@ioai/robot_viewer 1.1.2 → 1.1.4

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 +16 -2
  2. package/bin/cli.js +93 -2
  3. package/dist/assets/js/PlotPanel-0ea747b2.js +1 -0
  4. package/dist/assets/js/index-8af8ce50.js +6 -0
  5. package/dist/assets/js/{mujoco_wasm-345a2576.js → mujoco_wasm-eda98632.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 +1 -1
  10. package/server/static-server.js +19 -5
  11. package/dist/assets/js/PlotPanel-09f986c7.js +0 -1
  12. package/dist/assets/js/index-56e94ce5.js +0 -6
package/dist/assets/js/index-8af8ce50.js ADDED
@@ -0,0 +1,6 @@
1
+ import{Ray as _0xa61c9e,Plane as _0x24bf3b,EventDispatcher as _0x352b44,Vector3 as _0x220444,MOUSE as _0xbfc824,TOUCH as _0x486cc7,Quaternion as _0x3c39ce,Spherical as _0x422297,Vector2 as _0x228015,MathUtils as _0x2be885,Matrix4 as _0x13cf24,Object3D as _0x5a57be,Matrix3 as _0x3461a1,BoxGeometry as _0x20eddb,Euler as _0x416b03,SphereGeometry as _0x2e733b,Raycaster as _0x173557,Color as _0x25d7bf,MeshPhongMaterial as _0xa4876a,SRGBColorSpace as _0x50e39a,Group as _0x135d71,CapsuleGeometry as _0x37c03a,CylinderGeometry as _0x181a2b,Mesh as _0x2c4c6c,MeshStandardMaterial as _0x19745e,HemisphereLight as _0x173c6f,DirectionalLight as _0x46bddf,PMREMGenerator as _0x105af1,Scene as _0x2eec37,EquirectangularReflectionMapping as _0x8fb2b4,DataTexture as _0x5e84a5,CubeTexture as _0x43a6dd,CubeReflectionMapping as _0x246c78,PlaneGeometry as _0x963183,ShadowMaterial as _0x50778e,DoubleSide as _0x3ea7cb,GridHelper as _0x8e3a38,Sphere as _0x5bf93c,MeshBasicMaterial as _0x2b5e49,BufferGeometry as _0x116076,BufferAttribute as _0x465d50,LineDashedMaterial as _0x3164b6,Line as _0x5b83e2,ConeGeometry as _0x1d50b7,EllipseCurve as _0x45d6ea,CatmullRomCurve3 as _0x298750,TubeGeometry as _0x2f3935,Box3 as _0x2e400f,LineBasicMaterial as _0x3b6936,CanvasTexture as _0x413a58,SpriteMaterial as _0x30f8a7,Sprite as _0x90fba4,PerspectiveCamera as _0x555d82,WebGLRenderer as _0x563f99,PCFSoftShadowMap as _0x2c8869,WireframeGeometry as _0x364fb3,LineSegments as _0x29cf62,ArrowHelper as _0x3c3717,ShaderMaterial as _0x496f57,OrthographicCamera as _0x43a6c8,HalfFloatType as _0x337bf6,UnsignedByteType as _0x3a3254,WebGLRenderTarget as _0x42cbb7,RGBAFormat as _0x414058,NearestFilter as _0x17a998}from'./three-9c891de0.js';import{s as _0x472736,h as _0x53e7ee,t as _0x31940c,z as _0xcc15d2,l as _0x450f6f,i as _0x4c0e59,d as _0x455253}from'./d3-2e308866.js';import{a as _0x1d6a2e,b as _0x1f153f,x as _0x5b0b45,E as _0x1516b9}from'./codemirror-c3cec7b3.js';import{g as _0x54af13,v as _0xc978ba}from'./codemirror-themes-e6995a6a.js';!(function(){const _0x22b649=document['createElement']('link')['relList'];if(!(_0x22b649&&_0x22b649['supports']&&_0x22b649['supports']('modulepreload'))){for(const _0x3341fd of document['querySelectorAll']('link[rel=\x22modulepreload\x22]'))_0x311767(_0x3341fd);new MutationObserver(_0x2b0b44=>{for(const _0x3d322b of _0x2b0b44)if('childList'===_0x3d322b['type'])for(const _0x27aab1 of _0x3d322b['addedNodes'])'LINK'===_0x27aab1['tagName']&&'modulepreload'===_0x27aab1['rel']&&_0x311767(_0x27aab1);})['observe'](document,{'childList':!0x0,'subtree':!0x0});}function _0x311767(_0x12a5a9){if(_0x12a5a9['ep'])return;_0x12a5a9['ep']=!0x0;const _0x23f1ad=function(_0x45185b){const _0x130e67={};return _0x45185b['integrity']&&(_0x130e67['integrity']=_0x45185b['integrity']),_0x45185b['referrerPolicy']&&(_0x130e67['referrerPolicy']=_0x45185b['referrerPolicy']),'use-credentials'===_0x45185b['crossOrigin']?_0x130e67['credentials']='include':'anonymous'===_0x45185b['crossOrigin']?_0x130e67['credentials']='omit':_0x130e67['credentials']='same-origin',_0x130e67;}(_0x12a5a9);fetch(_0x12a5a9['href'],_0x23f1ad);}}());const Se={},Ae=function(_0x50c235,_0x492dc5,_0x2ab6d3){if(!_0x492dc5||0x0===_0x492dc5['length'])return _0x50c235();const _0x35cd67=document['getElementsByTagName']('link');return Promise['all'](_0x492dc5['map'](_0x129b82=>{if(_0x129b82=function(_0x5d99f5,_0x27a3f5){return new URL(_0x5d99f5,_0x27a3f5)['href'];}(_0x129b82,_0x2ab6d3),_0x129b82 in Se)return;Se[_0x129b82]=!0x0;const _0x3e04de=_0x129b82['endsWith']('.css'),_0x576c18=_0x3e04de?'[rel=\x22stylesheet\x22]':'';if(!!_0x2ab6d3)for(let _0x499540=_0x35cd67['length']-0x1;_0x499540>=0x0;_0x499540--){const _0x464f6f=_0x35cd67[_0x499540];if(_0x464f6f['href']===_0x129b82&&(!_0x3e04de||'stylesheet'===_0x464f6f['rel']))return;}else if(document['querySelector']('link[href=\x22'+_0x129b82+'\x22]'+_0x576c18))return;const _0x486de7=document['createElement']('link');return _0x486de7['rel']=_0x3e04de?'stylesheet':'modulepreload',_0x3e04de||(_0x486de7['as']='script',_0x486de7['crossOrigin']=''),_0x486de7['href']=_0x129b82,document['head']['appendChild'](_0x486de7),_0x3e04de?new Promise((_0x2bfce2,_0x185e6b)=>{_0x486de7['addEventListener']('load',_0x2bfce2),_0x486de7['addEventListener']('error',()=>_0x185e6b(new Error('Unable\x20to\x20preload\x20CSS\x20for\x20'+_0x129b82)));}):void 0x0;}))['then'](()=>_0x50c235())['catch'](_0x436f11=>{const _0x2f80e7=new Event('vite:preloadError',{'cancelable':!0x0});if(_0x2f80e7['payload']=_0x436f11,window['dispatchEvent'](_0x2f80e7),!_0x2f80e7['defaultPrevented'])throw _0x436f11;});},Le={'type':'change'},Ee={'type':'start'},Ce={'type':'end'},je=new _0xa61c9e(),ke=new _0x24bf3b(),Te=Math['cos'](0x46*_0x2be885['DEG2RAD']);class Oe extends _0x352b44{constructor(_0x5c1f1c,_0x2ee243){super(),this['object']=_0x5c1f1c,this['domElement']=_0x2ee243,this['domElement']['style']['touchAction']='none',this['enabled']=!0x0,this['target']=new _0x220444(),this['cursor']=new _0x220444(),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':_0xbfc824['ROTATE'],'MIDDLE':_0xbfc824['DOLLY'],'RIGHT':_0xbfc824['PAN']},this['touches']={'ONE':_0x486cc7['ROTATE'],'TWO':_0x486cc7['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 _0x364dfe['phi'];},this['getAzimuthalAngle']=function(){return _0x364dfe['theta'];},this['getDistance']=function(){return this['object']['position']['distanceTo'](this['target']);},this['listenToKeyEvents']=function(_0x18c1b0){_0x18c1b0['addEventListener']('keydown',_0x4f8432),this['_domElementKeyEvents']=_0x18c1b0;},this['stopListenToKeyEvents']=function(){this['_domElementKeyEvents']['removeEventListener']('keydown',_0x4f8432),this['_domElementKeyEvents']=null;},this['saveState']=function(){_0x4fb1af['target0']['copy'](_0x4fb1af['target']),_0x4fb1af['position0']['copy'](_0x4fb1af['object']['position']),_0x4fb1af['zoom0']=_0x4fb1af['object']['zoom'];},this['reset']=function(){_0x4fb1af['target']['copy'](_0x4fb1af['target0']),_0x4fb1af['object']['position']['copy'](_0x4fb1af['position0']),_0x4fb1af['object']['zoom']=_0x4fb1af['zoom0'],_0x4fb1af['object']['updateProjectionMatrix'](),_0x4fb1af['dispatchEvent'](Le),_0x4fb1af['update'](),_0x2bbd02=_0x27558c['NONE'];},this['update']=(function(){const _0x5d2957=new _0x220444(),_0x1aded4=new _0x3c39ce()['setFromUnitVectors'](_0x5c1f1c['up'],new _0x220444(0x0,0x1,0x0)),_0x17da4a=_0x1aded4['clone']()['invert'](),_0x39c10a=new _0x220444(),_0x3ced8e=new _0x3c39ce(),_0x1ee8a4=new _0x220444(),_0x333c52=0x2*Math['PI'];return function(_0x1d58bc=null){const _0x2bdcf7=_0x4fb1af['object']['position'];_0x5d2957['copy'](_0x2bdcf7)['sub'](_0x4fb1af['target']),_0x5d2957['applyQuaternion'](_0x1aded4),_0x364dfe['setFromVector3'](_0x5d2957),_0x4fb1af['autoRotate']&&_0x2bbd02===_0x27558c['NONE']&&_0x4f4303(function(_0x3ed143){return null!==_0x3ed143?0x2*Math['PI']/0x3c*_0x4fb1af['autoRotateSpeed']*_0x3ed143:0x2*Math['PI']/0x3c/0x3c*_0x4fb1af['autoRotateSpeed'];}(_0x1d58bc)),_0x4fb1af['enableDamping']?(_0x364dfe['theta']+=_0x20bb59['theta']*_0x4fb1af['dampingFactor'],_0x364dfe['phi']+=_0x20bb59['phi']*_0x4fb1af['dampingFactor']):(_0x364dfe['theta']+=_0x20bb59['theta'],_0x364dfe['phi']+=_0x20bb59['phi']);let _0x3a9597=_0x4fb1af['minAzimuthAngle'],_0x34b3f1=_0x4fb1af['maxAzimuthAngle'];isFinite(_0x3a9597)&&isFinite(_0x34b3f1)&&(_0x3a9597<-Math['PI']?_0x3a9597+=_0x333c52:_0x3a9597>Math['PI']&&(_0x3a9597-=_0x333c52),_0x34b3f1<-Math['PI']?_0x34b3f1+=_0x333c52:_0x34b3f1>Math['PI']&&(_0x34b3f1-=_0x333c52),_0x364dfe['theta']=_0x3a9597<=_0x34b3f1?Math['max'](_0x3a9597,Math['min'](_0x34b3f1,_0x364dfe['theta'])):_0x364dfe['theta']>(_0x3a9597+_0x34b3f1)/0x2?Math['max'](_0x3a9597,_0x364dfe['theta']):Math['min'](_0x34b3f1,_0x364dfe['theta'])),_0x364dfe['phi']=Math['max'](_0x4fb1af['minPolarAngle'],Math['min'](_0x4fb1af['maxPolarAngle'],_0x364dfe['phi'])),_0x364dfe['makeSafe'](),!0x0===_0x4fb1af['enableDamping']?_0x4fb1af['target']['addScaledVector'](_0xd3daf,_0x4fb1af['dampingFactor']):_0x4fb1af['target']['add'](_0xd3daf),_0x4fb1af['target']['sub'](_0x4fb1af['cursor']),_0x4fb1af['target']['clampLength'](_0x4fb1af['minTargetRadius'],_0x4fb1af['maxTargetRadius']),_0x4fb1af['target']['add'](_0x4fb1af['cursor']);let _0x12fd64=!0x1;if(_0x4fb1af['zoomToCursor']&&_0x12eeab||_0x4fb1af['object']['isOrthographicCamera'])_0x364dfe['radius']=_0x379e18(_0x364dfe['radius']);else{const _0x4b8464=_0x364dfe['radius'];_0x364dfe['radius']=_0x379e18(_0x364dfe['radius']*_0x15ed4e),_0x12fd64=_0x4b8464!=_0x364dfe['radius'];}if(_0x5d2957['setFromSpherical'](_0x364dfe),_0x5d2957['applyQuaternion'](_0x17da4a),_0x2bdcf7['copy'](_0x4fb1af['target'])['add'](_0x5d2957),_0x4fb1af['object']['lookAt'](_0x4fb1af['target']),!0x0===_0x4fb1af['enableDamping']?(_0x20bb59['theta']*=0x1-_0x4fb1af['dampingFactor'],_0x20bb59['phi']*=0x1-_0x4fb1af['dampingFactor'],_0xd3daf['multiplyScalar'](0x1-_0x4fb1af['dampingFactor'])):(_0x20bb59['set'](0x0,0x0,0x0),_0xd3daf['set'](0x0,0x0,0x0)),_0x4fb1af['zoomToCursor']&&_0x12eeab){let _0xc202f2=null;if(_0x4fb1af['object']['isPerspectiveCamera']){const _0x24e594=_0x5d2957['length']();_0xc202f2=_0x379e18(_0x24e594*_0x15ed4e);const _0x1f0bbc=_0x24e594-_0xc202f2;_0x4fb1af['object']['position']['addScaledVector'](_0x3a8138,_0x1f0bbc),_0x4fb1af['object']['updateMatrixWorld'](),_0x12fd64=!!_0x1f0bbc;}else if(_0x4fb1af['object']['isOrthographicCamera']){const _0x44d7cf=new _0x220444(_0x2558ae['x'],_0x2558ae['y'],0x0);_0x44d7cf['unproject'](_0x4fb1af['object']);const _0xb19e75=_0x4fb1af['object']['zoom'];_0x4fb1af['object']['zoom']=Math['max'](_0x4fb1af['minZoom'],Math['min'](_0x4fb1af['maxZoom'],_0x4fb1af['object']['zoom']/_0x15ed4e)),_0x4fb1af['object']['updateProjectionMatrix'](),_0x12fd64=_0xb19e75!==_0x4fb1af['object']['zoom'];const _0x2df77e=new _0x220444(_0x2558ae['x'],_0x2558ae['y'],0x0);_0x2df77e['unproject'](_0x4fb1af['object']),_0x4fb1af['object']['position']['sub'](_0x2df77e)['add'](_0x44d7cf),_0x4fb1af['object']['updateMatrixWorld'](),_0xc202f2=_0x5d2957['length']();}else _0x4fb1af['zoomToCursor']=!0x1;null!==_0xc202f2&&(this['screenSpacePanning']?_0x4fb1af['target']['set'](0x0,0x0,-0x1)['transformDirection'](_0x4fb1af['object']['matrix'])['multiplyScalar'](_0xc202f2)['add'](_0x4fb1af['object']['position']):(je['origin']['copy'](_0x4fb1af['object']['position']),je['direction']['set'](0x0,0x0,-0x1)['transformDirection'](_0x4fb1af['object']['matrix']),Math['abs'](_0x4fb1af['object']['up']['dot'](je['direction']))<Te?_0x5c1f1c['lookAt'](_0x4fb1af['target']):(ke['setFromNormalAndCoplanarPoint'](_0x4fb1af['object']['up'],_0x4fb1af['target']),je['intersectPlane'](ke,_0x4fb1af['target']))));}else if(_0x4fb1af['object']['isOrthographicCamera']){const _0x47d415=_0x4fb1af['object']['zoom'];_0x4fb1af['object']['zoom']=Math['max'](_0x4fb1af['minZoom'],Math['min'](_0x4fb1af['maxZoom'],_0x4fb1af['object']['zoom']/_0x15ed4e)),_0x47d415!==_0x4fb1af['object']['zoom']&&(_0x4fb1af['object']['updateProjectionMatrix'](),_0x12fd64=!0x0);}return _0x15ed4e=0x1,_0x12eeab=!0x1,!!(_0x12fd64||_0x39c10a['distanceToSquared'](_0x4fb1af['object']['position'])>_0x5a9685||0x8*(0x1-_0x3ced8e['dot'](_0x4fb1af['object']['quaternion']))>_0x5a9685||_0x1ee8a4['distanceToSquared'](_0x4fb1af['target'])>_0x5a9685)&&(_0x4fb1af['dispatchEvent'](Le),_0x39c10a['copy'](_0x4fb1af['object']['position']),_0x3ced8e['copy'](_0x4fb1af['object']['quaternion']),_0x1ee8a4['copy'](_0x4fb1af['target']),!0x0);};}()),this['dispose']=function(){_0x4fb1af['domElement']['removeEventListener']('contextmenu',_0x203208),_0x4fb1af['domElement']['removeEventListener']('pointerdown',_0x5471ca),_0x4fb1af['domElement']['removeEventListener']('pointercancel',_0x41e648),_0x4fb1af['domElement']['removeEventListener']('wheel',_0x464e36),_0x4fb1af['domElement']['removeEventListener']('pointermove',_0x3d26e3),_0x4fb1af['domElement']['removeEventListener']('pointerup',_0x41e648);_0x4fb1af['domElement']['getRootNode']()['removeEventListener']('keydown',_0x23174b,{'capture':!0x0}),null!==_0x4fb1af['_domElementKeyEvents']&&(_0x4fb1af['_domElementKeyEvents']['removeEventListener']('keydown',_0x4f8432),_0x4fb1af['_domElementKeyEvents']=null);};const _0x4fb1af=this,_0x27558c={'NONE':-0x1,'ROTATE':0x0,'DOLLY':0x1,'PAN':0x2,'TOUCH_ROTATE':0x3,'TOUCH_PAN':0x4,'TOUCH_DOLLY_PAN':0x5,'TOUCH_DOLLY_ROTATE':0x6};let _0x2bbd02=_0x27558c['NONE'];const _0x5a9685=0.000001,_0x364dfe=new _0x422297(),_0x20bb59=new _0x422297();let _0x15ed4e=0x1;const _0xd3daf=new _0x220444(),_0x2ee560=new _0x228015(),_0x292666=new _0x228015(),_0x952868=new _0x228015(),_0x456631=new _0x228015(),_0x42341b=new _0x228015(),_0x1eb800=new _0x228015(),_0x46406d=new _0x228015(),_0x2060d9=new _0x228015(),_0x51ee21=new _0x228015(),_0x3a8138=new _0x220444(),_0x2558ae=new _0x228015();let _0x12eeab=!0x1;const _0x512037=[],_0x40b50b={};let _0x4664db=!0x1;function _0x3f4aa1(_0xa66a33){const _0x5f5d39=Math['abs'](0.01*_0xa66a33);return Math['pow'](0.95,_0x4fb1af['zoomSpeed']*_0x5f5d39);}function _0x4f4303(_0x1cf0d8){_0x20bb59['theta']-=_0x1cf0d8;}function _0x4358bd(_0x1117c1){_0x20bb59['phi']-=_0x1117c1;}const _0x2edeca=(function(){const _0x208d6d=new _0x220444();return 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_0x228015(),_0x40b50b[_0x4666ff['pointerId']]=_0x48c9ce),_0x48c9ce['set'](_0x4666ff['pageX'],_0x4666ff['pageY']);}function _0x2fa2f3(_0x44783f){const _0x3aaabf=_0x44783f['pointerId']===_0x512037[0x0]?_0x512037[0x1]:_0x512037[0x0];return _0x40b50b[_0x3aaabf];}_0x4fb1af['domElement']['addEventListener']('contextmenu',_0x203208),_0x4fb1af['domElement']['addEventListener']('pointerdown',_0x5471ca),_0x4fb1af['domElement']['addEventListener']('pointercancel',_0x41e648),_0x4fb1af['domElement']['addEventListener']('wheel',_0x464e36,{'passive':!0x1});_0x4fb1af['domElement']['getRootNode']()['addEventListener']('keydown',_0x23174b,{'passive':!0x0,'capture':!0x0}),this['update']();}}class Fe extends _0x5a57be{constructor(_0x44dd39=document['createElement']('div')){super(),this['isCSS2DObject']=!0x0,this['element']=_0x44dd39,this['element']['style']['position']='absolute',this['element']['style']['userSelect']='none',this['element']['setAttribute']('draggable',!0x1),this['center']=new _0x228015(0.5,0.5),this['addEventListener']('removed',function(){this['traverse'](function(_0x442798){_0x442798['element']instanceof Element&&null!==_0x442798['element']['parentNode']&&_0x442798['element']['parentNode']['removeChild'](_0x442798['element']);});});}['copy'](_0x1bde0d,_0x261638){return super['copy'](_0x1bde0d,_0x261638),this['element']=_0x1bde0d['element']['cloneNode'](!0x0),this['center']=_0x1bde0d['center'],this;}}const De=new _0x220444(),Pe=new _0x13cf24(),Ie=new _0x13cf24(),Re=new _0x220444(),ze=new _0x220444();class Ne{constructor(_0x2ffd6e={}){const _0x32bf98=this;let _0x250467,_0x3dd960,_0x56bd36,_0xd0ff80;const _0x2d6e0c={'objects':new WeakMap()},_0x2a1ea8=void 0x0!==_0x2ffd6e['element']?_0x2ffd6e['element']:document['createElement']('div');function _0x2766fc(_0x1bdec6,_0x1c2068,_0xd4341a){if(_0x1bdec6['isCSS2DObject']){De['setFromMatrixPosition'](_0x1bdec6['matrixWorld']),De['applyMatrix4'](Ie);const _0x43a577=!0x0===_0x1bdec6['visible']&&De['z']>=-0x1&&De['z']<=0x1&&!0x0===_0x1bdec6['layers']['test'](_0xd4341a['layers']);if(_0x1bdec6['element']['style']['display']=!0x0===_0x43a577?'':'none',!0x0===_0x43a577){_0x1bdec6['onBeforeRender'](_0x32bf98,_0x1c2068,_0xd4341a);const _0x20906d=_0x1bdec6['element'];_0x20906d['style']['transform']='translate('+-0x64*_0x1bdec6['center']['x']+'%,'+-0x64*_0x1bdec6['center']['y']+'%)translate('+(De['x']*_0x56bd36+_0x56bd36)+'px,'+(-De['y']*_0xd0ff80+_0xd0ff80)+'px)',_0x20906d['parentNode']!==_0x2a1ea8&&_0x2a1ea8['appendChild'](_0x20906d),_0x1bdec6['onAfterRender'](_0x32bf98,_0x1c2068,_0xd4341a);}const _0x459110={'distanceToCameraSquared':_0x447fb4(_0xd4341a,_0x1bdec6)};_0x2d6e0c['objects']['set'](_0x1bdec6,_0x459110);}for(let _0x48aaca=0x0,_0x34024c=_0x1bdec6['children']['length'];_0x48aaca<_0x34024c;_0x48aaca++)_0x2766fc(_0x1bdec6['children'][_0x48aaca],_0x1c2068,_0xd4341a);}function _0x447fb4(_0x2c374b,_0x327e8d){return Re['setFromMatrixPosition'](_0x2c374b['matrixWorld']),ze['setFromMatrixPosition'](_0x327e8d['matrixWorld']),Re['distanceToSquared'](ze);}_0x2a1ea8['style']['overflow']='hidden',this['domElement']=_0x2a1ea8,this['getSize']=function(){return{'width':_0x250467,'height':_0x3dd960};},this['render']=function(_0x128eed,_0x405415){!0x0===_0x128eed['matrixWorldAutoUpdate']&&_0x128eed['updateMatrixWorld'](),null===_0x405415['parent']&&!0x0===_0x405415['matrixWorldAutoUpdate']&&_0x405415['updateMatrixWorld'](),Pe['copy'](_0x405415['matrixWorldInverse']),Ie['multiplyMatrices'](_0x405415['projectionMatrix'],Pe),_0x2766fc(_0x128eed,_0x128eed,_0x405415),function(_0x4acf14){const _0x1bc38c=function(_0x2beb6d){const _0x49df67=[];return _0x2beb6d['traverse'](function(_0x216410){_0x216410['isCSS2DObject']&&_0x49df67['push'](_0x216410);}),_0x49df67;}(_0x4acf14)['sort'](function(_0x1e99b8,_0x394532){if(_0x1e99b8['renderOrder']!==_0x394532['renderOrder'])return _0x394532['renderOrder']-_0x1e99b8['renderOrder'];return _0x2d6e0c['objects']['get'](_0x1e99b8)['distanceToCameraSquared']-_0x2d6e0c['objects']['get'](_0x394532)['distanceToCameraSquared'];}),_0x16aa1d=_0x1bc38c['length'];for(let _0x3c1897=0x0,_0x3cee0b=_0x1bc38c['length'];_0x3c1897<_0x3cee0b;_0x3c1897++)_0x1bc38c[_0x3c1897]['element']['style']['zIndex']=_0x16aa1d-_0x3c1897;}(_0x128eed);},this['setSize']=function(_0x1bc397,_0x3a2017){_0x250467=_0x1bc397,_0x3dd960=_0x3a2017,_0x56bd36=_0x250467/0x2,_0xd0ff80=_0x3dd960/0x2,_0x2a1ea8['style']['width']=_0x1bc397+'px',_0x2a1ea8['style']['height']=_0x3a2017+'px';};}}class Ue{static['computeEigenDecomposition3x3'](_0x50dbe4){const _0x4e3c46=_0x50dbe4['elements'];let _0x181728=_0x4e3c46[0x0],_0x580d44=_0x4e3c46[0x1],_0x24b800=_0x4e3c46[0x2],_0xf61e0a=_0x4e3c46[0x4],_0x1e41b0=_0x4e3c46[0x5],_0x4fc149=_0x4e3c46[0x8],_0x3e0e0c=0x1,_0xb478a0=0x0,_0xe25a38=0x0,_0x57ada7=0x0,_0x113607=0x1,_0x2759d3=0x0,_0x49cd1b=0x0,_0x2feda7=0x0,_0x2fb137=0x1;for(let _0xba3e2a=0x0;_0xba3e2a<0x32;_0xba3e2a++){let _0x21ccfc,_0x35ab27,_0x5b47d3,_0x7aca94=Math['abs'](_0x580d44),_0x1b86b7=0x0,_0xb63e78=0x1;if(Math['abs'](_0x24b800)>_0x7aca94&&(_0x7aca94=Math['abs'](_0x24b800),_0x1b86b7=0x0,_0xb63e78=0x2),Math['abs'](_0x1e41b0)>_0x7aca94&&(_0x7aca94=Math['abs'](_0x1e41b0),_0x1b86b7=0x1,_0xb63e78=0x2),_0x7aca94<1e-10)break;0x0===_0x1b86b7&&0x1===_0xb63e78?(_0x21ccfc=_0x580d44,_0x35ab27=_0x181728,_0x5b47d3=_0xf61e0a):0x0===_0x1b86b7&&0x2===_0xb63e78?(_0x21ccfc=_0x24b800,_0x35ab27=_0x181728,_0x5b47d3=_0x4fc149):(_0x21ccfc=_0x1e41b0,_0x35ab27=_0xf61e0a,_0x5b47d3=_0x4fc149);const _0x1b1373=(_0x5b47d3-_0x35ab27)/(0x2*_0x21ccfc),_0x25b7c8=Math['sign'](_0x1b1373)/(Math['abs'](_0x1b1373)+Math['sqrt'](0x1+_0x1b1373*_0x1b1373)),_0x215f1c=0x1/Math['sqrt'](0x1+_0x25b7c8*_0x25b7c8),_0x580a19=_0x25b7c8*_0x215f1c;if(0x0===_0x1b86b7&&0x1===_0xb63e78){const _0x4c0fab=_0x181728,_0x5ea951=_0x24b800;_0x181728=_0x215f1c*_0x215f1c*_0x4c0fab-0x2*_0x215f1c*_0x580a19*_0x580d44+_0x580a19*_0x580a19*_0xf61e0a,_0xf61e0a=_0x580a19*_0x580a19*_0x4c0fab+0x2*_0x215f1c*_0x580a19*_0x580d44+_0x215f1c*_0x215f1c*_0xf61e0a,_0x580d44=0x0,_0x24b800=_0x215f1c*_0x5ea951-_0x580a19*_0x1e41b0,_0x1e41b0=_0x580a19*_0x5ea951+_0x215f1c*_0x1e41b0;const _0x209a88=_0x3e0e0c,_0xf22e09=_0xb478a0,_0x2ef086=_0xe25a38;_0x3e0e0c=_0x215f1c*_0x209a88-_0x580a19*_0x57ada7,_0xb478a0=_0x215f1c*_0xf22e09-_0x580a19*_0x113607,_0xe25a38=_0x215f1c*_0x2ef086-_0x580a19*_0x2759d3,_0x57ada7=_0x580a19*_0x209a88+_0x215f1c*_0x57ada7,_0x113607=_0x580a19*_0xf22e09+_0x215f1c*_0x113607,_0x2759d3=_0x580a19*_0x2ef086+_0x215f1c*_0x2759d3;}else if(0x0===_0x1b86b7&&0x2===_0xb63e78){const _0x28f8bf=_0x181728,_0xb85209=_0x580d44;_0x181728=_0x215f1c*_0x215f1c*_0x28f8bf-0x2*_0x215f1c*_0x580a19*_0x24b800+_0x580a19*_0x580a19*_0x4fc149,_0x4fc149=_0x580a19*_0x580a19*_0x28f8bf+0x2*_0x215f1c*_0x580a19*_0x24b800+_0x215f1c*_0x215f1c*_0x4fc149,_0x24b800=0x0,_0x580d44=_0x215f1c*_0xb85209-_0x580a19*_0x1e41b0,_0x1e41b0=_0x580a19*_0xb85209+_0x215f1c*_0x1e41b0;const _0x179db1=_0x3e0e0c,_0x2aea05=_0xb478a0,_0x37efc1=_0xe25a38;_0x3e0e0c=_0x215f1c*_0x179db1-_0x580a19*_0x49cd1b,_0xb478a0=_0x215f1c*_0x2aea05-_0x580a19*_0x2feda7,_0xe25a38=_0x215f1c*_0x37efc1-_0x580a19*_0x2fb137,_0x49cd1b=_0x580a19*_0x179db1+_0x215f1c*_0x49cd1b,_0x2feda7=_0x580a19*_0x2aea05+_0x215f1c*_0x2feda7,_0x2fb137=_0x580a19*_0x37efc1+_0x215f1c*_0x2fb137;}else{const _0x4c3364=_0xf61e0a,_0x51d380=_0x580d44;_0xf61e0a=_0x215f1c*_0x215f1c*_0x4c3364-0x2*_0x215f1c*_0x580a19*_0x1e41b0+_0x580a19*_0x580a19*_0x4fc149,_0x4fc149=_0x580a19*_0x580a19*_0x4c3364+0x2*_0x215f1c*_0x580a19*_0x1e41b0+_0x215f1c*_0x215f1c*_0x4fc149,_0x1e41b0=0x0,_0x580d44=_0x215f1c*_0x51d380-_0x580a19*_0x24b800,_0x24b800=_0x580a19*_0x51d380+_0x215f1c*_0x24b800;const _0x58e691=_0x57ada7,_0x54eeaa=_0x113607,_0x3518bc=_0x2759d3;_0x57ada7=_0x215f1c*_0x58e691-_0x580a19*_0x49cd1b,_0x113607=_0x215f1c*_0x54eeaa-_0x580a19*_0x2feda7,_0x2759d3=_0x215f1c*_0x3518bc-_0x580a19*_0x2fb137,_0x49cd1b=_0x580a19*_0x58e691+_0x215f1c*_0x49cd1b,_0x2feda7=_0x580a19*_0x54eeaa+_0x215f1c*_0x2feda7,_0x2fb137=_0x580a19*_0x3518bc+_0x215f1c*_0x2fb137;}}return{'eigenvalues':[_0x181728,_0xf61e0a,_0x4fc149],'eigenvectors':[[_0x3e0e0c,_0xb478a0,_0xe25a38],[_0x57ada7,_0x113607,_0x2759d3],[_0x49cd1b,_0x2feda7,_0x2fb137]]};}static['computeEigenvalues3x3'](_0x57156d){const _0x3fb0cc=_0x57156d['elements'],_0x3fd7db=_0x3fb0cc[0x0];_0x3fb0cc[0x1],_0x3fb0cc[0x2],_0x3fb0cc[0x3];const _0x56f0d9=_0x3fb0cc[0x4];_0x3fb0cc[0x5],_0x3fb0cc[0x6],_0x3fb0cc[0x7];const _0x6e598e=_0x3fb0cc[0x8],_0x697d0b=[Math['abs'](_0x3fd7db),Math['abs'](_0x56f0d9),Math['abs'](_0x6e598e)];return _0x697d0b['sort']((_0x23559e,_0x2865aa)=>_0x2865aa-_0x23559e),_0x697d0b;}static['computeInertiaBox'](_0x1ce9bf){const _0x24e853=_0x1ce9bf['ixx']||0x0,_0x6d5fc0=_0x1ce9bf['iyy']||0x0,_0x41e3e4=_0x1ce9bf['izz']||0x0,_0x25df5a=_0x1ce9bf['ixy']||0x0,_0x1e495e=_0x1ce9bf['ixz']||0x0,_0x5cf105=_0x1ce9bf['iyz']||0x0,_0x2280df=_0x1ce9bf['mass']||0x1;if(_0x2280df<0.01){const _0x2b3e9f=(Math['abs'](_0x24e853)+Math['abs'](_0x6d5fc0)+Math['abs'](_0x41e3e4))/0x3;if(Math['sqrt'](_0x2b3e9f/_0x2280df)>0.05)return null;}const _0x541792=1e-9;if(Math['abs'](_0x24e853)<_0x541792&&Math['abs'](_0x6d5fc0)<_0x541792&&Math['abs'](_0x41e3e4)<_0x541792)return null;const _0x5598f3=Math['abs'](_0x25df5a)>1e-10||Math['abs'](_0x1e495e)>1e-10||Math['abs'](_0x5cf105)>1e-10;let _0x11c95e,_0x147056=new _0x3c39ce();if(_0x5598f3){const _0x46d5cf=new _0x3461a1();_0x46d5cf['set'](_0x24e853,_0x25df5a,_0x1e495e,_0x25df5a,_0x6d5fc0,_0x5cf105,_0x1e495e,_0x5cf105,_0x41e3e4);const _0x2d4e8c=this['computeEigenDecomposition3x3'](_0x46d5cf);_0x11c95e=_0x2d4e8c['eigenvalues'];const _0x47fc29=new _0x13cf24();_0x47fc29['set'](_0x2d4e8c['eigenvectors'][0x0][0x0],_0x2d4e8c['eigenvectors'][0x1][0x0],_0x2d4e8c['eigenvectors'][0x2][0x0],0x0,_0x2d4e8c['eigenvectors'][0x0][0x1],_0x2d4e8c['eigenvectors'][0x1][0x1],_0x2d4e8c['eigenvectors'][0x2][0x1],0x0,_0x2d4e8c['eigenvectors'][0x0][0x2],_0x2d4e8c['eigenvectors'][0x1][0x2],_0x2d4e8c['eigenvectors'][0x2][0x2],0x0,0x0,0x0,0x0,0x1),_0x147056['setFromRotationMatrix'](_0x47fc29);}else _0x11c95e=[_0x24e853,_0x6d5fc0,_0x41e3e4];const _0x2c700f=0x6/_0x2280df;let _0x29f1cb=Math['sqrt'](Math['abs'](_0x2c700f*(_0x11c95e[0x1]+_0x11c95e[0x2]-_0x11c95e[0x0]))),_0x3f6ce6=Math['sqrt'](Math['abs'](_0x2c700f*(_0x11c95e[0x0]+_0x11c95e[0x2]-_0x11c95e[0x1]))),_0x1e4b1b=Math['sqrt'](Math['abs'](_0x2c700f*(_0x11c95e[0x0]+_0x11c95e[0x1]-_0x11c95e[0x2])));const _0x5b1087=(Math['abs'](_0x11c95e[0x0])+Math['abs'](_0x11c95e[0x1])+Math['abs'](_0x11c95e[0x2]))/0x3;if(Math['sqrt'](_0x5b1087/_0x2280df)>(_0x29f1cb+_0x3f6ce6+_0x1e4b1b)/0x3)return null;if(_0x2280df/(_0x29f1cb*_0x3f6ce6*_0x1e4b1b)<0.0001)return null;const _0x46abee=0.01;return _0x29f1cb=Math['max'](_0x29f1cb,_0x46abee),_0x3f6ce6=Math['max'](_0x3f6ce6,_0x46abee),_0x1e4b1b=Math['max'](_0x1e4b1b,_0x46abee),_0x29f1cb<_0x46abee&&_0x3f6ce6<_0x46abee&&_0x1e4b1b<_0x46abee&&(_0x29f1cb=_0x3f6ce6=_0x1e4b1b=0.05),{'width':_0x29f1cb,'height':_0x3f6ce6,'depth':_0x1e4b1b,'rotation':_0x147056};}static['createInertiaBoxGeometry'](_0x59b02e,_0x4109dc,_0x1b5154){return new _0x20eddb(_0x59b02e,_0x4109dc,_0x1b5154);}static['computeInertiaEllipsoid'](_0x1dff08){const _0x33b99f=_0x1dff08['ixx']||0x0,_0x56a2f3=_0x1dff08['iyy']||0x0,_0x4d8628=_0x1dff08['izz']||0x0,_0x18c04b=_0x1dff08['ixy']||0x0,_0x36d615=_0x1dff08['ixz']||0x0,_0x176f03=_0x1dff08['iyz']||0x0,_0x3b6977=new _0x3461a1();_0x3b6977['set'](_0x33b99f,_0x18c04b,_0x36d615,_0x18c04b,_0x56a2f3,_0x176f03,_0x36d615,_0x176f03,_0x4d8628);const _0xdb28b3=this['computeEigenvalues3x3'](_0x3b6977),_0x47c12b=_0x1dff08['mass']||0x1,_0x982d0=0.1/Math['sqrt'](_0x47c12b),_0x1d65e1=[Math['sqrt'](Math['max'](_0xdb28b3[0x0],0x0))*_0x982d0,Math['sqrt'](Math['max'](_0xdb28b3[0x1],0x0))*_0x982d0,Math['sqrt'](Math['max'](_0xdb28b3[0x2],0x0))*_0x982d0];return _0x1d65e1['forEach']((_0x10878c,_0x4730d0)=>{_0x10878c<0.01&&(_0x1d65e1[_0x4730d0]=0.01);}),{'radii':_0x1d65e1,'rotation':new _0x416b03(0x0,0x0,0x0)};}static['createInertiaEllipsoidGeometry'](_0x426fd5){const _0x3b60a8=new _0x2e733b(0x1,0x20,0x20);return _0x3b60a8['scale'](_0x426fd5[0x0],_0x426fd5[0x1],_0x426fd5[0x2]),_0x3b60a8;}static['rpyToEuler'](_0x187f00){return _0x187f00&&0x3===_0x187f00['length']?new _0x416b03(_0x187f00[0x0],_0x187f00[0x1],_0x187f00[0x2],'XYZ'):new _0x416b03(0x0,0x0,0x0);}static['xyzToVector3'](_0x248026){return _0x248026&&0x3===_0x248026['length']?new _0x220444(_0x248026[0x0],_0x248026[0x1],_0x248026[0x2]):new _0x220444(0x0,0x0,0x0);}}function Ve(_0x46891c,_0x3d3255){if(!_0x3d3255||!_0x3d3255['threeObject'])return null;let _0x2efd41=_0x46891c;const _0x5c4586=_0x3d3255['threeObject'];for(;_0x2efd41;){if('URDFLink'===_0x2efd41['type']||_0x2efd41['isURDFLink']){const _0x150aa1=_0x2efd41['name'];if(_0x150aa1&&_0x3d3255['links']&&_0x3d3255['links']['has'](_0x150aa1)){return{'linkData':_0x3d3255['links']['get'](_0x150aa1),'threeObject':_0x2efd41,'name':_0x150aa1};}}if(_0x2efd41===_0x5c4586||!_0x2efd41['parent'])break;_0x2efd41=_0x2efd41['parent'];}return null;}const qe=new _0x220444(),Be=new _0x220444(),$e=new _0x220444(),Je=new _0x220444(),He=new _0x220444(),Ge=new _0x220444(),We=new _0x220444(),Xe=new _0x24bf3b();class Ye{constructor(_0x296f48,_0x43180c,_0xe0ebb2,_0x2f3233){this['enabled']=!0x0,this['scene']=_0x296f48,this['camera']=_0x43180c,this['domElement']=_0xe0ebb2,this['model']=_0x2f3233,this['raycaster']=new _0x173557(),this['raycaster']['layers']['enableAll'](),this['initialGrabPoint']=new _0x220444(),this['hitDistance']=-0x1,this['hovered']=null,this['manipulating']=null,this['renderer']=null;}['update'](){const {raycaster:_0x3efd38,hovered:_0x205b72,manipulating:_0x50cc8e}=this,_0x847583=this['model'];if(_0x50cc8e||!this['enabled']||!_0x847583||!_0x847583['threeObject'])return;let _0x1f53f2=null;const _0x517274=[];_0x847583['threeObject']['traverse'](_0x14d141=>{if(_0x14d141['isMesh']&&!_0x14d141['visible']){let _0x361a99=!0x1,_0x339ef8=_0x14d141;for(;_0x339ef8;){if(_0x339ef8['isURDFCollider']){_0x361a99=!0x0;break;}_0x339ef8=_0x339ef8['parent'];}_0x361a99||(_0x14d141['visible']=!0x0,_0x517274['push'](_0x14d141));}});const _0x3712d6=_0x3efd38['intersectObject'](_0x847583['threeObject'],!0x0);_0x517274['forEach'](_0x1aabe6=>{_0x1aabe6['visible']=!0x1;});const _0x45b4aa=_0x3712d6['filter'](_0x2cadfc=>{var _0x4a9c25,_0x38a87e;const _0xb7232=_0x2cadfc['object'];if(_0xb7232['isURDFCollider']||(null==(_0x4a9c25=_0xb7232['userData'])?void 0x0:_0x4a9c25['isCollision'])||(null==(_0x38a87e=_0xb7232['userData'])?void 0x0:_0x38a87e['isCollisionGeom']))return!0x1;let _0x30039b=!0x1,_0x406047=_0xb7232;for(;_0x406047;){if(_0x406047['isURDFCollider']){_0x30039b=!0x0;break;}_0x406047=_0x406047['parent'];}return!_0x30039b&&_0xb7232['isMesh'];});if(0x0!==_0x45b4aa['length']){const _0x1cd8d1=_0x45b4aa[0x0];_0x1f53f2=Ve(_0x1cd8d1['object'],_0x847583),_0x1f53f2&&(this['hitDistance']=_0x1cd8d1['distance'],this['initialGrabPoint']['copy'](_0x1cd8d1['point']));}((null==_0x1f53f2?void 0x0:_0x1f53f2['name'])||null)!==((null==_0x205b72?void 0x0:_0x205b72['name'])||null)?(_0x205b72&&this['onUnhover'](_0x205b72),this['hovered']=_0x1f53f2,_0x1f53f2&&this['onHover'](_0x1f53f2)):_0x1f53f2&&_0x205b72&&(this['hovered']=_0x1f53f2);}['updateJoint'](_0x117a89,_0x4533c8){this['onUpdateJoint']&&this['onUpdateJoint'](_0x117a89,_0x4533c8);}['onDragStart'](_0x4f941e){}['onDragEnd'](_0x2c0a7c){}['onHover'](_0x7ef40b){}['onUnhover'](_0x4264c3){}['getJointAxis'](_0x14f51f){return _0x14f51f['threeObject']&&_0x14f51f['threeObject']['axis']instanceof _0x220444?_0x14f51f['threeObject']['axis']['clone']():_0x14f51f['axis']&&_0x14f51f['axis']['xyz']?Ue['xyzToVector3'](_0x14f51f['axis']['xyz']):new _0x220444(0x0,0x0,0x1);}['getJointThreeObject'](_0x117a46){return _0x117a46['threeObject'];}['getJointCurrentValue'](_0xd42cfe){if(_0xd42cfe['threeObject']){if(void 0x0!==_0xd42cfe['threeObject']['angle'])return _0xd42cfe['threeObject']['angle'];if(_0xd42cfe['threeObject']['jointValue']&&_0xd42cfe['threeObject']['jointValue']['length']>0x0)return _0xd42cfe['threeObject']['jointValue'][0x0];}return void 0x0!==_0xd42cfe['currentValue']?_0xd42cfe['currentValue']:0x0;}['getRevoluteDelta'](_0x1ed696,_0x2fdf37,_0x7171be){const _0xa2fbc8=this['getJointThreeObject'](_0x1ed696);if(!_0xa2fbc8)return 0x0;const _0x45c5b1=this['getJointAxis'](_0x1ed696);Je['copy'](_0x45c5b1)['transformDirection'](_0xa2fbc8['matrixWorld'])['normalize'](),$e['set'](0x0,0x0,0x0)['applyMatrix4'](_0xa2fbc8['matrixWorld']),Xe['setFromNormalAndCoplanarPoint'](Je,$e),Xe['projectPoint'](_0x2fdf37,Ge),Xe['projectPoint'](_0x7171be,We),Ge['sub']($e),We['sub']($e),Je['crossVectors'](Ge,We);const _0x1d4618=Je['dot'](Xe['normal']);return Math['sign'](_0x1d4618)*We['angleTo'](Ge);}['getPrismaticDelta'](_0x7367f2,_0x46d64f,_0x2a6988){var _0x35af63;const _0x33eb99=this['getJointThreeObject'](_0x7367f2);if(!_0x33eb99)return 0x0;Je['subVectors'](_0x2a6988,_0x46d64f);const _0x3d93ab=this['getJointAxis'](_0x7367f2);return Xe['normal']['copy'](_0x3d93ab)['transformDirection']((null==(_0x35af63=_0x33eb99['parent'])?void 0x0:_0x35af63['matrixWorld'])||new _0x13cf24())['normalize'](),Je['dot'](Xe['normal']);}['moveRay'](_0x161fbc){var _0x3482da,_0x125e5f,_0x4ed55d,_0x3c6d8c,_0x266bf1;const {raycaster:_0x5cdf16,hitDistance:_0x2acc8a,manipulating:_0x52f6cb}=this,{ray:_0x45a671}=_0x5cdf16;if(_0x52f6cb){_0x45a671['at'](_0x2acc8a,qe),_0x161fbc['at'](_0x2acc8a,Be);let _0x4401ac=0x0;const _0x5d42e2=_0x52f6cb['type'];if('revolute'===_0x5d42e2||'continuous'===_0x5d42e2?_0x4401ac=this['getRevoluteDelta'](_0x52f6cb,qe,Be):'prismatic'===_0x5d42e2&&(_0x4401ac=this['getPrismaticDelta'](_0x52f6cb,qe,Be)),_0x4401ac){let _0x131374=this['getJointCurrentValue'](_0x52f6cb)+_0x4401ac;if(_0x52f6cb['limits']){(null==(_0x125e5f=null==(_0x3482da=this['model'])?void 0x0:_0x3482da['userData'])?void 0x0:_0x125e5f['ignoreLimits'])||(null==(_0x266bf1=null==(_0x3c6d8c=null==(_0x4ed55d=this['model'])?void 0x0:_0x4ed55d['threeObject'])?void 0x0:_0x3c6d8c['userData'])?void 0x0:_0x266bf1['ignoreLimits'])||!0x1||(_0x131374=Math['max'](_0x52f6cb['limits']['lower'],Math['min'](_0x52f6cb['limits']['upper'],_0x131374)));}this['updateJoint'](_0x52f6cb,_0x131374);}}this['raycaster']['ray']['copy'](_0x161fbc),this['update']();}['setGrabbed'](_0x29a0ac){const {hovered:_0x36782e,manipulating:_0x41ae58}=this;if(_0x29a0ac){if(null!==_0x41ae58||null===_0x36782e)return;const _0x35dd83=function(_0xcb1f5c,_0x2a7ecb){if(!_0xcb1f5c||!_0xcb1f5c['threeObject']||!_0x2a7ecb['joints'])return null;let _0xf8d185=_0xcb1f5c['threeObject'];for(;_0xf8d185;){const _0x2610a5=_0xf8d185['parent'];if(_0x2610a5&&('URDFJoint'===_0x2610a5['type']||_0x2610a5['isURDFJoint'])){const _0x40ed55=_0x2610a5['name'];if(_0x40ed55&&_0x2a7ecb['joints']['has'](_0x40ed55)){const _0x4c7038=_0x2a7ecb['joints']['get'](_0x40ed55);if('fixed'!==_0x4c7038['type'])return _0x4c7038;const _0x629c3e=_0x2610a5['parent'];if(_0x629c3e&&('URDFLink'===_0x629c3e['type']||_0x629c3e['isURDFLink'])){_0xf8d185=_0x629c3e;continue;}}}break;}return null;}(_0x36782e,this['model']);_0x35dd83?(this['manipulating']=_0x35dd83,this['manipulatingLink']=_0x36782e,this['onDragStart'](_0x36782e)):(this['manipulatingLink']=_0x36782e,this['onDragStart'](_0x36782e));}else{if(null===this['manipulating']&&!this['manipulatingLink'])return;this['onDragEnd'](this['manipulatingLink']||_0x36782e),this['manipulating']=null,this['manipulatingLink']=null,this['update']();}}}class Ze extends Ye{constructor(_0x20a7ed,_0x30b5de,_0x50c313,_0x4b30a5){super(_0x20a7ed,_0x30b5de,_0x50c313,_0x4b30a5),this['camera']=_0x30b5de,this['domElement']=_0x50c313;const _0x5a7e72=new _0x173557(),_0x109ad3=new _0x228015(),_0x4d9da9=_0x6b2077=>{const _0x2cbd6e=_0x50c313['getBoundingClientRect']();_0x109ad3['x']=(_0x6b2077['clientX']-_0x2cbd6e['left'])/_0x2cbd6e['width']*0x2-0x1,_0x109ad3['y']=-(_0x6b2077['clientY']-_0x2cbd6e['top'])/_0x2cbd6e['height']*0x2+0x1;};this['_mouseDown']=_0x5b55b5=>{if(0x0!==_0x5b55b5['button'])return;if(_0x4d9da9(_0x5b55b5),_0x5a7e72['setFromCamera'](_0x109ad3,this['camera']),!this['model']||!this['model']['threeObject'])return;const _0x3738ec=[];this['model']['threeObject']['traverse'](_0x5bfccd=>{if(_0x5bfccd['isMesh']&&!_0x5bfccd['visible']){let _0x184d40=!0x1,_0x429ea8=_0x5bfccd;for(;_0x429ea8;){if(_0x429ea8['isURDFCollider']){_0x184d40=!0x0;break;}_0x429ea8=_0x429ea8['parent'];}_0x184d40||(_0x5bfccd['visible']=!0x0,_0x3738ec['push'](_0x5bfccd));}});const _0x237b20=_0x5a7e72['intersectObject'](this['model']['threeObject'],!0x0);_0x3738ec['forEach'](_0x49ebb5=>{_0x49ebb5['visible']=!0x1;});const _0x5e2175=_0x237b20['filter'](_0x4004e0=>{var _0x166232,_0x56707e;const _0x4b5ce0=_0x4004e0['object'];if(_0x4b5ce0['isURDFCollider']||(null==(_0x166232=_0x4b5ce0['userData'])?void 0x0:_0x166232['isCollision'])||(null==(_0x56707e=_0x4b5ce0['userData'])?void 0x0:_0x56707e['isCollisionGeom']))return!0x1;let _0x375e57=!0x1,_0x37fa96=_0x4b5ce0;for(;_0x37fa96;){if(_0x37fa96['isURDFCollider']){_0x375e57=!0x0;break;}_0x37fa96=_0x37fa96['parent'];}return!_0x375e57&&_0x4b5ce0['isMesh'];});(_0x5e2175['length']>0x0?Ve(_0x5e2175[0x0]['object'],this['model']):null)&&(this['moveRay'](_0x5a7e72['ray']),this['setGrabbed'](!0x0));},this['_mouseMove']=_0x2ce265=>{_0x4d9da9(_0x2ce265),_0x5a7e72['setFromCamera'](_0x109ad3,this['camera']),this['moveRay'](_0x5a7e72['ray']);},this['_mouseUp']=_0xf54ce3=>{0x0===_0xf54ce3['button']&&(_0x4d9da9(_0xf54ce3),_0x5a7e72['setFromCamera'](_0x109ad3,this['camera']),this['moveRay'](_0x5a7e72['ray']),this['setGrabbed'](!0x1));},this['_mouseLeave']=()=>{this['manipulating']&&this['setGrabbed'](!0x1),this['hovered']&&(this['onUnhover'](this['hovered']),this['hovered']=null);},_0x50c313['addEventListener']('mousedown',this['_mouseDown']),_0x50c313['addEventListener']('mousemove',this['_mouseMove']),_0x50c313['addEventListener']('mouseup',this['_mouseUp']),_0x50c313['addEventListener']('mouseleave',this['_mouseLeave']);}['getRevoluteDelta'](_0x159205,_0x139691,_0x354f83){const {camera:_0x5c90ab,initialGrabPoint:_0x4fffb4}=this,_0xf5d084=this['getJointThreeObject'](_0x159205);if(!_0xf5d084)return 0x0;const _0x4963af=this['getJointAxis'](_0x159205);return Je['copy'](_0x4963af)['transformDirection'](_0xf5d084['matrixWorld'])['normalize'](),$e['set'](0x0,0x0,0x0)['applyMatrix4'](_0xf5d084['matrixWorld']),Xe['setFromNormalAndCoplanarPoint'](Je,$e),Je['copy'](_0x5c90ab['position'])['sub'](_0x4fffb4)['normalize'](),Math['abs'](Je['dot'](Xe['normal']))>0.3?super['getRevoluteDelta'](_0x159205,_0x139691,_0x354f83):(Je['set'](0x0,0x1,0x0)['transformDirection'](_0x5c90ab['matrixWorld']),Xe['projectPoint'](_0x139691,Ge),Xe['projectPoint'](_0x354f83,We),Je['set'](0x0,0x0,-0x1)['transformDirection'](_0x5c90ab['matrixWorld']),Je['cross'](Xe['normal']),He['subVectors'](_0x354f83,_0x139691),Je['dot'](He));}['dispose'](){const {domElement:_0x10637a}=this;_0x10637a['removeEventListener']('mousedown',this['_mouseDown']),_0x10637a['removeEventListener']('mousemove',this['_mouseMove']),_0x10637a['removeEventListener']('mouseup',this['_mouseUp']),_0x10637a['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'](_0x106497){this['links']['set'](_0x106497['name'],_0x106497);}['addJoint'](_0x4a05bc){this['joints']['set'](_0x4a05bc['name'],_0x4a05bc);}['addConstraint'](_0x4d676b){this['constraints']['set'](_0x4d676b['name'],_0x4d676b);}['getLink'](_0x5109c0){return this['links']['get'](_0x5109c0);}['getJoint'](_0x10e960){return this['joints']['get'](_0x10e960);}['getConstraint'](_0x5d8610){return this['constraints']['get'](_0x5d8610);}}class Ke{constructor(_0x223216){this['name']=_0x223216,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(_0x67eb45){this['type']=_0x67eb45,this['size']=null,this['filename']=null;}['clone'](){const _0x2e6c85=new nt(this['type']);return _0x2e6c85['size']=this['size']?{...this['size']}:null,_0x2e6c85['filename']=this['filename'],_0x2e6c85;}}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(_0x4e1d87,_0xc98960){this['name']=_0x4e1d87,this['type']=_0xc98960,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(_0x39fbfd,_0x292eb1){this['name']=_0x39fbfd,this['type']=_0x292eb1,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(_0x31b868,_0x14b1a8,_0x500548){const _0x407808=lt(_0x14b1a8,'joint_index'),_0x49519b=lt(_0x14b1a8,'rest_j_pos');if(!_0x407808||!_0x49519b)return;const _0x595025=Math['min'](_0x407808['length'],_0x49519b['length']);for(let _0x58950a=0x0;_0x58950a<_0x595025;_0x58950a++){const _0x52fd95=_0x407808[_0x58950a];if(_0x52fd95<0x0)continue;const _0x13ca88=_0x500548[_0x52fd95];_0x13ca88&&_0x31b868['set'](_0x13ca88,_0x49519b[_0x58950a]);}}function lt(_0xac297e,_0x2b5da9){const _0xb24fb8=function(_0x2a1ece,_0x5a5cb5){const _0x111c2c=new RegExp('^\x5cs*-?\x5cs*'+_0x5a5cb5+':\x5cs*\x5c[([^\x5c]]+)\x5c]','m'),_0x1dcf06=_0x2a1ece['match'](_0x111c2c);if(_0x1dcf06){return _0x1dcf06[0x1]['split'](',')['map'](_0x7e6dd6=>parseFloat(_0x7e6dd6['trim']()))['filter'](_0x4626be=>!isNaN(_0x4626be));}return null;}(_0xac297e,_0x2b5da9);if(_0xb24fb8)return _0xb24fb8;const _0x153868=function(_0x40db66,_0x4321d3){const _0x2f8170=new RegExp('^\x5cs*'+_0x4321d3+':\x5cs*(-?\x5cd+(?:\x5c.\x5cd+)?)','m'),_0x5ba666=_0x40db66['match'](_0x2f8170);if(_0x5ba666){const _0x2325fc=parseFloat(_0x5ba666[0x1]);return isNaN(_0x2325fc)?null:_0x2325fc;}return null;}(_0xac297e,_0x2b5da9);return null!==_0x153868?[_0x153868]:null;}function ct(_0x3c38a9,_0x18a42e){const _0x1e5738=[],_0x4d063f=_0x3c38a9['split']('\x0a');let _0x1367fb=!0x1,_0xe09917=[],_0x2e4a31=-0x1;for(let _0x54acb1=0x0;_0x54acb1<_0x4d063f['length'];_0x54acb1++){const _0x439111=_0x4d063f[_0x54acb1],_0x4f4094=_0x439111['trimStart']();if(_0x4f4094['startsWith']('#')||0x0===_0x4f4094['length']){_0x1367fb&&_0xe09917['push'](_0x439111);continue;}const _0x199bf6=_0x439111['length']-_0x4f4094['length'];_0x4f4094===_0x18a42e+':'||_0x4f4094['startsWith'](_0x18a42e+':')?(_0x1367fb&&_0xe09917['length']>0x0&&_0x1e5738['push'](_0xe09917['join']('\x0a')),_0x1367fb=!0x0,_0x2e4a31=_0x199bf6,_0xe09917=[_0x439111]):_0x1367fb&&(_0x199bf6>_0x2e4a31||_0x199bf6===_0x2e4a31&&_0x4f4094['startsWith']('-')?_0xe09917['push'](_0x439111):(_0x1e5738['push'](_0xe09917['join']('\x0a')),_0x1367fb=!0x1,_0xe09917=[],_0x2e4a31=-0x1));}return _0x1367fb&&_0xe09917['length']>0x0&&_0x1e5738['push'](_0xe09917['join']('\x0a')),0x1===_0x1e5738['length']&&_0x1e5738[0x0]['includes']('-\x20')?function(_0x57337e){const _0x3536c5=[],_0x3912fd=_0x57337e['split']('\x0a');let _0x27294f=[],_0x231e50=-0x1;for(const _0x3c29f4 of _0x3912fd){const _0x242b0d=_0x3c29f4['trimStart']();if(_0x242b0d['startsWith']('#')||0x0===_0x242b0d['length'])continue;const _0x21ccfb=_0x3c29f4['length']-_0x242b0d['length'];_0x242b0d['startsWith']('-\x20')?(_0x27294f['length']>0x0&&_0x3536c5['push'](_0x27294f['join']('\x0a')),_0x27294f=[_0x3c29f4],_0x231e50=_0x21ccfb):_0x231e50>=0x0&&_0x21ccfb>_0x231e50?_0x27294f['push'](_0x3c29f4):_0x27294f['length']>0x0&&(_0x3536c5['push'](_0x27294f['join']('\x0a')),_0x27294f=[],_0x231e50=-0x1);}_0x27294f['length']>0x0&&_0x3536c5['push'](_0x27294f['join']('\x0a'));return _0x3536c5;}(_0x1e5738[0x0]):_0x1e5738;}function ht(_0x5b8f08){if(!_0x5b8f08||!_0x5b8f08['joints'])return[];const _0x24e0bb=new Map();_0x5b8f08['joints']['forEach'](_0x3065da=>{const _0x300e7e=_0x3065da['parent']||'__root__';_0x24e0bb['has'](_0x300e7e)||_0x24e0bb['set'](_0x300e7e,[]),_0x24e0bb['get'](_0x300e7e)['push'](_0x3065da);});const _0x2394a3=[];return function _0x34cf70(_0x5d11ef){(_0x24e0bb['get'](_0x5d11ef)||[])['forEach'](_0xf3c5fd=>{_0x2394a3['push'](_0xf3c5fd),_0x34cf70(_0xf3c5fd['child']);});}(_0x5b8f08['rootLink']||'__root__'),_0x5b8f08['joints']['forEach'](_0x4e0051=>{_0x2394a3['includes'](_0x4e0051)||_0x2394a3['push'](_0x4e0051);}),_0x2394a3;}class ut{static['convert'](_0x9723a4,_0x415a52=null,_0x39ada1={}){const _0x1aca8f=new Qe();if(_0x1aca8f['name']=_0x9723a4['name']||'robot',_0x1aca8f['threeObject']=_0x9723a4,_0x9723a4['userData']||(_0x9723a4['userData']={}),_0x9723a4['userData']['type']='urdf',!_0x9723a4['links']||!_0x9723a4['joints'])return _0x1aca8f;let _0x117306={};_0x415a52&&(_0x117306=this['parseInertialFromXML'](_0x415a52)),Object['values'](_0x9723a4['links'])['forEach'](_0x520f97=>{const _0x23e484=this['convertLink'](_0x520f97);!_0x23e484['inertial']&&_0x117306[_0x520f97['name']]&&(_0x23e484['inertial']=_0x117306[_0x520f97['name']]),_0x1aca8f['addLink'](_0x23e484);}),Object['values'](_0x9723a4['joints'])['forEach'](_0x2abf8b=>{const _0x15526e=this['convertJoint'](_0x2abf8b);_0x1aca8f['addJoint'](_0x15526e);}),_0x415a52&&this['supplementJointLimitsFromXML'](_0x1aca8f,_0x415a52);const _0x50fe3d=new Set(Array['from'](_0x1aca8f['joints']['values']())['map'](_0x2d09d9=>_0x2d09d9['child'])['filter'](_0x5a0c67=>_0x5a0c67)),_0x504c36=Array['from'](_0x1aca8f['links']['keys']())['filter'](_0x10b92e=>!_0x50fe3d['has'](_0x10b92e));return _0x504c36['length']>0x0&&(_0x1aca8f['rootLink']=_0x504c36[0x0]),_0x39ada1['vrConfigContent']&&this['applyVRConfigRestPositions'](_0x1aca8f,_0x39ada1['vrConfigContent']),this['enhanceMaterials'](_0x9723a4),_0x1aca8f;}static['enhanceMaterials'](_0x275c9e){_0x275c9e['traverse'](_0x3a7bab=>{_0x3a7bab['isMesh']&&_0x3a7bab['material']&&(Array['isArray'](_0x3a7bab['material'])?_0x3a7bab['material']=_0x3a7bab['material']['map'](_0x4f5d10=>this['enhanceSingleMaterial'](_0x4f5d10)):_0x3a7bab['material']=this['enhanceSingleMaterial'](_0x3a7bab['material']));});}static['enhanceSingleMaterial'](_0x2b87d7){var _0x324cdf,_0x74fc9c,_0x2d1ec5;if(_0x2b87d7['isMeshPhongMaterial']||_0x2b87d7['isMeshStandardMaterial']){if(void 0x0===_0x2b87d7['userData']['originalShininess'])if(_0x2b87d7['userData']['originalShininess']=void 0x0!==_0x2b87d7['shininess']?_0x2b87d7['shininess']:0x1e,!_0x2b87d7['userData']['originalColor']&&_0x2b87d7['color']&&(_0x2b87d7['userData']['originalColor']=_0x2b87d7['color']['clone']()),_0x2b87d7['specular'])if(_0x2b87d7['specular']['isColor']){const _0x27721e=_0x2b87d7['specular'];_0x27721e['r']<0.1&&_0x27721e['g']<0.1&&_0x27721e['b']<0.1?_0x2b87d7['userData']['originalSpecular']=null:_0x2b87d7['userData']['originalSpecular']=_0x27721e['clone']();}else'number'==typeof _0x2b87d7['specular']?0x111111===_0x2b87d7['specular']||_0x2b87d7['specular']<0x111111?_0x2b87d7['userData']['originalSpecular']=null:_0x2b87d7['userData']['originalSpecular']=new _0x25d7bf(_0x2b87d7['specular']):_0x2b87d7['userData']['originalSpecular']=null;else _0x2b87d7['userData']['originalSpecular']=null;return(void 0x0===_0x2b87d7['shininess']||_0x2b87d7['shininess']<0x32)&&(_0x2b87d7['shininess']=0x32),_0x2b87d7['specular']?_0x2b87d7['specular']['isColor']?(_0x2b87d7['specular']['r']<0.2||_0x2b87d7['specular']['g']<0.2||_0x2b87d7['specular']['b']<0.2)&&_0x2b87d7['specular']['setRGB'](0.3,0.3,0.3):'number'==typeof _0x2b87d7['specular']&&(_0x2b87d7['specular']<0x333333?_0x2b87d7['specular']=new _0x25d7bf(0.3,0.3,0.3):(_0x2b87d7['specular']=new _0x25d7bf(_0x2b87d7['specular']),_0x2b87d7['specular']['r']<0.2&&_0x2b87d7['specular']['setRGB'](0.3,0.3,0.3))):_0x2b87d7['specular']=new _0x25d7bf(0.3,0.3,0.3),_0x2b87d7['needsUpdate']=!0x0,_0x2b87d7;}if('MeshBasicMaterial'===_0x2b87d7['type']){const _0x222429=_0x2b87d7,_0x4691f1='undefined'!=typeof window&&(null==(_0x2d1ec5=null==(_0x74fc9c=null==(_0x324cdf=window['app'])?void 0x0:_0x324cdf['sceneManager'])?void 0x0:_0x74fc9c['environmentManager'])?void 0x0:_0x2d1ec5['getEnvironmentMap']()),_0x33f3b5=new _0xa4876a({'color':_0x222429['color'],'map':_0x222429['map'],'transparent':_0x222429['transparent'],'opacity':_0x222429['opacity'],'side':_0x222429['side'],'shininess':0x32,'specular':new _0x25d7bf(0.3,0.3,0.3),'envMap':_0x4691f1||null,'reflectivity':_0x4691f1?0.3:0x0});return _0x33f3b5['userData']['originalShininess']=0x1e,_0x33f3b5['userData']['originalSpecular']=null,_0x33f3b5;}return _0x2b87d7;}static['convertLink'](_0x153b42){const _0x47eef0=new Ke(_0x153b42['name']);return _0x47eef0['threeObject']=_0x153b42,_0x153b42['inertial']&&(_0x47eef0['inertial']=this['convertInertial'](_0x153b42['inertial'])),_0x47eef0;}static['convertJoint'](_0x254d68){var _0x36ca09;const _0x27e30c=_0x254d68['jointType']||_0x254d68['type']||'fixed',_0x2f0d5b=new st(_0x254d68['name'],_0x27e30c);if(_0x2f0d5b['parent']=(null==(_0x36ca09=_0x254d68['parent'])?void 0x0:_0x36ca09['name'])||null,_0x254d68['child']&&_0x254d68['child']['name'])_0x2f0d5b['child']=_0x254d68['child']['name'];else if(_0x254d68['children']&&_0x254d68['children']['length']>0x0){const _0x1a07fa=_0x254d68['children']['find'](_0x141b18=>_0x141b18['isURDFLink']||'URDFLink'===_0x141b18['type']);_0x1a07fa&&(_0x2f0d5b['child']=_0x1a07fa['name']);}return _0x2f0d5b['threeObject']=_0x254d68,_0x254d68['origin']&&(_0x2f0d5b['origin']={'xyz':_0x254d68['origin']['xyz']||[0x0,0x0,0x0],'rpy':_0x254d68['origin']['rpy']||[0x0,0x0,0x0]}),_0x254d68['axis']&&(_0x2f0d5b['axis']={'xyz':_0x254d68['axis']['xyz']||[0x0,0x0,0x1]}),_0x254d68['limit']&&(_0x2f0d5b['limits']=this['convertLimits'](_0x254d68['limit'])),void 0x0!==_0x254d68['angle']?_0x2f0d5b['currentValue']=_0x254d68['angle']:void 0x0!==_0x254d68['jointValue']&&(_0x2f0d5b['currentValue']=_0x254d68['jointValue']),_0x254d68['mimicJoint']&&(_0x2f0d5b['mimic']={'joint':_0x254d68['mimicJoint'],'multiplier':_0x254d68['multiplier']??0x1,'offset':_0x254d68['offset']??0x0}),_0x2f0d5b;}static['convertLimits'](_0x11be49){const _0x3ecc48=new rt();return void 0x0!==_0x11be49['lower']&&(_0x3ecc48['lower']=_0x11be49['lower']),void 0x0!==_0x11be49['upper']&&(_0x3ecc48['upper']=_0x11be49['upper']),void 0x0!==_0x11be49['effort']&&(_0x3ecc48['effort']=_0x11be49['effort']),void 0x0!==_0x11be49['velocity']&&(_0x3ecc48['velocity']=_0x11be49['velocity']),_0x3ecc48;}static['supplementJointLimitsFromXML'](_0x5f3275,_0x50bfc6){try{const _0x5e6f68=new DOMParser()['parseFromString'](_0x50bfc6,'text/xml');_0x5e6f68['querySelectorAll']('joint')['forEach'](_0x22e11a=>{const _0xd171d8=_0x22e11a['getAttribute']('name'),_0x4fae97=_0x5f3275['joints']['get'](_0xd171d8);if(_0x4fae97){const _0x368a8d=_0x22e11a['querySelector']('limit');if(_0x368a8d){_0x4fae97['limits']||(_0x4fae97['limits']=new rt());const _0x343973=_0x368a8d['getAttribute']('effort'),_0x5650e6=_0x368a8d['getAttribute']('velocity');null!==_0x343973&&(_0x4fae97['limits']['effort']=parseFloat(_0x343973)),null!==_0x5650e6&&(_0x4fae97['limits']['velocity']=parseFloat(_0x5650e6));const _0x558fb7=_0x368a8d['getAttribute']('lower'),_0x52a2de=_0x368a8d['getAttribute']('upper');null!==_0x558fb7&&(_0x4fae97['limits']['lower']=parseFloat(_0x558fb7)),null!==_0x52a2de&&(_0x4fae97['limits']['upper']=parseFloat(_0x52a2de));}}});}catch(_0x496ceb){}}static['convertInertial'](_0x11fca2){const _0x27a33b=new it();return void 0x0!==_0x11fca2['mass']&&(_0x27a33b['mass']=_0x11fca2['mass']),_0x11fca2['origin']&&(_0x27a33b['origin']={'xyz':_0x11fca2['origin']['xyz']||[0x0,0x0,0x0],'rpy':_0x11fca2['origin']['rpy']||[0x0,0x0,0x0]}),void 0x0!==_0x11fca2['ixx']&&(_0x27a33b['ixx']=_0x11fca2['ixx']),void 0x0!==_0x11fca2['iyy']&&(_0x27a33b['iyy']=_0x11fca2['iyy']),void 0x0!==_0x11fca2['izz']&&(_0x27a33b['izz']=_0x11fca2['izz']),void 0x0!==_0x11fca2['ixy']&&(_0x27a33b['ixy']=_0x11fca2['ixy']),void 0x0!==_0x11fca2['ixz']&&(_0x27a33b['ixz']=_0x11fca2['ixz']),void 0x0!==_0x11fca2['iyz']&&(_0x27a33b['iyz']=_0x11fca2['iyz']),_0x27a33b;}static['parseInertialFromXML'](_0x54eccf){const _0x4afce1={};try{const _0x4a7be7=new DOMParser(),_0x4bbb20=_0x4a7be7['parseFromString'](_0x54eccf,'text/xml')['getElementsByTagName']('link');for(let _0x26ea42=0x0;_0x26ea42<_0x4bbb20['length'];_0x26ea42++){const _0x37055c=_0x4bbb20[_0x26ea42],_0x34f7e0=_0x37055c['getAttribute']('name'),_0x1c16eb=_0x37055c['getElementsByTagName']('inertial')[0x0];if(!_0x1c16eb)continue;const _0x31cd26=new it(),_0x38ca0f=_0x1c16eb['getElementsByTagName']('mass')[0x0];_0x38ca0f&&(_0x31cd26['mass']=parseFloat(_0x38ca0f['getAttribute']('value')));const _0x203b0e=_0x1c16eb['getElementsByTagName']('origin')[0x0];if(_0x203b0e){const _0x2b02be=_0x203b0e['getAttribute']('xyz'),_0x3bddcc=_0x203b0e['getAttribute']('rpy');_0x31cd26['origin']={'xyz':_0x2b02be?_0x2b02be['split']('\x20')['map'](parseFloat):[0x0,0x0,0x0],'rpy':_0x3bddcc?_0x3bddcc['split']('\x20')['map'](parseFloat):[0x0,0x0,0x0]};}else _0x31cd26['origin']={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]};const _0xd6fee6=_0x1c16eb['getElementsByTagName']('inertia')[0x0];_0xd6fee6&&(_0x31cd26['ixx']=parseFloat(_0xd6fee6['getAttribute']('ixx'))||0x0,_0x31cd26['iyy']=parseFloat(_0xd6fee6['getAttribute']('iyy'))||0x0,_0x31cd26['izz']=parseFloat(_0xd6fee6['getAttribute']('izz'))||0x0,_0x31cd26['ixy']=parseFloat(_0xd6fee6['getAttribute']('ixy'))||0x0,_0x31cd26['ixz']=parseFloat(_0xd6fee6['getAttribute']('ixz'))||0x0,_0x31cd26['iyz']=parseFloat(_0xd6fee6['getAttribute']('iyz'))||0x0),_0x4afce1[_0x34f7e0]=_0x31cd26;}}catch(_0x3f821c){}return _0x4afce1;}static['applyVRConfigRestPositions'](_0x6b6288,_0xe10c20){try{const _0x117ce7=function(_0x3f89db,_0x49c5b4){const _0x4622e5=new Map();if(!_0x3f89db||!_0x49c5b4||!Array['isArray'](_0x49c5b4))return _0x4622e5;try{const _0x5f0fbe=ct(_0x3f89db,'arms');for(const _0x590142 of _0x5f0fbe)ot(_0x4622e5,_0x590142,_0x49c5b4);const _0x4dd9e9=ct(_0x3f89db,'waist')[0x0];_0x4dd9e9&&ot(_0x4622e5,_0x4dd9e9,_0x49c5b4);const _0xedd9d5=ct(_0x3f89db,'head')[0x0];_0xedd9d5&&ot(_0x4622e5,_0xedd9d5,_0x49c5b4);const _0x1240a8=ct(_0x3f89db,'dorsal')[0x0];_0x1240a8&&ot(_0x4622e5,_0x1240a8,_0x49c5b4);const _0x428e6b=ct(_0x3f89db,'folding_waist')[0x0];_0x428e6b&&ot(_0x4622e5,_0x428e6b,_0x49c5b4);}catch(_0x163eb0){}return _0x4622e5;}(_0xe10c20,ht(_0x6b6288)['map'](_0x5f3fb5=>_0x5f3fb5['name']));if(0x0===_0x117ce7['size'])return;let _0x5188e8=0x0;for(const [_0x3aeea9,_0x161828]of _0x117ce7['entries']()){const _0xb8f437=_0x6b6288['joints']['get'](_0x3aeea9);_0xb8f437&&'fixed'!==_0xb8f437['type']&&(_0x6b6288['userData']||(_0x6b6288['userData']={}),_0x6b6288['userData']['homePositions']||(_0x6b6288['userData']['homePositions']={}),_0x6b6288['userData']['homePositions'][_0x3aeea9]=_0x161828,this['setJointAngle'](_0xb8f437,_0x161828,!0x1),_0x5188e8++);}}catch(_0x35f084){}}static['setJointAngle'](_0x57abd9,_0x30e966,_0x1e3ed5=!0x1){if(_0x57abd9['currentValue']=_0x30e966,_0x57abd9['threeObject']){let _0x4ae780=null;if(_0x1e3ed5&&_0x57abd9['threeObject']['limit']&&(_0x4ae780={'lower':_0x57abd9['threeObject']['limit']['lower'],'upper':_0x57abd9['threeObject']['limit']['upper']},_0x57abd9['threeObject']['limit']['lower']=0x2*-Math['PI'],_0x57abd9['threeObject']['limit']['upper']=0x2*Math['PI']),'function'==typeof _0x57abd9['threeObject']['setJointValue'])return _0x57abd9['threeObject']['setJointValue'](_0x30e966),void(_0x4ae780&&_0x57abd9['threeObject']['limit']&&(_0x57abd9['threeObject']['limit']['lower']=_0x4ae780['lower'],_0x57abd9['threeObject']['limit']['upper']=_0x4ae780['upper']));if('function'==typeof _0x57abd9['threeObject']['setAngle'])return _0x57abd9['threeObject']['setAngle'](_0x30e966),void(_0x4ae780&&_0x57abd9['threeObject']['limit']&&(_0x57abd9['threeObject']['limit']['lower']=_0x4ae780['lower'],_0x57abd9['threeObject']['limit']['upper']=_0x4ae780['upper']));if(_0x4ae780&&_0x57abd9['threeObject']['limit']&&(_0x57abd9['threeObject']['limit']['lower']=_0x4ae780['lower'],_0x57abd9['threeObject']['limit']['upper']=_0x4ae780['upper']),'revolute'===_0x57abd9['type']||'continuous'===_0x57abd9['type']){const _0x2b0162=_0x57abd9['axis']?new _0x220444(..._0x57abd9['axis']['xyz'])['normalize']():new _0x220444(0x0,0x0,0x1);_0x57abd9['threeObject']['rotation']&&_0x57abd9['threeObject']['rotation']['setFromAxisAngle'](_0x2b0162,_0x30e966);}else if('prismatic'===_0x57abd9['type']){const _0x5d7004=_0x57abd9['axis']?new _0x220444(..._0x57abd9['axis']['xyz'])['normalize']():new _0x220444(0x1,0x0,0x0);_0x57abd9['threeObject']['position']&&_0x57abd9['threeObject']['position']['copy'](_0x5d7004['multiplyScalar'](_0x30e966));}}}}function dt(_0x3e570a){return new Promise((_0x10bb04,_0x426487)=>{const _0x383f43=new FileReader();_0x383f43['onload']=_0x2c9af1=>_0x10bb04(_0x2c9af1['target']['result']),_0x383f43['onerror']=_0x426487,_0x383f43['readAsText'](_0x3e570a);});}function pt(_0x47bc17){return new Promise((_0x20459e,_0x372df3)=>{_0x47bc17['file'](_0x20459e,_0x372df3);});}function mt(_0x28023c){return _0x28023c?_0x28023c['replace'](/\\/g,'/')['replace'](/^\/+/,'')['replace'](/\/+/g,'/'):'';}function gt(_0x2d2cca){return mt(_0x2d2cca)['split']('/')['reduce']((_0x4f31ca,_0x549dc3)=>_0x549dc3&&'.'!==_0x549dc3?'..'===_0x549dc3?(_0x4f31ca['pop'](),_0x4f31ca):(_0x4f31ca['push'](_0x549dc3),_0x4f31ca):_0x4f31ca,[])['join']('/');}function ft(_0x40bba4){if(!_0x40bba4||!_0x40bba4['startsWith']('blob:'))return _0x40bba4;const _0x2d58c1=_0x40bba4['match'](/^blob:https?:\/\/[^/]+\/(.+)$/);return(null==_0x2d58c1?void 0x0:_0x2d58c1[0x1])||_0x40bba4;}function yt(_0x5ce718,_0x36e1bd){if(!_0x36e1bd)return;const _0x2d9ced=ft(_0x36e1bd);[_0x36e1bd,_0x2d9ced,mt(_0x2d9ced),gt(_0x2d9ced)]['forEach'](_0x28535f=>{_0x28535f&&_0x5ce718['push'](_0x28535f);});}function vt(_0x13bb8c,_0x48a80c){let _0xba9099=null,_0x29d410=0x0;for(const [_0x2aa479,_0x141718]of _0x13bb8c['entries']())_0x48a80c(_0x2aa479)&&(_0xba9099=_0x141718,_0x29d410++);return 0x1===_0x29d410?_0xba9099:null;}function bt(_0x5a1d1b,_0x3138c7,_0x5e2b98={}){var _0x2f987a;if(!_0x5a1d1b||!_0x3138c7)return null;const _0x52b27c=_0x5e2b98['baseDir']||'',_0x33ae7c=[],_0x5cdfcc=ft(_0x5a1d1b);if(yt(_0x33ae7c,_0x5cdfcc),_0x5cdfcc['startsWith']('package://')){const _0x39cc6d=_0x5cdfcc['replace'](/^package:\/\//,'');yt(_0x33ae7c,_0x39cc6d);const _0x2ab5c0=_0x39cc6d['split']('/');_0x2ab5c0['length']>0x1&&yt(_0x33ae7c,_0x2ab5c0['slice'](0x1)['join']('/'));}const _0x5c216e=mt(_0x5cdfcc['replace'](/^package:\/\//,'')),_0x264146=_0x5c216e['split']('/');_0x264146['length']>0x1&&yt(_0x33ae7c,_0x264146['slice'](0x1)['join']('/')),_0x52b27c&&_0x5c216e&&!_0x5c216e['startsWith'](_0x52b27c)&&(yt(_0x33ae7c,_0x52b27c+_0x5c216e),_0x264146['length']>0x1&&yt(_0x33ae7c,_0x52b27c+_0x264146['slice'](0x1)['join']('/')));for(const _0x2b180e of _0x33ae7c)if(_0x3138c7['has'](_0x2b180e))return _0x3138c7['get'](_0x2b180e);const _0x3520d3=new Set(_0x33ae7c['map'](_0x35bd02=>gt(_0x35bd02))),_0x42abba=vt(_0x3138c7,_0x202485=>_0x3520d3['has'](gt(_0x202485)));if(_0x42abba)return _0x42abba;const _0x25c1b0=new Set(Array['from'](_0x3520d3,_0x522c43=>_0x522c43['toLowerCase']())),_0xecfd72=vt(_0x3138c7,_0x281cdb=>_0x25c1b0['has'](gt(_0x281cdb)['toLowerCase']()));if(_0xecfd72)return _0xecfd72;const _0x4d9dbf=vt(_0x3138c7,_0x136868=>{const _0x70e7b1=gt(_0x136868)['toLowerCase']();return Array['from'](_0x25c1b0)['some'](_0x97282f=>_0x97282f&&_0x70e7b1['endsWith']('/'+_0x97282f));});if(_0x4d9dbf)return _0x4d9dbf;const _0x38042f=null==(_0x2f987a=gt(_0x5cdfcc)['split']('/')['pop']())?void 0x0:_0x2f987a['toLowerCase']();return _0x38042f?vt(_0x3138c7,_0x1ce2ef=>{var _0x5cdf28;return(null==(_0x5cdf28=gt(_0x1ce2ef)['split']('/')['pop']())?void 0x0:_0x5cdf28['toLowerCase']())===_0x38042f;}):null;}let wt=null;async function xt(){if(!wt){const [{STLLoader:_0x10d481},{OBJLoader:_0x328173},{MTLLoader:_0x194609},{ColladaLoader:_0x379c95},{GLTFLoader:_0x4b844f}]=await Promise['all']([Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),Ae(()=>import('./MTLLoader-b6ce88b7.js'),["./MTLLoader-b6ce88b7.js","./three-9c891de0.js"],import.meta.url),Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url)]);wt={'STLLoader':new _0x10d481(),'OBJLoader':new _0x328173(),'MTLLoader':new _0x194609(),'ColladaLoader':new _0x379c95(),'GLTFLoader':new _0x4b844f()};}return wt;}function Mt(_0x4ed797){_0x4ed797['traverse'](_0x49aacc=>{if(_0x49aacc['isMesh']&&_0x49aacc['material']){const _0x53c623=Array['isArray'](_0x49aacc['material'])?_0x49aacc['material']:[_0x49aacc['material']];_0x53c623['forEach']((_0x2ec3ed,_0x5cd25f)=>{var _0x23348f,_0x73c774,_0xde2971,_0x90f5ec,_0x558665,_0x5963fe,_0x47f180,_0x3c0d8f,_0x5953d6,_0x39e3c0,_0x3ace52,_0x20747c;if(_0x2ec3ed)if('MeshBasicMaterial'===_0x2ec3ed['type']||'MeshLambertMaterial'===_0x2ec3ed['type']){const _0x325208=_0x2ec3ed,_0x208a70='undefined'!=typeof window&&!0x1!==(null==(_0xde2971=null==(_0x73c774=null==(_0x23348f=window['app'])?void 0x0:_0x23348f['sceneManager'])?void 0x0:_0x73c774['visualizationManager'])?void 0x0:_0xde2971['showEnhancedLighting']),_0x1edf3d='undefined'!=typeof window&&(null==(_0x5963fe=null==(_0x558665=null==(_0x90f5ec=window['app'])?void 0x0:_0x90f5ec['sceneManager'])?void 0x0:_0x558665['environmentManager'])?void 0x0:_0x5963fe['getEnvironmentMap']()),_0x3337c2=new _0xa4876a({'color':_0x325208['color'],'map':_0x325208['map'],'transparent':_0x325208['transparent'],'opacity':_0x325208['opacity'],'side':_0x325208['side'],'shininess':_0x208a70?0x32:0x1e,'specular':_0x208a70?new _0x25d7bf(0.3,0.3,0.3):new _0x25d7bf(0x111111),'envMap':_0x1edf3d||null,'reflectivity':_0x1edf3d?0.3:0x0});_0x3337c2['userData']['originalShininess']=0x1e,_0x3337c2['userData']['originalSpecular']=null,_0x3337c2['map']&&(_0x3337c2['map']['colorSpace']=_0x50e39a),_0x53c623[_0x5cd25f]=_0x3337c2;}else if(_0x2ec3ed['isMeshPhongMaterial']||_0x2ec3ed['isMeshStandardMaterial']){if(void 0x0===_0x2ec3ed['userData']['originalShininess'])if(_0x2ec3ed['userData']['originalShininess']=void 0x0!==_0x2ec3ed['shininess']?_0x2ec3ed['shininess']:0x1e,_0x2ec3ed['specular'])if(_0x2ec3ed['specular']['isColor']){const _0x8f09cd=_0x2ec3ed['specular'];_0x8f09cd['r']<0.1&&_0x8f09cd['g']<0.1&&_0x8f09cd['b']<0.1?_0x2ec3ed['userData']['originalSpecular']=null:_0x2ec3ed['userData']['originalSpecular']=_0x8f09cd['clone']();}else'number'==typeof _0x2ec3ed['specular']?0x111111===_0x2ec3ed['specular']||_0x2ec3ed['specular']<0x111111?_0x2ec3ed['userData']['originalSpecular']=null:_0x2ec3ed['userData']['originalSpecular']=new 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_0x2ec3ed['specular']&&_0x2ec3ed['specular']<0x333333)&&(_0x2ec3ed['specular']=new _0x25d7bf(0.3,0.3,0.3))),_0x2ec3ed['needsUpdate']=!0x0;}}),Array['isArray'](_0x49aacc['material'])?_0x49aacc['material']=_0x53c623:0x1===_0x53c623['length']&&(_0x49aacc['material']=_0x53c623[0x0]);}});}class _t{static async['processIncludes'](_0x5dbdf5,_0x1df829=null,_0x5dee1b=null){const _0x30660a=new DOMParser(),_0x5c3afa=_0x30660a['parseFromString'](_0x5dbdf5,'text/xml');if(_0x5c3afa['querySelector']('parsererror'))return _0x5dbdf5;const _0x25f986=_0x5c3afa['querySelectorAll']('include');if(0x0===_0x25f986['length'])return _0x5dbdf5;for(const _0x23f26d of _0x25f986){const _0x27457e=_0x23f26d['getAttribute']('file');if(!_0x27457e){_0x23f26d['remove']();continue;}let _0x1417e1=null;if(_0x1df829){const _0x187a8c=[_0x27457e,_0x5dee1b?_0x5dee1b+'/'+_0x27457e:_0x27457e,_0x27457e['startsWith']('/')?_0x27457e:'/'+_0x27457e];for(const _0x2abb6 of _0x187a8c){if(_0x1df829['has'](_0x2abb6)){const _0x303e8e=_0x1df829['get'](_0x2abb6);try{_0x1417e1=await _0x303e8e['text']();break;}catch(_0x3652df){}}for(const [_0x123118,_0x419477]of _0x1df829)if(_0x123118['toLowerCase']()===_0x2abb6['toLowerCase']())try{_0x1417e1=await _0x419477['text']();break;}catch(_0x30bee6){}if(_0x1417e1)break;}}if(!_0x1417e1){_0x23f26d['remove']();continue;}const _0x57dcee=_0x30660a['parseFromString'](_0x1417e1,'text/xml');if(_0x57dcee['querySelector']('parsererror')){_0x23f26d['remove']();continue;}const _0x2a168f=_0x57dcee['querySelector']('mujoco');if(!_0x2a168f){_0x23f26d['remove']();continue;}const _0x465993=Array['from'](_0x2a168f['childNodes']);for(const _0x612e07 of _0x465993){if(_0x612e07['nodeType']===Node['TEXT_NODE']||_0x612e07['nodeType']===Node['COMMENT_NODE']||_0x612e07['nodeType']===Node['PROCESSING_INSTRUCTION_NODE'])continue;const _0x117b56=_0x5c3afa['importNode'](_0x612e07,!0x0);_0x23f26d['parentNode']['insertBefore'](_0x117b56,_0x23f26d);}_0x23f26d['remove']();}return new XMLSerializer()['serializeToString'](_0x5c3afa);}static async['parse'](_0x37096d,_0x500f8e=null,_0x39cc02=null){const _0x5bd45f=await this['processIncludes'](_0x37096d,_0x500f8e,_0x39cc02),_0x281aac=new DOMParser()['parseFromString'](_0x5bd45f,'text/xml'),_0x1dd527=_0x281aac['querySelector']('parsererror');if(_0x1dd527)throw new Error('MJCF\x20XML\x20parsing\x20failed:\x20'+_0x1dd527['textContent']);const _0x42f958=new Qe();_0x42f958['name']='mujoco_model';const {classDefaults:_0x39d000,rootDefaults:_0x369c9d}=this['parseDefaults'](_0x281aac),_0x25fb99=this['parseAssets'](_0x281aac,_0x39d000,_0x369c9d),_0x43bdf0=this['parseMaterials'](_0x281aac),_0x410e47=_0x281aac['querySelector']('worldbody');if(!_0x410e47)throw new Error('MJCF\x20file\x20missing\x20worldbody\x20element');const _0x54330a=_0x410e47['querySelectorAll'](':scope\x20>\x20geom');if(_0x54330a['length']>0x0){const _0x48c5ae=new Ke('worldbody');_0x48c5ae['userData']['isWorldbody']=!0x0;const _0x34fcec=new Set();_0x54330a['forEach']((_0x510842,_0x3a234c)=>{const _0x44cdbf=this['getGeomInheritedProperties'](_0x510842,_0x39d000,_0x369c9d),_0x9bd0e2=_0x510842['getAttribute']('group'),_0x480ae0=null!==_0x9bd0e2?parseInt(_0x9bd0e2):null!==_0x44cdbf['group']?_0x44cdbf['group']:0x0,_0x50f0c4=(_0x510842['getAttribute']('name')||'')['toLowerCase'](),_0x4ced11=_0x510842['hasAttribute']('rgba')||null!==_0x44cdbf['rgba'],_0x31c8a7=_0x510842['getAttribute']('mesh'),_0x153b4a=_0x510842['getAttribute']('contype'),_0x24cc9f=_0x510842['getAttribute']('conaffinity'),_0x42a4d1=_0x510842['getAttribute']('density'),_0x4d5f9a=null!==_0x153b4a?parseInt(_0x153b4a):null!==_0x44cdbf['contype']?_0x44cdbf['contype']:null,_0x327288=null!==_0x24cc9f?parseInt(_0x24cc9f):null!==_0x44cdbf['conaffinity']?_0x44cdbf['conaffinity']:null;null!==_0x42a4d1?parseFloat(_0x42a4d1):null!==_0x44cdbf['density']&&_0x44cdbf['density'];let _0x514657=!0x1;if(_0x31c8a7)if(0x0===_0x4d5f9a&&0x0===_0x327288)_0x514657=!0x1;else if(0x3===_0x480ae0)_0x514657=!0x0;else if(0x2===_0x480ae0||0x1===_0x480ae0)_0x514657=!0x1;else if(_0x50f0c4['includes']('collision'))_0x514657=!0x0;else if(_0x34fcec['has'](_0x31c8a7)){if(_0x4ced11||0x0===_0x4d5f9a&&0x0===_0x327288)return;_0x514657=!0x0;}else _0x514657=!0x1;else _0x514657=!0x0;const _0x3e5079=this['parseGeom'](_0x510842,_0x25fb99);if(_0x3e5079)if(_0x514657){const _0x49103f=new tt();_0x49103f['geometry']=_0x3e5079,_0x49103f['name']=_0x510842['getAttribute']('name')||'worldbody_collision_'+_0x3a234c,_0x49103f['origin']=this['parseOrigin'](_0x510842),_0x48c5ae['collisions']['push'](_0x49103f);}else{_0x31c8a7&&_0x34fcec['add'](_0x31c8a7);const _0x2bc917=new et();_0x2bc917['geometry']=_0x3e5079,_0x2bc917['name']=_0x510842['getAttribute']('name')||'worldbody_geom_'+_0x3a234c,_0x2bc917['origin']=this['parseOrigin'](_0x510842);let _0x2b19a6=null;if(_0x510842['hasAttribute']('rgba')){const _0x16524f=_0x510842['getAttribute']('rgba')['split']('\x20')['map'](parseFloat);_0x16524f['length']>=0x3&&(_0x2b19a6={'r':_0x16524f[0x0],'g':_0x16524f[0x1],'b':_0x16524f[0x2],'a':_0x16524f['length']>=0x4?_0x16524f[0x3]:0x1});}else _0x44cdbf['rgba']&&(_0x2b19a6=_0x44cdbf['rgba']);_0x2bc917['userData']={'group':_0x480ae0,'hasRgba':_0x4ced11||!!_0x2b19a6,'rgba':_0x2b19a6,'meshRef':_0x31c8a7,'geomType':_0x510842['getAttribute']('type')||(_0x31c8a7?'mesh':'box')},_0x48c5ae['visuals']['push'](_0x2bc917);}}),(_0x48c5ae['visuals']['length']>0x0||_0x48c5ae['collisions']['length']>0x0)&&_0x42f958['addLink'](_0x48c5ae);}const _0x7d2c54=new Map();this['parseBodies'](_0x410e47,null,_0x7d2c54,_0x42f958,null,_0x25fb99,null,_0x43bdf0,_0x39d000,_0x369c9d),this['parseJoints'](_0x410e47,_0x7d2c54,_0x42f958,null,_0x39d000),this['parseEquality'](_0x281aac,_0x42f958);if(_0x42f958['links']['get']('worldbody'))_0x42f958['rootLink']='worldbody';else{const _0x2a614c=Array['from'](_0x42f958['links']['keys']())['filter'](_0x5c0b01=>!Array['from'](_0x42f958['joints']['values']())['some'](_0xa3bc2c=>_0xa3bc2c['child']===_0x5c0b01));_0x2a614c['length']>0x0?_0x42f958['rootLink']=_0x2a614c[0x0]:_0x42f958['links']['size']>0x0&&(_0x42f958['rootLink']=Array['from'](_0x42f958['links']['keys']())[0x0]);}return await this['createThreeObject'](_0x42f958,_0x500f8e,_0x25fb99),_0x42f958;}static['parseAssets'](_0x58b177,_0x2d20f9=null,_0x349d75=null){const _0x1d7110=new Map(),_0x5688af=_0x58b177['querySelector']('asset');if(!_0x5688af)return _0x1d7110;return _0x5688af['querySelectorAll']('mesh')['forEach']((_0x246699,_0x540f8a)=>{let _0x4d0737=_0x246699['getAttribute']('name');const _0x18ca7b=_0x246699['getAttribute']('file'),_0x423b17=_0x246699['getAttribute']('vertex'),_0x131ff3=_0x246699['getAttribute']('scale'),_0x2fa0c9=_0x246699['getAttribute']('class');let _0x4b2999=[0x1,0x1,0x1];if(_0x131ff3){const _0x113168=_0x131ff3['trim']()['split'](/\s+/)['map'](parseFloat);0x1===_0x113168['length']?_0x4b2999=[_0x113168[0x0],_0x113168[0x0],_0x113168[0x0]]:0x3===_0x113168['length']&&(_0x4b2999=_0x113168);}else if(_0x2fa0c9&&_0x2d20f9&&_0x2d20f9['has'](_0x2fa0c9)){const _0x35c96f=_0x2d20f9['get'](_0x2fa0c9);_0x35c96f['mesh']&&_0x35c96f['mesh']['scale']&&(_0x4b2999=_0x35c96f['mesh']['scale']);}else _0x349d75&&_0x349d75['mesh']&&_0x349d75['mesh']['scale']&&(_0x4b2999=_0x349d75['mesh']['scale']);if(_0x423b17){_0x4d0737||(_0x4d0737='inline_mesh_'+_0x540f8a);const _0x36db00=_0x423b17['trim']()['split'](/\s+/)['map'](parseFloat),_0x53af35=new Float32Array(_0x36db00);_0x1d7110['set'](_0x4d0737,{'type':'vertex','vertices':_0x53af35,'scale':_0x4b2999});}else{if(!_0x18ca7b)return;if(!_0x4d0737){_0x4d0737=_0x18ca7b['split']('/')['pop']()['split']('\x5c')['pop']()['split']('.')[0x0];}_0x1d7110['set'](_0x4d0737,{'type':'file','path':_0x18ca7b,'scale':_0x4b2999});}}),_0x1d7110;}static['parseMaterials'](_0x15aa3e){const _0x4b114d=new Map(),_0x1e496e=_0x15aa3e['querySelector']('asset');if(!_0x1e496e)return _0x4b114d;return _0x1e496e['querySelectorAll']('material')['forEach'](_0x6850f9=>{const _0x3770de=_0x6850f9['getAttribute']('name');if(!_0x3770de)return;const _0x23879b={},_0x912121=_0x6850f9['getAttribute']('rgba');if(_0x912121){const _0x55b8cf=_0x912121['split']('\x20')['map'](parseFloat);_0x55b8cf['length']>=0x3&&(_0x23879b['rgba']={'r':_0x55b8cf[0x0],'g':_0x55b8cf[0x1],'b':_0x55b8cf[0x2],'a':_0x55b8cf['length']>=0x4?_0x55b8cf[0x3]:0x1});}const _0x387023=_0x6850f9['getAttribute']('specular');if(_0x387023){const _0x3ffc79=_0x387023['split']('\x20')['map'](parseFloat);_0x23879b['specular']=_0x3ffc79[0x0]||0.5;}const _0x4450f1=_0x6850f9['getAttribute']('shininess');_0x4450f1&&(_0x23879b['shininess']=parseFloat(_0x4450f1)),_0x4b114d['set'](_0x3770de,_0x23879b);}),_0x4b114d;}static['parseDefaults'](_0xa584cd){const _0x1c14d0=new Map();let _0xc59dc3={};const _0x15edc7=(_0xd3bfd,_0xb4be22={})=>{const _0x3efe91=_0xd3bfd['getAttribute']('class'),_0x55a213=JSON['parse'](JSON['stringify'](_0xb4be22||{})),_0x573973=_0xd3bfd['querySelector'](':scope\x20>\x20mesh');if(_0x573973){_0x55a213['mesh']||(_0x55a213['mesh']={});const _0x55940a=_0x573973['getAttribute']('scale');if(_0x55940a){const _0x11280a=_0x55940a['trim']()['split'](/\s+/)['map'](parseFloat);0x1===_0x11280a['length']?_0x55a213['mesh']['scale']=[_0x11280a[0x0],_0x11280a[0x0],_0x11280a[0x0]]:0x3===_0x11280a['length']&&(_0x55a213['mesh']['scale']=_0x11280a);}}const _0x354262=_0xd3bfd['querySelector'](':scope\x20>\x20joint');if(_0x354262){_0x55a213['joint']||(_0x55a213['joint']={});const _0x48e779=_0x354262['getAttribute']('axis');if(_0x48e779){const _0x5aa154=_0x48e779['split']('\x20')['map'](parseFloat);_0x55a213['joint']['axis']=[_0x5aa154[0x0]||0x0,_0x5aa154[0x1]||0x0,_0x5aa154[0x2]||0x0];}const _0x29b295=_0x354262['getAttribute']('range');if(_0x29b295){const _0x2d252c=_0x29b295['split']('\x20')['map'](parseFloat);_0x55a213['joint']['range']=_0x2d252c;}const _0x2dbc44=_0x354262['getAttribute']('damping');_0x2dbc44&&(_0x55a213['joint']['damping']=parseFloat(_0x2dbc44));}const _0x10a2e8=_0xd3bfd['querySelector'](':scope\x20>\x20geom');if(_0x10a2e8){_0x55a213['geom']||(_0x55a213['geom']={});const _0x2c1b32=_0x10a2e8['getAttribute']('contype');null!==_0x2c1b32&&(_0x55a213['geom']['contype']=parseInt(_0x2c1b32));const _0x33d510=_0x10a2e8['getAttribute']('conaffinity');null!==_0x33d510&&(_0x55a213['geom']['conaffinity']=parseInt(_0x33d510));const _0x3f1f1e=_0x10a2e8['getAttribute']('group');null!==_0x3f1f1e&&(_0x55a213['geom']['group']=parseInt(_0x3f1f1e));const _0xe32f97=_0x10a2e8['getAttribute']('rgba');if(_0xe32f97){const _0x388027=_0xe32f97['split']('\x20')['map'](parseFloat);_0x388027['length']>=0x3&&(_0x55a213['geom']['rgba']={'r':_0x388027[0x0],'g':_0x388027[0x1],'b':_0x388027[0x2],'a':_0x388027['length']>=0x4?_0x388027[0x3]:0x1});}const _0xec6b49=_0x10a2e8['getAttribute']('material');_0xec6b49&&(_0x55a213['geom']['material']=_0xec6b49);const _0x444c29=_0x10a2e8['getAttribute']('type');_0x444c29&&(_0x55a213['geom']['type']=_0x444c29);const _0xc19d84=_0x10a2e8['getAttribute']('density');null!==_0xc19d84&&(_0x55a213['geom']['density']=parseFloat(_0xc19d84));}_0x3efe91?_0x1c14d0['set'](_0x3efe91,_0x55a213):Object['assign'](_0xc59dc3,_0x55a213);_0xd3bfd['querySelectorAll'](':scope\x20>\x20default')['forEach'](_0x4d13fa=>{_0x15edc7(_0x4d13fa,_0x55a213);});};return _0xa584cd['querySelectorAll']('mujoco\x20>\x20default')['forEach'](_0x3495a3=>{_0x15edc7(_0x3495a3);}),{'classDefaults':_0x1c14d0,'rootDefaults':_0xc59dc3};}static['getGeomInheritedProperties'](_0x1981a7,_0x40dab9,_0x362d74){const _0x4bbfa3={'contype':null,'conaffinity':null,'group':null,'rgba':null,'material':null,'type':null,'density':null};_0x362d74&&_0x362d74['geom']&&Object['assign'](_0x4bbfa3,_0x362d74['geom']);const _0x3de9d5=_0x1981a7['getAttribute']('class');if(_0x3de9d5&&_0x40dab9&&_0x40dab9['has'](_0x3de9d5)){const _0x3d8766=_0x40dab9['get'](_0x3de9d5);_0x3d8766['geom']&&Object['assign'](_0x4bbfa3,_0x3d8766['geom']);}return _0x4bbfa3;}static['parseBodies'](_0x1d3398,_0x14032a,_0x99db1d,_0x5c06b2,_0x53bccf=null,_0x2b522c=null,_0x320dd4=null,_0x204928=null,_0x41a2ed=null,_0x351c75=null){_0x320dd4||(_0x320dd4={'totalGeoms':0x0,'skippedCollisionGeoms':0x0,'visualGeoms':0x0});_0x1d3398['querySelectorAll'](':scope\x20>\x20body')['forEach'](_0x3d89fd=>{const _0x52217b=_0x3d89fd['getAttribute']('name')||'body_'+_0x99db1d['size'],_0x2409da=new Ke(_0x52217b);_0x14032a&&(_0x2409da['userData']['parentName']=_0x14032a);const _0x555ff5=this['parseOrigin'](_0x3d89fd);_0x2409da['userData']['bodyOrigin']=_0x555ff5;const _0x5059e3=_0x3d89fd['querySelectorAll'](':scope\x20>\x20geom'),_0x26c33b=new Set();_0x5059e3['forEach']((_0x5d5c03,_0x6b70a0)=>{_0x320dd4['totalGeoms']++;const _0x2e8e7f=this['getGeomInheritedProperties'](_0x5d5c03,_0x41a2ed,_0x351c75),_0x15fd03=_0x5d5c03['getAttribute']('group'),_0x26f812=null!==_0x15fd03?parseInt(_0x15fd03):null!==_0x2e8e7f['group']?_0x2e8e7f['group']:0x0,_0x4909c=(_0x5d5c03['getAttribute']('name')||'')['toLowerCase'](),_0x348bad=_0x5d5c03['hasAttribute']('rgba')||null!==_0x2e8e7f['rgba'],_0x3d8550=_0x5d5c03['getAttribute']('mesh'),_0x3b3159=_0x5d5c03['getAttribute']('type')||_0x2e8e7f['type']||(_0x3d8550?'mesh':'box'),_0x3031cf=_0x5d5c03['getAttribute']('contype'),_0x16c603=_0x5d5c03['getAttribute']('conaffinity'),_0x494190=_0x5d5c03['getAttribute']('density'),_0x492e42=null!==_0x3031cf?parseInt(_0x3031cf):null!==_0x2e8e7f['contype']?_0x2e8e7f['contype']:null,_0x23c9fc=null!==_0x16c603?parseInt(_0x16c603):null!==_0x2e8e7f['conaffinity']?_0x2e8e7f['conaffinity']:null;null!==_0x494190?parseFloat(_0x494190):null!==_0x2e8e7f['density']&&_0x2e8e7f['density'];let _0x376304=!0x1;if(_0x3d8550)if(0x0===_0x492e42&&0x0===_0x23c9fc)_0x376304=!0x1;else if(0x3===_0x26f812)_0x376304=!0x0;else if(0x2===_0x26f812||0x1===_0x26f812)_0x376304=!0x1;else if(_0x4909c['includes']('collision'))_0x376304=!0x0;else if(_0x26c33b['has'](_0x3d8550)){if(_0x348bad||0x0===_0x492e42&&0x0===_0x23c9fc)return void _0x320dd4['skippedCollisionGeoms']++;_0x376304=!0x0;}else _0x376304=!0x1;else _0x376304=!0x0;const _0x42a615=this['parseGeom'](_0x5d5c03,_0x2b522c);if(_0x42a615)if(_0x376304){const _0x5564d5=new tt();_0x5564d5['geometry']=_0x42a615,_0x5564d5['name']=_0x5d5c03['getAttribute']('name')||'collision_'+_0x6b70a0,_0x5564d5['origin']=this['parseOrigin'](_0x5d5c03),_0x2409da['collisions']['push'](_0x5564d5);}else{_0x320dd4['visualGeoms']++,_0x3d8550&&_0x26c33b['add'](_0x3d8550);const _0x13d184=new et();_0x13d184['geometry']=_0x42a615,_0x13d184['name']=_0x5d5c03['getAttribute']('name')||'geom_'+_0x6b70a0,_0x13d184['origin']=this['parseOrigin'](_0x5d5c03);let _0xe8926f=null,_0x365149=null;if(_0x5d5c03['hasAttribute']('rgba')){const _0x3882a9=_0x5d5c03['getAttribute']('rgba')['split']('\x20')['map'](parseFloat);_0x3882a9['length']>=0x3&&(_0xe8926f={'r':_0x3882a9[0x0],'g':_0x3882a9[0x1],'b':_0x3882a9[0x2],'a':_0x3882a9['length']>=0x4?_0x3882a9[0x3]:0x1});}if(!_0xe8926f&&_0x2e8e7f['rgba']&&(_0xe8926f=_0x2e8e7f['rgba']),!_0xe8926f&&_0x204928&&(_0x365149=_0x5d5c03['getAttribute']('material')||_0x2e8e7f['material'],_0x365149&&_0x204928['has'](_0x365149))){const _0x57e472=_0x204928['get'](_0x365149);_0x57e472['rgba']&&(_0xe8926f=_0x57e472['rgba']);}_0x13d184['userData']={'group':_0x26f812,'hasRgba':_0x348bad||!!_0xe8926f,'rgba':_0xe8926f,'materialName':_0x365149,'meshRef':_0x3d8550,'geomType':_0x3b3159},_0x2409da['visuals']['push'](_0x13d184);}});const _0x484b12=_0x3d89fd['querySelector'](':scope\x20>\x20inertial');_0x484b12&&(_0x2409da['inertial']=this['parseInertial'](_0x484b12)),_0x5c06b2['addLink'](_0x2409da),_0x99db1d['set'](_0x52217b,{'link':_0x2409da,'element':_0x3d89fd,'parentName':_0x14032a}),this['parseBodies'](_0x3d89fd,_0x52217b,_0x99db1d,_0x5c06b2,_0x2409da,_0x2b522c,_0x320dd4,_0x204928,_0x41a2ed,_0x351c75);});}static['parseGeom'](_0xbe588b,_0x483855=null){const _0x3489c3=_0xbe588b['getAttribute']('mesh');let _0x2673e5=_0xbe588b['getAttribute']('type');_0x3489c3&&!_0x2673e5&&(_0x2673e5='mesh'),_0x2673e5||(_0x2673e5='sphere');const _0x42017d=new nt(_0x2673e5);switch(_0x2673e5){case'box':const _0x405903=_0xbe588b['getAttribute']('size');if(_0x405903){const _0x3404c2=_0x405903['split']('\x20')['map'](parseFloat);_0x42017d['size']=0x1===_0x3404c2['length']?{'x':0x2*_0x3404c2[0x0],'y':0x2*_0x3404c2[0x0],'z':0x2*_0x3404c2[0x0]}:{'x':0x2*(_0x3404c2[0x0]||0.05),'y':0x2*(_0x3404c2[0x1]||0.05),'z':0x2*(_0x3404c2[0x2]||0.05)};}else _0x42017d['size']={'x':0.1,'y':0.1,'z':0.1};break;case'sphere':const _0x1eec9b=parseFloat(_0xbe588b['getAttribute']('size')||'0.1');_0x42017d['size']={'radius':_0x1eec9b};break;case'cylinder':case'capsule':const _0x49ee22=_0xbe588b['getAttribute']('fromto'),_0x1b52c0=_0xbe588b['getAttribute']('size');if(_0x49ee22){const _0x5b4388=_0x49ee22['split']('\x20')['map'](parseFloat);if(_0x5b4388['length']>=0x6){const _0xa63fdc=new _0x220444(_0x5b4388[0x0],_0x5b4388[0x1],_0x5b4388[0x2]),_0x4170b9=new _0x220444(_0x5b4388[0x3],_0x5b4388[0x4],_0x5b4388[0x5]),_0x37a6a7=new _0x220444()['addVectors'](_0xa63fdc,_0x4170b9)['multiplyScalar'](0.5),_0x495bbb=_0xa63fdc['distanceTo'](_0x4170b9),_0x15637c=new _0x220444()['subVectors'](_0x4170b9,_0xa63fdc)['normalize'](),_0x4eef45=new _0x220444(0x0,0x1,0x0),_0x4ba688=new _0x3c39ce()['setFromUnitVectors'](_0x4eef45,_0x15637c),_0x2db7c5=new _0x416b03()['setFromQuaternion'](_0x4ba688);_0x42017d['fromto']={'p1':[_0x5b4388[0x0],_0x5b4388[0x1],_0x5b4388[0x2]],'p2':[_0x5b4388[0x3],_0x5b4388[0x4],_0x5b4388[0x5]],'center':[_0x37a6a7['x'],_0x37a6a7['y'],_0x37a6a7['z']],'height':_0x495bbb,'rpy':[_0x2db7c5['x'],_0x2db7c5['y'],_0x2db7c5['z']]};const _0xb2a589=parseFloat(_0x1b52c0||'0.01');_0x42017d['size']={'radius':_0xb2a589,'height':_0x495bbb};}}else if(_0x1b52c0){const _0x3620eb=_0x1b52c0['split']('\x20')['map'](parseFloat);_0x42017d['size']={'radius':_0x3620eb[0x0]||0.1,'height':0x2*(_0x3620eb[0x1]||0.1)};}else _0x42017d['size']={'radius':0.01,'height':0.1};break;case'mesh':let _0x4f4aed=_0xbe588b['getAttribute']('mesh');if(_0x483855&&_0x483855['has'](_0x4f4aed)){const _0x468398=_0x483855['get'](_0x4f4aed);'file'===_0x468398['type']?(_0x42017d['filename']=_0x468398['path'],_0x468398['scale']&&(_0x42017d['meshScale']=_0x468398['scale'])):'vertex'===_0x468398['type']&&(_0x42017d['inlineVertices']=_0x468398['vertices'],_0x42017d['inlineScale']=_0x468398['scale']);}else _0x42017d['filename']=_0x4f4aed,_0x483855&&_0x483855['size'];_0x42017d['size']=null;}return _0x42017d;}static['parseOrigin'](_0x577455){const _0x2725a5={'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},_0xeaab09=_0x577455['getAttribute']('pos');if(_0xeaab09){const _0x3da935=_0xeaab09['split']('\x20')['map'](parseFloat);_0x2725a5['xyz']=[_0x3da935[0x0]||0x0,_0x3da935[0x1]||0x0,_0x3da935[0x2]||0x0];}const _0x4ce76e=_0x577455['getAttribute']('quat');if(_0x4ce76e){const _0x32bca8=_0x4ce76e['split']('\x20')['map'](parseFloat),_0x3a7944=_0x32bca8[0x0],_0x5cf2d6=_0x32bca8[0x1],_0x3495d1=_0x32bca8[0x2],_0x4c4477=_0x32bca8[0x3];_0x2725a5['quat']={'w':_0x3a7944,'x':_0x5cf2d6,'y':_0x3495d1,'z':_0x4c4477},_0x2725a5['rpy']=this['quaternionToEuler'](_0x3a7944,_0x5cf2d6,_0x3495d1,_0x4c4477);}else{const _0x25cd0c=_0x577455['getAttribute']('euler');if(_0x25cd0c){const _0x74dcf7=_0x25cd0c['split']('\x20')['map'](parseFloat);_0x2725a5['rpy']=[_0x74dcf7[0x0]||0x0,_0x74dcf7[0x1]||0x0,_0x74dcf7[0x2]||0x0];}}return _0x2725a5;}static['quaternionToEuler'](_0x937495,_0x14546c,_0x1dbac5,_0xb4ede1){const _0x40c91b=Math['sqrt'](_0x937495*_0x937495+_0x14546c*_0x14546c+_0x1dbac5*_0x1dbac5+_0xb4ede1*_0xb4ede1);_0x40c91b>0x0&&(_0x937495/=_0x40c91b,_0x14546c/=_0x40c91b,_0x1dbac5/=_0x40c91b,_0xb4ede1/=_0x40c91b);const _0x1e8c86=0x2*(_0x937495*_0x14546c+_0x1dbac5*_0xb4ede1),_0x1ce20d=0x1-0x2*(_0x14546c*_0x14546c+_0x1dbac5*_0x1dbac5),_0x414f7c=0x2*(_0x937495*_0x1dbac5-_0xb4ede1*_0x14546c),_0x25aabe=0x2*(_0x937495*_0xb4ede1+_0x14546c*_0x1dbac5),_0x585f1e=0x1-0x2*(_0x1dbac5*_0x1dbac5+_0xb4ede1*_0xb4ede1);return[Math['atan2'](_0x1e8c86,_0x1ce20d),Math['abs'](_0x414f7c)>=0x1?Math['sign'](_0x414f7c)*Math['PI']/0x2:Math['asin'](_0x414f7c),Math['atan2'](_0x25aabe,_0x585f1e)];}static['parseInertial'](_0xa3edbb){const _0x3a4574=new it(),_0x441916=_0xa3edbb['getAttribute']('mass');_0x441916&&(_0x3a4574['mass']=parseFloat(_0x441916));const _0x468dab=this['parseOrigin'](_0xa3edbb);_0x3a4574['origin']=_0x468dab;const _0x3df0ed=_0xa3edbb['getAttribute']('diaginertia'),_0xcd4da9=_0xa3edbb['getAttribute']('fullinertia');let _0x23bf6d=0x0,_0x532181=0x0,_0x4a785c=0x0,_0x4752bd=0x0,_0x37becc=0x0,_0x40ae8a=0x0;if(_0x3df0ed){const _0x239b20=_0x3df0ed['split']('\x20')['map'](parseFloat);_0x23bf6d=_0x239b20[0x0]||0x0,_0x532181=_0x239b20[0x1]||0x0,_0x4a785c=_0x239b20[0x2]||0x0;}if(_0xcd4da9){const _0x1f4f1c=_0xcd4da9['split']('\x20')['map'](parseFloat);_0x23bf6d=_0x1f4f1c[0x0]||0x0,_0x532181=_0x1f4f1c[0x1]||0x0,_0x4a785c=_0x1f4f1c[0x2]||0x0,_0x4752bd=_0x1f4f1c[0x3]||0x0,_0x37becc=_0x1f4f1c[0x4]||0x0,_0x40ae8a=_0x1f4f1c[0x5]||0x0;}if(_0x3a4574['diagonalInertia']={'ixx':_0x23bf6d,'iyy':_0x532181,'izz':_0x4a785c},_0x468dab['quat']){const _0x27eb5f=this['rotateInertiaTensor'](_0x23bf6d,_0x532181,_0x4a785c,_0x4752bd,_0x37becc,_0x40ae8a,_0x468dab['quat']);_0x23bf6d=_0x27eb5f['ixx'],_0x532181=_0x27eb5f['iyy'],_0x4a785c=_0x27eb5f['izz'],_0x4752bd=_0x27eb5f['ixy'],_0x37becc=_0x27eb5f['ixz'],_0x40ae8a=_0x27eb5f['iyz'];}const _0x341094=this['rotateInertiaAroundAxis'](_0x23bf6d,_0x532181,_0x4a785c,_0x4752bd,_0x37becc,_0x40ae8a,'Y',0x5a),_0x2b959c=this['rotateInertiaAroundAxis'](_0x341094['ixx'],_0x341094['iyy'],_0x341094['izz'],_0x341094['ixy'],_0x341094['ixz'],_0x341094['iyz'],'Y',0x5a);return _0x3a4574['ixx']=_0x2b959c['ixx'],_0x3a4574['iyy']=_0x2b959c['iyy'],_0x3a4574['izz']=_0x2b959c['izz'],_0x3a4574['ixy']=_0x2b959c['ixy'],_0x3a4574['ixz']=_0x2b959c['ixz'],_0x3a4574['iyz']=_0x2b959c['iyz'],_0x3a4574;}static['rotateInertiaAroundAxis'](_0x340616,_0x148569,_0x51d636,_0x5c8718,_0x4d944b,_0xb073d8,_0x14c8d1,_0x126a57){const _0x579f36=_0x126a57*Math['PI']/0xb4,_0x5d31bf=Math['cos'](_0x579f36),_0x279fd3=Math['sin'](_0x579f36);let _0x2de454;'X'===_0x14c8d1?_0x2de454=[[0x1,0x0,0x0],[0x0,_0x5d31bf,-_0x279fd3],[0x0,_0x279fd3,_0x5d31bf]]:'Y'===_0x14c8d1?_0x2de454=[[_0x5d31bf,0x0,_0x279fd3],[0x0,0x1,0x0],[-_0x279fd3,0x0,_0x5d31bf]]:'Z'===_0x14c8d1&&(_0x2de454=[[_0x5d31bf,-_0x279fd3,0x0],[_0x279fd3,_0x5d31bf,0x0],[0x0,0x0,0x1]]);const _0x3eabfc=[[_0x340616,_0x5c8718,_0x4d944b],[_0x5c8718,_0x148569,_0xb073d8],[_0x4d944b,_0xb073d8,_0x51d636]],_0x3c33e5=[[0x0,0x0,0x0],[0x0,0x0,0x0],[0x0,0x0,0x0]];for(let _0x4fb586=0x0;_0x4fb586<0x3;_0x4fb586++)for(let _0x7d2b5=0x0;_0x7d2b5<0x3;_0x7d2b5++)for(let _0x3aa8a2=0x0;_0x3aa8a2<0x3;_0x3aa8a2++)_0x3c33e5[_0x4fb586][_0x7d2b5]+=_0x2de454[_0x4fb586][_0x3aa8a2]*_0x3eabfc[_0x3aa8a2][_0x7d2b5];const _0x57a391=[[0x0,0x0,0x0],[0x0,0x0,0x0],[0x0,0x0,0x0]];for(let _0xfc7ad6=0x0;_0xfc7ad6<0x3;_0xfc7ad6++)for(let _0x34e4d0=0x0;_0x34e4d0<0x3;_0x34e4d0++)for(let _0x33ca32=0x0;_0x33ca32<0x3;_0x33ca32++)_0x57a391[_0xfc7ad6][_0x34e4d0]+=_0x3c33e5[_0xfc7ad6][_0x33ca32]*_0x2de454[_0x34e4d0][_0x33ca32];return{'ixx':_0x57a391[0x0][0x0],'iyy':_0x57a391[0x1][0x1],'izz':_0x57a391[0x2][0x2],'ixy':_0x57a391[0x0][0x1],'ixz':_0x57a391[0x0][0x2],'iyz':_0x57a391[0x1][0x2]};}static['rotateInertiaTensor'](_0x47ca54,_0x1c0605,_0x532d5e,_0x5751dd,_0x1ecb32,_0x2226df,_0x17faee){const {w:_0x376900,x:_0x16bc81,y:_0x237183,z:_0x1fc608}=_0x17faee,_0xf00f59=0x1-0x2*(_0x237183*_0x237183+_0x1fc608*_0x1fc608),_0x4b3df5=0x2*(_0x16bc81*_0x237183-_0x376900*_0x1fc608),_0x448ea0=0x2*(_0x16bc81*_0x1fc608+_0x376900*_0x237183),_0x2e073d=0x2*(_0x16bc81*_0x237183+_0x376900*_0x1fc608),_0x2a0721=0x1-0x2*(_0x16bc81*_0x16bc81+_0x1fc608*_0x1fc608),_0x4a7c81=0x2*(_0x237183*_0x1fc608-_0x376900*_0x16bc81),_0x18a856=0x2*(_0x16bc81*_0x1fc608-_0x376900*_0x237183),_0x517086=0x2*(_0x237183*_0x1fc608+_0x376900*_0x16bc81),_0xe6f922=0x1-0x2*(_0x16bc81*_0x16bc81+_0x237183*_0x237183),_0x185517=[[_0x47ca54,_0x5751dd,_0x1ecb32],[_0x5751dd,_0x1c0605,_0x2226df],[_0x1ecb32,_0x2226df,_0x532d5e]],_0x41d224=[[0x0,0x0,0x0],[0x0,0x0,0x0],[0x0,0x0,0x0]];_0x41d224[0x0][0x0]=_0xf00f59*_0x185517[0x0][0x0]+_0x4b3df5*_0x185517[0x1][0x0]+_0x448ea0*_0x185517[0x2][0x0],_0x41d224[0x0][0x1]=_0xf00f59*_0x185517[0x0][0x1]+_0x4b3df5*_0x185517[0x1][0x1]+_0x448ea0*_0x185517[0x2][0x1],_0x41d224[0x0][0x2]=_0xf00f59*_0x185517[0x0][0x2]+_0x4b3df5*_0x185517[0x1][0x2]+_0x448ea0*_0x185517[0x2][0x2],_0x41d224[0x1][0x0]=_0x2e073d*_0x185517[0x0][0x0]+_0x2a0721*_0x185517[0x1][0x0]+_0x4a7c81*_0x185517[0x2][0x0],_0x41d224[0x1][0x1]=_0x2e073d*_0x185517[0x0][0x1]+_0x2a0721*_0x185517[0x1][0x1]+_0x4a7c81*_0x185517[0x2][0x1],_0x41d224[0x1][0x2]=_0x2e073d*_0x185517[0x0][0x2]+_0x2a0721*_0x185517[0x1][0x2]+_0x4a7c81*_0x185517[0x2][0x2],_0x41d224[0x2][0x0]=_0x18a856*_0x185517[0x0][0x0]+_0x517086*_0x185517[0x1][0x0]+_0xe6f922*_0x185517[0x2][0x0],_0x41d224[0x2][0x1]=_0x18a856*_0x185517[0x0][0x1]+_0x517086*_0x185517[0x1][0x1]+_0xe6f922*_0x185517[0x2][0x1],_0x41d224[0x2][0x2]=_0x18a856*_0x185517[0x0][0x2]+_0x517086*_0x185517[0x1][0x2]+_0xe6f922*_0x185517[0x2][0x2];return{'ixx':_0x41d224[0x0][0x0]*_0xf00f59+_0x41d224[0x0][0x1]*_0x4b3df5+_0x41d224[0x0][0x2]*_0x448ea0,'iyy':_0x41d224[0x1][0x0]*_0x2e073d+_0x41d224[0x1][0x1]*_0x2a0721+_0x41d224[0x1][0x2]*_0x4a7c81,'izz':_0x41d224[0x2][0x0]*_0x18a856+_0x41d224[0x2][0x1]*_0x517086+_0x41d224[0x2][0x2]*_0xe6f922,'ixy':_0x41d224[0x0][0x0]*_0x2e073d+_0x41d224[0x0][0x1]*_0x2a0721+_0x41d224[0x0][0x2]*_0x4a7c81,'ixz':_0x41d224[0x0][0x0]*_0x18a856+_0x41d224[0x0][0x1]*_0x517086+_0x41d224[0x0][0x2]*_0xe6f922,'iyz':_0x41d224[0x1][0x0]*_0x18a856+_0x41d224[0x1][0x1]*_0x517086+_0x41d224[0x1][0x2]*_0xe6f922};}static['parseJoints'](_0x218d0c,_0x20690c,_0x5b8e8c,_0x409296=null,_0x220b03=null){_0x218d0c['querySelectorAll'](':scope\x20>\x20joint')['forEach'](_0x45fd0e=>{const _0x781c15=_0x45fd0e['getAttribute']('name')||'joint_'+_0x5b8e8c['joints']['size'],_0x16c0ca=_0x45fd0e['getAttribute']('type')||'hinge';let _0x126998='revolute';'slide'===_0x16c0ca?_0x126998='prismatic':'free'===_0x16c0ca?_0x126998='continuous':'ball'!==_0x16c0ca&&'hinge'!==_0x16c0ca||(_0x126998='revolute');const _0x5b68f2=new st(_0x781c15,_0x126998),_0x53f462=(['free','ball']['includes'](_0x16c0ca),_0x45fd0e['parentElement']),_0x5e6f01=_0x53f462['getAttribute']('name');_0x5b68f2['parent']=_0x409296||'worldbody',_0x5e6f01&&(_0x5b68f2['child']=_0x5e6f01);let _0x4d72fc=null;const _0x10fa23=_0x45fd0e['getAttribute']('axis');if(_0x10fa23)_0x4d72fc=_0x10fa23['split']('\x20')['map'](parseFloat);else{let _0x57f5b8=_0x45fd0e['getAttribute']('class');if(_0x57f5b8||(_0x57f5b8=_0x53f462['getAttribute']('childclass')),_0x57f5b8&&_0x220b03){const _0x349f04=_0x220b03['get'](_0x57f5b8);_0x349f04&&_0x349f04['joint']&&_0x349f04['joint']['axis']&&(_0x4d72fc=_0x349f04['joint']['axis']);}}_0x4d72fc&&(_0x5b68f2['axis']={'xyz':[_0x4d72fc[0x0]||0x0,_0x4d72fc[0x1]||0x0,_0x4d72fc[0x2]||0x0]});let _0x434fdf=null;const _0x5f0b87=_0x45fd0e['getAttribute']('range');if(_0x5f0b87)_0x434fdf=_0x5f0b87['split']('\x20')['map'](parseFloat);else{let _0x59513d=_0x45fd0e['getAttribute']('class');if(_0x59513d||(_0x59513d=_0x53f462['getAttribute']('childclass')),_0x59513d&&_0x220b03){const _0x37c901=_0x220b03['get'](_0x59513d);_0x37c901&&_0x37c901['joint']&&_0x37c901['joint']['range']&&(_0x434fdf=_0x37c901['joint']['range']);}}if(_0x434fdf&&_0x434fdf['length']>=0x2){const _0x573817=new rt();_0x573817['lower']=_0x434fdf[0x0],_0x573817['upper']=_0x434fdf[0x1],_0x5b68f2['limits']=_0x573817;}_0x5b68f2['origin']=this['parseOrigin'](_0x45fd0e),_0x5b8e8c['addJoint'](_0x5b68f2);});_0x218d0c['querySelectorAll'](':scope\x20>\x20freejoint')['forEach']((_0x1a3110,_0x4311b1)=>{const _0x21f8da=_0x1a3110['getAttribute']('name')||'freejoint_'+_0x5b8e8c['joints']['size'],_0x3006d3=new st(_0x21f8da,'continuous');_0x3006d3['type']='free';const _0x32f0fc=_0x1a3110['parentElement']['getAttribute']('name');_0x3006d3['parent']=_0x409296||'worldbody',_0x32f0fc&&(_0x3006d3['child']=_0x32f0fc),_0x3006d3['origin']=this['parseOrigin'](_0x1a3110),_0x5b8e8c['addJoint'](_0x3006d3);});const _0x196e82=_0x218d0c['querySelectorAll'](':scope\x20>\x20body'),_0x4a7dcc=_0x218d0c['getAttribute']('name');_0x196e82['forEach'](_0x5074bc=>{this['parseJoints'](_0x5074bc,_0x20690c,_0x5b8e8c,_0x4a7dcc||'worldbody',_0x220b03);});}static['parseEquality'](_0x1170a9,_0x86ac00){const _0x48e481=_0x1170a9['querySelector']('equality');if(!_0x48e481)return;_0x48e481['querySelectorAll']('connect')['forEach']((_0x35ac23,_0x1cd122)=>{const _0x47db6e=_0x35ac23['getAttribute']('name')||'connect_'+_0x1cd122,_0x518f45=new at(_0x47db6e,'connect');_0x518f45['body1']=_0x35ac23['getAttribute']('body1'),_0x518f45['body2']=_0x35ac23['getAttribute']('body2');const _0x135c8a=_0x35ac23['getAttribute']('anchor');_0x135c8a&&(_0x518f45['anchor']=_0x135c8a['trim']()['split'](/\s+/)['map'](parseFloat));const _0x33406a=_0x35ac23['getAttribute']('torquescale');_0x33406a&&(_0x518f45['torquescale']=parseFloat(_0x33406a)),_0x518f45['userData']={'body1':_0x518f45['body1'],'body2':_0x518f45['body2'],'anchor':_0x518f45['anchor']},_0x86ac00['addConstraint'](_0x518f45);});_0x48e481['querySelectorAll']('weld')['forEach']((_0x1f7e10,_0x34368c)=>{const _0x2a6e8b=_0x1f7e10['getAttribute']('name')||'weld_'+_0x34368c,_0x1e6d20=new at(_0x2a6e8b,'weld');_0x1e6d20['body1']=_0x1f7e10['getAttribute']('body1'),_0x1e6d20['body2']=_0x1f7e10['getAttribute']('body2');const _0x11bbdf=_0x1f7e10['getAttribute']('anchor');_0x11bbdf&&(_0x1e6d20['anchor']=_0x11bbdf['trim']()['split'](/\s+/)['map'](parseFloat));const _0x318aef=_0x1f7e10['getAttribute']('torquescale');_0x318aef&&(_0x1e6d20['torquescale']=parseFloat(_0x318aef)),_0x1e6d20['userData']={'body1':_0x1e6d20['body1'],'body2':_0x1e6d20['body2'],'anchor':_0x1e6d20['anchor']},_0x86ac00['addConstraint'](_0x1e6d20);});_0x48e481['querySelectorAll']('joint')['forEach']((_0x508dba,_0x188683)=>{const _0x4c4239=_0x508dba['getAttribute']('name')||'joint_constraint_'+_0x188683,_0x3c904b=new at(_0x4c4239,'joint');_0x3c904b['joint1']=_0x508dba['getAttribute']('joint1'),_0x3c904b['joint2']=_0x508dba['getAttribute']('joint2');const _0x595e2a=_0x508dba['getAttribute']('polycoef');_0x3c904b['polycoef']=_0x595e2a?_0x595e2a['trim']()['split'](/\s+/)['map'](parseFloat):[0x0,0x1],_0x3c904b['userData']={'joint1':_0x3c904b['joint1'],'joint2':_0x3c904b['joint2'],'polycoef':_0x3c904b['polycoef']},_0x86ac00['addConstraint'](_0x3c904b);});_0x48e481['querySelectorAll']('distance')['forEach']((_0x3eda5b,_0x4183df)=>{const _0x2788af=_0x3eda5b['getAttribute']('name')||'distance_'+_0x4183df,_0x38289b=new at(_0x2788af,'distance');_0x38289b['body1']=_0x3eda5b['getAttribute']('body1'),_0x38289b['body2']=_0x3eda5b['getAttribute']('body2'),_0x38289b['userData']={'body1':_0x38289b['body1'],'body2':_0x38289b['body2']},_0x86ac00['addConstraint'](_0x38289b);});}static async['createThreeObject'](_0x336a08,_0x27bd70=null,_0x25b76c=null){await xt();const _0x2208ec=new _0x135d71();_0x2208ec['name']=_0x336a08['name'];const _0x4c3ce4=new Map(),_0x2c703e=new Set();for(const [_0x52daf0,_0x1f3e0a]of _0x336a08['links'])for(const _0x4ae5c3 of _0x1f3e0a['visuals'])'mesh'===_0x4ae5c3['geometry']['type']&&_0x4ae5c3['geometry']['filename']&&_0x2c703e['add'](_0x4ae5c3['geometry']['filename']);const _0x521d54=Array['from'](_0x2c703e)['map'](_0x266dea=>this['loadMeshFile'](_0x266dea,_0x27bd70)['catch'](_0x32b757=>null)),_0x50973a=await Promise['all'](_0x521d54),_0x57a25a=new Map();let _0x2eeb86=0x0;for(const _0x3084cc of _0x2c703e){const _0x5089d8=_0x50973a[_0x2eeb86++];_0x57a25a['set'](_0x3084cc,_0x5089d8);}for(const [_0x198d71,_0x3a2a44]of _0x336a08['links']){const _0x541b10=new _0x135d71();_0x541b10['name']=_0x198d71,_0x541b10['isURDFLink']=!0x0,_0x541b10['type']='URDFLink';let _0x13c10a=0x0;for(const _0x5a6381 of _0x3a2a44['visuals']){const _0x1272c5=await this['createGeometryMesh'](_0x5a6381['geometry'],_0x27bd70,_0x57a25a);if(_0x1272c5){if(_0x5a6381['geometry']&&_0x5a6381['geometry']['fromto']){_0x1272c5['position']['set'](..._0x5a6381['geometry']['fromto']['center']);const _0x318da7=_0x5a6381['geometry']['fromto']['rpy'];_0x1272c5['rotation']['set'](_0x318da7[0x0]+_0x5a6381['origin']['rpy'][0x0],_0x318da7[0x1]+_0x5a6381['origin']['rpy'][0x1],_0x318da7[0x2]+_0x5a6381['origin']['rpy'][0x2]);}else _0x1272c5['position']['set'](..._0x5a6381['origin']['xyz']),_0x1272c5['rotation']['set'](..._0x5a6381['origin']['rpy']);if(_0x1272c5['name']=_0x5a6381['name']||'visual',_0x5a6381['userData']&&_0x5a6381['userData']['rgba']){const _0x38127b=_0x5a6381['userData']['rgba'],_0x4aa0e8=new _0x25d7bf(_0x38127b['r'],_0x38127b['g'],_0x38127b['b']);_0x1272c5['traverse'](_0x579a18=>{if(_0x579a18['isMesh']&&_0x579a18['material'])if(Array['isArray'](_0x579a18['material']))_0x579a18['material']=_0x579a18['material']['map'](_0x22ef4a=>{const _0x5586c2=_0x22ef4a['clone']();if(_0x5586c2['color']=_0x4aa0e8,_0x38127b['a']<0x1&&(_0x5586c2['transparent']=!0x0,_0x5586c2['opacity']=_0x38127b['a']),_0x5586c2['isMeshPhongMaterial']||_0x5586c2['isMeshStandardMaterial']){if(void 0x0===_0x5586c2['userData']['originalShininess'])if(_0x5586c2['userData']['originalShininess']=void 0x0!==_0x5586c2['shininess']?_0x5586c2['shininess']:0x1e,_0x5586c2['specular'])if(_0x5586c2['specular']['isColor']){const _0xeff37c=_0x5586c2['specular'];_0xeff37c['r']<0.1&&_0xeff37c['g']<0.1&&_0xeff37c['b']<0.1?_0x5586c2['userData']['originalSpecular']=null:_0x5586c2['userData']['originalSpecular']=_0xeff37c['clone']();}else'number'==typeof _0x5586c2['specular']?0x111111===_0x5586c2['specular']||_0x5586c2['specular']<0x111111?_0x5586c2['userData']['originalSpecular']=null:_0x5586c2['userData']['originalSpecular']=new _0x25d7bf(_0x5586c2['specular']):_0x5586c2['userData']['originalSpecular']=null;else _0x5586c2['userData']['originalSpecular']=null;(void 0x0===_0x5586c2['shininess']||_0x5586c2['shininess']<0x32)&&(_0x5586c2['shininess']=0x32),(!_0x5586c2['specular']||_0x5586c2['specular']['isColor']&&_0x5586c2['specular']['r']<0.2||'number'==typeof _0x5586c2['specular']&&_0x5586c2['specular']<0x333333)&&(_0x5586c2['specular']=new _0x25d7bf(0.3,0.3,0.3));}return _0x5586c2;});else if(_0x579a18['material']=_0x579a18['material']['clone'](),_0x579a18['material']['color']=_0x4aa0e8,_0x38127b['a']<0x1&&(_0x579a18['material']['transparent']=!0x0,_0x579a18['material']['opacity']=_0x38127b['a']),_0x579a18['material']['isMeshPhongMaterial']||_0x579a18['material']['isMeshStandardMaterial']){if(void 0x0===_0x579a18['material']['userData']['originalShininess'])if(_0x579a18['material']['userData']['originalShininess']=void 0x0!==_0x579a18['material']['shininess']?_0x579a18['material']['shininess']:0x1e,_0x579a18['material']['specular'])if(_0x579a18['material']['specular']['isColor']){const _0x44340f=_0x579a18['material']['specular'];_0x44340f['r']<0.1&&_0x44340f['g']<0.1&&_0x44340f['b']<0.1?_0x579a18['material']['userData']['originalSpecular']=null:_0x579a18['material']['userData']['originalSpecular']=_0x44340f['clone']();}else'number'==typeof _0x579a18['material']['specular']?0x111111===_0x579a18['material']['specular']||_0x579a18['material']['specular']<0x111111?_0x579a18['material']['userData']['originalSpecular']=null:_0x579a18['material']['userData']['originalSpecular']=new _0x25d7bf(_0x579a18['material']['specular']):_0x579a18['material']['userData']['originalSpecular']=null;else _0x579a18['material']['userData']['originalSpecular']=null;(void 0x0===_0x579a18['material']['shininess']||_0x579a18['material']['shininess']<0x32)&&(_0x579a18['material']['shininess']=0x32),(!_0x579a18['material']['specular']||_0x579a18['material']['specular']['isColor']&&_0x579a18['material']['specular']['r']<0.2||'number'==typeof _0x579a18['material']['specular']&&_0x579a18['material']['specular']<0x333333)&&(_0x579a18['material']['specular']=new _0x25d7bf(0.3,0.3,0.3));}});}_0x541b10['add'](_0x1272c5),_0x5a6381['threeObject']=_0x1272c5;}}for(const _0xcfa827 of _0x3a2a44['collisions']){const _0x44c9d0=await this['createGeometryMesh'](_0xcfa827['geometry'],_0x27bd70,_0x57a25a);if(_0x44c9d0){if(_0xcfa827['geometry']&&_0xcfa827['geometry']['fromto']){_0x44c9d0['position']['set'](..._0xcfa827['geometry']['fromto']['center']);const _0x2dbcd3=_0xcfa827['geometry']['fromto']['rpy'];_0x44c9d0['rotation']['set'](_0x2dbcd3[0x0]+_0xcfa827['origin']['rpy'][0x0],_0x2dbcd3[0x1]+_0xcfa827['origin']['rpy'][0x1],_0x2dbcd3[0x2]+_0xcfa827['origin']['rpy'][0x2]);}else _0x44c9d0['position']['set'](..._0xcfa827['origin']['xyz']),_0x44c9d0['rotation']['set'](..._0xcfa827['origin']['rpy']);_0x44c9d0['name']=_0xcfa827['name']||'collision';const _0x14e27f=new _0x135d71();_0x14e27f['name']=_0x198d71+'_collider_'+_0x13c10a,_0x14e27f['isURDFCollider']=!0x0,_0x14e27f['add'](_0x44c9d0),_0x541b10['add'](_0x14e27f),_0xcfa827['threeObject']=_0x14e27f,_0x13c10a++;}}_0x3a2a44['threeObject']=_0x541b10,_0x4c3ce4['set'](_0x198d71,_0x541b10);}const _0x42f2f7=new Map();for(const [_0x25a692,_0x5ccd2d]of _0x336a08['links'])_0x42f2f7['set'](_0x25a692,{'link':_0x5ccd2d,'parentName':_0x5ccd2d['userData']['parentName']});const _0x4b03cc=Array['from'](_0x336a08['links']['keys']())['filter'](_0x3e72c9=>!_0x42f2f7['get'](_0x3e72c9)['parentName']);function _0x38da3b(_0xa19bac,_0x519ac1){const _0x4fef79=_0x4c3ce4['get'](_0xa19bac);if(!_0x4fef79)return;_0x519ac1['add'](_0x4fef79);Array['from'](_0x336a08['joints']['values']())['filter'](_0x36803a=>_0x36803a['parent']===_0xa19bac&&_0x36803a['child'])['forEach'](_0x1c41c8=>{const _0x14366e=_0x1c41c8['child'];if(!_0x14366e)return;const _0x5b182f=_0x336a08['links']['get'](_0x14366e)['userData']['bodyOrigin']||{'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]},_0x1a55ab=new _0x135d71();if(_0x1a55ab['name']=_0x1c41c8['name']||'joint_'+_0x14366e,_0x1a55ab['isURDFJoint']=!0x0,_0x1a55ab['type']='URDFJoint',_0x1a55ab['jointType']=_0x1c41c8['type'],_0x1c41c8['axis']&&_0x1c41c8['axis']['xyz']){const _0x1da9b2=_0x1c41c8['axis']['xyz'];_0x1a55ab['axis']=new _0x220444(_0x1da9b2[0x0],_0x1da9b2[0x1],_0x1da9b2[0x2])['normalize']();}else _0x1a55ab['axis']=new _0x220444(0x0,0x1,0x0);_0x1a55ab['position']['set'](_0x5b182f['xyz'][0x0]+_0x1c41c8['origin']['xyz'][0x0],_0x5b182f['xyz'][0x1]+_0x1c41c8['origin']['xyz'][0x1],_0x5b182f['xyz'][0x2]+_0x1c41c8['origin']['xyz'][0x2]),_0x1a55ab['rotation']['set'](..._0x5b182f['rpy']),_0x38da3b(_0x14366e,_0x1a55ab),_0x4fef79['add'](_0x1a55ab),_0x1c41c8['threeObject']=_0x1a55ab;});for(const [_0x228694,_0x47b851]of _0x42f2f7['entries']())if(_0x47b851['parentName']===_0xa19bac){if(!Array['from'](_0x336a08['joints']['values']())['some'](_0x5d673a=>_0x5d673a['parent']===_0xa19bac&&_0x5d673a['child']===_0x228694)){const _0x5a2014=_0x336a08['links']['get'](_0x228694),_0x2bf53a=_0x5a2014['userData']['bodyOrigin']||{'xyz':[0x0,0x0,0x0],'rpy':[0x0,0x0,0x0]};_0x5a2014['userData']['isFixedConnection']=!0x0;const _0x497f6a=new _0x135d71();_0x497f6a['position']['set'](..._0x2bf53a['xyz']),_0x497f6a['rotation']['set'](..._0x2bf53a['rpy']),_0x38da3b(_0x228694,_0x497f6a),_0x4fef79['add'](_0x497f6a);}}}if(_0x4b03cc['length']>0x0)_0x4b03cc['forEach'](_0x4f88e6=>{const _0x52887d=_0x336a08['links']['get'](_0x4f88e6),_0x2670c6=_0x4c3ce4['get'](_0x4f88e6);_0x52887d['userData']['bodyOrigin']&&(_0x2670c6['position']['set'](..._0x52887d['userData']['bodyOrigin']['xyz']),_0x2670c6['rotation']['set'](..._0x52887d['userData']['bodyOrigin']['rpy'])),_0x38da3b(_0x4f88e6,_0x2208ec);});else if(_0x336a08['links']['size']>0x0){const _0x1734ee=Array['from'](_0x336a08['links']['keys']())[0x0],_0x4a2eaa=_0x336a08['links']['get'](_0x1734ee),_0x376f6c=_0x4c3ce4['get'](_0x1734ee);_0x4a2eaa['userData']['bodyOrigin']&&(_0x376f6c['position']['set'](..._0x4a2eaa['userData']['bodyOrigin']['xyz']),_0x376f6c['rotation']['set'](..._0x4a2eaa['userData']['bodyOrigin']['rpy'])),_0x38da3b(_0x1734ee,_0x2208ec);}_0x336a08['threeObject']=_0x2208ec,_0x2208ec['userData']||(_0x2208ec['userData']={}),_0x2208ec['userData']['type']='mjcf',_0x336a08['userData']||(_0x336a08['userData']={}),_0x336a08['userData']['type']='mjcf';}static async['createGeometryMesh'](_0x234e4d,_0x129386=null,_0x41bf22=null){var _0x143dc1,_0x3ab4c8,_0x3a1c70;let _0x24d0ab=null;switch(_0x234e4d['type']){case'box':_0x234e4d['size']&&(_0x24d0ab=new _0x20eddb(_0x234e4d['size']['x'],_0x234e4d['size']['y'],_0x234e4d['size']['z']));break;case'sphere':_0x234e4d['size']&&_0x234e4d['size']['radius']&&(_0x24d0ab=new _0x2e733b(_0x234e4d['size']['radius'],0x20,0x20));break;case'cylinder':_0x234e4d['size']&&(_0x24d0ab=new _0x181a2b(_0x234e4d['size']['radius'],_0x234e4d['size']['radius'],_0x234e4d['size']['height'],0x20),_0x24d0ab['rotateX'](Math['PI']/0x2));break;case'capsule':if(_0x234e4d['size']){const {radius:_0x48ca32,height:_0x2251c2}=_0x234e4d['size'];if(void 0x0!==_0x37c03a)_0x24d0ab=new _0x37c03a(_0x48ca32,_0x2251c2,0x4,0x10),_0x24d0ab['rotateX'](Math['PI']/0x2);else{const _0x278290=Math['max'](0x0,_0x2251c2-0x2*_0x48ca32),_0x4fd72b=new _0x181a2b(_0x48ca32,_0x48ca32,_0x278290,0x10);_0x4fd72b['rotateX'](Math['PI']/0x2),_0x24d0ab=_0x4fd72b;}}break;case'mesh':if(!_0x234e4d['filename'])return null;{let _0x36e686=null;if(_0x41bf22&&_0x41bf22['has'](_0x234e4d['filename'])?_0x36e686=_0x41bf22['get'](_0x234e4d['filename']):_0x129386&&(_0x36e686=await this['loadMeshFile'](_0x234e4d['filename'],_0x129386)),!_0x36e686)return null;if(_0x36e686['isGroup']||_0x36e686['isObject3D']){if(_0x24d0ab=_0x36e686['clone'](!0x0),_0x234e4d['meshScale']){const [_0x16fa71,_0x435a13,_0x49104f]=_0x234e4d['meshScale'];_0x24d0ab['scale']['set'](_0x16fa71,_0x435a13,_0x49104f);}return _0x24d0ab['traverse'](_0x3ed500=>{_0x3ed500['isMesh']&&_0x3ed500['material'];}),Mt(_0x24d0ab),_0x24d0ab;}if(_0x234e4d['meshScale']){const [_0x5de611,_0x4c358e,_0x52bb4f]=_0x234e4d['meshScale'];_0x24d0ab=_0x36e686['clone'](),_0x24d0ab['scale'](_0x5de611,_0x4c358e,_0x52bb4f);}else _0x24d0ab=_0x36e686;}}if(!_0x24d0ab)return null;const _0x19fda8='undefined'!=typeof window&&(null==(_0x3a1c70=null==(_0x3ab4c8=null==(_0x143dc1=window['app'])?void 0x0:_0x143dc1['sceneManager'])?void 0x0:_0x3ab4c8['environmentManager'])?void 0x0:_0x3a1c70['getEnvironmentMap']()),_0x3647a2=new _0xa4876a({'color':0xf0f0f0,'shininess':0x32,'specular':new _0x25d7bf(0.3,0.3,0.3),'envMap':_0x19fda8||null,'reflectivity':_0x19fda8?0.3:0x0});return _0x3647a2['userData']['originalShininess']=0x1e,_0x3647a2['userData']['originalSpecular']=null,new _0x2c4c6c(_0x24d0ab,_0x3647a2);}static async['loadMeshFile'](_0x93b5ee,_0x3eb22a){return async function(_0x5d613b,_0x2059f7){try{let _0x57b19d=bt(_0x5d613b,_0x2059f7);const _0x5165fa=mt(_0x5d613b);if(!_0x57b19d&&!_0x5165fa['includes']('.')){const _0x2c23f0=['.stl','.obj','.dae','.gltf','.glb'];for(const _0x1c3e08 of _0x2c23f0)if(_0x57b19d=bt(_0x5165fa+_0x1c3e08,_0x2059f7),_0x57b19d)break;}if(!_0x57b19d)return null;const _0x5e1c2d=_0x57b19d['name']?_0x57b19d['name']['toLowerCase']()['split']('.')['pop']():_0x5d613b['toLowerCase']()['split']('.')['pop'](),_0x1c5b49=URL['createObjectURL'](_0x57b19d);try{const _0x18c229=await xt();let _0x5a8809=null;switch(_0x5e1c2d){case'stl':_0x5a8809=await new Promise((_0x2480de,_0x4aa4e5)=>{_0x18c229['STLLoader']['load'](_0x1c5b49,_0x2480de,void 0x0,_0x4aa4e5);});break;case'obj':const _0x2aaa03=_0x57b19d['name']['replace'](/\.obj$/i,'.mtl'),_0x2e27bb=Array['from'](_0x2059f7['values']())['find'](_0x19b07f=>_0x19b07f['name']&&_0x19b07f['name']['toLowerCase']()===_0x2aaa03['toLowerCase']());if(_0x2e27bb)try{const _0x10bebb=URL['createObjectURL'](_0x2e27bb),_0x157e79=await new Promise((_0x428651,_0x3bffeb)=>{_0x18c229['MTLLoader']['load'](_0x10bebb,_0x428651,void 0x0,_0x3bffeb);});URL['revokeObjectURL'](_0x10bebb),_0x157e79['preload'](),_0x18c229['OBJLoader']['setMaterials'](_0x157e79);}catch(_0xfdcf0b){}_0x5a8809=await new Promise((_0x40ee1d,_0x8f9d83)=>{_0x18c229['OBJLoader']['load'](_0x1c5b49,_0x40ee1d,void 0x0,_0x8f9d83);}),_0x18c229['OBJLoader']['setMaterials'](null);break;case'dae':const _0xc02bb4=await new Promise((_0x1e1ea4,_0x50012b)=>{_0x18c229['ColladaLoader']['load'](_0x1c5b49,_0x1e1ea4,void 0x0,_0x50012b);});_0x5a8809=_0xc02bb4?_0xc02bb4['scene']:null;break;case'gltf':case'glb':const _0x55c38f=await new Promise((_0x3929c9,_0x229c34)=>{_0x18c229['GLTFLoader']['load'](_0x1c5b49,_0x3929c9,void 0x0,_0x229c34);});_0x5a8809=_0x55c38f?_0x55c38f['scene']:null;break;default:return URL['revokeObjectURL'](_0x1c5b49),null;}return URL['revokeObjectURL'](_0x1c5b49),_0x5a8809&&(_0x5a8809['isGroup']||_0x5a8809['isObject3D']||_0x5a8809['isScene'])&&Mt(_0x5a8809),_0x5a8809;}catch(_0x4fb694){return URL['revokeObjectURL'](_0x1c5b49),null;}}catch(_0x463b9e){return null;}}(_0x93b5ee,_0x3eb22a);}static['setJointAngle'](_0x28c037,_0x98f7d3){if(_0x28c037['currentValue']=_0x98f7d3,_0x28c037['threeObject'])if('revolute'===_0x28c037['type']||'continuous'===_0x28c037['type']){let _0x124baa;if(_0x28c037['threeObject']['axis'])_0x124baa=_0x28c037['threeObject']['axis']['clone']()['normalize']();else{if(!_0x28c037['axis']||!_0x28c037['axis']['xyz'])return;{const _0x3327d5=_0x28c037['axis']['xyz'];_0x124baa=new _0x220444(_0x3327d5[0x0],_0x3327d5[0x2],-_0x3327d5[0x1])['normalize']();}}_0x28c037['threeObject']['userData']['initialQuaternion']||(_0x28c037['threeObject']['userData']['initialQuaternion']=_0x28c037['threeObject']['quaternion']['clone']());const _0x1aa08a=new _0x3c39ce();_0x1aa08a['setFromAxisAngle'](_0x124baa,_0x98f7d3),_0x28c037['threeObject']['quaternion']['copy'](_0x28c037['threeObject']['userData']['initialQuaternion']),_0x28c037['threeObject']['quaternion']['multiply'](_0x1aa08a),_0x28c037['threeObject']['updateMatrixWorld'](!0x0);}else if('prismatic'===_0x28c037['type']){let _0x33c5aa;if(_0x28c037['threeObject']['axis'])_0x33c5aa=_0x28c037['threeObject']['axis']['clone']()['normalize']();else{if(!_0x28c037['axis']||!_0x28c037['axis']['xyz'])return;{const _0x4505c1=_0x28c037['axis']['xyz'];_0x33c5aa=new _0x220444(_0x4505c1[0x0],_0x4505c1[0x2],-_0x4505c1[0x1])['normalize']();}}_0x28c037['threeObject']['userData']['initialPosition']||(_0x28c037['threeObject']['userData']['initialPosition']=_0x28c037['threeObject']['position']['clone']()),_0x28c037['threeObject']['position']['copy'](_0x28c037['threeObject']['userData']['initialPosition']),_0x28c037['threeObject']['position']['addScaledVector'](_0x33c5aa,_0x98f7d3),_0x28c037['threeObject']['updateMatrixWorld'](!0x0);}}}class St{static async['parse'](_0x7f18bc,_0x382c4b=null,_0x2c92f0=null,_0x28b284={}){if(!_0x28b284['usdViewerManager'])throw new Error('USD\x20viewer\x20not\x20initialized');return await this['parseWithWASM'](_0x2c92f0,_0x382c4b,_0x28b284['usdViewerManager']);}static async['parseWithWASM'](_0x42d786,_0x7db942=null,_0x10645c){try{if(_0x7db942&&_0x7db942['size']>0x1){const _0x285945={};for(const [_0x1e13d0,_0x2eba4f]of _0x7db942['entries']())_0x285945[_0x1e13d0]=_0x2eba4f;let _0x28b2f3=_0x42d786['name'];for(const [_0x4e332b,_0x572d1e]of _0x7db942['entries']())if(_0x4e332b['endsWith'](_0x42d786['name'])&&!_0x4e332b['includes']('/.thumbs/')&&!_0x4e332b['includes']('/Props/')){_0x28b2f3=_0x4e332b;break;}await _0x10645c['loadFromFilesMap'](_0x285945,_0x28b2f3);}else await _0x10645c['loadFromFile'](_0x42d786);const _0x5c5034=new Qe();return _0x5c5034['name']=_0x42d786['name']['replace'](/\.(usdz|usdc|usd|usda)$/i,''),_0x5c5034['userData']=_0x5c5034['userData']||{},_0x5c5034['userData']['isUSDWASM']=!0x0,_0x5c5034['userData']['usdViewerManager']=_0x10645c,_0x5c5034;}catch(_0x52b10f){throw _0x52b10f;}}static async['parseUSDZ_OLD'](_0x145ae6,_0x4f4a8e=null){const {USDZLoader:_0x3b0c06}=await Ae(()=>import('./USDZLoader-64197f74.js'),["./USDZLoader-64197f74.js","./three-9c891de0.js"],import.meta.url),_0xf0aa21=new _0x3b0c06(),_0x35a001=URL['createObjectURL'](_0x145ae6);try{const _0x325f40=await new Promise((_0xc60da9,_0x4e1022)=>{_0xf0aa21['load'](_0x35a001,_0x419212=>{_0xc60da9(_0x419212);},void 0x0,_0x396fc1=>{_0x4e1022(_0x396fc1);});});return URL['revokeObjectURL'](_0x35a001),this['convertThreeGroupToModel'](_0x325f40,_0x145ae6['name']);}catch(_0x269e01){throw URL['revokeObjectURL'](_0x35a001),_0x269e01;}}static['convertThreeGroupToModel'](_0x161d87,_0x1a484b){const _0x245344=new Qe();_0x245344['name']=_0x1a484b['replace'](/\.(usdz|usdc|usd|usda)$/i,''),_0x245344['threeObject']=_0x161d87;let _0x506c50=0x0;return _0x161d87['traverse'](_0x3250d8=>{if(_0x3250d8['isMesh']||_0x3250d8['isGroup']){const _0x26b978=_0x3250d8['name']||'link_'+_0x506c50++,_0x929e98=new Ke(_0x26b978);if(_0x929e98['threeObject']=_0x3250d8,_0x3250d8['isMesh']){const _0x23349c=new et();_0x23349c['name']=_0x3250d8['name']||_0x26b978,_0x23349c['threeObject']=_0x3250d8,_0x3250d8['geometry']&&(_0x23349c['geometry']=this['extractGeometryInfo'](_0x3250d8['geometry'])),_0x929e98['visuals']['push'](_0x23349c);}_0x245344['addLink'](_0x929e98);}}),_0x245344;}static['extractGeometryInfo'](_0x548a36){var _0xf42c33,_0x24bc85,_0x177540,_0x1833c6,_0xb61741,_0x1af5a7;const _0xdba147=new nt('mesh');return'BoxGeometry'===_0x548a36['type']?(_0xdba147['type']='box',_0xdba147['size']={'x':(null==(_0xf42c33=_0x548a36['parameters'])?void 0x0:_0xf42c33['width'])||0x1,'y':(null==(_0x24bc85=_0x548a36['parameters'])?void 0x0:_0x24bc85['height'])||0x1,'z':(null==(_0x177540=_0x548a36['parameters'])?void 0x0:_0x177540['depth'])||0x1}):'SphereGeometry'===_0x548a36['type']?(_0xdba147['type']='sphere',_0xdba147['size']={'radius':(null==(_0x1833c6=_0x548a36['parameters'])?void 0x0:_0x1833c6['radius'])||0.5}):'CylinderGeometry'===_0x548a36['type']&&(_0xdba147['type']='cylinder',_0xdba147['size']={'radius':(null==(_0xb61741=_0x548a36['parameters'])?void 0x0:_0xb61741['radiusTop'])||0.5,'height':(null==(_0x1af5a7=_0x548a36['parameters'])?void 0x0:_0x1af5a7['height'])||0x1}),_0xdba147;}static['parseASCIIUSD_DEPRECATED'](_0x2ce93b,_0x55b216=null){const _0x310db7=new Qe();_0x310db7['name']='usd_model',!_0x2ce93b['includes']('#usda')&&_0x2ce93b['includes']('def\x20');const _0x22fd9d=_0x2ce93b['split']('\x0a');let _0x5aa223=null,_0x29b954=[];for(let _0x3b43aa=0x0;_0x3b43aa<_0x22fd9d['length'];_0x3b43aa++){const _0xe39c08=_0x22fd9d[_0x3b43aa]['trim']();if(!_0xe39c08||_0xe39c08['startsWith']('#'))continue;const _0x4df9af=_0xe39c08['match'](/def\s+(\w+)\s+"([^"]+)"\s*\{/);if(_0x4df9af){const _0x2bd0d7=_0x4df9af[0x1],_0x424b3c=_0x4df9af[0x2];if('Xform'===_0x2bd0d7||'Mesh'===_0x2bd0d7||'Cube'===_0x2bd0d7||'Sphere'===_0x2bd0d7||'Cylinder'===_0x2bd0d7)if('Xform'!==_0x2bd0d7||_0x5aa223){if(_0x5aa223){const _0x21208a=new et();_0x21208a['name']=_0x424b3c,_0x21208a['geometry']=this['parseUSDGeometry'](_0x2bd0d7,_0x22fd9d,_0x3b43aa),_0x5aa223['visuals']['push'](_0x21208a),_0x29b954['push']({'type':'visual','obj':_0x21208a});}}else _0x5aa223=new Ke(_0x424b3c),_0x310db7['addLink'](_0x5aa223),_0x29b954['push']({'type':'link','obj':_0x5aa223});continue;}if(_0x5aa223&&_0xe39c08['includes']('=')){const _0x3329aa=_0xe39c08['match'](/(\w+)\s*=\s*(.+)/);if(_0x3329aa){const _0x1c5afa=_0x3329aa[0x1],_0x43bef7=_0x3329aa[0x2]['trim']();if('xformOp:translate'===_0x1c5afa){const _0x369cc3=this['parseUSDArray'](_0x43bef7);if(_0x369cc3['length']>=0x3){const _0x387a3b=_0x5aa223['visuals'][_0x5aa223['visuals']['length']-0x1];_0x387a3b&&(_0x387a3b['origin']['xyz']=_0x369cc3['slice'](0x0,0x3));}}}}if('}'===_0xe39c08&&_0x29b954['length']>0x0){'link'===_0x29b954['pop']()['type']&&(_0x5aa223=null);}}return this['createThreeObject'](_0x310db7),_0x310db7;}static['parseUSDGeometry'](_0x1c5fad,_0x4109da,_0x2655bb){const _0x330e8a=new nt(_0x1c5fad['toLowerCase']());for(let _0x845025=_0x2655bb;_0x845025<Math['min'](_0x2655bb+0x14,_0x4109da['length']);_0x845025++){const _0x1196cc=_0x4109da[_0x845025]['trim']();if('}'===_0x1196cc)break;const _0x1fcccb=_0x1196cc['match'](/(\w+)\s*=\s*(.+)/);if(_0x1fcccb){const _0x56b94b=_0x1fcccb[0x1],_0x115657=_0x1fcccb[0x2]['trim']();switch(_0x1c5fad){case'Cube':if('size'===_0x56b94b){const _0x14b958=parseFloat(_0x115657);_0x330e8a['size']={'x':_0x14b958,'y':_0x14b958,'z':_0x14b958};}break;case'Sphere':'radius'===_0x56b94b&&(_0x330e8a['size']={'radius':parseFloat(_0x115657)});break;case'Cylinder':if('radius'===_0x56b94b){const _0x34af39=parseFloat(_0x115657);_0x330e8a['size']={'radius':_0x34af39,'height':0x2*_0x34af39};}'height'===_0x56b94b&&(_0x330e8a['size']||(_0x330e8a['size']={}),_0x330e8a['size']['height']=parseFloat(_0x115657));}}}return _0x330e8a;}static['parseUSDArray'](_0x36c085){return(_0x36c085=_0x36c085['replace'](/[()]/g,'')['trim']())['split'](',')['map'](_0x5f372e=>parseFloat(_0x5f372e['trim']()))['filter'](_0xbb4073=>!isNaN(_0xbb4073));}static['createThreeObject'](_0x3094e4){const _0x48ea61=new 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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 _0x54bf77=!0x1,_0x57b523=this['pos'],_0x5b0b7f=this['expression']['charAt'](_0x57b523);if('\x27'===_0x5b0b7f||'\x22'===_0x5b0b7f)for(var _0x51d563=this['expression']['indexOf'](_0x5b0b7f,_0x57b523+0x1);_0x51d563>=0x0&&this['pos']<this['expression']['length'];){if(this['pos']=_0x51d563+0x1,'\x5c'!==this['expression']['charAt'](_0x51d563-0x1)){var _0x525d8c=this['expression']['substring'](_0x57b523+0x1,_0x51d563);this['current']=this['newToken'](dn,this['unescape'](_0x525d8c),_0x57b523),_0x54bf77=!0x0;break;}_0x51d563=this['expression']['indexOf'](_0x5b0b7f,_0x51d563+0x1);}return _0x54bf77;},bn['prototype']['isParen']=function(){var _0x54aa78=this['expression']['charAt'](this['pos']);return('('===_0x54aa78||')'===_0x54aa78)&&(this['current']=this['newToken'](pn,_0x54aa78),this['pos']++,!0x0);},bn['prototype']['isBracket']=function(){var _0x3aa660=this['expression']['charAt'](this['pos']);return!('['!==_0x3aa660&&']'!==_0x3aa660||!this['isOperatorEnabled']('['))&&(this['current']=this['newToken'](mn,_0x3aa660),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 _0x552e86=this['pos'],_0x22deda=_0x552e86;_0x22deda<this['expression']['length'];_0x22deda++){var _0x1ce50e=this['expression']['charAt'](_0x22deda);if(_0x1ce50e['toUpperCase']()===_0x1ce50e['toLowerCase']()&&(_0x22deda===this['pos']||'_'!==_0x1ce50e&&'.'!==_0x1ce50e&&(_0x1ce50e<'0'||_0x1ce50e>'9')))break;}if(_0x22deda>_0x552e86){var _0x4f6639=this['expression']['substring'](_0x552e86,_0x22deda);if(_0x4f6639 in this['consts'])return this['current']=this['newToken'](un,this['consts'][_0x4f6639]),this['pos']+=_0x4f6639['length'],!0x0;}return!0x1;},bn['prototype']['isNamedOp']=function(){for(var _0x1c47cf=this['pos'],_0x3536d4=_0x1c47cf;_0x3536d4<this['expression']['length'];_0x3536d4++){var _0x409763=this['expression']['charAt'](_0x3536d4);if(_0x409763['toUpperCase']()===_0x409763['toLowerCase']()&&(_0x3536d4===this['pos']||'_'!==_0x409763&&(_0x409763<'0'||_0x409763>'9')))break;}if(_0x3536d4>_0x1c47cf){var _0x4e6fe4=this['expression']['substring'](_0x1c47cf,_0x3536d4);if(this['isOperatorEnabled'](_0x4e6fe4)&&(_0x4e6fe4 in this['binaryOps']||_0x4e6fe4 in this['unaryOps']||_0x4e6fe4 in this['ternaryOps']))return this['current']=this['newToken'](hn,_0x4e6fe4),this['pos']+=_0x4e6fe4['length'],!0x0;}return!0x1;},bn['prototype']['isName']=function(){for(var _0x9a6087=this['pos'],_0x52a564=_0x9a6087,_0xf79011=!0x1;_0x52a564<this['expression']['length'];_0x52a564++){var _0x1179b9=this['expression']['charAt'](_0x52a564);if(_0x1179b9['toUpperCase']()===_0x1179b9['toLowerCase']()){if(_0x52a564===this['pos']&&('$'===_0x1179b9||'_'===_0x1179b9)){'_'===_0x1179b9&&(_0xf79011=!0x0);continue;}if(_0x52a564===this['pos']||!_0xf79011||'_'!==_0x1179b9&&(_0x1179b9<'0'||_0x1179b9>'9'))break;}else _0xf79011=!0x0;}if(_0xf79011){var _0x96afc4=this['expression']['substring'](_0x9a6087,_0x52a564);return this['current']=this['newToken'](fn,_0x96afc4),this['pos']+=_0x96afc4['length'],!0x0;}return!0x1;},bn['prototype']['isWhitespace']=function(){for(var _0x408449=!0x1,_0x41228e=this['expression']['charAt'](this['pos']);!('\x20'!==_0x41228e&&'\x09'!==_0x41228e&&'\x0a'!==_0x41228e&&'\x0d'!==_0x41228e||(_0x408449=!0x0,this['pos']++,this['pos']>=this['expression']['length']));)_0x41228e=this['expression']['charAt'](this['pos']);return _0x408449;};var wn=/^[0-9a-f]{4}$/i;function xn(_0x5ec22a,_0x37bda5,_0x3d110c){this['parser']=_0x5ec22a,this['tokens']=_0x37bda5,this['current']=null,this['nextToken']=null,this['next'](),this['savedCurrent']=null,this['savedNextToken']=null,this['allowMemberAccess']=!0x1!==_0x3d110c['allowMemberAccess'];}bn['prototype']['unescape']=function(_0x1bc422){var _0x496446=_0x1bc422['indexOf']('\x5c');if(_0x496446<0x0)return _0x1bc422;for(var _0x343528=_0x1bc422['substring'](0x0,_0x496446);_0x496446>=0x0;){var _0x27d07a=_0x1bc422['charAt'](++_0x496446);switch(_0x27d07a){case'\x27':_0x343528+='\x27';break;case'\x22':_0x343528+='\x22';break;case'\x5c':_0x343528+='\x5c';break;case'/':_0x343528+='/';break;case'b':_0x343528+='\x08';break;case'f':_0x343528+='\x0c';break;case'n':_0x343528+='\x0a';break;case'r':_0x343528+='\x0d';break;case't':_0x343528+='\x09';break;case'u':var _0x5343d9=_0x1bc422['substring'](_0x496446+0x1,_0x496446+0x5);wn['test'](_0x5343d9)||this['parseError']('Illegal\x20escape\x20sequence:\x20\x5cu'+_0x5343d9),_0x343528+=String['fromCharCode'](parseInt(_0x5343d9,0x10)),_0x496446+=0x4;break;default:throw this['parseError']('Illegal\x20escape\x20sequence:\x20\x22\x5c'+_0x27d07a+'\x22');}++_0x496446;var _0x2fd30a=_0x1bc422['indexOf']('\x5c',_0x496446);_0x343528+=_0x1bc422['substring'](_0x496446,_0x2fd30a<0x0?_0x1bc422['length']:_0x2fd30a),_0x496446=_0x2fd30a;}return _0x343528;},bn['prototype']['isComment']=function(){return'/'===this['expression']['charAt'](this['pos'])&&'*'===this['expression']['charAt'](this['pos']+0x1)&&(this['pos']=this['expression']['indexOf']('*/',this['pos'])+0x2,0x1===this['pos']&&(this['pos']=this['expression']['length']),!0x0);},bn['prototype']['isRadixInteger']=function(){var _0x41a6b5,_0x5efc00,_0x2e2eb1=this['pos'];if(_0x2e2eb1>=this['expression']['length']-0x2||'0'!==this['expression']['charAt'](_0x2e2eb1))return!0x1;if(++_0x2e2eb1,'x'===this['expression']['charAt'](_0x2e2eb1))_0x41a6b5=0x10,_0x5efc00=/^[0-9a-f]$/i,++_0x2e2eb1;else{if('b'!==this['expression']['charAt'](_0x2e2eb1))return!0x1;_0x41a6b5=0x2,_0x5efc00=/^[01]$/i,++_0x2e2eb1;}for(var _0x195d12=!0x1,_0x4944a8=_0x2e2eb1;_0x2e2eb1<this['expression']['length'];){var _0x4a4527=this['expression']['charAt'](_0x2e2eb1);if(!_0x5efc00['test'](_0x4a4527))break;_0x2e2eb1++,_0x195d12=!0x0;}return _0x195d12&&(this['current']=this['newToken'](un,parseInt(this['expression']['substring'](_0x4944a8,_0x2e2eb1),_0x41a6b5)),this['pos']=_0x2e2eb1),_0x195d12;},bn['prototype']['isNumber']=function(){for(var _0x55a3cb,_0x410282=!0x1,_0x48892d=this['pos'],_0x5f513b=_0x48892d,_0x13a7aa=_0x48892d,_0x5b2a9a=!0x1,_0x1e86f9=!0x1;_0x48892d<this['expression']['length']&&((_0x55a3cb=this['expression']['charAt'](_0x48892d))>='0'&&_0x55a3cb<='9'||!_0x5b2a9a&&'.'===_0x55a3cb);)'.'===_0x55a3cb?_0x5b2a9a=!0x0:_0x1e86f9=!0x0,_0x48892d++,_0x410282=_0x1e86f9;if(_0x410282&&(_0x13a7aa=_0x48892d),'e'===_0x55a3cb||'E'===_0x55a3cb){_0x48892d++;for(var _0x1b345c=!0x0,_0x1ad1da=!0x1;_0x48892d<this['expression']['length'];){if(_0x55a3cb=this['expression']['charAt'](_0x48892d),!_0x1b345c||'+'!==_0x55a3cb&&'-'!==_0x55a3cb){if(!(_0x55a3cb>='0'&&_0x55a3cb<='9'))break;_0x1ad1da=!0x0,_0x1b345c=!0x1;}else _0x1b345c=!0x1;_0x48892d++;}_0x1ad1da||(_0x48892d=_0x13a7aa);}return _0x410282?(this['current']=this['newToken'](un,parseFloat(this['expression']['substring'](_0x5f513b,_0x48892d))),this['pos']=_0x48892d):this['pos']=_0x13a7aa,_0x410282;},bn['prototype']['isOperator']=function(){var _0x2c9133=this['pos'],_0x4caa19=this['expression']['charAt'](this['pos']);if('+'===_0x4caa19||'-'===_0x4caa19||'*'===_0x4caa19||'/'===_0x4caa19||'%'===_0x4caa19||'^'===_0x4caa19||'?'===_0x4caa19||':'===_0x4caa19||'.'===_0x4caa19)this['current']=this['newToken'](hn,_0x4caa19);else if('∙'===_0x4caa19||'•'===_0x4caa19)this['current']=this['newToken'](hn,'*');else if('>'===_0x4caa19)'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'>='),this['pos']++):this['current']=this['newToken'](hn,'>');else if('<'===_0x4caa19)'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'<='),this['pos']++):this['current']=this['newToken'](hn,'<');else if('|'===_0x4caa19){if('|'!==this['expression']['charAt'](this['pos']+0x1))return!0x1;this['current']=this['newToken'](hn,'||'),this['pos']++;}else if('='===_0x4caa19)'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'=='),this['pos']++):this['current']=this['newToken'](hn,_0x4caa19);else{if('!'!==_0x4caa19)return!0x1;'='===this['expression']['charAt'](this['pos']+0x1)?(this['current']=this['newToken'](hn,'!='),this['pos']++):this['current']=this['newToken'](hn,_0x4caa19);}return this['pos']++,!!this['isOperatorEnabled'](this['current']['value'])||(this['pos']=_0x2c9133,!0x1);},bn['prototype']['isOperatorEnabled']=function(_0x24b23b){return this['parser']['isOperatorEnabled'](_0x24b23b);},bn['prototype']['getCoordinates']=function(){var _0x3e9846,_0x33fd3e=0x0,_0x571045=-0x1;do{_0x33fd3e++,_0x3e9846=this['pos']-_0x571045,_0x571045=this['expression']['indexOf']('\x0a',_0x571045+0x1);}while(_0x571045>=0x0&&_0x571045<this['pos']);return{'line':_0x33fd3e,'column':_0x3e9846};},bn['prototype']['parseError']=function(_0x2f93e4){var _0x1c6067=this['getCoordinates']();throw new Error('parse\x20error\x20['+_0x1c6067['line']+':'+_0x1c6067['column']+']:\x20'+_0x2f93e4);},xn['prototype']['next']=function(){return this['current']=this['nextToken'],this['nextToken']=this['tokens']['next']();},xn['prototype']['tokenMatches']=function(_0x17a8fe,_0xcbc762){return void 0x0===_0xcbc762||(Array['isArray'](_0xcbc762)?an(_0xcbc762,_0x17a8fe['value']):'function'==typeof _0xcbc762?_0xcbc762(_0x17a8fe):_0x17a8fe['value']===_0xcbc762);},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(_0xc5d56a,_0x3fa6e0){return!(this['nextToken']['type']!==_0xc5d56a||!this['tokenMatches'](this['nextToken'],_0x3fa6e0))&&(this['next'](),!0x0);},xn['prototype']['expect']=function(_0x585dca,_0xcb3188){if(!this['accept'](_0x585dca,_0xcb3188)){var _0x5664cc=this['tokens']['getCoordinates']();throw new Error('parse\x20error\x20['+_0x5664cc['line']+':'+_0x5664cc['column']+']:\x20Expected\x20'+(_0xcb3188||_0x585dca));}},xn['prototype']['parseAtom']=function(_0x1de298){var _0x38429a=this['tokens']['unaryOps'];if(this['accept'](fn)||this['accept'](hn,function(_0xaaa077){return _0xaaa077['value']in _0x38429a;}))_0x1de298['push'](new Ht(Rt,this['current']['value']));else if(this['accept'](un))_0x1de298['push'](new Ht(Ft,this['current']['value']));else if(this['accept'](dn))_0x1de298['push'](new Ht(Ft,this['current']['value']));else if(this['accept'](pn,'('))this['parseExpression'](_0x1de298),this['expect'](pn,')');else{if(!this['accept'](mn,'['))throw new Error('unexpected\x20'+this['nextToken']);if(this['accept'](mn,']'))_0x1de298['push'](new Ht(Jt,0x0));else{var _0x38731a=this['parseArrayList'](_0x1de298);_0x1de298['push'](new Ht(Jt,_0x38731a));}}},xn['prototype']['parseExpression']=function(_0x3c3f66){var _0x588f1a=[];this['parseUntilEndStatement'](_0x3c3f66,_0x588f1a)||(this['parseVariableAssignmentExpression'](_0x588f1a),this['parseUntilEndStatement'](_0x3c3f66,_0x588f1a)||this['pushExpression'](_0x3c3f66,_0x588f1a));},xn['prototype']['pushExpression']=function(_0x56ef0a,_0x1f3f7b){for(var _0x2fcffd=0x0,_0x5d1f49=_0x1f3f7b['length'];_0x2fcffd<_0x5d1f49;_0x2fcffd++)_0x56ef0a['push'](_0x1f3f7b[_0x2fcffd]);},xn['prototype']['parseUntilEndStatement']=function(_0x47b09e,_0x867131){return!!this['accept'](yn)&&(!this['nextToken']||this['nextToken']['type']===cn||this['nextToken']['type']===pn&&')'===this['nextToken']['value']||_0x867131['push'](new Ht($t)),this['nextToken']['type']!==cn&&this['parseExpression'](_0x867131),_0x47b09e['push'](new Ht(Vt,_0x867131)),!0x0);},xn['prototype']['parseArrayList']=function(_0x58ceff){for(var _0x411538=0x0;!this['accept'](mn,']');)for(this['parseExpression'](_0x58ceff),++_0x411538;this['accept'](gn);)this['parseExpression'](_0x58ceff),++_0x411538;return _0x411538;},xn['prototype']['parseVariableAssignmentExpression']=function(_0x9fda37){for(this['parseConditionalExpression'](_0x9fda37);this['accept'](hn,'=');){var _0x5414bd=_0x9fda37['pop'](),_0x36745f=[],_0x2858fe=_0x9fda37['length']-0x1;if(_0x5414bd['type']!==Nt){if(_0x5414bd['type']!==Rt&&_0x5414bd['type']!==Bt)throw new Error('expected\x20variable\x20for\x20assignment');this['parseVariableAssignmentExpression'](_0x36745f),_0x9fda37['push'](new Ht(zt,_0x5414bd['value'])),_0x9fda37['push'](new Ht(Vt,_0x36745f)),_0x9fda37['push'](Wt('='));}else{if(!this['tokens']['isOperatorEnabled']('()='))throw new Error('function\x20definition\x20is\x20not\x20permitted');for(var _0x38dc45=0x0,_0x33ef48=_0x5414bd['value']+0x1;_0x38dc45<_0x33ef48;_0x38dc45++){var _0x40ecf7=_0x2858fe-_0x38dc45;_0x9fda37[_0x40ecf7]['type']===Rt&&(_0x9fda37[_0x40ecf7]=new Ht(zt,_0x9fda37[_0x40ecf7]['value']));}this['parseVariableAssignmentExpression'](_0x36745f),_0x9fda37['push'](new Ht(Vt,_0x36745f)),_0x9fda37['push'](new Ht(Ut,_0x5414bd['value']));}}},xn['prototype']['parseConditionalExpression']=function(_0x38a1c3){for(this['parseOrExpression'](_0x38a1c3);this['accept'](hn,'?');){var _0x166867=[],_0x2ce8f2=[];this['parseConditionalExpression'](_0x166867),this['expect'](hn,':'),this['parseConditionalExpression'](_0x2ce8f2),_0x38a1c3['push'](new Ht(Vt,_0x166867)),_0x38a1c3['push'](new Ht(Vt,_0x2ce8f2)),_0x38a1c3['push'](Xt('?'));}},xn['prototype']['parseOrExpression']=function(_0x2dea55){for(this['parseAndExpression'](_0x2dea55);this['accept'](hn,'or');){var _0x55fba2=[];this['parseAndExpression'](_0x55fba2),_0x2dea55['push'](new Ht(Vt,_0x55fba2)),_0x2dea55['push'](Wt('or'));}},xn['prototype']['parseAndExpression']=function(_0x23dea9){for(this['parseComparison'](_0x23dea9);this['accept'](hn,'and');){var _0x2bcd25=[];this['parseComparison'](_0x2bcd25),_0x23dea9['push'](new Ht(Vt,_0x2bcd25)),_0x23dea9['push'](Wt('and'));}};var Mn=['==','!=','<','<=','>=','>','in'];xn['prototype']['parseComparison']=function(_0x4f7785){for(this['parseAddSub'](_0x4f7785);this['accept'](hn,Mn);){var _0x200374=this['current'];this['parseAddSub'](_0x4f7785),_0x4f7785['push'](Wt(_0x200374['value']));}};var _n=['+','-','||'];xn['prototype']['parseAddSub']=function(_0x1c52ec){for(this['parseTerm'](_0x1c52ec);this['accept'](hn,_n);){var _0x1a5f90=this['current'];this['parseTerm'](_0x1c52ec),_0x1c52ec['push'](Wt(_0x1a5f90['value']));}};var Sn=['*','/','%'];function An(_0x1186e4,_0x2c43a2){return Number(_0x1186e4)+Number(_0x2c43a2);}function Ln(_0x58e21c,_0x4d0680){return _0x58e21c-_0x4d0680;}function En(_0x2e6d6b,_0x446cc6){return _0x2e6d6b*_0x446cc6;}function Cn(_0x3f5057,_0x474b80){return _0x3f5057/_0x474b80;}function jn(_0xa5e31a,_0x16d413){return _0xa5e31a%_0x16d413;}function kn(_0x470302,_0x1453a5){return Array['isArray'](_0x470302)&&Array['isArray'](_0x1453a5)?_0x470302['concat'](_0x1453a5):''+_0x470302+_0x1453a5;}function Tn(_0xf694ed,_0x23e242){return _0xf694ed===_0x23e242;}function On(_0x300019,_0x3e1831){return _0x300019!==_0x3e1831;}function Fn(_0x4859f5,_0x12ba08){return _0x4859f5>_0x12ba08;}function Dn(_0x5ab9ab,_0x363599){return _0x5ab9ab<_0x363599;}function Pn(_0x372757,_0x382be1){return _0x372757>=_0x382be1;}function In(_0x4f20bd,_0x282d15){return _0x4f20bd<=_0x282d15;}function Rn(_0x5b6bfa,_0x325db6){return Boolean(_0x5b6bfa&&_0x325db6);}function zn(_0x58b5b6,_0x552d64){return Boolean(_0x58b5b6||_0x552d64);}function Nn(_0x2fc1b8,_0x16ce43){return an(_0x16ce43,_0x2fc1b8);}function Un(_0x4ebc45){return(Math['exp'](_0x4ebc45)-Math['exp'](-_0x4ebc45))/0x2;}function Vn(_0x49daab){return(Math['exp'](_0x49daab)+Math['exp'](-_0x49daab))/0x2;}function qn(_0x3c59d8){return _0x3c59d8===0x1/0x0?0x1:_0x3c59d8===-0x1/0x0?-0x1:(Math['exp'](_0x3c59d8)-Math['exp'](-_0x3c59d8))/(Math['exp'](_0x3c59d8)+Math['exp'](-_0x3c59d8));}function Bn(_0x5c22b5){return 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_0xe7770e;}},_0x4f8d66['binaryOps']={..._0x4f8d66['binaryOps'],'+':(_0x227d73,_0x3f6dc6)=>(kt(_0x227d73)&&(_0x227d73=Number(_0x227d73)),kt(_0x3f6dc6)&&(_0x3f6dc6=Number(_0x3f6dc6)),_0x227d73+_0x3f6dc6),'in':(_0x598c89,_0x45a0f9)=>Array['isArray'](_0x45a0f9)||'string'==typeof _0x45a0f9?_0x45a0f9['includes'](_0x598c89):_0x598c89 in _0x45a0f9,'||':(_0x2c7f5d,_0x39e519)=>Boolean(_0x2c7f5d||_0x39e519)},_0x4f8d66['consts']={..._0x4f8d66['consts'],'pi':Math['PI'],'tau':0x2*Math['PI'],'e':Math['E']};}}class Ai{constructor(){this['inOrder']=!0x0,this['requirePrefix']=!0x0,this['localProperties']=!0x0,this['rospackCommands']={},this['arguments']={},this['expressionParser']=new Si(),this['workingPath']='';}async['getFileContents'](_0x1b9de3){throw new Error('XacroParser:\x20getFileContents()\x20not\x20implemented.');}async['parse'](_0x373631){function _0x8689ea(_0x1b1e29,_0x6c492e,_0x41c6fe=!0x1){const _0x1eaa4f=[],_0xabbffc=Ot(_0x522c65,_0x6c492e);try{let _0xfc777a=function 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_0xf579ce=/([()/*+!\-%|&=])+/g,_0x57c727=function(_0x5fcf75){return _0x5fcf75['replace'](/(('[^']*?')|("[^"]*?")|(`[^`]*?`)|([()/*+\-%|!&=]+?))/g,_0x22fb55=>'\x20'+_0x22fb55+'\x20')['trim']()['split'](/\s+/g);}(_0x34a318)['map'](_0x48ab38=>{if(_0xf579ce['lastIndex']=0x0,function(_0x54256d){return/^[()/*+\-%|&=[\]]+$/['test'](_0x54256d);}(_0x48ab38))return _0x48ab38;if(kt(_0x48ab38))return _0x48ab38;if(jt(_0x48ab38))return _0x48ab38;if(_0x48ab38 in _0x4c8592){const _0xc563ba=_0x259f24(_0x4c8592[_0x48ab38],_0x4c8592);return kt(_0xc563ba)||'object'==typeof _0xc563ba?_0xc563ba:'\x22'+_0xc563ba['toString']()['replace'](/\\/g,'\x5c\x5c')['replace'](/"/g,'\x5c\x22')+'\x22';}return _0x48ab38;})['map'](_0x1bb3d3=>(_0xf579ce['lastIndex']=0x0,/^[^0-9.]/['test'](_0x1bb3d3)&&!_0xf579ce['test'](_0x1bb3d3)?'\x20'+_0x1bb3d3+'\x20':_0x1bb3d3))['join']('');if(_0x1eaa4f['pop'](),jt(_0x57c727))return _0x57c727['substring'](0x1,_0x57c727['length']-0x1);if(kt(_0x57c727))return _0x57c727;{const _0x15ad7f=function(_0xd04227){return _0xd04227['replace'](/[-+]{2,}/,_0x53788d=>{let _0x364880=!0x0;for(let _0x4b7013=0x0,_0x4b8cd2=_0x53788d['length'];_0x4b7013<_0x4b8cd2;_0x4b7013++)'-'===_0x53788d[_0x4b7013]&&(_0x364880=!_0x364880);return _0x364880?'+':'-';});}(_0x57c727);return _0x249160['evaluate'](_0x15ad7f,_0x4c8592);}}{const _0x7eb34=_0x259f24(_0x34a318,_0x4c8592)['split'](/\s+/g),_0x47949f=_0x7eb34['shift']();try{return _0x593079(_0x47949f,..._0x7eb34);}catch(_0x300cfe){throw new Error('XacroParser:\x20Cannot\x20run\x20rospack\x20command\x20\x22'+_0x34a318+'\x22.\x0a'+_0x300cfe['message']);}}}),_0x347a0b=_0x51c2e3['filter'](_0x1f2670=>('string'==typeof _0x1f2670&&(_0x1f2670=_0x1f2670['trim']()),''!==_0x1f2670&&null!=_0x1f2670));return 0x1===_0x347a0b['length']?_0x347a0b[0x0]:_0x51c2e3['join']('');}(_0x1b1e29,_0xabbffc);return _0x41c6fe&&'string'==typeof _0xfc777a&&(_0xfc777a=_0xfc777a['replace'](/\${2}([({])/g,(_0x77b6bc,_0x2c96d6)=>'$'+_0x2c96d6)),_0xfc777a;}catch(_0x23eb54){throw new Error('XacroParser:\x20Failed\x20to\x20process\x20expression\x20\x22'+_0x1b1e29+'\x22.\x20\x0a'+_0x23eb54['message']);}}async function _0x266b42(_0x212837,_0x382540,_0x392506,_0x19671c){const _0xa5a6e4=_0x212837['tagName']['replace'](/^xacro:/,''),_0xd0d85c=_0x392506[_0xa5a6e4];if(!_0xd0d85c)throw new Error('XacroParser:\x20Cannot\x20find\x20macro\x20\x22'+_0xa5a6e4+'\x22');const _0x1a44ac=_0x382540,_0x12e303=_0x392506;_0x382540=function(_0x510122){const _0x6d412b=Ot(_0x510122);return _0x6d412b[Tt]=_0x510122,_0x6d412b;}(_0x382540),_0x392506=Ot(_0x392506);let _0x4c62eb=[];for(const _0x23053d of _0x212837['children'])await _0x4b2b94(_0x23053d,_0x1a44ac,_0x12e303,_0x4c62eb);_0x4c62eb=_0x4c62eb['filter'](_0x4b84a9=>_0x4b84a9['nodeType']===_0x4b84a9['ELEMENT_NODE']);let _0x478d13=0x0;for(const _0x34da05 in _0xd0d85c['params']){const _0x3888fc=_0xd0d85c['params'][_0x34da05];_0x212837['hasAttribute'](_0x34da05)?_0x382540[_0x34da05]=_0x8689ea(_0x212837['getAttribute'](_0x34da05),_0x1a44ac):'BLOCK'===_0x3888fc['type']?(_0x382540[_0x34da05]=[_0x4c62eb[_0x478d13]],_0x478d13++):'MULTI_BLOCK'===_0x3888fc['type']?_0x382540[_0x34da05]=[..._0x4c62eb['filter'](_0x43cf42=>_0x43cf42['tagName']===_0x34da05)[0x0]['childNodes']]:_0x382540[_0x34da05]=_0x8689ea(_0xd0d85c['params'][_0x34da05]['def'],_0x1a44ac);}const _0xb01f50=[..._0xd0d85c['node']['childNodes']];for(const _0x459e15 of _0xb01f50){const _0x30de67=[];await _0x4b2b94(_0x459e15,_0x382540,_0x392506,_0x30de67),_0x19671c['push'](..._0x30de67);}}function _0x4a42a6(_0x19905b){const _0x16aeb4=_0x19905b['getAttribute']('name')['replace'](/^xacro:/,''),_0x318b3a=_0x19905b['getAttribute']('params'),_0x1412a4={};if(_0x318b3a){const _0x5855fe=_0x318b3a['trim']()['match'](/[^\s']+('[^']*')?/g)['map'](_0x3b8c99=>function(_0x5e7c09){const _0x13f9bb={};if(/^\*\*/['test'](_0x5e7c09)?_0x13f9bb['type']='MULTI_BLOCK':/^\*/['test'](_0x5e7c09)?_0x13f9bb['type']='BLOCK':_0x13f9bb['type']='PARAM',_0x5e7c09=_0x5e7c09['replace'](/^\*{1,2}/g,''),/:?=/['test'](_0x5e7c09)){const [_0x27a3e4,_0x2dc33b]=_0x5e7c09['split'](/:?=/);if(/^\^/['test'](_0x2dc33b)||/\|/['test'](_0x2dc33b))throw new Error('XacroParser:\x20ROS\x20Jade\x20pass-through\x20notation\x20not\x20supported\x20in\x20macro\x20defaults:\x20'+_0x2dc33b);_0x13f9bb['name']=_0x27a3e4,_0x2dc33b['startsWith']('\x27')&&_0x2dc33b['endsWith']('\x27')?_0x13f9bb['def']=_0x2dc33b['substring'](0x1,_0x2dc33b['length']-0x1):_0x13f9bb['def']=_0x2dc33b;}else _0x13f9bb['name']=_0x5e7c09,_0x13f9bb['def']=null;return _0x13f9bb;}(_0x3b8c99));_0x5855fe['forEach'](_0x451f89=>{_0x1412a4[_0x451f89['name']]=_0x451f89;});}return{'name':_0x16aeb4,'node':Et(_0x19905b,!0x1),'params':_0x1412a4};}async function _0x4b2b94(_0x475342,_0x2a889e,_0x12b189,_0x105441=[]){if(_0x475342['nodeType']===_0x475342['TEXT_NODE']){const _0x5715d3=_0x475342['cloneNode']();return _0x5715d3['textContent']=_0x8689ea(_0x5715d3['textContent'],_0x2a889e,!0x0),void _0x105441['push'](_0x5715d3);}if(_0x475342['nodeType']!==_0x475342['ELEMENT_NODE'])return void _0x105441['push'](_0x475342['cloneNode']());let _0x32bc1e=_0x475342['tagName']['toLowerCase']();if(!_0xfac5ce)switch(_0x32bc1e){case'arg':case'property':case'macro':case'insert_block':case'if':case'unless':case'include':case'element':case'attribute':_0x32bc1e='xacro:'+_0x32bc1e;break;default:_0x32bc1e in _0x12b189&&(_0x32bc1e='xacro:'+_0x32bc1e);}switch(_0x32bc1e){case'xacro:property':{Ct(_0x105441);const _0xf1ee52=_0x475342['getAttribute']('name');let _0x13d446;if(_0x475342['hasAttribute']('value'))_0x13d446=_0x475342['getAttribute']('value');else if(_0x475342['hasAttribute']('default'))_0x13d446=_0x475342['getAttribute']('default');else{const _0x35b65a=[..._0x475342['childNodes']];_0x13d446=[];for(const _0x39768a of _0x35b65a)_0x13d446['push'](Et(_0x39768a,!0x1));}let _0x5b32f4='global';_0x6807ce&&(_0x5b32f4=_0x475342['getAttribute']('scope')||'local'),'local'!==_0x5b32f4&&(_0x13d446=_0x8689ea(_0x13d446,_0x2a889e)),'global'===_0x5b32f4?_0x522c65[_0xf1ee52]=_0x13d446:'parent'===_0x5b32f4?_0x2a889e[Tt][_0xf1ee52]=_0x13d446:_0x2a889e[_0xf1ee52]=_0x13d446;break;}case'xacro:macro':{Ct(_0x105441);const _0x3388e4=_0x4a42a6(_0x475342);_0x12b189[_0x3388e4['name']]=_0x3388e4;break;}case'xacro:insert_block':{Ct(_0x105441);const _0x3cd59e=_0x2a889e[_0x475342['getAttribute']('name')];for(const _0x503131 of _0x3cd59e)await _0x4b2b94(_0x503131,_0x2a889e,_0x12b189,_0x105441);return;}case'xacro:if':case'xacro:unless':{Ct(_0x105441);const _0x299114=_0x8689ea(_0x475342['getAttribute']('value'),_0x2a889e,!0x0);let _0x438884=null;if(_0x438884=isNaN(parseFloat(_0x299114))?'true'===_0x299114||'false'===_0x299114?'true'===_0x299114:_0x299114:!!parseFloat(_0x299114),'xacro:unless'===_0x32bc1e&&(_0x438884=!_0x438884),_0x438884){const _0x486343=[..._0x475342['childNodes']];for(const _0x1ec5f8 of _0x486343)await _0x4b2b94(_0x1ec5f8,_0x2a889e,_0x12b189,_0x105441);}return;}case'xacro:include':{if(Ct(_0x105441),_0x475342['hasAttribute']('ns'))throw new Error('XacroParser:\x20xacro:include\x20name\x20spaces\x20not\x20supported.');const _0x29e677=_0x8689ea(_0x475342['getAttribute']('filename'),_0x2a889e,!0x0),_0x7ea7ea=/^[/\\]/['test'](_0x29e677)||/^[a-zA-Z]+:[/\\]/['test'](_0x29e677)?_0x29e677:_0x2bd474+_0x29e677,_0x1e1ef7=_0x2bd474;_0x2bd474=At(_0x7ea7ea);const _0x36dd1a=[...(await _0x2a7eef(_0x7ea7ea))['children'][0x0]['childNodes']];for(const _0x1e37e6 of _0x36dd1a)await _0x4b2b94(_0x1e37e6,_0x2a889e,_0x12b189,_0x105441);return void(_0x2bd474=_0x1e1ef7);}case'xacro:arg':{const _0x4f12cf=_0x475342['getAttribute']('name');return void(_0x40b47f[_0x4f12cf]=_0x8689ea(_0x475342['getAttribute']('default'),_0x2a889e,!0x0));}case'xacro:attribute':case'xacro:element':throw new Error('XacroParser:\x20'+_0x32bc1e+'\x20tags\x20not\x20supported.');default:if(/^xacro:/['test'](_0x32bc1e)||_0x32bc1e in _0x12b189)return Ct(_0x105441),_0x266b42(_0x475342,_0x2a889e,_0x12b189,_0x105441);{const _0xd09945=_0x475342['cloneNode']();for(let _0x30d8f9=0x0,_0x144d76=_0xd09945['attributes']['length'];_0x30d8f9<_0x144d76;_0x30d8f9++){const _0xbb71e3=_0xd09945['attributes'][_0x30d8f9],_0x263c61=_0x8689ea(_0xbb71e3['value'],_0x2a889e,!0x0);_0xd09945['setAttribute'](_0xbb71e3['name'],_0x263c61);}const _0xd6f636=[..._0x475342['childNodes']],_0x45982e=[];for(let _0x3b0d62=0x0,_0x55c238=_0xd6f636['length'];_0x3b0d62<_0x55c238;_0x3b0d62++)await _0x4b2b94(_0xd6f636[_0x3b0d62],_0x2a889e,_0x12b189,_0x45982e);_0x45982e['forEach'](_0x22980a=>_0xd09945['appendChild'](_0x22980a)),_0x105441['push'](_0xd09945);}}}async function _0xf95859(_0x4927c4,_0x221427,_0x323467){const _0x546915=Lt(_0x4927c4,'xacro:property');_0xfac5ce||_0x546915['push'](...Lt(_0x4927c4,'property'));for(const _0x3dfe6a of _0x546915)await _0x4b2b94(_0x3dfe6a,_0x221427,_0x323467);const _0x5bbcfa=Lt(_0x4927c4,'xacro:macro');_0xfac5ce||_0x5bbcfa['push'](...Lt(_0x4927c4,'macro'));for(const _0x4aed55 of _0x5bbcfa)await _0x4b2b94(_0x4aed55,_0x221427,_0x323467);}async function _0x2a7eef(_0xfb79c){try{const _0x3336c0=await _0x55d666['getFileContents'](_0xfb79c);return new DOMParser()['parseFromString'](_0x3336c0,'text/xml');}catch(_0x1ecfc9){throw new Error('XacroParser:\x20Could\x20not\x20load\x20included\x20file:\x20'+_0xfb79c);}}async function _0x17541a(_0x75db0e,_0x38b44f,_0x43f597=[]){const _0x5bc41f=Lt(_0x75db0e,'xacro:include');_0xfac5ce||_0x5bc41f['push'](...Lt(_0x75db0e,'include'));const _0xadbea3=_0x5bc41f['map'](_0xebb55a=>{if(_0xebb55a['hasAttribute']('ns'))throw new Error('XacroParser:\x20xacro:include\x20name\x20spaces\x20not\x20supported.');const _0x4ff4ca=_0xebb55a['getAttribute']('filename'),_0x15c9a9=_0xebb55a['getAttribute']('ns')||null,_0x17f9ca=/^[/\\]/['test'](_0x4ff4ca)||/^[a-zA-Z]+:[/\\]/['test'](_0x4ff4ca)?_0x4ff4ca:_0x38b44f+_0x4ff4ca;return _0x2a7eef(_0x17f9ca)['then'](_0x3dad7a=>{_0x43f597['push']({'filename':_0x4ff4ca,'namespace':_0x15c9a9,'content':_0x3dad7a});return _0x17541a(_0x3dad7a,At(_0x17f9ca),_0x43f597);});});return await Promise['all'](_0xadbea3),_0x43f597;}const _0x55d666=this,_0x4484cf=this['inOrder'],_0x4e4dd3=this['workingPath']+(this['workingPath']&&!/[\\/]$/['test'](this['workingPath'])?'/':''),_0xfac5ce=this['requirePrefix'],_0x2f43f2=this['rospackCommands'],_0x4d1ad0={},_0x8444ff={},_0x40b47f={},_0x522c65={'True':0x1,'False':0x0};_0x522c65[Tt]=_0x522c65;const _0x593079=(_0x355cea,..._0x11f9bf)=>{let _0x17ee90;if(_0x2f43f2 instanceof Function&&(_0x17ee90=_0x2f43f2(_0x355cea,..._0x11f9bf)),null==_0x17ee90&&null!=_0x2f43f2&&'function'==typeof _0x2f43f2[_0x355cea]&&(_0x17ee90=_0x2f43f2[_0x355cea](..._0x11f9bf)),null==_0x17ee90&&'arg'===_0x355cea){const _0x1055c8=_0x11f9bf[0x0];if(void 0x0===_0x1055c8)throw new Error('XacroParser:\x20$(arg)\x20must\x20specify\x20a\x20variable\x20name');if(_0x17ee90=this['arguments'][_0x1055c8],null==_0x17ee90&&(_0x17ee90=_0x40b47f[_0x1055c8]),null==_0x17ee90)throw new Error('XacroParser:\x20Undefined\x20substitution\x20argument\x20'+_0x1055c8);}return _0x17ee90;},_0x249160=this['expressionParser'];let _0x6807ce=this['localProperties'],_0x2bd474=_0x4e4dd3,_0x52abc2=new DOMParser()['parseFromString'](_0x373631,'text/xml');_0x6807ce&&!_0x4484cf&&(_0x6807ce=!0x1);let _0x550e01=null;return _0x550e01=_0x4484cf?Promise['resolve']():(async function(){return await _0xf95859(_0x52abc2,_0x522c65,_0x4d1ad0),_0x52abc2=Et(_0x52abc2,!0x0),_0x17541a(_0x52abc2,_0x4e4dd3)['then'](_0x5fd68a=>{_0x5fd68a['forEach'](_0x19b4df=>{_0xf95859(_0x19b4df['content'],_0x522c65,_0x4d1ad0),_0x19b4df['content']=Et(_0x19b4df['content'],!0x0),_0x8444ff[_0x19b4df['filename']]=_0x19b4df['content'];});});}()),await _0x550e01,async function(_0x19487e,_0x3a40ef,_0x51f4eb){const _0x880849=_0x19487e['cloneNode']();for(let _0x300448=0x0,_0x2aa340=_0x19487e['children']['length'];_0x300448<_0x2aa340;_0x300448++){const _0x1375e3=[];await _0x4b2b94(_0x19487e['children'][_0x300448],_0x3a40ef,_0x51f4eb,_0x1375e3);const _0x2f79a9=_0x1375e3[0x0];_0x2f79a9['removeAttribute']('xmlns:xacro'),_0x880849['appendChild'](_0x2f79a9);}return _0x880849;}(_0x52abc2,_0x522c65,_0x4d1ad0);}}class Li{static async['parse'](_0x3bef3d,_0x22557d,_0x21e89e=null,_0x343bb8=null,_0x74c883={}){try{const _0x447c93=new Ai();_0x447c93['inOrder']=!0x0,_0x447c93['requirePrefix']=!0x0,_0x447c93['localProperties']=!0x0;const _0x36278f=_0x22557d['includes']('/')?_0x22557d['substring'](0x0,_0x22557d['lastIndexOf']('/')+0x1):'';_0x447c93['workingPath']=_0x36278f,_0x3bef3d=this['injectBooleanConstants'](_0x3bef3d);const _0x4be827=this['extractXacroArguments'](_0x3bef3d);_0x4be827['hasOwnProperty']('DEBUG')||(_0x4be827['DEBUG']='false'),_0x4be827['hasOwnProperty']('SELF_COLLIDE')||(_0x4be827['SELF_COLLIDE']='false'),_0x447c93['arguments']=_0x4be827,_0x21e89e&&(_0x447c93['getFileContents']=async _0x573603=>await this['loadFileFromMap'](_0x573603,_0x21e89e,_0x36278f));const _0x14c2db=await _0x447c93['parse'](_0x3bef3d),_0x503d2a=new XMLSerializer();let _0x4c1927=_0x503d2a['serializeToString'](_0x14c2db);_0x4c1927=_0x4c1927['replace'](/\sxmlns=""/g,'');const _0x515d70=new DOMParser()['parseFromString'](_0x4c1927,'text/xml'),_0x105b09=_0x515d70['querySelector']('parsererror');if(_0x105b09)throw new Error('Generated\x20URDF\x20has\x20invalid\x20XML:\x20'+_0x105b09['textContent']);_0x515d70['querySelectorAll']('gazebo')['forEach'](_0x5bf64f=>{var _0xe90849;return null==(_0xe90849=_0x5bf64f['parentNode'])?void 0x0:_0xe90849['removeChild'](_0x5bf64f);});_0x515d70['querySelectorAll']('transmission')['forEach'](_0x308cd6=>{var _0x25ed26;return null==(_0x25ed26=_0x308cd6['parentNode'])?void 0x0:_0x25ed26['removeChild'](_0x308cd6);}),this['removeEmptyGeometry'](_0x515d70),this['cleanXMLNodes'](_0x515d70['documentElement']);const _0x3ef335=_0x503d2a['serializeToString'](_0x515d70),_0x5731d5=await Ae(()=>import('./URDFLoader-a34b6917.js'),["./URDFLoader-a34b6917.js","./three-9c891de0.js","./STLLoader-de0915d4.js","./ColladaLoader-2a0c4638.js"],import.meta.url),_0x4d34d9=_0x5731d5['URDFLoader']||_0x5731d5['default']||_0x5731d5;return new Promise((_0x25a115,_0x4d2890)=>{const _0x3d3585=new _0x4d34d9();_0x3d3585['parseCollision']=!0x0;const _0x170a9b=_0x36278f;if(_0x21e89e){const _0x2ee482=this['extractPackagesFromURDF'](_0x3ef335),_0x3d59f2={};_0x2ee482['forEach'](_0x3bde91=>{_0x3d59f2[_0x3bde91]=_0x3bde91;}),_0x3d59f2['']='',_0x3d3585['packages']=_0x3d59f2;const _0x2d4ff4=_0x4e2a67=>{if(_0x4e2a67['startsWith']('blob:')){const _0x132d86=_0x4e2a67['match'](/^blob:https?:\/\/[^\/]+\/(.+)$/);if(!_0x132d86||!_0x132d86[0x1])return _0x4e2a67;{const _0x52ad8c=_0x132d86[0x1];if(!/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp|dae|stl|obj|gltf|glb)$/i['test'](_0x52ad8c))return _0x4e2a67;_0x4e2a67=_0x52ad8c;}}/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp)$/i['test'](_0x4e2a67),/\.(dae|stl|obj|gltf|glb)$/i['test'](_0x4e2a67);let _0x1a259f=_0x4e2a67;if(_0x1a259f['startsWith']('http://')||_0x1a259f['startsWith']('https://'))try{_0x1a259f=new URL(_0x1a259f)['pathname'],_0x1a259f['startsWith']('/')&&(_0x1a259f=_0x1a259f['substring'](0x1));}catch(_0x31a005){}const _0x42275e=bt(_0x1a259f,_0x21e89e,{'baseDir':_0x170a9b});if(_0x42275e){return URL['createObjectURL'](_0x42275e);}return _0x4e2a67;};_0x3d3585['manager']['setURLModifier'](_0x2d4ff4);const _0x59cd9c=_0x3d3585['loadMeshCb']||_0x3d3585['defaultMeshLoader']['bind'](_0x3d3585);_0x3d3585['loadMeshCb']=(_0x1cf2d4,_0x3390bf,_0x1df329)=>{this['findFileInMapByPath'](_0x1cf2d4,_0x21e89e,_0x170a9b)['then'](_0x516cb9=>{if(_0x516cb9){const _0x5a0c31=(_0x516cb9['name']||_0x1cf2d4)['toLowerCase']()['split']('.')['pop']();this['loadMeshFileAsync'](_0x516cb9,_0x5a0c31,_0x3390bf)['then'](_0x1dc88a=>{_0x1dc88a?_0x1df329(_0x1dc88a,null):_0x1df329(null,new Error('Failed\x20to\x20load\x20mesh\x20file:\x20'+_0x1cf2d4));})['catch'](_0x49ae3b=>{_0x1df329(null,_0x49ae3b);});}else _0x59cd9c(_0x1cf2d4,_0x3390bf,_0x1df329);})['catch'](_0x493d48=>{_0x59cd9c(_0x1cf2d4,_0x3390bf,_0x1df329);});};}const _0x239cb7=new Blob([_0x3ef335],{'type':'text/xml'}),_0x54f176=URL['createObjectURL'](_0x239cb7);_0x3d3585['load'](_0x54f176,_0x2df246=>{URL['revokeObjectURL'](_0x54f176);try{const _0x94c93=ut['convert'](_0x2df246,_0x3ef335,_0x74c883);_0x25a115(_0x94c93);}catch(_0xa0ec7c){_0x4d2890(new Error('URDF\x20conversion\x20failed:\x20'+_0xa0ec7c['message']));}},void 0x0,_0x35d640=>{URL['revokeObjectURL'](_0x54f176),_0x4d2890(new Error('URDF\x20loading\x20failed:\x20'+(_0x35d640['message']||_0x35d640)));});});}catch(_0x44cf0d){throw new Error('Xacro\x20parsing\x20failed:\x20'+_0x44cf0d['message']);}}static async['loadFileFromMap'](_0xfbf9ba,_0x431240,_0x39884b){let _0x155b74=_0xfbf9ba;_0x155b74['startsWith']('/')&&(_0x155b74=_0x155b74['substring'](0x1)),_0x155b74=_0x155b74['replace'](/^\.\//,'');const _0x406b7b=[_0x155b74,_0x39884b+_0x155b74,_0xfbf9ba,_0x39884b+_0xfbf9ba['replace'](/^\/+/,''),_0x155b74['includes']('/')?_0x155b74['substring'](_0x155b74['indexOf']('/')+0x1):_0x155b74];for(const _0x34e622 of _0x406b7b){const _0x2ba11c=_0x431240['get'](_0x34e622);if(_0x2ba11c){return await _0x2ba11c['text']();}}const _0x2862f8=_0x155b74['split']('/')['pop']();for(const [_0x3de024,_0x3d9c45]of _0x431240['entries']()){if(_0x3de024['split']('/')['pop']()===_0x2862f8){return await _0x3d9c45['text']();}}throw new Error('Cannot\x20find\x20included\x20file:\x20'+_0xfbf9ba);}static['removeEmptyGeometry'](_0xa7005b){_0xa7005b['querySelectorAll']('geometry')['forEach'](_0x1447be=>{if(!_0x1447be['children']||0x0===_0x1447be['children']['length']){let _0x30aed0=_0x1447be['parentNode'];if(_0x30aed0){const _0x275d49=_0x30aed0['parentNode'];_0x275d49&&('visual'!==_0x30aed0['nodeName']&&'collision'!==_0x30aed0['nodeName']||_0x275d49['removeChild'](_0x30aed0));}}});}static['cleanXMLNodes'](_0x5f0cf5){if(!_0x5f0cf5||!_0x5f0cf5['childNodes'])return;const _0x33bee2=[];for(let _0x519236=0x0;_0x519236<_0x5f0cf5['childNodes']['length'];_0x519236++){const _0x10c8e6=_0x5f0cf5['childNodes'][_0x519236];_0x10c8e6['nodeType']===Node['COMMENT_NODE']?_0x33bee2['push'](_0x10c8e6):_0x10c8e6['nodeType']===Node['TEXT_NODE']?_0x10c8e6['nodeValue']&&''!==_0x10c8e6['nodeValue']['trim']()||_0x33bee2['push'](_0x10c8e6):_0x10c8e6['nodeType']===Node['ELEMENT_NODE']&&this['cleanXMLNodes'](_0x10c8e6);}_0x33bee2['forEach'](_0x21dd8b=>{_0x5f0cf5['removeChild'](_0x21dd8b);});}static['extractPackagesFromURDF'](_0x5bc285){const _0xd90d35=new Set(),_0x4b073d=/package:\/\/([^\/]+)/g;let _0x338abe;for(;null!==(_0x338abe=_0x4b073d['exec'](_0x5bc285));)_0xd90d35['add'](_0x338abe[0x1]);return _0xd90d35;}static async['findFileInMapByPath'](_0x202c47,_0x389b73,_0x4db97e){return bt(_0x202c47,_0x389b73,{'baseDir':_0x4db97e});}static async['loadMeshFileAsync'](_0x48fbb4,_0x1c1b87,_0x11d044){const _0x3ebebb=await Ae(()=>import('./three-9c891de0.js'),[],import.meta.url),_0x4b8d19=URL['createObjectURL'](_0x48fbb4);try{let _0x461b6f=null;switch(_0x1c1b87){case'stl':{const {STLLoader:_0x2b22e9}=await Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),_0x48d254=new _0x2b22e9(_0x11d044),_0x3c0775=await new Promise((_0x3ac339,_0x3f268f)=>{_0x48d254['load'](_0x4b8d19,_0x3ac339,void 0x0,_0x3f268f);}),_0xb80105=new _0x3ebebb['MeshPhongMaterial']();_0x461b6f=new _0x3ebebb['Mesh'](_0x3c0775,_0xb80105);break;}case'dae':{const {ColladaLoader:_0x52460b}=await Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),_0x187aa8=new _0x52460b(_0x11d044);if(_0x461b6f=(await new Promise((_0x459b67,_0x3c2aba)=>{_0x187aa8['load'](_0x4b8d19,_0x459b67,void 0x0,_0x3c2aba);}))['scene'],_0x461b6f&&_0x461b6f['traverse']){const _0x49ea8f=[];_0x461b6f['traverse'](_0x2b4c17=>{_0x2b4c17['isLight']&&_0x49ea8f['push'](_0x2b4c17);}),_0x49ea8f['forEach'](_0x8622ee=>{_0x8622ee['parent']&&_0x8622ee['parent']['remove'](_0x8622ee);});}break;}case'obj':{const {OBJLoader:_0x346b47}=await Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),_0x1310ff=new _0x346b47(_0x11d044);_0x461b6f=await new Promise((_0x52c3b9,_0x255d40)=>{_0x1310ff['load'](_0x4b8d19,_0x52c3b9,void 0x0,_0x255d40);});break;}case'gltf':case'glb':{const {GLTFLoader:_0xf39b62}=await Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url),_0x2cc3cd=new _0xf39b62(_0x11d044);_0x461b6f=(await new Promise((_0x377f52,_0xdaaf7a)=>{_0x2cc3cd['load'](_0x4b8d19,_0x377f52,void 0x0,_0xdaaf7a);}))['scene'];break;}default:return URL['revokeObjectURL'](_0x4b8d19),null;}return URL['revokeObjectURL'](_0x4b8d19),_0x461b6f;}catch(_0x597f59){throw URL['revokeObjectURL'](_0x4b8d19),_0x597f59;}}static['injectBooleanConstants'](_0x242810){const _0x4d1160=_0x242810['match'](/(<robot[^>]*>)/);if(!_0x4d1160)return _0x242810;const _0x76c298=_0x4d1160['index']+_0x4d1160[0x0]['length'];return _0x242810['substring'](0x0,_0x76c298)+'\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'+_0x242810['substring'](_0x76c298);}static['extractXacroArguments'](_0x497f8b){const _0x5623f7={},_0x2cc369=/<(?:xacro:)?arg\s+name=["']([^"']+)["'](?:\s+default=["']([^"']*)["'])?/g;let _0x443ca9;for(;null!==(_0x443ca9=_0x2cc369['exec'](_0x497f8b));){const _0x6c50f9=_0x443ca9[0x1],_0x4b364b=_0x443ca9[0x2]||'false';_0x5623f7[_0x6c50f9]=_0x4b364b;}return _0x5623f7;}}class Ei{static['detectFileType'](_0xd48ee9,_0x422f8d){switch(_0xd48ee9['toLowerCase']()['split']('.')['pop']()){case'urdf':return'urdf';case'xacro':return'xacro';case'xml':return _0x422f8d&&this['isValidRobotMJCF'](_0x422f8d)?'mjcf':null;case'usd':case'usda':case'usdc':case'usdz':return'usd';default:return null;}}static['isValidRobotDescriptionXML'](_0x39d354){if(!_0x39d354||'string'!=typeof _0x39d354)return!0x1;const _0xece080=_0x39d354['trim']();return!(!_0xece080['startsWith']('<?xml')&&!_0xece080['startsWith']('<'))&&this['isValidRobotMJCF'](_0xece080);}static['isValidRobotMJCF'](_0x26b5e9){if(!_0x26b5e9||'string'!=typeof _0x26b5e9)return!0x1;if(!_0x26b5e9['includes']('<mujoco'))return!0x1;const _0x5182c0=_0x26b5e9['includes']('<joint'),_0x521582=_0x26b5e9['includes']('<actuator');return!(!_0x5182c0&&!_0x521582);}static async['loadModel'](_0x531860,_0x104b43,_0x41f6d1,_0x463497=null,_0x3ffe18=null,_0x5bec72={}){let _0x53aa70=null;if(_0x41f6d1){const _0x475831=Math['max'](_0x41f6d1['lastIndexOf']('/'),_0x41f6d1['lastIndexOf']('\x5c'));_0x475831>0x0&&(_0x53aa70=_0x41f6d1['substring'](0x0,_0x475831));}switch(_0x531860){case'urdf':return await this['loadURDF'](_0x104b43,_0x41f6d1,_0x463497,_0x3ffe18,_0x5bec72);case'xacro':return await this['loadXacro'](_0x104b43,_0x41f6d1,_0x463497,_0x3ffe18,_0x5bec72);case'mjcf':return await this['loadMJCF'](_0x104b43,_0x463497,_0x53aa70);case'usd':return await this['loadUSD'](_0x104b43,_0x463497,_0x3ffe18,_0x5bec72);default:throw new Error('Unsupported\x20file\x20type:\x20'+_0x531860);}}static async['loadURDF'](_0x12c97d,_0x339f26,_0x1c3916=null,_0x2f62f6=null,_0x78d0fb={}){let _0x453a00;try{const _0x1e1bbd=await Ae(()=>import('./URDFLoader-a34b6917.js'),["./URDFLoader-a34b6917.js","./three-9c891de0.js","./STLLoader-de0915d4.js","./ColladaLoader-2a0c4638.js"],import.meta.url);_0x453a00=_0x1e1bbd['URDFLoader']||_0x1e1bbd['default']||_0x1e1bbd;}catch(_0x4882aa){throw new Error('Failed\x20to\x20load\x20urdf-loader:\x20'+_0x4882aa['message']);}return new Promise((_0x3ad9a2,_0x7401c7)=>{const _0x58eb96=new _0x453a00();_0x58eb96['parseCollision']=!0x0;const _0x519e2e=_0x339f26['includes']('/')?_0x339f26['substring'](0x0,_0x339f26['lastIndexOf']('/')+0x1):'';if(_0x1c3916){const _0x26ee3f=this['extractPackagesFromURDF'](_0x12c97d),_0x252244={};_0x26ee3f['forEach'](_0x3b2049=>{_0x252244[_0x3b2049]=_0x3b2049;}),_0x252244['']='',_0x58eb96['packages']=_0x252244;const _0x3f37be=_0x2ad441=>{if(_0x2ad441['startsWith']('blob:')){const _0x5cafc4=_0x2ad441['match'](/^blob:https?:\/\/[^\/]+\/(.+)$/);if(!_0x5cafc4||!_0x5cafc4[0x1])return _0x2ad441;{const _0x541eb0=_0x5cafc4[0x1];if(!/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp|dae|stl|obj|gltf|glb)$/i['test'](_0x541eb0))return _0x2ad441;_0x2ad441=_0x541eb0;}}let _0x5779e6=_0x2ad441;if(_0x5779e6['startsWith']('http://')||_0x5779e6['startsWith']('https://'))try{_0x5779e6=new URL(_0x5779e6)['pathname'],_0x5779e6['startsWith']('/')&&(_0x5779e6=_0x5779e6['substring'](0x1));}catch(_0x551f74){}const _0xdfb6b8=bt(_0x5779e6,_0x1c3916,{'baseDir':_0x519e2e});if(_0xdfb6b8){return URL['createObjectURL'](_0xdfb6b8);}return _0x2ad441;};_0x58eb96['manager']['setURLModifier'](_0x3f37be);const _0x5e6c96=_0x58eb96['loadMeshCb']||_0x58eb96['defaultMeshLoader']['bind'](_0x58eb96);_0x58eb96['loadMeshCb']=(_0x17dd32,_0x5ecf10,_0x11941f)=>{this['findFileInMapByPath'](_0x17dd32,_0x1c3916,_0x519e2e)['then'](_0x3e9d3f=>{if(_0x3e9d3f){const _0x4286a8=(_0x3e9d3f['name']||_0x17dd32)['toLowerCase']()['split']('.')['pop']();this['loadMeshFileAsync'](_0x3e9d3f,_0x4286a8,_0x5ecf10)['then'](_0x5d101a=>{_0x5d101a?_0x11941f(_0x5d101a,null):_0x11941f(null,new Error('Failed\x20to\x20load\x20mesh\x20file:\x20'+_0x17dd32));})['catch'](_0x10ac80=>{_0x11941f(null,_0x10ac80);});}else _0x5e6c96(_0x17dd32,_0x5ecf10,_0x11941f);})['catch'](_0xd1295=>{_0x5e6c96(_0x17dd32,_0x5ecf10,_0x11941f);});};}const _0x3ad8d6=new Blob([_0x12c97d],{'type':'text/xml'}),_0xb89c15=URL['createObjectURL'](_0x3ad8d6);_0x58eb96['load'](_0xb89c15,_0x5aaa84=>{URL['revokeObjectURL'](_0xb89c15);try{const _0x2ed331=ut['convert'](_0x5aaa84,_0x12c97d,_0x78d0fb);_0x3ad9a2(_0x2ed331);}catch(_0x58a72c){_0x7401c7(new Error('URDF\x20conversion\x20failed:\x20'+_0x58a72c['message']));}},void 0x0,_0x34bbd2=>{URL['revokeObjectURL'](_0xb89c15),_0x7401c7(new Error('URDF\x20loading\x20failed:\x20'+(_0x34bbd2['message']||_0x34bbd2)));});});}static async['loadXacro'](_0x5c4a13,_0x3a39e2,_0x1669ac=null,_0x443ae9=null,_0x51f5cd={}){try{return await Li['parse'](_0x5c4a13,_0x3a39e2,_0x1669ac,_0x443ae9,_0x51f5cd);}catch(_0x428b7a){throw new Error('Xacro\x20parsing\x20failed:\x20'+_0x428b7a['message']);}}static['extractPackagesFromURDF'](_0x310e90){const _0x3ce457=new Set(),_0x273b15=/package:\/\/([^\/]+)/g;let _0x4c77e2;for(;null!==(_0x4c77e2=_0x273b15['exec'](_0x310e90));)_0x3ce457['add'](_0x4c77e2[0x1]);return _0x3ce457;}static async['resolveURDFPath'](_0x267ea7,_0x5449bd,_0x3d3f23,_0x1ff425){const _0xa8afb1=[];if(_0x5449bd){_0xa8afb1['push'](_0x5449bd+'/'+_0x267ea7),_0xa8afb1['push']('/'+_0x5449bd+'/'+_0x267ea7);const _0x40721a=_0x267ea7['split']('/')['pop']();_0xa8afb1['push'](_0x5449bd+'/'+_0x40721a),_0xa8afb1['push']('/'+_0x5449bd+'/'+_0x40721a),_0xa8afb1['push'](_0x5449bd+'/meshes/'+_0x40721a),_0xa8afb1['push']('/'+_0x5449bd+'/meshes/'+_0x40721a),_0xa8afb1['push'](_0x5449bd+'/urdf/'+_0x40721a),_0xa8afb1['push'](_0x5449bd+'/models/'+_0x40721a);const _0x54970e=_0x5449bd['toLowerCase']();for(const [_0x1d25ba]of _0x3d3f23['entries']()){const _0x5dabf3=_0x1d25ba['toLowerCase']();if(_0x5dabf3['includes'](_0x54970e)){const _0x2a4c07=_0x5dabf3['indexOf'](_0x54970e),_0x5ab194=_0x1d25ba['substring'](_0x2a4c07+_0x5449bd['length']),_0x53546f=_0x267ea7['split']('/')['pop']();(_0x5ab194['endsWith'](_0x267ea7)||_0x5ab194['endsWith']('/'+_0x267ea7)||_0x5ab194['endsWith'](_0x53546f)||_0x5ab194['endsWith']('/'+_0x53546f)||_0x5ab194['includes'](_0x53546f))&&_0xa8afb1['push'](_0x1d25ba);}}}const _0x308316=_0x1ff425['substring'](0x0,_0x1ff425['lastIndexOf']('/')+0x1);_0xa8afb1['push'](_0x267ea7),_0xa8afb1['push'](_0x308316+_0x267ea7);const _0x30094b=_0x267ea7['split']('/')['pop']();_0xa8afb1['push'](_0x30094b);for(const _0x556907 of _0xa8afb1){let _0x379141=_0x3d3f23['get'](_0x556907);if(_0x379141)return await _0x379141['arrayBuffer']();}const _0x2eb710=this['cleanFilePath'](_0x267ea7),_0x32d2b2=Array['from'](_0x3d3f23['keys']())['map'](_0x361572=>this['cleanFilePath'](_0x361572));for(const _0x2338d7 of _0x32d2b2){const _0x15c235=Math['min'](_0x2338d7['length'],_0x2eb710['length']);if(_0x2eb710['substr'](_0x2eb710['length']-_0x15c235)===_0x2338d7['substr'](_0x2338d7['length']-_0x15c235)){const _0x501f86=_0x3d3f23['get'](_0x2338d7);if(_0x501f86)return await _0x501f86['arrayBuffer']();}}return new ArrayBuffer(0x0);}static['cleanFilePath'](_0x26bd3e){return _0x26bd3e['replace'](/\\/g,'/')['split'](/\//g)['reduce']((_0x323218,_0x50db20)=>('..'===_0x50db20?_0x323218['pop']():'.'!==_0x50db20&&_0x323218['push'](_0x50db20),_0x323218),[])['join']('/');}static async['findFileInMapByPath'](_0x21e88b,_0x13c8ae,_0x31a5eb){return bt(_0x21e88b,_0x13c8ae,{'baseDir':_0x31a5eb});}static async['findFileInMap'](_0x16aa1a,_0x5b2e31,_0x143693){let _0x3ebdcb=_0x16aa1a['replace'](/^package:\/\//,'');_0x3ebdcb=_0x3ebdcb['replace'](/^\.\//,''),_0x3ebdcb=_0x3ebdcb['replace'](/^blob:[^\/]+\//,'');const _0x398e08=[],_0x1edab3=_0x3ebdcb['split']('/');if(_0x1edab3['length']>0x1){const _0x4fc7b9=_0x1edab3[0x0],_0x316a71=_0x1edab3['slice'](0x1)['join']('/'),_0x65b534=_0x316a71['split']('/')['pop']();_0x398e08['push'](_0x4fc7b9+'/'+_0x316a71),_0x398e08['push']('/'+_0x4fc7b9+'/'+_0x316a71),_0x398e08['push'](_0x4fc7b9+'/'+_0x65b534),_0x398e08['push']('/'+_0x4fc7b9+'/'+_0x65b534),_0x398e08['push'](_0x4fc7b9+'/meshes/'+_0x65b534),_0x398e08['push']('/'+_0x4fc7b9+'/meshes/'+_0x65b534);const _0x42a631=_0x4fc7b9['toLowerCase']();for(const [_0x4d6176]of _0x5b2e31['entries']()){const _0x347d56=_0x4d6176['toLowerCase']();if(_0x347d56['includes'](_0x42a631)){const _0x3b11de=_0x347d56['indexOf'](_0x42a631),_0x4671f2=_0x4d6176['substring'](_0x3b11de+_0x4fc7b9['length']);(_0x4671f2['endsWith'](_0x316a71)||_0x4671f2['endsWith']('/'+_0x316a71)||_0x4671f2['endsWith'](_0x65b534)||_0x4671f2['endsWith']('/'+_0x65b534)||_0x4671f2['includes'](_0x65b534))&&_0x398e08['push'](_0x4d6176);}}}_0x398e08['push'](_0x3ebdcb),_0x398e08['push']('/'+_0x3ebdcb),_0x398e08['push']('./'+_0x3ebdcb);const _0x5ddc6b=_0x143693['substring'](0x0,_0x143693['lastIndexOf']('/')+0x1);_0x398e08['push'](_0x5ddc6b+_0x3ebdcb);const _0x2eaf53=_0x3ebdcb['split']('/')['pop']();_0x398e08['push'](_0x2eaf53);for(const _0x155e94 of _0x398e08){const _0x2778f8=_0x5b2e31['get'](_0x155e94);if(_0x2778f8)return _0x2778f8;}const _0x29bd33=this['cleanFilePath'](_0x3ebdcb)['replace'](/^\.\//,'');for(const [_0x2d619c,_0x6c20a3]of _0x5b2e31['entries']()){if(this['cleanFilePath'](_0x2d619c)['replace'](/^\.\//,'')===_0x29bd33)return _0x6c20a3;}const _0x453360=this['cleanFilePath'](_0x3ebdcb),_0x6f60f8=Array['from'](_0x5b2e31['keys']())['map'](_0x2ab118=>this['cleanFilePath'](_0x2ab118));for(const _0xc359 of _0x6f60f8){const _0x20f6e9=Math['min'](_0xc359['length'],_0x453360['length']);if(_0x453360['substr'](_0x453360['length']-_0x20f6e9)===_0xc359['substr'](_0xc359['length']-_0x20f6e9)){const _0x2c49d9=_0x5b2e31['get'](_0xc359);if(_0x2c49d9)return _0x2c49d9;}}return null;}static async['loadMeshFileDirect'](_0x16dff1,_0x295408){const _0x41b7a2=_0x16dff1['name']?_0x16dff1['name']['toLowerCase']()['split']('.')['pop']():_0x295408['toLowerCase']()['split']('.')['pop'](),_0x5737fc=URL['createObjectURL'](_0x16dff1);try{let _0x23bb3c=null;switch(_0x41b7a2){case'stl':const {STLLoader:_0x37f496}=await Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),_0x433c74=new _0x37f496(),_0x5a7ecd=await new Promise((_0x42df23,_0x549935)=>{_0x433c74['load'](_0x5737fc,_0x42df23,void 0x0,_0x549935);}),_0x1aa640=new _0x19745e({'color':0xcccccc});_0x23bb3c=new _0x2c4c6c(_0x5a7ecd,_0x1aa640);break;case'dae':const {ColladaLoader:_0x5856b8}=await Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),_0x597e98=new _0x5856b8(),_0x5b2a49=await new Promise((_0x4302cc,_0x49e07f)=>{_0x597e98['load'](_0x5737fc,_0x4302cc,void 0x0,_0x49e07f);});if(_0x23bb3c=_0x5b2a49['scene']||_0x5b2a49,_0x23bb3c&&_0x23bb3c['traverse']){const _0x21deab=[];_0x23bb3c['traverse'](_0x67ad21=>{_0x67ad21['isLight']&&_0x21deab['push'](_0x67ad21);}),_0x21deab['forEach'](_0x2e7f54=>{_0x2e7f54['parent']&&_0x2e7f54['parent']['remove'](_0x2e7f54);});}break;case'obj':const {OBJLoader:_0x54dd00}=await Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),_0x23fa06=new _0x54dd00();_0x23bb3c=await new Promise((_0x5c6e6c,_0x128692)=>{_0x23fa06['load'](_0x5737fc,_0x5c6e6c,void 0x0,_0x128692);});break;case'gltf':case'glb':const {GLTFLoader:_0x306a6b}=await Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url),_0x1b422f=new _0x306a6b(),_0x13d675=await new Promise((_0x437fd8,_0x140b1b)=>{_0x1b422f['load'](_0x5737fc,_0x437fd8,void 0x0,_0x140b1b);});_0x23bb3c=_0x13d675['scene']||_0x13d675;break;default:return URL['revokeObjectURL'](_0x5737fc),null;}return URL['revokeObjectURL'](_0x5737fc),_0x23bb3c;}catch(_0xdc343c){return URL['revokeObjectURL'](_0x5737fc),null;}}static async['loadMeshFileAsync'](_0x2a189a,_0x44e073,_0x4146e6){const _0x49f256=URL['createObjectURL'](_0x2a189a);try{let _0x20bffc=null;switch(_0x44e073){case'stl':{const {STLLoader:_0x41ea66}=await Ae(()=>import('./STLLoader-de0915d4.js'),["./STLLoader-de0915d4.js","./three-9c891de0.js"],import.meta.url),_0x2f62cf=new _0x41ea66(_0x4146e6),_0x42d7e1=await new Promise((_0x4525b3,_0x314922)=>{_0x2f62cf['load'](_0x49f256,_0x4525b3,void 0x0,_0x314922);}),_0x90c32=new _0xa4876a();_0x20bffc=new _0x2c4c6c(_0x42d7e1,_0x90c32);break;}case'dae':{const {ColladaLoader:_0x491a29}=await Ae(()=>import('./ColladaLoader-2a0c4638.js'),["./ColladaLoader-2a0c4638.js","./three-9c891de0.js"],import.meta.url),_0x468d2c=new _0x491a29(_0x4146e6);if(_0x20bffc=(await new Promise((_0x165026,_0x4c38d3)=>{_0x468d2c['load'](_0x49f256,_0x165026,void 0x0,_0x4c38d3);}))['scene'],_0x20bffc&&_0x20bffc['traverse']){const _0x5bc20d=[];_0x20bffc['traverse'](_0x46066f=>{_0x46066f['isLight']&&_0x5bc20d['push'](_0x46066f);}),_0x5bc20d['forEach'](_0x2f4937=>{_0x2f4937['parent']&&_0x2f4937['parent']['remove'](_0x2f4937);});}break;}case'obj':{const {OBJLoader:_0x33b25d}=await Ae(()=>import('./OBJLoader-7667aa01.js'),["./OBJLoader-7667aa01.js","./three-9c891de0.js"],import.meta.url),_0xe65276=new _0x33b25d(_0x4146e6);_0x20bffc=await new Promise((_0x3b5812,_0x4ba619)=>{_0xe65276['load'](_0x49f256,_0x3b5812,void 0x0,_0x4ba619);});break;}case'gltf':case'glb':{const {GLTFLoader:_0x347ba5}=await Ae(()=>import('./GLTFLoader-7a7f40d7.js'),["./GLTFLoader-7a7f40d7.js","./three-9c891de0.js"],import.meta.url),_0x462ee7=new _0x347ba5(_0x4146e6);_0x20bffc=(await new Promise((_0x10957c,_0x3c443c)=>{_0x462ee7['load'](_0x49f256,_0x10957c,void 0x0,_0x3c443c);}))['scene'];break;}default:return URL['revokeObjectURL'](_0x49f256),null;}return URL['revokeObjectURL'](_0x49f256),_0x20bffc;}catch(_0x224d28){throw URL['revokeObjectURL'](_0x49f256),_0x224d28;}}static async['loadURDFFromURL'](_0x111ffe){let _0x436974;try{const _0x15d5be=await Ae(()=>import('./URDFLoader-a34b6917.js'),["./URDFLoader-a34b6917.js","./three-9c891de0.js","./STLLoader-de0915d4.js","./ColladaLoader-2a0c4638.js"],import.meta.url);_0x436974=_0x15d5be['URDFLoader']||_0x15d5be['default']||_0x15d5be;}catch(_0x38585b){throw new Error('Failed\x20to\x20load\x20urdf-loader:\x20'+_0x38585b['message']);}const _0x23edf3=await fetch(_0x111ffe)['then'](_0x1a1ccd=>_0x1a1ccd['text']());return new Promise((_0x127ef0,_0x59b777)=>{const _0x332a1c=new _0x436974();_0x332a1c['parseCollision']=!0x0,_0x332a1c['load'](_0x111ffe,_0x4b51dd=>{try{const _0x4f78d5=ut['convert'](_0x4b51dd,_0x23edf3);_0x127ef0(_0x4f78d5);}catch(_0x80edba){_0x59b777(new Error('URDF\x20conversion\x20failed:\x20'+_0x80edba['message']));}},void 0x0,_0x311b93=>{_0x59b777(new Error('URDF\x20loading\x20failed:\x20'+(_0x311b93['message']||_0x311b93)));});});}static async['loadMJCF'](_0x339ce4,_0x5080e3=null,_0x81174d=null){try{return await _t['parse'](_0x339ce4,_0x5080e3,_0x81174d);}catch(_0x558337){throw new Error('MJCF\x20parsing\x20failed:\x20'+_0x558337['message']+(_0x558337['stack']?'\x0a'+_0x558337['stack']:''));}}static async['loadUSD'](_0x24a3b3,_0x105691=null,_0x55f5f7=null,_0x30adbf={}){try{return await St['parse'](_0x24a3b3,_0x105691,_0x55f5f7,_0x30adbf);}catch(_0x2628f2){throw new Error('USD\x20parsing\x20failed:\x20'+_0x2628f2['message']);}}static['setJointAngle'](_0x36d80f,_0x178409,_0x132b11,_0x422cf0=!0x1){const _0x2c24dd=_0x36d80f['getJoint'](_0x178409);_0x2c24dd&&(!_0x422cf0&&_0x36d80f['userData']&&_0x36d80f['userData']['ignoreLimits']&&(_0x422cf0=!0x0),!_0x2c24dd['threeObject']||'function'!=typeof _0x2c24dd['threeObject']['setJointValue']&&'function'!=typeof _0x2c24dd['threeObject']['setAngle']?_t['setJointAngle'](_0x2c24dd,_0x132b11):ut['setJointAngle'](_0x2c24dd,_0x132b11,_0x422cf0),_0x36d80f['threeObject']&&_0x36d80f['threeObject']['updateMatrixWorld'](!0x0));}}class Ci{constructor(_0x21d46f){this['scene']=_0x21d46f,this['lights']={},this['groundPlane']=null,this['globalAxes']=null,this['referenceGrid']=null,this['envMap']=null,this['pmremGenerator']=null;}['setupLights'](){this['lights']['ambient']=new _0x173c6f(0xffffff,0x444444,0.5),this['lights']['ambient']['position']['set'](0x0,0x1,0x0),this['scene']['add'](this['lights']['ambient']),this['lights']['directional']=new _0x46bddf(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 _0x46bddf(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'](_0x249f86=null){if(_0x249f86){this['pmremGenerator']||(this['pmremGenerator']=new _0x105af1(_0x249f86),this['pmremGenerator']['compileEquirectangularShader']());const _0x3d8291=new _0x2eec37(),_0x5d5564=new _0x173c6f(0xffffff,0x444444,0x1);_0x3d8291['add'](_0x5d5564),this['envMap']=this['pmremGenerator']['fromScene'](_0x3d8291,0.04)['texture'],this['envMap']['mapping']=_0x8fb2b4,this['scene']['environment']=this['envMap'],this['scene']['background']=this['scene']['background']||new _0x25d7bf(0x505050);}else{const _0x2359f5=0x100,_0x3ba08c=new Uint8Array(_0x2359f5*_0x2359f5*0x4),_0x1b92b4=new _0x25d7bf(0xffffff);for(let _0x15ed80=0x0;_0x15ed80<_0x2359f5*_0x2359f5;_0x15ed80++){const _0x46b993=0x4*_0x15ed80;_0x3ba08c[_0x46b993]=Math['floor'](0xff*_0x1b92b4['r']),_0x3ba08c[_0x46b993+0x1]=Math['floor'](0xff*_0x1b92b4['g']),_0x3ba08c[_0x46b993+0x2]=Math['floor'](0xff*_0x1b92b4['b']),_0x3ba08c[_0x46b993+0x3]=0xff;}const _0x46ac5f=new _0x5e84a5(_0x3ba08c,_0x2359f5,_0x2359f5);_0x46ac5f['needsUpdate']=!0x0;const _0x1e265b=new _0x43a6dd([_0x46ac5f,_0x46ac5f,_0x46ac5f,_0x46ac5f,_0x46ac5f,_0x46ac5f]);_0x1e265b['needsUpdate']=!0x0,_0x1e265b['mapping']=_0x246c78,this['envMap']=_0x1e265b,this['scene']['environment']=this['envMap'];}}['initializeEnvironmentMap'](_0x46f042){_0x46f042&&!this['envMap']&&this['setupEnvironmentMap'](_0x46f042);}['regenerateEnvironmentMap'](_0x1cfa3e,_0xada93d=!0x1){var _0x5cee66,_0x5b369c;_0x1cfa3e&&(_0xada93d||(null==(_0x5cee66=this['pmremGenerator'])||_0x5cee66['dispose'](),null==(_0x5b369c=this['envMap'])||_0x5b369c['dispose']()),this['pmremGenerator']=null,this['envMap']=null,this['scene']['environment']=null,this['setupEnvironmentMap'](_0x1cfa3e));}['getEnvironmentMap'](){return this['envMap'];}['setupGroundPlane'](){const _0x5d2212=new _0x963183(0x28,0x28),_0x5f4960=new _0x50778e({'side':_0x3ea7cb,'transparent':!0x0,'opacity':0.25});this['groundPlane']=new _0x2c4c6c(_0x5d2212,_0x5f4960),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 _0x8e3a38(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'](_0x1d4c39){if(this['referenceGrid'])if('light'===_0x1d4c39){this['referenceGrid']['material']['color']['setHex'](0x0);const _0x57d647=this['referenceGrid']['geometry']['attributes']['color'];if(_0x57d647){for(let _0x47c196=0x0;_0x47c196<_0x57d647['count'];_0x47c196++)_0x57d647['setXYZ'](_0x47c196,0x0,0x0,0x0);_0x57d647['needsUpdate']=!0x0;}}else{this['referenceGrid']['material']['color']['setHex'](0xffffff);const _0x2f887f=this['referenceGrid']['geometry']['attributes']['color'];if(_0x2f887f){for(let _0x3cfa5c=0x0;_0x3cfa5c<_0x2f887f['count'];_0x3cfa5c++)_0x2f887f['setXYZ'](_0x3cfa5c,0x1,0x1,0x1);_0x2f887f['needsUpdate']=!0x0;}}}['updateShadowCamera'](_0x3c0b59){const _0x3cb3ca=this['lights']['directional'];if(!_0x3cb3ca||!_0x3cb3ca['castShadow'])return;const _0x19d4f7=_0x3c0b59['getBoundingSphere'](new _0x5bf93c())['radius'],_0x299489=_0x3cb3ca['shadow']['camera'];_0x299489['left']=_0x299489['bottom']=-_0x19d4f7,_0x299489['right']=_0x299489['top']=_0x19d4f7;const _0xa8f0f1=_0x3c0b59['getCenter'](new _0x220444()),_0x2f8f31=_0x3cb3ca['position']['clone']()['sub'](_0x3cb3ca['target']['position']);_0x3cb3ca['target']['position']['copy'](_0xa8f0f1),_0x3cb3ca['position']['copy'](_0xa8f0f1)['add'](_0x2f8f31),_0x299489['updateProjectionMatrix']();}['updateGroundPosition'](_0x160008){this['groundPlane']&&(this['groundPlane']['position']['y']=_0x160008),this['referenceGrid']&&(this['referenceGrid']['position']['y']=_0x160008);}['setGroundVisible'](_0x36bd8b){this['groundPlane']&&(this['groundPlane']['visible']=_0x36bd8b);}['setShadowEnabled'](_0x55a9d0,_0x252031){var _0x47ef20;_0x252031['shadowMap']['enabled']=_0x55a9d0,this['lights']['directional']&&(this['lights']['directional']['castShadow']=_0x55a9d0,!_0x55a9d0&&this['lights']['directional']['shadow']&&(null==(_0x47ef20=this['lights']['directional']['shadow']['map'])||_0x47ef20['dispose'](),this['lights']['directional']['shadow']['map']=null));}['getDirectionalLight'](){return this['lights']['directional'];}}class ji{constructor(_0x1b2879){this['sceneManager']=_0x1b2879,this['visualMeshes']=[],this['collisionMeshes']=[],this['colliders']=[],this['hiddenLinks']=new Set(),this['showVisual']=!0x0,this['showCollision']=!0x1,this['showShadow']=!0x0,this['showEnhancedLighting']=!0x0;}['extractVisualAndCollision'](_0x4bbb5b){const _0x37dfa1=0x0===this['visualMeshes']['length'];if(!_0x37dfa1)return this['processNewlyLoadedMeshes'](_0x4bbb5b);this['visualMeshes']=[],this['collisionMeshes']=[],this['colliders']=[],_0x4bbb5b['threeObject']&&(_0x4bbb5b['threeObject']['traverse'](_0x2406fc=>{if(_0x2406fc['isMesh']&&_0x2406fc['material']){const _0x59fa6a=Array['isArray'](_0x2406fc['material'])?_0x2406fc['material']:[_0x2406fc['material']],_0x57a9d6=[];_0x59fa6a['forEach']((_0xb7225c,_0x1162b3)=>{var _0x488934;if(_0xb7225c){if('MeshBasicMaterial'===_0xb7225c['type']||'MeshLambertMaterial'===_0xb7225c['type']){const _0x2bd8a9=_0xb7225c,_0x4d1c18=this['showEnhancedLighting'],_0x1162d4=null==(_0x488934=this['sceneManager']['environmentManager'])?void 0x0:_0x488934['getEnvironmentMap'](),_0x3bd1ed=new _0xa4876a({'color':_0x2bd8a9['color'],'map':_0x2bd8a9['map'],'transparent':_0x2bd8a9['transparent'],'opacity':_0x2bd8a9['opacity'],'side':_0x2bd8a9['side'],'shininess':_0x4d1c18?0x32:0x1e,'specular':_0x4d1c18?new _0x25d7bf(0.3,0.3,0.3):new _0x25d7bf(0x111111),'envMap':_0x1162d4||null,'reflectivity':_0x1162d4?0.3:0x0});_0x3bd1ed['userData']['originalShininess']=0x1e,_0x3bd1ed['userData']['originalSpecular']=null,_0x3bd1ed['map']&&(_0x3bd1ed['map']['colorSpace']=_0x50e39a),_0x57a9d6['push'](_0x3bd1ed),_0xb7225c=_0x3bd1ed;}else _0x57a9d6['push'](_0xb7225c);if(_0xb7225c&&(_0xb7225c['isMeshPhongMaterial']||_0xb7225c['isMeshStandardMaterial'])){if(void 0x0===_0xb7225c['userData']['originalShininess'])if(_0xb7225c['userData']['originalShininess']=void 0x0!==_0xb7225c['shininess']?_0xb7225c['shininess']:0x1e,_0xb7225c['specular'])if(_0xb7225c['specular']['isColor']){const _0xfdb7ee=_0xb7225c['specular'];_0xfdb7ee['r']<0.1&&_0xfdb7ee['g']<0.1&&_0xfdb7ee['b']<0.1?_0xb7225c['userData']['originalSpecular']=null:_0xb7225c['userData']['originalSpecular']=_0xfdb7ee['clone']();}else'number'==typeof _0xb7225c['specular']?0x111111===_0xb7225c['specular']||_0xb7225c['specular']<0x111111?_0xb7225c['userData']['originalSpecular']=null:_0xb7225c['userData']['originalSpecular']=new _0x25d7bf(_0xb7225c['specular']):_0xb7225c['userData']['originalSpecular']=null;else _0xb7225c['userData']['originalSpecular']=null;this['showEnhancedLighting']&&((void 0x0===_0xb7225c['shininess']||_0xb7225c['shininess']<0x32)&&(_0xb7225c['shininess']=0x32),(!_0xb7225c['specular']||_0xb7225c['specular']['isColor']&&_0xb7225c['specular']['r']<0.2||'number'==typeof _0xb7225c['specular']&&_0xb7225c['specular']<0x333333)&&(_0xb7225c['specular']=new _0x25d7bf(0.3,0.3,0.3)),_0xb7225c['needsUpdate']=!0x0);}}else _0x57a9d6['push'](null);}),Array['isArray'](_0x2406fc['material'])?_0x2406fc['material']=_0x57a9d6:0x1===_0x57a9d6['length']&&_0x57a9d6[0x0]&&(_0x2406fc['material']=_0x57a9d6[0x0]);}}),_0x37dfa1&&_0x4bbb5b['threeObject']['traverse'](_0x361534=>{_0x361534['isURDFCollider']&&(this['colliders']['push'](_0x361534),_0x361534['visible']=this['showCollision']);}),_0x37dfa1&&this['colliders']['forEach'](_0x52cbb8=>{_0x52cbb8['traverse'](_0x55996a=>{_0x55996a['isMesh']&&(_0x55996a['userData']['originalMaterial']||(_0x55996a['userData']['originalMaterial']=_0x55996a['material']),_0x55996a['material']=new _0xa4876a({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0xffbe38,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x55996a['castShadow']=!0x1,_0x55996a['receiveShadow']=!0x1,_0x55996a['raycast']=()=>{},this['collisionMeshes']['push'](_0x55996a));});}),_0x4bbb5b['threeObject']['traverse'](_0x60f5ee=>{if(_0x60f5ee['isMesh']||'Mesh'===_0x60f5ee['type']){let _0x3a6911=!0x1,_0x575e1e=_0x60f5ee;for(;_0x575e1e;){if(_0x575e1e['isURDFCollider']){_0x3a6911=!0x0;break;}_0x575e1e=_0x575e1e['parent'];}_0x3a6911||(_0x60f5ee['castShadow']=this['showShadow'],_0x60f5ee['receiveShadow']=this['showShadow'],_0x60f5ee['visible']=this['showVisual'],this['visualMeshes']['push'](_0x60f5ee));}}));}['processNewlyLoadedMeshes'](_0x503eb6){_0x503eb6['threeObject']&&(_0x503eb6['threeObject']['traverse'](_0x2fe7fc=>{if(_0x2fe7fc['isMesh']&&_0x2fe7fc['material']){let _0x4e2cdc=!0x1,_0x394e0d=_0x2fe7fc;for(;_0x394e0d;){if(_0x394e0d['isURDFCollider']){_0x4e2cdc=!0x0;break;}_0x394e0d=_0x394e0d['parent'];}if(_0x4e2cdc)return;const _0x10f02d=Array['isArray'](_0x2fe7fc['material'])?_0x2fe7fc['material']:[_0x2fe7fc['material']],_0x148f1b=[];_0x10f02d['forEach']((_0x2880a8,_0x301943)=>{var _0x24317c,_0x2e0009;if(_0x2880a8){if('MeshBasicMaterial'===_0x2880a8['type']||'MeshLambertMaterial'===_0x2880a8['type']){const _0x22f124=_0x2880a8,_0x1f866e=this['showEnhancedLighting'],_0x53e7a4=null==(_0x24317c=this['sceneManager']['environmentManager'])?void 0x0:_0x24317c['getEnvironmentMap'](),_0x187ca9=new _0xa4876a({'color':_0x22f124['color'],'map':_0x22f124['map'],'transparent':_0x22f124['transparent'],'opacity':_0x22f124['opacity'],'side':_0x22f124['side'],'shininess':_0x1f866e?0x32:0x1e,'specular':_0x1f866e?new _0x25d7bf(0.3,0.3,0.3):new _0x25d7bf(0x111111),'envMap':_0x53e7a4||null,'reflectivity':_0x53e7a4?0.3:0x0});_0x187ca9['userData']['originalShininess']=0x1e,_0x187ca9['userData']['originalSpecular']=null,_0x187ca9['map']&&(_0x187ca9['map']['colorSpace']=_0x50e39a),_0x148f1b['push'](_0x187ca9),_0x2880a8=_0x187ca9;}else _0x148f1b['push'](_0x2880a8);if(_0x2880a8&&(_0x2880a8['isMeshPhongMaterial']||_0x2880a8['isMeshStandardMaterial'])){if(void 0x0===_0x2880a8['userData']['originalShininess'])if(_0x2880a8['userData']['originalShininess']=void 0x0!==_0x2880a8['shininess']?_0x2880a8['shininess']:0x1e,_0x2880a8['specular'])if(_0x2880a8['specular']['isColor']){const _0x103309=_0x2880a8['specular'];_0x103309['r']<0.1&&_0x103309['g']<0.1&&_0x103309['b']<0.1?_0x2880a8['userData']['originalSpecular']=null:_0x2880a8['userData']['originalSpecular']=_0x103309['clone']();}else'number'==typeof _0x2880a8['specular']?0x111111===_0x2880a8['specular']||_0x2880a8['specular']<0x111111?_0x2880a8['userData']['originalSpecular']=null:_0x2880a8['userData']['originalSpecular']=new _0x25d7bf(_0x2880a8['specular']):_0x2880a8['userData']['originalSpecular']=null;else _0x2880a8['userData']['originalSpecular']=null;const _0x42f172=null==(_0x2e0009=this['sceneManager']['environmentManager'])?void 0x0:_0x2e0009['getEnvironmentMap']();_0x42f172&&!_0x2880a8['envMap']&&(_0x2880a8['envMap']=_0x42f172,void 0x0===_0x2880a8['reflectivity']&&(_0x2880a8['reflectivity']=0.3),_0x2880a8['needsUpdate']=!0x0),this['showEnhancedLighting']&&((void 0x0===_0x2880a8['shininess']||_0x2880a8['shininess']<0x32)&&(_0x2880a8['shininess']=0x32),(!_0x2880a8['specular']||_0x2880a8['specular']['isColor']&&_0x2880a8['specular']['r']<0.2||'number'==typeof _0x2880a8['specular']&&_0x2880a8['specular']<0x333333)&&(_0x2880a8['specular']=new _0x25d7bf(0.3,0.3,0.3)),_0x2880a8['needsUpdate']=!0x0);}}else _0x148f1b['push'](null);}),Array['isArray'](_0x2fe7fc['material'])?_0x2fe7fc['material']=_0x148f1b:0x1===_0x148f1b['length']&&_0x148f1b[0x0]&&(_0x2fe7fc['material']=_0x148f1b[0x0]);}}),_0x503eb6['threeObject']['traverse'](_0x5f34ab=>{if((_0x5f34ab['isMesh']||'Mesh'===_0x5f34ab['type'])&&!this['visualMeshes']['includes'](_0x5f34ab)&&!this['collisionMeshes']['includes'](_0x5f34ab)){let _0x1674cf=!0x1,_0x4c82f2=_0x5f34ab;for(;_0x4c82f2;){if(_0x4c82f2['isURDFCollider']){_0x1674cf=!0x0;break;}_0x4c82f2=_0x4c82f2['parent'];}_0x1674cf?(_0x5f34ab['userData']['originalMaterial']||(_0x5f34ab['userData']['originalMaterial']=_0x5f34ab['material']),_0x5f34ab['material']=new _0xa4876a({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0xffbe38,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x5f34ab['castShadow']=!0x1,_0x5f34ab['receiveShadow']=!0x1,_0x5f34ab['raycast']=()=>{},_0x5f34ab['visible']=this['showCollision'],this['collisionMeshes']['push'](_0x5f34ab)):(_0x5f34ab['castShadow']=this['showShadow'],_0x5f34ab['receiveShadow']=this['showShadow'],_0x5f34ab['visible']=this['showVisual'],this['visualMeshes']['push'](_0x5f34ab));}}));}['toggleVisual'](_0x8f7d7c,_0x53e8e2){this['showVisual']=_0x8f7d7c,_0x53e8e2&&_0x53e8e2['links']&&_0x53e8e2['links']['forEach']((_0x39cd14,_0x3dde6e)=>{if(_0x39cd14['threeObject']){const _0x5538e0=_0x8f7d7c&&!this['hiddenLinks']['has'](_0x3dde6e);this['setLinkVisibility'](_0x39cd14['threeObject'],_0x5538e0,_0x53e8e2);}});}['toggleCollision'](_0x5aee67){this['showCollision']=_0x5aee67,this['colliders']&&this['colliders']['forEach'](_0x127e9a=>{_0x127e9a['visible']=_0x5aee67;}),this['collisionMeshes']['forEach'](_0x1a37f3=>{_0x1a37f3['visible']=_0x5aee67;});}['toggleShadow'](_0x10e3ac,_0x405ad1,_0x44ad99){var _0x2482fd;this['showShadow']=_0x10e3ac,_0x405ad1['shadowMap']['enabled']=_0x10e3ac,_0x44ad99&&(_0x44ad99['castShadow']=_0x10e3ac),this['visualMeshes']['forEach'](_0x29c878=>{_0x29c878['castShadow']=_0x10e3ac,_0x29c878['receiveShadow']=_0x10e3ac;}),!_0x10e3ac&&_0x44ad99&&_0x44ad99['shadow']&&(null==(_0x2482fd=_0x44ad99['shadow']['map'])||_0x2482fd['dispose'](),_0x44ad99['shadow']['map']=null);}['toggleEnhancedLighting'](_0x4bb041){var _0x5dd78a;this['showEnhancedLighting']=_0x4bb041,this['sceneManager']&&this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']&&this['sceneManager']['currentModel']['threeObject']['traverse'](_0x45a400=>{if(_0x45a400['isMesh']&&_0x45a400['material']&&!this['collisionMeshes']['includes'](_0x45a400)){const _0x24eb57=Array['isArray'](_0x45a400['material'])?_0x45a400['material']:[_0x45a400['material']];_0x24eb57['forEach']((_0x10f384,_0x166b76)=>{if(_0x10f384){if('MeshBasicMaterial'===_0x10f384['type']||'MeshLambertMaterial'===_0x10f384['type']){const _0x87af00=_0x10f384,_0x1e8cdd=new _0xa4876a({'color':_0x87af00['color'],'map':_0x87af00['map'],'transparent':_0x87af00['transparent'],'opacity':_0x87af00['opacity'],'side':_0x87af00['side'],'shininess':_0x4bb041?0x32:0x1e,'specular':_0x4bb041?new _0x25d7bf(0.3,0.3,0.3):new _0x25d7bf(0x111111)});_0x1e8cdd['userData']['originalShininess']=0x1e,_0x1e8cdd['userData']['originalSpecular']=null,_0x1e8cdd['map']&&(_0x1e8cdd['map']['colorSpace']=_0x50e39a),_0x24eb57[_0x166b76]=_0x1e8cdd,_0x10f384=_0x1e8cdd;}if(_0x10f384&&(_0x10f384['isMeshPhongMaterial']||_0x10f384['isMeshStandardMaterial'])){if(void 0x0===_0x10f384['userData']['originalShininess'])if(_0x10f384['userData']['originalShininess']=void 0x0!==_0x10f384['shininess']?_0x10f384['shininess']:0x1e,_0x10f384['specular'])if(_0x10f384['specular']['isColor']){const _0x41eb09=_0x10f384['specular'];_0x41eb09['r']<0.1&&_0x41eb09['g']<0.1&&_0x41eb09['b']<0.1?_0x10f384['userData']['originalSpecular']=null:_0x10f384['userData']['originalSpecular']=_0x41eb09['clone']();}else'number'==typeof _0x10f384['specular']?0x111111===_0x10f384['specular']||_0x10f384['specular']<0x111111?_0x10f384['userData']['originalSpecular']=null:_0x10f384['userData']['originalSpecular']=new _0x25d7bf(_0x10f384['specular']):_0x10f384['userData']['originalSpecular']=null;else _0x10f384['userData']['originalSpecular']=null;if(_0x4bb041)_0x10f384['shininess']=0x32,(!_0x10f384['specular']||_0x10f384['specular']['isColor']&&_0x10f384['specular']['r']<0.2||'number'==typeof _0x10f384['specular']&&_0x10f384['specular']<0x333333)&&(_0x10f384['specular']=new _0x25d7bf(0.3,0.3,0.3));else if(void 0x0!==_0x10f384['userData']['originalShininess']&&(_0x10f384['shininess']=_0x10f384['userData']['originalShininess']),null===_0x10f384['userData']['originalSpecular'])_0x10f384['specular']=new _0x25d7bf(0x111111);else if(_0x10f384['userData']['originalSpecular']){const _0x342dce=_0x10f384['userData']['originalSpecular'];_0x342dce['isColor']?_0x10f384['specular']=_0x342dce['clone']():_0x10f384['specular']=_0x342dce;}_0x10f384['needsUpdate']=!0x0;}}}),Array['isArray'](_0x45a400['material'])?(_0x45a400['material']=_0x24eb57,_0x24eb57['forEach'](_0x139379=>{_0x139379&&(_0x139379['needsUpdate']=!0x0);})):0x1===_0x24eb57['length']&&(_0x45a400['material']=_0x24eb57[0x0],_0x45a400['material']&&(_0x45a400['material']['needsUpdate']=!0x0));}}),this['visualMeshes']['forEach'](_0x128f23=>{if(_0x128f23['material']){const _0x414bcc=Array['isArray'](_0x128f23['material'])?_0x128f23['material']:[_0x128f23['material']];_0x414bcc['forEach']((_0x174997,_0x4387ce)=>{var _0x57ff83;if(_0x174997){if('MeshBasicMaterial'===_0x174997['type']||'MeshLambertMaterial'===_0x174997['type']){const _0x49880d=_0x174997,_0x3ecfc3=_0x4bb041,_0x159364=null==(_0x57ff83=this['sceneManager']['environmentManager'])?void 0x0:_0x57ff83['getEnvironmentMap'](),_0x2207dd=new _0xa4876a({'color':_0x49880d['color'],'map':_0x49880d['map'],'transparent':_0x49880d['transparent'],'opacity':_0x49880d['opacity'],'side':_0x49880d['side'],'shininess':_0x3ecfc3?0x32:0x1e,'specular':_0x3ecfc3?new _0x25d7bf(0.3,0.3,0.3):new _0x25d7bf(0x111111),'envMap':_0x159364||null,'reflectivity':_0x159364?0.3:0x0});_0x2207dd['userData']['originalShininess']=0x1e,_0x2207dd['userData']['originalSpecular']=null,_0x2207dd['map']&&(_0x2207dd['map']['colorSpace']=_0x50e39a),_0x414bcc[_0x4387ce]=_0x2207dd,_0x174997=_0x2207dd;}if(_0x174997&&(_0x174997['isMeshPhongMaterial']||_0x174997['isMeshStandardMaterial'])){if(void 0x0===_0x174997['userData']['originalShininess'])if(_0x174997['userData']['originalShininess']=void 0x0!==_0x174997['shininess']?_0x174997['shininess']:0x1e,_0x174997['specular'])if(_0x174997['specular']['isColor']){const _0x22c655=_0x174997['specular'];_0x22c655['r']<0.1&&_0x22c655['g']<0.1&&_0x22c655['b']<0.1?_0x174997['userData']['originalSpecular']=null:_0x174997['userData']['originalSpecular']=_0x22c655['clone']();}else'number'==typeof _0x174997['specular']?0x111111===_0x174997['specular']||_0x174997['specular']<0x111111?_0x174997['userData']['originalSpecular']=null:_0x174997['userData']['originalSpecular']=new _0x25d7bf(_0x174997['specular']):_0x174997['userData']['originalSpecular']=null;else _0x174997['userData']['originalSpecular']=null;if(_0x4bb041)_0x174997['shininess']=0x32,(!_0x174997['specular']||_0x174997['specular']['isColor']&&_0x174997['specular']['r']<0.2||'number'==typeof _0x174997['specular']&&_0x174997['specular']<0x333333)&&(_0x174997['specular']=new _0x25d7bf(0.3,0.3,0.3));else if(void 0x0!==_0x174997['userData']['originalShininess']&&(_0x174997['shininess']=_0x174997['userData']['originalShininess']),null===_0x174997['userData']['originalSpecular'])_0x174997['specular']=new _0x25d7bf(0x111111);else if(_0x174997['userData']['originalSpecular']){const _0x2912b0=_0x174997['userData']['originalSpecular'];_0x2912b0['isColor']?_0x174997['specular']=_0x2912b0['clone']():_0x174997['specular']=_0x2912b0;}_0x174997['needsUpdate']=!0x0;}}}),Array['isArray'](_0x128f23['material'])?(_0x128f23['material']=_0x414bcc,_0x414bcc['forEach'](_0xb4e0b=>{_0xb4e0b&&(_0xb4e0b['needsUpdate']=!0x0);})):0x1===_0x414bcc['length']&&(_0x128f23['material']=_0x414bcc[0x0],_0x128f23['material']&&(_0x128f23['material']['needsUpdate']=!0x0));}});const _0x39a3e0=null==(_0x5dd78a=window['app'])?void 0x0:_0x5dd78a['mujocoSimulationManager'];_0x39a3e0&&_0x39a3e0['mujocoRoot']&&_0x39a3e0['mujocoRoot']['traverse'](_0x5aa546=>{if(_0x5aa546['isMesh']&&_0x5aa546['material']){(Array['isArray'](_0x5aa546['material'])?_0x5aa546['material']:[_0x5aa546['material']])['forEach'](_0x3a5655=>{if(_0x3a5655['isMeshPhongMaterial']||_0x3a5655['isMeshStandardMaterial']){if(void 0x0===_0x3a5655['userData']['originalShininess'])if(_0x3a5655['userData']['originalShininess']=void 0x0!==_0x3a5655['shininess']?_0x3a5655['shininess']:0x1e,_0x3a5655['specular'])if(_0x3a5655['specular']['isColor']){const _0x4f6d97=_0x3a5655['specular'];_0x4f6d97['r']<0.1&&_0x4f6d97['g']<0.1&&_0x4f6d97['b']<0.1?_0x3a5655['userData']['originalSpecular']=null:_0x3a5655['userData']['originalSpecular']=_0x4f6d97['clone']();}else _0x3a5655['userData']['originalSpecular']=null;else _0x3a5655['userData']['originalSpecular']=null;if(_0x4bb041)_0x3a5655['shininess']=0x32,(!_0x3a5655['specular']||_0x3a5655['specular']['isColor']&&_0x3a5655['specular']['r']<0.2||'number'==typeof _0x3a5655['specular']&&_0x3a5655['specular']<0x333333)&&(_0x3a5655['specular']=new _0x25d7bf(0.3,0.3,0.3));else if(void 0x0!==_0x3a5655['userData']['originalShininess']&&(_0x3a5655['shininess']=_0x3a5655['userData']['originalShininess']),null===_0x3a5655['userData']['originalSpecular'])_0x3a5655['specular']=new _0x25d7bf(0x111111);else if(_0x3a5655['userData']['originalSpecular']){const _0x184ea0=_0x3a5655['userData']['originalSpecular'];_0x184ea0['isColor']?_0x3a5655['specular']=_0x184ea0['clone']():_0x3a5655['specular']=_0x184ea0;}_0x3a5655['needsUpdate']=!0x0;}});}});}['toggleLinkVisibility'](_0x254810,_0x50c005){if(!_0x50c005||!_0x50c005['links'])return!0x1;const _0x32edaa=_0x50c005['links']['get'](_0x254810);if(!_0x32edaa||!_0x32edaa['threeObject'])return!0x1;const _0x3b5073=this['hiddenLinks']['has'](_0x254810);_0x3b5073?this['hiddenLinks']['delete'](_0x254810):this['hiddenLinks']['add'](_0x254810);const _0x5e49b2=!!_0x3b5073;return this['setLinkVisibility'](_0x32edaa['threeObject'],_0x5e49b2,_0x50c005),_0x5e49b2;}['isLinkHidden'](_0x31e9af){return this['hiddenLinks']['has'](_0x31e9af);}['setLinkVisibility'](_0x5165dd,_0x4649c1,_0x1875a4){const _0x4cdcf7=(_0x2523f0,_0x4ce9b3=!0x1)=>{var _0xfc3b01,_0x569ad7,_0x53b3c3;if(_0x4ce9b3||'URDFLink'!==_0x2523f0['type']&&!_0x2523f0['isURDFLink']){if(_0x2523f0['isURDFJoint']||'URDFJoint'===_0x2523f0['type']){const _0x374852=_0x2523f0['name'];let _0x4e866b=!0x1;if(_0x374852&&(null==_0x1875a4?void 0x0:_0x1875a4['joints'])&&_0x1875a4['joints']['has'](_0x374852)){_0x4e866b='fixed'===_0x1875a4['joints']['get'](_0x374852)['type'];}if(_0x4e866b){for(const _0x5c41f0 of _0x2523f0['children'])_0x4cdcf7(_0x5c41f0,!0x1);return;}return;}if(!(this['isAuxiliaryVisualization'](_0x2523f0)||(null==(_0xfc3b01=_0x2523f0['userData'])?void 0x0:_0xfc3b01['isCenterOfMass'])||(null==(_0x569ad7=_0x2523f0['userData'])?void 0x0:_0x569ad7['isInertiaBox'])||_0x2523f0['name']&&_0x2523f0['name']['endsWith']('_axes'))){if('Mesh'===_0x2523f0['type']||_0x2523f0['isMesh']){let _0x5d2abb=!0x1,_0x2a9f66=_0x2523f0;for(;_0x2a9f66;){if(_0x2a9f66['isURDFCollider']){_0x5d2abb=!0x0;break;}_0x2a9f66=_0x2a9f66['parent'];}if(_0x5d2abb||(null==(_0x53b3c3=_0x2523f0['userData'])?void 0x0:_0x53b3c3['isCollision']))return;_0x2523f0['visible']=_0x4649c1&&this['showVisual'];}for(const _0x221b9f of _0x2523f0['children'])_0x4cdcf7(_0x221b9f,!0x1);}}};_0x4cdcf7(_0x5165dd,!0x0);}['isAuxiliaryVisualization'](_0x1ba62a){var _0x54365a,_0x39b9c8,_0x3e38f8;return!!(null==(_0x54365a=_0x1ba62a['userData'])?void 0x0:_0x54365a['isInertiaBox'])||(!!(null==(_0x39b9c8=_0x1ba62a['userData'])?void 0x0:_0x39b9c8['isCOMMarker'])||!!(null==(_0x3e38f8=_0x1ba62a['userData'])?void 0x0:_0x3e38f8['isCollision']));}['updateVisualTransparency'](_0x19dc45,_0x531d31,_0x1f9bf9,_0x1788e8){if(_0x1788e8)return;const _0x5c1e53=_0x19dc45||_0x531d31||_0x1f9bf9;this['visualMeshes']['forEach']((_0x3cbb7c,_0x72f37d)=>{ji['setMeshTransparency'](_0x3cbb7c,_0x5c1e53,_0x72f37d);});}static['setMeshTransparency'](_0x12badd,_0x43b1ec,_0x527751=-0x1){if(!_0x12badd['material'])return;(Array['isArray'](_0x12badd['material'])?_0x12badd['material']:[_0x12badd['material']])['forEach'](_0x276ed4=>{void 0x0===_0x276ed4['userData']['originalOpacity']&&(_0x276ed4['userData']['originalOpacity']=void 0x0!==_0x276ed4['opacity']?_0x276ed4['opacity']:0x1,_0x276ed4['userData']['originalTransparent']=_0x276ed4['transparent']||!0x1),_0x43b1ec?(_0x276ed4['transparent']=!0x0,_0x276ed4['opacity']=0.5,_0x276ed4['needsUpdate']=!0x0):void 0x0!==_0x276ed4['userData']['originalOpacity']&&(_0x276ed4['opacity']=_0x276ed4['userData']['originalOpacity'],_0x276ed4['transparent']=_0x276ed4['userData']['originalTransparent'],_0x276ed4['needsUpdate']=!0x0);});}['clear'](){this['visualMeshes']=[],this['collisionMeshes']=[],this['colliders']=[],this['hiddenLinks']['clear']();}}class ki{constructor(_0x7b3096){this['sceneManager']=_0x7b3096,this['comMarkers']=[],this['inertiaEllipsoids']=[],this['showCOM']=!0x1,this['showInertia']=!0x1;}static['createCOMGeometry'](_0x3145a1){const _0x4c8d55=new _0x135d71(),_0x58aaa5=new _0x2b5e49({'color':0xffffff,'side':_0x3ea7cb,'depthTest':!0x0,'depthWrite':!0x0}),_0x216501=new _0x2b5e49({'color':0x0,'side':_0x3ea7cb,'depthTest':!0x0,'depthWrite':!0x0});return[{'phiStart':0x0,'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x58aaa5},{'phiStart':0x0,'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x216501},{'phiStart':Math['PI']/0x2,'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x216501},{'phiStart':Math['PI']/0x2,'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x58aaa5},{'phiStart':Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x58aaa5},{'phiStart':Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x216501},{'phiStart':1.5*Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':0x0,'thetaLength':Math['PI']/0x2,'material':_0x216501},{'phiStart':1.5*Math['PI'],'phiLength':Math['PI']/0x2,'thetaStart':Math['PI']/0x2,'thetaLength':Math['PI']/0x2,'material':_0x58aaa5}]['forEach'](_0x5b6a4a=>{const _0x12b144=new _0x2e733b(_0x3145a1,0x10,0x10,_0x5b6a4a['phiStart'],_0x5b6a4a['phiLength'],_0x5b6a4a['thetaStart'],_0x5b6a4a['thetaLength']),_0x41e302=new _0x2c4c6c(_0x12b144,_0x5b6a4a['material']);_0x41e302['castShadow']=!0x1,_0x41e302['receiveShadow']=!0x1,_0x4c8d55['add'](_0x41e302);}),_0x4c8d55;}['extractInertialProperties'](_0x51a723){this['comMarkers']['forEach'](_0x29b938=>{_0x29b938['parent']&&_0x29b938['parent']['remove'](_0x29b938);}),this['inertiaEllipsoids']['forEach'](_0x406515=>{_0x406515['parent']&&_0x406515['parent']['remove'](_0x406515);}),this['comMarkers']=[],this['inertiaEllipsoids']=[],_0x51a723['links']&&_0x51a723['links']['forEach']((_0x2109b0,_0x35804e)=>{if(!_0x2109b0['inertial'])return;const _0x1f8918=_0x2109b0['inertial'];let _0x42fecc;try{_0x42fecc=_0x1f8918['origin']&&_0x1f8918['origin']['xyz']?Ue['xyzToVector3'](_0x1f8918['origin']['xyz']):_0x1f8918['origin']?new _0x220444(_0x1f8918['origin'][0x0]||0x0,_0x1f8918['origin'][0x1]||0x0,_0x1f8918['origin'][0x2]||0x0):new _0x220444(0x0,0x0,0x0);}catch(_0x2fb33c){_0x42fecc=new _0x220444(0x0,0x0,0x0);}this['showCOM']&&void 0x0!==_0x1f8918['mass']&&_0x1f8918['mass']>0x0&&this['createCOMMarker'](_0x51a723,_0x2109b0,_0x42fecc),this['showInertia']&&(void 0x0!==_0x1f8918['ixx']||_0x1f8918['inertia'])&&this['createInertiaEllipsoid'](_0x51a723,_0x2109b0,_0x42fecc,_0x1f8918);});}['createCOMMarker'](_0x16ab34,_0x5af1ff,_0x2e99f4){const _0x553bb0=this['findLinkObject'](_0x16ab34['threeObject'],_0x5af1ff['name']);if(!_0x553bb0)return;const _0xbb9dc4=new _0x135d71(),_0x1c38c8=0.02,_0x1cb2b1=0x10,_0x42a6e9=new _0x2b5e49({'color':0xffffff,'side':_0x3ea7cb,'depthTest':!0x0,'depthWrite':!0x0}),_0x3b712b=new _0x2b5e49({'color':0x0,'side':_0x3ea7cb,'depthTest':!0x0,'depthWrite':!0x0}),_0x435692=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,0x0,Math['PI']/0x2,0x0,Math['PI']/0x2),_0x39e820=new _0x2c4c6c(_0x435692,_0x42a6e9),_0x39a1bb=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,0x0,Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x36768e=new _0x2c4c6c(_0x39a1bb,_0x3b712b),_0x83fb3a=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,Math['PI']/0x2,Math['PI']/0x2,0x0,Math['PI']/0x2),_0x1e4678=new _0x2c4c6c(_0x83fb3a,_0x3b712b),_0x1a78e1=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x5334e3=new _0x2c4c6c(_0x1a78e1,_0x42a6e9),_0x24d9ae=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,Math['PI'],Math['PI']/0x2,0x0,Math['PI']/0x2),_0x2436bf=new _0x2c4c6c(_0x24d9ae,_0x42a6e9),_0x51f222=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,Math['PI'],Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x524d2d=new _0x2c4c6c(_0x51f222,_0x3b712b),_0x1eea8c=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,1.5*Math['PI'],Math['PI']/0x2,0x0,Math['PI']/0x2),_0x270e82=new _0x2c4c6c(_0x1eea8c,_0x3b712b),_0x156f29=new _0x2e733b(_0x1c38c8,_0x1cb2b1,_0x1cb2b1,1.5*Math['PI'],Math['PI']/0x2,Math['PI']/0x2,Math['PI']/0x2),_0x5cb73f=new _0x2c4c6c(_0x156f29,_0x42a6e9);_0xbb9dc4['add'](_0x39e820),_0xbb9dc4['add'](_0x36768e),_0xbb9dc4['add'](_0x1e4678),_0xbb9dc4['add'](_0x5334e3),_0xbb9dc4['add'](_0x2436bf),_0xbb9dc4['add'](_0x524d2d),_0xbb9dc4['add'](_0x270e82),_0xbb9dc4['add'](_0x5cb73f),_0xbb9dc4['userData']['isCenterOfMass']=!0x0,_0xbb9dc4['position']['copy'](_0x2e99f4),_0xbb9dc4['visible']=this['showCOM'],_0x553bb0['add'](_0xbb9dc4),this['comMarkers']['push'](_0xbb9dc4);}['createInertiaEllipsoid'](_0x202b5b,_0x570402,_0x783a6f,_0xd2c465){let _0xce5e1c;_0xce5e1c=_0xd2c465['diagonalInertia']?{'ixx':_0xd2c465['diagonalInertia']['ixx'],'iyy':_0xd2c465['diagonalInertia']['iyy'],'izz':_0xd2c465['diagonalInertia']['izz'],'ixy':0x0,'ixz':0x0,'iyz':0x0,'mass':_0xd2c465['mass']}:_0xd2c465;const _0x1eb600=Ue['computeInertiaBox'](_0xce5e1c);if(!_0x1eb600)return;const _0x577599=Ue['createInertiaBoxGeometry'](_0x1eb600['width'],_0x1eb600['height'],_0x1eb600['depth']),_0x2d1c38=new _0xa4876a({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0x4a9eff,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x4ccaab=new _0x2c4c6c(_0x577599,_0x2d1c38);if(_0x4ccaab['position']['copy'](_0x783a6f),_0xd2c465['origin']&&_0xd2c465['origin']['quat']){const _0xf06e36=_0xd2c465['origin']['quat'],_0x5b90a2=new _0x3c39ce(_0xf06e36['x'],_0xf06e36['y'],_0xf06e36['z'],_0xf06e36['w']),_0x2c0425=new _0x3c39ce();_0x2c0425['setFromAxisAngle'](new _0x220444(0x0,0x1,0x0),Math['PI']);const _0x425cf9=new _0x3c39ce();_0x425cf9['multiplyQuaternions'](_0x5b90a2,_0x2c0425),_0x4ccaab['quaternion']['copy'](_0x425cf9);}else if(_0x1eb600['rotation']&&void 0x0!==_0x1eb600['rotation']['w'])_0x4ccaab['quaternion']['copy'](_0x1eb600['rotation']);else if(_0xd2c465['origin']&&_0xd2c465['origin']['rpy']){const _0x2a53a8=_0xd2c465['origin']['rpy'];_0x4ccaab['rotation']['set'](_0x2a53a8[0x0],_0x2a53a8[0x1],_0x2a53a8[0x2],'XYZ');}else _0x4ccaab['rotation']['set'](0x0,0x0,0x0);_0x4ccaab['visible']=this['showInertia'],_0x4ccaab['castShadow']=!0x1,_0x4ccaab['receiveShadow']=!0x1,_0x4ccaab['userData']['isInertiaBox']=!0x0;const _0x435856=this['findLinkObject'](_0x202b5b['threeObject'],_0x570402['name']);_0x435856?_0x435856['add'](_0x4ccaab):this['sceneManager']['scene']['add'](_0x4ccaab),this['inertiaEllipsoids']['push'](_0x4ccaab);}['findLinkObject'](_0x5cf40f,_0x344c4d){let _0x5473ac=null;return _0x5cf40f['traverse'](_0x4abe08=>{_0x4abe08['name']!==_0x344c4d&&_0x4abe08['name']!=='link_'+_0x344c4d&&_0x4abe08['name']!=='body_'+_0x344c4d||(_0x5473ac=_0x4abe08);}),_0x5473ac;}['toggleCenterOfMass'](_0x1f5238,_0x342b81){this['showCOM']=_0x1f5238,_0x1f5238&&0x0===this['comMarkers']['length']&&_0x342b81?this['extractInertialProperties'](_0x342b81):this['comMarkers']['forEach'](_0x1379f5=>{_0x1379f5['visible']=_0x1f5238;});}['toggleInertia'](_0xdff4b,_0x46f16a){this['showInertia']=_0xdff4b,_0xdff4b&&0x0===this['inertiaEllipsoids']['length']&&_0x46f16a?this['extractInertialProperties'](_0x46f16a):this['inertiaEllipsoids']['forEach'](_0x2ed333=>{_0x2ed333['visible']=_0xdff4b;});}['clear'](){this['comMarkers']['forEach'](_0x48a9b7=>{_0x48a9b7['parent']&&_0x48a9b7['parent']['remove'](_0x48a9b7);}),this['inertiaEllipsoids']['forEach'](_0x1dfcd2=>{_0x1dfcd2['parent']&&_0x1dfcd2['parent']['remove'](_0x1dfcd2);}),this['comMarkers']=[],this['inertiaEllipsoids']=[];}}class Ti{constructor(_0x5917a8){this['sceneManager']=_0x5917a8,this['constraintVisuals']=[],this['showConstraints']=!0x0;}['visualizeConstraints'](_0x373b8e,_0x161e24){this['constraintVisuals']['forEach'](_0x39f689=>{_0x39f689['parent']&&_0x39f689['parent']['remove'](_0x39f689);}),this['constraintVisuals']=[],_0x373b8e['constraints']&&0x0!==_0x373b8e['constraints']['size']&&_0x373b8e['constraints']['forEach']((_0x285920,_0x3abe9f)=>{try{'connect'===_0x285920['type']||'weld'===_0x285920['type']?this['visualizeBodyConstraint'](_0x373b8e,_0x285920,_0x161e24):'joint'===_0x285920['type']?this['visualizeJointConstraint'](_0x373b8e,_0x285920,_0x161e24):'distance'===_0x285920['type']&&this['visualizeDistanceConstraint'](_0x373b8e,_0x285920,_0x161e24);}catch(_0x5d5bd3){}});}['visualizeBodyConstraint'](_0x19f86c,_0x137463,_0x5ad7c8){const _0x570b41=this['findLinkObject'](_0x19f86c['threeObject'],_0x137463['body1']),_0x341a6f=this['findLinkObject'](_0x19f86c['threeObject'],_0x137463['body2']);if(!_0x570b41||!_0x341a6f)return;const _0xa8097a=new _0x116076(),_0x40cfa9=new Float32Array(0x6);_0x40cfa9[0x0]=0x0,_0x40cfa9[0x1]=0x0,_0x40cfa9[0x2]=0x0,_0x40cfa9[0x3]=0x0,_0x40cfa9[0x4]=0x0,_0x40cfa9[0x5]=0x0,_0xa8097a['setAttribute']('position',new _0x465d50(_0x40cfa9,0x3));const _0x2a739e='weld'===_0x137463['type']?0xff6600:0xffff,_0xe2aebe=new _0x3164b6({'color':_0x2a739e,'linewidth':0x2,'dashSize':0.05,'gapSize':0.03,'depthTest':!0x0,'transparent':!0x0,'opacity':0.8}),_0x440be7=new _0x5b83e2(_0xa8097a,_0xe2aebe);_0x440be7['computeLineDistances'](),_0x440be7['userData']['constraint']=_0x137463,_0x440be7['userData']['body1']=_0x570b41,_0x440be7['userData']['body2']=_0x341a6f,_0x440be7['userData']['isConstraintVisualization']=!0x0;(_0x5ad7c8||this['sceneManager']['scene'])['add'](_0x440be7),this['constraintVisuals']['push'](_0x440be7),_0x440be7['onBeforeRender']=()=>{if(!_0x440be7['userData']['body1']||!_0x440be7['userData']['body2'])return;const _0x195927=new _0x220444(),_0x358aa7=new _0x220444();if(_0x440be7['userData']['body1']['getWorldPosition'](_0x195927),_0x440be7['userData']['body2']['getWorldPosition'](_0x358aa7),_0x5ad7c8){const _0x25a9ec=new _0x13cf24();_0x25a9ec['copy'](_0x5ad7c8['matrixWorld'])['invert'](),_0x195927['applyMatrix4'](_0x25a9ec),_0x358aa7['applyMatrix4'](_0x25a9ec);}const _0x4b037c=_0x440be7['geometry']['attributes']['position']['array'];_0x4b037c[0x0]=_0x195927['x'],_0x4b037c[0x1]=_0x195927['y'],_0x4b037c[0x2]=_0x195927['z'],_0x4b037c[0x3]=_0x358aa7['x'],_0x4b037c[0x4]=_0x358aa7['y'],_0x4b037c[0x5]=_0x358aa7['z'],_0x440be7['geometry']['attributes']['position']['needsUpdate']=!0x0,_0x440be7['computeLineDistances']();};}['visualizeJointConstraint'](_0x440a25,_0x34f4da,_0x46c509){const _0x50ee95=_0x440a25['getJoint'](_0x34f4da['joint1']),_0x2b486a=_0x440a25['getJoint'](_0x34f4da['joint2']);if(!_0x50ee95||!_0x2b486a)return;const _0x3ccc1b=_0x50ee95['child']?this['findLinkObject'](_0x440a25['threeObject'],_0x50ee95['child']):null,_0x46a6cf=_0x2b486a['child']?this['findLinkObject'](_0x440a25['threeObject'],_0x2b486a['child']):null;if(!_0x3ccc1b||!_0x46a6cf)return;const _0x140158=new _0x116076(),_0x56251d=new Float32Array(0x6);_0x140158['setAttribute']('position',new _0x465d50(_0x56251d,0x3));const _0x364aa=new _0x3164b6({'color':0xffff00,'linewidth':0x2,'dashSize':0.03,'gapSize':0.02,'depthTest':!0x0,'transparent':!0x0,'opacity':0.7}),_0x4f8f76=new _0x5b83e2(_0x140158,_0x364aa);_0x4f8f76['computeLineDistances'](),_0x4f8f76['userData']['constraint']=_0x34f4da,_0x4f8f76['userData']['link1']=_0x3ccc1b,_0x4f8f76['userData']['link2']=_0x46a6cf,_0x4f8f76['userData']['isConstraintVisualization']=!0x0;(_0x46c509||this['sceneManager']['scene'])['add'](_0x4f8f76),this['constraintVisuals']['push'](_0x4f8f76),_0x4f8f76['onBeforeRender']=()=>{if(!_0x4f8f76['userData']['link1']||!_0x4f8f76['userData']['link2'])return;const _0xb9da8a=new _0x220444(),_0x541fe3=new _0x220444();if(_0x4f8f76['userData']['link1']['getWorldPosition'](_0xb9da8a),_0x4f8f76['userData']['link2']['getWorldPosition'](_0x541fe3),_0x46c509){const _0x559b27=new _0x13cf24();_0x559b27['copy'](_0x46c509['matrixWorld'])['invert'](),_0xb9da8a['applyMatrix4'](_0x559b27),_0x541fe3['applyMatrix4'](_0x559b27);}const _0x1fd943=_0x4f8f76['geometry']['attributes']['position']['array'];_0x1fd943[0x0]=_0xb9da8a['x'],_0x1fd943[0x1]=_0xb9da8a['y'],_0x1fd943[0x2]=_0xb9da8a['z'],_0x1fd943[0x3]=_0x541fe3['x'],_0x1fd943[0x4]=_0x541fe3['y'],_0x1fd943[0x5]=_0x541fe3['z'],_0x4f8f76['geometry']['attributes']['position']['needsUpdate']=!0x0,_0x4f8f76['computeLineDistances']();};}['visualizeDistanceConstraint'](_0x4e109b,_0x21e819,_0x358273){const _0x57dfe3=this['findLinkObject'](_0x4e109b['threeObject'],_0x21e819['body1']),_0x777d35=this['findLinkObject'](_0x4e109b['threeObject'],_0x21e819['body2']);if(!_0x57dfe3||!_0x777d35)return;const _0xff08a4=new _0x116076(),_0x5d4540=new Float32Array(0x6);_0xff08a4['setAttribute']('position',new _0x465d50(_0x5d4540,0x3));const _0x34ca27=new _0x3164b6({'color':0xff00ff,'linewidth':0x2,'dashSize':0.04,'gapSize':0.02,'depthTest':!0x0,'transparent':!0x0,'opacity':0.8}),_0x775cec=new _0x5b83e2(_0xff08a4,_0x34ca27);_0x775cec['computeLineDistances'](),_0x775cec['userData']['constraint']=_0x21e819,_0x775cec['userData']['body1']=_0x57dfe3,_0x775cec['userData']['body2']=_0x777d35,_0x775cec['userData']['isConstraintVisualization']=!0x0;(_0x358273||this['sceneManager']['scene'])['add'](_0x775cec),this['constraintVisuals']['push'](_0x775cec),_0x775cec['onBeforeRender']=()=>{if(!_0x775cec['userData']['body1']||!_0x775cec['userData']['body2'])return;const _0x2ae005=new _0x220444(),_0x29dab0=new _0x220444();if(_0x775cec['userData']['body1']['getWorldPosition'](_0x2ae005),_0x775cec['userData']['body2']['getWorldPosition'](_0x29dab0),_0x358273){const _0x58feb=new _0x13cf24();_0x58feb['copy'](_0x358273['matrixWorld'])['invert'](),_0x2ae005['applyMatrix4'](_0x58feb),_0x29dab0['applyMatrix4'](_0x58feb);}const _0x331071=_0x775cec['geometry']['attributes']['position']['array'];_0x331071[0x0]=_0x2ae005['x'],_0x331071[0x1]=_0x2ae005['y'],_0x331071[0x2]=_0x2ae005['z'],_0x331071[0x3]=_0x29dab0['x'],_0x331071[0x4]=_0x29dab0['y'],_0x331071[0x5]=_0x29dab0['z'],_0x775cec['geometry']['attributes']['position']['needsUpdate']=!0x0,_0x775cec['computeLineDistances']();};}['applyConstraints'](_0x301efb,_0x6dd9e0){_0x301efb['constraints']&&0x0!==_0x301efb['constraints']['size']&&_0x301efb['constraints']['forEach'](_0x5c84af=>{'connect'===_0x5c84af['type']&&this['solveConnectConstraint'](_0x301efb,_0x5c84af);});}['solveConnectConstraint'](_0x2fd120,_0x206514){const _0x22eee3=this['findLinkObject'](_0x2fd120['threeObject'],_0x206514['body1']),_0x3459eb=this['findLinkObject'](_0x2fd120['threeObject'],_0x206514['body2']);if(!_0x22eee3||!_0x3459eb)return;const _0x279dba=_0x206514['anchor']||[0x0,0x0,0x0],_0x232f8d=new _0x220444(_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x161f79=_0x232f8d['clone']();_0x22eee3['localToWorld'](_0x161f79);const _0x48fc2=_0x232f8d['clone']();_0x3459eb['localToWorld'](_0x48fc2);if(_0x161f79['distanceTo'](_0x48fc2)<0.001)return;const _0xb7732a=this['findJointsAffecting'](_0x2fd120,_0x206514['body2']);if(0x0===_0xb7732a['length'])return;const _0x26528c=0.05;for(let _0xb222a6=0x0;_0xb222a6<0x14;_0xb222a6++){_0x161f79['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x22eee3['localToWorld'](_0x161f79),_0x48fc2['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x3459eb['localToWorld'](_0x48fc2);const _0x2d372e=_0x161f79['distanceTo'](_0x48fc2);if(_0x2d372e<0.001)break;for(const _0x1e6706 of _0xb7732a){if('fixed'===_0x1e6706['type'])continue;const _0x49183f=_0x1e6706['currentValue']||0x0;Ei['setJointAngle'](_0x2fd120,_0x1e6706['name'],_0x49183f+_0x26528c),_0x2fd120['threeObject']['updateMatrixWorld'](!0x0),_0x161f79['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x22eee3['localToWorld'](_0x161f79),_0x48fc2['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x3459eb['localToWorld'](_0x48fc2);const _0x53efce=_0x161f79['distanceTo'](_0x48fc2);Ei['setJointAngle'](_0x2fd120,_0x1e6706['name'],_0x49183f-_0x26528c),_0x2fd120['threeObject']['updateMatrixWorld'](!0x0),_0x161f79['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x22eee3['localToWorld'](_0x161f79),_0x48fc2['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x3459eb['localToWorld'](_0x48fc2);const _0x1873b3=_0x161f79['distanceTo'](_0x48fc2);let _0xa51f73=_0x49183f;_0x53efce<_0x2d372e&&_0x53efce<_0x1873b3?_0xa51f73=_0x49183f+_0x26528c:_0x1873b3<_0x2d372e&&(_0xa51f73=_0x49183f-_0x26528c),Ei['setJointAngle'](_0x2fd120,_0x1e6706['name'],_0xa51f73),_0x1e6706['currentValue']=_0xa51f73;const _0x1c75ab=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x1e6706['name']+'\x22]');if(_0x1c75ab){_0x1c75ab['value']=_0xa51f73;const _0x23096d=document['querySelector']('input[data-joint-input=\x22'+_0x1e6706['name']+'\x22]');if(_0x23096d){const _0x5359e7=document['querySelector']('#unit-deg.active')?'deg':'rad';_0x23096d['value']='deg'===_0x5359e7?(0xb4*_0xa51f73/Math['PI'])['toFixed'](0x2):_0xa51f73['toFixed'](0x2);}}}}_0x2fd120['threeObject']['updateMatrixWorld'](!0x0),_0x161f79['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x22eee3['localToWorld'](_0x161f79),_0x48fc2['set'](_0x279dba[0x0],_0x279dba[0x1],_0x279dba[0x2]),_0x3459eb['localToWorld'](_0x48fc2),_0x161f79['distanceTo'](_0x48fc2);}['findJointsAffecting'](_0x1864a5,_0x5f40fe){const _0x251a24=[],_0x29a2a2=new Set();let _0x18d2b7=_0x5f40fe;for(;_0x18d2b7&&!_0x29a2a2['has'](_0x18d2b7);){_0x29a2a2['add'](_0x18d2b7);let _0x4a47fb=null;if(_0x1864a5['joints']['forEach'](_0x3e9167=>{_0x3e9167['child']===_0x18d2b7&&(_0x4a47fb=_0x3e9167,_0x251a24['push'](_0x3e9167));}),!_0x4a47fb)break;_0x18d2b7=_0x4a47fb['parent'];}return _0x251a24['reverse']();}['findLinkObject'](_0x27a181,_0x11e919){let _0x2355d8=null;return _0x27a181['traverse'](_0x4d03aa=>{_0x4d03aa['name']!==_0x11e919&&_0x4d03aa['name']!=='link_'+_0x11e919&&_0x4d03aa['name']!=='body_'+_0x11e919||(_0x2355d8=_0x4d03aa);}),_0x2355d8;}['clear'](){this['constraintVisuals']['forEach'](_0x24a9c1=>{_0x24a9c1['parent']&&_0x24a9c1['parent']['remove'](_0x24a9c1);}),this['constraintVisuals']=[];}}class Oi{constructor(_0x34ecb1){this['sceneManager']=_0x34ecb1,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 _0x220444(),this['_tmpQuat']=new _0x3c39ce(),this['_tmpScale']=new _0x220444(0x1,0x1,0x1),this['_tmpMat']=new _0x13cf24(),this['_tmpMatLocal']=new _0x13cf24();}['hasVisibleLinkAxes'](){return Array['from'](this['linkAxesHelpers']['values']())['some'](_0xab7cbb=>_0xab7cbb['visible']);}['hasVisibleJointAxes'](){return Array['from'](this['jointAxesHelpers']['values']())['some'](_0x459939=>_0x459939['isAttached']);}static['createAxesGeometry'](_0x24e629){const _0x78d076=new _0x135d71();_0x78d076['userData']['excludeFromBBox']=!0x0;const _0x3df646=Math['max'](0.001,0.015*_0x24e629),_0x188aca=new _0x181a2b(_0x3df646,_0x3df646,_0x24e629,0x8),_0x3055c6=new _0x2c4c6c(_0x188aca,new _0xa4876a({'color':0xff0000,'shininess':0x1e,'depthTest':!0x0}));_0x3055c6['position']['x']=_0x24e629/0x2,_0x3055c6['rotation']['z']=-Math['PI']/0x2,_0x3055c6['castShadow']=!0x1,_0x3055c6['receiveShadow']=!0x1,_0x78d076['add'](_0x3055c6);const _0x4b1648=new _0x2c4c6c(_0x188aca,new _0xa4876a({'color':0xff00,'shininess':0x1e,'depthTest':!0x0}));_0x4b1648['position']['y']=_0x24e629/0x2,_0x4b1648['castShadow']=!0x1,_0x4b1648['receiveShadow']=!0x1,_0x78d076['add'](_0x4b1648);const _0x19fb05=new _0x2c4c6c(_0x188aca,new _0xa4876a({'color':0xff,'shininess':0x1e,'depthTest':!0x0}));return _0x19fb05['position']['z']=_0x24e629/0x2,_0x19fb05['rotation']['x']=Math['PI']/0x2,_0x19fb05['castShadow']=!0x1,_0x19fb05['receiveShadow']=!0x1,_0x78d076['add'](_0x19fb05),_0x78d076;}static['createJointArrowGeometry'](_0x565236){const _0x34caca=0.2*0.7,_0x505979=new _0x2b5e49({'color':0xff0000}),_0xb012e0=new _0x181a2b(0.004,0.004,_0x34caca,0x10,0x1),_0x63779f=new _0x2c4c6c(_0xb012e0,_0x505979);_0x63779f['position']['y']=_0x34caca/0x2;const _0x105b89=new _0x1d50b7(0.012,0.06,0x10),_0x475d0c=new _0x2c4c6c(_0x105b89,_0x505979);_0x475d0c['position']['y']=_0x34caca+0.03;const _0xdd35d6=new _0x135d71();_0xdd35d6['add'](_0x63779f),_0xdd35d6['add'](_0x475d0c);const _0x36f30d=new _0x220444(0x0,0x1,0x0),_0x37b550=new _0x3c39ce();_0x37b550['setFromUnitVectors'](_0x36f30d,_0x565236),_0xdd35d6['quaternion']['copy'](_0x37b550);const _0x327e3d=new _0x135d71();_0x327e3d['userData']['excludeFromBBox']=!0x0,_0x327e3d['add'](_0xdd35d6);const _0x2dff1a=Oi['createRotationIndicator'](_0x565236,0.2);return _0x327e3d['add'](_0x2dff1a),_0x327e3d;}static['createRotationIndicator'](_0x12cce1,_0x507334){const _0x5b4c3b=new _0x135d71(),_0x515a2d=0.25*_0x507334,_0x14c2ee=1.5*Math['PI'],_0x568e02=new _0x45d6ea(0x0,0x0,_0x515a2d,_0x515a2d,0x0,_0x14c2ee,!0x1,0x0)['getPoints'](0x32)['map'](_0x49c991=>new _0x220444(_0x49c991['x'],_0x49c991['y'],0x0)),_0x5a7940=new _0x298750(_0x568e02),_0x3a8471=new _0x2f3935(_0x5a7940,0x32,0.002,0x8,!0x1),_0x4ee326=new _0x2b5e49({'color':0xff00}),_0x1e4cc2=new _0x2c4c6c(_0x3a8471,_0x4ee326);_0x5b4c3b['add'](_0x1e4cc2);const _0x434ff7=new _0x1d50b7(0.008,0.016,0x8),_0x164114=new _0x2b5e49({'color':0xff00}),_0x351e7f=new _0x2c4c6c(_0x434ff7,_0x164114),_0x247a4b=_0x568e02[_0x568e02['length']-0x1],_0x44aaa3=_0x568e02[_0x568e02['length']-0x5],_0x54baa4=new _0x220444()['subVectors'](_0x247a4b,_0x44aaa3)['normalize']();_0x351e7f['position']['copy'](_0x247a4b),_0x351e7f['quaternion']['setFromUnitVectors'](new _0x220444(0x0,0x1,0x0),_0x54baa4),_0x5b4c3b['add'](_0x351e7f);const _0x439ae5=new _0x3c39ce();_0x439ae5['setFromUnitVectors'](new _0x220444(0x0,0x0,0x1),_0x12cce1),_0x5b4c3b['quaternion']['copy'](_0x439ae5);const _0x3c2cfd=_0x12cce1['clone']()['multiplyScalar'](0.85*_0x507334);return _0x5b4c3b['position']['copy'](_0x3c2cfd),_0x5b4c3b;}['createLinkAxes'](_0x1768f8,_0x2e7168,_0x45abe5=0x1){const _0x358e96=Math['max'](0.02,Math['min'](0.1*_0x45abe5,0.2))*this['axesScale'],_0x4454a3=new _0x135d71();_0x4454a3['name']=_0x2e7168+'_axes',_0x4454a3['userData']['excludeFromBBox']=!0x0;const _0x3d7de4=Math['max'](0.001,0.015*_0x358e96),_0x3f3d66=new _0x181a2b(_0x3d7de4,_0x3d7de4,_0x358e96,0x8),_0x2c5928=new _0xa4876a({'color':0xff0000,'shininess':0x1e,'depthTest':!0x0}),_0x3d133d=new _0x2c4c6c(_0x3f3d66,_0x2c5928);_0x3d133d['position']['x']=_0x358e96/0x2,_0x3d133d['rotation']['z']=-Math['PI']/0x2,_0x3d133d['castShadow']=!0x1,_0x3d133d['receiveShadow']=!0x1,_0x3d133d['userData']={'isAxis':!0x0,'linkName':_0x2e7168,'axisType':'x'},_0x4454a3['add'](_0x3d133d);const _0x2724f5=new _0xa4876a({'color':0xff00,'shininess':0x1e,'depthTest':!0x0}),_0x4a9510=new _0x2c4c6c(_0x3f3d66,_0x2724f5);_0x4a9510['position']['y']=_0x358e96/0x2,_0x4a9510['castShadow']=!0x1,_0x4a9510['receiveShadow']=!0x1,_0x4a9510['userData']={'isAxis':!0x0,'linkName':_0x2e7168,'axisType':'y'},_0x4454a3['add'](_0x4a9510);const _0x5dc57c=new _0xa4876a({'color':0xff,'shininess':0x1e,'depthTest':!0x0}),_0xc8c1d3=new _0x2c4c6c(_0x3f3d66,_0x5dc57c);return _0xc8c1d3['position']['z']=_0x358e96/0x2,_0xc8c1d3['rotation']['x']=Math['PI']/0x2,_0xc8c1d3['castShadow']=!0x1,_0xc8c1d3['receiveShadow']=!0x1,_0xc8c1d3['userData']={'isAxis':!0x0,'linkName':_0x2e7168,'axisType':'z'},_0x4454a3['add'](_0xc8c1d3),_0x1768f8['threeObject']&&_0x1768f8['threeObject']['add'](_0x4454a3),this['linkAxesHelpers']['set'](_0x2e7168,_0x4454a3),this['showLabels']&&this['createAxisLabel'](_0x2e7168,_0x4454a3,_0x358e96,!0x0),_0x4454a3['visible']=!0x1,_0x4454a3;}['createJointAxis'](_0x780611,_0x3d24a9){if(!_0x780611['threeObject']||'revolute'!==_0x780611['type']&&'continuous'!==_0x780611['type'])return null;const _0x5b0cc9=_0x780611['threeObject'],_0x5cb315=new _0x135d71();_0x5cb315['name']='jointAxis_'+_0x3d24a9,_0x5cb315['userData']['excludeFromBBox']=!0x0;let _0x2753c0=new _0x220444(0x0,0x0,0x1);_0x5b0cc9['axis']?_0x2753c0['copy'](_0x5b0cc9['axis'])['normalize']():_0x780611['axis']&&_0x780611['axis']['xyz']&&_0x2753c0['set'](_0x780611['axis']['xyz'][0x0]||0x0,_0x780611['axis']['xyz'][0x1]||0x0,void 0x0!==_0x780611['axis']['xyz'][0x2]?_0x780611['axis']['xyz'][0x2]:0x1)['normalize']();const _0x3837d8=0.2*this['axesScale'],_0x800f0f=0.7*_0x3837d8,_0x3650b4=0.3*_0x3837d8,_0x1e3128=0.004*this['axesScale'],_0xbdad2d=0.012*this['axesScale'],_0x22c6f3=new _0x2b5e49({'color':0xff0000}),_0x4b756f=new _0x181a2b(_0x1e3128,_0x1e3128,_0x800f0f,0x10,0x1),_0x3282cd=new _0x2c4c6c(_0x4b756f,_0x22c6f3);_0x3282cd['raycast']=()=>{};const _0x1e3b62=new _0x1d50b7(_0xbdad2d,_0x3650b4,0x20,0x1),_0xfe29f3=new _0x2c4c6c(_0x1e3b62,_0x22c6f3);_0xfe29f3['raycast']=()=>{};const _0x4a5343=new _0x135d71();_0x3282cd['position']['y']=_0x800f0f/0x2,_0x4a5343['add'](_0x3282cd),_0xfe29f3['position']['y']=_0x800f0f+_0x3650b4/0x2,_0x4a5343['add'](_0xfe29f3);const _0x27cbd3=new _0x220444(0x0,0x1,0x0),_0x3e9d54=new _0x3c39ce();_0x3e9d54['setFromUnitVectors'](_0x27cbd3,_0x2753c0),_0x4a5343['quaternion']['copy'](_0x3e9d54),_0x5cb315['add'](_0x4a5343);const _0x31d7dc=this['createRotationIndicator'](_0x2753c0,_0x3837d8);return _0x5cb315['add'](_0x31d7dc),this['jointAxesHelpers']['set'](_0x3d24a9,{'mesh':_0x5cb315,'parent':_0x5b0cc9,'joint':_0x780611,'isAttached':!0x1,'userVisible':!0x1}),this['showLabels']&&this['createAxisLabel'](_0x3d24a9,_0x5cb315,_0x3837d8,!0x1),this['_syncJointAxisAttachment'](_0x3d24a9),_0x5cb315;}['createRotationIndicator'](_0x22a6d4,_0x334070){const _0xf37fec=new _0x135d71(),_0x558894=0.25*_0x334070,_0x3ecf94=0.002*this['axesScale'],_0x35637d=0.008*this['axesScale'],_0x38980c=1.5*Math['PI'],_0x3062b4=new _0x45d6ea(0x0,0x0,_0x558894,_0x558894,0x0,_0x38980c,!0x1,0x0)['getPoints'](0x32)['map'](_0x39fb89=>new _0x220444(_0x39fb89['x'],_0x39fb89['y'],0x0)),_0x2b4864=new _0x298750(_0x3062b4),_0x57abf1=new _0x2f3935(_0x2b4864,0x32,_0x3ecf94,0x8,!0x1),_0x4c2005=new _0x2b5e49({'color':0xff00}),_0x50d70d=new _0x2c4c6c(_0x57abf1,_0x4c2005);_0x50d70d['raycast']=()=>{},_0xf37fec['add'](_0x50d70d);const _0x2d6152=new _0x1d50b7(_0x35637d,0x2*_0x35637d,0x8),_0x3c9474=new _0x2b5e49({'color':0xff00}),_0x54a43b=new _0x2c4c6c(_0x2d6152,_0x3c9474);_0x54a43b['raycast']=()=>{};const _0xc9b20e=_0x3062b4[_0x3062b4['length']-0x1],_0x141b5f=_0x3062b4[_0x3062b4['length']-0x5],_0x70404c=new _0x220444()['subVectors'](_0xc9b20e,_0x141b5f)['normalize']();_0x54a43b['position']['copy'](_0xc9b20e),_0x54a43b['quaternion']['setFromUnitVectors'](new _0x220444(0x0,0x1,0x0),_0x70404c),_0xf37fec['add'](_0x54a43b);const _0x538484=new _0x3c39ce();_0x538484['setFromUnitVectors'](new _0x220444(0x0,0x0,0x1),_0x22a6d4),_0xf37fec['quaternion']['copy'](_0x538484);const _0x42ddeb=_0x22a6d4['clone']()['multiplyScalar'](0.85*_0x334070);return _0xf37fec['position']['copy'](_0x42ddeb),_0xf37fec;}['showAllAxes'](){this['linkAxesHelpers']['forEach']((_0x424881,_0x3575d9)=>{_0x424881['visible']=!0x0;const _0x5ac1f8=this['axesLabels']['get'](_0x3575d9);_0x5ac1f8&&(_0x5ac1f8['visible']=this['showLabels']);}),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['hideAllAxes'](){this['linkAxesHelpers']['forEach']((_0x553b53,_0x1a657f)=>{_0x553b53['visible']=!0x1;const _0x44a4a4=this['axesLabels']['get'](_0x1a657f);_0x44a4a4&&(_0x44a4a4['visible']=!0x1);}),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['_syncJointAxisAttachment'](_0x474b8c){const _0x41bd68=this['jointAxesHelpers']['get'](_0x474b8c);if(!_0x41bd68||!_0x41bd68['parent'])return;const _0x35d48a=null!==this['_isolatedJointName']?_0x474b8c===this['_isolatedJointName']:_0x41bd68['userVisible'];_0x35d48a&&!_0x41bd68['isAttached']?(_0x41bd68['parent']['add'](_0x41bd68['mesh']),_0x41bd68['isAttached']=!0x0):!_0x35d48a&&_0x41bd68['isAttached']&&(_0x41bd68['parent']['remove'](_0x41bd68['mesh']),_0x41bd68['isAttached']=!0x1);const _0x4abd09=this['jointAxesLabels']['get'](_0x474b8c);_0x4abd09&&(_0x4abd09['visible']=_0x41bd68['isAttached']&&this['showLabels']);}['_syncAllJointAxesAttachment'](){this['jointAxesHelpers']['forEach']((_0x35971d,_0x5c83fe)=>{this['_syncJointAxisAttachment'](_0x5c83fe);});}['showAllJointAxes'](){this['_isolatedJointName']=null,this['jointAxesHelpers']['forEach'](_0x4403ae=>{_0x4403ae['userVisible']=!0x0;}),this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['hideAllJointAxes'](){this['_isolatedJointName']=null,this['jointAxesHelpers']['forEach'](_0x1fc6fe=>{_0x1fc6fe['userVisible']=!0x1;}),this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}['showOnlyJointAxis'](_0x410497){let _0x2e5815=null;this['jointAxesHelpers']['forEach']((_0x20662b,_0x4c5c11)=>{_0x20662b['joint']===_0x410497&&(_0x2e5815=_0x4c5c11);}),this['_isolatedJointName']!==_0x2e5815&&(this['_isolatedJointName']=_0x2e5815,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'](_0x29289f=>{_0x29289f['traverse'](_0x51f093=>{_0x51f093['isMesh']&&(_0x51f093['castShadow']=!0x1,_0x51f093['receiveShadow']=!0x1);});}),this['jointAxesHelpers']['forEach'](_0x339507=>{_0x339507['mesh']['traverse'](_0x2b5289=>{_0x2b5289['isMesh']&&(_0x2b5289['castShadow']=!0x1,_0x2b5289['receiveShadow']=!0x1);});});}['clearAllLinkAxes'](){this['axesLabels']['forEach'](_0x1abe94=>{_0x1abe94['parent']&&_0x1abe94['parent']['remove'](_0x1abe94);}),this['axesLabels']['clear'](),this['linkAxesHelpers']['forEach'](_0x3ccecd=>{_0x3ccecd['parent']&&_0x3ccecd['parent']['remove'](_0x3ccecd);}),this['linkAxesHelpers']['clear']();}['clearAllJointAxes'](){this['jointAxesLabels']['forEach'](_0x2b900b=>{_0x2b900b['parent']&&_0x2b900b['parent']['remove'](_0x2b900b);}),this['jointAxesLabels']['clear'](),this['jointAxesHelpers']['forEach'](_0x1c4426=>{_0x1c4426['isAttached']&&_0x1c4426['parent']&&_0x1c4426['parent']['remove'](_0x1c4426['mesh']);}),this['jointAxesHelpers']['clear'](),this['_isolatedJointName']=null;}['clear'](){this['clearAllLinkAxes'](),this['clearAllJointAxes'](),this['clearAllLabels']();}['setAllLinkAxesVisible'](_0x4b1944){_0x4b1944?this['showAllAxes']():this['hideAllAxes']();}['setAllJointAxesVisible'](_0x4982e6){_0x4982e6?this['showAllJointAxes']():this['hideAllJointAxes']();}['setAxesScale'](_0xea43af){this['axesScale']=Math['max'](0.1,Math['min'](_0xea43af,0x3));}['getAxesScale'](){return this['axesScale'];}['selectAxis'](_0x3da938){this['deselectAxis'](),this['linkAxesHelpers']['has'](_0x3da938)&&(this['selectedLinkName']=_0x3da938,this['sceneManager']['redraw']());}['deselectAxis'](){this['selectedLinkName']=null,this['sceneManager']['redraw']();}['getSelectedLinkName'](){return this['selectedLinkName'];}['getLinksWithAxes'](){const _0x5cfdb6=[];return this['linkAxesHelpers']['forEach']((_0x195761,_0x48e496)=>{_0x195761['visible']&&_0x5cfdb6['push'](_0x48e496);}),_0x5cfdb6;}['previewJointOriginRpy'](_0x5c0db7,_0x2ef78e,_0x2b82da){const _0xe24bb6=this['_computeJointRpy'](_0x5c0db7,_0x2ef78e,_0x2b82da);return!!_0xe24bb6&&(this['_applyLinkDeltaTransform'](_0xe24bb6['joint'],_0xe24bb6['rpy'],_0x5c0db7),this['sceneManager']['redraw'](),{'jointName':_0xe24bb6['joint']['name'],'rpy':_0xe24bb6['rpy']});}['applyJointOriginRpy'](_0x2c8f5e,_0x53256c,_0x9ac66b){let _0x5eb9f5=null;if(_0x2c8f5e['joints']['forEach'](_0x56cba3=>{_0x56cba3['child']===_0x53256c&&(_0x5eb9f5=_0x56cba3);}),!_0x5eb9f5)return!0x1;const _0x103283=_0x5eb9f5['_origRpy']||[0x0,0x0,0x0],_0x4b077f=Math['PI']/0x2,_0x40d6ba=0x2*Math['PI'],_0xc633b5=_0x9ac66b['map']((_0x30b491,_0x252564)=>{if(Math['abs'](_0x30b491-_0x103283[_0x252564])<0.01)return _0x103283[_0x252564];const _0x128452=Math['round']((_0x30b491-_0x103283[_0x252564])/_0x4b077f);let _0xfb3fe8=_0x103283[_0x252564]+_0x128452*_0x4b077f;return _0xfb3fe8%=_0x40d6ba,_0xfb3fe8>Math['PI']&&(_0xfb3fe8-=_0x40d6ba),_0xfb3fe8<=-Math['PI']&&(_0xfb3fe8+=_0x40d6ba),_0xfb3fe8;}),_0x4f01a1=new _0x3c39ce()['setFromEuler'](new _0x416b03(_0xc633b5[0x0],_0xc633b5[0x1],_0xc633b5[0x2],'ZYX'));_0x5eb9f5['threeObject']['quaternion']['copy'](_0x4f01a1);const _0x5103b5=_0x2c8f5e['links']['get'](_0x5eb9f5['child']);return _0x5103b5&&_0x5103b5['threeObject']&&(_0x5103b5['threeObject']['position']['set'](0x0,0x0,0x0),_0x5103b5['threeObject']['quaternion']['identity'](),_0x5103b5['threeObject']['scale']['set'](0x1,0x1,0x1)),_0x5eb9f5['origin']['rpy']=_0xc633b5,_0x5eb9f5['_origRpy']=[..._0xc633b5],_0x2c8f5e['threeObject']&&_0x2c8f5e['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw'](),{'jointName':_0x5eb9f5['name'],'rpy':_0xc633b5};}['_computeJointRpy'](_0x4446b0,_0x105a17,_0x2c037e){let _0x547e91=null;if(_0x4446b0['joints']['forEach'](_0x5cbd82=>{_0x5cbd82['child']===_0x105a17&&(_0x547e91=_0x5cbd82);}),!_0x547e91)return null;const _0x298055=_0x547e91['_origRpy']||[0x0,0x0,0x0],_0x105522=Math['PI']/0x2,_0x4e4627=0x2*Math['PI'],_0x2b6b05=_0x2c037e['map']((_0x36d594,_0x35b6c4)=>{return(_0x2615b8=>{let _0x2a898d=_0x2615b8%_0x4e4627;return _0x2a898d>Math['PI']&&(_0x2a898d-=_0x4e4627),_0x2a898d<=-Math['PI']&&(_0x2a898d+=_0x4e4627),_0x2a898d;})((_0x4a6540=_0x36d594,(_0x4348bf=_0x298055[_0x35b6c4])+Math['round']((_0x4a6540-_0x4348bf)/_0x105522)*_0x105522));var _0x4a6540,_0x4348bf;});return{'joint':_0x547e91,'rpy':_0x2b6b05,'linkName':_0x547e91['child']};}['_applyLinkDeltaTransform'](_0x20318c,_0x1c9f3a,_0x53d1cc){const _0x28321a=_0x20318c['child'],_0x1a7829=_0x53d1cc['links']['get'](_0x28321a);if(!_0x1a7829||!_0x1a7829['threeObject'])return;const _0x29bed0=_0x20318c['origin']&&_0x20318c['origin']['rpy']?_0x20318c['origin']['rpy']:[0x0,0x0,0x0],_0x1439e4=_0x20318c['_origXyz']||(_0x20318c['origin']?_0x20318c['origin']['xyz']:[0x0,0x0,0x0]),_0x5516b4=new _0x3c39ce()['setFromEuler'](new _0x416b03(_0x29bed0[0x0],_0x29bed0[0x1],_0x29bed0[0x2],'XYZ')),_0x172548=new _0x3c39ce()['setFromEuler'](new _0x416b03(_0x1c9f3a[0x0],_0x1c9f3a[0x1],_0x1c9f3a[0x2],'XYZ'));this['_tmpMat']['compose'](this['_tmpPos']['set'](_0x1439e4[0x0],_0x1439e4[0x1],_0x1439e4[0x2]),_0x5516b4,this['_tmpScale']['set'](0x1,0x1,0x1));const _0x2d8f9c=this['_tmpMat']['clone']();this['_tmpMat']['compose'](this['_tmpPos']['set'](_0x1439e4[0x0],_0x1439e4[0x1],_0x1439e4[0x2]),_0x172548,this['_tmpScale']['set'](0x1,0x1,0x1)),this['_tmpMatLocal']['copy'](_0x2d8f9c)['invert']()['multiply'](this['_tmpMat']),this['_tmpMatLocal']['decompose'](_0x1a7829['threeObject']['position'],_0x1a7829['threeObject']['quaternion'],this['_tmpScale']),_0x1a7829['threeObject']['scale']['set'](0x1,0x1,0x1),_0x53d1cc['threeObject']&&_0x53d1cc['threeObject']['updateMatrixWorld'](!0x0);}['showAxesByName'](_0x70c334,_0x20b620){var _0x42de2b,_0x3dc924,_0x559f21,_0x4154a7;let _0x45074b=this['linkAxesHelpers']['get'](_0x70c334);if(!_0x45074b&&_0x20b620){const _0x6ca771=null==(_0x559f21=null==(_0x3dc924=null==(_0x42de2b=this['sceneManager'])?void 0x0:_0x42de2b['currentModel'])?void 0x0:_0x3dc924['links'])?void 0x0:_0x559f21['get'](_0x70c334);if(_0x6ca771){let _0x4f8c60=0x1;const _0x39e331=null==(_0x4154a7=this['sceneManager'])?void 0x0:_0x4154a7['currentModel'];if(null==_0x39e331?void 0x0:_0x39e331['threeObject'])try{const _0x3e5594=new _0x2e400f()['setFromObject'](_0x39e331['threeObject']);if(!_0x3e5594['isEmpty']()){const _0x2cd0a4=_0x3e5594['getSize'](new _0x220444());_0x4f8c60=Math['max'](_0x2cd0a4['x'],_0x2cd0a4['y'],_0x2cd0a4['z']);}}catch(_0x1b70bc){}_0x45074b=this['createLinkAxes'](_0x6ca771,_0x70c334,_0x4f8c60);}}if(_0x45074b){_0x45074b['visible']=_0x20b620;const _0xefcebe=this['axesLabels']['get'](_0x70c334);_0xefcebe&&(_0xefcebe['visible']=_0x20b620&&this['showLabels']),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']();}}['showJointAxisByName'](_0x22c29a,_0xa7579){const _0x31cf5e=this['jointAxesHelpers']['get'](_0x22c29a);_0x31cf5e&&(_0x31cf5e['userVisible']=_0xa7579,this['_isolatedJointName']=null,this['_syncAllJointAxesAttachment'](),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw']());}['setShowLabels'](_0x5a6ede){this['showLabels']=_0x5a6ede,_0x5a6ede&&(this['linkAxesHelpers']['forEach']((_0x4788ae,_0x42ccbf)=>{if(!this['axesLabels']['has'](_0x42ccbf)){const _0x48eb2b=this['getAxesDisplaySize'](_0x4788ae);this['createAxisLabel'](_0x42ccbf,_0x4788ae,_0x48eb2b,!0x0);}}),this['jointAxesHelpers']['forEach']((_0x16bad7,_0x57c9df)=>{if(!this['jointAxesLabels']['has'](_0x57c9df)){const _0x269f23=this['getAxesDisplaySize'](_0x16bad7['mesh']);this['createAxisLabel'](_0x57c9df,_0x16bad7['mesh'],_0x269f23,!0x1);}})),this['axesLabels']['forEach']((_0x2b0081,_0x4aaefb)=>{const _0x26846d=this['linkAxesHelpers']['get'](_0x4aaefb);_0x2b0081['visible']=_0x5a6ede&&_0x26846d&&_0x26846d['visible'];}),this['jointAxesLabels']['forEach']((_0xfba3ca,_0xe25417)=>{const _0x3e30d6=this['jointAxesHelpers']['get'](_0xe25417);_0xfba3ca['visible']=_0x5a6ede&&_0x3e30d6&&_0x3e30d6['isAttached'];}),this['sceneManager']['redraw']();}['getAxesDisplaySize'](_0x441de3){let _0x58bb72=0x0;return _0x441de3['traverse'](_0x50f5a0=>{_0x50f5a0['isCSS2DObject']||(_0x58bb72=Math['max'](_0x58bb72,Math['abs'](_0x50f5a0['position']['x']),Math['abs'](_0x50f5a0['position']['y']),Math['abs'](_0x50f5a0['position']['z'])));}),Math['max'](0x2*_0x58bb72,0.03*this['axesScale']);}['createAxisLabel'](_0xb8dfdc,_0x33d7fa,_0x318504,_0x47a8da){var _0x3035cc;const _0x387fa3=_0x47a8da?this['axesLabels']['get'](_0xb8dfdc):this['jointAxesLabels']['get'](_0xb8dfdc);if(_0x387fa3){_0x387fa3['parent']!==_0x33d7fa&&(null==(_0x3035cc=_0x387fa3['parent'])||_0x3035cc['remove'](_0x387fa3),_0x33d7fa['add'](_0x387fa3));const _0x4d1c61=Math['max'](0xa,Math['min'](0x10,0xc*this['axesScale']));_0x387fa3['element']['style']['fontSize']=_0x4d1c61+'px',_0x387fa3['element']['style']['whiteSpace']='nowrap';}const _0x487a31=document['createElement']('div');_0x487a31['className']='axis-label',_0x487a31['textContent']=_0xb8dfdc;const _0x5d6ed6=Math['max'](0xa,Math['min'](0x10,0xc*this['axesScale']));_0x487a31['style']['fontSize']=_0x5d6ed6+'px',_0x487a31['style']['whiteSpace']='nowrap';const _0x211348=new Fe(_0x487a31);return _0x211348['position']['set'](1.15*_0x318504,0x0,0x0),_0x211348['visible']=this['showLabels'],_0x33d7fa['add'](_0x211348),_0x47a8da?this['axesLabels']['set'](_0xb8dfdc,_0x211348):this['jointAxesLabels']['set'](_0xb8dfdc,_0x211348),_0x211348;}['clearAllLabels'](){this['axesLabels']['forEach']((_0x10afb4,_0x2def63)=>{const _0x4ff5ee=this['linkAxesHelpers']['get'](_0x2def63);_0x4ff5ee&&_0x4ff5ee['remove'](_0x10afb4);}),this['axesLabels']['clear'](),this['jointAxesLabels']['forEach']((_0x346575,_0xec8f86)=>{const _0x446eaa=this['jointAxesHelpers']['get'](_0xec8f86);_0x446eaa&&_0x446eaa['mesh']&&_0x446eaa['mesh']['remove'](_0x346575);}),this['jointAxesLabels']['clear']();}['getLinkNames'](){return Array['from'](this['linkAxesHelpers']['keys']());}['getJointNames'](){return Array['from'](this['jointAxesHelpers']['keys']());}['isLinkAxisVisible'](_0x33061c){const _0x40891f=this['linkAxesHelpers']['get'](_0x33061c);return!!_0x40891f&&_0x40891f['visible'];}['isJointAxisVisible'](_0x48a16f){const _0x267422=this['jointAxesHelpers']['get'](_0x48a16f);return!!_0x267422&&_0x267422['userVisible'];}}class Fi{constructor(_0x2257f6){this['sceneManager']=_0x2257f6,this['currentHighlightedLink']=null,this['highlightMaterial']=new _0xa4876a({'shininess':0xa,'color':0xffffff,'emissive':0xffffff,'emissiveIntensity':0.25});}['highlightLink'](_0x5b0b9e,_0x54859e){_0x5b0b9e&&(this['currentHighlightedLink']&&this['currentHighlightedLink']['name']===_0x5b0b9e['name']||(this['currentHighlightedLink']&&this['unhighlightLink'](this['currentHighlightedLink'],_0x54859e),this['currentHighlightedLink']=_0x5b0b9e,_0x5b0b9e['threeObject']&&this['highlightLinkGeometry'](_0x5b0b9e['threeObject'],_0x54859e),this['showHoverInfo'](_0x5b0b9e,_0x54859e),this['sceneManager']['redraw']()));}['unhighlightLink'](_0xae0ef3,_0x5b3c98){_0xae0ef3&&(this['currentHighlightedLink']&&this['currentHighlightedLink']['name']===_0xae0ef3['name']&&(this['currentHighlightedLink']=null),_0xae0ef3['threeObject']&&this['unhighlightLinkGeometry'](_0xae0ef3['threeObject'],_0x5b3c98),this['hideHoverInfo'](),this['sceneManager']['redraw']());}['highlightLinkGeometry'](_0x22e7b9,_0x1cfe8a){const _0x4e91b0=(_0x3363e2,_0x367e79=!0x1)=>{var _0x204d83,_0x3ddf73,_0x50ce14,_0x5875e0,_0x39f947;if(_0x367e79||'URDFLink'!==_0x3363e2['type']&&!_0x3363e2['isURDFLink']){if(_0x3363e2['isURDFJoint']||'URDFJoint'===_0x3363e2['type']){const _0x5dccce=_0x3363e2['name'];let _0x3d9d8f=!0x1;if(_0x5dccce&&(null==_0x1cfe8a?void 0x0:_0x1cfe8a['joints'])&&_0x1cfe8a['joints']['has'](_0x5dccce)){_0x3d9d8f='fixed'===_0x1cfe8a['joints']['get'](_0x5dccce)['type'];}if(_0x3d9d8f){for(const _0xee9f0e of _0x3363e2['children'])_0x4e91b0(_0xee9f0e,!0x1);return;}return;}if('Mesh'===_0x3363e2['type']||_0x3363e2['isMesh']){if(_0x3363e2['isURDFCollider'])return;_0x3363e2['__origMaterial']||(_0x3363e2['__origMaterial']=_0x3363e2['material']);const _0x6d8b5c=null==(_0x204d83=_0x3363e2['userData'])?void 0x0:_0x204d83['isInertiaBox'],_0x5193c3=(null==(_0x3ddf73=_0x3363e2['userData'])?void 0x0:_0x3ddf73['isCollision'])||(null==(_0x50ce14=_0x3363e2['userData'])?void 0x0:_0x50ce14['isCollisionGeom']),_0x497b4b=(null==(_0x5875e0=_0x3363e2['userData'])?void 0x0:_0x5875e0['isCenterOfMass'])||_0x3363e2['parent']&&(null==(_0x39f947=_0x3363e2['parent']['userData'])?void 0x0:_0x39f947['isCenterOfMass']);if(_0x6d8b5c||_0x5193c3){const _0x474259=_0x3363e2['__origMaterial'];_0x474259['isMeshPhongMaterial']&&(_0x3363e2['material']=new _0xa4876a({'transparent':!0x0,'opacity':Math['min']((_0x474259['opacity']||0.35)+0.15,0.7),'shininess':_0x474259['shininess'],'premultipliedAlpha':_0x474259['premultipliedAlpha'],'color':_0x474259['color']['clone'](),'emissive':_0x474259['color']['clone'](),'emissiveIntensity':0.2,'polygonOffset':_0x474259['polygonOffset'],'polygonOffsetFactor':_0x474259['polygonOffsetFactor'],'polygonOffsetUnits':_0x474259['polygonOffsetUnits']}));}else if(_0x497b4b){const _0x5a2bf2=_0x3363e2['__origMaterial'];if(_0x5a2bf2['isMeshBasicMaterial']){_0x3363e2['material']=new _0x2b5e49({'color':_0x5a2bf2['color']['clone'](),'side':_0x5a2bf2['side'],'depthTest':_0x5a2bf2['depthTest'],'depthWrite':_0x5a2bf2['depthWrite']});const _0x420605={};_0x3363e2['material']['color']['getHSL'](_0x420605),_0x3363e2['material']['color']['setHSL'](_0x420605['h'],_0x420605['s'],Math['min'](_0x420605['l']+0.3,0x1));}}else _0x3363e2['material']=this['highlightMaterial'];}for(const _0x5f2764 of _0x3363e2['children'])_0x4e91b0(_0x5f2764,!0x1);}};_0x4e91b0(_0x22e7b9,!0x0);}['unhighlightLinkGeometry'](_0x17f5c6,_0x5a68b7){const _0x2d1fc2=(_0x3f41ad,_0x3c85c7=!0x1)=>{if(_0x3c85c7||'URDFLink'!==_0x3f41ad['type']&&!_0x3f41ad['isURDFLink']){if(_0x3f41ad['isURDFJoint']||'URDFJoint'===_0x3f41ad['type']){const _0x25a116=_0x3f41ad['name'];let _0x562298=!0x1;if(_0x25a116&&(null==_0x5a68b7?void 0x0:_0x5a68b7['joints'])&&_0x5a68b7['joints']['has'](_0x25a116)){_0x562298='fixed'===_0x5a68b7['joints']['get'](_0x25a116)['type'];}if(_0x562298){for(const _0x112d86 of _0x3f41ad['children'])_0x2d1fc2(_0x112d86,!0x1);return;}return;}('Mesh'===_0x3f41ad['type']||_0x3f41ad['isMesh'])&&_0x3f41ad['__origMaterial']&&(_0x3f41ad['material']=_0x3f41ad['__origMaterial'],delete _0x3f41ad['__origMaterial']);for(const _0x3deeb1 of _0x3f41ad['children'])_0x2d1fc2(_0x3deeb1,!0x1);}};_0x2d1fc2(_0x17f5c6,!0x0);}['isAuxiliaryVisualization'](_0x1f43f3){var _0x55edd2,_0x916258,_0x3e2133,_0x3a674d;return!!(null==(_0x55edd2=_0x1f43f3['userData'])?void 0x0:_0x55edd2['isInertiaBox'])||(!!(null==(_0x916258=_0x1f43f3['userData'])?void 0x0:_0x916258['isCOMMarker'])||(!!(null==(_0x3e2133=_0x1f43f3['userData'])?void 0x0:_0x3e2133['isCenterOfMass'])||!!(null==(_0x3a674d=_0x1f43f3['userData'])?void 0x0:_0x3a674d['isCollision'])));}['showHoverInfo'](_0x13295a,_0x1ae4b3){const _0x11908e=document['getElementById']('hover-info'),_0x38588a=document['getElementById']('hover-joint-name'),_0x18a268=document['getElementById']('hover-link-name'),_0xcba12e=document['getElementById']('hover-link-mass'),_0x58bd2=document['getElementById']('hover-link-pose');if(!(_0x11908e&&_0x38588a&&_0x18a268&&_0xcba12e&&_0x58bd2))return;_0x18a268['textContent']='Link:\x20'+(_0x13295a['name']||'Unknown');let _0x1eb0a9='None\x20(Base\x20Link)',_0x354e26='',_0x5a5d5f=_0x13295a['threeObject'];for(;_0x5a5d5f;){const _0x56dc6e=_0x5a5d5f['parent'];if(_0x56dc6e&&('URDFJoint'===_0x56dc6e['type']||_0x56dc6e['isURDFJoint'])){const _0x55e874=_0x56dc6e['name'];if(_0x55e874&&(null==_0x1ae4b3?void 0x0:_0x1ae4b3['joints'])&&_0x1ae4b3['joints']['has'](_0x55e874)){const _0x351319=_0x1ae4b3['joints']['get'](_0x55e874);if('fixed'!==_0x351319['type']){_0x1eb0a9=_0x55e874,_0x354e26=_0x351319['type'];break;}const _0x3c54c8=_0x56dc6e['parent'];if(_0x3c54c8&&('URDFLink'===_0x3c54c8['type']||_0x3c54c8['isURDFLink'])){_0x5a5d5f=_0x3c54c8;continue;}}}break;}_0x38588a['textContent']=_0x354e26?'Joint:\x20'+_0x1eb0a9+'\x20('+_0x354e26+')':'Joint:\x20'+_0x1eb0a9;let _0x3a4cc7=0x0,_0x366d15=!0x1,_0x57bee4=[];const _0xee1fb8=(_0x1cd869,_0x305a51=!0x0)=>{const _0xf41e93=_0x1cd869['name'];if(_0xf41e93&&(null==_0x1ae4b3?void 0x0:_0x1ae4b3['links'])&&_0x1ae4b3['links']['has'](_0xf41e93)){const _0x585921=_0x1ae4b3['links']['get'](_0xf41e93);_0x305a51||_0x57bee4['push'](_0xf41e93),_0x585921['inertial']&&void 0x0!==_0x585921['inertial']['mass']&&_0x585921['inertial']['mass']>0x0&&(_0x3a4cc7+=_0x585921['inertial']['mass'],_0x366d15=!0x0);}for(const _0x185a67 of _0x1cd869['children'])if(_0x185a67['isURDFJoint']||'URDFJoint'===_0x185a67['type']){const _0x42abe3=_0x185a67['name'];if(_0x42abe3&&(null==_0x1ae4b3?void 0x0:_0x1ae4b3['joints'])&&_0x1ae4b3['joints']['has'](_0x42abe3)){if('fixed'===_0x1ae4b3['joints']['get'](_0x42abe3)['type'])for(const _0x12fd34 of _0x185a67['children'])('URDFLink'===_0x12fd34['type']||_0x12fd34['isURDFLink'])&&_0xee1fb8(_0x12fd34,!0x1);}}};_0xee1fb8(_0x13295a['threeObject'],!0x0),_0xcba12e['textContent']=_0x366d15?'Mass:\x20'+_0x3a4cc7['toFixed'](0x4)+'\x20kg':'Mass:\x20N/A';const _0x46e0b6=document['getElementById']('hover-merged-links');if(_0x46e0b6&&(_0x57bee4['length']>0x0?(_0x46e0b6['textContent']='Includes:\x20'+_0x57bee4['join'](',\x20'),_0x46e0b6['style']['display']='block'):_0x46e0b6['style']['display']='none'),_0x58bd2&&_0x13295a['threeObject']){const _0x3fab3b=new _0x220444(),_0x3f8290=new _0x3c39ce(),_0x192bdf=new _0x416b03();_0x13295a['threeObject']['getWorldPosition'](_0x3fab3b),_0x13295a['threeObject']['getWorldQuaternion'](_0x3f8290),_0x192bdf['setFromQuaternion'](_0x3f8290,'XYZ');const _0x240a46=0x4,_0x59bc58=_0x3f8290['x']['toFixed'](_0x240a46),_0x384b6e=_0x3f8290['y']['toFixed'](_0x240a46),_0x48f290=_0x3f8290['z']['toFixed'](_0x240a46),_0x98966c=_0x3f8290['w']['toFixed'](_0x240a46),_0x347a69=_0x192bdf['x']['toFixed'](_0x240a46),_0x4c3da0=_0x192bdf['y']['toFixed'](_0x240a46),_0x16647b=_0x192bdf['z']['toFixed'](_0x240a46),_0x3a59e3=_0x2be885['radToDeg'](_0x192bdf['x'])['toFixed'](_0x240a46),_0x334457=_0x2be885['radToDeg'](_0x192bdf['y'])['toFixed'](_0x240a46),_0x14b014=_0x2be885['radToDeg'](_0x192bdf['z'])['toFixed'](_0x240a46),_0x5ea530='Position\x20(world):\x0a-\x20x\x20=\x20'+_0x3fab3b['x']['toFixed'](_0x240a46)+'\x20m-\x20y\x20=\x20'+_0x3fab3b['y']['toFixed'](_0x240a46)+'\x20m-\x20z\x20=\x20'+_0x3fab3b['z']['toFixed'](_0x240a46)+'\x20m\x0a',_0x4fe96e='Orientation\x20(world):\x0a-\x20Quat:\x20x='+_0x59bc58+'\x20y='+_0x384b6e+'\x20z='+_0x48f290+'\x20w='+_0x98966c+'\x0a-\x20RPY\x20(rad):\x20r='+_0x347a69+'\x20p='+_0x4c3da0+'\x20y='+_0x16647b+'\x0a-\x20RPY\x20(deg):\x20r='+_0x3a59e3+'\x20p='+_0x334457+'\x20y='+_0x14b014+'\x0a';_0x58bd2['textContent']=_0x5ea530+_0x4fe96e,_0x58bd2['style']['display']='block';}else _0x58bd2&&(_0x58bd2['textContent']='Link\x20pose:\x20N/A',_0x58bd2['style']['display']='block');_0x11908e['classList']['add']('visible');}['hideHoverInfo'](){const _0x208d41=document['getElementById']('hover-info');_0x208d41&&_0x208d41['classList']['remove']('visible');}['clearHighlight'](){this['currentHighlightedLink']&&this['unhighlightLink'](this['currentHighlightedLink'],this['sceneManager']['currentModel']);}}class Di{constructor(_0x4f2b79){this['sceneManager']=_0x4f2b79,this['measurementHelper']=null;}['showMeasurement'](_0x2b3f85,_0x3f0b8a,_0x2b90c9,_0x2a8d1c,_0x183859,_0x250a68,_0x567ae4=!0x1){this['clearMeasurement']();const _0x4f29c2=new _0x135d71();_0x4f29c2['name']='measurementHelper';if(_0x567ae4){const _0x51c851=Math['abs'](_0x2b90c9['y']),_0x3cb7d0=new _0x116076()['setFromPoints']([_0x2b3f85,_0x3f0b8a]),_0x5f1967=new _0x3b6936({'color':0xff00,'linewidth':0x3,'depthTest':!0x1}),_0x4a8635=new _0x5b83e2(_0x3cb7d0,_0x5f1967);_0x4a8635['renderOrder']=0x3e7,_0x4f29c2['add'](_0x4a8635);const _0x5ddd74=new _0x220444()['addVectors'](_0x2b3f85,_0x3f0b8a)['multiplyScalar'](0.5),_0x55db9a=this['createLabel']('Δh\x20'+(0x3e8*_0x51c851)['toFixed'](0x1)+'mm',_0x5ddd74,'#00ff00');_0x4f29c2['add'](_0x55db9a);}else{const _0x4fd1d8=new _0x116076()['setFromPoints']([_0x2b3f85,_0x3f0b8a]),_0x2d3e6d=new _0x3164b6({'color':0xffff00,'dashSize':0.01,'gapSize':0.005,'linewidth':0x2,'depthTest':!0x1}),_0x1ffe21=new _0x5b83e2(_0x4fd1d8,_0x2d3e6d);_0x1ffe21['computeLineDistances'](),_0x1ffe21['renderOrder']=0x3e7,_0x4f29c2['add'](_0x1ffe21);const _0x456d92=new _0x220444()['addVectors'](_0x2b3f85,_0x3f0b8a)['multiplyScalar'](0.5),_0x14a5b6=this['createLabel']((0x3e8*_0x2a8d1c)['toFixed'](0x1)+'mm',_0x456d92,'#ffff00');if(_0x4f29c2['add'](_0x14a5b6),Math['abs'](_0x2b90c9['x'])>0.001){const _0x444342=new _0x220444(_0x2b3f85['x'],_0x2b3f85['y'],_0x2b3f85['z']),_0x4b0f33=new _0x220444(_0x3f0b8a['x'],_0x2b3f85['y'],_0x2b3f85['z']),_0x51d407=[_0x444342,_0x4b0f33],_0x28573e=new _0x116076()['setFromPoints'](_0x51d407),_0x3565f7=new _0x3b6936({'color':0xff0000,'linewidth':0x2,'depthTest':!0x1}),_0x37d7cc=new _0x5b83e2(_0x28573e,_0x3565f7);_0x37d7cc['renderOrder']=0x3e7,_0x4f29c2['add'](_0x37d7cc);const _0x2d9422=new _0x220444()['addVectors'](_0x444342,_0x4b0f33)['multiplyScalar'](0.5),_0x4d424f=this['createLabel']('ΔX\x20'+(0x3e8*_0x2b90c9['x'])['toFixed'](0x1)+'mm',_0x2d9422,'#ff0000');_0x4f29c2['add'](_0x4d424f);}if(Math['abs'](_0x2b90c9['y'])>0.001){const _0x24cf82=new _0x220444(_0x3f0b8a['x'],_0x2b3f85['y'],_0x2b3f85['z']),_0xfc37cd=new _0x220444(_0x3f0b8a['x'],_0x3f0b8a['y'],_0x2b3f85['z']),_0x17b0ed=[_0x24cf82,_0xfc37cd],_0x33dc8c=new _0x116076()['setFromPoints'](_0x17b0ed),_0x4137ba=new _0x3b6936({'color':0xff00,'linewidth':0x2,'depthTest':!0x1}),_0x15af25=new _0x5b83e2(_0x33dc8c,_0x4137ba);_0x15af25['renderOrder']=0x3e7,_0x4f29c2['add'](_0x15af25);const _0x3b3147=new _0x220444()['addVectors'](_0x24cf82,_0xfc37cd)['multiplyScalar'](0.5),_0x1583ea=this['createLabel']('ΔY\x20'+(0x3e8*_0x2b90c9['y'])['toFixed'](0x1)+'mm',_0x3b3147,'#00ff00');_0x4f29c2['add'](_0x1583ea);}if(Math['abs'](_0x2b90c9['z'])>0.001){const _0x10fa99=new _0x220444(_0x3f0b8a['x'],_0x3f0b8a['y'],_0x2b3f85['z']),_0x477142=new _0x220444(_0x3f0b8a['x'],_0x3f0b8a['y'],_0x3f0b8a['z']),_0x13c421=[_0x10fa99,_0x477142],_0x5e9986=new _0x116076()['setFromPoints'](_0x13c421),_0x5e1345=new _0x3b6936({'color':0xff,'linewidth':0x2,'depthTest':!0x1}),_0x3eb0d7=new _0x5b83e2(_0x5e9986,_0x5e1345);_0x3eb0d7['renderOrder']=0x3e7,_0x4f29c2['add'](_0x3eb0d7);const _0x396bb3=new _0x220444()['addVectors'](_0x10fa99,_0x477142)['multiplyScalar'](0.5),_0x12a0c0=this['createLabel']('ΔZ\x20'+(0x3e8*_0x2b90c9['z'])['toFixed'](0x1)+'mm',_0x396bb3,'#0000ff');_0x4f29c2['add'](_0x12a0c0);}}const _0x1bf942=new _0x2e733b(0.01,0x10,0x10),_0xfbca56=new _0x2b5e49({'color':0xffff00,'depthTest':!0x1}),_0x18281e=new _0x2c4c6c(_0x1bf942,_0xfbca56);_0x18281e['position']['copy'](_0x2b3f85),_0x18281e['renderOrder']=0x3e8,_0x4f29c2['add'](_0x18281e);const _0x27be1c=new _0x2c4c6c(_0x1bf942,_0xfbca56);_0x27be1c['position']['copy'](_0x3f0b8a),_0x27be1c['renderOrder']=0x3e8,_0x4f29c2['add'](_0x27be1c),this['sceneManager']['scene']['add'](_0x4f29c2),this['measurementHelper']=_0x4f29c2,this['sceneManager']['redraw']();}['createLabel'](_0x48779b,_0x2194c4,_0x56c0b3){const _0x42fd2f=document['createElement']('canvas'),_0x348734=_0x42fd2f['getContext']('2d');_0x42fd2f['width']=0x100,_0x42fd2f['height']=0x40,_0x348734['clearRect'](0x0,0x0,_0x42fd2f['width'],_0x42fd2f['height']),_0x348734['font']='Bold\x2032px\x20Arial',_0x348734['textAlign']='center',_0x348734['textBaseline']='middle',_0x348734['strokeStyle']='rgba(0,\x200,\x200,\x200.8)',_0x348734['lineWidth']=0x4,_0x348734['strokeText'](_0x48779b,0x80,0x20),_0x348734['fillStyle']=_0x56c0b3,_0x348734['fillText'](_0x48779b,0x80,0x20);const _0x554a1b=new _0x413a58(_0x42fd2f),_0x3f49f1=new _0x30f8a7({'map':_0x554a1b,'depthTest':!0x1,'depthWrite':!0x1,'transparent':!0x0}),_0x3e95b2=new _0x90fba4(_0x3f49f1);return _0x3e95b2['position']['copy'](_0x2194c4),_0x3e95b2['scale']['set'](0.18,0.045,0x1),_0x3e95b2['renderOrder']=0x3e8,_0x3e95b2;}['clearMeasurement'](){this['measurementHelper']&&(this['sceneManager']['scene']['remove'](this['measurementHelper']),this['measurementHelper']=null,this['sceneManager']['redraw']());}['clear'](){this['clearMeasurement']();}}class Pi{constructor(_0x21d9cd){this['canvas']=_0x21d9cd,this['scene']=new _0x2eec37(),this['_dirty']=!0x1,this['_pendingRender']=!0x1,this['_renderingPaused']=!0x1,this['_eventListeners']={};const _0x3c076c=_0x21d9cd['clientWidth'],_0x12c978=_0x21d9cd['clientHeight'];this['camera']=new _0x555d82(0x4b,_0x3c076c/_0x12c978,0.1,0x3e8),this['camera']['position']['set'](0x2,0x2,0x2),this['camera']['lookAt'](0x0,0x0,0x0),this['renderer']=new _0x563f99({'canvas':_0x21d9cd,'antialias':!0x0}),this['renderer']['setSize'](_0x3c076c,_0x12c978),this['renderer']['setPixelRatio'](window['devicePixelRatio']),this['renderer']['shadowMap']['enabled']=!0x0,this['renderer']['shadowMap']['type']=_0x2c8869,this['labelRenderer']=new Ne(),this['labelRenderer']['setSize'](_0x3c076c,_0x12c978),this['labelRenderer']['domElement']['style']['position']='absolute',this['labelRenderer']['domElement']['style']['top']='0',this['labelRenderer']['domElement']['style']['pointerEvents']='none',this['labelRenderer']['domElement']['style']['zIndex']='1',_0x21d9cd['parentElement']['appendChild'](this['labelRenderer']['domElement']),this['controls']=new Oe(this['camera'],_0x21d9cd),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']=_0xbfc824['ROTATE'],this['controls']['mouseButtons']['MIDDLE']=_0xbfc824['DOLLY'],this['controls']['mouseButtons']['RIGHT']=_0xbfc824['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 _0x530c5d=()=>{this['_dirty']&&!this['_contextLost']&&(this['renderer']['render'](this['scene'],this['camera']),this['labelRenderer']['render'](this['scene'],this['camera']),this['_dirty']=!0x1),this['_renderLoopId']=requestAnimationFrame(_0x530c5d);};_0x530c5d();}['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']=_0x3da8e7=>{_0x3da8e7['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(_0x3dd83f){}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 _0x2a7738=(_0xadb257,_0x357f7c)=>window['i18n']&&'function'==typeof window['i18n']['t']&&window['i18n']['t'](_0xadb257)!==_0xadb257?window['i18n']['t'](_0xadb257):_0x357f7c,_0x1e8c85=document['createElement']('div');_0x1e8c85['id']='webgl-context-lost-overlay',_0x1e8c85['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 _0x9115cf=document['createElement']('div');_0x9115cf['style']['cssText']='font-size:\x2016px;\x20font-weight:\x20600;',_0x9115cf['textContent']=_0x2a7738('webglContextLostTitle','3D\x20渲染已暂停');const _0x460d72=document['createElement']('div');_0x460d72['style']['cssText']='max-width:\x20420px;\x20opacity:\x200.85;',_0x460d72['textContent']=_0x2a7738('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。'),_0x1e8c85['appendChild'](_0x9115cf),_0x1e8c85['appendChild'](_0x460d72),(this['canvas']['parentElement']||document['body'])['appendChild'](_0x1e8c85),this['_contextLostOverlay']=_0x1e8c85;}['_hideContextLostOverlay'](){var _0x1df188;(null==(_0x1df188=this['_contextLostOverlay'])?void 0x0:_0x1df188['parentNode'])&&this['_contextLostOverlay']['parentNode']['removeChild'](this['_contextLostOverlay']),this['_contextLostOverlay']=null;}['hasPendingRender'](){return 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'](_0x4cdc5c){if(this['currentModel']&&this['currentModel']['threeObject']&&this['removeModel'](this['currentModel']),this['currentModel']=_0x4cdc5c,!_0x4cdc5c['threeObject'])return;const _0x5944a2=!_0x4cdc5c['joints']||0x0===_0x4cdc5c['joints']['size'];if(_0x5944a2)this['scene']['add'](_0x4cdc5c['threeObject']);else{this['world']||(this['world']=new _0x5a57be(),this['scene']['add'](this['world']),this['world']['rotation']['set'](-Math['PI']/0x2,0x0,0x0));const _0x54cc4a=document['getElementById']('up-select');if(_0x54cc4a&&this['setUp'](_0x54cc4a['value']||'+Z'),this['baseOrientationGroup']||(this['baseOrientationGroup']=new _0x135d71(),this['baseOrientationGroup']['name']='baseOrientationGroup'),this['baseOrientationGroup']['parent']!==this['world']&&this['world']['add'](this['baseOrientationGroup']),this['baseOrientationGroup']['add'](_0x4cdc5c['threeObject']),!this['worldAxes']){const _0x8b72a1=new _0x135d71();_0x8b72a1['name']='worldAxes',_0x8b72a1['visible']=!0x1;const _0x2558e9=1.5,_0x333cbb=0.02,_0xa8da40=new _0x181a2b(_0x333cbb,_0x333cbb,_0x2558e9,0x8),_0x10d63c=new _0x2b5e49({'color':0xff0000}),_0x18f375=new _0x2c4c6c(_0xa8da40,_0x10d63c);_0x18f375['position']['x']=_0x2558e9/0x2,_0x18f375['rotation']['z']=-Math['PI']/0x2,_0x8b72a1['add'](_0x18f375);const _0x389114=new _0x2b5e49({'color':0xff00}),_0x45cee2=new _0x2c4c6c(_0xa8da40,_0x389114);_0x45cee2['position']['y']=_0x2558e9/0x2,_0x8b72a1['add'](_0x45cee2);const _0x373e94=new _0x2b5e49({'color':0xff}),_0x57159a=new _0x2c4c6c(_0xa8da40,_0x373e94);_0x57159a['position']['z']=_0x2558e9/0x2,_0x57159a['rotation']['x']=Math['PI']/0x2,_0x8b72a1['add'](_0x57159a),_0x8b72a1['renderOrder']=0x3e7,_0x8b72a1['traverse'](_0x1f4cce=>{_0x1f4cce['material']&&(_0x1f4cce['material']['depthTest']=!0x1,_0x1f4cce['material']['depthWrite']=!0x1);}),this['worldAxes']=_0x8b72a1,this['world']['add'](this['worldAxes']);}}this['visualizationManager']['extractVisualAndCollision'](_0x4cdc5c);let _0x24eadc=0x1;try{if(_0x4cdc5c['threeObject']){const _0x237823=this['computeRobustBoundingBox'](_0x4cdc5c['threeObject']);if(!_0x237823['isEmpty']()){const _0x1bf62e=_0x237823['getSize'](new _0x220444());_0x24eadc=Math['max'](_0x1bf62e['x'],_0x1bf62e['y'],_0x1bf62e['z']);}}}catch(_0x332ba8){}this['axesManager']['clearAllLinkAxes'](),this['axesManager']['modelSize']=_0x24eadc,_0x4cdc5c['links']&&_0x4cdc5c['links']['forEach']((_0x3122ec,_0x2dcb38)=>{this['axesManager']['createLinkAxes'](_0x3122ec,_0x2dcb38,_0x24eadc);}),this['axesManager']['clearAllJointAxes'](),_0x4cdc5c['joints']&&_0x4cdc5c['joints']['forEach']((_0x5eedfc,_0x511ced)=>{this['axesManager']['createJointAxis'](_0x5eedfc,_0x511ced);}),this['inertialVisualization']['extractInertialProperties'](_0x4cdc5c),this['constraintManager']['visualizeConstraints'](_0x4cdc5c,this['world']),_0x4cdc5c['constraints']&&_0x4cdc5c['constraints']['size']>0x0&&this['constraintManager']['applyConstraints'](_0x4cdc5c,null),this['initDragControls'](_0x4cdc5c),this['updateEnvironment'](!0x1,!0x0),_0x5944a2?requestAnimationFrame(()=>{requestAnimationFrame(()=>{this['updateEnvironment'](!0x0,!0x0),this['emit']('modelReady',_0x4cdc5c);});}):(setTimeout(()=>{this['visualizationManager']['extractVisualAndCollision'](_0x4cdc5c);},0x64),setTimeout(()=>{this['visualizationManager']['extractVisualAndCollision'](_0x4cdc5c),this['updateEnvironment'](!0x0,!0x0),this['emit']('modelReady',_0x4cdc5c);},0x3e8),setTimeout(()=>{this['visualizationManager']['extractVisualAndCollision'](_0x4cdc5c),this['updateEnvironment'](!0x1,!0x0);},0x9c4));}['removeModel'](_0xf32be5){_0xf32be5&&_0xf32be5['threeObject']&&_0xf32be5['threeObject']['parent']&&_0xf32be5['threeObject']['parent']['remove'](_0xf32be5['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'](_0x36edfa,_0x3af11b,_0xb1fe95={'x':0x0,'y':0x0,'z':0x0},_0x6dc481=null,_0x559c69=null){}['removeAuxiliaryModel'](_0x272640){}['getAuxiliaryModel'](_0x230a1d){return null;}['setAuxiliaryModelVisibility'](_0x2c6bf6,_0x24dd29){const _0xe4fa43=this['auxiliaryModels']['get'](_0x2c6bf6);_0xe4fa43&&_0xe4fa43['wrapper']&&(_0xe4fa43['wrapper']['visible']=_0x24dd29,this['redraw']());}['computeRobustBoundingBox'](_0x21016f){const _0x811f52=[];_0x21016f['updateMatrixWorld'](!0x0);const _0x4a67ee=_0x59d684=>{if(!_0x59d684['userData']||!_0x59d684['userData']['excludeFromBBox']){if(_0x59d684['isMesh']&&_0x59d684['geometry']){const _0x567727=new _0x2e400f()['setFromObject'](_0x59d684);if(!_0x567727['isEmpty']()){const _0x2dac00=_0x567727['getCenter'](new _0x220444());Number['isFinite'](_0x2dac00['x'])&&Number['isFinite'](_0x2dac00['y'])&&Number['isFinite'](_0x2dac00['z'])&&_0x811f52['push']({'box':_0x567727,'center':_0x2dac00});}}for(let _0x3e6e7b=0x0;_0x3e6e7b<_0x59d684['children']['length'];_0x3e6e7b++)_0x4a67ee(_0x59d684['children'][_0x3e6e7b]);}};_0x4a67ee(_0x21016f);const _0x4bf1ab=new _0x2e400f();if(0x0===_0x811f52['length'])return _0x4bf1ab;if(_0x811f52['length']<=0x2)return _0x811f52['forEach'](_0x5af481=>_0x4bf1ab['union'](_0x5af481['box'])),_0x4bf1ab;const _0x130077=_0x3b29fc=>{const _0x4d3557=[..._0x3b29fc]['sort']((_0x31ca69,_0x1ae600)=>_0x31ca69-_0x1ae600),_0x4f0a24=Math['floor'](_0x4d3557['length']/0x2);return _0x4d3557['length']%0x2?_0x4d3557[_0x4f0a24]:(_0x4d3557[_0x4f0a24-0x1]+_0x4d3557[_0x4f0a24])/0x2;},_0x32e970=new _0x220444(_0x130077(_0x811f52['map'](_0xe1514c=>_0xe1514c['center']['x'])),_0x130077(_0x811f52['map'](_0x554051=>_0x554051['center']['y'])),_0x130077(_0x811f52['map'](_0x343301=>_0x343301['center']['z']))),_0x4295af=_0x811f52['map'](_0x2f3231=>_0x2f3231['center']['distanceTo'](_0x32e970)),_0x11c099=_0x130077(_0x4295af),_0x10bc79=_0x130077(_0x4295af['map'](_0x579472=>Math['abs'](_0x579472-_0x11c099))),_0x5913cc=Math['max'](_0x11c099+0xa*(_0x10bc79>0.000001?_0x10bc79:Math['max'](_0x11c099,0.5)),0x1);let _0x5ae935=0x0;return _0x811f52['forEach']((_0x5bc851,_0x482224)=>{_0x4295af[_0x482224]<=_0x5913cc&&(_0x4bf1ab['union'](_0x5bc851['box']),_0x5ae935++);}),0x0===_0x5ae935&&_0x811f52['forEach'](_0xbe9e7=>_0x4bf1ab['union'](_0xbe9e7['box'])),_0x4bf1ab;}['updateEnvironment'](_0x385f08=!0x1,_0x513471=!0x1){const _0x54cbde=this['currentModel'];if(!_0x54cbde||!_0x54cbde['threeObject'])return;this['world']&&this['world']['updateMatrixWorld'](!0x0),_0x54cbde['threeObject']['updateMatrixWorld'](!0x0);const _0x41a16c=this['computeRobustBoundingBox'](_0x54cbde['threeObject']);if(_0x41a16c['isEmpty']())return;const _0x336759=_0x41a16c['getCenter'](new _0x220444()),_0x22e9ee=_0x41a16c['getSize'](new _0x220444()),_0x346cb6=_0x41a16c['min']['y'];let _0x24c173=!0x1;if(this['groundPlane']&&_0x513471){const _0x50980c=_0x346cb6,_0x2b5373=this['groundPlane']['position']['y'];this['groundPlane']['position']['y']=_0x50980c,this['referenceGrid']&&(this['referenceGrid']['position']['y']=_0x50980c,this['referenceGrid']['updateMatrixWorld'](!0x0)),Math['abs'](_0x2b5373-_0x50980c)>0.000001&&(_0x24c173=!0x0);}_0x385f08&&this['fitCameraToModel'](_0x41a16c,_0x336759,_0x22e9ee),_0x24c173&&this['onMeasurementUpdate']&&this['onMeasurementUpdate']();const _0x22e12b=this['directionalLight'];if(_0x22e12b&&_0x22e12b['castShadow']){const _0x484a37=_0x41a16c['getBoundingSphere'](new _0x5bf93c())['radius'],_0x170a4e=_0x22e12b['shadow']['camera'];_0x170a4e['left']=_0x170a4e['bottom']=-_0x484a37,_0x170a4e['right']=_0x170a4e['top']=_0x484a37;const _0x4b591e=_0x22e12b['position']['clone']()['sub'](_0x22e12b['target']['position']);_0x22e12b['target']['position']['copy'](_0x336759),_0x22e12b['position']['copy'](_0x336759)['add'](_0x4b591e),_0x170a4e['updateProjectionMatrix']();}this['redraw']();}['fitCameraToModel'](_0x3b6702,_0x46edf0,_0x88a01f){const _0x452c11=Math['max'](_0x88a01f['x'],_0x88a01f['y'],_0x88a01f['z']);if(_0x452c11<0.001)return;const _0xdab790=this['camera']['fov']*(Math['PI']/0xb4),_0x5e4749=!this['currentModel']||!this['currentModel']['joints']||0x0===this['currentModel']['joints']['size']?2.5:1.8,_0x2515ae=_0x452c11/(0x2*Math['tan'](_0xdab790/0x2))*_0x5e4749,_0x15cb88=0x3*Math['PI']/0x4,_0x5096c9=Math['PI']/0x6,_0x1f13e2=new _0x220444(_0x2515ae*Math['cos'](_0x5096c9)*Math['sin'](_0x15cb88),_0x2515ae*Math['sin'](_0x5096c9),-_0x2515ae*Math['cos'](_0x5096c9)*Math['cos'](_0x15cb88));this['camera']['position']['copy'](_0x46edf0)['add'](_0x1f13e2),this['controls']['target']['copy'](_0x46edf0),this['controls']['update'](),this['camera']['updateProjectionMatrix'](),this['redraw']();}['setUp'](_0xffed83){_0xffed83||(_0xffed83='+Z');const _0x3f1d3d=(_0xffed83=_0xffed83['toUpperCase']())['replace'](/[^-+]/g,'')[0x0]||'+',_0x22ea46=_0xffed83['replace'](/[^XYZ]/gi,'')[0x0]||'Z',_0x31cd7d=Math['PI'],_0x345aa3=_0x31cd7d/0x2;this['world']||(this['world']=new _0x5a57be(),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 _0x135d71(),this['baseOrientationGroup']['name']='baseOrientationGroup'),this['world']['add'](this['baseOrientationGroup']),this['baseOrientationGroup']['add'](this['currentModel']['threeObject']))),'X'===_0x22ea46?this['world']['rotation']['set'](0x0,0x0,'+'===_0x3f1d3d?_0x345aa3:-_0x345aa3):'Z'===_0x22ea46?this['world']['rotation']['set']('+'===_0x3f1d3d?-_0x345aa3:_0x345aa3,0x0,0x0):'Y'===_0x22ea46&&this['world']['rotation']['set']('+'===_0x3f1d3d?0x0:_0x31cd7d,0x0,0x0),this['world']['updateMatrixWorld'](!0x0),this['redraw']();}['setBaseOrientation'](_0x4b7fbb){this['baseOrientationGroup']&&Array['isArray'](_0x4b7fbb)&&0x4===_0x4b7fbb['length']&&(this['baseOrientationGroup']['quaternion']['set'](_0x4b7fbb[0x0],_0x4b7fbb[0x1],_0x4b7fbb[0x2],_0x4b7fbb[0x3]),this['redraw']());}['getBaseOrientation'](){if(!this['baseOrientationGroup'])return[0x0,0x0,0x0,0x1];const _0x336c74=this['baseOrientationGroup']['quaternion'];return[_0x336c74['x'],_0x336c74['y'],_0x336c74['z'],_0x336c74['w']];}['resetBaseOrientation'](){this['baseOrientationGroup']&&(this['baseOrientationGroup']['quaternion']['identity'](),this['redraw']());}['setWorldAxesVisible'](_0x110cb0){this['worldAxes']&&(this['worldAxes']['visible']=_0x110cb0,this['redraw']());}['isWorldAxesVisible'](){return!!this['worldAxes']&&this['worldAxes']['visible'];}['setGroundVisible'](_0xc02be7){this['groundPlane']&&(this['groundPlane']['visible']=_0xc02be7,this['redraw']());}['focusObject'](_0x44a8ef){if(!_0x44a8ef)return;const _0x2a993=new _0x2e400f()['setFromObject'](_0x44a8ef),_0x4dd026=_0x2a993['getCenter'](new _0x220444()),_0x244921=_0x2a993['getSize'](new _0x220444()),_0x5bb04f=Math['max'](_0x244921['x'],_0x244921['y'],_0x244921['z']),_0x3ddff7=this['camera']['fov']*(Math['PI']/0xb4);let _0x4df6fc=1.5*Math['abs'](_0x5bb04f/Math['sin'](_0x3ddff7/0x2));const _0x5eccb6=new _0x220444();this['camera']['getWorldDirection'](_0x5eccb6);const _0x3f8d94=_0x4dd026['clone']()['sub'](_0x5eccb6['multiplyScalar'](_0x4df6fc));this['camera']['position']['copy'](_0x3f8d94),this['controls']['target']['copy'](_0x4dd026),this['controls']['update'](),this['redraw']();}['initDragControls'](_0x13ce45){this['dragControls']&&this['dragControls']['dispose'](),this['dragControls']=new Ze(this['scene'],this['camera'],this['canvas'],_0x13ce45),this['dragControls']['renderer']=this['renderer'],_0x13ce45&&(_0x13ce45['userData']||(_0x13ce45['userData']={}),_0x13ce45['userData']['ignoreLimits']=this['ignoreLimits'],_0x13ce45['threeObject']&&(_0x13ce45['threeObject']['userData']||(_0x13ce45['threeObject']['userData']={}),_0x13ce45['threeObject']['userData']['ignoreLimits']=this['ignoreLimits'])),this['dragControls']['model']=_0x13ce45,this['dragControls']['onUpdateJoint']=(_0x18efbc,_0x1c0f3a)=>{!(this['ignoreLimits']||_0x13ce45&&_0x13ce45['userData']&&_0x13ce45['userData']['ignoreLimits']||this['dragControls']&&this['dragControls']['model']&&this['dragControls']['model']['userData']&&this['dragControls']['model']['userData']['ignoreLimits'])&&_0x18efbc['limits']&&(_0x1c0f3a=Math['max'](_0x18efbc['limits']['lower'],Math['min'](_0x18efbc['limits']['upper'],_0x1c0f3a))),Ei['setJointAngle'](_0x13ce45,_0x18efbc['name'],_0x1c0f3a),_0x18efbc['currentValue']=_0x1c0f3a,this['constraintManager']['applyConstraints'](_0x13ce45,_0x18efbc);const _0x17a156=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x18efbc['name']+'\x22]');if(_0x17a156){_0x17a156['value']=_0x1c0f3a;const _0x352b4c=document['querySelector']('input[data-joint-input=\x22'+_0x18efbc['name']+'\x22]');if(_0x352b4c){const _0x5bf7e0=document['querySelector']('#unit-deg.active')?'deg':'rad';_0x352b4c['value']='deg'===_0x5bf7e0?(0xb4*_0x1c0f3a/Math['PI'])['toFixed'](0x2):_0x1c0f3a['toFixed'](0x2);}}this['redraw'](),this['onMeasurementUpdate']&&this['onMeasurementUpdate']();},this['dragControls']['onHover']=_0xa0708f=>{_0xa0708f&&this['highlightManager']['highlightLink'](_0xa0708f,this['currentModel']);},this['dragControls']['onUnhover']=_0x45381f=>{_0x45381f&&this['highlightManager']['unhighlightLink'](_0x45381f,this['currentModel']);},this['dragControls']['onDragStart']=_0x2b0f55=>{if(this['controls']['enabled']=!0x1,_0x2b0f55&&_0x2b0f55['threeObject']){let _0x4b8f7b=_0x2b0f55['threeObject'];for(;_0x4b8f7b;){const _0x415246=_0x4b8f7b['parent'];if(_0x415246&&('URDFJoint'===_0x415246['type']||_0x415246['isURDFJoint'])){const _0x54917c=_0x415246['name'];if(_0x54917c&&_0x13ce45['joints']&&_0x13ce45['joints']['has'](_0x54917c)){const _0x260e2d=_0x13ce45['joints']['get'](_0x54917c);if('fixed'!==_0x260e2d['type']){this['axesManager']['showOnlyJointAxis'](_0x260e2d);break;}}}_0x4b8f7b=_0x415246;}}},this['dragControls']['onDragEnd']=_0x3ec923=>{this['controls']['enabled']=!0x0,this['axesManager']['restoreAllJointAxes'](),this['updateEnvironment']();};}['setIgnoreLimits'](_0x1e3b9a){this['ignoreLimits']=_0x1e3b9a,this['currentModel']&&(this['currentModel']['userData']||(this['currentModel']['userData']={}),this['currentModel']['userData']['ignoreLimits']=_0x1e3b9a,this['currentModel']['threeObject']&&(this['currentModel']['threeObject']['userData']||(this['currentModel']['threeObject']['userData']={}),this['currentModel']['threeObject']['userData']['ignoreLimits']=_0x1e3b9a)),this['dragControls']&&this['dragControls']['model']&&(this['dragControls']['model']['userData']||(this['dragControls']['model']['userData']={}),this['dragControls']['model']['userData']['ignoreLimits']=_0x1e3b9a,this['dragControls']['model']['threeObject']&&(this['dragControls']['model']['threeObject']['userData']||(this['dragControls']['model']['threeObject']['userData']={}),this['dragControls']['model']['threeObject']['userData']['ignoreLimits']=_0x1e3b9a));}['showMeshCoordinateSystem'](_0x425497){if(!_0x425497)return;this['clearMeshHelper']();let _0x4460a4=null;if(_0x425497['traverse'](_0x2dd629=>{_0x2dd629['isMesh']&&!_0x4460a4&&(_0x4460a4=_0x2dd629);}),!_0x4460a4)return;_0x4460a4['geometry']['computeBoundingBox']();const _0x3a0b92=new _0x2e400f()['setFromObject'](_0x4460a4),_0x11c752=_0x3a0b92['getSize'](new _0x220444()),_0x386351=Math['max'](_0x11c752['x'],_0x11c752['y'],_0x11c752['z']);_0x3a0b92['getCenter'](new _0x220444());const _0x5bab3e=Math['max'](2.5*_0x386351,0.5),_0x3f733e=new _0x135d71();_0x3f733e['name']='meshCoordinateAxes';const _0x5d1fa1=Math['max'](0.02*_0x5bab3e,0.008),_0x3de5cc=new _0x181a2b(_0x5d1fa1,_0x5d1fa1,_0x5bab3e,0x10),_0x26f7cf=new _0xa4876a({'color':0xff0000,'shininess':0x1e,'depthTest':!0x0,'side':_0x3ea7cb}),_0x2c8157=new _0x2c4c6c(_0x3de5cc,_0x26f7cf);_0x2c8157['position']['x']=_0x5bab3e/0x2,_0x2c8157['rotation']['z']=-Math['PI']/0x2,_0x2c8157['castShadow']=!0x1,_0x2c8157['receiveShadow']=!0x1,_0x2c8157['name']='xAxis',_0x3f733e['add'](_0x2c8157);const _0x28cf40=new _0xa4876a({'color':0xff00,'shininess':0x1e,'depthTest':!0x0,'side':_0x3ea7cb}),_0x419453=new _0x2c4c6c(_0x3de5cc,_0x28cf40);_0x419453['position']['y']=_0x5bab3e/0x2,_0x419453['castShadow']=!0x1,_0x419453['receiveShadow']=!0x1,_0x419453['name']='yAxis',_0x3f733e['add'](_0x419453);const _0x414022=new _0xa4876a({'color':0xff,'shininess':0x1e,'depthTest':!0x0,'side':_0x3ea7cb}),_0x2f7a69=new _0x2c4c6c(_0x3de5cc,_0x414022);_0x2f7a69['position']['z']=_0x5bab3e/0x2,_0x2f7a69['rotation']['x']=Math['PI']/0x2,_0x2f7a69['castShadow']=!0x1,_0x2f7a69['receiveShadow']=!0x1,_0x2f7a69['name']='zAxis',_0x3f733e['add'](_0x2f7a69),_0x425497['add'](_0x3f733e);const _0x1902ea=new _0x364fb3(_0x4460a4['geometry']),_0x2233a7=new _0x3b6936({'color':0xff00,'linewidth':0x1,'transparent':!0x0,'opacity':0.6,'depthTest':!0x0}),_0x521fc9=new _0x29cf62(_0x1902ea,_0x2233a7);_0x521fc9['name']='meshWireframe',_0x4460a4['parent']&&(_0x521fc9['position']['copy'](_0x4460a4['position']),_0x521fc9['rotation']['copy'](_0x4460a4['rotation']),_0x521fc9['scale']['copy'](_0x4460a4['scale']),_0x4460a4['parent']['add'](_0x521fc9)),this['meshCoordinateAxes']=_0x3f733e,this['meshWireframe']=_0x521fc9,_0x3f733e['parent']&&_0x3f733e['parent']['updateMatrixWorld'](!0x0),_0x521fc9&&_0x521fc9['parent']&&_0x521fc9['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 _0x64d656=!this['currentModel']||!this['currentModel']['joints']||0x0===this['currentModel']['joints']['size'];this['visualizationManager']['updateVisualTransparency'](this['inertialVisualization']['showCOM'],this['axesManager']['hasVisibleLinkAxes'](),this['axesManager']['hasVisibleJointAxes'](),_0x64d656);}['setupThemeListener'](){new MutationObserver(()=>{this['updateBackgroundColor']();})['observe'](document['documentElement'],{'attributes':!0x0,'attributeFilter':['data-theme']});}['updateBackgroundColor'](){const _0x5744ab=document['documentElement']['getAttribute']('data-theme')||'dark';this['scene']['background']=new _0x25d7bf('light'===_0x5744ab?0xffffff:0x2a2a2e),this['environmentManager']&&this['environmentManager']['updateGridColorForTheme'](_0x5744ab),this['redraw']();}['setupResizeObserver'](){const _0x567d87=this['canvas']['parentElement'];_0x567d87?(this['resizeObserver']=new ResizeObserver(_0xbe4ff6=>{for(const _0x5def08 of _0xbe4ff6)if(_0x5def08['contentBoxSize']){const _0x449948=Array['isArray'](_0x5def08['contentBoxSize'])?_0x5def08['contentBoxSize'][0x0]:_0x5def08['contentBoxSize'],_0x1251d9=_0x449948['inlineSize'],_0x4e0d32=_0x449948['blockSize'];this['handleResize'](_0x1251d9,_0x4e0d32);}else this['onWindowResize']();}),this['resizeObserver']['observe'](_0x567d87)):window['addEventListener']('resize',()=>this['onWindowResize']());}['_applyRendererSize'](_0x3bcc1a,_0x52a555){const _0x1b3aaf=_0x3bcc1a||this['canvas']['clientWidth']||this['canvas']['width'],_0x53382d=_0x52a555||this['canvas']['clientHeight']||this['canvas']['height'];_0x1b3aaf&&_0x53382d&&(this['renderer']['setPixelRatio'](window['devicePixelRatio']*this['_renderScale']),this['renderer']['setSize'](_0x1b3aaf,_0x53382d,!0x0),this['labelRenderer']['setSize'](_0x1b3aaf,_0x53382d));}['setRenderScale'](_0x2e8955){const _0x114541=Math['min'](0x1,Math['max'](0.25,Number(_0x2e8955)||0x1));_0x114541!==this['_renderScale']&&(this['_renderScale']=_0x114541,this['_applyRendererSize'](),this['redraw']());}['getRenderScale'](){return this['_renderScale'];}['handleResize'](_0x356d62,_0xde64c0){0x0!==_0x356d62&&0x0!==_0xde64c0&&isFinite(_0x356d62)&&isFinite(_0xde64c0)&&(this['camera']['aspect']=_0x356d62/_0xde64c0,this['camera']['updateProjectionMatrix'](),this['_applyRendererSize'](_0x356d62,_0xde64c0),this['render']());}['onWindowResize'](){const _0x4229a6=this['canvas']['clientWidth'],_0x43cdb4=this['canvas']['clientHeight'];0x0!==_0x4229a6&&0x0!==_0x43cdb4&&(this['camera']['aspect']=_0x4229a6/_0x43cdb4,this['camera']['updateProjectionMatrix'](),this['_applyRendererSize'](_0x4229a6,_0x43cdb4),this['render']());}['on'](_0x18d681,_0x3f4bd1){this['_eventListeners'][_0x18d681]||(this['_eventListeners'][_0x18d681]=[]),this['_eventListeners'][_0x18d681]['push'](_0x3f4bd1);}['off'](_0x500565,_0x251c3f){this['_eventListeners'][_0x500565]&&(this['_eventListeners'][_0x500565]=this['_eventListeners'][_0x500565]['filter'](_0x4ef240=>_0x4ef240!==_0x251c3f));}['emit'](_0xd8767,..._0x1aa92c){this['_eventListeners'][_0xd8767]&&this['_eventListeners'][_0xd8767]['forEach'](_0x5d3f7f=>_0x5d3f7f(..._0x1aa92c));}['update'](){this['controls']['update']();}}class Ii{constructor(_0x2144b6){this['sceneManager']=_0x2144b6,this['angleUnit']='rad';}['setupControlPanel'](){const _0x5cb93d=document['getElementById']('show-visual'),_0x39b3aa=document['getElementById']('show-collision'),_0x1cb1d1=document['getElementById']('show-com'),_0x4535d2=document['getElementById']('show-inertia'),_0x54102e=document['getElementById']('ignore-limits'),_0x136bc2=(_0x223685,_0x22f9b2)=>{if(!_0x223685)return;const _0x5d3a56=!_0x223685['classList']['contains']('active');_0x5d3a56?_0x223685['classList']['add']('active'):_0x223685['classList']['remove']('active'),_0x223685['setAttribute']('data-checked',_0x5d3a56['toString']()),_0x22f9b2&&_0x22f9b2(_0x5d3a56);};if(this['sceneManager']&&_0x5cb93d){const _0x323fd8=_0x5cb93d['classList']['contains']('active');this['sceneManager']['visualizationManager']['showVisual']=_0x323fd8;}this['sceneManager']&&_0x39b3aa&&(this['sceneManager']['visualizationManager']['showCollision']=_0x39b3aa['classList']['contains']('active')),this['sceneManager']&&_0x1cb1d1&&(this['sceneManager']['inertialVisualization']['showCOM']=_0x1cb1d1['classList']['contains']('active')),this['sceneManager']&&_0x4535d2&&(this['sceneManager']['inertialVisualization']['showInertia']=_0x4535d2['classList']['contains']('active')),this['sceneManager']&&_0x54102e&&(this['sceneManager']['ignoreLimits']=!_0x54102e['classList']['contains']('active')),_0x5cb93d&&_0x5cb93d['addEventListener']('click',()=>{_0x136bc2(_0x5cb93d,_0x488a9e=>{var _0x21eb4a;this['sceneManager']['visualizationManager']['toggleVisual'](_0x488a9e,this['sceneManager']['currentModel']);const _0x4511fe=null==(_0x21eb4a=window['app'])?void 0x0:_0x21eb4a['mujocoSimulationManager'];_0x4511fe&&_0x4511fe['hasScene']()&&_0x4511fe['toggleVisualDisplay'](_0x488a9e),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x39b3aa&&_0x39b3aa['addEventListener']('click',()=>{_0x136bc2(_0x39b3aa,_0x4505a1=>{var _0x4ef2e0;this['sceneManager']['visualizationManager']['toggleCollision'](_0x4505a1);const _0x8f783c=null==(_0x4ef2e0=window['app'])?void 0x0:_0x4ef2e0['mujocoSimulationManager'];_0x8f783c&&_0x8f783c['hasScene']()&&_0x8f783c['toggleCollisionDisplay'](_0x4505a1),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x1cb1d1&&_0x1cb1d1['addEventListener']('click',()=>{_0x136bc2(_0x1cb1d1,_0x3dad39=>{var _0x5c85e4;this['sceneManager']['inertialVisualization']['toggleCenterOfMass'](_0x3dad39,this['sceneManager']['currentModel']);const _0x117f85=null==(_0x5c85e4=window['app'])?void 0x0:_0x5c85e4['mujocoSimulationManager'];_0x117f85&&_0x117f85['hasScene']()&&_0x117f85['toggleCOMDisplay'](_0x3dad39),this['sceneManager']['updateVisualTransparency'](),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x4535d2&&_0x4535d2['addEventListener']('click',()=>{_0x136bc2(_0x4535d2,_0x1dd1a2=>{var _0xa77e49;this['sceneManager']['inertialVisualization']['toggleInertia'](_0x1dd1a2,this['sceneManager']['currentModel']);const _0x3deb9a=null==(_0xa77e49=window['app'])?void 0x0:_0xa77e49['mujocoSimulationManager'];_0x3deb9a&&_0x3deb9a['hasScene']()&&_0x3deb9a['toggleInertiaDisplay'](_0x1dd1a2),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}),_0x54102e&&_0x54102e['addEventListener']('click',()=>{_0x136bc2(_0x54102e,_0x46fb8e=>{var _0x3ade44;this['sceneManager']['setIgnoreLimits'](!_0x46fb8e),null==(_0x3ade44=this['onIgnoreLimitsChanged'])||_0x3ade44['call'](this,!_0x46fb8e);});});const _0x33fc0a=document['getElementById']('up-select');_0x33fc0a&&_0x33fc0a['addEventListener']('change',_0x32af6c=>{this['sceneManager']['setUp'](_0x32af6c['target']['value']);});const _0x5afd59=document['getElementById']('unit-rad'),_0x29c5aa=document['getElementById']('unit-deg');_0x5afd59&&_0x5afd59['addEventListener']('click',()=>{var _0x15f519;this['angleUnit']='rad',_0x5afd59['classList']['add']('active'),_0x29c5aa&&_0x29c5aa['classList']['remove']('active'),null==(_0x15f519=this['onAngleUnitChanged'])||_0x15f519['call'](this,this['angleUnit']);}),_0x29c5aa&&_0x29c5aa['addEventListener']('click',()=>{var _0x317a78;this['angleUnit']='deg',_0x29c5aa['classList']['add']('active'),_0x5afd59&&_0x5afd59['classList']['remove']('active'),null==(_0x317a78=this['onAngleUnitChanged'])||_0x317a78['call'](this,this['angleUnit']);});const _0x186811=document['getElementById']('reset-joints-btn');_0x186811&&_0x186811['addEventListener']('click',()=>{var _0x727e06;null==(_0x727e06=this['onResetJoints'])||_0x727e06['call'](this);});const _0x5d9bb8=document['getElementById']('mujoco-reset-btn-bar');_0x5d9bb8&&_0x5d9bb8['addEventListener']('click',()=>{var _0x2e679f;null==(_0x2e679f=this['onMujocoReset'])||_0x2e679f['call'](this);});const _0x5a63c2=document['getElementById']('mujoco-simulate-btn-bar');_0x5a63c2&&_0x5a63c2['addEventListener']('click',async()=>{var _0x5857d0,_0x390f01;const _0x5af53b=await(null==(_0x5857d0=this['onMujocoToggleSimulate'])?void 0x0:_0x5857d0['call'](this));if(void 0x0!==_0x5af53b){_0x5a63c2['classList']['toggle']('active',_0x5af53b);const _0x5db893=_0x5a63c2['querySelector']('span');if(_0x5db893){const _0x504119=_0x5af53b?'mujocoPause':'mujocoSimulate';_0x5db893['textContent']=(null==(_0x390f01=window['i18n'])?void 0x0:_0x390f01['t'](_0x504119))||(_0x5af53b?'Pause':'Simulate'),_0x5db893['setAttribute']('data-i18n',_0x504119);}}});}['setupThemeToggle'](_0x50e434){const _0x4b063f=document['getElementById']('theme-toggle');if(!_0x4b063f)return;const _0x3a3c60=localStorage['getItem']('theme')||'dark';document['documentElement']['setAttribute']('data-theme',_0x3a3c60),this['updateThemeIcon'](_0x3a3c60),this['sceneManager']&&this['sceneManager']['updateBackgroundColor'](),_0x4b063f['addEventListener']('click',()=>{const _0x4da216='dark'===document['documentElement']['getAttribute']('data-theme')?'light':'dark';document['documentElement']['setAttribute']('data-theme',_0x4da216),localStorage['setItem']('theme',_0x4da216),this['updateThemeIcon'](_0x4da216),this['sceneManager']&&this['sceneManager']['updateBackgroundColor'](),null==_0x50e434||_0x50e434(_0x4da216);});}['setupLanguageToggle'](_0x46cb3e){var _0x5e1c77;const _0xce7f8c=document['getElementById']('language-toggle');if(!_0xce7f8c)return;const _0x1da3d0=(null==(_0x5e1c77=window['i18n'])?void 0x0:_0x5e1c77['getCurrentLanguage']())||'zh-CN';this['updateLanguageIcon'](_0x1da3d0),_0xce7f8c['addEventListener']('click',()=>{var _0x17c86e;const _0xd9b283='zh-CN'===((null==(_0x17c86e=window['i18n'])?void 0x0:_0x17c86e['getCurrentLanguage']())||'zh-CN')?'en-US':'zh-CN';null==_0x46cb3e||_0x46cb3e(_0xd9b283),this['updateLanguageIcon'](_0xd9b283);});}['updateLanguageIcon'](_0x2e6b73){const _0x5857bb=document['getElementById']('language-toggle'),_0x4066b5=null==_0x5857bb?void 0x0:_0x5857bb['querySelector']('.tool-button-text');_0x4066b5&&(_0x4066b5['textContent']='zh-CN'===_0x2e6b73?'Language':'语言');}['updateThemeIcon'](_0x38f779){const _0xe9e64e=document['getElementById']('theme-toggle'),_0x13d086=null==_0xe9e64e?void 0x0:_0xe9e64e['querySelector']('.tool-button-icon');_0x13d086&&(_0x13d086['textContent']='dark'===_0x38f779?'🌙':'☀️');}['setupPanelCloseButtons'](){const _0x4be84c={'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'](_0x5e6437=>{_0x5e6437['addEventListener']('click',_0xcc8531=>{_0xcc8531['stopPropagation']();const _0x4e267f=_0x5e6437['getAttribute']('data-panel'),_0x12e726=document['getElementById'](_0x4e267f),_0x5ecfde=_0x4be84c[_0x4e267f],_0x486c26=_0x5ecfde?document['getElementById'](_0x5ecfde):null;if(_0x12e726){'none'!==_0x12e726['style']['display']&&(_0x12e726['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',_0x12e726['style']['opacity']='0',_0x12e726['style']['transform']='scale(0.95)',setTimeout(()=>{_0x12e726['style']['display']='none',_0x12e726['style']['opacity']='',_0x12e726['style']['transform']='','floating-orientation-panel'===_0x4e267f&&this['sceneManager']&&this['sceneManager']['setWorldAxesVisible'](!0x1);},0xc8),_0x486c26&&_0x486c26['classList']['remove']('active'));}});}),Object['entries'](_0x4be84c)['forEach'](([_0x534b49,_0x8a6503])=>{const _0x5cfdb8=document['getElementById'](_0x8a6503),_0x29551e=document['getElementById'](_0x534b49);_0x5cfdb8&&_0x29551e&&_0x5cfdb8['addEventListener']('click',()=>{'none'!==_0x29551e['style']['display']&&'none'!==getComputedStyle(_0x29551e)['display']?(_0x29551e['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',_0x29551e['style']['opacity']='0',_0x29551e['style']['transform']='scale(0.95)',setTimeout(()=>{_0x29551e['style']['display']='none',_0x29551e['style']['opacity']='',_0x29551e['style']['transform']='','floating-orientation-panel'===_0x534b49&&this['sceneManager']&&this['sceneManager']['setWorldAxesVisible'](!0x1);},0xc8),_0x5cfdb8['classList']['remove']('active')):(_0x29551e['style']['display']='flex',_0x29551e['style']['opacity']='0',_0x29551e['style']['transform']='scale(0.95)',_0x29551e['offsetHeight'],_0x29551e['style']['transition']='opacity\x200.2s\x20ease,\x20transform\x200.2s\x20ease',_0x29551e['style']['opacity']='1',_0x29551e['style']['transform']='scale(1)',setTimeout(()=>{_0x29551e['style']['transition']='';},0xc8),_0x5cfdb8['classList']['add']('active'),'floating-orientation-panel'===_0x534b49&&this['sceneManager']&&this['sceneManager']['setWorldAxesVisible'](!0x0));});});}['setupAxesToggle'](){const _0x6979dd=document['getElementById']('toggle-axes-btn');_0x6979dd&&_0x6979dd['addEventListener']('click',()=>{window['app']&&window['app']['axesControlPanel']&&window['app']['axesControlPanel']['toggle']();});}['setupJointAxesToggle'](){const _0x246647=document['getElementById']('toggle-joint-axes-btn');_0x246647&&_0x246647['addEventListener']('click',()=>{window['app']&&window['app']['jointAxesControlPanel']&&window['app']['jointAxesControlPanel']['toggle']();});}['setupShadowToggle'](){const _0x15b806=document['getElementById']('toggle-shadow');_0x15b806&&_0x15b806['addEventListener']('click',()=>{const _0xcf4a56=!('true'===_0x15b806['getAttribute']('data-checked'));_0x15b806['setAttribute']('data-checked',_0xcf4a56['toString']()),_0xcf4a56?(_0x15b806['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']()):(_0x15b806['classList']['remove']('active'),this['sceneManager']['visualizationManager']['toggleShadow'](!0x1,this['sceneManager']['renderer'],this['sceneManager']['directionalLight']),this['sceneManager']['redraw'](),this['sceneManager']['render']());});}['setupLightingToggle'](){const _0x12389c=document['getElementById']('toggle-lighting');_0x12389c&&_0x12389c['addEventListener']('click',()=>{const _0x38ad97=!('true'===_0x12389c['getAttribute']('data-checked'));_0x12389c['setAttribute']('data-checked',_0x38ad97['toString']()),_0x38ad97?(_0x12389c['classList']['add']('active'),this['sceneManager']['visualizationManager']['toggleEnhancedLighting'](!0x0)):(_0x12389c['classList']['remove']('active'),this['sceneManager']['visualizationManager']['toggleEnhancedLighting'](!0x1)),this['sceneManager']['redraw'](),this['sceneManager']['render']();});}['setupAll'](_0x4606e4={}){this['onAngleUnitChanged']=_0x4606e4['onAngleUnitChanged'],this['onIgnoreLimitsChanged']=_0x4606e4['onIgnoreLimitsChanged'],this['onResetJoints']=_0x4606e4['onResetJoints'],this['onMujocoReset']=_0x4606e4['onMujocoReset'],this['onMujocoToggleSimulate']=_0x4606e4['onMujocoToggleSimulate'],this['onApplyAngles']=_0x4606e4['onApplyAngles'],this['onSetHome']=_0x4606e4['onSetHome'],this['onSelectAll']=_0x4606e4['onSelectAll'],this['onResetToHome']=_0x4606e4['onResetToHome'],this['onToggleShowMimic']=_0x4606e4['onToggleShowMimic'],this['setupControlPanel'](),this['setupThemeToggle'](_0x4606e4['onThemeChanged']),this['setupLanguageToggle'](_0x4606e4['onLanguageChanged']),this['setupPanelCloseButtons'](),this['setupAxesToggle'](),this['setupJointAxesToggle'](),this['setupShadowToggle'](),this['setupLightingToggle'](),this['setupBatchOperationButtons']();}['setupBatchOperationButtons'](){const _0x15e846=document['getElementById']('show-mimic-btn'),_0x320cef=document['querySelector']('.apply-angles-btn'),_0x423dd4=document['querySelector']('.set-home-btn'),_0x29d6fa=document['querySelector']('.reset-home-btn'),_0x45c754=document['getElementById']('select-all-btn');_0x15e846&&_0x15e846['addEventListener']('click',()=>{const _0x11aa7b=!_0x15e846['classList']['contains']('active');_0x15e846['classList']['toggle']('active',_0x11aa7b),this['onToggleShowMimic']&&this['onToggleShowMimic'](_0x11aa7b);}),_0x320cef&&this['onApplyAngles']&&_0x320cef['addEventListener']('click',()=>{this['onApplyAngles']();}),_0x423dd4&&this['onSetHome']&&_0x423dd4['addEventListener']('click',()=>{this['onSetHome']();}),_0x29d6fa&&this['onResetToHome']&&_0x29d6fa['addEventListener']('click',()=>{this['onResetToHome']();}),_0x45c754&&this['onSelectAll']&&_0x45c754['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'](_0x58b13d){this['usdViewerManager']=_0x58b13d;}['setUSDViewerInitializer'](_0x5875d2){this['usdViewerInitializer']=_0x5875d2;}['setupFileDrop'](){const _0x305cfb=document['body'],_0x48ca12=_0x515761=>{_0x515761['preventDefault'](),_0x515761['stopPropagation']();};['dragenter','dragover','dragleave','drop']['forEach'](_0x15d35c=>{_0x305cfb['addEventListener'](_0x15d35c,_0x48ca12,!0x1);});let _0x24ba96=0x0;_0x305cfb['addEventListener']('dragenter',_0x21e4f2=>{_0x24ba96++;const _0x1cba25=document['getElementById']('drop-zone');_0x1cba25&&_0x1cba25['classList']['add']('drag-over');},!0x1),_0x305cfb['addEventListener']('dragleave',_0x39a198=>{if(_0x24ba96--,0x0===_0x24ba96){const _0x22ef0b=document['getElementById']('drop-zone');_0x22ef0b&&_0x22ef0b['classList']['remove']('drag-over');}},!0x1),_0x305cfb['addEventListener']('drop',_0x16f823=>{_0x24ba96=0x0;const _0x4cab02=document['getElementById']('drop-zone');_0x4cab02&&_0x4cab02['classList']['remove']('drag-over'),this['handleDrop'](_0x16f823);},!0x1);}async['handleDrop'](_0x2a130a){var _0x1c3019;const _0x15f84d=_0x2a130a['dataTransfer']['items'];if(!_0x15f84d||0x0===_0x15f84d['length'])return;this['fileMap']['clear']();const _0x57b00c=[];for(let _0x553211=0x0;_0x553211<_0x15f84d['length'];_0x553211++){const _0x228557=_0x15f84d[_0x553211];if(_0x228557['webkitGetAsEntry']){const _0x1acee5=_0x228557['webkitGetAsEntry']();_0x1acee5&&_0x57b00c['push'](_0x1acee5);}}if(_0x57b00c['length']>0x0)await this['processEntries'](_0x57b00c);else{const _0x3796fe=_0x2a130a['dataTransfer']['files'];if(_0x3796fe['length']>0x0){for(const _0x2db207 of _0x3796fe){const _0x90f2af=_0x2db207['webkitRelativePath']||_0x2db207['name'];this['fileMap']['set'](_0x90f2af,_0x2db207),_0x2db207['webkitRelativePath']||this['fileMap']['set'](_0x2db207['name'],_0x2db207);}const _0x57798e=await this['findAllLoadableFiles'](Array['from'](_0x3796fe));_0x57798e['length']>0x0&&(this['availableModels']=_0x57798e,null==(_0x1c3019=this['onFilesLoaded'])||_0x1c3019['call'](this,_0x57798e),await this['loadFileOrMesh'](_0x57798e[0x0]));}}}async['processEntries'](_0x4d921f){var _0x4f5915,_0x3a2a43;const _0x55e1af=[];for(const _0x5729b6 of _0x4d921f)if(_0x5729b6['isFile']){const _0x5d5e03=await pt(_0x5729b6),_0x26026c=_0x5729b6['fullPath']||_0x5729b6['name'];this['fileMap']['set'](_0x26026c,_0x5d5e03),_0x55e1af['push'](_0x5d5e03);}else if(_0x5729b6['isDirectory']){const _0xaa75c1=await this['readDirectory'](_0x5729b6);_0x55e1af['push'](..._0xaa75c1);}if(0x0===_0x55e1af['length'])return;const _0x4dbfb0=await this['findAllLoadableFiles'](_0x55e1af);0x0!==_0x4dbfb0['length']?(this['availableModels']=_0x4dbfb0,null==(_0x3a2a43=this['onFilesLoaded'])||_0x3a2a43['call'](this,_0x4dbfb0),_0x4dbfb0['length']>0x0&&await this['loadFileOrMesh'](_0x4dbfb0[0x0])):null==(_0x4f5915=this['onFilesLoaded'])||_0x4f5915['call'](this,[]);}async['readDirectory'](_0x7be4ca){const _0x567075=[];return new Promise((_0x5dc088,_0x5d97f4)=>{const _0x13ea88=_0x7be4ca['createReader'](),_0x4331f8=()=>{_0x13ea88['readEntries'](async _0x4bd694=>{if(0x0!==_0x4bd694['length']){for(const _0x21a1a9 of _0x4bd694)if(_0x21a1a9['isFile']){const _0x511a2e=await pt(_0x21a1a9),_0x4df8d3=_0x21a1a9['fullPath']||_0x21a1a9['name'];this['fileMap']['set'](_0x4df8d3,_0x511a2e),_0x567075['push'](_0x511a2e);}else if(_0x21a1a9['isDirectory']){const _0x443d3c=await this['readDirectory'](_0x21a1a9);_0x567075['push'](..._0x443d3c);}_0x4331f8();}else _0x5dc088(_0x567075);},_0x5d97f4);};_0x4331f8();});}async['findAllLoadableFiles'](_0x4b9506){const _0x1f3c18={'model':['urdf','xacro','xml','usd','usda','usdc','usdz'],'mesh':['dae','stl','obj','collada'],'config':['yml','yaml']},_0x502316=[],_0x43353c=_0x4b9506['map'](async _0x359f49=>{const _0x5f0062=_0x359f49['name']['toLowerCase']()['split']('.')['pop']();if(_0x1f3c18['model']['includes'](_0x5f0062)){if('xml'!==_0x5f0062){const _0x555ba2=function(_0x4ccbb9){return{'urdf':'urdf','xacro':'xacro','xml':'mjcf','usd':'usd','usda':'usd','usdc':'usd','usdz':'usd'}[_0x4ccbb9]||'unknown';}(_0x5f0062);return{'file':_0x359f49,'name':_0x359f49['name'],'type':_0x555ba2,'path':_0x359f49['webkitRelativePath']||_0x359f49['name'],'category':'model'};}try{const _0x52d995=await dt(_0x359f49),_0x18fe81=Ei['detectFileType'](_0x359f49['name'],_0x52d995);return _0x18fe81?{'file':_0x359f49,'name':_0x359f49['name'],'type':_0x18fe81,'path':_0x359f49['webkitRelativePath']||_0x359f49['name'],'category':'model'}:null;}catch(_0x2f6427){return null;}}else{if(_0x1f3c18['mesh']['includes'](_0x5f0062))return{'file':_0x359f49,'name':_0x359f49['name'],'type':'mesh','path':_0x359f49['webkitRelativePath']||_0x359f49['name'],'category':'mesh'};if(_0x1f3c18['config']['includes'](_0x5f0062))return{'file':_0x359f49,'name':_0x359f49['name'],'type':'config','path':_0x359f49['webkitRelativePath']||_0x359f49['name'],'category':'config'};}return null;});return(await Promise['all'](_0x43353c))['forEach'](_0x59a90b=>{_0x59a90b&&_0x502316['push'](_0x59a90b);}),_0x502316['sort']((_0x3874c6,_0x36fb6a)=>{const _0x4349f2={'model':0x0,'mesh':0x1,'config':0x2},_0x2cac7d=_0x4349f2[_0x3874c6['category']]??0x63,_0x5b338f=_0x4349f2[_0x36fb6a['category']]??0x63;return _0x2cac7d!==_0x5b338f?_0x2cac7d-_0x5b338f:_0x3874c6['name']['localeCompare'](_0x36fb6a['name']);}),_0x502316;}async['loadFileOrMesh'](_0x2c7f1a){'model'===_0x2c7f1a['category']?await this['loadFile'](_0x2c7f1a['file']):'mesh'===_0x2c7f1a['category']&&await this['loadMeshAsModel'](_0x2c7f1a['file'],_0x2c7f1a['name']);}async['loadFile'](_0x59528d){var _0x542217,_0x1ed6de,_0x5cc50a,_0xb7c523,_0x296e50,_0x36c73e;this['currentModelFile']=_0x59528d;try{const _0x5dea1c=_0x59528d['name']['toLowerCase']();let _0x2992bc=_0x59528d['name'];for(const [_0x52b039,_0x2f5107]of this['fileMap']['entries']())if(_0x2f5107===_0x59528d){_0x2992bc=_0x52b039;break;}let _0x3db0f7=null,_0xaa4a3a=null,_0x51ba8e=0x1/0x0,_0x3d9bd3=null;for(const [_0x11a020,_0x420e2f]of this['fileMap']['entries']())if('vr_configs.yml'===_0x420e2f['name']||_0x11a020['endsWith']('/vr_configs.yml')||'vr_configs.yml'===_0x11a020){const _0x1044a0=(_0x11a020['match'](/\//g)||[])['length'];_0x1044a0<_0x51ba8e&&(_0x51ba8e=_0x1044a0,_0xaa4a3a=_0x420e2f,_0x3d9bd3=_0x11a020);}if(_0xaa4a3a)try{_0x3db0f7=await dt(_0xaa4a3a);}catch(_0x32d4fb){}if(_0x5dea1c['endsWith']('.usd')||_0x5dea1c['endsWith']('.usda')||_0x5dea1c['endsWith']('.usdc')||_0x5dea1c['endsWith']('.usdz')){if(!this['usdViewerManager']&&this['usdViewerInitializer'])try{await this['usdViewerInitializer']();}catch(_0x58512f){return;}0x0===this['fileMap']['size']&&this['fileMap']['set'](_0x59528d['name'],_0x59528d);const _0x333da6=await Ei['loadModel']('usd',null,_0x2992bc,this['fileMap'],_0x59528d,{'usdViewerManager':this['usdViewerManager']});return null==(_0x542217=this['onModelLoaded'])||_0x542217['call'](this,_0x333da6,_0x59528d,!0x1,null),null==(_0x1ed6de=document['getElementById']('drop-zone'))||_0x1ed6de['classList']['remove']('show'),void(null==(_0x5cc50a=document['getElementById']('drop-zone'))||_0x5cc50a['classList']['remove']('drag-over'));}const _0xda0a5d=await dt(_0x59528d);if(this['isUSDCBinaryContent'](_0xda0a5d))return;const _0x196985=Ei['detectFileType'](_0x59528d['name'],_0xda0a5d);if(!_0x196985)return;0x0===this['fileMap']['size']&&this['fileMap']['set'](_0x59528d['name'],_0x59528d);const _0x4bbed1=await Ei['loadModel'](_0x196985,_0xda0a5d,_0x2992bc,this['fileMap'],_0x59528d,{'usdViewerManager':this['usdViewerManager'],'vrConfigContent':_0x3db0f7});null==(_0xb7c523=this['onModelLoaded'])||_0xb7c523['call'](this,_0x4bbed1,_0x59528d,!0x1,null),null==(_0x296e50=document['getElementById']('drop-zone'))||_0x296e50['classList']['remove']('show'),null==(_0x36c73e=document['getElementById']('drop-zone'))||_0x36c73e['classList']['remove']('drag-over');}catch(_0x1a30d4){_0x1a30d4['message']&&(_0x1a30d4['message']['includes']('USDC')||_0x1a30d4['message']['includes']('binary\x20format'));const _0x34d28c=document['getElementById']('canvas-snapshot');(null==_0x34d28c?void 0x0:_0x34d28c['parentNode'])&&_0x34d28c['parentNode']['removeChild'](_0x34d28c);}}['isUSDCBinaryContent'](_0x3ae0fd){if(!_0x3ae0fd||'string'!=typeof _0x3ae0fd)return!0x1;if(_0x3ae0fd['startsWith']('PXR-USDC'))return!0x0;if((_0x3ae0fd['substring'](0x0,0x64)['match'](/\x00/g)||[])['length']>0xa)return!0x0;if(_0x3ae0fd['includes']('#usda')||_0x3ae0fd['includes']('def\x20')&&_0x3ae0fd['includes']('{'))return!0x1;const _0x1060b4=_0x3ae0fd['charCodeAt'](0x0);return _0x1060b4<0x20&&0xa!==_0x1060b4&&0xd!==_0x1060b4&&0x9!==_0x1060b4&&0x20!==_0x1060b4;}['createLoadingSnapshot'](){const _0x5526db=document['getElementById']('canvas');if(!_0x5526db)return null;try{const _0x1637be=_0x5526db['toDataURL']('image/png'),_0x461160=document['createElement']('div');_0x461160['id']='canvas-snapshot',_0x461160['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('+_0x1637be+');\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 _0x2c5ee8=document['getElementById']('canvas-container');return _0x2c5ee8&&_0x2c5ee8['appendChild'](_0x461160),_0x461160;}catch(_0x10a083){return null;}}['removeLoadingSnapshot'](_0x14136b){_0x14136b&&_0x14136b['parentNode']&&(_0x14136b['style']['transition']='opacity\x200.3s\x20ease',_0x14136b['style']['opacity']='0',setTimeout(()=>{_0x14136b['parentNode']&&_0x14136b['parentNode']['removeChild'](_0x14136b);},0x12c));}async['loadMeshAsModel'](_0x18658e,_0x3f015d){var _0x26f272;try{const _0x467859=await Ei['loadMeshFileDirect'](_0x18658e,_0x3f015d);if(!_0x467859)throw new Error(window['i18n']['t']('cannotLoadMesh'));_0x467859['traverse'](_0x282538=>{var _0x316642;if(_0x282538['isMesh']){if('MeshBasicMaterial'===(null==(_0x316642=_0x282538['material'])?void 0x0:_0x316642['type'])){const _0x8115a7=_0x282538['material'];_0x282538['material']=new _0xa4876a({'color':_0x8115a7['color'],'map':_0x8115a7['map'],'transparent':_0x8115a7['transparent'],'opacity':_0x8115a7['opacity'],'side':_0x8115a7['side'],'shininess':0x1e}),_0x282538['material']['map']&&(_0x282538['material']['map']['colorSpace']=_0x50e39a);}_0x282538['castShadow']=!0x0,_0x282538['receiveShadow']=!0x0;}});const _0x138b10={'name':_0x3f015d,'rootLink':'mesh_root','links':new Map([['mesh_root',{'name':'mesh_root','threeObject':_0x467859,'visuals':[{'threeObject':_0x467859,'geometry':{'mesh':_0x3f015d}}],'inertial':null}]]),'joints':new Map(),'threeObject':_0x467859};this['currentModelFile']=_0x18658e,null==(_0x26f272=this['onModelLoaded'])||_0x26f272['call'](this,_0x138b10,_0x18658e,!0x0,null);}catch(_0x453e3e){const _0x4a95e7=document['getElementById']('canvas-snapshot');(null==_0x4a95e7?void 0x0:_0x4a95e7['parentNode'])&&_0x4a95e7['parentNode']['removeChild'](_0x4a95e7);}}['getFileMap'](){return this['fileMap'];}['getAvailableModels'](){return this['availableModels'];}['getCurrentModelFile'](){return this['currentModelFile'];}}class zi{static['updateURDFJointLimits'](_0x466506,_0x11eb6d,_0x4b4493){try{const _0x3c1340=new RegExp('<joint[^>]*name=\x22'+_0x11eb6d['replace'](/[.*+?^${}()|[\]\\]/g,'\x5c$&')+'\x22[^>]*>([\x5cs\x5cS]*?)</joint>','g')['exec'](_0x466506);if(!_0x3c1340)return _0x466506;const _0xdc4bec=_0x3c1340[0x0];let _0x8d546=_0xdc4bec;const _0x332715=/<limit([^>]*)>/,_0x404382=_0x332715['exec'](_0xdc4bec);if(_0x404382){let _0x2cdb43=_0x404382[0x0];const _0x2273df=_0x404382[0x1];void 0x0!==_0x4b4493['lower']&&null!==_0x4b4493['lower']&&(_0x2cdb43=_0x2273df['includes']('lower=')?_0x2cdb43['replace'](/lower="[^"]*"/,'lower=\x22'+_0x4b4493['lower']+'\x22'):_0x2cdb43['replace'](/>$/,'\x20lower=\x22'+_0x4b4493['lower']+'\x22>')),void 0x0!==_0x4b4493['upper']&&null!==_0x4b4493['upper']&&(_0x2cdb43=_0x2273df['includes']('upper=')?_0x2cdb43['replace'](/upper="[^"]*"/,'upper=\x22'+_0x4b4493['upper']+'\x22'):_0x2cdb43['replace'](/>$/,'\x20upper=\x22'+_0x4b4493['upper']+'\x22>')),void 0x0!==_0x4b4493['effort']&&null!==_0x4b4493['effort']&&(_0x2cdb43=_0x2273df['includes']('effort=')?_0x2cdb43['replace'](/effort="[^"]*"/,'effort=\x22'+_0x4b4493['effort']+'\x22'):_0x2cdb43['replace'](/>$/,'\x20effort=\x22'+_0x4b4493['effort']+'\x22>')),void 0x0!==_0x4b4493['velocity']&&null!==_0x4b4493['velocity']&&(_0x2cdb43=_0x2273df['includes']('velocity=')?_0x2cdb43['replace'](/velocity="[^"]*"/,'velocity=\x22'+_0x4b4493['velocity']+'\x22'):_0x2cdb43['replace'](/>$/,'\x20velocity=\x22'+_0x4b4493['velocity']+'\x22>')),_0x8d546=_0xdc4bec['replace'](_0x332715,_0x2cdb43);}else{const _0x5ba33f=[];if(void 0x0!==_0x4b4493['lower']&&null!==_0x4b4493['lower']&&_0x5ba33f['push']('lower=\x22'+_0x4b4493['lower']+'\x22'),void 0x0!==_0x4b4493['upper']&&null!==_0x4b4493['upper']&&_0x5ba33f['push']('upper=\x22'+_0x4b4493['upper']+'\x22'),void 0x0!==_0x4b4493['effort']&&null!==_0x4b4493['effort']&&_0x5ba33f['push']('effort=\x22'+_0x4b4493['effort']+'\x22'),void 0x0!==_0x4b4493['velocity']&&null!==_0x4b4493['velocity']&&_0x5ba33f['push']('velocity=\x22'+_0x4b4493['velocity']+'\x22'),_0x5ba33f['length']>0x0){const _0x3d64d5='\x20\x20\x20\x20<limit\x20'+_0x5ba33f['join']('\x20')+'/>';_0x8d546=_0xdc4bec['replace']('</joint>',_0x3d64d5+'\x0a\x20\x20</joint>');}}return _0x466506['replace'](_0xdc4bec,_0x8d546);}catch(_0x876163){return _0x466506;}}static['updateMultipleJointLimits'](_0x579306,_0x532931){let _0x5e78b7=_0x579306;for(let [_0x3cf032,_0x5a247b]of _0x532931['entries']())_0x5e78b7=this['updateURDFJointLimits'](_0x5e78b7,_0x3cf032,_0x5a247b);return _0x5e78b7;}}class Ni{constructor(_0x508539){this['sceneManager']=_0x508539,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'](_0x187cb5){this['codeEditorManager']=_0x187cb5;}['updateEditorXML'](_0x4486b5,_0x507246){if(this['isUpdatingFromEditor'])return;if(!this['codeEditorManager'])return;const _0x5126d2=this['codeEditorManager']['getEditor']();if(!_0x5126d2)return;const _0x53c960=_0x5126d2['getValue']();if(_0x53c960&&0x0!==_0x53c960['trim']()['length']&&_0x53c960['includes']('<robot')){this['isUpdatingFromEditor']=!0x0;try{const _0x199830=zi['updateURDFJointLimits'](_0x53c960,_0x4486b5,_0x507246);if(_0x199830!==_0x53c960){const _0x1e3240=_0x5126d2['view']['state']['selection']['main']['head'];_0x5126d2['setValue'](_0x199830);try{const _0x5af1ce=_0x5126d2['view']['state']['doc']['length'],_0x61b198=Math['min'](_0x1e3240,_0x5af1ce);_0x5126d2['view']['dispatch']({'selection':{'anchor':_0x61b198,'head':_0x61b198}});}catch(_0x2324b6){}}}catch(_0x4de823){}finally{setTimeout(()=>{this['isUpdatingFromEditor']=!0x1;},0x64);}}}['setupJointControls'](_0x5394fe){const _0x427187=document['getElementById']('joint-controls');if(!_0x427187)return;if(_0x427187['innerHTML']='',this['selectedJoints']['clear'](),this['_allSelected']=!0x1,this['currentModel']=_0x5394fe,this['updateButtonStates'](),!_0x5394fe||!_0x5394fe['joints']||0x0===_0x5394fe['joints']['size']){const _0xefffa0=document['createElement']('div');return _0xefffa0['className']='empty-state',_0xefffa0['textContent']=window['i18n']['t']('noModel'),void _0x427187['appendChild'](_0xefffa0);}let _0x46c146=0x0;if(_0x5394fe['joints']['forEach'](_0x5c3423=>{'fixed'!==_0x5c3423['type']&&_0x46c146++;}),0x0===_0x46c146){const _0x4a7e38=document['createElement']('div');return _0x4a7e38['className']='empty-state',_0x4a7e38['textContent']=window['i18n']['t']('noControllableJoints'),void _0x427187['appendChild'](_0x4a7e38);}this['initialJointValues']['clear'](),_0x5394fe['joints']['forEach']((_0x428daf,_0x313355)=>{if('fixed'!==_0x428daf['type']){const _0x4633b6=_0x428daf['limits']||{},_0x2680fc=void 0x0!==_0x4633b6['lower']?_0x4633b6['lower']:-Math['PI'],_0x2bfc97=void 0x0!==_0x4633b6['upper']?_0x4633b6['upper']:Math['PI'],_0x3439f1=void 0x0!==_0x428daf['currentValue']?_0x428daf['currentValue']:(_0x2680fc+_0x2bfc97)/0x2;this['initialJointValues']['set'](_0x313355,_0x3439f1);}}),_0x5394fe['joints']['forEach'](_0x436d38=>{if('fixed'===_0x436d38['type'])return;if(_0x436d38['mimic']&&!this['showMimicJoints'])return;const _0x162ed4=this['createJointControl'](_0x436d38,_0x5394fe);_0x427187['appendChild'](_0x162ed4);});}['setShowMimicJoints'](_0x1f8909){this['showMimicJoints']=_0x1f8909,this['currentModel']&&this['setupJointControls'](this['currentModel']);}['createJointControl'](_0x165e47,_0x432339){var _0x43d9ce,_0x2eef97;const _0x5b15dd=document['createElement']('div');_0x5b15dd['className']='joint-control',_0x5b15dd['setAttribute']('data-joint-name',_0x165e47['name']);const _0x4cfa9d=this['createJointCheckbox'](_0x165e47['name']);_0x5b15dd['appendChild'](_0x4cfa9d);const _0xec9b8f=document['createElement']('div');_0xec9b8f['className']='joint-control-content';const _0x3e5d2f=document['createElement']('div');_0x3e5d2f['className']='joint-header';const _0x40677e=document['createElement']('div');if(_0x40677e['className']='joint-name',_0x40677e['textContent']=_0x165e47['name'],_0x40677e['title']=_0x165e47['name'],_0x3e5d2f['appendChild'](_0x40677e),_0x165e47['mimic']){const _0x427a22=document['createElement']('span');_0x427a22['className']='joint-mimic-badge',_0x427a22['textContent']='mimic',_0x427a22['title']='mimic:\x20'+_0x165e47['mimic']['joint']+'\x20(×'+_0x165e47['mimic']['multiplier']+'\x20+\x20'+_0x165e47['mimic']['offset']+')',_0x3e5d2f['appendChild'](_0x427a22);}const _0x10a927=document['createElement']('div');_0x10a927['className']='joint-slider-row';const _0x3e1792=_0x165e47['limits']||{};let _0xa47b2=void 0x0!==_0x3e1792['lower']?_0x3e1792['lower']:-Math['PI'],_0x499feb=void 0x0!==_0x3e1792['upper']?_0x3e1792['upper']:Math['PI'];'continuous'===_0x165e47['type']&&(_0xa47b2=-Math['PI'],_0x499feb=Math['PI']);const _0x381bd8=document['createElement']('input');_0x381bd8['type']='range',_0x381bd8['className']='joint-slider',_0x381bd8['setAttribute']('data-joint',_0x165e47['name']),_0x381bd8['min']=_0xa47b2,_0x381bd8['max']=_0x499feb;let _0x565c62=void 0x0!==_0x165e47['currentValue']?_0x165e47['currentValue']:(_0xa47b2+_0x499feb)/0x2;_0x381bd8['value']=_0x565c62,_0x381bd8['step']=(_0x499feb-_0xa47b2)/0x3e8,void 0x0===_0x165e47['currentValue']&&(_0x165e47['currentValue']=_0x565c62);const _0x2ba373=document['createElement']('input');_0x2ba373['type']='number',_0x2ba373['className']='joint-limit-min\x20editable-limit',_0x2ba373['step']='0.01',_0x2ba373['title']=window['i18n']['t']('clickToEditMin');const _0x2decfb=document['createElement']('input');_0x2decfb['type']='number',_0x2decfb['className']='joint-limit-max\x20editable-limit',_0x2decfb['step']='0.01',_0x2decfb['title']=window['i18n']['t']('clickToEditMax');const _0x381156=document['createElement']('input');_0x381156['type']='number',_0x381156['className']='joint-value-input',_0x381156['setAttribute']('data-joint-input',_0x165e47['name']),_0x381156['step']='0.01';const _0x55cd61=document['createElement']('span');_0x55cd61['className']='joint-value-unit',_0x55cd61['textContent']='deg'===this['angleUnit']?'°':'rad';const _0xce543e=()=>{const _0x29ea3a=parseFloat(_0x381bd8['min']),_0x4f8d63=parseFloat(_0x381bd8['max']);'deg'===this['angleUnit']?(_0x2ba373['value']=(0xb4*_0x29ea3a/Math['PI'])['toFixed'](0x1),_0x2decfb['value']=(0xb4*_0x4f8d63/Math['PI'])['toFixed'](0x1)):(_0x2ba373['value']=_0x29ea3a['toFixed'](0x2),_0x2decfb['value']=_0x4f8d63['toFixed'](0x2));},_0x520634=()=>{const _0x1a4586=parseFloat(_0x381bd8['value']);_0x381156['value']='deg'===this['angleUnit']?(0xb4*_0x1a4586/Math['PI'])['toFixed'](0x1):_0x1a4586['toFixed'](0x2);};_0xce543e(),_0x520634(),_0x2ba373['addEventListener']('change',()=>{let _0x176852=parseFloat(_0x2ba373['value']);if(isNaN(_0x176852))return void _0xce543e();let _0x4ea4c5='deg'===this['angleUnit']?_0x176852*Math['PI']/0xb4:_0x176852;if(_0x4ea4c5>=parseFloat(_0x381bd8['max']))return void _0xce543e();_0x381bd8['min']=_0x4ea4c5,_0x381bd8['step']=(_0x381bd8['max']-_0x381bd8['min'])/0x3e8,_0x165e47['limits']&&(_0x165e47['limits']['lower']=_0x4ea4c5),this['updateEditorXML'](_0x165e47['name'],{'lower':_0x4ea4c5});parseFloat(_0x381bd8['value'])<_0x4ea4c5&&(_0x381bd8['value']=_0x4ea4c5,Ei['setJointAngle'](_0x432339,_0x165e47['name'],_0x4ea4c5),_0x165e47['currentValue']=_0x4ea4c5,_0x520634(),this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']()),_0xce543e();}),_0x2decfb['addEventListener']('change',()=>{let _0xa4faaf=parseFloat(_0x2decfb['value']);if(isNaN(_0xa4faaf))return void _0xce543e();let _0x22e9b7='deg'===this['angleUnit']?_0xa4faaf*Math['PI']/0xb4:_0xa4faaf;if(_0x22e9b7<=parseFloat(_0x381bd8['min']))return void _0xce543e();_0x381bd8['max']=_0x22e9b7,_0x381bd8['step']=(_0x381bd8['max']-_0x381bd8['min'])/0x3e8,_0x165e47['limits']&&(_0x165e47['limits']['upper']=_0x22e9b7),this['updateEditorXML'](_0x165e47['name'],{'upper':_0x22e9b7});parseFloat(_0x381bd8['value'])>_0x22e9b7&&(_0x381bd8['value']=_0x22e9b7,Ei['setJointAngle'](_0x432339,_0x165e47['name'],_0x22e9b7),_0x165e47['currentValue']=_0x22e9b7,_0x520634(),this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']()),_0xce543e();});const _0x4bc8e2=document['createElement']('div');_0x4bc8e2['className']='joint-slider-container',_0x4bc8e2['appendChild'](_0x381bd8);const _0x3b9b14=document['createElement']('div');_0x3b9b14['className']='joint-value-input-container',_0x3b9b14['appendChild'](_0x381156),_0x3b9b14['appendChild'](_0x55cd61),_0x10a927['appendChild'](_0x2ba373),_0x10a927['appendChild'](_0x4bc8e2),_0x10a927['appendChild'](_0x2decfb),_0x10a927['appendChild'](_0x3b9b14);if('urdf'===((null==(_0x2eef97=null==(_0x43d9ce=_0x432339['threeObject'])?void 0x0:_0x43d9ce['userData'])?void 0x0:_0x2eef97['type'])||'urdf')){const _0x4bfbdb=document['createElement']('div');_0x4bfbdb['className']='joint-extra-field';const _0x3e7987=document['createElement']('label');_0x3e7987['textContent']='τ:',_0x3e7987['className']='joint-extra-label',_0x3e7987['title']='Effort\x20(max\x20force/torque)';const _0x319c94=document['createElement']('input');_0x319c94['type']='number',_0x319c94['className']='joint-extra-input',_0x319c94['step']='0.1';const _0x5896d4=null!==_0x3e1792['effort']&&void 0x0!==_0x3e1792['effort']?_0x3e1792['effort']:'';_0x319c94['value']=_0x5896d4,_0x319c94['placeholder']='-',_0x319c94['title']='Effort\x20(max\x20force/torque)',_0x4bfbdb['appendChild'](_0x3e7987),_0x4bfbdb['appendChild'](_0x319c94);const _0x453288=document['createElement']('div');_0x453288['className']='joint-extra-field';const _0x195029=document['createElement']('label');_0x195029['textContent']='v:',_0x195029['className']='joint-extra-label',_0x195029['title']='Velocity\x20(max\x20speed)';const _0x27c653=document['createElement']('input');_0x27c653['type']='number',_0x27c653['className']='joint-extra-input',_0x27c653['step']='0.1';const _0x417016=null!==_0x3e1792['velocity']&&void 0x0!==_0x3e1792['velocity']?_0x3e1792['velocity']:'';_0x27c653['value']=_0x417016,_0x27c653['placeholder']='-',_0x27c653['title']='Velocity\x20(max\x20speed)',_0x453288['appendChild'](_0x195029),_0x453288['appendChild'](_0x27c653),_0x3e5d2f['appendChild'](_0x4bfbdb),_0x3e5d2f['appendChild'](_0x453288),_0x319c94['addEventListener']('change',()=>{let _0x3aabca=parseFloat(_0x319c94['value']);isNaN(_0x3aabca)||''===_0x319c94['value']?_0x165e47['limits']?_0x165e47['limits']['effort']=null:_0x165e47['limits']={'lower':_0xa47b2,'upper':_0x499feb,'effort':null,'velocity':_0x3e1792['velocity']}:(_0x165e47['limits']?_0x165e47['limits']['effort']=_0x3aabca:_0x165e47['limits']={'lower':_0xa47b2,'upper':_0x499feb,'effort':_0x3aabca,'velocity':_0x3e1792['velocity']},this['updateEditorXML'](_0x165e47['name'],{'effort':_0x3aabca}));}),_0x27c653['addEventListener']('change',()=>{let _0x421543=parseFloat(_0x27c653['value']);isNaN(_0x421543)||''===_0x27c653['value']?_0x165e47['limits']?_0x165e47['limits']['velocity']=null:_0x165e47['limits']={'lower':_0xa47b2,'upper':_0x499feb,'effort':_0x3e1792['effort'],'velocity':null}:(_0x165e47['limits']?_0x165e47['limits']['velocity']=_0x421543:_0x165e47['limits']={'lower':_0xa47b2,'upper':_0x499feb,'effort':_0x3e1792['effort'],'velocity':_0x421543},this['updateEditorXML'](_0x165e47['name'],{'velocity':_0x421543}));});}return _0x381bd8['addEventListener']('mousedown',()=>{this['sceneManager']['axesManager']['showOnlyJointAxis'](_0x165e47);}),_0x381bd8['addEventListener']('mouseup',()=>{this['sceneManager']['axesManager']['restoreAllJointAxes']();}),_0xec9b8f['appendChild'](_0x3e5d2f),_0xec9b8f['appendChild'](_0x10a927),_0x5b15dd['appendChild'](_0xec9b8f),_0x381bd8['addEventListener']('input',()=>{const _0x155e62=parseFloat(_0x381bd8['value']);Ei['setJointAngle'](_0x432339,_0x165e47['name'],_0x155e62),_0x165e47['currentValue']=_0x155e62,_0x520634(),this['sceneManager']['constraintManager']&&this['sceneManager']['constraintManager']['applyConstraints'](_0x432339,_0x165e47),this['onJointChange']&&this['onJointChange'](_0x432339),_0x381bd8['_pendingRender']||(_0x381bd8['_pendingRender']=!0x0,requestAnimationFrame(()=>{this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate'](),_0x381bd8['_pendingRender']=!0x1;}));}),_0x381156['addEventListener']('change',()=>{let _0xb375a1=parseFloat(_0x381156['value']);if(isNaN(_0xb375a1))return void _0x520634();let _0x52f532='deg'===this['angleUnit']?_0xb375a1*Math['PI']/0xb4:_0xb375a1;const _0xcedf69=parseFloat(_0x381bd8['min']),_0x3c4bb9=parseFloat(_0x381bd8['max']);_0x52f532=Math['max'](_0xcedf69,Math['min'](_0x3c4bb9,_0x52f532)),_0x381bd8['value']=_0x52f532,Ei['setJointAngle'](_0x432339,_0x165e47['name'],_0x52f532),_0x165e47['currentValue']=_0x52f532,this['sceneManager']['constraintManager']&&this['sceneManager']['constraintManager']['applyConstraints'](_0x432339,_0x165e47),_0x520634(),this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']();}),_0x5b15dd['_updateDisplay']=()=>{_0x520634(),_0xce543e(),_0x55cd61['textContent']='deg'===this['angleUnit']?'°':'rad';},_0x5b15dd;}['setAngleUnit'](_0x5133d1){this['angleUnit']=_0x5133d1;document['querySelectorAll']('.joint-control')['forEach'](_0x53cf16=>{_0x53cf16['_updateDisplay']&&_0x53cf16['_updateDisplay']();});}['resetAllJoints'](_0x3fb3f4){_0x3fb3f4&&_0x3fb3f4['joints']&&(_0x3fb3f4['joints']['forEach']((_0x184c57,_0x162750)=>{if('fixed'!==_0x184c57['type']){let _0x4b2ffa=this['initialJointValues']['get'](_0x162750);if(void 0x0===_0x4b2ffa){const _0x36d028=_0x184c57['limits']||{},_0x4e1d83=void 0x0!==_0x36d028['lower']?_0x36d028['lower']:-Math['PI'],_0x2db7c6=void 0x0!==_0x36d028['upper']?_0x36d028['upper']:Math['PI'];_0x4b2ffa=void 0x0!==_0x184c57['currentValue']?_0x184c57['currentValue']:(_0x4e1d83+_0x2db7c6)/0x2;}Ei['setJointAngle'](_0x3fb3f4,_0x162750,_0x4b2ffa,!0x0),_0x184c57['currentValue']=_0x4b2ffa;const _0x405cbf=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x162750+'\x22]');_0x405cbf&&(_0x405cbf['value']=_0x4b2ffa);const _0x585e07=document['querySelector']('#unit-deg.active')?'deg':'rad',_0x58e76b=document['querySelector']('input[data-joint-input=\x22'+_0x162750+'\x22]');_0x58e76b&&(_0x58e76b['value']='deg'===_0x585e07?(0xb4*_0x4b2ffa/Math['PI'])['toFixed'](0x2):_0x4b2ffa['toFixed'](0x4));}}),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']());}['updateAllSliderLimits'](_0x527758,_0x2356d0){_0x527758&&document['querySelectorAll']('.joint-slider')['forEach'](_0x43907f=>{const _0x223515=_0x43907f['getAttribute']('data-joint'),_0x2c8c1c=_0x527758['joints']['get'](_0x223515);if(_0x2c8c1c&&'fixed'!==_0x2c8c1c['type']){if(_0x2356d0)_0x43907f['min']=0x2*-Math['PI'],_0x43907f['max']=0x2*Math['PI'],_0x43907f['step']=0.01;else{const _0x54935e=_0x2c8c1c['limits']||{},_0x5a1dfe=void 0x0!==_0x54935e['lower']?_0x54935e['lower']:-Math['PI'],_0xbfce34=void 0x0!==_0x54935e['upper']?_0x54935e['upper']:Math['PI'];'continuous'===_0x2c8c1c['type']?(_0x43907f['min']=-Math['PI'],_0x43907f['max']=Math['PI']):(_0x43907f['min']=_0x5a1dfe,_0x43907f['max']=_0xbfce34),_0x43907f['step']=(_0x43907f['max']-_0x43907f['min'])/0x3e8;}const _0x1a7658=_0x43907f['closest']('.joint-control');_0x1a7658&&_0x1a7658['_updateDisplay']&&_0x1a7658['_updateDisplay']();}});}['createJointCheckbox'](_0x5e1532){const _0x299c98=document['createElement']('div');_0x299c98['className']='joint-checkbox-container';const _0x367d43=document['createElement']('input');return _0x367d43['type']='checkbox',_0x367d43['className']='joint-checkbox',_0x367d43['id']='checkbox-'+_0x5e1532,_0x367d43['setAttribute']('data-joint',_0x5e1532),_0x367d43['addEventListener']('change',_0x542c15=>{_0x542c15['target']['checked']?this['selectedJoints']['add'](_0x5e1532):this['selectedJoints']['delete'](_0x5e1532),this['_syncAllSelectedState'](),this['updateButtonStates']();}),_0x299c98['appendChild'](_0x367d43),_0x299c98;}['updateButtonStates'](){const _0x5be01f=document['querySelector']('.apply-angles-btn'),_0x4c2638=document['querySelector']('.set-home-btn'),_0x5441db=document['querySelector']('.reset-home-btn'),_0x194477=document['getElementById']('select-all-btn');if(_0x5be01f){const _0x403f54=this['selectedJoints']['size']>0x0;_0x5be01f['disabled']=!_0x403f54,_0x5be01f['title']=_0x403f54?window['i18n']['t']('applyAngles'):window['i18n']['t']('noJointsSelected');}const _0x1cc3df=this['currentModel']&&this['currentModel']['joints']&&this['currentModel']['joints']['size']>0x0;if(_0x4c2638&&(_0x4c2638['disabled']=!_0x1cc3df),_0x5441db&&(_0x5441db['disabled']=!_0x1cc3df),_0x194477){const _0x4bb5b4=this['_getControllableJointCount']();_0x194477['disabled']=!_0x1cc3df||0x0===_0x4bb5b4,this['_allSelected']?_0x194477['classList']['add']('active'):_0x194477['classList']['remove']('active');}}['_getControllableJointCount'](){if(!this['currentModel']||!this['currentModel']['joints'])return 0x0;let _0x2a312d=0x0;return this['currentModel']['joints']['forEach'](_0x1d6e33=>{'fixed'!==_0x1d6e33['type']&&_0x2a312d++;}),_0x2a312d;}['_syncAllSelectedState'](){const _0x4ec85e=document['querySelectorAll']('.joint-checkbox');if(0x0===_0x4ec85e['length'])return void(this['_allSelected']=!0x1);const _0x3dce82=Array['from'](_0x4ec85e)['every'](_0x11a80a=>_0x11a80a['checked']);this['_allSelected']=_0x3dce82;}['getSelectedJointsInOrder'](){const _0x2df818=[];return document['querySelectorAll']('.joint-control')['forEach'](_0x45c430=>{const _0x434cf0=_0x45c430['getAttribute']('data-joint-name');_0x434cf0&&this['selectedJoints']['has'](_0x434cf0)&&_0x2df818['push'](_0x434cf0);}),_0x2df818;}['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 _0x12112f=this['getSelectedJointsInOrder'](),_0x1b448e=[];_0x12112f['forEach'](_0x5a1708=>{const _0x4611a9=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x5a1708+'\x22]');if(_0x4611a9)_0x1b448e['push'](parseFloat(parseFloat(_0x4611a9['value'])['toFixed'](0x2)));else{const _0x9db5c3=this['currentModel']['joints']['get'](_0x5a1708);if(_0x9db5c3){const _0x467808=void 0x0!==_0x9db5c3['currentValue']?_0x9db5c3['currentValue']:0x0;_0x1b448e['push'](parseFloat(_0x467808['toFixed'](0x2)));}}}),this['showApplyDialog'](JSON['stringify'](_0x1b448e),_0x12112f['length']);}['handleSelectAll'](){const _0x111f9f=document['querySelectorAll']('.joint-checkbox');0x0!==_0x111f9f['length']&&(this['_allSelected']?(_0x111f9f['forEach'](_0x4cc752=>{_0x4cc752['checked']=!0x1;const _0x4b9c9b=_0x4cc752['getAttribute']('data-joint');_0x4b9c9b&&this['selectedJoints']['delete'](_0x4b9c9b);}),this['_allSelected']=!0x1):(_0x111f9f['forEach'](_0x4f2816=>{_0x4f2816['checked']=!0x0;const _0x1d62a4=_0x4f2816['getAttribute']('data-joint');_0x1d62a4&&this['selectedJoints']['add'](_0x1d62a4);}),this['_allSelected']=!0x0),this['updateButtonStates']());}['handleResetToHome'](){var _0x478674;if(!this['currentModel'])return;const _0xd50a51=(null==(_0x478674=this['currentModel']['userData'])?void 0x0:_0x478674['homePositions'])||{},_0x23f7a0=document['querySelector']('#unit-deg.active')?'deg':'rad';this['currentModel']['joints']['forEach']((_0x428727,_0x17e525)=>{if('fixed'===_0x428727['type'])return;const _0x146a1f=void 0x0!==_0xd50a51[_0x17e525]?_0xd50a51[_0x17e525]:0x0;Ei['setJointAngle'](this['currentModel'],_0x17e525,_0x146a1f),_0x428727['currentValue']=_0x146a1f;const _0x38d24c=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x17e525+'\x22]');if(_0x38d24c){_0x38d24c['value']=_0x146a1f;const _0x1ffad9=parseFloat(_0x38d24c['min']),_0x2427fd=parseFloat(_0x38d24c['max']);_0x146a1f<_0x1ffad9&&(_0x38d24c['min']=_0x146a1f),_0x146a1f>_0x2427fd&&(_0x38d24c['max']=_0x146a1f);}const _0x3ae47b=document['querySelector']('input[data-joint-input=\x22'+_0x17e525+'\x22]');_0x3ae47b&&(_0x3ae47b['value']='deg'===_0x23f7a0?(0xb4*_0x146a1f/Math['PI'])['toFixed'](0x2):_0x146a1f['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'](_0x4d30ef,_0x1b105c){const _0x24532c=document['createElement']('div');_0x24532c['className']='apply-dialog-overlay';const _0x472758=document['createElement']('div');_0x472758['className']='apply-dialog';const _0x28c2b7=document['createElement']('div');_0x28c2b7['className']='apply-dialog-title',_0x28c2b7['textContent']=window['i18n']['t']('applyDialogTitle');const _0x4adf6b=document['createElement']('div');_0x4adf6b['className']='apply-dialog-hint',_0x4adf6b['textContent']=window['i18n']['t']('applyDialogHint');const _0x33bc57=document['createElement']('textarea');_0x33bc57['className']='apply-dialog-textarea',_0x33bc57['value']=_0x4d30ef,_0x33bc57['placeholder']='[0.0,\x200.0,\x200.0]';const _0x2fc75e=document['createElement']('div');_0x2fc75e['className']='apply-dialog-buttons';const _0x4853a1=document['createElement']('button');_0x4853a1['className']='apply-dialog-btn\x20secondary',_0x4853a1['textContent']=window['i18n']['t']('applyDialogCancel'),_0x4853a1['onclick']=()=>{document['body']['removeChild'](_0x24532c);};const _0x56873d=document['createElement']('button');_0x56873d['className']='apply-dialog-btn\x20primary',_0x56873d['textContent']=window['i18n']['t']('applyDialogApply'),_0x56873d['onclick']=()=>{const _0x471365=_0x33bc57['value']['trim']();this['applyAnglesFromText'](_0x471365,_0x1b105c)&&document['body']['removeChild'](_0x24532c);},_0x2fc75e['appendChild'](_0x4853a1),_0x2fc75e['appendChild'](_0x56873d),_0x472758['appendChild'](_0x28c2b7),_0x472758['appendChild'](_0x4adf6b),_0x472758['appendChild'](_0x33bc57),_0x472758['appendChild'](_0x2fc75e),_0x24532c['appendChild'](_0x472758),document['body']['appendChild'](_0x24532c),setTimeout(()=>{_0x33bc57['focus'](),_0x33bc57['select']();},0x64);const _0x48dcbe=_0x2e79b0=>{'Escape'===_0x2e79b0['key']&&(document['body']['contains'](_0x24532c)&&document['body']['removeChild'](_0x24532c),document['removeEventListener']('keydown',_0x48dcbe));};document['addEventListener']('keydown',_0x48dcbe),_0x24532c['addEventListener']('click',_0x3edee7=>{_0x3edee7['target']===_0x24532c&&(document['body']['removeChild'](_0x24532c),document['removeEventListener']('keydown',_0x48dcbe));});}['applyAnglesFromText'](_0xf4d83d,_0x31ab4c){if(!_0xf4d83d)return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;try{const _0x33457f=JSON['parse'](_0xf4d83d);if(!Array['isArray'](_0x33457f))return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;if(_0x33457f['length']!==_0x31ab4c){const _0x697821=window['i18n']['t']('countMismatch')['replace']('{expected}',_0x31ab4c)['replace']('{actual}',_0x33457f['length']);return this['showToast'](_0x697821,'error'),!0x1;}for(let _0x57c123=0x0;_0x57c123<_0x33457f['length'];_0x57c123++)if('number'!=typeof _0x33457f[_0x57c123]||isNaN(_0x33457f[_0x57c123]))return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;const _0x171d5b=this['getSelectedJointsInOrder']();_0x171d5b['forEach']((_0xdb734c,_0x259915)=>{const _0x404594=this['currentModel']['joints']['get'](_0xdb734c);if(_0x404594){const _0x6d5cbf=_0x33457f[_0x259915];Ei['setJointAngle'](this['currentModel'],_0xdb734c,_0x6d5cbf),_0x404594['currentValue']=_0x6d5cbf;const _0x39262f=document['querySelector']('input.joint-slider[data-joint=\x22'+_0xdb734c+'\x22]');_0x39262f&&(_0x39262f['value']=_0x6d5cbf);}}),this['sceneManager']['constraintManager']&&_0x171d5b['forEach'](_0xda1fbd=>{const _0x35a6ca=this['currentModel']['joints']['get'](_0xda1fbd);_0x35a6ca&&this['sceneManager']['constraintManager']['applyConstraints'](this['currentModel'],_0x35a6ca);});const _0x50cf50=document['querySelector']('#unit-deg.active')?'deg':'rad';_0x171d5b['forEach']((_0x3b30b4,_0x531553)=>{const _0x4f9528=this['currentModel']['joints']['get'](_0x3b30b4),_0x15d3ab=void 0x0!==(null==_0x4f9528?void 0x0:_0x4f9528['currentValue'])?_0x4f9528['currentValue']:_0x33457f[_0x531553],_0x2a4e15=document['querySelector']('input.joint-slider[data-joint=\x22'+_0x3b30b4+'\x22]');_0x2a4e15&&(_0x2a4e15['value']=_0x15d3ab);const _0x12d2bb=document['querySelector']('input[data-joint-input=\x22'+_0x3b30b4+'\x22]');_0x12d2bb&&(_0x12d2bb['value']='deg'===_0x50cf50?(0xb4*_0x15d3ab/Math['PI'])['toFixed'](0x2):_0x15d3ab['toFixed'](0x4));}),this['onJointChange']&&this['onJointChange'](this['currentModel']),requestAnimationFrame(()=>{this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['sceneManager']['onMeasurementUpdate']&&this['sceneManager']['onMeasurementUpdate']();});const _0x16bcc4=window['i18n']['t']('applySuccess')['replace']('{count}',_0x33457f['length']);return this['showToast'](_0x16bcc4,'success'),!0x0;}catch(_0x134a93){return this['showToast'](window['i18n']['t']('invalidFormat'),'error'),!0x1;}}['showToast'](_0x451252,_0x31e47a='success'){const _0x3dc6de=document['createElement']('div');_0x3dc6de['className']='toast-notification\x20'+_0x31e47a,_0x3dc6de['textContent']=_0x451252,document['body']['appendChild'](_0x3dc6de),setTimeout(()=>{document['body']['contains'](_0x3dc6de)&&(_0x3dc6de['style']['animation']='slideInRight\x200.3s\x20ease-out\x20reverse',setTimeout(()=>{document['body']['contains'](_0x3dc6de)&&document['body']['removeChild'](_0x3dc6de);},0x12c));},0xbb8);}}class Ui{constructor(){this['panels']=new Map(),this['modelGraphOriginalTransform']=null,this['modelGraphView']=null;}['setModelGraphView'](_0x35f3de){this['modelGraphView']=_0x35f3de;}['registerPanel'](_0x317b46,_0x829175='.floating-panel-header'){const _0x2b9903=document['getElementById'](_0x317b46),_0x5e1b19=null==_0x2b9903?void 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_0xffc652=this['codeEditorInstance']['searchAndScroll'](_0x5cd476,!0x0);return _0xffc652||(_0xffc652=this['codeEditorInstance']['searchAndScroll'](_0x2bf581,!0x0)),_0xffc652;}['scrollToJoint'](_0x33cc8a){if(!this['codeEditorInstance']||!_0x33cc8a)return!0x1;const _0x5769a5=document['getElementById']('code-editor-panel'),_0x45baeb=document['getElementById']('open-editor-btn');_0x5769a5&&!_0x5769a5['classList']['contains']('visible')&&(_0x5769a5['classList']['add']('visible'),_0x45baeb&&_0x45baeb['classList']['add']('active'));const _0x21a9ac='<joint\x20name=\x22'+_0x33cc8a+'\x22';return this['codeEditorInstance']['searchAndScroll'](_0x21a9ac,!0x0);}['updateUrdfOriginRpy'](_0x434f9f,_0x1086b){var _0x271c83;if(!this['codeEditorInstance'])return!0x1;const _0x26a30d=this['codeEditorInstance']['getValue']();if(!_0x26a30d)return!0x1;try{const _0xa647b=new DOMParser()['parseFromString'](_0x26a30d,'text/xml');if(_0xa647b['querySelector']('parsererror'))return!0x1;const 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null;try{const _0x110199=new DOMParser()['parseFromString'](_0x47c9c1,'text/xml');if(_0x110199['querySelector']('parsererror'))return null;const _0x40235c=_0x110199['querySelector']('joint[name=\x22'+_0x3a9268+'\x22]');if(!_0x40235c)return null;const _0x104cbb=_0x40235c['querySelector']('origin');if(!_0x104cbb)return[0x0,0x0,0x0];const _0x67d373=_0x104cbb['getAttribute']('rpy');return _0x67d373?_0x67d373['trim']()['split'](/\s+/)['map'](parseFloat):[0x0,0x0,0x0];}catch(_0x5116a3){return null;}}}class Ji{constructor(_0x5cb73b){this['sceneManager']=_0x5cb73b,this['selectedObjects']=[];}['handleSelection'](_0x155678,_0x2988df,_0x10ed3b){const _0x232f61=this['selectedObjects']['findIndex'](_0x10b16d=>_0x10b16d['name']===_0x155678['name']&&_0x10b16d['type']===_0x10ed3b);if(_0x232f61>=0x0)this['selectedObjects']['splice'](_0x232f61,0x1),_0x472736(_0x2988df)['classed']('measurement-selected',!0x1);else{if(this['selectedObjects']['length']>=0x2){const 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Error('Load\x20timeout')),0xea60);this['on']('USD_LOADED',()=>{clearTimeout(_0x108e93),this['messageHandlers']['delete']('USD_LOADED'),_0x5530fa();}),this['postMessage']('USD_LOAD_ENTRIES',{'entries':_0x2d6bc6,'primaryPath':_0x1f5f30});});}['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 _0x2de39a;window['removeEventListener']('message',this['handleMessage']),(null==(_0x2de39a=this['iframe'])?void 0x0:_0x2de39a['parentNode'])&&this['iframe']['parentNode']['removeChild'](this['iframe']),this['iframe']=null,this['isReady']=!0x1,this['messageHandlers']['clear']();}}class Gi{constructor(_0x2e601c,_0x2a4d96,_0x4eb5ea,_0x457272,_0x86d89a){this['scene']=_0x2e601c,this['renderer']=_0x2a4d96,this['camera']=_0x4eb5ea,this['mousePos']=new _0x228015(),this['raycaster']=new 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_0x220444(),this['enabled']=!0x1,this['container']=_0x457272,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'](_0x42eb9e,_0x1a39e2){const 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_0x104f6d=this['raycaster']['ray']['origin']['clone']();_0x104f6d['addScaledVector'](this['raycaster']['ray']['direction'],this['grabDistance']),this['arrow']['position']['copy'](_0x104f6d),this['active']=!0x0,this['controls']['enabled']=!0x1,this['localHit']=_0x3bf83d['worldToLocal'](_0x104f6d['clone']()),this['worldHit']['copy'](_0x104f6d),this['currentWorld']['copy'](_0x104f6d),this['arrow']['visible']=!0x0,this['highlightBody'](_0x3bf83d);break;}}}['move'](_0x3a01fd,_0x8f8ebb){if(this['active']){this['updateRaycaster'](_0x3a01fd,_0x8f8ebb);const _0x3f0757=this['raycaster']['ray']['origin']['clone']();_0x3f0757['addScaledVector'](this['raycaster']['ray']['direction'],this['grabDistance']),this['currentWorld']['copy'](_0x3f0757),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'](_0x3402eb){let _0x3ba522=_0x3402eb;for(;_0x3ba522&&!_0x3ba522['isGroup'];)_0x3ba522=_0x3ba522['parent'];_0x3ba522&&_0x3ba522['traverse'](_0x178fad=>{_0x178fad['isMesh']&&_0x178fad['material']&&_0x178fad['material']['emissive']&&(this['originalEmissive']['has'](_0x178fad['uuid'])||this['originalEmissive']['set'](_0x178fad['uuid'],{'color':_0x178fad['material']['emissive']['clone'](),'intensity':_0x178fad['material']['emissiveIntensity']||0x0}),_0x178fad['material']['emissive']['setHex'](this['highlightColor']),_0x178fad['material']['emissiveIntensity']=0.5);});}['unhighlightBody'](_0x5a871b){let _0x3ca7f9=_0x5a871b;for(;_0x3ca7f9&&!_0x3ca7f9['isGroup'];)_0x3ca7f9=_0x3ca7f9['parent'];_0x3ca7f9&&_0x3ca7f9['traverse'](_0x1f399e=>{if(_0x1f399e['isMesh']&&_0x1f399e['material']&&this['originalEmissive']['has'](_0x1f399e['uuid'])){const _0x3cf2bb=this['originalEmissive']['get'](_0x1f399e['uuid']);_0x1f399e['material']['emissive']&&(_0x1f399e['material']['emissive']['copy'](_0x3cf2bb['color']),_0x1f399e['material']['emissiveIntensity']=_0x3cf2bb['intensity']),this['originalEmissive']['delete'](_0x1f399e['uuid']);}});}['onPointer'](_0x4fc8c9){this['enabled']&&('pointerdown'===_0x4fc8c9['type']?(this['start'](_0x4fc8c9['clientX'],_0x4fc8c9['clientY']),this['mouseDown']=!0x0):'pointermove'===_0x4fc8c9['type']&&this['mouseDown']?this['active']&&this['move'](_0x4fc8c9['clientX'],_0x4fc8c9['clientY']):'pointerup'===_0x4fc8c9['type']&&this['end'](_0x4fc8c9));}}class Wi{constructor(_0x1f84e0){this['sceneManager']=_0x1f84e0,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 _0x220444(),this['tmpQuat']=new _0x3c39ce(),this['isLoaded']=!0x1,this['isSimulating']=!0x1,this['isOldAPI']=!0x1;}async['init'](){if(this['mujoco'])return this['mujoco'];try{const _0x56bd14=(await Ae(()=>import('./mujoco_wasm-eda98632.js'),["./mujoco_wasm-eda98632.js","./three-9c891de0.js","./d3-2e308866.js","./codemirror-c3cec7b3.js","./codemirror-themes-e6995a6a.js"],import.meta.url))['default'];return this['mujoco']=await _0x56bd14(),this['mujoco']['FS']['mkdir']('/working'),this['mujoco']['FS']['mount'](this['mujoco']['MEMFS'],{'root':'.'},'/working'),this['mujoco'];}catch(_0x1bf1b9){throw _0x1bf1b9;}}async['loadScene'](_0x527a85,_0x3eb957,_0x547e69,_0x36f171){try{this['mujoco']||await this['init'](),this['clearScene'](),this['originalModel']=_0x36f171;const _0x1f2ec6=this['addGroundPlane'](_0x527a85),_0x551188='/working/'+_0x3eb957;this['mujoco']['FS']['writeFile'](_0x551188,_0x1f2ec6),_0x547e69&&_0x547e69['size']>0x0&&await this['writeAssetsToVFS'](_0x527a85,_0x3eb957,_0x547e69);try{if(this['mujoco']['Model']&&'function'==typeof this['mujoco']['Model']['load_from_xml'])this['model']=this['mujoco']['Model']['load_from_xml'](_0x551188),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'](_0x551188),this['data']=new this['mujoco']['MjData'](this['model']),this['isOldAPI']=!0x0;}}catch(_0x54719d){let _0x1a7c5a='MuJoCo\x20model\x20loading\x20failed:\x20';throw _0x54719d['message']?_0x1a7c5a+=_0x54719d['message']:_0x1a7c5a+='Unknown\x20error',_0x54719d['message']&&(_0x54719d['message']['includes']('mesh')||_0x54719d['message']['includes']('mjCMesh'))&&(_0x1a7c5a+='\x0a\x0aThis\x20is\x20usually\x20caused\x20by\x20one\x20of\x20the\x20following:',_0x1a7c5a+='\x0a1.\x20Mesh\x20file\x20path\x20is\x20incorrect\x20or\x20file\x20is\x20missing',_0x1a7c5a+='\x0a2.\x20Mesh\x20file\x20format\x20is\x20not\x20supported\x20or\x20corrupted',_0x1a7c5a+='\x0a3.\x20Mesh\x20file\x20was\x20not\x20properly\x20written\x20to\x20virtual\x20file\x20system'),new Error(_0x1a7c5a);}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 _0x2e5e4f=this['sceneManager']['renderer']['domElement'];this['dragStateManager']=new Gi(this['sceneManager']['scene'],this['sceneManager']['renderer'],this['sceneManager']['camera'],_0x2e5e4f,this['sceneManager']['controls']);}return null;}catch(_0x6543b4){throw _0x6543b4;}}['addGroundPlane'](_0x4b04d9){const _0x25136b=new DOMParser()['parseFromString'](_0x4b04d9,'application/xml'),_0x236e9e=_0x25136b['querySelector']('worldbody');if(!_0x236e9e)return _0x4b04d9;if(_0x236e9e['querySelector']('geom[type=\x22plane\x22]'))return _0x4b04d9;const _0xffe1ff=this['sceneManager']['groundPlane']?this['sceneManager']['groundPlane']['position']['y']:0x0,_0x3b9a2f=_0x25136b['createElement']('geom');_0x3b9a2f['setAttribute']('name','ground'),_0x3b9a2f['setAttribute']('type','plane'),_0x3b9a2f['setAttribute']('size','10\x2010\x200.1'),_0x3b9a2f['setAttribute']('rgba','0.9\x200.9\x200.9\x201'),_0x3b9a2f['setAttribute']('pos','0\x200\x20'+_0xffe1ff),_0x3b9a2f['setAttribute']('contype','1'),_0x3b9a2f['setAttribute']('conaffinity','1'),_0x3b9a2f['setAttribute']('condim','3'),_0x3b9a2f['setAttribute']('friction','1\x200.005\x200.0001'),_0x236e9e['firstChild']?_0x236e9e['insertBefore'](_0x3b9a2f,_0x236e9e['firstChild']):_0x236e9e['appendChild'](_0x3b9a2f);return new XMLSerializer()['serializeToString'](_0x25136b);}async['writeAssetsToVFS'](_0xb8bb9c,_0x2db6a6,_0x3e6eb8){const _0x106e69=new DOMParser()['parseFromString'](_0xb8bb9c,'application/xml'),_0x5d838c=_0x106e69['querySelector']('compiler'),_0x3cb1be=(null==_0x5d838c?void 0x0:_0x5d838c['getAttribute']('meshdir'))||'assets',_0x2486e2=(null==_0x5d838c?void 0x0:_0x5d838c['getAttribute']('texturedir'))||_0x3cb1be,_0x57a32f=new Set(),_0x3dd3a6=new Map();_0x106e69['querySelectorAll']('mesh[file]')['forEach'](_0x285c85=>{const _0x441014=_0x285c85['getAttribute']('file');if(_0x441014){const _0x38a515=this['resolvePath'](_0x2db6a6,_0x3cb1be,_0x441014);_0x57a32f['add'](_0x38a515),_0x3dd3a6['set'](_0x38a515,{'original':_0x441014,'element':_0x285c85});}}),_0x106e69['querySelectorAll']('texture[file]')['forEach'](_0xa1ed14=>{const _0xc7fd59=_0xa1ed14['getAttribute']('file');_0xc7fd59&&_0x57a32f['add'](this['resolvePath'](_0x2db6a6,_0x2486e2,_0xc7fd59));});let _0xe1ae5c=0x0;const _0x413219=[],_0xd6fd28=[];for(const _0x563bd7 of _0x57a32f){const _0x31db47=new Set();for(const _0x28cace of _0x3e6eb8['keys']())if(_0x28cace['startsWith']('/')){const _0x40e3e8=_0x28cace['split']('/');_0x40e3e8['length']>0x1&&_0x31db47['add'](_0x40e3e8[0x1]);}const _0x3d31b0=[_0x563bd7,'/'+_0x563bd7,'mjcf/'+_0x563bd7,'/mjcf/'+_0x563bd7,_0x563bd7['split']('/')['pop']()];for(const _0x5c140c of _0x31db47)_0x3d31b0['push']('/'+_0x5c140c+'/mjcf/'+_0x563bd7),_0x3d31b0['push'](_0x5c140c+'/mjcf/'+_0x563bd7);let _0x27da17=null;for(const _0x494a92 of _0x3d31b0)if(_0x27da17=_0x3e6eb8['get'](_0x494a92),_0x27da17)break;if(!_0x27da17){const _0x54425a=_0x563bd7['toLowerCase'](),_0x3d5948=_0x563bd7['split']('/')['pop']()['toLowerCase']();for(const [_0x5bbb85,_0x5228ef]of _0x3e6eb8['entries']()){const _0x11c0ab=_0x5bbb85['toLowerCase'](),_0x4e88c7=_0x5bbb85['split']('/')['pop']()['toLowerCase']();if(_0x11c0ab===_0x54425a||_0x11c0ab['endsWith']('/'+_0x54425a)||_0x4e88c7===_0x3d5948||_0x11c0ab['includes'](_0x54425a)){_0x27da17=_0x5228ef;break;}}}if(_0x27da17)try{const _0x25850b='/working/'+_0x563bd7;this['ensureDir'](_0x25850b);const _0x33395a=_0x563bd7['toLowerCase']()['split']('.')['pop']();if(['obj','stl','png','jpg','jpeg','bmp']['includes'](_0x33395a)){const _0x2455e3=await _0x27da17['arrayBuffer']();this['mujoco']['FS']['writeFile'](_0x25850b,new Uint8Array(_0x2455e3));}else{const _0x2b5e42=await _0x27da17['text']();this['mujoco']['FS']['writeFile'](_0x25850b,_0x2b5e42);}try{if(!this['mujoco']['FS']['stat'](_0x25850b))throw new Error('File\x20write\x20verification\x20failed');}catch(_0x511ca6){throw new Error('File\x20write\x20verification\x20failed');}_0xe1ae5c++;}catch(_0x17d580){const _0x2112b4=_0x3dd3a6['get'](_0x563bd7),_0x600a9a=_0x2112b4?_0x2112b4['original']:_0x563bd7;_0xd6fd28['push']({'path':_0x600a9a,'error':_0x17d580['message']});}else{const _0x4b7018=_0x3dd3a6['get'](_0x563bd7),_0x4f0d71=_0x4b7018?_0x4b7018['original']:_0x563bd7;_0x413219['push'](_0x4f0d71);}}if(_0x413219['length']>0x0||_0xd6fd28['length']>0x0){let _0x3d1e65='MuJoCo\x20asset\x20files\x20loading\x20failed:\x0a';throw _0x413219['length']>0x0&&(_0x3d1e65+='\x0aMissing\x20files\x20('+_0x413219['length']+'):\x0a',_0x413219['slice'](0x0,0xa)['forEach'](_0x52de88=>{_0x3d1e65+='\x20\x20-\x20'+_0x52de88+'\x0a';}),_0x413219['length']>0xa&&(_0x3d1e65+='\x20\x20...\x20'+(_0x413219['length']-0xa)+'\x20more\x20files\x20missing\x0a')),_0xd6fd28['length']>0x0&&(_0x3d1e65+='\x0aFailed\x20to\x20write\x20files\x20('+_0xd6fd28['length']+'):\x0a',_0xd6fd28['slice'](0x0,0xa)['forEach'](({path:_0x24a53c,error:_0x265ff3})=>{_0x3d1e65+='\x20\x20-\x20'+_0x24a53c+':\x20'+_0x265ff3+'\x0a';}),_0xd6fd28['length']>0xa&&(_0x3d1e65+='\x20\x20...\x20'+(_0xd6fd28['length']-0xa)+'\x20more\x20files\x20failed\x0a')),_0x3d1e65+='\x0aSuccessfully\x20loaded:\x20'+_0xe1ae5c+'\x20files',_0x3d1e65+='\x0a\x0aPlease\x20ensure\x20all\x20mesh\x20files\x20are\x20included\x20in\x20the\x20file\x20list.',new Error(_0x3d1e65);}}['resolvePath'](_0x2e2f56,_0x344f36,_0x36df6c){const _0x1f160a=_0x2e2f56['includes']('/')?_0x2e2f56['substring'](0x0,_0x2e2f56['lastIndexOf']('/')):'';if(_0x36df6c['startsWith']('/'))return _0x36df6c['substring'](0x1);const _0x392b7f=[];return _0x1f160a&&_0x392b7f['push'](_0x1f160a),_0x344f36&&'.'!==_0x344f36&&_0x392b7f['push'](_0x344f36),_0x392b7f['push'](_0x36df6c),_0x392b7f['join']('/');}['ensureDir'](_0x3f41a7){const _0x4b0709=_0x3f41a7['split']('/');let _0x4f58aa='';for(let _0x3b3c7f=0x0;_0x3b3c7f<_0x4b0709['length']-0x1;_0x3b3c7f++)_0x4f58aa+=(0x0===_0x3b3c7f?'':'/')+_0x4b0709[_0x3b3c7f],_0x4f58aa&&!this['mujoco']['FS']['analyzePath'](_0x4f58aa)['exists']&&this['mujoco']['FS']['mkdir'](_0x4f58aa);}async['createThreeScene'](){const _0xe6949a=this['model'];this['mujocoRoot']=new _0x135d71(),this['mujocoRoot']['name']='MuJoCo\x20Physics\x20Root',this['mujocoRoot']['userData']['isMuJoCo']=!0x0,this['mujocoRoot']['visible']=!0x1,this['bodies']={};const _0x33289b={},_0x59f983=new TextDecoder('utf-8'),_0x401ec4=new Uint8Array(_0xe6949a['names']),_0x4c27fc=new Map(),_0x20e380=new Map();if(this['originalModel'])for(const [_0x4a0ce0,_0x44e2be]of this['originalModel']['links']){const _0x32f63a=[],_0x56e70e=[];if(_0x44e2be['visuals']&&_0x44e2be['visuals']['length']>0x0)for(const _0x140b79 of _0x44e2be['visuals'])_0x140b79['threeObject']&&_0x140b79['threeObject']['traverse'](_0x4a1fca=>{if(_0x4a1fca['isMesh']&&_0x4a1fca['material']){let _0x4141e3;_0x4141e3=Array['isArray'](_0x4a1fca['material'])?_0x4a1fca['material']['map'](_0x7314af=>_0x7314af?_0x7314af['clone']():null):_0x4a1fca['material']['clone']?_0x4a1fca['material']['clone']():new _0xa4876a({'color':_0x4a1fca['material']['color']||0x808080,'transparent':_0x4a1fca['material']['transparent']||!0x1,'opacity':void 0x0!==_0x4a1fca['material']['opacity']?_0x4a1fca['material']['opacity']:0x1}),_0x32f63a['push'](_0x4141e3),_0x56e70e['push']({'material':_0x4141e3,'geometry':_0x140b79['geometry']});}});else _0x44e2be['threeObject']&&_0x44e2be['threeObject']['traverse'](_0x1cd1a0=>{if(_0x1cd1a0['isMesh']&&_0x1cd1a0['material']){let _0x1bb439;_0x1bb439=Array['isArray'](_0x1cd1a0['material'])?_0x1cd1a0['material']['map'](_0x15891c=>_0x15891c?_0x15891c['clone']():null):_0x1cd1a0['material']['clone']?_0x1cd1a0['material']['clone']():new _0xa4876a({'color':_0x1cd1a0['material']['color']||0x808080,'transparent':_0x1cd1a0['material']['transparent']||!0x1,'opacity':void 0x0!==_0x1cd1a0['material']['opacity']?_0x1cd1a0['material']['opacity']:0x1}),_0x32f63a['push'](_0x1bb439);}});_0x32f63a['length']>0x0&&(_0x4c27fc['set'](_0x4a0ce0,_0x32f63a),_0x20e380['set'](_0x4a0ce0,_0x56e70e));}const _0x35141e=this['sceneManager']['visualizationManager']['showCollision'];for(let _0x4d9526=0x0;_0x4d9526<_0xe6949a['ngeom'];_0x4d9526++){const _0xb39bd6=_0xe6949a['geom_group'][_0x4d9526];if(_0xb39bd6>=0x4)continue;const _0x422d11=_0xe6949a['geom_bodyid'][_0x4d9526],_0xfc6f91=_0xe6949a['geom_type'][_0x4d9526],_0xae680a=[_0xe6949a['geom_size'][0x3*_0x4d9526+0x0],_0xe6949a['geom_size'][0x3*_0x4d9526+0x1],_0xe6949a['geom_size'][0x3*_0x4d9526+0x2]];if(!this['bodies'][_0x422d11]){this['bodies'][_0x422d11]=new _0x135d71();const _0x2d2902=_0xe6949a['name_bodyadr'][_0x422d11];let _0xc663f1=_0x2d2902;for(;_0xc663f1<_0x401ec4['length']&&0x0!==_0x401ec4[_0xc663f1];)_0xc663f1++;const _0x4b2fb6=_0x401ec4['subarray'](_0x2d2902,_0xc663f1);this['bodies'][_0x422d11]['name']=_0x59f983['decode'](_0x4b2fb6),this['bodies'][_0x422d11]['bodyID']=_0x422d11;}let _0x508620=new _0x2e733b(_0xae680a[0x0]);if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_SPHERE']['value'])_0x508620=new _0x2e733b(_0xae680a[0x0],0x20,0x20);else if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_CAPSULE']['value'])_0x508620=new _0x37c03a(_0xae680a[0x0],0x2*_0xae680a[0x1],0x14,0x14);else if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_CYLINDER']['value'])_0x508620=new _0x181a2b(_0xae680a[0x0],_0xae680a[0x0],0x2*_0xae680a[0x1],0x20);else if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_BOX']['value'])_0x508620=new _0x20eddb(0x2*_0xae680a[0x0],0x2*_0xae680a[0x2],0x2*_0xae680a[0x1]);else if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_ELLIPSOID']['value'])_0x508620=new _0x2e733b(0x1,0x20,0x20);else if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_MESH']['value']){const _0x2c9fff=_0xe6949a['geom_dataid'][_0x4d9526];_0x2c9fff in _0x33289b?_0x508620=_0x33289b[_0x2c9fff]:(_0x508620=this['createMeshGeometry'](_0x2c9fff),_0x33289b[_0x2c9fff]=_0x508620);}const _0x27d5e7=this['bodies'][_0x422d11]['name'],_0x231255=this['bodies'][_0x422d11]['children']['length'];let _0x83bf6c,_0x18709f=!0x1,_0x22b39e=null;if(_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_MESH']['value']&&_0x20e380['has'](_0x27d5e7)){const _0x21377b=_0xe6949a['geom_dataid'][_0x4d9526],_0x2d33d2=_0xe6949a['name_meshadr'][_0x21377b];let _0xbdec3e=_0x2d33d2;for(;_0xbdec3e<_0x401ec4['length']&&0x0!==_0x401ec4[_0xbdec3e];)_0xbdec3e++;const _0x559e36=_0x401ec4['subarray'](_0x2d33d2,_0xbdec3e),_0x1b6d07=_0x59f983['decode'](_0x559e36),_0x254255=_0x20e380['get'](_0x27d5e7);for(const _0x566139 of _0x254255)if(_0x566139['geometry']&&_0x566139['geometry']['filename']){const _0x58b1d0=_0x566139['geometry']['filename']['split']('/')['pop']()['split']('\x5c')['pop'](),_0x26d355=_0x58b1d0['replace'](/\.[^/.]+$/,''),_0x2fc831=_0x1b6d07+'.STL',_0x5890fd=_0x2fc831['replace'](/\.[^/.]+$/,'');if(_0x58b1d0===_0x1b6d07||_0x58b1d0['toLowerCase']()===_0x1b6d07['toLowerCase']()||_0x26d355===_0x1b6d07||_0x26d355['toLowerCase']()===_0x1b6d07['toLowerCase']()||_0x58b1d0===_0x2fc831||_0x58b1d0['toLowerCase']()===_0x2fc831['toLowerCase']()||_0x26d355===_0x5890fd||_0x26d355['toLowerCase']()===_0x5890fd['toLowerCase']()){if(Array['isArray'](_0x566139['material'])){const _0x4a1b4b=_0x566139['material'][0x0];_0x4a1b4b&&_0x4a1b4b['clone']?_0x83bf6c=_0x4a1b4b['clone']():_0x4a1b4b&&(_0x83bf6c=new _0xa4876a({'color':_0x4a1b4b['color']||0x808080,'transparent':_0x4a1b4b['transparent']||!0x1,'opacity':void 0x0!==_0x4a1b4b['opacity']?_0x4a1b4b['opacity']:0x1}));}else _0x566139['material']&&_0x566139['material']['clone']?_0x83bf6c=_0x566139['material']['clone']():_0x566139['material']&&(_0x83bf6c=new _0xa4876a({'color':_0x566139['material']['color']||0x808080,'transparent':_0x566139['material']['transparent']||!0x1,'opacity':void 0x0!==_0x566139['material']['opacity']?_0x566139['material']['opacity']:0x1}));if(_0x83bf6c&&(_0x83bf6c['isMeshPhongMaterial']||_0x83bf6c['isMeshStandardMaterial'])){if(void 0x0===_0x83bf6c['userData']['originalShininess'])if(_0x83bf6c['userData']['originalShininess']=void 0x0!==_0x83bf6c['shininess']?_0x83bf6c['shininess']:0x1e,_0x83bf6c['specular'])if(_0x83bf6c['specular']['isColor']){const _0x479979=_0x83bf6c['specular'];_0x479979['r']<0.1&&_0x479979['g']<0.1&&_0x479979['b']<0.1?_0x83bf6c['userData']['originalSpecular']=null:_0x83bf6c['userData']['originalSpecular']=_0x479979['clone']();}else _0x83bf6c['userData']['originalSpecular']=null;else _0x83bf6c['userData']['originalSpecular']=null;if(this['sceneManager']['visualizationManager']['showEnhancedLighting'])void 0x0!==_0x83bf6c['shininess']&&_0x83bf6c['shininess']<0x32&&(_0x83bf6c['shininess']=0x32),(!_0x83bf6c['specular']||_0x83bf6c['specular']['r']<0.2)&&(_0x83bf6c['specular']=new _0x25d7bf(0.3,0.3,0.3));else if(void 0x0!==_0x83bf6c['userData']['originalShininess']&&(_0x83bf6c['shininess']=_0x83bf6c['userData']['originalShininess']),null===_0x83bf6c['userData']['originalSpecular'])_0x83bf6c['specular']=new _0x25d7bf(0x111111);else if(_0x83bf6c['userData']['originalSpecular']){const _0x1e22e1=_0x83bf6c['userData']['originalSpecular'];_0x1e22e1['isColor']?_0x83bf6c['specular']=_0x1e22e1['clone']():_0x83bf6c['specular']=_0x1e22e1;}}_0x18709f=!0x0;break;}}if(_0x18709f&&this['originalModel']){const _0x217c42=this['originalModel']['links']['get'](_0x27d5e7);if(_0x217c42&&_0x217c42['visuals'])for(const _0x3dd99d of _0x217c42['visuals'])if(_0x3dd99d['geometry']&&_0x3dd99d['geometry']['filename']){const _0x159b1b=_0x3dd99d['geometry']['filename']['split']('/')['pop']()['split']('\x5c')['pop']();if(_0x159b1b['replace'](/\.[^/.]+$/,'')['toLowerCase']()===_0x1b6d07['toLowerCase']()||_0x159b1b['toLowerCase']()===(_0x1b6d07+'.STL')['toLowerCase']()){_0x3dd99d['userData']&&_0x3dd99d['userData']['rgba']&&(_0x22b39e=_0x3dd99d['userData']['rgba'],_0x83bf6c&&_0x83bf6c['color']&&(_0x83bf6c['color']['setRGB'](_0x22b39e['r'],_0x22b39e['g'],_0x22b39e['b']),_0x22b39e['a']<0x1&&(_0x83bf6c['transparent']=!0x0,_0x83bf6c['opacity']=_0x22b39e['a'])));break;}}}}if(!_0x18709f&&this['originalModel']){const _0x4f0609=this['originalModel']['links']['get'](_0x27d5e7);if(_0x4f0609&&_0x4f0609['visuals']&&_0x4f0609['visuals']['length']>0x0){const _0xc4e212=Math['min'](_0x231255,_0x4f0609['visuals']['length']-0x1),_0x52bc86=_0x4f0609['visuals'][_0xc4e212];_0x52bc86&&(_0x52bc86['userData']&&_0x52bc86['userData']['rgba']?_0x22b39e=_0x52bc86['userData']['rgba']:_0x52bc86['threeObject']&&_0x52bc86['threeObject']['traverse'](_0x44f6dd=>{if(_0x44f6dd['isMesh']&&_0x44f6dd['material']&&!_0x22b39e){const _0xfa1189=_0x44f6dd['material']['color'];_0x22b39e={'r':_0xfa1189['r'],'g':_0xfa1189['g'],'b':_0xfa1189['b'],'a':void 0x0!==_0x44f6dd['material']['opacity']?_0x44f6dd['material']['opacity']:0x1};}}));}}if(!_0x18709f){const _0x1781e0=_0x4c27fc['get'](_0x27d5e7);if(_0x1781e0&&_0x1781e0['length']>0x0){const _0x3b59d5=_0x1781e0[Math['min'](_0x231255,_0x1781e0['length']-0x1)];if(Array['isArray'](_0x3b59d5)){const _0x533a8f=_0x3b59d5[0x0];_0x533a8f&&_0x533a8f['clone']?_0x83bf6c=_0x533a8f['clone']():_0x533a8f&&(_0x83bf6c=new _0xa4876a({'color':_0x533a8f['color']||0x808080,'transparent':_0x533a8f['transparent']||!0x1,'opacity':void 0x0!==_0x533a8f['opacity']?_0x533a8f['opacity']:0x1}));}else _0x3b59d5&&_0x3b59d5['clone']?_0x83bf6c=_0x3b59d5['clone']():_0x3b59d5&&(_0x83bf6c=new _0xa4876a({'color':_0x3b59d5['color']||0x808080,'transparent':_0x3b59d5['transparent']||!0x1,'opacity':void 0x0!==_0x3b59d5['opacity']?_0x3b59d5['opacity']:0x1}));if(_0x83bf6c&&(_0x83bf6c['isMeshPhongMaterial']||_0x83bf6c['isMeshStandardMaterial'])){if(void 0x0===_0x83bf6c['userData']['originalShininess'])if(_0x83bf6c['userData']['originalShininess']=void 0x0!==_0x83bf6c['shininess']?_0x83bf6c['shininess']:0x1e,_0x83bf6c['specular'])if(_0x83bf6c['specular']['isColor']){const _0x4871bb=_0x83bf6c['specular'];_0x4871bb['r']<0.1&&_0x4871bb['g']<0.1&&_0x4871bb['b']<0.1?_0x83bf6c['userData']['originalSpecular']=null:_0x83bf6c['userData']['originalSpecular']=_0x4871bb['clone']();}else _0x83bf6c['userData']['originalSpecular']=null;else _0x83bf6c['userData']['originalSpecular']=null;if(this['sceneManager']['visualizationManager']['showEnhancedLighting'])void 0x0!==_0x83bf6c['shininess']&&_0x83bf6c['shininess']<0x32&&(_0x83bf6c['shininess']=0x32),(!_0x83bf6c['specular']||_0x83bf6c['specular']['r']<0.2)&&(_0x83bf6c['specular']=new _0x25d7bf(0.3,0.3,0.3));else if(void 0x0!==_0x83bf6c['userData']['originalShininess']&&(_0x83bf6c['shininess']=_0x83bf6c['userData']['originalShininess']),null===_0x83bf6c['userData']['originalSpecular'])_0x83bf6c['specular']=new _0x25d7bf(0x111111);else if(_0x83bf6c['userData']['originalSpecular']){const _0x48bdca=_0x83bf6c['userData']['originalSpecular'];_0x48bdca['isColor']?_0x83bf6c['specular']=_0x48bdca['clone']():_0x83bf6c['specular']=_0x48bdca;}}_0x18709f=!0x0;}}if(!_0x18709f){const _0x15d836=_0x22b39e?[_0x22b39e['r'],_0x22b39e['g'],_0x22b39e['b'],_0x22b39e['a']]:[_0xe6949a['geom_rgba'][0x4*_0x4d9526+0x0],_0xe6949a['geom_rgba'][0x4*_0x4d9526+0x1],_0xe6949a['geom_rgba'][0x4*_0x4d9526+0x2],_0xe6949a['geom_rgba'][0x4*_0x4d9526+0x3]],_0x2b3430=0x3===_0xb39bd6,_0x5c54d7=this['sceneManager']['visualizationManager']['showEnhancedLighting'];_0x83bf6c=new _0xa4876a({'color':_0x2b3430?new _0x25d7bf(0x0,0x1,0x0):new _0x25d7bf(_0x15d836[0x0],_0x15d836[0x1],_0x15d836[0x2]),'transparent':!!_0x2b3430||_0x15d836[0x3]<0x1,'opacity':_0x2b3430?0.3:_0x15d836[0x3],'shininess':_0x5c54d7?0x32:0x1e,'specular':_0x5c54d7?new _0x25d7bf(0.3,0.3,0.3):new _0x25d7bf(0x111111),'wireframe':!!_0x2b3430}),_0x83bf6c['userData']['originalShininess']=0x1e,_0x83bf6c['userData']['originalSpecular']=null;}if(_0x83bf6c['isMeshPhongMaterial']||_0x83bf6c['isMeshStandardMaterial']){if(this['sceneManager']['visualizationManager']['showEnhancedLighting'])_0x83bf6c['shininess']<0x32&&(_0x83bf6c['shininess']=0x32),(!_0x83bf6c['specular']||_0x83bf6c['specular']['isColor']&&_0x83bf6c['specular']['r']<0.2)&&(_0x83bf6c['specular']=new _0x25d7bf(0.3,0.3,0.3));else if(void 0x0!==_0x83bf6c['userData']['originalShininess']&&(_0x83bf6c['shininess']=_0x83bf6c['userData']['originalShininess']),null===_0x83bf6c['userData']['originalSpecular'])_0x83bf6c['specular']=new _0x25d7bf(0x111111);else if(_0x83bf6c['userData']['originalSpecular']){const _0x2ee3f4=_0x83bf6c['userData']['originalSpecular'];_0x2ee3f4['isColor']?_0x83bf6c['specular']=_0x2ee3f4['clone']():_0x83bf6c['specular']=_0x2ee3f4;}_0x83bf6c['needsUpdate']=!0x0;}let _0x4df402=_0x83bf6c;0x3===_0xb39bd6&&(_0x4df402=new _0xa4876a({'transparent':!0x0,'opacity':0.35,'shininess':2.5,'premultipliedAlpha':!0x0,'color':0xffbe38,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}));const _0x4fd541=new _0x2c4c6c(_0x508620,_0x4df402);_0x4fd541['castShadow']=0x3!==_0xb39bd6,_0x4fd541['receiveShadow']=0x3!==_0xb39bd6,_0x4fd541['bodyID']=_0x422d11,0x3===_0xb39bd6&&(_0x4fd541['userData']['isCollisionGeom']=!0x0,_0x4fd541['visible']=_0x35141e),this['getPosition'](_0xe6949a['geom_pos'],_0x4d9526,_0x4fd541['position']),this['getQuaternion'](_0xe6949a['geom_quat'],_0x4d9526,_0x4fd541['quaternion']),_0xfc6f91==this['mujoco']['mjtGeom']['mjGEOM_ELLIPSOID']['value']&&_0x4fd541['scale']['set'](_0xae680a[0x0],_0xae680a[0x2],_0xae680a[0x1]),this['bodies'][_0x422d11]['add'](_0x4fd541);}for(let _0x31f955=0x0;_0x31f955<_0xe6949a['nbody'];_0x31f955++)this['bodies'][_0x31f955]||(this['bodies'][_0x31f955]=new _0x135d71(),this['bodies'][_0x31f955]['name']='body_'+_0x31f955,this['bodies'][_0x31f955]['bodyID']=_0x31f955),this['mujocoRoot']['add'](this['bodies'][_0x31f955]),this['bodies'][_0x31f955]['traverse'](_0x409e7b=>{_0x409e7b['isMesh']&&(_0x409e7b['bodyID']=_0x31f955);});return this['createVisualizationElements'](_0xe6949a),this['mujocoRoot'];}['createVisualizationElements'](_0x3dd277){var _0x2a5503,_0xed547d,_0x3cdb1b,_0x631681;const _0x475297=null==(_0x2a5503=document['getElementById']('toggle-axes-btn'))?void 0x0:_0x2a5503['classList']['contains']('active'),_0x3c31c6=null==(_0xed547d=document['getElementById']('toggle-joint-axes-btn'))?void 0x0:_0xed547d['classList']['contains']('active'),_0x147e87=null==(_0x3cdb1b=document['getElementById']('show-com'))?void 0x0:_0x3cdb1b['classList']['contains']('active'),_0x37688d=null==(_0x631681=document['getElementById']('show-inertia'))?void 0x0:_0x631681['classList']['contains']('active');for(let _0x1bdc65=0x0;_0x1bdc65<_0x3dd277['nbody'];_0x1bdc65++){if(!this['bodies'][_0x1bdc65])continue;const _0x382310=Oi['createAxesGeometry'](0.1);_0x382310['userData']['isVisualization']=!0x0,_0x382310['userData']['type']='axes',_0x382310['visible']=_0x475297,_0x382310['raycast']=()=>{};const _0x465750=new _0x3c39ce();_0x465750['setFromAxisAngle'](new _0x220444(0x1,0x0,0x0),-Math['PI']/0x2),_0x382310['quaternion']['copy'](_0x465750),this['bodies'][_0x1bdc65]['add'](_0x382310);const _0x4915c7=_0x3dd277['body_mass'][_0x1bdc65];if(_0x4915c7>0x0){const _0x1ed250=ki['createCOMGeometry'](0.02);_0x1ed250['userData']['isVisualization']=!0x0,_0x1ed250['userData']['type']='com',_0x1ed250['visible']=_0x147e87,this['getPosition'](_0x3dd277['body_ipos'],_0x1bdc65,_0x1ed250['position']),this['bodies'][_0x1bdc65]['add'](_0x1ed250);const _0x38fba9=_0x3dd277['body_inertia'][0x3*_0x1bdc65+0x0],_0x58a2f3=_0x3dd277['body_inertia'][0x3*_0x1bdc65+0x1],_0x4823c6={'ixx':_0x38fba9,'iyy':_0x3dd277['body_inertia'][0x3*_0x1bdc65+0x2],'izz':_0x58a2f3,'mass':_0x4915c7},_0x406728=Ue['computeInertiaBox'](_0x4823c6),_0x4def04=Ue['createInertiaBoxGeometry'](_0x406728['width'],_0x406728['height'],_0x406728['depth']),_0x9eb6e4=new _0xa4876a({'color':0x4a9eff,'transparent':!0x0,'opacity':0.35,'shininess':2.5,'polygonOffset':!0x0,'polygonOffsetFactor':-0x1,'polygonOffsetUnits':-0x1}),_0x4c936f=new _0x2c4c6c(_0x4def04,_0x9eb6e4);_0x4c936f['userData']['isVisualization']=!0x0,_0x4c936f['userData']['type']='inertia',_0x4c936f['visible']=_0x37688d,_0x4c936f['castShadow']=!0x1,_0x4c936f['receiveShadow']=!0x1,_0x4c936f['raycast']=()=>{},this['getPosition'](_0x3dd277['body_ipos'],_0x1bdc65,_0x4c936f['position']),_0x3dd277['body_iquat']&&this['getQuaternion'](_0x3dd277['body_iquat'],_0x1bdc65,_0x4c936f['quaternion']),this['bodies'][_0x1bdc65]['add'](_0x4c936f);}}for(let _0x1a19c9=0x0;_0x1a19c9<_0x3dd277['njnt'];_0x1a19c9++){const _0x2d91d0=_0x3dd277['jnt_type'][_0x1a19c9],_0x348f81=_0x3dd277['jnt_bodyid'][_0x1a19c9];if((_0x2d91d0===this['mujoco']['mjtJoint']['mjJNT_HINGE']['value']||_0x2d91d0===this['mujoco']['mjtJoint']['mjJNT_BALL']['value'])&&this['bodies'][_0x348f81]){const _0x5b3fdf=new _0x220444();if(this['getPosition'](_0x3dd277['jnt_axis'],_0x1a19c9,_0x5b3fdf),_0x5b3fdf['length']()>0.001){_0x5b3fdf['normalize']();const _0x595f96=Oi['createJointArrowGeometry'](_0x5b3fdf);_0x595f96['userData']['isVisualization']=!0x0,_0x595f96['userData']['type']='jointAxis',_0x595f96['visible']=_0x3c31c6,_0x595f96['raycast']=()=>{},this['getPosition'](_0x3dd277['jnt_pos'],_0x1a19c9,_0x595f96['position']),this['bodies'][_0x348f81]['add'](_0x595f96);}}}}['createMeshGeometry'](_0xb328c){const _0xe85df0=this['model'],_0x23baca=new _0x116076(),_0x3477db=_0xe85df0['mesh_vert']['subarray'](0x3*_0xe85df0['mesh_vertadr'][_0xb328c],0x3*(_0xe85df0['mesh_vertadr'][_0xb328c]+_0xe85df0['mesh_vertnum'][_0xb328c]));for(let _0x49bcb0=0x0;_0x49bcb0<_0x3477db['length'];_0x49bcb0+=0x3){const _0x93a849=_0x3477db[_0x49bcb0+0x1];_0x3477db[_0x49bcb0+0x1]=_0x3477db[_0x49bcb0+0x2],_0x3477db[_0x49bcb0+0x2]=-_0x93a849;}const _0x364777=_0xe85df0['mesh_normal']['subarray'](0x3*_0xe85df0['mesh_vertadr'][_0xb328c],0x3*(_0xe85df0['mesh_vertadr'][_0xb328c]+_0xe85df0['mesh_vertnum'][_0xb328c]));for(let _0x1e6312=0x0;_0x1e6312<_0x364777['length'];_0x1e6312+=0x3){const _0x522f12=_0x364777[_0x1e6312+0x1];_0x364777[_0x1e6312+0x1]=_0x364777[_0x1e6312+0x2],_0x364777[_0x1e6312+0x2]=-_0x522f12;}const _0x463aec=_0xe85df0['mesh_face']['subarray'](0x3*_0xe85df0['mesh_faceadr'][_0xb328c],0x3*(_0xe85df0['mesh_faceadr'][_0xb328c]+_0xe85df0['mesh_facenum'][_0xb328c]));return _0x23baca['setAttribute']('position',new _0x465d50(_0x3477db,0x3)),_0x23baca['setAttribute']('normal',new _0x465d50(_0x364777,0x3)),_0x23baca['setIndex'](Array['from'](_0x463aec)),_0x23baca['computeVertexNormals'](),_0x23baca;}['getPosition'](_0x5cb749,_0xea6d3f,_0x2b3d7e,_0x4cece9=!0x0){return _0x4cece9?_0x2b3d7e['set'](_0x5cb749[0x3*_0xea6d3f+0x0],_0x5cb749[0x3*_0xea6d3f+0x2],-_0x5cb749[0x3*_0xea6d3f+0x1]):_0x2b3d7e['set'](_0x5cb749[0x3*_0xea6d3f+0x0],_0x5cb749[0x3*_0xea6d3f+0x1],_0x5cb749[0x3*_0xea6d3f+0x2]);}['getQuaternion'](_0x259368,_0x2d437f,_0x1e83b7,_0x40a77b=!0x0){return 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_0x1c2cfe,_0x1764f0=_0x202938['length'],_0x3aff19=!0x1;if(_0x3574ec&&'object'!=typeof _0x3574ec)throw TypeError('target\x20should\x20be\x20an\x20object');for(;_0x1764f0-->0x0;)_0x1c2cfe=_0x202938[_0x1764f0],_0x3574ec&&_0x1c2cfe['_target']!==_0x3574ec||(_0x1c2cfe['unsubscribe'](_0x1995ef),_0x3aff19=!0x0);return _0x3aff19;},_0x4adeea['prototype']['delimiter']='.',_0x4adeea['prototype']['setMaxListeners']=function(_0x2789a7){_0x2789a7!==_0x105045&&(this['_maxListeners']=_0x2789a7,this['_conf']||(this['_conf']={}),this['_conf']['maxListeners']=_0x2789a7);},_0x4adeea['prototype']['getMaxListeners']=function(){return this['_maxListeners'];},_0x4adeea['prototype']['event']='',_0x4adeea['prototype']['once']=function(_0x2963aa,_0x2caa82,_0x3d9da4){return this['_once'](_0x2963aa,_0x2caa82,!0x1,_0x3d9da4);},_0x4adeea['prototype']['prependOnceListener']=function(_0x3166d0,_0xdb3ec1,_0x9f0f3d){return this['_once'](_0x3166d0,_0xdb3ec1,!0x0,_0x9f0f3d);},_0x4adeea['prototype']['_once']=function(_0xbb09cd,_0x4942c0,_0x5d621f,_0xa42517){return this['_many'](_0xbb09cd,0x1,_0x4942c0,_0x5d621f,_0xa42517);},_0x4adeea['prototype']['many']=function(_0x5364c4,_0xe5376e,_0x4bca85,_0x214b82){return this['_many'](_0x5364c4,_0xe5376e,_0x4bca85,!0x1,_0x214b82);},_0x4adeea['prototype']['prependMany']=function(_0x15ecd4,_0x586bd8,_0x33ee2e,_0x5e5fec){return this['_many'](_0x15ecd4,_0x586bd8,_0x33ee2e,!0x0,_0x5e5fec);},_0x4adeea['prototype']['_many']=function(_0x51fd0d,_0x2ac80e,_0x27961f,_0x3b4ef1,_0x17e089){var _0xf6934d=this;if('function'!=typeof _0x27961f)throw new Error('many\x20only\x20accepts\x20instances\x20of\x20Function');function _0x1968e1(){return 0x0===--_0x2ac80e&&_0xf6934d['off'](_0x51fd0d,_0x1968e1),_0x27961f['apply'](this,arguments);}return 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_0x2b575c(_0x53bc39){_0x53bc39=_0x53bc39||{},this['ros']=_0x53bc39['ros'],this['name']=_0x53bc39['name'],this['messageType']=_0x53bc39['messageType'],this['isAdvertised']=!0x1,this['compression']=_0x53bc39['compression']||'none',this['throttle_rate']=_0x53bc39['throttle_rate']||0x0,this['latch']=_0x53bc39['latch']||!0x1,this['queue_size']=_0x53bc39['queue_size']||0x64,this['queue_length']=_0x53bc39['queue_length']||0x0,this['reconnect_on_close']=void 0x0===_0x53bc39['reconnect_on_close']||_0x53bc39['reconnect_on_close'],this['compression']&&'png'!==this['compression']&&'cbor'!==this['compression']&&'cbor-raw'!==this['compression']&&'none'!==this['compression']&&(this['emit']('warning',this['compression']+'\x20compression\x20is\x20not\x20supported.\x20No\x20compression\x20will\x20be\x20used.'),this['compression']='none'),this['throttle_rate']<0x0&&(this['emit']('warning',this['throttle_rate']+'\x20is\x20not\x20allowed.\x20Set\x20to\x200'),this['throttle_rate']=0x0);var _0x3eba9c=this;this['reconnect_on_close']?this['callForSubscribeAndAdvertise']=function(_0x4f5110){_0x3eba9c['ros']['callOnConnection'](_0x4f5110),_0x3eba9c['waitForReconnect']=!0x1,_0x3eba9c['reconnectFunc']=function(){_0x3eba9c['waitForReconnect']||(_0x3eba9c['waitForReconnect']=!0x0,_0x3eba9c['ros']['callOnConnection'](_0x4f5110),_0x3eba9c['ros']['once']('connection',function(){_0x3eba9c['waitForReconnect']=!0x1;}));},_0x3eba9c['ros']['on']('close',_0x3eba9c['reconnectFunc']);}:this['callForSubscribeAndAdvertise']=this['ros']['callOnConnection'],this['_messageCallback']=function(_0x1678e2){_0x3eba9c['emit']('message',new _0x483d88(_0x1678e2));};}return _0x2b575c['prototype']['__proto__']=_0x4ac7f7['prototype'],_0x2b575c['prototype']['subscribe']=function(_0x473a14){'function'==typeof _0x473a14&&this['on']('message',_0x473a14),this['subscribeId']||(this['ros']['on'](this['name'],this['_messageCallback']),this['subscribeId']='subscribe:'+this['name']+':'+ ++this['ros']['idCounter'],this['callForSubscribeAndAdvertise']({'op':'subscribe','id':this['subscribeId'],'type':this['messageType'],'topic':this['name'],'compression':this['compression'],'throttle_rate':this['throttle_rate'],'queue_length':this['queue_length']}));},_0x2b575c['prototype']['unsubscribe']=function(_0x444aad){_0x444aad&&(this['off']('message',_0x444aad),this['listeners']('message')['length'])||this['subscribeId']&&(this['ros']['off'](this['name'],this['_messageCallback']),this['reconnect_on_close']&&this['ros']['off']('close',this['reconnectFunc']),this['emit']('unsubscribe'),this['ros']['callOnConnection']({'op':'unsubscribe','id':this['subscribeId'],'topic':this['name']}),this['subscribeId']=null);},_0x2b575c['prototype']['advertise']=function(){if(!this['isAdvertised']&&(this['advertiseId']='advertise:'+this['name']+':'+ ++this['ros']['idCounter'],this['callForSubscribeAndAdvertise']({'op':'advertise','id':this['advertiseId'],'type':this['messageType'],'topic':this['name'],'latch':this['latch'],'queue_size':this['queue_size']}),this['isAdvertised']=!0x0,!this['reconnect_on_close'])){var _0xe12cf1=this;this['ros']['on']('close',function(){_0xe12cf1['isAdvertised']=!0x1;});}},_0x2b575c['prototype']['unadvertise']=function(){this['isAdvertised']&&(this['reconnect_on_close']&&this['ros']['off']('close',this['reconnectFunc']),this['emit']('unadvertise'),this['ros']['callOnConnection']({'op':'unadvertise','id':this['advertiseId'],'topic':this['name']}),this['isAdvertised']=!0x1);},_0x2b575c['prototype']['publish']=function(_0x38dc63){this['isAdvertised']||this['advertise'](),this['ros']['idCounter']++;var _0x851f0c={'op':'publish','id':'publish:'+this['name']+':'+this['ros']['idCounter'],'topic':this['name'],'msg':_0x38dc63,'latch':this['latch']};this['ros']['callOnConnection'](_0x851f0c);},$s=_0x2b575c;}function tr(){if(Gs)return Hs;Gs=0x1;var _0x18b2b0=Zs(),_0x187bab=Is();function _0x4dd17a(_0x575111){_0x575111=_0x575111||{},this['ros']=_0x575111['ros'],this['name']=_0x575111['name'];}return _0x4dd17a['prototype']['get']=function(_0x1b7171,_0x354798){var _0x40f850=new _0x18b2b0({'ros':this['ros'],'name':'/rosapi/get_param','serviceType':'rosapi/GetParam'}),_0x5d928f=new _0x187bab({'name':this['name']});_0x40f850['callService'](_0x5d928f,function(_0x18d587){var _0x15d59e=JSON['parse'](_0x18d587['value']);_0x1b7171(_0x15d59e);},_0x354798);},_0x4dd17a['prototype']['set']=function(_0x410082,_0x2abfe9,_0x101a6d){var _0x307ef0=new _0x18b2b0({'ros':this['ros'],'name':'/rosapi/set_param','serviceType':'rosapi/SetParam'}),_0x52cfd7=new _0x187bab({'name':this['name'],'value':JSON['stringify'](_0x410082)});_0x307ef0['callService'](_0x52cfd7,_0x2abfe9,_0x101a6d);},_0x4dd17a['prototype']['delete']=function(_0x181a10,_0xeaed3){var _0x4d2562=new _0x18b2b0({'ros':this['ros'],'name':'/rosapi/delete_param','serviceType':'rosapi/DeleteParam'}),_0x270fbc=new _0x187bab({'name':this['name']});_0x4d2562['callService'](_0x270fbc,_0x181a10,_0xeaed3);},Hs=_0x4dd17a;}var nr,ir,sr,rr,ar,or,lr,cr,hr,ur,dr,pr,mr,gr,fr,yr,vr,br,wr,xr={'exports':{}};function Mr(){if(ir)return nr;ir=0x1;var _0x3762d6=er(),_0x2f5bad=Ks(),_0x30e7a3=Ys()['EventEmitter2'];function _0xd67748(_0x3e7959){var _0x2bea62=this;_0x3e7959=_0x3e7959||{},this['ros']=_0x3e7959['ros'],this['serverName']=_0x3e7959['serverName'],this['actionName']=_0x3e7959['actionName'],this['timeout']=_0x3e7959['timeout'],this['omitFeedback']=_0x3e7959['omitFeedback'],this['omitStatus']=_0x3e7959['omitStatus'],this['omitResult']=_0x3e7959['omitResult'],this['goals']={};var _0x4d4b88=!0x1;this['feedbackListener']=new _0x3762d6({'ros':this['ros'],'name':this['serverName']+'/feedback','messageType':this['actionName']+'Feedback'}),this['statusListener']=new _0x3762d6({'ros':this['ros'],'name':this['serverName']+'/status','messageType':'actionlib_msgs/GoalStatusArray'}),this['resultListener']=new _0x3762d6({'ros':this['ros'],'name':this['serverName']+'/result','messageType':this['actionName']+'Result'}),this['goalTopic']=new _0x3762d6({'ros':this['ros'],'name':this['serverName']+'/goal','messageType':this['actionName']+'Goal'}),this['cancelTopic']=new _0x3762d6({'ros':this['ros'],'name':this['serverName']+'/cancel','messageType':'actionlib_msgs/GoalID'}),this['goalTopic']['advertise'](),this['cancelTopic']['advertise'](),this['omitStatus']||this['statusListener']['subscribe'](function(_0x14c2bd){_0x4d4b88=!0x0,_0x14c2bd['status_list']['forEach'](function(_0x2f74b7){var _0x23e090=_0x2bea62['goals'][_0x2f74b7['goal_id']['id']];_0x23e090&&_0x23e090['emit']('status',_0x2f74b7);});}),this['omitFeedback']||this['feedbackListener']['subscribe'](function(_0x27a1fb){var _0x1b01a9=_0x2bea62['goals'][_0x27a1fb['status']['goal_id']['id']];_0x1b01a9&&(_0x1b01a9['emit']('status',_0x27a1fb['status']),_0x1b01a9['emit']('feedback',_0x27a1fb['feedback']));}),this['omitResult']||this['resultListener']['subscribe'](function(_0x5c8095){var _0x3df9d4=_0x2bea62['goals'][_0x5c8095['status']['goal_id']['id']];_0x3df9d4&&(_0x3df9d4['emit']('status',_0x5c8095['status']),_0x3df9d4['emit']('result',_0x5c8095['result']));}),this['timeout']&&setTimeout(function(){_0x4d4b88||_0x2bea62['emit']('timeout');},this['timeout']);}return _0xd67748['prototype']['__proto__']=_0x30e7a3['prototype'],_0xd67748['prototype']['cancel']=function(){var _0x6ebb32=new _0x2f5bad();this['cancelTopic']['publish'](_0x6ebb32);},_0xd67748['prototype']['dispose']=function(){this['goalTopic']['unadvertise'](),this['cancelTopic']['unadvertise'](),this['omitStatus']||this['statusListener']['unsubscribe'](),this['omitFeedback']||this['feedbackListener']['unsubscribe'](),this['omitResult']||this['resultListener']['unsubscribe']();},nr=_0xd67748;}function _r(){if(rr)return sr;rr=0x1;var _0x34114e=er();Ks();var _0x7c621d=Ys()['EventEmitter2'];function _0x44e19c(_0x1e74b7){var _0x435bf5=this;_0x1e74b7=_0x1e74b7||{},this['ros']=_0x1e74b7['ros'],this['serverName']=_0x1e74b7['serverName'],this['actionName']=_0x1e74b7['actionName'];var _0x227800=new _0x34114e({'ros':this['ros'],'name':this['serverName']+'/goal','messageType':this['actionName']+'Goal'}),_0x4d9189=new _0x34114e({'ros':this['ros'],'name':this['serverName']+'/feedback','messageType':this['actionName']+'Feedback'}),_0x111658=new _0x34114e({'ros':this['ros'],'name':this['serverName']+'/status','messageType':'actionlib_msgs/GoalStatusArray'}),_0x2443a5=new _0x34114e({'ros':this['ros'],'name':this['serverName']+'/result','messageType':this['actionName']+'Result'});_0x227800['subscribe'](function(_0x3b21b7){_0x435bf5['emit']('goal',_0x3b21b7);}),_0x111658['subscribe'](function(_0x3b9773){_0x3b9773['status_list']['forEach'](function(_0x4a3487){_0x435bf5['emit']('status',_0x4a3487);});}),_0x4d9189['subscribe'](function(_0x192c9f){_0x435bf5['emit']('status',_0x192c9f['status']),_0x435bf5['emit']('feedback',_0x192c9f['feedback']);}),_0x2443a5['subscribe'](function(_0x2924f3){_0x435bf5['emit']('status',_0x2924f3['status']),_0x435bf5['emit']('result',_0x2924f3['result']);});}return _0x44e19c['prototype']['__proto__']=_0x7c621d['prototype'],sr=_0x44e19c;}function Sr(){if(or)return ar;or=0x1;var _0x5fe8c3=Ks(),_0x20dbe5=Ys()['EventEmitter2'];function _0x8d2d22(_0x495fd6){var _0x5aac3a=this;this['actionClient']=_0x495fd6['actionClient'],this['goalMessage']=_0x495fd6['goalMessage'],this['isFinished']=!0x1;var _0x16b322=new Date();this['goalID']='goal_'+Math['random']()+'_'+_0x16b322['getTime'](),this['goalMessage']=new _0x5fe8c3({'goal_id':{'stamp':{'secs':0x0,'nsecs':0x0},'id':this['goalID']},'goal':this['goalMessage']}),this['on']('status',function(_0x1adb93){_0x5aac3a['status']=_0x1adb93;}),this['on']('result',function(_0x98f6aa){_0x5aac3a['isFinished']=!0x0,_0x5aac3a['result']=_0x98f6aa;}),this['on']('feedback',function(_0x4f2bd9){_0x5aac3a['feedback']=_0x4f2bd9;}),this['actionClient']['goals'][this['goalID']]=this;}return _0x8d2d22['prototype']['__proto__']=_0x20dbe5['prototype'],_0x8d2d22['prototype']['send']=function(_0x2cccce){var _0x17f8e9=this;_0x17f8e9['actionClient']['goalTopic']['publish'](_0x17f8e9['goalMessage']),_0x2cccce&&setTimeout(function(){_0x17f8e9['isFinished']||_0x17f8e9['emit']('timeout');},_0x2cccce);},_0x8d2d22['prototype']['cancel']=function(){var _0x24caf7=new _0x5fe8c3({'id':this['goalID']});this['actionClient']['cancelTopic']['publish'](_0x24caf7);},ar=_0x8d2d22;}function Ar(){if(cr)return lr;cr=0x1;var _0x2128e5=er(),_0x56e760=Ks(),_0x1480d5=Ys()['EventEmitter2'];function _0x43b22f(_0xbb13f4){var _0x508663=this;_0xbb13f4=_0xbb13f4||{},this['ros']=_0xbb13f4['ros'],this['serverName']=_0xbb13f4['serverName'],this['actionName']=_0xbb13f4['actionName'],this['feedbackPublisher']=new _0x2128e5({'ros':this['ros'],'name':this['serverName']+'/feedback','messageType':this['actionName']+'Feedback'}),this['feedbackPublisher']['advertise']();var _0x12b394=new _0x2128e5({'ros':this['ros'],'name':this['serverName']+'/status','messageType':'actionlib_msgs/GoalStatusArray'});_0x12b394['advertise'](),this['resultPublisher']=new _0x2128e5({'ros':this['ros'],'name':this['serverName']+'/result','messageType':this['actionName']+'Result'}),this['resultPublisher']['advertise']();var _0x2f5193=new _0x2128e5({'ros':this['ros'],'name':this['serverName']+'/goal','messageType':this['actionName']+'Goal'}),_0x2bc3a2=new _0x2128e5({'ros':this['ros'],'name':this['serverName']+'/cancel','messageType':'actionlib_msgs/GoalID'});this['statusMessage']=new _0x56e760({'header':{'stamp':{'secs':0x0,'nsecs':0x64},'frame_id':''},'status_list':[]}),this['currentGoal']=null,this['nextGoal']=null,_0x2f5193['subscribe'](function(_0x3f6faa){_0x508663['currentGoal']?(_0x508663['nextGoal']=_0x3f6faa,_0x508663['emit']('cancel')):(_0x508663['statusMessage']['status_list']=[{'goal_id':_0x3f6faa['goal_id'],'status':0x1}],_0x508663['currentGoal']=_0x3f6faa,_0x508663['emit']('goal',_0x3f6faa['goal']));});var _0x1b280c=function(_0x6bee59,_0x31072b){return!(_0x6bee59['secs']>_0x31072b['secs'])&&(_0x6bee59['secs']<_0x31072b['secs']||_0x6bee59['nsecs']<_0x31072b['nsecs']);};_0x2bc3a2['subscribe'](function(_0x79f2ba){0x0===_0x79f2ba['stamp']['secs']&&0x0===_0x79f2ba['stamp']['secs']&&''===_0x79f2ba['id']?(_0x508663['nextGoal']=null,_0x508663['currentGoal']&&_0x508663['emit']('cancel')):(_0x508663['currentGoal']&&_0x79f2ba['id']===_0x508663['currentGoal']['goal_id']['id']?_0x508663['emit']('cancel'):_0x508663['nextGoal']&&_0x79f2ba['id']===_0x508663['nextGoal']['goal_id']['id']&&(_0x508663['nextGoal']=null),_0x508663['nextGoal']&&_0x1b280c(_0x508663['nextGoal']['goal_id']['stamp'],_0x79f2ba['stamp'])&&(_0x508663['nextGoal']=null),_0x508663['currentGoal']&&_0x1b280c(_0x508663['currentGoal']['goal_id']['stamp'],_0x79f2ba['stamp'])&&_0x508663['emit']('cancel'));}),setInterval(function(){var _0x525fa3=new Date(),_0x38c06f=Math['floor'](_0x525fa3['getTime']()/0x3e8),_0xc09248=Math['round'](0x3b9aca00*(_0x525fa3['getTime']()/0x3e8-_0x38c06f));_0x508663['statusMessage']['header']['stamp']['secs']=_0x38c06f,_0x508663['statusMessage']['header']['stamp']['nsecs']=_0xc09248,_0x12b394['publish'](_0x508663['statusMessage']);},0x1f4);}return _0x43b22f['prototype']['__proto__']=_0x1480d5['prototype'],_0x43b22f['prototype']['setSucceeded']=function(_0xfca6b7){var _0x2d32d5=new _0x56e760({'status':{'goal_id':this['currentGoal']['goal_id'],'status':0x3},'result':_0xfca6b7});this['resultPublisher']['publish'](_0x2d32d5),this['statusMessage']['status_list']=[],this['nextGoal']?(this['currentGoal']=this['nextGoal'],this['nextGoal']=null,this['emit']('goal',this['currentGoal']['goal'])):this['currentGoal']=null;},_0x43b22f['prototype']['setAborted']=function(_0x4e7f60){var _0x47dd35=new _0x56e760({'status':{'goal_id':this['currentGoal']['goal_id'],'status':0x4},'result':_0x4e7f60});this['resultPublisher']['publish'](_0x47dd35),this['statusMessage']['status_list']=[],this['nextGoal']?(this['currentGoal']=this['nextGoal'],this['nextGoal']=null,this['emit']('goal',this['currentGoal']['goal'])):this['currentGoal']=null;},_0x43b22f['prototype']['sendFeedback']=function(_0x3d703c){var _0x194bc7=new _0x56e760({'status':{'goal_id':this['currentGoal']['goal_id'],'status':0x1},'feedback':_0x3d703c});this['feedbackPublisher']['publish'](_0x194bc7);},_0x43b22f['prototype']['setPreempted']=function(){this['statusMessage']['status_list']=[];var _0x7b5353=new _0x56e760({'status':{'goal_id':this['currentGoal']['goal_id'],'status':0x2}});this['resultPublisher']['publish'](_0x7b5353),this['nextGoal']?(this['currentGoal']=this['nextGoal'],this['nextGoal']=null,this['emit']('goal',this['currentGoal']['goal'])):this['currentGoal']=null;},lr=_0x43b22f;}function Lr(){if(dr)return 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_0x159381({'position':_0x64ddfe,'orientation':_0x1b78f5});}};}()),_0x568c44=(ha||(ha=0x1,ga['DOMImplementation']=window['DOMImplementation'],ga['XMLSerializer']=window['XMLSerializer'],ga['DOMParser']=window['DOMParser']),ga)['DOMParser'];return ua=function(_0x4bb1f7){var _0x31e61b=(_0x4bb1f7=_0x4bb1f7||{})['xml'],_0x31574d=_0x4bb1f7['string'];this['materials']={},this['links']={},this['joints']={},_0x31574d&&(_0x31e61b=new _0x568c44()['parseFromString'](_0x31574d,'text/xml'));var _0x238a30=_0x31e61b['documentElement'];this['name']=_0x238a30['getAttribute']('name');for(var _0x5bd65f=_0x238a30['childNodes'],_0xd4106a=0x0;_0xd4106a<_0x5bd65f['length'];_0xd4106a++){var _0x5ce377=_0x5bd65f[_0xd4106a];if('material'===_0x5ce377['tagName']){var _0x674e49=new _0x281c39({'xml':_0x5ce377});void 0x0!==this['materials'][_0x674e49['name']]?this['materials'][_0x674e49['name']]['isLink']()&&this['materials'][_0x674e49['name']]['assign'](_0x674e49):this['materials'][_0x674e49['name']]=_0x674e49;}else if('link'===_0x5ce377['tagName']){var _0x5af090=new _0x1b8d8a({'xml':_0x5ce377});if(void 0x0!==this['links'][_0x5af090['name']]);else{for(var _0x1b6302=0x0;_0x1b6302<_0x5af090['visuals']['length'];_0x1b6302++){var _0x5c9ea9=_0x5af090['visuals'][_0x1b6302]['material'];null!==_0x5c9ea9&&_0x5c9ea9['name']&&(void 0x0!==this['materials'][_0x5c9ea9['name']]?_0x5af090['visuals'][_0x1b6302]['material']=this['materials'][_0x5c9ea9['name']]:this['materials'][_0x5c9ea9['name']]=_0x5c9ea9);}this['links'][_0x5af090['name']]=_0x5af090;}}else if('joint'===_0x5ce377['tagName']){var _0x2fea8d=new _0x4053a0({'xml':_0x5ce377});this['joints'][_0x2fea8d['name']]=_0x2fea8d;}}};}var ya=Xi['ROSLIB']||{'REVISION':'1.4.1'},va=as;va(ya,(function(){if(Ws)return os['exports'];Ws=0x1;var _0xe52111=ls(),_0x2d6208=os['exports']={'Ros':Qs(),'Topic':er(),'Message':Ks(),'Param':tr(),'Service':Zs(),'ServiceRequest':Is(),'ServiceResponse':Ps()};return _0xe52111(_0x2d6208['Ros'],['Param','Service','Topic'],_0x2d6208),os['exports'];}())),va(ya,(function(){if(hr)return xr['exports'];hr=0x1;var _0x1634ac=Qs();return ls()(_0x1634ac,['ActionClient','SimpleActionServer'],xr['exports']={'ActionClient':Mr(),'ActionListener':_r(),'Goal':Sr(),'SimpleActionServer':Ar()}),xr['exports'];}())),va(ya,wr?br:(wr=0x1,br={'Pose':Cr(),'Quaternion':Er(),'Transform':jr(),'Vector3':Lr()})),va(ya,(function(){if(Or)return Kr['exports'];Or=0x1;var _0x39889c=Qs();return ls()(_0x39889c,['TFClient'],Kr['exports']={'TFClient':ea()}),Kr['exports'];}())),va(ya,ma?pa:(ma=0x1,pa=as({'UrdfBox':na(),'UrdfColor':ia(),'UrdfCylinder':sa(),'UrdfLink':ca(),'UrdfMaterial':ra(),'UrdfMesh':aa(),'UrdfModel':fa(),'UrdfSphere':oa(),'UrdfVisual':la()},ta())));const ba=Yi(ya);class wa{constructor(_0x20e66c,_0x169972){this['rosController']=_0x20e66c,this['sceneManager']=_0x169972,this['tfSubscriptions']=new Map(),this['_tmpPos']=new _0x220444(),this['_tmpQuat']=new _0x3c39ce(),this['_tmpEuler']=new _0x416b03(),this['_tmpMat']=new _0x13cf24(),this['handSeparationScale']=0x1,this['wristRotationOffset']=Math['PI']/0x4;}['subscribeTF'](_0x566098,_0x3afbcf,_0x29c7c2){if(!this['rosController']['ros']||!this['rosController']['ros']['isConnected'])return null;if(this['unsubscribe'](_0x566098),!_0x3afbcf||!_0x3afbcf['threeObject'])return null;try{const _0x55b57b=new ba['Topic']({'ros':this['rosController']['ros'],'name':_0x29c7c2,'messageType':'tf2_msgs/msg/TFMessage'});return _0x55b57b['subscribe'](_0x5f46c4=>{this['rosController']['recordSubMessage'](_0x29c7c2),this['_applyTFTransforms'](_0x566098,_0x3afbcf,_0x5f46c4['transforms']);}),this['tfSubscriptions']['set'](_0x566098,_0x55b57b),_0x55b57b;}catch(_0x2384fa){return null;}}['_applyTFTransforms'](_0x490d54,_0x225394,_0x6be4f3){if(!_0x225394||!_0x225394['links']||!_0x6be4f3||0x0===_0x6be4f3['length'])return;_0x225394['threeObject']&&_0x225394['threeObject']['updateMatrixWorld']();const _0x1f6048=new Map();for(let _0x55b3ae=0x0;_0x55b3ae<_0x6be4f3['length'];_0x55b3ae++){const _0x291f0f=_0x6be4f3[_0x55b3ae],_0x1e5018=_0x291f0f['child_frame_id'];_0x1e5018&&_0x225394['links']['has'](_0x1e5018)&&_0x1f6048['set'](_0x1e5018,_0x291f0f['transform']);}if(0x0!==_0x1f6048['size']){if(!_0x225394['_tfOriginOffset']){let _0x16d38d=null;const _0x56d89c='link_RightSkeletonBase',_0x57d8fa='link_LeftSkeletonBase';if(_0x1f6048['has'](_0x56d89c)){const _0x5dc958=_0x1f6048['get'](_0x56d89c);if(_0x16d38d=new _0x220444(_0x5dc958['translation']['x'],_0x5dc958['translation']['y'],_0x5dc958['translation']['z']),_0x1f6048['has'](_0x57d8fa)){const _0x592b17=_0x1f6048['get'](_0x57d8fa);new _0x220444(_0x592b17['translation']['x'],_0x592b17['translation']['y'],_0x592b17['translation']['z'])['distanceTo'](_0x16d38d);}}else{let _0x6f01b=0x0,_0x2934d2=0x0,_0x2bdeb4=0x0,_0x144c6c=0x0;_0x1f6048['forEach'](_0x40c5b8=>{_0x6f01b+=_0x40c5b8['translation']['x'],_0x2934d2+=_0x40c5b8['translation']['y'],_0x2bdeb4+=_0x40c5b8['translation']['z'],_0x144c6c++;}),_0x16d38d=new _0x220444(_0x6f01b/_0x144c6c,_0x2934d2/_0x144c6c,_0x2bdeb4/_0x144c6c);}if(_0x225394['_tfOriginOffset']=_0x16d38d,_0x1f6048['has'](_0x56d89c)&&_0x1f6048['has'](_0x57d8fa)){const _0x263fca=_0x1f6048['get'](_0x56d89c),_0x21be2c=_0x1f6048['get'](_0x57d8fa);_0x225394['_tfRightHandRef']=new _0x220444(_0x263fca['translation']['x'],_0x263fca['translation']['y'],_0x263fca['translation']['z']),_0x225394['_tfLeftHandRef']=new _0x220444(_0x21be2c['translation']['x'],_0x21be2c['translation']['y'],_0x21be2c['translation']['z']),_0x225394['_tfRightRotOffset']=new _0x3c39ce()['setFromAxisAngle'](new _0x220444(0x0,0x0,0x1),this['wristRotationOffset']),_0x225394['_tfLeftRotOffset']=new _0x3c39ce()['setFromAxisAngle'](new _0x220444(0x0,0x0,0x1),-this['wristRotationOffset']);}}_0x225394['_tfRepositionedLinks']||(_0x225394['_tfRepositionedLinks']=new Set()),_0x225394['links']['forEach']((_0x55e7fe,_0x461ac0)=>{const _0x3f29f5=_0x1f6048['get'](_0x461ac0);if(!_0x3f29f5||!_0x55e7fe['threeObject'])return;const _0x4af88a=_0x3f29f5['translation'],_0x9a5af0=_0x3f29f5['rotation'],_0x4faf14=_0x461ac0['toLowerCase']()['includes']('left');let _0x4eec87=_0x4af88a['x'],_0x56ea9f=_0x4af88a['y'],_0x3801f6=_0x4af88a['z'],_0x43c84c=new _0x3c39ce(_0x9a5af0['x'],_0x9a5af0['y'],_0x9a5af0['z'],_0x9a5af0['w']);if(0x0!==this['wristRotationOffset']&&_0x225394['_tfRightHandRef']&&_0x225394['_tfLeftHandRef']){const _0x3edefe=_0x4faf14?_0x225394['_tfLeftHandRef']:_0x225394['_tfRightHandRef'],_0x321f19=_0x4faf14?_0x225394['_tfLeftRotOffset']:_0x225394['_tfRightRotOffset'],_0x21e722=new _0x220444(_0x4eec87-_0x3edefe['x'],_0x56ea9f-_0x3edefe['y'],_0x3801f6-_0x3edefe['z']);_0x21e722['applyQuaternion'](_0x321f19),_0x4eec87=_0x3edefe['x']+_0x21e722['x'],_0x56ea9f=_0x3edefe['y']+_0x21e722['y'],_0x3801f6=_0x3edefe['z']+_0x21e722['z'],_0x43c84c=_0x321f19['clone']()['multiply'](_0x43c84c);}if(_0x4eec87-=_0x225394['_tfOriginOffset']['x'],_0x56ea9f-=_0x225394['_tfOriginOffset']['y'],_0x3801f6-=_0x225394['_tfOriginOffset']['z'],0x1!==this['handSeparationScale']&&_0x225394['_tfRightHandRef']&&_0x225394['_tfLeftHandRef']){if(!_0x225394['_tfLeftHandOffset']){const _0x5cd24d=new _0x220444()['subVectors'](_0x225394['_tfLeftHandRef'],_0x225394['_tfRightHandRef']);_0x5cd24d['multiplyScalar'](this['handSeparationScale']);const _0xe43a41=new _0x220444()['subVectors'](_0x225394['_tfLeftHandRef'],_0x225394['_tfRightHandRef']);_0x225394['_tfLeftHandOffset']=new _0x220444()['subVectors'](_0x5cd24d,_0xe43a41);}_0x4faf14&&(_0x4eec87+=_0x225394['_tfLeftHandOffset']['x'],_0x56ea9f+=_0x225394['_tfLeftHandOffset']['y'],_0x3801f6+=_0x225394['_tfLeftHandOffset']['z']);}this['_tmpPos']['set'](_0x4eec87,_0x56ea9f,_0x3801f6),this['_tmpQuat']['copy'](_0x43c84c);const _0x45cd76=_0x55e7fe['threeObject']['parent'];_0x45cd76&&_0x45cd76!==_0x225394['threeObject']&&(_0x55e7fe['threeObject']['userData']['_originalParent']||(_0x55e7fe['threeObject']['userData']['_originalParent']=_0x45cd76),_0x45cd76['remove'](_0x55e7fe['threeObject']),_0x225394['threeObject']['add'](_0x55e7fe['threeObject']),_0x225394['_tfRepositionedLinks']['add'](_0x461ac0)),_0x55e7fe['threeObject']['position']['copy'](this['_tmpPos']),_0x55e7fe['threeObject']['quaternion']['copy'](this['_tmpQuat']),_0x55e7fe['threeObject']['scale']['set'](0x1,0x1,0x1),_0x55e7fe['threeObject']['updateMatrixWorld']();}),_0x225394['threeObject']&&_0x225394['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw']();}}['unsubscribe'](_0x3f9fd7){const _0x2356f0=this['tfSubscriptions']['get'](_0x3f9fd7);if(_0x2356f0){try{_0x2356f0['unsubscribe']();}catch(_0x59663c){}this['tfSubscriptions']['delete'](_0x3f9fd7);}}['unsubscribeAll'](){this['tfSubscriptions']['forEach']((_0x662289,_0x2f4175)=>{this['unsubscribe'](_0x2f4175);});}['isSubscribed'](_0x403f07){return this['tfSubscriptions']['has'](_0x403f07);}}class xa{constructor(_0x62f40d){this['sceneManager']=_0x62f40d,this['ros']=null,this['listeners']=[],this['publisher']=null,this['connected']=!0x1,this['_pendingRender']=!0x1,this['onConnectionChange']=null,this['subMessageCount']=0x0,this['subLastMessageTime']=0x0,this['subStats']=new Map(),this['pubMessageCount']=0x0,this['pubLastMessageTime']=0x0,this['_extraTopics']=new Map(),this['_connectionListeners']=new Set(),this['tfController']=new wa(this,_0x62f40d),this['onJointData']=null,this['_resetService']=null,this['_model']=null,this['_jointCmdListeners']=[],this['_jointCmdTopics']=[],this['_jointStateTopic']='/io_teleop/joint_states';}['connect'](_0xd6cef2){this['ros']&&this['disconnect'](),this['ros']=new ba['Ros']({'url':_0xd6cef2}),this['ros']['on']('connection',()=>{this['connected']=!0x0,this['_queryDomainId'](),this['_advertiseResetService'](),this['_notifyConnectionChange'](!0x0);}),this['ros']['on']('error',_0x383904=>{this['connected']=!0x1,this['_notifyConnectionChange'](!0x1);}),this['ros']['on']('close',()=>{this['connected']=!0x1,this['_notifyConnectionChange'](!0x1);});}['subscribeJointCmdForPlot'](_0x2469fc){return this['subscribeJointCmd'](null,_0x2469fc);}['subscribeJointCmd'](_0x55958b,_0x5c54b1='/io_teleop/joint_cmd'){if(!this['ros']||!this['connected'])return;const _0x317108=new ba['Topic']({'ros':this['ros'],'name':_0x5c54b1,'messageType':'sensor_msgs/msg/JointState'});_0x317108['subscribe'](_0x1a682d=>{this['subMessageCount']++,this['subLastMessageTime']=Date['now']();let _0x331332=this['subStats']['get'](_0x5c54b1);_0x331332||(_0x331332={'count':0x0,'lastTime':0x0},this['subStats']['set'](_0x5c54b1,_0x331332)),_0x331332['count']++,_0x331332['lastTime']=Date['now']();const _0x2ad430=Date['now']();_0x1a682d['name']['forEach']((_0x2fcf7b,_0x31c2fe)=>{const _0x38f1ee=_0x1a682d['position'][_0x31c2fe];if(this['onJointData']&&this['onJointData'](_0x5c54b1,_0x2fcf7b,_0x2ad430,_0x38f1ee),!_0x55958b)return;const _0xdedb0f=_0x55958b['getJoint'](_0x2fcf7b);_0xdedb0f&&(Ei['setJointAngle'](_0x55958b,_0x2fcf7b,_0x38f1ee,!0x0),_0xdedb0f['threeObject']&&_0xdedb0f['threeObject']['updateMatrixWorld'](!0x0));}),_0x55958b&&(_0x55958b['threeObject']&&_0x55958b['threeObject']['updateMatrixWorld'](!0x0),this['_pendingRender']||(this['_pendingRender']=!0x0,requestAnimationFrame(()=>{this['sceneManager']['redraw'](),this['sceneManager']['render'](),this['_pendingRender']=!0x1;})));}),this['listeners']['push'](_0x317108),_0x55958b&&this['_jointCmdListeners']['push'](_0x317108);}['unsubscribeTopic'](_0x1733f2){_0x1733f2&&(this['listeners']=this['listeners']['filter'](_0x167ca8=>{if(_0x167ca8['name']!==_0x1733f2)return!0x0;_0x167ca8['unsubscribe']();const _0x189c40=this['_jointCmdListeners']['indexOf'](_0x167ca8);return-0x1!==_0x189c40&&this['_jointCmdListeners']['splice'](_0x189c40,0x1),!0x1;}));}['publishJointStates'](_0x12cd85,_0x5e187b='/io_teleop/joint_states'){if(!this['ros']||!this['connected'])return;this['_jointStateTopic']=_0x5e187b,this['publisher']&&this['publisher']['name']===_0x5e187b||(this['publisher']&&this['publisher']['unadvertise'](),this['publisher']=new ba['Topic']({'ros':this['ros'],'name':_0x5e187b,'messageType':'sensor_msgs/msg/JointState'}),this['_advertiseTopic'](this['publisher']));const _0x6d5345=Array['from'](_0x12cd85['joints']['values']())['filter'](_0x4cafb5=>'number'==typeof _0x4cafb5['currentValue']),_0x32e605=new ba['Message']({'header':{'stamp':{'sec':0x0,'nanosec':0x0},'frame_id':''},'name':_0x6d5345['map'](_0x40ae51=>_0x40ae51['name']),'position':_0x6d5345['map'](_0x3aefaa=>_0x3aefaa['currentValue']),'velocity':[],'effort':[]});this['pubMessageCount']++,this['pubLastMessageTime']=Date['now'](),this['publisher']['publish'](_0x32e605);}['_advertiseTopic'](_0x1a2656,_0x394a6d='reliable'){const _0x5a44f4='advertise:'+_0x1a2656['name']+':'+ ++this['ros']['idCounter'];_0x1a2656['advertiseId']=_0x5a44f4,_0x1a2656['isAdvertised']=!0x0,this['ros']['callOnConnection']({'op':'advertise','id':_0x5a44f4,'type':_0x1a2656['messageType'],'topic':_0x1a2656['name'],'latch':!0x1,'queue_size':_0x1a2656['queue_size'],'qos':{'history':'keep_last','depth':0xa,'reliability':_0x394a6d,'durability':'volatile'}});}['getRos'](){return this['ros'];}['isConnected'](){return!!this['connected'];}['createAdvertisedTopic'](_0x331721,_0x267237){if(!this['ros']||!_0x331721||!_0x267237)return null;const _0xcd2ea8=this['_extraTopics']['get'](_0x331721);if(_0xcd2ea8){if(_0xcd2ea8['messageType']===_0x267237)return _0xcd2ea8;this['releaseTopic'](_0x331721);}const _0x154c71=new ba['Topic']({'ros':this['ros'],'name':_0x331721,'messageType':_0x267237});return this['_advertiseTopic'](_0x154c71),this['_extraTopics']['set'](_0x331721,_0x154c71),_0x154c71;}['releaseTopic'](_0x1441ca){const _0x5e491c=this['_extraTopics']['get'](_0x1441ca);if(_0x5e491c){try{_0x5e491c['unadvertise']();}catch(_0x2c2e42){}this['_extraTopics']['delete'](_0x1441ca);}}['addConnectionListener'](_0xed0d19){return'function'!=typeof _0xed0d19?()=>{}:(this['_connectionListeners']['add'](_0xed0d19),()=>{this['_connectionListeners']['delete'](_0xed0d19);});}['_notifyConnectionChange'](_0x166c05){this['onConnectionChange']&&this['onConnectionChange'](_0x166c05);for(const _0x46b593 of this['_connectionListeners'])try{_0x46b593(_0x166c05);}catch(_0x4ef14a){}}['_queryDomainId'](){const _0x2330f7=new ba['Topic']({'ros':this['ros'],'name':'/robot_viewer/domain_id','messageType':'std_msgs/msg/Int32','throttle_rate':0x7d0});_0x2330f7['subscribe'](_0x1d664d=>{this['domainId']=_0x1d664d['data'],this['onDomainIdChange']&&this['onDomainIdChange'](this['domainId']),_0x2330f7['unsubscribe']();}),setTimeout(()=>{void 0x0===this['domainId']&&(_0x2330f7['unsubscribe'](),this['domainId']=null,this['onDomainIdChange']&&this['onDomainIdChange'](null));},0x1388);}['setModel'](_0x64090e){this['_model']=_0x64090e;}['_advertiseResetService'](){this['ros']&&(this['_resetService']=new ba['Service']({'ros':this['ros'],'name':'/io_teleop_reset_robot','serviceType':'std_srvs/Trigger'}),this['_resetService']['advertise']((_0x1aafeb,_0x3530bb)=>{var _0x48e7c9;if(this['_pauseJointCmd'](),this['_model']&&this['_model']['joints']){const _0x2d4174=(null==(_0x48e7c9=this['_model']['userData'])?void 0x0:_0x48e7c9['homePositions'])||{};this['_model']['joints']['forEach']((_0x7ecaa1,_0x22befe)=>{if('fixed'!==_0x7ecaa1['type']){const _0x4eadf8=_0x2d4174[_0x22befe]??0x0;Ei['setJointAngle'](this['_model'],_0x22befe,_0x4eadf8,!0x0),_0x7ecaa1['currentValue']=_0x4eadf8;}}),this['_model']['threeObject']&&this['_model']['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw'](),this['sceneManager']['render']();}const _0x382dcf=this['_jointStateTopic']||'/io_teleop/joint_states';return this['_model']&&this['publishJointStates'](this['_model'],_0x382dcf),setTimeout(()=>{this['_resumeJointCmd']();},0x64),_0x3530bb['success']=!0x0,_0x3530bb['message']='ok',!0x0;}));}['_pauseJointCmd'](){this['_jointCmdTopics']=[],this['_jointCmdListeners']['forEach'](_0x2c69b5=>{this['_jointCmdTopics']['push'](_0x2c69b5['name']),_0x2c69b5['unsubscribe']();const _0x4f7bf6=this['listeners']['indexOf'](_0x2c69b5);-0x1!==_0x4f7bf6&&this['listeners']['splice'](_0x4f7bf6,0x1);}),this['_jointCmdListeners']=[];}['_resumeJointCmd'](){this['_model']&&(this['_jointCmdTopics']['forEach'](_0x12515c=>{this['subscribeJointCmd'](this['_model'],_0x12515c);}),this['_jointCmdTopics']=[]);}['disconnect'](){try{if(this['listeners']['forEach'](_0x825b00=>{try{_0x825b00['unsubscribe']();}catch(_0x55207a){}}),this['listeners']=[],this['_jointCmdListeners']=[],this['_jointCmdTopics']=[],this['publisher']){try{this['publisher']['unadvertise']();}catch(_0x1a75df){}this['publisher']=null;}if(this['_resetService']){try{this['_resetService']['unadvertise']();}catch(_0xebb55d){}this['_resetService']=null;}this['_extraTopics']['forEach']((_0x261295,_0x27729a)=>{try{_0x261295['unadvertise']();}catch(_0x55afaa){}}),this['_extraTopics']['clear']();try{this['tfController']['unsubscribeAll']();}catch(_0x113a48){}if(this['ros']){try{this['ros']['close']();}catch(_0x31e2cc){}this['ros']=null;}}finally{this['connected']=!0x1,this['domainId']=void 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_0x2cb453=document['createElement']('div');_0x2cb453['id']='floating-ros-panel',_0x2cb453['className']='floating-panel',_0x2cb453['style']['cssText']='top:\x2080px;\x20right:\x20400px;\x20width:\x20360px;\x20z-index:\x2051;\x20display:\x20none;',_0x2cb453['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=\x22rosConnection\x22>ROS\x20连接</span>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20class=\x22panel-close-btn\x22\x20data-panel=\x22floating-ros-panel\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\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20class=\x22ros-hint\x22>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20data-i18n=\x22rosBridgeHint\x22>💡\x20需要本地启动\x20rosbridge：</span><code>./start-rosbridge.sh\x20--domain_id=xxx</code>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<a\x20class=\x22ros-download-btn\x22\x20id=\x22ros-download-script\x22\x20title=\x22下载启动脚本\x22\x20data-i18n=\x22downloadScript\x22\x20data-i18n-title=\x22downloadScriptTitle\x22>⬇\x20下载脚本</a>\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=\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<label\x20class=\x22ros-label\x22\x20data-i18n=\x22serverAddress\x22>服务器地址</label>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<input\x20type=\x22text\x22\x20id=\x22ros-url\x22\x20class=\x22ros-input\x22\x20value=\x22ws://localhost:9090\x22\x20placeholder=\x22ws://localhost:9090\x22>\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=\x22ros-form-group\x22\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<label\x20class=\x22ros-label\x22\x20style=\x22margin:0;white-space:nowrap;\x22>ROS_DOMAIN_ID:</label>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20id=\x22ros-domain-id\x22\x20class=\x22ros-rate-badge\x22\x20style=\x22background:#1e8e3e;color:#fff;\x22>—</span>\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=\x22ros-form-group\x22\x20style=\x22display:flex;gap:8px;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<button\x20id=\x22ros-connect-btn\x22\x20class=\x22ros-btn\x20ros-btn-primary\x22\x20data-i18n=\x22connect\x22>连接</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20id=\x22ros-disconnect-btn\x22\x20class=\x22ros-btn\x20ros-btn-secondary\x22\x20data-i18n=\x22disconnect\x22\x20disabled>断开</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<button\x20id=\x22ros-monitor-btn\x22\x20class=\x22ros-btn\x20ros-btn-secondary\x22\x20title=\x22打开实时监控面板\x22\x20data-i18n=\x22monitor\x22\x20data-i18n-title=\x22monitorTitle\x22>📈\x20监控</button>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<!--\x20状态文字带运行态（已连接/未连接），不能挂\x20data-i18n\x20——\x20否则切语言时会被\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静态文案无条件覆盖；由\x20refreshLanguage()\x20按真实状态重算\x20-->\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<span\x20id=\x22ros-status\x22\x20class=\x22ros-status\x22>●\x20未连接</span>\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=\x22ros-divider\x22></div>\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<label\x20class=\x22ros-label\x22\x20data-i18n=\x22subscribeTopic\x22>订阅\x20Topic</label>\x0a\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20<div\x20id=\x22ros-topic-list\x22\x20class=\x22ros-topic-list\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'+this['_renderTopicRows']()+'\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=\x22ro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0x0:_0x17486f['querySelector']('.ros-topic-input'),_0x2d90df=(null==_0x4b7536?void 0x0:_0x4b7536['value'])||_0x33730a['rosTopic'];this['rosController']['tfController']['subscribeTF'](_0x33730a['id'],this['app']['sceneManager']['currentModel'],_0x2d90df);}}else this['app']['currentModel']&&(this['_subscribeCheckedTopics'](this['app']['currentModel']),this['bidirectionalEnabled']&&this['startPublishing']());};}['_subscribeCheckedTopics'](_0x22e71d){this['panel']['querySelectorAll']('#ros-topic-list\x20.ros-topic-row')['forEach'](_0x56d8f8=>{const _0x2b2dd8=_0x56d8f8['querySelector']('.ros-topic-checkbox'),_0x2787ff=_0x56d8f8['querySelector']('.ros-topic-input');_0x2b2dd8['checked']&&_0x2787ff['value']&&this['rosController']['subscribeJointCmd'](_0x22e71d,_0x2787ff['value']);});}['startPublishing'](){this['_heartbeatWorker']||(this['_heartbeatWorker']=new Worker('./heartbeat-worker.js'),this['_heartbeatWorker']['onmessage']=()=>{if(this['rosController']['connected']&&this['app']['currentModel']){const _0x3ea6ee=this['panel']['querySelector']('#ros-pub-topic')['value'];this['rosController']['publishJointStates'](this['app']['currentModel'],_0x3ea6ee);}},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'](_0x31d659=>{const _0xd4071f=_0x31d659['querySelector']('.ros-topic-input'),_0x3f3ee7=_0x31d659['querySelector']('.ros-topic-rate');if(_0xd4071f&&_0x3f3ee7){const _0x884171=this['rosController']['getMessageRate'](_0xd4071f['value']);_0x3f3ee7['textContent']=_0x884171+'\x20Hz';}});const _0x11d3ec=this['rosController']['getPubMessageRate'](),_0x307636=this['panel']['querySelector']('#ros-pub-rate-actual');_0x307636&&(_0x307636['textContent']=_0x11d3ec+'\x20Hz'),this['rosController']['resetMessageCount'](),this['rosController']['resetPubMessageCount']();},0x3e8);}['onModelLoaded'](_0x21f0ba){this['rosController']['connected']&&(this['_subscribeCheckedTopics'](_0x21f0ba),this['bidirectionalEnabled']&&this['startPublishing']());}['onJointChanged'](_0x3150f2){}['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 _0x850dff=document['getElementById']('toggle-ros-panel');_0x850dff&&_0x850dff['classList']['add']('active');}['getServerUrl'](){var _0x45f71d,_0x5330f2,_0xd04c00;return(null==(_0xd04c00=null==(_0x5330f2=null==(_0x45f71d=this['panel'])?void 0x0:_0x45f71d['querySelector']('#ros-url'))?void 0x0:_0x5330f2['value'])?void 0x0:_0xd04c00['trim']())||'';}['setServerUrl'](_0x3be96b){var _0x4af408;const _0x2002c0=null==(_0x4af408=this['panel'])?void 0x0:_0x4af408['querySelector']('#ros-url');_0x2002c0&&_0x3be96b&&(_0x2002c0['value']=_0x3be96b);}['autoConnect'](_0x4a89fc){if(!this['panel']||this['rosController']['connected'])return;const _0x229051=this['panel']['querySelector']('#ros-url');_0x229051&&_0x4a89fc&&(_0x229051['value']=_0x4a89fc);const _0x314821=this['panel']['querySelector']('#ros-connect-btn');_0x314821&&!_0x314821['disabled']&&_0x314821['click']();}}const Aa='__world__',La=['+X','-X','+Y','-Y','+Z','-Z'],Ea=_0x5d8c67=>{const _0x311fd3='XYZ'['indexOf'](String(_0x5d8c67||'')['toUpperCase']()['replace'](/[^XYZ]/g,'')[0x0]);return _0x311fd3<0x0?0x0:_0x311fd3;};function Ca(_0x325268,_0x4fd47d){return _0x4fd47d['set'](0x0,0x0,0x0),_0x4fd47d['setComponent'](Ea(_0x325268),(_0x22b0f7=>'-'===(_0x22b0f7||'')['trim']()[0x0]?-0x1:0x1)(_0x325268)),_0x4fd47d;}function ja(_0x342be9,_0x1d1479){return Ea(_0x342be9)!==Ea(_0x1d1479);}function ka(_0x390a14){return La['filter'](_0x564029=>ja(_0x390a14,_0x564029));}const Ta={'x':0x0,'y':0x1,'z':0x2},Oa={'roll':0x0,'pitch':0x1,'yaw':0x2},Fa=[new _0x220444(0x1,0x0,0x0),new _0x220444(0x0,0x1,0x0),new _0x220444(0x0,0x0,0x1)],Da=Math['PI'],Pa=_0x2072c6=>{const _0x57babf=Number(_0x2072c6)||0x0;return _0x57babf>=-Da&&_0x57babf<=Da?_0x57babf:_0x57babf-0x2*Da*Math['round'](_0x57babf/(0x2*Da));};class Ia{constructor(_0x1fd51a,_0x5d4d7b={}){this['sceneManager']=_0x1fd51a,this['width']=_0x5d4d7b['width']??0x280,this['height']=_0x5d4d7b['height']??0x1e0,this['fov']=_0x5d4d7b['fov']??0x3c,this['near']=_0x5d4d7b['near']??0.001,this['far']=_0x5d4d7b['far']??0xc8,this['mountFrame']=_0x5d4d7b['mountFrame']??Aa,this['mountXyz']=[0x0,0x0,0x0],this['_mountOffset']=new _0x220444(),this['mountRpy']=[0x0,0x0,0x0],this['forwardAxis']=_0x5d4d7b['forwardAxis']??'+X',this['upAxis']=_0x5d4d7b['upAxis']??'+Z',this['camera']=new _0x555d82(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 _0x3c39ce(),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 _0x13cf24(),this['_offsetMatrix']=new _0x13cf24(),this['_presetMatrix']=new _0x13cf24(),this['_fwdVec']=new _0x220444(),this['_upVec']=new _0x220444(),this['_rightVec']=new _0x220444(),this['_backVec']=new _0x220444(),this['_poseMatrix']=new _0x13cf24(),this['_poseQuat']=new _0x3c39ce(),this['_axisVec']=new _0x220444(),this['_axisQuat']=new _0x3c39ce(),this['_euler']=new _0x416b03(),this['_tmpPos']=new _0x220444(),this['_tmpQuat']=new _0x3c39ce(),this['_tmpScale']=new _0x220444(),this['_encodeMaterial']=new _0x496f57({'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 _0x963183(0x2,0x2),this['_quad']=new _0x2c4c6c(this['_quadGeometry'],this['_encodeMaterial']),this['_quad']['frustumCulled']=!0x1,this['_quadScene']=new _0x2eec37(),this['_quadScene']['add'](this['_quad']),this['_quadCamera']=new _0x43a6c8(-0x1,0x1,0x1,-0x1,0x0,0x1);}['setResolution'](_0x499ff0,_0x558b54){const _0x1736b4=Math['round'](Math['min'](0x1000,Math['max'](0x10,Number(_0x499ff0)||0x0))),_0x33c8e7=Math['round'](Math['min'](0x1000,Math['max'](0x10,Number(_0x558b54)||0x0)));_0x1736b4===this['width']&&_0x33c8e7===this['height']||(this['width']=_0x1736b4,this['height']=_0x33c8e7,this['_firstFrameChecked']=!0x1);}['setFov'](_0x3d29a7){const _0x5dc1ce=Number(_0x3d29a7);Number['isFinite'](_0x5dc1ce)&&(this['fov']=Math['min'](0x78,Math['max'](0x1,_0x5dc1ce)));}['setMount'](_0x938748={}){void 0x0!==_0x938748['frame']&&_0x938748['frame']!==this['mountFrame']&&(this['mountFrame']=_0x938748['frame']||Aa,this['_warnedFrame']=null),Array['isArray'](_0x938748['xyz'])&&(this['mountXyz']=_0x938748['xyz']['map'](_0x45ba96=>Number(_0x45ba96)||0x0),this['_mountOffset']['set'](this['mountXyz'][0x0],this['mountXyz'][0x1],this['mountXyz'][0x2])),Array['isArray'](_0x938748['rpy'])&&(this['mountRpy']=_0x938748['rpy']['map'](Pa),this['_mountQuat']['copy'](this['_poseQuaternion'](this['_poseQuat']))),void 0x0!==_0x938748['forward']&&La['includes'](_0x938748['forward'])&&(this['forwardAxis']=_0x938748['forward'],ja(this['forwardAxis'],this['upAxis'])||(this['upAxis']=ka(this['forwardAxis'])[0x0])),void 0x0!==_0x938748['up']&&La['includes'](_0x938748['up'])&&ja(this['forwardAxis'],_0x938748['up'])&&(this['upAxis']=_0x938748['up']),this['refreshMountAxes']();}['setMountRpyField'](_0x4b2268,_0xe810b7){const _0x23226a=Oa[_0x4b2268];if(void 0x0===_0x23226a)return!0x1;const _0x2f2c14=Pa(_0xe810b7),_0x3f4e74=((_0x41b671,_0x3b3878)=>{let _0x50c314=_0x3b3878-_0x41b671;return _0x50c314>Da?_0x50c314-=0x2*Da:_0x50c314<-Da&&(_0x50c314+=0x2*Da),_0x50c314;})(this['mountRpy'][_0x23226a],_0x2f2c14);if(this['mountRpy'][_0x23226a]=_0x2f2c14,0x0!==_0x3f4e74){const _0x4cb14d=this['_axisVec']['copy'](Fa[_0x23226a])['applyQuaternion'](this['_mountQuat']);this['_mountQuat']['premultiply'](this['_axisQuat']['setFromAxisAngle'](_0x4cb14d,_0x3f4e74));}return this['refreshMountAxes'](),!0x0;}['setMountXyzField'](_0x148a70,_0x2706e0){const _0x16fe33=Ta[_0x148a70];if(void 0x0===_0x16fe33)return!0x1;const _0xc50dbd=Number(_0x2706e0)||0x0,_0x5d71a9=_0xc50dbd-this['mountXyz'][_0x16fe33];if(this['mountXyz'][_0x16fe33]=_0xc50dbd,0x0!==_0x5d71a9){const _0x206319=this['_axisVec']['set'](0x0,0x0,0x0)['setComponent'](_0x16fe33,0x1)['applyQuaternion'](this['_mountQuat']);this['_mountOffset']['addScaledVector'](_0x206319,_0x5d71a9);}return this['refreshMountAxes'](),!0x0;}['setMountAxesVisible'](_0x172419){var _0x590d27;const _0x51780d=!!_0x172419;_0x51780d===this['_mountAxesVisible']&&((null==(_0x590d27=this['_mountAxes'])?void 0x0:_0x590d27['visible'])??!0x1)===_0x51780d||(this['_mountAxesVisible']=_0x51780d,this['refreshMountAxes']());}['refreshMountAxes'](){var _0x480ff0,_0x5e58ec;this['_applyMountAxes']()&&(null==(_0x5e58ec=null==(_0x480ff0=this['sceneManager'])?void 0x0:_0x480ff0['redraw'])||_0x5e58ec['call'](_0x480ff0));}['isMountAxesVisible'](){return this['_mountAxesVisible'];}['_applyMountAxes'](){const _0x6dfe13=this['_mountAxesVisible']?this['_resolveParentObject']():null;if(!_0x6dfe13)return!(!this['_mountAxes']||!this['_mountAxes']['visible'])&&(this['_mountAxes']['visible']=!0x1,!0x0);const _0x25dfca=!this['_mountAxes']||this['_mountAxes']['parent']!==_0x6dfe13;_0x25dfca&&(this['_disposeMountAxes'](),this['_mountAxesSize']=this['_estimateAxesSize'](),this['_mountAxes']=Oi['createAxesGeometry'](this['_mountAxesSize']),_0x6dfe13['add'](this['_mountAxes']));const {x:_0x4e6df1,y:_0x49bbf1,z:_0x39eb39}=this['_mountOffset'],_0xb508a4=[_0x4e6df1,_0x49bbf1,_0x39eb39,this['_mountQuat']['x'],this['_mountQuat']['y'],this['_mountQuat']['z'],this['_mountQuat']['w']],_0x541225=!this['_mountAxesPose']||this['_mountAxesPose']['some']((_0x3a6500,_0x34afdb)=>_0x3a6500!==_0xb508a4[_0x34afdb]);this['_mountAxes']['position']['set'](_0x4e6df1,_0x49bbf1,_0x39eb39),this['_mountAxes']['quaternion']['copy'](this['_mountQuat']),this['_mountAxesPose']=_0xb508a4;const _0x3b875c=!this['_mountAxes']['visible'];return this['_mountAxes']['visible']=!0x0,_0x25dfca||_0x3b875c||_0x541225;}['_estimateAxesSize'](){var _0x4f9824;let _0x5626cb=0x1;try{const _0x210fcb=null==(_0x4f9824=this['sceneManager'])?void 0x0:_0x4f9824['currentModel'];if((null==_0x210fcb?void 0x0:_0x210fcb['threeObject'])&&'function'==typeof this['sceneManager']['computeRobustBoundingBox']){const _0x4f29ba=this['sceneManager']['computeRobustBoundingBox'](_0x210fcb['threeObject']);_0x4f29ba&&!_0x4f29ba['isEmpty']()&&(_0x5626cb=_0x4f29ba['getSize'](new _0x220444())['length']()||0x1);}}catch(_0x326e8b){}return Math['min'](0x2,Math['max'](0.05,0.15*_0x5626cb));}['_resolveParentObject'](){var _0x551fe2,_0x1a818e;if(!this['mountFrame']||this['mountFrame']===Aa)return(null==(_0x551fe2=this['sceneManager'])?void 0x0:_0x551fe2['world'])||null;const _0x349afd=null==(_0x1a818e=this['sceneManager'])?void 0x0:_0x1a818e['currentModel'],_0x20671e=_0x349afd&&'function'==typeof _0x349afd['getLink']?_0x349afd['getLink'](this['mountFrame']):null;return(null==_0x20671e?void 0x0:_0x20671e['threeObject'])||null;}['_disposeMountAxes'](){this['_mountAxes']&&(this['_mountAxes']['removeFromParent'](),this['_mountAxes']['traverse'](_0x94d98f=>{var _0x4eb7ab,_0xdfb711;null==(_0xdfb711=null==(_0x4eb7ab=_0x94d98f['geometry'])?void 0x0:_0x4eb7ab['dispose'])||_0xdfb711['call'](_0x4eb7ab);(Array['isArray'](_0x94d98f['material'])?_0x94d98f['material']:_0x94d98f['material']?[_0x94d98f['material']]:[])['forEach'](_0x14704a=>{var _0x59961c;return null==(_0x59961c=_0x14704a['dispose'])?void 0x0:_0x59961c['call'](_0x14704a);});}),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'](_0xdccce5=null){const _0x9367ef=this['sceneManager'],_0x36dfca=null==_0x9367ef?void 0x0:_0x9367ef['renderer'];if(!_0x36dfca||_0x9367ef['_contextLost'])return this['lastCaptureSkipped']=_0x36dfca?'context-lost':'no-renderer',null;this['lastCaptureSkipped']=null,this['_ensureTargets'](),this['_updateCameraPose']();const _0x4e253e=this['width']*this['height']*0x4,_0x527a92=_0xdccce5&&_0xdccce5['length']===_0x4e253e?_0xdccce5:this['_rgba'],_0x4e7bb6=performance['now'](),_0x20154=_0x36dfca['getRenderTarget'](),_0x3aefc2=this['_useAltTarget']?this['_targetLinearAlt']:this['_targetLinear'],_0x57f3f1=this['_useAltTarget']?this['_targetLdrAlt']:this['_targetLdr'],_0x32bdf6=this['_useAltTarget']?this['_targetLdr']:this['_targetLdrAlt'],_0xf5c47d=this['_hasPrevFrame'];let _0x399d3e=0x0;if(_0xf5c47d){const _0x4eec47=performance['now']();_0x36dfca['readRenderTargetPixels'](_0x32bdf6,0x0,0x0,this['width'],this['height'],_0x527a92),_0x399d3e=performance['now']()-_0x4eec47;}const _0x5b6436=_0x36dfca['shadowMap'],_0x44ac8f=!!(_0x9367ef['directionalLight']&&_0x9367ef['directionalLight']['shadow']&&_0x9367ef['directionalLight']['shadow']['map']),_0xfd3efa='function'==typeof _0x9367ef['hasPendingRender']&&!_0x9367ef['hasPendingRender'](),_0x1831ee=_0x5b6436['enabled']&&_0x44ac8f&&_0xfd3efa,_0xf253a8=_0x5b6436['autoUpdate'];_0x1831ee&&(_0x5b6436['autoUpdate']=!0x1),this['_hideHelpers']();const _0x2ee49e=performance['now']();try{_0x36dfca['setRenderTarget'](_0x3aefc2),_0x36dfca['render'](_0x9367ef['scene'],this['camera']),this['_encodeMaterial']['uniforms']['tLinear']['value']=_0x3aefc2['texture'],_0x36dfca['setRenderTarget'](_0x57f3f1),_0x36dfca['render'](this['_quadScene'],this['_quadCamera']);}finally{_0x1831ee&&(_0x5b6436['autoUpdate']=_0xf253a8),_0x36dfca['setRenderTarget'](_0x20154),this['_restoreHelpers']();}const _0x278e4e=performance['now']()-_0x2ee49e;return this['_useAltTarget']=!this['_useAltTarget'],this['_hasPrevFrame']=!0x0,this['lastCaptureMs']=performance['now']()-_0x4e7bb6,this['lastFrameLag']=_0xf5c47d?0x1:0x0,_0xf5c47d?(this['_firstFrameChecked']||(this['_firstFrameChecked']=!0x0,this['_checkFirstFrame'](_0x527a92)),{'data':new Uint8ClampedArray(_0x527a92['buffer'],_0x527a92['byteOffset'],_0x527a92['byteLength']),'width':this['width'],'height':this['height'],'captureMs':this['lastCaptureMs'],'renderMs':_0x278e4e,'readbackMs':_0x399d3e,'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 _0x43ae33;const _0x1b1518=null==(_0x43ae33=this['sceneManager']['renderer'])?void 0x0:_0x43ae33['extensions'];return!(!_0x1b1518||'function'!=typeof _0x1b1518['has'])&&(_0x1b1518['has']('EXT_color_buffer_half_float')||_0x1b1518['has']('EXT_color_buffer_float'));}['_ensureTargets'](){if(this['_targetLinear']&&this['_targetSize']['w']===this['width']&&this['_targetSize']['h']===this['height'])return;this['_disposeTargets']();const _0x5a62f7=!this['_safeMode']&&this['_supportsFloatTarget']()?_0x337bf6:_0x3a3254;this['_targetLinear']=new _0x42cbb7(this['width'],this['height'],{'type':_0x5a62f7,'format':_0x414058,'minFilter':_0x17a998,'magFilter':_0x17a998,'depthBuffer':!0x0,'stencilBuffer':!0x1}),this['_targetLinear']['texture']['generateMipmaps']=!0x1,this['_targetLdr']=new _0x42cbb7(this['width'],this['height'],{'type':_0x3a3254,'format':_0x414058,'minFilter':_0x17a998,'magFilter':_0x17a998,'depthBuffer':!0x1,'stencilBuffer':!0x1}),this['_targetLdr']['texture']['generateMipmaps']=!0x1,this['_targetLinearAlt']=new _0x42cbb7(this['width'],this['height'],{'type':_0x5a62f7,'format':_0x414058,'minFilter':_0x17a998,'magFilter':_0x17a998,'depthBuffer':!0x0,'stencilBuffer':!0x1}),this['_targetLinearAlt']['texture']['generateMipmaps']=!0x1,this['_targetLdrAlt']=new _0x42cbb7(this['width'],this['height'],{'type':_0x3a3254,'format':_0x414058,'minFilter':_0x17a998,'magFilter':_0x17a998,'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'](_0x20350c=0x5){const _0x24bb2d=this['sceneManager'],_0x723617=null==_0x24bb2d?void 0x0:_0x24bb2d['renderer'];if(!_0x723617||_0x24bb2d['_contextLost'])return null;this['_probeTarget']||(this['_probeTarget']=new _0x42cbb7(0x100,0x100,{'type':_0x3a3254,'format':_0x414058,'depthBuffer':!0x1,'stencilBuffer':!0x1}));const _0x2de719=0x100,_0x49c875=new Uint8Array(0x40000),_0x4040bf=_0x723617['getRenderTarget'](),_0x52e284=performance['now']();for(let _0x1441cc=0x0;_0x1441cc<_0x20350c;_0x1441cc++)_0x723617['setRenderTarget'](this['_probeTarget']),_0x723617['clear'](!0x0,!0x1,!0x1),_0x723617['readRenderTargetPixels'](this['_probeTarget'],0x0,0x0,_0x2de719,_0x2de719,_0x49c875);_0x723617['setRenderTarget'](_0x4040bf);const _0x3936dd=(performance['now']()-_0x52e284)/_0x20350c;return this['lastGpuProbeMs']=_0x3936dd,_0x3936dd;}['_disposeTargets'](){for(const _0x330287 of[this['_targetLinear'],this['_targetLdr'],this['_targetLinearAlt'],this['_targetLdrAlt']])_0x330287&&_0x330287['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 _0x20d9ba=this['_worldMatrix'];if(!this['mountFrame']||this['mountFrame']===Aa){const _0x5b7bd1=this['sceneManager']['world'];return _0x5b7bd1?(_0x5b7bd1['updateWorldMatrix'](!0x0,!0x1),_0x20d9ba['copy'](_0x5b7bd1['matrixWorld'])):_0x20d9ba['identity'](),_0x20d9ba;}const _0x2126c1=this['sceneManager']['currentModel'],_0xf2df8d=_0x2126c1&&'function'==typeof _0x2126c1['getLink']?_0x2126c1['getLink'](this['mountFrame']):null,_0x390dea=null==_0xf2df8d?void 0x0:_0xf2df8d['threeObject'];if(_0x390dea)_0x390dea['updateWorldMatrix'](!0x0,!0x1),_0x20d9ba['copy'](_0x390dea['matrixWorld']);else{this['_warnedFrame']!==this['mountFrame']&&(this['_warnedFrame']=this['mountFrame']);const _0x586571=this['sceneManager']['world'];_0x586571?(_0x586571['updateWorldMatrix'](!0x0,!0x1),_0x20d9ba['copy'](_0x586571['matrixWorld'])):_0x20d9ba['identity']();}return _0x20d9ba;}['_updateCameraPose'](){const _0x26eb71=this['_resolveParentMatrix']();_0x26eb71['multiply'](this['_buildOffsetMatrix']()),_0x26eb71['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:_0x3021a8,y:_0x5d6f67,z:_0x223d23}=this['_mountOffset'];return this['_offsetMatrix']['makeTranslation'](_0x3021a8,_0x5d6f67,_0x223d23),this['_offsetMatrix']['multiply'](this['_buildPoseMatrix']())['multiply'](this['_buildOrientationMatrix']());}['_poseQuaternion'](_0x56f63b){const [_0x5e3d6b,_0x393c48,_0x3a1463]=this['mountRpy'];return _0x56f63b['setFromEuler'](this['_euler']['set'](_0x5e3d6b,_0x393c48,_0x3a1463,'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 _0x1ea971;const _0x3044dd=this['sceneManager'];this['_hidden']=[];const _0x458ba0=_0x7dac01=>{_0x7dac01&&_0x7dac01['visible']&&(this['_hidden']['push'](_0x7dac01),_0x7dac01['visible']=!0x1);};_0x458ba0(_0x3044dd['referenceGrid']),_0x458ba0(_0x3044dd['worldAxes']),_0x458ba0(null==(_0x1ea971=_0x3044dd['measurementManager'])?void 0x0:_0x1ea971['measurementHelper']),_0x3044dd['scene']['traverse'](_0x854a82=>{_0x854a82['userData']&&_0x854a82['userData']['excludeFromBBox']&&_0x458ba0(_0x854a82);});}['_restoreHelpers'](){for(const _0x74556f of this['_hidden'])_0x74556f['visible']=!0x0;this['_hidden']=[];}['_checkFirstFrame'](_0x2221cc){if(this['_safeMode'])return!0x1;let _0x5c496b=0x0;for(let _0x4aa9c2=0x0;_0x4aa9c2<_0x2221cc['length'];_0x4aa9c2+=0x40)_0x5c496b+=_0x2221cc[_0x4aa9c2];return 0x0===_0x5c496b&&(this['_safeMode']=!0x0,this['_disposeTargets'](),this['_ensureTargets'](),!0x0);}}class Ra{constructor(_0x5b80ed,_0x273828){this['rosController']=_0x5b80ed,this['virtualCamera']=_0x273828,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'](_0x54f4f5){return!!this['_running']||(_0x54f4f5?!!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':_0x54f4f5})}),this['_notifyRunningChange'](),!0x0):(this['_lastError']='缺少\x20rosbridge\x20地址',!0x1));}['connect'](_0x2afd8e){return _0x2afd8e?!!this['_ensureWorker']()&&(this['_connectionWanted']=!0x0,this['_lastError']=null,this['_worker']['postMessage']({'cmd':'connect',...this['_configPayload']({'url':_0x2afd8e})}),!0x0):(this['_lastError']='缺少\x20rosbridge\x20地址',!0x1);}['disconnect'](){var _0x47a9cb;this['_running']=!0x1,this['_connectionWanted']=!0x1,null==(_0x47a9cb=this['_worker'])||_0x47a9cb['postMessage']({'cmd':'disconnect'}),this['_pool']=[],this['onCameraConnectionChange']&&this['onCameraConnectionChange'](!0x1,null),this['_notifyRunningChange']();}['stop'](){var _0x51839a;this['_running']&&(this['_running']=!0x1,null==(_0x51839a=this['_worker'])||_0x51839a['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'](_0x2c3d04){this['_previewEnabled']=!!_0x2c3d04,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 _0x2ed238=null,_0x539927=!0x1;try{_0x2ed238=this['_acquireBuffer']();const _0x147103=this['virtualCamera']['capture'](_0x2ed238);if(!_0x147103)return this['_releaseBuffer'](_0x2ed238),void this['_answerNoFrame'](this['virtualCamera']['lastCaptureSkipped']||'capture-null');this['_recordCapture'](_0x147103),this['_worker']['postMessage']({'cmd':'frame','buffer':_0x2ed238['buffer'],'width':_0x147103['width'],'height':_0x147103['height'],'captureMs':_0x147103['captureMs']},[_0x2ed238['buffer']]),_0x539927=!0x0;}catch(_0x32d0b0){this['_lastError']='采集失败:\x20'+((null==_0x32d0b0?void 0x0:_0x32d0b0['message'])||_0x32d0b0),_0x2ed238&&!_0x539927&&this['_releaseBuffer'](_0x2ed238),this['_answerNoFrame']('error');}}['_answerNoFrame'](_0x157ad9){var _0xf31625;this['_noFrameCount']++,this['_lastNoFrameReason']=_0x157ad9,null==(_0xf31625=this['_worker'])||_0xf31625['postMessage']({'cmd':'noframe','reason':_0x157ad9});}['_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']=_0x869649=>this['_onWorkerMessage'](_0x869649['data']||{}),this['_worker']['onerror']=_0x13ac51=>{if(this['_lastError']='相机发布\x20Worker\x20异常:\x20'+((null==_0x13ac51?void 0x0:_0x13ac51['message'])||_0x13ac51),this['_running']=!0x1,this['_connectionWanted']=!0x1,this['_worker']){try{this['_worker']['terminate']();}catch(_0x51c7e4){}this['_worker']=null;}this['_pool']=[],this['onCameraConnectionChange']&&this['onCameraConnectionChange'](!0x1,this['_lastError']),this['_notifyRunningChange']();},!0x0;}catch(_0x475814){return this['_lastError']='无法创建相机发布\x20Worker:\x20'+((null==_0x475814?void 0x0:_0x475814['message'])||_0x475814),!0x1;}}['_onWorkerMessage'](_0x5e6669){switch(_0x5e6669['cmd']){case'need':this['_provideFrame']();break;case'buffer':_0x5e6669['buffer']&&this['_releaseBuffer'](new Uint8Array(_0x5e6669['buffer']));break;case'domainId':this['onDomainId']&&this['onDomainId']('number'==typeof _0x5e6669['value']?_0x5e6669['value']:null);break;case'encodings':this['_encodings']=Array['isArray'](_0x5e6669['list'])?_0x5e6669['list']:null,this['onEncodings']&&this['onEncodings'](this['_encodings']);break;case'preview':this['onPreview']&&this['onPreview']({'base64':_0x5e6669['base64'],'mime':_0x5e6669['mime']||'image/jpeg','width':_0x5e6669['width'],'height':_0x5e6669['height'],'previewWidth':_0x5e6669['previewWidth'],'previewHeight':_0x5e6669['previewHeight'],'payloadBytes':_0x5e6669['payloadBytes'],'captureMs':_0x5e6669['captureMs']});break;case'stats':this['_workerStats']={'rate':_0x5e6669['rate']||0x0,'target':_0x5e6669['target']||this['rateHz'],'queued':_0x5e6669['queue']||0x0,'depth':_0x5e6669['depth']||0x1,'underruns':_0x5e6669['underruns']||0x0,'dropped':_0x5e6669['dropped']||0x0,'payloadBytes':_0x5e6669['payloadBytes']||0x0,'encodeMs':_0x5e6669['encodeMs']||0x0,'pendingNeed':_0x5e6669['pendingNeed']||0x0,'encodeInFlight':_0x5e6669['encodeInFlight']||0x0,'stalled':_0x5e6669['stalled']||0x0,'reconnects':_0x5e6669['reconnects']||0x0,'workerConnected':!!_0x5e6669['connected'],'workerRunning':!!_0x5e6669['running'],'wsState':'number'==typeof _0x5e6669['wsState']?_0x5e6669['wsState']:-0x1,'lastDrop':_0x5e6669['lastDrop']||null,'lastFormat':_0x5e6669['format']||null};break;case'state':_0x5e6669['error']&&(this['_lastError']=_0x5e6669['error']),this['onCameraConnectionChange']&&this['onCameraConnectionChange'](!!_0x5e6669['connected'],_0x5e6669['error']||null);}}['_configPayload'](_0x4342d7={}){return{'topic':this['topicName'],'type':this['messageType'],'frameId':this['frameId'],'rate':this['rateHz'],'format':this['imageFormat'],'quality':this['jpegQuality'],'preview':this['_previewEnabled'],'previewWidth':0x140,..._0x4342d7};}['_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 _0x33fba6=0x0;_0x33fba6<0x3;_0x33fba6++)this['_pool']['push'](new Uint8Array(this['virtualCamera']['width']*this['virtualCamera']['height']*0x4));}['_acquireBuffer'](){const _0x2ea404=this['virtualCamera']['width']*this['virtualCamera']['height']*0x4;this['_poolSize']['w']===this['virtualCamera']['width']&&this['_poolSize']['h']===this['virtualCamera']['height']||this['_resetPool']();let _0x338a4c=this['_pool']['pop']();return _0x338a4c&&_0x338a4c['length']===_0x2ea404||(_0x338a4c=new Uint8Array(_0x2ea404),this['_poolAllocs']++),_0x338a4c;}['_releaseBuffer'](_0x2840c4){const _0x2366ca=this['virtualCamera']['width']*this['virtualCamera']['height']*0x4;_0x2840c4&&_0x2840c4['length']===_0x2366ca&&(this['_pool']['length']>=0x3||this['_pool']['push'](_0x2840c4));}['_recordCapture'](_0x50f2f0){const _0x40d2cd=_0x50f2f0['captureMs']||0x0;this['_win']['count']++,this['_win']['captureSum']+=_0x40d2cd,_0x40d2cd>this['_win']['captureMax']&&(this['_win']['captureMax']=_0x40d2cd),(_0x50f2f0['renderMs']||0x0)>this['_win']['renderMax']&&(this['_win']['renderMax']=_0x50f2f0['renderMs']||0x0),(_0x50f2f0['readbackMs']||0x0)>this['_win']['readbackMax']&&(this['_win']['readbackMax']=_0x50f2f0['readbackMs']||0x0);}['_notifyRunningChange'](){this['onRunningChange']&&this['onRunningChange'](this['_running']);}['collectStats'](){const _0x12cdf4=this['_workerStats'],_0x29c27b=this['_win'],_0x353383=_0x29c27b['count'],_0x27c048={'rate':_0x12cdf4['rate'],'target':_0x12cdf4['target'],'queued':_0x12cdf4['queued'],'depth':_0x12cdf4['depth'],'underruns':_0x12cdf4['underruns'],'dropped':_0x12cdf4['dropped'],'payloadBytes':_0x12cdf4['payloadBytes'],'encodeMs':_0x12cdf4['encodeMs'],'format':_0x12cdf4['lastFormat']||'','pendingNeed':_0x12cdf4['pendingNeed'],'encodeInFlight':_0x12cdf4['encodeInFlight'],'stalled':_0x12cdf4['stalled'],'reconnects':_0x12cdf4['reconnects'],'workerConnected':_0x12cdf4['workerConnected'],'workerRunning':_0x12cdf4['workerRunning'],'wsState':_0x12cdf4['wsState'],'lastDrop':_0x12cdf4['lastDrop'],'running':this['_running'],'hasWorker':!!this['_worker'],'captured':_0x353383,'captureMs':_0x353383?_0x29c27b['captureSum']/_0x353383:0x0,'captureMax':_0x29c27b['captureMax'],'renderMax':_0x29c27b['renderMax'],'readbackMax':_0x29c27b['readbackMax'],'noFrameCount':this['_noFrameCount'],'noFrameReason':this['_lastNoFrameReason'],'poolAllocs':this['_poolAllocs'],'workerEncode':!0x0,'error':this['_lastError']};return this['_win']={'count':0x0,'captureSum':0x0,'captureMax':0x0,'renderMax':0x0,'readbackMax':0x0},_0x27c048;}['getLastError'](){return this['_lastError'];}}const za=['320x240','640x480','1280x720','1920x1080'],Na=['jpeg','png','webp'];class Ua{constructor(_0x4eb681,_0x4262a1,_0x4befda){this['app']=_0x4eb681,this['virtualCamera']=_0x4262a1,this['publisher']=_0x4befda,this['panel']=null,this['_lastPreviewAt']=0x0,this['_statsTimer']=null,this['_cameraConnected']=!0x1,this['_domainId']=null,this['_domainIdResolved']=!0x1,this['_encodings']=null,this['publisher']['onPreview']=_0x39b079=>this['_handlePreview'](_0x39b079),this['publisher']['onRunningChange']=()=>this['_syncRunningState'](),this['publisher']['onCameraConnectionChange']=(_0x184754,_0x3e3fc2)=>this['_handleCameraConnection'](_0x184754,_0x3e3fc2),this['publisher']['onEncodings']=_0x44579f=>this['_handleEncodings'](_0x44579f),this['publisher']['onDomainId']=_0x3f6cc7=>this['_handleDomainId'](_0x3f6cc7);}['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']=_0x5330b2,this['refreshMountTargets'](),this['_syncMountPoseInputs'](),this['_syncOrientationSelects'](),this['attachEventListeners'](),this['_syncPresetSelect'](),this['_syncFormatSelect'](),null==(_0x1b7e1b=(_0x469796=this['publisher'])['requestEncodings'])||_0x1b7e1b['call'](_0x469796);const _0x77d35b=_0x5330b2['querySelector']('#vc-ros-url');return _0x77d35b&&(_0x77d35b['value']=this['_resolveRosUrl']()),this['_syncConnectionButtons'](!0x1),this['startStatsMonitor'](),_0x5330b2;}['attachEventListeners'](){var _0x2bccc3;const _0x19d747=_0x3fe3e5=>this['panel']['querySelector']('#'+_0x3fe3e5);_0x19d747('vc-topic')['addEventListener']('change',_0x31313f=>{this['publisher']['topicName']=_0x31313f['target']['value']['trim']()||this['publisher']['topicName'],_0x31313f['target']['value']=this['publisher']['topicName'],this['publisher']['onTopicConfigChanged']();}),_0x19d747('vc-frame-id')['addEventListener']('change',_0x282f54=>{this['publisher']['frameId']=_0x282f54['target']['value']['trim']();}),[['vc-pos-x','x'],['vc-pos-y','y'],['vc-pos-z','z']]['forEach'](([_0x2dbd38,_0x2991de])=>{_0x19d747(_0x2dbd38)['addEventListener']('change',_0x40f3e5=>{const _0x15a1fc=parseFloat(_0x40f3e5['target']['value']);this['virtualCamera']['setMountXyzField'](_0x2991de,Number['isFinite'](_0x15a1fc)?_0x15a1fc:0x0),this['_syncMountPoseInputs']();});}),[['vc-rpy-r','roll'],['vc-rpy-p','pitch'],['vc-rpy-y','yaw']]['forEach'](([_0x49b0be,_0x5ef421])=>{_0x19d747(_0x49b0be)['addEventListener']('change',_0x568014=>{const _0x178a6a=parseFloat(_0x568014['target']['value']);this['virtualCamera']['setMountRpyField'](_0x5ef421,(Number['isFinite'](_0x178a6a)?_0x178a6a:0x0)*Math['PI']/0xb4),this['_syncMountPoseInputs']();});}),_0x19d747('vc-pos-reset')['addEventListener']('click',()=>{this['virtualCamera']['setMount']({'xyz':[0x0,0x0,0x0]}),this['_syncMountPoseInputs']();}),_0x19d747('vc-rpy-reset')['addEventListener']('click',()=>{this['virtualCamera']['setMount']({'rpy':[0x0,0x0,0x0]}),this['_syncMountPoseInputs']();});const _0x653600=()=>{const _0x58af22=parseInt(_0x19d747('vc-width')['value'],0xa),_0x3c2690=parseInt(_0x19d747('vc-height')['value'],0xa);_0x58af22&&_0x3c2690&&(this['virtualCamera']['setResolution'](_0x58af22,_0x3c2690),_0x19d747('vc-width')['value']=this['virtualCamera']['width'],_0x19d747('vc-height')['value']=this['virtualCamera']['height'],this['_syncPresetSelect']());};_0x19d747('vc-width')['addEventListener']('change',_0x653600),_0x19d747('vc-height')['addEventListener']('change',_0x653600),_0x19d747('vc-preset')['addEventListener']('change',_0x3405bc=>{const _0x1ab37e=_0x3405bc['target']['value'];if(!_0x1ab37e)return;const [_0x13f830,_0x529306]=_0x1ab37e['split']('x')['map'](_0x40a48c=>parseInt(_0x40a48c,0xa));_0x19d747('vc-width')['value']=_0x13f830,_0x19d747('vc-height')['value']=_0x529306,_0x653600();}),_0x19d747('vc-fov')['addEventListener']('change',_0x3596e1=>{this['virtualCamera']['setFov'](parseFloat(_0x3596e1['target']['value'])),_0x3596e1['target']['value']=this['virtualCamera']['fov'];}),_0x19d747('vc-rate-hz')['addEventListener']('change',_0x5ac443=>{const _0x5db6d1=parseInt(_0x5ac443['target']['value'],0xa);_0x5db6d1&&(this['publisher']['rateHz']=Math['max'](0x1,Math['min'](0x78,_0x5db6d1)),_0x5ac443['target']['value']=this['publisher']['rateHz'],this['publisher']['onRateChanged']());}),_0x19d747('vc-mount-frame')['addEventListener']('change',_0x4b38f9=>{this['virtualCamera']['setMount']({'frame':_0x4b38f9['target']['value']}),this['_syncMountAxes']();}),_0x19d747('vc-show-axes')['addEventListener']('change',()=>this['_syncMountAxes']()),_0x19d747('vc-forward')['addEventListener']('change',_0x2157ce=>{this['virtualCamera']['setMount']({'forward':_0x2157ce['target']['value']}),this['_syncOrientationSelects']();}),_0x19d747('vc-up')['addEventListener']('change',_0x56a1aa=>{this['virtualCamera']['setMount']({'up':_0x56a1aa['target']['value']}),this['_syncOrientationSelects']();}),_0x19d747('vc-msg-type')['addEventListener']('change',_0x4e50a6=>{this['publisher']['messageType']=_0x4e50a6['target']['value']||this['publisher']['messageType'],_0x4e50a6['target']['value']=this['publisher']['messageType'],this['publisher']['onTopicConfigChanged']();}),_0x19d747('vc-format')['addEventListener']('change',_0x14445f=>{this['publisher']['imageFormat']=Na['includes'](_0x14445f['target']['value'])?_0x14445f['target']['value']:'jpeg',_0x14445f['target']['value']=this['publisher']['imageFormat'],this['publisher']['onFormatChanged']();}),_0x19d747('vc-ros-url')['addEventListener']('change',_0x1a6359=>{const _0x9cf8=this['_persistRosUrl'](_0x1a6359['target']['value']);_0x1a6359['target']['value']=_0x9cf8;}),_0x19d747('vc-connect-btn')['addEventListener']('click',()=>{const _0x60efb1=this['_persistRosUrl'](_0x19d747('vc-ros-url')['value']);_0x19d747('vc-ros-url')['value']=_0x60efb1,this['publisher']['connect'](_0x60efb1)?this['_syncConnectionButtons'](!0x0):this['_warn']('连接失败：'+(this['publisher']['getLastError']()||'未知原因'));}),_0x19d747('vc-disconnect-btn')['addEventListener']('click',()=>{this['publisher']['disconnect'](),this['_syncConnectionButtons'](!0x1);}),_0x19d747('vc-download-script')['addEventListener']('click',_0xa402cf=>{_0xa402cf['preventDefault']();const _0x183940=document['createElement']('a');_0x183940['href']='/scripts/start-rosbridge.sh',_0x183940['download']='start-rosbridge.sh',document['body']['appendChild'](_0x183940),_0x183940['click'](),document['body']['removeChild'](_0x183940);}),_0x19d747('vc-start-btn')['addEventListener']('click',()=>{var _0x4eb07f;if(!(null==(_0x4eb07f=this['app'])?void 0x0:_0x4eb07f['currentModel']))return void this['_warn']('请先载入机器人模型');const _0x40baac=this['_persistRosUrl'](_0x19d747('vc-ros-url')['value']);_0x19d747('vc-ros-url')['value']=_0x40baac,this['publisher']['start'](_0x40baac)||this['_warn']('发布启动失败：'+(this['publisher']['getLastError']()||'未知原因'));}),_0x19d747('vc-stop-btn')['addEventListener']('click',()=>{this['publisher']['stop']();}),null==(_0x2bccc3=document['getElementById']('toggle-virtual-camera-panel'))||_0x2bccc3['addEventListener']('click',()=>{this['refreshMountTargets']();});}['_syncOrientationSelects'](){var _0x3a6a9e,_0x1ee86a;const _0x474687=null==(_0x3a6a9e=this['panel'])?void 0x0:_0x3a6a9e['querySelector']('#vc-forward'),_0x185422=null==(_0x1ee86a=this['panel'])?void 0x0:_0x1ee86a['querySelector']('#vc-up');if(!_0x474687||!_0x185422)return;const _0x418705=this['virtualCamera']['getState']();_0x474687['innerHTML']=La['map'](_0x489a67=>'<option\x20value=\x22'+_0x489a67+'\x22>'+_0x489a67+'</option>')['join'](''),_0x474687['value']=_0x418705['forwardAxis'],_0x185422['innerHTML']=ka(_0x418705['forwardAxis'])['map'](_0x421fa9=>'<option\x20value=\x22'+_0x421fa9+'\x22>'+_0x421fa9+'</option>')['join'](''),_0x185422['value']=_0x418705['upAxis'];}['_syncMountPoseInputs'](){var _0x231d1f,_0x1e9a76;const _0x354c23=(null==(_0x1e9a76=(_0x231d1f=this['virtualCamera'])['getState'])?void 0x0:_0x1e9a76['call'](_0x231d1f))||{},_0x45a3b7=_0x354c23['mountXyz']||[0x0,0x0,0x0],_0x45c398=(_0x354c23['mountRpy']||[0x0,0x0,0x0])['map'](_0x2b99cf=>0xb4*_0x2b99cf/Math['PI']),_0x3546ba=(_0x5d7a4e,_0x40aac1)=>{var _0x2e0686;const _0x59770a=null==(_0x2e0686=this['panel'])?void 0x0:_0x2e0686['querySelector']('#'+_0x5d7a4e);_0x59770a&&(_0x59770a['value']=String(Number(Number(_0x40aac1)['toFixed'](0x4))));};_0x3546ba('vc-pos-x',_0x45a3b7[0x0]),_0x3546ba('vc-pos-y',_0x45a3b7[0x1]),_0x3546ba('vc-pos-z',_0x45a3b7[0x2]),_0x3546ba('vc-rpy-r',_0x45c398[0x0]),_0x3546ba('vc-rpy-p',_0x45c398[0x1]),_0x3546ba('vc-rpy-y',_0x45c398[0x2]);}['refreshMountTargets'](){var _0x1e5ca1,_0x1422c7,_0x5c551e;const _0x2c975b=null==(_0x1e5ca1=this['panel'])?void 0x0:_0x1e5ca1['querySelector']('#vc-mount-frame');if(!_0x2c975b)return;const _0x47aefc=null==(_0x5c551e=null==(_0x1422c7=this['app'])?void 0x0:_0x1422c7['sceneManager'])?void 0x0:_0x5c551e['currentModel'],_0x295622=(null==_0x47aefc?void 0x0:_0x47aefc['links'])?Array['from'](_0x47aefc['links']['keys']()):[],_0x1993bd=this['virtualCamera']['mountFrame']||Aa;_0x2c975b['innerHTML']=['<option\x20value=\x22'+Aa+'\x22\x20data-i18n=\x22worldFrame\x22>'+this['_t']('worldFrame','世界坐标系')+'</option>',..._0x295622['map'](_0xe6f4e8=>'<option\x20value=\x22'+_0xe6f4e8+'\x22>'+_0xe6f4e8+'</option>')]['join'](''),_0x1993bd===Aa||_0x295622['includes'](_0x1993bd)||this['virtualCamera']['setMount']({'frame':Aa}),_0x2c975b['value']=this['virtualCamera']['mountFrame'],this['_syncMountAxes']({'refreshParent':!0x0});}['_syncMountAxes']({refreshParent:_0x44a25f=!0x1}={}){var _0x27ece4,_0x9084df,_0x3c808c,_0x1931c2;const _0x3b0d25=this['_isPanelVisible'](),_0x59873e=!!(null==(_0x9084df=null==(_0x27ece4=this['panel'])?void 0x0:_0x27ece4['querySelector']('#vc-show-axes'))?void 0x0:_0x9084df['checked']);this['virtualCamera']['setMountAxesVisible'](_0x59873e&&_0x3b0d25),_0x44a25f&&(null==(_0x1931c2=(_0x3c808c=this['virtualCamera'])['refreshMountAxes'])||_0x1931c2['call'](_0x3c808c));}['_handleCameraConnection'](_0x1fd591,_0xa720d3){var _0x25576c;this['_cameraConnected']=!!_0x1fd591;const _0x428f8e=null==(_0x25576c=this['panel'])?void 0x0:_0x25576c['querySelector']('#vc-cam-status');_0x428f8e&&(_0x428f8e['textContent']=this['_t'](_0x1fd591?'cameraConnected':'cameraDisconnected'),_0x428f8e['style']['color']=_0x1fd591?'#4caf50':'#f44336'),this['_syncConnectionButtons'](_0x1fd591),_0x1fd591||(this['_domainId']=null,this['_resetDomainIdBadge']()),!_0x1fd591&&_0xa720d3&&this['_warn']('相机连接出错：'+_0xa720d3,_0xa720d3);}['_resetDomainIdBadge'](){var _0x188621;this['_domainId']=null,this['_domainIdResolved']=!0x1;const _0x56d7c9=null==(_0x188621=this['panel'])?void 0x0:_0x188621['querySelector']('#vc-domain-id');_0x56d7c9&&(_0x56d7c9['textContent']='—',_0x56d7c9['style']['background']='#1e8e3e');}['_handleDomainId'](_0x9012a7){var _0x45be31;const _0x566181=null==(_0x45be31=this['panel'])?void 0x0:_0x45be31['querySelector']('#vc-domain-id');_0x566181&&this['_cameraConnected']&&(this['_domainIdResolved']=!0x0,this['_domainId']='number'==typeof _0x9012a7?_0x9012a7:null,'number'==typeof _0x9012a7?(_0x566181['textContent']=String(_0x9012a7),_0x566181['style']['background']='#1e8e3e'):(_0x566181['textContent']=this['_t']('unknown'),_0x566181['style']['background']='#e65100'));}['_syncConnectionButtons'](_0x24b533){var _0x855aad,_0x9df288,_0x5b4d13;const _0x55eb85=null==(_0x855aad=this['panel'])?void 0x0:_0x855aad['querySelector']('#vc-connect-btn'),_0x4c012f=null==(_0x9df288=this['panel'])?void 0x0:_0x9df288['querySelector']('#vc-disconnect-btn'),_0x43c6c3=null==(_0x5b4d13=this['panel'])?void 0x0:_0x5b4d13['querySelector']('#vc-ros-url');_0x55eb85&&(_0x55eb85['disabled']=!!_0x24b533),_0x4c012f&&(_0x4c012f['disabled']=!_0x24b533),_0x43c6c3&&(_0x43c6c3['disabled']=!!_0x24b533);}['_syncRunningState'](){var _0x44f1e3,_0x4f54be,_0x22dcd2;const _0x1c67ed=null==(_0x44f1e3=this['panel'])?void 0x0:_0x44f1e3['querySelector']('#vc-start-btn'),_0x50548d=null==(_0x4f54be=this['panel'])?void 0x0:_0x4f54be['querySelector']('#vc-stop-btn'),_0x2a1de=null==(_0x22dcd2=this['panel'])?void 0x0:_0x22dcd2['querySelector']('#vc-topic'),_0x4e7b7e=this['publisher']['isRunning']();_0x1c67ed&&(_0x1c67ed['disabled']=_0x4e7b7e),_0x50548d&&(_0x50548d['disabled']=!_0x4e7b7e),_0x2a1de&&(_0x2a1de['disabled']=_0x4e7b7e),this['_syncConnectionButtons'](this['_cameraConnected']);}['_resolveRosUrl'](){var _0x5eb42c,_0x1d8de2,_0x4da48c,_0x18ece5,_0x1334b8,_0x232e25;return(null==(_0x4da48c=null==(_0x1d8de2=null==(_0x5eb42c=this['panel'])?void 0x0:_0x5eb42c['querySelector']('#vc-ros-url'))?void 0x0:_0x1d8de2['value'])?void 0x0:_0x4da48c['trim']())||(null==(_0x232e25=null==(_0x1334b8=null==(_0x18ece5=this['app'])?void 0x0:_0x18ece5['rosConnectionPanel'])?void 0x0:_0x1334b8['getServerUrl'])?void 0x0:_0x232e25['call'](_0x1334b8))||localStorage['getItem']('ros_url')||'ws://localhost:9090';}['_persistRosUrl'](_0x4f38ab){var _0x54b199,_0x50c785,_0x3be729;const _0x3611b5=String(_0x4f38ab||'')['trim']()||'ws://localhost:9090';return localStorage['setItem']('ros_url',_0x3611b5),null==(_0x3be729=null==(_0x50c785=null==(_0x54b199=this['app'])?void 0x0:_0x54b199['rosConnectionPanel'])?void 0x0:_0x50c785['setServerUrl'])||_0x3be729['call'](_0x50c785,_0x3611b5),_0x3611b5;}['_syncPresetSelect'](){var _0x22a5b5;const _0x2aeac5=null==(_0x22a5b5=this['panel'])?void 0x0:_0x22a5b5['querySelector']('#vc-preset');if(!_0x2aeac5)return;const _0x3c0294=this['virtualCamera']['width']+'x'+this['virtualCamera']['height'];_0x2aeac5['value']=za['includes'](_0x3c0294)?_0x3c0294:'';}['_syncFormatSelect'](){var _0x3f41fc;const _0x9dbbf1=null==(_0x3f41fc=this['panel'])?void 0x0:_0x3f41fc['querySelector']('#vc-format');_0x9dbbf1&&(_0x9dbbf1['value']=Na['includes'](this['publisher']['imageFormat'])?this['publisher']['imageFormat']:'jpeg');}['_handleEncodings'](_0x582d17){var _0x1f4fd5;this['_encodings']=Array['isArray'](_0x582d17)?_0x582d17:null;const _0xba6d5e=null==(_0x1f4fd5=this['panel'])?void 0x0:_0x1f4fd5['querySelector']('#vc-format');if(_0xba6d5e&&this['_encodings']){let _0x22a86e=null;[..._0xba6d5e['options']]['forEach'](_0x5bf6b2=>{const _0x588cf8=this['_encodings']['find'](_0x584e79=>_0x584e79['format']===_0x5bf6b2['value']),_0x30ff12=!_0x588cf8||_0x588cf8['supported'];_0x5bf6b2['disabled']=!_0x30ff12,_0x5bf6b2['textContent']=_0x30ff12?_0x5bf6b2['value']:_0x5bf6b2['value']+'\x20—\x20'+this['_t']('browserUnsupported'),_0x30ff12&&!_0x22a86e&&(_0x22a86e=_0x5bf6b2['value']);});const _0x44735e=this['_encodings']['find'](_0x1758fd=>_0x1758fd['format']===this['publisher']['imageFormat']);_0x44735e&&!_0x44735e['supported']&&_0x22a86e&&(this['publisher']['imageFormat']=_0x22a86e,this['publisher']['onFormatChanged'](),_0xba6d5e['value']=_0x22a86e,this['_warn'](_0x44735e['format']+'\x20这台浏览器编不了，已改回\x20'+_0x22a86e));}}['startStatsMonitor'](){this['_statsTimer']&&clearInterval(this['_statsTimer']),this['_statsTimer']=setInterval(()=>{var _0x4de240,_0x2a0077;if(!this['panel'])return;null==(_0x2a0077=(_0x4de240=this['publisher'])['setPreviewEnabled'])||_0x2a0077['call'](_0x4de240,this['_isPanelVisible']()),this['_syncMountAxes']();const _0x2e412d=this['publisher']['collectStats'](),_0x4c1f66=this['publisher']['isRunning'](),_0x1947fa=this['panel']['querySelector']('#vc-rate');_0x1947fa&&(_0x1947fa['textContent']=_0x2e412d['rate']['toFixed'](0x1)+'\x20Hz',_0x1947fa['title']=_0x4c1f66?this['_t']('rateTargetTitle')['replace']('{target}',_0x2e412d['target']):this['_t']('rateIdleTitle'),_0x1947fa['style']['opacity']=_0x4c1f66||_0x2e412d['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'](_0x3305e8,_0x78b3ae=_0x3305e8){var _0xc6a9e7,_0x531427;const _0x568866=null==(_0x531427=null==(_0xc6a9e7=window['i18n'])?void 0x0:_0xc6a9e7['t'])?void 0x0:_0x531427['call'](_0xc6a9e7,_0x3305e8);return _0x568866&&_0x568866!==_0x3305e8?_0x568866:_0x78b3ae;}['refreshLanguage'](){var _0x54ee2b,_0x1938f4,_0x1cfd77;null==(_0x1938f4=null==(_0x54ee2b=window['i18n'])?void 0x0:_0x54ee2b['updatePageLanguage'])||_0x1938f4['call'](_0x54ee2b),this['_encodings']&&this['_handleEncodings'](this['_encodings']),this['_handleCameraConnection'](this['_cameraConnected']),this['_cameraConnected']&&this['_domainIdResolved']&&this['_handleDomainId'](this['_domainId']);const _0x46c63a=null==(_0x1cfd77=this['panel'])?void 0x0:_0x1cfd77['querySelector']('#vc-preview');_0x46c63a&&(_0x46c63a['alt']=this['_t']('previewAlt','虚拟相机预览'));}['_handlePreview'](_0x13219f){var _0x1fb00a;if(!this['_isPanelVisible']())return;const _0x176362=performance['now']();if(this['publisher']['isRunning']()&&_0x176362-this['_lastPreviewAt']<0x64)return;this['_lastPreviewAt']=_0x176362;const _0x528b4f=null==(_0x1fb00a=this['panel'])?void 0x0:_0x1fb00a['querySelector']('#vc-preview');if(!_0x528b4f)return;_0x528b4f['style']['display']='block',_0x528b4f['style']['aspectRatio']=_0x13219f['width']+'\x20/\x20'+_0x13219f['height'];const _0x48e389=_0x13219f['previewWidth']?'\x20·\x20'+this['_t']('previewThumb','缩略图')+'\x20'+_0x13219f['previewWidth']+'×'+_0x13219f['previewHeight']:'';_0x528b4f['title']=this['_t']('previewFrame','画面')+'\x20'+_0x13219f['width']+'×'+_0x13219f['height']+_0x48e389+'\x20·\x20'+this['_t']('previewSingleFrame','单帧')+'\x20'+(_0x13219f['payloadBytes']/0x400)['toFixed'](0x1)+'\x20KB',_0x528b4f['src']='data:'+(_0x13219f['mime']||'image/jpeg')+';base64,'+_0x13219f['base64'];}['_warn'](_0x5e1bbf,_0x830d33){}}class Va{constructor(_0x48b928,_0x4157db,_0x335f26){this['sceneManager']=_0x48b928,this['app']=_0x4157db,this['config']=_0x335f26,this['panel']=null,this['searchText']='';}['createPanel'](){const _0x1a6c3e=document['createElement']('div');return _0x1a6c3e['id']=this['config']['panelId'],_0x1a6c3e['className']='floating-panel',_0x1a6c3e['style']['cssText']=this['config']['panelStyle'],_0x1a6c3e['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']=_0x1a6c3e,this['attachEventListeners'](),_0x1a6c3e;}['attachEventListeners'](){const _0x5b1e96=this['panel']['querySelector']('.panel-close-btn'),_0x49a465=this['panel']['querySelector']('.axes-search'),_0x517f8a=this['panel']['querySelector']('#'+this['config']['selectAllId']),_0x2deaa0=this['panel']['querySelector']('#'+this['config']['deselectAllId']),_0x4fd2df=this['panel']['querySelector']('#'+this['config']['showLabelsId']),_0x17363b=this['panel']['querySelector']('#'+this['config']['scaleSliderId']),_0x57a3f0=this['panel']['querySelector']('#'+this['config']['scaleValueId']),_0x254d69=this['panel']['querySelector']('#'+this['config']['listId']);_0x5b1e96['addEventListener']('click',()=>{this['hide']();}),_0x49a465['addEventListener']('input',_0x5a5b64=>{this['searchText']=_0x5a5b64['target']['value'],this['updateAxesList']();}),_0x517f8a['addEventListener']('click',()=>{this['selectAll'](!0x0);}),_0x2deaa0['addEventListener']('click',()=>{this['selectAll'](!0x1);}),_0x4fd2df['addEventListener']('change',_0xebcc8e=>{this['sceneManager']['axesManager']['setShowLabels'](_0xebcc8e['target']['checked']);}),_0x17363b['addEventListener']('input',_0x222c0f=>{const _0x2f0180=parseFloat(_0x222c0f['target']['value']);_0x57a3f0['textContent']=_0x2f0180['toFixed'](0x1)+'x',this['sceneManager']['axesManager']['setAxesScale'](_0x2f0180),this['app']['currentModel']&&this['reloadAxes']();}),_0x254d69['addEventListener']('change',_0x261191=>{_0x261191['target']['matches']('input[type=\x22checkbox\x22][data-axis-name]')&&this['setAxisVisible'](_0x261191['target']['dataset']['axisName'],_0x261191['target']['checked']);});}['updateAxesList'](){const _0x267a65=this['getAxisNames']()['filter'](_0x508517=>_0x508517['toLowerCase']()['includes'](this['searchText']['toLowerCase']())),_0x24fa66=this['panel']['querySelector']('#'+this['config']['listId']);if(_0x24fa66['innerHTML']='',0x0===_0x267a65['length']){const _0xbbff73=document['createElement']('div');return _0xbbff73['className']='no-results',_0xbbff73['setAttribute']('data-i18n','noAxesAvailable'),_0xbbff73['textContent']=window['i18n']['t']('noAxesAvailable'),void _0x24fa66['appendChild'](_0xbbff73);}const _0x46c019=document['createDocumentFragment']();_0x267a65['forEach'](_0x13bbb3=>{const _0x248c49=document['createElement']('label');_0x248c49['className']='axes-checkbox';const _0x518b92=document['createElement']('input');_0x518b92['type']='checkbox',_0x518b92['dataset']['axisName']=_0x13bbb3,_0x518b92['checked']=this['isAxisVisible'](_0x13bbb3);const _0x5b9522=document['createElement']('span');_0x5b9522['title']=_0x13bbb3,_0x5b9522['textContent']=_0x13bbb3,_0x248c49['appendChild'](_0x518b92),_0x248c49['appendChild'](_0x5b9522),_0x46c019['appendChild'](_0x248c49);}),_0x24fa66['appendChild'](_0x46c019);}['selectAll'](_0x2b3625){this['setAllAxesVisible'](_0x2b3625),this['panel']['querySelectorAll']('input[type=\x22checkbox\x22][data-axis-name]')['forEach'](_0x585c95=>{_0x585c95['checked']=_0x2b3625;});}['reloadAxes'](){const _0x572ed4=this['app']['currentModel'];if(!_0x572ed4)return;const _0x543e2d=this['sceneManager']['axesManager'],_0x4c7ca9=new Map(),_0x55e232=_0x543e2d['showLabels'];this['getAxisNames']()['forEach'](_0x139a27=>{_0x4c7ca9['set'](_0x139a27,this['isAxisVisible'](_0x139a27));}),this['clearAxes'](),this['recreateAxes'](_0x572ed4),_0x4c7ca9['forEach']((_0x20d7b3,_0x426873)=>{this['setAxisVisible'](_0x426873,_0x20d7b3);}),_0x543e2d['setShowLabels'](_0x55e232),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 _0x5dfad2=this['panel']['querySelector']('#'+this['config']['scaleSliderId']),_0x55e97c=this['panel']['querySelector']('#'+this['config']['scaleValueId']),_0x22da7f=this['sceneManager']['axesManager']['getAxesScale']();_0x5dfad2['value']=_0x22da7f,_0x55e97c['textContent']=_0x22da7f['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'](_0x480fc8){const _0x3787a5=document['getElementById'](this['config']['toggleButtonId']);_0x3787a5&&_0x3787a5['classList']['toggle']('active',_0x480fc8);}['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'](_0xe32d76){this['getAxisNames']()['forEach'](_0xcaa5ee=>{this['setAxisVisible'](_0xcaa5ee,_0xe32d76);});}['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(_0x572c2b,_0x2efcd9){super(_0x572c2b,_0x2efcd9,{'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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_0x2133ff=_0x42081c['querySelector']('.axes-panel-controls');return _0x2133ff&&_0x2133ff['nextSibling']?_0x42081c['insertBefore'](_0x28f8a4,_0x2133ff['nextSibling']):_0x42081c['appendChild'](_0x28f8a4),this['_attachRpyListeners'](_0x28f8a4),_0x1c1581;}['_attachRpyListeners'](_0x3b1a0c){_0x3b1a0c['querySelectorAll']('.axes-rpy-btn[data-rpy]')['forEach'](_0x4faedb=>{_0x4faedb['addEventListener']('click',()=>{const _0x303371={'roll':0x0,'pitch':0x1,'yaw':0x2}[_0x4faedb['dataset']['rpy']];this['_currentRpy'][_0x303371]+=parseInt(_0x4faedb['dataset']['dir'])*(Math['PI']/0x2),this['_updateRpyDisplay'](),this['_previewRpy']();});});_0x3b1a0c['querySelector']('#axes-rpy-apply')['addEventListener']('click',()=>{if(!this['_onRpyApply']||!this['_selectedLinkName'])return;this['_currentRpy']['some']((_0x47159f,_0x789eb7)=>Math['abs'](_0x47159f-this['_originalRpy'][_0x789eb7])>0.001)&&(this['_onRpyApply'](this['_selectedLinkName'],[...this['_currentRpy']]),this['_originalRpy']=[...this['_currentRpy']]);});_0x3b1a0c['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 _0x2b82b6=this['app']['currentModel'],_0x2c9aed=_0x2b82b6['links']['get'](this['_selectedLinkName']);if(!_0x2c9aed||!_0x2c9aed['threeObject'])return;const _0x299312=new _0x3c39ce()['setFromEuler'](new _0x416b03(this['_originalRpy'][0x0],this['_originalRpy'][0x1],this['_originalRpy'][0x2],'ZYX')),_0x10c6e8=new _0x3c39ce()['setFromEuler'](new _0x416b03(this['_currentRpy'][0x0],this['_currentRpy'][0x1],this['_currentRpy'][0x2],'ZYX')),_0x48e419=_0x299312['clone']()['invert']()['multiply'](_0x10c6e8);_0x2c9aed['threeObject']['quaternion']['copy'](_0x48e419),_0x2c9aed['threeObject']['position']['set'](0x0,0x0,0x0),_0x2b82b6['threeObject']&&_0x2b82b6['threeObject']['updateMatrixWorld'](!0x0),this['sceneManager']['redraw']();}['_updateRpyDisplay'](){const _0x5e2cf1=_0x5b3531=>{let _0x15591b=Math['round'](0xb4*_0x5b3531/Math['PI'])%0x168;return _0x15591b>0xb4&&(_0x15591b-=0x168),_0x15591b<=-0xb4&&(_0x15591b+=0x168),_0x15591b;},_0x1806db=this['panel']['querySelector']('#axes-rpy-roll'),_0x1b56c9=this['panel']['querySelector']('#axes-rpy-pitch'),_0x3f28c1=this['panel']['querySelector']('#axes-rpy-yaw');_0x1806db&&(_0x1806db['textContent']=_0x5e2cf1(this['_currentRpy'][0x0])+'°'),_0x1b56c9&&(_0x1b56c9['textContent']=_0x5e2cf1(this['_currentRpy'][0x1])+'°'),_0x3f28c1&&(_0x3f28c1['textContent']=_0x5e2cf1(this['_currentRpy'][0x2])+'°');}['showRpySection'](_0x40b33b,_0x275614){if(!_0x40b33b||!_0x275614)return void this['hideRpySection']();let _0x3800f6=null;if(_0x40b33b['joints']['forEach'](_0x608534=>{_0x608534['child']===_0x275614&&(_0x3800f6=_0x608534);}),!_0x3800f6)return void this['hideRpySection']();this['_selectedLinkName']=_0x275614,this['_selectedJointName']=_0x3800f6['name'];let _0xf4c3ec=[0x0,0x0,0x0];if(this['app']['codeEditorManager']){const _0x4c466b=this['app']['codeEditorManager']['getJointOriginRpy'](_0x3800f6['name']);_0x4c466b&&(_0xf4c3ec=_0x4c466b);}if(_0xf4c3ec['every'](_0x3646fc=>0x0===_0x3646fc)&&_0x3800f6['threeObject']){const _0x420009=new _0x416b03()['setFromQuaternion'](_0x3800f6['threeObject']['quaternion'],'ZYX');_0xf4c3ec=[_0x420009['x'],_0x420009['y'],_0x420009['z']];}_0x3800f6['_origRpy']=[..._0xf4c3ec],_0x3800f6['_origXyz']=_0x3800f6['threeObject']?[_0x3800f6['threeObject']['position']['x'],_0x3800f6['threeObject']['position']['y'],_0x3800f6['threeObject']['position']['z']]:_0x3800f6['origin']?[..._0x3800f6['origin']['xyz']]:[0x0,0x0,0x0],this['_originalRpy']=[..._0xf4c3ec],this['_currentRpy']=[..._0xf4c3ec];const _0x526fb0=this['panel']['querySelector']('#axes-rpy-section');_0x526fb0&&(_0x526fb0['style']['display']='block');const _0x57797f=this['panel']['querySelector']('#axes-rpy-joint-name');_0x57797f&&(_0x57797f['textContent']=_0x3800f6['name']),this['_updateRpyDisplay']();}['hideRpySection'](){this['_selectedLinkName']=null,this['_selectedJointName']=null,this['_originalRpy']=[0x0,0x0,0x0],this['_currentRpy']=[0x0,0x0,0x0];const _0x5b4aab=this['panel']['querySelector']('#axes-rpy-section');_0x5b4aab&&(_0x5b4aab['style']['display']='none');}['setOnRpyApply'](_0x16e9f9){this['_onRpyApply']=_0x16e9f9;}['getAxisNames'](){return this['sceneManager']['axesManager']['getLinkNames']();}['isAxisVisible'](_0x24a53f){return this['sceneManager']['axesManager']['isLinkAxisVisible'](_0x24a53f);}['setAxisVisible'](_0x47b30d,_0x22da4f){this['sceneManager']['axesManager']['showAxesByName'](_0x47b30d,_0x22da4f);}['setAllAxesVisible'](_0x43c0aa){this['sceneManager']['axesManager']['setAllLinkAxesVisible'](_0x43c0aa);}['clearAxes'](){this['sceneManager']['axesManager']['clearAllLinkAxes']();}['recreateAxes'](_0x40f04e){const _0x52b395=this['sceneManager']['axesManager']['modelSize'];_0x40f04e['links']['forEach']((_0x1d9798,_0x549ab0)=>{this['sceneManager']['axesManager']['createLinkAxes'](_0x1d9798,_0x549ab0,_0x52b395);});}}class Ba extends Va{constructor(_0x39b8e2,_0x5c362d){super(_0x39b8e2,_0x5c362d,{'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'](_0x1e4e6d){return this['sceneManager']['axesManager']['isJointAxisVisible'](_0x1e4e6d);}['setAxisVisible'](_0x306bc7,_0x3ade62){this['sceneManager']['axesManager']['showJointAxisByName'](_0x306bc7,_0x3ade62);}['setAllAxesVisible'](_0x1925ea){this['sceneManager']['axesManager']['setAllJointAxesVisible'](_0x1925ea);}['clearAxes'](){this['sceneManager']['axesManager']['clearAllJointAxes']();}['recreateAxes'](_0xae9e0){_0xae9e0['joints']['forEach']((_0x30449f,_0x316b9b)=>{this['sceneManager']['axesManager']['createJointAxis'](_0x30449f,_0x316b9b);});}}const $a='1.1.4',Ja={'zh-CN':{'visual':'视觉','collision':'碰撞','com':'质心','inertia':'惯量','axes':'坐标轴','jointAxes':'关节轴','shadow':'阴影','lighting':'光照','files':'文件','joints':'关节','structure':'结构','edit':'编辑','jointInfo':'关节信息','help':'帮助','theme':'主题','language':'语言','fileList':'文件','jointControl':'关节','modelStructure':'结构','codeEditor':'编辑','radian':'弧度','degree':'角度','reset':'重置','limits':'限位','mujocoReset':'重置','mujocoSimulate':'仿真','mujocoPause':'暂停','reload':'重新加载','download':'下载','saved':'已保存','unsaved':'未保存','noFileOpen':'未打开文件','helpTitle':'IO\x20Robot\x20Viewer\x20v'+$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([_0x3f8210],_0x5d736d['name'],{'type':'text/plain'});_0x44717c['vscodeDirectory']=_0x5d736d['directory'],_0x44717c['vscodePath']=_0x5d736d['path'],this['fileHandler']['fileMap']['set'](_0x5d736d['name'],_0x44717c),this['fileHandler']['fileMap']['set'](_0x5d736d['path'],_0x44717c),this['vscodeFileMap']['set'](_0x5d736d['name'],_0x5d736d),await this['fileHandler']['loadFile'](_0x44717c);const _0x4cf942=[{'file':_0x44717c,'name':_0x5d736d['name'],'type':this['detectFileType'](_0x5d736d['name']),'path':_0x5d736d['path'],'category':'model','ext':_0x5d736d['name']['split']('.')['pop']()['toLowerCase']()}];this['fileHandler']['availableModels']=_0x4cf942,this['fileTreeView']&&this['fileTreeView']['updateFileTree'](_0x4cf942,this['fileHandler']['fileMap']),vscodeAdapter['log']('Model\x20loaded\x20successfully:\x20'+_0x5d736d['name']);}catch(_0x590e29){vscodeAdapter['showError']('Failed\x20to\x20load\x20model:\x20'+_0x590e29['message']);}}['detectFileType'](_0x4614bb){const 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Ii(this['sceneManager']),this['uiController']['setupAll']({'onThemeChanged':_0x25c499=>this['handleThemeChanged'](_0x25c499),'onAngleUnitChanged':_0x153d51=>this['handleAngleUnitChanged'](_0x153d51),'onIgnoreLimitsChanged':_0x121bbe=>this['handleIgnoreLimitsChanged'](_0x121bbe),'onLanguageChanged':_0x54a61d=>this['handleLanguageChanged'](_0x54a61d),'onResetJoints':()=>this['handleResetJoints'](),'onMujocoReset':()=>this['handleMujocoReset'](),'onMujocoToggleSimulate':()=>this['handleMujocoToggleSimulate'](),'onApplyAngles':()=>this['handleApplyAngles'](),'onSetHome':()=>this['handleSetHome'](),'onSelectAll':()=>this['handleSelectAll'](),'onResetToHome':()=>this['handleResetToHome'](),'onToggleShowMimic':_0x15aa47=>this['jointControlsUI']['setShowMimicJoints'](_0x15aa47)}),this['sceneManager']['onMeasurementUpdate']=()=>{this['measurementController']&&this['measurementController']['updateMeasurement']();},this['setupCanvasClickHandler'](_0xa0967d),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(_0x562b9d,_0x316089=!0x1)=>{_0x316089&&(this['_isReloading']=!0x0),this['fileHandler']['currentModelFile']=_0x562b9d,await this['fileHandler']['loadFile'](_0x562b9d),this['_isReloading']=!0x1;},this['codeEditorManager']['onSaveAs']=_0xebdf5f=>{const _0x20fd4a={'file':_0xebdf5f,'name':_0xebdf5f['name'],'type':this['detectFileType'](_0xebdf5f['name']),'path':_0xebdf5f['name'],'category':'model','ext':_0xebdf5f['name']['split']('.')['pop']()['toLowerCase']()},_0x433829=this['fileHandler']['getAvailableModels']();_0x433829['find'](_0x17dbcf=>_0x17dbcf['name']===_0xebdf5f['name'])||_0x433829['push'](_0x20fd4a),this['fileTreeView']&&(this['fileTreeView']['updateFileTree'](_0x433829,this['fileHandler']['getFileMap'](),!0x0),setTimeout(()=>{this['fileTreeView']['markActiveFile'](_0xebdf5f);},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 _0x3f7c34=new URLSearchParams(window['location']['search'])['get']('mocap');if(_0x3f7c34&&(await this['loadMocapAsMainModel'](_0x3f7c34),this['rosConnectionPanel'])){this['rosConnectionPanel']['show']();const _0x51a40b=localStorage['getItem']('ros_url')||'ws://localhost:9090';this['rosConnectionPanel']['autoConnect'](_0x51a40b);}}catch(_0x3a37d7){}}['updateEditorButtonVisibility'](){const _0x204676=document['getElementById']('open-editor-btn');_0x204676&&_0x204676['classList']['add']('visible');}async['handleModelLoaded'](_0x5d3aa4,_0x402ade,_0x4e6708=!0x1,_0x14a851=null){var _0xbef4ab,_0x1f30d6,_0x34a628,_0x375f53;const _0x116506=this['_isReloading'],_0x243c89=[],_0x1d8ed9=[];if(_0x116506&&this['sceneManager']&&this['sceneManager']['axesManager']){const _0xb16945=this['sceneManager']['axesManager'];_0xb16945['getLinksWithAxes']()['forEach'](_0x4492ec=>{_0xb16945['isLinkAxisVisible'](_0x4492ec)&&_0x243c89['push'](_0x4492ec);}),_0xb16945['getJointNames']()['forEach'](_0x25cbfe=>{_0xb16945['isJointAxisVisible'](_0x25cbfe)&&_0x1d8ed9['push'](_0x25cbfe);});}const _0x59d7d7='xml'===_0x402ade['name']['split']('.')['pop']()['toLowerCase']()&&'mjcf'===(null==(_0xbef4ab=null==_0x5d3aa4?void 0x0:_0x5d3aa4['userData'])?void 0x0:_0xbef4ab['type']);if(this['mujocoSimulationManager']&&this['mujocoSimulationManager']['hasScene']()&&this['mujocoSimulationManager']['clearScene'](),_0x59d7d7&&_0x5d3aa4['joints']&&_0x5d3aa4['joints']['size']>0x0){this['currentMJCFFile']=_0x402ade,this['currentMJCFModel']=_0x5d3aa4;const _0x30d088=document['getElementById']('mujoco-simulation-bar'),_0x16d981=document['getElementById']('mujoco-reset-btn-bar'),_0xbadfc9=document['getElementById']('mujoco-simulate-btn-bar');if(_0x30d088&&(_0x30d088['style']['display']='flex'),_0x16d981){_0x16d981['disabled']=!0x1,_0x16d981['style']['opacity']='1',_0x16d981['style']['cursor']='pointer';const _0x85d818=_0x16d981['querySelector']('span');_0x85d818&&(_0x85d818['textContent']=(null==(_0x1f30d6=window['i18n'])?void 0x0:_0x1f30d6['t']('mujocoReset'))||'Reset');}if(_0xbadfc9){_0xbadfc9['disabled']=!0x1,_0xbadfc9['style']['opacity']='1',_0xbadfc9['style']['cursor']='pointer',_0xbadfc9['classList']['remove']('active');const _0x480bcb=_0xbadfc9['querySelector']('span');_0x480bcb&&(_0x480bcb['textContent']=(null==(_0x34a628=window['i18n'])?void 0x0:_0x34a628['t']('mujocoSimulate'))||'Simulate');}}else{const _0x588022=document['getElementById']('mujoco-simulation-bar');_0x588022&&(_0x588022['style']['display']='none'),this['currentMJCFFile']=null,this['currentMJCFModel']=null;}if(null==(_0x375f53=null==_0x5d3aa4?void 0x0:_0x5d3aa4['userData'])?void 0x0:_0x375f53['isUSDWASM']){const _0x5c1b66=document['getElementById']('canvas'),_0x430ab0=document['getElementById']('usd-viewer-container');_0x5c1b66&&_0x430ab0&&(_0x5c1b66['style']['display']='none',_0x430ab0['style']['display']='block');const _0x2b4631=document['getElementById']('joint-controls-panel'),_0x5cdf22=document['getElementById']('graph-panel');_0x2b4631&&(_0x2b4631['style']['display']='none'),_0x5cdf22&&(_0x5cdf22['style']['display']='none'),this['currentModel']=_0x5d3aa4,this['rosController']['setModel'](_0x5d3aa4),this['updateModelInfo'](_0x5d3aa4,_0x402ade);const _0x52173d=document['getElementById']('canvas-snapshot');return void((null==_0x52173d?void 0x0:_0x52173d['parentNode'])&&_0x52173d['parentNode']['removeChild'](_0x52173d));}let _0x42e8b0=document['getElementById']('canvas');const _0x434aac=document['getElementById']('usd-viewer-container');_0x42e8b0&&_0x434aac&&(_0x42e8b0['style']['display']='block',_0x434aac['style']['display']='none'),this['usdViewerManager']&&(this['usdViewerManager']['clear'](),this['usdViewerManager']['hide']());const _0x1da0c3=document['getElementById']('joint-controls-panel'),_0x5e939a=document['getElementById']('graph-panel');_0x1da0c3&&(_0x1da0c3['style']['display']=''),_0x5e939a&&(_0x5e939a['style']['display']=''),this['currentModel']&&(this['sceneManager']['removeModel'](this['currentModel']),this['currentModel']=null),this['currentModel']=_0x5d3aa4,this['rosController']['setModel'](_0x5d3aa4),this['sceneManager']['redraw'](),this['sceneManager']['render'](),_0x42e8b0=document['getElementById']('canvas');let _0x2f6064=null;if(_0x42e8b0)try{const _0x3ee1a8=_0x42e8b0['toDataURL']('image/png');_0x2f6064=document['createElement']('div'),_0x2f6064['id']='canvas-snapshot',_0x2f6064['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('+_0x3ee1a8+');\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 _0x1ac650=document['getElementById']('canvas-container');_0x1ac650?_0x1ac650['appendChild'](_0x2f6064):document['body']['appendChild'](_0x2f6064);}catch(_0x286194){}let _0x24097f=!0x1;const _0x824e37=()=>{_0x2f6064&&_0x2f6064['parentNode']&&!_0x24097f&&(_0x24097f=!0x0,_0x2f6064['style']['transition']='opacity\x200.3s\x20ease',_0x2f6064['style']['opacity']='0',setTimeout(()=>{_0x2f6064&&_0x2f6064['parentNode']&&(_0x2f6064['parentNode']['removeChild'](_0x2f6064),_0x2f6064=null);},0x12c));},_0x5c774d=setTimeout(()=>{_0x2f6064&&_0x2f6064['parentNode']&&(_0x824e37(),this['sceneManager']['off']('modelReady',_0x1858da));},0x1388),_0x1858da=()=>{clearTimeout(_0x5c774d),_0x824e37(),this['sceneManager']['off']('modelReady',_0x1858da),_0x116506&&(_0x243c89['forEach'](_0xfc0c10=>{this['sceneManager']['axesManager']['showAxesByName'](_0xfc0c10,!0x0);}),_0x1d8ed9['forEach'](_0x5d78cc=>{this['sceneManager']['axesManager']['showJointAxisByName'](_0x5d78cc,!0x0);}),this['axesControlPanel']&&this['axesControlPanel']['updateAxesList'](),this['jointAxesControlPanel']&&this['jointAxesControlPanel']['updateAxesList']()),this['orientationControlPanel']&&this['orientationControlPanel']['syncFromScene']();};this['sceneManager']['on']('modelReady',_0x1858da),this['sceneManager']['addModel'](_0x5d3aa4);const _0xe9f690=document['getElementById']('drop-zone');if(_0xe9f690&&(_0xe9f690['classList']['remove']('show'),_0xe9f690['classList']['remove']('drag-over')),_0x4e6708){if(this['sceneManager']['setGroundVisible'](!0x1),this['modelGraphView']){_0x472736('#model-graph-svg')['selectAll']('*:not(defs)')['remove']();const _0x2eb7e0=document['getElementById']('graph-empty-state');_0x2eb7e0&&_0x2eb7e0['classList']['remove']('hidden');}const _0x58cdbb=document['getElementById']('model-graph-panel');_0x58cdbb&&(_0x58cdbb['style']['display']='none');const _0x150f84=document['getElementById']('joint-controls');if(_0x150f84){_0x150f84['innerHTML']='';const _0xeea224=document['createElement']('div');_0xeea224['className']='empty-state',_0xeea224['textContent']=window['i18n']['t']('noModel'),_0x150f84['appendChild'](_0xeea224);}const _0x10ba45=document['getElementById']('joints-panel');_0x10ba45&&(_0x10ba45['style']['display']='none'),this['setAxesButtonState'](!0x0),this['codeEditorManager']&&this['codeEditorManager']['clearEditor']();}else{this['sceneManager']['setGroundVisible'](!0x0),this['jointControlsUI']['setupJointControls'](_0x5d3aa4),this['rosConnectionPanel']&&this['rosConnectionPanel']['onModelLoaded'](_0x5d3aa4),this['virtualCameraPanel']&&this['virtualCameraPanel']['refreshMountTargets'](),this['modelGraphView']&&this['modelGraphView']['drawModelGraph'](_0x5d3aa4);const _0x51b8ff=document['getElementById']('model-graph-panel');_0x51b8ff&&(_0x51b8ff['style']['display']='block');const _0x5e6823=document['getElementById']('joints-panel');_0x5e6823&&(_0x5e6823['style']['display']='block'),this['setAxesButtonState'](!0x1);}if(this['fileTreeView']&&!this['_isReloading']&&(this['fileTreeView']['updateFileTree'](this['fileHandler']['getAvailableModels'](),this['fileHandler']['getFileMap'](),!0x0),this['fileTreeView']['expandAndScrollToFile'](_0x402ade,this['fileHandler']['getFileMap']())),!this['_isReloading']&&!_0x4e6708){const _0x238c21=document['getElementById']('code-editor-panel');if(_0x238c21&&this['codeEditorManager']){_0x238c21['classList']['add']('visible');const _0x6dc5af=document['getElementById']('open-editor-btn');_0x6dc5af&&_0x6dc5af['classList']['add']('active'),this['codeEditorManager']['loadFile'](_0x402ade);}}this['updateEditorButtonVisibility'](),this['updateModelInfo'](_0x5d3aa4,_0x402ade),_0x116506||_0x4e6708||(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']()),_0x4e6708||Qa(_0x5d3aa4,'joint-info-panel');}['setupCanvasClickHandler'](_0xaec99f){let _0x288bce=null,_0xf8204c=0x0;_0xaec99f['addEventListener']('mousedown',_0xa28728=>{0x0===_0xa28728['button']&&(_0x288bce={'x':_0xa28728['clientX'],'y':_0xa28728['clientY']},_0xf8204c=Date['now']());},!0x0),_0xaec99f['addEventListener']('mouseup',_0xf07eb0=>{if(0x0!==_0xf07eb0['button']||!this['sceneManager']||!_0x288bce)return;const _0x1ab6ba=_0xf07eb0['clientX']-_0x288bce['x'],_0x3cea17=_0xf07eb0['clientY']-_0x288bce['y'],_0x23ea46=Math['sqrt'](_0x1ab6ba*_0x1ab6ba+_0x3cea17*_0x3cea17),_0x51b50f=Date['now']()-_0xf8204c;if(_0x23ea46<0x5&&_0x51b50f<0x12c){const _0xbb83a1=new _0x173557(),_0x2bd197=new _0x228015(),_0x3f30fb=_0xaec99f['getBoundingClientRect']();_0x2bd197['x']=(_0xf07eb0['clientX']-_0x3f30fb['left'])/_0x3f30fb['width']*0x2-0x1,_0x2bd197['y']=-(_0xf07eb0['clientY']-_0x3f30fb['top'])/_0x3f30fb['height']*0x2+0x1,_0xbb83a1['setFromCamera'](_0x2bd197,this['sceneManager']['camera']);const _0x324f64=_0xbb83a1['intersectObjects'](this['sceneManager']['scene']['children'],!0x0),_0x4f72b9=_0x324f64['find'](_0x57c2fb=>{if(!_0x57c2fb['object']['userData']||!_0x57c2fb['object']['userData']['isAxis']||!_0x57c2fb['object']['userData']['linkName'])return!0x1;const _0x5c7496=_0x57c2fb['object']['userData']['linkName'],_0xc829d=this['sceneManager']['axesManager']['linkAxesHelpers']['get'](_0x5c7496);return _0xc829d&&_0xc829d['visible'];});if(_0x4f72b9){const _0x4e7f7e=_0x4f72b9['object']['userData']['linkName'];return this['sceneManager']['axesManager']['selectAxis'](_0x4e7f7e),this['axesControlPanel']&&this['axesControlPanel']['showRpySection'](this['currentModel'],_0x4e7f7e),void(_0x288bce=null);}if(0x0===_0x324f64['filter'](_0x500cea=>{const _0xe705de=_0x500cea['object'];let _0x5de34c=_0xe705de;for(;_0x5de34c;){const _0x32cbd4=_0x5de34c['name']||'';if(_0x32cbd4['includes']('jointAxis')||_0x32cbd4['includes']('helper')||_0x32cbd4['includes']('grid')||_0x32cbd4['includes']('Ground')||'groundPlane'===_0x32cbd4)return!0x1;_0x5de34c=_0x5de34c['parent'];}return _0xe705de['isMesh']&&_0xe705de['visible'];})['length']){if(this['sceneManager']['highlightManager']['clearHighlight'](),this['sceneManager']['axesManager']['deselectAxis'](),this['axesControlPanel']&&this['axesControlPanel']['hideRpySection'](),this['modelGraphView']){const _0x36c4c5=_0x472736('#model-graph-svg');this['modelGraphView']['clearAllSelections'](_0x36c4c5);}this['measurementController']&&this['measurementController']['clearMeasurement']();}}_0x288bce=null;},!0x0);}['setupModelTreePanel'](){const _0x53d8b0=document['getElementById']('toggle-model-tree'),_0x52c463=document['getElementById']('floating-model-tree');_0x53d8b0&&_0x52c463&&(_0x52c463['style']['display']='flex',_0x53d8b0['classList']['add']('active')),_0x52c463&&_0x52c463['addEventListener']('click',_0x59e1eb=>{var _0x16af7e,_0x9803ed;const _0x504bbc=_0x59e1eb['target'];if(_0x504bbc===_0x52c463||(null==(_0x16af7e=_0x504bbc['classList'])?void 0x0:_0x16af7e['contains']('graph-controls-hint'))||(null==(_0x9803ed=_0x504bbc['classList'])?void 0x0:_0x9803ed['contains']('empty-state'))||'floating-model-tree'===_0x504bbc['id']){if(this['modelGraphView']){const _0x4c3057=_0x472736('#model-graph-svg');this['modelGraphView']['clearAllSelections'](_0x4c3057);}this['measurementController']&&this['measurementController']['clearMeasurement'](),this['sceneManager']&&this['sceneManager']['highlightManager']['clearHighlight']();}});}['updateModelInfo'](_0x4a4e14,_0xcb83c0){const _0x152bab=document['getElementById']('status-info');if(!_0x152bab||!_0x4a4e14)return;let _0xe35d02='<strong>'+_0xcb83c0['name']+'</strong><br>';if(_0xe35d02+='Type:\x20'+_0xcb83c0['name']['split']('.')['pop']()['toLowerCase']()['toUpperCase']()+'<br>',_0x4a4e14['links']&&(_0xe35d02+='Links:\x20'+_0x4a4e14['links']['size']+'<br>'),_0x4a4e14['joints']){const _0x5ae465=Array['from'](_0x4a4e14['joints']['values']())['filter'](_0x18c21e=>'fixed'!==_0x18c21e['type'])['length'];_0xe35d02+='Joints:\x20'+_0x4a4e14['joints']['size']+'\x20('+_0x5ae465+'\x20controllable)<br>';}if(_0x4a4e14['constraints']&&_0x4a4e14['constraints']['size']>0x0){_0xe35d02+='<span\x20style=\x22color:\x20#00aaff;\x20font-weight:\x20bold;\x22>Constraints:\x20'+_0x4a4e14['constraints']['size']+'\x20🔗</span><br>';const _0x1ed309={};_0x4a4e14['constraints']['forEach'](_0x33c57=>{_0x1ed309[_0x33c57['type']]=(_0x1ed309[_0x33c57['type']]||0x0)+0x1;});const _0x41d558={'connect':'Connect','weld':'Weld','joint':'Joint\x20Coupling','distance':'Distance'};_0xe35d02+='<span\x20style=\x22font-size:\x2011px;\x20color:\x20#888;\x22>'+Object['entries'](_0x1ed309)['map'](([_0x1d0bbd,_0x15085f])=>(_0x41d558[_0x1d0bbd]||_0x1d0bbd)+':\x20'+_0x15085f)['join'](',\x20')+'</span><br>';}_0x4a4e14['rootLink']&&(_0xe35d02+='Root\x20Link:\x20'+_0x4a4e14['rootLink']),_0x152bab['innerHTML']=_0xe35d02,_0x152bab['className']='success';}['handleFileClick'](_0x7b4757){const _0x11378e=_0x7b4757['ext'];if(['urdf','xacro','xml','usd','usda','usdc','usdz']['includes'](_0x11378e)){this['fileHandler']['loadFile'](_0x7b4757['file']);const _0x367147=document['getElementById']('code-editor-panel');_0x367147&&_0x367147['classList']['contains']('visible')&&this['codeEditorManager']&&this['codeEditorManager']['loadFile'](_0x7b4757['file']);}else['dae','stl','obj','collada']['includes'](_0x11378e)&&this['fileHandler']['loadMeshAsModel'](_0x7b4757['file'],_0x7b4757['name']);}['createUSDViewerContainer'](){const _0x17f7db=document['getElementById']('canvas-container');if(!_0x17f7db)return;const _0x2bdaaf=document['createElement']('div');_0x2bdaaf['id']='usd-viewer-container',_0x2bdaaf['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',_0x17f7db['appendChild'](_0x2bdaaf);}async['getUSDViewerManager'](){if(!this['usdViewerManager']){const _0x2afaa4=document['getElementById']('usd-viewer-container');if(!_0x2afaa4)throw new Error('USD\x20viewer\x20container\x20not\x20found');this['usdViewerManager']=new Hi(_0x2afaa4),this['fileHandler']['setUSDViewerManager'](this['usdViewerManager']),this['usdViewerManager']['on']('USD_LOADING_START',_0x2dc955=>{var _0x10cb1a;const _0x4d465a=(null==(_0x10cb1a=_0x2dc955['data'])?void 0x0:_0x10cb1a['message'])||'Loading\x20USD...',_0x385161=document['getElementById']('status-info');_0x385161&&(_0x385161['textContent']=_0x4d465a,_0x385161['className']='info');}),this['usdViewerManager']['on']('USD_LOADED',()=>{const _0xe28012=document['getElementById']('status-info');_0xe28012&&(_0xe28012['textContent']='USD\x20file\x20loaded\x20successfully',_0xe28012['className']='success');}),this['usdViewerManager']['on']('USD_ERROR',_0x5ccebe=>{var _0x12717e;const _0x405d17=(null==(_0x12717e=_0x5ccebe['data'])?void 0x0:_0x12717e['error'])||'Load\x20failed',_0x586d8a=document['getElementById']('status-info');_0x586d8a&&(_0x586d8a['textContent']='Load\x20failed:\x20'+_0x405d17,_0x586d8a['className']='error');});}return this['usdViewerManager'];}['handleThemeChanged'](_0x36924c){this['codeEditorManager']&&this['codeEditorManager']['updateTheme'](_0x36924c),this['currentModel']&&this['modelGraphView']&&this['modelGraphView']['drawModelGraph'](this['currentModel']);}['handleAngleUnitChanged'](_0x1f15fb){this['angleUnit']=_0x1f15fb,this['jointControlsUI']&&this['jointControlsUI']['setAngleUnit'](_0x1f15fb);}['handleResetJoints'](){this['currentModel']&&this['jointControlsUI']&&this['jointControlsUI']['resetAllJoints'](this['currentModel']);}['handleIgnoreLimitsChanged'](_0x130a8a){this['jointControlsUI']&&this['currentModel']&&this['jointControlsUI']['updateAllSliderLimits'](this['currentModel'],_0x130a8a);}['handleApplyAngles'](){this['jointControlsUI']&&this['jointControlsUI']['handleApplyAngles']();}['handleSetHome'](){var _0x36fa24,_0x2dbff7;if(!this['currentModel']||!this['currentModel']['joints'])return;const _0x159781={};this['currentModel']['joints']['forEach']((_0x481a92,_0x538bc3)=>{'fixed'!==_0x481a92['type']&&(_0x159781[_0x538bc3]=_0x481a92['currentValue']);}),this['currentModel']['userData']||(this['currentModel']['userData']={}),this['currentModel']['userData']['homePositions']=_0x159781,this['jointControlsUI']&&this['jointControlsUI']['updateButtonStates']();const _0x3e574e=Object['keys'](_0x159781)['length'],_0x3fb695=(null==(_0x2dbff7=null==(_0x36fa24=window['i18n'])?void 0x0:_0x36fa24['t']('setHomeSuccess'))?void 0x0:_0x2dbff7['replace']('{count}',_0x3e574e))||'已记录\x20'+_0x3e574e+'\x20个关节的零位';this['jointControlsUI']['showToast'](_0x3fb695,'success');}['handleSelectAll'](){this['jointControlsUI']&&this['jointControlsUI']['handleSelectAll']();}['handleResetToHome'](){this['jointControlsUI']&&this['jointControlsUI']['handleResetToHome']();}['handleLanguageChanged'](_0x1727a8){var _0x45b321,_0x492073,_0x272ad4,_0x4e4979,_0x3495e7,_0x16df1f;Ha['setLanguage'](_0x1727a8),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 _0x70c815=document['getElementById']('mujoco-simulate-btn-bar');if(_0x70c815){const _0x306b98=_0x70c815['querySelector']('span');if(_0x306b98){const _0x220daf=_0x70c815['classList']['contains']('active')?'mujocoPause':'mujocoSimulate';_0x306b98['textContent']=Ha['t'](_0x220daf),_0x306b98['setAttribute']('data-i18n',_0x220daf);}}null==(_0x492073=null==(_0x45b321=this['virtualCameraPanel'])?void 0x0:_0x45b321['refreshLanguage'])||_0x492073['call'](_0x45b321),null==(_0x4e4979=null==(_0x272ad4=this['rosConnectionPanel'])?void 0x0:_0x272ad4['refreshLanguage'])||_0x4e4979['call'](_0x272ad4),null==(_0x16df1f=null==(_0x3495e7=this['orientationControlPanel'])?void 0x0:_0x3495e7['refreshLanguage'])||_0x16df1f['call'](_0x3495e7);}['setAxesButtonState'](_0x2f4cad){const _0x41d1e9=document['getElementById']('toggle-axes-btn'),_0x869cff=document['getElementById']('toggle-joint-axes-btn');_0x41d1e9&&_0x869cff&&(_0x41d1e9['setAttribute']('data-checked',_0x2f4cad['toString']()),_0x869cff['setAttribute']('data-checked','false'),_0x2f4cad?(_0x41d1e9['classList']['add']('active'),_0x869cff['classList']['remove']('active'),this['sceneManager']&&(this['sceneManager']['axesManager']['showAllAxes'](),this['sceneManager']['axesManager']['hideAllJointAxes']())):(_0x41d1e9['classList']['remove']('active'),_0x869cff['classList']['remove']('active'),this['sceneManager']&&(this['sceneManager']['axesManager']['hideAllAxes'](),this['sceneManager']['axesManager']['hideAllJointAxes']())),this['mujocoSimulationManager']&&this['mujocoSimulationManager']['hasScene']()&&(this['mujocoSimulationManager']['toggleAxesDisplay'](_0x2f4cad),this['mujocoSimulationManager']['toggleJointAxesDisplay'](!0x1)));}['detectFileType'](_0x16c3bd){return{'urdf':'urdf','xml':'mjcf','usd':'usd','usda':'usd','usdc':'usd','usdz':'usd'}[_0x16c3bd['toLowerCase']()['split']('.')['pop']()]||'urdf';}async['loadMocapAsMainModel'](_0x803f1a){const {MOCAP_CONFIG:_0x27e97b}=await Ae(()=>Promise['resolve']()['then'](()=>_a),void 0,import.meta.url),_0x2febcf=_0x27e97b[_0x803f1a];if(_0x2febcf)try{const _0xaaa7ec=await fetch(_0x2febcf['urdfPath']);if(!_0xaaa7ec['ok'])throw new Error('Failed\x20to\x20fetch\x20URDF:\x20'+_0xaaa7ec['statusText']);const _0x523ec7=await _0xaaa7ec['text'](),_0x14ef63=_0x2febcf['urdfPath']['substring'](0x0,_0x2febcf['urdfPath']['lastIndexOf']('/')+0x1),_0x4f59b5=_0x523ec7['replace'](/filename="[^"]*?(meshes\/[^"]+)"/g,'filename=\x22'+_0x14ef63+'$1\x22'),_0xde08be=new Blob([_0x4f59b5],{'type':'text/xml'}),_0x2265e6=new File([_0xde08be],_0x803f1a+'.urdf',{'type':'text/xml'});this['fileHandler']['fileMap']['clear'](),this['fileHandler']['fileMap']['set'](_0x2265e6['name'],_0x2265e6),await this['fileHandler']['loadFile'](_0x2265e6);const _0x538e17=this['sceneManager']['currentModel'];if(_0x538e17&&_0x538e17['joints']){const _0xb9acc7={};_0x538e17['joints']['forEach']((_0x2c0505,_0x5ce8a3)=>{'fixed'!==_0x2c0505['type']&&(_0xb9acc7[_0x5ce8a3]=_0x2c0505['currentValue']);}),_0x538e17['userData']||(_0x538e17['userData']={}),_0x538e17['userData']['homePositions']=_0xb9acc7;}_0x2febcf['scale']&&this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']['scale']['set'](_0x2febcf['scale'],_0x2febcf['scale'],_0x2febcf['scale']),_0x2febcf['rotation']&&this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']['rotation']['set'](_0x2febcf['rotation']['x'],_0x2febcf['rotation']['y'],_0x2febcf['rotation']['z']),this['sceneManager']['currentModel']&&this['sceneManager']['currentModel']['threeObject']['updateMatrixWorld'](!0x0);}catch(_0x4c058f){alert('Failed\x20to\x20load\x20'+_0x2febcf['name']+':\x20'+_0x4c058f['message']);}else alert('Unknown\x20mocap\x20model:\x20'+_0x803f1a);}async['autoConnectROS'](_0x55d835){var _0x361bb3;const _0x550bba=localStorage['getItem']('ros_url')||'ws://localhost:9090';try{if(await this['rosController']['connect'](_0x550bba),await new Promise(_0x4fb359=>setTimeout(_0x4fb359,0x1f4)),'tf'===_0x55d835['topicType']&&this['sceneManager']['currentModel']){let _0x24a2f6=_0x55d835['rosTopic'];const _0x166f8b=document['querySelector']('#floating-ros-panel');if(_0x166f8b){const _0x1aec31=null==(_0x361bb3=_0x166f8b['querySelectorAll']('#ros-topic-list\x20.ros-topic-row')[0x0])?void 0x0:_0x361bb3['querySelector']('.ros-topic-input');(null==_0x1aec31?void 0x0:_0x1aec31['value'])&&(_0x24a2f6=_0x1aec31['value']);}this['rosController']['tfController']['subscribeTF'](_0x55d835['id'],this['sceneManager']['currentModel'],_0x24a2f6);}}catch(_0xb5a7ae){}}['handleMujocoReset'](){this['mujocoSimulationManager']&&this['mujocoSimulationManager']['reset']();}async['handleMujocoToggleSimulate'](){if(!this['mujocoSimulationManager']['hasScene']()&&this['currentMJCFFile']&&this['currentMJCFModel'])try{const _0x3a65c6=await this['currentMJCFFile']['text']();return await this['mujocoSimulationManager']['loadScene'](_0x3a65c6,this['currentMJCFFile']['name'],this['fileHandler']['getFileMap'](),this['currentMJCFModel']),this['currentModel']&&this['currentModel']['threeObject']&&(this['currentModel']['threeObject']['visible']=!0x1),this['mujocoSimulationManager']['startSimulation'](),!0x0;}catch(_0x5248fe){return!0x1;}if(this['mujocoSimulationManager']){const _0x517425=this['mujocoSimulationManager']['toggleSimulation']();return this['currentModel']&&this['currentModel']['threeObject']&&(this['currentModel']['threeObject']['visible']=!_0x517425),_0x517425;}return!0x1;}['animate'](){var _0x2fff8e,_0x55234d;if(requestAnimationFrame(()=>this['animate']()),this['sceneManager']){this['sceneManager']['update'](),this['mujocoSimulationManager']&&this['mujocoSimulationManager']['hasScene']()&&this['mujocoSimulationManager']['update'](performance['now']());const _0x27b0f=performance['now'](),_0x18e565=!(!0x0===(null==(_0x55234d=null==(_0x2fff8e=this['virtualCameraPublisher'])?void 0x0:_0x2fff8e['isRunning'])?void 0x0:_0x55234d['call'](_0x2fff8e)))&&_0x27b0f-this['_lastSafetyRenderAt']>0xfa;(this['sceneManager']['hasPendingRender']()||_0x18e565)&&(this['sceneManager']['render'](),this['_lastSafetyRenderAt']=_0x27b0f);}}}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-0ea747b2.js'),["./PlotPanel-0ea747b2.js","./three-9c891de0.js","./d3-2e308866.js","./codemirror-c3cec7b3.js","./codemirror-themes-e6995a6a.js","../css/PlotPanel-3e7d7555.css"],import.meta.url)['then'](_0x27d311=>{t&&(t['innerHTML']='');const _0x2f7816=new _0x27d311['PlotPanel']();_0x2f7816['init'](),window['plotPanel']=_0x2f7816;})['catch'](_0x522c3c=>{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>'+(_0x522c3c&&_0x522c3c['message']?_0x522c3c['message']:Ha['t']('unknownError'))+'</div></div>');});}else{const e=new Ka();e['init'](),window['app']=e;}export{xa as R,Ae as _};