three-usd-robot 0.13.0 → 0.14.0

package/dist/chunk-GRJGPHLW.js.map

@@ -1 +0,0 @@
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* 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-JN2QPDB3.js.map

@@ -1 +0,0 @@
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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/chunk-YGJ23CG3.js.map

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* Minimal 4×4 matrix math, Three.js-independent.\n *\n * ## Convention\n *\n * A {@link Mat4} is a flat 16-element array in **column-major** order — the\n * exact layout of `THREE.Matrix4.elements`, so a `Mat4` can be handed to\n * `matrix4.fromArray(m)` with no transposition. Transforms use the\n * column-vector convention `v' = M · v`; the translation lives at indices\n * `[12, 13, 14]`.\n *\n * Conveniently, OpenUSD stores `GfMatrix4d` **row-major** with a row-vector\n * convention (`v' = v · M`). The two raw 16-number arrays for the *same*\n * transform are therefore bit-identical, which is why {@link fromUsdMatrix} is\n * a plain copy. See the module test for a worked example.\n */\n\nimport { Quat, UsdMatrix, type Vec3 } from \"../parser/ast.js\";\n\n/** Column-major 4×4 matrix (Three.js `elements` layout). */\nexport type Mat4 = number[];\n\nexport const DEG2RAD = Math.PI / 180;\nexport const RAD2DEG = 180 / Math.PI;\n\nexport function identity4(): Mat4 {\n  // biome-ignore format: matrix layout\n  return [\n    1, 0, 0, 0,\n    0, 1, 0, 0,\n    0, 0, 1, 0,\n    0, 0, 0, 1,\n  ];\n}\n\n/** Matrix product `a · b` (column-major), matching `THREE.Matrix4.multiplyMatrices`. */\nexport function multiply(a: Mat4, b: Mat4): Mat4 {\n  const a11 = a[0]!,\n    a21 = a[1]!,\n    a31 = a[2]!,\n    a41 = a[3]!;\n  const a12 = a[4]!,\n    a22 = a[5]!,\n    a32 = a[6]!,\n    a42 = a[7]!;\n  const a13 = a[8]!,\n    a23 = a[9]!,\n    a33 = a[10]!,\n    a43 = a[11]!;\n  const a14 = a[12]!,\n    a24 = a[13]!,\n    a34 = a[14]!,\n    a44 = a[15]!;\n\n  const b11 = b[0]!,\n    b21 = b[1]!,\n    b31 = b[2]!,\n    b41 = b[3]!;\n  const b12 = b[4]!,\n    b22 = b[5]!,\n    b32 = b[6]!,\n    b42 = b[7]!;\n  const b13 = b[8]!,\n    b23 = b[9]!,\n    b33 = b[10]!,\n    b43 = b[11]!;\n  const b14 = b[12]!,\n    b24 = b[13]!,\n    b34 = b[14]!,\n    b44 = b[15]!;\n\n  return [\n    a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41,\n    a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41,\n    a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41,\n    a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41,\n\n    a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42,\n    a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42,\n    a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42,\n    a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42,\n\n    a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43,\n    a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43,\n    a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43,\n    a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43,\n\n    a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44,\n    a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44,\n    a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44,\n    a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44,\n  ];\n}\n\n/** Product of a list of matrices, left-to-right (`m[0] · m[1] · …`). */\nexport function multiplyAll(matrices: Mat4[]): Mat4 {\n  let m = identity4();\n  for (const next of matrices) m = multiply(m, next);\n  return m;\n}\n\n/** Inverse (column-major), matching `THREE.Matrix4.invert`. Throws if singular. */\nexport function invert(m: Mat4): Mat4 {\n  const n11 = m[0]!,\n    n21 = m[1]!,\n    n31 = m[2]!,\n    n41 = m[3]!;\n  const n12 = m[4]!,\n    n22 = m[5]!,\n    n32 = m[6]!,\n    n42 = m[7]!;\n  const n13 = m[8]!,\n    n23 = m[9]!,\n    n33 = m[10]!,\n    n43 = m[11]!;\n  const n14 = m[12]!,\n    n24 = m[13]!,\n    n34 = m[14]!,\n    n44 = m[15]!;\n\n  const t11 =\n    n23 * n34 * n42 -\n    n24 * n33 * n42 +\n    n24 * n32 * n43 -\n    n22 * n34 * n43 -\n    n23 * n32 * n44 +\n    n22 * n33 * n44;\n  const t12 =\n    n14 * n33 * n42 -\n    n13 * n34 * n42 -\n    n14 * n32 * n43 +\n    n12 * n34 * n43 +\n    n13 * n32 * n44 -\n    n12 * n33 * n44;\n  const t13 =\n    n13 * n24 * n42 -\n    n14 * n23 * n42 +\n    n14 * n22 * n43 -\n    n12 * n24 * n43 -\n    n13 * n22 * n44 +\n    n12 * n23 * n44;\n  const t14 =\n    n14 * n23 * n32 -\n    n13 * n24 * n32 -\n    n14 * n22 * n33 +\n    n12 * n24 * n33 +\n    n13 * n22 * n34 -\n    n12 * n23 * n34;\n\n  const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;\n  if (det === 0) throw new Error(\"cannot invert a singular matrix\");\n  const idet = 1 / det;\n\n  return [\n    t11 * idet,\n    (n24 * n33 * n41 -\n      n23 * n34 * n41 -\n      n24 * n31 * n43 +\n      n21 * n34 * n43 +\n      n23 * n31 * n44 -\n      n21 * n33 * n44) *\n      idet,\n    (n22 * n34 * n41 -\n      n24 * n32 * n41 +\n      n24 * n31 * n42 -\n      n21 * n34 * n42 -\n      n22 * n31 * n44 +\n      n21 * n32 * n44) *\n      idet,\n    (n23 * n32 * n41 -\n      n22 * n33 * n41 -\n      n23 * n31 * n42 +\n      n21 * n33 * n42 +\n      n22 * n31 * n43 -\n      n21 * n32 * n43) *\n      idet,\n\n    t12 * idet,\n    (n13 * n34 * n41 -\n      n14 * n33 * n41 +\n      n14 * n31 * n43 -\n      n11 * n34 * n43 -\n      n13 * n31 * n44 +\n      n11 * n33 * n44) *\n      idet,\n    (n14 * n32 * n41 -\n      n12 * n34 * n41 -\n      n14 * n31 * n42 +\n      n11 * n34 * n42 +\n      n12 * n31 * n44 -\n      n11 * n32 * n44) *\n      idet,\n    (n12 * n33 * n41 -\n      n13 * n32 * n41 +\n      n13 * n31 * n42 -\n      n11 * n33 * n42 -\n      n12 * n31 * n43 +\n      n11 * n32 * n43) *\n      idet,\n\n    t13 * idet,\n    (n14 * n23 * n41 -\n      n13 * n24 * n41 -\n      n14 * n21 * n43 +\n      n11 * n24 * n43 +\n      n13 * n21 * n44 -\n      n11 * n23 * n44) *\n      idet,\n    (n12 * n24 * n41 -\n      n14 * n22 * n41 +\n      n14 * n21 * n42 -\n      n11 * n24 * n42 -\n      n12 * n21 * n44 +\n      n11 * n22 * n44) *\n      idet,\n    (n13 * n22 * n41 -\n      n12 * n23 * n41 -\n      n13 * n21 * n42 +\n      n11 * n23 * n42 +\n      n12 * n21 * n43 -\n      n11 * n22 * n43) *\n      idet,\n\n    t14 * idet,\n    (n13 * n24 * n31 -\n      n14 * n23 * n31 +\n      n14 * n21 * n33 -\n      n11 * n24 * n33 -\n      n13 * n21 * n34 +\n      n11 * n23 * n34) *\n      idet,\n    (n14 * n22 * n31 -\n      n12 * n24 * n31 -\n      n14 * n21 * n32 +\n      n11 * n24 * n32 +\n      n12 * n21 * n34 -\n      n11 * n22 * n34) *\n      idet,\n    (n12 * n23 * n31 -\n      n13 * n22 * n31 +\n      n13 * n21 * n32 -\n      n11 * n23 * n32 -\n      n12 * n21 * n33 +\n      n11 * n22 * n33) *\n      idet,\n  ];\n}\n\nexport function makeTranslation([x, y, z]: Vec3): Mat4 {\n  // biome-ignore format: matrix layout\n  return [\n    1, 0, 0, 0,\n    0, 1, 0, 0,\n    0, 0, 1, 0,\n    x, y, z, 1,\n  ];\n}\n\nexport function makeScale([x, y, z]: Vec3): Mat4 {\n  // biome-ignore format: matrix layout\n  return [\n    x, 0, 0, 0,\n    0, y, 0, 0,\n    0, 0, z, 0,\n    0, 0, 0, 1,\n  ];\n}\n\nexport function makeRotationX(rad: number): Mat4 {\n  const c = Math.cos(rad);\n  const s = Math.sin(rad);\n  // biome-ignore format: matrix layout\n  return [\n    1, 0, 0, 0,\n    0, c, s, 0,\n    0, -s, c, 0,\n    0, 0, 0, 1,\n  ];\n}\n\nexport function makeRotationY(rad: number): Mat4 {\n  const c = Math.cos(rad);\n  const s = Math.sin(rad);\n  // biome-ignore format: matrix layout\n  return [\n    c, 0, -s, 0,\n    0, 1, 0, 0,\n    s, 0, c, 0,\n    0, 0, 0, 1,\n  ];\n}\n\nexport function makeRotationZ(rad: number): Mat4 {\n  const c = Math.cos(rad);\n  const s = Math.sin(rad);\n  // biome-ignore format: matrix layout\n  return [\n    c, s, 0, 0,\n    -s, c, 0, 0,\n    0, 0, 1, 0,\n    0, 0, 0, 1,\n  ];\n}\n\n/** Rotation matrix from a (normalized) quaternion, matching `THREE.Matrix4.compose`. */\nexport function makeRotationFromQuat(q: Quat): Mat4 {\n  let x = q.imaginary[0];\n  let y = q.imaginary[1];\n  let z = q.imaginary[2];\n  let w = q.real;\n  const len = Math.hypot(x, y, z, w);\n  if (len > 0 && Math.abs(len - 1) > 1e-9) {\n    x /= len;\n    y /= len;\n    z /= len;\n    w /= len;\n  }\n\n  const x2 = x + x,\n    y2 = y + y,\n    z2 = z + z;\n  const xx = x * x2,\n    xy = x * y2,\n    xz = x * z2;\n  const yy = y * y2,\n    yz = y * z2,\n    zz = z * z2;\n  const wx = w * x2,\n    wy = w * y2,\n    wz = w * z2;\n\n  // biome-ignore format: matrix layout\n  return [\n    1 - (yy + zz), xy + wz, xz - wy, 0,\n    xy - wz, 1 - (xx + zz), yz + wx, 0,\n    xz + wy, yz - wx, 1 - (xx + yy), 0,\n    0, 0, 0, 1,\n  ];\n}\n\n/**\n * Euler rotation matrix for the given axis order (e.g. `\"XYZ\"`), with per-axis\n * angles in **radians** indexed by axis (`angles[0]`=X, `[1]`=Y, `[2]`=Z).\n *\n * Follows OpenUSD's `rotate<ORDER>` semantics: the first listed axis is applied\n * first to the geometry, so `\"XYZ\"` yields `Rz · Ry · Rx` in column-vector form.\n */\nexport function makeEuler(angles: Vec3, order: string): Mat4 {\n  const perAxis: Record<string, Mat4> = {\n    X: makeRotationX(angles[0]),\n    Y: makeRotationY(angles[1]),\n    Z: makeRotationZ(angles[2]),\n  };\n  let m = identity4();\n  for (let i = order.length - 1; i >= 0; i--) {\n    const axis = perAxis[order[i]!];\n    if (!axis)\n      throw new Error(\n        `invalid euler axis ${JSON.stringify(order[i])} in order ${JSON.stringify(order)}`,\n      );\n    m = multiply(m, axis);\n  }\n  return m;\n}\n\n/**\n * Copy a USD matrix into a {@link Mat4}. USD's row-major storage is identical to\n * Three.js column-major elements for the same transform (see module docs), so\n * this is a straight copy after a dimension check.\n */\nexport function fromUsdMatrix(m: UsdMatrix): Mat4 {\n  if (m.dim !== 4 || m.values.length !== 16) {\n    throw new Error(`expected a 4x4 matrix but got dim=${m.dim}, length=${m.values.length}`);\n  }\n  return [...m.values];\n}\n\n/** Extract the translation component `[x, y, z]` from a {@link Mat4}. */\nexport function getTranslation(m: Mat4): Vec3 {\n  return [m[12]!, m[13]!, m[14]!];\n}\n\n/** Copy a {@link Mat4} into a USD `matrix4d` — same flat layout (see module docs). */\nexport function toUsdMatrix(m: Mat4): UsdMatrix {\n  if (m.length !== 16) {\n    throw new Error(`expected 16 matrix elements but got ${m.length}`);\n  }\n  return new UsdMatrix([...m], 4);\n}\n\n/**\n * Decompose a rigid transform into translation + orientation (M13 export).\n *\n * The rotation basis is orthonormalized (Gram-Schmidt, right-handed) before\n * quaternion extraction; `rigid` reports whether the input already was rigid\n * within tolerance, so callers can warn that scale/shear/reflection was\n * discarded.\n */\nexport function decomposeRigid(m: Mat4): { position: Vec3; orientation: Quat; rigid: boolean } {\n  const position: Vec3 = [m[12]!, m[13]!, m[14]!];\n\n  // Rotation-block basis columns.\n  const b0: Vec3 = [m[0]!, m[1]!, m[2]!];\n  const b1: Vec3 = [m[4]!, m[5]!, m[6]!];\n  const b2: Vec3 = [m[8]!, m[9]!, m[10]!];\n\n  const EPS = 1e-6;\n  const rigid =\n    Math.abs(norm(b0) - 1) < EPS &&\n    Math.abs(norm(b1) - 1) < EPS &&\n    Math.abs(norm(b2) - 1) < EPS &&\n    Math.abs(dot(b0, b1)) < EPS &&\n    Math.abs(dot(b1, b2)) < EPS &&\n    Math.abs(dot(b0, b2)) < EPS &&\n    dot(cross(b0, b1), b2) > 0; // right-handed (no reflection)\n\n  const c0 = normalizeVec(b0);\n  const c1 = normalizeVec(subVec(b1, scaleVec(c0, dot(c0, b1))));\n  const c2 = cross(c0, c1);\n\n  // Row-major rotation entries from the orthonormal columns.\n  const r11 = c0[0],\n    r12 = c1[0],\n    r13 = c2[0];\n  const r21 = c0[1],\n    r22 = c1[1],\n    r23 = c2[1];\n  const r31 = c0[2],\n    r32 = c1[2],\n    r33 = c2[2];\n\n  // Matrix → quaternion (Shepperd's method, as in THREE.Quaternion.setFromRotationMatrix).\n  const trace = r11 + r22 + r33;\n  let w: number;\n  let x: number;\n  let y: number;\n  let z: number;\n  if (trace > 0) {\n    const s = 0.5 / Math.sqrt(trace + 1);\n    w = 0.25 / s;\n    x = (r32 - r23) * s;\n    y = (r13 - r31) * s;\n    z = (r21 - r12) * s;\n  } else if (r11 > r22 && r11 > r33) {\n    const s = 2 * Math.sqrt(1 + r11 - r22 - r33);\n    w = (r32 - r23) / s;\n    x = 0.25 * s;\n    y = (r12 + r21) / s;\n    z = (r13 + r31) / s;\n  } else if (r22 > r33) {\n    const s = 2 * Math.sqrt(1 + r22 - r11 - r33);\n    w = (r13 - r31) / s;\n    x = (r12 + r21) / s;\n    y = 0.25 * s;\n    z = (r23 + r32) / s;\n  } else {\n    const s = 2 * Math.sqrt(1 + r33 - r11 - r22);\n    w = (r21 - r12) / s;\n    x = (r13 + r31) / s;\n    y = (r23 + r32) / s;\n    z = 0.25 * s;\n  }\n\n  return { position, orientation: new Quat(w, [x, y, z]), rigid };\n}\n\n// --- small Vec3 helpers for decomposeRigid ---------------------------------\n\nfunction dot(a: Vec3, b: Vec3): number {\n  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\n}\n\nfunction norm(v: Vec3): number {\n  return Math.hypot(v[0], v[1], v[2]);\n}\n\nfunction subVec(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];\n}\n\nfunction scaleVec(v: Vec3, s: number): Vec3 {\n  return [v[0] * s, v[1] * s, v[2] * s];\n}\n\nfunction normalizeVec(v: Vec3): Vec3 {\n  const n = norm(v);\n  return n > 0 ? scaleVec(v, 1 / n) : [1, 0, 0];\n}\n\nfunction cross(a: Vec3, b: Vec3): Vec3 {\n  return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];\n}\n","/**\n * Closed-form decomposition of a joint's observed parent→child transform\n * against its ideal single-DOF model (baked-playback diagnostics, M23).\n *\n * A UsdPhysics joint constrains child body1 to parent body0 through its two\n * authored frames: `inv(Wp) · Wc = F0 · M(q) · inv(F1)`, where `M(q)` rotates\n * about the joint axis (revolute / continuous), slides along it (prismatic),\n * or is identity (fixed). Observed world transforms therefore yield\n *\n *     D = inv(F0) · inv(Wp) · Wc · F1\n *\n * which equals `M(q)` exactly for a constraint-consistent pose. This module\n * extracts `q` from `D` and reports what remains as residuals: translation at\n * the joint anchor (`anchorError`, stage linear units) and rotation off the\n * DOF (`axisError`, radians — the swing of a swing–twist split for revolute\n * joints). Inputs must be rigid stage-space transforms, before any\n * `metersPerUnit` or up-axis normalization.\n */\n\nimport { type Mat4, decomposeRigid, invert, multiplyAll } from \"./transforms.js\";\n\n/** The slice of a joint description the decomposition needs (structurally satisfied by `JointDescription`). */\nexport type JointDofInput = {\n  type: \"fixed\" | \"revolute\" | \"continuous\" | \"prismatic\";\n  /** Axis token as authored (`physics:axis`). */\n  axis: \"X\" | \"Y\" | \"Z\";\n  /** Joint frame in the parent (body0) local space. */\n  jointFrame0: Mat4;\n  /** Joint frame in the child (body1) local space. */\n  jointFrame1: Mat4;\n};\n\nexport type JointRelativeDecomposition = {\n  /** Joint value along the DOF (radians / stage length units; `0` for fixed). */\n  q: number;\n  /** Translation residual at the joint anchor (stage linear units). */\n  anchorError: number;\n  /** Rotation residual off the DOF (radians). */\n  axisError: number;\n};\n\nconst AXIS_INDEX = { X: 0, Y: 1, Z: 2 } as const;\n\n/** Decompose `inv(Wp)·Wc` against the joint's single-DOF model (see module docs). */\nexport function decomposeJointRelative(\n  joint: JointDofInput,\n  parentWorld: Mat4,\n  childWorld: Mat4,\n): JointRelativeDecomposition {\n  const d = multiplyAll([\n    invert(joint.jointFrame0),\n    invert(parentWorld),\n    childWorld,\n    joint.jointFrame1,\n  ]);\n  const t: [number, number, number] = [d[12]!, d[13]!, d[14]!];\n\n  // Principal-branch (w ≥ 0) unit quaternion of D's rotation block.\n  const { orientation } = decomposeRigid(d);\n  const sign = orientation.real < 0 ? -1 : 1;\n  const w = sign * orientation.real;\n  const vx = sign * orientation.imaginary[0];\n  const vy = sign * orientation.imaginary[1];\n  const vz = sign * orientation.imaginary[2];\n  const rotationAngle = 2 * Math.atan2(Math.hypot(vx, vy, vz), w);\n\n  const i = AXIS_INDEX[joint.axis];\n  if (joint.type === \"prismatic\") {\n    const anchor = Math.hypot(i === 0 ? 0 : t[0], i === 1 ? 0 : t[1], i === 2 ? 0 : t[2]);\n    return { q: t[i], anchorError: anchor, axisError: rotationAngle };\n  }\n  if (joint.type === \"fixed\") {\n    return { q: 0, anchorError: Math.hypot(...t), axisError: rotationAngle };\n  }\n\n  // Revolute / continuous — swing–twist about the axis: the twist is the joint\n  // value, the swing is the violation. With d normalized and w ≥ 0 the twist\n  // is (w, proj·axis)/‖(w, proj)‖ and cos(swing/2) = ‖(w, proj)‖.\n  const proj = i === 0 ? vx : i === 1 ? vy : vz;\n  const twistNorm = Math.hypot(w, proj);\n  const q = twistNorm > 1e-12 ? 2 * Math.atan2(proj, w) : 0;\n  const swing = 2 * Math.atan2(Math.sqrt(Math.max(0, 1 - twistNorm * twistNorm)), twistNorm);\n  return { q, anchorError: Math.hypot(...t), axisError: swing };\n}\n\n/**\n * Move `q` to the 2πk branch nearest `previous` — frame-to-frame continuity\n * past ±π for revolute/continuous joints (`opts.previous` of\n * `jointValuesFromLinkTransforms`).\n */\nexport function nearestAngleBranch(q: number, previous: number): number {\n  const TWO_PI = 2 * Math.PI;\n  return q + TWO_PI * Math.round((previous - q) / TWO_PI);\n}\n","/**\n * Time-sample interpolation for animated values (e.g. joint trajectories).\n *\n * USD time samples are keyed by time code. We linearly interpolate between the\n * two bracketing samples and hold the endpoints outside the authored range\n * (matching USD's held extrapolation).\n */\n\n/** A sorted time-sampled scalar channel. */\nexport type SampleChannel = {\n  /** Sample times, ascending. */\n  times: number[];\n  /** Sample values, parallel to {@link times} (SI units). */\n  values: number[];\n};\n\n/** Linearly sample `channel` at time `t` (held outside the range). */\nexport function interpolate(channel: SampleChannel, t: number): number {\n  const { times, values } = channel;\n  const n = times.length;\n  if (n === 0) return 0;\n  if (t <= times[0]!) return values[0]!;\n  if (t >= times[n - 1]!) return values[n - 1]!;\n\n  // Binary search for the first sample time > t.\n  let lo = 0;\n  let hi = n - 1;\n  while (lo < hi) {\n    const mid = (lo + hi) >> 1;\n    if (times[mid]! <= t) lo = mid + 1;\n    else hi = mid;\n  }\n  const i = lo - 1; // times[i] <= t < times[i+1]\n  const t0 = times[i]!;\n  const t1 = times[i + 1]!;\n  const span = t1 - t0;\n  const f = span > 0 ? (t - t0) / span : 0;\n  return values[i]! + (values[i + 1]! - values[i]!) * f;\n}\n\n/** Build a sorted {@link SampleChannel} from `(time → value)` pairs via `map`. */\nexport function channelFromSamples(samples: Map<number, number>): SampleChannel {\n  const times = [...samples.keys()].sort((a, b) => a - b);\n  const values = times.map((t) => samples.get(t) ?? 0);\n  return { times, values };\n}\n"]}