three-usd-robot 0.6.0 → 0.7.0

package/README.md

@@ -9,6 +9,11 @@ Think of it as a **USD version of [`urdf-loader`](https://www.npmjs.com/package/
 it reads the link / joint / xform / mesh structure out of `UsdPhysics` assets
 and drives forward kinematics on a Three.js `Object3D` hierarchy.
 
+**[▶ Live demo](https://three-usd-robot.vercel.app)** — stock Isaac Sim robots
+streamed from NVIDIA's asset CDN, joints driven from a slider panel, and
+exported back to `.usda` / `.usdz` in the browser.
+
+![A franka panda loaded in the browser](assets/franka.png)
 ![A robot cell loaded in the browser](assets/threejs.png)
 
 ## Features
@@ -25,8 +30,26 @@ and drives forward kinematics on a Three.js `Object3D` hierarchy.
   simulation-ready for Isaac Sim.
 - **React** — declarative `<UsdRobot>` for React Three Fiber.
 
-Not yet supported: time samples and variant *selections* stored inside binary
-crate files, and full material/shader fidelity.
+Stock Isaac Sim robot assets load straight from their public CDN — Franka
+Panda, UR10e, Fanuc CRX-10iA/L, Kuka KR210, Shadow Hand, Unitree H1/Go2 and
+friends all compose from their variant-driven, multi-layer form:
+
+```ts
+const ROOT = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1";
+const franka = await new ThreeUsdRobotLoader()
+  .loadAsync(`${ROOT}/Isaac/Robots/FrankaRobotics/FrankaPanda/franka.usd`);
+
+franka.setJointValues({ panda_joint2: -0.785, panda_joint4: -2.356, panda_joint6: 1.571 });
+franka.getLinkWorldPosition("panda_hand"); // (0.307, 0, 0.590) — the documented ready pose
+```
+
+The CDN is public and CORS-enabled, so this works in the browser too. Try
+`npx tsx scripts/demo-franka.ts` for a console walkthrough (articulation table,
+FK check, and a re-export to one self-contained file), or open the Vite example
+and pick a robot from the preset list.
+
+Not yet supported: time samples stored inside binary crate files, non-mesh
+gprims (`Cube`, `Sphere`, …), and full material/shader fidelity.
 
 ## Install
 
@@ -198,9 +221,16 @@ and `.usdz` packages to ASCII USDA.
 
 ## Examples
 
-[`examples/`](./examples) holds runnable Vite demos, including a React Three
-Fiber viewer that loads any asset via `?asset=<url>` and exports it back to
-`.usda` / `.usdz`.
+[`examples/`](./examples) holds runnable Vite demos:
+
+- **`vite-joint-slider`** — the [live demo](https://three-usd-robot.vercel.app):
+  vanilla Three.js + `lil-gui`, with a robot picker, joint sliders, animation
+  playback and USD export.
+- **`vite-basic-viewer`** — the same thing through React Three Fiber.
+
+Both take `?asset=<url>` for any asset, or `?isaac=<path under Isaac/>` to pull
+one straight from NVIDIA's CDN. `npm run demo:build` generates the factory cell
+and builds the deployable site.
 
 ## Package entry points
 

package/dist/{ThreeUsdRobot-CajXJqYU.d.ts → ThreeUsdRobot-Ljh4PDVD.d.ts}

@@ -1,5 +1,5 @@
 import * as THREE from 'three';
-import { J as JointType, A as Axis, a as JointDescription, L as LinkDescription, R as RobotDescription, K as KinematicTree } from './buildKinematicTree-wtZPzy0B.js';
+import { J as JointType, A as Axis, a as JointDescription, L as LinkDescription, R as RobotDescription, K as KinematicTree } from './buildKinematicTree-Ccd2DIKH.js';
 
 /**
  * The articulated "motion" node of a joint, inserted between the joint's two

package/dist/{ThreeUsdRobotLoader-DrMMLzo-.d.ts → ThreeUsdRobotLoader-BSIVFA48.d.ts}

@@ -1,6 +1,6 @@
-import { R as RobotDescription } from './buildKinematicTree-wtZPzy0B.js';
+import { R as RobotDescription } from './buildKinematicTree-Ccd2DIKH.js';
 import { A as AssetResolver } from './AssetResolver-CpIJNgWZ.js';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-CajXJqYU.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-Ljh4PDVD.js';
 
 type ThreeUsdRobotLoaderOptions = {
     /** Resolver for references / payloads / sublayers (default {@link DefaultAssetResolver}). */

package/dist/{buildKinematicTree-wtZPzy0B.d.ts → buildKinematicTree-Ccd2DIKH.d.ts}

@@ -89,6 +89,11 @@ type PrimSpec = {
 type VariantContent = {
     properties: PropertySpec[];
     children: PrimSpec[];
+    /**
+     * Metadata authored on the variant itself. Composition arcs live here — the
+     * common "this variant references another layer" pattern in Isaac Sim assets.
+     */
+    metadata: MetadataMap;
 };
 /** `variantSetName → variantName → content`. */
 type VariantSetMap = {

package/dist/{chunk-4MEZM763.js → chunk-4GPCBXUS.js}

@@ -394,6 +394,24 @@ function isNonVisualPurpose(prim) {
   const p = getPurpose(prim);
   return p === "guide" || p === "proxy";
 }
+function getMaterialSubsets(meshPrim) {
+  const out = [];
+  for (const child of meshPrim.GetChildren()) {
+    if (child.GetTypeName() !== "GeomSubset") continue;
+    const elementType = child.GetAttribute("elementType").Get();
+    if (elementType !== void 0 && elementType !== "face") continue;
+    const family = child.GetAttribute("familyName").Get();
+    if (family !== void 0 && family !== "materialBind") continue;
+    const indices = child.GetAttribute("indices").Get();
+    if (!Array.isArray(indices)) continue;
+    const faces = [];
+    for (const i of indices) {
+      if (typeof i === "number") faces.push(i);
+    }
+    if (faces.length > 0) out.push({ prim: child, faces });
+  }
+  return out;
+}
 function* iterDescendants(prim) {
   for (const child of prim.GetChildren()) {
     yield child;
@@ -549,9 +567,7 @@ function computeLocalTransform(prim) {
       opName = opName.slice(INVERT_PREFIX.length);
     }
     const attr = prim.GetAttribute(opName);
-    if (!attr.IsValid()) {
-      throw new Error(`${prim.GetPath()}: xformOpOrder references missing op "${opName}"`);
-    }
+    if (!attr.IsValid()) continue;
     const opValue = attr.Get();
     if (opValue === void 0) continue;
     let opMatrix = opMatrixFor(parseOpType(opName), opValue, `${prim.GetPath()}.${opName}`);
@@ -660,7 +676,7 @@ function resolveBoundMaterial(stage, prim) {
   if (!material) return void 0;
   const shader = findSurfaceShader(material);
   if (!shader) return void 0;
-  const result = {};
+  const result = { name: material.GetName() };
   const color = firstColor(shader, DIFFUSE_INPUTS);
   if (color) result.color = color;
   const opacity = firstNumber(shader, OPACITY_INPUTS);
@@ -994,8 +1010,10 @@ function buildLink(path, prim) {
   const collisionPrims = [];
   for (const meshPath of gatherMeshDescendants(prim)) {
     const mp = prim.GetStage().GetPrimAtPath(meshPath);
-    if (mp && (hasCollisionAPI(mp) || isNonVisualPurpose(mp))) collisionPrims.push(meshPath);
-    else visualPrims.push(meshPath);
+    if (!mp) continue;
+    const nonVisual = isNonVisualPurpose(mp);
+    if (!nonVisual) visualPrims.push(meshPath);
+    if (nonVisual || hasCollisionAPI(mp)) collisionPrims.push(meshPath);
   }
   const inertial = getMassProperties(prim);
   const worldTransform = computeWorldTransform(prim);
@@ -1631,11 +1649,11 @@ function parseVariantSet(r) {
   const variants = {};
   while (!r.is("rbrace") && !r.atEnd()) {
     const variantName = r.expect("string").value;
-    if (r.is("lparen")) parseMetadataBlock(r);
+    const metadata = r.is("lparen") ? parseMetadataBlock(r) : {};
     r.expect("lbrace");
     const body = parseBody(r);
     r.expect("rbrace");
-    variants[variantName] = { properties: body.properties, children: body.children };
+    variants[variantName] = { properties: body.properties, children: body.children, metadata };
   }
   r.expect("rbrace");
   return { setName, variants };
@@ -1845,7 +1863,13 @@ function pushPrimBody(out, properties, children, variantSets, level) {
     for (const [setName, variants] of Object.entries(variantSets)) {
       out.push(`${pad}variantSet ${quoteString(setName)} = {`);
       for (const [variantName, content] of Object.entries(variants)) {
-        out.push(`${pad}${INDENT}${quoteString(variantName)} {`);
+        const head = `${pad}${INDENT}${quoteString(variantName)}`;
+        if (Object.keys(content.metadata).length > 0) {
+          pushWithMetadata(out, head, content.metadata, level + 1);
+          out.push(`${pad}${INDENT}{`);
+        } else {
+          out.push(`${head} {`);
+        }
         pushPrimBody(out, content.properties, content.children, void 0, level + 2);
         out.push(`${pad}${INDENT}}`);
       }
@@ -2510,6 +2534,8 @@ var CrateType = {
   Specifier: 42,
   Permission: 43,
   Variability: 44,
+  VariantSelectionMap: 45,
+  StringVector: 50,
   PayloadListOp: 55};
 var ListOpBits = {
   HasExplicit: 1 << 1,
@@ -2865,6 +2891,10 @@ var CrateReader = class {
         return this.readIndexVector(off, "token").items;
       case CrateType.PathVector:
         return this.readIndexVector(off, "path").items;
+      case CrateType.StringVector:
+        return this.readIndexVector(off, "string").items;
+      case CrateType.VariantSelectionMap:
+        return this.readVariantSelectionMap(off);
       default:
         return void 0;
     }
@@ -2931,6 +2961,24 @@ var CrateReader = class {
     }
     return out;
   }
+  /**
+   * Read an `SdfVariantSelectionMap`: `[u64 count]` then `count` pairs of
+   * string indexes (`variantSetName → variantName`). Surfaces as a dictionary
+   * so it maps straight onto the USDA `variants = { ... }` metadatum.
+   */
+  readVariantSelectionMap(off) {
+    const count = this.u64(off);
+    const strings = this.getStrings();
+    const out = {};
+    let p = off + 8;
+    for (let i = 0; i < count; i++) {
+      const key = this.getToken(strings[this.view.getUint32(p, true)] ?? 0);
+      const value = this.getToken(strings[this.view.getUint32(p + 4, true)] ?? 0);
+      if (key) out[key] = value;
+      p += 8;
+    }
+    return out;
+  }
   /** Read a `[u64 count][count × uint32|int32 index]` vector → resolved strings. */
   readIndexVector(off, kind) {
     const count = this.u64(off);
@@ -2938,7 +2986,7 @@ var CrateReader = class {
     const items = new Array(count);
     for (let i = 0; i < count; i++) {
       const idx = this.view.getInt32(p, true);
-      items[i] = kind === "token" ? this.getToken(idx) : this.getPaths()[idx] ?? "";
+      items[i] = kind === "token" ? this.getToken(idx) : kind === "string" ? this.getToken(this.getStrings()[idx] ?? 0) : this.getPaths()[idx] ?? "";
       p += 4;
     }
     return { items, next: p };
@@ -3020,6 +3068,7 @@ var SPEC_PRIM = 6;
 var SPEC_PSEUDO_ROOT = 7;
 var SPEC_ATTRIBUTE = 1;
 var SPEC_RELATIONSHIP = 8;
+var SPEC_VARIANT = 10;
 var SPECIFIERS2 = ["def", "over", "class"];
 function crateToUsdaFile(crate) {
   const paths = crate.getPaths();
@@ -3034,8 +3083,26 @@ function crateToUsdaFile(crate) {
     return map;
   };
   const primByPath = /* @__PURE__ */ new Map();
+  const variantByPath = /* @__PURE__ */ new Map();
   const rootPrims = [];
   let layerMetadata = {};
+  const containerAt = (path) => {
+    const prim = primByPath.get(path);
+    if (prim) return prim;
+    const cached = variantByPath.get(path);
+    if (cached) return cached;
+    const selection = variantNode(path);
+    if (!selection) return void 0;
+    const owner = primByPath.get(selection.owner);
+    if (!owner) return void 0;
+    owner.variantSets ??= {};
+    owner.variantSets[selection.setName] ??= {};
+    const set = owner.variantSets[selection.setName];
+    set[selection.variantName] ??= { properties: [], children: [], metadata: {} };
+    const content = set[selection.variantName];
+    variantByPath.set(path, content);
+    return content;
+  };
   for (const spec of specs) {
     const path = paths[spec.pathIndex] ?? "";
     if (spec.specType === SPEC_PSEUDO_ROOT) {
@@ -3054,24 +3121,41 @@ function crateToUsdaFile(crate) {
       line: 0
     });
   }
+  for (const spec of specs) {
+    if (spec.specType !== SPEC_VARIANT) continue;
+    const content = containerAt(paths[spec.pathIndex] ?? "");
+    if (content)
+      Object.assign(content.metadata, buildPrimMetadata(crate, fieldsOf(spec.fieldSetIndex)));
+  }
   for (const spec of specs) {
     if (spec.specType !== SPEC_ATTRIBUTE && spec.specType !== SPEC_RELATIONSHIP) continue;
     const split = splitProperty(paths[spec.pathIndex] ?? "");
     if (!split) continue;
-    const prim = primByPath.get(split.primPath);
-    if (!prim) continue;
+    const owner = containerAt(split.primPath);
+    if (!owner) continue;
     const fm = fieldsOf(spec.fieldSetIndex);
-    prim.properties.push(
+    owner.properties.push(
       spec.specType === SPEC_ATTRIBUTE ? buildAttribute(crate, split.propName, fm) : buildRelationship(crate, split.propName, fm)
     );
   }
   for (const [path, prim] of primByPath) {
     const parentPath = parentOf(path);
     if (parentPath === "/") rootPrims.push(prim);
-    else primByPath.get(parentPath)?.children.push(prim);
+    else containerAt(parentPath)?.children.push(prim);
   }
   return { version: crate.version.join("."), metadata: layerMetadata, prims: rootPrims };
 }
+function variantNode(path) {
+  if (!path.endsWith("}")) return null;
+  const open = path.lastIndexOf("{");
+  if (open < 0) return null;
+  const selection = path.slice(open + 1, -1);
+  const eq = selection.indexOf("=");
+  if (eq < 0) return null;
+  const variantName = selection.slice(eq + 1);
+  if (variantName === "") return null;
+  return { owner: path.slice(0, open), setName: selection.slice(0, eq), variantName };
+}
 function buildAttribute(crate, name, fm) {
   const defaultRep = fm.get("default");
   const rawType = asString(crate, fm.get("typeName")) ?? "";
@@ -3112,6 +3196,10 @@ function buildPrimMetadata(crate, fm) {
   if (Array.isArray(apiSchemas)) meta.apiSchemas = apiSchemas;
   const kind = asString(crate, fm.get("kind"));
   if (kind !== void 0) meta.kind = kind;
+  const variants = fm.has("variantSelection") ? crate.getValue(fm.get("variantSelection")) : void 0;
+  if (variants && typeof variants === "object" && !Array.isArray(variants)) {
+    meta.variants = variants;
+  }
   for (const key of ARC_FIELDS) {
     if (!fm.has(key)) continue;
     const arcs = crate.getValue(fm.get(key));
@@ -3121,6 +3209,11 @@ function buildPrimMetadata(crate, fm) {
 }
 function buildLayerMetadata(crate, fm) {
   const meta = {};
+  const subLayers = fm.has("subLayers") ? crate.getValue(fm.get("subLayers")) : void 0;
+  if (Array.isArray(subLayers)) {
+    const paths = subLayers.filter((s) => typeof s === "string" && s.length > 0);
+    if (paths.length > 0) meta.subLayers = paths.map((p) => new AssetPath(p));
+  }
   const upAxis = asString(crate, fm.get("upAxis"));
   if (upAxis !== void 0) meta.upAxis = upAxis;
   const defaultPrim2 = asString(crate, fm.get("defaultPrim"));
@@ -3157,16 +3250,24 @@ function leaf(path) {
 // src/usd/composition.ts
 var ARC_KEYS = ["references", "payload", "payloads", "inherits", "specializes"];
 var STRIP_KEYS = [...ARC_KEYS, "variants", "variantSets"];
-async function composeLayer(text, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set()) {
-  return composeFile(parseUsda(text), baseUrl, resolver, options, stack);
+async function composeLayer(text, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set(), cache = /* @__PURE__ */ new Map()) {
+  return composeFile(parseUsda(text), baseUrl, resolver, options, stack, cache);
 }
-async function composeFile(file, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set()) {
+async function composeFile(file, baseUrl, resolver, options = {}, stack = /* @__PURE__ */ new Set(), cache = /* @__PURE__ */ new Map()) {
   const warn = options.onWarn ?? (() => {
   });
   let weak = [];
   const subLayers = toArcs(file.metadata.subLayers);
   for (let i = subLayers.length - 1; i >= 0; i--) {
-    const sub = await loadExternalFile(subLayers[i], baseUrl, resolver, options, stack, warn);
+    const sub = await loadExternalFile(
+      subLayers[i],
+      baseUrl,
+      resolver,
+      options,
+      stack,
+      warn,
+      cache
+    );
     if (sub) weak = mergePrimLists(weak, sub.prims);
   }
   const ctx = {
@@ -3176,7 +3277,8 @@ async function composeFile(file, baseUrl, resolver, options = {}, stack = /* @__
     warn,
     stack,
     index: buildPathIndex(file.prims),
-    resolving: /* @__PURE__ */ new Set()
+    resolving: /* @__PURE__ */ new Set(),
+    cache
   };
   const resolved = [];
   for (const prim of file.prims) resolved.push(await resolvePrim(prim, "", ctx));
@@ -3187,6 +3289,7 @@ async function resolvePrim(spec, parentPath, ctx) {
   const path = `${parentPath}/${spec.name}`;
   let properties = spec.properties;
   let children = spec.children;
+  const variantArcs = [];
   const selection = spec.metadata.variants;
   if (spec.variantSets && isDictionary2(selection)) {
     for (const [setName, variantName] of Object.entries(selection)) {
@@ -3194,6 +3297,7 @@ async function resolvePrim(spec, parentPath, ctx) {
       if (!variant) continue;
       properties = mergeProperties(variant.properties, properties);
       children = mergePrimLists(variant.children, children);
+      for (const key of ARC_KEYS) variantArcs.push(...toArcs(variant.metadata[key]));
     }
   }
   const resolvedChildren = [];
@@ -3207,7 +3311,7 @@ async function resolvePrim(spec, parentPath, ctx) {
     children: resolvedChildren,
     line: spec.line
   };
-  const arcs = ARC_KEYS.flatMap((k) => toArcs(spec.metadata[k]));
+  const arcs = [...variantArcs, ...ARC_KEYS.flatMap((k) => toArcs(spec.metadata[k]))];
   let base = null;
   for (const arc of arcs) {
     const target = await loadReferencedPrim(arc, ctx, path);
@@ -3216,20 +3320,21 @@ async function resolvePrim(spec, parentPath, ctx) {
   return base ? mergePrim(base, local) : local;
 }
 async function loadReferencedPrim(arc, ctx, destPath) {
-  if (arc.assetPath) {
+  if (arc.assetPath?.path) {
     const composed = await loadExternalFile(
       arc,
       ctx.baseUrl,
       ctx.resolver,
       ctx.options,
       ctx.stack,
-      ctx.warn
+      ctx.warn,
+      ctx.cache
     );
     if (!composed) return null;
     const target = arc.primPath ? findPrimByPath(composed, arc.primPath) : defaultPrim(composed, ctx.warn);
     if (!target) {
       ctx.warn(
-        `reference target ${arc.primPath ?? "(defaultPrim)"} not found in ${arc.assetPath.path}`
+        `reference target ${arc.primPath ?? "(defaultPrim)"} not found in ${arc.assetPath?.path}`
       );
       return null;
     }
@@ -3255,9 +3360,10 @@ async function loadReferencedPrim(arc, ctx, destPath) {
   }
   return null;
 }
-async function loadExternalFile(arc, baseUrl, resolver, options, stack, warn) {
-  if (!arc.assetPath) return null;
-  const url = resolver.resolve(arc.assetPath.path, baseUrl);
+async function loadExternalFile(arc, baseUrl, resolver, options, stack, warn, cache) {
+  if (!arc.assetPath?.path) return null;
+  const assetPath = arc.assetPath.path;
+  const url = resolver.resolve(assetPath, baseUrl);
   if (stack.has(url)) {
     warn(`composition cycle detected at ${url}; skipping`);
     return null;
@@ -3266,18 +3372,31 @@ async function loadExternalFile(arc, baseUrl, resolver, options, stack, warn) {
     warn(`composition exceeded max depth at ${url}; skipping`);
     return null;
   }
-  let bytes;
-  try {
-    bytes = await fetchLayerBytes(resolver, url);
-  } catch (err) {
-    warn(`cannot resolve "${arc.assetPath.path}" -> ${url}: ${err.message}`);
-    return null;
-  }
-  const childStack = /* @__PURE__ */ new Set([...stack, url]);
-  if (CrateReader.isCrate(bytes)) {
-    return composeFile(crateToUsdaFile(new CrateReader(bytes)), url, resolver, options, childStack);
-  }
-  return composeLayer(new TextDecoder().decode(bytes), url, resolver, options, childStack);
+  const cached = cache.get(url);
+  if (cached) return cached;
+  const pending = (async () => {
+    let bytes;
+    try {
+      bytes = await fetchLayerBytes(resolver, url);
+    } catch (err) {
+      warn(`cannot resolve "${assetPath}" -> ${url}: ${err.message}`);
+      return null;
+    }
+    const childStack = /* @__PURE__ */ new Set([...stack, url]);
+    if (CrateReader.isCrate(bytes)) {
+      return composeFile(
+        crateToUsdaFile(new CrateReader(bytes)),
+        url,
+        resolver,
+        options,
+        childStack,
+        cache
+      );
+    }
+    return composeLayer(new TextDecoder().decode(bytes), url, resolver, options, childStack, cache);
+  })();
+  cache.set(url, pending);
+  return pending;
 }
 async function fetchLayerBytes(resolver, url) {
   if (resolver.fetchBytes) return resolver.fetchBytes(url);
@@ -3455,6 +3574,6 @@ function openUsdz(bytes) {
   return { rootEntry, resolver };
 }
 
-export { ARTICULATION_ROOT_API, AssetPath, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DEG2RAD, DefaultAssetResolver, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, Quat, RAD2DEG, RIGID_BODY_API, Relationship, Stage, TokenizeError, UsdMatrix, buildKinematicTree, channelFromSamples, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, createMemoryResolver, decomposeRigid, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, interpolate, invert, isMesh, isNonVisualPurpose, isScope, isXform, iterDescendants, joinPosix, jointValueFromSI, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, resolveBoundMaterial, serializeUsda, toUsdMatrix, tokenize };
-//# sourceMappingURL=chunk-4MEZM763.js.map
-//# sourceMappingURL=chunk-4MEZM763.js.map
+export { ARTICULATION_ROOT_API, AssetPath, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DEG2RAD, DefaultAssetResolver, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, Quat, RAD2DEG, RIGID_BODY_API, Relationship, Stage, TokenizeError, UsdMatrix, buildKinematicTree, channelFromSamples, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, createMemoryResolver, decomposeRigid, driveKindFor, extractRobotDescription, fromUsdMatrix, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, getMaterialSubsets, getTranslation, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, identity4, interpolate, invert, isMesh, isNonVisualPurpose, isScope, isXform, iterDescendants, joinPosix, jointValueFromSI, jointValueToSI, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, resolveBoundMaterial, serializeUsda, toUsdMatrix, tokenize };
+//# sourceMappingURL=chunk-4GPCBXUS.js.map
+//# sourceMappingURL=chunk-4GPCBXUS.js.map