mujoco-react 8.8.0 → 8.9.0

package/dist/vite.d.ts

@@ -14,7 +14,7 @@ type ViteServer = {
 interface MujocoReactPluginOptions {
     /** 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`. */
+    /** Generated resource module. Defaults to `src/mujoco-register.gen.ts`. */
     generatedRegister?: string;
     /** Module name to augment. Defaults to `mujoco-react`. */
     moduleName?: string;
@@ -38,6 +38,7 @@ declare function mujocoReact(options: MujocoReactPluginOptions): {
     name: string;
     enforce: "pre";
     configResolved(config: ViteConfig): void;
+    transform(code: string, id: string): string | undefined;
     buildStart(this: {
         addWatchFile?: (file: string) => void;
     }): Promise<void>;

package/dist/vite.js

@@ -18,7 +18,7 @@ function createEmptyNames() {
 function mujocoReact(options) {
   const models = normalizeModels(options.models);
   let root = process.cwd();
-  let generatedRegister = options.generatedRegister ?? "src/mujoco-register.gen.d.ts";
+  let generatedRegister = options.generatedRegister ?? "src/mujoco-register.gen.ts";
   let watchedFiles = [];
   async function generate() {
     const result = await generateMujocoRegister({
@@ -41,6 +41,11 @@ function mujocoReact(options) {
       root = config.root;
       generatedRegister = path.resolve(root, generatedRegister);
     },
+    transform(code, id) {
+      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;
+      return `${renderGeneratedImport(id, generatedRegister)}
+${code}`;
+    },
     async buildStart() {
       const result = await generate();
       for (const file of result.files) this.addWatchFile?.(file);
@@ -68,12 +73,13 @@ async function generateMujocoRegister(options) {
   const models = normalizeModels(options.models);
   const names = createEmptyNames();
   const seen = /* @__PURE__ */ new Set();
+  const declarationsOnly = out.endsWith(".d.ts");
   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, models), "utf8");
+  await writeFile(out, renderRegister(moduleName, names, models, declarationsOnly), "utf8");
   return {
     out,
     files: [...seen].sort((a, b) => a.localeCompare(b)),
@@ -127,19 +133,27 @@ function readAttr(attrs, attr) {
   const pattern = new RegExp(`\\b${attr}\\s*=\\s*(['"])(.*?)\\1`, "i");
   return attrs.match(pattern)?.[2];
 }
-function renderRegister(moduleName, names, models) {
+function renderRegister(moduleName, names, models, declarationsOnly) {
   const fields = REGISTER_KEYS.filter((key) => names[key].size > 0).map((key) => `    ${key}: ${renderUnion(names[key])};`);
   const robots = models.map((model) => `      ${quoteProperty(model.id)}: {
 ${renderRobotFields(model.names)}
       };`);
   const namespaceAliases = renderNamespaceAliases(models);
+  const registerImport = declarationsOnly ? "" : `import { registerRobotResources } from '${moduleName}';
+`;
+  const resources = declarationsOnly ? "" : `${renderResourceTypes(models)}
+
+${renderResourceConstants(models)}
+
+registerRobotResources(generatedRobotResources);
+
+`;
   return `// Auto-generated by mujoco-react. Do not edit.
 // Regenerate by running Vite with the mujocoReact() plugin or \`mujoco-react codegen\`.
 
-import '${moduleName}';
-import type { RobotResource } from '${moduleName}';
+${registerImport}import type { RobotResource } from '${moduleName}';
 
-declare module '${moduleName}' {
+${resources}declare module '${moduleName}' {
   interface Register {
     robots: {
 ${robots.join("\n")}
@@ -151,11 +165,45 @@ ${namespaceAliases}
 }
 `;
 }
+function renderResourceTypes(models) {
+  const modelTypes = models.map((model) => `  readonly ${quoteProperty(model.id)}: {
+${renderResourceTypeFields(model.names)}
+  };`).join("\n");
+  return `type GeneratedRobotResources = {
+${modelTypes}
+};`;
+}
+function renderResourceTypeFields(names) {
+  return REGISTER_KEYS.map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`).join("\n");
+}
+function renderResourceObjectType(values) {
+  const entries = sortedValues(values).map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);
+  return entries.length > 0 ? `{
+${entries.join("\n")}
+    }` : "{}";
+}
+function renderResourceConstants(models) {
+  const entries = models.map((model) => `  ${quoteProperty(model.id)}: {
+${renderResourceConstantFields(model.names)}
+  },`).join("\n");
+  return `const generatedRobotResources: GeneratedRobotResources = {
+${entries}
+};`;
+}
+function renderResourceConstantFields(names) {
+  return REGISTER_KEYS.map((key) => `    ${key}: ${renderResourceObject(names[key])},`).join("\n");
+}
+function renderResourceObject(values) {
+  const entries = sortedValues(values).map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);
+  return entries.length > 0 ? `{
+${entries.join("\n")}
+    }` : "{}";
+}
 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(" | ");
+  return sortedValues(values).map((value) => `'${escapeTs(value)}'`).join(" | ");
 }
 function renderNamespaceAliases(models) {
   const namespaces = {
@@ -180,12 +228,36 @@ ${aliases.join("\n")}
 function escapeTs(value) {
   return value.replace(/\\/g, "\\\\").replace(/'/g, "\\'");
 }
+function sortedValues(values) {
+  return [...values].sort((a, b) => a.localeCompare(b));
+}
 function quoteProperty(value) {
   return isIdentifier(value) ? value : `'${escapeTs(value)}'`;
 }
 function isIdentifier(value) {
   return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);
 }
+function toPosixPath(value) {
+  return value.split(path.sep).join("/");
+}
+function shouldInjectRegisterImport(id, root, generatedRegister) {
+  if (generatedRegister.endsWith(".d.ts")) return false;
+  const file = stripQuery(id);
+  if (!/\.[cm]?[jt]sx?$/.test(file)) return false;
+  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;
+  const absolute = path.resolve(file);
+  if (absolute === generatedRegister) return false;
+  return absolute.startsWith(root);
+}
+function renderGeneratedImport(id, generatedRegister) {
+  const fromDir = path.dirname(stripQuery(id));
+  let relative = toPosixPath(path.relative(fromDir, generatedRegister));
+  if (!relative.startsWith(".")) relative = `./${relative}`;
+  return `import '${relative}';`;
+}
+function stripQuery(id) {
+  return id.split("?")[0];
+}
 function normalizeModels(input) {
   if (typeof input === "string") return [createModelEntry(deriveModelId(input), input)];
   if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));

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. 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"]}
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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. Prefer a record for stable per-robot type names. */\n  models: ModelInput;\n  /** Generated resource module. Defaults to `src/mujoco-register.gen.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.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    transform(code: string, id: string) {\n      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;\n      return `${renderGeneratedImport(id, generatedRegister)}\\n${code}`;\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  const declarationsOnly = out.endsWith('.d.ts');\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, declarationsOnly), '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  declarationsOnly: boolean\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  const registerImport = declarationsOnly ? '' : `import { registerRobotResources } from '${moduleName}';\\n`;\n  const resources = declarationsOnly ? '' : `${renderResourceTypes(models)}\\n\\n${renderResourceConstants(models)}\\n\\nregisterRobotResources(generatedRobotResources);\\n\\n`;\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\n${registerImport}import type { RobotResource } from '${moduleName}';\n\n${resources}declare 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 renderResourceTypes(models: readonly ModelEntry[]): string {\n  const modelTypes = models\n    .map((model) => `  readonly ${quoteProperty(model.id)}: {\\n${renderResourceTypeFields(model.names)}\\n  };`)\n    .join('\\n');\n  return `type GeneratedRobotResources = {\\n${modelTypes}\\n};`;\n}\n\nfunction renderResourceTypeFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`)\n    .join('\\n');\n}\n\nfunction renderResourceObjectType(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderResourceConstants(models: readonly ModelEntry[]): string {\n  const entries = models\n    .map((model) => `  ${quoteProperty(model.id)}: {\\n${renderResourceConstantFields(model.names)}\\n  },`)\n    .join('\\n');\n  return `const generatedRobotResources: GeneratedRobotResources = {\\n${entries}\\n};`;\n}\n\nfunction renderResourceConstantFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    ${key}: ${renderResourceObject(names[key])},`)\n    .join('\\n');\n}\n\nfunction renderResourceObject(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderRobotFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)\n    .join('\\n');\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return sortedValues(values).map((value) => `'${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 ? `${blocks}\\n` : '';\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction sortedValues(values: Set<string>): string[] {\n  return [...values].sort((a, b) => a.localeCompare(b));\n}\n\nfunction quoteProperty(value: string): string {\n  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;\n}\n\nfunction isIdentifier(value: string): boolean {\n  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);\n}\n\nfunction toPosixPath(value: string): string {\n  return value.split(path.sep).join('/');\n}\n\nfunction shouldInjectRegisterImport(id: string, root: string, generatedRegister: string): boolean {\n  if (generatedRegister.endsWith('.d.ts')) return false;\n  const file = stripQuery(id);\n  if (!/\\.[cm]?[jt]sx?$/.test(file)) return false;\n  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;\n  const absolute = path.resolve(file);\n  if (absolute === generatedRegister) return false;\n  return absolute.startsWith(root);\n}\n\nfunction renderGeneratedImport(id: string, generatedRegister: string): string {\n  const fromDir = path.dirname(stripQuery(id));\n  let relative = toPosixPath(path.relative(fromDir, generatedRegister));\n  if (!relative.startsWith('.')) relative = `./${relative}`;\n  return `import '${relative}';`;\n}\n\nfunction stripQuery(id: string): string {\n  return id.split('?')[0];\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": "8.8.0",
+  "version": "8.9.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",

package/src/index.ts

@@ -145,13 +145,6 @@ export type {
   RegisteredRobotMap,
   RobotResource,
   Robots,
-  RobotActuators,
-  RobotSensors,
-  RobotBodies,
-  RobotJoints,
-  RobotSites,
-  RobotGeoms,
-  RobotKeyframes,
   Actuators,
   Sensors,
   Bodies,
@@ -161,6 +154,18 @@ export type {
   Keyframes,
 } from './types';
 
+export {
+  registerRobotResources,
+  RobotResources,
+  RobotActuators,
+  RobotSensors,
+  RobotBodies,
+  RobotJoints,
+  RobotSites,
+  RobotGeoms,
+  RobotKeyframes,
+} from './types';
+
 // Re-export MuJoCo types for convenience
 export type { MujocoModule, MujocoModel, MujocoData, MujocoContact, MujocoContactArray } from './types';
 export { getContact } from './types';

package/src/types.ts

@@ -55,6 +55,86 @@ 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 RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+export type RobotResourceObject<TRobot extends string, TKey extends RegisterResourceKey> =
+  string extends RobotResource<TRobot, TKey>
+    ? Record<string, string>
+    : { readonly [K in RobotResource<TRobot, TKey>]: K };
+export type RobotResourceCategory<TKey extends RegisterResourceKey> =
+  string extends Robots
+    ? Record<string, Record<string, string>>
+    : { readonly [TRobot in Robots]: RobotResourceObject<TRobot, TKey> };
+export type RobotResourceRegistry =
+  string extends Robots
+    ? Record<string, Record<RegisterResourceKey, Record<string, string>>>
+    : { readonly [TRobot in Robots]: { readonly [TKey in RegisterResourceKey]: RobotResourceObject<TRobot, TKey> } };
+
+type RuntimeRobotResources = Record<string, Record<RegisterResourceKey, Record<string, string>>>;
+type RuntimeRobotResourceRegistration = Readonly<Record<string, Readonly<Record<RegisterResourceKey, Readonly<Record<string, string>>>>>>;
+
+const runtimeRobotResources: RuntimeRobotResources = {};
+const REGISTER_RESOURCE_KEYS: RegisterResourceKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];
+
+function createEmptyRuntimeResources(): Record<RegisterResourceKey, Record<string, string>> {
+  return {
+    actuators: {},
+    sensors: {},
+    bodies: {},
+    joints: {},
+    sites: {},
+    geoms: {},
+    keyframes: {},
+  };
+}
+
+export function registerRobotResources(resources: RuntimeRobotResourceRegistration): void {
+  for (const [robot, robotResources] of Object.entries(resources)) {
+    const existing = runtimeRobotResources[robot] ?? createEmptyRuntimeResources();
+    for (const key of REGISTER_RESOURCE_KEYS) {
+      existing[key] = { ...existing[key], ...(robotResources[key] ?? {}) };
+    }
+    runtimeRobotResources[robot] = existing;
+  }
+}
+
+function createResourceCategory<TKey extends RegisterResourceKey>(key: TKey): RobotResourceCategory<TKey> {
+  return new Proxy({}, {
+    get(_target, robot) {
+      if (typeof robot !== 'string') return undefined;
+      return runtimeRobotResources[robot]?.[key] ?? {};
+    },
+    ownKeys() {
+      return Reflect.ownKeys(runtimeRobotResources);
+    },
+    getOwnPropertyDescriptor(_target, robot) {
+      if (typeof robot !== 'string' || !(robot in runtimeRobotResources)) return undefined;
+      return { enumerable: true, configurable: true };
+    },
+  }) as RobotResourceCategory<TKey>;
+}
+
+export const RobotResources: RobotResourceRegistry = new Proxy(runtimeRobotResources, {
+  get(target, robot) {
+    if (typeof robot !== 'string') return undefined;
+    return target[robot] ?? createEmptyRuntimeResources();
+  },
+  ownKeys(target) {
+    return Reflect.ownKeys(target);
+  },
+  getOwnPropertyDescriptor(target, robot) {
+    if (typeof robot !== 'string' || !(robot in target)) return undefined;
+    return { enumerable: true, configurable: true };
+  },
+}) as RobotResourceRegistry;
+
+export const RobotActuators: RobotResourceCategory<'actuators'> = createResourceCategory('actuators');
+export const RobotSensors: RobotResourceCategory<'sensors'> = createResourceCategory('sensors');
+export const RobotBodies: RobotResourceCategory<'bodies'> = createResourceCategory('bodies');
+export const RobotJoints: RobotResourceCategory<'joints'> = createResourceCategory('joints');
+export const RobotSites: RobotResourceCategory<'sites'> = createResourceCategory('sites');
+export const RobotGeoms: RobotResourceCategory<'geoms'> = createResourceCategory('geoms');
+export const RobotKeyframes: RobotResourceCategory<'keyframes'> = createResourceCategory('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

@@ -17,7 +17,7 @@ type ViteServer = {
 export interface MujocoReactPluginOptions {
   /** 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`. */
+  /** Generated resource module. Defaults to `src/mujoco-register.gen.ts`. */
   generatedRegister?: string;
   /** Module name to augment. Defaults to `mujoco-react`. */
   moduleName?: string;
@@ -65,7 +65,7 @@ function createEmptyNames(): Record<RegisterKey, Set<string>> {
 export function mujocoReact(options: MujocoReactPluginOptions) {
   const models = normalizeModels(options.models);
   let root = process.cwd();
-  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.d.ts';
+  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.ts';
   let watchedFiles: string[] = [];
 
   async function generate() {
@@ -90,6 +90,10 @@ export function mujocoReact(options: MujocoReactPluginOptions) {
       root = config.root;
       generatedRegister = path.resolve(root, generatedRegister);
     },
+    transform(code: string, id: string) {
+      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;
+      return `${renderGeneratedImport(id, generatedRegister)}\n${code}`;
+    },
     async buildStart(this: { addWatchFile?: (file: string) => void }) {
       const result = await generate();
       for (const file of result.files) this.addWatchFile?.(file);
@@ -122,6 +126,7 @@ export async function generateMujocoRegister(
   const models = normalizeModels(options.models);
   const names = createEmptyNames();
   const seen = new Set<string>();
+  const declarationsOnly = out.endsWith('.d.ts');
 
   for (const model of models) {
     await scanModel(path.resolve(root, model.file), root, seen, model.names);
@@ -129,7 +134,7 @@ export async function generateMujocoRegister(
   }
 
   await mkdir(path.dirname(out), { recursive: true });
-  await writeFile(out, renderRegister(moduleName, names, models), 'utf8');
+  await writeFile(out, renderRegister(moduleName, names, models, declarationsOnly), 'utf8');
 
   return {
     out,
@@ -200,7 +205,8 @@ function readAttr(attrs: string, attr: string): string | undefined {
 function renderRegister(
   moduleName: string,
   names: Record<RegisterKey, Set<string>>,
-  models: readonly ModelEntry[]
+  models: readonly ModelEntry[],
+  declarationsOnly: boolean
 ): string {
   const fields = REGISTER_KEYS
     .filter((key) => names[key].size > 0)
@@ -208,14 +214,15 @@ function renderRegister(
   const robots = models
     .map((model) => `      ${quoteProperty(model.id)}: {\n${renderRobotFields(model.names)}\n      };`);
   const namespaceAliases = renderNamespaceAliases(models);
+  const registerImport = declarationsOnly ? '' : `import { registerRobotResources } from '${moduleName}';\n`;
+  const resources = declarationsOnly ? '' : `${renderResourceTypes(models)}\n\n${renderResourceConstants(models)}\n\nregisterRobotResources(generatedRobotResources);\n\n`;
 
   return `// Auto-generated by mujoco-react. Do not edit.
 // Regenerate by running Vite with the mujocoReact() plugin or \`mujoco-react codegen\`.
 
-import '${moduleName}';
-import type { RobotResource } from '${moduleName}';
+${registerImport}import type { RobotResource } from '${moduleName}';
 
-declare module '${moduleName}' {
+${resources}declare module '${moduleName}' {
   interface Register {
     robots: {
 ${robots.join('\n')}
@@ -228,6 +235,44 @@ ${namespaceAliases}
 `;
 }
 
+function renderResourceTypes(models: readonly ModelEntry[]): string {
+  const modelTypes = models
+    .map((model) => `  readonly ${quoteProperty(model.id)}: {\n${renderResourceTypeFields(model.names)}\n  };`)
+    .join('\n');
+  return `type GeneratedRobotResources = {\n${modelTypes}\n};`;
+}
+
+function renderResourceTypeFields(names: Record<RegisterKey, Set<string>>): string {
+  return REGISTER_KEYS
+    .map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`)
+    .join('\n');
+}
+
+function renderResourceObjectType(values: Set<string>): string {
+  const entries = sortedValues(values)
+    .map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);
+  return entries.length > 0 ? `{\n${entries.join('\n')}\n    }` : '{}';
+}
+
+function renderResourceConstants(models: readonly ModelEntry[]): string {
+  const entries = models
+    .map((model) => `  ${quoteProperty(model.id)}: {\n${renderResourceConstantFields(model.names)}\n  },`)
+    .join('\n');
+  return `const generatedRobotResources: GeneratedRobotResources = {\n${entries}\n};`;
+}
+
+function renderResourceConstantFields(names: Record<RegisterKey, Set<string>>): string {
+  return REGISTER_KEYS
+    .map((key) => `    ${key}: ${renderResourceObject(names[key])},`)
+    .join('\n');
+}
+
+function renderResourceObject(values: Set<string>): string {
+  const entries = sortedValues(values)
+    .map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);
+  return entries.length > 0 ? `{\n${entries.join('\n')}\n    }` : '{}';
+}
+
 function renderRobotFields(names: Record<RegisterKey, Set<string>>): string {
   return REGISTER_KEYS
     .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)
@@ -235,7 +280,7 @@ function renderRobotFields(names: Record<RegisterKey, Set<string>>): string {
 }
 
 function renderUnion(values: Set<string>): string {
-  return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(' | ');
+  return sortedValues(values).map((value) => `'${escapeTs(value)}'`).join(' | ');
 }
 
 function renderNamespaceAliases(models: readonly ModelEntry[]): string {
@@ -267,6 +312,10 @@ function escapeTs(value: string): string {
   return value.replace(/\\/g, '\\\\').replace(/'/g, "\\'");
 }
 
+function sortedValues(values: Set<string>): string[] {
+  return [...values].sort((a, b) => a.localeCompare(b));
+}
+
 function quoteProperty(value: string): string {
   return isIdentifier(value) ? value : `'${escapeTs(value)}'`;
 }
@@ -275,6 +324,31 @@ function isIdentifier(value: string): boolean {
   return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);
 }
 
+function toPosixPath(value: string): string {
+  return value.split(path.sep).join('/');
+}
+
+function shouldInjectRegisterImport(id: string, root: string, generatedRegister: string): boolean {
+  if (generatedRegister.endsWith('.d.ts')) return false;
+  const file = stripQuery(id);
+  if (!/\.[cm]?[jt]sx?$/.test(file)) return false;
+  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;
+  const absolute = path.resolve(file);
+  if (absolute === generatedRegister) return false;
+  return absolute.startsWith(root);
+}
+
+function renderGeneratedImport(id: string, generatedRegister: string): string {
+  const fromDir = path.dirname(stripQuery(id));
+  let relative = toPosixPath(path.relative(fromDir, generatedRegister));
+  if (!relative.startsWith('.')) relative = `./${relative}`;
+  return `import '${relative}';`;
+}
+
+function stripQuery(id: string): string {
+  return id.split('?')[0];
+}
+
 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));