three-usd-robot 0.11.0 → 0.12.0

package/dist/chunk-JGIVJXBU.js

@@ -0,0 +1,54 @@
+// src/parser/ast.ts
+var Quat = class _Quat {
+  constructor(real, imaginary) {
+    this.real = real;
+    this.imaginary = imaginary;
+  }
+  real;
+  imaginary;
+  /** Components in Three.js order `[x, y, z, w]`. */
+  toXYZW() {
+    return [this.imaginary[0], this.imaginary[1], this.imaginary[2], this.real];
+  }
+  static identity() {
+    return new _Quat(1, [0, 0, 0]);
+  }
+};
+var UsdMatrix = class _UsdMatrix {
+  constructor(values, dim) {
+    this.values = values;
+    this.dim = dim;
+  }
+  values;
+  dim;
+  static identity4() {
+    return new _UsdMatrix([
+      1,
+      0,
+      0,
+      0,
+      0,
+      1,
+      0,
+      0,
+      0,
+      0,
+      1,
+      0,
+      0,
+      0,
+      0,
+      1
+    ], 4);
+  }
+};
+var AssetPath = class {
+  constructor(path) {
+    this.path = path;
+  }
+  path;
+};
+
+export { AssetPath, Quat, UsdMatrix };
+//# sourceMappingURL=chunk-JGIVJXBU.js.map
+//# sourceMappingURL=chunk-JGIVJXBU.js.map

package/dist/chunk-JGIVJXBU.js.map

@@ -0,0 +1 @@
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The USD-conformant\n * runtime layer (`usd/Stage.ts` etc.) wraps this AST to expose a pxr-USD-style\n * API (`GetPrimAtPath`, `GetAttribute`, `Get`, `GetTargets`, ...).\n */\n\n// ---------------------------------------------------------------------------\n// Value types\n// ---------------------------------------------------------------------------\n\n/** Fixed-length numeric tuples, mirroring `GfVec2/3/4`. */\nexport type Vec2 = [number, number];\nexport type Vec3 = [number, number, number];\nexport type Vec4 = [number, number, number, number];\n\n/**\n * A quaternion, mirroring `GfQuatf/d/h`.\n *\n * USDA authors quats as `(w, x, y, z)` — real part first. We keep the real and\n * imaginary parts explicit so downstream code never has to guess the component\n * order (Three.js, by contrast, uses `(x, y, z, w)`).\n */\nexport class Quat {\n  constructor(\n    readonly real: number,\n    readonly imaginary: Vec3,\n  ) {}\n\n  /** Components in Three.js order `[x, y, z, w]`. */\n  toXYZW(): Vec4 {\n    return [this.imaginary[0], this.imaginary[1], this.imaginary[2], this.real];\n  }\n\n  static identity(): Quat {\n    return new Quat(1, [0, 0, 0]);\n  }\n}\n\n/**\n * A square matrix (`GfMatrix3d`/`GfMatrix4d`), stored flat in **row-major**\n * order exactly as authored in USD (USD matrices are row-major).\n */\nexport class UsdMatrix {\n  constructor(\n    readonly values: number[],\n    readonly dim: 3 | 4,\n  ) {}\n\n  static identity4(): UsdMatrix {\n    // biome-ignore format: keep matrix layout readable\n    return new UsdMatrix([\n      1, 0, 0, 0,\n      0, 1, 0, 0,\n      0, 0, 1, 0,\n      0, 0, 0, 1,\n    ], 4);\n  }\n}\n\n/** An asset reference (`SdfAssetPath`), e.g. `@./meshes/link0.usd@`. */\nexport class AssetPath {\n  constructor(readonly path: string) {}\n}\n\n/**\n * A namespace path into a stage (`SdfPath`), e.g. `/World/robot/link0` or a\n * property path `/World/robot.xformOp:translate`. Stored as the authored\n * string; relationship/connection resolution happens in the runtime layer.\n */\nexport type SdfPath = string;\n\n/** A reference / payload composition arc as authored (resolved in M8). */\nexport type CompositionArc = {\n  assetPath?: AssetPath;\n  primPath?: SdfPath;\n};\n\n/** Any value an attribute or metadatum can hold. */\nexport type UsdValue =\n  | number\n  | boolean\n  | string\n  | null\n  | Vec2\n  | Vec3\n  | Vec4\n  | Quat\n  | UsdMatrix\n  | AssetPath\n  | SdfPath\n  | CompositionArc\n  | UsdValue[]\n  | UsdDictionary;\n\n/** A nested metadata dictionary (`customData`, `assetInfo`, ...). */\nexport type UsdDictionary = { [key: string]: UsdValue };\n\n// ---------------------------------------------------------------------------\n// AST nodes\n// ---------------------------------------------------------------------------\n\nexport type Specifier = \"def\" | \"over\" | \"class\";\n\nexport type Variability = \"varying\" | \"uniform\";\n\n/** List-editing qualifier on relationships and list-op metadata. */\nexport type ListOp = \"explicit\" | \"prepend\" | \"append\" | \"add\" | \"delete\" | \"reorder\";\n\nexport type MetadataMap = { [key: string]: UsdValue };\n\n/** A parsed `.usda` layer. */\nexport type UsdaFile = {\n  /** Version from the `#usda X.Y` magic line. */\n  version: string;\n  /** Layer-level metadata (`defaultPrim`, `upAxis`, `metersPerUnit`, ...). */\n  metadata: MetadataMap;\n  /** Root prims, in authored order. */\n  prims: PrimSpec[];\n};\n\nexport type PrimSpec = {\n  specifier: Specifier;\n  /** Schema type, e.g. `Xform`, `Mesh`, `PhysicsRevoluteJoint`. Empty if typeless. */\n  typeName: string;\n  name: string;\n  metadata: MetadataMap;\n  properties: PropertySpec[];\n  children: PrimSpec[];\n  /** Authored variant sets (`variantSet \"name\" = { ... }`), if any. */\n  variantSets?: VariantSetMap;\n  /** 1-based source line of the prim declaration (for diagnostics). */\n  line: number;\n};\n\n/** The opinions a single variant contributes when selected. */\nexport type VariantContent = {\n  properties: PropertySpec[];\n  children: PrimSpec[];\n  /**\n   * Metadata authored on the variant itself. Composition arcs live here — the\n   * common \"this variant references another layer\" pattern in Isaac Sim assets.\n   */\n  metadata: MetadataMap;\n};\n\n/** `variantSetName → variantName → content`. */\nexport type VariantSetMap = { [setName: string]: { [variantName: string]: VariantContent } };\n\nexport type PropertySpec = AttributeSpec | RelationshipSpec;\n\nexport type AttributeSpec = {\n  kind: \"attribute\";\n  name: string;\n  /** USD type name without the `[]` suffix, e.g. `float3`, `token`, `quatf`. */\n  typeName: string;\n  isArray: boolean;\n  variability: Variability;\n  custom: boolean;\n  /** Default (time-independent) value, if authored. */\n  value?: UsdValue;\n  /** Time samples keyed by time code, if authored as `{ t: v, ... }`. */\n  timeSamples?: Map<number, UsdValue>;\n  /** Connection target paths (`attr.connect = <path>`), if authored. */\n  connections?: SdfPath[];\n  metadata: MetadataMap;\n  line: number;\n};\n\nexport type RelationshipSpec = {\n  kind: \"relationship\";\n  name: string;\n  custom: boolean;\n  listOp: ListOp;\n  /** Target paths; empty when authored as `None`. */\n  targets: SdfPath[];\n  metadata: MetadataMap;\n  line: number;\n};\n"]}

package/dist/{chunk-ENWFOYHU.js → chunk-KYBHWDX5.js}

@@ -1,4 +1,4 @@
-import { identity4, multiply, invert, nearestAngleBranch, multiplyAll, decomposeJointRelative, interpolate } from './chunk-LDO5FKQS.js';
+import { identity4, multiply, invert, nearestAngleBranch, multiplyAll, decomposeJointRelative, interpolate } from './chunk-YGJ23CG3.js';
 import * as THREE4 from 'three';
 
 function axisVector(axis) {
@@ -697,5 +697,5 @@ function setMatrix(obj, m) {
 }
 
 export { JointObject, LinkObject, ThreeUsdRobot, axisVector };
-//# sourceMappingURL=chunk-ENWFOYHU.js.map
-//# sourceMappingURL=chunk-ENWFOYHU.js.map
+//# sourceMappingURL=chunk-KYBHWDX5.js.map
+//# sourceMappingURL=chunk-KYBHWDX5.js.map

package/dist/{chunk-ENWFOYHU.js.map → chunk-KYBHWDX5.js.map}

@@ -1 +1 @@
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* as THREE from \"three\";\nimport type { Axis } from \"../robot/RobotDescription.js\";\n\n/** Unit vector for a USD joint axis token. Returns a fresh vector each call. */\nexport function axisVector(axis: Axis): THREE.Vector3 {\n  switch (axis) {\n    case \"X\":\n      return new THREE.Vector3(1, 0, 0);\n    case \"Y\":\n      return new THREE.Vector3(0, 1, 0);\n    case \"Z\":\n      return new THREE.Vector3(0, 0, 1);\n  }\n}\n","import * as THREE from \"three\";\nimport type { Axis, JointDescription, JointType } from \"../robot/RobotDescription.js\";\nimport { axisVector } from \"./axis.js\";\n\n/**\n * The articulated \"motion\" node of a joint, inserted between the joint's two\n * fixed frames (`jointFrame0` and `inverse(jointFrame1)`). {@link setValue}\n * rotates it about the axis (revolute/continuous) or slides it along the axis\n * (prismatic); fixed joints are inert.\n */\nexport class JointObject extends THREE.Object3D {\n  readonly isJointObject = true;\n  readonly jointName: string;\n  /** Full USD prim path of the joint — the collision-proof address. */\n  readonly primPath: string;\n  readonly jointType: JointType;\n  readonly axisToken: Axis;\n  readonly axis: THREE.Vector3;\n  readonly lower: number | undefined;\n  readonly upper: number | undefined;\n\n  private _value = 0;\n\n  constructor(joint: JointDescription) {\n    super();\n    this.name = joint.name;\n    this.jointName = joint.name;\n    this.primPath = joint.primPath;\n    this.jointType = joint.type;\n    this.axisToken = joint.axis;\n    this.axis = axisVector(joint.axis);\n    this.lower = joint.lower;\n    this.upper = joint.upper;\n  }\n\n  get value(): number {\n    return this._value;\n  }\n\n  get articulated(): boolean {\n    return this.jointType !== \"fixed\";\n  }\n\n  /**\n   * Set the joint value (radians for revolute/continuous, length for prismatic).\n   * Optionally clamps to authored limits. Returns the value actually applied.\n   */\n  setValue(value: number, clampToLimits = true): number {\n    if (!this.articulated) return this._value; // fixed joint: inert\n\n    let v = value;\n    if (clampToLimits) {\n      if (this.lower !== undefined && v < this.lower) v = this.lower;\n      if (this.upper !== undefined && v > this.upper) v = this.upper;\n    }\n    this._value = v;\n\n    if (this.jointType === \"prismatic\") {\n      this.position.copy(this.axis).multiplyScalar(v);\n      this.quaternion.identity();\n    } else {\n      this.quaternion.setFromAxisAngle(this.axis, v);\n      this.position.set(0, 0, 0);\n    }\n    return v;\n  }\n}\n","import * as THREE from \"three\";\nimport type { LinkDescription } from \"../robot/RobotDescription.js\";\n\n/**\n * Three.js node for a robot link. Its frame is the USD link prim's frame;\n * visual/collision meshes (M6) attach as children relative to it. Placement\n * relative to the parent is supplied by the joint chain, so a link's own local\n * matrix is identity (except the root, which carries the world-fixed placement).\n */\nexport class LinkObject extends THREE.Object3D {\n  readonly isLinkObject = true;\n  readonly linkName: string;\n  readonly primPath: string;\n\n  constructor(link: LinkDescription) {\n    super();\n    this.name = link.name;\n    this.linkName = link.name;\n    this.primPath = link.primPath;\n    // Placement comes from the parent joint chain; keep the local matrix fixed.\n    this.matrixAutoUpdate = false;\n  }\n}\n","import * as THREE from \"three\";\nimport {\n  type JointRelativeDecomposition,\n  decomposeJointRelative,\n  nearestAngleBranch,\n} from \"../kinematics/jointResiduals.js\";\nimport { interpolate } from \"../kinematics/sampling.js\";\nimport { type Mat4, identity4, invert, multiply, multiplyAll } from \"../kinematics/transforms.js\";\nimport type {\n  JointDescription,\n  LinkDescription,\n  RobotDescription,\n} from \"../robot/RobotDescription.js\";\nimport type { KinematicTree } from \"../robot/buildKinematicTree.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { JointObject } from \"./JointObject.js\";\nimport { LinkObject } from \"./LinkObject.js\";\n\n/** Target world up-axis: normalize to Y-up / Z-up, or keep the authored orientation. */\nexport type WorldUpAxis = \"Y\" | \"Z\" | \"keep\";\n\nexport type ThreeUsdRobotOptions = {\n  /** Clamp `setJointValue` to authored limits (default `true`). */\n  clampJointLimits?: boolean;\n  /** Size of the built-in joint-axis / link-frame helpers (stage units, default `0.15`). */\n  helperSize?: number;\n  /**\n   * Target world up-axis. The root is rotated so the stage's authored `upAxis`\n   * lands in that convention: `\"Y\"` for a standard three.js scene, `\"Z\"` for a\n   * robotics-style Z-up world, `\"keep\"` for no correction. Takes precedence\n   * over the deprecated {@link ThreeUsdRobotOptions.upAxisConversion}.\n   */\n  worldUp?: WorldUpAxis;\n  /**\n   * Legacy up-axis correction: `\"auto\"` ≡ `worldUp: \"Y\"`, `\"Y\"` / `\"none\"` ≡\n   * `worldUp: \"keep\"`, and `\"Z\"` forces the Z-up→Y-up rotation regardless of\n   * stage metadata. Default `\"none\"` (the loader defaults to `\"auto\"`).\n   * @deprecated Use {@link ThreeUsdRobotOptions.worldUp}.\n   */\n  upAxisConversion?: \"auto\" | \"Y\" | \"Z\" | \"none\";\n  /** Extra uniform scale multiplied with the stage `metersPerUnit` (default `1`). */\n  unitScale?: number;\n  /** Seed joints from their authored initial value (drive target / joint state). Default `true`. */\n  applyInitialPose?: boolean;\n  /**\n   * Diagnose {@link ThreeUsdRobot.setLinkTransforms} poses against the joint\n   * constraints and `console.warn` once per baked session when one deviates\n   * beyond tolerance (default 1 mm anchor / 0.01 rad axis). `true` uses the\n   * defaults; pass an object to tune them.\n   */\n  debugBakedTransforms?: boolean | { anchorTolerance?: number; axisTolerance?: number };\n};\n\n/**\n * A rigid world pose for {@link ThreeUsdRobot.setLinkTransforms} —\n * `quaternion` in Three.js `[x, y, z, w]` order (USD authors quatf as\n * `(w, x, y, z)`; reorder when reading recorded USD by hand).\n */\nexport type LinkPose = {\n  position: [number, number, number];\n  quaternion: [number, number, number, number];\n};\n\n/**\n * Coordinate space of {@link LinkPose} batches. `\"world\"` (default) is the\n * Three.js scene world *after* `worldUp` / unit normalization — with\n * `worldUp: \"Z\"` you hand in Z-up poses — including any transform on the\n * robot object itself (which must stay a similarity: uniform scale, no\n * shear). `\"stage\"` is the authored USD stage space (before up-axis rotation\n * and `metersPerUnit` scaling), as prim world transforms are written in the\n * file.\n */\nexport type LinkPoseSpace = \"world\" | \"stage\";\n\nexport type LinkPosesOptions = {\n  /** Interpretation of the poses (default `\"world\"`). */\n  space?: LinkPoseSpace;\n};\n\nexport type JointValuesFromLinkTransformsOptions = LinkPosesOptions & {\n  /**\n   * Previous joint values (keyed like the returned `values`): each\n   * revolute/continuous joint picks the 2πk branch of its projection nearest\n   * this, for frame-to-frame continuity past ±π.\n   */\n  previous?: Record<string, number>;\n  /** Clamp `values` to authored limits (default `false` — deviations are reported, not hidden). */\n  clampLimits?: boolean;\n};\n\n/**\n * Per-joint constraint residual of a link-pose batch, keyed by joint prim\n * path. The ideal parent→child transform of a joint is a pure motion along\n * its DOF; whatever the poses leave over splits into `anchorError` /\n * `axisError` (see {@link ThreeUsdRobot.validateLinkTransforms}).\n */\nexport type JointResidual = {\n  /** Translation residual at the joint anchor, in meters (`metersPerUnit` applied). */\n  anchorError: number;\n  /** Rotation residual off the joint DOF, in radians. */\n  axisError: number;\n  /** Projected joint value (SI: radians / stage length units; `0` for fixed joints). */\n  q: number;\n  /** Whether `q` lies outside the authored limits. */\n  limitExceeded: boolean;\n};\n\n/**\n * A Three.js `Object3D` that realizes a {@link RobotDescription} as a kinematic\n * hierarchy and drives forward kinematics via {@link setJointValue}.\n *\n * Per joint the hierarchy is\n * `parentLink → jointFrame0 → jointMotion → jointFrame1⁻¹ → childLink`,\n * where only `jointMotion` (a {@link JointObject}) changes with the joint value;\n * world poses then fall out of Three.js's `updateMatrixWorld`.\n *\n * **Naming contract** — a link/joint's key is its prim's leaf name when that\n * is unique across the robot, else its full prim path (deterministic; see the\n * extractor). Every accessor taking a name equally accepts the full prim path,\n * which is stable regardless of collisions; {@link getLinkObjectsByPath} /\n * {@link getJointObjectsByPath} enumerate the path-keyed tables.\n */\nexport class ThreeUsdRobot extends THREE.Object3D {\n  readonly isThreeUsdRobot = true;\n  readonly robot: RobotDescription;\n  readonly tree: KinematicTree;\n  readonly clampJointLimits: boolean;\n  /**\n   * The composed USD stage this robot was built from — the full prim tree, for\n   * inspection tooling (structure panels, attribute browsers). Attached by\n   * {@link ThreeUsdRobotLoader}; `undefined` for programmatically-built robots.\n   */\n  stage?: Stage;\n\n  private readonly linkObjects = new Map<string, LinkObject>();\n  private readonly jointObjects = new Map<string, JointObject>();\n  private readonly linkKeyByPath = new Map<string, string>();\n  private readonly jointKeyByPath = new Map<string, string>();\n  private dirty = true;\n\n  /** Constructed (fk rest) local matrix of every link, for baked→fk restore. */\n  private readonly restLocal = new Map<string, Mat4>();\n  private _displayMode: \"fk\" | \"baked\" = \"fk\";\n  /** Stage-space link worlds while baked (`null` in fk mode). */\n  private bakedStageWorld: Map<string, Mat4> | null = null;\n  /** Frozen `frame0 · motion · frame1⁻¹` per tree joint while baked. */\n  private bakedChainRel: Map<string, Mat4> | null = null;\n  private readonly debugBaked: { anchorTolerance: number; axisTolerance: number } | null;\n  private bakedDebugWarned = false;\n  private readonly warnedPoseKeys = new Set<string>();\n  private warnedNonUniformScale = false;\n\n  private readonly helperSize: number;\n  private _showVisual = true;\n  private _showCollision = false;\n  private _showJointAxes = false;\n  private _showLinkFrames = false;\n  private jointAxesHelpers: THREE.AxesHelper[] = [];\n  private linkFrameHelpers: THREE.AxesHelper[] = [];\n\n  constructor(robot: RobotDescription, tree: KinematicTree, options: ThreeUsdRobotOptions = {}) {\n    super();\n    this.name = robot.name;\n    this.robot = robot;\n    this.tree = tree;\n    this.clampJointLimits = options.clampJointLimits ?? true;\n    this.helperSize = options.helperSize ?? 0.15;\n\n    // Create a node for every link up front; index links and joints by path.\n    for (const [key, link] of Object.entries(robot.links)) {\n      this.linkObjects.set(key, new LinkObject(link));\n      this.linkKeyByPath.set(link.primPath, key);\n    }\n    for (const [key, joint] of Object.entries(robot.joints)) {\n      this.jointKeyByPath.set(joint.primPath, key);\n    }\n\n    this.attachRoot();\n    this.attachTreeEdges();\n    this.attachIsolatedLinks();\n    this.applyStageNormalization(robot, options);\n    if (options.applyInitialPose ?? true) this.applyInitialPose(robot);\n\n    for (const [key, obj] of this.linkObjects) this.restLocal.set(key, obj.matrix.toArray());\n    const debug = options.debugBakedTransforms;\n    this.debugBaked = debug\n      ? {\n          anchorTolerance: (typeof debug === \"object\" ? debug.anchorTolerance : undefined) ?? 1e-3,\n          axisTolerance: (typeof debug === \"object\" ? debug.axisTolerance : undefined) ?? 0.01,\n        }\n      : null;\n  }\n\n  /** Orient (authored upAxis → target world up) and scale (metersPerUnit × unitScale) the root. */\n  private applyStageNormalization(robot: RobotDescription, options: ThreeUsdRobotOptions): void {\n    const scale = (robot.metersPerUnit || 1) * (options.unitScale ?? 1);\n    if (scale !== 1) this.scale.setScalar(scale);\n\n    const rotateX = (angle: number) =>\n      this.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), angle);\n\n    if (options.worldUp) {\n      if (options.worldUp === \"Y\" && robot.upAxis === \"Z\") rotateX(-Math.PI / 2);\n      else if (options.worldUp === \"Z\" && robot.upAxis === \"Y\") rotateX(Math.PI / 2);\n      return; // matching axis or \"keep\": leave as authored\n    }\n    const conv = options.upAxisConversion ?? \"none\";\n    if (conv === \"Z\" || (conv === \"auto\" && robot.upAxis === \"Z\")) rotateX(-Math.PI / 2);\n  }\n\n  /** Apply each joint's authored initial value, if any. */\n  private applyInitialPose(robot: RobotDescription): void {\n    for (const [key, joint] of Object.entries(robot.joints)) {\n      if (joint.initialValue === undefined) continue;\n      this.jointObjects.get(key)?.setValue(joint.initialValue, this.clampJointLimits);\n    }\n    this.dirty = true;\n  }\n\n  private attachRoot(): void {\n    const rootObj = this.linkObjects.get(this.tree.root);\n    if (!rootObj) return; // empty robot\n    const rootJointKey = this.tree.rootJoint;\n    const rootLink = this.robot.links[this.tree.root];\n    if (rootJointKey) {\n      const j = this.robot.joints[rootJointKey];\n      // World-fixed placement: jointFrame0 (in world) · inverse(jointFrame1).\n      if (j) setMatrix(rootObj, multiply(j.jointFrame0, invert(j.jointFrame1)));\n    } else if (rootLink?.worldTransform) {\n      // Floating base: keep the authored stage placement.\n      setMatrix(rootObj, rootLink.worldTransform);\n    }\n    this.add(rootObj);\n  }\n\n  private attachTreeEdges(): void {\n    for (const linkKey of this.tree.order) {\n      const node = this.tree.nodes[linkKey];\n      if (!node || node.parent === null || node.jointToParent === null) continue;\n\n      const parentObj = this.linkObjects.get(node.parent);\n      const childObj = this.linkObjects.get(linkKey);\n      const joint = this.robot.joints[node.jointToParent];\n      if (!parentObj || !childObj || !joint) continue;\n\n      this.attachJointChain(parentObj, childObj, node.jointToParent, joint);\n    }\n  }\n\n  /** Build `parent → frame0 → motion → frame1⁻¹ → child` for one joint. */\n  private attachJointChain(\n    parent: LinkObject,\n    child: LinkObject,\n    jointKey: string,\n    joint: JointDescription,\n  ): void {\n    const frame0 = new THREE.Group();\n    frame0.name = `${joint.name}:frame0`;\n    setMatrix(frame0, joint.jointFrame0);\n\n    const motion = new JointObject(joint);\n\n    const frame1Inv = new THREE.Group();\n    frame1Inv.name = `${joint.name}:frame1Inv`;\n    setMatrix(frame1Inv, invert(joint.jointFrame1));\n\n    parent.add(frame0);\n    frame0.add(motion);\n    motion.add(frame1Inv);\n    frame1Inv.add(child);\n\n    this.jointObjects.set(jointKey, motion);\n  }\n\n  private attachIsolatedLinks(): void {\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      if (!obj || obj.parent) continue;\n      // Not placeable by any joint chain — keep the authored stage placement\n      // (other machines / free bodies on a multi-articulation stage).\n      const worldTransform = this.robot.links[key]?.worldTransform;\n      if (worldTransform) setMatrix(obj, worldTransform);\n      this.add(obj);\n    }\n  }\n\n  // -- Naming --------------------------------------------------------------\n\n  /** Resolve a link reference — key or full prim path — to the extractor key. */\n  private linkKey(ref: string): string {\n    if (this.linkObjects.has(ref)) return ref;\n    return this.linkKeyByPath.get(ref) ?? ref;\n  }\n\n  /** Resolve a joint reference — key or full prim path — to the extractor key. */\n  private jointKey(ref: string): string {\n    if (this.jointObjects.has(ref)) return ref;\n    return this.jointKeyByPath.get(ref) ?? ref;\n  }\n\n  // -- Joint control -------------------------------------------------------\n\n  /**\n   * Set one joint value, addressed by key or full prim path. Unknown joints\n   * are ignored. Returns whether it applied. Always restores `\"fk\"` display\n   * mode first (see {@link setLinkTransforms}).\n   */\n  setJointValue(name: string, value: number): boolean {\n    this.exitBakedMode();\n    const joint = this.jointObjects.get(this.jointKey(name));\n    if (!joint) return false;\n    joint.setValue(value, this.clampJointLimits);\n    this.dirty = true;\n    return true;\n  }\n\n  /**\n   * Set several joint values at once (matrix update is coalesced). Always\n   * restores `\"fk\"` display mode first, recomputing every link purely from\n   * joint values — even an empty batch returns from baked playback (see\n   * {@link setLinkTransforms}).\n   */\n  setJointValues(values: Record<string, number>): void {\n    this.exitBakedMode();\n    for (const [name, value] of Object.entries(values)) {\n      const joint = this.jointObjects.get(this.jointKey(name));\n      if (joint) {\n        joint.setValue(value, this.clampJointLimits);\n        this.dirty = true;\n      }\n    }\n  }\n\n  getJointValue(name: string): number | undefined {\n    return this.jointObjects.get(this.jointKey(name))?.value;\n  }\n\n  /** Recompute world matrices. Called lazily by the getters; safe to call directly. */\n  updateKinematics(): void {\n    this.updateMatrixWorld(true);\n    this.dirty = false;\n  }\n\n  private ensureUpdated(): void {\n    if (this.dirty) this.updateKinematics();\n  }\n\n  // -- Baked link transforms (M23) -----------------------------------------\n\n  /**\n   * `\"fk\"` (default): link placements derive from joint values. `\"baked\"`:\n   * {@link setLinkTransforms} wrote link poses directly and the joints no\n   * longer constrain the display; any `setJointValue`-family call restores fk.\n   */\n  get displayMode(): \"fk\" | \"baked\" {\n    return this._displayMode;\n  }\n\n  /**\n   * Drive link world poses directly — the display path for baked recordings\n   * (Isaac Sim body-transform time samples, maximal-coordinate playback).\n   * usdview-like semantics: constraint deviations are shown, never corrected —\n   * {@link validateLinkTransforms} measures them,\n   * {@link jointValuesFromLinkTransforms} projects onto the joints instead.\n   *\n   * Enters `\"baked\"` display mode; joint values stay untouched. Return to fk\n   * with {@link setJointValues} (any batch, even `{}`), which recomputes\n   * every link purely from joint values.\n   *\n   * Keys are link keys or full prim paths; unknown keys warn once and are\n   * skipped. Unspecified links KEEP their current world pose — a track that\n   * omits a link means \"it did not move\". Poses are rigid, `quaternion` in\n   * `[x, y, z, w]` order, interpreted per `opts.space` (default `\"world\"`:\n   * the Three.js scene world after `worldUp` normalization — pair a Z-up\n   * meter track with `worldUp: \"Z\"`). Matrix updates are coalesced into the\n   * next render / world query. Returns the number of poses applied.\n   */\n  setLinkTransforms(poses: Record<string, LinkPose>, opts: LinkPosesOptions = {}): number {\n    const targets = this.resolvePoseTargets(poses, opts.space ?? \"world\");\n    if (this._displayMode !== \"baked\") this.enterBakedMode();\n    const current = this.bakedStageWorld ?? new Map<string, Mat4>();\n    const rels = this.bakedChainRel ?? new Map<string, Mat4>();\n\n    // Rewrite every link's local matrix parents-first: written links land on\n    // their target, held links keep their world pose while ancestors move.\n    // The chain nodes in between stay frozen at their fk values; each link's\n    // local absorbs the difference, so world matrices come out exact.\n    const next = new Map<string, Mat4>();\n    for (const key of this.tree.order) {\n      const node = this.tree.nodes[key];\n      const obj = this.linkObjects.get(key);\n      if (!node || !obj) continue;\n      const world = targets.get(key) ?? current.get(key);\n      if (!world) continue;\n      if (node.parent === null || node.jointToParent === null) {\n        next.set(key, world); // the root's Object3D parent is the robot itself\n        setMatrix(obj, world);\n        continue;\n      }\n      const parentWorld = next.get(node.parent);\n      const chainRel = rels.get(node.jointToParent);\n      if (!parentWorld || !chainRel) continue;\n      next.set(key, world);\n      setMatrix(obj, multiply(invert(multiply(parentWorld, chainRel)), world));\n    }\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      const world = targets.get(key) ?? current.get(key);\n      if (!obj || !world) continue;\n      next.set(key, world);\n      setMatrix(obj, world);\n    }\n\n    this.bakedStageWorld = next;\n    this.dirty = true;\n    this.warnBakedDeviationOnce(next);\n    return targets.size;\n  }\n\n  /**\n   * Measure how far a link-pose batch deviates from the joint constraints,\n   * without touching the display. Unspecified links resolve to their current\n   * displayed pose, so the report predicts exactly what\n   * {@link setLinkTransforms} with the same batch would show.\n   *\n   * Keyed by joint prim path; covers every joint — fixed joints (`q` = 0\n   * check), loop joints dropped from the fk tree (closure error) and the\n   * world-fixed root attachment (a moved base against a fixed-base model).\n   * Typical signatures: a constant `anchorError` offset on every joint —\n   * recording/model mismatch (wrong version or scale); growth over time —\n   * maximal-coordinate solver drift; large uniform `axisError` — a\n   * coordinate-convention bug (Y/Z-up or quaternion order).\n   */\n  validateLinkTransforms(\n    poses: Record<string, LinkPose>,\n    opts: LinkPosesOptions = {},\n  ): Record<string, JointResidual> {\n    const out: Record<string, JointResidual> = {};\n    for (const { joint, rel } of this.decomposeJoints(poses, opts.space ?? \"world\")) {\n      out[joint.primPath] = this.buildResidual(joint, rel.q, rel);\n    }\n    return out;\n  }\n\n  /**\n   * Project a link-pose batch onto the joint manifold: the closed-form 1-DOF\n   * joint values that best reproduce it, plus the same residuals as\n   * {@link validateLinkTransforms}. `values` covers the articulated tree\n   * joints, keyed by joint prim path, and feeds {@link setJointValues}\n   * directly — the constraint-respecting playback of the same track:\n   *\n   * ```ts\n   * robot.setJointValues(robot.jointValuesFromLinkTransforms(poses, { previous }).values);\n   * ```\n   *\n   * Residual `q` / `limitExceeded` always report the unclamped projection,\n   * also when `clampLimits` clamps `values`.\n   */\n  jointValuesFromLinkTransforms(\n    poses: Record<string, LinkPose>,\n    opts: JointValuesFromLinkTransformsOptions = {},\n  ): { values: Record<string, number>; residuals: Record<string, JointResidual> } {\n    const values: Record<string, number> = {};\n    const residuals: Record<string, JointResidual> = {};\n    for (const { key, joint, rel } of this.decomposeJoints(poses, opts.space ?? \"world\")) {\n      let q = rel.q;\n      if (joint.type === \"revolute\" || joint.type === \"continuous\") {\n        const previous = opts.previous?.[joint.primPath] ?? opts.previous?.[key];\n        if (previous !== undefined) q = nearestAngleBranch(q, previous);\n      }\n      residuals[joint.primPath] = this.buildResidual(joint, q, rel);\n      if (!this.jointObjects.get(key)?.articulated) continue;\n      if (opts.clampLimits) {\n        if (joint.lower !== undefined && q < joint.lower) q = joint.lower;\n        if (joint.upper !== undefined && q > joint.upper) q = joint.upper;\n      }\n      values[joint.primPath] = q;\n    }\n    return { values, residuals };\n  }\n\n  /** Restore the constructed fk link placements (no-op when already `\"fk\"`). */\n  private exitBakedMode(): void {\n    if (this._displayMode === \"fk\") return;\n    for (const [key, local] of this.restLocal) {\n      const obj = this.linkObjects.get(key);\n      if (obj) setMatrix(obj, local);\n    }\n    this.bakedStageWorld = null;\n    this.bakedChainRel = null;\n    this.bakedDebugWarned = false;\n    this._displayMode = \"fk\";\n    this.dirty = true;\n  }\n\n  /** Freeze the fk state a baked session builds on (joints cannot move while baked). */\n  private enterBakedMode(): void {\n    const rels = this.computeChainRels();\n    this.bakedChainRel = rels;\n    this.bakedStageWorld = this.computeStageWorlds(rels);\n    this._displayMode = \"baked\";\n  }\n\n  /** `frame0 · motion(q) · frame1⁻¹` of every tree joint, from live joint values. */\n  private computeChainRels(): Map<string, Mat4> {\n    const rels = new Map<string, Mat4>();\n    for (const [key, motion] of this.jointObjects) {\n      const joint = this.robot.joints[key];\n      if (!joint) continue;\n      motion.updateMatrix();\n      rels.set(\n        key,\n        multiplyAll([joint.jointFrame0, motion.matrix.toArray(), invert(joint.jointFrame1)]),\n      );\n    }\n    return rels;\n  }\n\n  /** Stage-space world transform of every link under the current display state. */\n  private computeStageWorlds(rels: Map<string, Mat4>): Map<string, Mat4> {\n    const worlds = new Map<string, Mat4>();\n    for (const key of this.tree.order) {\n      const node = this.tree.nodes[key];\n      const obj = this.linkObjects.get(key);\n      if (!node || !obj) continue;\n      const local = obj.matrix.toArray();\n      if (node.parent === null || node.jointToParent === null) {\n        worlds.set(key, local);\n        continue;\n      }\n      const parentWorld = worlds.get(node.parent);\n      const chainRel = rels.get(node.jointToParent);\n      if (!parentWorld || !chainRel) continue;\n      worlds.set(key, multiplyAll([parentWorld, chainRel, local]));\n    }\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      if (obj) worlds.set(key, obj.matrix.toArray());\n    }\n    return worlds;\n  }\n\n  private currentStageWorlds(): Map<string, Mat4> {\n    return this.bakedStageWorld ?? this.computeStageWorlds(this.computeChainRels());\n  }\n\n  /** Resolve pose keys to link keys and convert each pose to a rigid stage-space matrix. */\n  private resolvePoseTargets(\n    poses: Record<string, LinkPose>,\n    space: LinkPoseSpace,\n  ): Map<string, Mat4> {\n    const targets = new Map<string, Mat4>();\n    const entries = Object.entries(poses);\n    if (entries.length === 0) return targets;\n\n    const toStage = space === \"world\" ? this.sceneToStageConverter() : null;\n    const position = new THREE.Vector3();\n    const quaternion = new THREE.Quaternion();\n    const matrix = new THREE.Matrix4();\n    for (const [ref, pose] of entries) {\n      const key = this.linkKey(ref);\n      if (!this.linkObjects.has(key)) {\n        this.warnUnknownPoseKey(ref);\n        continue;\n      }\n      position.fromArray(pose.position);\n      quaternion.fromArray(pose.quaternion).normalize();\n      toStage?.(position, quaternion);\n      targets.set(key, matrix.compose(position, quaternion, UNIT_SCALE).toArray());\n    }\n    return targets;\n  }\n\n  /**\n   * Scene world → stage space, undoing the robot's own world transform\n   * (up-axis rotation, unit scale, any user placement) as a similarity — so\n   * link locals stay rigid and the root keeps carrying the scale.\n   */\n  private sceneToStageConverter(): (position: THREE.Vector3, quaternion: THREE.Quaternion) => void {\n    this.updateWorldMatrix(true, false);\n    const rootPosition = new THREE.Vector3();\n    const rootQuaternion = new THREE.Quaternion();\n    const rootScale = new THREE.Vector3();\n    this.matrixWorld.decompose(rootPosition, rootQuaternion, rootScale);\n    const s = rootScale.x;\n    if (\n      !this.warnedNonUniformScale &&\n      (Math.abs(rootScale.y - s) > 1e-6 * Math.abs(s) ||\n        Math.abs(rootScale.z - s) > 1e-6 * Math.abs(s))\n    ) {\n      this.warnedNonUniformScale = true;\n      console.warn(\n        `three-usd-robot: non-uniform world scale on \"${this.name}\"; space:\"world\" poses are off`,\n      );\n    }\n    const invQuaternion = rootQuaternion.clone().invert();\n    const invScale = s !== 0 ? 1 / s : 1;\n    return (position, quaternion) => {\n      position.sub(rootPosition).applyQuaternion(invQuaternion).multiplyScalar(invScale);\n      quaternion.premultiply(invQuaternion);\n    };\n  }\n\n  /**\n   * Decompose every joint's parent→child transform under a pose batch\n   * (unspecified links resolve to their current displayed pose, mirroring\n   * {@link setLinkTransforms}). Pure — the display is untouched.\n   */\n  private decomposeJoints(\n    poses: Record<string, LinkPose>,\n    space: LinkPoseSpace,\n  ): { key: string; joint: JointDescription; rel: JointRelativeDecomposition }[] {\n    const worlds = new Map(this.currentStageWorlds());\n    for (const [key, world] of this.resolvePoseTargets(poses, space)) worlds.set(key, world);\n\n    const out: { key: string; joint: JointDescription; rel: JointRelativeDecomposition }[] = [];\n    for (const [key, joint] of Object.entries(this.robot.joints)) {\n      const childWorld = worlds.get(joint.child);\n      const parentWorld = joint.parent === \"\" ? IDENTITY4 : worlds.get(joint.parent);\n      if (!childWorld || !parentWorld) continue;\n      out.push({ key, joint, rel: decomposeJointRelative(joint, parentWorld, childWorld) });\n    }\n    return out;\n  }\n\n  private buildResidual(\n    joint: JointDescription,\n    q: number,\n    rel: JointRelativeDecomposition,\n  ): JointResidual {\n    return {\n      anchorError: rel.anchorError * this.robot.metersPerUnit,\n      axisError: rel.axisError,\n      q,\n      limitExceeded:\n        (joint.lower !== undefined && q < joint.lower - LIMIT_EPS) ||\n        (joint.upper !== undefined && q > joint.upper + LIMIT_EPS),\n    };\n  }\n\n  private warnUnknownPoseKey(ref: string): void {\n    if (this.warnedPoseKeys.has(ref)) return;\n    this.warnedPoseKeys.add(ref);\n    console.warn(`three-usd-robot: unknown link \"${ref}\" in a pose batch; ignoring`);\n  }\n\n  /** `debugBakedTransforms`: warn once per baked session when poses break the constraints. */\n  private warnBakedDeviationOnce(worlds: Map<string, Mat4>): void {\n    if (!this.debugBaked || this.bakedDebugWarned) return;\n    const { anchorTolerance, axisTolerance } = this.debugBaked;\n    let count = 0;\n    let worst: { path: string; anchor: number; axis: number; score: number } | null = null;\n    for (const joint of Object.values(this.robot.joints)) {\n      const childWorld = worlds.get(joint.child);\n      const parentWorld = joint.parent === \"\" ? IDENTITY4 : worlds.get(joint.parent);\n      if (!childWorld || !parentWorld) continue;\n      const rel = decomposeJointRelative(joint, parentWorld, childWorld);\n      const anchor = rel.anchorError * this.robot.metersPerUnit;\n      if (anchor <= anchorTolerance && rel.axisError <= axisTolerance) continue;\n      count++;\n      const score = anchor / anchorTolerance + rel.axisError / axisTolerance;\n      if (!worst || score > worst.score) {\n        worst = { path: joint.primPath, anchor, axis: rel.axisError, score };\n      }\n    }\n    if (!worst) return;\n    this.bakedDebugWarned = true;\n    console.warn(\n      `three-usd-robot: baked poses deviate from ${count} joint constraint(s) — worst ` +\n        `${worst.path}: anchor ${(worst.anchor * 1e3).toFixed(3)} mm, axis ` +\n        `${worst.axis.toFixed(4)} rad (recording/model mismatch? warned once per baked session)`,\n    );\n  }\n\n  // -- Queries -------------------------------------------------------------\n\n  /** World matrix of a link, addressed by key or full prim path. */\n  getLinkWorldMatrix(name: string): THREE.Matrix4 {\n    const obj = this.linkObjects.get(this.linkKey(name));\n    if (!obj) throw new Error(`unknown link \"${name}\"`);\n    this.ensureUpdated();\n    return obj.matrixWorld.clone();\n  }\n\n  getLinkWorldPosition(name: string): THREE.Vector3 {\n    return new THREE.Vector3().setFromMatrixPosition(this.getLinkWorldMatrix(name));\n  }\n\n  /** Link object by key or full prim path. */\n  getLinkObject(name: string): LinkObject | undefined {\n    return this.linkObjects.get(this.linkKey(name));\n  }\n\n  /** Joint object by key or full prim path. */\n  getJointObject(name: string): JointObject | undefined {\n    return this.jointObjects.get(this.jointKey(name));\n  }\n\n  /**\n   * Table of link prim path → {@link LinkObject}. Prim paths are the\n   * collision-proof way to pin a link (e.g. to attach tools or gizmos).\n   */\n  getLinkObjectsByPath(): Map<string, LinkObject> {\n    const out = new Map<string, LinkObject>();\n    for (const [path, key] of this.linkKeyByPath) {\n      const obj = this.linkObjects.get(key);\n      if (obj) out.set(path, obj);\n    }\n    return out;\n  }\n\n  /**\n   * Table of joint prim path → {@link JointObject}, covering the joints\n   * realized in the kinematic tree (loop joints have no motion node).\n   */\n  getJointObjectsByPath(): Map<string, JointObject> {\n    const out = new Map<string, JointObject>();\n    for (const [path, key] of this.jointKeyByPath) {\n      const obj = this.jointObjects.get(key);\n      if (obj) out.set(path, obj);\n    }\n    return out;\n  }\n\n  getJoints(): JointDescription[] {\n    return Object.values(this.robot.joints);\n  }\n\n  getLinks(): LinkDescription[] {\n    return Object.values(this.robot.links);\n  }\n\n  /** Names of the articulated (controllable) joints. */\n  getJointNames(): string[] {\n    return [...this.jointObjects.keys()];\n  }\n\n  getLinkNames(): string[] {\n    return [...this.linkObjects.keys()];\n  }\n\n  getKinematicTree(): KinematicTree {\n    return this.tree;\n  }\n\n  /** Authored stage up-axis (`\"Y\"` or `\"Z\"`) — unaffected by `worldUp` normalization. */\n  get upAxis(): \"Y\" | \"Z\" {\n    return this.robot.upAxis;\n  }\n\n  /** Authored stage scale in meters per unit (already applied to the root). */\n  get metersPerUnit(): number {\n    return this.robot.metersPerUnit;\n  }\n\n  // -- Animation playback --------------------------------------------------\n\n  /** Playback rate in time codes per second (from the stage; default 24). */\n  getTimeCodesPerSecond(): number {\n    return this.robot.timeCodesPerSecond ?? 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* as THREE from \"three\";\nimport type { Axis } from \"../robot/RobotDescription.js\";\n\n/** Unit vector for a USD joint axis token. Returns a fresh vector each call. */\nexport function axisVector(axis: Axis): THREE.Vector3 {\n  switch (axis) {\n    case \"X\":\n      return new THREE.Vector3(1, 0, 0);\n    case \"Y\":\n      return new THREE.Vector3(0, 1, 0);\n    case \"Z\":\n      return new THREE.Vector3(0, 0, 1);\n  }\n}\n","import * as THREE from \"three\";\nimport type { Axis, JointDescription, JointType } from \"../robot/RobotDescription.js\";\nimport { axisVector } from \"./axis.js\";\n\n/**\n * The articulated \"motion\" node of a joint, inserted between the joint's two\n * fixed frames (`jointFrame0` and `inverse(jointFrame1)`). {@link setValue}\n * rotates it about the axis (revolute/continuous) or slides it along the axis\n * (prismatic); fixed joints are inert.\n */\nexport class JointObject extends THREE.Object3D {\n  readonly isJointObject = true;\n  readonly jointName: string;\n  /** Full USD prim path of the joint — the collision-proof address. */\n  readonly primPath: string;\n  readonly jointType: JointType;\n  readonly axisToken: Axis;\n  readonly axis: THREE.Vector3;\n  readonly lower: number | undefined;\n  readonly upper: number | undefined;\n\n  private _value = 0;\n\n  constructor(joint: JointDescription) {\n    super();\n    this.name = joint.name;\n    this.jointName = joint.name;\n    this.primPath = joint.primPath;\n    this.jointType = joint.type;\n    this.axisToken = joint.axis;\n    this.axis = axisVector(joint.axis);\n    this.lower = joint.lower;\n    this.upper = joint.upper;\n  }\n\n  get value(): number {\n    return this._value;\n  }\n\n  get articulated(): boolean {\n    return this.jointType !== \"fixed\";\n  }\n\n  /**\n   * Set the joint value (radians for revolute/continuous, length for prismatic).\n   * Optionally clamps to authored limits. Returns the value actually applied.\n   */\n  setValue(value: number, clampToLimits = true): number {\n    if (!this.articulated) return this._value; // fixed joint: inert\n\n    let v = value;\n    if (clampToLimits) {\n      if (this.lower !== undefined && v < this.lower) v = this.lower;\n      if (this.upper !== undefined && v > this.upper) v = this.upper;\n    }\n    this._value = v;\n\n    if (this.jointType === \"prismatic\") {\n      this.position.copy(this.axis).multiplyScalar(v);\n      this.quaternion.identity();\n    } else {\n      this.quaternion.setFromAxisAngle(this.axis, v);\n      this.position.set(0, 0, 0);\n    }\n    return v;\n  }\n}\n","import * as THREE from \"three\";\nimport type { LinkDescription } from \"../robot/RobotDescription.js\";\n\n/**\n * Three.js node for a robot link. Its frame is the USD link prim's frame;\n * visual/collision meshes (M6) attach as children relative to it. Placement\n * relative to the parent is supplied by the joint chain, so a link's own local\n * matrix is identity (except the root, which carries the world-fixed placement).\n */\nexport class LinkObject extends THREE.Object3D {\n  readonly isLinkObject = true;\n  readonly linkName: string;\n  readonly primPath: string;\n\n  constructor(link: LinkDescription) {\n    super();\n    this.name = link.name;\n    this.linkName = link.name;\n    this.primPath = link.primPath;\n    // Placement comes from the parent joint chain; keep the local matrix fixed.\n    this.matrixAutoUpdate = false;\n  }\n}\n","import * as THREE from \"three\";\nimport {\n  type JointRelativeDecomposition,\n  decomposeJointRelative,\n  nearestAngleBranch,\n} from \"../kinematics/jointResiduals.js\";\nimport { interpolate } from \"../kinematics/sampling.js\";\nimport { type Mat4, identity4, invert, multiply, multiplyAll } from \"../kinematics/transforms.js\";\nimport type {\n  JointDescription,\n  LinkDescription,\n  RobotDescription,\n} from \"../robot/RobotDescription.js\";\nimport type { KinematicTree } from \"../robot/buildKinematicTree.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { JointObject } from \"./JointObject.js\";\nimport { LinkObject } from \"./LinkObject.js\";\n\n/** Target world up-axis: normalize to Y-up / Z-up, or keep the authored orientation. */\nexport type WorldUpAxis = \"Y\" | \"Z\" | \"keep\";\n\nexport type ThreeUsdRobotOptions = {\n  /** Clamp `setJointValue` to authored limits (default `true`). */\n  clampJointLimits?: boolean;\n  /** Size of the built-in joint-axis / link-frame helpers (stage units, default `0.15`). */\n  helperSize?: number;\n  /**\n   * Target world up-axis. The root is rotated so the stage's authored `upAxis`\n   * lands in that convention: `\"Y\"` for a standard three.js scene, `\"Z\"` for a\n   * robotics-style Z-up world, `\"keep\"` for no correction. Takes precedence\n   * over the deprecated {@link ThreeUsdRobotOptions.upAxisConversion}.\n   */\n  worldUp?: WorldUpAxis;\n  /**\n   * Legacy up-axis correction: `\"auto\"` ≡ `worldUp: \"Y\"`, `\"Y\"` / `\"none\"` ≡\n   * `worldUp: \"keep\"`, and `\"Z\"` forces the Z-up→Y-up rotation regardless of\n   * stage metadata. Default `\"none\"` (the loader defaults to `\"auto\"`).\n   * @deprecated Use {@link ThreeUsdRobotOptions.worldUp}.\n   */\n  upAxisConversion?: \"auto\" | \"Y\" | \"Z\" | \"none\";\n  /** Extra uniform scale multiplied with the stage `metersPerUnit` (default `1`). */\n  unitScale?: number;\n  /** Seed joints from their authored initial value (drive target / joint state). Default `true`. */\n  applyInitialPose?: boolean;\n  /**\n   * Diagnose {@link ThreeUsdRobot.setLinkTransforms} poses against the joint\n   * constraints and `console.warn` once per baked session when one deviates\n   * beyond tolerance (default 1 mm anchor / 0.01 rad axis). `true` uses the\n   * defaults; pass an object to tune them.\n   */\n  debugBakedTransforms?: boolean | { anchorTolerance?: number; axisTolerance?: number };\n};\n\n/**\n * A rigid world pose for {@link ThreeUsdRobot.setLinkTransforms} —\n * `quaternion` in Three.js `[x, y, z, w]` order (USD authors quatf as\n * `(w, x, y, z)`; reorder when reading recorded USD by hand).\n */\nexport type LinkPose = {\n  position: [number, number, number];\n  quaternion: [number, number, number, number];\n};\n\n/**\n * Coordinate space of {@link LinkPose} batches. `\"world\"` (default) is the\n * Three.js scene world *after* `worldUp` / unit normalization — with\n * `worldUp: \"Z\"` you hand in Z-up poses — including any transform on the\n * robot object itself (which must stay a similarity: uniform scale, no\n * shear). `\"stage\"` is the authored USD stage space (before up-axis rotation\n * and `metersPerUnit` scaling), as prim world transforms are written in the\n * file.\n */\nexport type LinkPoseSpace = \"world\" | \"stage\";\n\nexport type LinkPosesOptions = {\n  /** Interpretation of the poses (default `\"world\"`). */\n  space?: LinkPoseSpace;\n};\n\nexport type JointValuesFromLinkTransformsOptions = LinkPosesOptions & {\n  /**\n   * Previous joint values (keyed like the returned `values`): each\n   * revolute/continuous joint picks the 2πk branch of its projection nearest\n   * this, for frame-to-frame continuity past ±π.\n   */\n  previous?: Record<string, number>;\n  /** Clamp `values` to authored limits (default `false` — deviations are reported, not hidden). */\n  clampLimits?: boolean;\n};\n\n/**\n * Per-joint constraint residual of a link-pose batch, keyed by joint prim\n * path. The ideal parent→child transform of a joint is a pure motion along\n * its DOF; whatever the poses leave over splits into `anchorError` /\n * `axisError` (see {@link ThreeUsdRobot.validateLinkTransforms}).\n */\nexport type JointResidual = {\n  /** Translation residual at the joint anchor, in meters (`metersPerUnit` applied). */\n  anchorError: number;\n  /** Rotation residual off the joint DOF, in radians. */\n  axisError: number;\n  /** Projected joint value (SI: radians / stage length units; `0` for fixed joints). */\n  q: number;\n  /** Whether `q` lies outside the authored limits. */\n  limitExceeded: boolean;\n};\n\n/**\n * A Three.js `Object3D` that realizes a {@link RobotDescription} as a kinematic\n * hierarchy and drives forward kinematics via {@link setJointValue}.\n *\n * Per joint the hierarchy is\n * `parentLink → jointFrame0 → jointMotion → jointFrame1⁻¹ → childLink`,\n * where only `jointMotion` (a {@link JointObject}) changes with the joint value;\n * world poses then fall out of Three.js's `updateMatrixWorld`.\n *\n * **Naming contract** — a link/joint's key is its prim's leaf name when that\n * is unique across the robot, else its full prim path (deterministic; see the\n * extractor). Every accessor taking a name equally accepts the full prim path,\n * which is stable regardless of collisions; {@link getLinkObjectsByPath} /\n * {@link getJointObjectsByPath} enumerate the path-keyed tables.\n */\nexport class ThreeUsdRobot extends THREE.Object3D {\n  readonly isThreeUsdRobot = true;\n  readonly robot: RobotDescription;\n  readonly tree: KinematicTree;\n  readonly clampJointLimits: boolean;\n  /**\n   * The composed USD stage this robot was built from — the full prim tree, for\n   * inspection tooling (structure panels, attribute browsers). Attached by\n   * {@link ThreeUsdRobotLoader}; `undefined` for programmatically-built robots.\n   */\n  stage?: Stage;\n\n  private readonly linkObjects = new Map<string, LinkObject>();\n  private readonly jointObjects = new Map<string, JointObject>();\n  private readonly linkKeyByPath = new Map<string, string>();\n  private readonly jointKeyByPath = new Map<string, string>();\n  private dirty = true;\n\n  /** Constructed (fk rest) local matrix of every link, for baked→fk restore. */\n  private readonly restLocal = new Map<string, Mat4>();\n  private _displayMode: \"fk\" | \"baked\" = \"fk\";\n  /** Stage-space link worlds while baked (`null` in fk mode). */\n  private bakedStageWorld: Map<string, Mat4> | null = null;\n  /** Frozen `frame0 · motion · frame1⁻¹` per tree joint while baked. */\n  private bakedChainRel: Map<string, Mat4> | null = null;\n  private readonly debugBaked: { anchorTolerance: number; axisTolerance: number } | null;\n  private bakedDebugWarned = false;\n  private readonly warnedPoseKeys = new Set<string>();\n  private warnedNonUniformScale = false;\n\n  private readonly helperSize: number;\n  private _showVisual = true;\n  private _showCollision = false;\n  private _showJointAxes = false;\n  private _showLinkFrames = false;\n  private jointAxesHelpers: THREE.AxesHelper[] = [];\n  private linkFrameHelpers: THREE.AxesHelper[] = [];\n\n  constructor(robot: RobotDescription, tree: KinematicTree, options: ThreeUsdRobotOptions = {}) {\n    super();\n    this.name = robot.name;\n    this.robot = robot;\n    this.tree = tree;\n    this.clampJointLimits = options.clampJointLimits ?? true;\n    this.helperSize = options.helperSize ?? 0.15;\n\n    // Create a node for every link up front; index links and joints by path.\n    for (const [key, link] of Object.entries(robot.links)) {\n      this.linkObjects.set(key, new LinkObject(link));\n      this.linkKeyByPath.set(link.primPath, key);\n    }\n    for (const [key, joint] of Object.entries(robot.joints)) {\n      this.jointKeyByPath.set(joint.primPath, key);\n    }\n\n    this.attachRoot();\n    this.attachTreeEdges();\n    this.attachIsolatedLinks();\n    this.applyStageNormalization(robot, options);\n    if (options.applyInitialPose ?? true) this.applyInitialPose(robot);\n\n    for (const [key, obj] of this.linkObjects) this.restLocal.set(key, obj.matrix.toArray());\n    const debug = options.debugBakedTransforms;\n    this.debugBaked = debug\n      ? {\n          anchorTolerance: (typeof debug === \"object\" ? debug.anchorTolerance : undefined) ?? 1e-3,\n          axisTolerance: (typeof debug === \"object\" ? debug.axisTolerance : undefined) ?? 0.01,\n        }\n      : null;\n  }\n\n  /** Orient (authored upAxis → target world up) and scale (metersPerUnit × unitScale) the root. */\n  private applyStageNormalization(robot: RobotDescription, options: ThreeUsdRobotOptions): void {\n    const scale = (robot.metersPerUnit || 1) * (options.unitScale ?? 1);\n    if (scale !== 1) this.scale.setScalar(scale);\n\n    const rotateX = (angle: number) =>\n      this.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), angle);\n\n    if (options.worldUp) {\n      if (options.worldUp === \"Y\" && robot.upAxis === \"Z\") rotateX(-Math.PI / 2);\n      else if (options.worldUp === \"Z\" && robot.upAxis === \"Y\") rotateX(Math.PI / 2);\n      return; // matching axis or \"keep\": leave as authored\n    }\n    const conv = options.upAxisConversion ?? \"none\";\n    if (conv === \"Z\" || (conv === \"auto\" && robot.upAxis === \"Z\")) rotateX(-Math.PI / 2);\n  }\n\n  /** Apply each joint's authored initial value, if any. */\n  private applyInitialPose(robot: RobotDescription): void {\n    for (const [key, joint] of Object.entries(robot.joints)) {\n      if (joint.initialValue === undefined) continue;\n      this.jointObjects.get(key)?.setValue(joint.initialValue, this.clampJointLimits);\n    }\n    this.dirty = true;\n  }\n\n  private attachRoot(): void {\n    const rootObj = this.linkObjects.get(this.tree.root);\n    if (!rootObj) return; // empty robot\n    const rootJointKey = this.tree.rootJoint;\n    const rootLink = this.robot.links[this.tree.root];\n    if (rootJointKey) {\n      const j = this.robot.joints[rootJointKey];\n      // World-fixed placement: jointFrame0 (in world) · inverse(jointFrame1).\n      if (j) setMatrix(rootObj, multiply(j.jointFrame0, invert(j.jointFrame1)));\n    } else if (rootLink?.worldTransform) {\n      // Floating base: keep the authored stage placement.\n      setMatrix(rootObj, rootLink.worldTransform);\n    }\n    this.add(rootObj);\n  }\n\n  private attachTreeEdges(): void {\n    for (const linkKey of this.tree.order) {\n      const node = this.tree.nodes[linkKey];\n      if (!node || node.parent === null || node.jointToParent === null) continue;\n\n      const parentObj = this.linkObjects.get(node.parent);\n      const childObj = this.linkObjects.get(linkKey);\n      const joint = this.robot.joints[node.jointToParent];\n      if (!parentObj || !childObj || !joint) continue;\n\n      this.attachJointChain(parentObj, childObj, node.jointToParent, joint);\n    }\n  }\n\n  /** Build `parent → frame0 → motion → frame1⁻¹ → child` for one joint. */\n  private attachJointChain(\n    parent: LinkObject,\n    child: LinkObject,\n    jointKey: string,\n    joint: JointDescription,\n  ): void {\n    const frame0 = new THREE.Group();\n    frame0.name = `${joint.name}:frame0`;\n    setMatrix(frame0, joint.jointFrame0);\n\n    const motion = new JointObject(joint);\n\n    const frame1Inv = new THREE.Group();\n    frame1Inv.name = `${joint.name}:frame1Inv`;\n    setMatrix(frame1Inv, invert(joint.jointFrame1));\n\n    parent.add(frame0);\n    frame0.add(motion);\n    motion.add(frame1Inv);\n    frame1Inv.add(child);\n\n    this.jointObjects.set(jointKey, motion);\n  }\n\n  private attachIsolatedLinks(): void {\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      if (!obj || obj.parent) continue;\n      // Not placeable by any joint chain — keep the authored stage placement\n      // (other machines / free bodies on a multi-articulation stage).\n      const worldTransform = this.robot.links[key]?.worldTransform;\n      if (worldTransform) setMatrix(obj, worldTransform);\n      this.add(obj);\n    }\n  }\n\n  // -- Naming --------------------------------------------------------------\n\n  /** Resolve a link reference — key or full prim path — to the extractor key. */\n  private linkKey(ref: string): string {\n    if (this.linkObjects.has(ref)) return ref;\n    return this.linkKeyByPath.get(ref) ?? ref;\n  }\n\n  /** Resolve a joint reference — key or full prim path — to the extractor key. */\n  private jointKey(ref: string): string {\n    if (this.jointObjects.has(ref)) return ref;\n    return this.jointKeyByPath.get(ref) ?? ref;\n  }\n\n  // -- Joint control -------------------------------------------------------\n\n  /**\n   * Set one joint value, addressed by key or full prim path. Unknown joints\n   * are ignored. Returns whether it applied. Always restores `\"fk\"` display\n   * mode first (see {@link setLinkTransforms}).\n   */\n  setJointValue(name: string, value: number): boolean {\n    this.exitBakedMode();\n    const joint = this.jointObjects.get(this.jointKey(name));\n    if (!joint) return false;\n    joint.setValue(value, this.clampJointLimits);\n    this.dirty = true;\n    return true;\n  }\n\n  /**\n   * Set several joint values at once (matrix update is coalesced). Always\n   * restores `\"fk\"` display mode first, recomputing every link purely from\n   * joint values — even an empty batch returns from baked playback (see\n   * {@link setLinkTransforms}).\n   */\n  setJointValues(values: Record<string, number>): void {\n    this.exitBakedMode();\n    for (const [name, value] of Object.entries(values)) {\n      const joint = this.jointObjects.get(this.jointKey(name));\n      if (joint) {\n        joint.setValue(value, this.clampJointLimits);\n        this.dirty = true;\n      }\n    }\n  }\n\n  getJointValue(name: string): number | undefined {\n    return this.jointObjects.get(this.jointKey(name))?.value;\n  }\n\n  /** Recompute world matrices. Called lazily by the getters; safe to call directly. */\n  updateKinematics(): void {\n    this.updateMatrixWorld(true);\n    this.dirty = false;\n  }\n\n  private ensureUpdated(): void {\n    if (this.dirty) this.updateKinematics();\n  }\n\n  // -- Baked link transforms (M23) -----------------------------------------\n\n  /**\n   * `\"fk\"` (default): link placements derive from joint values. `\"baked\"`:\n   * {@link setLinkTransforms} wrote link poses directly and the joints no\n   * longer constrain the display; any `setJointValue`-family call restores fk.\n   */\n  get displayMode(): \"fk\" | \"baked\" {\n    return this._displayMode;\n  }\n\n  /**\n   * Drive link world poses directly — the display path for baked recordings\n   * (Isaac Sim body-transform time samples, maximal-coordinate playback).\n   * usdview-like semantics: constraint deviations are shown, never corrected —\n   * {@link validateLinkTransforms} measures them,\n   * {@link jointValuesFromLinkTransforms} projects onto the joints instead.\n   *\n   * Enters `\"baked\"` display mode; joint values stay untouched. Return to fk\n   * with {@link setJointValues} (any batch, even `{}`), which recomputes\n   * every link purely from joint values.\n   *\n   * Keys are link keys or full prim paths; unknown keys warn once and are\n   * skipped. Unspecified links KEEP their current world pose — a track that\n   * omits a link means \"it did not move\". Poses are rigid, `quaternion` in\n   * `[x, y, z, w]` order, interpreted per `opts.space` (default `\"world\"`:\n   * the Three.js scene world after `worldUp` normalization — pair a Z-up\n   * meter track with `worldUp: \"Z\"`). Matrix updates are coalesced into the\n   * next render / world query. Returns the number of poses applied.\n   */\n  setLinkTransforms(poses: Record<string, LinkPose>, opts: LinkPosesOptions = {}): number {\n    const targets = this.resolvePoseTargets(poses, opts.space ?? \"world\");\n    if (this._displayMode !== \"baked\") this.enterBakedMode();\n    const current = this.bakedStageWorld ?? new Map<string, Mat4>();\n    const rels = this.bakedChainRel ?? new Map<string, Mat4>();\n\n    // Rewrite every link's local matrix parents-first: written links land on\n    // their target, held links keep their world pose while ancestors move.\n    // The chain nodes in between stay frozen at their fk values; each link's\n    // local absorbs the difference, so world matrices come out exact.\n    const next = new Map<string, Mat4>();\n    for (const key of this.tree.order) {\n      const node = this.tree.nodes[key];\n      const obj = this.linkObjects.get(key);\n      if (!node || !obj) continue;\n      const world = targets.get(key) ?? current.get(key);\n      if (!world) continue;\n      if (node.parent === null || node.jointToParent === null) {\n        next.set(key, world); // the root's Object3D parent is the robot itself\n        setMatrix(obj, world);\n        continue;\n      }\n      const parentWorld = next.get(node.parent);\n      const chainRel = rels.get(node.jointToParent);\n      if (!parentWorld || !chainRel) continue;\n      next.set(key, world);\n      setMatrix(obj, multiply(invert(multiply(parentWorld, chainRel)), world));\n    }\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      const world = targets.get(key) ?? current.get(key);\n      if (!obj || !world) continue;\n      next.set(key, world);\n      setMatrix(obj, world);\n    }\n\n    this.bakedStageWorld = next;\n    this.dirty = true;\n    this.warnBakedDeviationOnce(next);\n    return targets.size;\n  }\n\n  /**\n   * Measure how far a link-pose batch deviates from the joint constraints,\n   * without touching the display. Unspecified links resolve to their current\n   * displayed pose, so the report predicts exactly what\n   * {@link setLinkTransforms} with the same batch would show.\n   *\n   * Keyed by joint prim path; covers every joint — fixed joints (`q` = 0\n   * check), loop joints dropped from the fk tree (closure error) and the\n   * world-fixed root attachment (a moved base against a fixed-base model).\n   * Typical signatures: a constant `anchorError` offset on every joint —\n   * recording/model mismatch (wrong version or scale); growth over time —\n   * maximal-coordinate solver drift; large uniform `axisError` — a\n   * coordinate-convention bug (Y/Z-up or quaternion order).\n   */\n  validateLinkTransforms(\n    poses: Record<string, LinkPose>,\n    opts: LinkPosesOptions = {},\n  ): Record<string, JointResidual> {\n    const out: Record<string, JointResidual> = {};\n    for (const { joint, rel } of this.decomposeJoints(poses, opts.space ?? \"world\")) {\n      out[joint.primPath] = this.buildResidual(joint, rel.q, rel);\n    }\n    return out;\n  }\n\n  /**\n   * Project a link-pose batch onto the joint manifold: the closed-form 1-DOF\n   * joint values that best reproduce it, plus the same residuals as\n   * {@link validateLinkTransforms}. `values` covers the articulated tree\n   * joints, keyed by joint prim path, and feeds {@link setJointValues}\n   * directly — the constraint-respecting playback of the same track:\n   *\n   * ```ts\n   * robot.setJointValues(robot.jointValuesFromLinkTransforms(poses, { previous }).values);\n   * ```\n   *\n   * Residual `q` / `limitExceeded` always report the unclamped projection,\n   * also when `clampLimits` clamps `values`.\n   */\n  jointValuesFromLinkTransforms(\n    poses: Record<string, LinkPose>,\n    opts: JointValuesFromLinkTransformsOptions = {},\n  ): { values: Record<string, number>; residuals: Record<string, JointResidual> } {\n    const values: Record<string, number> = {};\n    const residuals: Record<string, JointResidual> = {};\n    for (const { key, joint, rel } of this.decomposeJoints(poses, opts.space ?? \"world\")) {\n      let q = rel.q;\n      if (joint.type === \"revolute\" || joint.type === \"continuous\") {\n        const previous = opts.previous?.[joint.primPath] ?? opts.previous?.[key];\n        if (previous !== undefined) q = nearestAngleBranch(q, previous);\n      }\n      residuals[joint.primPath] = this.buildResidual(joint, q, rel);\n      if (!this.jointObjects.get(key)?.articulated) continue;\n      if (opts.clampLimits) {\n        if (joint.lower !== undefined && q < joint.lower) q = joint.lower;\n        if (joint.upper !== undefined && q > joint.upper) q = joint.upper;\n      }\n      values[joint.primPath] = q;\n    }\n    return { values, residuals };\n  }\n\n  /** Restore the constructed fk link placements (no-op when already `\"fk\"`). */\n  private exitBakedMode(): void {\n    if (this._displayMode === \"fk\") return;\n    for (const [key, local] of this.restLocal) {\n      const obj = this.linkObjects.get(key);\n      if (obj) setMatrix(obj, local);\n    }\n    this.bakedStageWorld = null;\n    this.bakedChainRel = null;\n    this.bakedDebugWarned = false;\n    this._displayMode = \"fk\";\n    this.dirty = true;\n  }\n\n  /** Freeze the fk state a baked session builds on (joints cannot move while baked). */\n  private enterBakedMode(): void {\n    const rels = this.computeChainRels();\n    this.bakedChainRel = rels;\n    this.bakedStageWorld = this.computeStageWorlds(rels);\n    this._displayMode = \"baked\";\n  }\n\n  /** `frame0 · motion(q) · frame1⁻¹` of every tree joint, from live joint values. */\n  private computeChainRels(): Map<string, Mat4> {\n    const rels = new Map<string, Mat4>();\n    for (const [key, motion] of this.jointObjects) {\n      const joint = this.robot.joints[key];\n      if (!joint) continue;\n      motion.updateMatrix();\n      rels.set(\n        key,\n        multiplyAll([joint.jointFrame0, motion.matrix.toArray(), invert(joint.jointFrame1)]),\n      );\n    }\n    return rels;\n  }\n\n  /** Stage-space world transform of every link under the current display state. */\n  private computeStageWorlds(rels: Map<string, Mat4>): Map<string, Mat4> {\n    const worlds = new Map<string, Mat4>();\n    for (const key of this.tree.order) {\n      const node = this.tree.nodes[key];\n      const obj = this.linkObjects.get(key);\n      if (!node || !obj) continue;\n      const local = obj.matrix.toArray();\n      if (node.parent === null || node.jointToParent === null) {\n        worlds.set(key, local);\n        continue;\n      }\n      const parentWorld = worlds.get(node.parent);\n      const chainRel = rels.get(node.jointToParent);\n      if (!parentWorld || !chainRel) continue;\n      worlds.set(key, multiplyAll([parentWorld, chainRel, local]));\n    }\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      if (obj) worlds.set(key, obj.matrix.toArray());\n    }\n    return worlds;\n  }\n\n  private currentStageWorlds(): Map<string, Mat4> {\n    return this.bakedStageWorld ?? this.computeStageWorlds(this.computeChainRels());\n  }\n\n  /** Resolve pose keys to link keys and convert each pose to a rigid stage-space matrix. */\n  private resolvePoseTargets(\n    poses: Record<string, LinkPose>,\n    space: LinkPoseSpace,\n  ): Map<string, Mat4> {\n    const targets = new Map<string, Mat4>();\n    const entries = Object.entries(poses);\n    if (entries.length === 0) return targets;\n\n    const toStage = space === \"world\" ? this.sceneToStageConverter() : null;\n    const position = new THREE.Vector3();\n    const quaternion = new THREE.Quaternion();\n    const matrix = new THREE.Matrix4();\n    for (const [ref, pose] of entries) {\n      const key = this.linkKey(ref);\n      if (!this.linkObjects.has(key)) {\n        this.warnUnknownPoseKey(ref);\n        continue;\n      }\n      position.fromArray(pose.position);\n      quaternion.fromArray(pose.quaternion).normalize();\n      toStage?.(position, quaternion);\n      targets.set(key, matrix.compose(position, quaternion, UNIT_SCALE).toArray());\n    }\n    return targets;\n  }\n\n  /**\n   * Scene world → stage space, undoing the robot's own world transform\n   * (up-axis rotation, unit scale, any user placement) as a similarity — so\n   * link locals stay rigid and the root keeps carrying the scale.\n   */\n  private sceneToStageConverter(): (position: THREE.Vector3, quaternion: THREE.Quaternion) => void {\n    this.updateWorldMatrix(true, false);\n    const rootPosition = new THREE.Vector3();\n    const rootQuaternion = new THREE.Quaternion();\n    const rootScale = new THREE.Vector3();\n    this.matrixWorld.decompose(rootPosition, rootQuaternion, rootScale);\n    const s = rootScale.x;\n    if (\n      !this.warnedNonUniformScale &&\n      (Math.abs(rootScale.y - s) > 1e-6 * Math.abs(s) ||\n        Math.abs(rootScale.z - s) > 1e-6 * Math.abs(s))\n    ) {\n      this.warnedNonUniformScale = true;\n      console.warn(\n        `three-usd-robot: non-uniform world scale on \"${this.name}\"; space:\"world\" poses are off`,\n      );\n    }\n    const invQuaternion = rootQuaternion.clone().invert();\n    const invScale = s !== 0 ? 1 / s : 1;\n    return (position, quaternion) => {\n      position.sub(rootPosition).applyQuaternion(invQuaternion).multiplyScalar(invScale);\n      quaternion.premultiply(invQuaternion);\n    };\n  }\n\n  /**\n   * Decompose every joint's parent→child transform under a pose batch\n   * (unspecified links resolve to their current displayed pose, mirroring\n   * {@link setLinkTransforms}). Pure — the display is untouched.\n   */\n  private decomposeJoints(\n    poses: Record<string, LinkPose>,\n    space: LinkPoseSpace,\n  ): { key: string; joint: JointDescription; rel: JointRelativeDecomposition }[] {\n    const worlds = new Map(this.currentStageWorlds());\n    for (const [key, world] of this.resolvePoseTargets(poses, space)) worlds.set(key, world);\n\n    const out: { key: string; joint: JointDescription; rel: JointRelativeDecomposition }[] = [];\n    for (const [key, joint] of Object.entries(this.robot.joints)) {\n      const childWorld = worlds.get(joint.child);\n      const parentWorld = joint.parent === \"\" ? IDENTITY4 : worlds.get(joint.parent);\n      if (!childWorld || !parentWorld) continue;\n      out.push({ key, joint, rel: decomposeJointRelative(joint, parentWorld, childWorld) });\n    }\n    return out;\n  }\n\n  private buildResidual(\n    joint: JointDescription,\n    q: number,\n    rel: JointRelativeDecomposition,\n  ): JointResidual {\n    return {\n      anchorError: rel.anchorError * this.robot.metersPerUnit,\n      axisError: rel.axisError,\n      q,\n      limitExceeded:\n        (joint.lower !== undefined && q < joint.lower - LIMIT_EPS) ||\n        (joint.upper !== undefined && q > joint.upper + LIMIT_EPS),\n    };\n  }\n\n  private warnUnknownPoseKey(ref: string): void {\n    if (this.warnedPoseKeys.has(ref)) return;\n    this.warnedPoseKeys.add(ref);\n    console.warn(`three-usd-robot: unknown link \"${ref}\" in a pose batch; ignoring`);\n  }\n\n  /** `debugBakedTransforms`: warn once per baked session when poses break the constraints. */\n  private warnBakedDeviationOnce(worlds: Map<string, Mat4>): void {\n    if (!this.debugBaked || this.bakedDebugWarned) return;\n    const { anchorTolerance, axisTolerance } = this.debugBaked;\n    let count = 0;\n    let worst: { path: string; anchor: number; axis: number; score: number } | null = null;\n    for (const joint of Object.values(this.robot.joints)) {\n      const childWorld = worlds.get(joint.child);\n      const parentWorld = joint.parent === \"\" ? IDENTITY4 : worlds.get(joint.parent);\n      if (!childWorld || !parentWorld) continue;\n      const rel = decomposeJointRelative(joint, parentWorld, childWorld);\n      const anchor = rel.anchorError * this.robot.metersPerUnit;\n      if (anchor <= anchorTolerance && rel.axisError <= axisTolerance) continue;\n      count++;\n      const score = anchor / anchorTolerance + rel.axisError / axisTolerance;\n      if (!worst || score > worst.score) {\n        worst = { path: joint.primPath, anchor, axis: rel.axisError, score };\n      }\n    }\n    if (!worst) return;\n    this.bakedDebugWarned = true;\n    console.warn(\n      `three-usd-robot: baked poses deviate from ${count} joint constraint(s) — worst ` +\n        `${worst.path}: anchor ${(worst.anchor * 1e3).toFixed(3)} mm, axis ` +\n        `${worst.axis.toFixed(4)} rad (recording/model mismatch? warned once per baked session)`,\n    );\n  }\n\n  // -- Queries -------------------------------------------------------------\n\n  /** World matrix of a link, addressed by key or full prim path. */\n  getLinkWorldMatrix(name: string): THREE.Matrix4 {\n    const obj = this.linkObjects.get(this.linkKey(name));\n    if (!obj) throw new Error(`unknown link \"${name}\"`);\n    this.ensureUpdated();\n    return obj.matrixWorld.clone();\n  }\n\n  getLinkWorldPosition(name: string): THREE.Vector3 {\n    return new THREE.Vector3().setFromMatrixPosition(this.getLinkWorldMatrix(name));\n  }\n\n  /** Link object by key or full prim path. */\n  getLinkObject(name: string): LinkObject | undefined {\n    return this.linkObjects.get(this.linkKey(name));\n  }\n\n  /** Joint object by key or full prim path. */\n  getJointObject(name: string): JointObject | undefined {\n    return this.jointObjects.get(this.jointKey(name));\n  }\n\n  /**\n   * Table of link prim path → {@link LinkObject}. Prim paths are the\n   * collision-proof way to pin a link (e.g. to attach tools or gizmos).\n   */\n  getLinkObjectsByPath(): Map<string, LinkObject> {\n    const out = new Map<string, LinkObject>();\n    for (const [path, key] of this.linkKeyByPath) {\n      const obj = this.linkObjects.get(key);\n      if (obj) out.set(path, obj);\n    }\n    return out;\n  }\n\n  /**\n   * Table of joint prim path → {@link JointObject}, covering the joints\n   * realized in the kinematic tree (loop joints have no motion node).\n   */\n  getJointObjectsByPath(): Map<string, JointObject> {\n    const out = new Map<string, JointObject>();\n    for (const [path, key] of this.jointKeyByPath) {\n      const obj = this.jointObjects.get(key);\n      if (obj) out.set(path, obj);\n    }\n    return out;\n  }\n\n  getJoints(): JointDescription[] {\n    return Object.values(this.robot.joints);\n  }\n\n  getLinks(): LinkDescription[] {\n    return Object.values(this.robot.links);\n  }\n\n  /** Names of the articulated (controllable) joints. */\n  getJointNames(): string[] {\n    return [...this.jointObjects.keys()];\n  }\n\n  getLinkNames(): string[] {\n    return [...this.linkObjects.keys()];\n  }\n\n  getKinematicTree(): KinematicTree {\n    return this.tree;\n  }\n\n  /** Authored stage up-axis (`\"Y\"` or `\"Z\"`) — unaffected by `worldUp` normalization. */\n  get upAxis(): \"Y\" | \"Z\" {\n    return this.robot.upAxis;\n  }\n\n  /** Authored stage scale in meters per unit (already applied to the root). */\n  get metersPerUnit(): number {\n    return this.robot.metersPerUnit;\n  }\n\n  // -- Animation playback --------------------------------------------------\n\n  /** Playback rate in time codes per second (from the stage; default 24). */\n  getTimeCodesPerSecond(): number {\n    return this.robot.timeCodesPerSecond ?? 24;\n  }\n\n  /** Whether any joint has a time-sampled trajectory. */\n  hasAnimation(): boolean {\n    return Object.values(this.robot.joints).some((j) => j.valueSamples !== undefined);\n  }\n\n  /**\n   * Animation range in time codes: the union of authored joint sample ranges,\n   * falling back to the stage `startTimeCode`/`endTimeCode`. `null` if neither.\n   */\n  getTimeRange(): { start: number; end: number } | null {\n    let start = Number.POSITIVE_INFINITY;\n    let end = Number.NEGATIVE_INFINITY;\n    for (const joint of Object.values(this.robot.joints)) {\n      const times = joint.valueSamples?.times;\n      if (!times || times.length === 0) continue;\n      start = Math.min(start, times[0]!);\n      end = Math.max(end, times[times.length - 1]!);\n    }\n    if (start <= end) return { start, end };\n\n    const { startTimeCode, endTimeCode } = this.robot;\n    if (startTimeCode !== undefined && endTimeCode !== undefined) {\n      return { start: startTimeCode, end: endTimeCode };\n    }\n    return null;\n  }\n\n  /** Sample every animated joint at time code `t` and apply the values (an fk drive — leaves baked mode). */\n  setTime(t: number): void {\n    this.exitBakedMode();\n    for (const [key, joint] of Object.entries(this.robot.joints)) {\n      if (joint.valueSamples) this.setJointValue(key, interpolate(joint.valueSamples, t));\n    }\n  }\n\n  // -- Display toggles -----------------------------------------------------\n\n  get showVisual(): boolean {\n    return this._showVisual;\n  }\n  set showVisual(v: boolean) {\n    this._showVisual = v;\n    this.setKindVisibility(\"visual\", v);\n  }\n\n  get showCollision(): boolean {\n    return this._showCollision;\n  }\n  set showCollision(v: boolean) {\n    this._showCollision = v;\n    this.setKindVisibility(\"collision\", v);\n  }\n\n  get showJointAxes(): boolean {\n    return this._showJointAxes;\n  }\n  set showJointAxes(v: boolean) {\n    this._showJointAxes = v;\n    if (v && this.jointAxesHelpers.length === 0) {\n      for (const joint of this.jointObjects.values()) {\n        const h = new THREE.AxesHelper(this.helperSize);\n        h.name = `${joint.jointName}:axes`;\n        joint.add(h);\n        this.jointAxesHelpers.push(h);\n      }\n    }\n    for (const h of this.jointAxesHelpers) h.visible = v;\n  }\n\n  get showLinkFrames(): boolean {\n    return this._showLinkFrames;\n  }\n  set showLinkFrames(v: boolean) {\n    this._showLinkFrames = v;\n    if (v && this.linkFrameHelpers.length === 0) {\n      for (const link of this.linkObjects.values()) {\n        const h = new THREE.AxesHelper(this.helperSize);\n        h.name = `${link.linkName}:frame`;\n        link.add(h);\n        this.linkFrameHelpers.push(h);\n      }\n    }\n    for (const h of this.linkFrameHelpers) h.visible = v;\n  }\n\n  private setKindVisibility(kind: string, visible: boolean): void {\n    this.traverse((o) => {\n      if ((o.userData as { kind?: string }).kind === kind) o.visible = visible;\n    });\n  }\n}\n\nconst UNIT_SCALE = new THREE.Vector3(1, 1, 1);\nconst IDENTITY4: Mat4 = identity4();\n/** Slack for `limitExceeded` so poses exactly at a limit round-trip clean. */\nconst LIMIT_EPS = 1e-9;\n\n/** Assign a fixed local matrix to an object (disables Three.js auto-update). */\nfunction setMatrix(obj: THREE.Object3D, m: Mat4): void {\n  obj.matrixAutoUpdate = false;\n  obj.matrix.fromArray(m);\n  obj.matrixWorldNeedsUpdate = true;\n}\n"]}