mujoco-react 8.9.1 → 8.10.0

package/dist/vite.d.ts

@@ -37,6 +37,15 @@ type ModelInput = string | readonly string[] | Record<string, string>;
 declare function mujocoReact(options: MujocoReactPluginOptions): {
     name: string;
     enforce: "pre";
+    config(userConfig: {
+        build?: {
+            chunkSizeWarningLimit?: number;
+        };
+    }): {
+        build: {
+            chunkSizeWarningLimit: number;
+        };
+    } | undefined;
     configResolved(config: ViteConfig): void;
     transform(code: string, id: string): string | undefined;
     buildStart(this: {

package/dist/vite.js

@@ -37,6 +37,10 @@ function mujocoReact(options) {
   return {
     name: "mujoco-react",
     enforce: "pre",
+    config(userConfig) {
+      if (userConfig.build?.chunkSizeWarningLimit !== void 0) return;
+      return { build: { chunkSizeWarningLimit: 4e3 } };
+    },
     configResolved(config) {
       root = config.root;
       generatedRegister = path.resolve(root, generatedRegister);

package/dist/vite.js.map

@@ -1 +1 @@
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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) ?? 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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    config(userConfig: { build?: { chunkSizeWarningLimit?: number } }) {\n      // three + drei + MuJoCo WASM glue are inherently large; the large-chunk\n      // warning is expected, not a failure. Raise the limit so consumers don't\n      // see it. Vite merges plugin config on top of user config, so only set a\n      // default when the consumer hasn't specified their own limit.\n      if (userConfig.build?.chunkSizeWarningLimit !== undefined) return;\n      return { build: { chunkSizeWarningLimit: 4000 } };\n    },\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": "8.9.1",
+  "version": "8.10.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",
@@ -19,6 +19,12 @@
         "default": "./dist/vite.js"
       }
     },
+    "./spark": {
+      "import": {
+        "types": "./dist/spark.d.ts",
+        "default": "./dist/spark.js"
+      }
+    },
     "./package.json": "./package.json"
   },
   "bin": {
@@ -55,8 +61,14 @@
   "peerDependencies": {
     "@react-three/drei": ">=9",
     "@react-three/fiber": ">=8",
+    "@sparkjsdev/spark": ">=2.1.0",
     "react": ">=18",
-    "three": ">=0.160.0"
+    "three": ">=0.180.0"
+  },
+  "peerDependenciesMeta": {
+    "@sparkjsdev/spark": {
+      "optional": true
+    }
   },
   "dependencies": {
     "@mujoco/mujoco": "^3.9.0"
@@ -66,6 +78,7 @@
     "@react-three/fiber": "^9.5.0",
     "@semantic-release/changelog": "^6.0.3",
     "@semantic-release/git": "^10.0.1",
+    "@sparkjsdev/spark": "^2.1.0",
     "@types/node": "^25.9.1",
     "@types/react": "^19.0.0",
     "@types/three": "^0.181.0",

package/src/components/VisualScenario.tsx

@@ -0,0 +1,229 @@
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+import type { ThreeElements } from '@react-three/fiber';
+import type { ReactNode } from 'react';
+import { useMemo } from 'react';
+import * as THREE from 'three';
+import type {
+  PairedSplatEnvironmentConfig,
+  SplatCollisionProxyConfig,
+  SplatEnvironmentMetadata,
+  SplatEnvironmentMetadataInput,
+  SplatFormat,
+  ScenarioLightingPreset,
+  ScenarioLightingProps,
+  SplatEnvironmentProps,
+  VisualScenarioConfig,
+} from '../types';
+
+const DEFAULT_BACKGROUND = '#181a1f';
+
+export function ScenarioLighting({
+  preset = 'studio',
+  castShadow = true,
+  intensity = 1,
+}: ScenarioLightingProps) {
+  if (preset === 'warehouse') {
+    return (
+      <>
+        <ambientLight intensity={0.18 * intensity} />
+        <directionalLight
+          position={[3.5, -2, 5]}
+          intensity={2.2 * intensity}
+          castShadow={castShadow}
+        />
+        <directionalLight position={[-2, 1.5, 2.5]} intensity={0.25 * intensity} />
+      </>
+    );
+  }
+
+  if (preset === 'low-light') {
+    return (
+      <>
+        <ambientLight intensity={0.08 * intensity} />
+        <directionalLight
+          position={[2, -2, 3]}
+          intensity={0.75 * intensity}
+          castShadow={castShadow}
+        />
+        <pointLight position={[-0.5, -0.8, 1.3]} intensity={0.6 * intensity} />
+      </>
+    );
+  }
+
+  if (preset === 'splat') {
+    return (
+      <>
+        <ambientLight intensity={0.42 * intensity} />
+        <directionalLight
+          position={[1.8, -2.4, 3.5]}
+          intensity={1.2 * intensity}
+          castShadow={castShadow}
+        />
+        <pointLight position={[0.4, 0.2, 1.4]} intensity={0.35 * intensity} />
+      </>
+    );
+  }
+
+  return (
+    <>
+      <ambientLight intensity={0.35 * intensity} />
+      <directionalLight
+        position={[2.5, -3, 4]}
+        intensity={1.6 * intensity}
+        castShadow={castShadow}
+      />
+    </>
+  );
+}
+
+export function getScenarioBackground(
+  preset: ScenarioLightingPreset | undefined,
+  fallback = DEFAULT_BACKGROUND
+) {
+  if (preset === 'warehouse') return '#20242b';
+  if (preset === 'low-light') return '#0f1115';
+  if (preset === 'splat') return '#1b1f24';
+  return fallback;
+}
+
+export function getScenarioCameraPosition(
+  basePosition: readonly [number, number, number],
+  scenario?: Pick<VisualScenarioConfig, 'camera'>
+): [number, number, number] {
+  const [x, y, z] = basePosition;
+  const jitter = scenario?.camera?.jitter ?? 0;
+
+  return [
+    Number((x + jitter * 0.6).toFixed(3)),
+    Number((y - jitter * 0.4).toFixed(3)),
+    Number((z + jitter * 0.25).toFixed(3)),
+  ];
+}
+
+/**
+ * Renderer-agnostic Gaussian splat environment boundary.
+ *
+ * This component intentionally does not import a specific 3DGS renderer. Pass a
+ * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,
+ * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.
+ */
+export function SplatEnvironment({
+  environment,
+  src,
+  format,
+  collisionProxy,
+  collisionProxyMetadata,
+  children,
+  showPlaceholder = true,
+  ...groupProps
+}: SplatEnvironmentProps) {
+  const metadata = useSplatEnvironment({
+    environment,
+    src,
+    format,
+    collisionProxy: collisionProxyMetadata,
+  });
+  const existingUserData =
+    typeof groupProps.userData === 'object' && groupProps.userData !== null
+      ? groupProps.userData
+      : {};
+
+  return (
+    <group
+      {...groupProps}
+      userData={{
+        ...existingUserData,
+        ...metadata.userData,
+      }}
+    >
+      {children}
+      {children || !showPlaceholder ? null : <SplatPlaceholder />}
+      {collisionProxy}
+    </group>
+  );
+}
+
+export function useSplatEnvironment({
+  environment,
+  src,
+  format,
+  collisionProxy,
+}: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata {
+  const resolvedSrc = src ?? environment?.splat.src;
+  const resolvedFormat = format ?? environment?.splat.format ?? 'spz';
+  const resolvedCollisionProxy = collisionProxy ?? environment?.collisionProxy;
+
+  return useMemo(
+    () => ({
+      src: resolvedSrc,
+      format: resolvedFormat,
+      collisionProxy: resolvedCollisionProxy,
+      userData: createSplatEnvironmentUserData({
+        environment,
+        src: resolvedSrc,
+        format: resolvedFormat,
+        collisionProxy: resolvedCollisionProxy,
+      }),
+    }),
+    [environment, resolvedSrc, resolvedFormat, resolvedCollisionProxy]
+  );
+}
+
+export function createSplatEnvironmentUserData({
+  environment,
+  src,
+  format = 'spz',
+  collisionProxy,
+}: {
+  environment?: PairedSplatEnvironmentConfig;
+  src?: string;
+  format?: SplatFormat;
+  collisionProxy?: SplatCollisionProxyConfig;
+}) {
+  return {
+    role: 'splat-environment',
+    environmentId: environment?.id,
+    environmentLabel: environment?.label,
+    splatSrc: src,
+    splatFormat: format,
+    splatRenderer: environment?.splat.renderer,
+    collisionProxyStatus: collisionProxy?.status ?? 'missing',
+    collisionProxyXmlPath: collisionProxy?.xmlPath,
+    collisionProxyPrimitives: collisionProxy?.primitives ?? [],
+  };
+}
+
+export function createSparkSplatViewerUrl({
+  viewerUrl,
+  splatSrc,
+}: {
+  viewerUrl: string;
+  splatSrc: string;
+}) {
+  const url = new URL(viewerUrl, 'http://mujoco-react.local');
+  url.searchParams.set('splat', splatSrc);
+  return viewerUrl.startsWith('http') ? url.toString() : `${url.pathname}${url.search}`;
+}
+
+function SplatPlaceholder() {
+  return (
+    <group>
+      <mesh position={[0, 0, 1.2]}>
+        <boxGeometry args={[2.4, 2.4, 2.4]} />
+        <meshBasicMaterial
+          color="#8b8b8b"
+          transparent
+          opacity={0.06}
+          wireframe
+          side={THREE.DoubleSide}
+        />
+      </mesh>
+    </group>
+  );
+}
+
+export type SplatCollisionProxy = ReactNode | ThreeElements['group'];

package/src/hooks/useSceneLights.ts

@@ -34,28 +34,41 @@ export function useSceneLights(intensity = 1.0) {
     const nlight = model.nlight ?? 0;
     if (nlight === 0) return;
 
+    const lightActive = getModelArray(model, 'light_active');
+    const lightTypeArray = getModelArray(model, 'light_type');
+    const lightCastShadow = getModelArray(model, 'light_castshadow');
+    const lightIntensity = getModelArray(model, 'light_intensity');
+    const lightDiffuse = getModelArray(model, 'light_diffuse');
+    const lightPos = getModelArray(model, 'light_pos');
+    const lightDir = getModelArray(model, 'light_dir');
+    const lightCutoff = getModelArray(model, 'light_cutoff');
+    const lightExponent = getModelArray(model, 'light_exponent');
+    const lightAttenuation = getModelArray(model, 'light_attenuation');
+
+    if (!lightPos || !lightDir) return;
+
     for (let i = 0; i < nlight; i++) {
-      const active = model.light_active ? model.light_active[i] : 1;
+      const active = lightActive ? lightActive[i] : 1;
       if (!active) continue;
 
-      const lightType = model.light_type ? model.light_type[i] : 0;
+      const lightType = lightTypeArray ? lightTypeArray[i] : 0;
       const isDirectional = lightType === 0;
-      const castShadow = model.light_castshadow ? model.light_castshadow[i] !== 0 : false;
+      const castShadow = lightCastShadow ? lightCastShadow[i] !== 0 : false;
 
-      const mjIntensity = model.light_intensity ? model.light_intensity[i] : 1.0;
+      const mjIntensity = lightIntensity ? lightIntensity[i] : 1.0;
       const finalIntensity = intensity * mjIntensity;
 
-      const dr = model.light_diffuse ? model.light_diffuse[3 * i] : 1;
-      const dg = model.light_diffuse ? model.light_diffuse[3 * i + 1] : 1;
-      const db = model.light_diffuse ? model.light_diffuse[3 * i + 2] : 1;
+      const dr = lightDiffuse ? lightDiffuse[3 * i] : 1;
+      const dg = lightDiffuse ? lightDiffuse[3 * i + 1] : 1;
+      const db = lightDiffuse ? lightDiffuse[3 * i + 2] : 1;
       const color = new THREE.Color(dr, dg, db);
 
-      const px = model.light_pos[3 * i];
-      const py = model.light_pos[3 * i + 1];
-      const pz = model.light_pos[3 * i + 2];
-      const dx = model.light_dir[3 * i];
-      const dy = model.light_dir[3 * i + 1];
-      const dz = model.light_dir[3 * i + 2];
+      const px = lightPos[3 * i];
+      const py = lightPos[3 * i + 1];
+      const pz = lightPos[3 * i + 2];
+      const dx = lightDir[3 * i];
+      const dy = lightDir[3 * i + 1];
+      const dz = lightDir[3 * i + 2];
 
       if (isDirectional) {
         const light = new THREE.DirectionalLight(color, finalIntensity);
@@ -78,17 +91,17 @@ export function useSceneLights(intensity = 1.0) {
         lightsRef.current.push(light);
         targetsRef.current.push(light.target);
       } else {
-        const cutoff = model.light_cutoff ? model.light_cutoff[i] : 45;
-        const exponent = model.light_exponent ? model.light_exponent[i] : 10;
+        const cutoff = lightCutoff ? lightCutoff[i] : 45;
+        const exponent = lightExponent ? lightExponent[i] : 10;
         const angle = (cutoff * Math.PI) / 180;
         const light = new THREE.SpotLight(color, finalIntensity, 0, angle, exponent / 128);
         light.position.set(px, py, pz);
         light.target.position.set(px + dx, py + dy, pz + dz);
         light.castShadow = castShadow;
 
-        if (model.light_attenuation) {
-          const att1 = model.light_attenuation[3 * i + 1];
-          const att2 = model.light_attenuation[3 * i + 2];
+        if (lightAttenuation) {
+          const att1 = lightAttenuation[3 * i + 1];
+          const att2 = lightAttenuation[3 * i + 2];
           light.decay = att2 > 0 ? 2 : (att1 > 0 ? 1 : 0);
           light.distance = att1 > 0 ? 1 / att1 : 0;
         }
@@ -115,3 +128,21 @@ export function useSceneLights(intensity = 1.0) {
     };
   }, [status, mjModelRef, scene, intensity]);
 }
+
+function getModelArray(model: unknown, key: string): ArrayLike<number> | undefined {
+  try {
+    const value = (model as Record<string, unknown>)[key];
+    return isArrayLikeNumber(value) ? value : undefined;
+  } catch {
+    return undefined;
+  }
+}
+
+function isArrayLikeNumber(value: unknown): value is ArrayLike<number> {
+  return (
+    typeof value === 'object' &&
+    value !== null &&
+    'length' in value &&
+    typeof (value as ArrayLike<number>).length === 'number'
+  );
+}

package/src/index.ts

@@ -41,6 +41,15 @@ export { IkGizmo } from './components/IkGizmo';
 export { ContactMarkers } from './components/ContactMarkers';
 export { DragInteraction } from './components/DragInteraction';
 export { SceneLights } from './components/SceneLights';
+export {
+  ScenarioLighting,
+  SplatEnvironment,
+  createSparkSplatViewerUrl,
+  createSplatEnvironmentUserData,
+  getScenarioBackground,
+  getScenarioCameraPosition,
+  useSplatEnvironment,
+} from './components/VisualScenario';
 export { Debug } from './components/Debug';
 export { TendonRenderer } from './components/TendonRenderer';
 export { FlexRenderer } from './components/FlexRenderer';
@@ -127,6 +136,20 @@ export type {
   DragInteractionProps,
   DebugProps,
   SceneLightsProps,
+  ScenarioLightingPreset,
+  SplatFormat,
+  SplatRendererKind,
+  SplatCollisionPrimitive,
+  ScenarioCameraConfig,
+  SplatAssetConfig,
+  SplatScenarioConfig,
+  SplatCollisionProxyConfig,
+  PairedSplatEnvironmentConfig,
+  SplatEnvironmentMetadataInput,
+  SplatEnvironmentMetadata,
+  VisualScenarioConfig,
+  ScenarioLightingProps,
+  SplatEnvironmentProps,
   TrajectoryPlayerProps,
   ContactListenerProps,
   // API