three-usd-robot 0.8.0 → 0.8.1

package/README.md

@@ -97,6 +97,25 @@ and `parseRobotDescription(data)` returns the Three.js-independent IR. Pass a
 `baseUrl` as the second `parse` argument if the layer has relative references
 or texture paths to resolve.
 
+### World up-axis & units
+
+Stages load normalized: `metersPerUnit` scales the root, and the authored
+`upAxis` (`"Y"` or `"Z"`) is rotated into your world convention via `worldUp`:
+
+```ts
+new ThreeUsdRobotLoader(); // default: "Y" — upright in a stock three.js scene
+new ThreeUsdRobotLoader({ worldUp: "Z" }); // robotics-style Z-up world
+new ThreeUsdRobotLoader({ worldUp: "keep" }); // leave the authored orientation
+
+robot.upAxis; // authored stage value ("Y" | "Z"), independent of normalization
+robot.metersPerUnit; // authored stage scale (already applied to the root)
+```
+
+Isaac Sim assets are Z-up, so the default makes them stand upright in a plain
+three.js scene; a Z-up app (ROS-style) passes `worldUp: "Z"` once instead of
+counter-rotating per asset. The M9 option `upAxisConversion` remains as a
+deprecated alias (`"auto"` ≡ `worldUp: "Y"`, `"none"` ≡ `"keep"`).
+
 ### Stable addressing (naming contract)
 
 Joints and links are keyed by their prim's **leaf name** while it is unique

package/dist/{ThreeUsdRobot-CsjraHqP.d.ts → ThreeUsdRobot-BZ_vlr1R.d.ts}

@@ -41,15 +41,25 @@ declare class LinkObject extends THREE.Object3D {
     constructor(link: LinkDescription);
 }
 
+/** Target world up-axis: normalize to Y-up / Z-up, or keep the authored orientation. */
+type WorldUpAxis = "Y" | "Z" | "keep";
 type ThreeUsdRobotOptions = {
     /** Clamp `setJointValue` to authored limits (default `true`). */
     clampJointLimits?: boolean;
     /** Size of the built-in joint-axis / link-frame helpers (stage units, default `0.15`). */
     helperSize?: number;
     /**
-     * Up-axis correction applied at the robot root. `"auto"` rotates Z-up assets
-     * into the Three.js Y-up scene; `"Z"` forces it, `"Y"`/`"none"` leave the
-     * orientation as authored. Default `"none"` (the loader defaults to `"auto"`).
+     * Target world up-axis. The root is rotated so the stage's authored `upAxis`
+     * lands in that convention: `"Y"` for a standard three.js scene, `"Z"` for a
+     * robotics-style Z-up world, `"keep"` for no correction. Takes precedence
+     * over the deprecated {@link ThreeUsdRobotOptions.upAxisConversion}.
+     */
+    worldUp?: WorldUpAxis;
+    /**
+     * Legacy up-axis correction: `"auto"` ≡ `worldUp: "Y"`, `"Y"` / `"none"` ≡
+     * `worldUp: "keep"`, and `"Z"` forces the Z-up→Y-up rotation regardless of
+     * stage metadata. Default `"none"` (the loader defaults to `"auto"`).
+     * @deprecated Use {@link ThreeUsdRobotOptions.worldUp}.
      */
     upAxisConversion?: "auto" | "Y" | "Z" | "none";
     /** Extra uniform scale multiplied with the stage `metersPerUnit` (default `1`). */
@@ -90,7 +100,7 @@ declare class ThreeUsdRobot extends THREE.Object3D {
     private jointAxesHelpers;
     private linkFrameHelpers;
     constructor(robot: RobotDescription, tree: KinematicTree, options?: ThreeUsdRobotOptions);
-    /** Orient (Z-up → Y-up) and scale (metersPerUnit × unitScale) the robot root. */
+    /** Orient (authored upAxis → target world up) and scale (metersPerUnit × unitScale) the root. */
     private applyStageNormalization;
     /** Apply each joint's authored initial value, if any. */
     private applyInitialPose;
@@ -137,6 +147,10 @@ declare class ThreeUsdRobot extends THREE.Object3D {
     getJointNames(): string[];
     getLinkNames(): string[];
     getKinematicTree(): KinematicTree;
+    /** Authored stage up-axis (`"Y"` or `"Z"`) — unaffected by `worldUp` normalization. */
+    get upAxis(): "Y" | "Z";
+    /** Authored stage scale in meters per unit (already applied to the root). */
+    get metersPerUnit(): number;
     /** Playback rate in time codes per second (from the stage; default 24). */
     getTimeCodesPerSecond(): number;
     /** Whether any joint has a time-sampled trajectory. */
@@ -162,4 +176,4 @@ declare class ThreeUsdRobot extends THREE.Object3D {
     private setKindVisibility;
 }
 
-export { JointObject as J, LinkObject as L, ThreeUsdRobot as T, type ThreeUsdRobotOptions as a };
+export { JointObject as J, LinkObject as L, ThreeUsdRobot as T, type WorldUpAxis as W, type ThreeUsdRobotOptions as a };

package/dist/{ThreeUsdRobotLoader-CxOGRLXH.d.ts → ThreeUsdRobotLoader-HteyMZf1.d.ts}

@@ -1,6 +1,6 @@
 import { R as RobotDescription } from './buildKinematicTree-D4R0hEtN.js';
 import { A as AssetResolver, U as UsdSource, B as BinarySource } from './bytes-MOJ2oN-u.js';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-CsjraHqP.js';
+import { W as WorldUpAxis, T as ThreeUsdRobot } from './ThreeUsdRobot-BZ_vlr1R.js';
 
 type ThreeUsdRobotLoaderOptions = {
     /** Resolver for references / payloads / sublayers (default {@link DefaultAssetResolver}). */
@@ -18,7 +18,17 @@ type ThreeUsdRobotLoaderOptions = {
     loadSceneGeometry?: boolean;
     /** Load diffuse textures referenced by materials (default `true`). */
     loadTextures?: boolean;
-    /** Up-axis correction strategy (M9). */
+    /**
+     * Target world up-axis. Any stage (Y-up or Z-up) is normalized into this
+     * convention: `"Y"` for a standard three.js scene (the default behavior),
+     * `"Z"` for a robotics-style Z-up world, `"keep"` to leave the authored
+     * orientation. Takes precedence over {@link upAxisConversion}.
+     */
+    worldUp?: WorldUpAxis;
+    /**
+     * Legacy up-axis correction (M9). Default `"auto"` ≡ `worldUp: "Y"`.
+     * @deprecated Use {@link worldUp}.
+     */
     upAxisConversion?: "auto" | "Y" | "Z" | "none";
     /** Extra uniform scale multiplied with `metersPerUnit` (M9). */
     unitScale?: number;

package/dist/{chunk-3CANZKP3.js → chunk-FUPFJOXW.js}

@@ -110,13 +110,18 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
     this.applyStageNormalization(robot, options);
     if (options.applyInitialPose ?? true) this.applyInitialPose(robot);
   }
-  /** Orient (Z-up → Y-up) and scale (metersPerUnit × unitScale) the robot root. */
+  /** 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";
-    const toY = conv === "Z" || conv === "auto" && robot.upAxis === "Z";
-    if (toY) this.quaternion.setFromAxisAngle(new THREE4.Vector3(1, 0, 0), -Math.PI / 2);
+    if (conv === "Z" || conv === "auto" && robot.upAxis === "Z") rotateX(-Math.PI / 2);
   }
   /** Apply each joint's authored initial value, if any. */
   applyInitialPose(robot) {
@@ -277,6 +282,14 @@ var ThreeUsdRobot = class extends THREE4.Object3D {
   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() {
@@ -370,5 +383,5 @@ function setMatrix(obj, m) {
 }
 
 export { JointObject, LinkObject, ThreeUsdRobot, axisVector };
-//# sourceMappingURL=chunk-3CANZKP3.js.map
-//# sourceMappingURL=chunk-3CANZKP3.js.map
+//# sourceMappingURL=chunk-FUPFJOXW.js.map
+//# sourceMappingURL=chunk-FUPFJOXW.js.map

package/dist/chunk-FUPFJOXW.js.map

@@ -0,0 +1 @@
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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"]}

package/dist/{chunk-YX5GIEMT.js → chunk-JHOX3VUW.js}

@@ -1,5 +1,5 @@
 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 { ThreeUsdRobot } from './chunk-FUPFJOXW.js';
 import { identity4, multiply } from './chunk-IYKPVUZ2.js';
 import * as THREE from 'three';
 
@@ -489,7 +489,7 @@ var ThreeUsdRobotLoader = class {
   }
   robotOptions() {
     return {
-      upAxisConversion: this.options.upAxisConversion ?? "auto",
+      ...this.options.worldUp ? { worldUp: this.options.worldUp } : { 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 } : {}
@@ -504,5 +504,5 @@ var ThreeUsdRobotLoader = class {
 };
 
 export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildMeshGeometry, buildMeshMaterial, createTextureProvider };
-//# sourceMappingURL=chunk-YX5GIEMT.js.map
-//# sourceMappingURL=chunk-YX5GIEMT.js.map
+//# sourceMappingURL=chunk-JHOX3VUW.js.map
+//# sourceMappingURL=chunk-JHOX3VUW.js.map

package/dist/chunk-JHOX3VUW.js.map

@@ -0,0 +1 @@
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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, type WorldUpAxis } 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  /**\n   * Target world up-axis. Any stage (Y-up or Z-up) is normalized into this\n   * convention: `\"Y\"` for a standard three.js scene (the default behavior),\n   * `\"Z\"` for a robotics-style Z-up world, `\"keep\"` to leave the authored\n   * orientation. Takes precedence over {@link upAxisConversion}.\n   */\n  worldUp?: WorldUpAxis;\n  /**\n   * Legacy up-axis correction (M9). Default `\"auto\"` ≡ `worldUp: \"Y\"`.\n   * @deprecated Use {@link worldUp}.\n   */\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      ...(this.options.worldUp\n        ? { worldUp: this.options.worldUp }\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"]}

package/dist/extras.d.ts

@@ -1,4 +1,4 @@
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-CsjraHqP.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-BZ_vlr1R.js';
 import 'three';
 import './buildKinematicTree-D4R0hEtN.js';
 

package/dist/helpers.d.ts

@@ -1,5 +1,5 @@
 import * as THREE from 'three';
-import { T as ThreeUsdRobot, J as JointObject } from './ThreeUsdRobot-CsjraHqP.js';
+import { T as ThreeUsdRobot, J as JointObject } from './ThreeUsdRobot-BZ_vlr1R.js';
 import './buildKinematicTree-D4R0hEtN.js';
 
 /**

package/dist/helpers.js

@@ -1,4 +1,4 @@
-import { ThreeUsdRobot } from './chunk-3CANZKP3.js';
+import { ThreeUsdRobot } from './chunk-FUPFJOXW.js';
 import './chunk-IYKPVUZ2.js';
 import * as THREE3 from 'three';
 

package/dist/index.d.ts

@@ -3,11 +3,11 @@ export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, ComposeOptions, CrateR
 import * as THREE from 'three';
 import { A as Axis, V as Vec2, b as Vec3, R as RobotDescription, c as JointDriveDescription, d as LinkInertialDescription, K as KinematicTree, U as UsdaFile, M as Mat4 } from './buildKinematicTree-D4R0hEtN.js';
 export { e as AssetPath, f as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEG2RAD, a as JointDescription, J as JointType, g as KinematicNode, L as LinkDescription, h as ListOp, i as MetadataMap, P as PrimSpec, j as PropertySpec, Q as Quat, k as RAD2DEG, l as RelationshipSpec, S as SampleChannel, m as SdfPath, n as Specifier, T as TreeEdge, o as UsdDictionary, p as UsdMatrix, q as UsdValue, r as Variability, s as Vec4, t as buildKinematicTree, u as channelFromSamples, v as decomposeRigid, w as fromUsdMatrix, x as getTranslation, y as identity4, z as interpolate, E as invert, F as makeEuler, G as makeRotationFromQuat, H as makeRotationX, I as makeRotationY, N as makeRotationZ, O as makeScale, W as makeTranslation, X as multiply, Y as multiplyAll, Z as toUsdMatrix } from './buildKinematicTree-D4R0hEtN.js';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-CsjraHqP.js';
-export { J as JointObject, L as LinkObject, a as ThreeUsdRobotOptions } from './ThreeUsdRobot-CsjraHqP.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-BZ_vlr1R.js';
+export { J as JointObject, L as LinkObject, a as ThreeUsdRobotOptions, W as WorldUpAxis } from './ThreeUsdRobot-BZ_vlr1R.js';
 import { A as AssetResolver } from './bytes-MOJ2oN-u.js';
 export { B as BinarySource, D as DefaultAssetResolver, U as UsdSource, c as createMemoryResolver, j as joinPosix, t as toBytes } from './bytes-MOJ2oN-u.js';
-export { a as ThreeUsdRobotLoader, T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-CxOGRLXH.js';
+export { a as ThreeUsdRobotLoader, T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-HteyMZf1.js';
 
 /** Unit vector for a USD joint axis token. Returns a fresh vector each call. */
 declare function axisVector(axis: Axis): THREE.Vector3;

package/dist/index.js

@@ -1,9 +1,9 @@
 import { stageGeometryProvider, exportRobotUsda } from './chunk-P6CHTMGW.js';
 export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-P6CHTMGW.js';
-export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildMeshGeometry, buildMeshMaterial, createTextureProvider } from './chunk-YX5GIEMT.js';
+export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildMeshGeometry, buildMeshMaterial, createTextureProvider } from './chunk-JHOX3VUW.js';
 import { refineJointType, buildKinematicTree } from './chunk-PHHMWMCA.js';
 export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DefaultAssetResolver, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isMesh, isRenderableGprim, isScope, isSolidGprim, isXform, isZip, iterDescendants, joinPosix, jointValueFromSI, jointValueToSI, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, resolveBoundMaterial, serializeUsda, toBytes, tokenize } from './chunk-PHHMWMCA.js';
-export { JointObject, LinkObject, ThreeUsdRobot, axisVector } from './chunk-3CANZKP3.js';
+export { JointObject, LinkObject, ThreeUsdRobot, axisVector } from './chunk-FUPFJOXW.js';
 import { identity4, multiply, invert } from './chunk-IYKPVUZ2.js';
 export { AssetPath, DEG2RAD, Quat, RAD2DEG, UsdMatrix, channelFromSamples, decomposeRigid, fromUsdMatrix, getTranslation, identity4, interpolate, invert, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, toUsdMatrix } from './chunk-IYKPVUZ2.js';
 import * as THREE from 'three';

package/dist/react.d.ts

@@ -1,8 +1,8 @@
 import * as _react_three_fiber from '@react-three/fiber';
 import { ThreeElements } from '@react-three/fiber';
 import * as React from 'react';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-CsjraHqP.js';
-import { T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-CxOGRLXH.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-BZ_vlr1R.js';
+import { T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-HteyMZf1.js';
 import 'three';
 import './buildKinematicTree-D4R0hEtN.js';
 import './bytes-MOJ2oN-u.js';

package/dist/react.js

@@ -1,6 +1,6 @@
-import { ThreeUsdRobotLoader } from './chunk-YX5GIEMT.js';
+import { ThreeUsdRobotLoader } from './chunk-JHOX3VUW.js';
 import './chunk-PHHMWMCA.js';
-import './chunk-3CANZKP3.js';
+import './chunk-FUPFJOXW.js';
 import './chunk-IYKPVUZ2.js';
 import { useFrame } from '@react-three/fiber';
 import * as React from 'react';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "three-usd-robot",
-  "version": "0.8.0",
+  "version": "0.8.1",
   "description": "Kinematic OpenUSD robot loader for Three.js — load Isaac Sim / OpenUSD robot assets, extract joints and links, and control articulations in the browser.",
   "type": "module",
   "license": "MIT",

package/dist/chunk-3CANZKP3.js.map

@@ -1 +0,0 @@
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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\nexport type ThreeUsdRobotOptions = {\n  /** Clamp `setJointValue` to authored limits (default `true`). */\n  clampJointLimits?: boolean;\n  /** Size of the built-in joint-axis / link-frame helpers (stage units, default `0.15`). */\n  helperSize?: number;\n  /**\n   * Up-axis correction applied at the robot root. `\"auto\"` rotates Z-up assets\n   * into the Three.js Y-up scene; `\"Z\"` forces it, `\"Y\"`/`\"none\"` leave the\n   * orientation as authored. Default `\"none\"` (the loader defaults to `\"auto\"`).\n   */\n  upAxisConversion?: \"auto\" | \"Y\" | \"Z\" | \"none\";\n  /** Extra uniform scale multiplied with the stage `metersPerUnit` (default `1`). */\n  unitScale?: number;\n  /** Seed joints from their authored initial value (drive target / joint state). Default `true`. */\n  applyInitialPose?: boolean;\n};\n\n/**\n * A Three.js `Object3D` that realizes a {@link RobotDescription} as a kinematic\n * hierarchy and drives forward kinematics via {@link setJointValue}.\n *\n * Per joint the hierarchy is\n * `parentLink → jointFrame0 → jointMotion → jointFrame1⁻¹ → childLink`,\n * where only `jointMotion` (a {@link JointObject}) changes with the joint value;\n * world poses then fall out of Three.js's `updateMatrixWorld`.\n *\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 (Z-up → Y-up) and scale (metersPerUnit × unitScale) the robot root. */\n  private applyStageNormalization(robot: RobotDescription, options: ThreeUsdRobotOptions): void {\n    const scale = (robot.metersPerUnit || 1) * (options.unitScale ?? 1);\n    if (scale !== 1) this.scale.setScalar(scale);\n\n    const conv = options.upAxisConversion ?? \"none\";\n    const toY = conv === \"Z\" || (conv === \"auto\" && robot.upAxis === \"Z\");\n    if (toY) this.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), -Math.PI / 2);\n  }\n\n  /** Apply each joint's authored initial value, if any. */\n  private applyInitialPose(robot: RobotDescription): void {\n    for (const [key, joint] of Object.entries(robot.joints)) {\n      if (joint.initialValue === undefined) continue;\n      this.jointObjects.get(key)?.setValue(joint.initialValue, this.clampJointLimits);\n    }\n    this.dirty = true;\n  }\n\n  private attachRoot(): void {\n    const rootObj = this.linkObjects.get(this.tree.root);\n    if (!rootObj) return; // empty robot\n    const rootJointKey = this.tree.rootJoint;\n    const rootLink = this.robot.links[this.tree.root];\n    if (rootJointKey) {\n      const j = this.robot.joints[rootJointKey];\n      // World-fixed placement: jointFrame0 (in world) · inverse(jointFrame1).\n      if (j) setMatrix(rootObj, multiply(j.jointFrame0, invert(j.jointFrame1)));\n    } else if (rootLink?.worldTransform) {\n      // Floating base: keep the authored stage placement.\n      setMatrix(rootObj, rootLink.worldTransform);\n    }\n    this.add(rootObj);\n  }\n\n  private attachTreeEdges(): void {\n    for (const linkKey of this.tree.order) {\n      const node = this.tree.nodes[linkKey];\n      if (!node || node.parent === null || node.jointToParent === null) continue;\n\n      const parentObj = this.linkObjects.get(node.parent);\n      const childObj = this.linkObjects.get(linkKey);\n      const joint = this.robot.joints[node.jointToParent];\n      if (!parentObj || !childObj || !joint) continue;\n\n      this.attachJointChain(parentObj, childObj, node.jointToParent, joint);\n    }\n  }\n\n  /** Build `parent → frame0 → motion → frame1⁻¹ → child` for one joint. */\n  private attachJointChain(\n    parent: LinkObject,\n    child: LinkObject,\n    jointKey: string,\n    joint: JointDescription,\n  ): void {\n    const frame0 = new THREE.Group();\n    frame0.name = `${joint.name}:frame0`;\n    setMatrix(frame0, joint.jointFrame0);\n\n    const motion = new JointObject(joint);\n\n    const frame1Inv = new THREE.Group();\n    frame1Inv.name = `${joint.name}:frame1Inv`;\n    setMatrix(frame1Inv, invert(joint.jointFrame1));\n\n    parent.add(frame0);\n    frame0.add(motion);\n    motion.add(frame1Inv);\n    frame1Inv.add(child);\n\n    this.jointObjects.set(jointKey, motion);\n  }\n\n  private attachIsolatedLinks(): void {\n    for (const key of this.tree.isolatedLinks) {\n      const obj = this.linkObjects.get(key);\n      if (!obj || obj.parent) continue;\n      // Not placeable by any joint chain — keep the authored stage placement\n      // (other machines / free bodies on a multi-articulation stage).\n      const worldTransform = this.robot.links[key]?.worldTransform;\n      if (worldTransform) setMatrix(obj, worldTransform);\n      this.add(obj);\n    }\n  }\n\n  // -- 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  // -- 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"]}

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"]}