three-usd-robot 0.13.0 → 0.14.0

package/dist/chunk-IAOPNN6V.js.map

@@ -0,0 +1 @@
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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"]}

package/dist/{chunk-5ZPHZ5ZH.js → chunk-IT5RWB7A.js}

@@ -1,6 +1,7 @@
-import { buildKinematicTree, ARTICULATION_ROOT_API, COLLISION_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, driveKindFor, jointValueFromSI, NEWTON_MIMIC_API, getMaterialSubsets, computeLocalTransform, RIGID_BODY_API, MASS_API } from './chunk-FUVHAORT.js';
-import { multiply, invert, identity4, toUsdMatrix, decomposeRigid } from './chunk-YGJ23CG3.js';
+import { buildKinematicTree, ARTICULATION_ROOT_API, COLLISION_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, driveKindFor, jointValueFromSI, NEWTON_MIMIC_API, getMaterialSubsets, RIGID_BODY_API, MASS_API } from './chunk-KRT4NL3H.js';
 import { resolveBoundMaterial } from './chunk-PPPRB6KE.js';
+import { computeLocalTransform } from './chunk-ZQXYVBQI.js';
+import { multiply, invert, identity4, toUsdMatrix, decomposeRigid } from './chunk-IAOPNN6V.js';
 import { Quat, AssetPath } from './chunk-JGIVJXBU.js';
 import { strToU8, zipSync } from 'fflate';
 
@@ -1007,5 +1008,5 @@ function validateRobotDescription(desc, options = {}) {
 }
 
 export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz };
-//# sourceMappingURL=chunk-5ZPHZ5ZH.js.map
-//# sourceMappingURL=chunk-5ZPHZ5ZH.js.map
+//# sourceMappingURL=chunk-IT5RWB7A.js.map
+//# sourceMappingURL=chunk-IT5RWB7A.js.map

package/dist/chunk-IT5RWB7A.js.map

@@ -0,0 +1 @@
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Package identity. Kept in one place so every entry point can re-export it. */\nexport const PACKAGE_NAME = \"three-usd-robot\";\n\n/** Library version. Replaced by the release tooling at publish time. */\nexport const VERSION = \"0.0.0\";\n","/**\n * Robot IR → USDA layer (M13).\n *\n * Builds a self-contained UsdPhysics robot layer from a {@link RobotDescription}:\n * one `Xform` prim per link placed at its **zero-pose** world transform\n * (folding joint frames root-down, `T_child = T_parent · frame0 · frame1⁻¹`),\n * one `Physics*Joint` prim per joint, and the\n * link meshes supplied by a {@link RobotGeometryProvider}. Initial joint values\n * author as `PhysicsJointStateAPI` opinions rather than being baked into link\n * transforms, so a re-import applies them exactly once. Values convert back\n * from SI to authored units (angular radians → degrees).\n */\n\nimport {\n  type Mat4,\n  decomposeRigid,\n  identity4,\n  invert,\n  multiply,\n  toUsdMatrix,\n} from \"../kinematics/transforms.js\";\nimport type {\n  AttributeSpec,\n  MetadataMap,\n  PrimSpec,\n  PropertySpec,\n  RelationshipSpec,\n  UsdValue,\n  UsdaFile,\n} from \"../parser/ast.js\";\nimport { AssetPath, Quat } from \"../parser/ast.js\";\nimport type {\n  JointDescription,\n  JointType,\n  LinkInertialDescription,\n  RobotDescription,\n} from \"../robot/RobotDescription.js\";\nimport { buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { jointValueFromSI } from \"../robot/normalize.js\";\nimport {\n  ARTICULATION_ROOT_API,\n  COLLISION_API,\n  MASS_API,\n  MESH_COLLISION_API,\n  NEWTON_MIMIC_API,\n  PHYSICS_MATERIAL_API,\n  RIGID_BODY_API,\n  driveKindFor,\n} from \"../schemas/usdPhysics.js\";\nimport type {\n  ExportMaterial,\n  ExportMesh,\n  ExportPhysicsMaterial,\n  RobotGeometryProvider,\n  TextureChannel,\n} from \"./GeometryProvider.js\";\n\n/** PhysX articulation tuning API (Isaac / Omniverse). */\nconst PHYSX_ARTICULATION_API = \"PhysxArticulationAPI\";\n\nexport type ExportRobotOptions = {\n  /** Supplies each link's meshes; omit for a kinematics-only layer. */\n  geometry?: RobotGeometryProvider;\n  /** Root prim name; defaults to the (sanitized) robot name. */\n  robotName?: string;\n  /**\n   * Author `physxArticulation:enabledSelfCollisions` on the articulation root\n   * (M16). `false` is the common Isaac stabilizer for adjacent-link contact.\n   */\n  enabledSelfCollisions?: boolean;\n  /**\n   * Apply the Isaac Sim Robot Schema (M16): `IsaacRobotAPI` on the root with\n   * ordered `isaac:physics:robotLinks` / `robotJoints` relationships,\n   * `IsaacLinkAPI` per link, and `IsaacJointAPI` (+ DOF order) per joint.\n   */\n  isaacRobotSchema?: boolean;\n  /** Receives non-fatal export diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\nconst JOINT_SCHEMA_BY_TYPE: Record<JointType, string> = {\n  fixed: \"PhysicsFixedJoint\",\n  revolute: \"PhysicsRevoluteJoint\",\n  continuous: \"PhysicsRevoluteJoint\",\n  prismatic: \"PhysicsPrismaticJoint\",\n};\n\n/** Serialize a robot IR into a single-layer USDA AST (pass to `serializeUsda`). */\nexport function exportRobotUsda(\n  desc: RobotDescription,\n  options: ExportRobotOptions = {},\n): UsdaFile {\n  const warn = (m: string) => options.onWarn?.(m);\n  const tree = buildKinematicTree(desc, { onWarn: warn });\n\n  const robotName = sanitizeName(options.robotName ?? desc.name ?? \"robot\");\n\n  // One flat sibling namespace under the root prim for links and joints.\n  const alloc = nameAllocator(warn);\n  const linkNames = new Map<string, string>();\n  for (const key of Object.keys(desc.links)) linkNames.set(key, alloc(key, `link \"${key}\"`));\n  const jointNames = new Map<string, string>();\n  for (const key of Object.keys(desc.joints)) jointNames.set(key, alloc(key, `joint \"${key}\"`));\n  const linkPath = (key: string) => `/${robotName}/${linkNames.get(key)}`;\n\n  // Zero-pose world placement per link, folded root-down along the tree.\n  // Links no joint chain reaches (floating root / isolated) keep their\n  // authored stage placement when the IR carries one.\n  const authoredWorld = (key: string) => desc.links[key]?.worldTransform ?? identity4();\n  const worldByLink = new Map<string, Mat4>();\n  for (const key of tree.order) {\n    const node = tree.nodes[key]!;\n    if (node.parent === null || node.jointToParent === null) {\n      const rootJoint = tree.rootJoint ? desc.joints[tree.rootJoint] : undefined;\n      worldByLink.set(\n        key,\n        rootJoint\n          ? multiply(rootJoint.jointFrame0, invert(rootJoint.jointFrame1))\n          : authoredWorld(key),\n      );\n      continue;\n    }\n    const joint = desc.joints[node.jointToParent]!;\n    const parentWorld = worldByLink.get(node.parent) ?? identity4();\n    worldByLink.set(\n      key,\n      multiply(multiply(parentWorld, joint.jointFrame0), invert(joint.jointFrame1)),\n    );\n  }\n  for (const key of tree.isolatedLinks) worldByLink.set(key, authoredWorld(key));\n\n  // Articulation root: preserve link-level APIs from the IR; otherwise apply it\n  // on the container prim (never both — nested articulation roots are invalid).\n  const articulationLinks = new Set(desc.articulationRoots ?? []);\n\n  // Gather meshes once, then dedupe their (physics) materials by name.\n  const meshesByLink = new Map<string, ExportMesh[]>();\n  const materials = new Map<string, ExportMaterial>();\n  const physicsMaterials = new Map<string, ExportPhysicsMaterial>();\n  for (const [key, link] of Object.entries(desc.links)) {\n    const meshes = options.geometry?.(key, link) ?? [];\n    meshesByLink.set(key, meshes);\n    for (const mesh of meshes) {\n      if (mesh.material && !materials.has(mesh.material.name)) {\n        materials.set(mesh.material.name, mesh.material);\n      }\n      if (mesh.physicsMaterial && !physicsMaterials.has(mesh.physicsMaterial.name)) {\n        physicsMaterials.set(mesh.physicsMaterial.name, mesh.physicsMaterial);\n      }\n    }\n  }\n  const looksName = materials.size > 0 ? alloc(\"Looks\") : undefined;\n  const materialAlloc = nameAllocator();\n  const materialNames = new Map<string, string>();\n  for (const name of materials.keys()) materialNames.set(name, materialAlloc(name));\n  const materialPath = (name: string) =>\n    looksName ? `/${robotName}/${looksName}/${materialNames.get(name)}` : undefined;\n\n  const physicsScopeName = physicsMaterials.size > 0 ? alloc(\"PhysicsMaterials\") : undefined;\n  const physicsMaterialAlloc = nameAllocator();\n  const physicsMaterialNames = new Map<string, string>();\n  for (const name of physicsMaterials.keys()) {\n    physicsMaterialNames.set(name, physicsMaterialAlloc(name));\n  }\n  const physicsMaterialPath = (name: string) =>\n    physicsScopeName\n      ? `/${robotName}/${physicsScopeName}/${physicsMaterialNames.get(name)}`\n      : undefined;\n\n  const isaac = options.isaacRobotSchema === true;\n  const children: PrimSpec[] = [];\n  for (const [key, link] of Object.entries(desc.links)) {\n    const apiSchemas = [RIGID_BODY_API];\n    if (articulationLinks.has(key)) apiSchemas.push(ARTICULATION_ROOT_API);\n    if (link.inertial) apiSchemas.push(MASS_API);\n    if (isaac) apiSchemas.push(\"IsaacLinkAPI\");\n    const selfCollision = articulationLinks.has(key) ? options.enabledSelfCollisions : undefined;\n    if (selfCollision !== undefined) apiSchemas.push(PHYSX_ARTICULATION_API);\n    children.push(\n      buildLinkPrim({\n        name: linkNames.get(key)!,\n        world: worldByLink.get(key) ?? identity4(),\n        apiSchemas,\n        meshes: meshesByLink.get(key) ?? [],\n        materialPath,\n        physicsMaterialPath,\n        warn,\n        ...(link.inertial ? { inertial: link.inertial } : {}),\n        ...(selfCollision !== undefined ? { selfCollision } : {}),\n      }),\n    );\n  }\n  const emittedJoints = new Set<string>();\n  for (const [key, joint] of Object.entries(desc.joints)) {\n    if (!desc.links[joint.child] || (joint.parent !== \"\" && !desc.links[joint.parent])) {\n      warn(`joint \"${key}\" references an unknown link; skipped`);\n      continue;\n    }\n    emittedJoints.add(key);\n  }\n  const jointPath = (key: string) =>\n    emittedJoints.has(key) ? `/${robotName}/${jointNames.get(key)}` : undefined;\n  for (const key of emittedJoints) {\n    children.push(\n      buildJointPrim(\n        jointNames.get(key)!,\n        key,\n        desc.joints[key]!,\n        linkPath,\n        jointPath,\n        isaac,\n        warn,\n      ),\n    );\n  }\n  if (looksName) {\n    children.push(buildLooksPrim(looksName, materials, materialNames, materialPath));\n  }\n  if (physicsScopeName) {\n    children.push(\n      buildPhysicsMaterialsPrim(physicsScopeName, physicsMaterials, physicsMaterialNames),\n    );\n  }\n\n  const rootApiSchemas: string[] = [];\n  const rootProperties: PropertySpec[] = [];\n  if (articulationLinks.size === 0) {\n    rootApiSchemas.push(ARTICULATION_ROOT_API);\n    if (options.enabledSelfCollisions !== undefined) {\n      rootApiSchemas.push(PHYSX_ARTICULATION_API);\n      rootProperties.push(\n        attr(\"physxArticulation:enabledSelfCollisions\", \"bool\", options.enabledSelfCollisions),\n      );\n    }\n  }\n  if (isaac) {\n    rootApiSchemas.push(\"IsaacRobotAPI\");\n    const orderedLinks = [...tree.order, ...tree.isolatedLinks];\n    const orderedJoints: string[] = [];\n    const pushJoint = (key: string | null | undefined) => {\n      if (key && emittedJoints.has(key) && !orderedJoints.includes(key)) orderedJoints.push(key);\n    };\n    pushJoint(tree.rootJoint);\n    for (const linkKey of tree.order) pushJoint(tree.nodes[linkKey]?.jointToParent);\n    for (const jointKey of tree.loopJoints) pushJoint(jointKey);\n    for (const jointKey of Object.keys(desc.joints)) pushJoint(jointKey);\n\n    rootProperties.push(rel(\"isaac:physics:robotLinks\", orderedLinks.map(linkPath)));\n    rootProperties.push(\n      rel(\n        \"isaac:physics:robotJoints\",\n        orderedJoints.map((key) => `/${robotName}/${jointNames.get(key)}`),\n      ),\n    );\n  }\n\n  const root: PrimSpec = {\n    specifier: \"def\",\n    typeName: \"Xform\",\n    name: robotName,\n    metadata: rootApiSchemas.length > 0 ? { apiSchemas: rootApiSchemas } : {},\n    properties: rootProperties,\n    children,\n    line: 0,\n  };\n\n  const metadata: MetadataMap = {\n    defaultPrim: robotName,\n    metersPerUnit: desc.metersPerUnit,\n    upAxis: desc.upAxis,\n    ...(desc.timeCodesPerSecond !== undefined\n      ? { timeCodesPerSecond: desc.timeCodesPerSecond }\n      : {}),\n    ...(desc.startTimeCode !== undefined ? { startTimeCode: desc.startTimeCode } : {}),\n    ...(desc.endTimeCode !== undefined ? { endTimeCode: desc.endTimeCode } : {}),\n  };\n\n  return { version: \"1.0\", metadata, prims: [root] };\n}\n\n// ---------------------------------------------------------------------------\n// Links & meshes\n// ---------------------------------------------------------------------------\n\ntype LinkPrimArgs = {\n  name: string;\n  world: Mat4;\n  apiSchemas: string[];\n  meshes: ExportMesh[];\n  inertial?: LinkInertialDescription;\n  /** `physxArticulation:enabledSelfCollisions` for link-level articulation roots. */\n  selfCollision?: boolean;\n  materialPath: (name: string) => string | undefined;\n  physicsMaterialPath: (name: string) => string | undefined;\n  warn: (message: string) => void;\n};\n\nfunction buildLinkPrim(args: LinkPrimArgs): PrimSpec {\n  const meshAlloc = nameAllocator();\n  const properties: PropertySpec[] = transformProps(args.world);\n  if (args.inertial) properties.push(...massProps(args.inertial, args.name, args.warn));\n  if (args.selfCollision !== undefined) {\n    properties.push(attr(\"physxArticulation:enabledSelfCollisions\", \"bool\", args.selfCollision));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Xform\",\n    name: args.name,\n    metadata: { apiSchemas: args.apiSchemas },\n    properties,\n    children: args.meshes.map((mesh) =>\n      buildMeshPrim(mesh, meshAlloc(mesh.name), args.materialPath, args.physicsMaterialPath),\n    ),\n    line: 0,\n  };\n}\n\n/**\n * `UsdPhysicsMassAPI` attributes for a link's mass properties. UsdPhysics\n * requires `diagonalInertia` and `principalAxes` to be authored together, so a\n * missing principal-axes frame is completed with the identity quaternion\n * (equivalent — the diagonal is then in the body frame) and axes without a\n * diagonal are dropped (meaningless alone).\n */\nfunction massProps(\n  inertial: LinkInertialDescription,\n  linkName: string,\n  warn: (message: string) => void,\n): PropertySpec[] {\n  const out: PropertySpec[] = [];\n  if (inertial.mass !== undefined) out.push(attr(\"physics:mass\", \"float\", inertial.mass));\n  if (inertial.density !== undefined) out.push(attr(\"physics:density\", \"float\", inertial.density));\n  if (inertial.centerOfMass) {\n    out.push(attr(\"physics:centerOfMass\", \"point3f\", inertial.centerOfMass));\n  }\n  if (inertial.diagonalInertia) {\n    out.push(attr(\"physics:diagonalInertia\", \"float3\", inertial.diagonalInertia));\n    out.push(attr(\"physics:principalAxes\", \"quatf\", inertial.principalAxes ?? Quat.identity()));\n  } else if (inertial.principalAxes) {\n    warn(`link \"${linkName}\": principalAxes without diagonalInertia is meaningless; dropped`);\n  }\n  return out;\n}\n\nfunction buildMeshPrim(\n  mesh: ExportMesh,\n  name: string,\n  materialPath: (name: string) => string | undefined,\n  physicsMaterialPath: (name: string) => string | undefined,\n): PrimSpec {\n  const properties: PropertySpec[] = [];\n  if (mesh.transform) properties.push(...transformProps(mesh.transform));\n  properties.push(\n    arrayAttr(\"faceVertexCounts\", \"int\", mesh.faceVertexCounts),\n    arrayAttr(\"faceVertexIndices\", \"int\", mesh.faceVertexIndices),\n    arrayAttr(\"points\", \"point3f\", mesh.points),\n  );\n  if (mesh.normals) properties.push(arrayAttr(\"normals\", \"normal3f\", mesh.normals));\n  if (mesh.st) {\n    properties.push(arrayAttr(\"primvars:st\", \"texCoord2f\", mesh.st, { interpolation: \"vertex\" }));\n  }\n  if (mesh.displayColor) {\n    properties.push(arrayAttr(\"primvars:displayColor\", \"color3f\", [mesh.displayColor]));\n  }\n  if (mesh.doubleSided) properties.push(attr(\"doubleSided\", \"bool\", true));\n  properties.push(uniformToken(\"subdivisionScheme\", \"none\"));\n\n  const apiSchemas: string[] = [];\n  if (mesh.kind === \"collision\") {\n    apiSchemas.push(COLLISION_API);\n    // `guide` keeps collision shapes out of the render pass (usdview, Isaac Sim,\n    // and this package's own loader) while PhysX still collides with them.\n    properties.push(uniformToken(\"purpose\", \"guide\"));\n    if (mesh.collisionApproximation) {\n      apiSchemas.push(MESH_COLLISION_API);\n      properties.push(uniformToken(\"physics:approximation\", mesh.collisionApproximation));\n    }\n  }\n  const binding = mesh.material ? materialPath(mesh.material.name) : undefined;\n  if (binding) properties.push(rel(\"material:binding\", [binding]));\n  const physicsBinding =\n    mesh.kind === \"collision\" && mesh.physicsMaterial\n      ? physicsMaterialPath(mesh.physicsMaterial.name)\n      : undefined;\n  if (physicsBinding) properties.push(rel(\"material:binding:physics\", [physicsBinding]));\n  if (binding || physicsBinding) apiSchemas.push(\"MaterialBindingAPI\");\n\n  return {\n    specifier: \"def\",\n    typeName: \"Mesh\",\n    name,\n    metadata: apiSchemas.length > 0 ? { apiSchemas } : {},\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Physics materials\n// ---------------------------------------------------------------------------\n\n/** `Scope` holding one `PhysicsMaterialAPI` material per unique name. */\nfunction buildPhysicsMaterialsPrim(\n  scopeName: string,\n  materials: Map<string, ExportPhysicsMaterial>,\n  names: Map<string, string>,\n): PrimSpec {\n  const children: PrimSpec[] = [];\n  for (const [key, material] of materials) {\n    children.push(buildPhysicsMaterialPrim(names.get(key)!, material));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Scope\",\n    name: scopeName,\n    metadata: {},\n    properties: [],\n    children,\n    line: 0,\n  };\n}\n\nfunction buildPhysicsMaterialPrim(name: string, material: ExportPhysicsMaterial): PrimSpec {\n  const properties: PropertySpec[] = [];\n  if (material.staticFriction !== undefined) {\n    properties.push(attr(\"physics:staticFriction\", \"float\", material.staticFriction));\n  }\n  if (material.dynamicFriction !== undefined) {\n    properties.push(attr(\"physics:dynamicFriction\", \"float\", material.dynamicFriction));\n  }\n  if (material.restitution !== undefined) {\n    properties.push(attr(\"physics:restitution\", \"float\", material.restitution));\n  }\n  if (material.density !== undefined) {\n    properties.push(attr(\"physics:density\", \"float\", material.density));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Material\",\n    name,\n    metadata: { apiSchemas: [PHYSICS_MATERIAL_API] },\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Materials\n// ---------------------------------------------------------------------------\n\n/** `Scope` holding one `Material` + `UsdPreviewSurface` shader per material. */\nfunction buildLooksPrim(\n  looksName: string,\n  materials: Map<string, ExportMaterial>,\n  materialNames: Map<string, string>,\n  materialPath: (name: string) => string | undefined,\n): PrimSpec {\n  const children: PrimSpec[] = [];\n  for (const [key, material] of materials) {\n    children.push(buildMaterialPrim(materialNames.get(key)!, material, materialPath(key)!));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Scope\",\n    name: looksName,\n    metadata: {},\n    properties: [],\n    children,\n    line: 0,\n  };\n}\n\n/** How each texture channel wires into `UsdPreviewSurface`. */\nconst TEXTURE_WIRING: Record<\n  TextureChannel,\n  { input: string; inputType: string; output: string; outputType: string; colorSpace: string }\n> = {\n  color: {\n    input: \"inputs:diffuseColor\",\n    inputType: \"color3f\",\n    output: \"outputs:rgb\",\n    outputType: \"float3\",\n    colorSpace: \"sRGB\",\n  },\n  emissive: {\n    input: \"inputs:emissiveColor\",\n    inputType: \"color3f\",\n    output: \"outputs:rgb\",\n    outputType: \"float3\",\n    colorSpace: \"sRGB\",\n  },\n  normal: {\n    input: \"inputs:normal\",\n    inputType: \"normal3f\",\n    output: \"outputs:rgb\",\n    outputType: \"float3\",\n    colorSpace: \"raw\",\n  },\n  opacity: {\n    input: \"inputs:opacity\",\n    inputType: \"float\",\n    output: \"outputs:a\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n  roughness: {\n    input: \"inputs:roughness\",\n    inputType: \"float\",\n    output: \"outputs:r\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n  metalness: {\n    input: \"inputs:metallic\",\n    inputType: \"float\",\n    output: \"outputs:r\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n  occlusion: {\n    input: \"inputs:occlusion\",\n    inputType: \"float\",\n    output: \"outputs:r\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n};\n\nfunction buildMaterialPrim(name: string, material: ExportMaterial, selfPath: string): PrimSpec {\n  const textures = material.textures ?? {};\n  const shaderProps: PropertySpec[] = [uniformToken(\"info:id\", \"UsdPreviewSurface\")];\n\n  // A surface input: constant value, texture connection, or both (the\n  // connection wins per UsdShade; the constant stays for flat consumers).\n  const input = (channel: TextureChannel, value?: UsdValue) => {\n    const wiring = TEXTURE_WIRING[channel];\n    const texturePath = textures[channel];\n    if (value === undefined && texturePath === undefined) return;\n    const spec = attr(wiring.input, wiring.inputType, value);\n    if (texturePath !== undefined) {\n      spec.connections = [`${selfPath}/${channel}Texture.${wiring.output}`];\n    }\n    shaderProps.push(spec);\n  };\n  input(\"color\", material.diffuseColor);\n  input(\"metalness\", material.metallic);\n  input(\"roughness\", material.roughness);\n  input(\"opacity\", material.opacity);\n  input(\"emissive\", material.emissiveColor);\n  input(\"normal\");\n  input(\"occlusion\");\n  shaderProps.push(attr(\"outputs:surface\", \"token\", undefined));\n\n  const children: PrimSpec[] = [shaderPrim(\"PreviewSurface\", shaderProps)];\n  const textureEntries = Object.entries(textures) as [TextureChannel, string][];\n  if (textureEntries.length > 0) {\n    children.push(\n      shaderPrim(\"stReader\", [\n        uniformToken(\"info:id\", \"UsdPrimvarReader_float2\"),\n        attr(\"inputs:varname\", \"string\", \"st\"),\n        attr(\"outputs:result\", \"float2\", undefined),\n      ]),\n    );\n    for (const [channel, path] of textureEntries) {\n      children.push(buildUvTexturePrim(channel, path, selfPath));\n    }\n  }\n\n  const surfaceConnect = attr(\"outputs:surface\", \"token\", undefined);\n  surfaceConnect.connections = [`${selfPath}/PreviewSurface.outputs:surface`];\n\n  return {\n    specifier: \"def\",\n    typeName: \"Material\",\n    name,\n    metadata: {},\n    properties: [surfaceConnect],\n    children,\n    line: 0,\n  };\n}\n\n/** `UsdUVTexture` node for one channel, fed by the material's `stReader`. */\nfunction buildUvTexturePrim(channel: TextureChannel, path: string, selfPath: string): PrimSpec {\n  const wiring = TEXTURE_WIRING[channel];\n  const st = attr(\"inputs:st\", \"float2\", undefined);\n  st.connections = [`${selfPath}/stReader.outputs:result`];\n  return shaderPrim(`${channel}Texture`, [\n    uniformToken(\"info:id\", \"UsdUVTexture\"),\n    attr(\"inputs:file\", \"asset\", new AssetPath(path)),\n    uniformToken(\"inputs:sourceColorSpace\", wiring.colorSpace),\n    st,\n    attr(wiring.output, wiring.outputType, undefined),\n  ]);\n}\n\nfunction shaderPrim(name: string, properties: PropertySpec[]): PrimSpec {\n  return {\n    specifier: \"def\",\n    typeName: \"Shader\",\n    name,\n    metadata: {},\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n/** `xformOp:transform` + `xformOpOrder` for an explicit matrix placement. */\nfunction transformProps(m: Mat4): PropertySpec[] {\n  return [\n    attr(\"xformOp:transform\", \"matrix4d\", toUsdMatrix(m)),\n    arrayAttr(\"xformOpOrder\", \"token\", [\"xformOp:transform\"], undefined, \"uniform\"),\n  ];\n}\n\n// ---------------------------------------------------------------------------\n// Joints\n// ---------------------------------------------------------------------------\n\nfunction buildJointPrim(\n  name: string,\n  key: string,\n  joint: JointDescription,\n  linkPath: (key: string) => string,\n  jointPath: (key: string) => string | undefined,\n  isaac: boolean,\n  warn: (m: string) => void,\n): PrimSpec {\n  const kind = driveKindFor(joint.type);\n  const angular = kind === \"angular\";\n  const properties: PropertySpec[] = [];\n  const apiSchemas: string[] = [];\n\n  if (joint.parent !== \"\") properties.push(rel(\"physics:body0\", [linkPath(joint.parent)]));\n  properties.push(rel(\"physics:body1\", [linkPath(joint.child)]));\n  if (joint.type !== \"fixed\") properties.push(uniformToken(\"physics:axis\", joint.axis));\n  if (joint.lower !== undefined) {\n    properties.push(attr(\"physics:lowerLimit\", \"float\", jointValueFromSI(angular, joint.lower)));\n  }\n  if (joint.upper !== undefined) {\n    properties.push(attr(\"physics:upperLimit\", \"float\", jointValueFromSI(angular, joint.upper)));\n  }\n\n  for (const index of [0, 1] as const) {\n    const frame = index === 0 ? joint.jointFrame0 : joint.jointFrame1;\n    const { position, orientation, rigid } = decomposeRigid(frame);\n    if (!rigid) {\n      warn(`joint \"${key}\": jointFrame${index} is not rigid; scale/shear was discarded`);\n    }\n    properties.push(attr(`physics:localPos${index}`, \"point3f\", position));\n    properties.push(attr(`physics:localRot${index}`, \"quatf\", orientation));\n  }\n\n  // Joint state: the initial value and/or the sampled trajectory (SI → authored).\n  if (joint.initialValue !== undefined || joint.valueSamples) {\n    const state = attr(\n      `state:${kind}:physics:position`,\n      \"float\",\n      joint.initialValue !== undefined ? jointValueFromSI(angular, joint.initialValue) : undefined,\n    );\n    if (joint.valueSamples) {\n      state.timeSamples = new Map(\n        joint.valueSamples.times.map((t, i) => [\n          t,\n          jointValueFromSI(angular, joint.valueSamples!.values[i] ?? 0),\n        ]),\n      );\n    }\n    properties.push(state);\n    apiSchemas.push(`PhysicsJointStateAPI:${kind}`);\n  }\n\n  if (joint.drive) {\n    const d = joint.drive;\n    if (d.targetPosition !== undefined) {\n      properties.push(\n        attr(\n          `drive:${kind}:physics:targetPosition`,\n          \"float\",\n          jointValueFromSI(angular, d.targetPosition),\n        ),\n      );\n    }\n    if (d.stiffness !== undefined) {\n      properties.push(attr(`drive:${kind}:physics:stiffness`, \"float\", d.stiffness));\n    }\n    if (d.damping !== undefined) {\n      properties.push(attr(`drive:${kind}:physics:damping`, \"float\", d.damping));\n    }\n    if (d.maxForce !== undefined) {\n      properties.push(attr(`drive:${kind}:physics:maxForce`, \"float\", d.maxForce));\n    }\n    apiSchemas.push(`PhysicsDriveAPI:${kind}`);\n  }\n\n  // Mimic constraint → NewtonMimicAPI (`follower = coef0 + coef1 · leader`),\n  // the form Isaac Sim 6 / Newton author and consume. Offset back to authored\n  // units (degrees for angular).\n  if (joint.mimic) {\n    const leaderPath = jointPath(joint.mimic.joint);\n    if (!leaderPath) {\n      warn(`joint \"${key}\": mimic leader \"${joint.mimic.joint}\" is not exported; mimic dropped`);\n    } else {\n      apiSchemas.push(NEWTON_MIMIC_API);\n      properties.push(rel(\"newton:mimicJoint\", [leaderPath]));\n      properties.push(attr(\"newton:mimicCoef1\", \"float\", joint.mimic.multiplier));\n      properties.push(\n        attr(\"newton:mimicCoef0\", \"float\", jointValueFromSI(angular, joint.mimic.offset)),\n      );\n    }\n  }\n\n  if (isaac) {\n    apiSchemas.push(\"IsaacJointAPI\");\n    if (joint.type !== \"fixed\") {\n      const prefix = joint.type === \"prismatic\" ? \"Trans\" : \"Rot\";\n      properties.push(\n        arrayAttr(\"isaac:physics:DofOffsetOpOrder\", \"token\", [`${prefix}${joint.axis}`]),\n      );\n    }\n  }\n\n  return {\n    specifier: \"def\",\n    typeName: JOINT_SCHEMA_BY_TYPE[joint.type],\n    name,\n    metadata: apiSchemas.length > 0 ? { apiSchemas } : {},\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Naming & spec helpers\n// ---------------------------------------------------------------------------\n\n/** Make a valid USD identifier out of an arbitrary key (`/a/b c` → `_a_b_c`). */\nfunction sanitizeName(raw: string): string {\n  const cleaned = raw.replace(/[^A-Za-z0-9_]/g, \"_\");\n  const named = cleaned.length > 0 ? cleaned : \"_\";\n  return /^[0-9]/.test(named) ? `_${named}` : named;\n}\n\n/** Allocates unique sanitized sibling names, warning when a name changes. */\nfunction nameAllocator(warn?: (m: string) => void): (raw: string, label?: string) => string {\n  const used = new Set<string>();\n  return (raw, label) => {\n    let name = sanitizeName(raw);\n    for (let i = 2; used.has(name); i++) name = `${sanitizeName(raw)}_${i}`;\n    used.add(name);\n    if (name !== raw && label && warn) warn(`${label} exported as prim \"${name}\"`);\n    return name;\n  };\n}\n\nfunction attr(\n  name: string,\n  typeName: string,\n  value: UsdValue | undefined,\n  metadata: MetadataMap = {},\n): AttributeSpec {\n  return {\n    kind: \"attribute\",\n    name,\n    typeName,\n    isArray: false,\n    variability: \"varying\",\n    custom: false,\n    ...(value !== undefined ? { value } : {}),\n    metadata,\n    line: 0,\n  };\n}\n\nfunction arrayAttr(\n  name: string,\n  typeName: string,\n  value: UsdValue[],\n  metadata: MetadataMap = {},\n  variability: \"varying\" | \"uniform\" = \"varying\",\n): AttributeSpec {\n  return {\n    kind: \"attribute\",\n    name,\n    typeName,\n    isArray: true,\n    variability,\n    custom: false,\n    value,\n    metadata,\n    line: 0,\n  };\n}\n\nfunction uniformToken(name: string, value: string): AttributeSpec {\n  return {\n    kind: \"attribute\",\n    name,\n    typeName: \"token\",\n    isArray: false,\n    variability: \"uniform\",\n    custom: false,\n    value,\n    metadata: {},\n    line: 0,\n  };\n}\n\nfunction rel(name: string, targets: string[]): RelationshipSpec {\n  return {\n    kind: \"relationship\",\n    name,\n    custom: false,\n    listOp: \"explicit\",\n    targets,\n    metadata: {},\n    line: 0,\n  };\n}\n","/**\n * Geometry access for the robot exporter (M13).\n *\n * `exportRobotUsda` is geometry-agnostic: a {@link RobotGeometryProvider}\n * supplies each link's meshes as plain data. {@link stageGeometryProvider}\n * reads them back off a loaded {@link Stage} for round-trip export; the\n * Three.js authoring side (M14) supplies one backed by `BufferGeometry`.\n */\n\nimport { type Mat4, identity4, multiply } from \"../kinematics/transforms.js\";\nimport type { Vec2, Vec3 } from \"../parser/ast.js\";\nimport type { LinkDescription } from \"../robot/RobotDescription.js\";\nimport { getMaterialSubsets } from \"../schemas/usdGeom.js\";\nimport { resolveBoundMaterial } from \"../three/MaterialBinding.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { computeLocalTransform } from \"../usd/xformOps.js\";\n\n/** Texture channels a `UsdPreviewSurface` network can reference (M15). */\nexport type TextureChannel =\n  | \"color\"\n  | \"opacity\"\n  | \"normal\"\n  | \"roughness\"\n  | \"metalness\"\n  | \"occlusion\"\n  | \"emissive\";\n\n/**\n * PBR parameters for a mesh, written as a `UsdPreviewSurface` material (M14).\n * `textures` holds per-channel image **asset paths** (M15) — emitted as a\n * `UsdUVTexture` + `UsdPrimvarReader_float2` network; sampler details\n * (wrap/scale/bias/transform) are not carried. Bundle the image bytes\n * themselves with `writeUsdz` under the same paths.\n */\nexport type ExportMaterial = {\n  /** Material identity: meshes sharing a name share one Material prim. */\n  name: string;\n  diffuseColor?: Vec3;\n  metallic?: number;\n  roughness?: number;\n  /** Sub-unit opacity renders as a translucent blend. */\n  opacity?: number;\n  emissiveColor?: Vec3;\n  /** Per-channel texture asset paths. */\n  textures?: Partial<Record<TextureChannel, string>>;\n};\n\n/** `UsdPhysicsMaterialAPI` parameters, bound via `material:binding:physics` (M16). */\nexport type ExportPhysicsMaterial = {\n  /** Identity: meshes sharing a name share one physics-material prim. */\n  name: string;\n  staticFriction?: number;\n  dynamicFriction?: number;\n  restitution?: number;\n  density?: number;\n};\n\n/** `physics:approximation` tokens of `UsdPhysicsMeshCollisionAPI`. */\nexport type CollisionApproximation =\n  | \"none\"\n  | \"convexHull\"\n  | \"convexDecomposition\"\n  | \"boundingSphere\"\n  | \"boundingCube\"\n  | \"meshSimplification\";\n\n/** One mesh of a link, as plain exportable data (stage units, link-relative). */\nexport type ExportMesh = {\n  /** Prim-name hint; the exporter sanitizes and uniquifies it. */\n  name: string;\n  kind: \"visual\" | \"collision\";\n  points: Vec3[];\n  /** Authored polygon topology (not re-triangulated). */\n  faceVertexCounts: number[];\n  faceVertexIndices: number[];\n  /** Per-vertex normals (only written when one per point). */\n  normals?: Vec3[];\n  /** `primvars:st` UVs, vertex interpolation (one per point). */\n  st?: Vec2[];\n  displayColor?: Vec3;\n  doubleSided?: boolean;\n  /** Transform relative to the link frame (column-major); identity when omitted. */\n  transform?: Mat4;\n  /** Bound material constants, if any. */\n  material?: ExportMaterial;\n  /** Collision approximation token (collision meshes only, M16). */\n  collisionApproximation?: CollisionApproximation;\n  /** Bound physics material (collision meshes only, M16). */\n  physicsMaterial?: ExportPhysicsMaterial;\n};\n\n/** Supplies the meshes of a link for export. */\nexport type RobotGeometryProvider = (linkKey: string, link: LinkDescription) => ExportMesh[];\n\n/** Provider that reads each link's visual/collision Mesh prims from a stage. */\nexport function stageGeometryProvider(stage: Stage): RobotGeometryProvider {\n  return (_linkKey, link) => {\n    const linkPrim = stage.GetPrimAtPath(link.primPath);\n    if (!linkPrim) return [];\n\n    // Meshes that are both visual and collision export once, as visual.\n    const visualSet = new Set(link.visualPrims);\n    const out: ExportMesh[] = [];\n    for (const path of link.visualPrims) {\n      out.push(...readMeshes(stage, linkPrim, path, \"visual\"));\n    }\n    for (const path of link.collisionPrims ?? []) {\n      if (visualSet.has(path)) continue;\n      out.push(...readMeshes(stage, linkPrim, path, \"collision\"));\n    }\n    return out;\n  };\n}\n\n/**\n * Read a Mesh prim as exportable data. A mesh painted by `materialBind` face\n * subsets becomes one {@link ExportMesh} per subset (points re-indexed to the\n * faces each one covers), so the export keeps its materials instead of\n * collapsing to a single colour.\n */\nfunction readMeshes(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  kind: \"visual\" | \"collision\",\n): ExportMesh[] {\n  const prim = stage.GetPrimAtPath(meshPath);\n  if (!prim) return [];\n\n  const points = prim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return [];\n\n  const countsValue = prim.GetAttribute(\"faceVertexCounts\").Get();\n  const indicesValue = prim.GetAttribute(\"faceVertexIndices\").Get();\n  const counts = isNumberArray(countsValue) ? countsValue : [];\n  const indices = isNumberArray(indicesValue) ? indicesValue : [];\n  const normalsValue = prim.GetAttribute(\"normals\").Get();\n  const stValue = prim.GetAttribute(\"primvars:st\").Get();\n  const displayColor = prim.GetAttribute(\"primvars:displayColor\").Get();\n  const normals =\n    isVec3Array(normalsValue) && normalsValue.length === points.length ? normalsValue : undefined;\n  const st = isVec2Array(stValue) && stValue.length === points.length ? stValue : undefined;\n\n  // Attributes shared by every piece of this mesh.\n  const transform = relativeTransform(linkPrim, prim);\n  const common = {\n    kind,\n    ...(isVec3Array(displayColor) && displayColor[0] ? { displayColor: displayColor[0] } : {}),\n    ...(prim.GetAttribute(\"doubleSided\").Get() === true ? { doubleSided: true } : {}),\n    ...(isIdentity(transform) ? {} : { transform }),\n  } satisfies Partial<ExportMesh>;\n\n  const withPhysics = (mesh: ExportMesh): ExportMesh => {\n    if (kind !== \"collision\") return mesh;\n    const approximation = prim.GetAttribute(\"physics:approximation\").Get();\n    if (typeof approximation === \"string\" && APPROXIMATIONS.has(approximation)) {\n      mesh.collisionApproximation = approximation as CollisionApproximation;\n    }\n    const physicsMaterial = readBoundPhysicsMaterial(stage, prim);\n    if (physicsMaterial) mesh.physicsMaterial = physicsMaterial;\n    return mesh;\n  };\n\n  const subsets = getMaterialSubsets(prim);\n  if (subsets.length === 0) {\n    const material = readBoundMaterial(stage, prim);\n    return [\n      withPhysics({\n        ...common,\n        name: prim.GetName(),\n        points: points.slice(),\n        faceVertexCounts: counts.slice(),\n        faceVertexIndices: indices.slice(),\n        ...(normals ? { normals: normals.slice() } : {}),\n        ...(st ? { st: st.slice() } : {}),\n        ...(material ? { material } : {}),\n      }),\n    ];\n  }\n\n  const faceStart: number[] = [];\n  let offset = 0;\n  for (const count of counts) {\n    faceStart.push(offset);\n    offset += count;\n  }\n\n  /** Re-index the given faces onto their own point list. */\n  const piece = (faces: number[], name: string, material?: ExportMaterial): ExportMesh | null => {\n    const remap = new Map<number, number>();\n    const outPoints: Vec3[] = [];\n    const outNormals: Vec3[] = [];\n    const outSt: Vec2[] = [];\n    const outCounts: number[] = [];\n    const outIndices: number[] = [];\n\n    for (const face of faces) {\n      const start = faceStart[face];\n      const count = counts[face];\n      if (start === undefined || count === undefined) continue;\n      outCounts.push(count);\n      for (let k = 0; k < count; k++) {\n        const vertex = indices[start + k];\n        if (vertex === undefined || !points[vertex]) continue;\n        let mapped = remap.get(vertex);\n        if (mapped === undefined) {\n          mapped = outPoints.length;\n          remap.set(vertex, mapped);\n          outPoints.push(points[vertex]!);\n          if (normals) outNormals.push(normals[vertex]!);\n          if (st) outSt.push(st[vertex]!);\n        }\n        outIndices.push(mapped);\n      }\n    }\n    if (outPoints.length === 0) return null;\n\n    return withPhysics({\n      ...common,\n      name,\n      points: outPoints,\n      faceVertexCounts: outCounts,\n      faceVertexIndices: outIndices,\n      ...(normals ? { normals: outNormals } : {}),\n      ...(st ? { st: outSt } : {}),\n      ...(material ? { material } : {}),\n    });\n  };\n\n  const out: ExportMesh[] = [];\n  const claimed = new Set<number>();\n  subsets.forEach((subset, index) => {\n    const faces = subset.faces.filter((f) => f >= 0 && f < counts.length && !claimed.has(f));\n    for (const f of faces) claimed.add(f);\n    const material = readBoundMaterial(stage, subset.prim);\n    const mesh = piece(faces, `${prim.GetName()}_${material?.name ?? index}`, material);\n    if (mesh) out.push(mesh);\n  });\n\n  const leftover = counts.map((_, f) => f).filter((f) => !claimed.has(f));\n  if (leftover.length > 0) {\n    const material = readBoundMaterial(stage, prim);\n    const mesh = piece(leftover, prim.GetName(), material);\n    if (mesh) out.push(mesh);\n  }\n  return out;\n}\n\nconst APPROXIMATIONS: ReadonlySet<string> = new Set([\n  \"none\",\n  \"convexHull\",\n  \"convexDecomposition\",\n  \"boundingSphere\",\n  \"boundingCube\",\n  \"meshSimplification\",\n]);\n\n/** `UsdPhysicsMaterialAPI` parameters bound via `material:binding:physics`. */\nfunction readBoundPhysicsMaterial(stage: Stage, prim: Prim): ExportPhysicsMaterial | undefined {\n  const target = firstBindingTarget(prim, \"material:binding:physics\");\n  if (!target) return undefined;\n  const materialPrim = stage.GetPrimAtPath(target);\n  if (!materialPrim) return undefined;\n\n  const out: ExportPhysicsMaterial = {\n    name: target.split(\"/\").filter(Boolean).pop() ?? \"PhysicsMaterial\",\n  };\n  const read = (attr: string): number | undefined => {\n    const v = materialPrim.GetAttribute(attr).Get();\n    return typeof v === \"number\" ? v : undefined;\n  };\n  const staticFriction = read(\"physics:staticFriction\");\n  if (staticFriction !== undefined) out.staticFriction = staticFriction;\n  const dynamicFriction = read(\"physics:dynamicFriction\");\n  if (dynamicFriction !== undefined) out.dynamicFriction = dynamicFriction;\n  const restitution = read(\"physics:restitution\");\n  if (restitution !== undefined) out.restitution = restitution;\n  const density = read(\"physics:density\");\n  if (density !== undefined) out.density = density;\n  return Object.keys(out).length > 1 ? out : undefined;\n}\n\n/** First target of `relName` on the prim or an ancestor. */\nfunction firstBindingTarget(prim: Prim, relName: string): string | undefined {\n  let p: Prim | null = prim;\n  while (p) {\n    const targets = p.GetRelationship(relName).GetTargets();\n    if (targets.length > 0) return targets[0];\n    p = p.GetParent();\n  }\n  return undefined;\n}\n\n/** PBR constants + texture asset paths of the bound material. */\nfunction readBoundMaterial(stage: Stage, prim: Prim): ExportMaterial | undefined {\n  const bound = resolveBoundMaterial(stage, prim);\n  if (!bound) return undefined;\n  const material: ExportMaterial = { name: boundMaterialName(prim) ?? \"Material\" };\n  if (bound.color) material.diffuseColor = bound.color;\n  if (bound.metalness !== undefined) material.metallic = bound.metalness;\n  if (bound.roughness !== undefined) material.roughness = bound.roughness;\n  if (bound.opacity !== undefined) material.opacity = bound.opacity;\n  if (bound.emissiveColor) material.emissiveColor = bound.emissiveColor;\n\n  const textures: Partial<Record<TextureChannel, string>> = {};\n  if (bound.colorTexture) textures.color = bound.colorTexture.path;\n  if (bound.opacityTexture) textures.opacity = bound.opacityTexture.path;\n  if (bound.normalTexture) textures.normal = bound.normalTexture.path;\n  if (bound.roughnessTexture) textures.roughness = bound.roughnessTexture.path;\n  if (bound.metalnessTexture) textures.metalness = bound.metalnessTexture.path;\n  if (bound.occlusionTexture) textures.occlusion = bound.occlusionTexture.path;\n  if (bound.emissiveTexture) textures.emissive = bound.emissiveTexture.path;\n  if (Object.keys(textures).length > 0) material.textures = textures;\n\n  return Object.keys(material).length > 1 ? material : undefined;\n}\n\n/** Leaf name of the first `material:binding` target on the prim or an ancestor. */\nfunction boundMaterialName(prim: Prim): string | undefined {\n  let p: Prim | null = prim;\n  while (p) {\n    const targets = p.GetRelationship(\"material:binding\").GetTargets();\n    if (targets.length > 0) return targets[0]!.split(\"/\").filter(Boolean).pop();\n    p = p.GetParent();\n  }\n  return undefined;\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();\n\n  let m = identity4();\n  for (const prim of chain) {\n    m = multiply(m, computeLocalTransform(prim).matrix);\n  }\n  return m;\n}\n\nfunction isIdentity(m: Mat4): boolean {\n  for (let i = 0; i < 16; i++) {\n    if (m[i] !== (i % 5 === 0 ? 1 : 0)) return false;\n  }\n  return true;\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 * USDZ package writer (M15) — the write-direction counterpart of `openUsdz`.\n *\n * A `.usdz` is a **stored** (uncompressed) zip whose entries' file data must\n * start on 64-byte boundaries; alignment is achieved with padding placed in a\n * local-header extra field (the fflate-sanctioned trick, as used by Three.js's\n * USDZExporter). The first entry is the package's root USD layer — `openUsdz`\n * and other USDZ readers open that one.\n */\n\nimport { type Zippable, strToU8, zipSync } from \"fflate\";\n\nconst USD_ENTRY = /\\.(usda|usdc|usd)$/i;\n/** Private extra-field id used purely as alignment padding. */\nconst PAD_EXTRA_ID = 12345;\n/** Bytes of a zip local file header before the name/extra fields. */\nconst LOCAL_HEADER_SIZE = 30;\n/** An extra field costs 4 header bytes (id + size) plus its data. */\nconst EXTRA_HEADER_SIZE = 4;\n\n/**\n * Pack entries into USDZ bytes. `entries` maps archive paths to file contents\n * (strings are UTF-8 encoded — pass the `serializeUsda` output directly). One\n * entry must be a USD layer (`.usda`/`.usdc`/`.usd`); the first such entry\n * becomes the package root and is moved to the front of the archive.\n */\nexport function writeUsdz(entries: Record<string, Uint8Array | string>): Uint8Array {\n  const names = Object.keys(entries);\n  const root = names.find((n) => USD_ENTRY.test(n));\n  if (!root) {\n    throw new Error(\"writeUsdz: entries must include a root USD layer (.usda/.usdc/.usd)\");\n  }\n  const ordered = [root, ...names.filter((n) => n !== root)];\n\n  const files: Zippable = {};\n  let offset = 0;\n  for (const name of ordered) {\n    const raw = entries[name]!;\n    const data = typeof raw === \"string\" ? strToU8(raw) : raw;\n    const nameLength = strToU8(name).length;\n\n    // Where this entry's data would start without an extra field.\n    const dataStart = offset + LOCAL_HEADER_SIZE + nameLength;\n    if ((dataStart & 63) === 0) {\n      files[name] = data;\n      offset = dataStart + data.length;\n    } else {\n      // Pad so the data starts on the next 64-byte boundary past the 4-byte\n      // extra-field header.\n      const padLength = (64 - ((dataStart + EXTRA_HEADER_SIZE) & 63)) & 63;\n      files[name] = [data, { extra: { [PAD_EXTRA_ID]: new Uint8Array(padLength) } }];\n      offset = dataStart + EXTRA_HEADER_SIZE + padLength + data.length;\n    }\n  }\n\n  return zipSync(files, { level: 0 });\n}\n","/**\n * Simulation-readiness checks for a {@link RobotDescription} (M16).\n *\n * Validates what Isaac Sim's Asset Validator cares about that is visible from\n * the IR (plus, optionally, the export geometry): graph connectivity, limit\n * sanity, mass properties, and collision setup. `error` issues break\n * simulation; `warning` issues are quality gaps a physics engine tolerates\n * but misbehaves on.\n */\n\nimport type { RobotGeometryProvider } from \"../export/GeometryProvider.js\";\nimport { decomposeRigid } from \"../kinematics/transforms.js\";\nimport type { JointType, RobotDescription } from \"./RobotDescription.js\";\nimport { buildKinematicTree } from \"./buildKinematicTree.js\";\n\nconst isAngular = (type: JointType): boolean => type === \"revolute\" || type === \"continuous\";\n\nexport type ValidationSeverity = \"error\" | \"warning\";\n\nexport type ValidationIssue = {\n  severity: ValidationSeverity;\n  /** Stable machine-readable code (e.g. `unknown-link`, `no-collision`). */\n  code: string;\n  message: string;\n  /** Link or joint key the issue refers to, when applicable. */\n  subject?: string;\n};\n\nexport type ValidateRobotOptions = {\n  /** Enables mesh-level checks (collision presence / approximation). */\n  geometry?: RobotGeometryProvider;\n};\n\n/** Check a robot IR for simulation-readiness; returns errors first. */\nexport function validateRobotDescription(\n  desc: RobotDescription,\n  options: ValidateRobotOptions = {},\n): ValidationIssue[] {\n  const issues: ValidationIssue[] = [];\n  const add = (severity: ValidationSeverity, code: string, message: string, subject?: string) =>\n    issues.push({ severity, code, message, ...(subject !== undefined ? { subject } : {}) });\n\n  if (Object.keys(desc.links).length === 0) {\n    add(\"error\", \"no-links\", \"robot has no links\");\n  }\n\n  for (const [key, joint] of Object.entries(desc.joints)) {\n    if (joint.parent !== \"\" && !desc.links[joint.parent]) {\n      add(\n        \"error\",\n        \"unknown-link\",\n        `joint \"${key}\" references unknown parent \"${joint.parent}\"`,\n        key,\n      );\n    }\n    if (!desc.links[joint.child]) {\n      add(\"error\", \"unknown-link\", `joint \"${key}\" references unknown child \"${joint.child}\"`, key);\n    }\n    if (joint.lower !== undefined && joint.upper !== undefined && joint.lower > joint.upper) {\n      add(\n        \"error\",\n        \"invalid-limits\",\n        `joint \"${key}\" lower limit ${joint.lower} exceeds upper ${joint.upper}`,\n        key,\n      );\n    }\n    if (\n      joint.initialValue !== undefined &&\n      ((joint.lower !== undefined && joint.initialValue < joint.lower) ||\n        (joint.upper !== undefined && joint.initialValue > joint.upper))\n    ) {\n      add(\n        \"warning\",\n        \"initial-out-of-limits\",\n        `joint \"${key}\" initial value ${joint.initialValue} is outside its limits`,\n        key,\n      );\n    }\n    const frames = [\n      [\"jointFrame0\", joint.jointFrame0],\n      [\"jointFrame1\", joint.jointFrame1],\n    ] as const;\n    for (const [label, frame] of frames) {\n      if (!decomposeRigid(frame).rigid) {\n        add(\n          \"warning\",\n          \"non-rigid-frame\",\n          `joint \"${key}\" ${label} carries scale/shear/reflection (discarded on export)`,\n          key,\n        );\n      }\n    }\n\n    const mimic = joint.mimic;\n    if (mimic) {\n      const leader = desc.joints[mimic.joint];\n      if (!leader) {\n        add(\n          \"error\",\n          \"mimic-unknown-joint\",\n          `joint \"${key}\" mimics unknown joint \"${mimic.joint}\"`,\n          key,\n        );\n      } else if (joint.type === \"fixed\" || leader.type === \"fixed\") {\n        add(\n          \"error\",\n          \"mimic-fixed-joint\",\n          `joint \"${key}\" mimic involves a fixed joint (inert)`,\n          key,\n        );\n      } else if (isAngular(joint.type) !== isAngular(leader.type)) {\n        add(\n          \"error\",\n          \"mimic-type-mismatch\",\n          `joint \"${key}\" (${joint.type}) mimics \"${mimic.joint}\" (${leader.type}) — leader and follower must share the motion kind`,\n          key,\n        );\n      }\n    }\n  }\n\n  // Mimic cycles: follow follower → leader edges; a walk that returns to its\n  // start is a cycle (each member reports once).\n  for (const startKey of Object.keys(desc.joints)) {\n    if (!desc.joints[startKey]?.mimic) continue;\n    const seen = new Set<string>();\n    let current: string | undefined = startKey;\n    while (current !== undefined && desc.joints[current]?.mimic) {\n      const next: string = desc.joints[current]!.mimic!.joint;\n      if (next === startKey) {\n        add(\n          \"error\",\n          \"mimic-cycle\",\n          `joint \"${startKey}\" is part of a mimic cycle — followers cannot be driven`,\n          startKey,\n        );\n        break;\n      }\n      if (seen.has(next)) break;\n      seen.add(next);\n      current = next;\n    }\n  }\n\n  const tree = buildKinematicTree(desc);\n  for (const jointKey of tree.loopJoints) {\n    add(\n      \"warning\",\n      \"closed-loop\",\n      `joint \"${jointKey}\" closes a kinematic loop (dropped from the spanning tree)`,\n      jointKey,\n    );\n  }\n  for (const linkKey of tree.isolatedLinks) {\n    add(\n      \"warning\",\n      \"isolated-link\",\n      `link \"${linkKey}\" is unreachable from root \"${tree.root}\"`,\n      linkKey,\n    );\n  }\n  if ((desc.articulationRoots ?? []).length === 0 && !tree.rootJoint) {\n    add(\n      \"warning\",\n      \"no-articulation-root\",\n      \"no ArticulationRootAPI link and no world-fixed joint — the base will float\",\n    );\n  }\n\n  for (const [key, link] of Object.entries(desc.links)) {\n    const inertial = link.inertial;\n    if (!inertial || (inertial.mass === undefined && inertial.density === undefined)) {\n      add(\"warning\", \"no-inertial\", `link \"${key}\" has no mass or density (PhysicsMassAPI)`, key);\n    }\n    if (inertial?.mass !== undefined && inertial.mass <= 0) {\n      add(\"error\", \"bad-mass\", `link \"${key}\" has non-positive mass ${inertial.mass}`, key);\n    }\n    if (inertial?.diagonalInertia?.some((v) => v < 0)) {\n      add(\"error\", \"bad-inertia\", `link \"${key}\" has a negative diagonal-inertia component`, key);\n    }\n    if (inertial?.principalAxes && !inertial.diagonalInertia) {\n      add(\n        \"warning\",\n        \"inertia-pairing\",\n        `link \"${key}\" authors principalAxes without diagonalInertia (dropped on export)`,\n        key,\n      );\n    }\n\n    if (options.geometry) {\n      const meshes = options.geometry(key, link);\n      const collisions = meshes.filter((mesh) => mesh.kind === \"collision\");\n      if (collisions.length === 0) {\n        add(\"warning\", \"no-collision\", `link \"${key}\" has no collision geometry`, key);\n      }\n      for (const mesh of collisions) {\n        if (!mesh.collisionApproximation) {\n          add(\n            \"warning\",\n            \"collision-approximation\",\n            `link \"${key}\" collision mesh \"${mesh.name}\" has no physics:approximation (PhysX dynamic bodies need a convex or primitive approximation)`,\n            key,\n          );\n        }\n      }\n    }\n  }\n\n  return issues.sort((a, b) => (a.severity === b.severity ? 0 : a.severity === \"error\" ? -1 : 1));\n}\n"]}