateGridColorForTheme'](_0x32d68d),this['redraw']();}['setupResizeObserver'](){const _0x5c664e=this['canvas']['parentElement'];_0x5c664e?(this['resizeObserver']=new ResizeObserver(_0x877443=>{for(const _0x22fca9 of _0x877443)if(_0x22fca9['contentBoxSize']){const _0x451631=Array['isArray'](_0x22fca9['contentBoxSize'])?_0x22fca9['contentBoxSize'][0x0]:_0x22fca9['contentBoxSize'],_0x1c4760=_0x451631['inlineSize'],_0x188e62=_0x451631['blockSize'];this['handleResize'](_0x1c4760,_0x188e62);}else this['onWindowResize']();}),this['resizeObserver']['observe'](_0x5c664e)):window['addEventListener']('resize',()=>this['onWindowResize']());}['_applyRendererSize'](_0x33f632,_0x931a30){const _0x8b0aa8=_0x33f632||this['canvas']['clientWidth']||this['canvas']['width'],_0x18443b=_0x931a30||this['canvas']['clientHeight']||this['canvas']['height'];_0x8b0aa8&&_0x18443b&&(this['renderer']['setPixelRatio'](window['devicePixelRatio']*this['_renderScale']),this['renderer']['setSize'](_0x8b0aa8,_0x18443b,!0x0),this['labelRenderer']['setSize'](_0x8b0aa8,_0x18443b));}['setRenderScale'](_0xc0b68e){const _0xc352df=Math['min'](0x1,Math['max'](0.25,Number(_0xc0b68e)||0x1));_0xc352df!==this['_renderScale']&&(this['_renderScale']=_0xc352df,this['_applyRendererSize'](),this['redraw']());}['getRenderScale'](){return this['_renderScale'];}['handleResize'](_0x5010c8,_0x3bd363){0x0!==_0x5010c8&&0x0!==_0x3bd363&&isFinite(_0x5010c8)&&isFinite(_0x3bd363)&&(this['camera']['aspect']=_0x5010c8/_0x3bd363,this['camera']['updateProjectionMatrix'](),this['_applyRendererSize'](_0x5010c8,_0x3bd363),this['render']());}['onWindowResize'](){const _0x9412e0=this['canvas']['clientWidth'],_0x2af494=this['canvas']['clientHeight'];0x0!==_0x9412e0&&0x0!==_0x2af494&&(this['camera']['aspect']=_0x9412e0/_0x2af494,this['camera']['updateProjectionMatrix'](),this['_applyRendererSize'](_0x9412e0,_0x2af494),this['render']());}['on'](_0x7bf55f,_0x353168){this['_eventListeners'][_0x7bf55f]||(this['_eventListeners'][_0x7bf55f]=[]),this['_eventListeners'][_0x7bf55f]['push'](_0x353168);}['off'](_0x2be217,_0x5a4418){this['_eventListeners'][_0x2be217]&&(this['_eventListeners'][_0x2be217]=this['_eventListeners'][_0x2be217]['filter'](_0x267029=>_0x267029!==_0x5a4418));}['emit'](_0x32116f,..._0xa077d4){this['_eventListeners'][_0x32116f]&&this['_eventListeners'][_0x32116f]['forEach'](_0x86c340=>_0x86c340(..._0xa077d4));}['update'](){this['controls']['update']();}}class Ii{constructor(_0x22d285){this['sceneManager']=_0x22d285,this['angleUnit']='rad';}['setupControlPanel'](){const _0x601a86=document['getElementById']('show-visual'),_0x1b6c51=document['getElementById']('show-collision'),_0x1d5ee9=document['getElementById']('show-com'),_0x531c6d=document['getElementById']('show-inertia'),_0x3ca365=document['getElementById']('ignore-limits'),_0x5d6436=(_0x244075,_0x1afaa6)=>{if(!_0x244075)return;const _0x3b6796=!_0x244075['classList']['contains']('active');_0x3b6796?_0x244075['classList']['add']('active'):_0x244075['classList']['remove']('active'),_0x244075['setAttribute']('data-checked',_0x3b6796['toString']()),_0x1afaa6&&_0x1afaa6(_0x3b6796);};if(this['sceneManager']&&_0x601a86){const _0x5c062e=_0x601a86['classList']['contains']('active');this['sceneManager']['visualizationManager']['showVisual']=_0x5c062e;}this['sceneManager']&&_0x1b6c51&&(this['sceneManager']['visualizationManager']['showCollision']=_0x1b6c51['classList']['contains']('active')),this['sceneManager']&&_0x1d5ee9&&(this['sceneManager']['inertialVisualization']['showCOM']=_0x1d5ee9['classList']['contains']('active')),this['sceneManager']&&_0x531c6d&&(this['sceneManager']['inertialVisualization']['showInertia']=_0x531c6d['classList']['contains']('active')),this['sceneManager']&&_0x3ca365&&(this['sceneManager']['ignoreLimits']=!_0x3ca365['classList']['contains']('active')),_0x601a86&&_0x601a86['addEventListener']('click',()=>{_0x5d6436(_0x601a86,_0x3f18ab=>{var _0x39695c;this['sceneManager']['visualizationManager']['toggleVisual'](_0x3f18ab,this['sceneManager']['currentModel']);const _0x17dec0=null==(_0x39695c=window['app'])?void 0x0:_0x39695c['mujocoSimulationManager'];_0x17dec0&&_0x17dec0['hasScene']()&&_0x17dec0['toggleVisualDisplay'](_0x3f18ab),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x1b6c51&&_0x1b6c51['addEventListener']('click',()=>{_0x5d6436(_0x1b6c51,_0x2bbe9c=>{var _0x156d38;this['sceneManager']['visualizationManager']['toggleCollision'](_0x2bbe9c);const _0x4ee909=null==(_0x156d38=window['app'])?void 0x0:_0x156d38['mujocoSimulationManager'];_0x4ee909&&_0x4ee909['hasScene']()&&_0x4ee909['toggleCollisionDisplay'](_0x2bbe9c),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x1d5ee9&&_0x1d5ee9['addEventListener']('click',()=>{_0x5d6436(_0x1d5ee9,_0xda86f7=>{var _0x450aa2;this['sceneManager']['inertialVisualization']['toggleCenterOfMass'](_0xda86f7,this['sceneManager']['currentModel']);const _0xd2cff1=null==(_0x450aa2=window['app'])?void 0x0:_0x450aa2['mujocoSimulationManager'];_0xd2cff1&&_0xd2cff1['hasScene']()&&_0xd2cff1['toggleCOMDisplay'](_0xda86f7),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x531c6d&&_0x531c6d['addEventListener']('click',()=>{_0x5d6436(_0x531c6d,_0x51ae5e=>{var _0x1ec021;this['sceneManager']['inertialVisualization']['toggleInertia'](_0x51ae5e,this['sceneManager']['currentModel']);const _0x17f36c=null==(_0x1ec021=window['app'])?void 0x0:_0x1ec021['mujocoSimulationManager'];_0x17f36c&&_0x17f36c['hasScene']()&&_0x17f36c['toggleInertiaDisplay'](_0x51ae5e),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x3ca365&&_0x3ca365['addEventListener']('click',()=>{_0x5d6436(_0x3ca365,_0x581141=>{var _0x2d6c0a;this['sceneManager']['setIgnoreLimits'](!_0x581141),null==(_0x2d6c0a=this['onIgnoreLimitsChanged'])||_0x2d6c0a['call'](this,!_0x581141);});});const _0x2efa53=document['getElementById']('up-select');_0x2efa53&&_0x2efa53['addEventListener']('change',_0x44c4ad=>{this['sceneManager']['setUp'](_0x44c4ad['target']['value']);});const _0x5b1b84=document['getElementById']('unit-rad'),_0x26bd9d=document['getElementById']('unit-deg');_0x5b1b84&&_0x5b1b84['addEventListener']('click',()=>{var _0x431332;this['angleUnit']='rad',_0x5b1b84['classList']['add']('active'),_0x26bd9d&&_0x26bd9d['classList']['remove']('active'),null==(_0x431332=this['onAngleUnitChanged'])||_0x431332['call'](this,this['angleUnit']);}),_0x26bd9d&&_0x26bd9d['addEventListener']('click',()=>{var _0x2edcd7;this['angleUnit']='deg',_0x26bd9d['classList']['add']('active'),_0x5b1b84&&_0x5b1b84['classList']['remove']('active'),null==(_0x2edcd7=this['onAngleUnitChanged'])||_0x2edcd7['call'](this,this['angleUnit']);});const _0x491f16=document['getElementById']('reset-joints-btn');_0x491f16&&_0x491f16['addEventListener']('click',()=>{var _0x51df7c;null==(_0x51df7c=this['onResetJoints'])||_0x51df7c['call'](this);});const _0xc8c05=document['getElementById']('mujoco-reset-btn-bar');_0xc8c05&&_0xc8c05['addEventListener']('click',()=>{var _0x3547c5;null==(_0x3547c5=this['onMujocoReset'])||_0x3547c5['call'](this);});const _0x3bc5c3=document['getElementById']('mujoco-simulate-btn-bar');_0x3bc5c3&&_0x3bc5c3['addEventListener']('click',async()=>{var _0x48d420,_0x42e87a;const _0x3aa69d=await(null==(_0x48d420=this['onMujocoToggleSimulate'])?void 0x0:_0x48d420['call'](this));if(void 0x0!==_0x3aa69d){_0x3bc5c3['classList']['toggle']('active',_0x3aa69d);const _0x20877d=_0x3bc5c3['querySelector']('span');if(_0x20877d){const _0x4eb50b=_0x3aa69d?'mujocoPause':'mujocoSimulate';_0x20877d['textContent']=(null==(_0x42e87a=window['i18n'])?void 0x0:_0x42e87a['t'](_0x4eb50b))||(_0x3aa69d?'Pause':'Simulate'),_0x20877d['setAttribute']('data-i18n',_0x4eb50b);}}});}['setupThemeToggle'](_0x3e2b32){const _0x192e7e=document['getElementById']('theme-toggle');if(!_0x192e7e)return;const _0x30e1ae=localStorage['getItem']('theme')||'dark';document['documentElement']['setAttribute']('data-theme',_0x30e1ae),this['updateThemeIcon'](_0x30e1ae),this['sceneManager']&&this['sceneManager']['updateBackgroundColor'](),_0x192e7e['addEventListener']('click',()=>{const _0x405fa7='dark'===document['documentElement']['getAttribute']('data-theme')?'light':'dark';document['documentElement']['setAttribute']('data-theme',_0x405fa7),localStorage['setItem']('theme',_0x405fa7),this['updateThemeIcon'](_0x405fa7),this['sceneManager']&&this['sceneManager']['updateBackgroundColor'](),null==_0x3e2b32||_0x3e2b32(_0x405fa7);});}['setupLanguageToggle'](_0x425ade){var _0x5b1a08;const _0x54ac7c=document['getElementById']('language-toggle');if(!_0x54ac7c)return;const _0x4e85e3=(null==(_0x5b1a08=window['i18n'])?void 0x0:_0x5b1a08['getCurrentLanguage']())||'zh-CN';this['updateLanguageIcon'](_0x4e85e3),_0x54ac7c['addEventListener']('click',()=>{var _0x11d0ae;const _0x347bab='zh-CN'===((null==(_0x11d0ae=window['i18n'])?void 0x0:_0x11d0ae['getCurrentLanguage']())||'zh-CN')?'en-US':'zh-CN';null==_0x425ade||_0x425ade(_0x347bab),this['updateLanguageIcon'](_0x347bab);});}['updateLanguageIcon'](_0x213f85){const _0x4c20fd=document['getElementById']('language-toggle'),_0x18d2bd=null==_0x4c20fd?void 0x0:_0x4c20fd['querySelector']('.tool-button-text');_0x18d2bd&&(_0x18d2bd['textContent']='zh-CN'===_0x213f85?'Language':'语言');}['updateThemeIcon'](_0x3bfaea){const _0x1fb2a2=document['getElementById']('theme-toggle'),_0x1f4b4e=null==_0x1fb2a2?void 0x0:_0x1fb2a2['querySelector']('.tool-button-icon');_0x1f4b4e&&(_0x1f4b4e['textContent']='dark'===_0x3bfaea?'🌙':'☀️');}['setupPanelCloseButtons'](){const _0x3740dd={'floating-files-panel':'toggle-files-panel','floating-joints-panel':'toggle-joints-panel','floating-model-tree':'toggle-model-tree','floating-help-panel':'help-button','floating-ros-panel':'toggle-ros-panel','virtual-camera-panel':'toggle-virtual-camera-panel','floating-orientation-panel':'toggle-orientation-panel','mocap-control-panel':'toggle-mocap-panel','joint-info-panel':'toggle-joint-info-panel'};document['querySelectorAll']('.panel-close-btn')['forEach'](_0x1f4b86=>{_0x1f4b86['addEventListener']('click',_0x22971b=>{_0x22971b['stopPropagation']();const _0x2789d4=_0x1f4b86['getAttribute']('data-panel'),_0x38f7df=document['getElementById'](_0x2789d4),_0x3c703c=_0x3740dd[_0x2789d4],_0xf4f5a5=_0x3c703c?document['getElementById'](_0x3c703c):null;if(_0x38f7df){'none'!==_0x38f7df['style']['display']&&(_0x38f7df['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',_0x38f7df['style']['opacity']='0',_0x38f7df['style']['transform']='scale(0.95)',setTimeout(()=>{_0x38f7df['style']['display']='none',_0x38f7df['style']['opacity']='',_0x38f7df['style']['transform']='','floating-orientation-panel'===_0x2789d4&&this['sceneManager']&&this['sceneManager']['setWorldAxesVisible'](!0x1);},0xc8),_0xf4f5a5&&_0xf4f5a5['classList']['remove']('active'));}});}),Object['entries'](_0x3740dd)['forEach'](([_0x45825a,_0x133acb])=>{const _0x49bfca=document['getElementById'](_0x133acb),_0x9ef20=document['getElementById'](_0x45825a);_0x49bfca&&_0x9ef20&&_0x49bfca['addEventListener']('click',()=>{'none'!==_0x9ef20['style']['display']&&'none'!==getComputedStyle(_0x9ef20)['display']?(_0x9ef20['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',_0x9ef20['style']['opacity']='0',_0x9ef20['style']['transform']='scale(0.95)',setTimeout(()=>{_0x9ef20['style']['display']='none',_0x9ef20['style']['opacity']='',_0x9ef20['style']['transform']='','floating-orientation-panel'===_0x45825a&&this['sceneManager']&&this['sceneManager']['setWorldAxesVisible'](!0x1);},0xc8),_0x49bfca['classList']['remove']('active')):(_0x9ef20['style']['display']='flex',_0x9ef20['style']['opacity']='0',_0x9ef20['style']['transform']='scale(0.95)',_0x9ef20['offsetHeight'],_0x9ef20['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',_0x9ef20['style']['opacity']='1',_0x9ef20['style']['transform']='scale(1)',setTimeout(()=>{_0x9ef20['style']['transition']='';},0xc8),_0x49bfca['classList']['add']('active'),'floating-orientation-panel'===_0x45825a&&this['sceneManager']&&this['sceneManager']['setWorldAxesVisible'](!0x0));});});}['setupAxesToggle'](){const _0x178ffb=document['getElementById']('toggle-axes-btn');_0x178ffb&&_0x178ffb['addEventListener']('click',()=>{window['app']&&window['app']['axesControlPanel']&&window['app']['axesControlPanel']['toggle']();});}['setupJointAxesToggle'](){const _0x49dc09=document['getElementById']('toggle-joint-axes-btn');_0x49dc09&&_0x49dc09['addEventListener']('click',()=>{window['app']&&window['app']['jointAxesControlPanel']&&window['app']['jointAxesControlPanel']['toggle']();});}['setupShadowToggle'](){const _0x29a706=document['getElementById']('toggle-shadow');_0x29a706&&_0x29a706['addEventListener']('click',()=>{const _0x8cb0fe=!('true'===_0x29a706['getAttribute']('data-checked'));_0x29a706['setAttribute']('data-checked',_0x8cb0fe['toString']()),_0x8cb0fe?(_0x29a706['classList']['add']('active'),this['sceneManager']['visualizationManager']['toggleShadow'](!0x0,this['sceneManager']['renderer'],this['sceneManager']['directionalLight']),this['sceneManager']['axesManager']['ensureAxesNoShadow'](),this['sceneManager']['updateEnvironment'](),this['sceneManager']['redraw'](),this['sceneManager']['render']()):(_0x29a706['classList']['remove']('active'),this['sceneManager']['visualizationManager']['toggleShadow'](!0x1,this['sceneManager']['renderer'],this['sceneManager']['directionalLight']),this['sceneManager']['redraw'](),this['sceneManager']['render']());});}['setupLightingToggle'](){const _0x189091=document['getElementById']('toggle-lighting');_0x189091&&_0x189091['addEventListener']('click',()=>{const _0x561bc2=!('true'===_0x189091['getAttribute']('data-checked'));_0x189091['setAttribute']('data-checked',_0x561bc2['toString']()),_0x561bc2?(_0x189091['classList']['add']('active'),this['sceneManager']['visualizationManager']['toggleEnhancedLighting'](!0x0)):(_0x189091['classList']['remove']('active'),this['sceneManager']['visualizationManager']['toggleEnhancedLighting'](!0x1)),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}['setupAll'](_0x4839db={}){this['onAngleUnitChanged']=_0x4839db['onAngleUnitChanged'],this['onIgnoreLimitsChanged']=_0x4839db['onIgnoreLimitsChanged'],this['onResetJoints']=_0x4839db['onResetJoints'],this['onMujocoReset']=_0x4839db['onMujocoReset'],this['onMujocoToggleSimulate']=_0x4839db['onMujocoToggleSimulate'],this['onApplyAngles']=_0x4839db['onApplyAngles'],this['onSetHome']=_0x4839db['onSetHome'],this['onSelectAll']=_0x4839db['onSelectAll'],this['onResetToHome']=_0x4839db['onResetToHome'],this['onToggleShowMimic']=_0x4839db['onToggleShowMimic'],this['setupControlPanel'](),this['setupThemeToggle'](_0x4839db['onThemeChanged']),this['setupLanguageToggle'](_0x4839db['onLanguageChanged']),this['setupPanelCloseButtons'](),this['setupAxesToggle'](),this['setupJointAxesToggle'](),this['setupShadowToggle'](),this['setupLightingToggle'](),this['setupBatchOperationButtons']();}['setupBatchOperationButtons'](){const _0x536525=document['getElementById']('show-mimic-btn'),_0x5683cb=document['querySelector']('.apply-angles-btn'),_0x36160c=document['querySelector']('.set-home-btn'),_0x31b404=document['querySelector']('.reset-home-btn'),_0x39f3f5=document['getElementById']('select-all-btn');_0x536525&&_0x536525['addEventListener']('click',()=>{const _0xd867f9=!_0x536525['classList']['contains']('active');_0x536525['classList']['toggle']('active',_0xd867f9),this['onToggleShowMimic']&&this['onToggleShowMimic'](_0xd867f9);}),_0x5683cb&&this['onApplyAngles']&&_0x5683cb['addEventListener']('click',()=>{this['onApplyAngles']();}),_0x36160c&&this['onSetHome']&&_0x36160c['addEventListener']('click',()=>{this['onSetHome']();}),_0x31b404&&this['onResetToHome']&&_0x31b404['addEventListener']('click',()=>{this['onResetToHome']();}),_0x39f3f5&&this['onSelectAll']&&_0x39f3f5['addEventListener']('click',()=>{this['onSelectAll']();});}['getAngleUnit'](){return this['angleUnit'];}}class Ri{constructor(){this['fileMap']=new Map(),this['availableModels']=[],this['currentModelFile']=null,this['onModelLoaded']=null,this['usdViewerManager']=null;}['setUSDViewerManager'](_0xb22197){this['usdViewerManager']=_0xb22197;}['setUSDViewerInitializer'](_0x15b8d5){this['usdViewerInitializer']=_0x15b8d5;}['setupFileDrop'](){const _0x248d5c=document['body'],_0x4c56dc=_0x1fe621=>{_0x1fe621['preventDefault'](),_0x1fe621['stopPropagation']();};['dragenter','dragover','dragleave','drop']['forEach'](_0x3625f8=>{_0x248d5c['addEventListener'](_0x3625f8,_0x4c56dc,!0x1);});let _0x4ecdba=0x0;_0x248d5c['addEventListener']('dragenter',_0x3e0d7c=>{_0x4ecdba++;const _0x188415=document['getElementById']('drop-zone');_0x188415&&_0x188415['classList']['add']('drag-over');},!0x1),_0x248d5c['addEventListener']('dragleave',_0x1ee2c2=>{if(_0x4ecdba--,0x0===_0x4ecdba){const _0x121bdf=document['getElementById']('drop-zone');_0x121bdf&&_0x121bdf['classList']['remove']('drag-over');}},!0x1),_0x248d5c['addEventListener']('drop',_0x361fa4=>{_0x4ecdba=0x0;const _0x1a452d=document['getElementById']('drop-zone');_0x1a452d&&_0x1a452d['classList']['remove']('drag-over'),this['handleDrop'](_0x361fa4);},!0x1);}async['handleDrop'](_0x2cc3d2){var _0x4bb65f;const _0x454906=_0x2cc3d2['dataTransfer']['items'];if(!_0x454906||0x0===_0x454906['length'])return;this['fileMap']['clear']();const _0x267f42=[];for(let _0x46c526=0x0;_0x46c526<_0x454906['length'];_0x46c526++){const _0x1b62f0=_0x454906[_0x46c526];if(_0x1b62f0['webkitGetAsEntry']){const _0x376431=_0x1b62f0['webkitGetAsEntry']();_0x376431&&_0x267f42['push'](_0x376431);}}if(_0x267f42['length']>0x0)await this['processEntries'](_0x267f42);else{const _0x4ce76e=_0x2cc3d2['dataTransfer']['files'];if(_0x4ce76e['length']>0x0){for(const _0x415bf7 of _0x4ce76e){const _0x50aeb2=_0x415bf7['webkitRelativePath']||_0x415bf7['name'];this['fileMap']['set'](_0x50aeb2,_0x415bf7),_0x415bf7['webkitRelativePath']||this['fileMap']['set'](_0x415bf7['name'],_0x415bf7);}const _0x4ff1c3=await this['findAllLoadableFiles'](Array['from'](_0x4ce76e));_0x4ff1c3['length']>0x0&&(this['availableModels']=_0x4ff1c3,null==(_0x4bb65f=this['onFilesLoaded'])||_0x4bb65f['call'](this,_0x4ff1c3),await this['loadFileOrMesh'](_0x4ff1c3[0x0]));}}}async['processEntries'](_0x3563b8){var _0x49c17c,_0x5ac9f2;const _0x256d7b=[];for(const _0x41de4d of _0x3563b8)if(_0x41de4d['isFile']){const _0x88b79d=await pt(_0x41de4d),_0x77dd3b=_0x41de4d['fullPath']||_0x41de4d['name'];this['fileMap']['set'](_0x77dd3b,_0x88b79d),_0x256d7b['push'](_0x88b79d);}else if(_0x41de4d['isDirectory']){const _0x5f2d09=await this['readDirectory'](_0x41de4d);_0x256d7b['push'](..._0x5f2d09);}if(0x0===_0x256d7b['length'])return;const _0x1b231d=await this['findAllLoadableFiles'](_0x256d7b);0x0!==_0x1b231d['length']?(this['availableModels']=_0x1b231d,null==(_0x5ac9f2=this['onFilesLoaded'])||_0x5ac9f2['call'](this,_0x1b231d),_0x1b231d['length']>0x0&&await this['loadFileOrMesh'](_0x1b231d[0x0])):null==(_0x49c17c=this['onFilesLoaded'])||_0x49c17c['call'](this,[]);}async['readDirectory'](_0x2f5024){const _0x21be93=[];return new Promise((_0x3a4ab5,_0x35c498)=>{const _0x120077=_0x2f5024['createReader'](),_0x4024cc=()=>{_0x120077['readEntries'](async _0x57114e=>{if(0x0!==_0x57114e['length']){for(const _0x2d03a1 of _0x57114e)if(_0x2d03a1['isFile']){const _0x992f45=await pt(_0x2d03a1),_0x3dfb1a=_0x2d03a1['fullPath']||_0x2d03a1['name'];this['fileMap']['set'](_0x3dfb1a,_0x992f45),_0x21be93['push'](_0x992f45);}else if(_0x2d03a1['isDirectory']){const _0x481dfe=await this['readDirectory'](_0x2d03a1);_0x21be93['push'](..._0x481dfe);}_0x4024cc();}else _0x3a4ab5(_0x21be93);},_0x35c498);};_0x4024cc();});}async['findAllLoadableFiles'](_0x38157c){const _0x18196f={'model':['urdf','xacro','xml','usd','usda','usdc','usdz'],'mesh':['dae','stl','obj','collada'],'config':['yml','yaml']},_0x52076b=[],_0x37fbb4=_0x38157c['map'](async _0x177922=>{const _0x56ff5a=_0x177922['name']['toLowerCase']()['split']('.')['pop']();if(_0x18196f['model']['includes'](_0x56ff5a)){if('xml'!==_0x56ff5a){const _0x10f4fe=function(_0x4b82f1){return{'urdf':'urdf','xacro':'xacro','xml':'mjcf','usd':'usd','usda':'usd','usdc':'usd','usdz':'usd'}[_0x4b82f1]||'unknown';}(_0x56ff5a);return{'file':_0x177922,'name':_0x177922['name'],'type':_0x10f4fe,'path':_0x177922['webkitRelativePath']||_0x177922['name'],'category':'model'};}try{const _0x539049=await dt(_0x177922),_0x45a43c=Ei['detectFileType'](_0x177922['name'],_0x539049);return _0x45a43c?{'file':_0x177922,'name':_0x177922['name'],'type':_0x45a43c,'path':_0x177922['webkitRelativePath']||_0x177922['name'],'category':'model'}:null;}catch(_0x3eade7){return null;}}else{if(_0x18196f['mesh']['includes'](_0x56ff5a))return{'file':_0x177922,'name':_0x177922['name'],'type':'mesh','path':_0x177922['webkitRelativePath']||_0x177922['name'],'category':'mesh'};if(_0x18196f['config']['includes'](_0x56ff5a))return{'file':_0x177922,'name':_0x177922['name'],'type':'config','path':_0x177922['webkitRelativePath']||_0x177922['name'],'category':'config'};}return null;});return(await Promise['all'](_0x37fbb4))['forEach'](_0x1f904b=>{_0x1f904b&&_0x52076b['push'](_0x1f904b);}),_0x52076b['sort']((_0x5d99ad,_0x536c72)=>{const _0x265ae5={'model':0x0,'mesh':0x1,'config':0x2},_0x5612ed=_0x265ae5[_0x5d99ad['category']]??0x63,_0x22ae7f=_0x265ae5[_0x536c72['category']]??0x63;return _0x5612ed!==_0x22ae7f?_0x5612ed-_0x22ae7f:_0x5d99ad['name']['localeCompare'](_0x536c72['name']);}),_0x52076b;}async['loadFileOrMesh'](_0x15b6be){'model'===_0x15b6be['category']?await this['loadFile'](_0x15b6be['file']):'mesh'===_0x15b6be['category']&&await this['loadMeshAsModel'](_0x15b6be['file'],_0x15b6be['name']);}async['loadFile'](_0x30bbd0){var _0x682f47,_0x552817,_0x3da9c9,_0x52f3ce,_0x1afa8d,_0x1333fe;this['currentModelFile']=_0x30bbd0;try{const _0x35e878=_0x30bbd0['name']['toLowerCase']();let _0x379853=_0x30bbd0['name'];for(const [_0x249dce,_0x5ed4ea]of this['fileMap']['entries']())if(_0x5ed4ea===_0x30bbd0){_0x379853=_0x249dce;break;}let _0x3cb087=null,_0x5643a3=null,_0x551976=0x1/0x0,_0x2094bc=null;for(const [_0x4d87ac,_0x2710a6]of this['fileMap']['entries']())if('vr_configs.yml'===_0x2710a6['name']||_0x4d87ac['endsWith']('/vr_configs.yml')||'vr_configs.yml'===_0x4d87ac){const _0x24ec3f=(_0x4d87ac['match'](/\//g)||[])['length'];_0x24ec3f<_0x551976&&(_0x551976=_0x24ec3f,_0x5643a3=_0x2710a6,_0x2094bc=_0x4d87ac);}if(_0x5643a3)try{_0x3cb087=await dt(_0x5643a3);}catch(_0x87c64){}if(_0x35e878['endsWith']('.usd')||_0x35e878['endsWith']('.usda')||_0x35e878['endsWith']('.usdc')||_0x35e878['endsWith']('.usdz')){if(!this['usdViewerManager']&&this['usdViewerInitializer'])try{await this['usdViewerInitializer']();}catch(_0x4086fe){return;}0x0===this['fileMap']['size']&&this['fileMap']['set'](_0x30bbd0['name'],_0x30bbd0);const _0x1b7875=await Ei['loadModel']('usd',null,_0x379853,this['fileMap'],_0x30bbd0,{'usdViewerManager':this['usdViewerManager']});return null==(_0x682f47=this['onModelLoaded'])||_0x682f47['call'](this,_0x1b7875,_0x30bbd0,!0x1,null),null==(_0x552817=document['getElementById']('drop-zone'))||_0x552817['classList']['remove']('show'),void(null==(_0x3da9c9=document['getElementById']('drop-zone'))||_0x3da9c9['classList']['remove']('drag-over'));}const _0x2c2d99=await dt(_0x30bbd0);if(this['isUSDCBinaryContent'](_0x2c2d99))return;const _0x2ae999=Ei['detectFileType'](_0x30bbd0['name'],_0x2c2d99);if(!_0x2ae999)return;0x0===this['fileMap']['size']&&this['fileMap']['set'](_0x30bbd0['name'],_0x30bbd0);const _0x3b0684=await Ei['loadModel'](_0x2ae999,_0x2c2d99,_0x379853,this['fileMap'],_0x30bbd0,{'usdViewerManager':this['usdViewerManager'],'vrConfigContent':_0x3cb087});null==(_0x52f3ce=this['onModelLoaded'])||_0x52f3ce['call'](this,_0x3b0684,_0x30bbd0,!0x1,null),null==(_0x1afa8d=document['getElementById']('drop-zone'))||_0x1afa8d['classList']['remove']('show'),null==(_0x1333fe=document['getElementById']('drop-zone'))||_0x1333fe['classList']['remove']('drag-over');}catch(_0x5af97c){_0x5af97c['message']&&(_0x5af97c['message']['includes']('USDC')||_0x5af97c['message']['includes']('binary\x20format'));const _0x5984de=document['getElementById']('canvas-snapshot');(null==_0x5984de?void 0x0:_0x5984de['parentNode'])&&_0x5984de['parentNode']['removeChild'](_0x5984de);}}['isUSDCBinaryContent'](_0x273771){if(!_0x273771||'string'!=typeof _0x273771)return!0x1;if(_0x273771['startsWith']('PXR-USDC'))return!0x0;if((_0x273771['substring'](0x0,0x64)['match'](/\x00/g)||[])['length']>0xa)return!0x0;if(_0x273771['includes']('#usda')||_0x273771['includes']('def\x20')&&_0x273771['includes']('{'))return!0x1;const _0x5bd1ba=_0x273771['charCodeAt'](0x0);return _0x5bd1ba<0x20&&0xa!==_0x5bd1ba&&0xd!==_0x5bd1ba&&0x9!==_0x5bd1ba&&0x20!==_0x5bd1ba;}['createLoadingSnapshot'](){const _0x255a3d=document['getElementById']('canvas');if(!_0x255a3d)return null;try{const _0x366738=_0x255a3d['toDataURL']('image/png'),_0x5c089d=document['createElement']('div');_0x5c089d['id']='canvas-snapshot',_0x5c089d['style']['cssText']='\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20position:\x20absolute;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20top:\x200;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20left:\x200;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20width:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20height:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-image:\x20url('+_0x366738+');\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-size:\x20cover;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-position:\x20center;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-color:\x20var(--bg-primary);\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-repeat:\x20no-repeat;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20z-index:\x202;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20pointer-events:\x20none;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20';const _0x3be366=document['getElementById']('canvas-container');return _0x3be366&&_0x3be366['appendChild'](_0x5c089d),_0x5c089d;}catch(_0x2e526b){return null;}}['removeLoadingSnapshot'](_0x1c1b87){_0x1c1b87&&_0x1c1b87['parentNode']&&(_0x1c1b87['style']['transition']='opacity\x200.3s\x20ease',_0x1c1b87['style']['opacity']='0',setTimeout(()=>{_0x1c1b87['parentNode']&&_0x1c1b87['parentNode']['removeChild'](_0x1c1b87);},0x12c));}async['loadMeshAsModel'](_0x30da5d,_0x2d0bd7){var _0x29bd9e;try{const _0x142678=await Ei['loadMeshFileDirect'](_0x30da5d,_0x2d0bd7);if(!_0x142678)throw new Error(window['i18n']['t']('cannotLoadMesh'));_0x142678['traverse'](_0x44636a=>{var _0x570176;if(_0x44636a['isMesh']){if('MeshBasicMaterial'===(null==(_0x570176=_0x44636a['material'])?void 0x0:_0x570176['type'])){const _0x192601=_0x44636a['material'];_0x44636a['material']=new _0xa87e13({'color':_0x192601['color'],'map':_0x192601['map'],'transparent':_0x192601['transparent'],'opacity':_0x192601['opacity'],'side':_0x192601['side'],'shininess':0x1e}),_0x44636a['material']['map']&&(_0x44636a['material']['map']['colorSpace']=_0x3e3edd);}_0x44636a['castShadow']=!0x0,_0x44636a['receiveShadow']=!0x0;}});const _0x259502={'name':_0x2d0bd7,'rootLink':'mesh_root','links':new Map([['mesh_root',{'name':'mesh_root','threeObject':_0x142678,'visuals':[{'threeObject':_0x142678,'geometry':{'mesh':_0x2d0bd7}}],'inertial':null}]]),'joints':new Map(),'threeObject':_0x142678};this['currentModelFile']=_0x30da5d,null==(_0x29bd9e=this['onModelLoaded'])||_0x29bd9e['call'](this,_0x259502,_0x30da5d,!0x0,null);}catch(_0x5bb2a9){const _0x4b6f8b=document['getElementById']('canvas-snapshot');(null==_0x4b6f8b?void 0x0:_0x4b6f8b['parentNode'])&&_0x4b6f8b['parentNode']['removeChild'](_0x4b6f8b);}}['getFileMap'](){return this['fileMap'];}['getAvailableModels'](){return this['availableModels'];}['getCurrentModelFile'](){return this['currentModelFile'];}}class zi{static['updateURDFJointLimits'](_0xd77e1,_0x504a2b,_0x2188ba){try{const _0x6dd0e5=new RegExp('<joint[^>]*name=\x22'+_0x504a2b['replace'](/[.*+?^${}()|[\]\\]/g,'\x5c$&')+'\x22[^>]*>([\x5cs\x5cS]*?)</joint>','g')['exec'](_0xd77e1);if(!_0x6dd0e5)return _0xd77e1;const _0x59a1f3=_0x6dd0e5[0x0];let _0x24cf7c=_0x59a1f3;const _0x2e1907=/<limit([^>]*)>/,_0x571c56=_0x2e1907['exec'](_0x59a1f3);if(_0x571c56){let _0x4dc69e=_0x571c56[0x0];const _0x304c41=_0x571c56[0x1];void 0x0!==_0x2188ba['lower']&&null!==_0x2188ba['lower']&&(_0x4dc69e=_0x304c41['includes']('lower=')?_0x4dc69e['replace'](/lower="[^"]*"/,'lower=\x22'+_0x2188ba['lower']+'\x22'):_0x4dc69e['replace'](/>$/,'\x20lower=\x22'+_0x2188ba['lower']+'\x22>')),void 0x0!==_0x2188ba['upper']&&null!==_0x2188ba['upper']&&(_0x4dc69e=_0x304c41['includes']('upper=')?_0x4dc69e['replace'](/upper="[^"]*"/,'upper=\x22'+_0x2188ba['upper']+'\x22'):_0x4dc69e['replace'](/>$/,'\x20upper=\x22'+_0x2188ba['upper']+'\x22>')),void 0x0!==_0x2188ba['effort']&&null!==_0x2188ba['effort']&&(_0x4dc69e=_0x304c41['includes']('effort=')?_0x4dc69e['replace'](/effort="[^"]*"/,'effort=\x22'+_0x2188ba['effort']+'\x22'):_0x4dc69e['replace'](/>$/,'\x20effort=\x22'+_0x2188ba['effort']+'\x22>')),void 0x0!==_0x2188ba['velocity']&&null!==_0x2188ba['velocity']&&(_0x4dc69e=_0x304c41['includes']('velocity=')?_0x4dc69e['replace'](/velocity="[^"]*"/,'velocity=\x22'+_0x2188ba['velocity']+'\x22'):_0x4dc69e['replace'](/>$/,'\x20velocity=\x22'+_0x2188ba['velocity']+'\x22>')),_0x24cf7c=_0x59a1f3['replace'](_0x2e1907,_0x4dc69e);}else{const _0x1f5007=[];if(void 0x0!==_0x2188ba['lower']&&null!==_0x2188ba['lower']&&_0x1f5007['push']('lower=\x22'+_0x2188ba['lower']+'\x22'),void 0x0!==_0x2188ba['upper']&&null!==_0x2188ba['upper']&&_0x1f5007['push']('upper=\x22'+_0x2188ba['upper']+'\x22'),void 0x0!==_0x2188ba['effort']&&null!==_0x2188ba['effort']&&_0x1f5007['push']('effort=\x22'+_0x2188ba['effort']+'\x22'),void 0x0!==_0x2188ba['velocity']&&null!==_0x2188ba['velocity']&&_0x1f5007['push']('velocity=\x22'+_0x2188ba['velocity']+'\x22'),_0x1f5007['length']>0x0){const _0x3573a1='\x20\x20\x20\x20<limit\x20'+_0x1f5007['join']('\x20')+'/>';_0x24cf7c=_0x59a1f3['replace']('</joint>',_0x3573a1+'\x0a\x20\x20</joint>');}}return _0xd77e1['replace'](_0x59a1f3,_0x24cf7c);}catch(_0x109e57){return _0xd77e1;}}static['updateMultipleJointLimits'](_0x36a6a0,_0x3ac227){let _0x34f8b8=_0x36a6a0;for(let [_0x2d9861,_0x15c77b]of _0x3ac227['entries']())_0x34f8b8=this['updateURDFJointLimits'](_0x34f8b8,_0x2d9861,_0x15c77b);return _0x34f8b8;}}class Ni{constructor(_0x19dbb4){this['sceneManager']=_0x19dbb4,this['angleUnit']='rad',this['initialJointValues']=new Map(),this['codeEditorManager']=null,this['isUpdatingFromEditor']=!0x1,this['onJointChange']=null,this['selectedJoints']=new Set(),this['currentModel']=null,this['_allSelected']=!0x1,this['showMimicJoints']=!0x1;}['setCodeEditorManager'](_0xeb67ba){this['codeEditorManager']=_0xeb67ba;}['updateEditorXML'](_0x3b5d91,_0x4eeb47){if(this['isUpdatingFromEditor'])return;if(!this['codeEditorManager'])return;const _0x22ef52=this['codeEditorManager']['getEditor']();if(!_0x22ef52)return;const _0x55fe91=_0x22ef52['getValue']();if(_0x55fe91&&0x0!==_0x55fe91['trim']()['length']&&_0x55fe91['includes']('<robot')){this['isUpdatingFromEditor']=!0x0;try{const _0x104481=zi['updateURDFJointLimits'](_0x55fe91,_0x3b5d91,_0x4eeb47);if(_0x104481!==_0x55fe91){const _0x6d7b80=_0x22ef52['view']['state']['selection']['main']['head'];_0x22ef52['setValue'](_0x104481);try{const _0x3a485d=_0x22ef52['view']['state']['doc']['length'],_0x2725e4=Math['min'](_0x6d7b80,_0x3a485d);_0x22ef52['view']['dispatch']({'selection':{'anchor':_0x2725e4,'head':_0x2725e4}});}catch(_0x7af6b7){}}}catch(_0x247d8b){}finally{setTimeout(()=>{this['isUpdatingFromEditor']=!0x1;},0x64);}}}['setupJointControls'](_0x1d7d37){const _0x218727=document['getElementById']('joint-controls');if(!_0x218727)return;if(_0x218727['innerHTML']='',this['selectedJoints']['clear'](),this['_allSelected']=!0x1,this['currentModel']=_0x1d7d37,this['updateButtonStates'](),!_0x1d7d37||!_0x1d7d37['joints']||0x0===_0x1d7d37['joints']['size']){const _0x30c3c9=document['createElement']('div');return _0x30c3c9['className']='empty-state',_0x30c3c9['textContent']=window['i18n']['t']('noModel'),void _0x218727['appendChild'](_0x30c3c9);}let _0x759a6b=0x0;if(_0x1d7d37['joints']['forEach'](_0x4339af=>{'fixed'!==_0x4339af['type']&&_0x759a6b++;}),0x0===_0x759a6b){const _0x262824=document['createElement']('div');return _0x262824['className']='empty-state',_0x262824['textContent']=window['i18n']['t']('noControllableJoints'),void _0x218727['appendChild'](_0x262824);}this['initialJointValues']['clear'](),_0x1d7d37['joints']['forEach']((_0x2b2acb,_0x357ca7)=>{if('fixed'!==_0x2b2acb['type']){const _0x174650=_0x2b2acb['limits']||{},_0x46f856=void 0x0!==_0x174650['lower']?_0x174650['lower']:-Math['PI'],_0x1f0c79=void 0x0!==_0x174650['upper']?_0x174650['upper']:Math['PI'],_0x49736f=void 0x0!==_0x2b2acb['currentValue']?_0x2b2acb['currentValue']:(_0x46f856+_0x1f0c79)/0x2;this['initialJointValues']['set'](_0x357ca7,_0x49736f);}}),_0x1d7d37['joints']['forEach'](_0x424b12=>{if('fixed'===_0x424b12['type'])return;if(_0x424b12['mimic']&&!this['showMimicJoints'])return;const _0x5121c4=this['createJointControl'](_0x424b12,_0x1d7d37);_0x218727['appendChild'](_0x5121c4);});}['setShowMimicJoints'](_0x561de7){this['showMimicJoints']=_0x561de7,this['currentModel']&&this['setupJointControls'](this['currentModel']);}['createJointControl'](_0x2ebfe5,_0x4df28e){var _0x3d1c3e,_0x4be19a;const _0x37efef=document['createElement']('div');_0x37efef['className']='joint-control',_0x37efef['setAttribute']('data-joint-name',_0x2ebfe5['name']);const _0x394448=this['createJointCheckbox'](_0x2ebfe5['name']);_0x37efef['appendChild'](_0x394448);const _0x26f9aa=document['createElement']('div');_0x26f9aa['className']='joint-control-content';const _0x3ef131=document['createElement']('div');_0x3ef131['className']='joint-header';const _0x47d09f=document['createElement']('div');if(_0x47d09f['className']='joint-name',_0x47d09f['textContent']=_0x2ebfe5['name'],_0x47d09f['title']=_0x2ebfe5['name'],_0x3ef131['appendChild'](_0x47d09f),_0x2ebfe5['mimic']){const _0x4e99d0=document['createElement']('span');_0x4e99d0['className']='joint-mimic-badge',_0x4e99d0['textContent']='mimic',_0x4e99d0['title']='mimic:\x20'+_0x2ebfe5['mimic']['joint']+'\x20(×'+_0x2ebfe5['mimic']['multiplier']+'\x20+\x20'+_0x2ebfe5['mimic']['offset']+')',_0x3ef131['appendChild'](_0x4e99d0);}const _0x5d1115=document['createElement']('div');_0x5d1115['className']='joint-slider-row';const _0x5bff66=_0x2ebfe5['limits']||{};let _0x4934fd=void 0x0!==_0x5bff66['lower']?_0x5bff66['lower']:-Math['PI'],_0x416571=void 0x0!==_0x5bff66['upper']?_0x5bff66['upper']:Math['PI'];'continuous'===_0x2ebfe5['type']&&(_0x4934fd=-Math['PI'],_0x416571=Math['PI']);const _0x269f0e=document['createElement']('input');_0x269f0e['type']='range',_0x269f0e['className']='joint-slider',_0x269f0e['setAttribute']('data-joint',_0x2ebfe5['name']),_0x269f0e['min']=_0x4934fd,_0x269f0e['max']=_0x416571;let _0x817a19=void 0x0!==_0x2ebfe5['currentValue']?_0x2ebfe5['currentValue']:(_0x4934fd+_0x416571)/0x2;_0x269f0e['value']=_0x817a19,_0x269f0e['step']=(_0x416571-_0x4934fd)/0x3e8,void 0x0===_0x2ebfe5['currentValue']&&(_0x2ebfe5['currentValue']=_0x817a19);const _0x360274=document['createElement']('input');_0x360274['type']='number',_0x360274['className']='joint-limit-min\x20editable-limit',_0x360274['step']='0.01',_0x360274['title']=window['i18n']['t']('clickToEditMin');const _0xe0a254=document['createElement']('input');_0xe0a254['type']='number',_0xe0a254['className']='joint-limit-max\x20editable-limit',_0xe0a254['step']='0.01',_0xe0a254['title']=window['i18n']['t']('clickToEditMax');const _0x35feec=document['createElement']('input');_0x35feec['type']='number',_0x35feec['className']='joint-value-input',_0x35feec['setAttribute']('data-joint-input',_0x2ebfe5['name']),_0x35feec['step']='0.01';const _0x17f0c0=document['createElement']('span');_0x17f0c0['className']='joint-value-unit',_0x17f0c0['textContent']='deg'===this['angleUnit']?'°':'rad';const _0x4f6287=()=>{const _0x341dbc=parseFloat(_0x269f0e['min']),_0x55088a=parseFloat(_0x269f0e['max']);'deg'===this['angleUnit']?(_0x360274['value']=(0xb4*_0x341dbc/Math['PI'])['toFixed'](0x1),_0xe0a254['value']=(0xb4*_0x55088a/Math['PI'])['toFixed'](0x1)):(_0x360274['value']=_0x341dbc['toFixed'](0x2),_0xe0a254['value']=_0x55088a['toFixed'](0x2));},_0x225241=()=>{const _0x2069de=parseFloat(_0x269f0e['value']);_0x35feec['value']='deg'===this['angleUnit']?(0xb4*_0x2069de/Math['PI'])['toFixed'](0x1):_0x2069de['toFixed'](0x2);};_0x4f6287(),_0x225241(),_0x360274['addEventListener']('change',()=>{let _0x541cbc=parseFloat(_0x360274['value']);if(isNaN(_0x541cbc))return void _0x4f6287();let _0x4052b0='deg'===this['angleUnit']?_0x541cbc*Math['PI']/0xb4:_0x541cbc;if(_0x4052b0>=parseFloat(_0x269f0e['max']))return void _0x4f6287();_0x269f0e['min']=_0x4052b0,_0x269f0e['step']=(_0x269f0e['max']-_0x269f0e['min'])/0x3e8,_0x2ebfe5['limits']&&(_0x2ebfe5['limits']['lower']=_0x4052b0),this['updateEditorXML'](_0x2ebfe5['name'],{'lower':_0x4052b0});parseFloat(_0x269f0e['value'])<_0x4052b0&&(_0x269f0e['value']=_0x4052b0,Ei['setJointAngle'](_0x4df28e,_0x2ebfe5['name'],_0x4052b0),_0x2ebfe5['currentValue']=_0x4052b0,_0x225241(),this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']()),_0x4f6287();}),_0xe0a254['addEventListener']('change',()=>{let _0x4e473b=parseFloat(_0xe0a254['value']);if(isNaN(_0x4e473b))return void _0x4f6287();let _0x395976='deg'===this['angleUnit']?_0x4e473b*Math['PI']/0xb4:_0x4e473b;if(_0x395976<=parseFloat(_0x269f0e['min']))return void _0x4f6287();_0x269f0e['max']=_0x395976,_0x269f0e['step']=(_0x269f0e['max']-_0x269f0e['min'])/0x3e8,_0x2ebfe5['limits']&&(_0x2ebfe5['limits']['upper']=_0x395976),this['updateEditorXML'](_0x2ebfe5['name'],{'upper':_0x395976});parseFloat(_0x269f0e['value'])>_0x395976&&(_0x269f0e['value']=_0x395976,Ei['setJointAngle'](_0x4df28e,_0x2ebfe5['name'],_0x395976),_0x2ebfe5['currentValue']=_0x395976,_0x225241(),this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']()),_0x4f6287();});const _0x4cb24c=document['createElement']('div');_0x4cb24c['className']='joint-slider-container',_0x4cb24c['appendChild'](_0x269f0e);const _0x22840d=document['createElement']('div');_0x22840d['className']='joint-value-input-container',_0x22840d['appendChild'](_0x35feec),_0x22840d['appendChild'](_0x17f0c0),_0x5d1115['appendChild'](_0x360274),_0x5d1115['appendChild'](_0x4cb24c),_0x5d1115['appendChild'](_0xe0a254),_0x5d1115['appendChild'](_0x22840d);if('urdf'===((null==(_0x4be19a=null==(_0x3d1c3e=_0x4df28e['threeObject'])?void 0x0:_0x3d1c3e['userData'])?void 0x0:_0x4be19a['type'])||'urdf')){const _0xb29965=document['createElement']('div');_0xb29965['className']='joint-extra-field';const _0x281536=document['createElement']('label');_0x281536['textContent']='τ:',_0x281536['className']='joint-extra-label',_0x281536['title']='Effort\x20(max\x20force/torque)';const _0x289405=document['createElement']('input');_0x289405['type']='number',_0x289405['className']='joint-extra-input',_0x289405['step']='0.1';const _0x892746=null!==_0x5bff66['effort']&&void 0x0!==_0x5bff66['effort']?_0x5bff66['effort']:'';_0x289405['value']=_0x892746,_0x289405['placeholder']='-',_0x289405['title']='Effort\x20(max\x20force/torque)',_0xb29965['appendChild'](_0x281536),_0xb29965['appendChild'](_0x289405);const _0x1879b2=document['createElement']('div');_0x1879b2['className']='joint-extra-field';const _0x5dca7c=document['createElement']('label');_0x5dca7c['textContent']='v:',_0x5dca7c['className']='joint-extra-label',_0x5dca7c['title']='Velocity\x20(max\x20speed)';const _0x871244=document['createElement']('input');_0x871244['type']='number',_0x871244['className']='joint-extra-input',_0x871244['step']='0.1';const _0x7ad4fb=null!==_0x5bff66['velocity']&&void 0x0!==_0x5bff66['velocity']?_0x5bff66['velocity']:'';_0x871244['value']=_0x7ad4fb,_0x871244['placeholder']='-',_0x871244['title']='Velocity\x20(max\x20speed)',_0x1879b2['appendChild'](_0x5dca7c),_0x1879b2['appendChild'](_0x871244),_0x3ef131['appendChild'](_0xb29965),_0x3ef131['appendChild'](_0x1879b2),_0x289405['addEventListener']('change',()=>{let _0x140f6c=parseFloat(_0x289405['value']);isNaN(_0x140f6c)||''===_0x289405['value']?_0x2ebfe5['limits']?_0x2ebfe5['limits']['effort']=null:_0x2ebfe5['limits']={'lower':_0x4934fd,'upper':_0x416571,'effort':null,'velocity':_0x5bff66['velocity']}:(_0x2ebfe5['limits']?_0x2ebfe5['limits']['effort']=_0x140f6c:_0x2ebfe5['limits']={'lower':_0x4934fd,'upper':_0x416571,'effort':_0x140f6c,'velocity':_0x5bff66['velocity']},this['updateEditorXML'](_0x2ebfe5['name'],{'effort':_0x140f6c}));}),_0x871244['addEventListener']('change',()=>{let _0x2cdce1=parseFloat(_0x871244['value']);isNaN(_0x2cdce1)||''===_0x871244['value']?_0x2ebfe5['limits']?_0x2ebfe5['limits']['velocity']=null:_0x2ebfe5['limits']={'lower':_0x4934fd,'upper':_0x416571,'effort':_0x5bff66['effort'],'velocity':null}:(_0x2ebfe5['limits']?_0x2ebfe5['limits']['velocity']=_0x2cdce1:_0x2ebfe5['limits']={'lower':_0x4934fd,'upper':_0x416571,'effort':_0x5bff66['effort'],'velocity':_0x2cdce1},this['updateEditorXML'](_0x2ebfe5['name'],{'velocity':_0x2cdce1}));});}return _0x269f0e['addEventListener']('mousedown',()=>{this['sceneManager']['axesManager']['showOnlyJointAxis'](_0x2ebfe5);}),_0x269f0e['addEventListener']('mouseup',()=>{this['sceneManager']['axesManager']['restoreAllJointAxes']();}),_0x26f9aa['appendChild'](_0x3ef131),_0x26f9aa['appendChild'](_0x5d1115),_0x37efef['appendChild'](_0x26f9aa),_0x269f0e['addEventListener']('input',()=>{const _0x2f5df1=parseFloat(_0x269f0e['value']);Ei['setJointAngle'](_0x4df28e,_0x2ebfe5['name'],_0x2f5df1),_0x2ebfe5['currentValue']=_0x2f5df1,_0x225241(),this['sceneManager']['constraintManager']&&this['sceneManager']['constraintManager']['applyConstraints'](_0x4df28e,_0x2ebfe5),this['onJointChange']&&this['onJointChange'](_0x4df28e),_0x269f0e['_pendingRender']||(_0x269f0e['_pendingRender']=!0x0,requestAnimationFrame(()=>{this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate'](),_0x269f0e['_pendingRender']=!0x1;}));}),_0x35feec['addEventListener']('change',()=>{let _0x9c73fa=parseFloat(_0x35feec['value']);if(isNaN(_0x9c73fa))return void _0x225241();let _0xb96c56='deg'===this['angleUnit']?_0x9c73fa*Math['PI']/0xb4:_0x9c73fa;const _0x5063f2=parseFloat(_0x269f0e['min']),_0x59a680=parseFloat(_0x269f0e['max']);_0xb96c56=Math['max'](_0x5063f2,Math['min'](_0x59a680,_0xb96c56)),_0x269f0e['value']=_0xb96c56,Ei['setJointAngle'](_0x4df28e,_0x2ebfe5['name'],_0xb96c56),_0x2ebfe5['currentValue']=_0xb96c56,this['sceneManager']['constraintManager']&&this['sceneManager']['constraintManager']['applyConstraints'](_0x4df28e,_0x2ebfe5),_0x225241(),this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']();}),_0x37efef['_updateDisplay']=()=>{_0x225241(),_0x4f6287(),_0x17f0c0['textContent']='deg'===this['angleUnit']?'°':'rad';},_0x37efef;}['setAngleUnit'](_0x57c9b3){this['angleUnit']=_0x57c9b3;document['querySelectorAll']('.joint-control')['forEach'](_0x342e44=>{_0x342e44['_updateDisplay']&&_0x342e44['_updateDisplay']();});}['resetAllJoints'](_0x8cd785){_0x8cd785&&_0x8cd785['joints']&&(_0x8cd785['joints']['forEach']((_0x5f0c53,_0x23ee86)=>{if('fixed'!==_0x5f0c53['type']){let _0x376a4c=this['initialJointValues']['get'](_0x23ee86);if(void 0x0===_0x376a4c){const _0x2457ca=_0x5f0c53['limits']||{},_0x124d8a=void 0x0!==_0x2457ca['lower']?_0x2457ca['lower']:-Math['PI'],_0x56d00f=void 0x0!==_0x2457ca['upper']?_0x2457ca['upper']:Math['PI'];_0x376a4c=void 0x0!==_0x5f0c53['currentValue']?_0x5f0c53['currentValue']:(_0x124d8a+_0x56d00f)/0x2;}Ei['setJointAngle'](_0x8cd785,_0x23ee86,_0x376a4c,!0x0),_0x5f0c53['currentValue']=_0x376a4c;const _0x4c572e=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x23ee86+'\x22]');_0x4c572e&&(_0x4c572e['value']=_0x376a4c);const _0x4f9fd8=document['querySelector']('#unit-deg.active')?'deg':'rad',_0x439527=document['querySelector']('input[data-joint-input=\x22'+_0x23ee86+'\x22]');_0x439527&&(_0x439527['value']='deg'===_0x4f9fd8?(0xb4*_0x376a4c/Math['PI'])['toFixed'](0x2):_0x376a4c['toFixed'](0x4));}}),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']());}['updateAllSliderLimits'](_0x4dbb6d,_0x2b8b1a){_0x4dbb6d&&document['querySelectorAll']('.joint-slider')['forEach'](_0x12c857=>{const _0x2091ad=_0x12c857['getAttribute']('data-joint'),_0x1a38c1=_0x4dbb6d['joints']['get'](_0x2091ad);if(_0x1a38c1&&'fixed'!==_0x1a38c1['type']){if(_0x2b8b1a)_0x12c857['min']=0x2*-Math['PI'],_0x12c857['max']=0x2*Math['PI'],_0x12c857['step']=0.01;else{const _0x1078cc=_0x1a38c1['limits']||{},_0x4f65f6=void 0x0!==_0x1078cc['lower']?_0x1078cc['lower']:-Math['PI'],_0x32380e=void 0x0!==_0x1078cc['upper']?_0x1078cc['upper']:Math['PI'];'continuous'===_0x1a38c1['type']?(_0x12c857['min']=-Math['PI'],_0x12c857['max']=Math['PI']):(_0x12c857['min']=_0x4f65f6,_0x12c857['max']=_0x32380e),_0x12c857['step']=(_0x12c857['max']-_0x12c857['min'])/0x3e8;}const _0x1d4d69=_0x12c857['closest']('.joint-control');_0x1d4d69&&_0x1d4d69['_updateDisplay']&&_0x1d4d69['_updateDisplay']();}});}['createJointCheckbox'](_0x549fe6){const _0x1d6b00=document['createElement']('div');_0x1d6b00['className']='joint-checkbox-container';const _0x2e0282=document['createElement']('input');return _0x2e0282['type']='checkbox',_0x2e0282['className']='joint-checkbox',_0x2e0282['id']='checkbox-'+_0x549fe6,_0x2e0282['setAttribute']('data-joint',_0x549fe6),_0x2e0282['addEventListener']('change',_0x19f9e1=>{_0x19f9e1['target']['checked']?this['selectedJoints']['add'](_0x549fe6):this['selectedJoints']['delete'](_0x549fe6),this['_syncAllSelectedState'](),this['updateButtonStates']();}),_0x1d6b00['appendChild'](_0x2e0282),_0x1d6b00;}['updateButtonStates'](){const _0x2be85e=document['querySelector']('.apply-angles-btn'),_0x2cc15e=document['querySelector']('.set-home-btn'),_0x427a30=document['querySelector']('.reset-home-btn'),_0x4d328b=document['getElementById']('select-all-btn');if(_0x2be85e){const _0x10210a=this['selectedJoints']['size']>0x0;_0x2be85e['disabled']=!_0x10210a,_0x2be85e['title']=_0x10210a?window['i18n']['t']('applyAngles'):window['i18n']['t']('noJointsSelected');}const _0x54dc59=this['currentModel']&&this['currentModel']['joints']&&this['currentModel']['joints']['size']>0x0;if(_0x2cc15e&&(_0x2cc15e['disabled']=!_0x54dc59),_0x427a30&&(_0x427a30['disabled']=!_0x54dc59),_0x4d328b){const _0x275b4b=this['_getControllableJointCount']();_0x4d328b['disabled']=!_0x54dc59||0x0===_0x275b4b,this['_allSelected']?_0x4d328b['classList']['add']('active'):_0x4d328b['classList']['remove']('active');}}['_getControllableJointCount'](){if(!this['currentModel']||!this['currentModel']['joints'])return 0x0;let _0x1185c7=0x0;return this['currentModel']['joints']['forEach'](_0x500a68=>{'fixed'!==_0x500a68['type']&&_0x1185c7++;}),_0x1185c7;}['_syncAllSelectedState'](){const _0x244cfa=document['querySelectorAll']('.joint-checkbox');if(0x0===_0x244cfa['length'])return void(this['_allSelected']=!0x1);const _0x45d79a=Array['from'](_0x244cfa)['every'](_0x2a872c=>_0x2a872c['checked']);this['_allSelected']=_0x45d79a;}['getSelectedJointsInOrder'](){const _0x46da99=[];return document['querySelectorAll']('.joint-control')['forEach'](_0x207298=>{const _0x4815c5=_0x207298['getAttribute']('data-joint-name');_0x4815c5&&this['selectedJoints']['has'](_0x4815c5)&&_0x46da99['push'](_0x4815c5);}),_0x46da99;}['handleApplyAngles'](){if(0x0===this['selectedJoints']['size'])return void this['showToast'](window['i18n']['t']('noJointsSelected'),'warning');if(!this['currentModel'])return void this['showToast'](window['i18n']['t']('noModel'),'error');const _0x53d218=this['getSelectedJointsInOrder'](),_0x35b5f9=[];_0x53d218['forEach'](_0x57dffa=>{const _0x4cee4d=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x57dffa+'\x22]');if(_0x4cee4d)_0x35b5f9['push'](parseFloat(parseFloat(_0x4cee4d['value'])['toFixed'](0x2)));else{const _0x54f66b=this['currentModel']['joints']['get'](_0x57dffa);if(_0x54f66b){const _0x394673=void 0x0!==_0x54f66b['currentValue']?_0x54f66b['currentValue']:0x0;_0x35b5f9['push'](parseFloat(_0x394673['toFixed'](0x2)));}}}),this['showApplyDialog'](JSON['stringify'](_0x35b5f9),_0x53d218['length']);}['handleSelectAll'](){const _0x4d9869=document['querySelectorAll']('.joint-checkbox');0x0!==_0x4d9869['length']&&(this['_allSelected']?(_0x4d9869['forEach'](_0x172ce9=>{_0x172ce9['checked']=!0x1;const _0x28718e=_0x172ce9['getAttribute']('data-joint');_0x28718e&&this['selectedJoints']['delete'](_0x28718e);}),this['_allSelected']=!0x1):(_0x4d9869['forEach'](_0x410a06=>{_0x410a06['checked']=!0x0;const _0x32357f=_0x410a06['getAttribute']('data-joint');_0x32357f&&this['selectedJoints']['add'](_0x32357f);}),this['_allSelected']=!0x0),this['updateButtonStates']());}['handleResetToHome'](){var _0x5ede72;if(!this['currentModel'])return;const _0x28923c=(null==(_0x5ede72=this['currentModel']['userData'])?void 0x0:_0x5ede72['homePositions'])||{},_0x530329=document['querySelector']('#unit-deg.active')?'deg':'rad';this['currentModel']['joints']['forEach']((_0x14f0be,_0x1de4e3)=>{if('fixed'===_0x14f0be['type'])return;const _0x36811e=void 0x0!==_0x28923c[_0x1de4e3]?_0x28923c[_0x1de4e3]:0x0;Ei['setJointAngle'](this['currentModel'],_0x1de4e3,_0x36811e),_0x14f0be['currentValue']=_0x36811e;const _0x3b655a=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x1de4e3+'\x22]');if(_0x3b655a){_0x3b655a['value']=_0x36811e;const _0x22f52b=parseFloat(_0x3b655a['min']),_0x306195=parseFloat(_0x3b655a['max']);_0x36811e<_0x22f52b&&(_0x3b655a['min']=_0x36811e),_0x36811e>_0x306195&&(_0x3b655a['max']=_0x36811e);}const _0x61862a=document['querySelector']('input[data-joint-input=\x22'+_0x1de4e3+'\x22]');_0x61862a&&(_0x61862a['value']='deg'===_0x530329?(0xb4*_0x36811e/Math['PI'])['toFixed'](0x2):_0x36811e['toFixed'](0x4));}),this['onJointChange']&&this['onJointChange'](this['currentModel']),requestAnimationFrame(()=>{this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']();}),this['showToast'](window['i18n']['t']('resetToHomeSuccess'),'success');}['showApplyDialog'](_0x2cc765,_0x56c139){const _0x295d67=document['createElement']('div');_0x295d67['className']='apply-dialog-overlay';const _0x411be7=document['createElement']('div');_0x411be7['className']='apply-dialog';const _0x52067b=document['createElement']('div');_0x52067b['className']='apply-dialog-title',_0x52067b['textContent']=window['i18n']['t']('applyDialogTitle');const _0x5a5fd1=document['createElement']('div');_0x5a5fd1['className']='apply-dialog-hint',_0x5a5fd1['textContent']=window['i18n']['t']('applyDialogHint');const _0x58929a=document['createElement']('textarea');_0x58929a['className']='apply-dialog-textarea',_0x58929a['value']=_0x2cc765,_0x58929a['placeholder']='[0.0,\x200.0,\x200.0]';const _0x450b68=document['createElement']('div');_0x450b68['className']='apply-dialog-buttons';const _0x5677a6=document['createElement']('button');_0x5677a6['className']='apply-dialog-btn\x20secondary',_0x5677a6['textContent']=window['i18n']['t']('applyDialogCancel'),_0x5677a6['onclick']=()=>{document['body']['removeChild'](_0x295d67);};const _0x53495f=document['createElement']('button');_0x53495f['className']='apply-dialog-btn\x20primary',_0x53495f['textContent']=window['i18n']['t']('applyDialogApply'),_0x53495f['onclick']=()=>{const _0x5baeca=_0x58929a['value']['trim']();this['applyAnglesFromText'](_0x5baeca,_0x56c139)&&document['body']['removeChild'](_0x295d67);},_0x450b68['appendChild'](_0x5677a6),_0x450b68['appendChild'](_0x53495f),_0x411be7['appendChild'](_0x52067b),_0x411be7['appendChild'](_0x5a5fd1),_0x411be7['appendChild'](_0x58929a),_0x411be7['appendChild'](_0x450b68),_0x295d67['appendChild'](_0x411be7),document['body']['appendChild'](_0x295d67),setTimeout(()=>{_0x58929a['focus'](),_0x58929a['select']();},0x64);const _0x461285=_0x33f9dc=>{'Escape'===_0x33f9dc['key']&&(document['body']['contains'](_0x295d67)&&document['body']['removeChild'](_0x295d67),document['removeEventListener']('keydown',_0x461285));};document['addEventListener']('keydown',_0x461285),_0x295d67['addEventListener']('click',_0x10ade5=>{_0x10ade5['target']===_0x295d67&&(document['body']['removeChild'](_0x295d67),document['removeEventListener']('keydown',_0x461285));});}['applyAnglesFromText'](_0x4027df,_0x2077c3){if(!_0x4027df)return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;try{const _0x52657=JSON['parse'](_0x4027df);if(!Array['isArray'](_0x52657))return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;if(_0x52657['length']!==_0x2077c3){const _0x885973=window['i18n']['t']('countMismatch')['replace']('{expected}',_0x2077c3)['replace']('{actual}',_0x52657['length']);return this['showToast'](_0x885973,'error'),!0x1;}for(let _0x42f50a=0x0;_0x42f50a<_0x52657['length'];_0x42f50a++)if('number'!=typeof _0x52657[_0x42f50a]||isNaN(_0x52657[_0x42f50a]))return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;const _0x5e0b09=this['getSelectedJointsInOrder']();_0x5e0b09['forEach']((_0x2f59d4,_0x5482b5)=>{const _0x49c2c8=this['currentModel']['joints']['get'](_0x2f59d4);if(_0x49c2c8){const _0x1ac444=_0x52657[_0x5482b5];Ei['setJointAngle'](this['currentModel'],_0x2f59d4,_0x1ac444),_0x49c2c8['currentValue']=_0x1ac444;const _0xe5a6bc=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x2f59d4+'\x22]');_0xe5a6bc&&(_0xe5a6bc['value']=_0x1ac444);}}),this['sceneManager']['constraintManager']&&_0x5e0b09['forEach'](_0x40e7d6=>{const _0x19c801=this['currentModel']['joints']['get'](_0x40e7d6);_0x19c801&&this['sceneManager']['constraintManager']['applyConstraints'](this['currentModel'],_0x19c801);});const _0x4811c0=document['querySelector']('#unit-deg.active')?'deg':'rad';_0x5e0b09['forEach']((_0x3bd54f,_0x2af965)=>{const _0x58d64a=this['currentModel']['joints']['get'](_0x3bd54f),_0x48d285=void 0x0!==(null==_0x58d64a?void 0x0:_0x58d64a['currentValue'])?_0x58d64a['currentValue']:_0x52657[_0x2af965],_0xa1a096=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x3bd54f+'\x22]');_0xa1a096&&(_0xa1a096['value']=_0x48d285);const _0xe29e46=document['querySelector']('input[data-joint-input=\x22'+_0x3bd54f+'\x22]');_0xe29e46&&(_0xe29e46['value']='deg'===_0x4811c0?(0xb4*_0x48d285/Math['PI'])['toFixed'](0x2):_0x48d285['toFixed'](0x4));}),this['onJointChange']&&this['onJointChange'](this['currentModel']),requestAnimationFrame(()=>{this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']();});const _0x2192fd=window['i18n']['t']('applySuccess')['replace']('{count}',_0x52657['length']);return this['showToast'](_0x2192fd,'success'),!0x0;}catch(_0x526655){return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;}}['showToast'](_0x591d23,_0xd9d4bc='success'){const _0xc31766=document['createElement']('div');_0xc31766['className']='toast-notification\x20'+_0xd9d4bc,_0xc31766['textContent']=_0x591d23,document['body']['appendChild'](_0xc31766),setTimeout(()=>{document['body']['contains'](_0xc31766)&&(_0xc31766['style']['animation']='slideInRight\x200.3s\x20ease-out\x20reverse',setTimeout(()=>{document['body']['contains'](_0xc31766)&&document['body']['removeChild'](_0xc31766);},0x12c));},0xbb8);}}class Ui{constructor(){this['panels']=new Map(),this['modelGraphOriginalTransform']=null,this['modelGraphView']=null;}['setModelGraphView'](_0x30e74e){this['modelGraphView']=_0x30e74e;}['registerPanel'](_0x327093,_0x27ecdd='.floating-panel-header'){const _0x4532d9=document['getElementById'](_0x327093),_0x226abf=null==_0x4532d9?void 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_0xd7ac84=this['codeEditorInstance']['searchAndScroll'](_0x47b3e8,!0x0);return _0xd7ac84||(_0xd7ac84=this['codeEditorInstance']['searchAndScroll'](_0x457d4a,!0x0)),_0xd7ac84;}['scrollToJoint'](_0x430393){if(!this['codeEditorInstance']||!_0x430393)return!0x1;const _0x4b4f3a=document['getElementById']('code-editor-panel'),_0x3792ca=document['getElementById']('open-editor-btn');_0x4b4f3a&&!_0x4b4f3a['classList']['contains']('visible')&&(_0x4b4f3a['classList']['add']('visible'),_0x3792ca&&_0x3792ca['classList']['add']('active'));const _0x49c110='<joint\x20name=\x22'+_0x430393+'\x22';return this['codeEditorInstance']['searchAndScroll'](_0x49c110,!0x0);}['updateUrdfOriginRpy'](_0x369012,_0x1a59f5){var _0x30ea9a;if(!this['codeEditorInstance'])return!0x1;const _0x1feff4=this['codeEditorInstance']['getValue']();if(!_0x1feff4)return!0x1;try{const _0x1f0520=new DOMParser()['parseFromString'](_0x1feff4,'text/xml');if(_0x1f0520['querySelector']('parsererror'))return!0x1;const _0x56c3ca=_0x1f0520['querySelector']('joint[name=\x22'+_0x369012+'\x22]');if(!_0x56c3ca)return!0x1;let _0x5bc41f=_0x56c3ca['querySelector']('origin');_0x5bc41f||(_0x5bc41f=_0x1f0520['createElement']('origin'),_0x56c3ca['insertBefore'](_0x5bc41f,_0x56c3ca['firstChild']));const _0x1e0f20=_0x1a59f5['map'](_0x5a25b5=>parseFloat(_0x5a25b5['toFixed'](0x4)))['join']('\x20');_0x5bc41f['setAttribute']('rpy',_0x1e0f20);const _0x157e13=new XMLSerializer()['serializeToString'](_0x1f0520);this['codeEditorInstance']['setValue'](_0x157e13),this['editorState']['currentContent']=_0x157e13;const _0x195438=document['getElementById']('editor-save-status');return _0x195438&&(_0x195438['textContent']=(null==(_0x30ea9a=window['i18n'])?void 0x0:_0x30ea9a['t']('unsaved'))||'未保存',_0x195438['className']='status-unsaved'),!0x0;}catch(_0x5cb55b){return!0x1;}}['getJointOriginRpy'](_0x5197a7){if(!this['codeEditorInstance'])return null;const _0xc95379=this['codeEditorInstance']['getValue']();if(!_0xc95379)return null;try{const _0x3cf04a=new DOMParser()['parseFromString'](_0xc95379,'text/xml');if(_0x3cf04a['querySelector']('parsererror'))return null;const _0x4a1ede=_0x3cf04a['querySelector']('joint[name=\x22'+_0x5197a7+'\x22]');if(!_0x4a1ede)return null;const _0x2b7277=_0x4a1ede['querySelector']('origin');if(!_0x2b7277)return[0x0,0x0,0x0];const _0x2ca206=_0x2b7277['getAttribute']('rpy');return _0x2ca206?_0x2ca206['trim']()['split'](/\s+/)['map'](parseFloat):[0x0,0x0,0x0];}catch(_0x2c015c){return null;}}}class Ji{constructor(_0x2808c9){this['sceneManager']=_0x2808c9,this['selectedObjects']=[];}['handleSelection'](_0xa1cfee,_0x4e8bec,_0x3311f6){const _0x1e3ff5=this['selectedObjects']['findIndex'](_0x913835=>_0x913835['name']===_0xa1cfee['name']&&_0x913835['type']===_0x3311f6);if(_0x1e3ff5>=0x0)this['selectedObjects']['splice'](_0x1e3ff5,0x1),_0x1a28d0(_0x4e8bec)['classed']('measurement-selected',!0x1);else{if(this['selectedObjects']['length']>=0x2){const _0x4d3f45=this['selectedObjects']['shift'](),_0x3b7597=_0x1a28d0('#model-graph-svg');'joint'===_0x4d3f45['type']?_0x3b7597['selectAll']('.graph-joint-group')['filter'](_0xcbb942=>{var _0x148a33,_0x152c83;return(null==(_0x152c83=null==(_0x148a33=_0xcbb942['target'])?void 0x0:_0x148a33['data'])?void 0x0:_0x152c83['jointName'])===_0x4d3f45['name'];})['classed']('measurement-selected',!0x1):'link'===_0x4d3f45['type']&&_0x3b7597['selectAll']('.graph-node')['filter'](_0x3a425a=>{var _0x284810,_0x204fb6;return(null==(_0x204fb6=null==(_0x284810=_0x3a425a['data'])?void 0x0:_0x284810['data'])?void 0x0:_0x204fb6['name'])===_0x4d3f45['name'];})['classed']('measurement-selected',!0x1);}this['selectedObjects']['push']({..._0xa1cfee,'type':_0x3311f6}),_0x1a28d0(_0x4e8bec)['classed']('measurement-selected',!0x0);}0x2===this['selectedObjects']['length']?this['showMeasurement'](this['selectedObjects'][0x0],this['selectedObjects'][0x1]):this['sceneManager']&&this['sceneManager']['measurementManager']['clearMeasurement']();}['showMeasurement'](_0x1ecae9,_0x5009bc){if(!this['sceneManager'])return;const _0x12d11f=_0x4e098a=>{var _0x39df72;const _0x16de80=new _0x5a7be3();return'joint'===_0x4e098a['type']&&_0x4e098a['threeObject']?_0x4e098a['threeObject']['getWorldPosition'](_0x16de80):'link'===_0x4e098a['type']&&('ground'===_0x4e098a['name']?_0x16de80['set'](0x0,(null==(_0x39df72=this['sceneManager']['groundPlane'])?void 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_0x54f33c=_0x1a28d0('#model-graph-svg');_0x54f33c['selectAll']('.graph-node')['classed']('measurement-selected',!0x1),_0x54f33c['selectAll']('.graph-joint-group')['classed']('measurement-selected',!0x1),this['sceneManager']&&this['sceneManager']['measurementManager']['clearMeasurement']();}['getSelectedObjects'](){return this['selectedObjects'];}}class Hi{constructor(_0x2a2352){this['container']=_0x2a2352,this['iframe']=null,this['isReady']=!0x1,this['messageHandlers']=new Map(),this['handleMessage']=this['handleMessage']['bind'](this),window['addEventListener']('message',this['handleMessage']);}async['initialize'](){if(!this['isReady']&&!this['iframe'])return new Promise((_0x53086c,_0x382636)=>{const _0x36a9c6=setTimeout(()=>{_0x382636(new Error('USD\x20viewer\x20initialization\x20timeout'));},0x7530);this['messageHandlers']['set']('IFRAME_READY',_0x595e0e=>{var _0x1bf1ce;'IFRAME_READY'===(null==(_0x1bf1ce=_0x595e0e['data'])?void 0x0:_0x1bf1ce['type'])&&(clearTimeout(_0x36a9c6),this['messageHandlers']['delete']('IFRAME_READY'),this['isReady']=!0x0,_0x53086c());}),this['iframe']=document['createElement']('iframe'),this['iframe']['src']='/usd-iframe.html',this['iframe']['style']['cssText']='\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20width:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20height:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20border:\x20none;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20display:\x20block;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20pointer-events:\x20all;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20',this['container']['appendChild'](this['iframe']);});}['handleMessage'](_0x18c59e){const _0x3d3efa=_0x18c59e['data'];if(!_0x3d3efa||'object'!=typeof _0x3d3efa)return;if(!['IFRAME_READY','USD_LOADED','USD_LOADING_START','USD_ERROR']['includes'](_0x3d3efa['type']))return;const _0x1ba0fd=this['messageHandlers']['get'](_0x3d3efa['type']);_0x1ba0fd&&('function'==typeof _0x1ba0fd?_0x1ba0fd(_0x18c59e):Array['isArray'](_0x1ba0fd)&&_0x1ba0fd['forEach'](_0x5f994e=>_0x5f994e(_0x18c59e)));}['on'](_0x344ad5,_0x3eea7e){const _0x10c4dc=this['messageHandlers']['get'](_0x344ad5);_0x10c4dc?'function'==typeof _0x10c4dc?this['messageHandlers']['set'](_0x344ad5,[_0x10c4dc,_0x3eea7e]):_0x10c4dc['push'](_0x3eea7e):this['messageHandlers']['set'](_0x344ad5,_0x3eea7e);}['postMessage'](_0x19d0ae,_0x8fb8cf={}){if(this['iframe'])try{this['iframe']['contentWindow']['postMessage']({'type':_0x19d0ae,..._0x8fb8cf},'*');}catch(_0x595b44){}}async['loadFromFile'](_0x55d9be){await this['initialize']();const _0x287d98=await _0x55d9be['arrayBuffer'](),_0x4f888c=[{'path':_0x55d9be['name'],'buffer':_0x287d98}];return new Promise((_0x1c3640,_0x367cf8)=>{const _0x482b1c=setTimeout(()=>_0x367cf8(new Error('Load\x20timeout')),0xea60);this['on']('USD_LOADED',()=>{clearTimeout(_0x482b1c),this['messageHandlers']['delete']('USD_LOADED'),_0x1c3640();}),this['postMessage']('USD_LOAD_ENTRIES',{'entries':_0x4f888c,'primaryPath':_0x55d9be['name']});});}async['loadFromFilesMap'](_0x452038,_0x4b2efd){await this['initialize']();const _0x4d2b36=[];for(const [_0x1d28a0,_0x24f58a]of Object['entries'](_0x452038))try{const _0x2e1b2c=await _0x24f58a['arrayBuffer']();_0x4d2b36['push']({'path':_0x1d28a0,'buffer':_0x2e1b2c});}catch(_0x30c61a){}return new Promise((_0x16adda,_0x2dd11a)=>{const _0x49b1be=setTimeout(()=>_0x2dd11a(new Error('Load\x20timeout')),0xea60);this['on']('USD_LOADED',()=>{clearTimeout(_0x49b1be),this['messageHandlers']['delete']('USD_LOADED'),_0x16adda();}),this['postMessage']('USD_LOAD_ENTRIES',{'entries':_0x4d2b36,'primaryPath':_0x4b2efd});});}['clear'](){this['isReady']&&this['postMessage']('USD_CLEAR');}['show'](){this['container']&&(this['container']['style']['display']='block');}['hide'](){this['container']&&(this['container']['style']['display']='none');}['dispose'](){var _0x3cd8f5;window['removeEventListener']('message',this['handleMessage']),(null==(_0x3cd8f5=this['iframe'])?void 0x0:_0x3cd8f5['parentNode'])&&this['iframe']['parentNode']['removeChild'](this['iframe']),this['iframe']=null,this['isReady']=!0x1,this['messageHandlers']['clear']();}}class Gi{constructor(_0x1d9d4e,_0x34d93,_0x39ae03,_0x3681b4,_0x7b8299){this['scene']=_0x1d9d4e,this['renderer']=_0x34d93,this['camera']=_0x39ae03,this['mousePos']=new _0x29f781(),this['raycaster']=new _0x21d002(),this['raycaster']['params']['Line']['threshold']=0.1,this['grabDistance']=0x0,this['active']=!0x1,this['physicsObject']=null,this['controls']=_0x7b8299,this['arrow']=new _0x1189aa(new _0x5a7be3(0x0,0x1,0x0),new _0x5a7be3(0x0,0x0,0x0),0xf,0x666666),this['arrow']['setLength'](0xf,0x3,0x1),this['scene']['add'](this['arrow']),this['arrow']['line']['material']['transparent']=!0x0,this['arrow']['cone']['material']['transparent']=!0x0,this['arrow']['line']['material']['opacity']=0.5,this['arrow']['cone']['material']['opacity']=0.5,this['arrow']['visible']=!0x1,this['previouslySelected']=null,this['highlightColor']=0xffffff,this['originalEmissive']=new Map(),this['localHit']=new _0x5a7be3(),this['worldHit']=new _0x5a7be3(),this['currentWorld']=new _0x5a7be3(),this['enabled']=!0x1,this['container']=_0x3681b4,this['boundOnPointer']=this['onPointer']['bind'](this),this['mouseDown']=!0x1;}['enable'](){this['enabled']||(this['enabled']=!0x0,this['container']['addEventListener']('pointerdown',this['boundOnPointer'],!0x0),document['addEventListener']('pointermove',this['boundOnPointer'],!0x0),document['addEventListener']('pointerup',this['boundOnPointer'],!0x0),document['addEventListener']('pointerout',this['boundOnPointer'],!0x0));}['disable'](){this['enabled']&&(this['enabled']=!0x1,this['container']['removeEventListener']('pointerdown',this['boundOnPointer'],!0x0),document['removeEventListener']('pointermove',this['boundOnPointer'],!0x0),document['removeEventListener']('pointerup',this['boundOnPointer'],!0x0),document['removeEventListener']('pointerout',this['boundOnPointer'],!0x0),this['active']&&this['end']());}['updateRaycaster'](_0x4e9d70,_0x149860){const _0x24788c=this['renderer']['domElement']['getBoundingClientRect']();this['mousePos']['x']=(_0x4e9d70-_0x24788c['left'])/_0x24788c['width']*0x2-0x1,this['mousePos']['y']=-(_0x149860-_0x24788c['top'])/_0x24788c['height']*0x2+0x1,this['raycaster']['setFromCamera'](this['mousePos'],this['camera']);}['start'](_0x2cc3a5,_0x2799ff){this['physicsObject']=null,this['updateRaycaster'](_0x2cc3a5,_0x2799ff);const _0x416862=this['raycaster']['intersectObjects'](this['scene']['children'],!0x0);for(let _0x1af8ad=0x0;_0x1af8ad<_0x416862['length'];_0x1af8ad++){const _0x54efc8=_0x416862[_0x1af8ad]['object'];if(void 0x0!==_0x54efc8['bodyID']&&_0x54efc8['bodyID']>0x0){this['physicsObject']=_0x54efc8,this['grabDistance']=_0x416862[_0x1af8ad]['distance'];const _0x2c0a6d=this['raycaster']['ray']['origin']['clone']();_0x2c0a6d['addScaledVector'](this['raycaster']['ray']['direction'],this['grabDistance']),this['arrow']['position']['copy'](_0x2c0a6d),this['active']=!0x0,this['controls']['enabled']=!0x1,this['localHit']=_0x54efc8['worldToLocal'](_0x2c0a6d['clone']()),this['worldHit']['copy'](_0x2c0a6d),this['currentWorld']['copy'](_0x2c0a6d),this['arrow']['visible']=!0x0,this['highlightBody'](_0x54efc8);break;}}}['move'](_0x2a724a,_0x42abd3){if(this['active']){this['updateRaycaster'](_0x2a724a,_0x42abd3);const _0x285d78=this['raycaster']['ray']['origin']['clone']();_0x285d78['addScaledVector'](this['raycaster']['ray']['direction'],this['grabDistance']),this['currentWorld']['copy'](_0x285d78),this['update']();}}['update'](){this['worldHit']&&this['localHit']&&this['currentWorld']&&this['arrow']&&this['physicsObject']&&(this['worldHit']['copy'](this['localHit']),this['physicsObject']['localToWorld'](this['worldHit']),this['arrow']['position']['copy'](this['worldHit']),this['arrow']['setDirection'](this['currentWorld']['clone']()['sub'](this['worldHit'])['normalize']()),this['arrow']['setLength'](this['currentWorld']['clone']()['sub'](this['worldHit'])['length']()));}['end'](){this['physicsObject']&&this['unhighlightBody'](this['physicsObject']),this['physicsObject']=null,this['active']=!0x1,this['controls']['enabled']=!0x0,this['arrow']['visible']=!0x1,this['mouseDown']=!0x1;}['highlightBody'](_0x4f485b){let _0x1214d0=_0x4f485b;for(;_0x1214d0&&!_0x1214d0['isGroup'];)_0x1214d0=_0x1214d0['parent'];_0x1214d0&&_0x1214d0['traverse'](_0x5206b3=>{_0x5206b3['isMesh']&&_0x5206b3['material']&&_0x5206b3['material']['emissive']&&(this['originalEmissive']['has'](_0x5206b3['uuid'])||this['originalEmissive']['set'](_0x5206b3['uuid'],{'color':_0x5206b3['material']['emissive']['clone'](),'intensity':_0x5206b3['material']['emissiveIntensity']||0x0}),_0x5206b3['material']['emissive']['setHex'](this['highlightColor']),_0x5206b3['material']['emissiveIntensity']=0.5);});}['unhighlightBody'](_0x2b22f6){let _0x4bc80d=_0x2b22f6;for(;_0x4bc80d&&!_0x4bc80d['isGroup'];)_0x4bc80d=_0x4bc80d['parent'];_0x4bc80d&&_0x4bc80d['traverse'](_0x53957f=>{if(_0x53957f['isMesh']&&_0x53957f['material']&&this['originalEmissive']['has'](_0x53957f['uuid'])){const _0x48f0ef=this['originalEmissive']['get'](_0x53957f['uuid']);_0x53957f['material']['emissive']&&(_0x53957f['material']['emissive']['copy'](_0x48f0ef['color']),_0x53957f['material']['emissiveIntensity']=_0x48f0ef['intensity']),this['originalEmissive']['delete'](_0x53957f['uuid']);}});}['onPointer'](_0x3e7c5a){this['enabled']&&('pointerdown'===_0x3e7c5a['type']?(this['start'](_0x3e7c5a['clientX'],_0x3e7c5a['clientY']),this['mouseDown']=!0x0):'pointermove'===_0x3e7c5a['type']&&this['mouseDown']?this['active']&&this['move'](_0x3e7c5a['clientX'],_0x3e7c5a['clientY']):'pointerup'===_0x3e7c5a['type']&&this['end'](_0x3e7c5a));}}class Wi{constructor(_0x20d48f){this['sceneManager']=_0x20d48f,this['mujoco']=null,this['model']=null,this['simulation']=null,this['state']=null,this['data']=null,this['bodies']={},this['bodyToThreeMap']=new Map(),this['lights']=[],this['mujocoRoot']=null,this['dragStateManager']=null,this['originalModel']=null,this['params']={'paused':!0x0,'ctrlnoiserate':0x0,'ctrlnoisestd':0x0},this['mujoco_time']=0x0,this['tmpVec']=new _0x5a7be3(),this['tmpQuat']=new _0x4adb8f(),this['isLoaded']=!0x1,this['isSimulating']=!0x1,this['isOldAPI']=!0x1;}async['init'](){if(this['mujoco'])return this['mujoco'];try{const _0x36a35f=(await Ae(()=>import('./mujoco_wasm-345a2576.js'),["./mujoco_wasm-345a2576.js","./three-9c891de0.js","./d3-2e308866.js","./codemirror-c3cec7b3.js","./codemirror-themes-e6995a6a.js"],import.meta.url))['default'];return this['mujoco']=await _0x36a35f(),this['mujoco']['FS']['mkdir']('/working'),this['mujoco']['FS']['mount'](this['mujoco']['MEMFS'],{'root':'.'},'/working'),this['mujoco'];}catch(_0x54a578){throw _0x54a578;}}async['loadScene'](_0x1dec7b,_0x31ef49,_0x52d20e,_0x21962a){try{this['mujoco']||await this['init'](),this['clearScene'](),this['originalModel']=_0x21962a;const _0x945361=this['addGroundPlane'](_0x1dec7b),_0x5db128='/working/'+_0x31ef49;this['mujoco']['FS']['writeFile'](_0x5db128,_0x945361),_0x52d20e&&_0x52d20e['size']>0x0&&await this['writeAssetsToVFS'](_0x1dec7b,_0x31ef49,_0x52d20e);try{if(this['mujoco']['Model']&&'function'==typeof this['mujoco']['Model']['load_from_xml'])this['model']=this['mujoco']['Model']['load_from_xml'](_0x5db128),this['state']=new this['mujoco']['State'](this['model']),this['simulation']=new this['mujoco']['Simulation'](this['model'],this['state']);else{if(!this['mujoco']['MjModel']||'function'!=typeof this['mujoco']['MjModel']['loadFromXML'])throw new Error('Cannot\x20find\x20MuJoCo\x20model\x20loading\x20method');this['model']=this['mujoco']['MjModel']['loadFromXML'](_0x5db128),this['data']=new this['mujoco']['MjData'](this['model']),this['isOldAPI']=!0x0;}}catch(_0x1032d9){let _0x5a115b='MuJoCo\x20model\x20loading\x20failed:\x20';throw _0x1032d9['message']?_0x5a115b+=_0x1032d9['message']:_0x5a115b+='Unknown\x20error',_0x1032d9['message']&&(_0x1032d9['message']['includes']('mesh')||_0x1032d9['message']['includes']('mjCMesh'))&&(_0x5a115b+='\x0a\x0aThis\x20is\x20usually\x20caused\x20by\x20one\x20of\x20the\x20following:',_0x5a115b+='\x0a1.\x20Mesh\x20file\x20path\x20is\x20incorrect\x20or\x20file\x20is\x20missing',_0x5a115b+='\x0a2.\x20Mesh\x20file\x20format\x20is\x20not\x20supported\x20or\x20corrupted',_0x5a115b+='\x0a3.\x20Mesh\x20file\x20was\x20not\x20properly\x20written\x20to\x20virtual\x20file\x20system'),new Error(_0x5a115b);}if(await this['createThreeScene'](),this['isOldAPI']?(this['mujoco']['mj_resetData'](this['model'],this['data']),this['mujoco']['mj_forward'](this['model'],this['data'])):(this['simulation']['resetData'](),this['simulation']['forward']()),this['isLoaded']=!0x0,this['params']['paused']=!0x0,!this['dragStateManager']){const _0x220e97=this['sceneManager']['renderer']['domElement'];this['dragStateManager']=new Gi(this['sceneManager']['scene'],this['sceneManager']['renderer'],this['sceneManager']['camera'],_0x220e97,this['sceneManager']['controls']);}return null;}catch(_0x14be69){throw _0x14be69;}}['addGroundPlane'](_0x14fd2a){const _0x38bb7e=new DOMParser()['parseFromString'](_0x14fd2a,'application/xml'),_0x1d0954=_0x38bb7e['querySelector']('worldbody');if(!_0x1d0954)return _0x14fd2a;if(_0x1d0954['querySelector']('geom[type=\x22plane\x22]'))return _0x14fd2a;const _0x591e74=this['sceneManager']['groundPlane']?this['sceneManager']['groundPlane']['position']['y']:0x0,_0x3bb641=_0x38bb7e['createElement']('geom');_0x3bb641['setAttribute']('name','ground'),_0x3bb641['setAttribute']('type','plane'),_0x3bb641['setAttribute']('size','10\x2010\x200.1'),_0x3bb641['setAttribute']('rgba','0.9\x200.9\x200.9\x201'),_0x3bb641['setAttribute']('pos','0\x200\x20'+_0x591e74),_0x3bb641['setAttribute']('contype','1'),_0x3bb641['setAttribute']('conaffinity','1'),_0x3bb641['setAttribute']('condim','3'),_0x3bb641['setAttribute']('friction','1\x200.005\x200.0001'),_0x1d0954['firstChild']?_0x1d0954['insertBefore'](_0x3bb641,_0x1d0954['firstChild']):_0x1d0954['appendChild'](_0x3bb641);return new XMLSerializer()['serializeToString'](_0x38bb7e);}async['writeAssetsToVFS'](_0x4f08e2,_0x3f489b,_0x270508){const _0x145a57=new DOMParser()['parseFromString'](_0x4f08e2,'application/xml'),_0x2b1ca6=_0x145a57['querySelector']('compiler'),_0x1bfe54=(null==_0x2b1ca6?void 0x0:_0x2b1ca6['getAttribute']('meshdir'))||'assets',_0x55a2e7=(null==_0x2b1ca6?void 0x0:_0x2b1ca6['getAttribute']('texturedir'))||_0x1bfe54,_0x5674cf=new Set(),_0x10d66b=new Map();_0x145a57['querySelectorAll']('mesh[file]')['forEach'](_0x33d236=>{const _0x382665=_0x33d236['getAttribute']('file');if(_0x382665){const _0x19213c=this['resolvePath'](_0x3f489b,_0x1bfe54,_0x382665);_0x5674cf['add'](_0x19213c),_0x10d66b['set'](_0x19213c,{'original':_0x382665,'element':_0x33d236});}}),_0x145a57['querySelectorAll']('texture[file]')['forEach'](_0x451772=>{const _0x21a7c5=_0x451772['getAttribute']('file');_0x21a7c5&&_0x5674cf['add'](this['resolvePath'](_0x3f489b,_0x55a2e7,_0x21a7c5));});let _0x2ab5d2=0x0;const _0x2a30c6=[],_0x5d7526=[];for(const _0x5e6927 of _0x5674cf){const _0x571d31=new Set();for(const _0x4f5d39 of _0x270508['keys']())if(_0x4f5d39['startsWith']('/')){const _0x397247=_0x4f5d39['split']('/');_0x397247['length']>0x1&&_0x571d31['add'](_0x397247[0x1]);}const _0x30500e=[_0x5e6927,'/'+_0x5e6927,'mjcf/'+_0x5e6927,'/mjcf/'+_0x5e6927,_0x5e6927['split']('/')['pop']()];for(const _0x30ac20 of _0x571d31)_0x30500e['push']('/'+_0x30ac20+'/mjcf/'+_0x5e6927),_0x30500e['push'](_0x30ac20+'/mjcf/'+_0x5e6927);let _0x382cc5=null;for(const _0x38306d of _0x30500e)if(_0x382cc5=_0x270508['get'](_0x38306d),_0x382cc5)break;if(!_0x382cc5){const _0x27a782=_0x5e6927['toLowerCase'](),_0x45ac04=_0x5e6927['split']('/')['pop']()['toLowerCase']();for(const [_0x31c1c3,_0x3020d6]of _0x270508['entries']()){const _0x3f7c84=_0x31c1c3['toLowerCase'](),_0x2ec26d=_0x31c1c3['split']('/')['pop']()['toLowerCase']();if(_0x3f7c84===_0x27a782||_0x3f7c84['endsWith']('/'+_0x27a782)||_0x2ec26d===_0x45ac04||_0x3f7c84['includes'](_0x27a782)){_0x382cc5=_0x3020d6;break;}}}if(_0x382cc5)try{const _0x526a7a='/working/'+_0x5e6927;this['ensureDir'](_0x526a7a);const _0x15fcfa=_0x5e6927['toLowerCase']()['split']('.')['pop']();if(['obj','stl','png','jpg','jpeg','bmp']['includes'](_0x15fcfa)){const _0x4c7df8=await _0x382cc5['arrayBuffer']();this['mujoco']['FS']['writeFile'](_0x526a7a,new Uint8Array(_0x4c7df8));}else{const _0x129a6e=await _0x382cc5['text']();this['mujoco']['FS']['writeFile'](_0x526a7a,_0x129a6e);}try{if(!this['mujoco']['FS']['stat'](_0x526a7a))throw new Error('File\x20write\x20verification\x20failed');}catch(_0x91ab19){throw new Error('File\x20write\x20verification\x20failed');}_0x2ab5d2++;}catch(_0x2d8dc8){const _0x2cca97=_0x10d66b['get'](_0x5e6927),_0x3a13a7=_0x2cca97?_0x2cca97['original']:_0x5e6927;_0x5d7526['push']({'path':_0x3a13a7,'error':_0x2d8dc8['message']});}else{const _0x3b209b=_0x10d66b['get'](_0x5e6927),_0x43169a=_0x3b209b?_0x3b209b['original']:_0x5e6927;_0x2a30c6['push'](_0x43169a);}}if(_0x2a30c6['length']>0x0||_0x5d7526['length']>0x0){let _0x19ed5d='MuJoCo\x20asset\x20files\x20loading\x20failed:\x0a';throw _0x2a30c6['length']>0x0&&(_0x19ed5d+='\x0aMissing\x20files\x20('+_0x2a30c6['length']+'):\x0a',_0x2a30c6['slice'](0x0,0xa)['forEach'](_0x439d9c=>{_0x19ed5d+='\x20\x20-\x20'+_0x439d9c+'\x0a';}),_0x2a30c6['length']>0xa&&(_0x19ed5d+='\x20\x20...\x20'+(_0x2a30c6['length']-0xa)+'\x20more\x20files\x20missing\x0a')),_0x5d7526['length']>0x0&&(_0x19ed5d+='\x0aFailed\x20to\x20write\x20files\x20('+_0x5d7526['length']+'):\x0a',_0x5d7526['slice'](0x0,0xa)['forEach'](({path:_0x1744c5,error:_0x2c43a6})=>{_0x19ed5d+='\x20\x20-\x20'+_0x1744c5+':\x20'+_0x2c43a6+'\x0a';}),_0x5d7526['length']>0xa&&(_0x19ed5d+='\x20\x20...\x20'+(_0x5d7526['length']-0xa)+'\x20more\x20files\x20failed\x0a')),_0x19ed5d+='\x0aSuccessfully\x20loaded:\x20'+_0x2ab5d2+'\x20files',_0x19ed5d+='\x0a\x0aPlease\x20ensure\x20all\x20mesh\x20files\x20are\x20included\x20in\x20the\x20file\x20list.',new Error(_0x19ed5d);}}['resolvePath'](_0xc7488d,_0x378bb4,_0x9b68f9){const _0x513c5e=_0xc7488d['includes']('/')?_0xc7488d['substring'](0x0,_0xc7488d['lastIndexOf']('/')):'';if(_0x9b68f9['startsWith']('/'))return _0x9b68f9['substring'](0x1);const _0x2e061b=[];return _0x513c5e&&_0x2e061b['push'](_0x513c5e),_0x378bb4&&'.'!==_0x378bb4&&_0x2e061b['push'](_0x378bb4),_0x2e061b['push'](_0x9b68f9),_0x2e061b['join']('/');}['ensureDir'](_0x30c4a4){const _0x3d3748=_0x30c4a4['split']('/');let _0x5367b8='';for(let _0x193e57=0x0;_0x193e57<_0x3d3748['length']-0x1;_0x193e57++)_0x5367b8+=(0x0===_0x193e57?'':'/')+_0x3d3748[_0x193e57],_0x5367b8&&!this['mujoco']['FS']['analyzePath'](_0x5367b8)['exists']&&this['mujoco']['FS']['mkdir'](_0x5367b8);}async['createThreeScene'](){const _0x384f06=this['model'];this['mujocoRoot']=new _0x2474d6(),this['mujocoRoot']['name']='MuJoCo\x20Physics\x20Root',this['mujocoRoot']['userData']['isMuJoCo']=!0x0,this['mujocoRoot']['visible']=!0x1,this['bodies']={};const _0x4b3e00={},_0x1f4b6e=new TextDecoder('utf-8'),_0x2bac80=new Uint8Array(_0x384f06['names']),_0x174691=new Map(),_0x28e563=new Map();if(this['originalModel'])for(const [_0x2bb2d0,_0x277012]of this['originalModel']['links']){const _0x29f13d=[],_0x2ca093=[];if(_0x277012['visuals']&&_0x277012['visuals']['length']>0x0)for(const _0x4923cd of _0x277012['visuals'])_0x4923cd['threeObject']&&_0x4923cd['threeObject']['traverse'](_0x3615f4=>{if(_0x3615f4['isMesh']&&_0x3615f4['material']){let _0x1fe83c;_0x1fe83c=Array['isArray'](_0x3615f4['material'])?_0x3615f4['material']['map'](_0x435fc0=>_0x435fc0?_0x435fc0['clone']():null):_0x3615f4['material']['clone']?_0x3615f4['material']['clone']():new _0xa87e13({'color':_0x3615f4['material']['color']||0x808080,'transparent':_0x3615f4['material']['transparent']||!0x1,'opacity':void 0x0!==_0x3615f4['material']['opacity']?_0x3615f4['material']['opacity']:0x1}),_0x29f13d['push'](_0x1fe83c),_0x2ca093['push']({'material':_0x1fe83c,'geometry':_0x4923cd['geometry']});}});else _0x277012['threeObject']&&_0x277012['threeObject']['traverse'](_0x45e894=>{if(_0x45e894['isMesh']&&_0x45e894['material']){let _0x3e0c24;_0x3e0c24=Array['isArray'](_0x45e894['material'])?_0x45e894['material']['map'](_0x453fb7=>_0x453fb7?_0x453fb7['clone']():null):_0x45e894['material']['clone']?_0x45e894['material']['clone']():new _0xa87e13({'color':_0x45e894['material']['color']||0x808080,'transparent':_0x45e894['material']['transparent']||!0x1,'opacity':void 0x0!==_0x45e894['material']['opacity']?_0x45e894['material']['opacity']:0x1}),_0x29f13d['push'](_0x3e0c24);}});_0x29f13d['length']>0x0&&(_0x174691['set'](_0x2bb2d0,_0x29f13d),_0x28e563['set'](_0x2bb2d0,_0x2ca093));}const _0x392b7a=this['sceneManager']['visualizationManager']['showCollision'];for(let _0x3ca28f=0x0;_0x3ca28f<_0x384f06['ngeom'];_0x3ca28f++){const _0x2637b4=_0x384f06['geom_group'][_0x3ca28f];if(_0x2637b4>=0x4)continue;const _0x2b6c64=_0x384f06['geom_bodyid'][_0x3ca28f],_0x5041fb=_0x384f06['geom_type'][_0x3ca28f],_0x28c0bc=[_0x384f06['geom_size'][0x3*_0x3ca28f+0x0],_0x384f06['geom_size'][0x3*_0x3ca28f+0x1],_0x384f06['geom_size'][0x3*_0x3ca28f+0x2]];if(!this['bodies'][_0x2b6c64]){this['bodies'][_0x2b6c64]=new _0x2474d6();const _0x34094c=_0x384f06['name_bodyadr'][_0x2b6c64];let _0x15ab54=_0x34094c;for(;_0x15ab54<_0x2bac80['length']&&0x0!==_0x2bac80[_0x15ab54];)_0x15ab54++;const _0xced3bf=_0x2bac80['subarray'](_0x34094c,_0x15ab54);this['bodies'][_0x2b6c64]['name']=_0x1f4b6e['decode'](_0xced3bf),this['bodies'][_0x2b6c64]['bodyID']=_0x2b6c64;}let _0x25cab7=new _0x401a16(_0x28c0bc[0x0]);if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_SPHERE']['value'])_0x25cab7=new _0x401a16(_0x28c0bc[0x0],0x20,0x20);else if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_CAPSULE']['value'])_0x25cab7=new _0x146bda(_0x28c0bc[0x0],0x2*_0x28c0bc[0x1],0x14,0x14);else if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_CYLINDER']['value'])_0x25cab7=new _0x201dad(_0x28c0bc[0x0],_0x28c0bc[0x0],0x2*_0x28c0bc[0x1],0x20);else if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_BOX']['value'])_0x25cab7=new _0x1b40f5(0x2*_0x28c0bc[0x0],0x2*_0x28c0bc[0x2],0x2*_0x28c0bc[0x1]);else if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_ELLIPSOID']['value'])_0x25cab7=new _0x401a16(0x1,0x20,0x20);else if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_MESH']['value']){const _0x3d77e9=_0x384f06['geom_dataid'][_0x3ca28f];_0x3d77e9 in _0x4b3e00?_0x25cab7=_0x4b3e00[_0x3d77e9]:(_0x25cab7=this['createMeshGeometry'](_0x3d77e9),_0x4b3e00[_0x3d77e9]=_0x25cab7);}const _0x5c1c8a=this['bodies'][_0x2b6c64]['name'],_0x373cd7=this['bodies'][_0x2b6c64]['children']['length'];let _0x3467ae,_0x414feb=!0x1,_0x48e838=null;if(_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_MESH']['value']&&_0x28e563['has'](_0x5c1c8a)){const _0x4bd4de=_0x384f06['geom_dataid'][_0x3ca28f],_0x318517=_0x384f06['name_meshadr'][_0x4bd4de];let _0x430a33=_0x318517;for(;_0x430a33<_0x2bac80['length']&&0x0!==_0x2bac80[_0x430a33];)_0x430a33++;const _0x1a864c=_0x2bac80['subarray'](_0x318517,_0x430a33),_0x10b1e2=_0x1f4b6e['decode'](_0x1a864c),_0x50e617=_0x28e563['get'](_0x5c1c8a);for(const _0x13ebfe of _0x50e617)if(_0x13ebfe['geometry']&&_0x13ebfe['geometry']['filename']){const _0x209427=_0x13ebfe['geometry']['filename']['split']('/')['pop']()['split']('\x5c')['pop'](),_0x1565b5=_0x209427['replace'](/\.[^/.]+$/,''),_0x3be0c1=_0x10b1e2+'.STL',_0x5d7c9a=_0x3be0c1['replace'](/\.[^/.]+$/,'');if(_0x209427===_0x10b1e2||_0x209427['toLowerCase']()===_0x10b1e2['toLowerCase']()||_0x1565b5===_0x10b1e2||_0x1565b5['toLowerCase']()===_0x10b1e2['toLowerCase']()||_0x209427===_0x3be0c1||_0x209427['toLowerCase']()===_0x3be0c1['toLowerCase']()||_0x1565b5===_0x5d7c9a||_0x1565b5['toLowerCase']()===_0x5d7c9a['toLowerCase']()){if(Array['isArray'](_0x13ebfe['material'])){const _0x1e235b=_0x13ebfe['material'][0x0];_0x1e235b&&_0x1e235b['clone']?_0x3467ae=_0x1e235b['clone']():_0x1e235b&&(_0x3467ae=new _0xa87e13({'color':_0x1e235b['color']||0x808080,'transparent':_0x1e235b['transparent']||!0x1,'opacity':void 0x0!==_0x1e235b['opacity']?_0x1e235b['opacity']:0x1}));}else _0x13ebfe['material']&&_0x13ebfe['material']['clone']?_0x3467ae=_0x13ebfe['material']['clone']():_0x13ebfe['material']&&(_0x3467ae=new _0xa87e13({'color':_0x13ebfe['material']['color']||0x808080,'transparent':_0x13ebfe['material']['transparent']||!0x1,'opacity':void 0x0!==_0x13ebfe['material']['opacity']?_0x13ebfe['material']['opacity']:0x1}));if(_0x3467ae&&(_0x3467ae['isMeshPhongMaterial']||_0x3467ae['isMeshStandardMaterial'])){if(void 0x0===_0x3467ae['userData']['originalShininess'])if(_0x3467ae['userData']['originalShininess']=void 0x0!==_0x3467ae['shininess']?_0x3467ae['shininess']:0x1e,_0x3467ae['specular'])if(_0x3467ae['specular']['isColor']){const _0x3e7115=_0x3467ae['specular'];_0x3e7115['r']<0.1&&_0x3e7115['g']<0.1&&_0x3e7115['b']<0.1?_0x3467ae['userData']['originalSpecular']=null:_0x3467ae['userData']['originalSpecular']=_0x3e7115['clone']();}else _0x3467ae['userData']['originalSpecular']=null;else _0x3467ae['userData']['originalSpecular']=null;if(this['sceneManager']['visualizationManager']['showEnhancedLighting'])void 0x0!==_0x3467ae['shininess']&&_0x3467ae['shininess']<0x32&&(_0x3467ae['shininess']=0x32),(!_0x3467ae['specular']||_0x3467ae['specular']['r']<0.2)&&(_0x3467ae['specular']=new _0x43a4f1(0.3,0.3,0.3));else if(void 0x0!==_0x3467ae['userData']['originalShininess']&&(_0x3467ae['shininess']=_0x3467ae['userData']['originalShininess']),null===_0x3467ae['userData']['originalSpecular'])_0x3467ae['specular']=new _0x43a4f1(0x111111);else if(_0x3467ae['userData']['originalSpecular']){const _0x7cfcbd=_0x3467ae['userData']['originalSpecular'];_0x7cfcbd['isColor']?_0x3467ae['specular']=_0x7cfcbd['clone']():_0x3467ae['specular']=_0x7cfcbd;}}_0x414feb=!0x0;break;}}if(_0x414feb&&this['originalModel']){const _0x51f2b1=this['originalModel']['links']['get'](_0x5c1c8a);if(_0x51f2b1&&_0x51f2b1['visuals'])for(const _0x1b4381 of _0x51f2b1['visuals'])if(_0x1b4381['geometry']&&_0x1b4381['geometry']['filename']){const _0x51c04a=_0x1b4381['geometry']['filename']['split']('/')['pop']()['split']('\x5c')['pop']();if(_0x51c04a['replace'](/\.[^/.]+$/,'')['toLowerCase']()===_0x10b1e2['toLowerCase']()||_0x51c04a['toLowerCase']()===(_0x10b1e2+'.STL')['toLowerCase']()){_0x1b4381['userData']&&_0x1b4381['userData']['rgba']&&(_0x48e838=_0x1b4381['userData']['rgba'],_0x3467ae&&_0x3467ae['color']&&(_0x3467ae['color']['setRGB'](_0x48e838['r'],_0x48e838['g'],_0x48e838['b']),_0x48e838['a']<0x1&&(_0x3467ae['transparent']=!0x0,_0x3467ae['opacity']=_0x48e838['a'])));break;}}}}if(!_0x414feb&&this['originalModel']){const _0x54d860=this['originalModel']['links']['get'](_0x5c1c8a);if(_0x54d860&&_0x54d860['visuals']&&_0x54d860['visuals']['length']>0x0){const _0x53429f=Math['min'](_0x373cd7,_0x54d860['visuals']['length']-0x1),_0x46fc45=_0x54d860['visuals'][_0x53429f];_0x46fc45&&(_0x46fc45['userData']&&_0x46fc45['userData']['rgba']?_0x48e838=_0x46fc45['userData']['rgba']:_0x46fc45['threeObject']&&_0x46fc45['threeObject']['traverse'](_0x11ae98=>{if(_0x11ae98['isMesh']&&_0x11ae98['material']&&!_0x48e838){const _0x2a0810=_0x11ae98['material']['color'];_0x48e838={'r':_0x2a0810['r'],'g':_0x2a0810['g'],'b':_0x2a0810['b'],'a':void 0x0!==_0x11ae98['material']['opacity']?_0x11ae98['material']['opacity']:0x1};}}));}}if(!_0x414feb){const _0x1ed5aa=_0x174691['get'](_0x5c1c8a);if(_0x1ed5aa&&_0x1ed5aa['length']>0x0){const _0x4a578c=_0x1ed5aa[Math['min'](_0x373cd7,_0x1ed5aa['length']-0x1)];if(Array['isArray'](_0x4a578c)){const _0xca246b=_0x4a578c[0x0];_0xca246b&&_0xca246b['clone']?_0x3467ae=_0xca246b['clone']():_0xca246b&&(_0x3467ae=new _0xa87e13({'color':_0xca246b['color']||0x808080,'transparent':_0xca246b['transparent']||!0x1,'opacity':void 0x0!==_0xca246b['opacity']?_0xca246b['opacity']:0x1}));}else _0x4a578c&&_0x4a578c['clone']?_0x3467ae=_0x4a578c['clone']():_0x4a578c&&(_0x3467ae=new _0xa87e13({'color':_0x4a578c['color']||0x808080,'transparent':_0x4a578c['transparent']||!0x1,'opacity':void 0x0!==_0x4a578c['opacity']?_0x4a578c['opacity']:0x1}));if(_0x3467ae&&(_0x3467ae['isMeshPhongMaterial']||_0x3467ae['isMeshStandardMaterial'])){if(void 0x0===_0x3467ae['userData']['originalShininess'])if(_0x3467ae['userData']['originalShininess']=void 0x0!==_0x3467ae['shininess']?_0x3467ae['shininess']:0x1e,_0x3467ae['specular'])if(_0x3467ae['specular']['isColor']){const _0x1f720e=_0x3467ae['specular'];_0x1f720e['r']<0.1&&_0x1f720e['g']<0.1&&_0x1f720e['b']<0.1?_0x3467ae['userData']['originalSpecular']=null:_0x3467ae['userData']['originalSpecular']=_0x1f720e['clone']();}else _0x3467ae['userData']['originalSpecular']=null;else _0x3467ae['userData']['originalSpecular']=null;if(this['sceneManager']['visualizationManager']['showEnhancedLighting'])void 0x0!==_0x3467ae['shininess']&&_0x3467ae['shininess']<0x32&&(_0x3467ae['shininess']=0x32),(!_0x3467ae['specular']||_0x3467ae['specular']['r']<0.2)&&(_0x3467ae['specular']=new _0x43a4f1(0.3,0.3,0.3));else if(void 0x0!==_0x3467ae['userData']['originalShininess']&&(_0x3467ae['shininess']=_0x3467ae['userData']['originalShininess']),null===_0x3467ae['userData']['originalSpecular'])_0x3467ae['specular']=new _0x43a4f1(0x111111);else if(_0x3467ae['userData']['originalSpecular']){const _0xfc8fef=_0x3467ae['userData']['originalSpecular'];_0xfc8fef['isColor']?_0x3467ae['specular']=_0xfc8fef['clone']():_0x3467ae['specular']=_0xfc8fef;}}_0x414feb=!0x0;}}if(!_0x414feb){const _0x4088e7=_0x48e838?[_0x48e838['r'],_0x48e838['g'],_0x48e838['b'],_0x48e838['a']]:[_0x384f06['geom_rgba'][0x4*_0x3ca28f+0x0],_0x384f06['geom_rgba'][0x4*_0x3ca28f+0x1],_0x384f06['geom_rgba'][0x4*_0x3ca28f+0x2],_0x384f06['geom_rgba'][0x4*_0x3ca28f+0x3]],_0x5b35fb=0x3===_0x2637b4,_0x467377=this['sceneManager']['visualizationManager']['showEnhancedLighting'];_0x3467ae=new _0xa87e13({'color':_0x5b35fb?new _0x43a4f1(0x0,0x1,0x0):new _0x43a4f1(_0x4088e7[0x0],_0x4088e7[0x1],_0x4088e7[0x2]),'transparent':!!_0x5b35fb||_0x4088e7[0x3]<0x1,'opacity':_0x5b35fb?0.3:_0x4088e7[0x3],'shininess':_0x467377?0x32:0x1e,'specular':_0x467377?new _0x43a4f1(0.3,0.3,0.3):new _0x43a4f1(0x111111),'wireframe':!!_0x5b35fb}),_0x3467ae['userData']['originalShininess']=0x1e,_0x3467ae['userData']['originalSpecular']=null;}if(_0x3467ae['isMeshPhongMaterial']||_0x3467ae['isMeshStandardMaterial']){if(this['sceneManager']['visualizationManager']['showEnhancedLighting'])_0x3467ae['shininess']<0x32&&(_0x3467ae['shininess']=0x32),(!_0x3467ae['specular']||_0x3467ae['specular']['isColor']&&_0x3467ae['specular']['r']<0.2)&&(_0x3467ae['specular']=new _0x43a4f1(0.3,0.3,0.3));else if(void 0x0!==_0x3467ae['userData']['originalShininess']&&(_0x3467ae['shininess']=_0x3467ae['userData']['originalShininess']),null===_0x3467ae['userData']['originalSpecular'])_0x3467ae['specular']=new _0x43a4f1(0x111111);else if(_0x3467ae['userData']['originalSpecular']){const _0x174287=_0x3467ae['userData']['originalSpecular'];_0x174287['isColor']?_0x3467ae['specular']=_0x174287['clone']():_0x3467ae['specular']=_0x174287;}_0x3467ae['needsUpdate']=!0x0;}let _0x10449f=_0x3467ae;0x3===_0x2637b4&&(_0x10449f=new _0xa87e13({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0xffbe38,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}));const _0x2342d3=new _0x3d1069(_0x25cab7,_0x10449f);_0x2342d3['castShadow']=0x3!==_0x2637b4,_0x2342d3['receiveShadow']=0x3!==_0x2637b4,_0x2342d3['bodyID']=_0x2b6c64,0x3===_0x2637b4&&(_0x2342d3['userData']['isCollisionGeom']=!0x0,_0x2342d3['visible']=_0x392b7a),this['getPosition'](_0x384f06['geom_pos'],_0x3ca28f,_0x2342d3['position']),this['getQuaternion'](_0x384f06['geom_quat'],_0x3ca28f,_0x2342d3['quaternion']),_0x5041fb==this['mujoco']['mjtGeom']['mjGEOM_ELLIPSOID']['value']&&_0x2342d3['scale']['set'](_0x28c0bc[0x0],_0x28c0bc[0x2],_0x28c0bc[0x1]),this['bodies'][_0x2b6c64]['add'](_0x2342d3);}for(let _0x5d1368=0x0;_0x5d1368<_0x384f06['nbody'];_0x5d1368++)this['bodies'][_0x5d1368]||(this['bodies'][_0x5d1368]=new _0x2474d6(),this['bodies'][_0x5d1368]['name']='body_'+_0x5d1368,this['bodies'][_0x5d1368]['bodyID']=_0x5d1368),this['mujocoRoot']['add'](this['bodies'][_0x5d1368]),this['bodies'][_0x5d1368]['traverse'](_0x2b49e0=>{_0x2b49e0['isMesh']&&(_0x2b49e0['bodyID']=_0x5d1368);});return this['createVisualizationElements'](_0x384f06),this['mujocoRoot'];}['createVisualizationElements'](_0x5486f6){var _0x95b2f3,_0x32d700,_0x378b53,_0x5db67c;const _0x3c248d=null==(_0x95b2f3=document['getElementById']('toggle-axes-btn'))?void 0x0:_0x95b2f3['classList']['contains']('active'),_0x119172=null==(_0x32d700=document['getElementById']('toggle-joint-axes-btn'))?void 0x0:_0x32d700['classList']['contains']('active'),_0x5e741a=null==(_0x378b53=document['getElementById']('show-com'))?void 0x0:_0x378b53['classList']['contains']('active'),_0x20479c=null==(_0x5db67c=document['getElementById']('show-inertia'))?void 0x0:_0x5db67c['classList']['contains']('active');for(let _0x3a2788=0x0;_0x3a2788<_0x5486f6['nbody'];_0x3a2788++){if(!this['bodies'][_0x3a2788])continue;const _0x5a8e1d=Oi['createAxesGeometry'](0.1);_0x5a8e1d['userData']['isVisualization']=!0x0,_0x5a8e1d['userData']['type']='axes',_0x5a8e1d['visible']=_0x3c248d,_0x5a8e1d['raycast']=()=>{};const _0x1a89b6=new _0x4adb8f();_0x1a89b6['setFromAxisAngle'](new _0x5a7be3(0x1,0x0,0x0),-Math['PI']/0x2),_0x5a8e1d['quaternion']['copy'](_0x1a89b6),this['bodies'][_0x3a2788]['add'](_0x5a8e1d);const _0x56a2e9=_0x5486f6['body_mass'][_0x3a2788];if(_0x56a2e9>0x0){const _0xd97bea=ki['createCOMGeometry'](0.02);_0xd97bea['userData']['isVisualization']=!0x0,_0xd97bea['userData']['type']='com',_0xd97bea['visible']=_0x5e741a,this['getPosition'](_0x5486f6['body_ipos'],_0x3a2788,_0xd97bea['position']),this['bodies'][_0x3a2788]['add'](_0xd97bea);const _0x2d4b9e=_0x5486f6['body_inertia'][0x3*_0x3a2788+0x0],_0x5835ff=_0x5486f6['body_inertia'][0x3*_0x3a2788+0x1],_0x36280d={'ixx':_0x2d4b9e,'iyy':_0x5486f6['body_inertia'][0x3*_0x3a2788+0x2],'izz':_0x5835ff,'mass':_0x56a2e9},_0x7c95f3=Ue['computeInertiaBox'](_0x36280d),_0x3dac21=Ue['createInertiaBoxGeometry'](_0x7c95f3['width'],_0x7c95f3['height'],_0x7c95f3['depth']),_0x52a682=new _0xa87e13({'color':0x4a9eff,'transparent':!0x0,'opacity':0.35,'shininess':2.5,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x19a945=new _0x3d1069(_0x3dac21,_0x52a682);_0x19a945['userData']['isVisualization']=!0x0,_0x19a945['userData']['type']='inertia',_0x19a945['visible']=_0x20479c,_0x19a945['castShadow']=!0x1,_0x19a945['receiveShadow']=!0x1,_0x19a945['raycast']=()=>{},this['getPosition'](_0x5486f6['body_ipos'],_0x3a2788,_0x19a945['position']),_0x5486f6['body_iquat']&&this['getQuaternion'](_0x5486f6['body_iquat'],_0x3a2788,_0x19a945['quaternion']),this['bodies'][_0x3a2788]['add'](_0x19a945);}}for(let _0x54a1cc=0x0;_0x54a1cc<_0x5486f6['njnt'];_0x54a1cc++){const _0x43bdb6=_0x5486f6['jnt_type'][_0x54a1cc],_0x3f0949=_0x5486f6['jnt_bodyid'][_0x54a1cc];if((_0x43bdb6===this['mujoco']['mjtJoint']['mjJNT_HINGE']['value']||_0x43bdb6===this['mujoco']['mjtJoint']['mjJNT_BALL']['value'])&&this['bodies'][_0x3f0949]){const _0x4e659c=new _0x5a7be3();if(this['getPosition'](_0x5486f6['jnt_axis'],_0x54a1cc,_0x4e659c),_0x4e659c['length']()>0.001){_0x4e659c['normalize']();const _0x2ebb3a=Oi['createJointArrowGeometry'](_0x4e659c);_0x2ebb3a['userData']['isVisualization']=!0x0,_0x2ebb3a['userData']['type']='jointAxis',_0x2ebb3a['visible']=_0x119172,_0x2ebb3a['raycast']=()=>{},this['getPosition'](_0x5486f6['jnt_pos'],_0x54a1cc,_0x2ebb3a['position']),this['bodies'][_0x3f0949]['add'](_0x2ebb3a);}}}}['createMeshGeometry'](_0x4722a4){const _0x57be8e=this['model'],_0x4b7d84=new _0x5065c1(),_0x26d5d5=_0x57be8e['mesh_vert']['subarray'](0x3*_0x57be8e['mesh_vertadr'][_0x4722a4],0x3*(_0x57be8e['mesh_vertadr'][_0x4722a4]+_0x57be8e['mesh_vertnum'][_0x4722a4]));for(let _0x157c60=0x0;_0x157c60<_0x26d5d5['length'];_0x157c60+=0x3){const _0x51f53e=_0x26d5d5[_0x157c60+0x1];_0x26d5d5[_0x157c60+0x1]=_0x26d5d5[_0x157c60+0x2],_0x26d5d5[_0x157c60+0x2]=-_0x51f53e;}const _0x3a02c4=_0x57be8e['mesh_normal']['subarray'](0x3*_0x57be8e['mesh_vertadr'][_0x4722a4],0x3*(_0x57be8e['mesh_vertadr'][_0x4722a4]+_0x57be8e['mesh_vertnum'][_0x4722a4]));for(let 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this['emitter']['off'](this['event'],this['listener']),this;},_0x1c03a5['EventEmitter2']=_0x1c03a5,_0x1c03a5['prototype']['listenTo']=function(_0x5349f6,_0xddf837,_0x5693e6){if('object'!=typeof _0x5349f6)throw TypeError('target\x20musts\x20be\x20an\x20object');var _0x173725=this;function _0x2c85b0(_0x4b50c8){if('object'!=typeof _0x4b50c8)throw TypeError('events\x20must\x20be\x20an\x20object');var _0x38d7fb,_0x30f099=_0x5693e6['reducers'],_0x1202d9=_0x109341['call'](_0x173725,_0x5349f6);_0x38d7fb=-0x1===_0x1202d9?new _0x3a6712(_0x173725,_0x5349f6,_0x5693e6):_0x173725['_observers'][_0x1202d9];for(var _0xd71cd5,_0x1e302b=_0x52cf2c(_0x4b50c8),_0x308e57=_0x1e302b['length'],_0x3b5795='function'==typeof _0x30f099,_0x5907d9=0x0;_0x5907d9<_0x308e57;_0x5907d9++)_0xd71cd5=_0x1e302b[_0x5907d9],_0x38d7fb['subscribe'](_0xd71cd5,_0x4b50c8[_0xd71cd5]||_0xd71cd5,_0x3b5795?_0x30f099:_0x30f099&&_0x30f099[_0xd71cd5]);}return 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this['_many'](_0x2a0971,_0x2cac79,_0x5df424,!0x1,_0x8656c7);},_0x1c03a5['prototype']['prependMany']=function(_0x54e4ae,_0x371278,_0x5c85e6,_0x3eae8a){return this['_many'](_0x54e4ae,_0x371278,_0x5c85e6,!0x0,_0x3eae8a);},_0x1c03a5['prototype']['_many']=function(_0x2db72d,_0x2ae60a,_0x339178,_0x4c965b,_0x615047){var _0x2e3f30=this;if('function'!=typeof _0x339178)throw new Error('many\x20only\x20accepts\x20instances\x20of\x20Function');function _0x5ab2bd(){return 0x0===--_0x2ae60a&&_0x2e3f30['off'](_0x2db72d,_0x5ab2bd),_0x339178['apply'](this,arguments);}return _0x5ab2bd['_origin']=_0x339178,this['_on'](_0x2db72d,_0x5ab2bd,_0x4c965b,_0x615047);},_0x1c03a5['prototype']['emit']=function(){if(!this['_events']&&!this['_all'])return!0x1;this['_events']||_0x5b736f['call'](this);var 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Error('on\x20only\x20accepts\x20instances\x20of\x20Function');this['_events']||_0x5b736f['call'](this);var _0x290912,_0x15afd1=this;return _0x27950a!==_0x318507&&(_0x33acbb=(_0x290912=_0x2ceb78['call'](this,_0x4de28d,_0x33acbb,_0x27950a))[0x0],_0x15afd1=_0x290912[0x1]),this['_newListener']&&this['emit']('newListener',_0x4de28d,_0x33acbb),this['wildcard']?(_0x1a388a['call'](this,_0x4de28d,_0x33acbb,_0x5c536d),_0x15afd1):(this['_events'][_0x4de28d]?('function'==typeof 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_0x1ce559=this['_jointCmdListeners']['indexOf'](_0x43f809);return-0x1!==_0x1ce559&&this['_jointCmdListeners']['splice'](_0x1ce559,0x1),!0x1;}));}['publishJointStates'](_0xfd84d5,_0x1a341f='/io_teleop/joint_states'){if(!this['ros']||!this['connected'])return;this['_jointStateTopic']=_0x1a341f,this['publisher']&&this['publisher']['name']===_0x1a341f||(this['publisher']&&this['publisher']['unadvertise'](),this['publisher']=new ba['Topic']({'ros':this['ros'],'name':_0x1a341f,'messageType':'sensor_msgs/msg/JointState'}),this['_advertiseTopic'](this['publisher']));const _0x58f000=Array['from'](_0xfd84d5['joints']['values']())['filter'](_0x19b9dd=>'number'==typeof _0x19b9dd['currentValue']),_0x483615=new ba['Message']({'header':{'stamp':{'sec':0x0,'nanosec':0x0},'frame_id':''},'name':_0x58f000['map'](_0x2a56fd=>_0x2a56fd['name']),'position':_0x58f000['map'](_0x5f28dd=>_0x5f28dd['currentValue']),'velocity':[],'effort':[]});this['pubMessageCount']++,this['pubLastMessageTime']=Date['now'](),this['publisher']['publish'](_0x483615);}['_advertiseTopic'](_0x18efe8,_0x2bfb86='reliable'){const _0x4e0c86='advertise:'+_0x18efe8['name']+':'+ ++this['ros']['idCounter'];_0x18efe8['advertiseId']=_0x4e0c86,_0x18efe8['isAdvertised']=!0x0,this['ros']['callOnConnection']({'op':'advertise','id':_0x4e0c86,'type':_0x18efe8['messageType'],'topic':_0x18efe8['name'],'latch':!0x1,'queue_size':_0x18efe8['queue_size'],'qos':{'history':'keep_last','depth':0xa,'reliability':_0x2bfb86,'durability':'volatile'}});}['getRos'](){return this['ros'];}['isConnected'](){return!!this['connected'];}['createAdvertisedTopic'](_0x229c29,_0xab07b9){if(!this['ros']||!_0x229c29||!_0xab07b9)return null;const _0x1a61b3=this['_extraTopics']['get'](_0x229c29);if(_0x1a61b3){if(_0x1a61b3['messageType']===_0xab07b9)return _0x1a61b3;this['releaseTopic'](_0x229c29);}const _0x4dc2a8=new ba['Topic']({'ros':this['ros'],'name':_0x229c29,'messageType':_0xab07b9});return this['_advertiseTopic'](_0x4dc2a8),this['_extraTopics']['set'](_0x229c29,_0x4dc2a8),_0x4dc2a8;}['releaseTopic'](_0x561273){const _0x1b9fdd=this['_extraTopics']['get'](_0x561273);if(_0x1b9fdd){try{_0x1b9fdd['unadvertise']();}catch(_0x39cbf2){}this['_extraTopics']['delete'](_0x561273);}}['addConnectionListener'](_0x587c8e){return'function'!=typeof _0x587c8e?()=>{}:(this['_connectionListeners']['add'](_0x587c8e),()=>{this['_connectionListeners']['delete'](_0x587c8e);});}['_notifyConnectionChange'](_0x536b4c){this['onConnectionChange']&&this['onConnectionChange'](_0x536b4c);for(const _0x2c86b1 of this['_connectionListeners'])try{_0x2c86b1(_0x536b4c);}catch(_0x57cee0){}}['_queryDomainId'](){const _0x145e74=new ba['Topic']({'ros':this['ros'],'name':'/robot_viewer/domain_id','messageType':'std_msgs/msg/Int32','throttle_rate':0x7d0});_0x145e74['subscribe'](_0x3d6169=>{this['domainId']=_0x3d6169['data'],this['onDomainIdChange']&&this['onDomainIdChange'](this['domainId']),_0x145e74['unsubscribe']();}),setTimeout(()=>{void 0x0===this['domainId']&&(_0x145e74['unsubscribe'](),this['domainId']=null,this['onDomainIdChange']&&this['onDomainIdChange'](null));},0x1388);}['setModel'](_0x8c79b4){this['_model']=_0x8c79b4;}['_advertiseResetService'](){this['ros']&&(this['_resetService']=new ba['Service']({'ros':this['ros'],'name':'/io_teleop_reset_robot','serviceType':'std_srvs/Trigger'}),this['_resetService']['advertise']((_0x5b074a,_0x1d1a1c)=>{var _0x3ec97b;if(this['_pauseJointCmd'](),this['_model']&&this['_model']['joints']){const _0x5784ac=(null==(_0x3ec97b=this['_model']['userData'])?void 0x0:_0x3ec97b['homePositions'])||{};this['_model']['joints']['forEach']((_0x10f50d,_0xe7dbdd)=>{if('fixed'!==_0x10f50d['type']){const _0x531760=_0x5784ac[_0xe7dbdd]??0x0;Ei['setJointAngle'](this['_model'],_0xe7dbdd,_0x531760,!0x0),_0x10f50d['currentValue']=_0x531760;}}),this['_model']['threeObject']&&this['_model']['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw'](),this['sceneManager']['render']();}const _0x227ef0=this['_jointStateTopic']||'/io_teleop/joint_states';return this['_model']&&this['publishJointStates'](this['_model'],_0x227ef0),setTimeout(()=>{this['_resumeJointCmd']();},0x64),_0x1d1a1c['success']=!0x0,_0x1d1a1c['message']='ok',!0x0;}));}['_pauseJointCmd'](){this['_jointCmdTopics']=[],this['_jointCmdListeners']['forEach'](_0x3bf823=>{this['_jointCmdTopics']['push'](_0x3bf823['name']),_0x3bf823['unsubscribe']();const _0x548b83=this['listeners']['indexOf'](_0x3bf823);-0x1!==_0x548b83&&this['listeners']['splice'](_0x548b83,0x1);}),this['_jointCmdListeners']=[];}['_resumeJointCmd'](){this['_model']&&(this['_jointCmdTopics']['forEach'](_0x31a212=>{this['subscribeJointCmd'](this['_model'],_0x31a212);}),this['_jointCmdTopics']=[]);}['disconnect'](){try{if(this['listeners']['forEach'](_0x48aabd=>{try{_0x48aabd['unsubscribe']();}catch(_0x138158){}}),this['listeners']=[],this['_jointCmdListeners']=[],this['_jointCmdTopics']=[],this['publisher']){try{this['publisher']['unadvertise']();}catch(_0x4e6a15){}this['publisher']=null;}if(this['_resetService']){try{this['_resetService']['unadvertise']();}catch(_0xac813e){}this['_resetService']=null;}this['_extraTopics']['forEach']((_0x16816c,_0x21a6a7)=>{try{_0x16816c['unadvertise']();}catch(_0x1c3439){}}),this['_extraTopics']['clear']();try{this['tfController']['unsubscribeAll']();}catch(_0x55921c){}if(this['ros']){try{this['ros']['close']();}catch(_0x5e6da4){}this['ros']=null;}}finally{this['connected']=!0x1,this['domainId']=void 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Date['now']()-this['subLastMessageTime']>0x7d0?0x0:this['subMessageCount'];}['resetMessageCount'](){this['subMessageCount']=0x0,this['subStats']['forEach'](_0x2456dc=>{_0x2456dc['count']=0x0;});}['getPubMessageRate'](){return Date['now']()-this['pubLastMessageTime']>0x7d0?0x0:this['pubMessageCount'];}['resetPubMessageCount'](){this['pubMessageCount']=0x0;}}const 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_0x5980a3=_0x144445['querySelector']('.ros-topic-checkbox'),_0x2f8e61=_0x144445['querySelector']('.ros-topic-input');_0x5980a3['addEventListener']('change',()=>{this['rosController']['connected']&&this['app']['currentModel']&&(_0x5980a3['checked']?_0x2f8e61['value']&&this['rosController']['subscribeJointCmd'](this['app']['currentModel'],_0x2f8e61['value']):this['rosController']['unsubscribeTopic'](_0x2f8e61['value']));});}),this['rosController']['onDomainIdChange']=_0x358836=>{const _0x21e1b7=this['panel']['querySelector']('#ros-domain-id');_0x21e1b7&&(this['_domainIdResolved']=!0x0,this['_domainId']=_0x358836,null!==_0x358836?(_0x21e1b7['textContent']=_0x358836,_0x21e1b7['style']['background']='#1e8e3e'):(_0x21e1b7['textContent']=this['_t']('unknown'),_0x21e1b7['style']['background']='#e65100'));},this['rosController']['onConnectionChange']=_0xfdbd1b=>{var _0x3de418;const _0x26509a=this['panel']['querySelector']('#ros-status');if(_0x26509a['textContent']=this['_t'](_0xfdbd1b?'statusConnected':'statusDisconnected'),_0x26509a['style']['color']=_0xfdbd1b?'#4caf50':'#f44336',_0xb7b434['disabled']=_0xfdbd1b,_0x33e951['disabled']=!_0xfdbd1b,!_0xfdbd1b){const _0x291c7c=this['panel']['querySelector']('#ros-domain-id');_0x291c7c&&(_0x291c7c['textContent']='—',_0x291c7c['style']['background']='#1e8e3e'),this['_domainId']=null,this['_domainIdResolved']=!0x1,this['stopPublishing'](),localStorage['setItem']('ros_connected','false');}const _0x1d981d=new URLSearchParams(window['location']['search']),_0x5bd3b5=_0x1d981d['has']('mocap'),_0x14cc7c=_0x1d981d['get']('mocap');if(_0xfdbd1b)if(_0x5bd3b5&&_0x14cc7c&&this['app']['sceneManager']['currentModel']){const _0x44644f=Ma[_0x14cc7c];if(_0x44644f&&'tf'===_0x44644f['topicType']){const _0x3f0af9=null==(_0x3de418=this['panel']['querySelectorAll']('#ros-topic-list\x20.ros-topic-row')[0x0])?void 0x0:_0x3de418['querySelector']('.ros-topic-input'),_0x179c12=(null==_0x3f0af9?void 0x0:_0x3f0af9['value'])||_0x44644f['rosTopic'];this['rosController']['tfController']['subscribeTF'](_0x44644f['id'],this['app']['sceneManager']['currentModel'],_0x179c12);}}else this['app']['currentModel']&&(this['_subscribeCheckedTopics'](this['app']['currentModel']),this['bidirectionalEnabled']&&this['startPublishing']());};}['_subscribeCheckedTopics'](_0x47522e){this['panel']['querySelectorAll']('#ros-topic-list\x20.ros-topic-row')['forEach'](_0x476afc=>{const _0x6050d7=_0x476afc['querySelector']('.ros-topic-checkbox'),_0x4f187d=_0x476afc['querySelector']('.ros-topic-input');_0x6050d7['checked']&&_0x4f187d['value']&&this['rosController']['subscribeJointCmd'](_0x47522e,_0x4f187d['value']);});}['startPublishing'](){this['_heartbeatWorker']||(this['_heartbeatWorker']=new Worker('./heartbeat-worker.js'),this['_heartbeatWorker']['onmessage']=()=>{if(this['rosController']['connected']&&this['app']['currentModel']){const _0x338aab=this['panel']['querySelector']('#ros-pub-topic')['value'];this['rosController']['publishJointStates'](this['app']['currentModel'],_0x338aab);}},this['_heartbeatWorker']['postMessage']({'cmd':'start','rate':this['publishRate']}));}['stopPublishing'](){this['_heartbeatWorker']&&(this['_heartbeatWorker']['postMessage']({'cmd':'stop'}),this['_heartbeatWorker']['terminate'](),this['_heartbeatWorker']=null);}['startMessageRateMonitor'](){setInterval(()=>{this['panel']['querySelectorAll']('#ros-topic-list\x20.ros-topic-row')['forEach'](_0x5dd624=>{const _0x5b7ad2=_0x5dd624['querySelector']('.ros-topic-input'),_0x59702d=_0x5dd624['querySelector']('.ros-topic-rate');if(_0x5b7ad2&&_0x59702d){const _0x25e858=this['rosController']['getMessageRate'](_0x5b7ad2['value']);_0x59702d['textContent']=_0x25e858+'\x20Hz';}});const _0x4ced17=this['rosController']['getPubMessageRate'](),_0x250187=this['panel']['querySelector']('#ros-pub-rate-actual');_0x250187&&(_0x250187['textContent']=_0x4ced17+'\x20Hz'),this['rosController']['resetMessageCount'](),this['rosController']['resetPubMessageCount']();},0x3e8);}['onModelLoaded'](_0x79d6f0){this['rosController']['connected']&&(this['_subscribeCheckedTopics'](_0x79d6f0),this['bidirectionalEnabled']&&this['startPublishing']());}['onJointChanged'](_0x2b8f11){}['show'](){if(!this['panel'])return;if('none'!==this['panel']['style']['display']&&'none'!==getComputedStyle(this['panel'])['display'])return;this['panel']['style']['display']='flex',this['panel']['style']['opacity']='0',this['panel']['style']['transform']='scale(0.95)',this['panel']['offsetHeight'],this['panel']['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',this['panel']['style']['opacity']='1',this['panel']['style']['transform']='scale(1)',setTimeout(()=>{this['panel']['style']['transition']='';},0xc8);const _0x239b12=document['getElementById']('toggle-ros-panel');_0x239b12&&_0x239b12['classList']['add']('active');}['getServerUrl'](){var _0x2aa4f8,_0x12aafe,_0x22300e;return(null==(_0x22300e=null==(_0x12aafe=null==(_0x2aa4f8=this['panel'])?void 0x0:_0x2aa4f8['querySelector']('#ros-url'))?void 0x0:_0x12aafe['value'])?void 0x0:_0x22300e['trim']())||'';}['setServerUrl'](_0x36cb65){var _0x2a6a5f;const _0x1bce6c=null==(_0x2a6a5f=this['panel'])?void 0x0:_0x2a6a5f['querySelector']('#ros-url');_0x1bce6c&&_0x36cb65&&(_0x1bce6c['value']=_0x36cb65);}['autoConnect'](_0xb09a86){if(!this['panel']||this['rosController']['connected'])return;const _0x2898f9=this['panel']['querySelector']('#ros-url');_0x2898f9&&_0xb09a86&&(_0x2898f9['value']=_0xb09a86);const _0x217b6e=this['panel']['querySelector']('#ros-connect-btn');_0x217b6e&&!_0x217b6e['disabled']&&_0x217b6e['click']();}}const Aa='__world__',La=['+X','-X','+Y','-Y','+Z','-Z'],Ea=_0x5e145c=>{const _0x53f12a='XYZ'['indexOf'](String(_0x5e145c||'')['toUpperCase']()['replace'](/[^XYZ]/g,'')[0x0]);return _0x53f12a<0x0?0x0:_0x53f12a;};function Ca(_0x6510c8,_0x160217){return _0x160217['set'](0x0,0x0,0x0),_0x160217['setComponent'](Ea(_0x6510c8),(_0x412e08=>'-'===(_0x412e08||'')['trim']()[0x0]?-0x1:0x1)(_0x6510c8)),_0x160217;}function ja(_0x472b0f,_0x380eb7){return Ea(_0x472b0f)!==Ea(_0x380eb7);}function ka(_0x5a6b11){return La['filter'](_0x22a2e7=>ja(_0x5a6b11,_0x22a2e7));}const Ta={'x':0x0,'y':0x1,'z':0x2},Oa={'roll':0x0,'pitch':0x1,'yaw':0x2},Fa=[new _0x5a7be3(0x1,0x0,0x0),new _0x5a7be3(0x0,0x1,0x0),new _0x5a7be3(0x0,0x0,0x1)],Da=Math['PI'],Pa=_0x5d0a09=>{const _0x3352a9=Number(_0x5d0a09)||0x0;return _0x3352a9>=-Da&&_0x3352a9<=Da?_0x3352a9:_0x3352a9-0x2*Da*Math['round'](_0x3352a9/(0x2*Da));};class Ia{constructor(_0x134e8c,_0x547530={}){this['sceneManager']=_0x134e8c,this['width']=_0x547530['width']??0x280,this['height']=_0x547530['height']??0x1e0,this['fov']=_0x547530['fov']??0x3c,this['near']=_0x547530['near']??0.001,this['far']=_0x547530['far']??0xc8,this['mountFrame']=_0x547530['mountFrame']??Aa,this['mountXyz']=[0x0,0x0,0x0],this['_mountOffset']=new _0x5a7be3(),this['mountRpy']=[0x0,0x0,0x0],this['forwardAxis']=_0x547530['forwardAxis']??'+X',this['upAxis']=_0x547530['upAxis']??'+Z',this['camera']=new _0x45bf09(this['fov'],this['width']/this['height'],this['near'],this['far']),this['_mountAxes']=null,this['_mountAxesVisible']=!0x1,this['_mountAxesSize']=0x0,this['_mountAxesPose']=null,this['_mountQuat']=new _0x4adb8f(),this['_safeMode']=!0x1,this['_firstFrameChecked']=!0x1,this['_warnedFrame']=null,this['_targetLinear']=null,this['_targetLdr']=null,this['_targetLinearAlt']=null,this['_targetLdrAlt']=null,this['_probeTarget']=null,this['lastGpuProbeMs']=null,this['_useAltTarget']=!0x1,this['_hasPrevFrame']=!0x1,this['_targetSize']={'w':0x0,'h':0x0},this['_rgba']=null,this['_hidden']=[],this['lastCaptureMs']=0x0,this['lastFrameLag']=0x0,this['lastCaptureSkipped']=null,this['_worldMatrix']=new _0x5dcd72(),this['_offsetMatrix']=new _0x5dcd72(),this['_presetMatrix']=new _0x5dcd72(),this['_fwdVec']=new _0x5a7be3(),this['_upVec']=new _0x5a7be3(),this['_rightVec']=new _0x5a7be3(),this['_backVec']=new _0x5a7be3(),this['_poseMatrix']=new _0x5dcd72(),this['_poseQuat']=new _0x4adb8f(),this['_axisVec']=new _0x5a7be3(),this['_axisQuat']=new _0x4adb8f(),this['_euler']=new _0x730a0a(),this['_tmpPos']=new _0x5a7be3(),this['_tmpQuat']=new _0x4adb8f(),this['_tmpScale']=new _0x5a7be3(),this['_encodeMaterial']=new _0x38f322({'uniforms':{'tLinear':{'value':null}},'vertexShader':'\x0a\x20\x20\x20\x20varying\x20vec2\x20vUv;\x0a\x20\x20\x20\x20void\x20main()\x20{\x0a\x20\x20\x20\x20\x20\x20\x20\x20vUv\x20=\x20uv;\x0a\x20\x20\x20\x20\x20\x20\x20\x20gl_Position\x20=\x20vec4(position.xy,\x200.0,\x201.0);\x0a\x20\x20\x20\x20}\x0a','fragmentShader':'\x0a\x20\x20\x20\x20uniform\x20sampler2D\x20tLinear;\x0a\x20\x20\x20\x20varying\x20vec2\x20vUv;\x0a\x20\x20\x20\x20void\x20main()\x20{\x0a\x20\x20\x20\x20\x20\x20\x20\x20//\x20y\x20取\x201-v：把\x20WebGL\x20自下而上的行序在这里翻成图像序，回读即\x20top-down\x0a\x20\x20\x20\x20\x20\x20\x20\x20vec3\x20c\x20=\x20texture2D(tLinear,\x20vec2(vUv.x,\x201.0\x20-\x20vUv.y)).rgb;\x0a\x20\x20\x20\x20\x20\x20\x20\x20//\x20linear\x20→\x20sRGB(OETF)：与画布上的\x20lin2sRGB\x20分支一致\x0a\x20\x20\x20\x20\x20\x20\x20\x20vec3\x20lo\x20=\x20c\x20*\x2012.92;\x0a\x20\x20\x20\x20\x20\x20\x20\x20vec3\x20hi\x20=\x201.055\x20*\x20pow(max(c,\x20vec3(0.0)),\x20vec3(1.0\x20/\x202.4))\x20-\x200.055;\x0a\x20\x20\x20\x20\x20\x20\x20\x20gl_FragColor\x20=\x20vec4(mix(lo,\x20hi,\x20step(vec3(0.0031308),\x20c)),\x201.0);\x0a\x20\x20\x20\x20}\x0a','depthTest':!0x1,'depthWrite':!0x1}),this['_quadGeometry']=new _0x27d8b6(0x2,0x2),this['_quad']=new _0x3d1069(this['_quadGeometry'],this['_encodeMaterial']),this['_quad']['frustumCulled']=!0x1,this['_quadScene']=new _0x33e93b(),this['_quadScene']['add'](this['_quad']),this['_quadCamera']=new _0x410dff(-0x1,0x1,0x1,-0x1,0x0,0x1);}['setResolution'](_0x2cdb92,_0x3f21e5){const _0x7b7233=Math['round'](Math['min'](0x1000,Math['max'](0x10,Number(_0x2cdb92)||0x0))),_0x7cf4ae=Math['round'](Math['min'](0x1000,Math['max'](0x10,Number(_0x3f21e5)||0x0)));_0x7b7233===this['width']&&_0x7cf4ae===this['height']||(this['width']=_0x7b7233,this['height']=_0x7cf4ae,this['_firstFrameChecked']=!0x1);}['setFov'](_0x5c930f){const _0x4dbdcc=Number(_0x5c930f);Number['isFinite'](_0x4dbdcc)&&(this['fov']=Math['min'](0x78,Math['max'](0x1,_0x4dbdcc)));}['setMount'](_0x2a201c={}){void 0x0!==_0x2a201c['frame']&&_0x2a201c['frame']!==this['mountFrame']&&(this['mountFrame']=_0x2a201c['frame']||Aa,this['_warnedFrame']=null),Array['isArray'](_0x2a201c['xyz'])&&(this['mountXyz']=_0x2a201c['xyz']['map'](_0xde1dd9=>Number(_0xde1dd9)||0x0),this['_mountOffset']['set'](this['mountXyz'][0x0],this['mountXyz'][0x1],this['mountXyz'][0x2])),Array['isArray'](_0x2a201c['rpy'])&&(this['mountRpy']=_0x2a201c['rpy']['map'](Pa),this['_mountQuat']['copy'](this['_poseQuaternion'](this['_poseQuat']))),void 0x0!==_0x2a201c['forward']&&La['includes'](_0x2a201c['forward'])&&(this['forwardAxis']=_0x2a201c['forward'],ja(this['forwardAxis'],this['upAxis'])||(this['upAxis']=ka(this['forwardAxis'])[0x0])),void 0x0!==_0x2a201c['up']&&La['includes'](_0x2a201c['up'])&&ja(this['forwardAxis'],_0x2a201c['up'])&&(this['upAxis']=_0x2a201c['up']),this['refreshMountAxes']();}['setMountRpyField'](_0x2ccdb9,_0x62b78a){const _0x2e139b=Oa[_0x2ccdb9];if(void 0x0===_0x2e139b)return!0x1;const _0x1b003d=Pa(_0x62b78a),_0x5be09d=((_0x4917a2,_0x34f145)=>{let _0x25e701=_0x34f145-_0x4917a2;return _0x25e701>Da?_0x25e701-=0x2*Da:_0x25e701<-Da&&(_0x25e701+=0x2*Da),_0x25e701;})(this['mountRpy'][_0x2e139b],_0x1b003d);if(this['mountRpy'][_0x2e139b]=_0x1b003d,0x0!==_0x5be09d){const _0x85d574=this['_axisVec']['copy'](Fa[_0x2e139b])['applyQuaternion'](this['_mountQuat']);this['_mountQuat']['premultiply'](this['_axisQuat']['setFromAxisAngle'](_0x85d574,_0x5be09d));}return this['refreshMountAxes'](),!0x0;}['setMountXyzField'](_0x32f998,_0x4445e6){const _0x2a78ee=Ta[_0x32f998];if(void 0x0===_0x2a78ee)return!0x1;const _0x32178f=Number(_0x4445e6)||0x0,_0x557807=_0x32178f-this['mountXyz'][_0x2a78ee];if(this['mountXyz'][_0x2a78ee]=_0x32178f,0x0!==_0x557807){const _0x19ef9d=this['_axisVec']['set'](0x0,0x0,0x0)['setComponent'](_0x2a78ee,0x1)['applyQuaternion'](this['_mountQuat']);this['_mountOffset']['addScaledVector'](_0x19ef9d,_0x557807);}return this['refreshMountAxes'](),!0x0;}['setMountAxesVisible'](_0x35b666){var _0x23cbf6;const _0x4fcfd5=!!_0x35b666;_0x4fcfd5===this['_mountAxesVisible']&&((null==(_0x23cbf6=this['_mountAxes'])?void 0x0:_0x23cbf6['visible'])??!0x1)===_0x4fcfd5||(this['_mountAxesVisible']=_0x4fcfd5,this['refreshMountAxes']());}['refreshMountAxes'](){var _0x245148,_0x15ffc7;this['_applyMountAxes']()&&(null==(_0x15ffc7=null==(_0x245148=this['sceneManager'])?void 0x0:_0x245148['redraw'])||_0x15ffc7['call'](_0x245148));}['isMountAxesVisible'](){return this['_mountAxesVisible'];}['_applyMountAxes'](){const _0x4a8f4b=this['_mountAxesVisible']?this['_resolveParentObject']():null;if(!_0x4a8f4b)return!(!this['_mountAxes']||!this['_mountAxes']['visible'])&&(this['_mountAxes']['visible']=!0x1,!0x0);const _0x48f900=!this['_mountAxes']||this['_mountAxes']['parent']!==_0x4a8f4b;_0x48f900&&(this['_disposeMountAxes'](),this['_mountAxesSize']=this['_estimateAxesSize'](),this['_mountAxes']=Oi['createAxesGeometry'](this['_mountAxesSize']),_0x4a8f4b['add'](this['_mountAxes']));const {x:_0x3bb2c0,y:_0x48482c,z:_0x36900c}=this['_mountOffset'],_0x3e9df7=[_0x3bb2c0,_0x48482c,_0x36900c,this['_mountQuat']['x'],this['_mountQuat']['y'],this['_mountQuat']['z'],this['_mountQuat']['w']],_0x450ae2=!this['_mountAxesPose']||this['_mountAxesPose']['some']((_0x357f3a,_0x5978f6)=>_0x357f3a!==_0x3e9df7[_0x5978f6]);this['_mountAxes']['position']['set'](_0x3bb2c0,_0x48482c,_0x36900c),this['_mountAxes']['quaternion']['copy'](this['_mountQuat']),this['_mountAxesPose']=_0x3e9df7;const _0x3f3856=!this['_mountAxes']['visible'];return this['_mountAxes']['visible']=!0x0,_0x48f900||_0x3f3856||_0x450ae2;}['_estimateAxesSize'](){var _0x2408aa;let _0x2c30ce=0x1;try{const _0x370ed9=null==(_0x2408aa=this['sceneManager'])?void 0x0:_0x2408aa['currentModel'];if((null==_0x370ed9?void 0x0:_0x370ed9['threeObject'])&&'function'==typeof this['sceneManager']['computeRobustBoundingBox']){const _0x294996=this['sceneManager']['computeRobustBoundingBox'](_0x370ed9['threeObject']);_0x294996&&!_0x294996['isEmpty']()&&(_0x2c30ce=_0x294996['getSize'](new _0x5a7be3())['length']()||0x1);}}catch(_0x1013e3){}return Math['min'](0x2,Math['max'](0.05,0.15*_0x2c30ce));}['_resolveParentObject'](){var _0x2b166d,_0x456027;if(!this['mountFrame']||this['mountFrame']===Aa)return(null==(_0x2b166d=this['sceneManager'])?void 0x0:_0x2b166d['world'])||null;const _0x3e9f03=null==(_0x456027=this['sceneManager'])?void 0x0:_0x456027['currentModel'],_0x2ebfc3=_0x3e9f03&&'function'==typeof _0x3e9f03['getLink']?_0x3e9f03['getLink'](this['mountFrame']):null;return(null==_0x2ebfc3?void 0x0:_0x2ebfc3['threeObject'])||null;}['_disposeMountAxes'](){this['_mountAxes']&&(this['_mountAxes']['removeFromParent'](),this['_mountAxes']['traverse'](_0x2234d2=>{var _0x4962e3,_0x16ceb9;null==(_0x16ceb9=null==(_0x4962e3=_0x2234d2['geometry'])?void 0x0:_0x4962e3['dispose'])||_0x16ceb9['call'](_0x4962e3);(Array['isArray'](_0x2234d2['material'])?_0x2234d2['material']:_0x2234d2['material']?[_0x2234d2['material']]:[])['forEach'](_0xa4c8e4=>{var _0x44b707;return null==(_0x44b707=_0xa4c8e4['dispose'])?void 0x0:_0x44b707['call'](_0xa4c8e4);});}),this['_mountAxes']=null,this['_mountAxesSize']=0x0,this['_mountAxesPose']=null);}['getState'](){return{'width':this['width'],'height':this['height'],'fov':this['fov'],'mountFrame':this['mountFrame'],'mountXyz':[...this['mountXyz']],'mountRpy':[...this['mountRpy']],'forwardAxis':this['forwardAxis'],'upAxis':this['upAxis'],'safeMode':this['_safeMode']};}['capture'](_0x8d72d6=null){const _0x284d7a=this['sceneManager'],_0x44401f=null==_0x284d7a?void 0x0:_0x284d7a['renderer'];if(!_0x44401f||_0x284d7a['_contextLost'])return this['lastCaptureSkipped']=_0x44401f?'context-lost':'no-renderer',null;this['lastCaptureSkipped']=null,this['_ensureTargets'](),this['_updateCameraPose']();const _0x35ef6=this['width']*this['height']*0x4,_0x4a7505=_0x8d72d6&&_0x8d72d6['length']===_0x35ef6?_0x8d72d6:this['_rgba'],_0x357bc4=performance['now'](),_0x19bdfb=_0x44401f['getRenderTarget'](),_0x3405c0=this['_useAltTarget']?this['_targetLinearAlt']:this['_targetLinear'],_0x500b1c=this['_useAltTarget']?this['_targetLdrAlt']:this['_targetLdr'],_0x3af326=this['_useAltTarget']?this['_targetLdr']:this['_targetLdrAlt'],_0x1bdf20=this['_hasPrevFrame'];let _0x57ae38=0x0;if(_0x1bdf20){const _0x1dcb6f=performance['now']();_0x44401f['readRenderTargetPixels'](_0x3af326,0x0,0x0,this['width'],this['height'],_0x4a7505),_0x57ae38=performance['now']()-_0x1dcb6f;}const _0x2ac5f5=_0x44401f['shadowMap'],_0x4cdb1b=!!(_0x284d7a['directionalLight']&&_0x284d7a['directionalLight']['shadow']&&_0x284d7a['directionalLight']['shadow']['map']),_0x36bd7f='function'==typeof _0x284d7a['hasPendingRender']&&!_0x284d7a['hasPendingRender'](),_0x3fc8dc=_0x2ac5f5['enabled']&&_0x4cdb1b&&_0x36bd7f,_0x1073d0=_0x2ac5f5['autoUpdate'];_0x3fc8dc&&(_0x2ac5f5['autoUpdate']=!0x1),this['_hideHelpers']();const _0x416501=performance['now']();try{_0x44401f['setRenderTarget'](_0x3405c0),_0x44401f['render'](_0x284d7a['scene'],this['camera']),this['_encodeMaterial']['uniforms']['tLinear']['value']=_0x3405c0['texture'],_0x44401f['setRenderTarget'](_0x500b1c),_0x44401f['render'](this['_quadScene'],this['_quadCamera']);}finally{_0x3fc8dc&&(_0x2ac5f5['autoUpdate']=_0x1073d0),_0x44401f['setRenderTarget'](_0x19bdfb),this['_restoreHelpers']();}const _0x548422=performance['now']()-_0x416501;return this['_useAltTarget']=!this['_useAltTarget'],this['_hasPrevFrame']=!0x0,this['lastCaptureMs']=performance['now']()-_0x357bc4,this['lastFrameLag']=_0x1bdf20?0x1:0x0,_0x1bdf20?(this['_firstFrameChecked']||(this['_firstFrameChecked']=!0x0,this['_checkFirstFrame'](_0x4a7505)),{'data':new Uint8ClampedArray(_0x4a7505['buffer'],_0x4a7505['byteOffset'],_0x4a7505['byteLength']),'width':this['width'],'height':this['height'],'captureMs':this['lastCaptureMs'],'renderMs':_0x548422,'readbackMs':_0x57ae38,'frameLag':this['lastFrameLag'],'safeMode':this['_safeMode']}):(this['lastCaptureSkipped']='priming',null);}['dispose'](){this['_disposeTargets'](),this['_probeTarget']&&(this['_probeTarget']['dispose'](),this['_probeTarget']=null),this['_quadGeometry']['dispose'](),this['_encodeMaterial']['dispose'](),this['_rgba']=null;}['_supportsFloatTarget'](){var _0x1d77e0;const _0x303b18=null==(_0x1d77e0=this['sceneManager']['renderer'])?void 0x0:_0x1d77e0['extensions'];return!(!_0x303b18||'function'!=typeof _0x303b18['has'])&&(_0x303b18['has']('EXT_color_buffer_half_float')||_0x303b18['has']('EXT_color_buffer_float'));}['_ensureTargets'](){if(this['_targetLinear']&&this['_targetSize']['w']===this['width']&&this['_targetSize']['h']===this['height'])return;this['_disposeTargets']();const _0x2d218f=!this['_safeMode']&&this['_supportsFloatTarget']()?_0x1d0a26:_0x4beb35;this['_targetLinear']=new _0x87241a(this['width'],this['height'],{'type':_0x2d218f,'format':_0xffbefe,'minFilter':_0x307cf6,'magFilter':_0x307cf6,'depthBuffer':!0x0,'stencilBuffer':!0x1}),this['_targetLinear']['texture']['generateMipmaps']=!0x1,this['_targetLdr']=new _0x87241a(this['width'],this['height'],{'type':_0x4beb35,'format':_0xffbefe,'minFilter':_0x307cf6,'magFilter':_0x307cf6,'depthBuffer':!0x1,'stencilBuffer':!0x1}),this['_targetLdr']['texture']['generateMipmaps']=!0x1,this['_targetLinearAlt']=new _0x87241a(this['width'],this['height'],{'type':_0x2d218f,'format':_0xffbefe,'minFilter':_0x307cf6,'magFilter':_0x307cf6,'depthBuffer':!0x0,'stencilBuffer':!0x1}),this['_targetLinearAlt']['texture']['generateMipmaps']=!0x1,this['_targetLdrAlt']=new _0x87241a(this['width'],this['height'],{'type':_0x4beb35,'format':_0xffbefe,'minFilter':_0x307cf6,'magFilter':_0x307cf6,'depthBuffer':!0x1,'stencilBuffer':!0x1}),this['_targetLdrAlt']['texture']['generateMipmaps']=!0x1,this['_useAltTarget']=!0x1,this['_hasPrevFrame']=!0x1,this['_rgba']=new Uint8Array(this['width']*this['height']*0x4),this['_targetSize']={'w':this['width'],'h':this['height']},this['_firstFrameChecked']=!0x1;}['probeGpu'](_0xd23643=0x5){const _0x1ff37c=this['sceneManager'],_0x2938c4=null==_0x1ff37c?void 0x0:_0x1ff37c['renderer'];if(!_0x2938c4||_0x1ff37c['_contextLost'])return null;this['_probeTarget']||(this['_probeTarget']=new _0x87241a(0x100,0x100,{'type':_0x4beb35,'format':_0xffbefe,'depthBuffer':!0x1,'stencilBuffer':!0x1}));const _0x20d8c=0x100,_0x22f382=new Uint8Array(0x40000),_0x3f561e=_0x2938c4['getRenderTarget'](),_0x103cf2=performance['now']();for(let _0x22a148=0x0;_0x22a148<_0xd23643;_0x22a148++)_0x2938c4['setRenderTarget'](this['_probeTarget']),_0x2938c4['clear'](!0x0,!0x1,!0x1),_0x2938c4['readRenderTargetPixels'](this['_probeTarget'],0x0,0x0,_0x20d8c,_0x20d8c,_0x22f382);_0x2938c4['setRenderTarget'](_0x3f561e);const _0x54db54=(performance['now']()-_0x103cf2)/_0xd23643;return this['lastGpuProbeMs']=_0x54db54,_0x54db54;}['_disposeTargets'](){for(const _0x1d6f0f of[this['_targetLinear'],this['_targetLdr'],this['_targetLinearAlt'],this['_targetLdrAlt']])_0x1d6f0f&&_0x1d6f0f['dispose']();this['_targetLinear']=null,this['_targetLdr']=null,this['_targetLinearAlt']=null,this['_targetLdrAlt']=null,this['_probeTarget']&&(this['_probeTarget']['dispose'](),this['_probeTarget']=null),this['lastGpuProbeMs']=null,this['_useAltTarget']=!0x1,this['_hasPrevFrame']=!0x1,this['_targetSize']={'w':0x0,'h':0x0};}['_resolveParentMatrix'](){const _0x34e4c3=this['_worldMatrix'];if(!this['mountFrame']||this['mountFrame']===Aa){const _0x1dd4fe=this['sceneManager']['world'];return _0x1dd4fe?(_0x1dd4fe['updateWorldMatrix'](!0x0,!0x1),_0x34e4c3['copy'](_0x1dd4fe['matrixWorld'])):_0x34e4c3['identity'](),_0x34e4c3;}const _0x41eb4d=this['sceneManager']['currentModel'],_0x42f0cf=_0x41eb4d&&'function'==typeof _0x41eb4d['getLink']?_0x41eb4d['getLink'](this['mountFrame']):null,_0x16be78=null==_0x42f0cf?void 0x0:_0x42f0cf['threeObject'];if(_0x16be78)_0x16be78['updateWorldMatrix'](!0x0,!0x1),_0x34e4c3['copy'](_0x16be78['matrixWorld']);else{this['_warnedFrame']!==this['mountFrame']&&(this['_warnedFrame']=this['mountFrame']);const _0x47bb47=this['sceneManager']['world'];_0x47bb47?(_0x47bb47['updateWorldMatrix'](!0x0,!0x1),_0x34e4c3['copy'](_0x47bb47['matrixWorld'])):_0x34e4c3['identity']();}return _0x34e4c3;}['_updateCameraPose'](){const _0xefd39c=this['_resolveParentMatrix']();_0xefd39c['multiply'](this['_buildOffsetMatrix']()),_0xefd39c['decompose'](this['_tmpPos'],this['_tmpQuat'],this['_tmpScale']),this['camera']['position']['copy'](this['_tmpPos']),this['camera']['quaternion']['copy'](this['_tmpQuat']),this['camera']['scale']['copy'](this['_tmpScale']),this['camera']['aspect']=this['width']/this['height'],this['camera']['fov']=this['fov'],this['camera']['updateProjectionMatrix']();}['_buildOffsetMatrix'](){const {x:_0x2ec6fa,y:_0x5d5624,z:_0xd184fb}=this['_mountOffset'];return this['_offsetMatrix']['makeTranslation'](_0x2ec6fa,_0x5d5624,_0xd184fb),this['_offsetMatrix']['multiply'](this['_buildPoseMatrix']())['multiply'](this['_buildOrientationMatrix']());}['_poseQuaternion'](_0x2acdf0){const [_0x367dee,_0x4833da,_0x4407ec]=this['mountRpy'];return _0x2acdf0['setFromEuler'](this['_euler']['set'](_0x367dee,_0x4833da,_0x4407ec,'ZXY'));}['_buildPoseMatrix'](){return this['_poseMatrix']['makeRotationFromQuaternion'](this['_mountQuat']);}['_buildOrientationMatrix'](){return Ca(this['forwardAxis'],this['_fwdVec'])['normalize'](),Ca(this['upAxis'],this['_upVec'])['normalize'](),this['_rightVec']['crossVectors'](this['_fwdVec'],this['_upVec'])['normalize'](),this['_upVec']['crossVectors'](this['_rightVec'],this['_fwdVec'])['normalize'](),this['_backVec']['copy'](this['_fwdVec'])['negate'](),this['_presetMatrix']['makeBasis'](this['_rightVec'],this['_upVec'],this['_backVec']);}['_hideHelpers'](){var _0x10a5f4;const _0x1b29f9=this['sceneManager'];this['_hidden']=[];const _0x4c53d4=_0x319142=>{_0x319142&&_0x319142['visible']&&(this['_hidden']['push'](_0x319142),_0x319142['visible']=!0x1);};_0x4c53d4(_0x1b29f9['referenceGrid']),_0x4c53d4(_0x1b29f9['worldAxes']),_0x4c53d4(null==(_0x10a5f4=_0x1b29f9['measurementManager'])?void 0x0:_0x10a5f4['measurementHelper']),_0x1b29f9['scene']['traverse'](_0x3c2f6a=>{_0x3c2f6a['userData']&&_0x3c2f6a['userData']['excludeFromBBox']&&_0x4c53d4(_0x3c2f6a);});}['_restoreHelpers'](){for(const _0x587d75 of this['_hidden'])_0x587d75['visible']=!0x0;this['_hidden']=[];}['_checkFirstFrame'](_0x4ec113){if(this['_safeMode'])return!0x1;let _0x161c48=0x0;for(let _0x4e2f8d=0x0;_0x4e2f8d<_0x4ec113['length'];_0x4e2f8d+=0x40)_0x161c48+=_0x4ec113[_0x4e2f8d];return 0x0===_0x161c48&&(this['_safeMode']=!0x0,this['_disposeTargets'](),this['_ensureTargets'](),!0x0);}}class Ra{constructor(_0x37a1a2,_0x37bf24){this['rosController']=_0x37a1a2,this['virtualCamera']=_0x37bf24,this['topicName']='/camera/image_raw/compressed',this['messageType']='sensor_msgs/msg/CompressedImage',this['frameId']='virtual_camera_optical_frame',this['rateHz']=0xa,this['imageFormat']='jpeg',this['jpegQuality']=0x50,this['onPreview']=null,this['onRunningChange']=null,this['onCameraConnectionChange']=null,this['onEncodings']=null,this['onDomainId']=null,this['_worker']=null,this['_running']=!0x1,this['_connectionWanted']=!0x1,this['_previewEnabled']=!0x1,this['_encodings']=null,this['_pool']=[],this['_poolSize']={'w':0x0,'h':0x0},this['_poolAllocs']=0x0,this['_win']={'count':0x0,'captureSum':0x0,'captureMax':0x0,'renderMax':0x0,'readbackMax':0x0},this['_noFrameCount']=0x0,this['_lastNoFrameReason']=null,this['_lastError']=null,this['_workerStats']={'rate':0x0,'target':0xa,'queued':0x0,'depth':0x1,'underruns':0x0,'dropped':0x0,'payloadBytes':0x0,'encodeMs':0x0,'pendingNeed':0x0,'encodeInFlight':0x0,'stalled':0x0,'reconnects':0x0,'workerConnected':!0x1,'workerRunning':!0x1,'wsState':-0x1,'lastDrop':null,'lastFormat':null};}['start'](_0x3a0a64){return!!this['_running']||(_0x3a0a64?!!this['_ensureWorker']()&&(this['_running']=!0x0,this['_lastError']=null,this['_poolAllocs']=0x0,this['_noFrameCount']=0x0,this['_lastNoFrameReason']=null,this['_win']={'count':0x0,'captureSum':0x0,'captureMax':0x0,'renderMax':0x0,'readbackMax':0x0},this['_resetPool'](),this['_connectionWanted']=!0x0,this['_worker']['postMessage']({'cmd':'start',...this['_configPayload']({'url':_0x3a0a64})}),this['_notifyRunningChange'](),!0x0):(this['_lastError']='缺少\x20rosbridge\x20地址',!0x1));}['connect'](_0x4acc70){return _0x4acc70?!!this['_ensureWorker']()&&(this['_connectionWanted']=!0x0,this['_lastError']=null,this['_worker']['postMessage']({'cmd':'connect',...this['_configPayload']({'url':_0x4acc70})}),!0x0):(this['_lastError']='缺少\x20rosbridge\x20地址',!0x1);}['disconnect'](){var _0x1b254c;this['_running']=!0x1,this['_connectionWanted']=!0x1,null==(_0x1b254c=this['_worker'])||_0x1b254c['postMessage']({'cmd':'disconnect'}),this['_pool']=[],this['onCameraConnectionChange']&&this['onCameraConnectionChange'](!0x1,null),this['_notifyRunningChange']();}['stop'](){var _0x4aedfd;this['_running']&&(this['_running']=!0x1,null==(_0x4aedfd=this['_worker'])||_0x4aedfd['postMessage']({'cmd':'stop'}),this['_pool']=[],this['_notifyRunningChange']());}['isRunning'](){return this['_running'];}['onTopicConfigChanged'](){this['_pushConfig']();}['onRateChanged'](){this['_pushConfig']();}['requestEncodings'](){this['_encodings']&&this['onEncodings']&&this['onEncodings'](this['_encodings']),this['_ensureWorker']()&&this['_worker']['postMessage']({'cmd':'encodings'});}['onFormatChanged'](){this['_pushConfig']();}['setPreviewEnabled'](_0x249357){this['_previewEnabled']=!!_0x249357,this['_pushConfig']();}['dispose'](){this['stop'](),this['_worker']&&(this['_worker']['terminate'](),this['_worker']=null),this['_pool']=[];}['_provideFrame'](){if(!this['_worker'])return;if(!this['_running'])return void this['_answerNoFrame']('not-running');let _0xe8548f=null,_0x1b8a12=!0x1;try{_0xe8548f=this['_acquireBuffer']();const _0x216378=this['virtualCamera']['capture'](_0xe8548f);if(!_0x216378)return this['_releaseBuffer'](_0xe8548f),void this['_answerNoFrame'](this['virtualCamera']['lastCaptureSkipped']||'capture-null');this['_recordCapture'](_0x216378),this['_worker']['postMessage']({'cmd':'frame','buffer':_0xe8548f['buffer'],'width':_0x216378['width'],'height':_0x216378['height'],'captureMs':_0x216378['captureMs']},[_0xe8548f['buffer']]),_0x1b8a12=!0x0;}catch(_0x4bb381){this['_lastError']='采集失败:\x20'+((null==_0x4bb381?void 0x0:_0x4bb381['message'])||_0x4bb381),_0xe8548f&&!_0x1b8a12&&this['_releaseBuffer'](_0xe8548f),this['_answerNoFrame']('error');}}['_answerNoFrame'](_0x5eb726){var _0x1bb496;this['_noFrameCount']++,this['_lastNoFrameReason']=_0x5eb726,null==(_0x1bb496=this['_worker'])||_0x1bb496['postMessage']({'cmd':'noframe','reason':_0x5eb726});}['_ensureWorker'](){if(this['_worker'])return!0x0;if('function'!=typeof Worker||'function'!=typeof OffscreenCanvas)return this['_lastError']='浏览器不支持\x20Worker/OffscreenCanvas，无法发布虚拟相机',!0x1;try{return this['_worker']=new Worker('./camera-publish-worker.js'),this['_worker']['onmessage']=_0x1bf384=>this['_onWorkerMessage'](_0x1bf384['data']||{}),this['_worker']['onerror']=_0x27be48=>{if(this['_lastError']='相机发布\x20Worker\x20异常:\x20'+((null==_0x27be48?void 0x0:_0x27be48['message'])||_0x27be48),this['_running']=!0x1,this['_connectionWanted']=!0x1,this['_worker']){try{this['_worker']['terminate']();}catch(_0x45d761){}this['_worker']=null;}this['_pool']=[],this['onCameraConnectionChange']&&this['onCameraConnectionChange'](!0x1,this['_lastError']),this['_notifyRunningChange']();},!0x0;}catch(_0x3a9ab8){return this['_lastError']='无法创建相机发布\x20Worker:\x20'+((null==_0x3a9ab8?void 0x0:_0x3a9ab8['message'])||_0x3a9ab8),!0x1;}}['_onWorkerMessage'](_0x2f811c){switch(_0x2f811c['cmd']){case'need':this['_provideFrame']();break;case'buffer':_0x2f811c['buffer']&&this['_releaseBuffer'](new Uint8Array(_0x2f811c['buffer']));break;case'domainId':this['onDomainId']&&this['onDomainId']('number'==typeof _0x2f811c['value']?_0x2f811c['value']:null);break;case'encodings':this['_encodings']=Array['isArray'](_0x2f811c['list'])?_0x2f811c['list']:null,this['onEncodings']&&this['onEncodings'](this['_encodings']);break;case'preview':this['onPreview']&&this['onPreview']({'base64':_0x2f811c['base64'],'mime':_0x2f811c['mime']||'image/jpeg','width':_0x2f811c['width'],'height':_0x2f811c['height'],'previewWidth':_0x2f811c['previewWidth'],'previewHeight':_0x2f811c['previewHeight'],'payloadBytes':_0x2f811c['payloadBytes'],'captureMs':_0x2f811c['captureMs']});break;case'stats':this['_workerStats']={'rate':_0x2f811c['rate']||0x0,'target':_0x2f811c['target']||this['rateHz'],'queued':_0x2f811c['queue']||0x0,'depth':_0x2f811c['depth']||0x1,'underruns':_0x2f811c['underruns']||0x0,'dropped':_0x2f811c['dropped']||0x0,'payloadBytes':_0x2f811c['payloadBytes']||0x0,'encodeMs':_0x2f811c['encodeMs']||0x0,'pendingNeed':_0x2f811c['pendingNeed']||0x0,'encodeInFlight':_0x2f811c['encodeInFlight']||0x0,'stalled':_0x2f811c['stalled']||0x0,'reconnects':_0x2f811c['reconnects']||0x0,'workerConnected':!!_0x2f811c['connected'],'workerRunning':!!_0x2f811c['running'],'wsState':'number'==typeof _0x2f811c['wsState']?_0x2f811c['wsState']:-0x1,'lastDrop':_0x2f811c['lastDrop']||null,'lastFormat':_0x2f811c['format']||null};break;case'state':_0x2f811c['error']&&(this['_lastError']=_0x2f811c['error']),this['onCameraConnectionChange']&&this['onCameraConnectionChange'](!!_0x2f811c['connected'],_0x2f811c['error']||null);}}['_configPayload'](_0x3bb221={}){return{'topic':this['topicName'],'type':this['messageType'],'frameId':this['frameId'],'rate':this['rateHz'],'format':this['imageFormat'],'quality':this['jpegQuality'],'preview':this['_previewEnabled'],'previewWidth':0x140,..._0x3bb221};}['_pushConfig'](){(this['_running']||this['_connectionWanted'])&&this['_worker']&&this['_worker']['postMessage']({'cmd':'config',...this['_configPayload']()});}['_resetPool'](){this['_poolSize']={'w':this['virtualCamera']['width'],'h':this['virtualCamera']['height']},this['_pool']=[];for(let _0x36369c=0x0;_0x36369c<0x3;_0x36369c++)this['_pool']['push'](new Uint8Array(this['virtualCamera']['width']*this['virtualCamera']['height']*0x4));}['_acquireBuffer'](){const _0x5daeea=this['virtualCamera']['width']*this['virtualCamera']['height']*0x4;this['_poolSize']['w']===this['virtualCamera']['width']&&this['_poolSize']['h']===this['virtualCamera']['height']||this['_resetPool']();let _0x23724e=this['_pool']['pop']();return _0x23724e&&_0x23724e['length']===_0x5daeea||(_0x23724e=new Uint8Array(_0x5daeea),this['_poolAllocs']++),_0x23724e;}['_releaseBuffer'](_0x4ac6fb){const _0x5f2a83=this['virtualCamera']['width']*this['virtualCamera']['height']*0x4;_0x4ac6fb&&_0x4ac6fb['length']===_0x5f2a83&&(this['_pool']['length']>=0x3||this['_pool']['push'](_0x4ac6fb));}['_recordCapture'](_0x2225d2){const _0x328644=_0x2225d2['captureMs']||0x0;this['_win']['count']++,this['_win']['captureSum']+=_0x328644,_0x328644>this['_win']['captureMax']&&(this['_win']['captureMax']=_0x328644),(_0x2225d2['renderMs']||0x0)>this['_win']['renderMax']&&(this['_win']['renderMax']=_0x2225d2['renderMs']||0x0),(_0x2225d2['readbackMs']||0x0)>this['_win']['readbackMax']&&(this['_win']['readbackMax']=_0x2225d2['readbackMs']||0x0);}['_notifyRunningChange'](){this['onRunningChange']&&this['onRunningChange'](this['_running']);}['collectStats'](){const 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this['_win']={'count':0x0,'captureSum':0x0,'captureMax':0x0,'renderMax':0x0,'readbackMax':0x0},_0x847e8f;}['getLastError'](){return this['_lastError'];}}const za=['320x240','640x480','1280x720','1920x1080'],Na=['jpeg','png','webp'];class Ua{constructor(_0x4ae598,_0x27df07,_0x260d52){this['app']=_0x4ae598,this['virtualCamera']=_0x27df07,this['publisher']=_0x260d52,this['panel']=null,this['_lastPreviewAt']=0x0,this['_statsTimer']=null,this['_cameraConnected']=!0x1,this['_domainId']=null,this['_domainIdResolved']=!0x1,this['_encodings']=null,this['publisher']['onPreview']=_0x363e41=>this['_handlePreview'](_0x363e41),this['publisher']['onRunningChange']=()=>this['_syncRunningState'](),this['publisher']['onCameraConnectionChange']=(_0x508faa,_0xa00887)=>this['_handleCameraConnection'](_0x508faa,_0xa00887),this['publisher']['onEncodings']=_0x6f1ae9=>this['_handleEncodings'](_0x6f1ae9),this['publisher']['onDomainId']=_0x369c4f=>this['_handleDomainId'](_0x369c4f);}['createPanel'](){var 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20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20而不是最初那根（平移和旋转都各自绑一个字段，不能把三个值打包成绝对量推下去）。\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20姿态三个轴一律**右手定则正方向**（从该轴正端看逆时针）：Roll\x20绕\x20X、Pitch\x20绕\x20Y、\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20Yaw\x20绕\x20Z。数值都是\x22这个刻度拧了多少\x22，读数与编辑顺序有关。\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20位置/姿态**各有一个「归零」**，紧跟在各自那一行后面：只复位自己那一组，\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20另半边（读数与姿态）一律不动。归零是**绝对复位**。\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20姿态绕**挂载坐标系自己的原点**转（改姿态相机原地不动、原点不飘），而且\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20只作用于挂载坐标系（相机\x20+\x20那组辅助轴）：**link\x20对象、URDF、关节\x20origin\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20一个字节都不动**，所以没有\x22关面板要还原\x22这回事。\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20每个量都有常显标识，不用鼠标悬停；manager\x20接口一律弧度（UI\x20用度）——\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20**姿态读数归一化到\x20±180°**：显示永远不超界，但**故意不设\x20min/max**，\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20否则原生微调箭头一到\x20±180\x20就被浏览器夹住、再也点不动了。越界值由\x20manager\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20换成等价短角后回写（181°\x20→\x20-179°，link\x20照旧继续往同方向转\x201°），\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20所以到边界后能一直点下去，转多少圈都行。\x20-->\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22ros-form-group\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<!--\x20位置与姿态各一张网格，**列宽模板完全一样**，所以两行的标识与输入框照样上下对齐。\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20每行的「归零」是这一行的**最后一格**（不另起一行）。代价是这一格要占\x20~34px，\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20只能从六个数字框里出：所以它们的左右内边距收窄成\x204px（默认\x2012px），\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20否则\x20\x22-0.1235\x22\x20这种值会被裁掉。面板宽\x20400px\x20也是为这个留的余量。\x20-->\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20style=\x22display:grid;grid-template-columns:24px\x20repeat(3,\x2030px\x20minmax(0,\x201fr))\x2010px\x20auto;gap:4px;align-items:center;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:11px;\x22\x20data-i18n=\x22position\x22>位置</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;text-align:center;\x22>X</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22number\x22\x20id=\x22vc-pos-x\x22\x20class=\x22ros-input\x22\x20step=\x220.001\x22\x20style=\x22min-width:0;width:100%;padding:8px\x204px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;text-align:center;\x22>Y</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22number\x22\x20id=\x22vc-pos-y\x22\x20class=\x22ros-input\x22\x20step=\x220.001\x22\x20style=\x22min-width:0;width:100%;padding:8px\x204px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;text-align:center;\x22>Z</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22number\x22\x20id=\x22vc-pos-z\x22\x20class=\x22ros-input\x22\x20step=\x220.001\x22\x20style=\x22min-width:0;width:100%;padding:8px\x204px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;\x22>m</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20id=\x22vc-pos-reset\x22\x20class=\x22ros-btn\x20ros-btn-secondary\x22\x20data-i18n=\x22zeroOut\x22\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20style=\x22padding:2px\x206px;font-size:10px;line-height:1.2;white-space:nowrap;\x22>归零</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20style=\x22display:grid;grid-template-columns:24px\x20repeat(3,\x2030px\x20minmax(0,\x201fr))\x2010px\x20auto;gap:4px;align-items:center;margin-top:8px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:11px;\x22\x20data-i18n=\x22orientation\x22>姿态</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;text-align:center;\x22>Roll</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22number\x22\x20id=\x22vc-rpy-r\x22\x20class=\x22ros-input\x22\x20step=\x221\x22\x20style=\x22min-width:0;width:100%;padding:8px\x204px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;text-align:center;\x22>Pitch</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22number\x22\x20id=\x22vc-rpy-p\x22\x20class=\x22ros-input\x22\x20step=\x221\x22\x20style=\x22min-width:0;width:100%;padding:8px\x204px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;text-align:center;\x22>Yaw</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22number\x22\x20id=\x22vc-rpy-y\x22\x20class=\x22ros-input\x22\x20step=\x221\x22\x20style=\x22min-width:0;width:100%;padding:8px\x204px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22color:var(--text-tertiary);font-size:10px;\x22>°</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20id=\x22vc-rpy-reset\x22\x20class=\x22ros-btn\x20ros-btn-secondary\x22\x20data-i18n=\x22zeroOut\x22\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20style=\x22padding:2px\x206px;font-size:10px;line-height:1.2;white-space:nowrap;\x22>归零</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22ros-form-group\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20style=\x22display:flex;align-items:center;gap:6px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22width:52px;color:var(--text-tertiary);font-size:11px;\x22\x20data-i18n=\x22opticalAxis\x22>光轴</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<select\x20id=\x22vc-forward\x22\x20class=\x22ros-select\x22\x20style=\x22flex:1;\x22></select>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20style=\x22width:56px;color:var(--text-tertiary);font-size:11px;\x22\x20data-i18n=\x22imageUp\x22>图像上方</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<select\x20id=\x22vc-up\x22\x20class=\x22ros-select\x22\x20style=\x22flex:1;\x22></select>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22ros-divider\x22></div>\x0a\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22ros-form-group\x22\x20style=\x22display:flex;gap:8px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20id=\x22vc-start-btn\x22\x20class=\x22ros-btn\x20ros-btn-primary\x22\x20style=\x22flex:1;\x22\x20data-i18n=\x22startPublish\x22>开始发布</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20id=\x22vc-stop-btn\x22\x20class=\x22ros-btn\x20ros-btn-secondary\x22\x20style=\x22flex:1;\x22\x20data-i18n=\x22stopPublish\x22\x20disabled>停止</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<img\x20id=\x22vc-preview\x22\x20alt=\x22'+this['_t']('previewAlt','虚拟相机预览')+'\x22\x20style=\x22width:100%;margin-top:6px;border-radius:6px;background:#000;display:none;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20',this['panel']=_0x41163e,this['refreshMountTargets'](),this['_syncMountPoseInputs'](),this['_syncOrientationSelects'](),this['attachEventListeners'](),this['_syncPresetSelect'](),this['_syncFormatSelect'](),null==(_0x1d76df=(_0x3353ce=this['publisher'])['requestEncodings'])||_0x1d76df['call'](_0x3353ce);const _0x52c6a4=_0x41163e['querySelector']('#vc-ros-url');return _0x52c6a4&&(_0x52c6a4['value']=this['_resolveRosUrl']()),this['_syncConnectionButtons'](!0x1),this['startStatsMonitor'](),_0x41163e;}['attachEventListeners'](){var _0x27c65c;const _0x18a850=_0x351289=>this['panel']['querySelector']('#'+_0x351289);_0x18a850('vc-topic')['addEventListener']('change',_0x28eb92=>{this['publisher']['topicName']=_0x28eb92['target']['value']['trim']()||this['publisher']['topicName'],_0x28eb92['target']['value']=this['publisher']['topicName'],this['publisher']['onTopicConfigChanged']();}),_0x18a850('vc-frame-id')['addEventListener']('change',_0x143ec0=>{this['publisher']['frameId']=_0x143ec0['target']['value']['trim']();}),[['vc-pos-x','x'],['vc-pos-y','y'],['vc-pos-z','z']]['forEach'](([_0x1a577f,_0x595137])=>{_0x18a850(_0x1a577f)['addEventListener']('change',_0x372194=>{const _0x17595b=parseFloat(_0x372194['target']['value']);this['virtualCamera']['setMountXyzField'](_0x595137,Number['isFinite'](_0x17595b)?_0x17595b:0x0),this['_syncMountPoseInputs']();});}),[['vc-rpy-r','roll'],['vc-rpy-p','pitch'],['vc-rpy-y','yaw']]['forEach'](([_0xa9d39f,_0x1e2d19])=>{_0x18a850(_0xa9d39f)['addEventListener']('change',_0x2d7a93=>{const _0x81d572=parseFloat(_0x2d7a93['target']['value']);this['virtualCamera']['setMountRpyField'](_0x1e2d19,(Number['isFinite'](_0x81d572)?_0x81d572:0x0)*Math['PI']/0xb4),this['_syncMountPoseInputs']();});}),_0x18a850('vc-pos-reset')['addEventListener']('click',()=>{this['virtualCamera']['setMount']({'xyz':[0x0,0x0,0x0]}),this['_syncMountPoseInputs']();}),_0x18a850('vc-rpy-reset')['addEventListener']('click',()=>{this['virtualCamera']['setMount']({'rpy':[0x0,0x0,0x0]}),this['_syncMountPoseInputs']();});const _0x1ac5e0=()=>{const _0x26ed2b=parseInt(_0x18a850('vc-width')['value'],0xa),_0x29b418=parseInt(_0x18a850('vc-height')['value'],0xa);_0x26ed2b&&_0x29b418&&(this['virtualCamera']['setResolution'](_0x26ed2b,_0x29b418),_0x18a850('vc-width')['value']=this['virtualCamera']['width'],_0x18a850('vc-height')['value']=this['virtualCamera']['height'],this['_syncPresetSelect']());};_0x18a850('vc-width')['addEventListener']('change',_0x1ac5e0),_0x18a850('vc-height')['addEventListener']('change',_0x1ac5e0),_0x18a850('vc-preset')['addEventListener']('change',_0x2033b4=>{const _0x4aac0c=_0x2033b4['target']['value'];if(!_0x4aac0c)return;const [_0x5eaba1,_0x30cfcb]=_0x4aac0c['split']('x')['map'](_0x3e9ad5=>parseInt(_0x3e9ad5,0xa));_0x18a850('vc-width')['value']=_0x5eaba1,_0x18a850('vc-height')['value']=_0x30cfcb,_0x1ac5e0();}),_0x18a850('vc-fov')['addEventListener']('change',_0x1ac7be=>{this['virtualCamera']['setFov'](parseFloat(_0x1ac7be['target']['value'])),_0x1ac7be['target']['value']=this['virtualCamera']['fov'];}),_0x18a850('vc-rate-hz')['addEventListener']('change',_0x32c664=>{const _0x110541=parseInt(_0x32c664['target']['value'],0xa);_0x110541&&(this['publisher']['rateHz']=Math['max'](0x1,Math['min'](0x78,_0x110541)),_0x32c664['target']['value']=this['publisher']['rateHz'],this['publisher']['onRateChanged']());}),_0x18a850('vc-mount-frame')['addEventListener']('change',_0x27c137=>{this['virtualCamera']['setMount']({'frame':_0x27c137['target']['value']}),this['_syncMountAxes']();}),_0x18a850('vc-show-axes')['addEventListener']('change',()=>this['_syncMountAxes']()),_0x18a850('vc-forward')['addEventListener']('change',_0xb2f62e=>{this['virtualCamera']['setMount']({'forward':_0xb2f62e['target']['value']}),this['_syncOrientationSelects']();}),_0x18a850('vc-up')['addEventListener']('change',_0x11574c=>{this['virtualCamera']['setMount']({'up':_0x11574c['target']['value']}),this['_syncOrientationSelects']();}),_0x18a850('vc-msg-type')['addEventListener']('change',_0x58cf8b=>{this['publisher']['messageType']=_0x58cf8b['target']['value']||this['publisher']['messageType'],_0x58cf8b['target']['value']=this['publisher']['messageType'],this['publisher']['onTopicConfigChanged']();}),_0x18a850('vc-format')['addEventListener']('change',_0xa8230d=>{this['publisher']['imageFormat']=Na['includes'](_0xa8230d['target']['value'])?_0xa8230d['target']['value']:'jpeg',_0xa8230d['target']['value']=this['publisher']['imageFormat'],this['publisher']['onFormatChanged']();}),_0x18a850('vc-ros-url')['addEventListener']('change',_0x544f67=>{const _0x5485d6=this['_persistRosUrl'](_0x544f67['target']['value']);_0x544f67['target']['value']=_0x5485d6;}),_0x18a850('vc-connect-btn')['addEventListener']('click',()=>{const _0xadc0a8=this['_persistRosUrl'](_0x18a850('vc-ros-url')['value']);_0x18a850('vc-ros-url')['value']=_0xadc0a8,this['publisher']['connect'](_0xadc0a8)?this['_syncConnectionButtons'](!0x0):this['_warn']('连接失败：'+(this['publisher']['getLastError']()||'未知原因'));}),_0x18a850('vc-disconnect-btn')['addEventListener']('click',()=>{this['publisher']['disconnect'](),this['_syncConnectionButtons'](!0x1);}),_0x18a850('vc-download-script')['addEventListener']('click',_0xcfab16=>{_0xcfab16['preventDefault']();const _0x1d6472=document['createElement']('a');_0x1d6472['href']='/scripts/start-rosbridge.sh',_0x1d6472['download']='start-rosbridge.sh',document['body']['appendChild'](_0x1d6472),_0x1d6472['click'](),document['body']['removeChild'](_0x1d6472);}),_0x18a850('vc-start-btn')['addEventListener']('click',()=>{var _0x5e3292;if(!(null==(_0x5e3292=this['app'])?void 0x0:_0x5e3292['currentModel']))return void this['_warn']('请先载入机器人模型');const _0x2da5c5=this['_persistRosUrl'](_0x18a850('vc-ros-url')['value']);_0x18a850('vc-ros-url')['value']=_0x2da5c5,this['publisher']['start'](_0x2da5c5)||this['_warn']('发布启动失败：'+(this['publisher']['getLastError']()||'未知原因'));}),_0x18a850('vc-stop-btn')['addEventListener']('click',()=>{this['publisher']['stop']();}),null==(_0x27c65c=document['getElementById']('toggle-virtual-camera-panel'))||_0x27c65c['addEventListener']('click',()=>{this['refreshMountTargets']();});}['_syncOrientationSelects'](){var _0x11c60d,_0x1e62f4;const _0x1775af=null==(_0x11c60d=this['panel'])?void 0x0:_0x11c60d['querySelector']('#vc-forward'),_0x118d56=null==(_0x1e62f4=this['panel'])?void 0x0:_0x1e62f4['querySelector']('#vc-up');if(!_0x1775af||!_0x118d56)return;const _0x6115db=this['virtualCamera']['getState']();_0x1775af['innerHTML']=La['map'](_0x5de08b=>'<option\x20value=\x22'+_0x5de08b+'\x22>'+_0x5de08b+'</option>')['join'](''),_0x1775af['value']=_0x6115db['forwardAxis'],_0x118d56['innerHTML']=ka(_0x6115db['forwardAxis'])['map'](_0x21380c=>'<option\x20value=\x22'+_0x21380c+'\x22>'+_0x21380c+'</option>')['join'](''),_0x118d56['value']=_0x6115db['upAxis'];}['_syncMountPoseInputs'](){var _0x18c624,_0x47fc1a;const _0x411d06=(null==(_0x47fc1a=(_0x18c624=this['virtualCamera'])['getState'])?void 0x0:_0x47fc1a['call'](_0x18c624))||{},_0x405f81=_0x411d06['mountXyz']||[0x0,0x0,0x0],_0x2cc398=(_0x411d06['mountRpy']||[0x0,0x0,0x0])['map'](_0x509c4f=>0xb4*_0x509c4f/Math['PI']),_0x23b636=(_0x1be781,_0x332e20)=>{var _0x378003;const _0x583ea7=null==(_0x378003=this['panel'])?void 0x0:_0x378003['querySelector']('#'+_0x1be781);_0x583ea7&&(_0x583ea7['value']=String(Number(Number(_0x332e20)['toFixed'](0x4))));};_0x23b636('vc-pos-x',_0x405f81[0x0]),_0x23b636('vc-pos-y',_0x405f81[0x1]),_0x23b636('vc-pos-z',_0x405f81[0x2]),_0x23b636('vc-rpy-r',_0x2cc398[0x0]),_0x23b636('vc-rpy-p',_0x2cc398[0x1]),_0x23b636('vc-rpy-y',_0x2cc398[0x2]);}['refreshMountTargets'](){var _0x1b533a,_0x215ff3,_0x48dbe2;const _0x21f0fe=null==(_0x1b533a=this['panel'])?void 0x0:_0x1b533a['querySelector']('#vc-mount-frame');if(!_0x21f0fe)return;const _0xf955fa=null==(_0x48dbe2=null==(_0x215ff3=this['app'])?void 0x0:_0x215ff3['sceneManager'])?void 0x0:_0x48dbe2['currentModel'],_0xe985f2=(null==_0xf955fa?void 0x0:_0xf955fa['links'])?Array['from'](_0xf955fa['links']['keys']()):[],_0x59ca07=this['virtualCamera']['mountFrame']||Aa;_0x21f0fe['innerHTML']=['<option\x20value=\x22'+Aa+'\x22\x20data-i18n=\x22worldFrame\x22>'+this['_t']('worldFrame','世界坐标系')+'</option>',..._0xe985f2['map'](_0x133686=>'<option\x20value=\x22'+_0x133686+'\x22>'+_0x133686+'</option>')]['join'](''),_0x59ca07===Aa||_0xe985f2['includes'](_0x59ca07)||this['virtualCamera']['setMount']({'frame':Aa}),_0x21f0fe['value']=this['virtualCamera']['mountFrame'],this['_syncMountAxes']({'refreshParent':!0x0});}['_syncMountAxes']({refreshParent:_0x24b93e=!0x1}={}){var _0x332dd6,_0x5efe80,_0x3a7e8d,_0x2af02a;const _0x306900=this['_isPanelVisible'](),_0x3ca2da=!!(null==(_0x5efe80=null==(_0x332dd6=this['panel'])?void 0x0:_0x332dd6['querySelector']('#vc-show-axes'))?void 0x0:_0x5efe80['checked']);this['virtualCamera']['setMountAxesVisible'](_0x3ca2da&&_0x306900),_0x24b93e&&(null==(_0x2af02a=(_0x3a7e8d=this['virtualCamera'])['refreshMountAxes'])||_0x2af02a['call'](_0x3a7e8d));}['_handleCameraConnection'](_0x102f04,_0x4a8d67){var _0x11d8dc;this['_cameraConnected']=!!_0x102f04;const _0x44f08a=null==(_0x11d8dc=this['panel'])?void 0x0:_0x11d8dc['querySelector']('#vc-cam-status');_0x44f08a&&(_0x44f08a['textContent']=this['_t'](_0x102f04?'cameraConnected':'cameraDisconnected'),_0x44f08a['style']['color']=_0x102f04?'#4caf50':'#f44336'),this['_syncConnectionButtons'](_0x102f04),_0x102f04||(this['_domainId']=null,this['_resetDomainIdBadge']()),!_0x102f04&&_0x4a8d67&&this['_warn']('相机连接出错：'+_0x4a8d67,_0x4a8d67);}['_resetDomainIdBadge'](){var _0x812318;this['_domainId']=null,this['_domainIdResolved']=!0x1;const _0xb0d919=null==(_0x812318=this['panel'])?void 0x0:_0x812318['querySelector']('#vc-domain-id');_0xb0d919&&(_0xb0d919['textContent']='—',_0xb0d919['style']['background']='#1e8e3e');}['_handleDomainId'](_0x39b445){var _0x123320;const _0x36b97e=null==(_0x123320=this['panel'])?void 0x0:_0x123320['querySelector']('#vc-domain-id');_0x36b97e&&this['_cameraConnected']&&(this['_domainIdResolved']=!0x0,this['_domainId']='number'==typeof _0x39b445?_0x39b445:null,'number'==typeof _0x39b445?(_0x36b97e['textContent']=String(_0x39b445),_0x36b97e['style']['background']='#1e8e3e'):(_0x36b97e['textContent']=this['_t']('unknown'),_0x36b97e['style']['background']='#e65100'));}['_syncConnectionButtons'](_0x53af4f){var _0x50b0f6,_0xeff7e0,_0x18380f;const _0x496b07=null==(_0x50b0f6=this['panel'])?void 0x0:_0x50b0f6['querySelector']('#vc-connect-btn'),_0x5bc2a1=null==(_0xeff7e0=this['panel'])?void 0x0:_0xeff7e0['querySelector']('#vc-disconnect-btn'),_0x132441=null==(_0x18380f=this['panel'])?void 0x0:_0x18380f['querySelector']('#vc-ros-url');_0x496b07&&(_0x496b07['disabled']=!!_0x53af4f),_0x5bc2a1&&(_0x5bc2a1['disabled']=!_0x53af4f),_0x132441&&(_0x132441['disabled']=!!_0x53af4f);}['_syncRunningState'](){var _0x1ca159,_0x1056af,_0x89e6ec;const _0x448439=null==(_0x1ca159=this['panel'])?void 0x0:_0x1ca159['querySelector']('#vc-start-btn'),_0x771902=null==(_0x1056af=this['panel'])?void 0x0:_0x1056af['querySelector']('#vc-stop-btn'),_0x48dca3=null==(_0x89e6ec=this['panel'])?void 0x0:_0x89e6ec['querySelector']('#vc-topic'),_0x1b8163=this['publisher']['isRunning']();_0x448439&&(_0x448439['disabled']=_0x1b8163),_0x771902&&(_0x771902['disabled']=!_0x1b8163),_0x48dca3&&(_0x48dca3['disabled']=_0x1b8163),this['_syncConnectionButtons'](this['_cameraConnected']);}['_resolveRosUrl'](){var _0x41bd3f,_0x158527,_0x52fbb2,_0x1e0ea3,_0x59ef6b,_0x1a9b0f;return(null==(_0x52fbb2=null==(_0x158527=null==(_0x41bd3f=this['panel'])?void 0x0:_0x41bd3f['querySelector']('#vc-ros-url'))?void 0x0:_0x158527['value'])?void 0x0:_0x52fbb2['trim']())||(null==(_0x1a9b0f=null==(_0x59ef6b=null==(_0x1e0ea3=this['app'])?void 0x0:_0x1e0ea3['rosConnectionPanel'])?void 0x0:_0x59ef6b['getServerUrl'])?void 0x0:_0x1a9b0f['call'](_0x59ef6b))||localStorage['getItem']('ros_url')||'ws://localhost:9090';}['_persistRosUrl'](_0x3806ea){var _0x5ebff9,_0x31db30,_0x3ab9be;const _0x57a03b=String(_0x3806ea||'')['trim']()||'ws://localhost:9090';return localStorage['setItem']('ros_url',_0x57a03b),null==(_0x3ab9be=null==(_0x31db30=null==(_0x5ebff9=this['app'])?void 0x0:_0x5ebff9['rosConnectionPanel'])?void 0x0:_0x31db30['setServerUrl'])||_0x3ab9be['call'](_0x31db30,_0x57a03b),_0x57a03b;}['_syncPresetSelect'](){var _0x4e3377;const _0x56c536=null==(_0x4e3377=this['panel'])?void 0x0:_0x4e3377['querySelector']('#vc-preset');if(!_0x56c536)return;const _0x68c522=this['virtualCamera']['width']+'x'+this['virtualCamera']['height'];_0x56c536['value']=za['includes'](_0x68c522)?_0x68c522:'';}['_syncFormatSelect'](){var _0x2ded11;const _0x428849=null==(_0x2ded11=this['panel'])?void 0x0:_0x2ded11['querySelector']('#vc-format');_0x428849&&(_0x428849['value']=Na['includes'](this['publisher']['imageFormat'])?this['publisher']['imageFormat']:'jpeg');}['_handleEncodings'](_0x5a405c){var _0x17761f;this['_encodings']=Array['isArray'](_0x5a405c)?_0x5a405c:null;const _0x59b8a7=null==(_0x17761f=this['panel'])?void 0x0:_0x17761f['querySelector']('#vc-format');if(_0x59b8a7&&this['_encodings']){let _0x4ee33f=null;[..._0x59b8a7['options']]['forEach'](_0x1e7cd6=>{const _0xd90a73=this['_encodings']['find'](_0x5290b9=>_0x5290b9['format']===_0x1e7cd6['value']),_0x10769e=!_0xd90a73||_0xd90a73['supported'];_0x1e7cd6['disabled']=!_0x10769e,_0x1e7cd6['textContent']=_0x10769e?_0x1e7cd6['value']:_0x1e7cd6['value']+'\x20—\x20'+this['_t']('browserUnsupported'),_0x10769e&&!_0x4ee33f&&(_0x4ee33f=_0x1e7cd6['value']);});const _0x3a0643=this['_encodings']['find'](_0x151253=>_0x151253['format']===this['publisher']['imageFormat']);_0x3a0643&&!_0x3a0643['supported']&&_0x4ee33f&&(this['publisher']['imageFormat']=_0x4ee33f,this['publisher']['onFormatChanged'](),_0x59b8a7['value']=_0x4ee33f,this['_warn'](_0x3a0643['format']+'\x20这台浏览器编不了，已改回\x20'+_0x4ee33f));}}['startStatsMonitor'](){this['_statsTimer']&&clearInterval(this['_statsTimer']),this['_statsTimer']=setInterval(()=>{var _0x2c2108,_0x1697c6;if(!this['panel'])return;null==(_0x1697c6=(_0x2c2108=this['publisher'])['setPreviewEnabled'])||_0x1697c6['call'](_0x2c2108,this['_isPanelVisible']()),this['_syncMountAxes']();const _0x25f572=this['publisher']['collectStats'](),_0x3416a7=this['publisher']['isRunning'](),_0x53a257=this['panel']['querySelector']('#vc-rate');_0x53a257&&(_0x53a257['textContent']=_0x25f572['rate']['toFixed'](0x1)+'\x20Hz',_0x53a257['title']=_0x3416a7?this['_t']('rateTargetTitle')['replace']('{target}',_0x25f572['target']):this['_t']('rateIdleTitle'),_0x53a257['style']['opacity']=_0x3416a7||_0x25f572['rate']?'1':'0.55');},0x3e8);}['dispose'](){this['_statsTimer']&&clearInterval(this['_statsTimer']),this['_statsTimer']=null;}['_isPanelVisible'](){return('undefined'==typeof document||!document['hidden'])&&(!!this['panel']&&'none'!==this['panel']['style']['display']);}['_t'](_0x171f6a,_0x380f18=_0x171f6a){var _0x43cfb3,_0x27362a;const _0x148aef=null==(_0x27362a=null==(_0x43cfb3=window['i18n'])?void 0x0:_0x43cfb3['t'])?void 0x0:_0x27362a['call'](_0x43cfb3,_0x171f6a);return _0x148aef&&_0x148aef!==_0x171f6a?_0x148aef:_0x380f18;}['refreshLanguage'](){var _0x3a3792,_0x145300,_0x5adffc;null==(_0x145300=null==(_0x3a3792=window['i18n'])?void 0x0:_0x3a3792['updatePageLanguage'])||_0x145300['call'](_0x3a3792),this['_encodings']&&this['_handleEncodings'](this['_encodings']),this['_handleCameraConnection'](this['_cameraConnected']),this['_cameraConnected']&&this['_domainIdResolved']&&this['_handleDomainId'](this['_domainId']);const _0x54f0e9=null==(_0x5adffc=this['panel'])?void 0x0:_0x5adffc['querySelector']('#vc-preview');_0x54f0e9&&(_0x54f0e9['alt']=this['_t']('previewAlt','虚拟相机预览'));}['_handlePreview'](_0x511617){var _0x46af04;if(!this['_isPanelVisible']())return;const _0x58b1b6=performance['now']();if(this['publisher']['isRunning']()&&_0x58b1b6-this['_lastPreviewAt']<0x64)return;this['_lastPreviewAt']=_0x58b1b6;const _0x156144=null==(_0x46af04=this['panel'])?void 0x0:_0x46af04['querySelector']('#vc-preview');if(!_0x156144)return;_0x156144['style']['display']='block',_0x156144['style']['aspectRatio']=_0x511617['width']+'\x20/\x20'+_0x511617['height'];const _0x1d84ec=_0x511617['previewWidth']?'\x20·\x20'+this['_t']('previewThumb','缩略图')+'\x20'+_0x511617['previewWidth']+'×'+_0x511617['previewHeight']:'';_0x156144['title']=this['_t']('previewFrame','画面')+'\x20'+_0x511617['width']+'×'+_0x511617['height']+_0x1d84ec+'\x20·\x20'+this['_t']('previewSingleFrame','单帧')+'\x20'+(_0x511617['payloadBytes']/0x400)['toFixed'](0x1)+'\x20KB',_0x156144['src']='data:'+(_0x511617['mime']||'image/jpeg')+';base64,'+_0x511617['base64'];}['_warn'](_0x42c1c6,_0x1e9151){}}class Va{constructor(_0x2de230,_0x3be5b7,_0x586ba8){this['sceneManager']=_0x2de230,this['app']=_0x3be5b7,this['config']=_0x586ba8,this['panel']=null,this['searchText']='';}['createPanel'](){const _0x15f02c=document['createElement']('div');return _0x15f02c['id']=this['config']['panelId'],_0x15f02c['className']='floating-panel',_0x15f02c['style']['cssText']=this['config']['panelStyle'],_0x15f02c['innerHTML']='\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22floating-panel-header\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20data-i18n=\x22'+this['config']['titleI18nKey']+'\x22>'+this['config']['titleText']+'</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20class=\x22panel-close-btn\x22>✕</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22floating-panel-content\x20axes-panel-content\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-panel-controls\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-form-group\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22text\x22\x20class=\x22axes-search\x22\x20placeholder=\x22'+window['i18n']['t']('searchPlaceholder')+'\x22\x20data-i18n-placeholder=\x22searchPlaceholder\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-form-group\x22\x20style=\x22display:flex;gap:8px;\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20class=\x22axes-btn\x20axes-btn-secondary\x22\x20id=\x22'+this['config']['selectAllId']+'\x22\x20data-i18n=\x22selectAll\x22>全选</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20class=\x22axes-btn\x20axes-btn-secondary\x22\x20id=\x22'+this['config']['deselectAllId']+'\x22\x20data-i18n=\x22deselectAll\x22>全不选</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-divider\x22></div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-form-group\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<label\x20class=\x22axes-checkbox\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22checkbox\x22\x20id=\x22'+this['config']['showLabelsId']+'\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20data-i18n=\x22showLabels\x22>显示名称</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</label>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-form-group\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<label\x20class=\x22axes-label\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20data-i18n=\x22displaySize\x22>显示尺寸</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20class=\x22axes-scale-value\x22\x20id=\x22'+this['config']['scaleValueId']+'\x22>1.0x</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</label>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22range\x22\x20class=\x22axes-slider\x22\x20id=\x22'+this['config']['scaleSliderId']+'\x22\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20min=\x220.1\x22\x20max=\x222.0\x22\x20step=\x220.1\x22\x20value=\x221.0\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-list-container\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-list\x22\x20id=\x22'+this['config']['listId']+'\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22no-results\x22\x20data-i18n=\x22noAxesAvailable\x22>无可用坐标轴</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22axes-panel-bottom-spacer\x22\x20aria-hidden=\x22true\x22></div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20</div>\x0a\x20\x20\x20\x20\x20\x20\x20\x20',this['panel']=_0x15f02c,this['attachEventListeners'](),_0x15f02c;}['attachEventListeners'](){const _0xec643b=this['panel']['querySelector']('.panel-close-btn'),_0x3a70b6=this['panel']['querySelector']('.axes-search'),_0x929269=this['panel']['querySelector']('#'+this['config']['selectAllId']),_0x18d74c=this['panel']['querySelector']('#'+this['config']['deselectAllId']),_0x362445=this['panel']['querySelector']('#'+this['config']['showLabelsId']),_0x7242ab=this['panel']['querySelector']('#'+this['config']['scaleSliderId']),_0x40a605=this['panel']['querySelector']('#'+this['config']['scaleValueId']),_0x297bf1=this['panel']['querySelector']('#'+this['config']['listId']);_0xec643b['addEventListener']('click',()=>{this['hide']();}),_0x3a70b6['addEventListener']('input',_0x4b1efb=>{this['searchText']=_0x4b1efb['target']['value'],this['updateAxesList']();}),_0x929269['addEventListener']('click',()=>{this['selectAll'](!0x0);}),_0x18d74c['addEventListener']('click',()=>{this['selectAll'](!0x1);}),_0x362445['addEventListener']('change',_0x1a701e=>{this['sceneManager']['axesManager']['setShowLabels'](_0x1a701e['target']['checked']);}),_0x7242ab['addEventListener']('input',_0x243a93=>{const _0x4d22cc=parseFloat(_0x243a93['target']['value']);_0x40a605['textContent']=_0x4d22cc['toFixed'](0x1)+'x',this['sceneManager']['axesManager']['setAxesScale'](_0x4d22cc),this['app']['currentModel']&&this['reloadAxes']();}),_0x297bf1['addEventListener']('change',_0x5e6304=>{_0x5e6304['target']['matches']('input[type=\x22checkbox\x22][data-axis-name]')&&this['setAxisVisible'](_0x5e6304['target']['dataset']['axisName'],_0x5e6304['target']['checked']);});}['updateAxesList'](){const _0x3c5ba0=this['getAxisNames']()['filter'](_0x4f69bc=>_0x4f69bc['toLowerCase']()['includes'](this['searchText']['toLowerCase']())),_0xcc226f=this['panel']['querySelector']('#'+this['config']['listId']);if(_0xcc226f['innerHTML']='',0x0===_0x3c5ba0['length']){const _0x1e15d=document['createElement']('div');return _0x1e15d['className']='no-results',_0x1e15d['setAttribute']('data-i18n','noAxesAvailable'),_0x1e15d['textContent']=window['i18n']['t']('noAxesAvailable'),void _0xcc226f['appendChild'](_0x1e15d);}const _0x7fd936=document['createDocumentFragment']();_0x3c5ba0['forEach'](_0x43feef=>{const _0x25769a=document['createElement']('label');_0x25769a['className']='axes-checkbox';const _0x4d9488=document['createElement']('input');_0x4d9488['type']='checkbox',_0x4d9488['dataset']['axisName']=_0x43feef,_0x4d9488['checked']=this['isAxisVisible'](_0x43feef);const _0x28d57a=document['createElement']('span');_0x28d57a['title']=_0x43feef,_0x28d57a['textContent']=_0x43feef,_0x25769a['appendChild'](_0x4d9488),_0x25769a['appendChild'](_0x28d57a),_0x7fd936['appendChild'](_0x25769a);}),_0xcc226f['appendChild'](_0x7fd936);}['selectAll'](_0x9bd1fb){this['setAllAxesVisible'](_0x9bd1fb),this['panel']['querySelectorAll']('input[type=\x22checkbox\x22][data-axis-name]')['forEach'](_0x18ba71=>{_0x18ba71['checked']=_0x9bd1fb;});}['reloadAxes'](){const _0x50aa9f=this['app']['currentModel'];if(!_0x50aa9f)return;const _0x500117=this['sceneManager']['axesManager'],_0x3d11aa=new Map(),_0x3f343a=_0x500117['showLabels'];this['getAxisNames']()['forEach'](_0x33bafc=>{_0x3d11aa['set'](_0x33bafc,this['isAxisVisible'](_0x33bafc));}),this['clearAxes'](),this['recreateAxes'](_0x50aa9f),_0x3d11aa['forEach']((_0x4921d3,_0x4cf469)=>{this['setAxisVisible'](_0x4cf469,_0x4921d3);}),_0x500117['setShowLabels'](_0x3f343a),this['updateAxesList'](),this['sceneManager']['redraw']();}['show'](){this['panel']['style']['display']='block',this['syncToggleButtonState'](!0x0),this['updateAxesList']();this['panel']['querySelector']('#'+this['config']['showLabelsId'])['checked']=this['sceneManager']['axesManager']['showLabels'];const _0x13760a=this['panel']['querySelector']('#'+this['config']['scaleSliderId']),_0x10ec35=this['panel']['querySelector']('#'+this['config']['scaleValueId']),_0x56f6bd=this['sceneManager']['axesManager']['getAxesScale']();_0x13760a['value']=_0x56f6bd,_0x10ec35['textContent']=_0x56f6bd['toFixed'](0x1)+'x';}['hide'](){this['panel']['style']['display']='none',this['syncToggleButtonState'](!0x1);}['toggle'](){'none'===this['panel']['style']['display']?this['show']():this['hide']();}['isVisible'](){return'none'!==this['panel']['style']['display'];}['syncToggleButtonState'](_0x334f6c){const _0x3d1658=document['getElementById'](this['config']['toggleButtonId']);_0x3d1658&&_0x3d1658['classList']['toggle']('active',_0x334f6c);}['getAxisNames'](){throw new Error('getAxisNames()\x20must\x20be\x20implemented\x20by\x20subclass');}['isAxisVisible'](){throw new Error('isAxisVisible()\x20must\x20be\x20implemented\x20by\x20subclass');}['setAxisVisible'](){throw new Error('setAxisVisible()\x20must\x20be\x20implemented\x20by\x20subclass');}['setAllAxesVisible'](_0x6a5a3c){this['getAxisNames']()['forEach'](_0x5a09fc=>{this['setAxisVisible'](_0x5a09fc,_0x6a5a3c);});}['clearAxes'](){throw new Error('clearAxes()\x20must\x20be\x20implemented\x20by\x20subclass');}['recreateAxes'](){throw new Error('recreateAxes()\x20must\x20be\x20implemented\x20by\x20subclass');}}class qa extends Va{constructor(_0x318581,_0x8840b8){super(_0x318581,_0x8840b8,{'panelId':'axes-control-panel','panelStyle':'top:\x2080px;\x20left:\x2020px;\x20width:\x20320px;\x20height:\x20calc(100vh\x20-\x20160px);\x20z-index:\x2051;\x20display:\x20none;','titleI18nKey':'axesControlPanel','titleText':'Link\x20坐标轴控制','selectAllId':'axes-select-all','deselectAllId':'axes-deselect-all','showLabelsId':'axes-show-labels','scaleValueId':'axes-scale-value','scaleSliderId':'axes-scale-slider','listId':'axes-list','toggleButtonId':'toggle-axes-btn'}),this['_rpySectionVisible']=!0x1,this['_originalRpy']=[0x0,0x0,0x0],this['_currentRpy']=[0x0,0x0,0x0],this['_selectedJointName']=null,this['_selectedLinkName']=null;}['createPanel'](){const 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_0x3edb94=_0x11e86b['querySelector']('.axes-panel-controls');return _0x3edb94&&_0x3edb94['nextSibling']?_0x11e86b['insertBefore'](_0x2f7928,_0x3edb94['nextSibling']):_0x11e86b['appendChild'](_0x2f7928),this['_attachRpyListeners'](_0x2f7928),_0x34d9da;}['_attachRpyListeners'](_0x2bda99){_0x2bda99['querySelectorAll']('.axes-rpy-btn[data-rpy]')['forEach'](_0x34f176=>{_0x34f176['addEventListener']('click',()=>{const _0x4c96f1={'roll':0x0,'pitch':0x1,'yaw':0x2}[_0x34f176['dataset']['rpy']];this['_currentRpy'][_0x4c96f1]+=parseInt(_0x34f176['dataset']['dir'])*(Math['PI']/0x2),this['_updateRpyDisplay'](),this['_previewRpy']();});});_0x2bda99['querySelector']('#axes-rpy-apply')['addEventListener']('click',()=>{if(!this['_onRpyApply']||!this['_selectedLinkName'])return;this['_currentRpy']['some']((_0x1c813f,_0xffe57d)=>Math['abs'](_0x1c813f-this['_originalRpy'][_0xffe57d])>0.001)&&(this['_onRpyApply'](this['_selectedLinkName'],[...this['_currentRpy']]),this['_originalRpy']=[...this['_currentRpy']]);});_0x2bda99['querySelector']('#axes-rpy-reset')['addEventListener']('click',()=>{this['_currentRpy']=[...this['_originalRpy']],this['_updateRpyDisplay'](),this['_previewRpy']();});}['_previewRpy'](){if(!this['_selectedLinkName']||!this['app']||!this['app']['currentModel'])return;const _0x12d030=this['app']['currentModel'],_0x2f4096=_0x12d030['links']['get'](this['_selectedLinkName']);if(!_0x2f4096||!_0x2f4096['threeObject'])return;const _0x4995ba=new _0x4adb8f()['setFromEuler'](new _0x730a0a(this['_originalRpy'][0x0],this['_originalRpy'][0x1],this['_originalRpy'][0x2],'ZYX')),_0x128dd2=new _0x4adb8f()['setFromEuler'](new _0x730a0a(this['_currentRpy'][0x0],this['_currentRpy'][0x1],this['_currentRpy'][0x2],'ZYX')),_0x586880=_0x4995ba['clone']()['invert']()['multiply'](_0x128dd2);_0x2f4096['threeObject']['quaternion']['copy'](_0x586880),_0x2f4096['threeObject']['position']['set'](0x0,0x0,0x0),_0x12d030['threeObject']&&_0x12d030['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw']();}['_updateRpyDisplay'](){const _0x467dab=_0x23bf2c=>{let _0x1ffb11=Math['round'](0xb4*_0x23bf2c/Math['PI'])%0x168;return _0x1ffb11>0xb4&&(_0x1ffb11-=0x168),_0x1ffb11<=-0xb4&&(_0x1ffb11+=0x168),_0x1ffb11;},_0x55e986=this['panel']['querySelector']('#axes-rpy-roll'),_0x3601d0=this['panel']['querySelector']('#axes-rpy-pitch'),_0x142a06=this['panel']['querySelector']('#axes-rpy-yaw');_0x55e986&&(_0x55e986['textContent']=_0x467dab(this['_currentRpy'][0x0])+'°'),_0x3601d0&&(_0x3601d0['textContent']=_0x467dab(this['_currentRpy'][0x1])+'°'),_0x142a06&&(_0x142a06['textContent']=_0x467dab(this['_currentRpy'][0x2])+'°');}['showRpySection'](_0xebe951,_0x482235){if(!_0xebe951||!_0x482235)return void this['hideRpySection']();let _0x18bacb=null;if(_0xebe951['joints']['forEach'](_0x4b7886=>{_0x4b7886['child']===_0x482235&&(_0x18bacb=_0x4b7886);}),!_0x18bacb)return void this['hideRpySection']();this['_selectedLinkName']=_0x482235,this['_selectedJointName']=_0x18bacb['name'];let _0x3ff4cd=[0x0,0x0,0x0];if(this['app']['codeEditorManager']){const _0x200731=this['app']['codeEditorManager']['getJointOriginRpy'](_0x18bacb['name']);_0x200731&&(_0x3ff4cd=_0x200731);}if(_0x3ff4cd['every'](_0x2e6569=>0x0===_0x2e6569)&&_0x18bacb['threeObject']){const _0x255ccb=new _0x730a0a()['setFromQuaternion'](_0x18bacb['threeObject']['quaternion'],'ZYX');_0x3ff4cd=[_0x255ccb['x'],_0x255ccb['y'],_0x255ccb['z']];}_0x18bacb['_origRpy']=[..._0x3ff4cd],_0x18bacb['_origXyz']=_0x18bacb['threeObject']?[_0x18bacb['threeObject']['position']['x'],_0x18bacb['threeObject']['position']['y'],_0x18bacb['threeObject']['position']['z']]:_0x18bacb['origin']?[..._0x18bacb['origin']['xyz']]:[0x0,0x0,0x0],this['_originalRpy']=[..._0x3ff4cd],this['_currentRpy']=[..._0x3ff4cd];const _0x29ceef=this['panel']['querySelector']('#axes-rpy-section');_0x29ceef&&(_0x29ceef['style']['display']='block');const _0x27f8c6=this['panel']['querySelector']('#axes-rpy-joint-name');_0x27f8c6&&(_0x27f8c6['textContent']=_0x18bacb['name']),this['_updateRpyDisplay']();}['hideRpySection'](){this['_selectedLinkName']=null,this['_selectedJointName']=null,this['_originalRpy']=[0x0,0x0,0x0],this['_currentRpy']=[0x0,0x0,0x0];const _0x8e3f6=this['panel']['querySelector']('#axes-rpy-section');_0x8e3f6&&(_0x8e3f6['style']['display']='none');}['setOnRpyApply'](_0x5e8f55){this['_onRpyApply']=_0x5e8f55;}['getAxisNames'](){return this['sceneManager']['axesManager']['getLinkNames']();}['isAxisVisible'](_0x19e7bf){return this['sceneManager']['axesManager']['isLinkAxisVisible'](_0x19e7bf);}['setAxisVisible'](_0x561e9d,_0x5c9768){this['sceneManager']['axesManager']['showAxesByName'](_0x561e9d,_0x5c9768);}['setAllAxesVisible'](_0x4e180d){this['sceneManager']['axesManager']['setAllLinkAxesVisible'](_0x4e180d);}['clearAxes'](){this['sceneManager']['axesManager']['clearAllLinkAxes']();}['recreateAxes'](_0x16e585){const _0x463d71=this['sceneManager']['axesManager']['modelSize'];_0x16e585['links']['forEach']((_0x16a504,_0x1181e2)=>{this['sceneManager']['axesManager']['createLinkAxes'](_0x16a504,_0x1181e2,_0x463d71);});}}class Ba extends Va{constructor(_0x3b22a1,_0x351f75){super(_0x3b22a1,_0x351f75,{'panelId':'joint-axes-control-panel','panelStyle':'top:\x2080px;\x20left:\x20360px;\x20width:\x20320px;\x20height:\x20calc(100vh\x20-\x20160px);\x20z-index:\x2051;\x20display:\x20none;','titleI18nKey':'jointAxesControlPanel','titleText':'关节轴控制','selectAllId':'joint-axes-select-all','deselectAllId':'joint-axes-deselect-all','showLabelsId':'joint-axes-show-labels','scaleValueId':'joint-axes-scale-value','scaleSliderId':'joint-axes-scale-slider','listId':'joint-axes-list','toggleButtonId':'toggle-joint-axes-btn'});}['getAxisNames'](){return this['sceneManager']['axesManager']['getJointNames']();}['isAxisVisible'](_0x41e4e7){return this['sceneManager']['axesManager']['isJointAxisVisible'](_0x41e4e7);}['setAxisVisible'](_0x357c0f,_0x5b9629){this['sceneManager']['axesManager']['showJointAxisByName'](_0x357c0f,_0x5b9629);}['setAllAxesVisible'](_0x2fe216){this['sceneManager']['axesManager']['setAllJointAxesVisible'](_0x2fe216);}['clearAxes'](){this['sceneManager']['axesManager']['clearAllJointAxes']();}['recreateAxes'](_0x5ed931){_0x5ed931['joints']['forEach']((_0x49ef82,_0x50ad49)=>{this['sceneManager']['axesManager']['createJointAxis'](_0x49ef82,_0x50ad49);});}}const $a='1.1.2',Ja={'zh-CN':{'visual':'视觉','collision':'碰撞','com':'质心','inertia':'惯量','axes':'坐标轴','jointAxes':'关节轴','shadow':'阴影','lighting':'光照','files':'文件','joints':'关节','structure':'结构','edit':'编辑','jointInfo':'关节信息','help':'帮助','theme':'主题','language':'语言','fileList':'文件','jointControl':'关节','modelStructure':'结构','codeEditor':'编辑','radian':'弧度','degree':'角度','reset':'重置','limits':'限位','mujocoReset':'重置','mujocoSimulate':'仿真','mujocoPause':'暂停','reload':'重新加载','download':'下载','saved':'已保存','unsaved':'未保存','noFileOpen':'未打开文件','helpTitle':'IO\x20Robot\x20Viewer\x20v'+$a,'about':'关于','aboutContent':'IO\x20Robot\x20Viewer\x20是一个基于\x20Three.js\x20的网页端机器人遥操作适配工具，提供直观的可视化界面，帮助您在浏览器中查看和分析机器人的结构、关节等属性，引导您完成适配流程并提供ROS通讯与监控能力。<br><br>本项目基于\x20<a\x20href=\x22https://github.com/fan-ziqi/robot_viewer\x22\x20target=\x22_blank\x22\x20rel=\x22noopener\x22\x20style=\x22color:var(--accent-color)\x22>范子琦\x20(fan-ziqi)\x20的\x20robot_viewer</a>\x20进行二次开发。','projectHome':'项目主页','email':'邮箱','myGithub':'我的GitHub','operations':'操作指南','leftDrag':'左键拖动','rotateView':'旋转视角','rightDrag':'右键拖动','panView':'平移视角','scroll':'滚轮','zoom':'缩放视图','clickModel':'点击模型','controlJoint':'控制关节（可拖动）','dragFile':'拖拽文件','loadModel':'加载机器人模型','contact':'联系方式','support':'支持','noFolder':'未加载文件夹','noModel':'未加载模型','load':'加载','loadFiles':'加载文件','loadFolder':'加载文件夹','orClickButton':'或点击下面的按钮加载','noControllableJoints':'未找到可控制关节','clickToEditMin':'点击编辑下限','clickToEditMax':'点击编辑上限','dropHint':'拖拽机器人模型文件或文件夹到页面任意位置','dropHintSub':'支持\x20URDF,\x20Xacro,\x20MJCF\x20格式<br>支持拖拽文件夹以加载mesh文件','graphHint':'拖动:\x20移动\x20|\x20滚轮:\x20缩放\x20|\x20右键:\x20隐藏/显示\x20|\x20Ctrl+左键:\x20测量','copyright':'©\x202025\x20范子琦\x20版权所有。','type':'类型','links':'Links','joints':'关节','controllable':'可控','rootLink':'根Link','linkName':'Link名称','jointName':'关节','mass':'质量','mergedLinks':'合并的Links','model':'模型','mesh':'网格','link':'链接','kg':'kg','rad':'rad','deg':'deg','m':'m','loading':'正在加载','unsupportedFormat':'不支持的文件格式','loadFailed':'加载失败','noSupportedFiles':'未找到支持的文件（URDF,\x20Xacro,\x20MJCF,\x20DAE,\x20STL,\x20OBJ）','loadSuccess':'模型加载成功','cannotLoadMesh':'无法加载\x20mesh\x20文件','unsavedChanges':'您有未保存的更改，确定要关闭吗？','newFile':'新文件.xml','noFileToReload':'没有可重新加载的文件','saveFirst':'请先保存为文件后再加载','reloadingModel':'正在重新加载模型...','modelReloaded':'模型已重新加载（未保存）','reloadFailed':'重新加载失败','downloadFailed':'下载失败','fileDownloaded':'文件已下载','emptyContent':'编辑器内容为空，无法加载','fileType':'文件类型','axesControlPanel':'Link\x20坐标轴控制','jointAxesControlPanel':'关节轴控制','selectAll':'全选','deselectAll':'全不选','showLabels':'显示名称','displaySize':'显示尺寸','noAxesAvailable':'无可用坐标轴','searchPlaceholder':'搜索坐标轴...','selectAllJoints':'全选','showMimicJoints':'显示mimic','applyAngles':'设置角度','setHome':'设零位','resetToHome':'回零','resetToHomeSuccess':'已将所有关节回零','setHomeSuccess':'已记录\x20{count}\x20个关节的零位','noJointsSelected':'请先选择关节','applySuccess':'已应用\x20{count}\x20个关节角度','applyFailed':'应用失败','mocapControl':'动捕控制','mocapHuman':'动捕小人','exoskeleton':'外骨骼手套','connected':'已连接','disconnected':'未连接','webglContextLostTitle':'3D\x20渲染已暂停','webglContextLostDetail':'浏览器回收了\x20GPU\x20资源（通常发生在标签页长时间处于后台）。正在等待自动恢复，模型无需重新加载。','invalidFormat':'数据格式错误，期望数字数组','countMismatch':'数量不匹配：需要\x20{expected}\x20个值，但提供了\x20{actual}\x20个','applyDialogTitle':'应用关节角度','applyDialogHint':'可以粘贴或编辑角度值，格式：[0.58,\x20-0.69,\x200.85,\x20...]','applyDialogApply':'应用','applyDialogCancel':'取消','camera':'相机','virtualCamera':'虚拟相机','rosBridgeHint':'💡\x20需要本地启动\x20rosbridge：','downloadScript':'⬇\x20下载脚本','downloadScriptTitle':'下载启动脚本','serverAddress':'服务器地址','connect':'连接','disconnect':'断开','cameraStatusTitle':'相机自己的\x20rosbridge\x20连接，发布图像专线','cameraConnected':'●\x20相机已连接','cameraDisconnected':'●\x20相机未连接','publishTopic':'发布Topic','actualPublishRate':'实际发布频率','rateTargetTitle':'实际发布频率\x20·\x20目标\x20{target}\x20Hz','rateIdleTitle':'实际发布频率\x20·\x20未发布','messageType':'消息类型','encodingFormat':'编码格式','browserUnsupported':'本浏览器不支持','resolution':'分辨率','preset':'预设','fov':'视场角\x20FOV（°）','publishRateLabel':'发布频率（Hz）','mountFrame':'挂载坐标系','worldFrame':'世界坐标系','showAxes':'显示坐标系','showAxesTitle':'在场景里画出所选\x20link\x20自己的\x20X/Y/Z\x20轴（红=X\x20绿=Y\x20蓝=Z），方便挑光轴与图像上方；设了下面的位置/姿态后它会跟着一起动，零姿态时就是这根\x20link\x20的坐标系。辅助轴只在面板打开时显示，也不会进入发布的图像','position':'位置','orientation':'姿态','zeroOut':'归零','opticalAxis':'光轴','imageUp':'图像上方','startPublish':'开始发布','stopPublish':'停止','previewAlt':'虚拟相机预览','previewFrame':'画面','previewThumb':'缩略图','previewSingleFrame':'单帧','unknown':'未知','rosConnection':'ROS\x20连接','monitor':'📈\x20监控','monitorTitle':'打开实时监控面板','statusConnected':'●\x20已连接','statusDisconnected':'●\x20未连接','subscribeTopic':'订阅\x20Topic','publishRobotState':'发布机器人状态','enterServerUrl':'请输入服务器地址','rosServer':'ROS\x20服务器','timeWindowSeconds':'时间窗口\x20(秒)','resetView':'重置视图','jointSelection':'关节选择','waitingForData':'等待数据...','time':'时间','loadingPlotPanel':'正在加载监控面板...','plotPanelLoadFailed':'监控面板加载失败','checkNetworkAndReload':'请检查网络连接后刷新页面重试','unknownError':'未知错误','base':'基座','baseOrientation':'🧭\x20基座方向','baseOrientationHint':'💡\x20调整机器人基座的初始朝向，Y轴(绿色)朝向机器人前方。数值对应\x20vr_configs.yml\x20中的','eulerRoll':'横滚\x20Roll\x20(X)\x20°','eulerPitch':'俯仰\x20Pitch\x20(Y)\x20°','eulerYaw':'偏航\x20Yaw\x20(Z)\x20°','quaternionX':'四元数\x20x','quaternionY':'四元数\x20y','quaternionZ':'四元数\x20z','quaternionW':'四元数\x20w','copyQuat':'📋\x20复制四元数','resetOrientation':'🔄\x20重置','copiedToClipboard':'✅\x20已复制到剪贴板','copy':'📋\x20复制','copyAllTitle':'复制全部关节信息','copied':'✅\x20已复制','copyFailed':'❌\x20复制失败','jointNameHeader':'关节名称','childLink':'子链接','mocapExoskeletonV1':'v1.0版','mocapExoskeletonV2':'v2.0版','mocapLoadInMainTab':'动捕模型加载请在主页面操作'},'en-US':{'visual':'Visual','collision':'Collision','com':'COM','inertia':'Inertia','axes':'Axes','jointAxes':'Joint\x20Axes','shadow':'Shadow','lighting':'Lighting','files':'Files','joints':'Joints','structure':'Structure','edit':'Edit','jointInfo':'Joint\x20Info','help':'Help','theme':'Theme','language':'Language','fileList':'Files','jointControl':'Joints','modelStructure':'Structure','codeEditor':'Editor','radian':'Radian','degree':'Degree','reset':'Reset','limits':'Limits','mujocoReset':'Reset','mujocoSimulate':'Simulate','mujocoPause':'Pause','reload':'Reload','download':'Download','saved':'Saved','unsaved':'Unsaved','noFileOpen':'No\x20File\x20Open','helpTitle':'Robot\x20Viewer\x20v'+$a,'about':'About','aboutContent':'IO\x20Robot\x20Viewer\x20is\x20a\x20web-based\x20teleoperation\x20adaptation\x20tool\x20for\x20robots,\x20built\x20on\x20Three.js.\x20It\x20provides\x20an\x20intuitive\x20interface\x20for\x20viewing\x20and\x20analyzing\x20your\x20robot\x27s\x20structure,\x20joints,\x20and\x20other\x20properties\x20in\x20the\x20browser,\x20guiding\x20you\x20through\x20the\x20adaptation\x20workflow\x20with\x20ROS\x20communication\x20and\x20monitoring\x20support.<br><br>This\x20project\x20is\x20a\x20derivative\x20work\x20based\x20on\x20<a\x20href=\x22https://github.com/fan-ziqi/robot_viewer\x22\x20target=\x22_blank\x22\x20rel=\x22noopener\x22\x20style=\x22color:var(--accent-color)\x22>robot_viewer\x20by\x20Ziqi\x20Fan\x20(fan-ziqi)</a>.','projectHome':'Project\x20Home','email':'Email','myGithub':'My\x20GitHub','operations':'Operations','leftDrag':'Left\x20Drag','rotateView':'Rotate\x20View','rightDrag':'Right\x20Drag','panView':'Pan\x20View','scroll':'Scroll','zoom':'Zoom','clickModel':'Click\x20Model','controlJoint':'Control\x20Joint\x20(Draggable)','dragFile':'Drag\x20File','loadModel':'Load\x20Robot\x20Model','contact':'Contact','support':'Support','noFolder':'No\x20Folder\x20Loaded','noModel':'No\x20Model\x20Loaded','load':'Load','loadFiles':'Load\x20Files','loadFolder':'Load\x20Folder','orClickButton':'or\x20click\x20the\x20button\x20below\x20to\x20load','noControllableJoints':'No\x20Controllable\x20Joints\x20Found','clickToEditMin':'Click\x20to\x20edit\x20minimum','clickToEditMax':'Click\x20to\x20edit\x20maximum','dropHint':'Drag\x20and\x20drop\x20robot\x20model\x20files\x20or\x20folders\x20anywhere','dropHintSub':'Supports\x20URDF,\x20Xacro,\x20MJCF\x20formats<br>Supports\x20folder\x20dragging\x20to\x20load\x20mesh\x20files','graphHint':'Drag:\x20Move\x20|\x20Scroll:\x20Zoom\x20|\x20Right-click:\x20Hide/Show\x20|\x20Ctrl+Click:\x20Measure','copyright':'©\x202025\x20Ziqi\x20Fan.\x20All\x20rights\x20reserved.','type':'Type','links':'Links','joints':'Joints','controllable':'Controllable','rootLink':'Root\x20Link','linkName':'Link\x20Name','jointName':'Joint','mass':'Mass','mergedLinks':'Merged\x20Links','model':'Model','mesh':'Mesh','link':'Link','kg':'kg','rad':'rad','deg':'deg','m':'m','loading':'Loading','unsupportedFormat':'Unsupported\x20file\x20format','loadFailed':'Load\x20failed','noSupportedFiles':'No\x20supported\x20files\x20found\x20(URDF,\x20Xacro,\x20MJCF,\x20DAE,\x20STL,\x20OBJ)','loadSuccess':'Model\x20loaded\x20successfully','cannotLoadMesh':'Cannot\x20load\x20mesh\x20file','unsavedChanges':'You\x20have\x20unsaved\x20changes.\x20Are\x20you\x20sure\x20you\x20want\x20to\x20close?','newFile':'newfile.xml','noFileToReload':'No\x20file\x20to\x20reload','saveFirst':'Please\x20save\x20the\x20file\x20first\x20before\x20loading','reloadingModel':'Reloading\x20model...','modelReloaded':'Model\x20reloaded\x20(unsaved)','reloadFailed':'Reload\x20failed','downloadFailed':'Download\x20failed','fileDownloaded':'File\x20downloaded','emptyContent':'Editor\x20content\x20is\x20empty,\x20cannot\x20load','fileType':'File\x20Type','axesControlPanel':'Link\x20Axes\x20Control','jointAxesControlPanel':'Joint\x20Axes\x20Control','selectAll':'Select\x20All','deselectAll':'Deselect\x20All','showLabels':'Show\x20Labels','displaySize':'Display\x20Size','noAxesAvailable':'No\x20axes\x20available','searchPlaceholder':'Search\x20axes...','selectAllJoints':'Select\x20All','showMimicJoints':'Show\x20Mimic','applyAngles':'Set\x20Angles','setHome':'Set\x20Home','resetToHome':'Reset\x20Home','resetToHomeSuccess':'All\x20joints\x20reset\x20to\x20home\x20positions','setHomeSuccess':'Recorded\x20{count}\x20joint\x20home\x20positions','noJointsSelected':'Please\x20select\x20joints\x20first','applySuccess':'Applied\x20{count}\x20joint\x20angles','applyFailed':'Apply\x20failed','webglContextLostTitle':'3D\x20rendering\x20paused','webglContextLostDetail':'The\x20browser\x20reclaimed\x20GPU\x20resources\x20(this\x20usually\x20happens\x20after\x20a\x20tab\x20sits\x20in\x20the\x20background).\x20Waiting\x20for\x20automatic\x20recovery\x20—\x20no\x20need\x20to\x20reload\x20the\x20model.','invalidFormat':'Invalid\x20format,\x20expecting\x20array\x20of\x20numbers','countMismatch':'Count\x20mismatch:\x20expected\x20{expected}\x20values,\x20got\x20{actual}','applyDialogTitle':'Apply\x20Joint\x20Angles','applyDialogHint':'Paste\x20or\x20edit\x20angle\x20values,\x20format:\x20[0.58,\x20-0.69,\x200.85,\x20...]','applyDialogApply':'Apply','applyDialogCancel':'Cancel','mocapControl':'Mocap\x20Control','mocapHuman':'Motion\x20Capture\x20Human','exoskeleton':'Exoskeleton\x20Glove','connected':'Connected','disconnected':'Disconnected','camera':'Camera','virtualCamera':'Virtual\x20Camera','rosBridgeHint':'💡\x20rosbridge\x20must\x20be\x20running\x20locally:','downloadScript':'⬇\x20Download\x20script','downloadScriptTitle':'Download\x20startup\x20script','serverAddress':'Server\x20Address','connect':'Connect','disconnect':'Disconnect','cameraStatusTitle':'The\x20camera\x27s\x20own\x20rosbridge\x20connection\x20—\x20a\x20dedicated\x20link\x20for\x20publishing\x20images','cameraConnected':'●\x20Camera\x20connected','cameraDisconnected':'●\x20Camera\x20disconnected','publishTopic':'Publish\x20Topic','actualPublishRate':'Actual\x20publish\x20rate','rateTargetTitle':'Actual\x20publish\x20rate\x20·\x20target\x20{target}\x20Hz','rateIdleTitle':'Actual\x20publish\x20rate\x20·\x20not\x20publishing','messageType':'Message\x20Type','encodingFormat':'Encoding\x20Format','browserUnsupported':'not\x20supported\x20by\x20this\x20browser','resolution':'Resolution','preset':'Preset','fov':'Field\x20of\x20View\x20(°)','publishRateLabel':'Publish\x20Rate\x20(Hz)','mountFrame':'Mount\x20Frame','worldFrame':'World\x20Frame','showAxes':'Show\x20Frame','showAxesTitle':'Draw\x20the\x20selected\x20link\x27s\x20own\x20X/Y/Z\x20axes\x20in\x20the\x20scene\x20(red=X,\x20green=Y,\x20blue=Z)\x20to\x20help\x20pick\x20the\x20optical\x20axis\x20and\x20image\x20up\x20direction.\x20Once\x20the\x20position/orientation\x20below\x20are\x20set\x20it\x20moves\x20along\x20with\x20them;\x20at\x20zero\x20it\x20is\x20exactly\x20this\x20link\x27s\x20frame.\x20The\x20helper\x20axes\x20are\x20only\x20shown\x20while\x20this\x20panel\x20is\x20open\x20and\x20never\x20appear\x20in\x20the\x20published\x20image','position':'Position','orientation':'Orientation','zeroOut':'Reset','opticalAxis':'Optical\x20Axis','imageUp':'Image\x20Up','startPublish':'Start\x20Publishing','stopPublish':'Stop','previewAlt':'Virtual\x20camera\x20preview','previewFrame':'Frame','previewThumb':'thumbnail','previewSingleFrame':'per\x20frame','unknown':'Unknown','rosConnection':'ROS\x20Connection','monitor':'📈\x20Monitor','monitorTitle':'Open\x20the\x20live\x20monitor\x20panel','statusConnected':'●\x20Connected','statusDisconnected':'●\x20Not\x20connected','subscribeTopic':'Subscribe\x20Topics','publishRobotState':'Publish\x20Robot\x20State','enterServerUrl':'Please\x20enter\x20the\x20server\x20address','rosServer':'ROS\x20Server','timeWindowSeconds':'Time\x20Window\x20(s)','resetView':'Reset\x20View','jointSelection':'Joint\x20Selection','waitingForData':'Waiting\x20for\x20data...','time':'Time','loadingPlotPanel':'Loading\x20monitor\x20panel...','plotPanelLoadFailed':'Failed\x20to\x20load\x20the\x20monitor\x20panel','checkNetworkAndReload':'Check\x20your\x20network\x20connection\x20and\x20reload\x20the\x20page','unknownError':'Unknown\x20error','base':'Base','baseOrientation':'🧭\x20Base\x20Orientation','baseOrientationHint':'💡\x20Adjust\x20the\x20robot\x20base\x20initial\x20orientation;\x20the\x20Y\x20axis\x20(green)\x20points\x20toward\x20the\x20robot\x20front.\x20The\x20values\x20map\x20to','eulerRoll':'Roll\x20(X)\x20°','eulerPitch':'Pitch\x20(Y)\x20°','eulerYaw':'Yaw\x20(Z)\x20°','quaternionX':'Quaternion\x20x','quaternionY':'Quaternion\x20y','quaternionZ':'Quaternion\x20z','quaternionW':'Quaternion\x20w','copyQuat':'📋\x20Copy\x20Quat','resetOrientation':'🔄\x20Reset','copiedToClipboard':'✅\x20Copied\x20to\x20clipboard','copy':'📋\x20Copy','copyAllTitle':'Copy\x20all\x20joint\x20info','copied':'✅\x20Copied','copyFailed':'❌\x20Copy\x20failed','jointNameHeader':'Joint\x20Name','childLink':'Child\x20Link','mocapExoskeletonV1':'v1.0','mocapExoskeletonV2':'v2.0','mocapLoadInMainTab':'Load\x20mocap\x20models\x20from\x20the\x20main\x20page'}};const 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File([_0x121787],_0x27e8a2['name'],{'type':'text/plain'});_0x186271['vscodeDirectory']=_0x27e8a2['directory'],_0x186271['vscodePath']=_0x27e8a2['path'],this['fileHandler']['fileMap']['set'](_0x27e8a2['name'],_0x186271),this['fileHandler']['fileMap']['set'](_0x27e8a2['path'],_0x186271),this['vscodeFileMap']['set'](_0x27e8a2['name'],_0x27e8a2),await this['fileHandler']['loadFile'](_0x186271);const _0x1076c9=[{'file':_0x186271,'name':_0x27e8a2['name'],'type':this['detectFileType'](_0x27e8a2['name']),'path':_0x27e8a2['path'],'category':'model','ext':_0x27e8a2['name']['split']('.')['pop']()['toLowerCase']()}];this['fileHandler']['availableModels']=_0x1076c9,this['fileTreeView']&&this['fileTreeView']['updateFileTree'](_0x1076c9,this['fileHandler']['fileMap']),vscodeAdapter['log']('Model\x20loaded\x20successfully:\x20'+_0x27e8a2['name']);}catch(_0xac90af){vscodeAdapter['showError']('Failed\x20to\x20load\x20model:\x20'+_0xac90af['message']);}}['detectFileType'](_0x477953){const 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this['getUSDViewerManager']()),this['fileHandler']['onFilesLoaded']=_0x173489=>{this['fileTreeView']&&this['fileTreeView']['updateFileTree'](_0x173489,this['fileHandler']['getFileMap']());},this['fileHandler']['onModelLoaded']=(_0x228d6b,_0x1dda00,_0x5b308d=!0x1,_0xa32528=null)=>{this['handleModelLoaded'](_0x228d6b,_0x1dda00,_0x5b308d,_0xa32528);},this['jointControlsUI']=new Ni(this['sceneManager']),this['jointControlsUI']['onJointChange']=_0x7c8e7d=>{this['rosConnectionPanel']&&this['rosConnectionPanel']['bidirectionalEnabled']&&this['rosConnectionPanel']['onJointChanged'](_0x7c8e7d);},this['modelGraphView']=new Vi(this['sceneManager']),this['fileTreeView']=new qi(),this['fileTreeView']['onFileClick']=_0x56e52f=>{this['handleFileClick'](_0x56e52f);},this['fileTreeView']['updateFileTree']([],new Map()),this['panelManager']=new Ui(),this['panelManager']['initAllPanels'](),this['rosConnectionPanel']=new Sa(this['rosController'],this);const 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Ii(this['sceneManager']),this['uiController']['setupAll']({'onThemeChanged':_0x50f748=>this['handleThemeChanged'](_0x50f748),'onAngleUnitChanged':_0xa831d3=>this['handleAngleUnitChanged'](_0xa831d3),'onIgnoreLimitsChanged':_0x24cec4=>this['handleIgnoreLimitsChanged'](_0x24cec4),'onLanguageChanged':_0x4af711=>this['handleLanguageChanged'](_0x4af711),'onResetJoints':()=>this['handleResetJoints'](),'onMujocoReset':()=>this['handleMujocoReset'](),'onMujocoToggleSimulate':()=>this['handleMujocoToggleSimulate'](),'onApplyAngles':()=>this['handleApplyAngles'](),'onSetHome':()=>this['handleSetHome'](),'onSelectAll':()=>this['handleSelectAll'](),'onResetToHome':()=>this['handleResetToHome'](),'onToggleShowMimic':_0x5b9723=>this['jointControlsUI']['setShowMimicJoints'](_0x5b9723)}),this['sceneManager']['onMeasurementUpdate']=()=>{this['measurementController']&&this['measurementController']['updateMeasurement']();},this['setupCanvasClickHandler'](_0x40f8e5),this['codeEditorManager']=new $i(),this['codeEditorManager']['init'](this['fileHandler']['getFileMap']()),this['jointControlsUI']&&this['jointControlsUI']['setCodeEditorManager'](this['codeEditorManager']),this['modelGraphView']&&this['modelGraphView']['setCodeEditorManager'](this['codeEditorManager']),this['codeEditorManager']['onReload']=async(_0x2973db,_0x7fa253=!0x1)=>{_0x7fa253&&(this['_isReloading']=!0x0),this['fileHandler']['currentModelFile']=_0x2973db,await this['fileHandler']['loadFile'](_0x2973db),this['_isReloading']=!0x1;},this['codeEditorManager']['onSaveAs']=_0xaf2d12=>{const _0x4d8b5d={'file':_0xaf2d12,'name':_0xaf2d12['name'],'type':this['detectFileType'](_0xaf2d12['name']),'path':_0xaf2d12['name'],'category':'model','ext':_0xaf2d12['name']['split']('.')['pop']()['toLowerCase']()},_0x563aa8=this['fileHandler']['getAvailableModels']();_0x563aa8['find'](_0x437a88=>_0x437a88['name']===_0xaf2d12['name'])||_0x563aa8['push'](_0x4d8b5d),this['fileTreeView']&&(this['fileTreeView']['updateFileTree'](_0x563aa8,this['fileHandler']['getFileMap'](),!0x0),setTimeout(()=>{this['fileTreeView']['markActiveFile'](_0xaf2d12);},0x64));},this['measurementController']=new Ji(this['sceneManager']),this['modelGraphView']&&this['modelGraphView']['setMeasurementController'](this['measurementController']),this['mujocoSimulationManager']=new Wi(this['sceneManager']),this['setupModelTreePanel'](),this['updateEditorButtonVisibility'](),this['animate']();const _0x5e4cb7=new URLSearchParams(window['location']['search'])['get']('mocap');if(_0x5e4cb7&&(await this['loadMocapAsMainModel'](_0x5e4cb7),this['rosConnectionPanel'])){this['rosConnectionPanel']['show']();const _0x334a5b=localStorage['getItem']('ros_url')||'ws://localhost:9090';this['rosConnectionPanel']['autoConnect'](_0x334a5b);}}catch(_0x3a823f){}}['updateEditorButtonVisibility'](){const _0xb7537f=document['getElementById']('open-editor-btn');_0xb7537f&&_0xb7537f['classList']['add']('visible');}async['handleModelLoaded'](_0x51d5a0,_0x4559d5,_0x2dd69d=!0x1,_0x35a57d=null){var _0x3081b9,_0x11188e,_0x3ca4c7,_0x4e5a72;const _0x23a0d6=this['_isReloading'],_0x307587=[],_0x55d91e=[];if(_0x23a0d6&&this['sceneManager']&&this['sceneManager']['axesManager']){const _0x38f7e0=this['sceneManager']['axesManager'];_0x38f7e0['getLinksWithAxes']()['forEach'](_0x402a16=>{_0x38f7e0['isLinkAxisVisible'](_0x402a16)&&_0x307587['push'](_0x402a16);}),_0x38f7e0['getJointNames']()['forEach'](_0xf2c197=>{_0x38f7e0['isJointAxisVisible'](_0xf2c197)&&_0x55d91e['push'](_0xf2c197);});}const _0x5385a0='xml'===_0x4559d5['name']['split']('.')['pop']()['toLowerCase']()&&'mjcf'===(null==(_0x3081b9=null==_0x51d5a0?void 0x0:_0x51d5a0['userData'])?void 0x0:_0x3081b9['type']);if(this['mujocoSimulationManager']&&this['mujocoSimulationManager']['hasScene']()&&this['mujocoSimulationManager']['clearScene'](),_0x5385a0&&_0x51d5a0['joints']&&_0x51d5a0['joints']['size']>0x0){this['currentMJCFFile']=_0x4559d5,this['currentMJCFModel']=_0x51d5a0;const _0x1c8343=document['getElementById']('mujoco-simulation-bar'),_0xbe17a4=document['getElementById']('mujoco-reset-btn-bar'),_0x21df55=document['getElementById']('mujoco-simulate-btn-bar');if(_0x1c8343&&(_0x1c8343['style']['display']='flex'),_0xbe17a4){_0xbe17a4['disabled']=!0x1,_0xbe17a4['style']['opacity']='1',_0xbe17a4['style']['cursor']='pointer';const _0x1f4501=_0xbe17a4['querySelector']('span');_0x1f4501&&(_0x1f4501['textContent']=(null==(_0x11188e=window['i18n'])?void 0x0:_0x11188e['t']('mujocoReset'))||'Reset');}if(_0x21df55){_0x21df55['disabled']=!0x1,_0x21df55['style']['opacity']='1',_0x21df55['style']['cursor']='pointer',_0x21df55['classList']['remove']('active');const _0x383f9f=_0x21df55['querySelector']('span');_0x383f9f&&(_0x383f9f['textContent']=(null==(_0x3ca4c7=window['i18n'])?void 0x0:_0x3ca4c7['t']('mujocoSimulate'))||'Simulate');}}else{const _0x3937e4=document['getElementById']('mujoco-simulation-bar');_0x3937e4&&(_0x3937e4['style']['display']='none'),this['currentMJCFFile']=null,this['currentMJCFModel']=null;}if(null==(_0x4e5a72=null==_0x51d5a0?void 0x0:_0x51d5a0['userData'])?void 0x0:_0x4e5a72['isUSDWASM']){const _0x547d72=document['getElementById']('canvas'),_0x1a2d4d=document['getElementById']('usd-viewer-container');_0x547d72&&_0x1a2d4d&&(_0x547d72['style']['display']='none',_0x1a2d4d['style']['display']='block');const _0x3a01fa=document['getElementById']('joint-controls-panel'),_0x38ff0f=document['getElementById']('graph-panel');_0x3a01fa&&(_0x3a01fa['style']['display']='none'),_0x38ff0f&&(_0x38ff0f['style']['display']='none'),this['currentModel']=_0x51d5a0,this['rosController']['setModel'](_0x51d5a0),this['updateModelInfo'](_0x51d5a0,_0x4559d5);const _0x572863=document['getElementById']('canvas-snapshot');return void((null==_0x572863?void 0x0:_0x572863['parentNode'])&&_0x572863['parentNode']['removeChild'](_0x572863));}let _0xb1254b=document['getElementById']('canvas');const _0x13fe52=document['getElementById']('usd-viewer-container');_0xb1254b&&_0x13fe52&&(_0xb1254b['style']['display']='block',_0x13fe52['style']['display']='none'),this['usdViewerManager']&&(this['usdViewerManager']['clear'](),this['usdViewerManager']['hide']());const _0x331f59=document['getElementById']('joint-controls-panel'),_0x2f460c=document['getElementById']('graph-panel');_0x331f59&&(_0x331f59['style']['display']=''),_0x2f460c&&(_0x2f460c['style']['display']=''),this['currentModel']&&(this['sceneManager']['removeModel'](this['currentModel']),this['currentModel']=null),this['currentModel']=_0x51d5a0,this['rosController']['setModel'](_0x51d5a0),this['sceneManager']['redraw'](),this['sceneManager']['render'](),_0xb1254b=document['getElementById']('canvas');let _0xf5131a=null;if(_0xb1254b)try{const _0x2803e9=_0xb1254b['toDataURL']('image/png');_0xf5131a=document['createElement']('div'),_0xf5131a['id']='canvas-snapshot',_0xf5131a['style']['cssText']='\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20position:\x20absolute;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20top:\x200;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20left:\x200;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20width:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20height:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-image:\x20url('+_0x2803e9+');\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-size:\x20cover;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-position:\x20center;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-color:\x20var(--bg-primary);\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20background-repeat:\x20no-repeat;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20z-index:\x202;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20pointer-events:\x20none;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20';const _0xb6ca97=document['getElementById']('canvas-container');_0xb6ca97?_0xb6ca97['appendChild'](_0xf5131a):document['body']['appendChild'](_0xf5131a);}catch(_0xdc04e){}let _0x53594b=!0x1;const _0x3a4bd1=()=>{_0xf5131a&&_0xf5131a['parentNode']&&!_0x53594b&&(_0x53594b=!0x0,_0xf5131a['style']['transition']='opacity\x200.3s\x20ease',_0xf5131a['style']['opacity']='0',setTimeout(()=>{_0xf5131a&&_0xf5131a['parentNode']&&(_0xf5131a['parentNode']['removeChild'](_0xf5131a),_0xf5131a=null);},0x12c));},_0x73d99e=setTimeout(()=>{_0xf5131a&&_0xf5131a['parentNode']&&(_0x3a4bd1(),this['sceneManager']['off']('modelReady',_0x4388c6));},0x1388),_0x4388c6=()=>{clearTimeout(_0x73d99e),_0x3a4bd1(),this['sceneManager']['off']('modelReady',_0x4388c6),_0x23a0d6&&(_0x307587['forEach'](_0x110b0d=>{this['sceneManager']['axesManager']['showAxesByName'](_0x110b0d,!0x0);}),_0x55d91e['forEach'](_0x38b16a=>{this['sceneManager']['axesManager']['showJointAxisByName'](_0x38b16a,!0x0);}),this['axesControlPanel']&&this['axesControlPanel']['updateAxesList'](),this['jointAxesControlPanel']&&this['jointAxesControlPanel']['updateAxesList']()),this['orientationControlPanel']&&this['orientationControlPanel']['syncFromScene']();};this['sceneManager']['on']('modelReady',_0x4388c6),this['sceneManager']['addModel'](_0x51d5a0);const _0x4a7cf4=document['getElementById']('drop-zone');if(_0x4a7cf4&&(_0x4a7cf4['classList']['remove']('show'),_0x4a7cf4['classList']['remove']('drag-over')),_0x2dd69d){if(this['sceneManager']['setGroundVisible'](!0x1),this['modelGraphView']){_0x1a28d0('#model-graph-svg')['selectAll']('*:not(defs)')['remove']();const _0x47b522=document['getElementById']('graph-empty-state');_0x47b522&&_0x47b522['classList']['remove']('hidden');}const _0x5e3ae4=document['getElementById']('model-graph-panel');_0x5e3ae4&&(_0x5e3ae4['style']['display']='none');const _0x5d8655=document['getElementById']('joint-controls');if(_0x5d8655){_0x5d8655['innerHTML']='';const _0x586e29=document['createElement']('div');_0x586e29['className']='empty-state',_0x586e29['textContent']=window['i18n']['t']('noModel'),_0x5d8655['appendChild'](_0x586e29);}const _0x32bfbb=document['getElementById']('joints-panel');_0x32bfbb&&(_0x32bfbb['style']['display']='none'),this['setAxesButtonState'](!0x0),this['codeEditorManager']&&this['codeEditorManager']['clearEditor']();}else{this['sceneManager']['setGroundVisible'](!0x0),this['jointControlsUI']['setupJointControls'](_0x51d5a0),this['rosConnectionPanel']&&this['rosConnectionPanel']['onModelLoaded'](_0x51d5a0),this['virtualCameraPanel']&&this['virtualCameraPanel']['refreshMountTargets'](),this['modelGraphView']&&this['modelGraphView']['drawModelGraph'](_0x51d5a0);const _0x557468=document['getElementById']('model-graph-panel');_0x557468&&(_0x557468['style']['display']='block');const _0xd5175e=document['getElementById']('joints-panel');_0xd5175e&&(_0xd5175e['style']['display']='block'),this['setAxesButtonState'](!0x1);}if(this['fileTreeView']&&!this['_isReloading']&&(this['fileTreeView']['updateFileTree'](this['fileHandler']['getAvailableModels'](),this['fileHandler']['getFileMap'](),!0x0),this['fileTreeView']['expandAndScrollToFile'](_0x4559d5,this['fileHandler']['getFileMap']())),!this['_isReloading']&&!_0x2dd69d){const _0x30fcfa=document['getElementById']('code-editor-panel');if(_0x30fcfa&&this['codeEditorManager']){_0x30fcfa['classList']['add']('visible');const _0x5bd555=document['getElementById']('open-editor-btn');_0x5bd555&&_0x5bd555['classList']['add']('active'),this['codeEditorManager']['loadFile'](_0x4559d5);}}this['updateEditorButtonVisibility'](),this['updateModelInfo'](_0x51d5a0,_0x4559d5),_0x23a0d6||_0x2dd69d||(this['sceneManager']['axesManager']['deselectAxis'](),this['sceneManager']['axesManager']['setAllLinkAxesVisible'](!0x1),this['sceneManager']['axesManager']['setAllJointAxesVisible'](!0x1),this['axesControlPanel']&&(this['axesControlPanel']['hideRpySection'](),this['axesControlPanel']['updateAxesList']()),this['jointAxesControlPanel']&&this['jointAxesControlPanel']['updateAxesList']()),_0x2dd69d||Qa(_0x51d5a0,'joint-info-panel');}['setupCanvasClickHandler'](_0x3803f0){let _0x2ce0af=null,_0x76abf8=0x0;_0x3803f0['addEventListener']('mousedown',_0x4bd652=>{0x0===_0x4bd652['button']&&(_0x2ce0af={'x':_0x4bd652['clientX'],'y':_0x4bd652['clientY']},_0x76abf8=Date['now']());},!0x0),_0x3803f0['addEventListener']('mouseup',_0x4b7868=>{if(0x0!==_0x4b7868['button']||!this['sceneManager']||!_0x2ce0af)return;const _0x286d4e=_0x4b7868['clientX']-_0x2ce0af['x'],_0x391b5e=_0x4b7868['clientY']-_0x2ce0af['y'],_0x404493=Math['sqrt'](_0x286d4e*_0x286d4e+_0x391b5e*_0x391b5e),_0x546ef3=Date['now']()-_0x76abf8;if(_0x404493<0x5&&_0x546ef3<0x12c){const _0x24a084=new _0x21d002(),_0x4bc820=new _0x29f781(),_0x12f4ba=_0x3803f0['getBoundingClientRect']();_0x4bc820['x']=(_0x4b7868['clientX']-_0x12f4ba['left'])/_0x12f4ba['width']*0x2-0x1,_0x4bc820['y']=-(_0x4b7868['clientY']-_0x12f4ba['top'])/_0x12f4ba['height']*0x2+0x1,_0x24a084['setFromCamera'](_0x4bc820,this['sceneManager']['camera']);const _0x15ce1c=_0x24a084['intersectObjects'](this['sceneManager']['scene']['children'],!0x0),_0x641ac5=_0x15ce1c['find'](_0x386e98=>{if(!_0x386e98['object']['userData']||!_0x386e98['object']['userData']['isAxis']||!_0x386e98['object']['userData']['linkName'])return!0x1;const _0x3d471f=_0x386e98['object']['userData']['linkName'],_0x1f40fc=this['sceneManager']['axesManager']['linkAxesHelpers']['get'](_0x3d471f);return _0x1f40fc&&_0x1f40fc['visible'];});if(_0x641ac5){const _0x4052ab=_0x641ac5['object']['userData']['linkName'];return this['sceneManager']['axesManager']['selectAxis'](_0x4052ab),this['axesControlPanel']&&this['axesControlPanel']['showRpySection'](this['currentModel'],_0x4052ab),void(_0x2ce0af=null);}if(0x0===_0x15ce1c['filter'](_0x31981f=>{const _0x50f981=_0x31981f['object'];let _0x3dba02=_0x50f981;for(;_0x3dba02;){const _0x2439c5=_0x3dba02['name']||'';if(_0x2439c5['includes']('jointAxis')||_0x2439c5['includes']('helper')||_0x2439c5['includes']('grid')||_0x2439c5['includes']('Ground')||'groundPlane'===_0x2439c5)return!0x1;_0x3dba02=_0x3dba02['parent'];}return _0x50f981['isMesh']&&_0x50f981['visible'];})['length']){if(this['sceneManager']['highlightManager']['clearHighlight'](),this['sceneManager']['axesManager']['deselectAxis'](),this['axesControlPanel']&&this['axesControlPanel']['hideRpySection'](),this['modelGraphView']){const _0xbba4ed=_0x1a28d0('#model-graph-svg');this['modelGraphView']['clearAllSelections'](_0xbba4ed);}this['measurementController']&&this['measurementController']['clearMeasurement']();}}_0x2ce0af=null;},!0x0);}['setupModelTreePanel'](){const _0x30bbda=document['getElementById']('toggle-model-tree'),_0x1d040e=document['getElementById']('floating-model-tree');_0x30bbda&&_0x1d040e&&(_0x1d040e['style']['display']='flex',_0x30bbda['classList']['add']('active')),_0x1d040e&&_0x1d040e['addEventListener']('click',_0x2b9183=>{var _0x11e954,_0x9fd0e;const _0x338e65=_0x2b9183['target'];if(_0x338e65===_0x1d040e||(null==(_0x11e954=_0x338e65['classList'])?void 0x0:_0x11e954['contains']('graph-controls-hint'))||(null==(_0x9fd0e=_0x338e65['classList'])?void 0x0:_0x9fd0e['contains']('empty-state'))||'floating-model-tree'===_0x338e65['id']){if(this['modelGraphView']){const _0xcef0a0=_0x1a28d0('#model-graph-svg');this['modelGraphView']['clearAllSelections'](_0xcef0a0);}this['measurementController']&&this['measurementController']['clearMeasurement'](),this['sceneManager']&&this['sceneManager']['highlightManager']['clearHighlight']();}});}['updateModelInfo'](_0x534037,_0x224503){const _0x348295=document['getElementById']('status-info');if(!_0x348295||!_0x534037)return;let _0x36a1dd='<strong>'+_0x224503['name']+'</strong><br>';if(_0x36a1dd+='Type:\x20'+_0x224503['name']['split']('.')['pop']()['toLowerCase']()['toUpperCase']()+'<br>',_0x534037['links']&&(_0x36a1dd+='Links:\x20'+_0x534037['links']['size']+'<br>'),_0x534037['joints']){const _0xf143f9=Array['from'](_0x534037['joints']['values']())['filter'](_0x437c5d=>'fixed'!==_0x437c5d['type'])['length'];_0x36a1dd+='Joints:\x20'+_0x534037['joints']['size']+'\x20('+_0xf143f9+'\x20controllable)<br>';}if(_0x534037['constraints']&&_0x534037['constraints']['size']>0x0){_0x36a1dd+='<span\x20style=\x22color:\x20#00aaff;\x20font-weight:\x20bold;\x22>Constraints:\x20'+_0x534037['constraints']['size']+'\x20🔗</span><br>';const _0x5b0dae={};_0x534037['constraints']['forEach'](_0x522d51=>{_0x5b0dae[_0x522d51['type']]=(_0x5b0dae[_0x522d51['type']]||0x0)+0x1;});const _0x4c77be={'connect':'Connect','weld':'Weld','joint':'Joint\x20Coupling','distance':'Distance'};_0x36a1dd+='<span\x20style=\x22font-size:\x2011px;\x20color:\x20#888;\x22>'+Object['entries'](_0x5b0dae)['map'](([_0x6a201c,_0x404a4a])=>(_0x4c77be[_0x6a201c]||_0x6a201c)+':\x20'+_0x404a4a)['join'](',\x20')+'</span><br>';}_0x534037['rootLink']&&(_0x36a1dd+='Root\x20Link:\x20'+_0x534037['rootLink']),_0x348295['innerHTML']=_0x36a1dd,_0x348295['className']='success';}['handleFileClick'](_0x2fc413){const _0x6e30f6=_0x2fc413['ext'];if(['urdf','xacro','xml','usd','usda','usdc','usdz']['includes'](_0x6e30f6)){this['fileHandler']['loadFile'](_0x2fc413['file']);const _0xdd2d9b=document['getElementById']('code-editor-panel');_0xdd2d9b&&_0xdd2d9b['classList']['contains']('visible')&&this['codeEditorManager']&&this['codeEditorManager']['loadFile'](_0x2fc413['file']);}else['dae','stl','obj','collada']['includes'](_0x6e30f6)&&this['fileHandler']['loadMeshAsModel'](_0x2fc413['file'],_0x2fc413['name']);}['createUSDViewerContainer'](){const _0x44b51a=document['getElementById']('canvas-container');if(!_0x44b51a)return;const _0x273b3f=document['createElement']('div');_0x273b3f['id']='usd-viewer-container',_0x273b3f['style']['cssText']='\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20position:\x20absolute;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20top:\x200;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20left:\x200;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20width:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20height:\x20100%;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20display:\x20none;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20z-index:\x201;\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20pointer-events:\x20none;\x0a\x20\x20\x20\x20\x20\x20\x20\x20',_0x44b51a['appendChild'](_0x273b3f);}async['getUSDViewerManager'](){if(!this['usdViewerManager']){const _0x3442a1=document['getElementById']('usd-viewer-container');if(!_0x3442a1)throw new Error('USD\x20viewer\x20container\x20not\x20found');this['usdViewerManager']=new Hi(_0x3442a1),this['fileHandler']['setUSDViewerManager'](this['usdViewerManager']),this['usdViewerManager']['on']('USD_LOADING_START',_0x1d83a3=>{var _0x166413;const _0x59c27c=(null==(_0x166413=_0x1d83a3['data'])?void 0x0:_0x166413['message'])||'Loading\x20USD...',_0x3ba225=document['getElementById']('status-info');_0x3ba225&&(_0x3ba225['textContent']=_0x59c27c,_0x3ba225['className']='info');}),this['usdViewerManager']['on']('USD_LOADED',()=>{const _0x395a14=document['getElementById']('status-info');_0x395a14&&(_0x395a14['textContent']='USD\x20file\x20loaded\x20successfully',_0x395a14['className']='success');}),this['usdViewerManager']['on']('USD_ERROR',_0x40a902=>{var _0x3dd775;const _0x427584=(null==(_0x3dd775=_0x40a902['data'])?void 0x0:_0x3dd775['error'])||'Load\x20failed',_0x51c575=document['getElementById']('status-info');_0x51c575&&(_0x51c575['textContent']='Load\x20failed:\x20'+_0x427584,_0x51c575['className']='error');});}return this['usdViewerManager'];}['handleThemeChanged'](_0x1099f4){this['codeEditorManager']&&this['codeEditorManager']['updateTheme'](_0x1099f4),this['currentModel']&&this['modelGraphView']&&this['modelGraphView']['drawModelGraph'](this['currentModel']);}['handleAngleUnitChanged'](_0x2a2f09){this['angleUnit']=_0x2a2f09,this['jointControlsUI']&&this['jointControlsUI']['setAngleUnit'](_0x2a2f09);}['handleResetJoints'](){this['currentModel']&&this['jointControlsUI']&&this['jointControlsUI']['resetAllJoints'](this['currentModel']);}['handleIgnoreLimitsChanged'](_0x22e66f){this['jointControlsUI']&&this['currentModel']&&this['jointControlsUI']['updateAllSliderLimits'](this['currentModel'],_0x22e66f);}['handleApplyAngles'](){this['jointControlsUI']&&this['jointControlsUI']['handleApplyAngles']();}['handleSetHome'](){var _0x42c7dc,_0x57dc99;if(!this['currentModel']||!this['currentModel']['joints'])return;const _0x1fedb1={};this['currentModel']['joints']['forEach']((_0x112bdf,_0x363c0c)=>{'fixed'!==_0x112bdf['type']&&(_0x1fedb1[_0x363c0c]=_0x112bdf['currentValue']);}),this['currentModel']['userData']||(this['currentModel']['userData']={}),this['currentModel']['userData']['homePositions']=_0x1fedb1,this['jointControlsUI']&&this['jointControlsUI']['updateButtonStates']();const _0x415fe1=Object['keys'](_0x1fedb1)['length'],_0x55af14=(null==(_0x57dc99=null==(_0x42c7dc=window['i18n'])?void 0x0:_0x42c7dc['t']('setHomeSuccess'))?void 0x0:_0x57dc99['replace']('{count}',_0x415fe1))||'已记录\x20'+_0x415fe1+'\x20个关节的零位';this['jointControlsUI']['showToast'](_0x55af14,'success');}['handleSelectAll'](){this['jointControlsUI']&&this['jointControlsUI']['handleSelectAll']();}['handleResetToHome'](){this['jointControlsUI']&&this['jointControlsUI']['handleResetToHome']();}['handleLanguageChanged'](_0x12373d){var _0x2be0e4,_0x4fb4db,_0x30dd40,_0x2c0f66,_0x3f18df,_0x48ad63;Ha['setLanguage'](_0x12373d),this['codeEditorManager']&&this['codeEditorManager']['updateEditorSaveStatus'](),this['currentModel']&&this['jointControlsUI']&&this['jointControlsUI']['setupJointControls'](this['currentModel']),this['currentModel']&&this['modelGraphView']&&this['modelGraphView']['drawModelGraph'](this['currentModel']),this['fileTreeView']&&this['fileHandler']&&this['fileTreeView']['updateFileTree'](this['fileHandler']['getAvailableModels'](),this['fileHandler']['getFileMap'](),!0x0);const _0x29a4d4=document['getElementById']('mujoco-simulate-btn-bar');if(_0x29a4d4){const _0x49ff70=_0x29a4d4['querySelector']('span');if(_0x49ff70){const _0x4be428=_0x29a4d4['classList']['contains']('active')?'mujocoPause':'mujocoSimulate';_0x49ff70['textContent']=Ha['t'](_0x4be428),_0x49ff70['setAttribute']('data-i18n',_0x4be428);}}null==(_0x4fb4db=null==(_0x2be0e4=this['virtualCameraPanel'])?void 0x0:_0x2be0e4['refreshLanguage'])||_0x4fb4db['call'](_0x2be0e4),null==(_0x2c0f66=null==(_0x30dd40=this['rosConnectionPanel'])?void 0x0:_0x30dd40['refreshLanguage'])||_0x2c0f66['call'](_0x30dd40),null==(_0x48ad63=null==(_0x3f18df=this['orientationControlPanel'])?void 0x0:_0x3f18df['refreshLanguage'])||_0x48ad63['call'](_0x3f18df);}['setAxesButtonState'](_0x466abd){const _0x305dcc=document['getElementById']('toggle-axes-btn'),_0x291479=document['getElementById']('toggle-joint-axes-btn');_0x305dcc&&_0x291479&&(_0x305dcc['setAttribute']('data-checked',_0x466abd['toString']()),_0x291479['setAttribute']('data-checked','false'),_0x466abd?(_0x305dcc['classList']['add']('active'),_0x291479['classList']['remove']('active'),this['sceneManager']&&(this['sceneManager']['axesManager']['showAllAxes'](),this['sceneManager']['axesManager']['hideAllJointAxes']())):(_0x305dcc['classList']['remove']('active'),_0x291479['classList']['remove']('active'),this['sceneManager']&&(this['sceneManager']['axesManager']['hideAllAxes'](),this['sceneManager']['axesManager']['hideAllJointAxes']())),this['mujocoSimulationManager']&&this['mujocoSimulationManager']['hasScene']()&&(this['mujocoSimulationManager']['toggleAxesDisplay'](_0x466abd),this['mujocoSimulationManager']['toggleJointAxesDisplay'](!0x1)));}['detectFileType'](_0x17d993){return{'urdf':'urdf','xml':'mjcf','usd':'usd','usda':'usd','usdc':'usd','usdz':'usd'}[_0x17d993['toLowerCase']()['split']('.')['pop']()]||'urdf';}async['loadMocapAsMainModel'](_0x57e40a){const {MOCAP_CONFIG:_0x364f84}=await Ae(()=>Promise['resolve']()['then'](()=>_a),void 0,import.meta.url),_0x11fde4=_0x364f84[_0x57e40a];if(_0x11fde4)try{const _0x25e917=await fetch(_0x11fde4['urdfPath']);if(!_0x25e917['ok'])throw new Error('Failed\x20to\x20fetch\x20URDF:\x20'+_0x25e917['statusText']);const _0x2c44a2=await _0x25e917['text'](),_0x285f7f=_0x11fde4['urdfPath']['substring'](0x0,_0x11fde4['urdfPath']['lastIndexOf']('/')+0x1),_0x181e6e=_0x2c44a2['replace'](/filename="[^"]*?(meshes\/[^"]+)"/g,'filename=\x22'+_0x285f7f+'$1\x22'),_0x2187f7=new Blob([_0x181e6e],{'type':'text/xml'}),_0x4e04ab=new File([_0x2187f7],_0x57e40a+'.urdf',{'type':'text/xml'});this['fileHandler']['fileMap']['clear'](),this['fileHandler']['fileMap']['set'](_0x4e04ab['name'],_0x4e04ab),await this['fileHandler']['loadFile'](_0x4e04ab);const _0xba306f=this['sceneManager']['currentModel'];if(_0xba306f&&_0xba306f['joints']){const _0x446c9e={};_0xba306f['joints']['forEach']((_0x562590,_0x3a98ba)=>{'fixed'!==_0x562590['type']&&(_0x446c9e[_0x3a98ba]=_0x562590['currentValue']);}),_0xba306f['userData']||(_0xba306f['userData']={}),_0xba306f['userData']['homePositions']=_0x446c9e;}_0x11fde4['scale']&&this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']['scale']['set'](_0x11fde4['scale'],_0x11fde4['scale'],_0x11fde4['scale']),_0x11fde4['rotation']&&this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']['rotation']['set'](_0x11fde4['rotation']['x'],_0x11fde4['rotation']['y'],_0x11fde4['rotation']['z']),this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']['updateMatrixWorld'](!0x0);}catch(_0x3402d4){alert('Failed\x20to\x20load\x20'+_0x11fde4['name']+':\x20'+_0x3402d4['message']);}else alert('Unknown\x20mocap\x20model:\x20'+_0x57e40a);}async['autoConnectROS'](_0x2bff51){var _0x40ed3a;const _0x40429b=localStorage['getItem']('ros_url')||'ws://localhost:9090';try{if(await this['rosController']['connect'](_0x40429b),await new Promise(_0x22e93a=>setTimeout(_0x22e93a,0x1f4)),'tf'===_0x2bff51['topicType']&&this['sceneManager']['currentModel']){let _0x1caaa0=_0x2bff51['rosTopic'];const _0x4ef762=document['querySelector']('#floating-ros-panel');if(_0x4ef762){const _0xb4b535=null==(_0x40ed3a=_0x4ef762['querySelectorAll']('#ros-topic-list\x20.ros-topic-row')[0x0])?void 0x0:_0x40ed3a['querySelector']('.ros-topic-input');(null==_0xb4b535?void 0x0:_0xb4b535['value'])&&(_0x1caaa0=_0xb4b535['value']);}this['rosController']['tfController']['subscribeTF'](_0x2bff51['id'],this['sceneManager']['currentModel'],_0x1caaa0);}}catch(_0x3e9791){}}['handleMujocoReset'](){this['mujocoSimulationManager']&&this['mujocoSimulationManager']['reset']();}async['handleMujocoToggleSimulate'](){if(!this['mujocoSimulationManager']['hasScene']()&&this['currentMJCFFile']&&this['currentMJCFModel'])try{const _0x404f1b=await this['currentMJCFFile']['text']();return await this['mujocoSimulationManager']['loadScene'](_0x404f1b,this['currentMJCFFile']['name'],this['fileHandler']['getFileMap'](),this['currentMJCFModel']),this['currentModel']&&this['currentModel']['threeObject']&&(this['currentModel']['threeObject']['visible']=!0x1),this['mujocoSimulationManager']['startSimulation'](),!0x0;}catch(_0x329d1b){return!0x1;}if(this['mujocoSimulationManager']){const _0x426b10=this['mujocoSimulationManager']['toggleSimulation']();return this['currentModel']&&this['currentModel']['threeObject']&&(this['currentModel']['threeObject']['visible']=!_0x426b10),_0x426b10;}return!0x1;}['animate'](){var _0x32f11f,_0x43047a;if(requestAnimationFrame(()=>this['animate']()),this['sceneManager']){this['sceneManager']['update'](),this['mujocoSimulationManager']&&this['mujocoSimulationManager']['hasScene']()&&this['mujocoSimulationManager']['update'](performance['now']());const _0x6815e4=performance['now'](),_0x36c99e=!(!0x0===(null==(_0x43047a=null==(_0x32f11f=this['virtualCameraPublisher'])?void 0x0:_0x32f11f['isRunning'])?void 0x0:_0x43047a['call'](_0x32f11f)))&&_0x6815e4-this['_lastSafetyRenderAt']>0xfa;(this['sceneManager']['hasPendingRender']()||_0x36c99e)&&(this['sceneManager']['render'](),this['_lastSafetyRenderAt']=_0x6815e4);}}}if('1'===new URLSearchParams(window['location']['search'])['get']('plot')){Ha['init']();const e=document['getElementById']('container');e&&(e['style']['display']='none');const t=document['getElementById']('plot-container');t&&(t['style']['display']='flex',t['innerHTML']='<div\x20style=\x22display:flex;align-items:center;justify-content:center;width:100%;height:100%;color:var(--text-secondary);font-size:14px;\x22>'+Ha['t']('loadingPlotPanel')+'</div>'),Ae(()=>import('./PlotPanel-09f986c7.js'),["./PlotPanel-09f986c7.js","./three-9c891de0.js","./d3-2e308866.js","./codemirror-c3cec7b3.js","./codemirror-themes-e6995a6a.js","../css/PlotPanel-3e7d7555.css"],import.meta.url)['then'](_0x1346fb=>{t&&(t['innerHTML']='');const _0x45429a=new _0x1346fb['PlotPanel']();_0x45429a['init'](),window['plotPanel']=_0x45429a;})['catch'](_0x180594=>{t&&(t['innerHTML']='<div\x20style=\x22display:flex;flex-direction:column;align-items:center;justify-content:center;width:100%;height:100%;gap:12px;\x22><div\x20style=\x22color:#ff6b6b;font-size:16px;font-weight:600;\x22>'+Ha['t']('plotPanelLoadFailed')+'</div><div\x20style=\x22color:var(--text-secondary);font-size:13px;\x22>'+Ha['t']('checkNetworkAndReload')+'</div><div\x20style=\x22color:var(--text-tertiary);font-size:11px;font-family:monospace;margin-top:8px;\x22>'+(_0x180594&&_0x180594['message']?_0x180594['message']:Ha['t']('unknownError'))+'</div></div>');});}else{const e=new Ka();e['init'](),window['app']=e;}export{xa as R,Ae as _};