three-usd-robot 0.4.0 → 0.6.0

package/dist/chunk-JZMCABQO.js.map

@@ -0,0 +1 @@
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Package identity. Kept in one place so every entry point can re-export it. */\nexport const PACKAGE_NAME = \"three-usd-robot\";\n\n/** Library version. Replaced by the release tooling at publish time. */\nexport const VERSION = \"0.0.0\";\n","/**\n * Robot IR → USDA layer (M13).\n *\n * Builds a self-contained UsdPhysics robot layer from a {@link RobotDescription}:\n * one `Xform` prim per link placed at its **zero-pose** world transform\n * (folding joint frames root-down, `T_child = T_parent · frame0 · frame1⁻¹` —\n * see docs/export-design.md §4), one `Physics*Joint` prim per joint, and the\n * link meshes supplied by a {@link RobotGeometryProvider}. Initial joint values\n * author as `PhysicsJointStateAPI` opinions rather than being baked into link\n * transforms, so a re-import applies them exactly once. Values convert back\n * from SI to authored units (angular radians → degrees).\n */\n\nimport {\n  type Mat4,\n  decomposeRigid,\n  identity4,\n  invert,\n  multiply,\n  toUsdMatrix,\n} from \"../kinematics/transforms.js\";\nimport type {\n  AttributeSpec,\n  MetadataMap,\n  PrimSpec,\n  PropertySpec,\n  RelationshipSpec,\n  UsdValue,\n  UsdaFile,\n} from \"../parser/ast.js\";\nimport { AssetPath, Quat } from \"../parser/ast.js\";\nimport type {\n  JointDescription,\n  JointType,\n  LinkInertialDescription,\n  RobotDescription,\n} from \"../robot/RobotDescription.js\";\nimport { buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { jointValueFromSI } from \"../robot/normalize.js\";\nimport {\n  ARTICULATION_ROOT_API,\n  COLLISION_API,\n  MASS_API,\n  MESH_COLLISION_API,\n  PHYSICS_MATERIAL_API,\n  RIGID_BODY_API,\n  driveKindFor,\n} from \"../schemas/usdPhysics.js\";\nimport type {\n  ExportMaterial,\n  ExportMesh,\n  ExportPhysicsMaterial,\n  RobotGeometryProvider,\n  TextureChannel,\n} from \"./GeometryProvider.js\";\n\n/** PhysX articulation tuning API (Isaac / Omniverse). */\nconst PHYSX_ARTICULATION_API = \"PhysxArticulationAPI\";\n\nexport type ExportRobotOptions = {\n  /** Supplies each link's meshes; omit for a kinematics-only layer. */\n  geometry?: RobotGeometryProvider;\n  /** Root prim name; defaults to the (sanitized) robot name. */\n  robotName?: string;\n  /**\n   * Author `physxArticulation:enabledSelfCollisions` on the articulation root\n   * (M16). `false` is the common Isaac stabilizer for adjacent-link contact.\n   */\n  enabledSelfCollisions?: boolean;\n  /**\n   * Apply the Isaac Sim Robot Schema (M16): `IsaacRobotAPI` on the root with\n   * ordered `isaac:physics:robotLinks` / `robotJoints` relationships,\n   * `IsaacLinkAPI` per link, and `IsaacJointAPI` (+ DOF order) per joint.\n   */\n  isaacRobotSchema?: boolean;\n  /** Receives non-fatal export diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\nconst JOINT_SCHEMA_BY_TYPE: Record<JointType, string> = {\n  fixed: \"PhysicsFixedJoint\",\n  revolute: \"PhysicsRevoluteJoint\",\n  continuous: \"PhysicsRevoluteJoint\",\n  prismatic: \"PhysicsPrismaticJoint\",\n};\n\n/** Serialize a robot IR into a single-layer USDA AST (pass to `serializeUsda`). */\nexport function exportRobotUsda(\n  desc: RobotDescription,\n  options: ExportRobotOptions = {},\n): UsdaFile {\n  const warn = (m: string) => options.onWarn?.(m);\n  const tree = buildKinematicTree(desc, { onWarn: warn });\n\n  const robotName = sanitizeName(options.robotName ?? desc.name ?? \"robot\");\n\n  // One flat sibling namespace under the root prim for links and joints.\n  const alloc = nameAllocator(warn);\n  const linkNames = new Map<string, string>();\n  for (const key of Object.keys(desc.links)) linkNames.set(key, alloc(key, `link \"${key}\"`));\n  const jointNames = new Map<string, string>();\n  for (const key of Object.keys(desc.joints)) jointNames.set(key, alloc(key, `joint \"${key}\"`));\n  const linkPath = (key: string) => `/${robotName}/${linkNames.get(key)}`;\n\n  // Zero-pose world placement per link, folded root-down along the tree.\n  // Links no joint chain reaches (floating root / isolated) keep their\n  // authored stage placement when the IR carries one.\n  const authoredWorld = (key: string) => desc.links[key]?.worldTransform ?? identity4();\n  const worldByLink = new Map<string, Mat4>();\n  for (const key of tree.order) {\n    const node = tree.nodes[key]!;\n    if (node.parent === null || node.jointToParent === null) {\n      const rootJoint = tree.rootJoint ? desc.joints[tree.rootJoint] : undefined;\n      worldByLink.set(\n        key,\n        rootJoint\n          ? multiply(rootJoint.jointFrame0, invert(rootJoint.jointFrame1))\n          : authoredWorld(key),\n      );\n      continue;\n    }\n    const joint = desc.joints[node.jointToParent]!;\n    const parentWorld = worldByLink.get(node.parent) ?? identity4();\n    worldByLink.set(\n      key,\n      multiply(multiply(parentWorld, joint.jointFrame0), invert(joint.jointFrame1)),\n    );\n  }\n  for (const key of tree.isolatedLinks) worldByLink.set(key, authoredWorld(key));\n\n  // Articulation root: preserve link-level APIs from the IR; otherwise apply it\n  // on the container prim (never both — nested articulation roots are invalid).\n  const articulationLinks = new Set(desc.articulationRoots ?? []);\n\n  // Gather meshes once, then dedupe their (physics) materials by name.\n  const meshesByLink = new Map<string, ExportMesh[]>();\n  const materials = new Map<string, ExportMaterial>();\n  const physicsMaterials = new Map<string, ExportPhysicsMaterial>();\n  for (const [key, link] of Object.entries(desc.links)) {\n    const meshes = options.geometry?.(key, link) ?? [];\n    meshesByLink.set(key, meshes);\n    for (const mesh of meshes) {\n      if (mesh.material && !materials.has(mesh.material.name)) {\n        materials.set(mesh.material.name, mesh.material);\n      }\n      if (mesh.physicsMaterial && !physicsMaterials.has(mesh.physicsMaterial.name)) {\n        physicsMaterials.set(mesh.physicsMaterial.name, mesh.physicsMaterial);\n      }\n    }\n  }\n  const looksName = materials.size > 0 ? alloc(\"Looks\") : undefined;\n  const materialAlloc = nameAllocator();\n  const materialNames = new Map<string, string>();\n  for (const name of materials.keys()) materialNames.set(name, materialAlloc(name));\n  const materialPath = (name: string) =>\n    looksName ? `/${robotName}/${looksName}/${materialNames.get(name)}` : undefined;\n\n  const physicsScopeName = physicsMaterials.size > 0 ? alloc(\"PhysicsMaterials\") : undefined;\n  const physicsMaterialAlloc = nameAllocator();\n  const physicsMaterialNames = new Map<string, string>();\n  for (const name of physicsMaterials.keys()) {\n    physicsMaterialNames.set(name, physicsMaterialAlloc(name));\n  }\n  const physicsMaterialPath = (name: string) =>\n    physicsScopeName\n      ? `/${robotName}/${physicsScopeName}/${physicsMaterialNames.get(name)}`\n      : undefined;\n\n  const isaac = options.isaacRobotSchema === true;\n  const children: PrimSpec[] = [];\n  for (const [key, link] of Object.entries(desc.links)) {\n    const apiSchemas = [RIGID_BODY_API];\n    if (articulationLinks.has(key)) apiSchemas.push(ARTICULATION_ROOT_API);\n    if (link.inertial) apiSchemas.push(MASS_API);\n    if (isaac) apiSchemas.push(\"IsaacLinkAPI\");\n    const selfCollision = articulationLinks.has(key) ? options.enabledSelfCollisions : undefined;\n    if (selfCollision !== undefined) apiSchemas.push(PHYSX_ARTICULATION_API);\n    children.push(\n      buildLinkPrim({\n        name: linkNames.get(key)!,\n        world: worldByLink.get(key) ?? identity4(),\n        apiSchemas,\n        meshes: meshesByLink.get(key) ?? [],\n        materialPath,\n        physicsMaterialPath,\n        warn,\n        ...(link.inertial ? { inertial: link.inertial } : {}),\n        ...(selfCollision !== undefined ? { selfCollision } : {}),\n      }),\n    );\n  }\n  const emittedJoints = new Set<string>();\n  for (const [key, joint] of Object.entries(desc.joints)) {\n    if (!desc.links[joint.child] || (joint.parent !== \"\" && !desc.links[joint.parent])) {\n      warn(`joint \"${key}\" references an unknown link; skipped`);\n      continue;\n    }\n    emittedJoints.add(key);\n    children.push(buildJointPrim(jointNames.get(key)!, key, joint, linkPath, isaac, warn));\n  }\n  if (looksName) {\n    children.push(buildLooksPrim(looksName, materials, materialNames, materialPath));\n  }\n  if (physicsScopeName) {\n    children.push(\n      buildPhysicsMaterialsPrim(physicsScopeName, physicsMaterials, physicsMaterialNames),\n    );\n  }\n\n  const rootApiSchemas: string[] = [];\n  const rootProperties: PropertySpec[] = [];\n  if (articulationLinks.size === 0) {\n    rootApiSchemas.push(ARTICULATION_ROOT_API);\n    if (options.enabledSelfCollisions !== undefined) {\n      rootApiSchemas.push(PHYSX_ARTICULATION_API);\n      rootProperties.push(\n        attr(\"physxArticulation:enabledSelfCollisions\", \"bool\", options.enabledSelfCollisions),\n      );\n    }\n  }\n  if (isaac) {\n    rootApiSchemas.push(\"IsaacRobotAPI\");\n    const orderedLinks = [...tree.order, ...tree.isolatedLinks];\n    const orderedJoints: string[] = [];\n    const pushJoint = (key: string | null | undefined) => {\n      if (key && emittedJoints.has(key) && !orderedJoints.includes(key)) orderedJoints.push(key);\n    };\n    pushJoint(tree.rootJoint);\n    for (const linkKey of tree.order) pushJoint(tree.nodes[linkKey]?.jointToParent);\n    for (const jointKey of tree.loopJoints) pushJoint(jointKey);\n    for (const jointKey of Object.keys(desc.joints)) pushJoint(jointKey);\n\n    rootProperties.push(rel(\"isaac:physics:robotLinks\", orderedLinks.map(linkPath)));\n    rootProperties.push(\n      rel(\n        \"isaac:physics:robotJoints\",\n        orderedJoints.map((key) => `/${robotName}/${jointNames.get(key)}`),\n      ),\n    );\n  }\n\n  const root: PrimSpec = {\n    specifier: \"def\",\n    typeName: \"Xform\",\n    name: robotName,\n    metadata: rootApiSchemas.length > 0 ? { apiSchemas: rootApiSchemas } : {},\n    properties: rootProperties,\n    children,\n    line: 0,\n  };\n\n  const metadata: MetadataMap = {\n    defaultPrim: robotName,\n    metersPerUnit: desc.metersPerUnit,\n    upAxis: desc.upAxis,\n    ...(desc.timeCodesPerSecond !== undefined\n      ? { timeCodesPerSecond: desc.timeCodesPerSecond }\n      : {}),\n    ...(desc.startTimeCode !== undefined ? { startTimeCode: desc.startTimeCode } : {}),\n    ...(desc.endTimeCode !== undefined ? { endTimeCode: desc.endTimeCode } : {}),\n  };\n\n  return { version: \"1.0\", metadata, prims: [root] };\n}\n\n// ---------------------------------------------------------------------------\n// Links & meshes\n// ---------------------------------------------------------------------------\n\ntype LinkPrimArgs = {\n  name: string;\n  world: Mat4;\n  apiSchemas: string[];\n  meshes: ExportMesh[];\n  inertial?: LinkInertialDescription;\n  /** `physxArticulation:enabledSelfCollisions` for link-level articulation roots. */\n  selfCollision?: boolean;\n  materialPath: (name: string) => string | undefined;\n  physicsMaterialPath: (name: string) => string | undefined;\n  warn: (message: string) => void;\n};\n\nfunction buildLinkPrim(args: LinkPrimArgs): PrimSpec {\n  const meshAlloc = nameAllocator();\n  const properties: PropertySpec[] = transformProps(args.world);\n  if (args.inertial) properties.push(...massProps(args.inertial, args.name, args.warn));\n  if (args.selfCollision !== undefined) {\n    properties.push(attr(\"physxArticulation:enabledSelfCollisions\", \"bool\", args.selfCollision));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Xform\",\n    name: args.name,\n    metadata: { apiSchemas: args.apiSchemas },\n    properties,\n    children: args.meshes.map((mesh) =>\n      buildMeshPrim(mesh, meshAlloc(mesh.name), args.materialPath, args.physicsMaterialPath),\n    ),\n    line: 0,\n  };\n}\n\n/**\n * `UsdPhysicsMassAPI` attributes for a link's mass properties. UsdPhysics\n * requires `diagonalInertia` and `principalAxes` to be authored together, so a\n * missing principal-axes frame is completed with the identity quaternion\n * (equivalent — the diagonal is then in the body frame) and axes without a\n * diagonal are dropped (meaningless alone).\n */\nfunction massProps(\n  inertial: LinkInertialDescription,\n  linkName: string,\n  warn: (message: string) => void,\n): PropertySpec[] {\n  const out: PropertySpec[] = [];\n  if (inertial.mass !== undefined) out.push(attr(\"physics:mass\", \"float\", inertial.mass));\n  if (inertial.density !== undefined) out.push(attr(\"physics:density\", \"float\", inertial.density));\n  if (inertial.centerOfMass) {\n    out.push(attr(\"physics:centerOfMass\", \"point3f\", inertial.centerOfMass));\n  }\n  if (inertial.diagonalInertia) {\n    out.push(attr(\"physics:diagonalInertia\", \"float3\", inertial.diagonalInertia));\n    out.push(attr(\"physics:principalAxes\", \"quatf\", inertial.principalAxes ?? Quat.identity()));\n  } else if (inertial.principalAxes) {\n    warn(`link \"${linkName}\": principalAxes without diagonalInertia is meaningless; dropped`);\n  }\n  return out;\n}\n\nfunction buildMeshPrim(\n  mesh: ExportMesh,\n  name: string,\n  materialPath: (name: string) => string | undefined,\n  physicsMaterialPath: (name: string) => string | undefined,\n): PrimSpec {\n  const properties: PropertySpec[] = [];\n  if (mesh.transform) properties.push(...transformProps(mesh.transform));\n  properties.push(\n    arrayAttr(\"faceVertexCounts\", \"int\", mesh.faceVertexCounts),\n    arrayAttr(\"faceVertexIndices\", \"int\", mesh.faceVertexIndices),\n    arrayAttr(\"points\", \"point3f\", mesh.points),\n  );\n  if (mesh.normals) properties.push(arrayAttr(\"normals\", \"normal3f\", mesh.normals));\n  if (mesh.st) {\n    properties.push(arrayAttr(\"primvars:st\", \"texCoord2f\", mesh.st, { interpolation: \"vertex\" }));\n  }\n  if (mesh.displayColor) {\n    properties.push(arrayAttr(\"primvars:displayColor\", \"color3f\", [mesh.displayColor]));\n  }\n  if (mesh.doubleSided) properties.push(attr(\"doubleSided\", \"bool\", true));\n  properties.push(uniformToken(\"subdivisionScheme\", \"none\"));\n\n  const apiSchemas: string[] = [];\n  if (mesh.kind === \"collision\") {\n    apiSchemas.push(COLLISION_API);\n    // `guide` keeps collision shapes out of the render pass (usdview, Isaac Sim,\n    // and this package's own loader) while PhysX still collides with them.\n    properties.push(uniformToken(\"purpose\", \"guide\"));\n    if (mesh.collisionApproximation) {\n      apiSchemas.push(MESH_COLLISION_API);\n      properties.push(uniformToken(\"physics:approximation\", mesh.collisionApproximation));\n    }\n  }\n  const binding = mesh.material ? materialPath(mesh.material.name) : undefined;\n  if (binding) properties.push(rel(\"material:binding\", [binding]));\n  const physicsBinding =\n    mesh.kind === \"collision\" && mesh.physicsMaterial\n      ? physicsMaterialPath(mesh.physicsMaterial.name)\n      : undefined;\n  if (physicsBinding) properties.push(rel(\"material:binding:physics\", [physicsBinding]));\n  if (binding || physicsBinding) apiSchemas.push(\"MaterialBindingAPI\");\n\n  return {\n    specifier: \"def\",\n    typeName: \"Mesh\",\n    name,\n    metadata: apiSchemas.length > 0 ? { apiSchemas } : {},\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Physics materials\n// ---------------------------------------------------------------------------\n\n/** `Scope` holding one `PhysicsMaterialAPI` material per unique name. */\nfunction buildPhysicsMaterialsPrim(\n  scopeName: string,\n  materials: Map<string, ExportPhysicsMaterial>,\n  names: Map<string, string>,\n): PrimSpec {\n  const children: PrimSpec[] = [];\n  for (const [key, material] of materials) {\n    children.push(buildPhysicsMaterialPrim(names.get(key)!, material));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Scope\",\n    name: scopeName,\n    metadata: {},\n    properties: [],\n    children,\n    line: 0,\n  };\n}\n\nfunction buildPhysicsMaterialPrim(name: string, material: ExportPhysicsMaterial): PrimSpec {\n  const properties: PropertySpec[] = [];\n  if (material.staticFriction !== undefined) {\n    properties.push(attr(\"physics:staticFriction\", \"float\", material.staticFriction));\n  }\n  if (material.dynamicFriction !== undefined) {\n    properties.push(attr(\"physics:dynamicFriction\", \"float\", material.dynamicFriction));\n  }\n  if (material.restitution !== undefined) {\n    properties.push(attr(\"physics:restitution\", \"float\", material.restitution));\n  }\n  if (material.density !== undefined) {\n    properties.push(attr(\"physics:density\", \"float\", material.density));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Material\",\n    name,\n    metadata: { apiSchemas: [PHYSICS_MATERIAL_API] },\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Materials\n// ---------------------------------------------------------------------------\n\n/** `Scope` holding one `Material` + `UsdPreviewSurface` shader per material. */\nfunction buildLooksPrim(\n  looksName: string,\n  materials: Map<string, ExportMaterial>,\n  materialNames: Map<string, string>,\n  materialPath: (name: string) => string | undefined,\n): PrimSpec {\n  const children: PrimSpec[] = [];\n  for (const [key, material] of materials) {\n    children.push(buildMaterialPrim(materialNames.get(key)!, material, materialPath(key)!));\n  }\n  return {\n    specifier: \"def\",\n    typeName: \"Scope\",\n    name: looksName,\n    metadata: {},\n    properties: [],\n    children,\n    line: 0,\n  };\n}\n\n/** How each texture channel wires into `UsdPreviewSurface`. */\nconst TEXTURE_WIRING: Record<\n  TextureChannel,\n  { input: string; inputType: string; output: string; outputType: string; colorSpace: string }\n> = {\n  color: {\n    input: \"inputs:diffuseColor\",\n    inputType: \"color3f\",\n    output: \"outputs:rgb\",\n    outputType: \"float3\",\n    colorSpace: \"sRGB\",\n  },\n  emissive: {\n    input: \"inputs:emissiveColor\",\n    inputType: \"color3f\",\n    output: \"outputs:rgb\",\n    outputType: \"float3\",\n    colorSpace: \"sRGB\",\n  },\n  normal: {\n    input: \"inputs:normal\",\n    inputType: \"normal3f\",\n    output: \"outputs:rgb\",\n    outputType: \"float3\",\n    colorSpace: \"raw\",\n  },\n  opacity: {\n    input: \"inputs:opacity\",\n    inputType: \"float\",\n    output: \"outputs:a\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n  roughness: {\n    input: \"inputs:roughness\",\n    inputType: \"float\",\n    output: \"outputs:r\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n  metalness: {\n    input: \"inputs:metallic\",\n    inputType: \"float\",\n    output: \"outputs:r\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n  occlusion: {\n    input: \"inputs:occlusion\",\n    inputType: \"float\",\n    output: \"outputs:r\",\n    outputType: \"float\",\n    colorSpace: \"raw\",\n  },\n};\n\nfunction buildMaterialPrim(name: string, material: ExportMaterial, selfPath: string): PrimSpec {\n  const textures = material.textures ?? {};\n  const shaderProps: PropertySpec[] = [uniformToken(\"info:id\", \"UsdPreviewSurface\")];\n\n  // A surface input: constant value, texture connection, or both (the\n  // connection wins per UsdShade; the constant stays for flat consumers).\n  const input = (channel: TextureChannel, value?: UsdValue) => {\n    const wiring = TEXTURE_WIRING[channel];\n    const texturePath = textures[channel];\n    if (value === undefined && texturePath === undefined) return;\n    const spec = attr(wiring.input, wiring.inputType, value);\n    if (texturePath !== undefined) {\n      spec.connections = [`${selfPath}/${channel}Texture.${wiring.output}`];\n    }\n    shaderProps.push(spec);\n  };\n  input(\"color\", material.diffuseColor);\n  input(\"metalness\", material.metallic);\n  input(\"roughness\", material.roughness);\n  input(\"opacity\", material.opacity);\n  input(\"emissive\", material.emissiveColor);\n  input(\"normal\");\n  input(\"occlusion\");\n  shaderProps.push(attr(\"outputs:surface\", \"token\", undefined));\n\n  const children: PrimSpec[] = [shaderPrim(\"PreviewSurface\", shaderProps)];\n  const textureEntries = Object.entries(textures) as [TextureChannel, string][];\n  if (textureEntries.length > 0) {\n    children.push(\n      shaderPrim(\"stReader\", [\n        uniformToken(\"info:id\", \"UsdPrimvarReader_float2\"),\n        attr(\"inputs:varname\", \"string\", \"st\"),\n        attr(\"outputs:result\", \"float2\", undefined),\n      ]),\n    );\n    for (const [channel, path] of textureEntries) {\n      children.push(buildUvTexturePrim(channel, path, selfPath));\n    }\n  }\n\n  const surfaceConnect = attr(\"outputs:surface\", \"token\", undefined);\n  surfaceConnect.connections = [`${selfPath}/PreviewSurface.outputs:surface`];\n\n  return {\n    specifier: \"def\",\n    typeName: \"Material\",\n    name,\n    metadata: {},\n    properties: [surfaceConnect],\n    children,\n    line: 0,\n  };\n}\n\n/** `UsdUVTexture` node for one channel, fed by the material's `stReader`. */\nfunction buildUvTexturePrim(channel: TextureChannel, path: string, selfPath: string): PrimSpec {\n  const wiring = TEXTURE_WIRING[channel];\n  const st = attr(\"inputs:st\", \"float2\", undefined);\n  st.connections = [`${selfPath}/stReader.outputs:result`];\n  return shaderPrim(`${channel}Texture`, [\n    uniformToken(\"info:id\", \"UsdUVTexture\"),\n    attr(\"inputs:file\", \"asset\", new AssetPath(path)),\n    uniformToken(\"inputs:sourceColorSpace\", wiring.colorSpace),\n    st,\n    attr(wiring.output, wiring.outputType, undefined),\n  ]);\n}\n\nfunction shaderPrim(name: string, properties: PropertySpec[]): PrimSpec {\n  return {\n    specifier: \"def\",\n    typeName: \"Shader\",\n    name,\n    metadata: {},\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n/** `xformOp:transform` + `xformOpOrder` for an explicit matrix placement. */\nfunction transformProps(m: Mat4): PropertySpec[] {\n  return [\n    attr(\"xformOp:transform\", \"matrix4d\", toUsdMatrix(m)),\n    arrayAttr(\"xformOpOrder\", \"token\", [\"xformOp:transform\"], undefined, \"uniform\"),\n  ];\n}\n\n// ---------------------------------------------------------------------------\n// Joints\n// ---------------------------------------------------------------------------\n\nfunction buildJointPrim(\n  name: string,\n  key: string,\n  joint: JointDescription,\n  linkPath: (key: string) => string,\n  isaac: boolean,\n  warn: (m: string) => void,\n): PrimSpec {\n  const kind = driveKindFor(joint.type);\n  const angular = kind === \"angular\";\n  const properties: PropertySpec[] = [];\n  const apiSchemas: string[] = [];\n\n  if (joint.parent !== \"\") properties.push(rel(\"physics:body0\", [linkPath(joint.parent)]));\n  properties.push(rel(\"physics:body1\", [linkPath(joint.child)]));\n  if (joint.type !== \"fixed\") properties.push(uniformToken(\"physics:axis\", joint.axis));\n  if (joint.lower !== undefined) {\n    properties.push(attr(\"physics:lowerLimit\", \"float\", jointValueFromSI(angular, joint.lower)));\n  }\n  if (joint.upper !== undefined) {\n    properties.push(attr(\"physics:upperLimit\", \"float\", jointValueFromSI(angular, joint.upper)));\n  }\n\n  for (const index of [0, 1] as const) {\n    const frame = index === 0 ? joint.jointFrame0 : joint.jointFrame1;\n    const { position, orientation, rigid } = decomposeRigid(frame);\n    if (!rigid) {\n      warn(`joint \"${key}\": jointFrame${index} is not rigid; scale/shear was discarded`);\n    }\n    properties.push(attr(`physics:localPos${index}`, \"point3f\", position));\n    properties.push(attr(`physics:localRot${index}`, \"quatf\", orientation));\n  }\n\n  // Joint state: the initial value and/or the sampled trajectory (SI → authored).\n  if (joint.initialValue !== undefined || joint.valueSamples) {\n    const state = attr(\n      `state:${kind}:physics:position`,\n      \"float\",\n      joint.initialValue !== undefined ? jointValueFromSI(angular, joint.initialValue) : undefined,\n    );\n    if (joint.valueSamples) {\n      state.timeSamples = new Map(\n        joint.valueSamples.times.map((t, i) => [\n          t,\n          jointValueFromSI(angular, joint.valueSamples!.values[i] ?? 0),\n        ]),\n      );\n    }\n    properties.push(state);\n    apiSchemas.push(`PhysicsJointStateAPI:${kind}`);\n  }\n\n  if (joint.drive) {\n    const d = joint.drive;\n    if (d.targetPosition !== undefined) {\n      properties.push(\n        attr(\n          `drive:${kind}:physics:targetPosition`,\n          \"float\",\n          jointValueFromSI(angular, d.targetPosition),\n        ),\n      );\n    }\n    if (d.stiffness !== undefined) {\n      properties.push(attr(`drive:${kind}:physics:stiffness`, \"float\", d.stiffness));\n    }\n    if (d.damping !== undefined) {\n      properties.push(attr(`drive:${kind}:physics:damping`, \"float\", d.damping));\n    }\n    if (d.maxForce !== undefined) {\n      properties.push(attr(`drive:${kind}:physics:maxForce`, \"float\", d.maxForce));\n    }\n    apiSchemas.push(`PhysicsDriveAPI:${kind}`);\n  }\n\n  if (isaac) {\n    apiSchemas.push(\"IsaacJointAPI\");\n    if (joint.type !== \"fixed\") {\n      const prefix = joint.type === \"prismatic\" ? \"Trans\" : \"Rot\";\n      properties.push(\n        arrayAttr(\"isaac:physics:DofOffsetOpOrder\", \"token\", [`${prefix}${joint.axis}`]),\n      );\n    }\n  }\n\n  return {\n    specifier: \"def\",\n    typeName: JOINT_SCHEMA_BY_TYPE[joint.type],\n    name,\n    metadata: apiSchemas.length > 0 ? { apiSchemas } : {},\n    properties,\n    children: [],\n    line: 0,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Naming & spec helpers\n// ---------------------------------------------------------------------------\n\n/** Make a valid USD identifier out of an arbitrary key (`/a/b c` → `_a_b_c`). */\nfunction sanitizeName(raw: string): string {\n  const cleaned = raw.replace(/[^A-Za-z0-9_]/g, \"_\");\n  const named = cleaned.length > 0 ? cleaned : \"_\";\n  return /^[0-9]/.test(named) ? `_${named}` : named;\n}\n\n/** Allocates unique sanitized sibling names, warning when a name changes. */\nfunction nameAllocator(warn?: (m: string) => void): (raw: string, label?: string) => string {\n  const used = new Set<string>();\n  return (raw, label) => {\n    let name = sanitizeName(raw);\n    for (let i = 2; used.has(name); i++) name = `${sanitizeName(raw)}_${i}`;\n    used.add(name);\n    if (name !== raw && label && warn) warn(`${label} exported as prim \"${name}\"`);\n    return name;\n  };\n}\n\nfunction attr(\n  name: string,\n  typeName: string,\n  value: UsdValue | undefined,\n  metadata: MetadataMap = {},\n): AttributeSpec {\n  return {\n    kind: \"attribute\",\n    name,\n    typeName,\n    isArray: false,\n    variability: \"varying\",\n    custom: false,\n    ...(value !== undefined ? { value } : {}),\n    metadata,\n    line: 0,\n  };\n}\n\nfunction arrayAttr(\n  name: string,\n  typeName: string,\n  value: UsdValue[],\n  metadata: MetadataMap = {},\n  variability: \"varying\" | \"uniform\" = \"varying\",\n): AttributeSpec {\n  return {\n    kind: \"attribute\",\n    name,\n    typeName,\n    isArray: true,\n    variability,\n    custom: false,\n    value,\n    metadata,\n    line: 0,\n  };\n}\n\nfunction uniformToken(name: string, value: string): AttributeSpec {\n  return {\n    kind: \"attribute\",\n    name,\n    typeName: \"token\",\n    isArray: false,\n    variability: \"uniform\",\n    custom: false,\n    value,\n    metadata: {},\n    line: 0,\n  };\n}\n\nfunction rel(name: string, targets: string[]): RelationshipSpec {\n  return {\n    kind: \"relationship\",\n    name,\n    custom: false,\n    listOp: \"explicit\",\n    targets,\n    metadata: {},\n    line: 0,\n  };\n}\n","/**\n * Geometry access for the robot exporter (M13).\n *\n * `exportRobotUsda` is geometry-agnostic: a {@link RobotGeometryProvider}\n * supplies each link's meshes as plain data. {@link stageGeometryProvider}\n * reads them back off a loaded {@link Stage} for round-trip export; the\n * Three.js authoring side (M14) supplies one backed by `BufferGeometry`.\n */\n\nimport { type Mat4, identity4, multiply } from \"../kinematics/transforms.js\";\nimport type { Vec2, Vec3 } from \"../parser/ast.js\";\nimport type { LinkDescription } from \"../robot/RobotDescription.js\";\nimport { resolveBoundMaterial } from \"../three/MaterialBinding.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { computeLocalTransform } from \"../usd/xformOps.js\";\n\n/** Texture channels a `UsdPreviewSurface` network can reference (M15). */\nexport type TextureChannel =\n  | \"color\"\n  | \"opacity\"\n  | \"normal\"\n  | \"roughness\"\n  | \"metalness\"\n  | \"occlusion\"\n  | \"emissive\";\n\n/**\n * PBR parameters for a mesh, written as a `UsdPreviewSurface` material (M14).\n * `textures` holds per-channel image **asset paths** (M15) — emitted as a\n * `UsdUVTexture` + `UsdPrimvarReader_float2` network; sampler details\n * (wrap/scale/bias/transform) are not carried. Bundle the image bytes\n * themselves with `writeUsdz` under the same paths.\n */\nexport type ExportMaterial = {\n  /** Material identity: meshes sharing a name share one Material prim. */\n  name: string;\n  diffuseColor?: Vec3;\n  metallic?: number;\n  roughness?: number;\n  /** Sub-unit opacity renders as a translucent blend. */\n  opacity?: number;\n  emissiveColor?: Vec3;\n  /** Per-channel texture asset paths. */\n  textures?: Partial<Record<TextureChannel, string>>;\n};\n\n/** `UsdPhysicsMaterialAPI` parameters, bound via `material:binding:physics` (M16). */\nexport type ExportPhysicsMaterial = {\n  /** Identity: meshes sharing a name share one physics-material prim. */\n  name: string;\n  staticFriction?: number;\n  dynamicFriction?: number;\n  restitution?: number;\n  density?: number;\n};\n\n/** `physics:approximation` tokens of `UsdPhysicsMeshCollisionAPI`. */\nexport type CollisionApproximation =\n  | \"none\"\n  | \"convexHull\"\n  | \"convexDecomposition\"\n  | \"boundingSphere\"\n  | \"boundingCube\"\n  | \"meshSimplification\";\n\n/** One mesh of a link, as plain exportable data (stage units, link-relative). */\nexport type ExportMesh = {\n  /** Prim-name hint; the exporter sanitizes and uniquifies it. */\n  name: string;\n  kind: \"visual\" | \"collision\";\n  points: Vec3[];\n  /** Authored polygon topology (not re-triangulated). */\n  faceVertexCounts: number[];\n  faceVertexIndices: number[];\n  /** Per-vertex normals (only written when one per point). */\n  normals?: Vec3[];\n  /** `primvars:st` UVs, vertex interpolation (one per point). */\n  st?: Vec2[];\n  displayColor?: Vec3;\n  doubleSided?: boolean;\n  /** Transform relative to the link frame (column-major); identity when omitted. */\n  transform?: Mat4;\n  /** Bound material constants, if any. */\n  material?: ExportMaterial;\n  /** Collision approximation token (collision meshes only, M16). */\n  collisionApproximation?: CollisionApproximation;\n  /** Bound physics material (collision meshes only, M16). */\n  physicsMaterial?: ExportPhysicsMaterial;\n};\n\n/** Supplies the meshes of a link for export. */\nexport type RobotGeometryProvider = (linkKey: string, link: LinkDescription) => ExportMesh[];\n\n/** Provider that reads each link's visual/collision Mesh prims from a stage. */\nexport function stageGeometryProvider(stage: Stage): RobotGeometryProvider {\n  return (_linkKey, link) => {\n    const linkPrim = stage.GetPrimAtPath(link.primPath);\n    if (!linkPrim) return [];\n\n    const collisionSet = new Set(link.collisionPrims ?? []);\n    const out: ExportMesh[] = [];\n    for (const path of link.visualPrims) {\n      if (collisionSet.has(path)) continue;\n      const mesh = readMesh(stage, linkPrim, path, \"visual\");\n      if (mesh) out.push(mesh);\n    }\n    for (const path of link.collisionPrims ?? []) {\n      const mesh = readMesh(stage, linkPrim, path, \"collision\");\n      if (mesh) out.push(mesh);\n    }\n    return out;\n  };\n}\n\nfunction readMesh(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  kind: \"visual\" | \"collision\",\n): ExportMesh | null {\n  const prim = stage.GetPrimAtPath(meshPath);\n  if (!prim) return null;\n\n  const points = prim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return null;\n\n  const counts = prim.GetAttribute(\"faceVertexCounts\").Get();\n  const indices = prim.GetAttribute(\"faceVertexIndices\").Get();\n  const normals = prim.GetAttribute(\"normals\").Get();\n  const st = prim.GetAttribute(\"primvars:st\").Get();\n  const displayColor = prim.GetAttribute(\"primvars:displayColor\").Get();\n\n  const mesh: ExportMesh = {\n    name: prim.GetName(),\n    kind,\n    points: points.slice(),\n    faceVertexCounts: isNumberArray(counts) ? counts.slice() : [],\n    faceVertexIndices: isNumberArray(indices) ? indices.slice() : [],\n  };\n  if (isVec3Array(normals) && normals.length === points.length) mesh.normals = normals.slice();\n  if (isVec2Array(st) && st.length === points.length) mesh.st = st.slice();\n  if (isVec3Array(displayColor) && displayColor[0]) mesh.displayColor = displayColor[0];\n  if (prim.GetAttribute(\"doubleSided\").Get() === true) mesh.doubleSided = true;\n\n  const transform = relativeTransform(linkPrim, prim);\n  if (!isIdentity(transform)) mesh.transform = transform;\n\n  const material = readBoundMaterial(stage, prim);\n  if (material) mesh.material = material;\n\n  if (kind === \"collision\") {\n    const approximation = prim.GetAttribute(\"physics:approximation\").Get();\n    if (typeof approximation === \"string\" && APPROXIMATIONS.has(approximation)) {\n      mesh.collisionApproximation = approximation as CollisionApproximation;\n    }\n    const physicsMaterial = readBoundPhysicsMaterial(stage, prim);\n    if (physicsMaterial) mesh.physicsMaterial = physicsMaterial;\n  }\n  return mesh;\n}\n\nconst APPROXIMATIONS: ReadonlySet<string> = new Set([\n  \"none\",\n  \"convexHull\",\n  \"convexDecomposition\",\n  \"boundingSphere\",\n  \"boundingCube\",\n  \"meshSimplification\",\n]);\n\n/** `UsdPhysicsMaterialAPI` parameters bound via `material:binding:physics`. */\nfunction readBoundPhysicsMaterial(stage: Stage, prim: Prim): ExportPhysicsMaterial | undefined {\n  const target = firstBindingTarget(prim, \"material:binding:physics\");\n  if (!target) return undefined;\n  const materialPrim = stage.GetPrimAtPath(target);\n  if (!materialPrim) return undefined;\n\n  const out: ExportPhysicsMaterial = {\n    name: target.split(\"/\").filter(Boolean).pop() ?? \"PhysicsMaterial\",\n  };\n  const read = (attr: string): number | undefined => {\n    const v = materialPrim.GetAttribute(attr).Get();\n    return typeof v === \"number\" ? v : undefined;\n  };\n  const staticFriction = read(\"physics:staticFriction\");\n  if (staticFriction !== undefined) out.staticFriction = staticFriction;\n  const dynamicFriction = read(\"physics:dynamicFriction\");\n  if (dynamicFriction !== undefined) out.dynamicFriction = dynamicFriction;\n  const restitution = read(\"physics:restitution\");\n  if (restitution !== undefined) out.restitution = restitution;\n  const density = read(\"physics:density\");\n  if (density !== undefined) out.density = density;\n  return Object.keys(out).length > 1 ? out : undefined;\n}\n\n/** First target of `relName` on the prim or an ancestor. */\nfunction firstBindingTarget(prim: Prim, relName: string): string | undefined {\n  let p: Prim | null = prim;\n  while (p) {\n    const targets = p.GetRelationship(relName).GetTargets();\n    if (targets.length > 0) return targets[0];\n    p = p.GetParent();\n  }\n  return undefined;\n}\n\n/** PBR constants + texture asset paths of the bound material. */\nfunction readBoundMaterial(stage: Stage, prim: Prim): ExportMaterial | undefined {\n  const bound = resolveBoundMaterial(stage, prim);\n  if (!bound) return undefined;\n  const material: ExportMaterial = { name: boundMaterialName(prim) ?? \"Material\" };\n  if (bound.color) material.diffuseColor = bound.color;\n  if (bound.metalness !== undefined) material.metallic = bound.metalness;\n  if (bound.roughness !== undefined) material.roughness = bound.roughness;\n  if (bound.opacity !== undefined) material.opacity = bound.opacity;\n  if (bound.emissiveColor) material.emissiveColor = bound.emissiveColor;\n\n  const textures: Partial<Record<TextureChannel, string>> = {};\n  if (bound.colorTexture) textures.color = bound.colorTexture.path;\n  if (bound.opacityTexture) textures.opacity = bound.opacityTexture.path;\n  if (bound.normalTexture) textures.normal = bound.normalTexture.path;\n  if (bound.roughnessTexture) textures.roughness = bound.roughnessTexture.path;\n  if (bound.metalnessTexture) textures.metalness = bound.metalnessTexture.path;\n  if (bound.occlusionTexture) textures.occlusion = bound.occlusionTexture.path;\n  if (bound.emissiveTexture) textures.emissive = bound.emissiveTexture.path;\n  if (Object.keys(textures).length > 0) material.textures = textures;\n\n  return Object.keys(material).length > 1 ? material : undefined;\n}\n\n/** Leaf name of the first `material:binding` target on the prim or an ancestor. */\nfunction boundMaterialName(prim: Prim): string | undefined {\n  let p: Prim | null = prim;\n  while (p) {\n    const targets = p.GetRelationship(\"material:binding\").GetTargets();\n    if (targets.length > 0) return targets[0]!.split(\"/\").filter(Boolean).pop();\n    p = p.GetParent();\n  }\n  return undefined;\n}\n\n/** Accumulated local transform from `linkPrim` (exclusive) down to `meshPrim` (inclusive). */\nfunction relativeTransform(linkPrim: Prim, meshPrim: Prim): Mat4 {\n  const chain: Prim[] = [];\n  let p: Prim | null = meshPrim;\n  const stop = linkPrim.GetPath();\n  while (p && p.GetPath() !== stop) {\n    chain.push(p);\n    p = p.GetParent();\n  }\n  chain.reverse();\n\n  let m = identity4();\n  for (const prim of chain) {\n    m = multiply(m, computeLocalTransform(prim).matrix);\n  }\n  return m;\n}\n\nfunction isIdentity(m: Mat4): boolean {\n  for (let i = 0; i < 16; i++) {\n    if (m[i] !== (i % 5 === 0 ? 1 : 0)) return false;\n  }\n  return true;\n}\n\nfunction isNumberArray(v: unknown): v is number[] {\n  return Array.isArray(v) && v.every((n) => typeof n === \"number\");\n}\n\nfunction isVec3Array(v: unknown): v is Vec3[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 3);\n}\n\nfunction isVec2Array(v: unknown): v is Vec2[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 2);\n}\n","/**\n * USDZ package writer (M15) — the write-direction counterpart of `openUsdz`.\n *\n * A `.usdz` is a **stored** (uncompressed) zip whose entries' file data must\n * start on 64-byte boundaries; alignment is achieved with padding placed in a\n * local-header extra field (the fflate-sanctioned trick, as used by Three.js's\n * USDZExporter). The first entry is the package's root USD layer — `openUsdz`\n * and other USDZ readers open that one.\n */\n\nimport { type Zippable, strToU8, zipSync } from \"fflate\";\n\nconst USD_ENTRY = /\\.(usda|usdc|usd)$/i;\n/** Private extra-field id used purely as alignment padding. */\nconst PAD_EXTRA_ID = 12345;\n/** Bytes of a zip local file header before the name/extra fields. */\nconst LOCAL_HEADER_SIZE = 30;\n/** An extra field costs 4 header bytes (id + size) plus its data. */\nconst EXTRA_HEADER_SIZE = 4;\n\n/**\n * Pack entries into USDZ bytes. `entries` maps archive paths to file contents\n * (strings are UTF-8 encoded — pass the `serializeUsda` output directly). One\n * entry must be a USD layer (`.usda`/`.usdc`/`.usd`); the first such entry\n * becomes the package root and is moved to the front of the archive.\n */\nexport function writeUsdz(entries: Record<string, Uint8Array | string>): Uint8Array {\n  const names = Object.keys(entries);\n  const root = names.find((n) => USD_ENTRY.test(n));\n  if (!root) {\n    throw new Error(\"writeUsdz: entries must include a root USD layer (.usda/.usdc/.usd)\");\n  }\n  const ordered = [root, ...names.filter((n) => n !== root)];\n\n  const files: Zippable = {};\n  let offset = 0;\n  for (const name of ordered) {\n    const raw = entries[name]!;\n    const data = typeof raw === \"string\" ? strToU8(raw) : raw;\n    const nameLength = strToU8(name).length;\n\n    // Where this entry's data would start without an extra field.\n    const dataStart = offset + LOCAL_HEADER_SIZE + nameLength;\n    if ((dataStart & 63) === 0) {\n      files[name] = data;\n      offset = dataStart + data.length;\n    } else {\n      // Pad so the data starts on the next 64-byte boundary past the 4-byte\n      // extra-field header.\n      const padLength = (64 - ((dataStart + EXTRA_HEADER_SIZE) & 63)) & 63;\n      files[name] = [data, { extra: { [PAD_EXTRA_ID]: new Uint8Array(padLength) } }];\n      offset = dataStart + EXTRA_HEADER_SIZE + padLength + data.length;\n    }\n  }\n\n  return zipSync(files, { level: 0 });\n}\n","/**\n * Simulation-readiness checks for a {@link RobotDescription} (M16).\n *\n * Validates what Isaac Sim's Asset Validator cares about that is visible from\n * the IR (plus, optionally, the export geometry): graph connectivity, limit\n * sanity, mass properties, and collision setup. `error` issues break\n * simulation; `warning` issues are quality gaps a physics engine tolerates\n * but misbehaves on.\n */\n\nimport type { RobotGeometryProvider } from \"../export/GeometryProvider.js\";\nimport { decomposeRigid } from \"../kinematics/transforms.js\";\nimport type { RobotDescription } from \"./RobotDescription.js\";\nimport { buildKinematicTree } from \"./buildKinematicTree.js\";\n\nexport type ValidationSeverity = \"error\" | \"warning\";\n\nexport type ValidationIssue = {\n  severity: ValidationSeverity;\n  /** Stable machine-readable code (e.g. `unknown-link`, `no-collision`). */\n  code: string;\n  message: string;\n  /** Link or joint key the issue refers to, when applicable. */\n  subject?: string;\n};\n\nexport type ValidateRobotOptions = {\n  /** Enables mesh-level checks (collision presence / approximation). */\n  geometry?: RobotGeometryProvider;\n};\n\n/** Check a robot IR for simulation-readiness; returns errors first. */\nexport function validateRobotDescription(\n  desc: RobotDescription,\n  options: ValidateRobotOptions = {},\n): ValidationIssue[] {\n  const issues: ValidationIssue[] = [];\n  const add = (severity: ValidationSeverity, code: string, message: string, subject?: string) =>\n    issues.push({ severity, code, message, ...(subject !== undefined ? { subject } : {}) });\n\n  if (Object.keys(desc.links).length === 0) {\n    add(\"error\", \"no-links\", \"robot has no links\");\n  }\n\n  for (const [key, joint] of Object.entries(desc.joints)) {\n    if (joint.parent !== \"\" && !desc.links[joint.parent]) {\n      add(\n        \"error\",\n        \"unknown-link\",\n        `joint \"${key}\" references unknown parent \"${joint.parent}\"`,\n        key,\n      );\n    }\n    if (!desc.links[joint.child]) {\n      add(\"error\", \"unknown-link\", `joint \"${key}\" references unknown child \"${joint.child}\"`, key);\n    }\n    if (joint.lower !== undefined && joint.upper !== undefined && joint.lower > joint.upper) {\n      add(\n        \"error\",\n        \"invalid-limits\",\n        `joint \"${key}\" lower limit ${joint.lower} exceeds upper ${joint.upper}`,\n        key,\n      );\n    }\n    if (\n      joint.initialValue !== undefined &&\n      ((joint.lower !== undefined && joint.initialValue < joint.lower) ||\n        (joint.upper !== undefined && joint.initialValue > joint.upper))\n    ) {\n      add(\n        \"warning\",\n        \"initial-out-of-limits\",\n        `joint \"${key}\" initial value ${joint.initialValue} is outside its limits`,\n        key,\n      );\n    }\n    const frames = [\n      [\"jointFrame0\", joint.jointFrame0],\n      [\"jointFrame1\", joint.jointFrame1],\n    ] as const;\n    for (const [label, frame] of frames) {\n      if (!decomposeRigid(frame).rigid) {\n        add(\n          \"warning\",\n          \"non-rigid-frame\",\n          `joint \"${key}\" ${label} carries scale/shear/reflection (discarded on export)`,\n          key,\n        );\n      }\n    }\n  }\n\n  const tree = buildKinematicTree(desc);\n  for (const jointKey of tree.loopJoints) {\n    add(\n      \"warning\",\n      \"closed-loop\",\n      `joint \"${jointKey}\" closes a kinematic loop (dropped from the spanning tree)`,\n      jointKey,\n    );\n  }\n  for (const linkKey of tree.isolatedLinks) {\n    add(\n      \"warning\",\n      \"isolated-link\",\n      `link \"${linkKey}\" is unreachable from root \"${tree.root}\"`,\n      linkKey,\n    );\n  }\n  if ((desc.articulationRoots ?? []).length === 0 && !tree.rootJoint) {\n    add(\n      \"warning\",\n      \"no-articulation-root\",\n      \"no ArticulationRootAPI link and no world-fixed joint — the base will float\",\n    );\n  }\n\n  for (const [key, link] of Object.entries(desc.links)) {\n    const inertial = link.inertial;\n    if (!inertial || (inertial.mass === undefined && inertial.density === undefined)) {\n      add(\"warning\", \"no-inertial\", `link \"${key}\" has no mass or density (PhysicsMassAPI)`, key);\n    }\n    if (inertial?.mass !== undefined && inertial.mass <= 0) {\n      add(\"error\", \"bad-mass\", `link \"${key}\" has non-positive mass ${inertial.mass}`, key);\n    }\n    if (inertial?.diagonalInertia?.some((v) => v < 0)) {\n      add(\"error\", \"bad-inertia\", `link \"${key}\" has a negative diagonal-inertia component`, key);\n    }\n    if (inertial?.principalAxes && !inertial.diagonalInertia) {\n      add(\n        \"warning\",\n        \"inertia-pairing\",\n        `link \"${key}\" authors principalAxes without diagonalInertia (dropped on export)`,\n        key,\n      );\n    }\n\n    if (options.geometry) {\n      const meshes = options.geometry(key, link);\n      const collisions = meshes.filter((mesh) => mesh.kind === \"collision\");\n      if (collisions.length === 0) {\n        add(\"warning\", \"no-collision\", `link \"${key}\" has no collision geometry`, key);\n      }\n      for (const mesh of collisions) {\n        if (!mesh.collisionApproximation) {\n          add(\n            \"warning\",\n            \"collision-approximation\",\n            `link \"${key}\" collision mesh \"${mesh.name}\" has no physics:approximation (PhysX dynamic bodies need a convex or primitive approximation)`,\n            key,\n          );\n        }\n      }\n    }\n  }\n\n  return issues.sort((a, b) => (a.severity === b.severity ? 0 : a.severity === \"error\" ? -1 : 1));\n}\n"]}