diff --git a/MER-traverse-2d.html b/MER-traverse-2d.html
new file mode 100644
index 0000000..0fadab9
--- /dev/null
+++ b/MER-traverse-2d.html
@@ -0,0 +1,271 @@
+<!--
+
+Turns rover motion files (SVF and RVF) into JSON arrays.
+Saves into JSON file.
+To do: plot data with plotly, see traverse2d.html
+
+-->
+<!DOCTYPE html>
+<html>
+<head>
+    <title>RVF File Processor & 2D Viewer</title>
+
+</head>
+<body>
+    <div class="container">
+        <div class="controls">
+            <h2>File Input</h2>
+            <div class="file-input">
+                <label>Master SVF:</label><br>
+                <input type="file" id="masterFile" accept=".svf">
+            </div>
+            <div class="file-input">
+                <label>Secondary RVF Files:</label><br>
+                <input type="file" id="secondaryFiles" accept=".rvf" multiple>
+            </div>
+    		<button id="saveButton" style="margin-top: 20px;">Salva dati su file</button><br>
+             <button id="processButton" disabled>ELABORA</button>
+        </div>
+
+    </div>
+
+    <script>
+        let masterData = null;
+        let secondaryData = [];
+        let siteOffsets = [];
+        let drives = {};
+
+        // Funzione per convertire quaternione in Euler angles (yaw, pitch, roll)
+        function quaternionToEuler(q) {
+            let yaw = Math.atan2(2*(q.s*q.v3 + q.v1*q.v2), 1 - 2*(q.v2*q.v2 + q.v3*q.v3));
+            let pitch = Math.asin(2*(q.s*q.v2 - q.v3*q.v1));
+            let roll = Math.atan2(2*(q.s*q.v1 + q.v2*q.v3), 1 - 2*(q.v1*q.v1 + q.v2*q.v2));
+            return { yaw, pitch, roll };
+        }
+
+        // Event listeners per i file
+        document.getElementById('masterFile').addEventListener('change', async (e) => {
+            const file = e.target.files[0];
+            const text = await file.text();
+            masterData = new DOMParser().parseFromString(text, 'text/xml');
+            updateProcessButton();
+            processMasterFile();
+        });
+
+		// Event listener per i file secondari
+		document.getElementById('secondaryFiles').addEventListener('change', async (e) => {
+		    secondaryData = [];
+		    
+		    // Ordina i file in base al nome
+		    const files = Array.from(e.target.files).sort((a, b) => a.name.localeCompare(b.name));
+
+		    for (let file of files) {
+		        const text = await file.text();
+		        console.log(file.name); // Per verifica
+		        secondaryData.push(new DOMParser().parseFromString(text, 'text/xml'));
+		    }
+
+		    updateProcessButton();
+		    processSecondaryFiles();
+		});
+
+
+        function updateProcessButton() {
+            button = document.getElementById('processButton');
+            button.disabled = !(masterData && secondaryData.length > 0 );
+            button = document.getElementById('saveButton');
+			saveButton.disabled = !(masterData && secondaryData.length > 0 );
+        }
+
+        function processMasterFile() {
+            siteOffsets = [];
+            const solutions = masterData.getElementsByTagName('solution');
+            let cumulativeOffset = { x: 0, y: 0, z: 0 };
+
+            for (let solution of solutions) {
+//console.log("solution", solution);			
+                if (solution.getAttribute('name') === 'SITE_FRAME') {
+                    const index1 = parseInt(solution.getAttribute('index1'));
+//console.log("     site found", index1);			
+                   const offset = solution.getElementsByTagName('offset')[0];
+//console.log("         offset=", offset);			
+                    const relativeOffset = {
+                        x: parseFloat(offset.getAttribute('x')),
+                        y: parseFloat(offset.getAttribute('y')),
+                        z: parseFloat(offset.getAttribute('z'))
+                    };
+//console.log("         relativeOffset=", relativeOffset);			
+                    
+                    cumulativeOffset = {
+                        x: cumulativeOffset.x + relativeOffset.x,
+                        y: cumulativeOffset.y + relativeOffset.y,
+                        z: cumulativeOffset.z + relativeOffset.z
+                    };
+
+//console.log("         cumulativeOffset=", cumulativeOffset);			
+                    siteOffsets.push({
+                        index1,
+                        relativeOffset,
+                        cumulativeOffset: {...cumulativeOffset}
+                    });
+                }
+            }
+        }
+
+	function processSecondaryFiles() {
+	    drives = {};
+	    
+	    // Per ogni documento XML secondario
+	    for (let doc of secondaryData) {
+//console.log(doc)
+	        const solutions = doc.getElementsByTagName('solution');
+	        // Per ogni solution nel documento
+	        for (let solution of solutions) {    
+	            if (solution.getAttribute('name') === 'ROVER_FRAME') {
+	                const site = parseInt(solution.getAttribute('index1'));
+	                const drive = parseInt(solution.getAttribute('index2'));    
+	                
+	                // Ottieni offset e orientamento dalla solution
+	                const offset = solution.getElementsByTagName('offset')[0];
+	                const orientation = solution.getElementsByTagName('orientation')[0];
+	                
+	                // Crea oggetto quaternione dai dati
+	                const quaternion = {
+	                    s: parseFloat(orientation.getAttribute('s')),
+	                    v1: parseFloat(orientation.getAttribute('v1')),
+	                    v2: parseFloat(orientation.getAttribute('v2')),
+	                    v3: parseFloat(orientation.getAttribute('v3'))
+	                };    
+
+	                // Cerca l'offset cumulativo corrispondente al site
+	                let siteOffset = { x: 0, y: 0, z: 0 }; // valore di default
+
+					if (site>0) {
+						siteOffset = siteOffsets[site-1].cumulativeOffset;
+					}
+
+//	console.log("    siteOffset=", siteOffset);        
+
+	                // Crea oggetto con l'offset del drive
+	                const driveOffset = {
+	                    x: parseFloat(offset.getAttribute('x')),
+	                    y: parseFloat(offset.getAttribute('y')),
+	                    z: parseFloat(offset.getAttribute('z'))
+	                };
+
+	                // Calcola l'offset totale sommando siteOffset e driveOffset
+	                const totalOffset = {
+	                    x: siteOffset.x + driveOffset.x,
+	                    y: siteOffset.y + driveOffset.y,
+	                    z: siteOffset.z + driveOffset.z
+	                };
+
+	                // Inizializza l'oggetto per il site se non esiste
+	                if (!drives[site]) {
+	                    drives[site] = {};
+	                }
+
+	                // Memorizza tutti i dati per questa combinazione site/drive
+	                drives[site][drive] = {
+	                    offset: driveOffset,
+	                    quaternion: quaternion,
+	                    euler: quaternionToEuler(quaternion),
+	                    totalOffset: totalOffset
+	                };
+	            }
+	        }
+	    }
+	}
+
+
+
+	// Funzione di debug 
+	function placeMarkers() {
+	    console.log("Inizio debugWithBoxes");
+	    
+
+
+	}
+
+
+	/**
+	 * Calcola la differenza tra i campi euler e totalOffset di due elementi dell'array drives
+	 * @param {Object} drives - Array bidimensionale con indici site e drive
+	 * @param {string|number} site1 - Primo indice site
+	 * @param {string|number} drive1 - Primo indice drive
+	 * @param {string|number} site2 - Secondo indice site
+	 * @param {string|number} drive2 - Secondo indice drive
+	 * @returns {Object} Oggetto contenente le differenze calcolate
+	 */
+	function calculateDrivesDifferences(site1, drive1, site2, drive2) {
+	    // Costante per convertire da radianti a gradi
+	    const RAD_TO_DEG = 180 / Math.PI;
+	    
+	    // Ottieni i due elementi dall'array
+	    const element1 = drives[site1][drive1];
+	    const element2 = drives[site2][drive2];
+	    
+	    // Calcola le differenze per gli angoli di Euler e converti in gradi
+	    const eulerDiffRad = {
+	        yaw: (element1.euler.yaw - element2.euler.yaw),
+	        pitch: (element1.euler.pitch - element2.euler.pitch),
+	        roll: (element1.euler.roll - element2.euler.roll)
+	    };
+	    
+	    const eulerDiffDeg = {
+	        yaw: (element1.euler.yaw - element2.euler.yaw) * RAD_TO_DEG,
+	        pitch: (element1.euler.pitch - element2.euler.pitch) * RAD_TO_DEG,
+	        roll: (element1.euler.roll - element2.euler.roll) * RAD_TO_DEG
+	    };
+	    
+	    // Calcola le differenze per totalOffset
+	    const totalOffsetDiff = {
+	        x: element1.totalOffset.x - element2.totalOffset.x,
+	        y: element1.totalOffset.y - element2.totalOffset.y,
+	        z: element1.totalOffset.z - element2.totalOffset.z
+	    };
+	    
+	    return {
+	        eulerDiffRad,
+			eulerDiffDeg,
+	        totalOffsetDiff
+	    };
+	}
+
+
+        // Funzione per salvare i dati su un file JSON
+        function saveDataToFile(data, filename) {
+            // Converti i dati in una stringa JSON
+            const jsonData = "const drives = " + JSON.stringify(data, null, 2);
+
+            // Crea un blob con i dati
+            const blob = new Blob([jsonData], { type: "application/json" });
+
+            // Crea un URL per il download
+            const url = window.URL.createObjectURL(blob);
+
+            // Crea un elemento <a> per il download
+            const a = document.createElement("a");
+            a.href = url;
+            a.download = filename;
+
+            // Attiva il download
+            a.click();
+
+            // Libera la memoria
+            window.URL.revokeObjectURL(url);
+        }
+		
+        document.getElementById("saveButton").addEventListener("click", () => {
+            saveDataToFile(drives, "drives.js");
+        });
+
+        document.getElementById("processButton").addEventListener("click", () => {
+            placeMarkers();
+        });
+		
+
+		
+    </script>
+</body>
+</html>
diff --git a/MER-traverse-3d.html b/MER-traverse-3d.html
new file mode 100644
index 0000000..d4db8bd
--- /dev/null
+++ b/MER-traverse-3d.html
@@ -0,0 +1,520 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <title>RVF File Processor & 3D Viewer</title>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/babylonjs/6.37.1/babylon.js"></script>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/babylonjs-loaders/6.37.1/babylonjs.loaders.min.js"></script>
+<script src="https://cdnjs.cloudflare.com/ajax/libs/babylonjs-gui/6.37.1/babylonjs.gui.min.js"></script>
+    <style>
+        body { margin: 0; padding: 20px; font-family: Arial, sans-serif; }
+        .container { display: flex; gap: 20px; }
+        .controls { width: 300px; }
+        .viewer { flex-grow: 1; }
+        #renderCanvas { width: 100%; height: 600px; border: 1px solid #ccc; }
+        .file-input { margin: 10px 0; }
+        button { padding: 10px; margin: 5px 0; width: 100%; }
+        .model-info { 
+            margin: 10px 0;
+            padding: 10px;
+            background: #f0f0f0;
+            border-radius: 4px;
+        }
+    </style>
+</head>
+<body>
+    <div class="container">
+        <div class="controls">
+            <h2>File Input</h2>
+            <div class="file-input">
+                <label>Master SVF:</label><br>
+                <input type="file" id="masterFile" accept=".svf">
+            </div>
+            <div class="file-input">
+                <label>Secondary RVF Files:</label><br>
+                <input type="file" id="secondaryFiles" accept=".rvf" multiple>
+            </div>
+            <div class="file-input">
+                <label>3D Model:</label><br>
+                <input type="file" id="modelFile" accept=".gltf,.glb,.obj">
+                <div class="model-info">
+                    Formati supportati:
+                    <ul>
+                        <li>glTF/GLB (.gltf, .glb) - Consigliato</li>
+                        <li>OBJ (.obj)</li>
+                    </ul>
+                </div>
+            </div>
+            <button id="processButton" disabled>ELABORA</button>
+        </div>
+        <div class="viewer">
+            <canvas id="renderCanvas"></canvas>
+        </div>
+    </div>
+
+    <script>
+        let masterData = null;
+        let secondaryData = [];
+        let modelFile = null;
+        let siteOffsets = [];
+        let drives = {};
+
+        // Funzione per convertire quaternione in Euler angles (yaw, pitch, roll)
+        function quaternionToEuler(q) {
+            let yaw = Math.atan2(2*(q.s*q.v3 + q.v1*q.v2), 1 - 2*(q.v2*q.v2 + q.v3*q.v3));
+            let pitch = Math.asin(2*(q.s*q.v2 - q.v3*q.v1));
+            let roll = Math.atan2(2*(q.s*q.v1 + q.v2*q.v3), 1 - 2*(q.v1*q.v1 + q.v2*q.v2));
+            return { yaw, pitch, roll };
+        }
+
+        // Event listeners per i file
+        document.getElementById('masterFile').addEventListener('change', async (e) => {
+            const file = e.target.files[0];
+            const text = await file.text();
+            masterData = new DOMParser().parseFromString(text, 'text/xml');
+            updateProcessButton();
+            processMasterFile();
+        });
+
+        document.getElementById('secondaryFiles').addEventListener('change', async (e) => {
+            secondaryData = [];
+            for (let file of e.target.files) {
+                const text = await file.text();
+                secondaryData.push(new DOMParser().parseFromString(text, 'text/xml'));
+            }
+            updateProcessButton();
+            processSecondaryFiles();
+        });
+
+        document.getElementById('modelFile').addEventListener('change', (e) => {
+            modelFile = e.target.files[0];
+            updateProcessButton();
+        });
+
+        function updateProcessButton() {
+            const button = document.getElementById('processButton');
+            button.disabled = !(masterData && secondaryData.length > 0 && modelFile);
+        }
+
+        function processMasterFile() {
+            siteOffsets = [];
+            const solutions = masterData.getElementsByTagName('solution');
+            let cumulativeOffset = { x: 0, y: 0, z: 0 };
+
+            for (let solution of solutions) {
+//console.log("solution", solution);			
+                if (solution.getAttribute('name') === 'SITE_FRAME') {
+                    const index1 = parseInt(solution.getAttribute('index1'));
+//console.log("     site found", index1);			
+                   const offset = solution.getElementsByTagName('offset')[0];
+//console.log("         offset=", offset);			
+                    const relativeOffset = {
+                        x: parseFloat(offset.getAttribute('x')),
+                        y: parseFloat(offset.getAttribute('y')),
+                        z: parseFloat(offset.getAttribute('z'))
+                    };
+//console.log("         relativeOffset=", relativeOffset);			
+                    
+                    cumulativeOffset = {
+                        x: cumulativeOffset.x + relativeOffset.x,
+                        y: cumulativeOffset.y + relativeOffset.y,
+                        z: cumulativeOffset.z + relativeOffset.z
+                    };
+
+//console.log("         cumulativeOffset=", cumulativeOffset);			
+                    siteOffsets.push({
+                        index1,
+                        relativeOffset,
+                        cumulativeOffset: {...cumulativeOffset}
+                    });
+                }
+            }
+        }
+
+function processSecondaryFiles() {
+    drives = {};
+    
+    // Per ogni documento XML secondario
+    for (let doc of secondaryData) {
+        const solutions = doc.getElementsByTagName('solution');
+        // Per ogni solution nel documento
+        for (let solution of solutions) {
+console.log("solution=", solution);        
+            if (solution.getAttribute('name') === 'ROVER_FRAME') {
+                const site = parseInt(solution.getAttribute('index1'));
+                const drive = parseInt(solution.getAttribute('index2'));
+console.log("    site,drive=", site,drive);        
+                
+                // Ottieni offset e orientamento dalla solution
+                const offset = solution.getElementsByTagName('offset')[0];
+                const orientation = solution.getElementsByTagName('orientation')[0];
+                
+                // Crea oggetto quaternione dai dati
+                const quaternion = {
+                    s: parseFloat(orientation.getAttribute('s')),
+                    v1: parseFloat(orientation.getAttribute('v1')),
+                    v2: parseFloat(orientation.getAttribute('v2')),
+                    v3: parseFloat(orientation.getAttribute('v3'))
+                };
+console.log("    offset,orientation=", offset,orientation);        
+
+                // Cerca l'offset cumulativo corrispondente al site
+                let siteOffset = { x: 0, y: 0, z: 0 }; // valore di default
+                
+                // Cerca nell'array siteOffsets l'elemento con l'index1 corrispondente
+                for (let i = 0; i < siteOffsets.length; i++) {
+                    if (siteOffsets[i].index1 === site) {
+                        siteOffset = siteOffsets[i].cumulativeOffset;
+                        break; // Esce dal ciclo appena trova il match
+                    }
+                }
+console.log("    siteOffset=", siteOffset);        
+
+                // Crea oggetto con l'offset del drive
+                const driveOffset = {
+                    x: parseFloat(offset.getAttribute('x')),
+                    y: parseFloat(offset.getAttribute('y')),
+                    z: parseFloat(offset.getAttribute('z'))
+                };
+
+                // Calcola l'offset totale sommando siteOffset e driveOffset
+                const totalOffset = {
+                    x: siteOffset.x + driveOffset.x,
+                    y: siteOffset.y + driveOffset.y,
+                    z: siteOffset.z + driveOffset.z
+                };
+
+                // Inizializza l'oggetto per il site se non esiste
+                if (!drives[site]) {
+                    drives[site] = {};
+                }
+
+                // Memorizza tutti i dati per questa combinazione site/drive
+                drives[site][drive] = {
+                    offset: driveOffset,
+                    quaternion: quaternion,
+                    euler: quaternionToEuler(quaternion),
+                    totalOffset: totalOffset
+                };
+            }
+        }
+    }
+}
+
+ // Inizializzazione BabylonJS
+const canvas = document.getElementById('renderCanvas');
+const engine = new BABYLON.Engine(canvas, true);
+
+function createScene() {
+    const scene = new BABYLON.Scene(engine);
+    
+    // Configurazione camera e luci
+    const camera = new BABYLON.ArcRotateCamera(
+        "camera", 
+        0,                  // alfa (rotazione orizzontale)
+        Math.PI / 3,       // beta (rotazione verticale)
+        30,                // raggio (distanza) - aumentato per vedere meglio la scena
+        new BABYLON.Vector3(0, 0, 0), 
+        scene
+    );
+    camera.attachControl(canvas, true);
+    camera.wheelPrecision = 50;
+    camera.lowerRadiusLimit = 2;
+    camera.upperRadiusLimit = 100;
+    
+    // Luci con intensit� aumentata
+    const hemLight = new BABYLON.HemisphericLight(
+        "hemLight", 
+        new BABYLON.Vector3(0, 1, 0), 
+        scene
+    );
+    hemLight.intensity = 1.0;  // aumentata da 0.7
+    
+    const dirLight = new BABYLON.DirectionalLight(
+        "dirLight", 
+        new BABYLON.Vector3(-1, -2, -1), 
+        scene
+    );
+    dirLight.intensity = 0.7;  // aumentata da 0.5
+    
+    // Griglia di riferimento pi� grande
+    const gridSize = 100;  // aumentato da 10
+    const grid = BABYLON.MeshBuilder.CreateGround(
+        "grid", 
+        {
+            width: gridSize,
+            height: gridSize,
+            subdivisions: 20  // modificato per una griglia pi� visibile
+        }, 
+        scene
+    );
+
+    // Aggiungiamo un materiale alla griglia per renderla visibile
+    const gridMaterial = new BABYLON.StandardMaterial("gridMat", scene);
+    gridMaterial.diffuseColor = new BABYLON.Color3(0.5, 0.5, 0.5);
+    gridMaterial.wireframe = true;
+    grid.material = gridMaterial;
+
+    // Aggiungi assi di riferimento
+    const showAxis = function(size) {
+        const makeTextPlane = function(text, color, size) {
+            const dynamicTexture = new BABYLON.DynamicTexture("DynamicTexture", 50, scene, true);
+            dynamicTexture.hasAlpha = true;
+            dynamicTexture.drawText(text, 5, 40, "bold 36px Arial", color , "transparent", true);
+            const plane = BABYLON.MeshBuilder.CreatePlane("TextPlane", { size: size }, scene);
+            plane.material = new BABYLON.StandardMaterial("TextPlaneMaterial", scene);
+            plane.material.backFaceCulling = false;
+            plane.material.specularColor = new BABYLON.Color3(0, 0, 0);
+            plane.material.diffuseTexture = dynamicTexture;
+            return plane;
+        };
+
+        const axisX = BABYLON.MeshBuilder.CreateLines("axisX", {
+            points: [
+                new BABYLON.Vector3(0, 0, 0), 
+                new BABYLON.Vector3(size, 0, 0)
+            ]
+        }, scene);
+        axisX.color = new BABYLON.Color3(1, 0, 0);
+        const xChar = makeTextPlane("X", "red", size / 10);
+        xChar.position = new BABYLON.Vector3(size * 0.9, 0.1, 0);
+        
+        const axisY = BABYLON.MeshBuilder.CreateLines("axisY", {
+            points: [
+                new BABYLON.Vector3(0, 0, 0), 
+                new BABYLON.Vector3(0, size, 0)
+            ]
+        }, scene);
+        axisY.color = new BABYLON.Color3(0, 1, 0);
+        const yChar = makeTextPlane("Y", "green", size / 10);
+        yChar.position = new BABYLON.Vector3(0, size * 0.9, 0);
+        
+        const axisZ = BABYLON.MeshBuilder.CreateLines("axisZ", {
+            points: [
+                new BABYLON.Vector3(0, 0, 0), 
+                new BABYLON.Vector3(0, 0, size)
+            ]
+        }, scene);
+        axisZ.color = new BABYLON.Color3(0, 0, 1);
+        const zChar = makeTextPlane("Z", "blue", size / 10);
+        zChar.position = new BABYLON.Vector3(0, 0.1, size * 0.9);
+    };
+    showAxis(20);
+
+    return scene;
+}
+
+//DEBUG
+document.getElementById('processButton').addEventListener('click', async () => {
+    debugWithBoxes(scene);
+});
+
+/*
+        document.getElementById('processButton').addEventListener('click', async () => {
+            // Rimuovi modelli esistenti
+            scene.meshes.slice().forEach(mesh => {
+                if (mesh.name !== "grid") mesh.dispose();
+            });
+
+            const modelUrl = URL.createObjectURL(modelFile);
+            const fileExtension = modelFile.name.split('.').pop().toLowerCase();
+
+            // Funzione per caricare e clonare i modelli
+            const loadAndPlaceModel = (meshes, particleSystems, skeletons) => {
+                const rootMesh = meshes[0];
+                
+                // Crea una copia del modello per ogni posizione
+                Object.keys(drives).forEach(site => {
+                    Object.keys(drives[site]).forEach(drive => {
+                        const driveData = drives[site][drive];
+                        const clone = rootMesh.clone("model_" + site + "_" + drive);
+                        
+                        // Posiziona il modello
+                        clone.position = new BABYLON.Vector3(
+                            driveData.totalOffset.x,
+                            driveData.totalOffset.y,
+                            driveData.totalOffset.z
+                        );
+                        
+                        // Applica la rotazione dal quaternione
+                        clone.rotationQuaternion = new BABYLON.Quaternion(
+                            driveData.quaternion.v1,
+                            driveData.quaternion.v2,
+                            driveData.quaternion.v3,
+                            driveData.quaternion.s
+                        );
+                    });
+                });
+
+                // Rimuovi il modello originale
+                rootMesh.dispose();
+            };
+
+            // Carica il modello in base al formato
+            if (fileExtension === 'obj') {
+                BABYLON.SceneLoader.ImportMesh("", "", modelUrl, scene, loadAndPlaceModel);
+            } else if (fileExtension === 'gltf' || fileExtension === 'glb') {
+                BABYLON.SceneLoader.ImportMesh("", "", modelUrl, scene, loadAndPlaceModel, null, null, ".gltf");
+            }
+
+            URL.revokeObjectURL(modelUrl);
+        });
+		
+		
+*/		
+
+// Crea la scena
+const scene = createScene();
+
+// Renderizza continuamente
+engine.runRenderLoop(() => {
+    scene.render();
+});
+
+
+
+        window.addEventListener('resize', () => {
+            engine.resize();
+        });
+		
+// Funzione di debug che usa cubi al posto del modello 3D
+function debugWithBoxes(scene) {
+    console.log("Inizio debugWithBoxes");
+    
+    // Verifica che scene sia valido
+    if (!scene) {
+        console.error("Scene non valida");
+        return;
+    }
+
+    // Verifica che drives sia definito e non vuoto
+    if (!drives || Object.keys(drives).length === 0) {
+        console.error("Nessun dato drives disponibile");
+        return;
+    }
+
+    // Rimuovi modelli esistenti
+    scene.meshes.slice().forEach(mesh => {
+        if (mesh.name !== "grid") {
+            console.log("Rimuovo mesh:", mesh.name);
+            mesh.dispose();
+        }
+    });
+
+    // Crea un materiale per i cubi
+    const boxMaterial = new BABYLON.StandardMaterial("boxMat", scene);
+    boxMaterial.wireframe = true;
+    boxMaterial.emissiveColor = new BABYLON.Color3(0, 1, 0);
+    boxMaterial.alpha = 1; // Assicurati che sia completamente opaco
+    boxMaterial.backFaceCulling = false; // Mostra entrambi i lati
+
+    // Contatore per debug
+    let boxCount = 0;
+
+    // Per ogni posizione nei drives, crea un cubo
+    Object.keys(drives).forEach(site => {
+        Object.keys(drives[site]).forEach(drive => {
+            const driveData = drives[site][drive];
+            
+            // Verifica che i dati siano validi
+            if (!driveData.totalOffset || !driveData.quaternion) {
+                console.warn(`Dati mancanti per ${site}_${drive}`);
+                return;
+            }
+
+            // Crea un cubo
+            const box = BABYLON.MeshBuilder.CreateBox(
+                `box_${site}_${drive}`, 
+                { 
+                    width: 1,    // Dimensioni aumentate per maggiore visibilit�
+                    height: 1, 
+                    depth: 2     
+                }, 
+                scene
+            );
+            
+            // Imposta il materiale
+            box.material = boxMaterial;
+            
+            // Posiziona il cubo
+            box.position = new BABYLON.Vector3(
+                driveData.totalOffset.x,
+                driveData.totalOffset.y,
+                driveData.totalOffset.z
+            );
+            
+            console.log(`Box ${boxCount} posizionato a:`, box.position);
+            
+            // Applica la rotazione dal quaternione
+            box.rotationQuaternion = new BABYLON.Quaternion(
+                driveData.quaternion.v1,
+                driveData.quaternion.v2,
+                driveData.quaternion.v3,
+                driveData.quaternion.s
+            );
+
+            boxCount++;
+        });
+    });
+
+    console.log(`Creati ${boxCount} cubi`);
+
+    // Assicurati che la camera sia posizionata correttamente
+    if (scene.activeCamera) {
+        // Imposta la camera a una posizione da cui si vedono i cubi
+        scene.activeCamera.position = new BABYLON.Vector3(0, 5, -10);
+        scene.activeCamera.setTarget(BABYLON.Vector3.Zero());
+    } else {
+        console.error("Camera non trovata nella scena");
+    }
+}
+
+
+/**
+ * Calcola la differenza tra i campi euler e totalOffset di due elementi dell'array drives
+ * @param {Object} drives - Array bidimensionale con indici site e drive
+ * @param {string|number} site1 - Primo indice site
+ * @param {string|number} drive1 - Primo indice drive
+ * @param {string|number} site2 - Secondo indice site
+ * @param {string|number} drive2 - Secondo indice drive
+ * @returns {Object} Oggetto contenente le differenze calcolate
+ */
+function calculateDrivesDifferences(site1, drive1, site2, drive2) {
+    // Costante per convertire da radianti a gradi
+    const RAD_TO_DEG = 180 / Math.PI;
+    
+    // Ottieni i due elementi dall'array
+    const element1 = drives[site1][drive1];
+    const element2 = drives[site2][drive2];
+    
+    // Calcola le differenze per gli angoli di Euler e converti in gradi
+    const eulerDiffRad = {
+        yaw: (element1.euler.yaw - element2.euler.yaw),
+        pitch: (element1.euler.pitch - element2.euler.pitch),
+        roll: (element1.euler.roll - element2.euler.roll)
+    };
+    
+    const eulerDiffDeg = {
+        yaw: (element1.euler.yaw - element2.euler.yaw) * RAD_TO_DEG,
+        pitch: (element1.euler.pitch - element2.euler.pitch) * RAD_TO_DEG,
+        roll: (element1.euler.roll - element2.euler.roll) * RAD_TO_DEG
+    };
+    
+    // Calcola le differenze per totalOffset
+    const totalOffsetDiff = {
+        x: element1.totalOffset.x - element2.totalOffset.x,
+        y: element1.totalOffset.y - element2.totalOffset.y,
+        z: element1.totalOffset.z - element2.totalOffset.z
+    };
+    
+    return {
+        eulerDiffRad,
+		eulerDiffDeg,
+        totalOffsetDiff
+    };
+}
+
+
+		
+    </script>
+</body>
+</html>
diff --git a/VST2X3d-and-viewer.html b/VST2X3d-and-viewer.html
new file mode 100644
index 0000000..2d434fc
--- /dev/null
+++ b/VST2X3d-and-viewer.html
@@ -0,0 +1,317 @@
+<!DOCTYPE html>
+<html>
+   <head>
+    <meta http-equiv="X-UA-Compatible" content="IE=edge"/>
+     <title>X3d viewer</title>
+     <script type='text/javascript' src='x3dom.js'></script>
+     <link rel='stylesheet' type='text/css' href='x3dom.css'></link>
+     <link rel='stylesheet' type='text/css' href='VST2X3D.css'></link>
+     <script type="text/javascript">
+	 
+
+// 007: Fixed flipped X axis
+//      Started implementation of full scene save:
+//        fixed wrong names of x3d tags
+//        implemented single shapes storage for future save; yet to incapsulate them into the alt/az transforms
+//      Note: broken "click to load", only drag/drop working
+//      Added local saving of full .x3d model
+
+// 006: separate conversion function from convertBtn, to allow automatic call after loading.
+//      Fixed bug of models orientation, removed temporary debug sliders.
+//      Fixed bug of wrong sol in texture folder.
+//      Pre-selected turntable view
+
+// 005: Embedded VST2X3D conversion.
+//      Fixed VST/X3D orientation depending on rover frame orientation.
+//      Temporarily added sliders to manual rotate shapes in x3d model (for debugging).
+//		To do:
+//       - separate conversion function from convertBtn, to allow automatic call after loading
+//       - add support for multiple local files processing
+//		 - add local saving of downloaded files
+//       - add support for multiple product ids pasted in the textbox for downloading
+
+// 004: Added model azimuth support; vertical axis inverted
+
+// 003: Added multimodel support
+//      Note: probably vertical axis is reversed
+
+const namespace = "http://www.web3d.org/specifications/x3d-namespace"; // o il namespace appropriato per il tuo caso
+
+	 navigationInfo = null;
+	 modelsCount = 0;
+	 initialAzimuth = [];
+	 initialElevation = [];
+
+
+function cleanAttributes(element) {
+    // Lista degli attributi da resettare
+    const attributesToReset = [
+        "render", "visible", "bboxCenter", "bboxSize", "bboxDisplay",
+        "bboxMargin", "bboxColor", "center", "translation",
+        "scale", "scaleOrientation"
+    ];
+
+    // Imposta ogni attributo della lista a ""
+    attributesToReset.forEach(attr => {
+        element.setAttribute(attr, "");
+    });
+}
+
+	function loadX3DFile(inputX3D, azimuth, elevation) {
+	            var content = inputX3D; // e.target.result;
+	            var parser = new DOMParser();
+	            x3dDoc = parser.parseFromString(content, "text/xml"); // DOM element (HTML document)
+	            // Corregge i percorsi delle texture
+	            var imageTextures = x3dDoc.querySelectorAll("ImageTexture, TextureProperties");
+	            imageTextures.forEach(function(texture) {
+	                var url = texture.getAttribute("url");
+	                if (!url || url === "") {
+	                    texture.removeAttribute("url");
+	                }
+	            });
+
+	            sourceScene = x3dDoc.querySelector("Scene") || x3dDoc.querySelector("scene");
+				
+console.log(sourceScene);					
+
+	            if (sourceScene) {
+					
+	                // Ottieni il riferimento alla scena esistente
+	                targetScene = document.getElementById("modelScene");
+
+	                // Mantieni il viewpoint esistente o creane uno nuovo se non esiste
+	                viewpoint = targetScene.querySelector("Viewpoint");
+	                if (!viewpoint) {
+	                    viewpoint = x3dDoc.createElementNS(namespace,"Viewpoint");
+	                    targetScene.insertBefore(viewpoint, targetScene.firstChild);
+
+	                    // Imposta posizione e zoom solo se è un nuovo viewpoint
+	                    viewpoint.setAttribute("position", "20 20 0");
+	                    viewpoint.setAttribute("orientation", "0 1 0 0");
+	                    viewpoint.setAttribute("fieldOfView", "1.7");
+	                }
+
+					// Crea un nuovo Transform per il modello per impostare l'azimuth e successivamente l'elevazione (nidificata)
+					altAzTransform = document.createElementNS(namespace, "Transform")
+//cleanAttributes(altAzTransform);
+					altAzTransform.setAttribute("id","trfAzimuth");
+					altAzTransform.setAttribute("rotation", `0 1 0 ${azimuth}`);
+//altAzTransform.setAttribute("scale", "1 1 1"); // Se lo metto, non si vede nella pagina; se non lo metto, il viewer online non lo carica
+
+					// Crea un secondo Transform per l'elevazione
+					var elevationTransform = document.createElementNS(namespace,"Transform");
+//cleanAttributes(elevationTransform);
+
+					elevationTransform.setAttribute("id","trfElevation");
+					elevationTransform.setAttribute("rotation", `1 0 0 ${elevation}`);
+//altAzTransform.setAttribute("scale", "1 1 1");  // Se lo metto, non si vede nella pagina; se non lo metto, il viewer online non lo carica
+
+
+					altAzTransform.appendChild(elevationTransform);
+rotatedShapes.push(altAzTransform);
+
+	                // Aggiungi tutti gli elementi del nuovo modello al Transform
+	                Array.from(sourceScene.children).forEach(function(child) {
+	                    // Salta NavigationInfo e Viewpoint quando aggiungi gli elementi
+	                    if (child.nodeName !== "NavigationInfo" && child.nodeName !== "Viewpoint") {
+	                        var importedNode = document.importNode(child, true);
+	                        elevationTransform.appendChild(importedNode);
+	                    }
+	                });
+
+	                // Aggiungi il nuovo Transform alla scena esistente
+	                targetScene.appendChild(altAzTransform);
+
+	                console.log("New model added to scene, now refreshing model...");
+					initialAzimuth[modelsCount] = azimuth;
+					initialElevation[modelsCount] = elevation;
+					modelsCount++;
+					targetScene.setAttribute("scale","-1 1 1"); // due to Z axis inversion
+	                x3dom.reload(); // Ricarica x3dom per aggiornare la scena
+	            } else {
+	                console.error("Nessuna scena trovata nel file X3D");
+	            }
+	    }
+
+
+function saveShapesToX3D(shapes, filename = "output.x3d") {
+    // Header del file X3D
+    const x3dHeader = `<?xml version="1.0" encoding="UTF-8"?>
+<X3D profile="Immersive" version="3.3" xmlns:xsd="http://www.w3.org/2001/XMLSchema-instance">
+  <Scene>
+`;
+
+    // Footer del file X3D
+    const x3dFooter = `
+  </Scene>
+</X3D>`;
+
+
+ // Estrai il contenuto XML di ogni shape HTML
+    const shapesContent = Array.from(shapes)
+        .map(shape => shape.outerHTML)
+        .join("\n");
+
+
+    // Unisci header, contenuto delle shape e footer
+    const x3dContent = x3dHeader + shapesContent + x3dFooter;
+
+	// Parse la stringa X3D in un documento DOM
+	const parser = new DOMParser();
+	const xmlDoc = parser.parseFromString(x3dContent, "application/xml");
+
+	// Trova tutti gli elementi <Transform>
+	const transforms = xmlDoc.getElementsByTagName("Transform");
+
+	// Itera su ogni elemento e rimuove l'attributo "scale" (sennò non si vede in https://imagetostl.com/view-x3d-online#convert )
+	Array.from(transforms).forEach(transform => {
+	    if (transform.hasAttribute("scale")) {
+	        transform.removeAttribute("scale");
+	    }
+	});
+
+	// Converte il DOM modificato di nuovo in stringa
+	const serializer = new XMLSerializer();
+	const modifiedX3DContent = serializer.serializeToString(xmlDoc);
+
+
+	// Crea e scarica il file X3D
+	const blob = new Blob([modifiedX3DContent], { type: 'model/x3d+xml' });
+
+
+    // Crea un link per il download
+    const link = document.createElement("a");
+    link.href = URL.createObjectURL(blob);
+    link.download = filename;
+    link.style.display = "none";
+
+    // Aggiungi il link al documento e fai clic per scaricare
+    document.body.appendChild(link);
+    link.click();
+
+    // Rimuovi il link dal DOM
+    document.body.removeChild(link);
+}
+
+     </script>
+   </head>
+   <body> 
+    <div class="container">
+        <h1>VST to X3D Converter</h1>
+        <p>Upload a .vst file to convert it to X3D format.</p>
+
+        <div id="dropArea" class="upload-area">
+            <p>Drag and drop a .vst file here or click to select</p>
+            <input type="file" id="fileInput" accept=".vst" style="display: none">
+        </div>
+
+		Product id: <input type="text" id = "txtProductId" name="txtProductId" value = "2n292378085vilb128f0006l0m1" style="width:250px;"><br>
+        <button id="convertBtn" class="button" >Convert to X3D</button>
+<div>
+File:
+  <span id="currentFileName"></span>
+  <progress id="fileProgressBar" value="0" max="100" style="width: 80%;"></progress>
+</div>
+		<div>
+		  Files: <progress id="progressBar" value="0" max="100" style="width: 80%;"></progress>
+		</div>
+Files list:<br>
+<span id="spnLoaded"></span><br>
+        <div id="status" style="display: none;"></div>
+
+    </div>
+<hr>
+
+
+	 <table>
+	 <tr>
+	 <td>
+     <x3d width='800px' height='600px'>
+       <scene> 
+         <!-- Definisce il punto di vista fisso con rotazione centrata all'origine -->
+         <Viewpoint 
+            position="0 0 10" 
+            centerOfRotation="0 0 0"
+            orientation="0 1 0 0" 
+            fieldOfView="0.785" 
+            bind="true">
+         </Viewpoint>
+		 
+			<Navigationinfo 
+				headlight="false" 
+				type="turntable"
+				typeparams="0.0 0.0 0.5 1.6" 
+				explorationmode="all" 
+				avatarsize="0.25,1.6,0.75" 
+				walkdamping="2" 
+				speed="-1"
+				transitiontime="1" 
+				transitiontype="LINEAR ">
+			</Navigationinfo>
+			         
+         <!-- Assi persistenti -->
+         <Transform translation="0 0 0">
+            <!-- Asse X (Rosso) -->
+            <Shape>
+                <Appearance><Material diffuseColor="1 0 0" /></Appearance>
+                <LineSet vertexCount="2">
+                    <Coordinate point="0 0 0 5 0 0" />
+                </LineSet>
+            </Shape>
+            <!-- Asse Y (Verde) -->
+            <Shape>
+                <Appearance><Material diffuseColor="0 1 0" /></Appearance>
+                <LineSet vertexCount="2">
+                    <Coordinate point="0 0 0 0 5 0" />
+                </LineSet>
+            </Shape>
+            <!-- Asse Z (Blu) -->
+            <Shape>
+                <Appearance><Material diffuseColor="0 0 1" /></Appearance>
+                <LineSet vertexCount="2">
+                    <Coordinate point="0 0 0 0 0 5" />
+                </LineSet>
+            </Shape>
+         </Transform>
+
+         <!-- Area per il modello caricato -->
+         <Transform id="modelScene">
+           <!-- Modello di default per quando nessun file � caricato -->
+           <Shape> 
+             <Appearance>
+               <Material diffuseColor='1 0 0'></Material> 
+             </Appearance>
+           </Shape>
+         </Transform>
+       </scene> 
+     </x3d>
+
+	 </td>
+	 <td valign="top">
+	 </td>
+	 </tr>
+	 </table>
+	 Double click to set rotation center.<br>
+	 <ul>
+	 <li>View modes
+	 <ul>
+	 <li>N = Turntable (recommended)
+	 <li>E = Examine
+	 <li>W = Walk
+	 <li>G = Immediate pan mode
+	 <li>F = flight mode
+	 <li>I = "Look at" mode
+	 </ul>
+	 <li>A = Full model view
+	 <li>R = Reset view
+	 <li>U = Reset flight mode
+	 </ul>
+	 <a href="https://www.x3dom.org/documentation/interaction/">Official X3DOM help</a><br>
+
+     <script type="text/javascript" src="VST2X3D-AI.js"></script>
+<script>
+
+	</script>
+   </body> 
+</html>
+
diff --git a/drives.js b/drives.js
new file mode 100644
index 0000000..1fab524
--- /dev/null
+++ b/drives.js
@@ -0,0 +1,196424 @@
+const drives = {
+  "0": {
+    "0": {
+      "offset": {
+        "x": -0.06,
+        "y": 0,
+        "z": 0.3
+      },
+      "quaternion": {
+        "s": 0.114944,
+        "v1": 0.0183351,
+        "v2": -0.0117768,
+        "v3": 0.993133
+      },
+      "euler": {
+        "yaw": 2.911516105192201,
+        "pitch": -0.03913572004468498,
+        "roll": -0.019192711284884537
+      },
+      "totalOffset": {
+        "x": -0.06,
+        "y": 0,
+        "z": 0.3
+      }
+    }
+  },
+  "1": {
+    "0": {
+      "offset": {
+        "x": -0.06,
+        "y": 0,
+        "z": 0.3
+      },
+      "quaternion": {
+        "s": 0.114944,
+        "v1": 0.0183351,
+        "v2": -0.0117768,
+        "v3": 0.993133
+      },
+      "euler": {
+        "yaw": 2.911516105192201,
+        "pitch": -0.03913572004468498,
+        "roll": -0.019192711284884537
+      },
+      "totalOffset": {
+        "x": -0.06,
+        "y": 0,
+        "z": 0.3
+      }
+    }
+  },
+  "2": {
+    "0": {
+      "offset": {
+        "x": -0.06,
+        "y": 0,
+        "z": 0.3
+      },
+      "quaternion": {
+        "s": 0.115539,
+        "v1": -0.0440901,
+        "v2": -0.00394513,
+        "v3": 0.992316
+      },
+      "euler": {
+        "yaw": 2.908984518301029,
+        "pitch": 0.08669956721140379,
+        "roll": -0.018086800790195718
+      },
+      "totalOffset": {
+        "x": -0.06,
+        "y": 0,
+        "z": 0.3
+      }
+    },
+    "3": {
+      "offset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "quaternion": {
+        "s": 0.115745,
+        "v1": -0.0173098,
+        "v2": -0.00604964,
+        "v3": 0.99311
+      },
+      "euler": {
+        "yaw": 2.9092792011902953,
+        "pitch": 0.032986621685401146,
+        "roll": -0.01603236975002716
+      },
+      "totalOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    },
+    "5": {
+      "offset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "quaternion": {
+        "s": 0.117255,
+        "v1": 0.0214822,
+        "v2": -0.00693832,
+        "v3": 0.992845
+      },
+      "euler": {
+        "yaw": 2.9066753820965054,
+        "pitch": -0.04429858204621544,
+        "roll": -0.008748255628750859
+      },
+      "totalOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    },
+    "7": {
+      "offset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "quaternion": {
+        "s": 0.116144,
+        "v1": 0.0207005,
+        "v2": -0.00648327,
+        "v3": 0.992996
+      },
+      "euler": {
+        "yaw": 2.908896671903381,
+        "pitch": -0.04262992401208567,
+        "roll": -0.008074668245398861
+      },
+      "totalOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    },
+    "9": {
+      "offset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "quaternion": {
+        "s": 0.116246,
+        "v1": 0.0211584,
+        "v2": -0.00679595,
+        "v3": 0.992972
+      },
+      "euler": {
+        "yaw": 2.908703391046487,
+        "pitch": -0.043613226440055206,
+        "roll": -0.008585486754585652
+      },
+      "totalOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    },
+    "11": {
+      "offset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "quaternion": {
+        "s": 0.112033,
+        "v1": 0.0126651,
+        "v2": -0.00778878,
+        "v3": 0.993593
+      },
+      "euler": {
+        "yaw": 2.917200360601809,
+        "pitch": -0.026916360177976655,
+        "roll": -0.012644853384795778
+      },
+      "totalOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    },
+    "14": {
+      "offset": {
+        "x": 0.246452,
+        "y": -0.0558897,
+        "z": -0.01186
+      },
+      "quaternion": {
+        "s": 0.113497,
+        "v1": 0.00999296,
+        "v2": -0.00744932,
+        "v3": 0.99346
+      },
+      "euler": {
+        "yaw": 2.914225683658347,
+        "pitch": -0.02154783046383011,
+        "roll": -0.012536099403075778
+      },
+      "totalOffset": {
+        "x": 0.246452,
+        "y": -0.0558897,
+        "z": -0.01186
+      }
+    },
+    "16": {
+      "offset": {
+        "x": 0.246452,
+        "y": -0.0558897,
+        "z": -0.01186
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+}
\ No newline at end of file
diff --git a/files.js b/files.js
new file mode 100644
index 0000000..072591b
--- /dev/null
+++ b/files.js
@@ -0,0 +1,393586 @@
+const filesAvailability = {
+  "site0000": {
+    "0": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2f126468064vil0000p1001l0m1.vst",
+        "siteChars": "00",
+        "driveNum": 0,
+        "date": "2004-06-03T06:32:32Z",
+        "sclk1": "126468064.621",
+        "sclk2": "126468064.928"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2f126468064vil0000p1001l0m2.vst",
+        "siteChars": "00",
+        "driveNum": 0,
+        "date": "2004-06-03T06:32:32Z",
+        "sclk1": "126468064.621",
+        "sclk2": "126468064.928"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2mesh_1_fnpr_0_dnl_0_v1.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:33:56Z",
+        "sclk1": "126469222.371",
+        "sclk2": "126469222.411"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2mesh_1_fnpr_0_dnl_0_v1.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:33:56Z",
+        "sclk1": "126469222.371",
+        "sclk2": "126469222.411"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2mesh_1_fnpr_0_dnl_0_v2.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T07:20:55Z",
+        "sclk1": "126894347.121",
+        "sclk2": "126894347.223"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2mesh_1_fnpr_0_dnl_0_v2.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T07:20:55Z",
+        "sclk1": "126894347.121",
+        "sclk2": "126894347.223"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
+        "filename": "2mesh_1_fnpr_0_dnl_0_v3.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:33:56Z",
+        "sclk1": "126469222.371",
+        "sclk2": "126469222.411"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0000/",
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+        "sclk2": "318574660.768"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2r318574610vilb21ip1348l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -426,
+        "date": "2010-09-20T17:56:52Z",
+        "sclk1": "318574610.246",
+        "sclk2": "318574611.126"
+      }
+    ],
+    "-395": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2f318575169vilb22dp1236l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -395,
+        "date": "2010-09-20T17:54:35Z",
+        "sclk1": "318575169.121",
+        "sclk2": "318575169.269"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2r318575221vilb22dp1336l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -395,
+        "date": "2010-09-20T17:56:44Z",
+        "sclk1": "318575221.246",
+        "sclk2": "318575221.824"
+      }
+    ],
+    "-376": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2f318576063vilb22wp1214l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -376,
+        "date": "2010-09-20T17:53:48Z",
+        "sclk1": "318576063.996",
+        "sclk2": "318576064.129"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2r318576114vilb22wp1314l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -376,
+        "date": "2010-09-20T17:56:03Z",
+        "sclk1": "318576114.871",
+        "sclk2": "318576115.480"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n318575693vilb22wf0006l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -376,
+        "date": "2010-09-20T17:52:16Z",
+        "sclk1": "318575693.371",
+        "sclk2": "318575694.133"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n318575809vilb22wp1809l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -376,
+        "date": "2010-09-20T17:51:38Z",
+        "sclk1": "318575809.746",
+        "sclk2": "318575810.350"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n318927246vilb22wp1806l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -376,
+        "date": "2010-09-20T17:51:26Z",
+        "sclk1": "318927246.621",
+        "sclk2": "318927247.127"
+      }
+    ],
+    "-206": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2f318929944vilb27mp1214l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:53:54Z",
+        "sclk1": "318929944.121",
+        "sclk2": "318929944.269"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2f319371241vilb27mp1214l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:54:00Z",
+        "sclk1": "319371241.871",
+        "sclk2": "319371242.70"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2r318929995vilb27mp1314l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:56:09Z",
+        "sclk1": "318929995.996",
+        "sclk2": "318929996.564"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n318929212vilb27mp1809l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:51:44Z",
+        "sclk1": "318929212.746",
+        "sclk2": "318929213.298"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n319371305vilb27mp1982l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:51:50Z",
+        "sclk1": "319371305.121",
+        "sclk2": "319371305.428"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n319371355vilb27mp1982l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:51:55Z",
+        "sclk1": "319371355.996",
+        "sclk2": "319371356.344"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n319371514vilb27mp1984l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:52:00Z",
+        "sclk1": "319371514.121",
+        "sclk2": "319371514.469"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n319449702vilb27mp0703l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:50:29Z",
+        "sclk1": "319449702.621",
+        "sclk2": "319449702.979"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n319449738vilb27mp0703l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:50:34Z",
+        "sclk1": "319449738.996",
+        "sclk2": "319449739.359"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0138/",
+        "filename": "2n319449811vilb27mp0703l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:50:40Z",
+        "sclk1": "319449811.496",
+        "sclk2": "319449811.874"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629136vilb27mp2398l2m4.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:36:06Z",
+        "sclk1": "319629136.246",
+        "sclk2": "319629136.578"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629136vilb27mp2398l2m5.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:36:06Z",
+        "sclk1": "319629136.246",
+        "sclk2": "319629136.578"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629169vilb27mp2398l2m4.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:08Z",
+        "sclk1": "319629169.996",
+        "sclk2": "319629170.328"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629169vilb27mp2398l2m5.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:08Z",
+        "sclk1": "319629169.996",
+        "sclk2": "319629170.328"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629169vilb27mp2398l2m6.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:08Z",
+        "sclk1": "319629169.996",
+        "sclk2": "319629170.328"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629202vilb27mp2398l2m4.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:13Z",
+        "sclk1": "319629202.621",
+        "sclk2": "319629202.948"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629202vilb27mp2398l2m5.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:13Z",
+        "sclk1": "319629202.621",
+        "sclk2": "319629202.948"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629277vilb27mp2398l2m4.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:17Z",
+        "sclk1": "319629277.246",
+        "sclk2": "319629277.583"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/pancam/site0138/",
+        "filename": "2p319629277vilb27mp2398l2m5.vst",
+        "siteChars": "b2",
+        "driveNum": -206,
+        "date": "2010-09-20T17:29:17Z",
+        "sclk1": "319629277.246",
+        "sclk2": "319629277.583"
+      }
+    ],
+    "36x": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2mesh_2105x_fnr_138_ffl_36x_v1.p",
+        "siteChars": "debugPFB",
+        "driveNum": "36x",
+        "date": "2010-06-11T00:07:44Z",
+        "sclk1": "313154512.496",
+        "sclk2": "313154512.920"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2mesh_2105x_fnr_138_ffl_36x_v1.h",
+        "siteChars": "debugPFB",
+        "driveNum": "36x",
+        "date": "2010-06-11T00:07:44Z",
+        "sclk1": "313154512.496",
+        "sclk2": "313154512.920"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2mesh_2105x_f_138_ffl_36x_v1.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "36x",
+        "date": "2010-06-11T00:48:04Z",
+        "sclk1": "313229998.496",
+        "sclk2": "313229998.864"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2mesh_2105x_f_138_ffl_36x_v1.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "36x",
+        "date": "2010-06-11T00:48:04Z",
+        "sclk1": "313229998.496",
+        "sclk2": "313229998.864"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2mesh_2105x_r_138_ffl_36x_v1.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "36x",
+        "date": "2010-06-11T01:22:24Z",
+        "sclk1": "313229962.371",
+        "sclk2": "313229962.842"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2mesh_2105x_r_138_ffl_36x_v1.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "36x",
+        "date": "2010-06-11T01:22:24Z",
+        "sclk1": "313229962.371",
+        "sclk2": "313229962.842"
+      }
+    ],
+    "-346": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0138/",
+        "filename": "2r318928080vilb23qp1348l0m1.vst",
+        "siteChars": "b2",
+        "driveNum": -346,
+        "date": "2010-09-20T17:56:57Z",
+        "sclk1": "318928080.871",
+        "sclk2": "318928081.628"
+      }
+    ]
+  },
+  "site0001": {
+    "0": [
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_fnpr_1_ffl_0_v1.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_fnpr_1_ffl_0_v1.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_fnpr_1_ffl_0_v2.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_fnpr_1_ffl_0_v2.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_fnpr_1_ffl_0_v3.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_fnpr_1_ffl_0_v3.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_frpn_1_ffl_0_v1.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/hazcam/site0001/",
+        "filename": "2mesh_2_frpn_1_ffl_0_v1.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v1.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v1.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v2.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v2.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v3.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v3.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v4.ht",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2mesh_2_n_1_ffl_0_v4.pfb",
+        "siteChars": "debugPFB",
+        "driveNum": "0",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2n126543636vil0100p1505l0m1.vst",
+        "siteChars": "01",
+        "driveNum": 0,
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      }
+    ],
+    "undefined": [
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2n126543636xyl0100p1505l0m1.rgb",
+        "siteChars": "debugPFB",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      },
+      {
+        "path": "/mer2mw_0xxx/data/navcam/site0001/",
+        "filename": "2n126543636xyl0100p1505l0m2.rgb",
+        "siteChars": "debugPFB",
+        "date": "2004-06-03T06:36:58Z",
+        "sclk1": "126543636.746",
+        "sclk2": "126543636.838"
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/index-reader.html b/index-reader.html
new file mode 100644
index 0000000..23726ba
--- /dev/null
+++ b/index-reader.html
@@ -0,0 +1,160 @@
+<!--
+Loads index file rdrindex.tab from https://planetarydata.jpl.nasa.gov/img/data/mer/mer2mw_0xxx/index/rdrindex.tab 
+into an array for couning vst, pfb and ht
+files in traverse2d viewer
+-->
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>File Loader and Parser</title>
+</head>
+<body>
+  <h1>MER products index convertr</h1>
+  Please load index file rdrindex.tab from <a href="https://planetarydata.jpl.nasa.gov/img/data/mer/mer2mw_0xxx/index/rdrindex.tab">https://planetarydata.jpl.nasa.gov/img/data/mer/mer2mw_0xxx/index/rdrindex.tab</a><br><br>
+  <input type="file" id="fileInput" />
+  <button id="saveButton" style="margin-top: 20px;">Salva dati su file</button><br>
+  <pre id="output"></pre>
+  <script>	
+var filesData = {};
+
+    document.getElementById("fileInput").addEventListener("change", function (event) {
+      const file = event.target.files[0];
+      if (!file) {
+        alert("Seleziona un file!");
+        return;
+      }
+
+      const reader = new FileReader();
+
+     reader.onload = function (e) {
+        const content = e.target.result;
+        const rows = content.trim().split("\n");
+
+        rows.forEach((row) => {
+          // Rimuove eventuali virgolette e divide la riga
+          const columns = row.replace(/"/g, "").split("\t");
+
+          // Estrae il valore del sito (es. "site0000")
+          const site = columns[4].match(/site\d+/)?.[0];
+          if (!site) return;
+
+          // Estrae i campi richiesti
+          const path = columns[4].trim();
+          const filename = columns[5].trim();
+          const date = columns[8].trim();
+          const sclk1 = columns[14].trim();
+          const sclk2 = columns[15].trim();
+
+           const ext = filename.slice(28,31); // Estensione file
+		  if (ext.toUpperCase() === "VST") { 
+				const sol = "n/a";
+				const cameras = "n/a";
+
+				const siteChars = filename.slice(14, 16); // Posizioni 14 e 15
+				const driveChars = filename.slice(16, 18); // Posizioni 16 e 17
+				const siteNum = siteCodeToString2(siteChars);
+				const driveNum = siteCodeToString2(driveChars);
+	          // Crea o aggiorna l'array per il sito e il drive specifici
+	          if (!filesData[site]) filesData[site] = {};
+	          if (!filesData[site][driveNum]) filesData[site][driveNum] = [];
+	          filesData[site][driveNum].push({ path, filename, siteChars, driveChars, siteNum, driveNum, date, sclk1, sclk2 });
+		  } else if (ext.toUpperCase() === "PFB")
+//2mesh_1869_frnp_137_ffl_0_v1
+				const pieces = 	filename.split("_");
+				const sol = pieces[1]
+				const cameras = pieces[2];
+				const siteNum = pieces[3];
+				const driveNum = pieces[5];
+	            const siteChars = "debugPFB"
+	            const driveChars = "debugPFB"	  
+	          // Crea o aggiorna l'array per il sito e il drive specifici
+	          if (!filesData[site]) filesData[site] = {};
+	          if (!filesData[site][driveNum]) filesData[site][driveNum] = [];
+	          filesData[site][driveNum].push({ path, filename, siteChars, driveChars, siteNum, driveNum, date, sclk1, sclk2 });
+		  } else (ext.substr(0,2).toUpperCase() === "HT")
+				const pieces = 	filename.split("_");
+				const sol = pieces[1]
+				const cameras = pieces[2];
+				const siteNum = pieces[3];
+				const driveNum = pieces[5];
+	            const siteChars = "debugPFB"
+	            const driveChars = "debugPFB"	  
+	          // Crea o aggiorna l'array per il sito e il drive specifici
+	          if (!filesData[site]) filesData[site] = {};
+	          if (!filesData[site][driveNum]) filesData[site][driveNum] = [];
+	          filesData[site][driveNum].push({ path, filename, siteChars, driveChars, siteNum, driveNum, date, sclk1, sclk2 });
+		  }
+        });
+alert("Done");	
+
+      };
+
+      reader.onerror = function () {
+        alert("Errore nella lettura del file!");
+      };
+
+      reader.readAsText(file);
+    });
+	
+        function saveDataToFile(filename) {
+            // Converti i dati in una stringa JSON
+            const jsonData = "const filesAvailability = " + JSON.stringify(filesData, null, 2);
+
+            // Crea un blob con i dati
+            const blob = new Blob([jsonData], { type: "application/json" });
+
+            // Crea un URL per il download
+            const url = window.URL.createObjectURL(blob);
+
+            // Crea un elemento <a> per il download
+            const a = document.createElement("a");
+            a.href = url;
+            a.download = filename;
+
+            // Attiva il download
+            a.click();
+
+            // Libera la memoria
+            window.URL.revokeObjectURL(url);
+        }
+		
+        document.getElementById("saveButton").addEventListener("click", () => {
+            saveDataToFile("files.js");
+        });
+		
+function siteCodeToString2(code) {
+    if (code.length !== 2) {
+        throw new Error("Il codice deve essere una stringa di due caratteri.");
+    }
+
+    const firstChar = code[0];
+    const secondChar = code[1];
+
+    // Caso 1: numerico puro ("00" - "99")
+    if (!isNaN(firstChar) && !isNaN(secondChar)) {
+        return parseInt(code, 10);
+    }
+
+    // Caso 2: alfanumerico ("A0" - "ZZ")
+    const alphabetOffset = 'A'.charCodeAt(0); // Offset per calcolare il valore delle lettere
+    const firstValue = firstChar.charCodeAt(0) - alphabetOffset;
+    let secondValue;
+
+    if (isNaN(secondChar)) {
+        // Se il secondo carattere è una lettera
+        secondValue = secondChar.charCodeAt(0) - alphabetOffset + 10;
+    } else {
+        // Se il secondo carattere è un numero
+        secondValue = parseInt(secondChar, 10);
+    }
+
+    // Formula per calcolare l'intervallo corretto (da 100 in poi)
+    return 100 + firstValue * 36 + secondValue;
+}
+		
+  </script>
+</body>
+</html>
+
diff --git a/treverse2d-test001.html b/treverse2d-test001.html
new file mode 100644
index 0000000..f404bce
--- /dev/null
+++ b/treverse2d-test001.html
@@ -0,0 +1,169 @@
+<!--
+
+Plots data from drives.js and files.js, drawing all sites and drives;
+drives markers size is proportional to number of available VST files.
+
+-->
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>Plotly Marker Example</title>
+    <script src="https://cdn.plot.ly/plotly-latest.min.js"></script>
+   <script src="drives.js"></script>
+   <script src="files.js"></script>
+</head>
+<body>
+    <div id="plot" style="width: 100%; height: 600px;"></div>
+    <button id="saveButton" style="margin-top: 20px;">Salva dati su file</button>
+    <script>
+        // Simulazione dei dati `drives`
+
+MAXSIZE = 30;
+function placeMarkers() {
+
+    if (!drives || Object.keys(drives).length === 0) {
+        console.error("Nessun dato drives disponibile");
+        return;
+    }
+
+const xSecondary = [];
+const ySecondary = [];
+const textSecondary = []; // Tooltip blu
+const sizeSecondary = []; // Dimensioni blu
+const colorSecondary = [];
+
+const xPrimary = [];
+const yPrimary = [];
+const textPrimary = []; // Tooltip rosso
+const sizePrimary = []; // Dimensioni rosse
+
+console.log("filesAvailability=", filesAvailability);
+
+// Itera sui dati
+Object.keys(drives).forEach(site => {
+    Object.keys(drives[site]).forEach(drive => {
+        const driveData = drives[site][drive];
+
+        // Verifica che i dati siano validi
+        if (!driveData.totalOffset || typeof driveData.totalOffset.x === "undefined" || typeof driveData.totalOffset.y === "undefined") {
+            console.warn(`Dati mancanti per ${site}_${drive}`);
+            return;
+        }
+
+        const siteNorm = `site${site.padStart(4, "0")}`;
+        
+        // Conta i file .vst per il site corrente
+        const vstFiles = (filesAvailability[siteNorm][drive] || []).filter(file => file.filename.endsWith(".vst")).length;
+        const pfbFiles = (filesAvailability[siteNorm][drive] || []).filter(file => file.filename.endsWith(".pfb")).length;
+        const htFiles = (filesAvailability[siteNorm][drive] || []).filter(file => file.filename.endsWith(".ht")).length;
+
+        // Estrai le coordinate
+        const x = driveData.totalOffset.y;
+        const y = driveData.totalOffset.x;
+
+        // Testo per il tooltip
+        const hoverText = `Site: ${site}<br>Drive: ${drive}<br>VST files: ${vstFiles}<br>PFB files: ${pfbFiles}<br>HT files: ${htFiles}`;
+
+        // Organizza i dati 
+        if (drive === "0") {
+            xPrimary.push(x);
+            yPrimary.push(y);
+            textPrimary.push(hoverText);
+            sizePrimary.push( MAXSIZE + 5); 
+        } else {
+            xSecondary.push(x);
+            ySecondary.push(y);
+            textSecondary.push(hoverText);
+			vstFilesFinal = vstFiles;
+			if (vstFilesFinal>MAXSIZE) vstFilesFinal = MAXSIZE;
+            sizeSecondary.push(vstFilesFinal || 4); // Assegna dimensione proporzionale
+			if (pfbFiles>0) {
+				colorSecondary.push("yellow");
+			} else {
+				colorSecondary.push("blue");
+			}
+        }
+    });
+});
+
+
+// Crea i dati per Plotly
+const data = [
+    {
+        x: xPrimary,
+        y: yPrimary,
+        mode: "markers",
+        type: "scatter",
+        marker: { color: "red", size: sizePrimary }, // Dimensioni dinamiche
+        name: "Sites",
+        text: textPrimary, // Tooltip associato
+        hoverinfo: "text" // Mostra solo il testo specificato
+    },
+    {
+        x: xSecondary,
+        y: ySecondary,
+        mode: "lines+markers",
+        type: "scatter",
+        marker: { color: colorSecondary, size: sizeSecondary }, // Dimensioni dinamiche
+        line: { color: "blue", width: 1 },
+        name: "Drives",
+        text: textSecondary, // Tooltip associato
+        hoverinfo: "text" // Mostra solo il testo specificato
+    }
+];
+
+
+    // Configurazione del layout
+    const layout = {
+        title: "Drive Markers",
+        xaxis: { title: "X Coordinate" },
+        yaxis: { title: "Y Coordinate" },
+        dragmode: "zoom",
+        showlegend: true
+    };
+
+    // Disegna il grafico
+    Plotly.newPlot("plot", data, layout);
+    console.log(`Creati ${xPrimary.length + xSecondary.length} marker.`);
+}
+ 
+ 
+ 
+ 
+
+        // Funzione per salvare i dati su un file JSON
+        function saveDataToFile(data, filename) {
+            // Converti i dati in una stringa JSON
+            const jsonData = JSON.stringify(data, null, 2);
+
+            // Crea un blob con i dati
+            const blob = new Blob([jsonData], { type: "application/json" });
+
+            // Crea un URL per il download
+            const url = window.URL.createObjectURL(blob);
+
+            // Crea un elemento <a> per il download
+            const a = document.createElement("a");
+            a.href = url;
+            a.download = filename;
+
+            // Attiva il download
+            a.click();
+
+            // Libera la memoria
+            window.URL.revokeObjectURL(url);
+        }
+
+        // Aggiungi evento al pulsante
+        document.getElementById("saveButton").addEventListener("click", () => {
+            saveDataToFile(drives, "drives.json");
+        });
+
+        // Chiama la funzione per creare il grafico
+        placeMarkers();
+    </script>
+</body>
+</html>
+
diff --git a/x3d-viewer-local.html b/x3d-viewer-local.html
index c0b9c82..027cc03 100644
--- a/x3d-viewer-local.html
+++ b/x3d-viewer-local.html
@@ -2,187 +2,511 @@
 <html>
    <head>
     <meta http-equiv="X-UA-Compatible" content="IE=edge"/>
-     <title>X3d local</title>
-     <script type='text/javascript' src='x3dom.js'></script>
-     <link rel='stylesheet' type='text/css' href='x3dom.css'></link>
+    <title>X3D Model Viewer</title>
+    <script type='text/javascript' src='x3dom.js'></script>
+    <link rel='stylesheet' type='text/css' href='x3dom.css'></link>
     <meta charset="UTF-8">
-    <title>Visualizzatore X3D</title>
+    <style>
+        .control-container {
+            display: flex;
+            flex-direction: column;
+            margin-top: 20px;
+        }
+        .slider-group {
+            display: flex;
+            align-items: center;
+            margin-bottom: 10px;
+        }
+        .slider-group label {
+            width: 100px;
+            margin-right: 10px;
+        }
+        .slider-group input[type="range"] {
+            width: 500px; /* Larghezza fissa per gli slider */
+        }
+        .slider-group input[type="text"],
+        .slider-group input[type="number"] {
+            width: calc(0.6em * 8); /* Larghezza visiva di massimo 5 caratteri */
+            padding: 2px;
+            text-align: center;
+            font-family: monospace; /* Font a larghezza fissa */
+        }
+    </style>
 </head>
 <body>
-    <h1>Visualizzatore File X3D</h1>
-    <input type="file" id="file-input" accept=".x3d">
-    <div id="x3d-container"></div>
-
-    <x3d width='800px' height='600px'>
-       <scene>
-         <!-- Definisce il punto di vista fisso con rotazione centrata all'origine -->
-         <Viewpoint
-            position="0 0 10"
-            centerOfRotation="0 0 0"
-            orientation="0 1 0 0"
-            fieldOfView="0.785"
-            bind="true">
-         </Viewpoint>
-
-			<Navigationinfo
-				headlight="false"
-				type="turntable"
-				typeparams="0.0 0.0 0.5 1.6"
-				explorationmode="all"
-				avatarsize="0.25,1.6,0.75"
-				walkdamping="2"
-				speed="-1"
-				transitiontime="1"
-				transitiontype="LINEAR ">
-			</Navigationinfo>
-
-         <!-- Assi persistenti -->
-         <Transform translation="0 0 0">
-            <!-- Asse X (Rosso) -->
-            <Shape>
-                <Appearance><Material diffuseColor="1 0 0" /></Appearance>
-                <LineSet vertexCount="2">
-                    <Coordinate point="0 0 0 5 0 0" />
-                </LineSet>
-            </Shape>
-            <!-- Asse Y (Verde) -->
-            <Shape>
-                <Appearance><Material diffuseColor="0 1 0" /></Appearance>
-                <LineSet vertexCount="2">
-                    <Coordinate point="0 0 0 0 5 0" />
-                </LineSet>
-            </Shape>
-            <!-- Asse Z (Blu) -->
-            <Shape>
-                <Appearance><Material diffuseColor="0 0 1" /></Appearance>
-                <LineSet vertexCount="2">
-                    <Coordinate point="0 0 0 0 0 5" />
-                </LineSet>
-            </Shape>
-         </Transform>
-
-         <!-- Area per il modello caricato -->
-         <Transform id="modelScene">
-           <!-- Modello di default per quando nessun file � caricato -->
-           <Shape>
-             <Appearance>
-               <Material diffuseColor='1 0 0'></Material>
-             </Appearance>
-           </Shape>
-         </Transform>
-       </scene>
-     </x3d>
+    <h1>X3D Model Viewer</h1>
+
+    <input type="file" id="file-input" accept=".x3d" multiple>
+<table border="1">
+<tr>
+<td>
+    <div class="control-container">
+        <div>
+            <label for="model-select">Select Model:</label>
+            <select id="model-select">
+                <option value="">-- Select a Model --</option>
+            </select>
+        </div>
+
+        <div class="slider-group">
+            <label>Translation X:</label>
+            <input type="range" id="translate-x" min="-100" max="100" step="1" value="0">
+            <input type="number" id="translate-x-value" value="0" step="10">
+        </div>
+        <div class="slider-group">
+            <label>Translation Y:</label>
+            <input type="range" id="translate-y" min="-100" max="100" step="0.11" value="-6">
+            <input type="number" id="translate-y-value" value="0" step="1">
+        </div>
+        <div class="slider-group">
+            <label>Translation Z:</label>
+            <input type="range" id="translate-z" min="-100" max="100" step="1" value="-18">
+            <input type="number" id="translate-z-value" value="0" step="1">
+        </div>
+
+        <div class="slider-group">
+            <label>Rotation Yaw:</label>
+            <input type="range" id="rotate-yaw" min="-6.28" max="6.28" step="0.01" value="0">
+            <input type="number" id="rotate-yaw-value" value="0" step="0.1">
+        </div>
+        <div class="slider-group">
+            <label>Rotation Pitch:</label>
+            <input type="range" id="rotate-pitch" min="-6.28" max="6.28" step="0.01" value="0">
+            <input type="number" id="rotate-pitch-value" value="0" step="0.1">
+        </div>
+        <div class="slider-group">
+            <label>Rotation Roll:</label>
+            <input type="range" id="rotate-roll" min="-0.5" max="0.5" step="0.01" value="0">
+            <input type="number" id="rotate-roll-value" value="0" step="0.1">
+        </div>
+
+<div class="slider-group">
+    <label>Transparency:</label>
+    <input type="range" id="transparency-slider" min="0" max="1" step="0.01" value="0" 	>
+    <input type="number" id="transparency-value" min="0" max="1" step="0.01" value="0" style="width:50px;">
+</div>
+
+<div class="slider-group">
+    <label>
+        <input type="checkbox" id="model-visibility" checked>
+        Model Visible
+    </label>
+</div>
+    </div>
+</td><td>
+    <div id="x3d-container">
+        <x3d width='800px' height='600px'>
+           <scene>
+             <!-- Definisce il punto di vista fisso con rotazione centrata all'origine -->
+             <Viewpoint
+                position="0 0 10"
+                centerOfRotation="0 0 0"
+                orientation="0 1 0 0"
+                fieldOfView="0.785"
+                bind="true">
+             </Viewpoint>
+
+             <Navigationinfo
+                headlight="false"
+                type="turntable"
+                typeparams="0.0 0.0 0.05 1.6"
+                explorationmode="all"
+                avatarsize="0.25,1.6,0.75"
+                walkdamping="2"
+                speed="-1"
+                transitiontime="1"
+                transitiontype="LINEAR ">
+             </Navigationinfo>
+
+             <!-- Assi persistenti -->
+             <Transform translation="0 0 0">
+                <!-- Asse X (Rosso) -->
+                <Shape>
+                    <Appearance><Material diffuseColor="1 0 0" /></Appearance>
+                    <LineSet vertexCount="2">
+                        <Coordinate point="0 0 0 5 0 0" />
+                    </LineSet>
+                </Shape>
+                <!-- Asse Y (Verde) -->
+                <Shape>
+                    <Appearance><Material diffuseColor="0 1 0" /></Appearance>
+                    <LineSet vertexCount="2">
+                        <Coordinate point="0 0 0 0 5 0" />
+                    </LineSet>
+                </Shape>
+                <!-- Asse Z (Blu) -->
+                <Shape>
+                    <Appearance><Material diffuseColor="0 0 1" /></Appearance>
+                    <LineSet vertexCount="2">
+                        <Coordinate point="0 0 0 0 0 5" />
+                    </LineSet>
+                </Shape>
+             </Transform>
+
+             <!-- Area per i modelli caricati -->
+             <Transform id="modelScene">
+             </Transform>
+           </scene>
+        </x3d>
+    </div>
+</td>
+</tr>
+</table>
     <script>
-const namespace = "http://www.web3d.org/specifications/x3d-namespace"; // o il namespace appropriato per il tuo caso
+const namespace = "http://www.web3d.org/specifications/x3d-namespace";
+let loadedModels = [];
+modelSelect = null;
+
+document.addEventListener('DOMContentLoaded', () => {
+    const fileInput = document.getElementById('file-input');
+    modelSelect = document.getElementById('model-select');
+
+    // Transformation sliders and inputs
+     translateXSlider = document.getElementById('translate-x');
+    translateXInput = document.getElementById('translate-x-value');
+     translateYSlider = document.getElementById('translate-y');
+     translateYInput = document.getElementById('translate-y-value');
+     translateZSlider = document.getElementById('translate-z');
+     translateZInput = document.getElementById('translate-z-value');
+
+     rotateYawSlider = document.getElementById('rotate-yaw');
+     rotateYawInput = document.getElementById('rotate-yaw-value');
+     rotatePitchSlider = document.getElementById('rotate-pitch');
+     rotatePitchInput = document.getElementById('rotate-pitch-value');
+     rotateRollSlider = document.getElementById('rotate-roll');
+     rotateRollInput = document.getElementById('rotate-roll-value');
+
+    transparencySlider = document.getElementById('transparency-slider');
+    	transparencyInput = document.getElementById('transparency-value');
+
+    // File input event
+    fileInput.addEventListener('change', (event) => {
+        Array.from(event.target.files).forEach((file, index) => {
+            if (file) {
+                const reader = new FileReader();
+                reader.onload = (e) => {
+                    const modelName = file.name;
+                    loadX3DFile(e.target.result, modelName);
+
+                    // Add option to model select
+                    const option = document.createElement('option');
+                    option.value = modelName;
+                    option.textContent = modelName;
+                    modelSelect.appendChild(option);
+                };
+                reader.readAsText(file);
+            }
+        });
+    });
+
+// Add event listener for visibility checkbox
+document.getElementById('model-visibility').addEventListener('change', updateModelVisibility);
+
+// Modify model selection to update visibility checkbox
+modelSelect.addEventListener('change', (event) => {
+    const selectedModel = event.target.value;
+    if (selectedModel) {
+        updateSlidersFromModel();
+        
+        // Set visibility checkbox to checked by default
+        const visibilityCheckbox = document.getElementById('model-visibility');
+        visibilityCheckbox.checked = true;
+    }
+});
+    // Slider event listeners for translation
+    [translateXSlider, translateXInput].forEach(el => {
+        el.addEventListener('input', () => updateModelTransform());
+    });
+    [translateYSlider, translateYInput].forEach(el => {
+        el.addEventListener('input', () => updateModelTransform());
+    });
+    [translateZSlider, translateZInput].forEach(el => {
+        el.addEventListener('input', () => updateModelTransform());
+    });
+
+    // Slider event listeners for rotation
+    [rotateYawSlider, rotateYawInput].forEach(el => {
+        el.addEventListener('input', () => updateModelTransform());
+    });
+    [rotatePitchSlider, rotatePitchInput].forEach(el => {
+        el.addEventListener('input', () => updateModelTransform());
+    });
+    [rotateRollSlider, rotateRollInput].forEach(el => {
+        el.addEventListener('input', () => updateModelTransform());
+    });
 
-        document.addEventListener('DOMContentLoaded', () => {
-            const fileInput = document.getElementById('file-input');
-            const x3dContainer = document.getElementById('x3d-container');
+    // Assicurati che gli event listener siano correttamente impostati
+    transparencySlider.addEventListener('input', updateModelTransparency);
+    transparencyInput.addEventListener('input', function() {
+        transparencySlider.value = this.value;
+        updateModelTransparency();
+    });
 
-            fileInput.addEventListener('change', (event) => {
-                const file = event.target.files[0];
-                if (file) {
-                    const reader = new FileReader();
 
-                    reader.onload = (e) => {
-                        // Rimuovi qualsiasi contenuto precedente
-                        x3dContainer.innerHTML = '';
 
-                        // Crea l'elemento X3D
-                        const x3dElement = document.createElement('x3d');
-                        x3dElement.style.width = '100%';
-                        x3dElement.style.height = '100%';
+ function updateModelTransparency() {
+        const selectedModel = modelSelect.value;
+        if (!selectedModel) return;
 
-                        // Crea la scena X3D
-                        const sceneElement = document.createElement('scene');
-                        /*sceneElement.innerHTML = e.target.result;
+        const targetScene = document.getElementById("modelScene");
+        const rollTransform = targetScene.querySelector(`[id="${selectedModel}-roll"]`);
 
-                        x3dElement.appendChild(sceneElement);
-                        x3dContainer.appendChild(x3dElement);*/
-loadX3DFile(e.target.result,0,0);
-                    };
+        if (!rollTransform) return;
 
-                    reader.readAsText(file);
+        const transparency = parseFloat(transparencySlider.value);
+
+        // Aggiorna il valore nell'input numerico
+        transparencyInput.value = transparency.toFixed(2);
+
+        // Trova e attraversa tutte le Shape all'interno di rollTransform
+        const shapes = rollTransform.querySelectorAll('Shape');
+        shapes.forEach(shape => {
+            // Trova o crea l'elemento Appearance
+            let appearance = shape.querySelector('Appearance');
+            if (!appearance) {
+                appearance = document.createElementNS(namespace, 'Appearance');
+                shape.appendChild(appearance);
+            }
+
+            // Trova o crea l'elemento Material
+            let material = appearance.querySelector('Material');
+            if (!material) {
+                material = document.createElementNS(namespace, 'Material');
+                appearance.appendChild(material);
+            }
+
+            // Usa la sintassi per impostare la trasparenza della Shape
+            material.setAttribute('transparency', transparency.toString());
+
+            // Per le texture, potrebbe essere necessario un approccio specifico
+            const imageTextures = appearance.querySelectorAll('ImageTexture');
+            imageTextures.forEach(texture => {
+                // Questo potrebbe non funzionare per tutti i tipi di texture
+                try {
+                    texture.setAttribute('alpha', (1 - transparency).toString());
+                } catch (error) {
+                    console.log('Impossibile impostare la trasparenza della texture', error);
                 }
+
+				texture.innerHTML = "";
             });
         });
 
-	function loadX3DFile(inputX3D, azimuth, elevation) {
-	            var content = inputX3D; // e.target.result;
-	            var parser = new DOMParser();
-	            x3dDoc = parser.parseFromString(content, "text/xml"); // DOM element (HTML document)
-	            // Corregge i percorsi delle texture
-	            var imageTextures = x3dDoc.querySelectorAll("ImageTexture, TextureProperties");
-	            imageTextures.forEach(function(texture) {
-	                var url = texture.getAttribute("url");
-	                if (!url || url === "") {
-	                    texture.removeAttribute("url");
-	                }
-	            });
-
-	            sourceScene = x3dDoc.querySelector("Scene") || x3dDoc.querySelector("scene");
-
-console.log(sourceScene);
-
-	            if (sourceScene) {
-
-	                // Ottieni il riferimento alla scena esistente
-	                targetScene = document.getElementById("modelScene");
-
-	                // Mantieni il viewpoint esistente o creane uno nuovo se non esiste
-	                viewpoint = targetScene.querySelector("Viewpoint");
-	                if (!viewpoint) {
-	                    viewpoint = x3dDoc.createElementNS(namespace,"Viewpoint");
-	                    targetScene.insertBefore(viewpoint, targetScene.firstChild);
-
-	                    // Imposta posizione e zoom solo se è un nuovo viewpoint
-	                    viewpoint.setAttribute("position", "20 20 0");
-	                    viewpoint.setAttribute("orientation", "0 1 0 0");
-	                    viewpoint.setAttribute("fieldOfView", "1.7");
-	                }
-
-					// Crea un nuovo Transform per il modello per impostare l'azimuth e successivamente l'elevazione (nidificata)
-					altAzTransform = document.createElementNS(namespace, "Transform")
-//cleanAttributes(altAzTransform);
-					altAzTransform.setAttribute("id","trfAzimuth");
-					altAzTransform.setAttribute("rotation", `0 1 0 ${azimuth}`);
-//altAzTransform.setAttribute("scale", "1 1 1"); // Se lo metto, non si vede nella pagina; se non lo metto, il viewer online non lo carica
-
-					// Crea un secondo Transform per l'elevazione
-					var elevationTransform = document.createElementNS(namespace,"Transform");
-//cleanAttributes(elevationTransform);
-
-					elevationTransform.setAttribute("id","trfElevation");
-					elevationTransform.setAttribute("rotation", `1 0 0 ${elevation}`);
-//altAzTransform.setAttribute("scale", "1 1 1");  // Se lo metto, non si vede nella pagina; se non lo metto, il viewer online non lo carica
-
-
-					altAzTransform.appendChild(elevationTransform);
-//rotatedShapes.push(altAzTransform);
-
-	                // Aggiungi tutti gli elementi del nuovo modello al Transform
-	                Array.from(sourceScene.children).forEach(function(child) {
-	                    // Salta NavigationInfo e Viewpoint quando aggiungi gli elementi
-	                    if (child.nodeName !== "NavigationInfo" && child.nodeName !== "Viewpoint") {
-	                        var importedNode = document.importNode(child, true);
-	                        elevationTransform.appendChild(importedNode);
-	                    }
-	                });
-
-	                // Aggiungi il nuovo Transform alla scena esistente
-	                targetScene.appendChild(altAzTransform);
-
-	                console.log("New model added to scene, now refreshing model...");
-					targetScene.setAttribute("scale","-1 1 1"); // due to Z axis inversion
-	                x3dom.reload(); // Ricarica x3dom per aggiornare la scena
-	            } else {
-	                console.error("Nessuna scena trovata nel file X3D");
-	            }
+        // Trigger X3DOM reload
+        x3dom.reload();
+    }
+
+
+
+function updateModelTransform() {
+    const selectedModel = modelSelect.value;
+    if (!selectedModel) return;
+
+    const targetScene = document.getElementById("modelScene");
+    const yawTransform = targetScene.querySelector(`[id="${selectedModel}-yaw"]`);
+    const pitchTransform = targetScene.querySelector(`[id="${selectedModel}-pitch"]`);
+    const rollTransform = targetScene.querySelector(`[id="${selectedModel}-roll"]`);
+
+    if (!yawTransform || !pitchTransform || !rollTransform) return;
+
+console.log(yawTransform.rotation, pitchTransform.rotation,rollTransform .rotation);
+
+    // Get current slider values
+    const translateX = parseFloat(translateXSlider.value);
+    const translateY = parseFloat(translateYSlider.value);
+    const translateZ = parseFloat(translateZSlider.value);
+
+    const rotateYaw = parseFloat(rotateYawSlider.value);
+    const rotatePitch = parseFloat(rotatePitchSlider.value);
+    const rotateRoll = parseFloat(rotateRollSlider.value);
+
+    const transparency = parseFloat(transparencySlider.value);
+
+    // Update transformation attributes
+    yawTransform.setAttribute('translation', `${translateX} ${translateY} ${translateZ}`);
+    yawTransform.setAttribute('rotation', `0 1 0 ${rotateYaw}`);
+    pitchTransform.setAttribute('rotation', `0 0 1 ${rotatePitch}`);
+    rollTransform.setAttribute('rotation', `1 0 0 ${rotateRoll}`);
+console.log("DOPO=",yawTransform.rotation, pitchTransform.rotation,rollTransform .rotation);
+
+    currentShape = rollTransform.children[0];
+	shapeMaterial = currentShape.querySelector('Material');
+	if (shapeMaterial) {
+	    shapeMaterial.setAttribute('transparency', transparency); // Imposta il valore desiderato
+	} else {
+	    // Se non esiste già un elemento Material, creane uno
+	    let appearance = currentShape.querySelector('Appearance');
+	    if (!appearance) {
+	        appearance = document.createElementNS(namespace, 'Appearance');
+	        currentShape.appendChild(appearance);
 	    }
 
+	    let newMaterial = document.createElementNS(namespace, 'Material');
+	    newMaterial.setAttribute('transparency', transparency);
+	    appearance.appendChild(newMaterial);
+	}
 
-    </script>
+    // Trigger X3DOM reload
+    x3dom.reload();
+}
 
-    <!-- Inclusione libreria X3DOM per rendering X3D -->
+});
+
+
+
+
+
+function loadX3DFile(inputX3D, modelName) {
+    var content = inputX3D;
+    var parser = new DOMParser();
+    var x3dDoc = parser.parseFromString(content, "text/xml");
+
+    // Correct texture paths
+    var imageTextures = x3dDoc.querySelectorAll("ImageTexture, TextureProperties");
+    imageTextures.forEach(function(texture) {
+        var url = texture.getAttribute("url");
+        if (!url || url === "") {
+            texture.removeAttribute("url");
+        }
+    });
+
+    var sourceScene = x3dDoc.querySelector("Scene") || x3dDoc.querySelector("scene");
+
+    if (sourceScene) {
+        // Get existing scene
+        var targetScene = document.getElementById("modelScene");
+
+        // Create nested Transform structure
+        var yawTransform = document.createElementNS(namespace, "Transform");
+        yawTransform.setAttribute("id", `${modelName}-yaw`);
+        yawTransform.setAttribute("data-model-name", modelName);
+
+        var pitchTransform = document.createElementNS(namespace, "Transform");
+        pitchTransform.setAttribute("id", `${modelName}-pitch`);
+
+        var rollTransform = document.createElementNS(namespace, "Transform");
+        rollTransform.setAttribute("id", `${modelName}-roll`);
+        rollTransform.setAttribute("scale", "-1 1 1"); // due to Z axis inversion
+
+        // Import all children except NavigationInfo and Viewpoint
+        Array.from(sourceScene.children).forEach(function(child) {
+            if (child.nodeName !== "NavigationInfo" && child.nodeName !== "Viewpoint") {
+                var importedNode = document.importNode(child, true);
+                rollTransform.appendChild(importedNode);
+            }
+        });
+
+        // Nest the transforms
+        pitchTransform.appendChild(rollTransform);
+        yawTransform.appendChild(pitchTransform);
+        targetScene.appendChild(yawTransform);
+
+        console.log(`Model ${modelName} added to scene`);
+        x3dom.reload(); // Reload x3dom to update the scene
+    } else {
+        console.error("No scene found in X3D file");
+    }
+}
+
+function syncSliderAndInput(slider, input) {
+    slider.addEventListener('input', () => {
+        input.value = slider.value;
+    });
+
+    input.addEventListener('input', () => {
+        slider.value = input.value;
+    });
+}
+
+// Synchronize translation sliders and inputs
+syncSliderAndInput(
+    document.getElementById('translate-x'), 
+    document.getElementById('translate-x-value')
+);
+syncSliderAndInput(
+    document.getElementById('translate-y'), 
+    document.getElementById('translate-y-value')
+);
+syncSliderAndInput(
+    document.getElementById('translate-z'), 
+    document.getElementById('translate-z-value')
+);
+
+// Synchronize rotation sliders and inputs
+syncSliderAndInput(
+    document.getElementById('rotate-yaw'), 
+    document.getElementById('rotate-yaw-value')
+);
+syncSliderAndInput(
+    document.getElementById('rotate-pitch'), 
+    document.getElementById('rotate-pitch-value')
+);
+syncSliderAndInput(
+    document.getElementById('rotate-roll'), 
+    document.getElementById('rotate-roll-value')
+);
+
+// Synchronize transparency slider and input
+syncSliderAndInput(
+    document.getElementById('transparency-slider'), 
+    document.getElementById('transparency-value')
+);
+
+function updateSlidersFromModel() {
+    const selectedModel = modelSelect.value;
+    if (!selectedModel) return;
+
+    const targetScene = document.getElementById("modelScene");
+    const yawTransform = targetScene.querySelector(`[id="${selectedModel}-yaw"]`);
+    const pitchTransform = targetScene.querySelector(`[id="${selectedModel}-pitch"]`);
+    const rollTransform = targetScene.querySelector(`[id="${selectedModel}-roll"]`);
+
+    if (!yawTransform || !pitchTransform || !rollTransform) return;
+
+    // Extract current transformations
+    const translation = yawTransform.getAttribute('translation')?.split(',') || [0, 0, 0];
+    const yawRotation = yawTransform.getAttribute('rotation')?.split(',')[3] || 0;
+    const pitchRotation = pitchTransform.getAttribute('rotation')?.split(',')[3] || 0;
+    const rollRotation = rollTransform.getAttribute('rotation')?.split(',')[3] || 0;
+
+console.log(translation);
+    // Update sliders and input values
+    translateXSlider.value = translateXInput.value = translation[0];
+    translateYSlider.value = translateYInput.value = translation[1];
+    translateZSlider.value = translateZInput.value = translation[2];
+
+    rotateYawSlider.value = rotateYawInput.value = yawRotation;
+    rotatePitchSlider.value = rotatePitchInput.value = pitchRotation;
+    rotateRollSlider.value = rotateRollInput.value = rollRotation;
+
+    // Try to get transparency
+    const currentShape = rollTransform.children[0];
+    const shapeMaterial = currentShape.querySelector('Material');
+    if (shapeMaterial) {
+        const transparency = shapeMaterial.getAttribute('transparency') || 0;
+        transparencySlider.value = transparencyInput.value = transparency;
+    }
+}
+
+function updateModelVisibility() {
+    const selectedModel = modelSelect.value;
+    if (!selectedModel) return;
+
+    const targetScene = document.getElementById("modelScene");
+    const rollTransform = targetScene.querySelector(`[id="${selectedModel}-roll"]`);
+    if (!rollTransform) return;
+
+    const isVisible = document.getElementById('model-visibility').checked;
+    
+    // Toggle visibility by setting render attribute
+    rollTransform.setAttribute('render', isVisible.toString());
+
+    // Trigger X3DOM reload
+    x3dom.reload();
+}
+
+
+
+    </script>
 </body>
-</html>
\ No newline at end of file
+</html>
