mujoco-react 8.6.0 → 8.8.0

package/dist/vite.d.ts

@@ -12,8 +12,8 @@ type ViteServer = {
     };
 };
 interface MujocoReactPluginOptions {
-    /** Entry MJCF/URDF files to scan. */
-    models: string | readonly string[];
+    /** Entry MJCF/URDF files to scan. Prefer a record for stable per-robot type names. */
+    models: ModelInput;
     /** Generated declaration file. Defaults to `src/mujoco-register.gen.d.ts`. */
     generatedRegister?: string;
     /** Module name to augment. Defaults to `mujoco-react`. */
@@ -22,7 +22,7 @@ interface MujocoReactPluginOptions {
     disableLogging?: boolean;
 }
 interface MujocoRegisterCodegenOptions {
-    models: readonly string[];
+    models: ModelInput;
     out: string;
     moduleName?: string;
     root?: string;
@@ -33,6 +33,7 @@ interface MujocoRegisterCodegenResult {
     counts: Record<RegisterKey, number>;
 }
 type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+type ModelInput = string | readonly string[] | Record<string, string>;
 declare function mujocoReact(options: MujocoReactPluginOptions): {
     name: string;
     enforce: "pre";
@@ -44,4 +45,4 @@ declare function mujocoReact(options: MujocoReactPluginOptions): {
 };
 declare function generateMujocoRegister(options: MujocoRegisterCodegenOptions): Promise<MujocoRegisterCodegenResult>;
 
-export { type MujocoReactPluginOptions, type MujocoRegisterCodegenOptions, type MujocoRegisterCodegenResult, generateMujocoRegister, mujocoReact };
+export { type ModelInput, type MujocoReactPluginOptions, type MujocoRegisterCodegenOptions, type MujocoRegisterCodegenResult, generateMujocoRegister, mujocoReact };

package/dist/vite.js

@@ -16,13 +16,13 @@ function createEmptyNames() {
   };
 }
 function mujocoReact(options) {
-  const models = Array.isArray(options.models) ? options.models : [options.models];
+  const models = normalizeModels(options.models);
   let root = process.cwd();
   let generatedRegister = options.generatedRegister ?? "src/mujoco-register.gen.d.ts";
   let watchedFiles = [];
   async function generate() {
     const result = await generateMujocoRegister({
-      models,
+      models: options.models,
       out: generatedRegister,
       moduleName: options.moduleName,
       root
@@ -65,13 +65,15 @@ async function generateMujocoRegister(options) {
   const root = path.resolve(options.root ?? process.cwd());
   const out = path.resolve(root, options.out);
   const moduleName = options.moduleName ?? "mujoco-react";
+  const models = normalizeModels(options.models);
   const names = createEmptyNames();
   const seen = /* @__PURE__ */ new Set();
-  for (const model of options.models) {
-    await scanModel(path.resolve(root, model), root, seen, names);
+  for (const model of models) {
+    await scanModel(path.resolve(root, model.file), root, seen, model.names);
+    mergeNames(names, model.names);
   }
   await mkdir(path.dirname(out), { recursive: true });
-  await writeFile(out, renderRegister(moduleName, names), "utf8");
+  await writeFile(out, renderRegister(moduleName, names, models), "utf8");
   return {
     out,
     files: [...seen].sort((a, b) => a.localeCompare(b)),
@@ -125,31 +127,95 @@ function readAttr(attrs, attr) {
   const pattern = new RegExp(`\\b${attr}\\s*=\\s*(['"])(.*?)\\1`, "i");
   return attrs.match(pattern)?.[2];
 }
-function renderRegister(moduleName, names) {
+function renderRegister(moduleName, names, models) {
   const fields = REGISTER_KEYS.filter((key) => names[key].size > 0).map((key) => `    ${key}: ${renderUnion(names[key])};`);
+  const robots = models.map((model) => `      ${quoteProperty(model.id)}: {
+${renderRobotFields(model.names)}
+      };`);
+  const namespaceAliases = renderNamespaceAliases(models);
   return `// Auto-generated by mujoco-react. Do not edit.
 // Regenerate by running Vite with the mujocoReact() plugin or \`mujoco-react codegen\`.
 
-import 'mujoco-react';
+import '${moduleName}';
+import type { RobotResource } from '${moduleName}';
 
 declare module '${moduleName}' {
   interface Register {
+    robots: {
+${robots.join("\n")}
+    };
 ${fields.join("\n")}
   }
+
+${namespaceAliases}
 }
 `;
 }
+function renderRobotFields(names) {
+  return REGISTER_KEYS.map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : "never"};`).join("\n");
+}
 function renderUnion(values) {
   return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(" | ");
 }
+function renderNamespaceAliases(models) {
+  const namespaces = {
+    actuators: "RobotActuators",
+    sensors: "RobotSensors",
+    bodies: "RobotBodies",
+    joints: "RobotJoints",
+    sites: "RobotSites",
+    geoms: "RobotGeoms",
+    keyframes: "RobotKeyframes"
+  };
+  const blocks = REGISTER_KEYS.map((key) => {
+    const aliases = models.filter((model) => isIdentifier(model.id)).map((model) => `    export type ${model.id} = RobotResource<'${escapeTs(model.id)}', '${key}'>;`);
+    if (aliases.length === 0) return "";
+    return `  export namespace ${namespaces[key]} {
+${aliases.join("\n")}
+  }`;
+  }).filter(Boolean).join("\n\n");
+  return blocks ? `${blocks}
+` : "";
+}
 function escapeTs(value) {
   return value.replace(/\\/g, "\\\\").replace(/'/g, "\\'");
 }
+function quoteProperty(value) {
+  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;
+}
+function isIdentifier(value) {
+  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);
+}
+function normalizeModels(input) {
+  if (typeof input === "string") return [createModelEntry(deriveModelId(input), input)];
+  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));
+  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));
+}
+function createModelEntry(id, file) {
+  return { id, file, names: createEmptyNames() };
+}
+function deriveModelId(file) {
+  const normalized = file.replace(/\\/g, "/");
+  const parts = normalized.split("/").filter(Boolean);
+  const filename = parts.at(-1) ?? "model";
+  const parent = parts.length > 1 ? parts.at(-2) : void 0;
+  const base = filename.replace(/\.(xml|mjcf|urdf)$/i, "");
+  return sanitizeModelId(parent && ["scene", "model", "robot"].includes(base.toLowerCase()) ? parent : base);
+}
+function sanitizeModelId(value) {
+  const sanitized = value.replace(/[^A-Za-z0-9_$]/g, "_").replace(/^[^A-Za-z_$]+/, "");
+  return sanitized || "model";
+}
+function mergeNames(target, source) {
+  for (const key of REGISTER_KEYS) {
+    for (const value of source[key]) target[key].add(value);
+  }
+}
 function shouldRegenerate(file, watchedFiles, models, root) {
   const absolute = path.resolve(file);
   if (watchedFiles.includes(absolute)) return true;
   if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;
-  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model)));
+  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));
   return modelDirs.some((dir) => absolute.startsWith(dir));
 }
 /**

package/dist/vite.js.map

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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { mkdir, readFile, writeFile } from 'node:fs/promises';\nimport path from 'node:path';\n\ntype ViteConfig = { root: string };\ntype ViteServer = {\n  watcher: {\n    add(paths: string | string[]): void;\n    on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;\n  };\n};\n\nexport interface MujocoReactPluginOptions {\n  /** Entry MJCF/URDF files to scan. */\n  models: string | readonly string[];\n  /** Generated declaration file. Defaults to `src/mujoco-register.gen.d.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: readonly string[];\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = Array.isArray(options.models) ? options.models : [options.models];\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.d.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n\n  for (const model of options.models) {\n    await scanModel(path.resolve(root, model), root, seen, names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.normalize(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (next.startsWith(root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(moduleName: string, names: Record<RegisterKey, Set<string>>): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\nimport 'mujoco-react';\n\ndeclare module '${moduleName}' {\n  interface Register {\n${fields.join('\\n')}\n  }\n}\n`;\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction shouldRegenerate(file: string, watchedFiles: string[], models: readonly string[], root: string): boolean {\n  const absolute = path.resolve(file);\n  if (watchedFiles.includes(absolute)) return true;\n  if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;\n  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model)));\n  return modelDirs.some((dir) => absolute.startsWith(dir));\n}\n"]}
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Prefer a record for stable per-robot type names. */\n  models: ModelInput;\n  /** Generated declaration file. Defaults to `src/mujoco-register.gen.d.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: ModelInput;\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';\nexport type ModelInput = string | readonly string[] | Record<string, string>;\n\ninterface ModelEntry {\n  id: string;\n  file: string;\n  names: Record<RegisterKey, Set<string>>;\n}\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = normalizeModels(options.models);\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.d.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models: options.models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const models = normalizeModels(options.models);\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n\n  for (const model of models) {\n    await scanModel(path.resolve(root, model.file), root, seen, model.names);\n    mergeNames(names, model.names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names, models), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.normalize(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (next.startsWith(root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(\n  moduleName: string,\n  names: Record<RegisterKey, Set<string>>,\n  models: readonly ModelEntry[]\n): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n  const robots = models\n    .map((model) => `      ${quoteProperty(model.id)}: {\\n${renderRobotFields(model.names)}\\n      };`);\n  const namespaceAliases = renderNamespaceAliases(models);\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\nimport '${moduleName}';\nimport type { RobotResource } from '${moduleName}';\n\ndeclare module '${moduleName}' {\n  interface Register {\n    robots: {\n${robots.join('\\n')}\n    };\n${fields.join('\\n')}\n  }\n\n${namespaceAliases}\n}\n`;\n}\n\nfunction renderRobotFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)\n    .join('\\n');\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction renderNamespaceAliases(models: readonly ModelEntry[]): string {\n  const namespaces: Record<RegisterKey, string> = {\n    actuators: 'RobotActuators',\n    sensors: 'RobotSensors',\n    bodies: 'RobotBodies',\n    joints: 'RobotJoints',\n    sites: 'RobotSites',\n    geoms: 'RobotGeoms',\n    keyframes: 'RobotKeyframes',\n  };\n\n  const blocks = REGISTER_KEYS\n    .map((key) => {\n      const aliases = models\n        .filter((model) => isIdentifier(model.id))\n        .map((model) => `    export type ${model.id} = RobotResource<'${escapeTs(model.id)}', '${key}'>;`);\n      if (aliases.length === 0) return '';\n      return `  export namespace ${namespaces[key]} {\\n${aliases.join('\\n')}\\n  }`;\n    })\n    .filter(Boolean)\n    .join('\\n\\n');\n\n  return blocks ? `${blocks}\\n` : '';\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction quoteProperty(value: string): string {\n  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;\n}\n\nfunction isIdentifier(value: string): boolean {\n  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);\n}\n\nfunction normalizeModels(input: ModelInput): ModelEntry[] {\n  if (typeof input === 'string') return [createModelEntry(deriveModelId(input), input)];\n  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));\n  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));\n}\n\nfunction createModelEntry(id: string, file: string): ModelEntry {\n  return { id, file, names: createEmptyNames() };\n}\n\nfunction deriveModelId(file: string): string {\n  const normalized = file.replace(/\\\\/g, '/');\n  const parts = normalized.split('/').filter(Boolean);\n  const filename = parts.at(-1) ?? 'model';\n  const parent = parts.length > 1 ? parts.at(-2) : undefined;\n  const base = filename.replace(/\\.(xml|mjcf|urdf)$/i, '');\n  return sanitizeModelId(parent && ['scene', 'model', 'robot'].includes(base.toLowerCase()) ? parent : base);\n}\n\nfunction sanitizeModelId(value: string): string {\n  const sanitized = value.replace(/[^A-Za-z0-9_$]/g, '_').replace(/^[^A-Za-z_$]+/, '');\n  return sanitized || 'model';\n}\n\nfunction mergeNames(target: Record<RegisterKey, Set<string>>, source: Record<RegisterKey, Set<string>>) {\n  for (const key of REGISTER_KEYS) {\n    for (const value of source[key]) target[key].add(value);\n  }\n}\n\nfunction shouldRegenerate(file: string, watchedFiles: string[], models: readonly ModelEntry[], root: string): boolean {\n  const absolute = path.resolve(file);\n  if (watchedFiles.includes(absolute)) return true;\n  if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;\n  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));\n  return modelDirs.some((dir) => absolute.startsWith(dir));\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "8.6.0",
+  "version": "8.8.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",

package/src/index.ts

@@ -142,6 +142,16 @@ export type {
   JointStateResult,
   // Register (type-safe named resources)
   Register,
+  RegisteredRobotMap,
+  RobotResource,
+  Robots,
+  RobotActuators,
+  RobotSensors,
+  RobotBodies,
+  RobotJoints,
+  RobotSites,
+  RobotGeoms,
+  RobotKeyframes,
   Actuators,
   Sensors,
   Bodies,

package/src/types.ts

@@ -17,6 +17,13 @@ import * as THREE from 'three';
  * ```ts
  * declare module 'mujoco-react' {
  *   interface Register {
+ *     robots: {
+ *       panda: {
+ *         actuators: 'joint1' | 'joint2' | 'gripper';
+ *         sensors: 'force_sensor' | 'torque_sensor';
+ *         bodies: 'link0' | 'link1' | 'hand';
+ *       };
+ *     };
  *     actuators: 'joint1' | 'joint2' | 'gripper';
  *     sensors: 'force_sensor' | 'torque_sensor';
  *     bodies: 'link0' | 'link1' | 'hand';
@@ -28,6 +35,26 @@ import * as THREE from 'three';
  */
 export interface Register {}
 
+export type RegisteredRobotMap = Register extends { robots: infer T extends Record<string, Record<string, string>> }
+  ? T
+  : never;
+export type Robots = [RegisteredRobotMap] extends [never] ? string : Extract<keyof RegisteredRobotMap, string>;
+export type RobotResource<TRobot extends string, TKey extends string> =
+  [RegisteredRobotMap] extends [never]
+    ? string
+    : TRobot extends keyof RegisteredRobotMap
+      ? TKey extends keyof RegisteredRobotMap[TRobot]
+        ? RegisteredRobotMap[TRobot][TKey]
+        : string
+      : never;
+export type RobotActuators<TRobot extends string> = RobotResource<TRobot, 'actuators'>;
+export type RobotSensors<TRobot extends string> = RobotResource<TRobot, 'sensors'>;
+export type RobotBodies<TRobot extends string> = RobotResource<TRobot, 'bodies'>;
+export type RobotJoints<TRobot extends string> = RobotResource<TRobot, 'joints'>;
+export type RobotSites<TRobot extends string> = RobotResource<TRobot, 'sites'>;
+export type RobotGeoms<TRobot extends string> = RobotResource<TRobot, 'geoms'>;
+export type RobotKeyframes<TRobot extends string> = RobotResource<TRobot, 'keyframes'>;
+
 export type Actuators = Register extends { actuators: infer T extends string } ? T : string;
 export type Sensors = Register extends { sensors: infer T extends string } ? T : string;
 export type Bodies = Register extends { bodies: infer T extends string } ? T : string;

package/src/vite.ts

@@ -15,8 +15,8 @@ type ViteServer = {
 };
 
 export interface MujocoReactPluginOptions {
-  /** Entry MJCF/URDF files to scan. */
-  models: string | readonly string[];
+  /** Entry MJCF/URDF files to scan. Prefer a record for stable per-robot type names. */
+  models: ModelInput;
   /** Generated declaration file. Defaults to `src/mujoco-register.gen.d.ts`. */
   generatedRegister?: string;
   /** Module name to augment. Defaults to `mujoco-react`. */
@@ -26,7 +26,7 @@ export interface MujocoReactPluginOptions {
 }
 
 export interface MujocoRegisterCodegenOptions {
-  models: readonly string[];
+  models: ModelInput;
   out: string;
   moduleName?: string;
   root?: string;
@@ -39,6 +39,13 @@ export interface MujocoRegisterCodegenResult {
 }
 
 type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+export type ModelInput = string | readonly string[] | Record<string, string>;
+
+interface ModelEntry {
+  id: string;
+  file: string;
+  names: Record<RegisterKey, Set<string>>;
+}
 
 const REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];
 const MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);
@@ -56,14 +63,14 @@ function createEmptyNames(): Record<RegisterKey, Set<string>> {
 }
 
 export function mujocoReact(options: MujocoReactPluginOptions) {
-  const models = Array.isArray(options.models) ? options.models : [options.models];
+  const models = normalizeModels(options.models);
   let root = process.cwd();
   let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.d.ts';
   let watchedFiles: string[] = [];
 
   async function generate() {
     const result = await generateMujocoRegister({
-      models,
+      models: options.models,
       out: generatedRegister,
       moduleName: options.moduleName,
       root,
@@ -112,15 +119,17 @@ export async function generateMujocoRegister(
   const root = path.resolve(options.root ?? process.cwd());
   const out = path.resolve(root, options.out);
   const moduleName = options.moduleName ?? 'mujoco-react';
+  const models = normalizeModels(options.models);
   const names = createEmptyNames();
   const seen = new Set<string>();
 
-  for (const model of options.models) {
-    await scanModel(path.resolve(root, model), root, seen, names);
+  for (const model of models) {
+    await scanModel(path.resolve(root, model.file), root, seen, model.names);
+    mergeNames(names, model.names);
   }
 
   await mkdir(path.dirname(out), { recursive: true });
-  await writeFile(out, renderRegister(moduleName, names), 'utf8');
+  await writeFile(out, renderRegister(moduleName, names, models), 'utf8');
 
   return {
     out,
@@ -188,36 +197,118 @@ function readAttr(attrs: string, attr: string): string | undefined {
   return attrs.match(pattern)?.[2];
 }
 
-function renderRegister(moduleName: string, names: Record<RegisterKey, Set<string>>): string {
+function renderRegister(
+  moduleName: string,
+  names: Record<RegisterKey, Set<string>>,
+  models: readonly ModelEntry[]
+): string {
   const fields = REGISTER_KEYS
     .filter((key) => names[key].size > 0)
     .map((key) => `    ${key}: ${renderUnion(names[key])};`);
+  const robots = models
+    .map((model) => `      ${quoteProperty(model.id)}: {\n${renderRobotFields(model.names)}\n      };`);
+  const namespaceAliases = renderNamespaceAliases(models);
 
   return `// Auto-generated by mujoco-react. Do not edit.
 // Regenerate by running Vite with the mujocoReact() plugin or \`mujoco-react codegen\`.
 
-import 'mujoco-react';
+import '${moduleName}';
+import type { RobotResource } from '${moduleName}';
 
 declare module '${moduleName}' {
   interface Register {
+    robots: {
+${robots.join('\n')}
+    };
 ${fields.join('\n')}
   }
+
+${namespaceAliases}
 }
 `;
 }
 
+function renderRobotFields(names: Record<RegisterKey, Set<string>>): string {
+  return REGISTER_KEYS
+    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)
+    .join('\n');
+}
+
 function renderUnion(values: Set<string>): string {
   return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(' | ');
 }
 
+function renderNamespaceAliases(models: readonly ModelEntry[]): string {
+  const namespaces: Record<RegisterKey, string> = {
+    actuators: 'RobotActuators',
+    sensors: 'RobotSensors',
+    bodies: 'RobotBodies',
+    joints: 'RobotJoints',
+    sites: 'RobotSites',
+    geoms: 'RobotGeoms',
+    keyframes: 'RobotKeyframes',
+  };
+
+  const blocks = REGISTER_KEYS
+    .map((key) => {
+      const aliases = models
+        .filter((model) => isIdentifier(model.id))
+        .map((model) => `    export type ${model.id} = RobotResource<'${escapeTs(model.id)}', '${key}'>;`);
+      if (aliases.length === 0) return '';
+      return `  export namespace ${namespaces[key]} {\n${aliases.join('\n')}\n  }`;
+    })
+    .filter(Boolean)
+    .join('\n\n');
+
+  return blocks ? `${blocks}\n` : '';
+}
+
 function escapeTs(value: string): string {
   return value.replace(/\\/g, '\\\\').replace(/'/g, "\\'");
 }
 
-function shouldRegenerate(file: string, watchedFiles: string[], models: readonly string[], root: string): boolean {
+function quoteProperty(value: string): string {
+  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;
+}
+
+function isIdentifier(value: string): boolean {
+  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);
+}
+
+function normalizeModels(input: ModelInput): ModelEntry[] {
+  if (typeof input === 'string') return [createModelEntry(deriveModelId(input), input)];
+  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));
+  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));
+}
+
+function createModelEntry(id: string, file: string): ModelEntry {
+  return { id, file, names: createEmptyNames() };
+}
+
+function deriveModelId(file: string): string {
+  const normalized = file.replace(/\\/g, '/');
+  const parts = normalized.split('/').filter(Boolean);
+  const filename = parts.at(-1) ?? 'model';
+  const parent = parts.length > 1 ? parts.at(-2) : undefined;
+  const base = filename.replace(/\.(xml|mjcf|urdf)$/i, '');
+  return sanitizeModelId(parent && ['scene', 'model', 'robot'].includes(base.toLowerCase()) ? parent : base);
+}
+
+function sanitizeModelId(value: string): string {
+  const sanitized = value.replace(/[^A-Za-z0-9_$]/g, '_').replace(/^[^A-Za-z_$]+/, '');
+  return sanitized || 'model';
+}
+
+function mergeNames(target: Record<RegisterKey, Set<string>>, source: Record<RegisterKey, Set<string>>) {
+  for (const key of REGISTER_KEYS) {
+    for (const value of source[key]) target[key].add(value);
+  }
+}
+
+function shouldRegenerate(file: string, watchedFiles: string[], models: readonly ModelEntry[], root: string): boolean {
   const absolute = path.resolve(file);
   if (watchedFiles.includes(absolute)) return true;
   if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;
-  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model)));
+  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));
   return modelDirs.some((dir) => absolute.startsWith(dir));
 }