@rainbow-robotics/preview-host 0.1.2-dev.5 → 0.1.2-dev.51

package/README.md

@@ -1,44 +1,254 @@
-# @repo/preview-host
+# `@rainbow-robotics/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.
+`@rainbow-robotics/preview-host` is a standalone **mini-Muscat (nexus) shell** for previewing Muscat plugins without a robot or backend.
 
-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).
+It's built by building `apps/web/nexus` in `plugin-preview` mode.
 
-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.
+This preview shell provides a UI as close as possible to the real Muscat environment.
+
+* Real Header
+* Real LNB
+* Real panel structure
+* Real `rb-components`
+* Plugin manifest-based loading
+
+Robot- and backend-related dependencies, on the other hand, are all mocked.
+
+* No robot connection required
+* No backend server required
+* API-failure toasts hidden
+* Query retry disabled
+* RB static resources served locally
+
+This package is used by `muscat-plugin-kit`'s:
+
+```bash
+muscat-pk dev:ui
+```
+
+This lets external plugin developers preview their plugin in a Muscat-like environment without the `web-rainbow-ui` monorepo source.
 
 ## Build
 
 ```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
+```
+
+Builds `nexus` in `plugin-preview` mode, then assembles the files needed to run into the `./dist` directory.
+
+If `nexus` has already been built, you can use:
+
+```bash
+node build.mjs --skip-build
 ```
 
-`dist/` (git-ignored) is self-contained: the nexus bundle + rb assets
-(`/imgs`, `/fonts`, …) served at their runtime paths.
+This skips rebuilding `nexus` and only reassembles `./dist` from the existing build output.
+
+The generated `dist/` directory is excluded from Git.
+
+`dist/` is structured to be runnable standalone.
+
+Main contents:
+
+* nexus bundle
+* RB static resources
+* images
+* fonts
+* other runtime resources
+
+Static resources are served at the same paths used at real runtime.
 
-## Serve
+```text
+/imgs
+/fonts
+...
+```
+
+## Run
 
 ```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`):
+### Options
+
+`--plugin` points to a plugin build directory produced by `muscat-pk build`.
+
+```bash
+rb-preview-host --plugin ./dist/plugin
+```
+
+`--port` sets the port preview-host runs on.
+
+Defaults to `4180`.
+
+```bash
+rb-preview-host \
+  --plugin ./dist/plugin \
+  --port 4180
+```
+
+`--dist` overrides the preview-host static bundle directory.
+
+```bash
+rb-preview-host \
+  --plugin ./dist/plugin \
+  --dist ./preview-host-dist
+```
+
+The following options are also supported (all optional — `muscat-pk dev` fills them in internally).
+
+* `--socket-url`: the Socket.IO URL the plugin connects to (`window.__RB_PLUGIN_PREVIEW_SOCKET_URL__`)
+* `--robot-host`: robot host override (`window.__RB_ROBOT_HOST__`)
+* `--dev-server-url`: the plugin's own Vite dev server URL (`window.__RB_PLUGIN_DEV_SERVER_URL__`) — used when mounting a `dev` UI entry directly
+
+## Plugin build directory requirements
+
+The directory passed to `--plugin` must be an output directory from `muscat-pk build`.
+
+It must contain:
+
+```text
+manifest.json
+<ui-entry>.js  (e.g. content.js — one is generated per manifest contributes[].ui entry)
+assets/
+```
+
+The host mounts `<ui-entry>.js` by importing it directly as a plain ESM module — no `sandbox.html`/iframe is involved.
+
+`assets/` is only present if the plugin uses its own static resources.
+
+The plugin directory you specify is mounted in preview host at:
+
+```text
+/plugin-dev/
+```
+
+The preview shell resolves the plugin and static-resource locations through the global variables `serve.mjs` injects.
+
+## Global variables
 
-| 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 |
+### `window.__RB_PLUGIN_PREVIEW_HOST__`
+
+Activates preview-host mode.
+
+```ts
+window.__RB_PLUGIN_PREVIEW_HOST__ = true;
+```
+
+When set, nexus runs against a mock environment instead of the real backend.
+
+Typical effects:
+
+* Mocked robot connection
+* Mocked backend API
+* Suppressed API-failure toasts
+* Disabled query retry
+
+### `window.__RB_PLUGIN_PREVIEW_BASE__`
+
+The base URL the plugin is served from.
+
+Defaults to:
+
+```text
+/plugin-dev
+```
+
+Example:
+
+```ts
+window.__RB_PLUGIN_PREVIEW_BASE__ = "/plugin-dev";
+```
+
+The preview shell reads the following files relative to this path:
+
+```text
+/plugin-dev/manifest.json
+/plugin-dev/<ui-entry>.js
+/plugin-dev/assets/*
+```
+
+### `window.__RB_ASSETS_BASE_URL__`
+
+The origin RB static resources are served from.
+
+Example:
+
+```ts
+window.__RB_ASSETS_BASE_URL__ = "http://localhost:4180";
+```
+
+This lets preview host load the static resources used by nexus and `rb-components`.
+
+Typical resource paths:
+
+```text
+/imgs
+/fonts
+```
+
+## Global variable summary
+
+| Global variable | Meaning |
+| ----------------------------------- | --------------------------------------- |
+| `window.__RB_PLUGIN_PREVIEW_HOST__` | Activates preview-host mode and mocks backend dependencies |
+| `window.__RB_PLUGIN_PREVIEW_BASE__` | Base URL the plugin is mounted at. Defaults to `/plugin-dev` |
+| `window.__RB_ASSETS_BASE_URL__`     | Origin serving RB images, fonts, and other static resources |
+
+## Relationship to dev mode
+
+`muscat-pk dev:ui` runs nexus's Vite dev server directly.
+
+```bash
+vite --mode plugin-preview
+```
+
+This is a dev-mode preview-host runtime with HMR enabled.
+
+In other words, `muscat-pk dev:ui` and `@rainbow-robotics/preview-host` aren't separate implementations — they're the same preview-host runtime used in two different forms.
+
+### `muscat-pk dev:ui`
+
+Runs the Vite dev server directly against the monorepo source.
+
+Characteristics:
+
+* Vite-based dev server
+* HMR support
+* Source changes reflected immediately
+* Suited for development
+
+### `@rainbow-robotics/preview-host`
+
+The same runtime packaged as a static bundle for distribution.
+
+Characteristics:
+
+* No monorepo source required
+* Uses a prebuilt nexus bundle
+* Runs standalone
+* Distributable to external plugin developers
+
+The overall relationship:
+
+```text
+apps/web/nexus
+  └─ plugin-preview mode
+      ├─ muscat-pk dev:ui
+      │   └─ runs the Vite dev server directly
+      │       └─ HMR support
+      │
+      └─ @rainbow-robotics/preview-host
+          └─ packaged as a static bundle
+              └─ runs without the monorepo source
+```
 
-## How it relates to dev mode
+As a result, external developers get a Muscat-like preview environment — without holding a copy of the `web-rainbow-ui` source — that includes:
 
-`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.
+* Real nexus layout
+* Real Header and LNB
+* Real panels
+* Real `rb-components`
+* Real manifest-based plugin loading
+* Mocked robot and backend environment

package/build.mjs

@@ -22,10 +22,11 @@ const outDir = resolve(here, "dist");
 const skipBuild = process.argv.includes("--skip-build");
 
 if (!skipBuild) {
-  console.log("[preview-host] building nexus (plugin-preview)…");
+  console.log("[preview-host] building mini-muscat (plugin-preview)…");
   execSync("yarn workspace @app/nexus build:preview", {
     cwd: repoRoot,
     stdio: "inherit",
+    env: { ...process.env, VITE_PLUGIN_PREVIEW: "true" },
   });
 }
 

package/dist/assets/AmrCapabilityControl.V6oiR3_5.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.DhDDHapK.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`${e} 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gap-1",children:[a?t(_,{className:"size-3"}):t(L,{className:"size-3"}),t("span",{children:e}),t("span",{className:"font-semibold",children:a?"On":"Off"})]})}),I=({flags:e})=>t(p,{className:"flex-wrap gap-1.5",children:e.map(({label:a,value:l})=>t(J,{label:a,value:l},a))}),W=({streams:e})=>e.length?s(c,{className:"border-subtle mt-0.5 gap-1 border-t pt-1.5",children:[t("span",{className:"typo-compact-xs-normal text-fg-subtle",children:"Streams"}),t(p,{className:"flex-wrap gap-1",children:e.map(a=>s(p,{className:"border-subtle bg-alt-1 items-center gap-1 rounded px-1.5 py-1",children:[t("span",{className:"typo-compact-2xs-semibold text-fg-default",children:a.quality}),s("span",{className:"typo-compact-2xs-normal text-fg-subtle",children:[a.width,"x",a.height]}),s("span",{className:"typo-compact-2xs-normal text-fg-subtler",children:[a.fps,"fps"]})]},`${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 px-0.5",children:"—"})]}),A=({data:e,is3d:a=!1})=>s(c,{className:"gap-2",children:[t(I,{flags:[{label:"Obstacle",value:e.enabledObs}]}),e.info?.length?e.info.map((l,n)=>t(N,{label:`Lidar ${l.index??n}${l.serial?` · ${l.serial}`:""}`,connection:l.connection,rows:[{key:"Type",value:H[l.type]??String(l.type??"—")},...a?[]:[{key:"IP",value:l.ip}],{key:"Safety",value:l.safety!==void 0?l.safety?"Safety":"Normal":void 0},{key:"TF",value:l.tf?.length?l.tf.map(r=>r.toFixed(2)).join(", "):void 0},{key:"Data Age",value:x(l.dataAgeMs)}]},n)):t("span",{className:"typo-compact-xs-normal text-fg-subtler px-0.5",children:"—"})]}),te=({data:e})=>t(c,{className:"gap-2",children:e.info?.length?e.info.map((a,l)=>t(N,{label:`IMU ${a.index??l}${a.serial?` · ${a.serial}`:""}`,connection:a.connection,rows:[{key:"Type",value:a.type===1?"IMU":"DEFAULT"},{key:"Data Age",value:x(a.dataAgeMs)}]},l)):t("span",{className:"typo-compact-xs-normal text-fg-subtler px-0.5",children:"—"})}),le=({data:e})=>{const 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 gap-2",children:t(w,{className:"flex-1",size:"sm",value:n,step:1,digit:0,fixedDigit:0,min:"0",max:"10",handleChange:m=>r(m)})})]})},oe=({item:e})=>{const{t:a}=g();return e.supported?e.data?t("div",{className:"pb-1",children:t(ne,{capKey:e.key,data:e.data})}):null:t("p",{className:"typo-compact-xs-normal text-fg-disabled px-1 py-2",children:a("move.amr.rightPanel.capability.status.notSupported")})},ie=()=>{const{t:e}=g();return t(E,{className:"flex-1 [&_[data-slot='empty-view-section']]:h-full",type:"icon",icon:t(O,{size:20}),message:e("move.amr.rightPanel.capability.status.loading")})},ue=({className:e,robotModel:a})=>{const{t:l}=g(),{data:n,isLoading:r}=$({robot_model:a});return s(c,{className:b("AmrCapabilityControl h-full min-h-0",e),children:[r&&t(ie,{}),(n??[]).map(o=>t("div",{className:"border-subtler border-b px-1 py-1",children:t(v,{disabled:!o.supported,title:t(p,{className:"w-full items-center justify-between gap-2",children:t("span",{className:b("typo-compact-sm2-semibold 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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 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