urdf-loader 0.10.5 → 0.12.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "urdf-loader",
-  "version": "0.10.5",
+  "version": "0.12.0",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
   "main": "src/URDFLoader.js",
   "type": "module",
@@ -36,13 +36,13 @@
     "webcomponents"
   ],
   "peerDependencies": {
-    "three": ">=0.105.0"
+    "three": ">=0.152.0"
   },
   "devDependencies": {
-    "@babel/core": "^7.11.6",
-    "@babel/preset-env": "^7.11.5",
+    "@babel/core": "^7.21.8",
+    "@babel/preset-env": "^7.21.5",
     "@webcomponents/webcomponentsjs": "^2.4.4",
-    "babel-jest": "^25.4.0",
+    "babel-jest": "^29.5.0",
     "concurrently": "^6.2.1",
     "eslint": "^7.10.0",
     "eslint-plugin-jest": "^24.1.0",
@@ -53,7 +53,7 @@
     "nyc": "^15.1.0",
     "parcel-bundler": "^1.12.5",
     "static-server": "^3.0.0",
-    "three": "^0.135.0",
+    "three": "^0.152.2",
     "typescript": "^3.9.7",
     "rollup": "^2.29.0"
   },

package/src/URDFClasses.d.ts

@@ -34,7 +34,7 @@ export interface URDFJoint extends Object3D {
     ignoreLimits: Boolean;
     mimicJoints: URDFMimicJoint[];
 
-    setJointValue(value0: Number, value1?: Number, value2?: Number): void;
+    setJointValue(value0: Number, value1?: Number, value2?: Number): boolean;
 
 }
 
@@ -59,8 +59,8 @@ export interface URDFRobot extends URDFLink {
     visual: { [ key: string ]: URDFVisual };
     frames: { [ key: string ]: Object3D };
 
-    setJointValue(jointName: String, value0: Number, value1?: Number, value2?: Number): void;
-    setJointValues(values: { [ key: string ]: Number | Number[] }): void;
+    setJointValue(jointName: String, value0: Number, value1?: Number, value2?: Number): boolean;
+    setJointValues(values: { [ key: string ]: Number | Number[] }): boolean;
     getFrame(name: String): Object3D;
 
 }

package/src/URDFLoader.js

@@ -473,7 +473,7 @@ class URDFLoader {
                             .split(/\s/g)
                             .map(v => parseFloat(v));
 
-                    material.color.setRGB(rgba[0], rgba[1], rgba[2]).convertSRGBToLinear();
+                    material.color.setRGB(rgba[0], rgba[1], rgba[2]);
                     material.opacity = rgba[3];
                     material.transparent = rgba[3] < 1;
                     material.depthWrite = !material.transparent;
@@ -488,7 +488,7 @@ class URDFLoader {
                         const loader = new THREE.TextureLoader(manager);
                         const filePath = resolvePath(filename);
                         material.map = loader.load(filePath);
-                        material.map.encoding = THREE.sRGBEncoding;
+                        material.map.colorSpace = THREE.SRGBColorSpace;
 
                     }
 
@@ -582,7 +582,7 @@ class URDFLoader {
                     } else if (geoType === 'box') {
 
                         const primitiveModel = new THREE.Mesh();
-                        primitiveModel.geometry = new THREE.BoxBufferGeometry(1, 1, 1);
+                        primitiveModel.geometry = new THREE.BoxGeometry(1, 1, 1);
                         primitiveModel.material = material;
 
                         const size = processTuple(n.children[0].getAttribute('size'));
@@ -593,7 +593,7 @@ class URDFLoader {
                     } else if (geoType === 'sphere') {
 
                         const primitiveModel = new THREE.Mesh();
-                        primitiveModel.geometry = new THREE.SphereBufferGeometry(1, 30, 30);
+                        primitiveModel.geometry = new THREE.SphereGeometry(1, 30, 30);
                         primitiveModel.material = material;
 
                         const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;
@@ -604,7 +604,7 @@ class URDFLoader {
                     } else if (geoType === 'cylinder') {
 
                         const primitiveModel = new THREE.Mesh();
-                        primitiveModel.geometry = new THREE.CylinderBufferGeometry(1, 1, 1, 30);
+                        primitiveModel.geometry = new THREE.CylinderGeometry(1, 1, 1, 30);
                         primitiveModel.material = material;
 
                         const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;

package/src/urdf-viewer-element.js

@@ -39,7 +39,7 @@ class URDFViewer extends HTMLElement {
     get displayShadow() { return this.hasAttribute('display-shadow') || false; }
     set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }
 
-    get ambientColor() { return this.getAttribute('ambient-color') || '#455A64'; }
+    get ambientColor() { return this.getAttribute('ambient-color') || '#8ea0a8'; }
     set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }
 
     get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }
@@ -118,7 +118,7 @@ class URDFViewer extends HTMLElement {
         renderer.setClearAlpha(0);
         renderer.shadowMap.enabled = true;
         renderer.shadowMap.type = THREE.PCFSoftShadowMap;
-        renderer.outputEncoding = THREE.sRGBEncoding;
+        renderer.outputColorSpace = THREE.SRGBColorSpace;
 
         // Camera setup
         const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);
@@ -453,7 +453,7 @@ class URDFViewer extends HTMLElement {
 
                                         if (m.map) {
 
-                                            m.map.encoding = THREE.GammaEncoding;
+                                            m.map.colorSpace = THREE.SRGBColorSpace;
 
                                         }
 

package/umd/URDFLoader.js

@@ -887,7 +887,7 @@
                                 .split(/\s/g)
                                 .map(v => parseFloat(v));
 
-                        material.color.setRGB(rgba[0], rgba[1], rgba[2]).convertSRGBToLinear();
+                        material.color.setRGB(rgba[0], rgba[1], rgba[2]);
                         material.opacity = rgba[3];
                         material.transparent = rgba[3] < 1;
                         material.depthWrite = !material.transparent;
@@ -902,7 +902,7 @@
                             const loader = new THREE__namespace.TextureLoader(manager);
                             const filePath = resolvePath(filename);
                             material.map = loader.load(filePath);
-                            material.map.encoding = THREE__namespace.sRGBEncoding;
+                            material.map.colorSpace = THREE__namespace.SRGBColorSpace;
 
                         }
 
@@ -996,7 +996,7 @@
                         } else if (geoType === 'box') {
 
                             const primitiveModel = new THREE__namespace.Mesh();
-                            primitiveModel.geometry = new THREE__namespace.BoxBufferGeometry(1, 1, 1);
+                            primitiveModel.geometry = new THREE__namespace.BoxGeometry(1, 1, 1);
                             primitiveModel.material = material;
 
                             const size = processTuple(n.children[0].getAttribute('size'));
@@ -1007,7 +1007,7 @@
                         } else if (geoType === 'sphere') {
 
                             const primitiveModel = new THREE__namespace.Mesh();
-                            primitiveModel.geometry = new THREE__namespace.SphereBufferGeometry(1, 30, 30);
+                            primitiveModel.geometry = new THREE__namespace.SphereGeometry(1, 30, 30);
                             primitiveModel.material = material;
 
                             const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;
@@ -1018,7 +1018,7 @@
                         } else if (geoType === 'cylinder') {
 
                             const primitiveModel = new THREE__namespace.Mesh();
-                            primitiveModel.geometry = new THREE__namespace.CylinderBufferGeometry(1, 1, 1, 30);
+                            primitiveModel.geometry = new THREE__namespace.CylinderGeometry(1, 1, 1, 30);
                             primitiveModel.material = material;
 
                             const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;

package/umd/URDFLoader.js.map

@@ -1 +1 @@
-{"version":3,"file":"URDFLoader.js","sources":["../src/URDFClasses.js","../src/URDFLoader.js"],"sourcesContent":["import { Object3D, Vector3 } from 'three';\n\nclass URDFBase extends Object3D {\n\n    constructor(...args) {\n\n        super(...args);\n        this.urdfNode = null;\n        this.urdfName = '';\n\n    }\n\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.urdfNode = source.urdfNode;\n        this.urdfName = source.urdfName;\n\n        return this;\n\n    }\n\n}\n\nclass URDFCollider extends URDFBase {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFCollider = true;\n        this.type = 'URDFCollider';\n\n    }\n\n}\n\nclass URDFVisual extends URDFBase {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFVisual = true;\n        this.type = 'URDFVisual';\n\n    }\n\n}\n\nclass URDFLink extends URDFBase {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFLink = true;\n        this.type = 'URDFLink';\n\n    }\n\n}\n\nclass URDFJoint extends URDFBase {\n\n    get jointType() {\n\n        return this._jointType;\n\n    }\n\n    set jointType(v) {\n\n        if (this.jointType === v) return;\n        this._jointType = v;\n        this.matrixWorldNeedsUpdate = true;\n        switch (v) {\n\n            case 'fixed':\n                this.jointValue = [];\n                break;\n\n            case 'continuous':\n            case 'revolute':\n            case 'prismatic':\n                this.jointValue = new Array(1).fill(0);\n                break;\n\n            case 'planar':\n                this.jointValue = new Array(2).fill(0);\n                break;\n\n            case 'floating':\n                this.jointValue = new Array(6).fill(0);\n                break;\n\n        }\n\n    }\n\n    get angle() {\n\n        return this.jointValue[0];\n\n    }\n\n    constructor(...args) {\n\n        super(...args);\n\n        this.isURDFJoint = true;\n        this.type = 'URDFJoint';\n\n        this.jointValue = null;\n        this.jointType = 'fixed';\n        this.axis = new Vector3(1, 0, 0);\n        this.limit = { lower: 0, upper: 0 };\n        this.ignoreLimits = false;\n\n        this.origPosition = null;\n        this.origQuaternion = null;\n\n        this.mimicJoints = [];\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.jointType = source.jointType;\n        this.axis = source.axis.clone();\n        this.limit.lower = source.limit.lower;\n        this.limit.upper = source.limit.upper;\n        this.ignoreLimits = false;\n\n        this.jointValue = [...source.jointValue];\n\n        this.origPosition = source.origPosition ? source.origPosition.clone() : null;\n        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;\n\n        this.mimicJoints = [...source.mimicJoints];\n\n        return this;\n\n    }\n\n    /* Public Functions */\n    setJointValue(...values) {\n\n        values = values.map(v => parseFloat(v));\n\n        if (!this.origPosition || !this.origQuaternion) {\n\n            this.origPosition = this.position.clone();\n            this.origQuaternion = this.quaternion.clone();\n\n        }\n\n        let didUpdate = false;\n\n        this.mimicJoints.forEach(joint => {\n\n            didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;\n\n        });\n\n        switch (this.jointType) {\n\n            case 'fixed': {\n\n                return didUpdate;\n\n            }\n            case 'continuous':\n            case 'revolute': {\n\n                let angle = values[0];\n                if (angle == null) return didUpdate;\n                if (angle === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits && this.jointType === 'revolute') {\n\n                    angle = Math.min(this.limit.upper, angle);\n                    angle = Math.max(this.limit.lower, angle);\n\n                }\n\n                this.quaternion\n                    .setFromAxisAngle(this.axis, angle)\n                    .premultiply(this.origQuaternion);\n\n                if (this.jointValue[0] !== angle) {\n\n                    this.jointValue[0] = angle;\n                    this.matrixWorldNeedsUpdate = true;\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'prismatic': {\n\n                let pos = values[0];\n                if (pos == null) return didUpdate;\n                if (pos === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits) {\n\n                    pos = Math.min(this.limit.upper, pos);\n                    pos = Math.max(this.limit.lower, pos);\n\n                }\n\n                this.position.copy(this.origPosition);\n                this.position.addScaledVector(this.axis, pos);\n\n                if (this.jointValue[0] !== pos) {\n\n                    this.jointValue[0] = pos;\n                    this.matrixWorldNeedsUpdate = true;\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'floating':\n            case 'planar':\n                // TODO: Support these joint types\n                console.warn(`'${ this.jointType }' joint not yet supported`);\n\n        }\n\n        return didUpdate;\n\n    }\n\n}\n\nclass URDFMimicJoint extends URDFJoint {\n\n    constructor(...args) {\n\n        super(...args);\n        this.type = 'URDFMimicJoint';\n        this.mimicJoint = null;\n        this.offset = 0;\n        this.multiplier = 1;\n\n    }\n\n    updateFromMimickedJoint(...values) {\n\n        const modifiedValues = values.map(x => x * this.multiplier + this.offset);\n        return super.setJointValue(...modifiedValues);\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.mimicJoint = source.mimicJoint;\n        this.offset = source.offset;\n        this.multiplier = source.multiplier;\n\n        return this;\n\n    }\n\n}\n\nclass URDFRobot extends URDFLink {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFRobot = true;\n        this.urdfNode = null;\n\n        this.urdfRobotNode = null;\n        this.robotName = null;\n\n        this.links = null;\n        this.joints = null;\n        this.colliders = null;\n        this.visual = null;\n        this.frames = null;\n\n    }\n\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.urdfRobotNode = source.urdfRobotNode;\n        this.robotName = source.robotName;\n\n        this.links = {};\n        this.joints = {};\n        this.colliders = {};\n        this.visual = {};\n\n        this.traverse(c => {\n\n            if (c.isURDFJoint && c.urdfName in source.joints) {\n\n                this.joints[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFLink && c.urdfName in source.links) {\n\n                this.links[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFCollider && c.urdfName in source.colliders) {\n\n                this.colliders[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFVisual && c.urdfName in source.visual) {\n\n                this.visual[c.urdfName] = c;\n\n            }\n\n        });\n\n        this.frames = {\n            ...this.colliders,\n            ...this.visual,\n            ...this.links,\n            ...this.joints,\n        };\n\n        return this;\n\n    }\n\n    getFrame(name) {\n\n        return this.frames[name];\n\n    }\n\n    setJointValue(jointName, ...angle) {\n\n        const joint = this.joints[jointName];\n        if (joint) {\n\n            return joint.setJointValue(...angle);\n\n        }\n\n        return false;\n    }\n\n    setJointValues(values) {\n\n        let didChange = false;\n        for (const name in values) {\n\n            const value = values[name];\n            if (Array.isArray(value)) {\n\n                didChange = this.setJointValue(name, ...value) || didChange;\n\n            } else {\n\n                didChange = this.setJointValue(name, value) || didChange;\n\n            }\n\n        }\n\n        return didChange;\n\n    }\n\n}\n\nexport { URDFRobot, URDFLink, URDFJoint, URDFMimicJoint, URDFVisual, URDFCollider };\n","import * as THREE from 'three';\nimport { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js';\nimport { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js';\nimport { URDFRobot, URDFJoint, URDFLink, URDFCollider, URDFVisual, URDFMimicJoint } from './URDFClasses.js';\n\n/*\nReference coordinate frames for THREE.js and ROS.\nBoth coordinate systems are right handed so the URDF is instantiated without\nframe transforms. The resulting model can be rotated to rectify the proper up,\nright, and forward directions\n\nTHREE.js\n   Y\n   |\n   |\n   .-----X\n ／\nZ\n\nROS URDf\n       Z\n       |   X\n       | ／\n Y-----.\n\n*/\n\nconst tempQuaternion = new THREE.Quaternion();\nconst tempEuler = new THREE.Euler();\n\n// take a vector \"x y z\" and process it into\n// an array [x, y, z]\nfunction processTuple(val) {\n\n    if (!val) return [0, 0, 0];\n    return val.trim().split(/\\s+/g).map(num => parseFloat(num));\n\n}\n\n// applies a rotation a threejs object in URDF order\nfunction applyRotation(obj, rpy, additive = false) {\n\n    // if additive is true the rotation is applied in\n    // addition to the existing rotation\n    if (!additive) obj.rotation.set(0, 0, 0);\n\n    tempEuler.set(rpy[0], rpy[1], rpy[2], 'ZYX');\n    tempQuaternion.setFromEuler(tempEuler);\n    tempQuaternion.multiply(obj.quaternion);\n    obj.quaternion.copy(tempQuaternion);\n\n}\n\n/* URDFLoader Class */\n// Loads and reads a URDF file into a THREEjs Object3D format\nexport default\nclass URDFLoader {\n\n    constructor(manager) {\n\n        this.manager = manager || THREE.DefaultLoadingManager;\n        this.loadMeshCb = this.defaultMeshLoader.bind(this);\n        this.parseVisual = true;\n        this.parseCollision = false;\n        this.packages = '';\n        this.workingPath = '';\n        this.fetchOptions = {};\n\n    }\n\n    /* Public API */\n    loadAsync(urdf) {\n\n        return new Promise((resolve, reject) => {\n\n            this.load(urdf, resolve, null, reject);\n\n        });\n\n    }\n\n    // urdf:    The path to the URDF within the package OR absolute\n    // onComplete:      Callback that is passed the model once loaded\n    load(urdf, onComplete, onProgress, onError) {\n\n        // Check if a full URI is specified before\n        // prepending the package info\n        const manager = this.manager;\n        const workingPath = THREE.LoaderUtils.extractUrlBase(urdf);\n        const urdfPath = this.manager.resolveURL(urdf);\n\n        manager.itemStart(urdfPath);\n\n        fetch(urdfPath, this.fetchOptions)\n            .then(res => {\n\n                if (res.ok) {\n\n                    if (onProgress) {\n\n                        onProgress(null);\n\n                    }\n                    return res.text();\n\n                } else {\n\n                    throw new Error(`URDFLoader: Failed to load url '${ urdfPath }' with error code ${ res.status } : ${ res.statusText }.`);\n\n                }\n\n            })\n            .then(data => {\n\n                if (this.workingPath === '') {\n\n                    this.workingPath = workingPath;\n\n                }\n\n                const model = this.parse(data);\n                onComplete(model);\n                manager.itemEnd(urdfPath);\n\n            })\n            .catch(e => {\n\n                if (onError) {\n\n                    onError(e);\n\n                } else {\n\n                    console.error('URDFLoader: Error loading file.', e);\n\n                }\n                manager.itemError(urdfPath);\n                manager.itemEnd(urdfPath);\n\n            });\n\n    }\n\n    parse(content) {\n\n        const packages = this.packages;\n        const loadMeshCb = this.loadMeshCb;\n        const parseVisual = this.parseVisual;\n        const parseCollision = this.parseCollision;\n        const workingPath = this.workingPath;\n        const manager = this.manager;\n        const linkMap = {};\n        const jointMap = {};\n        const materialMap = {};\n\n        // Resolves the path of mesh files\n        function resolvePath(path) {\n\n            if (!/^package:\\/\\//.test(path)) {\n\n                return workingPath ? workingPath + path : path;\n\n            }\n\n            // Remove \"package://\" keyword and split meshPath at the first slash\n            const [targetPkg, relPath] = path.replace(/^package:\\/\\//, '').split(/\\/(.+)/);\n\n            if (typeof packages === 'string') {\n\n                // \"pkg\" is one single package\n                if (packages.endsWith(targetPkg)) {\n\n                    // \"pkg\" is the target package\n                    return packages + '/' + relPath;\n\n                } else {\n\n                    // Assume \"pkg\" is the target package's parent directory\n                    return packages + '/' + targetPkg + '/' + relPath;\n\n                }\n\n            } else if (packages instanceof Function) {\n\n                return packages(targetPkg) + '/' + relPath;\n\n            } else if (typeof packages === 'object') {\n\n                // \"pkg\" is a map of packages\n                if (targetPkg in packages) {\n\n                    return packages[targetPkg] + '/' + relPath;\n\n                } else {\n\n                    console.error(`URDFLoader : ${ targetPkg } not found in provided package list.`);\n                    return null;\n\n                }\n\n            }\n\n        }\n\n        // Process the URDF text format\n        function processUrdf(data) {\n\n            let children;\n            if (data instanceof Document) {\n\n                children = [ ...data.children ];\n\n            } else if (data instanceof Element) {\n\n                children = [ data ];\n\n            } else {\n\n                const parser = new DOMParser();\n                const urdf = parser.parseFromString(data, 'text/xml');\n                children = [ ...urdf.children ];\n\n            }\n\n            const robotNode = children.filter(c => c.nodeName === 'robot').pop();\n            return processRobot(robotNode);\n\n        }\n\n        // Process the <robot> node\n        function processRobot(robot) {\n\n            const robotNodes = [ ...robot.children ];\n            const links = robotNodes.filter(c => c.nodeName.toLowerCase() === 'link');\n            const joints = robotNodes.filter(c => c.nodeName.toLowerCase() === 'joint');\n            const materials = robotNodes.filter(c => c.nodeName.toLowerCase() === 'material');\n            const obj = new URDFRobot();\n\n            obj.robotName = robot.getAttribute('name');\n            obj.urdfRobotNode = robot;\n\n            // Create the <material> map\n            materials.forEach(m => {\n\n                const name = m.getAttribute('name');\n                materialMap[name] = processMaterial(m);\n\n            });\n\n            // Create the <link> map\n            const visualMap = {};\n            const colliderMap = {};\n            links.forEach(l => {\n\n                const name = l.getAttribute('name');\n                const isRoot = robot.querySelector(`child[link=\"${ name }\"]`) === null;\n                linkMap[name] = processLink(l, visualMap, colliderMap, isRoot ? obj : null);\n\n            });\n\n            // Create the <joint> map\n            joints.forEach(j => {\n\n                const name = j.getAttribute('name');\n                jointMap[name] = processJoint(j);\n\n            });\n\n            obj.joints = jointMap;\n            obj.links = linkMap;\n            obj.colliders = colliderMap;\n            obj.visual = visualMap;\n\n            // Link up mimic joints\n            const jointList = Object.values(jointMap);\n            jointList.forEach(j => {\n\n                if (j instanceof URDFMimicJoint) {\n\n                    jointMap[j.mimicJoint].mimicJoints.push(j);\n\n                }\n\n            });\n\n            // Detect infinite loops of mimic joints\n            jointList.forEach(j => {\n\n                const uniqueJoints = new Set();\n                const iterFunction = joint => {\n\n                    if (uniqueJoints.has(joint)) {\n\n                        throw new Error('URDFLoader: Detected an infinite loop of mimic joints.');\n\n                    }\n\n                    uniqueJoints.add(joint);\n                    joint.mimicJoints.forEach(j => {\n\n                        iterFunction(j);\n\n                    });\n\n                };\n\n                iterFunction(j);\n            });\n\n            obj.frames = {\n                ...colliderMap,\n                ...visualMap,\n                ...linkMap,\n                ...jointMap,\n            };\n\n            return obj;\n\n        }\n\n        // Process joint nodes and parent them\n        function processJoint(joint) {\n\n            const children = [ ...joint.children ];\n            const jointType = joint.getAttribute('type');\n\n            let obj;\n\n            const mimicTag = children.find(n => n.nodeName.toLowerCase() === 'mimic');\n            if (mimicTag) {\n\n                obj = new URDFMimicJoint();\n                obj.mimicJoint = mimicTag.getAttribute('joint');\n                obj.multiplier = parseFloat(mimicTag.getAttribute('multiplier') || 1.0);\n                obj.offset = parseFloat(mimicTag.getAttribute('offset') || 0.0);\n\n            } else {\n\n                obj = new URDFJoint();\n\n            }\n\n            obj.urdfNode = joint;\n            obj.name = joint.getAttribute('name');\n            obj.urdfName = obj.name;\n            obj.jointType = jointType;\n\n            let parent = null;\n            let child = null;\n            let xyz = [0, 0, 0];\n            let rpy = [0, 0, 0];\n\n            // Extract the attributes\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'origin') {\n\n                    xyz = processTuple(n.getAttribute('xyz'));\n                    rpy = processTuple(n.getAttribute('rpy'));\n\n                } else if (type === 'child') {\n\n                    child = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'parent') {\n\n                    parent = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'limit') {\n\n                    obj.limit.lower = parseFloat(n.getAttribute('lower') || obj.limit.lower);\n                    obj.limit.upper = parseFloat(n.getAttribute('upper') || obj.limit.upper);\n\n                }\n            });\n\n            // Join the links\n            parent.add(obj);\n            obj.add(child);\n            applyRotation(obj, rpy);\n            obj.position.set(xyz[0], xyz[1], xyz[2]);\n\n            // Set up the rotate function\n            const axisNode = children.filter(n => n.nodeName.toLowerCase() === 'axis')[0];\n\n            if (axisNode) {\n\n                const axisXYZ = axisNode.getAttribute('xyz').split(/\\s+/g).map(num => parseFloat(num));\n                obj.axis = new THREE.Vector3(axisXYZ[0], axisXYZ[1], axisXYZ[2]);\n                obj.axis.normalize();\n\n            }\n\n            return obj;\n\n        }\n\n        // Process the <link> nodes\n        function processLink(link, visualMap, colliderMap, target = null) {\n\n            if (target === null) {\n\n                target = new URDFLink();\n\n            }\n\n            const children = [ ...link.children ];\n            target.name = link.getAttribute('name');\n            target.urdfName = target.name;\n            target.urdfNode = link;\n\n            if (parseVisual) {\n\n                const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');\n                visualNodes.forEach(vn => {\n\n                    const v = processLinkElement(vn, materialMap);\n                    target.add(v);\n\n                    if (vn.hasAttribute('name')) {\n\n                        const name = vn.getAttribute('name');\n                        v.name = name;\n                        v.urdfName = name;\n                        visualMap[name] = v;\n\n                    }\n\n                });\n\n            }\n\n            if (parseCollision) {\n\n                const collisionNodes = children.filter(n => n.nodeName.toLowerCase() === 'collision');\n                collisionNodes.forEach(cn => {\n\n                    const c = processLinkElement(cn);\n                    target.add(c);\n\n                    if (cn.hasAttribute('name')) {\n\n                        const name = cn.getAttribute('name');\n                        c.name = name;\n                        c.urdfName = name;\n                        colliderMap[name] = c;\n\n                    }\n\n                });\n\n            }\n\n            return target;\n\n        }\n\n        function processMaterial(node) {\n\n            const matNodes = [ ...node.children ];\n            const material = new THREE.MeshPhongMaterial();\n\n            material.name = node.getAttribute('name') || '';\n            matNodes.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'color') {\n\n                    const rgba =\n                        n\n                            .getAttribute('rgba')\n                            .split(/\\s/g)\n                            .map(v => parseFloat(v));\n\n                    material.color.setRGB(rgba[0], rgba[1], rgba[2]).convertSRGBToLinear();\n                    material.opacity = rgba[3];\n                    material.transparent = rgba[3] < 1;\n                    material.depthWrite = !material.transparent;\n\n                } else if (type === 'texture') {\n\n                    // The URDF spec does not require that the <texture/> tag include\n                    // a filename attribute so skip loading the texture if not provided.\n                    const filename = n.getAttribute('filename');\n                    if (filename) {\n\n                        const loader = new THREE.TextureLoader(manager);\n                        const filePath = resolvePath(filename);\n                        material.map = loader.load(filePath);\n                        material.map.encoding = THREE.sRGBEncoding;\n\n                    }\n\n                }\n            });\n\n            return material;\n\n        }\n\n        // Process the visual and collision nodes into meshes\n        function processLinkElement(vn, materialMap = {}) {\n\n            const isCollisionNode = vn.nodeName.toLowerCase() === 'collision';\n            const children = [ ...vn.children ];\n            let material = null;\n\n            // get the material first\n            const materialNode = children.filter(n => n.nodeName.toLowerCase() === 'material')[0];\n            if (materialNode) {\n\n                const name = materialNode.getAttribute('name');\n                if (name && name in materialMap) {\n\n                    material = materialMap[name];\n\n                } else {\n\n                    material = processMaterial(materialNode);\n\n                }\n\n            } else {\n\n                material = new THREE.MeshPhongMaterial();\n\n            }\n\n            const group = isCollisionNode ? new URDFCollider() : new URDFVisual();\n            group.urdfNode = vn;\n\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'geometry') {\n\n                    const geoType = n.children[0].nodeName.toLowerCase();\n                    if (geoType === 'mesh') {\n\n                        const filename = n.children[0].getAttribute('filename');\n                        const filePath = resolvePath(filename);\n\n                        // file path is null if a package directory is not provided.\n                        if (filePath !== null) {\n\n                            const scaleAttr = n.children[0].getAttribute('scale');\n                            if (scaleAttr) {\n\n                                const scale = processTuple(scaleAttr);\n                                group.scale.set(scale[0], scale[1], scale[2]);\n\n                            }\n\n                            loadMeshCb(filePath, manager, (obj, err) => {\n\n                                if (err) {\n\n                                    console.error('URDFLoader: Error loading mesh.', err);\n\n                                } else if (obj) {\n\n                                    if (obj instanceof THREE.Mesh) {\n\n                                        obj.material = material;\n\n                                    }\n\n                                    // We don't expect non identity rotations or positions. In the case of\n                                    // COLLADA files the model might come in with a custom scale for unit\n                                    // conversion.\n                                    obj.position.set(0, 0, 0);\n                                    obj.quaternion.identity();\n                                    group.add(obj);\n\n                                }\n\n                            });\n\n                        }\n\n                    } else if (geoType === 'box') {\n\n                        const primitiveModel = new THREE.Mesh();\n                        primitiveModel.geometry = new THREE.BoxBufferGeometry(1, 1, 1);\n                        primitiveModel.material = material;\n\n                        const size = processTuple(n.children[0].getAttribute('size'));\n                        primitiveModel.scale.set(size[0], size[1], size[2]);\n\n                        group.add(primitiveModel);\n\n                    } else if (geoType === 'sphere') {\n\n                        const primitiveModel = new THREE.Mesh();\n                        primitiveModel.geometry = new THREE.SphereBufferGeometry(1, 30, 30);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        primitiveModel.scale.set(radius, radius, radius);\n\n                        group.add(primitiveModel);\n\n                    } else if (geoType === 'cylinder') {\n\n                        const primitiveModel = new THREE.Mesh();\n                        primitiveModel.geometry = new THREE.CylinderBufferGeometry(1, 1, 1, 30);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        const length = parseFloat(n.children[0].getAttribute('length')) || 0;\n                        primitiveModel.scale.set(radius, length, radius);\n                        primitiveModel.rotation.set(Math.PI / 2, 0, 0);\n\n                        group.add(primitiveModel);\n\n                    }\n\n                } else if (type === 'origin') {\n\n                    const xyz = processTuple(n.getAttribute('xyz'));\n                    const rpy = processTuple(n.getAttribute('rpy'));\n\n                    group.position.set(xyz[0], xyz[1], xyz[2]);\n                    group.rotation.set(0, 0, 0);\n                    applyRotation(group, rpy);\n\n                }\n\n            });\n\n            return group;\n\n        }\n\n        return processUrdf(content);\n\n    }\n\n    // Default mesh loading function\n    defaultMeshLoader(path, manager, done) {\n\n        if (/\\.stl$/i.test(path)) {\n\n            const loader = new STLLoader(manager);\n            loader.load(path, geom => {\n                const mesh = new THREE.Mesh(geom, new THREE.MeshPhongMaterial());\n                done(mesh);\n            });\n\n        } else if (/\\.dae$/i.test(path)) {\n\n            const loader = new ColladaLoader(manager);\n            loader.load(path, dae => done(dae.scene));\n\n        } else {\n\n            console.warn(`URDFLoader: Could not load model at ${ path }.\\nNo loader available`);\n\n        }\n\n    }\n\n};\n"],"names":["Object3D","Vector3","THREE","STLLoader","ColladaLoader"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;IAEA,MAAM,QAAQ,SAASA,cAAQ,CAAC;AAChC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IAC7B,QAAQ,IAAI,CAAC,QAAQ,GAAG,EAAE,CAAC;AAC3B;IACA,KAAK;AACL;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,QAAQ,GAAG,MAAM,CAAC,QAAQ,CAAC;IACxC,QAAQ,IAAI,CAAC,QAAQ,GAAG,MAAM,CAAC,QAAQ,CAAC;AACxC;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,YAAY,SAAS,QAAQ,CAAC;AACpC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC;IACnC,QAAQ,IAAI,CAAC,IAAI,GAAG,cAAc,CAAC;AACnC;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,UAAU,SAAS,QAAQ,CAAC;AAClC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;IACjC,QAAQ,IAAI,CAAC,IAAI,GAAG,YAAY,CAAC;AACjC;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,QAAQ,SAAS,QAAQ,CAAC;AAChC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;IAC/B,QAAQ,IAAI,CAAC,IAAI,GAAG,UAAU,CAAC;AAC/B;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,SAAS,SAAS,QAAQ,CAAC;AACjC;IACA,IAAI,IAAI,SAAS,GAAG;AACpB;IACA,QAAQ,OAAO,IAAI,CAAC,UAAU,CAAC;AAC/B;IACA,KAAK;AACL;IACA,IAAI,IAAI,SAAS,CAAC,CAAC,EAAE;AACrB;IACA,QAAQ,IAAI,IAAI,CAAC,SAAS,KAAK,CAAC,EAAE,OAAO;IACzC,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;IAC5B,QAAQ,IAAI,CAAC,sBAAsB,GAAG,IAAI,CAAC;IAC3C,QAAQ,QAAQ,CAAC;AACjB;IACA,YAAY,KAAK,OAAO;IACxB,gBAAgB,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC;IACrC,gBAAgB,MAAM;AACtB;IACA,YAAY,KAAK,YAAY,CAAC;IAC9B,YAAY,KAAK,UAAU,CAAC;IAC5B,YAAY,KAAK,WAAW;IAC5B,gBAAgB,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACvD,gBAAgB,MAAM;AACtB;IACA,YAAY,KAAK,QAAQ;IACzB,gBAAgB,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACvD,gBAAgB,MAAM;AACtB;IACA,YAAY,KAAK,UAAU;IAC3B,gBAAgB,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACvD,gBAAgB,MAAM;AACtB;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,IAAI,KAAK,GAAG;AAChB;IACA,QAAQ,OAAO,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,KAAK;AACL;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;AACvB;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAChC,QAAQ,IAAI,CAAC,IAAI,GAAG,WAAW,CAAC;AAChC;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;IAC/B,QAAQ,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC;IACjC,QAAQ,IAAI,CAAC,IAAI,GAAG,IAAIC,aAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzC,QAAQ,IAAI,CAAC,KAAK,GAAG,EAAE,KAAK,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;IAC5C,QAAQ,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;AAClC;IACA,QAAQ,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;IACjC,QAAQ,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC;AACnC;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;AAC9B;IACA,KAAK;AACL;IACA;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC;IAC1C,QAAQ,IAAI,CAAC,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,KAAK,EAAE,CAAC;IACxC,QAAQ,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC;IAC9C,QAAQ,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC;IAC9C,QAAQ,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;AAClC;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,GAAG,MAAM,CAAC,UAAU,CAAC,CAAC;AACjD;IACA,QAAQ,IAAI,CAAC,YAAY,GAAG,MAAM,CAAC,YAAY,GAAG,MAAM,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,IAAI,CAAC;IACrF,QAAQ,IAAI,CAAC,cAAc,GAAG,MAAM,CAAC,cAAc,GAAG,MAAM,CAAC,cAAc,CAAC,KAAK,EAAE,GAAG,IAAI,CAAC;AAC3F;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC,CAAC;AACnD;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA;IACA,IAAI,aAAa,CAAC,GAAG,MAAM,EAAE;AAC7B;IACA,QAAQ,MAAM,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;AAChD;IACA,QAAQ,IAAI,CAAC,IAAI,CAAC,YAAY,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;AACxD;IACA,YAAY,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC;IACtD,YAAY,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;AAC1D;IACA,SAAS;AACT;IACA,QAAQ,IAAI,SAAS,GAAG,KAAK,CAAC;AAC9B;IACA,QAAQ,IAAI,CAAC,WAAW,CAAC,OAAO,CAAC,KAAK,IAAI;AAC1C;IACA,YAAY,SAAS,GAAG,KAAK,CAAC,uBAAuB,CAAC,GAAG,MAAM,CAAC,IAAI,SAAS,CAAC;AAC9E;IACA,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,QAAQ,IAAI,CAAC,SAAS;AAC9B;IACA,YAAY,KAAK,OAAO,EAAE;AAC1B;IACA,gBAAgB,OAAO,SAAS,CAAC;AACjC;IACA,aAAa;IACb,YAAY,KAAK,YAAY,CAAC;IAC9B,YAAY,KAAK,UAAU,EAAE;AAC7B;IACA,gBAAgB,IAAI,KAAK,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC;IACtC,gBAAgB,IAAI,KAAK,IAAI,IAAI,EAAE,OAAO,SAAS,CAAC;IACpD,gBAAgB,IAAI,KAAK,KAAK,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,OAAO,SAAS,CAAC;AACnE;IACA,gBAAgB,IAAI,CAAC,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,SAAS,KAAK,UAAU,EAAE;AACzE;IACA,oBAAoB,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IAC9D,oBAAoB,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;AAC9D;IACA,iBAAiB;AACjB;IACA,gBAAgB,IAAI,CAAC,UAAU;IAC/B,qBAAqB,gBAAgB,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,CAAC;IACvD,qBAAqB,WAAW,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;AACtD;IACA,gBAAgB,IAAI,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,KAAK,KAAK,EAAE;AAClD;IACA,oBAAoB,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC;IAC/C,oBAAoB,IAAI,CAAC,sBAAsB,GAAG,IAAI,CAAC;IACvD,oBAAoB,OAAO,IAAI,CAAC;AAChC;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,SAAS,CAAC;AACrC;IACA,iBAAiB;AACjB;IACA,aAAa;AACb;IACA,YAAY,KAAK,WAAW,EAAE;AAC9B;IACA,gBAAgB,IAAI,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC;IACpC,gBAAgB,IAAI,GAAG,IAAI,IAAI,EAAE,OAAO,SAAS,CAAC;IAClD,gBAAgB,IAAI,GAAG,KAAK,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,OAAO,SAAS,CAAC;AACjE;IACA,gBAAgB,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;AACxC;IACA,oBAAoB,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC1D,oBAAoB,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;AAC1D;IACA,iBAAiB;AACjB;IACA,gBAAgB,IAAI,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IACtD,gBAAgB,IAAI,CAAC,QAAQ,CAAC,eAAe,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;AAC9D;IACA,gBAAgB,IAAI,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,KAAK,GAAG,EAAE;AAChD;IACA,oBAAoB,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC;IAC7C,oBAAoB,IAAI,CAAC,sBAAsB,GAAG,IAAI,CAAC;IACvD,oBAAoB,OAAO,IAAI,CAAC;AAChC;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,SAAS,CAAC;AACrC;IACA,iBAAiB;AACjB;IACA,aAAa;AACb;IACA,YAAY,KAAK,UAAU,CAAC;IAC5B,YAAY,KAAK,QAAQ;IACzB;IACA,gBAAgB,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,SAAS,EAAE,yBAAyB,CAAC,CAAC,CAAC;AAC9E;IACA,SAAS;AACT;IACA,QAAQ,OAAO,SAAS,CAAC;AACzB;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,cAAc,SAAS,SAAS,CAAC;AACvC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,IAAI,GAAG,gBAAgB,CAAC;IACrC,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;IAC/B,QAAQ,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IACxB,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;AAC5B;IACA,KAAK;AACL;IACA,IAAI,uBAAuB,CAAC,GAAG,MAAM,EAAE;AACvC;IACA,QAAQ,MAAM,cAAc,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC;IAClF,QAAQ,OAAO,KAAK,CAAC,aAAa,CAAC,GAAG,cAAc,CAAC,CAAC;AACtD;IACA,KAAK;AACL;IACA;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,MAAM,CAAC,UAAU,CAAC;IAC5C,QAAQ,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC;IACpC,QAAQ,IAAI,CAAC,UAAU,GAAG,MAAM,CAAC,UAAU,CAAC;AAC5C;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,SAAS,SAAS,QAAQ,CAAC;AACjC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAChC,QAAQ,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;AAC7B;IACA,QAAQ,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC;IAClC,QAAQ,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;AAC9B;IACA,QAAQ,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;IAC1B,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;IAC3B,QAAQ,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;IAC9B,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;IAC3B,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;AAC3B;IACA,KAAK;AACL;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,aAAa,GAAG,MAAM,CAAC,aAAa,CAAC;IAClD,QAAQ,IAAI,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC;AAC1C;IACA,QAAQ,IAAI,CAAC,KAAK,GAAG,EAAE,CAAC;IACxB,QAAQ,IAAI,CAAC,MAAM,GAAG,EAAE,CAAC;IACzB,QAAQ,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;IAC5B,QAAQ,IAAI,CAAC,MAAM,GAAG,EAAE,CAAC;AACzB;IACA,QAAQ,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;AAC3B;IACA,YAAY,IAAI,CAAC,CAAC,WAAW,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,MAAM,EAAE;AAC9D;IACA,gBAAgB,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC5C;IACA,aAAa;AACb;IACA,YAAY,IAAI,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,KAAK,EAAE;AAC5D;IACA,gBAAgB,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC3C;IACA,aAAa;AACb;IACA,YAAY,IAAI,CAAC,CAAC,cAAc,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,SAAS,EAAE;AACpE;IACA,gBAAgB,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC/C;IACA,aAAa;AACb;IACA,YAAY,IAAI,CAAC,CAAC,YAAY,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,MAAM,EAAE;AAC/D;IACA,gBAAgB,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC5C;IACA,aAAa;AACb;IACA,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,IAAI,CAAC,MAAM,GAAG;IACtB,YAAY,GAAG,IAAI,CAAC,SAAS;IAC7B,YAAY,GAAG,IAAI,CAAC,MAAM;IAC1B,YAAY,GAAG,IAAI,CAAC,KAAK;IACzB,YAAY,GAAG,IAAI,CAAC,MAAM;IAC1B,SAAS,CAAC;AACV;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA,IAAI,QAAQ,CAAC,IAAI,EAAE;AACnB;IACA,QAAQ,OAAO,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;AACjC;IACA,KAAK;AACL;IACA,IAAI,aAAa,CAAC,SAAS,EAAE,GAAG,KAAK,EAAE;AACvC;IACA,QAAQ,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7C,QAAQ,IAAI,KAAK,EAAE;AACnB;IACA,YAAY,OAAO,KAAK,CAAC,aAAa,CAAC,GAAG,KAAK,CAAC,CAAC;AACjD;IACA,SAAS;AACT;IACA,QAAQ,OAAO,KAAK,CAAC;IACrB,KAAK;AACL;IACA,IAAI,cAAc,CAAC,MAAM,EAAE;AAC3B;IACA,QAAQ,IAAI,SAAS,GAAG,KAAK,CAAC;IAC9B,QAAQ,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE;AACnC;IACA,YAAY,MAAM,KAAK,GAAG,MAAM,CAAC,IAAI,CAAC,CAAC;IACvC,YAAY,IAAI,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,EAAE;AACtC;IACA,gBAAgB,SAAS,GAAG,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,GAAG,KAAK,CAAC,IAAI,SAAS,CAAC;AAC5E;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,SAAS,GAAG,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,SAAS,CAAC;AACzE;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA,QAAQ,OAAO,SAAS,CAAC;AACzB;IACA,KAAK;AACL;IACA;;ICnYA;IACA;IACA;IACA;IACA;AACA;IACA;IACA;IACA;IACA;IACA;IACA;IACA;AACA;IACA;IACA;IACA;IACA;IACA;AACA;IACA;AACA;IACA,MAAM,cAAc,GAAG,IAAIC,gBAAK,CAAC,UAAU,EAAE,CAAC;IAC9C,MAAM,SAAS,GAAG,IAAIA,gBAAK,CAAC,KAAK,EAAE,CAAC;AACpC;IACA;IACA;IACA,SAAS,YAAY,CAAC,GAAG,EAAE;AAC3B;IACA,IAAI,IAAI,CAAC,GAAG,EAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/B,IAAI,OAAO,GAAG,CAAC,IAAI,EAAE,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC;AAChE;IACA,CAAC;AACD;IACA;IACA,SAAS,aAAa,CAAC,GAAG,EAAE,GAAG,EAAE,QAAQ,GAAG,KAAK,EAAE;AACnD;IACA;IACA;IACA,IAAI,IAAI,CAAC,QAAQ,EAAE,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC7C;IACA,IAAI,SAAS,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;IACjD,IAAI,cAAc,CAAC,YAAY,CAAC,SAAS,CAAC,CAAC;IAC3C,IAAI,cAAc,CAAC,QAAQ,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC;IAC5C,IAAI,GAAG,CAAC,UAAU,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;AACxC;IACA,CAAC;AACD;IACA;IACA;IAEA,MAAM,UAAU,CAAC;AACjB;IACA,IAAI,WAAW,CAAC,OAAO,EAAE;AACzB;IACA,QAAQ,IAAI,CAAC,OAAO,GAAG,OAAO,IAAIA,gBAAK,CAAC,qBAAqB,CAAC;IAC9D,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC5D,QAAQ,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAChC,QAAQ,IAAI,CAAC,cAAc,GAAG,KAAK,CAAC;IACpC,QAAQ,IAAI,CAAC,QAAQ,GAAG,EAAE,CAAC;IAC3B,QAAQ,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;IAC9B,QAAQ,IAAI,CAAC,YAAY,GAAG,EAAE,CAAC;AAC/B;IACA,KAAK;AACL;IACA;IACA,IAAI,SAAS,CAAC,IAAI,EAAE;AACpB;IACA,QAAQ,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAK;AAChD;IACA,YAAY,IAAI,CAAC,IAAI,CAAC,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC;AACnD;IACA,SAAS,CAAC,CAAC;AACX;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,IAAI,CAAC,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,OAAO,EAAE;AAChD;IACA;IACA;IACA,QAAQ,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACrC,QAAQ,MAAM,WAAW,GAAGA,gBAAK,CAAC,WAAW,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC;IACnE,QAAQ,MAAM,QAAQ,GAAG,IAAI,CAAC,OAAO,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;AACvD;IACA,QAAQ,OAAO,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;AACpC;IACA,QAAQ,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,YAAY,CAAC;IAC1C,aAAa,IAAI,CAAC,GAAG,IAAI;AACzB;IACA,gBAAgB,IAAI,GAAG,CAAC,EAAE,EAAE;AAC5B;IACA,oBAAoB,IAAI,UAAU,EAAE;AACpC;IACA,wBAAwB,UAAU,CAAC,IAAI,CAAC,CAAC;AACzC;IACA,qBAAqB;IACrB,oBAAoB,OAAO,GAAG,CAAC,IAAI,EAAE,CAAC;AACtC;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,MAAM,IAAI,KAAK,CAAC,CAAC,gCAAgC,GAAG,QAAQ,EAAE,kBAAkB,GAAG,GAAG,CAAC,MAAM,EAAE,GAAG,GAAG,GAAG,CAAC,UAAU,EAAE,CAAC,CAAC,CAAC,CAAC;AAC7I;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC;IACd,aAAa,IAAI,CAAC,IAAI,IAAI;AAC1B;IACA,gBAAgB,IAAI,IAAI,CAAC,WAAW,KAAK,EAAE,EAAE;AAC7C;IACA,oBAAoB,IAAI,CAAC,WAAW,GAAG,WAAW,CAAC;AACnD;IACA,iBAAiB;AACjB;IACA,gBAAgB,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAC/C,gBAAgB,UAAU,CAAC,KAAK,CAAC,CAAC;IAClC,gBAAgB,OAAO,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;AAC1C;IACA,aAAa,CAAC;IACd,aAAa,KAAK,CAAC,CAAC,IAAI;AACxB;IACA,gBAAgB,IAAI,OAAO,EAAE;AAC7B;IACA,oBAAoB,OAAO,CAAC,CAAC,CAAC,CAAC;AAC/B;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,CAAC,KAAK,CAAC,iCAAiC,EAAE,CAAC,CAAC,CAAC;AACxE;IACA,iBAAiB;IACjB,gBAAgB,OAAO,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;IAC5C,gBAAgB,OAAO,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;AAC1C;IACA,aAAa,CAAC,CAAC;AACf;IACA,KAAK;AACL;IACA,IAAI,KAAK,CAAC,OAAO,EAAE;AACnB;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAI,CAAC,QAAQ,CAAC;IACvC,QAAQ,MAAM,UAAU,GAAG,IAAI,CAAC,UAAU,CAAC;IAC3C,QAAQ,MAAM,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IAC7C,QAAQ,MAAM,cAAc,GAAG,IAAI,CAAC,cAAc,CAAC;IACnD,QAAQ,MAAM,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IAC7C,QAAQ,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACrC,QAAQ,MAAM,OAAO,GAAG,EAAE,CAAC;IAC3B,QAAQ,MAAM,QAAQ,GAAG,EAAE,CAAC;IAC5B,QAAQ,MAAM,WAAW,GAAG,EAAE,CAAC;AAC/B;IACA;IACA,QAAQ,SAAS,WAAW,CAAC,IAAI,EAAE;AACnC;IACA,YAAY,IAAI,CAAC,eAAe,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;AAC7C;IACA,gBAAgB,OAAO,WAAW,GAAG,WAAW,GAAG,IAAI,GAAG,IAAI,CAAC;AAC/D;IACA,aAAa;AACb;IACA;IACA,YAAY,MAAM,CAAC,SAAS,EAAE,OAAO,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,eAAe,EAAE,EAAE,CAAC,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;AAC3F;IACA,YAAY,IAAI,OAAO,QAAQ,KAAK,QAAQ,EAAE;AAC9C;IACA;IACA,gBAAgB,IAAI,QAAQ,CAAC,QAAQ,CAAC,SAAS,CAAC,EAAE;AAClD;IACA;IACA,oBAAoB,OAAO,QAAQ,GAAG,GAAG,GAAG,OAAO,CAAC;AACpD;IACA,iBAAiB,MAAM;AACvB;IACA;IACA,oBAAoB,OAAO,QAAQ,GAAG,GAAG,GAAG,SAAS,GAAG,GAAG,GAAG,OAAO,CAAC;AACtE;IACA,iBAAiB;AACjB;IACA,aAAa,MAAM,IAAI,QAAQ,YAAY,QAAQ,EAAE;AACrD;IACA,gBAAgB,OAAO,QAAQ,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,OAAO,CAAC;AAC3D;IACA,aAAa,MAAM,IAAI,OAAO,QAAQ,KAAK,QAAQ,EAAE;AACrD;IACA;IACA,gBAAgB,IAAI,SAAS,IAAI,QAAQ,EAAE;AAC3C;IACA,oBAAoB,OAAO,QAAQ,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,OAAO,CAAC;AAC/D;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,CAAC,KAAK,CAAC,CAAC,aAAa,GAAG,SAAS,EAAE,oCAAoC,CAAC,CAAC,CAAC;IACrG,oBAAoB,OAAO,IAAI,CAAC;AAChC;IACA,iBAAiB;AACjB;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,WAAW,CAAC,IAAI,EAAE;AACnC;IACA,YAAY,IAAI,QAAQ,CAAC;IACzB,YAAY,IAAI,IAAI,YAAY,QAAQ,EAAE;AAC1C;IACA,gBAAgB,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;AAChD;IACA,aAAa,MAAM,IAAI,IAAI,YAAY,OAAO,EAAE;AAChD;IACA,gBAAgB,QAAQ,GAAG,EAAE,IAAI,EAAE,CAAC;AACpC;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,MAAM,MAAM,GAAG,IAAI,SAAS,EAAE,CAAC;IAC/C,gBAAgB,MAAM,IAAI,GAAG,MAAM,CAAC,eAAe,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC;IACtE,gBAAgB,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;AAChD;IACA,aAAa;AACb;IACA,YAAY,MAAM,SAAS,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,CAAC,CAAC,GAAG,EAAE,CAAC;IACjF,YAAY,OAAO,YAAY,CAAC,SAAS,CAAC,CAAC;AAC3C;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,YAAY,CAAC,KAAK,EAAE;AACrC;IACA,YAAY,MAAM,UAAU,GAAG,EAAE,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;IACrD,YAAY,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,MAAM,CAAC,CAAC;IACtF,YAAY,MAAM,MAAM,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,OAAO,CAAC,CAAC;IACxF,YAAY,MAAM,SAAS,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,UAAU,CAAC,CAAC;IAC9F,YAAY,MAAM,GAAG,GAAG,IAAI,SAAS,EAAE,CAAC;AACxC;IACA,YAAY,GAAG,CAAC,SAAS,GAAG,KAAK,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACvD,YAAY,GAAG,CAAC,aAAa,GAAG,KAAK,CAAC;AACtC;IACA;IACA,YAAY,SAAS,CAAC,OAAO,CAAC,CAAC,IAAI;AACnC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,gBAAgB,WAAW,CAAC,IAAI,CAAC,GAAG,eAAe,CAAC,CAAC,CAAC,CAAC;AACvD;IACA,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,MAAM,SAAS,GAAG,EAAE,CAAC;IACjC,YAAY,MAAM,WAAW,GAAG,EAAE,CAAC;IACnC,YAAY,KAAK,CAAC,OAAO,CAAC,CAAC,IAAI;AAC/B;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,gBAAgB,MAAM,MAAM,GAAG,KAAK,CAAC,aAAa,CAAC,CAAC,YAAY,GAAG,IAAI,EAAE,EAAE,CAAC,CAAC,KAAK,IAAI,CAAC;IACvF,gBAAgB,OAAO,CAAC,IAAI,CAAC,GAAG,WAAW,CAAC,CAAC,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,GAAG,GAAG,GAAG,IAAI,CAAC,CAAC;AAC5F;IACA,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,MAAM,CAAC,OAAO,CAAC,CAAC,IAAI;AAChC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,gBAAgB,QAAQ,CAAC,IAAI,CAAC,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;AACjD;IACA,aAAa,CAAC,CAAC;AACf;IACA,YAAY,GAAG,CAAC,MAAM,GAAG,QAAQ,CAAC;IAClC,YAAY,GAAG,CAAC,KAAK,GAAG,OAAO,CAAC;IAChC,YAAY,GAAG,CAAC,SAAS,GAAG,WAAW,CAAC;IACxC,YAAY,GAAG,CAAC,MAAM,GAAG,SAAS,CAAC;AACnC;IACA;IACA,YAAY,MAAM,SAAS,GAAG,MAAM,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;IACtD,YAAY,SAAS,CAAC,OAAO,CAAC,CAAC,IAAI;AACnC;IACA,gBAAgB,IAAI,CAAC,YAAY,cAAc,EAAE;AACjD;IACA,oBAAoB,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;AAC/D;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,SAAS,CAAC,OAAO,CAAC,CAAC,IAAI;AACnC;IACA,gBAAgB,MAAM,YAAY,GAAG,IAAI,GAAG,EAAE,CAAC;IAC/C,gBAAgB,MAAM,YAAY,GAAG,KAAK,IAAI;AAC9C;IACA,oBAAoB,IAAI,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE;AACjD;IACA,wBAAwB,MAAM,IAAI,KAAK,CAAC,wDAAwD,CAAC,CAAC;AAClG;IACA,qBAAqB;AACrB;IACA,oBAAoB,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC5C,oBAAoB,KAAK,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,IAAI;AACnD;IACA,wBAAwB,YAAY,CAAC,CAAC,CAAC,CAAC;AACxC;IACA,qBAAqB,CAAC,CAAC;AACvB;IACA,iBAAiB,CAAC;AAClB;IACA,gBAAgB,YAAY,CAAC,CAAC,CAAC,CAAC;IAChC,aAAa,CAAC,CAAC;AACf;IACA,YAAY,GAAG,CAAC,MAAM,GAAG;IACzB,gBAAgB,GAAG,WAAW;IAC9B,gBAAgB,GAAG,SAAS;IAC5B,gBAAgB,GAAG,OAAO;IAC1B,gBAAgB,GAAG,QAAQ;IAC3B,aAAa,CAAC;AACd;IACA,YAAY,OAAO,GAAG,CAAC;AACvB;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,YAAY,CAAC,KAAK,EAAE;AACrC;IACA,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;IACnD,YAAY,MAAM,SAAS,GAAG,KAAK,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;AACzD;IACA,YAAY,IAAI,GAAG,CAAC;AACpB;IACA,YAAY,MAAM,QAAQ,GAAG,QAAQ,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,OAAO,CAAC,CAAC;IACtF,YAAY,IAAI,QAAQ,EAAE;AAC1B;IACA,gBAAgB,GAAG,GAAG,IAAI,cAAc,EAAE,CAAC;IAC3C,gBAAgB,GAAG,CAAC,UAAU,GAAG,QAAQ,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC;IAChE,gBAAgB,GAAG,CAAC,UAAU,GAAG,UAAU,CAAC,QAAQ,CAAC,YAAY,CAAC,YAAY,CAAC,IAAI,GAAG,CAAC,CAAC;IACxF,gBAAgB,GAAG,CAAC,MAAM,GAAG,UAAU,CAAC,QAAQ,CAAC,YAAY,CAAC,QAAQ,CAAC,IAAI,GAAG,CAAC,CAAC;AAChF;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,GAAG,GAAG,IAAI,SAAS,EAAE,CAAC;AACtC;IACA,aAAa;AACb;IACA,YAAY,GAAG,CAAC,QAAQ,GAAG,KAAK,CAAC;IACjC,YAAY,GAAG,CAAC,IAAI,GAAG,KAAK,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAClD,YAAY,GAAG,CAAC,QAAQ,GAAG,GAAG,CAAC,IAAI,CAAC;IACpC,YAAY,GAAG,CAAC,SAAS,GAAG,SAAS,CAAC;AACtC;IACA,YAAY,IAAI,MAAM,GAAG,IAAI,CAAC;IAC9B,YAAY,IAAI,KAAK,GAAG,IAAI,CAAC;IAC7B,YAAY,IAAI,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChC,YAAY,IAAI,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAChC;IACA;IACA,YAAY,QAAQ,CAAC,OAAO,CAAC,CAAC,IAAI;AAClC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACtD,gBAAgB,IAAI,IAAI,KAAK,QAAQ,EAAE;AACvC;IACA,oBAAoB,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;IAC9D,oBAAoB,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;AAC9D;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,OAAO,EAAE;AAC7C;IACA,oBAAoB,KAAK,GAAG,OAAO,CAAC,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC;AAC5D;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,QAAQ,EAAE;AAC9C;IACA,oBAAoB,MAAM,GAAG,OAAO,CAAC,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC;AAC7D;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,OAAO,EAAE;AAC7C;IACA,oBAAoB,GAAG,CAAC,KAAK,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,YAAY,CAAC,OAAO,CAAC,IAAI,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IAC7F,oBAAoB,GAAG,CAAC,KAAK,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,YAAY,CAAC,OAAO,CAAC,IAAI,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;AAC7F;IACA,iBAAiB;IACjB,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;IAC5B,YAAY,GAAG,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC3B,YAAY,aAAa,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IACpC,YAAY,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;AACrD;IACA;IACA,YAAY,MAAM,QAAQ,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;AAC1F;IACA,YAAY,IAAI,QAAQ,EAAE;AAC1B;IACA,gBAAgB,MAAM,OAAO,GAAG,QAAQ,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC;IACvG,gBAAgB,GAAG,CAAC,IAAI,GAAG,IAAIA,gBAAK,CAAC,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC;IACjF,gBAAgB,GAAG,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC;AACrC;IACA,aAAa;AACb;IACA,YAAY,OAAO,GAAG,CAAC;AACvB;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,WAAW,CAAC,IAAI,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,GAAG,IAAI,EAAE;AAC1E;IACA,YAAY,IAAI,MAAM,KAAK,IAAI,EAAE;AACjC;IACA,gBAAgB,MAAM,GAAG,IAAI,QAAQ,EAAE,CAAC;AACxC;IACA,aAAa;AACb;IACA,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;IAClD,YAAY,MAAM,CAAC,IAAI,GAAG,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,YAAY,MAAM,CAAC,QAAQ,GAAG,MAAM,CAAC,IAAI,CAAC;IAC1C,YAAY,MAAM,CAAC,QAAQ,GAAG,IAAI,CAAC;AACnC;IACA,YAAY,IAAI,WAAW,EAAE;AAC7B;IACA,gBAAgB,MAAM,WAAW,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,QAAQ,CAAC,CAAC;IAChG,gBAAgB,WAAW,CAAC,OAAO,CAAC,EAAE,IAAI;AAC1C;IACA,oBAAoB,MAAM,CAAC,GAAG,kBAAkB,CAAC,EAAE,EAAE,WAAW,CAAC,CAAC;IAClE,oBAAoB,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,oBAAoB,IAAI,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,EAAE;AACjD;IACA,wBAAwB,MAAM,IAAI,GAAG,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAC7D,wBAAwB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;IACtC,wBAAwB,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC;IAC1C,wBAAwB,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;AAC5C;IACA,qBAAqB;AACrB;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,aAAa;AACb;IACA,YAAY,IAAI,cAAc,EAAE;AAChC;IACA,gBAAgB,MAAM,cAAc,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,WAAW,CAAC,CAAC;IACtG,gBAAgB,cAAc,CAAC,OAAO,CAAC,EAAE,IAAI;AAC7C;IACA,oBAAoB,MAAM,CAAC,GAAG,kBAAkB,CAAC,EAAE,CAAC,CAAC;IACrD,oBAAoB,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,oBAAoB,IAAI,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,EAAE;AACjD;IACA,wBAAwB,MAAM,IAAI,GAAG,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAC7D,wBAAwB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;IACtC,wBAAwB,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC;IAC1C,wBAAwB,WAAW,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;AAC9C;IACA,qBAAqB;AACrB;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,aAAa;AACb;IACA,YAAY,OAAO,MAAM,CAAC;AAC1B;IACA,SAAS;AACT;IACA,QAAQ,SAAS,eAAe,CAAC,IAAI,EAAE;AACvC;IACA,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;IAClD,YAAY,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC;AAC3D;IACA,YAAY,QAAQ,CAAC,IAAI,GAAG,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,IAAI,EAAE,CAAC;IAC5D,YAAY,QAAQ,CAAC,OAAO,CAAC,CAAC,IAAI;AAClC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACtD,gBAAgB,IAAI,IAAI,KAAK,OAAO,EAAE;AACtC;IACA,oBAAoB,MAAM,IAAI;IAC9B,wBAAwB,CAAC;IACzB,6BAA6B,YAAY,CAAC,MAAM,CAAC;IACjD,6BAA6B,KAAK,CAAC,KAAK,CAAC;IACzC,6BAA6B,GAAG,CAAC,CAAC,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;AACrD;IACA,oBAAoB,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,mBAAmB,EAAE,CAAC;IAC3F,oBAAoB,QAAQ,CAAC,OAAO,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC;IAC/C,oBAAoB,QAAQ,CAAC,WAAW,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACvD,oBAAoB,QAAQ,CAAC,UAAU,GAAG,CAAC,QAAQ,CAAC,WAAW,CAAC;AAChE;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,SAAS,EAAE;AAC/C;IACA;IACA;IACA,oBAAoB,MAAM,QAAQ,GAAG,CAAC,CAAC,YAAY,CAAC,UAAU,CAAC,CAAC;IAChE,oBAAoB,IAAI,QAAQ,EAAE;AAClC;IACA,wBAAwB,MAAM,MAAM,GAAG,IAAIA,gBAAK,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;IACxE,wBAAwB,MAAM,QAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC,CAAC;IAC/D,wBAAwB,QAAQ,CAAC,GAAG,GAAG,MAAM,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;IAC7D,wBAAwB,QAAQ,CAAC,GAAG,CAAC,QAAQ,GAAGA,gBAAK,CAAC,YAAY,CAAC;AACnE;IACA,qBAAqB;AACrB;IACA,iBAAiB;IACjB,aAAa,CAAC,CAAC;AACf;IACA,YAAY,OAAO,QAAQ,CAAC;AAC5B;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,kBAAkB,CAAC,EAAE,EAAE,WAAW,GAAG,EAAE,EAAE;AAC1D;IACA,YAAY,MAAM,eAAe,GAAG,EAAE,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,WAAW,CAAC;IAC9E,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,EAAE,CAAC,QAAQ,EAAE,CAAC;IAChD,YAAY,IAAI,QAAQ,GAAG,IAAI,CAAC;AAChC;IACA;IACA,YAAY,MAAM,YAAY,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IAClG,YAAY,IAAI,YAAY,EAAE;AAC9B;IACA,gBAAgB,MAAM,IAAI,GAAG,YAAY,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAC/D,gBAAgB,IAAI,IAAI,IAAI,IAAI,IAAI,WAAW,EAAE;AACjD;IACA,oBAAoB,QAAQ,GAAG,WAAW,CAAC,IAAI,CAAC,CAAC;AACjD;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,QAAQ,GAAG,eAAe,CAAC,YAAY,CAAC,CAAC;AAC7D;IACA,iBAAiB;AACjB;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,QAAQ,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC;AACzD;IACA,aAAa;AACb;IACA,YAAY,MAAM,KAAK,GAAG,eAAe,GAAG,IAAI,YAAY,EAAE,GAAG,IAAI,UAAU,EAAE,CAAC;IAClF,YAAY,KAAK,CAAC,QAAQ,GAAG,EAAE,CAAC;AAChC;IACA,YAAY,QAAQ,CAAC,OAAO,CAAC,CAAC,IAAI;AAClC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACtD,gBAAgB,IAAI,IAAI,KAAK,UAAU,EAAE;AACzC;IACA,oBAAoB,MAAM,OAAO,GAAG,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACzE,oBAAoB,IAAI,OAAO,KAAK,MAAM,EAAE;AAC5C;IACA,wBAAwB,MAAM,QAAQ,GAAG,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,UAAU,CAAC,CAAC;IAChF,wBAAwB,MAAM,QAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC,CAAC;AAC/D;IACA;IACA,wBAAwB,IAAI,QAAQ,KAAK,IAAI,EAAE;AAC/C;IACA,4BAA4B,MAAM,SAAS,GAAG,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC;IAClF,4BAA4B,IAAI,SAAS,EAAE;AAC3C;IACA,gCAAgC,MAAM,KAAK,GAAG,YAAY,CAAC,SAAS,CAAC,CAAC;IACtE,gCAAgC,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAC9E;IACA,6BAA6B;AAC7B;IACA,4BAA4B,UAAU,CAAC,QAAQ,EAAE,OAAO,EAAE,CAAC,GAAG,EAAE,GAAG,KAAK;AACxE;IACA,gCAAgC,IAAI,GAAG,EAAE;AACzC;IACA,oCAAoC,OAAO,CAAC,KAAK,CAAC,iCAAiC,EAAE,GAAG,CAAC,CAAC;AAC1F;IACA,iCAAiC,MAAM,IAAI,GAAG,EAAE;AAChD;IACA,oCAAoC,IAAI,GAAG,YAAYA,gBAAK,CAAC,IAAI,EAAE;AACnE;IACA,wCAAwC,GAAG,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAChE;IACA,qCAAqC;AACrC;IACA;IACA;IACA;IACA,oCAAoC,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9D,oCAAoC,GAAG,CAAC,UAAU,CAAC,QAAQ,EAAE,CAAC;IAC9D,oCAAoC,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;AACnD;IACA,iCAAiC;AACjC;IACA,6BAA6B,CAAC,CAAC;AAC/B;IACA,yBAAyB;AACzB;IACA,qBAAqB,MAAM,IAAI,OAAO,KAAK,KAAK,EAAE;AAClD;IACA,wBAAwB,MAAM,cAAc,GAAG,IAAIA,gBAAK,CAAC,IAAI,EAAE,CAAC;IAChE,wBAAwB,cAAc,CAAC,QAAQ,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACvF,wBAAwB,cAAc,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAC3D;IACA,wBAAwB,MAAM,IAAI,GAAG,YAAY,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC;IACtF,wBAAwB,cAAc,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;AAC5E;IACA,wBAAwB,KAAK,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;AAClD;IACA,qBAAqB,MAAM,IAAI,OAAO,KAAK,QAAQ,EAAE;AACrD;IACA,wBAAwB,MAAM,cAAc,GAAG,IAAIA,gBAAK,CAAC,IAAI,EAAE,CAAC;IAChE,wBAAwB,cAAc,CAAC,QAAQ,GAAG,IAAIA,gBAAK,CAAC,oBAAoB,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;IAC5F,wBAAwB,cAAc,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAC3D;IACA,wBAAwB,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC;IAC7F,wBAAwB,cAAc,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AACzE;IACA,wBAAwB,KAAK,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;AAClD;IACA,qBAAqB,MAAM,IAAI,OAAO,KAAK,UAAU,EAAE;AACvD;IACA,wBAAwB,MAAM,cAAc,GAAG,IAAIA,gBAAK,CAAC,IAAI,EAAE,CAAC;IAChE,wBAAwB,cAAc,CAAC,QAAQ,GAAG,IAAIA,gBAAK,CAAC,sBAAsB,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;IAChG,wBAAwB,cAAc,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAC3D;IACA,wBAAwB,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC;IAC7F,wBAAwB,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC;IAC7F,wBAAwB,cAAc,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACzE,wBAAwB,cAAc,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACvE;IACA,wBAAwB,KAAK,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;AAClD;IACA,qBAAqB;AACrB;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,QAAQ,EAAE;AAC9C;IACA,oBAAoB,MAAM,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;IACpE,oBAAoB,MAAM,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;AACpE;IACA,oBAAoB,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/D,oBAAoB,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChD,oBAAoB,aAAa,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;AAC9C;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC,CAAC;AACf;IACA,YAAY,OAAO,KAAK,CAAC;AACzB;IACA,SAAS;AACT;IACA,QAAQ,OAAO,WAAW,CAAC,OAAO,CAAC,CAAC;AACpC;IACA,KAAK;AACL;IACA;IACA,IAAI,iBAAiB,CAAC,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE;AAC3C;IACA,QAAQ,IAAI,SAAS,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;AAClC;IACA,YAAY,MAAM,MAAM,GAAG,IAAIC,sBAAS,CAAC,OAAO,CAAC,CAAC;IAClD,YAAY,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,IAAI;IACtC,gBAAgB,MAAM,IAAI,GAAG,IAAID,gBAAK,CAAC,IAAI,CAAC,IAAI,EAAE,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC,CAAC;IACjF,gBAAgB,IAAI,CAAC,IAAI,CAAC,CAAC;IAC3B,aAAa,CAAC,CAAC;AACf;IACA,SAAS,MAAM,IAAI,SAAS,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;AACzC;IACA,YAAY,MAAM,MAAM,GAAG,IAAIE,8BAAa,CAAC,OAAO,CAAC,CAAC;IACtD,YAAY,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC;AACtD;IACA,SAAS,MAAM;AACf;IACA,YAAY,OAAO,CAAC,IAAI,CAAC,CAAC,oCAAoC,GAAG,IAAI,EAAE,sBAAsB,CAAC,CAAC,CAAC;AAChG;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,CAAC;;;;;;;;"}
+{"version":3,"file":"URDFLoader.js","sources":["../src/URDFClasses.js","../src/URDFLoader.js"],"sourcesContent":["import { Object3D, Vector3 } from 'three';\n\nclass URDFBase extends Object3D {\n\n    constructor(...args) {\n\n        super(...args);\n        this.urdfNode = null;\n        this.urdfName = '';\n\n    }\n\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.urdfNode = source.urdfNode;\n        this.urdfName = source.urdfName;\n\n        return this;\n\n    }\n\n}\n\nclass URDFCollider extends URDFBase {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFCollider = true;\n        this.type = 'URDFCollider';\n\n    }\n\n}\n\nclass URDFVisual extends URDFBase {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFVisual = true;\n        this.type = 'URDFVisual';\n\n    }\n\n}\n\nclass URDFLink extends URDFBase {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFLink = true;\n        this.type = 'URDFLink';\n\n    }\n\n}\n\nclass URDFJoint extends URDFBase {\n\n    get jointType() {\n\n        return this._jointType;\n\n    }\n\n    set jointType(v) {\n\n        if (this.jointType === v) return;\n        this._jointType = v;\n        this.matrixWorldNeedsUpdate = true;\n        switch (v) {\n\n            case 'fixed':\n                this.jointValue = [];\n                break;\n\n            case 'continuous':\n            case 'revolute':\n            case 'prismatic':\n                this.jointValue = new Array(1).fill(0);\n                break;\n\n            case 'planar':\n                this.jointValue = new Array(2).fill(0);\n                break;\n\n            case 'floating':\n                this.jointValue = new Array(6).fill(0);\n                break;\n\n        }\n\n    }\n\n    get angle() {\n\n        return this.jointValue[0];\n\n    }\n\n    constructor(...args) {\n\n        super(...args);\n\n        this.isURDFJoint = true;\n        this.type = 'URDFJoint';\n\n        this.jointValue = null;\n        this.jointType = 'fixed';\n        this.axis = new Vector3(1, 0, 0);\n        this.limit = { lower: 0, upper: 0 };\n        this.ignoreLimits = false;\n\n        this.origPosition = null;\n        this.origQuaternion = null;\n\n        this.mimicJoints = [];\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.jointType = source.jointType;\n        this.axis = source.axis.clone();\n        this.limit.lower = source.limit.lower;\n        this.limit.upper = source.limit.upper;\n        this.ignoreLimits = false;\n\n        this.jointValue = [...source.jointValue];\n\n        this.origPosition = source.origPosition ? source.origPosition.clone() : null;\n        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;\n\n        this.mimicJoints = [...source.mimicJoints];\n\n        return this;\n\n    }\n\n    /* Public Functions */\n    setJointValue(...values) {\n\n        values = values.map(v => parseFloat(v));\n\n        if (!this.origPosition || !this.origQuaternion) {\n\n            this.origPosition = this.position.clone();\n            this.origQuaternion = this.quaternion.clone();\n\n        }\n\n        let didUpdate = false;\n\n        this.mimicJoints.forEach(joint => {\n\n            didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;\n\n        });\n\n        switch (this.jointType) {\n\n            case 'fixed': {\n\n                return didUpdate;\n\n            }\n            case 'continuous':\n            case 'revolute': {\n\n                let angle = values[0];\n                if (angle == null) return didUpdate;\n                if (angle === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits && this.jointType === 'revolute') {\n\n                    angle = Math.min(this.limit.upper, angle);\n                    angle = Math.max(this.limit.lower, angle);\n\n                }\n\n                this.quaternion\n                    .setFromAxisAngle(this.axis, angle)\n                    .premultiply(this.origQuaternion);\n\n                if (this.jointValue[0] !== angle) {\n\n                    this.jointValue[0] = angle;\n                    this.matrixWorldNeedsUpdate = true;\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'prismatic': {\n\n                let pos = values[0];\n                if (pos == null) return didUpdate;\n                if (pos === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits) {\n\n                    pos = Math.min(this.limit.upper, pos);\n                    pos = Math.max(this.limit.lower, pos);\n\n                }\n\n                this.position.copy(this.origPosition);\n                this.position.addScaledVector(this.axis, pos);\n\n                if (this.jointValue[0] !== pos) {\n\n                    this.jointValue[0] = pos;\n                    this.matrixWorldNeedsUpdate = true;\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'floating':\n            case 'planar':\n                // TODO: Support these joint types\n                console.warn(`'${ this.jointType }' joint not yet supported`);\n\n        }\n\n        return didUpdate;\n\n    }\n\n}\n\nclass URDFMimicJoint extends URDFJoint {\n\n    constructor(...args) {\n\n        super(...args);\n        this.type = 'URDFMimicJoint';\n        this.mimicJoint = null;\n        this.offset = 0;\n        this.multiplier = 1;\n\n    }\n\n    updateFromMimickedJoint(...values) {\n\n        const modifiedValues = values.map(x => x * this.multiplier + this.offset);\n        return super.setJointValue(...modifiedValues);\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.mimicJoint = source.mimicJoint;\n        this.offset = source.offset;\n        this.multiplier = source.multiplier;\n\n        return this;\n\n    }\n\n}\n\nclass URDFRobot extends URDFLink {\n\n    constructor(...args) {\n\n        super(...args);\n        this.isURDFRobot = true;\n        this.urdfNode = null;\n\n        this.urdfRobotNode = null;\n        this.robotName = null;\n\n        this.links = null;\n        this.joints = null;\n        this.colliders = null;\n        this.visual = null;\n        this.frames = null;\n\n    }\n\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.urdfRobotNode = source.urdfRobotNode;\n        this.robotName = source.robotName;\n\n        this.links = {};\n        this.joints = {};\n        this.colliders = {};\n        this.visual = {};\n\n        this.traverse(c => {\n\n            if (c.isURDFJoint && c.urdfName in source.joints) {\n\n                this.joints[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFLink && c.urdfName in source.links) {\n\n                this.links[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFCollider && c.urdfName in source.colliders) {\n\n                this.colliders[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFVisual && c.urdfName in source.visual) {\n\n                this.visual[c.urdfName] = c;\n\n            }\n\n        });\n\n        this.frames = {\n            ...this.colliders,\n            ...this.visual,\n            ...this.links,\n            ...this.joints,\n        };\n\n        return this;\n\n    }\n\n    getFrame(name) {\n\n        return this.frames[name];\n\n    }\n\n    setJointValue(jointName, ...angle) {\n\n        const joint = this.joints[jointName];\n        if (joint) {\n\n            return joint.setJointValue(...angle);\n\n        }\n\n        return false;\n    }\n\n    setJointValues(values) {\n\n        let didChange = false;\n        for (const name in values) {\n\n            const value = values[name];\n            if (Array.isArray(value)) {\n\n                didChange = this.setJointValue(name, ...value) || didChange;\n\n            } else {\n\n                didChange = this.setJointValue(name, value) || didChange;\n\n            }\n\n        }\n\n        return didChange;\n\n    }\n\n}\n\nexport { URDFRobot, URDFLink, URDFJoint, URDFMimicJoint, URDFVisual, URDFCollider };\n","import * as THREE from 'three';\nimport { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js';\nimport { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js';\nimport { URDFRobot, URDFJoint, URDFLink, URDFCollider, URDFVisual, URDFMimicJoint } from './URDFClasses.js';\n\n/*\nReference coordinate frames for THREE.js and ROS.\nBoth coordinate systems are right handed so the URDF is instantiated without\nframe transforms. The resulting model can be rotated to rectify the proper up,\nright, and forward directions\n\nTHREE.js\n   Y\n   |\n   |\n   .-----X\n ／\nZ\n\nROS URDf\n       Z\n       |   X\n       | ／\n Y-----.\n\n*/\n\nconst tempQuaternion = new THREE.Quaternion();\nconst tempEuler = new THREE.Euler();\n\n// take a vector \"x y z\" and process it into\n// an array [x, y, z]\nfunction processTuple(val) {\n\n    if (!val) return [0, 0, 0];\n    return val.trim().split(/\\s+/g).map(num => parseFloat(num));\n\n}\n\n// applies a rotation a threejs object in URDF order\nfunction applyRotation(obj, rpy, additive = false) {\n\n    // if additive is true the rotation is applied in\n    // addition to the existing rotation\n    if (!additive) obj.rotation.set(0, 0, 0);\n\n    tempEuler.set(rpy[0], rpy[1], rpy[2], 'ZYX');\n    tempQuaternion.setFromEuler(tempEuler);\n    tempQuaternion.multiply(obj.quaternion);\n    obj.quaternion.copy(tempQuaternion);\n\n}\n\n/* URDFLoader Class */\n// Loads and reads a URDF file into a THREEjs Object3D format\nexport default\nclass URDFLoader {\n\n    constructor(manager) {\n\n        this.manager = manager || THREE.DefaultLoadingManager;\n        this.loadMeshCb = this.defaultMeshLoader.bind(this);\n        this.parseVisual = true;\n        this.parseCollision = false;\n        this.packages = '';\n        this.workingPath = '';\n        this.fetchOptions = {};\n\n    }\n\n    /* Public API */\n    loadAsync(urdf) {\n\n        return new Promise((resolve, reject) => {\n\n            this.load(urdf, resolve, null, reject);\n\n        });\n\n    }\n\n    // urdf:    The path to the URDF within the package OR absolute\n    // onComplete:      Callback that is passed the model once loaded\n    load(urdf, onComplete, onProgress, onError) {\n\n        // Check if a full URI is specified before\n        // prepending the package info\n        const manager = this.manager;\n        const workingPath = THREE.LoaderUtils.extractUrlBase(urdf);\n        const urdfPath = this.manager.resolveURL(urdf);\n\n        manager.itemStart(urdfPath);\n\n        fetch(urdfPath, this.fetchOptions)\n            .then(res => {\n\n                if (res.ok) {\n\n                    if (onProgress) {\n\n                        onProgress(null);\n\n                    }\n                    return res.text();\n\n                } else {\n\n                    throw new Error(`URDFLoader: Failed to load url '${ urdfPath }' with error code ${ res.status } : ${ res.statusText }.`);\n\n                }\n\n            })\n            .then(data => {\n\n                if (this.workingPath === '') {\n\n                    this.workingPath = workingPath;\n\n                }\n\n                const model = this.parse(data);\n                onComplete(model);\n                manager.itemEnd(urdfPath);\n\n            })\n            .catch(e => {\n\n                if (onError) {\n\n                    onError(e);\n\n                } else {\n\n                    console.error('URDFLoader: Error loading file.', e);\n\n                }\n                manager.itemError(urdfPath);\n                manager.itemEnd(urdfPath);\n\n            });\n\n    }\n\n    parse(content) {\n\n        const packages = this.packages;\n        const loadMeshCb = this.loadMeshCb;\n        const parseVisual = this.parseVisual;\n        const parseCollision = this.parseCollision;\n        const workingPath = this.workingPath;\n        const manager = this.manager;\n        const linkMap = {};\n        const jointMap = {};\n        const materialMap = {};\n\n        // Resolves the path of mesh files\n        function resolvePath(path) {\n\n            if (!/^package:\\/\\//.test(path)) {\n\n                return workingPath ? workingPath + path : path;\n\n            }\n\n            // Remove \"package://\" keyword and split meshPath at the first slash\n            const [targetPkg, relPath] = path.replace(/^package:\\/\\//, '').split(/\\/(.+)/);\n\n            if (typeof packages === 'string') {\n\n                // \"pkg\" is one single package\n                if (packages.endsWith(targetPkg)) {\n\n                    // \"pkg\" is the target package\n                    return packages + '/' + relPath;\n\n                } else {\n\n                    // Assume \"pkg\" is the target package's parent directory\n                    return packages + '/' + targetPkg + '/' + relPath;\n\n                }\n\n            } else if (packages instanceof Function) {\n\n                return packages(targetPkg) + '/' + relPath;\n\n            } else if (typeof packages === 'object') {\n\n                // \"pkg\" is a map of packages\n                if (targetPkg in packages) {\n\n                    return packages[targetPkg] + '/' + relPath;\n\n                } else {\n\n                    console.error(`URDFLoader : ${ targetPkg } not found in provided package list.`);\n                    return null;\n\n                }\n\n            }\n\n        }\n\n        // Process the URDF text format\n        function processUrdf(data) {\n\n            let children;\n            if (data instanceof Document) {\n\n                children = [ ...data.children ];\n\n            } else if (data instanceof Element) {\n\n                children = [ data ];\n\n            } else {\n\n                const parser = new DOMParser();\n                const urdf = parser.parseFromString(data, 'text/xml');\n                children = [ ...urdf.children ];\n\n            }\n\n            const robotNode = children.filter(c => c.nodeName === 'robot').pop();\n            return processRobot(robotNode);\n\n        }\n\n        // Process the <robot> node\n        function processRobot(robot) {\n\n            const robotNodes = [ ...robot.children ];\n            const links = robotNodes.filter(c => c.nodeName.toLowerCase() === 'link');\n            const joints = robotNodes.filter(c => c.nodeName.toLowerCase() === 'joint');\n            const materials = robotNodes.filter(c => c.nodeName.toLowerCase() === 'material');\n            const obj = new URDFRobot();\n\n            obj.robotName = robot.getAttribute('name');\n            obj.urdfRobotNode = robot;\n\n            // Create the <material> map\n            materials.forEach(m => {\n\n                const name = m.getAttribute('name');\n                materialMap[name] = processMaterial(m);\n\n            });\n\n            // Create the <link> map\n            const visualMap = {};\n            const colliderMap = {};\n            links.forEach(l => {\n\n                const name = l.getAttribute('name');\n                const isRoot = robot.querySelector(`child[link=\"${ name }\"]`) === null;\n                linkMap[name] = processLink(l, visualMap, colliderMap, isRoot ? obj : null);\n\n            });\n\n            // Create the <joint> map\n            joints.forEach(j => {\n\n                const name = j.getAttribute('name');\n                jointMap[name] = processJoint(j);\n\n            });\n\n            obj.joints = jointMap;\n            obj.links = linkMap;\n            obj.colliders = colliderMap;\n            obj.visual = visualMap;\n\n            // Link up mimic joints\n            const jointList = Object.values(jointMap);\n            jointList.forEach(j => {\n\n                if (j instanceof URDFMimicJoint) {\n\n                    jointMap[j.mimicJoint].mimicJoints.push(j);\n\n                }\n\n            });\n\n            // Detect infinite loops of mimic joints\n            jointList.forEach(j => {\n\n                const uniqueJoints = new Set();\n                const iterFunction = joint => {\n\n                    if (uniqueJoints.has(joint)) {\n\n                        throw new Error('URDFLoader: Detected an infinite loop of mimic joints.');\n\n                    }\n\n                    uniqueJoints.add(joint);\n                    joint.mimicJoints.forEach(j => {\n\n                        iterFunction(j);\n\n                    });\n\n                };\n\n                iterFunction(j);\n            });\n\n            obj.frames = {\n                ...colliderMap,\n                ...visualMap,\n                ...linkMap,\n                ...jointMap,\n            };\n\n            return obj;\n\n        }\n\n        // Process joint nodes and parent them\n        function processJoint(joint) {\n\n            const children = [ ...joint.children ];\n            const jointType = joint.getAttribute('type');\n\n            let obj;\n\n            const mimicTag = children.find(n => n.nodeName.toLowerCase() === 'mimic');\n            if (mimicTag) {\n\n                obj = new URDFMimicJoint();\n                obj.mimicJoint = mimicTag.getAttribute('joint');\n                obj.multiplier = parseFloat(mimicTag.getAttribute('multiplier') || 1.0);\n                obj.offset = parseFloat(mimicTag.getAttribute('offset') || 0.0);\n\n            } else {\n\n                obj = new URDFJoint();\n\n            }\n\n            obj.urdfNode = joint;\n            obj.name = joint.getAttribute('name');\n            obj.urdfName = obj.name;\n            obj.jointType = jointType;\n\n            let parent = null;\n            let child = null;\n            let xyz = [0, 0, 0];\n            let rpy = [0, 0, 0];\n\n            // Extract the attributes\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'origin') {\n\n                    xyz = processTuple(n.getAttribute('xyz'));\n                    rpy = processTuple(n.getAttribute('rpy'));\n\n                } else if (type === 'child') {\n\n                    child = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'parent') {\n\n                    parent = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'limit') {\n\n                    obj.limit.lower = parseFloat(n.getAttribute('lower') || obj.limit.lower);\n                    obj.limit.upper = parseFloat(n.getAttribute('upper') || obj.limit.upper);\n\n                }\n            });\n\n            // Join the links\n            parent.add(obj);\n            obj.add(child);\n            applyRotation(obj, rpy);\n            obj.position.set(xyz[0], xyz[1], xyz[2]);\n\n            // Set up the rotate function\n            const axisNode = children.filter(n => n.nodeName.toLowerCase() === 'axis')[0];\n\n            if (axisNode) {\n\n                const axisXYZ = axisNode.getAttribute('xyz').split(/\\s+/g).map(num => parseFloat(num));\n                obj.axis = new THREE.Vector3(axisXYZ[0], axisXYZ[1], axisXYZ[2]);\n                obj.axis.normalize();\n\n            }\n\n            return obj;\n\n        }\n\n        // Process the <link> nodes\n        function processLink(link, visualMap, colliderMap, target = null) {\n\n            if (target === null) {\n\n                target = new URDFLink();\n\n            }\n\n            const children = [ ...link.children ];\n            target.name = link.getAttribute('name');\n            target.urdfName = target.name;\n            target.urdfNode = link;\n\n            if (parseVisual) {\n\n                const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');\n                visualNodes.forEach(vn => {\n\n                    const v = processLinkElement(vn, materialMap);\n                    target.add(v);\n\n                    if (vn.hasAttribute('name')) {\n\n                        const name = vn.getAttribute('name');\n                        v.name = name;\n                        v.urdfName = name;\n                        visualMap[name] = v;\n\n                    }\n\n                });\n\n            }\n\n            if (parseCollision) {\n\n                const collisionNodes = children.filter(n => n.nodeName.toLowerCase() === 'collision');\n                collisionNodes.forEach(cn => {\n\n                    const c = processLinkElement(cn);\n                    target.add(c);\n\n                    if (cn.hasAttribute('name')) {\n\n                        const name = cn.getAttribute('name');\n                        c.name = name;\n                        c.urdfName = name;\n                        colliderMap[name] = c;\n\n                    }\n\n                });\n\n            }\n\n            return target;\n\n        }\n\n        function processMaterial(node) {\n\n            const matNodes = [ ...node.children ];\n            const material = new THREE.MeshPhongMaterial();\n\n            material.name = node.getAttribute('name') || '';\n            matNodes.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'color') {\n\n                    const rgba =\n                        n\n                            .getAttribute('rgba')\n                            .split(/\\s/g)\n                            .map(v => parseFloat(v));\n\n                    material.color.setRGB(rgba[0], rgba[1], rgba[2]);\n                    material.opacity = rgba[3];\n                    material.transparent = rgba[3] < 1;\n                    material.depthWrite = !material.transparent;\n\n                } else if (type === 'texture') {\n\n                    // The URDF spec does not require that the <texture/> tag include\n                    // a filename attribute so skip loading the texture if not provided.\n                    const filename = n.getAttribute('filename');\n                    if (filename) {\n\n                        const loader = new THREE.TextureLoader(manager);\n                        const filePath = resolvePath(filename);\n                        material.map = loader.load(filePath);\n                        material.map.colorSpace = THREE.SRGBColorSpace;\n\n                    }\n\n                }\n            });\n\n            return material;\n\n        }\n\n        // Process the visual and collision nodes into meshes\n        function processLinkElement(vn, materialMap = {}) {\n\n            const isCollisionNode = vn.nodeName.toLowerCase() === 'collision';\n            const children = [ ...vn.children ];\n            let material = null;\n\n            // get the material first\n            const materialNode = children.filter(n => n.nodeName.toLowerCase() === 'material')[0];\n            if (materialNode) {\n\n                const name = materialNode.getAttribute('name');\n                if (name && name in materialMap) {\n\n                    material = materialMap[name];\n\n                } else {\n\n                    material = processMaterial(materialNode);\n\n                }\n\n            } else {\n\n                material = new THREE.MeshPhongMaterial();\n\n            }\n\n            const group = isCollisionNode ? new URDFCollider() : new URDFVisual();\n            group.urdfNode = vn;\n\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'geometry') {\n\n                    const geoType = n.children[0].nodeName.toLowerCase();\n                    if (geoType === 'mesh') {\n\n                        const filename = n.children[0].getAttribute('filename');\n                        const filePath = resolvePath(filename);\n\n                        // file path is null if a package directory is not provided.\n                        if (filePath !== null) {\n\n                            const scaleAttr = n.children[0].getAttribute('scale');\n                            if (scaleAttr) {\n\n                                const scale = processTuple(scaleAttr);\n                                group.scale.set(scale[0], scale[1], scale[2]);\n\n                            }\n\n                            loadMeshCb(filePath, manager, (obj, err) => {\n\n                                if (err) {\n\n                                    console.error('URDFLoader: Error loading mesh.', err);\n\n                                } else if (obj) {\n\n                                    if (obj instanceof THREE.Mesh) {\n\n                                        obj.material = material;\n\n                                    }\n\n                                    // We don't expect non identity rotations or positions. In the case of\n                                    // COLLADA files the model might come in with a custom scale for unit\n                                    // conversion.\n                                    obj.position.set(0, 0, 0);\n                                    obj.quaternion.identity();\n                                    group.add(obj);\n\n                                }\n\n                            });\n\n                        }\n\n                    } else if (geoType === 'box') {\n\n                        const primitiveModel = new THREE.Mesh();\n                        primitiveModel.geometry = new THREE.BoxGeometry(1, 1, 1);\n                        primitiveModel.material = material;\n\n                        const size = processTuple(n.children[0].getAttribute('size'));\n                        primitiveModel.scale.set(size[0], size[1], size[2]);\n\n                        group.add(primitiveModel);\n\n                    } else if (geoType === 'sphere') {\n\n                        const primitiveModel = new THREE.Mesh();\n                        primitiveModel.geometry = new THREE.SphereGeometry(1, 30, 30);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        primitiveModel.scale.set(radius, radius, radius);\n\n                        group.add(primitiveModel);\n\n                    } else if (geoType === 'cylinder') {\n\n                        const primitiveModel = new THREE.Mesh();\n                        primitiveModel.geometry = new THREE.CylinderGeometry(1, 1, 1, 30);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        const length = parseFloat(n.children[0].getAttribute('length')) || 0;\n                        primitiveModel.scale.set(radius, length, radius);\n                        primitiveModel.rotation.set(Math.PI / 2, 0, 0);\n\n                        group.add(primitiveModel);\n\n                    }\n\n                } else if (type === 'origin') {\n\n                    const xyz = processTuple(n.getAttribute('xyz'));\n                    const rpy = processTuple(n.getAttribute('rpy'));\n\n                    group.position.set(xyz[0], xyz[1], xyz[2]);\n                    group.rotation.set(0, 0, 0);\n                    applyRotation(group, rpy);\n\n                }\n\n            });\n\n            return group;\n\n        }\n\n        return processUrdf(content);\n\n    }\n\n    // Default mesh loading function\n    defaultMeshLoader(path, manager, done) {\n\n        if (/\\.stl$/i.test(path)) {\n\n            const loader = new STLLoader(manager);\n            loader.load(path, geom => {\n                const mesh = new THREE.Mesh(geom, new THREE.MeshPhongMaterial());\n                done(mesh);\n            });\n\n        } else if (/\\.dae$/i.test(path)) {\n\n            const loader = new ColladaLoader(manager);\n            loader.load(path, dae => done(dae.scene));\n\n        } else {\n\n            console.warn(`URDFLoader: Could not load model at ${ path }.\\nNo loader available`);\n\n        }\n\n    }\n\n};\n"],"names":["Object3D","Vector3","THREE","STLLoader","ColladaLoader"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;IAEA,MAAM,QAAQ,SAASA,cAAQ,CAAC;AAChC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IAC7B,QAAQ,IAAI,CAAC,QAAQ,GAAG,EAAE,CAAC;AAC3B;IACA,KAAK;AACL;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,QAAQ,GAAG,MAAM,CAAC,QAAQ,CAAC;IACxC,QAAQ,IAAI,CAAC,QAAQ,GAAG,MAAM,CAAC,QAAQ,CAAC;AACxC;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,YAAY,SAAS,QAAQ,CAAC;AACpC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC;IACnC,QAAQ,IAAI,CAAC,IAAI,GAAG,cAAc,CAAC;AACnC;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,UAAU,SAAS,QAAQ,CAAC;AAClC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;IACjC,QAAQ,IAAI,CAAC,IAAI,GAAG,YAAY,CAAC;AACjC;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,QAAQ,SAAS,QAAQ,CAAC;AAChC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;IAC/B,QAAQ,IAAI,CAAC,IAAI,GAAG,UAAU,CAAC;AAC/B;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,SAAS,SAAS,QAAQ,CAAC;AACjC;IACA,IAAI,IAAI,SAAS,GAAG;AACpB;IACA,QAAQ,OAAO,IAAI,CAAC,UAAU,CAAC;AAC/B;IACA,KAAK;AACL;IACA,IAAI,IAAI,SAAS,CAAC,CAAC,EAAE;AACrB;IACA,QAAQ,IAAI,IAAI,CAAC,SAAS,KAAK,CAAC,EAAE,OAAO;IACzC,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;IAC5B,QAAQ,IAAI,CAAC,sBAAsB,GAAG,IAAI,CAAC;IAC3C,QAAQ,QAAQ,CAAC;AACjB;IACA,YAAY,KAAK,OAAO;IACxB,gBAAgB,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC;IACrC,gBAAgB,MAAM;AACtB;IACA,YAAY,KAAK,YAAY,CAAC;IAC9B,YAAY,KAAK,UAAU,CAAC;IAC5B,YAAY,KAAK,WAAW;IAC5B,gBAAgB,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACvD,gBAAgB,MAAM;AACtB;IACA,YAAY,KAAK,QAAQ;IACzB,gBAAgB,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACvD,gBAAgB,MAAM;AACtB;IACA,YAAY,KAAK,UAAU;IAC3B,gBAAgB,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACvD,gBAAgB,MAAM;AACtB;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,IAAI,KAAK,GAAG;AAChB;IACA,QAAQ,OAAO,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,KAAK;AACL;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;AACvB;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAChC,QAAQ,IAAI,CAAC,IAAI,GAAG,WAAW,CAAC;AAChC;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;IAC/B,QAAQ,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC;IACjC,QAAQ,IAAI,CAAC,IAAI,GAAG,IAAIC,aAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzC,QAAQ,IAAI,CAAC,KAAK,GAAG,EAAE,KAAK,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;IAC5C,QAAQ,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;AAClC;IACA,QAAQ,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;IACjC,QAAQ,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC;AACnC;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;AAC9B;IACA,KAAK;AACL;IACA;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC;IAC1C,QAAQ,IAAI,CAAC,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,KAAK,EAAE,CAAC;IACxC,QAAQ,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC;IAC9C,QAAQ,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC;IAC9C,QAAQ,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;AAClC;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,GAAG,MAAM,CAAC,UAAU,CAAC,CAAC;AACjD;IACA,QAAQ,IAAI,CAAC,YAAY,GAAG,MAAM,CAAC,YAAY,GAAG,MAAM,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,IAAI,CAAC;IACrF,QAAQ,IAAI,CAAC,cAAc,GAAG,MAAM,CAAC,cAAc,GAAG,MAAM,CAAC,cAAc,CAAC,KAAK,EAAE,GAAG,IAAI,CAAC;AAC3F;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC,CAAC;AACnD;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA;IACA,IAAI,aAAa,CAAC,GAAG,MAAM,EAAE;AAC7B;IACA,QAAQ,MAAM,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;AAChD;IACA,QAAQ,IAAI,CAAC,IAAI,CAAC,YAAY,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;AACxD;IACA,YAAY,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC;IACtD,YAAY,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;AAC1D;IACA,SAAS;AACT;IACA,QAAQ,IAAI,SAAS,GAAG,KAAK,CAAC;AAC9B;IACA,QAAQ,IAAI,CAAC,WAAW,CAAC,OAAO,CAAC,KAAK,IAAI;AAC1C;IACA,YAAY,SAAS,GAAG,KAAK,CAAC,uBAAuB,CAAC,GAAG,MAAM,CAAC,IAAI,SAAS,CAAC;AAC9E;IACA,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,QAAQ,IAAI,CAAC,SAAS;AAC9B;IACA,YAAY,KAAK,OAAO,EAAE;AAC1B;IACA,gBAAgB,OAAO,SAAS,CAAC;AACjC;IACA,aAAa;IACb,YAAY,KAAK,YAAY,CAAC;IAC9B,YAAY,KAAK,UAAU,EAAE;AAC7B;IACA,gBAAgB,IAAI,KAAK,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC;IACtC,gBAAgB,IAAI,KAAK,IAAI,IAAI,EAAE,OAAO,SAAS,CAAC;IACpD,gBAAgB,IAAI,KAAK,KAAK,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,OAAO,SAAS,CAAC;AACnE;IACA,gBAAgB,IAAI,CAAC,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,SAAS,KAAK,UAAU,EAAE;AACzE;IACA,oBAAoB,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IAC9D,oBAAoB,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;AAC9D;IACA,iBAAiB;AACjB;IACA,gBAAgB,IAAI,CAAC,UAAU;IAC/B,qBAAqB,gBAAgB,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,CAAC;IACvD,qBAAqB,WAAW,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;AACtD;IACA,gBAAgB,IAAI,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,KAAK,KAAK,EAAE;AAClD;IACA,oBAAoB,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC;IAC/C,oBAAoB,IAAI,CAAC,sBAAsB,GAAG,IAAI,CAAC;IACvD,oBAAoB,OAAO,IAAI,CAAC;AAChC;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,SAAS,CAAC;AACrC;IACA,iBAAiB;AACjB;IACA,aAAa;AACb;IACA,YAAY,KAAK,WAAW,EAAE;AAC9B;IACA,gBAAgB,IAAI,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC;IACpC,gBAAgB,IAAI,GAAG,IAAI,IAAI,EAAE,OAAO,SAAS,CAAC;IAClD,gBAAgB,IAAI,GAAG,KAAK,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,OAAO,SAAS,CAAC;AACjE;IACA,gBAAgB,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;AACxC;IACA,oBAAoB,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC1D,oBAAoB,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;AAC1D;IACA,iBAAiB;AACjB;IACA,gBAAgB,IAAI,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IACtD,gBAAgB,IAAI,CAAC,QAAQ,CAAC,eAAe,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;AAC9D;IACA,gBAAgB,IAAI,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,KAAK,GAAG,EAAE;AAChD;IACA,oBAAoB,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC;IAC7C,oBAAoB,IAAI,CAAC,sBAAsB,GAAG,IAAI,CAAC;IACvD,oBAAoB,OAAO,IAAI,CAAC;AAChC;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,SAAS,CAAC;AACrC;IACA,iBAAiB;AACjB;IACA,aAAa;AACb;IACA,YAAY,KAAK,UAAU,CAAC;IAC5B,YAAY,KAAK,QAAQ;IACzB;IACA,gBAAgB,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,SAAS,EAAE,yBAAyB,CAAC,CAAC,CAAC;AAC9E;IACA,SAAS;AACT;IACA,QAAQ,OAAO,SAAS,CAAC;AACzB;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,cAAc,SAAS,SAAS,CAAC;AACvC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,IAAI,GAAG,gBAAgB,CAAC;IACrC,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;IAC/B,QAAQ,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IACxB,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;AAC5B;IACA,KAAK;AACL;IACA,IAAI,uBAAuB,CAAC,GAAG,MAAM,EAAE;AACvC;IACA,QAAQ,MAAM,cAAc,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC;IAClF,QAAQ,OAAO,KAAK,CAAC,aAAa,CAAC,GAAG,cAAc,CAAC,CAAC;AACtD;IACA,KAAK;AACL;IACA;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,MAAM,CAAC,UAAU,CAAC;IAC5C,QAAQ,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC;IACpC,QAAQ,IAAI,CAAC,UAAU,GAAG,MAAM,CAAC,UAAU,CAAC;AAC5C;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA,CAAC;AACD;IACA,MAAM,SAAS,SAAS,QAAQ,CAAC;AACjC;IACA,IAAI,WAAW,CAAC,GAAG,IAAI,EAAE;AACzB;IACA,QAAQ,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC;IACvB,QAAQ,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAChC,QAAQ,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;AAC7B;IACA,QAAQ,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC;IAClC,QAAQ,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;AAC9B;IACA,QAAQ,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;IAC1B,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;IAC3B,QAAQ,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;IAC9B,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;IAC3B,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;AAC3B;IACA,KAAK;AACL;IACA,IAAI,IAAI,CAAC,MAAM,EAAE,SAAS,EAAE;AAC5B;IACA,QAAQ,KAAK,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;AACtC;IACA,QAAQ,IAAI,CAAC,aAAa,GAAG,MAAM,CAAC,aAAa,CAAC;IAClD,QAAQ,IAAI,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC;AAC1C;IACA,QAAQ,IAAI,CAAC,KAAK,GAAG,EAAE,CAAC;IACxB,QAAQ,IAAI,CAAC,MAAM,GAAG,EAAE,CAAC;IACzB,QAAQ,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;IAC5B,QAAQ,IAAI,CAAC,MAAM,GAAG,EAAE,CAAC;AACzB;IACA,QAAQ,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;AAC3B;IACA,YAAY,IAAI,CAAC,CAAC,WAAW,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,MAAM,EAAE;AAC9D;IACA,gBAAgB,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC5C;IACA,aAAa;AACb;IACA,YAAY,IAAI,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,KAAK,EAAE;AAC5D;IACA,gBAAgB,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC3C;IACA,aAAa;AACb;IACA,YAAY,IAAI,CAAC,CAAC,cAAc,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,SAAS,EAAE;AACpE;IACA,gBAAgB,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC/C;IACA,aAAa;AACb;IACA,YAAY,IAAI,CAAC,CAAC,YAAY,IAAI,CAAC,CAAC,QAAQ,IAAI,MAAM,CAAC,MAAM,EAAE;AAC/D;IACA,gBAAgB,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;AAC5C;IACA,aAAa;AACb;IACA,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,IAAI,CAAC,MAAM,GAAG;IACtB,YAAY,GAAG,IAAI,CAAC,SAAS;IAC7B,YAAY,GAAG,IAAI,CAAC,MAAM;IAC1B,YAAY,GAAG,IAAI,CAAC,KAAK;IACzB,YAAY,GAAG,IAAI,CAAC,MAAM;IAC1B,SAAS,CAAC;AACV;IACA,QAAQ,OAAO,IAAI,CAAC;AACpB;IACA,KAAK;AACL;IACA,IAAI,QAAQ,CAAC,IAAI,EAAE;AACnB;IACA,QAAQ,OAAO,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;AACjC;IACA,KAAK;AACL;IACA,IAAI,aAAa,CAAC,SAAS,EAAE,GAAG,KAAK,EAAE;AACvC;IACA,QAAQ,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7C,QAAQ,IAAI,KAAK,EAAE;AACnB;IACA,YAAY,OAAO,KAAK,CAAC,aAAa,CAAC,GAAG,KAAK,CAAC,CAAC;AACjD;IACA,SAAS;AACT;IACA,QAAQ,OAAO,KAAK,CAAC;IACrB,KAAK;AACL;IACA,IAAI,cAAc,CAAC,MAAM,EAAE;AAC3B;IACA,QAAQ,IAAI,SAAS,GAAG,KAAK,CAAC;IAC9B,QAAQ,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE;AACnC;IACA,YAAY,MAAM,KAAK,GAAG,MAAM,CAAC,IAAI,CAAC,CAAC;IACvC,YAAY,IAAI,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,EAAE;AACtC;IACA,gBAAgB,SAAS,GAAG,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,GAAG,KAAK,CAAC,IAAI,SAAS,CAAC;AAC5E;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,SAAS,GAAG,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,SAAS,CAAC;AACzE;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA,QAAQ,OAAO,SAAS,CAAC;AACzB;IACA,KAAK;AACL;IACA;;ICnYA;IACA;IACA;IACA;IACA;AACA;IACA;IACA;IACA;IACA;IACA;IACA;IACA;AACA;IACA;IACA;IACA;IACA;IACA;AACA;IACA;AACA;IACA,MAAM,cAAc,GAAG,IAAIC,gBAAK,CAAC,UAAU,EAAE,CAAC;IAC9C,MAAM,SAAS,GAAG,IAAIA,gBAAK,CAAC,KAAK,EAAE,CAAC;AACpC;IACA;IACA;IACA,SAAS,YAAY,CAAC,GAAG,EAAE;AAC3B;IACA,IAAI,IAAI,CAAC,GAAG,EAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/B,IAAI,OAAO,GAAG,CAAC,IAAI,EAAE,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC;AAChE;IACA,CAAC;AACD;IACA;IACA,SAAS,aAAa,CAAC,GAAG,EAAE,GAAG,EAAE,QAAQ,GAAG,KAAK,EAAE;AACnD;IACA;IACA;IACA,IAAI,IAAI,CAAC,QAAQ,EAAE,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC7C;IACA,IAAI,SAAS,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;IACjD,IAAI,cAAc,CAAC,YAAY,CAAC,SAAS,CAAC,CAAC;IAC3C,IAAI,cAAc,CAAC,QAAQ,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC;IAC5C,IAAI,GAAG,CAAC,UAAU,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC;AACxC;IACA,CAAC;AACD;IACA;IACA;IAEA,MAAM,UAAU,CAAC;AACjB;IACA,IAAI,WAAW,CAAC,OAAO,EAAE;AACzB;IACA,QAAQ,IAAI,CAAC,OAAO,GAAG,OAAO,IAAIA,gBAAK,CAAC,qBAAqB,CAAC;IAC9D,QAAQ,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC5D,QAAQ,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAChC,QAAQ,IAAI,CAAC,cAAc,GAAG,KAAK,CAAC;IACpC,QAAQ,IAAI,CAAC,QAAQ,GAAG,EAAE,CAAC;IAC3B,QAAQ,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;IAC9B,QAAQ,IAAI,CAAC,YAAY,GAAG,EAAE,CAAC;AAC/B;IACA,KAAK;AACL;IACA;IACA,IAAI,SAAS,CAAC,IAAI,EAAE;AACpB;IACA,QAAQ,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAK;AAChD;IACA,YAAY,IAAI,CAAC,IAAI,CAAC,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC;AACnD;IACA,SAAS,CAAC,CAAC;AACX;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,IAAI,CAAC,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,OAAO,EAAE;AAChD;IACA;IACA;IACA,QAAQ,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACrC,QAAQ,MAAM,WAAW,GAAGA,gBAAK,CAAC,WAAW,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC;IACnE,QAAQ,MAAM,QAAQ,GAAG,IAAI,CAAC,OAAO,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;AACvD;IACA,QAAQ,OAAO,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;AACpC;IACA,QAAQ,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,YAAY,CAAC;IAC1C,aAAa,IAAI,CAAC,GAAG,IAAI;AACzB;IACA,gBAAgB,IAAI,GAAG,CAAC,EAAE,EAAE;AAC5B;IACA,oBAAoB,IAAI,UAAU,EAAE;AACpC;IACA,wBAAwB,UAAU,CAAC,IAAI,CAAC,CAAC;AACzC;IACA,qBAAqB;IACrB,oBAAoB,OAAO,GAAG,CAAC,IAAI,EAAE,CAAC;AACtC;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,MAAM,IAAI,KAAK,CAAC,CAAC,gCAAgC,GAAG,QAAQ,EAAE,kBAAkB,GAAG,GAAG,CAAC,MAAM,EAAE,GAAG,GAAG,GAAG,CAAC,UAAU,EAAE,CAAC,CAAC,CAAC,CAAC;AAC7I;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC;IACd,aAAa,IAAI,CAAC,IAAI,IAAI;AAC1B;IACA,gBAAgB,IAAI,IAAI,CAAC,WAAW,KAAK,EAAE,EAAE;AAC7C;IACA,oBAAoB,IAAI,CAAC,WAAW,GAAG,WAAW,CAAC;AACnD;IACA,iBAAiB;AACjB;IACA,gBAAgB,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAC/C,gBAAgB,UAAU,CAAC,KAAK,CAAC,CAAC;IAClC,gBAAgB,OAAO,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;AAC1C;IACA,aAAa,CAAC;IACd,aAAa,KAAK,CAAC,CAAC,IAAI;AACxB;IACA,gBAAgB,IAAI,OAAO,EAAE;AAC7B;IACA,oBAAoB,OAAO,CAAC,CAAC,CAAC,CAAC;AAC/B;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,CAAC,KAAK,CAAC,iCAAiC,EAAE,CAAC,CAAC,CAAC;AACxE;IACA,iBAAiB;IACjB,gBAAgB,OAAO,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;IAC5C,gBAAgB,OAAO,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;AAC1C;IACA,aAAa,CAAC,CAAC;AACf;IACA,KAAK;AACL;IACA,IAAI,KAAK,CAAC,OAAO,EAAE;AACnB;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAI,CAAC,QAAQ,CAAC;IACvC,QAAQ,MAAM,UAAU,GAAG,IAAI,CAAC,UAAU,CAAC;IAC3C,QAAQ,MAAM,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IAC7C,QAAQ,MAAM,cAAc,GAAG,IAAI,CAAC,cAAc,CAAC;IACnD,QAAQ,MAAM,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IAC7C,QAAQ,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACrC,QAAQ,MAAM,OAAO,GAAG,EAAE,CAAC;IAC3B,QAAQ,MAAM,QAAQ,GAAG,EAAE,CAAC;IAC5B,QAAQ,MAAM,WAAW,GAAG,EAAE,CAAC;AAC/B;IACA;IACA,QAAQ,SAAS,WAAW,CAAC,IAAI,EAAE;AACnC;IACA,YAAY,IAAI,CAAC,eAAe,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;AAC7C;IACA,gBAAgB,OAAO,WAAW,GAAG,WAAW,GAAG,IAAI,GAAG,IAAI,CAAC;AAC/D;IACA,aAAa;AACb;IACA;IACA,YAAY,MAAM,CAAC,SAAS,EAAE,OAAO,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,eAAe,EAAE,EAAE,CAAC,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;AAC3F;IACA,YAAY,IAAI,OAAO,QAAQ,KAAK,QAAQ,EAAE;AAC9C;IACA;IACA,gBAAgB,IAAI,QAAQ,CAAC,QAAQ,CAAC,SAAS,CAAC,EAAE;AAClD;IACA;IACA,oBAAoB,OAAO,QAAQ,GAAG,GAAG,GAAG,OAAO,CAAC;AACpD;IACA,iBAAiB,MAAM;AACvB;IACA;IACA,oBAAoB,OAAO,QAAQ,GAAG,GAAG,GAAG,SAAS,GAAG,GAAG,GAAG,OAAO,CAAC;AACtE;IACA,iBAAiB;AACjB;IACA,aAAa,MAAM,IAAI,QAAQ,YAAY,QAAQ,EAAE;AACrD;IACA,gBAAgB,OAAO,QAAQ,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,OAAO,CAAC;AAC3D;IACA,aAAa,MAAM,IAAI,OAAO,QAAQ,KAAK,QAAQ,EAAE;AACrD;IACA;IACA,gBAAgB,IAAI,SAAS,IAAI,QAAQ,EAAE;AAC3C;IACA,oBAAoB,OAAO,QAAQ,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,OAAO,CAAC;AAC/D;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,OAAO,CAAC,KAAK,CAAC,CAAC,aAAa,GAAG,SAAS,EAAE,oCAAoC,CAAC,CAAC,CAAC;IACrG,oBAAoB,OAAO,IAAI,CAAC;AAChC;IACA,iBAAiB;AACjB;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,WAAW,CAAC,IAAI,EAAE;AACnC;IACA,YAAY,IAAI,QAAQ,CAAC;IACzB,YAAY,IAAI,IAAI,YAAY,QAAQ,EAAE;AAC1C;IACA,gBAAgB,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;AAChD;IACA,aAAa,MAAM,IAAI,IAAI,YAAY,OAAO,EAAE;AAChD;IACA,gBAAgB,QAAQ,GAAG,EAAE,IAAI,EAAE,CAAC;AACpC;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,MAAM,MAAM,GAAG,IAAI,SAAS,EAAE,CAAC;IAC/C,gBAAgB,MAAM,IAAI,GAAG,MAAM,CAAC,eAAe,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC;IACtE,gBAAgB,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;AAChD;IACA,aAAa;AACb;IACA,YAAY,MAAM,SAAS,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,CAAC,CAAC,GAAG,EAAE,CAAC;IACjF,YAAY,OAAO,YAAY,CAAC,SAAS,CAAC,CAAC;AAC3C;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,YAAY,CAAC,KAAK,EAAE;AACrC;IACA,YAAY,MAAM,UAAU,GAAG,EAAE,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;IACrD,YAAY,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,MAAM,CAAC,CAAC;IACtF,YAAY,MAAM,MAAM,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,OAAO,CAAC,CAAC;IACxF,YAAY,MAAM,SAAS,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,UAAU,CAAC,CAAC;IAC9F,YAAY,MAAM,GAAG,GAAG,IAAI,SAAS,EAAE,CAAC;AACxC;IACA,YAAY,GAAG,CAAC,SAAS,GAAG,KAAK,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACvD,YAAY,GAAG,CAAC,aAAa,GAAG,KAAK,CAAC;AACtC;IACA;IACA,YAAY,SAAS,CAAC,OAAO,CAAC,CAAC,IAAI;AACnC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,gBAAgB,WAAW,CAAC,IAAI,CAAC,GAAG,eAAe,CAAC,CAAC,CAAC,CAAC;AACvD;IACA,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,MAAM,SAAS,GAAG,EAAE,CAAC;IACjC,YAAY,MAAM,WAAW,GAAG,EAAE,CAAC;IACnC,YAAY,KAAK,CAAC,OAAO,CAAC,CAAC,IAAI;AAC/B;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,gBAAgB,MAAM,MAAM,GAAG,KAAK,CAAC,aAAa,CAAC,CAAC,YAAY,GAAG,IAAI,EAAE,EAAE,CAAC,CAAC,KAAK,IAAI,CAAC;IACvF,gBAAgB,OAAO,CAAC,IAAI,CAAC,GAAG,WAAW,CAAC,CAAC,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,GAAG,GAAG,GAAG,IAAI,CAAC,CAAC;AAC5F;IACA,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,MAAM,CAAC,OAAO,CAAC,CAAC,IAAI;AAChC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,gBAAgB,QAAQ,CAAC,IAAI,CAAC,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;AACjD;IACA,aAAa,CAAC,CAAC;AACf;IACA,YAAY,GAAG,CAAC,MAAM,GAAG,QAAQ,CAAC;IAClC,YAAY,GAAG,CAAC,KAAK,GAAG,OAAO,CAAC;IAChC,YAAY,GAAG,CAAC,SAAS,GAAG,WAAW,CAAC;IACxC,YAAY,GAAG,CAAC,MAAM,GAAG,SAAS,CAAC;AACnC;IACA;IACA,YAAY,MAAM,SAAS,GAAG,MAAM,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;IACtD,YAAY,SAAS,CAAC,OAAO,CAAC,CAAC,IAAI;AACnC;IACA,gBAAgB,IAAI,CAAC,YAAY,cAAc,EAAE;AACjD;IACA,oBAAoB,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;AAC/D;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,SAAS,CAAC,OAAO,CAAC,CAAC,IAAI;AACnC;IACA,gBAAgB,MAAM,YAAY,GAAG,IAAI,GAAG,EAAE,CAAC;IAC/C,gBAAgB,MAAM,YAAY,GAAG,KAAK,IAAI;AAC9C;IACA,oBAAoB,IAAI,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE;AACjD;IACA,wBAAwB,MAAM,IAAI,KAAK,CAAC,wDAAwD,CAAC,CAAC;AAClG;IACA,qBAAqB;AACrB;IACA,oBAAoB,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC5C,oBAAoB,KAAK,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,IAAI;AACnD;IACA,wBAAwB,YAAY,CAAC,CAAC,CAAC,CAAC;AACxC;IACA,qBAAqB,CAAC,CAAC;AACvB;IACA,iBAAiB,CAAC;AAClB;IACA,gBAAgB,YAAY,CAAC,CAAC,CAAC,CAAC;IAChC,aAAa,CAAC,CAAC;AACf;IACA,YAAY,GAAG,CAAC,MAAM,GAAG;IACzB,gBAAgB,GAAG,WAAW;IAC9B,gBAAgB,GAAG,SAAS;IAC5B,gBAAgB,GAAG,OAAO;IAC1B,gBAAgB,GAAG,QAAQ;IAC3B,aAAa,CAAC;AACd;IACA,YAAY,OAAO,GAAG,CAAC;AACvB;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,YAAY,CAAC,KAAK,EAAE;AACrC;IACA,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;IACnD,YAAY,MAAM,SAAS,GAAG,KAAK,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;AACzD;IACA,YAAY,IAAI,GAAG,CAAC;AACpB;IACA,YAAY,MAAM,QAAQ,GAAG,QAAQ,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,OAAO,CAAC,CAAC;IACtF,YAAY,IAAI,QAAQ,EAAE;AAC1B;IACA,gBAAgB,GAAG,GAAG,IAAI,cAAc,EAAE,CAAC;IAC3C,gBAAgB,GAAG,CAAC,UAAU,GAAG,QAAQ,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC;IAChE,gBAAgB,GAAG,CAAC,UAAU,GAAG,UAAU,CAAC,QAAQ,CAAC,YAAY,CAAC,YAAY,CAAC,IAAI,GAAG,CAAC,CAAC;IACxF,gBAAgB,GAAG,CAAC,MAAM,GAAG,UAAU,CAAC,QAAQ,CAAC,YAAY,CAAC,QAAQ,CAAC,IAAI,GAAG,CAAC,CAAC;AAChF;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,GAAG,GAAG,IAAI,SAAS,EAAE,CAAC;AACtC;IACA,aAAa;AACb;IACA,YAAY,GAAG,CAAC,QAAQ,GAAG,KAAK,CAAC;IACjC,YAAY,GAAG,CAAC,IAAI,GAAG,KAAK,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAClD,YAAY,GAAG,CAAC,QAAQ,GAAG,GAAG,CAAC,IAAI,CAAC;IACpC,YAAY,GAAG,CAAC,SAAS,GAAG,SAAS,CAAC;AACtC;IACA,YAAY,IAAI,MAAM,GAAG,IAAI,CAAC;IAC9B,YAAY,IAAI,KAAK,GAAG,IAAI,CAAC;IAC7B,YAAY,IAAI,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChC,YAAY,IAAI,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAChC;IACA;IACA,YAAY,QAAQ,CAAC,OAAO,CAAC,CAAC,IAAI;AAClC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACtD,gBAAgB,IAAI,IAAI,KAAK,QAAQ,EAAE;AACvC;IACA,oBAAoB,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;IAC9D,oBAAoB,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;AAC9D;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,OAAO,EAAE;AAC7C;IACA,oBAAoB,KAAK,GAAG,OAAO,CAAC,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC;AAC5D;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,QAAQ,EAAE;AAC9C;IACA,oBAAoB,MAAM,GAAG,OAAO,CAAC,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC;AAC7D;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,OAAO,EAAE;AAC7C;IACA,oBAAoB,GAAG,CAAC,KAAK,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,YAAY,CAAC,OAAO,CAAC,IAAI,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IAC7F,oBAAoB,GAAG,CAAC,KAAK,CAAC,KAAK,GAAG,UAAU,CAAC,CAAC,CAAC,YAAY,CAAC,OAAO,CAAC,IAAI,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;AAC7F;IACA,iBAAiB;IACjB,aAAa,CAAC,CAAC;AACf;IACA;IACA,YAAY,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;IAC5B,YAAY,GAAG,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC3B,YAAY,aAAa,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IACpC,YAAY,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;AACrD;IACA;IACA,YAAY,MAAM,QAAQ,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;AAC1F;IACA,YAAY,IAAI,QAAQ,EAAE;AAC1B;IACA,gBAAgB,MAAM,OAAO,GAAG,QAAQ,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC;IACvG,gBAAgB,GAAG,CAAC,IAAI,GAAG,IAAIA,gBAAK,CAAC,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC;IACjF,gBAAgB,GAAG,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC;AACrC;IACA,aAAa;AACb;IACA,YAAY,OAAO,GAAG,CAAC;AACvB;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,WAAW,CAAC,IAAI,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,GAAG,IAAI,EAAE;AAC1E;IACA,YAAY,IAAI,MAAM,KAAK,IAAI,EAAE;AACjC;IACA,gBAAgB,MAAM,GAAG,IAAI,QAAQ,EAAE,CAAC;AACxC;IACA,aAAa;AACb;IACA,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;IAClD,YAAY,MAAM,CAAC,IAAI,GAAG,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IACpD,YAAY,MAAM,CAAC,QAAQ,GAAG,MAAM,CAAC,IAAI,CAAC;IAC1C,YAAY,MAAM,CAAC,QAAQ,GAAG,IAAI,CAAC;AACnC;IACA,YAAY,IAAI,WAAW,EAAE;AAC7B;IACA,gBAAgB,MAAM,WAAW,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,QAAQ,CAAC,CAAC;IAChG,gBAAgB,WAAW,CAAC,OAAO,CAAC,EAAE,IAAI;AAC1C;IACA,oBAAoB,MAAM,CAAC,GAAG,kBAAkB,CAAC,EAAE,EAAE,WAAW,CAAC,CAAC;IAClE,oBAAoB,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,oBAAoB,IAAI,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,EAAE;AACjD;IACA,wBAAwB,MAAM,IAAI,GAAG,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAC7D,wBAAwB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;IACtC,wBAAwB,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC;IAC1C,wBAAwB,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;AAC5C;IACA,qBAAqB;AACrB;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,aAAa;AACb;IACA,YAAY,IAAI,cAAc,EAAE;AAChC;IACA,gBAAgB,MAAM,cAAc,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,WAAW,CAAC,CAAC;IACtG,gBAAgB,cAAc,CAAC,OAAO,CAAC,EAAE,IAAI;AAC7C;IACA,oBAAoB,MAAM,CAAC,GAAG,kBAAkB,CAAC,EAAE,CAAC,CAAC;IACrD,oBAAoB,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,oBAAoB,IAAI,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,EAAE;AACjD;IACA,wBAAwB,MAAM,IAAI,GAAG,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAC7D,wBAAwB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;IACtC,wBAAwB,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC;IAC1C,wBAAwB,WAAW,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;AAC9C;IACA,qBAAqB;AACrB;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,aAAa;AACb;IACA,YAAY,OAAO,MAAM,CAAC;AAC1B;IACA,SAAS;AACT;IACA,QAAQ,SAAS,eAAe,CAAC,IAAI,EAAE;AACvC;IACA,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,IAAI,CAAC,QAAQ,EAAE,CAAC;IAClD,YAAY,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC;AAC3D;IACA,YAAY,QAAQ,CAAC,IAAI,GAAG,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,IAAI,EAAE,CAAC;IAC5D,YAAY,QAAQ,CAAC,OAAO,CAAC,CAAC,IAAI;AAClC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACtD,gBAAgB,IAAI,IAAI,KAAK,OAAO,EAAE;AACtC;IACA,oBAAoB,MAAM,IAAI;IAC9B,wBAAwB,CAAC;IACzB,6BAA6B,YAAY,CAAC,MAAM,CAAC;IACjD,6BAA6B,KAAK,CAAC,KAAK,CAAC;IACzC,6BAA6B,GAAG,CAAC,CAAC,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;AACrD;IACA,oBAAoB,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACrE,oBAAoB,QAAQ,CAAC,OAAO,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC;IAC/C,oBAAoB,QAAQ,CAAC,WAAW,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACvD,oBAAoB,QAAQ,CAAC,UAAU,GAAG,CAAC,QAAQ,CAAC,WAAW,CAAC;AAChE;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,SAAS,EAAE;AAC/C;IACA;IACA;IACA,oBAAoB,MAAM,QAAQ,GAAG,CAAC,CAAC,YAAY,CAAC,UAAU,CAAC,CAAC;IAChE,oBAAoB,IAAI,QAAQ,EAAE;AAClC;IACA,wBAAwB,MAAM,MAAM,GAAG,IAAIA,gBAAK,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;IACxE,wBAAwB,MAAM,QAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC,CAAC;IAC/D,wBAAwB,QAAQ,CAAC,GAAG,GAAG,MAAM,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;IAC7D,wBAAwB,QAAQ,CAAC,GAAG,CAAC,UAAU,GAAGA,gBAAK,CAAC,cAAc,CAAC;AACvE;IACA,qBAAqB;AACrB;IACA,iBAAiB;IACjB,aAAa,CAAC,CAAC;AACf;IACA,YAAY,OAAO,QAAQ,CAAC;AAC5B;IACA,SAAS;AACT;IACA;IACA,QAAQ,SAAS,kBAAkB,CAAC,EAAE,EAAE,WAAW,GAAG,EAAE,EAAE;AAC1D;IACA,YAAY,MAAM,eAAe,GAAG,EAAE,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,WAAW,CAAC;IAC9E,YAAY,MAAM,QAAQ,GAAG,EAAE,GAAG,EAAE,CAAC,QAAQ,EAAE,CAAC;IAChD,YAAY,IAAI,QAAQ,GAAG,IAAI,CAAC;AAChC;IACA;IACA,YAAY,MAAM,YAAY,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,KAAK,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IAClG,YAAY,IAAI,YAAY,EAAE;AAC9B;IACA,gBAAgB,MAAM,IAAI,GAAG,YAAY,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;IAC/D,gBAAgB,IAAI,IAAI,IAAI,IAAI,IAAI,WAAW,EAAE;AACjD;IACA,oBAAoB,QAAQ,GAAG,WAAW,CAAC,IAAI,CAAC,CAAC;AACjD;IACA,iBAAiB,MAAM;AACvB;IACA,oBAAoB,QAAQ,GAAG,eAAe,CAAC,YAAY,CAAC,CAAC;AAC7D;IACA,iBAAiB;AACjB;IACA,aAAa,MAAM;AACnB;IACA,gBAAgB,QAAQ,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC;AACzD;IACA,aAAa;AACb;IACA,YAAY,MAAM,KAAK,GAAG,eAAe,GAAG,IAAI,YAAY,EAAE,GAAG,IAAI,UAAU,EAAE,CAAC;IAClF,YAAY,KAAK,CAAC,QAAQ,GAAG,EAAE,CAAC;AAChC;IACA,YAAY,QAAQ,CAAC,OAAO,CAAC,CAAC,IAAI;AAClC;IACA,gBAAgB,MAAM,IAAI,GAAG,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACtD,gBAAgB,IAAI,IAAI,KAAK,UAAU,EAAE;AACzC;IACA,oBAAoB,MAAM,OAAO,GAAG,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IACzE,oBAAoB,IAAI,OAAO,KAAK,MAAM,EAAE;AAC5C;IACA,wBAAwB,MAAM,QAAQ,GAAG,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,UAAU,CAAC,CAAC;IAChF,wBAAwB,MAAM,QAAQ,GAAG,WAAW,CAAC,QAAQ,CAAC,CAAC;AAC/D;IACA;IACA,wBAAwB,IAAI,QAAQ,KAAK,IAAI,EAAE;AAC/C;IACA,4BAA4B,MAAM,SAAS,GAAG,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC;IAClF,4BAA4B,IAAI,SAAS,EAAE;AAC3C;IACA,gCAAgC,MAAM,KAAK,GAAG,YAAY,CAAC,SAAS,CAAC,CAAC;IACtE,gCAAgC,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAC9E;IACA,6BAA6B;AAC7B;IACA,4BAA4B,UAAU,CAAC,QAAQ,EAAE,OAAO,EAAE,CAAC,GAAG,EAAE,GAAG,KAAK;AACxE;IACA,gCAAgC,IAAI,GAAG,EAAE;AACzC;IACA,oCAAoC,OAAO,CAAC,KAAK,CAAC,iCAAiC,EAAE,GAAG,CAAC,CAAC;AAC1F;IACA,iCAAiC,MAAM,IAAI,GAAG,EAAE;AAChD;IACA,oCAAoC,IAAI,GAAG,YAAYA,gBAAK,CAAC,IAAI,EAAE;AACnE;IACA,wCAAwC,GAAG,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAChE;IACA,qCAAqC;AACrC;IACA;IACA;IACA;IACA,oCAAoC,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9D,oCAAoC,GAAG,CAAC,UAAU,CAAC,QAAQ,EAAE,CAAC;IAC9D,oCAAoC,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;AACnD;IACA,iCAAiC;AACjC;IACA,6BAA6B,CAAC,CAAC;AAC/B;IACA,yBAAyB;AACzB;IACA,qBAAqB,MAAM,IAAI,OAAO,KAAK,KAAK,EAAE;AAClD;IACA,wBAAwB,MAAM,cAAc,GAAG,IAAIA,gBAAK,CAAC,IAAI,EAAE,CAAC;IAChE,wBAAwB,cAAc,CAAC,QAAQ,GAAG,IAAIA,gBAAK,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACjF,wBAAwB,cAAc,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAC3D;IACA,wBAAwB,MAAM,IAAI,GAAG,YAAY,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC;IACtF,wBAAwB,cAAc,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;AAC5E;IACA,wBAAwB,KAAK,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;AAClD;IACA,qBAAqB,MAAM,IAAI,OAAO,KAAK,QAAQ,EAAE;AACrD;IACA,wBAAwB,MAAM,cAAc,GAAG,IAAIA,gBAAK,CAAC,IAAI,EAAE,CAAC;IAChE,wBAAwB,cAAc,CAAC,QAAQ,GAAG,IAAIA,gBAAK,CAAC,cAAc,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;IACtF,wBAAwB,cAAc,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAC3D;IACA,wBAAwB,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC;IAC7F,wBAAwB,cAAc,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AACzE;IACA,wBAAwB,KAAK,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;AAClD;IACA,qBAAqB,MAAM,IAAI,OAAO,KAAK,UAAU,EAAE;AACvD;IACA,wBAAwB,MAAM,cAAc,GAAG,IAAIA,gBAAK,CAAC,IAAI,EAAE,CAAC;IAChE,wBAAwB,cAAc,CAAC,QAAQ,GAAG,IAAIA,gBAAK,CAAC,gBAAgB,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;IAC1F,wBAAwB,cAAc,CAAC,QAAQ,GAAG,QAAQ,CAAC;AAC3D;IACA,wBAAwB,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC;IAC7F,wBAAwB,MAAM,MAAM,GAAG,UAAU,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC;IAC7F,wBAAwB,cAAc,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACzE,wBAAwB,cAAc,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACvE;IACA,wBAAwB,KAAK,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;AAClD;IACA,qBAAqB;AACrB;IACA,iBAAiB,MAAM,IAAI,IAAI,KAAK,QAAQ,EAAE;AAC9C;IACA,oBAAoB,MAAM,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;IACpE,oBAAoB,MAAM,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC;AACpE;IACA,oBAAoB,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/D,oBAAoB,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChD,oBAAoB,aAAa,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;AAC9C;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC,CAAC;AACf;IACA,YAAY,OAAO,KAAK,CAAC;AACzB;IACA,SAAS;AACT;IACA,QAAQ,OAAO,WAAW,CAAC,OAAO,CAAC,CAAC;AACpC;IACA,KAAK;AACL;IACA;IACA,IAAI,iBAAiB,CAAC,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE;AAC3C;IACA,QAAQ,IAAI,SAAS,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;AAClC;IACA,YAAY,MAAM,MAAM,GAAG,IAAIC,sBAAS,CAAC,OAAO,CAAC,CAAC;IAClD,YAAY,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,IAAI;IACtC,gBAAgB,MAAM,IAAI,GAAG,IAAID,gBAAK,CAAC,IAAI,CAAC,IAAI,EAAE,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC,CAAC;IACjF,gBAAgB,IAAI,CAAC,IAAI,CAAC,CAAC;IAC3B,aAAa,CAAC,CAAC;AACf;IACA,SAAS,MAAM,IAAI,SAAS,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;AACzC;IACA,YAAY,MAAM,MAAM,GAAG,IAAIE,8BAAa,CAAC,OAAO,CAAC,CAAC;IACtD,YAAY,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,GAAG,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC;AACtD;IACA,SAAS,MAAM;AACf;IACA,YAAY,OAAO,CAAC,IAAI,CAAC,CAAC,oCAAoC,GAAG,IAAI,EAAE,sBAAsB,CAAC,CAAC,CAAC;AAChG;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,CAAC;;;;;;;;"}

package/umd/urdf-viewer-element.js

@@ -64,7 +64,7 @@
         get displayShadow() { return this.hasAttribute('display-shadow') || false; }
         set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }
 
-        get ambientColor() { return this.getAttribute('ambient-color') || '#455A64'; }
+        get ambientColor() { return this.getAttribute('ambient-color') || '#8ea0a8'; }
         set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }
 
         get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }
@@ -143,7 +143,7 @@
             renderer.setClearAlpha(0);
             renderer.shadowMap.enabled = true;
             renderer.shadowMap.type = THREE__namespace.PCFSoftShadowMap;
-            renderer.outputEncoding = THREE__namespace.sRGBEncoding;
+            renderer.outputColorSpace = THREE__namespace.SRGBColorSpace;
 
             // Camera setup
             const camera = new THREE__namespace.PerspectiveCamera(75, 1, 0.1, 1000);
@@ -478,7 +478,7 @@
 
                                             if (m.map) {
 
-                                                m.map.encoding = THREE__namespace.GammaEncoding;
+                                                m.map.colorSpace = THREE__namespace.SRGBColorSpace;
 
                                             }
 

package/umd/urdf-viewer-element.js.map

@@ -1 +1 @@
-{"version":3,"file":"urdf-viewer-element.js","sources":["../src/urdf-viewer-element.js"],"sourcesContent":["import * as THREE from 'three';\nimport { MeshPhongMaterial } from 'three';\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';\nimport URDFLoader from './URDFLoader.js';\n\nconst tempVec2 = new THREE.Vector2();\nconst emptyRaycast = () => {};\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default\nclass URDFViewer extends HTMLElement {\n\n    static get observedAttributes() {\n\n        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'show-collision'];\n\n    }\n\n    get package() { return this.getAttribute('package') || ''; }\n    set package(val) { this.setAttribute('package', val); }\n\n    get urdf() { return this.getAttribute('urdf') || ''; }\n    set urdf(val) { this.setAttribute('urdf', val); }\n\n    get ignoreLimits() { return this.hasAttribute('ignore-limits') || false; }\n    set ignoreLimits(val) { val ? this.setAttribute('ignore-limits', val) : this.removeAttribute('ignore-limits'); }\n\n    get up() { return this.getAttribute('up') || '+Z'; }\n    set up(val) { this.setAttribute('up', val); }\n\n    get displayShadow() { return this.hasAttribute('display-shadow') || false; }\n    set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }\n\n    get ambientColor() { return this.getAttribute('ambient-color') || '#455A64'; }\n    set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }\n\n    get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }\n    set autoRedraw(val) { val ? this.setAttribute('auto-redraw', true) : this.removeAttribute('auto-redraw'); }\n\n    get noAutoRecenter() { return this.hasAttribute('no-auto-recenter') || false; }\n    set noAutoRecenter(val) { val ? this.setAttribute('no-auto-recenter', true) : this.removeAttribute('no-auto-recenter'); }\n\n    get showCollision() { return this.hasAttribute('show-collision') || false; }\n    set showCollision(val) { val ? this.setAttribute('show-collision', true) : this.removeAttribute('show-collision'); }\n\n    get jointValues() {\n\n        const values = {};\n        if (this.robot) {\n\n            for (const name in this.robot.joints) {\n\n                const joint = this.robot.joints[name];\n                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];\n\n            }\n\n        }\n\n        return values;\n\n    }\n    set jointValues(val) { this.setJointValues(val); }\n\n    get angles() {\n\n        return this.jointValues;\n\n    }\n    set angles(v) {\n\n        this.jointValues = v;\n\n    }\n\n    /* Lifecycle Functions */\n    constructor() {\n\n        super();\n\n        this._requestId = 0;\n        this._dirty = false;\n        this._loadScheduled = false;\n        this.robot = null;\n        this.loadMeshFunc = null;\n        this.urlModifierFunc = null;\n\n        // Scene setup\n        const scene = new THREE.Scene();\n\n        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');\n        ambientLight.groundColor.lerp(ambientLight.color, 0.5);\n        ambientLight.intensity = 0.5;\n        ambientLight.position.set(0, 1, 0);\n        scene.add(ambientLight);\n\n        // Light setup\n        const dirLight = new THREE.DirectionalLight(0xffffff);\n        dirLight.position.set(4, 10, 1);\n        dirLight.shadow.mapSize.width = 2048;\n        dirLight.shadow.mapSize.height = 2048;\n        dirLight.shadow.normalBias = 0.001;\n        dirLight.castShadow = true;\n        scene.add(dirLight);\n        scene.add(dirLight.target);\n\n        // Renderer setup\n        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });\n        renderer.setClearColor(0xffffff);\n        renderer.setClearAlpha(0);\n        renderer.shadowMap.enabled = true;\n        renderer.shadowMap.type = THREE.PCFSoftShadowMap;\n        renderer.outputEncoding = THREE.sRGBEncoding;\n\n        // Camera setup\n        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);\n        camera.position.z = -10;\n\n        // World setup\n        const world = new THREE.Object3D();\n        scene.add(world);\n\n        const plane = new THREE.Mesh(\n            new THREE.PlaneBufferGeometry(40, 40),\n            new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }),\n        );\n        plane.rotation.x = -Math.PI / 2;\n        plane.position.y = -0.5;\n        plane.receiveShadow = true;\n        plane.scale.set(10, 10, 10);\n        scene.add(plane);\n\n        // Controls setup\n        const controls = new OrbitControls(camera, renderer.domElement);\n        controls.rotateSpeed = 2.0;\n        controls.zoomSpeed = 5;\n        controls.panSpeed = 2;\n        controls.enableZoom = true;\n        controls.enableDamping = false;\n        controls.maxDistance = 50;\n        controls.minDistance = 0.25;\n        controls.addEventListener('change', () => this.recenter());\n\n        this.scene = scene;\n        this.world = world;\n        this.renderer = renderer;\n        this.camera = camera;\n        this.controls = controls;\n        this.plane = plane;\n        this.directionalLight = dirLight;\n        this.ambientLight = ambientLight;\n\n        this._setUp(this.up);\n\n        this._collisionMaterial = new MeshPhongMaterial({\n            transparent: true,\n            opacity: 0.35,\n            shininess: 2.5,\n            premultipliedAlpha: true,\n            color: 0xffbe38,\n            polygonOffset: true,\n            polygonOffsetFactor: -1,\n            polygonOffsetUnits: -1,\n        });\n\n        const _renderLoop = () => {\n\n            if (this.parentNode) {\n\n                this.updateSize();\n\n                if (this._dirty || this.autoRedraw) {\n\n                    if (!this.noAutoRecenter) {\n\n                        this._updateEnvironment();\n                    }\n\n                    this.renderer.render(scene, camera);\n                    this._dirty = false;\n\n                }\n\n                // update controls after the environment in\n                // case the controls are retargeted\n                this.controls.update();\n\n            }\n            this._renderLoopId = requestAnimationFrame(_renderLoop);\n\n        };\n        _renderLoop();\n\n    }\n\n    connectedCallback() {\n\n        // Add our initialize styles for the element if they haven't\n        // been added yet\n        if (!this.constructor._styletag) {\n\n            const styletag = document.createElement('style');\n            styletag.innerHTML =\n            `\n                ${ this.tagName } { display: block; }\n                ${ this.tagName } canvas {\n                    width: 100%;\n                    height: 100%;\n                }\n            `;\n            document.head.appendChild(styletag);\n            this.constructor._styletag = styletag;\n\n        }\n\n        // add the renderer\n        if (this.childElementCount === 0) {\n\n            this.appendChild(this.renderer.domElement);\n\n        }\n\n        this.updateSize();\n        requestAnimationFrame(() => this.updateSize());\n\n    }\n\n    disconnectedCallback() {\n\n        cancelAnimationFrame(this._renderLoopId);\n\n    }\n\n    attributeChangedCallback(attr, oldval, newval) {\n\n        this._updateCollisionVisibility();\n        if (!this.noAutoRecenter) {\n            this.recenter();\n        }\n\n        switch (attr) {\n\n            case 'package':\n            case 'urdf': {\n\n                this._scheduleLoad();\n                break;\n\n            }\n\n            case 'up': {\n\n                this._setUp(this.up);\n                break;\n\n            }\n\n            case 'ambient-color': {\n\n                this.ambientLight.color.set(this.ambientColor);\n                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);\n                break;\n\n            }\n\n            case 'ignore-limits': {\n\n                this._setIgnoreLimits(this.ignoreLimits, true);\n                break;\n\n            }\n\n        }\n\n    }\n\n    /* Public API */\n    updateSize() {\n\n        const r = this.renderer;\n        const w = this.clientWidth;\n        const h = this.clientHeight;\n        const currSize = r.getSize(tempVec2);\n\n        if (currSize.width !== w || currSize.height !== h) {\n\n            this.recenter();\n\n        }\n\n        r.setPixelRatio(window.devicePixelRatio);\n        r.setSize(w, h, false);\n\n        this.camera.aspect = w / h;\n        this.camera.updateProjectionMatrix();\n\n    }\n\n    redraw() {\n\n        this._dirty = true;\n    }\n\n    recenter() {\n\n        this._updateEnvironment();\n        this.redraw();\n\n    }\n\n    // Set the joint with jointName to\n    // angle in degrees\n    setJointValue(jointName, ...values) {\n\n        if (!this.robot) return;\n        if (!this.robot.joints[jointName]) return;\n\n        if (this.robot.joints[jointName].setJointValue(...values)) {\n\n            this.redraw();\n            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));\n\n        }\n\n    }\n\n    setJointValues(values) {\n\n        for (const name in values) this.setJointValue(name, values[name]);\n\n    }\n\n    /* Private Functions */\n    // Updates the position of the plane to be at the\n    // lowest point below the robot and focuses the\n    // camera on the center of the scene\n    _updateEnvironment() {\n\n        const robot = this.robot;\n        if (!robot) return;\n\n        this.world.updateMatrixWorld();\n\n        const bbox = new THREE.Box3();\n        bbox.makeEmpty();\n        robot.traverse(c => {\n            if (c.isURDFVisual) {\n                bbox.expandByObject(c);\n            }\n        });\n\n        const center = bbox.getCenter(new THREE.Vector3());\n        this.controls.target.y = center.y;\n        this.plane.position.y = bbox.min.y - 1e-3;\n\n        const dirLight = this.directionalLight;\n        dirLight.castShadow = this.displayShadow;\n\n        if (this.displayShadow) {\n\n            // Update the shadow camera rendering bounds to encapsulate the\n            // model. We use the bounding sphere of the bounding box for\n            // simplicity -- this could be a tighter fit.\n            const sphere = bbox.getBoundingSphere(new THREE.Sphere());\n            const minmax = sphere.radius;\n            const cam = dirLight.shadow.camera;\n            cam.left = cam.bottom = -minmax;\n            cam.right = cam.top = minmax;\n\n            // Update the camera to focus on the center of the model so the\n            // shadow can encapsulate it\n            const offset = dirLight.position.clone().sub(dirLight.target.position);\n            dirLight.target.position.copy(center);\n            dirLight.position.copy(center).add(offset);\n\n            cam.updateProjectionMatrix();\n\n        }\n\n    }\n\n    _scheduleLoad() {\n\n        // if our current model is already what's being requested\n        // or has been loaded then early out\n        if (this._prevload === `${ this.package }|${ this.urdf }`) return;\n        this._prevload = `${ this.package }|${ this.urdf }`;\n\n        // if we're already waiting on a load then early out\n        if (this._loadScheduled) return;\n        this._loadScheduled = true;\n\n        if (this.robot) {\n\n            this.robot.traverse(c => c.dispose && c.dispose());\n            this.robot.parent.remove(this.robot);\n            this.robot = null;\n\n        }\n\n        requestAnimationFrame(() => {\n\n            this._loadUrdf(this.package, this.urdf);\n            this._loadScheduled = false;\n\n        });\n\n    }\n\n    // Watch the package and urdf field and load the robot model.\n    // This should _only_ be called from _scheduleLoad because that\n    // ensures the that current robot has been removed\n    _loadUrdf(pkg, urdf) {\n\n        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));\n\n        if (urdf) {\n\n            // Keep track of this request and make\n            // sure it doesn't get overwritten by\n            // a subsequent one\n            this._requestId++;\n            const requestId = this._requestId;\n\n            const updateMaterials = mesh => {\n\n                mesh.traverse(c => {\n\n                    if (c.isMesh) {\n\n                        c.castShadow = true;\n                        c.receiveShadow = true;\n\n                        if (c.material) {\n\n                            const mats =\n                                (Array.isArray(c.material) ? c.material : [c.material])\n                                    .map(m => {\n\n                                        if (m instanceof THREE.MeshBasicMaterial) {\n\n                                            m = new THREE.MeshPhongMaterial();\n\n                                        }\n\n                                        if (m.map) {\n\n                                            m.map.encoding = THREE.GammaEncoding;\n\n                                        }\n\n                                        return m;\n\n                                    });\n                            c.material = mats.length === 1 ? mats[0] : mats;\n\n                        }\n\n                    }\n\n                });\n\n            };\n\n            if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') {\n                // E.g. pkg = \"pkg_name: path/to/pkg_name, pk2: path2/to/pk2\"}\n\n                // Convert pkg(s) into a map. E.g.\n                // { \"pkg_name\": \"path/to/pkg_name\",\n                //   \"pk2\":      \"path2/to/pk2\"      }\n\n                pkg = pkg.split(',').reduce((map, value) => {\n\n                    const split = value.split(/:/).filter(x => !!x);\n                    const pkgName = split.shift().trim();\n                    const pkgPath = split.join(':').trim();\n                    map[pkgName] = pkgPath;\n\n                    return map;\n\n                }, {});\n            }\n\n            let robot = null;\n            const manager = new THREE.LoadingManager();\n            manager.onLoad = () => {\n\n                // If another request has come in to load a new\n                // robot, then ignore this one\n                if (this._requestId !== requestId) {\n\n                    robot.traverse(c => c.dispose && c.dispose());\n                    return;\n\n                }\n\n                this.robot = robot;\n                this.world.add(robot);\n                updateMaterials(robot);\n\n                this._setIgnoreLimits(this.ignoreLimits);\n                this._updateCollisionVisibility();\n\n                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));\n                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));\n\n                this.recenter();\n\n            };\n\n            if (this.urlModifierFunc) {\n\n                manager.setURLModifier(this.urlModifierFunc);\n\n            }\n\n            const loader = new URDFLoader(manager);\n            loader.packages = pkg;\n            loader.loadMeshCb = this.loadMeshFunc;\n            loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };\n            loader.parseCollision = true;\n            loader.load(urdf, model => robot = model);\n\n        }\n\n    }\n\n    _updateCollisionVisibility() {\n\n        const showCollision = this.showCollision;\n        const collisionMaterial = this._collisionMaterial;\n        const robot = this.robot;\n\n        if (robot === null) return;\n\n        const colliders = [];\n        robot.traverse(c => {\n\n            if (c.isURDFCollider) {\n\n                c.visible = showCollision;\n                colliders.push(c);\n\n            }\n\n        });\n\n        colliders.forEach(coll => {\n\n            coll.traverse(c => {\n\n                if (c.isMesh) {\n\n                    c.raycast = emptyRaycast;\n                    c.material = collisionMaterial;\n                    c.castShadow = false;\n\n                }\n\n            });\n\n        });\n\n    }\n\n    // Watch the coordinate frame and update the\n    // rotation of the scene to match\n    _setUp(up) {\n\n        if (!up) up = '+Z';\n        up = up.toUpperCase();\n        const sign = up.replace(/[^-+]/g, '')[0] || '+';\n        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';\n\n        const PI = Math.PI;\n        const HALFPI = PI / 2;\n        if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);\n        if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);\n        if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);\n\n    }\n\n    // Updates the current robot's angles to ignore\n    // joint limits or not\n    _setIgnoreLimits(ignore, dispatch = false) {\n\n        if (this.robot) {\n\n            Object\n                .values(this.robot.joints)\n                .forEach(joint => {\n\n                    joint.ignoreLimits = ignore;\n                    joint.setJointValue(...joint.jointValue);\n\n                });\n\n        }\n\n        if (dispatch) {\n\n            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));\n\n        }\n\n    }\n\n};\n"],"names":["THREE","OrbitControls","MeshPhongMaterial","URDFLoader"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAKA,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,OAAO,EAAE,CAAC;IACrC,MAAM,YAAY,GAAG,MAAM,EAAE,CAAC;AAC9B;IACA;IACA;AACA;IACA;IACA;IACA;IACA;IACA;IACA;IAEA,MAAM,UAAU,SAAS,WAAW,CAAC;AACrC;IACA,IAAI,WAAW,kBAAkB,GAAG;AACpC;IACA,QAAQ,OAAO,CAAC,SAAS,EAAE,MAAM,EAAE,IAAI,EAAE,gBAAgB,EAAE,eAAe,EAAE,eAAe,EAAE,gBAAgB,CAAC,CAAC;AAC/G;IACA,KAAK;AACL;IACA,IAAI,IAAI,OAAO,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC,EAAE;IAChE,IAAI,IAAI,OAAO,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,YAAY,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC,EAAE;AAC3D;IACA,IAAI,IAAI,IAAI,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,IAAI,EAAE,CAAC,EAAE;IAC1D,IAAI,IAAI,IAAI,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,YAAY,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC,EAAE;AACrD;IACA,IAAI,IAAI,YAAY,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,eAAe,CAAC,IAAI,KAAK,CAAC,EAAE;IAC9E,IAAI,IAAI,YAAY,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,eAAe,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,eAAe,CAAC,CAAC,EAAE;AACpH;IACA,IAAI,IAAI,EAAE,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,IAAI,CAAC,EAAE;IACxD,IAAI,IAAI,EAAE,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,YAAY,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,EAAE;AACjD;IACA,IAAI,IAAI,aAAa,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,EAAE;IAChF,IAAI,IAAI,aAAa,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,gBAAgB,EAAE,EAAE,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,gBAAgB,CAAC,CAAC,EAAE;AACtH;IACA,IAAI,IAAI,YAAY,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,eAAe,CAAC,IAAI,SAAS,CAAC,EAAE;IAClF,IAAI,IAAI,YAAY,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,eAAe,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,eAAe,CAAC,CAAC,EAAE;AACpH;IACA,IAAI,IAAI,UAAU,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,aAAa,CAAC,IAAI,KAAK,CAAC,EAAE;IAC1E,IAAI,IAAI,UAAU,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,aAAa,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,aAAa,CAAC,CAAC,EAAE;AAC/G;IACA,IAAI,IAAI,cAAc,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,kBAAkB,CAAC,IAAI,KAAK,CAAC,EAAE;IACnF,IAAI,IAAI,cAAc,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,kBAAkB,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,kBAAkB,CAAC,CAAC,EAAE;AAC7H;IACA,IAAI,IAAI,aAAa,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,EAAE;IAChF,IAAI,IAAI,aAAa,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,gBAAgB,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,gBAAgB,CAAC,CAAC,EAAE;AACxH;IACA,IAAI,IAAI,WAAW,GAAG;AACtB;IACA,QAAQ,MAAM,MAAM,GAAG,EAAE,CAAC;IAC1B,QAAQ,IAAI,IAAI,CAAC,KAAK,EAAE;AACxB;IACA,YAAY,KAAK,MAAM,IAAI,IAAI,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE;AAClD;IACA,gBAAgB,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IACtD,gBAAgB,MAAM,CAAC,IAAI,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,MAAM,KAAK,CAAC,GAAG,KAAK,CAAC,KAAK,GAAG,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,CAAC;AACnG;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA,QAAQ,OAAO,MAAM,CAAC;AACtB;IACA,KAAK;IACL,IAAI,IAAI,WAAW,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,EAAE;AACtD;IACA,IAAI,IAAI,MAAM,GAAG;AACjB;IACA,QAAQ,OAAO,IAAI,CAAC,WAAW,CAAC;AAChC;IACA,KAAK;IACL,IAAI,IAAI,MAAM,CAAC,CAAC,EAAE;AAClB;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,CAAC,CAAC;AAC7B;IACA,KAAK;AACL;IACA;IACA,IAAI,WAAW,GAAG;AAClB;IACA,QAAQ,KAAK,EAAE,CAAC;AAChB;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;IAC5B,QAAQ,IAAI,CAAC,MAAM,GAAG,KAAK,CAAC;IAC5B,QAAQ,IAAI,CAAC,cAAc,GAAG,KAAK,CAAC;IACpC,QAAQ,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;IAC1B,QAAQ,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;IACjC,QAAQ,IAAI,CAAC,eAAe,GAAG,IAAI,CAAC;AACpC;IACA;IACA,QAAQ,MAAM,KAAK,GAAG,IAAIA,gBAAK,CAAC,KAAK,EAAE,CAAC;AACxC;IACA,QAAQ,MAAM,YAAY,GAAG,IAAIA,gBAAK,CAAC,eAAe,CAAC,IAAI,CAAC,YAAY,EAAE,MAAM,CAAC,CAAC;IAClF,QAAQ,YAAY,CAAC,WAAW,CAAC,IAAI,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC/D,QAAQ,YAAY,CAAC,SAAS,GAAG,GAAG,CAAC;IACrC,QAAQ,YAAY,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3C,QAAQ,KAAK,CAAC,GAAG,CAAC,YAAY,CAAC,CAAC;AAChC;IACA;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,gBAAgB,CAAC,QAAQ,CAAC,CAAC;IAC9D,QAAQ,QAAQ,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;IACxC,QAAQ,QAAQ,CAAC,MAAM,CAAC,OAAO,CAAC,KAAK,GAAG,IAAI,CAAC;IAC7C,QAAQ,QAAQ,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAC9C,QAAQ,QAAQ,CAAC,MAAM,CAAC,UAAU,GAAG,KAAK,CAAC;IAC3C,QAAQ,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC;IACnC,QAAQ,KAAK,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IAC5B,QAAQ,KAAK,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC;AACnC;IACA;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,aAAa,CAAC,EAAE,SAAS,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC,CAAC;IACnF,QAAQ,QAAQ,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAC;IACzC,QAAQ,QAAQ,CAAC,aAAa,CAAC,CAAC,CAAC,CAAC;IAClC,QAAQ,QAAQ,CAAC,SAAS,CAAC,OAAO,GAAG,IAAI,CAAC;IAC1C,QAAQ,QAAQ,CAAC,SAAS,CAAC,IAAI,GAAGA,gBAAK,CAAC,gBAAgB,CAAC;IACzD,QAAQ,QAAQ,CAAC,cAAc,GAAGA,gBAAK,CAAC,YAAY,CAAC;AACrD;IACA;IACA,QAAQ,MAAM,MAAM,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,CAAC,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;IACrE,QAAQ,MAAM,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC;AAChC;IACA;IACA,QAAQ,MAAM,KAAK,GAAG,IAAIA,gBAAK,CAAC,QAAQ,EAAE,CAAC;IAC3C,QAAQ,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;AACzB;IACA,QAAQ,MAAM,KAAK,GAAG,IAAIA,gBAAK,CAAC,IAAI;IACpC,YAAY,IAAIA,gBAAK,CAAC,mBAAmB,CAAC,EAAE,EAAE,EAAE,CAAC;IACjD,YAAY,IAAIA,gBAAK,CAAC,cAAc,CAAC,EAAE,IAAI,EAAEA,gBAAK,CAAC,UAAU,EAAE,WAAW,EAAE,IAAI,EAAE,OAAO,EAAE,GAAG,EAAE,CAAC;IACjG,SAAS,CAAC;IACV,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;IACxC,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC;IAChC,QAAQ,KAAK,CAAC,aAAa,GAAG,IAAI,CAAC;IACnC,QAAQ,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;IACpC,QAAQ,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;AACzB;IACA;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAIC,8BAAa,CAAC,MAAM,EAAE,QAAQ,CAAC,UAAU,CAAC,CAAC;IACxE,QAAQ,QAAQ,CAAC,WAAW,GAAG,GAAG,CAAC;IACnC,QAAQ,QAAQ,CAAC,SAAS,GAAG,CAAC,CAAC;IAC/B,QAAQ,QAAQ,CAAC,QAAQ,GAAG,CAAC,CAAC;IAC9B,QAAQ,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC;IACnC,QAAQ,QAAQ,CAAC,aAAa,GAAG,KAAK,CAAC;IACvC,QAAQ,QAAQ,CAAC,WAAW,GAAG,EAAE,CAAC;IAClC,QAAQ,QAAQ,CAAC,WAAW,GAAG,IAAI,CAAC;IACpC,QAAQ,QAAQ,CAAC,gBAAgB,CAAC,QAAQ,EAAE,MAAM,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;AACnE;IACA,QAAQ,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IAC3B,QAAQ,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IAC3B,QAAQ,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAC;IACjC,QAAQ,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC;IAC7B,QAAQ,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAC;IACjC,QAAQ,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IAC3B,QAAQ,IAAI,CAAC,gBAAgB,GAAG,QAAQ,CAAC;IACzC,QAAQ,IAAI,CAAC,YAAY,GAAG,YAAY,CAAC;AACzC;IACA,QAAQ,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;AAC7B;IACA,QAAQ,IAAI,CAAC,kBAAkB,GAAG,IAAIC,uBAAiB,CAAC;IACxD,YAAY,WAAW,EAAE,IAAI;IAC7B,YAAY,OAAO,EAAE,IAAI;IACzB,YAAY,SAAS,EAAE,GAAG;IAC1B,YAAY,kBAAkB,EAAE,IAAI;IACpC,YAAY,KAAK,EAAE,QAAQ;IAC3B,YAAY,aAAa,EAAE,IAAI;IAC/B,YAAY,mBAAmB,EAAE,CAAC,CAAC;IACnC,YAAY,kBAAkB,EAAE,CAAC,CAAC;IAClC,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,MAAM,WAAW,GAAG,MAAM;AAClC;IACA,YAAY,IAAI,IAAI,CAAC,UAAU,EAAE;AACjC;IACA,gBAAgB,IAAI,CAAC,UAAU,EAAE,CAAC;AAClC;IACA,gBAAgB,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,UAAU,EAAE;AACpD;IACA,oBAAoB,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;AAC9C;IACA,wBAAwB,IAAI,CAAC,kBAAkB,EAAE,CAAC;IAClD,qBAAqB;AACrB;IACA,oBAAoB,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IACxD,oBAAoB,IAAI,CAAC,MAAM,GAAG,KAAK,CAAC;AACxC;IACA,iBAAiB;AACjB;IACA;IACA;IACA,gBAAgB,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,CAAC;AACvC;IACA,aAAa;IACb,YAAY,IAAI,CAAC,aAAa,GAAG,qBAAqB,CAAC,WAAW,CAAC,CAAC;AACpE;IACA,SAAS,CAAC;IACV,QAAQ,WAAW,EAAE,CAAC;AACtB;IACA,KAAK;AACL;IACA,IAAI,iBAAiB,GAAG;AACxB;IACA;IACA;IACA,QAAQ,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,SAAS,EAAE;AACzC;IACA,YAAY,MAAM,QAAQ,GAAG,QAAQ,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;IAC7D,YAAY,QAAQ,CAAC,SAAS;IAC9B,YAAY,CAAC;AACb,gBAAgB,GAAG,IAAI,CAAC,OAAO,EAAE;AACjC,gBAAgB,GAAG,IAAI,CAAC,OAAO,EAAE;AACjC;AACA;AACA;AACA,YAAY,CAAC,CAAC;IACd,YAAY,QAAQ,CAAC,IAAI,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;IAChD,YAAY,IAAI,CAAC,WAAW,CAAC,SAAS,GAAG,QAAQ,CAAC;AAClD;IACA,SAAS;AACT;IACA;IACA,QAAQ,IAAI,IAAI,CAAC,iBAAiB,KAAK,CAAC,EAAE;AAC1C;IACA,YAAY,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,QAAQ,CAAC,UAAU,CAAC,CAAC;AACvD;IACA,SAAS;AACT;IACA,QAAQ,IAAI,CAAC,UAAU,EAAE,CAAC;IAC1B,QAAQ,qBAAqB,CAAC,MAAM,IAAI,CAAC,UAAU,EAAE,CAAC,CAAC;AACvD;IACA,KAAK;AACL;IACA,IAAI,oBAAoB,GAAG;AAC3B;IACA,QAAQ,oBAAoB,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;AACjD;IACA,KAAK;AACL;IACA,IAAI,wBAAwB,CAAC,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE;AACnD;IACA,QAAQ,IAAI,CAAC,0BAA0B,EAAE,CAAC;IAC1C,QAAQ,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;IAClC,YAAY,IAAI,CAAC,QAAQ,EAAE,CAAC;IAC5B,SAAS;AACT;IACA,QAAQ,QAAQ,IAAI;AACpB;IACA,YAAY,KAAK,SAAS,CAAC;IAC3B,YAAY,KAAK,MAAM,EAAE;AACzB;IACA,gBAAgB,IAAI,CAAC,aAAa,EAAE,CAAC;IACrC,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,YAAY,KAAK,IAAI,EAAE;AACvB;IACA,gBAAgB,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;IACrC,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,YAAY,KAAK,eAAe,EAAE;AAClC;IACA,gBAAgB,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IAC/D,gBAAgB,IAAI,CAAC,YAAY,CAAC,WAAW,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC7F,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,YAAY,KAAK,eAAe,EAAE;AAClC;IACA,gBAAgB,IAAI,CAAC,gBAAgB,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,CAAC;IAC/D,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA;IACA,IAAI,UAAU,GAAG;AACjB;IACA,QAAQ,MAAM,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC;IAChC,QAAQ,MAAM,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC;IACnC,QAAQ,MAAM,CAAC,GAAG,IAAI,CAAC,YAAY,CAAC;IACpC,QAAQ,MAAM,QAAQ,GAAG,CAAC,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;AAC7C;IACA,QAAQ,IAAI,QAAQ,CAAC,KAAK,KAAK,CAAC,IAAI,QAAQ,CAAC,MAAM,KAAK,CAAC,EAAE;AAC3D;IACA,YAAY,IAAI,CAAC,QAAQ,EAAE,CAAC;AAC5B;IACA,SAAS;AACT;IACA,QAAQ,CAAC,CAAC,aAAa,CAAC,MAAM,CAAC,gBAAgB,CAAC,CAAC;IACjD,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;AAC/B;IACA,QAAQ,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,GAAG,CAAC,CAAC;IACnC,QAAQ,IAAI,CAAC,MAAM,CAAC,sBAAsB,EAAE,CAAC;AAC7C;IACA,KAAK;AACL;IACA,IAAI,MAAM,GAAG;AACb;IACA,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;IAC3B,KAAK;AACL;IACA,IAAI,QAAQ,GAAG;AACf;IACA,QAAQ,IAAI,CAAC,kBAAkB,EAAE,CAAC;IAClC,QAAQ,IAAI,CAAC,MAAM,EAAE,CAAC;AACtB;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,aAAa,CAAC,SAAS,EAAE,GAAG,MAAM,EAAE;AACxC;IACA,QAAQ,IAAI,CAAC,IAAI,CAAC,KAAK,EAAE,OAAO;IAChC,QAAQ,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC,EAAE,OAAO;AAClD;IACA,QAAQ,IAAI,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC,aAAa,CAAC,GAAG,MAAM,CAAC,EAAE;AACnE;IACA,YAAY,IAAI,CAAC,MAAM,EAAE,CAAC;IAC1B,YAAY,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,cAAc,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC,CAAC;AACxH;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,cAAc,CAAC,MAAM,EAAE;AAC3B;IACA,QAAQ,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;AAC1E;IACA,KAAK;AACL;IACA;IACA;IACA;IACA;IACA,IAAI,kBAAkB,GAAG;AACzB;IACA,QAAQ,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;IACjC,QAAQ,IAAI,CAAC,KAAK,EAAE,OAAO;AAC3B;IACA,QAAQ,IAAI,CAAC,KAAK,CAAC,iBAAiB,EAAE,CAAC;AACvC;IACA,QAAQ,MAAM,IAAI,GAAG,IAAIF,gBAAK,CAAC,IAAI,EAAE,CAAC;IACtC,QAAQ,IAAI,CAAC,SAAS,EAAE,CAAC;IACzB,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI;IAC5B,YAAY,IAAI,CAAC,CAAC,YAAY,EAAE;IAChC,gBAAgB,IAAI,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC;IACvC,aAAa;IACb,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,MAAM,MAAM,GAAG,IAAI,CAAC,SAAS,CAAC,IAAIA,gBAAK,CAAC,OAAO,EAAE,CAAC,CAAC;IAC3D,QAAQ,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;IAC1C,QAAQ,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC;AAClD;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAI,CAAC,gBAAgB,CAAC;IAC/C,QAAQ,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa,CAAC;AACjD;IACA,QAAQ,IAAI,IAAI,CAAC,aAAa,EAAE;AAChC;IACA;IACA;IACA;IACA,YAAY,MAAM,MAAM,GAAG,IAAI,CAAC,iBAAiB,CAAC,IAAIA,gBAAK,CAAC,MAAM,EAAE,CAAC,CAAC;IACtE,YAAY,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC;IACzC,YAAY,MAAM,GAAG,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,CAAC;IAC/C,YAAY,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC,MAAM,GAAG,CAAC,MAAM,CAAC;IAC5C,YAAY,GAAG,CAAC,KAAK,GAAG,GAAG,CAAC,GAAG,GAAG,MAAM,CAAC;AACzC;IACA;IACA;IACA,YAAY,MAAM,MAAM,GAAG,QAAQ,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;IACnF,YAAY,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAClD,YAAY,QAAQ,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;AACvD;IACA,YAAY,GAAG,CAAC,sBAAsB,EAAE,CAAC;AACzC;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,aAAa,GAAG;AACpB;IACA;IACA;IACA,QAAQ,IAAI,IAAI,CAAC,SAAS,KAAK,CAAC,GAAG,IAAI,CAAC,OAAO,EAAE,CAAC,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,EAAE,OAAO;IAC1E,QAAQ,IAAI,CAAC,SAAS,GAAG,CAAC,GAAG,IAAI,CAAC,OAAO,EAAE,CAAC,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,CAAC;AAC5D;IACA;IACA,QAAQ,IAAI,IAAI,CAAC,cAAc,EAAE,OAAO;IACxC,QAAQ,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC;AACnC;IACA,QAAQ,IAAI,IAAI,CAAC,KAAK,EAAE;AACxB;IACA,YAAY,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,CAAC;IAC/D,YAAY,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACjD,YAAY,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;AAC9B;IACA,SAAS;AACT;IACA,QAAQ,qBAAqB,CAAC,MAAM;AACpC;IACA,YAAY,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,CAAC;IACpD,YAAY,IAAI,CAAC,cAAc,GAAG,KAAK,CAAC;AACxC;IACA,SAAS,CAAC,CAAC;AACX;IACA,KAAK;AACL;IACA;IACA;IACA;IACA,IAAI,SAAS,CAAC,GAAG,EAAE,IAAI,EAAE;AACzB;IACA,QAAQ,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,aAAa,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAChH;IACA,QAAQ,IAAI,IAAI,EAAE;AAClB;IACA;IACA;IACA;IACA,YAAY,IAAI,CAAC,UAAU,EAAE,CAAC;IAC9B,YAAY,MAAM,SAAS,GAAG,IAAI,CAAC,UAAU,CAAC;AAC9C;IACA,YAAY,MAAM,eAAe,GAAG,IAAI,IAAI;AAC5C;IACA,gBAAgB,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;AACnC;IACA,oBAAoB,IAAI,CAAC,CAAC,MAAM,EAAE;AAClC;IACA,wBAAwB,CAAC,CAAC,UAAU,GAAG,IAAI,CAAC;IAC5C,wBAAwB,CAAC,CAAC,aAAa,GAAG,IAAI,CAAC;AAC/C;IACA,wBAAwB,IAAI,CAAC,CAAC,QAAQ,EAAE;AACxC;IACA,4BAA4B,MAAM,IAAI;IACtC,gCAAgC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,QAAQ,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC;IACtF,qCAAqC,GAAG,CAAC,CAAC,IAAI;AAC9C;IACA,wCAAwC,IAAI,CAAC,YAAYA,gBAAK,CAAC,iBAAiB,EAAE;AAClF;IACA,4CAA4C,CAAC,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC;AAC9E;IACA,yCAAyC;AACzC;IACA,wCAAwC,IAAI,CAAC,CAAC,GAAG,EAAE;AACnD;IACA,4CAA4C,CAAC,CAAC,GAAG,CAAC,QAAQ,GAAGA,gBAAK,CAAC,aAAa,CAAC;AACjF;IACA,yCAAyC;AACzC;IACA,wCAAwC,OAAO,CAAC,CAAC;AACjD;IACA,qCAAqC,CAAC,CAAC;IACvC,4BAA4B,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC,MAAM,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC;AAC5E;IACA,yBAAyB;AACzB;IACA,qBAAqB;AACrB;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,aAAa,CAAC;AACd;IACA,YAAY,IAAI,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,EAAE,CAAC,CAAC,MAAM,IAAI,EAAE;IACnF;AACA;IACA;IACA;IACA;AACA;IACA,gBAAgB,GAAG,GAAG,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,KAAK,KAAK;AAC5D;IACA,oBAAoB,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACpE,oBAAoB,MAAM,OAAO,GAAG,KAAK,CAAC,KAAK,EAAE,CAAC,IAAI,EAAE,CAAC;IACzD,oBAAoB,MAAM,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,CAAC;IAC3D,oBAAoB,GAAG,CAAC,OAAO,CAAC,GAAG,OAAO,CAAC;AAC3C;IACA,oBAAoB,OAAO,GAAG,CAAC;AAC/B;IACA,iBAAiB,EAAE,EAAE,CAAC,CAAC;IACvB,aAAa;AACb;IACA,YAAY,IAAI,KAAK,GAAG,IAAI,CAAC;IAC7B,YAAY,MAAM,OAAO,GAAG,IAAIA,gBAAK,CAAC,cAAc,EAAE,CAAC;IACvD,YAAY,OAAO,CAAC,MAAM,GAAG,MAAM;AACnC;IACA;IACA;IACA,gBAAgB,IAAI,IAAI,CAAC,UAAU,KAAK,SAAS,EAAE;AACnD;IACA,oBAAoB,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,CAAC;IAClE,oBAAoB,OAAO;AAC3B;IACA,iBAAiB;AACjB;IACA,gBAAgB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IACnC,gBAAgB,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACtC,gBAAgB,eAAe,CAAC,KAAK,CAAC,CAAC;AACvC;IACA,gBAAgB,IAAI,CAAC,gBAAgB,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IACzD,gBAAgB,IAAI,CAAC,0BAA0B,EAAE,CAAC;AAClD;IACA,gBAAgB,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,gBAAgB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;IAC3H,gBAAgB,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,iBAAiB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAC5H;IACA,gBAAgB,IAAI,CAAC,QAAQ,EAAE,CAAC;AAChC;IACA,aAAa,CAAC;AACd;IACA,YAAY,IAAI,IAAI,CAAC,eAAe,EAAE;AACtC;IACA,gBAAgB,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,eAAe,CAAC,CAAC;AAC7D;IACA,aAAa;AACb;IACA,YAAY,MAAM,MAAM,GAAG,IAAIG,8BAAU,CAAC,OAAO,CAAC,CAAC;IACnD,YAAY,MAAM,CAAC,QAAQ,GAAG,GAAG,CAAC;IAClC,YAAY,MAAM,CAAC,UAAU,GAAG,IAAI,CAAC,YAAY,CAAC;IAClD,YAAY,MAAM,CAAC,YAAY,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,aAAa,EAAE,CAAC;IAC/E,YAAY,MAAM,CAAC,cAAc,GAAG,IAAI,CAAC;IACzC,YAAY,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,IAAI,KAAK,GAAG,KAAK,CAAC,CAAC;AACtD;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,0BAA0B,GAAG;AACjC;IACA,QAAQ,MAAM,aAAa,GAAG,IAAI,CAAC,aAAa,CAAC;IACjD,QAAQ,MAAM,iBAAiB,GAAG,IAAI,CAAC,kBAAkB,CAAC;IAC1D,QAAQ,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;AACjC;IACA,QAAQ,IAAI,KAAK,KAAK,IAAI,EAAE,OAAO;AACnC;IACA,QAAQ,MAAM,SAAS,GAAG,EAAE,CAAC;IAC7B,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI;AAC5B;IACA,YAAY,IAAI,CAAC,CAAC,cAAc,EAAE;AAClC;IACA,gBAAgB,CAAC,CAAC,OAAO,GAAG,aAAa,CAAC;IAC1C,gBAAgB,SAAS,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,aAAa;AACb;IACA,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,SAAS,CAAC,OAAO,CAAC,IAAI,IAAI;AAClC;IACA,YAAY,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;AAC/B;IACA,gBAAgB,IAAI,CAAC,CAAC,MAAM,EAAE;AAC9B;IACA,oBAAoB,CAAC,CAAC,OAAO,GAAG,YAAY,CAAC;IAC7C,oBAAoB,CAAC,CAAC,QAAQ,GAAG,iBAAiB,CAAC;IACnD,oBAAoB,CAAC,CAAC,UAAU,GAAG,KAAK,CAAC;AACzC;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC,CAAC;AACf;IACA,SAAS,CAAC,CAAC;AACX;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,MAAM,CAAC,EAAE,EAAE;AACf;IACA,QAAQ,IAAI,CAAC,EAAE,EAAE,EAAE,GAAG,IAAI,CAAC;IAC3B,QAAQ,EAAE,GAAG,EAAE,CAAC,WAAW,EAAE,CAAC;IAC9B,QAAQ,MAAM,IAAI,GAAG,EAAE,CAAC,OAAO,CAAC,QAAQ,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC;IACxD,QAAQ,MAAM,IAAI,GAAG,EAAE,CAAC,OAAO,CAAC,UAAU,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC;AAC1D;IACA,QAAQ,MAAM,EAAE,GAAG,IAAI,CAAC,EAAE,CAAC;IAC3B,QAAQ,MAAM,MAAM,GAAG,EAAE,GAAG,CAAC,CAAC;IAC9B,QAAQ,IAAI,IAAI,KAAK,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,IAAI,KAAK,GAAG,GAAG,MAAM,GAAG,CAAC,MAAM,CAAC,CAAC;IACzF,QAAQ,IAAI,IAAI,KAAK,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,GAAG,CAAC,MAAM,GAAG,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzF,QAAQ,IAAI,IAAI,KAAK,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,GAAG,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC/E;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,gBAAgB,CAAC,MAAM,EAAE,QAAQ,GAAG,KAAK,EAAE;AAC/C;IACA,QAAQ,IAAI,IAAI,CAAC,KAAK,EAAE;AACxB;IACA,YAAY,MAAM;IAClB,iBAAiB,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC;IAC1C,iBAAiB,OAAO,CAAC,KAAK,IAAI;AAClC;IACA,oBAAoB,KAAK,CAAC,YAAY,GAAG,MAAM,CAAC;IAChD,oBAAoB,KAAK,CAAC,aAAa,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,CAAC;AAC7D;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,SAAS;AACT;IACA,QAAQ,IAAI,QAAQ,EAAE;AACtB;IACA,YAAY,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,sBAAsB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAC7H;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,CAAC;;;;;;;;"}
+{"version":3,"file":"urdf-viewer-element.js","sources":["../src/urdf-viewer-element.js"],"sourcesContent":["import * as THREE from 'three';\nimport { MeshPhongMaterial } from 'three';\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';\nimport URDFLoader from './URDFLoader.js';\n\nconst tempVec2 = new THREE.Vector2();\nconst emptyRaycast = () => {};\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default\nclass URDFViewer extends HTMLElement {\n\n    static get observedAttributes() {\n\n        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'show-collision'];\n\n    }\n\n    get package() { return this.getAttribute('package') || ''; }\n    set package(val) { this.setAttribute('package', val); }\n\n    get urdf() { return this.getAttribute('urdf') || ''; }\n    set urdf(val) { this.setAttribute('urdf', val); }\n\n    get ignoreLimits() { return this.hasAttribute('ignore-limits') || false; }\n    set ignoreLimits(val) { val ? this.setAttribute('ignore-limits', val) : this.removeAttribute('ignore-limits'); }\n\n    get up() { return this.getAttribute('up') || '+Z'; }\n    set up(val) { this.setAttribute('up', val); }\n\n    get displayShadow() { return this.hasAttribute('display-shadow') || false; }\n    set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }\n\n    get ambientColor() { return this.getAttribute('ambient-color') || '#8ea0a8'; }\n    set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }\n\n    get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }\n    set autoRedraw(val) { val ? this.setAttribute('auto-redraw', true) : this.removeAttribute('auto-redraw'); }\n\n    get noAutoRecenter() { return this.hasAttribute('no-auto-recenter') || false; }\n    set noAutoRecenter(val) { val ? this.setAttribute('no-auto-recenter', true) : this.removeAttribute('no-auto-recenter'); }\n\n    get showCollision() { return this.hasAttribute('show-collision') || false; }\n    set showCollision(val) { val ? this.setAttribute('show-collision', true) : this.removeAttribute('show-collision'); }\n\n    get jointValues() {\n\n        const values = {};\n        if (this.robot) {\n\n            for (const name in this.robot.joints) {\n\n                const joint = this.robot.joints[name];\n                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];\n\n            }\n\n        }\n\n        return values;\n\n    }\n    set jointValues(val) { this.setJointValues(val); }\n\n    get angles() {\n\n        return this.jointValues;\n\n    }\n    set angles(v) {\n\n        this.jointValues = v;\n\n    }\n\n    /* Lifecycle Functions */\n    constructor() {\n\n        super();\n\n        this._requestId = 0;\n        this._dirty = false;\n        this._loadScheduled = false;\n        this.robot = null;\n        this.loadMeshFunc = null;\n        this.urlModifierFunc = null;\n\n        // Scene setup\n        const scene = new THREE.Scene();\n\n        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');\n        ambientLight.groundColor.lerp(ambientLight.color, 0.5);\n        ambientLight.intensity = 0.5;\n        ambientLight.position.set(0, 1, 0);\n        scene.add(ambientLight);\n\n        // Light setup\n        const dirLight = new THREE.DirectionalLight(0xffffff);\n        dirLight.position.set(4, 10, 1);\n        dirLight.shadow.mapSize.width = 2048;\n        dirLight.shadow.mapSize.height = 2048;\n        dirLight.shadow.normalBias = 0.001;\n        dirLight.castShadow = true;\n        scene.add(dirLight);\n        scene.add(dirLight.target);\n\n        // Renderer setup\n        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });\n        renderer.setClearColor(0xffffff);\n        renderer.setClearAlpha(0);\n        renderer.shadowMap.enabled = true;\n        renderer.shadowMap.type = THREE.PCFSoftShadowMap;\n        renderer.outputColorSpace = THREE.SRGBColorSpace;\n\n        // Camera setup\n        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);\n        camera.position.z = -10;\n\n        // World setup\n        const world = new THREE.Object3D();\n        scene.add(world);\n\n        const plane = new THREE.Mesh(\n            new THREE.PlaneBufferGeometry(40, 40),\n            new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }),\n        );\n        plane.rotation.x = -Math.PI / 2;\n        plane.position.y = -0.5;\n        plane.receiveShadow = true;\n        plane.scale.set(10, 10, 10);\n        scene.add(plane);\n\n        // Controls setup\n        const controls = new OrbitControls(camera, renderer.domElement);\n        controls.rotateSpeed = 2.0;\n        controls.zoomSpeed = 5;\n        controls.panSpeed = 2;\n        controls.enableZoom = true;\n        controls.enableDamping = false;\n        controls.maxDistance = 50;\n        controls.minDistance = 0.25;\n        controls.addEventListener('change', () => this.recenter());\n\n        this.scene = scene;\n        this.world = world;\n        this.renderer = renderer;\n        this.camera = camera;\n        this.controls = controls;\n        this.plane = plane;\n        this.directionalLight = dirLight;\n        this.ambientLight = ambientLight;\n\n        this._setUp(this.up);\n\n        this._collisionMaterial = new MeshPhongMaterial({\n            transparent: true,\n            opacity: 0.35,\n            shininess: 2.5,\n            premultipliedAlpha: true,\n            color: 0xffbe38,\n            polygonOffset: true,\n            polygonOffsetFactor: -1,\n            polygonOffsetUnits: -1,\n        });\n\n        const _renderLoop = () => {\n\n            if (this.parentNode) {\n\n                this.updateSize();\n\n                if (this._dirty || this.autoRedraw) {\n\n                    if (!this.noAutoRecenter) {\n\n                        this._updateEnvironment();\n                    }\n\n                    this.renderer.render(scene, camera);\n                    this._dirty = false;\n\n                }\n\n                // update controls after the environment in\n                // case the controls are retargeted\n                this.controls.update();\n\n            }\n            this._renderLoopId = requestAnimationFrame(_renderLoop);\n\n        };\n        _renderLoop();\n\n    }\n\n    connectedCallback() {\n\n        // Add our initialize styles for the element if they haven't\n        // been added yet\n        if (!this.constructor._styletag) {\n\n            const styletag = document.createElement('style');\n            styletag.innerHTML =\n            `\n                ${ this.tagName } { display: block; }\n                ${ this.tagName } canvas {\n                    width: 100%;\n                    height: 100%;\n                }\n            `;\n            document.head.appendChild(styletag);\n            this.constructor._styletag = styletag;\n\n        }\n\n        // add the renderer\n        if (this.childElementCount === 0) {\n\n            this.appendChild(this.renderer.domElement);\n\n        }\n\n        this.updateSize();\n        requestAnimationFrame(() => this.updateSize());\n\n    }\n\n    disconnectedCallback() {\n\n        cancelAnimationFrame(this._renderLoopId);\n\n    }\n\n    attributeChangedCallback(attr, oldval, newval) {\n\n        this._updateCollisionVisibility();\n        if (!this.noAutoRecenter) {\n            this.recenter();\n        }\n\n        switch (attr) {\n\n            case 'package':\n            case 'urdf': {\n\n                this._scheduleLoad();\n                break;\n\n            }\n\n            case 'up': {\n\n                this._setUp(this.up);\n                break;\n\n            }\n\n            case 'ambient-color': {\n\n                this.ambientLight.color.set(this.ambientColor);\n                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);\n                break;\n\n            }\n\n            case 'ignore-limits': {\n\n                this._setIgnoreLimits(this.ignoreLimits, true);\n                break;\n\n            }\n\n        }\n\n    }\n\n    /* Public API */\n    updateSize() {\n\n        const r = this.renderer;\n        const w = this.clientWidth;\n        const h = this.clientHeight;\n        const currSize = r.getSize(tempVec2);\n\n        if (currSize.width !== w || currSize.height !== h) {\n\n            this.recenter();\n\n        }\n\n        r.setPixelRatio(window.devicePixelRatio);\n        r.setSize(w, h, false);\n\n        this.camera.aspect = w / h;\n        this.camera.updateProjectionMatrix();\n\n    }\n\n    redraw() {\n\n        this._dirty = true;\n    }\n\n    recenter() {\n\n        this._updateEnvironment();\n        this.redraw();\n\n    }\n\n    // Set the joint with jointName to\n    // angle in degrees\n    setJointValue(jointName, ...values) {\n\n        if (!this.robot) return;\n        if (!this.robot.joints[jointName]) return;\n\n        if (this.robot.joints[jointName].setJointValue(...values)) {\n\n            this.redraw();\n            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));\n\n        }\n\n    }\n\n    setJointValues(values) {\n\n        for (const name in values) this.setJointValue(name, values[name]);\n\n    }\n\n    /* Private Functions */\n    // Updates the position of the plane to be at the\n    // lowest point below the robot and focuses the\n    // camera on the center of the scene\n    _updateEnvironment() {\n\n        const robot = this.robot;\n        if (!robot) return;\n\n        this.world.updateMatrixWorld();\n\n        const bbox = new THREE.Box3();\n        bbox.makeEmpty();\n        robot.traverse(c => {\n            if (c.isURDFVisual) {\n                bbox.expandByObject(c);\n            }\n        });\n\n        const center = bbox.getCenter(new THREE.Vector3());\n        this.controls.target.y = center.y;\n        this.plane.position.y = bbox.min.y - 1e-3;\n\n        const dirLight = this.directionalLight;\n        dirLight.castShadow = this.displayShadow;\n\n        if (this.displayShadow) {\n\n            // Update the shadow camera rendering bounds to encapsulate the\n            // model. We use the bounding sphere of the bounding box for\n            // simplicity -- this could be a tighter fit.\n            const sphere = bbox.getBoundingSphere(new THREE.Sphere());\n            const minmax = sphere.radius;\n            const cam = dirLight.shadow.camera;\n            cam.left = cam.bottom = -minmax;\n            cam.right = cam.top = minmax;\n\n            // Update the camera to focus on the center of the model so the\n            // shadow can encapsulate it\n            const offset = dirLight.position.clone().sub(dirLight.target.position);\n            dirLight.target.position.copy(center);\n            dirLight.position.copy(center).add(offset);\n\n            cam.updateProjectionMatrix();\n\n        }\n\n    }\n\n    _scheduleLoad() {\n\n        // if our current model is already what's being requested\n        // or has been loaded then early out\n        if (this._prevload === `${ this.package }|${ this.urdf }`) return;\n        this._prevload = `${ this.package }|${ this.urdf }`;\n\n        // if we're already waiting on a load then early out\n        if (this._loadScheduled) return;\n        this._loadScheduled = true;\n\n        if (this.robot) {\n\n            this.robot.traverse(c => c.dispose && c.dispose());\n            this.robot.parent.remove(this.robot);\n            this.robot = null;\n\n        }\n\n        requestAnimationFrame(() => {\n\n            this._loadUrdf(this.package, this.urdf);\n            this._loadScheduled = false;\n\n        });\n\n    }\n\n    // Watch the package and urdf field and load the robot model.\n    // This should _only_ be called from _scheduleLoad because that\n    // ensures the that current robot has been removed\n    _loadUrdf(pkg, urdf) {\n\n        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));\n\n        if (urdf) {\n\n            // Keep track of this request and make\n            // sure it doesn't get overwritten by\n            // a subsequent one\n            this._requestId++;\n            const requestId = this._requestId;\n\n            const updateMaterials = mesh => {\n\n                mesh.traverse(c => {\n\n                    if (c.isMesh) {\n\n                        c.castShadow = true;\n                        c.receiveShadow = true;\n\n                        if (c.material) {\n\n                            const mats =\n                                (Array.isArray(c.material) ? c.material : [c.material])\n                                    .map(m => {\n\n                                        if (m instanceof THREE.MeshBasicMaterial) {\n\n                                            m = new THREE.MeshPhongMaterial();\n\n                                        }\n\n                                        if (m.map) {\n\n                                            m.map.colorSpace = THREE.SRGBColorSpace;\n\n                                        }\n\n                                        return m;\n\n                                    });\n                            c.material = mats.length === 1 ? mats[0] : mats;\n\n                        }\n\n                    }\n\n                });\n\n            };\n\n            if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') {\n                // E.g. pkg = \"pkg_name: path/to/pkg_name, pk2: path2/to/pk2\"}\n\n                // Convert pkg(s) into a map. E.g.\n                // { \"pkg_name\": \"path/to/pkg_name\",\n                //   \"pk2\":      \"path2/to/pk2\"      }\n\n                pkg = pkg.split(',').reduce((map, value) => {\n\n                    const split = value.split(/:/).filter(x => !!x);\n                    const pkgName = split.shift().trim();\n                    const pkgPath = split.join(':').trim();\n                    map[pkgName] = pkgPath;\n\n                    return map;\n\n                }, {});\n            }\n\n            let robot = null;\n            const manager = new THREE.LoadingManager();\n            manager.onLoad = () => {\n\n                // If another request has come in to load a new\n                // robot, then ignore this one\n                if (this._requestId !== requestId) {\n\n                    robot.traverse(c => c.dispose && c.dispose());\n                    return;\n\n                }\n\n                this.robot = robot;\n                this.world.add(robot);\n                updateMaterials(robot);\n\n                this._setIgnoreLimits(this.ignoreLimits);\n                this._updateCollisionVisibility();\n\n                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));\n                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));\n\n                this.recenter();\n\n            };\n\n            if (this.urlModifierFunc) {\n\n                manager.setURLModifier(this.urlModifierFunc);\n\n            }\n\n            const loader = new URDFLoader(manager);\n            loader.packages = pkg;\n            loader.loadMeshCb = this.loadMeshFunc;\n            loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };\n            loader.parseCollision = true;\n            loader.load(urdf, model => robot = model);\n\n        }\n\n    }\n\n    _updateCollisionVisibility() {\n\n        const showCollision = this.showCollision;\n        const collisionMaterial = this._collisionMaterial;\n        const robot = this.robot;\n\n        if (robot === null) return;\n\n        const colliders = [];\n        robot.traverse(c => {\n\n            if (c.isURDFCollider) {\n\n                c.visible = showCollision;\n                colliders.push(c);\n\n            }\n\n        });\n\n        colliders.forEach(coll => {\n\n            coll.traverse(c => {\n\n                if (c.isMesh) {\n\n                    c.raycast = emptyRaycast;\n                    c.material = collisionMaterial;\n                    c.castShadow = false;\n\n                }\n\n            });\n\n        });\n\n    }\n\n    // Watch the coordinate frame and update the\n    // rotation of the scene to match\n    _setUp(up) {\n\n        if (!up) up = '+Z';\n        up = up.toUpperCase();\n        const sign = up.replace(/[^-+]/g, '')[0] || '+';\n        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';\n\n        const PI = Math.PI;\n        const HALFPI = PI / 2;\n        if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);\n        if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);\n        if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);\n\n    }\n\n    // Updates the current robot's angles to ignore\n    // joint limits or not\n    _setIgnoreLimits(ignore, dispatch = false) {\n\n        if (this.robot) {\n\n            Object\n                .values(this.robot.joints)\n                .forEach(joint => {\n\n                    joint.ignoreLimits = ignore;\n                    joint.setJointValue(...joint.jointValue);\n\n                });\n\n        }\n\n        if (dispatch) {\n\n            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));\n\n        }\n\n    }\n\n};\n"],"names":["THREE","OrbitControls","MeshPhongMaterial","URDFLoader"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAKA,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,OAAO,EAAE,CAAC;IACrC,MAAM,YAAY,GAAG,MAAM,EAAE,CAAC;AAC9B;IACA;IACA;AACA;IACA;IACA;IACA;IACA;IACA;IACA;IAEA,MAAM,UAAU,SAAS,WAAW,CAAC;AACrC;IACA,IAAI,WAAW,kBAAkB,GAAG;AACpC;IACA,QAAQ,OAAO,CAAC,SAAS,EAAE,MAAM,EAAE,IAAI,EAAE,gBAAgB,EAAE,eAAe,EAAE,eAAe,EAAE,gBAAgB,CAAC,CAAC;AAC/G;IACA,KAAK;AACL;IACA,IAAI,IAAI,OAAO,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC,EAAE;IAChE,IAAI,IAAI,OAAO,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,YAAY,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC,EAAE;AAC3D;IACA,IAAI,IAAI,IAAI,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,IAAI,EAAE,CAAC,EAAE;IAC1D,IAAI,IAAI,IAAI,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,YAAY,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC,EAAE;AACrD;IACA,IAAI,IAAI,YAAY,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,eAAe,CAAC,IAAI,KAAK,CAAC,EAAE;IAC9E,IAAI,IAAI,YAAY,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,eAAe,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,eAAe,CAAC,CAAC,EAAE;AACpH;IACA,IAAI,IAAI,EAAE,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,IAAI,CAAC,EAAE;IACxD,IAAI,IAAI,EAAE,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,YAAY,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,EAAE;AACjD;IACA,IAAI,IAAI,aAAa,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,EAAE;IAChF,IAAI,IAAI,aAAa,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,gBAAgB,EAAE,EAAE,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,gBAAgB,CAAC,CAAC,EAAE;AACtH;IACA,IAAI,IAAI,YAAY,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,eAAe,CAAC,IAAI,SAAS,CAAC,EAAE;IAClF,IAAI,IAAI,YAAY,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,eAAe,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,eAAe,CAAC,CAAC,EAAE;AACpH;IACA,IAAI,IAAI,UAAU,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,aAAa,CAAC,IAAI,KAAK,CAAC,EAAE;IAC1E,IAAI,IAAI,UAAU,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,aAAa,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,aAAa,CAAC,CAAC,EAAE;AAC/G;IACA,IAAI,IAAI,cAAc,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,kBAAkB,CAAC,IAAI,KAAK,CAAC,EAAE;IACnF,IAAI,IAAI,cAAc,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,kBAAkB,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,kBAAkB,CAAC,CAAC,EAAE;AAC7H;IACA,IAAI,IAAI,aAAa,GAAG,EAAE,OAAO,IAAI,CAAC,YAAY,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,EAAE;IAChF,IAAI,IAAI,aAAa,CAAC,GAAG,EAAE,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,CAAC,gBAAgB,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,gBAAgB,CAAC,CAAC,EAAE;AACxH;IACA,IAAI,IAAI,WAAW,GAAG;AACtB;IACA,QAAQ,MAAM,MAAM,GAAG,EAAE,CAAC;IAC1B,QAAQ,IAAI,IAAI,CAAC,KAAK,EAAE;AACxB;IACA,YAAY,KAAK,MAAM,IAAI,IAAI,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE;AAClD;IACA,gBAAgB,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IACtD,gBAAgB,MAAM,CAAC,IAAI,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,MAAM,KAAK,CAAC,GAAG,KAAK,CAAC,KAAK,GAAG,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,CAAC;AACnG;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA,QAAQ,OAAO,MAAM,CAAC;AACtB;IACA,KAAK;IACL,IAAI,IAAI,WAAW,CAAC,GAAG,EAAE,EAAE,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,EAAE;AACtD;IACA,IAAI,IAAI,MAAM,GAAG;AACjB;IACA,QAAQ,OAAO,IAAI,CAAC,WAAW,CAAC;AAChC;IACA,KAAK;IACL,IAAI,IAAI,MAAM,CAAC,CAAC,EAAE;AAClB;IACA,QAAQ,IAAI,CAAC,WAAW,GAAG,CAAC,CAAC;AAC7B;IACA,KAAK;AACL;IACA;IACA,IAAI,WAAW,GAAG;AAClB;IACA,QAAQ,KAAK,EAAE,CAAC;AAChB;IACA,QAAQ,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;IAC5B,QAAQ,IAAI,CAAC,MAAM,GAAG,KAAK,CAAC;IAC5B,QAAQ,IAAI,CAAC,cAAc,GAAG,KAAK,CAAC;IACpC,QAAQ,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;IAC1B,QAAQ,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC;IACjC,QAAQ,IAAI,CAAC,eAAe,GAAG,IAAI,CAAC;AACpC;IACA;IACA,QAAQ,MAAM,KAAK,GAAG,IAAIA,gBAAK,CAAC,KAAK,EAAE,CAAC;AACxC;IACA,QAAQ,MAAM,YAAY,GAAG,IAAIA,gBAAK,CAAC,eAAe,CAAC,IAAI,CAAC,YAAY,EAAE,MAAM,CAAC,CAAC;IAClF,QAAQ,YAAY,CAAC,WAAW,CAAC,IAAI,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC/D,QAAQ,YAAY,CAAC,SAAS,GAAG,GAAG,CAAC;IACrC,QAAQ,YAAY,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3C,QAAQ,KAAK,CAAC,GAAG,CAAC,YAAY,CAAC,CAAC;AAChC;IACA;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,gBAAgB,CAAC,QAAQ,CAAC,CAAC;IAC9D,QAAQ,QAAQ,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;IACxC,QAAQ,QAAQ,CAAC,MAAM,CAAC,OAAO,CAAC,KAAK,GAAG,IAAI,CAAC;IAC7C,QAAQ,QAAQ,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAC9C,QAAQ,QAAQ,CAAC,MAAM,CAAC,UAAU,GAAG,KAAK,CAAC;IAC3C,QAAQ,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC;IACnC,QAAQ,KAAK,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IAC5B,QAAQ,KAAK,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC;AACnC;IACA;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAIA,gBAAK,CAAC,aAAa,CAAC,EAAE,SAAS,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC,CAAC;IACnF,QAAQ,QAAQ,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAC;IACzC,QAAQ,QAAQ,CAAC,aAAa,CAAC,CAAC,CAAC,CAAC;IAClC,QAAQ,QAAQ,CAAC,SAAS,CAAC,OAAO,GAAG,IAAI,CAAC;IAC1C,QAAQ,QAAQ,CAAC,SAAS,CAAC,IAAI,GAAGA,gBAAK,CAAC,gBAAgB,CAAC;IACzD,QAAQ,QAAQ,CAAC,gBAAgB,GAAGA,gBAAK,CAAC,cAAc,CAAC;AACzD;IACA;IACA,QAAQ,MAAM,MAAM,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,CAAC,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;IACrE,QAAQ,MAAM,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC;AAChC;IACA;IACA,QAAQ,MAAM,KAAK,GAAG,IAAIA,gBAAK,CAAC,QAAQ,EAAE,CAAC;IAC3C,QAAQ,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;AACzB;IACA,QAAQ,MAAM,KAAK,GAAG,IAAIA,gBAAK,CAAC,IAAI;IACpC,YAAY,IAAIA,gBAAK,CAAC,mBAAmB,CAAC,EAAE,EAAE,EAAE,CAAC;IACjD,YAAY,IAAIA,gBAAK,CAAC,cAAc,CAAC,EAAE,IAAI,EAAEA,gBAAK,CAAC,UAAU,EAAE,WAAW,EAAE,IAAI,EAAE,OAAO,EAAE,GAAG,EAAE,CAAC;IACjG,SAAS,CAAC;IACV,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;IACxC,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC;IAChC,QAAQ,KAAK,CAAC,aAAa,GAAG,IAAI,CAAC;IACnC,QAAQ,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;IACpC,QAAQ,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;AACzB;IACA;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAIC,8BAAa,CAAC,MAAM,EAAE,QAAQ,CAAC,UAAU,CAAC,CAAC;IACxE,QAAQ,QAAQ,CAAC,WAAW,GAAG,GAAG,CAAC;IACnC,QAAQ,QAAQ,CAAC,SAAS,GAAG,CAAC,CAAC;IAC/B,QAAQ,QAAQ,CAAC,QAAQ,GAAG,CAAC,CAAC;IAC9B,QAAQ,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC;IACnC,QAAQ,QAAQ,CAAC,aAAa,GAAG,KAAK,CAAC;IACvC,QAAQ,QAAQ,CAAC,WAAW,GAAG,EAAE,CAAC;IAClC,QAAQ,QAAQ,CAAC,WAAW,GAAG,IAAI,CAAC;IACpC,QAAQ,QAAQ,CAAC,gBAAgB,CAAC,QAAQ,EAAE,MAAM,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;AACnE;IACA,QAAQ,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IAC3B,QAAQ,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IAC3B,QAAQ,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAC;IACjC,QAAQ,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC;IAC7B,QAAQ,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAC;IACjC,QAAQ,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IAC3B,QAAQ,IAAI,CAAC,gBAAgB,GAAG,QAAQ,CAAC;IACzC,QAAQ,IAAI,CAAC,YAAY,GAAG,YAAY,CAAC;AACzC;IACA,QAAQ,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;AAC7B;IACA,QAAQ,IAAI,CAAC,kBAAkB,GAAG,IAAIC,uBAAiB,CAAC;IACxD,YAAY,WAAW,EAAE,IAAI;IAC7B,YAAY,OAAO,EAAE,IAAI;IACzB,YAAY,SAAS,EAAE,GAAG;IAC1B,YAAY,kBAAkB,EAAE,IAAI;IACpC,YAAY,KAAK,EAAE,QAAQ;IAC3B,YAAY,aAAa,EAAE,IAAI;IAC/B,YAAY,mBAAmB,EAAE,CAAC,CAAC;IACnC,YAAY,kBAAkB,EAAE,CAAC,CAAC;IAClC,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,MAAM,WAAW,GAAG,MAAM;AAClC;IACA,YAAY,IAAI,IAAI,CAAC,UAAU,EAAE;AACjC;IACA,gBAAgB,IAAI,CAAC,UAAU,EAAE,CAAC;AAClC;IACA,gBAAgB,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,UAAU,EAAE;AACpD;IACA,oBAAoB,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;AAC9C;IACA,wBAAwB,IAAI,CAAC,kBAAkB,EAAE,CAAC;IAClD,qBAAqB;AACrB;IACA,oBAAoB,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IACxD,oBAAoB,IAAI,CAAC,MAAM,GAAG,KAAK,CAAC;AACxC;IACA,iBAAiB;AACjB;IACA;IACA;IACA,gBAAgB,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,CAAC;AACvC;IACA,aAAa;IACb,YAAY,IAAI,CAAC,aAAa,GAAG,qBAAqB,CAAC,WAAW,CAAC,CAAC;AACpE;IACA,SAAS,CAAC;IACV,QAAQ,WAAW,EAAE,CAAC;AACtB;IACA,KAAK;AACL;IACA,IAAI,iBAAiB,GAAG;AACxB;IACA;IACA;IACA,QAAQ,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,SAAS,EAAE;AACzC;IACA,YAAY,MAAM,QAAQ,GAAG,QAAQ,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;IAC7D,YAAY,QAAQ,CAAC,SAAS;IAC9B,YAAY,CAAC;AACb,gBAAgB,GAAG,IAAI,CAAC,OAAO,EAAE;AACjC,gBAAgB,GAAG,IAAI,CAAC,OAAO,EAAE;AACjC;AACA;AACA;AACA,YAAY,CAAC,CAAC;IACd,YAAY,QAAQ,CAAC,IAAI,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;IAChD,YAAY,IAAI,CAAC,WAAW,CAAC,SAAS,GAAG,QAAQ,CAAC;AAClD;IACA,SAAS;AACT;IACA;IACA,QAAQ,IAAI,IAAI,CAAC,iBAAiB,KAAK,CAAC,EAAE;AAC1C;IACA,YAAY,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,QAAQ,CAAC,UAAU,CAAC,CAAC;AACvD;IACA,SAAS;AACT;IACA,QAAQ,IAAI,CAAC,UAAU,EAAE,CAAC;IAC1B,QAAQ,qBAAqB,CAAC,MAAM,IAAI,CAAC,UAAU,EAAE,CAAC,CAAC;AACvD;IACA,KAAK;AACL;IACA,IAAI,oBAAoB,GAAG;AAC3B;IACA,QAAQ,oBAAoB,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;AACjD;IACA,KAAK;AACL;IACA,IAAI,wBAAwB,CAAC,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE;AACnD;IACA,QAAQ,IAAI,CAAC,0BAA0B,EAAE,CAAC;IAC1C,QAAQ,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;IAClC,YAAY,IAAI,CAAC,QAAQ,EAAE,CAAC;IAC5B,SAAS;AACT;IACA,QAAQ,QAAQ,IAAI;AACpB;IACA,YAAY,KAAK,SAAS,CAAC;IAC3B,YAAY,KAAK,MAAM,EAAE;AACzB;IACA,gBAAgB,IAAI,CAAC,aAAa,EAAE,CAAC;IACrC,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,YAAY,KAAK,IAAI,EAAE;AACvB;IACA,gBAAgB,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;IACrC,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,YAAY,KAAK,eAAe,EAAE;AAClC;IACA,gBAAgB,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IAC/D,gBAAgB,IAAI,CAAC,YAAY,CAAC,WAAW,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC7F,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,YAAY,KAAK,eAAe,EAAE;AAClC;IACA,gBAAgB,IAAI,CAAC,gBAAgB,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,CAAC;IAC/D,gBAAgB,MAAM;AACtB;IACA,aAAa;AACb;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA;IACA,IAAI,UAAU,GAAG;AACjB;IACA,QAAQ,MAAM,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC;IAChC,QAAQ,MAAM,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC;IACnC,QAAQ,MAAM,CAAC,GAAG,IAAI,CAAC,YAAY,CAAC;IACpC,QAAQ,MAAM,QAAQ,GAAG,CAAC,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;AAC7C;IACA,QAAQ,IAAI,QAAQ,CAAC,KAAK,KAAK,CAAC,IAAI,QAAQ,CAAC,MAAM,KAAK,CAAC,EAAE;AAC3D;IACA,YAAY,IAAI,CAAC,QAAQ,EAAE,CAAC;AAC5B;IACA,SAAS;AACT;IACA,QAAQ,CAAC,CAAC,aAAa,CAAC,MAAM,CAAC,gBAAgB,CAAC,CAAC;IACjD,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;AAC/B;IACA,QAAQ,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,GAAG,CAAC,CAAC;IACnC,QAAQ,IAAI,CAAC,MAAM,CAAC,sBAAsB,EAAE,CAAC;AAC7C;IACA,KAAK;AACL;IACA,IAAI,MAAM,GAAG;AACb;IACA,QAAQ,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC;IAC3B,KAAK;AACL;IACA,IAAI,QAAQ,GAAG;AACf;IACA,QAAQ,IAAI,CAAC,kBAAkB,EAAE,CAAC;IAClC,QAAQ,IAAI,CAAC,MAAM,EAAE,CAAC;AACtB;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,aAAa,CAAC,SAAS,EAAE,GAAG,MAAM,EAAE;AACxC;IACA,QAAQ,IAAI,CAAC,IAAI,CAAC,KAAK,EAAE,OAAO;IAChC,QAAQ,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC,EAAE,OAAO;AAClD;IACA,QAAQ,IAAI,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC,aAAa,CAAC,GAAG,MAAM,CAAC,EAAE;AACnE;IACA,YAAY,IAAI,CAAC,MAAM,EAAE,CAAC;IAC1B,YAAY,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,cAAc,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC,CAAC;AACxH;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,cAAc,CAAC,MAAM,EAAE;AAC3B;IACA,QAAQ,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;AAC1E;IACA,KAAK;AACL;IACA;IACA;IACA;IACA;IACA,IAAI,kBAAkB,GAAG;AACzB;IACA,QAAQ,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;IACjC,QAAQ,IAAI,CAAC,KAAK,EAAE,OAAO;AAC3B;IACA,QAAQ,IAAI,CAAC,KAAK,CAAC,iBAAiB,EAAE,CAAC;AACvC;IACA,QAAQ,MAAM,IAAI,GAAG,IAAIF,gBAAK,CAAC,IAAI,EAAE,CAAC;IACtC,QAAQ,IAAI,CAAC,SAAS,EAAE,CAAC;IACzB,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI;IAC5B,YAAY,IAAI,CAAC,CAAC,YAAY,EAAE;IAChC,gBAAgB,IAAI,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC;IACvC,aAAa;IACb,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,MAAM,MAAM,GAAG,IAAI,CAAC,SAAS,CAAC,IAAIA,gBAAK,CAAC,OAAO,EAAE,CAAC,CAAC;IAC3D,QAAQ,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;IAC1C,QAAQ,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC;AAClD;IACA,QAAQ,MAAM,QAAQ,GAAG,IAAI,CAAC,gBAAgB,CAAC;IAC/C,QAAQ,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa,CAAC;AACjD;IACA,QAAQ,IAAI,IAAI,CAAC,aAAa,EAAE;AAChC;IACA;IACA;IACA;IACA,YAAY,MAAM,MAAM,GAAG,IAAI,CAAC,iBAAiB,CAAC,IAAIA,gBAAK,CAAC,MAAM,EAAE,CAAC,CAAC;IACtE,YAAY,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC;IACzC,YAAY,MAAM,GAAG,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,CAAC;IAC/C,YAAY,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC,MAAM,GAAG,CAAC,MAAM,CAAC;IAC5C,YAAY,GAAG,CAAC,KAAK,GAAG,GAAG,CAAC,GAAG,GAAG,MAAM,CAAC;AACzC;IACA;IACA;IACA,YAAY,MAAM,MAAM,GAAG,QAAQ,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;IACnF,YAAY,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAClD,YAAY,QAAQ,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;AACvD;IACA,YAAY,GAAG,CAAC,sBAAsB,EAAE,CAAC;AACzC;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,aAAa,GAAG;AACpB;IACA;IACA;IACA,QAAQ,IAAI,IAAI,CAAC,SAAS,KAAK,CAAC,GAAG,IAAI,CAAC,OAAO,EAAE,CAAC,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,EAAE,OAAO;IAC1E,QAAQ,IAAI,CAAC,SAAS,GAAG,CAAC,GAAG,IAAI,CAAC,OAAO,EAAE,CAAC,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,CAAC;AAC5D;IACA;IACA,QAAQ,IAAI,IAAI,CAAC,cAAc,EAAE,OAAO;IACxC,QAAQ,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC;AACnC;IACA,QAAQ,IAAI,IAAI,CAAC,KAAK,EAAE;AACxB;IACA,YAAY,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,CAAC;IAC/D,YAAY,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACjD,YAAY,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;AAC9B;IACA,SAAS;AACT;IACA,QAAQ,qBAAqB,CAAC,MAAM;AACpC;IACA,YAAY,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,CAAC;IACpD,YAAY,IAAI,CAAC,cAAc,GAAG,KAAK,CAAC;AACxC;IACA,SAAS,CAAC,CAAC;AACX;IACA,KAAK;AACL;IACA;IACA;IACA;IACA,IAAI,SAAS,CAAC,GAAG,EAAE,IAAI,EAAE;AACzB;IACA,QAAQ,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,aAAa,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAChH;IACA,QAAQ,IAAI,IAAI,EAAE;AAClB;IACA;IACA;IACA;IACA,YAAY,IAAI,CAAC,UAAU,EAAE,CAAC;IAC9B,YAAY,MAAM,SAAS,GAAG,IAAI,CAAC,UAAU,CAAC;AAC9C;IACA,YAAY,MAAM,eAAe,GAAG,IAAI,IAAI;AAC5C;IACA,gBAAgB,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;AACnC;IACA,oBAAoB,IAAI,CAAC,CAAC,MAAM,EAAE;AAClC;IACA,wBAAwB,CAAC,CAAC,UAAU,GAAG,IAAI,CAAC;IAC5C,wBAAwB,CAAC,CAAC,aAAa,GAAG,IAAI,CAAC;AAC/C;IACA,wBAAwB,IAAI,CAAC,CAAC,QAAQ,EAAE;AACxC;IACA,4BAA4B,MAAM,IAAI;IACtC,gCAAgC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,QAAQ,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC;IACtF,qCAAqC,GAAG,CAAC,CAAC,IAAI;AAC9C;IACA,wCAAwC,IAAI,CAAC,YAAYA,gBAAK,CAAC,iBAAiB,EAAE;AAClF;IACA,4CAA4C,CAAC,GAAG,IAAIA,gBAAK,CAAC,iBAAiB,EAAE,CAAC;AAC9E;IACA,yCAAyC;AACzC;IACA,wCAAwC,IAAI,CAAC,CAAC,GAAG,EAAE;AACnD;IACA,4CAA4C,CAAC,CAAC,GAAG,CAAC,UAAU,GAAGA,gBAAK,CAAC,cAAc,CAAC;AACpF;IACA,yCAAyC;AACzC;IACA,wCAAwC,OAAO,CAAC,CAAC;AACjD;IACA,qCAAqC,CAAC,CAAC;IACvC,4BAA4B,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC,MAAM,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC;AAC5E;IACA,yBAAyB;AACzB;IACA,qBAAqB;AACrB;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,aAAa,CAAC;AACd;IACA,YAAY,IAAI,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,EAAE,CAAC,CAAC,MAAM,IAAI,EAAE;IACnF;AACA;IACA;IACA;IACA;AACA;IACA,gBAAgB,GAAG,GAAG,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,KAAK,KAAK;AAC5D;IACA,oBAAoB,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACpE,oBAAoB,MAAM,OAAO,GAAG,KAAK,CAAC,KAAK,EAAE,CAAC,IAAI,EAAE,CAAC;IACzD,oBAAoB,MAAM,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,CAAC;IAC3D,oBAAoB,GAAG,CAAC,OAAO,CAAC,GAAG,OAAO,CAAC;AAC3C;IACA,oBAAoB,OAAO,GAAG,CAAC;AAC/B;IACA,iBAAiB,EAAE,EAAE,CAAC,CAAC;IACvB,aAAa;AACb;IACA,YAAY,IAAI,KAAK,GAAG,IAAI,CAAC;IAC7B,YAAY,MAAM,OAAO,GAAG,IAAIA,gBAAK,CAAC,cAAc,EAAE,CAAC;IACvD,YAAY,OAAO,CAAC,MAAM,GAAG,MAAM;AACnC;IACA;IACA;IACA,gBAAgB,IAAI,IAAI,CAAC,UAAU,KAAK,SAAS,EAAE;AACnD;IACA,oBAAoB,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,CAAC;IAClE,oBAAoB,OAAO;AAC3B;IACA,iBAAiB;AACjB;IACA,gBAAgB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IACnC,gBAAgB,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACtC,gBAAgB,eAAe,CAAC,KAAK,CAAC,CAAC;AACvC;IACA,gBAAgB,IAAI,CAAC,gBAAgB,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IACzD,gBAAgB,IAAI,CAAC,0BAA0B,EAAE,CAAC;AAClD;IACA,gBAAgB,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,gBAAgB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;IAC3H,gBAAgB,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,iBAAiB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAC5H;IACA,gBAAgB,IAAI,CAAC,QAAQ,EAAE,CAAC;AAChC;IACA,aAAa,CAAC;AACd;IACA,YAAY,IAAI,IAAI,CAAC,eAAe,EAAE;AACtC;IACA,gBAAgB,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,eAAe,CAAC,CAAC;AAC7D;IACA,aAAa;AACb;IACA,YAAY,MAAM,MAAM,GAAG,IAAIG,8BAAU,CAAC,OAAO,CAAC,CAAC;IACnD,YAAY,MAAM,CAAC,QAAQ,GAAG,GAAG,CAAC;IAClC,YAAY,MAAM,CAAC,UAAU,GAAG,IAAI,CAAC,YAAY,CAAC;IAClD,YAAY,MAAM,CAAC,YAAY,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,aAAa,EAAE,CAAC;IAC/E,YAAY,MAAM,CAAC,cAAc,GAAG,IAAI,CAAC;IACzC,YAAY,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,IAAI,KAAK,GAAG,KAAK,CAAC,CAAC;AACtD;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,IAAI,0BAA0B,GAAG;AACjC;IACA,QAAQ,MAAM,aAAa,GAAG,IAAI,CAAC,aAAa,CAAC;IACjD,QAAQ,MAAM,iBAAiB,GAAG,IAAI,CAAC,kBAAkB,CAAC;IAC1D,QAAQ,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;AACjC;IACA,QAAQ,IAAI,KAAK,KAAK,IAAI,EAAE,OAAO;AACnC;IACA,QAAQ,MAAM,SAAS,GAAG,EAAE,CAAC;IAC7B,QAAQ,KAAK,CAAC,QAAQ,CAAC,CAAC,IAAI;AAC5B;IACA,YAAY,IAAI,CAAC,CAAC,cAAc,EAAE;AAClC;IACA,gBAAgB,CAAC,CAAC,OAAO,GAAG,aAAa,CAAC;IAC1C,gBAAgB,SAAS,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;AAClC;IACA,aAAa;AACb;IACA,SAAS,CAAC,CAAC;AACX;IACA,QAAQ,SAAS,CAAC,OAAO,CAAC,IAAI,IAAI;AAClC;IACA,YAAY,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI;AAC/B;IACA,gBAAgB,IAAI,CAAC,CAAC,MAAM,EAAE;AAC9B;IACA,oBAAoB,CAAC,CAAC,OAAO,GAAG,YAAY,CAAC;IAC7C,oBAAoB,CAAC,CAAC,QAAQ,GAAG,iBAAiB,CAAC;IACnD,oBAAoB,CAAC,CAAC,UAAU,GAAG,KAAK,CAAC;AACzC;IACA,iBAAiB;AACjB;IACA,aAAa,CAAC,CAAC;AACf;IACA,SAAS,CAAC,CAAC;AACX;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,MAAM,CAAC,EAAE,EAAE;AACf;IACA,QAAQ,IAAI,CAAC,EAAE,EAAE,EAAE,GAAG,IAAI,CAAC;IAC3B,QAAQ,EAAE,GAAG,EAAE,CAAC,WAAW,EAAE,CAAC;IAC9B,QAAQ,MAAM,IAAI,GAAG,EAAE,CAAC,OAAO,CAAC,QAAQ,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC;IACxD,QAAQ,MAAM,IAAI,GAAG,EAAE,CAAC,OAAO,CAAC,UAAU,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC;AAC1D;IACA,QAAQ,MAAM,EAAE,GAAG,IAAI,CAAC,EAAE,CAAC;IAC3B,QAAQ,MAAM,MAAM,GAAG,EAAE,GAAG,CAAC,CAAC;IAC9B,QAAQ,IAAI,IAAI,KAAK,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,IAAI,KAAK,GAAG,GAAG,MAAM,GAAG,CAAC,MAAM,CAAC,CAAC;IACzF,QAAQ,IAAI,IAAI,KAAK,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,GAAG,CAAC,MAAM,GAAG,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzF,QAAQ,IAAI,IAAI,KAAK,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,GAAG,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC/E;IACA,KAAK;AACL;IACA;IACA;IACA,IAAI,gBAAgB,CAAC,MAAM,EAAE,QAAQ,GAAG,KAAK,EAAE;AAC/C;IACA,QAAQ,IAAI,IAAI,CAAC,KAAK,EAAE;AACxB;IACA,YAAY,MAAM;IAClB,iBAAiB,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC;IAC1C,iBAAiB,OAAO,CAAC,KAAK,IAAI;AAClC;IACA,oBAAoB,KAAK,CAAC,YAAY,GAAG,MAAM,CAAC;IAChD,oBAAoB,KAAK,CAAC,aAAa,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,CAAC;AAC7D;IACA,iBAAiB,CAAC,CAAC;AACnB;IACA,SAAS;AACT;IACA,QAAQ,IAAI,QAAQ,EAAE;AACtB;IACA,YAAY,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,sBAAsB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAC7H;IACA,SAAS;AACT;IACA,KAAK;AACL;IACA,CAAC;;;;;;;;"}