three-usd-robot 0.11.0 → 0.13.0

package/dist/{chunk-AXPMXEQC.js → chunk-FUVHAORT.js}

@@ -1,4 +1,6 @@
-import { Quat, multiply, makeTranslation, makeRotationFromQuat, identity4, invert, makeEuler, DEG2RAD, makeRotationZ, makeRotationY, makeRotationX, fromUsdMatrix, makeScale, RAD2DEG, AssetPath, UsdMatrix } from './chunk-LDO5FKQS.js';
+import { multiply, makeTranslation, makeRotationFromQuat, identity4, invert, makeEuler, DEG2RAD, makeRotationZ, makeRotationY, makeRotationX, fromUsdMatrix, makeScale, RAD2DEG } from './chunk-YGJ23CG3.js';
+import { parseMdl, joinPosix } from './chunk-PPPRB6KE.js';
+import { Quat, AssetPath, UsdMatrix } from './chunk-JGIVJXBU.js';
 import { unzipSync } from 'fflate';
 
 // src/schemas/usdGeom.ts
@@ -97,6 +99,8 @@ var COLLISION_API = "PhysicsCollisionAPI";
 var MASS_API = "PhysicsMassAPI";
 var MESH_COLLISION_API = "PhysicsMeshCollisionAPI";
 var PHYSICS_MATERIAL_API = "PhysicsMaterialAPI";
+var NEWTON_MIMIC_API = "NewtonMimicAPI";
+var PHYSX_MIMIC_API = "PhysxMimicJointAPI";
 function getJointType(prim) {
   return JOINT_TYPE_BY_SCHEMA[prim.GetTypeName()] ?? null;
 }
@@ -152,6 +156,37 @@ function getJointDrive(prim, kind) {
 function getJointStatePosition(prim, kind) {
   return readNumber(prim, `state:${kind}:physics:position`);
 }
+function getJointMimic(prim) {
+  if (prim.HasAPI(NEWTON_MIMIC_API)) {
+    if (prim.GetAttribute("newton:mimicEnabled").Get() === false) return void 0;
+    const referencePath = prim.GetRelationship("newton:mimicJoint").GetTargets()[0];
+    if (referencePath === void 0) return void 0;
+    return {
+      referencePath,
+      multiplier: readNumber(prim, "newton:mimicCoef1") ?? 1,
+      offset: readNumber(prim, "newton:mimicCoef0") ?? 0
+    };
+  }
+  for (const instance of physxMimicInstances(prim)) {
+    const referencePath = prim.GetRelationship(`physxMimicJoint:${instance}:referenceJoint`).GetTargets()[0];
+    if (referencePath === void 0) continue;
+    const gearing = readNumber(prim, `physxMimicJoint:${instance}:gearing`) ?? 1;
+    const offset = readNumber(prim, `physxMimicJoint:${instance}:offset`) ?? 0;
+    return { referencePath, multiplier: -gearing, offset: -offset };
+  }
+  return void 0;
+}
+function physxMimicInstances(prim) {
+  const out = /* @__PURE__ */ new Set();
+  for (const schema of prim.GetAppliedSchemas()) {
+    if (schema.startsWith(`${PHYSX_MIMIC_API}:`)) out.add(schema.slice(PHYSX_MIMIC_API.length + 1));
+  }
+  for (const relationship of prim.GetRelationships()) {
+    const match = /^physxMimicJoint:([^:]+):referenceJoint$/.exec(relationship.GetName());
+    if (match) out.add(match[1]);
+  }
+  return [...out];
+}
 function getMassProperties(prim) {
   const out = {};
   const mass = readNumber(prim, "physics:mass");
@@ -282,710 +317,6 @@ function asMatrix(v, where) {
   throw new Error(`${where}: expected a matrix`);
 }
 
-// src/usd/AssetResolver.ts
-var DefaultAssetResolver = class {
-  resolve(assetPath, baseUrl) {
-    try {
-      return new URL(assetPath, baseUrl || void 0).href;
-    } catch {
-      return joinPosix(baseUrl, assetPath);
-    }
-  }
-  async fetchText(url) {
-    const res = await fetch(url);
-    if (!res.ok) throw new Error(`${res.status} ${res.statusText}`);
-    return res.text();
-  }
-  async fetchBytes(url) {
-    const res = await fetch(url);
-    if (!res.ok) throw new Error(`${res.status} ${res.statusText}`);
-    return new Uint8Array(await res.arrayBuffer());
-  }
-};
-function createMemoryResolver(files) {
-  const decoder = new TextDecoder();
-  const encoder = new TextEncoder();
-  return {
-    resolve(assetPath, baseUrl) {
-      return joinPosix(baseUrl, assetPath);
-    },
-    fetchText(url) {
-      const v = files[url];
-      if (v === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
-      return Promise.resolve(typeof v === "string" ? v : decoder.decode(v));
-    },
-    fetchBytes(url) {
-      const v = files[url];
-      if (v === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
-      return Promise.resolve(typeof v === "string" ? encoder.encode(v) : v);
-    }
-  };
-}
-function joinPosix(baseUrl, rel) {
-  if (rel.startsWith("/")) return normalizePosix(rel);
-  const dir = baseUrl.slice(0, baseUrl.lastIndexOf("/") + 1);
-  return normalizePosix(dir + rel);
-}
-function normalizePosix(path) {
-  const isAbsolute = path.startsWith("/");
-  const out = [];
-  for (const part of path.split("/")) {
-    if (part === "" || part === ".") continue;
-    if (part === "..") out.pop();
-    else out.push(part);
-  }
-  return (isAbsolute ? "/" : "") + out.join("/");
-}
-
-// src/usd/mdl/parseMdl.ts
-function isMdlTexture(value) {
-  return typeof value === "object" && value !== null && !Array.isArray(value) && "assetPath" in value;
-}
-function parseMdl(text) {
-  const src = stripNoise(text);
-  const materials = /* @__PURE__ */ new Map();
-  const declRe = /\bexport\s+material\s+([A-Za-z_]\w*)\s*\(/g;
-  let match = declRe.exec(src);
-  while (match) {
-    const open = match.index + match[0].length - 1;
-    const close = matchParen(src, open);
-    if (close === -1) break;
-    const decl = {
-      name: match[1],
-      defaults: parseParamDefaults(src.slice(open + 1, close - 1)),
-      args: /* @__PURE__ */ new Map()
-    };
-    let next = close;
-    let i = close;
-    while (i < src.length && /\s/.test(src[i])) i++;
-    if (src[i] === "=") {
-      const end = statementEnd(src, i + 1);
-      const body = parseWrapperBody(src.slice(i + 1, end));
-      if (body.base) decl.base = body.base;
-      decl.args = body.args;
-      next = end;
-    }
-    materials.set(decl.name, decl);
-    declRe.lastIndex = next;
-    match = declRe.exec(src);
-  }
-  return { materials };
-}
-var NUMBER_RE = /^[+-]?(?:\d+\.?\d*|\.\d+)(?:[eE][+-]?\d+)?[fFdD]?$/;
-var CALL_RE = /^(?:::)?([A-Za-z_]\w*(?:::[A-Za-z_]\w*)*)\s*\(/;
-var VECTOR_RE = /^(?:color|(?:float|double|int)([234]))$/;
-var IDENTIFIER_RE = /^[A-Za-z_]\w*$/;
-function parseMdlLiteral(src) {
-  const s = src.trim();
-  if (s === "true") return true;
-  if (s === "false") return false;
-  if (NUMBER_RE.test(s)) return Number.parseFloat(s.replace(/[fFdD]$/, ""));
-  if (s.startsWith('"')) {
-    if (skipString(s, 0) !== s.length) return void 0;
-    return s.slice(1, -1).replace(/\\(.)/g, "$1");
-  }
-  const call = CALL_RE.exec(s);
-  if (!call) return void 0;
-  const open = call[0].length - 1;
-  if (matchParen(s, open) !== s.length) return void 0;
-  const name = call[1].split("::").pop();
-  const args = splitTopLevel(s.slice(open + 1, s.length - 1), ",").map((a) => a.trim()).filter((a) => a.length > 0);
-  if (name === "texture_2d") {
-    const path = args[0] === void 0 ? void 0 : parseMdlLiteral(args[0]);
-    if (typeof path !== "string" || path.length === 0) return void 0;
-    const texture = { assetPath: path };
-    const gamma = args.slice(1).join(",");
-    if (gamma.includes("gamma_srgb")) texture.sourceColorSpace = "sRGB";
-    else if (gamma.includes("gamma_linear")) texture.sourceColorSpace = "raw";
-    return texture;
-  }
-  const vector = VECTOR_RE.exec(name);
-  if (vector) {
-    const width = vector[1] ? Number(vector[1]) : 3;
-    const values = args.map((a) => parseMdlLiteral(a));
-    if (values.length === 0 || !values.every((v) => typeof v === "number")) return void 0;
-    if (values.length === 1) return new Array(width).fill(values[0]);
-    return values.length === width ? values : void 0;
-  }
-  return void 0;
-}
-function parseParamDefaults(src) {
-  const defaults = /* @__PURE__ */ new Map();
-  const body = src.trim();
-  if (body === "" || body === "*") return defaults;
-  for (const param of splitTopLevel(src, ",")) {
-    const assign = topLevelAssign(param);
-    if (assign === -1) continue;
-    const name = param.slice(0, assign).trim().split(/\s+/).pop();
-    if (!name || !IDENTIFIER_RE.test(name)) continue;
-    const value = parseMdlLiteral(param.slice(assign + 1));
-    if (value !== void 0) defaults.set(name, value);
-  }
-  return defaults;
-}
-function parseWrapperBody(src) {
-  const args = /* @__PURE__ */ new Map();
-  const body = src.trim();
-  const call = CALL_RE.exec(body);
-  if (!call) return { args };
-  const open = call[0].length - 1;
-  if (matchParen(body, open) !== body.length) return { args };
-  const base = call[1].split("::").pop();
-  if (base === "material") return { args };
-  for (const arg of splitTopLevel(body.slice(open + 1, body.length - 1), ",")) {
-    const colon = topLevelColon(arg);
-    if (colon === -1) continue;
-    const name = arg.slice(0, colon).trim();
-    if (!IDENTIFIER_RE.test(name)) continue;
-    const value = parseMdlLiteral(arg.slice(colon + 1));
-    if (value !== void 0) args.set(name, value);
-  }
-  return { base, args };
-}
-function stripNoise(src) {
-  let out = "";
-  let i = 0;
-  while (i < src.length) {
-    const c = src[i];
-    if (c === '"') {
-      const end = skipString(src, i);
-      out += src.slice(i, end);
-      i = end;
-    } else if (c === "/" && src[i + 1] === "/") {
-      while (i < src.length && src[i] !== "\n") i++;
-    } else if (c === "/" && src[i + 1] === "*") {
-      const end = src.indexOf("*/", i + 2);
-      i = end === -1 ? src.length : end + 2;
-      out += " ";
-    } else if (c === "[" && src[i + 1] === "[") {
-      i = skipAnnotation(src, i);
-      out += " ";
-    } else {
-      out += c;
-      i++;
-    }
-  }
-  return out;
-}
-function skipString(src, i) {
-  let j = i + 1;
-  while (j < src.length) {
-    if (src[j] === "\\") j += 2;
-    else if (src[j] === '"') return j + 1;
-    else j++;
-  }
-  return j;
-}
-function skipAnnotation(src, i) {
-  let depth = 0;
-  let j = i;
-  while (j < src.length) {
-    if (src[j] === '"') {
-      j = skipString(src, j);
-    } else if (src[j] === "[" && src[j + 1] === "[") {
-      depth++;
-      j += 2;
-    } else if (src[j] === "]" && src[j + 1] === "]") {
-      depth--;
-      j += 2;
-      if (depth === 0) return j;
-    } else {
-      j++;
-    }
-  }
-  return j;
-}
-function matchParen(src, open) {
-  let depth = 0;
-  let i = open;
-  while (i < src.length) {
-    const c = src[i];
-    if (c === '"') {
-      i = skipString(src, i);
-      continue;
-    }
-    if (c === "(") depth++;
-    else if (c === ")") {
-      depth--;
-      if (depth === 0) return i + 1;
-    }
-    i++;
-  }
-  return -1;
-}
-function isOpener(c) {
-  return c === "(" || c === "[" || c === "{";
-}
-function isCloser(c) {
-  return c === ")" || c === "]" || c === "}";
-}
-function splitTopLevel(src, separator) {
-  const parts = [];
-  let depth = 0;
-  let start = 0;
-  let i = 0;
-  while (i < src.length) {
-    const c = src[i];
-    if (c === '"') {
-      i = skipString(src, i);
-      continue;
-    }
-    if (isOpener(c)) depth++;
-    else if (isCloser(c)) depth--;
-    else if (c === separator && depth === 0) {
-      parts.push(src.slice(start, i));
-      start = i + 1;
-    }
-    i++;
-  }
-  parts.push(src.slice(start));
-  return parts;
-}
-function statementEnd(src, from) {
-  let depth = 0;
-  let i = from;
-  while (i < src.length) {
-    const c = src[i];
-    if (c === '"') {
-      i = skipString(src, i);
-      continue;
-    }
-    if (isOpener(c)) depth++;
-    else if (isCloser(c)) depth--;
-    else if (c === ";" && depth === 0) return i;
-    i++;
-  }
-  return src.length;
-}
-function topLevelAssign(src) {
-  let depth = 0;
-  let i = 0;
-  while (i < src.length) {
-    const c = src[i];
-    if (c === '"') {
-      i = skipString(src, i);
-      continue;
-    }
-    if (isOpener(c)) depth++;
-    else if (isCloser(c)) depth--;
-    else if (c === "=" && depth === 0 && src[i + 1] !== "=" && !"<>!=".includes(src[i - 1] ?? "")) {
-      return i;
-    }
-    i++;
-  }
-  return -1;
-}
-function topLevelColon(src) {
-  let depth = 0;
-  let i = 0;
-  while (i < src.length) {
-    const c = src[i];
-    if (c === '"') {
-      i = skipString(src, i);
-      continue;
-    }
-    if (isOpener(c)) depth++;
-    else if (isCloser(c)) depth--;
-    else if (c === ":" && depth === 0) {
-      if (src[i + 1] === ":") {
-        i += 2;
-        continue;
-      }
-      return i;
-    }
-    i++;
-  }
-  return -1;
-}
-
-// src/three/MaterialBinding.ts
-var DIFFUSE_INPUTS = [
-  "diffuseColor",
-  // UsdPreviewSurface
-  "diffuse_color_constant",
-  // OmniPBR
-  "diffuse_tint",
-  "base_color",
-  "baseColor"
-];
-var OPACITY_INPUTS = ["opacity", "opacity_constant"];
-var OPACITY_THRESHOLD_INPUTS = ["opacityThreshold", "opacity_threshold"];
-var METALLIC_INPUTS = ["metallic", "metallic_constant"];
-var ROUGHNESS_INPUTS = ["roughness", "reflection_roughness_constant"];
-var EMISSIVE_INPUTS = ["emissiveColor", "emissive_color"];
-var SURFACE_OUTPUTS = ["outputs:surface", "outputs:mdl:surface"];
-var TEXTURE_LOOKUPS = {
-  color: {
-    surface: ["diffuseColor"],
-    direct: ["diffuse_texture", "diffuse_color_texture", "glass_color_texture"]
-  },
-  opacity: {
-    surface: ["opacity"],
-    direct: ["opacity_texture", "opacity_color_texture"]
-  },
-  normal: {
-    surface: ["normal"],
-    direct: ["normalmap_texture", "normal_texture", "normal_map_texture"]
-  },
-  roughness: {
-    surface: ["roughness"],
-    direct: ["reflectionroughness_texture", "roughness_texture"]
-  },
-  metalness: {
-    surface: ["metallic"],
-    direct: ["metallic_texture"]
-  },
-  occlusion: {
-    surface: ["occlusion"],
-    direct: ["ao_texture", "occlusion_texture"]
-  },
-  emissive: {
-    surface: ["emissiveColor"],
-    direct: ["emissive_color_texture", "emissive_mask_texture"]
-  }
-};
-function resolveBoundMaterial(stage, prim, options = {}) {
-  const materialPath = findBinding(prim);
-  if (!materialPath) return void 0;
-  const material = stage.GetPrimAtPath(materialPath);
-  if (!material) return void 0;
-  const shader = findSurfaceShader(material);
-  if (!shader) return void 0;
-  const mdlSource = readMdlShaderSource(shader, options.mdl);
-  if (mdlSource && !mdlSource.family) {
-    options.onWarn?.(
-      `${material.GetPath()}: unknown MDL material "${mdlSource.id}" (${mdlSource.assetPath}); applying the best-effort OmniPBR mapping`
-    );
-  }
-  const sv = { shader };
-  if (mdlSource?.values) sv.mdl = mdlSource.values;
-  if (mdlSource) sv.mdlAssetPath = mdlSource.assetPath;
-  const result = { name: material.GetName() };
-  const color = firstColor(sv, DIFFUSE_INPUTS);
-  if (color) result.color = color;
-  const opacity = firstNumber(sv, OPACITY_INPUTS);
-  if (opacity !== void 0) result.opacity = opacity;
-  const opacityThreshold = firstNumber(sv, OPACITY_THRESHOLD_INPUTS);
-  if (opacityThreshold !== void 0) result.opacityThreshold = opacityThreshold;
-  const metalness = firstNumber(sv, METALLIC_INPUTS);
-  if (metalness !== void 0) result.metalness = metalness;
-  const roughness = firstNumber(sv, ROUGHNESS_INPUTS);
-  if (roughness !== void 0) result.roughness = roughness;
-  const emissive = firstColor(sv, EMISSIVE_INPUTS);
-  if (emissive && svBoolean(sv, "enable_emission") !== false) {
-    result.emissiveColor = emissive;
-    const intensity = svNumber(sv, "emissive_intensity");
-    if (intensity !== void 0) result.emissiveIntensity = intensity;
-  }
-  const ior = svNumber(sv, "ior");
-  if (ior !== void 0) result.ior = ior;
-  const clearcoat = svNumber(sv, "clearcoat");
-  if (clearcoat !== void 0) result.clearcoat = clearcoat;
-  const clearcoatRoughness = svNumber(sv, "clearcoatRoughness");
-  if (clearcoatRoughness !== void 0) result.clearcoatRoughness = clearcoatRoughness;
-  if (svNumber(sv, "useSpecularWorkflow") === 1) {
-    const specular = svColor(sv, "specularColor");
-    if (specular) result.specularColor = specular;
-  }
-  const colorTex = findTexture(sv, TEXTURE_LOOKUPS.color);
-  if (colorTex !== void 0) result.colorTexture = colorTex;
-  const opacityTex = findTexture(sv, TEXTURE_LOOKUPS.opacity);
-  if (opacityTex !== void 0) result.opacityTexture = opacityTex;
-  const normal = findTexture(sv, TEXTURE_LOOKUPS.normal);
-  if (normal !== void 0) result.normalTexture = normal;
-  const roughTex = findTexture(sv, TEXTURE_LOOKUPS.roughness);
-  if (roughTex !== void 0) result.roughnessTexture = roughTex;
-  const metalTex = findTexture(sv, TEXTURE_LOOKUPS.metalness);
-  if (metalTex !== void 0) result.metalnessTexture = metalTex;
-  const aoTex = findTexture(sv, TEXTURE_LOOKUPS.occlusion);
-  if (aoTex !== void 0) result.occlusionTexture = aoTex;
-  const emissiveTex = findTexture(sv, TEXTURE_LOOKUPS.emissive);
-  if (emissiveTex !== void 0) result.emissiveTexture = emissiveTex;
-  const orm = directTexture(sv, "ORM_texture") ?? mdlValueTexture(sv, "ORM_texture");
-  if (svBoolean(sv, "enable_ORM_texture") === true && orm) {
-    result.occlusionTexture = { ...orm, outputChannel: "r" };
-    result.roughnessTexture = { ...orm, outputChannel: "g" };
-    result.metalnessTexture = { ...orm, outputChannel: "b" };
-  }
-  switch (mdlSource?.family) {
-    case "glass":
-      readOmniGlass(sv, result);
-      break;
-    case "clearcoat":
-      readOmniClearCoat(sv, result);
-      break;
-    case "surface":
-      readOmniSurface(sv, result);
-      break;
-  }
-  return result;
-}
-function classifyOmniMdl(name) {
-  if (!name) return void 0;
-  if (name.startsWith("OmniGlass")) return "glass";
-  if (name.startsWith("OmniPBR_ClearCoat")) return "clearcoat";
-  if (name.startsWith("OmniPBR")) return "pbr";
-  if (name.startsWith("OmniSurface")) return "surface";
-  return void 0;
-}
-function readMdlShaderSource(shader, provider) {
-  const asset = shader.GetAttribute("info:mdl:sourceAsset").Get();
-  if (!(asset instanceof AssetPath) || !asset.path) return void 0;
-  const sub = shader.GetAttribute("info:mdl:sourceAsset:subIdentifier").Get();
-  const stem = (asset.path.split("/").pop() ?? "").replace(/\.mdl$/i, "");
-  const id = typeof sub === "string" && sub.length > 0 ? sub : stem;
-  const decl = provider?.(asset.path)?.materials.get(id);
-  const family = classifyOmniMdl(decl?.base) ?? classifyOmniMdl(id) ?? classifyOmniMdl(stem);
-  const source = { assetPath: asset.path, id };
-  if (family) source.family = family;
-  if (decl && (decl.defaults.size > 0 || decl.args.size > 0)) {
-    source.values = new Map([...decl.defaults, ...decl.args]);
-  }
-  return source;
-}
-function readOmniGlass(sv, result) {
-  result.transmission = 1;
-  result.metalness = 0;
-  result.color = svColor(sv, "glass_color") ?? [1, 1, 1];
-  result.ior = svNumber(sv, "glass_ior") ?? 1.491;
-  result.roughness = svNumber(sv, "frosting_roughness") ?? 0;
-  const depth = svNumber(sv, "depth");
-  if (svBoolean(sv, "thin_walled") !== true && depth !== void 0) result.thickness = depth;
-  const cutout = svNumber(sv, "cutout_opacity");
-  if (cutout !== void 0 && cutout < 1) result.opacity = cutout;
-}
-function readOmniClearCoat(sv, result) {
-  if (svBoolean(sv, "enable_clearcoat") === false) return;
-  result.clearcoat = 1;
-  const roughness = svNumber(sv, "clearcoat_reflection_roughness");
-  if (roughness !== void 0) result.clearcoatRoughness = roughness;
-  const normal = directTexture(sv, "clearcoat_normalmap_texture") ?? mdlValueTexture(sv, "clearcoat_normalmap_texture");
-  if (normal && svBoolean(sv, "enable_clearcoat_normalmap_texture") !== false) {
-    result.clearcoatNormalTexture = normal;
-  }
-}
-function readOmniSurface(sv, result) {
-  const color = svColor(sv, "diffuse_reflection_color");
-  if (color) result.color = color;
-  const metalness = svNumber(sv, "metalness");
-  if (metalness !== void 0) result.metalness = metalness;
-  const roughness = svNumber(sv, "specular_reflection_roughness");
-  if (roughness !== void 0) result.roughness = roughness;
-  const ior = svNumber(sv, "specular_reflection_ior");
-  if (ior !== void 0) result.ior = ior;
-  const coat = svNumber(sv, "coat_weight");
-  if (coat !== void 0 && coat > 0) {
-    result.clearcoat = coat;
-    const coatRoughness = svNumber(sv, "coat_roughness");
-    if (coatRoughness !== void 0) result.clearcoatRoughness = coatRoughness;
-  }
-  const emissionWeight = svNumber(sv, "emission_weight");
-  const emissionColor = svColor(sv, "emission_color");
-  if (emissionWeight !== void 0 && emissionWeight > 0 && emissionColor) {
-    result.emissiveColor = emissionColor;
-    result.emissiveIntensity = emissionWeight;
-  }
-  if (svBoolean(sv, "enable_opacity") === true) {
-    const opacity = svNumber(sv, "geometry_opacity");
-    if (opacity !== void 0) result.opacity = opacity;
-  }
-}
-function authored(sv, name) {
-  return sv.shader.GetAttribute(`inputs:${name}`).Get();
-}
-function asNumber2(v) {
-  return typeof v === "number" ? v : void 0;
-}
-function asBoolean(v) {
-  return typeof v === "boolean" ? v : void 0;
-}
-function asVec(v, length) {
-  if (Array.isArray(v) && v.length >= length && v.every((n) => typeof n === "number")) {
-    return v.slice(0, length);
-  }
-  return void 0;
-}
-function svNumber(sv, name) {
-  return asNumber2(authored(sv, name)) ?? asNumber2(sv.mdl?.get(name));
-}
-function svBoolean(sv, name) {
-  return asBoolean(authored(sv, name)) ?? asBoolean(sv.mdl?.get(name));
-}
-function svColor(sv, name) {
-  const v = asVec(authored(sv, name), 3) ?? asVec(sv.mdl?.get(name), 3);
-  return v ? v : void 0;
-}
-function svVec2(sv, name) {
-  const v = asVec(authored(sv, name), 2) ?? asVec(sv.mdl?.get(name), 2);
-  return v ? v : void 0;
-}
-function firstNumber(sv, names) {
-  for (const name of names) {
-    const v = asNumber2(authored(sv, name));
-    if (v !== void 0) return v;
-  }
-  for (const name of names) {
-    const v = asNumber2(sv.mdl?.get(name));
-    if (v !== void 0) return v;
-  }
-  return void 0;
-}
-function firstColor(sv, names) {
-  for (const name of names) {
-    const v = asVec(authored(sv, name), 3);
-    if (v) return v;
-  }
-  for (const name of names) {
-    const v = asVec(sv.mdl?.get(name), 3);
-    if (v) return v;
-  }
-  return void 0;
-}
-function directTexture(sv, name) {
-  const v = authored(sv, name);
-  if (v instanceof AssetPath && v.path) return withMdlTransform(sv, { path: v.path });
-  return void 0;
-}
-function mdlValueTexture(sv, name) {
-  const v = sv.mdl?.get(name);
-  if (!isMdlTexture(v)) return void 0;
-  const texture = { path: resolveMdlRelative(sv.mdlAssetPath, v.assetPath) };
-  if (v.sourceColorSpace) texture.sourceColorSpace = v.sourceColorSpace;
-  return withMdlTransform(sv, texture);
-}
-function resolveMdlRelative(modulePath, path) {
-  if (!modulePath || path.startsWith("/") || /^[a-z][a-z0-9+.-]*:/i.test(path)) return path;
-  return joinPosix(modulePath, path);
-}
-function withMdlTransform(sv, texture) {
-  const transform = mdlTextureTransform(sv);
-  return transform ? { ...texture, transform } : texture;
-}
-function findTexture(sv, lookup) {
-  for (const name of lookup.direct) {
-    const texture = directTexture(sv, name);
-    if (texture) return texture;
-  }
-  for (const name of lookup.surface) {
-    const conn = sv.shader.GetAttribute(`inputs:${name}`).GetConnections()[0];
-    if (!conn) continue;
-    const texPrim = sv.shader.GetStage().GetPrimAtPath(conn.split(".")[0]);
-    if (!texPrim) continue;
-    const file = texPrim.GetAttribute("inputs:file").Get();
-    if (file instanceof AssetPath && file.path) {
-      const tex = readUvTexture(texPrim, file.path);
-      const channel = outputChannelOf(conn);
-      if (channel) tex.outputChannel = channel;
-      return tex;
-    }
-  }
-  for (const name of lookup.direct) {
-    const texture = mdlValueTexture(sv, name);
-    if (texture) return texture;
-  }
-  return void 0;
-}
-function outputChannelOf(connection) {
-  const m = /\.outputs:(\w+)$/.exec(connection);
-  switch (m?.[1]) {
-    case "r":
-    case "g":
-    case "b":
-    case "a":
-      return m[1];
-    case "rgb":
-    case "rgba":
-      return "rgb";
-    default:
-      return void 0;
-  }
-}
-function mdlTextureTransform(sv) {
-  const transform = {};
-  const translation = svVec2(sv, "texture_translate");
-  if (translation) transform.translation = translation;
-  const scale = svVec2(sv, "texture_scale");
-  if (scale) transform.scale = scale;
-  const rotation = svNumber(sv, "texture_rotate");
-  if (rotation !== void 0) transform.rotation = rotation;
-  return Object.keys(transform).length > 0 ? transform : void 0;
-}
-var WRAP_VALUES = /* @__PURE__ */ new Set(["repeat", "clamp", "mirror", "black"]);
-function readUvTexture(texPrim, path) {
-  const tex = { path };
-  const wrapS = texPrim.GetAttribute("inputs:wrapS").Get();
-  if (typeof wrapS === "string" && WRAP_VALUES.has(wrapS)) tex.wrapS = wrapS;
-  const wrapT = texPrim.GetAttribute("inputs:wrapT").Get();
-  if (typeof wrapT === "string" && WRAP_VALUES.has(wrapT)) tex.wrapT = wrapT;
-  const scale = numArray(texPrim, "inputs:scale", 4);
-  if (scale) tex.scale = scale;
-  const bias = numArray(texPrim, "inputs:bias", 4);
-  if (bias) tex.bias = bias;
-  const sourceColorSpace = texPrim.GetAttribute("inputs:sourceColorSpace").Get();
-  if (sourceColorSpace === "raw" || sourceColorSpace === "sRGB" || sourceColorSpace === "auto") {
-    tex.sourceColorSpace = sourceColorSpace;
-  }
-  const st = readStChain(texPrim);
-  if (st.transform) tex.transform = st.transform;
-  if (st.uvSet) tex.uvSet = st.uvSet;
-  return tex;
-}
-function connectedPrim(prim, input) {
-  const conn = prim.GetAttribute(input).GetConnections()[0];
-  if (!conn) return null;
-  return prim.GetStage().GetPrimAtPath(conn.split(".")[0]);
-}
-function readStChain(texPrim) {
-  const out = {};
-  let node = connectedPrim(texPrim, "inputs:st");
-  if (node && node.GetAttribute("info:id").Get() === "UsdTransform2d") {
-    const transform = {};
-    const translation = numArray(node, "inputs:translation", 2);
-    if (translation) transform.translation = translation;
-    const scale = numArray(node, "inputs:scale", 2);
-    if (scale) transform.scale = scale;
-    const rotation = node.GetAttribute("inputs:rotation").Get();
-    if (typeof rotation === "number") transform.rotation = rotation;
-    if (Object.keys(transform).length > 0) out.transform = transform;
-    node = connectedPrim(node, "inputs:in");
-  }
-  if (node && node.GetAttribute("info:id").Get() === "UsdPrimvarReader_float2") {
-    const varname = node.GetAttribute("inputs:varname").Get();
-    if (typeof varname === "string" && varname.length > 0) out.uvSet = varname;
-  }
-  return out;
-}
-function numArray(prim, name, length) {
-  return asVec(prim.GetAttribute(name).Get(), length);
-}
-function findBinding(prim) {
-  let chosen;
-  let p = prim;
-  while (p) {
-    for (const name of ["material:binding:preview", "material:binding"]) {
-      const rel = p.GetRelationship(name);
-      const target = rel.GetTargets()[0];
-      if (!target) continue;
-      const stronger = rel.GetMetadata("bindMaterialAs") === "strongerThanDescendants";
-      if (chosen === void 0 || stronger) chosen = target;
-      break;
-    }
-    p = p.GetParent();
-  }
-  return chosen;
-}
-function findSurfaceShader(material) {
-  for (const out of SURFACE_OUTPUTS) {
-    const conn = material.GetAttribute(out).GetConnections()[0];
-    if (conn) {
-      const shaderPath = conn.split(".")[0];
-      const shader = material.GetStage().GetPrimAtPath(shaderPath);
-      if (shader) return shader;
-    }
-  }
-  return material.GetChildren().find((c) => c.GetTypeName() === "Shader") ?? void 0;
-}
-
 // src/robot/buildKinematicTree.ts
 var WORLD = "";
 function buildKinematicTree(robot, options = {}) {
@@ -1143,9 +474,10 @@ function extractRobotDescription(stage, options = {}) {
   const joints = {};
   const jointKeyByPath = buildKeyMap(jointPrims.map((p) => p.GetPath()));
   for (const jp of jointPrims) {
-    const joint = buildJoint(jp, linkKeyByPath, warn);
+    const joint = buildJoint(jp, linkKeyByPath, jointKeyByPath, warn);
     if (joint) joints[jointKeyByPath.get(jp.GetPath())] = joint;
   }
+  dropInvalidMimics(joints, warn);
   const name = options.robotName ?? stage.GetDefaultPrim()?.GetName() ?? stage.GetPseudoRoot().GetChildren()[0]?.GetName() ?? "robot";
   const robot = {
     name,
@@ -1196,7 +528,7 @@ function isIdentityMat4(m) {
   }
   return true;
 }
-function buildJoint(prim, linkKeyByPath, warn) {
+function buildJoint(prim, linkKeyByPath, jointKeyByPath, warn) {
   const base = getJointType(prim);
   if (!base) return null;
   const path = prim.GetPath();
@@ -1246,8 +578,36 @@ function buildJoint(prim, linkKeyByPath, warn) {
     });
     joint.valueSamples = { times, values };
   }
+  const mimic = getJointMimic(prim);
+  if (mimic) {
+    joint.mimic = {
+      joint: jointKeyByPath.get(mimic.referencePath) ?? mimic.referencePath,
+      multiplier: mimic.multiplier,
+      offset: jointValueToSI(angular, mimic.offset)
+    };
+  }
   return joint;
 }
+function dropInvalidMimics(joints, warn) {
+  for (const [key, joint] of Object.entries(joints)) {
+    const mimic = joint.mimic;
+    if (!mimic) continue;
+    const leader = joints[mimic.joint];
+    let reason = null;
+    if (!leader) reason = `references unknown joint "${mimic.joint}"`;
+    else if (mimic.joint === key) reason = "references itself";
+    else if (joint.type === "fixed" || leader.type === "fixed") {
+      reason = "connects a fixed joint (inert)";
+    } else if (driveKindFor(joint.type) !== driveKindFor(leader.type)) {
+      reason = `couples a ${joint.type} joint to a ${leader.type} leader`;
+    }
+    if (reason) {
+      warn(`${joint.primPath}: mimic ${reason}; ignoring`);
+      const { mimic: _dropped, ...rest } = joint;
+      joints[key] = rest;
+    }
+  }
+}
 function buildKeyMap(paths) {
   const leafCounts = /* @__PURE__ */ new Map();
   for (const p of paths) {
@@ -1352,7 +712,7 @@ var TokenizeError = class extends Error {
 };
 var IDENT_START = /[A-Za-z_]/;
 var IDENT_CONT = /[A-Za-z0-9_:]/;
-var NUMBER_RE2 = /^[-+]?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?/;
+var NUMBER_RE = /^[-+]?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?/;
 var INF_NAN_RE = /^[-+]?(?:inf|nan)\b/i;
 function tokenize(src) {
   const tokens = [];
@@ -1424,7 +784,7 @@ function tokenize(src) {
       continue;
     }
     if (/[0-9]/.test(c) || (c === "-" || c === "+" || c === ".") && /[0-9.]/.test(src[i + 1] ?? "")) {
-      const m = NUMBER_RE2.exec(src.slice(i));
+      const m = NUMBER_RE.exec(src.slice(i));
       if (m) {
         const text = m[0];
         push("number", text, startCol, Number(text));
@@ -3525,7 +2885,7 @@ function crateToUsdaFile(crate) {
     if (spec.specType !== SPEC_PRIM) continue;
     const fm = fieldsOf(spec.fieldSetIndex);
     primByPath.set(path, {
-      specifier: SPECIFIERS2[asNumber3(crate, fm.get("specifier")) ?? 0] ?? "def",
+      specifier: SPECIFIERS2[asNumber2(crate, fm.get("specifier")) ?? 0] ?? "def",
       typeName: asString(crate, fm.get("typeName")) ?? "",
       name: leaf(path),
       metadata: buildPrimMetadata(crate, fm),
@@ -3579,7 +2939,7 @@ function buildAttribute(crate, name, fm) {
     name,
     typeName: isArrayType ? rawType.slice(0, -2) : rawType,
     isArray: isArrayType || (defaultRep !== void 0 ? decodeRepBits(defaultRep).isArray : false),
-    variability: asNumber3(crate, fm.get("variability")) === 1 ? "uniform" : "varying",
+    variability: asNumber2(crate, fm.get("variability")) === 1 ? "uniform" : "varying",
     custom: customRep !== void 0 && crate.getValue(customRep) === true,
     metadata: {},
     line: 0
@@ -3651,10 +3011,10 @@ function buildLayerMetadata(crate, fm) {
   if (upAxis !== void 0) meta.upAxis = upAxis;
   const defaultPrim2 = asString(crate, fm.get("defaultPrim"));
   if (defaultPrim2 !== void 0) meta.defaultPrim = defaultPrim2;
-  const metersPerUnit = asNumber3(crate, fm.get("metersPerUnit"));
+  const metersPerUnit = asNumber2(crate, fm.get("metersPerUnit"));
   if (metersPerUnit !== void 0) meta.metersPerUnit = metersPerUnit;
   for (const key of ["startTimeCode", "endTimeCode", "timeCodesPerSecond", "framesPerSecond"]) {
-    const value = asNumber3(crate, fm.get(key));
+    const value = asNumber2(crate, fm.get(key));
     if (value !== void 0) meta[key] = value;
   }
   const customLayerData = fm.has("customLayerData") ? crate.getValue(fm.get("customLayerData")) : void 0;
@@ -3668,7 +3028,7 @@ function asString(crate, rep) {
   const v = crate.getValue(rep);
   return typeof v === "string" ? v : void 0;
 }
-function asNumber3(crate, rep) {
+function asNumber2(crate, rep) {
   if (rep === void 0) return void 0;
   const v = crate.getValue(rep);
   return typeof v === "number" ? v : void 0;
@@ -4048,6 +3408,6 @@ function openUsdz(bytes) {
   return { rootEntry, resolver };
 }
 
-export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DefaultAssetResolver, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, getMaterialSubsets, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMdlTexture, isMesh, isNonVisualPurpose, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, joinPosix, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseMdl, parseMdlLiteral, parseOpType, parseUsda, refineJointType, resolveBoundMaterial, serializeUsda, toBytes, tokenize };
-//# sourceMappingURL=chunk-AXPMXEQC.js.map
-//# sourceMappingURL=chunk-AXPMXEQC.js.map
+export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, NEWTON_MIMIC_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, getMaterialSubsets, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isNonVisualPurpose, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize };
+//# sourceMappingURL=chunk-FUVHAORT.js.map
+//# sourceMappingURL=chunk-FUVHAORT.js.map