three-usd-robot 0.12.0 → 0.13.0

package/dist/{chunk-KYBHWDX5.js → chunk-JN2QPDB3.js}

@@ -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-KYBHWDX5.js.map
-//# sourceMappingURL=chunk-KYBHWDX5.js.map
+//# sourceMappingURL=chunk-JN2QPDB3.js.map
+//# sourceMappingURL=chunk-JN2QPDB3.js.map

package/dist/chunk-JN2QPDB3.js.map

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

package/dist/core.d.ts

@@ -1,5 +1,5 @@
-import { U as UsdaFile, y as Vec3, x as Vec2, M as Mat4, i as LinkDescription, S as Stage, R as RobotDescription, P as Prim, w as UsdValue, f as JointType, A as Axis, r as SdfPath, L as LinkInertialDescription } from './buildKinematicTree-iFqaw0Jl.js';
-export { a as AssetPath, b as Attribute, c as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, d as DEG2RAD, e as JointDescription, J as JointDriveDescription, g as KinematicNode, K as KinematicTree, h as Layer, j as ListOp, k as MetadataMap, l as PrimSpec, m as PropertySpec, Q as Quat, n as RAD2DEG, o as Relationship, p as RelationshipSpec, q as SampleChannel, s as Specifier, T as TreeEdge, t as UpAxis, u as UsdDictionary, v as UsdMatrix, V as Variability, z as Vec4, E as buildKinematicTree, F as channelFromSamples, G as decomposeRigid, H as fromUsdMatrix, I as getTranslation, N as identity4, O as interpolate, W as invert, X as makeEuler, Y as makeRotationFromQuat, Z as makeRotationX, _ as makeRotationY, $ as makeRotationZ, a0 as makeScale, a1 as makeTranslation, a2 as multiply, a3 as multiplyAll, a4 as toUsdMatrix } from './buildKinematicTree-iFqaw0Jl.js';
+import { U as UsdaFile, z as Vec3, y as Vec2, M as Mat4, j as LinkDescription, S as Stage, R as RobotDescription, P as Prim, x as UsdValue, g as JointType, A as Axis, s as SdfPath, L as LinkInertialDescription } from './buildKinematicTree-Q9JOjAjM.js';
+export { a as AssetPath, b as Attribute, c as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, d as DEG2RAD, e as JointDescription, J as JointDriveDescription, f as JointMimicDescription, h as KinematicNode, K as KinematicTree, i as Layer, k as ListOp, l as MetadataMap, m as PrimSpec, n as PropertySpec, Q as Quat, o as RAD2DEG, p as Relationship, q as RelationshipSpec, r as SampleChannel, t as Specifier, T as TreeEdge, u as UpAxis, v as UsdDictionary, w as UsdMatrix, V as Variability, E as Vec4, F as buildKinematicTree, G as channelFromSamples, H as decomposeRigid, I as fromUsdMatrix, N as getTranslation, O as identity4, W as interpolate, X as invert, Y as makeEuler, Z as makeRotationFromQuat, _ as makeRotationX, $ as makeRotationY, a0 as makeRotationZ, a1 as makeScale, a2 as makeTranslation, a3 as multiply, a4 as multiplyAll, a5 as toUsdMatrix } from './buildKinematicTree-Q9JOjAjM.js';
 import { A as AssetResolver, b as MdlModuleProvider } from './parseMdl-vfzBGoMr.js';
 export { D as DefaultAssetResolver, M as MdlMaterialDecl, a as MdlModule, c as MdlTextureValue, d as MdlValue, e as createMemoryResolver, i as isMdlTexture, j as joinPosix, p as parseMdl, f as parseMdlLiteral } from './parseMdl-vfzBGoMr.js';
 export { B as BinarySource, U as UsdSource, t as toBytes } from './bytes-CxGRGry_.js';
@@ -146,8 +146,8 @@ declare function stageGeometryProvider(stage: Stage): RobotGeometryProvider;
  *
  * Builds a self-contained UsdPhysics robot layer from a {@link RobotDescription}:
  * one `Xform` prim per link placed at its **zero-pose** world transform
- * (folding joint frames root-down, `T_child = T_parent · frame0 · frame1⁻¹` —
- * see docs/export-design.md §4), one `Physics*Joint` prim per joint, and the
+ * (folding joint frames root-down, `T_child = T_parent · frame0 · frame1⁻¹`),
+ * one `Physics*Joint` prim per joint, and the
  * link meshes supplied by a {@link RobotGeometryProvider}. Initial joint values
  * author as `PhysicsJointStateAPI` opinions rather than being baked into link
  * transforms, so a re-import applies them exactly once. Values convert back

package/dist/core.js

@@ -1,5 +1,5 @@
-export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-CK5MTMYR.js';
-export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize } from './chunk-6W4LQVEQ.js';
+export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-5ZPHZ5ZH.js';
+export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize } from './chunk-FUVHAORT.js';
 export { DEG2RAD, RAD2DEG, channelFromSamples, decomposeJointRelative, decomposeRigid, fromUsdMatrix, getTranslation, identity4, interpolate, invert, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, nearestAngleBranch, toUsdMatrix } from './chunk-YGJ23CG3.js';
 export { DefaultAssetResolver, createMemoryResolver, isMdlTexture, joinPosix, parseMdl, parseMdlLiteral } from './chunk-PPPRB6KE.js';
 export { AssetPath, Quat, UsdMatrix } from './chunk-JGIVJXBU.js';

package/dist/extras.d.ts

@@ -1,6 +1,6 @@
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-C3N6-XBJ.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-X1zbpRZo.js';
 import 'three';
-import './buildKinematicTree-iFqaw0Jl.js';
+import './buildKinematicTree-Q9JOjAjM.js';
 
 /**
  * `three-usd-robot/extras`

package/dist/helpers.d.ts

@@ -1,6 +1,6 @@
 import * as THREE from 'three';
-import { T as ThreeUsdRobot, J as JointObject } from './ThreeUsdRobot-C3N6-XBJ.js';
-import './buildKinematicTree-iFqaw0Jl.js';
+import { T as ThreeUsdRobot, J as JointObject } from './ThreeUsdRobot-X1zbpRZo.js';
+import './buildKinematicTree-Q9JOjAjM.js';
 
 /**
  * Per-link appearance helpers: highlight (tint), material replacement, and

package/dist/helpers.js

@@ -1,4 +1,4 @@
-import { ThreeUsdRobot } from './chunk-KYBHWDX5.js';
+import { ThreeUsdRobot } from './chunk-JN2QPDB3.js';
 import './chunk-YGJ23CG3.js';
 import './chunk-JGIVJXBU.js';
 import * as THREE3 from 'three';

package/dist/index.d.ts

@@ -1,12 +1,12 @@
 import { CollisionApproximation, ExportPhysicsMaterial, RobotGeometryProvider, ExportRobotOptions, ExportMaterial, ExportMesh } from './core.js';
 export { ARTICULATION_ROOT_API, COLLISION_API, ComposeOptions, CrateReader, ExtractOptions, JointDofInput, JointRelativeDecomposition, MASS_API, MESH_COLLISION_API, PACKAGE_NAME, PHYSICS_MATERIAL_API, ParseError, RIGID_BODY_API, ResolvedXform, TextureChannel, TokenizeError, UsdzPackage, VERSION, ValidateRobotOptions, ValidationIssue, ValidationSeverity, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, decomposeJointRelative, driveKindFor, exportRobotUsda, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, nearestAngleBranch, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, stageGeometryProvider, tokenize, validateRobotDescription, writeUsdz } from './core.js';
 import * as THREE from 'three';
-import { A as Axis, J as JointDriveDescription, L as LinkInertialDescription, R as RobotDescription, K as KinematicTree, U as UsdaFile, S as Stage, M as Mat4 } from './buildKinematicTree-iFqaw0Jl.js';
-export { a as AssetPath, b as Attribute, c as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, d as DEG2RAD, e as JointDescription, f as JointType, g as KinematicNode, h as Layer, i as LinkDescription, j as ListOp, k as MetadataMap, P as Prim, l as PrimSpec, m as PropertySpec, Q as Quat, n as RAD2DEG, o as Relationship, p as RelationshipSpec, q as SampleChannel, r as SdfPath, s as Specifier, T as TreeEdge, t as UpAxis, u as UsdDictionary, v as UsdMatrix, w as UsdValue, V as Variability, x as Vec2, y as Vec3, z as Vec4, E as buildKinematicTree, F as channelFromSamples, G as decomposeRigid, H as fromUsdMatrix, I as getTranslation, N as identity4, O as interpolate, W as invert, X as makeEuler, Y as makeRotationFromQuat, Z as makeRotationX, _ as makeRotationY, $ as makeRotationZ, a0 as makeScale, a1 as makeTranslation, a2 as multiply, a3 as multiplyAll, a4 as toUsdMatrix } from './buildKinematicTree-iFqaw0Jl.js';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-C3N6-XBJ.js';
-export { J as JointObject, b as JointResidual, c as JointValuesFromLinkTransformsOptions, L as LinkObject, d as LinkPose, e as LinkPoseSpace, f as LinkPosesOptions, a as ThreeUsdRobotOptions, W as WorldUpAxis } from './ThreeUsdRobot-C3N6-XBJ.js';
-export { B as BindMeshesOptions, a as BuildGprimOptions, M as MaterialFactory, b as MeshKind, R as ResolveMaterialOptions, c as ResolvedMaterial, d as ResolvedTexture, e as TextureColorSpace, f as TextureOptions, T as TextureProvider, g as TextureTransform, h as TextureWrap, i as bindRobotMeshes, j as bindSceneMeshes, k as buildGprimGeometry, l as buildGprimObject, m as buildMeshGeometry, n as buildMeshMaterial, o as createTextureProvider, p as findBoundSurfaceShader, r as resolveBoundMaterial } from './MeshBinding-DQKXuYNr.js';
-export { a as ThreeUsdRobotLoader, T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-D2fEo9_p.js';
+import { A as Axis, J as JointDriveDescription, L as LinkInertialDescription, R as RobotDescription, K as KinematicTree, U as UsdaFile, S as Stage, M as Mat4 } from './buildKinematicTree-Q9JOjAjM.js';
+export { a as AssetPath, b as Attribute, c as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, d as DEG2RAD, e as JointDescription, f as JointMimicDescription, g as JointType, h as KinematicNode, i as Layer, j as LinkDescription, k as ListOp, l as MetadataMap, P as Prim, m as PrimSpec, n as PropertySpec, Q as Quat, o as RAD2DEG, p as Relationship, q as RelationshipSpec, r as SampleChannel, s as SdfPath, t as Specifier, T as TreeEdge, u as UpAxis, v as UsdDictionary, w as UsdMatrix, x as UsdValue, V as Variability, y as Vec2, z as Vec3, E as Vec4, F as buildKinematicTree, G as channelFromSamples, H as decomposeRigid, I as fromUsdMatrix, N as getTranslation, O as identity4, W as interpolate, X as invert, Y as makeEuler, Z as makeRotationFromQuat, _ as makeRotationX, $ as makeRotationY, a0 as makeRotationZ, a1 as makeScale, a2 as makeTranslation, a3 as multiply, a4 as multiplyAll, a5 as toUsdMatrix } from './buildKinematicTree-Q9JOjAjM.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-X1zbpRZo.js';
+export { J as JointObject, b as JointResidual, c as JointValuesFromLinkTransformsOptions, L as LinkObject, d as LinkPose, e as LinkPoseSpace, f as LinkPosesOptions, a as ThreeUsdRobotOptions, W as WorldUpAxis } from './ThreeUsdRobot-X1zbpRZo.js';
+export { B as BindMeshesOptions, a as BuildGprimOptions, M as MaterialFactory, b as MeshKind, R as ResolveMaterialOptions, c as ResolvedMaterial, d as ResolvedTexture, e as TextureColorSpace, f as TextureOptions, T as TextureProvider, g as TextureTransform, h as TextureWrap, i as bindRobotMeshes, j as bindSceneMeshes, k as buildGprimGeometry, l as buildGprimObject, m as buildMeshGeometry, n as buildMeshMaterial, o as createTextureProvider, p as findBoundSurfaceShader, r as resolveBoundMaterial } from './MeshBinding-B_8RhuQE.js';
+export { a as ThreeUsdRobotLoader, T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-u3d1yoLM.js';
 export { A as AssetResolver, D as DefaultAssetResolver, M as MdlMaterialDecl, a as MdlModule, b as MdlModuleProvider, c as MdlTextureValue, d as MdlValue, e as createMemoryResolver, i as isMdlTexture, j as joinPosix, p as parseMdl, f as parseMdlLiteral } from './parseMdl-vfzBGoMr.js';
 export { B as BinarySource, U as UsdSource, t as toBytes } from './bytes-CxGRGry_.js';
 
@@ -66,6 +66,16 @@ type AddJointOptions = {
     /** Initial joint value in SI, exported as `PhysicsJointStateAPI`. */
     initialValue?: number;
     drive?: JointDriveDescription;
+    /**
+     * Follow another joint: `value = multiplier · leader + offset` (SI), exported
+     * as `NewtonMimicAPI`. The leader must be declared (in any order) and share
+     * the motion kind. `multiplier` defaults to `1`, `offset` to `0`.
+     */
+    mimic?: {
+        joint: string;
+        multiplier?: number;
+        offset?: number;
+    };
 };
 declare class RobotBuilder {
     private readonly robotName;
@@ -79,7 +89,7 @@ declare class RobotBuilder {
     private materialAutoId;
     constructor(options: RobotBuilderOptions);
     addLink(options: AddLinkOptions): this;
-    addFixedJoint(options: Omit<AddJointOptions, "axis" | "lower" | "upper">): this;
+    addFixedJoint(options: Omit<AddJointOptions, "axis" | "lower" | "upper" | "mimic">): this;
     addRevoluteJoint(options: AddJointOptions): this;
     addPrismaticJoint(options: AddJointOptions): this;
     private addJoint;

package/dist/index.js

@@ -1,9 +1,9 @@
-import { stageGeometryProvider, exportRobotUsda } from './chunk-CK5MTMYR.js';
-export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-CK5MTMYR.js';
-export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildGprimObject, buildMeshGeometry, buildMeshMaterial, createTextureProvider } from './chunk-7GGSIA6M.js';
-import { refineJointType, buildKinematicTree } from './chunk-6W4LQVEQ.js';
-export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize } from './chunk-6W4LQVEQ.js';
-export { JointObject, LinkObject, ThreeUsdRobot, axisVector } from './chunk-KYBHWDX5.js';
+import { stageGeometryProvider, exportRobotUsda } from './chunk-5ZPHZ5ZH.js';
+export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-5ZPHZ5ZH.js';
+export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildGprimObject, buildMeshGeometry, buildMeshMaterial, createTextureProvider } from './chunk-GRJGPHLW.js';
+import { refineJointType, buildKinematicTree } from './chunk-FUVHAORT.js';
+export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize } from './chunk-FUVHAORT.js';
+export { JointObject, LinkObject, ThreeUsdRobot, axisVector } from './chunk-JN2QPDB3.js';
 import { identity4, multiply, invert } from './chunk-YGJ23CG3.js';
 export { DEG2RAD, RAD2DEG, channelFromSamples, decomposeJointRelative, decomposeRigid, fromUsdMatrix, getTranslation, identity4, interpolate, invert, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, nearestAngleBranch, toUsdMatrix } from './chunk-YGJ23CG3.js';
 export { DefaultAssetResolver, createMemoryResolver, findBoundSurfaceShader, isMdlTexture, joinPosix, parseMdl, parseMdlLiteral, resolveBoundMaterial } from './chunk-PPPRB6KE.js';
@@ -235,6 +235,23 @@ var RobotBuilder = class {
       const jointWorld = pending.world ?? childLink.world;
       const parentWorld = parent === "" ? identity4() : this.links.get(parent).world;
       const type = refineJointType(pending.type, options.lower, options.upper);
+      if (options.mimic) {
+        const leader = this.joints.get(options.mimic.joint);
+        if (!leader) {
+          throw new Error(
+            `RobotBuilder: joint "${name}" mimics unknown joint "${options.mimic.joint}"`
+          );
+        }
+        if (options.mimic.joint === name) {
+          throw new Error(`RobotBuilder: joint "${name}" cannot mimic itself`);
+        }
+        const linear = (t) => t === "prismatic";
+        if (leader.type === "fixed" || linear(leader.type) !== linear(pending.type)) {
+          throw new Error(
+            `RobotBuilder: joint "${name}" (${pending.type}) cannot mimic "${options.mimic.joint}" (${leader.type})`
+          );
+        }
+      }
       joints[name] = {
         name,
         primPath: `/${this.robotName}/${name}`,
@@ -247,7 +264,14 @@ var RobotBuilder = class {
         ...options.lower !== void 0 ? { lower: options.lower } : {},
         ...options.upper !== void 0 ? { upper: options.upper } : {},
         ...options.initialValue !== void 0 ? { initialValue: options.initialValue } : {},
-        ...options.drive ? { drive: options.drive } : {}
+        ...options.drive ? { drive: options.drive } : {},
+        ...options.mimic ? {
+          mimic: {
+            joint: options.mimic.joint,
+            multiplier: options.mimic.multiplier ?? 1,
+            offset: options.mimic.offset ?? 0
+          }
+        } : {}
       };
     }
     if (this.articulationRoot !== void 0 && !this.links.has(this.articulationRoot)) {