diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..1a76d12c45de86e32b1caabdaefb12a11cd0203d
--- /dev/null
+++ b/README.md
@@ -0,0 +1,15 @@
+# Local put_object_cabinet parallel viewer
+
+This immutable static bundle contains 50 native-retime episodes for
+`put_object_cabinet_parallel`: three synchronized MP4 videos, per-frame dual-arm semantic timelines,
+independent left/right serial-source progress, Aloha 3D meshes, and packed transforms.
+It does not contain training HDF5, pointclouds, checkpoints, or credentials.
+
+Serve the bundle from its root:
+
+```bash
+python3 -m http.server 8766 --bind 127.0.0.1
+```
+
+Then open <http://127.0.0.1:8766/>. Do not open `index.html` with `file://` because
+browsers block the relative API reads used by the viewer.
diff --git a/api/config b/api/config
new file mode 100644
index 0000000000000000000000000000000000000000..b6cfea2259863d2e0163778acfcfc8d77792bb81
--- /dev/null
+++ b/api/config
@@ -0,0 +1 @@
+{"datasets":{"put_object_cabinet_parallel":{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","available":true,"boundary_changed_arms":{"both":0,"left_only":77,"right_only":75},"episode_counts":{"heldout":10,"train":40},"frame_categories":{"both_active":3334,"both_wait_hold":200,"left_active_right_wait_hold":3577,"left_wait_hold_right_active":3353},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":1793,"Left arm: reach and grasp object; Right arm: wait.":10,"Left arm: reach and open drawer; Right arm: reach and grasp object.":1541,"Left arm: reach and open drawer; Right arm: wait while holding object.":996,"Left arm: reach and open drawer; Right arm: wait.":40,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding drawer open; Right arm: wait while holding object.":92,"Left arm: wait while holding object; Right arm: reach and open drawer.":1209,"Left arm: wait while holding object; Right arm: wait while holding drawer open.":108},"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schema_version":"parallelvla.putcab_parallel_dual_arm_projection.v1","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"episode_count":50,"episode_indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49]}},"fps":30.0,"mesh_count":18,"meshes":[{"index":0,"link_name":"fl_base_link","name":"fl_base_link_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/0.dae"},{"index":1,"link_name":"fl_link1","name":"fl_link1_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/1.dae"},{"index":2,"link_name":"fl_link2","name":"fl_link2_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/2.dae"},{"index":3,"link_name":"fl_link3","name":"fl_link3_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/3.dae"},{"index":4,"link_name":"fl_link4","name":"fl_link4_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/4.dae"},{"index":5,"link_name":"fl_link5","name":"fl_link5_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/5.dae"},{"index":6,"link_name":"fl_link6","name":"fl_link6_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/6.dae"},{"index":7,"link_name":"fl_link7","name":"fl_link7_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/7.dae"},{"index":8,"link_name":"fl_link8","name":"fl_link8_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/8.dae"},{"index":9,"link_name":"fr_base_link","name":"fr_base_link_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/0.dae"},{"index":10,"link_name":"fr_link1","name":"fr_link1_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/1.dae"},{"index":11,"link_name":"fr_link2","name":"fr_link2_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/2.dae"},{"index":12,"link_name":"fr_link3","name":"fr_link3_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/3.dae"},{"index":13,"link_name":"fr_link4","name":"fr_link4_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/4.dae"},{"index":14,"link_name":"fr_link5","name":"fr_link5_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/5.dae"},{"index":15,"link_name":"fr_link6","name":"fr_link6_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/6.dae"},{"index":16,"link_name":"fr_link7","name":"fr_link7_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/7.dae"},{"index":17,"link_name":"fr_link8","name":"fr_link8_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/8.dae"}]}
diff --git a/api/episode/put_object_cabinet_parallel/0 b/api/episode/put_object_cabinet_parallel/0
new file mode 100644
index 0000000000000000000000000000000000000000..03bec5427457bcef21231ad8d7c89f92ddf95fa5
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/0
@@ -0,0 +1 @@
+{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","arm_segments":{"left":[{"end":111,"semantic_key":"reach_open_drawer","semantic_text":"reach and open drawer","start":0},{"end":203,"semantic_key":"wait_hold_drawer_open","semantic_text":"wait while holding drawer open","start":111}],"right":[{"end":63,"semantic_key":"reach_grasp_object","semantic_text":"reach and grasp object","start":0},{"end":115,"semantic_key":"wait_hold_object","semantic_text":"wait while holding object","start":63},{"end":203,"semantic_key":"insert_place_object","semantic_text":"insert and place object","start":115}]},"drawer_arm":"left","object_arm":"right","paired_segments":[{"arm_semantic_keys":{"left":"reach_open_drawer","right":"reach_grasp_object"},"arm_semantics":{"left":"reach and open drawer","right":"reach and grasp object"},"end":63,"start":0,"subtask_text":"Left arm: reach and open drawer; Right arm: reach and grasp object."},{"arm_semantic_keys":{"left":"reach_open_drawer","right":"wait_hold_object"},"arm_semantics":{"left":"reach and open drawer","right":"wait while holding object"},"end":111,"start":63,"subtask_text":"Left arm: reach and open drawer; Right arm: wait while holding object."},{"arm_semantic_keys":{"left":"wait_hold_drawer_open","right":"wait_hold_object"},"arm_semantics":{"left":"wait while holding drawer open","right":"wait while holding object"},"end":115,"start":111,"subtask_text":"Left arm: wait while holding drawer open; Right arm: wait while holding object."},{"arm_semantic_keys":{"left":"wait_hold_drawer_open","right":"insert_place_object"},"arm_semantics":{"left":"wait while holding drawer open","right":"insert and place object"},"end":203,"start":115,"subtask_text":"Left arm: wait while holding drawer open; Right arm: insert and place object."}],"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schedule":{"kind":"native_parallel_retime","left_segment":{"arm":"left","end":174,"label":"reach_open_drawer","start":63},"plan":{"async_frames":111,"compression_ratio":0.7748091603053435,"prefix_frames":0,"retimed_frames":203,"source_frames":262,"sync_hold_frames":4,"tail_start":174,"wait_ratio":0.0,"wait_steps_left":0,"wait_steps_right":0},"right_segment":{"arm":"right","end":63,"label":"reach_grasp_object","start":0},"source_indices":[[63,0],[64,1],[65,2],[66,3],[67,4],[68,5],[69,6],[70,7],[71,8],[72,9],[73,10],[74,11],[75,12],[76,13],[77,14],[78,15],[79,16],[80,17],[81,18],[82,19],[83,20],[84,21],[85,22],[86,23],[87,24],[88,25],[89,26],[90,27],[91,28],[92,29],[93,30],[94,31],[95,32],[96,33],[97,34],[98,35],[99,36],[100,37],[101,38],[102,39],[103,40],[104,41],[105,42],[106,43],[107,44],[108,45],[109,46],[110,47],[111,48],[112,49],[113,50],[114,51],[115,52],[116,53],[117,54],[118,55],[119,56],[120,57],[121,58],[122,59],[123,60],[124,61],[125,62],[126,62],[127,62],[128,62],[129,62],[130,62],[131,62],[132,62],[133,62],[134,62],[135,62],[136,62],[137,62],[138,62],[139,62],[140,62],[141,62],[142,62],[143,62],[144,62],[145,62],[146,62],[147,62],[148,62],[149,62],[150,62],[151,62],[152,62],[153,62],[154,62],[155,62],[156,62],[157,62],[158,62],[159,62],[160,62],[161,62],[162,62],[163,62],[164,62],[165,62],[166,62],[167,62],[168,62],[169,62],[170,62],[171,62],[172,62],[173,62],[173,62],[173,62],[173,62],[173,62],[174,174],[175,175],[176,176],[177,177],[178,178],[179,179],[180,180],[181,181],[182,182],[183,183],[184,184],[185,185],[186,186],[187,187],[188,188],[189,189],[190,190],[191,191],[192,192],[193,193],[194,194],[195,195],[196,196],[197,197],[198,198],[199,199],[200,200],[201,201],[202,202],[203,203],[204,204],[205,205],[206,206],[207,207],[208,208],[209,209],[210,210],[211,211],[212,212],[213,213],[214,214],[215,215],[216,216],[217,217],[218,218],[219,219],[220,220],[221,221],[222,222],[223,223],[224,224],[225,225],[226,226],[227,227],[228,228],[229,229],[230,230],[231,231],[232,232],[233,233],[234,234],[235,235],[236,236],[237,237],[238,238],[239,239],[240,240],[241,241],[242,242],[243,243],[244,244],[245,245],[246,246],[247,247],[248,248],[249,249],[250,250],[251,251],[252,252],[253,253],[254,254],[255,255],[256,256],[257,257],[258,258],[259,259],[260,260],[261,261]]},"semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","split":"train","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"attributes":{"parallelvla_retime_validation":"native_action_sequence_success_async_collision_checked","parallelvla_seed":24,"parallelvla_source_config":"parallelvla_clean_pcd_verified_v2","parallelvla_source_episode":0},"dataset":"put_object_cabinet_parallel","deployment_router":{"async_steps":0,"boundary_context_steps":0},"duration_s":6.766666666666667,"episode_index":0,"fps":30.0,"frame_count":203,"phase_timeline":{"async_probabilities":null,"has_gate_records":false,"inference_indices":null,"phase_ids":null},"transforms_url":"/api/transforms/put_object_cabinet_parallel/0.bin","videos":{"head":"/api/video/put_object_cabinet_parallel/0/head.mp4","left_wrist":"/api/video/put_object_cabinet_parallel/0/left_wrist.mp4","right_wrist":"/api/video/put_object_cabinet_parallel/0/right_wrist.mp4"}}
diff --git a/api/episode/put_object_cabinet_parallel/1 b/api/episode/put_object_cabinet_parallel/1
new file mode 100644
index 0000000000000000000000000000000000000000..3e3bc6dc1fd9b714d94929fa17384d87d28e174b
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/1
@@ -0,0 +1 @@
+{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","arm_segments":{"left":[{"end":111,"semantic_key":"reach_open_drawer","semantic_text":"reach and open drawer","start":0},{"end":213,"semantic_key":"wait_hold_drawer_open","semantic_text":"wait while holding drawer open","start":111}],"right":[{"end":66,"semantic_key":"reach_grasp_object","semantic_text":"reach and grasp object","start":0},{"end":115,"semantic_key":"wait_hold_object","semantic_text":"wait while holding object","start":66},{"end":213,"semantic_key":"insert_place_object","semantic_text":"insert and place object","start":115}]},"drawer_arm":"left","object_arm":"right","paired_segments":[{"arm_semantic_keys":{"left":"reach_open_drawer","right":"reach_grasp_object"},"arm_semantics":{"left":"reach and open drawer","right":"reach and grasp object"},"end":66,"start":0,"subtask_text":"Left arm: reach and open drawer; Right arm: reach and grasp object."},{"arm_semantic_keys":{"left":"reach_open_drawer","right":"wait_hold_object"},"arm_semantics":{"left":"reach and open drawer","right":"wait while holding object"},"end":111,"start":66,"subtask_text":"Left arm: reach and open drawer; Right arm: wait while holding object."},{"arm_semantic_keys":{"left":"wait_hold_drawer_open","right":"wait_hold_object"},"arm_semantics":{"left":"wait while holding drawer open","right":"wait while holding object"},"end":115,"start":111,"subtask_text":"Left arm: wait while holding drawer open; Right arm: wait while holding object."},{"arm_semantic_keys":{"left":"wait_hold_drawer_open","right":"insert_place_object"},"arm_semantics":{"left":"wait while holding drawer open","right":"insert and place object"},"end":213,"start":115,"subtask_text":"Left arm: wait while holding drawer open; Right arm: insert and place object."}],"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schedule":{"kind":"native_parallel_retime","left_segment":{"arm":"left","end":177,"label":"reach_open_drawer","start":66},"plan":{"async_frames":111,"compression_ratio":0.7745454545454545,"prefix_frames":0,"retimed_frames":213,"source_frames":275,"sync_hold_frames":4,"tail_start":177,"wait_ratio":0.0,"wait_steps_left":0,"wait_steps_right":0},"right_segment":{"arm":"right","end":66,"label":"reach_grasp_object","start":0},"source_indices":[[66,0],[67,1],[68,2],[69,3],[70,4],[71,5],[72,6],[73,7],[74,8],[75,9],[76,10],[77,11],[78,12],[79,13],[80,14],[81,15],[82,16],[83,17],[84,18],[85,19],[86,20],[87,21],[88,22],[89,23],[90,24],[91,25],[92,26],[93,27],[94,28],[95,29],[96,30],[97,31],[98,32],[99,33],[100,34],[101,35],[102,36],[103,37],[104,38],[105,39],[106,40],[107,41],[108,42],[109,43],[110,44],[111,45],[112,46],[113,47],[114,48],[115,49],[116,50],[117,51],[118,52],[119,53],[120,54],[121,55],[122,56],[123,57],[124,58],[125,59],[126,60],[127,61],[128,62],[129,63],[130,64],[131,65],[132,65],[133,65],[134,65],[135,65],[136,65],[137,65],[138,65],[139,65],[140,65],[141,65],[142,65],[143,65],[144,65],[145,65],[146,65],[147,65],[148,65],[149,65],[150,65],[151,65],[152,65],[153,65],[154,65],[155,65],[156,65],[157,65],[158,65],[159,65],[160,65],[161,65],[162,65],[163,65],[164,65],[165,65],[166,65],[167,65],[168,65],[169,65],[170,65],[171,65],[172,65],[173,65],[174,65],[175,65],[176,65],[176,65],[176,65],[176,65],[176,65],[177,177],[178,178],[179,179],[180,180],[181,181],[182,182],[183,183],[184,184],[185,185],[186,186],[187,187],[188,188],[189,189],[190,190],[191,191],[192,192],[193,193],[194,194],[195,195],[196,196],[197,197],[198,198],[199,199],[200,200],[201,201],[202,202],[203,203],[204,204],[205,205],[206,206],[207,207],[208,208],[209,209],[210,210],[211,211],[212,212],[213,213],[214,214],[215,215],[216,216],[217,217],[218,218],[219,219],[220,220],[221,221],[222,222],[223,223],[224,224],[225,225],[226,226],[227,227],[228,228],[229,229],[230,230],[231,231],[232,232],[233,233],[234,234],[235,235],[236,236],[237,237],[238,238],[239,239],[240,240],[241,241],[242,242],[243,243],[244,244],[245,245],[246,246],[247,247],[248,248],[249,249],[250,250],[251,251],[252,252],[253,253],[254,254],[255,255],[256,256],[257,257],[258,258],[259,259],[260,260],[261,261],[262,262],[263,263],[264,264],[265,265],[266,266],[267,267],[268,268],[269,269],[270,270],[271,271],[272,272],[273,273],[274,274]]},"semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","split":"train","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"attributes":{"parallelvla_retime_validation":"native_action_sequence_success_async_collision_checked","parallelvla_seed":37,"parallelvla_source_config":"parallelvla_clean_pcd_verified_v2","parallelvla_source_episode":1},"dataset":"put_object_cabinet_parallel","deployment_router":{"async_steps":0,"boundary_context_steps":0},"duration_s":7.1,"episode_index":1,"fps":30.0,"frame_count":213,"phase_timeline":{"async_probabilities":null,"has_gate_records":false,"inference_indices":null,"phase_ids":null},"transforms_url":"/api/transforms/put_object_cabinet_parallel/1.bin","videos":{"head":"/api/video/put_object_cabinet_parallel/1/head.mp4","left_wrist":"/api/video/put_object_cabinet_parallel/1/left_wrist.mp4","right_wrist":"/api/video/put_object_cabinet_parallel/1/right_wrist.mp4"}}
diff --git a/api/episode/put_object_cabinet_parallel/10 b/api/episode/put_object_cabinet_parallel/10
new file mode 100644
index 0000000000000000000000000000000000000000..ee55a34f90f8d824afe4f7f9b78b5e9bfe32b7a9
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/10
@@ -0,0 +1 @@
+{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","arm_segments":{"left":[{"end":66,"semantic_key":"reach_grasp_object","semantic_text":"reach and grasp object","start":0},{"end":121,"semantic_key":"wait_hold_object","semantic_text":"wait while holding object","start":66},{"end":216,"semantic_key":"insert_place_object","semantic_text":"insert and place object","start":121}],"right":[{"end":117,"semantic_key":"reach_open_drawer","semantic_text":"reach and open drawer","start":0},{"end":216,"semantic_key":"wait_hold_drawer_open","semantic_text":"wait while holding drawer open","start":117}]},"drawer_arm":"right","object_arm":"left","paired_segments":[{"arm_semantic_keys":{"left":"reach_grasp_object","right":"reach_open_drawer"},"arm_semantics":{"left":"reach and grasp object","right":"reach and open drawer"},"end":66,"start":0,"subtask_text":"Left arm: reach and grasp object; Right arm: reach and open drawer."},{"arm_semantic_keys":{"left":"wait_hold_object","right":"reach_open_drawer"},"arm_semantics":{"left":"wait while holding object","right":"reach and open drawer"},"end":117,"start":66,"subtask_text":"Left arm: wait while holding object; 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diff --git a/api/episode/put_object_cabinet_parallel/11 b/api/episode/put_object_cabinet_parallel/11
new file mode 100644
index 0000000000000000000000000000000000000000..bd71b301f5fbd00570f6e942174df90528d7305a
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/11
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diff --git a/api/episode/put_object_cabinet_parallel/12 b/api/episode/put_object_cabinet_parallel/12
new file mode 100644
index 0000000000000000000000000000000000000000..b1f20a04819508d485e5e99d7a92381e8e28ec04
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/12
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diff --git a/api/episode/put_object_cabinet_parallel/13 b/api/episode/put_object_cabinet_parallel/13
new file mode 100644
index 0000000000000000000000000000000000000000..bfc0b2ff721167a2b6611e0b215ab90ccab6e80d
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/13
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diff --git a/api/episode/put_object_cabinet_parallel/14 b/api/episode/put_object_cabinet_parallel/14
new file mode 100644
index 0000000000000000000000000000000000000000..99d7c43aea5c1608bca4b1d59d487c1bddbc0b50
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/14
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diff --git a/api/episode/put_object_cabinet_parallel/15 b/api/episode/put_object_cabinet_parallel/15
new file mode 100644
index 0000000000000000000000000000000000000000..0daed21afdca2ef4d4368f0937bb10783e995722
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/15
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diff --git a/api/episode/put_object_cabinet_parallel/16 b/api/episode/put_object_cabinet_parallel/16
new file mode 100644
index 0000000000000000000000000000000000000000..ab06505a74de5ea67fb5401968a6f92358de8778
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/16
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diff --git a/api/episode/put_object_cabinet_parallel/17 b/api/episode/put_object_cabinet_parallel/17
new file mode 100644
index 0000000000000000000000000000000000000000..675b054f2bb1ec04216ccb4b6b006dce0fab79cd
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/17
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diff --git a/api/episode/put_object_cabinet_parallel/18 b/api/episode/put_object_cabinet_parallel/18
new file mode 100644
index 0000000000000000000000000000000000000000..786f5b093f61953334f500ad4dd40f2815cb863f
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/18
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diff --git a/api/episode/put_object_cabinet_parallel/19 b/api/episode/put_object_cabinet_parallel/19
new file mode 100644
index 0000000000000000000000000000000000000000..4a6a6c2f1280e196b67c10eb87dd023edbf01c50
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/19
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diff --git a/api/episode/put_object_cabinet_parallel/2 b/api/episode/put_object_cabinet_parallel/2
new file mode 100644
index 0000000000000000000000000000000000000000..803de7493311c5fc472876ea85712256b04ebbdd
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/2
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diff --git a/api/episode/put_object_cabinet_parallel/20 b/api/episode/put_object_cabinet_parallel/20
new file mode 100644
index 0000000000000000000000000000000000000000..e5c85d82f7ec6d3605e746a96666ee0b657f0d84
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/20
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diff --git a/api/episode/put_object_cabinet_parallel/21 b/api/episode/put_object_cabinet_parallel/21
new file mode 100644
index 0000000000000000000000000000000000000000..e5d8dccb0e6094ed0bdb85c9febbb3830175a863
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/21
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diff --git a/api/episode/put_object_cabinet_parallel/22 b/api/episode/put_object_cabinet_parallel/22
new file mode 100644
index 0000000000000000000000000000000000000000..9fd002da5728c92a0d1f4f65c62dda2ce588ed9b
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/22
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diff --git a/api/episode/put_object_cabinet_parallel/23 b/api/episode/put_object_cabinet_parallel/23
new file mode 100644
index 0000000000000000000000000000000000000000..5a1e366b3fcb1a833b88021fd2f2ac2e432d6093
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/23
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diff --git a/api/episode/put_object_cabinet_parallel/24 b/api/episode/put_object_cabinet_parallel/24
new file mode 100644
index 0000000000000000000000000000000000000000..3c2d283ed76ab0b58a113ec99a79b6a73d3cc03d
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/24
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diff --git a/api/episode/put_object_cabinet_parallel/25 b/api/episode/put_object_cabinet_parallel/25
new file mode 100644
index 0000000000000000000000000000000000000000..ae6dd33023ffb239349c2d6a426fc0a69df6b5d7
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/25
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diff --git a/api/episode/put_object_cabinet_parallel/26 b/api/episode/put_object_cabinet_parallel/26
new file mode 100644
index 0000000000000000000000000000000000000000..812543410a43d4c5ee69c01513f697162ef412bb
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/26
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diff --git a/api/episode/put_object_cabinet_parallel/27 b/api/episode/put_object_cabinet_parallel/27
new file mode 100644
index 0000000000000000000000000000000000000000..499b07c0348e6bf815fa3d22f03d9f24a70259b0
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/27
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diff --git a/api/episode/put_object_cabinet_parallel/28 b/api/episode/put_object_cabinet_parallel/28
new file mode 100644
index 0000000000000000000000000000000000000000..e957a22023e0c43db73a22c91c5d4f4c6dc549da
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/28
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diff --git a/api/episode/put_object_cabinet_parallel/29 b/api/episode/put_object_cabinet_parallel/29
new file mode 100644
index 0000000000000000000000000000000000000000..7c36f347ca97c3fa8b4c605ffac9e8180e81ab6c
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/29
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diff --git a/api/episode/put_object_cabinet_parallel/3 b/api/episode/put_object_cabinet_parallel/3
new file mode 100644
index 0000000000000000000000000000000000000000..caf5d0f54d5e476ef08130827f2701a370062817
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/3
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diff --git a/api/episode/put_object_cabinet_parallel/30 b/api/episode/put_object_cabinet_parallel/30
new file mode 100644
index 0000000000000000000000000000000000000000..0975187f8451871a1f120124ce1f6114e11abd3f
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/30
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diff --git a/api/episode/put_object_cabinet_parallel/31 b/api/episode/put_object_cabinet_parallel/31
new file mode 100644
index 0000000000000000000000000000000000000000..5eb92b37fd168510b5fde18bd60e96944bffc6fe
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/31
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diff --git a/api/episode/put_object_cabinet_parallel/32 b/api/episode/put_object_cabinet_parallel/32
new file mode 100644
index 0000000000000000000000000000000000000000..d9e4e101fb37e723352b77a50df2d0d46ddd0a94
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/32
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diff --git a/api/episode/put_object_cabinet_parallel/33 b/api/episode/put_object_cabinet_parallel/33
new file mode 100644
index 0000000000000000000000000000000000000000..358e55d4768ecf7190de6bdfde34ed10afb6e57c
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/33
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diff --git a/api/episode/put_object_cabinet_parallel/34 b/api/episode/put_object_cabinet_parallel/34
new file mode 100644
index 0000000000000000000000000000000000000000..41caa57f84e9c19e0553d00d67622ef3b89572b8
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/34
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diff --git a/api/episode/put_object_cabinet_parallel/35 b/api/episode/put_object_cabinet_parallel/35
new file mode 100644
index 0000000000000000000000000000000000000000..ad8311499989fdc29c6f8b7dd539f44311e24de9
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/35
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diff --git a/api/episode/put_object_cabinet_parallel/36 b/api/episode/put_object_cabinet_parallel/36
new file mode 100644
index 0000000000000000000000000000000000000000..e8623d260b1b5271bc2d69b791270a229513af6e
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/36
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diff --git a/api/episode/put_object_cabinet_parallel/37 b/api/episode/put_object_cabinet_parallel/37
new file mode 100644
index 0000000000000000000000000000000000000000..9f75a02e699899a1f920c9be785dafeeaef3aa85
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/37
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diff --git a/api/episode/put_object_cabinet_parallel/38 b/api/episode/put_object_cabinet_parallel/38
new file mode 100644
index 0000000000000000000000000000000000000000..f8882a556b0864dbe1cceb67a9bc42e0e25d0a8a
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/38
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diff --git a/api/episode/put_object_cabinet_parallel/39 b/api/episode/put_object_cabinet_parallel/39
new file mode 100644
index 0000000000000000000000000000000000000000..8b0064c0d168a98dc7e7c9f1c8aed9307a8f3491
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/39
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diff --git a/api/episode/put_object_cabinet_parallel/4 b/api/episode/put_object_cabinet_parallel/4
new file mode 100644
index 0000000000000000000000000000000000000000..662c6e2fd5f07e4eff6d57955637dfde0774e66e
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/4
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diff --git a/api/episode/put_object_cabinet_parallel/40 b/api/episode/put_object_cabinet_parallel/40
new file mode 100644
index 0000000000000000000000000000000000000000..a47c9bc665cb25f10a020c9cb00cf21aaed1bc2b
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/40
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diff --git a/api/episode/put_object_cabinet_parallel/41 b/api/episode/put_object_cabinet_parallel/41
new file mode 100644
index 0000000000000000000000000000000000000000..440336376aa1f50a236bd8591de8b217cca4e1b2
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/41
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diff --git a/api/episode/put_object_cabinet_parallel/42 b/api/episode/put_object_cabinet_parallel/42
new file mode 100644
index 0000000000000000000000000000000000000000..696869c73b8b8f9c134ae9a5803d033abb358ff8
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/42
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diff --git a/api/episode/put_object_cabinet_parallel/43 b/api/episode/put_object_cabinet_parallel/43
new file mode 100644
index 0000000000000000000000000000000000000000..9e116b4b9e8fc436410a4876bfd40d6b23206624
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/43
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diff --git a/api/episode/put_object_cabinet_parallel/44 b/api/episode/put_object_cabinet_parallel/44
new file mode 100644
index 0000000000000000000000000000000000000000..44a37aad01a002c7d1c2cc37bfb5b938d3f56238
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/44
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diff --git a/api/episode/put_object_cabinet_parallel/45 b/api/episode/put_object_cabinet_parallel/45
new file mode 100644
index 0000000000000000000000000000000000000000..65f5f80d580890872154c402508831d265180f9e
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/45
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diff --git a/api/episode/put_object_cabinet_parallel/46 b/api/episode/put_object_cabinet_parallel/46
new file mode 100644
index 0000000000000000000000000000000000000000..8d4cf0f46b0b740c1c63855f428093b654e8e47c
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/46
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diff --git a/api/episode/put_object_cabinet_parallel/47 b/api/episode/put_object_cabinet_parallel/47
new file mode 100644
index 0000000000000000000000000000000000000000..2ef6cb9574107a6cfd76c43eb7085465622519c8
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/47
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diff --git a/api/episode/put_object_cabinet_parallel/48 b/api/episode/put_object_cabinet_parallel/48
new file mode 100644
index 0000000000000000000000000000000000000000..d8ecb26542632e6303d9a969f1ba963f179f4f68
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/48
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diff --git a/api/episode/put_object_cabinet_parallel/49 b/api/episode/put_object_cabinet_parallel/49
new file mode 100644
index 0000000000000000000000000000000000000000..66427632d6a0837154975f0c45c4467c88393d9f
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/49
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diff --git a/api/episode/put_object_cabinet_parallel/5 b/api/episode/put_object_cabinet_parallel/5
new file mode 100644
index 0000000000000000000000000000000000000000..e4c8439336aadb304db1abb82922b76e629fa644
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/5
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diff --git a/api/episode/put_object_cabinet_parallel/6 b/api/episode/put_object_cabinet_parallel/6
new file mode 100644
index 0000000000000000000000000000000000000000..c80785c6e16e6587bc03e2673952b7e2ca877d6b
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/6
@@ -0,0 +1 @@
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diff --git a/api/episode/put_object_cabinet_parallel/7 b/api/episode/put_object_cabinet_parallel/7
new file mode 100644
index 0000000000000000000000000000000000000000..247d1f2e59037564ec651493c28683bad7681ae5
--- /dev/null
+++ b/api/episode/put_object_cabinet_parallel/7
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diff --git a/api/episode/put_object_cabinet_parallel/8 b/api/episode/put_object_cabinet_parallel/8
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index 0000000000000000000000000000000000000000..230783203a9c60b360b524f069e0c40abdd1cd19
--- /dev/null
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index 0000000000000000000000000000000000000000..6ad30be63e51c493b7d59c1fc97733642239942d
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index 0000000000000000000000000000000000000000..f5219a9f25b2feb1a2ad7986db89bfb450654923
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466 388 388 466 466 830 830 830 830 466 466 465 465 830 830 465 465 464 464 850 850 851 851 392 392 849 849 390 390 851 851 851 851 390 390 391 391 851 851 391 391 392 392 852 852 716 716 717 717 457 457 456 456 396 396 396 396 456 456 853 853 396 396 853 853 395 395 395 395 853 853 854 854 395 395 854 854 394 394 457 457 852 852 458 458 458 458 852 852 717 717 458 458 717 717 459 459 459 459 717 717 718 718 459 459 718 718 460 460 460 460 718 718 719 719 460 460 719 719 461 461 461 461 719 719 720 720 461 461 720 720 462 462 462 462 720 720 721 721 462 462 721 721 722 722 854 854 855 855 394 394 394 394 855 855 856 856 394 394 856 856 393 393 393 393 856 856 829 829 393 393 829 829 392 392 392 392 829 829 722 722 392 392 722 722 850 850 850 850 722 722 723 723 850 850 723 723 857 857 857 857 723 723 724 724 857 857 724 724 858 858 858 858 724 724 725 725 858 858 725 725 463 463 463 463 725 725 726 726 463 463 726 726 464 464 464 464 726 726 715 715 464 464 715 715 830 830 830 830 715 715 714 714 830 830 714 714 713 713 451 451 450 450 800 800 859 859 860 860 261 261 261 261 860 860 861 861 261 261 861 861 221 221 862 862 863 863 852 852 452 452 864 864 453 453 453 453 864 864 859 859 453 453 859 859 454 454 454 454 859 859 261 261 454 454 261 261 455 455 455 455 261 261 259 259 455 455 259 259 865 865 865 865 259 259 729 729 865 865 729 729 863 863 863 863 729 729 728 728 863 863 728 728 852 852 852 852 728 728 727 727 852 852 727 727 716 716 452 452 451 451 864 864 864 864 451 451 800 800 864 864 800 800 866 866 866 866 800 800 799 799 450 450 449 449 800 800 800 800 449 449 402 402 800 800 402 402 403 403 403 403 404 404 800 800 800 800 404 404 796 796 800 800 796 796 801 801 457 457 396 396 852 852 852 852 396 396 397 397 852 852 397 397 398 398 449 449 867 867 402 402 402 402 867 867 868 868 402 402 868 868 401 401 401 401 868 868 862 862 401 401 862 862 400 400 400 400 862 862 852 852 400 400 852 852 399 399 399 399 852 852 398 398 383 383 386 386 830 830 830 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874 223 223 874 874 257 257 257 257 874 874 875 875 257 257 875 875 256 256 256 256 875 875 876 876 877 877 878 878 879 879 876 876 880 880 881 881 873 873 872 872 222 222 222 222 872 872 871 871 222 222 871 871 489 489 489 489 871 871 877 877 489 489 877 877 487 487 487 487 877 877 879 879 437 437 435 435 434 434 881 881 882 882 876 876 876 876 882 882 883 883 876 876 883 883 256 256 256 256 883 883 437 437 256 256 437 437 884 884 884 884 437 437 434 434 254 254 256 256 884 884 254 254 884 884 839 839 839 839 884 884 434 434 839 839 434 434 433 433 447 447 448 448 730 730 730 730 448 448 836 836 730 730 836 836 731 731 731 731 836 836 833 833 731 731 833 833 266 266 266 266 833 833 832 832 266 266 832 832 268 268 268 268 832 832 838 838 268 268 838 838 271 271 271 271 838 838 837 837 271 271 837 837 273 273 273 273 837 837 439 439 294 294 455 455 732 732 732 732 455 455 865 865 732 732 865 865 733 733 733 733 865 865 863 863 733 733 863 863 734 734 734 734 863 863 862 862 734 734 862 862 735 735 735 735 862 862 868 868 735 735 868 868 736 736 736 736 868 868 867 867 736 736 867 867 282 282 282 282 867 867 449 449 308 308 462 462 737 737 737 737 462 462 829 829 737 737 829 829 738 738 738 738 829 829 856 856 738 738 856 856 739 739 739 739 856 856 855 855 739 739 855 855 740 740 740 740 855 855 854 854 740 740 854 854 741 741 741 741 854 854 853 853 741 741 853 853 296 296 296 296 853 853 456 456 471 471 472 472 742 742 742 742 472 472 849 849 742 742 849 849 743 743 743 743 849 849 851 851 743 743 851 851 310 310 310 310 851 851 850 850 310 310 850 850 312 312 312 312 850 850 857 857 312 312 857 857 314 314 314 314 857 857 858 858 314 314 858 858 316 316 316 316 858 858 463 463 336 336 479 479 744 744 744 744 479 479 845 845 744 744 845 845 745 745 745 745 845 845 846 846 745 745 846 846 746 746 746 746 846 846 848 848 746 746 848 848 747 747 747 747 848 848 847 847 747 747 847 847 748 748 748 748 847 847 869 869 748 748 869 869 324 324 324 324 869 869 473 473 351 351 486 486 749 749 749 749 486 486 831 831 749 749 831 831 750 750 750 750 831 831 841 841 750 750 841 841 751 751 751 751 841 841 842 842 751 751 842 842 752 752 752 752 842 842 843 843 752 752 843 843 753 753 753 753 843 843 844 844 753 753 844 844 338 338 338 338 844 844 480 480 490 490 795 795 489 489 489 489 795 795 874 874 795 795 794 794 874 874 874 874 794 794 793 793 874 874 793 793 875 875 793 793 792 792 875 875 875 875 792 792 804 804 875 875 804 804 876 876 438 438 437 437 834 834 834 834 437 437 883 883 834 834 883 883 870 870 871 871 859 859 877 877 877 877 859 859 864 864 882 882 881 881 806 806 802 802 809 809 880 880 880 880 809 809 808 808 880 880 808 808 881 881 881 881 808 808 807 807 881 881 807 807 806 806 802 802 880 880 803 803 803 803 880 880 876 876 803 803 876 876 804 804 806 806 828 828 882 882 882 882 828 828 870 870 882 882 870 870 883 883 877 877 864 864 866 866 799 799 798 798 879 879 879 879 798 798 487 487 487 487 798 798 797 797 487 487 797 797 488 488 799 799 879 879 866 866 866 866 879 879 878 878 866 866 878 878 877 877</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="base_arm" name="base_arm" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#base_arm-mesh" name="base_arm">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/1.dae b/api/mesh/1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..56eef48aec040e5c790549a7f0af87269e45af8b
--- /dev/null
+++ b/api/mesh/1.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:49:46</created>
+    <modified>2024-07-25T15:49:46</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="link1-mesh" name="link1">
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915 914 914 1120 1120 1120 1120 914 914 1121 1121 925 925 1122 1122 923 923 923 923 1122 1122 1123 1123 923 923 1123 1123 910 910 1124 1124 927 927 1125 1125 1125 1125 927 927 928 928 932 932 1126 1126 917 917 917 917 1126 1126 1127 1127 917 917 1127 1127 921 921 936 936 1128 1128 937 937 937 937 1128 1128 1129 1129 937 937 1129 1129 938 938 947 947 1130 1130 942 942 942 942 1130 1130 1131 1131 942 942 1131 1131 943 943 1132 1132 949 949 1133 1133 1133 1133 949 949 950 950 963 963 1134 1134 953 953 953 953 1134 1134 1135 1135 953 953 1135 1135 955 955 960 960 957 957 1136 1136 1136 1136 957 957 1137 1137 979 979 978 978 1138 1138 1138 1138 978 978 1139 1139 973 973 972 972 1140 1140 1140 1140 972 972 1141 1141 987 987 424 424 1142 1142 1142 1142 424 424 425 425 996 996 1143 1143 990 990 990 990 1143 1143 1144 1144 990 990 1144 1144 1006 1006 431 431 430 430 1145 1145 1145 1145 430 430 991 991 839 839 1065 1065 1064 1064 839 839 1064 1064 846 846 846 846 1064 1064 1063 1063 846 846 1063 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1174 1123 1123 1121 1121 1121 1121 1123 1123 1122 1122 1121 1121 1122 1122 1120 1120 1120 1120 1122 1122 1118 1118 1120 1120 1118 1118 1119 1119 1153 1153 1175 1175 1143 1143 1143 1143 1175 1175 1140 1140 1143 1143 1140 1140 1144 1144 1144 1144 1140 1140 1141 1141 1176 1176 1171 1171 1130 1130 1130 1130 1171 1171 1127 1127 1130 1130 1127 1127 1131 1131 1131 1131 1127 1127 1126 1126 1104 1104 1147 1147 1146 1146 425 425 423 423 421 421 1176 1176 1177 1177 1171 1171 1171 1171 1177 1177 1132 1132 1171 1171 1132 1132 1139 1139 1139 1139 1132 1132 1133 1133 1139 1139 1133 1133 1178 1178 1178 1178 1179 1179 1139 1139 1139 1139 1179 1179 1135 1135 1139 1139 1135 1135 1138 1138 1138 1138 1135 1135 1134 1134 417 417 1163 1163 419 419 419 419 1163 1163 1112 1112 419 419 1112 1112 415 415 415 415 1112 1112 1114 1114 415 415 1114 1114 1115 1115 1146 1146 1107 1107 1104 1104 1104 1104 1107 1107 1109 1109 1104 1104 1109 1109 1105 1105 1105 1105 1109 1109 1108 1108 1105 1105 1108 1108 1158 1158 1180 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904 906 906 1154 1154 906 906 1116 1116 898 898 1118 1118 894 894 894 894 1118 1118 1150 1150 894 894 1150 1150 909 909 909 909 1150 1150 1149 1149 909 909 1149 1149 908 908 908 908 1149 1149 1117 1117 908 908 1117 1117 907 907 915 915 1120 1120 916 916 916 916 1120 1120 1166 1166 1119 1119 900 900 1167 1167 1167 1167 900 900 901 901 1167 1167 901 901 1165 1165 1165 1165 901 901 902 902 1165 1165 902 902 1166 1166 1166 1166 902 902 903 903 1166 1166 903 903 916 916 910 910 1123 1123 911 911 911 911 1123 1123 1173 1173 911 911 1173 1173 912 912 912 912 1173 1173 1172 1172 912 912 1172 1172 913 913 913 913 1172 1172 1174 1174 913 913 1174 1174 914 914 914 914 1174 1174 1121 1121 1122 1122 925 925 924 924 1122 1122 924 924 1169 1169 1169 1169 924 924 926 926 1169 1169 926 926 1162 1162 1162 1162 926 926 927 927 1162 1162 927 927 1124 1124 1125 1125 928 928 930 930 1125 1125 930 930 1170 1170 1170 1170 930 930 931 931 1170 1170 931 931 1171 1171 1171 1171 931 931 921 921 1171 1171 921 921 1127 1127 938 938 1129 1129 935 935 935 935 1129 1129 1187 1187 935 935 1187 1187 934 934 934 934 1187 1187 1186 1186 934 934 1186 1186 933 933 933 933 1186 1186 1188 1188 933 933 1188 1188 932 932 932 932 1188 1188 1126 1126 943 943 1131 1131 944 944 944 944 1131 1131 1190 1190 944 944 1190 1190 945 945 945 945 1190 1190 1189 1189 945 945 1189 1189 936 936 936 936 1189 1189 1128 1128 1130 1130 947 947 946 946 1130 1130 946 946 1176 1176 1176 1176 946 946 948 948 1176 1176 948 948 1177 1177 1177 1177 948 948 949 949 1177 1177 949 949 1132 1132 1133 1133 950 950 951 951 1133 1133 951 951 1178 1178 1178 1178 951 951 956 956 1178 1178 956 956 1179 1179 1179 1179 956 956 955 955 1179 1179 955 955 1135 1135 960 960 1136 1136 961 961 961 961 1136 1136 1196 1196 961 961 1196 1196 962 962 962 962 1196 1196 1197 1197 962 962 1197 1197 963 963 963 963 1197 1197 1134 1134 979 979 1138 1138 980 980 980 980 1138 1138 1195 1195 980 980 1195 1195 975 975 975 975 1195 1195 1194 1194 975 975 1194 1194 959 959 959 959 1194 1194 1137 1137 959 959 1137 1137 957 957 978 978 977 977 1139 1139 1139 1139 977 977 1157 1157 977 977 982 982 1157 1157 1157 1157 982 982 981 981 1157 1157 981 981 1151 1151 1151 1151 981 981 983 983 1151 1151 983 983 1161 1161 987 987 1142 1142 966 966 966 966 1142 1142 1184 1184 1141 1141 972 972 1183 1183 1183 1183 972 972 971 971 1183 1183 971 971 1184 1184 1184 1184 971 971 967 967 1184 1184 967 967 966 966 973 973 1140 1140 974 974 974 974 1140 1140 1175 1175 974 974 1175 1175 986 986 986 986 1175 1175 1153 1153 986 986 1153 1153 985 985 985 985 1153 1153 1152 1152 985 985 1152 1152 984 984 1006 1006 1144 1144 1005 1005 1005 1005 1144 1144 1185 1185 1005 1005 1185 1185 420 420 420 420 1185 1185 421 421 1143 1143 996 996 998 998 1143 1143 998 998 1155 1155 1155 1155 998 998 427 427 1155 1155 427 427 426 426 1161 1161 983 983 1152 1152 1152 1152 983 983 984 984</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link1" name="link1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link1-mesh" name="link1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/2.dae b/api/mesh/2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..8cbda8ed6e4eeb94c6d1e16446d63ddd9db8f5e3
--- /dev/null
+++ b/api/mesh/2.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:51:58</created>
+    <modified>2024-07-25T15:51:58</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="link2-mesh" name="link2">
+      <mesh>
+        <source id="link2-mesh-positions">
+          <float_array id="link2-mesh-positions-array" count="36102">-0.2754959 0.03364217 2.7815e-4 -0.2754163 0.03864157 2.7815e-4 -0.2753121 0.0386399 -0.001601934 -0.2753917 0.0336405 -0.001601934 -0.2749151 0.03863358 -0.003442645 -0.2749947 0.03363418 -0.003442645 -0.2742351 0.03862273 -0.005198538 -0.2743147 0.03362339 -0.005198538 -0.2732889 0.03860765 -0.00682646 -0.2733685 0.03360831 -0.00682646 -0.2720996 0.0385887 -0.008286297 -0.2721792 0.03358936 -0.008286297 -0.2706966 0.03856635 -0.009542047 -0.2707763 0.03356701 -0.009542047 -0.2691145 0.03854119 -0.01056289 -0.2691941 0.03354179 -0.01056289 -0.2673922 0.03851372 -0.01132363 -0.2674719 0.03351438 -0.01132363 -0.2655721 0.03848475 -0.01180553 -0.2656518 0.03348535 -0.01180553 -0.2636991 0.03845489 -0.01199674 -0.2637788 0.03345555 -0.01199674 -0.2618192 0.03842496 -0.01189255 -0.2618988 0.03342556 -0.01189255 -0.2599788 0.03839564 -0.01149553 -0.2600584 0.0333963 -0.01149553 -0.2582231 0.03836768 -0.01081544 -0.2583027 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link2" name="link2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link2-mesh" name="link2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/3.dae b/api/mesh/3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..82b30335128fdfaf8f8712401602cae4dbe028a4
--- /dev/null
+++ b/api/mesh/3.dae
@@ -0,0 +1,155 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T16:44:44</created>
+    <modified>2024-07-25T16:44:44</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_0240624新车渲染专用_cast_aluminum_229_-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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12758 12653</p>
+        </triangles>
+        <triangles material="粗糙硬塑料_红色__2-material" count="814">
+          <input semantic="VERTEX" source="#link3_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#link3_001-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link3" name="link3" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link3_001-mesh" name="link3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_0240624新车渲染专用_cast_aluminum_229_-material" target="#_0240624新车渲染专用_cast_aluminum_229_-material"/>
+              <instance_material symbol="_0240624新车渲染专用___20240126115051_2-material" target="#_0240624新车渲染专用___20240126115051_2-material"/>
+              <instance_material symbol="粗糙硬塑料_红色__2-material" target="#粗糙硬塑料_红色__2-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/4.dae b/api/mesh/4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0f741e5b3550f22c186dc033509f12a049feb0c0
--- /dev/null
+++ b/api/mesh/4.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:52:57</created>
+    <modified>2024-07-25T15:52:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="link4-mesh" name="link4">
+      <mesh>
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1991 1830 1826 1828 1824 1992 1988 1992 1988 1828 1824 1826 1822 1992 1988 1826 1822 1868 1864 1868 1864 1826 1822 1824 1820 1868 1864 1824 1820 1931 1927 1931 1927 1824 1820 1846 1842 1931 1927 1846 1842 1930 1926 1930 1926 1846 1842 1844 1840 1930 1926 1844 1840 1929 1925 1929 1925 1844 1840 1928 1924 1996 1992 1708 1704 1984 1980 1984 1980 1708 1704 1709 1705 1984 1980 1709 1705 1710 1706 1997 1993 1998 1994 1854 1850 1854 1850 1998 1994 1999 1995 1854 1850 1999 1995 1856 1852 1856 1852 1999 1995 2000 1996 1856 1852 2000 1996 1988 1984 2001 1997 1705 1701 2002 1998 2002 1998 1705 1701 1706 1702 2002 1998 1706 1702 1996 1992 1996 1992 1706 1702 1707 1703 1996 1992 1707 1703 1708 1704 1818 1814 2003 1999 1981 1977 1981 1977 2003 1999 2004 2000 1981 1977 2004 2000 2001 1997 2001 1997 2004 2000 1998 1994 2001 1997 1998 1994 1705 1701 1705 1701 1998 1994 1997 1993 1705 1701 1997 1993 1704 1700 1704 1700 1997 1993 1995 1991 1704 1700 1995 1991 1703 1699 1703 1699 1995 1991 1702 1698 1790 1786 2005 2001 1968 1964 2006 2002 2007 2003 2008 2004 2008 2004 1797 1793 2006 2002 2006 2002 1797 1793 1796 1792 2006 2002 1796 1792 1794 1790 1794 1790 1793 1789 2006 2002 2006 2002 1793 1789 1786 1782 2006 2002 1786 1782 1785 1781 1802 1798 1801 1797 1951 1947 1801 1797 1799 1795 1951 1947 1951 1947 1799 1795 1805 1801 1951 1947 1805 1801 1804 1800 1790 1786 1968 1964 1788 1784 1804 1800 1808 1804 1951 1947 1951 1947 1808 1804 1807 1803 1951 1947 1807 1803 1968 1964 1968 1964 1807 1803 1806 1802 1968 1964 1806 1802 1788 1784 2009 2005 2010 2006 1967 1963 2005 2001 2011 2007 1968 1964 1968 1964 2011 2007 2012 2008 1968 1964 2012 2008 1967 1963 1967 1963 2012 2008 2013 2009 1967 1963 2013 2009 2009 2005 2010 2006 2014 2010 1967 1963 1967 1963 2014 2010 2015 2011 1967 1963 2015 2011 2016 2012 2017 2013 2018 2014 2019 2015 2019 2015 2020 2016 2017 2013 2017 2013 2020 2016 2021 2017 2017 2013 2021 2017 2007 2003 2007 2003 2021 2017 2022 2018 2007 2003 2022 2018 2008 2004 1783 1779 1784 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2032 1955 1951 2036 2032 1954 1950 1954 1950 2036 2032 2037 2033 1954 1950 2037 2033 1947 1943 1947 1943 2037 2033 2038 2034 1947 1943 2038 2034 1749 1745 1749 1745 2038 2034 1750 1746 1790 1786 1791 1787 2005 2001 2005 2001 1791 1787 1978 1974 2005 2001 1978 1974 2011 2007 2011 2007 1978 1974 2012 2008 2012 2008 1978 1974 1974 1970 2012 2008 1974 1970 2013 2009 1973 1969 2010 2006 1974 1970 1974 1970 2010 2006 2009 2005 1974 1970 2009 2005 2013 2009 1972 1968 2015 2011 1973 1969 1973 1969 2015 2011 2014 2010 1973 1969 2014 2010 2010 2006 1971 1967 2020 2016 1972 1968 1972 1968 2020 2016 2019 2015 2019 2015 2018 2014 1972 1968 1972 1968 2018 2014 2016 2012 1972 1968 2016 2012 2015 2011 1975 1971 1795 1791 1797 1793 1797 1793 2008 2004 1975 1971 1975 1971 2008 2004 2022 2018 1975 1971 2022 2018 1971 1967 1971 1967 2022 2018 2021 2017 1971 1967 2021 2017 2020 2016 1980 1976 1718 1714 1810 1806 1810 1806 1718 1714 1716 1712 1810 1806 1716 1712 1715 1711 1720 1716 1713 1709 1979 1975 1979 1975 1713 1709 1712 1708 1979 1975 1712 1708 1980 1976 1980 1976 1712 1708 1719 1715 1980 1976 1719 1715 1718 1714 1720 1716 1979 1975 1721 1717 1721 1717 1979 1975 1977 1973 1721 1717 1977 1973 1722 1718 1722 1718 1977 1973 1969 1965 1722 1718 1969 1965 1723 1719 1723 1719 1969 1965 1724 1720 1724 1720 1969 1965 1970 1966 1724 1720 1970 1966 1726 1722 1726 1722 1970 1966 1727 1723 1727 1723 1970 1966 1976 1972 1727 1723 1976 1972 1728 1724 1728 1724 1976 1972 1730 1726 1730 1726 1976 1972 1811 1807 1730 1726 1811 1807 1731 1727 1837 1833 1838 1834 2039 2035 2039 2035 1838 1834 1991 1987 2039 2035 1991 1987 2040 2036 2040 2036 1991 1987 1990 1986 2040 2036 1990 1986 2041 2037 2041 2037 1990 1986 1989 1985 2041 2037 1989 1985 2042 2038 2042 2038 1989 1985 1988 1984 2042 2038 1988 1984 2043 2039 2043 2039 1988 1984 2000 1996 2043 2039 2000 1996 2044 2040 2044 2040 2000 1996 1999 1995 2044 2040 1999 1995 2045 2041 2045 2041 1999 1995 1998 1994 2045 2041 1998 1994 2046 2042 2046 2042 1998 1994 2004 2000 2046 2042 2004 2000 2047 2043 2047 2043 2004 2000 2003 1999 2047 2043 2003 1999 1817 1813 1817 1813 2003 1999 1818 1814 1851 1847 1852 1848 2048 2044 2048 2044 1852 1848 1981 1977 2048 2044 1981 1977 2049 2045 2049 2045 1981 1977 2001 1997 2049 2045 2001 1997 2050 2046 2050 2046 2001 1997 2002 1998 2050 2046 2002 1998 2051 2047 2051 2047 2002 1998 1996 1992 2051 2047 1996 1992 2052 2048 2052 2048 1996 1992 1984 1980 2052 2048 1984 1980 1839 1835 1839 1835 1984 1980 1840 1836 1865 1861 1866 1862 2053 2049 2053 2049 1866 1862 1987 1983 2053 2049 1987 1983 2054 2050 2054 2050 1987 1983 1983 1979 2054 2050 1983 1979 2055 2051 2055 2051 1983 1979 1982 1978 2055 2051 1982 1978 2056 2052 2056 2052 1982 1978 1995 1991 2056 2052 1995 1991 2057 2053 2057 2053 1995 1991 1997 1993 2057 2053 1997 1993 1853 1849 1853 1849 1997 1993 1854 1850 1879 1875 1880 1876 2058 2054 2058 2054 1880 1876 1985 1981 2058 2054 1985 1981 2059 2055 2059 2055 1985 1981 1986 1982 2059 2055 1986 1982 2060 2056 2060 2056 1986 1982 1994 1990 2060 2056 1994 1990 2061 2057 2061 2057 1994 1990 1993 1989 2061 2057 1993 1989 2062 2058 2062 2058 1993 1989 1992 1988 2062 2058 1992 1988 1867 1863 1867 1863 1992 1988 1868 1864 1758 1754 1867 1863 1760 1756 1760 1756 1867 1863 1762 1758 1762 1758 1867 1863 1764 1760 1764 1760 1867 1863 1869 1865 1764 1760 1869 1865 1766 1762 1766 1762 1869 1865 1871 1867 1766 1762 1871 1867 1768 1764 1768 1764 1871 1867 1770 1766 1770 1766 1871 1867 1873 1869 1770 1766 1873 1869 1772 1768 1772 1768 1873 1869 1774 1770 1774 1770 1873 1869 1875 1871 1774 1770 1875 1871 1776 1772 1817 1813 1851 1847 2047 2043 2047 2043 1851 1847 2048 2044 2049 2045 2045 2041 2048 2044 2048 2044 2045 2041 2046 2042 2048 2044 2046 2042 2047 2043 1776 1772 1875 1871 1778 1774 1778 1774 1875 1871 1877 1873 1778 1774 1877 1873 1734 1730 2055 2051 2056 2052 2029 2025 1853 1849 2036 2032 2035 2031 1839 1835 2037 2033 2052 2048 2052 2048 2037 2033 2036 2032 2052 2048 2036 2032 2051 2047 2051 2047 2036 2032 2050 2046 1837 1833 1859 1855 1861 1857 2057 2053 2031 2027 2056 2052 2056 2052 2031 2027 2030 2026 2056 2052 2030 2026 2029 2025 1837 1833 2039 2035 1859 1855 1859 1855 2039 2035 2040 2036 1859 1855 2040 2036 1857 1853 1857 1853 2040 2036 2041 2037 1857 1853 2041 2037 1855 1851 2062 2058 1829 1825 2061 2057 2061 2057 1829 1825 1831 1827 2061 2057 1831 1827 2060 2056 1752 1748 1750 1746 1839 1835 1839 1835 1750 1746 2038 2034 1839 1835 2038 2034 2037 2033 1734 1730 1877 1873 1729 1725 1729 1725 1877 1873 1879 1875 1729 1725 1879 1875 1725 1721 1725 1721 1879 1875 2058 2054 1725 1721 2058 2054 2059 2055 1865 1861 2024 2020 1863 1859 1863 1859 2024 2020 2023 2019 1863 1859 2023 2019 1784 1780 2053 2049 2007 2003 1865 1861 1865 1861 2007 2003 2006 2002 1865 1861 2006 2002 2024 2020 2054 2050 2025 2021 2053 2049 2053 2049 2025 2021 2017 2013 2053 2049 2017 2013 2007 2003 2029 2025 2028 2024 2055 2051 2055 2051 2028 2024 2027 2023 2055 2051 2027 2023 2054 2050 2054 2050 2027 2023 2026 2022 2054 2050 2026 2022 2025 2021 2035 2031 2034 2030 1853 1849 1853 1849 2034 2030 2033 2029 1853 1849 2033 2029 2057 2053 2057 2053 2033 2029 2032 2028 2057 2053 2032 2028 2031 2027 2041 2037 2042 2038 1855 1851 1855 1851 2042 2038 2043 2039 1855 1851 2043 2039 1853 1849 1853 1849 2043 2039 2044 2040 1853 1849 2044 2040 2036 2032 2036 2032 2044 2040 2045 2041 2036 2032 2045 2041 2050 2046 2050 2046 2045 2041 2049 2045 1831 1827 1833 1829 2060 2056 2060 2056 1833 1829 1835 1831 2060 2056 1835 1831 2059 2055 2059 2055 1835 1831 1837 1833 2059 2055 1837 1833 1725 1721 1725 1721 1837 1833 1861 1857 1725 1721 1861 1857 1780 1776 1780 1776 1861 1857 1863 1859 1780 1776 1863 1859 1782 1778 1782 1778 1863 1859 1784 1780 1752 1748 1839 1835 1754 1750 1754 1750 1839 1835 1841 1837 1754 1750 1841 1837 1756 1752 1841 1837 1843 1839 1756 1752 1756 1752 1843 1839 1845 1841 1756 1752 1845 1841 1819 1815 1819 1815 1845 1841 1847 1843 1819 1815 1847 1843 1817 1813 1817 1813 1847 1843 1849 1845 1817 1813 1849 1845 1851 1847 1819 1815 1821 1817 1756 1752 1756 1752 1821 1817 1823 1819 1756 1752 1823 1819 1825 1821 1758 1754 1756 1752 1867 1863 1867 1863 1756 1752 1825 1821 1867 1863 1825 1821 2062 2058 2062 2058 1825 1821 1827 1823 2062 2058 1827 1823 1829 1825</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link4" name="link4" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link4-mesh" name="link4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/5.dae b/api/mesh/5.dae
new file mode 100644
index 0000000000000000000000000000000000000000..16d1328a1cfbd605b37a1e26f1eb52e6904c7d89
--- /dev/null
+++ b/api/mesh/5.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:53:36</created>
+    <modified>2024-07-25T15:53:36</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="link5-mesh" name="link5">
+      <mesh>
+        <source id="link5-mesh-positions">
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+        <instance_geometry url="#link5-mesh" name="link5">
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+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/6.dae b/api/mesh/6.dae
new file mode 100644
index 0000000000000000000000000000000000000000..ef1111708b18802bb73918f951088cd10605ad69
--- /dev/null
+++ b/api/mesh/6.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:54:22</created>
+    <modified>2024-07-25T15:54:22</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+      <profile_COMMON>
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+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
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4541 4423 4521 4403 4520 4402 4544 4426 4397 4279 4399 4281 4526 4408 4525 4407 4545 4427 4545 4427 4546 4428 4526 4408 4526 4408 4546 4428 4547 4429 4526 4408 4547 4429 4519 4401 4519 4401 4547 4429 4548 4430 4519 4401 4548 4430 4510 4392 4510 4392 4548 4430 4549 4431 4510 4392 4549 4431 4511 4393 4511 4393 4549 4431 4544 4426 4511 4393 4544 4426 4515 4397 4515 4397 4544 4426 4399 4281 4550 4432 4501 4383 4502 4384 4550 4432 4502 4384 4551 4433 4551 4433 4502 4384 4552 4434 4551 4433 4552 4434 4553 4435 4553 4435 4552 4434 4554 4436 4554 4436 4552 4434 4555 4437 4554 4436 4555 4437 4556 4438 4556 4438 4555 4437 4398 4280 4556 4438 4398 4280 4397 4279 4557 4439 4558 4440 4498 4380 4559 4441 4560 4442 4494 4376 4561 4443 4562 4444 4488 4370 4561 4443 4488 4370 4398 4280 4398 4280 4488 4370 4477 4359 4398 4280 4477 4359 4400 4282 4559 4441 4494 4376 4562 4444 4562 4444 4494 4376 4486 4368 4562 4444 4486 4368 4488 4370 4557 4439 4498 4380 4560 4442 4560 4442 4498 4380 4495 4377 4560 4442 4495 4377 4494 4376 4563 4445 4407 4289 4406 4288 4500 4382 4499 4381 4564 4446 4564 4446 4565 4447 4500 4382 4500 4382 4565 4447 4566 4448 4500 4382 4566 4448 4493 4375 4493 4375 4566 4448 4567 4449 4493 4375 4567 4449 4484 4366 4484 4366 4567 4449 4568 4450 4484 4366 4568 4450 4485 4367 4485 4367 4568 4450 4563 4445 4485 4367 4563 4445 4489 4371 4489 4371 4563 4445 4406 4288 4384 4266 4476 4358 4483 4365 4483 4365 4476 4358 4569 4451 4483 4365 4569 4451 4478 4360 4478 4360 4569 4451 4479 4361 4479 4361 4569 4451 4570 4452 4479 4361 4570 4452 4490 4372 4490 4372 4570 4452 4491 4373 4491 4373 4570 4452 4564 4446 4491 4373 4564 4446 4497 4379 4496 4378 4558 4440 4571 4453 4496 4378 4571 4453 4492 4374 4492 4374 4571 4453 4572 4454 4492 4374 4572 4454 4480 4362 4480 4362 4572 4454 4573 4455 4480 4362 4573 4455 4487 4369 4487 4369 4573 4455 4574 4456 4487 4369 4574 4456 4481 4363 4481 4363 4574 4456 4575 4457 4481 4363 4575 4457 4482 4364 4482 4364 4575 4457 4502 4384 4482 4364 4502 4384 4383 4265 4558 4440 4496 4378 4498 4380 4564 4446 4499 4381 4497 4379 4380 4262 4501 4383 4509 4391 4509 4391 4501 4383 4576 4458 4509 4391 4576 4458 4504 4386 4504 4386 4576 4458 4505 4387 4505 4387 4576 4458 4577 4459 4505 4387 4577 4459 4516 4398 4516 4398 4577 4459 4517 4399 4517 4399 4577 4459 4545 4427 4517 4399 4545 4427 4523 4405 4545 4427 4525 4407 4523 4405 4522 4404 4539 4421 4578 4460 4507 4389 4513 4395 4579 4461 4579 4461 4513 4395 4506 4388 4579 4461 4506 4388 4578 4460 4578 4460 4506 4388 4518 4400 4578 4460 4518 4400 4522 4404 4507 4389 4579 4461 4508 4390 4508 4390 4579 4461 4527 4409 4508 4390 4527 4409 4381 4263 4539 4421 4522 4404 4524 4406 4407 4289 4563 4445 4580 4462 4407 4289 4581 4463 4528 4410 4568 4450 4567 4449 4582 4464 4528 4410 4581 4463 4529 4411 4531 4413 4530 4412 4583 4465 4584 4466 4569 4451 4532 4414 4532 4414 4569 4451 4476 4358 4566 4448 4565 4447 4585 4467 4585 4467 4565 4447 4564 4446 4585 4467 4564 4446 4570 4452 4567 4449 4566 4448 4582 4464 4582 4464 4566 4448 4585 4467 4582 4464 4585 4467 4584 4466 4584 4466 4585 4467 4570 4452 4584 4466 4570 4452 4569 4451 4530 4412 4529 4411 4583 4465 4583 4465 4529 4411 4581 4463 4583 4465 4581 4463 4580 4462 4580 4462 4581 4463 4407 4289 4563 4445 4568 4450 4580 4462 4580 4462 4568 4450 4582 4464 4580 4462 4582 4464 4583 4465 4583 4465 4582 4464 4584 4466 4583 4465 4584 4466 4531 4413 4531 4413 4584 4466 4532 4414 4541 4423 4540 4422 4586 4468 4543 4425 4542 4424 4587 4469 4587 4469 4542 4424 4390 4272 4533 4415 4588 4470 4390 4272 4540 4422 4543 4425 4586 4468 4586 4468 4543 4425 4587 4469 4586 4468 4587 4469 4588 4470 4588 4470 4587 4469 4390 4272 4534 4416 4535 4417 4589 4471 4589 4471 4535 4417 4536 4418 4590 4472 4589 4471 4591 4473 4591 4473 4589 4471 4536 4418 4591 4473 4536 4418 4537 4419 4538 4420 4541 4423 4590 4472 4590 4472 4541 4423 4586 4468 4590 4472 4586 4468 4589 4471 4589 4471 4586 4468 4588 4470 4589 4471 4588 4470 4534 4416 4534 4416 4588 4470 4533 4415 4539 4421 4538 4420 4578 4460 4578 4460 4538 4420 4590 4472 4578 4460 4590 4472 4579 4461 4579 4461 4590 4472 4591 4473 4579 4461 4591 4473 4527 4409 4527 4409 4591 4473 4537 4419 4397 4279 4544 4426 4592 4474 4397 4279 4593 4475 4556 4438 4549 4431 4548 4430 4594 4476 4556 4438 4593 4475 4554 4436 4551 4433 4553 4435 4595 4477 4596 4478 4576 4458 4550 4432 4550 4432 4576 4458 4501 4383 4547 4429 4546 4428 4597 4479 4597 4479 4546 4428 4545 4427 4597 4479 4545 4427 4577 4459 4548 4430 4547 4429 4594 4476 4594 4476 4547 4429 4597 4479 4594 4476 4597 4479 4596 4478 4596 4478 4597 4479 4577 4459 4596 4478 4577 4459 4576 4458 4553 4435 4554 4436 4595 4477 4595 4477 4554 4436 4593 4475 4595 4477 4593 4475 4592 4474 4592 4474 4593 4475 4397 4279 4544 4426 4549 4431 4592 4474 4592 4474 4549 4431 4594 4476 4592 4474 4594 4476 4595 4477 4595 4477 4594 4476 4596 4478 4595 4477 4596 4478 4551 4433 4551 4433 4596 4478 4550 4432 4558 4440 4557 4439 4598 4480 4558 4440 4599 4481 4571 4453 4560 4442 4559 4441 4600 4482 4571 4453 4599 4481 4572 4454 4574 4456 4573 4455 4601 4483 4602 4484 4552 4434 4575 4457 4575 4457 4552 4434 4502 4384 4562 4444 4561 4443 4603 4485 4603 4485 4561 4443 4398 4280 4603 4485 4398 4280 4555 4437 4559 4441 4562 4444 4600 4482 4600 4482 4562 4444 4603 4485 4600 4482 4603 4485 4602 4484 4602 4484 4603 4485 4555 4437 4602 4484 4555 4437 4552 4434 4573 4455 4572 4454 4601 4483 4601 4483 4572 4454 4599 4481 4601 4483 4599 4481 4598 4480 4598 4480 4599 4481 4558 4440 4557 4439 4560 4442 4598 4480 4598 4480 4560 4442 4600 4482 4598 4480 4600 4482 4601 4483 4601 4483 4600 4482 4602 4484 4601 4483 4602 4484 4574 4456 4574 4456 4602 4484 4575 4457</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link6" name="link6" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link6-mesh" name="link6">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/7.dae b/api/mesh/7.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3ad89fc37fbc475e14b099f84a631911bae2e112
--- /dev/null
+++ b/api/mesh/7.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:54:50</created>
+    <modified>2024-07-25T15:54:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link7" name="link7" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link7-mesh" name="link7">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/8.dae b/api/mesh/8.dae
new file mode 100644
index 0000000000000000000000000000000000000000..54f0405ff5c3bd4427e2cb614fc98f1ce01a8dbe
--- /dev/null
+++ b/api/mesh/8.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:55:22</created>
+    <modified>2024-07-25T15:55:22</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="link8-mesh" name="link8">
+      <mesh>
+        <source id="link8-mesh-positions">
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547 547 405 405 519 519 519 519 405 405 520 520 405 405 403 403 520 520 520 520 403 403 401 401 520 520 401 401 399 399 548 548 407 407 549 549 549 549 407 407 550 550 549 549 550 550 551 551 552 552 553 553 549 549 549 549 553 553 554 554 549 549 554 554 519 519 519 519 554 554 555 555 519 519 555 555 547 547 546 546 411 411 548 548 548 548 411 411 409 409 548 548 409 409 407 407 551 551 556 556 549 549 549 549 556 556 557 557 549 549 557 557 552 552 552 552 557 557 558 558 552 552 558 558 393 393 393 393 558 558 419 419 393 393 419 419 395 395 395 395 419 419 397 397 397 397 419 419 399 399 399 399 419 419 417 417 399 399 417 417 520 520 520 520 417 417 415 415 520 520 415 415 546 546 546 546 415 415 413 413 546 546 413 413 411 411 518 518 559 559 519 519 519 519 559 559 549 549 560 560 448 448 518 518 518 518 448 448 450 450 561 561 432 432 562 562 432 432 561 561 430 430 430 430 561 561 559 559 430 430 559 559 428 428 562 562 563 563 561 561 561 561 563 563 564 564 561 561 564 564 521 521 420 420 440 440 442 442 450 450 452 452 518 518 518 518 452 452 454 454 518 518 454 454 559 559 559 559 454 454 456 456 559 559 456 456 458 458 458 458 460 460 559 559 559 559 460 460 565 565 559 559 565 565 428 428 428 428 565 565 566 566 428 428 566 566 426 426 426 426 566 566 567 567 426 426 567 567 424 424 424 424 567 567 568 568 424 424 568 568 422 422 564 564 569 569 521 521 521 521 569 569 570 570 521 521 570 570 571 571 420 420 422 422 440 440 440 440 422 422 568 568 440 440 568 568 438 438 438 438 568 568 560 560 438 438 560 560 436 436 436 436 560 560 518 518 436 436 518 518 434 434 434 434 518 518 521 521 434 434 521 521 572 572 572 572 521 521 571 571 442 442 444 444 420 420 420 420 444 444 446 446 420 420 446 446 573 573 573 573 446 446 574 574 573 573 574 574 569 569 569 569 574 574 575 575 569 569 575 575 570 570 521 521 522 522 561 561 561 561 522 522 576 576 577 577 576 576 523 523 523 523 576 576 522 522 516 516 578 578 523 523 523 523 578 578 577 577 579 579 578 578 516 516 516 516 517 517 531 531 580 580 579 579 581 581 581 581 579 579 516 516 581 581 516 516 582 582 582 582 516 516 531 531 583 583 535 535 536 536 584 584 585 585 524 524 524 524 585 585 583 583 524 524 583 583 525 525 525 525 583 583 536 536 510 510 509 509 527 527 527 527 509 509 528 528 531 531 530 530 586 586 531 531 586 586 582 582 582 582 586 586 587 587 582 582 587 587 581 581 581 581 587 587 588 588 581 581 588 588 580 580 580 580 588 588 589 589 580 580 589 589 579 579 583 583 590 590 591 591 591 591 590 590 592 592 591 591 592 592 534 534 533 533 593 593 532 532 532 532 593 593 594 594 532 532 594 594 595 595 533 533 534 534 593 593 593 593 534 534 592 592 530 530 529 529 595 595 596 596 597 597 595 595 598 598 599 599 540 540 586 586 530 530 587 587 587 587 530 530 595 595 587 587 595 595 588 588 588 588 595 595 589 589 600 600 601 601 602 602 602 602 601 601 598 598 602 602 598 598 603 603 603 603 598 598 540 540 604 604 605 605 589 589 589 589 605 605 489 489 589 589 489 489 601 601 606 606 607 607 485 485 483 483 481 481 501 501 501 501 481 481 479 479 501 501 479 479 503 503 503 503 479 479 477 477 503 503 477 477 608 608 608 608 477 477 609 609 608 608 609 609 610 610 604 604 589 589 611 611 611 611 589 589 595 595 611 611 595 595 610 610 610 610 595 595 597 597 610 610 597 597 608 608 489 489 487 487 601 601 601 601 487 487 485 485 601 601 485 485 475 475 475 475 485 485 607 607 612 612 491 491 594 594 594 594 491 491 613 613 594 594 613 613 595 595 595 595 613 613 614 614 595 595 614 614 596 596 467 467 612 612 469 469 469 469 612 612 598 598 469 469 598 598 471 471 471 471 598 598 601 601 471 471 601 601 473 473 473 473 601 601 475 475 497 497 495 495 612 612 612 612 495 495 493 493 612 612 493 493 491 491 615 615 497 497 463 463 463 463 497 497 612 612 463 463 612 612 465 465 465 465 612 612 467 467 606 606 485 485 616 616 616 616 485 485 483 483 616 616 483 483 617 617 617 617 483 483 501 501 617 617 501 501 615 615 615 615 501 501 499 499 615 615 499 499 497 497 546 546 548 548 545 545 545 545 548 548 601 601 545 545 601 601 544 544 601 601 600 600 544 544 544 544 600 600 602 602 544 544 602 602 542 542 542 542 602 602 603 603 542 542 603 603 543 543 543 543 603 603 540 540 543 543 540 540 539 539 578 578 579 579 589 589 561 561 576 576 577 577 577 577 578 578 561 561 561 561 578 578 589 589 561 561 589 589 559 559 559 559 589 589 601 601 559 559 601 601 549 549 549 549 601 601 548 548 404 404 405 405 618 618 618 618 405 405 547 547 618 618 547 547 619 619 619 619 547 547 555 555 619 619 555 555 620 620 620 620 555 555 554 554 620 620 554 554 621 621 621 621 554 554 553 553 621 621 553 553 622 622 622 622 553 553 552 552 622 622 552 552 392 392 392 392 552 552 393 393 418 418 419 419 623 623 623 623 419 419 558 558 623 623 558 558 624 624 624 624 558 558 557 557 624 624 557 557 625 625 625 625 557 557 556 556 625 625 556 556 626 626 626 626 556 556 551 551 626 626 551 551 627 627 627 627 551 551 550 550 627 627 550 550 406 406 406 406 550 550 407 407 432 432 433 433 562 562 562 562 433 433 628 628 562 562 628 628 563 563 563 563 628 628 629 629 563 563 629 629 564 564 564 564 629 629 630 630 564 564 630 630 569 569 569 569 630 630 631 631 569 569 631 631 573 573 573 573 631 631 632 632 573 573 632 632 420 420 420 420 632 632 421 421 446 446 447 447 574 574 574 574 447 447 633 633 574 574 633 633 575 575 575 575 633 633 634 634 575 575 634 634 570 570 570 570 634 634 635 635 570 570 635 635 571 571 571 571 635 635 636 636 571 571 636 636 572 572 572 572 636 636 637 637 572 572 637 637 434 434 434 434 637 637 435 435 460 460 461 461 565 565 565 565 461 461 638 638 565 565 638 638 566 566 566 566 638 638 639 639 566 566 639 639 567 567 567 567 639 639 640 640 567 567 640 640 568 568 568 568 640 640 641 641 568 568 641 641 560 560 560 560 641 641 642 642 560 560 642 642 448 448 448 448 642 642 449 449 590 590 583 583 643 643 643 643 583 583 644 644 593 593 592 592 594 594 594 594 592 592 590 590 594 594 590 590 612 612 474 474 475 475 645 645 645 645 475 475 607 607 645 645 607 607 646 646 646 646 607 607 606 606 646 646 606 606 647 647 647 647 606 606 616 616 647 647 616 616 648 648 648 648 616 616 617 617 648 648 617 617 649 649 649 649 617 617 615 615 649 649 615 615 462 462 462 462 615 615 463 463 488 488 489 489 650 650 650 650 489 489 605 605 650 650 605 605 651 651 651 651 605 605 604 604 651 651 604 604 652 652 652 652 604 604 611 611 652 652 611 611 653 653 653 653 611 611 610 610 653 653 610 610 654 654 654 654 610 610 609 609 654 654 609 609 476 476 476 476 609 609 477 477 502 502 503 503 655 655 655 655 503 503 608 608 655 655 608 608 656 656 656 656 608 608 597 597 656 656 597 597 657 657 657 657 597 597 596 596 657 657 596 596 658 658 658 658 596 596 614 614 658 658 614 614 659 659 659 659 614 614 613 613 659 659 613 613 490 490 490 490 613 613 491 491 404 404 618 618 619 619 392 392 394 394 396 396 622 622 392 392 621 621 621 621 392 392 404 404 621 621 404 404 620 620 620 620 404 404 619 619 402 402 404 404 400 400 400 400 404 404 392 392 400 400 392 392 398 398 398 398 392 392 396 396 625 625 626 626 627 627 412 412 414 414 625 625 625 625 414 414 416 416 416 416 418 418 625 625 625 625 418 418 623 623 625 625 623 623 624 624 410 410 412 412 408 408 408 408 412 412 625 625 408 408 625 625 406 406 406 406 625 625 627 627 628 628 650 650 629 629 629 629 650 650 651 651 629 629 651 651 630 630 630 630 651 651 652 652 630 630 652 652 631 631 631 631 652 652 653 653 631 631 653 653 632 632 632 632 653 653 654 654 632 632 654 654 421 421 421 421 654 654 476 476 421 421 476 476 423 423 423 423 476 476 478 478 423 423 478 478 425 425 425 425 478 478 480 480 425 425 480 480 427 427 427 427 480 480 482 482 427 427 482 482 429 429 429 429 482 482 484 484 429 429 484 484 431 431 431 431 484 484 486 486 431 431 486 486 433 433 433 433 486 486 488 488 433 433 488 488 628 628 628 628 488 488 650 650 634 634 656 656 635 635 635 635 656 656 657 657 635 635 657 657 636 636 636 636 657 657 658 658 636 636 658 658 637 637 637 637 658 658 659 659 637 637 659 659 435 435 435 435 659 659 490 490 435 435 490 490 437 437 437 437 490 490 492 492 437 437 492 492 439 439 439 439 492 492 494 494 439 439 494 494 441 441 441 441 494 494 496 496 441 441 496 496 443 443 443 443 496 496 498 498 443 443 498 498 445 445 445 445 498 498 500 500 445 445 500 500 447 447 447 447 500 500 502 502 447 447 502 502 633 633 633 633 502 502 655 655 633 633 655 655 634 634 634 634 655 655 656 656 457 457 470 470 459 459 459 459 470 470 472 472 459 459 472 472 461 461 461 461 472 472 474 474 461 461 474 474 638 638 638 638 474 474 645 645 638 638 645 645 639 639 639 639 645 645 646 646 639 639 646 646 640 640 640 640 646 646 647 647 640 640 647 647 641 641 641 641 647 647 648 648 641 641 648 648 642 642 642 642 648 648 649 649 642 642 649 649 449 449 449 449 649 649 462 462 449 449 462 462 451 451 451 451 462 462 464 464 451 451 464 464 453 453 453 453 464 464 466 466 453 453 466 466 455 455 455 455 466 466 468 468 455 455 468 468 457 457 457 457 468 468 470 470</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link8" name="link8" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link8-mesh" name="link8">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/api/mesh/Image_269.png b/api/mesh/Image_269.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4b3af887c01514c08a6b9a669f1d0213f493e2d
--- /dev/null
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diff --git a/index.html b/index.html
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+<!doctype html>
+<html lang="zh-CN">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>RoboTwin Action Viewer</title>
+  <link rel="stylesheet" href="/static/style.css">
+</head>
+<body>
+<main class="app-shell">
+  <header class="topbar">
+    <div>
+      <p class="eyebrow">PARALLELVLA · ROBOTWIN ACTION VIEWER</p>
+      <h1>RoboTwin 动作与视频同步检查</h1>
+    </div>
+    <div class="selectors">
+      <label>
+        数据集
+        <select id="dataset-select"></select>
+      </label>
+      <label>
+        Episode
+        <select id="episode-select"></select>
+      </label>
+      <button id="reset-view" type="button">重置 3D 视角</button>
+    </div>
+  </header>
+
+  <section class="workspace" aria-label="RoboTwin 同步检查区">
+    <article class="panel model-panel">
+      <div class="panel-title">
+        <span>3D · Aloha action trajectory</span>
+        <span class="router-status"><b id="phase-label" data-phase="none">NO GATE RECORD</b><span id="frame-label" class="mono">frame —</span></span>
+      </div>
+      <div id="scene" aria-label="可旋转缩放的 RoboTwin Aloha 双臂模型"></div>
+      <div class="arm-legend">
+        <span id="default-arm-legend"><i class="left-arm"></i>左臂 · <i class="right-arm"></i>右臂</span>
+        <span id="async-gate-legend" hidden><i class="async-gate"></i>ASYNC 并行阶段</span>
+        <span id="sync-gate-legend" hidden><i class="sync-gate"></i>SYNC 同步阶段</span>
+        <span class="hint">拖动旋转 · 滚轮缩放 · 右键平移</span>
+      </div>
+    </article>
+
+    <article class="panel video-panel">
+      <div class="panel-title">
+        <span>RoboTwin recorded video</span>
+        <span id="fps-label" class="sync-state">MASTER · — FPS</span>
+      </div>
+      <div class="video-grid">
+        <figure class="camera-view head-camera">
+          <figcaption>主视角 · MASTER</figcaption>
+          <video id="head-video" muted playsinline preload="metadata"></video>
+        </figure>
+        <figure class="camera-view">
+          <figcaption>左腕视角</figcaption>
+          <video id="left-wrist-video" muted playsinline preload="metadata"></video>
+        </figure>
+        <figure class="camera-view">
+          <figcaption>右腕视角</figcaption>
+          <video id="right-wrist-video" muted playsinline preload="metadata"></video>
+        </figure>
+      </div>
+      <div id="episode-attributes" class="attributes mono"></div>
+    </article>
+  </section>
+
+  <section id="annotation-panel" class="annotation-panel panel" aria-label="Qwen 双臂子任务文本标注" hidden>
+    <div class="panel-title">
+      <span id="annotation-title">QWEN · CURRENT DUAL-ARM SUBTASK</span>
+      <span id="annotation-current-frame" class="mono">frame —</span>
+    </div>
+    <div class="annotation-body">
+      <div class="annotation-context">
+        <div class="annotation-role-row">
+          <span id="annotation-split" class="annotation-chip">—</span>
+          <span id="annotation-variant" class="annotation-chip">—</span>
+          <span id="object-arm-role" class="annotation-chip">OBJECT ARM · —</span>
+          <span id="drawer-arm-role" class="annotation-chip">DRAWER ARM · —</span>
+        </div>
+        <div class="annotation-current-grid">
+          <article class="annotation-target-card">
+            <p class="annotation-card-kicker">PI0.5 TRAIN TARGET · ORDERED DUAL ARM</p>
+            <p id="paired-subtask-text" class="annotation-target-text">—</p>
+            <p id="arm-activity-relation" class="activity-relation mono">—</p>
+          </article>
+          <article class="annotation-arm-card left-semantic-card">
+            <p class="annotation-card-kicker">LEFT ARM</p>
+            <p id="left-arm-semantic-key" class="annotation-semantic-key">—</p>
+            <p id="left-source-index" class="annotation-source-index mono">source frame —</p>
+            <p id="left-arm-semantic">—</p>
+          </article>
+          <article class="annotation-arm-card right-semantic-card">
+            <p class="annotation-card-kicker">RIGHT ARM</p>
+            <p id="right-arm-semantic-key" class="annotation-semantic-key">—</p>
+            <p id="right-source-index" class="annotation-source-index mono">source frame —</p>
+            <p id="right-arm-semantic">—</p>
+          </article>
+        </div>
+        <p id="annotation-provenance" class="annotation-provenance mono"></p>
+      </div>
+      <div class="annotation-timeline-area">
+        <div id="annotation-timeline" class="annotation-timeline" aria-label="Qwen 左右臂独立语义时间轴"></div>
+        <div id="annotation-legend" class="annotation-legend"></div>
+        <p class="annotation-note">上下两条时间轴分别表示 LEFT ARM 与 RIGHT ARM。色块重叠表示双臂同时动作；色块错开表示一臂动作时另一臂等待或保持。source frame 显示 native retime 为当前物理帧选择的左右臂独立源进度。</p>
+      </div>
+    </div>
+  </section>
+
+  <section class="transport panel" aria-label="统一播放控制">
+    <button id="play-button" class="play-button" type="button" aria-label="播放" disabled>▶</button>
+    <div class="timeline-wrap">
+      <div id="router-markers" aria-label="固定时间路由器边界"></div>
+      <div class="timeline-meta">
+        <span id="time-label" class="mono">00:00.000 / 00:00.000</span>
+        <span id="episode-meta">正在加载…</span>
+      </div>
+      <input id="timeline" type="range" min="0" max="1" step="0.001" value="0" aria-label="统一时间轴">
+    </div>
+    <label class="rate-control">
+      速度
+      <select id="rate-select">
+        <option value="0.25">0.25×</option>
+        <option value="0.5">0.5×</option>
+        <option value="1" selected>1×</option>
+        <option value="1.5">1.5×</option>
+        <option value="2">2×</option>
+      </select>
+    </label>
+    <span id="status" role="status">初始化中</span>
+  </section>
+</main>
+
+<script type="importmap">
+{
+  "imports": {
+    "three": "https://cdn.jsdelivr.net/npm/three@0.164.1/build/three.module.js",
+    "three/addons/": "https://cdn.jsdelivr.net/npm/three@0.164.1/examples/jsm/"
+  }
+}
+</script>
+<script type="module" src="/static/app.js"></script>
+</body>
+</html>
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entory.json"],"file_count":267,"payload_revision":"f1187253451a270ec8cc1ff8f4b8277f473e9e2e661ef525a82b34759f69a379","schema_version":"parallelvla.static_viewer_inventory.v1","total_bytes":260493706}
diff --git a/static/app.js b/static/app.js
new file mode 100644
index 0000000000000000000000000000000000000000..f08d517afeaec7bb1ab08b9f8d73e0a1cf9b45d6
--- /dev/null
+++ b/static/app.js
@@ -0,0 +1,637 @@
+import * as THREE from "three";
+import { OrbitControls } from "three/addons/controls/OrbitControls.js";
+import { ColladaLoader } from "three/addons/loaders/ColladaLoader.js";
+
+const COLORS = {
+  left: 0x4d9fe8,
+  right: 0xed883f,
+  body: 0xa7b4bd,
+};
+
+const GATE_PHASE_COLORS = {
+  async: { left: 0x38e891, right: 0x38e891 },
+  sync: { left: 0x9b87f5, right: 0x9b87f5 },
+};
+
+const ACTIVE_SEMANTICS = new Set([
+  "reach_grasp_object",
+  "reach_open_drawer",
+  "insert_place_object",
+]);
+
+const elements = {
+  scene: document.getElementById("scene"),
+  dataset: document.getElementById("dataset-select"),
+  episode: document.getElementById("episode-select"),
+  resetView: document.getElementById("reset-view"),
+  play: document.getElementById("play-button"),
+  timeline: document.getElementById("timeline"),
+  routerMarkers: document.getElementById("router-markers"),
+  rate: document.getElementById("rate-select"),
+  fps: document.getElementById("fps-label"),
+  defaultArmLegend: document.getElementById("default-arm-legend"),
+  asyncGateLegend: document.getElementById("async-gate-legend"),
+  syncGateLegend: document.getElementById("sync-gate-legend"),
+  videos: {
+    head: document.getElementById("head-video"),
+    left_wrist: document.getElementById("left-wrist-video"),
+    right_wrist: document.getElementById("right-wrist-video"),
+  },
+  time: document.getElementById("time-label"),
+  frame: document.getElementById("frame-label"),
+  phase: document.getElementById("phase-label"),
+  meta: document.getElementById("episode-meta"),
+  attributes: document.getElementById("episode-attributes"),
+  annotationPanel: document.getElementById("annotation-panel"),
+  annotationTitle: document.getElementById("annotation-title"),
+  annotationFrame: document.getElementById("annotation-current-frame"),
+  annotationSplit: document.getElementById("annotation-split"),
+  annotationVariant: document.getElementById("annotation-variant"),
+  objectArm: document.getElementById("object-arm-role"),
+  drawerArm: document.getElementById("drawer-arm-role"),
+  pairedText: document.getElementById("paired-subtask-text"),
+  activityRelation: document.getElementById("arm-activity-relation"),
+  leftSemanticKey: document.getElementById("left-arm-semantic-key"),
+  rightSemanticKey: document.getElementById("right-arm-semantic-key"),
+  leftSemantic: document.getElementById("left-arm-semantic"),
+  rightSemantic: document.getElementById("right-arm-semantic"),
+  leftSourceIndex: document.getElementById("left-source-index"),
+  rightSourceIndex: document.getElementById("right-source-index"),
+  annotationProvenance: document.getElementById("annotation-provenance"),
+  annotationTimeline: document.getElementById("annotation-timeline"),
+  annotationLegend: document.getElementById("annotation-legend"),
+  status: document.getElementById("status"),
+};
+
+const state = {
+  config: null,
+  episode: null,
+  transforms: null,
+  meshes: [],
+  materials: null,
+  currentFrame: -1,
+  loadGeneration: 0,
+  scrubbing: false,
+};
+
+const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
+renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
+renderer.outputColorSpace = THREE.SRGBColorSpace;
+renderer.shadowMap.enabled = true;
+elements.scene.appendChild(renderer.domElement);
+
+const scene = new THREE.Scene();
+scene.fog = new THREE.Fog(0x09131c, 2.2, 5.2);
+
+const camera = new THREE.PerspectiveCamera(43, 1, 0.01, 20);
+camera.up.set(0, 0, 1);
+
+const controls = new OrbitControls(camera, renderer.domElement);
+controls.enableDamping = true;
+controls.dampingFactor = 0.08;
+controls.minDistance = 0.45;
+controls.maxDistance = 6.0;
+
+scene.add(new THREE.HemisphereLight(0xd8efff, 0x17212a, 2.4));
+const keyLight = new THREE.DirectionalLight(0xffffff, 3.2);
+keyLight.position.set(-1.5, -2.0, 3.2);
+keyLight.castShadow = true;
+scene.add(keyLight);
+
+const floor = new THREE.Mesh(
+  new THREE.PlaneGeometry(4.0, 4.0),
+  new THREE.MeshStandardMaterial({ color: 0x1a2934, roughness: 0.94, metalness: 0.02 }),
+);
+floor.position.set(0, -0.65, -0.012);
+floor.receiveShadow = true;
+scene.add(floor);
+
+const grid = new THREE.GridHelper(3.4, 34, 0x375166, 0x1a3040);
+grid.rotation.x = Math.PI / 2;
+grid.position.set(0, -0.65, -0.008);
+grid.material.opacity = 0.38;
+grid.material.transparent = true;
+scene.add(grid);
+
+const robotGroup = new THREE.Group();
+scene.add(robotGroup);
+
+function resetCamera() {
+  camera.position.set(2.0, -2.7, 1.75);
+  controls.target.set(0, -0.65, 0.72);
+  controls.update();
+}
+
+resetCamera();
+
+const resizeObserver = new ResizeObserver(() => {
+  const width = elements.scene.clientWidth;
+  const height = elements.scene.clientHeight;
+  if (!width || !height) return;
+  renderer.setSize(width, height, false);
+  camera.aspect = width / height;
+  camera.updateProjectionMatrix();
+});
+resizeObserver.observe(elements.scene);
+
+function fetchChecked(url, responseType = "json") {
+  return fetch(url).then((response) => {
+    if (!response.ok) {
+      throw new Error(response.status + " " + response.statusText + ": " + url);
+    }
+    return responseType === "arrayBuffer" ? response.arrayBuffer() : response.json();
+  });
+}
+
+function materialForLink(linkName, materials) {
+  if (linkName.startsWith("fl_")) return materials.left;
+  if (linkName.startsWith("fr_")) return materials.right;
+  return materials.body;
+}
+
+async function loadRobotMeshes() {
+  const loader = new ColladaLoader();
+  const scenePromises = new Map();
+  for (const meshInfo of state.config.meshes) {
+    if (!scenePromises.has(meshInfo.url)) {
+      scenePromises.set(
+        meshInfo.url,
+        loader.loadAsync(meshInfo.url).then((collada) => collada.scene),
+      );
+    }
+  }
+
+  const materials = Object.fromEntries(
+    Object.entries(COLORS).map(([name, color]) => [
+      name,
+      new THREE.MeshStandardMaterial({ color, roughness: 0.7, metalness: 0.06 }),
+    ]),
+  );
+  state.materials = materials;
+  for (const meshInfo of state.config.meshes) {
+    const content = (await scenePromises.get(meshInfo.url)).clone(true);
+    const material = materialForLink(meshInfo.link_name, materials);
+    content.traverse((child) => {
+      if (!child.isMesh) return;
+      child.material = material;
+      child.castShadow = true;
+      child.receiveShadow = true;
+    });
+    content.rotation.set(0, 0, 0);
+    content.scale.set(...meshInfo.scale);
+    content.updateMatrix();
+
+    const wrapper = new THREE.Group();
+    wrapper.add(content);
+    wrapper.matrixAutoUpdate = false;
+    state.meshes.push(wrapper);
+    robotGroup.add(wrapper);
+  }
+}
+
+function humanizeDataset(name) {
+  return name.replaceAll("_", " ");
+}
+
+function populateDatasets() {
+  elements.dataset.replaceChildren(
+    ...Object.keys(state.config.datasets).map((name) => {
+      const option = document.createElement("option");
+      option.value = name;
+      option.textContent = humanizeDataset(name);
+      return option;
+    }),
+  );
+  const preferred = "put_object_cabinet_retimed";
+  if (preferred in state.config.datasets) {
+    elements.dataset.value = preferred;
+  }
+}
+
+function populateEpisodes() {
+  const dataset = state.config.datasets[elements.dataset.value];
+  elements.episode.replaceChildren(
+    ...dataset.episode_indices.map((episodeIndex) => {
+      const option = document.createElement("option");
+      option.value = String(episodeIndex);
+      option.textContent = "Episode " + String(episodeIndex).padStart(2, "0");
+      return option;
+    }),
+  );
+}
+
+function videos() {
+  return Object.values(elements.videos);
+}
+
+function masterVideo() {
+  return elements.videos.head;
+}
+
+function waitForMetadata(video) {
+  if (video.readyState >= HTMLMediaElement.HAVE_METADATA) return Promise.resolve();
+  return new Promise((resolve, reject) => {
+    video.addEventListener("loadedmetadata", resolve, { once: true });
+    video.addEventListener(
+      "error",
+      () => reject(new Error("RoboTwin 视频 metadata 加载失败")),
+      { once: true },
+    );
+  });
+}
+
+function renderRouterMarkers() {
+  const timeline = state.episode.phase_timeline;
+  const markers = [];
+  if (timeline.has_gate_records) {
+    for (let frame = 1; frame < timeline.phase_ids.length; frame += 1) {
+      if (timeline.phase_ids[frame] === timeline.phase_ids[frame - 1]) continue;
+      markers.push([frame, timeline.phase_ids[frame] === 1 ? "ASYNC" : "SYNC"]);
+    }
+  }
+  elements.routerMarkers.replaceChildren(...markers.map(([frame, label]) => {
+    const marker = document.createElement("span");
+    marker.textContent = label + " @ " + frame;
+    marker.style.left = (100 * frame / state.episode.frame_count) + "%";
+    return marker;
+  }));
+}
+
+function updateArmLegend(hasGateRecords) {
+  elements.defaultArmLegend.hidden = hasGateRecords;
+  elements.asyncGateLegend.hidden = !hasGateRecords;
+  elements.syncGateLegend.hidden = !hasGateRecords;
+}
+
+function segmentAtFrame(segments, frame) {
+  return segments.find((segment) => segment.start <= frame && frame < segment.end);
+}
+
+function semanticDefinitions(annotation) {
+  return Object.fromEntries(
+    annotation.semantic_definitions.map((semantic) => [semantic.key, semantic]),
+  );
+}
+
+function renderAnnotationLane(label, arm, segments, definitions, frameCount) {
+  const row = document.createElement("div");
+  row.className = "annotation-lane";
+  const laneLabel = document.createElement("span");
+  laneLabel.className = "annotation-lane-label mono";
+  laneLabel.textContent = label;
+  const track = document.createElement("div");
+  track.className = "annotation-track";
+  track.dataset.arm = arm;
+  for (const segment of segments) {
+    const semantic = definitions[segment.semantic_key];
+    const block = document.createElement("button");
+    block.type = "button";
+    block.className = "annotation-block";
+    block.dataset.start = String(segment.start);
+    block.dataset.end = String(segment.end);
+    block.style.left = (100 * segment.start / frameCount) + "%";
+    block.style.width =
+      (100 * (segment.end - segment.start) / frameCount) + "%";
+    block.style.backgroundColor = semantic.color;
+    block.textContent = semantic.label_zh;
+    block.title =
+      label + " · " + semantic.label_zh + " · " + segment.semantic_key +
+      " · [" + segment.start + ", " + segment.end + ") · " +
+      segment.semantic_text;
+    block.setAttribute("aria-label", block.title);
+    block.addEventListener("click", () => {
+      setLocalTime(segment.start / state.episode.fps);
+    });
+    track.appendChild(block);
+  }
+  row.append(laneLabel, track);
+  return row;
+}
+
+function renderAnnotationLegend(semantics) {
+  elements.annotationLegend.replaceChildren(...semantics.map((semantic) => {
+    const item = document.createElement("span");
+    const swatch = document.createElement("i");
+    swatch.style.backgroundColor = semantic.color;
+    item.append(swatch, document.createTextNode(semantic.label_zh));
+    return item;
+  }));
+}
+
+function renderAnnotations(annotation, frameCount) {
+  elements.annotationPanel.hidden = annotation === null;
+  elements.annotationTimeline.replaceChildren();
+  elements.annotationLegend.replaceChildren();
+  if (annotation === null) return;
+  const definitions = semanticDefinitions(annotation);
+  const isParallel = annotation.schedule?.kind === "native_parallel_retime";
+  elements.annotationTitle.textContent = isParallel
+    ? "QWEN + NATIVE RETIME · PARALLEL DUAL-ARM SUBTASK"
+    : "QWEN · CURRENT DUAL-ARM SUBTASK";
+  elements.annotationSplit.textContent = annotation.split.toUpperCase();
+  elements.annotationSplit.dataset.split = annotation.split;
+  elements.annotationVariant.textContent = isParallel
+    ? "PARALLEL NATIVE RETIME"
+    : "SERIAL SOURCE";
+  elements.objectArm.textContent =
+    "OBJECT ARM · " + annotation.object_arm.toUpperCase();
+  elements.drawerArm.textContent =
+    "DRAWER ARM · " + annotation.drawer_arm.toUpperCase();
+  const provenance =
+    "model=" + annotation.source.model + " · prompt=" +
+    annotation.source.prompt_version + " · revision=" +
+    annotation.annotation_revision;
+  elements.annotationProvenance.textContent = isParallel
+    ? provenance + " · source_annotation=" +
+      annotation.source_annotation_revision + " · retime_manifest=" +
+      annotation.retime_manifest_sha256
+    : provenance;
+  elements.annotationTimeline.replaceChildren(
+    renderAnnotationLane(
+      "LEFT ARM",
+      "left",
+      annotation.arm_segments.left,
+      definitions,
+      frameCount,
+    ),
+    renderAnnotationLane(
+      "RIGHT ARM",
+      "right",
+      annotation.arm_segments.right,
+      definitions,
+      frameCount,
+    ),
+  );
+  renderAnnotationLegend(annotation.semantic_definitions);
+}
+
+function updateCurrentAnnotation(frame) {
+  const annotation = state.episode.annotations;
+  if (annotation === null) return;
+  const paired = segmentAtFrame(annotation.paired_segments, frame);
+  const left = segmentAtFrame(annotation.arm_segments.left, frame);
+  const right = segmentAtFrame(annotation.arm_segments.right, frame);
+  if (!paired || !left || !right) {
+    throw new Error("当前帧没有完整的 Qwen 双臂标注: " + frame);
+  }
+  const definitions = semanticDefinitions(annotation);
+  const leftDefinition = definitions[left.semantic_key];
+  const rightDefinition = definitions[right.semantic_key];
+  elements.annotationFrame.textContent = "frame " + frame;
+  elements.pairedText.textContent = paired.subtask_text;
+  const leftActive = ACTIVE_SEMANTICS.has(left.semantic_key);
+  const rightActive = ACTIVE_SEMANTICS.has(right.semantic_key);
+  if (leftActive && rightActive) {
+    elements.activityRelation.textContent = "双臂同时动作 · OVERLAP";
+  } else if (leftActive) {
+    elements.activityRelation.textContent = "左臂动作 · 右臂等待 / 保持";
+  } else if (rightActive) {
+    elements.activityRelation.textContent = "左臂等待 / 保持 · 右臂动作";
+  } else {
+    elements.activityRelation.textContent = "双臂等待 / 保持";
+  }
+  const sourcePair = annotation.schedule?.source_indices?.[frame];
+  elements.leftSourceIndex.textContent = sourcePair
+    ? "serial source frame " + sourcePair[0]
+    : "dataset frame " + frame;
+  elements.rightSourceIndex.textContent = sourcePair
+    ? "serial source frame " + sourcePair[1]
+    : "dataset frame " + frame;
+  elements.leftSemanticKey.textContent =
+    leftDefinition.label_zh + " · " + left.semantic_key;
+  elements.leftSemanticKey.style.color = leftDefinition.color;
+  elements.leftSemantic.textContent = left.semantic_text;
+  elements.rightSemanticKey.textContent =
+    rightDefinition.label_zh + " · " + right.semantic_key;
+  elements.rightSemanticKey.style.color = rightDefinition.color;
+  elements.rightSemantic.textContent = right.semantic_text;
+  elements.annotationTimeline.style.setProperty(
+    "--annotation-progress",
+    (100 * frame / state.episode.frame_count) + "%",
+  );
+  for (const block of elements.annotationTimeline.querySelectorAll(".annotation-block")) {
+    const start = Number(block.dataset.start);
+    const end = Number(block.dataset.end);
+    block.classList.toggle("active", start <= frame && frame < end);
+  }
+}
+async function loadEpisode() {
+  const generation = ++state.loadGeneration;
+  pauseVideo();
+  elements.status.textContent = "加载轨迹…";
+  elements.play.disabled = true;
+  state.transforms = null;
+  state.currentFrame = -1;
+
+  const datasetName = elements.dataset.value;
+  const episodeIndex = Number(elements.episode.value);
+  const episode = await fetchChecked("/api/episode/" + encodeURIComponent(datasetName) + "/" + episodeIndex);
+  if (generation !== state.loadGeneration) return;
+
+  state.episode = episode;
+  elements.timeline.max = String(episode.duration_s);
+  elements.timeline.step = String(1 / episode.fps);
+  elements.timeline.value = "0";
+  renderRouterMarkers();
+  updateArmLegend(episode.phase_timeline.has_gate_records);
+  renderAnnotations(episode.annotations, episode.frame_count);
+  elements.fps.textContent = "MASTER · " + episode.fps + " FPS";
+  elements.meta.textContent =
+    humanizeDataset(datasetName) + " · episode " + episodeIndex + " · " +
+    episode.frame_count + " frames";
+  elements.attributes.textContent = Object.entries(episode.attributes)
+    .map(([key, value]) => key + "=" + value)
+    .join(" · ");
+
+  const metadataPromises = Object.entries(elements.videos).map(([cameraName, video]) => {
+    video.src = episode.videos[cameraName];
+    video.playbackRate = Number(elements.rate.value);
+    const metadataPromise = waitForMetadata(video);
+    video.load();
+    return metadataPromise;
+  });
+
+  const [buffer] = await Promise.all([
+    fetchChecked(episode.transforms_url, "arrayBuffer"),
+    Promise.all(metadataPromises),
+  ]);
+  if (generation !== state.loadGeneration) return;
+
+  const expectedFloats = episode.frame_count * state.config.mesh_count * 16;
+  if (buffer.byteLength !== expectedFloats * Float32Array.BYTES_PER_ELEMENT) {
+    throw new Error("3D transform 大小不匹配: " + buffer.byteLength + " bytes");
+  }
+  state.transforms = new Float32Array(buffer);
+  setLocalTime(0);
+  elements.play.disabled = false;
+  elements.status.textContent = "已同步";
+}
+
+function routerPhase(frame) {
+  const timeline = state.episode.phase_timeline;
+  if (!timeline.has_gate_records) return null;
+  return timeline.phase_ids[frame] === 1 ? "async" : "sync";
+}
+
+function applyRouterVisual(frame) {
+  const phase = routerPhase(frame);
+  const colors = phase === null
+    ? { left: COLORS.left, right: COLORS.right }
+    : GATE_PHASE_COLORS[phase];
+  state.materials.left.color.setHex(colors.left);
+  state.materials.right.color.setHex(colors.right);
+  const active = phase !== null;
+  state.materials.left.emissive.setHex(active ? colors.left : 0x000000);
+  state.materials.right.emissive.setHex(active ? colors.right : 0x000000);
+  state.materials.left.emissiveIntensity = active ? 0.16 : 0;
+  state.materials.right.emissiveIntensity = active ? 0.16 : 0;
+  const timeline = state.episode.phase_timeline;
+  if (phase === null) {
+    elements.phase.textContent = "NO GATE RECORD · step " + frame;
+    elements.phase.dataset.phase = "none";
+    return;
+  }
+  const probability = timeline.async_probabilities?.[frame];
+  const inferenceIndex = timeline.inference_indices?.[frame];
+  const probabilityLabel = Number.isFinite(probability)
+    ? " · P(async) " + probability.toFixed(3) : "";
+  const inferenceLabel = Number.isInteger(inferenceIndex) ? " · inference " + inferenceIndex : "";
+  elements.phase.textContent = phase.toUpperCase() + " · step " + frame + probabilityLabel + inferenceLabel;
+  elements.phase.dataset.phase = phase;
+}
+
+function applyFrame(frameIndex) {
+  if (!state.transforms || !state.episode) return;
+  const frame = Math.min(frameIndex, state.episode.frame_count - 1);
+  if (frame === state.currentFrame) return;
+  const meshCount = state.config.mesh_count;
+  const frameStride = meshCount * 16;
+  for (let meshIndex = 0; meshIndex < meshCount; meshIndex += 1) {
+    const offset = frame * frameStride + meshIndex * 16;
+    state.meshes[meshIndex].matrix.fromArray(state.transforms, offset);
+    state.meshes[meshIndex].matrixWorldNeedsUpdate = true;
+  }
+  applyRouterVisual(frame);
+  updateCurrentAnnotation(frame);
+  state.currentFrame = frame;
+  elements.frame.textContent =
+    "frame " + String(frame).padStart(4, "0") + " / " + (state.episode.frame_count - 1);
+}
+
+function formatTime(seconds) {
+  const minutes = Math.floor(seconds / 60);
+  const remainder = seconds - minutes * 60;
+  return String(minutes).padStart(2, "0") + ":" + remainder.toFixed(3).padStart(6, "0");
+}
+
+function updateAtTime(seconds) {
+  if (!state.episode) return;
+  const local = THREE.MathUtils.clamp(seconds, 0, state.episode.duration_s);
+  const frame = Math.min(Math.floor(local * state.episode.fps), state.episode.frame_count - 1);
+  applyFrame(frame);
+  if (!state.scrubbing) elements.timeline.value = String(local);
+  elements.time.textContent = formatTime(local) + " / " + formatTime(state.episode.duration_s);
+}
+
+function setLocalTime(seconds) {
+  if (!state.episode) return;
+  const local = THREE.MathUtils.clamp(seconds, 0, state.episode.duration_s);
+  for (const video of videos()) {
+    if (Math.abs(video.currentTime - local) > 0.002) video.currentTime = local;
+  }
+  updateAtTime(local);
+}
+
+function pauseVideo() {
+  for (const video of videos()) video.pause();
+  elements.play.textContent = "▶";
+  elements.play.setAttribute("aria-label", "播放");
+}
+
+async function playVideo() {
+  if (!state.episode || !state.transforms) return;
+  if (masterVideo().currentTime >= state.episode.duration_s - 1 / state.episode.fps) {
+    setLocalTime(0);
+  }
+  for (const video of videos()) video.playbackRate = Number(elements.rate.value);
+  await Promise.all(videos().map((video) => video.play()));
+  elements.play.textContent = "Ⅱ";
+  elements.play.setAttribute("aria-label", "暂停");
+  elements.status.textContent = "同步播放";
+}
+
+function togglePlayback() {
+  if (masterVideo().paused) {
+    playVideo().catch(showError);
+  } else {
+    pauseVideo();
+    elements.status.textContent = "已暂停";
+  }
+}
+
+function tick() {
+  controls.update();
+  if (state.episode && state.transforms && !state.scrubbing) {
+    const local = THREE.MathUtils.clamp(
+      masterVideo().currentTime,
+      0,
+      state.episode.duration_s,
+    );
+    updateAtTime(local);
+    for (const video of videos().slice(1)) {
+      if (Math.abs(video.currentTime - local) > 0.08) video.currentTime = local;
+    }
+    if (!masterVideo().paused && local >= state.episode.duration_s - 1 / state.episode.fps) {
+      setLocalTime(state.episode.duration_s);
+      pauseVideo();
+      elements.status.textContent = "Episode 结束";
+    }
+  }
+  renderer.render(scene, camera);
+}
+
+function showError(error) {
+  pauseVideo();
+  elements.status.textContent = "加载失败";
+  console.error(error);
+  alert(error.message);
+}
+
+elements.dataset.addEventListener("change", () => {
+  populateEpisodes();
+  loadEpisode().catch(showError);
+});
+elements.episode.addEventListener("change", () => loadEpisode().catch(showError));
+elements.resetView.addEventListener("click", resetCamera);
+elements.play.addEventListener("click", togglePlayback);
+for (const video of videos()) video.addEventListener("click", togglePlayback);
+elements.rate.addEventListener("change", () => {
+  for (const video of videos()) video.playbackRate = Number(elements.rate.value);
+});
+elements.timeline.addEventListener("pointerdown", () => {
+  state.scrubbing = true;
+});
+elements.timeline.addEventListener("input", () => {
+  setLocalTime(Number(elements.timeline.value));
+});
+elements.timeline.addEventListener("change", () => {
+  state.scrubbing = false;
+  setLocalTime(Number(elements.timeline.value));
+});
+document.addEventListener("keydown", (event) => {
+  if (event.code === "Space" && event.target.tagName !== "SELECT") {
+    event.preventDefault();
+    togglePlayback();
+  }
+});
+
+async function initialize() {
+  state.config = await fetchChecked("/api/config");
+  populateDatasets();
+  populateEpisodes();
+  await loadRobotMeshes();
+  await loadEpisode();
+  renderer.setAnimationLoop(tick);
+}
+
+initialize().catch(showError);
diff --git a/static/style.css b/static/style.css
new file mode 100644
index 0000000000000000000000000000000000000000..2b068f756bded52068f8a4b91917399303d048ea
--- /dev/null
+++ b/static/style.css
@@ -0,0 +1,527 @@
+:root {
+  color-scheme: dark;
+  font-family: Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
+  background: #071019;
+  color: #e8f0f8;
+  font-synthesis: none;
+}
+
+* { box-sizing: border-box; }
+[hidden] { display: none !important; }
+
+body {
+  margin: 0;
+  min-width: 320px;
+  min-height: 100vh;
+  background:
+    radial-gradient(circle at 18% 0%, rgba(42, 109, 152, 0.18), transparent 32rem),
+    radial-gradient(circle at 90% 10%, rgba(31, 78, 105, 0.14), transparent 28rem),
+    #071019;
+}
+
+button, select, input { font: inherit; }
+
+button, select {
+  border: 1px solid #2b4052;
+  border-radius: 8px;
+  background: #101e2a;
+  color: #e8f0f8;
+}
+
+button {
+  padding: 8px 12px;
+  cursor: pointer;
+}
+
+button:hover { background: #172a39; }
+button:disabled { cursor: wait; opacity: 0.55; }
+
+button:focus-visible, select:focus-visible, input:focus-visible {
+  outline: 2px solid #66c6ff;
+  outline-offset: 2px;
+}
+
+.app-shell {
+  width: min(1780px, 100%);
+  margin: 0 auto;
+  padding: 20px;
+}
+
+.topbar {
+  display: flex;
+  align-items: end;
+  justify-content: space-between;
+  gap: 20px;
+  margin-bottom: 16px;
+}
+
+h1 {
+  margin: 4px 0 0;
+  font-size: clamp(22px, 2.2vw, 34px);
+  font-weight: 500;
+  letter-spacing: -0.02em;
+}
+
+.eyebrow {
+  margin: 0;
+  color: #7facc8;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 11px;
+  letter-spacing: 0.16em;
+}
+
+.selectors {
+  display: flex;
+  align-items: end;
+  gap: 10px;
+  flex-wrap: wrap;
+}
+
+label {
+  display: grid;
+  gap: 5px;
+  color: #90a7b8;
+  font-size: 12px;
+}
+
+select { min-width: 128px; padding: 7px 9px; }
+#dataset-select { min-width: 250px; }
+
+.workspace {
+  display: grid;
+  grid-template-columns: minmax(560px, 1.15fr) minmax(480px, 0.85fr);
+  gap: 12px;
+}
+
+.panel {
+  overflow: hidden;
+  border: 1px solid #1e3444;
+  border-radius: 12px;
+  background: rgba(10, 22, 31, 0.88);
+  box-shadow: 0 16px 40px rgba(0, 0, 0, 0.2);
+}
+
+.panel-title {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  min-height: 38px;
+  padding: 0 12px;
+  border-bottom: 1px solid #1e3444;
+  color: #adc0ce;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 11px;
+  letter-spacing: 0.05em;
+}
+
+.router-status { display: inline-flex; align-items: center; gap: 12px; }
+#phase-label { padding: 3px 7px; border-radius: 999px; color: #071019; font-size: 9px; letter-spacing: 0.12em; }
+#phase-label[data-phase="async"] { background: #38e891; }
+#phase-label[data-phase="sync"] { background: #9b87f5; }
+#phase-label[data-phase="none"] { background: #6f8798; }
+
+.model-panel {
+  display: grid;
+  grid-template-rows: auto minmax(540px, 72vh) auto;
+}
+
+#scene {
+  min-height: 440px;
+  cursor: grab;
+  background: linear-gradient(180deg, #0c1822, #09131c);
+}
+
+#scene:active { cursor: grabbing; }
+#scene canvas { display: block; width: 100%; height: 100%; }
+
+.arm-legend {
+  display: flex;
+  gap: 18px;
+  align-items: center;
+  min-height: 38px;
+  padding: 0 12px;
+  color: #a9bcc9;
+  font-size: 12px;
+}
+
+.arm-legend span { display: inline-flex; align-items: center; gap: 6px; }
+.arm-legend i { width: 9px; height: 9px; border-radius: 50%; }
+.left-arm { background: #4d9fe8; }
+.right-arm { background: #ed883f; }
+.base-body { background: #a7b4bd; }
+.async-gate { background: #38e891; }
+.sync-gate { background: #9b87f5; }
+.arm-legend .hint { margin-left: auto; color: #657f92; }
+
+.video-panel {
+  display: grid;
+  grid-template-rows: auto minmax(480px, 1fr) auto;
+}
+
+.video-grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  grid-template-rows: minmax(0, 2fr) minmax(0, 1fr);
+  gap: 2px;
+  min-height: 0;
+  background: #1e3444;
+}
+
+.camera-view {
+  position: relative;
+  min-width: 0;
+  min-height: 0;
+  margin: 0;
+  background: #02070a;
+}
+
+.camera-view.head-camera { grid-column: 1 / -1; }
+
+.camera-view figcaption {
+  position: absolute;
+  z-index: 1;
+  top: 8px;
+  left: 9px;
+  padding: 4px 6px;
+  border-radius: 4px;
+  background: rgba(2, 7, 10, 0.72);
+  color: #c1d3df;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 9px;
+  letter-spacing: 0.08em;
+  pointer-events: none;
+}
+
+.camera-view video {
+  display: block;
+  width: 100%;
+  height: 100%;
+  min-height: 0;
+  object-fit: contain;
+  background: #02070a;
+}
+
+.sync-state {
+  color: #63d4a3;
+  font-size: 9px;
+  letter-spacing: 0.14em;
+}
+
+.attributes {
+  min-height: 38px;
+  padding: 10px 12px;
+  color: #7890a1;
+  font-size: 10px;
+  overflow-wrap: anywhere;
+}
+
+.annotation-panel {
+  margin-top: 12px;
+}
+
+.annotation-body {
+  display: grid;
+  grid-template-columns: minmax(0, 1.04fr) minmax(440px, 0.96fr);
+  gap: 18px;
+  padding: 14px;
+}
+
+.annotation-context,
+.annotation-timeline-area {
+  min-width: 0;
+}
+
+.annotation-role-row {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 7px;
+  margin-bottom: 10px;
+}
+
+.annotation-chip {
+  padding: 4px 8px;
+  border: 1px solid #2a4558;
+  border-radius: 999px;
+  background: #0b1a25;
+  color: #9db4c4;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 9px;
+  letter-spacing: 0.08em;
+}
+
+#annotation-split[data-split="train"] {
+  border-color: #2d755b;
+  color: #63d4a3;
+}
+
+#annotation-split[data-split="heldout"] {
+  border-color: #8c7040;
+  color: #ffd166;
+}
+
+.annotation-current-grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 8px;
+}
+
+.annotation-target-card,
+.annotation-arm-card {
+  min-width: 0;
+  padding: 11px 12px;
+  border: 1px solid #243d4e;
+  border-radius: 9px;
+  background: #091721;
+}
+
+.annotation-target-card {
+  grid-column: 1 / -1;
+  min-height: 88px;
+  border-top: 2px solid #63d4a3;
+  background: #0b1c20;
+}
+
+.left-semantic-card {
+  box-shadow: inset 3px 0 #4d9fe8;
+}
+
+.right-semantic-card {
+  box-shadow: inset 3px 0 #ed883f;
+}
+
+.annotation-card-kicker {
+  margin: 0 0 6px;
+  color: #68869a;
+  font: 9px ui-monospace, SFMono-Regular, Menlo, monospace;
+  letter-spacing: 0.13em;
+}
+
+.annotation-semantic-key {
+  margin: 0 0 7px;
+  font: 600 10px ui-monospace, SFMono-Regular, Menlo, monospace;
+  letter-spacing: 0.04em;
+}
+
+.annotation-source-index {
+  margin: -2px 0 7px;
+  color: #7e9aac;
+  font-size: 9px;
+}
+
+.activity-relation {
+  margin: 8px 0 0;
+  color: #8fd8bd;
+  font-size: 10px;
+  letter-spacing: 0.06em;
+}
+
+.annotation-target-text,
+.annotation-arm-card p:last-child {
+  margin: 0;
+  color: #e4edf4;
+  font-size: 14px;
+  line-height: 1.45;
+  overflow-wrap: anywhere;
+}
+
+.annotation-target-text {
+  color: #f0f7f3;
+  font-size: 15px;
+}
+
+.annotation-arm-card p:last-child {
+  color: #b8cbd8;
+  font-size: 12px;
+}
+
+.annotation-provenance {
+  margin: 10px 1px 0;
+  color: #607d91;
+  font-size: 9px;
+  line-height: 1.5;
+  overflow-wrap: anywhere;
+}
+
+.annotation-timeline {
+  --annotation-progress: 0%;
+  display: grid;
+  gap: 8px;
+  padding: 5px 0 9px;
+}
+
+.annotation-lane {
+  display: grid;
+  grid-template-columns: 112px minmax(0, 1fr);
+  gap: 8px;
+  align-items: center;
+}
+
+.annotation-lane-label {
+  color: #7896aa;
+  font-size: 9px;
+  letter-spacing: 0.06em;
+}
+
+.annotation-track {
+  position: relative;
+  height: 34px;
+  overflow: hidden;
+  border: 1px solid #284153;
+  border-radius: 6px;
+  background: #06111a;
+}
+
+.annotation-track::after {
+  content: "";
+  position: absolute;
+  z-index: 4;
+  top: 0;
+  bottom: 0;
+  left: var(--annotation-progress);
+  width: 1px;
+  background: #ffffff;
+  box-shadow: 0 0 6px rgba(255, 255, 255, 0.75);
+  pointer-events: none;
+}
+
+.annotation-block {
+  position: absolute;
+  top: 2px;
+  height: 28px;
+  min-width: 3px;
+  overflow: hidden;
+  padding: 0 5px;
+  border: 0;
+  border-radius: 3px;
+  color: #06111a;
+  font-size: 9px;
+  font-weight: 700;
+  line-height: 28px;
+  text-align: left;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+  opacity: 0.78;
+}
+
+.annotation-block:hover,
+.annotation-block.active {
+  z-index: 3;
+  opacity: 1;
+  filter: brightness(1.12);
+}
+
+.annotation-block.active {
+  outline: 2px solid #ffffff;
+  outline-offset: -2px;
+}
+
+.annotation-legend {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 7px 12px;
+  color: #8ca5b6;
+  font-size: 10px;
+}
+
+.annotation-legend span {
+  display: inline-flex;
+  align-items: center;
+  gap: 5px;
+}
+
+.annotation-legend i {
+  width: 8px;
+  height: 8px;
+  border-radius: 2px;
+}
+
+.annotation-note {
+  margin: 10px 0 0;
+  color: #617f93;
+  font-size: 10px;
+  line-height: 1.5;
+}
+
+.transport {
+  display: flex;
+  align-items: center;
+  gap: 14px;
+  margin-top: 12px;
+  padding: 12px;
+}
+
+.play-button {
+  width: 42px;
+  height: 42px;
+  padding: 0;
+  border-radius: 50%;
+  background: #d8edf9;
+  color: #071019;
+  font-size: 16px;
+}
+
+.play-button:hover { background: #ffffff; }
+
+.timeline-wrap {
+  position: relative;
+  display: grid;
+  flex: 1;
+  gap: 8px;
+  min-width: 180px;
+}
+
+.timeline-meta {
+  display: flex;
+  justify-content: space-between;
+  gap: 16px;
+  color: #829aac;
+  font-size: 11px;
+}
+
+#timeline { width: 100%; accent-color: #63bdf1; }
+
+#router-markers { position: absolute; inset: 29px 8px auto 8px; height: 18px; pointer-events: none; }
+#router-markers span { position: absolute; bottom: 0; transform: translateX(-50%); color: #ffd166; font: 8px ui-monospace, monospace; white-space: nowrap; }
+#router-markers span::after { content: ""; position: absolute; top: 11px; left: 50%; width: 1px; height: 12px; background: #ffd166; opacity: 0.75; }
+
+.mono {
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-variant-numeric: tabular-nums;
+}
+
+.rate-control { min-width: 80px; }
+
+#status {
+  min-width: 92px;
+  color: #63d4a3;
+  font-size: 11px;
+  text-align: right;
+}
+
+@media (max-width: 1100px) {
+  .workspace { grid-template-columns: 1fr; }
+  .annotation-body { grid-template-columns: 1fr; }
+  .model-panel { grid-template-rows: auto minmax(460px, 60vh) auto; }
+  .video-panel { grid-template-rows: auto minmax(420px, 60vw) auto; }
+}
+
+@media (max-width: 700px) {
+  .app-shell { padding: 10px; }
+  .topbar { align-items: start; flex-direction: column; }
+  .workspace { grid-template-columns: minmax(0, 1fr); }
+  .model-panel { grid-template-rows: auto 430px auto; }
+  .video-panel { grid-template-rows: auto auto auto; }
+  .video-grid { grid-template-rows: auto auto; }
+  .camera-view video { aspect-ratio: 4 / 3; }
+  .transport { align-items: end; flex-wrap: wrap; }
+  .timeline-wrap { order: 3; flex-basis: 100%; }
+  .timeline-meta { align-items: start; flex-direction: column; gap: 3px; }
+  .arm-legend .hint { display: none; }
+  #dataset-select { min-width: 210px; }
+  #status { margin-left: auto; }
+  .annotation-body { padding: 10px; }
+  .annotation-current-grid { grid-template-columns: 1fr; }
+  .annotation-lane { grid-template-columns: 1fr; gap: 3px; }
+  .annotation-track { height: 30px; }
+  .annotation-block { height: 24px; line-height: 24px; }
+}