three-usd-robot 0.9.0 → 0.10.0

package/dist/index.d.ts

@@ -1,13 +1,13 @@
 import { CollisionApproximation, ExportPhysicsMaterial, RobotGeometryProvider, ExportRobotOptions, ExportMaterial, ExportMesh } from './core.js';
-export { ARTICULATION_ROOT_API, COLLISION_API, ComposeOptions, CrateReader, ExtractOptions, MASS_API, MESH_COLLISION_API, PACKAGE_NAME, PHYSICS_MATERIAL_API, ParseError, RIGID_BODY_API, ResolvedXform, TextureChannel, TokenizeError, UsdzPackage, VERSION, ValidateRobotOptions, ValidationIssue, ValidationSeverity, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, exportRobotUsda, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isMesh, isRenderableGprim, isScope, isSolidGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, stageGeometryProvider, tokenize, validateRobotDescription, writeUsdz } from './core.js';
+export { ARTICULATION_ROOT_API, COLLISION_API, ComposeOptions, CrateReader, ExtractOptions, MASS_API, MESH_COLLISION_API, PACKAGE_NAME, PHYSICS_MATERIAL_API, ParseError, RIGID_BODY_API, ResolvedXform, TextureChannel, TokenizeError, UsdzPackage, VERSION, ValidateRobotOptions, ValidationIssue, ValidationSeverity, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, exportRobotUsda, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, stageGeometryProvider, tokenize, validateRobotDescription, writeUsdz } from './core.js';
 import * as THREE from 'three';
-import { A as Axis, V as Vec2, b as Vec3, S as Stage, P as Prim, R as RobotDescription, c as JointDriveDescription, d as LinkInertialDescription, K as KinematicTree, U as UsdaFile, M as Mat4 } from './buildKinematicTree-DQ4Vr4sJ.js';
-export { e as AssetPath, f as Attribute, g as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, h as DEG2RAD, a as JointDescription, J as JointType, i as KinematicNode, j as Layer, L as LinkDescription, k as ListOp, l as MetadataMap, m as PrimSpec, n as PropertySpec, Q as Quat, o as RAD2DEG, p as Relationship, q as RelationshipSpec, r as SampleChannel, s as SdfPath, t as Specifier, T as TreeEdge, u as UpAxis, v as UsdDictionary, w as UsdMatrix, x as UsdValue, y as Variability, z as Vec4, E as buildKinematicTree, F as channelFromSamples, G as decomposeRigid, H as fromUsdMatrix, I as getTranslation, N as identity4, O as interpolate, W as invert, X as makeEuler, Y as makeRotationFromQuat, Z as makeRotationX, _ as makeRotationY, $ as makeRotationZ, a0 as makeScale, a1 as makeTranslation, a2 as multiply, a3 as multiplyAll, a4 as toUsdMatrix } from './buildKinematicTree-DQ4Vr4sJ.js';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-BAh-48DD.js';
-export { J as JointObject, L as LinkObject, a as ThreeUsdRobotOptions, W as WorldUpAxis } from './ThreeUsdRobot-BAh-48DD.js';
+import { A as Axis, V as Vec2, b as Vec3, S as Stage, P as Prim, R as RobotDescription, c as JointDriveDescription, d as LinkInertialDescription, K as KinematicTree, U as UsdaFile, M as Mat4 } from './buildKinematicTree-BCySuZZn.js';
+export { e as AssetPath, f as Attribute, g as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, h as DEG2RAD, a as JointDescription, J as JointType, i as KinematicNode, j as Layer, L as LinkDescription, k as ListOp, l as MetadataMap, m as PrimSpec, n as PropertySpec, Q as Quat, o as RAD2DEG, p as Relationship, q as RelationshipSpec, r as SampleChannel, s as SdfPath, t as Specifier, T as TreeEdge, u as UpAxis, v as UsdDictionary, w as UsdMatrix, x as UsdValue, y as Variability, z as Vec4, E as buildKinematicTree, F as channelFromSamples, G as decomposeRigid, H as fromUsdMatrix, I as getTranslation, N as identity4, O as interpolate, W as invert, X as makeEuler, Y as makeRotationFromQuat, Z as makeRotationX, _ as makeRotationY, $ as makeRotationZ, a0 as makeScale, a1 as makeTranslation, a2 as multiply, a3 as multiplyAll, a4 as toUsdMatrix } from './buildKinematicTree-BCySuZZn.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-B7Z4oORO.js';
+export { J as JointObject, L as LinkObject, a as ThreeUsdRobotOptions, W as WorldUpAxis } from './ThreeUsdRobot-B7Z4oORO.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-DYtvelif.js';
+export { a as ThreeUsdRobotLoader, T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-NdFAVN96.js';
 
 /** Unit vector for a USD joint axis token. Returns a fresh vector each call. */
 declare function axisVector(axis: Axis): THREE.Vector3;
@@ -47,6 +47,19 @@ type ResolvedTexture = {
     scale?: [number, number, number, number];
     /** `inputs:bias` — added to the sampled value. */
     bias?: [number, number, number, number];
+    /**
+     * UV-set (primvar) name the texture reads, resolved through the `inputs:st`
+     * connection to a `UsdPrimvarReader_float2.inputs:varname`. Absent ⇒ `"st"`.
+     */
+    uvSet?: string;
+    /** `inputs:sourceColorSpace` — overrides the per-channel colorspace default. */
+    sourceColorSpace?: "raw" | "sRGB" | "auto";
+    /**
+     * Which output the consuming input connects to (`outputs:r` → `"r"`, …).
+     * three.js samples fixed channels (roughness = G, metalness = B, ao = R);
+     * a mismatch is surfaced as a load warning.
+     */
+    outputChannel?: "r" | "g" | "b" | "a" | "rgb";
 };
 type ResolvedMaterial = {
     /** Name of the bound `Material` prim, for round-tripping and debugging. */
@@ -61,6 +74,16 @@ type ResolvedMaterial = {
      * clip / cutout); when `0`/absent, sub-unit opacity blends translucently.
      */
     opacityThreshold?: number;
+    /** `inputs:ior` — promotes the three material to `MeshPhysicalMaterial`. */
+    ior?: number;
+    /** `inputs:clearcoat` (physical promotion). */
+    clearcoat?: number;
+    /** `inputs:clearcoatRoughness` (physical promotion). */
+    clearcoatRoughness?: number;
+    /** `inputs:specularColor`, only when `inputs:useSpecularWorkflow = 1`. */
+    specularColor?: Vec3;
+    /** OmniPBR `inputs:emissive_intensity` — multiplies the emissive color. */
+    emissiveIntensity?: number;
     /** Diffuse/albedo texture, if any. */
     colorTexture?: ResolvedTexture;
     /** Opacity / alpha texture (may be the same image as `colorTexture`). */
@@ -103,6 +126,8 @@ type TextureOptions = {
     wrapS?: TextureWrap;
     wrapT?: TextureWrap;
     transform?: TextureTransform;
+    /** UV channel index (0 = `uv`, 1 = `uv1`, …) for multi-UV-set meshes. */
+    channel?: number;
 };
 /** Resolve an authored texture asset path to a `THREE.Texture` (or `null`). */
 type TextureProvider = (assetPath: string, options?: TextureOptions) => THREE.Texture | null;
@@ -119,11 +144,11 @@ declare function createTextureProvider(resolver: AssetResolver, baseUrl: string)
  * `Sphere` / `Cylinder` / `Capsule` / `Cone`) — to Three.js geometry and
  * attaches them under the robot's link objects.
  *
- * Meshes are triangulated with a simple fan, use authored per-vertex normals
- * when present (else computed smooth normals), and read `primvars:st` UVs and
- * `primvars:displayColor`. Solids tessellate from their schema attributes.
- * Geometry is left in stage units; the global `metersPerUnit` scale is applied
- * at the root in M9.
+ * Meshes are triangulated with a simple fan. Primvars (`st` UV sets, `normals`,
+ * `displayColor`) resolve with USD interpolation semantics — `:indices`
+ * de-referencing, vertex vs faceVarying (de-indexed) layouts, multiple UV
+ * channels. Solids tessellate from their schema attributes. Geometry is left
+ * in stage units; the global `metersPerUnit` scale is applied at the root in M9.
  */
 
 type MeshKind = "visual" | "collision";
@@ -132,10 +157,21 @@ type BindMeshesOptions = {
     loadCollisions?: boolean;
     /** Resolves diffuse texture asset paths to `THREE.Texture` (M-tex). */
     textureProvider?: TextureProvider;
+    /** Render `BasisCurves` with authored `widths` as tube meshes (M18). */
+    curveTubes?: boolean;
+    /** Receives fidelity diagnostics (channel-packing mismatches, M19). */
+    onWarn?: (message: string) => void;
 };
 /**
  * Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points.
  *
+ * Primvars resolve with full interpolation semantics (M19): `:indices` arrays
+ * are de-referenced, vertex-interpolated `st` sets / `normals` /
+ * `displayColor` bind onto the shared vertices, and any faceVarying primvar
+ * (or per-face color) switches the mesh to a de-indexed layout where every
+ * face corner owns its vertex. Extra UV sets become `uv1`, `uv2`, … in
+ * {@link meshUvSetNames} order.
+ *
  * When the mesh carries `materialBind` face subsets, the triangles are ordered
  * subset by subset and a geometry group is added for each — so the mesh can be
  * drawn with one material per subset (see {@link buildMeshMaterials}). Group
@@ -150,6 +186,26 @@ declare function buildMeshGeometry(meshPrim: Prim): THREE.BufferGeometry | null;
  * section. Returns `null` for unsupported prim types.
  */
 declare function buildGprimGeometry(prim: Prim): THREE.BufferGeometry | null;
+type BuildGprimOptions = {
+    /** Resolves texture asset paths for mesh materials. */
+    textureProvider?: TextureProvider;
+    /**
+     * Render `BasisCurves` that author `widths` as tube meshes instead of
+     * 1-px lines (default `false`).
+     */
+    curveTubes?: boolean;
+    /** Receives fidelity diagnostics (channel-packing mismatches, M19). */
+    onWarn?: (message: string) => void;
+};
+/**
+ * Build a renderable `THREE.Object3D` for any supported gprim (M18):
+ * `Mesh` and the parametric solids become a `THREE.Mesh` (via
+ * {@link buildGprimGeometry} + {@link buildMeshMaterials}), `Points` a
+ * `THREE.Points`, and `BasisCurves` a `THREE.Group` holding one line — or,
+ * with {@link BuildGprimOptions.curveTubes}, one tube mesh — per curve.
+ * Returns `null` for unsupported prim types and degenerate geometry.
+ */
+declare function buildGprimObject(prim: Prim, stage?: Stage, options?: BuildGprimOptions): THREE.Object3D | null;
 /**
  * Build a material for a gprim. Color priority: bound `UsdShade` material
  * (when `stage` is given) → `primvars:displayColor` → default gray. Textures
@@ -160,7 +216,9 @@ declare function buildGprimGeometry(prim: Prim): THREE.BufferGeometry | null;
  */
 declare function buildMeshMaterial(meshPrim: Prim, stage?: Stage, textures?: TextureProvider, 
 /** Resolve the material binding from here instead (a `GeomSubset`). */
-bindingPrim?: Prim): THREE.Material;
+bindingPrim?: Prim, 
+/** Receives fidelity diagnostics (channel-packing mismatches, M19). */
+onWarn?: (message: string) => void): THREE.Material;
 /**
  * Attach visual (and optionally collision) meshes to every link of a built
  * {@link ThreeUsdRobot}. Each mesh is positioned by its transform relative to
@@ -178,6 +236,8 @@ declare function bindRobotMeshes(stage: Stage, robot3d: ThreeUsdRobot, desc: Rob
  */
 declare function bindSceneMeshes(stage: Stage, robot3d: ThreeUsdRobot, desc: RobotDescription, options?: {
     textureProvider?: TextureProvider;
+    curveTubes?: boolean;
+    onWarn?: (message: string) => void;
 }): number;
 
 /**
@@ -313,4 +373,4 @@ type ExportThreeUsdRobotOptions = Omit<ExportRobotOptions, "geometry"> & {
 /** Export a loaded robot back to a USDA AST (pass the result to `serializeUsda`). */
 declare function exportThreeUsdRobot(robot: ThreeUsdRobot, options?: ExportThreeUsdRobotOptions): UsdaFile;
 
-export { type AddJointOptions, type AddLinkOptions, AssetResolver, Axis, type BindMeshesOptions, CollisionApproximation, ExportMaterial, ExportMesh, ExportPhysicsMaterial, ExportRobotOptions, type ExportThreeUsdRobotOptions, type GeometryToExportMeshOptions, JointDriveDescription, KinematicTree, LinkInertialDescription, Mat4, type MeshKind, Prim, type ResolvedMaterial, type ResolvedTexture, RobotBuilder, type RobotBuilderOptions, RobotDescription, RobotGeometryProvider, Stage, type TextureColorSpace, type TextureOptions, type TextureProvider, type TextureTransform, type TextureWrap, ThreeUsdRobot, UsdaFile, Vec2, Vec3, type WorldFrame, axisVector, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildMeshGeometry, buildMeshMaterial, createTextureProvider, exportThreeUsdRobot, geometryToExportMesh, materialToExportMaterial, resolveBoundMaterial, threeGeometryProvider };
+export { type AddJointOptions, type AddLinkOptions, AssetResolver, Axis, type BindMeshesOptions, type BuildGprimOptions, CollisionApproximation, ExportMaterial, ExportMesh, ExportPhysicsMaterial, ExportRobotOptions, type ExportThreeUsdRobotOptions, type GeometryToExportMeshOptions, JointDriveDescription, KinematicTree, LinkInertialDescription, Mat4, type MeshKind, Prim, type ResolvedMaterial, type ResolvedTexture, RobotBuilder, type RobotBuilderOptions, RobotDescription, RobotGeometryProvider, Stage, type TextureColorSpace, type TextureOptions, type TextureProvider, type TextureTransform, type TextureWrap, ThreeUsdRobot, UsdaFile, Vec2, Vec3, type WorldFrame, axisVector, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildGprimObject, buildMeshGeometry, buildMeshMaterial, createTextureProvider, exportThreeUsdRobot, geometryToExportMesh, materialToExportMaterial, resolveBoundMaterial, threeGeometryProvider };

package/dist/index.js

@@ -1,8 +1,8 @@
-import { stageGeometryProvider, exportRobotUsda } from './chunk-TE4MPP5Q.js';
-export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-TE4MPP5Q.js';
-export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildMeshGeometry, buildMeshMaterial, createTextureProvider } from './chunk-XEXFGL7R.js';
-import { refineJointType, buildKinematicTree } from './chunk-2UD32EGU.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-2UD32EGU.js';
+import { stageGeometryProvider, exportRobotUsda } from './chunk-SSSDVLUK.js';
+export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-SSSDVLUK.js';
+export { ThreeUsdRobotLoader, bindRobotMeshes, bindSceneMeshes, buildGprimGeometry, buildGprimObject, buildMeshGeometry, buildMeshMaterial, createTextureProvider } from './chunk-CDQPWWMQ.js';
+import { refineJointType, buildKinematicTree } from './chunk-NFKK5LJK.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, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, joinPosix, jointValueFromSI, jointValueToSI, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, resolveBoundMaterial, serializeUsda, toBytes, tokenize } from './chunk-NFKK5LJK.js';
 export { JointObject, LinkObject, ThreeUsdRobot, axisVector } from './chunk-WROYLUSS.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';

package/dist/react.d.ts

@@ -1,10 +1,10 @@
 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-BAh-48DD.js';
-import { T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-DYtvelif.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-B7Z4oORO.js';
+import { T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-NdFAVN96.js';
 import 'three';
-import './buildKinematicTree-DQ4Vr4sJ.js';
+import './buildKinematicTree-BCySuZZn.js';
 import './bytes-MOJ2oN-u.js';
 
 /**

package/dist/react.js

@@ -1,5 +1,5 @@
-import { ThreeUsdRobotLoader } from './chunk-XEXFGL7R.js';
-import './chunk-2UD32EGU.js';
+import { ThreeUsdRobotLoader } from './chunk-CDQPWWMQ.js';
+import './chunk-NFKK5LJK.js';
 import './chunk-WROYLUSS.js';
 import './chunk-IYKPVUZ2.js';
 import { useFrame } from '@react-three/fiber';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "three-usd-robot",
-  "version": "0.9.0",
+  "version": "0.10.0",
   "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",