three-usd-robot 0.3.0 → 0.4.0

package/dist/{chunk-XH3L7XDJ.js → chunk-FYVZ7YPW.js}

@@ -1040,6 +1040,21 @@ var Stage = class _Stage {
     const v = this._layer.GetMetadata("metersPerUnit");
     return typeof v === "number" ? v : DEFAULT_METERS_PER_UNIT;
   }
+  /** Animation start time code, if authored. */
+  GetStartTimeCode() {
+    const v = this._layer.GetMetadata("startTimeCode");
+    return typeof v === "number" ? v : void 0;
+  }
+  /** Animation end time code, if authored. */
+  GetEndTimeCode() {
+    const v = this._layer.GetMetadata("endTimeCode");
+    return typeof v === "number" ? v : void 0;
+  }
+  /** Time codes per second for playback; defaults to 24. */
+  GetTimeCodesPerSecond() {
+    const v = this._layer.GetMetadata("timeCodesPerSecond") ?? this._layer.GetMetadata("framesPerSecond");
+    return typeof v === "number" && v > 0 ? v : 24;
+  }
 };
 
 // src/usd/AssetResolver.ts
@@ -1063,14 +1078,21 @@ var DefaultAssetResolver = class {
   }
 };
 function createMemoryResolver(files) {
+  const decoder = new TextDecoder();
+  const encoder = new TextEncoder();
   return {
     resolve(assetPath, baseUrl) {
       return joinPosix(baseUrl, assetPath);
     },
     fetchText(url) {
-      const text = files[url];
-      if (text === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
-      return Promise.resolve(text);
+      const v = files[url];
+      if (v === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
+      return Promise.resolve(typeof v === "string" ? v : decoder.decode(v));
+    },
+    fetchBytes(url) {
+      const v = files[url];
+      if (v === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
+      return Promise.resolve(typeof v === "string" ? encoder.encode(v) : v);
     }
   };
 }
@@ -1090,261 +1112,6 @@ function normalizePosix(path) {
   return (isAbsolute ? "/" : "") + out.join("/");
 }
 
-// src/usd/composition.ts
-var ARC_KEYS = ["references", "payload", "payloads", "inherits", "specializes"];
-var STRIP_KEYS = [...ARC_KEYS, "variants", "variantSets"];
-async function composeLayer(text, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set()) {
-  const warn = options.onWarn ?? (() => {
-  });
-  const file = parseUsda(text);
-  let weak = [];
-  const subLayers = toArcs(file.metadata.subLayers);
-  for (let i = subLayers.length - 1; i >= 0; i--) {
-    const sub = await loadExternalFile(subLayers[i], baseUrl, resolver, options, stack, warn);
-    if (sub) weak = mergePrimLists(weak, sub.prims);
-  }
-  const ctx = {
-    baseUrl,
-    resolver,
-    options,
-    warn,
-    stack,
-    index: buildPathIndex(file.prims),
-    resolving: /* @__PURE__ */ new Set()
-  };
-  const resolved = [];
-  for (const prim of file.prims) resolved.push(await resolvePrim(prim, ctx));
-  const prims = weak.length > 0 ? mergePrimLists(weak, resolved) : resolved;
-  return { version: file.version, metadata: stripKeys(file.metadata, STRIP_KEYS), prims };
-}
-async function resolvePrim(spec, ctx) {
-  let properties = spec.properties;
-  let children = spec.children;
-  const selection = spec.metadata.variants;
-  if (spec.variantSets && isDictionary(selection)) {
-    for (const [setName, variantName] of Object.entries(selection)) {
-      const variant = spec.variantSets[setName]?.[String(variantName)];
-      if (!variant) continue;
-      properties = mergeProperties(variant.properties, properties);
-      children = mergePrimLists(variant.children, children);
-    }
-  }
-  const resolvedChildren = [];
-  for (const child of children) resolvedChildren.push(await resolvePrim(child, ctx));
-  const local = {
-    specifier: spec.specifier,
-    typeName: spec.typeName,
-    name: spec.name,
-    metadata: stripKeys(spec.metadata, STRIP_KEYS),
-    properties,
-    children: resolvedChildren,
-    line: spec.line
-  };
-  const arcs = ARC_KEYS.flatMap((k) => toArcs(spec.metadata[k]));
-  let base = null;
-  for (const arc of arcs) {
-    const target = await loadReferencedPrim(arc, ctx);
-    if (target) base = base ? mergePrim(target, base) : target;
-  }
-  return base ? mergePrim(base, local) : local;
-}
-async function loadReferencedPrim(arc, ctx) {
-  if (arc.assetPath) {
-    const composed = await loadExternalFile(
-      arc,
-      ctx.baseUrl,
-      ctx.resolver,
-      ctx.options,
-      ctx.stack,
-      ctx.warn
-    );
-    if (!composed) return null;
-    const target = arc.primPath ? findPrimByPath(composed, arc.primPath) : defaultPrim(composed, ctx.warn);
-    if (!target) {
-      ctx.warn(
-        `reference target ${arc.primPath ?? "(defaultPrim)"} not found in ${arc.assetPath.path}`
-      );
-      return null;
-    }
-    return target;
-  }
-  if (arc.primPath) {
-    if (ctx.resolving.has(arc.primPath)) {
-      ctx.warn(`internal composition cycle at ${arc.primPath}; skipping`);
-      return null;
-    }
-    const target = ctx.index.get(arc.primPath);
-    if (!target) {
-      ctx.warn(`internal reference target ${arc.primPath} not found`);
-      return null;
-    }
-    return resolvePrim(target, { ...ctx, resolving: /* @__PURE__ */ new Set([...ctx.resolving, arc.primPath]) });
-  }
-  return null;
-}
-async function loadExternalFile(arc, baseUrl, resolver, options, stack, warn) {
-  if (!arc.assetPath) return null;
-  const url = resolver.resolve(arc.assetPath.path, baseUrl);
-  if (stack.has(url)) {
-    warn(`composition cycle detected at ${url}; skipping`);
-    return null;
-  }
-  if (stack.size >= (options.maxDepth ?? 64)) {
-    warn(`composition exceeded max depth at ${url}; skipping`);
-    return null;
-  }
-  let text;
-  try {
-    text = await resolver.fetchText(url);
-  } catch (err) {
-    warn(`cannot resolve "${arc.assetPath.path}" -> ${url}: ${err.message}`);
-    return null;
-  }
-  return composeLayer(text, url, resolver, options, /* @__PURE__ */ new Set([...stack, url]));
-}
-function mergePrim(base, over) {
-  return {
-    specifier: over.specifier === "over" ? base.specifier : over.specifier,
-    typeName: over.typeName || base.typeName,
-    name: over.name,
-    metadata: mergeMetadata(base.metadata, over.metadata),
-    properties: mergeProperties(base.properties, over.properties),
-    children: mergePrimLists(base.children, over.children),
-    line: over.line
-  };
-}
-function mergePrimLists(base, over) {
-  const byName = /* @__PURE__ */ new Map();
-  for (const p of base) byName.set(p.name, p);
-  for (const p of over) {
-    const existing = byName.get(p.name);
-    byName.set(p.name, existing ? mergePrim(existing, p) : p);
-  }
-  return [...byName.values()];
-}
-function mergeProperties(base, over) {
-  const byName = /* @__PURE__ */ new Map();
-  for (const p of base) byName.set(p.name, p);
-  for (const p of over) {
-    const existing = byName.get(p.name);
-    byName.set(p.name, existing ? mergeProperty(existing, p) : p);
-  }
-  return [...byName.values()];
-}
-function mergeProperty(base, over) {
-  if (base.kind !== over.kind) return over;
-  if (base.kind === "attribute" && over.kind === "attribute") {
-    const merged = {
-      ...over,
-      typeName: over.typeName || base.typeName,
-      metadata: mergeMetadata(base.metadata, over.metadata)
-    };
-    const value = over.value !== void 0 ? over.value : base.value;
-    if (value !== void 0) merged.value = value;
-    const timeSamples = over.timeSamples ?? base.timeSamples;
-    if (timeSamples) merged.timeSamples = timeSamples;
-    const connections = over.connections ?? base.connections;
-    if (connections) merged.connections = connections;
-    return merged;
-  }
-  if (base.kind === "relationship" && over.kind === "relationship") {
-    return {
-      ...over,
-      targets: over.targets.length > 0 ? over.targets : base.targets,
-      metadata: mergeMetadata(base.metadata, over.metadata)
-    };
-  }
-  return over;
-}
-function mergeMetadata(base, over) {
-  const merged = { ...base, ...over };
-  const a = base.apiSchemas;
-  const b = over.apiSchemas;
-  if (Array.isArray(a) || Array.isArray(b)) {
-    const seen = /* @__PURE__ */ new Set();
-    const union = [];
-    for (const v of [...Array.isArray(a) ? a : [], ...Array.isArray(b) ? b : []]) {
-      if (!seen.has(v)) {
-        seen.add(v);
-        union.push(v);
-      }
-    }
-    merged.apiSchemas = union;
-  }
-  return merged;
-}
-function buildPathIndex(prims, parent = "/", map = /* @__PURE__ */ new Map()) {
-  for (const p of prims) {
-    const path = parent === "/" ? `/${p.name}` : `${parent}/${p.name}`;
-    map.set(path, p);
-    buildPathIndex(p.children, path, map);
-  }
-  return map;
-}
-function findPrimByPath(file, path) {
-  const segments = path.split("/").filter(Boolean);
-  let level = file.prims;
-  let found = null;
-  for (const seg of segments) {
-    found = level.find((p) => p.name === seg) ?? null;
-    if (!found) return null;
-    level = found.children;
-  }
-  return found;
-}
-function defaultPrim(file, warn) {
-  const name = file.metadata.defaultPrim;
-  if (typeof name === "string") return file.prims.find((p) => p.name === name) ?? null;
-  const first = file.prims[0];
-  if (first) warn(`referenced layer has no defaultPrim; using first root prim "${first.name}"`);
-  return first ?? null;
-}
-function toArcs(value) {
-  if (value === void 0) return [];
-  const list = Array.isArray(value) ? value : [value];
-  const arcs = [];
-  for (const v of list) {
-    if (v instanceof AssetPath) arcs.push({ assetPath: v });
-    else if (v && typeof v === "object" && ("assetPath" in v || "primPath" in v))
-      arcs.push(v);
-  }
-  return arcs;
-}
-function isDictionary(v) {
-  return typeof v === "object" && v !== null && !Array.isArray(v) && !(v instanceof Quat) && !(v instanceof UsdMatrix) && !(v instanceof AssetPath);
-}
-function stripKeys(meta, keys) {
-  const out = {};
-  for (const [k, v] of Object.entries(meta)) {
-    if (!keys.includes(k)) out[k] = v;
-  }
-  return out;
-}
-var USD_ENTRY = /\.(usda|usdc|usd)$/i;
-function openUsdz(bytes) {
-  const entries = unzipSync(bytes);
-  const names = Object.keys(entries);
-  const rootEntry = names.find((n) => USD_ENTRY.test(n)) ?? names[0];
-  if (!rootEntry) throw new Error("usdz package contains no entries");
-  const decoder = new TextDecoder();
-  const resolver = {
-    resolve(assetPath, baseUrl) {
-      return joinPosix(baseUrl, assetPath);
-    },
-    fetchText(url) {
-      const data = entries[url] ?? entries[url.replace(/^\/+/, "")];
-      if (!data) return Promise.reject(new Error(`not found in usdz: ${url}`));
-      if (/\.usdc$/i.test(url)) {
-        return Promise.reject(
-          new Error(`USDC (binary crate) entries are not supported yet (M10): ${url}`)
-        );
-      }
-      return Promise.resolve(decoder.decode(data));
-    }
-  };
-  return { rootEntry, resolver };
-}
-
 // src/usd/crate/lz4.ts
 var MAX_CHUNK_INPUT = 2113929216;
 function lz4DecompressBlock(src, dst) {
@@ -1459,12 +1226,14 @@ var CrateType = {
   Vec4f: 28,
   TokenListOp: 32,
   PathListOp: 34,
+  ReferenceListOp: 35,
   IntListOp: 36,
   PathVector: 40,
   TokenVector: 41,
   Specifier: 42,
   Permission: 43,
-  Variability: 44};
+  Variability: 44,
+  PayloadListOp: 55};
 var ListOpBits = {
   HasExplicit: 1 << 1,
   HasAdded: 1 << 2,
@@ -1811,6 +1580,10 @@ var CrateReader = class {
         return this.readListOp(off, "token");
       case CrateType.PathListOp:
         return this.readListOp(off, "path");
+      case CrateType.ReferenceListOp:
+        return this.readArcListOp(off, true);
+      case CrateType.PayloadListOp:
+        return this.readArcListOp(off, false);
       case CrateType.TokenVector:
         return this.readIndexVector(off, "token").items;
       case CrateType.PathVector:
@@ -1914,6 +1687,41 @@ var CrateReader = class {
     if (bits & ListOpBits.HasOrdered) read([]);
     return [...explicit, ...prepended, ...added, ...appended];
   }
+  /**
+   * Read a Reference/Payload list-op into composition arcs. Each item is
+   * `[assetPath: string-index][primPath: path-index][layerOffset: 2 doubles]`,
+   * and a Reference additionally carries a (usually empty) customData dict.
+   */
+  readArcListOp(off, isReference) {
+    const bits = this.bytes[off];
+    let p = off + 1;
+    const out = [];
+    const readList = (collect) => {
+      const count = this.u64(p);
+      p += 8;
+      for (let i = 0; i < count; i++) {
+        const assetStrIndex = this.view.getUint32(p, true);
+        p += 4;
+        const primPathIndex = this.view.getInt32(p, true);
+        p += 4;
+        p += 16;
+        if (isReference) p += 8;
+        if (!collect) continue;
+        const assetPath = this.getToken(this.getStrings()[assetStrIndex] ?? -1);
+        const primPath = this.getPaths()[primPathIndex] ?? "";
+        const arc = { assetPath: new AssetPath(assetPath) };
+        if (primPath) arc.primPath = primPath;
+        out.push(arc);
+      }
+    };
+    if (bits & ListOpBits.HasExplicit) readList(true);
+    if (bits & ListOpBits.HasAdded) readList(true);
+    if (bits & ListOpBits.HasPrepended) readList(true);
+    if (bits & ListOpBits.HasAppended) readList(true);
+    if (bits & ListOpBits.HasDeleted) readList(false);
+    if (bits & ListOpBits.HasOrdered) readList(false);
+    return out;
+  }
 };
 function appendElement(parent, elem, isProperty) {
   if (isProperty) return `${parent}.${elem}`;
@@ -1957,108 +1765,410 @@ function crateToUsdaFile(crate) {
       layerMetadata = buildLayerMetadata(crate, fieldsOf(spec.fieldSetIndex));
       continue;
     }
-    if (spec.specType !== SPEC_PRIM) continue;
-    const fm = fieldsOf(spec.fieldSetIndex);
-    primByPath.set(path, {
-      specifier: SPECIFIERS2[asNumber(crate, fm.get("specifier")) ?? 0] ?? "def",
-      typeName: asString(crate, fm.get("typeName")) ?? "",
-      name: leaf(path),
-      metadata: buildPrimMetadata(crate, fm),
-      properties: [],
-      children: [],
-      line: 0
+    if (spec.specType !== SPEC_PRIM) continue;
+    const fm = fieldsOf(spec.fieldSetIndex);
+    primByPath.set(path, {
+      specifier: SPECIFIERS2[asNumber(crate, fm.get("specifier")) ?? 0] ?? "def",
+      typeName: asString(crate, fm.get("typeName")) ?? "",
+      name: leaf(path),
+      metadata: buildPrimMetadata(crate, fm),
+      properties: [],
+      children: [],
+      line: 0
+    });
+  }
+  for (const spec of specs) {
+    if (spec.specType !== SPEC_ATTRIBUTE && spec.specType !== SPEC_RELATIONSHIP) continue;
+    const split = splitProperty(paths[spec.pathIndex] ?? "");
+    if (!split) continue;
+    const prim = primByPath.get(split.primPath);
+    if (!prim) continue;
+    const fm = fieldsOf(spec.fieldSetIndex);
+    prim.properties.push(
+      spec.specType === SPEC_ATTRIBUTE ? buildAttribute(crate, split.propName, fm) : buildRelationship(crate, split.propName, fm)
+    );
+  }
+  for (const [path, prim] of primByPath) {
+    const parentPath = parentOf(path);
+    if (parentPath === "/") rootPrims.push(prim);
+    else primByPath.get(parentPath)?.children.push(prim);
+  }
+  return { version: crate.version.join("."), metadata: layerMetadata, prims: rootPrims };
+}
+function buildAttribute(crate, name, fm) {
+  const defaultRep = fm.get("default");
+  const attr = {
+    kind: "attribute",
+    name,
+    typeName: asString(crate, fm.get("typeName")) ?? "",
+    isArray: defaultRep !== void 0 ? decodeRepBits(defaultRep).isArray : false,
+    variability: asNumber(crate, fm.get("variability")) === 1 ? "uniform" : "varying",
+    custom: false,
+    metadata: {},
+    line: 0
+  };
+  if (defaultRep !== void 0) {
+    const value = crate.getValue(defaultRep);
+    if (value !== void 0) attr.value = value;
+  }
+  return attr;
+}
+function buildRelationship(crate, name, fm) {
+  const targetsValue = fm.has("targetPaths") ? crate.getValue(fm.get("targetPaths")) : void 0;
+  const targets = Array.isArray(targetsValue) ? targetsValue.filter((t) => typeof t === "string") : [];
+  return {
+    kind: "relationship",
+    name,
+    custom: false,
+    listOp: "explicit",
+    targets,
+    metadata: {},
+    line: 0
+  };
+}
+var ARC_FIELDS = ["references", "payload", "payloads", "inherits", "specializes"];
+function buildPrimMetadata(crate, fm) {
+  const meta = {};
+  const apiSchemas = fm.has("apiSchemas") ? crate.getValue(fm.get("apiSchemas")) : void 0;
+  if (Array.isArray(apiSchemas)) meta.apiSchemas = apiSchemas;
+  const kind = asString(crate, fm.get("kind"));
+  if (kind !== void 0) meta.kind = kind;
+  for (const key of ARC_FIELDS) {
+    if (!fm.has(key)) continue;
+    const arcs = crate.getValue(fm.get(key));
+    if (Array.isArray(arcs) && arcs.length > 0) meta[key] = arcs;
+  }
+  return meta;
+}
+function buildLayerMetadata(crate, fm) {
+  const meta = {};
+  const upAxis = asString(crate, fm.get("upAxis"));
+  if (upAxis !== void 0) meta.upAxis = upAxis;
+  const defaultPrim2 = asString(crate, fm.get("defaultPrim"));
+  if (defaultPrim2 !== void 0) meta.defaultPrim = defaultPrim2;
+  const metersPerUnit = asNumber(crate, fm.get("metersPerUnit"));
+  if (metersPerUnit !== void 0) meta.metersPerUnit = metersPerUnit;
+  return meta;
+}
+function asString(crate, rep) {
+  if (rep === void 0) return void 0;
+  const v = crate.getValue(rep);
+  return typeof v === "string" ? v : void 0;
+}
+function asNumber(crate, rep) {
+  if (rep === void 0) return void 0;
+  const v = crate.getValue(rep);
+  return typeof v === "number" ? v : void 0;
+}
+function splitProperty(path) {
+  const slash = path.lastIndexOf("/");
+  const dot = path.indexOf(".", slash < 0 ? 0 : slash);
+  if (dot === -1) return null;
+  if (path.includes("[")) return null;
+  return { primPath: path.slice(0, dot), propName: path.slice(dot + 1) };
+}
+function parentOf(path) {
+  const i = path.lastIndexOf("/");
+  return i <= 0 ? "/" : path.slice(0, i);
+}
+function leaf(path) {
+  return path.slice(path.lastIndexOf("/") + 1);
+}
+
+// src/usd/composition.ts
+var ARC_KEYS = ["references", "payload", "payloads", "inherits", "specializes"];
+var STRIP_KEYS = [...ARC_KEYS, "variants", "variantSets"];
+async function composeLayer(text, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set()) {
+  return composeFile(parseUsda(text), baseUrl, resolver, options, stack);
+}
+async function composeFile(file, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set()) {
+  const warn = options.onWarn ?? (() => {
+  });
+  let weak = [];
+  const subLayers = toArcs(file.metadata.subLayers);
+  for (let i = subLayers.length - 1; i >= 0; i--) {
+    const sub = await loadExternalFile(subLayers[i], baseUrl, resolver, options, stack, warn);
+    if (sub) weak = mergePrimLists(weak, sub.prims);
+  }
+  const ctx = {
+    baseUrl,
+    resolver,
+    options,
+    warn,
+    stack,
+    index: buildPathIndex(file.prims),
+    resolving: /* @__PURE__ */ new Set()
+  };
+  const resolved = [];
+  for (const prim of file.prims) resolved.push(await resolvePrim(prim, "", ctx));
+  const prims = weak.length > 0 ? mergePrimLists(weak, resolved) : resolved;
+  return { version: file.version, metadata: stripKeys(file.metadata, STRIP_KEYS), prims };
+}
+async function resolvePrim(spec, parentPath, ctx) {
+  const path = `${parentPath}/${spec.name}`;
+  let properties = spec.properties;
+  let children = spec.children;
+  const selection = spec.metadata.variants;
+  if (spec.variantSets && isDictionary(selection)) {
+    for (const [setName, variantName] of Object.entries(selection)) {
+      const variant = spec.variantSets[setName]?.[String(variantName)];
+      if (!variant) continue;
+      properties = mergeProperties(variant.properties, properties);
+      children = mergePrimLists(variant.children, children);
+    }
+  }
+  const resolvedChildren = [];
+  for (const child of children) resolvedChildren.push(await resolvePrim(child, path, ctx));
+  const local = {
+    specifier: spec.specifier,
+    typeName: spec.typeName,
+    name: spec.name,
+    metadata: stripKeys(spec.metadata, STRIP_KEYS),
+    properties,
+    children: resolvedChildren,
+    line: spec.line
+  };
+  const arcs = ARC_KEYS.flatMap((k) => toArcs(spec.metadata[k]));
+  let base = null;
+  for (const arc of arcs) {
+    const target = await loadReferencedPrim(arc, ctx, path);
+    if (target) base = base ? mergePrim(target, base) : target;
+  }
+  return base ? mergePrim(base, local) : local;
+}
+async function loadReferencedPrim(arc, ctx, destPath) {
+  if (arc.assetPath) {
+    const composed = await loadExternalFile(
+      arc,
+      ctx.baseUrl,
+      ctx.resolver,
+      ctx.options,
+      ctx.stack,
+      ctx.warn
+    );
+    if (!composed) return null;
+    const target = arc.primPath ? findPrimByPath(composed, arc.primPath) : defaultPrim(composed, ctx.warn);
+    if (!target) {
+      ctx.warn(
+        `reference target ${arc.primPath ?? "(defaultPrim)"} not found in ${arc.assetPath.path}`
+      );
+      return null;
+    }
+    const sourceRoot = arc.primPath ?? `/${target.name}`;
+    return remapPaths(target, sourceRoot, destPath);
+  }
+  if (arc.primPath) {
+    if (ctx.resolving.has(arc.primPath)) {
+      ctx.warn(`internal composition cycle at ${arc.primPath}; skipping`);
+      return null;
+    }
+    const target = ctx.index.get(arc.primPath);
+    if (!target) {
+      ctx.warn(`internal reference target ${arc.primPath} not found`);
+      return null;
+    }
+    const parentPath = arc.primPath.slice(0, arc.primPath.lastIndexOf("/"));
+    const composed = await resolvePrim(target, parentPath, {
+      ...ctx,
+      resolving: /* @__PURE__ */ new Set([...ctx.resolving, arc.primPath])
     });
+    return remapPaths(composed, arc.primPath, destPath);
   }
-  for (const spec of specs) {
-    if (spec.specType !== SPEC_ATTRIBUTE && spec.specType !== SPEC_RELATIONSHIP) continue;
-    const split = splitProperty(paths[spec.pathIndex] ?? "");
-    if (!split) continue;
-    const prim = primByPath.get(split.primPath);
-    if (!prim) continue;
-    const fm = fieldsOf(spec.fieldSetIndex);
-    prim.properties.push(
-      spec.specType === SPEC_ATTRIBUTE ? buildAttribute(crate, split.propName, fm) : buildRelationship(crate, split.propName, fm)
-    );
+  return null;
+}
+async function loadExternalFile(arc, baseUrl, resolver, options, stack, warn) {
+  if (!arc.assetPath) return null;
+  const url = resolver.resolve(arc.assetPath.path, baseUrl);
+  if (stack.has(url)) {
+    warn(`composition cycle detected at ${url}; skipping`);
+    return null;
   }
-  for (const [path, prim] of primByPath) {
-    const parentPath = parentOf(path);
-    if (parentPath === "/") rootPrims.push(prim);
-    else primByPath.get(parentPath)?.children.push(prim);
+  if (stack.size >= (options.maxDepth ?? 64)) {
+    warn(`composition exceeded max depth at ${url}; skipping`);
+    return null;
   }
-  return { version: crate.version.join("."), metadata: layerMetadata, prims: rootPrims };
+  let bytes;
+  try {
+    bytes = await fetchLayerBytes(resolver, url);
+  } catch (err) {
+    warn(`cannot resolve "${arc.assetPath.path}" -> ${url}: ${err.message}`);
+    return null;
+  }
+  const childStack = /* @__PURE__ */ new Set([...stack, url]);
+  if (CrateReader.isCrate(bytes)) {
+    return composeFile(crateToUsdaFile(new CrateReader(bytes)), url, resolver, options, childStack);
+  }
+  return composeLayer(new TextDecoder().decode(bytes), url, resolver, options, childStack);
 }
-function buildAttribute(crate, name, fm) {
-  const defaultRep = fm.get("default");
-  const attr = {
-    kind: "attribute",
-    name,
-    typeName: asString(crate, fm.get("typeName")) ?? "",
-    isArray: defaultRep !== void 0 ? decodeRepBits(defaultRep).isArray : false,
-    variability: asNumber(crate, fm.get("variability")) === 1 ? "uniform" : "varying",
-    custom: false,
-    metadata: {},
-    line: 0
+async function fetchLayerBytes(resolver, url) {
+  if (resolver.fetchBytes) return resolver.fetchBytes(url);
+  return new TextEncoder().encode(await resolver.fetchText(url));
+}
+function remapPaths(prim, from, to) {
+  if (from === to) return prim;
+  return {
+    ...prim,
+    properties: prim.properties.map((p) => remapProperty(p, from, to)),
+    children: prim.children.map((c) => remapPaths(c, from, to))
   };
-  if (defaultRep !== void 0) {
-    const value = crate.getValue(defaultRep);
-    if (value !== void 0) attr.value = value;
+}
+function remapProperty(prop, from, to) {
+  if (prop.kind === "relationship") {
+    return { ...prop, targets: prop.targets.map((t) => remapPath(t, from, to)) };
   }
-  return attr;
+  if (prop.kind === "attribute" && prop.connections) {
+    return { ...prop, connections: prop.connections.map((c) => remapPath(c, from, to)) };
+  }
+  return prop;
 }
-function buildRelationship(crate, name, fm) {
-  const targetsValue = fm.has("targetPaths") ? crate.getValue(fm.get("targetPaths")) : void 0;
-  const targets = Array.isArray(targetsValue) ? targetsValue.filter((t) => typeof t === "string") : [];
+function remapPath(path, from, to) {
+  if (path === from) return to;
+  if (path.startsWith(from) && /[/.[{]/.test(path[from.length] ?? "")) {
+    return to + path.slice(from.length);
+  }
+  return path;
+}
+function mergePrim(base, over) {
   return {
-    kind: "relationship",
-    name,
-    custom: false,
-    listOp: "explicit",
-    targets,
-    metadata: {},
-    line: 0
+    specifier: over.specifier === "over" ? base.specifier : over.specifier,
+    typeName: over.typeName || base.typeName,
+    name: over.name,
+    metadata: mergeMetadata(base.metadata, over.metadata),
+    properties: mergeProperties(base.properties, over.properties),
+    children: mergePrimLists(base.children, over.children),
+    line: over.line
   };
 }
-function buildPrimMetadata(crate, fm) {
-  const meta = {};
-  const apiSchemas = fm.has("apiSchemas") ? crate.getValue(fm.get("apiSchemas")) : void 0;
-  if (Array.isArray(apiSchemas)) meta.apiSchemas = apiSchemas;
-  const kind = asString(crate, fm.get("kind"));
-  if (kind !== void 0) meta.kind = kind;
-  return meta;
+function mergePrimLists(base, over) {
+  const byName = /* @__PURE__ */ new Map();
+  for (const p of base) byName.set(p.name, p);
+  for (const p of over) {
+    const existing = byName.get(p.name);
+    byName.set(p.name, existing ? mergePrim(existing, p) : p);
+  }
+  return [...byName.values()];
 }
-function buildLayerMetadata(crate, fm) {
-  const meta = {};
-  const upAxis = asString(crate, fm.get("upAxis"));
-  if (upAxis !== void 0) meta.upAxis = upAxis;
-  const defaultPrim2 = asString(crate, fm.get("defaultPrim"));
-  if (defaultPrim2 !== void 0) meta.defaultPrim = defaultPrim2;
-  const metersPerUnit = asNumber(crate, fm.get("metersPerUnit"));
-  if (metersPerUnit !== void 0) meta.metersPerUnit = metersPerUnit;
-  return meta;
+function mergeProperties(base, over) {
+  const byName = /* @__PURE__ */ new Map();
+  for (const p of base) byName.set(p.name, p);
+  for (const p of over) {
+    const existing = byName.get(p.name);
+    byName.set(p.name, existing ? mergeProperty(existing, p) : p);
+  }
+  return [...byName.values()];
 }
-function asString(crate, rep) {
-  if (rep === void 0) return void 0;
-  const v = crate.getValue(rep);
-  return typeof v === "string" ? v : void 0;
+function mergeProperty(base, over) {
+  if (base.kind !== over.kind) return over;
+  if (base.kind === "attribute" && over.kind === "attribute") {
+    const merged = {
+      ...over,
+      typeName: over.typeName || base.typeName,
+      metadata: mergeMetadata(base.metadata, over.metadata)
+    };
+    const value = over.value !== void 0 ? over.value : base.value;
+    if (value !== void 0) merged.value = value;
+    const timeSamples = over.timeSamples ?? base.timeSamples;
+    if (timeSamples) merged.timeSamples = timeSamples;
+    const connections = over.connections ?? base.connections;
+    if (connections) merged.connections = connections;
+    return merged;
+  }
+  if (base.kind === "relationship" && over.kind === "relationship") {
+    return {
+      ...over,
+      targets: over.targets.length > 0 ? over.targets : base.targets,
+      metadata: mergeMetadata(base.metadata, over.metadata)
+    };
+  }
+  return over;
 }
-function asNumber(crate, rep) {
-  if (rep === void 0) return void 0;
-  const v = crate.getValue(rep);
-  return typeof v === "number" ? v : void 0;
+function mergeMetadata(base, over) {
+  const merged = { ...base, ...over };
+  const a = base.apiSchemas;
+  const b = over.apiSchemas;
+  if (Array.isArray(a) || Array.isArray(b)) {
+    const seen = /* @__PURE__ */ new Set();
+    const union = [];
+    for (const v of [...Array.isArray(a) ? a : [], ...Array.isArray(b) ? b : []]) {
+      if (!seen.has(v)) {
+        seen.add(v);
+        union.push(v);
+      }
+    }
+    merged.apiSchemas = union;
+  }
+  return merged;
 }
-function splitProperty(path) {
-  const slash = path.lastIndexOf("/");
-  const dot = path.indexOf(".", slash < 0 ? 0 : slash);
-  if (dot === -1) return null;
-  if (path.includes("[")) return null;
-  return { primPath: path.slice(0, dot), propName: path.slice(dot + 1) };
+function buildPathIndex(prims, parent = "/", map = /* @__PURE__ */ new Map()) {
+  for (const p of prims) {
+    const path = parent === "/" ? `/${p.name}` : `${parent}/${p.name}`;
+    map.set(path, p);
+    buildPathIndex(p.children, path, map);
+  }
+  return map;
 }
-function parentOf(path) {
-  const i = path.lastIndexOf("/");
-  return i <= 0 ? "/" : path.slice(0, i);
+function findPrimByPath(file, path) {
+  const segments = path.split("/").filter(Boolean);
+  let level = file.prims;
+  let found = null;
+  for (const seg of segments) {
+    found = level.find((p) => p.name === seg) ?? null;
+    if (!found) return null;
+    level = found.children;
+  }
+  return found;
 }
-function leaf(path) {
-  return path.slice(path.lastIndexOf("/") + 1);
+function defaultPrim(file, warn) {
+  const name = file.metadata.defaultPrim;
+  if (typeof name === "string") return file.prims.find((p) => p.name === name) ?? null;
+  const first = file.prims[0];
+  if (first) warn(`referenced layer has no defaultPrim; using first root prim "${first.name}"`);
+  return first ?? null;
+}
+function toArcs(value) {
+  if (value === void 0) return [];
+  const list = Array.isArray(value) ? value : [value];
+  const arcs = [];
+  for (const v of list) {
+    if (v instanceof AssetPath) arcs.push({ assetPath: v });
+    else if (v && typeof v === "object" && ("assetPath" in v || "primPath" in v))
+      arcs.push(v);
+  }
+  return arcs;
+}
+function isDictionary(v) {
+  return typeof v === "object" && v !== null && !Array.isArray(v) && !(v instanceof Quat) && !(v instanceof UsdMatrix) && !(v instanceof AssetPath);
+}
+function stripKeys(meta, keys) {
+  const out = {};
+  for (const [k, v] of Object.entries(meta)) {
+    if (!keys.includes(k)) out[k] = v;
+  }
+  return out;
+}
+var USD_ENTRY = /\.(usda|usdc|usd)$/i;
+function openUsdz(bytes) {
+  const entries = unzipSync(bytes);
+  const names = Object.keys(entries);
+  const rootEntry = names.find((n) => USD_ENTRY.test(n)) ?? names[0];
+  if (!rootEntry) throw new Error("usdz package contains no entries");
+  const decoder = new TextDecoder();
+  const resolver = {
+    resolve(assetPath, baseUrl) {
+      return joinPosix(baseUrl, assetPath);
+    },
+    fetchText(url) {
+      const data = entries[url] ?? entries[url.replace(/^\/+/, "")];
+      if (!data) return Promise.reject(new Error(`not found in usdz: ${url}`));
+      if (/\.usdc$/i.test(url)) {
+        return Promise.reject(
+          new Error(`USDC (binary crate) entries are not supported yet (M10): ${url}`)
+        );
+      }
+      return Promise.resolve(decoder.decode(data));
+    }
+  };
+  return { rootEntry, resolver };
 }
 
 // src/kinematics/transforms.ts
@@ -2406,6 +2516,33 @@ function asMatrix(v, where) {
   throw new Error(`${where}: expected a matrix`);
 }
 
+// src/kinematics/sampling.ts
+function interpolate(channel, t) {
+  const { times, values } = channel;
+  const n = times.length;
+  if (n === 0) return 0;
+  if (t <= times[0]) return values[0];
+  if (t >= times[n - 1]) return values[n - 1];
+  let lo = 0;
+  let hi = n - 1;
+  while (lo < hi) {
+    const mid = lo + hi >> 1;
+    if (times[mid] <= t) lo = mid + 1;
+    else hi = mid;
+  }
+  const i = lo - 1;
+  const t0 = times[i];
+  const t1 = times[i + 1];
+  const span = t1 - t0;
+  const f = span > 0 ? (t - t0) / span : 0;
+  return values[i] + (values[i + 1] - values[i]) * f;
+}
+function channelFromSamples(samples) {
+  const times = [...samples.keys()].sort((a, b) => a - b);
+  const values = times.map((t) => samples.get(t) ?? 0);
+  return { times, values };
+}
+
 // src/schemas/usdGeom.ts
 function isXform(prim) {
   return prim.GetTypeName() === "Xform";
@@ -2683,8 +2820,13 @@ function extractRobotDescription(stage, options = {}) {
     joints,
     upAxis: stage.GetUpAxis(),
     metersPerUnit: stage.GetMetersPerUnit(),
+    timeCodesPerSecond: stage.GetTimeCodesPerSecond(),
     ...articulationRoots.length ? { articulationRoots } : {}
   };
+  const startTimeCode = stage.GetStartTimeCode();
+  if (startTimeCode !== void 0) robot.startTimeCode = startTimeCode;
+  const endTimeCode = stage.GetEndTimeCode();
+  if (endTimeCode !== void 0) robot.endTimeCode = endTimeCode;
   const tree = buildKinematicTree(robot, { onWarn: warn });
   robot.rootLink = tree.root;
   if (tree.loopJoints.length) robot.loopJoints = tree.loopJoints;
@@ -2747,6 +2889,17 @@ function buildJoint(prim, linkKeyByPath, warn) {
     ...drive.maxForce !== void 0 ? { maxForce: drive.maxForce } : {}
   };
   if (Object.keys(driveDesc).length > 0) joint.drive = driveDesc;
+  const stateSamples = prim.GetAttribute(`state:${kind}:physics:position`).GetTimeSamples();
+  const driveSamples = prim.GetAttribute(`drive:${kind}:physics:targetPosition`).GetTimeSamples();
+  const samples = stateSamples.size > 0 ? stateSamples : driveSamples;
+  if (samples.size > 0) {
+    const times = [...samples.keys()].sort((a, b) => a - b);
+    const values = times.map((t) => {
+      const v = samples.get(t);
+      return typeof v === "number" ? jointValueToSI(angular, v) : 0;
+    });
+    joint.valueSamples = { times, values };
+  }
   return joint;
 }
 function buildKeyMap(paths) {
@@ -2767,6 +2920,6 @@ function leafName(path) {
   return parts[parts.length - 1] ?? path;
 }
 
-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 };
-//# sourceMappingURL=chunk-XH3L7XDJ.js.map
-//# sourceMappingURL=chunk-XH3L7XDJ.js.map
+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, channelFromSamples, composeFile, composeLayer, computeLocalTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, interpolate, invert, isMesh, isScope, isXform, iterDescendants, joinPosix, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, tokenize };
+//# sourceMappingURL=chunk-FYVZ7YPW.js.map
+//# sourceMappingURL=chunk-FYVZ7YPW.js.map