three-usd-robot 0.6.0 → 0.8.0

package/dist/chunk-YX5GIEMT.js

@@ -0,0 +1,508 @@
+import { getMaterialSubsets, resolveBoundMaterial, isRenderableGprim, COLLISION_API, isNonVisualPurpose, computeWorldTransform, computeLocalTransform, DefaultAssetResolver, toBytes, extractRobotDescription, isZip, CrateReader, openUsdz, buildKinematicTree, Stage, composeLayer, composeFile, crateToUsdaFile } from './chunk-PHHMWMCA.js';
+import { ThreeUsdRobot } from './chunk-3CANZKP3.js';
+import { identity4, multiply } from './chunk-IYKPVUZ2.js';
+import * as THREE from 'three';
+
+var DEFAULT_COLOR = 10132122;
+function buildMeshGeometry(meshPrim) {
+  const points = meshPrim.GetAttribute("points").Get();
+  if (!isVec3Array(points) || points.length === 0) return null;
+  const geometry = new THREE.BufferGeometry();
+  geometry.setAttribute("position", new THREE.Float32BufferAttribute(flat3(points), 3));
+  const counts = meshPrim.GetAttribute("faceVertexCounts").Get();
+  const indices = meshPrim.GetAttribute("faceVertexIndices").Get();
+  if (isNumberArray(counts) && isNumberArray(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());
+  }
+  const normals = meshPrim.GetAttribute("normals").Get();
+  if (isVec3Array(normals) && normals.length === points.length) {
+    geometry.setAttribute("normal", new THREE.Float32BufferAttribute(flat3(normals), 3));
+  } else {
+    geometry.computeVertexNormals();
+  }
+  const st = meshPrim.GetAttribute("primvars:st").Get();
+  if (isVec2Array(st) && st.length === points.length) {
+    geometry.setAttribute("uv", new THREE.Float32BufferAttribute(flat2(st), 2));
+  }
+  return geometry;
+}
+function buildGprimGeometry(prim) {
+  switch (prim.GetTypeName()) {
+    case "Mesh":
+      return buildMeshGeometry(prim);
+    case "Cube": {
+      const size = getNumber(prim, "size") ?? 2;
+      return new THREE.BoxGeometry(size, size, size);
+    }
+    case "Sphere":
+      return new THREE.SphereGeometry(getNumber(prim, "radius") ?? 1, 32, 16);
+    case "Cylinder": {
+      const radius = getNumber(prim, "radius") ?? 1;
+      const height = getNumber(prim, "height") ?? 2;
+      return orientSpine(new THREE.CylinderGeometry(radius, radius, height, 32), prim);
+    }
+    case "Capsule": {
+      const radius = getNumber(prim, "radius") ?? 0.5;
+      const height = getNumber(prim, "height") ?? 1;
+      return orientSpine(new THREE.CapsuleGeometry(radius, height, 8, 32), prim);
+    }
+    case "Cone": {
+      const radius = getNumber(prim, "radius") ?? 1;
+      const height = getNumber(prim, "height") ?? 2;
+      return orientSpine(new THREE.ConeGeometry(radius, height, 32), prim);
+    }
+    default:
+      return null;
+  }
+}
+function getNumber(prim, name) {
+  const v = prim.GetAttribute(name).Get();
+  return typeof v === "number" ? v : void 0;
+}
+function orientSpine(geometry, prim) {
+  const axis = prim.GetAttribute("axis").Get();
+  if (axis === "Y") return geometry;
+  if (axis === "X") return geometry.rotateZ(-Math.PI / 2);
+  return geometry.rotateX(Math.PI / 2);
+}
+function buildMeshMaterial(meshPrim, stage, textures, bindingPrim) {
+  const color = new THREE.Color(DEFAULT_COLOR);
+  let opacity = 1;
+  const bound = stage ? resolveBoundMaterial(stage, bindingPrim ?? meshPrim) : void 0;
+  if (bound?.color) {
+    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);
+  } else {
+    const displayColor = meshPrim.GetAttribute("primvars:displayColor").Get();
+    if (isVec3Array(displayColor) && displayColor[0]) {
+      const [r, g, b] = displayColor[0];
+      color.setRGB(r, g, b);
+    }
+  }
+  if (bound?.opacity !== void 0) opacity = bound.opacity;
+  const tex = (rt, cs) => rt && textures ? textures(rt.path, {
+    colorSpace: cs,
+    ...rt.wrapS ? { wrapS: rt.wrapS } : {},
+    ...rt.wrapT ? { wrapT: rt.wrapT } : {},
+    ...rt.transform ? { transform: rt.transform } : {}
+  }) : null;
+  const map = tex(bound?.colorTexture, "srgb");
+  if (map) {
+    const s = bound?.colorTexture?.scale;
+    if (s) color.setRGB(s[0], s[1], s[2]);
+    else color.setRGB(1, 1, 1);
+  }
+  const normalMap = tex(bound?.normalTexture, "linear");
+  const roughnessMap = tex(bound?.roughnessTexture, "linear");
+  const metalnessMap = tex(bound?.metalnessTexture, "linear");
+  const aoMap = tex(bound?.occlusionTexture, "linear");
+  const emissiveMap = tex(bound?.emissiveTexture, "srgb");
+  const metalness = bound?.metalness ?? bound?.metalnessTexture?.scale?.[0] ?? (metalnessMap ? 1 : 0.1);
+  const roughness = bound?.roughness ?? bound?.roughnessTexture?.scale?.[0] ?? (roughnessMap ? 1 : 0.8);
+  const emissive = new THREE.Color(0);
+  if (bound?.emissiveColor) {
+    emissive.setRGB(bound.emissiveColor[0], bound.emissiveColor[1], bound.emissiveColor[2]);
+  } else if (emissiveMap) {
+    emissive.setRGB(1, 1, 1);
+  }
+  const opacityTex = bound?.opacityTexture;
+  const sharesColorMap = !!(opacityTex && opacityTex.path === bound?.colorTexture?.path);
+  const alphaMap = sharesColorMap ? null : tex(opacityTex, "linear");
+  const hasAlphaSource = opacity < 1 || sharesColorMap || !!alphaMap;
+  const threshold = bound?.opacityThreshold;
+  const alphaTest = threshold !== void 0 && threshold > 0 ? threshold : 0;
+  const transparent = alphaTest === 0 && hasAlphaSource;
+  const doubleSided = meshPrim.GetAttribute("doubleSided").Get() === true;
+  const material = new THREE.MeshStandardMaterial({
+    color,
+    metalness,
+    roughness,
+    emissive,
+    transparent,
+    opacity,
+    ...alphaTest > 0 ? { alphaTest } : {},
+    side: doubleSided ? THREE.DoubleSide : THREE.FrontSide,
+    ...map ? { map } : {},
+    ...alphaMap ? { alphaMap } : {},
+    ...normalMap ? { normalMap } : {},
+    ...roughnessMap ? { roughnessMap } : {},
+    ...metalnessMap ? { metalnessMap } : {},
+    ...aoMap ? { aoMap } : {},
+    ...emissiveMap ? { emissiveMap } : {}
+  });
+  if (bound?.name) material.name = bound.name;
+  return material;
+}
+function bindRobotMeshes(stage, robot3d, desc, options = {}) {
+  const loadVisuals = options.loadVisuals ?? true;
+  const loadCollisions = options.loadCollisions ?? false;
+  const textures = options.textureProvider;
+  for (const [key, link] of Object.entries(desc.links)) {
+    const linkObj = robot3d.getLinkObject(key);
+    const linkPrim = stage.GetPrimAtPath(link.primPath);
+    if (!linkObj || !linkPrim) continue;
+    const visualSet = new Set(link.visualPrims);
+    if (loadVisuals) {
+      for (const meshPath of link.visualPrims) {
+        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 (!isRenderableGprim(prim) || owned.has(prim.GetPath())) continue;
+    if (prim.HasAPI(COLLISION_API) || isNonVisualPurpose(prim)) continue;
+    if ([...owned].some((path) => prim.GetPath().startsWith(`${path}/`))) continue;
+    const geometry = buildGprimGeometry(prim);
+    if (!geometry) continue;
+    const mesh = new THREE.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 = buildGprimGeometry(meshPrim);
+  if (!geometry) return;
+  const mesh = new THREE.Mesh(geometry, buildMeshMaterials(meshPrim, stage, textures));
+  mesh.name = meshPrim.GetName();
+  mesh.userData.kind = kind;
+  mesh.userData.primPath = meshPath;
+  if (kind === "collision") mesh.visible = false;
+  mesh.matrixAutoUpdate = false;
+  mesh.matrix.fromArray(relativeTransform(linkPrim, meshPrim));
+  mesh.matrixWorldNeedsUpdate = true;
+  parent.add(mesh);
+}
+function relativeTransform(linkPrim, meshPrim) {
+  const chain = [];
+  let p = meshPrim;
+  const stop = linkPrim.GetPath();
+  while (p && p.GetPath() !== stop) {
+    chain.push(p);
+    p = p.GetParent();
+  }
+  chain.reverse();
+  let m = identity4();
+  for (const prim of chain) {
+    m = multiply(m, computeLocalTransform(prim).matrix);
+  }
+  return m;
+}
+function triangulate(faceVertexCounts, faceVertexIndices) {
+  const tris = [];
+  let offset = 0;
+  for (const count of faceVertexCounts) {
+    for (let k = 2; k < count; k++) {
+      tris.push(
+        faceVertexIndices[offset],
+        faceVertexIndices[offset + k - 1],
+        faceVertexIndices[offset + k]
+      );
+    }
+    offset += count;
+  }
+  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++) {
+    out[i * 3] = v[i][0];
+    out[i * 3 + 1] = v[i][1];
+    out[i * 3 + 2] = v[i][2];
+  }
+  return out;
+}
+function flat2(v) {
+  const out = new Array(v.length * 2);
+  for (let i = 0; i < v.length; i++) {
+    out[i * 2] = v[i][0];
+    out[i * 2 + 1] = v[i][1];
+  }
+  return out;
+}
+function isNumberArray(v) {
+  return Array.isArray(v) && v.every((n) => typeof n === "number");
+}
+function isVec3Array(v) {
+  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 3);
+}
+function isVec2Array(v) {
+  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 2);
+}
+var DEG2RAD = Math.PI / 180;
+function createTextureProvider(resolver, baseUrl) {
+  const images = /* @__PURE__ */ new Map();
+  const imageFor = (url) => {
+    let p = images.get(url);
+    if (!p) {
+      p = loadImage(resolver, url);
+      images.set(url, p);
+    }
+    return p;
+  };
+  return (assetPath, options = {}) => {
+    let url;
+    try {
+      url = resolver.resolve(assetPath, baseUrl);
+    } catch {
+      return null;
+    }
+    const texture = new THREE.Texture();
+    texture.colorSpace = options.colorSpace === "linear" ? THREE.NoColorSpace : THREE.SRGBColorSpace;
+    texture.wrapS = toThreeWrap(options.wrapS);
+    texture.wrapT = toThreeWrap(options.wrapT);
+    applyTransform(texture, options.transform);
+    imageFor(url).then((image) => {
+      texture.image = image;
+      texture.needsUpdate = true;
+    }).catch(() => {
+    });
+    return texture;
+  };
+}
+async function loadImage(resolver, url) {
+  const bytes = resolver.fetchBytes ? await resolver.fetchBytes(url) : new TextEncoder().encode(await resolver.fetchText(url));
+  const blob = new Blob([bytes], { type: mimeOf(url) });
+  const objectUrl = URL.createObjectURL(blob);
+  try {
+    return await new Promise((resolve, reject) => {
+      const img = new Image();
+      img.onload = () => resolve(img);
+      img.onerror = () => reject(new Error(`failed to decode texture: ${url}`));
+      img.src = objectUrl;
+    });
+  } finally {
+    URL.revokeObjectURL(objectUrl);
+  }
+}
+function toThreeWrap(wrap) {
+  switch (wrap) {
+    case "clamp":
+    case "black":
+      return THREE.ClampToEdgeWrapping;
+    case "mirror":
+      return THREE.MirroredRepeatWrapping;
+    default:
+      return THREE.RepeatWrapping;
+  }
+}
+function applyTransform(texture, t) {
+  if (!t) return;
+  if (t.scale) texture.repeat.set(t.scale[0], t.scale[1]);
+  if (t.translation) texture.offset.set(t.translation[0], t.translation[1]);
+  if (t.rotation !== void 0) {
+    texture.rotation = t.rotation * DEG2RAD;
+    texture.center.set(0, 0);
+  }
+}
+function mimeOf(url) {
+  if (/\.jpe?g$/i.test(url)) return "image/jpeg";
+  if (/\.webp$/i.test(url)) return "image/webp";
+  return "image/png";
+}
+
+// src/three/ThreeUsdRobotLoader.ts
+var ThreeUsdRobotLoader = class {
+  options;
+  constructor(options = {}) {
+    this.options = options;
+  }
+  get resolver() {
+    return this.options.assetResolver ?? new DefaultAssetResolver();
+  }
+  /**
+   * Fetch an asset by URL and build the robot. `.usdz` packages are unzipped and
+   * composed from their entries; everything else is sniffed for the zip / crate
+   * magic and parsed as USDZ, binary USDC, or USDA text.
+   */
+  async loadAsync(url) {
+    const bytes = await this.fetchRootBytes(url);
+    if (/\.usdz$/i.test(url)) return this.parseUsdz(bytes);
+    return this.parse(bytes, url);
+  }
+  async fetchRootBytes(url) {
+    const resolver = this.resolver;
+    if (resolver.fetchBytes) return resolver.fetchBytes(url);
+    return new TextEncoder().encode(await resolver.fetchText(url));
+  }
+  /**
+   * Build a robot from in-memory content — no fetch involved. Accepts USDA
+   * source text, or an `ArrayBuffer` / typed array / `Blob` (e.g. a dropped
+   * `File`) holding USDA text, a binary crate, or a `.usdz` package; binary
+   * input is sniffed for the zip / crate magic. `baseUrl` anchors relative
+   * references, payloads, and texture paths of non-package input.
+   */
+  async parse(data, baseUrl = "") {
+    return this.buildFromStage(await this.openSource(data, baseUrl));
+  }
+  /** Build a robot from a `.usdz` package (bytes, `ArrayBuffer`, or `Blob`). */
+  async parseUsdz(data) {
+    return this.buildFromStage(await this.openUsdzStage(await toBytes(data)));
+  }
+  /** Build a robot from a binary crate (`.usdc` / binary `.usd`). */
+  async parseCrate(data, baseUrl = "") {
+    const stage = await this.composeStageFromBytes(await toBytes(data), baseUrl, this.resolver);
+    return this.buildFromStage({ stage, baseUrl, resolver: this.resolver });
+  }
+  /**
+   * Parse + compose in-memory content (same formats as {@link parse}) into the
+   * Three.js-independent robot IR.
+   */
+  async parseRobotDescription(data, baseUrl = "") {
+    const { stage } = await this.openSource(data, baseUrl);
+    return extractRobotDescription(stage, this.extractOptions());
+  }
+  /** Sniff in-memory content (text / zip / crate) and compose it into a stage. */
+  async openSource(data, baseUrl) {
+    const resolver = this.resolver;
+    if (typeof data === "string") {
+      return { stage: await this.composeStage(data, baseUrl, resolver), baseUrl, resolver };
+    }
+    const bytes = await toBytes(data);
+    if (isZip(bytes)) return this.openUsdzStage(bytes);
+    const stage = CrateReader.isCrate(bytes) ? await this.composeStageFromBytes(bytes, baseUrl, resolver) : await this.composeStage(new TextDecoder().decode(bytes), baseUrl, resolver);
+    return { stage, baseUrl, resolver };
+  }
+  async openUsdzStage(bytes) {
+    const pkg = openUsdz(bytes);
+    const rootBytes = await pkg.resolver.fetchBytes(pkg.rootEntry);
+    const stage = await this.composeStageFromBytes(rootBytes, pkg.rootEntry, pkg.resolver);
+    return { stage, baseUrl: pkg.rootEntry, resolver: pkg.resolver };
+  }
+  buildFromStage({ stage, baseUrl, resolver }) {
+    const robot = extractRobotDescription(stage, this.extractOptions());
+    const tree = buildKinematicTree(robot);
+    const robot3d = new ThreeUsdRobot(robot, tree, this.robotOptions());
+    const loadVisuals = this.options.loadVisuals ?? true;
+    const loadCollisions = this.options.loadCollisions ?? false;
+    const isStaticScene = Object.keys(robot.links).length === 0 && Object.keys(robot.joints).length === 0;
+    if (isStaticScene && this.options.loadSceneGeometry === void 0) {
+      this.options.onWarn?.(
+        "no articulation found (0 links / 0 joints); rendering the stage as static scene geometry"
+      );
+    }
+    const loadScene = this.options.loadSceneGeometry ?? isStaticScene;
+    if (loadVisuals || loadCollisions || loadScene) {
+      const textureProvider = this.options.loadTextures ?? true ? createTextureProvider(resolver, baseUrl) : void 0;
+      if (loadVisuals || loadCollisions) {
+        bindRobotMeshes(stage, robot3d, robot, {
+          loadVisuals,
+          loadCollisions,
+          ...textureProvider ? { textureProvider } : {}
+        });
+      }
+      if (loadScene) {
+        bindSceneMeshes(stage, robot3d, robot, {
+          ...textureProvider ? { textureProvider } : {}
+        });
+      }
+    }
+    return robot3d;
+  }
+  async composeStage(text, baseUrl, resolver) {
+    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};
+    return Stage.OpenFromFile(await composeLayer(text, baseUrl, resolver, composeOptions));
+  }
+  /** Compose a layer from raw bytes, sniffing binary crate vs USDA text. */
+  async composeStageFromBytes(bytes, baseUrl, resolver) {
+    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};
+    const composed = CrateReader.isCrate(bytes) ? await composeFile(
+      crateToUsdaFile(new CrateReader(bytes)),
+      baseUrl,
+      resolver,
+      composeOptions
+    ) : await composeLayer(new TextDecoder().decode(bytes), baseUrl, resolver, composeOptions);
+    return Stage.OpenFromFile(composed);
+  }
+  robotOptions() {
+    return {
+      upAxisConversion: this.options.upAxisConversion ?? "auto",
+      ...this.options.clampJointLimits !== void 0 ? { clampJointLimits: this.options.clampJointLimits } : {},
+      ...this.options.unitScale !== void 0 ? { unitScale: this.options.unitScale } : {},
+      ...this.options.applyDriveTargetsAsInitialPose !== void 0 ? { applyInitialPose: this.options.applyDriveTargetsAsInitialPose } : {}
+    };
+  }
+  extractOptions() {
+    return {
+      ...this.options.robotName !== void 0 ? { robotName: this.options.robotName } : {},
+      ...this.options.onWarn !== void 0 ? { onWarn: this.options.onWarn } : {}
+    };
+  }
+};
+
+export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildMeshGeometry, buildMeshMaterial, createTextureProvider };
+//# sourceMappingURL=chunk-YX5GIEMT.js.map
+//# sourceMappingURL=chunk-YX5GIEMT.js.map

package/dist/chunk-YX5GIEMT.js.map

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* Binds renderable gprims — `UsdGeom.Mesh` plus the parametric solids (`Cube` /\n * `Sphere` / `Cylinder` / `Capsule` / `Cone`) — to Three.js geometry and\n * attaches them under the robot's link objects.\n *\n * Meshes are triangulated with a simple fan, use authored per-vertex normals\n * when present (else computed smooth normals), and read `primvars:st` UVs and\n * `primvars:displayColor`. Solids tessellate from their schema attributes.\n * Geometry is left in stage units; the global `metersPerUnit` scale is applied\n * 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 {\n  type MaterialSubset,\n  getMaterialSubsets,\n  isNonVisualPurpose,\n  isRenderableGprim,\n} 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 geometry for any renderable gprim: `Mesh` via {@link buildMeshGeometry},\n * parametric solids from their schema attributes. Solids follow UsdGeom\n * semantics — sizes in stage units, centered at the origin, `axis` (default\n * `\"Z\"`) along the spine, and a capsule's `height` spans only its cylindrical\n * section. Returns `null` for unsupported prim types.\n */\nexport function buildGprimGeometry(prim: Prim): THREE.BufferGeometry | null {\n  switch (prim.GetTypeName()) {\n    case \"Mesh\":\n      return buildMeshGeometry(prim);\n    case \"Cube\": {\n      const size = getNumber(prim, \"size\") ?? 2;\n      return new THREE.BoxGeometry(size, size, size);\n    }\n    case \"Sphere\":\n      return new THREE.SphereGeometry(getNumber(prim, \"radius\") ?? 1, 32, 16);\n    case \"Cylinder\": {\n      const radius = getNumber(prim, \"radius\") ?? 1;\n      const height = getNumber(prim, \"height\") ?? 2;\n      return orientSpine(new THREE.CylinderGeometry(radius, radius, height, 32), prim);\n    }\n    case \"Capsule\": {\n      const radius = getNumber(prim, \"radius\") ?? 0.5;\n      const height = getNumber(prim, \"height\") ?? 1;\n      return orientSpine(new THREE.CapsuleGeometry(radius, height, 8, 32), prim);\n    }\n    case \"Cone\": {\n      const radius = getNumber(prim, \"radius\") ?? 1;\n      const height = getNumber(prim, \"height\") ?? 2;\n      return orientSpine(new THREE.ConeGeometry(radius, height, 32), prim);\n    }\n    default:\n      return null;\n  }\n}\n\nfunction getNumber(prim: Prim, name: string): number | undefined {\n  const v = prim.GetAttribute(name).Get();\n  return typeof v === \"number\" ? v : undefined;\n}\n\n/** Rotate a Y-spined three.js primitive onto the prim's `axis` (USD default `Z`). */\nfunction orientSpine(geometry: THREE.BufferGeometry, prim: Prim): THREE.BufferGeometry {\n  const axis = prim.GetAttribute(\"axis\").Get();\n  if (axis === \"Y\") return geometry;\n  if (axis === \"X\") return geometry.rotateZ(-Math.PI / 2);\n  return geometry.rotateX(Math.PI / 2);\n}\n\n/**\n * Build a material for a gprim. 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 gprims that belong to no link — the static scenery of a cell that\n * 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 (!isRenderableGprim(prim) || owned.has(prim.GetPath())) continue;\n    if (prim.HasAPI(COLLISION_API) || isNonVisualPurpose(prim)) continue;\n    // Skip gprims under a link (already bound relative to their link).\n    if ([...owned].some((path) => prim.GetPath().startsWith(`${path}/`))) continue;\n\n    const geometry = buildGprimGeometry(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 = buildGprimGeometry(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 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 { type BinarySource, type UsdSource, toBytes } from \"../usd/bytes.js\";\nimport { composeFile, composeLayer } from \"../usd/composition.js\";\nimport { CrateReader } from \"../usd/crate/CrateReader.js\";\nimport { crateToUsdaFile } from \"../usd/crate/toUsdaFile.js\";\nimport { isZip, 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 gprims that belong to no link — the static scenery of a cell\n   * that contains robots (floor, guarding, racking, …). Placed by their\n   * authored stage transform. Default `false`; a stage with no articulation at\n   * all (a pure static scene) defaults to `true` so it renders out of the box.\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/** A composed stage plus the context needed to bind its meshes and textures. */\ntype OpenedStage = { stage: Stage; baseUrl: string; resolver: AssetResolver };\n\n/**\n * Loads Isaac Sim / OpenUSD robot assets into a controllable {@link ThreeUsdRobot}.\n *\n * Assets load by URL ({@link loadAsync}) or from in-memory content\n * ({@link parse} — USDA text, `ArrayBuffer`, typed array, or `Blob`/`File`).\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 zip / crate\n   * magic and parsed as USDZ, binary USDC, or USDA text.\n   */\n  async loadAsync(url: string): Promise<ThreeUsdRobot> {\n    const bytes = await this.fetchRootBytes(url);\n    // Extension first: sniffing only sees offset 0, the extension also covers\n    // zip archives with a prefix (fflate reads the central directory anyway).\n    if (/\\.usdz$/i.test(url)) return this.parseUsdz(bytes);\n    return this.parse(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  /**\n   * Build a robot from in-memory content — no fetch involved. Accepts USDA\n   * source text, or an `ArrayBuffer` / typed array / `Blob` (e.g. a dropped\n   * `File`) holding USDA text, a binary crate, or a `.usdz` package; binary\n   * input is sniffed for the zip / crate magic. `baseUrl` anchors relative\n   * references, payloads, and texture paths of non-package input.\n   */\n  async parse(data: UsdSource, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.openSource(data, baseUrl));\n  }\n\n  /** Build a robot from a `.usdz` package (bytes, `ArrayBuffer`, or `Blob`). */\n  async parseUsdz(data: BinarySource): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.openUsdzStage(await toBytes(data)));\n  }\n\n  /** Build a robot from a binary crate (`.usdc` / binary `.usd`). */\n  async parseCrate(data: BinarySource, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    const stage = await this.composeStageFromBytes(await toBytes(data), baseUrl, this.resolver);\n    return this.buildFromStage({ stage, baseUrl, resolver: this.resolver });\n  }\n\n  /**\n   * Parse + compose in-memory content (same formats as {@link parse}) into the\n   * Three.js-independent robot IR.\n   */\n  async parseRobotDescription(data: UsdSource, baseUrl = \"\"): Promise<RobotDescription> {\n    const { stage } = await this.openSource(data, baseUrl);\n    return extractRobotDescription(stage, this.extractOptions());\n  }\n\n  /** Sniff in-memory content (text / zip / crate) and compose it into a stage. */\n  private async openSource(data: UsdSource, baseUrl: string): Promise<OpenedStage> {\n    const resolver = this.resolver;\n    if (typeof data === \"string\") {\n      return { stage: await this.composeStage(data, baseUrl, resolver), baseUrl, resolver };\n    }\n    const bytes = await toBytes(data);\n    if (isZip(bytes)) return this.openUsdzStage(bytes);\n    const stage = CrateReader.isCrate(bytes)\n      ? await this.composeStageFromBytes(bytes, baseUrl, resolver)\n      : await this.composeStage(new TextDecoder().decode(bytes), baseUrl, resolver);\n    return { stage, baseUrl, resolver };\n  }\n\n  private async openUsdzStage(bytes: Uint8Array): Promise<OpenedStage> {\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 { stage, baseUrl: pkg.rootEntry, resolver: pkg.resolver };\n  }\n\n  private buildFromStage({ stage, baseUrl, resolver }: OpenedStage): 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    // A stage with no articulation at all is a pure static scene; default to\n    // drawing its geometry — otherwise the load would be silently empty.\n    const isStaticScene =\n      Object.keys(robot.links).length === 0 && Object.keys(robot.joints).length === 0;\n    if (isStaticScene && this.options.loadSceneGeometry === undefined) {\n      this.options.onWarn?.(\n        \"no articulation found (0 links / 0 joints); rendering the stage as static scene geometry\",\n      );\n    }\n    const loadScene = this.options.loadSceneGeometry ?? isStaticScene;\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"]}