three-usd-robot 0.5.0 → 0.7.0

package/dist/{chunk-Y3NXBSX3.js → chunk-FL554IS5.js}

@@ -1,4 +1,4 @@
-import { AssetPath, identity4, multiply, computeLocalTransform, invert, interpolate, DefaultAssetResolver, CrateReader, openUsdz, extractRobotDescription, buildKinematicTree, Stage, composeLayer, composeFile, crateToUsdaFile } from './chunk-36T6YOEX.js';
+import { getMaterialSubsets, resolveBoundMaterial, COLLISION_API, isNonVisualPurpose, computeWorldTransform, identity4, multiply, computeLocalTransform, invert, interpolate, DefaultAssetResolver, CrateReader, openUsdz, extractRobotDescription, buildKinematicTree, Stage, composeLayer, composeFile, crateToUsdaFile } from './chunk-4GPCBXUS.js';
 import * as THREE4 from 'three';
 
 function axisVector(axis) {
@@ -70,178 +70,6 @@ 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 OPACITY_THRESHOLD_INPUTS = ["inputs:opacityThreshold", "inputs:opacity_threshold"];
-var METALLIC_INPUTS = ["inputs:metallic", "inputs:metallic_constant"];
-var ROUGHNESS_INPUTS = ["inputs:roughness", "inputs:reflection_roughness_constant"];
-var EMISSIVE_INPUTS = ["inputs:emissiveColor", "inputs:emissive_color"];
-var SURFACE_OUTPUTS = ["outputs:surface", "outputs:mdl:surface"];
-var TEXTURE_LOOKUPS = {
-  color: {
-    surface: ["inputs:diffuseColor"],
-    direct: ["inputs:diffuse_texture", "inputs:diffuse_color_texture"]
-  },
-  opacity: {
-    surface: ["inputs:opacity"],
-    direct: ["inputs:opacity_texture", "inputs:opacity_color_texture"]
-  },
-  normal: {
-    surface: ["inputs:normal"],
-    direct: ["inputs:normalmap_texture", "inputs:normal_texture"]
-  },
-  roughness: {
-    surface: ["inputs:roughness"],
-    direct: ["inputs:reflectionroughness_texture", "inputs:roughness_texture"]
-  },
-  metalness: {
-    surface: ["inputs:metallic"],
-    direct: ["inputs:metallic_texture"]
-  },
-  occlusion: {
-    surface: ["inputs:occlusion"],
-    direct: ["inputs:ao_texture", "inputs:occlusion_texture"]
-  },
-  emissive: {
-    surface: ["inputs:emissiveColor"],
-    direct: ["inputs:emissive_color_texture", "inputs:emissive_mask_texture"]
-  }
-};
-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 opacityThreshold = firstNumber(shader, OPACITY_THRESHOLD_INPUTS);
-  if (opacityThreshold !== void 0) result.opacityThreshold = opacityThreshold;
-  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;
-  const emissive = firstColor(shader, EMISSIVE_INPUTS);
-  if (emissive && shader.GetAttribute("inputs:enable_emission").Get() !== false) {
-    result.emissiveColor = emissive;
-  }
-  const colorTex = findTexture(shader, TEXTURE_LOOKUPS.color);
-  if (colorTex !== void 0) result.colorTexture = colorTex;
-  const opacityTex = findTexture(shader, TEXTURE_LOOKUPS.opacity);
-  if (opacityTex !== void 0) result.opacityTexture = opacityTex;
-  const normal = findTexture(shader, TEXTURE_LOOKUPS.normal);
-  if (normal !== void 0) result.normalTexture = normal;
-  const roughTex = findTexture(shader, TEXTURE_LOOKUPS.roughness);
-  if (roughTex !== void 0) result.roughnessTexture = roughTex;
-  const metalTex = findTexture(shader, TEXTURE_LOOKUPS.metalness);
-  if (metalTex !== void 0) result.metalnessTexture = metalTex;
-  const aoTex = findTexture(shader, TEXTURE_LOOKUPS.occlusion);
-  if (aoTex !== void 0) result.occlusionTexture = aoTex;
-  const emissiveTex = findTexture(shader, TEXTURE_LOOKUPS.emissive);
-  if (emissiveTex !== void 0) result.emissiveTexture = emissiveTex;
-  return result;
-}
-function findTexture(shader, lookup) {
-  for (const name of lookup.direct) {
-    const v = shader.GetAttribute(name).Get();
-    if (v instanceof AssetPath && v.path) return { path: v.path };
-  }
-  for (const name of lookup.surface) {
-    const conn = shader.GetAttribute(name).GetConnections()[0];
-    if (!conn) continue;
-    const texPrim = shader.GetStage().GetPrimAtPath(conn.split(".")[0]);
-    if (!texPrim) continue;
-    const file = texPrim.GetAttribute("inputs:file").Get();
-    if (file instanceof AssetPath && file.path) return readUvTexture(texPrim, file.path);
-  }
-  return void 0;
-}
-var WRAP_VALUES = /* @__PURE__ */ new Set(["repeat", "clamp", "mirror", "black"]);
-function readUvTexture(texPrim, path) {
-  const tex = { path };
-  const wrapS = texPrim.GetAttribute("inputs:wrapS").Get();
-  if (typeof wrapS === "string" && WRAP_VALUES.has(wrapS)) tex.wrapS = wrapS;
-  const wrapT = texPrim.GetAttribute("inputs:wrapT").Get();
-  if (typeof wrapT === "string" && WRAP_VALUES.has(wrapT)) tex.wrapT = wrapT;
-  const scale = numArray(texPrim, "inputs:scale", 4);
-  if (scale) tex.scale = scale;
-  const bias = numArray(texPrim, "inputs:bias", 4);
-  if (bias) tex.bias = bias;
-  const transform = readTransform2d(texPrim);
-  if (transform) tex.transform = transform;
-  return tex;
-}
-function readTransform2d(texPrim) {
-  const conn = texPrim.GetAttribute("inputs:st").GetConnections()[0];
-  if (!conn) return void 0;
-  const node = texPrim.GetStage().GetPrimAtPath(conn.split(".")[0]);
-  if (!node || node.GetAttribute("info:id").Get() !== "UsdTransform2d") return void 0;
-  const transform = {};
-  const translation = numArray(node, "inputs:translation", 2);
-  if (translation) transform.translation = translation;
-  const scale = numArray(node, "inputs:scale", 2);
-  if (scale) transform.scale = scale;
-  const rotation = node.GetAttribute("inputs:rotation").Get();
-  if (typeof rotation === "number") transform.rotation = rotation;
-  return Object.keys(transform).length > 0 ? transform : void 0;
-}
-function numArray(prim, name, length) {
-  const v = prim.GetAttribute(name).Get();
-  if (Array.isArray(v) && v.length >= length && v.every((n) => typeof n === "number")) {
-    return v.slice(0, length);
-  }
-  return void 0;
-}
-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;
-}
 var DEFAULT_COLOR = 10132122;
 function buildMeshGeometry(meshPrim) {
   const points = meshPrim.GetAttribute("points").Get();
@@ -251,7 +79,12 @@ function buildMeshGeometry(meshPrim) {
   const counts = meshPrim.GetAttribute("faceVertexCounts").Get();
   const indices = meshPrim.GetAttribute("faceVertexIndices").Get();
   if (isNumberArray(counts) && isNumberArray(indices)) {
-    geometry.setIndex(triangulate(counts, indices));
+    const subsets = getMaterialSubsets(meshPrim);
+    if (subsets.length > 0) {
+      geometry.setIndex(triangulateBySubset(geometry, counts, indices, subsets));
+    } else {
+      geometry.setIndex(triangulate(counts, indices));
+    }
   } else if (isNumberArray(indices)) {
     geometry.setIndex(indices.slice());
   }
@@ -267,10 +100,10 @@ function buildMeshGeometry(meshPrim) {
   }
   return geometry;
 }
-function buildMeshMaterial(meshPrim, stage, textures) {
+function buildMeshMaterial(meshPrim, stage, textures, bindingPrim) {
   const color = new THREE4.Color(DEFAULT_COLOR);
   let opacity = 1;
-  const bound = stage ? resolveBoundMaterial(stage, meshPrim) : void 0;
+  const bound = stage ? resolveBoundMaterial(stage, bindingPrim ?? meshPrim) : void 0;
   if (bound?.color) {
     color.setRGB(bound.color[0], bound.color[1], bound.color[2]);
   } else {
@@ -314,7 +147,7 @@ function buildMeshMaterial(meshPrim, stage, textures) {
   const alphaTest = threshold !== void 0 && threshold > 0 ? threshold : 0;
   const transparent = alphaTest === 0 && hasAlphaSource;
   const doubleSided = meshPrim.GetAttribute("doubleSided").Get() === true;
-  return new THREE4.MeshStandardMaterial({
+  const material = new THREE4.MeshStandardMaterial({
     color,
     metalness,
     roughness,
@@ -331,6 +164,8 @@ function buildMeshMaterial(meshPrim, stage, textures) {
     ...aoMap ? { aoMap } : {},
     ...emissiveMap ? { emissiveMap } : {}
   });
+  if (bound?.name) material.name = bound.name;
+  return material;
 }
 function bindRobotMeshes(stage, robot3d, desc, options = {}) {
   const loadVisuals = options.loadVisuals ?? true;
@@ -340,26 +175,60 @@ function bindRobotMeshes(stage, robot3d, desc, options = {}) {
     const linkObj = robot3d.getLinkObject(key);
     const linkPrim = stage.GetPrimAtPath(link.primPath);
     if (!linkObj || !linkPrim) continue;
-    const collisionSet = new Set(link.collisionPrims ?? []);
+    const visualSet = new Set(link.visualPrims);
     if (loadVisuals) {
       for (const meshPath of link.visualPrims) {
-        if (collisionSet.has(meshPath)) continue;
         attachMesh(stage, linkPrim, meshPath, linkObj, "visual", textures);
       }
     }
     if (loadCollisions) {
       for (const meshPath of link.collisionPrims ?? []) {
+        if (loadVisuals && visualSet.has(meshPath)) continue;
         attachMesh(stage, linkPrim, meshPath, linkObj, "collision", textures);
       }
     }
   }
 }
+function bindSceneMeshes(stage, robot3d, desc, options = {}) {
+  const owned = /* @__PURE__ */ new Set();
+  for (const link of Object.values(desc.links)) {
+    for (const path of link.visualPrims) owned.add(path);
+    for (const path of link.collisionPrims ?? []) owned.add(path);
+    owned.add(link.primPath);
+  }
+  let attached = 0;
+  for (const prim of stage.Traverse()) {
+    if (prim.GetTypeName() !== "Mesh" || owned.has(prim.GetPath())) continue;
+    if (prim.HasAPI(COLLISION_API) || isNonVisualPurpose(prim)) continue;
+    if ([...owned].some((path) => prim.GetPath().startsWith(`${path}/`))) continue;
+    const geometry = buildMeshGeometry(prim);
+    if (!geometry) continue;
+    const mesh = new THREE4.Mesh(geometry, buildMeshMaterial(prim, stage, options.textureProvider));
+    mesh.name = prim.GetName();
+    mesh.userData.kind = "scene";
+    mesh.userData.primPath = prim.GetPath();
+    mesh.matrixAutoUpdate = false;
+    mesh.matrix.fromArray(computeWorldTransform(prim));
+    mesh.matrixWorldNeedsUpdate = true;
+    robot3d.add(mesh);
+    attached++;
+  }
+  return attached;
+}
+function buildMeshMaterials(meshPrim, stage, textures) {
+  const subsets = stage ? getMaterialSubsets(meshPrim) : [];
+  if (subsets.length === 0) return buildMeshMaterial(meshPrim, stage, textures);
+  return [
+    ...subsets.map((s) => buildMeshMaterial(meshPrim, stage, textures, s.prim)),
+    buildMeshMaterial(meshPrim, stage, textures)
+  ];
+}
 function attachMesh(stage, linkPrim, meshPath, parent, kind, textures) {
   const meshPrim = stage.GetPrimAtPath(meshPath);
   if (!meshPrim) return;
   const geometry = buildMeshGeometry(meshPrim);
   if (!geometry) return;
-  const mesh = new THREE4.Mesh(geometry, buildMeshMaterial(meshPrim, stage, textures));
+  const mesh = new THREE4.Mesh(geometry, buildMeshMaterials(meshPrim, stage, textures));
   mesh.name = meshPrim.GetName();
   mesh.userData.kind = kind;
   mesh.userData.primPath = meshPath;
@@ -399,6 +268,42 @@ function triangulate(faceVertexCounts, faceVertexIndices) {
   }
   return tris;
 }
+function triangulateBySubset(geometry, faceVertexCounts, faceVertexIndices, subsets) {
+  const faceStart = [];
+  let offset = 0;
+  for (const count of faceVertexCounts) {
+    faceStart.push(offset);
+    offset += count;
+  }
+  const tris = [];
+  const emit = (face) => {
+    const start = faceStart[face];
+    const count = faceVertexCounts[face];
+    for (let k = 2; k < count; k++) {
+      tris.push(
+        faceVertexIndices[start],
+        faceVertexIndices[start + k - 1],
+        faceVertexIndices[start + k]
+      );
+    }
+  };
+  const claimed = new Uint8Array(faceVertexCounts.length);
+  subsets.forEach((subset, index) => {
+    const begin2 = tris.length;
+    for (const face of subset.faces) {
+      if (face < 0 || face >= faceVertexCounts.length || claimed[face]) continue;
+      claimed[face] = 1;
+      emit(face);
+    }
+    if (tris.length > begin2) geometry.addGroup(begin2, tris.length - begin2, index);
+  });
+  const begin = tris.length;
+  for (let face = 0; face < faceVertexCounts.length; face++) {
+    if (!claimed[face]) emit(face);
+  }
+  if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, subsets.length);
+  return tris;
+}
 function flat3(v) {
   const out = new Array(v.length * 3);
   for (let i = 0; i < v.length; i++) {
@@ -547,9 +452,12 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
     const rootObj = this.linkObjects.get(this.tree.root);
     if (!rootObj) return;
     const rootJointKey = this.tree.rootJoint;
+    const rootLink = this.robot.links[this.tree.root];
     if (rootJointKey) {
       const j = this.robot.joints[rootJointKey];
       if (j) setMatrix(rootObj, multiply(j.jointFrame0, invert(j.jointFrame1)));
+    } else if (rootLink?.worldTransform) {
+      setMatrix(rootObj, rootLink.worldTransform);
     }
     this.add(rootObj);
   }
@@ -582,7 +490,10 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   attachIsolatedLinks() {
     for (const key of this.tree.isolatedLinks) {
       const obj = this.linkObjects.get(key);
-      if (obj && !obj.parent) this.add(obj);
+      if (!obj || obj.parent) continue;
+      const worldTransform = this.robot.links[key]?.worldTransform;
+      if (worldTransform) setMatrix(obj, worldTransform);
+      this.add(obj);
     }
   }
   // -- Joint control -------------------------------------------------------
@@ -795,13 +706,21 @@ var ThreeUsdRobotLoader = class {
     const robot3d = new ThreeUsdRobot(robot, tree, this.robotOptions());
     const loadVisuals = this.options.loadVisuals ?? true;
     const loadCollisions = this.options.loadCollisions ?? false;
-    if (loadVisuals || loadCollisions) {
+    const loadScene = this.options.loadSceneGeometry ?? false;
+    if (loadVisuals || loadCollisions || loadScene) {
       const textureProvider = this.options.loadTextures ?? true ? createTextureProvider(resolver, baseUrl) : void 0;
-      bindRobotMeshes(stage, robot3d, robot, {
-        loadVisuals,
-        loadCollisions,
-        ...textureProvider ? { textureProvider } : {}
-      });
+      if (loadVisuals || loadCollisions) {
+        bindRobotMeshes(stage, robot3d, robot, {
+          loadVisuals,
+          loadCollisions,
+          ...textureProvider ? { textureProvider } : {}
+        });
+      }
+      if (loadScene) {
+        bindSceneMeshes(stage, robot3d, robot, {
+          ...textureProvider ? { textureProvider } : {}
+        });
+      }
     }
     return robot3d;
   }
@@ -836,6 +755,6 @@ var ThreeUsdRobotLoader = class {
   }
 };
 
-export { JointObject, LinkObject, ThreeUsdRobot, ThreeUsdRobotLoader, axisVector, bindRobotMeshes, buildMeshGeometry, buildMeshMaterial, createTextureProvider, resolveBoundMaterial };
-//# sourceMappingURL=chunk-Y3NXBSX3.js.map
-//# sourceMappingURL=chunk-Y3NXBSX3.js.map
+export { JointObject, LinkObject, ThreeUsdRobot, ThreeUsdRobotLoader, axisVector, bindRobotMeshes, bindSceneMeshes, buildMeshGeometry, buildMeshMaterial, createTextureProvider };
+//# sourceMappingURL=chunk-FL554IS5.js.map
+//# sourceMappingURL=chunk-FL554IS5.js.map

package/dist/chunk-FL554IS5.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/three/axis.ts","../src/three/JointObject.ts","../src/three/LinkObject.ts","../src/three/MeshBinding.ts","../src/three/TextureBinding.ts","../src/three/ThreeUsdRobot.ts","../src/three/ThreeUsdRobotLoader.ts"],"names":["THREE","THREE2","THREE3","begin","THREE5","THREE6"],"mappings":";;;AAIO,SAAS,WAAW,IAAA,EAA2B;AACpD,EAAA,QAAQ,IAAA;AAAM,IACZ,KAAK,GAAA;AACH,MAAA,OAAO,IAAUA,MAAA,CAAA,OAAA,CAAQ,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,IAClC,KAAK,GAAA;AACH,MAAA,OAAO,IAAUA,MAAA,CAAA,OAAA,CAAQ,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,IAClC,KAAK,GAAA;AACH,MAAA,OAAO,IAAUA,MAAA,CAAA,OAAA,CAAQ,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA;AAEtC;ACHO,IAAM,WAAA,GAAN,cAAgCC,MAAA,CAAA,QAAA,CAAS;AAAA,EACrC,aAAA,GAAgB,IAAA;AAAA,EAChB,SAAA;AAAA,EACA,SAAA;AAAA,EACA,SAAA;AAAA,EACA,IAAA;AAAA,EACA,KAAA;AAAA,EACA,KAAA;AAAA,EAED,MAAA,GAAS,CAAA;AAAA,EAEjB,YAAY,KAAA,EAAyB;AACnC,IAAA,KAAA,EAAM;AACN,IAAA,IAAA,CAAK,OAAO,KAAA,CAAM,IAAA;AAClB,IAAA,IAAA,CAAK,YAAY,KAAA,CAAM,IAAA;AACvB,IAAA,IAAA,CAAK,YAAY,KAAA,CAAM,IAAA;AACvB,IAAA,IAAA,CAAK,YAAY,KAAA,CAAM,IAAA;AACvB,IAAA,IAAA,CAAK,IAAA,GAAO,UAAA,CAAW,KAAA,CAAM,IAAI,CAAA;AACjC,IAAA,IAAA,CAAK,QAAQ,KAAA,CAAM,KAAA;AACnB,IAAA,IAAA,CAAK,QAAQ,KAAA,CAAM,KAAA;AAAA,EACrB;AAAA,EAEA,IAAI,KAAA,GAAgB;AAClB,IAAA,OAAO,IAAA,CAAK,MAAA;AAAA,EACd;AAAA,EAEA,IAAI,WAAA,GAAuB;AACzB,IAAA,OAAO,KAAK,SAAA,KAAc,OAAA;AAAA,EAC5B;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,QAAA,CAAS,KAAA,EAAe,aAAA,GAAgB,IAAA,EAAc;AACpD,IAAA,IAAI,CAAC,IAAA,CAAK,WAAA,EAAa,OAAO,IAAA,CAAK,MAAA;AAEnC,IAAA,IAAI,CAAA,GAAI,KAAA;AACR,IAAA,IAAI,aAAA,EAAe;AACjB,MAAA,IAAI,KAAK,KAAA,KAAU,MAAA,IAAa,IAAI,IAAA,CAAK,KAAA,MAAW,IAAA,CAAK,KAAA;AACzD,MAAA,IAAI,KAAK,KAAA,KAAU,MAAA,IAAa,IAAI,IAAA,CAAK,KAAA,MAAW,IAAA,CAAK,KAAA;AAAA,IAC3D;AACA,IAAA,IAAA,CAAK,MAAA,GAAS,CAAA;AAEd,IAAA,IAAI,IAAA,CAAK,cAAc,WAAA,EAAa;AAClC,MAAA,IAAA,CAAK,SAAS,IAAA,CAAK,IAAA,CAAK,IAAI,CAAA,CAAE,eAAe,CAAC,CAAA;AAC9C,MAAA,IAAA,CAAK,WAAW,QAAA,EAAS;AAAA,IAC3B,CAAA,MAAO;AACL,MAAA,IAAA,CAAK,UAAA,CAAW,gBAAA,CAAiB,IAAA,CAAK,IAAA,EAAM,CAAC,CAAA;AAC7C,MAAA,IAAA,CAAK,QAAA,CAAS,GAAA,CAAI,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,IAC3B;AACA,IAAA,OAAO,CAAA;AAAA,EACT;AACF;ACtDO,IAAM,UAAA,GAAN,cAA+BC,MAAA,CAAA,QAAA,CAAS;AAAA,EACpC,YAAA,GAAe,IAAA;AAAA,EACf,QAAA;AAAA,EACA,QAAA;AAAA,EAET,YAAY,IAAA,EAAuB;AACjC,IAAA,KAAA,EAAM;AACN,IAAA,IAAA,CAAK,OAAO,IAAA,CAAK,IAAA;AACjB,IAAA,IAAA,CAAK,WAAW,IAAA,CAAK,IAAA;AACrB,IAAA,IAAA,CAAK,WAAW,IAAA,CAAK,QAAA;AAErB,IAAA,IAAA,CAAK,gBAAA,GAAmB,KAAA;AAAA,EAC1B;AACF;ACGA,IAAM,aAAA,GAAgB,QAAA;AAiBf,SAAS,kBAAkB,QAAA,EAA6C;AAC7E,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,QAAQ,EAAE,GAAA,EAAI;AACnD,EAAA,IAAI,CAAC,WAAA,CAAY,MAAM,KAAK,MAAA,CAAO,MAAA,KAAW,GAAG,OAAO,IAAA;AAExD,EAAA,MAAM,QAAA,GAAW,IAAU,MAAA,CAAA,cAAA,EAAe;AAC1C,EAAA,QAAA,CAAS,YAAA,CAAa,YAAY,IAAU,MAAA,CAAA,sBAAA,CAAuB,MAAM,MAAM,CAAA,EAAG,CAAC,CAAC,CAAA;AAEpF,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,kBAAkB,EAAE,GAAA,EAAI;AAC7D,EAAA,MAAM,OAAA,GAAU,QAAA,CAAS,YAAA,CAAa,mBAAmB,EAAE,GAAA,EAAI;AAC/D,EAAA,IAAI,aAAA,CAAc,MAAM,CAAA,IAAK,aAAA,CAAc,OAAO,CAAA,EAAG;AACnD,IAAA,MAAM,OAAA,GAAU,mBAAmB,QAAQ,CAAA;AAC3C,IAAA,IAAI,OAAA,CAAQ,SAAS,CAAA,EAAG;AACtB,MAAA,QAAA,CAAS,SAAS,mBAAA,CAAoB,QAAA,EAAU,MAAA,EAAQ,OAAA,EAAS,OAAO,CAAC,CAAA;AAAA,IAC3E,CAAA,MAAO;AACL,MAAA,QAAA,CAAS,QAAA,CAAS,WAAA,CAAY,MAAA,EAAQ,OAAO,CAAC,CAAA;AAAA,IAChD;AAAA,EACF,CAAA,MAAA,IAAW,aAAA,CAAc,OAAO,CAAA,EAAG;AACjC,IAAA,QAAA,CAAS,QAAA,CAAS,OAAA,CAAQ,KAAA,EAAO,CAAA;AAAA,EACnC;AAEA,EAAA,MAAM,OAAA,GAAU,QAAA,CAAS,YAAA,CAAa,SAAS,EAAE,GAAA,EAAI;AACrD,EAAA,IAAI,YAAY,OAAO,CAAA,IAAK,OAAA,CAAQ,MAAA,KAAW,OAAO,MAAA,EAAQ;AAC5D,IAAA,QAAA,CAAS,YAAA,CAAa,UAAU,IAAU,MAAA,CAAA,sBAAA,CAAuB,MAAM,OAAO,CAAA,EAAG,CAAC,CAAC,CAAA;AAAA,EACrF,CAAA,MAAO;AACL,IAAA,QAAA,CAAS,oBAAA,EAAqB;AAAA,EAChC;AAEA,EAAA,MAAM,EAAA,GAAK,QAAA,CAAS,YAAA,CAAa,aAAa,EAAE,GAAA,EAAI;AACpD,EAAA,IAAI,YAAY,EAAE,CAAA,IAAK,EAAA,CAAG,MAAA,KAAW,OAAO,MAAA,EAAQ;AAClD,IAAA,QAAA,CAAS,YAAA,CAAa,MAAM,IAAU,MAAA,CAAA,sBAAA,CAAuB,MAAM,EAAE,CAAA,EAAG,CAAC,CAAC,CAAA;AAAA,EAC5E;AAEA,EAAA,OAAO,QAAA;AACT;AAUO,SAAS,iBAAA,CACd,QAAA,EACA,KAAA,EACA,QAAA,EAEA,WAAA,EACgB;AAChB,EAAA,MAAM,KAAA,GAAQ,IAAU,MAAA,CAAA,KAAA,CAAM,aAAa,CAAA;AAC3C,EAAA,IAAI,OAAA,GAAU,CAAA;AAEd,EAAA,MAAM,QAAQ,KAAA,GAAQ,oBAAA,CAAqB,KAAA,EAAO,WAAA,IAAe,QAAQ,CAAA,GAAI,MAAA;AAC7E,EAAA,IAAI,OAAO,KAAA,EAAO;AAChB,IAAA,KAAA,CAAM,MAAA,CAAO,KAAA,CAAM,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,KAAA,CAAM,CAAC,CAAC,CAAA;AAAA,EAC7D,CAAA,MAAO;AACL,IAAA,MAAM,YAAA,GAAe,QAAA,CAAS,YAAA,CAAa,uBAAuB,EAAE,GAAA,EAAI;AACxE,IAAA,IAAI,WAAA,CAAY,YAAY,CAAA,IAAK,YAAA,CAAa,CAAC,CAAA,EAAG;AAChD,MAAA,MAAM,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA,GAAI,aAAa,CAAC,CAAA;AAChC,MAAA,KAAA,CAAM,MAAA,CAAO,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,IACtB;AAAA,EACF;AACA,EAAA,IAAI,KAAA,EAAO,OAAA,KAAY,MAAA,EAAW,OAAA,GAAU,KAAA,CAAM,OAAA;AAKlD,EAAA,MAAM,GAAA,GAAM,CAAC,EAAA,EAAiC,EAAA,KAC5C,MAAM,QAAA,GACF,QAAA,CAAS,GAAG,IAAA,EAAM;AAAA,IAChB,UAAA,EAAY,EAAA;AAAA,IACZ,GAAI,GAAG,KAAA,GAAQ,EAAE,OAAO,EAAA,CAAG,KAAA,KAAU,EAAC;AAAA,IACtC,GAAI,GAAG,KAAA,GAAQ,EAAE,OAAO,EAAA,CAAG,KAAA,KAAU,EAAC;AAAA,IACtC,GAAI,GAAG,SAAA,GAAY,EAAE,WAAW,EAAA,CAAG,SAAA,KAAc;AAAC,GACnD,CAAA,GACD,IAAA;AAEN,EAAA,MAAM,GAAA,GAAM,GAAA,CAAI,KAAA,EAAO,YAAA,EAAc,MAAM,CAAA;AAE3C,EAAA,IAAI,GAAA,EAAK;AACP,IAAA,MAAM,CAAA,GAAI,OAAO,YAAA,EAAc,KAAA;AAC/B,IAAA,IAAI,CAAA,EAAG,KAAA,CAAM,MAAA,CAAO,CAAA,CAAE,CAAC,CAAA,EAAG,CAAA,CAAE,CAAC,CAAA,EAAG,CAAA,CAAE,CAAC,CAAC,CAAA;AAAA,SAC/B,KAAA,CAAM,MAAA,CAAO,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,EAC3B;AACA,EAAA,MAAM,SAAA,GAAY,GAAA,CAAI,KAAA,EAAO,aAAA,EAAe,QAAQ,CAAA;AACpD,EAAA,MAAM,YAAA,GAAe,GAAA,CAAI,KAAA,EAAO,gBAAA,EAAkB,QAAQ,CAAA;AAC1D,EAAA,MAAM,YAAA,GAAe,GAAA,CAAI,KAAA,EAAO,gBAAA,EAAkB,QAAQ,CAAA;AAC1D,EAAA,MAAM,KAAA,GAAQ,GAAA,CAAI,KAAA,EAAO,gBAAA,EAAkB,QAAQ,CAAA;AACnD,EAAA,MAAM,WAAA,GAAc,GAAA,CAAI,KAAA,EAAO,eAAA,EAAiB,MAAM,CAAA;AAItD,EAAA,MAAM,SAAA,GACJ,OAAO,SAAA,IAAa,KAAA,EAAO,kBAAkB,KAAA,GAAQ,CAAC,CAAA,KAAM,YAAA,GAAe,CAAA,GAAI,GAAA,CAAA;AACjF,EAAA,MAAM,SAAA,GACJ,OAAO,SAAA,IAAa,KAAA,EAAO,kBAAkB,KAAA,GAAQ,CAAC,CAAA,KAAM,YAAA,GAAe,CAAA,GAAI,GAAA,CAAA;AAEjF,EAAA,MAAM,QAAA,GAAW,IAAU,MAAA,CAAA,KAAA,CAAM,CAAQ,CAAA;AACzC,EAAA,IAAI,OAAO,aAAA,EAAe;AACxB,IAAA,QAAA,CAAS,MAAA,CAAO,KAAA,CAAM,aAAA,CAAc,CAAC,CAAA,EAAG,KAAA,CAAM,aAAA,CAAc,CAAC,CAAA,EAAG,KAAA,CAAM,aAAA,CAAc,CAAC,CAAC,CAAA;AAAA,EACxF,WAAW,WAAA,EAAa;AACtB,IAAA,QAAA,CAAS,MAAA,CAAO,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA;AAAA,EACzB;AAMA,EAAA,MAAM,aAAa,KAAA,EAAO,cAAA;AAC1B,EAAA,MAAM,iBAAiB,CAAC,EAAE,cAAc,UAAA,CAAW,IAAA,KAAS,OAAO,YAAA,EAAc,IAAA,CAAA;AACjF,EAAA,MAAM,QAAA,GAAW,cAAA,GAAiB,IAAA,GAAO,GAAA,CAAI,YAAY,QAAQ,CAAA;AACjE,EAAA,MAAM,cAAA,GAAiB,OAAA,GAAU,CAAA,IAAK,cAAA,IAAkB,CAAC,CAAC,QAAA;AAC1D,EAAA,MAAM,YAAY,KAAA,EAAO,gBAAA;AACzB,EAAA,MAAM,SAAA,GAAY,SAAA,KAAc,MAAA,IAAa,SAAA,GAAY,IAAI,SAAA,GAAY,CAAA;AAGzE,EAAA,MAAM,WAAA,GAAc,cAAc,CAAA,IAAK,cAAA;AAEvC,EAAA,MAAM,cAAc,QAAA,CAAS,YAAA,CAAa,aAAa,CAAA,CAAE,KAAI,KAAM,IAAA;AACnE,EAAA,MAAM,QAAA,GAAW,IAAU,MAAA,CAAA,oBAAA,CAAqB;AAAA,IAC9C,KAAA;AAAA,IACA,SAAA;AAAA,IACA,SAAA;AAAA,IACA,QAAA;AAAA,IACA,WAAA;AAAA,IACA,OAAA;AAAA,IACA,GAAI,SAAA,GAAY,CAAA,GAAI,EAAE,SAAA,KAAc,EAAC;AAAA,IACrC,IAAA,EAAM,cAAoB,MAAA,CAAA,UAAA,GAAmB,MAAA,CAAA,SAAA;AAAA,IAC7C,GAAI,GAAA,GAAM,EAAE,GAAA,KAAQ,EAAC;AAAA,IACrB,GAAI,QAAA,GAAW,EAAE,QAAA,KAAa,EAAC;AAAA,IAC/B,GAAI,SAAA,GAAY,EAAE,SAAA,KAAc,EAAC;AAAA,IACjC,GAAI,YAAA,GAAe,EAAE,YAAA,KAAiB,EAAC;AAAA,IACvC,GAAI,YAAA,GAAe,EAAE,YAAA,KAAiB,EAAC;AAAA,IACvC,GAAI,KAAA,GAAQ,EAAE,KAAA,KAAU,EAAC;AAAA,IACzB,GAAI,WAAA,GAAc,EAAE,WAAA,KAAgB;AAAC,GACtC,CAAA;AAED,EAAA,IAAI,KAAA,EAAO,IAAA,EAAM,QAAA,CAAS,IAAA,GAAO,KAAA,CAAM,IAAA;AACvC,EAAA,OAAO,QAAA;AACT;AAOO,SAAS,gBACd,KAAA,EACA,OAAA,EACA,IAAA,EACA,OAAA,GAA6B,EAAC,EACxB;AACN,EAAA,MAAM,WAAA,GAAc,QAAQ,WAAA,IAAe,IAAA;AAC3C,EAAA,MAAM,cAAA,GAAiB,QAAQ,cAAA,IAAkB,KAAA;AACjD,EAAA,MAAM,WAAW,OAAA,CAAQ,eAAA;AAEzB,EAAA,KAAA,MAAW,CAAC,KAAK,IAAI,CAAA,IAAK,OAAO,OAAA,CAAQ,IAAA,CAAK,KAAK,CAAA,EAAG;AACpD,IAAA,MAAM,OAAA,GAAU,OAAA,CAAQ,aAAA,CAAc,GAAG,CAAA;AACzC,IAAA,MAAM,QAAA,GAAW,KAAA,CAAM,aAAA,CAAc,IAAA,CAAK,QAAQ,CAAA;AAClD,IAAA,IAAI,CAAC,OAAA,IAAW,CAAC,QAAA,EAAU;AAG3B,IAAA,MAAM,SAAA,GAAY,IAAI,GAAA,CAAI,IAAA,CAAK,WAAW,CAAA;AAE1C,IAAA,IAAI,WAAA,EAAa;AACf,MAAA,KAAA,MAAW,QAAA,IAAY,KAAK,WAAA,EAAa;AACvC,QAAA,UAAA,CAAW,KAAA,EAAO,QAAA,EAAU,QAAA,EAAU,OAAA,EAAS,UAAU,QAAQ,CAAA;AAAA,MACnE;AAAA,IACF;AACA,IAAA,IAAI,cAAA,EAAgB;AAClB,MAAA,KAAA,MAAW,QAAA,IAAY,IAAA,CAAK,cAAA,IAAkB,EAAC,EAAG;AAChD,QAAA,IAAI,WAAA,IAAe,SAAA,CAAU,GAAA,CAAI,QAAQ,CAAA,EAAG;AAC5C,QAAA,UAAA,CAAW,KAAA,EAAO,QAAA,EAAU,QAAA,EAAU,OAAA,EAAS,aAAa,QAAQ,CAAA;AAAA,MACtE;AAAA,IACF;AAAA,EACF;AACF;AAQO,SAAS,gBACd,KAAA,EACA,OAAA,EACA,IAAA,EACA,OAAA,GAAiD,EAAC,EAC1C;AACR,EAAA,MAAM,KAAA,uBAAY,GAAA,EAAY;AAC9B,EAAA,KAAA,MAAW,IAAA,IAAQ,MAAA,CAAO,MAAA,CAAO,IAAA,CAAK,KAAK,CAAA,EAAG;AAC5C,IAAA,KAAA,MAAW,IAAA,IAAQ,IAAA,CAAK,WAAA,EAAa,KAAA,CAAM,IAAI,IAAI,CAAA;AACnD,IAAA,KAAA,MAAW,QAAQ,IAAA,CAAK,cAAA,IAAkB,EAAC,EAAG,KAAA,CAAM,IAAI,IAAI,CAAA;AAC5D,IAAA,KAAA,CAAM,GAAA,CAAI,KAAK,QAAQ,CAAA;AAAA,EACzB;AAEA,EAAA,IAAI,QAAA,GAAW,CAAA;AACf,EAAA,KAAA,MAAW,IAAA,IAAQ,KAAA,CAAM,QAAA,EAAS,EAAG;AACnC,IAAA,IAAI,IAAA,CAAK,aAAY,KAAM,MAAA,IAAU,MAAM,GAAA,CAAI,IAAA,CAAK,OAAA,EAAS,CAAA,EAAG;AAChE,IAAA,IAAI,KAAK,MAAA,CAAO,aAAa,CAAA,IAAK,kBAAA,CAAmB,IAAI,CAAA,EAAG;AAE5D,IAAA,IAAI,CAAC,GAAG,KAAK,CAAA,CAAE,KAAK,CAAC,IAAA,KAAS,IAAA,CAAK,OAAA,GAAU,UAAA,CAAW,CAAA,EAAG,IAAI,CAAA,CAAA,CAAG,CAAC,CAAA,EAAG;AAEtE,IAAA,MAAM,QAAA,GAAW,kBAAkB,IAAI,CAAA;AACvC,IAAA,IAAI,CAAC,QAAA,EAAU;AACf,IAAA,MAAM,IAAA,GAAO,IAAU,MAAA,CAAA,IAAA,CAAK,QAAA,EAAU,kBAAkB,IAAA,EAAM,KAAA,EAAO,OAAA,CAAQ,eAAe,CAAC,CAAA;AAC7F,IAAA,IAAA,CAAK,IAAA,GAAO,KAAK,OAAA,EAAQ;AACzB,IAAA,IAAA,CAAK,SAAS,IAAA,GAAO,OAAA;AACrB,IAAA,IAAA,CAAK,QAAA,CAAS,QAAA,GAAW,IAAA,CAAK,OAAA,EAAQ;AACtC,IAAA,IAAA,CAAK,gBAAA,GAAmB,KAAA;AACxB,IAAA,IAAA,CAAK,MAAA,CAAO,SAAA,CAAU,qBAAA,CAAsB,IAAI,CAAC,CAAA;AACjD,IAAA,IAAA,CAAK,sBAAA,GAAyB,IAAA;AAC9B,IAAA,OAAA,CAAQ,IAAI,IAAI,CAAA;AAChB,IAAA,QAAA,EAAA;AAAA,EACF;AACA,EAAA,OAAO,QAAA;AACT;AAOO,SAAS,kBAAA,CACd,QAAA,EACA,KAAA,EACA,QAAA,EACmC;AACnC,EAAA,MAAM,OAAA,GAAU,KAAA,GAAQ,kBAAA,CAAmB,QAAQ,IAAI,EAAC;AACxD,EAAA,IAAI,QAAQ,MAAA,KAAW,CAAA,SAAU,iBAAA,CAAkB,QAAA,EAAU,OAAO,QAAQ,CAAA;AAC5E,EAAA,OAAO;AAAA,IACL,GAAG,OAAA,CAAQ,GAAA,CAAI,CAAC,CAAA,KAAM,iBAAA,CAAkB,QAAA,EAAU,KAAA,EAAO,QAAA,EAAU,CAAA,CAAE,IAAI,CAAC,CAAA;AAAA,IAC1E,iBAAA,CAAkB,QAAA,EAAU,KAAA,EAAO,QAAQ;AAAA,GAC7C;AACF;AAEA,SAAS,WACP,KAAA,EACA,QAAA,EACA,QAAA,EACA,MAAA,EACA,MACA,QAAA,EACM;AACN,EAAA,MAAM,QAAA,GAAW,KAAA,CAAM,aAAA,CAAc,QAAQ,CAAA;AAC7C,EAAA,IAAI,CAAC,QAAA,EAAU;AACf,EAAA,MAAM,QAAA,GAAW,kBAAkB,QAAQ,CAAA;AAC3C,EAAA,IAAI,CAAC,QAAA,EAAU;AAEf,EAAA,MAAM,IAAA,GAAO,IAAU,MAAA,CAAA,IAAA,CAAK,QAAA,EAAU,mBAAmB,QAAA,EAAU,KAAA,EAAO,QAAQ,CAAC,CAAA;AACnF,EAAA,IAAA,CAAK,IAAA,GAAO,SAAS,OAAA,EAAQ;AAC7B,EAAA,IAAA,CAAK,SAAS,IAAA,GAAO,IAAA;AACrB,EAAA,IAAA,CAAK,SAAS,QAAA,GAAW,QAAA;AAEzB,EAAA,IAAI,IAAA,KAAS,WAAA,EAAa,IAAA,CAAK,OAAA,GAAU,KAAA;AACzC,EAAA,IAAA,CAAK,gBAAA,GAAmB,KAAA;AACxB,EAAA,IAAA,CAAK,MAAA,CAAO,SAAA,CAAU,iBAAA,CAAkB,QAAA,EAAU,QAAQ,CAAC,CAAA;AAC3D,EAAA,IAAA,CAAK,sBAAA,GAAyB,IAAA;AAC9B,EAAA,MAAA,CAAO,IAAI,IAAI,CAAA;AACjB;AAGA,SAAS,iBAAA,CAAkB,UAAgB,QAAA,EAAsB;AAC/D,EAAA,MAAM,QAAgB,EAAC;AACvB,EAAA,IAAI,CAAA,GAAiB,QAAA;AACrB,EAAA,MAAM,IAAA,GAAO,SAAS,OAAA,EAAQ;AAC9B,EAAA,OAAO,CAAA,IAAK,CAAA,CAAE,OAAA,EAAQ,KAAM,IAAA,EAAM;AAChC,IAAA,KAAA,CAAM,KAAK,CAAC,CAAA;AACZ,IAAA,CAAA,GAAI,EAAE,SAAA,EAAU;AAAA,EAClB;AACA,EAAA,KAAA,CAAM,OAAA,EAAQ;AAEd,EAAA,IAAI,IAAI,SAAA,EAAU;AAClB,EAAA,KAAA,MAAW,QAAQ,KAAA,EAAO;AACxB,IAAA,CAAA,GAAI,QAAA,CAAS,CAAA,EAAG,qBAAA,CAAsB,IAAI,EAAE,MAAM,CAAA;AAAA,EACpD;AACA,EAAA,OAAO,CAAA;AACT;AAKA,SAAS,WAAA,CAAY,kBAA4B,iBAAA,EAAuC;AACtF,EAAA,MAAM,OAAiB,EAAC;AACxB,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,KAAA,MAAW,SAAS,gBAAA,EAAkB;AACpC,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,CAAA,EAAA,EAAK;AAC9B,MAAA,IAAA,CAAK,IAAA;AAAA,QACH,kBAAkB,MAAM,CAAA;AAAA,QACxB,iBAAA,CAAkB,MAAA,GAAS,CAAA,GAAI,CAAC,CAAA;AAAA,QAChC,iBAAA,CAAkB,SAAS,CAAC;AAAA,OAC9B;AAAA,IACF;AACA,IAAA,MAAA,IAAU,KAAA;AAAA,EACZ;AACA,EAAA,OAAO,IAAA;AACT;AAMA,SAAS,mBAAA,CACP,QAAA,EACA,gBAAA,EACA,iBAAA,EACA,OAAA,EACU;AACV,EAAA,MAAM,YAAsB,EAAC;AAC7B,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,KAAA,MAAW,SAAS,gBAAA,EAAkB;AACpC,IAAA,SAAA,CAAU,KAAK,MAAM,CAAA;AACrB,IAAA,MAAA,IAAU,KAAA;AAAA,EACZ;AAEA,EAAA,MAAM,OAAiB,EAAC;AACxB,EAAA,MAAM,IAAA,GAAO,CAAC,IAAA,KAAiB;AAC7B,IAAA,MAAM,KAAA,GAAQ,UAAU,IAAI,CAAA;AAC5B,IAAA,MAAM,KAAA,GAAQ,iBAAiB,IAAI,CAAA;AACnC,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,CAAA,EAAA,EAAK;AAC9B,MAAA,IAAA,CAAK,IAAA;AAAA,QACH,kBAAkB,KAAK,CAAA;AAAA,QACvB,iBAAA,CAAkB,KAAA,GAAQ,CAAA,GAAI,CAAC,CAAA;AAAA,QAC/B,iBAAA,CAAkB,QAAQ,CAAC;AAAA,OAC7B;AAAA,IACF;AAAA,EACF,CAAA;AAEA,EAAA,MAAM,OAAA,GAAU,IAAI,UAAA,CAAW,gBAAA,CAAiB,MAAM,CAAA;AACtD,EAAA,OAAA,CAAQ,OAAA,CAAQ,CAAC,MAAA,EAAQ,KAAA,KAAU;AACjC,IAAA,MAAMC,SAAQ,IAAA,CAAK,MAAA;AACnB,IAAA,KAAA,MAAW,IAAA,IAAQ,OAAO,KAAA,EAAO;AAC/B,MAAA,IAAI,OAAO,CAAA,IAAK,IAAA,IAAQ,iBAAiB,MAAA,IAAU,OAAA,CAAQ,IAAI,CAAA,EAAG;AAClE,MAAA,OAAA,CAAQ,IAAI,CAAA,GAAI,CAAA;AAChB,MAAA,IAAA,CAAK,IAAI,CAAA;AAAA,IACX;AACA,IAAA,IAAI,IAAA,CAAK,SAASA,MAAAA,EAAO,QAAA,CAAS,SAASA,MAAAA,EAAO,IAAA,CAAK,MAAA,GAASA,MAAAA,EAAO,KAAK,CAAA;AAAA,EAC9E,CAAC,CAAA;AAED,EAAA,MAAM,QAAQ,IAAA,CAAK,MAAA;AACnB,EAAA,KAAA,IAAS,IAAA,GAAO,CAAA,EAAG,IAAA,GAAO,gBAAA,CAAiB,QAAQ,IAAA,EAAA,EAAQ;AACzD,IAAA,IAAI,CAAC,OAAA,CAAQ,IAAI,CAAA,OAAQ,IAAI,CAAA;AAAA,EAC/B;AACA,EAAA,IAAI,IAAA,CAAK,MAAA,GAAS,KAAA,EAAO,QAAA,CAAS,QAAA,CAAS,OAAO,IAAA,CAAK,MAAA,GAAS,KAAA,EAAO,OAAA,CAAQ,MAAM,CAAA;AAErF,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,MAAM,CAAA,EAAqB;AAClC,EAAA,MAAM,GAAA,GAAM,IAAI,KAAA,CAAc,CAAA,CAAE,SAAS,CAAC,CAAA;AAC1C,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,CAAA,CAAE,QAAQ,CAAA,EAAA,EAAK;AACjC,IAAA,GAAA,CAAI,IAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACpB,IAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,IAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACxB,IAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,IAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AAAA,EAC1B;AACA,EAAA,OAAO,GAAA;AACT;AAEA,SAAS,MAAM,CAAA,EAAqB;AAClC,EAAA,MAAM,GAAA,GAAM,IAAI,KAAA,CAAc,CAAA,CAAE,SAAS,CAAC,CAAA;AAC1C,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,CAAA,CAAE,QAAQ,CAAA,EAAA,EAAK;AACjC,IAAA,GAAA,CAAI,IAAI,CAAC,CAAA,GAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AACpB,IAAA,GAAA,CAAI,IAAI,CAAA,GAAI,CAAC,IAAI,CAAA,CAAE,CAAC,EAAG,CAAC,CAAA;AAAA,EAC1B;AACA,EAAA,OAAO,GAAA;AACT;AAEA,SAAS,cAAc,CAAA,EAA2B;AAChD,EAAA,OAAO,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,CAAA,CAAE,MAAM,CAAC,CAAA,KAAM,OAAO,CAAA,KAAM,QAAQ,CAAA;AACjE;AAEA,SAAS,YAAY,CAAA,EAAyB;AAC5C,EAAA,OAAO,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,EAAE,KAAA,CAAM,CAAC,CAAA,KAAM,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,CAAA,CAAE,WAAW,CAAC,CAAA;AAC9E;AAEA,SAAS,YAAY,CAAA,EAAyB;AAC5C,EAAA,OAAO,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,EAAE,KAAA,CAAM,CAAC,CAAA,KAAM,KAAA,CAAM,OAAA,CAAQ,CAAC,CAAA,IAAK,CAAA,CAAE,WAAW,CAAC,CAAA;AAC9E;ACnYA,IAAM,OAAA,GAAU,KAAK,EAAA,GAAK,GAAA;AAQnB,SAAS,qBAAA,CAAsB,UAAyB,OAAA,EAAkC;AAC/F,EAAA,MAAM,MAAA,uBAAa,GAAA,EAAqC;AAExD,EAAA,MAAM,QAAA,GAAW,CAAC,GAAA,KAAyC;AACzD,IAAA,IAAI,CAAA,GAAI,MAAA,CAAO,GAAA,CAAI,GAAG,CAAA;AACtB,IAAA,IAAI,CAAC,CAAA,EAAG;AACN,MAAA,CAAA,GAAI,SAAA,CAAU,UAAU,GAAG,CAAA;AAC3B,MAAA,MAAA,CAAO,GAAA,CAAI,KAAK,CAAC,CAAA;AAAA,IACnB;AACA,IAAA,OAAO,CAAA;AAAA,EACT,CAAA;AAEA,EAAA,OAAO,CAAC,SAAA,EAAmB,OAAA,GAA0B,EAAC,KAAM;AAC1D,IAAA,IAAI,GAAA;AACJ,IAAA,IAAI;AACF,MAAA,GAAA,GAAM,QAAA,CAAS,OAAA,CAAQ,SAAA,EAAW,OAAO,CAAA;AAAA,IAC3C,CAAA,CAAA,MAAQ;AACN,MAAA,OAAO,IAAA;AAAA,IACT;AAEA,IAAA,MAAM,OAAA,GAAU,IAAUC,MAAA,CAAA,OAAA,EAAQ;AAClC,IAAA,OAAA,CAAQ,UAAA,GACN,OAAA,CAAQ,UAAA,KAAe,QAAA,GAAiBA,MAAA,CAAA,YAAA,GAAqBA,MAAA,CAAA,cAAA;AAC/D,IAAA,OAAA,CAAQ,KAAA,GAAQ,WAAA,CAAY,OAAA,CAAQ,KAAK,CAAA;AACzC,IAAA,OAAA,CAAQ,KAAA,GAAQ,WAAA,CAAY,OAAA,CAAQ,KAAK,CAAA;AACzC,IAAA,cAAA,CAAe,OAAA,EAAS,QAAQ,SAAS,CAAA;AAEzC,IAAA,QAAA,CAAS,GAAG,CAAA,CACT,IAAA,CAAK,CAAC,KAAA,KAAU;AACf,MAAA,OAAA,CAAQ,KAAA,GAAQ,KAAA;AAChB,MAAA,OAAA,CAAQ,WAAA,GAAc,IAAA;AAAA,IACxB,CAAC,CAAA,CACA,KAAA,CAAM,MAAM;AAAA,IAEb,CAAC,CAAA;AACH,IAAA,OAAO,OAAA;AAAA,EACT,CAAA;AACF;AAOA,eAAe,SAAA,CAAU,UAAyB,GAAA,EAAsC;AACtF,EAAA,MAAM,QAAQ,QAAA,CAAS,UAAA,GACnB,MAAM,QAAA,CAAS,WAAW,GAAG,CAAA,GAC7B,IAAI,WAAA,GAAc,MAAA,CAAO,MAAM,QAAA,CAAS,SAAA,CAAU,GAAG,CAAC,CAAA;AAC1D,EAAA,MAAM,IAAA,GAAO,IAAI,IAAA,CAAK,CAAC,KAAiB,CAAA,EAAG,EAAE,IAAA,EAAM,MAAA,CAAO,GAAG,CAAA,EAAG,CAAA;AAChE,EAAA,MAAM,SAAA,GAAY,GAAA,CAAI,eAAA,CAAgB,IAAI,CAAA;AAC1C,EAAA,IAAI;AACF,IAAA,OAAO,MAAM,IAAI,OAAA,CAA0B,CAAC,SAAS,MAAA,KAAW;AAC9D,MAAA,MAAM,GAAA,GAAM,IAAI,KAAA,EAAM;AACtB,MAAA,GAAA,CAAI,MAAA,GAAS,MAAM,OAAA,CAAQ,GAAG,CAAA;AAC9B,MAAA,GAAA,CAAI,OAAA,GAAU,MAAM,MAAA,CAAO,IAAI,MAAM,CAAA,0BAAA,EAA6B,GAAG,EAAE,CAAC,CAAA;AACxE,MAAA,GAAA,CAAI,GAAA,GAAM,SAAA;AAAA,IACZ,CAAC,CAAA;AAAA,EACH,CAAA,SAAE;AAEA,IAAA,GAAA,CAAI,gBAAgB,SAAS,CAAA;AAAA,EAC/B;AACF;AAEA,SAAS,YAAY,IAAA,EAA+C;AAClE,EAAA,QAAQ,IAAA;AAAM,IACZ,KAAK,OAAA;AAAA,IACL,KAAK,OAAA;AACH,MAAA,OAAaA,MAAA,CAAA,mBAAA;AAAA,IACf,KAAK,QAAA;AACH,MAAA,OAAaA,MAAA,CAAA,sBAAA;AAAA,IACf;AACE,MAAA,OAAaA,MAAA,CAAA,cAAA;AAAA;AAEnB;AAGA,SAAS,cAAA,CAAe,SAAwB,CAAA,EAAuC;AACrF,EAAA,IAAI,CAAC,CAAA,EAAG;AACR,EAAA,IAAI,CAAA,CAAE,KAAA,EAAO,OAAA,CAAQ,MAAA,CAAO,GAAA,CAAI,CAAA,CAAE,KAAA,CAAM,CAAC,CAAA,EAAG,CAAA,CAAE,KAAA,CAAM,CAAC,CAAC,CAAA;AACtD,EAAA,IAAI,CAAA,CAAE,WAAA,EAAa,OAAA,CAAQ,MAAA,CAAO,GAAA,CAAI,CAAA,CAAE,WAAA,CAAY,CAAC,CAAA,EAAG,CAAA,CAAE,WAAA,CAAY,CAAC,CAAC,CAAA;AACxE,EAAA,IAAI,CAAA,CAAE,aAAa,MAAA,EAAW;AAC5B,IAAA,OAAA,CAAQ,QAAA,GAAW,EAAE,QAAA,GAAW,OAAA;AAChC,IAAA,OAAA,CAAQ,MAAA,CAAO,GAAA,CAAI,CAAA,EAAG,CAAC,CAAA;AAAA,EACzB;AACF;AAEA,SAAS,OAAO,GAAA,EAAqB;AACnC,EAAA,IAAI,WAAA,CAAY,IAAA,CAAK,GAAG,CAAA,EAAG,OAAO,YAAA;AAClC,EAAA,IAAI,UAAA,CAAW,IAAA,CAAK,GAAG,CAAA,EAAG,OAAO,YAAA;AACjC,EAAA,OAAO,WAAA;AACT;AC9FO,IAAM,aAAA,GAAN,cAAkCC,MAAA,CAAA,QAAA,CAAS;AAAA,EACvC,eAAA,GAAkB,IAAA;AAAA,EAClB,KAAA;AAAA,EACA,IAAA;AAAA,EACA,gBAAA;AAAA,EAEQ,WAAA,uBAAkB,GAAA,EAAwB;AAAA,EAC1C,YAAA,uBAAmB,GAAA,EAAyB;AAAA,EACrD,KAAA,GAAQ,IAAA;AAAA,EAEC,UAAA;AAAA,EACT,WAAA,GAAc,IAAA;AAAA,EACd,cAAA,GAAiB,KAAA;AAAA,EACjB,cAAA,GAAiB,KAAA;AAAA,EACjB,eAAA,GAAkB,KAAA;AAAA,EAClB,mBAAuC,EAAC;AAAA,EACxC,mBAAuC,EAAC;AAAA,EAEhD,WAAA,CAAY,KAAA,EAAyB,IAAA,EAAqB,OAAA,GAAgC,EAAC,EAAG;AAC5F,IAAA,KAAA,EAAM;AACN,IAAA,IAAA,CAAK,OAAO,KAAA,CAAM,IAAA;AAClB,IAAA,IAAA,CAAK,KAAA,GAAQ,KAAA;AACb,IAAA,IAAA,CAAK,IAAA,GAAO,IAAA;AACZ,IAAA,IAAA,CAAK,gBAAA,GAAmB,QAAQ,gBAAA,IAAoB,IAAA;AACpD,IAAA,IAAA,CAAK,UAAA,GAAa,QAAQ,UAAA,IAAc,IAAA;AAGxC,IAAA,KAAA,MAAW,CAAC,KAAK,IAAI,CAAA,IAAK,OAAO,OAAA,CAAQ,KAAA,CAAM,KAAK,CAAA,EAAG;AACrD,MAAA,IAAA,CAAK,YAAY,GAAA,CAAI,GAAA,EAAK,IAAI,UAAA,CAAW,IAAI,CAAC,CAAA;AAAA,IAChD;AAEA,IAAA,IAAA,CAAK,UAAA,EAAW;AAChB,IAAA,IAAA,CAAK,eAAA,EAAgB;AACrB,IAAA,IAAA,CAAK,mBAAA,EAAoB;AACzB,IAAA,IAAA,CAAK,uBAAA,CAAwB,OAAO,OAAO,CAAA;AAC3C,IAAA,IAAI,OAAA,CAAQ,gBAAA,IAAoB,IAAA,EAAM,IAAA,CAAK,iBAAiB,KAAK,CAAA;AAAA,EACnE;AAAA;AAAA,EAGQ,uBAAA,CAAwB,OAAyB,OAAA,EAAqC;AAC5F,IAAA,MAAM,KAAA,GAAA,CAAS,KAAA,CAAM,aAAA,IAAiB,CAAA,KAAM,QAAQ,SAAA,IAAa,CAAA,CAAA;AACjE,IAAA,IAAI,KAAA,KAAU,CAAA,EAAG,IAAA,CAAK,KAAA,CAAM,UAAU,KAAK,CAAA;AAE3C,IAAA,MAAM,IAAA,GAAO,QAAQ,gBAAA,IAAoB,MAAA;AACzC,IAAA,MAAM,MAAM,IAAA,KAAS,GAAA,IAAQ,IAAA,KAAS,MAAA,IAAU,MAAM,MAAA,KAAW,GAAA;AACjE,IAAA,IAAI,GAAA,EAAK,IAAA,CAAK,UAAA,CAAW,gBAAA,CAAiB,IAAUA,MAAA,CAAA,OAAA,CAAQ,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA,EAAG,CAAC,IAAA,CAAK,KAAK,CAAC,CAAA;AAAA,EACpF;AAAA;AAAA,EAGQ,iBAAiB,KAAA,EAA+B;AACtD,IAAA,KAAA,MAAW,CAAC,KAAK,KAAK,CAAA,IAAK,OAAO,OAAA,CAAQ,KAAA,CAAM,MAAM,CAAA,EAAG;AACvD,MAAA,IAAI,KAAA,CAAM,iBAAiB,MAAA,EAAW;AACtC,MAAA,IAAA,CAAK,YAAA,CAAa,IAAI,GAAG,CAAA,EAAG,SAAS,KAAA,CAAM,YAAA,EAAc,KAAK,gBAAgB,CAAA;AAAA,IAChF;AACA,IAAA,IAAA,CAAK,KAAA,GAAQ,IAAA;AAAA,EACf;AAAA,EAEQ,UAAA,GAAmB;AACzB,IAAA,MAAM,UAAU,IAAA,CAAK,WAAA,CAAY,GAAA,CAAI,IAAA,CAAK,KAAK,IAAI,CAAA;AACnD,IAAA,IAAI,CAAC,OAAA,EAAS;AACd,IAAA,MAAM,YAAA,GAAe,KAAK,IAAA,CAAK,SAAA;AAC/B,IAAA,MAAM,WAAW,IAAA,CAAK,KAAA,CAAM,KAAA,CAAM,IAAA,CAAK,KAAK,IAAI,CAAA;AAChD,IAAA,IAAI,YAAA,EAAc;AAChB,MAAA,MAAM,CAAA,GAAI,IAAA,CAAK,KAAA,CAAM,MAAA,CAAO,YAAY,CAAA;AAExC,MAAA,IAAI,CAAA,EAAG,SAAA,CAAU,OAAA,EAAS,QAAA,CAAS,CAAA,CAAE,aAAa,MAAA,CAAO,CAAA,CAAE,WAAW,CAAC,CAAC,CAAA;AAAA,IAC1E,CAAA,MAAA,IAAW,UAAU,cAAA,EAAgB;AAEnC,MAAA,SAAA,CAAU,OAAA,EAAS,SAAS,cAAc,CAAA;AAAA,IAC5C;AACA,IAAA,IAAA,CAAK,IAAI,OAAO,CAAA;AAAA,EAClB;AAAA,EAEQ,eAAA,GAAwB;AAC9B,IAAA,KAAA,MAAW,OAAA,IAAW,IAAA,CAAK,IAAA,CAAK,KAAA,EAAO;AACrC,MAAA,MAAM,IAAA,GAAO,IAAA,CAAK,IAAA,CAAK,KAAA,CAAM,OAAO,CAAA;AACpC,MAAA,IAAI,CAAC,IAAA,IAAQ,IAAA,CAAK,WAAW,IAAA,IAAQ,IAAA,CAAK,kBAAkB,IAAA,EAAM;AAElE,MAAA,MAAM,SAAA,GAAY,IAAA,CAAK,WAAA,CAAY,GAAA,CAAI,KAAK,MAAM,CAAA;AAClD,MAAA,MAAM,QAAA,GAAW,IAAA,CAAK,WAAA,CAAY,GAAA,CAAI,OAAO,CAAA;AAC7C,MAAA,MAAM,KAAA,GAAQ,IAAA,CAAK,KAAA,CAAM,MAAA,CAAO,KAAK,aAAa,CAAA;AAClD,MAAA,IAAI,CAAC,SAAA,IAAa,CAAC,QAAA,IAAY,CAAC,KAAA,EAAO;AAEvC,MAAA,IAAA,CAAK,gBAAA,CAAiB,SAAA,EAAW,QAAA,EAAU,IAAA,CAAK,eAAe,KAAK,CAAA;AAAA,IACtE;AAAA,EACF;AAAA;AAAA,EAGQ,gBAAA,CACN,MAAA,EACA,KAAA,EACA,QAAA,EACA,KAAA,EACM;AACN,IAAA,MAAM,MAAA,GAAS,IAAUA,MAAA,CAAA,KAAA,EAAM;AAC/B,IAAA,MAAA,CAAO,IAAA,GAAO,CAAA,EAAG,KAAA,CAAM,IAAI,CAAA,OAAA,CAAA;AAC3B,IAAA,SAAA,CAAU,MAAA,EAAQ,MAAM,WAAW,CAAA;AAEnC,IAAA,MAAM,MAAA,GAAS,IAAI,WAAA,CAAY,KAAK,CAAA;AAEpC,IAAA,MAAM,SAAA,GAAY,IAAUA,MAAA,CAAA,KAAA,EAAM;AAClC,IAAA,SAAA,CAAU,IAAA,GAAO,CAAA,EAAG,KAAA,CAAM,IAAI,CAAA,UAAA,CAAA;AAC9B,IAAA,SAAA,CAAU,SAAA,EAAW,MAAA,CAAO,KAAA,CAAM,WAAW,CAAC,CAAA;AAE9C,IAAA,MAAA,CAAO,IAAI,MAAM,CAAA;AACjB,IAAA,MAAA,CAAO,IAAI,MAAM,CAAA;AACjB,IAAA,MAAA,CAAO,IAAI,SAAS,CAAA;AACpB,IAAA,SAAA,CAAU,IAAI,KAAK,CAAA;AAEnB,IAAA,IAAA,CAAK,YAAA,CAAa,GAAA,CAAI,QAAA,EAAU,MAAM,CAAA;AAAA,EACxC;AAAA,EAEQ,mBAAA,GAA4B;AAClC,IAAA,KAAA,MAAW,GAAA,IAAO,IAAA,CAAK,IAAA,CAAK,aAAA,EAAe;AACzC,MAAA,MAAM,GAAA,GAAM,IAAA,CAAK,WAAA,CAAY,GAAA,CAAI,GAAG,CAAA;AACpC,MAAA,IAAI,CAAC,GAAA,IAAO,GAAA,CAAI,MAAA,EAAQ;AAGxB,MAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,KAAA,CAAM,KAAA,CAAM,GAAG,CAAA,EAAG,cAAA;AAC9C,MAAA,IAAI,cAAA,EAAgB,SAAA,CAAU,GAAA,EAAK,cAAc,CAAA;AACjD,MAAA,IAAA,CAAK,IAAI,GAAG,CAAA;AAAA,IACd;AAAA,EACF;AAAA;AAAA;AAAA,EAKA,aAAA,CAAc,MAAc,KAAA,EAAwB;AAClD,IAAA,MAAM,KAAA,GAAQ,IAAA,CAAK,YAAA,CAAa,GAAA,CAAI,IAAI,CAAA;AACxC,IAAA,IAAI,CAAC,OAAO,OAAO,KAAA;AACnB,IAAA,KAAA,CAAM,QAAA,CAAS,KAAA,EAAO,IAAA,CAAK,gBAAgB,CAAA;AAC3C,IAAA,IAAA,CAAK,KAAA,GAAQ,IAAA;AACb,IAAA,OAAO,IAAA;AAAA,EACT;AAAA;AAAA,EAGA,eAAe,MAAA,EAAsC;AACnD,IAAA,KAAA,MAAW,CAAC,IAAA,EAAM,KAAK,KAAK,MAAA,CAAO,OAAA,CAAQ,MAAM,CAAA,EAAG;AAClD,MAAA,MAAM,KAAA,GAAQ,IAAA,CAAK,YAAA,CAAa,GAAA,CAAI,IAAI,CAAA;AACxC,MAAA,IAAI,KAAA,EAAO;AACT,QAAA,KAAA,CAAM,QAAA,CAAS,KAAA,EAAO,IAAA,CAAK,gBAAgB,CAAA;AAC3C,QAAA,IAAA,CAAK,KAAA,GAAQ,IAAA;AAAA,MACf;AAAA,IACF;AAAA,EACF;AAAA,EAEA,cAAc,IAAA,EAAkC;AAC9C,IAAA,OAAO,IAAA,CAAK,YAAA,CAAa,GAAA,CAAI,IAAI,CAAA,EAAG,KAAA;AAAA,EACtC;AAAA;AAAA,EAGA,gBAAA,GAAyB;AACvB,IAAA,IAAA,CAAK,kBAAkB,IAAI,CAAA;AAC3B,IAAA,IAAA,CAAK,KAAA,GAAQ,KAAA;AAAA,EACf;AAAA,EAEQ,aAAA,GAAsB;AAC5B,IAAA,IAAI,IAAA,CAAK,KAAA,EAAO,IAAA,CAAK,gBAAA,EAAiB;AAAA,EACxC;AAAA;AAAA,EAIA,mBAAmB,IAAA,EAA6B;AAC9C,IAAA,MAAM,GAAA,GAAM,IAAA,CAAK,WAAA,CAAY,GAAA,CAAI,IAAI,CAAA;AACrC,IAAA,IAAI,CAAC,GAAA,EAAK,MAAM,IAAI,KAAA,CAAM,CAAA,cAAA,EAAiB,IAAI,CAAA,CAAA,CAAG,CAAA;AAClD,IAAA,IAAA,CAAK,aAAA,EAAc;AACnB,IAAA,OAAO,GAAA,CAAI,YAAY,KAAA,EAAM;AAAA,EAC/B;AAAA,EAEA,qBAAqB,IAAA,EAA6B;AAChD,IAAA,OAAO,IAAUA,MAAA,CAAA,OAAA,EAAQ,CAAE,sBAAsB,IAAA,CAAK,kBAAA,CAAmB,IAAI,CAAC,CAAA;AAAA,EAChF;AAAA,EAEA,cAAc,IAAA,EAAsC;AAClD,IAAA,OAAO,IAAA,CAAK,WAAA,CAAY,GAAA,CAAI,IAAI,CAAA;AAAA,EAClC;AAAA,EAEA,eAAe,IAAA,EAAuC;AACpD,IAAA,OAAO,IAAA,CAAK,YAAA,CAAa,GAAA,CAAI,IAAI,CAAA;AAAA,EACnC;AAAA,EAEA,SAAA,GAAgC;AAC9B,IAAA,OAAO,MAAA,CAAO,MAAA,CAAO,IAAA,CAAK,KAAA,CAAM,MAAM,CAAA;AAAA,EACxC;AAAA,EAEA,QAAA,GAA8B;AAC5B,IAAA,OAAO,MAAA,CAAO,MAAA,CAAO,IAAA,CAAK,KAAA,CAAM,KAAK,CAAA;AAAA,EACvC;AAAA;AAAA,EAGA,aAAA,GAA0B;AACxB,IAAA,OAAO,CAAC,GAAG,IAAA,CAAK,YAAA,CAAa,MAAM,CAAA;AAAA,EACrC;AAAA,EAEA,YAAA,GAAyB;AACvB,IAAA,OAAO,CAAC,GAAG,IAAA,CAAK,WAAA,CAAY,MAAM,CAAA;AAAA,EACpC;AAAA,EAEA,gBAAA,GAAkC;AAChC,IAAA,OAAO,IAAA,CAAK,IAAA;AAAA,EACd;AAAA;AAAA;AAAA,EAKA,qBAAA,GAAgC;AAC9B,IAAA,OAAO,IAAA,CAAK,MAAM,kBAAA,IAAsB,EAAA;AAAA,EAC1C;AAAA;AAAA,EAGA,YAAA,GAAwB;AACtB,IAAA,OAAO,MAAA,CAAO,MAAA,CAAO,IAAA,CAAK,KAAA,CAAM,MAAM,CAAA,CAAE,IAAA,CAAK,CAAC,CAAA,KAAM,CAAA,CAAE,YAAA,KAAiB,MAAS,CAAA;AAAA,EAClF;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,YAAA,GAAsD;AACpD,IAAA,IAAI,QAAQ,MAAA,CAAO,iBAAA;AACnB,IAAA,IAAI,MAAM,MAAA,CAAO,iBAAA;AACjB,IAAA,KAAA,MAAW,SAAS,MAAA,CAAO,MAAA,CAAO,IAAA,CAAK,KAAA,CAAM,MAAM,CAAA,EAAG;AACpD,MAAA,MAAM,KAAA,GAAQ,MAAM,YAAA,EAAc,KAAA;AAClC,MAAA,IAAI,CAAC,KAAA,IAAS,KAAA,CAAM,MAAA,KAAW,CAAA,EAAG;AAClC,MAAA,KAAA,GAAQ,IAAA,CAAK,GAAA,CAAI,KAAA,EAAO,KAAA,CAAM,CAAC,CAAE,CAAA;AACjC,MAAA,GAAA,GAAM,KAAK,GAAA,CAAI,GAAA,EAAK,MAAM,KAAA,CAAM,MAAA,GAAS,CAAC,CAAE,CAAA;AAAA,IAC9C;AACA,IAAA,IAAI,KAAA,IAAS,GAAA,EAAK,OAAO,EAAE,OAAO,GAAA,EAAI;AAEtC,IAAA,MAAM,EAAE,aAAA,EAAe,WAAA,EAAY,GAAI,IAAA,CAAK,KAAA;AAC5C,IAAA,IAAI,aAAA,KAAkB,MAAA,IAAa,WAAA,KAAgB,MAAA,EAAW;AAC5D,MAAA,OAAO,EAAE,KAAA,EAAO,aAAA,EAAe,GAAA,EAAK,WAAA,EAAY;AAAA,IAClD;AACA,IAAA,OAAO,IAAA;AAAA,EACT;AAAA;AAAA,EAGA,QAAQ,CAAA,EAAiB;AACvB,IAAA,KAAA,MAAW,CAAC,KAAK,KAAK,CAAA,IAAK,OAAO,OAAA,CAAQ,IAAA,CAAK,KAAA,CAAM,MAAM,CAAA,EAAG;AAC5D,MAAA,IAAI,KAAA,CAAM,cAAc,IAAA,CAAK,aAAA,CAAc,KAAK,WAAA,CAAY,KAAA,CAAM,YAAA,EAAc,CAAC,CAAC,CAAA;AAAA,IACpF;AAAA,EACF;AAAA;AAAA,EAIA,IAAI,UAAA,GAAsB;AACxB,IAAA,OAAO,IAAA,CAAK,WAAA;AAAA,EACd;AAAA,EACA,IAAI,WAAW,CAAA,EAAY;AACzB,IAAA,IAAA,CAAK,WAAA,GAAc,CAAA;AACnB,IAAA,IAAA,CAAK,iBAAA,CAAkB,UAAU,CAAC,CAAA;AAAA,EACpC;AAAA,EAEA,IAAI,aAAA,GAAyB;AAC3B,IAAA,OAAO,IAAA,CAAK,cAAA;AAAA,EACd;AAAA,EACA,IAAI,cAAc,CAAA,EAAY;AAC5B,IAAA,IAAA,CAAK,cAAA,GAAiB,CAAA;AACtB,IAAA,IAAA,CAAK,iBAAA,CAAkB,aAAa,CAAC,CAAA;AAAA,EACvC;AAAA,EAEA,IAAI,aAAA,GAAyB;AAC3B,IAAA,OAAO,IAAA,CAAK,cAAA;AAAA,EACd;AAAA,EACA,IAAI,cAAc,CAAA,EAAY;AAC5B,IAAA,IAAA,CAAK,cAAA,GAAiB,CAAA;AACtB,IAAA,IAAI,CAAA,IAAK,IAAA,CAAK,gBAAA,CAAiB,MAAA,KAAW,CAAA,EAAG;AAC3C,MAAA,KAAA,MAAW,KAAA,IAAS,IAAA,CAAK,YAAA,CAAa,MAAA,EAAO,EAAG;AAC9C,QAAA,MAAM,CAAA,GAAI,IAAUA,MAAA,CAAA,UAAA,CAAW,IAAA,CAAK,UAAU,CAAA;AAC9C,QAAA,CAAA,CAAE,IAAA,GAAO,CAAA,EAAG,KAAA,CAAM,SAAS,CAAA,KAAA,CAAA;AAC3B,QAAA,KAAA,CAAM,IAAI,CAAC,CAAA;AACX,QAAA,IAAA,CAAK,gBAAA,CAAiB,KAAK,CAAC,CAAA;AAAA,MAC9B;AAAA,IACF;AACA,IAAA,KAAA,MAAW,CAAA,IAAK,IAAA,CAAK,gBAAA,EAAkB,CAAA,CAAE,OAAA,GAAU,CAAA;AAAA,EACrD;AAAA,EAEA,IAAI,cAAA,GAA0B;AAC5B,IAAA,OAAO,IAAA,CAAK,eAAA;AAAA,EACd;AAAA,EACA,IAAI,eAAe,CAAA,EAAY;AAC7B,IAAA,IAAA,CAAK,eAAA,GAAkB,CAAA;AACvB,IAAA,IAAI,CAAA,IAAK,IAAA,CAAK,gBAAA,CAAiB,MAAA,KAAW,CAAA,EAAG;AAC3C,MAAA,KAAA,MAAW,IAAA,IAAQ,IAAA,CAAK,WAAA,CAAY,MAAA,EAAO,EAAG;AAC5C,QAAA,MAAM,CAAA,GAAI,IAAUA,MAAA,CAAA,UAAA,CAAW,IAAA,CAAK,UAAU,CAAA;AAC9C,QAAA,CAAA,CAAE,IAAA,GAAO,CAAA,EAAG,IAAA,CAAK,QAAQ,CAAA,MAAA,CAAA;AACzB,QAAA,IAAA,CAAK,IAAI,CAAC,CAAA;AACV,QAAA,IAAA,CAAK,gBAAA,CAAiB,KAAK,CAAC,CAAA;AAAA,MAC9B;AAAA,IACF;AACA,IAAA,KAAA,MAAW,CAAA,IAAK,IAAA,CAAK,gBAAA,EAAkB,CAAA,CAAE,OAAA,GAAU,CAAA;AAAA,EACrD;AAAA,EAEQ,iBAAA,CAAkB,MAAc,OAAA,EAAwB;AAC9D,IAAA,IAAA,CAAK,QAAA,CAAS,CAAC,CAAA,KAAM;AACnB,MAAA,IAAK,CAAA,CAAE,QAAA,CAA+B,IAAA,KAAS,IAAA,IAAQ,OAAA,GAAU,OAAA;AAAA,IACnE,CAAC,CAAA;AAAA,EACH;AACF;AAGA,SAAS,SAAA,CAAU,KAAqB,CAAA,EAAe;AACrD,EAAA,GAAA,CAAI,gBAAA,GAAmB,KAAA;AACvB,EAAA,GAAA,CAAI,MAAA,CAAO,UAAU,CAAC,CAAA;AACtB,EAAA,GAAA,CAAI,sBAAA,GAAyB,IAAA;AAC/B;;;ACtSO,IAAM,sBAAN,MAA0B;AAAA,EACtB,OAAA;AAAA,EAET,WAAA,CAAY,OAAA,GAAsC,EAAC,EAAG;AACpD,IAAA,IAAA,CAAK,OAAA,GAAU,OAAA;AAAA,EACjB;AAAA,EAEA,IAAY,QAAA,GAA0B;AACpC,IAAA,OAAO,IAAA,CAAK,OAAA,CAAQ,aAAA,IAAiB,IAAI,oBAAA,EAAqB;AAAA,EAChE;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOA,MAAM,UAAU,GAAA,EAAqC;AACnD,IAAA,MAAM,KAAA,GAAQ,MAAM,IAAA,CAAK,cAAA,CAAe,GAAG,CAAA;AAC3C,IAAA,IAAI,WAAW,IAAA,CAAK,GAAG,GAAG,OAAO,IAAA,CAAK,UAAU,KAAK,CAAA;AACrD,IAAA,IAAI,WAAA,CAAY,QAAQ,KAAK,CAAA,SAAU,IAAA,CAAK,UAAA,CAAW,OAAO,GAAG,CAAA;AACjE,IAAA,OAAO,IAAA,CAAK,MAAM,IAAI,WAAA,GAAc,MAAA,CAAO,KAAK,GAAG,GAAG,CAAA;AAAA,EACxD;AAAA,EAEA,MAAc,eAAe,GAAA,EAAkC;AAC7D,IAAA,MAAM,WAAW,IAAA,CAAK,QAAA;AACtB,IAAA,IAAI,QAAA,CAAS,UAAA,EAAY,OAAO,QAAA,CAAS,WAAW,GAAG,CAAA;AACvD,IAAA,OAAO,IAAI,aAAY,CAAE,MAAA,CAAO,MAAM,QAAA,CAAS,SAAA,CAAU,GAAG,CAAC,CAAA;AAAA,EAC/D;AAAA;AAAA,EAGA,MAAM,KAAA,CAAM,IAAA,EAAc,OAAA,GAAU,EAAA,EAA4B;AAC9D,IAAA,OAAO,IAAA,CAAK,cAAA;AAAA,MACV,MAAM,IAAA,CAAK,YAAA,CAAa,IAAA,EAAM,OAAA,EAAS,KAAK,QAAQ,CAAA;AAAA,MACpD,OAAA;AAAA,MACA,IAAA,CAAK;AAAA,KACP;AAAA,EACF;AAAA;AAAA,EAGA,MAAM,UAAU,KAAA,EAA2C;AACzD,IAAA,MAAM,GAAA,GAAM,SAAS,KAAK,CAAA;AAE1B,IAAA,MAAM,YAAY,MAAM,GAAA,CAAI,QAAA,CAAS,UAAA,CAAW,IAAI,SAAS,CAAA;AAC7D,IAAA,MAAM,KAAA,GAAQ,MAAM,IAAA,CAAK,qBAAA,CAAsB,WAAW,GAAA,CAAI,SAAA,EAAW,IAAI,QAAQ,CAAA;AACrF,IAAA,OAAO,KAAK,cAAA,CAAe,KAAA,EAAO,GAAA,CAAI,SAAA,EAAW,IAAI,QAAQ,CAAA;AAAA,EAC/D;AAAA;AAAA,EAGA,MAAM,UAAA,CAAW,KAAA,EAAmB,OAAA,GAAU,EAAA,EAA4B;AACxE,IAAA,MAAM,QAAQ,MAAM,IAAA,CAAK,sBAAsB,KAAA,EAAO,OAAA,EAAS,KAAK,QAAQ,CAAA;AAC5E,IAAA,OAAO,IAAA,CAAK,cAAA,CAAe,KAAA,EAAO,OAAA,EAAS,KAAK,QAAQ,CAAA;AAAA,EAC1D;AAAA;AAAA,EAGA,MAAM,qBAAA,CAAsB,IAAA,EAAc,OAAA,GAAU,EAAA,EAA+B;AACjF,IAAA,MAAM,QAAQ,MAAM,IAAA,CAAK,aAAa,IAAA,EAAM,OAAA,EAAS,KAAK,QAAQ,CAAA;AAClE,IAAA,OAAO,uBAAA,CAAwB,KAAA,EAAO,IAAA,CAAK,cAAA,EAAgB,CAAA;AAAA,EAC7D;AAAA,EAEQ,cAAA,CAAe,KAAA,EAAc,OAAA,EAAiB,QAAA,EAAwC;AAC5F,IAAA,MAAM,KAAA,GAAQ,uBAAA,CAAwB,KAAA,EAAO,IAAA,CAAK,gBAAgB,CAAA;AAClE,IAAA,MAAM,IAAA,GAAO,mBAAmB,KAAK,CAAA;AACrC,IAAA,MAAM,UAAU,IAAI,aAAA,CAAc,OAAO,IAAA,EAAM,IAAA,CAAK,cAAc,CAAA;AAElE,IAAA,MAAM,WAAA,GAAc,IAAA,CAAK,OAAA,CAAQ,WAAA,IAAe,IAAA;AAChD,IAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,OAAA,CAAQ,cAAA,IAAkB,KAAA;AACtD,IAAA,MAAM,SAAA,GAAY,IAAA,CAAK,OAAA,CAAQ,iBAAA,IAAqB,KAAA;AACpD,IAAA,IAAI,WAAA,IAAe,kBAAkB,SAAA,EAAW;AAC9C,MAAA,MAAM,eAAA,GACH,KAAK,OAAA,CAAQ,YAAA,IAAgB,OAAQ,qBAAA,CAAsB,QAAA,EAAU,OAAO,CAAA,GAAI,MAAA;AACnF,MAAA,IAAI,eAAe,cAAA,EAAgB;AACjC,QAAA,eAAA,CAAgB,KAAA,EAAO,SAAS,KAAA,EAAO;AAAA,UACrC,WAAA;AAAA,UACA,cAAA;AAAA,UACA,GAAI,eAAA,GAAkB,EAAE,eAAA,KAAoB;AAAC,SAC9C,CAAA;AAAA,MACH;AACA,MAAA,IAAI,SAAA,EAAW;AACb,QAAA,eAAA,CAAgB,KAAA,EAAO,SAAS,KAAA,EAAO;AAAA,UACrC,GAAI,eAAA,GAAkB,EAAE,eAAA,KAAoB;AAAC,SAC9C,CAAA;AAAA,MACH;AAAA,IACF;AACA,IAAA,OAAO,OAAA;AAAA,EACT;AAAA,EAEA,MAAc,YAAA,CACZ,IAAA,EACA,OAAA,EACA,QAAA,EACgB;AAChB,IAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,OAAA,CAAQ,MAAA,GAAS,EAAE,QAAQ,IAAA,CAAK,OAAA,CAAQ,MAAA,EAAO,GAAI,EAAC;AAChF,IAAA,OAAO,KAAA,CAAM,aAAa,MAAM,YAAA,CAAa,MAAM,OAAA,EAAS,QAAA,EAAU,cAAc,CAAC,CAAA;AAAA,EACvF;AAAA;AAAA,EAGA,MAAc,qBAAA,CACZ,KAAA,EACA,OAAA,EACA,QAAA,EACgB;AAChB,IAAA,MAAM,cAAA,GAAiB,IAAA,CAAK,OAAA,CAAQ,MAAA,GAAS,EAAE,QAAQ,IAAA,CAAK,OAAA,CAAQ,MAAA,EAAO,GAAI,EAAC;AAChF,IAAA,MAAM,QAAA,GAAW,WAAA,CAAY,OAAA,CAAQ,KAAK,IACtC,MAAM,WAAA;AAAA,MACJ,eAAA,CAAgB,IAAI,WAAA,CAAY,KAAK,CAAC,CAAA;AAAA,MACtC,OAAA;AAAA,MACA,QAAA;AAAA,MACA;AAAA,KACF,GACA,MAAM,YAAA,CAAa,IAAI,WAAA,EAAY,CAAE,MAAA,CAAO,KAAK,CAAA,EAAG,OAAA,EAAS,QAAA,EAAU,cAAc,CAAA;AACzF,IAAA,OAAO,KAAA,CAAM,aAAa,QAAQ,CAAA;AAAA,EACpC;AAAA,EAEQ,YAAA,GAAqC;AAC3C,IAAA,OAAO;AAAA,MACL,gBAAA,EAAkB,IAAA,CAAK,OAAA,CAAQ,gBAAA,IAAoB,MAAA;AAAA,MACnD,GAAI,IAAA,CAAK,OAAA,CAAQ,gBAAA,KAAqB,MAAA,GAClC,EAAE,gBAAA,EAAkB,IAAA,CAAK,OAAA,CAAQ,gBAAA,EAAiB,GAClD,EAAC;AAAA,MACL,GAAI,IAAA,CAAK,OAAA,CAAQ,SAAA,KAAc,MAAA,GAAY,EAAE,SAAA,EAAW,IAAA,CAAK,OAAA,CAAQ,SAAA,EAAU,GAAI,EAAC;AAAA,MACpF,GAAI,IAAA,CAAK,OAAA,CAAQ,8BAAA,KAAmC,MAAA,GAChD,EAAE,gBAAA,EAAkB,IAAA,CAAK,OAAA,CAAQ,8BAAA,EAA+B,GAChE;AAAC,KACP;AAAA,EACF;AAAA,EAEQ,cAAA,GAA6E;AACnF,IAAA,OAAO;AAAA,MACL,GAAI,IAAA,CAAK,OAAA,CAAQ,SAAA,KAAc,MAAA,GAAY,EAAE,SAAA,EAAW,IAAA,CAAK,OAAA,CAAQ,SAAA,EAAU,GAAI,EAAC;AAAA,MACpF,GAAI,IAAA,CAAK,OAAA,CAAQ,MAAA,KAAW,MAAA,GAAY,EAAE,MAAA,EAAQ,IAAA,CAAK,OAAA,CAAQ,MAAA,EAAO,GAAI;AAAC,KAC7E;AAAA,EACF;AACF","file":"chunk-FL554IS5.js","sourcesContent":["import * 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 MaterialSubset, getMaterialSubsets, isNonVisualPurpose } from \"../schemas/usdGeom.js\";\nimport { COLLISION_API } from \"../schemas/usdPhysics.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { computeLocalTransform, computeWorldTransform } from \"../usd/xformOps.js\";\nimport { type ResolvedTexture, resolveBoundMaterial } from \"./MaterialBinding.js\";\nimport type { TextureProvider } from \"./TextureBinding.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  /** Resolves diffuse texture asset paths to `THREE.Texture` (M-tex). */\n  textureProvider?: TextureProvider;\n};\n\n/**\n * Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points.\n *\n * When the mesh carries `materialBind` face subsets, the triangles are ordered\n * subset by subset and a geometry group is added for each — so the mesh can be\n * drawn with one material per subset (see {@link buildMeshMaterials}). Group\n * order matches {@link getMaterialSubsets}, with any unassigned faces last.\n */\nexport function buildMeshGeometry(meshPrim: Prim): THREE.BufferGeometry | null {\n  const points = meshPrim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return null;\n\n  const 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    const subsets = getMaterialSubsets(meshPrim);\n    if (subsets.length > 0) {\n      geometry.setIndex(triangulateBySubset(geometry, counts, indices, subsets));\n    } else {\n      geometry.setIndex(triangulate(counts, indices));\n    }\n  } else if (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. Textures\n * (via `textures`) become the matching `MeshStandardMaterial` maps — diffuse →\n * `map` (sRGB), plus `normalMap` / `roughnessMap` / `metalnessMap` / `aoMap`\n * (linear data) and emissive `emissiveMap`. Metalness / roughness / opacity /\n * emissive constants come from the bound material when present.\n */\nexport function buildMeshMaterial(\n  meshPrim: Prim,\n  stage?: Stage,\n  textures?: TextureProvider,\n  /** Resolve the material binding from here instead (a `GeomSubset`). */\n  bindingPrim?: Prim,\n): THREE.Material {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  let opacity = 1;\n\n  const bound = stage ? resolveBoundMaterial(stage, bindingPrim ?? 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?.opacity !== undefined) opacity = bound.opacity;\n\n  // Resolve a channel's `THREE.Texture`, forwarding its wrap modes and\n  // `UsdTransform2d` (the `UsdUVTexture.inputs:scale`/`bias` are folded into the\n  // material factors below, not the sampler).\n  const tex = (rt: ResolvedTexture | undefined, cs: \"srgb\" | \"linear\") =>\n    rt && textures\n      ? textures(rt.path, {\n          colorSpace: cs,\n          ...(rt.wrapS ? { wrapS: rt.wrapS } : {}),\n          ...(rt.wrapT ? { wrapT: rt.wrapT } : {}),\n          ...(rt.transform ? { transform: rt.transform } : {}),\n        })\n      : null;\n\n  const map = tex(bound?.colorTexture, \"srgb\");\n  // `inputs:scale` on the diffuse texture tints the map; otherwise pass through.\n  if (map) {\n    const s = bound?.colorTexture?.scale;\n    if (s) color.setRGB(s[0], s[1], s[2]);\n    else color.setRGB(1, 1, 1);\n  }\n  const normalMap = tex(bound?.normalTexture, \"linear\");\n  const roughnessMap = tex(bound?.roughnessTexture, \"linear\");\n  const metalnessMap = tex(bound?.metalnessTexture, \"linear\");\n  const aoMap = tex(bound?.occlusionTexture, \"linear\");\n  const emissiveMap = tex(bound?.emissiveTexture, \"srgb\");\n\n  // A scalar map's `inputs:scale[0]` (or an authored constant) becomes three's\n  // factor; three multiplies factor × map, so default to 1 to pass it through.\n  const metalness =\n    bound?.metalness ?? bound?.metalnessTexture?.scale?.[0] ?? (metalnessMap ? 1 : 0.1);\n  const roughness =\n    bound?.roughness ?? bound?.roughnessTexture?.scale?.[0] ?? (roughnessMap ? 1 : 0.8);\n\n  const emissive = new THREE.Color(0x000000);\n  if (bound?.emissiveColor) {\n    emissive.setRGB(bound.emissiveColor[0], bound.emissiveColor[1], bound.emissiveColor[2]);\n  } else if (emissiveMap) {\n    emissive.setRGB(1, 1, 1); // let the map drive emission\n  }\n\n  // Opacity sourcing: a dedicated opacity texture → `alphaMap`; an opacity input\n  // wired to the *same* image as the diffuse map → that map's own alpha channel\n  // (no separate map needed). `opacityThreshold > 0` means alpha clip (a binary\n  // cutout rendered in the opaque pass); otherwise sub-unit alpha blends.\n  const opacityTex = bound?.opacityTexture;\n  const sharesColorMap = !!(opacityTex && opacityTex.path === bound?.colorTexture?.path);\n  const alphaMap = sharesColorMap ? null : tex(opacityTex, \"linear\");\n  const hasAlphaSource = opacity < 1 || sharesColorMap || !!alphaMap;\n  const threshold = bound?.opacityThreshold;\n  const alphaTest = threshold !== undefined && threshold > 0 ? threshold : 0;\n  // Alpha-clip masks render opaque (depth-written, discarded below the cutoff);\n  // only true translucency uses the transparent/blended pass.\n  const transparent = alphaTest === 0 && hasAlphaSource;\n\n  const doubleSided = meshPrim.GetAttribute(\"doubleSided\").Get() === true;\n  const material = new THREE.MeshStandardMaterial({\n    color,\n    metalness,\n    roughness,\n    emissive,\n    transparent,\n    opacity,\n    ...(alphaTest > 0 ? { alphaTest } : {}),\n    side: doubleSided ? THREE.DoubleSide : THREE.FrontSide,\n    ...(map ? { map } : {}),\n    ...(alphaMap ? { alphaMap } : {}),\n    ...(normalMap ? { normalMap } : {}),\n    ...(roughnessMap ? { roughnessMap } : {}),\n    ...(metalnessMap ? { metalnessMap } : {}),\n    ...(aoMap ? { aoMap } : {}),\n    ...(emissiveMap ? { emissiveMap } : {}),\n  });\n  // Carry the USD material name so re-exports keep it (and dedupe by it).\n  if (bound?.name) material.name = bound.name;\n  return material;\n}\n\n/**\n * Attach visual (and optionally collision) meshes to every link of a built\n * {@link ThreeUsdRobot}. Each mesh is positioned by its transform relative to\n * the owning link prim.\n */\nexport function bindRobotMeshes(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  desc: RobotDescription,\n  options: BindMeshesOptions = {},\n): void {\n  const loadVisuals = options.loadVisuals ?? true;\n  const loadCollisions = options.loadCollisions ?? false;\n  const textures = options.textureProvider;\n\n  for (const [key, link] of Object.entries(desc.links)) {\n    const linkObj = robot3d.getLinkObject(key);\n    const linkPrim = stage.GetPrimAtPath(link.primPath);\n    if (!linkObj || !linkPrim) continue;\n\n    // A mesh may be both visual and collision; attach it once, as visual.\n    const visualSet = new Set(link.visualPrims);\n\n    if (loadVisuals) {\n      for (const meshPath of link.visualPrims) {\n        attachMesh(stage, linkPrim, meshPath, linkObj, \"visual\", textures);\n      }\n    }\n    if (loadCollisions) {\n      for (const meshPath of link.collisionPrims ?? []) {\n        if (loadVisuals && visualSet.has(meshPath)) continue;\n        attachMesh(stage, linkPrim, meshPath, linkObj, \"collision\", textures);\n      }\n    }\n  }\n}\n\n/**\n * Attach the Mesh prims that belong to no link — the static scenery of a cell\n * that also contains robots. They are placed by their authored stage transform\n * under the robot root, so the loader's up-axis and unit normalization applies\n * to them too. Collision-only and guide/proxy prims are skipped.\n */\nexport function bindSceneMeshes(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  desc: RobotDescription,\n  options: { textureProvider?: TextureProvider } = {},\n): number {\n  const owned = new Set<string>();\n  for (const link of Object.values(desc.links)) {\n    for (const path of link.visualPrims) owned.add(path);\n    for (const path of link.collisionPrims ?? []) owned.add(path);\n    owned.add(link.primPath);\n  }\n\n  let attached = 0;\n  for (const prim of stage.Traverse()) {\n    if (prim.GetTypeName() !== \"Mesh\" || owned.has(prim.GetPath())) continue;\n    if (prim.HasAPI(COLLISION_API) || isNonVisualPurpose(prim)) continue;\n    // Skip meshes under a link (already bound relative to their link).\n    if ([...owned].some((path) => prim.GetPath().startsWith(`${path}/`))) continue;\n\n    const geometry = buildMeshGeometry(prim);\n    if (!geometry) continue;\n    const mesh = new THREE.Mesh(geometry, buildMeshMaterial(prim, stage, options.textureProvider));\n    mesh.name = prim.GetName();\n    mesh.userData.kind = \"scene\";\n    mesh.userData.primPath = prim.GetPath();\n    mesh.matrixAutoUpdate = false;\n    mesh.matrix.fromArray(computeWorldTransform(prim));\n    mesh.matrixWorldNeedsUpdate = true;\n    robot3d.add(mesh);\n    attached++;\n  }\n  return attached;\n}\n\n/**\n * Materials for a mesh: one per `materialBind` face subset (matching the\n * geometry groups {@link buildMeshGeometry} adds) plus a trailing fallback for\n * faces no subset claims. A mesh without subsets gets a single material.\n */\nexport function buildMeshMaterials(\n  meshPrim: Prim,\n  stage?: Stage,\n  textures?: TextureProvider,\n): THREE.Material | THREE.Material[] {\n  const subsets = stage ? getMaterialSubsets(meshPrim) : [];\n  if (subsets.length === 0) return buildMeshMaterial(meshPrim, stage, textures);\n  return [\n    ...subsets.map((s) => buildMeshMaterial(meshPrim, stage, textures, s.prim)),\n    buildMeshMaterial(meshPrim, stage, textures),\n  ];\n}\n\nfunction attachMesh(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  parent: THREE.Object3D,\n  kind: MeshKind,\n  textures: TextureProvider | undefined,\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, buildMeshMaterials(meshPrim, stage, textures));\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\n/**\n * Triangulate subset by subset so each subset owns a contiguous run of the\n * index buffer, and register that run as a geometry group.\n */\nfunction triangulateBySubset(\n  geometry: THREE.BufferGeometry,\n  faceVertexCounts: number[],\n  faceVertexIndices: number[],\n  subsets: MaterialSubset[],\n): number[] {\n  const faceStart: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    faceStart.push(offset);\n    offset += count;\n  }\n\n  const tris: number[] = [];\n  const emit = (face: number) => {\n    const start = faceStart[face]!;\n    const count = faceVertexCounts[face]!;\n    for (let k = 2; k < count; k++) {\n      tris.push(\n        faceVertexIndices[start]!,\n        faceVertexIndices[start + k - 1]!,\n        faceVertexIndices[start + k]!,\n      );\n    }\n  };\n\n  const claimed = new Uint8Array(faceVertexCounts.length);\n  subsets.forEach((subset, index) => {\n    const begin = tris.length;\n    for (const face of subset.faces) {\n      if (face < 0 || face >= faceVertexCounts.length || claimed[face]) continue;\n      claimed[face] = 1;\n      emit(face);\n    }\n    if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, index);\n  });\n\n  const begin = tris.length;\n  for (let face = 0; face < faceVertexCounts.length; face++) {\n    if (!claimed[face]) emit(face);\n  }\n  if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, subsets.length);\n\n  return tris;\n}\n\nfunction flat3(v: Vec3[]): number[] {\n  const out = new Array<number>(v.length * 3);\n  for (let i = 0; i < v.length; i++) {\n    out[i * 3] = v[i]![0];\n    out[i * 3 + 1] = v[i]![1];\n    out[i * 3 + 2] = v[i]![2];\n  }\n  return out;\n}\n\nfunction flat2(v: Vec2[]): number[] {\n  const out = new Array<number>(v.length * 2);\n  for (let i = 0; i < v.length; i++) {\n    out[i * 2] = v[i]![0];\n    out[i * 2 + 1] = v[i]![1];\n  }\n  return out;\n}\n\nfunction isNumberArray(v: unknown): v is number[] {\n  return Array.isArray(v) && v.every((n) => typeof n === \"number\");\n}\n\nfunction isVec3Array(v: unknown): v is Vec3[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 3);\n}\n\nfunction isVec2Array(v: unknown): v is Vec2[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 2);\n}\n","/**\n * Loads texture image assets referenced by `UsdShade` materials.\n *\n * A {@link TextureProvider} maps an authored asset path (plus sampler/transform\n * options) to a `THREE.Texture`. The default provider fetches the image **bytes**\n * through the {@link AssetResolver} and decodes them via a blob URL — so it works\n * uniformly for textures served over HTTP and for images embedded inside a\n * `.usdz` package (whose resolver serves zip entries, not real URLs). Decoded\n * images are cached per resolved URL and shared across every texture that uses\n * them; each `THREE.Texture` carries its own color space / wrap / transform.\n */\n\nimport * as THREE from \"three\";\nimport type { AssetResolver } from \"../usd/AssetResolver.js\";\nimport type { TextureTransform, TextureWrap } from \"./MaterialBinding.js\";\n\n/**\n * Color space to interpret a texture in. Color/albedo and emissive maps are\n * `\"srgb\"`; data maps (normal, roughness, metalness, occlusion) are `\"linear\"`.\n */\nexport type TextureColorSpace = \"srgb\" | \"linear\";\n\n/** Per-use sampler state applied to the returned `THREE.Texture`. */\nexport type TextureOptions = {\n  /** Defaults to `\"srgb\"`. */\n  colorSpace?: TextureColorSpace;\n  wrapS?: TextureWrap;\n  wrapT?: TextureWrap;\n  transform?: TextureTransform;\n};\n\n/** Resolve an authored texture asset path to a `THREE.Texture` (or `null`). */\nexport type TextureProvider = (assetPath: string, options?: TextureOptions) => THREE.Texture | null;\n\nconst DEG2RAD = Math.PI / 180;\n\n/**\n * A {@link TextureProvider} backed by the {@link AssetResolver}, resolving paths\n * against `baseUrl`. Image bytes are fetched once per URL (works for HTTP and\n * `.usdz` entries alike) and the decoded image is shared; each call returns a\n * distinct `THREE.Texture` carrying the requested color space / wrap / transform.\n */\nexport function createTextureProvider(resolver: AssetResolver, baseUrl: string): TextureProvider {\n  const images = new Map<string, Promise<TexImageSource>>();\n\n  const imageFor = (url: string): Promise<TexImageSource> => {\n    let p = images.get(url);\n    if (!p) {\n      p = loadImage(resolver, url);\n      images.set(url, p);\n    }\n    return p;\n  };\n\n  return (assetPath: string, options: TextureOptions = {}) => {\n    let url: string;\n    try {\n      url = resolver.resolve(assetPath, baseUrl);\n    } catch {\n      return null;\n    }\n\n    const texture = new THREE.Texture();\n    texture.colorSpace =\n      options.colorSpace === \"linear\" ? THREE.NoColorSpace : THREE.SRGBColorSpace;\n    texture.wrapS = toThreeWrap(options.wrapS);\n    texture.wrapT = toThreeWrap(options.wrapT);\n    applyTransform(texture, options.transform);\n\n    imageFor(url)\n      .then((image) => {\n        texture.image = image;\n        texture.needsUpdate = true;\n      })\n      .catch(() => {\n        /* leave the texture blank if the image can't be decoded */\n      });\n    return texture;\n  };\n}\n\n/**\n * Fetch image bytes through the resolver and decode them via a blob URL into an\n * `HTMLImageElement` (so three's default `flipY = true` orients USD's bottom-left\n * `st` origin correctly, matching the prior `TextureLoader` HTTP path).\n */\nasync function loadImage(resolver: AssetResolver, url: string): Promise<TexImageSource> {\n  const bytes = resolver.fetchBytes\n    ? await resolver.fetchBytes(url)\n    : new TextEncoder().encode(await resolver.fetchText(url));\n  const blob = new Blob([bytes as BlobPart], { type: mimeOf(url) });\n  const objectUrl = URL.createObjectURL(blob);\n  try {\n    return await new Promise<HTMLImageElement>((resolve, reject) => {\n      const img = new Image();\n      img.onload = () => resolve(img);\n      img.onerror = () => reject(new Error(`failed to decode texture: ${url}`));\n      img.src = objectUrl;\n    });\n  } finally {\n    // The decoded image keeps its pixels; the blob URL can be released.\n    URL.revokeObjectURL(objectUrl);\n  }\n}\n\nfunction toThreeWrap(wrap: TextureWrap | undefined): THREE.Wrapping {\n  switch (wrap) {\n    case \"clamp\":\n    case \"black\": // three has no border color; clamp is the closest mode\n      return THREE.ClampToEdgeWrapping;\n    case \"mirror\":\n      return THREE.MirroredRepeatWrapping;\n    default:\n      return THREE.RepeatWrapping;\n  }\n}\n\n/** Map a `UsdTransform2d` onto a texture's offset / repeat / rotation. */\nfunction applyTransform(texture: THREE.Texture, t: TextureTransform | undefined): void {\n  if (!t) return;\n  if (t.scale) texture.repeat.set(t.scale[0], t.scale[1]);\n  if (t.translation) texture.offset.set(t.translation[0], t.translation[1]);\n  if (t.rotation !== undefined) {\n    texture.rotation = t.rotation * DEG2RAD;\n    texture.center.set(0, 0); // UsdTransform2d rotates about the origin\n  }\n}\n\nfunction mimeOf(url: string): string {\n  if (/\\.jpe?g$/i.test(url)) return \"image/jpeg\";\n  if (/\\.webp$/i.test(url)) return \"image/webp\";\n  return \"image/png\";\n}\n","import * as THREE from \"three\";\nimport { interpolate } from \"../kinematics/sampling.js\";\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    const rootLink = this.robot.links[this.tree.root];\n    if (rootJointKey) {\n      const j = this.robot.joints[rootJointKey];\n      // World-fixed placement: jointFrame0 (in world) · inverse(jointFrame1).\n      if (j) setMatrix(rootObj, multiply(j.jointFrame0, invert(j.jointFrame1)));\n    } else if (rootLink?.worldTransform) {\n      // Floating base: keep the authored stage placement.\n      setMatrix(rootObj, rootLink.worldTransform);\n    }\n    this.add(rootObj);\n  }\n\n  private attachTreeEdges(): void {\n    for (const linkKey of this.tree.order) {\n      const node = this.tree.nodes[linkKey];\n      if (!node || node.parent === null || node.jointToParent === null) continue;\n\n      const parentObj = this.linkObjects.get(node.parent);\n      const childObj = this.linkObjects.get(linkKey);\n      const joint = this.robot.joints[node.jointToParent];\n      if (!parentObj || !childObj || !joint) continue;\n\n      this.attachJointChain(parentObj, childObj, node.jointToParent, joint);\n    }\n  }\n\n  /** Build `parent → frame0 → motion → frame1⁻¹ → child` for one joint. */\n  private attachJointChain(\n    parent: LinkObject,\n    child: LinkObject,\n    jointKey: string,\n    joint: JointDescription,\n  ): void {\n    const frame0 = new THREE.Group();\n    frame0.name = `${joint.name}:frame0`;\n    setMatrix(frame0, joint.jointFrame0);\n\n    const motion = new JointObject(joint);\n\n    const frame1Inv = new THREE.Group();\n    frame1Inv.name = `${joint.name}:frame1Inv`;\n    setMatrix(frame1Inv, invert(joint.jointFrame1));\n\n    parent.add(frame0);\n    frame0.add(motion);\n    motion.add(frame1Inv);\n    frame1Inv.add(child);\n\n    this.jointObjects.set(jointKey, motion);\n  }\n\n  private attachIsolatedLinks(): void {\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      if (!obj || obj.parent) continue;\n      // Not placeable by any joint chain — keep the authored stage placement\n      // (other machines / free bodies on a multi-articulation stage).\n      const worldTransform = this.robot.links[key]?.worldTransform;\n      if (worldTransform) setMatrix(obj, worldTransform);\n      this.add(obj);\n    }\n  }\n\n  // -- 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  // -- Animation playback --------------------------------------------------\n\n  /** Playback rate in time codes per second (from the stage; default 24). */\n  getTimeCodesPerSecond(): number {\n    return this.robot.timeCodesPerSecond ?? 24;\n  }\n\n  /** Whether any joint has a time-sampled trajectory. */\n  hasAnimation(): boolean {\n    return Object.values(this.robot.joints).some((j) => j.valueSamples !== undefined);\n  }\n\n  /**\n   * Animation range in time codes: the union of authored joint sample ranges,\n   * falling back to the stage `startTimeCode`/`endTimeCode`. `null` if neither.\n   */\n  getTimeRange(): { start: number; end: number } | null {\n    let start = Number.POSITIVE_INFINITY;\n    let end = Number.NEGATIVE_INFINITY;\n    for (const joint of Object.values(this.robot.joints)) {\n      const times = joint.valueSamples?.times;\n      if (!times || times.length === 0) continue;\n      start = Math.min(start, times[0]!);\n      end = Math.max(end, times[times.length - 1]!);\n    }\n    if (start <= end) return { start, end };\n\n    const { startTimeCode, endTimeCode } = this.robot;\n    if (startTimeCode !== undefined && endTimeCode !== undefined) {\n      return { start: startTimeCode, end: endTimeCode };\n    }\n    return null;\n  }\n\n  /** Sample every animated joint at time code `t` and apply the values. */\n  setTime(t: number): void {\n    for (const [key, joint] of Object.entries(this.robot.joints)) {\n      if (joint.valueSamples) this.setJointValue(key, interpolate(joint.valueSamples, t));\n    }\n  }\n\n  // -- Display toggles -----------------------------------------------------\n\n  get showVisual(): boolean {\n    return this._showVisual;\n  }\n  set showVisual(v: boolean) {\n    this._showVisual = v;\n    this.setKindVisibility(\"visual\", v);\n  }\n\n  get showCollision(): boolean {\n    return this._showCollision;\n  }\n  set showCollision(v: boolean) {\n    this._showCollision = v;\n    this.setKindVisibility(\"collision\", v);\n  }\n\n  get showJointAxes(): boolean {\n    return this._showJointAxes;\n  }\n  set showJointAxes(v: boolean) {\n    this._showJointAxes = v;\n    if (v && this.jointAxesHelpers.length === 0) {\n      for (const joint of this.jointObjects.values()) {\n        const h = new THREE.AxesHelper(this.helperSize);\n        h.name = `${joint.jointName}:axes`;\n        joint.add(h);\n        this.jointAxesHelpers.push(h);\n      }\n    }\n    for (const h of this.jointAxesHelpers) h.visible = v;\n  }\n\n  get showLinkFrames(): boolean {\n    return this._showLinkFrames;\n  }\n  set showLinkFrames(v: boolean) {\n    this._showLinkFrames = v;\n    if (v && this.linkFrameHelpers.length === 0) {\n      for (const link of this.linkObjects.values()) {\n        const h = new THREE.AxesHelper(this.helperSize);\n        h.name = `${link.linkName}:frame`;\n        link.add(h);\n        this.linkFrameHelpers.push(h);\n      }\n    }\n    for (const h of this.linkFrameHelpers) h.visible = v;\n  }\n\n  private setKindVisibility(kind: string, visible: boolean): void {\n    this.traverse((o) => {\n      if ((o.userData as { kind?: string }).kind === kind) o.visible = visible;\n    });\n  }\n}\n\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 { composeFile, 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, bindSceneMeshes } from \"./MeshBinding.js\";\nimport { createTextureProvider } from \"./TextureBinding.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  /**\n   * Also render Mesh prims that belong to no link — the static scenery of a\n   * cell that contains robots (floor, guarding, racking, …). Placed by their\n   * authored stage transform. Default `false`.\n   */\n  loadSceneGeometry?: boolean;\n  /** Load diffuse textures referenced by materials (default `true`). */\n  loadTextures?: 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 sniffed for the crate magic\n   * and parsed as binary USDC or USDA text.\n   */\n  async loadAsync(url: string): Promise<ThreeUsdRobot> {\n    const bytes = await this.fetchRootBytes(url);\n    if (/\\.usdz$/i.test(url)) return this.parseUsdz(bytes);\n    if (CrateReader.isCrate(bytes)) return this.parseCrate(bytes, url);\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(\n      await this.composeStage(text, baseUrl, this.resolver),\n      baseUrl,\n      this.resolver,\n    );\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    // The root layer of a usdz is typically binary USDC — sniff, don't assume text.\n    const rootBytes = await pkg.resolver.fetchBytes(pkg.rootEntry);\n    const stage = await this.composeStageFromBytes(rootBytes, pkg.rootEntry, pkg.resolver);\n    return this.buildFromStage(stage, pkg.rootEntry, pkg.resolver);\n  }\n\n  /** Build a robot from the bytes of a binary crate (`.usdc` / binary `.usd`). */\n  async parseCrate(bytes: Uint8Array, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    const stage = await this.composeStageFromBytes(bytes, baseUrl, this.resolver);\n    return this.buildFromStage(stage, baseUrl, this.resolver);\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, baseUrl: string, resolver: AssetResolver): 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    const loadScene = this.options.loadSceneGeometry ?? false;\n    if (loadVisuals || loadCollisions || loadScene) {\n      const textureProvider =\n        (this.options.loadTextures ?? true) ? createTextureProvider(resolver, baseUrl) : undefined;\n      if (loadVisuals || loadCollisions) {\n        bindRobotMeshes(stage, robot3d, robot, {\n          loadVisuals,\n          loadCollisions,\n          ...(textureProvider ? { textureProvider } : {}),\n        });\n      }\n      if (loadScene) {\n        bindSceneMeshes(stage, robot3d, robot, {\n          ...(textureProvider ? { textureProvider } : {}),\n        });\n      }\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  /** Compose a layer from raw bytes, sniffing binary crate vs USDA text. */\n  private async composeStageFromBytes(\n    bytes: Uint8Array,\n    baseUrl: string,\n    resolver: AssetResolver,\n  ): Promise<Stage> {\n    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};\n    const composed = CrateReader.isCrate(bytes)\n      ? await composeFile(\n          crateToUsdaFile(new CrateReader(bytes)),\n          baseUrl,\n          resolver,\n          composeOptions,\n        )\n      : await composeLayer(new TextDecoder().decode(bytes), baseUrl, resolver, composeOptions);\n    return Stage.OpenFromFile(composed);\n  }\n\n  private robotOptions(): ThreeUsdRobotOptions {\n    return {\n      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"]}