@rainbow-robotics/preview-host 0.1.2-dev.44 → 0.1.2-dev.45

package/README.md

@@ -1,44 +1,248 @@
-# @repo/preview-host
+# `@repo/preview-host`
 
-Standalone **mini-Muscat** (nexus) shell for previewing Muscat plugins with **no
-robot and no back end**. Built from `apps/web/nexus` in `plugin-preview` mode.
+`@repo/preview-host`는 로봇과 백엔드 없이 Muscat 플러그인을 미리 확인할 수 있는 독립 실행형 **mini-Muscat(nexus) 셸**입니다.
 
-The shell renders the real Header / LNB / panels and the real `rb-components`,
-loads the developer's plugin via its manifest, and mocks every robot/back-end
-dependency (API-failure toasts suppressed, query retries off, rb static assets
-served locally).
+`apps/web/nexus`를 `plugin-preview` 모드로 빌드하여 생성합니다.
 
-This package is consumed by `muscat-plugin-kit` (`muscat-pk dev:ui`) so external
-plugin developers get a faithful preview without the web-rainbow-ui source.
+이 프리뷰 셸은 실제 Muscat 환경과 최대한 동일한 UI를 제공합니다.
 
-## Build
+* 실제 Header
+* 실제 LNB
+* 실제 패널 구조
+* 실제 `rb-components`
+* 플러그인 manifest 기반 로딩
+
+반면 로봇 및 백엔드 관련 의존성은 모두 mock 처리합니다.
+
+* 로봇 연결 불필요
+* 백엔드 서버 불필요
+* API 실패 toast 숨김
+* query 재시도 비활성화
+* RB 정적 리소스를 로컬에서 제공
+
+이 패키지는 `muscat-plugin-kit`의 다음 명령에서 사용합니다.
+
+```bash
+muscat-pk dev:ui
+```
+
+이를 통해 외부 플러그인 개발자는 `web-rainbow-ui` 모노레포 소스 없이도 실제 Muscat과 유사한 환경에서 플러그인을 미리 확인할 수 있습니다.
+
+## 빌드
 
 ```bash
-node build.mjs            # builds nexus (plugin-preview) and assembles ./dist
-node build.mjs --skip-build   # only re-assemble (nexus already built)
+node build.mjs
 ```
 
-`dist/` (git-ignored) is self-contained: the nexus bundle + rb assets
-(`/imgs`, `/fonts`, …) served at their runtime paths.
+`nexus`를 `plugin-preview` 모드로 빌드한 뒤, 실행에 필요한 파일을 `./dist` 디렉터리에 구성합니다.
 
-## Serve
+이미 `nexus` 빌드가 완료된 상태라면 다음 옵션을 사용할 수 있습니다.
+
+```bash
+node build.mjs --skip-build
+```
+
+이 경우 `nexus`를 다시 빌드하지 않고 기존 빌드 결과를 기준으로 `./dist`만 다시 구성합니다.
+
+생성되는 `dist/` 디렉터리는 Git 관리 대상에서 제외됩니다.
+
+`dist/`는 단독 실행 가능한 형태로 구성됩니다.
+
+포함되는 주요 항목은 다음과 같습니다.
+
+* nexus 번들
+* RB 정적 리소스
+* 이미지
+* 폰트
+* 기타 런타임 리소스
+
+정적 리소스는 실제 런타임에서 사용하는 경로와 동일하게 제공됩니다.
+
+```text
+/imgs
+/fonts
+...
+```
+
+## 실행
 
 ```bash
 rb-preview-host --plugin <built-plugin-dir> [--port 4180] [--dist <dir>]
 ```
 
-The plugin dir is the output of `muscat-pk build` and must contain
-`manifest.json`, `sandbox.html`, `content.js` and any `assets/`. It is mounted at
-`/plugin-dev/`; the shell reads it via these globals (injected by `serve.mjs`):
+### 옵션
+
+`--plugin`은 `muscat-pk build`로 생성된 플러그인 빌드 디렉터리를 지정합니다.
+
+```bash
+rb-preview-host --plugin ./dist/plugin
+```
+
+`--port`는 preview host가 실행될 포트를 지정합니다.
+
+기본값은 `4180`입니다.
+
+```bash
+rb-preview-host \
+  --plugin ./dist/plugin \
+  --port 4180
+```
+
+`--dist`는 preview-host의 정적 번들 디렉터리를 별도로 지정할 때 사용합니다.
+
+```bash
+rb-preview-host \
+  --plugin ./dist/plugin \
+  --dist ./preview-host-dist
+```
+
+## 플러그인 빌드 디렉터리 요구사항
+
+`--plugin`으로 지정한 디렉터리는 `muscat-pk build`의 출력 디렉터리여야 합니다.
+
+다음 파일을 포함해야 합니다.
+
+```text
+manifest.json
+sandbox.html
+content.js
+assets/
+```
+
+`assets/`는 플러그인에서 별도 정적 리소스를 사용하는 경우에만 존재할 수 있습니다.
+
+지정된 플러그인 디렉터리는 preview host에서 다음 경로로 마운트됩니다.
+
+```text
+/plugin-dev/
+```
+
+프리뷰 셸은 `serve.mjs`가 주입한 전역 변수를 통해 플러그인과 정적 리소스 위치를 확인합니다.
+
+## 전역 변수
+
+### `window.__RB_PLUGIN_PREVIEW_HOST__`
+
+preview-host 모드를 활성화합니다.
+
+```ts
+window.__RB_PLUGIN_PREVIEW_HOST__ = true;
+```
+
+이 값이 활성화되면 nexus는 실제 백엔드 대신 mock 환경으로 동작합니다.
+
+대표적으로 다음 처리가 적용됩니다.
+
+* 로봇 연결 mock
+* 백엔드 API mock
+* API 실패 toast 억제
+* query 재시도 비활성화
+
+### `window.__RB_PLUGIN_PREVIEW_BASE__`
+
+플러그인이 제공되는 기본 URL입니다.
+
+기본값은 다음과 같습니다.
+
+```text
+/plugin-dev
+```
+
+예시:
+
+```ts
+window.__RB_PLUGIN_PREVIEW_BASE__ = "/plugin-dev";
+```
+
+프리뷰 셸은 이 경로를 기준으로 다음 파일을 읽습니다.
+
+```text
+/plugin-dev/manifest.json
+/plugin-dev/sandbox.html
+/plugin-dev/content.js
+/plugin-dev/assets/*
+```
+
+### `window.__RB_ASSETS_BASE_URL__`
+
+RB 정적 리소스를 제공하는 origin을 지정합니다.
+
+예시:
+
+```ts
+window.__RB_ASSETS_BASE_URL__ = "http://localhost:4180";
+```
+
+이를 통해 nexus 및 `rb-components`가 사용하는 정적 리소스를 preview host에서 로드할 수 있습니다.
 
-| global | meaning |
-|---|---|
-| `window.__RB_PLUGIN_PREVIEW_HOST__` | enable preview-host mode (mock back end) |
-| `window.__RB_PLUGIN_PREVIEW_BASE__` | base URL of the plugin (default `/plugin-dev`) |
-| `window.__RB_ASSETS_BASE_URL__` | origin for rb static assets |
+대표적인 리소스 경로는 다음과 같습니다.
+
+```text
+/imgs
+/fonts
+```
+
+## 전역 변수 정리
+
+| 전역 변수                               | 의미                                      |
+| ----------------------------------- | --------------------------------------- |
+| `window.__RB_PLUGIN_PREVIEW_HOST__` | preview-host 모드를 활성화하고 백엔드 의존성을 mock 처리 |
+| `window.__RB_PLUGIN_PREVIEW_BASE__` | 플러그인이 마운트된 기본 URL. 기본값은 `/plugin-dev`   |
+| `window.__RB_ASSETS_BASE_URL__`     | RB 이미지, 폰트 등 정적 리소스를 제공하는 origin        |
+
+## 개발 모드와의 관계
+
+`muscat-pk dev:ui`는 nexus의 Vite 개발 서버를 직접 실행합니다.
+
+```bash
+vite --mode plugin-preview
+```
+
+이 방식은 HMR이 활성화된 개발용 preview-host 런타임입니다.
+
+즉, `muscat-pk dev:ui`와 `@repo/preview-host`는 서로 다른 구현이 아니라 동일한 preview-host 런타임을 다른 형태로 사용하는 구조입니다.
+
+### `muscat-pk dev:ui`
+
+모노레포 소스를 기준으로 Vite 개발 서버를 직접 실행합니다.
+
+특징은 다음과 같습니다.
+
+* Vite 기반 개발 서버
+* HMR 지원
+* 소스 변경 즉시 반영
+* 개발 환경에 적합
+
+### `@repo/preview-host`
+
+동일한 런타임을 정적 번들로 패키징한 배포용 형태입니다.
+
+특징은 다음과 같습니다.
+
+* 모노레포 소스 불필요
+* 사전 빌드된 nexus 번들 사용
+* 독립 실행 가능
+* 외부 플러그인 개발자에게 배포 가능
+
+전체 관계는 다음과 같습니다.
+
+```text
+apps/web/nexus
+  └─ plugin-preview 모드
+      ├─ muscat-pk dev:ui
+      │   └─ Vite 개발 서버 직접 실행
+      │       └─ HMR 지원
+      │
+      └─ @repo/preview-host
+          └─ 정적 번들로 패키징
+              └─ 모노레포 소스 없이 실행
+```
 
-## How it relates to dev mode
+결과적으로 외부 개발자는 `web-rainbow-ui` 소스를 직접 보유하지 않아도 다음 요소를 포함한 실제 Muscat과 유사한 프리뷰 환경을 사용할 수 있습니다.
 
-`muscat-pk dev:ui` runs nexus's `vite --mode plugin-preview` directly (HMR), which
-is the same preview-host runtime. This packaged static bundle is the
-distributable form for developers who don't have the monorepo source.
+* 실제 nexus 레이아웃
+* 실제 Header 및 LNB
+* 실제 패널
+* 실제 `rb-components`
+* 실제 manifest 기반 플러그인 로딩
+* mock 처리된 로봇 및 백엔드 환경

package/build.mjs

@@ -18,7 +18,6 @@ const nexusDir = resolve(repoRoot, "apps/web/nexus");
 const nexusDist = resolve(nexusDir, "dist-preview");
 const assetsPublic = resolve(repoRoot, "apps/web/assets/public");
 const outDir = resolve(here, "dist");
-const pluginUiRoot = resolve(here, "../plugin-ui");
 
 const skipBuild = process.argv.includes("--skip-build");
 
@@ -27,6 +26,7 @@ if (!skipBuild) {
   execSync("yarn workspace @app/nexus build:preview", {
     cwd: repoRoot,
     stdio: "inherit",
+    env: { ...process.env, VITE_PLUGIN_PREVIEW: "true" },
   });
 }
 
@@ -50,15 +50,4 @@ for (const dir of ["imgs", "fonts", "sounds", "data"]) {
   if (existsSync(src)) cpSync(src, resolve(outDir, dir), { recursive: true });
 }
 
-// plugin-ui dist-browser — bundled in so preview-host has no npm runtime dep on plugin-ui.
-// This lets `npm i -g muscat-plugin-kit` resolve cleanly (no react peerDep chain).
-const distBrowser = resolve(pluginUiRoot, "dist-browser");
-if (!existsSync(distBrowser)) {
-  throw new Error(
-    `plugin-ui dist-browser not found at ${distBrowser}.\nRun: yarn workspace @rainbow-robotics/plugin-ui build`,
-  );
-}
-cpSync(distBrowser, resolve(outDir, "plugin-runtime"), { recursive: true });
-console.log("[preview-host] bundled plugin-runtime from plugin-ui/dist-browser");
-
 console.log("[preview-host] dist ready →", outDir);

package/dist/assets/AmrCapabilityControl.DEC-3ZAW.js

@@ -0,0 +1 @@
+import{importShared as f}from"./__federation_fn_import.DdkEuT6t.js";import{dr as g,aE as s,_ as t,aM as v,dl as p,a0 as b,dk as c,cv as O,bL as E,aC as F,aL as B,cg as P,cs as w,aO as D,f1 as _,fJ as L}from"./RBQrBarCodeGuideModal.CegVepfq.js";import{f as T}from"./index.FZ9eMVCs.js";const{useQuery:M}=await f("@tanstack/react-query"),C=[{key:"dock",endpoint:"/{robot_model}/capability/dock",labelKey:"move.amr.rightPanel.capability.dock"},{key:"io",endpoint:"/{robot_model}/capability/Io",labelKey:"move.amr.rightPanel.capability.io"},{key:"camera",endpoint:"/{robot_model}/capability/camera",labelKey:"move.amr.rightPanel.capability.camera"},{key:"lidar2d",endpoint:"/{robot_model}/capability/lidar2d",labelKey:"move.amr.rightPanel.capability.lidar2d"},{key:"lidar3d",endpoint:"/{robot_model}/capability/lidar3d",labelKey:"move.amr.rightPanel.capability.lidar3d"},{key:"imu",endpoint:"/{robot_model}/capability/imu",labelKey:"move.amr.rightPanel.capability.imu"},{key:"safetyBumper",endpoint:"/{robot_model}/capability/safetyBumper",labelKey:"move.amr.rightPanel.capability.safetyBumper"},{key:"safetyInterlock",endpoint:"/{robot_model}/capability/safetyInterlock",labelKey:"move.amr.rightPanel.capability.safetyInterlock"},{key:"safetyObstacle",endpoint:"/{robot_model}/capability/safetyObstacle",labelKey:"move.amr.rightPanel.capability.safetyObstacle"},{key:"safetyOperationStop",endpoint:"/{robot_model}/capability/safetyOperationStop",labelKey:"move.amr.rightPanel.capability.safetyOperationStop"},{key:"safetySpeedControl",endpoint:"/{robot_model}/capability/safetySpeedControl",labelKey:"move.amr.rightPanel.capability.safetySpeedControl"},{key:"tabos",endpoint:"/{robot_model}/capability/tabos",labelKey:"move.amr.rightPanel.capability.tabos"}],R=e=>typeof e=="object"&&e!==null&&"enabled"in e&&e.enabled===!1,K=e=>{if(e instanceof Error)return e.message;if(typeof e=="object"&&e!==null&&"message"in e){const a=e.message;if(typeof a=="string")return a}},q=async({robot_model:e})=>{const a=await Promise.allSettled(C.map(l=>{const n=l.endpoint.replace("{robot_model}",e);return T.get(n)}));return C.map((l,n)=>{const r=a[n];return r.status==="fulfilled"?{...l,supported:!R(r.value),data:r.value}:{...l,supported:!1,data:null,errorMessage:K(r.reason)}})},$=({robot_model:e,enabled:a=!0})=>M({queryKey:["amrCapabilities",e],queryFn:()=>q({robot_model:e}),enabled:!!e&&a,staleTime:5*1e3,gcTime:60*1e3}),{useMutation:U}=await f("@tanstack/react-query"),V=()=>U({mutationFn:({robot_model:e,target:a,frequency:l})=>T.post(`/${e}/control/streamFrequency`,{target:a,frequency:Math.min(10,Math.max(0,l))})}),{useState:k}=await f("react"),j=4294967295,x=e=>{if(!(e==null||e===j))return`${e} ms`},z={0:"NONE",1:"CHARGING",2:"COMPLETE",3:"FAIL",4:"CANCEL"},G={0:"DEFAULT",1:"TABOS"},Y={0:"CABLE",1:"CONTACT",2:"INDUCTIVE"},H={0:"RPLIDAR",1:"SICK",2:"LAKI",3:"LIVOX",4:"HOKUYO"},Q={0:"ORBBEC"},i=({label:e,children:a})=>s(p,{className:"items-center justify-between gap-3",children:[t("span",{className:"typo-compact-xs-normal text-fg-subtle shrink-0",children:e}),t("span",{className:b("typo-compact-xs-normal text-right",a!=null?"text-fg-default":"text-fg-subtler"),children:a??"—"})]}),X={default:"gray",success:"green",warning:"orange",danger:"red"},y=({label:e,variant:a="default"})=>t(D,{type:"soft",color:X[a],children:e}),h=({label:e,value:a})=>t(i,{label:e,children:t(y,{label:a?"ON":"OFF",variant:a?"success":"default"})}),u=({label:e,bits:a})=>s(c,{className:"gap-1",children:[t("span",{className:"typo-compact-xs-normal text-fg-subtle",children:e}),a?.length?t(p,{className:"gap-1",children:a.map((l,n)=>t("div",{className:b("size-4 rounded-sm border text-center 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gap-1",children:[a?t(_,{className:"size-3"}):t(L,{className:"size-3"}),t("span",{children:e}),t("span",{className:"font-semibold",children:a?"On":"Off"})]})}),I=({flags:e})=>t(p,{className:"flex-wrap gap-1.5",children:e.map(({label:a,value:l})=>t(J,{label:a,value:l},a))}),W=({streams:e})=>e.length?s(c,{className:"border-subtle mt-0.5 gap-1 border-t pt-1.5",children:[t("span",{className:"typo-compact-xs-normal text-fg-subtle",children:"Streams"}),t(p,{className:"flex-wrap gap-1",children:e.map(a=>s(p,{className:"border-subtle bg-alt-1 items-center gap-1 rounded px-1.5 py-1",children:[t("span",{className:"typo-compact-2xs-semibold text-fg-default",children:a.quality}),s("span",{className:"typo-compact-2xs-normal text-fg-subtle",children:[a.width,"x",a.height]}),s("span",{className:"typo-compact-2xs-normal text-fg-subtler",children:[a.fps,"fps"]})]},`${a.camId}-${a.quality}`))})]}):null,Z=({data:e})=>{const a=z[e.chargeState??-1]??String(e.chargeState),l=e.chargeState===1?"success":e.chargeState===3?"danger":e.chargeState===4?"warning":"default";return s(c,{className:"gap-2",children:[s(c,{className:"bg-fill-disabled gap-2 rounded-md p-2.5",children:[t(h,{label:"Dock State",value:e.dockState}),t(i,{label:"Charge State",children:t(y,{label:a,variant:l})}),s(i,{label:"Battery",children:[e.batteryPercent?.toFixed(1)," %"]}),s(i,{label:"Charge Current",children:[e.chargeCurrent?.toFixed(2)," A"]}),s(i,{label:"Contact Voltage",children:[e.contactVoltage?.toFixed(2)," V"]}),t(i,{label:"Battery Type",children:t(y,{label:G[e.batteryType??0]??"—"})})]}),s(p,{className:"items-center gap-1.5 px-0.5",children:[t("span",{className:"typo-compact-xs-normal text-fg-subtle shrink-0",children:"Charge Type"}),e.chargeType?.length?t(p,{className:"flex-wrap gap-1.5",children:e.chargeType.map(n=>t(y,{label:Y[n]??String(n),variant:"default"},n))}):t("span",{className:"typo-compact-xs-normal text-fg-subtler",children:"—"})]})]})},ee=({data:e})=>s(c,{className:"gap-3 p-0.5",children:[t(u,{label:"MCU0 DIO",bits:e.mcu0Dio}),t(u,{label:"MCU1 DIO",bits:e.mcu1Dio}),t(u,{label:"MCU0 DIN",bits:e.mcu0Din}),t(u,{label:"MCU1 DIN",bits:e.mcu1Din})]}),ae=({data:e})=>s(c,{className:"gap-2",children:[t(I,{flags:[{label:"Obstacle",value:e.enabledObs},{label:"Depth",value:e.enabledDepth},{label:"Filter",value:e.enabledFilter}]}),e.info?.length?e.info.map((a,l)=>{const n=typeof a.type=="number"?Q[a.type]??String(a.type):a.type??"—",r=a.camId??a.index??l,o=e.rtspInfo?.filter(d=>d.camId===r)??[];return t(N,{label:`Camera ${r}${a.serial?` · ${a.serial}`:""}`,connection:a.connection,rows:[{key:"Type",value:n},{key:"TF",value:a.tf?.length?a.tf.map(d=>d.toFixed(2)).join(", "):void 0},{key:"Data Age",value:x(a.dataAgeMs)}],children:t(W,{streams:o})},l)}):t("span",{className:"typo-compact-xs-normal text-fg-subtler 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a=[{label:"Bumper State",value:e.bumperState},{label:"Interlock State",value:e.interlockState},{label:"Obstacle Detect",value:e.obsDetect},{label:"Operation Stop",value:e.operationStopState},{label:"Speed Control",value:e.speedControlState}].filter(l=>l.value!==void 0);return s(c,{className:"bg-fill-disabled gap-2 rounded-md p-2.5",children:[t(h,{label:"Enabled",value:e.enabled}),a.map(l=>t(h,{label:l.label,value:l.value},l.label))]})},se=({data:e})=>s(c,{className:"bg-fill-disabled gap-2 rounded-md p-2.5",children:[s(i,{label:"Voltage",children:[e.tabosVoltage?.toFixed(2)," V"]}),s(i,{label:"Current",children:[e.tabosCurrent?.toFixed(2)," A"]}),s(i,{label:"SOC",children:[e.tabosSoc?.toFixed(1)," %"]}),s(i,{label:"SOH",children:[e.tabosSoh?.toFixed(1)," %"]}),s(i,{label:"Temp",children:[e.tabosTemp?.toFixed(1)," °C"]})]}),ne=({capKey:e,data:a})=>{switch(e){case"dock":return t(Z,{data:a});case"io":return t(ee,{data:a});case"camera":return t(ae,{data:a});case"lidar2d":return t(A,{data:a});case"lidar3d":return t(A,{data:a,is3d:!0});case"imu":return t(te,{data:a});case"tabos":return t(se,{data:a});default:return t(le,{data:a})}},re=[{label:"LiDAR 2D",value:"lidar2d"},{label:"LiDAR 3D",value:"lidar3d"},{label:"OBS Map",value:"obsMap"}],ce=({robotModel:e})=>{const[a,l]=k("lidar2d"),[n,r]=k("1"),{mutate:o,isPending:d}=V();return s(c,{className:"gap-2 pb-1",children:[s(p,{className:"items-center justify-between gap-2",children:[t("span",{className:"typo-compact-xs-normal text-fg-subtle",children:"Target"}),t(F,{size:"2xs",variant:"brand",disabled:d,onClick:()=>{const m=Math.min(10,Math.max(0,Number(n)));o({robot_model:e,target:a,frequency:m})},children:"Set"})]}),t(P,{size:"sm",value:a,handleChange:m=>l(m),children:re.map(({label:m,value:S})=>t(B,{value:S,children:m},S))}),t(p,{className:"items-center 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package/dist/assets/MapInfo.rg67lYW5.js

@@ -0,0 +1 @@
+import{fv as g,fw as C,fx as $,fy as M,du as z,dr as P,aE as s,dk as d,_ as e,fz as H,fA as X,dl as r,fB as Y,fC as A,aC as L,fD as D,fE as O,fF as _,fG as E,fH as I,fI as K}from"./RBQrBarCodeGuideModal.CegVepfq.js";class J extends g{centerToLegX=.19725;centerToLegY=.09;centerToHipX=.11493;hipToThigh=.10285;thighToKnee=.3;kneeToFoot=.294;rearRightLeg;rearLeftLeg;frontRightLeg;frontLeftLeg;constructor(){super(),this.name="RBQ10_Robot",this.userData.keep=!0,this.init()}loadObj(o){return new Promise((n,c)=>{new C().load(o,p=>n(p),void 0,p=>c(p))})}init(){const n=["fuselage","leg3","hip1","hip3","thigh_right","thigh_left","calf","foot"].map(c=>{const a=$(`/rbq10/${c}.obj`);return this.loadObj(a).then(p=>({name:c,obj:p}))});Promise.all(n).then(c=>{const a={};c.forEach(i=>{a[i.name]=i.obj}),this.name="rbq10";const p=a.fuselage.clone();p.name="fuselage",this.add(p),this.rotateX(M.degToRad(90)),this.rearRightLeg=this.createRearRightLeg(a),this.rearRightLeg.position.set(-this.centerToLegX,0,this.centerToLegY),this.add(this.rearRightLeg),this.rearLeftLeg=this.createRearLeftLeg(a),this.rearLeftLeg.position.set(-this.centerToLegX,0,-this.centerToLegY),this.add(this.rearLeftLeg),this.frontRightLeg=this.createFrontRightLeg(a),this.frontRightLeg.position.set(this.centerToLegX,0,this.centerToLegY),this.add(this.frontRightLeg),this.frontLeftLeg=this.createFrontLeftLeg(a),this.frontLeftLeg.position.set(this.centerToLegX,0,-this.centerToLegY),this.add(this.frontLeftLeg)}).catch(c=>{console.error("Error loading robot parts:",c)})}createRearRightLeg(o){const n=new g;n.name="rearRightLegGroup";const c=o.leg3.clone();c.name="rearRightLegReducer",n.add(c);const a=new g;a.name="rearRightHipGroup",a.position.set(-this.centerToHipX,0,0);const p=o.hip3.clone();p.name="rearRightHipMesh",p.rotateY(M.degToRad(180)),a.add(p),n.add(a);const i=new g;i.name="rearRightThighGroup",i.position.set(0,0,this.hipToThigh);const l=o.thigh_right.clone();l.name="rearRightThighMesh",i.add(l),a.add(i);const m=new g;m.name="rearRightCalfGroup",m.position.set(0,-this.thighToKnee,0);const u=o.calf.clone();u.name="rearRightCalfMesh",m.add(u),i.add(m);const t=new g;t.name="rearRightFootGroup",t.position.set(0,-this.kneeToFoot,0);const f=o.foot.clone();return f.name="rearRightFootMesh",t.add(f),m.add(t),n}createRearLeftLeg(o){const n=new g;n.name="rearLeftLegGroup";const c=o.leg3.clone();c.name="rearLeftLegReducer",n.add(c);const a=new g;a.name="rearLeftHipGroup",a.position.set(-this.centerToHipX,0,0);const p=o.hip1.clone();p.name="rearLeftHipMesh",a.add(p),n.add(a);const i=new g;i.name="rearLeftThighGroup",i.position.set(0,0,-this.hipToThigh);const l=o.thigh_left.clone();l.name="rearLeftThighMesh",i.add(l),a.add(i);const m=new g;m.name="rearLeftCalfGroup",m.position.set(0,-this.thighToKnee,0);const u=o.calf.clone();u.name="rearLeftCalfMesh",m.add(u),i.add(m);const t=new g;t.name="rearLeftFootGroup",t.position.set(0,-this.kneeToFoot,0);const f=o.foot.clone();return f.name="rearLeftFootMesh",t.add(f),m.add(t),n}createFrontRightLeg(o){const n=new g;n.name="frontRightLegGroup";const c=o.leg3.clone();c.name="frontRightLegReducer",n.add(c);const a=new g;a.name="frontRightHipGroup",a.position.set(this.centerToHipX,0,0);const p=o.hip1.clone();p.name="frontRightHipMesh",p.rotateY(M.degToRad(180)),a.add(p),n.add(a);const i=new g;i.name="frontRightThighGroup",i.position.set(0,0,this.hipToThigh);const l=o.thigh_right.clone();l.name="frontRightThighMesh",i.add(l),a.add(i);const m=new g;m.name="frontRightCalfGroup",m.position.set(0,-this.thighToKnee,0);const u=o.calf.clone();u.name="frontRightCalfMesh",m.add(u),i.add(m);const t=new g;t.name="frontRightFootGroup",t.position.set(0,-this.kneeToFoot,0);const f=o.foot.clone();return f.name="frontRightFootMesh",t.add(f),m.add(t),n}createFrontLeftLeg(o){const n=new g;n.name="frontLeftLegGroup";const c=o.leg3.clone();c.name="frontLeftLegReducer",n.add(c);const a=new g;a.name="frontLeftHipGroup",a.position.set(this.centerToHipX,0,0);const p=o.hip3.clone();p.name="frontLeftHipMesh",a.add(p),n.add(a);const i=new g;i.name="frontLeftThighGroup",i.position.set(0,0,-this.hipToThigh);const l=o.thigh_left.clone();l.name="frontLeftThighMesh",i.add(l),a.add(i);const m=new g;m.name="frontLeftCalfGroup",m.position.set(0,-this.thighToKnee,0);const u=o.calf.clone();u.name="frontLeftCalfMesh",m.add(u),i.add(m);const t=new g;t.name="frontLeftFootGroup",t.position.set(0,-this.kneeToFoot,0);const f=o.foot.clone();return f.name="frontLeftFootMesh",t.add(f),m.add(t),n}update(){}}const w=h=>{const 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