three-usd-robot 0.11.0 → 0.13.0

package/dist/{chunk-5SVRTKS4.js → chunk-GRJGPHLW.js}

@@ -1,6 +1,7 @@
-import { getMaterialSubsets, resolveBoundMaterial, isRenderableGprim, COLLISION_API, isNonVisualPurpose, computeLocalTransform, DefaultAssetResolver, toBytes, extractRobotDescription, isZip, CrateReader, openUsdz, buildKinematicTree, loadMdlModules, isUnsupportedGprim, Stage, composeLayer, composeFile, crateToUsdaFile } from './chunk-AXPMXEQC.js';
-import { ThreeUsdRobot } from './chunk-ENWFOYHU.js';
-import { identity4, multiply } from './chunk-LDO5FKQS.js';
+import { getMaterialSubsets, isRenderableGprim, COLLISION_API, isNonVisualPurpose, computeLocalTransform, toBytes, extractRobotDescription, isZip, CrateReader, openUsdz, buildKinematicTree, loadMdlModules, isUnsupportedGprim, Stage, composeLayer, composeFile, crateToUsdaFile } from './chunk-FUVHAORT.js';
+import { ThreeUsdRobot } from './chunk-JN2QPDB3.js';
+import { identity4, multiply } from './chunk-YGJ23CG3.js';
+import { resolveBoundMaterial, DefaultAssetResolver } from './chunk-PPPRB6KE.js';
 import * as THREE from 'three';
 
 var DEFAULT_COLOR = 10132122;
@@ -243,9 +244,10 @@ function buildGprimObject(prim, stage, options = {}) {
     default: {
       const geometry = buildGprimGeometry(prim);
       if (!geometry) return null;
+      const custom = stage && options.materialFactory ? options.materialFactory(prim, stage) : null;
       return new THREE.Mesh(
         geometry,
-        buildMeshMaterials(prim, stage, options.textureProvider, options.onWarn, options.mdl)
+        custom ?? buildMeshMaterials(prim, stage, options.textureProvider, options.onWarn, options.mdl)
       );
     }
   }
@@ -445,7 +447,7 @@ function buildMeshMaterial(meshPrim, stage, textures, bindingPrim, onWarn, mdl)
   const uvSetNames = meshUvSetNames(meshPrim);
   const tex = (rt, cs) => {
     if (!rt || !textures) return null;
-    const channel = rt.uvSet ? Math.max(uvSetNames.indexOf(rt.uvSet), 0) : 0;
+    const channel = rt.uvChannel ?? (rt.uvSet ? Math.max(uvSetNames.indexOf(rt.uvSet), 0) : 0);
     const colorSpace = rt.sourceColorSpace === "raw" ? "linear" : rt.sourceColorSpace === "sRGB" ? "srgb" : cs;
     return textures(rt.path, {
       colorSpace,
@@ -548,7 +550,8 @@ function bindRobotMeshes(stage, robot3d, desc, options = {}) {
     ...options.textureProvider ? { textureProvider: options.textureProvider } : {},
     ...options.curveTubes ? { curveTubes: true } : {},
     ...options.onWarn ? { onWarn: options.onWarn } : {},
-    ...options.mdl ? { mdl: options.mdl } : {}
+    ...options.mdl ? { mdl: options.mdl } : {},
+    ...options.materialFactory ? { materialFactory: options.materialFactory } : {}
   };
   for (const [key, link] of Object.entries(desc.links)) {
     const linkObj = robot3d.getLinkObject(key);
@@ -595,7 +598,8 @@ function bindSceneMeshes(stage, robot3d, desc, options = {}) {
     ...options.textureProvider ? { textureProvider: options.textureProvider } : {},
     ...options.curveTubes ? { curveTubes: true } : {},
     ...options.onWarn ? { onWarn: options.onWarn } : {},
-    ...options.mdl ? { mdl: options.mdl } : {}
+    ...options.mdl ? { mdl: options.mdl } : {},
+    ...options.materialFactory ? { materialFactory: options.materialFactory } : {}
   };
   let attached = 0;
   for (const prim of stage.Traverse()) {
@@ -893,6 +897,7 @@ var ThreeUsdRobotLoader = class {
       const textureProvider = this.options.loadTextures ?? true ? createTextureProvider(resolver, baseUrl) : void 0;
       const curveTubes = this.options.curveTubes ?? false;
       const onWarn = this.options.onWarn;
+      const materialFactory = this.options.materialFactory;
       const mdl = await loadMdlModules(stage, resolver, baseUrl);
       if (loadVisuals || loadCollisions) {
         bindRobotMeshes(stage, robot3d, robot, {
@@ -901,7 +906,8 @@ var ThreeUsdRobotLoader = class {
           ...textureProvider ? { textureProvider } : {},
           ...curveTubes ? { curveTubes } : {},
           ...onWarn ? { onWarn } : {},
-          ...mdl ? { mdl } : {}
+          ...mdl ? { mdl } : {},
+          ...materialFactory ? { materialFactory } : {}
         });
       }
       if (loadScene) {
@@ -909,7 +915,8 @@ var ThreeUsdRobotLoader = class {
           ...textureProvider ? { textureProvider } : {},
           ...curveTubes ? { curveTubes } : {},
           ...onWarn ? { onWarn } : {},
-          ...mdl ? { mdl } : {}
+          ...mdl ? { mdl } : {},
+          ...materialFactory ? { materialFactory } : {}
         });
       }
       this.warnUnsupportedGprims(stage);
@@ -962,5 +969,5 @@ var ThreeUsdRobotLoader = class {
 };
 
 export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildGprimObject, buildMeshGeometry, buildMeshMaterial, createTextureProvider };
-//# sourceMappingURL=chunk-5SVRTKS4.js.map
-//# sourceMappingURL=chunk-5SVRTKS4.js.map
+//# sourceMappingURL=chunk-GRJGPHLW.js.map
+//# sourceMappingURL=chunk-GRJGPHLW.js.map

package/dist/chunk-GRJGPHLW.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/three/MeshBinding.ts","../src/three/TextureBinding.ts","../src/three/ThreeUsdRobotLoader.ts"],"names":["begin","THREE2"],"mappings":";;;;;;AA6CA,IAAM,aAAA,GAAgB,QAAA;AAmCtB,SAAS,WAAA,CACP,QAAA,EACA,QAAA,EACA,OAAA,EACA,IAAA,EACwB;AACxB,EAAA,MAAM,IAAA,GAAO,QAAA,CAAS,YAAA,CAAa,QAAQ,CAAA;AAC3C,EAAA,MAAM,GAAA,GAAM,KAAK,GAAA,EAAI;AACrB,EAAA,IAAI,CAAC,OAAA,CAAQ,GAAG,KAAM,GAAA,CAAmB,MAAA,KAAW,GAAG,OAAO,IAAA;AAC9D,EAAA,MAAM,IAAA,GAAO,GAAA;AACb,EAAA,IAAI,MAAA,GAAS,IAAA;AACb,EAAA,MAAM,MAAM,QAAA,CAAS,YAAA,CAAa,GAAG,QAAQ,CAAA,QAAA,CAAU,EAAE,GAAA,EAAI;AAC7D,EAAA,IAAI,aAAA,CAAc,GAAG,CAAA,EAAG,MAAA,GAAS,GAAA,CAAI,GAAA,CAAI,CAAC,CAAA,KAAM,IAAA,CAAK,CAAC,CAAA,IAAK,IAAA,CAAK,CAAC,CAAE,CAAA;AAEnE,EAAA,MAAM,QAAA,GAAW,IAAA,CAAK,WAAA,CAAY,eAAe,CAAA;AACjD,EAAA,IAAI,aAAA;AACJ,EAAA,IAAI,QAAA,KAAa,SAAA;AACf,IAAA,aAAA,GAAgB,QAAA;AAAA,OAAA,IAEhB,aAAa,UAAA,IACb,QAAA,KAAa,aACb,QAAA,KAAa,QAAA,IACb,aAAa,aAAA,EACb;AACA,IAAA,aAAA,GAAgB,QAAA;AAAA,EAClB,CAAA,MAAA,IAAW,OAAO,MAAA,KAAW,IAAA,CAAK,UAAU,IAAA,CAAK,MAAA,GAAS,GAAG,aAAA,GAAgB,QAAA;AAAA,OAAA,IACpE,MAAA,CAAO,MAAA,KAAW,IAAA,CAAK,YAAA,IAAgB,KAAK,YAAA,GAAe,CAAA;AAClE,IAAA,aAAA,GAAgB,aAAA;AAAA,OAAA,IACT,OAAO,MAAA,KAAW,IAAA,CAAK,SAAS,IAAA,CAAK,KAAA,GAAQ,GAAG,aAAA,GAAgB,SAAA;AAAA,OACpE,aAAA,GAAgB,UAAA;AAErB,EAAA,MAAM,MAAA,GACJ,aAAA,KAAkB,QAAA,GACd,IAAA,CAAK,MAAA,GACL,aAAA,KAAkB,aAAA,GAChB,IAAA,CAAK,YAAA,GACL,aAAA,KAAkB,SAAA,GAChB,IAAA,CAAK,KAAA,GACL,CAAA;AACV,EAAA,IAAI,MAAA,CAAO,MAAA,GAAS,MAAA,EAAQ,aAAA,GAAgB,UAAA;AAC5C,EAAA,OAAO,EAAE,QAAQ,aAAA,EAAc;AACjC;AAQA,IAAM,gCAAqC,IAAI,GAAA,CAAI,CAAC,YAAA,EAAc,QAAQ,CAAC,CAAA;AAE3E,SAAS,eAAe,QAAA,EAA0B;AAChD,EAAA,MAAM,OAAiB,EAAC;AACxB,EAAA,KAAA,MAAW,IAAA,IAAQ,QAAA,CAAS,aAAA,EAAc,EAAG;AAC3C,IAAA,MAAM,IAAA,GAAO,KAAK,OAAA,EAAQ;AAC1B,IAAA,IAAI,CAAC,KAAK,UAAA,CAAW,WAAW,KAAK,IAAA,CAAK,QAAA,CAAS,UAAU,CAAA,EAAG;AAChE,IAAA,IAAI,CAAC,IAAA,CAAK,OAAA,EAAQ,EAAG;AACrB,IAAA,IAAI,CAAC,cAAc,GAAA,CAAI,IAAA,CAAK,aAAY,CAAE,WAAA,EAAa,CAAA,EAAG;AAC1D,IAAA,IAAA,CAAK,IAAA,CAAK,IAAA,CAAK,KAAA,CAAM,WAAA,CAAY,MAAM,CAAC,CAAA;AAAA,EAC1C;AACA,EAAA,IAAA,CAAK,IAAA,CAAK,CAAC,CAAA,EAAG,CAAA,KAAO,CAAA,KAAM,IAAA,GAAO,EAAA,GAAK,CAAA,KAAM,IAAA,GAAO,CAAA,GAAI,CAAA,GAAI,CAAA,GAAI,KAAK,CAAE,CAAA;AACvE,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,WAAW,KAAA,EAAuB;AACzC,EAAA,OAAO,KAAA,KAAU,CAAA,GAAI,IAAA,GAAO,CAAA,EAAA,EAAK,KAAK,CAAA,CAAA;AACxC;AAEA,SAAS,SAAS,QAAA,EAA0B;AAC1C,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,QAAQ,EAAE,GAAA,EAAI;AACnD,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,kBAAkB,EAAE,GAAA,EAAI;AAC7D,EAAA,MAAM,OAAA,GAAU,QAAA,CAAS,YAAA,CAAa,mBAAmB,EAAE,GAAA,EAAI;AAC/D,EAAA,MAAM,WAAA,GAAc,aAAA,CAAc,MAAM,CAAA,IAAK,cAAc,OAAO,CAAA;AAClE,EAAA,OAAO;AAAA,IACL,MAAA,EAAQ,WAAA,CAAY,MAAM,CAAA,GAAI,OAAO,MAAA,GAAS,CAAA;AAAA,IAC9C,YAAA,EAAc,WAAA,GAAe,OAAA,CAAqB,MAAA,GAAS,CAAA;AAAA,IAC3D,KAAA,EAAO,WAAA,GAAe,MAAA,CAAoB,MAAA,GAAS;AAAA,GACrD;AACF;AAGA,SAAS,oBAAoB,QAAA,EAAwC;AACnE,EAAA,OAAO,YAAY,QAAA,EAAU,uBAAA,EAAyB,WAAA,EAAa,QAAA,CAAS,QAAQ,CAAC,CAAA;AACvF;AAiBO,SAAS,kBAAkB,QAAA,EAA6C;AAC7E,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,QAAQ,EAAE,GAAA,EAAI;AACnD,EAAA,IAAI,CAAC,WAAA,CAAY,MAAM,KAAK,MAAA,CAAO,MAAA,KAAW,GAAG,OAAO,IAAA;AAExD,EAAA,MAAM,SAAA,GAAY,QAAA,CAAS,YAAA,CAAa,kBAAkB,EAAE,GAAA,EAAI;AAChE,EAAA,MAAM,UAAA,GAAa,QAAA,CAAS,YAAA,CAAa,mBAAmB,EAAE,GAAA,EAAI;AAClE,EAAA,MAAM,MAAA,GAAS,aAAA,CAAc,SAAS,CAAA,GAAI,SAAA,GAAY,IAAA;AACtD,EAAA,MAAM,OAAA,GAAU,aAAA,CAAc,UAAU,CAAA,GAAI,UAAA,GAAa,IAAA;AACzD,EAAA,MAAM,IAAA,GAAiB;AAAA,IACrB,QAAQ,MAAA,CAAO,MAAA;AAAA,IACf,YAAA,EAAc,MAAA,IAAU,OAAA,GAAU,OAAA,CAAQ,MAAA,GAAS,CAAA;AAAA,IACnD,KAAA,EAAO,MAAA,IAAU,OAAA,GAAU,MAAA,CAAO,MAAA,GAAS;AAAA,GAC7C;AAEA,EAAA,MAAM,MAAA,GAAS,cAAA,CAAe,QAAQ,CAAA,CAAE,GAAA;AAAA,IAAI,CAAC,QAC3C,WAAA,CAAY,QAAA,EAAU,YAAY,GAAG,CAAA,CAAA,EAAI,aAAa,IAAI;AAAA,GAC5D;AACA,EAAA,MAAM,OAAA,GACJ,WAAA,CAAY,QAAA,EAAU,kBAAA,EAAoB,WAAA,EAAa,IAAI,CAAA,IAC3D,WAAA,CAAY,QAAA,EAAU,SAAA,EAAW,WAAA,EAAa,IAAI,CAAA;AACpD,EAAA,MAAM,KAAA,GAAQ,oBAAoB,QAAQ,CAAA;AAG1C,EAAA,MAAM,MAAA,GACJ,WAAW,IAAA,IACX,OAAA,KAAY,SACX,CAAC,GAAG,QAAQ,OAAO,CAAA,CAAE,KAAK,CAAC,CAAA,KAAM,GAAG,aAAA,KAAkB,aAAa,KAClE,KAAA,EAAO,aAAA,KAAkB,aAAA,IACzB,KAAA,EAAO,aAAA,KAAkB,SAAA,CAAA;AAE7B,EAAA,OAAO,SACH,qBAAA,CAAsB,QAAA,EAAU,MAAA,EAAQ,MAAA,EAAS,SAAU,MAAA,EAAQ,OAAA,EAAS,KAAK,CAAA,GACjF,qBAAqB,QAAA,EAAU,MAAA,EAAQ,QAAQ,OAAA,EAAS,MAAA,EAAQ,SAAS,KAAK,CAAA;AACpF;AAGA,SAAS,qBACP,QAAA,EACA,MAAA,EACA,QACA,OAAA,EACA,MAAA,EACA,SACA,KAAA,EACsB;AACtB,EAAA,MAAM,QAAA,GAAW,IAAU,KAAA,CAAA,cAAA,EAAe;AAC1C,EAAA,QAAA,CAAS,YAAA,CAAa,YAAY,IAAU,KAAA,CAAA,sBAAA,CAAuB,MAAM,MAAM,CAAA,EAAG,CAAC,CAAC,CAAA;AAEpF,EAAA,IAAI,UAAU,OAAA,EAAS;AACrB,IAAA,MAAM,OAAA,GAAU,mBAAmB,QAAQ,CAAA;AAC3C,IAAA,IAAI,OAAA,CAAQ,SAAS,CAAA,EAAG;AACtB,MAAA,QAAA,CAAS,SAAS,mBAAA,CAAoB,QAAA,EAAU,MAAA,EAAQ,OAAA,EAAS,OAAO,CAAC,CAAA;AAAA,IAC3E,CAAA,MAAO;AACL,MAAA,QAAA,CAAS,QAAA,CAAS,WAAA,CAAY,MAAA,EAAQ,OAAO,CAAC,CAAA;AAAA,IAChD;AAAA,EACF,WAAW,OAAA,EAAS;AAClB,IAAA,QAAA,CAAS,QAAA,CAAS,OAAA,CAAQ,KAAA,EAAO,CAAA;AAAA,EACnC;AAEA,EAAA,IAAI,OAAA,EAAS,kBAAkB,QAAA,EAAU;AACvC,IAAA,QAAA,CAAS,YAAA;AAAA,MACP,QAAA;AAAA,MACA,IAAU,KAAA,CAAA,sBAAA,CAAuB,KAAA,CAAM,OAAA,CAAQ,MAAA,CAAO,KAAA,CAAM,CAAA,EAAG,MAAA,CAAO,MAAM,CAAW,CAAA,EAAG,CAAC;AAAA,KAC7F;AAAA,EACF,CAAA,MAAO;AACL,IAAA,QAAA,CAAS,oBAAA,EAAqB;AAAA,EAChC;AACA,EAAA,KAAA,MAAW,CAAC,CAAA,EAAG,EAAE,CAAA,IAAK,MAAA,CAAO,SAAQ,EAAG;AACtC,IAAA,IAAI,EAAA,EAAI,kBAAkB,QAAA,EAAU;AACpC,IAAA,QAAA,CAAS,YAAA;AAAA,MACP,WAAW,CAAC,CAAA;AAAA,MACZ,IAAU,KAAA,CAAA,sBAAA,CAAuB,KAAA,CAAM,EAAA,CAAG,MAAA,CAAO,KAAA,CAAM,CAAA,EAAG,MAAA,CAAO,MAAM,CAAW,CAAA,EAAG,CAAC;AAAA,KACxF;AAAA,EACF;AACA,EAAA,IAAI,KAAA,EAAO,kBAAkB,QAAA,EAAU;AACrC,IAAA,QAAA,CAAS,YAAA;AAAA,MACP,OAAA;AAAA,MACA,IAAU,KAAA,CAAA,sBAAA,CAAuB,KAAA,CAAM,KAAA,CAAM,MAAA,CAAO,KAAA,CAAM,CAAA,EAAG,MAAA,CAAO,MAAM,CAAW,CAAA,EAAG,CAAC;AAAA,KAC3F;AAAA,EACF;AACA,EAAA,OAAO,QAAA;AACT;AAOA,SAAS,sBACP,QAAA,EACA,MAAA,EACA,QACA,OAAA,EACA,MAAA,EACA,SACA,KAAA,EACsB;AACtB,EAAA,MAAM,EAAE,OAAO,KAAA,EAAO,MAAA,KAAW,kBAAA,CAAmB,MAAA,EAAQ,kBAAA,CAAmB,QAAQ,CAAC,CAAA;AAExF,EAAA,MAAM,MAAA,GAAS,CAAC,CAAA,EAAoB,MAAA,KAA6B;AAC/D,IAAA,QAAQ,EAAE,aAAA;AAAe,MACvB,KAAK,aAAA;AACH,QAAA,OAAO,CAAA,CAAE,OAAO,KAAA,CAAM,MAAM,CAAE,CAAA,IAAK,CAAA,CAAE,OAAO,CAAC,CAAA;AAAA,MAC/C,KAAK,QAAA;AACH,QAAA,OAAO,CAAA,CAAE,MAAA,CAAO,OAAA,CAAQ,KAAA,CAAM,MAAM,CAAE,CAAE,CAAA,IAAK,CAAA,CAAE,MAAA,CAAO,CAAC,CAAA;AAAA,MACzD,KAAK,SAAA;AACH,QAAA,OAAO,CAAA,CAAE,OAAO,KAAA,CAAM,MAAM,CAAE,CAAA,IAAK,CAAA,CAAE,OAAO,CAAC,CAAA;AAAA,MAC/C;AACE,QAAA,OAAO,CAAA,CAAE,OAAO,CAAC,CAAA;AAAA;AACrB,EACF,CAAA;AAEA,EAAA,MAAM,QAAA,GAAW,IAAU,KAAA,CAAA,cAAA,EAAe;AAC1C,EAAA,MAAM,QAAA,GAAW,IAAI,KAAA,CAAc,KAAA,CAAM,SAAS,CAAC,CAAA;AACnD,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,CAAM,QAAQ,CAAA,EAAA,EAAK;AACrC,IAAA,MAAM,CAAA,GAAI,MAAA,CAAO,OAAA,CAAQ,KAAA,CAAM,CAAC,CAAE,CAAE,CAAA,IAAK,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AACjD,IAAA,QAAA,CAAS,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,CAAA;AACrB,IAAA,QAAA,CAAS,CAAA,GAAI,CAAA,GAAI,CAAC,CAAA,GAAI,EAAE,CAAC,CAAA;AACzB,IAAA,QAAA,CAAS,CAAA,GAAI,CAAA,GAAI,CAAC,CAAA,GAAI,EAAE,CAAC,CAAA;AAAA,EAC3B;AACA,EAAA,QAAA,CAAS,aAAa,UAAA,EAAY,IAAU,KAAA,CAAA,sBAAA,CAAuB,QAAA,EAAU,CAAC,CAAC,CAAA;AAE/E,EAAA,KAAA,MAAW,CAAC,CAAA,EAAG,EAAE,CAAA,IAAK,MAAA,CAAO,SAAQ,EAAG;AACtC,IAAA,IAAI,CAAC,EAAA,IAAM,EAAA,CAAG,aAAA,KAAkB,UAAA,EAAY;AAC5C,IAAA,MAAM,GAAA,GAAM,IAAI,KAAA,CAAc,KAAA,CAAM,SAAS,CAAC,CAAA;AAC9C,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,CAAM,QAAQ,CAAA,EAAA,EAAK;AACrC,MAAA,MAAM,CAAA,GAAI,MAAA,CAAO,EAAA,EAAI,CAAC,CAAA;AACtB,MAAA,GAAA,CAAI,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,CAAA,IAAK,CAAA;AACrB,MAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,CAAA,IAAK,CAAA;AAAA,IAC3B;AACA,IAAA,QAAA,CAAS,YAAA,CAAa,WAAW,CAAC,CAAA,EAAG,IAAU,KAAA,CAAA,sBAAA,CAAuB,GAAA,EAAK,CAAC,CAAC,CAAA;AAAA,EAC/E;AAEA,EAAA,MAAM,QAAA,GAAW,CAAC,CAAA,EAAoB,IAAA,KAAiB;AACrD,IAAA,MAAM,GAAA,GAAM,IAAI,KAAA,CAAc,KAAA,CAAM,SAAS,CAAC,CAAA;AAC9C,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,CAAM,QAAQ,CAAA,EAAA,EAAK;AACrC,MAAA,MAAM,CAAA,GAAI,MAAA,CAAO,CAAA,EAAG,CAAC,CAAA;AACrB,MAAA,GAAA,CAAI,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,CAAA,IAAK,CAAA;AACrB,MAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,CAAA,IAAK,CAAA;AACzB,MAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,CAAA,IAAK,CAAA;AAAA,IAC3B;AACA,IAAA,QAAA,CAAS,aAAa,IAAA,EAAM,IAAU,KAAA,CAAA,sBAAA,CAAuB,GAAA,EAAK,CAAC,CAAC,CAAA;AAAA,EACtE,CAAA;AACA,EAAA,IAAI,WAAW,OAAA,CAAQ,aAAA,KAAkB,UAAA,EAAY,QAAA,CAAS,SAAS,QAAQ,CAAA;AAAA,gBACjE,oBAAA,EAAqB;AACnC,EAAA,IAAI,SAAS,KAAA,CAAM,aAAA,KAAkB,UAAA,EAAY,QAAA,CAAS,OAAO,OAAO,CAAA;AAExE,EAAA,KAAA,MAAW,CAAA,IAAK,QAAQ,QAAA,CAAS,QAAA,CAAS,EAAE,KAAA,EAAO,CAAA,CAAE,KAAA,EAAO,CAAA,CAAE,aAAa,CAAA;AAC3E,EAAA,OAAO,QAAA;AACT;AAOA,SAAS,kBAAA,CACP,kBACA,OAAA,EAKA;AACA,EAAA,MAAM,YAAsB,EAAC;AAC7B,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,KAAA,MAAW,SAAS,gBAAA,EAAkB;AACpC,IAAA,SAAA,CAAU,KAAK,MAAM,CAAA;AACrB,IAAA,MAAA,IAAU,KAAA;AAAA,EACZ;AAEA,EAAA,MAAM,QAAkB,EAAC;AACzB,EAAA,MAAM,QAAkB,EAAC;AACzB,EAAA,MAAM,IAAA,GAAO,CAAC,IAAA,KAAiB;AAC7B,IAAA,MAAM,KAAA,GAAQ,UAAU,IAAI,CAAA;AAC5B,IAAA,MAAM,KAAA,GAAQ,iBAAiB,IAAI,CAAA;AACnC,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,CAAA,EAAA,EAAK;AAC9B,MAAA,KAAA,CAAM,KAAK,KAAA,EAAO,KAAA,GAAQ,CAAA,GAAI,CAAA,EAAG,QAAQ,CAAC,CAAA;AAC1C,MAAA,KAAA,CAAM,IAAA,CAAK,IAAA,EAAM,IAAA,EAAM,IAAI,CAAA;AAAA,IAC7B;AAAA,EACF,CAAA;AAEA,EAAA,MAAM,SAAoE,EAAC;AAC3E,EAAA,IAAI,OAAA,CAAQ,WAAW,CAAA,EAAG;AACxB,IAAA,KAAA,IAAS,OAAO,CAAA,EAAG,IAAA,GAAO,iBAAiB,MAAA,EAAQ,IAAA,EAAA,OAAa,IAAI,CAAA;AACpE,IAAA,OAAO,EAAE,KAAA,EAAO,KAAA,EAAO,MAAA,EAAO;AAAA,EAChC;AAEA,EAAA,MAAM,OAAA,GAAU,IAAI,UAAA,CAAW,gBAAA,CAAiB,MAAM,CAAA;AACtD,EAAA,KAAA,MAAW,CAAC,KAAA,EAAO,MAAM,CAAA,IAAK,OAAA,CAAQ,SAAQ,EAAG;AAC/C,IAAA,MAAMA,SAAQ,KAAA,CAAM,MAAA;AACpB,IAAA,KAAA,MAAW,IAAA,IAAQ,OAAO,KAAA,EAAO;AAC/B,MAAA,IAAI,OAAO,CAAA,IAAK,IAAA,IAAQ,iBAAiB,MAAA,IAAU,OAAA,CAAQ,IAAI,CAAA,EAAG;AAClE,MAAA,OAAA,CAAQ,IAAI,CAAA,GAAI,CAAA;AAChB,MAAA,IAAA,CAAK,IAAI,CAAA;AAAA,IACX;AACA,IAAA,IAAI,KAAA,CAAM,SAASA,MAAAA,EAAO;AACxB,MAAA,MAAA,CAAO,IAAA,CAAK,EAAE,KAAA,EAAOA,MAAAA,EAAO,KAAA,EAAO,MAAM,MAAA,GAASA,MAAAA,EAAO,aAAA,EAAe,KAAA,EAAO,CAAA;AAAA,IACjF;AAAA,EACF;AACA,EAAA,MAAM,QAAQ,KAAA,CAAM,MAAA;AACpB,EAAA,KAAA,IAAS,IAAA,GAAO,CAAA,EAAG,IAAA,GAAO,gBAAA,CAAiB,QAAQ,IAAA,EAAA,EAAQ;AACzD,IAAA,IAAI,CAAC,OAAA,CAAQ,IAAI,CAAA,OAAQ,IAAI,CAAA;AAAA,EAC/B;AACA,EAAA,IAAI,KAAA,CAAM,SAAS,KAAA,EAAO;AACxB,IAAA,MAAA,CAAO,IAAA,CAAK,EAAE,KAAA,EAAO,KAAA,EAAO,KAAA,EAAO,KAAA,CAAM,MAAA,GAAS,KAAA,EAAO,aAAA,EAAe,OAAA,CAAQ,MAAA,EAAQ,CAAA;AAAA,EAC1F;AACA,EAAA,OAAO,EAAE,KAAA,EAAO,KAAA,EAAO,MAAA,EAAO;AAChC;AASO,SAAS,mBAAmB,IAAA,EAAyC;AAC1E,EAAA,QAAQ,IAAA,CAAK,aAAY;AAAG,IAC1B,KAAK,MAAA;AACH,MAAA,OAAO,kBAAkB,IAAI,CAAA;AAAA,IAC/B,KAAK,MAAA,EAAQ;AACX,MAAA,MAAM,IAAA,GAAO,SAAA,CAAU,IAAA,EAAM,MAAM,CAAA,IAAK,CAAA;AACxC,MAAA,OAAO,IAAU,KAAA,CAAA,WAAA,CAAY,IAAA,EAAM,IAAA,EAAM,IAAI,CAAA;AAAA,IAC/C;AAAA,IACA,KAAK,QAAA;AACH,MAAA,OAAO,IAAU,qBAAe,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,CAAA,EAAG,IAAI,EAAE,CAAA;AAAA,IACxE,KAAK,UAAA,EAAY;AACf,MAAA,MAAM,MAAA,GAAS,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,CAAA;AAC5C,MAAA,MAAM,MAAA,GAAS,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,CAAA;AAC5C,MAAA,OAAO,WAAA,CAAY,IAAU,KAAA,CAAA,gBAAA,CAAiB,MAAA,EAAQ,QAAQ,MAAA,EAAQ,EAAE,GAAG,IAAI,CAAA;AAAA,IACjF;AAAA,IACA,KAAK,SAAA,EAAW;AACd,MAAA,MAAM,MAAA,GAAS,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,GAAA;AAC5C,MAAA,MAAM,MAAA,GAAS,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,CAAA;AAC5C,MAAA,OAAO,WAAA,CAAY,IAAU,KAAA,CAAA,eAAA,CAAgB,MAAA,EAAQ,QAAQ,CAAA,EAAG,EAAE,GAAG,IAAI,CAAA;AAAA,IAC3E;AAAA,IACA,KAAK,MAAA,EAAQ;AACX,MAAA,MAAM,MAAA,GAAS,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,CAAA;AAC5C,MAAA,MAAM,MAAA,GAAS,SAAA,CAAU,IAAA,EAAM,QAAQ,CAAA,IAAK,CAAA;AAC5C,MAAA,OAAO,YAAY,IAAU,KAAA,CAAA,YAAA,CAAa,QAAQ,MAAA,EAAQ,EAAE,GAAG,IAAI,CAAA;AAAA,IACrE;AAAA,IACA;AACE,MAAA,OAAO,IAAA;AAAA;AAEb;AA0BO,SAAS,gBAAA,CACd,IAAA,EACA,KAAA,EACA,OAAA,GAA6B,EAAC,EACP;AACvB,EAAA,QAAQ,IAAA,CAAK,aAAY;AAAG,IAC1B,KAAK,QAAA;AACH,MAAA,OAAO,iBAAA,CAAkB,IAAA,EAAM,KAAA,EAAO,OAAA,CAAQ,GAAG,CAAA;AAAA,IACnD,KAAK,aAAA;AACH,MAAA,OAAO,uBAAuB,IAAA,EAAM,KAAA,EAAO,QAAQ,UAAA,IAAc,KAAA,EAAO,QAAQ,GAAG,CAAA;AAAA,IACrF,SAAS;AACP,MAAA,MAAM,QAAA,GAAW,mBAAmB,IAAI,CAAA;AACxC,MAAA,IAAI,CAAC,UAAU,OAAO,IAAA;AAEtB,MAAA,MAAM,MAAA,GAAS,SAAS,OAAA,CAAQ,eAAA,GAAkB,QAAQ,eAAA,CAAgB,IAAA,EAAM,KAAK,CAAA,GAAI,IAAA;AACzF,MAAA,OAAO,IAAU,KAAA,CAAA,IAAA;AAAA,QACf,QAAA;AAAA,QACA,MAAA,IACE,mBAAmB,IAAA,EAAM,KAAA,EAAO,QAAQ,eAAA,EAAiB,OAAA,CAAQ,MAAA,EAAQ,OAAA,CAAQ,GAAG;AAAA,OACxF;AAAA,IACF;AAAA;AAEJ;AAMA,SAAS,gBAAA,CACP,IAAA,EACA,KAAA,EACA,GAAA,EACwD;AACxD,EAAA,MAAM,KAAA,GAAQ,IAAU,KAAA,CAAA,KAAA,CAAM,aAAa,CAAA;AAC3C,EAAA,MAAM,KAAA,GAAQ,KAAA,GAAQ,oBAAA,CAAqB,KAAA,EAAO,IAAA,EAAM,GAAA,GAAM,EAAE,GAAA,EAAI,GAAI,EAAE,CAAA,GAAI,MAAA;AAC9E,EAAA,IAAI,OAAO,KAAA,EAAO;AAChB,IAAA,KAAA,CAAM,MAAA,CAAO,KAAA,CAAM,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,KAAA,CAAM,CAAC,CAAC,CAAA;AAAA,EAC7D,CAAA,MAAO;AACL,IAAA,MAAM,YAAA,GAAe,IAAA,CAAK,YAAA,CAAa,uBAAuB,EAAE,GAAA,EAAI;AACpE,IAAA,IAAI,WAAA,CAAY,YAAY,CAAA,IAAK,YAAA,CAAa,CAAC,CAAA,EAAG;AAChD,MAAA,KAAA,CAAM,MAAA,CAAO,YAAA,CAAa,CAAC,CAAA,CAAE,CAAC,CAAA,EAAG,YAAA,CAAa,CAAC,CAAA,CAAE,CAAC,CAAA,EAAG,YAAA,CAAa,CAAC,CAAA,CAAE,CAAC,CAAC,CAAA;AAAA,IACzE;AAAA,EACF;AACA,EAAA,MAAM,MAAA,GAAiE;AAAA,IACrE,KAAA;AAAA,IACA,OAAA,EAAS,OAAO,OAAA,IAAW;AAAA,GAC7B;AACA,EAAA,IAAI,KAAA,EAAO,IAAA,EAAM,MAAA,CAAO,IAAA,GAAO,KAAA,CAAM,IAAA;AACrC,EAAA,OAAO,MAAA;AACT;AAGA,SAAS,UAAU,IAAA,EAAgC;AACjD,EAAA,MAAM,MAAA,GAAS,IAAA,CAAK,YAAA,CAAa,QAAQ,EAAE,GAAA,EAAI;AAC/C,EAAA,IAAI,CAAC,aAAA,CAAc,MAAM,KAAK,MAAA,CAAO,MAAA,KAAW,GAAG,OAAO,MAAA;AAC1D,EAAA,OAAO,MAAA,CAAO,OAAO,CAAC,CAAA,EAAG,MAAM,CAAA,GAAI,CAAA,EAAG,CAAC,CAAA,GAAI,MAAA,CAAO,MAAA;AACpD;AAQA,SAAS,iBAAA,CACP,IAAA,EACA,KAAA,EACA,GAAA,EACqB;AACrB,EAAA,MAAM,MAAA,GAAS,IAAA,CAAK,YAAA,CAAa,QAAQ,EAAE,GAAA,EAAI;AAC/C,EAAA,IAAI,CAAC,WAAA,CAAY,MAAM,KAAK,MAAA,CAAO,MAAA,KAAW,GAAG,OAAO,IAAA;AAExD,EAAA,MAAM,QAAA,GAAW,IAAU,KAAA,CAAA,cAAA,EAAe;AAC1C,EAAA,QAAA,CAAS,YAAA,CAAa,YAAY,IAAU,KAAA,CAAA,sBAAA,CAAuB,MAAM,MAAM,CAAA,EAAG,CAAC,CAAC,CAAA;AAEpF,EAAA,MAAM,IAAA,GAAO,gBAAA,CAAiB,IAAA,EAAM,KAAA,EAAO,GAAG,CAAA;AAC9C,EAAA,MAAM,WAAW,IAAU,KAAA,CAAA,cAAA,CAAe,EAAE,KAAA,EAAO,IAAA,CAAK,OAAO,CAAA;AAC/D,EAAA,IAAI,IAAA,CAAK,UAAU,CAAA,EAAG;AACpB,IAAA,QAAA,CAAS,WAAA,GAAc,IAAA;AACvB,IAAA,QAAA,CAAS,UAAU,IAAA,CAAK,OAAA;AAAA,EAC1B;AACA,EAAA,IAAI,IAAA,CAAK,IAAA,EAAM,QAAA,CAAS,IAAA,GAAO,IAAA,CAAK,IAAA;AAEpC,EAAA,MAAM,YAAA,GAAe,IAAA,CAAK,YAAA,CAAa,uBAAuB,EAAE,GAAA,EAAI;AACpE,EAAA,IAAI,WAAA,CAAY,YAAY,CAAA,IAAK,YAAA,CAAa,WAAW,MAAA,CAAO,MAAA,IAAU,MAAA,CAAO,MAAA,GAAS,CAAA,EAAG;AAC3F,IAAA,QAAA,CAAS,YAAA,CAAa,SAAS,IAAU,KAAA,CAAA,sBAAA,CAAuB,MAAM,YAAY,CAAA,EAAG,CAAC,CAAC,CAAA;AACvF,IAAA,QAAA,CAAS,YAAA,GAAe,IAAA;AACxB,IAAA,QAAA,CAAS,KAAA,CAAM,IAAI,QAAQ,CAAA;AAAA,EAC7B;AAEA,EAAA,MAAM,KAAA,GAAQ,UAAU,IAAI,CAAA;AAC5B,EAAA,IAAI,KAAA,KAAU,MAAA,IAAa,KAAA,GAAQ,CAAA,EAAG;AACpC,IAAA,QAAA,CAAS,IAAA,GAAO,KAAA;AAChB,IAAA,QAAA,CAAS,eAAA,GAAkB,IAAA;AAAA,EAC7B,CAAA,MAAO;AACL,IAAA,QAAA,CAAS,IAAA,GAAO,CAAA;AAChB,IAAA,QAAA,CAAS,eAAA,GAAkB,KAAA;AAAA,EAC7B;AACA,EAAA,OAAO,IAAU,KAAA,CAAA,MAAA,CAAO,QAAA,EAAU,QAAQ,CAAA;AAC5C;AAGA,IAAM,eAAA,GAAkB,CAAA;AAMxB,IAAM,WAAA,GAAgE;AAAA;AAAA,EAEpE,MAAA,EAAQ;AAAA,IACN,CAAA,EAAG;AAAA,MACD,CAAC,EAAA,EAAI,CAAA,EAAG,EAAA,EAAI,CAAC,CAAA;AAAA,MACb,CAAC,CAAA,EAAG,EAAA,EAAI,CAAA,EAAG,CAAC,CAAA;AAAA,MACZ,CAAC,EAAA,EAAI,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,MACZ,CAAC,CAAA,EAAG,CAAA,EAAG,CAAA,EAAG,CAAC;AAAA,KACb;AAAA,IACA,KAAA,EAAO;AAAA,GACT;AAAA;AAAA,EAEA,OAAA,EAAS;AAAA,IACP,CAAA,EAAG;AAAA,MACD,CAAC,KAAK,CAAA,EAAG,CAAA,GAAI,GAAG,EAAA,GAAK,CAAA,EAAG,IAAI,CAAC,CAAA;AAAA,MAC7B,CAAC,CAAA,GAAI,CAAA,EAAG,KAAK,CAAA,EAAG,CAAA,GAAI,GAAG,CAAC,CAAA;AAAA,MACxB,CAAC,EAAA,GAAK,CAAA,EAAG,CAAA,EAAG,CAAA,GAAI,GAAG,CAAC,CAAA;AAAA,MACpB,CAAC,CAAA,GAAI,CAAA,EAAG,IAAI,CAAA,EAAG,CAAA,GAAI,GAAG,CAAC;AAAA,KACzB;AAAA,IACA,KAAA,EAAO;AAAA,GACT;AAAA;AAAA,EAEA,UAAA,EAAY;AAAA,IACV,CAAA,EAAG;AAAA,MACD,CAAC,KAAK,CAAA,EAAG,CAAA,GAAI,GAAG,EAAA,GAAK,CAAA,EAAG,IAAI,CAAC,CAAA;AAAA,MAC7B,CAAC,IAAI,CAAA,EAAG,EAAA,GAAK,GAAG,CAAA,GAAI,CAAA,EAAG,KAAK,CAAC,CAAA;AAAA,MAC7B,CAAC,EAAA,GAAK,CAAA,EAAG,CAAA,EAAG,CAAA,GAAI,GAAG,CAAC,CAAA;AAAA,MACpB,CAAC,CAAA,EAAG,CAAA,GAAI,CAAA,EAAG,GAAG,CAAC;AAAA,KACjB;AAAA,IACA,KAAA,EAAO;AAAA;AAEX,CAAA;AAQA,SAAS,gBAAA,CAAiB,GAAA,EAAa,SAAA,EAAmB,QAAA,EAAkC;AAC1F,EAAA,MAAM,KAAA,GAAQ,WAAA,CAAY,SAAS,CAAA,IAAK,WAAA,CAAY,MAAA;AACpD,EAAA,MAAM,IAAI,GAAA,CAAI,MAAA;AACd,EAAA,MAAM,IAAA,GAAO,QAAA,GAAW,IAAA,CAAK,KAAA,CAAM,IAAI,KAAA,CAAM,KAAK,CAAA,GAAI,IAAA,CAAK,KAAA,CAAA,CAAO,CAAA,GAAI,CAAA,IAAK,KAAA,CAAM,KAAK,CAAA,GAAI,CAAA;AAC1F,EAAA,IAAI,CAAA,GAAI,CAAA,IAAK,IAAA,GAAO,CAAA,EAAG,OAAO,IAAA;AAE9B,EAAA,MAAM,MAAc,EAAC;AACrB,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,IAAA,EAAM,CAAA,EAAA,EAAK;AAC7B,IAAA,MAAM,EAAA,GAAK,IAAI,KAAA,CAAM,KAAA;AACrB,IAAA,MAAM,CAAA,GAAI,CAAC,GAAA,CAAI,EAAA,GAAK,CAAC,CAAA,EAAI,GAAA,CAAA,CAAK,KAAK,CAAA,IAAK,CAAC,GAAI,GAAA,CAAA,CAAK,EAAA,GAAK,KAAK,CAAC,CAAA,EAAI,KAAK,EAAA,GAAK,CAAA,IAAK,CAAC,CAAE,CAAA;AAGnF,IAAA,MAAM,OAAO,CAAC,QAAA,IAAY,MAAM,IAAA,GAAO,CAAA,GAAI,kBAAkB,eAAA,GAAkB,CAAA;AAC/E,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,IAAK,IAAA,EAAM,CAAA,EAAA,EAAK;AAC9B,MAAA,MAAM,IAAI,CAAA,GAAI,eAAA;AACd,MAAA,MAAM,CAAA,GAAI,CAAC,CAAA,GAAI,CAAA,GAAI,GAAG,CAAA,GAAI,CAAA,EAAG,GAAG,CAAC,CAAA;AACjC,MAAA,MAAM,KAAA,GAAc,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAC5B,MAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,CAAA,EAAG,CAAA,EAAA,EAAK;AAC1B,QAAA,IAAI,CAAA,GAAI,CAAA;AACR,QAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,CAAA,EAAG,CAAA,EAAA,EAAK,CAAA,IAAK,CAAA,CAAE,CAAC,CAAA,GAAK,KAAA,CAAM,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACtD,QAAA,KAAA,CAAM,CAAC,CAAA,IAAK,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACvB,QAAA,KAAA,CAAM,CAAC,CAAA,IAAK,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACvB,QAAA,KAAA,CAAM,CAAC,CAAA,IAAK,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AAAA,MACzB;AACA,MAAA,GAAA,CAAI,KAAK,KAAK,CAAA;AAAA,IAChB;AAAA,EACF;AACA,EAAA,OAAO,GAAA;AACT;AAGA,SAAS,YAAA,CAAa,SAAiB,MAAA,EAAiD;AACtF,EAAA,MAAM,IAAA,GAAO,IAAU,KAAA,CAAA,SAAA,EAAyB;AAChD,EAAA,MAAM,IAAA,GAAO,OAAA,CAAQ,GAAA,CAAI,CAAC,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA,KAAM,IAAU,KAAA,CAAA,OAAA,CAAQ,CAAA,EAAG,CAAA,EAAG,CAAC,CAAC,CAAA;AAClE,EAAA,KAAA,IAAS,IAAI,CAAA,EAAG,CAAA,GAAI,KAAK,MAAA,GAAS,CAAA,EAAG,KAAK,IAAA,CAAK,GAAA,CAAI,IAAU,KAAA,CAAA,UAAA,CAAW,KAAK,CAAC,CAAA,EAAI,KAAK,CAAA,GAAI,CAAC,CAAE,CAAC,CAAA;AAC/F,EAAA,IAAI,MAAA,EAAQ,IAAA,CAAK,GAAA,CAAI,IAAU,KAAA,CAAA,UAAA,CAAW,IAAA,CAAK,IAAA,CAAK,MAAA,GAAS,CAAC,CAAA,EAAI,IAAA,CAAK,CAAC,CAAE,CAAC,CAAA;AAC3E,EAAA,OAAO,IAAA;AACT;AAUA,SAAS,sBAAA,CACP,IAAA,EACA,KAAA,EACA,UAAA,EACA,GAAA,EACuB;AACvB,EAAA,MAAM,MAAA,GAAS,IAAA,CAAK,YAAA,CAAa,QAAQ,EAAE,GAAA,EAAI;AAC/C,EAAA,MAAM,MAAA,GAAS,IAAA,CAAK,YAAA,CAAa,mBAAmB,EAAE,GAAA,EAAI;AAC1D,EAAA,IAAI,CAAC,WAAA,CAAY,MAAM,CAAA,IAAK,CAAC,aAAA,CAAc,MAAM,CAAA,IAAK,MAAA,CAAO,MAAA,KAAW,CAAA,EAAG,OAAO,IAAA;AAElF,EAAA,MAAM,YAAY,IAAA,CAAK,YAAA,CAAa,MAAM,CAAA,CAAE,KAAI,IAAK,OAAA;AACrD,EAAA,MAAM,YAAY,IAAA,CAAK,YAAA,CAAa,OAAO,CAAA,CAAE,KAAI,IAAK,QAAA;AACtD,EAAA,MAAM,WAAW,IAAA,CAAK,YAAA,CAAa,MAAM,CAAA,CAAE,KAAI,KAAM,UAAA;AAErD,EAAA,MAAM,IAAA,GAAO,gBAAA,CAAiB,IAAA,EAAM,KAAA,EAAO,GAAG,CAAA;AAC9C,EAAA,MAAM,KAAA,GAAQ,UAAU,IAAI,CAAA;AAC5B,EAAA,MAAM,OAAA,GAAU,UAAA,IAAc,KAAA,KAAU,MAAA,IAAa,KAAA,GAAQ,CAAA;AAE7D,EAAA,MAAM,QAAA,GAAW,UACb,IAAU,KAAA,CAAA,oBAAA,CAAqB,EAAE,KAAA,EAAO,IAAA,CAAK,OAAO,SAAA,EAAW,GAAA,EAAK,WAAW,GAAA,EAAK,IACpF,IAAU,KAAA,CAAA,iBAAA,CAAkB,EAAE,KAAA,EAAO,IAAA,CAAK,OAAO,CAAA;AACrD,EAAA,IAAI,IAAA,CAAK,UAAU,CAAA,EAAG;AACpB,IAAA,QAAA,CAAS,WAAA,GAAc,IAAA;AACvB,IAAA,QAAA,CAAS,UAAU,IAAA,CAAK,OAAA;AAAA,EAC1B;AACA,EAAA,IAAI,IAAA,CAAK,IAAA,EAAM,QAAA,CAAS,IAAA,GAAO,IAAA,CAAK,IAAA;AAEpC,EAAA,MAAM,KAAA,GAAQ,IAAU,KAAA,CAAA,KAAA,EAAM;AAC9B,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,KAAA,MAAW,SAAS,MAAA,EAAQ;AAC1B,IAAA,MAAM,GAAA,GAAM,MAAA,CAAO,KAAA,CAAM,MAAA,EAAQ,SAAS,KAAK,CAAA;AAC/C,IAAA,MAAA,IAAU,KAAA;AACV,IAAA,MAAM,OAAA,GACJ,SAAA,KAAc,QAAA,GACV,GAAA,CAAI,UAAU,CAAA,GACZ,GAAA,GACA,IAAA,GACF,gBAAA,CAAiB,KAAK,OAAO,SAAA,KAAc,QAAA,GAAW,SAAA,GAAY,UAAU,QAAQ,CAAA;AAC1F,IAAA,IAAI,CAAC,OAAA,IAAW,OAAA,CAAQ,MAAA,GAAS,CAAA,EAAG;AAEpC,IAAA,IAAI,OAAA,EAAS;AACX,MAAA,MAAM,IAAA,GAAO,YAAA,CAAa,OAAA,EAAS,QAAQ,CAAA;AAC3C,MAAA,MAAM,WAAW,IAAU,KAAA,CAAA,YAAA;AAAA,QACzB,IAAA;AAAA,QACA,IAAA,CAAK,GAAA,CAAI,OAAA,CAAQ,MAAA,EAAQ,CAAC,CAAA;AAAA,QAC1B,KAAA,GAAQ,CAAA;AAAA,QACR,CAAA;AAAA,QACA;AAAA,OACF;AACA,MAAA,KAAA,CAAM,GAAA,CAAI,IAAU,KAAA,CAAA,IAAA,CAAK,QAAA,EAAU,QAAQ,CAAC,CAAA;AAAA,IAC9C,CAAA,MAAO;AACL,MAAA,MAAM,QAAA,GAAW,IAAU,KAAA,CAAA,cAAA,EAAe;AAC1C,MAAA,QAAA,CAAS,YAAA,CAAa,YAAY,IAAU,KAAA,CAAA,sBAAA,CAAuB,MAAM,OAAO,CAAA,EAAG,CAAC,CAAC,CAAA;AACrF,MAAA,KAAA,CAAM,GAAA;AAAA,QACJ,QAAA,GAAW,IAAU,KAAA,CAAA,QAAA,CAAS,QAAA,EAAU,QAAQ,CAAA,GAAI,IAAU,KAAA,CAAA,IAAA,CAAK,QAAA,EAAU,QAAQ;AAAA,OACvF;AAAA,IACF;AAAA,EACF;AACA,EAAA,OAAO,KAAA,CAAM,QAAA,CAAS,MAAA,GAAS,CAAA,GAAI,KAAA,GAAQ,IAAA;AAC7C;AAEA,SAAS,SAAA,CAAU,MAAY,IAAA,EAAkC;AAC/D,EAAA,MAAM,CAAA,GAAI,IAAA,CAAK,YAAA,CAAa,IAAI,EAAE,GAAA,EAAI;AACtC,EAAA,OAAO,OAAO,CAAA,KAAM,QAAA,GAAW,CAAA,GAAI,MAAA;AACrC;AAGA,SAAS,WAAA,CAAY,UAAgC,IAAA,EAAkC;AACrF,EAAA,MAAM,IAAA,GAAO,IAAA,CAAK,YAAA,CAAa,MAAM,EAAE,GAAA,EAAI;AAC3C,EAAA,IAAI,IAAA,KAAS,KAAK,OAAO,QAAA;AACzB,EAAA,IAAI,IAAA,KAAS,KAAK,OAAO,QAAA,CAAS,QAAQ,CAAC,IAAA,CAAK,KAAK,CAAC,CAAA;AACtD,EAAA,OAAO,QAAA,CAAS,OAAA,CAAQ,IAAA,CAAK,EAAA,GAAK,CAAC,CAAA;AACrC;AAUO,SAAS,kBACd,QAAA,EACA,KAAA,EACA,QAAA,EAEA,WAAA,EAEA,QAEA,GAAA,EACgB;AAChB,EAAA,MAAM,KAAA,GAAQ,IAAU,KAAA,CAAA,KAAA,CAAM,aAAa,CAAA;AAC3C,EAAA,IAAI,OAAA,GAAU,CAAA;AACd,EAAA,IAAI,YAAA,GAAe,KAAA;AAEnB,EAAA,MAAM,cAAA,GAAyC;AAAA,IAC7C,GAAI,GAAA,GAAM,EAAE,GAAA,KAAQ,EAAC;AAAA,IACrB,GAAI,MAAA,GAAS,EAAE,MAAA,KAAW;AAAC,GAC7B;AACA,EAAA,MAAM,QAAQ,KAAA,GACV,oBAAA,CAAqB,OAAO,WAAA,IAAe,QAAA,EAAU,cAAc,CAAA,GACnE,MAAA;AACJ,EAAA,IAAI,OAAO,KAAA,EAAO;AAChB,IAAA,KAAA,CAAM,MAAA,CAAO,KAAA,CAAM,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,KAAA,CAAM,CAAC,CAAC,CAAA;AAAA,EAC7D,CAAA,MAAO;AACL,IAAA,MAAM,YAAA,GAAe,oBAAoB,QAAQ,CAAA;AACjD,IAAA,IAAI,YAAA,IAAgB,YAAA,CAAa,aAAA,KAAkB,UAAA,EAAY;AAG7D,MAAA,YAAA,GAAe,IAAA;AACf,MAAA,KAAA,CAAM,MAAA,CAAO,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,IACtB,CAAA,MAAA,IAAW,YAAA,EAAc,MAAA,CAAO,CAAC,CAAA,EAAG;AAClC,MAAA,MAAM,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA,GAAI,YAAA,CAAa,OAAO,CAAC,CAAA;AACvC,MAAA,KAAA,CAAM,OAAO,CAAA,IAAK,CAAA,EAAG,CAAA,IAAK,CAAA,EAAG,KAAK,CAAC,CAAA;AAAA,IACrC;AAAA,EACF;AACA,EAAA,IAAI,KAAA,EAAO,OAAA,KAAY,MAAA,EAAW,OAAA,GAAU,KAAA,CAAM,OAAA;AAMlD,EAAA,MAAM,UAAA,GAAa,eAAe,QAAQ,CAAA;AAC1C,EAAA,MAAM,GAAA,GAAM,CAAC,EAAA,EAAiC,EAAA,KAA0B;AACtE,IAAA,IAAI,CAAC,EAAA,IAAM,CAAC,QAAA,EAAU,OAAO,IAAA;AAC7B,IAAA,MAAM,OAAA,GAAU,EAAA,CAAG,SAAA,KAAc,EAAA,CAAG,KAAA,GAAQ,IAAA,CAAK,GAAA,CAAI,UAAA,CAAW,OAAA,CAAQ,EAAA,CAAG,KAAK,CAAA,EAAG,CAAC,CAAA,GAAI,CAAA,CAAA;AACxF,IAAA,MAAM,UAAA,GACJ,GAAG,gBAAA,KAAqB,KAAA,GAAQ,WAAW,EAAA,CAAG,gBAAA,KAAqB,SAAS,MAAA,GAAS,EAAA;AACvF,IAAA,OAAO,QAAA,CAAS,GAAG,IAAA,EAAM;AAAA,MACvB,UAAA;AAAA,MACA,GAAI,GAAG,KAAA,GAAQ,EAAE,OAAO,EAAA,CAAG,KAAA,KAAU,EAAC;AAAA,MACtC,GAAI,GAAG,KAAA,GAAQ,EAAE,OAAO,EAAA,CAAG,KAAA,KAAU,EAAC;AAAA,MACtC,GAAI,GAAG,SAAA,GAAY,EAAE,WAAW,EAAA,CAAG,SAAA,KAAc,EAAC;AAAA,MAClD,GAAI,OAAA,GAAU,CAAA,GAAI,EAAE,OAAA,KAAY;AAAC,KAClC,CAAA;AAAA,EACH,CAAA;AAKA,EAAA,IAAI,MAAA,EAAQ;AACV,IAAA,MAAM,MAAA,GAAS;AAAA,MACb,CAAC,KAAA,EAAO,gBAAA,EAAkB,GAAA,EAAK,WAAW,CAAA;AAAA,MAC1C,CAAC,KAAA,EAAO,gBAAA,EAAkB,GAAA,EAAK,WAAW,CAAA;AAAA,MAC1C,CAAC,KAAA,EAAO,gBAAA,EAAkB,GAAA,EAAK,WAAW;AAAA,KAC5C;AACA,IAAA,KAAA,MAAW,CAAC,EAAA,EAAI,QAAA,EAAU,KAAK,KAAK,MAAA,EAAQ;AAC1C,MAAA,MAAM,UAAU,EAAA,EAAI,aAAA;AACpB,MAAA,IAAI,OAAA,IAAW,OAAA,KAAY,KAAA,IAAS,OAAA,KAAY,QAAA,EAAU;AACxD,QAAA,MAAA;AAAA,UACE,CAAA,EAAG,SAAS,OAAA,EAAS,KAAK,KAAK,CAAA,eAAA,EAAkB,OAAO,CAAA,4BAAA,EAA+B,QAAQ,CAAA,qEAAA;AAAA,SACjG;AAAA,MACF;AAAA,IACF;AAAA,EACF;AAEA,EAAA,MAAM,GAAA,GAAM,GAAA,CAAI,KAAA,EAAO,YAAA,EAAc,MAAM,CAAA;AAE3C,EAAA,IAAI,GAAA,EAAK;AACP,IAAA,MAAM,CAAA,GAAI,OAAO,YAAA,EAAc,KAAA;AAC/B,IAAA,IAAI,CAAA,EAAG,KAAA,CAAM,MAAA,CAAO,CAAA,CAAE,CAAC,CAAA,EAAG,CAAA,CAAE,CAAC,CAAA,EAAG,CAAA,CAAE,CAAC,CAAC,CAAA;AAAA,SAC/B,KAAA,CAAM,MAAA,CAAO,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,EAC3B;AACA,EAAA,MAAM,SAAA,GAAY,GAAA,CAAI,KAAA,EAAO,aAAA,EAAe,QAAQ,CAAA;AACpD,EAAA,MAAM,YAAA,GAAe,GAAA,CAAI,KAAA,EAAO,gBAAA,EAAkB,QAAQ,CAAA;AAC1D,EAAA,MAAM,YAAA,GAAe,GAAA,CAAI,KAAA,EAAO,gBAAA,EAAkB,QAAQ,CAAA;AAC1D,EAAA,MAAM,KAAA,GAAQ,GAAA,CAAI,KAAA,EAAO,gBAAA,EAAkB,QAAQ,CAAA;AACnD,EAAA,MAAM,WAAA,GAAc,GAAA,CAAI,KAAA,EAAO,eAAA,EAAiB,MAAM,CAAA;AAItD,EAAA,MAAM,SAAA,GACJ,OAAO,SAAA,IAAa,KAAA,EAAO,kBAAkB,KAAA,GAAQ,CAAC,CAAA,KAAM,YAAA,GAAe,CAAA,GAAI,GAAA,CAAA;AACjF,EAAA,MAAM,SAAA,GACJ,OAAO,SAAA,IAAa,KAAA,EAAO,kBAAkB,KAAA,GAAQ,CAAC,CAAA,KAAM,YAAA,GAAe,CAAA,GAAI,GAAA,CAAA;AAEjF,EAAA,MAAM,QAAA,GAAW,IAAU,KAAA,CAAA,KAAA,CAAM,CAAQ,CAAA;AACzC,EAAA,IAAI,OAAO,aAAA,EAAe;AACxB,IAAA,QAAA,CAAS,MAAA,CAAO,KAAA,CAAM,aAAA,CAAc,CAAC,CAAA,EAAG,KAAA,CAAM,aAAA,CAAc,CAAC,CAAA,EAAG,KAAA,CAAM,aAAA,CAAc,CAAC,CAAC,CAAA;AAAA,EACxF,WAAW,WAAA,EAAa;AACtB,IAAA,QAAA,CAAS,MAAA,CAAO,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,EACzB;AAMA,EAAA,MAAM,aAAa,KAAA,EAAO,cAAA;AAC1B,EAAA,MAAM,iBAAiB,CAAC,EAAE,cAAc,UAAA,CAAW,IAAA,KAAS,OAAO,YAAA,EAAc,IAAA,CAAA;AACjF,EAAA,MAAM,QAAA,GAAW,cAAA,GAAiB,IAAA,GAAO,GAAA,CAAI,YAAY,QAAQ,CAAA;AACjE,EAAA,MAAM,cAAA,GAAiB,OAAA,GAAU,CAAA,IAAK,cAAA,IAAkB,CAAC,CAAC,QAAA;AAC1D,EAAA,MAAM,YAAY,KAAA,EAAO,gBAAA;AACzB,EAAA,MAAM,SAAA,GAAY,SAAA,KAAc,MAAA,IAAa,SAAA,GAAY,IAAI,SAAA,GAAY,CAAA;AAGzE,EAAA,MAAM,WAAA,GAAc,cAAc,CAAA,IAAK,cAAA;AAEvC,EAAA,MAAM,cAAc,QAAA,CAAS,YAAA,CAAa,aAAa,CAAA,CAAE,KAAI,KAAM,IAAA;AACnE,EAAA,MAAM,MAAA,GAA+C;AAAA,IACnD,KAAA;AAAA,IACA,SAAA;AAAA,IACA,SAAA;AAAA,IACA,QAAA;AAAA,IACA,WAAA;AAAA,IACA,OAAA;AAAA,IACA,GAAI,YAAA,GAAe,EAAE,YAAA,EAAc,IAAA,KAAS,EAAC;AAAA,IAC7C,GAAI,SAAA,GAAY,CAAA,GAAI,EAAE,SAAA,KAAc,EAAC;AAAA,IACrC,IAAA,EAAM,cAAoB,KAAA,CAAA,UAAA,GAAmB,KAAA,CAAA,SAAA;AAAA,IAC7C,GAAI,GAAA,GAAM,EAAE,GAAA,KAAQ,EAAC;AAAA,IACrB,GAAI,QAAA,GAAW,EAAE,QAAA,KAAa,EAAC;AAAA,IAC/B,GAAI,SAAA,GAAY,EAAE,SAAA,KAAc,EAAC;AAAA,IACjC,GAAI,YAAA,GAAe,EAAE,YAAA,KAAiB,EAAC;AAAA,IACvC,GAAI,YAAA,GAAe,EAAE,YAAA,KAAiB,EAAC;AAAA,IACvC,GAAI,KAAA,GAAQ,EAAE,KAAA,KAAU,EAAC;AAAA,IACzB,GAAI,WAAA,GAAc,EAAE,WAAA,KAAgB;AAAC,GACvC;AAIA,EAAA,MAAM,WACJ,KAAA,KAAU,MAAA,KACT,MAAM,GAAA,KAAQ,MAAA,IACb,MAAM,SAAA,KAAc,MAAA,IACpB,MAAM,kBAAA,KAAuB,MAAA,IAC7B,MAAM,aAAA,KAAkB,MAAA,IACxB,MAAM,YAAA,KAAiB,MAAA,IACvB,MAAM,sBAAA,KAA2B,MAAA,CAAA;AACrC,EAAA,MAAM,QAAA,GAAW,WACb,IAAU,KAAA,CAAA,oBAAA,CAAqB,MAAM,CAAA,GACrC,IAAU,2BAAqB,MAAM,CAAA;AACzC,EAAA,IAAI,QAAA,YAA0B,8BAAwB,KAAA,EAAO;AAC3D,IAAA,IAAI,KAAA,CAAM,GAAA,KAAQ,MAAA,EAAW,QAAA,CAAS,MAAM,KAAA,CAAM,GAAA;AAClD,IAAA,IAAI,KAAA,CAAM,SAAA,KAAc,MAAA,EAAW,QAAA,CAAS,YAAY,KAAA,CAAM,SAAA;AAC9D,IAAA,IAAI,MAAM,kBAAA,KAAuB,MAAA;AAC/B,MAAA,QAAA,CAAS,qBAAqB,KAAA,CAAM,kBAAA;AACtC,IAAA,IAAI,MAAM,aAAA,EAAe;AACvB,MAAA,QAAA,CAAS,aAAA,CAAc,MAAA;AAAA,QACrB,KAAA,CAAM,cAAc,CAAC,CAAA;AAAA,QACrB,KAAA,CAAM,cAAc,CAAC,CAAA;AAAA,QACrB,KAAA,CAAM,cAAc,CAAC;AAAA,OACvB;AAAA,IACF;AAEA,IAAA,IAAI,KAAA,CAAM,YAAA,KAAiB,MAAA,EAAW,QAAA,CAAS,eAAe,KAAA,CAAM,YAAA;AACpE,IAAA,IAAI,KAAA,CAAM,SAAA,KAAc,MAAA,EAAW,QAAA,CAAS,YAAY,KAAA,CAAM,SAAA;AAC9D,IAAA,MAAM,kBAAA,GAAqB,GAAA,CAAI,KAAA,CAAM,sBAAA,EAAwB,QAAQ,CAAA;AACrE,IAAA,IAAI,kBAAA,WAA6B,kBAAA,GAAqB,kBAAA;AAAA,EACxD;AACA,EAAA,IAAI,KAAA,EAAO,iBAAA,KAAsB,MAAA,EAAW,QAAA,CAAS,oBAAoB,KAAA,CAAM,iBAAA;AAI/E,EAAA,IAAI,SAAA,IAAa,KAAA,EAAO,aAAA,EAAe,KAAA,EAAO;AAC5C,IAAA,QAAA,CAAS,WAAA,CAAY,GAAA,CAAI,KAAA,CAAM,aAAA,CAAc,KAAA,CAAM,CAAC,CAAA,GAAI,CAAA,EAAG,KAAA,CAAM,aAAA,CAAc,KAAA,CAAM,CAAC,IAAI,CAAC,CAAA;AAAA,EAC7F;AAEA,EAAA,IAAI,KAAA,EAAO,IAAA,EAAM,QAAA,CAAS,IAAA,GAAO,KAAA,CAAM,IAAA;AACvC,EAAA,OAAO,QAAA;AACT;AAOO,SAAS,gBACd,KAAA,EACA,OAAA,EACA,IAAA,EACA,OAAA,GAA6B,EAAC,EACxB;AACN,EAAA,MAAM,WAAA,GAAc,QAAQ,WAAA,IAAe,IAAA;AAC3C,EAAA,MAAM,cAAA,GAAiB,QAAQ,cAAA,IAAkB,KAAA;AACjD,EAAA,MAAM,YAAA,GAAkC;AAAA,IACtC,GAAI,QAAQ,eAAA,GAAkB,EAAE,iBAAiB,OAAA,CAAQ,eAAA,KAAoB,EAAC;AAAA,IAC9E,GAAI,OAAA,CAAQ,UAAA,GAAa,EAAE,UAAA,EAAY,IAAA,KAAS,EAAC;AAAA,IACjD,GAAI,QAAQ,MAAA,GAAS,EAAE,QAAQ,OAAA,CAAQ,MAAA,KAAW,EAAC;AAAA,IACnD,GAAI,QAAQ,GAAA,GAAM,EAAE,KAAK,OAAA,CAAQ,GAAA,KAAQ,EAAC;AAAA,IAC1C,GAAI,QAAQ,eAAA,GAAkB,EAAE,iBAAiB,OAAA,CAAQ,eAAA,KAAoB;AAAC,GAChF;AAEA,EAAA,KAAA,MAAW,CAAC,KAAK,IAAI,CAAA,IAAK,OAAO,OAAA,CAAQ,IAAA,CAAK,KAAK,CAAA,EAAG;AACpD,IAAA,MAAM,OAAA,GAAU,OAAA,CAAQ,aAAA,CAAc,GAAG,CAAA;AACzC,IAAA,MAAM,QAAA,GAAW,KAAA,CAAM,aAAA,CAAc,IAAA,CAAK,QAAQ,CAAA;AAClD,IAAA,IAAI,CAAC,OAAA,IAAW,CAAC,QAAA,EAAU;AAG3B,IAAA,MAAM,SAAA,GAAY,IAAI,GAAA,CAAI,IAAA,CAAK,WAAW,CAAA;AAE1C,IAAA,IAAI,WAAA,EAAa;AACf,MAAA,KAAA,MAAW,QAAA,IAAY,KAAK,WAAA,EAAa;AACvC,QAAA,WAAA,CAAY,KAAA,EAAO,QAAA,EAAU,QAAA,EAAU,OAAA,EAAS,UAAU,YAAY,CAAA;AAAA,MACxE;AAAA,IACF;AACA,IAAA,IAAI,cAAA,EAAgB;AAClB,MAAA,KAAA,MAAW,QAAA,IAAY,IAAA,CAAK,cAAA,IAAkB,EAAC,EAAG;AAChD,QAAA,IAAI,WAAA,IAAe,SAAA,CAAU,GAAA,CAAI,QAAQ,CAAA,EAAG;AAC5C,QAAA,WAAA,CAAY,KAAA,EAAO,QAAA,EAAU,QAAA,EAAU,OAAA,EAAS,aAAa,YAAY,CAAA;AAAA,MAC3E;AAAA,IACF;AAAA,EACF;AACF;AAWO,SAAS,gBACd,KAAA,EACA,OAAA,EACA,IAAA,EACA,OAAA,GAMI,EAAC,EACG;AACR,EAAA,MAAM,KAAA,uBAAY,GAAA,EAAY;AAC9B,EAAA,KAAA,MAAW,IAAA,IAAQ,MAAA,CAAO,MAAA,CAAO,IAAA,CAAK,KAAK,CAAA,EAAG;AAC5C,IAAA,KAAA,MAAW,IAAA,IAAQ,IAAA,CAAK,WAAA,EAAa,KAAA,CAAM,IAAI,IAAI,CAAA;AACnD,IAAA,KAAA,MAAW,QAAQ,IAAA,CAAK,cAAA,IAAkB,EAAC,EAAG,KAAA,CAAM,IAAI,IAAI,CAAA;AAC5D,IAAA,KAAA,CAAM,GAAA,CAAI,KAAK,QAAQ,CAAA;AAAA,EACzB;AAIA,EAAA,MAAM,KAAA,uBAAY,GAAA,EAA4B;AAC9C,EAAA,MAAM,YAAA,GAAe,CAAC,IAAA,KAA+B;AACnD,IAAA,MAAM,MAAA,GAAS,KAAK,SAAA,EAAU;AAC9B,IAAA,IAAI,CAAC,MAAA,IAAU,MAAA,CAAO,YAAA,IAAgB,OAAO,OAAA;AAC7C,IAAA,IAAI,IAAA,GAAO,KAAA,CAAM,GAAA,CAAI,MAAA,CAAO,SAAS,CAAA;AACrC,IAAA,IAAI,CAAC,IAAA,EAAM;AACT,MAAA,IAAA,GAAO,IAAU,KAAA,CAAA,KAAA,EAAM;AACvB,MAAA,IAAA,CAAK,IAAA,GAAO,OAAO,OAAA,EAAQ;AAC3B,MAAA,IAAA,CAAK,SAAS,IAAA,GAAO,OAAA;AACrB,MAAA,IAAA,CAAK,QAAA,CAAS,QAAA,GAAW,MAAA,CAAO,OAAA,EAAQ;AACxC,MAAA,YAAA,CAAa,MAAM,MAAM,CAAA;AACzB,MAAA,YAAA,CAAa,MAAM,CAAA,CAAE,GAAA,CAAI,IAAI,CAAA;AAC7B,MAAA,KAAA,CAAM,GAAA,CAAI,MAAA,CAAO,OAAA,EAAQ,EAAG,IAAI,CAAA;AAAA,IAClC;AACA,IAAA,OAAO,IAAA;AAAA,EACT,CAAA;AAEA,EAAA,MAAM,YAAA,GAAkC;AAAA,IACtC,GAAI,QAAQ,eAAA,GAAkB,EAAE,iBAAiB,OAAA,CAAQ,eAAA,KAAoB,EAAC;AAAA,IAC9E,GAAI,OAAA,CAAQ,UAAA,GAAa,EAAE,UAAA,EAAY,IAAA,KAAS,EAAC;AAAA,IACjD,GAAI,QAAQ,MAAA,GAAS,EAAE,QAAQ,OAAA,CAAQ,MAAA,KAAW,EAAC;AAAA,IACnD,GAAI,QAAQ,GAAA,GAAM,EAAE,KAAK,OAAA,CAAQ,GAAA,KAAQ,EAAC;AAAA,IAC1C,GAAI,QAAQ,eAAA,GAAkB,EAAE,iBAAiB,OAAA,CAAQ,eAAA,KAAoB;AAAC,GAChF;AAEA,EAAA,IAAI,QAAA,GAAW,CAAA;AACf,EAAA,KAAA,MAAW,IAAA,IAAQ,KAAA,CAAM,QAAA,EAAS,EAAG;AACnC,IAAA,IAAI,CAAC,kBAAkB,IAAI,CAAA,IAAK,MAAM,GAAA,CAAI,IAAA,CAAK,OAAA,EAAS,CAAA,EAAG;AAC3D,IAAA,IAAI,KAAK,MAAA,CAAO,aAAa,CAAA,IAAK,kBAAA,CAAmB,IAAI,CAAA,EAAG;AAE5D,IAAA,IAAI,CAAC,GAAG,KAAK,CAAA,CAAE,KAAK,CAAC,IAAA,KAAS,IAAA,CAAK,OAAA,GAAU,UAAA,CAAW,CAAA,EAAG,IAAI,CAAA,CAAA,CAAG,CAAC,CAAA,EAAG;AAEtE,IAAA,MAAM,MAAA,GAAS,gBAAA,CAAiB,IAAA,EAAM,KAAA,EAAO,YAAY,CAAA;AACzD,IAAA,IAAI,CAAC,MAAA,EAAQ;AACb,IAAA,MAAA,CAAO,IAAA,GAAO,KAAK,OAAA,EAAQ;AAC3B,IAAA,MAAA,CAAO,SAAS,IAAA,GAAO,OAAA;AACvB,IAAA,MAAA,CAAO,QAAA,CAAS,QAAA,GAAW,IAAA,CAAK,OAAA,EAAQ;AACxC,IAAA,YAAA,CAAa,QAAQ,IAAI,CAAA;AACzB,IAAA,YAAA,CAAa,IAAI,CAAA,CAAE,GAAA,CAAI,MAAM,CAAA;AAC7B,IAAA,KAAA,CAAM,GAAA,CAAI,IAAA,CAAK,OAAA,EAAQ,EAAG,MAAM,CAAA;AAChC,IAAA,QAAA,EAAA;AAAA,EACF;AACA,EAAA,OAAO,QAAA;AACT;AAGA,SAAS,YAAA,CAAa,QAAwB,IAAA,EAAkB;AAC9D,EAAA,MAAA,CAAO,gBAAA,GAAmB,KAAA;AAC1B,EAAA,MAAA,CAAO,MAAA,CAAO,SAAA,CAAU,qBAAA,CAAsB,IAAI,EAAE,MAAM,CAAA;AAC1D,EAAA,MAAA,CAAO,sBAAA,GAAyB,IAAA;AAClC;AAOO,SAAS,kBAAA,CACd,QAAA,EACA,KAAA,EACA,QAAA,EACA,QACA,GAAA,EACmC;AACnC,EAAA,MAAM,OAAA,GAAU,KAAA,GAAQ,kBAAA,CAAmB,QAAQ,IAAI,EAAC;AACxD,EAAA,IAAI,QAAQ,MAAA,KAAW,CAAA;AACrB,IAAA,OAAO,kBAAkB,QAAA,EAAU,KAAA,EAAO,QAAA,EAAU,MAAA,EAAW,QAAQ,GAAG,CAAA;AAC5E,EAAA,OAAO;AAAA,IACL,GAAG,OAAA,CAAQ,GAAA,CAAI,CAAC,CAAA,KAAM,iBAAA,CAAkB,QAAA,EAAU,KAAA,EAAO,QAAA,EAAU,CAAA,CAAE,IAAA,EAAM,MAAA,EAAQ,GAAG,CAAC,CAAA;AAAA,IACvF,kBAAkB,QAAA,EAAU,KAAA,EAAO,QAAA,EAAU,MAAA,EAAW,QAAQ,GAAG;AAAA,GACrE;AACF;AAEA,SAAS,YACP,KAAA,EACA,QAAA,EACA,QAAA,EACA,MAAA,EACA,MACA,OAAA,EACM;AACN,EAAA,MAAM,QAAA,GAAW,KAAA,CAAM,aAAA,CAAc,QAAQ,CAAA;AAC7C,EAAA,IAAI,CAAC,QAAA,EAAU;AACf,EAAA,MAAM,MAAA,GAAS,gBAAA,CAAiB,QAAA,EAAU,KAAA,EAAO,OAAO,CAAA;AACxD,EAAA,IAAI,CAAC,MAAA,EAAQ;AAEb,EAAA,MAAA,CAAO,IAAA,GAAO,SAAS,OAAA,EAAQ;AAC/B,EAAA,MAAA,CAAO,SAAS,IAAA,GAAO,IAAA;AACvB,EAAA,MAAA,CAAO,SAAS,QAAA,GAAW,QAAA;AAE3B,EAAA,IAAI,IAAA,KAAS,WAAA,EAAa,MAAA,CAAO,OAAA,GAAU,KAAA;AAC3C,EAAA,MAAA,CAAO,gBAAA,GAAmB,KAAA;AAC1B,EAAA,MAAA,CAAO,MAAA,CAAO,SAAA,CAAU,iBAAA,CAAkB,QAAA,EAAU,QAAQ,CAAC,CAAA;AAC7D,EAAA,MAAA,CAAO,sBAAA,GAAyB,IAAA;AAChC,EAAA,MAAA,CAAO,IAAI,MAAM,CAAA;AACnB;AAGA,SAAS,iBAAA,CAAkB,UAAgB,QAAA,EAAsB;AAC/D,EAAA,MAAM,QAAgB,EAAC;AACvB,EAAA,IAAI,CAAA,GAAiB,QAAA;AACrB,EAAA,MAAM,IAAA,GAAO,SAAS,OAAA,EAAQ;AAC9B,EAAA,OAAO,CAAA,IAAK,CAAA,CAAE,OAAA,EAAQ,KAAM,IAAA,EAAM;AAChC,IAAA,KAAA,CAAM,KAAK,CAAC,CAAA;AACZ,IAAA,CAAA,GAAI,EAAE,SAAA,EAAU;AAAA,EAClB;AACA,EAAA,KAAA,CAAM,OAAA,EAAQ;AAEd,EAAA,IAAI,IAAI,SAAA,EAAU;AAClB,EAAA,KAAA,MAAW,QAAQ,KAAA,EAAO;AACxB,IAAA,CAAA,GAAI,QAAA,CAAS,CAAA,EAAG,qBAAA,CAAsB,IAAI,EAAE,MAAM,CAAA;AAAA,EACpD;AACA,EAAA,OAAO,CAAA;AACT;AAKA,SAAS,WAAA,CAAY,kBAA4B,iBAAA,EAAuC;AACtF,EAAA,MAAM,OAAiB,EAAC;AACxB,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,KAAA,MAAW,SAAS,gBAAA,EAAkB;AACpC,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,CAAA,EAAA,EAAK;AAC9B,MAAA,IAAA,CAAK,IAAA;AAAA,QACH,kBAAkB,MAAM,CAAA;AAAA,QACxB,iBAAA,CAAkB,MAAA,GAAS,CAAA,GAAI,CAAC,CAAA;AAAA,QAChC,iBAAA,CAAkB,SAAS,CAAC;AAAA,OAC9B;AAAA,IACF;AACA,IAAA,MAAA,IAAU,KAAA;AAAA,EACZ;AACA,EAAA,OAAO,IAAA;AACT;AAMA,SAAS,mBAAA,CACP,QAAA,EACA,gBAAA,EACA,iBAAA,EACA,OAAA,EACU;AACV,EAAA,MAAM,YAAsB,EAAC;AAC7B,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,KAAA,MAAW,SAAS,gBAAA,EAAkB;AACpC,IAAA,SAAA,CAAU,KAAK,MAAM,CAAA;AACrB,IAAA,MAAA,IAAU,KAAA;AAAA,EACZ;AAEA,EAAA,MAAM,OAAiB,EAAC;AACxB,EAAA,MAAM,IAAA,GAAO,CAAC,IAAA,KAAiB;AAC7B,IAAA,MAAM,KAAA,GAAQ,UAAU,IAAI,CAAA;AAC5B,IAAA,MAAM,KAAA,GAAQ,iBAAiB,IAAI,CAAA;AACnC,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,CAAA,EAAA,EAAK;AAC9B,MAAA,IAAA,CAAK,IAAA;AAAA,QACH,kBAAkB,KAAK,CAAA;AAAA,QACvB,iBAAA,CAAkB,KAAA,GAAQ,CAAA,GAAI,CAAC,CAAA;AAAA,QAC/B,iBAAA,CAAkB,QAAQ,CAAC;AAAA,OAC7B;AAAA,IACF;AAAA,EACF,CAAA;AAEA,EAAA,MAAM,OAAA,GAAU,IAAI,UAAA,CAAW,gBAAA,CAAiB,MAAM,CAAA;AACtD,EAAA,OAAA,CAAQ,OAAA,CAAQ,CAAC,MAAA,EAAQ,KAAA,KAAU;AACjC,IAAA,MAAMA,SAAQ,IAAA,CAAK,MAAA;AACnB,IAAA,KAAA,MAAW,IAAA,IAAQ,OAAO,KAAA,EAAO;AAC/B,MAAA,IAAI,OAAO,CAAA,IAAK,IAAA,IAAQ,iBAAiB,MAAA,IAAU,OAAA,CAAQ,IAAI,CAAA,EAAG;AAClE,MAAA,OAAA,CAAQ,IAAI,CAAA,GAAI,CAAA;AAChB,MAAA,IAAA,CAAK,IAAI,CAAA;AAAA,IACX;AACA,IAAA,IAAI,IAAA,CAAK,SAASA,MAAAA,EAAO,QAAA,CAAS,SAASA,MAAAA,EAAO,IAAA,CAAK,MAAA,GAASA,MAAAA,EAAO,KAAK,CAAA;AAAA,EAC9E,CAAC,CAAA;AAED,EAAA,MAAM,QAAQ,IAAA,CAAK,MAAA;AACnB,EAAA,KAAA,IAAS,IAAA,GAAO,CAAA,EAAG,IAAA,GAAO,gBAAA,CAAiB,QAAQ,IAAA,EAAA,EAAQ;AACzD,IAAA,IAAI,CAAC,OAAA,CAAQ,IAAI,CAAA,OAAQ,IAAI,CAAA;AAAA,EAC/B;AACA,EAAA,IAAI,IAAA,CAAK,MAAA,GAAS,KAAA,EAAO,QAAA,CAAS,QAAA,CAAS,OAAO,IAAA,CAAK,MAAA,GAAS,KAAA,EAAO,OAAA,CAAQ,MAAM,CAAA;AAErF,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,MAAM,CAAA,EAAqB;AAClC,EAAA,MAAM,GAAA,GAAM,IAAI,KAAA,CAAc,CAAA,CAAE,SAAS,CAAC,CAAA;AAC1C,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,CAAA,CAAE,QAAQ,CAAA,EAAA,EAAK;AACjC,IAAA,GAAA,CAAI,IAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACpB,IAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,IAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACxB,IAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,IAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AAAA,EAC1B;AACA,EAAA,OAAO,GAAA;AACT;AAEA,SAAS,MAAM,CAAA,EAAqB;AAClC,EAAA,MAAM,GAAA,GAAM,IAAI,KAAA,CAAc,CAAA,CAAE,SAAS,CAAC,CAAA;AAC1C,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,CAAA,CAAE,QAAQ,CAAA,EAAA,EAAK;AACjC,IAAA,GAAA,CAAI,IAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACpB,IAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,IAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AAAA,EAC1B;AACA,EAAA,OAAO,GAAA;AACT;AAEA,SAAS,cAAc,CAAA,EAA2B;AAChD,EAAA,OAAO,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,CAAA,CAAE,MAAM,CAAC,CAAA,KAAM,OAAO,CAAA,KAAM,QAAQ,CAAA;AACjE;AAEA,SAAS,YAAY,CAAA,EAAyB;AAC5C,EAAA,OAAO,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,EAAE,KAAA,CAAM,CAAC,CAAA,KAAM,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,CAAA,CAAE,WAAW,CAAC,CAAA;AAC9E;AAEA,SAAS,YAAY,CAAA,EAAyB;AAC5C,EAAA,OAAO,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,EAAE,KAAA,CAAM,CAAC,CAAA,KAAM,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,CAAA,CAAE,WAAW,CAAC,CAAA;AAC9E;ACroCA,IAAM,OAAA,GAAU,KAAK,EAAA,GAAK,GAAA;AAQnB,SAAS,qBAAA,CAAsB,UAAyB,OAAA,EAAkC;AAC/F,EAAA,MAAM,MAAA,uBAAa,GAAA,EAAqC;AAExD,EAAA,MAAM,QAAA,GAAW,CAAC,GAAA,KAAyC;AACzD,IAAA,IAAI,CAAA,GAAI,MAAA,CAAO,GAAA,CAAI,GAAG,CAAA;AACtB,IAAA,IAAI,CAAC,CAAA,EAAG;AACN,MAAA,CAAA,GAAI,SAAA,CAAU,UAAU,GAAG,CAAA;AAC3B,MAAA,MAAA,CAAO,GAAA,CAAI,KAAK,CAAC,CAAA;AAAA,IACnB;AACA,IAAA,OAAO,CAAA;AAAA,EACT,CAAA;AAEA,EAAA,OAAO,CAAC,SAAA,EAAmB,OAAA,GAA0B,EAAC,KAAM;AAC1D,IAAA,IAAI,GAAA;AACJ,IAAA,IAAI;AACF,MAAA,GAAA,GAAM,QAAA,CAAS,OAAA,CAAQ,SAAA,EAAW,OAAO,CAAA;AAAA,IAC3C,CAAA,CAAA,MAAQ;AACN,MAAA,OAAO,IAAA;AAAA,IACT;AAEA,IAAA,MAAM,OAAA,GAAU,IAAUC,KAAA,CAAA,OAAA,EAAQ;AAClC,IAAA,OAAA,CAAQ,UAAA,GACN,OAAA,CAAQ,UAAA,KAAe,QAAA,GAAiBA,KAAA,CAAA,YAAA,GAAqBA,KAAA,CAAA,cAAA;AAC/D,IAAA,OAAA,CAAQ,KAAA,GAAQ,WAAA,CAAY,OAAA,CAAQ,KAAK,CAAA;AACzC,IAAA,OAAA,CAAQ,KAAA,GAAQ,WAAA,CAAY,OAAA,CAAQ,KAAK,CAAA;AACzC,IAAA,IAAI,OAAA,CAAQ,OAAA,KAAY,MAAA,EAAW,OAAA,CAAQ,UAAU,OAAA,CAAQ,OAAA;AAC7D,IAAA,cAAA,CAAe,OAAA,EAAS,QAAQ,SAAS,CAAA;AAEzC,IAAA,QAAA,CAAS,GAAG,CAAA,CACT,IAAA,CAAK,CAAC,KAAA,KAAU;AACf,MAAA,OAAA,CAAQ,KAAA,GAAQ,KAAA;AAChB,MAAA,OAAA,CAAQ,WAAA,GAAc,IAAA;AAAA,IACxB,CAAC,CAAA,CACA,KAAA,CAAM,MAAM;AAAA,IAEb,CAAC,CAAA;AACH,IAAA,OAAO,OAAA;AAAA,EACT,CAAA;AACF;AAOA,eAAe,SAAA,CAAU,UAAyB,GAAA,EAAsC;AACtF,EAAA,MAAM,QAAQ,QAAA,CAAS,UAAA,GACnB,MAAM,QAAA,CAAS,WAAW,GAAG,CAAA,GAC7B,IAAI,WAAA,GAAc,MAAA,CAAO,MAAM,QAAA,CAAS,SAAA,CAAU,GAAG,CAAC,CAAA;AAC1D,EAAA,MAAM,IAAA,GAAO,IAAI,IAAA,CAAK,CAAC,KAAiB,CAAA,EAAG,EAAE,IAAA,EAAM,MAAA,CAAO,GAAG,CAAA,EAAG,CAAA;AAChE,EAAA,MAAM,SAAA,GAAY,GAAA,CAAI,eAAA,CAAgB,IAAI,CAAA;AAC1C,EAAA,IAAI;AACF,IAAA,OAAO,MAAM,IAAI,OAAA,CAA0B,CAAC,SAAS,MAAA,KAAW;AAC9D,MAAA,MAAM,GAAA,GAAM,IAAI,KAAA,EAAM;AACtB,MAAA,GAAA,CAAI,MAAA,GAAS,MAAM,OAAA,CAAQ,GAAG,CAAA;AAC9B,MAAA,GAAA,CAAI,OAAA,GAAU,MAAM,MAAA,CAAO,IAAI,MAAM,CAAA,0BAAA,EAA6B,GAAG,EAAE,CAAC,CAAA;AACxE,MAAA,GAAA,CAAI,GAAA,GAAM,SAAA;AAAA,IACZ,CAAC,CAAA;AAAA,EACH,CAAA,SAAE;AAEA,IAAA,GAAA,CAAI,gBAAgB,SAAS,CAAA;AAAA,EAC/B;AACF;AAEA,SAAS,YAAY,IAAA,EAA+C;AAClE,EAAA,QAAQ,IAAA;AAAM,IACZ,KAAK,OAAA;AAAA,IACL,KAAK,OAAA;AACH,MAAA,OAAaA,KAAA,CAAA,mBAAA;AAAA,IACf,KAAK,QAAA;AACH,MAAA,OAAaA,KAAA,CAAA,sBAAA;AAAA,IACf;AACE,MAAA,OAAaA,KAAA,CAAA,cAAA;AAAA;AAEnB;AAGA,SAAS,cAAA,CAAe,SAAwB,CAAA,EAAuC;AACrF,EAAA,IAAI,CAAC,CAAA,EAAG;AACR,EAAA,IAAI,CAAA,CAAE,KAAA,EAAO,OAAA,CAAQ,MAAA,CAAO,GAAA,CAAI,CAAA,CAAE,KAAA,CAAM,CAAC,CAAA,EAAG,CAAA,CAAE,KAAA,CAAM,CAAC,CAAC,CAAA;AACtD,EAAA,IAAI,CAAA,CAAE,WAAA,EAAa,OAAA,CAAQ,MAAA,CAAO,GAAA,CAAI,CAAA,CAAE,WAAA,CAAY,CAAC,CAAA,EAAG,CAAA,CAAE,WAAA,CAAY,CAAC,CAAC,CAAA;AACxE,EAAA,IAAI,CAAA,CAAE,aAAa,MAAA,EAAW;AAC5B,IAAA,OAAA,CAAQ,QAAA,GAAW,EAAE,QAAA,GAAW,OAAA;AAChC,IAAA,OAAA,CAAQ,MAAA,CAAO,GAAA,CAAI,CAAA,EAAG,CAAC,CAAA;AAAA,EACzB;AACF;AAEA,SAAS,OAAO,GAAA,EAAqB;AACnC,EAAA,IAAI,WAAA,CAAY,IAAA,CAAK,GAAG,CAAA,EAAG,OAAO,YAAA;AAClC,EAAA,IAAI,UAAA,CAAW,IAAA,CAAK,GAAG,CAAA,EAAG,OAAO,YAAA;AACjC,EAAA,OAAO,WAAA;AACT;;;AClDO,IAAM,sBAAN,MAA0B;AAAA,EACtB,OAAA;AAAA,EAET,WAAA,CAAY,OAAA,GAAsC,EAAC,EAAG;AACpD,IAAA,IAAA,CAAK,OAAA,GAAU,OAAA;AAAA,EACjB;AAAA,EAEA,IAAY,QAAA,GAA0B;AACpC,IAAA,OAAO,IAAA,CAAK,OAAA,CAAQ,aAAA,IAAiB,IAAI,oBAAA,EAAqB;AAAA,EAChE;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOA,MAAM,UAAU,GAAA,EAAqC;AACnD,IAAA,MAAM,KAAA,GAAQ,MAAM,IAAA,CAAK,cAAA,CAAe,GAAG,CAAA;AAG3C,IAAA,IAAI,WAAW,IAAA,CAAK,GAAG,GAAG,OAAO,IAAA,CAAK,UAAU,KAAK,CAAA;AACrD,IAAA,OAAO,IAAA,CAAK,KAAA,CAAM,KAAA,EAAO,GAAG,CAAA;AAAA,EAC9B;AAAA,EAEA,MAAc,eAAe,GAAA,EAAkC;AAC7D,IAAA,MAAM,WAAW,IAAA,CAAK,QAAA;AACtB,IAAA,IAAI,QAAA,CAAS,UAAA,EAAY,OAAO,QAAA,CAAS,WAAW,GAAG,CAAA;AACvD,IAAA,OAAO,IAAI,aAAY,CAAE,MAAA,CAAO,MAAM,QAAA,CAAS,SAAA,CAAU,GAAG,CAAC,CAAA;AAAA,EAC/D;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EASA,MAAM,KAAA,CAAM,IAAA,EAAiB,OAAA,GAAU,EAAA,EAA4B;AACjE,IAAA,OAAO,KAAK,cAAA,CAAe,MAAM,KAAK,UAAA,CAAW,IAAA,EAAM,OAAO,CAAC,CAAA;AAAA,EACjE;AAAA;AAAA,EAGA,MAAM,UAAU,IAAA,EAA4C;AAC1D,IAAA,OAAO,IAAA,CAAK,eAAe,MAAM,IAAA,CAAK,cAAc,MAAM,OAAA,CAAQ,IAAI,CAAC,CAAC,CAAA;AAAA,EAC1E;AAAA;AAAA,EAGA,MAAM,UAAA,CAAW,IAAA,EAAoB,OAAA,GAAU,EAAA,EAA4B;AACzE,IAAA,MAAM,KAAA,GAAQ,MAAM,IAAA,CAAK,qBAAA,CAAsB,MAAM,QAAQ,IAAI,CAAA,EAAG,OAAA,EAAS,IAAA,CAAK,QAAQ,CAAA;AAC1F,IAAA,OAAO,IAAA,CAAK,eAAe,EAAE,KAAA,EAAO,SAAS,QAAA,EAAU,IAAA,CAAK,UAAU,CAAA;AAAA,EACxE;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,MAAM,qBAAA,CAAsB,IAAA,EAAiB,OAAA,GAAU,EAAA,EAA+B;AACpF,IAAA,MAAM,EAAE,KAAA,EAAM,GAAI,MAAM,IAAA,CAAK,UAAA,CAAW,MAAM,OAAO,CAAA;AACrD,IAAA,OAAO,uBAAA,CAAwB,KAAA,EAAO,IAAA,CAAK,cAAA,EAAgB,CAAA;AAAA,EAC7D;AAAA;AAAA,EAGA,MAAc,UAAA,CAAW,IAAA,EAAiB,OAAA,EAAuC;AAC/E,IAAA,MAAM,WAAW,IAAA,CAAK,QAAA;AACtB,IAAA,IAAI,OAAO,SAAS,QAAA,EAAU;AAC5B,MAAA,OAAO,EAAE,KAAA,EAAO,MAAM,IAAA,CAAK,YAAA,CAAa,MAAM,OAAA,EAAS,QAAQ,CAAA,EAAG,OAAA,EAAS,QAAA,EAAS;AAAA,IACtF;AACA,IAAA,MAAM,KAAA,GAAQ,MAAM,OAAA,CAAQ,IAAI,CAAA;AAChC,IAAA,IAAI,MAAM,KAAK,CAAA,EAAG,OAAO,IAAA,CAAK,cAAc,KAAK,CAAA;AACjD,IAAA,MAAM,KAAA,GAAQ,YAAY,OAAA,CAAQ,KAAK,IACnC,MAAM,IAAA,CAAK,qBAAA,CAAsB,KAAA,EAAO,OAAA,EAAS,QAAQ,IACzD,MAAM,IAAA,CAAK,aAAa,IAAI,WAAA,GAAc,MAAA,CAAO,KAAK,CAAA,EAAG,OAAA,EAAS,QAAQ,CAAA;AAC9E,IAAA,OAAO,EAAE,KAAA,EAAO,OAAA,EAAS,QAAA,EAAS;AAAA,EACpC;AAAA,EAEA,MAAc,cAAc,KAAA,EAAyC;AACnE,IAAA,MAAM,GAAA,GAAM,SAAS,KAAK,CAAA;AAE1B,IAAA,MAAM,YAAY,MAAM,GAAA,CAAI,QAAA,CAAS,UAAA,CAAW,IAAI,SAAS,CAAA;AAC7D,IAAA,MAAM,KAAA,GAAQ,MAAM,IAAA,CAAK,qBAAA,CAAsB,WAAW,GAAA,CAAI,SAAA,EAAW,IAAI,QAAQ,CAAA;AACrF,IAAA,OAAO,EAAE,KAAA,EAAO,OAAA,EAAS,IAAI,SAAA,EAAW,QAAA,EAAU,IAAI,QAAA,EAAS;AAAA,EACjE;AAAA,EAEA,MAAc,cAAA,CAAe,EAAE,KAAA,EAAO,OAAA,EAAS,UAAS,EAAwC;AAC9F,IAAA,MAAM,KAAA,GAAQ,uBAAA,CAAwB,KAAA,EAAO,IAAA,CAAK,gBAAgB,CAAA;AAClE,IAAA,MAAM,IAAA,GAAO,mBAAmB,KAAK,CAAA;AACrC,IAAA,MAAM,UAAU,IAAI,aAAA,CAAc,OAAO,IAAA,EAAM,IAAA,CAAK,cAAc,CAAA;AAClE,IAAA,OAAA,CAAQ,KAAA,GAAQ,KAAA;AAEhB,IAAA,MAAM,WAAA,GAAc,IAAA,CAAK,OAAA,CAAQ,WAAA,IAAe,IAAA;AAChD,IAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,OAAA,CAAQ,cAAA,IAAkB,KAAA;AAGtD,IAAA,MAAM,aAAA,GACJ,MAAA,CAAO,IAAA,CAAK,KAAA,CAAM,KAAK,CAAA,CAAE,MAAA,KAAW,CAAA,IAAK,MAAA,CAAO,IAAA,CAAK,KAAA,CAAM,MAAM,EAAE,MAAA,KAAW,CAAA;AAChF,IAAA,IAAI,aAAA,IAAiB,IAAA,CAAK,OAAA,CAAQ,iBAAA,KAAsB,MAAA,EAAW;AACjE,MAAA,IAAA,CAAK,OAAA,CAAQ,MAAA;AAAA,QACX;AAAA,OACF;AAAA,IACF;AACA,IAAA,MAAM,SAAA,GAAY,IAAA,CAAK,OAAA,CAAQ,iBAAA,IAAqB,aAAA;AACpD,IAAA,IAAI,WAAA,IAAe,kBAAkB,SAAA,EAAW;AAC9C,MAAA,MAAM,eAAA,GACH,KAAK,OAAA,CAAQ,YAAA,IAAgB,OAAQ,qBAAA,CAAsB,QAAA,EAAU,OAAO,CAAA,GAAI,MAAA;AACnF,MAAA,MAAM,UAAA,GAAa,IAAA,CAAK,OAAA,CAAQ,UAAA,IAAc,KAAA;AAC9C,MAAA,MAAM,MAAA,GAAS,KAAK,OAAA,CAAQ,MAAA;AAC5B,MAAA,MAAM,eAAA,GAAkB,KAAK,OAAA,CAAQ,eAAA;AAGrC,MAAA,MAAM,GAAA,GAAM,MAAM,cAAA,CAAe,KAAA,EAAO,UAAU,OAAO,CAAA;AACzD,MAAA,IAAI,eAAe,cAAA,EAAgB;AACjC,QAAA,eAAA,CAAgB,KAAA,EAAO,SAAS,KAAA,EAAO;AAAA,UACrC,WAAA;AAAA,UACA,cAAA;AAAA,UACA,GAAI,eAAA,GAAkB,EAAE,eAAA,KAAoB,EAAC;AAAA,UAC7C,GAAI,UAAA,GAAa,EAAE,UAAA,KAAe,EAAC;AAAA,UACnC,GAAI,MAAA,GAAS,EAAE,MAAA,KAAW,EAAC;AAAA,UAC3B,GAAI,GAAA,GAAM,EAAE,GAAA,KAAQ,EAAC;AAAA,UACrB,GAAI,eAAA,GAAkB,EAAE,eAAA,KAAoB;AAAC,SAC9C,CAAA;AAAA,MACH;AACA,MAAA,IAAI,SAAA,EAAW;AACb,QAAA,eAAA,CAAgB,KAAA,EAAO,SAAS,KAAA,EAAO;AAAA,UACrC,GAAI,eAAA,GAAkB,EAAE,eAAA,KAAoB,EAAC;AAAA,UAC7C,GAAI,UAAA,GAAa,EAAE,UAAA,KAAe,EAAC;AAAA,UACnC,GAAI,MAAA,GAAS,EAAE,MAAA,KAAW,EAAC;AAAA,UAC3B,GAAI,GAAA,GAAM,EAAE,GAAA,KAAQ,EAAC;AAAA,UACrB,GAAI,eAAA,GAAkB,EAAE,eAAA,KAAoB;AAAC,SAC9C,CAAA;AAAA,MACH;AACA,MAAA,IAAA,CAAK,sBAAsB,KAAK,CAAA;AAAA,IAClC;AACA,IAAA,OAAO,OAAA;AAAA,EACT;AAAA;AAAA,EAGQ,sBAAsB,KAAA,EAAoB;AAChD,IAAA,MAAM,WAAA,uBAAkB,GAAA,EAAoB;AAC5C,IAAA,KAAA,MAAW,IAAA,IAAQ,KAAA,CAAM,QAAA,EAAS,EAAG;AACnC,MAAA,MAAM,IAAA,GAAO,KAAK,WAAA,EAAY;AAC9B,MAAA,IAAI,mBAAmB,IAAI,CAAA,IAAK,CAAC,WAAA,CAAY,GAAA,CAAI,IAAI,CAAA,EAAG;AACtD,QAAA,WAAA,CAAY,GAAA,CAAI,IAAA,EAAM,IAAA,CAAK,OAAA,EAAS,CAAA;AAAA,MACtC;AAAA,IACF;AACA,IAAA,KAAA,MAAW,CAAC,IAAA,EAAM,IAAI,CAAA,IAAK,WAAA,EAAa;AACtC,MAAA,IAAA,CAAK,QAAQ,MAAA,GAAS,CAAA,EAAG,IAAI,CAAA,8CAAA,EAAiD,IAAI,CAAA,CAAA,CAAG,CAAA;AAAA,IACvF;AAAA,EACF;AAAA,EAEA,MAAc,YAAA,CACZ,IAAA,EACA,OAAA,EACA,QAAA,EACgB;AAChB,IAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,OAAA,CAAQ,MAAA,GAAS,EAAE,QAAQ,IAAA,CAAK,OAAA,CAAQ,MAAA,EAAO,GAAI,EAAC;AAChF,IAAA,OAAO,KAAA,CAAM,aAAa,MAAM,YAAA,CAAa,MAAM,OAAA,EAAS,QAAA,EAAU,cAAc,CAAC,CAAA;AAAA,EACvF;AAAA;AAAA,EAGA,MAAc,qBAAA,CACZ,KAAA,EACA,OAAA,EACA,QAAA,EACgB;AAChB,IAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,OAAA,CAAQ,MAAA,GAAS,EAAE,QAAQ,IAAA,CAAK,OAAA,CAAQ,MAAA,EAAO,GAAI,EAAC;AAChF,IAAA,MAAM,QAAA,GAAW,WAAA,CAAY,OAAA,CAAQ,KAAK,IACtC,MAAM,WAAA;AAAA,MACJ,eAAA,CAAgB,IAAI,WAAA,CAAY,KAAK,CAAC,CAAA;AAAA,MACtC,OAAA;AAAA,MACA,QAAA;AAAA,MACA;AAAA,KACF,GACA,MAAM,YAAA,CAAa,IAAI,WAAA,EAAY,CAAE,MAAA,CAAO,KAAK,CAAA,EAAG,OAAA,EAAS,QAAA,EAAU,cAAc,CAAA;AACzF,IAAA,OAAO,KAAA,CAAM,aAAa,QAAQ,CAAA;AAAA,EACpC;AAAA,EAEQ,YAAA,GAAqC;AAC3C,IAAA,OAAO;AAAA,MACL,GAAI,IAAA,CAAK,OAAA,CAAQ,OAAA,GACb,EAAE,OAAA,EAAS,IAAA,CAAK,OAAA,CAAQ,OAAA,KACxB,EAAE,gBAAA,EAAkB,IAAA,CAAK,OAAA,CAAQ,oBAAoB,MAAA,EAAO;AAAA,MAChE,GAAI,IAAA,CAAK,OAAA,CAAQ,gBAAA,KAAqB,MAAA,GAClC,EAAE,gBAAA,EAAkB,IAAA,CAAK,OAAA,CAAQ,gBAAA,EAAiB,GAClD,EAAC;AAAA,MACL,GAAI,IAAA,CAAK,OAAA,CAAQ,SAAA,KAAc,MAAA,GAAY,EAAE,SAAA,EAAW,IAAA,CAAK,OAAA,CAAQ,SAAA,EAAU,GAAI,EAAC;AAAA,MACpF,GAAI,IAAA,CAAK,OAAA,CAAQ,8BAAA,KAAmC,MAAA,GAChD,EAAE,gBAAA,EAAkB,IAAA,CAAK,OAAA,CAAQ,8BAAA,EAA+B,GAChE,EAAC;AAAA,MACL,GAAI,IAAA,CAAK,OAAA,CAAQ,oBAAA,KAAyB,MAAA,GACtC,EAAE,oBAAA,EAAsB,IAAA,CAAK,OAAA,CAAQ,oBAAA,EAAqB,GAC1D;AAAC,KACP;AAAA,EACF;AAAA,EAEQ,cAAA,GAA6E;AACnF,IAAA,OAAO;AAAA,MACL,GAAI,IAAA,CAAK,OAAA,CAAQ,SAAA,KAAc,MAAA,GAAY,EAAE,SAAA,EAAW,IAAA,CAAK,OAAA,CAAQ,SAAA,EAAU,GAAI,EAAC;AAAA,MACpF,GAAI,IAAA,CAAK,OAAA,CAAQ,MAAA,KAAW,MAAA,GAAY,EAAE,MAAA,EAAQ,IAAA,CAAK,OAAA,CAAQ,MAAA,EAAO,GAAI;AAAC,KAC7E;AAAA,EACF;AACF","file":"chunk-GRJGPHLW.js","sourcesContent":["/**\n * Binds renderable gprims — `UsdGeom.Mesh` plus the parametric solids (`Cube` /\n * `Sphere` / `Cylinder` / `Capsule` / `Cone`) — to Three.js geometry and\n * attaches them under the robot's link objects.\n *\n * Meshes are triangulated with a simple fan. Primvars (`st` UV sets, `normals`,\n * `displayColor`) resolve with USD interpolation semantics — `:indices`\n * de-referencing, vertex vs faceVarying (de-indexed) layouts, multiple UV\n * channels. Solids tessellate from their schema attributes. Geometry is left\n * in stage units; the global `metersPerUnit` scale is applied at the root in M9.\n */\n\nimport * as THREE from \"three\";\nimport { type Mat4, identity4, multiply } from \"../kinematics/transforms.js\";\nimport type { Vec2, Vec3 } from \"../parser/ast.js\";\nimport type { RobotDescription } from \"../robot/RobotDescription.js\";\nimport {\n  type MaterialSubset,\n  getMaterialSubsets,\n  isNonVisualPurpose,\n  isRenderableGprim,\n} from \"../schemas/usdGeom.js\";\nimport { COLLISION_API } from \"../schemas/usdPhysics.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport type { MdlModuleProvider } from \"../usd/mdl/parseMdl.js\";\nimport { computeLocalTransform } from \"../usd/xformOps.js\";\nimport {\n  type ResolveMaterialOptions,\n  type ResolvedTexture,\n  resolveBoundMaterial,\n} from \"./MaterialBinding.js\";\nimport type { TextureProvider } from \"./TextureBinding.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\nexport type MeshKind = \"visual\" | \"collision\";\n\n/**\n * Replaces material creation for mesh-like gprims (`Mesh` and the parametric\n * solids). Return `null` to fall back to the default `UsdShade` resolution —\n * the hook that lets the optional `three-usd-robot/nodes` entry build TSL\n * `NodeMaterial`s without the core depending on `three/webgpu` (M22).\n */\nexport type MaterialFactory = (prim: Prim, stage: Stage) => THREE.Material | null;\n\nconst DEFAULT_COLOR = 0x9a9a9a;\n\nexport type BindMeshesOptions = {\n  loadVisuals?: boolean;\n  loadCollisions?: boolean;\n  /** Resolves diffuse texture asset paths to `THREE.Texture` (M-tex). */\n  textureProvider?: TextureProvider;\n  /** Render `BasisCurves` with authored `widths` as tube meshes (M18). */\n  curveTubes?: boolean;\n  /** Receives fidelity diagnostics (channel-packing mismatches, M19). */\n  onWarn?: (message: string) => void;\n  /** Parsed `.mdl` modules for MDL material family/value resolution (M20). */\n  mdl?: MdlModuleProvider;\n  /** Overrides material creation for mesh-like gprims (M22). */\n  materialFactory?: MaterialFactory;\n};\n\n/** Interpolation domain of a resolved primvar (UsdGeom tokens; `varying` ⇒ `vertex`). */\ntype PrimvarInterpolation = \"constant\" | \"uniform\" | \"vertex\" | \"faceVarying\";\n\ntype ResolvedPrimvar = {\n  /** Tuples after `primvars:<name>:indices` de-referencing. */\n  values: number[][];\n  interpolation: PrimvarInterpolation;\n};\n\n/** Element counts of the interpolation domains on a mesh. */\ntype MeshLens = { points: number; faceVertices: number; faces: number };\n\n/**\n * Read a primvar (or a bare attribute like `normals`): applies the paired\n * `:indices` array, then resolves the interpolation — authored metadata\n * first, else inferred from the value count. Data too short for its domain\n * degrades to constant instead of producing a broken attribute.\n */\nfunction readPrimvar(\n  meshPrim: Prim,\n  attrName: string,\n  isTuple: (v: unknown) => boolean,\n  lens: MeshLens,\n): ResolvedPrimvar | null {\n  const attr = meshPrim.GetAttribute(attrName);\n  const raw = attr.Get();\n  if (!isTuple(raw) || (raw as number[][]).length === 0) return null;\n  const base = raw as number[][];\n  let values = base;\n  const idx = meshPrim.GetAttribute(`${attrName}:indices`).Get();\n  if (isNumberArray(idx)) values = idx.map((i) => base[i] ?? base[0]!);\n\n  const authored = attr.GetMetadata(\"interpolation\");\n  let interpolation: PrimvarInterpolation;\n  if (authored === \"varying\")\n    interpolation = \"vertex\"; // ≡ vertex on polygon meshes\n  else if (\n    authored === \"constant\" ||\n    authored === \"uniform\" ||\n    authored === \"vertex\" ||\n    authored === \"faceVarying\"\n  ) {\n    interpolation = authored;\n  } else if (values.length === lens.points && lens.points > 0) interpolation = \"vertex\";\n  else if (values.length === lens.faceVertices && lens.faceVertices > 0)\n    interpolation = \"faceVarying\";\n  else if (values.length === lens.faces && lens.faces > 0) interpolation = \"uniform\";\n  else interpolation = \"constant\";\n\n  const needed =\n    interpolation === \"vertex\"\n      ? lens.points\n      : interpolation === \"faceVarying\"\n        ? lens.faceVertices\n        : interpolation === \"uniform\"\n          ? lens.faces\n          : 1;\n  if (values.length < needed) interpolation = \"constant\";\n  return { values, interpolation };\n}\n\n/**\n * UV-set primvar names authored on a mesh — `\"st\"` first (three's `uv`\n * attribute / channel 0), extras sorted (`uv1`, `uv2`, …). The geometry and\n * material builders both derive the channel mapping from this order.\n */\n/** UV-capable primvar value types (pxr spells it `texCoord2f`, assets vary). */\nconst UV_TYPE_NAMES: ReadonlySet<string> = new Set([\"texcoord2f\", \"float2\"]);\n\nfunction meshUvSetNames(meshPrim: Prim): string[] {\n  const sets: string[] = [];\n  for (const attr of meshPrim.GetAttributes()) {\n    const name = attr.GetName();\n    if (!name.startsWith(\"primvars:\") || name.endsWith(\":indices\")) continue;\n    if (!attr.IsArray()) continue;\n    if (!UV_TYPE_NAMES.has(attr.GetTypeName().toLowerCase())) continue;\n    sets.push(name.slice(\"primvars:\".length));\n  }\n  sets.sort((a, b) => (a === \"st\" ? -1 : b === \"st\" ? 1 : a < b ? -1 : 1));\n  return sets;\n}\n\nfunction uvAttrName(index: number): string {\n  return index === 0 ? \"uv\" : `uv${index}`;\n}\n\nfunction meshLens(meshPrim: Prim): MeshLens {\n  const points = meshPrim.GetAttribute(\"points\").Get();\n  const counts = meshPrim.GetAttribute(\"faceVertexCounts\").Get();\n  const indices = meshPrim.GetAttribute(\"faceVertexIndices\").Get();\n  const hasTopology = isNumberArray(counts) && isNumberArray(indices);\n  return {\n    points: isVec3Array(points) ? points.length : 0,\n    faceVertices: hasTopology ? (indices as number[]).length : 0,\n    faces: hasTopology ? (counts as number[]).length : 0,\n  };\n}\n\n/** The mesh's `primvars:displayColor`, resolved — shared by geometry & material. */\nfunction displayColorPrimvar(meshPrim: Prim): ResolvedPrimvar | null {\n  return readPrimvar(meshPrim, \"primvars:displayColor\", isVec3Array, meshLens(meshPrim));\n}\n\n/**\n * Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points.\n *\n * Primvars resolve with full interpolation semantics (M19): `:indices` arrays\n * are de-referenced, vertex-interpolated `st` sets / `normals` /\n * `displayColor` bind onto the shared vertices, and any faceVarying primvar\n * (or per-face color) switches the mesh to a de-indexed layout where every\n * face corner owns its vertex. Extra UV sets become `uv1`, `uv2`, … in\n * {@link meshUvSetNames} order.\n *\n * When the mesh carries `materialBind` face subsets, the triangles are ordered\n * subset by subset and a geometry group is added for each — so the mesh can be\n * drawn with one material per subset (see {@link buildMeshMaterials}). Group\n * order matches {@link getMaterialSubsets}, with any unassigned faces last.\n */\nexport function buildMeshGeometry(meshPrim: Prim): THREE.BufferGeometry | null {\n  const points = meshPrim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return null;\n\n  const countsRaw = meshPrim.GetAttribute(\"faceVertexCounts\").Get();\n  const indicesRaw = meshPrim.GetAttribute(\"faceVertexIndices\").Get();\n  const counts = isNumberArray(countsRaw) ? countsRaw : null;\n  const indices = isNumberArray(indicesRaw) ? indicesRaw : null;\n  const lens: MeshLens = {\n    points: points.length,\n    faceVertices: counts && indices ? indices.length : 0,\n    faces: counts && indices ? counts.length : 0,\n  };\n\n  const uvSets = meshUvSetNames(meshPrim).map((set) =>\n    readPrimvar(meshPrim, `primvars:${set}`, isVec2Array, lens),\n  );\n  const normals =\n    readPrimvar(meshPrim, \"primvars:normals\", isVec3Array, lens) ??\n    readPrimvar(meshPrim, \"normals\", isVec3Array, lens);\n  const color = displayColorPrimvar(meshPrim);\n\n  // Face-varying data (or per-face color) cannot live on shared vertices.\n  const expand =\n    counts !== null &&\n    indices !== null &&\n    ([...uvSets, normals].some((p) => p?.interpolation === \"faceVarying\") ||\n      color?.interpolation === \"faceVarying\" ||\n      color?.interpolation === \"uniform\");\n\n  return expand\n    ? buildExpandedGeometry(meshPrim, points, counts!, indices!, uvSets, normals, color)\n    : buildIndexedGeometry(meshPrim, points, counts, indices, uvSets, normals, color);\n}\n\n/** Shared-vertex (indexed) layout: all primvars are per-vertex or absent. */\nfunction buildIndexedGeometry(\n  meshPrim: Prim,\n  points: Vec3[],\n  counts: number[] | null,\n  indices: number[] | null,\n  uvSets: (ResolvedPrimvar | null)[],\n  normals: ResolvedPrimvar | null,\n  color: ResolvedPrimvar | null,\n): THREE.BufferGeometry {\n  const geometry = new THREE.BufferGeometry();\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(points), 3));\n\n  if (counts && indices) {\n    const subsets = getMaterialSubsets(meshPrim);\n    if (subsets.length > 0) {\n      geometry.setIndex(triangulateBySubset(geometry, counts, indices, subsets));\n    } else {\n      geometry.setIndex(triangulate(counts, indices));\n    }\n  } else if (indices) {\n    geometry.setIndex(indices.slice());\n  }\n\n  if (normals?.interpolation === \"vertex\") {\n    geometry.setAttribute(\n      \"normal\",\n      new THREE.Float32BufferAttribute(flat3(normals.values.slice(0, points.length) as Vec3[]), 3),\n    );\n  } else {\n    geometry.computeVertexNormals();\n  }\n  for (const [i, uv] of uvSets.entries()) {\n    if (uv?.interpolation !== \"vertex\") continue;\n    geometry.setAttribute(\n      uvAttrName(i),\n      new THREE.Float32BufferAttribute(flat2(uv.values.slice(0, points.length) as Vec2[]), 2),\n    );\n  }\n  if (color?.interpolation === \"vertex\") {\n    geometry.setAttribute(\n      \"color\",\n      new THREE.Float32BufferAttribute(flat3(color.values.slice(0, points.length) as Vec3[]), 3),\n    );\n  }\n  return geometry;\n}\n\n/**\n * De-indexed layout for faceVarying primvars: triangulate to face-corner\n * \"slots\", then emit one vertex per corner, sampling each primvar in its own\n * interpolation domain. Subset groups carry over in corner units.\n */\nfunction buildExpandedGeometry(\n  meshPrim: Prim,\n  points: Vec3[],\n  counts: number[],\n  indices: number[],\n  uvSets: (ResolvedPrimvar | null)[],\n  normals: ResolvedPrimvar | null,\n  color: ResolvedPrimvar | null,\n): THREE.BufferGeometry {\n  const { slots, faces, groups } = triangulateToSlots(counts, getMaterialSubsets(meshPrim));\n\n  const sample = (p: ResolvedPrimvar, corner: number): number[] => {\n    switch (p.interpolation) {\n      case \"faceVarying\":\n        return p.values[slots[corner]!] ?? p.values[0]!;\n      case \"vertex\":\n        return p.values[indices[slots[corner]!]!] ?? p.values[0]!;\n      case \"uniform\":\n        return p.values[faces[corner]!] ?? p.values[0]!;\n      default:\n        return p.values[0]!;\n    }\n  };\n\n  const geometry = new THREE.BufferGeometry();\n  const position = new Array<number>(slots.length * 3);\n  for (let c = 0; c < slots.length; c++) {\n    const v = points[indices[slots[c]!]!] ?? [0, 0, 0];\n    position[c * 3] = v[0];\n    position[c * 3 + 1] = v[1];\n    position[c * 3 + 2] = v[2];\n  }\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(position, 3));\n\n  for (const [i, uv] of uvSets.entries()) {\n    if (!uv || uv.interpolation === \"constant\") continue;\n    const out = new Array<number>(slots.length * 2);\n    for (let c = 0; c < slots.length; c++) {\n      const t = sample(uv, c);\n      out[c * 2] = t[0] ?? 0;\n      out[c * 2 + 1] = t[1] ?? 0;\n    }\n    geometry.setAttribute(uvAttrName(i), new THREE.Float32BufferAttribute(out, 2));\n  }\n\n  const emitVec3 = (p: ResolvedPrimvar, name: string) => {\n    const out = new Array<number>(slots.length * 3);\n    for (let c = 0; c < slots.length; c++) {\n      const t = sample(p, c);\n      out[c * 3] = t[0] ?? 0;\n      out[c * 3 + 1] = t[1] ?? 0;\n      out[c * 3 + 2] = t[2] ?? 0;\n    }\n    geometry.setAttribute(name, new THREE.Float32BufferAttribute(out, 3));\n  };\n  if (normals && normals.interpolation !== \"constant\") emitVec3(normals, \"normal\");\n  else geometry.computeVertexNormals();\n  if (color && color.interpolation !== \"constant\") emitVec3(color, \"color\");\n\n  for (const g of groups) geometry.addGroup(g.start, g.count, g.materialIndex);\n  return geometry;\n}\n\n/**\n * Triangulate faces into corner-slot triples (subset by subset, unassigned\n * faces last — the ordering contract of {@link triangulateBySubset}), keeping\n * the owning face of every corner and the subset group ranges.\n */\nfunction triangulateToSlots(\n  faceVertexCounts: number[],\n  subsets: MaterialSubset[],\n): {\n  slots: number[];\n  faces: number[];\n  groups: { start: number; count: number; materialIndex: number }[];\n} {\n  const faceStart: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    faceStart.push(offset);\n    offset += count;\n  }\n\n  const slots: number[] = [];\n  const faces: number[] = [];\n  const emit = (face: number) => {\n    const start = faceStart[face]!;\n    const count = faceVertexCounts[face]!;\n    for (let k = 2; k < count; k++) {\n      slots.push(start, start + k - 1, start + k);\n      faces.push(face, face, face);\n    }\n  };\n\n  const groups: { start: number; count: number; materialIndex: number }[] = [];\n  if (subsets.length === 0) {\n    for (let face = 0; face < faceVertexCounts.length; face++) emit(face);\n    return { slots, faces, groups };\n  }\n\n  const claimed = new Uint8Array(faceVertexCounts.length);\n  for (const [index, subset] of subsets.entries()) {\n    const begin = slots.length;\n    for (const face of subset.faces) {\n      if (face < 0 || face >= faceVertexCounts.length || claimed[face]) continue;\n      claimed[face] = 1;\n      emit(face);\n    }\n    if (slots.length > begin) {\n      groups.push({ start: begin, count: slots.length - begin, materialIndex: index });\n    }\n  }\n  const begin = slots.length;\n  for (let face = 0; face < faceVertexCounts.length; face++) {\n    if (!claimed[face]) emit(face);\n  }\n  if (slots.length > begin) {\n    groups.push({ start: begin, count: slots.length - begin, materialIndex: subsets.length });\n  }\n  return { slots, faces, groups };\n}\n\n/**\n * Build geometry for any renderable gprim: `Mesh` via {@link buildMeshGeometry},\n * parametric solids from their schema attributes. Solids follow UsdGeom\n * semantics — sizes in stage units, centered at the origin, `axis` (default\n * `\"Z\"`) along the spine, and a capsule's `height` spans only its cylindrical\n * section. Returns `null` for unsupported prim types.\n */\nexport function buildGprimGeometry(prim: Prim): THREE.BufferGeometry | null {\n  switch (prim.GetTypeName()) {\n    case \"Mesh\":\n      return buildMeshGeometry(prim);\n    case \"Cube\": {\n      const size = getNumber(prim, \"size\") ?? 2;\n      return new THREE.BoxGeometry(size, size, size);\n    }\n    case \"Sphere\":\n      return new THREE.SphereGeometry(getNumber(prim, \"radius\") ?? 1, 32, 16);\n    case \"Cylinder\": {\n      const radius = getNumber(prim, \"radius\") ?? 1;\n      const height = getNumber(prim, \"height\") ?? 2;\n      return orientSpine(new THREE.CylinderGeometry(radius, radius, height, 32), prim);\n    }\n    case \"Capsule\": {\n      const radius = getNumber(prim, \"radius\") ?? 0.5;\n      const height = getNumber(prim, \"height\") ?? 1;\n      return orientSpine(new THREE.CapsuleGeometry(radius, height, 8, 32), prim);\n    }\n    case \"Cone\": {\n      const radius = getNumber(prim, \"radius\") ?? 1;\n      const height = getNumber(prim, \"height\") ?? 2;\n      return orientSpine(new THREE.ConeGeometry(radius, height, 32), prim);\n    }\n    default:\n      return null;\n  }\n}\n\nexport type BuildGprimOptions = {\n  /** Resolves texture asset paths for mesh materials. */\n  textureProvider?: TextureProvider;\n  /**\n   * Render `BasisCurves` that author `widths` as tube meshes instead of\n   * 1-px lines (default `false`).\n   */\n  curveTubes?: boolean;\n  /** Receives fidelity diagnostics (channel-packing mismatches, M19). */\n  onWarn?: (message: string) => void;\n  /** Parsed `.mdl` modules for MDL material family/value resolution (M20). */\n  mdl?: MdlModuleProvider;\n  /** Overrides material creation for mesh-like gprims (M22). */\n  materialFactory?: MaterialFactory;\n};\n\n/**\n * Build a renderable `THREE.Object3D` for any supported gprim (M18):\n * `Mesh` and the parametric solids become a `THREE.Mesh` (via\n * {@link buildGprimGeometry} + {@link buildMeshMaterials}), `Points` a\n * `THREE.Points`, and `BasisCurves` a `THREE.Group` holding one line — or,\n * with {@link BuildGprimOptions.curveTubes}, one tube mesh — per curve.\n * Returns `null` for unsupported prim types and degenerate geometry.\n */\nexport function buildGprimObject(\n  prim: Prim,\n  stage?: Stage,\n  options: BuildGprimOptions = {},\n): THREE.Object3D | null {\n  switch (prim.GetTypeName()) {\n    case \"Points\":\n      return buildPointsObject(prim, stage, options.mdl);\n    case \"BasisCurves\":\n      return buildBasisCurvesObject(prim, stage, options.curveTubes ?? false, options.mdl);\n    default: {\n      const geometry = buildGprimGeometry(prim);\n      if (!geometry) return null;\n      // The factory (M22) replaces the whole material; `null` means \"not mine\".\n      const custom = stage && options.materialFactory ? options.materialFactory(prim, stage) : null;\n      return new THREE.Mesh(\n        geometry,\n        custom ??\n          buildMeshMaterials(prim, stage, options.textureProvider, options.onWarn, options.mdl),\n      );\n    }\n  }\n}\n\n/**\n * Flat color/opacity for point/curve materials — the same priority as meshes:\n * bound `UsdShade` diffuse → constant `primvars:displayColor` → default gray.\n */\nfunction resolveFlatColor(\n  prim: Prim,\n  stage?: Stage,\n  mdl?: MdlModuleProvider,\n): { color: THREE.Color; opacity: number; name?: string } {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  const bound = stage ? resolveBoundMaterial(stage, prim, mdl ? { mdl } : {}) : undefined;\n  if (bound?.color) {\n    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);\n  } else {\n    const displayColor = prim.GetAttribute(\"primvars:displayColor\").Get();\n    if (isVec3Array(displayColor) && displayColor[0]) {\n      color.setRGB(displayColor[0][0], displayColor[0][1], displayColor[0][2]);\n    }\n  }\n  const result: { color: THREE.Color; opacity: number; name?: string } = {\n    color,\n    opacity: bound?.opacity ?? 1,\n  };\n  if (bound?.name) result.name = bound.name;\n  return result;\n}\n\n/** Mean of an authored `widths` array (USD widths are world-space diameters). */\nfunction meanWidth(prim: Prim): number | undefined {\n  const widths = prim.GetAttribute(\"widths\").Get();\n  if (!isNumberArray(widths) || widths.length === 0) return undefined;\n  return widths.reduce((a, b) => a + b, 0) / widths.length;\n}\n\n/**\n * `Points` → `THREE.Points`. Per-point `primvars:displayColor` becomes vertex\n * colors; `widths` (diameters) have no per-point equivalent in\n * `PointsMaterial`, so their mean becomes the world-space point size. Without\n * widths, points draw as fixed 3-px dots.\n */\nfunction buildPointsObject(\n  prim: Prim,\n  stage?: Stage,\n  mdl?: MdlModuleProvider,\n): THREE.Points | null {\n  const points = prim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return null;\n\n  const geometry = new THREE.BufferGeometry();\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(points), 3));\n\n  const flat = resolveFlatColor(prim, stage, mdl);\n  const material = new THREE.PointsMaterial({ color: flat.color });\n  if (flat.opacity < 1) {\n    material.transparent = true;\n    material.opacity = flat.opacity;\n  }\n  if (flat.name) material.name = flat.name;\n\n  const displayColor = prim.GetAttribute(\"primvars:displayColor\").Get();\n  if (isVec3Array(displayColor) && displayColor.length === points.length && points.length > 1) {\n    geometry.setAttribute(\"color\", new THREE.Float32BufferAttribute(flat3(displayColor), 3));\n    material.vertexColors = true;\n    material.color.set(0xffffff); // let the vertex colors drive\n  }\n\n  const width = meanWidth(prim);\n  if (width !== undefined && width > 0) {\n    material.size = width;\n    material.sizeAttenuation = true;\n  } else {\n    material.size = 3;\n    material.sizeAttenuation = false;\n  }\n  return new THREE.Points(geometry, material);\n}\n\n/** Polyline samples per cubic curve segment. */\nconst CURVE_DIVISIONS = 8;\n\n/**\n * Uniform cubic basis matrices, rows weighting `[t³, t², t, 1]` —\n * `p(t) = [t³ t² t 1] · M · [P0 P1 P2 P3]ᵀ` (RenderMan/USD conventions).\n */\nconst CUBIC_BASES: Record<string, { m: number[][]; vstep: number }> = {\n  // biome-ignore format: keep matrix layout readable\n  bezier: {\n    m: [\n      [-1, 3, -3, 1],\n      [3, -6, 3, 0],\n      [-3, 3, 0, 0],\n      [1, 0, 0, 0],\n    ],\n    vstep: 3,\n  },\n  // biome-ignore format: keep matrix layout readable\n  bspline: {\n    m: [\n      [-1 / 6, 3 / 6, -3 / 6, 1 / 6],\n      [3 / 6, -6 / 6, 3 / 6, 0],\n      [-3 / 6, 0, 3 / 6, 0],\n      [1 / 6, 4 / 6, 1 / 6, 0],\n    ],\n    vstep: 1,\n  },\n  // biome-ignore format: keep matrix layout readable\n  catmullRom: {\n    m: [\n      [-1 / 2, 3 / 2, -3 / 2, 1 / 2],\n      [2 / 2, -5 / 2, 4 / 2, -1 / 2],\n      [-1 / 2, 0, 1 / 2, 0],\n      [0, 2 / 2, 0, 0],\n    ],\n    vstep: 1,\n  },\n};\n\n/**\n * Sample one cubic curve into a polyline. Periodic curves wrap their control\n * points and omit the closing sample (the caller closes with a `LineLoop`);\n * nonperiodic curves include both endpoints. Returns `null` when there are\n * too few CVs for a single segment.\n */\nfunction sampleCubicCurve(cvs: Vec3[], basisName: string, periodic: boolean): Vec3[] | null {\n  const basis = CUBIC_BASES[basisName] ?? CUBIC_BASES.bezier!;\n  const n = cvs.length;\n  const nseg = periodic ? Math.floor(n / basis.vstep) : Math.floor((n - 4) / basis.vstep) + 1;\n  if (n < 4 || nseg < 1) return null;\n\n  const out: Vec3[] = [];\n  for (let s = 0; s < nseg; s++) {\n    const i0 = s * basis.vstep;\n    const P = [cvs[i0 % n]!, cvs[(i0 + 1) % n]!, cvs[(i0 + 2) % n]!, cvs[(i0 + 3) % n]!];\n    // Segments share boundary points: sample [0, 1) per segment, plus the\n    // final t=1 endpoint only on the last nonperiodic segment.\n    const last = !periodic && s === nseg - 1 ? CURVE_DIVISIONS : CURVE_DIVISIONS - 1;\n    for (let k = 0; k <= last; k++) {\n      const t = k / CURVE_DIVISIONS;\n      const w = [t * t * t, t * t, t, 1];\n      const point: Vec3 = [0, 0, 0];\n      for (let i = 0; i < 4; i++) {\n        let b = 0;\n        for (let j = 0; j < 4; j++) b += w[j]! * basis.m[j]![i]!;\n        point[0] += b * P[i]![0];\n        point[1] += b * P[i]![1];\n        point[2] += b * P[i]![2];\n      }\n      out.push(point);\n    }\n  }\n  return out;\n}\n\n/** A piecewise-linear `CurvePath` through `samples`, for tube tessellation. */\nfunction polylinePath(samples: Vec3[], closed: boolean): THREE.CurvePath<THREE.Vector3> {\n  const path = new THREE.CurvePath<THREE.Vector3>();\n  const vecs = samples.map(([x, y, z]) => new THREE.Vector3(x, y, z));\n  for (let i = 0; i < vecs.length - 1; i++) path.add(new THREE.LineCurve3(vecs[i]!, vecs[i + 1]!));\n  if (closed) path.add(new THREE.LineCurve3(vecs[vecs.length - 1]!, vecs[0]!));\n  return path;\n}\n\n/**\n * `BasisCurves` → a `THREE.Group` with one object per curve. `type=\"linear\"`\n * connects the CVs directly; `type=\"cubic\"` samples the authored `basis`\n * (`bezier` / `bspline` / `catmullRom`, uniform cubic evaluation) at\n * {@link CURVE_DIVISIONS} points per segment. `wrap=\"periodic\"` closes each\n * curve (`THREE.LineLoop`). With `curveTubes` and authored `widths`, curves\n * tessellate into `TubeGeometry` meshes of radius `mean(widths) / 2` instead.\n */\nfunction buildBasisCurvesObject(\n  prim: Prim,\n  stage: Stage | undefined,\n  curveTubes: boolean,\n  mdl?: MdlModuleProvider,\n): THREE.Object3D | null {\n  const points = prim.GetAttribute(\"points\").Get();\n  const counts = prim.GetAttribute(\"curveVertexCounts\").Get();\n  if (!isVec3Array(points) || !isNumberArray(counts) || counts.length === 0) return null;\n\n  const curveType = prim.GetAttribute(\"type\").Get() ?? \"cubic\";\n  const basisName = prim.GetAttribute(\"basis\").Get() ?? \"bezier\";\n  const periodic = prim.GetAttribute(\"wrap\").Get() === \"periodic\";\n\n  const flat = resolveFlatColor(prim, stage, mdl);\n  const width = meanWidth(prim);\n  const asTubes = curveTubes && width !== undefined && width > 0;\n\n  const material = asTubes\n    ? new THREE.MeshStandardMaterial({ color: flat.color, roughness: 0.8, metalness: 0.1 })\n    : new THREE.LineBasicMaterial({ color: flat.color });\n  if (flat.opacity < 1) {\n    material.transparent = true;\n    material.opacity = flat.opacity;\n  }\n  if (flat.name) material.name = flat.name;\n\n  const group = new THREE.Group();\n  let offset = 0;\n  for (const count of counts) {\n    const cvs = points.slice(offset, offset + count);\n    offset += count;\n    const samples =\n      curveType === \"linear\"\n        ? cvs.length >= 2\n          ? cvs\n          : null\n        : sampleCubicCurve(cvs, typeof basisName === \"string\" ? basisName : \"bezier\", periodic);\n    if (!samples || samples.length < 2) continue;\n\n    if (asTubes) {\n      const path = polylinePath(samples, periodic);\n      const geometry = new THREE.TubeGeometry(\n        path,\n        Math.max(samples.length, 2),\n        width / 2,\n        8,\n        periodic,\n      );\n      group.add(new THREE.Mesh(geometry, material));\n    } else {\n      const geometry = new THREE.BufferGeometry();\n      geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(samples), 3));\n      group.add(\n        periodic ? new THREE.LineLoop(geometry, material) : new THREE.Line(geometry, material),\n      );\n    }\n  }\n  return group.children.length > 0 ? group : null;\n}\n\nfunction getNumber(prim: Prim, name: string): number | undefined {\n  const v = prim.GetAttribute(name).Get();\n  return typeof v === \"number\" ? v : undefined;\n}\n\n/** Rotate a Y-spined three.js primitive onto the prim's `axis` (USD default `Z`). */\nfunction orientSpine(geometry: THREE.BufferGeometry, prim: Prim): THREE.BufferGeometry {\n  const axis = prim.GetAttribute(\"axis\").Get();\n  if (axis === \"Y\") return geometry;\n  if (axis === \"X\") return geometry.rotateZ(-Math.PI / 2);\n  return geometry.rotateX(Math.PI / 2);\n}\n\n/**\n * Build a material for a gprim. Color priority: bound `UsdShade` material\n * (when `stage` is given) → `primvars:displayColor` → default gray. Textures\n * (via `textures`) become the matching `MeshStandardMaterial` maps — diffuse →\n * `map` (sRGB), plus `normalMap` / `roughnessMap` / `metalnessMap` / `aoMap`\n * (linear data) and emissive `emissiveMap`. Metalness / roughness / opacity /\n * emissive constants come from the bound material when present.\n */\nexport function buildMeshMaterial(\n  meshPrim: Prim,\n  stage?: Stage,\n  textures?: TextureProvider,\n  /** Resolve the material binding from here instead (a `GeomSubset`). */\n  bindingPrim?: Prim,\n  /** Receives fidelity diagnostics (channel-packing mismatches, M19). */\n  onWarn?: (message: string) => void,\n  /** Parsed `.mdl` modules for MDL material family/value resolution (M20). */\n  mdl?: MdlModuleProvider,\n): THREE.Material {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  let opacity = 1;\n  let vertexColors = false;\n\n  const resolveOptions: ResolveMaterialOptions = {\n    ...(mdl ? { mdl } : {}),\n    ...(onWarn ? { onWarn } : {}),\n  };\n  const bound = stage\n    ? resolveBoundMaterial(stage, bindingPrim ?? meshPrim, resolveOptions)\n    : undefined;\n  if (bound?.color) {\n    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);\n  } else {\n    const displayColor = displayColorPrimvar(meshPrim);\n    if (displayColor && displayColor.interpolation !== \"constant\") {\n      // Per-vertex / per-face displayColor → vertex colors; the geometry\n      // builder authors the matching `color` attribute.\n      vertexColors = true;\n      color.setRGB(1, 1, 1);\n    } else if (displayColor?.values[0]) {\n      const [r, g, b] = displayColor.values[0];\n      color.setRGB(r ?? 0, g ?? 0, b ?? 0);\n    }\n  }\n  if (bound?.opacity !== undefined) opacity = bound.opacity;\n\n  // Resolve a channel's `THREE.Texture`, forwarding its wrap modes, UV-set\n  // channel, colorspace, and `UsdTransform2d` (the `UsdUVTexture\n  // .inputs:scale`/`bias` are folded into the material factors below, not the\n  // sampler). `inputs:sourceColorSpace` overrides the per-channel default.\n  const uvSetNames = meshUvSetNames(meshPrim);\n  const tex = (rt: ResolvedTexture | undefined, cs: \"srgb\" | \"linear\") => {\n    if (!rt || !textures) return null;\n    const channel = rt.uvChannel ?? (rt.uvSet ? Math.max(uvSetNames.indexOf(rt.uvSet), 0) : 0);\n    const colorSpace =\n      rt.sourceColorSpace === \"raw\" ? \"linear\" : rt.sourceColorSpace === \"sRGB\" ? \"srgb\" : cs;\n    return textures(rt.path, {\n      colorSpace,\n      ...(rt.wrapS ? { wrapS: rt.wrapS } : {}),\n      ...(rt.wrapT ? { wrapT: rt.wrapT } : {}),\n      ...(rt.transform ? { transform: rt.transform } : {}),\n      ...(channel > 0 ? { channel } : {}),\n    });\n  };\n\n  // three.js samples fixed channels from packed maps (glTF convention). A\n  // network wired to a different single-channel output can't be honoured\n  // without repacking — surface it instead of sampling silently wrong data.\n  if (onWarn) {\n    const packed = [\n      [bound?.roughnessTexture, \"g\", \"roughness\"],\n      [bound?.metalnessTexture, \"b\", \"metalness\"],\n      [bound?.occlusionTexture, \"r\", \"occlusion\"],\n    ] as const;\n    for (const [rt, expected, label] of packed) {\n      const channel = rt?.outputChannel;\n      if (channel && channel !== \"rgb\" && channel !== expected) {\n        onWarn(\n          `${meshPrim.GetPath()}: ${label} reads outputs:${channel}, but three.js samples the \"${expected}\" channel of the map — repack the texture to the glTF ORM layout`,\n        );\n      }\n    }\n  }\n\n  const map = tex(bound?.colorTexture, \"srgb\");\n  // `inputs:scale` on the diffuse texture tints the map; otherwise pass through.\n  if (map) {\n    const s = bound?.colorTexture?.scale;\n    if (s) color.setRGB(s[0], s[1], s[2]);\n    else color.setRGB(1, 1, 1);\n  }\n  const normalMap = tex(bound?.normalTexture, \"linear\");\n  const roughnessMap = tex(bound?.roughnessTexture, \"linear\");\n  const metalnessMap = tex(bound?.metalnessTexture, \"linear\");\n  const aoMap = tex(bound?.occlusionTexture, \"linear\");\n  const emissiveMap = tex(bound?.emissiveTexture, \"srgb\");\n\n  // A scalar map's `inputs:scale[0]` (or an authored constant) becomes three's\n  // factor; three multiplies factor × map, so default to 1 to pass it through.\n  const metalness =\n    bound?.metalness ?? bound?.metalnessTexture?.scale?.[0] ?? (metalnessMap ? 1 : 0.1);\n  const roughness =\n    bound?.roughness ?? bound?.roughnessTexture?.scale?.[0] ?? (roughnessMap ? 1 : 0.8);\n\n  const emissive = new THREE.Color(0x000000);\n  if (bound?.emissiveColor) {\n    emissive.setRGB(bound.emissiveColor[0], bound.emissiveColor[1], bound.emissiveColor[2]);\n  } else if (emissiveMap) {\n    emissive.setRGB(1, 1, 1); // let the map drive emission\n  }\n\n  // Opacity sourcing: a dedicated opacity texture → `alphaMap`; an opacity input\n  // wired to the *same* image as the diffuse map → that map's own alpha channel\n  // (no separate map needed). `opacityThreshold > 0` means alpha clip (a binary\n  // cutout rendered in the opaque pass); otherwise sub-unit alpha blends.\n  const opacityTex = bound?.opacityTexture;\n  const sharesColorMap = !!(opacityTex && opacityTex.path === bound?.colorTexture?.path);\n  const alphaMap = sharesColorMap ? null : tex(opacityTex, \"linear\");\n  const hasAlphaSource = opacity < 1 || sharesColorMap || !!alphaMap;\n  const threshold = bound?.opacityThreshold;\n  const alphaTest = threshold !== undefined && threshold > 0 ? threshold : 0;\n  // Alpha-clip masks render opaque (depth-written, discarded below the cutoff);\n  // only true translucency uses the transparent/blended pass.\n  const transparent = alphaTest === 0 && hasAlphaSource;\n\n  const doubleSided = meshPrim.GetAttribute(\"doubleSided\").Get() === true;\n  const params: THREE.MeshStandardMaterialParameters = {\n    color,\n    metalness,\n    roughness,\n    emissive,\n    transparent,\n    opacity,\n    ...(vertexColors ? { vertexColors: true } : {}),\n    ...(alphaTest > 0 ? { alphaTest } : {}),\n    side: doubleSided ? THREE.DoubleSide : THREE.FrontSide,\n    ...(map ? { map } : {}),\n    ...(alphaMap ? { alphaMap } : {}),\n    ...(normalMap ? { normalMap } : {}),\n    ...(roughnessMap ? { roughnessMap } : {}),\n    ...(metalnessMap ? { metalnessMap } : {}),\n    ...(aoMap ? { aoMap } : {}),\n    ...(emissiveMap ? { emissiveMap } : {}),\n  };\n\n  // UsdPreviewSurface / Omni-MDL physical inputs promote the material (M19 /\n  // M20); plain assets keep getting the cheaper MeshStandardMaterial.\n  const physical =\n    bound !== undefined &&\n    (bound.ior !== undefined ||\n      bound.clearcoat !== undefined ||\n      bound.clearcoatRoughness !== undefined ||\n      bound.specularColor !== undefined ||\n      bound.transmission !== undefined ||\n      bound.clearcoatNormalTexture !== undefined);\n  const material = physical\n    ? new THREE.MeshPhysicalMaterial(params)\n    : new THREE.MeshStandardMaterial(params);\n  if (material instanceof THREE.MeshPhysicalMaterial && bound) {\n    if (bound.ior !== undefined) material.ior = bound.ior;\n    if (bound.clearcoat !== undefined) material.clearcoat = bound.clearcoat;\n    if (bound.clearcoatRoughness !== undefined)\n      material.clearcoatRoughness = bound.clearcoatRoughness;\n    if (bound.specularColor) {\n      material.specularColor.setRGB(\n        bound.specularColor[0],\n        bound.specularColor[1],\n        bound.specularColor[2],\n      );\n    }\n    // OmniGlass (M20): a transmissive dielectric with a refraction volume.\n    if (bound.transmission !== undefined) material.transmission = bound.transmission;\n    if (bound.thickness !== undefined) material.thickness = bound.thickness;\n    const clearcoatNormalMap = tex(bound.clearcoatNormalTexture, \"linear\");\n    if (clearcoatNormalMap) material.clearcoatNormalMap = clearcoatNormalMap;\n  }\n  if (bound?.emissiveIntensity !== undefined) material.emissiveIntensity = bound.emissiveIntensity;\n  // UsdPreviewSurface normal maps author scale (2,2,2,1) / bias (−1,−1,−1,0)\n  // to decode [0,1] → [−1,1]; three does that internally, so scale/2 is the\n  // residual normalScale (the sign carries DirectX-style green flips).\n  if (normalMap && bound?.normalTexture?.scale) {\n    material.normalScale.set(bound.normalTexture.scale[0] / 2, bound.normalTexture.scale[1] / 2);\n  }\n  // Carry the USD material name so re-exports keep it (and dedupe by it).\n  if (bound?.name) material.name = bound.name;\n  return material;\n}\n\n/**\n * Attach visual (and optionally collision) meshes to every link of a built\n * {@link ThreeUsdRobot}. Each mesh is positioned by its transform relative to\n * the owning link prim.\n */\nexport function bindRobotMeshes(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  desc: RobotDescription,\n  options: BindMeshesOptions = {},\n): void {\n  const loadVisuals = options.loadVisuals ?? true;\n  const loadCollisions = options.loadCollisions ?? false;\n  const gprimOptions: BuildGprimOptions = {\n    ...(options.textureProvider ? { textureProvider: options.textureProvider } : {}),\n    ...(options.curveTubes ? { curveTubes: true } : {}),\n    ...(options.onWarn ? { onWarn: options.onWarn } : {}),\n    ...(options.mdl ? { mdl: options.mdl } : {}),\n    ...(options.materialFactory ? { materialFactory: options.materialFactory } : {}),\n  };\n\n  for (const [key, link] of Object.entries(desc.links)) {\n    const linkObj = robot3d.getLinkObject(key);\n    const linkPrim = stage.GetPrimAtPath(link.primPath);\n    if (!linkObj || !linkPrim) continue;\n\n    // A mesh may be both visual and collision; attach it once, as visual.\n    const visualSet = new Set(link.visualPrims);\n\n    if (loadVisuals) {\n      for (const meshPath of link.visualPrims) {\n        attachGprim(stage, linkPrim, meshPath, linkObj, \"visual\", gprimOptions);\n      }\n    }\n    if (loadCollisions) {\n      for (const meshPath of link.collisionPrims ?? []) {\n        if (loadVisuals && visualSet.has(meshPath)) continue;\n        attachGprim(stage, linkPrim, meshPath, linkObj, \"collision\", gprimOptions);\n      }\n    }\n  }\n}\n\n/**\n * Attach the gprims that belong to no link — the static scenery of a cell that\n * also contains robots. The authored prim hierarchy is mirrored with\n * `THREE.Group` nodes (each carrying `userData.primPath` and its prim's local\n * transform), so grouped scenery — a pallet and its cartons, a fence and its\n * wires — stays one movable subtree. World placements are unchanged, and the\n * loader's up-axis and unit normalization still applies at the robot root.\n * Collision-only and guide/proxy prims are skipped.\n */\nexport function bindSceneMeshes(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  desc: RobotDescription,\n  options: {\n    textureProvider?: TextureProvider;\n    curveTubes?: boolean;\n    onWarn?: (message: string) => void;\n    mdl?: MdlModuleProvider;\n    materialFactory?: MaterialFactory;\n  } = {},\n): number {\n  const owned = new Set<string>();\n  for (const link of Object.values(desc.links)) {\n    for (const path of link.visualPrims) owned.add(path);\n    for (const path of link.collisionPrims ?? []) owned.add(path);\n    owned.add(link.primPath);\n  }\n\n  // Ancestor prims materialize lazily, so subtrees with nothing renderable\n  // produce no empty groups. Meshes register too: gprims can nest.\n  const nodes = new Map<string, THREE.Object3D>();\n  const containerFor = (prim: Prim): THREE.Object3D => {\n    const parent = prim.GetParent();\n    if (!parent || parent.IsPseudoRoot()) return robot3d;\n    let node = nodes.get(parent.GetPath());\n    if (!node) {\n      node = new THREE.Group();\n      node.name = parent.GetName();\n      node.userData.kind = \"scene\";\n      node.userData.primPath = parent.GetPath();\n      placeAtLocal(node, parent);\n      containerFor(parent).add(node);\n      nodes.set(parent.GetPath(), node);\n    }\n    return node;\n  };\n\n  const gprimOptions: BuildGprimOptions = {\n    ...(options.textureProvider ? { textureProvider: options.textureProvider } : {}),\n    ...(options.curveTubes ? { curveTubes: true } : {}),\n    ...(options.onWarn ? { onWarn: options.onWarn } : {}),\n    ...(options.mdl ? { mdl: options.mdl } : {}),\n    ...(options.materialFactory ? { materialFactory: options.materialFactory } : {}),\n  };\n\n  let attached = 0;\n  for (const prim of stage.Traverse()) {\n    if (!isRenderableGprim(prim) || owned.has(prim.GetPath())) continue;\n    if (prim.HasAPI(COLLISION_API) || isNonVisualPurpose(prim)) continue;\n    // Skip gprims under a link (already bound relative to their link).\n    if ([...owned].some((path) => prim.GetPath().startsWith(`${path}/`))) continue;\n\n    const object = buildGprimObject(prim, stage, gprimOptions);\n    if (!object) continue;\n    object.name = prim.GetName();\n    object.userData.kind = \"scene\";\n    object.userData.primPath = prim.GetPath();\n    placeAtLocal(object, prim);\n    containerFor(prim).add(object);\n    nodes.set(prim.GetPath(), object);\n    attached++;\n  }\n  return attached;\n}\n\n/** Fix `object` at its prim's local transform (scenery is static). */\nfunction placeAtLocal(object: THREE.Object3D, prim: Prim): void {\n  object.matrixAutoUpdate = false;\n  object.matrix.fromArray(computeLocalTransform(prim).matrix);\n  object.matrixWorldNeedsUpdate = true;\n}\n\n/**\n * Materials for a mesh: one per `materialBind` face subset (matching the\n * geometry groups {@link buildMeshGeometry} adds) plus a trailing fallback for\n * faces no subset claims. A mesh without subsets gets a single material.\n */\nexport function buildMeshMaterials(\n  meshPrim: Prim,\n  stage?: Stage,\n  textures?: TextureProvider,\n  onWarn?: (message: string) => void,\n  mdl?: MdlModuleProvider,\n): THREE.Material | THREE.Material[] {\n  const subsets = stage ? getMaterialSubsets(meshPrim) : [];\n  if (subsets.length === 0)\n    return buildMeshMaterial(meshPrim, stage, textures, undefined, onWarn, mdl);\n  return [\n    ...subsets.map((s) => buildMeshMaterial(meshPrim, stage, textures, s.prim, onWarn, mdl)),\n    buildMeshMaterial(meshPrim, stage, textures, undefined, onWarn, mdl),\n  ];\n}\n\nfunction attachGprim(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  parent: THREE.Object3D,\n  kind: MeshKind,\n  options: BuildGprimOptions,\n): void {\n  const meshPrim = stage.GetPrimAtPath(meshPath);\n  if (!meshPrim) return;\n  const object = buildGprimObject(meshPrim, stage, options);\n  if (!object) return;\n\n  object.name = meshPrim.GetName();\n  object.userData.kind = kind;\n  object.userData.primPath = meshPath;\n  // Collision gprims are loaded hidden; reveal via `robot.showCollision = true`.\n  if (kind === \"collision\") object.visible = false;\n  object.matrixAutoUpdate = false;\n  object.matrix.fromArray(relativeTransform(linkPrim, meshPrim));\n  object.matrixWorldNeedsUpdate = true;\n  parent.add(object);\n}\n\n/** Accumulated local transform from `linkPrim` (exclusive) down to `meshPrim` (inclusive). */\nfunction relativeTransform(linkPrim: Prim, meshPrim: Prim): Mat4 {\n  const chain: Prim[] = [];\n  let p: Prim | null = meshPrim;\n  const stop = linkPrim.GetPath();\n  while (p && p.GetPath() !== stop) {\n    chain.push(p);\n    p = p.GetParent();\n  }\n  chain.reverse(); // top-most (just under link) → mesh\n\n  let m = identity4();\n  for (const prim of chain) {\n    m = multiply(m, computeLocalTransform(prim).matrix);\n  }\n  return m;\n}\n\n// --- triangulation & typed-array helpers -----------------------------------\n\n/** Fan-triangulate USD polygon faces into a flat triangle index list. */\nfunction triangulate(faceVertexCounts: number[], faceVertexIndices: number[]): number[] {\n  const tris: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    for (let k = 2; k < count; k++) {\n      tris.push(\n        faceVertexIndices[offset]!,\n        faceVertexIndices[offset + k - 1]!,\n        faceVertexIndices[offset + k]!,\n      );\n    }\n    offset += count;\n  }\n  return tris;\n}\n\n/**\n * Triangulate subset by subset so each subset owns a contiguous run of the\n * index buffer, and register that run as a geometry group.\n */\nfunction triangulateBySubset(\n  geometry: THREE.BufferGeometry,\n  faceVertexCounts: number[],\n  faceVertexIndices: number[],\n  subsets: MaterialSubset[],\n): number[] {\n  const faceStart: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    faceStart.push(offset);\n    offset += count;\n  }\n\n  const tris: number[] = [];\n  const emit = (face: number) => {\n    const start = faceStart[face]!;\n    const count = faceVertexCounts[face]!;\n    for (let k = 2; k < count; k++) {\n      tris.push(\n        faceVertexIndices[start]!,\n        faceVertexIndices[start + k - 1]!,\n        faceVertexIndices[start + k]!,\n      );\n    }\n  };\n\n  const claimed = new Uint8Array(faceVertexCounts.length);\n  subsets.forEach((subset, index) => {\n    const begin = tris.length;\n    for (const face of subset.faces) {\n      if (face < 0 || face >= faceVertexCounts.length || claimed[face]) continue;\n      claimed[face] = 1;\n      emit(face);\n    }\n    if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, index);\n  });\n\n  const begin = tris.length;\n  for (let face = 0; face < faceVertexCounts.length; face++) {\n    if (!claimed[face]) emit(face);\n  }\n  if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, subsets.length);\n\n  return tris;\n}\n\nfunction flat3(v: Vec3[]): number[] {\n  const out = new Array<number>(v.length * 3);\n  for (let i = 0; i < v.length; i++) {\n    out[i * 3] = v[i]![0];\n    out[i * 3 + 1] = v[i]![1];\n    out[i * 3 + 2] = v[i]![2];\n  }\n  return out;\n}\n\nfunction flat2(v: Vec2[]): number[] {\n  const out = new Array<number>(v.length * 2);\n  for (let i = 0; i < v.length; i++) {\n    out[i * 2] = v[i]![0];\n    out[i * 2 + 1] = v[i]![1];\n  }\n  return out;\n}\n\nfunction isNumberArray(v: unknown): v is number[] {\n  return Array.isArray(v) && v.every((n) => typeof n === \"number\");\n}\n\nfunction isVec3Array(v: unknown): v is Vec3[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 3);\n}\n\nfunction isVec2Array(v: unknown): v is Vec2[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 2);\n}\n","/**\n * Loads texture image assets referenced by `UsdShade` materials.\n *\n * A {@link TextureProvider} maps an authored asset path (plus sampler/transform\n * options) to a `THREE.Texture`. The default provider fetches the image **bytes**\n * through the {@link AssetResolver} and decodes them via a blob URL — so it works\n * uniformly for textures served over HTTP and for images embedded inside a\n * `.usdz` package (whose resolver serves zip entries, not real URLs). Decoded\n * images are cached per resolved URL and shared across every texture that uses\n * them; each `THREE.Texture` carries its own color space / wrap / transform.\n */\n\nimport * as THREE from \"three\";\nimport type { AssetResolver } from \"../usd/AssetResolver.js\";\nimport type { TextureTransform, TextureWrap } from \"./MaterialBinding.js\";\n\n/**\n * Color space to interpret a texture in. Color/albedo and emissive maps are\n * `\"srgb\"`; data maps (normal, roughness, metalness, occlusion) are `\"linear\"`.\n */\nexport type TextureColorSpace = \"srgb\" | \"linear\";\n\n/** Per-use sampler state applied to the returned `THREE.Texture`. */\nexport type TextureOptions = {\n  /** Defaults to `\"srgb\"`. */\n  colorSpace?: TextureColorSpace;\n  wrapS?: TextureWrap;\n  wrapT?: TextureWrap;\n  transform?: TextureTransform;\n  /** UV channel index (0 = `uv`, 1 = `uv1`, …) for multi-UV-set meshes. */\n  channel?: number;\n};\n\n/** Resolve an authored texture asset path to a `THREE.Texture` (or `null`). */\nexport type TextureProvider = (assetPath: string, options?: TextureOptions) => THREE.Texture | null;\n\nconst DEG2RAD = Math.PI / 180;\n\n/**\n * A {@link TextureProvider} backed by the {@link AssetResolver}, resolving paths\n * against `baseUrl`. Image bytes are fetched once per URL (works for HTTP and\n * `.usdz` entries alike) and the decoded image is shared; each call returns a\n * distinct `THREE.Texture` carrying the requested color space / wrap / transform.\n */\nexport function createTextureProvider(resolver: AssetResolver, baseUrl: string): TextureProvider {\n  const images = new Map<string, Promise<TexImageSource>>();\n\n  const imageFor = (url: string): Promise<TexImageSource> => {\n    let p = images.get(url);\n    if (!p) {\n      p = loadImage(resolver, url);\n      images.set(url, p);\n    }\n    return p;\n  };\n\n  return (assetPath: string, options: TextureOptions = {}) => {\n    let url: string;\n    try {\n      url = resolver.resolve(assetPath, baseUrl);\n    } catch {\n      return null;\n    }\n\n    const texture = new THREE.Texture();\n    texture.colorSpace =\n      options.colorSpace === \"linear\" ? THREE.NoColorSpace : THREE.SRGBColorSpace;\n    texture.wrapS = toThreeWrap(options.wrapS);\n    texture.wrapT = toThreeWrap(options.wrapT);\n    if (options.channel !== undefined) texture.channel = options.channel;\n    applyTransform(texture, options.transform);\n\n    imageFor(url)\n      .then((image) => {\n        texture.image = image;\n        texture.needsUpdate = true;\n      })\n      .catch(() => {\n        /* leave the texture blank if the image can't be decoded */\n      });\n    return texture;\n  };\n}\n\n/**\n * Fetch image bytes through the resolver and decode them via a blob URL into an\n * `HTMLImageElement` (so three's default `flipY = true` orients USD's bottom-left\n * `st` origin correctly, matching the prior `TextureLoader` HTTP path).\n */\nasync function loadImage(resolver: AssetResolver, url: string): Promise<TexImageSource> {\n  const bytes = resolver.fetchBytes\n    ? await resolver.fetchBytes(url)\n    : new TextEncoder().encode(await resolver.fetchText(url));\n  const blob = new Blob([bytes as BlobPart], { type: mimeOf(url) });\n  const objectUrl = URL.createObjectURL(blob);\n  try {\n    return await new Promise<HTMLImageElement>((resolve, reject) => {\n      const img = new Image();\n      img.onload = () => resolve(img);\n      img.onerror = () => reject(new Error(`failed to decode texture: ${url}`));\n      img.src = objectUrl;\n    });\n  } finally {\n    // The decoded image keeps its pixels; the blob URL can be released.\n    URL.revokeObjectURL(objectUrl);\n  }\n}\n\nfunction toThreeWrap(wrap: TextureWrap | undefined): THREE.Wrapping {\n  switch (wrap) {\n    case \"clamp\":\n    case \"black\": // three has no border color; clamp is the closest mode\n      return THREE.ClampToEdgeWrapping;\n    case \"mirror\":\n      return THREE.MirroredRepeatWrapping;\n    default:\n      return THREE.RepeatWrapping;\n  }\n}\n\n/** Map a `UsdTransform2d` onto a texture's offset / repeat / rotation. */\nfunction applyTransform(texture: THREE.Texture, t: TextureTransform | undefined): void {\n  if (!t) return;\n  if (t.scale) texture.repeat.set(t.scale[0], t.scale[1]);\n  if (t.translation) texture.offset.set(t.translation[0], t.translation[1]);\n  if (t.rotation !== undefined) {\n    texture.rotation = t.rotation * DEG2RAD;\n    texture.center.set(0, 0); // UsdTransform2d rotates about the origin\n  }\n}\n\nfunction mimeOf(url: string): string {\n  if (/\\.jpe?g$/i.test(url)) return \"image/jpeg\";\n  if (/\\.webp$/i.test(url)) return \"image/webp\";\n  return \"image/png\";\n}\n","import type { RobotDescription } from \"../robot/RobotDescription.js\";\nimport { extractRobotDescription } from \"../robot/RobotExtractor.js\";\nimport { buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { isUnsupportedGprim } from \"../schemas/usdGeom.js\";\nimport { type AssetResolver, DefaultAssetResolver } from \"../usd/AssetResolver.js\";\nimport { Stage } from \"../usd/Stage.js\";\nimport { type BinarySource, type UsdSource, toBytes } from \"../usd/bytes.js\";\nimport { composeFile, composeLayer } from \"../usd/composition.js\";\nimport { CrateReader } from \"../usd/crate/CrateReader.js\";\nimport { crateToUsdaFile } from \"../usd/crate/toUsdaFile.js\";\nimport { loadMdlModules } from \"../usd/mdl/loadMdlModules.js\";\nimport { isZip, openUsdz } from \"../usd/usdz.js\";\nimport { type MaterialFactory, bindRobotMeshes, bindSceneMeshes } from \"./MeshBinding.js\";\nimport { createTextureProvider } from \"./TextureBinding.js\";\nimport { ThreeUsdRobot, type ThreeUsdRobotOptions, type WorldUpAxis } from \"./ThreeUsdRobot.js\";\n\nexport type ThreeUsdRobotLoaderOptions = {\n  /** Resolver for references / payloads / sublayers (default {@link DefaultAssetResolver}). */\n  assetResolver?: AssetResolver;\n  /** Render visual meshes (M6). */\n  loadVisuals?: boolean;\n  /** Render collision meshes (M6). */\n  loadCollisions?: boolean;\n  /**\n   * Also render gprims that belong to no link — the static scenery of a cell\n   * that contains robots (floor, guarding, racking, …). Placed by their\n   * authored stage transform. Default `false`; a stage with no articulation at\n   * all (a pure static scene) defaults to `true` so it renders out of the box.\n   */\n  loadSceneGeometry?: boolean;\n  /** Load diffuse textures referenced by materials (default `true`). */\n  loadTextures?: boolean;\n  /**\n   * Render `BasisCurves` that author `widths` as tube meshes instead of\n   * 1-px lines (default `false`, M18).\n   */\n  curveTubes?: boolean;\n  /**\n   * Target world up-axis. Any stage (Y-up or Z-up) is normalized into this\n   * convention: `\"Y\"` for a standard three.js scene (the default behavior),\n   * `\"Z\"` for a robotics-style Z-up world, `\"keep\"` to leave the authored\n   * orientation. Takes precedence over {@link upAxisConversion}.\n   */\n  worldUp?: WorldUpAxis;\n  /**\n   * Legacy up-axis correction (M9). Default `\"auto\"` ≡ `worldUp: \"Y\"`.\n   * @deprecated Use {@link worldUp}.\n   */\n  upAxisConversion?: \"auto\" | \"Y\" | \"Z\" | \"none\";\n  /** Extra uniform scale multiplied with `metersPerUnit` (M9). */\n  unitScale?: number;\n  /** Clamp `setJointValue` to authored limits (default `true`). */\n  clampJointLimits?: boolean;\n  /** Seed joints from drive targets / joint state (M9). */\n  applyDriveTargetsAsInitialPose?: boolean;\n  /**\n   * Diagnose {@link ThreeUsdRobot.setLinkTransforms} poses against the joint\n   * constraints and warn once per baked session past tolerance (default\n   * 1 mm anchor / 0.01 rad axis).\n   */\n  debugBakedTransforms?: ThreeUsdRobotOptions[\"debugBakedTransforms\"];\n  /** Override the robot name. */\n  robotName?: string;\n  /** Receives non-fatal load diagnostics. */\n  onWarn?: (message: string) => void;\n  /**\n   * Overrides material creation for mesh-like gprims (M22) — e.g. the TSL\n   * MaterialX factory from `three-usd-robot/nodes`. Return `null` per prim to\n   * keep the default `UsdShade` resolution.\n   */\n  materialFactory?: MaterialFactory;\n};\n\n/** A composed stage plus the context needed to bind its meshes and textures. */\ntype OpenedStage = { stage: Stage; baseUrl: string; resolver: AssetResolver };\n\n/**\n * Loads Isaac Sim / OpenUSD robot assets into a controllable {@link ThreeUsdRobot}.\n *\n * Assets load by URL ({@link loadAsync}) or from in-memory content\n * ({@link parse} — USDA text, `ArrayBuffer`, typed array, or `Blob`/`File`).\n * Composition (references / payloads / sublayers, M8) is resolved through an\n * {@link AssetResolver}. Mesh rendering is M6; unit / up-axis / initial-pose\n * handling is M9; USDC and variants are M10.\n */\nexport class ThreeUsdRobotLoader {\n  readonly options: ThreeUsdRobotLoaderOptions;\n\n  constructor(options: ThreeUsdRobotLoaderOptions = {}) {\n    this.options = options;\n  }\n\n  private get resolver(): AssetResolver {\n    return this.options.assetResolver ?? new DefaultAssetResolver();\n  }\n\n  /**\n   * Fetch an asset by URL and build the robot. `.usdz` packages are unzipped and\n   * composed from their entries; everything else is sniffed for the zip / crate\n   * magic and parsed as USDZ, binary USDC, or USDA text.\n   */\n  async loadAsync(url: string): Promise<ThreeUsdRobot> {\n    const bytes = await this.fetchRootBytes(url);\n    // Extension first: sniffing only sees offset 0, the extension also covers\n    // zip archives with a prefix (fflate reads the central directory anyway).\n    if (/\\.usdz$/i.test(url)) return this.parseUsdz(bytes);\n    return this.parse(bytes, url);\n  }\n\n  private async fetchRootBytes(url: string): Promise<Uint8Array> {\n    const resolver = this.resolver;\n    if (resolver.fetchBytes) return resolver.fetchBytes(url);\n    return new TextEncoder().encode(await resolver.fetchText(url));\n  }\n\n  /**\n   * Build a robot from in-memory content — no fetch involved. Accepts USDA\n   * source text, or an `ArrayBuffer` / typed array / `Blob` (e.g. a dropped\n   * `File`) holding USDA text, a binary crate, or a `.usdz` package; binary\n   * input is sniffed for the zip / crate magic. `baseUrl` anchors relative\n   * references, payloads, and texture paths of non-package input.\n   */\n  async parse(data: UsdSource, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.openSource(data, baseUrl));\n  }\n\n  /** Build a robot from a `.usdz` package (bytes, `ArrayBuffer`, or `Blob`). */\n  async parseUsdz(data: BinarySource): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.openUsdzStage(await toBytes(data)));\n  }\n\n  /** Build a robot from a binary crate (`.usdc` / binary `.usd`). */\n  async parseCrate(data: BinarySource, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    const stage = await this.composeStageFromBytes(await toBytes(data), baseUrl, this.resolver);\n    return this.buildFromStage({ stage, baseUrl, resolver: this.resolver });\n  }\n\n  /**\n   * Parse + compose in-memory content (same formats as {@link parse}) into the\n   * Three.js-independent robot IR.\n   */\n  async parseRobotDescription(data: UsdSource, baseUrl = \"\"): Promise<RobotDescription> {\n    const { stage } = await this.openSource(data, baseUrl);\n    return extractRobotDescription(stage, this.extractOptions());\n  }\n\n  /** Sniff in-memory content (text / zip / crate) and compose it into a stage. */\n  private async openSource(data: UsdSource, baseUrl: string): Promise<OpenedStage> {\n    const resolver = this.resolver;\n    if (typeof data === \"string\") {\n      return { stage: await this.composeStage(data, baseUrl, resolver), baseUrl, resolver };\n    }\n    const bytes = await toBytes(data);\n    if (isZip(bytes)) return this.openUsdzStage(bytes);\n    const stage = CrateReader.isCrate(bytes)\n      ? await this.composeStageFromBytes(bytes, baseUrl, resolver)\n      : await this.composeStage(new TextDecoder().decode(bytes), baseUrl, resolver);\n    return { stage, baseUrl, resolver };\n  }\n\n  private async openUsdzStage(bytes: Uint8Array): Promise<OpenedStage> {\n    const pkg = openUsdz(bytes);\n    // The root layer of a usdz is typically binary USDC — sniff, don't assume text.\n    const rootBytes = await pkg.resolver.fetchBytes(pkg.rootEntry);\n    const stage = await this.composeStageFromBytes(rootBytes, pkg.rootEntry, pkg.resolver);\n    return { stage, baseUrl: pkg.rootEntry, resolver: pkg.resolver };\n  }\n\n  private async buildFromStage({ stage, baseUrl, resolver }: OpenedStage): Promise<ThreeUsdRobot> {\n    const robot = extractRobotDescription(stage, this.extractOptions());\n    const tree = buildKinematicTree(robot);\n    const robot3d = new ThreeUsdRobot(robot, tree, this.robotOptions());\n    robot3d.stage = stage;\n\n    const loadVisuals = this.options.loadVisuals ?? true;\n    const loadCollisions = this.options.loadCollisions ?? false;\n    // A stage with no articulation at all is a pure static scene; default to\n    // drawing its geometry — otherwise the load would be silently empty.\n    const isStaticScene =\n      Object.keys(robot.links).length === 0 && Object.keys(robot.joints).length === 0;\n    if (isStaticScene && this.options.loadSceneGeometry === undefined) {\n      this.options.onWarn?.(\n        \"no articulation found (0 links / 0 joints); rendering the stage as static scene geometry\",\n      );\n    }\n    const loadScene = this.options.loadSceneGeometry ?? isStaticScene;\n    if (loadVisuals || loadCollisions || loadScene) {\n      const textureProvider =\n        (this.options.loadTextures ?? true) ? createTextureProvider(resolver, baseUrl) : undefined;\n      const curveTubes = this.options.curveTubes ?? false;\n      const onWarn = this.options.onWarn;\n      const materialFactory = this.options.materialFactory;\n      // Prefetch referenced `.mdl` modules (M20) — wrapper materials often\n      // carry the whole look while the USD shader authors no inputs at all.\n      const mdl = await loadMdlModules(stage, resolver, baseUrl);\n      if (loadVisuals || loadCollisions) {\n        bindRobotMeshes(stage, robot3d, robot, {\n          loadVisuals,\n          loadCollisions,\n          ...(textureProvider ? { textureProvider } : {}),\n          ...(curveTubes ? { curveTubes } : {}),\n          ...(onWarn ? { onWarn } : {}),\n          ...(mdl ? { mdl } : {}),\n          ...(materialFactory ? { materialFactory } : {}),\n        });\n      }\n      if (loadScene) {\n        bindSceneMeshes(stage, robot3d, robot, {\n          ...(textureProvider ? { textureProvider } : {}),\n          ...(curveTubes ? { curveTubes } : {}),\n          ...(onWarn ? { onWarn } : {}),\n          ...(mdl ? { mdl } : {}),\n          ...(materialFactory ? { materialFactory } : {}),\n        });\n      }\n      this.warnUnsupportedGprims(stage);\n    }\n    return robot3d;\n  }\n\n  /** Surface recognized-but-unrenderable gprim schemas instead of silence (M18). */\n  private warnUnsupportedGprims(stage: Stage): void {\n    const firstByType = new Map<string, string>();\n    for (const prim of stage.Traverse()) {\n      const type = prim.GetTypeName();\n      if (isUnsupportedGprim(prim) && !firstByType.has(type)) {\n        firstByType.set(type, prim.GetPath());\n      }\n    }\n    for (const [type, path] of firstByType) {\n      this.options.onWarn?.(`${type} gprims are not supported yet; skipping (e.g. ${path})`);\n    }\n  }\n\n  private async composeStage(\n    text: string,\n    baseUrl: string,\n    resolver: AssetResolver,\n  ): Promise<Stage> {\n    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};\n    return Stage.OpenFromFile(await composeLayer(text, baseUrl, resolver, composeOptions));\n  }\n\n  /** Compose a layer from raw bytes, sniffing binary crate vs USDA text. */\n  private async composeStageFromBytes(\n    bytes: Uint8Array,\n    baseUrl: string,\n    resolver: AssetResolver,\n  ): Promise<Stage> {\n    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};\n    const composed = CrateReader.isCrate(bytes)\n      ? await composeFile(\n          crateToUsdaFile(new CrateReader(bytes)),\n          baseUrl,\n          resolver,\n          composeOptions,\n        )\n      : await composeLayer(new TextDecoder().decode(bytes), baseUrl, resolver, composeOptions);\n    return Stage.OpenFromFile(composed);\n  }\n\n  private robotOptions(): ThreeUsdRobotOptions {\n    return {\n      ...(this.options.worldUp\n        ? { worldUp: this.options.worldUp }\n        : { upAxisConversion: this.options.upAxisConversion ?? \"auto\" }),\n      ...(this.options.clampJointLimits !== undefined\n        ? { clampJointLimits: this.options.clampJointLimits }\n        : {}),\n      ...(this.options.unitScale !== undefined ? { unitScale: this.options.unitScale } : {}),\n      ...(this.options.applyDriveTargetsAsInitialPose !== undefined\n        ? { applyInitialPose: this.options.applyDriveTargetsAsInitialPose }\n        : {}),\n      ...(this.options.debugBakedTransforms !== undefined\n        ? { debugBakedTransforms: this.options.debugBakedTransforms }\n        : {}),\n    };\n  }\n\n  private extractOptions(): { robotName?: string; onWarn?: (message: string) => void } {\n    return {\n      ...(this.options.robotName !== undefined ? { robotName: this.options.robotName } : {}),\n      ...(this.options.onWarn !== undefined ? { onWarn: this.options.onWarn } : {}),\n    };\n  }\n}\n"]}

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 @@
+{"version":3,"sources":["../src/parser/ast.ts"],"names":[],"mappings":";AAwBO,IAAM,IAAA,GAAN,MAAM,KAAA,CAAK;AAAA,EAChB,WAAA,CACW,MACA,SAAA,EACT;AAFS,IAAA,IAAA,CAAA,IAAA,GAAA,IAAA;AACA,IAAA,IAAA,CAAA,SAAA,GAAA,SAAA;AAAA,EACR;AAAA,EAFQ,IAAA;AAAA,EACA,SAAA;AAAA;AAAA,EAIX,MAAA,GAAe;AACb,IAAA,OAAO,CAAC,IAAA,CAAK,SAAA,CAAU,CAAC,GAAG,IAAA,CAAK,SAAA,CAAU,CAAC,CAAA,EAAG,IAAA,CAAK,SAAA,CAAU,CAAC,CAAA,EAAG,KAAK,IAAI,CAAA;AAAA,EAC5E;AAAA,EAEA,OAAO,QAAA,GAAiB;AACtB,IAAA,OAAO,IAAI,KAAA,CAAK,CAAA,EAAG,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAC,CAAA;AAAA,EAC9B;AACF;AAMO,IAAM,SAAA,GAAN,MAAM,UAAA,CAAU;AAAA,EACrB,WAAA,CACW,QACA,GAAA,EACT;AAFS,IAAA,IAAA,CAAA,MAAA,GAAA,MAAA;AACA,IAAA,IAAA,CAAA,GAAA,GAAA,GAAA;AAAA,EACR;AAAA,EAFQ,MAAA;AAAA,EACA,GAAA;AAAA,EAGX,OAAO,SAAA,GAAuB;AAE5B,IAAA,OAAO,IAAI,UAAA,CAAU;AAAA,MACnB,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MACT,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MACT,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MACT,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG,CAAA;AAAA,MAAG;AAAA,OACR,CAAC,CAAA;AAAA,EACN;AACF;AAGO,IAAM,YAAN,MAAgB;AAAA,EACrB,YAAqB,IAAA,EAAc;AAAd,IAAA,IAAA,CAAA,IAAA,GAAA,IAAA;AAAA,EAAe;AAAA,EAAf,IAAA;AACvB","file":"chunk-JGIVJXBU.js","sourcesContent":["/**\n * AST and value types for the USDA (ASCII USD) format.\n *\n * The parser (`parseUsda`) produces a {@link UsdaFile}. 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-JN2QPDB3.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) {
@@ -21,6 +21,8 @@ var JointObject = class extends THREE4.Object3D {
   axis;
   lower;
   upper;
+  /** Mimic constraint this joint follows, if any (see {@link JointMimicDescription}). */
+  mimic;
   _value = 0;
   constructor(joint) {
     super();
@@ -32,6 +34,7 @@ var JointObject = class extends THREE4.Object3D {
     this.axis = axisVector(joint.axis);
     this.lower = joint.lower;
     this.upper = joint.upper;
+    this.mimic = joint.mimic;
   }
   get value() {
     return this._value;
@@ -88,6 +91,10 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   jointObjects = /* @__PURE__ */ new Map();
   linkKeyByPath = /* @__PURE__ */ new Map();
   jointKeyByPath = /* @__PURE__ */ new Map();
+  /** Mimic edges among realized joints: leader key → followers. */
+  mimicFollowers = /* @__PURE__ */ new Map();
+  mimicLeaderByFollower = /* @__PURE__ */ new Map();
+  warnedMimicDrive = false;
   dirty = true;
   /** Constructed (fk rest) local matrix of every link, for baked→fk restore. */
   restLocal = /* @__PURE__ */ new Map();
@@ -124,8 +131,10 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
     this.attachRoot();
     this.attachTreeEdges();
     this.attachIsolatedLinks();
+    this.registerMimicFollowers();
     this.applyStageNormalization(robot, options);
     if (options.applyInitialPose ?? true) this.applyInitialPose(robot);
+    this.propagateAllMimic();
     for (const [key, obj] of this.linkObjects) this.restLocal.set(key, obj.matrix.toArray());
     const debug = options.debugBakedTransforms;
     this.debugBaked = debug ? {
@@ -154,6 +163,57 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
     }
     this.dirty = true;
   }
+  // -- Mimic joints ---------------------------------------------------------
+  /** Index the mimic edges realized in the tree (leader and follower both driven). */
+  registerMimicFollowers() {
+    for (const [key, joint] of Object.entries(this.robot.joints)) {
+      const mimic = joint.mimic;
+      if (!mimic || !this.jointObjects.has(key)) continue;
+      const leaderKey = this.jointKey(mimic.joint);
+      if (!this.jointObjects.has(leaderKey)) continue;
+      this.mimicLeaderByFollower.set(key, leaderKey);
+      const list = this.mimicFollowers.get(leaderKey) ?? [];
+      list.push({ key, multiplier: mimic.multiplier, offset: mimic.offset });
+      this.mimicFollowers.set(leaderKey, list);
+    }
+  }
+  /** Drive the followers of `leaderKey` from its current value (recursive, cycle-safe). */
+  propagateMimic(leaderKey, visited) {
+    const followers = this.mimicFollowers.get(leaderKey);
+    if (!followers) return;
+    const leaderValue = this.jointObjects.get(leaderKey)?.value;
+    if (leaderValue === void 0) return;
+    const seen = visited ?? /* @__PURE__ */ new Set([leaderKey]);
+    for (const { key, multiplier, offset } of followers) {
+      if (seen.has(key)) continue;
+      seen.add(key);
+      this.jointObjects.get(key)?.setValue(multiplier * leaderValue + offset, this.clampJointLimits);
+      this.propagateMimic(key, seen);
+    }
+  }
+  /** Re-derive every follower from its chain's top-most leader. */
+  propagateAllMimic() {
+    for (const leaderKey of this.mimicFollowers.keys()) {
+      if (!this.mimicLeaderByFollower.has(leaderKey)) this.propagateMimic(leaderKey);
+    }
+    if (this.mimicFollowers.size > 0) this.dirty = true;
+  }
+  /** Whether the joint (key or prim path) is a mimic follower, driven by its leader. */
+  isMimicFollower(name) {
+    return this.mimicLeaderByFollower.has(this.jointKey(name));
+  }
+  /** Keys of the mimic-follower joints (excluded from {@link getJointNames}). */
+  getMimicJointNames() {
+    return [...this.mimicLeaderByFollower.keys()];
+  }
+  warnMimicDriveOnce(key) {
+    if (this.warnedMimicDrive) return;
+    this.warnedMimicDrive = true;
+    const leader = this.mimicLeaderByFollower.get(key);
+    console.warn(
+      `three-usd-robot: "${key}" is a mimic follower of "${leader}" \u2014 its value derives from the leader; direct sets are ignored (warned once)`
+    );
+  }
   attachRoot() {
     const rootObj = this.linkObjects.get(this.tree.root);
     if (!rootObj) return;
@@ -216,19 +276,28 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   // -- Joint control -------------------------------------------------------
   /**
    * Set one joint value, addressed by key or full prim path. Unknown joints
-   * are ignored. Returns whether it applied. Always restores `"fk"` display
+   * are ignored, and so are mimic followers (their value derives from the
+   * leader; a warning is logged once). Driving a leader also updates its
+   * followers. Returns whether it applied. Always restores `"fk"` display
    * mode first (see {@link setLinkTransforms}).
    */
   setJointValue(name, value) {
     this.exitBakedMode();
-    const joint = this.jointObjects.get(this.jointKey(name));
+    const key = this.jointKey(name);
+    if (this.mimicLeaderByFollower.has(key)) {
+      this.warnMimicDriveOnce(key);
+      return false;
+    }
+    const joint = this.jointObjects.get(key);
     if (!joint) return false;
     joint.setValue(value, this.clampJointLimits);
+    this.propagateMimic(key);
     this.dirty = true;
     return true;
   }
   /**
-   * Set several joint values at once (matrix update is coalesced). Always
+   * Set several joint values at once (matrix update is coalesced). Mimic
+   * followers in the batch are skipped like in {@link setJointValue}. Always
    * restores `"fk"` display mode first, recomputing every link purely from
    * joint values — even an empty batch returns from baked playback (see
    * {@link setLinkTransforms}).
@@ -236,9 +305,15 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   setJointValues(values) {
     this.exitBakedMode();
     for (const [name, value] of Object.entries(values)) {
-      const joint = this.jointObjects.get(this.jointKey(name));
+      const key = this.jointKey(name);
+      if (this.mimicLeaderByFollower.has(key)) {
+        this.warnMimicDriveOnce(key);
+        continue;
+      }
+      const joint = this.jointObjects.get(key);
       if (joint) {
         joint.setValue(value, this.clampJointLimits);
+        this.propagateMimic(key);
         this.dirty = true;
       }
     }
@@ -341,9 +416,11 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   /**
    * Project a link-pose batch onto the joint manifold: the closed-form 1-DOF
    * joint values that best reproduce it, plus the same residuals as
-   * {@link validateLinkTransforms}. `values` covers the articulated tree
-   * joints, keyed by joint prim path, and feeds {@link setJointValues}
-   * directly — the constraint-respecting playback of the same track:
+   * {@link validateLinkTransforms}. `values` covers the commandable
+   * articulated tree joints (mimic followers excluded — their leaders
+   * re-derive them), keyed by joint prim path, and feeds
+   * {@link setJointValues} directly — the constraint-respecting playback of
+   * the same track:
    *
    * ```ts
    * robot.setJointValues(robot.jointValuesFromLinkTransforms(poses, { previous }).values);
@@ -363,6 +440,7 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
       }
       residuals[joint.primPath] = this.buildResidual(joint, q, rel);
       if (!this.jointObjects.get(key)?.articulated) continue;
+      if (this.mimicLeaderByFollower.has(key)) continue;
       if (opts.clampLimits) {
         if (joint.lower !== void 0 && q < joint.lower) q = joint.lower;
         if (joint.upper !== void 0 && q > joint.upper) q = joint.upper;
@@ -582,9 +660,13 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   getLinks() {
     return Object.values(this.robot.links);
   }
-  /** Names of the articulated (controllable) joints. */
+  /**
+   * Names of the commandable joints — articulated tree joints minus mimic
+   * followers, whose values derive from their leader
+   * (see {@link getMimicJointNames}).
+   */
   getJointNames() {
-    return [...this.jointObjects.keys()];
+    return [...this.jointObjects.keys()].filter((key) => !this.mimicLeaderByFollower.has(key));
   }
   getLinkNames() {
     return [...this.linkObjects.keys()];
@@ -629,11 +711,16 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
     }
     return null;
   }
-  /** Sample every animated joint at time code `t` and apply the values (an fk drive — leaves baked mode). */
+  /**
+   * Sample every animated joint at time code `t` and apply the values (an fk
+   * drive — leaves baked mode). Samples on mimic followers are ignored; the
+   * constraint re-derives them from their leader.
+   */
   setTime(t) {
     this.exitBakedMode();
     for (const [key, joint] of Object.entries(this.robot.joints)) {
-      if (joint.valueSamples) this.setJointValue(key, interpolate(joint.valueSamples, t));
+      if (!joint.valueSamples || this.mimicLeaderByFollower.has(key)) continue;
+      this.setJointValue(key, interpolate(joint.valueSamples, t));
     }
   }
   // -- Display toggles -----------------------------------------------------
@@ -697,5 +784,5 @@ function setMatrix(obj, m) {
 }
 
 export { JointObject, LinkObject, ThreeUsdRobot, axisVector };
-//# sourceMappingURL=chunk-ENWFOYHU.js.map
-//# sourceMappingURL=chunk-ENWFOYHU.js.map
+//# sourceMappingURL=chunk-JN2QPDB3.js.map
+//# sourceMappingURL=chunk-JN2QPDB3.js.map