three-usd-robot 0.2.0 → 0.3.0

package/dist/core.d.ts

@@ -1,5 +1,5 @@
-import { n as UsdaFile, g as MetadataMap, m as UsdValue, P as PrimSpec, k as Specifier, j as RelationshipSpec, S as SdfPath, b as AttributeSpec, V as Variability, M as Mat4, R as RobotDescription, d as JointType, A as Axis } from './buildKinematicTree-2fg6ZN8m.js';
-export { a as AssetPath, B as BuildTreeOptions, C as CompositionArc, D as DEG2RAD, J as JointDescription, c as JointDriveDescription, K as KinematicNode, e as KinematicTree, L as LinkDescription, f as ListOp, h as PropertySpec, Q as Quat, i as RAD2DEG, T as TreeEdge, U as UsdDictionary, l as UsdMatrix, o as Vec2, p as Vec3, q as Vec4, r as buildKinematicTree, s as fromUsdMatrix, t as getTranslation, u as identity4, v as invert, w as makeEuler, x as makeRotationFromQuat, y as makeRotationX, z as makeRotationY, E as makeRotationZ, F as makeScale, G as makeTranslation, H as multiply, I as multiplyAll } from './buildKinematicTree-2fg6ZN8m.js';
+import { n as UsdaFile, g as MetadataMap, m as UsdValue, P as PrimSpec, k as Specifier, j as RelationshipSpec, S as SdfPath, c as AttributeSpec, o as Variability, M as Mat4, R as RobotDescription, J as JointType, A as Axis } from './buildKinematicTree-BJuC_-5_.js';
+export { b as AssetPath, B as BuildTreeOptions, C as CompositionArc, D as DEG2RAD, a as JointDescription, d as JointDriveDescription, e as KinematicNode, K as KinematicTree, L as LinkDescription, f as ListOp, h as PropertySpec, Q as Quat, i as RAD2DEG, T as TreeEdge, U as UsdDictionary, l as UsdMatrix, p as Vec2, V as Vec3, q as Vec4, r as buildKinematicTree, s as fromUsdMatrix, t as getTranslation, u as identity4, v as invert, w as makeEuler, x as makeRotationFromQuat, y as makeRotationX, z as makeRotationY, E as makeRotationZ, F as makeScale, G as makeTranslation, H as multiply, I as multiplyAll } from './buildKinematicTree-BJuC_-5_.js';
 
 /** Package identity. Kept in one place so every entry point can re-export it. */
 declare const PACKAGE_NAME = "three-usd-robot";
@@ -217,13 +217,16 @@ declare function createMemoryResolver(files: Record<string, string>): AssetResol
 declare function joinPosix(baseUrl: string, rel: string): string;
 
 /**
- * Minimal USD composition: flattens references, payloads and sublayers into a
- * single {@link UsdaFile} so the rest of the pipeline keeps working on one layer.
+ * Minimal USD composition: flattens references, payloads, sublayers, variant
+ * selections, and internal (intra-layer) reference/inherit arcs into a single
+ * {@link UsdaFile} so the rest of the pipeline keeps working on one layer.
  *
- * Scope (M8): the arcs robots actually use. References and payloads pull a prim
- * subtree from another asset (weaker than local opinions); sublayers overlay a
- * weaker layer stack. Inherits / variants / specializes are out of scope (M10).
- * This is not a full LIVRPS implementation — it is a pragmatic flattener.
+ * Scope: the arcs robots actually use. References/payloads/inherits pull a prim
+ * subtree (weaker than local opinions); a `variants` selection grafts the chosen
+ * variant's content; internal arcs (`</Path>` with no asset) resolve within the
+ * same layer — which is what `instanceable` prims use to pull a prototype.
+ * Specializes ordering and live instancing are approximated. Not a full LIVRPS
+ * engine — a pragmatic flattener.
  */
 
 type ComposeOptions = {
@@ -231,11 +234,6 @@ type ComposeOptions = {
     /** Guard against pathological recursion (default 64). */
     maxDepth?: number;
 };
-/**
- * Parse and fully compose a layer: resolve its sublayers and every prim's
- * references/payloads (recursively), returning a flattened layer. Unresolvable
- * arcs are reported via `onWarn` and skipped.
- */
 declare function composeLayer(text: string, baseUrl: string, resolver: AssetResolver, options?: ComposeOptions, stack?: ReadonlySet<string>): Promise<UsdaFile>;
 
 /**

package/dist/core.js

@@ -1,3 +1,3 @@
-export { ARTICULATION_ROOT_API, AssetPath, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DEG2RAD, DefaultAssetResolver, Layer, PACKAGE_NAME, ParseError, Prim, Quat, RAD2DEG, RIGID_BODY_API, Relationship, Stage, TokenizeError, UsdMatrix, VERSION, buildKinematicTree, composeLayer, computeLocalTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, invert, isMesh, isScope, isXform, iterDescendants, joinPosix, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, tokenize } from './chunk-XCP5GZPY.js';
+export { ARTICULATION_ROOT_API, AssetPath, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DEG2RAD, DefaultAssetResolver, Layer, PACKAGE_NAME, ParseError, Prim, Quat, RAD2DEG, RIGID_BODY_API, Relationship, Stage, TokenizeError, UsdMatrix, VERSION, buildKinematicTree, composeLayer, computeLocalTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, invert, isMesh, isScope, isXform, iterDescendants, joinPosix, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, tokenize } from './chunk-XH3L7XDJ.js';
 //# sourceMappingURL=core.js.map
 //# sourceMappingURL=core.js.map

package/dist/extras.d.ts

@@ -1,6 +1,6 @@
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-lMZHW-it.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-C6uqpNZA.js';
 import 'three';
-import './buildKinematicTree-2fg6ZN8m.js';
+import './buildKinematicTree-BJuC_-5_.js';
 
 /**
  * `three-usd-robot/extras`

package/dist/helpers.d.ts

@@ -1,6 +1,6 @@
 import * as THREE from 'three';
-import { J as JointObject, T as ThreeUsdRobot } from './ThreeUsdRobot-lMZHW-it.js';
-import './buildKinematicTree-2fg6ZN8m.js';
+import { J as JointObject, T as ThreeUsdRobot } from './ThreeUsdRobot-C6uqpNZA.js';
+import './buildKinematicTree-BJuC_-5_.js';
 
 /**
  * An arrow drawn along a joint's motion axis (the rotation axis for

package/dist/index.d.ts

@@ -1,10 +1,10 @@
 import { Stage, Prim, AssetResolver } from './core.js';
 export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, ComposeOptions, CrateReader, DEFAULT_METERS_PER_UNIT, DefaultAssetResolver, ExtractOptions, Layer, PACKAGE_NAME, ParseError, RIGID_BODY_API, Relationship, ResolvedXform, TokenizeError, UpAxis, UsdzPackage, VERSION, composeLayer, computeLocalTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isMesh, isScope, isXform, iterDescendants, joinPosix, jointValueToSI, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, tokenize } from './core.js';
 import * as THREE from 'three';
-import { A as Axis, R as RobotDescription } from './buildKinematicTree-2fg6ZN8m.js';
-export { a as AssetPath, b as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEG2RAD, J as JointDescription, c as JointDriveDescription, d as JointType, K as KinematicNode, e as KinematicTree, L as LinkDescription, f as ListOp, M as Mat4, g as MetadataMap, P as PrimSpec, h as PropertySpec, Q as Quat, i as RAD2DEG, j as RelationshipSpec, S as SdfPath, k as Specifier, T as TreeEdge, U as UsdDictionary, l as UsdMatrix, m as UsdValue, n as UsdaFile, V as Variability, o as Vec2, p as Vec3, q as Vec4, r as buildKinematicTree, s as fromUsdMatrix, t as getTranslation, u as identity4, v as invert, w as makeEuler, x as makeRotationFromQuat, y as makeRotationX, z as makeRotationY, E as makeRotationZ, F as makeScale, G as makeTranslation, H as multiply, I as multiplyAll } from './buildKinematicTree-2fg6ZN8m.js';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-lMZHW-it.js';
-export { J as JointObject, L as LinkObject, a as ThreeUsdRobotOptions } from './ThreeUsdRobot-lMZHW-it.js';
+import { A as Axis, R as RobotDescription, V as Vec3 } from './buildKinematicTree-BJuC_-5_.js';
+export { b as AssetPath, c as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEG2RAD, a as JointDescription, d as JointDriveDescription, J as JointType, e as KinematicNode, K as KinematicTree, L as LinkDescription, f as ListOp, M as Mat4, g as MetadataMap, P as PrimSpec, h as PropertySpec, Q as Quat, i as RAD2DEG, j as RelationshipSpec, S as SdfPath, k as Specifier, T as TreeEdge, U as UsdDictionary, l as UsdMatrix, m as UsdValue, n as UsdaFile, o as Variability, p as Vec2, q as Vec4, r as buildKinematicTree, s as fromUsdMatrix, t as getTranslation, u as identity4, v as invert, w as makeEuler, x as makeRotationFromQuat, y as makeRotationX, z as makeRotationY, E as makeRotationZ, F as makeScale, G as makeTranslation, H as multiply, I as multiplyAll } from './buildKinematicTree-BJuC_-5_.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-C6uqpNZA.js';
+export { J as JointObject, L as LinkObject, a as ThreeUsdRobotOptions } from './ThreeUsdRobot-C6uqpNZA.js';
 
 /** Unit vector for a USD joint axis token. Returns a fresh vector each call. */
 declare function axisVector(axis: Axis): THREE.Vector3;
@@ -26,8 +26,12 @@ type BindMeshesOptions = {
 };
 /** Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points. */
 declare function buildMeshGeometry(meshPrim: Prim): THREE.BufferGeometry | null;
-/** Build a default material for a Mesh prim from `displayColor` / `doubleSided`. */
-declare function buildMeshMaterial(meshPrim: Prim): THREE.Material;
+/**
+ * Build a material for a Mesh prim. Color priority: bound `UsdShade` material
+ * (when `stage` is given) → `primvars:displayColor` → default gray. Metalness /
+ * roughness / opacity come from the bound material when present.
+ */
+declare function buildMeshMaterial(meshPrim: Prim, stage?: Stage): THREE.Material;
 /**
  * Attach visual (and optionally collision) meshes to every link of a built
  * {@link ThreeUsdRobot}. Each mesh is positioned by its transform relative to
@@ -35,6 +39,25 @@ declare function buildMeshMaterial(meshPrim: Prim): THREE.Material;
  */
 declare function bindRobotMeshes(stage: Stage, robot3d: ThreeUsdRobot, desc: RobotDescription, options?: BindMeshesOptions): void;
 
+/**
+ * Resolves `UsdShade` material bindings to flat PBR parameters.
+ *
+ * Follows a prim's (or an ancestor's) `material:binding` to a `Material`, finds
+ * its surface `Shader`, and reads constant color/metalness/roughness/opacity
+ * inputs. Handles both `UsdPreviewSurface` (`inputs:diffuseColor`, …) and
+ * Omniverse `OmniPBR` MDL (`inputs:diffuse_color_constant`, …) input names.
+ * Texture inputs and shading networks are not evaluated — constants only.
+ */
+
+type ResolvedMaterial = {
+    color?: Vec3;
+    opacity?: number;
+    metalness?: number;
+    roughness?: number;
+};
+/** Resolve the bound material's flat parameters for `prim`, or `undefined`. */
+declare function resolveBoundMaterial(stage: Stage, prim: Prim): ResolvedMaterial | undefined;
+
 type ThreeUsdRobotLoaderOptions = {
     /** Resolver for references / payloads / sublayers (default {@link DefaultAssetResolver}). */
     assetResolver?: AssetResolver;
@@ -86,4 +109,4 @@ declare class ThreeUsdRobotLoader {
     private extractOptions;
 }
 
-export { AssetResolver, Axis, type BindMeshesOptions, type MeshKind, Prim, RobotDescription, Stage, ThreeUsdRobot, ThreeUsdRobotLoader, type ThreeUsdRobotLoaderOptions, axisVector, bindRobotMeshes, buildMeshGeometry, buildMeshMaterial };
+export { AssetResolver, Axis, type BindMeshesOptions, type MeshKind, Prim, type ResolvedMaterial, RobotDescription, Stage, ThreeUsdRobot, ThreeUsdRobotLoader, type ThreeUsdRobotLoaderOptions, Vec3, axisVector, bindRobotMeshes, buildMeshGeometry, buildMeshMaterial, resolveBoundMaterial };

package/dist/index.js

@@ -1,5 +1,5 @@
-import { identity4, multiply, computeLocalTransform, invert, DefaultAssetResolver, CrateReader, openUsdz, crateToUsdaFile, Stage, extractRobotDescription, buildKinematicTree, composeLayer } from './chunk-XCP5GZPY.js';
-export { ARTICULATION_ROOT_API, AssetPath, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DEG2RAD, DefaultAssetResolver, Layer, PACKAGE_NAME, ParseError, Prim, Quat, RAD2DEG, RIGID_BODY_API, Relationship, Stage, TokenizeError, UsdMatrix, VERSION, buildKinematicTree, composeLayer, computeLocalTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, invert, isMesh, isScope, isXform, iterDescendants, joinPosix, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, tokenize } from './chunk-XCP5GZPY.js';
+import { identity4, multiply, computeLocalTransform, invert, DefaultAssetResolver, CrateReader, openUsdz, crateToUsdaFile, Stage, extractRobotDescription, buildKinematicTree, composeLayer } from './chunk-XH3L7XDJ.js';
+export { ARTICULATION_ROOT_API, AssetPath, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DEG2RAD, DefaultAssetResolver, Layer, PACKAGE_NAME, ParseError, Prim, Quat, RAD2DEG, RIGID_BODY_API, Relationship, Stage, TokenizeError, UsdMatrix, VERSION, buildKinematicTree, composeLayer, computeLocalTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, invert, isMesh, isScope, isXform, iterDescendants, joinPosix, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, tokenize } from './chunk-XH3L7XDJ.js';
 import * as THREE4 from 'three';
 
 function axisVector(axis) {
@@ -71,6 +71,77 @@ var LinkObject = class extends THREE4.Object3D {
     this.matrixAutoUpdate = false;
   }
 };
+
+// src/three/MaterialBinding.ts
+var DIFFUSE_INPUTS = [
+  "inputs:diffuseColor",
+  // UsdPreviewSurface
+  "inputs:diffuse_color_constant",
+  // OmniPBR
+  "inputs:diffuse_tint",
+  "inputs:base_color",
+  "inputs:baseColor"
+];
+var OPACITY_INPUTS = ["inputs:opacity", "inputs:opacity_constant"];
+var METALLIC_INPUTS = ["inputs:metallic", "inputs:metallic_constant"];
+var ROUGHNESS_INPUTS = ["inputs:roughness", "inputs:reflection_roughness_constant"];
+var SURFACE_OUTPUTS = ["outputs:surface", "outputs:mdl:surface"];
+function resolveBoundMaterial(stage, prim) {
+  const materialPath = findBinding(prim);
+  if (!materialPath) return void 0;
+  const material = stage.GetPrimAtPath(materialPath);
+  if (!material) return void 0;
+  const shader = findSurfaceShader(material);
+  if (!shader) return void 0;
+  const result = {};
+  const color = firstColor(shader, DIFFUSE_INPUTS);
+  if (color) result.color = color;
+  const opacity = firstNumber(shader, OPACITY_INPUTS);
+  if (opacity !== void 0) result.opacity = opacity;
+  const metalness = firstNumber(shader, METALLIC_INPUTS);
+  if (metalness !== void 0) result.metalness = metalness;
+  const roughness = firstNumber(shader, ROUGHNESS_INPUTS);
+  if (roughness !== void 0) result.roughness = roughness;
+  return result;
+}
+function findBinding(prim) {
+  let p = prim;
+  while (p) {
+    const targets = p.GetRelationship("material:binding").GetTargets();
+    if (targets.length > 0) return targets[0];
+    p = p.GetParent();
+  }
+  return void 0;
+}
+function findSurfaceShader(material) {
+  for (const out of SURFACE_OUTPUTS) {
+    const conn = material.GetAttribute(out).GetConnections()[0];
+    if (conn) {
+      const shaderPath = conn.split(".")[0];
+      const shader = material.GetStage().GetPrimAtPath(shaderPath);
+      if (shader) return shader;
+    }
+  }
+  return material.GetChildren().find((c) => c.GetTypeName() === "Shader") ?? void 0;
+}
+function firstColor(shader, names) {
+  for (const name of names) {
+    const v = shader.GetAttribute(name).Get();
+    if (Array.isArray(v) && v.length >= 3 && v.every((n) => typeof n === "number")) {
+      return [v[0], v[1], v[2]];
+    }
+  }
+  return void 0;
+}
+function firstNumber(shader, names) {
+  for (const name of names) {
+    const v = shader.GetAttribute(name).Get();
+    if (typeof v === "number") return v;
+  }
+  return void 0;
+}
+
+// src/three/MeshBinding.ts
 var DEFAULT_COLOR = 10132122;
 function buildMeshGeometry(meshPrim) {
   const points = meshPrim.GetAttribute("points").Get();
@@ -96,18 +167,31 @@ function buildMeshGeometry(meshPrim) {
   }
   return geometry;
 }
-function buildMeshMaterial(meshPrim) {
+function buildMeshMaterial(meshPrim, stage) {
   const color = new THREE4.Color(DEFAULT_COLOR);
-  const displayColor = meshPrim.GetAttribute("primvars:displayColor").Get();
-  if (isVec3Array(displayColor) && displayColor[0]) {
-    const [r, g, b] = displayColor[0];
-    color.setRGB(r, g, b);
+  let metalness = 0.1;
+  let roughness = 0.8;
+  let opacity = 1;
+  const bound = stage ? resolveBoundMaterial(stage, meshPrim) : void 0;
+  if (bound?.color) {
+    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);
+  } else {
+    const displayColor = meshPrim.GetAttribute("primvars:displayColor").Get();
+    if (isVec3Array(displayColor) && displayColor[0]) {
+      const [r, g, b] = displayColor[0];
+      color.setRGB(r, g, b);
+    }
   }
+  if (bound?.metalness !== void 0) metalness = bound.metalness;
+  if (bound?.roughness !== void 0) roughness = bound.roughness;
+  if (bound?.opacity !== void 0) opacity = bound.opacity;
   const doubleSided = meshPrim.GetAttribute("doubleSided").Get() === true;
   return new THREE4.MeshStandardMaterial({
     color,
-    metalness: 0.1,
-    roughness: 0.8,
+    metalness,
+    roughness,
+    transparent: opacity < 1,
+    opacity,
     side: doubleSided ? THREE4.DoubleSide : THREE4.FrontSide
   });
 }
@@ -137,7 +221,7 @@ function attachMesh(stage, linkPrim, meshPath, parent, kind) {
   if (!meshPrim) return;
   const geometry = buildMeshGeometry(meshPrim);
   if (!geometry) return;
-  const mesh = new THREE4.Mesh(geometry, buildMeshMaterial(meshPrim));
+  const mesh = new THREE4.Mesh(geometry, buildMeshMaterial(meshPrim, stage));
   mesh.name = meshPrim.GetName();
   mesh.userData.kind = kind;
   mesh.userData.primPath = meshPath;
@@ -488,6 +572,6 @@ var ThreeUsdRobotLoader = class {
   }
 };
 
-export { JointObject, LinkObject, ThreeUsdRobot, ThreeUsdRobotLoader, axisVector, bindRobotMeshes, buildMeshGeometry, buildMeshMaterial };
+export { JointObject, LinkObject, ThreeUsdRobot, ThreeUsdRobotLoader, axisVector, bindRobotMeshes, buildMeshGeometry, buildMeshMaterial, resolveBoundMaterial };
 //# sourceMappingURL=index.js.map
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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* as THREE from \"three\";\nimport type { Axis } from \"../robot/RobotDescription.js\";\n\n/** Unit vector for a USD joint axis token. Returns a fresh vector each call. */\nexport function axisVector(axis: Axis): THREE.Vector3 {\n  switch (axis) {\n    case \"X\":\n      return new THREE.Vector3(1, 0, 0);\n    case \"Y\":\n      return new THREE.Vector3(0, 1, 0);\n    case \"Z\":\n      return new THREE.Vector3(0, 0, 1);\n  }\n}\n","import * as THREE from \"three\";\nimport type { Axis, JointDescription, JointType } 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  readonly jointType: JointType;\n  readonly axisToken: Axis;\n  readonly axis: THREE.Vector3;\n  readonly lower: number | undefined;\n  readonly upper: number | 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.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  }\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","/**\n * Binds `UsdGeom.Mesh` prims to Three.js geometry and attaches them under the\n * robot's link objects.\n *\n * Triangulates polygons with a simple fan, uses authored per-vertex normals\n * when present (else computes smooth normals), and reads `primvars:st` UVs and\n * `primvars:displayColor`. Geometry is left in stage units; the global\n * `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 type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { computeLocalTransform } from \"../usd/xformOps.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\nexport type MeshKind = \"visual\" | \"collision\";\n\nconst DEFAULT_COLOR = 0x9a9a9a;\n\nexport type BindMeshesOptions = {\n  loadVisuals?: boolean;\n  loadCollisions?: boolean;\n};\n\n/** Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points. */\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 geometry = new THREE.BufferGeometry();\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(points), 3));\n\n  const counts = meshPrim.GetAttribute(\"faceVertexCounts\").Get();\n  const indices = meshPrim.GetAttribute(\"faceVertexIndices\").Get();\n  if (isNumberArray(counts) && isNumberArray(indices)) {\n    geometry.setIndex(triangulate(counts, indices));\n  } else if (isNumberArray(indices)) {\n    geometry.setIndex(indices.slice());\n  }\n\n  const normals = meshPrim.GetAttribute(\"normals\").Get();\n  if (isVec3Array(normals) && normals.length === points.length) {\n    geometry.setAttribute(\"normal\", new THREE.Float32BufferAttribute(flat3(normals), 3));\n  } else {\n    geometry.computeVertexNormals();\n  }\n\n  const st = meshPrim.GetAttribute(\"primvars:st\").Get();\n  if (isVec2Array(st) && st.length === points.length) {\n    geometry.setAttribute(\"uv\", new THREE.Float32BufferAttribute(flat2(st), 2));\n  }\n\n  return geometry;\n}\n\n/** Build a default material for a Mesh prim from `displayColor` / `doubleSided`. */\nexport function buildMeshMaterial(meshPrim: Prim): THREE.Material {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  const displayColor = meshPrim.GetAttribute(\"primvars:displayColor\").Get();\n  if (isVec3Array(displayColor) && displayColor[0]) {\n    const [r, g, b] = displayColor[0];\n    color.setRGB(r, g, b);\n  }\n  const doubleSided = meshPrim.GetAttribute(\"doubleSided\").Get() === true;\n  return new THREE.MeshStandardMaterial({\n    color,\n    metalness: 0.1,\n    roughness: 0.8,\n    side: doubleSided ? THREE.DoubleSide : THREE.FrontSide,\n  });\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\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    const collisionSet = new Set(link.collisionPrims ?? []);\n\n    if (loadVisuals) {\n      for (const meshPath of link.visualPrims) {\n        if (collisionSet.has(meshPath)) continue; // collision-only handled below\n        attachMesh(stage, linkPrim, meshPath, linkObj, \"visual\");\n      }\n    }\n    if (loadCollisions) {\n      for (const meshPath of link.collisionPrims ?? []) {\n        attachMesh(stage, linkPrim, meshPath, linkObj, \"collision\");\n      }\n    }\n  }\n}\n\nfunction attachMesh(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  parent: THREE.Object3D,\n  kind: MeshKind,\n): void {\n  const meshPrim = stage.GetPrimAtPath(meshPath);\n  if (!meshPrim) return;\n  const geometry = buildMeshGeometry(meshPrim);\n  if (!geometry) return;\n\n  const mesh = new THREE.Mesh(geometry, buildMeshMaterial(meshPrim));\n  mesh.name = meshPrim.GetName();\n  mesh.userData.kind = kind;\n  mesh.userData.primPath = meshPath;\n  // Collision meshes are loaded hidden; reveal via `robot.showCollision = true`.\n  if (kind === \"collision\") mesh.visible = false;\n  mesh.matrixAutoUpdate = false;\n  mesh.matrix.fromArray(relativeTransform(linkPrim, meshPrim));\n  mesh.matrixWorldNeedsUpdate = true;\n  parent.add(mesh);\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\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","import * as THREE from \"three\";\nimport { type Mat4, invert, multiply } 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 { JointObject } from \"./JointObject.js\";\nimport { LinkObject } from \"./LinkObject.js\";\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   * Up-axis correction applied at the robot root. `\"auto\"` rotates Z-up assets\n   * into the Three.js Y-up scene; `\"Z\"` forces it, `\"Y\"`/`\"none\"` leave the\n   * orientation as authored. Default `\"none\"` (the loader defaults to `\"auto\"`).\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\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 */\nexport class ThreeUsdRobot extends THREE.Object3D {\n  readonly isThreeUsdRobot = true;\n  readonly robot: RobotDescription;\n  readonly tree: KinematicTree;\n  readonly clampJointLimits: boolean;\n\n  private readonly linkObjects = new Map<string, LinkObject>();\n  private readonly jointObjects = new Map<string, JointObject>();\n  private dirty = true;\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.\n    for (const [key, link] of Object.entries(robot.links)) {\n      this.linkObjects.set(key, new LinkObject(link));\n    }\n\n    this.attachRoot();\n    this.attachTreeEdges();\n    this.attachIsolatedLinks();\n    this.applyStageNormalization(robot, options);\n    if (options.applyInitialPose ?? true) this.applyInitialPose(robot);\n  }\n\n  /** Orient (Z-up → Y-up) and scale (metersPerUnit × unitScale) the robot 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 conv = options.upAxisConversion ?? \"none\";\n    const toY = conv === \"Z\" || (conv === \"auto\" && robot.upAxis === \"Z\");\n    if (toY) this.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), -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  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    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    }\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) this.add(obj);\n    }\n  }\n\n  // -- Joint control -------------------------------------------------------\n\n  /** Set one joint value. Unknown joints are ignored. Returns whether it applied. */\n  setJointValue(name: string, value: number): boolean {\n    const joint = this.jointObjects.get(name);\n    if (!joint) return false;\n    joint.setValue(value, this.clampJointLimits);\n    this.dirty = true;\n    return true;\n  }\n\n  /** Set several joint values at once (matrix update is coalesced). */\n  setJointValues(values: Record<string, number>): void {\n    for (const [name, value] of Object.entries(values)) {\n      const joint = this.jointObjects.get(name);\n      if (joint) {\n        joint.setValue(value, this.clampJointLimits);\n        this.dirty = true;\n      }\n    }\n  }\n\n  getJointValue(name: string): number | undefined {\n    return this.jointObjects.get(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  // -- Queries -------------------------------------------------------------\n\n  getLinkWorldMatrix(name: string): THREE.Matrix4 {\n    const obj = this.linkObjects.get(name);\n    if (!obj) throw new Error(`unknown link \"${name}\"`);\n    this.ensureUpdated();\n    return obj.matrixWorld.clone();\n  }\n\n  getLinkWorldPosition(name: string): THREE.Vector3 {\n    return new THREE.Vector3().setFromMatrixPosition(this.getLinkWorldMatrix(name));\n  }\n\n  getLinkObject(name: string): LinkObject | undefined {\n    return this.linkObjects.get(name);\n  }\n\n  getJointObject(name: string): JointObject | undefined {\n    return this.jointObjects.get(name);\n  }\n\n  getJoints(): JointDescription[] {\n    return Object.values(this.robot.joints);\n  }\n\n  getLinks(): LinkDescription[] {\n    return Object.values(this.robot.links);\n  }\n\n  /** Names of the articulated (controllable) joints. */\n  getJointNames(): string[] {\n    return [...this.jointObjects.keys()];\n  }\n\n  getLinkNames(): string[] {\n    return [...this.linkObjects.keys()];\n  }\n\n  getKinematicTree(): KinematicTree {\n    return this.tree;\n  }\n\n  // -- Display toggles -----------------------------------------------------\n\n  get showVisual(): boolean {\n    return this._showVisual;\n  }\n  set showVisual(v: boolean) {\n    this._showVisual = v;\n    this.setKindVisibility(\"visual\", v);\n  }\n\n  get showCollision(): boolean {\n    return this._showCollision;\n  }\n  set showCollision(v: boolean) {\n    this._showCollision = v;\n    this.setKindVisibility(\"collision\", v);\n  }\n\n  get showJointAxes(): boolean {\n    return this._showJointAxes;\n  }\n  set showJointAxes(v: boolean) {\n    this._showJointAxes = v;\n    if (v && this.jointAxesHelpers.length === 0) {\n      for (const joint of this.jointObjects.values()) {\n        const h = new THREE.AxesHelper(this.helperSize);\n        h.name = `${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\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","import type { RobotDescription } from \"../robot/RobotDescription.js\";\nimport { extractRobotDescription } from \"../robot/RobotExtractor.js\";\nimport { buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { type AssetResolver, DefaultAssetResolver } from \"../usd/AssetResolver.js\";\nimport { Stage } from \"../usd/Stage.js\";\nimport { composeLayer } from \"../usd/composition.js\";\nimport { CrateReader } from \"../usd/crate/CrateReader.js\";\nimport { crateToUsdaFile } from \"../usd/crate/toUsdaFile.js\";\nimport { openUsdz } from \"../usd/usdz.js\";\nimport { bindRobotMeshes } from \"./MeshBinding.js\";\nimport { ThreeUsdRobot, type ThreeUsdRobotOptions } 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  /** Up-axis correction strategy (M9). */\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  /** Override the robot name. */\n  robotName?: string;\n  /** Receives non-fatal load diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/**\n * Loads Isaac Sim / OpenUSD robot assets into a controllable {@link ThreeUsdRobot}.\n *\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 treated as USDA text.\n   */\n  async loadAsync(url: string): Promise<ThreeUsdRobot> {\n    if (/\\.usdz$/i.test(url)) {\n      return this.parseUsdz(await this.fetchRootBytes(url));\n    }\n    // Fetch bytes so we can detect a binary crate (`.usd` may be USDC or USDA).\n    const bytes = await this.fetchRootBytes(url);\n    if (CrateReader.isCrate(bytes)) return this.parseCrate(bytes);\n    return this.parse(new TextDecoder().decode(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  /** Build a robot (composed, with meshes) from USDA source text. */\n  async parse(text: string, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.composeStage(text, baseUrl, this.resolver));\n  }\n\n  /** Build a robot from the bytes of a `.usdz` package. */\n  async parseUsdz(bytes: Uint8Array): Promise<ThreeUsdRobot> {\n    const pkg = openUsdz(bytes);\n    const rootText = await pkg.resolver.fetchText(pkg.rootEntry);\n    return this.buildFromStage(await this.composeStage(rootText, pkg.rootEntry, pkg.resolver));\n  }\n\n  /** Build a robot from the bytes of a binary crate (`.usdc` / binary `.usd`). */\n  parseCrate(bytes: Uint8Array): Promise<ThreeUsdRobot> {\n    const file = crateToUsdaFile(new CrateReader(bytes));\n    return Promise.resolve(this.buildFromStage(Stage.OpenFromFile(file)));\n  }\n\n  /** Parse + compose USDA source into the Three.js-independent robot IR. */\n  async parseRobotDescription(text: string, baseUrl = \"\"): Promise<RobotDescription> {\n    const stage = await this.composeStage(text, baseUrl, this.resolver);\n    return extractRobotDescription(stage, this.extractOptions());\n  }\n\n  private buildFromStage(stage: Stage): ThreeUsdRobot {\n    const robot = extractRobotDescription(stage, this.extractOptions());\n    const tree = buildKinematicTree(robot);\n    const robot3d = new ThreeUsdRobot(robot, tree, this.robotOptions());\n\n    const loadVisuals = this.options.loadVisuals ?? true;\n    const loadCollisions = this.options.loadCollisions ?? false;\n    if (loadVisuals || loadCollisions) {\n      bindRobotMeshes(stage, robot3d, robot, { loadVisuals, loadCollisions });\n    }\n    return robot3d;\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  private robotOptions(): ThreeUsdRobotOptions {\n    return {\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    };\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"]}
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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 { Axis, JointDescription, JointType } 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  readonly jointType: JointType;\n  readonly axisToken: Axis;\n  readonly axis: THREE.Vector3;\n  readonly lower: number | undefined;\n  readonly upper: number | 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.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  }\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","/**\n * Resolves `UsdShade` material bindings to flat PBR parameters.\n *\n * Follows a prim's (or an ancestor's) `material:binding` to a `Material`, finds\n * its surface `Shader`, and reads constant color/metalness/roughness/opacity\n * inputs. Handles both `UsdPreviewSurface` (`inputs:diffuseColor`, …) and\n * Omniverse `OmniPBR` MDL (`inputs:diffuse_color_constant`, …) input names.\n * Texture inputs and shading networks are not evaluated — constants only.\n */\n\nimport type { Vec3 } from \"../parser/ast.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\n\nexport type ResolvedMaterial = {\n  color?: Vec3;\n  opacity?: number;\n  metalness?: number;\n  roughness?: number;\n};\n\nconst DIFFUSE_INPUTS = [\n  \"inputs:diffuseColor\", // UsdPreviewSurface\n  \"inputs:diffuse_color_constant\", // OmniPBR\n  \"inputs:diffuse_tint\",\n  \"inputs:base_color\",\n  \"inputs:baseColor\",\n];\nconst OPACITY_INPUTS = [\"inputs:opacity\", \"inputs:opacity_constant\"];\nconst METALLIC_INPUTS = [\"inputs:metallic\", \"inputs:metallic_constant\"];\nconst ROUGHNESS_INPUTS = [\"inputs:roughness\", \"inputs:reflection_roughness_constant\"];\n\nconst SURFACE_OUTPUTS = [\"outputs:surface\", \"outputs:mdl:surface\"];\n\n/** Resolve the bound material's flat parameters for `prim`, or `undefined`. */\nexport function resolveBoundMaterial(stage: Stage, prim: Prim): ResolvedMaterial | undefined {\n  const materialPath = findBinding(prim);\n  if (!materialPath) return undefined;\n  const material = stage.GetPrimAtPath(materialPath);\n  if (!material) return undefined;\n  const shader = findSurfaceShader(material);\n  if (!shader) return undefined;\n\n  const result: ResolvedMaterial = {};\n  const color = firstColor(shader, DIFFUSE_INPUTS);\n  if (color) result.color = color;\n  const opacity = firstNumber(shader, OPACITY_INPUTS);\n  if (opacity !== undefined) result.opacity = opacity;\n  const metalness = firstNumber(shader, METALLIC_INPUTS);\n  if (metalness !== undefined) result.metalness = metalness;\n  const roughness = firstNumber(shader, ROUGHNESS_INPUTS);\n  if (roughness !== undefined) result.roughness = roughness;\n  return result;\n}\n\n/** Walk up from `prim` to the first ancestor with a `material:binding`. */\nfunction findBinding(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];\n    p = p.GetParent();\n  }\n  return undefined;\n}\n\nfunction findSurfaceShader(material: Prim): Prim | undefined {\n  // Prefer the shader connected to a surface output.\n  for (const out of SURFACE_OUTPUTS) {\n    const conn = material.GetAttribute(out).GetConnections()[0];\n    if (conn) {\n      const shaderPath = conn.split(\".\")[0]!;\n      const shader = material.GetStage().GetPrimAtPath(shaderPath);\n      if (shader) return shader;\n    }\n  }\n  // Fallback: the first child Shader prim.\n  return material.GetChildren().find((c) => c.GetTypeName() === \"Shader\") ?? undefined;\n}\n\nfunction firstColor(shader: Prim, names: string[]): Vec3 | undefined {\n  for (const name of names) {\n    const v = shader.GetAttribute(name).Get();\n    if (Array.isArray(v) && v.length >= 3 && v.every((n) => typeof n === \"number\")) {\n      return [v[0], v[1], v[2]] as Vec3;\n    }\n  }\n  return undefined;\n}\n\nfunction firstNumber(shader: Prim, names: string[]): number | undefined {\n  for (const name of names) {\n    const v = shader.GetAttribute(name).Get();\n    if (typeof v === \"number\") return v;\n  }\n  return undefined;\n}\n","/**\n * Binds `UsdGeom.Mesh` prims to Three.js geometry and attaches them under the\n * robot's link objects.\n *\n * Triangulates polygons with a simple fan, uses authored per-vertex normals\n * when present (else computes smooth normals), and reads `primvars:st` UVs and\n * `primvars:displayColor`. Geometry is left in stage units; the global\n * `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 type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { computeLocalTransform } from \"../usd/xformOps.js\";\nimport { resolveBoundMaterial } from \"./MaterialBinding.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\nexport type MeshKind = \"visual\" | \"collision\";\n\nconst DEFAULT_COLOR = 0x9a9a9a;\n\nexport type BindMeshesOptions = {\n  loadVisuals?: boolean;\n  loadCollisions?: boolean;\n};\n\n/** Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points. */\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 geometry = new THREE.BufferGeometry();\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(points), 3));\n\n  const counts = meshPrim.GetAttribute(\"faceVertexCounts\").Get();\n  const indices = meshPrim.GetAttribute(\"faceVertexIndices\").Get();\n  if (isNumberArray(counts) && isNumberArray(indices)) {\n    geometry.setIndex(triangulate(counts, indices));\n  } else if (isNumberArray(indices)) {\n    geometry.setIndex(indices.slice());\n  }\n\n  const normals = meshPrim.GetAttribute(\"normals\").Get();\n  if (isVec3Array(normals) && normals.length === points.length) {\n    geometry.setAttribute(\"normal\", new THREE.Float32BufferAttribute(flat3(normals), 3));\n  } else {\n    geometry.computeVertexNormals();\n  }\n\n  const st = meshPrim.GetAttribute(\"primvars:st\").Get();\n  if (isVec2Array(st) && st.length === points.length) {\n    geometry.setAttribute(\"uv\", new THREE.Float32BufferAttribute(flat2(st), 2));\n  }\n\n  return geometry;\n}\n\n/**\n * Build a material for a Mesh prim. Color priority: bound `UsdShade` material\n * (when `stage` is given) → `primvars:displayColor` → default gray. Metalness /\n * roughness / opacity come from the bound material when present.\n */\nexport function buildMeshMaterial(meshPrim: Prim, stage?: Stage): THREE.Material {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  let metalness = 0.1;\n  let roughness = 0.8;\n  let opacity = 1;\n\n  const bound = stage ? resolveBoundMaterial(stage, meshPrim) : undefined;\n  if (bound?.color) {\n    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);\n  } else {\n    const displayColor = meshPrim.GetAttribute(\"primvars:displayColor\").Get();\n    if (isVec3Array(displayColor) && displayColor[0]) {\n      const [r, g, b] = displayColor[0];\n      color.setRGB(r, g, b);\n    }\n  }\n  if (bound?.metalness !== undefined) metalness = bound.metalness;\n  if (bound?.roughness !== undefined) roughness = bound.roughness;\n  if (bound?.opacity !== undefined) opacity = bound.opacity;\n\n  const doubleSided = meshPrim.GetAttribute(\"doubleSided\").Get() === true;\n  return new THREE.MeshStandardMaterial({\n    color,\n    metalness,\n    roughness,\n    transparent: opacity < 1,\n    opacity,\n    side: doubleSided ? THREE.DoubleSide : THREE.FrontSide,\n  });\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\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    const collisionSet = new Set(link.collisionPrims ?? []);\n\n    if (loadVisuals) {\n      for (const meshPath of link.visualPrims) {\n        if (collisionSet.has(meshPath)) continue; // collision-only handled below\n        attachMesh(stage, linkPrim, meshPath, linkObj, \"visual\");\n      }\n    }\n    if (loadCollisions) {\n      for (const meshPath of link.collisionPrims ?? []) {\n        attachMesh(stage, linkPrim, meshPath, linkObj, \"collision\");\n      }\n    }\n  }\n}\n\nfunction attachMesh(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  parent: THREE.Object3D,\n  kind: MeshKind,\n): void {\n  const meshPrim = stage.GetPrimAtPath(meshPath);\n  if (!meshPrim) return;\n  const geometry = buildMeshGeometry(meshPrim);\n  if (!geometry) return;\n\n  const mesh = new THREE.Mesh(geometry, buildMeshMaterial(meshPrim, stage));\n  mesh.name = meshPrim.GetName();\n  mesh.userData.kind = kind;\n  mesh.userData.primPath = meshPath;\n  // Collision meshes are loaded hidden; reveal via `robot.showCollision = true`.\n  if (kind === \"collision\") mesh.visible = false;\n  mesh.matrixAutoUpdate = false;\n  mesh.matrix.fromArray(relativeTransform(linkPrim, meshPrim));\n  mesh.matrixWorldNeedsUpdate = true;\n  parent.add(mesh);\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\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","import * as THREE from \"three\";\nimport { type Mat4, invert, multiply } 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 { JointObject } from \"./JointObject.js\";\nimport { LinkObject } from \"./LinkObject.js\";\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   * Up-axis correction applied at the robot root. `\"auto\"` rotates Z-up assets\n   * into the Three.js Y-up scene; `\"Z\"` forces it, `\"Y\"`/`\"none\"` leave the\n   * orientation as authored. Default `\"none\"` (the loader defaults to `\"auto\"`).\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\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 */\nexport class ThreeUsdRobot extends THREE.Object3D {\n  readonly isThreeUsdRobot = true;\n  readonly robot: RobotDescription;\n  readonly tree: KinematicTree;\n  readonly clampJointLimits: boolean;\n\n  private readonly linkObjects = new Map<string, LinkObject>();\n  private readonly jointObjects = new Map<string, JointObject>();\n  private dirty = true;\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.\n    for (const [key, link] of Object.entries(robot.links)) {\n      this.linkObjects.set(key, new LinkObject(link));\n    }\n\n    this.attachRoot();\n    this.attachTreeEdges();\n    this.attachIsolatedLinks();\n    this.applyStageNormalization(robot, options);\n    if (options.applyInitialPose ?? true) this.applyInitialPose(robot);\n  }\n\n  /** Orient (Z-up → Y-up) and scale (metersPerUnit × unitScale) the robot 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 conv = options.upAxisConversion ?? \"none\";\n    const toY = conv === \"Z\" || (conv === \"auto\" && robot.upAxis === \"Z\");\n    if (toY) this.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), -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  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    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    }\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) this.add(obj);\n    }\n  }\n\n  // -- Joint control -------------------------------------------------------\n\n  /** Set one joint value. Unknown joints are ignored. Returns whether it applied. */\n  setJointValue(name: string, value: number): boolean {\n    const joint = this.jointObjects.get(name);\n    if (!joint) return false;\n    joint.setValue(value, this.clampJointLimits);\n    this.dirty = true;\n    return true;\n  }\n\n  /** Set several joint values at once (matrix update is coalesced). */\n  setJointValues(values: Record<string, number>): void {\n    for (const [name, value] of Object.entries(values)) {\n      const joint = this.jointObjects.get(name);\n      if (joint) {\n        joint.setValue(value, this.clampJointLimits);\n        this.dirty = true;\n      }\n    }\n  }\n\n  getJointValue(name: string): number | undefined {\n    return this.jointObjects.get(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  // -- Queries -------------------------------------------------------------\n\n  getLinkWorldMatrix(name: string): THREE.Matrix4 {\n    const obj = this.linkObjects.get(name);\n    if (!obj) throw new Error(`unknown link \"${name}\"`);\n    this.ensureUpdated();\n    return obj.matrixWorld.clone();\n  }\n\n  getLinkWorldPosition(name: string): THREE.Vector3 {\n    return new THREE.Vector3().setFromMatrixPosition(this.getLinkWorldMatrix(name));\n  }\n\n  getLinkObject(name: string): LinkObject | undefined {\n    return this.linkObjects.get(name);\n  }\n\n  getJointObject(name: string): JointObject | undefined {\n    return this.jointObjects.get(name);\n  }\n\n  getJoints(): JointDescription[] {\n    return Object.values(this.robot.joints);\n  }\n\n  getLinks(): LinkDescription[] {\n    return Object.values(this.robot.links);\n  }\n\n  /** Names of the articulated (controllable) joints. */\n  getJointNames(): string[] {\n    return [...this.jointObjects.keys()];\n  }\n\n  getLinkNames(): string[] {\n    return [...this.linkObjects.keys()];\n  }\n\n  getKinematicTree(): KinematicTree {\n    return this.tree;\n  }\n\n  // -- Display toggles -----------------------------------------------------\n\n  get showVisual(): boolean {\n    return this._showVisual;\n  }\n  set showVisual(v: boolean) {\n    this._showVisual = v;\n    this.setKindVisibility(\"visual\", v);\n  }\n\n  get showCollision(): boolean {\n    return this._showCollision;\n  }\n  set showCollision(v: boolean) {\n    this._showCollision = v;\n    this.setKindVisibility(\"collision\", v);\n  }\n\n  get showJointAxes(): boolean {\n    return this._showJointAxes;\n  }\n  set showJointAxes(v: boolean) {\n    this._showJointAxes = v;\n    if (v && this.jointAxesHelpers.length === 0) {\n      for (const joint of this.jointObjects.values()) {\n        const h = new THREE.AxesHelper(this.helperSize);\n        h.name = `${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\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","import type { RobotDescription } from \"../robot/RobotDescription.js\";\nimport { extractRobotDescription } from \"../robot/RobotExtractor.js\";\nimport { buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { type AssetResolver, DefaultAssetResolver } from \"../usd/AssetResolver.js\";\nimport { Stage } from \"../usd/Stage.js\";\nimport { composeLayer } from \"../usd/composition.js\";\nimport { CrateReader } from \"../usd/crate/CrateReader.js\";\nimport { crateToUsdaFile } from \"../usd/crate/toUsdaFile.js\";\nimport { openUsdz } from \"../usd/usdz.js\";\nimport { bindRobotMeshes } from \"./MeshBinding.js\";\nimport { ThreeUsdRobot, type ThreeUsdRobotOptions } 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  /** Up-axis correction strategy (M9). */\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  /** Override the robot name. */\n  robotName?: string;\n  /** Receives non-fatal load diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/**\n * Loads Isaac Sim / OpenUSD robot assets into a controllable {@link ThreeUsdRobot}.\n *\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 treated as USDA text.\n   */\n  async loadAsync(url: string): Promise<ThreeUsdRobot> {\n    if (/\\.usdz$/i.test(url)) {\n      return this.parseUsdz(await this.fetchRootBytes(url));\n    }\n    // Fetch bytes so we can detect a binary crate (`.usd` may be USDC or USDA).\n    const bytes = await this.fetchRootBytes(url);\n    if (CrateReader.isCrate(bytes)) return this.parseCrate(bytes);\n    return this.parse(new TextDecoder().decode(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  /** Build a robot (composed, with meshes) from USDA source text. */\n  async parse(text: string, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.composeStage(text, baseUrl, this.resolver));\n  }\n\n  /** Build a robot from the bytes of a `.usdz` package. */\n  async parseUsdz(bytes: Uint8Array): Promise<ThreeUsdRobot> {\n    const pkg = openUsdz(bytes);\n    const rootText = await pkg.resolver.fetchText(pkg.rootEntry);\n    return this.buildFromStage(await this.composeStage(rootText, pkg.rootEntry, pkg.resolver));\n  }\n\n  /** Build a robot from the bytes of a binary crate (`.usdc` / binary `.usd`). */\n  parseCrate(bytes: Uint8Array): Promise<ThreeUsdRobot> {\n    const file = crateToUsdaFile(new CrateReader(bytes));\n    return Promise.resolve(this.buildFromStage(Stage.OpenFromFile(file)));\n  }\n\n  /** Parse + compose USDA source into the Three.js-independent robot IR. */\n  async parseRobotDescription(text: string, baseUrl = \"\"): Promise<RobotDescription> {\n    const stage = await this.composeStage(text, baseUrl, this.resolver);\n    return extractRobotDescription(stage, this.extractOptions());\n  }\n\n  private buildFromStage(stage: Stage): ThreeUsdRobot {\n    const robot = extractRobotDescription(stage, this.extractOptions());\n    const tree = buildKinematicTree(robot);\n    const robot3d = new ThreeUsdRobot(robot, tree, this.robotOptions());\n\n    const loadVisuals = this.options.loadVisuals ?? true;\n    const loadCollisions = this.options.loadCollisions ?? false;\n    if (loadVisuals || loadCollisions) {\n      bindRobotMeshes(stage, robot3d, robot, { loadVisuals, loadCollisions });\n    }\n    return robot3d;\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  private robotOptions(): ThreeUsdRobotOptions {\n    return {\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    };\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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "three-usd-robot",
-  "version": "0.2.0",
+  "version": "0.3.0",
   "description": "Kinematic OpenUSD robot loader for Three.js — load Isaac Sim / OpenUSD robot assets, extract joints and links, and control articulations in the browser.",
   "type": "module",
   "license": "MIT",