@konitif/viewer-3d 0.284.1

package/dist/renderer/ObservedRobotGroundingProjection.js

@@ -0,0 +1,522 @@
+function finiteOrNull(value) {
+    return typeof value === 'number' && Number.isFinite(value) ? value : null;
+}
+const IDENTITY_QUATERNION = { x: 0, y: 0, z: 0, w: 1 };
+const SUPPORT_PLANE_EPSILON = 1e-10;
+const DEFAULT_MAX_INCLINATION_CORRECTION_RADIANS = Math.PI / 9;
+const DEFAULT_MAX_SUPPORT_ANCHOR_CORRECTION_METERS = 0.08;
+const DEFAULT_ACTIVE_SUPPORT_CONTACT_BAND_METERS = 0.025;
+const DEFAULT_ACTIVE_SUPPORT_RELEASE_HYSTERESIS_METERS = 0.015;
+const DEFAULT_TEMPORAL_SUPPORT_REACQUIRE_DISTANCE_METERS = 0.06;
+function isFiniteSupportPoint(point) {
+    return Number.isFinite(point.x) && Number.isFinite(point.y) && Number.isFinite(point.z);
+}
+function resolveSupportCentroid(supportPoints) {
+    if (supportPoints.length === 0 || supportPoints.some((point) => !isFiniteSupportPoint(point))) {
+        return null;
+    }
+    const centroid = supportPoints.reduce((sum, point) => ({ x: sum.x + point.x, y: sum.y + point.y, z: sum.z + point.z }), { x: 0, y: 0, z: 0 });
+    return {
+        x: centroid.x / supportPoints.length,
+        y: centroid.y / supportPoints.length,
+        z: centroid.z / supportPoints.length
+    };
+}
+/**
+ * Selects only sole anchors that belong to the lowest contact band.
+ *
+ * The robot model exposes eight semantic FSR frames, but their presence does
+ * not mean both feet currently support the body. Feeding a lifted foot into
+ * the support plane makes its animated centroid a hidden root controller.
+ * This projection keeps the lowest, physically plausible contact subset,
+ * preserves its stable identities, and uses a wider release band for the
+ * previous support. That hysteresis prevents millimetric telemetry noise from
+ * repeatedly releasing and reacquiring the static-friction anchor.
+ */
+export function resolveObservedRobotActiveSupportProjection(input) {
+    const contactBandMeters = Number.isFinite(input.contactBandMeters)
+        ? Math.max(0, input.contactBandMeters ?? 0)
+        : DEFAULT_ACTIVE_SUPPORT_CONTACT_BAND_METERS;
+    const releaseContactBandMeters = Number.isFinite(input.releaseContactBandMeters)
+        ? Math.max(contactBandMeters, input.releaseContactBandMeters ?? contactBandMeters)
+        : contactBandMeters + DEFAULT_ACTIVE_SUPPORT_RELEASE_HYSTERESIS_METERS;
+    const hasStableContactIds = input.contactIds?.length === input.supportPoints.length;
+    const hasSupportGroups = input.supportGroupIds?.length === input.supportPoints.length;
+    const previousActiveContactIdSet = new Set(input.previousActiveContactIds ?? []);
+    const finiteEntries = input.supportPoints
+        .map((point, index) => ({
+        point,
+        index,
+        contactId: hasStableContactIds ? input.contactIds[index] : String(index),
+        supportGroupId: hasSupportGroups ? input.supportGroupIds[index] : null
+    }))
+        .filter(({ point }) => isFiniteSupportPoint(point));
+    const supportMinimumY = finiteEntries.reduce((minimum, { point }) => Math.min(minimum, point.y), Number.POSITIVE_INFINITY);
+    if (!Number.isFinite(supportMinimumY)) {
+        return {
+            status: 'unavailable',
+            supportPoints: [],
+            activeIndices: [],
+            activeContactIds: [],
+            sourceContactCount: finiteEntries.length,
+            activeContactCount: 0,
+            supportMinimumY: null,
+            contactBandMeters,
+            releaseContactBandMeters
+        };
+    }
+    const activeSupportGroupIds = new Set();
+    if (hasSupportGroups) {
+        const minimumByGroup = new Map();
+        for (const { point, supportGroupId } of finiteEntries) {
+            if (!supportGroupId)
+                continue;
+            minimumByGroup.set(supportGroupId, Math.min(minimumByGroup.get(supportGroupId) ?? Number.POSITIVE_INFINITY, point.y));
+        }
+        const contactIdsByGroup = new Map();
+        for (const { contactId, supportGroupId } of finiteEntries) {
+            if (!supportGroupId)
+                continue;
+            const contactIds = contactIdsByGroup.get(supportGroupId) ?? [];
+            contactIds.push(contactId);
+            contactIdsByGroup.set(supportGroupId, contactIds);
+        }
+        for (const [supportGroupId, minimumY] of minimumByGroup) {
+            const wasPreviouslyActive = (contactIdsByGroup.get(supportGroupId) ?? []).some((contactId) => previousActiveContactIdSet.has(contactId));
+            const activeBandMeters = wasPreviouslyActive
+                ? releaseContactBandMeters
+                : contactBandMeters;
+            if (minimumY <= supportMinimumY + activeBandMeters) {
+                activeSupportGroupIds.add(supportGroupId);
+            }
+        }
+    }
+    // Once one anchor of a rigid sole reaches the contact band, keep the whole
+    // sole as one stable support identity. Selecting its corners independently
+    // makes tiny roll/pitch variations repeatedly release static friction.
+    const activeEntries = finiteEntries.filter(({ point, supportGroupId }) => hasSupportGroups
+        ? Boolean(supportGroupId && activeSupportGroupIds.has(supportGroupId))
+        : point.y <= supportMinimumY + contactBandMeters);
+    const resolved = activeEntries.length >= 3;
+    return {
+        status: resolved ? 'resolved' : 'unavailable',
+        supportPoints: resolved ? activeEntries.map(({ point }) => point) : [],
+        activeIndices: resolved ? activeEntries.map(({ index }) => index) : [],
+        activeContactIds: resolved ? activeEntries.map(({ contactId }) => contactId) : [],
+        sourceContactCount: finiteEntries.length,
+        activeContactCount: resolved ? activeEntries.length : 0,
+        supportMinimumY,
+        contactBandMeters,
+        releaseContactBandMeters
+    };
+}
+/**
+ * Keeps a stable support footprint across consecutive observed joint frames.
+ *
+ * Joint telemetry contains no authoritative world-space root translation.
+ * Once a valid foot-support subset is acquired, small centroid changes are
+ * therefore presentation artefacts caused by the articulated model and are
+ * cancelled as static friction. A changed contact subset or a discontinuity
+ * beyond the bounded threshold reacquires the anchor instead of inventing a
+ * robot trajectory.
+ */
+export function resolveObservedRobotTemporalSupportAnchorProjection(input) {
+    const unavailable = () => ({
+        status: 'unavailable',
+        state: null,
+        supportContactCount: 0,
+        offsetX: 0,
+        offsetZ: 0,
+        requestedOffsetMeters: 0,
+        affectedRootAxes: [],
+        constraintModel: 'unconstrained',
+        physicsAffected: false
+    });
+    if (input.supportEligible === false ||
+        input.supportPoints.length < 3 ||
+        input.supportPoints.length !== input.activeIndices.length) {
+        return unavailable();
+    }
+    const centroid = resolveSupportCentroid(input.supportPoints);
+    if (!centroid || input.activeIndices.some((index) => !Number.isInteger(index) || index < 0)) {
+        return unavailable();
+    }
+    const stableContactIds = input.activeContactIds?.length === input.supportPoints.length
+        ? input.activeContactIds
+        : input.activeIndices.map(String);
+    const supportSignature = [...stableContactIds].sort().join('|');
+    const acquiredState = {
+        anchorX: centroid.x,
+        anchorZ: centroid.z,
+        supportSignature,
+        supportContactCount: input.supportPoints.length,
+        activeContactIds: [...stableContactIds].sort()
+    };
+    const previousState = input.previousState;
+    if (!previousState) {
+        return {
+            status: 'acquired',
+            state: acquiredState,
+            supportContactCount: input.supportPoints.length,
+            offsetX: 0,
+            offsetZ: 0,
+            requestedOffsetMeters: 0,
+            affectedRootAxes: [],
+            constraintModel: 'temporal-support-static-friction',
+            physicsAffected: false
+        };
+    }
+    if (previousState.supportSignature !== supportSignature ||
+        previousState.supportContactCount !== input.supportPoints.length) {
+        return {
+            status: 'reacquired',
+            state: acquiredState,
+            supportContactCount: input.supportPoints.length,
+            offsetX: 0,
+            offsetZ: 0,
+            requestedOffsetMeters: 0,
+            affectedRootAxes: [],
+            constraintModel: 'temporal-support-static-friction',
+            physicsAffected: false
+        };
+    }
+    const offsetX = previousState.anchorX - centroid.x;
+    const offsetZ = previousState.anchorZ - centroid.z;
+    const requestedOffsetMeters = Math.hypot(offsetX, offsetZ);
+    const reacquireDistanceMeters = Number.isFinite(input.reacquireDistanceMeters)
+        ? Math.max(0, input.reacquireDistanceMeters ?? 0)
+        : DEFAULT_TEMPORAL_SUPPORT_REACQUIRE_DISTANCE_METERS;
+    if (requestedOffsetMeters > reacquireDistanceMeters) {
+        return {
+            status: 'reacquired',
+            state: acquiredState,
+            supportContactCount: input.supportPoints.length,
+            offsetX: 0,
+            offsetZ: 0,
+            requestedOffsetMeters,
+            affectedRootAxes: [],
+            constraintModel: 'temporal-support-static-friction',
+            physicsAffected: false
+        };
+    }
+    return {
+        status: 'preserved',
+        state: previousState,
+        supportContactCount: input.supportPoints.length,
+        offsetX,
+        offsetZ,
+        requestedOffsetMeters,
+        affectedRootAxes: ['x', 'z'],
+        constraintModel: 'temporal-support-static-friction',
+        physicsAffected: false
+    };
+}
+/**
+ * Preserves the world-space support footprint while a missing root
+ * inclination is completed for presentation.
+ *
+ * Rotating the observed model around its authored root (usually near the
+ * torso) moves the sole anchors laterally. The inverse centroid delta makes
+ * the support polygon the effective pivot instead. Y remains owned by the
+ * grounding projection, and the bounded X/Z correction is a static-friction
+ * constraint only: it does not integrate velocity or alter observed joints.
+ */
+export function resolveObservedRobotSupportAnchorProjection(input) {
+    const unavailable = (supportContactCount = 0) => ({
+        status: 'unavailable',
+        supportContactCount,
+        offsetX: 0,
+        offsetZ: 0,
+        requestedOffsetMeters: 0,
+        appliedOffsetMeters: 0,
+        affectedRootAxes: [],
+        constraintModel: 'unconstrained',
+        physicsAffected: false
+    });
+    if (input.supportEligible === false ||
+        input.supportPointsBefore.length < 3 ||
+        input.supportPointsBefore.length !== input.supportPointsAfter.length) {
+        return unavailable(input.supportPointsBefore.length);
+    }
+    const before = resolveSupportCentroid(input.supportPointsBefore);
+    const after = resolveSupportCentroid(input.supportPointsAfter);
+    if (!before || !after)
+        return unavailable(input.supportPointsBefore.length);
+    const requestedOffsetX = before.x - after.x;
+    const requestedOffsetZ = before.z - after.z;
+    const requestedOffsetMeters = Math.hypot(requestedOffsetX, requestedOffsetZ);
+    const maxCorrectionMeters = Number.isFinite(input.maxCorrectionMeters)
+        ? Math.max(0, input.maxCorrectionMeters ?? 0)
+        : DEFAULT_MAX_SUPPORT_ANCHOR_CORRECTION_METERS;
+    const scale = requestedOffsetMeters > maxCorrectionMeters && requestedOffsetMeters > SUPPORT_PLANE_EPSILON
+        ? maxCorrectionMeters / requestedOffsetMeters
+        : 1;
+    const offsetX = requestedOffsetX * scale;
+    const offsetZ = requestedOffsetZ * scale;
+    const appliedOffsetMeters = requestedOffsetMeters * scale;
+    return {
+        status: scale < 1 ? 'clamped' : 'preserved',
+        supportContactCount: input.supportPointsBefore.length,
+        offsetX,
+        offsetZ,
+        requestedOffsetMeters,
+        appliedOffsetMeters,
+        affectedRootAxes: ['x', 'z'],
+        constraintModel: 'support-centroid-static-friction',
+        physicsAffected: false
+    };
+}
+/**
+ * Fits y = ax + bz + c through the semantic sole anchors and returns the
+ * shortest world-space rotation that aligns that support plane with world up.
+ *
+ * This is deliberately a quasi-static contact constraint, not a dynamics
+ * simulation: observed joints remain authoritative and only the missing root
+ * roll/pitch presentation is inferred. The bounded correction cannot inject
+ * velocity, oscillation or a competing pose history.
+ */
+export function resolveObservedRobotSupportInclinationProjection(input) {
+    const supportPoints = input.supportPoints.filter(isFiniteSupportPoint);
+    const unavailable = () => ({
+        status: 'unavailable',
+        supportContactCount: supportPoints.length,
+        supportNormal: null,
+        correctionQuaternion: { ...IDENTITY_QUATERNION },
+        correctionAngleRadians: 0,
+        correctionClamped: false,
+        affectedRootAxes: [],
+        constraintModel: 'unconstrained',
+        physicsAffected: false
+    });
+    if (!input.enabled || input.supportEligible === false || supportPoints.length < 3) {
+        return unavailable();
+    }
+    const center = supportPoints.reduce((sum, point) => ({ x: sum.x + point.x, y: sum.y + point.y, z: sum.z + point.z }), { x: 0, y: 0, z: 0 });
+    center.x /= supportPoints.length;
+    center.y /= supportPoints.length;
+    center.z /= supportPoints.length;
+    let xx = 0;
+    let xz = 0;
+    let zz = 0;
+    let xy = 0;
+    let zy = 0;
+    for (const point of supportPoints) {
+        const x = point.x - center.x;
+        const y = point.y - center.y;
+        const z = point.z - center.z;
+        xx += x * x;
+        xz += x * z;
+        zz += z * z;
+        xy += x * y;
+        zy += z * y;
+    }
+    const determinant = xx * zz - xz * xz;
+    if (!Number.isFinite(determinant) || Math.abs(determinant) <= SUPPORT_PLANE_EPSILON) {
+        return unavailable();
+    }
+    const slopeX = (xy * zz - zy * xz) / determinant;
+    const slopeZ = (zy * xx - xy * xz) / determinant;
+    const normalLength = Math.hypot(slopeX, 1, slopeZ);
+    if (!Number.isFinite(normalLength) || normalLength <= SUPPORT_PLANE_EPSILON) {
+        return unavailable();
+    }
+    const supportNormal = {
+        x: -slopeX / normalLength,
+        y: 1 / normalLength,
+        z: -slopeZ / normalLength
+    };
+    const rawAngle = Math.acos(Math.max(-1, Math.min(1, supportNormal.y)));
+    const maxCorrectionRadians = Number.isFinite(input.maxCorrectionRadians)
+        ? Math.max(0, Math.min(Math.PI / 2, input.maxCorrectionRadians ?? 0))
+        : DEFAULT_MAX_INCLINATION_CORRECTION_RADIANS;
+    const correctionAngleRadians = Math.min(rawAngle, maxCorrectionRadians);
+    if (correctionAngleRadians <= 1e-7) {
+        return {
+            status: 'aligned',
+            supportContactCount: supportPoints.length,
+            supportNormal,
+            correctionQuaternion: { ...IDENTITY_QUATERNION },
+            correctionAngleRadians: 0,
+            correctionClamped: false,
+            affectedRootAxes: [],
+            constraintModel: 'quasi-static-rigid-contact',
+            physicsAffected: false
+        };
+    }
+    // cross(supportNormal, worldUp), normalized. The axis is horizontal, so the
+    // correction contains roll/pitch only and cannot modify observed yaw.
+    const axisX = -supportNormal.z;
+    const axisZ = supportNormal.x;
+    const axisLength = Math.hypot(axisX, axisZ);
+    if (!Number.isFinite(axisLength) || axisLength <= SUPPORT_PLANE_EPSILON) {
+        return unavailable();
+    }
+    const halfAngle = correctionAngleRadians / 2;
+    const sinHalfAngle = Math.sin(halfAngle);
+    return {
+        status: 'corrected',
+        supportContactCount: supportPoints.length,
+        supportNormal,
+        correctionQuaternion: {
+            x: (axisX / axisLength) * sinHalfAngle,
+            y: 0,
+            z: (axisZ / axisLength) * sinHalfAngle,
+            w: Math.cos(halfAngle)
+        },
+        correctionAngleRadians,
+        correctionClamped: rawAngle > correctionAngleRadians + 1e-7,
+        affectedRootAxes: ['roll', 'pitch'],
+        constraintModel: 'quasi-static-rigid-contact',
+        physicsAffected: false
+    };
+}
+/**
+ * Decides whether sole anchors may complete the missing root inclination.
+ *
+ * The feet are only a valid support authority while their rendered envelope
+ * belongs to the lowest body contact band. When the torso, back, arms or any
+ * other collider is lower, the robot is treated as body-supported: its
+ * observed orientation is preserved and no "stand it back up" correction is
+ * invented locally.
+ */
+export function resolveObservedRobotFootSupportEligibility(input) {
+    const footGeometryMinimumY = finiteOrNull(input.footGeometryMinimumY);
+    const bodyEnvelopeMinimumY = finiteOrNull(input.bodyEnvelopeMinimumY);
+    const contactBandMeters = Number.isFinite(input.contactBandMeters)
+        ? Math.max(0, input.contactBandMeters ?? 0)
+        : 0.025;
+    if (footGeometryMinimumY === null || bodyEnvelopeMinimumY === null) {
+        return {
+            eligible: false,
+            footGeometryMinimumY,
+            bodyEnvelopeMinimumY,
+            separationMeters: null
+        };
+    }
+    const separationMeters = footGeometryMinimumY - bodyEnvelopeMinimumY;
+    return {
+        eligible: separationMeters <= contactBandMeters,
+        footGeometryMinimumY,
+        bodyEnvelopeMinimumY,
+        separationMeters
+    };
+}
+/**
+ * Resolves the surface that must visually meet the support plane.
+ *
+ * FSR frames describe where support can be observed, but their origins live
+ * inside the foot assembly and are not guaranteed to coincide with the
+ * rendered sole. Prefer the rendered foot envelope for the vertical contact
+ * correction, while retaining the FSR count as evidence for the projection.
+ *
+ * Whole-body colliders decide which support regime is active, but simplified
+ * collision geometry is not a reliable visible contact surface. When both are
+ * available, align the rendered envelope to the floor and report explicitly
+ * that the contact was collider-guided. This covers back, belly and side
+ * contacts without making an approximate collider visibly float or penetrate.
+ */
+export function resolveObservedRobotSupportSurface(input) {
+    const supportContactCount = Number.isFinite(input.supportContactCount)
+        ? Math.max(0, Math.trunc(input.supportContactCount ?? 0))
+        : 0;
+    const collisionEnvelopeMinimumY = finiteOrNull(input.collisionEnvelopeMinimumY);
+    const robotBoundsMinimumY = finiteOrNull(input.robotBoundsMinimumY);
+    if (collisionEnvelopeMinimumY !== null && robotBoundsMinimumY !== null) {
+        return {
+            supportMinimumY: robotBoundsMinimumY,
+            supportContactCount,
+            source: 'collision-guided-render-envelope'
+        };
+    }
+    if (collisionEnvelopeMinimumY !== null) {
+        return {
+            supportMinimumY: collisionEnvelopeMinimumY,
+            supportContactCount,
+            source: 'collision-envelope'
+        };
+    }
+    if (robotBoundsMinimumY !== null) {
+        return {
+            supportMinimumY: robotBoundsMinimumY,
+            supportContactCount,
+            source: 'robot-bounds'
+        };
+    }
+    const footGeometryMinimumY = finiteOrNull(input.footGeometryMinimumY);
+    if (footGeometryMinimumY !== null) {
+        return {
+            supportMinimumY: footGeometryMinimumY,
+            supportContactCount,
+            source: 'foot-geometry'
+        };
+    }
+    const contactMinimumY = finiteOrNull(input.contactMinimumY);
+    if (supportContactCount > 0 && contactMinimumY !== null) {
+        return {
+            supportMinimumY: contactMinimumY,
+            supportContactCount,
+            source: 'foot-contact-anchors'
+        };
+    }
+    return { supportMinimumY: null, supportContactCount: 0, source: 'robot-bounds' };
+}
+/**
+ * Completes the missing world-height component of an observed robot pose.
+ *
+ * Joint values remain observed facts. The vertical offset is an explicit,
+ * deterministic support-plane inference and never steps a physics simulation.
+ * This vertical stage never changes X/Z. The companion support-anchor
+ * projection may only apply the inverse centroid delta required to preserve
+ * static contact, without becoming the robot pose authority.
+ */
+export function resolveObservedRobotGroundingProjection(input) {
+    const floorY = Number.isFinite(input.floorY) ? input.floorY : 0;
+    const supportContactCount = Number.isFinite(input.supportContactCount)
+        ? Math.max(0, Math.trunc(input.supportContactCount ?? 0))
+        : 0;
+    if (!input.enabled) {
+        return {
+            status: 'disabled',
+            source: 'unavailable',
+            floorY,
+            supportMinimumY: null,
+            supportContactCount: 0,
+            offsetY: 0,
+            inferred: false,
+            contactMode: 'unconstrained',
+            affectedRootAxes: [],
+            physicsAffected: false
+        };
+    }
+    if (typeof input.supportMinimumY !== 'number' || !Number.isFinite(input.supportMinimumY)) {
+        return {
+            status: 'unavailable',
+            source: 'unavailable',
+            floorY,
+            supportMinimumY: null,
+            supportContactCount: 0,
+            offsetY: 0,
+            inferred: false,
+            contactMode: 'unconstrained',
+            affectedRootAxes: [],
+            physicsAffected: false
+        };
+    }
+    return {
+        status: 'grounded',
+        source: input.source,
+        floorY,
+        supportMinimumY: input.supportMinimumY,
+        supportContactCount,
+        offsetY: floorY - input.supportMinimumY,
+        inferred: true,
+        contactMode: input.source === 'collision-guided-render-envelope' ||
+            input.source === 'collision-envelope' ||
+            input.source === 'robot-bounds'
+            ? 'collision-envelope-static-contact'
+            : 'support-plane-static-friction',
+        affectedRootAxes: ['y'],
+        physicsAffected: false
+    };
+}
+//# sourceMappingURL=ObservedRobotGroundingProjection.js.map

package/dist/renderer/ObservedRobotGroundingProjection.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ObservedRobotGroundingProjection.js","sourceRoot":"","sources":["../../src/renderer/ObservedRobotGroundingProjection.ts"],"names":[],"mappings":"AAqGA,SAAS,YAAY,CAAC,KAAgC;IACpD,OAAO,OAAO,KAAK,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC;AAC5E,CAAC;AAED,MAAM,mBAAmB,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAW,CAAC;AAChE,MAAM,qBAAqB,GAAG,KAAK,CAAC;AACpC,MAAM,0CAA0C,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;AAC/D,MAAM,4CAA4C,GAAG,IAAI,CAAC;AAC1D,MAAM,0CAA0C,GAAG,KAAK,CAAC;AACzD,MAAM,gDAAgD,GAAG,KAAK,CAAC;AAC/D,MAAM,kDAAkD,GAAG,IAAI,CAAC;AAEhE,SAAS,oBAAoB,CAAC,KAAgC;IAC5D,OAAO,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC;AAC1F,CAAC;AAED,SAAS,sBAAsB,CAC7B,aAAmD;IAEnD,IAAI,aAAa,CAAC,MAAM,KAAK,CAAC,IAAI,aAAa,CAAC,IAAI,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,oBAAoB,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC;QAC9F,OAAO,IAAI,CAAC;IACd,CAAC;IAED,MAAM,QAAQ,GAAG,aAAa,CAAC,MAAM,CACnC,CAAC,GAAG,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,EAChF,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CACrB,CAAC;IAEF,OAAO;QACL,CAAC,EAAE,QAAQ,CAAC,CAAC,GAAG,aAAa,CAAC,MAAM;QACpC,CAAC,EAAE,QAAQ,CAAC,CAAC,GAAG,aAAa,CAAC,MAAM;QACpC,CAAC,EAAE,QAAQ,CAAC,CAAC,GAAG,aAAa,CAAC,MAAM;KACrC,CAAC;AACJ,CAAC;AAED;;;;;;;;;;GAUG;AACH,MAAM,UAAU,2CAA2C,CAAC,KAO3D;IACC,MAAM,iBAAiB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,iBAAiB,CAAC;QAChE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,iBAAiB,IAAI,CAAC,CAAC;QAC3C,CAAC,CAAC,0CAA0C,CAAC;IAC/C,MAAM,wBAAwB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,wBAAwB,CAAC;QAC9E,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,iBAAiB,EAAE,KAAK,CAAC,wBAAwB,IAAI,iBAAiB,CAAC;QAClF,CAAC,CAAC,iBAAiB,GAAG,gDAAgD,CAAC;IACzE,MAAM,mBAAmB,GAAG,KAAK,CAAC,UAAU,EAAE,MAAM,KAAK,KAAK,CAAC,aAAa,CAAC,MAAM,CAAC;IACpF,MAAM,gBAAgB,GAAG,KAAK,CAAC,eAAe,EAAE,MAAM,KAAK,KAAK,CAAC,aAAa,CAAC,MAAM,CAAC;IACtF,MAAM,0BAA0B,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,wBAAwB,IAAI,EAAE,CAAC,CAAC;IACjF,MAAM,aAAa,GAAG,KAAK,CAAC,aAAa;SACtC,GAAG,CAAC,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC;QACtB,KAAK;QACL,KAAK;QACL,SAAS,EAAE,mBAAmB,CAAC,CAAC,CAAC,KAAK,CAAC,UAAW,CAAC,KAAK,CAAE,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC;QAC1E,cAAc,EAAE,gBAAgB,CAAC,CAAC,CAAC,KAAK,CAAC,eAAgB,CAAC,KAAK,CAAE,CAAC,CAAC,CAAC,IAAI;KACzE,CAAC,CAAC;SACF,MAAM,CAAC,CAAC,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,oBAAoB,CAAC,KAAK,CAAC,CAAC,CAAC;IACtD,MAAM,eAAe,GAAG,aAAa,CAAC,MAAM,CAC1C,CAAC,OAAO,EAAE,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC,CAAC,EAClD,MAAM,CAAC,iBAAiB,CACzB,CAAC;IAEF,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,eAAe,CAAC,EAAE,CAAC;QACtC,OAAO;YACL,MAAM,EAAE,aAAa;YACrB,aAAa,EAAE,EAAE;YACjB,aAAa,EAAE,EAAE;YACjB,gBAAgB,EAAE,EAAE;YACpB,kBAAkB,EAAE,aAAa,CAAC,MAAM;YACxC,kBAAkB,EAAE,CAAC;YACrB,eAAe,EAAE,IAAI;YACrB,iBAAiB;YACjB,wBAAwB;SACzB,CAAC;IACJ,CAAC;IAED,MAAM,qBAAqB,GAAG,IAAI,GAAG,EAAU,CAAC;IAChD,IAAI,gBAAgB,EAAE,CAAC;QACrB,MAAM,cAAc,GAAG,IAAI,GAAG,EAAkB,CAAC;QACjD,KAAK,MAAM,EAAE,KAAK,EAAE,cAAc,EAAE,IAAI,aAAa,EAAE,CAAC;YACtD,IAAI,CAAC,cAAc;gBAAE,SAAS;YAC9B,cAAc,CAAC,GAAG,CAChB,cAAc,EACd,IAAI,CAAC,GAAG,CAAC,cAAc,CAAC,GAAG,CAAC,cAAc,CAAC,IAAI,MAAM,CAAC,iBAAiB,EAAE,KAAK,CAAC,CAAC,CAAC,CAClF,CAAC;QACJ,CAAC;QACD,MAAM,iBAAiB,GAAG,IAAI,GAAG,EAAoB,CAAC;QACtD,KAAK,MAAM,EAAE,SAAS,EAAE,cAAc,EAAE,IAAI,aAAa,EAAE,CAAC;YAC1D,IAAI,CAAC,cAAc;gBAAE,SAAS;YAC9B,MAAM,UAAU,GAAG,iBAAiB,CAAC,GAAG,CAAC,cAAc,CAAC,IAAI,EAAE,CAAC;YAC/D,UAAU,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAC3B,iBAAiB,CAAC,GAAG,CAAC,cAAc,EAAE,UAAU,CAAC,CAAC;QACpD,CAAC;QACD,KAAK,MAAM,CAAC,cAAc,EAAE,QAAQ,CAAC,IAAI,cAAc,EAAE,CAAC;YACxD,MAAM,mBAAmB,GAAG,CAAC,iBAAiB,CAAC,GAAG,CAAC,cAAc,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC,CAAC,SAAS,EAAE,EAAE,CAC3F,0BAA0B,CAAC,GAAG,CAAC,SAAS,CAAC,CAC1C,CAAC;YACF,MAAM,gBAAgB,GAAG,mBAAmB;gBAC1C,CAAC,CAAC,wBAAwB;gBAC1B,CAAC,CAAC,iBAAiB,CAAC;YACtB,IAAI,QAAQ,IAAI,eAAe,GAAG,gBAAgB,EAAE,CAAC;gBACnD,qBAAqB,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;YAC5C,CAAC;QACH,CAAC;IACH,CAAC;IAED,2EAA2E;IAC3E,2EAA2E;IAC3E,uEAAuE;IACvE,MAAM,aAAa,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,EAAE,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,CACvE,gBAAgB;QACd,CAAC,CAAC,OAAO,CAAC,cAAc,IAAI,qBAAqB,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;QACtE,CAAC,CAAC,KAAK,CAAC,CAAC,IAAI,eAAe,GAAG,iBAAiB,CACnD,CAAC;IACF,MAAM,QAAQ,GAAG,aAAa,CAAC,MAAM,IAAI,CAAC,CAAC;IAE3C,OAAO;QACL,MAAM,EAAE,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,CAAC,aAAa;QAC7C,aAAa,EAAE,QAAQ,CAAC,CAAC,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE;QACtE,aAAa,EAAE,QAAQ,CAAC,CAAC,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE;QACtE,gBAAgB,EAAE,QAAQ,CAAC,CAAC,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC,EAAE,SAAS,EAAE,EAAE,EAAE,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,EAAE;QACjF,kBAAkB,EAAE,aAAa,CAAC,MAAM;QACxC,kBAAkB,EAAE,QAAQ,CAAC,CAAC,CAAC,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QACvD,eAAe;QACf,iBAAiB;QACjB,wBAAwB;KACzB,CAAC;AACJ,CAAC;AAED;;;;;;;;;GASG;AACH,MAAM,UAAU,mDAAmD,CAAC,KAOnE;IACC,MAAM,WAAW,GAAG,GAAiD,EAAE,CAAC,CAAC;QACvE,MAAM,EAAE,aAAa;QACrB,KAAK,EAAE,IAAI;QACX,mBAAmB,EAAE,CAAC;QACtB,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,qBAAqB,EAAE,CAAC;QACxB,gBAAgB,EAAE,EAAE;QACpB,eAAe,EAAE,eAAe;QAChC,eAAe,EAAE,KAAK;KACvB,CAAC,CAAC;IAEH,IACE,KAAK,CAAC,eAAe,KAAK,KAAK;QAC/B,KAAK,CAAC,aAAa,CAAC,MAAM,GAAG,CAAC;QAC9B,KAAK,CAAC,aAAa,CAAC,MAAM,KAAK,KAAK,CAAC,aAAa,CAAC,MAAM,EACzD,CAAC;QACD,OAAO,WAAW,EAAE,CAAC;IACvB,CAAC;IAED,MAAM,QAAQ,GAAG,sBAAsB,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC;IAC7D,IAAI,CAAC,QAAQ,IAAI,KAAK,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,MAAM,CAAC,SAAS,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,CAAC,EAAE,CAAC;QAC5F,OAAO,WAAW,EAAE,CAAC;IACvB,CAAC;IAED,MAAM,gBAAgB,GACpB,KAAK,CAAC,gBAAgB,EAAE,MAAM,KAAK,KAAK,CAAC,aAAa,CAAC,MAAM;QAC3D,CAAC,CAAC,KAAK,CAAC,gBAAgB;QACxB,CAAC,CAAC,KAAK,CAAC,aAAa,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACtC,MAAM,gBAAgB,GAAG,CAAC,GAAG,gBAAgB,CAAC,CAAC,IAAI,EAAE,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;IAChE,MAAM,aAAa,GAA4C;QAC7D,OAAO,EAAE,QAAQ,CAAC,CAAC;QACnB,OAAO,EAAE,QAAQ,CAAC,CAAC;QACnB,gBAAgB;QAChB,mBAAmB,EAAE,KAAK,CAAC,aAAa,CAAC,MAAM;QAC/C,gBAAgB,EAAE,CAAC,GAAG,gBAAgB,CAAC,CAAC,IAAI,EAAE;KAC/C,CAAC;IACF,MAAM,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;IAE1C,IAAI,CAAC,aAAa,EAAE,CAAC;QACnB,OAAO;YACL,MAAM,EAAE,UAAU;YAClB,KAAK,EAAE,aAAa;YACpB,mBAAmB,EAAE,KAAK,CAAC,aAAa,CAAC,MAAM;YAC/C,OAAO,EAAE,CAAC;YACV,OAAO,EAAE,CAAC;YACV,qBAAqB,EAAE,CAAC;YACxB,gBAAgB,EAAE,EAAE;YACpB,eAAe,EAAE,kCAAkC;YACnD,eAAe,EAAE,KAAK;SACvB,CAAC;IACJ,CAAC;IAED,IACE,aAAa,CAAC,gBAAgB,KAAK,gBAAgB;QACnD,aAAa,CAAC,mBAAmB,KAAK,KAAK,CAAC,aAAa,CAAC,MAAM,EAChE,CAAC;QACD,OAAO;YACL,MAAM,EAAE,YAAY;YACpB,KAAK,EAAE,aAAa;YACpB,mBAAmB,EAAE,KAAK,CAAC,aAAa,CAAC,MAAM;YAC/C,OAAO,EAAE,CAAC;YACV,OAAO,EAAE,CAAC;YACV,qBAAqB,EAAE,CAAC;YACxB,gBAAgB,EAAE,EAAE;YACpB,eAAe,EAAE,kCAAkC;YACnD,eAAe,EAAE,KAAK;SACvB,CAAC;IACJ,CAAC;IAED,MAAM,OAAO,GAAG,aAAa,CAAC,OAAO,GAAG,QAAQ,CAAC,CAAC,CAAC;IACnD,MAAM,OAAO,GAAG,aAAa,CAAC,OAAO,GAAG,QAAQ,CAAC,CAAC,CAAC;IACnD,MAAM,qBAAqB,GAAG,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,OAAO,CAAC,CAAC;IAC3D,MAAM,uBAAuB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,uBAAuB,CAAC;QAC5E,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,uBAAuB,IAAI,CAAC,CAAC;QACjD,CAAC,CAAC,kDAAkD,CAAC;IAEvD,IAAI,qBAAqB,GAAG,uBAAuB,EAAE,CAAC;QACpD,OAAO;YACL,MAAM,EAAE,YAAY;YACpB,KAAK,EAAE,aAAa;YACpB,mBAAmB,EAAE,KAAK,CAAC,aAAa,CAAC,MAAM;YAC/C,OAAO,EAAE,CAAC;YACV,OAAO,EAAE,CAAC;YACV,qBAAqB;YACrB,gBAAgB,EAAE,EAAE;YACpB,eAAe,EAAE,kCAAkC;YACnD,eAAe,EAAE,KAAK;SACvB,CAAC;IACJ,CAAC;IAED,OAAO;QACL,MAAM,EAAE,WAAW;QACnB,KAAK,EAAE,aAAa;QACpB,mBAAmB,EAAE,KAAK,CAAC,aAAa,CAAC,MAAM;QAC/C,OAAO;QACP,OAAO;QACP,qBAAqB;QACrB,gBAAgB,EAAE,CAAC,GAAG,EAAE,GAAG,CAAC;QAC5B,eAAe,EAAE,kCAAkC;QACnD,eAAe,EAAE,KAAK;KACvB,CAAC;AACJ,CAAC;AAED;;;;;;;;;GASG;AACH,MAAM,UAAU,2CAA2C,CAAC,KAK3D;IACC,MAAM,WAAW,GAAG,CAAC,mBAAmB,GAAG,CAAC,EAAwC,EAAE,CAAC,CAAC;QACtF,MAAM,EAAE,aAAa;QACrB,mBAAmB;QACnB,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,qBAAqB,EAAE,CAAC;QACxB,mBAAmB,EAAE,CAAC;QACtB,gBAAgB,EAAE,EAAE;QACpB,eAAe,EAAE,eAAe;QAChC,eAAe,EAAE,KAAK;KACvB,CAAC,CAAC;IAEH,IACE,KAAK,CAAC,eAAe,KAAK,KAAK;QAC/B,KAAK,CAAC,mBAAmB,CAAC,MAAM,GAAG,CAAC;QACpC,KAAK,CAAC,mBAAmB,CAAC,MAAM,KAAK,KAAK,CAAC,kBAAkB,CAAC,MAAM,EACpE,CAAC;QACD,OAAO,WAAW,CAAC,KAAK,CAAC,mBAAmB,CAAC,MAAM,CAAC,CAAC;IACvD,CAAC;IAED,MAAM,MAAM,GAAG,sBAAsB,CAAC,KAAK,CAAC,mBAAmB,CAAC,CAAC;IACjE,MAAM,KAAK,GAAG,sBAAsB,CAAC,KAAK,CAAC,kBAAkB,CAAC,CAAC;IAC/D,IAAI,CAAC,MAAM,IAAI,CAAC,KAAK;QAAE,OAAO,WAAW,CAAC,KAAK,CAAC,mBAAmB,CAAC,MAAM,CAAC,CAAC;IAE5E,MAAM,gBAAgB,GAAG,MAAM,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;IAC5C,MAAM,gBAAgB,GAAG,MAAM,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;IAC5C,MAAM,qBAAqB,GAAG,IAAI,CAAC,KAAK,CAAC,gBAAgB,EAAE,gBAAgB,CAAC,CAAC;IAC7E,MAAM,mBAAmB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,mBAAmB,CAAC;QACpE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,mBAAmB,IAAI,CAAC,CAAC;QAC7C,CAAC,CAAC,4CAA4C,CAAC;IACjD,MAAM,KAAK,GACT,qBAAqB,GAAG,mBAAmB,IAAI,qBAAqB,GAAG,qBAAqB;QAC1F,CAAC,CAAC,mBAAmB,GAAG,qBAAqB;QAC7C,CAAC,CAAC,CAAC,CAAC;IACR,MAAM,OAAO,GAAG,gBAAgB,GAAG,KAAK,CAAC;IACzC,MAAM,OAAO,GAAG,gBAAgB,GAAG,KAAK,CAAC;IACzC,MAAM,mBAAmB,GAAG,qBAAqB,GAAG,KAAK,CAAC;IAE1D,OAAO;QACL,MAAM,EAAE,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,WAAW;QAC3C,mBAAmB,EAAE,KAAK,CAAC,mBAAmB,CAAC,MAAM;QACrD,OAAO;QACP,OAAO;QACP,qBAAqB;QACrB,mBAAmB;QACnB,gBAAgB,EAAE,CAAC,GAAG,EAAE,GAAG,CAAC;QAC5B,eAAe,EAAE,kCAAkC;QACnD,eAAe,EAAE,KAAK;KACvB,CAAC;AACJ,CAAC;AAED;;;;;;;;GAQG;AACH,MAAM,UAAU,gDAAgD,CAAC,KAKhE;IACC,MAAM,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC,MAAM,CAAC,oBAAoB,CAAC,CAAC;IACvE,MAAM,WAAW,GAAG,GAA8C,EAAE,CAAC,CAAC;QACpE,MAAM,EAAE,aAAa;QACrB,mBAAmB,EAAE,aAAa,CAAC,MAAM;QACzC,aAAa,EAAE,IAAI;QACnB,oBAAoB,EAAE,EAAE,GAAG,mBAAmB,EAAE;QAChD,sBAAsB,EAAE,CAAC;QACzB,iBAAiB,EAAE,KAAK;QACxB,gBAAgB,EAAE,EAAE;QACpB,eAAe,EAAE,eAAe;QAChC,eAAe,EAAE,KAAK;KACvB,CAAC,CAAC;IAEH,IAAI,CAAC,KAAK,CAAC,OAAO,IAAI,KAAK,CAAC,eAAe,KAAK,KAAK,IAAI,aAAa,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QAClF,OAAO,WAAW,EAAE,CAAC;IACvB,CAAC;IAED,MAAM,MAAM,GAAG,aAAa,CAAC,MAAM,CACjC,CAAC,GAAG,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,EAChF,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CACrB,CAAC;IACF,MAAM,CAAC,CAAC,IAAI,aAAa,CAAC,MAAM,CAAC;IACjC,MAAM,CAAC,CAAC,IAAI,aAAa,CAAC,MAAM,CAAC;IACjC,MAAM,CAAC,CAAC,IAAI,aAAa,CAAC,MAAM,CAAC;IAEjC,IAAI,EAAE,GAAG,CAAC,CAAC;IACX,IAAI,EAAE,GAAG,CAAC,CAAC;IACX,IAAI,EAAE,GAAG,CAAC,CAAC;IACX,IAAI,EAAE,GAAG,CAAC,CAAC;IACX,IAAI,EAAE,GAAG,CAAC,CAAC;IAEX,KAAK,MAAM,KAAK,IAAI,aAAa,EAAE,CAAC;QAClC,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;QAC7B,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;QAC7B,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;QAC7B,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC;QACZ,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC;QACZ,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC;QACZ,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC;QACZ,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC;IACd,CAAC;IAED,MAAM,WAAW,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IAEtC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,IAAI,qBAAqB,EAAE,CAAC;QACpF,OAAO,WAAW,EAAE,CAAC;IACvB,CAAC;IAED,MAAM,MAAM,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,WAAW,CAAC;IACjD,MAAM,MAAM,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,WAAW,CAAC;IACjD,MAAM,YAAY,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAEnD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,YAAY,CAAC,IAAI,YAAY,IAAI,qBAAqB,EAAE,CAAC;QAC5E,OAAO,WAAW,EAAE,CAAC;IACvB,CAAC;IAED,MAAM,aAAa,GAAG;QACpB,CAAC,EAAE,CAAC,MAAM,GAAG,YAAY;QACzB,CAAC,EAAE,CAAC,GAAG,YAAY;QACnB,CAAC,EAAE,CAAC,MAAM,GAAG,YAAY;KAC1B,CAAC;IACF,MAAM,QAAQ,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,aAAa,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACvE,MAAM,oBAAoB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,oBAAoB,CAAC;QACtE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,KAAK,CAAC,oBAAoB,IAAI,CAAC,CAAC,CAAC;QACrE,CAAC,CAAC,0CAA0C,CAAC;IAC/C,MAAM,sBAAsB,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,oBAAoB,CAAC,CAAC;IAExE,IAAI,sBAAsB,IAAI,IAAI,EAAE,CAAC;QACnC,OAAO;YACL,MAAM,EAAE,SAAS;YACjB,mBAAmB,EAAE,aAAa,CAAC,MAAM;YACzC,aAAa;YACb,oBAAoB,EAAE,EAAE,GAAG,mBAAmB,EAAE;YAChD,sBAAsB,EAAE,CAAC;YACzB,iBAAiB,EAAE,KAAK;YACxB,gBAAgB,EAAE,EAAE;YACpB,eAAe,EAAE,4BAA4B;YAC7C,eAAe,EAAE,KAAK;SACvB,CAAC;IACJ,CAAC;IAED,4EAA4E;IAC5E,sEAAsE;IACtE,MAAM,KAAK,GAAG,CAAC,aAAa,CAAC,CAAC,CAAC;IAC/B,MAAM,KAAK,GAAG,aAAa,CAAC,CAAC,CAAC;IAC9B,MAAM,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IAE5C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAC,IAAI,UAAU,IAAI,qBAAqB,EAAE,CAAC;QACxE,OAAO,WAAW,EAAE,CAAC;IACvB,CAAC;IAED,MAAM,SAAS,GAAG,sBAAsB,GAAG,CAAC,CAAC;IAC7C,MAAM,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC;IAEzC,OAAO;QACL,MAAM,EAAE,WAAW;QACnB,mBAAmB,EAAE,aAAa,CAAC,MAAM;QACzC,aAAa;QACb,oBAAoB,EAAE;YACpB,CAAC,EAAE,CAAC,KAAK,GAAG,UAAU,CAAC,GAAG,YAAY;YACtC,CAAC,EAAE,CAAC;YACJ,CAAC,EAAE,CAAC,KAAK,GAAG,UAAU,CAAC,GAAG,YAAY;YACtC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC;SACvB;QACD,sBAAsB;QACtB,iBAAiB,EAAE,QAAQ,GAAG,sBAAsB,GAAG,IAAI;QAC3D,gBAAgB,EAAE,CAAC,MAAM,EAAE,OAAO,CAAC;QACnC,eAAe,EAAE,4BAA4B;QAC7C,eAAe,EAAE,KAAK;KACvB,CAAC;AACJ,CAAC;AAED;;;;;;;;GAQG;AACH,MAAM,UAAU,0CAA0C,CAAC,KAI1D;IACC,MAAM,oBAAoB,GAAG,YAAY,CAAC,KAAK,CAAC,oBAAoB,CAAC,CAAC;IACtE,MAAM,oBAAoB,GAAG,YAAY,CAAC,KAAK,CAAC,oBAAoB,CAAC,CAAC;IACtE,MAAM,iBAAiB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,iBAAiB,CAAC;QAChE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,iBAAiB,IAAI,CAAC,CAAC;QAC3C,CAAC,CAAC,KAAK,CAAC;IAEV,IAAI,oBAAoB,KAAK,IAAI,IAAI,oBAAoB,KAAK,IAAI,EAAE,CAAC;QACnE,OAAO;YACL,QAAQ,EAAE,KAAK;YACf,oBAAoB;YACpB,oBAAoB;YACpB,gBAAgB,EAAE,IAAI;SACvB,CAAC;IACJ,CAAC;IAED,MAAM,gBAAgB,GAAG,oBAAoB,GAAG,oBAAoB,CAAC;IAErE,OAAO;QACL,QAAQ,EAAE,gBAAgB,IAAI,iBAAiB;QAC/C,oBAAoB;QACpB,oBAAoB;QACpB,gBAAgB;KACjB,CAAC;AACJ,CAAC;AAED;;;;;;;;;;;;;GAaG;AACH,MAAM,UAAU,kCAAkC,CAAC,KAMlD;IACC,MAAM,mBAAmB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,mBAAmB,CAAC;QACpE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,mBAAmB,IAAI,CAAC,CAAC,CAAC;QACzD,CAAC,CAAC,CAAC,CAAC;IACN,MAAM,yBAAyB,GAAG,YAAY,CAAC,KAAK,CAAC,yBAAyB,CAAC,CAAC;IAChF,MAAM,mBAAmB,GAAG,YAAY,CAAC,KAAK,CAAC,mBAAmB,CAAC,CAAC;IAEpE,IAAI,yBAAyB,KAAK,IAAI,IAAI,mBAAmB,KAAK,IAAI,EAAE,CAAC;QACvE,OAAO;YACL,eAAe,EAAE,mBAAmB;YACpC,mBAAmB;YACnB,MAAM,EAAE,kCAAkC;SAC3C,CAAC;IACJ,CAAC;IAED,IAAI,yBAAyB,KAAK,IAAI,EAAE,CAAC;QACvC,OAAO;YACL,eAAe,EAAE,yBAAyB;YAC1C,mBAAmB;YACnB,MAAM,EAAE,oBAAoB;SAC7B,CAAC;IACJ,CAAC;IAED,IAAI,mBAAmB,KAAK,IAAI,EAAE,CAAC;QACjC,OAAO;YACL,eAAe,EAAE,mBAAmB;YACpC,mBAAmB;YACnB,MAAM,EAAE,cAAc;SACvB,CAAC;IACJ,CAAC;IAED,MAAM,oBAAoB,GAAG,YAAY,CAAC,KAAK,CAAC,oBAAoB,CAAC,CAAC;IAEtE,IAAI,oBAAoB,KAAK,IAAI,EAAE,CAAC;QAClC,OAAO;YACL,eAAe,EAAE,oBAAoB;YACrC,mBAAmB;YACnB,MAAM,EAAE,eAAe;SACxB,CAAC;IACJ,CAAC;IAED,MAAM,eAAe,GAAG,YAAY,CAAC,KAAK,CAAC,eAAe,CAAC,CAAC;IAE5D,IAAI,mBAAmB,GAAG,CAAC,IAAI,eAAe,KAAK,IAAI,EAAE,CAAC;QACxD,OAAO;YACL,eAAe,EAAE,eAAe;YAChC,mBAAmB;YACnB,MAAM,EAAE,sBAAsB;SAC/B,CAAC;IACJ,CAAC;IAED,OAAO,EAAE,eAAe,EAAE,IAAI,EAAE,mBAAmB,EAAE,CAAC,EAAE,MAAM,EAAE,cAAc,EAAE,CAAC;AACnF,CAAC;AAED;;;;;;;;GAQG;AACH,MAAM,UAAU,uCAAuC,CAAC,KAMvD;IACC,MAAM,MAAM,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;IAChE,MAAM,mBAAmB,GAAG,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,mBAAmB,CAAC;QACpE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,mBAAmB,IAAI,CAAC,CAAC,CAAC;QACzD,CAAC,CAAC,CAAC,CAAC;IAEN,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,CAAC;QACnB,OAAO;YACL,MAAM,EAAE,UAAU;YAClB,MAAM,EAAE,aAAa;YACrB,MAAM;YACN,eAAe,EAAE,IAAI;YACrB,mBAAmB,EAAE,CAAC;YACtB,OAAO,EAAE,CAAC;YACV,QAAQ,EAAE,KAAK;YACf,WAAW,EAAE,eAAe;YAC5B,gBAAgB,EAAE,EAAE;YACpB,eAAe,EAAE,KAAK;SACvB,CAAC;IACJ,CAAC;IAED,IAAI,OAAO,KAAK,CAAC,eAAe,KAAK,QAAQ,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,eAAe,CAAC,EAAE,CAAC;QACzF,OAAO;YACL,MAAM,EAAE,aAAa;YACrB,MAAM,EAAE,aAAa;YACrB,MAAM;YACN,eAAe,EAAE,IAAI;YACrB,mBAAmB,EAAE,CAAC;YACtB,OAAO,EAAE,CAAC;YACV,QAAQ,EAAE,KAAK;YACf,WAAW,EAAE,eAAe;YAC5B,gBAAgB,EAAE,EAAE;YACpB,eAAe,EAAE,KAAK;SACvB,CAAC;IACJ,CAAC;IAED,OAAO;QACL,MAAM,EAAE,UAAU;QAClB,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,MAAM;QACN,eAAe,EAAE,KAAK,CAAC,eAAe;QACtC,mBAAmB;QACnB,OAAO,EAAE,MAAM,GAAG,KAAK,CAAC,eAAe;QACvC,QAAQ,EAAE,IAAI;QACd,WAAW,EACT,KAAK,CAAC,MAAM,KAAK,kCAAkC;YACnD,KAAK,CAAC,MAAM,KAAK,oBAAoB;YACrC,KAAK,CAAC,MAAM,KAAK,cAAc;YAC7B,CAAC,CAAC,mCAAmC;YACrC,CAAC,CAAC,+BAA+B;QACrC,gBAAgB,EAAE,CAAC,GAAG,CAAC;QACvB,eAAe,EAAE,KAAK;KACvB,CAAC;AACJ,CAAC"}

package/dist/renderer/ObservedRobotPresentationBuffer.d.ts

@@ -0,0 +1,71 @@
+export type ObservedRobotPresentationMode = 'raw' | 'interpolated';
+export type ObservedRobotPresentationFallbackReason = 'none' | 'insufficient_samples' | 'invalid_sample' | 'sample_gap' | 'discontinuity';
+export interface ObservedRobotPresentationSample {
+    sampleId: string;
+    connectionId: string;
+    sourceObservedAtSeconds: number | null;
+    receivedAtMs: number;
+    jointValues: Readonly<Record<string, number>>;
+}
+export interface ObservedRobotPresentationConfig {
+    minimumTransitionMs: number;
+    maximumTransitionMs: number;
+    maximumSampleGapMs: number;
+}
+export interface ObservedRobotPresentationFrame {
+    mode: ObservedRobotPresentationMode;
+    state: 'raw' | 'interpolated' | 'fallback';
+    fallbackReason: ObservedRobotPresentationFallbackReason;
+    provenance: 'observed-raw' | 'observed-interpolated';
+    sourceSampleIds: readonly string[];
+    connectionId: string;
+    sourceObservedAtSeconds: number | null;
+    renderedAtMs: number;
+    latestReceivedAtMs: number;
+    interpolationAlpha: number;
+    transitionDurationMs: number;
+    active: boolean;
+    jointValues: Readonly<Record<string, number>>;
+}
+export interface ObservedRobotPresentationStatus {
+    mode: ObservedRobotPresentationMode;
+    state: ObservedRobotPresentationFrame['state'] | 'empty';
+    fallbackReason: ObservedRobotPresentationFallbackReason;
+    provenance: ObservedRobotPresentationFrame['provenance'] | null;
+    sourceSampleIds: readonly string[];
+    interpolationAlpha: number;
+    transitionDurationMs: number;
+    active: boolean;
+}
+/**
+ * Reconstructs only the visible pose of an observed robot between admitted
+ * telemetry samples. Source observations remain immutable and never inherit
+ * values produced by this presentation buffer.
+ *
+ * The transition clock is the local receipt clock. The upstream
+ * sourceObservedAtSeconds value is retained as provenance, but it is not used
+ * for interpolation because its clock domain is not part of the observation
+ * contract yet.
+ */
+export declare class ObservedRobotPresentationBuffer {
+    private readonly config;
+    private mode;
+    private latestSample;
+    private transitionStartValues;
+    private transitionSourceSampleIds;
+    private transitionStartedAtMs;
+    private transitionDurationMs;
+    private pendingFallbackReason;
+    private status;
+    constructor(config?: Partial<ObservedRobotPresentationConfig>);
+    setMode(mode: ObservedRobotPresentationMode): void;
+    getMode(): ObservedRobotPresentationMode;
+    getStatus(): ObservedRobotPresentationStatus;
+    getConfig(): ObservedRobotPresentationConfig;
+    reset(reason?: ObservedRobotPresentationFallbackReason): void;
+    ingest(sample: ObservedRobotPresentationSample): boolean;
+    project(renderedAtMs: number): ObservedRobotPresentationFrame | null;
+    isActive(renderedAtMs: number): boolean;
+    private acceptFirstSample;
+}
+//# sourceMappingURL=ObservedRobotPresentationBuffer.d.ts.map

package/dist/renderer/ObservedRobotPresentationBuffer.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ObservedRobotPresentationBuffer.d.ts","sourceRoot":"","sources":["../../src/renderer/ObservedRobotPresentationBuffer.ts"],"names":[],"mappings":"AAEA,MAAM,MAAM,6BAA6B,GAAG,KAAK,GAAG,cAAc,CAAC;AAEnE,MAAM,MAAM,uCAAuC,GAC/C,MAAM,GACN,sBAAsB,GACtB,gBAAgB,GAChB,YAAY,GACZ,eAAe,CAAC;AAEpB,MAAM,WAAW,+BAA+B;IAC9C,QAAQ,EAAE,MAAM,CAAC;IACjB,YAAY,EAAE,MAAM,CAAC;IACrB,uBAAuB,EAAE,MAAM,GAAG,IAAI,CAAC;IACvC,YAAY,EAAE,MAAM,CAAC;IACrB,WAAW,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;CAC/C;AAED,MAAM,WAAW,+BAA+B;IAC9C,mBAAmB,EAAE,MAAM,CAAC;IAC5B,mBAAmB,EAAE,MAAM,CAAC;IAC5B,kBAAkB,EAAE,MAAM,CAAC;CAC5B;AAED,MAAM,WAAW,8BAA8B;IAC7C,IAAI,EAAE,6BAA6B,CAAC;IACpC,KAAK,EAAE,KAAK,GAAG,cAAc,GAAG,UAAU,CAAC;IAC3C,cAAc,EAAE,uCAAuC,CAAC;IACxD,UAAU,EAAE,cAAc,GAAG,uBAAuB,CAAC;IACrD,eAAe,EAAE,SAAS,MAAM,EAAE,CAAC;IACnC,YAAY,EAAE,MAAM,CAAC;IACrB,uBAAuB,EAAE,MAAM,GAAG,IAAI,CAAC;IACvC,YAAY,EAAE,MAAM,CAAC;IACrB,kBAAkB,EAAE,MAAM,CAAC;IAC3B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,oBAAoB,EAAE,MAAM,CAAC;IAC7B,MAAM,EAAE,OAAO,CAAC;IAChB,WAAW,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;CAC/C;AAED,MAAM,WAAW,+BAA+B;IAC9C,IAAI,EAAE,6BAA6B,CAAC;IACpC,KAAK,EAAE,8BAA8B,CAAC,OAAO,CAAC,GAAG,OAAO,CAAC;IACzD,cAAc,EAAE,uCAAuC,CAAC;IACxD,UAAU,EAAE,8BAA8B,CAAC,YAAY,CAAC,GAAG,IAAI,CAAC;IAChE,eAAe,EAAE,SAAS,MAAM,EAAE,CAAC;IACnC,kBAAkB,EAAE,MAAM,CAAC;IAC3B,oBAAoB,EAAE,MAAM,CAAC;IAC7B,MAAM,EAAE,OAAO,CAAC;CACjB;AAmBD;;;;;;;;;GASG;AACH,qBAAa,+BAA+B;IAC1C,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAkC;IACzD,OAAO,CAAC,IAAI,CAAiD;IAC7D,OAAO,CAAC,YAAY,CAAgD;IACpE,OAAO,CAAC,qBAAqB,CAAwC;IACrE,OAAO,CAAC,yBAAyB,CAAyB;IAC1D,OAAO,CAAC,qBAAqB,CAAK;IAClC,OAAO,CAAC,oBAAoB,CAAK;IACjC,OAAO,CAAC,qBAAqB,CAAmE;IAChG,OAAO,CAAC,MAAM,CAAiD;gBAEnD,MAAM,GAAE,OAAO,CAAC,+BAA+B,CAAM;IAmBjE,OAAO,CAAC,IAAI,EAAE,6BAA6B,GAAG,IAAI;IAMlD,OAAO,IAAI,6BAA6B;IAIxC,SAAS,IAAI,+BAA+B;IAI5C,SAAS,IAAI,+BAA+B;IAI5C,KAAK,CAAC,MAAM,GAAE,uCAAyD,GAAG,IAAI;IAc9E,MAAM,CAAC,MAAM,EAAE,+BAA+B,GAAG,OAAO;IA4DxD,OAAO,CAAC,YAAY,EAAE,MAAM,GAAG,8BAA8B,GAAG,IAAI;IAmEpE,QAAQ,CAAC,YAAY,EAAE,MAAM,GAAG,OAAO;IAUvC,OAAO,CAAC,iBAAiB;CAY1B"}