three-usd-robot 0.7.0 → 0.8.1

package/dist/chunk-FUPFJOXW.js

@@ -0,0 +1,387 @@
+import { multiply, invert, interpolate } from './chunk-IYKPVUZ2.js';
+import * as THREE4 from 'three';
+
+function axisVector(axis) {
+  switch (axis) {
+    case "X":
+      return new THREE4.Vector3(1, 0, 0);
+    case "Y":
+      return new THREE4.Vector3(0, 1, 0);
+    case "Z":
+      return new THREE4.Vector3(0, 0, 1);
+  }
+}
+var JointObject = class extends THREE4.Object3D {
+  isJointObject = true;
+  jointName;
+  /** Full USD prim path of the joint — the collision-proof address. */
+  primPath;
+  jointType;
+  axisToken;
+  axis;
+  lower;
+  upper;
+  _value = 0;
+  constructor(joint) {
+    super();
+    this.name = joint.name;
+    this.jointName = joint.name;
+    this.primPath = joint.primPath;
+    this.jointType = joint.type;
+    this.axisToken = joint.axis;
+    this.axis = axisVector(joint.axis);
+    this.lower = joint.lower;
+    this.upper = joint.upper;
+  }
+  get value() {
+    return this._value;
+  }
+  get articulated() {
+    return this.jointType !== "fixed";
+  }
+  /**
+   * Set the joint value (radians for revolute/continuous, length for prismatic).
+   * Optionally clamps to authored limits. Returns the value actually applied.
+   */
+  setValue(value, clampToLimits = true) {
+    if (!this.articulated) return this._value;
+    let v = value;
+    if (clampToLimits) {
+      if (this.lower !== void 0 && v < this.lower) v = this.lower;
+      if (this.upper !== void 0 && v > this.upper) v = this.upper;
+    }
+    this._value = v;
+    if (this.jointType === "prismatic") {
+      this.position.copy(this.axis).multiplyScalar(v);
+      this.quaternion.identity();
+    } else {
+      this.quaternion.setFromAxisAngle(this.axis, v);
+      this.position.set(0, 0, 0);
+    }
+    return v;
+  }
+};
+var LinkObject = class extends THREE4.Object3D {
+  isLinkObject = true;
+  linkName;
+  primPath;
+  constructor(link) {
+    super();
+    this.name = link.name;
+    this.linkName = link.name;
+    this.primPath = link.primPath;
+    this.matrixAutoUpdate = false;
+  }
+};
+var ThreeUsdRobot = class extends THREE4.Object3D {
+  isThreeUsdRobot = true;
+  robot;
+  tree;
+  clampJointLimits;
+  linkObjects = /* @__PURE__ */ new Map();
+  jointObjects = /* @__PURE__ */ new Map();
+  linkKeyByPath = /* @__PURE__ */ new Map();
+  jointKeyByPath = /* @__PURE__ */ new Map();
+  dirty = true;
+  helperSize;
+  _showVisual = true;
+  _showCollision = false;
+  _showJointAxes = false;
+  _showLinkFrames = false;
+  jointAxesHelpers = [];
+  linkFrameHelpers = [];
+  constructor(robot, tree, options = {}) {
+    super();
+    this.name = robot.name;
+    this.robot = robot;
+    this.tree = tree;
+    this.clampJointLimits = options.clampJointLimits ?? true;
+    this.helperSize = options.helperSize ?? 0.15;
+    for (const [key, link] of Object.entries(robot.links)) {
+      this.linkObjects.set(key, new LinkObject(link));
+      this.linkKeyByPath.set(link.primPath, key);
+    }
+    for (const [key, joint] of Object.entries(robot.joints)) {
+      this.jointKeyByPath.set(joint.primPath, key);
+    }
+    this.attachRoot();
+    this.attachTreeEdges();
+    this.attachIsolatedLinks();
+    this.applyStageNormalization(robot, options);
+    if (options.applyInitialPose ?? true) this.applyInitialPose(robot);
+  }
+  /** Orient (authored upAxis → target world up) and scale (metersPerUnit × unitScale) the root. */
+  applyStageNormalization(robot, options) {
+    const scale = (robot.metersPerUnit || 1) * (options.unitScale ?? 1);
+    if (scale !== 1) this.scale.setScalar(scale);
+    const rotateX = (angle) => this.quaternion.setFromAxisAngle(new THREE4.Vector3(1, 0, 0), angle);
+    if (options.worldUp) {
+      if (options.worldUp === "Y" && robot.upAxis === "Z") rotateX(-Math.PI / 2);
+      else if (options.worldUp === "Z" && robot.upAxis === "Y") rotateX(Math.PI / 2);
+      return;
+    }
+    const conv = options.upAxisConversion ?? "none";
+    if (conv === "Z" || conv === "auto" && robot.upAxis === "Z") rotateX(-Math.PI / 2);
+  }
+  /** Apply each joint's authored initial value, if any. */
+  applyInitialPose(robot) {
+    for (const [key, joint] of Object.entries(robot.joints)) {
+      if (joint.initialValue === void 0) continue;
+      this.jointObjects.get(key)?.setValue(joint.initialValue, this.clampJointLimits);
+    }
+    this.dirty = true;
+  }
+  attachRoot() {
+    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);
+  }
+  attachTreeEdges() {
+    for (const linkKey of this.tree.order) {
+      const node = this.tree.nodes[linkKey];
+      if (!node || node.parent === null || node.jointToParent === null) continue;
+      const parentObj = this.linkObjects.get(node.parent);
+      const childObj = this.linkObjects.get(linkKey);
+      const joint = this.robot.joints[node.jointToParent];
+      if (!parentObj || !childObj || !joint) continue;
+      this.attachJointChain(parentObj, childObj, node.jointToParent, joint);
+    }
+  }
+  /** Build `parent → frame0 → motion → frame1⁻¹ → child` for one joint. */
+  attachJointChain(parent, child, jointKey, joint) {
+    const frame0 = new THREE4.Group();
+    frame0.name = `${joint.name}:frame0`;
+    setMatrix(frame0, joint.jointFrame0);
+    const motion = new JointObject(joint);
+    const frame1Inv = new THREE4.Group();
+    frame1Inv.name = `${joint.name}:frame1Inv`;
+    setMatrix(frame1Inv, invert(joint.jointFrame1));
+    parent.add(frame0);
+    frame0.add(motion);
+    motion.add(frame1Inv);
+    frame1Inv.add(child);
+    this.jointObjects.set(jointKey, motion);
+  }
+  attachIsolatedLinks() {
+    for (const key of this.tree.isolatedLinks) {
+      const obj = this.linkObjects.get(key);
+      if (!obj || obj.parent) continue;
+      const worldTransform = this.robot.links[key]?.worldTransform;
+      if (worldTransform) setMatrix(obj, worldTransform);
+      this.add(obj);
+    }
+  }
+  // -- Naming --------------------------------------------------------------
+  /** Resolve a link reference — key or full prim path — to the extractor key. */
+  linkKey(ref) {
+    if (this.linkObjects.has(ref)) return ref;
+    return this.linkKeyByPath.get(ref) ?? ref;
+  }
+  /** Resolve a joint reference — key or full prim path — to the extractor key. */
+  jointKey(ref) {
+    if (this.jointObjects.has(ref)) return ref;
+    return this.jointKeyByPath.get(ref) ?? ref;
+  }
+  // -- Joint control -------------------------------------------------------
+  /**
+   * Set one joint value, addressed by key or full prim path. Unknown joints
+   * are ignored. Returns whether it applied.
+   */
+  setJointValue(name, value) {
+    const joint = this.jointObjects.get(this.jointKey(name));
+    if (!joint) return false;
+    joint.setValue(value, this.clampJointLimits);
+    this.dirty = true;
+    return true;
+  }
+  /** Set several joint values at once (matrix update is coalesced). */
+  setJointValues(values) {
+    for (const [name, value] of Object.entries(values)) {
+      const joint = this.jointObjects.get(this.jointKey(name));
+      if (joint) {
+        joint.setValue(value, this.clampJointLimits);
+        this.dirty = true;
+      }
+    }
+  }
+  getJointValue(name) {
+    return this.jointObjects.get(this.jointKey(name))?.value;
+  }
+  /** Recompute world matrices. Called lazily by the getters; safe to call directly. */
+  updateKinematics() {
+    this.updateMatrixWorld(true);
+    this.dirty = false;
+  }
+  ensureUpdated() {
+    if (this.dirty) this.updateKinematics();
+  }
+  // -- Queries -------------------------------------------------------------
+  /** World matrix of a link, addressed by key or full prim path. */
+  getLinkWorldMatrix(name) {
+    const obj = this.linkObjects.get(this.linkKey(name));
+    if (!obj) throw new Error(`unknown link "${name}"`);
+    this.ensureUpdated();
+    return obj.matrixWorld.clone();
+  }
+  getLinkWorldPosition(name) {
+    return new THREE4.Vector3().setFromMatrixPosition(this.getLinkWorldMatrix(name));
+  }
+  /** Link object by key or full prim path. */
+  getLinkObject(name) {
+    return this.linkObjects.get(this.linkKey(name));
+  }
+  /** Joint object by key or full prim path. */
+  getJointObject(name) {
+    return this.jointObjects.get(this.jointKey(name));
+  }
+  /**
+   * Table of link prim path → {@link LinkObject}. Prim paths are the
+   * collision-proof way to pin a link (e.g. to attach tools or gizmos).
+   */
+  getLinkObjectsByPath() {
+    const out = /* @__PURE__ */ new Map();
+    for (const [path, key] of this.linkKeyByPath) {
+      const obj = this.linkObjects.get(key);
+      if (obj) out.set(path, obj);
+    }
+    return out;
+  }
+  /**
+   * Table of joint prim path → {@link JointObject}, covering the joints
+   * realized in the kinematic tree (loop joints have no motion node).
+   */
+  getJointObjectsByPath() {
+    const out = /* @__PURE__ */ new Map();
+    for (const [path, key] of this.jointKeyByPath) {
+      const obj = this.jointObjects.get(key);
+      if (obj) out.set(path, obj);
+    }
+    return out;
+  }
+  getJoints() {
+    return Object.values(this.robot.joints);
+  }
+  getLinks() {
+    return Object.values(this.robot.links);
+  }
+  /** Names of the articulated (controllable) joints. */
+  getJointNames() {
+    return [...this.jointObjects.keys()];
+  }
+  getLinkNames() {
+    return [...this.linkObjects.keys()];
+  }
+  getKinematicTree() {
+    return this.tree;
+  }
+  /** Authored stage up-axis (`"Y"` or `"Z"`) — unaffected by `worldUp` normalization. */
+  get upAxis() {
+    return this.robot.upAxis;
+  }
+  /** Authored stage scale in meters per unit (already applied to the root). */
+  get metersPerUnit() {
+    return this.robot.metersPerUnit;
+  }
+  // -- Animation playback --------------------------------------------------
+  /** Playback rate in time codes per second (from the stage; default 24). */
+  getTimeCodesPerSecond() {
+    return this.robot.timeCodesPerSecond ?? 24;
+  }
+  /** Whether any joint has a time-sampled trajectory. */
+  hasAnimation() {
+    return Object.values(this.robot.joints).some((j) => j.valueSamples !== void 0);
+  }
+  /**
+   * Animation range in time codes: the union of authored joint sample ranges,
+   * falling back to the stage `startTimeCode`/`endTimeCode`. `null` if neither.
+   */
+  getTimeRange() {
+    let start = Number.POSITIVE_INFINITY;
+    let end = Number.NEGATIVE_INFINITY;
+    for (const joint of Object.values(this.robot.joints)) {
+      const times = joint.valueSamples?.times;
+      if (!times || times.length === 0) continue;
+      start = Math.min(start, times[0]);
+      end = Math.max(end, times[times.length - 1]);
+    }
+    if (start <= end) return { start, end };
+    const { startTimeCode, endTimeCode } = this.robot;
+    if (startTimeCode !== void 0 && endTimeCode !== void 0) {
+      return { start: startTimeCode, end: endTimeCode };
+    }
+    return null;
+  }
+  /** Sample every animated joint at time code `t` and apply the values. */
+  setTime(t) {
+    for (const [key, joint] of Object.entries(this.robot.joints)) {
+      if (joint.valueSamples) this.setJointValue(key, interpolate(joint.valueSamples, t));
+    }
+  }
+  // -- Display toggles -----------------------------------------------------
+  get showVisual() {
+    return this._showVisual;
+  }
+  set showVisual(v) {
+    this._showVisual = v;
+    this.setKindVisibility("visual", v);
+  }
+  get showCollision() {
+    return this._showCollision;
+  }
+  set showCollision(v) {
+    this._showCollision = v;
+    this.setKindVisibility("collision", v);
+  }
+  get showJointAxes() {
+    return this._showJointAxes;
+  }
+  set showJointAxes(v) {
+    this._showJointAxes = v;
+    if (v && this.jointAxesHelpers.length === 0) {
+      for (const joint of this.jointObjects.values()) {
+        const h = new THREE4.AxesHelper(this.helperSize);
+        h.name = `${joint.jointName}:axes`;
+        joint.add(h);
+        this.jointAxesHelpers.push(h);
+      }
+    }
+    for (const h of this.jointAxesHelpers) h.visible = v;
+  }
+  get showLinkFrames() {
+    return this._showLinkFrames;
+  }
+  set showLinkFrames(v) {
+    this._showLinkFrames = v;
+    if (v && this.linkFrameHelpers.length === 0) {
+      for (const link of this.linkObjects.values()) {
+        const h = new THREE4.AxesHelper(this.helperSize);
+        h.name = `${link.linkName}:frame`;
+        link.add(h);
+        this.linkFrameHelpers.push(h);
+      }
+    }
+    for (const h of this.linkFrameHelpers) h.visible = v;
+  }
+  setKindVisibility(kind, visible) {
+    this.traverse((o) => {
+      if (o.userData.kind === kind) o.visible = visible;
+    });
+  }
+};
+function setMatrix(obj, m) {
+  obj.matrixAutoUpdate = false;
+  obj.matrix.fromArray(m);
+  obj.matrixWorldNeedsUpdate = true;
+}
+
+export { JointObject, LinkObject, ThreeUsdRobot, axisVector };
+//# sourceMappingURL=chunk-FUPFJOXW.js.map
+//# sourceMappingURL=chunk-FUPFJOXW.js.map

package/dist/chunk-FUPFJOXW.js.map

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* 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  /** Full USD prim path of the joint — the collision-proof address. */\n  readonly primPath: 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.primPath = joint.primPath;\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","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\n/** Target world up-axis: normalize to Y-up / Z-up, or keep the authored orientation. */\nexport type WorldUpAxis = \"Y\" | \"Z\" | \"keep\";\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   * Target world up-axis. The root is rotated so the stage's authored `upAxis`\n   * lands in that convention: `\"Y\"` for a standard three.js scene, `\"Z\"` for a\n   * robotics-style Z-up world, `\"keep\"` for no correction. Takes precedence\n   * over the deprecated {@link ThreeUsdRobotOptions.upAxisConversion}.\n   */\n  worldUp?: WorldUpAxis;\n  /**\n   * Legacy up-axis correction: `\"auto\"` ≡ `worldUp: \"Y\"`, `\"Y\"` / `\"none\"` ≡\n   * `worldUp: \"keep\"`, and `\"Z\"` forces the Z-up→Y-up rotation regardless of\n   * stage metadata. Default `\"none\"` (the loader defaults to `\"auto\"`).\n   * @deprecated Use {@link ThreeUsdRobotOptions.worldUp}.\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 *\n * **Naming contract** — a link/joint's key is its prim's leaf name when that\n * is unique across the robot, else its full prim path (deterministic; see the\n * extractor). Every accessor taking a name equally accepts the full prim path,\n * which is stable regardless of collisions; {@link getLinkObjectsByPath} /\n * {@link getJointObjectsByPath} enumerate the path-keyed tables.\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 readonly linkKeyByPath = new Map<string, string>();\n  private readonly jointKeyByPath = new Map<string, string>();\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; index links and joints by path.\n    for (const [key, link] of Object.entries(robot.links)) {\n      this.linkObjects.set(key, new LinkObject(link));\n      this.linkKeyByPath.set(link.primPath, key);\n    }\n    for (const [key, joint] of Object.entries(robot.joints)) {\n      this.jointKeyByPath.set(joint.primPath, key);\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 (authored upAxis → target world up) and scale (metersPerUnit × unitScale) the 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 rotateX = (angle: number) =>\n      this.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), angle);\n\n    if (options.worldUp) {\n      if (options.worldUp === \"Y\" && robot.upAxis === \"Z\") rotateX(-Math.PI / 2);\n      else if (options.worldUp === \"Z\" && robot.upAxis === \"Y\") rotateX(Math.PI / 2);\n      return; // matching axis or \"keep\": leave as authored\n    }\n    const conv = options.upAxisConversion ?? \"none\";\n    if (conv === \"Z\" || (conv === \"auto\" && robot.upAxis === \"Z\")) rotateX(-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  // -- Naming --------------------------------------------------------------\n\n  /** Resolve a link reference — key or full prim path — to the extractor key. */\n  private linkKey(ref: string): string {\n    if (this.linkObjects.has(ref)) return ref;\n    return this.linkKeyByPath.get(ref) ?? ref;\n  }\n\n  /** Resolve a joint reference — key or full prim path — to the extractor key. */\n  private jointKey(ref: string): string {\n    if (this.jointObjects.has(ref)) return ref;\n    return this.jointKeyByPath.get(ref) ?? ref;\n  }\n\n  // -- Joint control -------------------------------------------------------\n\n  /**\n   * Set one joint value, addressed by key or full prim path. Unknown joints\n   * are ignored. Returns whether it applied.\n   */\n  setJointValue(name: string, value: number): boolean {\n    const joint = this.jointObjects.get(this.jointKey(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(this.jointKey(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(this.jointKey(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  /** World matrix of a link, addressed by key or full prim path. */\n  getLinkWorldMatrix(name: string): THREE.Matrix4 {\n    const obj = this.linkObjects.get(this.linkKey(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  /** Link object by key or full prim path. */\n  getLinkObject(name: string): LinkObject | undefined {\n    return this.linkObjects.get(this.linkKey(name));\n  }\n\n  /** Joint object by key or full prim path. */\n  getJointObject(name: string): JointObject | undefined {\n    return this.jointObjects.get(this.jointKey(name));\n  }\n\n  /**\n   * Table of link prim path → {@link LinkObject}. Prim paths are the\n   * collision-proof way to pin a link (e.g. to attach tools or gizmos).\n   */\n  getLinkObjectsByPath(): Map<string, LinkObject> {\n    const out = new Map<string, LinkObject>();\n    for (const [path, key] of this.linkKeyByPath) {\n      const obj = this.linkObjects.get(key);\n      if (obj) out.set(path, obj);\n    }\n    return out;\n  }\n\n  /**\n   * Table of joint prim path → {@link JointObject}, covering the joints\n   * realized in the kinematic tree (loop joints have no motion node).\n   */\n  getJointObjectsByPath(): Map<string, JointObject> {\n    const out = new Map<string, JointObject>();\n    for (const [path, key] of this.jointKeyByPath) {\n      const obj = this.jointObjects.get(key);\n      if (obj) out.set(path, obj);\n    }\n    return out;\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  /** Authored stage up-axis (`\"Y\"` or `\"Z\"`) — unaffected by `worldUp` normalization. */\n  get upAxis(): \"Y\" | \"Z\" {\n    return this.robot.upAxis;\n  }\n\n  /** Authored stage scale in meters per unit (already applied to the root). */\n  get metersPerUnit(): number {\n    return this.robot.metersPerUnit;\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"]}