npm - @konitif/viewer-3d - Versions diffs - 0.285.2 → 0.285.4 - Mend

@konitif/viewer-3d 0.285.2 → 0.285.4

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 (5) hide show

package/dist/renderer/Viewer3DRenderer.d.ts +19 -0
package/dist/renderer/Viewer3DRenderer.d.ts.map +1 -1
package/dist/renderer/Viewer3DRenderer.js +228 -15
package/dist/renderer/Viewer3DRenderer.js.map +1 -1
package/package.json +1 -1

package/dist/renderer/Viewer3DRenderer.d.ts CHANGED Viewed

@@ -169,6 +169,7 @@ export interface Viewer3DOptions<Artifact = unknown, Snapshot = unknown> {
     physicsObservationEnabled?: boolean;
     onTemporalProjectionStatus?: (status: ViewerTemporalProjectionStatus) => void;
     onPhysicsObservation?: (observation: Viewer3DPhysicsObservation) => void;
+    onComparisonPhysicsObservation?: (profileId: string, observation: Viewer3DPhysicsObservation) => void;
     onCameraInteractionStart?: () => void;
     cameraPosition?: RobotViewerVector;
     cameraTarget?: RobotViewerVector;
@@ -204,6 +205,15 @@ export interface Viewer3DProjectileInteractionObservation {
 }
 export type Viewer3DLedRingZoneId = 'eyes' | 'headTop' | 'ears' | 'hands' | 'feet' | 'torso';
 export type Viewer3DLedRingCalibration = ViewerLedRingCalibration;
+export interface Viewer3DLedZoneStateProjection {
+    color?: string;
+    colors?: readonly string[];
+    intensity?: number;
+}
+export interface Viewer3DLedStateProjection {
+    visible: boolean;
+    zones: Partial<Record<Viewer3DLedRingZoneId, Viewer3DLedZoneStateProjection>>;
+}
 export interface Viewer3DEyeRingCalibration extends Viewer3DLedRingCalibration {
     zones?: Partial<Record<Viewer3DLedRingZoneId, Partial<Viewer3DLedRingCalibration>>>;
 }
@@ -305,6 +315,7 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private cameraTransitionActive;
     private readonly observedRobotGhostBasePosition;
     private readonly observedRobotGhostBaseQuaternion;
+    private readonly observedRobotGhostBaseScale;
     private observedRobotTemporalSupportAnchorState;
     private observedRobotGrounding;
     private observedRobotSupportInclination;
@@ -442,6 +453,8 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private poseHandleTargetTransitionState;
     private poseHandleDragStarted;
     private poseHandleControlsWereEnabled;
+    private ledStateProjection;
+    private readonly ledMeshBaseColors;
     private suppressPoseHandleClickUntil;
     private poseEditBaseline;
     private dirtyPose;
@@ -476,6 +489,7 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private lastRuntimeHistorySampleAt;
     private unsubscribeRuntimeHistory;
     private lastRuntimeHistoryReplaySignature;
+    private runtimeHistoryReplayState;
     private runtimeHistoryReplayActive;
     private runtimeHistoryProjectionRequiresPhysicsRebase;
     private runtimeHistoryProjectedPhysicsRootPose;
@@ -635,6 +649,7 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     setEyeRingDebugVisible(showEyeRingDebug: boolean): void;
     setEyeRingMireVisible(showEyeRingMire: boolean): void;
     setEyeRingCalibration(eyeRingCalibration: Partial<Viewer3DEyeRingCalibration>): void;
+    setLedStateProjection(projection: Viewer3DLedStateProjection | null): void;
     setBalanceDebugVisible(showBalanceDebug: boolean): void;
     setTrajectoryPreview(animation: RobotMotionAnimation | null): void;
     setRobot(robot: Object3D): void;
@@ -1049,6 +1064,10 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private createLedLayoutGuide;
     private createEyeRingCircle;
     private createEyeRingLedMarker;
+    /** The speaker grille stays dark; only its peripheral diffuser receives LED light. */
+    private createEarSpeakerGrille;
+    /** Projects the timeline colors onto the authored outer ear diffuser band. */
+    private updateEarMeshDiffusers;
     private createEyeRingMireLines;
     private createEyeRingLine;
     private ensureBalanceDebugGroup;

package/dist/renderer/Viewer3DRenderer.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/renderer/Viewer3DRenderer.js CHANGED Viewed

@@ -6,7 +6,7 @@ import { createClockGraph, createInvalidationController, createTemporalTransport
 import { createViewerTemporalScheduler } from './ViewerTemporalScheduler.js';
 import { copyViewerMetadata } from './ViewerMetadata.js';
 import { resolveInteractionInputActions, resolveInteractionInputBindings } from '@konitif/tools/input';
-import { AxesHelper, Box3, BoxGeometry, BufferGeometry, CanvasTexture, Color, ConeGeometry, CylinderGeometry, DirectionalLight, DoubleSide, Float32BufferAttribute, FogExp2, GridHelper, Group, HalfFloatType, HemisphereLight, Line, LineBasicMaterial, Matrix4, MathUtils, Mesh, MeshBasicMaterial, MeshDepthMaterial, NoToneMapping, Object3D, OrthographicCamera, Plane, PlaneGeometry, PerspectiveCamera, VSMShadowMap, Quaternion, Raycaster, Scene, CircleGeometry, SphereGeometry, Sprite, SpriteMaterial, SRGBColorSpace, Vector2, Vector3, WebGLRenderTarget, WebGLRenderer } from 'three';
+import { AxesHelper, Box3, BoxGeometry, BufferGeometry, CanvasTexture, Color, ConeGeometry, CylinderGeometry, DirectionalLight, DoubleSide, Float32BufferAttribute, FogExp2, GridHelper, Group, HalfFloatType, HemisphereLight, Line, LineBasicMaterial, LineSegments, Matrix4, MathUtils, Mesh, MeshBasicMaterial, MeshDepthMaterial, NoToneMapping, Object3D, OrthographicCamera, Plane, PlaneGeometry, PerspectiveCamera, VSMShadowMap, Quaternion, Raycaster, Scene, CircleGeometry, SphereGeometry, Sprite, SpriteMaterial, SRGBColorSpace, Vector2, Vector3, WebGLRenderTarget, WebGLRenderer } from 'three';
 import { ArcballControls } from 'three/examples/jsm/controls/ArcballControls.js';
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
 import { EffectComposer } from 'three/examples/jsm/postprocessing/EffectComposer.js';
@@ -227,6 +227,7 @@ export class Viewer3D {
     cameraTransitionActive = false;
     observedRobotGhostBasePosition = new Vector3();
     observedRobotGhostBaseQuaternion = new Quaternion();
+    observedRobotGhostBaseScale = new Vector3(1, 1, 1);
     observedRobotTemporalSupportAnchorState = null;
     observedRobotGrounding = resolveObservedRobotGroundingProjection({
         enabled: false,
@@ -375,6 +376,8 @@ export class Viewer3D {
     poseHandleTargetTransitionState = null;
     poseHandleDragStarted = false;
     poseHandleControlsWereEnabled = false;
+    ledStateProjection = { visible: false, zones: {} };
+    ledMeshBaseColors = new WeakMap();
     suppressPoseHandleClickUntil = 0;
     poseEditBaseline = null;
     dirtyPose = false;
@@ -409,6 +412,7 @@ export class Viewer3D {
     lastRuntimeHistorySampleAt = 0;
     unsubscribeRuntimeHistory = () => { };
     lastRuntimeHistoryReplaySignature = '';
+    runtimeHistoryReplayState = 'live';
     runtimeHistoryReplayActive = false;
     runtimeHistoryProjectionRequiresPhysicsRebase = false;
     runtimeHistoryProjectedPhysicsRootPose = null;
@@ -569,9 +573,12 @@ export class Viewer3D {
             temporalProjectionMode: options.temporalProjectionMode ?? 'interpolated',
             temporalProjectionBufferDelayMs: options.temporalProjectionBufferDelayMs ?? 1000 / 30,
             temporalProjectionMaxSampleGapMs: options.temporalProjectionMaxSampleGapMs ?? 120,
-            physicsObservationEnabled: options.physicsObservationEnabled ?? typeof options.onPhysicsObservation === 'function',
+            physicsObservationEnabled: options.physicsObservationEnabled ??
+                (typeof options.onPhysicsObservation === 'function' ||
+                    typeof options.onComparisonPhysicsObservation === 'function'),
             onTemporalProjectionStatus: options.onTemporalProjectionStatus ?? (() => { }),
             onPhysicsObservation: options.onPhysicsObservation ?? (() => { }),
+            onComparisonPhysicsObservation: options.onComparisonPhysicsObservation ?? (() => { }),
             onCameraInteractionStart: options.onCameraInteractionStart ?? (() => { }),
             cameraPosition: options.cameraPosition ?? VIEWER3D_DEFAULT_CAMERA_POSITION,
             cameraTarget: options.cameraTarget ?? VIEWER3D_DEFAULT_CAMERA_TARGET,
@@ -826,6 +833,7 @@ export class Viewer3D {
         this.configureObservedRobotGhostMaterials(robot);
         this.observedRobotGhostBasePosition.copy(robot.position);
         this.observedRobotGhostBaseQuaternion.copy(robot.quaternion);
+        this.observedRobotGhostBaseScale.copy(robot.scale);
         robot.name = robot.name ? `${robot.name}:observed-ghost` : 'observed-robot-ghost';
         robot.visible = this.options.showObservedRobotGhost;
         if (!this.observedRobotPresentationRoot.parent) {
@@ -872,10 +880,22 @@ export class Viewer3D {
         const transforms = (sample?.physics?.bodyTransforms ?? []).map((body) => this.deserializeRuntimeHistoryTransform(body, false));
         const root = transforms.find((body) => body.metadata?.visualRoot === true);
         const robot = this.observedRobotGhost;
-        robot.visible = Boolean(root && this.options.showObservedRobotGhost);
+        robot.visible = this.options.showObservedRobotGhost;
         this.comparisonColliderGroup.visible = Boolean(root && (this.options.showPhysicsColliders || this.options.showPhysicsCenterOfMass) && robot.visible);
-        if (!root || !sample)
+        if (!root || !sample) {
+            // Asset visibility is independent from runtime physics availability. A
+            // comparison peer must remain inspectable while its first frame arrives.
+            robot.position.copy(this.observedRobotGhostBasePosition);
+            robot.quaternion.copy(this.observedRobotGhostBaseQuaternion);
+            robot.scale.copy(this.observedRobotGhostBaseScale);
+            if (this.robotComparisonAppearance.mode === 'offset') {
+                robot.position.x +=
+                    this.robotComparisonAppearance.offsetMeters /
+                        (this.robotComparisonAppearance.centeredSeparation ? 2 : 1);
+            }
+            this.groundSimulatedRobotOnSupportFloor(robot);
             return;
+        }
         const joints = robot.joints ?? {};
         for (const [name, value] of Object.entries(sample.joints ?? {})) {
             if (Number.isFinite(value))
@@ -1254,6 +1274,8 @@ export class Viewer3D {
         this.physicsVisualRootToRobotMatrix = null;
         this.physicsAuthoredJointTargets.clear();
         this.resetPhysicsPostureCompensation();
+        this.comparisonViewerSample = null;
+        this.projectComparisonSimulation();
         this.restorePhysicsResetRobotState();
         await this.physicsService.resetSimulation();
         if (this.destroyed)
@@ -1450,6 +1472,7 @@ export class Viewer3D {
         this.physicsResetBaselineCaptureFrameCount = Math.max(0, Math.min(240, Math.round(frameCount)));
     }
     inspectRuntimeHistorySnapshot(snapshot) {
+        this.runtimeHistoryReplayState = snapshot.replayState;
         if (snapshot.replayState === 'live') {
             // Recording publishes a live snapshot for every captured sample. Treat
             // those notifications as observations, not replay-mode transitions:
@@ -1939,7 +1962,7 @@ export class Viewer3D {
             return;
         }
         this.options.showEyeRingDebug = showEyeRingDebug;
-        if (showEyeRingDebug || this.options.showEyeRingMire) {
+        if (showEyeRingDebug || this.options.showEyeRingMire || this.ledStateProjection.visible) {
             this.updateEyeRingDebug();
         }
         else {
@@ -1952,7 +1975,7 @@ export class Viewer3D {
             return;
         }
         this.options.showEyeRingMire = showEyeRingMire;
-        if (showEyeRingMire || this.options.showEyeRingDebug) {
+        if (showEyeRingMire || this.options.showEyeRingDebug || this.ledStateProjection.visible) {
             this.updateEyeRingDebug();
         }
         else {
@@ -1962,11 +1985,38 @@ export class Viewer3D {
     }
     setEyeRingCalibration(eyeRingCalibration) {
         this.options.eyeRingCalibration = eyeRingCalibration;
-        if (this.options.showEyeRingDebug || this.options.showEyeRingMire) {
+        if (this.options.showEyeRingDebug || this.options.showEyeRingMire || this.ledStateProjection.visible) {
             this.updateEyeRingDebug();
         }
         this.requestRender();
     }
+    setLedStateProjection(projection) {
+        this.ledStateProjection = projection
+            ? {
+                visible: projection.visible === true,
+                zones: Object.fromEntries(Object.entries(projection.zones).map(([zoneId, zone]) => [
+                    zoneId,
+                    zone
+                        ? {
+                            color: typeof zone.color === 'string' ? zone.color : undefined,
+                            colors: Array.isArray(zone.colors) ? [...zone.colors] : undefined,
+                            intensity: Number.isFinite(zone.intensity) ? Math.max(0, Math.min(1, zone.intensity ?? 1)) : 1
+                        }
+                        : undefined
+                ]))
+            }
+            : { visible: false, zones: {} };
+        if (this.ledStateProjection.visible || this.options.showEyeRingDebug || this.options.showEyeRingMire) {
+            this.updateEyeRingDebug();
+        }
+        else {
+            const robot = this.getPoseControlRobot();
+            if (robot)
+                this.updateEarMeshDiffusers(robot, []);
+            this.updateEyeRingDebugVisibility();
+        }
+        this.requestRender();
+    }
     setBalanceDebugVisible(showBalanceDebug) {
         if (this.options.showBalanceDebug === showBalanceDebug) {
             return;
@@ -4336,7 +4386,9 @@ export class Viewer3D {
         if (this.runtimeHistoryReplayActive) {
             return;
         }
-        if (recorder.snapshot().replayState !== 'live') {
+        // The subscription already tracks this scalar. Calling snapshot() here
+        // copied the complete, growing history once again for every baked frame.
+        if (this.runtimeHistoryReplayState !== 'live') {
             return;
         }
         const sampleInterval = Math.max(0, this.options.runtimeHistorySampleIntervalMs);
@@ -4453,6 +4505,24 @@ export class Viewer3D {
                     ? comparison.viewer
                     : null;
             this.projectComparisonSimulation();
+            const comparisonViewer = this.comparisonViewerSample;
+            const comparisonBodyTransforms = (comparisonViewer?.physics?.bodyTransforms ?? []).map((transform) => this.deserializeRuntimeHistoryTransform(transform, false));
+            if (comparisonViewer?.physics?.enabled &&
+                comparisonBodyTransforms.length > 0 &&
+                this.options.physicsObservationEnabled) {
+                this.options.onComparisonPhysicsObservation(this.comparisonProfileId, {
+                    projectionStage: 'simulated',
+                    sampleId: `recorded-comparison:${sample.id}:${sample.timeSeconds}`,
+                    observedAtMs: performance.now(),
+                    simulatedTimeSeconds: sample.timeSeconds,
+                    jointAngles: { ...(comparisonViewer.joints ?? {}) },
+                    bodyTransforms: structuredClone(comparisonBodyTransforms),
+                    centerOfMass: comparisonViewer.physics.centerOfMass
+                        ? { ...comparisonViewer.physics.centerOfMass }
+                        : null,
+                    navigation: null
+                });
+            }
         }
         if (!viewer) {
             return false;
@@ -5119,6 +5189,7 @@ export class Viewer3D {
         });
         this.observedRobotGhost = null;
         this.observedRobotGhostBaseQuaternion.identity();
+        this.observedRobotGhostBaseScale.set(1, 1, 1);
         this.observedRobotGhostMaterialBaselines.clear();
         this.observedRobotGhostRenderOrderBaselines.clear();
         this.observedRobotGrounding = resolveObservedRobotGroundingProjection({
@@ -5145,6 +5216,7 @@ export class Viewer3D {
         if (this.observedRobotGhost) {
             this.observedRobotGhost.position.copy(this.observedRobotGhostBasePosition);
             this.observedRobotGhost.quaternion.copy(this.observedRobotGhostBaseQuaternion);
+            this.observedRobotGhost.scale.copy(this.observedRobotGhostBaseScale);
             if (observedRobotVisible && this.robotComparisonAppearance.mode === 'offset') {
                 if (this.robotComparisonAppearance.centeredSeparation) {
                     const halfSeparation = this.robotComparisonAppearance.offsetMeters / 2;
@@ -6242,7 +6314,7 @@ export class Viewer3D {
         if (this.options.showContactPoints) {
             this.updateContactPoints();
         }
-        if (this.options.showEyeRingDebug || this.options.showEyeRingMire) {
+        if (this.options.showEyeRingDebug || this.options.showEyeRingMire || this.ledStateProjection.visible) {
             this.updateEyeRingDebug();
         }
         if (this.options.showBalanceDebug) {
@@ -9193,7 +9265,7 @@ export class Viewer3D {
             : this.options.showRobot && this.robotComparisonAppearance.mode !== 'observed-only';
         this.eyeRingDebugGroup.visible =
             subjectVisible &&
-                (this.options.showEyeRingDebug || this.options.showEyeRingMire) &&
+                (this.options.showEyeRingDebug || this.options.showEyeRingMire || this.ledStateProjection.visible) &&
                 this.eyeRingDebugGroup.children.length > 0;
     }
     clearEyeRingDebug() {
@@ -9208,27 +9280,34 @@ export class Viewer3D {
     }
     updateEyeRingDebug() {
         const robot = this.getPoseControlRobot();
-        if ((!this.options.showEyeRingDebug && !this.options.showEyeRingMire) || !robot) {
+        if ((!this.options.showEyeRingDebug && !this.options.showEyeRingMire && !this.ledStateProjection.visible) || !robot) {
+            if (robot)
+                this.updateEarMeshDiffusers(robot, []);
             this.updateEyeRingDebugVisibility();
             return;
         }
         robot.updateMatrixWorld(true);
         const calibration = this.resolveEyeRingCalibration();
         const ledRingPoses = this.resolveLedRingPoses(calibration);
+        this.updateEarMeshDiffusers(robot, ledRingPoses.filter((pose) => pose.zoneId === 'ears'));
         if (ledRingPoses.length === 0) {
             this.clearEyeRingDebug();
             return;
         }
         const group = this.ensureEyeRingDebugGroup();
         this.clearEyeRingDebug();
-        if (this.options.showEyeRingDebug) {
+        if (this.options.showEyeRingDebug || this.ledStateProjection.visible) {
             for (const ring of ledRingPoses) {
                 const ledCount = Math.max(ring.calibration.layout === 'strip' ? 1 : 3, Math.min(64, Math.round(ring.calibration.ledCount)));
-                if (ring.calibration.mireVisible) {
+                if (this.options.showEyeRingDebug && ring.calibration.mireVisible) {
                     for (const [index, dimension] of this.resolveEyeRingDebugDimensions(ring.calibration).entries()) {
                         group.add(this.createLedLayoutGuide(ring, dimension, index === 0 ? '#22c55e' : '#67e8f9', index === 0 ? 0.84 : 0.42));
                     }
                 }
+                if (ring.zoneId === 'ears' && this.ledStateProjection.visible) {
+                    group.add(...this.createEarSpeakerGrille(ring));
+                    continue;
+                }
                 for (let index = 0; index < ledCount; index += 1) {
                     group.add(this.createEyeRingLedMarker(ring, index, ledCount, ring.calibration.ledSize));
                 }
@@ -9535,12 +9614,15 @@ export class Viewer3D {
         return line;
     }
     createEyeRingLedMarker(eye, index, count, ledSize) {
-        const color = index % 2 === 0 ? '#22c55e' : '#86efac';
+        const zoneState = this.ledStateProjection.visible ? this.ledStateProjection.zones[eye.zoneId] : undefined;
+        const projectedColor = zoneState?.colors?.[index % Math.max(1, zoneState.colors.length)] ?? zoneState?.color;
+        const color = projectedColor ?? (this.ledStateProjection.visible ? '#111827' : index % 2 === 0 ? '#22c55e' : '#86efac');
+        const intensity = zoneState?.intensity ?? (this.ledStateProjection.visible ? 0.3 : 0.92);
         const markerSize = Math.max(0.001, Math.min(0.02, ledSize));
         const marker = new Mesh(new SphereGeometry(markerSize, 12, 8), new MeshBasicMaterial({
             color,
             transparent: true,
-            opacity: 0.92,
+            opacity: intensity,
             depthTest: false,
             depthWrite: false
         }));
@@ -9553,6 +9635,137 @@ export class Viewer3D {
         marker.renderOrder = 1000;
         return marker;
     }
+    /** The speaker grille stays dark; only its peripheral diffuser receives LED light. */
+    createEarSpeakerGrille(ear) {
+        const normal = new Vector3(0, 1, 0).applyQuaternion(ear.orientation).normalize();
+        const surface = new Mesh(new CircleGeometry(ear.radius * 0.76, 72), new MeshBasicMaterial({
+            color: '#070a0d',
+            transparent: true,
+            opacity: 0.96,
+            depthTest: true,
+            depthWrite: false,
+            side: DoubleSide
+        }));
+        surface.geometry.rotateX(-Math.PI * 0.5);
+        surface.position.copy(ear.center).addScaledVector(normal, 0.00035);
+        surface.quaternion.copy(ear.orientation);
+        surface.name = `${ear.id}-speaker-grille-surface`;
+        surface.renderOrder = 996;
+        const grilleRadius = ear.radius * 0.70;
+        const cellRadius = Math.max(0.0012, ear.radius * 0.082);
+        const columnStep = Math.sqrt(3) * cellRadius;
+        const rowStep = cellRadius * 1.5;
+        const points = [];
+        for (let row = -9; row <= 9; row += 1) {
+            for (let column = -9; column <= 9; column += 1) {
+                const centerX = column * columnStep + (Math.abs(row) % 2) * columnStep * 0.5;
+                const centerZ = row * rowStep;
+                if (Math.hypot(centerX, centerZ) + cellRadius > grilleRadius)
+                    continue;
+                for (let edge = 0; edge < 6; edge += 1) {
+                    const angleA = Math.PI / 6 + edge * Math.PI / 3;
+                    const angleB = Math.PI / 6 + ((edge + 1) % 6) * Math.PI / 3;
+                    points.push(new Vector3(centerX + Math.cos(angleA) * cellRadius, 0, centerZ + Math.sin(angleA) * cellRadius), new Vector3(centerX + Math.cos(angleB) * cellRadius, 0, centerZ + Math.sin(angleB) * cellRadius));
+                }
+            }
+        }
+        const lattice = new LineSegments(new BufferGeometry().setFromPoints(points), new LineBasicMaterial({
+            color: '#59616b',
+            transparent: true,
+            opacity: 0.9,
+            depthTest: true,
+            depthWrite: false
+        }));
+        lattice.position.copy(ear.center).addScaledVector(normal, 0.00055);
+        lattice.quaternion.copy(ear.orientation);
+        lattice.name = `${ear.id}-speaker-grille-lattice`;
+        lattice.renderOrder = 997;
+        return [surface, lattice];
+    }
+    /** Projects the timeline colors onto the authored outer ear diffuser band. */
+    updateEarMeshDiffusers(robot, ears) {
+        const zoneState = this.ledStateProjection.zones.ears;
+        const intensity = Math.max(0, Math.min(1, zoneState?.intensity ?? 0.25));
+        const sourceColors = zoneState?.colors?.length ? zoneState.colors : null;
+        const earFrames = ears.map((ear) => {
+            const count = Math.max(3, Math.min(32, Math.round(ear.calibration.ledCount)));
+            return {
+                ear,
+                inverseOrientation: ear.orientation.clone().invert(),
+                colors: Array.from({ length: count }, (_, index) => new Color(sourceColors?.[index % sourceColors.length] ?? zoneState?.color ?? '#071018'))
+            };
+        });
+        const worldPosition = new Vector3();
+        const localPosition = new Vector3();
+        let found = false;
+        robot.updateMatrixWorld(true);
+        robot.traverse((object) => {
+            const mesh = object;
+            if (!mesh.isMesh)
+                return;
+            // Older hot-reloaded robot instances may still contain the source
+            // speaker bulb that used to be extracted and incorrectly treated as a
+            // segmented LED surface. Retire that legacy projection immediately;
+            // the authored body and the grille projection own the ear appearance.
+            if (mesh.name === 'viewer-led-diffuser-ears' || mesh.userData.viewerLedZone === 'ears') {
+                mesh.visible = false;
+                return;
+            }
+            const positions = mesh.geometry.getAttribute('position');
+            const colors = mesh.geometry.getAttribute('color');
+            if (!positions || !colors || colors.itemSize < 3)
+                return;
+            let baseline = this.ledMeshBaseColors.get(mesh.geometry);
+            if (!baseline || baseline.length !== colors.array.length) {
+                baseline = new Float32Array(colors.array);
+                this.ledMeshBaseColors.set(mesh.geometry, baseline);
+            }
+            for (let index = 0; index < positions.count; index += 1) {
+                const offset = index * colors.itemSize;
+                colors.setXYZ(index, baseline[offset], baseline[offset + 1], baseline[offset + 2]);
+                if (!this.ledStateProjection.visible || earFrames.length === 0)
+                    continue;
+                worldPosition.fromBufferAttribute(positions, index).applyMatrix4(mesh.matrixWorld);
+                let frame = earFrames[0];
+                let distance = worldPosition.distanceToSquared(frame.ear.center);
+                for (let candidateIndex = 1; candidateIndex < earFrames.length; candidateIndex += 1) {
+                    const candidate = earFrames[candidateIndex];
+                    const candidateDistance = worldPosition.distanceToSquared(candidate.ear.center);
+                    if (candidateDistance < distance) {
+                        frame = candidate;
+                        distance = candidateDistance;
+                    }
+                }
+                localPosition.copy(worldPosition).sub(frame.ear.center).applyQuaternion(frame.inverseOrientation);
+                const radialDistance = Math.hypot(localPosition.x, localPosition.z);
+                // Persisted calibrations created before the authored diffuser mapping
+                // used a 16 mm marker radius. Never let that legacy presentation value
+                // select the 25 mm inner speaker bulb again: the light-emitting plastic
+                // is the outer annulus of the authored head shell.
+                const innerRadius = Math.max(0.028, frame.ear.radius * 1.06);
+                const outerRadius = Math.max(0.041, frame.ear.radius * 1.5);
+                const surfaceDepth = Math.max(0.004, frame.ear.radius * 0.48);
+                if (radialDistance < innerRadius ||
+                    radialDistance > outerRadius ||
+                    Math.abs(localPosition.y) > surfaceDepth) {
+                    continue;
+                }
+                found = true;
+                let angle = Math.atan2(localPosition.x, localPosition.z);
+                if (angle < 0)
+                    angle += Math.PI * 2;
+                const colorPosition = angle / (Math.PI * 2) * frame.colors.length;
+                const colorIndex = Math.floor(colorPosition) % frame.colors.length;
+                const nextColorIndex = (colorIndex + 1) % frame.colors.length;
+                const color = frame.colors[colorIndex].clone()
+                    .lerp(frame.colors[nextColorIndex], colorPosition - Math.floor(colorPosition))
+                    .multiplyScalar(intensity);
+                colors.setXYZ(index, color.r, color.g, color.b);
+            }
+            colors.needsUpdate = true;
+        });
+        return found;
+    }
     createEyeRingMireLines(eye) {
         const axisVertical = new Vector3(1, 0, 0).applyQuaternion(eye.orientation).normalize();
         const forward = new Vector3(0, 1, 0).applyQuaternion(eye.orientation).normalize();